Salty Bead
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3bb4b71cea
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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
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2026-03-06 22:35:24 -05:00 |
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