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Answer
Python scripts can only be loaded onto a Canvas enabled device via serial interface such as UART or USB. Canvas FW is programmed over SWD programming interface only.
Ensure your custom hardware design has provisions for both SWD for Canvas FW programming and serial for loading python scripts.
Review the README.md of the canvas_python_firmware repository (https://github.com/Ezurio/canvas_python_firmware) for the hardware platform to locate the "Default REPL port"