Add RP2040 Support for JackW01 and BTT SKR Pico boards by EricSchubert · Pull Request #280 · OpenAstroTech/OpenAstroTracker-Firmware

EricSchubert · 2026-03-10T06:39:43Z

Utilized Claude AI to add hardware support for RP2040-based BigTreeTech SKR Pico v1.0 and open-source JackW01 Pico printer boards. (GitHub for JackW01 here: https://jackw01.github.io/pi-pico-printer-board/ )

NOTE: This also requires modification to TMCStepper2208 library, found on my GitHub page:
https://github.com/EricSchubert/TMCStepper-RP2040_Support

libdeps has been updated in platformio.ini to point to this repo until official TMCStepper code merges the changes.

Add RP2040 support for JackW01 Pi Pico Printer Board and BTT SKR Pico v1.0

Summary

This PR adds firmware support for two RP2040-based boards, both using TMC2209 drivers
via UART and the Earle Philhower RP2040 Arduino core.

Supported boards (both confirmed working on hardware):

env:rp2040_jackw01 — JackW01 Pi Pico Printer Board
env:rp2040_skr_pico — BigTreeTech SKR Pico v1.0

Changes

New files:

boards/RP2040_SKR_PICO/pins_RP2040_SKR_PICO.hpp — GPIO assignments for SKR Pico
Configuration_local_examples/Configuration_local_rp2040_skr_pico.hpp — example config for SKR Pico

Modified files:

platformio.ini — added rp2040_jackw01 and rp2040_skr_pico environments
Constants.hpp — added BOARD_RP2040_SKR_PICO
Configuration.hpp — added SKR Pico pins include
LocalConfiguration.hpp — added SKR Pico branch
ConfigurationValidation.hpp — added RP2040 to GPS whitelist
src/Mount.cpp — set toff(4) on all drivers (required for StealthChop on RP2040);
UART_CONNECTION_TEST_RETRIES = 5

TMC2209 UART patch

The stock TMCStepper library does not support the Philhower RP2040 core's single-wire
half-duplex UART model. A patch to TMC2208Stepper.cpp adds an
_rp2040_sw_uart_write_byte code path. platformio.ini references a patched fork of
TMCStepper via lib_deps — no manual steps required.

OATControl compatibility fix

SerialUSB::write() on the Philhower core gates transmission on host DTR. Most serial
clients (including OATControl's C# SerialPort) default to DtrEnable=false, silently
dropping all firmware responses. Fix: Serial.ignoreFlowControl(true) after
Serial.begin(), guarded by #if defined(ARDUINO_ARCH_RP2040) in src/b_setup.hpp.

Tested on hardware

UART communication confirmed on all 4 TMC2209 drivers
StealthChop confirmed working
RA Hall sensor homing confirmed from both directions
OATControl connects and controls mount via direct serial (COM port)
GPS (ATGM336H-5N) confirmed working on SKR Pico
DEC direction correct on both boards

…AstroTracker-Firmware-RP2040 into RP2040-Support

openastrotech-bot · 2026-03-10T06:40:03Z

Looks like your PR has code that needs to be changed in order to meet our coding standards!
Here are your options:

Apply the patch that was generated by the job
1. Click details under the failing clang-format check
2. Click the Artifacts dropdown in the top right
3. Download + unzip the clang-format-diff.patch file into the OpenAstroTracker-Firmware repo
4. Run git apply clang-format-diff.patch to make the changes
5. Commit and push up the formatted code
Run clang-format locally
1. Run the command bash -c 'shopt -s nullglob globstar;GLOBIGNORE=./src/libs/TimerInterrupt/*; for i in ./{.,src/**,unit_tests,boards/**}/*.{c,cpp,h,hpp}; do clang-format -i $i; done'
2. Commit and push up the formatted code

EricSchubert · 2026-03-10T14:51:51Z

I'm attaching a file created by Claude AI to explain the any code changes made to support RP2040 and the BTT SKR Pico.
RP2040_PORT_NOTES.md

julianneswinoga · 2026-03-14T18:07:33Z

-    #ifndef INFO_DISPLAY_UPSIDE_DOWN
-        #define INFO_DISPLAY_UPSIDE_DOWN 0
-    #endif
-    #ifndef INFO_DISPLAY_MIRRORED
-        #define INFO_DISPLAY_MIRRORED 0
-    #endif


Why remove these?

Not sure why these were removed. It was not intentional. Likely Claude removed them because I didn't need a display for my build.

julianneswinoga · 2026-03-14T18:08:11Z

+#elif (BOARD == BOARD_RP2040_JACKW01) || (BOARD == BOARD_RP2350_JACKW01)
+    #include "boards/RP2040_JACKW01/pins_RP2040_JACKW01.hpp"
+#elif (BOARD == BOARD_RP2040_SKR_PICO)
+    #include "boards/RP2040_SKR_PICO/pins_RP2040_SKR_PICO.hpp"


these files don't exist

The file pins_RP2040_SKR_PICO.hpp does exist in this branch. I can supply the pins_RP2040_JACKW01.hpp file. This was left out by mistake and should have been included.

julianneswinoga · 2026-03-14T18:09:13Z

        #endif
    #elif (AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
        #if !defined(AZ_STEP_PIN) || !defined(AZ_DIR_PIN) || !defined(AZ_EN_PIN)
-            // Required pin assignments missing (ATmega uses SoftwareSerial for this driver)


Don't remove the comment

julianneswinoga · 2026-03-14T18:09:31Z

        #endif
    #endif

-#elif defined(OAE)


Don't remove these

julianneswinoga · 2026-03-14T18:10:09Z

+// RP2040/RP2350 based boards (2000-2999)
+//   2001-2099: Generic bare Pico family (user-defined wiring) -- NOT YET SUPPORTED
+//   2101-2199: Pico family + JackW01 printer carrier board
+//   2201-2299: BTT SKR Pico family
+// #define BOARD_RP2040_PICO      2001  // NOT YET SUPPORTED: requires user-defined pin wiring in local config
+// #define BOARD_RP2350_PICO2     2002  // NOT YET SUPPORTED: requires user-defined pin wiring in local config
+#define BOARD_RP2040_JACKW01   2101  // Raspberry Pi Pico (RP2040) + JackW01 printer board
+#define BOARD_RP2350_JACKW01   2102  // Raspberry Pi Pico 2 (RP2350) + JackW01 printer board


Don't add references to boards that don't exist

julianneswinoga · 2026-03-14T18:12:29Z

 	arduino-libraries/LiquidCrystal @ ^1.0.7
 	lincomatic/LiquidTWI2@^1.2.7
 	olikraus/U8g2@^2.28.8
-	https://github.com/ClutchplateDude/esp8266-oled-ssd1306#4.6.2


Don't change this

julianneswinoga · 2026-03-14T18:13:21Z

 	${common.lib_deps}
 	jdolinay/avr-debugger @ 1.2
-	https://github.com/andre-stefanov/avr-interrupt-stepper#0.0.4
+	https://github.com/andre-stefanov/avr-interrupt-stepper@0.0.4


Incorrect library specification: https://docs.platformio.org/en/latest/core/userguide/pkg/cmd_install.html#repository-git-hg-svn

EricSchubert · 2026-03-15T05:04:13Z

@julianneswinoga, I believe all requested changes have been addressed. Ready for re-review.

julianneswinoga · 2026-03-15T16:10:21Z

        #endif
    #elif (ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
        #if !defined(ALT_STEP_PIN) || !defined(ALT_DIR_PIN) || !defined(ALT_EN_PIN)
-            // Required pin assignments missing (ATmega uses SoftwareSerial for this driver)


don't remove this comment

julianneswinoga · 2026-03-15T16:17:36Z

+// slewingStatus()
+#define SLEWING_DEC      0b00000010
+#define SLEWING_RA       0b00000001
+#define SLEWING_BOTH     0b00000011
+#define SLEWING_TRACKING 0b00001000
+#define NOT_SLEWING      0b00000000
+
+// slewStatus
+#define SLEW_MASK_DEC   0b0011
+#define SLEW_MASK_NORTH 0b0001
+#define SLEW_MASK_SOUTH 0b0010
+#define SLEW_MASK_RA    0b1100
+#define SLEW_MASK_EAST  0b0100
+#define SLEW_MASK_WEST  0b1000
+#define SLEW_MASK_ANY   0b1111


Do not change the format of these

julianneswinoga · 2026-03-15T16:18:52Z

There's a lot of changes here not relevant to the pico, please revert.

@Version

Fixes requested by julianneswinoga on PR OpenAstroTech#280: - Configuration.hpp: restore accidentally-dropped INFO_DISPLAY_UPSIDE_DOWN/ INFO_DISPLAY_MIRRORED defines; drop includes for pins files that don't exist in this branch (bare Pico, RP2350 aliases) - ConfigurationValidation.hpp: restore the OAE validation branch and the "Required pin assignments missing" comments that were dropped or moved to the wrong #if branch - Constants.hpp / LocalConfiguration.hpp / platformio.ini: remove board constants, local-config branches, and platformio.ini env scaffolding for RP2350/bare-Pico boards that aren't implemented - platformio.ini: fix invalid @Version library specs on git-hosted deps (should be #version per PlatformIO docs); scope the arduino-pico deprecated-declarations warning suppression to the two RP2040 envs instead of editing shared Binary.h-style macros - src/Mount.cpp, src/Mount.hpp: revert unrelated refactor unintentionally bundled into the RP2040 port (binary literal rewrite, connectToDriver signature change, dropped guide-pulse DEC limit checks, dropped OAE coordinate shift, wrong EN pin on Focus driver failure, and more), keeping only the toff(1)->toff(4) change needed for StealthChop Verified: rp2040_jackw01 and rp2040_skr_pico build and flash cleanly; ramps (AVR) builds cleanly with the reverted Mount.cpp/Mount.hpp; SKR Pico hardware responds correctly to Meade commands after flashing. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>

Fixes requested by julianneswinoga on PR OpenAstroTech#280 (see prior commit for detailed breakdown): restore accidentally-dropped defines/comments, remove references to unimplemented boards, fix invalid platformio.ini library specs, and revert the unrelated Mount.cpp/Mount.hpp refactor back to only the toff(1)->toff(4) StealthChop change actually needed for RP2040 support. Verified: rp2040_jackw01 and rp2040_skr_pico build and flash cleanly; SKR Pico hardware responds correctly to Meade commands after flashing.

EricSchubert · 2026-08-14T22:38:20Z

Closing this out in favor of #298. A force-push broke this branch's shared history with develop, which is why GitHub wouldn't allow reopening it. All the same code and review feedback carries over; nothing new needs re-review that wasn't already discussed here.

@julianneswinoga all your feedback from this thread is addressed in #298. Thanks for the review, and sorry for the churn.

Eric Schubert and others added 12 commits March 9, 2026 23:27

Add RP2040 JackW01 and SKR Pico board support

01ca814

Removing old files

62a7bae

Removing old files

3caa435

Removing old files

a210671

Removing old files

e723f11

Removing old files

2e2521a

Removing old files

f4c9b8d

Removing old files

0e5ebe9

Adding SKR Pico example config

6a4d386

Delete Configuration_local_rp2040_skr_pico.hpp

dd63b43

Add example config for SKR Pico board

d9c3d8a

Merge branch 'RP2040-Support' of https://github.com/EricSchubert/Open…

3625ed6

…AstroTracker-Firmware-RP2040 into RP2040-Support

julianneswinoga requested changes Mar 14, 2026

View reviewed changes

julianneswinoga requested changes Mar 15, 2026

View reviewed changes

EricSchubert closed this Aug 14, 2026

EricSchubert force-pushed the RP2040-Support branch from 275fe74 to 99a7d1b Compare August 14, 2026 22:18

EricSchubert mentioned this pull request Aug 14, 2026

Add RP2040 Support for JackW01 and BTT SKR Pico boards #298

Open

Uh oh!

Conversation

EricSchubert commented Mar 10, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Add RP2040 support for JackW01 Pi Pico Printer Board and BTT SKR Pico v1.0

Summary

Changes

TMC2209 UART patch

OATControl compatibility fix

Tested on hardware

Uh oh!

openastrotech-bot commented Mar 10, 2026

Uh oh!

EricSchubert commented Mar 10, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

EricSchubert commented Mar 15, 2026

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

EricSchubert commented Aug 14, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

EricSchubert commented Mar 10, 2026 •

edited

Loading

EricSchubert commented Mar 10, 2026 •

edited

Loading