OpenCR firmware iSerial

[LucidOne]

The OpenCR USB iSerial should be unique / configurable.

At some point in the near future, someone is going to want to attach two arms with OpenCR boards to a single machine. This will require that each device can be uniquely identified.

Since there are at least 6 bytes available, perhaps it also makes sense to encode the firmware version in the first 2 bytes of iSerial to deal with #163

012A = 0.1.2A
Major Version = 0
Minor Version = 1
Patch Version = 47
Version 0.1.47

[OpusK]

Hi, @LucidOne

I will discuss this issue with the team, including issues #161 and #163.

[LucidOne]

To clarify instead of iSerial = FFFFFFFEFFFF below it should have a unique id.

#  lsusb -v -d 0483:5740

Bus 002 Device 004: ID 0483:5740 STMicroelectronics STM32F407
Device Descriptor:
  bLength                18
  bDescriptorType         1
  bcdUSB               2.00
  bDeviceClass            2 Communications
  bDeviceSubClass         0 
  bDeviceProtocol         0 
  bMaxPacketSize0        64
  idVendor           0x0483 STMicroelectronics
  idProduct          0x5740 STM32F407
  bcdDevice            2.00
  iManufacturer           1 ROBOTIS
  iProduct                2 OpenCR Virtual ComPort in FS Mode
  iSerial                 3 FFFFFFFEFFFF
  bNumConfigurations      1
  Configuration Descriptor:
    bLength                 9
    bDescriptorType         2
    wTotalLength           67
    bNumInterfaces          2
    bConfigurationValue     1
    iConfiguration          0 
    bmAttributes         0xc0
      Self Powered
    MaxPower              100mA
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        0
      bAlternateSetting       0
      bNumEndpoints           1
      bInterfaceClass         2 Communications
      bInterfaceSubClass      2 Abstract (modem)
      bInterfaceProtocol      1 AT-commands (v.25ter)
      iInterface              0 
      CDC Header:
        bcdCDC               1.10
      CDC Call Management:
        bmCapabilities       0x00
        bDataInterface          1
      CDC ACM:
        bmCapabilities       0x02
          line coding and serial state
      CDC Union:
        bMasterInterface        0
        bSlaveInterface         1 
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x82  EP 2 IN
        bmAttributes            3
          Transfer Type            Interrupt
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0008  1x 8 bytes
        bInterval              16
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        1
      bAlternateSetting       0
      bNumEndpoints           2
      bInterfaceClass        10 CDC Data
      bInterfaceSubClass      0 Unused
      bInterfaceProtocol      0 
      iInterface              0 
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x01  EP 1 OUT
        bmAttributes            2
          Transfer Type            Bulk
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0040  1x 64 bytes
        bInterval               0
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x81  EP 1 IN
        bmAttributes            2
          Transfer Type            Bulk
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0040  1x 64 bytes
        bInterval               0
Device Status:     0x0001
  Self Powered

[OpusK]

It was decided that development/support would be difficult on this issue.