RP2xxx Series Support

CMakeLists.txt

@@ -14,18 +14,20 @@
 
 cmake_minimum_required(VERSION 3.15)
 
+if(DEFINED ENV{PICO_SDK_PATH})
+set(PICO_CXX_ENABLE_EXCEPTIONS 1)
+set(PICO_NO_PICOTOOL 1)
+include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
+endif()
 set(CMAKE_COLOR_DIAGNOSTICS ON)
 
-project(libhal-arm-mcu LANGUAGES CXX)
+project(libhal-arm-mcu LANGUAGES CXX C ASM)
 
-libhal_test_and_make_library(
-  LIBRARY_NAME libhal-arm-mcu
-
-  SOURCES
-  # Exceptions code size reducer
-  src/terminate_handler.cpp
-
-  # cortex_m
+# Should probably refine this to actually not compile
+# drivers for all platforms all the time, but for now this
+# serves my purposes
+if(NOT DEFINED ENV{PICO_SDK_PATH})
+set(source_list
   src/system_controller.cpp
   src/dwt_counter.cpp
   src/interrupt.cpp
@@ -92,8 +94,10 @@ libhal_test_and_make_library(
 
   # stm32f40
   src/stm32f40/output_pin.cpp
+)
 
-  TEST_SOURCES
+set(
+  test_sources
   # cortex_m
   tests/dwt_counter.test.cpp
   tests/interrupt.test.cpp
@@ -124,6 +128,49 @@ libhal_test_and_make_library(
   # stm32f411
   tests/stm32f411/output_pin.test.cpp
   tests/stm32f411/spi.test.cpp
+)
+
+else()
+set(source_list
+  src/rp/gpio.cpp
+  src/rp/serial.cpp
+  src/rp/i2c.cpp
+  src/rp/pwm.cpp
+  src/rp/adc.cpp
+  src/rp/spi.cpp
+  src/rp/time.cpp
+  src/system_controller.cpp
+  src/dwt_counter.cpp
+  src/interrupt.cpp
+)
+
+pico_sdk_init()
+
+set(pico_dep 
+  hardware_gpio_headers 
+  pico_time_headers 
+  pico_stdio_headers 
+  hardware_sync_headers
+  hardware_i2c_headers
+  hardware_pwm_headers
+  hardware_adc_headers
+  hardware_spi_headers
+  hardware_uart_headers
+  hardware_timer_headers
+  hardware_dma_headers
+)
+
+endif()
+
+libhal_test_and_make_library(
+  LIBRARY_NAME libhal-arm-mcu
+
+  SOURCES
+  ${source_list}
+  src/terminate_handler.cpp
+
+  TEST_SOURCES
+  ${test_sources}
 
   PACKAGES
   libhal
@@ -136,4 +183,6 @@ libhal_test_and_make_library(
   libhal::util
   nonstd::ring-span-lite
   nonstd::scope-lite
+  ${pico_dep}
 )
+

conanfile.py

@@ -15,6 +15,9 @@
 # limitations under the License.
 
 from conan import ConanFile
+from conan.tools.cmake import CMakeDeps, CMakeToolchain
+from conan.tools.env import VirtualBuildEnv
+from conan.errors import ConanInvalidConfiguration
 from pathlib import Path
 import os
 
@@ -43,6 +46,8 @@ class libhal_arm_mcu_conan(ConanFile):
         "use_libhal_exceptions": [True, False],
         "use_picolibc": [True, False],
         "use_default_linker_script": [True, False],
+        "variant": [None, "ANY"],
+        "board": [None, "ANY"],
         "replace_std_terminate": [True, False],
         "use_semihosting": [True, False],
     }
@@ -53,6 +58,8 @@ class libhal_arm_mcu_conan(ConanFile):
         "use_default_linker_script": True,
         "replace_std_terminate": True,
         "use_semihosting": True,
+        "variant": None,
+        "board": None,
     }
     options_description = {
         "platform": "Specifies which platform to provide binaries and build information for",
@@ -83,6 +90,13 @@ def requirements(self):
             OSLIB = "semihost" if self.options.use_semihosting else None
             self.requires("prebuilt-picolibc/" + CV,
                           options={"crt0": CRT0, "oslib": OSLIB})
+
+        if str(self.options.platform).startswith("rp2"):
+            self.requires("picosdk/2.2.1-alpha")
+            self.tool_requires("pioasm/2.2.0")
+            if self.options.board.value.startswith("libhal_"):
+                board = self.options.board.value.removeprefix('libhal_').replace('_', '-')
+                self.requires(f"rp-board-header-{board}/latest", visible=True)
 
     def handle_stm32f1_linker_scripts(self):
         linker_script_name = list(str(self.options.platform))
@@ -97,18 +111,60 @@ def handle_stm32f1_linker_scripts(self):
             "-T" + str(Path("libhal-stm32f1") / linker_script_name + ".ld"),
         ])
 
+    def _macro(self, string):
+        return string.upper().replace("-", "_")
+
+    def generate(self):
+        virt = VirtualBuildEnv(self)
+        virt.generate()
+        tc = CMakeToolchain(self)
+        if str(self.options.platform).startswith("rp2"):
+            tc.cache_variables["DO_NOT_BUILD_BOOT_HAL"] = True
+            tc.preprocessor_definitions["PICO_STDIO_SHORT_CIRCUIT_CLIB_FUNCS"] = "0"
+            if self.options.board:
+                tc.cache_variables["PICO_BOARD"] = str(self.options.board)
+        if self.options.variant:
+            tc.preprocessor_definitions["LIBHAL_VARIANT_" + self._macro(str(self.options.variant))] = "1"
+        tc.preprocessor_definitions["LIBHAL_PLATFORM_" + self._macro(str(self.options.platform))] = "1"
+        tc.generate()
+        cmake = CMakeDeps(self)
+        cmake.generate()
+
+    def validate(self):
+        if str(self.options.platform).startswith("rp2"):
+            if self.options.use_default_linker_script:
+                raise ConanInvalidConfiguration("Default linker scripts are not compatible with RP chips, use pico-sdk linker scripts instead")
+            if not self.options.board:
+                raise ConanInvalidConfiguration("RP board not specified")
+            if "rp2350" in str(self.options.platform):
+                if not self.options.variant:
+                    raise ConanInvalidConfiguration("RP2350 variant not specified")
+                if self.options.variant not in ["rp2350a", "rp2350b"]:
+                    raise ConanInvalidConfiguration("Invalid RP2350 variant specified")
+                if not self.options.board:
+                    raise ConanInvalidConfiguration("Board must be specified during build")
+        super().validate()
+
     def package_info(self):
         self.cpp_info.libs = ["libhal-arm-mcu"]
         self.cpp_info.set_property("cmake_target_name", "libhal::arm-mcu")
         self.cpp_info.set_property("cmake_target_aliases", [
             "libhal::lpc40",
             "libhal::stm32f1",
             "libhal::stm32f4",
+            "libhal::rp2350"
         ])
 
         PLATFORM = str(self.options.platform)
         self.buildenv_info.define("LIBHAL_PLATFORM", PLATFORM)
         self.buildenv_info.define("LIBHAL_PLATFORM_LIBRARY", "arm-mcu")
+        if str(self.options.platform).startswith("rp2"):
+            defines = []
+            if self.options.variant:
+                defines.append("LIBHAL_VARIANT_" + self._macro(str(self.options.variant)) + "=1")
+            defines.append("LIBHAL_PLATFORM_" + self._macro(str(self.options.platform)) + "=1")
+            defines.append("PICO_STDIO_SHORT_CIRCUIT_CLIB_FUNCS=0")
+            self.cpp_info.defines = defines
 
         self.cpp_info.exelinkflags = []
         if self.settings.os == "baremetal":

demos/CMakeLists.txt

@@ -14,10 +14,53 @@
 
 cmake_minimum_required(VERSION 4.0)
 
-project(demos LANGUAGES CXX)
+if(DEFINED ENV{PICO_SDK_PATH})
+include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
+endif()
 
-libhal_build_demos(
-  DEMOS
+project(demos LANGUAGES CXX C ASM)
+
+find_package(libhal-arm-mcu CONFIG REQUIRED)
+
+if(DEFINED ENV{PICO_SDK_PATH})
+pico_sdk_init()
+
+pico_enable_stdio_usb(libhal::arm-mcu 1)
+pico_enable_stdio_uart(libhal::arm-mcu 0)
+
+set(demo_deps
+  pico_stdlib
+  hardware_gpio
+  pico_stdio
+  hardware_i2c
+  hardware_adc
+  hardware_spi
+)
+
+# not all of the demos work at the moment
+set(demos
+  adc
+  blinker
+  # can
+  # dac
+  gpio
+  i2c
+  interrupt_pin
+  uart
+  pwm
+  pwm16
+  spi
+  blank
+  # stream_dac
+  # watchdog
+  # timer
+  # usb_cdc_raw
+  # semihost
+)
+
+else()
+
+set(demos
   adc
   blinker
   can
@@ -30,11 +73,23 @@ libhal_build_demos(
   pwm16
   spi
   blank
+  stream_dac
   watchdog
-  # stream_dac
   timer
   usb_cdc_raw
   semihost
+)
+
+set(demo_deps
+  minimp3::minimp3
+)
+endif()
+
+set(ENV{LIBHAL_PLATFORM_LIBRARY} arm-mcu)
+
+libhal_build_demos(
+  DEMOS
+  ${demos}
 
   PACKAGES
   minimp3
@@ -43,5 +98,5 @@ libhal_build_demos(
   .
 
   LINK_LIBRARIES
-  minimp3::minimp3
+  ${demo_deps}
 )

demos/conanfile.py

@@ -14,8 +14,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from conan import ConanFile
+import os
 
+from conan import ConanFile
+from conan.tools.cmake import CMake
 
 class demos(ConanFile):
     python_requires = "libhal-bootstrap/[>=4.3.0 <5]"
@@ -24,3 +26,15 @@ class demos(ConanFile):
     def requirements(self):
         self.requires("libhal-arm-mcu/latest")
         self.requires("minimp3/cci.20211201")
+
+    # This is kinda sketch, but needs to be done manually until https://github.com/conan-io/conan/issues/13372
+    # gets implemented
+    def build(self):
+        cmake = CMake(self)
+        defs = {
+            "CMAKE_ASM_FLAGS_INIT": "-mcpu=cortex-m33 -mfloat-abi=soft",
+            "PICO_BOARD": "rp2350_micromod",
+            "PICO_CXX_ENABLE_EXCEPTIONS": "1"
+        }
+        cmake.configure(variables = defs)
+        cmake.build()

demos/flash.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/sh
+
+set -e
+
+BUILDDIR=build/rp2350-arm-s/RelWithDebInfo
+source $BUILDDIR/generators/conanbuild.sh
+
+picotool uf2 convert $BUILDDIR/$1.elf $BUILDDIR/$1.uf2
+picotool load $BUILDDIR/$1.uf2 -f
+sleep 1
+plink -serial /dev/ttyACM0 -sercfg 115200,8,1,n,X

demos/main.cpp

@@ -18,13 +18,35 @@
 
 #include <libhal-util/serial.hpp>
 #include <libhal-util/steady_clock.hpp>
+#include <libhal/error.hpp>
+#include <libhal-exceptions/control.hpp>
 
-#include <resource_list.hpp>
+#include "resource_list.hpp"
+
+[[noreturn]] void terminate_handler() noexcept
+{
+
+  // spin here forever
+  while (true) {
+    continue;
+  }
+}
 
 int main()
 {
-  initialize_platform();
-  application();
+  hal::set_terminate(terminate_handler);
+
+  try {
+    application();
+  } catch (hal::bad_optional_ptr_access const& e) {
+    auto console = resources::console();
+    hal::print(*console,
+               "A resource required by the application was not"
+               "available!\n"
+               "Calling terminate!\n");
+
+  }  // Allow any other exceptions to terminate the application
+
   std::terminate();
 }