Add support for Sparkfun XRP

Cargo.toml

@@ -21,6 +21,7 @@ members = [
     "boards/sparkfun-micromod-rp2040",
     "boards/sparkfun-pro-micro-rp2040",
     "boards/sparkfun-thing-plus-rp2040",
+    "boards/sparkfun-xrp",
     "boards/vcc-gnd-yd-rp2040",
     "boards/waveshare-rp2040-zero",
     "boards/waveshare-rp2040-lcd-0-96",

README.md

@@ -93,7 +93,7 @@ Each BSP includes some examples to show off the features of that particular boar
 ### [rp-pico] - Board Support for the [Raspberry Pi Pico]
 
 You should include this crate if you are writing code that you want to run on
-a [Raspberry Pi Pico] - the original launch PCB for the RP2040 chip.  
+a [Raspberry Pi Pico] - the original launch PCB for the RP2040 chip.
 
 This crate includes the [rp2040-hal], but also configures each pin of the
 RP2040 chip according to how it is connected up on the Pico.
@@ -287,6 +287,17 @@ RP2040 chip according to how it is connected up on the Thing Plus RP2040.
 [Sparkfun Thing Plus RP2040]: https://www.sparkfun.com/products/17745
 [sparkfun-thing-plus-rp2040]: https://github.com/rp-rs/rp-hal-boards/tree/main/boards/sparkfun-thing-plus-rp2040
 
+### [sparkfun-xrp] - Board Support for the [Sparkfun XRP Robot]
+
+You should include this crate if you are writing code that you want to run on
+a [Sparkfun XRP Robot] - a robot kit with an RP2040 control board.
+
+This crate includes the [rp2040-hal], but also configures each pin of the
+RP2040 chip according to how it is connected up on the XRP.
+
+[Sparkfun XRP Robot]: https://www.sparkfun.com/products/22230
+[sparkfun-xrp]: https://github.com/rp-rs/rp-hal-boards/tree/main/boards/sparkfun-xrp
+
 ### [arduino_nano_connect] - Board Support for the [Arduino Nano RP2040 Connect]
 
 You should include this crate if you are writing code that you want to run on
@@ -335,7 +346,7 @@ RP2040 chip according to how it is connected up on the Feather.
 ### [waveshare-rp2040-lcd-0_96] - Board Support for the [Waveshare RP2040 LCD 0.96"]
 
 You should include this crate if you are writing code that you want to run on
-an [Waveshare RP2040 LCD 0.96"] - a very small RP2040 breakout board with USB-C, 
+an [Waveshare RP2040 LCD 0.96"] - a very small RP2040 breakout board with USB-C,
 a 65K IPS LCD 160x80, 16MBit Flash and 1A battery charger from Waveshare.
 
 This crate includes the [rp2040-hal], but also configures each pin of the

boards/sparkfun-xrp/CHANGELOG.md

@@ -0,0 +1,10 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+- Initial release

boards/sparkfun-xrp/Cargo.toml

@@ -0,0 +1,51 @@
+[package]
+name = "sparkfun-xrp"
+version = "0.1.0"
+authors = ["Thad House <thadhouse1@gmail.com>", "The rp-rs Developers"]
+edition = "2018"
+homepage = "https://github.com/rp-rs/rp-hal-boards/tree/main/boards/sparkfun-xrp"
+description = "Board Support Package for the Sparkfun XRP Robot"
+license = "MIT OR Apache-2.0"
+repository = "https://github.com/rp-rs/rp-hal-boards.git"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+cortex-m-rt = { version = "0.7.3", optional = true }
+embedded-hal = { version = "0.2.7", features = ["unproven"] }
+rp2040-boot2 = { version = "0.3.0", optional = true }
+rp2040-hal = { version = "0.9.0" }
+
+[dev-dependencies]
+fugit = "0.3.7"
+nb = "1.1.0"
+panic-halt = "0.2.0"
+pio = "0.2.1"
+smart-leds = "0.3.0"
+ws2812-pio = "0.7.0"
+
+[features]
+# This is the set of features we enable by default
+default = ["boot2", "rt", "critical-section-impl", "rom-func-cache"]
+
+# critical section that is safe for multicore use
+critical-section-impl = ["rp2040-hal/critical-section-impl"]
+
+# 2nd stage bootloaders for rp2040
+boot2 = ["rp2040-boot2"]
+
+# Minimal startup / runtime for Cortex-M microcontrollers
+rt = ["cortex-m-rt","rp2040-hal/rt"]
+
+# This enables a fix for USB errata 5: USB device fails to exit RESET state on busy USB bus.
+# Only required for RP2040 B0 and RP2040 B1, but it also works for RP2040 B2 and above
+rp2040-e5 = ["rp2040-hal/rp2040-e5"]
+
+# Memoize(cache) ROM function pointers on first use to improve performance
+rom-func-cache = ["rp2040-hal/rom-func-cache"]
+
+# Disable automatic mapping of language features (like floating point math) to ROM functions
+disable-intrinsics = ["rp2040-hal/disable-intrinsics"]
+
+# This enables ROM functions for f64 math that were not present in the earliest RP2040s
+rom-v2-intrinsics = ["rp2040-hal/rom-v2-intrinsics"]

boards/sparkfun-xrp/README.md

@@ -0,0 +1,90 @@
+# [sparkfun-xrp] - Board Support for the [Sparkfun XRP Robot]
+
+You should include this crate if you are writing code that you want to run on
+a [Sparkfun XRP Robot] - a robot kit with an RP2040 control board.
+
+This crate includes the [rp2040-hal], but also configures each pin of the
+RP2040 chip according to how it is connected up on the XRP.
+
+[Sparkfun XRP Robot]: https://www.sparkfun.com/products/22230
+[sparkfun-xrp]: https://github.com/rp-rs/rp-hal-boards/tree/main/boards/sparkfun-xrp
+[rp2040-hal]: https://github.com/rp-rs/rp-hal/tree/main/rp2040-hal
+[Raspberry Silicon RP2040]: https://www.raspberrypi.org/products/rp2040/
+
+## Using
+
+To use this crate, your `Cargo.toml` file should contain:
+
+```toml
+sparkfun-xrp = "0.1.0"
+```
+
+In your program, you will need to call `sparkfun_xrp::Pins::new` to create
+a new `Pins` structure. This will set up all the GPIOs for any on-board
+devices. See the [examples](./examples) folder for more details.
+
+## Examples
+
+### General Instructions
+
+To compile an example, clone the _rp-hal-boards_ repository and run:
+
+```console
+rp-hal-boards/boards/sparkfun-xrp $ cargo build --release --example <name>
+```
+
+You will get an ELF file called
+`./target/thumbv6m-none-eabi/release/examples/<name>`, where the `target`
+folder is located at the top of the _rp-hal-boards_ repository checkout. Normally
+you would also need to specify `--target=thumbv6m-none-eabi` but when
+building examples from this git repository, that is set as the default.
+
+If you want to convert the ELF file to a UF2 and automatically copy it to the
+USB drive exported by the RP2040 bootloader, simply boot your board into
+bootloader mode and run:
+
+```console
+rp-hal-boards/boards/sparkfun-xrp $ cargo run --release --example <name>
+```
+
+If you get an error about not being able to find `elf2uf2-rs`, try:
+
+```console
+$ cargo install elf2uf2-rs, then repeating the `cargo run` command above.
+```
+
+## Contributing
+
+Contributions are what make the open source community such an amazing place to
+be learn, inspire, and create. Any contributions you make are **greatly
+appreciated**.
+
+The steps are:
+
+1. Fork the Project by clicking the 'Fork' button at the top of the page.
+2. Create your Feature Branch (`git checkout -b feature/AmazingFeature`)
+3. Make some changes to the code or documentation.
+4. Commit your Changes (`git commit -m 'Add some AmazingFeature'`)
+5. Push to the Feature Branch (`git push origin feature/AmazingFeature`)
+6. Create a [New Pull Request](https://github.com/rp-rs/rp-hal-boards/pulls)
+7. An admin will review the Pull Request and discuss any changes that may be required.
+8. Once everyone is happy, the Pull Request can be merged by an admin, and your work is part of our project!
+
+## Code of Conduct
+
+Contribution to this crate is organized under the terms of the [Rust Code of
+Conduct][CoC], and the maintainer of this crate, the [rp-rs team], promises
+to intervene to uphold that code of conduct.
+
+[CoC]: CODE_OF_CONDUCT.md
+[rp-rs team]: https://github.com/orgs/rp-rs/teams/rp-rs
+
+## License
+
+The contents of this repository are dual-licensed under the _MIT OR Apache
+2.0_ License. That means you can choose either the MIT license or the
+Apache-2.0 license when you re-use this code. See `MIT` or `APACHE2.0` for more
+information on each specific license.
+
+Any submissions to this project (e.g. as Pull Requests) must be made available
+under these terms.

boards/sparkfun-xrp/src/lib.rs

@@ -0,0 +1,52 @@
+#![no_std]
+
+pub use rp2040_hal as hal;
+#[cfg(feature = "rt")]
+extern crate cortex_m_rt;
+#[cfg(feature = "rt")]
+pub use hal::entry;
+
+/// The linker will place this boot block at the start of our program image. We
+/// need this to help the ROM bootloader get our code up and running.
+#[cfg(feature = "boot2")]
+#[link_section = ".boot2"]
+#[no_mangle]
+#[used]
+pub static BOOT2_FIRMWARE: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
+
+pub use hal::pac;
+
+hal::bsp_pins!(
+    Gpio0 { name: motor_3_enc_a },
+    Gpio1 { name: motor_3_enc_b },
+    Gpio2 { name: motor_3_phase },
+    Gpio3 { name: motor_3_enable },
+    Gpio4 { name: left_motor_enc_a },
+    Gpio5 { name: left_motor_enc_b },
+    Gpio6 { name: left_motor_phase },
+    Gpio7 { name: left_motor_enable },
+    Gpio8 { name: motor_4_enc_a },
+    Gpio9 { name: motor_4_enc_b },
+    Gpio10 { name: motor_4_phase },
+    Gpio11 { name: motor_4_enable },
+    Gpio12 { name: right_motor_enc_a },
+    Gpio13 { name: right_motor_enc_b },
+    Gpio14 { name: right_motor_phase },
+    Gpio15 { name: right_motor_enable },
+    Gpio16 { name: servo_1 },
+    Gpio17 { name: servo_2 },
+    Gpio18 { name: qwiic_sda },
+    Gpio19 { name: qwiic_scl },
+    Gpio20 { name: range_trigger },
+    Gpio21 { name: range_echo },
+    Gpio22 { name: user_button },
+    Gpio23 { name: wireless_power },
+    Gpio24 { name: wireless_data },
+    Gpio25 { name: wireless_cs }
+    Gpio26 { name: line_follower_left },
+    Gpio27 { name: line_follower_right },
+    Gpio28 { name: vin_measure },
+    Gpio29 { name: wireless_clk }
+);
+
+pub const XOSC_CRYSTAL_FREQ: u32 = 12_000_000;