Feat/md firmware

firmware/mini_v/motor_driver/.gitignore

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

firmware/mini_v/motor_driver/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 usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+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

firmware/mini_v/motor_driver/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 executable file.
+
+The source code of each library should be placed in an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, 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
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

firmware/mini_v/motor_driver/lib/protolink_msgs/proto/hardware_communication_msgs__MotorControl.pb.c

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+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-1.0.0-dev */
+
+#include "proto/hardware_communication_msgs__MotorControl.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl, protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

firmware/mini_v/motor_driver/lib/protolink_msgs/proto/hardware_communication_msgs__MotorControl.pb.h

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+/* Automatically generated nanopb header */
+/* Generated by nanopb-1.0.0-dev */
+
+#ifndef PB_PROTOLINK__HARDWARE_COMMUNICATION_MSGS__MOTORCONTROL_PROTO_HARDWARE_COMMUNICATION_MSGS__MOTORCONTROL_PB_H_INCLUDED
+#define PB_PROTOLINK__HARDWARE_COMMUNICATION_MSGS__MOTORCONTROL_PROTO_HARDWARE_COMMUNICATION_MSGS__MOTORCONTROL_PB_H_INCLUDED
+#include <pb.h>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl {
+    double motor_speed;
+} protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_init_default {0}
+#define protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_init_zero {0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_motor_speed_tag 1
+
+/* Struct field encoding specification for nanopb */
+#define protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, DOUBLE,   motor_speed,       1)
+#define protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_CALLBACK NULL
+#define protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_DEFAULT NULL
+
+extern const pb_msgdesc_t protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_fields &protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_msg
+
+/* Maximum encoded size of messages (where known) */
+#define PROTOLINK__HARDWARE_COMMUNICATION_MSGS__MOTORCONTROL_PROTO_HARDWARE_COMMUNICATION_MSGS__MOTORCONTROL_PB_H_MAX_SIZE protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_size
+#define protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_size 9
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

firmware/mini_v/motor_driver/lib/protolink_msgs/proto/hardware_communication_msgs__MotorControl.proto

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+syntax = "proto3";
+package protolink__hardware_communication_msgs__MotorControl;
+
+message hardware_communication_msgs__MotorControl {
+double motor_speed = 1;
+}

firmware/mini_v/motor_driver/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:teensy41]
+platform = teensy
+board = teensy41
+framework = arduino
+lib_deps = nanopb/Nanopb@^0.4.91
+lib_dir=lib

firmware/mini_v/motor_driver/src/main.cpp

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+#include <Arduino.h>
+#include <Servo.h>
+#include <proto/hardware_communication_msgs__MotorControl.pb.h>
+#include "pb_encode.h"
+#include "pb_decode.h"
+#include <NativeEthernet.h>
+#include <NativeEthernetUdp.h>
+
+byte mac[] = {
+  0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED
+};
+IPAddress ip(192, 168, 1, 100);
+unsigned int localPort = 8888;      // local port to listen on
+// An EthernetUDP instance to let us send and receive packets over UDP
+EthernetUDP Udp;
+
+// buffers for receiving and sending data
+uint8_t packetBuffer[UDP_TX_PACKET_MAX_SIZE];  // buffer to hold incoming packet,
+
+byte servoPin = 41;
+Servo servo;
+
+void setup() {
+	servo.attach(servoPin);
+
+	servo.writeMicroseconds(1500); // send "stop" signal to ESC.
+
+	delay(7000); // delay to allow the ESC to recognize the stopped signal
+
+  Ethernet.begin(mac, ip);
+  if (Ethernet.hardwareStatus() == EthernetNoHardware) {
+    Serial.println("Ethernet shield was not found.  Sorry, can't run without hardware. :(");
+    while (true) {
+      delay(1); // do nothing, no point running without Ethernet hardware
+    }
+  }
+  if (Ethernet.linkStatus() == LinkOFF) {
+    Serial.println("Ethernet cable is not connected.");
+  }
+  // start UDP
+  Udp.begin(localPort);
+
+}
+
+void loop() {
+  int packetSize = Udp.parsePacket();
+  if (packetSize) {
+    const size_t num_bytes = Udp.read(packetBuffer, UDP_TX_PACKET_MAX_SIZE);
+    pb_istream_t pb_stream = pb_istream_from_buffer(packetBuffer, num_bytes);
+    protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl msg 
+      = protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_init_zero;
+    if(pb_decode(&pb_stream, protolink__hardware_communication_msgs__MotorControl_hardware_communication_msgs__MotorControl_fields, &msg)) {
+      int signal = (int)(constrain(msg.motor_speed, -1.0, 1.0) * 400.0 + 1500.0);
+      servo.writeMicroseconds(constrain(signal, 1100, 1900));
+    }
+  }
+}

firmware/mini_v/motor_driver/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