From f77882f814ced6da0357eb1901b2993bcab9550c Mon Sep 17 00:00:00 2001
From: seb <seb@noreply.gitea.vayrette.com>
Date: Sat, 28 Feb 2026 20:07:27 -0500
Subject: [PATCH] Add "Compute Platform"

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 Compute-Platform.md | 77 +++++++++++++++++++++++++++++++++++++++++++++
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+# Compute Platform
+
+## Current: Jetson Nano (being replaced)
+| Spec | Value |
+|------|-------|
+| GPU | 128-core Maxwell |
+| AI Performance | 0.47 TOPS |
+| CPU | 4× Cortex-A57 @ 1.43GHz |
+| RAM | 4GB LPDDR4 |
+| Storage | microSD |
+| Power | 5-10W |
+| JetPack | 4.6 (Ubuntu 18.04) |
+| Status | **Retiring** — replaced by Orin Nano |
+
+## Incoming: Jetson Orin Nano Super Developer Kit (arriving March 1)
+| Spec | Value |
+|------|-------|
+| Model | NVIDIA Jetson Orin Nano Super Developer Kit |
+| GPU | 1024-core Ampere |
+| AI Performance | **67 TOPS** (140× improvement over Jetson Nano) |
+| CPU | 6× Cortex-A78AE @ 1.5GHz |
+| RAM | 8GB LPDDR5 |
+| Storage | 1TB NVMe M.2 2242 (Timetec PCIe Gen3×4, 2100/1600 MB/s) |
+| Power | 7-25W (configurable) |
+| USB | 3× USB3 |
+| CSI | 4× MIPI CSI-2 lanes |
+| WiFi | Built-in (on carrier board) |
+| JetPack | 6.x (Ubuntu 22.04) |
+| Form Factor | 70×45mm module (same as Jetson Nano) |
+| Price | $371.41 CAD (Amazon) |
+
+## What This Means for the Team
+
+### Performance Gains
+- **Person detection/tracking:** 20 FPS → real-time multi-stream
+- **SLAM:** Can run at higher resolution and rate
+- **On-board LLM:** Small models (Llama 3B) now feasible
+- **Voice:** Local Whisper transcription possible
+- **Multi-camera:** Enough USB bandwidth + compute for RealSense + additional cameras
+
+### Software Changes Required
+- **JetPack 6** (Ubuntu 22.04) — ROS2 Humble native support (no more building from source)
+- **Docker base images** need updating from `l4t-base:r32.x` → `l4t-base:r36.x`
+- **TensorRT models** need re-export for Ampere architecture
+- **Boot:** NVMe (not microSD) — flash via NVIDIA SDK Manager
+- **CSI cameras:** 4 lanes available if we add onboard cameras later
+
+### Migration Tasks
+1. Flash JetPack 6 onto NVMe SSD via SDK Manager (from Ubuntu host or VM)
+2. Install ROS2 Humble (apt, not source build)
+3. Re-test RealSense + RPLIDAR drivers (should work, may need updated packages)
+4. Re-export TensorRT models (SSD-MobileNet-v2 for person tracking)
+5. Update `docker-compose.yml` base images
+6. Update `saltybot_bridge` serial port path if different (`/dev/ttyACM0`)
+7. Benchmark inference FPS and update SLAM parameters (can likely increase from 2Hz)
+
+### Pin Compatibility
+The Orin Nano Dev Kit carrier board has different I/O than the Jetson Nano Dev Kit:
+- **USB:** USB-C (power + data) + USB3 Type-A ports
+- **HDMI:** Yes (for debug)
+- **GPIO:** 40-pin header (compatible)
+- **UART:** Available on GPIO header for FC communication
+- **No barrel jack** — USB-C power only (5V/3A minimum)
+
+## FC ↔ Jetson Wiring (unchanged)
+```
+Jetson UART        Drone FC (UART1)
+──────────         ────────────────
+TX (Pin 8)   ──→  RX (PA10)
+RX (Pin 10)  ──→  TX (PA9)
+GND          ──→  GND
+```
+
+## Battery / Power Notes
+- Orin Nano needs 5V via USB-C — use a 36V→5V DC-DC converter from main battery
+- Max draw ~25W at full AI load — size the DC-DC accordingly (5V/5A minimum)
+- The old Jetson Nano's barrel jack 5V/4A supply won't work — must be USB-C