wip: onboard pid

prj.conf

@@ -17,7 +17,19 @@ CONFIG_GPIO=y
 CONFIG_LED=y
 
 # usb
-CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_SERIAL=y
+CONFIG_UART_LINE_CTRL=y
+CONFIG_USBD_CDC_ACM_CLASS=y
+CONFIG_USB_DEVICE_STACK_NEXT=y
+CONFIG_USBD_CDC_ACM_WORKQUEUE=y
+CONFIG_UDC_WORKQUEUE=y
+CONFIG_UDC_STM32=y
+CONFIG_UDC_STM32_STACK_SIZE=2048
+CONFIG_UDC_WORKQUEUE_STACK_SIZE=2048
+
+# timer
+CONFIG_COUNTER=y
+CONFIG_COUNTER_TIMER_STM32=y
 
 # pwm
 CONFIG_PWM=y
@@ -25,9 +37,14 @@ CONFIG_PWM_STM32=y
 
 # micro ros
 CONFIG_MICROROS=y
-CONFIG_MICROROS_TRANSPORT_FDCAN=y
+CONFIG_MICROROS_XRCE_DDS_MTU="256"
+CONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
+#CONFIG_MICROROS_TRANSPORT_FDCAN=y
 
 # can FD
 CONFIG_CAN=y
 CONFIG_CAN_FD_MODE=y
-CONFIG_CAN_STM32_FDCAN=y
+CONFIG_CAN_STM32_FDCAN=y
+
+# debug
+CONFIG_DEBUG_OPTIMIZATIONS=n