3bb4b71cea
- 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
17 lines
453 B
C
17 lines
453 B
C
#ifndef JETSON_UART_H
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#define JETSON_UART_H
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#include <stdint.h>
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#include "stm32f7xx_hal.h"
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/* Initialize USART6 for Jetson communication (921600 baud) */
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void jetson_uart_init(void);
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/* Send data back to Jetson (telemetry, status) */
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void jetson_uart_send(const uint8_t *data, uint16_t len);
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/* Called from HAL_UART_RxCpltCallback — handles byte accumulation */
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void jetson_uart_rx_callback(UART_HandleTypeDef *huart);
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#endif /* JETSON_UART_H */
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