This project contains a number of firmware packages for a RaspberryPi Pico micro controller.
Each firmware package is a subdirectory of the project src directory, and they each draw to a varying extent on
common code in the src/common subdirectory.
All packages a build using the Pico c/c++ SDK.
The packages trace my experience and experiments coming to grips with using a Pi Pico micro controller and most of them are simple experiments of tests.
The latest step in that development is the package called bridge.
In addition to implementing some simple control functions for a differential drive wheeled robot it also provides the micro controller end of a ROS2-serial_bridge.
See https://github.com/robertblackwell/ros2-serial-bridge.git for details of the other end of the link.
The firmware packages are built in the standard CMake manner.
rm -rf build
mkdir build
cd build
cmake ..
make
This will require the Pico c/c++ SDK on your system and the
that special PICO_.... environment variables are set. See the SDK documentation for details.
Again this is standard-operating-procedure.
Find the relevant uf2 file in build/src/<package-name>/<package>.uf2.
Put the Pico ito mass storage mode (reset, disconnect, re-connect).
Copy the desired package to the Pico on y linux machine that looks like (from within the build dirrectory).
cp src/bridge/bridge.uf2 /media/user-name/RPI-RP2/The Pico will reboot and start running the firmware.
There are a number of directories with names of the form src/test_??????. These are not unit tests
in the usual sense. They are simply firmware programs that when loaded into a Pico
exercise various functions and interact with a human through (typically) the serial monitor of an
Arduino IDE.
The directories tests_local_c_only is historical and will be deleted soon.
The directory tests_on_hosts provides tests ro experiments for some of the code in src/common and those tests run
in a standard Linux environment. Notice it has a standalone CmakeLists.txt file.