diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml index f5dc4e75a..79f38e202 100644 --- a/.github/workflows/windows.yml +++ b/.github/workflows/windows.yml @@ -39,8 +39,7 @@ jobs: - name: Build Project working-directory: ${{github.workspace}}/pico-examples - # bash required otherwise this mysteriously (no error) fails at "Generating cyw43_bus_pio_spi.pio.h" - shell: bash + shell: pwsh run: | mkdir build cd build diff --git a/.gitignore b/.gitignore index 6aa60ebe6..d499131c1 100644 --- a/.gitignore +++ b/.gitignore @@ -3,5 +3,6 @@ _deps cmake-* build +build-* .DS_Store *.pdf diff --git a/CMakeLists.txt b/CMakeLists.txt index af5cca987..59c958630 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,28 +2,52 @@ cmake_minimum_required(VERSION 3.12) # Pull in SDK (must be before project) include(pico_sdk_import.cmake) - include(pico_extras_import_optional.cmake) project(pico_examples C CXX ASM) + set(CMAKE_C_STANDARD 11) set(CMAKE_CXX_STANDARD 17) -if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0") - message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}") +if (PICO_SDK_VERSION_STRING VERSION_LESS "2.0.0") + message(FATAL_ERROR "Raspberry Pi Pico SDK version 2.0.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}") endif() set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR}) +# If you want debug output from USB (pass -DPICO_STDIO_USB=1) this ensures you don't lose any debug output while USB is set up +if (NOT DEFINED PICO_STDIO_USB_CONNECT_WAIT_TIMEOUT_MS) + set(PICO_STDIO_USB_CONNECT_WAIT_TIMEOUT_MS 3000) +endif() + # Initialize the SDK pico_sdk_init() include(example_auto_set_url.cmake) + +function(add_subdirectory_exclude_platforms NAME) + if (ARGN) + if (PICO_PLATFORM IN_LIST ARGN) + message("Skipping ${NAME} example which is unsupported on this platform") + return() + endif() + foreach(PATTERN IN LISTS ARGN) + string(REGEX MATCH "${PATTERN}" MATCHED "${PICO_PLATFORM}") + if (MATCHED) + message("Skipping ${NAME} example which is unsupported on this platform") + return() + endif() + endforeach() + endif() + add_subdirectory(${NAME}) +endfunction() + # Add blink example -add_subdirectory(blink) +add_subdirectory_exclude_platforms(blink) +add_subdirectory_exclude_platforms(blink_simple) # Add hello world example -add_subdirectory(hello_world) +add_subdirectory_exclude_platforms(hello_world) add_compile_options(-Wall -Wno-format # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int @@ -35,15 +59,19 @@ endif() # Hardware-specific examples in subdirectories: add_subdirectory(adc) +add_subdirectory(bootloaders) add_subdirectory(clocks) add_subdirectory(cmake) +add_subdirectory(dcp) add_subdirectory(divider) add_subdirectory(dma) add_subdirectory(flash) add_subdirectory(gpio) +add_subdirectory(hstx) add_subdirectory(i2c) add_subdirectory(interp) add_subdirectory(multicore) +add_subdirectory(otp) add_subdirectory(picoboard) add_subdirectory(pico_w) add_subdirectory(pio) @@ -54,5 +82,8 @@ add_subdirectory(spi) add_subdirectory(system) add_subdirectory(timer) add_subdirectory(uart) +add_subdirectory(universal) add_subdirectory(usb) add_subdirectory(watchdog) +add_subdirectory(sha) +add_subdirectory(freertos) diff --git a/README.md b/README.md index a7b089b52..2004b7bfc 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,32 @@ -# Raspberry Pi Pico SDK Examples +# Raspberry Pi RP2350 Pico SDK Examples - Early Access + +## RP2350 Instructions + +Everything below this section is from the stock pico-examples, so ignore URLs etc., but generally instructions are the same. + +The Pico SDK default continues to be to build for RP2040 (PICO_PLATFORM=rp2040), so to build for RP2350, you need to pass +`-DPICO_PLATFORM=rp2350` to CMake (or `-DPICO_PLATFORM=rp2350-riscv` for RISC-V). + +Most, but not all examples, currently work on RP2350 however you should be able to do a full build with any of the above platforms (PICO_PLATFORM=host however currently fails on some examples) + +For RISC-V compilation, you should take a compiler from here: https://www.embecosm.com/resources/tool-chain-downloads/#riscv-stable + +# Original pico-examples docs ## Getting started See [Getting Started with the Raspberry Pi Pico](https://rptl.io/pico-get-started) and the README in the [pico-sdk](https://github.com/raspberrypi/pico-sdk) for information on getting up and running. -### First Examples +### First Examples -App|Description | Link to prebuilt UF2 ----|---|--- -[hello_serial](hello_world/serial) | The obligatory Hello World program for Pico (Output over serial version) | -[hello_usb](hello_world/usb) | The obligatory Hello World program for Pico (Output over USB version) | https://rptl.io/pico-hello-usb -[blink](blink) | Blink an LED on and off. | https://rptl.io/pico-blink +App| Description | Link to prebuilt UF2 +---|----------------------------------------------------------------------------|--- +[hello_serial](hello_world/serial) | The obligatory Hello World program for Pico (Output over serial version) | +[hello_usb](hello_world/usb) | The obligatory Hello World program for Pico (Output over USB version) | https://rptl.io/pico-hello-usb +[blink](blink) | Blink an LED on and off. Works on both boards with regular LEDs and Pico W | https://rptl.io/pico-blink +[blink_simple](blink_simple) | Blink an LED on and off. Does not work on Pico W. | https://rptl.io/pico-blink +[picow_blink](pico_w/wifi/blink) | Blinks the Pico W on-board LED (which is connected via the WiFi chip). | http://rptl.io/pico-w-blink ### ADC @@ -25,6 +40,11 @@ App|Description [dma_capture](adc/dma_capture) | Use the DMA to capture many samples from the ADC. [read_vsys](adc/read_vsys) | Demonstrates how to read VSYS to get the voltage of the power supply. +### Bootloaders (RP2350 Only) +App|Description +---|--- +[enc_bootloader](bootloaders/encrypted) | A bootloader which decrypts binaries from flash into SRAM. See the separate [README](bootloaders/encrypted/README.md) for more information + ### Clocks App|Description @@ -40,6 +60,12 @@ App|Description ---|--- [build_variants](cmake/build_variants) | Builds two version of the same app with different configurations +### DCP + +App|Description +---|--- +[hello_dcp](dcp/hello_dcp) | Use the double-precision coprocessor directly in assembler. + ### DMA App|Description @@ -49,6 +75,12 @@ App|Description [channel_irq](dma/channel_irq) | Use an IRQ handler to reconfigure a DMA channel, in order to continuously drive data through a PIO state machine. [sniff_crc](dma/sniff_crc) | Use the DMA engine's 'sniff' capability to calculate a CRC32 on a data buffer. +### HSTX + +App|Description +---|--- +[dvi_out_hstx_encoder](dvi_out_hstx_encoder) `RP2350`| Use the HSTX to output a DVI signal with 3:3:2 RGB + ### Flash App|Description @@ -58,6 +90,15 @@ App|Description [program](flash/program) | Erase a flash sector, program one flash page, and read back the data. [xip_stream](flash/xip_stream) | Stream data using the XIP stream hardware, which allows data to be DMA'd in the background whilst executing code from flash. [ssi_dma](flash/ssi_dma) | DMA directly from the flash interface (continuous SCK clocking) for maximum bulk read performance. +[runtime_flash_permissions](flash/runtime_flash_permissions) | Demonstrates adding partitions at runtime to change the flash permissions + +### FreeRTOS + +These examples require you to set the `FREERTOS_KERNEL_PATH` to point to the FreeRTOS Kernel. See https://github.com/FreeRTOS/FreeRTOS-Kernel + +App|Description +---|--- +[hello_freertos](freertos/hello_freertos) | Examples that demonstrate how run FreeRTOS and tasks on 1 or 2 cores. ### GPIO @@ -106,6 +147,13 @@ App|Description [hello_multicore](multicore/hello_multicore) | Launch a function on the second core, printf some messages on each core, and pass data back and forth through the mailbox FIFOs. [multicore_fifo_irqs](multicore/multicore_fifo_irqs) | On each core, register and interrupt handler for the mailbox FIFOs. Show how the interrupt fires when that core receives a message. [multicore_runner](multicore/multicore_runner) | Set up the second core to accept, and run, any function pointer pushed into its mailbox FIFO. Push in a few pieces of code and get answers back. +[multicore_doorbell](multicore/multicore_doorbell) | Claims two doorbells for signaling between the cores. Counts how many doorbell IRQs occur on the second core and uses doorbells to coordinate exit. + +### OTP + +App|Description +---|--- +[hello_otp](otp/hello_otp) | Demonstrate reading and writing from the OTP on RP2350, along with some of the features of OTP (error correction and page locking). ### Pico Board @@ -122,6 +170,7 @@ App|Description ---|--- [picow_access_point](pico_w/wifi/access_point) | Starts a WiFi access point, and fields DHCP requests. [picow_blink](pico_w/wifi/blink) | Blinks the on-board LED (which is connected via the WiFi chip). +[picow_blink_slow_clock](pico_w/wifi/blink_slow_clock) | Blinks the on-board LED (which is connected via the WiFi chip) with a slower system clock to show how to reconfigure communication with the WiFi chip under those circumstances [picow_iperf_server](pico_w/wifi/iperf) | Runs an "iperf" server for WiFi speed testing. [picow_ntp_client](pico_w/wifi/ntp_client) | Connects to an NTP server to fetch and display the current time. [picow_tcp_client](pico_w/wifi/tcp_client) | A simple TCP client. You can run [python_test_tcp_server.py](pico_w/wifi/python_test_tcp/python_test_tcp_server.py) for it to connect to. @@ -130,11 +179,12 @@ App|Description [picow_tls_verify](pico_w/wifi/tls_client) | Demonstrates how to make a HTTPS request using TLS with certificate verification. [picow_wifi_scan](pico_w/wifi/wifi_scan) | Scans for WiFi networks and prints the results. [picow_udp_beacon](pico_w/wifi/udp_beacon) | A simple UDP transmitter. +[picow_httpd](pico_w/wifi/httpd) | Runs a LWIP HTTP server test app #### FreeRTOS examples These are examples of integrating Pico W networking under FreeRTOS, and require you to set the `FREERTOS_KERNEL_PATH` -to point to the FreeRTOS Kernel. +to point to the FreeRTOS Kernel. See https://github.com/FreeRTOS/FreeRTOS-Kernel App|Description ---|--- @@ -142,6 +192,9 @@ App|Description [picow_freertos_iperf_server_sys](pico_w/wifi/freertos/iperf) | Runs an "iperf" server for WiFi speed testing under FreeRTOS in NO_SYS=0 (i.e. full FreeRTOS integration) mode. The LED is blinked in another task [picow_freertos_ping_nosys](pico_w/wifi/freertos/ping) | Runs the lwip-contrib/apps/ping test app under FreeRTOS in NO_SYS=1 mode. [picow_freertos_ping_sys](pico_w/wifi/freertos/ping) | Runs the lwip-contrib/apps/ping test app under FreeRTOS in NO_SYS=0 (i.e. full FreeRTOS integration) mode. The test app uses the lwIP _socket_ API in this case. +[picow_freertos_ntp_client_socket](pico_w/wifi/freertos/ntp_client_socket) | Connects to an NTP server using the LwIP Socket API with FreeRTOS in NO_SYS=0 (i.e. full FreeRTOS integration) mode. +[pico_freertos_httpd_nosys](pico_w/wifi/freertos/httpd) | Runs a LWIP HTTP server test app under FreeRTOS in NO_SYS=1 mode. +[pico_freertos_httpd_sys](pico_w/wifi/freertos/httpd) | Runs a LWIP HTTP server test app under FreeRTOS in NO_SYS=0 (i.e. full FreeRTOS integration) mode. ### Pico W Bluetooth @@ -153,6 +206,8 @@ default being *background*. This can be changed by passing `-DBTSTACK_EXAMPLE_TY examples can be built (which may be slow) by passing `-DBTSTACK_EXAMPLE_TYPE=all` Freertos versions can only be built if `FREERTOS_KERNEL_PATH` is defined. +The Bluetooth examples that use audio require code in [pico-extras](https://github.com/raspberrypi/pico-extras). Pass `-DPICO_EXTRAS_PATH=${HOME}/pico-extras` on the cmake command line or define `PICO_EXTRAS_PATH=${HOME}/pico-extras` in your environment and re-run cmake to include them in the build. + App|Description ---|--- [picow_bt_example_a2dp_sink_demo](https://github.com/bluekitchen/btstack/tree/master/example/a2dp_sink_demo.c) | A2DP Sink - Receive Audio Stream and Control Playback. @@ -230,8 +285,10 @@ App|Description [pwm](pio/pwm) | Pulse width modulation on PIO. Use it to gradually fade the brightness of an LED. [spi](pio/spi) | Use PIO to erase, program and read an external SPI flash chip. A second example runs a loopback test with all four CPHA/CPOL combinations. [squarewave](pio/squarewave) | Drive a fast square wave onto a GPIO. This example accesses low-level PIO registers directly, instead of using the SDK functions. +[squarewave_div_sync](pio/squarewave) | Generates a square wave on three GPIOs and synchronises the divider on all the state machines [st7789_lcd](pio/st7789_lcd) | Set up PIO for 62.5 Mbps serial output, and use this to display a spinning image on a ST7789 serial LCD. [quadrature_encoder](pio/quadrature_encoder) | A quadrature encoder using PIO to maintain counts independent of the CPU. +[quadrature_encoder_substep](pio/quadrature_encoder_substep) | High resolution speed measurement using a standard quadrature encoder [uart_rx](pio/uart_rx) | Implement the receive component of a UART serial port. Attach it to the spare Arm UART to see it receive characters. [uart_tx](pio/uart_tx) | Implement the transmit component of a UART serial port, and print hello world. [ws2812](pio/ws2812) | Examples of driving WS2812 addressable RGB LEDs. @@ -260,6 +317,13 @@ App|Description [rtc_alarm](rtc/rtc_alarm) | Set an alarm on the RTC to trigger an interrupt at a date/time 5 seconds into the future. [rtc_alarm_repeat](rtc/rtc_alarm_repeat) | Trigger an RTC interrupt once per minute. +### SHA-256 + +App|Description +---|--- +[hello_sha256](sha/sha256) | Demonstrates how to use the pico_sha256 library to calculate a checksum using the hardware in rp2350 +[mbedtls_sha256](sha/mbedtls_sha256) | Demonstrates using the SHA-256 hardware acceleration in mbedtls + ### SPI App|Description @@ -276,7 +340,9 @@ App|Description App|Description ---|--- +[boot_info](system/boot_info) | Demonstrate how to read and interpret sys info boot info. [hello_double_tap](system/hello_double_tap) | An LED blink with the `pico_bootsel_via_double_reset` library linked. This enters the USB bootloader when it detects the system being reset twice in quick succession, which is useful for boards with a reset button but no BOOTSEL button. +[rand](system/rand) | Demonstrate how to use the pico random number functions. [narrow_io_write](system/narrow_io_write) | Demonstrate the effects of 8-bit and 16-bit writes on a 32-bit IO register. [unique_board_id](system/unique_board_id) | Read the 64 bit unique ID from external flash, which serves as a unique identifier for the board. @@ -296,6 +362,17 @@ App|Description [lcd_uart](uart/lcd_uart) | Display text and symbols on a 16x02 RGB LCD display via UART [uart_advanced](uart/uart_advanced) | Use some other UART features like RX interrupts, hardware control flow, and data formats other than 8n1. +### Universal + +These are examples of how to build universal binaries which run on RP2040, and RP2350 Arm & RISC-V. +These require you to set `PICO_ARM_TOOLCHAIN_PATH` and `PICO_RISCV_TOOLCHAIN_PATH` to appropriate paths, to ensure you have compilers for both architectures. + +App|Description +---|--- +[blink](universal/CMakeLists.txt#L126) | Same as the [blink](blink) example, but universal. +[hello_universal](universal/hello_universal) | The obligatory Hello World program for Pico (USB and serial output). On RP2350 it will reboot to the other architecture after every 10 prints. +[nuke_universal](universal/CMakeLists.txt#L132) | Same as the [nuke](flash/nuke) example, but universal. On RP2350 runs as a packaged SRAM binary, so is written to flash and copied to SRAM by the bootloader + ### USB Device #### TinyUSB Examples diff --git a/adc/CMakeLists.txt b/adc/CMakeLists.txt index 49dccf8cc..71c423541 100644 --- a/adc/CMakeLists.txt +++ b/adc/CMakeLists.txt @@ -1,9 +1,11 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(adc_console) - add_subdirectory(dma_capture) - add_subdirectory(hello_adc) - add_subdirectory(joystick_display) - add_subdirectory(onboard_temperature) - add_subdirectory(microphone_adc) - add_subdirectory(read_vsys) -endif () +if (TARGET hardware_adc) + add_subdirectory_exclude_platforms(adc_console) + add_subdirectory_exclude_platforms(dma_capture) + add_subdirectory_exclude_platforms(hello_adc) + add_subdirectory_exclude_platforms(joystick_display) + add_subdirectory_exclude_platforms(onboard_temperature) + add_subdirectory_exclude_platforms(microphone_adc) + add_subdirectory_exclude_platforms(read_vsys) +else() + message("Skipping ADC examples as hardware_adc is unavailable on this platform") +endif() \ No newline at end of file diff --git a/adc/adc_console/adc_console.c b/adc/adc_console/adc_console.c index e076f15bc..1479e417b 100644 --- a/adc/adc_console/adc_console.c +++ b/adc/adc_console/adc_console.c @@ -17,7 +17,7 @@ void printhelp() { void __not_in_flash_func(adc_capture)(uint16_t *buf, size_t count) { adc_fifo_setup(true, false, 0, false, false); adc_run(true); - for (int i = 0; i < count; i = i + 1) + for (size_t i = 0; i < count; i = i + 1) buf[i] = adc_fifo_get_blocking(); adc_run(false); adc_fifo_drain(); diff --git a/adc/joystick_display/joystick_display.c b/adc/joystick_display/joystick_display.c index 6b873774a..c0a6197ad 100644 --- a/adc/joystick_display/joystick_display.c +++ b/adc/joystick_display/joystick_display.c @@ -28,10 +28,10 @@ int main() { uint bar_x_pos = adc_x_raw * bar_width / adc_max; uint bar_y_pos = adc_y_raw * bar_width / adc_max; printf("\rX: ["); - for (int i = 0; i < bar_width; ++i) + for (uint i = 0; i < bar_width; ++i) putchar( i == bar_x_pos ? 'o' : ' '); printf("] Y: ["); - for (int i = 0; i < bar_width; ++i) + for (uint i = 0; i < bar_width; ++i) putchar( i == bar_y_pos ? 'o' : ' '); printf("]"); sleep_ms(50); diff --git a/adc/read_vsys/read_vsys.c b/adc/read_vsys/read_vsys.c index bb9864c08..ecee023d7 100644 --- a/adc/read_vsys/read_vsys.c +++ b/adc/read_vsys/read_vsys.c @@ -28,9 +28,9 @@ int main() { } #endif - bool old_battery_status; - float old_voltage; + bool old_battery_status = false; bool battery_status = true; + float old_voltage = -1; char *power_str = "UNKNOWN"; while(true) { @@ -50,7 +50,7 @@ int main() { if (battery_status && voltage_return == PICO_OK) { const float min_battery_volts = 3.0f; const float max_battery_volts = 4.2f; - int percent_val = ((voltage - min_battery_volts) / (max_battery_volts - min_battery_volts)) * 100; + int percent_val = (int) (((voltage - min_battery_volts) / (max_battery_volts - min_battery_volts)) * 100); snprintf(percent_buf, sizeof(percent_buf), " (%d%%)", percent_val); } diff --git a/blink/CMakeLists.txt b/blink/CMakeLists.txt index 63ffbd344..6308572d4 100644 --- a/blink/CMakeLists.txt +++ b/blink/CMakeLists.txt @@ -1,10 +1,14 @@ add_executable(blink - blink.c - ) + blink.c + ) # pull in common dependencies target_link_libraries(blink pico_stdlib) +if (PICO_CYW43_SUPPORTED) + target_link_libraries(blink pico_cyw43_arch_none) +endif() + # create map/bin/hex file etc. pico_add_extra_outputs(blink) diff --git a/blink/blink.c b/blink/blink.c index d478d7843..e588b0e8a 100644 --- a/blink/blink.c +++ b/blink/blink.c @@ -6,18 +6,48 @@ #include "pico/stdlib.h" +// Pico W devices use a GPIO on the WIFI chip for the LED, +// so when building for Pico W, CYW43_WL_GPIO_LED_PIN will be defined +#ifdef CYW43_WL_GPIO_LED_PIN +#include "pico/cyw43_arch.h" +#endif + +#ifndef LED_DELAY_MS +#define LED_DELAY_MS 250 +#endif + +// Perform initialisation +int pico_led_init(void) { +#if defined(PICO_DEFAULT_LED_PIN) + // A device like Pico that uses a GPIO for the LED will define PICO_DEFAULT_LED_PIN + // so we can use normal GPIO functionality to turn the led on and off + gpio_init(PICO_DEFAULT_LED_PIN); + gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT); + return PICO_OK; +#elif defined(CYW43_WL_GPIO_LED_PIN) + // For Pico W devices we need to initialise the driver etc + return cyw43_arch_init(); +#endif +} + +// Turn the led on or off +void pico_set_led(bool led_on) { +#if defined(PICO_DEFAULT_LED_PIN) + // Just set the GPIO on or off + gpio_put(PICO_DEFAULT_LED_PIN, led_on); +#elif defined(CYW43_WL_GPIO_LED_PIN) + // Ask the wifi "driver" to set the GPIO on or off + cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_on); +#endif +} + int main() { -#ifndef PICO_DEFAULT_LED_PIN -#warning blink example requires a board with a regular LED -#else - const uint LED_PIN = PICO_DEFAULT_LED_PIN; - gpio_init(LED_PIN); - gpio_set_dir(LED_PIN, GPIO_OUT); + int rc = pico_led_init(); + hard_assert(rc == PICO_OK); while (true) { - gpio_put(LED_PIN, 1); - sleep_ms(250); - gpio_put(LED_PIN, 0); - sleep_ms(250); + pico_set_led(true); + sleep_ms(LED_DELAY_MS); + pico_set_led(false); + sleep_ms(LED_DELAY_MS); } -#endif } diff --git a/blink_simple/CMakeLists.txt b/blink_simple/CMakeLists.txt new file mode 100644 index 000000000..0d7c0cb44 --- /dev/null +++ b/blink_simple/CMakeLists.txt @@ -0,0 +1,12 @@ +add_executable(blink_simple + blink_simple.c +) + +# pull in common dependencies +target_link_libraries(blink_simple pico_stdlib) + +# create map/bin/hex/uf2 file etc. +pico_add_extra_outputs(blink_simple) + +# call pico_set_program_url to set path to example on github, so users can find the source for an example via picotool +example_auto_set_url(blink_simple) diff --git a/blink_simple/blink_simple.c b/blink_simple/blink_simple.c new file mode 100644 index 000000000..3100a4e4b --- /dev/null +++ b/blink_simple/blink_simple.c @@ -0,0 +1,39 @@ +/** + * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include "pico/stdlib.h" + +#ifndef LED_DELAY_MS +#define LED_DELAY_MS 250 +#endif + +// Initialize the GPIO for the LED +void pico_led_init(void) { +#ifdef PICO_DEFAULT_LED_PIN + // A device like Pico that uses a GPIO for the LED will define PICO_DEFAULT_LED_PIN + // so we can use normal GPIO functionality to turn the led on and off + gpio_init(PICO_DEFAULT_LED_PIN); + gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT); +#endif +} + +// Turn the LED on or off +void pico_set_led(bool led_on) { +#if defined(PICO_DEFAULT_LED_PIN) + // Just set the GPIO on or off + gpio_put(PICO_DEFAULT_LED_PIN, led_on); +#endif +} + +int main() { + pico_led_init(); + while (true) { + pico_set_led(true); + sleep_ms(LED_DELAY_MS); + pico_set_led(false); + sleep_ms(LED_DELAY_MS); + } +} diff --git a/bootloaders/CMakeLists.txt b/bootloaders/CMakeLists.txt new file mode 100644 index 000000000..c4e886b5e --- /dev/null +++ b/bootloaders/CMakeLists.txt @@ -0,0 +1,6 @@ +if (TARGET pico_mbedtls) + add_subdirectory_exclude_platforms(encrypted host rp2040 rp2350-riscv) +else() + # Assume picotool has no signing support, if no pico_mbedtls available + message("Skipping encrypted bootloader example as pico_mbedtls unavailable") +endif () diff --git a/bootloaders/encrypted/CMakeLists.txt b/bootloaders/encrypted/CMakeLists.txt new file mode 100644 index 000000000..f29f0efe2 --- /dev/null +++ b/bootloaders/encrypted/CMakeLists.txt @@ -0,0 +1,101 @@ +# Encrypted Bootloader +add_executable(enc_bootloader + enc_bootloader.c + aes.S + ) + +# Add command to update otp.json if privateaes.bin changes +add_custom_command(OUTPUT ${CMAKE_CURRENT_LIST_DIR}/otp.json + COMMAND ${CMAKE_COMMAND} -P "${CMAKE_CURRENT_LIST_DIR}/update-key.cmake" + DEPENDS ${CMAKE_CURRENT_LIST_DIR}/privateaes.bin) +# Copy that otp.json file to build directory +add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/otp.json + COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_LIST_DIR}/otp.json" "${CMAKE_CURRENT_BINARY_DIR}/otp.json" + DEPENDS ${CMAKE_CURRENT_LIST_DIR}/otp.json) +add_custom_target(otp_json DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/otp.json) +add_dependencies(enc_bootloader otp_json) + +# pull in common dependencies +target_link_libraries(enc_bootloader pico_stdlib pico_rand) + +# use stack guards, as AES variables are written near the stack +target_compile_definitions(enc_bootloader PRIVATE PICO_USE_STACK_GUARDS=1) + +# set as no_flash binary +pico_set_binary_type(enc_bootloader no_flash) + +# Add a linker script to run no_flash binary from anywhere +function(add_linker_script target origin length) + # Write script file to run later, to generate the linker script + file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/make_linker_script.cmake" + "# create linker script to run from elsewhere in SRAM\n" + "file(READ \${PICO_LINKER_SCRIPT_PATH}/memmap_no_flash.ld LINKER_SCRIPT)\n" + "string(REPLACE \"RAM(rwx) : ORIGIN = 0x20000000, LENGTH = 512k\" \"RAM(rwx) : ORIGIN = \${origin}, LENGTH = \${length}\" LINKER_SCRIPT \"\${LINKER_SCRIPT}\")\n" + "file(WRITE \${output_file} \"\${LINKER_SCRIPT}\")\n" + ) + # Add command to run this whenever memmap_no_flash.ld changes + add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${target}.ld + COMMAND ${CMAKE_COMMAND} + -DPICO_LINKER_SCRIPT_PATH:PATH=${PICO_LINKER_SCRIPT_PATH} + -Dorigin="${origin}" -Dlength="${length}" + -Doutput_file:FILEPATH=${CMAKE_CURRENT_BINARY_DIR}/${target}.ld + -P "${CMAKE_CURRENT_BINARY_DIR}/make_linker_script.cmake" + DEPENDS ${PICO_LINKER_SCRIPT_PATH}/memmap_no_flash.ld) + add_custom_target(${target}_ld DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${target}.ld) + add_dependencies(${target} ${target}_ld) + pico_set_linker_script(${target} ${CMAKE_CURRENT_BINARY_DIR}/${target}.ld) +endfunction() + +# create linker script to run from 0x20070000 +add_linker_script(enc_bootloader "0x20070000" "64k") + +# configure otp output +pico_set_otp_key_output_file(enc_bootloader ${CMAKE_CURRENT_BINARY_DIR}/otp.json) + +# sign, hash, and clear SRAM +pico_sign_binary(enc_bootloader ${CMAKE_CURRENT_LIST_DIR}/private.pem) +pico_hash_binary(enc_bootloader) +pico_load_map_clear_sram(enc_bootloader) + +# add partition table +pico_embed_pt_in_binary(enc_bootloader ${CMAKE_CURRENT_LIST_DIR}/enc-pt.json) + +# create absolute uf2, and package in flash +pico_set_uf2_family(enc_bootloader "absolute") +pico_package_uf2_output(enc_bootloader 0x10000000) + +# create map/bin/hex/uf2 file etc. +pico_add_extra_outputs(enc_bootloader) + +# add url via pico_set_program_url +example_auto_set_url(enc_bootloader) + + + +# Example binary to load +add_executable(hello_serial_enc + hello_serial.c + ) + +# pull in common dependencies +target_link_libraries(hello_serial_enc pico_stdlib) + +# set as no_flash binary +pico_set_binary_type(hello_serial_enc no_flash) + +# create linker script to ensure it doesn't overwrite the bootloader at 0x20070000 +add_linker_script(hello_serial_enc "0x20000000" "448k") + +# sign, hash, and encrypt +pico_sign_binary(hello_serial_enc ${CMAKE_CURRENT_LIST_DIR}/private.pem) +pico_hash_binary(hello_serial_enc) +pico_encrypt_binary(hello_serial_enc ${CMAKE_CURRENT_LIST_DIR}/privateaes.bin) + +# package uf2 in flash +pico_package_uf2_output(hello_serial_enc 0x10000000) + +# create map/bin/hex/uf2 file etc. +pico_add_extra_outputs(hello_serial_enc) + +# add url via pico_set_program_url +example_auto_set_url(hello_serial_enc) diff --git a/bootloaders/encrypted/README.md b/bootloaders/encrypted/README.md new file mode 100644 index 000000000..f079d9469 --- /dev/null +++ b/bootloaders/encrypted/README.md @@ -0,0 +1,18 @@ +Replace private.pem and privateaes.bin with your own keys - your signing key must be for the _secp256k1_ curve, in PEM format. You can create a .PEM file with: + +```bash +openssl ecparam -name secp256k1 -genkey -out private.pem +``` + +The AES key is just be a 32 byte binary file - you can create one with + +```bash +dd if=/dev/urandom of=privateaes.bin bs=1 count=32 +``` + +Then either drag & drop the UF2 files to the device in order (enc_bootloader first, then hello_serial_enc) waiting for a reboot in-between, or run +```bash +picotool load enc_bootloader.uf2 +picotool reboot -u +picotool load -x hello_serial_enc.uf2 +``` diff --git a/bootloaders/encrypted/aes.S b/bootloaders/encrypted/aes.S new file mode 100644 index 000000000..feccaae68 --- /dev/null +++ b/bootloaders/encrypted/aes.S @@ -0,0 +1,1698 @@ +.syntax unified +.cpu cortex-m33 +.thumb + +#include "hardware/platform_defs.h" +#include "hardware/regs/addressmap.h" +#include "hardware/regs/sha256.h" +#include "hardware/rcp.h" + +#include "config.h" + +.global delay +.global aes_start +.global aes_end +.global flush_reg +.global isr_systick +.extern systick_data + +.global gen_lut_inverse +.global gen_lut_sbox +.if NEED_INV_ROUNDS +.global gen_lut_inv_sbox +.endif + +.if INCLUDE_ENCRYPT_CBC +.global cbc_encrypt_s +.endif +.if INCLUDE_DECRYPT_CBC +.global cbc_decrypt_s +.endif +.if INCLUDE_CRYPT_CTR +.global ctr_crypt_s +.endif + +.global remap +.global gen_rand +.global init_key + +.global rkey_s +.global lut_a,lut_a_map +.global lut_b,lut_b_map +.global rstate + +@ RCP macros + +#define CTAG0 0x2a +#define CTAG1 0x2b +#define CTAG2 0x2c +#define CTAG3 0x2d +#define CTAG4 0x2e +#define CTAG5 0x30 +#define CTAG6 0x31 +#define CTAG7 0x32 +#define CTAG8 0x33 +#define CTAG9 0x34 +#define CTAG10 0x35 +#define CTAG11 0x36 +#define CTAG12 0x37 +#define CTAG13 0x38 +#define CTAG14 0x39 +#define CTAG15 0x3a +#define CTAG16 0x3b +#define CTAG17 0x3c + +.macro SET_COUNT n +.if RC_COUNT +.if RC_JITTER + rcp_count_set \n +.else + rcp_count_set_nodelay \n +.endif +.endif +.endm + +.macro CHK_COUNT n +.if RC_COUNT +.if RC_JITTER + rcp_count_check \n +.else + rcp_count_check_nodelay \n +.endif +.endif +.endm + +.macro GET_CANARY rx,tag +.if RC_CANARY +.if RC_JITTER + rcp_canary_get \rx,\tag +.else + rcp_canary_get_nodelay \rx,\tag +.endif +.endif +.endm + +.macro CHK_CANARY rx,tag +.if RC_CANARY +.if RC_JITTER + rcp_canary_check \rx,\tag +.else + rcp_canary_check_nodelay \rx,\tag +.endif +.endif +.endm + +.macro GET_CANARY_NJ rx,tag @ with no jitter even if you ask for it (otherwise slows down gen_rand a lot) +.if RC_CANARY + rcp_canary_get_nodelay \rx,\tag +.endif +.endm + +.macro CHK_CANARY_NJ rx,tag @ with no jitter even if you ask for it +.if RC_CANARY + rcp_canary_check_nodelay \rx,\tag +.endif +.endm + +.section .stack.aes +@ Regardless of configuration the code uses a single 256-entry LUT. If both +@ encryption and decryption are enabled then this is a table of inverses +@ of GF(2⁸) field elements, from which both the S-box and inverse S-box +@ functions can be derived; otherwise it can be a simple inverse S-box +@ table. +@ In either case the LUT is represented as two shares, lut_a and lut_b, +@ whose values must be EORed. Furthermore, the contents of each share are +@ scambled according to a 4-byte "map". The map comprises two bytes that +@ are EORed into the addressing of the share, and two bytes that are +@ EORed into the data read back from the share. Performing a lookup +@ of a value x involves computing +@ lut_a[x ^ a₀ ^ a₁] ^ c₀ ^ c₁ ^ lut_b[x ^ b₀ ^ b₁] ^ d₀ ^ d₁ +@ where a₀, a₁, c₀ and c₁ are the "map" of the lut_a share and +@ b₀, b₁, d₀ and d₁ are the "map" of the lut_b share. +@ In practice the result of a lookup is itself represented in two +@ shares, namely +@ lut_a[x ^ a₀ ^ a₁] ^ c₀ ^ d₀ and +@ lut_b[x ^ b₀ ^ b₁] ^ c₁ ^ d₁ +lut_a: @ LUT share A +.space 256 +lut_a_map: @ the current scrambling of lut_a; not particularly secret since it can be deduced from the contents of lut_a and lut_b +.space 4 +.space 4 @ align to multiple of 8 +lut_b: @ LUT share B +.space 256 +lut_b_map: +.space 4 +.space 4 @ align to multiple of 8 +rkey_s: @ round key shares +.if RK_ROR +.space 600 +.else +.space 480 +.endif +.if CT_BPERM +ctr_scratch: @ scratch area for CTR code to use when "decrypting" out-of-range blocks +.space 16 +.endif +rstate: @ SHA random state, to be initialised to TRNG bytes; zeroth byte must be initialised to zero +.space 16 + +.section .text.aes,"ax",%progbits + +.thumb_func +aes_start: + nop + +.if GEN_RAND_SHA +.balign 4 +.thumb_func +@ random numbers using SHA256 hardware +@ preserves r1-r3 +gen_rand: + GET_CANARY_NJ r0,CTAG1 + push {r0-r3,r14} + ldr r0,=#SHA256_BASE +4: + ldr r2,=#rstate + ldrb r1,[r2] @ get word counter from bottom byte of rstate[] (offset into SUM registers) + subs r3,r1,#4 @ decrement it to previous SUM register + ble 1f @ if the offset was 4 or less we have run out of SUM register values +.if SHA256_SUM0_OFFSET!=8 +.err +.endif +2: + ldr r0,[r0,r1] @ read value from SUM register: note that this relies on SHA256_SUM0_OFFSET==8 + strb r3,[r2] @ save updated SUM register offset in bottom byte of rstate[] + pop {r1} + CHK_CANARY_NJ r1,CTAG1 + pop {r1-r3,r15} + +1: + movs r3,#SHA256_SUM6_OFFSET+1 + strb r3,[r2] @ reset word counter: the +1 is compensated for later + movw r1,#(1<r5-r6->r7->r4 etc. in constant time +@ r0: b0..1: rotate amount +@ returns r0 value required to undo +@ preserves r2 + and r1,r0,#2 + rsbs r1,r1,#0 @ 0 or fffffffe depending on b1 of r0 + uadd8 r1,r1,r1 @ set/clear all GE flags according to b1 of r0: set if rotate of two places is required + mov r1,r4 + sel r4,r6,r4 + sel r6,r1,r6 + mov r1,r5 + sel r5,r7,r5 + sel r7,r1,r7 + mov r1,r8 + sel r8,r10,r8 + sel r10,r1,r10 + mov r1,r9 + sel r9,r11,r9 + sel r11,r1,r11 + and r1,r0,#1 + rsbs r1,r1,#0 @ 0 or ffffffff depending on b0 of r0 + uadd8 r1,r1,r1 @ set/clear all GE flags according to b0 of r0: set if rotate of one place is required + mov r1,r4 + sel r4,r5,r4 + sel r5,r6,r5 + sel r6,r7,r6 + sel r7,r1,r7 + mov r1,r8 + sel r8, r9 ,r8 + sel r9, r10 ,r9 + sel r10,r11,r10 + sel r11,r1 ,r11 + rsbs r0,r0,#0 @ generate control value for inverse operation + bx r14 +.endif + +.if IK_SHUFREAD +@ randomly shuffle an array n bytes long, n≤65536 a power of 2, by performing k random exchanges, k>0 +@ r0: array pointer p +@ r1: n +@ r2: k +@ does not need to be a subroutine!!! +array_shuf: + push {r4-r6,r14} + mov r4,r0 + subs r5,r1,#1 @ mask for random number generation + mov r6,r2 +1: + bl gen_rand + and r1,r5,r0,lsr#16 + and r0,r5,r0 @ r0,r1 are two random numbers 0..n-1 + ldrb r2,[r4,r0] + ldrb r3,[r4,r1] + strb r3,[r4,r0] + strb r2,[r4,r1] + subs r6,r6,#1 + bne 1b + pop {r4-r6,r15} +.endif + +@ "refresh" shares of rkeys by random eor into both shares of each word +.if RK_ROR +@ and randomly change rotate amount on each word of each share +.endif +@ preserves r0-r11 +.balign 4 +ref_round_keys_s: + push {r14} + GET_CANARY r14,CTAG4 + push {r0-r11,r14} + ldr r0,=rkey_s + mov r1,#15 @ there are 15 expanded keys +1: +.if RK_ROR + ldmia r0,{r2-r11} + push {r0-r1} + + bl gen_rand @ xra=random extra rotates for share A + usub8 r6,r6,r0 @ ra-=xra bytewise + rors r2,r2,r0 @ a=ror(a,xra) + rev16 r0,r0 @ byte order 2301, i.e. B1 at the bottom + rors r3,r3,r0 @ a=ror(a,xra) + rev r0,r0 @ byte order 1032, i.e. B2 at the bottom + rors r4,r4,r0 @ a=ror(a,xra) + rev16 r0,r0 @ byte order 0123, i.e. B3 at the bottom + rors r5,r5,r0 @ a=ror(a,xra) + + bl gen_rand @ xrb=random extra rotates for share B + usub8 r11,r11,r0 @ rb-=xrb bytewise + rors r7,r7,r0 @ b=ror(b,xrb) + rev16 r0,r0 + rors r8,r8,r0 @ b=ror(b,xrb) + rev r0,r0 + rors r9,r9,r0 @ b=ror(b,xrb) + rev16 r0,r0 + rors r10,r10,r0 @ b=ror(b,xrb) + usub8 r1,r6,r11 @ ra-rb bytewise + + bl gen_rand @ xab=extra exclusive OR into shares + eors r2,r2,r0 @ a^=xab + rors r0,r0,r1 @ ror(xab,ra-rb) + eors r7,r7,r0 @ b^=ror(xab,ra-rb) + rev16 r1,r1 + + bl gen_rand @ xab + eors r3,r3,r0 @ a^=xab + rors r0,r0,r1 @ ror(xab,ra-rb) + eors r8,r8,r0 @ b^=ror(xab,ra-rb) + rev r1,r1 + + bl gen_rand @ xab + eors r4,r4,r0 @ a^=xab + rors r0,r0,r1 @ ror(xab,ra-rb) + eors r9,r9,r0 @ b^=ror(xab,ra-rb) + rev16 r1,r1 + + bl gen_rand @ xab + eors r5,r5,r0 @ a^=xab + rors r0,r0,r1 @ ror(xab,ra-rb) + eors r10,r10,r0 @ b^=ror(xab,ra-rb) + + pop {r0-r1} + stmia r0!,{r2-r11} +.else + ldmia r0,{r4-r11} @ EOR random data into the shares + push {r0-r1} + bl gen_rand + eor r4,r4,r0 + eor r8,r8,r0 + bl gen_rand + eor r5,r5,r0 + eor r9,r9,r0 + bl gen_rand + eor r6,r6,r0 + eor r10,r10,r0 + bl gen_rand + eor r7,r7,r0 + eor r11,r11,r0 + pop {r0-r1} + stmia r0!,{r4-r11} +.endif + subs r1,r1,#1 + bne 1b + pop {r0-r11,r14} + CHK_CANARY r14,CTAG4 + pop {r15} + +@ switch from non-shared to shared state +.balign 4 +ns_to_s: + push {r14} + GET_CANARY r14,CTAG5 + push {r0-r3,r14} + bl gen_rand + mov r8,r0 + bl gen_rand + mov r9,r0 + bl gen_rand + mov r10,r0 + bl gen_rand + mov r11,r0 + eors r4,r4,r8 + eors r5,r5,r9 + eors r6,r6,r10 + eors r7,r7,r11 + pop {r0-r3,r14} + CHK_CANARY r14,CTAG5 + pop {r15} + +.if NEED_ROUNDS +.balign 4 +.thumb_func +shift_rows_s: +@ first "rotate" the two most-significant bytes of the state by two registers +@ slightly faster (but not shorter?) with ubfx/bfi + eors r0,r4,r6 @ ta=state[0]^state[2]; ta&=0xffff0000; state[0]^=ta; state[2]^=ta; + lsrs r0,r0,#16 + lsls r0,r0,#16 + eors r4,r4,r0 + eors r6,r6,r0 + eors r0,r5,r7 @ ta=state[1]^state[3]; ta&=0xffff0000; state[1]^=ta; state[3]^=ta; + lsrs r0,r0,#16 + lsls r0,r0,#16 + eors r5,r5,r0 + eors r7,r7,r0 +@ next "rotate" the two odd-significance bytes of the state by one register + eors r1,r7,r4 @ tb=state[3]^state[0]; tb&=0xff00ff00; + ands r1,r1,#0xff00ff00 + eors r0,r4,r5 @ ta=state[0]^state[1]; ta&=0xff00ff00; state[0]^=ta; + ands r0,r0,#0xff00ff00 + eors r4,r4,r0 + eors r0,r5,r6 @ ta=state[1]^state[2]; ta&=0xff00ff00; state[1]^=ta; + ands r0,r0,#0xff00ff00 + eors r5,r5,r0 + eors r0,r6,r7 @ ta=state[2]^state[3]; ta&=0xff00ff00; state[2]^=ta; + ands r0,r0,#0xff00ff00 + eors r6,r6,r0 + eors r7,r7,r1 @ state[3]^=tb; +@ repeat for other share + eors r0,r8,r10 @ ta=state[0]^state[2]; ta&=0xffff0000; state[0]^=ta; state[2]^=ta; + lsrs r0,r0,#16 + lsls r0,r0,#16 + eors r8,r8,r0 + eors r10,r10,r0 + eors r0,r9,r11 @ ta=state[1]^state[3]; ta&=0xffff0000; state[1]^=ta; state[3]^=ta; + lsrs r0,r0,#16 + lsls r0,r0,#16 + eors r9,r9,r0 + eors r11,r11,r0 + + eors r1,r11,r8 @ tb=state[3]^state[0]; tb&=0xff00ff00; + ands r1,r1,#0xff00ff00 + eors r0,r8,r9 @ ta=state[0]^state[1]; ta&=0xff00ff00; state[0]^=ta; + ands r0,r0,#0xff00ff00 + eors r8,r8,r0 + eors r0,r9,r10 @ ta=state[1]^state[2]; ta&=0xff00ff00; state[1]^=ta; + ands r0,r0,#0xff00ff00 + eors r9,r9,r0 + eors r0,r10,r11 @ ta=state[2]^state[3]; ta&=0xff00ff00; state[2]^=ta; + ands r0,r0,#0xff00ff00 + eors r10,r10,r0 + eors r11,r11,r1 @ state[3]^=tb; + bx r14 +.endif + +.if NEED_INV_ROUNDS +.balign 4 +.thumb_func +inv_shift_rows_s: +@ first half is the same as shift_rows; halves could be done in opposite order for tail chain + eors r0,r4,r6 @ ta=state[0]^state[2]; ta&=0xffff0000; state[0]^=ta; state[2]^=ta; + lsrs r0,r0,#16 + lsls r0,r0,#16 + eors r4,r4,r0 + eors r6,r6,r0 + eors r0,r5,r7 @ ta=state[1]^state[3]; ta&=0xffff0000; state[1]^=ta; state[3]^=ta; + lsrs r0,r0,#16 + lsls r0,r0,#16 + eors r5,r5,r0 + eors r7,r7,r0 + + eors r1,r7,r4 @ tb=state[3]^state[0]; tb&=0xff00ff00; + ands r1,r1,#0xff00ff00 + eors r0,r6,r7 @ ta=state[2]^state[3]; ta&=0xff00ff00; state[3]^=ta; + ands r0,r0,#0xff00ff00 + eors r7,r7,r0 + eors r0,r5,r6 @ ta=state[1]^state[2]; ta&=0xff00ff00; state[2]^=ta; + ands r0,r0,#0xff00ff00 + eors r6,r6,r0 + eors r0,r4,r5 @ ta=state[0]^state[1]; ta&=0xff00ff00; state[1]^=ta; + ands r0,r0,#0xff00ff00 + eors r5,r5,r0 + eors r4,r4,r1 @ state[0]^=tb; + + eors r0,r8,r10 @ ta=state[0]^state[2]; ta&=0xffff0000; state[0]^=ta; state[2]^=ta; + lsrs r0,r0,#16 + lsls r0,r0,#16 + eors r8,r8,r0 + eors r10,r10,r0 + eors r0,r9,r11 @ ta=state[1]^state[3]; ta&=0xffff0000; state[1]^=ta; state[3]^=ta; + lsrs r0,r0,#16 + lsls r0,r0,#16 + eors r9,r9,r0 + eors r11,r11,r0 + + eors r1,r11,r8 @ tb=state[3]^state[0]; tb&=0xff00ff00; + ands r1,r1,#0xff00ff00 + eors r0,r10,r11 @ ta=state[2]^state[3]; ta&=0xff00ff00; state[3]^=ta; + ands r0,r0,#0xff00ff00 + eors r11,r11,r0 + eors r0,r9,r10 @ ta=state[1]^state[2]; ta&=0xff00ff00; state[2]^=ta; + ands r0,r0,#0xff00ff00 + eors r10,r10,r0 + eors r0,r8,r9 @ ta=state[0]^state[1]; ta&=0xff00ff00; state[1]^=ta; + ands r0,r0,#0xff00ff00 + eors r9,r9,r0 + eors r8,r8,r1 @ state[0]^=tb; + bx r14 +.endif + +@ multiply polynomial over GF(2⁸) by c(x) = 0x03x³ + 0x01x² + 0x01x + 0x02 modulo x⁴+1 +@ r0x00 is a register holding 0x00000000; r0x1b is a register holding 0x1b1b1b1b +.macro mixcol rx,rt,ru,r0x00,r0x1b + @ let rx=(a,b,c,d) + uadd8 \rt,\rx,\rx @ MSB of each byte into the GE flags + sel \ru,\r0x1b,\r0x00 @ get bytewise correction for bytewise field multiplication by 2 + eors \rt,\rt,\ru @ (2a,2b,2c,2d) + + eors \ru,\rt,\rx @ (3a,3b,3c,3d) + eors \rt,\rt,\rx,ror#24 @ (2a+b,2b+c,2c+d,2d+a) + eors \rt,\rt,\rx,ror#16 @ (2a+b+c,2b+c+d,2c+d+a,2d+a+b) + eors \rx,\rt,\ru,ror#8 @ (2a+b+c+3d,2b+c+d+3a,2c+d+a+3b,2d+a+b+3c) +.endm + +@ multiply polynomial over GF(2⁸) by d(x) = 0x0Bx³ + 0x0Dx² + 0x09x + 0x0E modulo x⁴+1; c(x)d(x)=1 modulo x⁴+1 +.macro invmixcol rx,rt,ru,rv,rw,r0x00,r0x1b +@ !!! can probably save some registers, e.g. allow trashing of r0x00, r0x1b +@ can possibly also simplify slightly with refactorisation + uadd8 \rt,\rx,\rx @ field multiplication by 2 as above + sel \rw,\r0x1b,\r0x00 + eors \rt,\rt,\rw @ 2x + uadd8 \ru,\rt,\rt + sel \rw,\r0x1b,\r0x00 + eors \ru,\ru,\rw @ 4x + uadd8 \rv,\ru,\ru + sel \rw,\r0x1b,\r0x00 + eors \rv,\rv,\rw @ 8x + + eors \rx,\rx,\rv @ 9x + eors \rw,\rx,\rt @ 11x + eors \rw,\rw,\rx,ror#16 @ 11x ^ 9x ROL #16 + eors \rx,\rx,\ru @ 13x + eors \rw,\rw,\rx,ror#8 @ 11x ^ 9x ROL #16 ^ 13x ROL #24 + eors \rt,\rt,\ru @ 6x + eors \rt,\rt,\rv @ 14x + eors \rx,\rt,\rw,ror#8 @ 14x ^ 9x ROL #8 ^ 13x ROL #16 ^ 11x ROL #24 +.endm + +.if NEED_ROUNDS +.balign 4 +.thumb_func +mix_cols_s: + mov r2,#0x00000000 + mov r3,#0x1b1b1b1b + mixcol r4 ,r0,r1,r2,r3 @ apply mixcol to each state word + mixcol r5 ,r0,r1,r2,r3 + mixcol r6 ,r0,r1,r2,r3 + mixcol r7 ,r0,r1,r2,r3 + mixcol r8 ,r0,r1,r2,r3 + mixcol r9 ,r0,r1,r2,r3 + mixcol r10,r0,r1,r2,r3 + mixcol r11,r0,r1,r2,r3 + bx r14 +.endif + +.if NEED_INV_ROUNDS +.balign 4 +.thumb_func +inv_mix_cols_s: + push {r14} + GET_CANARY r14,CTAG6 + push {r14} + mov r12,#0x00000000 + mov r14,#0x1b1b1b1b + invmixcol r4 ,r0,r1,r2,r3,r12,r14 @ apply invmixcol to each state word + invmixcol r5 ,r0,r1,r2,r3,r12,r14 + invmixcol r6 ,r0,r1,r2,r3,r12,r14 + invmixcol r7 ,r0,r1,r2,r3,r12,r14 + invmixcol r8 ,r0,r1,r2,r3,r12,r14 + invmixcol r9 ,r0,r1,r2,r3,r12,r14 + invmixcol r10,r0,r1,r2,r3,r12,r14 + invmixcol r11,r0,r1,r2,r3,r12,r14 + pop {r14} + CHK_CANARY r14,CTAG6 + pop {r15} +.endif + +.if SBOX_VIA_INV +@ bytewise EOR-convolution with constant 0x1f +.macro conv_0x1f rx,rt,ru + eors \rt,\rx,\rx,ror#31 @ t=x^ROL(x,1); + eors \rt,\rt,\rt,ror#30 @ t=t^ROL(t,2); + eors \rt,\rt,\rx,ror#28 @ t=t^ROL(x,4); @ convolution with byte boundaries "trashed" + ands \ru,\rx,#0xf0f0f0f0 @ u=x&0xf0f0f0f0; + eors \ru,\ru,\ru,ror#31 @ u=u^ROL(u,1); + eors \ru,\ru,\ru,ror#30 @ u=u^ROL(u,2); + ands \ru,\ru,#0x87878787 @ u=u&0x87878787; @ compensation for trashing + eors \ru,\ru,\ru,ror#24 @ u=u^ROL(u,8); + eors \rx,\rt,\ru,ror#7 @ t^=ROR(u,7); @ with trashing fixed +.endm + +@ bytewise EOR-convolution with constant 0x4a +.macro conv_0x4a rx,rt,ru + eors \rt,\rx,\rx,ror#30 @ t=x^ROL(x,2); + eors \rt,\rt,\rx,ror#27 @ t=t^ROL(x,5); + ands \ru,\rx,#0xf8f8f8f8 @ u=x&0xf8f8f8f8; + eors \ru,\ru,\ru,ror#29 @ u=u^ROL(u,3); + ands \ru,\ru,#0xc7c7c7c7 @ u=u&0xc7c7c7c7; + eors \ru,\ru,\ru,ror#24 @ u=u^ROL(u,8); + eors \rt,\rt,\ru,ror#6 @ t^=ROR(u,6); + ands \ru,\rt,#0x80808080 @ t=rorbytes(t,7); + uadd8 \rt,\rt,\rt + orrs \rx,\rt,\ru,lsr#7 +.endm + +.balign 4 +.thumb_func +map_sbox_s: + push {r14} + GET_CANARY r14,CTAG7 + push {r14} + bl lutmap_state_s @ the S-box function is an inverse followed by an affine transformation: + conv_0x1f r4 ,r0,r1 @ see https://en.wikipedia.org/wiki/Rijndael_S-box + conv_0x1f r5 ,r0,r1 + conv_0x1f r6 ,r0,r1 + conv_0x1f r7 ,r0,r1 + conv_0x1f r8 ,r0,r1 + conv_0x1f r9 ,r0,r1 + conv_0x1f r10,r0,r1 + conv_0x1f r11,r0,r1 + eor r4 ,r4 ,#0xcacacaca @ scramble the shares slightly: 0x63=0xca^0xa9 etc. + eor r5 ,r5 ,#0xf5f5f5f5 + eor r6 ,r6 ,#0x0c0c0c0c + eor r7 ,r7 ,#0xa2a2a2a2 + eor r8 ,r8 ,#0xa9a9a9a9 + eor r9 ,r9 ,#0x96969696 + eor r10,r10,#0x6f6f6f6f + eor r11,r11,#0xc1c1c1c1 + pop {r14} + CHK_CANARY r14,CTAG7 + pop {r15} + +.if NEED_INV_ROUNDS +.balign 4 +.thumb_func +inv_map_sbox_s: + push {r14} + GET_CANARY r14,CTAG8 + push {r14} @ similarly, the inverse S-box is an affine transformation followed by an inverse + conv_0x4a r4 ,r0,r1 + conv_0x4a r5 ,r0,r1 + conv_0x4a r6 ,r0,r1 + conv_0x4a r7 ,r0,r1 + conv_0x4a r8 ,r0,r1 + conv_0x4a r9 ,r0,r1 + conv_0x4a r10,r0,r1 + conv_0x4a r11,r0,r1 + eor r4 ,r4 ,#0xd1d1d1d1 @ scramble the shares slightly: 0x05=0xd1^0xd4 etc. + eor r5 ,r5 ,#0x94949494 + eor r6 ,r6 ,#0xfcfcfcfc + eor r7 ,r7 ,#0x3a3a3a3a + eor r8 ,r8 ,#0xd4d4d4d4 + eor r9 ,r9 ,#0x91919191 + eor r10,r10,#0xf9f9f9f9 + eor r11,r11,#0x3f3f3f3f + bl lutmap_state_s + pop {r14} + CHK_CANARY r14,CTAG8 + pop {r15} +.endif + +.else + +.balign 4 +.thumb_func +gen_lut_sbox: +@ set both lut_a and lut_b to the S-box table +@ returns r0=lut_a+256, r1=lut_b+256 + push {r14} + GET_CANARY r14,CTAG9 + push {r14} @ similarly, the inverse S-box is an affine transformation followed by an inverse + bl gen_lut_inverse @ first generate the table of inverses in lut_a + mov r14,#256 +1: + ldrb r2,[r0] + eors r3,r2,r2,lsl#1 @ convolve byte with 0x1f + eors r3,r3,r3,lsl#2 + eors r3,r3,r2,lsl#4 + eors r2,r3,r3,lsr#8 + eor r2,r2,#0x63 @ and add 0x63 + strb r2,[r0],#1 + strb r2,[r1],#1 + subs r14,r14,#1 + bne 1b + pop {r14} + CHK_CANARY r14,CTAG9 + pop {r15} + +.if NEED_INV_ROUNDS +.balign 4 +.thumb_func +gen_lut_inv_sbox: +@ set lut_a to the inverse S-box table + push {r14} + GET_CANARY r14,CTAG10 + push {r14} + bl gen_lut_sbox @ get the forwards S-box + sub r0,r0,#256 + sub r1,r1,#256 + mov r2,#0 +1: + ldrb r3,[r1],#1 @ get y=S-box(x)... + strb r2,[r0,r3] @ ... and store x at location y + adds r2,r2,#1 + cmp r2,#255 + bls 1b + pop {r14} + CHK_CANARY r14,CTAG10 + pop {r15} +.endif +.endif + +@ if we are using direct S-box lookup then [inv_]map_sbox_s is the same as lutmap_state_s +.if !SBOX_VIA_INV +.balign 4 +.thumb_func +map_sbox_s: +.if NEED_INV_ROUNDS +.thumb_func +inv_map_sbox_s: +.endif +.endif + +@ map all bytes of the state through the LUT +.balign 4 +lutmap_state_s: + push {r14} + GET_CANARY r14,CTAG11 + push {r14} + ldr r12,=lut_a + ldr r14,=lut_b + mov r0,#0x8000 @ "counter" for bytes of state mapped +1: + ldr r3,[r12,#0x100] @ lut_a_map + eor r1,r4,r3 @ share A of x ^ share A of lut_a address map + eor r1,r1,r8 @ ^ share B of x + eor r1,r1,r3,ror#8 @ ^ share B of lut_a address map + uxtb r1,r1 + ldrb r1,[r12,r1] @ look up in lut_a + eor r1,r1,r3,ror#16 @ ^ share A of lut_a data map + ldr r3,[r14,#0x100] @ lut_b_map + eor r1,r1,r3,ror#24 @ ^ share B of lut_b data map, generating share A of the result + + eor r2,r4,r3 @ share A of x ^ share A of lut_b address map + eor r2,r2,r8 @ ^ share B of x + eor r2,r2,r3,ror#8 @ ^ share B of lut_b address map + uxtb r2,r2 + ldrb r2,[r14,r2] @ look up in lut_b + eor r2,r2,r3,ror#16 @ ^ share A of lut_b data map + ldr r3,[r12,#0x100] @ lut_a_map + eor r2,r2,r3,ror#24 @ ^ share B of lut_a data map, generating share B of the result + + lsrs r4,#8 @ shift share A of state down one byte... + orrs r4,r4,r5,lsl#24 + lsrs r5,#8 + orrs r5,r5,r6,lsl#24 + lsrs r6,#8 + orrs r6,r6,r7,lsl#24 + lsrs r7,#8 + orrs r7,r7,r1,lsl#24 @ and insert share A of mapped byte + + lsrs r8,#8 @ shift share B of state down one byte... + orrs r8,r8,r9,lsl#24 + lsrs r9,#8 + orrs r9,r9,r10,lsl#24 + lsrs r10,#8 + orrs r10,r10,r11,lsl#24 + lsrs r11,#8 + orrs r11,r11,r2,lsl#24 @ and insert share B of mapped byte + + lsrs r0,#1 @ count 16 iterations + bne 1b + pop {r14} + CHK_CANARY r14,CTAG11 + pop {r15} + +@ perform one EOR step in round key generation +@ !!! can we introduce some more randomness into the shares here? +.balign 4 +grk_s_step: + ldmia r0!,{r5-r7,r12} @ from last round key_a but one + eors r5,r5,r4 + eors r6,r6,r5 + eors r7,r7,r6 + eors r12,r12,r7 + stmia r1!,{r5-r7,r12} + mov r4,r12 +.if RK_ROR + movs r12,#0 + str r12,[r0],#4 + str r12,[r1],#4 +.endif + ldmia r0!,{r9-r11,r12} @ from last round key_a but one + eors r9,r9,r8 + eors r10,r10,r9 + eors r11,r11,r10 + eors r12,r12,r11 + stmia r1!,{r9-r11,r12} + mov r8,r12 +.if RK_ROR + movs r12,#0 + str r12,[r0],#4 + str r12,[r1],#4 +.endif + bx r14 + +.macro jitter rx +.if IK_JITTER + rors \rx,\rx,#1 + bcc \@f +\@: +.else +@ nothing +.endif +.endm + +.balign 4 +.thumb_func +init_key: +@ r0: rkeys_s +@ r1: raw key data (32 bytes) +.if RK_ROR +@ rkeys_s is a 40*15=600-byte region +@ each of the 15 round keys is represented as two 4-word regions rka[0..3] and rkb[0..3], each of which is followed by a word containing +@ four byte-wide rotate values ra[i] and rb[i] +@ such that rk[i]=(rka[i] ROR ra[i])^(rkb[i] ROR rb[i]) gives the round keys +@ rotations always operate mod 32, so we do not bother to mask the rotate amounts to 5 bits +.else +@ rkeys_s is a 32*15=480-byte region +@ each of the 15 round keys is represented as two 4-word regions rka[0..3] and rkb[0..3] +@ such that rk[i]=rka[i]^rkb[i] gives the round keys +.endif + GET_CANARY r12,CTAG12 + push {r4-r12,r14} +.if IK_JITTER + push {r0,r1} + bl gen_rand + mov r12,r0 + pop {r0,r1} +.endif + jitter r12 + mov r4,r0 + mov r5,r1 +.if IK_SHUFREAD + SET_COUNT 73 + add r6,r4,#128 @ use 64 bytes of temporary space at r0+128 for buf + mov r7,#0 +1: + bl gen_rand + and r0,r0,#0x1f + strb r0,[r6,#32] @ buf contains each number 0..31 and 32 more random numbers in that range + strb r7,[r6],#1 @ so each number at least once... + adds r7,r7,#1 + cmp r7,#32 + bne 1b + CHK_COUNT 73 + add r0,r4,#128 + mov r10,r0 + movs r1,#64 + movs r2,#200 + bl array_shuf @ ... in a random order + mov r11,#63 + CHK_COUNT 74 +.else + mov r6,#31 +.endif +1: + SET_COUNT 104 + jitter r12 +.if IK_SHUFREAD + ldrb r6,[r10,r11] @ now process the raw key bytes in the order given by buf, some more than once +.endif + lsrs r8,r6,#4 +.if RK_ROR + add r7,r6,r8,lsl#3 + add r7,r7,r8,lsl#4 @ 0..15 -> 0..15, 16..31 -> 40..55 +.else + add r7,r6,r8,lsl#4 @ 0..15 -> 0..15, 16..31 -> 32..47 +.endif + ldrb r9,[r5,r6] @ fetch key byte + bl gen_rand @ make random shares of round key 0 + CHK_COUNT 104 + eor r9,r9,r0 + strb r9,[r4,r7] +.if RK_ROR + adds r7,#20 +.else + adds r7,#16 +.endif + strb r0,[r4,r7] +.if IK_SHUFREAD + subs r11,r11,#1 +.else + subs r6,r6,#1 +.endif + CHK_COUNT 105 + bpl 1b + CHK_COUNT 106 + mov r0,r4 +.if RK_ROR + movs r1,#0 + str r1,[r0,#16] + str r1,[r0,#36] +.endif +@ now generate the other round keys + movs r2,#1 @ round constant +.if RK_ROR + add r1,r0,#80 + ldr r4,[r0,#52] @ last word from previous round key_a + ldr r8,[r0,#72] @ last word from previous round key_b +.else + add r1,r0,#64 + ldr r4,[r0,#44] @ last word from previous round key_a + ldr r8,[r0,#60] @ last word from previous round key_b +.endif + CHK_COUNT 107 +1: + SET_COUNT 42 + rors r4,r4,#8 + rors r8,r8,#8 + push {r0-r3} +.if IK_JUNK + bl gen_rand @ put some junk in r5-r7, r9-r11 + mov r5,r0 + bl gen_rand + mov r6,r0 + bl gen_rand + mov r7,r0 + bl gen_rand + mov r9,r0 + bl gen_rand + mov r10,r0 + bl gen_rand + mov r11,r0 +.endif + CHK_COUNT 42 +.if IK_REMAP + bl remap +.endif + CHK_COUNT 43 +.if IK_PERM + bl gen_rand + bl vperm + push {r0} + bl gen_rand + bl hperm + push {r0} + bl map_sbox_s @ this actually maps all of r4..r7, r8..r11 - i.e., trashes r5, r6, r7, r9, r10, r11 + pop {r0} + bl hperm + pop {r0} + bl vperm +.else + bl map_sbox_s @ this actually maps all of r4..r7, r8..r11 - i.e., trashes r5, r6, r7, r9, r10, r11 +.endif + CHK_COUNT 44 + pop {r0-r3} + eors r4,r4,r2 @ round constant + bl grk_s_step + CHK_COUNT 45 + lsls r2,#1 @ step round constant + cmp r2,#0x40 @ done? + bhi 2f + push {r0-r2} + bl map_sbox_s @ this actually maps all of r4..r7, r8..r11 - i.e., trashes r5, r6, r7, r9, r10, r11 + CHK_COUNT 46 + pop {r0-r2} + bl grk_s_step + CHK_COUNT 47 + b 1b +2: + CHK_COUNT 46 + pop {r4-r12,r14} + CHK_CANARY r12,CTAG12 + bx r14 + +@ add the round key shares pointed to by r12 into the state shares +.balign 4 +addrkey_s: + push {r14} + GET_CANARY r14,CTAG13 + push {r0-r3,r14} +.if RK_ROR + ldmia r12!,{r0-r3,r14} @ share A of round key + ROR data + rors r0,r0,r14 @ ROR first word + eors r4,r4,r0 @ add to state + rev16 r0,r14 @ move byte 1 of ROR data into byte 0 + rors r1,r1,r0 + eors r5,r5,r1 + rev r0,r0 @ move byte 2 of ROR data into byte 0 + rors r2,r2,r0 + eors r6,r6,r2 + rev16 r0,r0 @ move byte 3 of ROR data into byte 0 + rors r3,r3,r0 + eors r7,r7,r3 +.else + ldmia r12!,{r0-r3} @ share A of round key + eors r4,r4,r0 + eors r5,r5,r1 + eors r6,r6,r2 + eors r7,r7,r3 +.endif +.if RK_ROR + ldmia r12!,{r0-r3,r14} @ share B of round key + ROR data + rors r0,r0,r14 @ ROR first word + eors r8,r8,r0 @ etc., as above + rev16 r0,r14 + rors r1,r1,r0 + eors r9,r9,r1 + rev r0,r0 + rors r2,r2,r0 + eors r10,r10,r2 + rev16 r0,r0 + rors r3,r3,r0 + eors r11,r11,r3 +.else + ldmia r12!,{r0-r3} @ share B of round key + eors r8 ,r8 ,r0 + eors r9 ,r9 ,r1 + eors r10,r10,r2 + eors r11,r11,r3 +.endif + pop {r0-r3,r14} + CHK_CANARY r14,CTAG13 + pop {r15} + +.if NEED_ROUNDS + +@ perform encryption rounds +@ r4-r7, r8-r11: state +@ preserves r0-r3,r12 +.balign 4 +rounds_s: + push {r14} + GET_CANARY r14,CTAG14 + push {r0-r3,r12,r14} + mov r2,#0 @ round counter +1: + ldr r12,=rkey_s + add r12,r12,r2,lsl#5 @ pointer to key shares for this round +.if RK_ROR + add r12,r12,r2,lsl#3 +.endif + bl addrkey_s +.if ST_VPERM + bl gen_rand + bl vperm @ V shuffle +.endif + push {r0,r2} @ save round count +.if ST_HPERM + bl gen_rand + bl hperm @ H shuffle + push {r0} +.endif + bl map_sbox_s +.if ST_HPERM + pop {r0} + bl hperm @ undo H shuffle +.endif + bl shift_rows_s + ldr r2,[r13,#4] @ increment round counter on stack + adds r2,r2,#1 + str r2,[r13,#4] + cmp r2,#14 + beq 2f @ break from loop? (last round has no mix_cols) + bl mix_cols_s + pop {r0,r2} +.if ST_VPERM + bl vperm @ undo V shuffle +.endif + b 1b +2: +@ bl inv_mix_cols_s @ or could skip in last round above + pop {r0,r2} +.if ST_VPERM + bl vperm @ undo V shuffle +.endif +.if RK_ROR + ldr r12,=rkey_s+14*40 @ final round key shares +.else + ldr r12,=rkey_s+14*32 @ final round key shares +.endif + bl addrkey_s + pop {r0-r3,r12,r14} + CHK_CANARY r14,CTAG14 + pop {r15} +.endif + +.if NEED_INV_ROUNDS +@ perform decryption rounds +@ r4-r7, r8-r11: state +@ preserves r0-r2 +.balign 4 +inv_rounds_s: + push {r14} + GET_CANARY r14,CTAG15 + push {r0-r2,r14} +.if RK_ROR + ldr r12,=rkey_s+14*40 @ final round key shares +.else + ldr r12,=rkey_s+14*32 @ final round key shares +.endif + bl addrkey_s + mov r2,#13 @ round counter + push {r2} +.if ST_VPERM + bl gen_rand + bl vperm @ V shuffle + push {r0} +.endif + b 2f @ into middle of loop (last round has no mix_cols) +1: + push {r2} +.if ST_VPERM + bl gen_rand + bl vperm @ V shuffle + push {r0} +.endif + bl inv_mix_cols_s +2: + bl inv_shift_rows_s +.if ST_HPERM + bl gen_rand + bl hperm @ H shuffle + push {r0} +.endif + bl inv_map_sbox_s +.if ST_HPERM + pop {r0} + bl hperm @ undo H shuffle +.endif +.if ST_VPERM + pop {r0} + bl vperm @ undo V shuffle +.endif + pop {r2} + ldr r12,=rkey_s + add r12,r12,r2,lsl#5 @ pointer to key shares for this round +.if RK_ROR + add r12,r12,r2,lsl#3 +.endif + bl addrkey_s + subs r2,r2,#1 + bpl 1b + pop {r0-r2,r14} + CHK_CANARY r14,CTAG15 + pop {r15} +.endif + +.if INCLUDE_ENCRYPT_CBC +.balign 4 +.thumb_func +@ encrypt data in place +@ r0: ivec +@ r1: buf +@ r2: number of blocks +@ this implementation does not scramble the shares properly; consider a better implementation +@ if security is required in encryption +cbc_encrypt_s: + push {r14} + GET_CANARY r14,CTAG16 + push {r4-r11,r14} + ldmia r0,{r4-r7} @ load iv into share a +2: + ldmia r1,{r8-r11} @ load plaintext into share b + bl rounds_s + eor r4,r4,r8 @ convert shared to non-shared + eor r5,r5,r9 + eor r6,r6,r10 + eor r7,r7,r11 + stmia r1!,{r4-r7} + subs r2,r2,#1 + bne 2b + pop {r4-r11,r14} + CHK_CANARY r14,CTAG16 + pop {r15} +.endif + +.if INCLUDE_DECRYPT_CBC +.balign 4 +.thumb_func +@ decrypt data in place +@ r0: ivec +@ r1: buf +@ r2: number of blocks +@ return +@ r0=0 OK +@ r0=1: fault detected +@ could be simplified to use more ldmia:s at the cost of another 8 words of stack +cbc_decrypt_s: + push {r14} + GET_CANARY r14,CTAG17 + push {r4-r11,r14} + ldmia r0,{r4-r7} @ load IV + bl ns_to_s + push {r4-r11} @ IV shares on the stack +2: + bl remap + bl ref_round_keys_s @ refresh the round keys + ldmia r1,{r4-r7} @ load the ciphertext + bl ns_to_s @ convert to shares + bl inv_rounds_s @ do decryption rounds + +.if ROUND_TRIP_TEST + +@ compute plaintext {r4-r7}^{r8-r11}^{SP[0..3]}^{SP[4..7]} +@ as shares {r4-r7}^{SP[0..3]}, {r8-r11}^{SP[4..7]} + ldrd r0,r3,[r13,#0] + eor r0,r0,r4 + eor r3,r3,r5 + strd r0,r3,[r13,#0] + ldrd r0,r3,[r13,#8] + eor r0,r0,r6 + eor r3,r3,r7 + strd r0,r3,[r13,#8] + ldrd r0,r3,[r13,#16] + eor r0,r0,r8 + eor r3,r3,r9 + strd r0,r3,[r13,#16] + ldrd r0,r3,[r13,#24] + eor r0,r0,r10 + eor r3,r3,r11 + strd r0,r3,[r13,#24] @ plaintext_s now on the stack + bl rounds_s @ restore original ciphertext (or we could have saved it) + + ldmia r1!,{r0,r3} @ reload actual ciphertext and compare to check for faults + eors r0,r0,r4 + eors r0,r0,r8 + bne 1f @ mismatch? could repeat this bne or add other protection against its being skipped + eors r3,r3,r5 + eors r3,r3,r9 + bne 1f + ldmia r1!,{r0,r3} + eors r0,r0,r6 + eors r0,r0,r10 + bne 1f + eors r3,r3,r7 + eors r3,r3,r11 + bne 1f + subs r1,r1,#16 + + pop {r0,r3} @ now EOR plaintext shares on stack to recover non-shared plaintext + ldr r14,[sp,#8] + eors r0,r0,r14 + ldr r14,[sp,#12] + eors r3,r3,r14 + stmia r1!,{r0,r3} @ overwrite ciphertext with plaintext + + pop {r0,r3} + ldr r14,[sp,#8] + eors r0,r0,r14 + ldr r14,[sp,#12] + eors r3,r3,r14 + stmia r1!,{r0,r3} @ overwrite ciphertext with plaintext + + add r13,#16 @ first share of plaintext has now been popped; skip the other share + +.else + +@ compute plaintext {r4-r7}^{r8-r11}^{SP[0..3]}^{SP[4..7]} +@ as shares {r4-r7}^{SP[0..3]}, {r8-r11}^{SP[4..7]} + pop {r0,r3} + eor r4,r0,r4 + eor r5,r3,r5 + pop {r0,r3} + eor r6,r0,r6 + eor r7,r3,r7 + pop {r0,r3} + eor r8,r0,r8 + eor r9,r3,r9 + pop {r0,r3} + eor r10,r0,r10 + eor r11,r3,r11 @ now plaintext_s in r4-r11 + eor r8,r8,r4 @ convert to non-shared + eor r9,r9,r5 + eor r10,r10,r6 + eor r11,r11,r7 @ now plaintext_ns in r8-r11 + ldmia r1,{r4-r7} @ ciphertext_ns in r4-r7 + stmia r1!,{r8-r11} @ overwrite ciphertext_ns with plaintext_ns + bl ns_to_s @ convert non-shared ciphertext to shared + +.endif + + push {r4-r11} @ push ciphertext_s, replacing iv or previous ciphertext_s on stack + subs r2,r2,#1 @ count the blocks + bne 2b + add r13,#32 + mov r0,#0 @ return OK status + pop {r4-r11,r14} + CHK_CANARY r14,CTAG17 + pop {r15} + +.if ROUND_TRIP_TEST +1: +@ fault here + rcp_panic +.endif +.endif + +.if INCLUDE_CRYPT_CTR +.balign 4 +.thumb_func +@ de/encrypt data in place +@ r0: ivec +@ r1: buf +@ r2: n, number of blocks, n>0 +.if CT_BPERM +@ In AES-CTR each block can be independently en/decrypted as the encryption only depends on +@ the IV, the key, and the block number. We can therefore process them in any order. Hence +@ we generate all the residues mod u=2^k such that u≥n in a pseudo-random order using a linear conguential +@ generator (x_i+1 = a x_i + c mod u), and process the blocks in that order. We choose +@ x_0 and a randomly (subject to a=5 mod 8), as well as adding an overall random offset +@ to the sequence, which is equivalent to choosing a random c. +@ +@ For residues greater than or equal to n we "decrypt" an area of scratch +@ memory, taking the same time as a real decryption. The inefficiency +@ due to rounding up the number of blocks processed to the next power of +@ two is a factor of 2 in the worst case. +@ q.v. https://en.wikipedia.org/wiki/Linear_congruential_generator#m_a_power_of_2,_c_%E2%89%A0_0 +.endif +ctr_crypt_s: + GET_CANARY r3,CTAG0 + SET_COUNT 171 +.if CT_BPERM + push {r0,r1,r3,r4-r11,r14} + mvn r4,#0 + subs r5,r2,#1 @ make sure we generate optimal mask for n an exact power of 2 + clz r5,r5 + lsrs r4,r4,r5 @ mask m=2^k-1 s.t. m≥n + orrs r4,r4,#7 @ m≥7 + bl gen_rand + bic r5,r0,#7 + adds r5,r5,#5 @ multiplier a, randomly initialised, but make sure it is 5 mod 8 + bl gen_rand + mov r7,r0 @ initial block pointer x₀, randomly initialised + bl gen_rand + mov r8,r0 @ sequence offset, randomly initialised: this is equivalent to choosing a random c + mov r6,r4 +.else + push {r0,r3,r4-r11,r14} + movs r12,#0 +.endif + CHK_COUNT 171 +1: + SET_COUNT 129 +.if CT_BPERM + add r12,r7,r8 @ add sequence offset + and r12,r12,r4 @ get block pointer mod 2^k + cmp r12,r2 @ set C if beyond end of buffer + sbcs r3,r3,r3 @ r3==0xffffffff in buffer, 0x00000000 past end + uadd8 r3,r3,r3 @ set/clear all GE flags if in buffer/past end + ldr r1,[r13,#4] @ get buffer address from stack + add r1,r1,r12,lsl#4 @ calculate address of block + ldr r3,=ctr_scratch + sel r1,r1,r3 @ if beyond end of buffer, just process scratch area + ldr r0,[r13] @ get IV address from stack + push {r4-r8,r12} +.else + ldr r0,[r13] @ get IV address from stack + push {r12} +.endif + CHK_COUNT 129 +@ It is not clear if the following addition of the block number in r12 to the IV can usefully +@ be done in terms of shares. Instead we do an addition and subtraction whose overall effect +@ is the same, and which provides a small degree of masking. The IV is not a secret anyway. + ldmia r0,{r4-r7} @ load IV + rev r7,r7 @ prepare for byte-big-endian, bit-little-endian (!) addition + rev r6,r6 + rev r5,r5 + rev r4,r4 + bl gen_rand + bic r8,r0,#0x80000000 @ only 31 bits so we don't get any overflows in the following + add r9,r8,r12 @ "masked" block number + adds r7,r7,r9 @ 128-bit addition + adcs r6,r6,#0 + adcs r5,r5,#0 + adcs r4,r4,#0 + subs r7,r7,r8 @ 128-bit subtraction, unmasking block number + sbcs r6,r6,r8,asr#31 + sbcs r5,r5,r8,asr#31 + sbcs r4,r4,r8,asr#31 + rev r7,r7 + rev r6,r6 + rev r5,r5 + rev r4,r4 + CHK_COUNT 130 + bl remap @ shuffle the LUts + CHK_COUNT 131 + bl ref_round_keys_s @ refresh the round keys + CHK_COUNT 132 + bl ns_to_s @ convert IV+x to shares + CHK_COUNT 133 + bl rounds_s @ forward AES rounds on IV+x + CHK_COUNT 134 + ldr r3,[r1] @ decrypt ciphertext + eors r3,r3,r4 + eors r3,r3,r8 + str r3,[r1] + ldr r3,[r1,#4] + eors r3,r3,r5 + eors r3,r3,r9 + str r3,[r1,#4] + ldr r3,[r1,#8] + eors r3,r3,r6 + eors r3,r3,r10 + str r3,[r1,#8] + ldr r3,[r1,#12] + eors r3,r3,r7 + eors r3,r3,r11 + str r3,[r1,#12] + CHK_COUNT 135 +.if CT_BPERM + pop {r4-r8,r12} + muls r7,r7,r5 @ LCG step: x<-ax+1 + adds r7,r7,#1 + subs r6,r6,#1 + CHK_COUNT 136 + bcs 1b + pop {r0,r1,r3,r4-r11,r14} +.else + pop {r12} + adds r1,r1,#16 + add r12,r12,#1 + cmp r12,r2 + CHK_COUNT 136 + bne 1b + pop {r0,r3,r4-r11,r14} +.endif + CHK_COUNT 137 + CHK_CANARY r3,CTAG0 + bx r14 +.endif + +.ltorg + +.thumb_func +aes_end: + nop + +@@@@@@@@@@@@@@@@@@@@@@@@@ test functions @@@@@@@@@@@@@@@@@@@@@@@@@ + +@ .global test_v + +@ .section .text.test_v,"ax",%progbits +@ .macro fn +@ ldr.n r0,=0x12345678 +@ ldr.n r0,=0xedcba987 +@ .endm +@ .macro tenfn +@ fn +@ fn +@ fn +@ fn +@ fn +@ fn +@ fn +@ fn +@ fn +@ fn +@ .endm +@ .macro hundredfn +@ tenfn +@ tenfn +@ tenfn +@ tenfn +@ tenfn +@ tenfn +@ tenfn +@ tenfn +@ tenfn +@ tenfn +@ .endm +@ +@ .thumb_func +@ test_v: +@ .balign 4 +@ 1: +@ hundredfn +@ b 1b +@ bx r14 +@ .ltorg + +@ switch from shared to non-shared state +@ s_to_ns: +@ eor r4,r4,r8 +@ eor r5,r5,r9 +@ eor r6,r6,r10 +@ eor r7,r7,r11 +@ bx r14 + +.section .text.debugging,"ax",%progbits + +.thumb_func +delay: +.if CHIPW + subs r0,r0,#3 @ we are clocked approximately three times slower +.else + subs r0,r0,#1 +.endif + bcs delay + bx r14 + +.thumb_func +flush_reg: +@ put known values into r0-r3,r12 + mov r0, #0x80808080 + mov r1, #0x81818181 + mov r2, #0x82828282 + mov r3, #0x83838383 + mov r12,#0x8c8c8c8c + bx r14 + +.thumb_func +isr_systick: + mov.w r2,#0xd0000000 @ set GPIO24 + mov.w r3,#0x01000000 + str r3,[r2,#24] + ldr r0,=systick_data + + ldr r1,[r0] + adds r1,r1,#1 + stmia r0!,{r1} + ldr r1,[r13,#0] @ r0..r2 + ldr r2,[r13,#4] + ldr r3,[r13,#8] + stmia r0!,{r1-r3} + ldr r1,[r13,#12] @ r3 + stmia r0!,{r1,r4-r11} + ldr r1,[r13,#16] @ r12 + ldr r3,[r13,#28] @ RETPSR + ubfx r2,r3,#9,#1 @ SPREALIGN + add r2,r13,r2,lsl#2 @ add 4 to SP if SPREALIGN set in RETPSR + add r2,r2,#0x68 @ r13 + stmia r0!,{r1-r2} + + ldr r1,[r13,#20] @ r14 + ldr r2,[r13,#24] @ ReturnAddress +@ RETPSR still in r3 + stmia r0!,{r1-r3} + + ldr r0,=0xe000e010 + mov r1,#5 + str r1,[r0] @ write to CSR + mov.w r2,#0xd0000000 + mov.w r3,#0x01000000 + str r3,[r2,#32] @ clear GPIO24 + bx r14 \ No newline at end of file diff --git a/bootloaders/encrypted/config.h b/bootloaders/encrypted/config.h new file mode 100644 index 000000000..0a39cedf4 --- /dev/null +++ b/bootloaders/encrypted/config.h @@ -0,0 +1,127 @@ +#pragma once + +#ifndef CM_PROFILE +#define CM_PROFILE 0 +#endif + +#define DEBUG 0 // for use in debugging with serial output (timing not repeatable) +#define CHIPW 0 // change clock to 48MHz for use with CW hardware +#define SYSTICK_IMAP 0 // use SYSTICK to get a map of instruction execution (set DEBUG to 0 to get useful timings) +#define INCLUDE_ENCRYPT_CBC 0 // include code to perform encryption in CBC mode? +#define INCLUDE_DECRYPT_CBC 0 // include code to perform decryption in CBC mode? +#define INCLUDE_CRYPT_CTR 1 // include code to perform de/encryption in CTR mode? +#define ROUND_TRIP_TEST 0 // do the glitch detection test in CBC mode where we re-encrypt each block and compare against original ciphertext? +#define SBOX_VIA_INV 1 // compute (inverse) S-box values via a table of field inverses rather than via a direct table? +#define GEN_RAND_SHA 0 // use SHA256 hardware to generate random numbers (disable for Qemu testing) + +#if ROUND_TRIP_TEST && !SBOX_VIA_INV +#error Sorry, if you want to do the round-trip test then SBOX_VIA_INV must also be set +#endif + +#if CM_PROFILE==0 + +#define RANDOMIZE 0 // new random seed on each reset? +#define RC_CANARY 0 // use rcp_canary feature +#define RC_JITTER 0 // use random-delay versions of RCP instructions +#define RC_COUNT 0 // use rcp_count feature +#define IK_SHUFREAD 0 // read key bytes in random order? +#define IK_JUNK 0 // add some random distraction in init_key? +#define IK_PERM 0 // permute bytes (and possibly distraction bytes) in round key generation? +#define IK_REMAP 0 // remap S-box in round key generation? +#define IK_JITTER 0 // jitter timing in init_key? +#define RK_ROR 0 // store round keys with random RORs? +#define ST_HPERM 0 // insert random horizontal permutations in state during de/encryption? +#define ST_VPERM 0 // insert random vertical permutations in state during de/encryption? +#define CT_BPERM 0 // process blocks in a random order in counter mode? + +#elif CM_PROFILE==1 + +#define RANDOMIZE 1 // new random seed on each reset? +#define RC_CANARY 0 // use rcp_canary feature +#define RC_JITTER 0 // use random-delay versions of RCP instructions +#define RC_COUNT 0 // use rcp_count feature +#define IK_SHUFREAD 1 // read key bytes in random order? +#define IK_JUNK 1 // add some random distraction in init_key? +#define IK_PERM 1 // permute bytes (and possibly distraction bytes) in round key generation? +#define IK_REMAP 1 // remap S-box in round key generation? +#define IK_JITTER 0 // jitter timing in init_key? +#define RK_ROR 1 // store round keys with random RORs? +#define ST_HPERM 0 // insert random horizontal permutations in state during de/encryption? +#define ST_VPERM 0 // insert random vertical permutations in state during de/encryption? +#define CT_BPERM 0 // process blocks in a random order in counter mode? + +#elif CM_PROFILE==2 + +#define RANDOMIZE 1 // new random seed on each reset? +#define RC_CANARY 0 // use rcp_canary feature +#define RC_JITTER 0 // use random-delay versions of RCP instructions +#define RC_COUNT 0 // use rcp_count feature +#define IK_SHUFREAD 0 // read key bytes in random order? +#define IK_JUNK 0 // add some random distraction in init_key? +#define IK_PERM 0 // permute bytes (and possibly distraction bytes) in round key generation? +#define IK_REMAP 0 // remap S-box in round key generation? +#define IK_JITTER 0 // jitter timing in init_key? +#define RK_ROR 0 // store round keys with random RORs? +#define ST_HPERM 1 // insert random horizontal permutations in state during de/encryption? +#define ST_VPERM 1 // insert random vertical permutations in state during de/encryption? +#define CT_BPERM 0 // process blocks in a random order in counter mode? + +#elif CM_PROFILE==3 + +#define RANDOMIZE 1 // new random seed on each reset? +#define RC_CANARY 0 // use rcp_canary feature +#define RC_JITTER 0 // use random-delay versions of RCP instructions +#define RC_COUNT 0 // use rcp_count feature +#define IK_SHUFREAD 0 // read key bytes in random order? +#define IK_JUNK 0 // add some random distraction in init_key? +#define IK_PERM 0 // permute bytes (and possibly distraction bytes) in round key generation? +#define IK_REMAP 0 // remap S-box in round key generation? +#define IK_JITTER 0 // jitter timing in init_key? +#define RK_ROR 0 // store round keys with random RORs? +#define ST_HPERM 0 // insert random horizontal permutations in state during de/encryption? +#define ST_VPERM 0 // insert random vertical permutations in state during de/encryption? +#define CT_BPERM 1 // process blocks in a random order in counter mode? + +#elif CM_PROFILE==4 + +#define RANDOMIZE 1 // new random seed on each reset? +#define RC_CANARY 0 // use rcp_canary feature +#define RC_JITTER 0 // use random-delay versions of RCP instructions +#define RC_COUNT 0 // use rcp_count feature +#define IK_SHUFREAD 0 // read key bytes in random order? +#define IK_JUNK 0 // add some random distraction in init_key? +#define IK_PERM 0 // permute bytes (and possibly distraction bytes) in round key generation? +#define IK_REMAP 0 // remap S-box in round key generation? +#define IK_JITTER 1 // jitter timing in init_key? +#define RK_ROR 0 // store round keys with random RORs? +#define ST_HPERM 0 // insert random horizontal permutations in state during de/encryption? +#define ST_VPERM 0 // insert random vertical permutations in state during de/encryption? +#define CT_BPERM 0 // process blocks in a random order in counter mode? + +#elif CM_PROFILE==5 + +#define RANDOMIZE 1 // new random seed on each reset? +#define RC_CANARY 1 // use rcp_canary feature +#define RC_JITTER 1 // use random-delay versions of RCP instructions +#define RC_COUNT 1 // use rcp_count feature +#define IK_SHUFREAD 1 // read key bytes in random order? +#define IK_JUNK 1 // add some random distraction in init_key? +#define IK_PERM 1 // permute bytes (and possibly distraction bytes) in round key generation? +#define IK_REMAP 1 // remap S-box in round key generation? +#define IK_JITTER 1 // jitter timing in init_key? +#define RK_ROR 1 // store round keys with random RORs? +#define ST_HPERM 1 // insert random horizontal permutations in state during de/encryption? +#define ST_VPERM 1 // insert random vertical permutations in state during de/encryption? +#define CT_BPERM 1 // process blocks in a random order in counter mode? + +#endif + +#if RC_COUNT && (INCLUDE_ENCRYPT_CBC || INCLUDE_DECRYPT_CBC) +#error Sorry, RC_COUNT is only tested in CTR mode +#endif + +// derived values +#define NEED_ROUNDS (INCLUDE_ENCRYPT_CBC || (INCLUDE_DECRYPT_CBC && ROUND_TRIP_TEST) || INCLUDE_CRYPT_CTR) +#define NEED_INV_ROUNDS (INCLUDE_DECRYPT_CBC) +#define NEED_HPERM (IK_PERM || ST_HPERM) +#define NEED_VPERM (IK_PERM || ST_VPERM) \ No newline at end of file diff --git a/bootloaders/encrypted/enc-pt.json b/bootloaders/encrypted/enc-pt.json new file mode 100644 index 000000000..9b7a86d3b --- /dev/null +++ b/bootloaders/encrypted/enc-pt.json @@ -0,0 +1,37 @@ +{ + "version": [1, 0], + "unpartitioned": { + "families": ["absolute"], + "permissions": { + "secure": "rw", + "nonsecure": "rw", + "bootloader": "rw" + } + }, + "partitions": [ + { + "name": "A", + "id": 0, + "start": "64K", + "size": "448K", + "families": ["rp2350-arm-s"], + "permissions": { + "secure": "rw", + "nonsecure": "rw", + "bootloader": "rw" + } + }, + { + "name": "B", + "id": 1, + "size": "448K", + "families": ["rp2350-arm-s"], + "permissions": { + "secure": "rw", + "nonsecure": "rw", + "bootloader": "rw" + }, + "link": ["a", 0] + } + ] +} \ No newline at end of file diff --git a/bootloaders/encrypted/enc_bootloader.c b/bootloaders/encrypted/enc_bootloader.c new file mode 100644 index 000000000..1df509101 --- /dev/null +++ b/bootloaders/encrypted/enc_bootloader.c @@ -0,0 +1,208 @@ +/** + * Copyright (c) 2023 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ +#include +#include +#include "pico/stdlib.h" +#include "boot/picobin.h" +#include "hardware/uart.h" +#include "pico/bootrom.h" +#include "pico/rand.h" +#include "hardware/structs/otp.h" +#include "hardware/structs/qmi.h" +#include "hardware/structs/xip_ctrl.h" + +#include "config.h" + +extern void flush_reg(); +volatile uint32_t systick_data[18]; // count, R0-R15,RETPSR + +extern void remap(); +extern uint32_t gen_rand(); +extern void init_key(uint8_t *rk_s, uint8_t *key); +extern void gen_lut_inverse(); +extern void gen_lut_sbox(); +extern void gen_lut_inv_sbox(); +extern int ctr_crypt_s(uint8_t*iv,uint8_t*buf,int nblk); + +extern uint8_t rkey_s[480]; +extern uint8_t lut_a[256]; +extern uint8_t lut_b[256]; +extern uint32_t lut_a_map; +extern uint32_t lut_b_map; +extern uint32_t rstate[4]; + +static void init_lut_map() { + int i; + for(i=0;i<256;i++) lut_b[i]=gen_rand()&0xff, lut_a[i]^=lut_b[i]; + lut_a_map=0; + lut_b_map=0; + remap(); +} + +static __attribute__((aligned(4))) uint8_t workarea[4 * 1024]; + +int main() { + stdio_init_all(); + + #if RANDOMIZE + get_rand_128((rng_128_t*)rstate); // fill rstate with 128 bits of random data + #else + rstate[0]=1223352428; + rstate[1]=1223352428; + rstate[2]=0x41414141; + rstate[3]=0x41414141; + #endif + + // reset the RNG + reset_block(RESETS_RESET_SHA256_BITS); + unreset_block(RESETS_RESET_SHA256_BITS); + rstate[0]&=0xffffff00; // bottom byte must be zero + + printf("Rstate at address %x\n", rstate); + + printf("Entered bootloader code\n"); + int rc; + rc = rom_load_partition_table(workarea, sizeof(workarea), false); + if (rc) { + printf("Partition Table Load failed %d - resetting\n", rc); + reset_usb_boot(0, 0); + } + + boot_info_t info; + printf("Getting boot info\n"); + rc = rom_get_boot_info(&info); + uint32_t flash_update_base = 0; + printf("Boot Type %x\n", info.boot_type); + + if (info.boot_type == BOOT_TYPE_FLASH_UPDATE) { + flash_update_base = info.reboot_params[0]; + printf("Flash Update Base %x\n", flash_update_base); + } + + rc = rom_pick_ab_partition(workarea, sizeof(workarea), 0, flash_update_base); + if (rc < 0) { + printf("Partition Table A/B choice failed %d - resetting\n", rc); + reset_usb_boot(0, 0); + } + uint8_t boot_partition = rc; + printf("Picked A/B Boot partition %x\n", boot_partition); + + rc = rom_get_partition_table_info((uint32_t*)workarea, 0x8, PT_INFO_PARTITION_LOCATION_AND_FLAGS | PT_INFO_SINGLE_PARTITION | (boot_partition << 24)); + + uint32_t data_start_addr; + uint32_t data_end_addr; + if (rc != 3) { + printf("No boot partition - assuming bin at start of flash\n"); + data_start_addr = 0; + data_end_addr = 0x70000; // must fit into 0x20000000 -> 0x20070000 + } else { + uint16_t first_sector_number = (((uint32_t*)workarea)[1] & PICOBIN_PARTITION_LOCATION_FIRST_SECTOR_BITS) >> PICOBIN_PARTITION_LOCATION_FIRST_SECTOR_LSB; + uint16_t last_sector_number = (((uint32_t*)workarea)[1] & PICOBIN_PARTITION_LOCATION_LAST_SECTOR_BITS) >> PICOBIN_PARTITION_LOCATION_LAST_SECTOR_LSB; + data_start_addr = first_sector_number * 0x1000; + data_end_addr = (last_sector_number + 1) * 0x1000; + + printf("Partition Start %x, End %x\n", data_start_addr, data_end_addr); + } + + printf("Decrypting the chosen image\n"); + uint32_t first_mb_start = 0; + uint32_t first_mb_end = 0; + uint32_t last_mb_start = 0; + for (uint16_t i=0; i <= 0x1000; i += 4) { + if (*(uint32_t*)(XIP_BASE + data_start_addr + i) == 0xffffded3) { + printf("Found first block start\n"); + first_mb_start = i; + } + if (*(uint32_t*)(XIP_BASE + data_start_addr + i) == 0xab123579) { + printf("Found first block end\n"); + first_mb_end = i + 4; + last_mb_start = *(uint32_t*)(XIP_BASE + data_start_addr + i-4) + first_mb_start; + break; + } + } + + if (*(uint32_t*)(XIP_BASE + data_start_addr + last_mb_start) == 0xffffded3) { + printf("Found last block start where expected\n"); + } else { + printf("Did not find last block where expected\n"); + last_mb_start = 0; + } + + if (first_mb_end == 0 || last_mb_start == 0) { + printf("Couldn't find encrypted image %x %x - resetting\n", first_mb_end, last_mb_start); + reset_usb_boot(0, 0); + } + + printf("Encrypted from %x to %x\n", first_mb_end, last_mb_start); + + if (data_start_addr + last_mb_start > data_end_addr) { + // todo - harden this check + printf("ERROR: Encrypted binary is too big for it's partition - resetting\n"); + reset_usb_boot(0, 0); + } + + printf("OTP Valid Keys %x\n", otp_hw->key_valid); + + printf("Unlocking\n"); + for (int i=0; i<4; i++) { + uint32_t key_i = ((i*2+1) << 24) | ((i*2+1) << 16) | + (i*2 << 8) | i*2; + otp_hw->crt_key_w[i] = key_i; + } + + uint8_t iv[16]; + data_start_addr += first_mb_end; + memcpy(iv, (void*)(XIP_BASE + data_start_addr), sizeof(iv)); + data_start_addr += 16; + + uint32_t data_size = last_mb_start - (first_mb_end + 16); + printf("Data start %x, size %x\n", data_start_addr, data_size); + if (SRAM_BASE + data_size > 0x20070000) { + // todo - harden this check + printf("ERROR: Encrypted binary is too big, and will overwrite this bootloader - resetting\n"); + reset_usb_boot(0, 0); + } + memcpy((void*)SRAM_BASE, (void*)(XIP_BASE + data_start_addr), data_size); + + printf("Pre decryption image begins with\n"); + for (int i=0; i < 4; i++) + printf("%08x\n", *(uint32_t*)(SRAM_BASE + i*4)); + + flush_reg(); + #if !SBOX_VIA_INV + gen_lut_sbox(); + #else + gen_lut_inverse(); + #endif + init_lut_map(); + // Read key directly from OTP - guarded reads will throw a bus fault if there are any errors + uint16_t* otp_data = (uint16_t*)OTP_DATA_GUARDED_BASE; + init_key(rkey_s, (uint8_t*)&(otp_data[(OTP_CMD_ROW_BITS & 0x780)])); + otp_hw->sw_lock[30] = 0xf; + flush_reg(); + ctr_crypt_s(iv, (void*)SRAM_BASE, data_size/16); + flush_reg(); + + printf("Post decryption image begins with\n"); + for (int i=0; i < 4; i++) + printf("%08x\n", *(uint32_t*)(SRAM_BASE + i*4)); + + printf("Chaining into %x, size %x\n", SRAM_BASE, data_size); + + stdio_deinit_all(); + + rc = rom_chain_image( + workarea, + sizeof(workarea), + SRAM_BASE, + data_size + ); + + stdio_init_all(); + printf("Shouldn't return from ROM call %d\n", rc); + + reset_usb_boot(0, 0); +} diff --git a/bootloaders/encrypted/hello_serial.c b/bootloaders/encrypted/hello_serial.c new file mode 100644 index 000000000..9b7cceb23 --- /dev/null +++ b/bootloaders/encrypted/hello_serial.c @@ -0,0 +1,17 @@ +/** + * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include "pico/stdlib.h" + +int main() { + stdio_init_all(); + while (true) { + printf("Hello, world!\n"); + printf("I'm an encrypted binary\n"); + sleep_ms(1000); + } +} diff --git a/bootloaders/encrypted/otp.json b/bootloaders/encrypted/otp.json new file mode 100644 index 000000000..f86a9e019 --- /dev/null +++ b/bootloaders/encrypted/otp.json @@ -0,0 +1,46 @@ +{ + "30:0" : + { + "ecc" : true, + "value" : + [ + "0x00", + "0x01", + "0x02", + "0x03", + "0x04", + "0x05", + "0x06", + "0x07", + "0x08", + "0x09", + "0x0a", + "0x0b", + "0x0c", + "0x0d", + "0x0e", + "0x0f", + "0x00", + "0x10", + "0x20", + "0x30", + "0x40", + "0x50", + "0x60", + "0x70", + "0x80", + "0x90", + "0xa0", + "0xb0", + "0xc0", + "0xd0", + "0xe0", + "0xf0" + ] + }, + "OTP_DATA_KEY1" : [ 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 6, 6, 7, 7 ], + "OTP_DATA_KEY1_VALID" : "0x010101", + "OTP_DATA_KEY2" : [ 7, 7, 6, 6, 5, 5, 4, 4, 3, 3, 2, 2, 1, 1, 0, 0 ], + "OTP_DATA_KEY2_VALID" : "0x010101", + "PAGE30_LOCK0" : "0x4a4a4a" +} \ No newline at end of file diff --git a/bootloaders/encrypted/private.pem b/bootloaders/encrypted/private.pem new file mode 100644 index 000000000..bf777d897 --- /dev/null +++ b/bootloaders/encrypted/private.pem @@ -0,0 +1,8 @@ +-----BEGIN EC PARAMETERS----- +BgUrgQQACg== +-----END EC PARAMETERS----- +-----BEGIN EC PRIVATE KEY----- +MHQCAQEEIAXAdiilH8wT07TESUzWPt+BY9+NcchvYU3xbnpK+CBNoAcGBSuBBAAK +oUQDQgAEYYJtMQFGW4AB94tU3u/Qir5sRcYjBYMqCa+8gxsYd9OwMS3dqWKsnVBz +dyy7bFWdJzXDMb9o20xRRd57Q9xSYw== +-----END EC PRIVATE KEY----- diff --git a/bootloaders/encrypted/privateaes.bin b/bootloaders/encrypted/privateaes.bin new file mode 100644 index 000000000..0122f8a2c Binary files /dev/null and b/bootloaders/encrypted/privateaes.bin differ diff --git a/bootloaders/encrypted/update-key.cmake b/bootloaders/encrypted/update-key.cmake new file mode 100644 index 000000000..a14c90c7c --- /dev/null +++ b/bootloaders/encrypted/update-key.cmake @@ -0,0 +1,23 @@ +if (CMAKE_VERSION VERSION_LESS 3.19) + # Check if keyfile is not the default, and print warning + file(READ ${CMAKE_CURRENT_LIST_DIR}/privateaes.bin key_file HEX) + if (NOT ${key_file} STREQUAL "000102030405060708090a0b0c0d0e0f00102030405060708090a0b0c0d0e0f0") + message(WARNING + "Encrypted bootloader AES key not updated in otp.json file, as CMake version is < 3.19" + " - you will need to change the key in otp.json manually and re-run the build" + ) + endif() +else() + # Read the JSON file. + file(READ ${CMAKE_CURRENT_LIST_DIR}/otp.json json_string) + # Read the key file + file(READ ${CMAKE_CURRENT_LIST_DIR}/privateaes.bin key_file HEX) + + # adds '0x' prefix, comma suffix, and quotes for every byte + string(REGEX REPLACE "([0-9a-f][0-9a-f])" "\"0x\\1\", " key_file ${key_file}) + set(key_file_json "[${key_file}]") + + string(JSON json_string SET ${json_string} "30:0" "value" ${key_file_json}) + + file(WRITE ${CMAKE_CURRENT_LIST_DIR}/otp.json ${json_string}) +endif() diff --git a/clocks/CMakeLists.txt b/clocks/CMakeLists.txt index 69ba68c70..4a1c52506 100644 --- a/clocks/CMakeLists.txt +++ b/clocks/CMakeLists.txt @@ -1,6 +1,8 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(detached_clk_peri) - add_subdirectory(hello_48MHz) - add_subdirectory(hello_gpout) - add_subdirectory(hello_resus) -endif () +if (TARGET hardware_clocks) + add_subdirectory_exclude_platforms(detached_clk_peri) + add_subdirectory_exclude_platforms(hello_48MHz) + add_subdirectory_exclude_platforms(hello_gpout) + add_subdirectory_exclude_platforms(hello_resus) +else() + message("Skipping clocks examples as hardware_clocks is unavailable on this platform") +endif() \ No newline at end of file diff --git a/clocks/hello_48MHz/hello_48MHz.c b/clocks/hello_48MHz/hello_48MHz.c index 19d269ba8..654470e44 100644 --- a/clocks/hello_48MHz/hello_48MHz.c +++ b/clocks/hello_48MHz/hello_48MHz.c @@ -19,7 +19,9 @@ void measure_freqs(void) { uint f_clk_peri = frequency_count_khz(CLOCKS_FC0_SRC_VALUE_CLK_PERI); uint f_clk_usb = frequency_count_khz(CLOCKS_FC0_SRC_VALUE_CLK_USB); uint f_clk_adc = frequency_count_khz(CLOCKS_FC0_SRC_VALUE_CLK_ADC); +#ifdef CLOCKS_FC0_SRC_VALUE_CLK_RTC uint f_clk_rtc = frequency_count_khz(CLOCKS_FC0_SRC_VALUE_CLK_RTC); +#endif printf("pll_sys = %dkHz\n", f_pll_sys); printf("pll_usb = %dkHz\n", f_pll_usb); @@ -28,7 +30,9 @@ void measure_freqs(void) { printf("clk_peri = %dkHz\n", f_clk_peri); printf("clk_usb = %dkHz\n", f_clk_usb); printf("clk_adc = %dkHz\n", f_clk_adc); +#ifdef CLOCKS_FC0_SRC_VALUE_CLK_RTC printf("clk_rtc = %dkHz\n", f_clk_rtc); +#endif // Can't measure clk_ref / xosc as it is the ref } diff --git a/clocks/hello_gpout/hello_gpout.c b/clocks/hello_gpout/hello_gpout.c index b2a74ad1d..0840b85df 100644 --- a/clocks/hello_gpout/hello_gpout.c +++ b/clocks/hello_gpout/hello_gpout.c @@ -17,7 +17,11 @@ int main() { clock_gpio_init(21, CLOCKS_CLK_GPOUT0_CTRL_AUXSRC_VALUE_CLK_SYS, 10); clock_gpio_init(23, CLOCKS_CLK_GPOUT1_CTRL_AUXSRC_VALUE_CLK_USB, 10); clock_gpio_init(24, CLOCKS_CLK_GPOUT2_CTRL_AUXSRC_VALUE_CLK_ADC, 10); +#if PICO_RP2040 clock_gpio_init(25, CLOCKS_CLK_GPOUT3_CTRL_AUXSRC_VALUE_CLK_RTC, 10); +#else + clock_gpio_init(25, CLOCKS_CLK_GPOUT3_CTRL_AUXSRC_VALUE_CLK_PERI, 10); +#endif return 0; } diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt index 1e6dcff79..e85852119 100644 --- a/cmake/CMakeLists.txt +++ b/cmake/CMakeLists.txt @@ -1 +1 @@ -add_subdirectory(build_variants) \ No newline at end of file +add_subdirectory_exclude_platforms(build_variants) \ No newline at end of file diff --git a/dcp/CMakeLists.txt b/dcp/CMakeLists.txt new file mode 100644 index 000000000..b2e81f3ab --- /dev/null +++ b/dcp/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory_exclude_platforms(hello_dcp host rp2040 rp2350-riscv) \ No newline at end of file diff --git a/dcp/hello_dcp/CMakeLists.txt b/dcp/hello_dcp/CMakeLists.txt new file mode 100644 index 000000000..2235fb271 --- /dev/null +++ b/dcp/hello_dcp/CMakeLists.txt @@ -0,0 +1,16 @@ +add_executable(hello_dcp + hello_dcp.c + dcp_examples.S + ) + +# pull in common dependencies +target_link_libraries(hello_dcp pico_stdlib) + +# we need a high-precision printf to demonstrate dotx properly +pico_set_printf_implementation(hello_dcp compiler) + +# create map/bin/hex file etc. +pico_add_extra_outputs(hello_dcp) + +# add url via pico_set_program_url +example_auto_set_url(hello_dcp) \ No newline at end of file diff --git a/dcp/hello_dcp/dcp_examples.S b/dcp/hello_dcp/dcp_examples.S new file mode 100644 index 000000000..5e6869155 --- /dev/null +++ b/dcp/hello_dcp/dcp_examples.S @@ -0,0 +1,254 @@ +.syntax unified +.cpu cortex-m33 +.thumb + +#include "hardware/dcp_instr.inc.S" +#include "hardware/dcp_canned.inc.S" + +@ dot product +@ r0 pointer to array of n doubles p +@ r1 pointer to array of n doubles q +@ r2 n≥1 +@ returns +@ r0:r1 dot product of p and q +.global dcp_dot +.thumb_func +dcp_dot: + push {r4-r9,r14} + ldrd r3,r4,[r0],#8 @ fetch first pair of values + ldrd r5,r6,[r1],#8 + dcp_dmul_m r7,r8, r3,r4,r5,r6, r3,r4,r5,r6,r12,r14,r9 + subs r2,#1 + beq 1f +2: + ldrd r3,r4,[r0],#8 @ fetch second and subsequent pairs of values + ldrd r5,r6,[r1],#8 + dcp_dmul_m r3,r4, r3,r4,r5,r6, r3,r4,r5,r6,r12,r14,r9 + dcp_dadd_m r7,r8, r3,r4,r7,r8 @ multiply and accumulate + subs r2,#1 + bne 2b +1: + movs r0,r7 @ double-precision result to r0:r1 + movs r1,r8 + pop {r4-r9,r15} + +@ dot product with multiplications done exactly and accumulations done in double precision +@ r0 pointer to array of n floats p +@ r1 pointer to array of n floats q +@ r2 n≥1 +@ returns +@ r0:r1 dot product of p and q +.global dcp_dotx +.thumb_func +dcp_dotx: + push {r4,r14} + ldr r3,[r0],#4 @ fetch first pair of values + ldr r4,[r1],#4 + dcp_fxprod_m r12,r14, r3,r4, r3,r4 + subs r2,#1 + beq 1f +2: + ldr r3,[r0],#4 @ fetch second and subsequent pairs of values + ldr r4,[r1],#4 + dcp_fxprod_m r3,r4, r3,r4, r3,r4 @ multiply single-precision values to double-precision result (which will be exact) + dcp_dadd_m r12,r14, r3,r4,r12,r14 @ accumulate in double precision + subs r2,#1 + bne 2b +1: + movs r0,r12 @ double-precision result to r0:r1 + movs r1,r14 + pop {r4,r15} + +@ IIR filter with intermediates computed in double precision +@ A filter of order n requires temporary storage of 2n words (or 8n bytes) +@ for internal delay buffers, which must be initialised to zero before the +@ first call. Coefficients are floats stored in the order b_n, a_n, b_n-1, a_n-1, +@ b_n-2, a_n-2, ..., b_0. Independent filters require separate temporary storage +@ areas but may share coefficients. "Direct form I" implementation. +@ r0 input x_t +@ r1 pointer to temporary storage +@ r2 pointer to coefficients +@ r3 order n≥1 +@ returns +@ r0 output y_t +.global dcp_iirx +.thumb_func +dcp_iirx: + push {r4-r7,r14} + ldrd r4,r5,[r1] @ fetch x_t-n, y_t-n + ldmia r2!,{r6,r7} @ fetch b_n, a_n + dcp_fxprod_m r4,r6, r4,r6, r4,r6 + dcp_fxprod_m r5,r7, r5,r7, r5,r7 + dcp_dsub_m r12,r14, r4,r6,r5,r7 @ bx terms are added, ay terms are subtracted + subs r3,#1 + beq 1f +2: + ldrd r4,r5,[r1,#8] @ x_t-(n-i), y_t-(n-i) + strd r4,r5,[r1],#8 @ save delayed samples + ldmia r2!,{r6,r7} @ b_n-i, a_n-i + dcp_fxprod_m r4,r6, r4,r6, r4,r6 + dcp_dadd_m r12,r14, r12,r14,r4,r6 @ add bx term + dcp_fxprod_m r5,r7, r5,r7, r5,r7 + dcp_dsub_m r12,r14, r12,r14,r5,r7 @ subtract ay term + subs r3,#1 + bne 2b +1: + ldr r6,[r2] @ fetch b_0 + dcp_fxprod_m r4,r6, r0,r6, r4,r6 @ final b_0 term + dcp_dadd_m r12,r14, r12,r14,r4,r6 + dcp_double2float_m r4, r12,r14 @ convert accumulated result to float + strd r0,r4,[r1] @ save x and y in delay buffer + mov r0,r4 @ return y + pop {r4-r7,r15} + +@ Macros to help with FFT steps + +@ Given px pointing to a complex number x (two doubles, real part then imaginary part) and +@ py pointing to a complex number y, replace x with x+y and y with x-y +@ Write xr for the real part of x, xi for the imaginary part +@ Uses four temporary registers, t0..t3 +.macro xpmy_m px,py,t0,t1,t2,t3 + ldrd \t2,\t3,[\px,#0] @ fetch xr + ldrd \t0,\t1,[\py,#0] @ fetch yr + dcp_dadd_m \t0,\t1, \t0,\t1,\t2,\t3 + strd \t0,\t1,[\px,#0] @ write xr=xr+yr + ldrd \t0,\t1,[\py,#0] @ fetch yr again + dcp_dsub_m \t0,\t1, \t2,\t3,\t0,\t1 + strd \t0,\t1,[\py,#0] @ write yr=xr-yr + ldrd \t2,\t3,[\px,#8] @ fetch xi + ldrd \t0,\t1,[\py,#8] @ fetch yi + dcp_dadd_m \t0,\t1, \t0,\t1,\t2,\t3 + strd \t0,\t1,[\px,#8] @ write xi=xi+yi + ldrd \t0,\t1,[\py,#8] @ fetch yi again + dcp_dsub_m \t0,\t1, \t2,\t3,\t0,\t1 + strd \t0,\t1,[\py,#8] @ write yi=xi-yi +.endm + +@ Given px pointing to a complex number x (two doubles, real part then imaginary part) and +@ py pointing to a complex number y, replace x with x-jy and y with x+jy +@ Write xr for the real part of x, xi for the imaginary part +@ Uses four temporary registers, t0..t3 +.macro xmpjy_m px,py,t0,t1,t2,t3 + ldrd \t2,\t3,[\px,#0] @ fetch xr + ldrd \t0,\t1,[\py,#8] @ fetch yi + dcp_dadd_m \t0,\t1, \t0,\t1,\t2,\t3 + strd \t0,\t1,[\px,#0] @ write xr=xr+yi + ldrd \t0,\t1,[\py,#8] @ fetch yi again + dcp_dsub_m \t0,\t1, \t2,\t3,\t0,\t1 + ldrd \t2,\t3,[\py,#0] @ fetch yr + strd \t0,\t1,[\py,#0] @ write yr=xr-yi + ldrd \t0,\t1,[\px,#8] @ fetch xi + dcp_dadd_m \t0,\t1, \t0,\t1,\t2,\t3 + strd \t0,\t1,[\py,#8] @ write yi=xi+yr + ldrd \t0,\t1,[\px,#8] @ fetch xi again + dcp_dsub_m \t0,\t1, \t0,\t1,\t2,\t3 + strd \t0,\t1,[\px,#8] @ write xi=xi-yr +.endm + +@ r0 pointer to complex number x +@ r1 pointer to complex number y +@ replaces x with x+y, y with x-y +.global dcp_butterfly_radix2 +.thumb_func +dcp_butterfly_radix2: + push {r14} + xpmy_m r0,r1,r12,r14,r2,r3 + pop {r15} + +@ r0 pointer to complex number x +@ r1 pointer to complex number y +@ r2 pointer to complex number ω +@ replaces x with x+y, y with ω(x-y) +@ suitable for radix-2 decimation-in-frequency (DIF) FFT implementation +.global dcp_butterfly_radix2_twiddle_dif +.thumb_func +dcp_butterfly_radix2_twiddle_dif: + push {r4-r10,r14} + ldrd r3,r4,[r0,#0] @ fetch xr + ldrd r5,r6,[r1,#0] @ fetch yr + dcp_dadd_m r7,r8, r3,r4,r5,r6 + strd r7,r8,[r0,#0] @ write xr=xr+yr + dcp_dsub_m r7,r8, r3,r4,r5,r6 @ now xr-yr is in r7:r8 + ldrd r3,r4,[r2,#0] @ fetch ωr + dcp_dmul_m r3,r4, r3,r4,r7,r8, r3,r4,r5,r6,r9,r12,r14 + strd r3,r4,[r1,#0] @ write ωr(xr-yr) to yr for now + ldrd r3,r4,[r2,#8] @ fetch ωi + dcp_dmul_m r12,r14, r3,r4,r7,r8, r3,r4,r5,r6,r9,r12,r14 +@ now ωi(xr-yr) is in r12:r14 + ldrd r3,r4,[r0,#8] @ fetch xi + ldrd r5,r6,[r1,#8] @ fetch yi + dcp_dadd_m r7,r8, r3,r4,r5,r6 + strd r7,r8,[r0,#8] @ write xi=xi+yi +@ we have now finished with r0 + dcp_dsub_m r7,r8, r3,r4,r5,r6 @ now xi-yi is in r7:r8 + ldrd r3,r4,[r2,#0] @ fetch ωr + dcp_dmul_m r3,r4, r3,r4,r7,r8, r3,r4,r5,r6,r9,r10,r0 +@ now ωr(xi-yi) is in r3:r4 + dcp_dadd_m r3,r4, r3,r4,r12,r14 + strd r3,r4,[r1,#8] @ write yi=ωr(xi-yi) + ωi(xr-yr) + ldrd r3,r4,[r2,#8] @ ωi + dcp_dmul_m r3,r4, r3,r4,r7,r8, r3,r4,r5,r6,r9,r12,r14 +@ now ωi(xi-yi) is in r3:r4 + ldrd r5,r6,[r1,#0] @ fetch ωr(xr-yr) + dcp_dsub_m r3,r4, r5,r6,r3,r4 + strd r3,r4,[r1,#0] @ write yr=ωr(xr-yr)-ωi(xi-yi) + pop {r4-r10,r15} + +@ r0 pointer to complex number x +@ r1 pointer to complex number y +@ r2 pointer to complex number ω +@ replaces x with x+ωy, y with x-ωy +@ suitable for radix-2 decimation-in-time (DIT) FFT implementation +.global dcp_butterfly_radix2_twiddle_dit +.thumb_func +dcp_butterfly_radix2_twiddle_dit: + push {r4-r9,r14} + ldrd r3,r4,[r2,#0] @ fetch ωr + ldrd r5,r6,[r1,#0] @ fetch yr + dcp_dmul_m r8,r9, r3,r4,r5,r6, r3,r4,r5,r6,r12,r14,r7 +@ now ωryr is in r8:r9 + ldrd r3,r4,[r2,#8] @ fetch ωi + ldrd r5,r6,[r1,#8] @ fetch yi + dcp_dmul_m r3,r4, r3,r4,r5,r6, r3,r4,r5,r6,r12,r14,r7 +@ now ωiyi is in r3:r4 + dcp_dsub_m r8,r9, r8,r9,r3,r4 @ ωryr-ωiyi=Re(ωy) in r8:r9 + ldrd r3,r4,[r0,#0] @ fetch xr + dcp_dadd_m r5,r6, r3,r4,r8,r9 @ xr+Re(ωy) + strd r5,r6,[r0,#0] @ write xr=xr+Re(ωy) + dcp_dsub_m r3,r4, r3,r4,r8,r9 @ xr-Re(ωy) + ldrd r5,r6,[r1,#0] @ fetch yr + strd r3,r4,[r1,#0] @ write yr=xr-Re(ωy) + ldrd r3,r4,[r2,#8] @ fetch ωi + dcp_dmul_m r8,r9, r3,r4,r5,r6, r3,r4,r5,r6,r12,r14,r7 +@ now ωiyr is in r8:r9 + ldrd r3,r4,[r2,#0] @ fetch ωr + ldrd r5,r6,[r1,#8] @ fetch yi + dcp_dmul_m r3,r4, r3,r4,r5,r6, r3,r4,r5,r6,r12,r14,r7 +@ now ωryi is in r3:r4 + dcp_dadd_m r8,r9, r8,r9,r3,r4 @ ωiyr+ωryi=Im(ωy) + ldrd r3,r4,[r0,#8] @ fetch xi + dcp_dadd_m r5,r6, r3,r4,r8,r9 @ xi+Im(ωy) + strd r5,r6,[r0,#8] @ write xi=xi+Im(ωy) + dcp_dsub_m r3,r4, r3,r4,r8,r9 @ xi-Im(ωy) + strd r3,r4,[r1,#8] @ write yi=xi-Im(ωy) + pop {r4-r9,r15} + +@ r0 pointer to complex number w +@ r1 pointer to complex number x +@ r2 pointer to complex number y +@ r3 pointer to complex number z +@ replaces +@ w with w + x + y + z = (w+y) + (x+z) +@ x with w - x + y - z = (w+y) - (x+z) +@ y with w - jx - y + jz = (w-y) - j(x-z) +@ z with w + jx - y - jz = (w-y) + j(x-z) +@ note that this introduces a bit reversal of indices à la radix 2 +.global dcp_butterfly_radix4 +.thumb_func +dcp_butterfly_radix4: @ @r0 @r1 @r2 @r3 + push {r4,r5,r14} @ w x y z + xpmy_m r0,r2,r12,r14,r4,r5 @ w+y x w-y z + xpmy_m r1,r3,r12,r14,r4,r5 @ w+y x+z w-y x-z + xpmy_m r0,r1,r12,r14,r4,r5 @ w+x+y+z w-x+y-z w-y x-z + xmpjy_m r2,r3,r12,r14,r4,r5 @ w+x+y+z w-x+y-z w-jx-y+jz w+jx-y-jz + pop {r4,r5,r15} diff --git a/dcp/hello_dcp/hello_dcp.c b/dcp/hello_dcp/hello_dcp.c new file mode 100644 index 000000000..cbb31dbb7 --- /dev/null +++ b/dcp/hello_dcp/hello_dcp.c @@ -0,0 +1,110 @@ +/** + * Copyright (c) 2024 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include "pico/stdlib.h" +#include + +/* +NOTE: the example code here does not check the DCP's engaged flag. It is therefore +not suitable for use in multi-threaded applications or in interrupt service +routines. See the device datasheet for more information. +*/ + +/// \tag::hello_dcp[] + +extern double dcp_dot (double*p,double*q,int n); +extern double dcp_dotx (float*p,float*q,int n); +extern float dcp_iirx (float x,float*temp,float*coeff,int order); +extern void dcp_butterfly_radix2 (double*x,double*y); +extern void dcp_butterfly_radix2_twiddle_dif (double*x,double*y,double*tf); +extern void dcp_butterfly_radix2_twiddle_dit (double*x,double*y,double*tf); +extern void dcp_butterfly_radix4 (double*w,double*x,double*y,double*z); + +static void dcp_test0() { + double u[3]={1,2,3}; + double v[3]={4,5,6}; + double w; + w=dcp_dot(u,v,3); + printf("(1,2,3).(4,5,6)=%g\n",w); +} + +static void dcp_test1() { + float u[3]={1+pow(2,-20),2,3}; + float v[3]={1-pow(2,-20),5,6}; + double w; + w=dcp_dotx(u,v,3); + printf("(1+pow(2,-20),2,3).(1-pow(2,-20),5,6)=%.17g\n",w); +} + +static void dcp_test2() { + int t; + float w; +// filter coefficients calculated using Octave as follows: +// octave> pkg load signal +// octave> format long +// octave> [b,a]=cheby1(2,1,.5) +// b = 0.307043201259064 0.614086402518128 0.307043201259064 +// a = 1.000000000000000e+00 6.406405700380895e-02 3.139684953186774e-01 +// and tested as follows: +// octave> filter(b,a,[1 zeros(1,19)]) + float coeff[5]={0.3070432,0.3139685,0.6140864,0.06406406,0.3070432}; + float temp[4]={0}; + printf("IIR filter impulse response:\n"); + for(t=0;t<20;t++) { + w=dcp_iirx(t?0:1,temp,coeff,2); + printf("y[%2d]=%g\n",t,w); + } +} + +static void dcp_test3() { + double x[2]={2,3}; + double y[2]={5,7}; + dcp_butterfly_radix2(x,y); + printf("Radix-2 butterfly of (2+3j,5+7j)=(%g%+gj,%g%+gj)\n",x[0],x[1],y[0],y[1]); +} + +static void dcp_test4() { + double x[2]={2,3}; + double y[2]={5,7}; + double t[2]={1.5,2.5}; + dcp_butterfly_radix2_twiddle_dif(x,y,t); + printf("Radix-2 DIF butterfly of (2+3j,5+7j) with twiddle factor (1.5+2.5j)=(%g%+gj,%g%+gj)\n",x[0],x[1],y[0],y[1]); +} + +static void dcp_test5() { + double x[2]={2,3}; + double y[2]={5,7}; + double t[2]={1.5,2.5}; + dcp_butterfly_radix2_twiddle_dit(x,y,t); + printf("Radix-2 DIT butterfly of (2+3j,5+7j) with twiddle factor (1.5+2.5j)=(%g%+gj,%g%+gj)\n",x[0],x[1],y[0],y[1]); +} + +static void dcp_test6() { + double w[2]={2,3}; + double x[2]={5,7}; + double y[2]={11,17}; + double z[2]={41,43}; + dcp_butterfly_radix4(w,x,y,z); + printf("Radix-4 butterfly of (2+3j,5+7j,11+17j,41+43j)=(%g%+gj,%g%+gj,%g%+gj,%g%+gj)\n",w[0],w[1],x[0],x[1],y[0],y[1],z[0],z[1]); +} + +int main() { + stdio_init_all(); + + printf("Hello, DCP!\n"); + + dcp_test0(); + dcp_test1(); + dcp_test2(); + dcp_test3(); + dcp_test4(); + dcp_test5(); + dcp_test6(); + + return 0; +} +/// \end::hello_dcp[] diff --git a/divider/CMakeLists.txt b/divider/CMakeLists.txt index d3a8be900..d5ad0ac8e 100644 --- a/divider/CMakeLists.txt +++ b/divider/CMakeLists.txt @@ -1,12 +1,16 @@ -add_executable(hello_divider - hello_divider.c - ) +if (TARGET hardware_divider) + add_executable(hello_divider + hello_divider.c + ) -# pull in common dependencies -target_link_libraries(hello_divider pico_stdlib) + # pull in common dependencies + target_link_libraries(hello_divider pico_stdlib) -# create map/bin/hex file etc. -pico_add_extra_outputs(hello_divider) + # create map/bin/hex file etc. + pico_add_extra_outputs(hello_divider) -# add url via pico_set_program_url -example_auto_set_url(hello_divider) + # add url via pico_set_program_url + example_auto_set_url(hello_divider) +else() + message("Skipping divider examples as hardware_divider is unavailable on this platform") +endif() diff --git a/dma/CMakeLists.txt b/dma/CMakeLists.txt index a444866da..c98fc1edb 100644 --- a/dma/CMakeLists.txt +++ b/dma/CMakeLists.txt @@ -1,6 +1,9 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(channel_irq) - add_subdirectory(control_blocks) - add_subdirectory(hello_dma) - add_subdirectory(sniff_crc) -endif () +if (TARGET hardware_dma) + add_subdirectory_exclude_platforms(channel_irq) + add_subdirectory_exclude_platforms(control_blocks) + add_subdirectory_exclude_platforms(hello_dma) + add_subdirectory_exclude_platforms(sniff_crc) +else() + message("Skipping DMA examples as hardware_dma is unavailable on this platform") +endif() + diff --git a/flash/CMakeLists.txt b/flash/CMakeLists.txt index 9571559fa..22de94038 100644 --- a/flash/CMakeLists.txt +++ b/flash/CMakeLists.txt @@ -1,7 +1,10 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(cache_perfctr) - add_subdirectory(nuke) - add_subdirectory(program) - add_subdirectory(ssi_dma) - add_subdirectory(xip_stream) -endif () +if (TARGET hardware_flash) + add_subdirectory_exclude_platforms(cache_perfctr "rp2350.*") + add_subdirectory_exclude_platforms(nuke) + add_subdirectory_exclude_platforms(program) + add_subdirectory_exclude_platforms(ssi_dma "rp2350.*") + add_subdirectory_exclude_platforms(xip_stream) + add_subdirectory_exclude_platforms(runtime_flash_permissions rp2040) +else() + message("Skipping flash examples as hardware_flash is unavailable on this platform") +endif() \ No newline at end of file diff --git a/flash/program/flash_program.c b/flash/program/flash_program.c index 208ccb505..7333acde3 100644 --- a/flash/program/flash_program.c +++ b/flash/program/flash_program.c @@ -29,7 +29,7 @@ void print_buf(const uint8_t *buf, size_t len) { int main() { stdio_init_all(); uint8_t random_data[FLASH_PAGE_SIZE]; - for (int i = 0; i < FLASH_PAGE_SIZE; ++i) + for (uint i = 0; i < FLASH_PAGE_SIZE; ++i) random_data[i] = rand() >> 16; printf("Generated random data:\n"); @@ -47,7 +47,7 @@ int main() { print_buf(flash_target_contents, FLASH_PAGE_SIZE); bool mismatch = false; - for (int i = 0; i < FLASH_PAGE_SIZE; ++i) { + for (uint i = 0; i < FLASH_PAGE_SIZE; ++i) { if (random_data[i] != flash_target_contents[i]) mismatch = true; } diff --git a/flash/runtime_flash_permissions/CMakeLists.txt b/flash/runtime_flash_permissions/CMakeLists.txt new file mode 100644 index 000000000..3eb6bdd94 --- /dev/null +++ b/flash/runtime_flash_permissions/CMakeLists.txt @@ -0,0 +1,15 @@ +add_executable(runtime_flash_permissions + runtime_flash_permissions.c + ) + +# pull in common dependencies +target_link_libraries(runtime_flash_permissions pico_stdlib) + +# not necessary for the example functionality, but shows you how you would add a partition table +pico_embed_pt_in_binary(runtime_flash_permissions ${CMAKE_CURRENT_LIST_DIR}/pt.json) + +# create map/bin/hex/uf2 file etc. +pico_add_extra_outputs(runtime_flash_permissions) + +# add url via pico_set_program_url +example_auto_set_url(runtime_flash_permissions) diff --git a/flash/runtime_flash_permissions/pt.json b/flash/runtime_flash_permissions/pt.json new file mode 100644 index 000000000..7b390a690 --- /dev/null +++ b/flash/runtime_flash_permissions/pt.json @@ -0,0 +1,9 @@ +{ + "version": [1, 0], + "unpartitioned": { + "families": ["absolute"], + "permissions": { + "bootloader": "rw" + } + } +} \ No newline at end of file diff --git a/flash/runtime_flash_permissions/runtime_flash_permissions.c b/flash/runtime_flash_permissions/runtime_flash_permissions.c new file mode 100644 index 000000000..b76d69c38 --- /dev/null +++ b/flash/runtime_flash_permissions/runtime_flash_permissions.c @@ -0,0 +1,62 @@ +/** + * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include "pico/stdlib.h" +#include "pico/bootrom.h" +#include "boot/picobin.h" + +int main() { + stdio_init_all(); + static uint8_t flash_buffer[0x1000] = {}; + cflash_flags_t flags; + flags.flags = (CFLASH_OP_VALUE_READ << CFLASH_OP_LSB) | (CFLASH_SECLEVEL_VALUE_SECURE << CFLASH_SECLEVEL_LSB); + int ret; + + // Unpartitioned space only has bootloader permissions, so secure reads will fail + printf("Attempt to read start of flash\n"); + ret = rom_flash_op(flags, XIP_BASE, sizeof(flash_buffer), flash_buffer); + if (ret == BOOTROM_ERROR_NOT_PERMITTED) { + printf("Not permitted, as expected\n"); + } else { + printf("ERROR: "); + if (ret) { + printf("Flash OP failed with %d\n", ret); + } else { + printf("Flash OP succeeded, when shouldn't have been permitted"); + } + } + + // Add a runtime partition at start of flash with all permissions, to allow access to that region of flash + printf("Adding partition with all permissions\n"); + ret = rom_add_flash_runtime_partition(0, 0x1000, PICOBIN_PARTITION_PERMISSIONS_BITS); + if (ret != 0) { + printf("ERROR: Failed to add runtime partition\n"); + } + + // Reads from that partition will now succeed + printf("Attempt to read start of flash\n"); + ret = rom_flash_op(flags, XIP_BASE, sizeof(flash_buffer), flash_buffer); + if (ret == 0) { + printf("Read successful - read first 2 words %08x %08x\n", ((uint32_t*)flash_buffer)[0], ((uint32_t*)flash_buffer)[1]); + } else { + printf("ERROR: Flash OP failed with %d\n", ret); + } + + // But reads from unpartitioned space will still fail + printf("Attempt to read later in flash\n"); + ret = rom_flash_op(flags, XIP_BASE + 0x1000, sizeof(flash_buffer), flash_buffer); + if (ret == BOOTROM_ERROR_NOT_PERMITTED) { + printf("Not permitted, as expected\n"); + } else { + printf("ERROR: "); + if (ret) { + printf("Flash OP failed with %d\n", ret); + } else { + printf("Flash OP succeeded, when it shouldn't have been permitted - read first 2 words %08x %08x\n", ((uint32_t*)flash_buffer)[0], ((uint32_t*)flash_buffer)[1]); + } + } +} diff --git a/flash/ssi_dma/CMakeLists.txt b/flash/ssi_dma/CMakeLists.txt index b1091a497..965cc6098 100644 --- a/flash/ssi_dma/CMakeLists.txt +++ b/flash/ssi_dma/CMakeLists.txt @@ -5,10 +5,11 @@ add_executable(flash_ssi_dma target_link_libraries(flash_ssi_dma pico_stdlib hardware_dma + hardware_sync ) # create map/bin/hex file etc. pico_add_extra_outputs(flash_ssi_dma) # add url via pico_set_program_url -example_auto_set_url(flash_ssi_dma) +example_auto_set_url(flash_ssi_dma) \ No newline at end of file diff --git a/flash/ssi_dma/flash_ssi_dma.c b/flash/ssi_dma/flash_ssi_dma.c index 118513dee..9faa7aa0a 100644 --- a/flash/ssi_dma/flash_ssi_dma.c +++ b/flash/ssi_dma/flash_ssi_dma.c @@ -11,6 +11,7 @@ #include "pico/time.h" #include "hardware/dma.h" #include "hardware/structs/ssi.h" +#include "hardware/sync.h" // This example DMAs 16kB of data from the start of flash to SRAM, and // measures the transfer speed. @@ -66,11 +67,16 @@ uint32_t *expect = (uint32_t *) XIP_NOCACHE_NOALLOC_BASE; int main() { stdio_init_all(); + memset(rxdata, 0, DATA_SIZE_WORDS * sizeof(uint32_t)); printf("Starting DMA\n"); uint32_t start_time = time_us_32(); + + uint32_t ints = save_and_disable_interrupts(); flash_bulk_read(rxdata, 0, DATA_SIZE_WORDS, 0); + restore_interrupts(ints); + uint32_t finish_time = time_us_32(); printf("DMA finished\n"); diff --git a/flash/xip_stream/flash_xip_stream.c b/flash/xip_stream/flash_xip_stream.c index 51ef7efc3..e18df78c5 100644 --- a/flash/xip_stream/flash_xip_stream.c +++ b/flash/xip_stream/flash_xip_stream.c @@ -22,7 +22,7 @@ uint32_t buf[count_of(random_test_data)]; int main() { stdio_init_all(); - for (int i = 0; i < count_of(random_test_data); ++i) + for (uint i = 0; i < count_of(random_test_data); ++i) buf[i] = 0; // This example won't work with PICO_NO_FLASH builds. Note that XIP stream @@ -75,7 +75,7 @@ int main() { printf("DMA complete\n"); bool mismatch = false; - for (int i = 0; i < count_of(random_test_data); ++i) { + for (uint i = 0; i < count_of(random_test_data); ++i) { if (random_test_data[i] != buf[i]) { printf("Data mismatch: %08x (actual) != %08x (expected)\n", buf[i], random_test_data[i]); mismatch = true; diff --git a/freertos/CMakeLists.txt b/freertos/CMakeLists.txt new file mode 100755 index 000000000..68002bb9e --- /dev/null +++ b/freertos/CMakeLists.txt @@ -0,0 +1,8 @@ +if (NOT FREERTOS_KERNEL_PATH AND NOT DEFINED ENV{FREERTOS_KERNEL_PATH}) + message("Skipping FreeRTOS examples as FREERTOS_KERNEL_PATH not defined") + return() +endif() + +include(FreeRTOS_Kernel_import.cmake) + +add_subdirectory(hello_freertos) diff --git a/freertos/FreeRTOSConfig.h b/freertos/FreeRTOSConfig.h new file mode 100755 index 000000000..831e53500 --- /dev/null +++ b/freertos/FreeRTOSConfig.h @@ -0,0 +1,7 @@ +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +// This example uses a common include to avoid repetition +#include "FreeRTOSConfig_examples_common.h" + +#endif diff --git a/freertos/FreeRTOSConfig_examples_common.h b/freertos/FreeRTOSConfig_examples_common.h new file mode 100755 index 000000000..470e72f11 --- /dev/null +++ b/freertos/FreeRTOSConfig_examples_common.h @@ -0,0 +1,157 @@ +/* + * FreeRTOS V202111.00 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#ifndef FREERTOS_CONFIG_EXAMPLES_COMMON_H +#define FREERTOS_CONFIG_EXAMPLES_COMMON_H + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE + * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. + * + * See http://www.freertos.org/a00110.html + *----------------------------------------------------------*/ + +/* Scheduler Related */ +#define configUSE_PREEMPTION 1 +#define configUSE_TICKLESS_IDLE 0 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) +#define configMAX_PRIORITIES 32 +#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 512 +#define configUSE_16_BIT_TICKS 0 + +#define configIDLE_SHOULD_YIELD 1 + +/* Synchronization Related */ +#define configUSE_MUTEXES 1 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_APPLICATION_TASK_TAG 0 +#define configUSE_COUNTING_SEMAPHORES 1 +#define configQUEUE_REGISTRY_SIZE 8 +#define configUSE_QUEUE_SETS 1 +#define configUSE_TIME_SLICING 1 +#define configUSE_NEWLIB_REENTRANT 0 +// todo need this for lwip FreeRTOS sys_arch to compile +#define configENABLE_BACKWARD_COMPATIBILITY 1 +#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5 + +/* System */ +#define configSTACK_DEPTH_TYPE uint32_t +#define configMESSAGE_BUFFER_LENGTH_TYPE size_t + +/* Memory allocation related definitions. */ +#define configSUPPORT_STATIC_ALLOCATION 0 +#define configSUPPORT_DYNAMIC_ALLOCATION 1 +#define configTOTAL_HEAP_SIZE (128*1024) +#define configAPPLICATION_ALLOCATED_HEAP 0 + +/* Hook function related definitions. */ +#define configCHECK_FOR_STACK_OVERFLOW 0 +#define configUSE_MALLOC_FAILED_HOOK 0 +#define configUSE_DAEMON_TASK_STARTUP_HOOK 0 + +/* Run time and task stats gathering related definitions. */ +#define configGENERATE_RUN_TIME_STATS 0 +#define configUSE_TRACE_FACILITY 1 +#define configUSE_STATS_FORMATTING_FUNCTIONS 0 + +/* Co-routine related definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES 1 + +/* Software timer related definitions. */ +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) +#define configTIMER_QUEUE_LENGTH 10 +#define configTIMER_TASK_STACK_DEPTH 1024 + +/* Interrupt nesting behaviour configuration. */ +/* +#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor] +#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application] +#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application] +*/ + +#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS +/* SMP port only */ +#ifndef configNUMBER_OF_CORES +#define configNUMBER_OF_CORES 2 +#endif +#define configNUM_CORES configNUMBER_OF_CORES +#define configTICK_CORE 0 +#define configRUN_MULTIPLE_PRIORITIES 1 +#if configNUMBER_OF_CORES > 1 +#define configUSE_CORE_AFFINITY 1 +#endif +#define configUSE_PASSIVE_IDLE_HOOK 0 +#endif + +/* RP2040 specific */ +#define configSUPPORT_PICO_SYNC_INTEROP 1 +#define configSUPPORT_PICO_TIME_INTEROP 1 + +#include +/* Define to trap errors during development. */ +#define configASSERT(x) assert(x) + +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_xTaskGetSchedulerState 1 +#define INCLUDE_xTaskGetCurrentTaskHandle 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 1 +#define INCLUDE_xTaskGetIdleTaskHandle 1 +#define INCLUDE_eTaskGetState 1 +#define INCLUDE_xTimerPendFunctionCall 1 +#define INCLUDE_xTaskAbortDelay 1 +#define INCLUDE_xTaskGetHandle 1 +#define INCLUDE_xTaskResumeFromISR 1 +#define INCLUDE_xQueueGetMutexHolder 1 + +#if PICO_RP2350 +#define configENABLE_MPU 0 +#define configENABLE_TRUSTZONE 0 +#define configRUN_FREERTOS_SECURE_ONLY 1 +#define configENABLE_FPU 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 16 +#endif + +/* A header file that defines trace macro can be included here. */ + +#endif /* FREERTOS_CONFIG_H */ + diff --git a/freertos/FreeRTOS_Kernel_import.cmake b/freertos/FreeRTOS_Kernel_import.cmake new file mode 100755 index 000000000..15d8e7724 --- /dev/null +++ b/freertos/FreeRTOS_Kernel_import.cmake @@ -0,0 +1,91 @@ +# This is a copy of /portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake + +# This can be dropped into an external project to help locate the FreeRTOS kernel +# It should be include()ed prior to project(). Alternatively this file may +# or the CMakeLists.txt in this directory may be included or added via add_subdirectory +# respectively. + +if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH)) + set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH}) + message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')") +endif () + +# first pass we look in old tree; second pass we look in new tree +foreach(SEARCH_PASS RANGE 0 1) + if (SEARCH_PASS) + # ports may be moving to submodule in the future + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/Community-Supported-Ports/GCC") + set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../../..") + else() + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC") + set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..") + endif() + + if(PICO_PLATFORM STREQUAL "rp2040") + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2040") + else() + if (PICO_PLATFORM STREQUAL "rp2350-riscv") + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_RISC-V") + else() + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_ARM_NTZ") + endif() + endif() + + if (NOT FREERTOS_KERNEL_PATH) + # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly) + get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH) + get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH) + if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) + get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + endif() + if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) + get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake") + break() + elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel") + set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel) + message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}") + break() + endif() + endif () + + if (NOT FREERTOS_KERNEL_PATH) + foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source) + # check if FreeRTOS-Kernel exists under directory that included us + set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}) + get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH) + if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) + get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH) + message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project") + break() + endif() + endforeach() + if (FREERTOS_KERNEL_PATH) + break() + endif() + endif() + + # user must have specified + if (FREERTOS_KERNEL_PATH) + if (EXISTS "${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") + break() + endif() + endif() +endforeach () + +if (NOT FREERTOS_KERNEL_PATH) + message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.") +endif() + +set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel") + +get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") +if (NOT EXISTS ${FREERTOS_KERNEL_PATH}) + message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found") +endif() +if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) + message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain a '${PICO_PLATFORM}' port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") +endif() +set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE) + +add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL) diff --git a/freertos/hello_freertos/CMakeLists.txt b/freertos/hello_freertos/CMakeLists.txt new file mode 100644 index 000000000..1da0ce773 --- /dev/null +++ b/freertos/hello_freertos/CMakeLists.txt @@ -0,0 +1,42 @@ +set(TARGET_NAME hello_freertos1) +add_executable(${TARGET_NAME} + hello_freertos.c + ) +target_include_directories(${TARGET_NAME} PRIVATE + ${CMAKE_CURRENT_LIST_DIR}/.. + ) +target_link_libraries(${TARGET_NAME} PRIVATE + pico_async_context_freertos + FreeRTOS-Kernel-Heap4 + pico_stdlib + ) +if(PICO_CYW43_SUPPORTED) + # For led support on pico_w + target_link_libraries(${TARGET_NAME} PRIVATE + pico_cyw43_arch_none + ) +endif() +target_compile_definitions(${TARGET_NAME} PRIVATE + configNUMBER_OF_CORES=1 + ) +pico_add_extra_outputs(${TARGET_NAME}) + +set(TARGET_NAME hello_freertos2) +add_executable(${TARGET_NAME} + hello_freertos.c + ) +target_include_directories(${TARGET_NAME} PRIVATE + ${CMAKE_CURRENT_LIST_DIR}/.. + ) +target_link_libraries(${TARGET_NAME} PRIVATE + pico_async_context_freertos + FreeRTOS-Kernel-Heap4 + pico_stdlib + ) +if(PICO_CYW43_SUPPORTED) + # For led support on pico_w + target_link_libraries(${TARGET_NAME} PRIVATE + pico_cyw43_arch_none + ) +endif() +pico_add_extra_outputs(${TARGET_NAME}) diff --git a/freertos/hello_freertos/hello_freertos.c b/freertos/hello_freertos/hello_freertos.c new file mode 100755 index 000000000..77a3c8490 --- /dev/null +++ b/freertos/hello_freertos/hello_freertos.c @@ -0,0 +1,184 @@ +/** + * Copyright (c) 2022 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include + +#include "pico/stdlib.h" +#include "pico/multicore.h" + +#ifdef CYW43_WL_GPIO_LED_PIN +#include "pico/cyw43_arch.h" +#endif + +#include "FreeRTOS.h" +#include "task.h" + +// Which core to run on if configNUMBER_OF_CORES==1 +#ifndef RUN_FREE_RTOS_ON_CORE +#define RUN_FREE_RTOS_ON_CORE 0 +#endif + +// Whether to flash the led +#ifndef USE_LED +#define USE_LED 1 +#endif + +// Whether to busy wait in the led thread +#ifndef LED_BUSY_WAIT +#define LED_BUSY_WAIT 1 +#endif + +// Delay between led blinking +#define LED_DELAY_MS 2000 + +// Priorities of our threads - higher numbers are higher priority +#define MAIN_TASK_PRIORITY ( tskIDLE_PRIORITY + 2UL ) +#define BLINK_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL ) +#define WORKER_TASK_PRIORITY ( tskIDLE_PRIORITY + 4UL ) + +// Stack sizes of our threads in words (4 bytes) +#define MAIN_TASK_STACK_SIZE configMINIMAL_STACK_SIZE +#define BLINK_TASK_STACK_SIZE configMINIMAL_STACK_SIZE +#define WORKER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + +#include "pico/async_context_freertos.h" +static async_context_freertos_t async_context_instance; + +// Create an async context +static async_context_t *example_async_context(void) { + async_context_freertos_config_t config = async_context_freertos_default_config(); + config.task_priority = WORKER_TASK_PRIORITY; // defaults to ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_PRIORITY + config.task_stack_size = WORKER_TASK_STACK_SIZE; // defaults to ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_STACK_SIZE + if (!async_context_freertos_init(&async_context_instance, &config)) + return NULL; + return &async_context_instance.core; +} + +#if USE_LED +// Turn led on or off +static void pico_set_led(bool led_on) { +#if defined PICO_DEFAULT_LED_PIN + gpio_put(PICO_DEFAULT_LED_PIN, led_on); +#elif defined(CYW43_WL_GPIO_LED_PIN) + cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_on); +#endif +} + +// Initialise led +static void pico_init_led(void) { +#if defined PICO_DEFAULT_LED_PIN + gpio_init(PICO_DEFAULT_LED_PIN); + gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT); +#elif defined(CYW43_WL_GPIO_LED_PIN) + hard_assert(cyw43_arch_init() == PICO_OK); + pico_set_led(false); // make sure cyw43 is started +#endif +} + +void blink_task(__unused void *params) { + bool on = false; + printf("blink_task starts\n"); + pico_init_led(); + while (true) { +#if configNUMBER_OF_CORES > 1 + static int last_core_id = -1; + if (portGET_CORE_ID() != last_core_id) { + last_core_id = portGET_CORE_ID(); + printf("blink task is on core %d\n", last_core_id); + } +#endif + pico_set_led(on); + on = !on; + +#if LED_BUSY_WAIT + // You shouldn't usually do this. We're just keeping the thread busy, + // experiment with BLINK_TASK_PRIORITY and LED_BUSY_WAIT to see what happens + // if BLINK_TASK_PRIORITY is higher than TEST_TASK_PRIORITY main_task won't get any free time to run + // unless configNUMBER_OF_CORES > 1 + busy_wait_ms(LED_DELAY_MS); +#else + sleep_ms(LED_DELAY_MS); +#endif + } +} +#endif // USE_LED + +// async workers run in their own thread when using async_context_freertos_t with priority WORKER_TASK_PRIORITY +static void do_work(async_context_t *context, async_at_time_worker_t *worker) { + async_context_add_at_time_worker_in_ms(context, worker, 10000); + static uint32_t count = 0; + printf("Hello from worker count=%u\n", count++); +#if configNUMBER_OF_CORES > 1 + static int last_core_id = -1; + if (portGET_CORE_ID() != last_core_id) { + last_core_id = portGET_CORE_ID(); + printf("worker is on core %d\n", last_core_id); + } +#endif +} +async_at_time_worker_t worker_timeout = { .do_work = do_work }; + +void main_task(__unused void *params) { + async_context_t *context = example_async_context(); + // start the worker running + async_context_add_at_time_worker_in_ms(context, &worker_timeout, 0); +#if USE_LED + // start the led blinking + xTaskCreate(blink_task, "BlinkThread", BLINK_TASK_STACK_SIZE, NULL, BLINK_TASK_PRIORITY, NULL); +#endif + int count = 0; + while(true) { +#if configNUMBER_OF_CORES > 1 + static int last_core_id = -1; + if (portGET_CORE_ID() != last_core_id) { + last_core_id = portGET_CORE_ID(); + printf("main task is on core %d\n", last_core_id); + } +#endif + printf("Hello from main task count=%u\n", count++); + vTaskDelay(3000); + } + async_context_deinit(context); +} + +void vLaunch( void) { + TaskHandle_t task; + xTaskCreate(main_task, "MainThread", MAIN_TASK_STACK_SIZE, NULL, MAIN_TASK_PRIORITY, &task); + +#if configUSE_CORE_AFFINITY && configNUMBER_OF_CORES > 1 + // we must bind the main task to one core (well at least while the init is called) + vTaskCoreAffinitySet(task, 1); +#endif + + /* Start the tasks and timer running. */ + vTaskStartScheduler(); +} + +int main( void ) +{ + stdio_init_all(); + + /* Configure the hardware ready to run the demo. */ + const char *rtos_name; +#if (configNUMBER_OF_CORES > 1) + rtos_name = "FreeRTOS SMP"; +#else + rtos_name = "FreeRTOS"; +#endif + +#if (configNUMBER_OF_CORES > 1) + printf("Starting %s on both cores:\n", rtos_name); + vLaunch(); +#elif (RUN_FREE_RTOS_ON_CORE == 1 && configNUMBER_OF_CORES==1) + printf("Starting %s on core 1:\n", rtos_name); + multicore_launch_core1(vLaunch); + while (true); +#else + printf("Starting %s on core 0:\n", rtos_name); + vLaunch(); +#endif + return 0; +} diff --git a/gpio/CMakeLists.txt b/gpio/CMakeLists.txt index f06bf41f6..d1f842383 100644 --- a/gpio/CMakeLists.txt +++ b/gpio/CMakeLists.txt @@ -1,5 +1,3 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(dht_sensor) - add_subdirectory(hello_7segment) - add_subdirectory(hello_gpio_irq) -endif () +add_subdirectory_exclude_platforms(dht_sensor host) +add_subdirectory_exclude_platforms(hello_7segment host) +add_subdirectory_exclude_platforms(hello_gpio_irq host) diff --git a/hello_world/CMakeLists.txt b/hello_world/CMakeLists.txt index b1e0a1a2e..b27fd9154 100644 --- a/hello_world/CMakeLists.txt +++ b/hello_world/CMakeLists.txt @@ -1,2 +1,2 @@ -add_subdirectory(serial) -add_subdirectory(usb) +add_subdirectory_exclude_platforms(serial) +add_subdirectory_exclude_platforms(usb) diff --git a/hello_world/usb/CMakeLists.txt b/hello_world/usb/CMakeLists.txt index 01f8d0636..aa176eb93 100644 --- a/hello_world/usb/CMakeLists.txt +++ b/hello_world/usb/CMakeLists.txt @@ -16,5 +16,5 @@ if (TARGET tinyusb_device) # add url via pico_set_program_url example_auto_set_url(hello_usb) elseif(PICO_ON_DEVICE) - message(WARNING "not building hello_usb because TinyUSB submodule is not initialized in the SDK") + message("Skipping hello_usb because TinyUSB submodule is not initialized in the SDK") endif() diff --git a/hstx/CMakeLists.txt b/hstx/CMakeLists.txt new file mode 100644 index 000000000..e286cf3d1 --- /dev/null +++ b/hstx/CMakeLists.txt @@ -0,0 +1,2 @@ +add_subdirectory_exclude_platforms(dvi_out_hstx_encoder host rp2040) +add_subdirectory_exclude_platforms(spi_lcd host rp2040) diff --git a/hstx/dvi_out_hstx_encoder/CMakeLists.txt b/hstx/dvi_out_hstx_encoder/CMakeLists.txt new file mode 100644 index 000000000..4c9b3a345 --- /dev/null +++ b/hstx/dvi_out_hstx_encoder/CMakeLists.txt @@ -0,0 +1,18 @@ +add_executable(dvi_out_hstx_encoder + dvi_out_hstx_encoder.c + ) + +target_include_directories(dvi_out_hstx_encoder PRIVATE + ${CMAKE_CURRENT_LIST_DIR}/images + ) + +# pull in common dependencies +target_link_libraries(dvi_out_hstx_encoder + pico_stdlib + pico_multicore + hardware_dma + pico_sync + ) + +# create map/bin/hex/uf2 file etc. +pico_add_extra_outputs(dvi_out_hstx_encoder) diff --git a/hstx/dvi_out_hstx_encoder/dvi_out_hstx_encoder.c b/hstx/dvi_out_hstx_encoder/dvi_out_hstx_encoder.c new file mode 100644 index 000000000..5c92cefa5 --- /dev/null +++ b/hstx/dvi_out_hstx_encoder/dvi_out_hstx_encoder.c @@ -0,0 +1,264 @@ +// Copyright (c) 2024 Raspberry Pi (Trading) Ltd. + +// Generate DVI output using the command expander and TMDS encoder in HSTX. + +// This example requires an external digital video connector connected to +// GPIOs 12 through 19 (the HSTX-capable GPIOs) with appropriate +// current-limiting resistors, e.g. 270 ohms. The pinout used in this example +// matches the Pico DVI Sock board, which can be soldered onto a Pico 2: +// https://github.com/Wren6991/Pico-DVI-Sock + +#include "hardware/dma.h" +#include "hardware/gpio.h" +#include "hardware/irq.h" +#include "hardware/structs/bus_ctrl.h" +#include "hardware/structs/hstx_ctrl.h" +#include "hardware/structs/hstx_fifo.h" +#include "hardware/structs/sio.h" +#include "pico/multicore.h" +#include "pico/sem.h" + +#include "mountains_640x480_rgb332.h" +#define framebuf mountains_640x480 + +// ---------------------------------------------------------------------------- +// DVI constants + +#define TMDS_CTRL_00 0x354u +#define TMDS_CTRL_01 0x0abu +#define TMDS_CTRL_10 0x154u +#define TMDS_CTRL_11 0x2abu + +#define SYNC_V0_H0 (TMDS_CTRL_00 | (TMDS_CTRL_00 << 10) | (TMDS_CTRL_00 << 20)) +#define SYNC_V0_H1 (TMDS_CTRL_01 | (TMDS_CTRL_00 << 10) | (TMDS_CTRL_00 << 20)) +#define SYNC_V1_H0 (TMDS_CTRL_10 | (TMDS_CTRL_00 << 10) | (TMDS_CTRL_00 << 20)) +#define SYNC_V1_H1 (TMDS_CTRL_11 | (TMDS_CTRL_00 << 10) | (TMDS_CTRL_00 << 20)) + +#define MODE_H_SYNC_POLARITY 0 +#define MODE_H_FRONT_PORCH 16 +#define MODE_H_SYNC_WIDTH 96 +#define MODE_H_BACK_PORCH 48 +#define MODE_H_ACTIVE_PIXELS 640 + +#define MODE_V_SYNC_POLARITY 0 +#define MODE_V_FRONT_PORCH 10 +#define MODE_V_SYNC_WIDTH 2 +#define MODE_V_BACK_PORCH 33 +#define MODE_V_ACTIVE_LINES 480 + +#define MODE_H_TOTAL_PIXELS ( \ + MODE_H_FRONT_PORCH + MODE_H_SYNC_WIDTH + \ + MODE_H_BACK_PORCH + MODE_H_ACTIVE_PIXELS \ +) +#define MODE_V_TOTAL_LINES ( \ + MODE_V_FRONT_PORCH + MODE_V_SYNC_WIDTH + \ + MODE_V_BACK_PORCH + MODE_V_ACTIVE_LINES \ +) + +#define HSTX_CMD_RAW (0x0u << 12) +#define HSTX_CMD_RAW_REPEAT (0x1u << 12) +#define HSTX_CMD_TMDS (0x2u << 12) +#define HSTX_CMD_TMDS_REPEAT (0x3u << 12) +#define HSTX_CMD_NOP (0xfu << 12) + +// ---------------------------------------------------------------------------- +// HSTX command lists + +// Lists are padded with NOPs to be >= HSTX FIFO size, to avoid DMA rapidly +// pingponging and tripping up the IRQs. + +static uint32_t vblank_line_vsync_off[] = { + HSTX_CMD_RAW_REPEAT | MODE_H_FRONT_PORCH, + SYNC_V1_H1, + HSTX_CMD_RAW_REPEAT | MODE_H_SYNC_WIDTH, + SYNC_V1_H0, + HSTX_CMD_RAW_REPEAT | (MODE_H_BACK_PORCH + MODE_H_ACTIVE_PIXELS), + SYNC_V1_H1, + HSTX_CMD_NOP +}; + +static uint32_t vblank_line_vsync_on[] = { + HSTX_CMD_RAW_REPEAT | MODE_H_FRONT_PORCH, + SYNC_V0_H1, + HSTX_CMD_RAW_REPEAT | MODE_H_SYNC_WIDTH, + SYNC_V0_H0, + HSTX_CMD_RAW_REPEAT | (MODE_H_BACK_PORCH + MODE_H_ACTIVE_PIXELS), + SYNC_V0_H1, + HSTX_CMD_NOP +}; + +static uint32_t vactive_line[] = { + HSTX_CMD_RAW_REPEAT | MODE_H_FRONT_PORCH, + SYNC_V1_H1, + HSTX_CMD_NOP, + HSTX_CMD_RAW_REPEAT | MODE_H_SYNC_WIDTH, + SYNC_V1_H0, + HSTX_CMD_NOP, + HSTX_CMD_RAW_REPEAT | MODE_H_BACK_PORCH, + SYNC_V1_H1, + HSTX_CMD_TMDS | MODE_H_ACTIVE_PIXELS +}; + +// ---------------------------------------------------------------------------- +// DMA logic + +#define DMACH_PING 0 +#define DMACH_PONG 1 + +// First we ping. Then we pong. Then... we ping again. +static bool dma_pong = false; + +// A ping and a pong are cued up initially, so the first time we enter this +// handler it is to cue up the second ping after the first ping has completed. +// This is the third scanline overall (-> =2 because zero-based). +static uint v_scanline = 2; + +// During the vertical active period, we take two IRQs per scanline: one to +// post the command list, and another to post the pixels. +static bool vactive_cmdlist_posted = false; + +void __scratch_x("") dma_irq_handler() { + // dma_pong indicates the channel that just finished, which is the one + // we're about to reload. + uint ch_num = dma_pong ? DMACH_PONG : DMACH_PING; + dma_channel_hw_t *ch = &dma_hw->ch[ch_num]; + dma_hw->intr = 1u << ch_num; + dma_pong = !dma_pong; + + if (v_scanline >= MODE_V_FRONT_PORCH && v_scanline < (MODE_V_FRONT_PORCH + MODE_V_SYNC_WIDTH)) { + ch->read_addr = (uintptr_t)vblank_line_vsync_on; + ch->transfer_count = count_of(vblank_line_vsync_on); + } else if (v_scanline < MODE_V_FRONT_PORCH + MODE_V_SYNC_WIDTH + MODE_V_BACK_PORCH) { + ch->read_addr = (uintptr_t)vblank_line_vsync_off; + ch->transfer_count = count_of(vblank_line_vsync_off); + } else if (!vactive_cmdlist_posted) { + ch->read_addr = (uintptr_t)vactive_line; + ch->transfer_count = count_of(vactive_line); + vactive_cmdlist_posted = true; + } else { + ch->read_addr = (uintptr_t)&framebuf[(v_scanline - (MODE_V_TOTAL_LINES - MODE_V_ACTIVE_LINES)) * MODE_H_ACTIVE_PIXELS]; + ch->transfer_count = MODE_H_ACTIVE_PIXELS / sizeof(uint32_t); + vactive_cmdlist_posted = false; + } + + if (!vactive_cmdlist_posted) { + v_scanline = (v_scanline + 1) % MODE_V_TOTAL_LINES; + } +} + +// ---------------------------------------------------------------------------- +// Main program + +static __force_inline uint16_t colour_rgb565(uint8_t r, uint8_t g, uint8_t b) { + return ((uint16_t)r & 0xf8) >> 3 | ((uint16_t)g & 0xfc) << 3 | ((uint16_t)b & 0xf8) << 8; +} + +static __force_inline uint8_t colour_rgb332(uint8_t r, uint8_t g, uint8_t b) { + return (r & 0xc0) >> 6 | (g & 0xe0) >> 3 | (b & 0xe0) >> 0; +} + +void scroll_framebuffer(void); + +int main(void) { + // Configure HSTX's TMDS encoder for RGB332 + hstx_ctrl_hw->expand_tmds = + 2 << HSTX_CTRL_EXPAND_TMDS_L2_NBITS_LSB | + 0 << HSTX_CTRL_EXPAND_TMDS_L2_ROT_LSB | + 2 << HSTX_CTRL_EXPAND_TMDS_L1_NBITS_LSB | + 29 << HSTX_CTRL_EXPAND_TMDS_L1_ROT_LSB | + 1 << HSTX_CTRL_EXPAND_TMDS_L0_NBITS_LSB | + 26 << HSTX_CTRL_EXPAND_TMDS_L0_ROT_LSB; + + // Pixels (TMDS) come in 4 8-bit chunks. Control symbols (RAW) are an + // entire 32-bit word. + hstx_ctrl_hw->expand_shift = + 4 << HSTX_CTRL_EXPAND_SHIFT_ENC_N_SHIFTS_LSB | + 8 << HSTX_CTRL_EXPAND_SHIFT_ENC_SHIFT_LSB | + 1 << HSTX_CTRL_EXPAND_SHIFT_RAW_N_SHIFTS_LSB | + 0 << HSTX_CTRL_EXPAND_SHIFT_RAW_SHIFT_LSB; + + // Serial output config: clock period of 5 cycles, pop from command + // expander every 5 cycles, shift the output shiftreg by 2 every cycle. + hstx_ctrl_hw->csr = 0; + hstx_ctrl_hw->csr = + HSTX_CTRL_CSR_EXPAND_EN_BITS | + 5u << HSTX_CTRL_CSR_CLKDIV_LSB | + 5u << HSTX_CTRL_CSR_N_SHIFTS_LSB | + 2u << HSTX_CTRL_CSR_SHIFT_LSB | + HSTX_CTRL_CSR_EN_BITS; + + // Note we are leaving the HSTX clock at the SDK default of 125 MHz; since + // we shift out two bits per HSTX clock cycle, this gives us an output of + // 250 Mbps, which is very close to the bit clock for 480p 60Hz (252 MHz). + // If we want the exact rate then we'll have to reconfigure PLLs. + + // HSTX outputs 0 through 7 appear on GPIO 12 through 19. + // Pinout on Pico DVI sock: + // + // GP12 D0+ GP13 D0- + // GP14 CK+ GP15 CK- + // GP16 D2+ GP17 D2- + // GP18 D1+ GP19 D1- + + // Assign clock pair to two neighbouring pins: + hstx_ctrl_hw->bit[2] = HSTX_CTRL_BIT0_CLK_BITS; + hstx_ctrl_hw->bit[3] = HSTX_CTRL_BIT0_CLK_BITS | HSTX_CTRL_BIT0_INV_BITS; + for (uint lane = 0; lane < 3; ++lane) { + // For each TMDS lane, assign it to the correct GPIO pair based on the + // desired pinout: + static const int lane_to_output_bit[3] = {0, 6, 4}; + int bit = lane_to_output_bit[lane]; + // Output even bits during first half of each HSTX cycle, and odd bits + // during second half. The shifter advances by two bits each cycle. + uint32_t lane_data_sel_bits = + (lane * 10 ) << HSTX_CTRL_BIT0_SEL_P_LSB | + (lane * 10 + 1) << HSTX_CTRL_BIT0_SEL_N_LSB; + // The two halves of each pair get identical data, but one pin is inverted. + hstx_ctrl_hw->bit[bit ] = lane_data_sel_bits; + hstx_ctrl_hw->bit[bit + 1] = lane_data_sel_bits | HSTX_CTRL_BIT0_INV_BITS; + } + + for (int i = 12; i <= 19; ++i) { + gpio_set_function(i, 0); // HSTX + } + + // Both channels are set up identically, to transfer a whole scanline and + // then chain to the opposite channel. Each time a channel finishes, we + // reconfigure the one that just finished, meanwhile the opposite channel + // is already making progress. + dma_channel_config c; + c = dma_channel_get_default_config(DMACH_PING); + channel_config_set_chain_to(&c, DMACH_PONG); + channel_config_set_dreq(&c, DREQ_HSTX); + dma_channel_configure( + DMACH_PING, + &c, + &hstx_fifo_hw->fifo, + vblank_line_vsync_off, + count_of(vblank_line_vsync_off), + false + ); + c = dma_channel_get_default_config(DMACH_PONG); + channel_config_set_chain_to(&c, DMACH_PING); + channel_config_set_dreq(&c, DREQ_HSTX); + dma_channel_configure( + DMACH_PONG, + &c, + &hstx_fifo_hw->fifo, + vblank_line_vsync_off, + count_of(vblank_line_vsync_off), + false + ); + + dma_hw->ints0 = (1u << DMACH_PING) | (1u << DMACH_PONG); + dma_hw->inte0 = (1u << DMACH_PING) | (1u << DMACH_PONG); + irq_set_exclusive_handler(DMA_IRQ_0, dma_irq_handler); + irq_set_enabled(DMA_IRQ_0, true); + + bus_ctrl_hw->priority = BUSCTRL_BUS_PRIORITY_DMA_W_BITS | BUSCTRL_BUS_PRIORITY_DMA_R_BITS; + + dma_channel_start(DMACH_PING); + + while (1) + __wfi(); +} diff --git a/hstx/dvi_out_hstx_encoder/images/mountains_640x480_rgb332.h b/hstx/dvi_out_hstx_encoder/images/mountains_640x480_rgb332.h new file mode 100644 index 000000000..8f147b0fa --- /dev/null +++ b/hstx/dvi_out_hstx_encoder/images/mountains_640x480_rgb332.h @@ -0,0 +1,19207 @@ +#ifndef _IMG_ASSET_SECTION +#define _IMG_ASSET_SECTION ".data" +#endif + +static char __attribute__((aligned(4), section(_IMG_ASSET_SECTION ".mountains_640x480"))) mountains_640x480[] = { + 0x24, 0x45, 0x45, 0x49, 0x24, 0x45, 0x24, 0x49, 0x49, 0x49, 0x49, 0x25, 0x6e, 0x4a, 0x6e, 0x73, + 0x4e, 0x72, 0x6e, 0x73, 0x4e, 0x72, 0x6e, 0x73, 0x4e, 0x72, 0x6e, 0x73, 0x4e, 0x72, 0x4e, 0x73, + 0x4e, 0x6e, 0x4e, 0x73, 0x4e, 0x6e, 0x4e, 0x72, 0x4e, 0x6e, 0x4e, 0x6e, 0x4e, 0x6e, 0x4e, 0x6e, + 0x4e, 0x6e, 0x4e, 0x6e, 0x4e, 0x6e, 0x4e, 0x6e, 0x4e, 0x6e, 0x4e, 0x6e, 0x4e, 0x6e, 0x4e, 0x6e, + 0x4e, 0x4e, 0x4e, 0x6e, 0x4e, 0x6e, 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LCD using the HSTX. The SPI clock rate is fully +// independent of (and can be faster than) the system clock. + +// You'll need an LCD module for this example. It was tested with: WaveShare +// 1.3 inch ST7789 module. Wire up the signals as per PIN_xxx defines below, +// and don't forget to connect GND and VCC to GND/3V3 on your board! +// +// Theory of operation: Each 32-bit HSTX record contains 3 x 8-bit fields: +// +// 27:20 CSn x8 (noninverted CSn pin) +// 17:10 !DC x 8 (inverted DC pin) +// 7: 0 data bits (DIN pin) +// +// SCK is driven by the HSTX clock generator. We do issue extra clocks whilst +// CSn is high, but this should be ignored by the display. Packing the +// control lines in the HSTX FIFO records makes it easy to drive them in sync +// with SCK without having to reach around and do manual GPIO wiggling. + +#include "pico/stdlib.h" +#include "hardware/resets.h" +#include "hardware/structs/clocks.h" +#include "hardware/structs/hstx_ctrl.h" +#include "hardware/structs/hstx_fifo.h" + +// These can be any permutation of HSTX-capable pins: +#define PIN_DIN 12 +#define PIN_SCK 13 +#define PIN_CS 14 +#define PIN_DC 15 +// These can be any pin: +#define PIN_RESET 16 +#define PIN_BL 17 + +#define FIRST_HSTX_PIN 12 +#if PIN_DIN < FIRST_HSTX_PIN || PIN_DIN >= FIRST_HSTX_PIN + 8 +#error "Must be an HSTX-capable pin: DIN" +#elif PIN_SCK < FIRST_HSTX_PIN || PIN_SCK >= FIRST_HSTX_PIN + 8 +#error "Must be an HSTX-capable pin: SCK" +#elif PIN_CS < FIRST_HSTX_PIN || PIN_CS >= FIRST_HSTX_PIN + 8 +#error "Must be an HSTX-capable pin: CS" +#elif PIN_DC < FIRST_HSTX_PIN || PIN_DC >= FIRST_HSTX_PIN + 8 +#error "Must be an HSTX-capable pin: DC" +#endif + +static inline void hstx_put_word(uint32_t data) { + while (hstx_fifo_hw->stat & HSTX_FIFO_STAT_FULL_BITS) + ; + hstx_fifo_hw->fifo = data; +} + +static inline void lcd_put_dc_cs_data(bool dc, bool csn, uint8_t data) { + hstx_put_word( + (uint32_t)data | + (csn ? 0x0ff00000u : 0x00000000u) | + // Note DC gets inverted inside of HSTX: + (dc ? 0x00000000u : 0x0003fc00u) + ); +} + +static inline void lcd_start_cmd(uint8_t cmd) { + lcd_put_dc_cs_data(false, true, 0); + lcd_put_dc_cs_data(false, false, cmd); +} + +static inline void lcd_put_data(uint32_t data) { + lcd_put_dc_cs_data(true, false, data); +} + +// Format: cmd length (including cmd byte), post delay in units of 5 ms, then cmd payload +// Note the delays have been shortened a little +#define SCREEN_WIDTH 240 +#define SCREEN_HEIGHT 240 +static const uint8_t st7789_init_seq[] = { + 1, 20, 0x01, // Software reset + 1, 10, 0x11, // Exit sleep mode + 2, 2, 0x3a, 0x55, // Set colour mode to 16 bit + 2, 0, 0x36, 0x00, // Set MADCTL: row then column, refresh is bottom to top ???? + 5, 0, 0x2a, 0x00, 0x00, // CASET: column addresses + SCREEN_WIDTH >> 8, SCREEN_WIDTH & 0xff, + 5, 0, 0x2b, 0x00, 0x00, // RASET: row addresses + SCREEN_HEIGHT >> 8, SCREEN_HEIGHT & 0xff, + 1, 2, 0x21, // Inversion on, then 10 ms delay (supposedly a hack?) + 1, 2, 0x13, // Normal display on, then 10 ms delay + 1, 2, 0x29, // Main screen turn on, then wait 500 ms + 0 // Terminate list +}; + +static inline void lcd_write_cmd(const uint8_t *cmd, size_t count) { + lcd_start_cmd(*cmd++); + if (count >= 2) { + for (size_t i = 0; i < count - 1; ++i) { + lcd_put_data(*cmd++); + } + } +} + +static inline void lcd_init(const uint8_t *init_seq) { + const uint8_t *cmd = init_seq; + while (*cmd) { + lcd_write_cmd(cmd + 2, *cmd); + sleep_ms(*(cmd + 1) * 5); + cmd += *cmd + 2; + } +} + +static inline void lcd_start_pixels(void) { + uint8_t cmd = 0x2c; // RAMWR + lcd_write_cmd(&cmd, 1); +} + +int main() { + stdio_init_all(); + + // Switch HSTX to USB PLL (presumably 48 MHz) because clk_sys is probably + // running a bit too fast for this example -- 48 MHz means 48 Mbps on + // PIN_DIN. Need to reset around clock mux change, as the AUX mux can + // introduce short clock pulses: + reset_block(RESETS_RESET_HSTX_BITS); + hw_write_masked( + &clocks_hw->clk[clk_hstx].ctrl, + CLOCKS_CLK_HSTX_CTRL_AUXSRC_VALUE_CLKSRC_PLL_USB << CLOCKS_CLK_HSTX_CTRL_AUXSRC_LSB, + CLOCKS_CLK_HSTX_CTRL_AUXSRC_BITS + ); + unreset_block_wait(RESETS_RESET_HSTX_BITS); + + gpio_init(PIN_RESET); + gpio_init(PIN_BL); + gpio_set_dir(PIN_RESET, GPIO_OUT); + gpio_set_dir(PIN_BL, GPIO_OUT); + gpio_put(PIN_RESET, 1); + gpio_put(PIN_BL, 1); + + hstx_ctrl_hw->bit[PIN_SCK - FIRST_HSTX_PIN] = + HSTX_CTRL_BIT0_CLK_BITS; + + hstx_ctrl_hw->bit[PIN_DIN - FIRST_HSTX_PIN] = + (7u << HSTX_CTRL_BIT0_SEL_P_LSB) | + (7u << HSTX_CTRL_BIT0_SEL_N_LSB); + + hstx_ctrl_hw->bit[PIN_CS - FIRST_HSTX_PIN] = + (27u << HSTX_CTRL_BIT0_SEL_P_LSB) | + (27u << HSTX_CTRL_BIT0_SEL_N_LSB); + + hstx_ctrl_hw->bit[PIN_DC - FIRST_HSTX_PIN] = + (17u << HSTX_CTRL_BIT0_SEL_P_LSB) | + (17u << HSTX_CTRL_BIT0_SEL_N_LSB) | + (HSTX_CTRL_BIT0_INV_BITS); + + // We have packed 8-bit fields, so shift left 1 bit/cycle, 8 times. + hstx_ctrl_hw->csr = + HSTX_CTRL_CSR_EN_BITS | + (31u << HSTX_CTRL_CSR_SHIFT_LSB) | + (8u << HSTX_CTRL_CSR_N_SHIFTS_LSB) | + (1u << HSTX_CTRL_CSR_CLKDIV_LSB); + + gpio_set_function(PIN_SCK, 0/*GPIO_FUNC_HSTX*/); + gpio_set_function(PIN_DIN, 0/*GPIO_FUNC_HSTX*/); + gpio_set_function(PIN_CS, 0/*GPIO_FUNC_HSTX*/); + gpio_set_function(PIN_DC, 0/*GPIO_FUNC_HSTX*/); + + lcd_init(st7789_init_seq); + + uint t = 0; + while (true) { + lcd_start_pixels(); + for (uint y = 0; y < SCREEN_HEIGHT; ++y) { + for (uint x = 0; x < SCREEN_WIDTH; ++x) { + uint r = (x + t) & 0x1f; + uint b = (y - t) & 0x1f; + uint g = (x + y + (t >> 1)) & 0x3f; + uint rgb = (r << 11) + (g << 5) + b; + lcd_put_data(rgb >> 8); + lcd_put_data(rgb & 0xff); + } + } + ++t; + } +} diff --git a/i2c/CMakeLists.txt b/i2c/CMakeLists.txt index 4b57e7f7c..6b9c1ebef 100644 --- a/i2c/CMakeLists.txt +++ b/i2c/CMakeLists.txt @@ -1,15 +1,17 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(bmp280_i2c) - add_subdirectory(bus_scan) - add_subdirectory(lcd_1602_i2c) - add_subdirectory(lis3dh_i2c) - add_subdirectory(mcp9808_i2c) - add_subdirectory(mma8451_i2c) - add_subdirectory(mpl3115a2_i2c) - add_subdirectory(mpu6050_i2c) - add_subdirectory(ssd1306_i2c) - add_subdirectory(pa1010d_i2c) - add_subdirectory(pcf8523_i2c) - add_subdirectory(ht16k33_i2c) - add_subdirectory(slave_mem_i2c) -endif () +if (TARGET hardware_i2c) + add_subdirectory_exclude_platforms(bmp280_i2c) + add_subdirectory_exclude_platforms(bus_scan) + add_subdirectory_exclude_platforms(lcd_1602_i2c) + add_subdirectory_exclude_platforms(lis3dh_i2c) + add_subdirectory_exclude_platforms(mcp9808_i2c) + add_subdirectory_exclude_platforms(mma8451_i2c) + add_subdirectory_exclude_platforms(mpl3115a2_i2c) + add_subdirectory_exclude_platforms(mpu6050_i2c) + add_subdirectory_exclude_platforms(ssd1306_i2c) + add_subdirectory_exclude_platforms(pa1010d_i2c) + add_subdirectory_exclude_platforms(pcf8523_i2c) + add_subdirectory_exclude_platforms(ht16k33_i2c) + add_subdirectory_exclude_platforms(slave_mem_i2c) +else() + message("Skipping I2C examples as hardware_i2c is unavailable on this platform") +endif() diff --git a/i2c/ht16k33_i2c/ht16k33_i2c.c b/i2c/ht16k33_i2c/ht16k33_i2c.c index 2ef8a3c80..9a44d5496 100644 --- a/i2c/ht16k33_i2c/ht16k33_i2c.c +++ b/i2c/ht16k33_i2c/ht16k33_i2c.c @@ -177,7 +177,7 @@ int main() { // Do a speeding up propeller effort using the inner segments int bits[] = {0x40, 0x0100, 0x0200, 0x0400, 0x80, 0x2000, 0x1000, 0x0800}; for (int j = 0;j < 10;j++) { - for (int i = 0;i< count_of(bits); i++) { + for (uint i = 0;i< count_of(bits); i++) { for (int digit = 0;digit <= NUM_DIGITS; digit++) { ht16k33_display_set(digit, bits[i]); } @@ -189,7 +189,7 @@ int main() { "Help", "I am", "in a", "Pico", "and ", "Cant", "get ", "out " }; - for (int i = 0; i < count_of(strs); i++) { + for (uint i = 0; i < count_of(strs); i++) { ht16k33_display_string(strs[i]); sleep_ms(500); } diff --git a/i2c/lcd_1602_i2c/lcd_1602_i2c.c b/i2c/lcd_1602_i2c/lcd_1602_i2c.c index d3a647d06..1a54c4a42 100644 --- a/i2c/lcd_1602_i2c/lcd_1602_i2c.c +++ b/i2c/lcd_1602_i2c/lcd_1602_i2c.c @@ -107,7 +107,7 @@ void lcd_set_cursor(int line, int position) { lcd_send_byte(val, LCD_COMMAND); } -static void inline lcd_char(char val) { +static inline void lcd_char(char val) { lcd_send_byte(val, LCD_CHARACTER); } @@ -154,7 +154,7 @@ int main() { }; while (1) { - for (int m = 0; m < sizeof(message) / sizeof(message[0]); m += MAX_LINES) { + for (uint m = 0; m < sizeof(message) / sizeof(message[0]); m += MAX_LINES) { for (int line = 0; line < MAX_LINES; line++) { lcd_set_cursor(line, (MAX_CHARS / 2) - strlen(message[m + line]) / 2); lcd_string(message[m + line]); diff --git a/i2c/mpl3115a2_i2c/mpl3115a2_i2c.c b/i2c/mpl3115a2_i2c/mpl3115a2_i2c.c index ad9c0c920..d09fc1d40 100644 --- a/i2c/mpl3115a2_i2c/mpl3115a2_i2c.c +++ b/i2c/mpl3115a2_i2c/mpl3115a2_i2c.c @@ -63,7 +63,7 @@ struct mpl3115a2_data_t { float altitude; }; -void copy_to_vbuf(uint8_t buf1[], volatile uint8_t buf2[], int buflen) { +void copy_to_vbuf(uint8_t buf1[], volatile uint8_t buf2[], uint buflen) { for (size_t i = 0; i < buflen; i++) { buf2[i] = buf1[i]; } @@ -123,7 +123,7 @@ void mpl3115a2_init() { i2c_write_blocking(i2c_default, ADDR, buf, 2, false); } -void gpio_callback(uint gpio, uint32_t events) { +void gpio_callback(uint gpio, __unused uint32_t events) { // if we had enabled more than 2 interrupts on same pin, then we should read // INT_SOURCE reg to find out which interrupt triggered diff --git a/i2c/ssd1306_i2c/img_to_array.py b/i2c/ssd1306_i2c/img_to_array.py index b90b40230..ee4b6c7a3 100755 --- a/i2c/ssd1306_i2c/img_to_array.py +++ b/i2c/ssd1306_i2c/img_to_array.py @@ -73,7 +73,7 @@ buffer.append(f'{out_byte:#04x}') buffer = ", ".join(buffer) -buffer_hex = f'static uint8_t {img_name}[] = {{{buffer}}}\n' +buffer_hex = f'static uint8_t {img_name}[] = {{{buffer}}};\n' with open(f'{img_name}.h', 'wt') as file: file.write(f'#define IMG_WIDTH {img_width}\n') diff --git a/i2c/ssd1306_i2c/ssd1306_i2c.c b/i2c/ssd1306_i2c/ssd1306_i2c.c index 6c2a2ba90..6be5ea42c 100644 --- a/i2c/ssd1306_i2c/ssd1306_i2c.c +++ b/i2c/ssd1306_i2c/ssd1306_i2c.c @@ -389,7 +389,7 @@ int main() { }; int y = 0; - for (int i = 0 ;i < count_of(text); i++) { + for (uint i = 0 ;i < count_of(text); i++) { WriteString(buf, 5, y, text[i]); y+=8; } diff --git a/interp/CMakeLists.txt b/interp/CMakeLists.txt index 8261d1b04..52003431e 100644 --- a/interp/CMakeLists.txt +++ b/interp/CMakeLists.txt @@ -1,3 +1,5 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(hello_interp) -endif () +if (TARGET hardware_interp) + add_subdirectory_exclude_platforms(hello_interp) +else() + message("Skipping interp examples as hardware_interp is unavailable on this platform") +endif() diff --git a/multicore/CMakeLists.txt b/multicore/CMakeLists.txt index 767e0f8b2..33640826b 100644 --- a/multicore/CMakeLists.txt +++ b/multicore/CMakeLists.txt @@ -1,6 +1,10 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(hello_multicore) - add_subdirectory(multicore_fifo_irqs) - add_subdirectory(multicore_runner) - add_subdirectory(multicore_runner_queue) -endif () +if (TARGET pico_multicore) + add_subdirectory_exclude_platforms(hello_multicore host) + # currently broken on RP2350 due to both cores sharing IRQ + add_subdirectory_exclude_platforms(multicore_fifo_irqs host "rp2350.*") + add_subdirectory_exclude_platforms(multicore_runner host) + add_subdirectory_exclude_platforms(multicore_runner_queue host) + add_subdirectory_exclude_platforms(multicore_doorbell host rp2040) +else() + message("Skipping multicore examples as pico_multicore is unavailable on this platform") +endif() diff --git a/multicore/multicore_doorbell/CMakeLists.txt b/multicore/multicore_doorbell/CMakeLists.txt new file mode 100644 index 000000000..8e2493e18 --- /dev/null +++ b/multicore/multicore_doorbell/CMakeLists.txt @@ -0,0 +1,8 @@ +add_executable(multicore_doorbell + multicore_doorbell.c + ) +target_link_libraries(multicore_doorbell + pico_stdlib + pico_multicore) +pico_add_extra_outputs(multicore_doorbell) +example_auto_set_url(multicore_doorbell) diff --git a/multicore/multicore_doorbell/multicore_doorbell.c b/multicore/multicore_doorbell/multicore_doorbell.c new file mode 100644 index 000000000..c4f391d2d --- /dev/null +++ b/multicore/multicore_doorbell/multicore_doorbell.c @@ -0,0 +1,79 @@ +/** + * Copyright (c) 2024 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include "pico/stdlib.h" +#include "pico/multicore.h" + +#define ITERATIONS 100000 + +static int doorbell_counter; +static int doorbell_exit; +static uint32_t doorbell_irq_count; +static bool exit_core0; + +// Handle the doorbell set from core0 +void core1_doorbell_irq() { + // Increment counter + if (multicore_doorbell_is_set_current_core(doorbell_counter)) { + doorbell_irq_count++; + multicore_doorbell_clear_current_core(doorbell_counter); + } + // Are we finished? + if (multicore_doorbell_is_set_current_core(doorbell_exit)) { + multicore_doorbell_clear_current_core(doorbell_exit); + exit_core0 = true; + } +} + +// code for core1 +void core1_entry() { + // Setup an interrupt handler for doorbells - there's actually only one for them all + uint32_t irq = multicore_doorbell_irq_num(doorbell_counter); + irq_set_exclusive_handler(irq, core1_doorbell_irq); + irq_set_enabled(irq, true); + + // Keep going until the exit doorbell is set + while (!exit_core0) { + tight_loop_contents(); + } + + printf("core1 is exiting\n"); + multicore_doorbell_set_other_core(doorbell_exit); +} + +int main() { + stdio_init_all(); + + // claim doorbells + doorbell_counter = multicore_doorbell_claim_unused((1 << NUM_CORES) - 1, true); + doorbell_exit = multicore_doorbell_claim_unused((1 << NUM_CORES) - 1, true); + + // Make sure the exit doorbell is not set for this core + multicore_doorbell_clear_current_core(doorbell_exit); + + // start core1 + multicore_launch_core1(core1_entry); + + // set doorbell_counter as quickly as possible in a loop, we'll see how many times the other core irq sees it + int count = ITERATIONS; + while (count--) { + multicore_doorbell_set_other_core(doorbell_counter); + } + + // tell core 1 to exit + multicore_doorbell_set_other_core(doorbell_exit); + + // wait for it to tell us it's done + while(!multicore_doorbell_is_set_current_core(doorbell_exit)) { + tight_loop_contents(); + } + stdio_flush(); + + // display results + printf("Final doorbell irq count %u/%d (%d%%)\n", doorbell_irq_count, ITERATIONS, doorbell_irq_count * 100 / ITERATIONS); + return 0; +} diff --git a/multicore/multicore_fifo_irqs/multicore_fifo_irqs.c b/multicore/multicore_fifo_irqs/multicore_fifo_irqs.c index fe5ab5704..abc6455ab 100644 --- a/multicore/multicore_fifo_irqs/multicore_fifo_irqs.c +++ b/multicore/multicore_fifo_irqs/multicore_fifo_irqs.c @@ -34,9 +34,8 @@ void core1_sio_irq() { void core1_entry() { multicore_fifo_clear_irq(); - irq_set_exclusive_handler(SIO_IRQ_PROC1, core1_sio_irq); - - irq_set_enabled(SIO_IRQ_PROC1, true); + irq_set_exclusive_handler(SIO_FIFO_IRQ_NUM(1), core1_sio_irq); + irq_set_enabled(SIO_FIFO_IRQ_NUM(1), true); // Send something to Core0, this should fire the interrupt. multicore_fifo_push_blocking(FLAG_VALUE1); @@ -55,8 +54,8 @@ int main() { // they are used for the launch will result in unexpected behaviour. multicore_launch_core1(core1_entry); - irq_set_exclusive_handler(SIO_IRQ_PROC0, core0_sio_irq); - irq_set_enabled(SIO_IRQ_PROC0, true); + irq_set_exclusive_handler(SIO_FIFO_IRQ_NUM(0), core0_sio_irq); + irq_set_enabled(SIO_FIFO_IRQ_NUM(0), true); // Wait for a bit for things to happen sleep_ms(10); diff --git a/multicore/multicore_runner/multicore_runner.c b/multicore/multicore_runner/multicore_runner.c index 3f89a908e..3a2a5995f 100644 --- a/multicore/multicore_runner/multicore_runner.c +++ b/multicore/multicore_runner/multicore_runner.c @@ -77,7 +77,7 @@ int main() { printf("Fibonacci %d is %d\n", TEST_NUM, res); - + return 0; } /// \end::multicore_dispatch[] diff --git a/multicore/multicore_runner_queue/multicore_runner_queue.c b/multicore/multicore_runner_queue/multicore_runner_queue.c index 046cda4ea..970a55335 100644 --- a/multicore/multicore_runner_queue/multicore_runner_queue.c +++ b/multicore/multicore_runner_queue/multicore_runner_queue.c @@ -93,4 +93,5 @@ int main() { queue_remove_blocking(&results_queue, &res); printf("Fibonacci %d is %d\n", TEST_NUM, res); + return 0; } diff --git a/otp/CMakeLists.txt b/otp/CMakeLists.txt new file mode 100644 index 000000000..60e9aafea --- /dev/null +++ b/otp/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory_exclude_platforms(hello_otp host rp2040) diff --git a/otp/hello_otp/CMakeLists.txt b/otp/hello_otp/CMakeLists.txt new file mode 100644 index 000000000..43397cd3e --- /dev/null +++ b/otp/hello_otp/CMakeLists.txt @@ -0,0 +1,12 @@ +add_executable(hello_otp + hello_otp.c + ) + +# pull in common dependencies +target_link_libraries(hello_otp pico_stdlib) + +# create map/bin/hex/uf2 file etc. +pico_add_extra_outputs(hello_otp) + +# add url via pico_set_program_url +example_auto_set_url(hello_otp) diff --git a/otp/hello_otp/hello_otp.c b/otp/hello_otp/hello_otp.c new file mode 100644 index 000000000..2d1488bbe --- /dev/null +++ b/otp/hello_otp/hello_otp.c @@ -0,0 +1,188 @@ +/** + * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include "pico/stdlib.h" +#include "pico/bootrom.h" +#include "hardware/structs/otp.h" + +int main() { + stdio_init_all(); + + otp_cmd_t cmd; + int8_t ret; + + // Row to write ECC data + uint16_t ecc_row = 0x400; + // Row to write raw data + uint16_t raw_row = 0x410; + + // Check rows are empty - else the rest of the tests won't behave as expected + unsigned char initial_data[32] = {0}; + cmd.flags = ecc_row; + ret = rom_func_otp_access(initial_data, sizeof(initial_data)/2, cmd); + if (ret) { + printf("ERROR: Initial ECC Row Read failed with error %d\n", ret); + } + cmd.flags = raw_row; + ret = rom_func_otp_access(initial_data+(sizeof(initial_data)/2), sizeof(initial_data)/2, cmd); + if (ret) { + printf("ERROR: Initial Raw Row Read failed with error %d\n", ret); + } + for (int i=0; i < sizeof(initial_data); i++) { + if (initial_data[i] != 0) { + printf("ERROR: This example requires empty OTP rows to run - change the ecc_row and raw_row variables to an empty row and recompile\n"); + return 0; + } + } + + if (ecc_row) { + // Write an ECC value to OTP - the buffer must have a multiple of 2 length for ECC data + unsigned char ecc_write_data[16] = "Hello from OTP"; + cmd.flags = ecc_row | OTP_CMD_ECC_BITS | OTP_CMD_WRITE_BITS; + ret = rom_func_otp_access(ecc_write_data, sizeof(ecc_write_data), cmd); + if (ret) { + printf("ERROR: ECC Write failed with error %d\n", ret); + } else { + printf("ECC Write succeeded\n"); + } + + // Read it back + unsigned char ecc_read_data[sizeof(ecc_write_data)] = {0}; + cmd.flags = ecc_row | OTP_CMD_ECC_BITS; + ret = rom_func_otp_access(ecc_read_data, sizeof(ecc_read_data), cmd); + if (ret) { + printf("ERROR: ECC Read failed with error %d\n", ret); + } else { + printf("ECC Data read is \"%s\"\n", ecc_read_data); + } + + // Set some bits, to demonstrate ECC error correction + unsigned char ecc_toggle_buffer[sizeof(ecc_write_data)*2] = {0}; + cmd.flags = ecc_row; + ret = rom_func_otp_access(ecc_toggle_buffer, sizeof(ecc_toggle_buffer), cmd); + if (ret) { + printf("ERROR: Raw read of ECC data failed with error %d\n", ret); + } else { + ecc_toggle_buffer[0] = 'x'; // will fail to recover, as flips 2 bits from 'H' (100_1000 -> 111_1000) + ecc_toggle_buffer[24] = 't'; // will recover, as only flips 1 bit from 'T' (101_0100 -> 111_0100) + cmd.flags = ecc_row | OTP_CMD_WRITE_BITS; + ret = rom_func_otp_access(ecc_toggle_buffer, sizeof(ecc_toggle_buffer), cmd); + if (ret) { + printf("ERROR: Raw overwrite of ECC data failed with error %d\n", ret); + } else { + printf("Raw overwrite of ECC data succeeded\n"); + } + } + + // Read it back + unsigned char ecc_toggled_read_data[sizeof(ecc_write_data)] = {0}; + cmd.flags = ecc_row | OTP_CMD_ECC_BITS; + ret = rom_func_otp_access(ecc_toggled_read_data, sizeof(ecc_toggled_read_data), cmd); + if (ret) { + printf("ERROR: ECC Read failed with error %d\n", ret); + } else { + printf("ECC Data read is now \"%s\"\n", ecc_toggled_read_data); + } + + // Attempt to write a different ECC value to OTP - should fail + unsigned char ecc_overwrite_data[sizeof(ecc_write_data)] = "hello from otp"; + cmd.flags = ecc_row | OTP_CMD_ECC_BITS | OTP_CMD_WRITE_BITS; + ret = rom_func_otp_access(ecc_overwrite_data, sizeof(ecc_overwrite_data), cmd); + if (ret == BOOTROM_ERROR_UNSUPPORTED_MODIFICATION) { + printf("Overwrite of ECC data failed as expected\n"); + } else { + printf("ERROR: "); + if (ret) { + printf("Overwrite failed with error %d\n", ret); + } else { + printf("Overwrite succeeded\n"); + } + } + } + + if (raw_row) { + // Write a raw value to OTP - the buffer must have a multiple of 4 length for raw data + // Each row only holds 24 bits, so every 4th byte isn't written to OTP + unsigned char raw_write_data[20] = "Hel\0lo \0fro\0m O\0TP"; + cmd.flags = raw_row | OTP_CMD_WRITE_BITS; + ret = rom_func_otp_access(raw_write_data, sizeof(raw_write_data), cmd); + if (ret) { + printf("ERROR: Raw Write failed with error %d\n", ret); + } else { + printf("Raw Write succeeded\n"); + } + + // Read it back + unsigned char raw_read_data[sizeof(raw_write_data)] = {0}; + cmd.flags = raw_row; + ret = rom_func_otp_access(raw_read_data, sizeof(raw_read_data), cmd); + if (ret) { + printf("ERROR: Raw Read failed with error %d\n", ret); + } else { + // Remove the null bytes + for (int i=0; i < sizeof(raw_read_data)/4; i++) { + memcpy(raw_read_data + i*3, raw_read_data + i*4, 3); + } + printf("Raw Data read is \"%s\"\n", raw_read_data); + } + + // Attempt to write a different raw value to OTP - should succeed, provided no bits are cleared + // This can be done by using '~' for even characters, and 'o' for odd ones + unsigned char raw_overwrite_data[sizeof(raw_write_data)] = {0}; + for (int i=0; i < sizeof(raw_write_data); i++) { + if (raw_write_data[i]) { + raw_overwrite_data[i] = (raw_write_data[i] % 2) ? 'o' : '~'; + } else { + raw_overwrite_data[i] = 0; + } + } + cmd.flags = raw_row | OTP_CMD_WRITE_BITS; + ret = rom_func_otp_access(raw_overwrite_data, sizeof(raw_overwrite_data), cmd); + if (ret) { + printf("ERROR: Raw Overwrite failed with error %d\n", ret); + } else { + printf("Raw Overwrite succeeded\n"); + } + + // Read it back + unsigned char raw_read_data_again[sizeof(raw_write_data)] = {0}; + cmd.flags = raw_row; + ret = rom_func_otp_access(raw_read_data_again, sizeof(raw_read_data_again), cmd); + // Remove the null bytes + for (int i=0; i < sizeof(raw_read_data_again)/4; i++) { + memcpy(raw_read_data_again + i*3, raw_read_data_again + i*4, 3); + } + if (ret) { + printf("ERROR: Raw Read failed with error %d\n", ret); + } else { + printf("Raw Data read is now \"%s\"\n", raw_read_data_again); + } + } + + int16_t lock_row = ecc_row ? ecc_row : raw_row; + // Lock the OTP page, to prevent any more reads or writes until the next reset + int page = lock_row / 0x40; + otp_hw->sw_lock[page] = 0xf; + printf("OTP Software Lock Done\n"); + + // Attempt to read it back again - should fail + unsigned char read_data_locked[8] = {0}; + cmd.flags = lock_row | (lock_row == ecc_row ? OTP_CMD_ECC_BITS : 0); + ret = rom_func_otp_access(read_data_locked, sizeof(read_data_locked), cmd); + if (ret == BOOTROM_ERROR_NOT_PERMITTED) { + printf("Locked read failed as expected\n"); + } else { + printf("ERROR: "); + if (ret) { + printf("Locked read failed with error %d\n", ret); + } else { + printf("Locked read succeeded. Data read is \"%s\"\n", read_data_locked); + } + } + + return 0; +} diff --git a/pico_w/bt/CMakeLists.txt b/pico_w/bt/CMakeLists.txt index 518f07186..e14345398 100644 --- a/pico_w/bt/CMakeLists.txt +++ b/pico_w/bt/CMakeLists.txt @@ -388,7 +388,7 @@ foreach(NAME ${BTSTACK_EXAMPLES}) continue() endif() # add example - add_subdirectory(${NAME}) + add_subdirectory_exclude_platforms(${NAME}) MATH(EXPR BTSTACK_EXAMPLE_COUNT "${BTSTACK_EXAMPLE_COUNT}+1") endforeach() message("Adding ${BTSTACK_EXAMPLE_COUNT} BTstack examples of type '${BTSTACK_EXAMPLE_TYPE}'") diff --git a/pico_w/bt/FreeRTOS_Kernel_import.cmake b/pico_w/bt/FreeRTOS_Kernel_import.cmake index dc68ed038..15d8e7724 100644 --- a/pico_w/bt/FreeRTOS_Kernel_import.cmake +++ b/pico_w/bt/FreeRTOS_Kernel_import.cmake @@ -10,39 +10,68 @@ if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH)) message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')") endif () -set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040") -# undo the above -set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..") +# first pass we look in old tree; second pass we look in new tree +foreach(SEARCH_PASS RANGE 0 1) + if (SEARCH_PASS) + # ports may be moving to submodule in the future + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/Community-Supported-Ports/GCC") + set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../../..") + else() + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC") + set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..") + endif() -if (NOT FREERTOS_KERNEL_PATH) - # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly) - get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH) - get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH) - if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) - get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + if(PICO_PLATFORM STREQUAL "rp2040") + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2040") + else() + if (PICO_PLATFORM STREQUAL "rp2350-riscv") + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_RISC-V") + else() + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_ARM_NTZ") + endif() endif() - if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) - get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) - message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake") - elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel") - set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel) - message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}") + + if (NOT FREERTOS_KERNEL_PATH) + # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly) + get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH) + get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH) + if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) + get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + endif() + if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) + get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake") + break() + elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel") + set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel) + message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}") + break() + endif() + endif () + + if (NOT FREERTOS_KERNEL_PATH) + foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source) + # check if FreeRTOS-Kernel exists under directory that included us + set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}) + get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH) + if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) + get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH) + message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project") + break() + endif() + endforeach() + if (FREERTOS_KERNEL_PATH) + break() + endif() endif() -endif () -if (NOT FREERTOS_KERNEL_PATH) - foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source) - # check if FreeRTOS-Kernel exists under directory that included us - set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}}) - set(SEARCH_ROOT ../../../..) - get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH) - if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) - get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH) - message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project") + # user must have specified + if (FREERTOS_KERNEL_PATH) + if (EXISTS "${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") break() endif() - endforeach() -endif() + endif() +endforeach () if (NOT FREERTOS_KERNEL_PATH) message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.") @@ -55,8 +84,8 @@ if (NOT EXISTS ${FREERTOS_KERNEL_PATH}) message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found") endif() if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) - message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") + message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain a '${PICO_PLATFORM}' port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") endif() set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE) -add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL) \ No newline at end of file +add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL) diff --git a/pico_w/bt/README.md b/pico_w/bt/README.md new file mode 100644 index 000000000..83ed9c8ae --- /dev/null +++ b/pico_w/bt/README.md @@ -0,0 +1,22 @@ +# Pico W Bluetooth Examples + +The source for most of the Bluetooth examples is stored in `pico-sdk/lib/btstack/example`. +There's a standalone example in `pico-examples/pico_w/bt/standalone`. + +## Debugging + +To debug Bluetooth issues you can enable [btstack](https://github.com/bluekitchen/btstack) debug output which also enables packet logging. +Define `WANT_HCI_DUMP=1` in your CMakeLists.txt file. Uncomment this line to enable debug in the btstack examples. + + target_compile_definitions(picow_bt_example_common INTERFACE + #WANT_HCI_DUMP=1 # This enables btstack debug + ) + +## Packet logging + +To view packet logs, save the output from the debug port (e.g. the uart) to a file and afterwards run `pico-sdk/lib/btstack/tool/create_packet_log.py `. +This will generate a file with the same name except for a `pklg` extension. This can be opened in the [Wireshark](https://www.wireshark.org) application to analyze communications activity. + +## Link keys + +By default, the last two sectors of flash are used to store Bluetooth link keys and this relies on the Bluetooth address. Old pre-release versions of the SDK had issues with some devices using a default Bluetooth address. If you experience issues with pairing try Resetting flash memory, see https://www.raspberrypi.com/documentation/microcontrollers/raspberry-pi-pico.html#resetting-flash-memory diff --git a/pico_w/bt/btstack_audio_pico.c b/pico_w/bt/btstack_audio_pico.c index f98fc1e11..1f40fccf0 100644 --- a/pico_w/bt/btstack_audio_pico.c +++ b/pico_w/bt/btstack_audio_pico.c @@ -153,8 +153,9 @@ static int btstack_audio_pico_sink_init( playback_callback = playback; - btstack_audio_pico_audio_buffer_pool = init_audio(samplerate, channels); - + if (!btstack_audio_pico_audio_buffer_pool) { + btstack_audio_pico_audio_buffer_pool = init_audio(samplerate, channels); + } return 0; } diff --git a/pico_w/bt/config/FreeRTOSConfig.h b/pico_w/bt/config/FreeRTOSConfig.h index f39428d23..eed9527c5 100644 --- a/pico_w/bt/config/FreeRTOSConfig.h +++ b/pico_w/bt/config/FreeRTOSConfig.h @@ -102,15 +102,28 @@ #define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application] */ -#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS -/* SMP port only */ -#define configNUM_CORES 2 +#define configNUMBER_OF_CORES 2 +/* SMP (configNUMBER_OF_CORES > 1) only */ #define configTICK_CORE 0 #define configRUN_MULTIPLE_PRIORITIES 1 +#if configNUMBER_OF_CORES > 1 #define configUSE_CORE_AFFINITY 1 #endif +#define configUSE_PASSIVE_IDLE_HOOK 0 -/* RP2040 specific */ +/* Armv8-M */ + +/* Not currently supported */ +#define configENABLE_MPU 0 +//#define configSYSTEM_CALL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 512 +#define configENABLE_FPU 1 +/* Not currently supported */ +#define configENABLE_TRUSTZONE 0 +#define configRUN_FREERTOS_SECURE_ONLY 1 +// see https://www.freertos.org/RTOS-Cortex-M3-M4.html +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 16 + +/* RP2xxx specific */ #define configSUPPORT_PICO_SYNC_INTEROP 1 #define configSUPPORT_PICO_TIME_INTEROP 1 diff --git a/pico_w/bt/hfp_hf_demo/CMakeLists.txt b/pico_w/bt/hfp_hf_demo/CMakeLists.txt index cf8d89c17..77e52f0af 100644 --- a/pico_w/bt/hfp_hf_demo/CMakeLists.txt +++ b/pico_w/bt/hfp_hf_demo/CMakeLists.txt @@ -1 +1,6 @@ -picow_bt_example(hfp_hf_demo pico_btstack_sco_demo_util pico_btstack_sbc_encoder) +add_library(hfp_hf_demo_pins INTERFACE) +target_compile_definitions(hfp_hf_demo_pins INTERFACE + PICO_AUDIO_I2S_DATA_PIN=9 + PICO_AUDIO_I2S_CLOCK_PIN_BASE=10 + ) +picow_bt_example(hfp_hf_demo pico_btstack_sco_demo_util pico_btstack_sbc_encoder hfp_hf_demo_pins) diff --git a/pico_w/bt/mod_player/CMakeLists.txt b/pico_w/bt/mod_player/CMakeLists.txt index 106901590..b27b23bd4 100644 --- a/pico_w/bt/mod_player/CMakeLists.txt +++ b/pico_w/bt/mod_player/CMakeLists.txt @@ -1 +1,6 @@ -picow_bt_example(mod_player pico_btstack_hxcmod_player) +add_library(mod_player_pins INTERFACE) +target_compile_definitions(mod_player_pins INTERFACE + PICO_AUDIO_I2S_DATA_PIN=9 + PICO_AUDIO_I2S_CLOCK_PIN_BASE=10 + ) +picow_bt_example(mod_player pico_btstack_hxcmod_player mod_player_pins) diff --git a/pico_w/bt/picow_bt_example_freertos.c b/pico_w/bt/picow_bt_example_freertos.c index 8d326b52f..b3c8b3b15 100644 --- a/pico_w/bt/picow_bt_example_freertos.c +++ b/pico_w/bt/picow_bt_example_freertos.c @@ -27,7 +27,7 @@ void blink_task(__unused void *params) { printf("blink_task starts\n"); while (true) { -#if 0 && configNUM_CORES > 1 +#if 0 && configNUMBER_OF_CORES > 1 static int last_core_id; if (portGET_CORE_ID() != last_core_id) { last_core_id = portGET_CORE_ID(); @@ -71,7 +71,7 @@ void vLaunch( void) { TaskHandle_t task; xTaskCreate(main_task, "TestMainThread", 1024, NULL, TEST_TASK_PRIORITY, &task); -#if NO_SYS && configUSE_CORE_AFFINITY && configNUM_CORES > 1 +#if NO_SYS && configUSE_CORE_AFFINITY && configNUMBER_OF_CORES > 1 // we must bind the main task to one core (well at least while the init is called) // (note we only do this in NO_SYS mode, because cyw43_arch_freertos // takes care of it otherwise) @@ -88,13 +88,13 @@ int main() /* Configure the hardware ready to run the demo. */ const char *rtos_name; -#if ( portSUPPORT_SMP == 1 ) +#if ( configNUMBER_OF_CORES > 1 ) rtos_name = "FreeRTOS SMP"; #else rtos_name = "FreeRTOS"; #endif -#if ( portSUPPORT_SMP == 1 ) && ( configNUM_CORES == 2 ) +#if ( configNUMBER_OF_CORES == 2 ) printf("Starting %s on both cores:\n", rtos_name); vLaunch(); #elif ( RUN_FREE_RTOS_ON_CORE == 1 ) diff --git a/pico_w/bt/sine_player/CMakeLists.txt b/pico_w/bt/sine_player/CMakeLists.txt index 97edf797a..0ccbddef8 100644 --- a/pico_w/bt/sine_player/CMakeLists.txt +++ b/pico_w/bt/sine_player/CMakeLists.txt @@ -1 +1,6 @@ -picow_bt_example(sine_player) +add_library(sine_player_pins INTERFACE) +target_compile_definitions(sine_player_pins INTERFACE + PICO_AUDIO_I2S_DATA_PIN=9 + PICO_AUDIO_I2S_CLOCK_PIN_BASE=10 + ) +picow_bt_example(sine_player sine_player_pins) diff --git a/pico_w/wifi/CMakeLists.txt b/pico_w/wifi/CMakeLists.txt index 8288eb7aa..8b6e2b9b5 100644 --- a/pico_w/wifi/CMakeLists.txt +++ b/pico_w/wifi/CMakeLists.txt @@ -1,25 +1,26 @@ set(WIFI_SSID "${WIFI_SSID}" CACHE INTERNAL "WiFi SSID for examples") set(WIFI_PASSWORD "${WIFI_PASSWORD}" CACHE INTERNAL "WiFi password for examples") -add_subdirectory(blink) -add_subdirectory(wifi_scan) -add_subdirectory(access_point) +add_subdirectory_exclude_platforms(blink) +add_subdirectory_exclude_platforms(wifi_scan) +add_subdirectory_exclude_platforms(access_point) if ("${WIFI_SSID}" STREQUAL "") message("Skipping some Pico W examples as WIFI_SSID is not defined") elseif ("${WIFI_PASSWORD}" STREQUAL "") message("Skipping some Pico W examples as WIFI_PASSWORD is not defined") else() - add_subdirectory(iperf) - add_subdirectory(ntp_client) - add_subdirectory(tcp_client) - add_subdirectory(tcp_server) - add_subdirectory(freertos) - add_subdirectory(udp_beacon) + add_subdirectory_exclude_platforms(freertos) + add_subdirectory_exclude_platforms(httpd) + add_subdirectory_exclude_platforms(iperf) + add_subdirectory_exclude_platforms(ntp_client) + add_subdirectory_exclude_platforms(tcp_client) + add_subdirectory_exclude_platforms(tcp_server) + add_subdirectory_exclude_platforms(udp_beacon) if (NOT PICO_MBEDTLS_PATH) message("Skipping tls examples as PICO_MBEDTLS_PATH is not defined") else() - add_subdirectory(tls_client) + add_subdirectory_exclude_platforms(tls_client) endif() endif() diff --git a/pico_w/wifi/access_point/picow_access_point.c b/pico_w/wifi/access_point/picow_access_point.c index fe58b2780..62c745782 100644 --- a/pico_w/wifi/access_point/picow_access_point.c +++ b/pico_w/wifi/access_point/picow_access_point.c @@ -97,10 +97,10 @@ static int test_server_content(const char *request, const char *params, char *re if (led_param == 1) { if (led_state) { // Turn led on - cyw43_gpio_set(&cyw43_state, 0, true); + cyw43_gpio_set(&cyw43_state, LED_GPIO, true); } else { // Turn led off - cyw43_gpio_set(&cyw43_state, 0, false); + cyw43_gpio_set(&cyw43_state, LED_GPIO, false); } } } diff --git a/pico_w/wifi/blink/CMakeLists.txt b/pico_w/wifi/blink/CMakeLists.txt index 255de3c90..1fd548391 100644 --- a/pico_w/wifi/blink/CMakeLists.txt +++ b/pico_w/wifi/blink/CMakeLists.txt @@ -1,7 +1,6 @@ add_executable(picow_blink picow_blink.c ) - target_link_libraries(picow_blink pico_stdlib # for core functionality pico_cyw43_arch_none # we need Wifi to access the GPIO, but we don't need anything else @@ -12,3 +11,23 @@ pico_add_extra_outputs(picow_blink) # add url via pico_set_program_url example_auto_set_url(picow_blink) + +# This version should behave exactly the same, but it runs the sys clock slowly. +add_executable(picow_blink_slow_clock + picow_blink_slow_clock.c + ) +target_link_libraries(picow_blink_slow_clock + pico_stdlib # for core functionality + pico_cyw43_arch_none # we need Wifi to access the GPIO, but we don't need anything else + hardware_clocks + ) +# This requires us to modify the pio divisor to successfully communicate with the cyw43 chip +target_compile_definitions(picow_blink_slow_clock PRIVATE + CYW43_PIO_CLOCK_DIV_DYNAMIC=1 + ) + +# create map/bin/hex file etc. +pico_add_extra_outputs(picow_blink_slow_clock) + +# add url via pico_set_program_url +example_auto_set_url(picow_blink_slow_clock) diff --git a/pico_w/wifi/blink/picow_blink_slow_clock.c b/pico_w/wifi/blink/picow_blink_slow_clock.c new file mode 100644 index 000000000..1af9988bd --- /dev/null +++ b/pico_w/wifi/blink/picow_blink_slow_clock.c @@ -0,0 +1,32 @@ +/** + * Copyright (c) 2024 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include "pico/stdlib.h" +#include "pico/cyw43_arch.h" +#include "pico/cyw43_driver.h" +#include "hardware/clocks.h" + +int main() { + // Slow the sys clock down and speed up the cyw43 pio to compensate + // By default the pio used to communicate with cyw43 runs with a clock divisor of 2 + // if you modify the clock you will have to compensate for this + // As an alternative you could specify CYW43_PIO_CLOCK_DIV_INT=x CYW43_PIO_CLOCK_DIV_FRAC=y in your cmake file + // To call cyw43_set_pio_clock_divisor you have to add CYW43_PIO_CLOCK_DIV_DYNAMIC=1 to your cmake file + set_sys_clock_khz(18000, true); + cyw43_set_pio_clock_divisor(1, 0); + + stdio_init_all(); + if (cyw43_arch_init()) { + printf("Wi-Fi init failed"); + return -1; + } + while (true) { + cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1); + sleep_ms(250); + cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0); + sleep_ms(250); + } +} diff --git a/pico_w/wifi/freertos/CMakeLists.txt b/pico_w/wifi/freertos/CMakeLists.txt index 4769aee56..b4057602f 100644 --- a/pico_w/wifi/freertos/CMakeLists.txt +++ b/pico_w/wifi/freertos/CMakeLists.txt @@ -3,6 +3,8 @@ if (NOT FREERTOS_KERNEL_PATH AND NOT DEFINED ENV{FREERTOS_KERNEL_PATH}) else() include(FreeRTOS_Kernel_import.cmake) - add_subdirectory(iperf) - add_subdirectory(ping) + add_subdirectory_exclude_platforms(httpd) + add_subdirectory_exclude_platforms(iperf) + add_subdirectory_exclude_platforms(ntp_client_socket) + add_subdirectory_exclude_platforms(ping) endif() \ No newline at end of file diff --git a/pico_w/wifi/freertos/FreeRTOSConfig_examples_common.h b/pico_w/wifi/freertos/FreeRTOSConfig_examples_common.h new file mode 100644 index 000000000..aea634e0e --- /dev/null +++ b/pico_w/wifi/freertos/FreeRTOSConfig_examples_common.h @@ -0,0 +1,156 @@ +/* + * FreeRTOS V202111.00 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#ifndef FREERTOS_CONFIG_EXAMPLES_COMMON_H +#define FREERTOS_CONFIG_EXAMPLES_COMMON_H + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE + * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. + * + * See http://www.freertos.org/a00110.html + *----------------------------------------------------------*/ + +/* Scheduler Related */ +#define configUSE_PREEMPTION 1 +#define configUSE_TICKLESS_IDLE 0 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) +#define configMAX_PRIORITIES 32 +#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 512 +#define configUSE_16_BIT_TICKS 0 + +#define configIDLE_SHOULD_YIELD 1 + +/* Synchronization Related */ +#define configUSE_MUTEXES 1 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_APPLICATION_TASK_TAG 0 +#define configUSE_COUNTING_SEMAPHORES 1 +#define configQUEUE_REGISTRY_SIZE 8 +#define configUSE_QUEUE_SETS 1 +#define configUSE_TIME_SLICING 1 +#define configUSE_NEWLIB_REENTRANT 0 +// todo need this for lwip FreeRTOS sys_arch to compile +#define configENABLE_BACKWARD_COMPATIBILITY 1 +#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5 + +/* System */ +#define configSTACK_DEPTH_TYPE uint32_t +#define configMESSAGE_BUFFER_LENGTH_TYPE size_t + +/* Memory allocation related definitions. */ +#define configSUPPORT_STATIC_ALLOCATION 0 +#define configSUPPORT_DYNAMIC_ALLOCATION 1 +#define configTOTAL_HEAP_SIZE (128*1024) +#define configAPPLICATION_ALLOCATED_HEAP 0 + +/* Hook function related definitions. */ +#define configCHECK_FOR_STACK_OVERFLOW 0 +#define configUSE_MALLOC_FAILED_HOOK 0 +#define configUSE_DAEMON_TASK_STARTUP_HOOK 0 + +/* Run time and task stats gathering related definitions. */ +#define configGENERATE_RUN_TIME_STATS 0 +#define configUSE_TRACE_FACILITY 1 +#define configUSE_STATS_FORMATTING_FUNCTIONS 0 + +/* Co-routine related definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES 1 + +/* Software timer related definitions. */ +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) +#define configTIMER_QUEUE_LENGTH 10 +#define configTIMER_TASK_STACK_DEPTH 1024 + +/* Interrupt nesting behaviour configuration. */ +/* +#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor] +#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application] +#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application] +*/ + +#define configNUMBER_OF_CORES 2 +/* SMP (configNUMBER_OF_CORES > 1) only */ +#define configTICK_CORE 0 +#define configRUN_MULTIPLE_PRIORITIES 1 +#if configNUMBER_OF_CORES > 1 +#define configUSE_CORE_AFFINITY 1 +#endif +#define configUSE_PASSIVE_IDLE_HOOK 0 + +/* Armv8-M */ + +/* Not currently supported */ +#define configENABLE_MPU 0 +//#define configSYSTEM_CALL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 512 +#define configENABLE_FPU 1 +/* Not currently supported */ +#define configENABLE_TRUSTZONE 0 +#define configRUN_FREERTOS_SECURE_ONLY 1 +// see https://www.freertos.org/RTOS-Cortex-M3-M4.html +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 16 + +/* RP2xxx specific */ +#define configSUPPORT_PICO_SYNC_INTEROP 1 +#define configSUPPORT_PICO_TIME_INTEROP 1 + +#include +/* Define to trap errors during development. */ +#define configASSERT(x) assert(x) + +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_xTaskGetSchedulerState 1 +#define INCLUDE_xTaskGetCurrentTaskHandle 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 1 +#define INCLUDE_xTaskGetIdleTaskHandle 1 +#define INCLUDE_eTaskGetState 1 +#define INCLUDE_xTimerPendFunctionCall 1 +#define INCLUDE_xTaskAbortDelay 1 +#define INCLUDE_xTaskGetHandle 1 +#define INCLUDE_xTaskResumeFromISR 1 +#define INCLUDE_xQueueGetMutexHolder 1 + +/* A header file that defines trace macro can be included here. */ + +#endif /* FREERTOS_CONFIG_H */ + diff --git a/pico_w/wifi/freertos/FreeRTOS_Kernel_import.cmake b/pico_w/wifi/freertos/FreeRTOS_Kernel_import.cmake index dc68ed038..15d8e7724 100644 --- a/pico_w/wifi/freertos/FreeRTOS_Kernel_import.cmake +++ b/pico_w/wifi/freertos/FreeRTOS_Kernel_import.cmake @@ -10,39 +10,68 @@ if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH)) message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')") endif () -set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040") -# undo the above -set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..") +# first pass we look in old tree; second pass we look in new tree +foreach(SEARCH_PASS RANGE 0 1) + if (SEARCH_PASS) + # ports may be moving to submodule in the future + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/Community-Supported-Ports/GCC") + set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../../..") + else() + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC") + set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..") + endif() -if (NOT FREERTOS_KERNEL_PATH) - # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly) - get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH) - get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH) - if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) - get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + if(PICO_PLATFORM STREQUAL "rp2040") + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2040") + else() + if (PICO_PLATFORM STREQUAL "rp2350-riscv") + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_RISC-V") + else() + set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/RP2350_ARM_NTZ") + endif() endif() - if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) - get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) - message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake") - elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel") - set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel) - message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}") + + if (NOT FREERTOS_KERNEL_PATH) + # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly) + get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH) + get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH) + if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) + get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + endif() + if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) + get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake") + break() + elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel") + set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel) + message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}") + break() + endif() + endif () + + if (NOT FREERTOS_KERNEL_PATH) + foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source) + # check if FreeRTOS-Kernel exists under directory that included us + set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}) + get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH) + if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) + get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH) + message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project") + break() + endif() + endforeach() + if (FREERTOS_KERNEL_PATH) + break() + endif() endif() -endif () -if (NOT FREERTOS_KERNEL_PATH) - foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source) - # check if FreeRTOS-Kernel exists under directory that included us - set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}}) - set(SEARCH_ROOT ../../../..) - get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH) - if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) - get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH) - message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project") + # user must have specified + if (FREERTOS_KERNEL_PATH) + if (EXISTS "${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") break() endif() - endforeach() -endif() + endif() +endforeach () if (NOT FREERTOS_KERNEL_PATH) message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.") @@ -55,8 +84,8 @@ if (NOT EXISTS ${FREERTOS_KERNEL_PATH}) message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found") endif() if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) - message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") + message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain a '${PICO_PLATFORM}' port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") endif() set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE) -add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL) \ No newline at end of file +add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL) diff --git a/pico_w/wifi/freertos/httpd/CMakeLists.txt b/pico_w/wifi/freertos/httpd/CMakeLists.txt new file mode 100644 index 000000000..35dd4eb35 --- /dev/null +++ b/pico_w/wifi/freertos/httpd/CMakeLists.txt @@ -0,0 +1,56 @@ +set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}) + +add_executable(pico_freertos_httpd_nosys + pico_freertos_httpd.c + ) +target_compile_definitions(pico_freertos_httpd_nosys PRIVATE + WIFI_SSID=\"${WIFI_SSID}\" + WIFI_PASSWORD=\"${WIFI_PASSWORD}\" + ) +target_include_directories(pico_freertos_httpd_nosys PRIVATE + ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common FreeRTOSConfig + ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts + ${PICO_LWIP_CONTRIB_PATH}/apps/httpd + ) +target_link_libraries(pico_freertos_httpd_nosys + pico_cyw43_arch_lwip_threadsafe_background + pico_lwip_http + pico_lwip_mdns + pico_stdlib + FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap + pico_freertos_httpd_content + ) +pico_add_extra_outputs(pico_freertos_httpd_nosys) + +add_executable(pico_freertos_httpd_sys + pico_freertos_httpd.c + ) +target_compile_definitions(pico_freertos_httpd_sys PRIVATE + WIFI_SSID=\"${WIFI_SSID}\" + WIFI_PASSWORD=\"${WIFI_PASSWORD}\" + NO_SYS=0 # don't want NO_SYS (generally this would be in your lwipopts.h) + LWIP_SOCKET=1 # we need the socket API (generally this would be in your lwipopts.h) + ) +target_include_directories(pico_freertos_httpd_sys PRIVATE + ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common FreeRTOSConfig + ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts + ${PICO_LWIP_CONTRIB_PATH}/apps/httpd + ) +target_link_libraries(pico_freertos_httpd_sys + pico_cyw43_arch_lwip_sys_freertos + pico_lwip_http + pico_lwip_mdns + pico_stdlib + FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap + pico_freertos_httpd_content + ) +pico_add_extra_outputs(pico_freertos_httpd_sys) + +pico_add_library(pico_freertos_httpd_content NOFLAG) +pico_set_lwip_httpd_content(pico_freertos_httpd_content INTERFACE + ${CMAKE_CURRENT_LIST_DIR}/content/404.html + ${CMAKE_CURRENT_LIST_DIR}/content/index.shtml + ${CMAKE_CURRENT_LIST_DIR}/content/test.shtml + ) diff --git a/pico_w/wifi/freertos/httpd/FreeRTOSConfig.h b/pico_w/wifi/freertos/httpd/FreeRTOSConfig.h new file mode 100644 index 000000000..831e53500 --- /dev/null +++ b/pico_w/wifi/freertos/httpd/FreeRTOSConfig.h @@ -0,0 +1,7 @@ +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +// This example uses a common include to avoid repetition +#include "FreeRTOSConfig_examples_common.h" + +#endif diff --git a/pico_w/wifi/freertos/httpd/content/404.html b/pico_w/wifi/freertos/httpd/content/404.html new file mode 100644 index 000000000..36fe1cca0 --- /dev/null +++ b/pico_w/wifi/freertos/httpd/content/404.html @@ -0,0 +1,10 @@ + + + Pico httpd example + + +

Pico httpd example

+

404 - Page not found

+

Sorry, the page you are requesting was not found on this server.

+ + diff --git a/pico_w/wifi/freertos/httpd/content/index.shtml b/pico_w/wifi/freertos/httpd/content/index.shtml new file mode 100644 index 000000000..4b8b58928 --- /dev/null +++ b/pico_w/wifi/freertos/httpd/content/index.shtml @@ -0,0 +1,12 @@ + + + Pico httpd example + + +

Pico httpd example

+

+

Uptime is seconds

+

CGI test

+

Led is click here to toggle the led + + diff --git a/pico_w/wifi/freertos/httpd/content/test.shtml b/pico_w/wifi/freertos/httpd/content/test.shtml new file mode 100644 index 000000000..95d163bd5 --- /dev/null +++ b/pico_w/wifi/freertos/httpd/content/test.shtml @@ -0,0 +1,11 @@ + + + Pico cgi test + + +

Pico cgi test

+

+

Test result:

+

Go back

+ + diff --git a/pico_w/wifi/freertos/httpd/lwipopts.h b/pico_w/wifi/freertos/httpd/lwipopts.h new file mode 100644 index 000000000..442bc2dc8 --- /dev/null +++ b/pico_w/wifi/freertos/httpd/lwipopts.h @@ -0,0 +1,36 @@ +#ifndef _LWIPOPTS_H +#define _LWIPOPTS_H + +// Generally you would define your own explicit list of lwIP options +// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html) +// +// This example uses a common include to avoid repetition +#include "lwipopts_examples_common.h" + +// The following is needed to test mDns +#define LWIP_MDNS_RESPONDER 1 +#define LWIP_IGMP 1 +#define LWIP_NUM_NETIF_CLIENT_DATA 1 +#define MDNS_RESP_USENETIF_EXTCALLBACK 1 +#define MEMP_NUM_SYS_TIMEOUT (LWIP_NUM_SYS_TIMEOUT_INTERNAL + 3) +#define MEMP_NUM_TCP_PCB 12 + +// Enable cgi and ssi +#define LWIP_HTTPD_CGI 1 +#define LWIP_HTTPD_SSI 1 +#define LWIP_HTTPD_SSI_MULTIPART 1 + +#if !NO_SYS +#define TCPIP_THREAD_STACKSIZE 2048 // mDNS needs more stack +#define DEFAULT_THREAD_STACKSIZE 1024 +#define DEFAULT_RAW_RECVMBOX_SIZE 8 +#define TCPIP_MBOX_SIZE 8 +#define LWIP_TIMEVAL_PRIVATE 0 + +// not necessary, can be done either way +#define LWIP_TCPIP_CORE_LOCKING_INPUT 1 +#endif + +#define HTTPD_FSDATA_FILE "pico_fsdata.inc" + +#endif diff --git a/pico_w/wifi/freertos/httpd/pico_freertos_httpd.c b/pico_w/wifi/freertos/httpd/pico_freertos_httpd.c new file mode 100644 index 000000000..0a262e5de --- /dev/null +++ b/pico_w/wifi/freertos/httpd/pico_freertos_httpd.c @@ -0,0 +1,217 @@ +/** + * Copyright (c) 2022 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include "pico/cyw43_arch.h" +#include "pico/stdlib.h" + +#include "lwip/ip4_addr.h" +#include "lwip/apps/mdns.h" +#include "lwip/init.h" +#include "lwip/apps/httpd.h" + +#include "FreeRTOS.h" +#include "task.h" + +void httpd_init(void); + +static absolute_time_t wifi_connected_time; +static bool led_on = false; + +#ifndef RUN_FREERTOS_ON_CORE +#define RUN_FREERTOS_ON_CORE 0 +#endif + +#define TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL ) + +#if LWIP_MDNS_RESPONDER +static void srv_txt(struct mdns_service *service, void *txt_userdata) +{ + err_t res; + LWIP_UNUSED_ARG(txt_userdata); + + res = mdns_resp_add_service_txtitem(service, "path=/", 6); + LWIP_ERROR("mdns add service txt failed\n", (res == ERR_OK), return); +} +#endif + +// Return some characters from the ascii representation of the mac address +// e.g. 112233445566 +// chr_off is index of character in mac to start +// chr_len is length of result +// chr_off=8 and chr_len=4 would return "5566" +// Return number of characters put into destination +static size_t get_mac_ascii(int idx, size_t chr_off, size_t chr_len, char *dest_in) { + static const char hexchr[16] = "0123456789ABCDEF"; + uint8_t mac[6]; + char *dest = dest_in; + assert(chr_off + chr_len <= (2 * sizeof(mac))); + cyw43_hal_get_mac(idx, mac); + for (; chr_len && (chr_off >> 1) < sizeof(mac); ++chr_off, --chr_len) { + *dest++ = hexchr[mac[chr_off >> 1] >> (4 * (1 - (chr_off & 1))) & 0xf]; + } + return dest - dest_in; +} + +static const char *cgi_handler_test(int iIndex, int iNumParams, char *pcParam[], char *pcValue[]) { + if (!strcmp(pcParam[0], "test")) { + return "/test.shtml"; + } else if (strcmp(pcParam[0], "toggleled") == 0) { + led_on = !led_on; + cyw43_gpio_set(&cyw43_state, 0, led_on); + } + return "/index.shtml"; +} + +static tCGI cgi_handlers[] = { + { "/", cgi_handler_test }, + { "/index.shtml", cgi_handler_test }, +}; + +// Note that the buffer size is limited by LWIP_HTTPD_MAX_TAG_INSERT_LEN, so use LWIP_HTTPD_SSI_MULTIPART to return larger amounts of data +u16_t ssi_example_ssi_handler(int iIndex, char *pcInsert, int iInsertLen +#if LWIP_HTTPD_SSI_MULTIPART + , uint16_t current_tag_part, uint16_t *next_tag_part +#endif +) { + size_t printed; + switch (iIndex) { + case 0: { /* "status" */ + printed = snprintf(pcInsert, iInsertLen, "Pass"); + break; + } + case 1: { /* "welcome" */ + printed = snprintf(pcInsert, iInsertLen, "Hello from Pico"); + break; + } + case 2: { /* "uptime" */ + uint64_t uptime_s = absolute_time_diff_us(wifi_connected_time, get_absolute_time()) / 1e6; + printed = snprintf(pcInsert, iInsertLen, "%"PRIu64, uptime_s); + break; + } + case 3: { // "ledstate" + printed = snprintf(pcInsert, iInsertLen, "%s", led_on ? "ON" : "OFF"); + break; + } +#if LWIP_HTTPD_SSI_MULTIPART + case 4: { /* "table" */ + printed = snprintf(pcInsert, iInsertLen, "This is table row number %d", current_tag_part + 1); + // Leave "next_tag_part" unchanged to indicate that all data has been returned for this tag + if (current_tag_part < 9) { + *next_tag_part = current_tag_part + 1; + } + break; + } +#endif + default: { /* unknown tag */ + printed = 0; + break; + } + } + return (u16_t)printed; +} + +// Be aware of LWIP_HTTPD_MAX_TAG_NAME_LEN +static const char * ssi_tags[] = { + "status", + "welcome", + "uptime", + "ledstate", + "table", +}; + +void main_task(__unused void *params) { + if (cyw43_arch_init()) { + printf("failed to initialise\n"); + return; + } + + cyw43_arch_enable_sta_mode(); + + char hostname[sizeof(CYW43_HOST_NAME) + 4]; + memcpy(&hostname[0], CYW43_HOST_NAME, sizeof(CYW43_HOST_NAME) - 1); + get_mac_ascii(CYW43_HAL_MAC_WLAN0, 8, 4, &hostname[sizeof(CYW43_HOST_NAME) - 1]); + hostname[sizeof(hostname) - 1] = '\0'; + netif_set_hostname(&cyw43_state.netif[CYW43_ITF_STA], hostname); + + printf("Connecting to WiFi...\n"); + if (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) { + printf("failed to connect.\n"); + exit(1); + } else { + printf("Connected.\n"); + } + + wifi_connected_time = get_absolute_time(); + +#if LWIP_MDNS_RESPONDER + mdns_resp_init(); + printf("mdns host name %s.local\n", hostname); +#if LWIP_VERSION_MAJOR >= 2 && LWIP_VERSION_MINOR >= 2 + mdns_resp_add_netif(&cyw43_state.netif[CYW43_ITF_STA], hostname); + mdns_resp_add_service(&cyw43_state.netif[CYW43_ITF_STA], "picow_freertos_httpd", "_http", DNSSD_PROTO_TCP, 80, srv_txt, NULL); +#else + mdns_resp_add_netif(&cyw43_state.netif[CYW43_ITF_STA], hostname, 60); + mdns_resp_add_service(&cyw43_state.netif[CYW43_ITF_STA], "picow_freertos_httpd", "_http", DNSSD_PROTO_TCP, 80, 60, srv_txt, NULL); +#endif +#endif + + printf("\nReady, running httpd at %s\n", ip4addr_ntoa(netif_ip4_addr(netif_list))); + httpd_init(); + + http_set_cgi_handlers(cgi_handlers, LWIP_ARRAYSIZE(cgi_handlers)); + http_set_ssi_handler(ssi_example_ssi_handler, ssi_tags, LWIP_ARRAYSIZE(ssi_tags)); + + while(true) { + vTaskDelay(100); + } + +#if LWIP_MDNS_RESPONDER + mdns_resp_remove_netif(&cyw43_state.netif[CYW43_ITF_STA]); +#endif + + cyw43_arch_deinit(); +} + +void vLaunch( void) { + TaskHandle_t task; + xTaskCreate(main_task, "TestMainThread", configMINIMAL_STACK_SIZE, NULL, TEST_TASK_PRIORITY, &task); + +#if NO_SYS && configUSE_CORE_AFFINITY && configNUM_CORES > 1 + // we must bind the main task to one core (well at least while the init is called) + // (note we only do this in NO_SYS mode, because cyw43_arch_freertos + // takes care of it otherwise) + vTaskCoreAffinitySet(task, 1); +#endif + + /* Start the tasks and timer running. */ + vTaskStartScheduler(); +} + +int main( void ) +{ + stdio_init_all(); + + /* Configure the hardware ready to run the demo. */ + const char *rtos_name; +#if ( portSUPPORT_SMP == 1 ) + rtos_name = "FreeRTOS SMP"; +#else + rtos_name = "FreeRTOS"; +#endif + +#if ( portSUPPORT_SMP == 1 ) && ( configNUM_CORES == 2 ) + printf("Starting %s on both cores:\n", rtos_name); + vLaunch(); +#elif ( RUN_FREE_RTOS_ON_CORE == 1 ) + printf("Starting %s on core 1:\n", rtos_name); + multicore_launch_core1(vLaunch); + while (true); +#else + printf("Starting %s on core 0:\n", rtos_name); + vLaunch(); +#endif + return 0; +} diff --git a/pico_w/wifi/freertos/iperf/CMakeLists.txt b/pico_w/wifi/freertos/iperf/CMakeLists.txt index 4ed0652bc..2cc17c560 100644 --- a/pico_w/wifi/freertos/iperf/CMakeLists.txt +++ b/pico_w/wifi/freertos/iperf/CMakeLists.txt @@ -7,6 +7,7 @@ target_compile_definitions(picow_freertos_iperf_server_nosys PRIVATE ) target_include_directories(picow_freertos_iperf_server_nosys PRIVATE ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common FreeRTOSConfig ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts ) target_link_libraries(picow_freertos_iperf_server_nosys @@ -27,6 +28,7 @@ target_compile_definitions(picow_freertos_iperf_server_sys PRIVATE ) target_include_directories(picow_freertos_iperf_server_sys PRIVATE ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common FreeRTOSConfig ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts ) target_link_libraries(picow_freertos_iperf_server_sys diff --git a/pico_w/wifi/freertos/iperf/FreeRTOSConfig.h b/pico_w/wifi/freertos/iperf/FreeRTOSConfig.h index f9f075d84..831e53500 100644 --- a/pico_w/wifi/freertos/iperf/FreeRTOSConfig.h +++ b/pico_w/wifi/freertos/iperf/FreeRTOSConfig.h @@ -1,143 +1,7 @@ -/* - * FreeRTOS V202111.00 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - #ifndef FREERTOS_CONFIG_H #define FREERTOS_CONFIG_H -/*----------------------------------------------------------- - * Application specific definitions. - * - * These definitions should be adjusted for your particular hardware and - * application requirements. - * - * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE - * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. - * - * See http://www.freertos.org/a00110.html - *----------------------------------------------------------*/ - -/* Scheduler Related */ -#define configUSE_PREEMPTION 1 -#define configUSE_TICKLESS_IDLE 0 -#define configUSE_IDLE_HOOK 0 -#define configUSE_TICK_HOOK 0 -#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) -#define configMAX_PRIORITIES 32 -#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256 -#define configUSE_16_BIT_TICKS 0 - -#define configIDLE_SHOULD_YIELD 1 - -/* Synchronization Related */ -#define configUSE_MUTEXES 1 -#define configUSE_RECURSIVE_MUTEXES 1 -#define configUSE_APPLICATION_TASK_TAG 0 -#define configUSE_COUNTING_SEMAPHORES 1 -#define configQUEUE_REGISTRY_SIZE 8 -#define configUSE_QUEUE_SETS 1 -#define configUSE_TIME_SLICING 1 -#define configUSE_NEWLIB_REENTRANT 0 -// todo need this for lwip FreeRTOS sys_arch to compile -#define configENABLE_BACKWARD_COMPATIBILITY 1 -#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5 - -/* System */ -#define configSTACK_DEPTH_TYPE uint32_t -#define configMESSAGE_BUFFER_LENGTH_TYPE size_t - -/* Memory allocation related definitions. */ -#define configSUPPORT_STATIC_ALLOCATION 0 -#define configSUPPORT_DYNAMIC_ALLOCATION 1 -#define configTOTAL_HEAP_SIZE (128*1024) -#define configAPPLICATION_ALLOCATED_HEAP 0 - -/* Hook function related definitions. */ -#define configCHECK_FOR_STACK_OVERFLOW 0 -#define configUSE_MALLOC_FAILED_HOOK 0 -#define configUSE_DAEMON_TASK_STARTUP_HOOK 0 - -/* Run time and task stats gathering related definitions. */ -#define configGENERATE_RUN_TIME_STATS 0 -#define configUSE_TRACE_FACILITY 1 -#define configUSE_STATS_FORMATTING_FUNCTIONS 0 - -/* Co-routine related definitions. */ -#define configUSE_CO_ROUTINES 0 -#define configMAX_CO_ROUTINE_PRIORITIES 1 +// This example uses a common include to avoid repetition +#include "FreeRTOSConfig_examples_common.h" -/* Software timer related definitions. */ -#define configUSE_TIMERS 1 -#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) -#define configTIMER_QUEUE_LENGTH 10 -#define configTIMER_TASK_STACK_DEPTH 1024 - -/* Interrupt nesting behaviour configuration. */ -/* -#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor] -#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application] -#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application] -*/ - -#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS -/* SMP port only */ -#define configNUM_CORES 2 -#define configTICK_CORE 0 -#define configRUN_MULTIPLE_PRIORITIES 1 -#define configUSE_CORE_AFFINITY 1 #endif - -/* RP2040 specific */ -#define configSUPPORT_PICO_SYNC_INTEROP 1 -#define configSUPPORT_PICO_TIME_INTEROP 1 - -#include -/* Define to trap errors during development. */ -#define configASSERT(x) assert(x) - -/* Set the following definitions to 1 to include the API function, or zero -to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 1 -#define INCLUDE_vTaskDelay 1 -#define INCLUDE_xTaskGetSchedulerState 1 -#define INCLUDE_xTaskGetCurrentTaskHandle 1 -#define INCLUDE_uxTaskGetStackHighWaterMark 1 -#define INCLUDE_xTaskGetIdleTaskHandle 1 -#define INCLUDE_eTaskGetState 1 -#define INCLUDE_xTimerPendFunctionCall 1 -#define INCLUDE_xTaskAbortDelay 1 -#define INCLUDE_xTaskGetHandle 1 -#define INCLUDE_xTaskResumeFromISR 1 -#define INCLUDE_xQueueGetMutexHolder 1 - -/* A header file that defines trace macro can be included here. */ - -#endif /* FREERTOS_CONFIG_H */ - diff --git a/pico_w/wifi/freertos/iperf/picow_freertos_iperf.c b/pico_w/wifi/freertos/iperf/picow_freertos_iperf.c index 73b0f1906..148f6035a 100644 --- a/pico_w/wifi/freertos/iperf/picow_freertos_iperf.c +++ b/pico_w/wifi/freertos/iperf/picow_freertos_iperf.c @@ -43,7 +43,7 @@ void blink_task(__unused void *params) { bool on = false; printf("blink_task starts\n"); while (true) { -#if 0 && configNUM_CORES > 1 +#if 0 && configNUMBER_OF_CORES > 1 static int last_core_id; if (portGET_CORE_ID() != last_core_id) { last_core_id = portGET_CORE_ID(); @@ -96,7 +96,7 @@ void vLaunch( void) { TaskHandle_t task; xTaskCreate(main_task, "TestMainThread", configMINIMAL_STACK_SIZE, NULL, TEST_TASK_PRIORITY, &task); -#if NO_SYS && configUSE_CORE_AFFINITY && configNUM_CORES > 1 +#if NO_SYS && configUSE_CORE_AFFINITY && configNUMBER_OF_CORES > 1 // we must bind the main task to one core (well at least while the init is called) // (note we only do this in NO_SYS mode, because cyw43_arch_freertos // takes care of it otherwise) @@ -113,13 +113,13 @@ int main( void ) /* Configure the hardware ready to run the demo. */ const char *rtos_name; -#if ( portSUPPORT_SMP == 1 ) +#if ( configNUMBER_OF_CORES > 1 ) rtos_name = "FreeRTOS SMP"; #else rtos_name = "FreeRTOS"; #endif -#if ( portSUPPORT_SMP == 1 ) && ( configNUM_CORES == 2 ) +#if ( configNUMBER_OF_CORES == 2 ) printf("Starting %s on both cores:\n", rtos_name); vLaunch(); #elif ( RUN_FREERTOS_ON_CORE == 1 ) diff --git a/pico_w/wifi/freertos/ntp_client_socket/CMakeLists.txt b/pico_w/wifi/freertos/ntp_client_socket/CMakeLists.txt new file mode 100644 index 000000000..3cb02d5f1 --- /dev/null +++ b/pico_w/wifi/freertos/ntp_client_socket/CMakeLists.txt @@ -0,0 +1,20 @@ +add_executable(picow_freertos_ntp_client_socket + picow_freertos_ntp_client_socket.c + ) +target_compile_definitions(picow_freertos_ntp_client_socket PRIVATE + WIFI_SSID=\"${WIFI_SSID}\" + WIFI_PASSWORD=\"${WIFI_PASSWORD}\" + NO_SYS=0 # don't want NO_SYS (generally this would be in your lwipopts.h) + LWIP_SOCKET=1 # we need the socket API (generally this would be in your lwipopts.h) + ) +target_include_directories(picow_freertos_ntp_client_socket PRIVATE + ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common FreeRTOSConfig + ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts + ) +target_link_libraries(picow_freertos_ntp_client_socket + pico_cyw43_arch_lwip_sys_freertos + pico_stdlib + FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap + ) +pico_add_extra_outputs(picow_freertos_ntp_client_socket) diff --git a/pico_w/wifi/freertos/ntp_client_socket/FreeRTOSConfig.h b/pico_w/wifi/freertos/ntp_client_socket/FreeRTOSConfig.h new file mode 100644 index 000000000..e7523fe3b --- /dev/null +++ b/pico_w/wifi/freertos/ntp_client_socket/FreeRTOSConfig.h @@ -0,0 +1,35 @@ +/* + * FreeRTOS V202111.00 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +// This example uses a common include to avoid repetition +#include "FreeRTOSConfig_examples_common.h" + +#endif /* FREERTOS_CONFIG_H */ + diff --git a/pico_w/wifi/freertos/ntp_client_socket/lwipopts.h b/pico_w/wifi/freertos/ntp_client_socket/lwipopts.h new file mode 100644 index 000000000..b5b8bce0d --- /dev/null +++ b/pico_w/wifi/freertos/ntp_client_socket/lwipopts.h @@ -0,0 +1,25 @@ +#ifndef _LWIPOPTS_H +#define _LWIPOPTS_H + +// Generally you would define your own explicit list of lwIP options +// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html) +// +// This example uses a common include to avoid repetition +#include "lwipopts_examples_common.h" + +#if !NO_SYS +#define TCPIP_THREAD_STACKSIZE 1024 +#define DEFAULT_THREAD_STACKSIZE 1024 +#define DEFAULT_RAW_RECVMBOX_SIZE 8 +#define DEFAULT_UDP_RECVMBOX_SIZE 8 +#define DEFAULT_TCP_RECVMBOX_SIZE 8 +#define TCPIP_MBOX_SIZE 8 +#define LWIP_TIMEVAL_PRIVATE 0 + +// not necessary, can be done either way +#define LWIP_TCPIP_CORE_LOCKING_INPUT 1 + +#define LWIP_SO_RCVTIMEO 1 +#endif + +#endif diff --git a/pico_w/wifi/freertos/ntp_client_socket/picow_freertos_ntp_client_socket.c b/pico_w/wifi/freertos/ntp_client_socket/picow_freertos_ntp_client_socket.c new file mode 100644 index 000000000..b2604a57d --- /dev/null +++ b/pico_w/wifi/freertos/ntp_client_socket/picow_freertos_ntp_client_socket.c @@ -0,0 +1,189 @@ +/** + * Copyright (c) 2022 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include "pico/cyw43_arch.h" +#include "pico/stdlib.h" + +#include "lwip/ip4_addr.h" +#include "lwip/dns.h" +#include "lwip/pbuf.h" +#include "lwip/udp.h" +#include "lwip/sockets.h" +#include "lwip/netdb.h" + +#include "FreeRTOS.h" +#include "task.h" + +#ifndef RUN_FREERTOS_ON_CORE +#define RUN_FREERTOS_ON_CORE 0 +#endif + +#define TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL ) + +#define NTP_SERVER ("pool.ntp.org") +#define NTP_MSG_LEN (48) +#define NTP_PORT (123) +// seconds between 1 Jan 1900 and 1 Jan 1970 +#define NTP_DELTA (2208988800) +#define ntpEST_TIME (30 * 1000) +#define NTP_FAIL_TIME (10) + +void main_task(__unused void *params) { + if (cyw43_arch_init()) { + printf("failed to initialise\n"); + vTaskDelete(NULL); + } + cyw43_arch_enable_sta_mode(); + printf("Connecting to Wi-Fi...\n"); + if (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) { + printf("failed to connect.\n"); + vTaskDelete(NULL); + } else { + printf("Connected.\n"); + } + + while(true) { + const struct addrinfo ntp_info = { + .ai_flags = 0, + .ai_family = AF_UNSPEC, + .ai_socktype = SOCK_DGRAM, + .ai_protocol = 0, + }; + + struct addrinfo *dns_result = NULL; + printf("Trying DNS...\n"); + int err = getaddrinfo(NTP_SERVER, "123", &ntp_info, &dns_result); + if (err != 0) + { + printf("DNS lookup failed with error: %d\n", err); + continue; + } +#ifndef INET6_ADDRSTRLEN + char address[INET_ADDRSTRLEN] = {0}; +#else + char address[INET6_ADDRSTRLEN] = {0}; +#endif + ip_addr_t ip_addr; +#if LWIP_IPV4 + if (dns_result->ai_addr->sa_family == AF_INET) { + const struct sockaddr_in *sock_addr = (struct sockaddr_in*)dns_result->ai_addr; + inet_addr_to_ip4addr(ip_2_ip4(&ip_addr), &sock_addr->sin_addr); + IP_SET_TYPE(&ip_addr, IPADDR_TYPE_V4); + } +#endif +#if LWIP_IPV6 + if (dns_result->ai_addr->sa_family == AF_INET6) { + const struct sockaddr_in6 *sock_addr = (struct sockaddr_in6*)dns_result->ai_addr; + inet6_addr_to_ip6addr(ip_2_ip6(&ip_addr), &sock_addr->sin6_addr); + IP_SET_TYPE(&ip_addr, IPADDR_TYPE_V6); + } +#endif + inet_ntop(dns_result->ai_family, &ip_addr, address, sizeof(address)); + printf("Got DNS response: %s\n", address); + + int sock = socket(dns_result->ai_family, dns_result->ai_socktype, dns_result->ai_protocol); + if (sock == -1) + { + printf("Failed to allocate socket"); + freeaddrinfo(dns_result); + continue; + } + + struct timeval timeout = { + .tv_sec = NTP_FAIL_TIME, + }; + setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)); + err = connect(sock, dns_result->ai_addr, dns_result->ai_addrlen); + freeaddrinfo(dns_result); + if (err == -1) + { + printf("Failed to connect to NTP server"); + close(sock); + continue; + } + + unsigned char request[NTP_MSG_LEN] = {0x1b, 0}; + int amount = send(sock, request, NTP_MSG_LEN, 0); + if (amount != NTP_MSG_LEN) + { + printf("We were unable to send the complete NTP request"); + close(sock); + continue; + } + + amount = recv(sock, request, NTP_MSG_LEN, 0); + close(sock); + if (amount != NTP_MSG_LEN) + { + printf("We did not receive a complete NTP response"); + continue; + } + + uint8_t mode = request[0] & 0x7; + uint8_t stratum = request[1]; + + // Check the result + if (amount == NTP_MSG_LEN && + mode == 0x4 && + stratum != 0) + { + uint8_t seconds_buf[4] = {}; + memcpy(seconds_buf, request + 40, 4); + uint32_t seconds_since_1900 = seconds_buf[0] << 24 | seconds_buf[1] << 16 | seconds_buf[2] << 8 | seconds_buf[3]; + uint32_t seconds_since_1970 = seconds_since_1900 - NTP_DELTA; + time_t epoch = seconds_since_1970; + struct tm *utc = gmtime(&epoch); + printf("got ntp response: %02d/%02d/%04d %02d:%02d:%02d\n", utc->tm_mday, utc->tm_mon + 1, utc->tm_year + 1900, + utc->tm_hour, utc->tm_min, utc->tm_sec); + } + + // This assumes one tick is one ms, which is true for the default configuration + vTaskDelay(ntpEST_TIME); + } + + cyw43_arch_deinit(); +} + +void vLaunch( void) { + TaskHandle_t task; + xTaskCreate(main_task, "TestMainThread", 4096, NULL, TEST_TASK_PRIORITY, &task); + +#if NO_SYS && configUSE_CORE_AFFINITY && configNUMBER_OF_CORES > 1 + // we must bind the main task to one core (well at least while the init is called) + // (note we only do this in NO_SYS mode, because cyw43_arch_freertos + // takes care of it otherwise) + vTaskCoreAffinitySet(task, 1); +#endif + + /* Start the tasks and timer running. */ + vTaskStartScheduler(); +} + +int main( void ) +{ + stdio_init_all(); + + /* Configure the hardware ready to run the demo. */ + const char *rtos_name; +#if ( configNUMBER_OF_CORES > 1 ) + rtos_name = "FreeRTOS SMP"; +#else + rtos_name = "FreeRTOS"; +#endif + +#if ( configNUMBER_OF_CORES == 2 ) + printf("Starting %s on both cores:\n", rtos_name); + vLaunch(); +#elif ( RUN_FREERTOS_ON_CORE == 1 ) + printf("Starting %s on core 1:\n", rtos_name); + multicore_launch_core1(vLaunch); + while (true); +#else + printf("Starting %s on core 0:\n", rtos_name); + vLaunch(); +#endif + return 0; +} diff --git a/pico_w/wifi/freertos/ping/CMakeLists.txt b/pico_w/wifi/freertos/ping/CMakeLists.txt index a76991cb4..1296e09bf 100644 --- a/pico_w/wifi/freertos/ping/CMakeLists.txt +++ b/pico_w/wifi/freertos/ping/CMakeLists.txt @@ -9,6 +9,7 @@ if (EXISTS ${PICO_LWIP_CONTRIB_PATH}/apps/ping/ping.c) ) target_include_directories(picow_freertos_ping_nosys PRIVATE ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common FreeRTOSConfig ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts ${PICO_LWIP_CONTRIB_PATH}/apps/ping ) @@ -33,6 +34,7 @@ if (EXISTS ${PICO_LWIP_CONTRIB_PATH}/apps/ping/ping.c) ) target_include_directories(picow_freertos_ping_sys PRIVATE ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common FreeRTOSConfig ${CMAKE_CURRENT_LIST_DIR}/../.. # for our common lwipopts ${PICO_LWIP_CONTRIB_PATH}/apps/ping ) diff --git a/pico_w/wifi/freertos/ping/FreeRTOSConfig.h b/pico_w/wifi/freertos/ping/FreeRTOSConfig.h index f9f075d84..831e53500 100644 --- a/pico_w/wifi/freertos/ping/FreeRTOSConfig.h +++ b/pico_w/wifi/freertos/ping/FreeRTOSConfig.h @@ -1,143 +1,7 @@ -/* - * FreeRTOS V202111.00 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - #ifndef FREERTOS_CONFIG_H #define FREERTOS_CONFIG_H -/*----------------------------------------------------------- - * Application specific definitions. - * - * These definitions should be adjusted for your particular hardware and - * application requirements. - * - * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE - * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. - * - * See http://www.freertos.org/a00110.html - *----------------------------------------------------------*/ - -/* Scheduler Related */ -#define configUSE_PREEMPTION 1 -#define configUSE_TICKLESS_IDLE 0 -#define configUSE_IDLE_HOOK 0 -#define configUSE_TICK_HOOK 0 -#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) -#define configMAX_PRIORITIES 32 -#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256 -#define configUSE_16_BIT_TICKS 0 - -#define configIDLE_SHOULD_YIELD 1 - -/* Synchronization Related */ -#define configUSE_MUTEXES 1 -#define configUSE_RECURSIVE_MUTEXES 1 -#define configUSE_APPLICATION_TASK_TAG 0 -#define configUSE_COUNTING_SEMAPHORES 1 -#define configQUEUE_REGISTRY_SIZE 8 -#define configUSE_QUEUE_SETS 1 -#define configUSE_TIME_SLICING 1 -#define configUSE_NEWLIB_REENTRANT 0 -// todo need this for lwip FreeRTOS sys_arch to compile -#define configENABLE_BACKWARD_COMPATIBILITY 1 -#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5 - -/* System */ -#define configSTACK_DEPTH_TYPE uint32_t -#define configMESSAGE_BUFFER_LENGTH_TYPE size_t - -/* Memory allocation related definitions. */ -#define configSUPPORT_STATIC_ALLOCATION 0 -#define configSUPPORT_DYNAMIC_ALLOCATION 1 -#define configTOTAL_HEAP_SIZE (128*1024) -#define configAPPLICATION_ALLOCATED_HEAP 0 - -/* Hook function related definitions. */ -#define configCHECK_FOR_STACK_OVERFLOW 0 -#define configUSE_MALLOC_FAILED_HOOK 0 -#define configUSE_DAEMON_TASK_STARTUP_HOOK 0 - -/* Run time and task stats gathering related definitions. */ -#define configGENERATE_RUN_TIME_STATS 0 -#define configUSE_TRACE_FACILITY 1 -#define configUSE_STATS_FORMATTING_FUNCTIONS 0 - -/* Co-routine related definitions. */ -#define configUSE_CO_ROUTINES 0 -#define configMAX_CO_ROUTINE_PRIORITIES 1 +// This example uses a common include to avoid repetition +#include "FreeRTOSConfig_examples_common.h" -/* Software timer related definitions. */ -#define configUSE_TIMERS 1 -#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) -#define configTIMER_QUEUE_LENGTH 10 -#define configTIMER_TASK_STACK_DEPTH 1024 - -/* Interrupt nesting behaviour configuration. */ -/* -#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor] -#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application] -#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application] -*/ - -#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS -/* SMP port only */ -#define configNUM_CORES 2 -#define configTICK_CORE 0 -#define configRUN_MULTIPLE_PRIORITIES 1 -#define configUSE_CORE_AFFINITY 1 #endif - -/* RP2040 specific */ -#define configSUPPORT_PICO_SYNC_INTEROP 1 -#define configSUPPORT_PICO_TIME_INTEROP 1 - -#include -/* Define to trap errors during development. */ -#define configASSERT(x) assert(x) - -/* Set the following definitions to 1 to include the API function, or zero -to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 1 -#define INCLUDE_vTaskDelay 1 -#define INCLUDE_xTaskGetSchedulerState 1 -#define INCLUDE_xTaskGetCurrentTaskHandle 1 -#define INCLUDE_uxTaskGetStackHighWaterMark 1 -#define INCLUDE_xTaskGetIdleTaskHandle 1 -#define INCLUDE_eTaskGetState 1 -#define INCLUDE_xTimerPendFunctionCall 1 -#define INCLUDE_xTaskAbortDelay 1 -#define INCLUDE_xTaskGetHandle 1 -#define INCLUDE_xTaskResumeFromISR 1 -#define INCLUDE_xQueueGetMutexHolder 1 - -/* A header file that defines trace macro can be included here. */ - -#endif /* FREERTOS_CONFIG_H */ - diff --git a/pico_w/wifi/freertos/ping/lwipopts.h b/pico_w/wifi/freertos/ping/lwipopts.h index 051c08aae..d42764f5e 100644 --- a/pico_w/wifi/freertos/ping/lwipopts.h +++ b/pico_w/wifi/freertos/ping/lwipopts.h @@ -9,7 +9,7 @@ #if !NO_SYS #define TCPIP_THREAD_STACKSIZE 1024 -#define DEFAULT_THREAD_STACKSIZE 1024 +#define DEFAULT_THREAD_STACKSIZE 2048 #define DEFAULT_RAW_RECVMBOX_SIZE 8 #define TCPIP_MBOX_SIZE 8 #define LWIP_TIMEVAL_PRIVATE 0 diff --git a/pico_w/wifi/freertos/ping/picow_freertos_ping.c b/pico_w/wifi/freertos/ping/picow_freertos_ping.c index a20c1d7bd..ca10645d2 100644 --- a/pico_w/wifi/freertos/ping/picow_freertos_ping.c +++ b/pico_w/wifi/freertos/ping/picow_freertos_ping.c @@ -52,7 +52,7 @@ void vLaunch( void) { TaskHandle_t task; xTaskCreate(main_task, "TestMainThread", configMINIMAL_STACK_SIZE, NULL, TEST_TASK_PRIORITY, &task); -#if NO_SYS && configUSE_CORE_AFFINITY && configNUM_CORES > 1 +#if NO_SYS && configUSE_CORE_AFFINITY && configNUMBER_OF_CORES > 1 // we must bind the main task to one core (well at least while the init is called) // (note we only do this in NO_SYS mode, because cyw43_arch_freertos // takes care of it otherwise) @@ -69,13 +69,13 @@ int main( void ) /* Configure the hardware ready to run the demo. */ const char *rtos_name; -#if ( portSUPPORT_SMP == 1 ) +#if ( configNUMBER_OF_CORES > 1 ) rtos_name = "FreeRTOS SMP"; #else rtos_name = "FreeRTOS"; #endif -#if ( portSUPPORT_SMP == 1 ) && ( configNUM_CORES == 2 ) +#if ( configNUMBER_OF_CORES == 2 ) printf("Starting %s on both cores:\n", rtos_name); vLaunch(); #elif ( RUN_FREERTOS_ON_CORE == 1 ) diff --git a/pico_w/wifi/httpd/CMakeLists.txt b/pico_w/wifi/httpd/CMakeLists.txt new file mode 100644 index 000000000..f028ef6dd --- /dev/null +++ b/pico_w/wifi/httpd/CMakeLists.txt @@ -0,0 +1,32 @@ +set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}) + +add_executable(picow_httpd_background + pico_httpd.c + ) +target_compile_definitions(picow_httpd_background PRIVATE + WIFI_SSID=\"${WIFI_SSID}\" + WIFI_PASSWORD=\"${WIFI_PASSWORD}\" + ) +target_include_directories(picow_httpd_background PRIVATE + ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts + ${PICO_LWIP_CONTRIB_PATH}/apps/httpd + ) +target_link_libraries(picow_httpd_background PRIVATE + pico_cyw43_arch_lwip_threadsafe_background + pico_lwip_http + pico_lwip_mdns + pico_httpd_content + pico_stdlib + ) +pico_add_extra_outputs(picow_httpd_background) + +pico_add_library(pico_httpd_content NOFLAG) +pico_set_lwip_httpd_content(pico_httpd_content INTERFACE + ${CMAKE_CURRENT_LIST_DIR}/content/404.html + ${CMAKE_CURRENT_LIST_DIR}/content/index.shtml + ${CMAKE_CURRENT_LIST_DIR}/content/test.shtml + ${CMAKE_CURRENT_LIST_DIR}/content/ledpass.shtml + ${CMAKE_CURRENT_LIST_DIR}/content/ledfail.shtml + ${CMAKE_CURRENT_LIST_DIR}/content/img/rpi.png + ) diff --git a/pico_w/wifi/httpd/content/404.html b/pico_w/wifi/httpd/content/404.html new file mode 100644 index 000000000..075b363cf --- /dev/null +++ b/pico_w/wifi/httpd/content/404.html @@ -0,0 +1,9 @@ + + + 404 - Page not found + + +

404 - Page not found

+

Sorry, the page you are requesting was not found on this server.

+ + diff --git a/pico_w/wifi/httpd/content/img/rpi.png b/pico_w/wifi/httpd/content/img/rpi.png new file mode 100755 index 000000000..753319c89 Binary files /dev/null and b/pico_w/wifi/httpd/content/img/rpi.png differ diff --git a/pico_w/wifi/httpd/content/index.shtml b/pico_w/wifi/httpd/content/index.shtml new file mode 100644 index 000000000..7952f5925 --- /dev/null +++ b/pico_w/wifi/httpd/content/index.shtml @@ -0,0 +1,18 @@ + + + Pico httpd example + + +

Pico httpd example

+

+

+

Uptime is seconds

+

CGI handler test

+

+

+ + +
+

+ + diff --git a/pico_w/wifi/httpd/content/ledfail.shtml b/pico_w/wifi/httpd/content/ledfail.shtml new file mode 100644 index 000000000..534b84349 --- /dev/null +++ b/pico_w/wifi/httpd/content/ledfail.shtml @@ -0,0 +1,10 @@ + + + Pico post test + + +

Pico post test

+

Failed to update led

+

Go back

+ + diff --git a/pico_w/wifi/httpd/content/ledpass.shtml b/pico_w/wifi/httpd/content/ledpass.shtml new file mode 100644 index 000000000..0731d4485 --- /dev/null +++ b/pico_w/wifi/httpd/content/ledpass.shtml @@ -0,0 +1,10 @@ + + + Pico post test + + +

Pico post test

+

Success. Led is now

+

Go back

+ + diff --git a/pico_w/wifi/httpd/content/test.shtml b/pico_w/wifi/httpd/content/test.shtml new file mode 100644 index 000000000..35d50e45f --- /dev/null +++ b/pico_w/wifi/httpd/content/test.shtml @@ -0,0 +1,11 @@ + + + Pico cgi handler test + + +

Pico cgi handler test

+

+

Test result:

+

Go back

+ + diff --git a/pico_w/wifi/httpd/lwipopts.h b/pico_w/wifi/httpd/lwipopts.h new file mode 100644 index 000000000..2227e866d --- /dev/null +++ b/pico_w/wifi/httpd/lwipopts.h @@ -0,0 +1,28 @@ +#ifndef _LWIPOPTS_H +#define _LWIPOPTS_H + +// Generally you would define your own explicit list of lwIP options +// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html) +// +// This example uses a common include to avoid repetition +#include "lwipopts_examples_common.h" + +// The following is needed to test mDns +#define LWIP_MDNS_RESPONDER 1 +#define LWIP_IGMP 1 +#define LWIP_NUM_NETIF_CLIENT_DATA 1 +#define MDNS_RESP_USENETIF_EXTCALLBACK 1 +#define MEMP_NUM_SYS_TIMEOUT (LWIP_NUM_SYS_TIMEOUT_INTERNAL + 3) +#define MEMP_NUM_TCP_PCB 12 + +// Enable some httpd features +#define LWIP_HTTPD_CGI 1 +#define LWIP_HTTPD_SSI 1 +#define LWIP_HTTPD_SSI_MULTIPART 1 +#define LWIP_HTTPD_SUPPORT_POST 1 +#define LWIP_HTTPD_SSI_INCLUDE_TAG 0 + +// Generated file containing html data +#define HTTPD_FSDATA_FILE "pico_fsdata.inc" + +#endif diff --git a/pico_w/wifi/httpd/pico_httpd.c b/pico_w/wifi/httpd/pico_httpd.c new file mode 100644 index 000000000..e469c88f0 --- /dev/null +++ b/pico_w/wifi/httpd/pico_httpd.c @@ -0,0 +1,244 @@ +/** + * Copyright (c) 2022 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include "pico/cyw43_arch.h" +#include "pico/stdlib.h" + +#include "lwip/ip4_addr.h" +#include "lwip/apps/mdns.h" +#include "lwip/init.h" +#include "lwip/apps/httpd.h" + +void httpd_init(void); + +static absolute_time_t wifi_connected_time; +static bool led_on = false; + +#if LWIP_MDNS_RESPONDER +static void srv_txt(struct mdns_service *service, void *txt_userdata) +{ + err_t res; + LWIP_UNUSED_ARG(txt_userdata); + + res = mdns_resp_add_service_txtitem(service, "path=/", 6); + LWIP_ERROR("mdns add service txt failed\n", (res == ERR_OK), return); +} +#endif + +// Return some characters from the ascii representation of the mac address +// e.g. 112233445566 +// chr_off is index of character in mac to start +// chr_len is length of result +// chr_off=8 and chr_len=4 would return "5566" +// Return number of characters put into destination +static size_t get_mac_ascii(int idx, size_t chr_off, size_t chr_len, char *dest_in) { + static const char hexchr[16] = "0123456789ABCDEF"; + uint8_t mac[6]; + char *dest = dest_in; + assert(chr_off + chr_len <= (2 * sizeof(mac))); + cyw43_hal_get_mac(idx, mac); + for (; chr_len && (chr_off >> 1) < sizeof(mac); ++chr_off, --chr_len) { + *dest++ = hexchr[mac[chr_off >> 1] >> (4 * (1 - (chr_off & 1))) & 0xf]; + } + return dest - dest_in; +} + +static const char *cgi_handler_test(int iIndex, int iNumParams, char *pcParam[], char *pcValue[]) { + if (iNumParams > 0) { + if (strcmp(pcParam[0], "test") == 0) { + return "/test.shtml"; + } + } + return "/index.shtml"; +} + +static tCGI cgi_handlers[] = { + { "/", cgi_handler_test }, + { "/index.shtml", cgi_handler_test }, +}; + +// Note that the buffer size is limited by LWIP_HTTPD_MAX_TAG_INSERT_LEN, so use LWIP_HTTPD_SSI_MULTIPART to return larger amounts of data +u16_t ssi_example_ssi_handler(int iIndex, char *pcInsert, int iInsertLen +#if LWIP_HTTPD_SSI_MULTIPART + , uint16_t current_tag_part, uint16_t *next_tag_part +#endif +) { + size_t printed; + switch (iIndex) { + case 0: { // "status" + printed = snprintf(pcInsert, iInsertLen, "Pass"); + break; + } + case 1: { // "welcome" + printed = snprintf(pcInsert, iInsertLen, "Hello from Pico"); + break; + } + case 2: { // "uptime" + uint64_t uptime_s = absolute_time_diff_us(wifi_connected_time, get_absolute_time()) / 1e6; + printed = snprintf(pcInsert, iInsertLen, "%"PRIu64, uptime_s); + break; + } + case 3: { // "ledstate" + printed = snprintf(pcInsert, iInsertLen, "%s", led_on ? "ON" : "OFF"); + break; + } + case 4: { // "ledinv" + printed = snprintf(pcInsert, iInsertLen, "%s", led_on ? "OFF" : "ON"); + break; + } +#if LWIP_HTTPD_SSI_MULTIPART + case 5: { /* "table" */ + printed = snprintf(pcInsert, iInsertLen, "This is table row number %d", current_tag_part + 1); + // Leave "next_tag_part" unchanged to indicate that all data has been returned for this tag + if (current_tag_part < 9) { + *next_tag_part = current_tag_part + 1; + } + break; + } +#endif + default: { // unknown tag + printed = 0; + break; + } + } + return (u16_t)printed; +} + +// Be aware of LWIP_HTTPD_MAX_TAG_NAME_LEN +static const char *ssi_tags[] = { + "status", + "welcome", + "uptime", + "ledstate", + "ledinv", + "table", +}; + +#if LWIP_HTTPD_SUPPORT_POST +#define LED_STATE_BUFSIZE 4 +static void *current_connection; + +err_t httpd_post_begin(void *connection, const char *uri, const char *http_request, + u16_t http_request_len, int content_len, char *response_uri, + u16_t response_uri_len, u8_t *post_auto_wnd) { + if (memcmp(uri, "/led.cgi", 8) == 0 && current_connection != connection) { + current_connection = connection; + snprintf(response_uri, response_uri_len, "/ledfail.shtml"); + *post_auto_wnd = 1; + return ERR_OK; + } + return ERR_VAL; +} + +// Return a value for a parameter +char *httpd_param_value(struct pbuf *p, const char *param_name, char *value_buf, size_t value_buf_len) { + size_t param_len = strlen(param_name); + u16_t param_pos = pbuf_memfind(p, param_name, param_len, 0); + if (param_pos != 0xFFFF) { + u16_t param_value_pos = param_pos + param_len; + u16_t param_value_len = 0; + u16_t tmp = pbuf_memfind(p, "&", 1, param_value_pos); + if (tmp != 0xFFFF) { + param_value_len = tmp - param_value_pos; + } else { + param_value_len = p->tot_len - param_value_pos; + } + if (param_value_len > 0 && param_value_len < value_buf_len) { + char *result = (char *)pbuf_get_contiguous(p, value_buf, value_buf_len, param_value_len, param_value_pos); + if (result) { + result[param_value_len] = 0; + return result; + } + } + } + return NULL; +} + +err_t httpd_post_receive_data(void *connection, struct pbuf *p) { + err_t ret = ERR_VAL; + LWIP_ASSERT("NULL pbuf", p != NULL); + if (current_connection == connection) { + char buf[LED_STATE_BUFSIZE]; + char *val = httpd_param_value(p, "led_state=", buf, sizeof(buf)); + if (val) { + led_on = (strcmp(val, "ON") == 0) ? true : false; + cyw43_gpio_set(&cyw43_state, 0, led_on); + ret = ERR_OK; + } + } + pbuf_free(p); + return ret; +} + +void httpd_post_finished(void *connection, char *response_uri, u16_t response_uri_len) { + snprintf(response_uri, response_uri_len, "/ledfail.shtml"); + if (current_connection == connection) { + snprintf(response_uri, response_uri_len, "/ledpass.shtml"); + } + current_connection = NULL; +} +#endif + +int main() { + stdio_init_all(); + if (cyw43_arch_init()) { + printf("failed to initialise\n"); + return 1; + } + cyw43_arch_enable_sta_mode(); + + char hostname[sizeof(CYW43_HOST_NAME) + 4]; + memcpy(&hostname[0], CYW43_HOST_NAME, sizeof(CYW43_HOST_NAME) - 1); + get_mac_ascii(CYW43_HAL_MAC_WLAN0, 8, 4, &hostname[sizeof(CYW43_HOST_NAME) - 1]); + hostname[sizeof(hostname) - 1] = '\0'; + netif_set_hostname(&cyw43_state.netif[CYW43_ITF_STA], hostname); + + printf("Connecting to WiFi...\n"); + if (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000)) { + printf("failed to connect.\n"); + exit(1); + } else { + printf("Connected.\n"); + } + printf("\nReady, running httpd at %s\n", ip4addr_ntoa(netif_ip4_addr(netif_list))); + + // start http server + wifi_connected_time = get_absolute_time(); + +#if LWIP_MDNS_RESPONDER + // Setup mdns + cyw43_arch_lwip_begin(); + mdns_resp_init(); + printf("mdns host name %s.local\n", hostname); +#if LWIP_VERSION_MAJOR >= 2 && LWIP_VERSION_MINOR >= 2 + mdns_resp_add_netif(&cyw43_state.netif[CYW43_ITF_STA], hostname); + mdns_resp_add_service(&cyw43_state.netif[CYW43_ITF_STA], "pico_httpd", "_http", DNSSD_PROTO_TCP, 80, srv_txt, NULL); +#else + mdns_resp_add_netif(&cyw43_state.netif[CYW43_ITF_STA], hostname, 60); + mdns_resp_add_service(&cyw43_state.netif[CYW43_ITF_STA], "pico_httpd", "_http", DNSSD_PROTO_TCP, 80, 60, srv_txt, NULL); +#endif + cyw43_arch_lwip_end(); +#endif + // setup http server + cyw43_arch_lwip_begin(); + httpd_init(); + http_set_cgi_handlers(cgi_handlers, LWIP_ARRAYSIZE(cgi_handlers)); + http_set_ssi_handler(ssi_example_ssi_handler, ssi_tags, LWIP_ARRAYSIZE(ssi_tags)); + cyw43_arch_lwip_end(); + + while(true) { +#if PICO_CYW43_ARCH_POLL + cyw43_arch_poll(); + cyw43_arch_wait_for_work_until(led_time); +#else + sleep_ms(1000); +#endif + } +#if LWIP_MDNS_RESPONDER + mdns_resp_remove_netif(&cyw43_state.netif[CYW43_ITF_STA]); +#endif + cyw43_arch_deinit(); +} diff --git a/pico_w/wifi/iperf/picow_iperf.c b/pico_w/wifi/iperf/picow_iperf.c index c99671f13..927e5c7b2 100644 --- a/pico_w/wifi/iperf/picow_iperf.c +++ b/pico_w/wifi/iperf/picow_iperf.c @@ -36,21 +36,12 @@ static void iperf_report(void *arg, enum lwiperf_report_type report_type, #endif } -// This "worker" function is called to safely perform work when instructed by key_pressed_func -void key_pressed_worker_func(async_context_t *context, async_when_pending_worker_t *worker) { - printf("Disabling wifi\n"); - cyw43_arch_disable_sta_mode(); -} - -static async_when_pending_worker_t key_pressed_worker = { - .do_work = key_pressed_worker_func -}; - void key_pressed_func(void *param) { int key = getchar_timeout_us(0); // get any pending key press but don't wait if (key == 'd' || key == 'D') { - // We are probably in irq context so call wifi in a "worker" - async_context_set_work_pending((async_context_t*)param, &key_pressed_worker); + cyw43_arch_lwip_begin(); + cyw43_arch_disable_sta_mode(); + cyw43_arch_lwip_end(); } } @@ -63,7 +54,6 @@ int main() { } // Get notified if the user presses a key - async_context_add_when_pending_worker(cyw43_arch_async_context(), &key_pressed_worker); stdio_set_chars_available_callback(key_pressed_func, cyw43_arch_async_context()); cyw43_arch_enable_sta_mode(); @@ -122,5 +112,6 @@ int main() { } cyw43_arch_deinit(); + printf("Test complete\n"); return 0; } diff --git a/pico_w/wifi/mbedtls_config_examples_common.h b/pico_w/wifi/mbedtls_config_examples_common.h new file mode 100644 index 000000000..11b33fed6 --- /dev/null +++ b/pico_w/wifi/mbedtls_config_examples_common.h @@ -0,0 +1,71 @@ +#ifndef MBEDTLS_CONFIG_EXAMPLES_COMMON_H +#define MBEDTLS_CONFIG_EXAMPLES_COMMON_H + +/* Workaround for some mbedtls source files using INT_MAX without including limits.h */ +#include + +#define MBEDTLS_NO_PLATFORM_ENTROPY +#define MBEDTLS_ENTROPY_HARDWARE_ALT + +#define MBEDTLS_SSL_OUT_CONTENT_LEN 2048 + +#define MBEDTLS_ALLOW_PRIVATE_ACCESS +#define MBEDTLS_HAVE_TIME + +#define MBEDTLS_CIPHER_MODE_CBC +#define MBEDTLS_ECP_DP_SECP192R1_ENABLED +#define MBEDTLS_ECP_DP_SECP224R1_ENABLED +#define MBEDTLS_ECP_DP_SECP256R1_ENABLED +#define MBEDTLS_ECP_DP_SECP384R1_ENABLED +#define MBEDTLS_ECP_DP_SECP521R1_ENABLED +#define MBEDTLS_ECP_DP_SECP192K1_ENABLED +#define MBEDTLS_ECP_DP_SECP224K1_ENABLED +#define MBEDTLS_ECP_DP_SECP256K1_ENABLED +#define MBEDTLS_ECP_DP_BP256R1_ENABLED +#define MBEDTLS_ECP_DP_BP384R1_ENABLED +#define MBEDTLS_ECP_DP_BP512R1_ENABLED +#define MBEDTLS_ECP_DP_CURVE25519_ENABLED +#define MBEDTLS_KEY_EXCHANGE_RSA_ENABLED +#define MBEDTLS_PKCS1_V15 +#define MBEDTLS_SHA256_SMALLER +#define MBEDTLS_SSL_SERVER_NAME_INDICATION +#define MBEDTLS_AES_C +#define MBEDTLS_ASN1_PARSE_C +#define MBEDTLS_BIGNUM_C +#define MBEDTLS_CIPHER_C +#define MBEDTLS_CTR_DRBG_C +#define MBEDTLS_ENTROPY_C +#define MBEDTLS_ERROR_C +#define MBEDTLS_MD_C +#define MBEDTLS_MD5_C +#define MBEDTLS_OID_C +#define MBEDTLS_PKCS5_C +#define MBEDTLS_PK_C +#define MBEDTLS_PK_PARSE_C +#define MBEDTLS_PLATFORM_C +#define MBEDTLS_RSA_C +#define MBEDTLS_SHA1_C +#define MBEDTLS_SHA224_C +#define MBEDTLS_SHA256_C +#define MBEDTLS_SHA512_C +#define MBEDTLS_SSL_CLI_C +#define MBEDTLS_SSL_SRV_C +#define MBEDTLS_SSL_TLS_C +#define MBEDTLS_X509_CRT_PARSE_C +#define MBEDTLS_X509_USE_C +#define MBEDTLS_AES_FEWER_TABLES + +/* TLS 1.2 */ +#define MBEDTLS_SSL_PROTO_TLS1_2 +#define MBEDTLS_KEY_EXCHANGE_ECDHE_ECDSA_ENABLED +#define MBEDTLS_GCM_C +#define MBEDTLS_ECDH_C +#define MBEDTLS_ECP_C +#define MBEDTLS_ECDSA_C +#define MBEDTLS_ASN1_WRITE_C + +// The following is needed to parse a certificate +#define MBEDTLS_PEM_PARSE_C +#define MBEDTLS_BASE64_C + +#endif \ No newline at end of file diff --git a/pico_w/wifi/tls_client/CMakeLists.txt b/pico_w/wifi/tls_client/CMakeLists.txt index 166a98644..fdbe6c056 100644 --- a/pico_w/wifi/tls_client/CMakeLists.txt +++ b/pico_w/wifi/tls_client/CMakeLists.txt @@ -8,7 +8,7 @@ target_compile_definitions(picow_tls_client_background PRIVATE ) target_include_directories(picow_tls_client_background PRIVATE ${CMAKE_CURRENT_LIST_DIR} - ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts and mbedtls_config.h ) target_link_libraries(picow_tls_client_background pico_cyw43_arch_lwip_threadsafe_background @@ -28,7 +28,7 @@ target_compile_definitions(picow_tls_client_poll PRIVATE ) target_include_directories(picow_tls_client_poll PRIVATE ${CMAKE_CURRENT_LIST_DIR} - ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts and mbedtls_config.h ) target_link_libraries(picow_tls_client_poll pico_cyw43_arch_lwip_poll @@ -52,7 +52,7 @@ target_compile_definitions(picow_tls_verify_background PRIVATE ) target_include_directories(picow_tls_verify_background PRIVATE ${CMAKE_CURRENT_LIST_DIR} - ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts + ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts and mbedtls_config.h ) target_link_libraries(picow_tls_verify_background pico_cyw43_arch_lwip_threadsafe_background diff --git a/pico_w/wifi/tls_client/mbedtls_config.h b/pico_w/wifi/tls_client/mbedtls_config.h index 0ceab1aad..f182c5661 100644 --- a/pico_w/wifi/tls_client/mbedtls_config.h +++ b/pico_w/wifi/tls_client/mbedtls_config.h @@ -1,66 +1,6 @@ -/* Workaround for some mbedtls source files using INT_MAX without including limits.h */ -#include +#ifndef MBEDTLS_CONFIG_TLS_CLIENT_H +#define MBEDTLS_CONFIG_TLS_CLIENT_H -#define MBEDTLS_NO_PLATFORM_ENTROPY -#define MBEDTLS_ENTROPY_HARDWARE_ALT +#include "mbedtls_config_examples_common.h" -#define MBEDTLS_SSL_OUT_CONTENT_LEN 2048 - -#define MBEDTLS_ALLOW_PRIVATE_ACCESS -#define MBEDTLS_HAVE_TIME - -#define MBEDTLS_CIPHER_MODE_CBC -#define MBEDTLS_ECP_DP_SECP192R1_ENABLED -#define MBEDTLS_ECP_DP_SECP224R1_ENABLED -#define MBEDTLS_ECP_DP_SECP256R1_ENABLED -#define MBEDTLS_ECP_DP_SECP384R1_ENABLED -#define MBEDTLS_ECP_DP_SECP521R1_ENABLED -#define MBEDTLS_ECP_DP_SECP192K1_ENABLED -#define MBEDTLS_ECP_DP_SECP224K1_ENABLED -#define MBEDTLS_ECP_DP_SECP256K1_ENABLED -#define MBEDTLS_ECP_DP_BP256R1_ENABLED -#define MBEDTLS_ECP_DP_BP384R1_ENABLED -#define MBEDTLS_ECP_DP_BP512R1_ENABLED -#define MBEDTLS_ECP_DP_CURVE25519_ENABLED -#define MBEDTLS_KEY_EXCHANGE_RSA_ENABLED -#define MBEDTLS_PKCS1_V15 -#define MBEDTLS_SHA256_SMALLER -#define MBEDTLS_SSL_SERVER_NAME_INDICATION -#define MBEDTLS_AES_C -#define MBEDTLS_ASN1_PARSE_C -#define MBEDTLS_BIGNUM_C -#define MBEDTLS_CIPHER_C -#define MBEDTLS_CTR_DRBG_C -#define MBEDTLS_ENTROPY_C -#define MBEDTLS_ERROR_C -#define MBEDTLS_MD_C -#define MBEDTLS_MD5_C -#define MBEDTLS_OID_C -#define MBEDTLS_PKCS5_C -#define MBEDTLS_PK_C -#define MBEDTLS_PK_PARSE_C -#define MBEDTLS_PLATFORM_C -#define MBEDTLS_RSA_C -#define MBEDTLS_SHA1_C -#define MBEDTLS_SHA224_C -#define MBEDTLS_SHA256_C -#define MBEDTLS_SHA512_C -#define MBEDTLS_SSL_CLI_C -#define MBEDTLS_SSL_SRV_C -#define MBEDTLS_SSL_TLS_C -#define MBEDTLS_X509_CRT_PARSE_C -#define MBEDTLS_X509_USE_C -#define MBEDTLS_AES_FEWER_TABLES - -/* TLS 1.2 */ -#define MBEDTLS_SSL_PROTO_TLS1_2 -#define MBEDTLS_KEY_EXCHANGE_ECDHE_ECDSA_ENABLED -#define MBEDTLS_GCM_C -#define MBEDTLS_ECDH_C -#define MBEDTLS_ECP_C -#define MBEDTLS_ECDSA_C -#define MBEDTLS_ASN1_WRITE_C - -// The following is needed to parse a certificate -#define MBEDTLS_PEM_PARSE_C -#define MBEDTLS_BASE64_C +#endif \ No newline at end of file diff --git a/picoboard/CMakeLists.txt b/picoboard/CMakeLists.txt index 3aaf09918..63c1fc102 100644 --- a/picoboard/CMakeLists.txt +++ b/picoboard/CMakeLists.txt @@ -1,4 +1,2 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(blinky) - add_subdirectory(button) -endif () +add_subdirectory_exclude_platforms(blinky host) +add_subdirectory_exclude_platforms(button host) \ No newline at end of file diff --git a/picoboard/button/button.c b/picoboard/button/button.c index 6a5a5dd4d..527eaa246 100644 --- a/picoboard/button/button.c +++ b/picoboard/button/button.c @@ -39,7 +39,12 @@ bool __no_inline_not_in_flash_func(get_bootsel_button)() { // The HI GPIO registers in SIO can observe and control the 6 QSPI pins. // Note the button pulls the pin *low* when pressed. - bool button_state = !(sio_hw->gpio_hi_in & (1u << CS_PIN_INDEX)); +#if PICO_RP2040 + #define CS_BIT (1u << 1) +#else + #define CS_BIT SIO_GPIO_HI_IN_QSPI_CSN_BITS +#endif + bool button_state = !(sio_hw->gpio_hi_in & CS_BIT); // Need to restore the state of chip select, else we are going to have a // bad time when we return to code in flash! diff --git a/pio/CMakeLists.txt b/pio/CMakeLists.txt index d35928418..ef6415059 100644 --- a/pio/CMakeLists.txt +++ b/pio/CMakeLists.txt @@ -1,23 +1,26 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(addition) - add_subdirectory(apa102) - add_subdirectory(clocked_input) - add_subdirectory(differential_manchester) - add_subdirectory(hello_pio) - add_subdirectory(hub75) - add_subdirectory(i2c) - add_subdirectory(ir_nec) - add_subdirectory(logic_analyser) - add_subdirectory(manchester_encoding) - add_subdirectory(onewire) - add_subdirectory(pio_blink) - add_subdirectory(pwm) - add_subdirectory(quadrature_encoder) - add_subdirectory(spi) - add_subdirectory(squarewave) - add_subdirectory(st7789_lcd) - add_subdirectory(uart_rx) - add_subdirectory(uart_tx) - add_subdirectory(ws2812) - add_subdirectory(uart_pio_dma) -endif () +if (TARGET hardware_pio) + add_subdirectory_exclude_platforms(addition) + add_subdirectory_exclude_platforms(apa102) + add_subdirectory_exclude_platforms(clocked_input) + add_subdirectory_exclude_platforms(differential_manchester) + add_subdirectory_exclude_platforms(hello_pio) + add_subdirectory_exclude_platforms(hub75) + add_subdirectory_exclude_platforms(i2c) + add_subdirectory_exclude_platforms(ir_nec) + add_subdirectory_exclude_platforms(logic_analyser) + add_subdirectory_exclude_platforms(manchester_encoding) + add_subdirectory_exclude_platforms(onewire) + add_subdirectory_exclude_platforms(pio_blink) + add_subdirectory_exclude_platforms(pwm) + add_subdirectory_exclude_platforms(quadrature_encoder) + add_subdirectory_exclude_platforms(quadrature_encoder_substep) + add_subdirectory_exclude_platforms(spi) + add_subdirectory_exclude_platforms(squarewave) + add_subdirectory_exclude_platforms(st7789_lcd) + add_subdirectory_exclude_platforms(uart_pio_dma) + add_subdirectory_exclude_platforms(uart_rx) + add_subdirectory_exclude_platforms(uart_tx) + add_subdirectory_exclude_platforms(ws2812) +else() + message("Skipping PIO examples as hardware_pio is unavailable on this platform") +endif() \ No newline at end of file diff --git a/pio/addition/addition.pio b/pio/addition/addition.pio index 8eddd0e7b..2c28380b9 100644 --- a/pio/addition/addition.pio +++ b/pio/addition/addition.pio @@ -3,7 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; - +.pio_version 0 // only requires PIO version 0 .program addition ; Pop two 32 bit integers from the TX FIFO, add them together, and push the diff --git a/pio/apa102/apa102.pio b/pio/apa102/apa102.pio index 5d76f088a..b8175fef1 100644 --- a/pio/apa102/apa102.pio +++ b/pio/apa102/apa102.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program apa102_mini .side_set 1 diff --git a/pio/clocked_input/clocked_input.pio b/pio/clocked_input/clocked_input.pio index 51fa54ca3..7abf50979 100644 --- a/pio/clocked_input/clocked_input.pio +++ b/pio/clocked_input/clocked_input.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program clocked_input diff --git a/pio/differential_manchester/differential_manchester.pio b/pio/differential_manchester/differential_manchester.pio index a9e825dac..c061ef3b0 100644 --- a/pio/differential_manchester/differential_manchester.pio +++ b/pio/differential_manchester/differential_manchester.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program differential_manchester_tx .side_set 1 opt diff --git a/pio/hello_pio/CMakeLists.txt b/pio/hello_pio/CMakeLists.txt index 35b80cf3a..1c1d67496 100644 --- a/pio/hello_pio/CMakeLists.txt +++ b/pio/hello_pio/CMakeLists.txt @@ -9,6 +9,13 @@ target_link_libraries(hello_pio PRIVATE hardware_pio ) +# Pass cmake -DHELLO_PIO_LED_PIN=x, where x is the pin you want to use +if(HELLO_PIO_LED_PIN) + target_compile_definitions(hello_pio PRIVATE + HELLO_PIO_LED_PIN=${HELLO_PIO_LED_PIN} + ) +endif() + pico_add_extra_outputs(hello_pio) # add url via pico_set_program_url diff --git a/pio/hello_pio/hello.c b/pio/hello_pio/hello.c index 2af0d051d..8c01eb612 100644 --- a/pio/hello_pio/hello.c +++ b/pio/hello_pio/hello.c @@ -4,33 +4,43 @@ * SPDX-License-Identifier: BSD-3-Clause */ +#include + #include "pico/stdlib.h" #include "hardware/pio.h" // Our assembled program: #include "hello.pio.h" +// This example uses the default led pin +// You can change this by defining HELLO_PIO_LED_PIN to use a different gpio +#if !defined HELLO_PIO_LED_PIN && defined PICO_DEFAULT_LED_PIN +#define HELLO_PIO_LED_PIN PICO_DEFAULT_LED_PIN +#endif + int main() { -#ifndef PICO_DEFAULT_LED_PIN +#ifndef HELLO_PIO_LED_PIN #warning pio/hello_pio example requires a board with a regular LED #else - // Choose which PIO instance to use (there are two instances) - PIO pio = pio0; + PIO pio; + uint sm; + uint offset; - // Our assembled program needs to be loaded into this PIO's instruction - // memory. This SDK function will find a location (offset) in the - // instruction memory where there is enough space for our program. We need - // to remember this location! - uint offset = pio_add_program(pio, &hello_program); + setup_default_uart(); - // Find a free state machine on our chosen PIO (erroring if there are - // none). Configure it to run our program, and start it, using the + // This will find a free pio and state machine for our program and load it for us + // We use pio_claim_free_sm_and_add_program_for_gpio_range so we can address gpios >= 32 if needed and supported by the hardware + bool success = pio_claim_free_sm_and_add_program_for_gpio_range(&hello_program, &pio, &sm, &offset, HELLO_PIO_LED_PIN, 1, true); + hard_assert(success); + + // Configure it to run our program, and start it, using the // helper function we included in our .pio file. - uint sm = pio_claim_unused_sm(pio, true); - hello_program_init(pio, sm, offset, PICO_DEFAULT_LED_PIN); + printf("Using gpio %d\n", HELLO_PIO_LED_PIN); + hello_program_init(pio, sm, offset, HELLO_PIO_LED_PIN); // The state machine is now running. Any value we push to its TX FIFO will // appear on the LED pin. - while (true) { + // press a key to exit + while (getchar_timeout_us(0) == PICO_ERROR_TIMEOUT) { // Blink pio_sm_put_blocking(pio, sm, 1); sleep_ms(500); @@ -38,5 +48,8 @@ int main() { pio_sm_put_blocking(pio, sm, 0); sleep_ms(500); } + + // This will free resources and unload our program + pio_remove_program_and_unclaim_sm(&hello_program, pio, sm, offset); #endif } diff --git a/pio/hello_pio/hello.pio b/pio/hello_pio/hello.pio index 9eac4de71..a8fe88c8b 100644 --- a/pio/hello_pio/hello.pio +++ b/pio/hello_pio/hello.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program hello diff --git a/pio/hub75/hub75.pio b/pio/hub75/hub75.pio index a6fb619cd..44907a7bf 100644 --- a/pio/hub75/hub75.pio +++ b/pio/hub75/hub75.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program hub75_row diff --git a/pio/i2c/i2c.pio b/pio/i2c/i2c.pio index 675261c4a..3808bccda 100644 --- a/pio/i2c/i2c.pio +++ b/pio/i2c/i2c.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program i2c .side_set 1 opt pindirs diff --git a/pio/ir_nec/CMakeLists.txt b/pio/ir_nec/CMakeLists.txt index cf6dfa18e..224b019c7 100644 --- a/pio/ir_nec/CMakeLists.txt +++ b/pio/ir_nec/CMakeLists.txt @@ -1,8 +1,8 @@ # build the transmit and receive libraries # -add_subdirectory(nec_transmit_library) -add_subdirectory(nec_receive_library) +add_subdirectory_exclude_platforms(nec_transmit_library) +add_subdirectory_exclude_platforms(nec_receive_library) # build the example program # -add_subdirectory(ir_loopback) +add_subdirectory_exclude_platforms(ir_loopback) diff --git a/pio/ir_nec/nec_receive_library/nec_receive.pio b/pio/ir_nec/nec_receive_library/nec_receive.pio index daea82ca5..27ca52f79 100644 --- a/pio/ir_nec/nec_receive_library/nec_receive.pio +++ b/pio/ir_nec/nec_receive_library/nec_receive.pio @@ -3,7 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; - +.pio_version 0 // only requires PIO version 0 .program nec_receive diff --git a/pio/ir_nec/nec_transmit_library/nec_carrier_burst.pio b/pio/ir_nec/nec_transmit_library/nec_carrier_burst.pio index 499e892fc..309a5b4d4 100644 --- a/pio/ir_nec/nec_transmit_library/nec_carrier_burst.pio +++ b/pio/ir_nec/nec_transmit_library/nec_carrier_burst.pio @@ -3,7 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; - +.pio_version 0 // only requires PIO version 0 .program nec_carrier_burst diff --git a/pio/ir_nec/nec_transmit_library/nec_carrier_control.pio b/pio/ir_nec/nec_transmit_library/nec_carrier_control.pio index 0733afef0..a79c24257 100644 --- a/pio/ir_nec/nec_transmit_library/nec_carrier_control.pio +++ b/pio/ir_nec/nec_transmit_library/nec_carrier_control.pio @@ -3,7 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; - +.pio_version 0 // only requires PIO version 0 .program nec_carrier_control diff --git a/pio/logic_analyser/logic_analyser.c b/pio/logic_analyser/logic_analyser.c index c3bd57359..0b380610a 100644 --- a/pio/logic_analyser/logic_analyser.c +++ b/pio/logic_analyser/logic_analyser.c @@ -94,9 +94,9 @@ void print_capture_buf(const uint32_t *buf, uint pin_base, uint pin_count, uint3 // Each FIFO record may be only partially filled with bits, depending on // whether pin_count is a factor of 32. uint record_size_bits = bits_packed_per_word(pin_count); - for (int pin = 0; pin < pin_count; ++pin) { + for (uint pin = 0; pin < pin_count; ++pin) { printf("%02d: ", pin + pin_base); - for (int sample = 0; sample < n_samples; ++sample) { + for (uint32_t sample = 0; sample < n_samples; ++sample) { uint bit_index = pin + sample * pin_count; uint word_index = bit_index / record_size_bits; // Data is left-justified in each FIFO entry, hence the (32 - record_size_bits) offset diff --git a/pio/manchester_encoding/manchester_encoding.pio b/pio/manchester_encoding/manchester_encoding.pio index 0117d2a35..e1c00e4a7 100644 --- a/pio/manchester_encoding/manchester_encoding.pio +++ b/pio/manchester_encoding/manchester_encoding.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program manchester_tx .side_set 1 opt diff --git a/pio/pio_blink/blink.c b/pio/pio_blink/blink.c index 9d253bbbb..6187186b2 100644 --- a/pio/pio_blink/blink.c +++ b/pio/pio_blink/blink.c @@ -13,17 +13,76 @@ void blink_pin_forever(PIO pio, uint sm, uint offset, uint pin, uint freq); +// by default flash leds on gpios 3-4 +#ifndef PIO_BLINK_LED1_GPIO +#define PIO_BLINK_LED1_GPIO 3 +#endif + +// and flash leds on gpios 5-6 +// or if the device supports more than 32 gpios, flash leds on 32-33 +#ifndef PIO_BLINK_LED3_GPIO +#if NUM_BANK0_GPIOS <= 32 +#define PIO_BLINK_LED3_GPIO 5 +#else +#define PIO_BLINK_LED3_GPIO 32 +#endif +#endif + int main() { setup_default_uart(); - // todo get free sm - PIO pio = pio0; - uint offset = pio_add_program(pio, &blink_program); - printf("Loaded program at %d\n", offset); + assert(PIO_BLINK_LED1_GPIO < 31); + assert(PIO_BLINK_LED3_GPIO < 31 || PIO_BLINK_LED3_GPIO >= 32); + + PIO pio[2]; + uint sm[2]; + uint offset[2]; + + // Find a free pio and state machine and add the program + bool rc = pio_claim_free_sm_and_add_program_for_gpio_range(&blink_program, &pio[0], &sm[0], &offset[0], PIO_BLINK_LED1_GPIO, 2, true); + hard_assert(rc); + printf("Loaded program at %u on pio %u\n", offset[0], PIO_NUM(pio[0])); + + // Start led1 flashing + blink_pin_forever(pio[0], sm[0], offset[0], PIO_BLINK_LED1_GPIO, 4); + + // Claim the next state machine and start led2 flashing + pio_sm_claim(pio[0], sm[0] + 1); + blink_pin_forever(pio[0], sm[0] + 1, offset[0], PIO_BLINK_LED1_GPIO + 1, 3); + + if (PIO_BLINK_LED3_GPIO >= 32) { + // Find a free pio and state machine and add the program + rc = pio_claim_free_sm_and_add_program_for_gpio_range(&blink_program, &pio[1], &sm[1], &offset[1], PIO_BLINK_LED3_GPIO, 2, true); + printf("Loaded program at %u on pio %u\n", offset[1], PIO_NUM(pio[1])); + } else { + // no need to load the program again + rc = true; + pio[1] = pio[0]; + sm[1] = sm[0] + 2; + offset[1] = offset[0]; + pio_sm_claim(pio[1], sm[1]); + } + hard_assert(rc); + + // Start led3 flashing + blink_pin_forever(pio[1], sm[1], offset[1], PIO_BLINK_LED3_GPIO, 2); + + // Claim the next state machine and start led4 flashing + pio_sm_claim(pio[1], sm[1] + 1); + blink_pin_forever(pio[1], sm[1] + 1, offset[1], PIO_BLINK_LED3_GPIO + 1, 1); + + // free up pio resources + pio_sm_unclaim(pio[1], sm[1] + 1); + if (PIO_BLINK_LED3_GPIO >= 32) { + pio_remove_program_and_unclaim_sm(&blink_program, pio[1], sm[1], offset[1]); + } else { + pio_sm_unclaim(pio[1], sm[1]); + } + pio_sm_unclaim(pio[0], sm[0] + 1); + pio_remove_program_and_unclaim_sm(&blink_program, pio[0], sm[0], offset[0]); - blink_pin_forever(pio, 0, offset, 0, 3); - blink_pin_forever(pio, 1, offset, 6, 4); - blink_pin_forever(pio, 2, offset, 11, 1); + // the program exits but the pio keeps running! + printf("All leds should be flashing\n"); } void blink_pin_forever(PIO pio, uint sm, uint offset, uint pin, uint freq) { diff --git a/pio/pio_blink/blink.pio b/pio/pio_blink/blink.pio index ef3090022..75afa0930 100644 --- a/pio/pio_blink/blink.pio +++ b/pio/pio_blink/blink.pio @@ -6,6 +6,8 @@ ; SET pin 0 should be mapped to your LED GPIO +.pio_version 0 // only requires PIO version 0 + .program blink pull block out y, 32 diff --git a/pio/pwm/pwm.pio b/pio/pwm/pwm.pio index d0f2bcbf2..6d87f2b58 100644 --- a/pio/pwm/pwm.pio +++ b/pio/pwm/pwm.pio @@ -5,6 +5,7 @@ ; ; Side-set pin 0 is used for PWM output +.pio_version 0 // only requires PIO version 0 .program pwm .side_set 1 opt diff --git a/pio/quadrature_encoder/quadrature_encoder.c b/pio/quadrature_encoder/quadrature_encoder.c index f402efbbf..e85b18ba2 100644 --- a/pio/quadrature_encoder/quadrature_encoder.c +++ b/pio/quadrature_encoder/quadrature_encoder.c @@ -34,12 +34,14 @@ int main() { int new_value, delta, old_value = 0; + int last_value = -1, last_delta = -1; // Base pin to connect the A phase of the encoder. // The B phase must be connected to the next pin const uint PIN_AB = 10; stdio_init_all(); + printf("Hello from quadrature encoder\n"); PIO pio = pio0; const uint sm = 0; @@ -56,7 +58,11 @@ int main() { delta = new_value - old_value; old_value = new_value; - printf("position %8d, delta %6d\n", new_value, delta); + if (new_value != last_value || delta != last_delta ) { + printf("position %8d, delta %6d\n", new_value, delta); + last_value = new_value; + last_delta = delta; + } sleep_ms(100); } } diff --git a/pio/quadrature_encoder/quadrature_encoder.pio b/pio/quadrature_encoder/quadrature_encoder.pio index d08f6997a..76966c27d 100644 --- a/pio/quadrature_encoder/quadrature_encoder.pio +++ b/pio/quadrature_encoder/quadrature_encoder.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program quadrature_encoder @@ -98,6 +99,9 @@ increment_cont: static inline void quadrature_encoder_program_init(PIO pio, uint sm, uint pin, int max_step_rate) { pio_sm_set_consecutive_pindirs(pio, sm, pin, 2, false); + pio_gpio_init(pio, pin); + pio_gpio_init(pio, pin + 1); + gpio_pull_up(pin); gpio_pull_up(pin + 1); diff --git a/pio/quadrature_encoder_substep/CMakeLists.txt b/pio/quadrature_encoder_substep/CMakeLists.txt new file mode 100644 index 000000000..7bc7f6a0a --- /dev/null +++ b/pio/quadrature_encoder_substep/CMakeLists.txt @@ -0,0 +1,21 @@ +add_executable(pio_quadrature_encoder_substep) + +pico_generate_pio_header(pio_quadrature_encoder_substep ${CMAKE_CURRENT_LIST_DIR}/quadrature_encoder_substep.pio) + +target_sources(pio_quadrature_encoder_substep PRIVATE quadrature_encoder_substep.c) + +target_link_libraries(pio_quadrature_encoder_substep PRIVATE + pico_stdlib + pico_multicore + hardware_pio + hardware_pwm + hardware_watchdog + ) + +target_compile_definitions(pio_quadrature_encoder_substep PRIVATE PICO_STDIO_USB_DEFAULT_CRLF=0) +pico_enable_stdio_usb(pio_quadrature_encoder_substep 1) + +pico_add_extra_outputs(pio_quadrature_encoder_substep) + +# add url via pico_set_program_url +example_auto_set_url(pio_quadrature_encoder_substep) diff --git a/pio/quadrature_encoder_substep/README.md b/pio/quadrature_encoder_substep/README.md new file mode 100644 index 000000000..40d758c70 --- /dev/null +++ b/pio/quadrature_encoder_substep/README.md @@ -0,0 +1,86 @@ +# Sub-Step Quadrature Encoder + +## The problem + +Hardware peripherals to read quadrature encoders (and the quadrature encoder example) count steps by looking at the sequence of phase states read from a quadrature encoder. + +To estimate the encoder speed, the user can check how many steps were counted over a period of time. For instance, if the count was 120 at the beginning and was 134 10ms later, we can estimate that the speed is 14 steps in 10ms or 1400 steps per second. + +This works relatively well for high counts, but at low speeds (or high sample rates), the quantization effect of looking at integer counts can introduce a high level of quantization noise in the speed measurement. + +A different approach that would work better at low speeds, would be to measure the time it takes to advance one step and use its inverse to compute the speed. For instance, if one step takes 540us, then the speed is 1/0.000540 = ~1852 steps per second. + +Unfortunately, as speed increases the resolution of this method decreases rapidly. At 100.000 steps per second, a step takes 10us. Measuring 9, 10 or 11 us per step will give speeds of 111k, 100k or 90k steps per second, respectively. + +Moreover, especially in low cost encoders, the phases are not all the same size which introduces another source of measurement noise if not compensated properly. + + +## The Solution + +The "sub-step" quadrature encoder code solves this problem by using an hybrid approach: the PIO code keeps track of the integer step count, but also how long ago was the last transition and the direction of that transition. The high level code can then use that information to compute a speed estimate that doesn't suffer from the integer quantization problem of just counting steps and can support high step rates as well. + +The high level code also takes into account and compensates the phase size differences of the encoder. + +The chart below shows the speed estimate using just integer step counts in red and the sub-step speed estimate in blue for an encoder connected to a DC motor doing some voltage step changes. + +![](images/chart.svg) + +Note that unlike what we would get by doing a low-pass filter on the integer count signal, the sub-step version has no delay and does not limit the frequency response of the encoder. + +## Usage + +Because we need to keep some state information to compute a speed estimate from the previous transitions, the code requires a `substep_state_t` structure per encoder. + +There are only 2 functions the user code needs to use: +- `substep_init_state`: initialize the PIO code and state structure +- `substep_update`: read the PIO and update the `speed` and `position` fields of the `substep_state_t` structure. The position is given in sub-steps and the speed is given in sub-steps per second + +Note that since the PIO code uses 32 instructions and must be loaded at offset 0, the PIO used by this code can not be used for other purposes but can handle up to 4 encoders (one per state machine). + + +## Phase calibration + +To increase the precision of the speed estimate, the user can run a calibration function to measure the relative sizes of the phases of the encoder. The sub-step code will then use this information to compensate the phase size differences while computing speed estimates. This is not strictly necessary, but if not done, the code will assume equal size phases, which will introduce noise, especially at low speeds. + +Note that for an encoder to have perfectly balanced 90 degree phases, each individual phase would require a perfect 50% duty cycle and the phases would need to be exactly 90 degrees apart. That is rarely the case in low cost encoders. + +To calibrate phase sizes (optional, but highly recommended), there are two more functions: + + - `substep_set_calibration_data`: set the relative phase positions. This function should always be called at program start, after calling `substep_init_state` + - `substep_calibrate_phases`: this function should be used offline, on a test program, to get the phase sizes of an encoder. After getting the sizes, these can be passed as constants to `substep_set_calibration_data` without having to run this function again. To measure the phase sizes, make the encoder rotate forward (increasing step order) and call this function to measure the relative sizes of the encoder phases. It outputs the parameters that should be passed to `substep_set_calibration_data` to compensate for phase sizes. Ideally, the encoder should be rotating at a constant speed of around 2.000 steps per second, but any value from 200 sps to 20.000 sps without any abrupt changes in speed, should work as well + +If you are curious about how unbalanced your encoder is, the calibration code for a perfect encoder should output `substep_set_calibration_data(&state, 64, 128, 192);`, i.e., each phase should be exactly 64 sub-steps in size + + +## Sub-step vs simple quadrature encoder code + +Compared with the simple step counting version, this version has the advantage that it uses the information from the transition times to extract a much better speed and position estimate. + +The disadvantages are a larger PIO program (32 instead of 24 instructions) and a bit more CPU time used when computing the speed estimate (just once per sample). + +Like the simple version, it doesn't use CPU time while counting steps and it's only the update function that uses CPU time. Note that this function is called at the control frequency of your system, say 100Hz, and so the CPU time used is independent of the step rate of the encoder. To use as little CPU as possible, this function only uses integer arithmetic. + +Note: the `substep_state_t` structure has a `raw_step` field that contains the same step count that would have been returned by the simple quadrature encoder code. This can be useful if, for instance, we have a project with a couple of DC motors with encoders (that would benefit from using the sub-step version), but also a rotary encoder for the user interface (for which we only need integer steps). + +## Implementation details + +The chart below illustrates how the sub-step works. The horizontal scale is time in micro-seconds, the vertical step is in sub-steps. 4 hardware steps (one cycle) are always 256 sub-steps. To simplify, lets assume the phases are balanced and each step takes exactly 64 sub-steps. + +![](images/steps.svg) + +The red line is the upper bound of the encoder position, whereas the blue line is the lower bound. The yellow line is the speed estimate. + +At the start, the encoder is stopped at hardware step 3, so the sub-step estimate is between 192 and 256. + +At 30ms, we read the data from the PIO and there was a transition at ~21ms and the current integer step is 4. At the time of the transition the lower and upper bounds for the position touch, because we know exactly where the encoder is in that instant. + +At this point we don't know much about the speed. The sub-step position of the encoder could have been close to 256 (close to the upper bound) and it could still be there now (close to the lower bound). + +At 40ms, we read the PIO again. The encoder as made another step so we know the sub-step position is between 320 and 384. We also know there was a transition at ~34ms, so we can compute a speed estimate as the encoder did 64 sub-steps in 34 - 21 = 13ms (note: the actual code uses micro-seconds). + +At 50ms, the encoder actually did 2 steps, the sub-step position is now between 448 and 512 and the last transition was at ~49ms. Note that there were two transitions in this period, but we only get the latest transition from the PIO code. This still allows us to compute a new speed estimate, as we made 128 sub-steps in 49 - 34 = 15 ms. + +On top of using actual transitions to compute the speed, the current step position is also used to give a upper and lower bound on the speed so that the code can react faster to large variations in speed. + +To compensate for unbalanced phase sizes, the sub-step position assigned to each hardware step transition is not a multiple of 64 but instead depends on the phase size calibration. The lower bound of phase 0 is always a multiple of 256, though. + diff --git a/pio/quadrature_encoder_substep/images/chart.svg b/pio/quadrature_encoder_substep/images/chart.svg new file mode 100644 index 000000000..cf434e4c0 --- /dev/null +++ b/pio/quadrature_encoder_substep/images/chart.svg @@ -0,0 +1,153 @@ + + + Qt SVG Document + Generated with Qt + + + + + + + -80000 + + + + + + + -60000 + + + + + + + -40000 + + + + + + + -20000 + + + + + + + 0 + + + + + + + 20000 + + + + + + + 40000 + + + + + + + 60000 + + + + + + + 80000 + + + + + + + 100000 + + + + + + + 2500 + + + + + + + 2550 + + + + + + + 2600 + + + + + + + 2650 + + + + + + + 2700 + + + + + + + 2750 + + + + + + + 2800 + + + + + + + 2850 + + + + + + integer + + + + + + + substep + + + + + + + + + + diff --git a/pio/quadrature_encoder_substep/images/steps.svg b/pio/quadrature_encoder_substep/images/steps.svg new file mode 100644 index 000000000..8930ac673 --- /dev/null +++ b/pio/quadrature_encoder_substep/images/steps.svg @@ -0,0 +1,175 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + 10000 + 20000 + 30000 + 40000 + 50000 + 60000 + 70000 + 80000 + 90000 + 100000 + 110000 + 0 + 256 + 512 + 768 + 1024 + 1280 + diff --git a/pio/quadrature_encoder_substep/quadrature_encoder_substep.c b/pio/quadrature_encoder_substep/quadrature_encoder_substep.c new file mode 100644 index 000000000..d125c141f --- /dev/null +++ b/pio/quadrature_encoder_substep/quadrature_encoder_substep.c @@ -0,0 +1,416 @@ +/** + * Copyright (c) 2023 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include +#include "pico/stdlib.h" +#include "hardware/pio.h" +#include "hardware/timer.h" +#include "hardware/pwm.h" +#include + +#include "quadrature_encoder_substep.pio.h" + +// +// ---- quadrature encoder interface with sub-step accuracy +// +// At low speeds, or high sample rates, a quadrature encoder can produce a small +// number of steps per sample, which makes any speed estimate made from those +// counts to be very noisy. +// +// This code uses a PIO program to count steps like the standard quadrature +// encoder example, but also mark the timestamp of the last step transition, +// which then allows the sampling code to measure the actual speed by computing +// the time passed between transitions and the "distance" traveled. See +// README.md for more details + + +// this section is an optional DC motor control code to help test an encoder +// attached to a DC motor (and calibrate phase sizes) + +const int dir_pin = 5; +const int pwm_pin = 7; + +static void set_pwm(float value) +{ + int ivalue = value * 6250; + if (ivalue < 0) { + gpio_put(dir_pin, true); + pwm_set_gpio_level(pwm_pin, 6250+ivalue); + } else { + gpio_put(dir_pin, false); + pwm_set_gpio_level(pwm_pin, ivalue); + } +} + +static void init_pwm(void) +{ + gpio_init(dir_pin); + gpio_set_dir(dir_pin, true); + gpio_init(pwm_pin); + gpio_set_dir(pwm_pin, true); + + pwm_config cfg = pwm_get_default_config(); + pwm_config_set_clkdiv_int(&cfg, 1); + pwm_config_set_wrap(&cfg, 6250); + pwm_init(pwm_gpio_to_slice_num(pwm_pin), &cfg, true); + + gpio_set_function(pwm_pin, GPIO_FUNC_PWM); + set_pwm(0); +} + + + +// the quadrature encoder code starts here + +typedef struct substep_state_t { + // configuration data: + uint calibration_data[4]; // relative phase sizes + uint clocks_per_us; // save the clk_sys frequency in clocks per us + uint idle_stop_samples; // after these samples without transitions, assume the encoder is stopped + PIO pio; + uint sm; + + // internal fields to keep track of the previous state: + uint prev_trans_pos, prev_trans_us; + uint prev_step_us; + uint prev_low, prev_high; + uint idle_stop_sample_count; + int speed_2_20; + int stopped; + + // output of the encoder update function: + int speed; // estimated speed in substeps per second + uint position; // estimated position in substeps + + uint raw_step; // raw step count +} substep_state_t; + + + +// internal helper functions (not to be used by user code) + +static void read_pio_data(substep_state_t *state, uint *step, uint *step_us, uint *transition_us, int *forward) +{ + int cycles; + + // get the raw data from the PIO state machine + quadrature_encoder_substep_get_counts(state->pio, state->sm, step, &cycles, step_us); + + // when the PIO program detects a transition, it sets cycles to either zero + // (when step is incrementing) or 2^31 (when step is decrementing) and keeps + // decrementing it on each 13 clock loop. We can use this information to get + // the time and direction of the last transition + if (cycles < 0) { + cycles = -cycles; + *forward = 1; + } else { + cycles = 0x80000000 - cycles; + *forward = 0; + } + *transition_us = *step_us - ((cycles * 13) / state->clocks_per_us); +} + +// get the sub-step position of the start of a step +static uint get_step_start_transition_pos(substep_state_t *state, uint step) +{ + return ((step << 6) & 0xFFFFFF00) | state->calibration_data[step & 3]; +} + +// compute speed in "sub-steps per 2^20 us" from a delta substep position and +// delta time in microseconds. This unit is cheaper to compute and use, so we +// only convert to "sub-steps per second" once per update, at most +static int substep_calc_speed(int delta_substep, int delta_us) +{ + return ((int64_t) delta_substep << 20) / delta_us; +} + + + +// main functions to be used by user code + +// initialize the substep state structure and start PIO code +static void substep_init_state(PIO pio, int sm, int pin_a, substep_state_t *state) +{ + int forward; + + // set all fields to zero by default + memset(state, 0, sizeof(substep_state_t)); + + // initialize the PIO program (and save the PIO reference) + state->pio = pio; + state->sm = sm; + quadrature_encoder_substep_program_init(pio, sm, pin_a); + + // start with equal phase size calibration + state->calibration_data[0] = 0; + state->calibration_data[1] = 64; + state->calibration_data[2] = 128; + state->calibration_data[3] = 192; + + state->idle_stop_samples = 3; + + // start "stopped" so that we don't use stale data to compute speeds + state->stopped = 1; + + // cache the PIO cycles per us + state->clocks_per_us = (clock_get_hz(clk_sys) + 500000) / 1000000; + + // initialize the "previous state" + read_pio_data(state, &state->raw_step, &state->prev_step_us, &state->prev_trans_us, &forward); + + state->position = get_step_start_transition_pos(state, state->raw_step) + 32; +} + + +// read the PIO data and update the speed / position estimate +static void substep_update(substep_state_t *state) +{ + uint step, step_us, transition_us, transition_pos, low, high; + int forward, speed_high, speed_low; + + // read the current encoder state from the PIO + read_pio_data(state, &step, &step_us, &transition_us, &forward); + + // from the current step we can get the low and high boundaries in substeps + // of the current position + low = get_step_start_transition_pos(state, step); + high = get_step_start_transition_pos(state, step + 1); + + // if we were not stopped, but the last transition was more than + // "idle_stop_samples" ago, we are stopped now + if (step == state->raw_step) + state->idle_stop_sample_count++; + else + state->idle_stop_sample_count = 0; + + if (!state->stopped && state->idle_stop_sample_count >= state->idle_stop_samples) { + state->speed = 0; + state->speed_2_20 = 0; + state->stopped = 1; + } + + // when we are at a different step now, there is certainly a transition + if (state->raw_step != step) { + // the transition position depends on the direction of the move + transition_pos = forward ? low : high; + + // if we are not stopped, that means there is valid previous transition + // we can use to estimate the current speed + if (!state->stopped) + state->speed_2_20 = substep_calc_speed(transition_pos - state->prev_trans_pos, transition_us - state->prev_trans_us); + + // if we have a transition, we are not stopped now + state->stopped = 0; + // save the timestamp and position of this transition to use later to + // estimate speed + state->prev_trans_pos = transition_pos; + state->prev_trans_us = transition_us; + } + + // if we are stopped, speed is zero and the position estimate remains + // constant. If we are not stopped, we have to update the position and speed + if (!state->stopped) { + // although the current step doesn't give us a precise position, it does + // give boundaries to the position, which together with the last + // transition gives us boundaries for the speed value. This can be very + // useful especially in two situations: + // - we have been stopped for a while and start moving quickly: although + // we only have one transition initially, the number of steps we moved + // can already give a non-zero speed estimate + // - we were moving but then stop: without any extra logic we would just + // keep the last speed for a while, but we know from the step + // boundaries that the speed must be decreasing + + // if there is a transition between the last sample and now, and that + // transition is closer to now than the previous sample time, we should + // use the slopes from the last sample to the transition as these will + // have less numerical issues and produce a tighter boundary + if (state->prev_trans_us > state->prev_step_us && + (int)(state->prev_trans_us - state->prev_step_us) > (int)(step_us - state->prev_trans_us)) { + speed_high = substep_calc_speed(state->prev_trans_pos - state->prev_low, state->prev_trans_us - state->prev_step_us); + speed_low = substep_calc_speed(state->prev_trans_pos - state->prev_high, state->prev_trans_us - state->prev_step_us); + } else { + // otherwise use the slopes from the last transition to now + speed_high = substep_calc_speed(high - state->prev_trans_pos, step_us - state->prev_trans_us); + speed_low = substep_calc_speed(low - state->prev_trans_pos, step_us - state->prev_trans_us); + } + // make sure the current speed estimate is between the maximum and + // minimum values obtained from the step slopes + if (state->speed_2_20 > speed_high) + state->speed_2_20 = speed_high; + if (state->speed_2_20 < speed_low) + state->speed_2_20 = speed_low; + + // convert the speed units from "sub-steps per 2^20 us" to "sub-steps + // per second" + state->speed = (state->speed_2_20 * 62500LL) >> 16; + + // estimate the current position by applying the speed estimate to the + // most recent transition + state->position = state->prev_trans_pos + (((int64_t)state->speed_2_20 * (step_us - transition_us)) >> 20); + + // make sure the position estimate is between "low" and "high", as we + // can be sure the actual current position must be in this range + if ((int)(state->position - high) > 0) + state->position = high; + else if ((int)(state->position - low) < 0) + state->position = low; + } + + // save the current values to use on the next sample + state->prev_low = low; + state->prev_high = high; + state->raw_step = step; + state->prev_step_us = step_us; +} + + + + +// function to measure the difference between the different steps on the encoder +static void substep_calibrate_phases(PIO pio, uint sm) +{ +#define sample_count 1024 +//#define SHOW_ALL_SAMPLES +#ifdef SHOW_ALL_SAMPLES + static int result[sample_count]; + int i; +#endif + int index, cycles, clocks_per_us, calib[4]; + uint cur_us, last_us, step_us, step, last_step; + int64_t sum[4], total; + + memset(sum, 0, sizeof(sum)); + + clocks_per_us = (clock_get_hz(clk_sys) + 500000) / 1000000; + + // keep reading the PIO state in a tight loop to get all steps and use the + // transition measures of the PIO code to measure the time of each step + last_step = -10; + index = -10; + while (index < sample_count) { + + quadrature_encoder_substep_get_counts(pio, sm, &step, &cycles, &step_us); + + // wait until we have a transition + if (step == last_step) + continue; + + // synchronize the index with the lower 2 bits of the current step + if (index < 0 && index > -4 && (step & 3) == 1) + index = 0; + + // convert the "time since last transition" to an absolute microsecond + // timestamp + if (cycles > 0) { + printf("error: expected forward motion\n"); + return; + } + cur_us = step_us + (cycles * 13) / clocks_per_us; + + // if the index is already synchronized, use the step size + if (index >= 0) { +#ifdef SHOW_ALL_SAMPLES + result[index] = cur_us - last_us; +#endif + sum[(step - 1) & 3] += cur_us - last_us; + } + index++; + + last_step = step; + last_us = cur_us; + } + +#ifdef SHOW_ALL_SAMPLES + printf("full sample table:\n"); + for (i = 0; i < sample_count; i++) { + printf("%d ", result[i]); + if ((i & 3) == 3) + printf("\n"); + } +#endif + + // scale the sizes to a total of 256 to be used as sub-steps + total = sum[0] + sum[1] + sum[2] + sum[3]; + calib[0] = (sum[0] * 256 + total / 2) / total; + calib[1] = ((sum[0] + sum[1]) * 256 + total / 2) / total; + calib[2] = ((sum[0] + sum[1] + sum[2]) * 256 + total / 2) / total; + + // print calibration information + printf("calibration command:\n\n"); + printf("\tsubstep_set_calibration_data(&state, %d, %d, %d);\n\n", + calib[0], calib[1], calib[2]); +} + + +// set the phase size calibration, use the "substep_calibrate_phases" function +// to get the values. Many encoders (especially low cost ones) have phases that +// don't have the same size. To get good substep accuracy, the code should know +// about this. This is specially important at low speeds with encoders that have +// big phase size differences +static void substep_set_calibration_data(substep_state_t *state, int step0, int step1, int step2) +{ + state->calibration_data[0] = 0; + state->calibration_data[1] = step0; + state->calibration_data[2] = step1; + state->calibration_data[3] = step2; +} + + + +int main(void) +{ + substep_state_t state; + + // base pin to connect the A phase of the encoder. the B phase must be + // connected to the next pin + const uint PIN_A = 10; + + stdio_init_all(); + printf("Hello from quadrature encoder substep\n"); + + PIO pio = pio0; + const uint sm = 0; + + pio_add_program(pio, &quadrature_encoder_substep_program); + substep_init_state(pio, sm, PIN_A, &state); + + // example calibration code, uncomment to calibrate the encoder: + +// // - turn on a DC motor at 50% PWM +// init_pwm(); +// set_pwm(-0.5); +// // - wait for the motor to reach a reasonably stable speed +// sleep_ms(2000); +// // - run the phase size calibration code +// substep_calibrate_phases(pio, sm); +// // - stop the motor +// set_pwm(0); + + // replace this with the output of the calibration function + substep_set_calibration_data(&state, 64, 128, 192); + + uint last_position = 0; + int last_speed = 0; + uint last_raw_step = 0; + while (1) { + + // read the PIO and update the state data + substep_update(&state); + + if (last_position != state.position || last_speed != state.speed || last_raw_step != state.raw_step) { + // print out the result + printf("pos: %-10d speed: %-10d raw_steps: %-10d\n", state.position, state.speed, state.raw_step); + last_position = state.position; + last_speed = state.speed; + last_raw_step = state.raw_step; + } + + // run at roughly 100Hz + sleep_ms(10); + } +} diff --git a/pio/quadrature_encoder_substep/quadrature_encoder_substep.pio b/pio/quadrature_encoder_substep/quadrature_encoder_substep.pio new file mode 100644 index 000000000..dc9163b90 --- /dev/null +++ b/pio/quadrature_encoder_substep/quadrature_encoder_substep.pio @@ -0,0 +1,207 @@ +; +; Copyright (c) 2023 Raspberry Pi (Trading) Ltd. +; +; SPDX-License-Identifier: BSD-3-Clause +; +; quadrature_encoder_substep: reads a quadrature encoder with no CPU +; intervention and provides the current position on request. +; +; the "substep" version uses not only the step counts, but also the timing of +; the steps to compute the current speed. See README.md for details + + +.program quadrature_encoder_substep + +.origin 0 + +; the PIO code counts steps like the standard quadrature encoder code, but also +; keeps track of the time passed since the last transition. That allows the C +; code to build a good estimate of a fractional step position based on the +; latest speed and time passed +; +; since it needs to push two values, it only pushes new data when the FIFO has +; enough space to hold both values. Otherwise it could either stall or go out +; of sync +; +; because we need to count the time passed, all loops must take the same number +; of cycles and there are delays added to the fastest branches to make sure it +; always takes 13 cycles per loop (e.g., sysclk 133MHz, max step rate = ~10.2 +; Msteps/sec) + + ; push the step count and transition clock count to the RX FIFO (using + ; auto push). This is reached by the "MOV PC, ~STATUS" instruction when + ; status is all 1 (meaning fifo has space for this push). It also may + ; execute once at program start, but that has little effect + IN X, 32 + IN Y, 32 + +update_state: + ; build the state by using 2 bits from the negated previous state of the + ; pins and the new 2 bit state of the pins + OUT ISR, 2 + IN PINS, 2 + MOV OSR, ~ISR + ; use the jump table to update the step count accordingly + MOV PC, OSR + +decrement: + ; decrement the step count + JMP Y--, decrement_cont +decrement_cont: + ; when decrementing, X is set to 2^31, when incrementing it is set to + ; zero. That way the C code can infer in which direction the last + ; transition was taken and how long ago + SET X, 1 + MOV X, ::X + ; after incrementing or decrementing, continue to "check_fifo" +check_fifo: +.wrap_target + ; on each iteration we decrement X to count the number of loops since + ; the last transition + JMP X--, check_fifo_cont +check_fifo_cont: + ; push data or continue, depending on the state of the fifo + MOV PC, ~STATUS + +increment: + ; the PIO does not have a increment instruction, so to do that we do a + ; negate, decrement, negate sequence + MOV Y, ~Y + JMP Y--, increment_cont +increment_cont: + MOV Y, ~Y + ; reset X to zero when incrementing + SET X, 0 + ; wrap above to check the fifo state + .wrap + +invalid: + ; this is just a placeholder to document what the code does on invalid + ; transitions, where the two phases change at the same time. We don't do + ; anything special, but the encoder should note generate these invalid + ; transitions anyway + JMP update_state + + ; this jump table starts at address 16 and is accessed by the + ; "MOV PC, OSR" instruction above, that loads the PC with the state on + ; the lower 4 bits and the 5th bit on. The delays here extend the faster + ; branches to take the same time as the slower branches + JMP invalid + JMP increment [0] + JMP decrement [1] + JMP check_fifo [4] + + JMP decrement [1] + JMP invalid + JMP check_fifo [4] + JMP increment [0] + + JMP increment [0] + JMP check_fifo [4] + JMP invalid + JMP decrement [1] + + JMP check_fifo [4] + JMP decrement [1] + JMP increment [0] + ; this instruction should be usually reached by the "MOV PC, ~STATUS" + ; instruction above when the status is zero, which means that the fifo + ; has data and we don't want to push more data. This can also be reached + ; on an invalid state transition, which should not happen. Even if it + ; happens, it should be a transient state and the only side effect is + ; that we'll call update_state twice in a row + JMP update_state [1] + + + + + +% c-sdk { + +#include "hardware/clocks.h" +#include "hardware/gpio.h" +#include "hardware/sync.h" + + +// "substep" version low-level interface +// +// note: user code should use the high level functions in quadrature_encoder.c +// and not call these directly + +// initialize the PIO state and the substep_state_t structure that keeps track +// of the encoder state +static inline void quadrature_encoder_substep_program_init(PIO pio, uint sm, uint pin_A) +{ + uint pin_state, position, ints; + pio_gpio_init(pio, pin_A); + pio_gpio_init(pio, pin_A + 1); + + pio_sm_set_consecutive_pindirs(pio, sm, pin_A, 2, false); + gpio_pull_up(pin_A); + gpio_pull_up(pin_A + 1); + + pio_sm_config c = quadrature_encoder_substep_program_get_default_config(0); + sm_config_set_in_pins(&c, pin_A); // for WAIT, IN + // shift to left, auto-push at 32 bits + sm_config_set_in_shift(&c, false, true, 32); + sm_config_set_out_shift(&c, true, false, 32); + // don't join FIFO's + sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_NONE); + + // always run at sysclk, to have the maximum possible time resolution + sm_config_set_clkdiv(&c, 1.0); + + pio_sm_init(pio, sm, 0, &c); + + // set up status to be rx_fifo < 1 + pio->sm[sm].execctrl = ((pio->sm[sm].execctrl & 0xFFFFFF80) | 0x12); + + // init the state machine according to the current phase. Since we are + // setting the state running PIO instructions from C state, the encoder may + // step during this initialization. This should not be a problem though, + // because as long as it is just one step, the state machine will update + // correctly when it starts. We disable interrupts anyway, to be safe + ints = save_and_disable_interrupts(); + + pin_state = (gpio_get_all() >> pin_A) & 3; + + // to setup the state machine, we need to set the lower 2 bits of OSR to be + // the negated pin state + pio_sm_exec(pio, sm, pio_encode_set(pio_y, ~pin_state)); + pio_sm_exec(pio, sm, pio_encode_mov(pio_osr, pio_y)); + + // also set the Y (current step) so that the lower 2 bits of Y have a 1:1 + // mapping to the current phase (input pin state). That simplifies the code + // to compensate for differences in encoder phase sizes: + switch (pin_state) { + case 0: position = 0; break; + case 1: position = 3; break; + case 2: position = 1; break; + case 3: position = 2; break; + } + pio_sm_exec(pio, sm, pio_encode_set(pio_y, position)); + + pio_sm_set_enabled(pio, sm, true); + + restore_interrupts(ints); +} + +static inline void quadrature_encoder_substep_get_counts(PIO pio, uint sm, uint *step, int *cycles, uint *us) +{ + int i, pairs; + uint ints; + + pairs = pio_sm_get_rx_fifo_level(pio, sm) >> 1; + + // read all data with interrupts disabled, so that there can not be a + // big time gap between reading the PIO data and the current us + ints = save_and_disable_interrupts(); + for (i = 0; i < pairs + 1; i++) { + *cycles = pio_sm_get_blocking(pio, sm); + *step = pio_sm_get_blocking(pio, sm); + } + *us = time_us_32(); + restore_interrupts(ints); +} + +%} diff --git a/pio/spi/spi.pio b/pio/spi/spi.pio index eba785eaa..4033a74ab 100644 --- a/pio/spi/spi.pio +++ b/pio/spi/spi.pio @@ -9,7 +9,7 @@ ; achieved using the hardware GPIO inversion available in the IO controls. ; ; Transmit-only SPI can go twice as fast -- see the ST7789 example! - +.pio_version 0 // only requires PIO version 0 .program spi_cpha0 .side_set 1 diff --git a/pio/squarewave/CMakeLists.txt b/pio/squarewave/CMakeLists.txt index 07f724bbb..fe503bb1d 100644 --- a/pio/squarewave/CMakeLists.txt +++ b/pio/squarewave/CMakeLists.txt @@ -22,14 +22,25 @@ add_custom_target(pio_squarewave_datasheet DEPENDS ) add_custom_command(OUTPUT ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave.hex DEPENDS ${CMAKE_CURRENT_LIST_DIR}/squarewave.pio - COMMAND Pioasm -o hex ${CMAKE_CURRENT_LIST_DIR}/squarewave.pio ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave.hex + COMMAND pioasm -o hex ${CMAKE_CURRENT_LIST_DIR}/squarewave.pio ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave.hex VERBATIM) add_custom_command(OUTPUT ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave.pio.h DEPENDS ${CMAKE_CURRENT_LIST_DIR}/squarewave.pio - COMMAND Pioasm ${CMAKE_CURRENT_LIST_DIR}/squarewave.pio ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave.pio.h + COMMAND pioasm ${CMAKE_CURRENT_LIST_DIR}/squarewave.pio ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave.pio.h VERBATIM) add_custom_command(OUTPUT ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave_wrap.pio.h DEPENDS ${CMAKE_CURRENT_LIST_DIR}/squarewave_wrap.pio - COMMAND Pioasm ${CMAKE_CURRENT_LIST_DIR}/squarewave_wrap.pio ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave_wrap.pio.h + COMMAND pioasm ${CMAKE_CURRENT_LIST_DIR}/squarewave_wrap.pio ${CMAKE_CURRENT_LIST_DIR}/generated/squarewave_wrap.pio.h VERBATIM) add_dependencies(pio_squarewave pio_squarewave_datasheet) + +add_executable(pio_squarewave_div_sync) +pico_generate_pio_header(pio_squarewave_div_sync ${CMAKE_CURRENT_LIST_DIR}/squarewave.pio) +target_sources(pio_squarewave_div_sync PRIVATE + squarewave_div_sync.c + ) +target_link_libraries(pio_squarewave_div_sync PRIVATE + pico_stdlib hardware_pio + ) +pico_add_extra_outputs(pio_squarewave_div_sync) +example_auto_set_url(pio_squarewave_div_sync) diff --git a/pio/squarewave/generated/squarewave.pio.h b/pio/squarewave/generated/squarewave.pio.h index 9ec7ea659..af84dbd94 100644 --- a/pio/squarewave/generated/squarewave.pio.h +++ b/pio/squarewave/generated/squarewave.pio.h @@ -14,6 +14,7 @@ #define squarewave_wrap_target 0 #define squarewave_wrap 3 +#define squarewave_pio_version 0 static const uint16_t squarewave_program_instructions[] = { // .wrap_target @@ -29,6 +30,10 @@ static const struct pio_program squarewave_program = { .instructions = squarewave_program_instructions, .length = 4, .origin = -1, + .pio_version = 0, +#if PICO_PIO_VERSION > 0 + .used_gpio_ranges = 0x0 +#endif }; static inline pio_sm_config squarewave_program_get_default_config(uint offset) { diff --git a/pio/squarewave/generated/squarewave_wrap.pio.h b/pio/squarewave/generated/squarewave_wrap.pio.h index ff90703ce..c02819d65 100644 --- a/pio/squarewave/generated/squarewave_wrap.pio.h +++ b/pio/squarewave/generated/squarewave_wrap.pio.h @@ -14,6 +14,7 @@ #define squarewave_wrap_wrap_target 1 #define squarewave_wrap_wrap 2 +#define squarewave_wrap_pio_version 0 static const uint16_t squarewave_wrap_program_instructions[] = { 0xe081, // 0: set pindirs, 1 @@ -28,6 +29,10 @@ static const struct pio_program squarewave_wrap_program = { .instructions = squarewave_wrap_program_instructions, .length = 3, .origin = -1, + .pio_version = 0, +#if PICO_PIO_VERSION > 0 + .used_gpio_ranges = 0x0 +#endif }; static inline pio_sm_config squarewave_wrap_program_get_default_config(uint offset) { diff --git a/pio/squarewave/squarewave.c b/pio/squarewave/squarewave.c index 40a780930..b3dbd6e1d 100644 --- a/pio/squarewave/squarewave.c +++ b/pio/squarewave/squarewave.c @@ -34,7 +34,7 @@ int main() { // Load the assembled program directly into the PIO's instruction memory. // Each PIO instance has a 32-slot instruction memory, which all 4 state // machines can see. The system has write-only access. - for (int i = 0; i < count_of(squarewave_program_instructions); ++i) + for (uint i = 0; i < count_of(squarewave_program_instructions); ++i) pio->instr_mem[i] = squarewave_program_instructions[i]; /// \end::load_program[] @@ -56,7 +56,7 @@ int main() { pio->sm[0].pinctrl = (1 << PIO_SM0_PINCTRL_SET_COUNT_LSB) | (0 << PIO_SM0_PINCTRL_SET_BASE_LSB); - gpio_set_function(0, GPIO_FUNC_PIO0); + gpio_set_function(0, pio_get_funcsel(pio)); /// \end::setup_pins[] /// \tag::start_sm[] diff --git a/pio/squarewave/squarewave.pio b/pio/squarewave/squarewave.pio index 405c89972..aefdbdf98 100644 --- a/pio/squarewave/squarewave.pio +++ b/pio/squarewave/squarewave.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program squarewave set pindirs, 1 ; Set pin to output diff --git a/pio/squarewave/squarewave_div_sync.c b/pio/squarewave/squarewave_div_sync.c new file mode 100644 index 000000000..46a2848ab --- /dev/null +++ b/pio/squarewave/squarewave_div_sync.c @@ -0,0 +1,128 @@ +/** + * Copyright (c) 2024 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include "pico/stdlib.h" +#include "hardware/pio.h" + +// Our assembled program: +#include "squarewave.pio.h" + +// Attach a logic analyser to these gpios +// A square wave is generated on them with a period of around 1748us by using a clock div of 65535 +// This example demonstrates how the call to pio_clkdiv_restart_sm_multi_mask can be used to get +// the state machines dividers in sync. After 5s it stops all the state machines and exits +#define GPIO_PIN0 2 +#define GPIO_PIN1 3 +#define GPIO_PIN2 4 + +// Clock divisor to use, as slow as possible +#define CLOCK_DIVISOR 65535 + +// This example enables each state machines in turn then synchronizes the divisors +// with a call to pio_clkdiv_restart_sm_multi_mask +// The same result can be achieved with one function call to pio_enable_sm_multi_mask_in_sync +// Set this to 1 to test on rp2350 +#define USE_ENABLE_MULTI_MASK_IN_SYNC_FUNCTION 0 + +static bool setup_pio(const pio_program_t *program, PIO *pio, uint *sm, uint *offset, uint pin, uint16_t divisor) { + + // load the program on a free pio and state machine + // Note: This uses the LAST free pio first to reduce the chance of causing problems for old code + // that assumes the first pio is free + if (!pio_claim_free_sm_and_add_program(program, pio, sm, offset)) { + return false; + } + + // Set this pin's GPIO function (connect PIO to the pad) + pio_gpio_init(*pio, pin); + + // Set the pin direction to output with the PIO + pio_sm_set_consecutive_pindirs(*pio, *sm, pin, 1, true); + + pio_sm_config c = squarewave_program_get_default_config(*offset); + sm_config_set_set_pins(&c, pin, 1); + + // Load our configuration, and jump to the start of the program + pio_sm_init(*pio, *sm, *offset, &c); + + // set the pio divisor + pio_sm_set_clkdiv(*pio, *sm, divisor); + return true; +} + +int main() { + PIO pio[3]; + uint sm[3]; + uint offset[3]; + bool success; + + // Load the program onto the first pio + success = setup_pio(&squarewave_program, &pio[0], &sm[0], &offset[0], GPIO_PIN0, CLOCK_DIVISOR); + hard_assert(success); + assert(pio[0] == pio_get_instance(NUM_PIOS - 1)); // note: last pio + + // Load the program onto the next state machine + success = setup_pio(&squarewave_program, &pio[1], &sm[1], &offset[1], GPIO_PIN1, CLOCK_DIVISOR); + hard_assert(success); + assert(pio[1] == pio_get_instance(NUM_PIOS - 1)); // note: last pio + + // claim the other state machines to make sure the next time we load the program, it goes to a different pio + uint not_actually_used[2]; + not_actually_used[0] = pio_claim_unused_sm(pio[0], true); + not_actually_used[1] = pio_claim_unused_sm(pio[0], true); + + // Loading the program onto a different pio + success = setup_pio(&squarewave_program, &pio[2], &sm[2], &offset[2], GPIO_PIN2, CLOCK_DIVISOR); + hard_assert(success); + assert(pio[2] == pio_get_instance(NUM_PIOS - 2)); // note: second to last pio + +#if PICO_PIO_VERSION == 0 || !USE_ENABLE_MULTI_MASK_IN_SYNC_FUNCTION + // Set the first one going + pio_sm_set_enabled(pio[0], sm[0], true); + // set the second one running + pio_sm_set_enabled(pio[1], sm[1], true); + // set the last one running + pio_sm_set_enabled(pio[2], sm[2], true); +#if PICO_PIO_VERSION > 0 + // You need a logic analyser to properly see what's going on here. + // Without the call below, all the square waves on the 3 pins will be out of sync slightly + // because they're all started at different times. + // This call restarts the clock dividers on the 3 state machines so they're in sync. + // This is only supported on newer versions of the PIO, e.g. on rp2350 + // We used pio_claim_free_sm_and_add_program which uses the last free pio first, + // so we're setting the mask for the previous pio here + pio_clkdiv_restart_sm_multi_mask(pio[0], 1 << sm[2], (1 << sm[0]) | (1 << sm[1]), 0); +#endif // PICO_PIO_VERSION > 0 +#else // PICIO_PICO_VERSION != 0 && USE_ENABLE_MULTI_MASK_IN_SYNC_FUNCTION + // As an alternative you could just use this to enable ALL state machines with the divisors all in sync + pio_enable_sm_multi_mask_in_sync(pio[0], 1 << sm[2], (1 << sm[0]) | (1 << sm[1]), 0); +#endif + + // run the programs for 5s then stop the state machines + sleep_ms(5000); +#if PICO_PIO_VERSION > 0 + // one call to stop all state machines + pio_set_sm_multi_mask_enabled(pio[0], 1 << sm[2], (1 << sm[0]) | (1 << sm[1]), 0, false); +#else + // two calls needed to stop all state machines on rp2040 + pio_set_sm_mask_enabled(pio[0], (1 << sm[0]) | (1 << sm[1]), false); + pio_set_sm_mask_enabled(pio[2], 1 << sm[2], false); +#endif + + // Unclaim unused state machines + pio_sm_unclaim(pio[0], not_actually_used[0]); + pio_sm_unclaim(pio[0], not_actually_used[1]); + + // This will free resources and unload our program + // We have two state machines on the same pio, the final state machine is on a different pio + assert(pio[0] == pio[1] && pio[1] != pio[2]); + pio_remove_program_and_unclaim_sm(&squarewave_program, pio[0], sm[0], offset[0]); + pio_remove_program_and_unclaim_sm(&squarewave_program, pio[1], sm[1], offset[1]); + pio_remove_program_and_unclaim_sm(&squarewave_program, pio[2], sm[2], offset[2]); + + return 0; + +} diff --git a/pio/squarewave/squarewave_fast.pio b/pio/squarewave/squarewave_fast.pio index 26162fadb..115eb470c 100644 --- a/pio/squarewave/squarewave_fast.pio +++ b/pio/squarewave/squarewave_fast.pio @@ -7,7 +7,7 @@ ; Note that if you modify squarewave.c to include this program, you'll also ; need to set the wrap registers yourself. This would be handled for you by ; squarewave_program_get_default_config(). - +.pio_version 0 // only requires PIO version 0 .program squarewave_fast ; Like squarewave_wrap, but remove the delay cycles so we can run twice as fast. diff --git a/pio/squarewave/squarewave_wrap.pio b/pio/squarewave/squarewave_wrap.pio index 100f09cf1..8ad8e3088 100644 --- a/pio/squarewave/squarewave_wrap.pio +++ b/pio/squarewave/squarewave_wrap.pio @@ -7,6 +7,7 @@ ; Note that if you modify squarewave.c to include this program, you'll also ; need to set the wrap registers yourself. This would be handled for you by ; squarewave_program_get_default_config(). +.pio_version 0 // only requires PIO version 0 .program squarewave_wrap ; Like squarewave, but use the state machine's .wrap hardware instead of an diff --git a/pio/st7789_lcd/st7789_lcd.pio b/pio/st7789_lcd/st7789_lcd.pio index aa35c683f..755f620d9 100644 --- a/pio/st7789_lcd/st7789_lcd.pio +++ b/pio/st7789_lcd/st7789_lcd.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program st7789_lcd .side_set 1 diff --git a/pio/uart_rx/uart_rx.pio b/pio/uart_rx/uart_rx.pio index 54a6577c1..3619139ef 100644 --- a/pio/uart_rx/uart_rx.pio +++ b/pio/uart_rx/uart_rx.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program uart_rx_mini diff --git a/pio/uart_rx/uart_rx_intr.c b/pio/uart_rx/uart_rx_intr.c index 0208d664c..6e9c24e02 100644 --- a/pio/uart_rx/uart_rx_intr.c +++ b/pio/uart_rx/uart_rx_intr.c @@ -73,7 +73,7 @@ static void pio_irq_func(void) { } // Process characters -static void async_worker_func(async_context_t *async_context, async_when_pending_worker_t *worker) { +static void async_worker_func(__unused async_context_t *async_context, __unused async_when_pending_worker_t *worker) { work_done = true; while(!queue_is_empty(&fifo)) { char c; diff --git a/pio/uart_tx/uart_tx.pio b/pio/uart_tx/uart_tx.pio index b1320f676..97545849f 100644 --- a/pio/uart_tx/uart_tx.pio +++ b/pio/uart_tx/uart_tx.pio @@ -3,6 +3,7 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program uart_tx .side_set 1 opt diff --git a/pio/ws2812/CMakeLists.txt b/pio/ws2812/CMakeLists.txt index eecb2d35d..3e887b908 100644 --- a/pio/ws2812/CMakeLists.txt +++ b/pio/ws2812/CMakeLists.txt @@ -32,6 +32,6 @@ example_auto_set_url(pio_ws2812_parallel) add_custom_target(pio_ws2812_datasheet DEPENDS ${CMAKE_CURRENT_LIST_DIR}/generated/ws2812.py) add_custom_command(OUTPUT ${CMAKE_CURRENT_LIST_DIR}/generated/ws2812.py DEPENDS ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio - COMMAND Pioasm -o python ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio ${CMAKE_CURRENT_LIST_DIR}/generated/ws2812.py + COMMAND pioasm -o python ${CMAKE_CURRENT_LIST_DIR}/ws2812.pio ${CMAKE_CURRENT_LIST_DIR}/generated/ws2812.py VERBATIM) add_dependencies(pio_ws2812 pio_ws2812_datasheet) \ No newline at end of file diff --git a/pio/ws2812/generated/ws2812.pio.h b/pio/ws2812/generated/ws2812.pio.h index 8cbeea6b7..4a564101f 100644 --- a/pio/ws2812/generated/ws2812.pio.h +++ b/pio/ws2812/generated/ws2812.pio.h @@ -14,6 +14,7 @@ #define ws2812_wrap_target 0 #define ws2812_wrap 3 +#define ws2812_pio_version 0 #define ws2812_T1 2 #define ws2812_T2 5 @@ -33,6 +34,10 @@ static const struct pio_program ws2812_program = { .instructions = ws2812_program_instructions, .length = 4, .origin = -1, + .pio_version = 0, +#if PICO_PIO_VERSION > 0 + .used_gpio_ranges = 0x0 +#endif }; static inline pio_sm_config ws2812_program_get_default_config(uint offset) { @@ -65,6 +70,7 @@ static inline void ws2812_program_init(PIO pio, uint sm, uint offset, uint pin, #define ws2812_parallel_wrap_target 0 #define ws2812_parallel_wrap 3 +#define ws2812_parallel_pio_version 0 #define ws2812_parallel_T1 2 #define ws2812_parallel_T2 5 @@ -84,6 +90,10 @@ static const struct pio_program ws2812_parallel_program = { .instructions = ws2812_parallel_program_instructions, .length = 4, .origin = -1, + .pio_version = 0, +#if PICO_PIO_VERSION > 0 + .used_gpio_ranges = 0x0 +#endif }; static inline pio_sm_config ws2812_parallel_program_get_default_config(uint offset) { diff --git a/pio/ws2812/generated/ws2812.py b/pio/ws2812/generated/ws2812.py index 57b3e9431..a10c77ed7 100644 --- a/pio/ws2812/generated/ws2812.py +++ b/pio/ws2812/generated/ws2812.py @@ -8,19 +8,19 @@ # ws2812 # # ------ # -ws2812_T1 = 2 -ws2812_T2 = 5 -ws2812_T3 = 3 +ws2812_T1 = 3 +ws2812_T2 = 3 +ws2812_T3 = 4 @rp2.asm_pio(sideset_init=pico.PIO.OUT_HIGH, out_init=pico.PIO.OUT_HIGH, out_shiftdir=1) def ws2812(): wrap_target() label("0") - out(x, 1) .side(0) [2] # 0 - jmp(not_x, "3") .side(1) [1] # 1 - jmp("0") .side(1) [4] # 2 + out(x, 1) .side(0) [3] # 0 + jmp(not_x, "3") .side(1) [2] # 1 + jmp("0") .side(1) [2] # 2 label("3") - nop() .side(0) [4] # 3 + nop() .side(0) [2] # 3 wrap() @@ -29,17 +29,17 @@ def ws2812(): # ws2812_parallel # # --------------- # -ws2812_parallel_T1 = 2 -ws2812_parallel_T2 = 5 -ws2812_parallel_T3 = 3 +ws2812_parallel_T1 = 3 +ws2812_parallel_T2 = 3 +ws2812_parallel_T3 = 4 @rp2.asm_pio() def ws2812_parallel(): wrap_target() out(x, 32) # 0 - mov(pins, invert(null)) [1] # 1 - mov(pins, x) [4] # 2 - mov(pins, null) [1] # 3 + mov(pins, invert(null)) [2] # 1 + mov(pins, x) [2] # 2 + mov(pins, null) [2] # 3 wrap() diff --git a/pio/ws2812/ws2812.c b/pio/ws2812/ws2812.c index 2ee6c4227..42463652a 100644 --- a/pio/ws2812/ws2812.c +++ b/pio/ws2812/ws2812.c @@ -12,7 +12,20 @@ #include "hardware/clocks.h" #include "ws2812.pio.h" -#define IS_RGBW true +/** + * NOTE: + * Take into consideration if your WS2812 is a RGB or RGBW variant. + * + * If it is RGBW, you need to set IS_RGBW to true and provide 4 bytes per + * pixel (Red, Green, Blue, White) and use urgbw_u32(). + * + * If it is RGB, set IS_RGBW to false and provide 3 bytes per pixel (Red, + * Green, Blue) and use urgb_u32(). + * + * When RGBW is used with urgb_u32(), the White channel will be ignored (off). + * + */ +#define IS_RGBW false #define NUM_PIXELS 150 #ifdef PICO_DEFAULT_WS2812_PIN @@ -33,6 +46,14 @@ static inline uint32_t urgb_u32(uint8_t r, uint8_t g, uint8_t b) { (uint32_t) (b); } +static inline uint32_t urgbw_u32(uint8_t r, uint8_t g, uint8_t b, uint8_t w) { + return + ((uint32_t) (r) << 8) | + ((uint32_t) (g) << 16) | + ((uint32_t) (w) << 24) | + (uint32_t) (b); +} + void pattern_snakes(uint len, uint t) { for (uint i = 0; i < len; ++i) { uint x = (i + (t >> 1)) % 64; @@ -50,21 +71,21 @@ void pattern_snakes(uint len, uint t) { void pattern_random(uint len, uint t) { if (t % 8) return; - for (int i = 0; i < len; ++i) + for (uint i = 0; i < len; ++i) put_pixel(rand()); } void pattern_sparkle(uint len, uint t) { if (t % 8) return; - for (int i = 0; i < len; ++i) + for (uint i = 0; i < len; ++i) put_pixel(rand() % 16 ? 0 : 0xffffffff); } void pattern_greys(uint len, uint t) { - int max = 100; // let's not draw too much current! + uint max = 100; // let's not draw too much current! t %= max; - for (int i = 0; i < len; ++i) { + for (uint i = 0; i < len; ++i) { put_pixel(t * 0x10101); if (++t >= max) t = 0; } diff --git a/pio/ws2812/ws2812.pio b/pio/ws2812/ws2812.pio index 3c31fd6c9..549b95ddf 100644 --- a/pio/ws2812/ws2812.pio +++ b/pio/ws2812/ws2812.pio @@ -3,13 +3,18 @@ ; ; SPDX-License-Identifier: BSD-3-Clause ; +.pio_version 0 // only requires PIO version 0 .program ws2812 .side_set 1 -.define public T1 2 -.define public T2 5 -.define public T3 3 +; The following constants are selected for broad compatibility with WS2812, +; WS2812B, and SK6812 LEDs. Other constants may support higher bandwidths for +; specific LEDs, such as (7,10,8) for WS2812B LEDs. + +.define public T1 3 +.define public T2 3 +.define public T3 4 .lang_opt python sideset_init = pico.PIO.OUT_HIGH .lang_opt python out_init = pico.PIO.OUT_HIGH @@ -49,9 +54,9 @@ static inline void ws2812_program_init(PIO pio, uint sm, uint offset, uint pin, .program ws2812_parallel -.define public T1 2 -.define public T2 5 -.define public T3 3 +.define public T1 3 +.define public T2 3 +.define public T3 4 .wrap_target out x, 32 diff --git a/pio/ws2812/ws2812_parallel.c b/pio/ws2812/ws2812_parallel.c index 8d3e85eb8..37be663cf 100644 --- a/pio/ws2812/ws2812_parallel.c +++ b/pio/ws2812/ws2812_parallel.c @@ -56,21 +56,21 @@ void pattern_snakes(uint len, uint t) { void pattern_random(uint len, uint t) { if (t % 8) return; - for (int i = 0; i < len; ++i) + for (uint i = 0; i < len; ++i) put_pixel(rand()); } void pattern_sparkle(uint len, uint t) { if (t % 8) return; - for (int i = 0; i < len; ++i) + for (uint i = 0; i < len; ++i) put_pixel(rand() % 16 ? 0 : 0xffffffff); } void pattern_greys(uint len, uint t) { - int max = 100; // let's not draw too much current! + uint max = 100; // let's not draw too much current! t %= max; - for (int i = 0; i < len; ++i) { + for (uint i = 0; i < len; ++i) { put_pixel(t * 0x10101); if (++t >= max) t = 0; } @@ -78,7 +78,7 @@ void pattern_greys(uint len, uint t) { void pattern_solid(uint len, uint t) { t = 1; - for (int i = 0; i < len; ++i) { + for (uint i = 0; i < len; ++i) { put_pixel(t * 0x10101); } } @@ -101,7 +101,7 @@ void pattern_fade(uint len, uint t) { slow_t >>= shift; slow_t *= 0x010101; - for (int i = 0; i < len; ++i) { + for (uint i = 0; i < len; ++i) { put_pixel(slow_t); } } @@ -156,7 +156,7 @@ void transform_strips(strip_t **strips, uint num_strips, value_bits_t *values, u uint frac_brightness) { for (uint v = 0; v < value_length; v++) { memset(&values[v], 0, sizeof(values[v])); - for (int i = 0; i < num_strips; i++) { + for (uint i = 0; i < num_strips; i++) { if (v < strips[i]->data_len) { // todo clamp? uint32_t value = (strips[i]->data[v] * strips[i]->frac_brightness) >> 8u; @@ -219,7 +219,7 @@ static struct semaphore reset_delay_complete_sem; // alarm handle for handling delay alarm_id_t reset_delay_alarm_id; -int64_t reset_delay_complete(alarm_id_t id, void *user_data) { +int64_t reset_delay_complete(__unused alarm_id_t id, __unused void *user_data) { reset_delay_alarm_id = 0; sem_release(&reset_delay_complete_sem); // no repeat diff --git a/pwm/CMakeLists.txt b/pwm/CMakeLists.txt index b513533d6..b62bf0751 100644 --- a/pwm/CMakeLists.txt +++ b/pwm/CMakeLists.txt @@ -1,5 +1,7 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(hello_pwm) - add_subdirectory(led_fade) - add_subdirectory(measure_duty_cycle) -endif () +if (TARGET hardware_pwm) + add_subdirectory_exclude_platforms(hello_pwm) + add_subdirectory_exclude_platforms(led_fade) + add_subdirectory_exclude_platforms(measure_duty_cycle) +else() + message("Skipping PWM examples as hardware_pwm is unavailable on this platform") +endif() diff --git a/pwm/led_fade/pwm_led_fade.c b/pwm/led_fade/pwm_led_fade.c index 1b3582737..43615bd79 100644 --- a/pwm/led_fade/pwm_led_fade.c +++ b/pwm/led_fade/pwm_led_fade.c @@ -52,8 +52,8 @@ int main() { // and register our interrupt handler pwm_clear_irq(slice_num); pwm_set_irq_enabled(slice_num, true); - irq_set_exclusive_handler(PWM_IRQ_WRAP, on_pwm_wrap); - irq_set_enabled(PWM_IRQ_WRAP, true); + irq_set_exclusive_handler(PWM_DEFAULT_IRQ_NUM(), on_pwm_wrap); + irq_set_enabled(PWM_DEFAULT_IRQ_NUM(), true); // Get some sensible defaults for the slice configuration. By default, the // counter is allowed to wrap over its maximum range (0 to 2**16-1) diff --git a/pwm/measure_duty_cycle/measure_duty_cycle.c b/pwm/measure_duty_cycle/measure_duty_cycle.c index cffe40557..cd2957c83 100644 --- a/pwm/measure_duty_cycle/measure_duty_cycle.c +++ b/pwm/measure_duty_cycle/measure_duty_cycle.c @@ -62,7 +62,7 @@ int main() { // For each of our test duty cycles, drive the output pin at that level, // and read back the actual output duty cycle using the other pin. The two // values should be very close! - for (int i = 0; i < count_of(test_duty_cycles); ++i) { + for (uint i = 0; i < count_of(test_duty_cycles); ++i) { float output_duty_cycle = test_duty_cycles[i]; pwm_set_gpio_level(OUTPUT_PIN, (uint16_t) (output_duty_cycle * (count_top + 1))); float measured_duty_cycle = measure_duty_cycle(MEASURE_PIN); diff --git a/reset/CMakeLists.txt b/reset/CMakeLists.txt index 6c1996f62..8644a9ea1 100644 --- a/reset/CMakeLists.txt +++ b/reset/CMakeLists.txt @@ -1,14 +1,5 @@ -if (TARGET hardware_reset) - add_executable(hello_reset - hello_reset.c - ) - - # pull in common dependencies - target_link_libraries(hello_reset pico_stdlib) - - # create map/bin/hex file etc. - pico_add_extra_outputs(hello_reset) - - # add url via pico_set_program_url - example_auto_set_url(hello_reset) -endif () +if (TARGET hardware_resets) + add_subdirectory_exclude_platforms(hello_reset) +else() + message("Skipping reset examples as hardware_resets is unavailable on this platform") +endif() diff --git a/reset/hello_reset/hello_reset.c b/reset/hello_reset/hello_reset.c index 920fda529..fe785848a 100644 --- a/reset/hello_reset/hello_reset.c +++ b/reset/hello_reset/hello_reset.c @@ -15,16 +15,16 @@ int main() { printf("Hello, reset!\n"); // Put the PWM block into reset - reset_block(RESETS_RESET_PWM_BITS); + reset_block_num(RESET_PWM); // And bring it out - unreset_block_wait(RESETS_RESET_PWM_BITS); + unreset_block_num_wait_blocking(RESET_PWM); - // Put the PWM and RTC block into reset - reset_block(RESETS_RESET_PWM_BITS | RESETS_RESET_RTC_BITS); + // Put the PWM and ADC block into reset + reset_block_mask((1u << RESET_PWM) | (1u << RESET_ADC)); // Wait for both to come out of reset - unreset_block_wait(RESETS_RESET_PWM_BITS | RESETS_RESET_RTC_BITS); + unreset_block_mask_wait_blocking((1u << RESET_PWM) | (1u << RESET_ADC)); return 0; } diff --git a/rtc/CMakeLists.txt b/rtc/CMakeLists.txt index 9de76b48d..98f200dca 100644 --- a/rtc/CMakeLists.txt +++ b/rtc/CMakeLists.txt @@ -1,5 +1,7 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(hello_rtc) - add_subdirectory(rtc_alarm) - add_subdirectory(rtc_alarm_repeat) -endif () +if (TARGET hardware_rtc) + add_subdirectory_exclude_platforms(hello_rtc) + add_subdirectory_exclude_platforms(rtc_alarm) + add_subdirectory_exclude_platforms(rtc_alarm_repeat) +else() + message("Skipping RTC examples as hardware_rtc is unavailable on this platform") +endif() diff --git a/sha/CMakeLists.txt b/sha/CMakeLists.txt new file mode 100644 index 000000000..a0ec9a1eb --- /dev/null +++ b/sha/CMakeLists.txt @@ -0,0 +1,7 @@ +# todo peter fix mixture of sha256 and MBED +if (TARGET pico_sha256 AND TARGET pico_mbedtls) + add_subdirectory_exclude_platforms(sha256) + add_subdirectory_exclude_platforms(mbedtls_sha256) +else() + message("Skipping SHA256 examples as pico_sha256 or pico_mbedtls unavailable") +endif () diff --git a/sha/mbedtls_sha256/CMakeLists.txt b/sha/mbedtls_sha256/CMakeLists.txt new file mode 100644 index 000000000..a9bec5d18 --- /dev/null +++ b/sha/mbedtls_sha256/CMakeLists.txt @@ -0,0 +1,18 @@ +if (NOT TARGET hardware_sha256) + return() +endif() + +# This example uses the mbedtls SHA-256 API +# mbedtls_config.h defines MBEDTLS_SHA256_ALT enabling hardware acceleration if supported +add_executable(mbedtls_sha256 + mbedtls_sha256.c + ) +target_link_libraries(mbedtls_sha256 + pico_stdlib + pico_mbedtls +) +target_include_directories(mbedtls_sha256 PRIVATE + ${CMAKE_CURRENT_LIST_DIR} +) +pico_add_extra_outputs(mbedtls_sha256) +example_auto_set_url(mbedtls_sha256) diff --git a/sha/mbedtls_sha256/mbedtls_config.h b/sha/mbedtls_sha256/mbedtls_config.h new file mode 100644 index 000000000..63ffb157f --- /dev/null +++ b/sha/mbedtls_sha256/mbedtls_config.h @@ -0,0 +1,11 @@ +#ifndef _MBEDTLS_CONFIG_H +#define _MBEDTLS_CONFIG_H + +#if LIB_PICO_SHA256 +// Enable hardware acceleration +#define MBEDTLS_SHA256_ALT +#else +#define MBEDTLS_SHA256_C +#endif + +#endif \ No newline at end of file diff --git a/sha/mbedtls_sha256/mbedtls_sha256.c b/sha/mbedtls_sha256/mbedtls_sha256.c new file mode 100644 index 000000000..cceac8ab7 --- /dev/null +++ b/sha/mbedtls_sha256/mbedtls_sha256.c @@ -0,0 +1,51 @@ +/** + * Copyright (c) 2023 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include +// Include sys/types.h before inttypes.h to work around issue with +// certain versions of GCC and newlib which causes omission of PRIu64 +#include +#include +#include + +#include "pico/stdlib.h" +#include "mbedtls/sha256.h" + +#define BUFFER_SIZE 10000 + +int main() { + stdio_init_all(); + // nist 3 + uint8_t *buffer = malloc(BUFFER_SIZE); + memset(buffer, 0x61, BUFFER_SIZE); + const uint8_t nist_3_expected[] = { \ + 0xcd, 0xc7, 0x6e, 0x5c, 0x99, 0x14, 0xfb, 0x92, 0x81, 0xa1, \ + 0xc7, 0xe2, 0x84, 0xd7, 0x3e, 0x67, 0xf1, 0x80, 0x9a, 0x48, \ + 0xa4, 0x97, 0x20, 0x0e, 0x04, 0x6d, 0x39, 0xcc, 0xc7, 0x11, \ + 0x2c, 0xd0 }; + + // check mbedtls hw accelerated speed + mbedtls_sha256_context ctx; + mbedtls_sha256_init(&ctx); + uint64_t start = time_us_64(); + int rc = mbedtls_sha256_starts_ret(&ctx, 0); + hard_assert(rc == 0); + for(int i = 0; i < 1000000; i += BUFFER_SIZE) { + rc = mbedtls_sha256_update_ret(&ctx, buffer, BUFFER_SIZE); + hard_assert(rc == 0); + } + unsigned char mbed_result[32]; + rc = mbedtls_sha256_finish_ret(&ctx, mbed_result); + hard_assert(rc == 0); + uint64_t mbed_time = (time_us_64() - start) / 1000; + printf("Mbedtls time for sha256 of 1M bytes %"PRIu64"ms\n", mbed_time); + hard_assert(memcmp(nist_3_expected, mbed_result, 32) == 0); + mbedtls_sha256_free(&ctx); + hard_assert(mbed_time < 50); // less than 50ms + free(buffer); + printf("Test passed\n"); +} diff --git a/sha/sha256/CMakeLists.txt b/sha/sha256/CMakeLists.txt new file mode 100644 index 000000000..5835fe863 --- /dev/null +++ b/sha/sha256/CMakeLists.txt @@ -0,0 +1,36 @@ +if (NOT TARGET hardware_sha256) + return() +endif() + +# Generates an inc file from a txt file, and return a target for dependencies +function(make_sample_inc input_filename target_name) + # Write script file to run later, to generate the inc file + file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/generated/inc.cmake" + "file(READ \${input_file} content)\n" + "file(WRITE \${output_file} \"static const char sample_txt[] = { \\\"\${content}\\\" };\")" + ) + # Add command to run this whenever input_filename changes + get_filename_component(input_file "${input_filename}" REALPATH) + set(output_file "${CMAKE_CURRENT_BINARY_DIR}/generated/${input_filename}.inc") + add_custom_command(OUTPUT ${output_file} + COMMAND ${CMAKE_COMMAND} -Dinput_file:FILEPATH=${input_file} -Doutput_file:FILEPATH=${output_file} -P "${CMAKE_CURRENT_BINARY_DIR}/generated/inc.cmake" + DEPENDS ${input_filename}) + add_custom_target(${target_name} DEPENDS ${output_file}) +endfunction(make_sample_inc) + +make_sample_inc(sample.txt sample.txt.inc) + +add_executable(hello_sha256 + hello_sha256.c + ) +add_dependencies(hello_sha256 sample.txt.inc) +target_link_libraries(hello_sha256 + pico_stdlib + pico_sha256 +) +target_include_directories(hello_sha256 PRIVATE + ${CMAKE_CURRENT_LIST_DIR} + ${CMAKE_CURRENT_BINARY_DIR}/generated +) +pico_add_extra_outputs(hello_sha256) +example_auto_set_url(hello_sha256) diff --git a/sha/sha256/hello_sha256.c b/sha/sha256/hello_sha256.c new file mode 100644 index 000000000..7b49c5fa0 --- /dev/null +++ b/sha/sha256/hello_sha256.c @@ -0,0 +1,92 @@ +/** + * Copyright (c) 2023 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include +// Include sys/types.h before inttypes.h to work around issue with +// certain versions of GCC and newlib which causes omission of PRIu64 +#include +#include +#include + +#include "pico/stdlib.h" +#include "pico/sha256.h" + +// This was generated by cmake from sample.txt.inc +#include "sample.txt.inc" + +static void sha_example() { + printf("Text: %d bytes\n", sizeof(sample_txt) - 1); + for(int i = 0; i < sizeof(sample_txt) - 1; i++) { + if (i > 0 && i % 128 == 0) printf("\n"); + putchar(sample_txt[i]); + } + printf("\n"); + + // Allocate a state object and start the calculation + pico_sha256_state_t state; + int rc = pico_sha256_start_blocking(&state, SHA256_BIG_ENDIAN, true); // using some DMA system resources + hard_assert(rc == PICO_OK); + pico_sha256_update_blocking(&state, (const uint8_t*)sample_txt, sizeof(sample_txt) - 1); + + // Get the result of the sha256 calculation + sha256_result_t result; + pico_sha256_finish(&state, &result); + + // print resulting sha256 result + printf("Result:\n"); + for(int i = 0; i < SHA256_RESULT_BYTES; i++) { + printf("%02x ", result.bytes[i]); + if ((i+1) % 16 == 0) printf("\n"); + } + + // check it's what we expect from "sha256sum sample.txt" + const uint8_t sha_expected[SHA256_RESULT_BYTES] = { + 0x2d, 0x8c, 0x2f, 0x6d, 0x97, 0x8c, 0xa2, 0x17, 0x12, 0xb5, 0xf6, 0xde, 0x36, 0xc9, 0xd3, 0x1f, + 0xa8, 0xe9, 0x6a, 0x4f, 0xa5, 0xd8, 0xff, 0x8b, 0x01, 0x88, 0xdf, 0xb9, 0xe7, 0xc1, 0x71, 0xbb + }; + hard_assert(memcmp(sha_expected, &result, SHA256_RESULT_BYTES) == 0); +} + + +#define BUFFER_SIZE 10000 + +// A performance test with a large amount of data +static void nist_test(bool use_dma) { + // nist 3 + uint8_t *buffer = malloc(BUFFER_SIZE); + memset(buffer, 0x61, BUFFER_SIZE); + const uint8_t nist_3_expected[] = { \ + 0xcd, 0xc7, 0x6e, 0x5c, 0x99, 0x14, 0xfb, 0x92, 0x81, 0xa1, 0xc7, 0xe2, 0x84, 0xd7, 0x3e, 0x67, + 0xf1, 0x80, 0x9a, 0x48, 0xa4, 0x97, 0x20, 0x0e, 0x04, 0x6d, 0x39, 0xcc, 0xc7, 0x11, 0x2c, 0xd0 }; + + uint64_t start = time_us_64(); + pico_sha256_state_t state; + int rc = pico_sha256_start_blocking(&state, SHA256_BIG_ENDIAN, use_dma); // call start once + hard_assert(rc == PICO_OK); + for(int i = 0; i < 1000000; i += BUFFER_SIZE) { + pico_sha256_update_blocking(&state, buffer, BUFFER_SIZE); // call update as many times as required + } + sha256_result_t result; + pico_sha256_finish(&state, &result); // Call finish when done to get the result + + // Display the time taken + uint64_t pico_time = time_us_64() - start; + printf("Time for sha256 of 1M bytes %s DMA %"PRIu64"ms\n", use_dma ? "with" : "without", pico_time / 1000); + hard_assert(memcmp(nist_3_expected, result.bytes, SHA256_RESULT_BYTES) == 0); +} + +int main() { + stdio_init_all(); + + sha_example(); + + // performance test with and without DMA + nist_test(false); + nist_test(true); + + printf("Success\n"); +} diff --git a/sha/sha256/sample.txt b/sha/sha256/sample.txt new file mode 100644 index 000000000..08e00ed29 --- /dev/null +++ b/sha/sha256/sample.txt @@ -0,0 +1 @@ +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis aute irure dolor in reprehenderit in voluptate velit esse cillum dolore eu fugiat nulla pariatur. Excepteur sint occaecat cupidatat non proident, sunt in culpa qui officia deserunt mollit anim id est laborum. \ No newline at end of file diff --git a/spi/CMakeLists.txt b/spi/CMakeLists.txt index c618e32b3..d61abb2aa 100644 --- a/spi/CMakeLists.txt +++ b/spi/CMakeLists.txt @@ -1,9 +1,11 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(bme280_spi) - add_subdirectory(mpu9250_spi) - add_subdirectory(spi_dma) - add_subdirectory(spi_master_slave) - add_subdirectory(spi_flash) - add_subdirectory(max7219_32x8_spi) - add_subdirectory(max7219_8x7seg_spi) -endif () +if (TARGET hardware_spi) + add_subdirectory_exclude_platforms(bme280_spi) + add_subdirectory_exclude_platforms(mpu9250_spi) + add_subdirectory_exclude_platforms(spi_dma) + add_subdirectory_exclude_platforms(spi_master_slave) + add_subdirectory_exclude_platforms(spi_flash) + add_subdirectory_exclude_platforms(max7219_32x8_spi) + add_subdirectory_exclude_platforms(max7219_8x7seg_spi) +else() + message("Skipping SPI examples as hardware_spi is unavailable on this platform") +endif() \ No newline at end of file diff --git a/spi/bme280_spi/bme280_spi.c b/spi/bme280_spi/bme280_spi.c index c6c50b11f..74a4e228a 100644 --- a/spi/bme280_spi/bme280_spi.c +++ b/spi/bme280_spi/bme280_spi.c @@ -147,7 +147,7 @@ static void read_registers(uint8_t reg, uint8_t *buf, uint16_t len) { void read_compensation_parameters() { uint8_t buffer[26]; - read_registers(0x88, buffer, 24); + read_registers(0x88, buffer, 26); dig_T1 = buffer[0] | (buffer[1] << 8); dig_T2 = buffer[2] | (buffer[3] << 8); @@ -163,15 +163,15 @@ void read_compensation_parameters() { dig_P8 = buffer[20] | (buffer[21] << 8); dig_P9 = buffer[22] | (buffer[23] << 8); - dig_H1 = buffer[25]; + dig_H1 = buffer[25]; // 0xA1 read_registers(0xE1, buffer, 8); - dig_H2 = buffer[0] | (buffer[1] << 8); - dig_H3 = (int8_t) buffer[2]; - dig_H4 = buffer[3] << 4 | (buffer[4] & 0xf); - dig_H5 = (buffer[5] >> 4) | (buffer[6] << 4); - dig_H6 = (int8_t) buffer[7]; + dig_H2 = buffer[0] | (buffer[1] << 8); // 0xE1 | 0xE2 + dig_H3 = (int8_t) buffer[2]; // 0xE3 + dig_H4 = buffer[3] << 4 | (buffer[4] & 0xf); // 0xE4 | 0xE5[3:0] + dig_H5 = (buffer[4] >> 4) | (buffer[5] << 4); // 0xE5[7:4] | 0xE6 + dig_H6 = (int8_t) buffer[6]; // 0xE7 } static void bme280_read_raw(int32_t *humidity, int32_t *pressure, int32_t *temperature) { @@ -225,8 +225,8 @@ int main() { // These are the raw numbers from the chip, so we need to run through the // compensations to get human understandable numbers - pressure = compensate_pressure(pressure); temperature = compensate_temp(temperature); + pressure = compensate_pressure(pressure); humidity = compensate_humidity(humidity); printf("Humidity = %.2f%%\n", humidity / 1024.0); diff --git a/spi/spi_master_slave/CMakeLists.txt b/spi/spi_master_slave/CMakeLists.txt index 40838a754..f2469e12f 100644 --- a/spi/spi_master_slave/CMakeLists.txt +++ b/spi/spi_master_slave/CMakeLists.txt @@ -1,2 +1,2 @@ -add_subdirectory(spi_master) -add_subdirectory(spi_slave) +add_subdirectory_exclude_platforms(spi_master) +add_subdirectory_exclude_platforms(spi_slave) diff --git a/spi/spi_master_slave/spi_master/spi_master.c b/spi/spi_master_slave/spi_master/spi_master.c index 56084fea1..bfb252a63 100644 --- a/spi/spi_master_slave/spi_master/spi_master.c +++ b/spi/spi_master_slave/spi_master/spi_master.c @@ -31,7 +31,7 @@ #define BUF_LEN 0x100 void printbuf(uint8_t buf[], size_t len) { - int i; + size_t i; for (i = 0; i < len; ++i) { if (i % 16 == 15) printf("%02x\n", buf[i]); diff --git a/spi/spi_master_slave/spi_slave/spi_slave.c b/spi/spi_master_slave/spi_slave/spi_slave.c index 0afedeb82..0f684d518 100644 --- a/spi/spi_master_slave/spi_slave/spi_slave.c +++ b/spi/spi_master_slave/spi_slave/spi_slave.c @@ -32,7 +32,7 @@ #define BUF_LEN 0x100 void printbuf(uint8_t buf[], size_t len) { - int i; + size_t i; for (i = 0; i < len; ++i) { if (i % 16 == 15) printf("%02x\n", buf[i]); diff --git a/system/CMakeLists.txt b/system/CMakeLists.txt index d167f8210..aad75e089 100644 --- a/system/CMakeLists.txt +++ b/system/CMakeLists.txt @@ -1,5 +1,5 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(hello_double_tap) - add_subdirectory(narrow_io_write) - add_subdirectory(unique_board_id) -endif () +add_subdirectory_exclude_platforms(boot_info host host rp2040) +add_subdirectory_exclude_platforms(hello_double_tap host) +add_subdirectory_exclude_platforms(narrow_io_write host) +add_subdirectory_exclude_platforms(unique_board_id host) +add_subdirectory_exclude_platforms(rand host) diff --git a/system/boot_info/CMakeLists.txt b/system/boot_info/CMakeLists.txt new file mode 100644 index 000000000..ec166f968 --- /dev/null +++ b/system/boot_info/CMakeLists.txt @@ -0,0 +1,12 @@ +add_executable(boot_info + boot_info.c + ) +target_link_libraries(boot_info + pico_stdlib + ) + +# create map/bin/hex file etc. +pico_add_extra_outputs(boot_info) + +# add url via pico_set_program_url +example_auto_set_url(boot_info) diff --git a/system/boot_info/boot_info.c b/system/boot_info/boot_info.c new file mode 100644 index 000000000..c312d45d7 --- /dev/null +++ b/system/boot_info/boot_info.c @@ -0,0 +1,160 @@ +/** + * Copyright (c) 2024 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include + +#include "pico/stdlib.h" +#include "pico/bootrom.h" +#include "hardware/watchdog.h" + +static void print_partition_name(int8_t partition) { + switch (partition) { + case BOOT_PARTITION_NONE: { + printf("\tnone\n"); + break; + } + case BOOT_PARTITION_SLOT0: { + printf("\tslot0\n"); + break; + } + case BOOT_PARTITION_SLOT1: { + printf("\tslot1\n"); + break; + } + case BOOT_PARTITION_WINDOW: { + printf("\twindow\n"); + break; + } + default: { + printf("\tunknown\n"); + break; + } + } +} + +static void print_boot_type_name(uint8_t boot_type) { + switch (boot_type & ~BOOT_TYPE_CHAINED_FLAG) { + case BOOT_TYPE_NORMAL: { + printf("\tnormal\n"); + break; + } + case BOOT_TYPE_BOOTSEL: { + printf("\tbootsel\n"); + break; + } + case BOOT_TYPE_RAM_IMAGE: { + printf("\tram image\n"); + break; + } + case BOOT_TYPE_FLASH_UPDATE: { + printf("\tflash update\n"); + break; + } + case BOOT_TYPE_PC_SP: { + printf("\tpc_sp\n"); + break; + } + default: { + printf("\tunknown\n"); + break; + } + } + if (boot_type & BOOT_TYPE_CHAINED_FLAG) { + printf("\tchained\n"); + } +} + +static void print_try_before_you_buy_name(uint8_t tbyb) { + assert((tbyb & BOOT_TBYB_AND_UPDATE_FLAG_OTP_VERSION_APPLIED) || !(tbyb & BOOT_TBYB_AND_UPDATE_FLAG_OTHER_ERASED)); + switch (tbyb & ~BOOT_TBYB_AND_UPDATE_FLAG_OTHER_ERASED) { + case 0: { + printf("\tnone\n"); + break; + } + case BOOT_TBYB_AND_UPDATE_FLAG_BUY_PENDING: { + printf("\tpending\n"); + break; + } + case BOOT_TBYB_AND_UPDATE_FLAG_OTP_VERSION_APPLIED: { + printf("\tapplied\n"); + if (tbyb & BOOT_TBYB_AND_UPDATE_FLAG_OTHER_ERASED) { + printf("\tother erased\n"); + } + break; + } + default: { + printf("\tunknow\n"); + break; + } + } +} + +static void print_boot_diagnostics(uint32_t boot_diagnostic) { + if (boot_diagnostic & BOOT_DIAGNOSTIC_WINDOW_SEARCHED) { + printf("\twindow searched\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_INVALID_BLOCK_LOOP) { + printf("\tinvalid block loop\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_VALID_BLOCK_LOOP) { + printf("\tvalid block loop\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_VALID_IMAGE_DEF) { + printf("\tvalid image def\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_HAS_PARTITION_TABLE) { + printf("\thas partition table\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_CONSIDERED) { + printf("\tconsidered\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_CHOSEN) { + printf("\tchosen\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_PARTITION_TABLE_MATCHING_KEY_FOR_VERIFY) { + printf("\tpartition table matching key for verify\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_PARTITION_TABLE_HASH_FOR_VERIFY) { + printf("\tpartition table hash for verify\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_PARTITION_TABLE_VERIFIED_OK) { + printf("\tpartition table verified ok\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_IMAGE_DEF_MATCHING_KEY_FOR_VERIFY) { + printf("\timage def matching key for verify\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_IMAGE_DEF_HASH_FOR_VERIFY) { + printf("\timage def hash for verify\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_IMAGE_DEF_VERIFIED_OK) { + printf("\timage def verified ok\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_LOAD_MAP_ENTRIES_LOADED) { + printf("\tload map entries loaded\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_IMAGE_LAUNCHED) { + printf("\timage launched\n"); + } + if (boot_diagnostic & BOOT_DIAGNOSTIC_IMAGE_CONDITION_FAILURE) { + printf("\timage condition failure\n"); + } +} + +int main() { + stdio_init_all(); + + boot_info_t boot_info; + hard_assert(rom_get_boot_info(&boot_info)); + + // This information is also available via rom_get_last_boot_type or rom_get_last_boot_type_with_chained_flag + printf("boot_type: %u\n", boot_info.boot_type); print_boot_type_name(boot_info.boot_type); + printf("reboot_params: 0x%08x:0x%08x\n", boot_info.reboot_params[0], boot_info.reboot_params[1]); + printf("diagnostic_partition_index: %d\n", boot_info.diagnostic_partition_index); print_partition_name(boot_info.diagnostic_partition_index); + printf("recent_boot_partition: %d\n", boot_info.partition); print_partition_name(boot_info.partition); + printf("recent_boot_tbyb_and_update_info: %u\n", boot_info.tbyb_and_update_info); print_try_before_you_buy_name(boot_info.tbyb_and_update_info); + printf("boot_diagnostics 0x%08x:\n", boot_info.boot_diagnostic); print_boot_diagnostics(boot_info.boot_diagnostic); + printf("watchdog reboot %d (0x%x)\n", watchdog_caused_reboot(), watchdog_hw->reason); +} \ No newline at end of file diff --git a/system/narrow_io_write/narrow_io_write.c b/system/narrow_io_write/narrow_io_write.c index cf30f3618..791d4d14c 100644 --- a/system/narrow_io_write/narrow_io_write.c +++ b/system/narrow_io_write/narrow_io_write.c @@ -8,13 +8,13 @@ #include "pico/stdlib.h" #include "hardware/structs/watchdog.h" -// This app shows the effect of byte and halfword writes on IO registers. All -// IO registers on RP2040 will sample the entire 32 bit write data bus on any -// write; the transfer size and the 2 LSBs of the address are *ignored*. +// This app shows the effect of byte and halfword writes on IO registers. Most +// IO registers sample the entire 32 bit write data bus on any write; the +// transfer size and the 2 LSBs of the address are *ignored*. // -// This can have unintuitive results, especially given the way RP2040 -// busmasters replicate narrow write data across the entire 32-bit write data -// bus. However, this behaviour can be quite useful if you are aware of it! +// This can have unintuitive results, especially given the way busmasters +// replicate narrow write data across the entire 32-bit write data bus. +// However, this behaviour can be quite useful if you are aware of it! int main() { stdio_init_all(); @@ -42,8 +42,8 @@ int main() { printf("%02x ", scratch8[2]); printf("%02x\n", scratch8[3]); - // The Cortex-M0+ and the RP2040 DMA replicate byte writes across the bus, - // and IO registers will sample the entire write bus always. + // Byte writes are replicated four times across the 32-bit bus, and IO + // registers usually sample the entire write bus. printf("\nWriting 8 bit value 0xa5 at offset 0\n"); scratch8[0] = 0xa5; // Read back the whole scratch register in one go diff --git a/system/rand/CMakeLists.txt b/system/rand/CMakeLists.txt new file mode 100644 index 000000000..f874c9f78 --- /dev/null +++ b/system/rand/CMakeLists.txt @@ -0,0 +1,13 @@ +add_executable(rand + rand.c + ) +target_link_libraries(rand + pico_stdlib + pico_rand + ) + +# create map/bin/hex file etc. +pico_add_extra_outputs(rand) + +# add url via pico_set_program_url +example_auto_set_url(rand) diff --git a/system/rand/rand.c b/system/rand/rand.c new file mode 100644 index 000000000..bfca7c463 --- /dev/null +++ b/system/rand/rand.c @@ -0,0 +1,62 @@ +/** + * Copyright (c) 2024 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +// Include sys/types.h before inttypes.h to work around issue with +// certain versions of GCC and newlib which causes omission of PRIx64 +#include +#include + +#include "pico/stdlib.h" +#include "pico/rand.h" + +// How many random numbers to generate +#define RANDOM_COUNT 500000 + +// Percentage that the min and max count must be from the mean +#define RANDOM_PERCENT_MIN 98 +#define RANDOM_PERCENT_MAX 101 + +int main() +{ + stdio_init_all(); + + // Generate some random numbers. It will seed itself + uint32_t r32 = get_rand_32(); + uint64_t r64 = get_rand_64(); + rng_128_t r128; + get_rand_128(&r128); + + // Display the random numbers + printf("Random 32bits %08"PRIx32"\n", r32); + printf("Random 64bits %016"PRIx64"\n", r64); + printf("Random 128bits %016"PRIx64"%016"PRIx64"\n", r128.r[0], r128.r[1]); + + // Lets check they appear to be a bit random + printf("Generating %d random numbers\n", RANDOM_COUNT); + uint32_t count[32] = {0}; + for (int run = 0; run < RANDOM_COUNT; run++) { + count[get_rand_32() % count_of(count)]++; + } + + // Display count + uint32_t biggest = 0; + uint32_t smallest = 0xFFFFFFFF; + for (uint num = 0; num < count_of(count); num++) { + printf("count of %d: %u\n", num, count[num]); + if (count[num] > biggest) biggest = count[num]; + if (count[num] < smallest) smallest = count[num]; + + // Check the distribution + int check = ((RANDOM_COUNT / count_of(count)) * 100) / count[num]; + hard_assert(check >= RANDOM_PERCENT_MIN && check <= RANDOM_PERCENT_MAX); + } + printf("Biggest count: %u\n", biggest); + printf("Smallest count: %u\n", smallest); + + printf("All done\n"); + return 0; +} \ No newline at end of file diff --git a/timer/CMakeLists.txt b/timer/CMakeLists.txt index 7d9517901..f7e000d7f 100644 --- a/timer/CMakeLists.txt +++ b/timer/CMakeLists.txt @@ -1,5 +1,3 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(hello_timer) -endif () -add_subdirectory(periodic_sampler) -add_subdirectory(timer_lowlevel) +add_subdirectory_exclude_platforms(hello_timer host) +add_subdirectory_exclude_platforms(periodic_sampler) +add_subdirectory_exclude_platforms(timer_lowlevel host) diff --git a/timer/hello_timer/hello_timer.c b/timer/hello_timer/hello_timer.c index 275364889..438325167 100644 --- a/timer/hello_timer/hello_timer.c +++ b/timer/hello_timer/hello_timer.c @@ -10,14 +10,14 @@ /// \tag::timer_example[] volatile bool timer_fired = false; -int64_t alarm_callback(alarm_id_t id, void *user_data) { +int64_t alarm_callback(alarm_id_t id, __unused void *user_data) { printf("Timer %d fired!\n", (int) id); timer_fired = true; // Can return a value here in us to fire in the future return 0; } -bool repeating_timer_callback(struct repeating_timer *t) { +bool repeating_timer_callback(__unused struct repeating_timer *t) { printf("Repeat at %lld\n", time_us_64()); return true; } diff --git a/timer/periodic_sampler/periodic_sampler.c b/timer/periodic_sampler/periodic_sampler.c index b200c71c7..68a39b549 100644 --- a/timer/periodic_sampler/periodic_sampler.c +++ b/timer/periodic_sampler/periodic_sampler.c @@ -69,7 +69,7 @@ int main() { return 0; } -bool timer_callback(repeating_timer_t *rt) { +bool timer_callback(__unused repeating_timer_t *rt) { static int v = 100; element_t element = { .value = v diff --git a/timer/timer_lowlevel/timer_lowlevel.c b/timer/timer_lowlevel/timer_lowlevel.c index 68f18404a..d56ef6bac 100644 --- a/timer/timer_lowlevel/timer_lowlevel.c +++ b/timer/timer_lowlevel/timer_lowlevel.c @@ -9,6 +9,8 @@ #include "hardware/timer.h" #include "hardware/irq.h" +// Note on RP2350 timer_hw is the default timer instance (as per PICO_DEFAULT_TIMER) + /// \tag::get_time[] // Simplest form of getting 64 bit time from the timer. // It isn't safe when called from 2 cores because of the latching @@ -24,7 +26,7 @@ static uint64_t get_time(void) { /// \tag::alarm_standalone[] // Use alarm 0 #define ALARM_NUM 0 -#define ALARM_IRQ TIMER_IRQ_0 +#define ALARM_IRQ timer_hardware_alarm_get_irq_num(timer_hw, ALARM_NUM) // Alarm interrupt handler static volatile bool alarm_fired; diff --git a/uart/CMakeLists.txt b/uart/CMakeLists.txt index ab378f754..4105d43de 100644 --- a/uart/CMakeLists.txt +++ b/uart/CMakeLists.txt @@ -1,5 +1,7 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(hello_uart) - add_subdirectory(lcd_uart) - add_subdirectory(uart_advanced) -endif () +if (TARGET hardware_uart) + add_subdirectory_exclude_platforms(hello_uart) + add_subdirectory_exclude_platforms(lcd_uart host) + add_subdirectory_exclude_platforms(uart_advanced host) +else() + message("Skipping UART examples as hardware_uart is unavailable on this platform") +endif() \ No newline at end of file diff --git a/uart/hello_uart/hello_uart.c b/uart/hello_uart/hello_uart.c index 6fbad0eaf..60a3f49fe 100644 --- a/uart/hello_uart/hello_uart.c +++ b/uart/hello_uart/hello_uart.c @@ -25,8 +25,8 @@ int main() { // Set the TX and RX pins by using the function select on the GPIO // Set datasheet for more information on function select - gpio_set_function(UART_TX_PIN, GPIO_FUNC_UART); - gpio_set_function(UART_RX_PIN, GPIO_FUNC_UART); + gpio_set_function(UART_TX_PIN, UART_FUNCSEL_NUM(UART_ID, UART_TX_PIN)); + gpio_set_function(UART_RX_PIN, UART_FUNCSEL_NUM(UART_ID, UART_RX_PIN)); // Use some the various UART functions to send out data // In a default system, printf will also output via the default UART diff --git a/uart/lcd_uart/lcd_uart.c b/uart/lcd_uart/lcd_uart.c index 79456f3de..3dd7362cc 100644 --- a/uart/lcd_uart/lcd_uart.c +++ b/uart/lcd_uart/lcd_uart.c @@ -134,9 +134,9 @@ int main() { stdio_init_all(); uart_init(UART_ID, BAUD_RATE); uart_set_translate_crlf(UART_ID, false); - gpio_set_function(UART_TX_PIN, GPIO_FUNC_UART); + gpio_set_function(UART_TX_PIN, UART_FUNCSEL_NUM(UART_ID, UART_TX_PIN)); - bi_decl(bi_1pin_with_func(UART_TX_PIN, GPIO_FUNC_UART)); + bi_decl(bi_1pin_with_func(UART_TX_PIN, UART_FUNCSEL_NUM(UART_ID, UART_TX_PIN))); lcd_init(); diff --git a/uart/uart_advanced/uart_advanced.c b/uart/uart_advanced/uart_advanced.c index 8bcf6c526..5d791d6e2 100644 --- a/uart/uart_advanced/uart_advanced.c +++ b/uart/uart_advanced/uart_advanced.c @@ -45,8 +45,8 @@ int main() { // Set the TX and RX pins by using the function select on the GPIO // Set datasheet for more information on function select - gpio_set_function(UART_TX_PIN, GPIO_FUNC_UART); - gpio_set_function(UART_RX_PIN, GPIO_FUNC_UART); + gpio_set_function(UART_TX_PIN, UART_FUNCSEL_NUM(UART_ID, UART_TX_PIN)); + gpio_set_function(UART_RX_PIN, UART_FUNCSEL_NUM(UART_ID, UART_RX_PIN)); // Actually, we want a different speed // The call will return the actual baud rate selected, which will be as close as diff --git a/universal/CMakeLists.txt b/universal/CMakeLists.txt new file mode 100644 index 000000000..f80fbd436 --- /dev/null +++ b/universal/CMakeLists.txt @@ -0,0 +1,147 @@ +if ((NOT DEFINED PICO_RISCV_TOOLCHAIN_PATH) OR (NOT DEFINED PICO_ARM_TOOLCHAIN_PATH)) + # Must define PICO_RISCV_TOOLCHAIN_PATH and PICO_ARM_TOOLCHAIN_PATH + # to ensure both compilers are present + message( + "Skipping universal examples as PICO_RISCV_TOOLCHAIN_PATH and " + "PICO_ARM_TOOLCHAIN_PATH are not defined" + ) + return() +endif() + +include(ExternalProject) + +# The way this universal build works is it builds separate binaries for each platform, +# then links them into a single block loop. This universal binary will then run on any +# platform +# - On RP2040 the bootrom will just execute the RP2040 binary at the start of flash +# - On RP2350 the bootrom will search the block loop for the appropriate IMAGE_DEF for +# Arm/RISC-V, translate it's address to the start of flash using the rolling window +# delta, and execute it on the appropriate CPU +# +# The build will output a TARGET.bin file which can be written using picotool, and a +# TARGET.uf2 file which can be dragged and dropped onto the device in BOOTSEL mode +function (add_universal_target TARGET SOURCE) + set(oneValueArgs SOURCE_TARGET PADDING PACKADDR) + set(multiValueArgs PLATFORMS) + cmake_parse_arguments(PARSE_ARGV 2 PARSED "" "${oneValueArgs}" "${multiValueArgs}") + + set(SOURCE_TARGET ${TARGET}) + if (PARSED_SOURCE_TARGET) + set(SOURCE_TARGET ${PARSED_SOURCE_TARGET}) + endif() + set(PADDING 0x1000) + if (PARSED_PADDING) + set(PADDING ${PARSED_PADDING}) + endif() + set(PACKADDR 0x10000000) + if (PARSED_PACKADDR) + set(PACKADDR ${PARSED_PACKADDR}) + endif() + set(PLATFORMS "rp2040;rp2350-arm-s;rp2350-riscv") + if (PARSED_PLATFORMS) + set(PLATFORMS ${PARSED_PLATFORMS}) + endif() + # rp2040 must come first, as that has checksum requirements at the start of the binary + list(FIND PLATFORMS "rp2040" idx) + if (idx GREATER 0) + message(FATAL_ERROR "rp2040 must come first in PLATFORMS for universal binaries") + endif() + + add_custom_target(${TARGET} ALL) + if (picotool_DIR) + set(universal_picotool_DIR ${picotool_DIR}) + else() + set(universal_picotool_DIR ${picotool_INSTALL_DIR}/picotool) + endif() + if (pioasm_DIR) + set(universal_pioasm_DIR ${pioasm_DIR}) + else() + set(universal_pioasm_DIR ${PIOASM_INSTALL_DIR}/pioasm) + endif() + + set(DEPS "") + set(BINS "") + # Build binaries for each of the platforms + foreach(platform IN LISTS PLATFORMS) + ExternalProject_Add(${TARGET}_${platform} + PREFIX pioasm + SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/wrapper + BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}/${platform}/wrapper + CMAKE_ARGS + "--no-warn-unused-cli" + "-DCMAKE_MAKE_PROGRAM:FILEPATH=${CMAKE_MAKE_PROGRAM}" + "-DPICO_SDK_PATH:FILEPATH=${PICO_SDK_PATH}" + "-DPICO_EXAMPLES_PATH:FILEPATH=${PICO_EXAMPLES_PATH}" + "-DPICO_PLATFORM=${platform}" + "-DPICO_ARM_TOOLCHAIN_PATH=${PICO_ARM_TOOLCHAIN_PATH}" + "-DPICO_RISCV_TOOLCHAIN_PATH=${PICO_RISCV_TOOLCHAIN_PATH}" + "-DPICO_BOARD_RP2040=${PICO_BOARD_RP2040}" + "-DPICO_BOARD_RP2350=${PICO_BOARD_RP2350}" + "-DUNIVERSAL_PROJECT_DIR:FILEPATH=${SOURCE}" + "-DUNIVERSAL_BINARY_DIR:FILEPATH=${CMAKE_CURRENT_BINARY_DIR}/${TARGET}/${platform}" + "-DSOURCE_TARGET=${SOURCE_TARGET}" + "-Dpicotool_DIR=${universal_picotool_DIR}" + "-Dpioasm_DIR=${universal_pioasm_DIR}" + BUILD_ALWAYS 1 # force dependency checking + INSTALL_COMMAND "" + ) + + set(ORIGINAL_BIN ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}/${platform}/${SOURCE_TARGET}.bin) + + list(APPEND DEPS ${TARGET}_${platform}) + list(APPEND BINS ${ORIGINAL_BIN}) + endforeach() + + set(BINDIR ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}) + set(COMBINED ${BINDIR}/${TARGET}.bin) + + pico_init_picotool() + if (NOT picotool_FOUND) + message(FATAL_ERROR "Cannot link universal binary without picotool") + endif() + + # Link the binaries for different platforms into a single block loop, with + # appropriate rolling window deltas. This creates a universal binary file, + # which will run on any of the platforms when loaded using picotool. + add_custom_target(${TARGET}_combined + COMMAND picotool link ${COMBINED} ${BINS} --pad ${PADDING} + DEPENDS ${DEPS} + ) + + # Create UF2s targeting the absolute and rp2040 family IDs, then combine these + # into a single universal UF2. This is required as there isn't a single family + # ID which is accepted by both RP2040 and RP2350. Instead, the 2 UF2 files are + # concatenated together and the device ignores the part not targeting it. + add_custom_target(${TARGET}_rp2350_uf2 + COMMAND picotool uf2 convert ${COMBINED} ${BINDIR}/rp2350.uf2 --family absolute --offset ${PACKADDR} + DEPENDS ${TARGET}_combined + ) + add_custom_target(${TARGET}_rp2040_uf2 + COMMAND picotool uf2 convert ${COMBINED} ${BINDIR}/rp2040.uf2 --family rp2040 --offset ${PACKADDR} + DEPENDS ${TARGET}_combined + ) + add_custom_target(${TARGET}_uf2 + COMMAND ${CMAKE_COMMAND} -E cat ${BINDIR}/rp2040.uf2 ${BINDIR}/rp2350.uf2 > ${BINDIR}/${TARGET}.uf2 + DEPENDS ${TARGET}_rp2350_uf2 ${TARGET}_rp2040_uf2 + ) + + add_dependencies(${TARGET} ${TARGET}_combined ${TARGET}_uf2) +endfunction() + +# hello_universal binary +add_universal_target(hello_universal + ${CMAKE_CURRENT_LIST_DIR}/hello_universal + ) + +# blink binary +add_universal_target(blink_universal + ${CMAKE_CURRENT_LIST_DIR}/../blink + SOURCE_TARGET blink + ) + +# nuke binary - is no_flash, so needs to be sent to SRAM on RP2040 +add_universal_target(nuke_universal + ${CMAKE_CURRENT_LIST_DIR}/../flash/nuke + SOURCE_TARGET flash_nuke + PACKADDR 0x20000000 + ) diff --git a/universal/hello_universal/CMakeLists.txt b/universal/hello_universal/CMakeLists.txt new file mode 100644 index 000000000..51269beac --- /dev/null +++ b/universal/hello_universal/CMakeLists.txt @@ -0,0 +1,13 @@ +add_executable(hello_universal + hello_universal.c + ) + +# pull in common dependencies +target_link_libraries(hello_universal pico_stdlib) + +# enable usb output and uart output +pico_enable_stdio_uart(hello_universal 1) +pico_enable_stdio_usb(hello_universal 1) + +# create map/bin/hex/uf2 file etc. +pico_add_extra_outputs(hello_universal) diff --git a/universal/hello_universal/hello_universal.c b/universal/hello_universal/hello_universal.c new file mode 100644 index 000000000..39d77ca6c --- /dev/null +++ b/universal/hello_universal/hello_universal.c @@ -0,0 +1,50 @@ +/** + * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +#include +#include "pico/stdlib.h" +#include "pico/bootrom.h" +#include "boot/picoboot.h" + +int main() { + stdio_init_all(); +#ifdef PICO_DEFAULT_LED_PIN + gpio_init(PICO_DEFAULT_LED_PIN); + gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT); + bool toggle = true; + gpio_put(PICO_DEFAULT_LED_PIN, toggle); +#endif + uint reboot_count = 0; + while (reboot_count < 10) { + printf("Hello, world!\n"); + #if PICO_RP2350 + printf("I'm an RP2350 "); + #ifdef __riscv + printf("running RISC-V\n"); + #else + printf("running ARM\n"); + #endif + reboot_count++; + #else + printf("I'm an RP2040\n"); + #endif + + #ifdef PICO_DEFAULT_LED_PIN + toggle = !toggle; + gpio_put(PICO_DEFAULT_LED_PIN, toggle); + sleep_ms(1000); + #endif + } + +#if PICO_RP2350 + #ifdef __riscv + rom_reboot(REBOOT2_FLAG_REBOOT_TYPE_NORMAL | REBOOT2_FLAG_REBOOT_TO_ARM, 1000, 0, 0); + #else + rom_reboot(REBOOT2_FLAG_REBOOT_TYPE_NORMAL | REBOOT2_FLAG_REBOOT_TO_RISCV, 1000, 0, 0); + #endif + printf("Rebooting to other architecture\n"); +#endif +} diff --git a/universal/wrapper/CMakeLists.txt b/universal/wrapper/CMakeLists.txt new file mode 100644 index 000000000..cf6024c18 --- /dev/null +++ b/universal/wrapper/CMakeLists.txt @@ -0,0 +1,62 @@ +# This wrapper CMakeLists.txt file is required to add the top-level CMakeLists.txt +# setup for each build. This is very similar to the top-level CMakeLists.txt file +# in pico-examples, with some added bits to ensure it can be turned into a universal +# binary. +cmake_minimum_required(VERSION 3.12) + +# Setup toolchain and compiler +if (PICO_PLATFORM MATCHES riscv) + set(PICO_TOOLCHAIN_PATH ${PICO_RISCV_TOOLCHAIN_PATH}) +else() + set(PICO_TOOLCHAIN_PATH ${PICO_ARM_TOOLCHAIN_PATH}) +endif() + +# Clear any environment variables that may break the build +if (DEFINED ENV{PICO_BOARD}) + message(WARNING "Unsetting environment variable PICO_BOARD=$ENV{PICO_BOARD} for universal builds") + unset(ENV{PICO_BOARD}) +endif() + +if (DEFINED ENV{PICO_GCC_TRIPLE}) + message(WARNING "Unsetting environment variable PICO_GCC_TRIPLE=$ENV{PICO_GCC_TRIPLE} for universal builds") + unset(ENV{PICO_GCC_TRIPLE}) +endif() + +# Set PICO_BOARD if defined +if (PICO_BOARD_RP2040 AND (PICO_PLATFORM MATCHES rp2040)) + set(PICO_BOARD ${PICO_BOARD_RP2040}) +elseif(PICO_BOARD_RP2350 AND (PICO_PLATFORM MATCHES rp2350)) + set(PICO_BOARD ${PICO_BOARD_RP2350}) +endif() + +# Pull in SDK (must be before project) +include(${PICO_EXAMPLES_PATH}/pico_sdk_import.cmake) + +project(universal_wrapper C CXX ASM) + +if (PICO_SDK_VERSION_STRING VERSION_LESS "2.0.0") +message(FATAL_ERROR "Raspberry Pi Pico SDK version 2.0.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}") +endif() + +# Initialize the SDK +pico_sdk_init() + +include(${PICO_EXAMPLES_PATH}/example_auto_set_url.cmake) + +# Ensure a picobin block is present, even on RP2040, so it can be linked into the block loop +target_compile_definitions(pico_crt0 INTERFACE PICO_CRT0_INCLUDE_PICOBIN_BLOCK=1) + +# Redefine this to ensure no_flash binaries are packaged +function(pico_add_extra_outputs TARGET) + if (NOT (PICO_PLATFORM MATCHES rp2040)) + get_target_property(BINARY_TYPE ${SOURCE_TARGET} PICO_TARGET_BINARY_TYPE) + if (${BINARY_TYPE} STREQUAL "no_flash") + message("Packaging no_flash universal binary to SRAM, so it has a load_map") + pico_package_uf2_output(${SOURCE_TARGET} 0x20000000) + endif() + endif() + _pico_add_extra_outputs(${SOURCE_TARGET}) +endfunction() + +# Build the binary +add_subdirectory(${UNIVERSAL_PROJECT_DIR} ${UNIVERSAL_BINARY_DIR}) diff --git a/usb/CMakeLists.txt b/usb/CMakeLists.txt index 2e75b2fed..4a0b5c2e0 100644 --- a/usb/CMakeLists.txt +++ b/usb/CMakeLists.txt @@ -9,11 +9,7 @@ else () message("Skipping TinyUSB host examples as TinyUSB is unavailable") endif () if (TARGET tinyusb_pico_pio_usb) - if ((NOT CMAKE_C_COMPILER_ID STREQUAL "GNU") OR CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 11.3) - message("Skipping TinyUSB dual examples, as TinyUSB hw/mcu/raspberry_pi/Pico-PIO-USB does not currently compile on non GCC or GCC 11.3 or greater") - else() - add_subdirectory(dual) - endif() + add_subdirectory(dual) else () message("Skipping TinyUSB dual examples, as TinyUSB hw/mcu/raspberry_pi/Pico-PIO-USB submodule unavailable") -endif () \ No newline at end of file +endif () diff --git a/usb/device/CMakeLists.txt b/usb/device/CMakeLists.txt index 44f0305a9..125773e54 100644 --- a/usb/device/CMakeLists.txt +++ b/usb/device/CMakeLists.txt @@ -1,7 +1,10 @@ set(FAMILY rp2040) set(BOARD pico_sdk) set(TINYUSB_FAMILY_PROJECT_NAME_PREFIX "tinyusb_dev_") +# Provide an LWIP path for net_lwip_webserver in case the module does not exist in tinyusb +set(TINYUSB_LWIP_PATH ${PICO_LWIP_PATH}) +# Some examples use this, and we need to set this here due to a bug in the TinyUSB CMake config +set(TOP ${PICO_TINYUSB_PATH}) add_subdirectory(${PICO_TINYUSB_PATH}/examples/device tinyusb_device_examples) - -add_subdirectory(dev_hid_composite) -add_subdirectory(dev_lowlevel) +add_subdirectory_exclude_platforms(dev_hid_composite) +add_subdirectory_exclude_platforms(dev_lowlevel) diff --git a/usb/device/dev_hid_composite/main.c b/usb/device/dev_hid_composite/main.c index 0b53762ed..dcf13079f 100644 --- a/usb/device/dev_hid_composite/main.c +++ b/usb/device/dev_hid_composite/main.c @@ -1,4 +1,4 @@ -/* +/* * The MIT License (MIT) * * Copyright (c) 2019 Ha Thach (tinyusb.org) @@ -27,7 +27,7 @@ #include #include -#include "bsp/board.h" +#include "bsp/board_api.h" #include "tusb.h" #include "usb_descriptors.h" @@ -56,7 +56,13 @@ void hid_task(void); int main(void) { board_init(); - tusb_init(); + + // init device stack on configured roothub port + tud_init(BOARD_TUD_RHPORT); + + if (board_init_after_tusb) { + board_init_after_tusb(); + } while (1) { @@ -95,7 +101,7 @@ void tud_suspend_cb(bool remote_wakeup_en) // Invoked when usb bus is resumed void tud_resume_cb(void) { - blink_interval_ms = BLINK_MOUNTED; + blink_interval_ms = tud_mounted() ? BLINK_MOUNTED : BLINK_NOT_MOUNTED; } //--------------------------------------------------------------------+ @@ -226,7 +232,7 @@ void tud_hid_report_complete_cb(uint8_t instance, uint8_t const* report, uint16_ (void) instance; (void) len; - uint8_t next_report_id = report[0] + 1; + uint8_t next_report_id = report[0] + 1u; if (next_report_id < REPORT_ID_COUNT) { diff --git a/usb/device/dev_hid_composite/tusb_config.h b/usb/device/dev_hid_composite/tusb_config.h index 868424e6d..6bd32c427 100644 --- a/usb/device/dev_hid_composite/tusb_config.h +++ b/usb/device/dev_hid_composite/tusb_config.h @@ -30,46 +30,42 @@ extern "C" { #endif -//-------------------------------------------------------------------- -// COMMON CONFIGURATION -//-------------------------------------------------------------------- - -// defined by board.mk -#ifndef CFG_TUSB_MCU - #error CFG_TUSB_MCU must be defined -#endif +//--------------------------------------------------------------------+ +// Board Specific Configuration +//--------------------------------------------------------------------+ // RHPort number used for device can be defined by board.mk, default to port 0 -#ifndef BOARD_DEVICE_RHPORT_NUM - #define BOARD_DEVICE_RHPORT_NUM 0 +#ifndef BOARD_TUD_RHPORT +#define BOARD_TUD_RHPORT 0 #endif // RHPort max operational speed can defined by board.mk -// Default to Highspeed for MCU with internal HighSpeed PHY (can be port specific), otherwise FullSpeed -#ifndef BOARD_DEVICE_RHPORT_SPEED - #if (CFG_TUSB_MCU == OPT_MCU_LPC18XX || CFG_TUSB_MCU == OPT_MCU_LPC43XX || CFG_TUSB_MCU == OPT_MCU_MIMXRT10XX || \ - CFG_TUSB_MCU == OPT_MCU_NUC505 || CFG_TUSB_MCU == OPT_MCU_CXD56 || CFG_TUSB_MCU == OPT_MCU_SAMX7X) - #define BOARD_DEVICE_RHPORT_SPEED OPT_MODE_HIGH_SPEED - #else - #define BOARD_DEVICE_RHPORT_SPEED OPT_MODE_FULL_SPEED - #endif +#ifndef BOARD_TUD_MAX_SPEED +#define BOARD_TUD_MAX_SPEED OPT_MODE_DEFAULT_SPEED #endif -// Device mode with rhport and speed defined by board.mk -#if BOARD_DEVICE_RHPORT_NUM == 0 - #define CFG_TUSB_RHPORT0_MODE (OPT_MODE_DEVICE | BOARD_DEVICE_RHPORT_SPEED) -#elif BOARD_DEVICE_RHPORT_NUM == 1 - #define CFG_TUSB_RHPORT1_MODE (OPT_MODE_DEVICE | BOARD_DEVICE_RHPORT_SPEED) -#else - #error "Incorrect RHPort configuration" +//-------------------------------------------------------------------- +// COMMON CONFIGURATION +//-------------------------------------------------------------------- + +// defined by compiler flags for flexibility +#ifndef CFG_TUSB_MCU +#error CFG_TUSB_MCU must be defined #endif #ifndef CFG_TUSB_OS -#define CFG_TUSB_OS OPT_OS_NONE +#define CFG_TUSB_OS OPT_OS_NONE #endif -// CFG_TUSB_DEBUG is defined by compiler in DEBUG build -// #define CFG_TUSB_DEBUG 0 +#ifndef CFG_TUSB_DEBUG +#define CFG_TUSB_DEBUG 0 +#endif + +// Enable Device stack +#define CFG_TUD_ENABLED 1 + +// Default is max speed that hardware controller could support with on-chip PHY +#define CFG_TUD_MAX_SPEED BOARD_TUD_MAX_SPEED /* USB DMA on some MCUs can only access a specific SRAM region with restriction on alignment. * Tinyusb use follows macros to declare transferring memory so that they can be put diff --git a/usb/device/dev_hid_composite/usb_descriptors.c b/usb/device/dev_hid_composite/usb_descriptors.c index aa07db366..e174db46d 100644 --- a/usb/device/dev_hid_composite/usb_descriptors.c +++ b/usb/device/dev_hid_composite/usb_descriptors.c @@ -1,4 +1,4 @@ -/* +/* * The MIT License (MIT) * * Copyright (c) 2019 Ha Thach (tinyusb.org) @@ -23,7 +23,7 @@ * */ -#include "pico/unique_id.h" +#include "bsp/board_api.h" #include "tusb.h" #include "usb_descriptors.h" @@ -178,56 +178,63 @@ uint8_t const * tud_descriptor_configuration_cb(uint8_t index) // String Descriptors //--------------------------------------------------------------------+ -// buffer to hold flash ID -char serial[2 * PICO_UNIQUE_BOARD_ID_SIZE_BYTES + 1]; +// String Descriptor Index +enum { + STRID_LANGID = 0, + STRID_MANUFACTURER, + STRID_PRODUCT, + STRID_SERIAL, +}; // array of pointer to string descriptors -char const* string_desc_arr [] = +char const *string_desc_arr[] = { (const char[]) { 0x09, 0x04 }, // 0: is supported language is English (0x0409) "TinyUSB", // 1: Manufacturer "TinyUSB Device", // 2: Product - serial, // 3: Serials, uses the flash ID + NULL, // 3: Serials will use unique ID if possible }; -static uint16_t _desc_str[32]; +static uint16_t _desc_str[32 + 1]; // Invoked when received GET STRING DESCRIPTOR request // Application return pointer to descriptor, whose contents must exist long enough for transfer to complete -uint16_t const* tud_descriptor_string_cb(uint8_t index, uint16_t langid) -{ +uint16_t const *tud_descriptor_string_cb(uint8_t index, uint16_t langid) { (void) langid; + size_t chr_count; + + switch ( index ) { + case STRID_LANGID: + memcpy(&_desc_str[1], string_desc_arr[0], 2); + chr_count = 1; + break; - uint8_t chr_count; + case STRID_SERIAL: + chr_count = board_usb_get_serial(_desc_str + 1, 32); + break; - if ( index == 0) - { - memcpy(&_desc_str[1], string_desc_arr[0], 2); - chr_count = 1; - }else - { - // Note: the 0xEE index string is a Microsoft OS 1.0 Descriptors. - // https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/microsoft-defined-usb-descriptors + default: + // Note: the 0xEE index string is a Microsoft OS 1.0 Descriptors. + // https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/microsoft-defined-usb-descriptors - if (index == 3) pico_get_unique_board_id_string(serial, sizeof(serial)); - - if ( !(index < sizeof(string_desc_arr)/sizeof(string_desc_arr[0])) ) return NULL; + if ( !(index < sizeof(string_desc_arr) / sizeof(string_desc_arr[0])) ) return NULL; - const char* str = string_desc_arr[index]; + const char *str = string_desc_arr[index]; - // Cap at max char - chr_count = strlen(str); - if ( chr_count > 31 ) chr_count = 31; + // Cap at max char + chr_count = strlen(str); + size_t const max_count = sizeof(_desc_str) / sizeof(_desc_str[0]) - 1; // -1 for string type + if ( chr_count > max_count ) chr_count = max_count; - // Convert ASCII string into UTF-16 - for(uint8_t i=0; i @@ -370,7 +369,7 @@ void usb_set_device_address(volatile struct usb_setup_packet *pkt) { * * @param pkt, the setup packet from the host. */ -void usb_set_device_configuration(volatile struct usb_setup_packet *pkt) { +void usb_set_device_configuration(__unused volatile struct usb_setup_packet *pkt) { // Only one configuration so just acknowledge the request printf("Device Enumerated\r\n"); usb_acknowledge_out_request(); @@ -488,6 +487,9 @@ static void usb_handle_buff_status() { * @brief USB interrupt handler * */ +#ifdef __cplusplus +extern "C" { +#endif /// \tag::isr_setup_packet[] void isr_usbctrl(void) { // USB interrupt handler @@ -520,6 +522,9 @@ void isr_usbctrl(void) { panic("Unhandled IRQ 0x%x\n", (uint) (status ^ handled)); } } +#ifdef __cplusplus +} +#endif /** * @brief EP0 in transfer complete. Either finish the SET_ADDRESS process, or receive a zero @@ -528,7 +533,7 @@ void isr_usbctrl(void) { * @param buf the data that was sent * @param len the length that was sent */ -void ep0_in_handler(uint8_t *buf, uint16_t len) { +void ep0_in_handler(__unused uint8_t *buf, __unused uint16_t len) { if (should_set_address) { // Set actual device address in hardware usb_hw->dev_addr_ctrl = dev_addr; @@ -540,8 +545,7 @@ void ep0_in_handler(uint8_t *buf, uint16_t len) { } } -void ep0_out_handler(uint8_t *buf, uint16_t len) { - ; +void ep0_out_handler(__unused uint8_t *buf, __unused uint16_t len) { } // Device specific functions @@ -552,7 +556,7 @@ void ep1_out_handler(uint8_t *buf, uint16_t len) { usb_start_transfer(ep, buf, len); } -void ep2_in_handler(uint8_t *buf, uint16_t len) { +void ep2_in_handler(__unused uint8_t *buf, uint16_t len) { printf("Sent %d bytes to host\n", len); // Get ready to rx again from host usb_start_transfer(usb_get_endpoint_configuration(EP1_OUT_ADDR), NULL, 64); diff --git a/usb/host/CMakeLists.txt b/usb/host/CMakeLists.txt index 4f721bf23..338e8f38c 100644 --- a/usb/host/CMakeLists.txt +++ b/usb/host/CMakeLists.txt @@ -5,4 +5,4 @@ set(TINYUSB_FAMILY_PROJECT_NAME_PREFIX "tinyusb_host_") set(TOP ${PICO_TINYUSB_PATH}) add_subdirectory(${PICO_TINYUSB_PATH}/examples/host tinyusb_host_examples) -add_subdirectory(host_cdc_msc_hid) \ No newline at end of file +add_subdirectory_exclude_platforms(host_cdc_msc_hid) \ No newline at end of file diff --git a/usb/host/host_cdc_msc_hid/cdc_app.c b/usb/host/host_cdc_msc_hid/cdc_app.c index b1b137e0e..4a13f8b27 100644 --- a/usb/host/host_cdc_msc_hid/cdc_app.c +++ b/usb/host/host_cdc_msc_hid/cdc_app.c @@ -25,22 +25,13 @@ */ #include "tusb.h" -#include "bsp/board.h" +#include "bsp/board_api.h" -//--------------------------------------------------------------------+ -// MACRO TYPEDEF CONSTANT ENUM DECLARATION -//--------------------------------------------------------------------+ - - -//------------- IMPLEMENTATION -------------// - -size_t get_console_inputs(uint8_t* buf, size_t bufsize) -{ +size_t get_console_inputs(uint8_t* buf, size_t bufsize) { size_t count = 0; - while (count < bufsize) - { + while (count < bufsize) { int ch = board_getchar(); - if ( ch <= 0 ) break; + if (ch <= 0) break; buf[count] = (uint8_t) ch; count++; @@ -49,22 +40,18 @@ size_t get_console_inputs(uint8_t* buf, size_t bufsize) return count; } -void cdc_app_task(void) -{ - uint8_t buf[64+1]; // +1 for extra null character - uint32_t const bufsize = sizeof(buf)-1; +void cdc_app_task(void) { + uint8_t buf[64 + 1]; // +1 for extra null character + uint32_t const bufsize = sizeof(buf) - 1; uint32_t count = get_console_inputs(buf, bufsize); buf[count] = 0; // loop over all mounted interfaces - for(uint8_t idx=0; idx cdc interfaces - if (count) - { + if (count) { tuh_cdc_write(idx, buf, count); tuh_cdc_write_flush(idx); } @@ -72,42 +59,51 @@ void cdc_app_task(void) } } +//--------------------------------------------------------------------+ +// TinyUSB callbacks +//--------------------------------------------------------------------+ + // Invoked when received new data -void tuh_cdc_rx_cb(uint8_t idx) -{ - uint8_t buf[64+1]; // +1 for extra null character - uint32_t const bufsize = sizeof(buf)-1; +void tuh_cdc_rx_cb(uint8_t idx) { + uint8_t buf[64 + 1]; // +1 for extra null character + uint32_t const bufsize = sizeof(buf) - 1; // forward cdc interfaces -> console uint32_t count = tuh_cdc_read(idx, buf, bufsize); buf[count] = 0; - printf((char*) buf); + printf("%s", (char*) buf); } -void tuh_cdc_mount_cb(uint8_t idx) -{ - tuh_cdc_itf_info_t itf_info = { 0 }; +// Invoked when a device with CDC interface is mounted +// idx is index of cdc interface in the internal pool. +void tuh_cdc_mount_cb(uint8_t idx) { + tuh_itf_info_t itf_info = {0}; tuh_cdc_itf_get_info(idx, &itf_info); - printf("CDC Interface is mounted: address = %u, itf_num = %u\r\n", itf_info.daddr, itf_info.bInterfaceNumber); + printf("CDC Interface is mounted: address = %u, itf_num = %u\r\n", itf_info.daddr, + itf_info.desc.bInterfaceNumber); #ifdef CFG_TUH_CDC_LINE_CODING_ON_ENUM - // CFG_TUH_CDC_LINE_CODING_ON_ENUM must be defined for line coding is set by tinyusb in enumeration - // otherwise you need to call tuh_cdc_set_line_coding() first - cdc_line_coding_t line_coding = { 0 }; - if ( tuh_cdc_get_local_line_coding(idx, &line_coding) ) - { - printf(" Baudrate: %lu, Stop Bits : %u\r\n", line_coding.bit_rate, line_coding.stop_bits); - printf(" Parity : %u, Data Width: %u\r\n", line_coding.parity , line_coding.data_bits); + // If CFG_TUH_CDC_LINE_CODING_ON_ENUM is defined, line coding will be set by tinyusb stack + // while eneumerating new cdc device + cdc_line_coding_t line_coding = {0}; + if (tuh_cdc_get_local_line_coding(idx, &line_coding)) { + printf(" Baudrate: %" PRIu32 ", Stop Bits : %u\r\n", line_coding.bit_rate, line_coding.stop_bits); + printf(" Parity : %u, Data Width: %u\r\n", line_coding.parity, line_coding.data_bits); } +#else + // Set Line Coding upon mounted + cdc_line_coding_t new_line_coding = { 115200, CDC_LINE_CODING_STOP_BITS_1, CDC_LINE_CODING_PARITY_NONE, 8 }; + tuh_cdc_set_line_coding(idx, &new_line_coding, NULL, 0); #endif } -void tuh_cdc_umount_cb(uint8_t idx) -{ - tuh_cdc_itf_info_t itf_info = { 0 }; +// Invoked when a device with CDC interface is unmounted +void tuh_cdc_umount_cb(uint8_t idx) { + tuh_itf_info_t itf_info = {0}; tuh_cdc_itf_get_info(idx, &itf_info); - printf("CDC Interface is unmounted: address = %u, itf_num = %u\r\n", itf_info.daddr, itf_info.bInterfaceNumber); + printf("CDC Interface is unmounted: address = %u, itf_num = %u\r\n", itf_info.daddr, + itf_info.desc.bInterfaceNumber); } diff --git a/usb/host/host_cdc_msc_hid/hid_app.c b/usb/host/host_cdc_msc_hid/hid_app.c index ed53c502d..f0d42a08f 100644 --- a/usb/host/host_cdc_msc_hid/hid_app.c +++ b/usb/host/host_cdc_msc_hid/hid_app.c @@ -23,7 +23,7 @@ * */ -#include "bsp/board.h" +#include "bsp/board_api.h" #include "tusb.h" //--------------------------------------------------------------------+ @@ -160,7 +160,9 @@ static void process_kbd_report(hid_keyboard_report_t const *report) putchar(ch); if ( ch == '\r' ) putchar('\n'); // added new line for enter key + #ifndef __ICCARM__ // TODO IAR doesn't support stream control ? fflush(stdout); // flush right away, else nanolib will wait for newline + #endif } } // TODO example skips key released @@ -263,7 +265,7 @@ static void process_generic_report(uint8_t dev_addr, uint8_t instance, uint8_t c if (!rpt_info) { - printf("Couldn't find the report info for this report !\r\n"); + printf("Couldn't find report info !\r\n"); return; } diff --git a/usb/host/host_cdc_msc_hid/main.c b/usb/host/host_cdc_msc_hid/main.c index b34810252..a3b80e030 100644 --- a/usb/host/host_cdc_msc_hid/main.c +++ b/usb/host/host_cdc_msc_hid/main.c @@ -1,4 +1,4 @@ -/* +/* * The MIT License (MIT) * * Copyright (c) 2019 Ha Thach (tinyusb.org) @@ -27,20 +27,24 @@ #include #include -#include "bsp/board.h" +#include "bsp/board_api.h" #include "tusb.h" //--------------------------------------------------------------------+ // MACRO CONSTANT TYPEDEF PROTYPES //--------------------------------------------------------------------+ void led_blinking_task(void); - extern void cdc_app_task(void); extern void hid_app_task(void); +#if CFG_TUH_ENABLED && CFG_TUH_MAX3421 +// API to read/rite MAX3421's register. Implemented by TinyUSB +extern uint8_t tuh_max3421_reg_read(uint8_t rhport, uint8_t reg, bool in_isr); +extern bool tuh_max3421_reg_write(uint8_t rhport, uint8_t reg, uint8_t data, bool in_isr); +#endif + /*------------- MAIN -------------*/ -int main(void) -{ +int main(void) { board_init(); printf("TinyUSB Host CDC MSC HID Example\r\n"); @@ -48,8 +52,17 @@ int main(void) // init host stack on configured roothub port tuh_init(BOARD_TUH_RHPORT); - while (1) - { + if (board_init_after_tusb) { + board_init_after_tusb(); + } + +#if CFG_TUH_ENABLED && CFG_TUH_MAX3421 + // FeatherWing MAX3421E use MAX3421E's GPIO0 for VBUS enable + enum { IOPINS1_ADDR = 20u << 3, /* 0xA0 */ }; + tuh_max3421_reg_write(BOARD_TUH_RHPORT, IOPINS1_ADDR, 0x01, false); +#endif + + while (1) { // tinyusb host task tuh_task(); @@ -57,22 +70,18 @@ int main(void) cdc_app_task(); hid_app_task(); } - - return 0; } //--------------------------------------------------------------------+ // TinyUSB Callbacks //--------------------------------------------------------------------+ -void tuh_mount_cb(uint8_t dev_addr) -{ +void tuh_mount_cb(uint8_t dev_addr) { // application set-up printf("A device with address %d is mounted\r\n", dev_addr); } -void tuh_umount_cb(uint8_t dev_addr) -{ +void tuh_umount_cb(uint8_t dev_addr) { // application tear-down printf("A device with address %d is unmounted \r\n", dev_addr); } @@ -81,15 +90,14 @@ void tuh_umount_cb(uint8_t dev_addr) //--------------------------------------------------------------------+ // Blinking Task //--------------------------------------------------------------------+ -void led_blinking_task(void) -{ +void led_blinking_task(void) { const uint32_t interval_ms = 1000; static uint32_t start_ms = 0; static bool led_state = false; // Blink every interval ms - if ( board_millis() - start_ms < interval_ms) return; // not enough time + if (board_millis() - start_ms < interval_ms) return; // not enough time start_ms += interval_ms; board_led_write(led_state); diff --git a/usb/host/host_cdc_msc_hid/msc_app.c b/usb/host/host_cdc_msc_hid/msc_app.c index 797d55f8a..bd7b31f50 100644 --- a/usb/host/host_cdc_msc_hid/msc_app.c +++ b/usb/host/host_cdc_msc_hid/msc_app.c @@ -1,4 +1,4 @@ -/* +/* * The MIT License (MIT) * * Copyright (c) 2019 Ha Thach (tinyusb.org) @@ -25,6 +25,8 @@ #include "tusb.h" +#include + //--------------------------------------------------------------------+ // MACRO TYPEDEF CONSTANT ENUM DECLARATION //--------------------------------------------------------------------+ @@ -48,8 +50,8 @@ bool inquiry_complete_cb(uint8_t dev_addr, tuh_msc_complete_data_t const * cb_da uint32_t const block_count = tuh_msc_get_block_count(dev_addr, cbw->lun); uint32_t const block_size = tuh_msc_get_block_size(dev_addr, cbw->lun); - printf("Disk Size: %lu MB\r\n", block_count / ((1024*1024)/block_size)); - printf("Block Count = %lu, Block Size: %lu\r\n", block_count, block_size); + printf("Disk Size: %" PRIu32 " MB\r\n", block_count / ((1024*1024)/block_size)); + printf("Block Count = %" PRIu32 ", Block Size: %" PRIu32 "\r\n", block_count, block_size); return true; } @@ -68,4 +70,3 @@ void tuh_msc_umount_cb(uint8_t dev_addr) (void) dev_addr; printf("A MassStorage device is unmounted\r\n"); } - diff --git a/usb/host/host_cdc_msc_hid/tusb_config.h b/usb/host/host_cdc_msc_hid/tusb_config.h index 139a921d1..a59a0ffb9 100644 --- a/usb/host/host_cdc_msc_hid/tusb_config.h +++ b/usb/host/host_cdc_msc_hid/tusb_config.h @@ -1,4 +1,4 @@ -/* +/* * The MIT License (MIT) * * Copyright (c) 2019 Ha Thach (tinyusb.org) @@ -30,28 +30,8 @@ extern "C" { #endif -//--------------------------------------------------------------------+ -// Board Specific Configuration -//--------------------------------------------------------------------+ - -#if CFG_TUSB_MCU == OPT_MCU_RP2040 -// change to 1 if using pico-pio-usb as host controller for raspberry rp2040 -#define CFG_TUH_RPI_PIO_USB 0 -#define BOARD_TUH_RHPORT CFG_TUH_RPI_PIO_USB -#endif - -// RHPort number used for host can be defined by board.mk, default to port 0 -#ifndef BOARD_TUH_RHPORT -#define BOARD_TUH_RHPORT 0 -#endif - -// RHPort max operational speed can defined by board.mk -#ifndef BOARD_TUH_MAX_SPEED -#define BOARD_TUH_MAX_SPEED OPT_MODE_DEFAULT_SPEED -#endif - //-------------------------------------------------------------------- -// COMMON CONFIGURATION +// Common Configuration //-------------------------------------------------------------------- // defined by compiler flags for flexibility @@ -67,12 +47,6 @@ #define CFG_TUSB_DEBUG 0 #endif -// Enable Host stack -#define CFG_TUH_ENABLED 1 - -// Default is max speed that hardware controller could support with on-chip PHY -#define CFG_TUH_MAX_SPEED BOARD_TUH_MAX_SPEED - /* USB DMA on some MCUs can only access a specific SRAM region with restriction on alignment. * Tinyusb use follows macros to declare transferring memory so that they can be put * into those specific section. @@ -80,29 +54,64 @@ * - CFG_TUSB_MEM SECTION : __attribute__ (( section(".usb_ram") )) * - CFG_TUSB_MEM_ALIGN : __attribute__ ((aligned(4))) */ -#ifndef CFG_TUSB_MEM_SECTION -#define CFG_TUSB_MEM_SECTION +#ifndef CFG_TUH_MEM_SECTION +#define CFG_TUH_MEM_SECTION +#endif + +#ifndef CFG_TUH_MEM_ALIGN +#define CFG_TUH_MEM_ALIGN __attribute__ ((aligned(4))) #endif -#ifndef CFG_TUSB_MEM_ALIGN -#define CFG_TUSB_MEM_ALIGN __attribute__ ((aligned(4))) +//-------------------------------------------------------------------- +// Host Configuration +//-------------------------------------------------------------------- + +// Enable Host stack +#define CFG_TUH_ENABLED 1 + +#if CFG_TUSB_MCU == OPT_MCU_RP2040 + // #define CFG_TUH_RPI_PIO_USB 1 // use pio-usb as host controller + // #define CFG_TUH_MAX3421 1 // use max3421 as host controller + + // host roothub port is 1 if using either pio-usb or max3421 + #if (defined(CFG_TUH_RPI_PIO_USB) && CFG_TUH_RPI_PIO_USB) || (defined(CFG_TUH_MAX3421) && CFG_TUH_MAX3421) + #define BOARD_TUH_RHPORT 1 + #endif +#endif + +// Default is max speed that hardware controller could support with on-chip PHY +#define CFG_TUH_MAX_SPEED BOARD_TUH_MAX_SPEED + +//------------------------- Board Specific -------------------------- + +// RHPort number used for host can be defined by board.mk, default to port 0 +#ifndef BOARD_TUH_RHPORT +#define BOARD_TUH_RHPORT 0 +#endif + +// RHPort max operational speed can defined by board.mk +#ifndef BOARD_TUH_MAX_SPEED +#define BOARD_TUH_MAX_SPEED OPT_MODE_DEFAULT_SPEED #endif //-------------------------------------------------------------------- -// CONFIGURATION +// Driver Configuration //-------------------------------------------------------------------- // Size of buffer to hold descriptors and other data used for enumeration #define CFG_TUH_ENUMERATION_BUFSIZE 256 #define CFG_TUH_HUB 1 // number of supported hubs -#define CFG_TUH_CDC 1 -#define CFG_TUH_HID 4 // typical keyboard + mouse device can have 3-4 HID interfaces +#define CFG_TUH_CDC 1 // CDC ACM +#define CFG_TUH_CDC_FTDI 1 // FTDI Serial. FTDI is not part of CDC class, only to re-use CDC driver API +#define CFG_TUH_CDC_CP210X 1 // CP210x Serial. CP210X is not part of CDC class, only to re-use CDC driver API +#define CFG_TUH_CDC_CH34X 1 // CH340 or CH341 Serial. CH34X is not part of CDC class, only to re-use CDC driver API +#define CFG_TUH_HID (3*CFG_TUH_DEVICE_MAX) // typical keyboard + mouse device can have 3-4 HID interfaces #define CFG_TUH_MSC 1 #define CFG_TUH_VENDOR 0 -// max device support (excluding hub device) -#define CFG_TUH_DEVICE_MAX (CFG_TUH_HUB ? 4 : 1) // hub typically has 4 ports +// max device support (excluding hub device): 1 hub typically has 4 ports +#define CFG_TUH_DEVICE_MAX (3*CFG_TUH_HUB + 1) //------------- HID -------------// #define CFG_TUH_HID_EPIN_BUFSIZE 64 @@ -116,7 +125,7 @@ // Set Line Coding on enumeration/mounted, value for cdc_line_coding_t // bit rate = 115200, 1 stop bit, no parity, 8 bit data width -#define CFG_TUH_CDC_LINE_CODING_ON_ENUM { 115200, CDC_LINE_CONDING_STOP_BITS_1, CDC_LINE_CODING_PARITY_NONE, 8 } +#define CFG_TUH_CDC_LINE_CODING_ON_ENUM { 115200, CDC_LINE_CODING_STOP_BITS_1, CDC_LINE_CODING_PARITY_NONE, 8 } #ifdef __cplusplus diff --git a/watchdog/CMakeLists.txt b/watchdog/CMakeLists.txt index 5c52174ab..3e0a761e5 100644 --- a/watchdog/CMakeLists.txt +++ b/watchdog/CMakeLists.txt @@ -1,3 +1,5 @@ -if (NOT PICO_NO_HARDWARE) - add_subdirectory(hello_watchdog) -endif () +if (TARGET hardware_watchdog) + add_subdirectory_exclude_platforms(hello_watchdog host) +else() + message("Skipping Watchdog examples as hardware_watchdog unavailable") +endif() \ No newline at end of file