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README.md
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# servo2350 # servo2350
Custom PCB with RP2350. Mainly used for hexapods and driving 18x servo motors with 18x ADC feedback through multiplexer. Custom PCB with RP2350. Mainly used for hexapods and driving 18x servo motors with 18x ADC feedback through multiplexer. The project uses mainly 0402 components for extra challenge.
![image](datasheets/board.jpg) ![image](datasheets/board.jpg)
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* **SENSORS:** ICM-45686 IMU * **SENSORS:** ICM-45686 IMU
* **SERIAL:** SPI, I2C, USB, UART * **SERIAL:** SPI, I2C, USB, UART
## Test code commands ## Test code
> [!WARNING] The peripheral test code and example can be found in [test_code](test_code).
> 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>` |
test_code/README.md
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# Test code
Testing peripherals on the custom RP2350B servo controller PCB.
## 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>` |