Boards

Altruist Urban

rohi_hal_esp::board::altruist_urban is the single place that names GPIO pins and configures the buses. The API is chip independent; the chip is selected by the Cargo feature esp32c3 or esp32c6 (exactly one, forwarded by the firmware), which picks the backend module board/altruist_urban/esp32c3.rs or esp32c6.rs. Drivers and firmware tasks never contain pin numbers: AltruistUrban::new(Hardware::split(peripherals)) returns the configured I²C bus, the SDS011 UART and the I²S microphone, ready to be handed to the sensor drivers.

The ESP32-C3 map is verified against the Altruist Urban pinout. The ESP32-C6 map comes from the Altruist Urban main board schematic (ESP32-C6-WROOM-1-N8, “GPIO Map” sheet) in the hardware repository; it is not yet verified on hardware. The schematic names the SDS011 nets PM_TX (GPIO5) and PM_RX (GPIO4) without a viewpoint; they are taken from the ESP32-C6 side, so swap them if the sensor stays silent. GPIO4 and GPIO5 are strapping pins, but they only select the JTAG source when the JTAG_SEL_ENABLE eFuse is burned, so the SDS011 does not affect booting. The C6 board also wires a button (GPIO7), a data-logging LED (GPIO0) and the CN4 expansion connector that the firmware does not drive. The firmware drives no sensor power or control pins. A board revision with a different pin map must get its own module instead of an edit of these tables. Hardware production documentation: airalab/hardware, device page: https://robonomics.network/devices/altruist/.