jhu-dvrk/dESSJ-firmware

Firmware for dESSJ

The dEESJ board is used in the S/Si SUJs. These boards provide:

• Pass-through for the serial communication (LVDS) between the dVRK controller and the arm (ESPM)
• SUJ potentiometer sampling using an Arduino board with BlueTooth (BLE) to communicate with the PC

Build environment

1. Install arduino-cli.

   Follow instructions from: https://arduino.github.io/arduino-cli/0.23/installation/

2. plug in the arduino, check if arduino-cli sees it.

   arduino-cli board list

   Expect something like this

   Port         Protocol Type              Board Name          FQBN                        Core             
   /dev/ttyACM0 serial   Serial Port (USB) Arduino Nano 33 BLE arduino:mbed_nano:nano33ble arduino:mbed_nano
   

3. Install the board and library

   arduino-cli core install arduino:mbed_nano
   arduino-cli lib install ArduinoBLE

Compile

cd into this directory.

arduino-cli compile -b arduino:mbed_nano:nano33ble .

Upload the firmware to board

Connect the dEESJ arduino board to your PC using a USB to micro-USB cable.

arduino-cli upload -b arduino:mbed_nano:nano33ble -p /dev/ttyACM0

Replace /dev/ttyACM0 with the serial port that the arduino is on.

If you cannot upload, press the button on the arduino twice. You should see a fading yellow light, indicating the bootloader is running.

Serial monitor

You can use any serial monitor program to look at the serial output. The baud rate does not matter, because everything is native USB and no actual UART happens.

arduino-cli monitor -p /dev/ttyACM0