feat(rp2040): 5 kHz stepping, hardware info, SSD1306 display, CI coverage + TMC hold-current fix

.github/workflows/ci.yml

@@ -46,6 +46,8 @@ jobs:
           - mksgenlv1
           - esp32
           - ramps
+          - rp2040_jackw01
+          - rp2040_skr_pico
     steps:
       - uses: actions/checkout@v6
       - uses: ./.github/actions/setup-pio

.gitignore

@@ -10,10 +10,9 @@ CMakeListsPrivate.txt
 build_cache
 
 Configuration_local*
-MeadeToWikiOutput.txt
-
 !Configuration_local_examples/
 !Configuration_local_examples/*
+MeadeToWikiOutput.txt
 
 # macOS
 **/.DS_Store

Configuration.hpp

@@ -64,10 +64,24 @@
         #define INFO_DISPLAY_I2C_ADDRESS 0x3C
     #endif
     #ifndef INFO_DISPLAY_I2C_SDA_PIN
-        #define INFO_DISPLAY_I2C_SDA_PIN 5
+        #if (BOARD == BOARD_RP2040_SKR_PICO)
+            // The SKR Pico has exactly one header-accessible I2C-capable GPIO pair:
+            // GP0/GP1 on the left-side header (shared with the default GPS wiring).
+            #define INFO_DISPLAY_I2C_SDA_PIN 0
+        #elif (BOARD == BOARD_RP2040_JACKW01)
+            #define INFO_DISPLAY_I2C_SDA_PIN 20
+        #else
+            #define INFO_DISPLAY_I2C_SDA_PIN 5
+        #endif
     #endif
     #ifndef INFO_DISPLAY_I2C_SCL_PIN
-        #define INFO_DISPLAY_I2C_SCL_PIN 4
+        #if (BOARD == BOARD_RP2040_SKR_PICO)
+            #define INFO_DISPLAY_I2C_SCL_PIN 1
+        #elif (BOARD == BOARD_RP2040_JACKW01)
+            #define INFO_DISPLAY_I2C_SCL_PIN 21
+        #else
+            #define INFO_DISPLAY_I2C_SCL_PIN 4
+        #endif
     #endif
     #ifndef INFO_DISPLAY_UPSIDE_DOWN
         #define INFO_DISPLAY_UPSIDE_DOWN 0
@@ -164,7 +178,12 @@
  * See Constants.hpp for predefined SERIAL_BAUDRATE options, or customize as required.
  */
 #ifndef SERIAL_BAUDRATE
-    #define SERIAL_BAUDRATE SERIAL_BAUDRATE_ASCOM
+    #if defined(ARDUINO_ARCH_RP2040)
+        // The 19200 ASCOM default exists because the 8-bit AVR platforms cannot keep up.
+        #define SERIAL_BAUDRATE SERIAL_BAUDRATE_FAST
+    #else
+        #define SERIAL_BAUDRATE SERIAL_BAUDRATE_ASCOM
+    #endif
 #endif
 
 /**

ConfigurationValidation.hpp

@@ -174,6 +174,17 @@
     #error Unsupported GPS configuration. Use at own risk.
 #endif
 
+// RP2040 SKR Pico: info display pin sharing.
+#if defined(ARDUINO_ARCH_RP2040) && (BOARD == BOARD_RP2040_SKR_PICO) && (INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE)
+    #if (USE_GPS == 1)
+        #error On the SKR Pico the info display and GPS share GP0/GP1 on the left-side header. Enable only one, or remap the pins explicitly.
+    #endif
+    #if (INFO_DISPLAY_I2C_SDA_PIN == 20) || (INFO_DISPLAY_I2C_SCL_PIN == 21) || (INFO_DISPLAY_I2C_SDA_PIN == 21)                           \
+        || (INFO_DISPLAY_I2C_SCL_PIN == 20)
+        #error GP20/GP21 on the SKR Pico only drive on-board MOSFETs (HB/FAN/Laser power outputs); they are not exposed as GPIO on any connector and cannot be used for I2C. Use GP0/GP1 on the left-side header.
+    #endif
+#endif
+
 #if (USE_GYRO_LEVEL == 0)
 // Baseline configuration without gyro is valid
 #elif defined(ESP32) || defined(__AVR_ATmega2560__)
@@ -240,12 +251,6 @@
             // Required pin assignments missing (ATmega uses SoftwareSerial for this driver)
             #error Missing pin assignments for configured AZ DRIVER_TYPE_TMC2209_UART driver
         #endif
-        #if !defined(AZ_DIAG_PIN)
-            // AZ_DIAG_PIN (TMC2209 DIAG output) is used only for stallGuard-based homing.
-            // It is optional: omit it if your hardware does not wire the DIAG output to a GPIO.
-            // Without it, stallGuard homing is unavailable but all other AZ motion works normally.
-            #pragma message "AZ_DIAG_PIN not defined. StallGuard homing unavailable for AZ axis."
-        #endif
         #if !((defined(AZ_SERIAL_PORT_TX) && defined(AZ_SERIAL_PORT_RX)) || defined(AZ_SERIAL_PORT))
             // Required pin assignments missing for UART serial
             #error Missing pin assignments for configured AZ DRIVER_TYPE_TMC2209_UART driver serial connection
@@ -264,12 +269,6 @@
             // Required pin assignments missing (ATmega uses SoftwareSerial for this driver)
             #error Missing pin assignments for configured ALT DRIVER_TYPE_TMC2209_UART driver
         #endif
-        #if !defined(ALT_DIAG_PIN)
-            // ALT_DIAG_PIN (TMC2209 DIAG output) is used only for stallGuard-based homing.
-            // It is optional: omit it if your hardware does not wire the DIAG output to a GPIO.
-            // Without it, stallGuard homing is unavailable but all other ALT motion works normally.
-            #pragma message "ALT_DIAG_PIN not defined. StallGuard homing unavailable for ALT axis."
-        #endif
         #if !((defined(ALT_SERIAL_PORT_TX) && defined(ALT_SERIAL_PORT_RX)) || defined(ALT_SERIAL_PORT))
             // Required pin assignments missing for UART serial
             #error Missing pin assignments for configured ALT DRIVER_TYPE_TMC2209_UART driver serial connection

Configuration_adv.hpp

@@ -35,6 +35,19 @@
 //                            ////////
 // MOTOR & DRIVER SETTINGS    ////////
 //                            ////////
+//////////////////////////////////////
+//
+// Interval at which the stepper control timer/interrupt services the steppers.
+// Shorter intervals mean finer step timing. AVR is capped at 2 kHz: higher rates
+// there interfere with serial communications. The RP2040 has ample headroom.
+#ifndef STEPPER_CONTROL_INTERVAL_MS
+    #if defined(ARDUINO_ARCH_RP2040)
+        #define STEPPER_CONTROL_INTERVAL_MS 0.2f  // 5 kHz
+    #else
+        #define STEPPER_CONTROL_INTERVAL_MS 0.5f  // 2 kHz
+    #endif
+#endif
+
 //////////////////////////////////////
 //
 // This is how many steps your stepper needs for a full rotation.
@@ -556,16 +569,15 @@
 // Enable RA End Switches in your local configuration. Do not edit here!
 #ifndef USE_RA_END_SWITCH
     #define USE_RA_END_SWITCH 0
-#else
-    #ifndef RA_END_SWITCH_ACTIVE_STATE
-        #define RA_END_SWITCH_ACTIVE_STATE LOW
-    #endif
-    // You can define how many degrees to slew back after the end switch has triggered.
-    // Mechanical end switches might have a hysteresis behavior, meaning once signaled,
-    // it needs to move well back beyond the signal point to become un-signaled.
-    #ifndef RA_ENDSWITCH_BACKSLEW_DEG
-        #define RA_ENDSWITCH_BACKSLEW_DEG 0.5
-    #endif
+#endif
+#ifndef RA_END_SWITCH_ACTIVE_STATE
+    #define RA_END_SWITCH_ACTIVE_STATE LOW
+#endif
+// You can define how many degrees to slew back after the end switch has triggered.
+// Mechanical end switches might have a hysteresis behavior, meaning once signaled,
+// it needs to move well back beyond the signal point to become un-signaled.
+#ifndef RA_ENDSWITCH_BACKSLEW_DEG
+    #define RA_ENDSWITCH_BACKSLEW_DEG 0.5
 #endif
 
 //////////////////////////////////////////
@@ -574,17 +586,15 @@
 // Enable DEC End Switches in your local configuration. Do not edit here!
 #ifndef USE_DEC_END_SWITCH
     #define USE_DEC_END_SWITCH 0
-#else
-    #ifndef DEC_END_SWITCH_ACTIVE_STATE
-        #define DEC_END_SWITCH_ACTIVE_STATE LOW
-    #endif
-    // You can define how many degrees to slew back after the end switch has triggered.
-    // Mechanical end switches might have a hysteresis behavior, meaning once signaled,
-    // it needs to move well back beyond the signal point to become un-signaled.
-    #ifndef DEC_ENDSWITCH_BACKSLEW_DEG
-        #define DEC_ENDSWITCH_BACKSLEW_DEG 0.5
-    #endif
-
+#endif
+#ifndef DEC_END_SWITCH_ACTIVE_STATE
+    #define DEC_END_SWITCH_ACTIVE_STATE LOW
+#endif
+// You can define how many degrees to slew back after the end switch has triggered.
+// Mechanical end switches might have a hysteresis behavior, meaning once signaled,
+// it needs to move well back beyond the signal point to become un-signaled.
+#ifndef DEC_ENDSWITCH_BACKSLEW_DEG
+    #define DEC_ENDSWITCH_BACKSLEW_DEG 0.5
 #endif
 
 //////////////////////////////////////////

Configuration_local_examples/Configuration_local_rp2040_skr_pico.hpp

@@ -16,7 +16,7 @@
  *  Stepper slot : E0 -> ALT   (TMC2209, UART addr 3)
  *  Motor rating : 0.9 deg / step (400 SPR), 470 mA
  *  Pulley       : 16T aluminium GT2
- *  RA homing    : Hall sensor on GPIO4 (X-STOP / RA_DIAG_PIN)
+ *  RA homing    : Hall sensor on GPIO4 (X-STOP)
  *
  * All pin assignments are in boards/RP2040_SKR_PICO/pins_RP2040_SKR_PICO.hpp.
  * R_SENSE (0.11 ohm) is set globally in src/a_inits.hpp for all TMC2209_UART
@@ -124,15 +124,25 @@
 #endif
 
 // ── RA Hall sensor auto-home ──────────────────────────────────────────────────
-// Hall sensor is wired to GPIO4 (X-STOP input / RA_DIAG_PIN on SKR Pico).
+// Hall sensor is wired to GPIO4 (X-STOP input on SKR Pico).
 // Active state LOW: sensor pulls GPIO4 LOW when the magnet is present.
 // Search distance: 30° default (RA_HOMING_SENSOR_SEARCH_DEGREES in Configuration_adv.hpp).
 // GPIO4 is configured INPUT (no pull-up); add external 10kΩ to 3.3V if sensor
 // is open-drain, or change to INPUT_PULLUP in b_setup.hpp.
 #define USE_HALL_SENSOR_RA_AUTOHOME   1
-#define RA_HOMING_SENSOR_PIN          4    // GPIO4 = RA_DIAG_PIN (X-STOP)
+#define RA_HOMING_SENSOR_PIN          4    // GPIO4 (X-STOP)
 #define RA_HOMING_SENSOR_ACTIVE_STATE LOW  // sensor pulls LOW when active
 
+// ── Info display (alternative to GPS) ─────────────────────────────────────────
+// The SKR Pico has exactly one header-accessible I2C-capable GPIO pair: GP0/GP1
+// on the left-side header (IO0/IO1/GND/5V). This example uses it for GPS below.
+// For an SSD1306 128x64 info display instead, set USE_GPS to 0 and enable:
+//   #define INFO_DISPLAY_TYPE INFO_DISPLAY_TYPE_I2C_SSD1306_128x64
+//   (SDA/SCL then default to GP0/GP1: SDA->IO0, SCL->IO1, VCC->5V, GND->GND.)
+// NOTE: GP20/GP21 must NOT be used for the display on this board - they only
+// drive the HB/FAN/Laser MOSFET power outputs and never reach a connector as
+// raw GPIO (wiring I2C there hangs the bus). Enforced by ConfigurationValidation.
+
 // ── GPS ───────────────────────────────────────────────────────────────────────
 // ATGM336H-5N wired to left-side header: GPS TX→IO1, GPS RX→IO0, VCC→5V, GND.
 // GPS_SERIAL_PORT, RP2040_GPS_TX_PIN, RP2040_GPS_RX_PIN defined in pins file.

Constants.hpp

@@ -21,7 +21,9 @@
 #define BOARD_ESP32_ESP32DEV 1001
 #define BOARD_OAE_V1         1002
 
-// RP2040 based boards
+// RP2040 based boards (2000-2999)
+//   2101-2199: Pico family + JackW01 printer carrier board
+//   2201-2299: BTT SKR Pico family
 #define BOARD_RP2040_JACKW01  2101
 #define BOARD_RP2040_SKR_PICO 2201
 
@@ -67,6 +69,7 @@
 
 // USB serial port speed according to external controller
 #define SERIAL_BAUDRATE_ASCOM 19200
+#define SERIAL_BAUDRATE_FAST  115200  // For platforms that keep up (RP2040 USB CDC)
 
 // Wifi operating modes (ESP32 only)
 #define WIFI_MODE_INFRASTRUCTURE 0  // Infrastructure Only - OAT connects to an existing Router

Example_Configuration_local_rp2040_skr_pico.hpp

@@ -0,0 +1,143 @@
+/**
+ * @brief Bench configuration for the BTT SKR Pico v1.0 RP2040 board.
+ *
+ * Personal local config (gitignored). Based on
+ * Configuration_local_examples/Configuration_local_rp2040_skr_pico.hpp,
+ * adapted for the bench hardware:
+ *   - Hall homing sensors on RA (X-STOP GPIO4) AND DEC (Y-STOP GPIO3)
+ *   - DEC endstops on Z-STOP (GPIO25, down) and E-STOP (GPIO16, up)
+ *   - SSD1306 info display on I2C0, GP0/GP1 on the left-side header
+ *   - GPS disabled for the bench
+ *
+ * All other pin assignments are in boards/RP2040_SKR_PICO/pins_RP2040_SKR_PICO.hpp.
+ */
+#pragma once
+
+// ── Board ─────────────────────────────────────────────────────────────────────
+#define BOARD BOARD_RP2040_SKR_PICO
+#define OAM
+#define TEST_VERIFY_MODE 0
+
+// ── Hemisphere ────────────────────────────────────────────────────────────────
+#define NORTHERN_HEMISPHERE 1
+
+// ── Display ────────────────────────────────────────────────────────────────────
+// No LCD menu display (RP2040 phase 1); SSD1306 128x64 info display on I2C0.
+// GP0/GP1 on the left-side header (IO0/IO1/GND/5V) - the only header-accessible
+// I2C0 pair on the SKR Pico. Shares pins with the default GPS wiring, so
+// USE_GPS must stay 0 while the display is enabled.
+// (GP20/GP21 are MOSFET-gate-only nets on this board - HB/FAN/Laser outputs,
+// never exposed as raw GPIO; wiring I2C there hangs the bus and the firmware.)
+#define DISPLAY_TYPE             DISPLAY_TYPE_NONE
+#define INFO_DISPLAY_TYPE        INFO_DISPLAY_TYPE_I2C_SSD1306_128x64
+#define INFO_DISPLAY_I2C_ADDRESS 0x3C
+#define INFO_DISPLAY_I2C_SDA_PIN 0  // GP0 (I2C0 SDA, left header IO0)
+#define INFO_DISPLAY_I2C_SCL_PIN 1  // GP1 (I2C0 SCL, left header IO1)
+#define INFO_DISPLAY_UPSIDE_DOWN 1
+#define INFO_DISPLAY_MIRRORED    0
+
+// ── Stepper control interval ─────────────────────────────────────────────────
+// 5 kHz is the RP2040 default (see Configuration_adv.hpp) and the bench-verified
+// rate. The RP2040 can also handle 10 kHz if you need faster step generation
+// (set 0.1f), but that is not part of the verified baseline.
+#define STEPPER_CONTROL_INTERVAL_MS 0.2f  // 5 kHz
+
+// ── Stepper motor types ───────────────────────────────────────────────────────
+#define RA_STEPPER_TYPE  STEPPER_TYPE_ENABLED
+#define DEC_STEPPER_TYPE STEPPER_TYPE_ENABLED
+#define AZ_STEPPER_TYPE  STEPPER_TYPE_ENABLED
+#define ALT_STEPPER_TYPE STEPPER_TYPE_ENABLED
+
+// ── Stepper driver types ──────────────────────────────────────────────────────
+#define RA_DRIVER_TYPE  DRIVER_TYPE_TMC2209_UART
+#define DEC_DRIVER_TYPE DRIVER_TYPE_TMC2209_UART
+#define AZ_DRIVER_TYPE  DRIVER_TYPE_TMC2209_UART
+#define ALT_DRIVER_TYPE DRIVER_TYPE_TMC2209_UART
+
+// ── RA Settings ───────────────────────────────────────────────────────────────
+#define RA_SLEW_MICROSTEPPING        16   // µsteps used while slewing RA
+#define RA_TRACKING_MICROSTEPPING    256  // µsteps used for sidereal tracking
+#define RA_STEPPER_SPEED             8000  // steps/s. If SPEED and ACCELERATION numbers are the same, the spool up to full speed takes one second.
+#define RA_STEPPER_ACCELERATION      8000      // steps/s/s
+#define RA_MOTOR_CURRENT_RATING      1000      // mA
+#define RA_OPERATING_CURRENT_SETTING 75        // %
+#define RA_WHEEL_CIRCUMFERENCE       1130.97f  // 360mm diam
+#define RA_PULLEY_TEETH              16
+#define RA_STEPPER_SPR               (400 * 9)  // change to (200 * 9) for 1.8° stepper
+#define RA_LIMIT_LEFT                6.0f
+#define RA_LIMIT_RIGHT               6.0f
+#define RA_INVERT_DIR                1
+
+// ── DEC settings ────────────────────────────────────────────────────────────
+#define DEC_SLEW_MICROSTEPPING        16   // µsteps used while slewing DEC
+#define DEC_GUIDE_MICROSTEPPING       256  // µsteps used for guide pulses
+#define DEC_STEPPER_SPEED             8000  // steps/s. If SPEED and ACCELERATION numbers are the same, the spool up to full speed takes one second.
+#define DEC_STEPPER_ACCELERATION      8000  // steps/s/s
+#define DEC_MOTOR_CURRENT_RATING      1000  // mA
+#define DEC_OPERATING_CURRENT_SETTING 75    // %
+#define DEC_WHEEL_CIRCUMFERENCE       816.814f
+#define DEC_PULLEY_TEETH              16
+#define DEC_STEPPER_SPR               (400 * 9)  // change to (200 * 9) for 1.8° stepper
+#define DEC_LIMIT_UP                  130
+#define DEC_LIMIT_DOWN                130
+#define DEC_INVERT_DIR                1
+
+// ── StealthChop (silent mode) ─────────────────────────────────────────────────
+#define RA_UART_STEALTH_MODE  1
+#define DEC_UART_STEALTH_MODE 1
+
+// ── AZIMUTH definitions ──────────────────────────────────────────────────────
+#define AZ_MICROSTEPPING             16
+#define AZ_STEPPER_SPEED             2500
+#define AZ_STEPPER_ACCELERATION      1250
+#define AZ_MOTOR_CURRENT_RATING      2000  // mA
+#define AZ_OPERATING_CURRENT_SETTING 80    // %
+#define AZ_STEPPER_SPR               400
+#define AZ_ALWAYS_ON                 1
+#define AZ_MOTOR_HOLD_SETTING        15
+#define AZ_PULLEY_TEETH              20
+#define AZ_ROD_PITCH                 1.0f  // mm per full rev of stepper
+#define AZ_CIRCUMFERENCE             (115 * 2 * 3.1415927)
+#define AZIMUTH_STEPS_PER_REV        (AZ_CIRCUMFERENCE / AZ_ROD_PITCH * AZ_STEPPER_SPR * AZ_MICROSTEPPING)  // Steps needed to turn AZ 360deg
+#define AZ_INVERT_DIR                1
+
+// ── ALTITUDE definitions ─────────────────────────────────────────────────────
+#define ALT_MICROSTEPPING             32
+#define ALT_STEPPER_SPEED             2500
+#define ALT_STEPPER_ACCELERATION      1250
+#define ALT_MOTOR_CURRENT_RATING      1000  // mA
+#define ALT_OPERATING_CURRENT_SETTING 70    // %
+#define ALT_STEPPER_SPR               400
+#define ALT_INVERT_DIR                0
+#define ALT_ALWAYS_ON                 0
+
+// ── Hall sensor auto-homing (RA and DEC) ──────────────────────────────────────
+// RA sensor on X-STOP (GPIO4 = RA_DIAG_PIN), DEC sensor on Y-STOP (GPIO3 = DEC_DIAG_PIN).
+// Active state LOW: sensor pulls the GPIO LOW when the magnet is present.
+#define USE_HALL_SENSOR_RA_AUTOHOME   0
+#define RA_HOMING_SENSOR_PIN          4  // GPIO4 = X-STOP
+#define RA_HOMING_SENSOR_ACTIVE_STATE LOW
+
+#define USE_HALL_SENSOR_DEC_AUTOHOME   0
+#define DEC_HOMING_SENSOR_PIN          3  // GPIO3 = Y-STOP
+#define DEC_HOMING_SENSOR_ACTIVE_STATE LOW
+
+// ── DEC endstops ──────────────────────────────────────────────────────────────
+// Wired to the two remaining endstop inputs on the SKR Pico.
+#define USE_DEC_END_SWITCH            0
+#define DEC_ENDSWITCH_DOWN_SENSOR_PIN 25  // GPIO25 = Z-STOP
+#define DEC_ENDSWITCH_UP_SENSOR_PIN   16  // GPIO16 = E-STOP
+#define DEC_END_SWITCH_ACTIVE_STATE   LOW
+
+// ── GPS ───────────────────────────────────────────────────────────────────────
+// Disabled for the bench (no module connected). NOTE: GPS shares GP0/GP1 with
+// the info display on this board - only one of the two can be enabled.
+#define USE_GPS 0
+
+// ── FAN (disabled for now)───────────────────────────────────────────────────────────────────────
+// #define RP2040_FAN1_POWER_PERCENT 60
+
+// Track immediately after boot
+#define TRACK_ON_BOOT 0
+
+#define DEBUG_LEVEL (DEBUG_NONE)