Cytron Maker Pi RP2040

Board Overview

Cytron Maker Pi RP2040

Name:

maker_pi_rp2040

Vendor:

Cytron Technologies

Architecture:

arm

SoC:

rp2040

Browse board sources

Overview

The Cytron Maker Pi RP2040 [1] board is based on the RP2040 microcontroller from Raspberry Pi Ltd. The board has motor drivers, servo headers, Grove connectors and a micro USB connector.

Hardware

• Microcontroller Raspberry Pi RP2040, with a max frequency of 133 MHz

• Dual ARM Cortex M0+ cores

• 264 kByte SRAM

• 2 Mbyte QSPI flash

• 17 GPIO pins

• 3 ADC pins

• Supply voltage measurement

• I2C

• UART

• Micro USB connector

• LiPo charger

• Reset, boot and 2 user buttons

• 2 RGB LEDs (Neopixels)

• Piezo buzzer with mute switch

• 4 servo ports

• 2 Motor drivers, with 4 manual test bottons

• 7 Grove connectors, of which one can be used as a Maker/Qwiic/Stemma QT/zephyr_i2c connector

• 13 status indicators for digital pins

Default Zephyr Peripheral Mapping

Description	Pin	Default pin mux	Zephyr PWM name
RGB LEDs	GPIO18	PIO0
Buzzer	GPIO22	PWM3A	6
Button 1	GPIO20	(Alias sw0)
Button 2	GPIO21	(Alias sw1)
Voltage sense	GPIO29	ADC3, voltage divider

Servo header:

Label	Pin	Default pin mux	Zephyr PWM name
GP12	GPIO12	PWM6A	12
GP13	GPIO13	PWM6B	13
GP14	GPIO14	PWM7A	14
GP15	GPIO15	PWM7B	15

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

Grove connector 1:

Label	Pin	Default pin mux
GP0	GPIO0	UART0 TX
GP1	GPIO1	UART0 RX

Grove connector 2:

Use an adapter cable to connect Qwiic/Stemma QT sensors (that use I2C) to this connector, which is mapped to the zephyr_i2c devicetree node label.

Label	Pin	Default pin mux
GP2	GPIO2	I2C1 SDA
GP3	GPIO3	I2C1 SCL

Grove connector 3:

Label	Pin	Notes
GP4	GPIO4	Alias led0
GP5	GPIO5	Alias led1

Grove connector 4:

Label	Pin
GP16	GPIO16
GP17	GPIO17

Grove connector 5:

Label	Pin	Default pin mux	Notes
GP6	GPIO6
GP26	GPIO26	ADC0	Also in Grove 6

Grove connector 6:

Label	Pin	Default pin mux	Notes
GP26	GPIO26	ADC0	Also in Grove 5
GP27	GPIO27	ADC1

Grove connector 7:

Label	Pin	Default pin mux
GP7	GPIO7
GP28	GPIO28	ADC2

See also schematic [2].

Supported Features

The maker_pi_rp2040 board supports the hardware features listed below.

on-chip / on-board

Feature integrated in the SoC / present on the board.

2 / 2

Number of instances that are enabled / disabled.
Click on the label to see the first instance of this feature in the board/SoC DTS files.

vnd,foo

Compatible string for the Devicetree binding matching the feature.
Click on the link to view the binding documentation.

maker_pi_rp2040/rp2040 target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M0+ CPU2	arm,cortex-m0+
ADC	on-chip	Raspberry Pi Pico ADC1	raspberrypi,pico-adc
Clock control	on-chip	Raspberry Pi Pico clock controller node1	raspberrypi,pico-clock-controller
	on-chip	The representation of Raspberry Pi Pico’s clock112	raspberrypi,pico-clock
	on-chip	The representation of Raspberry Pi Pico’s PLL2	raspberrypi,pico-pll
	on-chip	The representation of Raspberry Pi Pico ring oscillator1	raspberrypi,pico-rosc
	on-chip	The representation of Raspberry Pi Pico external oscillator1	raspberrypi,pico-xosc
Counter	on-chip	Raspberry Pi Pico timer1	raspberrypi,pico-timer
DMA	on-chip	Raspberry Pi Pico DMA1	raspberrypi,pico-dma
Flash controller	on-chip	Raspberry Pi Pico flash controller1	raspberrypi,pico-flash-controller
GPIO & Headers	on-chip	Raspberry Pi Pico GPIO1	raspberrypi,pico-gpio
	on-chip	Raspberry Pi Pico GPIO Port1	raspberrypi,pico-gpio-port
	on-board	GPIO pins exposed on Grove 4 pins headers7	grove-header
I2C	on-chip	Raspberry Pi Pico I2C11	raspberrypi,pico-i2c
IIO	on-board	Voltage Divider1	voltage-divider
Input	on-board	Group of GPIO-bound input keys1	gpio-keys
Interrupt controller	on-chip	ARMv6-M NVIC (Nested Vectored Interrupt Controller) controller1	arm,v6m-nvic
LED	on-board	Group of GPIO-controlled LEDs1	gpio-leds
LED strip	on-board	The pio node configured for ws28121	worldsemi,ws2812-rpi_pico-pio
Miscellaneous	on-chip	Raspberry Pi Pico PIO11	raspberrypi,pico-pio
MTD	on-chip	Flash node1	soc-nv-flash
	on-board	Fixed partitions of a flash (or other non-volatile storage) memory1	fixed-partitions
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	raspberrypi,pico-pinctrl
PWM	on-chip	Raspberry Pi Pico PWM1	raspberrypi,pico-pwm
Regulator	on-chip	Raspberry Pi Pico core supply regurator1	raspberrypi,core-supply-regulator
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	raspberrypi,pico-reset
RTC	on-chip	Raspberry Pi Pico RTC1	raspberrypi,pico-rtc
Sensors	on-chip	Raspberry Pi Pico family temperature sensor node1	raspberrypi,pico-temp
Serial controller	on-chip	Raspberry Pi Pico UART11	raspberrypi,pico-uart
SPI	on-chip	Raspberry Pi Pico SPI2	raspberrypi,pico-spi
SRAM	on-chip	Generic on-chip SRAM1	mmio-sram
Timer	on-chip	ARMv6-M System Tick1	arm,armv6m-systick
USB	on-chip	Raspberry Pi Pico USB Device Controller1	raspberrypi,pico-usbd
Watchdog	on-chip	Raspberry Pi Pico Watchdog1	raspberrypi,pico-watchdog

Programming and Debugging

The maker_pi_rp2040 board supports the runners and associated west commands listed below.

	flash	debug	attach	debugserver	rtt
blackmagicprobe	✅	✅	✅
jlink	✅	✅	✅	✅	✅
openocd	✅	✅ (default)	✅	✅	✅
pyocd	✅	✅	✅	✅	✅
uf2	✅ (default)

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 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 openocd software is used. 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 boards, see Programming and Debugging.

Flashing

To run the Blinky sample:

# From the root of the zephyr repository
west build -b maker_pi_rp2040 samples/basic/blinky/
west flash

Try also the LED strip, Hello World, Button, Input dump and Analog-to-Digital Converter (ADC) with devicetree samples.

The use of the Maker/Qwiic/Stemma QT I2C connector (Grove 2) is demonstrated using the Generic Light Sensor Polling sample and a separate shield:

# From the root of the zephyr repository
west build -b maker_pi_rp2040 --shield adafruit_veml7700 samples/sensor/light_polling
west flash

Use the shell to control the GPIO pins:

# From the root of the zephyr repository
west build -b maker_pi_rp2040 samples/sensor/sensor_shell -- -DCONFIG_GPIO=y -DCONFIG_GPIO_SHELL=y
west flash

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

gpio conf gpio0 16 o
gpio set gpio0 16 1

Servo motor control is done via PWM outputs. The Servomotor sample sets servo position timing (via an overlay file) for the output GP12:

# From the root of the zephyr repository
west build -b maker_pi_rp2040 samples/basic/servo_motor/
west flash

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

# From the root of the zephyr repository
west build -b maker_pi_rp2040 samples/sensor/sensor_shell -- -DCONFIG_PWM=y -DCONFIG_PWM_SHELL=y
west flash

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

pwm usec pwm@40050000 12 20000 800
pwm usec pwm@40050000 12 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:

pwm usec pwm@40050000 6 1000 500
pwm usec pwm@40050000 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:

pwm usec pwm@40050000 8 1000 1000
pwm usec pwm@40050000 8 1000 500
pwm usec pwm@40050000 8 1000 200
pwm usec pwm@40050000 8 1000 0

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

pwm usec pwm@40050000 9 1000 800

The sensor_shell sample is used also to measure the supply voltage. This is the result when running on a Vin voltage slightly less than 6 Volt:

sensor get vbatt
channel type=33(voltage) index=0 shift=3 num_samples=1 value=32688380776ns (5.977999)

References

[1]

https://www.cytron.io/p-maker-pi-rp2040-simplifying-robotics-with-raspberry-pi-rp2040

[2]

https://drive.google.com/file/d/1BNqbxXScMXnL3-2YYfbR66nFCD1li71X/view