zeroclaw/docs/nucleo-setup.md

ZeroClaw on Nucleo-F401RE — Step-by-Step Guide

Run ZeroClaw on your Mac or Linux host. Connect a Nucleo-F401RE via USB. Control GPIO (LED, pins) via Telegram or CLI.

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Get Board Info via Telegram (No Firmware Needed)

ZeroClaw can read chip info from the Nucleo over USB without flashing any firmware. Message your Telegram bot:

• "What board info do I have?"
• "Board info"
• "What hardware is connected?"
• "Chip info"

The agent uses the hardware_board_info tool to return chip name, architecture, and memory map. With the probe feature, it reads live data via USB/SWD; otherwise it returns static datasheet info.

Config: Add Nucleo to config.toml first (so the agent knows which board to query):

[[peripherals.boards]]
board = "nucleo-f401re"
transport = "serial"
path = "/dev/ttyACM0"
baud = 115200

CLI alternative:

cargo build --features hardware,probe
zeroclaw hardware info
zeroclaw hardware discover

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What's Included (No Code Changes Needed)

ZeroClaw includes everything for Nucleo-F401RE:

Component	Location	Purpose
Firmware	firmware/zeroclaw-nucleo/	Embassy Rust — USART2 (115200), gpio_read, gpio_write
Serial peripheral	src/peripherals/serial.rs	JSON-over-serial protocol (same as Arduino/ESP32)
Flash command	zeroclaw peripheral flash-nucleo	Builds firmware, flashes via probe-rs

Protocol: newline-delimited JSON. Request: {"id":"1","cmd":"gpio_write","args":{"pin":13,"value":1}}. Response: {"id":"1","ok":true,"result":"done"}.

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Prerequisites

• Nucleo-F401RE board
• USB cable (USB-A to Mini-USB; Nucleo has built-in ST-Link)
• For flashing: cargo install probe-rs-tools --locked (or use the install script)

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Phase 1: Flash Firmware

1.1 Connect Nucleo

1. Connect Nucleo to your Mac/Linux via USB.
2. The board appears as a USB device (ST-Link). No separate driver needed on modern systems.

1.2 Flash via ZeroClaw

From the zeroclaw repo root:

zeroclaw peripheral flash-nucleo

This builds firmware/zeroclaw-nucleo and runs probe-rs run --chip STM32F401RETx. The firmware runs immediately after flashing.

1.3 Manual Flash (Alternative)

cd firmware/zeroclaw-nucleo
cargo build --release --target thumbv7em-none-eabihf
probe-rs run --chip STM32F401RETx target/thumbv7em-none-eabihf/release/zeroclaw-nucleo

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Phase 2: Find Serial Port

• macOS: /dev/cu.usbmodem* or /dev/tty.usbmodem* (e.g. /dev/cu.usbmodem101)
• Linux: /dev/ttyACM0 (or check dmesg after plugging in)

USART2 (PA2/PA3) is bridged to the ST-Link's virtual COM port, so the host sees one serial device.

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Phase 3: Configure ZeroClaw

Add to ~/.zeroclaw/config.toml:

[peripherals]
enabled = true

[[peripherals.boards]]
board = "nucleo-f401re"
transport = "serial"
path = "/dev/cu.usbmodem101"   # adjust to your port
baud = 115200

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Phase 4: Run and Test

zeroclaw daemon --host 127.0.0.1 --port 8080

Or use the agent directly:

zeroclaw agent --message "Turn on the LED on pin 13"

Pin 13 = PA5 = User LED (LD2) on Nucleo-F401RE.

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Summary: Commands

Step	Command
1	Connect Nucleo via USB
2	cargo install probe-rs --locked
3	zeroclaw peripheral flash-nucleo
4	Add Nucleo to config.toml (path = your serial port)
5	zeroclaw daemon or zeroclaw agent -m "Turn on LED"

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Troubleshooting

• flash-nucleo unrecognized — Build from repo: cargo run --features hardware -- peripheral flash-nucleo. The subcommand is only in the repo build, not in crates.io installs.
• probe-rs not found — cargo install probe-rs-tools --locked (the probe-rs crate is a library; the CLI is in probe-rs-tools)
• No probe detected — Ensure Nucleo is connected. Try another USB cable/port.
• Serial port not found — On Linux, add user to dialout: sudo usermod -a -G dialout $USER, then log out/in.
• GPIO commands ignored — Check path in config matches your serial port. Run zeroclaw peripheral list to verify.