Flashing firmware on the Pi Pico

Very rudimentary for now - check https://www.youtube.com/watch?v=_bImqD-pQSA

How to flash the pi pico from the raspberry pi using openocd

Directly copied from a discord conversation

use the .elf file if flashing via openocd or the uf2 file for flashing via usb mass storage

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J22 jumpers to update pi pico by the raspberry pi

bridge the jumpers like on the right picture (you can leave them like this during normal operation, the idea is that instead of the jumpers you can use an external debugger on those pins as well)

on your raspi do

cd open_mower_ros/utils/scripts/
sudo ./upload_firmware.sh /path/to/your/firmware.elf

Neopixel color

red	during boot
orange - red flashing	emergency mode and ros is disconnected
green - red flashing	emergency mode and ros is connected
steady green	ros is connected and no emergency mode is detected (all voltages are OK, wheels aren't lifted, emergency button is not pressed)