- serial: https://github.com/wjwwood/serial - for now we build this from source in our catkin_ws
The concept is to build this drive along with the Microstrain SDK (Version 1.1). Currently the repo contains the SDK files,
but in the future, it might make sense to not include them - or to substitute a newer version.
Here are the steps I took to build the code...
- Dowload the zip archive "MIP C Code Sample for Windows and Linux Version 1.1" from the Microstrain website
- Extract the archive into the directory "MIPSDK". The first directory in MIPSDK should be "C"
- In C/Library/User Functions/mip_sdk_user_functions.c, comment out the line "#include <windows.h>
- cd catkin_sw
- catkin_make
The mip_sdk_user_functions are C functions that need to be called by various parts of the SDK. The main purpose of these functions is to implement the platform-specific serial (RS232) port elements. The prototype serial port open function takes the COM number as an integer input - which is clunky for Linux serial ports. Changed this to take a string defining the port (e.g., /dev/ttyS0), but this necessitated also modifying the mip_sdk_interface.[ch] files, since this is what is called by the application - changed the mip_interface_init function to accept a string argument for specifying the port.