Initial commit

Firmware/.vscode/.cortex-debug.peripherals.state.json

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+[]

Firmware/.vscode/.cortex-debug.registers.state.json

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+[]

Firmware/.vscode/c_cpp_properties.json

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+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**"
+                // "${workspaceFolder}/build/pico_sdk-src/src/common/**",
+                // "/usr/share/pico-sdk/src/common/pico_base/**",
+                // "/usr/share/pico-sdk/src/common/pico_base/include/**",
+                // "/usr/share/pico-sdk/src/common/boot_picoboot/include/**",
+                // "/usr/share/pico-sdk/src/common/pico_stdlib/include/**"
+            ],
+            "defines": [
+            ],
+            "compilerPath": "/usr/bin/arm-none-eabi-g++",
+            "intelliSenseMode": "linux-gcc-arm",
+            "cStandard": "c11",
+            "cppStandard": "c++20"
+        }
+    ],
+    "version": 4
+}

Firmware/.vscode/launch.json

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+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico Debug",
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}/build/USBQuadStep.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            // This may need to be arm-none-eabi-gdb depending on your system
+            "gdbPath" : "arm-none-eabi-gdb",
+            "device": "RP2040",
+            "configFiles": [
+                "interface/picoprobe.cfg",
+                "target/rp2040.cfg"
+            ],
+            "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
+            "runToMain": true,
+            // Work around for stopping at main on restart
+            "postRestartCommands": [
+                "break main",
+                "continue"
+            ]
+            // "searchDir": ["<PATH TO TCL>"],
+        }
+    ]
+}

Firmware/.vscode/settings.json

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+{
+    "cmake.copyCompileCommands": "",
+    "cmake.statusbar.advanced": {
+        "debug": {
+            "visibility": "hidden"
+        },
+        "launch": {
+            "visibility": "hidden"
+        },
+        "build": {
+            "visibility": "default"
+        },
+        "buildTarget": {
+            "visibility": "hidden"
+        }
+    },
+    "cmake.buildBeforeRun": true,
+    "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
+    "cortex-debug.openocdPath": "/usr/local/bin/openocd"
+}

Firmware/CMakeLists.txt

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+# Generated Cmake Pico project file
+
+cmake_minimum_required(VERSION 3.13)
+
+set(PICO_BOARD "USBQuadStep")
+set(PICO_SDK_FETCH_FROM_GIT on)
+
+# initalize pico_sdk from installed location
+# (note this can come from environment, CMake cache etc)
+# set(PICO_SDK_PATH "/usr/share/pico-sdk")
+set(PICO_BOARD_HEADER_DIRS "${CMAKE_SOURCE_DIR}")
+
+# Pull in Raspberry Pi Pico SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+project(${PICO_BOARD} C CXX ASM)
+
+set(CMAKE_C_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
+
+# Initialise the Raspberry Pi Pico SDK
+pico_sdk_init()
+
+# Add executable. Default name is the project name, version 0.1
+
+add_executable(${PICO_BOARD} ${PICO_BOARD}.cpp )
+
+pico_set_program_name(${PICO_BOARD} "${PICO_BOARD}")
+pico_set_program_description(${PICO_BOARD} "Quad TMC2209 Stepper Driver Module Carrier Board")
+pico_set_program_version(${PICO_BOARD} "0.1")
+pico_set_program_url(${PICO_BOARD} "www.rbts.co/uqs")
+
+pico_enable_stdio_uart(${PICO_BOARD} 0)
+pico_enable_stdio_usb(${PICO_BOARD} 1)
+
+# Add the standard library to the build
+target_link_libraries(${PICO_BOARD} pico_stdlib)
+
+pico_add_extra_outputs(${PICO_BOARD})
+

Firmware/USBQuadStep.cpp

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+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "pico/bootrom.h"
+
+
+int main()
+{
+    stdio_init_all();
+
+    uint32_t counter {0};
+
+    while (counter < 100) {
+        // puts("Hello, world!");
+        ++counter;
+        printf("Hello, world no. %i", counter);
+        sleep_ms(100);
+    }
+
+    reset_usb_boot(0, 0);
+
+    return 0;
+}

Firmware/USBQuadStep.h

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+/*
+ * 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
+// -----------------------------------------------------
+
+// This header may be included by other board headers as "boards/pico.h"
+
+#ifndef _BOARDS_PICO_H
+#define _BOARDS_PICO_H
+
+// For board detection
+#define RASPBERRYPI_PICO
+
+// --- UART ---
+// #ifndef PICO_DEFAULT_UART
+// #define PICO_DEFAULT_UART 0
+// #endif
+// #ifndef PICO_DEFAULT_UART_TX_PIN
+// #define PICO_DEFAULT_UART_TX_PIN 0
+// #endif
+// #ifndef PICO_DEFAULT_UART_RX_PIN
+// #define PICO_DEFAULT_UART_RX_PIN 1
+// #endif
+
+// --- LED ---
+// #ifndef PICO_DEFAULT_LED_PIN
+// #define PICO_DEFAULT_LED_PIN 25
+// #endif
+// no PICO_DEFAULT_WS2812_PIN
+
+// --- I2C ---
+// #ifndef PICO_DEFAULT_I2C
+// #define PICO_DEFAULT_I2C 0
+// #endif
+// #ifndef PICO_DEFAULT_I2C_SDA_PIN
+// #define PICO_DEFAULT_I2C_SDA_PIN 4
+// #endif
+// #ifndef PICO_DEFAULT_I2C_SCL_PIN
+// #define PICO_DEFAULT_I2C_SCL_PIN 5
+// #endif
+
+// --- SPI ---
+// #ifndef PICO_DEFAULT_SPI
+// #define PICO_DEFAULT_SPI 0
+// #endif
+// #ifndef PICO_DEFAULT_SPI_SCK_PIN
+// #define PICO_DEFAULT_SPI_SCK_PIN 18
+// #endif
+// #ifndef PICO_DEFAULT_SPI_TX_PIN
+// #define PICO_DEFAULT_SPI_TX_PIN 19
+// #endif
+// #ifndef PICO_DEFAULT_SPI_RX_PIN
+// #define PICO_DEFAULT_SPI_RX_PIN 16
+// #endif
+// #ifndef PICO_DEFAULT_SPI_CSN_PIN
+// #define PICO_DEFAULT_SPI_CSN_PIN 17
+// #endif
+
+// --- FLASH ---
+
+//TODO: Figure out how to make the W25Q128 work:
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+// #define PICO_BOOT_STAGE2_CHOOSE_GENERIC_03H 1
+
+#ifndef PICO_FLASH_SPI_CLKDIV
+#define PICO_FLASH_SPI_CLKDIV 2
+#endif
+
+#ifndef PICO_FLASH_SIZE_BYTES
+#define PICO_FLASH_SIZE_BYTES (128/8 * 1024 * 1024)
+#endif
+
+// Drive high to force power supply into PWM mode (lower ripple on 3V3 at light loads)
+#define PICO_SMPS_MODE_PIN 23
+
+// Sadly we got a new-old batch of B0's
+// #ifndef PICO_FLOAT_SUPPORT_ROM_V1
+// #define PICO_FLOAT_SUPPORT_ROM_V1 1
+// #endif
+
+// #ifndef PICO_DOUBLE_SUPPORT_ROM_V1
+// #define PICO_DOUBLE_SUPPORT_ROM_V1 1
+// #endif
+
+#endif

Firmware/pico_sdk_import.cmake

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+# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
+
+# This can be dropped into an external project to help locate this SDK
+# It should be include()ed prior to project()
+
+if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
+    set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+    message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
+    set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
+    message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
+    set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
+    message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
+endif ()
+
+set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
+set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
+set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+
+if (NOT PICO_SDK_PATH)
+    if (PICO_SDK_FETCH_FROM_GIT)
+        include(FetchContent)
+        set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
+        if (PICO_SDK_FETCH_FROM_GIT_PATH)
+            get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
+        endif ()
+        FetchContent_Declare(
+                pico_sdk
+                GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                GIT_TAG master
+        )
+        if (NOT pico_sdk)
+            message("Downloading Raspberry Pi Pico SDK")
+            FetchContent_Populate(pico_sdk)
+            set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
+        endif ()
+        set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
+    else ()
+        message(FATAL_ERROR
+                "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
+                )
+    endif ()
+endif ()
+
+get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${PICO_SDK_PATH})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
+endif ()
+
+set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
+if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
+endif ()
+
+set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
+
+include(${PICO_SDK_INIT_CMAKE_FILE})