Add DVL serial passthrough for Teensy 4.0 #181

Add DVL serial passthrough for Teensy 4.0

Author: JPGC04

pio_workspace/include/dvl_main.h

@@ -0,0 +1,8 @@
+#ifdef DVL_H
+
+#include <Arduino.h>
+
+void dvl_setup();
+void dvl_loop();
+
+#endif

pio_workspace/platformio.ini

@@ -43,6 +43,16 @@ lib_deps =
     PaulStoffregen/XPT2046_Touchscreen
     https://github.com/bluerobotics/BlueRobotics_MS5837_Library
 
+[env:dvl]
+platform = teensy
+board = teensy40
+framework = arduino
+build_flags = 
+    -D DVL_H
+    ${env.build_flags}
+#upload_protocol = teensy-cli
+upload_port = /dev/dvl
+
 [env:power]
 platform = teensy
 board = teensy40

pio_workspace/src/dvl_main.cpp

@@ -0,0 +1,30 @@
+#ifdef DVL_H
+
+#include "dvl_main.h"
+
+// RX2 -> Pin 7 (receives data from DVL)
+// TX2 -> Pin 8 (sends data to DVL)
+
+void dvl_setup(){
+    Serial.begin(115200);
+    Serial2.begin(115200);
+
+    pinMode(LED_BUILTIN, OUTPUT);
+    digitalWrite(LED_BUILTIN, HIGH);
+}
+
+void dvl_loop(){
+    // Forward data from DVL (Serial2) to Jetson (Serial)
+    if (Serial2.available()) {
+        int inByte = Serial2.read();
+        Serial.write(inByte);
+    }
+    
+    // Forward data from Jetson (Serial) to DVL (Serial2)
+    if (Serial.available()) {
+        int inByte = Serial.read();
+        Serial2.write(inByte);
+    }
+}
+
+#endif

pio_workspace/src/main.cpp

@@ -4,6 +4,8 @@
 #include "actuator_main.h"
 #elif DISPLAY_H
 #include "display_main.h"
+#elif DVL_H
+#include "dvl_main.h"
 #elif POWER_H
 #include "power_main.h"
 #elif POWER_ROS1_H
@@ -15,6 +17,8 @@ void setup() {
     actuator_setup();
   #elif DISPLAY_H
     display_setup();
+  #elif DVL_H
+    dvl_setup();
   #elif POWER_H
     power_setup();
   #elif POWER_ROS1_H
@@ -27,6 +31,8 @@ void loop() {
     actuator_loop();
   #elif DISPLAY_H
     display_loop();
+  #elif DVL_H
+    dvl_loop();
   #elif POWER_H
     power_loop();
   #elif POWER_ROS1_H