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rp2/boards/SPARKFUN_XRP_CONTROLLER: Add SparkFun XRP Controller.
Signed-off-by: Dryw Wade <[email protected]>
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‎ports/rp2/boards/SPARKFUN_XRP_CONTROLLER/board.json

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{
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"deploy": [
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"../deploy.md"
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],
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"docs": "",
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"features": [
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"BLE",
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"Dual-core",
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"External Flash",
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"External RAM",
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"IMU",
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"JST-SH",
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"RGB LED",
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"USB-C",
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"WiFi"
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],
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"images": [
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"26619-XRP-Controller-Board-Feature.jpg"
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],
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"mcu": "rp2350",
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"product": "XRP Controller",
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"thumbnail": "",
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"url": "https://www.sparkfun.com/sparkfun-experiential-robotics-platform-xrp-controller.html",
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"vendor": "Sparkfun"
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}

‎ports/rp2/boards/SPARKFUN_XRP_CONTROLLER/manifest.py

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include("$(PORT_DIR)/boards/manifest.py")
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require("bundle-networking")
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# Bluetooth
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require("aioble")

‎ports/rp2/boards/SPARKFUN_XRP_CONTROLLER/mpconfigboard.cmake

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# cmake file for SparkFun XRP Controller
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# TODO: DELETE THIS LINE WHEN SUBMODULED PICO-SDK INCLUDES THIS BOARD
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set(PICO_BOARD_HEADER_DIRS ${MICROPY_PORT_DIR}/boards/${MICROPY_BOARD})
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set(PICO_BOARD "sparkfun_xrp_controller")
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set(PICO_PLATFORM "rp2350")
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set(PICO_NUM_GPIOS 48)
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set(MICROPY_PY_LWIP ON)
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set(MICROPY_PY_NETWORK_CYW43 ON)
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# Bluetooth
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set(MICROPY_PY_BLUETOOTH ON)
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set(MICROPY_BLUETOOTH_BTSTACK ON)
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set(MICROPY_PY_BLUETOOTH_CYW43 ON)
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# Board specific version of the frozen manifest
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set(MICROPY_FROZEN_MANIFEST ${MICROPY_BOARD_DIR}/manifest.py)

‎ports/rp2/boards/SPARKFUN_XRP_CONTROLLER/mpconfigboard.h

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// Board and hardware specific configuration
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#define MICROPY_HW_BOARD_NAME "SparkFun XRP Controller"
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#define MICROPY_HW_FLASH_STORAGE_BYTES (PICO_FLASH_SIZE_BYTES - 1536 * 1024)
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// Enable networking.
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#define MICROPY_PY_NETWORK 1
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#define MICROPY_PY_NETWORK_HOSTNAME_DEFAULT "XRP"
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// CYW43 driver configuration.
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#define CYW43_USE_SPI (1)
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#define CYW43_LWIP (1)
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#define CYW43_GPIO (1)
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#define CYW43_SPI_PIO (1)
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// For debugging mbedtls - also set
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// Debug level (0-4) 1=warning, 2=info, 3=debug, 4=verbose
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// #define MODUSSL_MBEDTLS_DEBUG_LEVEL 1
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#define MICROPY_HW_PIN_EXT_COUNT CYW43_WL_GPIO_COUNT
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int mp_hal_is_pin_reserved(int n);
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#define MICROPY_HW_PIN_RESERVED(i) mp_hal_is_pin_reserved(i)
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#define MICROPY_HW_USB_VID (0x1B4F)
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#define MICROPY_HW_USB_PID (0x0046)
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#define MICROPY_HW_I2C0_SDA (4)
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#define MICROPY_HW_I2C0_SCL (5)
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#define MICROPY_HW_I2C1_SDA (38)
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#define MICROPY_HW_I2C1_SCL (39)
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#define MICROPY_HW_SPI0_SCK (18)
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#define MICROPY_HW_SPI0_MOSI (19)
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#define MICROPY_HW_SPI0_MISO (16)
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#define MICROPY_HW_SPI1_SCK (14)
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#define MICROPY_HW_SPI1_MOSI (15)
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#define MICROPY_HW_SPI1_MISO (12)
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#define MICROPY_HW_UART0_TX (12)
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#define MICROPY_HW_UART0_RX (13)
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#define MICROPY_HW_UART0_CTS (14)
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#define MICROPY_HW_UART0_RTS (15)
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#define MICROPY_HW_UART1_TX (8)
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#define MICROPY_HW_UART1_RX (9)
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#define MICROPY_HW_UART1_CTS (10)
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#define MICROPY_HW_UART1_RTS (11)
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#define MICROPY_HW_PSRAM_CS_PIN (47)
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#define MICROPY_HW_ENABLE_PSRAM (1)

‎ports/rp2/boards/SPARKFUN_XRP_CONTROLLER/pins.csv

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# XRP default pin names
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MOTOR_L_IN_1,GPIO34
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MOTOR_L_IN_2,GPIO35
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MOTOR_R_IN_1,GPIO32
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MOTOR_R_IN_2,GPIO33
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MOTOR_3_IN_1,GPIO20
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MOTOR_3_IN_2,GPIO21
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MOTOR_4_IN_1,GPIO10
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MOTOR_4_IN_2,GPIO11
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MOTOR_L_ENCODER_A,GPIO30
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MOTOR_L_ENCODER_B,GPIO31
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MOTOR_R_ENCODER_A,GPIO24
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MOTOR_R_ENCODER_B,GPIO25
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MOTOR_3_ENCODER_A,GPIO22
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MOTOR_3_ENCODER_B,GPIO23
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MOTOR_4_ENCODER_A,GPIO2
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MOTOR_4_ENCODER_B,GPIO3
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MOTOR_L_CURRENT,GPIO40
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MOTOR_R_CURRENT,GPIO43
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MOTOR_3_CURRENT,GPIO41
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MOTOR_4_CURRENT,GPIO42
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SERVO_1,GPIO6
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SERVO_2,GPIO9
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SERVO_3,GPIO7
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SERVO_4,GPIO8
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I2C_SDA_0,GPIO4
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I2C_SCL_0,GPIO5
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I2C_SDA_1,GPIO38
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I2C_SCL_1,GPIO39
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DISTANCE_TRIGGER,GPIO0
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DISTANCE_ECHO,GPIO1
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LINE_L,GPIO44
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LINE_R,GPIO45
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BOARD_VIN_MEASURE,GPIO46
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BOARD_USER_BUTTON,GPIO36
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BOARD_NEOPIXEL,GPIO37
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BOARD_LED,EXT_GPIO0
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# XRP alternate pin names
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ML_IN_1,GPIO34
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ML_IN_2,GPIO35
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MR_IN_1,GPIO32
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MR_IN_2,GPIO33
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M3_IN_1,GPIO20
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M3_IN_2,GPIO21
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M4_IN_1,GPIO10
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M4_IN_2,GPIO11
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ML_ENC_A,GPIO30
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ML_ENC_B,GPIO31
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MR_ENC_A,GPIO24
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MR_ENC_B,GPIO25
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M3_ENC_A,GPIO22
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M3_ENC_B,GPIO23
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M4_ENC_A,GPIO2
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M4_ENC_B,GPIO3
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ML_CUR,GPIO40
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MR_CUR,GPIO43
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M3_CUR,GPIO41
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M4_CUR,GPIO42
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S1,GPIO6
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S2,GPIO9
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S3,GPIO7
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S4,GPIO8
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SDA_0,GPIO4
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SCL_0,GPIO5
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SDA_1,GPIO38
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SCL_1,GPIO39
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RANGE_TRIGGER,GPIO0
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RANGE_ECHO,GPIO1
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REFLECTANCE_L,GPIO44
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REFLECTANCE_R,GPIO45
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BRD_VIN,GPIO46
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BRD_USR_BTN,GPIO36
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BRD_RGB_LED,GPIO37
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BRD_LED,EXT_GPIO0
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# LED default names
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LED,EXT_GPIO0
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NEOPIXEL,GPIO37
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# Radio GPIO pins
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WL_GPIO0,EXT_GPIO0
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WL_GPIO1,EXT_GPIO1
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WL_GPIO2,EXT_GPIO2

‎ports/rp2/boards/SPARKFUN_XRP_CONTROLLER/sparkfun_xrp_controller.h

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/*
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* Copyright (c) 2024 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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// -----------------------------------------------------
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// NOTE: THIS HEADER IS ALSO INCLUDED BY ASSEMBLER SO
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// SHOULD ONLY CONSIST OF PREPROCESSOR DIRECTIVES
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// -----------------------------------------------------
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// Board definition for the SparkFun XRP Controller
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//
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// This header may be included by other board headers as "boards/sparkfun_xrp_controller.h"
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// pico_cmake_set PICO_PLATFORM=rp2350
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// pico_cmake_set PICO_CYW43_SUPPORTED = 1
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#ifndef _BOARDS_SPARKFUN_XRP_CONTROLLER_H
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#define _BOARDS_SPARKFUN_XRP_CONTROLLER_H
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// For board detection
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#define SPARKFUN_XRP_CONTROLLER
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// --- RP2350 VARIANT ---
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#define PICO_RP2350A 0
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// --- UART ---
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#ifndef PICO_DEFAULT_UART
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#define PICO_DEFAULT_UART 0
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#endif
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#ifndef PICO_DEFAULT_UART_TX_PIN
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#define PICO_DEFAULT_UART_TX_PIN 12
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#endif
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#ifndef PICO_DEFAULT_UART_RX_PIN
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#define PICO_DEFAULT_UART_RX_PIN 13
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#endif
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// --- LED ---
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// no PICO_DEFAULT_LED_PIN - LED is on Wireless chip
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#ifndef PICO_DEFAULT_WS2812_PIN
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#define PICO_DEFAULT_WS2812_PIN 37
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#endif
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// --- I2C --- Qwiic connector is on these pins
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#ifndef PICO_DEFAULT_I2C
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#define PICO_DEFAULT_I2C 0
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#endif
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#ifndef PICO_DEFAULT_I2C_SDA_PIN
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#define PICO_DEFAULT_I2C_SDA_PIN 4
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#endif
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#ifndef PICO_DEFAULT_I2C_SCL_PIN
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#define PICO_DEFAULT_I2C_SCL_PIN 5
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#endif
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// --- SPI ---
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#ifndef PICO_DEFAULT_SPI
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#define PICO_DEFAULT_SPI 0
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#endif
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#ifndef PICO_DEFAULT_SPI_SCK_PIN
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#define PICO_DEFAULT_SPI_SCK_PIN 18
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#endif
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#ifndef PICO_DEFAULT_SPI_TX_PIN
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#define PICO_DEFAULT_SPI_TX_PIN 19
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#endif
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#ifndef PICO_DEFAULT_SPI_RX_PIN
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#define PICO_DEFAULT_SPI_RX_PIN 16
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#endif
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#ifndef PICO_DEFAULT_SPI_CSN_PIN
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#define PICO_DEFAULT_SPI_CSN_PIN 17
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#endif
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// --- FLASH ---
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#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
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#ifndef PICO_FLASH_SPI_CLKDIV
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#define PICO_FLASH_SPI_CLKDIV 2
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#endif
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// pico_cmake_set_default PICO_FLASH_SIZE_BYTES = (16 * 1024 * 1024)
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#ifndef PICO_FLASH_SIZE_BYTES
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#define PICO_FLASH_SIZE_BYTES (16 * 1024 * 1024)
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#endif
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#ifndef CYW43_WL_GPIO_COUNT
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#define CYW43_WL_GPIO_COUNT 3
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#endif
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#ifndef CYW43_WL_GPIO_LED_PIN
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#define CYW43_WL_GPIO_LED_PIN 0
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#endif
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// pico_cmake_set_default PICO_RP2350_A2_SUPPORTED = 1
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#ifndef PICO_RP2350_A2_SUPPORTED
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#define PICO_RP2350_A2_SUPPORTED 1
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#endif
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// cyw43 SPI pins can't be changed at runtime
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#ifndef CYW43_PIN_WL_DYNAMIC
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#define CYW43_PIN_WL_DYNAMIC 0
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#endif
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// gpio pin to power up the cyw43 chip
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#ifndef CYW43_DEFAULT_PIN_WL_REG_ON
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#define CYW43_DEFAULT_PIN_WL_REG_ON 26u
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#endif
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// gpio pin for spi data out to the cyw43 chip
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#ifndef CYW43_DEFAULT_PIN_WL_DATA_OUT
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#define CYW43_DEFAULT_PIN_WL_DATA_OUT 29u
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#endif
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// gpio pin for spi data in from the cyw43 chip
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#ifndef CYW43_DEFAULT_PIN_WL_DATA_IN
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#define CYW43_DEFAULT_PIN_WL_DATA_IN 29u
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#endif
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// gpio (irq) pin for the irq line from the cyw43 chip
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#ifndef CYW43_DEFAULT_PIN_WL_HOST_WAKE
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#define CYW43_DEFAULT_PIN_WL_HOST_WAKE 29u
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#endif
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// gpio pin for the spi clock line to the cyw43 chip
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#ifndef CYW43_DEFAULT_PIN_WL_CLOCK
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#define CYW43_DEFAULT_PIN_WL_CLOCK 28u
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#endif
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// gpio pin for the spi chip select to the cyw43 chip
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#ifndef CYW43_DEFAULT_PIN_WL_CS
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#define CYW43_DEFAULT_PIN_WL_CS 27u
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#endif
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#endif

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