From 532500895692e44a13c9efd3f140ddca28d754df Mon Sep 17 00:00:00 2001
From: ZodiusInfuser <christopher.parrott2@gmail.com>
Date: Wed, 4 May 2022 22:21:30 +0100
Subject: [PATCH] Added board definition for upcoming Pimoroni motor driver
 (#795)

---
 .../include/boards/pimoroni_motor2040.h       | 138 ++++++++++++++++++
 1 file changed, 138 insertions(+)
 create mode 100644 src/boards/include/boards/pimoroni_motor2040.h

diff --git a/src/boards/include/boards/pimoroni_motor2040.h b/src/boards/include/boards/pimoroni_motor2040.h
new file mode 100644
index 0000000..00fd91a
--- /dev/null
+++ b/src/boards/include/boards/pimoroni_motor2040.h
@@ -0,0 +1,138 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+// -----------------------------------------------------
+// NOTE: THIS HEADER IS ALSO INCLUDED BY ASSEMBLER SO
+//       SHOULD ONLY CONSIST OF PREPROCESSOR DIRECTIVES
+// -----------------------------------------------------
+
+#ifndef _BOARDS_PIMORONI_MOTOR2040_H
+#define _BOARDS_PIMORONI_MOTOR2040_H
+
+// For board detection
+#define PIMORONI_MOTOR2040
+
+#ifndef MOTOR2040_USE_DISTANCE_SENSOR
+// default to 0, if not explicitly set
+#define MOTOR2040_USE_DISTANCE_SENSOR 0
+#endif
+
+// --- BOARD SPECIFIC ---
+#define MOTOR2040_MOTOR_A_P_PIN 4
+#define MOTOR2040_MOTOR_A_N_PIN 5
+#define MOTOR2040_MOTOR_B_P_PIN 6
+#define MOTOR2040_MOTOR_B_N_PIN 7
+#define MOTOR2040_MOTOR_C_P_PIN 8
+#define MOTOR2040_MOTOR_C_N_PIN 9
+#define MOTOR2040_MOTOR_D_P_PIN 10
+#define MOTOR2040_MOTOR_D_N_PIN 11
+#define MOTOR2040_NUM_MOTORS 4
+
+#define MOTOR2040_ENCODER_A_A_PIN 0
+#define MOTOR2040_ENCODER_A_B_PIN 1
+#define MOTOR2040_ENCODER_B_A_PIN 2
+#define MOTOR2040_ENCODER_B_B_PIN 3
+#define MOTOR2040_ENCODER_C_A_PIN 12
+#define MOTOR2040_ENCODER_C_B_PIN 13
+#define MOTOR2040_ENCODER_D_A_PIN 14
+#define MOTOR2040_ENCODER_D_B_PIN 15
+#define MOTOR2040_NUM_ENCODERS 4
+
+#if MOTOR2040_USE_DISTANCE_SENSOR
+#define MOTOR2040_TRIG_PIN 16
+#define MOTOR2040_ECHO_PIN 17
+#else
+#define MOTOR2040_UART 0
+#define MOTOR2040_TX_PIN 16
+#define MOTOR2040_RX_PIN 17
+#endif
+
+#define MOTOR2040_LED_DATA_PIN 18
+#define MOTOR2040_NUM_LEDS 1
+
+#define MOTOR2040_I2C 0
+#define MOTOR2040_INT_PIN 19
+#define MOTOR2040_SDA_PIN 20
+#define MOTOR2040_SCL_PIN 21
+
+#define MOTOR2040_USER_SW_PIN 23
+
+#define MOTOR2040_A0_PIN 26
+#define MOTOR2040_A1_PIN 27
+#define MOTOR2040_A2_PIN 28
+#define MOTOR2040_NUM_ADC_PINS 3
+
+#define MOTOR2040_SHARED_ADC_PIN 29
+#define MOTOR2040_ADC_ADDR_0_PIN 22
+#define MOTOR2040_ADC_ADDR_1_PIN 24
+#define MOTOR2040_ADC_ADDR_2_PIN 25
+
+#define MOTOR2040_CURRENT_SENSE_A_ADDR 0b000
+#define MOTOR2040_CURRENT_SENSE_B_ADDR 0b001
+#define MOTOR2040_CURRENT_SENSE_C_ADDR 0b010
+#define MOTOR2040_CURRENT_SENSE_D_ADDR 0b011
+#define MOTOR2040_VOLTAGE_SENSE_ADDR 0b100
+#define MOTOR2040_FAULT_SENSE_ADDR 0b101
+#define MOTOR2040_SENSOR_1_ADDR 0b110
+#define MOTOR2040_SENSOR_2_ADDR 0b111
+#define MOTOR2040_NUM_SENSORS 2
+
+// --- UART ---
+#if MOTOR2040_USE_DISTANCE_SENSOR
+// no PICO_DEFAULT_UART
+#else
+#ifndef PICO_DEFAULT_UART
+#define PICO_DEFAULT_UART MOTOR2040_UART
+#endif
+#ifndef PICO_DEFAULT_UART_TX_PIN
+#define PICO_DEFAULT_UART_TX_PIN MOTOR2040_TX_PIN
+#endif
+#ifndef PICO_DEFAULT_UART_RX_PIN
+#define PICO_DEFAULT_UART_RX_PIN MOTOR2040_RX_PIN
+#endif
+#endif
+
+// --- LED ---
+// no PICO_DEFAULT_LED_PIN
+#ifndef PICO_DEFAULT_WS2812_PIN
+#define PICO_DEFAULT_WS2812_PIN MOTOR2040_LED_DATA_PIN
+#endif
+
+// --- I2C ---
+#ifndef PICO_DEFAULT_I2C
+#define PICO_DEFAULT_I2C MOTOR2040_I2C
+#endif
+#ifndef PICO_DEFAULT_I2C_SDA_PIN
+#define PICO_DEFAULT_I2C_SDA_PIN MOTOR2040_SDA_PIN
+#endif
+#ifndef PICO_DEFAULT_I2C_SCL_PIN
+#define PICO_DEFAULT_I2C_SCL_PIN MOTOR2040_SCL_PIN
+#endif
+
+// --- SPI ---
+// no PICO_DEFAULT_SPI
+// no PICO_DEFAULT_SPI_SCK_PIN
+// no PICO_DEFAULT_SPI_TX_PIN
+// no PICO_DEFAULT_SPI_RX_PIN
+// no PICO_DEFAULT_SPI_CSN_PIN
+
+// --- FLASH ---
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
+#ifndef PICO_FLASH_SPI_CLKDIV
+#define PICO_FLASH_SPI_CLKDIV 2
+#endif
+
+#ifndef PICO_FLASH_SIZE_BYTES
+#define PICO_FLASH_SIZE_BYTES (2 * 1024 * 1024)
+#endif
+
+// All boards have B1 RP2040
+#ifndef PICO_RP2040_B0_SUPPORTED
+#define PICO_RP2040_B0_SUPPORTED 0
+#endif
+
+#endif