Firmware for OSU UWRT's RP2040 microcontrollers. Written in C using the Pico SDK.
Read the setup documentation here.
- micro-ROS: Runs ROS, used by the software stack, directly in firmware to simplify application development. Supports multiple transports:
- CAN Bus: Used on all Talos MCUs
- Ethernet: Used on Puddles Backplane
- USB Serial: Useful for early development
- Titan Safety: Core library to ensure all firmware is operating as expected, and give valuable debug information when it is not
- Kill switch management logic to kill all vehicle actuators on kill signal or loss of heartbeat
- Fault reporting system to aggregate all firmware or electrical faults into single location
- Crash reporting features to record reason for last microcontroller reset
- Profiler to track amount of time spent in each section of code
- Tied into hardware watchdog timer to enforce safety execution
- Titan Bootloader: Allows firmware upgrades over primary vehicle computer without needing to open the electronics system (Supports both Ethernet and CAN bus)
- CANmore: Custom CAN bus protocol to allow packets with 128 byte MTU to be sent and reliably re-assembled, with minimal bandwidth overhead
- CANmore CLI: Allows in-vehicle debugging over CAN bus link to view in depth diagnostics and issue low-level commands to debug faults
- Upload Tool: Unified upload tool supporting USB, SWD, and bootloader interfaces, auto-detection of boards, and version reporting to streamline development and deployment
docs/: Documentation for working with Titan Firmwareexamples/: Contains example code as a starting point for new projectslib/: Common code shared across several projects. Libraries are split into driver and titan library types.puddles/: Code for the puddles vehicle microcontrollerstalos/: Code for the talos vehicle microcontrollerstools/: Scripts and applications written to run on the host development system to aid in development and deployment. Contains CanmoreCLI and Upload Tool applications.