Pds2 comms 505

[MewtR]

Assignee Section

Description

This PR doesn't solve anything in particular, but it shows how the new PDS functions can be written to work with the internal comms system.

• CMakelists.txt that is used to compile the new PDS and link it against the internal comms library.
• Example functions to disable/enable all motors, enable/disable a single motor or fan, ping/pong.
• Most example functions were simply copied from the first PDS and can/should be changed. They are basically stubs.
• Still lots of Serial.print()s for testing purposes.

Steps for Testing

Note: You need an ATmega328p to run the tests. I used and Arduino Nano.

Other Note: To reduce noise, comment out the code that reads the temperature in PDS2.ino, line 34-46.

1. Use the CMakeLists.txt provided in robot/rover/PDS/PDS2 to compile the new pds.
2. Upload it to your device.
3. Make sure you have a way to view your devices output. For example tail -f technique from the sending bytes section.
4. Send raw bytes corresponding to a command. Refer to here for available commands
5. You should printed statements corresponding to the command you issued.

Additional info

copied from here

It's not trivial to use the Arduino IDE for the testing steps above so I had to do everything from the commandline. Here's how:

Compiling

Use the provided CMakelists.txt. These generate elf files

Uploading

The arduino ide will only upload a binary it compiled itself so we need to manually upload with avrdude. My command looked like the following avrdude -C/home/bionic/arduino-1.8.12/hardware/tools/avr/etc/avrdude.conf -v -patmega328p -carduino -P/dev/ttyUSB0 -b57600 -D -Uflash:w:bin/PDS2.elf:e. Just remember to change the device from /dev/ttyUSB0 to whatever your device is and the path to avrdude.conf to the path on your system. Also put the path to your elf file in the last part : -Uflash:w:<path/to/elf.elf>:e

Sending bytes

The Arduino IDE's serial monitor only allows you to send ascii as far as I can tell. So I used python to send in raw bytes. Basically in one terminal you should have tail -f <device> so for example tail -f /dev/ttyUSB0. In another terminal you can run something like: python3 -c "import sys; sys.stdout.buffer.write(b'\x36\x00\x02\x00\x02\x06\x64\x00')" > /dev/ttyUSB0 and you should see any results in the first terminal. If you don't see anything despite having some prints. Try sending data via the Arduino IDE's serial monitor first and then retry this method.

Example command:

python3 -c "import sys; sys.stdout.buffer.write(b'\x35\x00\x02\x00\x02\x03\x01\x00')" > /dev/ttyUSB0 <- In this command:

• Command ID: 53 (single motor)
• Device sending: 0
• Device receiving: 2
• Argument length (2 bytes): 2
• Arguments: motor pin: 3, state: 1
• Stop byte: 0

closes nothing

The approval from all software team leads is necessary before merging.

Reviewer Section

Aside from local testing and the General Integration Test it is implied that static analysis should be included in the verification process.

• [ ] Local Test Performed Successfully
• [ ] General Integration Test Performed Successfully

For Pull Requests that do not include code changes, it is not required to perform the tests above.