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Control RP2040 on Linux

OverView​

Relation introduction between J4215 and 40-PIN GPIO​

The Radxa X4 integrates an Intel N100 CPU and a RP2040 MCU, which communicate with each other via USB or UART. The 40-PIN interface serves as an I/O expansion port extending from the RP2040 microcontroller. The CPU exerts control over this interface through communication with the RP2040, which leverages the Pico SDK for efficient manipulation and operation of the 40-PIN interface.

Tools Introduction​

In order to operate the IO resources on RP2040, we need a complete software environment, here we mainly introduce a set of C/C++ SDKs, namely pico-sdk and pico-examples. pico-sdk mainly provides some APIs to operate the RP2040, while pico-examples provides a compilation framework for us to add our own programs according to the compilation framework provided by pico-examples. pico-sdk provides some APIs to operate the RP2040, while pico-examples provides a compilation framework for us to add our own programs according to the compilation framework provided by pico-examples.

PICO-SDK​

1. Introduction​

The Raspberry Pi Pico SDK (henceforth the SDK) provides the headers, libraries and build system necessary to write programs for the RP2040-based devices (such as the Raspberry Pi Pico/Radxa X4) in C, C++ or assembly language.

The SDK is designed to provide an API and programming environment that is familiar both to non-embedded C developers and embedded C developers alike. A single program runs on the device at a time and starts with a conventional main() method. Standard C/C++ libraries are supported along with C level libraries/APIs for accessing all of the RP2040's hardware include PIO (Programmable IO).

2. Usage​

tip

You can either download pico-sdk/pico-examples and install the tools on your PC in a Linux environment, or you can do it in the Linux environment of Radxa X4. For convenience, we can do this directly in the Linux environment of Radxa X4.

  • Install the necessary tools
sudo apt update -y
sudo apt install -y git cmake gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib
  • Get the code
git clone https://github.com/raspberrypi/pico-sdk.git
cd pico-sdk
git submodule update --init

PICO-EXAMPLES​

1. Introduction​

pico-examples is an official example codebase that shows how to use the Raspberry Pi Pico and the Pico SDK to implement a variety of features. It provides a range of examples covering everything from basic GPIO operations to complex communication protocols to get developers up to speed and understanding how to develop on the Pico.

2. Usage​

tip

You can either download pico-sdk/pico-examples and install the tools on your PC in a Linux environment, or you can do it in the Linux environment of Radxa X4. For convenience, we can do this directly in the Linux environment of Radxa X4.

  • Get the code
git clone https://github.com/raspberrypi/pico-examples.git --branch master
  • Compile
export PICO_SDK_PATH=path/to/pico-sdk
cd pico-examples
mkdir build
cd build
cmake .. && make -j4

Examples​

RP2040 Control the 40-PIN​

GPIO​
1. Preparation​
  • One Radxa X4
  • One LED
2. Connection​
Radxa X4<-->LED
PIN_5<-->LED
PIN_1<-->VCC
PIN_9<-->GND
tip

Here PIN_5 corresponds to GPIO29 in the following code, please refer to GPIO Definition for details.

3. Test​

  • Replace pico-examples/blink/blink.c with the following code

    blink.c

    #include "pico/stdlib.h"
    #define BLINK_PIN 29 // GPIO29

    int main() {

        gpio_init(BLINK_PIN);
        gpio_set_dir(BLINK_PIN, GPIO_OUT);

        while (true) {
            gpio_put(BLINK_PIN, 1);
            sleep_ms(250);
            gpio_put(BLINK_PIN, 0);
            sleep_ms(250);
        }
    }

  • Compile

    cd pico-examples/build
    rm -rf *
    cmake ..
    make -j$(nproc)

    After successful compilation, a file named blink.uf2 will be created in the pico-examples/build/blink/ directory.

  • Flash

    • Reboot RP2040

    • Drag the blink.uf2 file into the RP2040, and when the RP2040 disappears, the LED will start blinking.

Intel CPU Controls RP2040 via Uart​

FAN​

The purpose of this paragraph is to provide the user with an example of the Radxa X4 CPU communicating with the MCU RP2040 by obtaining the temperature of the Radxa X4 CPU and making the fan spin up when the specified temperature is reached.

1. Connection​

Connect the fan's pwm pin to PIN_3, the fan VCC to Radxa X4's VCC, and the fan GND to Radxa X4's GND.

2. Install the required Python libraries On the Radxa X4​
pip install pyserial psutil
sudo apt-get update
sudo apt-get install stress
sudo apt-get install minicom
3. Create a new Temperature.py file on the Radxa X4 with the following contents:​
Temperature.py

    import psutil
    import serial
    import time

    SERIAL_PORT = '/dev/ttyS0'
    BAUD_RATE = 115200

    set = serial.Serial(SERIAL_PORT, BAUD_RATE)

    def get_cpu_temperature():
        # get temperature from PC
        temps = psutil.sensors_temperatures()
        if 'coretemp' in temps:
            cpu_temp = temps['coretemp'][0].current
            return cpu_temp
        else:
            return None

    try:
        while True:
            temp = get_cpu_temperature()
            if temp is not None:
                print(f"CPU Temperature: {temp}°C")
                set.write(f"{temp}\n".encode())
            else:
                print("Unable to read temperature.")
            time.sleep(1)
    except KeyboardInterrupt:
        set.close()
        print("Program terminated.")

4. Add a directory for pwm_fan inside pico-examples/pwm/CMakeLists.txt​
tip

About how to use pico-examples, Please refer to the pico-sdk/pico-examples section above

Replace pico-example/pwm/CMakeLists.txt with the following code

CMakeLists.txt

    if (TARGET hardware_pwm)
        add_subdirectory_exclude_platforms(hello_pwm)
        add_subdirectory_exclude_platforms(led_fade)
        add_subdirectory_exclude_platforms(measure_duty_cycle)
        add_subdirectory_exclude_platforms(pwm_fan)
    else()
        message("Skipping PWM examples as hardware_pwm is unavailable on this platform")
    endif()

5. Create a new CMakeLists.txt in the pico-examples/pwm/pwm_fan/ directory with the following contents:​
CMakeLists.txt

    add_executable(pwm_fan
        pwm_fan.c
        )

    # pull in common dependencies and additional pwm hardware support
    target_link_libraries(pwm_fan pico_stdlib hardware_pwm)

    # create map/bin/hex file etc.
    pico_add_extra_outputs(pwm_fan)

    # add url via pico_set_program_url
    example_auto_set_url(pwm_fan)

6. Create a new pwm_fan.c in the pico-examples/pwm/pwm_fan/ directory with the following contents:​
pwm_fan.c
    #include <stdio.h>
    #include <stdlib.h>
    #include "pico/stdlib.h"
    #include "hardware/uart.h"
    #include "hardware/pwm.h"

    #define UART_ID uart0
    #define BAUD_RATE 115200
    #define UART_TX_PIN 0
    #define UART_RX_PIN 1
    #define FAN_PWM_PIN 28
    #define TEMP_THRESHOLD 60.0

    void set_pwm_duty_cycle(uint slice_num, uint channel, float duty_cycle) {
        if (duty_cycle < 0.0f) duty_cycle = 0.0f;
        if (duty_cycle > 100.0f) duty_cycle = 100.0f;
        uint16_t level = (uint16_t)(duty_cycle * (float)(1 << 16) / 100.0f);
        pwm_set_gpio_level(FAN_PWM_PIN, level);
    }

    int main() {
        stdio_init_all();

        uart_init(UART_ID, BAUD_RATE);
        gpio_set_function(UART_TX_PIN, GPIO_FUNC_UART);
        gpio_set_function(UART_RX_PIN, GPIO_FUNC_UART);

        uart_set_format(UART_ID, 8, 1, UART_PARITY_NONE);
        uart_set_fifo_enabled(UART_ID, false);

        gpio_set_function(FAN_PWM_PIN, GPIO_FUNC_PWM);
        uint slice_num = pwm_gpio_to_slice_num(FAN_PWM_PIN);
        pwm_config config = pwm_get_default_config();
        pwm_config_set_clkdiv(&config, 4.0f);
        pwm_init(slice_num, &config, true);

        char buffer[32];
        int index = 0;

        printf("Waiting for data...\n");

        while (1) {
            if (uart_is_readable(UART_ID)) {
                char c = uart_getc(UART_ID);
                if (c == '\n') {
                    buffer[index] = '\0';
                    float temperature = atof(buffer);
                    printf("Received temperature: %.2f°C\n", temperature);
                    if (temperature > TEMP_THRESHOLD) {
                        set_pwm_duty_cycle(slice_num, PWM_CHAN_A, 100.0f);
                    } else {
                        set_pwm_duty_cycle(slice_num, PWM_CHAN_A, 0.0f);
                    }
                    index = 0;
                } else {
                    buffer[index++] = c;
                    if (index >= sizeof(buffer)) {
                        index = sizeof(buffer) - 1;
                    }
                }
            }
        }

        return 0;
    }

7. Compile​
cd pico-examples/build
rm -rf *
cmake ..
make -j$(nproc)

After successful compilation, a file named pwm_fan.uf2 is generated in the build/pwm/pwm_fan directory

8. Flash​
  • Reboot RP2040
  • Drag the pwm_fan.uf2 file into the RP2040, and after the RP2040 disappears, the program starts to read the messages from /dev/ttyS0.
9. Run Temperature.py on the board​
sudo python3 Temperature.py

If the program runs successfully, the program gets the current temperature of the Radxa X4 computer, sends the temperature to the serial port /dev/ttyS0, and formats the output temperature such as “CPU Temperature: 42.0°C”

10. Run the minicom on the board​
sudo minicom -D /dev/ttyS0 -b 115200

Check if the RP2040 has received the temperature from the Radxa X4, if it has, the minicom will output the corresponding temperature, e.g. “Received temperature: 42.00°C”.