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Merged
merged 4 commits into from
Apr 26, 2022
Merged

Added definition for an upcoming Pimoroni motor driver board #6314

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769b182
Added definition for upcoming Pimoroni motor board
ZodiusInfuser Apr 7, 2022
8cce2e6
Updated motor pin names
ZodiusInfuser Apr 12, 2022
1ccf767
Merge branch 'adafruit:main' into motor
ZodiusInfuser Apr 26, 2022
910662e
Finalised motor 2040 pins
ZodiusInfuser Apr 26, 2022
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40 changes: 40 additions & 0 deletions ports/raspberrypi/boards/pimoroni_motor2040/board.c
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2021 Scott Shawcroft for Adafruit Industries
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/

#include "supervisor/board.h"

void board_init(void) {
}

bool board_requests_safe_mode(void) {
return false;
}

void reset_board(void) {
}

void board_deinit(void) {
}
11 changes: 11 additions & 0 deletions ports/raspberrypi/boards/pimoroni_motor2040/mpconfigboard.h
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#define MICROPY_HW_BOARD_NAME "Pimoroni Motor 2040"
#define MICROPY_HW_MCU_NAME "rp2040"

#define MICROPY_HW_NEOPIXEL (&pin_GPIO18)
#define MICROPY_HW_NEOPIXEL_COUNT (1)

#define DEFAULT_UART_BUS_TX (&pin_GPIO16)
#define DEFAULT_UART_BUS_RX (&pin_GPIO17)

#define DEFAULT_I2C_BUS_SCL (&pin_GPIO21)
#define DEFAULT_I2C_BUS_SDA (&pin_GPIO20)
11 changes: 11 additions & 0 deletions ports/raspberrypi/boards/pimoroni_motor2040/mpconfigboard.mk
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USB_VID = 0x2E8A
USB_PID = 0x1019
USB_PRODUCT = "Motor 2040"
USB_MANUFACTURER = "Pimoroni"

CHIP_VARIANT = RP2040
CHIP_FAMILY = rp2

EXTERNAL_FLASH_DEVICES = "W25Q64JVxQ"

CIRCUITPY__EVE = 1
1 change: 1 addition & 0 deletions ports/raspberrypi/boards/pimoroni_motor2040/pico-sdk-configboard.h
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// Put board-specific pico-sdk definitions here. This file must exist.
77 changes: 77 additions & 0 deletions ports/raspberrypi/boards/pimoroni_motor2040/pins.c
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#include "shared-bindings/board/__init__.h"

STATIC const mp_rom_map_elem_t board_module_globals_table[] = {
CIRCUITPYTHON_BOARD_DICT_STANDARD_ITEMS

{ MP_ROM_QSTR(MP_QSTR_MOTOR_A_P), MP_ROM_PTR(&pin_GPIO4) },
{ MP_ROM_QSTR(MP_QSTR_MOTOR_A_N), MP_ROM_PTR(&pin_GPIO5) },
{ MP_ROM_QSTR(MP_QSTR_MOTOR_B_P), MP_ROM_PTR(&pin_GPIO6) },
{ MP_ROM_QSTR(MP_QSTR_MOTOR_B_N), MP_ROM_PTR(&pin_GPIO7) },
{ MP_ROM_QSTR(MP_QSTR_MOTOR_C_P), MP_ROM_PTR(&pin_GPIO8) },
{ MP_ROM_QSTR(MP_QSTR_MOTOR_C_N), MP_ROM_PTR(&pin_GPIO9) },
{ MP_ROM_QSTR(MP_QSTR_MOTOR_D_P), MP_ROM_PTR(&pin_GPIO10) },
{ MP_ROM_QSTR(MP_QSTR_MOTOR_D_N), MP_ROM_PTR(&pin_GPIO11) },
{ MP_ROM_QSTR(MP_QSTR_NUM_MOTORS), MP_ROM_INT(4) },

{ MP_ROM_QSTR(MP_QSTR_ENCODER_A_A), MP_ROM_PTR(&pin_GPIO0) },
{ MP_ROM_QSTR(MP_QSTR_ENCODER_A_B), MP_ROM_PTR(&pin_GPIO1) },
{ MP_ROM_QSTR(MP_QSTR_ENCODER_B_A), MP_ROM_PTR(&pin_GPIO2) },
{ MP_ROM_QSTR(MP_QSTR_ENCODER_B_B), MP_ROM_PTR(&pin_GPIO3) },
{ MP_ROM_QSTR(MP_QSTR_ENCODER_C_A), MP_ROM_PTR(&pin_GPIO12) },
{ MP_ROM_QSTR(MP_QSTR_ENCODER_C_B), MP_ROM_PTR(&pin_GPIO13) },
{ MP_ROM_QSTR(MP_QSTR_ENCODER_D_A), MP_ROM_PTR(&pin_GPIO14) },
{ MP_ROM_QSTR(MP_QSTR_ENCODER_D_B), MP_ROM_PTR(&pin_GPIO15) },
{ MP_ROM_QSTR(MP_QSTR_NUM_ENCODERS), MP_ROM_INT(4) },

{ MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_GPIO16) },
{ MP_ROM_QSTR(MP_QSTR_TRIG), MP_ROM_PTR(&pin_GPIO16) },
{ MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_GPIO17) },
{ MP_ROM_QSTR(MP_QSTR_ECHO), MP_ROM_PTR(&pin_GPIO17) },

{ MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_GPIO18) },
{ MP_ROM_QSTR(MP_QSTR_LED_DATA), MP_ROM_PTR(&pin_GPIO18) },
{ MP_ROM_QSTR(MP_QSTR_NUM_LEDS), MP_ROM_INT(1) },

{ MP_ROM_QSTR(MP_QSTR_INT), MP_ROM_PTR(&pin_GPIO19) },
{ MP_ROM_QSTR(MP_QSTR_GP19), MP_ROM_PTR(&pin_GPIO19) },
{ MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_PTR(&pin_GPIO20) },
{ MP_ROM_QSTR(MP_QSTR_GP20), MP_ROM_PTR(&pin_GPIO20) },
{ MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_PTR(&pin_GPIO21) },
{ MP_ROM_QSTR(MP_QSTR_GP21), MP_ROM_PTR(&pin_GPIO21) },

{ MP_ROM_QSTR(MP_QSTR_USER_SW), MP_ROM_PTR(&pin_GPIO23) },

{ MP_ROM_QSTR(MP_QSTR_ADC_ADDR_0), MP_ROM_PTR(&pin_GPIO22) },
{ MP_ROM_QSTR(MP_QSTR_ADC_ADDR_1), MP_ROM_PTR(&pin_GPIO24) },
{ MP_ROM_QSTR(MP_QSTR_ADC_ADDR_2), MP_ROM_PTR(&pin_GPIO25) },

{ MP_ROM_QSTR(MP_QSTR_GP26_A0), MP_ROM_PTR(&pin_GPIO26) },
{ MP_ROM_QSTR(MP_QSTR_GP26), MP_ROM_PTR(&pin_GPIO26) },
{ MP_ROM_QSTR(MP_QSTR_A0), MP_ROM_PTR(&pin_GPIO26) },

{ MP_ROM_QSTR(MP_QSTR_GP27_A1), MP_ROM_PTR(&pin_GPIO27) },
{ MP_ROM_QSTR(MP_QSTR_GP27), MP_ROM_PTR(&pin_GPIO27) },
{ MP_ROM_QSTR(MP_QSTR_A1), MP_ROM_PTR(&pin_GPIO27) },

{ MP_ROM_QSTR(MP_QSTR_GP28_A2), MP_ROM_PTR(&pin_GPIO28) },
{ MP_ROM_QSTR(MP_QSTR_GP28), MP_ROM_PTR(&pin_GPIO28) },
{ MP_ROM_QSTR(MP_QSTR_A2), MP_ROM_PTR(&pin_GPIO28) },

{ MP_ROM_QSTR(MP_QSTR_SHARED_ADC), MP_ROM_PTR(&pin_GPIO29) },

{ MP_ROM_QSTR(MP_QSTR_CURRENT_SENSE_A_ADDR), MP_ROM_INT(0b000) },
{ MP_ROM_QSTR(MP_QSTR_CURRENT_SENSE_B_ADDR), MP_ROM_INT(0b001) },
{ MP_ROM_QSTR(MP_QSTR_CURRENT_SENSE_C_ADDR), MP_ROM_INT(0b010) },
{ MP_ROM_QSTR(MP_QSTR_CURRENT_SENSE_D_ADDR), MP_ROM_INT(0b011) },
{ MP_ROM_QSTR(MP_QSTR_VOLTAGE_SENSE_ADDR), MP_ROM_INT(0b100) },
{ MP_ROM_QSTR(MP_QSTR_FAULT_SENSE_ADDR), MP_ROM_INT(0b101) },
{ MP_ROM_QSTR(MP_QSTR_SENSOR_1_ADDR), MP_ROM_INT(0b110) },
{ MP_ROM_QSTR(MP_QSTR_SENSOR_2_ADDR), MP_ROM_INT(0b111) },
{ MP_ROM_QSTR(MP_QSTR_NUM_SENSORS), MP_ROM_INT(2) },
Comment on lines +62 to +70
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@dhalbert dhalbert Apr 26, 2022 •
edited
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If there is going to be a library you (almost) always use with this board, you might consider putting constants like these and NUM_MOTORS in the library rather than casting them in stone.

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Ah okay. There's no specific library for this board at the moment, I was just going to use the existing motor,encoder,neopixel etc libraries, as my time is stretched pretty thin with supporting C++ and Micropython. Something to consider for the future though.


{ MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) },
{ MP_ROM_QSTR(MP_QSTR_STEMMA_I2C), MP_ROM_PTR(&board_i2c_obj) },

{ MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) },
};
MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);