servo2350

Custom PCB with RP2350. Mainly used for hexapods and driving 18x servo motors with 18x ADC feedback through multiplexer.

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 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>