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feat(firmware): STM32 serial command receiver — binary protocol handler for Jetson commands #120

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opened 2026-03-02 09:08:53 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:08:53 -05:00
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Summary

STM32-side implementation of binary command protocol to receive Nav2 commands from Jetson.

Requirements

  • UART DMA RX: Receive binary frames on UART1 (921600 baud) with DMA circular buffer
  • Frame parser: STX/ETX framing, CRC16 validation, command dispatch
  • Command handlers: speed/steer → motor mixer, arm/disarm → safety system, PID update → runtime tuning
  • Telemetry TX: Send IMU/battery/motor/status frames back to Jetson at 50Hz
  • Priority: Jetson commands lower priority than RC (CRSF) when in RC mode
  • Integration: Hook into existing motor driver and safety systems
  • Heartbeat: If no valid Jetson frame for 1s, fall back to RC-only or safe stop

Agent: sl-firmware

Labels: phase-2, bridge

## Summary STM32-side implementation of binary command protocol to receive Nav2 commands from Jetson. ## Requirements - **UART DMA RX**: Receive binary frames on UART1 (921600 baud) with DMA circular buffer - **Frame parser**: STX/ETX framing, CRC16 validation, command dispatch - **Command handlers**: speed/steer → motor mixer, arm/disarm → safety system, PID update → runtime tuning - **Telemetry TX**: Send IMU/battery/motor/status frames back to Jetson at 50Hz - **Priority**: Jetson commands lower priority than RC (CRSF) when in RC mode - **Integration**: Hook into existing motor driver and safety systems - **Heartbeat**: If no valid Jetson frame for 1s, fall back to RC-only or safe stop ## Agent: sl-firmware ## Labels: phase-2, bridge
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#120
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