willmac16/kocherga-pico

kocherga-pico's Issues

Hardfault on Node ID Alloc

HardFault_Handler@0x100001c4 (~/pico-kocherga/sdk/pico-sdk/src/rp2_common/pico_standard_link/crt0.S:98)
<signal handler called>@0xfffffff9 (Unknown Source:0)
vtable for Can2040Driver@0x20019724 (Unknown Source:0)
kocherga::can::CANNode::poll@0x200003ec (~/pico-kocherga/lib/kocherga/kocherga/kocherga_can.hpp:2295)
kocherga::detail::Presenter::poll@0x200021f8 (~/pico-kocherga/lib/kocherga/kocherga/kocherga.hpp:630)
kocherga::Bootloader::poll@0x20004c30 (~/pico-kocherga/lib/kocherga/kocherga/kocherga.hpp:1126)
main@0x20004c30 (~/pico-kocherga/hello-kocherga/hello-kocherga.cpp:408)

Add support for NodeIDAllocation in app

• Implement w/ Cyphal++ based off of the pub_reg documentation
• Move to a 107-Arduino-Cyphal util file

Improve Update Rate

App image updates appear to be severely limited by flash interaction.

• Increasing size of flash writes
• Moving flash writes to core1
• Consolidating flash erases/pre-erasing most of the image space
• Writing to ram and avoiding writing to flash until endWrite()

Correctly configure the Watchdog

I might need to abandon the _wfe() based wait in main or add in a repeating timer to wake up for heartbeat.

Use `flash_get_unique_id()` to Generate UID

• Modify picoBoardInfo
• Modify NodeInfo Constructor (make sure call is before core1 is launched)

Characterize and Fix Failure to launch upon Update

• Update triggering in the app works; however, the entire update process does not appear to be successful