Add SparkFun XRP Controller

package/package_pico_index.template.json

@@ -317,6 +317,9 @@
                   {
                      "name": "SparkFun XRP Controller (Beta)"
                   },
+                  {
+                     "name": "SparkFun XRP Controller"
+                  },
                   {
                      "name": "Seeed INDICATOR RP2040"
                   },

tools/json/sparkfun_xrp_controller.json

@@ -0,0 +1,56 @@
+{
+    "build": {
+        "arduino": {
+            "earlephilhower": {
+                "boot2_source": "none.S",
+                "usb_vid": "0x1B4F",
+                "usb_pid": "0x0046"
+            }
+        },
+        "core": "earlephilhower",
+        "cpu": "cortex-m33",
+        "extra_flags": "-DARDUINO_SPARKFUN_XRP_CONTROLLER -DARDUINO_ARCH_RP2040 -DUSBD_MAX_POWER_MA=250  -DPICO_CYW43_SUPPORTED=1 -DCYW43_PIN_WL_DYNAMIC=1",
+        "f_cpu": "150000000L",
+        "hwids": [
+            [
+                "0x2E8A",
+                "0x00C0"
+            ],
+            [
+                "0x1B4F",
+                "0x0046"
+            ]
+        ],
+        "mcu": "rp2350",
+        "variant": "sparkfun_xrp_controller"
+    },
+    "debug": {
+        "jlink_device": "RP2350_0",
+        "openocd_target": "rp2350.cfg",
+        "svd_path": "rp2350.svd"
+    },
+    "frameworks": [
+        "arduino"
+    ],
+    "name": "XRP Controller",
+    "upload": {
+        "maximum_ram_size": 524288,
+        "maximum_size": 16777216,
+        "require_upload_port": true,
+        "native_usb": true,
+        "use_1200bps_touch": true,
+        "wait_for_upload_port": false,
+        "protocol": "picotool",
+        "protocols": [
+            "blackmagic",
+            "cmsis-dap",
+            "jlink",
+            "raspberrypi-swd",
+            "picotool",
+            "picoprobe"
+        ],
+        "psram_length": 8388608
+    },
+    "url": "https://www.raspberrypi.org/products/raspberry-pi-pico/",
+    "vendor": "SparkFun"
+}

tools/makeboards.py

@@ -658,6 +658,7 @@ def MakeBoardJSON(name, chip, vendor_name, product_name, vid, pid, pwr, boarddef
 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"])
 MakeBoard("sparkfun_iotnode_lorawanrp2350", "rp2350", "SparkFun", "IoT Node LoRaWAN", "0x1b4f", "0x0044", 250, "SPARKFUN_IOTNODE_LORAWAN_RP2350", 16, 8, "none")
 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"])
+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"])
 
 # Seeed
 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

@@ -0,0 +1,33 @@
+/*
+    pinMode and digitalRead/Write for the Raspberry Pi Pico W RP2040
+    Copyright (c) 2022 Earle F. Philhower, III <earlephilhower@yahoo.com>
+
+    This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+    This library is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+    Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public
+    License along with this library; if not, write to the Free Software
+    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "Arduino.h"
+#include <cyw43_wrappers.h>
+
+extern "C" void pinMode(pin_size_t pin, PinMode mode) {
+    cyw43_pinMode(pin, mode);
+}
+
+extern "C" void digitalWrite(pin_size_t pin, PinStatus val) {
+    cyw43_digitalWrite(pin, val);
+}
+
+extern "C" PinStatus digitalRead(pin_size_t pin) {
+    return cyw43_digitalRead(pin);
+}

variants/sparkfun_xrp_controller/init.cpp

@@ -0,0 +1,34 @@
+/*
+    Initialize the Pico W WiFi driver
+
+    Copyright (c) 2022 Earle F. Philhower, III <earlephilhower@yahoo.com>
+
+    This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+    This library is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+    Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public
+    License along with this library; if not, write to the Free Software
+    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include <cyw43_wrappers.h>
+
+extern "C" void initVariant() {
+    static uint cyw43_pin_array[CYW43_PIN_INDEX_WL_COUNT] = {
+        26, // CYW43_PIN_INDEX_WL_REG_ON
+        29, // CYW43_PIN_INDEX_WL_DATA_OUT
+        29, // CYW43_PIN_INDEX_WL_DATA_IN
+        29, // CYW43_PIN_INDEX_WL_HOST_WAKE
+        28, // CYW43_PIN_INDEX_WL_CLOCK
+        27  // CYW43_PIN_INDEX_WL_CS
+    };
+    cyw43_set_pins_wl(cyw43_pin_array);
+    init_cyw43_wifi();
+}

variants/sparkfun_xrp_controller/pins_arduino.h

@@ -0,0 +1,122 @@
+#pragma once
+
+#define PICO_RP2350A 0
+
+#include <cyw43_wrappers.h>
+
+// XRP default pin names
+#define MOTOR_L_IN_1 (34u)
+#define MOTOR_L_IN_2 (35u)
+#define MOTOR_R_IN_1 (32u)
+#define MOTOR_R_IN_2 (33u)
+#define MOTOR_3_IN_1 (20u)
+#define MOTOR_3_IN_2 (21u)
+#define MOTOR_4_IN_1 (10u)
+#define MOTOR_4_IN_2 (11u)
+#define MOTOR_L_ENCODER_A (30u)
+#define MOTOR_L_ENCODER_B (31u)
+#define MOTOR_R_ENCODER_A (24u)
+#define MOTOR_R_ENCODER_B (25u)
+#define MOTOR_3_ENCODER_A (22u)
+#define MOTOR_3_ENCODER_B (23u)
+#define MOTOR_4_ENCODER_A (2u)
+#define MOTOR_4_ENCODER_B (3u)
+#define MOTOR_L_CURRENT (40u)
+#define MOTOR_R_CURRENT (43u)
+#define MOTOR_3_CURRENT (41u)
+#define MOTOR_4_CURRENT (42u)
+#define SERVO_1 (6u)
+#define SERVO_2 (9u)
+#define SERVO_3 (7u)
+#define SERVO_4 (8u)
+#define I2C_SDA_0 (4u)
+#define I2C_SCL_0 (5u)
+#define I2C_SDA_1 (38u)
+#define I2C_SCL_1 (39u)
+#define DISTANCE_TRIGGER (0u)
+#define DISTANCE_ECHO (1u)
+#define LINE_L (44u)
+#define LINE_R (45u)
+#define BOARD_VIN_MEASURE (46u)
+#define BOARD_USER_BUTTON (36u)
+#define BOARD_NEOPIXEL (37u)
+#define BOARD_LED (PIN_LED)
+
+// XRP alternate pin names
+#define ML_IN_1 (34u)
+#define ML_IN_2 (35u)
+#define MR_IN_1 (32u)
+#define MR_IN_2 (33u)
+#define M3_IN_1 (20u)
+#define M3_IN_2 (21u)
+#define M4_IN_1 (10u)
+#define M4_IN_2 (11u)
+#define ML_ENC_A (30u)
+#define ML_ENC_B (31u)
+#define MR_ENC_A (24u)
+#define MR_ENC_B (25u)
+#define M3_ENC_A (22u)
+#define M3_ENC_B (23u)
+#define M4_ENC_A (2u)
+#define M4_ENC_B (3u)
+#define ML_CUR (40u)
+#define MR_CUR (43u)
+#define M3_CUR (41u)
+#define M4_CUR (42u)
+#define S1 (6u)
+#define S2 (9u)
+#define S3 (7u)
+#define S4 (8u)
+#define SDA_0 (4u)
+#define SCL_0 (5u)
+#define SDA_1 (38u)
+#define SCL_1 (39u)
+#define RANGE_TRIGGER (0u)
+#define RANGE_ECHO (1u)
+#define REFLECTANCE_L (44u)
+#define REFLECTANCE_R (45u)
+#define BRD_VIN (46u)
+#define BRD_USR_BTN (36u)
+#define BRD_RGB_LED (37u)
+#define BRD_LED (PIN_LED)
+
+// LEDs
+#define PIN_LED        (64u)
+
+#define PIN_NEOPIXEL   (37)
+#define NUM_NEOPIXEL   (1)
+
+// Serial
+#define PIN_SERIAL1_TX (12u)
+#define PIN_SERIAL1_RX (13u)
+
+#define PIN_SERIAL2_TX (8u)
+#define PIN_SERIAL2_RX (9u)
+
+// SPI
+#define PIN_SPI0_MISO  (16u)
+#define PIN_SPI0_MOSI  (19u)
+#define PIN_SPI0_SCK   (18u)
+#define PIN_SPI0_SS    (17u)
+
+#define PIN_SPI1_MISO  (12u)
+#define PIN_SPI1_MOSI  (15u)
+#define PIN_SPI1_SCK   (14u)
+#define PIN_SPI1_SS    (13u)
+
+// Wire
+#define PIN_WIRE0_SDA  (4u)
+#define PIN_WIRE0_SCL  (5u)
+
+#define PIN_WIRE1_SDA  (38u)
+#define PIN_WIRE1_SCL  (39u)
+
+#define SERIAL_HOWMANY (3u)
+#define SPI_HOWMANY    (2u)
+#define WIRE_HOWMANY   (2u)
+
+// PSRAM
+#define RP2350_PSRAM_CS         (47u)
+#define RP2350_PSRAM_MAX_SCK_HZ (109*1000*1000)
+
+#include "../generic/common.h"