Initial commit — firmware WireClaw ESP32-S3 fonctionnel

- Heartbeat MAVLink v1 toutes les 1s (broadcast 192.168.4.255:14553)
- Relais WiFi <-> UART (Jetson <-> Pi Zero) sur ports 14550-14553
- LED RGB WS2812 GPIO48 : rouge pulsé (attente), vert dim (idle), flash vert (heartbeat)
- MODE_AP=true : hotspot WireClaw-CAM / false : connexion Jetson
- Fix: retrait ARDUINO_USB_CDC_ON_BOOT (carte Freenove utilise CH343/UART0)

src/main.cpp

@@ -0,0 +1,192 @@
+#include <Arduino.h>
+#include <WiFi.h>
+#include <WiFiUDP.h>
+#include <FastLED.h>
+#include "credentials.h"
+#include "mavlink_heartbeat.h"
+
+// ── Mode : true = ESP32 crée son propre hotspot  false = connexion au Jetson ──
+#define MODE_AP  true
+
+// ── Ports ────────────────────────────────────────────────
+const uint16_t LOCAL_PORT         = 14550;
+const uint16_t JETSON_PORT_MAVSDK = 14551;
+const uint16_t JETSON_PORT_PYMAV  = 14552;
+const uint16_t JETSON_PORT_HB     = 14553;
+
+// ── UART vers Pi Zero ─────────────────────────────────────
+#define UART_BAUD    57600
+#define UART_RX_PIN  16
+#define UART_TX_PIN  17
+
+// ── LED RGB WS2812 (GPIO48) ───────────────────────────────
+#define LED_PIN   48
+#define NUM_LEDS  1
+CRGB leds[NUM_LEDS];
+
+typedef enum { LED_WAITING_WIFI, LED_HEARTBEAT, LED_IDLE } LedState;
+LedState currentLedState = LED_WAITING_WIFI;
+unsigned long ledStateStart = 0;
+
+// ── Variables globales ────────────────────────────────────
+WiFiUDP udp;
+HardwareSerial MavSerial(2);
+bool wifiConnected = false;
+unsigned long lastHeartbeat = 0;
+uint8_t mavSeq = 0;
+
+#if MODE_AP
+  const char* BROADCAST_IP = "192.168.4.255";
+#else
+  const char* BROADCAST_IP = JETSON_IP;
+#endif
+
+// ── LED non bloquante ─────────────────────────────────────
+void updateLED() {
+  unsigned long elapsed = millis() - ledStateStart;
+  switch (currentLedState) {
+    case LED_WAITING_WIFI:
+      leds[0] = CRGB((uint8_t)(128 + 127 * sin(elapsed * 0.00628f)), 0, 0);
+      break;
+    case LED_HEARTBEAT:
+      if (elapsed < 80) {
+        leds[0] = CRGB(0, 255, 0);
+      } else {
+        currentLedState = LED_IDLE;
+        ledStateStart = millis();
+      }
+      break;
+    case LED_IDLE:
+      leds[0] = CRGB(0, 8, 0);
+      break;
+  }
+  FastLED.show();
+}
+
+void setLedState(LedState s) {
+  currentLedState = s;
+  ledStateStart = millis();
+}
+
+// ── Heartbeat MAVLink ─────────────────────────────────────
+void sendMavlinkHeartbeat() {
+  uint8_t buf[17];
+  uint8_t len = mavlinkBuildHeartbeat(buf, mavSeq);
+
+  udp.beginPacket(BROADCAST_IP, JETSON_PORT_HB);
+  udp.write(buf, len);
+  udp.endPacket();
+
+  setLedState(LED_HEARTBEAT);
+
+  Serial.printf("[HB] seq=%d  [", mavSeq - 1);
+  for (uint8_t i = 0; i < len; i++) {
+    Serial.printf("%02X", buf[i]);
+    if (i < len - 1) Serial.print(" ");
+  }
+  Serial.println("]");
+}
+
+// ── Reconnexion WiFi (mode STA uniquement) ────────────────
+void checkWiFi() {
+#if !MODE_AP
+  if (WiFi.status() == WL_CONNECTED) {
+    if (!wifiConnected) {
+      wifiConnected = true;
+      WiFi.setSleep(false);
+      udp.begin(LOCAL_PORT);
+      setLedState(LED_IDLE);
+      Serial.print("WiFi connecte. IP: ");
+      Serial.println(WiFi.localIP());
+    }
+    return;
+  }
+  if (wifiConnected) {
+    wifiConnected = false;
+    setLedState(LED_WAITING_WIFI);
+    Serial.println("WiFi perdu, reconnexion...");
+  }
+  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
+#endif
+}
+
+// ── Setup ─────────────────────────────────────────────────
+void setup() {
+  Serial.begin(115200);
+
+  FastLED.addLeds<WS2812, LED_PIN, GRB>(leds, NUM_LEDS);
+  FastLED.setBrightness(80);
+  setLedState(LED_WAITING_WIFI);
+
+  Serial.println("\n=== WireClaw ESP32-S3 ===");
+#if MODE_AP
+  Serial.println("Mode: AP (hotspot autonome)");
+#else
+  Serial.println("Mode: STA (connexion Jetson)");
+#endif
+
+  MavSerial.begin(UART_BAUD, SERIAL_8N1, UART_RX_PIN, UART_TX_PIN);
+  Serial.printf("UART2: %d baud (RX=%d TX=%d)\n", UART_BAUD, UART_RX_PIN, UART_TX_PIN);
+
+#if MODE_AP
+  WiFi.mode(WIFI_AP);
+  WiFi.softAP(AP_SSID, AP_PASSWORD);
+  delay(500);
+  wifiConnected = true;
+  udp.begin(LOCAL_PORT);
+  setLedState(LED_IDLE);
+  Serial.printf("Hotspot: %s\n", AP_SSID);
+  Serial.printf("IP     : %s\n", WiFi.softAPIP().toString().c_str());
+#else
+  WiFi.mode(WIFI_STA);
+  WiFi.setSleep(false);
+  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
+  Serial.printf("Connexion a %s...\n", WIFI_SSID);
+#endif
+
+  Serial.printf("UDP ecoute: port %d\n", LOCAL_PORT);
+  delay(500);
+  if (wifiConnected) sendMavlinkHeartbeat();
+}
+
+// ── Loop ──────────────────────────────────────────────────
+void loop() {
+  updateLED();
+  checkWiFi();
+
+  if (wifiConnected && millis() - lastHeartbeat > 1000) {
+    lastHeartbeat = millis();
+    sendMavlinkHeartbeat();
+  }
+
+  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 < (int)sizeof(buf)) {
+      buf[len++] = MavSerial.read();
+    }
+    if (len > 0) {
+      udp.beginPacket(BROADCAST_IP, JETSON_PORT_MAVSDK);
+      udp.write(buf, len);
+      udp.endPacket();
+      udp.beginPacket(BROADCAST_IP, JETSON_PORT_PYMAV);
+      udp.write(buf, len);
+      udp.endPacket();
+      Serial.printf("[UART->WiFi] %d bytes\n", len);
+    }
+  }
+}