{"id":33609484,"url":"https://github.com/manafishrov/microcontroller-firmware","last_synced_at":"2026-01-13T11:00:46.067Z","repository":{"id":326890744,"uuid":"1102612036","full_name":"manafishrov/microcontroller-firmware","owner":"manafishrov","description":"The firmware running on the Raspberry Pi Pico for communication between the electronic speed controllers (ESCs) and the main firmware.","archived":false,"fork":false,"pushed_at":"2026-01-10T10:18:46.000Z","size":105,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-01-11T03:19:40.909Z","etag":null,"topics":["c","clang","dshot","pico-sdk","pwm"],"latest_commit_sha":null,"homepage":"","language":"C","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"agpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/manafishrov.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-11-23T19:11:39.000Z","updated_at":"2026-01-10T10:18:46.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/manafishrov/microcontroller-firmware","commit_stats":null,"previous_names":["manafishrov/microcontroller-firmware"],"tags_count":4,"template":false,"template_full_name":null,"purl":"pkg:github/manafishrov/microcontroller-firmware","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/manafishrov%2Fmicrocontroller-firmware","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/manafishrov%2Fmicrocontroller-firmware/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/manafishrov%2Fmicrocontroller-firmware/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/manafishrov%2Fmicrocontroller-firmware/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/manafishrov","download_url":"https://codeload.github.com/manafishrov/microcontroller-firmware/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/manafishrov%2Fmicrocontroller-firmware/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28383958,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-13T10:34:27.190Z","status":"ssl_error","status_checked_at":"2026-01-13T10:34:26.289Z","response_time":56,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["c","clang","dshot","pico-sdk","pwm"],"created_at":"2025-11-30T19:03:17.594Z","updated_at":"2026-01-13T11:00:46.058Z","avatar_url":"https://github.com/manafishrov.png","language":"C","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Microcontroller Firmware\n\nFirmware for the Raspberry Pi Pico used in the Manafish ROV to control thrusters.\nIt supports two control protocols:\n\n- DShot (digital ESC control)\n- PWM (analog ESC control)\n\nAll development dependencies are included in the firmware environment on the\nManafish Pi, so you can develop directly on the device.\n\n## Prerequisites\n\n- Raspberry Pi Pico SDK (automatically fetched by CMake)\n- clang-format and clang-tidy\n- picotool for flashing\n- arm-none-eabi-gcc toolchain\n- CMake and Make\n- picocom for debugging\n\nIf you have **[Nix](https://nixos.org/)** and **[direnv](https://direnv.net/)** installed:\n\n1. Enter the directory: `cd microcontroller-firmware`\n2. Run `direnv allow`\n\nThis will automatically download and configure the Pico SDK, ARM toolchain,\nClang tools, and CMake.\n\n## Building and Flashing\n\nThe project uses CMake to configure the build. The Pico SDK is downloaded\nautomatically on first build.\n\n### Commands\n\nRun `make help` to list all available targets.\n\nKey targets include:\n\n- `make build` – Build DShot and PWM firmware\n- `make flash-dshot` – Build and flash DShot firmware\n- `make flash-pwm` – Build and flash PWM firmware\n- `make clean` – Remove build directory\n- `make format` – Format source code\n- `make format-check` – Verify formatting (useful for CI)\n- `make lint` – Lint and auto-fix C code\n- `make lint-check` – Check C code lint\n\n### Build Output\n\nCompiled `.uf2` files appear in:\n\n- build/src/dshot/dshot.uf2\n- build/src/pwm/pwm.uf2\n\n### Flashing\n\nUse `make flash-dshot` or `make flash-pwm`. Flashing works regardless of whether\nthe Pico is in BOOTSEL mode—the device reboots automatically as needed.\n\n## Debugging\n\nThe firmware outputs debug messages via USB CDC. Use a serial monitor\nlike `picocom` to debug:\n\n1. Find the Pico's serial port:\n\n   ```sh\n   ls /dev/ttyACM*  # Linux\n   ls /dev/tty.usbmodem*  # Darwin\n   ```\n\n2. Connect to the device:\n\n   ```sh\n   # Linux\n   picocom -b 115200 /dev/ttyACM0\n\n   # Darwin\n   picocom -b 115200 /dev/tty.usbmodem*\n   ```\n\n3. Exit with **Ctrl+A**, then **K** and confirm.\n\n## License\n\nThis project is licensed under the GNU Affero General Public License\nv3.0 or later - see the [LICENSE](LICENSE) file for details.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmanafishrov%2Fmicrocontroller-firmware","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmanafishrov%2Fmicrocontroller-firmware","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmanafishrov%2Fmicrocontroller-firmware/lists"}