debug teensy

[Wu Jiang]

Wondering if you guys know any good ways to debug teensy board. After I changed some code in firmware, I got this message:

Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino.

It must be my changes that causes teensy crash.

[Juan Miguel Jimeno]

Can the Teensy get connected?

If so, then most likely it's in the main loop. This usually happens when you're trying to publish in a faster rate( ie publishing multiple sensor readings continuously without controlling the polling rate) . Or something's hogging the code befor a publisher publish your message ( ie publishing IMU data but there's no IMU connected in the pin and it's waiting for the IMU data).

[Wu Jiang]

I figured out the problem. The IMU library (https://github.com/sparkfun/SparkFun_MPU-9250_Breakout_Arduino_Library/blob/113e836e989699913660c60bacda12da4a919c91/src/MPU9250.cpp#L25) I'm using has Wire.begin();

[Wu Jiang]

Also, I found minicom is very useful for debugging teensy.