Ti comm dev

.gitattributes

@@ -0,0 +1 @@
+

.gitignore

@@ -8,12 +8,11 @@
 # Editor files
 .vscode/**
 
-# PCB temporary and old files
-/PCB/temp/**
-/PCB/PCB_old/**
-
 # Misc.
 /src/slam_mode_goal/.idea/**
 /src/sbg_to_imu/.idea/**
 /src/kart_setup_odom_tf/.idea/**
+/src/ti_comm/src/libserialport/**
+/src/ti_comm/src/*.txt
+/src/ti_comm/src/debug_**
 

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/ti_comm/src/libserialport"]
+	path = src/ti_comm/src/libserialport
+	url = https://github.com/sigrokproject/libserialport.git

README.md

@@ -11,8 +11,14 @@ rosdep install --from-paths src --ignore-src -r -y
 To learn more about [rosdep](http://wiki.ros.org/rosdep), check out the [ROS wiki](http://wiki.ros.org/rosdep).
 
 ## Building
+#### ROS
 As mentioned in the [ROS core tutorials on building packages](http://wiki.ros.org/ROS/Tutorials/BuildingPackages), run the following two commands at the top of the directory (in AMP-v1) to build each of the ROS packages in our project.
 ```
 catkin_make
 source devel/setup.bash
 ```
+#### LIBSERIALPORT
+At the top of each branch your want to build the library for you should run the following command and then refer to the readme in src/ti_comm/src
+```
+git submodule update --init --recursive
+```

src/ti_comm/src/Makefile

@@ -1,19 +1,22 @@
-# Compiler Option
-CC = g++
+WARNING = -Wall -Wshadow --pedantic
+ERROR = -Wvla -Werror
+GCC = g++ -std=c++11 -lstdc++ -lm
+PKG_CONFIG = pkg-config
+CFLAGS = -g $(WARNING) $(ERROR) $(shell $(PKG_CONFIG) --cflags libserialport)
+LIBS = $(shell $(PKG_CONFIG) --libs libserialport)
 
-# Compiler Flags
-CFLAGS = -g -Wall
+TESTFLAGS = -DDEBUG=1 -DDEBUG_TX=1 -DDEBUG_RX=1 
+SOURCES = $(wildcard *.cpp)
 
-default: all
+BINARIES = $(SOURCES:.cpp=)
 
-all: amp_serial_jetson.o libserialport-0.1.0/serialport.o libserialport-0.1.0/linux_termios.o
-	$(CC) $(CFLAGS) -o amp_serial_jetson amp_serial_jetson.o libserialport-0.1.0/serialport.o libserialport-0.1.0/linux_termios.o -ludev
+%: %.cpp
+	$(GCC) $(CFLAGS) $< $(LIBS) -o $@
 
-amp_serial_jetson.o: amp_serial_jetson.cpp amp_serial_jetson.h util.h amp_err.h
-	$(CC) $(CFLAGS) -c amp_serial_jetson.cpp
+debug_%: %.cpp
+	$(GCC) $(CFLAGS) $(TESTFLAGS) $< $(LIBS) -o $@
 
-sample_publisher: sample_publisher.o
-	$(CC) $(CFLAGS) -o sample_publisher sample_publisher.o
+all: $(BINARIES)
 
-sample_publisher.o: sample_publisher.cpp
-	$(CC) $(CFLAGS) -c sample_publisher.cpp
+clean:
+	rm $(BINARIES)

src/ti_comm/src/README.md

@@ -0,0 +1,10 @@
+How to Build Libserialport
+1. Add Submodule From Root
+* git submodule update --recursive
+2. Build Library
+* ./autogen.sh
+* ./configure
+* make
+* sudo make install
+3. Add Library to Path
+* 

src/ti_comm/src/amp_err.h

@@ -12,21 +12,22 @@
  * Contains the pertinent error codes regarding serial transmission.
  */
 typedef enum amp_err_code_t {
-    AMP_ERROR_NONE       =  1,                              // successful operation
+    AMP_ERROR_NONE        =  1,                              // successful operation
 
     // Errors Regarding Serial Transmission (-1 -> -20)
-    AMP_SERIAL_ERROR_RX_TIMEOUT = -1,                       // timed out waiting for data
-    AMP_SERIAL_ERROR_CRC        = -2,                       // indicates bad crc (invalid rx bytes)
-    AMP_SERIAL_ERROR_RX_NO_STOP = -3,                       // no stop byte received
-    AMP_SERIAL_ERROR_INIT       = -4,                       // initialization errors
-    AMP_SERIAL_ERROR_TX         = -5,                       // transmission issues
-    AMP_SERIAL_ERROR_RX         = -6,                       // receive issues
+    AMP_SERIAL_ERROR_RX_TIMEOUT  = -1,                       // timed out waiting for data
+    AMP_SERIAL_ERROR_CRC         = -2,                       // indicates bad crc (invalid rx bytes)
+    AMP_SERIAL_ERROR_RX_NO_STOP  = -3,                       // no stop byte received
+    AMP_SERIAL_ERROR_RX_NO_START = -3,                       // no start byte received
+    AMP_SERIAL_ERROR_INIT        = -4,                       // initialization errors
+    AMP_SERIAL_ERROR_TX          = -5,                       // transmission issues
+    AMP_SERIAL_ERROR_RX          = -6,                       // receive issues
 
     // Error Regarding PWM Module (-21 -> -40)
-    AMP_PWM_ERROR_BOUNDS        = -21,                      // PWM Value out of Bounds
+    AMP_PWM_ERROR_BOUNDS         = -21,                      // PWM Value out of Bounds
 
     // Errors Regarding DAC Module (-41 - 60)
-    AMP_DAC_ERROR_BOUNDS        = -41                       // DAC Value out of Bounds (12 Bit)
+    AMP_DAC_ERROR_BOUNDS         = -41                       // DAC Value out of Bounds (12 Bit)
 } amp_err_code_t;
 
 #endif /* SRC_AMP_ERR_H_ */