Firmware Guide

RIG-Hover firmware is part of the RIG-Omni ESP32-S3 multi-robot firmware project.

Upstream repository: LuwuDynamics/rig_omni

User Flashing

For regular users, use the official flashing page:

https://tools.luwudynamics.ai

Steps:

Connect the board to the PC with a USB cable; connect the battery and turn on the power switch.
Open the page in a browser that supports the Web Serial API (Chrome / Edge / Opera).
Select the RIG series, then pick your model (e.g. RIG-Hover) to open its flash detail page.
Click ⚡ 注入灵魂 FW 3.7.0 to start flashing.
Choose the matching serial port in the browser pop-up.
Wait for the progress to finish (view the log via ☰). Do not disconnect during flashing. On first flash, tick 擦写芯片 (Erase Flash) in ⚙ 烧录参数 if you want a clean install.
The device will restart automatically when done.

RIG-Hover flash detail

Notes:

Connect the battery and turn on the power switch while flashing.

If the serial port is not recognised, install the CH340/CP210x USB serial driver.

Hold the robot after flashing because it may reboot.

Build From Source

Requirements:

ESP-IDF v5.5.2 or newer.

Python 3.8 or newer.

ESP32-S3 development environment.

Recommended module: ESP32-S3 with 16 MB Flash and PSRAM.

Clone and configure:

git clone https://github.com/LuwuDynamics/rig_omni.git

cd rig_omni

source ~/esp/esp-idf/export.sh

idf.py set-target esp32s3

idf.py menuconfig

Select:

RIG-Omni -> Board Type -> RIG-Hover

The generated configuration should contain:

CONFIG_BOARD_TYPE_HOVER=y

Build, flash, and monitor:

idf.py build

idf.py -p /dev/ttyUSB0 flash monitor

Windows example:

idf.py -p COM5 flash monitor

Generate a release firmware package:

python tools/gen_bin_package.py

Firmware Architecture

RIG-Omni uses a shared application layer and board-specific robot layers.

application.cc/.h       lifecycle, audio, display, network, OTA, MCP

mcp_server.cc/.h        remote tool framework

boards/common/          shared IMU, BLE, button, camera, battery drivers

boards/hover/           RIG-Hover board, balance control, Web tuning

display/                LCD, LVGL, EAF expression animation

audio/                  wake word, microphone, speaker, processing

tools/                  release packaging and asset tools

Hover Source Map

File	Role
`main/boards/hover/hover_board.cc`	Board startup, LCD, buttons, camera, UART, IMU, MCP tools
`main/boards/hover/xgo.cc`	Motor protocol, servo command, wheel feedback, LQR loop, BLE/XGO command parsing
`main/boards/hover/xgo.h`	Shared declarations for Hover control variables and functions
`main/boards/hover/hover_debug_server.cc`	Web UI, `/api/data`, `/api/set`tuning endpoints
`main/boards/hover/board_config.h`	Pin configuration
`main/Kconfig.projbuild`	Board type selection
`main/CMakeLists.txt`	Build target and output naming

Startup Chain

HoverBoardis registered through:

DECLARE_BOARD(HoverBoard);

The initialization sequence is approximately:

InitializeSpi()

InitializeLcdDisplay()

InitializeButtons()

InitializeTools()

InitializeCamera()

InitializeUart()

InitializeController()

InitializeBootButton()

imu_init()

create xgo_control task

create xgo_rx task

create imu_read_once task

Normal startup logs should include:

Initialize UART

XGO control tasks created

IMU control tasks created

Initialization complete

Debug server started at http://<device-ip>

Pin References

Current Hover firmware references include:

#define XGO_UART_TX_PIN GPIO_NUM_46

#define XGO_UART_RX_PIN GPIO_NUM_38

#define TOUCH_BUTTON_GPIO GPIO_NUM_3

#define IMU_I2C_SDA GPIO_NUM_14

#define IMU_I2C_SCL GPIO_NUM_48

Verify these against the final PCB revision before publishing manufacturing files.

07-Firmware-Guide