💾 CyphalPicoBase/CAN-firmware

Firmware for the CyphalPicoBase/CAN board. You can buy one here 💸.

How-to-build/upload

This firmware relies on the excellent work of Earle F. Philhower, III to create an arduino integration with the Raspberry Pi Pico SDK (as opposed to the Mbed-based integration). You'll need to install this first to build. Instructions can be found in the arduino-pico documentation but the TLDR is:

arduino-cli config add board_manager.additional_urls https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
arduino-cli core update-index
arduino-cli core install rp2040:rp2040

Next you'll need to install the libraries this firmware depends on:

arduino-cli lib update-index
arduino-cli lib install 107-Arduino-Debug 107-Arduino-MCP2515 107-Arduino-UniqueId 107-Arduino-24LCxx 107-Arduino-littlefs
arduino-cli lib install 107-Arduino-Cyphal-Support 107-Arduino-Cyphal
arduino-cli lib install "Adafruit NeoPixel"

Now you should be able to build.

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.

Platform.io

This repository also allows you to build using platform.io. The platformio.ini has all the details and it should "just work™".

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