Initial commit - ESP32 MAVLink WiFi relay

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
+include/credentials.h

.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200
+lib_deps = okalachev/MAVLink@^2.0.29

src/main.cpp

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+#include <Arduino.h>
+#include <WiFi.h>
+#include <WiFiUDP.h>
+#include "credentials.h"
+
+// ── Ports ───────────────────────────────────────────────
+const uint16_t JETSON_PORT_MAVSDK  = 14551;
+const uint16_t JETSON_PORT_PYMAV   = 14552;
+const uint16_t LOCAL_PORT          = 14550;
+
+// ── UART vers Pi Zero ───────────────────────────────────
+#define UART_BAUD    57600
+#define UART_RX_PIN  16
+#define UART_TX_PIN  17
+
+// ── LED status ──────────────────────────────────────────
+#define LED_PIN 2
+#define LED_WIFI_OK     500   // clignote lentement = WiFi OK
+#define LED_WIFI_WAIT   100   // clignote vite = attente WiFi
+
+// ── Variables globales ──────────────────────────────────
+WiFiUDP udp;
+HardwareSerial MavSerial(2);
+bool wifiConnected = false;
+unsigned long lastBlink = 0;
+bool ledState = false;
+int blinkInterval = LED_WIFI_WAIT;
+unsigned long lastHeartbeat = 0;
+
+// ── Blink non bloquant ──────────────────────────────────
+void updateLED() {
+  if (millis() - lastBlink > blinkInterval) {
+    ledState = !ledState;
+    digitalWrite(LED_PIN, ledState);
+    lastBlink = millis();
+  }
+}
+
+void setup() {
+  Serial.begin(115200);
+  pinMode(LED_PIN, OUTPUT);
+
+  Serial.println("\n=== WireClaw ESP32 ===");
+
+  // UART2 vers Pi Zero / Matek H743
+  MavSerial.begin(UART_BAUD, SERIAL_8N1, UART_RX_PIN, UART_TX_PIN);
+  Serial.printf("UART2 init: %d baud (RX=%d TX=%d)\n", UART_BAUD, UART_RX_PIN, UART_TX_PIN);
+
+  // WiFi
+  Serial.printf("Connexion WiFi: %s\n", WIFI_SSID);
+  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
+
+  int attempts = 0;
+  while (WiFi.status() != WL_CONNECTED && attempts < 20) {
+    updateLED();
+    delay(500);
+    Serial.print(".");
+    attempts++;
+  }
+
+  if (WiFi.status() == WL_CONNECTED) {
+    WiFi.setSleep(false);
+    wifiConnected = true;
+    blinkInterval = LED_WIFI_OK;
+    Serial.println("\nWiFi connecte !");
+    Serial.print("IP ESP32: ");
+    Serial.println(WiFi.localIP());
+    Serial.printf("Jetson IP: %s\n", JETSON_IP);
+    udp.begin(LOCAL_PORT);
+
+      // Test immédiat au démarrage
+    delay(1000);
+    Serial.printf("Test envoi vers %s:14551\n", JETSON_IP);
+    const char* testMsg = "ESP32-boot-test";
+    int result = udp.beginPacket(JETSON_IP, JETSON_PORT_MAVSDK);
+    Serial.printf("beginPacket result: %d\n", result);
+    udp.write((const uint8_t*)testMsg, strlen(testMsg));
+    int sent = udp.endPacket();
+    Serial.printf("endPacket result: %d\n", sent);
+
+    Serial.printf("UDP ecoute sur port %d\n", LOCAL_PORT);
+  } else {
+    Serial.println("\nEchec WiFi — verifier credentials.h");
+  }
+}
+
+void loop() {
+  updateLED();
+
+  // ── Heartbeat test → Jetson toutes les 5s ──
+  if (millis() - lastHeartbeat > 5000) {
+    lastHeartbeat = millis();
+    const char* msg = "WireClaw-ESP32-heartbeat";
+    udp.beginPacket(JETSON_IP, JETSON_PORT_MAVSDK);
+    udp.write((const uint8_t*)msg, strlen(msg));
+    udp.endPacket();
+    Serial.println("Heartbeat envoyé → Jetson:14551");
+  }
+
+  if (!wifiConnected) return;
+
+  // ── WiFi → UART (Jetson → Pi Zero) ──
+  int packetSize = udp.parsePacket();
+  if (packetSize > 0) {
+    uint8_t buf[512];
+    int len = udp.read(buf, sizeof(buf));
+    if (len > 0) {
+      MavSerial.write(buf, len);
+      Serial.printf("WiFi→UART: %d bytes\n", len);
+    }
+  }
+
+  // ── UART → WiFi (Pi Zero → Jetson) ──
+  if (MavSerial.available()) {
+    uint8_t buf[512];
+    int len = 0;
+    while (MavSerial.available() && len < 512) {
+      buf[len++] = MavSerial.read();
+    }
+    if (len > 0) {
+      udp.beginPacket(JETSON_IP, JETSON_PORT_MAVSDK);
+      udp.write(buf, len);
+      udp.endPacket();
+      udp.beginPacket(JETSON_IP, JETSON_PORT_PYMAV);
+      udp.write(buf, len);
+      udp.endPacket();
+      Serial.printf("UART→WiFi: %d bytes\n", len);
+    }
+  }
+}

test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html