[Joseph DiGiovanni] is the owner of a Litter Robot 4. It’s a convenient mechanized litter box for cats that can clean itself to reduce unwelcome odors inside the home. He wanted to run automations based on the operation of the litter box, but was not eager to use the manufacturer’s cloud service to do it. Instead, he set about reverse engineering the device for his own ends.
Since the Litter Robot 4 relies on an ESP32 microcontroller for external connectivity, it was entirely possible for [Joseph] to whip up a custom firmware for the device instead. He started with ESPHome as a base, which is a popular firmware used for building smarthome devices based on Espressif hardware. The architecture of the Litter Robot 4 helped in this regard. It uses a PIC microcontroller to handle the low level hardware control, while the ESP32 is responsible for connecting to the cloud over WiFi. This allowed [Joseph] to mess with the connectivity features and get the device hooked up to Home Assistant without compromising the basic mechancial functionality of the device or any of the safety features.
All [Joseph] had to do was figure out how the original hardware’s ESP32 talked to the PIC and emulate that in his own firmware, which was achieved with some snooping and data capture and processing with an LLM. This was used as a basis to whip up an ESPHome firmware that could integrate the hardware neatly with Home Assistant.
Files are on Codeberg for those eager to tinker. It’s not the first time we’ve looked at cat litter management, and it won’t be the last. Video after the break.