Summary

• can2040 was not stable enough for use on the robot. I got a lot of error messages / resent messages when communicating with computer as well as with the real motor. Switching to SPIne.

Setup

• Install toolchain
• Download Pico SDK and set PICO_SDK_PATH environment variable (or uncomment the line in the CMakeLists.txt so that it's automatically downloaded)

Problem

I can't build!

Edit: Resolved by doing extern "C" {#include "can2040.h"}. I hate you GCC. I hate you C++. I hate you C. I want 3 hours of my life back.

Steps:

1. mkdir build; cd build
2. cmake ..
3. make
4. I get the following

/opt/homebrew/Cellar/arm-none-eabi-gcc/10.3-2021.07/gcc/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: CMakeFiles/test_can.dir/test_can.cc.obj: in function `PIOx_IRQHandler()':
/Users/nathankau/rp2040-can-test/test_can.cc:20: undefined reference to `can2040_pio_irq_handler(can2040*)'
/opt/homebrew/Cellar/arm-none-eabi-gcc/10.3-2021.07/gcc/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: CMakeFiles/test_can.dir/test_can.cc.obj: in function `canbus_setup()':
/Users/nathankau/rp2040-can-test/test_can.cc:30: undefined reference to `can2040_setup(can2040*, unsigned long)'
/opt/homebrew/Cellar/arm-none-eabi-gcc/10.3-2021.07/gcc/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: /Users/nathankau/rp2040-can-test/test_can.cc:31: undefined reference to `can2040_callback_config(can2040*, void (*)(can2040*, unsigned long, can2040_msg*))'
/opt/homebrew/Cellar/arm-none-eabi-gcc/10.3-2021.07/gcc/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: /Users/nathankau/rp2040-can-test/test_can.cc:39: undefined reference to `can2040_start(can2040*, unsigned long, unsigned long, unsigned long, unsigned long)'
collect2: error: ld returned 1 exit status