LEOS Firmware

Firmware for LEOS Raspberry Pi Pico-based boards.

Project Structure

Top-level layout:

• boards/: Board-specific firmware targets (each board/module lives here).
• tools/: Independent testing firmware or software used to support platform development.
• common/: Shared platform code used by board targets.
• cmake/: CMake helper modules and SDK import logic.
• external/: External dependencies and LEOS SDK/cyphal types.
• build/: Generated build output (created after configure/build). Output firmware will all be in build/firmware.

Board executables are defined in boards/CMakeLists.txt. Each board implementation and support files are kept under its board folder (for example, boards/sensor/). Any supporting tools or testing firmware is grouped under the tools/ directory

Building

You can build firmware either with plain CMake or with the helper script.

Option 1: Helper Script

From repository root:

./compile [--target <name>] [--release] [--rebuild] [--install]

Notes:

• Default mode is Debug.
• If --target is omitted, all production firmware targets are built (no tools).
• Use --release for Release builds.
• Use --rebuild to remove and recreate the build/ directory before building.
• --target names are mapped to CMake targets (for example, radio -> leos-radio).
• --install when used with --target will attempt to use picotool to load the firmware onto a board.

Option 2: CMake

If building manually, be sure to initialize all the submodules with

git submodule update --init --recursive

From repository root:

cmake -S . -B build
cmake --build build -j

This generates board artifacts (including .uf2) in the build output directory build/firmware.

Option 3: GitHub Action Artifacts

If you do not want to build locally and just need output files to load onto boards, use GitHub Actions. Each master commit runs a build environment to generate all the executables for download.

From the repository page, navigate to "Actions" and find the latest commit with a green checkmark. If your desired commit or version did not build successfully, then you must build manually or submit a fix for it :)

On the Summary page for an action run, the artifacts section at the bottom has a download link for firmware.zip that has ".uf2" drag-n-drop files ready to be uploaded to Raspberry Pi Picos. Note: These firmwares are built for specific Pico boards that may change from semester to semester or per produced board.