saltylab-firmware

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Author	SHA1	Message	Date
sl-android	d5246fe3a8	chore: Guard ESC debug output behind compile flag (Issue #521 ) - esc_hoverboard.c: huart2 static in production; non-static only under #ifdef DEBUG_MOTOR_TEST (needed by R command in jetson_uart.c) - esc_hoverboard.c: UART5 diagnostic in hoverboard_backend_init() and per-packet printf in hoverboard_backend_send() guarded by same flag - esc_hoverboard.c: #include <stdio.h> also guarded (not needed in production) - jetson_uart.c: R (baud sweep) and X (GPIO test) commands guarded by #ifdef DEBUG_MOTOR_TEST — not compiled into production firmware Production build: no debug output, static huart2, no R/X commands. Debug build: define DEBUG_MOTOR_TEST to re-enable all diagnostics. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-06 23:07:36 -05:00
Salty Bead	3bb4b71cea	feat: motor bench test working — UART5 ESC + USART6 Jetson + W command - Fix UART5 ESC: PC12=TX, PD2=RX @ 115200 baud (was USART2/38400) - Add jetson_uart.c: USART6 command interface (A/D/E/Z/H/C/W/R/X/? commands) - Add W command: persistent direct motor test (sets globals, main loop sends at 50Hz) - Fix power_mgmt: keep UART5 clock active, PC7 EXTI wake source - Fix main loop: direct_test_speed/steer override disarmed zero-send - Add boot banner on USART6 Tested: Orin -> FC USART6 -> FC UART5 -> EFeru ESC -> both motors spin	2026-03-06 22:35:24 -05:00

Author

SHA1

Message

Date

sl-android

d5246fe3a8

chore: Guard ESC debug output behind compile flag (Issue #521 )

- esc_hoverboard.c: huart2 static in production; non-static only under
  #ifdef DEBUG_MOTOR_TEST (needed by R command in jetson_uart.c)
- esc_hoverboard.c: UART5 diagnostic in hoverboard_backend_init() and
  per-packet printf in hoverboard_backend_send() guarded by same flag
- esc_hoverboard.c: #include <stdio.h> also guarded (not needed in production)
- jetson_uart.c: R (baud sweep) and X (GPIO test) commands guarded by
  #ifdef DEBUG_MOTOR_TEST — not compiled into production firmware

Production build: no debug output, static huart2, no R/X commands.
Debug build: define DEBUG_MOTOR_TEST to re-enable all diagnostics.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-06 23:07:36 -05:00

Salty Bead

3bb4b71cea

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

- Fix UART5 ESC: PC12=TX, PD2=RX @ 115200 baud (was USART2/38400)
- Add jetson_uart.c: USART6 command interface (A/D/E/Z/H/C/W/R/X/? commands)
- Add W command: persistent direct motor test (sets globals, main loop sends at 50Hz)
- Fix power_mgmt: keep UART5 clock active, PC7 EXTI wake source
- Fix main loop: direct_test_speed/steer override disarmed zero-send
- Add boot banner on USART6

Tested: Orin -> FC USART6 -> FC UART5 -> EFeru ESC -> both motors spin

2026-03-06 22:35:24 -05:00

2 Commits