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Add SparkFun XRP Controller (#2847)
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‎boards.txt‎

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‎package/package_pico_index.template.json‎

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{
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"name": "SparkFun XRP Controller (Beta)"
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},
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{
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"name": "SparkFun XRP Controller"
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},
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{
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"name": "Seeed INDICATOR RP2040"
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},

‎tools/json/sparkfun_xrp_controller.json‎

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{
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"build": {
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"arduino": {
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"earlephilhower": {
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"boot2_source": "none.S",
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"usb_vid": "0x1B4F",
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"usb_pid": "0x0046"
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}
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},
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"core": "earlephilhower",
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"cpu": "cortex-m33",
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"extra_flags": "-DARDUINO_SPARKFUN_XRP_CONTROLLER -DARDUINO_ARCH_RP2040 -DUSBD_MAX_POWER_MA=250 -DPICO_CYW43_SUPPORTED=1 -DCYW43_PIN_WL_DYNAMIC=1",
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"f_cpu": "150000000L",
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"hwids": [
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[
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"0x2E8A",
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"0x00C0"
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],
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[
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"0x1B4F",
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"0x0046"
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]
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],
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"mcu": "rp2350",
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"variant": "sparkfun_xrp_controller"
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},
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"debug": {
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"jlink_device": "RP2350_0",
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"openocd_target": "rp2350.cfg",
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"svd_path": "rp2350.svd"
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},
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"frameworks": [
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"arduino"
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],
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"name": "XRP Controller",
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"upload": {
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"maximum_ram_size": 524288,
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"maximum_size": 16777216,
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"require_upload_port": true,
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"native_usb": true,
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"use_1200bps_touch": true,
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"wait_for_upload_port": false,
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"protocol": "picotool",
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"protocols": [
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"blackmagic",
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"cmsis-dap",
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"jlink",
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"raspberrypi-swd",
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"picotool",
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"picoprobe"
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],
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"psram_length": 8388608
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},
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"url": "https://www.raspberrypi.org/products/raspberry-pi-pico/",
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"vendor": "SparkFun"
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}

‎tools/makeboards.py‎

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MakeBoard("sparkfun_thingplusrp2350", "rp2350", "SparkFun", "Thing Plus RP2350", "0x1b4f", "0x0038", 250, "SPARKFUN_THINGPLUS_RP2350", 16, 8, "none", ["PICO_CYW43_SUPPORTED=1", "CYW43_PIN_WL_DYNAMIC=1"])
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MakeBoard("sparkfun_iotnode_lorawanrp2350", "rp2350", "SparkFun", "IoT Node LoRaWAN", "0x1b4f", "0x0044", 250, "SPARKFUN_IOTNODE_LORAWAN_RP2350", 16, 8, "none")
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MakeBoard("sparkfun_xrp_controller_beta", "rp2040", "SparkFun", "XRP Controller (Beta)", "0x1b4f", "0x0045", 250, "SPARKFUN_XRP_CONTROLLER_BETA", 2, 0, "boot2_w25q080_2_padded_checksum", ["PICO_CYW43_SUPPORTED=1", "CYW43_PIN_WL_DYNAMIC=1"])
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MakeBoard("sparkfun_xrp_controller", "rp2350", "SparkFun", "XRP Controller", "0x1b4f", "0x0046", 250, "SPARKFUN_XRP_CONTROLLER", 16, 8, "none", ["PICO_CYW43_SUPPORTED=1", "CYW43_PIN_WL_DYNAMIC=1"])
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# Seeed
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MakeBoard("seeed_indicator_rp2040", "rp2040", "Seeed", "INDICATOR RP2040", "0x2886", "0x0050", 250, "SEEED_INDICATOR_RP2040", 2, 0, "boot2_w25q080_2_padded_checksum")

‎variants/sparkfun_xrp_controller/digital.cpp‎

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/*
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pinMode and digitalRead/Write for the Raspberry Pi Pico W RP2040
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Copyright (c) 2022 Earle F. Philhower, III <[email protected]>
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "Arduino.h"
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#include <cyw43_wrappers.h>
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extern "C" void pinMode(pin_size_t pin, PinMode mode) {
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cyw43_pinMode(pin, mode);
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}
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extern "C" void digitalWrite(pin_size_t pin, PinStatus val) {
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cyw43_digitalWrite(pin, val);
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}
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extern "C" PinStatus digitalRead(pin_size_t pin) {
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return cyw43_digitalRead(pin);
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}

‎variants/sparkfun_xrp_controller/init.cpp‎

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/*
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Initialize the Pico W WiFi driver
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Copyright (c) 2022 Earle F. Philhower, III <[email protected]>
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include <cyw43_wrappers.h>
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extern "C" void initVariant() {
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static uint cyw43_pin_array[CYW43_PIN_INDEX_WL_COUNT] = {
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26, // CYW43_PIN_INDEX_WL_REG_ON
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29, // CYW43_PIN_INDEX_WL_DATA_OUT
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29, // CYW43_PIN_INDEX_WL_DATA_IN
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29, // CYW43_PIN_INDEX_WL_HOST_WAKE
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28, // CYW43_PIN_INDEX_WL_CLOCK
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27 // CYW43_PIN_INDEX_WL_CS
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};
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cyw43_set_pins_wl(cyw43_pin_array);
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init_cyw43_wifi();
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}

‎variants/sparkfun_xrp_controller/pins_arduino.h‎

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#pragma once
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#define PICO_RP2350A 0
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#include <cyw43_wrappers.h>
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// XRP default pin names
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#define MOTOR_L_IN_1 (34u)
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#define MOTOR_L_IN_2 (35u)
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#define MOTOR_R_IN_1 (32u)
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#define MOTOR_R_IN_2 (33u)
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#define MOTOR_3_IN_1 (20u)
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#define MOTOR_3_IN_2 (21u)
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#define MOTOR_4_IN_1 (10u)
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#define MOTOR_4_IN_2 (11u)
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#define MOTOR_L_ENCODER_A (30u)
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#define MOTOR_L_ENCODER_B (31u)
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#define MOTOR_R_ENCODER_A (24u)
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#define MOTOR_R_ENCODER_B (25u)
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#define MOTOR_3_ENCODER_A (22u)
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#define MOTOR_3_ENCODER_B (23u)
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#define MOTOR_4_ENCODER_A (2u)
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#define MOTOR_4_ENCODER_B (3u)
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#define MOTOR_L_CURRENT (40u)
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#define MOTOR_R_CURRENT (43u)
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#define MOTOR_3_CURRENT (41u)
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#define MOTOR_4_CURRENT (42u)
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#define SERVO_1 (6u)
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#define SERVO_2 (9u)
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#define SERVO_3 (7u)
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#define SERVO_4 (8u)
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#define I2C_SDA_0 (4u)
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#define I2C_SCL_0 (5u)
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#define I2C_SDA_1 (38u)
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#define I2C_SCL_1 (39u)
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#define DISTANCE_TRIGGER (0u)
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#define DISTANCE_ECHO (1u)
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#define LINE_L (44u)
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#define LINE_R (45u)
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#define BOARD_VIN_MEASURE (46u)
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#define BOARD_USER_BUTTON (36u)
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#define BOARD_NEOPIXEL (37u)
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#define BOARD_LED (PIN_LED)
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// XRP alternate pin names
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#define ML_IN_1 (34u)
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#define ML_IN_2 (35u)
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#define MR_IN_1 (32u)
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#define MR_IN_2 (33u)
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#define M3_IN_1 (20u)
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#define M3_IN_2 (21u)
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#define M4_IN_1 (10u)
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#define M4_IN_2 (11u)
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#define ML_ENC_A (30u)
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#define ML_ENC_B (31u)
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#define MR_ENC_A (24u)
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#define MR_ENC_B (25u)
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#define M3_ENC_A (22u)
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#define M3_ENC_B (23u)
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#define M4_ENC_A (2u)
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#define M4_ENC_B (3u)
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#define ML_CUR (40u)
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#define MR_CUR (43u)
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#define M3_CUR (41u)
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#define M4_CUR (42u)
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#define S1 (6u)
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#define S2 (9u)
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#define S3 (7u)
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#define S4 (8u)
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#define SDA_0 (4u)
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#define SCL_0 (5u)
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#define SDA_1 (38u)
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#define SCL_1 (39u)
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#define RANGE_TRIGGER (0u)
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#define RANGE_ECHO (1u)
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#define REFLECTANCE_L (44u)
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#define REFLECTANCE_R (45u)
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#define BRD_VIN (46u)
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#define BRD_USR_BTN (36u)
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#define BRD_RGB_LED (37u)
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#define BRD_LED (PIN_LED)
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// LEDs
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#define PIN_LED (64u)
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#define PIN_NEOPIXEL (37)
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#define NUM_NEOPIXEL (1)
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// Serial
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#define PIN_SERIAL1_TX (12u)
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#define PIN_SERIAL1_RX (13u)
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#define PIN_SERIAL2_TX (8u)
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#define PIN_SERIAL2_RX (9u)
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// SPI
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#define PIN_SPI0_MISO (16u)
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#define PIN_SPI0_MOSI (19u)
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#define PIN_SPI0_SCK (18u)
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#define PIN_SPI0_SS (17u)
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#define PIN_SPI1_MISO (12u)
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#define PIN_SPI1_MOSI (15u)
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#define PIN_SPI1_SCK (14u)
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#define PIN_SPI1_SS (13u)
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// Wire
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#define PIN_WIRE0_SDA (4u)
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#define PIN_WIRE0_SCL (5u)
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#define PIN_WIRE1_SDA (38u)
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#define PIN_WIRE1_SCL (39u)
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#define SERIAL_HOWMANY (3u)
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#define SPI_HOWMANY (2u)
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#define WIRE_HOWMANY (2u)
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// PSRAM
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#define RP2350_PSRAM_CS (47u)
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#define RP2350_PSRAM_MAX_SCK_HZ (109*1000*1000)
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#include "../generic/common.h"

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