.. zephyr:board:: motion_2350_pro

Overview

The Cytron Motion 2350 Pro_ board is based on the RP2350A microcontroller from Raspberry Pi Ltd. The board has motor drivers, servo headers, Maker connectors and a USB type C connector.

Hardware

Microcontroller Raspberry Pi RP2350A, with a max frequency of 150 MHz
Dual ARM Cortex M33 cores, and dual RISC-V Hazard3 cores.
520 kByte SRAM
2 Mbyte QSPI flash
12 GPIO pins
4 ADC pins
I2C
UART
USB type C connector
USB host (USB type A connector)
Reset, boot and 2 user buttons
2 RGB LEDs (Neopixels)
Piezo buzzer with mute switch
8 servo ports
4 Motor drivers, with 8 manual test buttons
3 Maker connectors, of which one can be used as a Qwiic/Stemma QT/zephyr_i2c connector
16 status indicators for digital pins

Default Zephyr Peripheral Mapping

GPIO header:

+-------+--------+-----------------+----------------------+ | Label | Pin | Default pin mux | Also in connector | +=======+========+=================+======================+ | GP16 | GPIO16 | I2C0 SDA | Maker port GP16+GP17 | +-------+--------+-----------------+----------------------+ | GP17 | GPIO17 | I2C0 SCL | Maker port GP16+GP17 | +-------+--------+-----------------+----------------------+ | GP18 | GPIO18 | (Alias led0) | | +-------+--------+-----------------+----------------------+ | GP19 | GPIO19 | (Alias led1) | | +-------+--------+-----------------+----------------------+ | GP26 | GPIO26 | ADC0 | Maker port GP26+GP27 | +-------+--------+-----------------+----------------------+ | GP27 | GPIO27 | ADC1 | Maker port GP26+GP27 | +-------+--------+-----------------+----------------------+ | GP28 | GPIO28 | UART0 TX | Maker port GP28+GP29 | +-------+--------+-----------------+----------------------+ | GP29 | GPIO29 | UART0 RX | Maker port GP28+GP29 | +-------+--------+-----------------+----------------------+

Servo header (Note that PWM3A is also used for the buzzer):

+-------+--------+-----------------+-----------------+ | Label | Pin | Default pin mux | Zephyr PWM name | +=======+========+=================+=================+ | GP0 | GPIO0 | PWM0A | 0 | +-------+--------+-----------------+-----------------+ | GP1 | GPIO1 | PWM0B | 1 | +-------+--------+-----------------+-----------------+ | GP2 | GPIO2 | PWM1A | 2 | +-------+--------+-----------------+-----------------+ | GP3 | GPIO3 | PWM1B | 3 | +-------+--------+-----------------+-----------------+ | GP4 | GPIO4 | PWM2A | 4 | +-------+--------+-----------------+-----------------+ | GP5 | GPIO5 | PWM2B | 5 | +-------+--------+-----------------+-----------------+ | GP6 | GPIO6 | PWM3A | 6 | +-------+--------+-----------------+-----------------+ | GP7 | GPIO7 | PWM3B | 7 | +-------+--------+-----------------+-----------------+

Motor drivers:

+-------+--------+-----------------+-----------------+ | Label | Pin | Default pin mux | Zephyr PWM name | +=======+========+=================+=================+ | M1A | GPIO8 | PWM4A | 8 | +-------+--------+-----------------+-----------------+ | M1B | GPIO9 | PWM4B | 9 | +-------+--------+-----------------+-----------------+ | M2A | GPIO10 | PWM5A | 10 | +-------+--------+-----------------+-----------------+ | M2B | GPIO11 | PWM5B | 11 | +-------+--------+-----------------+-----------------+ | M3A | GPIO12 | PWM6A | 12 | +-------+--------+-----------------+-----------------+ | M3B | GPIO13 | PWM6B | 13 | +-------+--------+-----------------+-----------------+ | M4A | GPIO14 | PWM7A | 14 | +-------+--------+-----------------+-----------------+ | M4B | GPIO15 | PWM7B | 15 | +-------+--------+-----------------+-----------------+

Connector GP16+GP17:

Connect Qwiic/Stemma QT sensors (that use I2C) to this connector.

The pins are also available in the GPIO header.

+-------+--------+-----------------+ | Label | Pin | Default pin mux | +=======+========+=================+ | GP16 | GPIO16 | I2C0 SDA | +-------+--------+-----------------+ | GP17 | GPIO17 | I2C0 SCL | +-------+--------+-----------------+

Connector GP26+GP27:

The pins are also available in the GPIO header.

+-------+--------+-----------------+ | Label | Pin | Default pin mux | +=======+========+=================+ | GP26 | GPIO26 | ADC0 | +-------+--------+-----------------+ | GP27 | GPIO27 | ADC1 | +-------+--------+-----------------+

Connector GP28+GP29:

The pins are also available in the GPIO header.

+-------+--------+-----------------+ | Label | Pin | Default pin mux | +=======+========+=================+ | GP28 | GPIO28 | UART0 TX | +-------+--------+-----------------+ | GP29 | GPIO29 | UART0 RX | +-------+--------+-----------------+

Supported Features

Note that USB host (the big USB type A connector) is not yet supported.

.. zephyr:board-supported-hw::

Programming and Debugging

.. zephyr:board-supported-runners::

By default programming is done via the USB connector. Press and hold the BOOT button, and then press the RST button, and the device will appear as a USB mass storage unit. Building your application will result in a :file:build/zephyr/zephyr.uf2 file. Drag and drop the file to the USB mass storage unit, and the board will be reprogrammed.

It is also possible to program and debug the board via the SWDIO and SWCLK pins in the DEBUG connector. You must solder a 3-pin header to the board in order to use this feature. A separate programming hardware tool is required, and for example the :command:openocd software is used. You might need to use Raspberry Pi's forked version of OpenOCD. Typically the OPENOCD and OPENOCD_DEFAULT_PATH values should be set when building, and the --runner openocd argument should be used when flashing. For more details on programming RP2040-based and RP2350-based boards, see :ref:rpi_pico_programming_and_debugging.

Flashing the M33 core

To run the :zephyr:code-sample:blinky sample:

.. zephyr-app-commands:: :zephyr-app: samples/basic/blinky/ :board: motion_2350_pro/rp2350a/m33 :goals: build flash

Try also the :zephyr:code-sample:led-strip, :zephyr:code-sample:hello_world, :zephyr:code-sample:button, :zephyr:code-sample:input-dump and :zephyr:code-sample:adc_dt samples.

The use of the Maker/Qwiic/Stemma QT I2C connector (GP16+GP17) is demonstrated using the :zephyr:code-sample:light_sensor_polling sample and a separate shield:

.. zephyr-app-commands:: :zephyr-app: samples/sensor/light_polling :board: motion_2350_pro/rp2350a/m33 :shield: adafruit_veml7700 :goals: build flash

Use the shell to control the GPIO pins:

.. zephyr-app-commands:: :zephyr-app: samples/sensor/sensor_shell :board: motion_2350_pro/rp2350a/m33 :gen-args: -DCONFIG_GPIO=y -DCONFIG_GPIO_SHELL=y :goals: build flash

To set one of the GPIO pins high, use these commands in the shell, and study the indicator LEDs:

.. code-block:: shell

gpio conf gpio0 18 o
gpio set gpio0 18 1

Servo motor control is done via PWM outputs. The :zephyr:code-sample:servo-motor sample sets servo position timing (via an overlay file) for the output GP0:

.. zephyr-app-commands:: :zephyr-app: samples/basic/servo_motor/ :board: motion_2350_pro/rp2350a/m33 :goals: build flash

It is also possible to control servos via the pwm shell:

.. zephyr-app-commands:: :zephyr-app: samples/sensor/sensor_shell :board: motion_2350_pro/rp2350a/m33 :gen-args: -DCONFIG_PWM=y -DCONFIG_PWM_SHELL=y :goals: build flash

Use shell commands to set the position of the servo. Most servo motors can handle pulse times between 800 and 2000 microseconds:

.. code-block:: shell

pwm usec pwm@400a8000 0 20000 800
pwm usec pwm@400a8000 0 20000 2000

To use the buzzer, you must turn on the buzzer switch on the short side of the board. Then build using the same command as above for the sensor_shell. Use these shell commands to turn on and off the buzzer:

.. code-block:: shell

pwm usec pwm@400a8000 6 1000 500
pwm usec pwm@400a8000 6 1000 0

You can also control the motor outputs via the shell. To set the speed of motor 1 to 100%, 50%, 20% and 0% respectively, use these commands:

.. code-block:: shell

pwm usec pwm@400a8000 8 1000 1000 pwm usec pwm@400a8000 8 1000 500 pwm usec pwm@400a8000 8 1000 200 pwm usec pwm@400a8000 8 1000 0

To run the motor in the opposite direction at 80% speed:

.. code-block:: shell

pwm usec pwm@400a8000 9 1000 800

Flashing the Hazard3 core

The RP2350A microcontroller has two ARM M33 cores and two RISC-V Hazard3 cores. To flash one of the Hazard3 cores, use the board argument motion_2350_pro/rp2350a/hazard3. The samples :zephyr:code-sample:blinky and :zephyr:code-sample:input-dump have been verified for this core. Use the USB mass storage programming method described above.

References

.. target-notes::

.. _Cytron Motion 2350 Pro: https://www.cytron.io/p-motion-2350-pro

.. _pinout: https://static.cytron.io/image/catalog/products/MOTION-2350-PRO/pinout-diagram-motion-2350-pro3.png