RoboHub Pico Platform

Version: 0.2.0

The RP2040 and RP2350 platform for the RoboHub ecosystem: the interfaces
declared by robohub-common, implemented on Raspberry Pi Pico boards, with
board support packages for the Pico boards.

The platform

A Rho program on this platform runs on a Pico. The platform provides the
interfaces, the HAL, and the board support package that registers the board's
peripherals.

Building

cd examples/c/hello_world
rho build -target pico2w .

Flashing

rho flash -target pico2w -project . build/output/hello_world.elf

The platform converts the ELF to UF2 and writes it to the bootrom's drive, or
loads it over PICOBOOT through picotool when that is available. A board that
is already running a program is asked to reboot into BOOTSEL by picotool -f.
A Pico Shared to a Windows host is attached to WSL first, and re-attached after
the reboot, because the USB device comes back on the other side of the bridge.
Passwordless sudo is used only when it is already available; otherwise the
drive is the fallback.

The examples

examples/c/hello_world is the smallest program that runs on real hardware.

examples/rho/hello_world is that program in Rho, written against the
contracts and nothing else.

examples/c/freertos_hello_world is that program with its work in a FreeRTOS
task: it links robohub-freertos and uses the RoboHub OSAL, so the same source
runs with or without the kernel beneath it. The board's USB console is pumped by
a task above the ordinary task priorities, so a console write cannot starve the
USB stack it waits for.

The board manifest declares the roles and transports a deployment planner may
offer (gateway, relay, node, edge, wireless, links and buses) and
the deployment block names how a gateway is built and reached. Adding a board
does not require a keeper rebuild.

Release history

All notable changes to this module are recorded here, one section per release.

[0.2.0] - 2026-11-01

The flash entry attaches a Pico Shared to a Windows host to WSL, reboots a
running board into BOOTSEL, re-attaches it after that reboot, uses passwordless
sudo only when available and falls back to the bootrom's drive. The board
manifest declares the roles, links, buses and flash deployment a Mesh planner
reads. The docs cover the FreeRTOS hello-world example and the USB-CDC pump.