sl-firmware
9ed678ca35
Issue #680 — IMU mount angle calibration: - imu_cal_flash.h/.c: store pitch/roll offsets in flash sector 7 (0x0807FF00, 64 bytes; preserves PID records across sector erase) - mpu6000_set_mount_offset(): subtracts offsets from pitch/roll output - mpu6000_has_mount_offset(): reports cal_status=2 to Orin - 'O' CDC command: capture current pitch/roll → save to flash → ACK JSON - Load offsets on boot; report in printf log CAN telemetry correction (Tee: production has no USB to Orin): - FC_IMU (0x402): pitch/roll/yaw/cal_status/balance_state at 50 Hz - orin_can_broadcast_imu() rate-limited to ORIN_IMU_TLM_HZ (50 Hz) - FC_BARO (0x403): pressure_pa/temp_x10/alt_cm at 1 Hz (Issue #672) - orin_can_broadcast_baro() rate-limited to ORIN_BARO_TLM_HZ (1 Hz) Issue #685 — LED CAN override: - ORIN_CAN_ID_LED_CMD (0x304): pattern/brightness/duration_ms from Orin - orin_can_led_override volatile state + orin_can_led_updated flag - main.c: apply pattern to LED state machine on each LED_CMD received Orin side: - saltybot_can_node.py: production SocketCAN bridge — reads 0x400-0x403, publishes /saltybot/imu, /saltybot/balance_state, /saltybot/barometer; subscribes /cmd_vel → 0x301 DRIVE; /saltybot/leds → 0x304 LED_CMD; sends 0x300 HEARTBEAT at 5 Hz; sends 0x303 ESTOP on shutdown - setup.py: register saltybot_can_node entry point + uart_bridge launch Fix: re-apply --defsym __stack_end=_estack-0x1000 linker fix to branch Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
53 lines
2.1 KiB
Python
53 lines
2.1 KiB
Python
from setuptools import setup
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package_name = "saltybot_bridge"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", [
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"launch/bridge.launch.py",
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"launch/cmd_vel_bridge.launch.py",
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"launch/remote_estop.launch.py",
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"launch/stm32_cmd.launch.py",
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"launch/battery.launch.py",
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"launch/uart_bridge.launch.py",
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]),
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(f"share/{package_name}/config", [
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"config/bridge_params.yaml",
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"config/cmd_vel_bridge_params.yaml",
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"config/estop_params.yaml",
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"config/stm32_cmd_params.yaml",
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"config/battery_params.yaml",
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]),
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],
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install_requires=["setuptools", "pyserial"],
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zip_safe=True,
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maintainer="sl-jetson",
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maintainer_email="sl-jetson@saltylab.local",
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description="STM32 USB CDC → ROS2 serial bridge for saltybot",
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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# RX-only telemetry bridge (does not send commands)
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"serial_bridge_node = saltybot_bridge.serial_bridge_node:main",
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# Full bidirectional bridge: telemetry RX + /cmd_vel TX + heartbeat
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"saltybot_cmd_node = saltybot_bridge.saltybot_cmd_node:main",
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# Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
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"cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
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"remote_estop_node = saltybot_bridge.remote_estop_node:main",
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# Binary-framed STM32 command node (Issue #119)
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"stm32_cmd_node = saltybot_bridge.stm32_cmd_node:main",
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# Battery management node (Issue #125)
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"battery_node = saltybot_bridge.battery_node:main",
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# Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685)
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"saltybot_can_node = saltybot_bridge.saltybot_can_node:main",
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],
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},
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)
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