Communication Bridge

The MCU needs communication capabilities over a serial link, connected to the RPI.

The communication protocol must allow for exchange of data such that:

Test/Debug mode:

• Echo of messages received

Live/Operable mode:

• Acknowledgement of connection/operability to/of the RPI upon receiving a boot message.
• Target rear wheel velocities can be transmitted from the RPI
• Movement halt (Break, EM stop) can be transmitted from the RPI
• Current rear wheel velocities can be transmitted from the MCU

The communication protocol should allow for expansion to allow for exchange of data such that:

• MCU speed control can be configured dynamically from the RPI
• Current draw of the motors transmitted from the MCU