Firmware using West
You can use the online GitPod.io if you want a simple way to generate a new firmware without setting up this whole build system. Click the Link below. You can make quick changes and test things without all the setup.
If you plan on using a debugger or being able to use the west flash command to write to your board quickly then continue on.
This guide mostly follows the instructions on the Zephyr Gettings started Guide. Some install locations have been modified so that code completion and debugging paths match what is set in ht/firmware/src/headtracker.code-workspace and ht/firmware/src/.vscode/c_cpp_properties.json
Install Chocolatey + Required Packages
Follow the instructions here to install chocolatey. You could install all the requirements yourself but this makes the installation easy.
Open a Administrative PowerShell Terminal. Use the Win + X keystroke and select Windows PowerShell (Admin) or Terminal (Admin) Depending on Windows version
OR 
Run the following commands to install the necessary files
choco feature enable -n allowGlobalConfirmationchoco install cmake --installargs 'ADD_CMAKE_TO_PATH=System'
choco install ninja gperf python311 git dtc-msys2 wget 7zip
choco install vscode # Optional
choco install github-desktop # OptionalYou can skip the optional ones if you don't want to use VSCode or Github Desktop
Install West using PIP
Open a new PowerShell terminal as a regular user. Use Win + X keystroke and choose Windows Powershell 
or Terminal 
pip3 install -U westGet the HeadTracker source + required submodules
cd c:\
git clone https://github.com/dlktdr/HeadTracker.git ht
cd ht
git submodule update --initGet the Zephyr source & update
We are using Zephyr LTS v3.7.1 as of writing this. Please check in Dockerfile to verify the version in case this isn't updated. https://github.com/dlktdr/HeadTracker/blob/master/Dockerfile
cd c:\ht\firmware
west init zephyr
cd zephyr\zephyr
git checkout v3.7.1
cd ..
west update
west zephyr-exportInstall the extra required packages using PIP
pip3 install -r c:\ht\firmware\zephyr\zephyr\scripts\requirements.txtDownload the Zephyr SDK
As of writing this we are using the 0.17.0 version of the Zephyr SDK. Please check Dockerfile for the current version in case this isn't updated. https://github.com/dlktdr/HeadTracker/blob/master/Dockerfile
Download the Zephyr SDK version listed above https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.17.0/zephyr-sdk-0.17.0_windows-x86_64.7z This is all the build tools for ARM, RISC and other architectures.
After download completes, move the file to c:\HT\firmware
Extract SDK, Rename, Register cmake package
Open PowerShell as a regular user
cd c:\ht\firmware
7z x zephyr-sdk-0.17.0_windows-x86_64.7z
move zephyr-sdk-0.17.0 zephyr-sdk #Rename folder so default VScode setup can find compilers
rm zephyr-sdk-17.0_windows-x86_64.7z #optional, Remove the download
cd zephyr-sdk
.\setup.cmd /c #Register Cmake PackageTest Compiling the code
Open a PowerShell as a regular user. The environment variable ZEPHYR_BASE must be set so west knows where to look for the zephyr source code. If you do this in VScode the variable is set on the terminal from the headtrackercode.workspace file so you can skip it if using the vscode terminal
cd c:\ht\firmware\src
$env:ZEPHYR_BASE = 'c:\ht\firmware\zephyr\zephyr'
west build -p -b arduino_nano_33_bleOpen Visual Studio Code
From File Choose open Workspace From File and open C:\ht\firmware\src\headtracker.code-workspace file. This will load all the settings which will make building quicker.
From VScode close any terminals that are open and start new ones. This is to be sure the ZEPHYR_BASE environment variable gets set properly. It's set in the workspace file for you.
You can now build for various boards using the commands they are listed in the GitPod documentation here,
Flashing the board
You can flash directly form the command line. Do this after you successfully compile the code for whatever board your working on. The flash utility will change depending on the selected board.
west flash For the Arduino boards it's also helpful to specify the com port. e.g. COM4. If you have multiple ports on your system west flash may not properly find it.
west flash --bossac-port COM4To find the port. Double tap the reset button to place the board in bootloader mode. Check the device manager to see what port is listed. The port number will change when in bootloader mode and in normal run mode.
To see all the flashing runner options for the supported boards run,
west flash --contextDebugging with a J-Link
Install Segger J-Link. 
https://www.segger.com/downloads/jlink/
Install the cortex-debug extension in visual studio code 
There are various launch tasks setup in headtracker.code-workspace to make debugging easy with a jlink. Highlight the board you want then press F5 to compile and upload
**Be sure to delete the build folder before switching from a release to a debug modes.
There is an example using OpenOCD for a ESP. Next time I go to use this I'll update the docs. Your on your own for this one.
Common Issues
Issues with building can often be resolved by deleting the build folder under c:\ht\firmware\src\build and trying again. Build with the -p flag to start with a clean build. Required which switching between various boards.
If you see the error "unknown command "build"; Your ZEPHYR_BASE environment variable isn't set properly.
ERROR: source directory "." does not contain a CMakeLists.txt; You tried to build from the incorrect folder. You must build from c:\ht\firmware\src
Could not find a package configuration file provided by "Zephyr-sdk". You need to enter the zephyr-sdk folder and register the cmake package.
cd firmware/zephry-sdk./setup.cmd /c
Others questions and issues please ask on Discord in the #dev channel. Link Below
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