Forgot to add board files to git
This commit is contained in:
Your Name
@@ -1,4 +1,3 @@
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build
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tmp
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boards
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.vscode
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@@ -0,0 +1,51 @@
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if BOARD_SERVO2350
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menu "USB sample options"
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depends on USB_DEVICE_STACK_NEXT
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config USBD_MANUFACTURER
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string "USB device sample manufacturer string"
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default "Zephyr Project"
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help
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USB device sample manufacturer string.
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config USBD_PRODUCT
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string "USB device sample product string"
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default "USBD sample"
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help
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USB device sample product stringa.
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config USBD_PID
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hex "USB device sample Product ID"
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default 0x0001
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help
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USB device sample Product ID.
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config USBD_SELF_POWERED
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bool "USB device sample Self-powered attribute"
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default y
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help
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Set the Self-powered attribute in the sample configuration.
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config USBD_REMOTE_WAKEUP
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bool "USB device sample Remote Wakeup attribute"
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help
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Set the Remote Wakeup attribute in the sample configuration.
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config USBD_MAX_POWER
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int "USB device sample bMaxPower value"
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default 125
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range 0 250
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help
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bMaxPower value in the sample configuration in 2 mA units.
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config USBD_20_EXTENSION_DESC
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bool "Use default USB 2.0 Extension Descriptor"
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depends on USBD_BOS_SUPPORT
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help
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Set bcdUSB value to 0201 and use default USB 2.0 Extension Descriptor.
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endmenu
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endif # BOARD_SERVO2350
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@@ -0,0 +1,4 @@
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config BOARD_SERVO2350
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select SOC_RP2350B_HAZARD3 if BOARD_SERVO2350_RP2350B_HAZARD3
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select SOC_RP2350B_M33 if BOARD_SERVO2350_RP2350B_M33
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@@ -0,0 +1,20 @@
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board_runner_args(openocd --cmd-pre-init "source [find interface/cmsis-dap.cfg]")
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if(CONFIG_ARM)
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board_runner_args(openocd --cmd-pre-init "source [find target/rp2350.cfg]")
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else()
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board_runner_args(openocd --cmd-pre-init "source [find target/rp2350-riscv.cfg]")
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endif()
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board_runner_args(probe-rs "--chip=RP235x")
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# The adapter speed is expected to be set by interface configuration.
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# The Raspberry Pi's OpenOCD fork doesn't, so match their documentation at
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# https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html#debugging-with-swd
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board_runner_args(openocd --cmd-pre-init "set_adapter_speed_if_not_set 5000")
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board_runner_args(uf2 "--board-id=RP2350")
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include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
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include(${ZEPHYR_BASE}/boards/common/probe-rs.board.cmake)
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include(${ZEPHYR_BASE}/boards/common/uf2.board.cmake)
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@@ -0,0 +1,6 @@
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board:
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name: servo2350
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full_name: Servo2350
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vendor: arm
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socs:
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- name: rp2350b
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Binary file not shown.
@@ -0,0 +1,57 @@
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#include <zephyr/dt-bindings/pinctrl/rpi-pico-rp2350b-pinctrl.h>
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&pinctrl {
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i2c0_default: i2c0_default {
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group1 {
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pinmux = <I2C0_SDA_P36>, // SDA
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<I2C0_SCL_P37>; // SCL
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input-enable;
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input-schmitt-enable;
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};
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};
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spi1_default: spi1_default {
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group1 {
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pinmux = <SPI1_CSN_P29>, // D29
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<SPI1_SCK_P26>, // SPI_CLK
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<SPI1_TX_P27>; // SPI_MOSI
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};
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group2 {
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pinmux = <SPI1_RX_P28>; // SPI_MISO
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input-enable;
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};
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};
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pwm_default: pwm_default {
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group1 {
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pinmux = <PWM_0A_P0>, // SERVO 1
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<PWM_0B_P1>, // SERVO 2
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<PWM_1A_P2>, // SERVO 3
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<PWM_1B_P3>, // SERVO 4
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<PWM_2A_P4>, // SERVO 5
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<PWM_2B_P5>, // SERVO 6
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<PWM_3A_P6>, // SERVO 7
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<PWM_3B_P7>, // SERVO 8
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<PWM_4A_P8>, // SERVO 9
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<PWM_4B_P9>, // SERVO 10
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<PWM_5A_P10>, // SERVO 11
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<PWM_5B_P11>, // SERVO 12
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<PWM_6A_P12>, // SERVO 13
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<PWM_6B_P13>, // SERVO 14
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<PWM_7A_P14>, // SERVO 15
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<PWM_7B_P15>, // SERVO 16
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<PWM_8A_P32>, // SERVO 17
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<PWM_8B_P33>; // SERVO 18
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};
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};
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adc_default: adc_default {
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group1 {
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pinmux = <ADC_CH0_P40>, // MUX_COMMON
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<ADC_CH1_P41>, // SERVO 17
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<ADC_CH2_P42>; // SERVO 18
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input-enable;
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};
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};
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};
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@@ -0,0 +1,356 @@
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#include <freq.h>
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#include <zephyr/dt-bindings/i2c/i2c.h>
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#include <zephyr/dt-bindings/pwm/pwm.h>
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#include <zephyr/dt-bindings/input/input-event-codes.h>
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#include "servo2350-pinctrl.dtsi"
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/ {
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chosen {
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zephyr,sram = &sram0;
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zephyr,flash = &flash0;
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zephyr,console = &cdc_acm_uart0;
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zephyr,shell-uart = &cdc_acm_uart0;
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zephyr,code-partition = &code_partition;
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};
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zephyr,user {
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io-channels = <&adc 0>,
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<&adc 1>,
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<&adc 2>;
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};
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leds {
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compatible = "gpio-leds";
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led0: led_0 {
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gpios = <&gpio0 24 GPIO_ACTIVE_LOW>;
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label = "LED0";
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};
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led1: led_1 {
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gpios = <&gpio0 25 GPIO_ACTIVE_LOW>;
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label = "LED1";
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};
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};
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imu_int1_pin {
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compatible = "gpio-keys";
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imu_int1: imu_int1 {
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gpios = <&gpio0 22 GPIO_ACTIVE_HIGH>;
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label = "IMU_INT1";
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};
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imu_int2: imu_int2 {
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gpios = <&gpio0 23 GPIO_ACTIVE_HIGH>;
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label = "IMU_INT2";
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};
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};
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digital_inputs: digital_inputs {
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compatible = "gpio-keys";
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digital1: digital_1 {
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gpios = <&gpio0 16 GPIO_ACTIVE_HIGH>;
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label = "DIGITAL_1";
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};
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digital2: digital_2 {
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gpios = <&gpio0 17 GPIO_ACTIVE_HIGH>;
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label = "DIGITAL_2";
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};
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digital3: digital_3 {
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gpios = <&gpio0 18 GPIO_ACTIVE_HIGH>;
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label = "DIGITAL_3";
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};
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digital4: digital_4 {
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gpios = <&gpio0 19 GPIO_ACTIVE_HIGH>;
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label = "DIGITAL_4";
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};
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digital5: digital_5 {
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gpios = <&gpio0 20 GPIO_ACTIVE_HIGH>;
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label = "DIGITAL_5";
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};
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digital6: digital_6 {
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gpios = <&gpio0 21 GPIO_ACTIVE_HIGH>;
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label = "DIGITAL_6";
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};
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};
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digital_outputs: digital_outputs {
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compatible = "gpio-leds";
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leg0_enable: leg0_enable {
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gpios = <&gpio0 31 GPIO_ACTIVE_HIGH>;
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label = "LEG0_ENABLE";
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};
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leg1_enable: leg1_enable {
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gpios = <&gpio0_hi 11 GPIO_ACTIVE_HIGH>;
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label = "LEG1_ENABLE";
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};
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leg2_enable: leg2_enable {
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gpios = <&gpio0_hi 12 GPIO_ACTIVE_HIGH>;
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label = "LEG2_ENABLE";
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};
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leg3_enable: leg3_enable {
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gpios = <&gpio0_hi 13 GPIO_ACTIVE_HIGH>;
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label = "LEG3_ENABLE";
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};
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leg4_enable: leg4_enable {
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gpios = <&gpio0_hi 14 GPIO_ACTIVE_HIGH>;
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label = "LEG4_ENABLE";
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};
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leg5_enable: leg5_enable {
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gpios = <&gpio0_hi 15 GPIO_ACTIVE_HIGH>;
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label = "LEG5_ENABLE";
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};
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};
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pwm_servos {
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compatible = "pwm-leds";
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servo1: servo_1 {
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pwms = <&pwm 0 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_1";
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};
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servo2: servo_2 {
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pwms = <&pwm 1 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_2";
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};
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servo3: servo_3 {
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pwms = <&pwm 2 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_3";
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};
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servo4: servo_4 {
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pwms = <&pwm 3 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_4";
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};
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servo5: servo_5 {
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pwms = <&pwm 4 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_5";
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};
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servo6: servo_6 {
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pwms = <&pwm 5 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_6";
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};
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servo7: servo_7 {
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pwms = <&pwm 6 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_7";
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};
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servo8: servo_8 {
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pwms = <&pwm 7 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_8";
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};
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servo9: servo_9 {
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pwms = <&pwm 8 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_9";
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};
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servo10: servo_10 {
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pwms = <&pwm 9 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_10";
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};
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servo11: servo_11 {
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pwms = <&pwm 10 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_11";
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};
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servo12: servo_12 {
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pwms = <&pwm 11 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_12";
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};
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servo13: servo_13 {
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pwms = <&pwm 12 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_13";
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};
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servo14: servo_14 {
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pwms = <&pwm 13 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_14";
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};
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servo15: servo_15 {
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pwms = <&pwm 14 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_15";
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};
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servo16: servo_16 {
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pwms = <&pwm 15 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_16";
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};
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servo17: servo_17 {
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pwms = <&pwm 16 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_17";
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};
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servo18: servo_18 {
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pwms = <&pwm 17 PWM_USEC(20000) PWM_POLARITY_NORMAL>;
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label = "SERVO_18";
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};
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};
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mux: mux {
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compatible = "cd74hc4067";
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status = "okay";
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select-gpios = <&gpio0_hi 2 GPIO_ACTIVE_HIGH>,
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<&gpio0_hi 3 GPIO_ACTIVE_HIGH>,
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<&gpio0_hi 6 GPIO_ACTIVE_HIGH>,
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<&gpio0_hi 7 GPIO_ACTIVE_HIGH>;
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};
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aliases {
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watchdog0 = &wdt0;
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led0 = &led0;
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led1 = &led1;
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imu = &imu;
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imu-int1 = &imu_int1;
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imu-int2 = &imu_int2;
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digital1 = &digital1;
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digital2 = &digital2;
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digital3 = &digital3;
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digital4 = &digital4;
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digital5 = &digital5;
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digital6 = &digital6;
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leg0-enable = &leg0_enable;
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leg1-enable = &leg1_enable;
|
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leg2-enable = &leg2_enable;
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leg3-enable = &leg3_enable;
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leg4-enable = &leg4_enable;
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leg5-enable = &leg5_enable;
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servo1 = &servo1;
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servo2 = &servo2;
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servo3 = &servo3;
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servo4 = &servo4;
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servo5 = &servo5;
|
||||
servo6 = &servo6;
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servo7 = &servo7;
|
||||
servo8 = &servo8;
|
||||
servo9 = &servo9;
|
||||
servo10 = &servo10;
|
||||
servo11 = &servo11;
|
||||
servo12 = &servo12;
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||||
servo13 = &servo13;
|
||||
servo14 = &servo14;
|
||||
servo15 = &servo15;
|
||||
servo16 = &servo16;
|
||||
servo17 = &servo17;
|
||||
servo18 = &servo18;
|
||||
mux = &mux;
|
||||
};
|
||||
};
|
||||
|
||||
&flash0 {
|
||||
/* W25Q16JVUXIQ_TR: 16M-bit (2MB) NOR Flash */
|
||||
reg = <0x10000000 DT_SIZE_M(2)>;
|
||||
|
||||
partitions {
|
||||
compatible = "fixed-partitions";
|
||||
#address-cells = <1>;
|
||||
#size-cells = <1>;
|
||||
|
||||
/* Code partition: 256KB for application code (starts at beginning of flash) */
|
||||
code_partition: partition@0 {
|
||||
label = "code";
|
||||
reg = <0x00000000 DT_SIZE_K(256)>;
|
||||
read-only;
|
||||
};
|
||||
|
||||
/* Settings partition: 64KB for settings data */
|
||||
settings_partition: partition@40000 {
|
||||
label = "settings";
|
||||
reg = <0x00040000 DT_SIZE_K(64)>;
|
||||
};
|
||||
|
||||
/* Data partition: 1728KB for data storage (largest partition) */
|
||||
data_partition: partition@50000 {
|
||||
label = "data";
|
||||
reg = <0x00050000 DT_SIZE_K(1728)>;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
zephyr_udc0: &usbd {
|
||||
status = "okay";
|
||||
cdc_acm_uart0: cdc_acm_uart0 {
|
||||
compatible = "zephyr,cdc-acm-uart";
|
||||
label = "USB_CDC";
|
||||
};
|
||||
};
|
||||
|
||||
gpio0_lo: &gpio0 {
|
||||
status = "okay";
|
||||
};
|
||||
|
||||
&gpio0_hi {
|
||||
status = "okay";
|
||||
|
||||
};
|
||||
|
||||
&i2c0 {
|
||||
pinctrl-0 = <&i2c0_default>;
|
||||
pinctrl-names = "default";
|
||||
status = "okay";
|
||||
clock-frequency = <I2C_BITRATE_FAST>;
|
||||
|
||||
imu: icm45686@68 {
|
||||
compatible = "invensense,icm42688";
|
||||
reg = <0x68>;
|
||||
status = "disabled";
|
||||
|
||||
int1-gpios = <&gpio0 22 GPIO_ACTIVE_HIGH>;
|
||||
int2-gpios = <&gpio0 23 GPIO_ACTIVE_HIGH>;
|
||||
|
||||
accel-pwr-mode = <3>;
|
||||
accel-ord = <9>;
|
||||
accel-fs = <16>;
|
||||
accel-lpf = <0>;
|
||||
|
||||
gyro-pwr-mode = <0>; /* turn off */
|
||||
gyro-ord = <9>;
|
||||
gyro-fs = <2000>;
|
||||
};
|
||||
};
|
||||
|
||||
&spi1 {
|
||||
clock-frequency = <DT_FREQ_M(8)>;
|
||||
pinctrl-0 = <&spi1_default>;
|
||||
pinctrl-names = "default";
|
||||
status = "disabled";
|
||||
};
|
||||
|
||||
&adc {
|
||||
pinctrl-0 = <&adc_default>;
|
||||
pinctrl-names = "default";
|
||||
status = "okay";
|
||||
#address-cells = <1>;
|
||||
#size-cells = <0>;
|
||||
|
||||
adc0: channel@0 {
|
||||
reg = <0>;
|
||||
zephyr,gain = "ADC_GAIN_1";
|
||||
zephyr,reference = "ADC_REF_INTERNAL";
|
||||
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
|
||||
zephyr,resolution = <12>;
|
||||
};
|
||||
|
||||
adc1: channel@1 {
|
||||
reg = <1>;
|
||||
zephyr,gain = "ADC_GAIN_1";
|
||||
zephyr,reference = "ADC_REF_INTERNAL";
|
||||
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
|
||||
zephyr,resolution = <12>;
|
||||
};
|
||||
|
||||
adc2: channel@2 {
|
||||
reg = <2>;
|
||||
zephyr,gain = "ADC_GAIN_1";
|
||||
zephyr,reference = "ADC_REF_INTERNAL";
|
||||
zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
|
||||
zephyr,resolution = <12>;
|
||||
};
|
||||
};
|
||||
|
||||
&pwm {
|
||||
status = "okay";
|
||||
pinctrl-0 = <&pwm_default>;
|
||||
pinctrl-names = "default";
|
||||
divider-int-0 = <64>;
|
||||
};
|
||||
|
||||
&timer0 {
|
||||
status = "okay";
|
||||
};
|
||||
@@ -0,0 +1,12 @@
|
||||
/dts-v1/;
|
||||
|
||||
/* The build system assumes that there's a cpucluster-specific file.
|
||||
*
|
||||
* This file provides composition of the device tree:
|
||||
* 1. The common features of the SoC
|
||||
* 2. Core-specific configuration.
|
||||
* 3. Board-specific configuration.
|
||||
*/
|
||||
#include <raspberrypi/rpi_pico/rp2350b.dtsi>
|
||||
#include <riscv/raspberrypi/hazard3.dtsi>
|
||||
#include "servo2350.dtsi"
|
||||
@@ -0,0 +1,20 @@
|
||||
identifier: servo2350/rp2350b/hazard3
|
||||
name: Servo2350 (Hazard3)
|
||||
type: mcu
|
||||
arch: riscv
|
||||
flash: 16384
|
||||
ram: 8192
|
||||
toolchain:
|
||||
- zephyr
|
||||
supported:
|
||||
- adc
|
||||
- clock
|
||||
- counter
|
||||
- dma
|
||||
- gpio
|
||||
- hwinfo
|
||||
- i2c
|
||||
- pwm
|
||||
- spi
|
||||
- usbd
|
||||
- uart
|
||||
@@ -0,0 +1,10 @@
|
||||
CONFIG_BUILD_OUTPUT_HEX=y
|
||||
CONFIG_BUILD_OUTPUT_UF2=y
|
||||
CONFIG_CLOCK_CONTROL=y
|
||||
CONFIG_CONSOLE=y
|
||||
CONFIG_GPIO=y
|
||||
CONFIG_RESET=y
|
||||
CONFIG_SERIAL=y
|
||||
CONFIG_UART_CONSOLE=y
|
||||
CONFIG_UART_INTERRUPT_DRIVEN=y
|
||||
CONFIG_USE_DT_CODE_PARTITION=y
|
||||
@@ -0,0 +1,12 @@
|
||||
/dts-v1/;
|
||||
|
||||
/* The build system assumes that there's a cpucluster-specific file.
|
||||
*
|
||||
* This file provides composition of the device tree:
|
||||
* 1. The common features of the SoC
|
||||
* 2. Core-specific configuration.
|
||||
* 3. Board-specific configuration.
|
||||
*/
|
||||
#include <raspberrypi/rpi_pico/rp2350b.dtsi>
|
||||
#include <raspberrypi/rpi_pico/m33.dtsi>
|
||||
#include "servo2350.dtsi"
|
||||
@@ -0,0 +1,21 @@
|
||||
identifier: servo2350/rp2350b/m33
|
||||
name: Servo2350 (Cortex-M33)
|
||||
type: mcu
|
||||
arch: arm
|
||||
flash: 16384
|
||||
ram: 8192
|
||||
toolchain:
|
||||
- zephyr
|
||||
- gnuarmemb
|
||||
supported:
|
||||
- adc
|
||||
- clock
|
||||
- counter
|
||||
- dma
|
||||
- gpio
|
||||
- hwinfo
|
||||
- i2c
|
||||
- pwm
|
||||
- spi
|
||||
- usbd
|
||||
- uart
|
||||
@@ -0,0 +1,10 @@
|
||||
CONFIG_BUILD_OUTPUT_HEX=y
|
||||
CONFIG_BUILD_OUTPUT_UF2=y
|
||||
CONFIG_CLOCK_CONTROL=y
|
||||
CONFIG_CONSOLE=y
|
||||
CONFIG_GPIO=y
|
||||
CONFIG_RESET=y
|
||||
CONFIG_SERIAL=y
|
||||
CONFIG_UART_CONSOLE=y
|
||||
CONFIG_UART_INTERRUPT_DRIVEN=y
|
||||
CONFIG_USE_DT_CODE_PARTITION=y
|
||||
@@ -0,0 +1,8 @@
|
||||
# Checking and set 'adapter speed'.
|
||||
# Set the adaptor speed, if unset, and given as an argument.
|
||||
proc set_adapter_speed_if_not_set { speed } {
|
||||
puts "checking adapter speed..."
|
||||
if { [catch {adapter speed} ret] } {
|
||||
adapter speed $speed
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user