Introduction

This is a mono repo for autonomy lab firmware team at The Cooper Union for the Advancement of Science and Art.

Repository Structure

AutonomyLab-Firmware/
├── drivers/                    Hardware drivers
│   ├── rp2350/                 RP2350 peripheral drivers
│   │   ├── include/            Register definitions & driver headers
│   │   └── *.c                 Driver implementations
│   └── devices/                External part drivers
├── lib/                        Hardware-independent code
├── examples/                   Small programs that test/demo a driver
├── cmake/                      Shared CMake helpers (pico_sdk_import.cmake)
├── docs/                       This doc
└── .github/workflows/          CI and docs deployment

drivers/

As the name suggests, put drivers here. Keep it baremetal.

• rp2350/ : the chip’s own peripherals (GPIO, PWM, UART, …)
• devices/ : for external parts. One folder per part, named by its part number.
• Name registers and fields as the datasheet does (this reduces confusion).
• Note datasheet section/page in comments where helpful.

lib/

Code that does not touch hardware. It should be able to compile on your machine (not pico) as well.

• If it needs registers -> drivers/
• Only used inside one specific driver -> keep it in that driver
• Shared between drivers or examples -> lib/

examples/

Small programs that show a driver is working, one folder each. Use them to test a driver and document example usage of your driver.

Contributing

Please do not directly commit to main.

1. Pull main and create a branch. For example,

   git switch main && git pull
   git switch -c feature/pwm-driver
   

2. Commit your work to your branch.
3. Open a pull request into main.
4. Get someone else to review and approve.
5. Then merge it.

Conventions

Some conventions has been specified to make potential future integration less painful. This was decided on October 16, 2026.

Branches

Use the following prefixes when creating a branch. Use-kebab-case-for-branch-names.

Code Style

• Format with clang-format using the .clang-format on the root.
• Use fixed-width integer types.
• Yes typedef for all the structs
• we are using snake_case

Writing Docs

1. Install mdbook.
   • for Macos: brew install mdbook
   • main documentation: https://rust-lang.github.io/mdBook/guide/installation.html
     Sorry if you are using different OS, you can add some documentation for your OS here…
2. To add a page, create a .md file in docs/src/ and list it in SUMMARY.md.
3. Preview from the repo root

   mdbook serve docs --open
   

4. Clean the build output:

   mdbook clean docs