Firmware for the L3X-Z pressure sensor which is based on the CyphalPicoBase/CAN board.
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.
Install and configure yakut
:
. setup_yakut.sh
Obtain pressure sensor value via yakut
(cyphal.pub.pressure_0/1.id
= 6001
, 6002
):
y sub 6001:uavcan.si.unit.pressure.Scalar.1.0 --with-metadata
...
y sub 6002:uavcan.si.unit.pressure.Scalar.1.0 --with-metadata