minor changes

2026-06-17 13:07:58 +03:00
parent 8d5af0b70c
commit 26f3263a05
33 changed files with 935 additions and 508 deletions
@@ -1,3 +1,41 @@
 # servo2350

-Custom PCB with RP2350. Mainly used for hexapods and driving servo motors.
+Custom PCB with RP2350. Mainly used for hexapods and driving 18x servo motors with 18x ADC feedback through multiplexer.
+
+![image](datasheets/board.jpg)
+
+## Specs
+
+* **CPU:** RP2350B with debug pins
+* **FLASH:** W25Q16JVUXIQ_TR 16Mbit NOR quad SPI memory
+* **OUTPUT:** 18x PWM, 6x digital output (3 pin header), 2x LEDs, extra pins in header
+* **INPUT:** 18x ADC though a CD74HC4067 multiplexer
+* **SENSORS:** ICM-45686 IMU
+* **SERIAL:** SPI, I2C, USB, UART
+
+## Test code commands
+
+> [!WARNING]
+> The zephyr sdk has bug in the [rp2350 pinctrl](https://github.com/zephyrproject-rtos/zephyr/blob/main/include/zephyr/dt-bindings/pinctrl/rpi-pico-rp2350-pinctrl-common.h) file. The `RP2_PINCTRL_GPIO_FUNC_UART_AUX` macro is defind, but `RP2_PINCTRL_GPIO_FUNC_UART_ALT` macro is used.
+
+> [!NOTE]
+> While shell is over USB, the `adc scan_for` command uses uart. The UART uses spi1 pins, so the spi1 needs to be disabled and `extra_uart.overlay` needs to be used.
+
+
+| Command                     | Parameters                   | Description                                         |
+| --------------------------- | ---------------------------- | --------------------------------------------------- |
+| `led set <id> <on\|off>`    | `id`: `0-1`                  | Set LED state                                       |
+| `led allon`                 | -                            | Turn all LEDs ON                                    |
+| `led alloff`                | -                            | Turn all LEDs OFF                                   |
+| `servo set <id> <angle>`    | Servo ID, angle in degrees   | Set servo angle                                     |
+| `adc read <id>`             | ADC channel ID               | Read a single ADC channel                           |
+| `adc read_for <id> <count>` | ADC channel ID, sample count | Read one ADC channel repeatedly                     |
+| `adc scan`                  | -                            | Read all ADC channels once                          |
+| `adc scan_for <count>`      | `count ≤ 1024`               | Read all ADC channels repeatedly and log timestamps |
+
+### UART Output Formats
+
+| Command        | Output Format                                       |
+| -------------- | --------------------------------------------------- |
+| `adc scan`     | `ADC,<channel>,<value>`                             |
+| `adc scan_for` | `<sample>,ADC,<channel>,<value>,<timestamp_cycles>` |