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Adding Boards and Tools — ZeroClaw Hardware Guide

This guide explains how to add new hardware boards and custom tools to ZeroClaw.

Quick Start: Add a Board via CLI

# Add a board (updates ~/.zeroclaw/config.toml)
zeroclaw peripheral add nucleo-f401re /dev/ttyACM0
zeroclaw peripheral add arduino-uno /dev/cu.usbmodem12345
zeroclaw peripheral add rpi-gpio native   # for Raspberry Pi GPIO (Linux)

# Restart daemon to apply
zeroclaw daemon --host 127.0.0.1 --port 42617

Supported Boards

Board Transport Path Example
nucleo-f401re serial /dev/ttyACM0, /dev/cu.usbmodem*
arduino-uno serial /dev/ttyACM0, /dev/cu.usbmodem*
arduino-uno-q bridge (Uno Q IP)
rpi-gpio native native
esp32 serial /dev/ttyUSB0

Manual Config

Edit ~/.zeroclaw/config.toml:

[peripherals]
enabled = true
datasheet_dir = "docs/datasheets" # optional: RAG for "turn on red led" → pin 13

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

[[peripherals.boards]]
board = "arduino-uno"
transport = "serial"
path = "/dev/cu.usbmodem12345"
baud = 115200

Adding a Datasheet (RAG)

Place .md or .txt files in docs/datasheets/ (or your datasheet_dir). Name files by board: nucleo-f401re.md, arduino-uno.md.

Pin Aliases (Recommended)

Add a ## Pin Aliases section so the agent can map "red led" → pin 13:

# My Board

## Pin Aliases

| alias       | pin |
|-------------|-----|
| red_led     | 13  |
| builtin_led | 13  |
| user_led    | 5   |

Or use key-value format:

## Pin Aliases
red_led: 13
builtin_led: 13

PDF Datasheets

With the rag-pdf feature, ZeroClaw can index PDF files:

cargo build --features hardware,rag-pdf

Place PDFs in the datasheet directory. They are extracted and chunked for RAG.

Adding a New Board Type

  1. Create a datasheet — docs/datasheets/my-board.md with pin aliases and GPIO info.
  2. Add to config — zeroclaw peripheral add my-board /dev/ttyUSB0
  3. Implement a peripheral (optional) — For custom protocols, implement the Peripheral trait in src/peripherals/ and register in create_peripheral_tools.

See docs/hardware/hardware-peripherals-design.md for the full design.

Adding a Custom Tool

  1. Implement the Tool trait in src/tools/.
  2. Register in create_peripheral_tools (for hardware tools) or the agent tool registry.
  3. Add a tool description to the agent's tool_descs in src/agent/loop_.rs.

CLI Reference

Command Description
zeroclaw peripheral list List configured boards
zeroclaw peripheral add <board> <path> Add board (writes config)
zeroclaw peripheral flash Flash Arduino firmware
zeroclaw peripheral flash-nucleo Flash Nucleo firmware
zeroclaw hardware discover List USB devices
zeroclaw hardware info Chip info via probe-rs

Troubleshooting

  • Serial port not found — On macOS use /dev/cu.usbmodem*; on Linux use /dev/ttyACM0 or /dev/ttyUSB0.
  • Build with hardware — cargo build --features hardware
  • Probe-rs for Nucleo — cargo build --features hardware,probe