diff --git a/ports/atmel-samd/boards/robohatmm1_m0/mpconfigboard.h b/ports/atmel-samd/boards/robohatmm1_m0/mpconfigboard.h index dc122b6fa5..c6856c68f8 100644 --- a/ports/atmel-samd/boards/robohatmm1_m0/mpconfigboard.h +++ b/ports/atmel-samd/boards/robohatmm1_m0/mpconfigboard.h @@ -1,4 +1,4 @@ -#define MICROPY_HW_BOARD_NAME "Robo HAT MM1" +#define MICROPY_HW_BOARD_NAME "Robo HAT MM1 M0" #define MICROPY_HW_MCU_NAME "samd21g18" #define MICROPY_HW_LED_STATUS (&pin_PB22) @@ -29,12 +29,12 @@ #define DEFAULT_I2C_BUS_SCL (&pin_PA23) #define DEFAULT_I2C_BUS_SDA (&pin_PA22) -#define DEFAULT_SPI_BUS_SCK (&pin_PB10) +#define DEFAULT_SPI_BUS_SCK (&pin_PB09) #define DEFAULT_SPI_BUS_MOSI (&pin_PB08) #define DEFAULT_SPI_BUS_MISO (&pin_PB11) -#define DEFAULT_UART_BUS_RX (&pin_PB03) -#define DEFAULT_UART_BUS_TX (&pin_PB02) +//#define DEFAULT_UART_BUS_RX (&pin_PB03) +//#define DEFAULT_UART_BUS_TX (&pin_PB02) // USB is always used internally so skip the pin objects for it. #define IGNORE_PIN_PA24 1 diff --git a/ports/atmel-samd/boards/robohatmm1_m0/mpconfigboard.mk b/ports/atmel-samd/boards/robohatmm1_m0/mpconfigboard.mk index e4f688f1e2..e703fbfb9f 100644 --- a/ports/atmel-samd/boards/robohatmm1_m0/mpconfigboard.mk +++ b/ports/atmel-samd/boards/robohatmm1_m0/mpconfigboard.mk @@ -1,7 +1,7 @@ LD_FILE = boards/samd21x18-bootloader-external-flash-crystalless.ld USB_VID = 0x1209 USB_PID = 0x4D43 -USB_PRODUCT = "Robo HAT MM1" +USB_PRODUCT = "Robo HAT MM1 M0" USB_MANUFACTURER = "Robotics Masters" CHIP_VARIANT = SAMD21G18A @@ -23,7 +23,7 @@ CFLAGS_INLINE_LIMIT = 60 SUPEROPT_GC = 0 # Include these Python libraries in firmware. -FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice +#FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_NeoPixel #FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_INA219 #FROZEN_MPY_DIRS += $(TOP)/frozen/RoboticsMasters_CircuitPython_MPU9250 diff --git a/ports/atmel-samd/boards/robohatmm1_m0/pins.c b/ports/atmel-samd/boards/robohatmm1_m0/pins.c index f50e8d15a5..edaf0bc4c5 100644 --- a/ports/atmel-samd/boards/robohatmm1_m0/pins.c +++ b/ports/atmel-samd/boards/robohatmm1_m0/pins.c @@ -1,6 +1,6 @@ #include "shared-bindings/board/__init__.h" - -STATIC const mp_rom_map_elem_t board_global_dict_table[] = { +// Version 2.4 +STATIC const mp_rom_map_elem_t board_global_dict_table[] = { // SERVO Pins { MP_ROM_QSTR(MP_QSTR_SERVO1), MP_ROM_PTR(&pin_PA18) }, { MP_ROM_QSTR(MP_QSTR_SERVO2), MP_ROM_PTR(&pin_PA19) }, @@ -10,13 +10,13 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_SERVO6), MP_ROM_PTR(&pin_PA10) }, { MP_ROM_QSTR(MP_QSTR_SERVO7), MP_ROM_PTR(&pin_PA09) }, { MP_ROM_QSTR(MP_QSTR_SERVO8), MP_ROM_PTR(&pin_PA08) }, - + // RCC Pins { MP_ROM_QSTR(MP_QSTR_RCC1), MP_ROM_PTR(&pin_PA07) }, { MP_ROM_QSTR(MP_QSTR_RCC2), MP_ROM_PTR(&pin_PA06) }, { MP_ROM_QSTR(MP_QSTR_RCC3), MP_ROM_PTR(&pin_PA05) }, { MP_ROM_QSTR(MP_QSTR_RCC4), MP_ROM_PTR(&pin_PA04) }, - + // Special Function { MP_ROM_QSTR(MP_QSTR_VOLTAGE_MONITOR), MP_ROM_PTR(&pin_PA02) }, { MP_ROM_QSTR(MP_QSTR_BATTERY), MP_ROM_PTR(&pin_PA02) }, @@ -25,14 +25,12 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_POWER_ON), MP_ROM_PTR(&pin_PA27) }, { MP_ROM_QSTR(MP_QSTR_POWER_ENABLE), MP_ROM_PTR(&pin_PA27) }, { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_PA27) }, - + { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_PB23) }, { MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pin_PB22) }, - { MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_PTR(&pin_PA22) }, - { MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_PTR(&pin_PA23) }, { MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_PB02) }, { MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_PB03) }, - + // GROVE on SERCOM0 { MP_ROM_QSTR(MP_QSTR_GROVE_SCL), MP_ROM_PTR(&pin_PA09) }, { MP_ROM_QSTR(MP_QSTR_GROVE_SDA), MP_ROM_PTR(&pin_PA08) }, @@ -49,40 +47,46 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_UART_CTS), MP_ROM_PTR(&pin_PA06) }, { MP_ROM_QSTR(MP_QSTR_UART_RTS), MP_ROM_PTR(&pin_PA07) }, + // UART on SERCOM1 (Raspberry Pi) + { MP_ROM_QSTR(MP_QSTR_TX1), MP_ROM_PTR(&pin_PA16) }, + { MP_ROM_QSTR(MP_QSTR_RX1), MP_ROM_PTR(&pin_PA17) }, + { MP_ROM_QSTR(MP_QSTR_PI_RX), MP_ROM_PTR(&pin_PA16) }, + { MP_ROM_QSTR(MP_QSTR_PI_TX), MP_ROM_PTR(&pin_PA17) }, + + // I2C on SERCOM1 (External Connector) + { MP_ROM_QSTR(MP_QSTR_SDA1), MP_ROM_PTR(&pin_PA00) }, + { MP_ROM_QSTR(MP_QSTR_SCL1), MP_ROM_PTR(&pin_PA01) }, + // SPI Flash on SERCOM2 { MP_ROM_QSTR(MP_QSTR_FLASH_SCK), MP_ROM_PTR(&pin_PA13) }, { MP_ROM_QSTR(MP_QSTR_FLASH_MISO), MP_ROM_PTR(&pin_PA14) }, { MP_ROM_QSTR(MP_QSTR_FLASH_MOSI), MP_ROM_PTR(&pin_PA12) }, { MP_ROM_QSTR(MP_QSTR_FLASH_CS), MP_ROM_PTR(&pin_PA15) }, - // I2C on SERCOM3 - { MP_ROM_QSTR(MP_QSTR_SDA1), MP_ROM_PTR(&pin_PA00) }, - { MP_ROM_QSTR(MP_QSTR_SCL1), MP_ROM_PTR(&pin_PA01) }, - + // I2C on SERCOM3 (RPi & Internal) + { MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_PTR(&pin_PA22) }, + { MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_PTR(&pin_PA23) }, + { MP_ROM_QSTR(MP_QSTR_PI_SDA), MP_ROM_PTR(&pin_PA22) }, + { MP_ROM_QSTR(MP_QSTR_PI_SCL), MP_ROM_PTR(&pin_PA23) }, + // SPI on SERCOM4 { MP_ROM_QSTR(MP_QSTR_MOSI), MP_ROM_PTR(&pin_PB08) }, - { MP_ROM_QSTR(MP_QSTR_SS), MP_ROM_PTR(&pin_PB09) }, - { MP_ROM_QSTR(MP_QSTR_SCK), MP_ROM_PTR(&pin_PB10) }, + { MP_ROM_QSTR(MP_QSTR_SCK), MP_ROM_PTR(&pin_PB09) }, + { MP_ROM_QSTR(MP_QSTR_SS), MP_ROM_PTR(&pin_PB10) }, { MP_ROM_QSTR(MP_QSTR_MISO), MP_ROM_PTR(&pin_PB11) }, - + // GPS on SERCOM5 { MP_ROM_QSTR(MP_QSTR_GPS_TX), MP_ROM_PTR(&pin_PB02) }, { MP_ROM_QSTR(MP_QSTR_GPS_RX), MP_ROM_PTR(&pin_PB03) }, - { MP_ROM_QSTR(MP_QSTR_GPS_SDA), MP_ROM_PTR(&pin_PA00) }, - { MP_ROM_QSTR(MP_QSTR_GPS_SCL), MP_ROM_PTR(&pin_PA01) }, - + // Raspberry Pi { MP_ROM_QSTR(MP_QSTR_PI_GP25), MP_ROM_PTR(&pin_PA30) }, { MP_ROM_QSTR(MP_QSTR_SWCLK), MP_ROM_PTR(&pin_PA30) }, { MP_ROM_QSTR(MP_QSTR_PI_GP24), MP_ROM_PTR(&pin_PA31) }, { MP_ROM_QSTR(MP_QSTR_SWDIO), MP_ROM_PTR(&pin_PA31) }, - { MP_ROM_QSTR(MP_QSTR_TX1), MP_ROM_PTR(&pin_PA16) }, - { MP_ROM_QSTR(MP_QSTR_PI_TX), MP_ROM_PTR(&pin_PA16) }, - { MP_ROM_QSTR(MP_QSTR_RX1), MP_ROM_PTR(&pin_PA17) }, - { MP_ROM_QSTR(MP_QSTR_PI_RX), MP_ROM_PTR(&pin_PA17) }, { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) }, { MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj) }, - { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) }, + //{ MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) }, }; MP_DEFINE_CONST_DICT(board_module_globals, board_global_dict_table); diff --git a/ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.h b/ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.h index ac3a3a0ddf..64040a6586 100644 --- a/ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.h +++ b/ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.h @@ -1,4 +1,4 @@ -#define MICROPY_HW_BOARD_NAME "Robo HAT MM1" +#define MICROPY_HW_BOARD_NAME "Robo HAT MM1 M4" #define MICROPY_HW_MCU_NAME "samd51g19" #define CIRCUITPY_MCU_FAMILY samd51 @@ -32,12 +32,12 @@ #define DEFAULT_I2C_BUS_SCL (&pin_PA23) #define DEFAULT_I2C_BUS_SDA (&pin_PA22) -#define DEFAULT_SPI_BUS_SCK (&pin_PB10) +#define DEFAULT_SPI_BUS_SCK (&pin_PB09) #define DEFAULT_SPI_BUS_MOSI (&pin_PB08) #define DEFAULT_SPI_BUS_MISO (&pin_PB11) -#define DEFAULT_UART_BUS_RX (&pin_PB03) -#define DEFAULT_UART_BUS_TX (&pin_PB02) +//#define DEFAULT_UART_BUS_RX (&pin_PB03) +//#define DEFAULT_UART_BUS_TX (&pin_PB02) // USB is always used internally so skip the pin objects for it. #define IGNORE_PIN_PA24 1 diff --git a/ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.mk b/ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.mk index f391bf625a..56f1617dbf 100644 --- a/ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.mk +++ b/ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.mk @@ -1,7 +1,7 @@ LD_FILE = boards/samd51x19-bootloader-external-flash.ld USB_VID = 0x1209 USB_PID = 0x4D43 -USB_PRODUCT = "Robo HAT MM1" +USB_PRODUCT = "Robo HAT MM1 M4" USB_MANUFACTURER = "Robotics Masters" CHIP_VARIANT = SAMD51G19A @@ -22,7 +22,7 @@ CIRCUITPY_DISPLAYIO = 0 CIRCUITPY_FREQUENCYIO = 0 # Include these Python libraries in firmware. -FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice +#FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_NeoPixel #FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_INA219 #FROZEN_MPY_DIRS += $(TOP)/frozen/RoboticsMasters_CircuitPython_MPU9250 diff --git a/ports/atmel-samd/boards/robohatmm1_m4/pins.c b/ports/atmel-samd/boards/robohatmm1_m4/pins.c index e1204e3437..edaf0bc4c5 100644 --- a/ports/atmel-samd/boards/robohatmm1_m4/pins.c +++ b/ports/atmel-samd/boards/robohatmm1_m4/pins.c @@ -1,6 +1,6 @@ #include "shared-bindings/board/__init__.h" - -STATIC const mp_rom_map_elem_t board_global_dict_table[] = { +// Version 2.4 +STATIC const mp_rom_map_elem_t board_global_dict_table[] = { // SERVO Pins { MP_ROM_QSTR(MP_QSTR_SERVO1), MP_ROM_PTR(&pin_PA18) }, { MP_ROM_QSTR(MP_QSTR_SERVO2), MP_ROM_PTR(&pin_PA19) }, @@ -10,13 +10,13 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_SERVO6), MP_ROM_PTR(&pin_PA10) }, { MP_ROM_QSTR(MP_QSTR_SERVO7), MP_ROM_PTR(&pin_PA09) }, { MP_ROM_QSTR(MP_QSTR_SERVO8), MP_ROM_PTR(&pin_PA08) }, - + // RCC Pins { MP_ROM_QSTR(MP_QSTR_RCC1), MP_ROM_PTR(&pin_PA07) }, { MP_ROM_QSTR(MP_QSTR_RCC2), MP_ROM_PTR(&pin_PA06) }, { MP_ROM_QSTR(MP_QSTR_RCC3), MP_ROM_PTR(&pin_PA05) }, { MP_ROM_QSTR(MP_QSTR_RCC4), MP_ROM_PTR(&pin_PA04) }, - + // Special Function { MP_ROM_QSTR(MP_QSTR_VOLTAGE_MONITOR), MP_ROM_PTR(&pin_PA02) }, { MP_ROM_QSTR(MP_QSTR_BATTERY), MP_ROM_PTR(&pin_PA02) }, @@ -25,14 +25,12 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_POWER_ON), MP_ROM_PTR(&pin_PA27) }, { MP_ROM_QSTR(MP_QSTR_POWER_ENABLE), MP_ROM_PTR(&pin_PA27) }, { MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_PA27) }, - + { MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_PB23) }, { MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pin_PB22) }, - { MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_PTR(&pin_PA22) }, - { MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_PTR(&pin_PA23) }, { MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_PB02) }, { MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_PB03) }, - + // GROVE on SERCOM0 { MP_ROM_QSTR(MP_QSTR_GROVE_SCL), MP_ROM_PTR(&pin_PA09) }, { MP_ROM_QSTR(MP_QSTR_GROVE_SDA), MP_ROM_PTR(&pin_PA08) }, @@ -49,41 +47,46 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_UART_CTS), MP_ROM_PTR(&pin_PA06) }, { MP_ROM_QSTR(MP_QSTR_UART_RTS), MP_ROM_PTR(&pin_PA07) }, + // UART on SERCOM1 (Raspberry Pi) + { MP_ROM_QSTR(MP_QSTR_TX1), MP_ROM_PTR(&pin_PA16) }, + { MP_ROM_QSTR(MP_QSTR_RX1), MP_ROM_PTR(&pin_PA17) }, + { MP_ROM_QSTR(MP_QSTR_PI_RX), MP_ROM_PTR(&pin_PA16) }, + { MP_ROM_QSTR(MP_QSTR_PI_TX), MP_ROM_PTR(&pin_PA17) }, + + // I2C on SERCOM1 (External Connector) + { MP_ROM_QSTR(MP_QSTR_SDA1), MP_ROM_PTR(&pin_PA00) }, + { MP_ROM_QSTR(MP_QSTR_SCL1), MP_ROM_PTR(&pin_PA01) }, + // SPI Flash on SERCOM2 { MP_ROM_QSTR(MP_QSTR_FLASH_SCK), MP_ROM_PTR(&pin_PA13) }, { MP_ROM_QSTR(MP_QSTR_FLASH_MISO), MP_ROM_PTR(&pin_PA14) }, { MP_ROM_QSTR(MP_QSTR_FLASH_MOSI), MP_ROM_PTR(&pin_PA12) }, { MP_ROM_QSTR(MP_QSTR_FLASH_CS), MP_ROM_PTR(&pin_PA15) }, - // I2C on SERCOM3 - { MP_ROM_QSTR(MP_QSTR_SDA1), MP_ROM_PTR(&pin_PA00) }, - { MP_ROM_QSTR(MP_QSTR_SCL1), MP_ROM_PTR(&pin_PA01) }, - + // I2C on SERCOM3 (RPi & Internal) + { MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_PTR(&pin_PA22) }, + { MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_PTR(&pin_PA23) }, + { MP_ROM_QSTR(MP_QSTR_PI_SDA), MP_ROM_PTR(&pin_PA22) }, + { MP_ROM_QSTR(MP_QSTR_PI_SCL), MP_ROM_PTR(&pin_PA23) }, + // SPI on SERCOM4 { MP_ROM_QSTR(MP_QSTR_MOSI), MP_ROM_PTR(&pin_PB08) }, - { MP_ROM_QSTR(MP_QSTR_SS), MP_ROM_PTR(&pin_PB09) }, - { MP_ROM_QSTR(MP_QSTR_SCK), MP_ROM_PTR(&pin_PB10) }, + { MP_ROM_QSTR(MP_QSTR_SCK), MP_ROM_PTR(&pin_PB09) }, + { MP_ROM_QSTR(MP_QSTR_SS), MP_ROM_PTR(&pin_PB10) }, { MP_ROM_QSTR(MP_QSTR_MISO), MP_ROM_PTR(&pin_PB11) }, - + // GPS on SERCOM5 { MP_ROM_QSTR(MP_QSTR_GPS_TX), MP_ROM_PTR(&pin_PB02) }, { MP_ROM_QSTR(MP_QSTR_GPS_RX), MP_ROM_PTR(&pin_PB03) }, - { MP_ROM_QSTR(MP_QSTR_GPS_SDA), MP_ROM_PTR(&pin_PA00) }, - { MP_ROM_QSTR(MP_QSTR_GPS_SCL), MP_ROM_PTR(&pin_PA01) }, - + // Raspberry Pi { MP_ROM_QSTR(MP_QSTR_PI_GP25), MP_ROM_PTR(&pin_PA30) }, { MP_ROM_QSTR(MP_QSTR_SWCLK), MP_ROM_PTR(&pin_PA30) }, { MP_ROM_QSTR(MP_QSTR_PI_GP24), MP_ROM_PTR(&pin_PA31) }, { MP_ROM_QSTR(MP_QSTR_SWDIO), MP_ROM_PTR(&pin_PA31) }, - { MP_ROM_QSTR(MP_QSTR_TX1), MP_ROM_PTR(&pin_PA16) }, - { MP_ROM_QSTR(MP_QSTR_PI_TX), MP_ROM_PTR(&pin_PA16) }, - { MP_ROM_QSTR(MP_QSTR_RX1), MP_ROM_PTR(&pin_PA17) }, - { MP_ROM_QSTR(MP_QSTR_PI_RX), MP_ROM_PTR(&pin_PA17) }, - { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) }, { MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj) }, - { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) }, + //{ MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) }, }; MP_DEFINE_CONST_DICT(board_module_globals, board_global_dict_table);