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[P0] Complete FC↔Orin UART link — fix TX6 wire + verify jlink protocol end-to-end #362

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opened 2026-03-03 15:05:49 -05:00 by seb · 0 comments
seb commented 2026-03-03 15:05:49 -05:00
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Status

  • Orin→FC: WORKING (confirmed via USB telemetry rxc counter)
  • FC→Orin: BROKEN — bad wire from TX6 pad to Orin pin 10 (loopback proves both sides work individually)

Physical Fix

  • Replace wire from FC TX6 pad to Orin header pin 10
  • Verify with loopback: FC txc incrementing AND Orin receives bytes on ttyTHS1

Software Verification

  • Once wire fixed, test jlink binary protocol end-to-end (NOT MSP — FC uses custom CRC16-XModem protocol)
  • Orin should receive JLink telemetry frames on /dev/ttyTHS1 @ 921600
  • Orin should send JLink commands and get responses
  • saltybot_bridge ROS2 node should publish FC state to /saltybot/imu, /saltybot/motors etc

Depends on

  • Physical wire replacement (Tee)

Refs

  • Issue #356 (original diagnosis)
  • jlink.c: USART6 PC6/PC7, 921600 baud
  • test scripts on Orin: ~/test_fc_link.py, /tmp/test_both.py
## Status - Orin→FC: WORKING (confirmed via USB telemetry rxc counter) - FC→Orin: BROKEN — bad wire from TX6 pad to Orin pin 10 (loopback proves both sides work individually) ## Physical Fix - Replace wire from FC TX6 pad to Orin header pin 10 - Verify with loopback: FC txc incrementing AND Orin receives bytes on ttyTHS1 ## Software Verification - Once wire fixed, test jlink binary protocol end-to-end (NOT MSP — FC uses custom CRC16-XModem protocol) - Orin should receive JLink telemetry frames on /dev/ttyTHS1 @ 921600 - Orin should send JLink commands and get responses - saltybot_bridge ROS2 node should publish FC state to /saltybot/imu, /saltybot/motors etc ## Depends on - Physical wire replacement (Tee) ## Refs - Issue #356 (original diagnosis) - jlink.c: USART6 PC6/PC7, 921600 baud - test scripts on Orin: ~/test_fc_link.py, /tmp/test_both.py
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Reference: seb/saltylab-firmware#362
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