This section is intended for developers of the LUCIDAC, who are looking to adapt and build the firmware themselves.

Follow the respective platformio (pio in short) documentations to install the required dependencies and tools for developement.

Follow https://docs.platformio.org/en/latest/core/installation/methods/installer-script.html#installation-installer-script for Linux & Commandline. You can also use the platformio from your respective plattform (for instance apt-get install platformio on Ubuntu). For the VSCode IDE integration, see https://docs.platformio.org/en/latest/integration/ide/vscode.html

Linux-relevant hints for Teensy via USB

When you start on a fresh Linux PC, you need to make sure to be able to reach out to the Teensy via USB via the /dev/ttyACM0 file. You can grab them at https://www.pjrc.com/teensy/00-teensy.rules . You should also ensure to be in the correct user group to access this file; after adding yourself to the group (such as sudo gpasswd -a YOUR-LOCAL-USERNAME dialout), you have to sign out and sign in again on your desktop.

Sometimes this still doesn't work and you have to prepend pio calls that upload with sudo. If this doesn't work because you have PlatformIO installed as a user and not system-wide, you can use sudo -E env pio ... in order to export/expose your python environment to the sudo call.

Hello World from the test suite

When you start with pio, make sure to always run it from the root directory of this repository. You can make a first hello world with this command:

pio test -v --filter integrated/test_sinusoidal

For other tests, try pio test --list-tests.

Hint: On some systems you have to run the tests with sudo while the regular uploading and monitoring does not require sudo.

Using the actual TCP/IP main code

Make sure the IP adress written in src/main.cpp is connectable for you (i.e. you are in the same network).

Use the IDE plugin or run pio run --target=upload.

You can monitor the serial output for debugging at pio device monitor which prints the IP and Mac address the device is listening on. Use this way or arp to detect the Mac address of your teensy network interface.

For testing the network access ("hello world"), you can ping the Teensy and also use the following code in your local terminal:

(echo '{ "_id": 42, "_type": "get_config", "msg": { "entity": ["04-E9-E5-14-74-BF"], "recursive": true } }'; sleep 1) | nc 123.456.789.123 5732

In order to use this code, you have to replace the Mac addrress 04-E9-E5-14-74-BF by the one from your teensy and the IP adress by the one you are using. You can leave the TCP port 5732 as is.

You should get some output like this one:

{"id":"null","type":"get_config","msg":{"entity":["04-E9-E5-0D-CB-93"],"config":{"/0":{"/M0":{"elements":[{"ic":-1,"k":10000},{"ic":-1,"k":10000},{"ic":-1,"k":10000},{"ic":-1,"k":10000},{"ic":-1,"k":10000},{"ic":-1,"k":10000},{"ic":-1,"k":10000},{"ic":-1,"k":10000}]},"/M1":{},"/U":{"outputs":[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null]},"/C":{"elements":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]},"/I":{"outputs":[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null]}}}}}

Debugging

Debugging with PlatformIO (TODO: Move me)

Because of the ArduinoFake implementation it is possible to use the full PlatformIO debugging capabilities.

Debugging on MacOS with VSCode (using lldb)

To properly use the debug mode provided by VSCode, you need to modify the launch.json file, that configures the debug process. To access the file, first open the Run and Debug menu in VSCode. Then click on the small gear labeled ‘Open 'launch.json’(probably on the top of the window). Then amend theconfigurations` tag by this code:

{
    "name": "LUCIDAC Debug",
    "type": "cppdbg",
    "request": "launch",
    "program": "${workspaceFolder}/.pio/build/native/program",
    "args": [],
    "stopAtEntry": false,
    "cwd": "${fileDirname}",
    "environment": [],
    "externalConsole": false,
    "MIMode": "lldb",
    "preLaunchTask": {
        "type": "PlatformIO",
        "task": "Pre-Debug"
    }
}

Now you should see a new debugging target called LUCIDAC Debug in the respective dropdown menu (probably next to the small gear icon). After selecting this target, you can start the debugging process.