:floppy_disk: CyphalRobotController07/CAN-firmware

Firmware for the CyphalRobotController07/CAN board.

Installation of Arduino libraries

arduino-cli lib install 107-Arduino-Cyphal \
                        107-Arduino-Cyphal-Support \
                        107-Arduino-MCP2515 \
                        107-Arduino-littlefs \
                        107-Arduino-24LCxx \
                        rp2040-encoder-library \
                        RPI_PICO_TimerInterrupt \
                        107-Arduino-Debug \
                        "Adafruit NeoPixel"

How-to-build/upload

arduino-cli compile -b rp2040:rp2040:rpipico -v .
arduino-cli upload -b rp2040:rp2040:rpipico -v . -p /dev/ttyACM0

or

arduino-cli compile -b rp2040:rp2040:rpipico -v . --build-property compiler.cpp.extra_flags="-DCYPHAL_NODE_INFO_GIT_VERSION=0x$(git rev-parse --short=16 HEAD)"

Adding argument --build-property compiler.cpp.extra_flags="-DCYPHAL_NODE_INFO_GIT_VERSION=0x$(git rev-parse --short=16 HEAD)" allows to feed the Git hash of the current software version to 107-Arduino-Cyphal stack from where it can be retrieved via i.e. yakut.

How-to-yakut

Install and configure yakut:

. setup_yakut.sh