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<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: l3xz-aux-ctrl-firmware

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Firmware for the L3X-Z auxiliary controller which is based on the CyphalPicoBase/CAN board.

<p align="center"> <a href="https://github.com/107-systems/l3xz"><img src="https://raw.githubusercontent.com/107-systems/.github/main/logo/l3xz-logo-memento-mori-github.png" width="40%"></a> </p>

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 status of ESTOP via yakut (cyphal.pub.estop.id = 2001):

y sub 2001:uavcan.primitive.scalar.Bit.1.0 --with-metadata

Set RGB led colour via yakut (cyphal.sub.light_mode.id = 2002, 1 = RED):

y pub -N1 2002:uavcan.primitive.scalar.Integer8.1.0 1