OSAB Vessel Firmware

This is the firmware that runs on the main teensy 4.1 board.

Table Of Contents

• Dependencies
• Folder Structure
• How To Upload
  • Using the Arduino IDE and Teensyduino
  • Using VSCode, VisualTeensy, and Teensyduino
• Contributors

Dependencies

Note: any library forked by PaulStoffrege is required to be the forked version for Teensy compatibility reasons.

• adafruit/Adafruit_LSM303DLHC *Might be replaced by adafruit/Adafruit_LSM303_Accel and adafruit/Adafruit_LSM303DLH_Mag
• adafruit/Adafruit_Sensor
• bblanchon/ArduinoJson
• Open-Source-Autonomous-Boat/NavTools
• PaulStoffregen/PWMServo *Included in Teensyduino
• adafruit/RTClib
• PaulStoffregen/SdFat-beta Note: You have to rename the library folder to SdFat.
• PaulStoffregen/SPI *Included in Teensyduino
• joysfera/arduino-tasker
• mikalhart/TinyGPSPlus
• PaulStoffregen/Wire *Included in Teensyduino

Folder Structure

/cores/teensy4/ Folder contains modified teensy4 core for increased Serial2 read buffer.

/lib/ Folder contains all required libraries and their dependencies.

/src/ Folder contains the source code.

How To Upload

Using the Arduino IDE and Teensyduino

1. Download & install the Arduino IDE.
2. Download & install Teensyduino.
3. Go to your arduino installation folder and open hardware/teensy/avr/cores/teensy4/HardwareSerial2.cpp. Find and change #define SERIAL2_RX_BUFFER_SIZE 64 to #define SERIAL2_RX_BUFFER_SIZE 256.
4. Download and install the following required libraries that are not already included in the Arduino IDE or Teensyduino:
   • mikalhart/TinyGPSPlus *Can not be downloaded using the Arduino IDE library manager
   • Open-Source-Autonomous-Boat/NavTools *Can not be downloaded using the Arduino IDE library manager
   • adafruit/Adafruit_LSM303DLHC
   • adafruit/Adafruit_Sensor (Adafruit_Unified_Sensor)
   • bblanchon/ArduinoJson
   • adafruit/RTClib
5. Download the code in the src folder of this repository and put it in a folder named OSAB or anything you want as long is it follows Arduino's file naming rules. Rename Main.cpp to what you named the folder and add the .ino file extension.
6. In the Arduino IDE, open the OSAB folder containing the code. Connect your Teensy 4.1 to your computer and select the correct port and board type in the Arduino IDE.
7. Upload the code to the Teensy 4.1 by selecting upload in the Arduino IDE.

Using VSCode, VisualTeensy, and Teensyduino

Check out Setting Up This Project For VSCode for more information.

Contributors

• Michael2MacDonald