Zephyr RTOS

Overview

Zephyr learning path overview

Mastery Plan

Complete learning roadmap

Zephyr RTOS — Introduction

STM32 → Jetson Orin — Full Pipeline Architecture

ZBus — Zephyr Message Bus

nanopb — Protocol Buffers on Bare Metal

SPI Slave + DMA + Double Buffering

DMA — Direct Memory Access

Jetson Orin — SPI Master + ROS2 Bridge

SPI — Serial Peripheral Interface

I2C — Inter-Integrated Circuit

CAN Bus — Controller Area Network

UART — Universal Asynchronous Receiver-Transmitter

Zephyr Threads — Multitasking on an MCU

Zephyr Kernel Services — Synchronization Primitives

Zephyr Devicetree — Describing Your Hardware

Zephyr Interrupts and GPIO

ROS2 Fundamentals — Robot Operating System 2

Jetson Orin — The Robot's Brain

Exercise 01 — Zephyr Foundations

Exercise 02 — I2C · CAN · UART Sensors

Exercise 03 — ZBus + nanopb

Exercise 04 — SPI Slave + DMA + Double Buffering

Exercise 05 — Jetson spidev + ROS2 + EKF Integration

Exercise 06 — CAN Bus + UART GPS NMEA Parser

Exercise 06A — CAN Bus — Encoder Velocity Frames

Exercise 07 — ZBus+nanopb Bridge, Jetson RT Setup, and EKF Integration

Exercise 07A — UART GPS + NMEA Parsing

Exercise 08 — Multi-Sensor ZBus + nanopb Bridge

Exercise 09 — Jetson Orin NX — RT Setup + SPI Baseline

Notes: Zephyr Foundations — Study Notes

Notes: Zephyr Sensors — Study Notes

Notes: ZBus + nanopb — Study Notes

Notes: SPI Slave + DMA + Double Buffering — Study Notes

Notes: Jetson spidev + ROS2 + EKF Integration — Study Notes

Deep Dive: Logic Analyzer Discipline Guide

Deep Dive: 01 — First Build, Flash, and Debug Session

Deep Dive: 02 — SPI Slave: First Frame Capture

Deep Dive: 03 — DMA + D-Cache Gotchas

Deep Dive: 04 — IMU I2C Reads: ICM-42688-P

Deep Dive: 05 — 100Hz SPI Bridge to Jetson

Deep Dive: 06 — ROS 2 IMU Publisher

Deep Dive: 07 — CAN Bus: Receive Encoder Frames

Deep Dive: 08 — UART GPS: NMEA Parser with Ring Buffer

Deep Dive: 09 — ZBus + nanopb: Multi-Sensor Frame Encoding

Deep Dive: 10 — Jetson Orin NX: RT Setup + spidev Baseline

Deep Dive: 11 — EKF Integration + Pipeline Validation

Deep Dive: HardFault Decode Guide

Deep Dive: Zephyr Deep-Dive — Folder Overview