sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
61 lines
2.3 KiB
Python
61 lines
2.3 KiB
Python
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py
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"""stm32_cmd.launch.py — Launch the ESP32-S3 IO auxiliary bridge node.
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Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud (inter-board protocol).
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Handles RC monitoring, sensor data, LED/output commands.
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Primary drive path uses CAN (can_bridge_node / saltybot_can_node), not this node.
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Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
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Usage:
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ros2 launch saltybot_bridge stm32_cmd.launch.py
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ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM0
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=======
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"""esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 command node (Issue #119).
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Usage:
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# Default (binary protocol, bidirectional):
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ros2 launch saltybot_bridge esp32_cmd.launch.py
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# Override serial port:
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ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1
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# Custom velocity scales:
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ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0
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>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description() -> LaunchDescription:
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pkg = get_package_share_directory("saltybot_bridge")
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params_file = os.path.join(pkg, "config", "esp32_cmd_params.yaml")
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return LaunchDescription([
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DeclareLaunchArgument("serial_port", default_value="/dev/esp32-io"),
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DeclareLaunchArgument("baud_rate", default_value="460800"),
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DeclareLaunchArgument("heartbeat_period", default_value="0.2"),
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Node(
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package="saltybot_bridge",
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executable="esp32_cmd_node",
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name="esp32_cmd_node",
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output="screen",
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emulate_tty=True,
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parameters=[
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params_file,
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{
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"serial_port": LaunchConfiguration("serial_port"),
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"baud_rate": LaunchConfiguration("baud_rate"),
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"heartbeat_period": LaunchConfiguration("heartbeat_period"),
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},
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],
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),
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])
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