Flashing firmware on the Pi Pico
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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
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
| 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) |