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P2: Clean up ESC debug output and diagnostic commands #521

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opened 2026-03-06 22:35:51 -05:00 by seb · 0 comments
seb commented 2026-03-06 22:35:51 -05:00
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Context

During motor bench testing (2026-03-06), several diagnostic features were added:

  1. hoverboard_backend_send() prints ESC tx=N rc=X spd=Y str=Z every 50th send on USART6
  2. R command in jetson_uart.c: raw blocking UART5 baud sweep test
  3. X command: GPIO test on PC12
  4. huart2 made non-static for diagnostic access

Action

  • Remove or guard ESC debug output behind a compile flag (it floods USART6)
  • Keep R and X commands but move behind #ifdef DEBUG_MOTOR_TEST
  • Make huart2 static again once R command is guarded
  • Clean up stale comments ("PA2=TX, PA3=RX, AF7 for USART2" in esc_hoverboard.c)
## Context During motor bench testing (2026-03-06), several diagnostic features were added: 1. `hoverboard_backend_send()` prints `ESC tx=N rc=X spd=Y str=Z` every 50th send on USART6 2. `R` command in jetson_uart.c: raw blocking UART5 baud sweep test 3. `X` command: GPIO test on PC12 4. `huart2` made non-static for diagnostic access ## Action - Remove or guard ESC debug output behind a compile flag (it floods USART6) - Keep R and X commands but move behind `#ifdef DEBUG_MOTOR_TEST` - Make `huart2` static again once R command is guarded - Clean up stale comments ("PA2=TX, PA3=RX, AF7 for USART2" in esc_hoverboard.c)
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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#521
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