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42 lines
2.4 KiB
Markdown
42 lines
2.4 KiB
Markdown
# servo2350
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Custom PCB with RP2350. Mainly used for hexapods and driving 18x servo motors with 18x ADC feedback through multiplexer.
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## Specs
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* **CPU:** RP2350B with debug pins
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* **FLASH:** W25Q16JVUXIQ_TR 16Mbit NOR quad SPI memory
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* **OUTPUT:** 18x PWM, 6x digital output (3 pin header), 2x LEDs, extra pins in header
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* **INPUT:** 18x ADC though a CD74HC4067 multiplexer
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* **SENSORS:** ICM-45686 IMU
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* **SERIAL:** SPI, I2C, USB, UART
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## Test code commands
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> [!WARNING]
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> 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.
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> [!NOTE]
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> 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.
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| Command | Parameters | Description |
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| --------------------------- | ---------------------------- | --------------------------------------------------- |
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| `led set <id> <on\|off>` | `id`: `0-1` | Set LED state |
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| `led allon` | - | Turn all LEDs ON |
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| `led alloff` | - | Turn all LEDs OFF |
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| `servo set <id> <angle>` | Servo ID, angle in degrees | Set servo angle |
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| `adc read <id>` | ADC channel ID | Read a single ADC channel |
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| `adc read_for <id> <count>` | ADC channel ID, sample count | Read one ADC channel repeatedly |
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| `adc scan` | - | Read all ADC channels once |
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| `adc scan_for <count>` | `count ≤ 1024` | Read all ADC channels repeatedly and log timestamps |
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### UART Output Formats
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| Command | Output Format |
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| -------------- | --------------------------------------------------- |
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| `adc scan` | `ADC,<channel>,<value>` |
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| `adc scan_for` | `<sample>,ADC,<channel>,<value>,<timestamp_cycles>` |
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