write a long treatise on code dev

docs/src/programming-her.md

@@ -1 +1,84 @@
 # Programming Her
+
+Oh joy! `ssh` into the Pi for all of this.
+
+## Packages You'll Need
+
+This is what you'll need (probably):
+```bash
+apt update
+
+# for docker (obvs)
+apt install docker.io
+
+# for pico sdk
+apt install cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential
+
+# for openocd
+apt install libtool pkg-config autoconf automake texinfo
+```
+
+## Cloning the Repo
+
+To clone the repo and initialize all the submodules:
+```bash
+git clone [email protected]:CooperUnion/carrie.git # if you have repo access
+cd carrie/
+git submodule update --init
+```
+
+## Creating & Using the Docker Image
+
+There are some convenience scripts available for your convenience.
+```bash
+cd pi/
+./container-init.sh # once, to create the container
+./container-run.sh # whenever you need to use it
+```
+
+## Building OpenOCD
+You'll have to use a custom-built version of OpenOCD, alas, to get things
+working on the Pi. See [here](https://github.com/raspberrypi/openocd) for the
+original instructions.
+```bash
+cd pico/openocd/
+./bootstrap
+./configure --enable-ftdi --enable-sysfsgpio --enable-bcm2835gpio
+make
+sudo make install
+```
+
+## Building the Firmware
+There are more convenient convenience scripts for your convenience here, too!
+```bash
+cd pico/firmware/
+./compile.sh
+```
+
+## Loading Code & Debugging
+
+You'll want to be in a `tmux` session with a few panes for this.
+
+In one pane, run the OpenOCD server. This allows for loading code & debugging
+the Pico via SWD.
+```bash
+./openocd-server.sh
+```
+
+In another pane, start `gdb`:
+```bash
+./debug.sh
+```
+
+The `gdb` pane gives you full debugging power, live. To load new code onto the
+Pico, compile the project, then run the following inside `gdb` (possibly after
+pressing Ctrl-C to stop the Pico running):
+```
+(gdb) load
+(gdb) monitor reset init
+(gdb) continue
+```
+
+## Working with ROS
+
+This could be (unfortunately) a book in itself.