#pragma once #define PICO_RP2350A 0 // RP2350B #include // XRP default pin names #define MOTOR_L_IN_1 (34u) #define MOTOR_L_IN_2 (35u) #define MOTOR_R_IN_1 (32u) #define MOTOR_R_IN_2 (33u) #define MOTOR_3_IN_1 (20u) #define MOTOR_3_IN_2 (21u) #define MOTOR_4_IN_1 (10u) #define MOTOR_4_IN_2 (11u) #define MOTOR_L_ENCODER_A (30u) #define MOTOR_L_ENCODER_B (31u) #define MOTOR_R_ENCODER_A (24u) #define MOTOR_R_ENCODER_B (25u) #define MOTOR_3_ENCODER_A (22u) #define MOTOR_3_ENCODER_B (23u) #define MOTOR_4_ENCODER_A (2u) #define MOTOR_4_ENCODER_B (3u) #define MOTOR_L_CURRENT (40u) #define MOTOR_R_CURRENT (43u) #define MOTOR_3_CURRENT (41u) #define MOTOR_4_CURRENT (42u) #define SERVO_1 (6u) #define SERVO_2 (9u) #define SERVO_3 (7u) #define SERVO_4 (8u) #define I2C_SDA_0 (4u) #define I2C_SCL_0 (5u) #define I2C_SDA_1 (38u) #define I2C_SCL_1 (39u) #define DISTANCE_TRIGGER (0u) #define DISTANCE_ECHO (1u) #define LINE_L (44u) #define LINE_R (45u) #define BOARD_VIN_MEASURE (46u) #define BOARD_USER_BUTTON (36u) #define BOARD_NEOPIXEL (37u) #define BOARD_LED (PIN_LED) // XRP alternate pin names #define ML_IN_1 (34u) #define ML_IN_2 (35u) #define MR_IN_1 (32u) #define MR_IN_2 (33u) #define M3_IN_1 (20u) #define M3_IN_2 (21u) #define M4_IN_1 (10u) #define M4_IN_2 (11u) #define ML_ENC_A (30u) #define ML_ENC_B (31u) #define MR_ENC_A (24u) #define MR_ENC_B (25u) #define M3_ENC_A (22u) #define M3_ENC_B (23u) #define M4_ENC_A (2u) #define M4_ENC_B (3u) #define ML_CUR (40u) #define MR_CUR (43u) #define M3_CUR (41u) #define M4_CUR (42u) #define S1 (6u) #define S2 (9u) #define S3 (7u) #define S4 (8u) #define SDA_0 (4u) #define SCL_0 (5u) #define SDA_1 (38u) #define SCL_1 (39u) #define RANGE_TRIGGER (0u) #define RANGE_ECHO (1u) #define REFLECTANCE_L (44u) #define REFLECTANCE_R (45u) #define BRD_VIN (46u) #define BRD_USR_BTN (36u) #define BRD_RGB_LED (37u) #define BRD_LED (PIN_LED) // LEDs #define PIN_LED (64u) #define PIN_NEOPIXEL (37) #define NUM_NEOPIXEL (1) // Serial #define PIN_SERIAL1_TX (12u) #define PIN_SERIAL1_RX (13u) #define PIN_SERIAL2_TX (8u) #define PIN_SERIAL2_RX (9u) // SPI #define PIN_SPI0_MISO (16u) #define PIN_SPI0_MOSI (19u) #define PIN_SPI0_SCK (18u) #define PIN_SPI0_SS (17u) #define PIN_SPI1_MISO (12u) #define PIN_SPI1_MOSI (15u) #define PIN_SPI1_SCK (14u) #define PIN_SPI1_SS (13u) // Wire #define PIN_WIRE0_SDA (4u) #define PIN_WIRE0_SCL (5u) #define PIN_WIRE1_SDA (38u) #define PIN_WIRE1_SCL (39u) #define SERIAL_HOWMANY (3u) #define SPI_HOWMANY (2u) #define WIRE_HOWMANY (2u) // PSRAM #define RP2350_PSRAM_CS (47u) #define RP2350_PSRAM_MAX_SCK_HZ (109*1000*1000) #include "../generic/common.h"