Pico explorer board support

boards/pico_explorer/Cargo.toml

@@ -11,9 +11,21 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 cortex-m = "0.7.2"
-rp2040-hal = { path = "../../rp2040-hal", version = "0.1.0" }
+rp2040-hal = { path="../../rp2040-hal", version="0.1.0" }
-cortex-m-rt = { version = "0.6.14", optional = true }
+cortex-m-rt = { version="0.6.14", optional=true }
+embedded-hal = { version="0.2.4", features=["unproven"] }
+st7789 = "0.6.1"
+display-interface-spi = "0.4.1"
+embedded-time = "0.12.0"
+embedded-graphics = "0.7.1"
 
 [features]
 default = ["rt"]
-rt = ["cortex-m-rt","rp2040-hal/rt"]
+rt = ["cortex-m-rt","rp2040-hal/rt"]
+
+[dev-dependencies]
+display-interface = "0.4.1"
+panic-halt = "0.2.0"
+arrayvec = { version="0.7.1", default-features=false }
+rp2040-boot2 = { git="https://github.com/rp-rs/rp2040-boot2-rs", branch="main" }
+nb = "1.0.0"

boards/pico_explorer/examples/pico_explorer_showcase.rs

@@ -0,0 +1,111 @@
+#![no_std]
+#![no_main]
+
+use arrayvec::ArrayString;
+use core::fmt::Write;
+use cortex_m_rt::entry;
+use embedded_graphics::{
+    mono_font::{ascii::FONT_10X20, MonoTextStyleBuilder},
+    pixelcolor::Rgb565,
+    prelude::*,
+    text::{Alignment, Text},
+};
+use embedded_hal::digital::v2::OutputPin;
+use embedded_time::rate::*;
+use hal::{adc::Adc, clocks::*, sio::Sio, watchdog::Watchdog};
+use panic_halt as _;
+use pico_explorer::{hal, pac, Button, PicoExplorer, XOSC_CRYSTAL_FREQ};
+
+#[link_section = ".boot2"]
+#[used]
+pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER;
+
+// See 4.9.5 from RP2040 datasheet
+fn calc_temp(adc_value: f32, refv: f64) -> f64 {
+    let vbe: f64 = f64::from(adc_value) * refv;
+    27f64 - (vbe - 0.706) / 0.001721
+}
+
+#[entry]
+fn main() -> ! {
+    let mut p = pac::Peripherals::take().unwrap();
+    let cp = pac::CorePeripherals::take().unwrap();
+
+    // Enable watchdog and clocks
+    let mut watchdog = Watchdog::new(p.WATCHDOG);
+    let clocks = init_clocks_and_plls(
+        XOSC_CRYSTAL_FREQ,
+        p.XOSC,
+        p.CLOCKS,
+        p.PLL_SYS,
+        p.PLL_USB,
+        &mut p.RESETS,
+        &mut watchdog,
+    )
+    .ok()
+    .unwrap();
+
+    let mut delay = cortex_m::delay::Delay::new(cp.SYST, clocks.system_clock.get_freq().integer());
+
+    // Enable adc
+    let mut adc = Adc::new(p.ADC, &mut p.RESETS);
+    let mut temp_sense = adc.enable_temp_sensor();
+
+    let sio = Sio::new(p.SIO);
+
+    let (mut explorer, pins) = PicoExplorer::new(
+        p.IO_BANK0,
+        p.PADS_BANK0,
+        sio.gpio_bank0,
+        p.SPI0,
+        adc,
+        &mut p.RESETS,
+        &mut delay,
+    );
+
+    let mut led = pins.led.into_push_pull_output();
+
+    let mut even = true;
+    loop {
+        delay.delay_ms(500);
+
+        // Set GPIO25 to be low
+        led.set_low().unwrap();
+
+        delay.delay_ms(500);
+
+        // Set GPIO25 to be high
+        led.set_high().unwrap();
+
+        let adc_value = explorer.get_adc(&mut temp_sense);
+        let temp: f64 = calc_temp(adc_value, 3.3);
+
+        // Create a fixed buffer to store screen contents
+        let mut buf = ArrayString::<100>::new();
+
+        // Write to buffer
+        writeln!(&mut buf, "Hello World {}", if even { '|' } else { '-' }).unwrap();
+        writeln!(&mut buf, "Temp: {:.1}", temp).unwrap();
+        writeln!(
+            &mut buf,
+            "A:{:.1} B:{:.1}\nX:{:.1} Y:{:.1}",
+            explorer.is_pressed(Button::A),
+            explorer.is_pressed(Button::B),
+            explorer.is_pressed(Button::X),
+            explorer.is_pressed(Button::Y)
+        )
+        .unwrap();
+
+        // Draw buffer on screen
+        let style = MonoTextStyleBuilder::new()
+            .font(&FONT_10X20)
+            .text_color(Rgb565::GREEN)
+            .background_color(Rgb565::BLACK)
+            .build();
+        Text::with_alignment(&buf, Point::new(20, 30), style, Alignment::Left)
+            .draw(&mut explorer.screen)
+            .unwrap();
+
+        even = !even;
+    }
+}

boards/pico_explorer/src/lib.rs

@@ -1,96 +1,276 @@
 #![no_std]
 
-extern crate rp2040_hal as hal;
+pub extern crate rp2040_hal as hal;
 
 #[cfg(feature = "rt")]
 extern crate cortex_m_rt;
+
 #[cfg(feature = "rt")]
 pub use cortex_m_rt::entry;
-
+use display_interface_spi::SPIInterface;
+use embedded_graphics::{
+    draw_target::DrawTarget,
+    pixelcolor::{Rgb565, RgbColor},
+};
+use embedded_hal::{
+    adc::{Channel, OneShot},
+    blocking::delay::DelayUs,
+    digital::v2::{InputPin, OutputPin},
+    spi::MODE_0,
+};
+use embedded_time::rate::*;
 pub use hal::pac;
+use hal::{
+    adc::Adc,
+    gpio::{
+        bank0::{
+            Gpio0, Gpio1, Gpio12, Gpio13, Gpio14, Gpio15, Gpio16, Gpio17, Gpio18, Gpio19, Gpio2,
+            Gpio20, Gpio21, Gpio22, Gpio23, Gpio24, Gpio25, Gpio26, Gpio27, Gpio28, Gpio29, Gpio3,
+            Gpio4, Gpio5, Gpio6, Gpio7,
+        },
+        FunctionI2C, FunctionPwm, FunctionSpi, Pin, PinId, PullUpInput, PushPullOutput,
+    },
+    pac::{RESETS, SPI0},
+    sio::SioGpioBank0,
+    spi::{Enabled, Spi},
+};
+use st7789::ST7789;
 
-hal::bsp_pins!(
+mod internal_pins {
-    Gpio0 {
+    hal::bsp_pins!(
-        name: gpio0,
+        Gpio0 { name: gpio0 },
-        aliases: { FunctionPwm: Audio0 }
+        Gpio1 { name: gpio1 },
-    },
+        Gpio2 { name: gpio2 },
-    Gpio1 {
+        Gpio3 { name: gpio3 },
-        name: gpio1,
+        Gpio4 { name: gpio4 },
-        aliases: { FunctionPwm: Audio1 }
+        Gpio5 { name: gpio5 },
-    },
+        Gpio6 { name: gpio6 },
-    Gpio2 {
+        Gpio7 { name: gpio7 },
-        name: gpio2,
+        Gpio8 {
-        aliases: { FunctionPwm: Audio2 }
+            name: motor1_neg,
-    },
+            aliases: { FunctionPwm: Motor1Neg }
-    Gpio3 {
+        },
-        name: gpio3,
+        Gpio9 {
-        aliases: { FunctionPwm: Audio3 }
+            name: motor1_pos,
-    },
+            aliases: { FunctionPwm: Motor1Pos }
-    Gpio4 {
+        },
-        name: gpio4,
+        Gpio10 {
-        aliases: { FunctionPwm: Audio4 }
+            name: motor2_neg,
-    },
+            aliases: { FunctionPwm: Motor2Neg }
-    Gpio5 {
+        },
-        name: gpio5,
+        Gpio11 {
-        aliases: { FunctionPwm: Audio5 }
+            name: motor2_pos,
-    },
+            aliases: { FunctionPwm: Motor2Pos }
-    Gpio6 {
+        },
-        name: gpio6,
+        Gpio12 { name: switch_a },
-        aliases: { FunctionPwm: Audio6 }
+        Gpio13 { name: switch_b },
-    },
+        Gpio14 { name: switch_x },
-    Gpio7 {
+        Gpio15 { name: switch_y },
-        name: gpio7,
+        Gpio16 {
-        aliases: { FunctionPwm: Audio7 }
+            name: spi_miso,
-    },
+            aliases: { FunctionSpi: Miso }
-    Gpio8 {
+        },
-        name: motor1_min,
+        Gpio17 {
-        aliases: { FunctionPwm: Motor1Min }
+            name: lcd_cs,
-    },
+            aliases: { FunctionSpi: LcdCs }
-    Gpio9 {
+        },
-        name: motor1_plus,
+        Gpio18 {
-        aliases: { FunctionPwm: Motor1Plus }
+            name: spi_sclk,
-    },
+            aliases: { FunctionSpi: Sclk }
-    Gpio10 {
+        },
-        name: motor2_min,
+        Gpio19 {
-        aliases: { FunctionPwm: Motor2Min }
+            name: spi_mosi,
-    },
+            aliases: { FunctionSpi: Mosi }
-    Gpio11 {
+        },
-        name: motor2_plus,
+        Gpio20 {
-        aliases: { FunctionPwm: Motor2Plus }
+            name: i2c_sda,
-    },
+            aliases: { FunctionI2C: Sda }
-    Gpio12 { name: switch_a },
+        },
-    Gpio13 { name: switch_b },
+        Gpio21 {
-    Gpio14 { name: switch_x },
+            name: i2c_scl,
-    Gpio15 { name: switch_y },
+            aliases: { FunctionI2C: Scl }
-    Gpio16 {
+        },
-        name: spi_miso,
+        Gpio22 { name: i2c_int },
-        aliases: { FunctionSpi: Miso }
+        Gpio23 { name: bootsel },
-    },
+        Gpio24 { name: vbus_detect },
-    Gpio17 {
+        Gpio25 { name: led },
-        name: lcd_cs,
+        Gpio26 { name: adc0 },
-        aliases: { FunctionSpi: LcdCs }
+        Gpio27 { name: adc1 },
-    },
+        Gpio28 { name: adc2 },
-    Gpio18 {
+        Gpio29 {
-        name: spi_sclk,
+            name: voltage_monitor
-        aliases: { FunctionSpi: Sclk }
+        },
-    },
+    );
-    Gpio19 {
+}
-        name: spi_mosi,
+
-        aliases: { FunctionSpi: Mosi }
+pub struct Pins {
-    },
+    pub gpio0: Pin<Gpio0, <Gpio0 as PinId>::Reset>,
-    Gpio20 {
+    pub gpio1: Pin<Gpio1, <Gpio1 as PinId>::Reset>,
-        name: i2c_sda,
+    pub gpio2: Pin<Gpio2, <Gpio2 as PinId>::Reset>,
-        aliases: { FunctionI2C: Sda }
+    pub gpio3: Pin<Gpio3, <Gpio3 as PinId>::Reset>,
-    },
+    pub gpio4: Pin<Gpio4, <Gpio4 as PinId>::Reset>,
-    Gpio21 {
+    pub gpio5: Pin<Gpio5, <Gpio5 as PinId>::Reset>,
-        name: i2c_scl,
+    pub gpio6: Pin<Gpio6, <Gpio6 as PinId>::Reset>,
-        aliases: { FunctionI2C: Scl }
+    pub gpio7: Pin<Gpio7, <Gpio7 as PinId>::Reset>,
-    },
+    pub spi_sclk: Pin<Gpio18, FunctionSpi>,
-    Gpio22 { name: i2c_int },
+    pub spi_mosi: Pin<Gpio19, FunctionSpi>,
-    Gpio25 { name: led },
+    pub i2c_sda: Pin<Gpio20, FunctionI2C>,
-    Gpio26 { name: adc0 },
+    pub i2c_scl: Pin<Gpio21, FunctionI2C>,
-    Gpio27 { name: adc1 },
+    pub i2c_int: Pin<Gpio22, FunctionI2C>,
-    Gpio28 { name: adc2 },
+    pub bootsel: Pin<Gpio23, <Gpio23 as PinId>::Reset>,
-);
+    pub vbus_detect: Pin<Gpio24, <Gpio24 as PinId>::Reset>,
+    pub led: Pin<Gpio25, <Gpio25 as PinId>::Reset>,
+    pub adc0: Pin<Gpio26, <Gpio26 as PinId>::Reset>,
+    pub adc1: Pin<Gpio27, <Gpio27 as PinId>::Reset>,
+    pub adc2: Pin<Gpio28, <Gpio28 as PinId>::Reset>,
+    pub voltage_monitor: Pin<Gpio29, <Gpio29 as PinId>::Reset>,
+}
 
 pub const XOSC_CRYSTAL_FREQ: u32 = 12_000_000;
+pub enum Button {
+    A,
+    B,
+    X,
+    Y,
+}
+
+pub enum Motor {
+    _1,
+    _2,
+}
+
+pub enum MotorAction {
+    Forward(f32),
+    Reverse(f32),
+    Stop,
+}
+
+pub type Screen = ST7789<
+    SPIInterface<Spi<Enabled, SPI0, 8>, Pin<Gpio16, PushPullOutput>, Pin<Gpio17, PushPullOutput>>,
+    DummyPin,
+>;
+
+pub struct PicoExplorer {
+    a: Pin<Gpio12, PullUpInput>,
+    b: Pin<Gpio13, PullUpInput>,
+    x: Pin<Gpio14, PullUpInput>,
+    y: Pin<Gpio15, PullUpInput>,
+    adc: Adc,
+    pub screen: Screen,
+}
+
+pub struct DummyPin;
+
+impl OutputPin for DummyPin {
+    type Error = ();
+    fn set_high(&mut self) -> Result<(), Self::Error> {
+        Ok(())
+    }
+    fn set_low(&mut self) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}
+
+impl PicoExplorer {
+    pub fn new(
+        io: pac::IO_BANK0,
+        pads: pac::PADS_BANK0,
+        sio: SioGpioBank0,
+        spi0: SPI0,
+        adc: Adc,
+        resets: &mut RESETS,
+        delay: &mut impl DelayUs<u32>,
+    ) -> (Self, Pins) {
+        let internal_pins = internal_pins::Pins::new(io, pads, sio, resets);
+
+        let a = internal_pins.switch_a.into_pull_up_input();
+        let b = internal_pins.switch_b.into_pull_up_input();
+        let x = internal_pins.switch_x.into_pull_up_input();
+        let y = internal_pins.switch_y.into_pull_up_input();
+
+        internal_pins.motor1_pos.into_mode::<FunctionPwm>();
+        internal_pins.motor1_neg.into_mode::<FunctionPwm>();
+        internal_pins.motor2_pos.into_mode::<FunctionPwm>();
+        internal_pins.motor2_neg.into_mode::<FunctionPwm>();
+
+        let dc = internal_pins.spi_miso.into_push_pull_output();
+        let cs = internal_pins.lcd_cs.into_push_pull_output();
+        let spi_sclk = internal_pins.spi_sclk.into_mode::<FunctionSpi>();
+        let spi_mosi = internal_pins.spi_mosi.into_mode::<FunctionSpi>();
+
+        let spi_screen = Spi::<_, _, 8>::new(spi0).init(
+            resets,
+            125_000_000u32.Hz(),
+            16_000_000u32.Hz(),
+            &MODE_0,
+        );
+
+        let spii_screen = SPIInterface::new(spi_screen, dc, cs);
+
+        let mut screen = ST7789::new(spii_screen, DummyPin, 240, 240);
+
+        screen.init(delay).unwrap();
+        screen
+            .set_orientation(st7789::Orientation::Portrait)
+            .unwrap();
+        screen.clear(Rgb565::BLACK).unwrap();
+
+        (
+            PicoExplorer {
+                a,
+                b,
+                x,
+                y,
+                adc,
+                screen,
+            },
+            Pins {
+                gpio0: internal_pins.gpio0,
+                gpio1: internal_pins.gpio1,
+                gpio2: internal_pins.gpio2,
+                gpio3: internal_pins.gpio3,
+                gpio4: internal_pins.gpio4,
+                gpio5: internal_pins.gpio5,
+                gpio6: internal_pins.gpio6,
+                gpio7: internal_pins.gpio7,
+                spi_sclk,
+                spi_mosi,
+                i2c_sda: internal_pins.i2c_sda.into_mode(),
+                i2c_scl: internal_pins.i2c_scl.into_mode(),
+                i2c_int: internal_pins.i2c_int.into_mode(),
+                bootsel: internal_pins.bootsel,
+                vbus_detect: internal_pins.vbus_detect,
+                led: internal_pins.led,
+                adc0: internal_pins.adc0,
+                adc1: internal_pins.adc1,
+                adc2: internal_pins.adc2,
+                voltage_monitor: internal_pins.voltage_monitor,
+            },
+        )
+    }
+
+    pub fn is_pressed(&self, button: Button) -> bool {
+        use Button::*;
+        match button {
+            A => self.a.is_low().unwrap(),
+            B => self.b.is_low().unwrap(),
+            X => self.x.is_low().unwrap(),
+            Y => self.y.is_low().unwrap(),
+        }
+    }
+
+    pub fn get_adc<Pin: Channel<Adc, ID = u8>>(&mut self, channel: &mut Pin) -> f32 {
+        // scale raw 12-bit adc value to 0 .. 1 float
+        let adc_value: u16 = self.adc.read(channel).unwrap();
+        let mut result: f32 = f32::from(adc_value) / f32::from(1u16 << 12);
+        // clamp result to 0 .. 1
+        if result > 1.0 {
+            result = 1.0
+        }
+
+        if result < 0.0 {
+            result = 0.0
+        }
+        result
+    }
+}