sl-firmware
291dd689f8
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>
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/esp32_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/esp32_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="ESP32-S3 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 ESP32-S3 command node (Issue #119)
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"esp32_cmd_node = saltybot_bridge.esp32_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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