Teensy Setup for OBC

Install Teensyduino

On Arduino IDE, navigate to Files > Preferences. Paste this link into additional boards manager:

https://www.pjrc.com/teensy/package_teensy_bz2_index.json

Then go to Tools > Board > Boards Manager, search for "Teensy" and install package.

Setting up micro-ROS / Libraries

Download the zip folder for microROS Humble Arduino: https://github.com/micro-ROS/micro_ros_arduino/tree/humble

On Arduino, go to Sketch > Include Library > Add .ZIP Library and include the microROS library.

Additional libraries to install:

Ethernet

• https://github.com/vjmuzik/NativeEthernet
• https://github.com/vjmuzik/FNET

GPS

• https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library

IMU

• https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary
• https://github.com/stm32duino/LSM6DSR

TSB

• https://github.com/adafruit/Adafruit_MCP9600/tree/master
• https://github.com/adafruit/Adafruit_BusIO/tree/master

LoRa

• https://github.com/jgromes/RadioLib

micro-ROS Agent

micro-ROS Agent must be installed on the Jetson to communicate with the Teensy.

Instructions to build the package: https://github.com/micro-ROS/micro_ros_setup?tab=readme-ov-file#building

Patch Teensyduino

Windows

Before we can compile/upload code, we need to make some fixes. First, locate your Teensyduino Path. In my case, it was C:\Users\johnn\AppData\Local\Arduino15\packages\teensy

In that folder, go to hardware > avr > 1.58.1 (or whatever version you have) and replace the contents of platform.txt with the following:
raw.githubusercontent.com/micro-ROS/micro_ros_arduino/humble/extras/patching_boards/platform_teensy.txt

Linux

export TEENSYDUINO_VERSION=[Your Teensyduino library version, e.g: 1.58.0]
export ARDUINO_PATH=[Your Arduino + Teensyduino path]
cd $ARDUINO_PATH/hardware/avr/$TEENSYDUINO_VERSION/
curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/humble/extras/patching_boards/platform_teensy.txt > platform.txt