suppoort multiple boards at once, via serial number of the chip

luxonis_example/multipleBoards.py

@@ -0,0 +1,50 @@
+import os
+from adafruit_blinka.microcontroller.rp2040_u2if.pin import Pin
+from adafruit_blinka.microcontroller.rp2040_u2if.rp2040_u2if import RP2040_u2if
+from specific_board import init_specific_board, display_connected_rp2040, RP2040_u2if_init
+
+os.environ["BLINKA_U2IF"]="1"
+
+
+display_connected_rp2040()
+
+
+import time
+import adafruit_apds9960.apds9960
+# Initialize I2C using u2if's I2C interface
+#board2=init_specific_board(0xE6636825930C7C23)
+
+#This class is more low level, used mostly for GPIO manipulation.
+rp = RP2040_u2if_init("0xE6636825930C7C23")
+
+
+# This is high level adafruit class used for I2C.
+# Do not import the board class if you are using multiple rp2040  without this method as you cant control the serial of the board
+board1, busio1=init_specific_board("0xE462B0659F1B2036")
+i2c = busio1.I2C(board1.GP5, board1.GP4)  # SCL, SDA for default I2C1
+sensor = adafruit_apds9960.apds9960.APDS9960(i2c)
+
+
+# Enable color sensing
+sensor.enable_color = True
+
+print("INIT GPIO")
+rp.gpio_init_pin(0, Pin.OUT,Pin.PULL_NONE)
+rp.gpio_init_pin(1, Pin.IN,Pin.PULL_NONE)
+# Main loop to read RGB data
+print("Inside main loop")
+r, g, b, c = 1,1,1,1
+while True:
+    r, g, b, c = sensor.color_data  # Red, Green, Blue, and Clear channel data
+    print(f"Red: {r}, Green: {g}, Blue: {b}, Clear: {c}")
+    if r > g and r > b:
+        print("RED")
+    if g > r and g > b:
+        print("GREEN")
+    if b > g and b > r:
+        print("BLUE")
+    print(rp.gpio_get_pin(1))
+    (rp.gpio_set_pin(0, 0))
+    time.sleep(2)
+    (rp.gpio_set_pin(0, 1))
+    time.sleep(1)

luxonis_example/muxerExample.py

@@ -0,0 +1,47 @@
+import os
+os.environ["BLINKA_U2IF"]="1"
+from time import sleep
+from specific_board import init_specific_board, display_connected_rp2040, RP2040_u2if_init
+import digitalio
+display_connected_rp2040()
+
+
+
+# led 0 means the USB is on the LED soldiered side
+
+# Set up a GPIO pin as an output
+board, busio = init_specific_board("0xE6636825930C7C23")
+
+button = digitalio.DigitalInOut(board.GP0)
+button.direction = digitalio.Direction.OUTPUT
+button.value=True
+
+usbLed = digitalio.DigitalInOut(board.GP1)
+usbLed.direction = digitalio.Direction.INPUT
+
+def press_button(button):
+    print("Pressing button")
+    button.value = False
+    # If delay is too small button will not siwtch. With delay of 3 seconds, this worked pretty much 100% od the time
+    sleep(3)
+    button.value = True
+    #If you retry multiple times, you need this delay.
+    sleep(2)
+
+
+def toogle_to_correct(led, button, wanted_state):
+    for i in range(5):
+        if bool(int(wanted_state)) == led.value:
+            return True
+        else:
+            press_button(button)
+
+    raise Exception("Toogle unsuccessful, didnt change states")
+
+
+while True:
+    toogle_to_correct(usbLed, button, True)
+    print(usbLed.value)
+    sleep(1)
+    toogle_to_correct(usbLed, button, False)
+    print(usbLed.value)

src/adafruit_blinka/microcontroller/rp2040_u2if/pin.py

@@ -23,6 +23,7 @@ def __init__(self, pin_id=None):
         self.id = pin_id
         self._mode = None
         self._pull = None
+        self.rp2040_u2if=rp2040_u2if
 
     # pylint:disable = no-self-use
     def _u2if_open_hid(self, vid, pid):

src/adafruit_blinka/microcontroller/rp2040_u2if/rp2040_u2if.py

@@ -109,15 +109,18 @@ def _reset(self):
     # ----------------------------------------------------------------
     # MISC
     # ----------------------------------------------------------------
-    def open(self, vid, pid):
+    def open(self, vid, pid, serial=None):
         """Open HID interface for given USB VID and PID."""
 
         if self._opened:
             return
         self._vid = vid
         self._pid = pid
         self._hid = hid.device()
-        self._hid.open(self._vid, self._pid)
+        if not serial:
+            serial =os.environ["CURRENT_BOARD_SERIAL"]
+        self._serial =serial
+        self._hid.open(self._vid, self._pid, self._serial)
         if RP2040_U2IF_RESET_DELAY >= 0:
             self._reset()
         self._opened = True

src/specific_board.py

@@ -0,0 +1,22 @@
+import os
+from adafruit_blinka.microcontroller.rp2040_u2if.rp2040_u2if import RP2040_u2if
+
+def init_specific_board(serial):
+    os.environ["CURRENT_BOARD_SERIAL"] = serial
+    import board
+    import busio
+    return board, busio
+
+def RP2040_u2if_init(serial):
+    os.environ["CURRENT_BOARD_SERIAL"] = serial
+    rp= RP2040_u2if()
+    rp.open(51966, 16389, serial=serial)
+    return rp
+
+def display_connected_rp2040():
+    import hid
+    for dev in hid.enumerate():
+        vendor = dev["vendor_id"]
+        product = dev["product_id"]
+        if vendor == 0xCAFE and product == 0x4005:
+            print(dev)