Motion 2350 Pro

Board Overview

Motion 2350 Pro

Name:

motion_2350_pro

Vendor:

Cytron Technologies

Architecture:

arm, riscv

SoC:

rp2350a

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Overview

The Cytron Motion 2350 Pro [1] board is based on the RP2350A microcontroller from Raspberry Pi Ltd. The board has motor drivers, servo headers, Maker connectors and a USB type C connector.

Hardware

• Microcontroller Raspberry Pi RP2350A, with a max frequency of 150 MHz

• Dual ARM Cortex M33 cores, and dual RISC-V Hazard3 cores.

• 520 kByte SRAM

• 2 Mbyte QSPI flash

• 12 GPIO pins

• 4 ADC pins

• I2C

• UART

• USB type C connector

• USB host (USB type A connector)

• Reset, boot and 2 user buttons

• 2 RGB LEDs (Neopixels)

• Piezo buzzer with mute switch

• 8 servo ports

• 4 Motor drivers, with 8 manual test bottons

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

• 16 status indicators for digital pins

Default Zephyr Peripheral Mapping

Description	Pin	Default pin mux	Zephyr PWM name
Button 1	GPIO20	(Alias sw0)
Button 2	GPIO21	(Alias sw1)
Buzzer	GPIO22	PWM3A (also used for servo)	6
RGB LEDs	GPIO23	PIO0
USB host D+	GPIO24
USB host D-	GPIO25

GPIO header:

Label	Pin	Default pin mux	Also in connector
GP16	GPIO16	I2C0 SDA	Maker port GP16+GP17
GP17	GPIO17	I2C0 SCL	Maker port GP16+GP17
GP18	GPIO18	(Alias led0)
GP19	GPIO19	(Alias led1)
GP26	GPIO26	ADC0	Maker port GP26+GP27
GP27	GPIO27	ADC1	Maker port GP26+GP27
GP28	GPIO28	UART0 TX	Maker port GP28+GP29
GP29	GPIO29	UART0 RX	Maker port GP28+GP29

Servo header (Note that PWM3A is also used for the buzzer):

Label	Pin	Default pin mux	Zephyr PWM name
GP0	GPIO0	PWM0A	0
GP1	GPIO1	PWM0B	1
GP2	GPIO2	PWM1A	2
GP3	GPIO3	PWM1B	3
GP4	GPIO4	PWM2A	4
GP5	GPIO5	PWM2B	5
GP6	GPIO6	PWM3A	6
GP7	GPIO7	PWM3B	7

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
M3A	GPIO12	PWM6A	12
M3B	GPIO13	PWM6B	13
M4A	GPIO14	PWM7A	14
M4B	GPIO15	PWM7B	15

Connector GP16+GP17:

Connect Qwiic/Stemma QT sensors (that use I2C) to this connector.

The pins are also available in the GPIO header.

Label	Pin	Default pin mux
GP16	GPIO16	I2C0 SDA
GP17	GPIO17	I2C0 SCL

Connector GP26+GP27:

The pins are also available in the GPIO header.

Label	Pin	Default pin mux
GP26	GPIO26	ADC0
GP27	GPIO27	ADC1

Connector GP28+GP29:

The pins are also available in the GPIO header.

Label	Pin	Default pin mux
GP28	GPIO28	UART0 TX
GP29	GPIO29	UART0 RX

See also pinout [2].

Supported Features

Note that USB host (the big USB type A connector) is not yet supported.

The motion_2350_pro 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.

motion_2350_pro/rp2350a/hazard3 target

Type	Location	Description	Compatible
ADC	on-chip	Raspberry Pi Pico ADC1	raspberrypi,pico-adc
Clock control	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
	on-chip	Raspberry Pi Pico clock controller node1	raspberrypi,pico-clock-controller
Counter	on-chip	Raspberry Pi Pico timer11	raspberrypi,pico-timer
Cryptographic accelerator	on-chip	Raspberry Pi Pico SHA-256 accelerator1	raspberrypi,pico-sha256
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 Port11	raspberrypi,pico-gpio-port
	on-board	STEMMA QT is a 4-pin JST-SH connector for I2C devices1	stemma-qt-connector
I2C	on-chip	Raspberry Pi Pico I2C11	raspberrypi,pico-i2c
Input	on-board	Group of GPIO-bound input keys1	gpio-keys
Interrupt controller	on-chip	Hazard3 interrupt controller1	hazard3,hazard3-intc
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 PIO12	raspberrypi,pico-pio
MTD	on-chip	Flash node1	soc-nv-flash
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	raspberrypi,pico-pinctrl
PWM	on-chip	Raspberry Pi Pico PWM1	raspberrypi,pico-pwm
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	raspberrypi,pico-reset
RNG	on-chip	Raspberry Pi Pico RNG/Entropy1	raspberrypi,pico-rng
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	RISC-V Machine Timer1	riscv,machine-timer
USB	on-chip	Raspberry Pi Pico USB Device Controller1	raspberrypi,pico-usbd
Watchdog	on-chip	Raspberry Pi Pico Watchdog1	raspberrypi,pico-watchdog

motion_2350_pro/rp2350a/m33 target

Type	Location	Description	Compatible
CPU	on-chip	ARM Cortex-M33 CPU2	arm,cortex-m33
ADC	on-chip	Raspberry Pi Pico ADC1	raspberrypi,pico-adc
Clock control	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
	on-chip	Raspberry Pi Pico clock controller node1	raspberrypi,pico-clock-controller
Counter	on-chip	Raspberry Pi Pico timer11	raspberrypi,pico-timer
Cryptographic accelerator	on-chip	Raspberry Pi Pico SHA-256 accelerator1	raspberrypi,pico-sha256
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 Port11	raspberrypi,pico-gpio-port
	on-board	STEMMA QT is a 4-pin JST-SH connector for I2C devices1	stemma-qt-connector
I2C	on-chip	Raspberry Pi Pico I2C11	raspberrypi,pico-i2c
Input	on-board	Group of GPIO-bound input keys1	gpio-keys
Interrupt controller	on-chip	ARMv8-M NVIC (Nested Vectored Interrupt Controller)1	arm,v8m-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 PIO12	raspberrypi,pico-pio
MTD	on-chip	Flash node1	soc-nv-flash
Pin control	on-chip	Raspberry Pi Pico Pin Controller1	raspberrypi,pico-pinctrl
PWM	on-chip	Raspberry Pi Pico PWM1	raspberrypi,pico-pwm
Reset controller	on-chip	Raspberry Pi Pico Reset Controller1	raspberrypi,pico-reset
RNG	on-chip	Raspberry Pi Pico RNG/Entropy1	raspberrypi,pico-rng
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	ARMv8-M System Tick1	arm,armv8m-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 motion_2350_pro board supports the runners and associated west commands listed below.

	flash	debug	debugserver	attach	rtt
jlink	✅	✅	✅	✅	✅
openocd	✅	✅ (default)	✅	✅	✅
probe-rs	✅	✅	✅	✅
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. You might need to use Raspberry Pi’s forked version of OpenOCD. 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 and RP2350-based boards, see Programming and Debugging.

Flashing the M33 core

To run the Blinky sample:

# From the root of the zephyr repository
west build -b motion_2350_pro/rp2350a/m33 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 (GP16+GP17) is demonstrated using the Generic Light Sensor Polling sample and a separate shield:

# From the root of the zephyr repository
west build -b motion_2350_pro/rp2350a/m33 --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 motion_2350_pro/rp2350a/m33 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 18 o
gpio set gpio0 18 1

Servo motor control is done via PWM outputs. The Servomotor sample sets servo position timing (via an overlay file) for the output GP0:

# From the root of the zephyr repository
west build -b motion_2350_pro/rp2350a/m33 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 motion_2350_pro/rp2350a/m33 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@400a8000 0 20000 800
pwm usec pwm@400a8000 0 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@400a8000 6 1000 500
pwm usec pwm@400a8000 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@400a8000 8 1000 1000
pwm usec pwm@400a8000 8 1000 500
pwm usec pwm@400a8000 8 1000 200
pwm usec pwm@400a8000 8 1000 0

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

pwm usec pwm@400a8000 9 1000 800

Flashing the Hazard3 core

The RP2350A microcontroller has two ARM M33 cores and two RISC-V Hazard3 cores. To flash one of the Hazard3 cores, use the board argument motion_2350_pro/rp2350a/hazard3. The samples Blinky and Input dump have been verified for this core. Use the USB mass storage programming method described above.

References

[1]

https://www.cytron.io/p-motion-2350-pro

[2]

https://static.cytron.io/image/catalog/products/MOTION-2350-PRO/pinout-diagram-motion-2350-pro3.png