Vesc6 fixed serial, updated for FW 3.40

[Teslafly]

This pull request does several things. The most significant of are:

• Replaces delays with timeout based serial receiver. prevents serial rx buffer overflows with rx buffers under 65 bytes on vesc 3.40 FW.
• Removes 4 port serial switch case in preference of the ability to simply pass in the serial port you want to use on a function by function basis. This should allow talking to multiple vescs without cluttering up the code or limiting you to under 4 vescs.
• Adds support for usb based debug serial ports. Particularly the Teensy 3.2/LC.
• Adds support for FW v3.40, also tested on fw 3.38.
• updated datatypes.h to support added vesc functionality

This pull request has been tested on a teensy 3.2 and arduino uno, talking to a vesc hw 4.2 with fw 3.38 and 3.40 It should be ready to merge into master if you feel comfortable.

closes:

• (probably)
• (maybe?) #13

Todo in a future pull request:

• add can support on teensy 3.2
• ability to talk to other vescs sharing a can bus through the serial port of 1 vesc ('send over can' byte)

[RollingGecko]

Added pull request by teslafly:

This pull request does several things. The most significant of are:

Replaces delays with timeout based serial receiver. prevents serial rx buffer overflows with rx buffers under 65 bytes on vesc 3.40 FW.
Removes 4 port serial switch case in preference of the ability to simply pass in the serial port you want to use on a function by function basis. This should allow talking to multiple vescs without cluttering up the code or limiting you to under 4 vescs.
Adds support for usb based debug serial ports. Particularly the Teensy 3.2/LC.
Adds support for FW v3.40, also tested on fw 3.38.
updated datatypes.h to support added vesc functionality

This pull request has been tested on a teensy 3.2 and arduino uno, talking to a vesc hw 4.2 with fw 3.38 and 3.40 It should be ready to merge into master if you feel comfortable.

closes:

(probably)
(maybe?) #13

Todo in a future pull request:

add can support on teensy 3.2
ability to talk to other vescs sharing a can bus through the serial port of 1 vesc ('send over can' byte)