8000 RP2: Add support for Arduino Nano RP2040. · micropython/micropython@1c6821b · GitHub
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RP2: Add support for Arduino Nano RP2040.
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‎ports/rp2/boards/ARDUINO_NANO_RP2040_CONNECT/manifest.py

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include("$(PORT_DIR)/boards/manifest.py")
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freeze("$(BOARD_DIR)/modules")

‎ports/rp2/boards/ARDUINO_NANO_RP2040_CONNECT/modules/ble_advertising.py

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# Helpers for generating BLE advertising payloads.
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from micropython import const
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import struct
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import bluetooth
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# Advertising payloads are repeated packets of the following form:
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# 1 byte data length (N + 1)
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# 1 byte type (see constants below)
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# N bytes type-specific data
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_ADV_TYPE_FLAGS = const(0x01)
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_ADV_TYPE_NAME = const(0x09)
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_ADV_TYPE_UUID16_COMPLETE = const(0x3)
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_ADV_TYPE_UUID32_COMPLETE = const(0x5)
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_ADV_TYPE_UUID128_COMPLETE = const(0x7)
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_ADV_TYPE_UUID16_MORE = const(0x2)
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_ADV_TYPE_UUID32_MORE = const(0x4)
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_ADV_TYPE_UUID128_MORE = const(0x6)
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_ADV_TYPE_APPEARANCE = const(0x19)
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# Generate a payload to be passed to gap_advertise(adv_data=...).
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def advertising_payload(limited_disc=False, br_edr=False, name=None, services=None, appearance=0):
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payload = bytearray()
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def _append(adv_type, value):
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nonlocal payload
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payload += struct.pack("BB", len(value) + 1, adv_type) + value
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_append(
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_ADV_TYPE_FLAGS,
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struct.pack("B", (0x01 if limited_disc else 0x02) + (0x18 if br_edr else 0x04)),
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)
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if na 67E6 me:
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_append(_ADV_TYPE_NAME, name)
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if services:
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for uuid in services:
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b = bytes(uuid)
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if len(b) == 2:
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_append(_ADV_TYPE_UUID16_COMPLETE, b)
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elif len(b) == 4:
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_append(_ADV_TYPE_UUID32_COMPLETE, b)
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elif len(b) == 16:
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_append(_ADV_TYPE_UUID128_COMPLETE, b)
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# See org.bluetooth.characteristic.gap.appearance.xml
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if appearance:
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_append(_ADV_TYPE_APPEARANCE, struct.pack("<h", appearance))
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return payload
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def decode_field(payload, adv_type):
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i = 0
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result = []
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while i + 1 < len(payload):
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if payload[i + 1] == adv_type:
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result.append(payload[i + 2 : i + payload[i] + 1])
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i += 1 + payload[i]
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return result
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def decode_name(payload):
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n = decode_field(payload, _ADV_TYPE_NAME)
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return str(n[0], "utf-8") if n else ""
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def decode_services(payload):
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services = []
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for u in decode_field(payload, _ADV_TYPE_UUID16_COMPLETE):
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services.append(bluetooth.UUID(struct.unpack("<h", u)[0]))
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for u in decode_field(payload, _ADV_TYPE_UUID32_COMPLETE):
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services.append(bluetooth.UUID(struct.unpack("<d", u)[0]))
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for u in decode_field(payload, _ADV_TYPE_UUID128_COMPLETE):
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services.append(bluetooth.UUID(u))
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return services
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def demo():
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payload = advertising_payload(
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name="micropython",
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services=[bluetooth.UUID(0x181A), bluetooth.UUID("6E400001-B5A3-F393-E0A9-E50E24DCCA9E")],
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)
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print(payload)
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print(decode_name(payload))
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print(decode_services(payload))
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if __name__ == "__main__":
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demo()

‎ports/rp2/boards/ARDUINO_NANO_RP2040_CONNECT/modules/lsm6dsox.py

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"""
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LSM6DSOX STMicro driver for MicroPython based on LSM9DS1:
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Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
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The MIT License (MIT)
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Copyright (c) 2021 Damien P. George
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Copyright (c) 2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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Example usage:
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import time
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from lsm6dsox import LSM6DSOX
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from machine import Pin, I2C
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lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
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while (True):
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print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
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print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
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print("")
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time.sleep_ms(100)
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"""
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import array
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class LSM6DSOX:
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CTRL3_C = const(0x12)
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CTRL1_XL = const(0x10)
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CTRL8_XL = const(0x17)
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CTRL9_XL = const(0x18)
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CTRL2_G = const(0x11)
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CTRL7_G = const(0x16)
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OUTX_L_G = const(0x22)
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OUTX_L_XL = const(0x28)
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MLC_STATUS = const(0x38)
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DEFAULT_ADDR = const(0x6A)
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WHO_AM_I_REG = const(0x0F)
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FUNC_CFG_ACCESS = const(0x01)
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FUNC_CFG_BANK_USER = const(0)
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FUNC_CFG_BANK_HUB = const(1)
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FUNC_CFG_BANK_EMBED = const(2)
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MLC0_SRC = const(0x70)
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MLC_INT1 = const(0x0D)
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TAP_CFG0 = const(0x56)
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EMB_FUNC_EN_A = const(0x04)
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EMB_FUNC_EN_B = const(0x05)
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def __init__(self, i2c, address=DEFAULT_ADDR, gyro_odr=104, accel_odr=104, gyro_scale=2000, accel_scale=4, ucf=None):
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""" Initalizes Gyro and Accelerator.
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accel_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
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gyro_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
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gyro_scale: (245dps, 500dps, 1000dps, 2000dps)
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accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)
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ucf: MLC program to load.
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"""
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self.i2c = i2c
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self.address = address
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# check the id of the Accelerometer/Gyro
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if (self.__read_reg(WHO_AM_I_REG) != 108):
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raise OSError("No LSM6DS device was found at address 0x%x"%(self.address))
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# allocate scratch buffer for efficient conversions and memread op's
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self.scratch_int = array.array('h',[0, 0, 0])
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SCALE_GYRO = {250:0, 500:1, 1000:2, 2000:3}
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SCALE_ACCEL = {2:0, 4:2, 8:3, 16:1}
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# XL_HM_MODE = 0 by default. G_HM_MODE = 0 by default.
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ODR = {0:0x00, 1.6:0x08, 3.33:0x09, 6.66:0x0A, 12.5:0x01, 26:0x02, 52:0x03, 104:0x04, 208:0x05, 416:0x06, 888:0x07}
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gyro_odr = round(gyro_odr, 2)
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accel_odr = round(accel_odr, 2)
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assert gyro_odr in ODR, "Invalid sampling rate: %d" % accel_odr
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assert gyro_scale in SCALE_GYRO, "invalid gyro scaling: %d" % gyro_scale
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assert accel_odr in ODR, "Invalid sampling rate: %d" % accel_odr
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assert accel_scale in SCALE_ACCEL, "invalid accelerometer scaling: %d" % accel_scale
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# Soft-reset the device.
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self.reset()
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# Load and configure MLC if UCF file is provided
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if (ucf != None):
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self.load_mlc(ucf)
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# Set Gyroscope datarate and scale.
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# Note output from LPF2 second filtering stage is selected. See Figure 18.
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self.__write_reg(CTRL1_XL, (ODR[accel_odr] << 4) | (SCALE_ACCEL[accel_scale] << 2) | 2);
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# Enable LPF2 and HPF fast-settling mode, ODR/4
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self.__write_reg(CTRL8_XL, 0x09);
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# Set Gyroscope datarate and scale.
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self.__write_reg(CTRL2_G, (ODR[gyro_odr] << 4) | (SCALE_GYRO[gyro_scale] << 2) | 0);
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self.gyro_scale = 32768 / gyro_scale
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self.accel_scale = 32768 / accel_scale
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def __read_reg(self, reg, size=1):
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buf = self.i2c.readfrom_mem(self.address, reg, size)
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if (size == 1):
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return int(buf[0])
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return [int(x) for x in buf]
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def __write_reg(self, reg, val):
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self.i2c.writeto_mem(self.address, reg, bytes([val]))
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def reset(self):
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self.__write_reg(CTRL3_C, self.__read_reg(CTRL3_C) | 0x1)
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for i in range(0, 10):
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if ((self.__read_reg(CTRL3_C) & 0x01) == 0):
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return
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time.sleep_ms(10)
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raise OSError("Failed to reset LSM6DS device.")
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def set_mem_bank(self, bank):
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cfg = self.__read_reg(FUNC_CFG_ACCESS) & 0x3F
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self.__write_reg(FUNC_CFG_ACCESS, cfg | (bank << 6))
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def set_embedded_functions(self, enable, emb_ab=None):
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self.set_mem_bank(FUNC_CFG_BANK_EMBED)
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if (enable):
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self.__write_reg(EMB_FUNC_EN_A, emb_ab[0])
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self.__write_reg(EMB_FUNC_EN_B, emb_ab[1])
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else:
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emb_a = self.__read_reg(EMB_FUNC_EN_A)
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emb_b = self.__read_reg(EMB_FUNC_EN_B)
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self.__write_reg(EMB_FUNC_EN_A, (emb_a & 0xC7))
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self.__write_reg(EMB_FUNC_EN_B, (emb_b & 0xE6))
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emb_ab = (emb_a, emb_b)
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self.set_mem_bank(FUNC_CFG_BANK_USER)
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return emb_ab
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def load_mlc(self, ucf):
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# Load MLC config from file
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with open(ucf, "r") as ucf_file:
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for l in ucf_file:
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if (l.startswith("Ac")):
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v = [int(v, 16) for v in l.strip().split(" ")[1:3]]
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self.__write_reg(v[0], v[1])
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emb_ab = self.set_embedded_functions(False)
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# Disable I3C interface
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self.__write_reg(CTRL9_XL, self.__read_reg(CTRL9_XL) | 0x01)
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# Enable Block Data Update
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self.__write_reg(CTRL3_C, self.__read_reg(CTRL3_C) | 0x40)
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# Route signals on interrupt pin 1
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self.set_mem_bank(FUNC_CFG_BANK_EMBED)
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self.__write_reg(MLC_INT1, self.__read_reg(MLC_INT1) & 0x01)
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self.set_mem_bank(FUNC_CFG_BANK_USER)
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# Configure interrupt pin mode
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self.__write_reg(TAP_CFG0, self.__read_reg(TAP_CFG0) | 0x41)
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self.set_embedded_functions(True, emb_ab)
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def read_mlc_output(self):
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buf = None
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if (self.__read_reg(MLC_STATUS) & 0x1):
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self.__read_reg(0x1A, size=12)
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self.set_mem_bank(FUNC_CFG_BANK_EMBED)
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buf = self.__read_reg(MLC0_SRC, 8)
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self.set_mem_bank(FUNC_CFG_BANK_USER)
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return buf
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def read_gyro(self):
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"""Returns gyroscope vector in degrees/sec."""
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mv = memoryview(self.scratch_int)
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f = self.gyro_scale
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self.i2c.readfrom_mem_into(self.address, OUTX_L_G, mv)
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return (mv[0]/f, mv[1]/f, mv[2]/f)
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def read_accel(self):
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"""Returns acceleration vector in gravity units (9.81m/s^2)."""
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mv = memoryview(self.scratch_int)
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f = self.accel_scale
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self.i2c.readfrom_mem_into(self.address, OUTX_L_XL, mv)
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return (mv[0]/f, mv[1]/f, mv[2]/f)

‎ports/rp2/boards/ARDUINO_NANO_RP2040_CONNECT/mpconfigboard.cmake

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# cmake file for Arduino Nano RP2040 Connect.
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set(MICROPY_PY_BLUETOOTH 1)
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set(MICROPY_BLUETOOTH_NIMBLE 1)
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set(MICROPY_PY_NETWORK_NINAW10 1)
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set(MICROPY_HW_ENABLE_DOUBLE_TAP 1)
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set(MICROPY_FROZEN_MANIFEST ${MICROPY_BOARD_DIR}/manifest.py)

‎ports/rp2/boards/ARDUINO_NANO_RP2040_CONNECT/mpconfigboard.h

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//Board config for Arduino Nano RP2040 Connect.
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// Board and hardware specific configuration
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#define MICROPY_HW_BOARD_NAME "Arduino Nano RP2040 Connect"
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#define MICROPY_HW_FLASH_STORAGE_BYTES (8 * 1024 * 1024)
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// Enable networking and sockets.
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#define MICROPY_PY_NETWORK (1)
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#define MICROPY_PY_USOCKET (1)
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// Enable USB Mass Storage with FatFS filesystem.
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#define MICROPY_HW_USB_MSC (1)
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#define MICROPY_HW_USB_VID (0x2341)
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#define MICROPY_HW_USB_PID (0x015e)
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// UART 1 config.
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#define MICROPY_HW_UART1_TX (8)
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#define MICROPY_HW_UART1_RX (9)
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#define MICROPY_HW_UART1_CTS (10)
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#define MICROPY_HW_UART1_RTS (11)
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// SPI 1 config.
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#define MICROPY_HW_SPI1_SCK (14)
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#define MICROPY_HW_SPI1_MOSI (11)
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#define MICROPY_HW_SPI1_MISO (8)
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// Bluetooth config.
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#define 71B4 MICROPY_HW_BLE_UART_ID (1)
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#define MICROPY_HW_BLE_UART_BAUDRATE (119600)
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// WiFi/NINA-W10 config.
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#define MICROPY_HW_WIFI_SPI_ID (1)
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#define MICROPY_HW_WIFI_SPI_BAUDRATE (8 * 1000 * 1000)
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// ublox Nina-W10 module config.
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#define MICROPY_HW_NINA_RESET (3)
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#define MICROPY_HW_NINA_GPIO0 (2)
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#define MICROPY_HW_NINA_GPIO1 (9)
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#define MICROPY_HW_NINA_ACK (10)

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