Awesome
<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a>
:floppy_disk: CyphalPicoBase/CAN-firmware
<a href="https://opencyphal.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/opencyphal.svg" width="25%"></a>
Firmware for the CyphalPicoBase/CAN board. You can buy one here 💸.
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
Obtain value of digital input 0 using yakut (cyphal.pub.input0.id = 1001):
y sub 1001:uavcan.primitive.scalar.Bit.1.0 --with-metadata
Quickstart
How-to-configure the Node-ID
Set cyphal.node.idto the desired value, for example 30.
y r 0 cyphal.node.id 30
Store settings to eeprom and restart controller.
y cmd 0 store
y cmd 0 restart
How-to-control the built-in LED
How to control the built-in LED on the Raspberry Pi Pico.
Set cyphal.sub.led1.idto a value different than 65535, for example 100.
y r 30 cyphal.sub.led1.id 100
Store settings to eeprom and restart controller.
y cmd 30 store
y cmd 30 restart
Turn LED on by publishing to Subject-ID 100
y pub -N 1 100:uavcan.primitive.scalar.Bit.1.0 true
Turn LED off by publishing to Subject-ID 100
y pub -N 1 100:uavcan.primitive.scalar.Bit.1.0 false
How-to-control a digital output
How to control digital output 0 and digital output1 of the CyphalPicoBase-CAN.
Set cyphal.sub.output0.idto a value different than 65535, for example 200.
y r 30 cyphal.sub.output0.id 200
Store settings to eeprom and restart controller.
y cmd 30 store
y cmd 30 restart
Turn digital output 0 on by publishing to Subject-ID 200
y pub -N 1 200:uavcan.primitive.scalar.Bit.1.0 true
Turn digital output 0 off by publishing to Subject-ID 200
y pub -N 1 200:uavcan.primitive.scalar.Bit.1.0 false
How-to-control a servo PWM output
How to control the servo PWM outputs 0 and 1 of the CyphalPicoBase-CAN.
Set cyphal.sub.servo0.idto a value different than 65535, for example 300.
y r 30 cyphal.sub.servo0.id 300
Store settings to eeprom and restart controller.
y cmd 30 store
y cmd 30 restart
Turn servo to a dedicated position by publishing to Subject-ID 300. Possible values are between 800 and 2200. Others will be dismissed.
y pub -N 1 300:uavcan.primitive.scalar.Integer16.1.0 1500
Register list
| Name | Type | Default Value | Description |
|---|---|---|---|
| cyphal.node.description | rw | CyphalPicoBase-CAN | Node description |
| cyphal.node.id | rw | 0 | Node id (max 127) |
| cyphal.pub.analoginput0.id | rw | 65535 | Subject-ID (publish) for analog input 0 |
| cyphal.pub.analoginput0.type | ro | cyphal.primitive.scalar.Integer16.1.0 | |
| cyphal.pub.analoginput1.id | rw | 65535 | Subject-ID (publish) for analog input 1 |
| cyphal.pub.analoginput1.type | ro | cyphal.primitive.scalar.Integer16.1.0 | |
| cyphal.pub.input0.id | rw | 65535 | Subject-ID (publish) for digital input 0 |
| cyphal.pub.input0.type | ro | cyphal.primitive.scalar.Bit.1.0 | |
| cyphal.pub.input1.id | rw | 65535 | Subject-ID (publish) for digital input 1 |
| cyphal.pub.input1.type | ro | cyphal.primitive.scalar.Bit.1.0 | |
| cyphal.pub.input2.id | rw | 65535 | Subject-ID (publish) for digital input 2 |
| cyphal.pub.input2.type | ro | cyphal.primitive.scalar.Bit.1.0 | |
| cyphal.pub.input3.id | rw | 65535 | Subject-ID (publish) for digital input 3 |
| cyphal.pub.input3.type | ro | cyphal.primitive.scalar.Bit.1.0 | |
| cyphal.pub.inputvoltage.id | rw | 65535 | Subject-ID (publish) for input voltage |
| cyphal.pub.inputvoltage.type | ro | cyphal.primitive.scalar.Real32.1.0 | |
| cyphal.pub.internaltemperature.id | rw | 65535 | Subject-ID (publish) for internal temp |
| cyphal.pub.internaltemperature.type | ro | cyphal.primitive.scalar.Real32.1.0 | |
| cyphal.sub.led1.id | rw | 65535 | Subject-ID (subscribe) for led1 |
| cyphal.sub.led1.type | ro | cyphal.primitive.scalar.Bit.1.0 | |
| cyphal.sub.lightmode.id | rw | 65535 | Subject-ID (subscribe) for light mode |
| cyphal.sub.lightmode.type | ro | cyphal.primitive.scalar.Integer8.1.0 | |
| cyphal.sub.output0.id | rw | 65535 | Subject-ID (subscribe) for digital output 0 |
| cyphal.sub.output0.type | ro | cyphal.primitive.scalar.Bit.1.0 | |
| cyphal.sub.output1.id | rw | 65535 | Subject-ID (subscribe) for digital output 1 |
| cyphal.sub.output1.type | ro | cyphal.primitive.scalar.Bit.1.0 | |
| cyphal.sub.servo0.id | rw | 65535 | Subject-ID (subscribe) for servo PWM output 0 |
| cyphal.sub.servo0.type | ro | cyphal.primitive.scalar.Integer16.1.0 | |
| cyphal.sub.servo1.id | rw | 65535 | Subject-ID (subscribe) for servo PWM output 1 |
| cyphal.sub.servo1.type | ro | cyphal.primitive.scalar.Integer16.1.0 | |
| pico.update_period_ms.analoginput0 | rw | 500 | Update period for analog input 0 |
| pico.update_period_ms.analoginput1 | rw | 500 | Update period for analog input 1 |
| pico.update_period_ms.input0 | rw | 500 | Update period for digital input 0 |
| pico.update_period_ms.input1 | rw | 500 | Update period for digital input 1 |
| pico.update_period_ms.input2 | rw | 500 | Update period for digital input 2 |
| pico.update_period_ms.input3 | rw | 500 | Update period for digital input 3 |
| pico.update_period_ms.inputvoltage | rw | 3000 | Update period for input voltage |
| pico.update_period_ms.internaltemperature | rw | 10000 | Update period for internal temperature |
| pico.update_period_ms.light | rw | 250 | Update period for light functions |