Add RP2350 support (#4459)

machine/rp2350: add support

* add linker scripts for rp2350
* add bootloader
* begin melding rp2040 and rp2350 APIs
* add UART
* add rp2350 boot patching
* Fix RP2350 memory layout (#4626)
* Remove rp2040-style second stage bootloader.
* Add 'minimum viable' IMAGE_DEF embedded block
* Create a pico2 specific target
* Implement rp2350 init, clock, and uart support
* Merge rp2 reset code back together
* Separate chip-specific clock definitions
* Clear pad isolation bit on rp2350
* Init UART in rp2350 runtime
* Correct usb/serial initialization order
* Implement jump-to-bootloader
* test: add pico2 to smoketests

---------

Signed-off-by: deadprogram <[email protected]>
Co-authored-by: Matthew Mets <[email protected]>
Co-authored-by: Matt Mets <[email protected]>
Co-authored-by: deadprogram <[email protected]>

Author: 3 people

.gitignore

@@ -37,5 +37,9 @@ test.exe
 test.gba
 test.hex
 test.nro
+test.uf2
 test.wasm
 wasm.wasm
+
+*.uf2
+*.elf

GNUmakefile

@@ -741,6 +741,8 @@ endif
 	@$(MD5SUM) test.hex
 	$(TINYGO) build -size short -o test.hex -target=thumby              examples/echo
 	@$(MD5SUM) test.hex
+	$(TINYGO) build -size short -o test.hex -target=pico2               examples/blinky1
+	@$(MD5SUM) test.hex
 	# test pwm
 	$(TINYGO) build -size short -o test.hex -target=itsybitsy-m0        examples/pwm
 	@$(MD5SUM) test.hex

builder/build.go

@@ -822,6 +822,12 @@ func Build(pkgName, outpath, tmpdir string, config *compileopts.Config) (BuildRe
 					return fmt.Errorf("could not modify stack sizes: %w", err)
 				}
 			}
+
+			// Apply patches of bootloader in the order they appear.
+			if len(config.Target.BootPatches) > 0 {
+				err = applyPatches(result.Executable, config.Target.BootPatches)
+			}
+
 			if config.RP2040BootPatch() {
 				// Patch the second stage bootloader CRC into the .boot2 section
 				err = patchRP2040BootCRC(result.Executable)
@@ -1434,6 +1440,23 @@ func printStacks(calculatedStacks []string, stackSizes map[string]functionStackS
 	}
 }
 
+func applyPatches(executable string, bootPatches []string) (err error) {
+	for _, patch := range bootPatches {
+		switch patch {
+		case "rp2040":
+			err = patchRP2040BootCRC(executable)
+		// case "rp2350":
+		// 	err = patchRP2350BootIMAGE_DEF(executable)
+		default:
+			err = errors.New("undefined boot patch name")
+		}
+		if err != nil {
+			return fmt.Errorf("apply boot patch %q: %w", patch, err)
+		}
+	}
+	return nil
+}
+
 // RP2040 second stage bootloader CRC32 calculation
 //
 // Spec: https://datasheets.raspberrypi.org/rp2040/rp2040-datasheet.pdf
@@ -1445,7 +1468,7 @@ func patchRP2040BootCRC(executable string) error {
 	}
 
 	if len(bytes) != 256 {
-		return fmt.Errorf("rp2040 .boot2 section must be exactly 256 bytes")
+		return fmt.Errorf("rp2040 .boot2 section must be exactly 256 bytes, got %d", len(bytes))
 	}
 
 	// From the 'official' RP2040 checksum script:
@@ -1484,3 +1507,10 @@ func lock(path string) func() {
 
 	return func() { flock.Close() }
 }
+
+func b2u8(b bool) uint8 {
+	if b {
+		return 1
+	}
+	return 0
+}

compileopts/target.go

@@ -46,6 +46,7 @@ type TargetSpec struct {
 	LinkerScript     string   `json:"linkerscript,omitempty"`
 	ExtraFiles       []string `json:"extra-files,omitempty"`
 	RP2040BootPatch  *bool    `json:"rp2040-boot-patch,omitempty"` // Patch RP2040 2nd stage bootloader checksum
+	BootPatches      []string `json:"boot-patches,omitempty"`      // Bootloader patches to be applied in the order they appear.
 	Emulator         string   `json:"emulator,omitempty"`
 	FlashCommand     string   `json:"flash-command,omitempty"`
 	GDB              []string `json:"gdb,omitempty"`

src/machine/board_pico2.go

@@ -0,0 +1,88 @@
+//go:build pico2
+
+package machine
+
+// GPIO pins
+const (
+	GP0  Pin = GPIO0
+	GP1  Pin = GPIO1
+	GP2  Pin = GPIO2
+	GP3  Pin = GPIO3
+	GP4  Pin = GPIO4
+	GP5  Pin = GPIO5
+	GP6  Pin = GPIO6
+	GP7  Pin = GPIO7
+	GP8  Pin = GPIO8
+	GP9  Pin = GPIO9
+	GP10 Pin = GPIO10
+	GP11 Pin = GPIO11
+	GP12 Pin = GPIO12
+	GP13 Pin = GPIO13
+	GP14 Pin = GPIO14
+	GP15 Pin = GPIO15
+	GP16 Pin = GPIO16
+	GP17 Pin = GPIO17
+	GP18 Pin = GPIO18
+	GP19 Pin = GPIO19
+	GP20 Pin = GPIO20
+	GP21 Pin = GPIO21
+	GP22 Pin = GPIO22
+	GP26 Pin = GPIO26
+	GP27 Pin = GPIO27
+	GP28 Pin = GPIO28
+
+	// Onboard LED
+	LED Pin = GPIO25
+
+	// Onboard crystal oscillator frequency, in MHz.
+	xoscFreq = 12 // MHz
+)
+
+// I2C Default pins on Raspberry Pico.
+const (
+	I2C0_SDA_PIN = GP4
+	I2C0_SCL_PIN = GP5
+
+	I2C1_SDA_PIN = GP2
+	I2C1_SCL_PIN = GP3
+)
+
+// SPI default pins
+const (
+	// Default Serial Clock Bus 0 for SPI communications
+	SPI0_SCK_PIN = GPIO18
+	// Default Serial Out Bus 0 for SPI communications
+	SPI0_SDO_PIN = GPIO19 // Tx
+	// Default Serial In Bus 0 for SPI communications
+	SPI0_SDI_PIN = GPIO16 // Rx
+
+	// Default Serial Clock Bus 1 for SPI communications
+	SPI1_SCK_PIN = GPIO10
+	// Default Serial Out Bus 1 for SPI communications
+	SPI1_SDO_PIN = GPIO11 // Tx
+	// Default Serial In Bus 1 for SPI communications
+	SPI1_SDI_PIN = GPIO12 // Rx
+)
+
+// UART pins
+const (
+	UART0_TX_PIN = GPIO0
+	UART0_RX_PIN = GPIO1
+	UART1_TX_PIN = GPIO8
+	UART1_RX_PIN = GPIO9
+	UART_TX_PIN  = UART0_TX_PIN
+	UART_RX_PIN  = UART0_RX_PIN
+)
+
+var DefaultUART = UART0
+
+// USB identifiers
+const (
+	usb_STRING_PRODUCT      = "Pico2"
+	usb_STRING_MANUFACTURER = "Raspberry Pi"
+)
+
+var (
+	usb_VID uint16 = 0x2E8A
+	usb_PID uint16 = 0x000A
+)

src/machine/machine_rp2040.go src/machine/machine_rp2.go

@@ -1,38 +1,55 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
 import (
 	"device/rp"
+	"runtime/interrupt"
 	"runtime/volatile"
 	"unsafe"
 )
 
 const deviceName = rp.Device
 
+const (
+	// Number of spin locks available
+	// Note: On RP2350, most spinlocks are unusable due to Errata 2
+	_NUMSPINLOCKS         = 32
+	_PICO_SPINLOCK_ID_IRQ = 9
+)
+
+// UART on the RP2040
+var (
+	UART0  = &_UART0
+	_UART0 = UART{
+		Buffer: NewRingBuffer(),
+		Bus:    rp.UART0,
+	}
+
+	UART1  = &_UART1
+	_UART1 = UART{
+		Buffer: NewRingBuffer(),
+		Bus:    rp.UART1,
+	}
+)
+
+func init() {
+	UART0.Interrupt = interrupt.New(rp.IRQ_UART0_IRQ, _UART0.handleInterrupt)
+	UART1.Interrupt = interrupt.New(rp.IRQ_UART1_IRQ, _UART1.handleInterrupt)
+}
+
 //go:linkname machineInit runtime.machineInit
 func machineInit() {
 	// Reset all peripherals to put system into a known state,
 	// except for QSPI pads and the XIP IO bank, as this is fatal if running from flash
 	// and the PLLs, as this is fatal if clock muxing has not been reset on this boot
 	// and USB, syscfg, as this disturbs USB-to-SWD on core 1
-	bits := ^uint32(rp.RESETS_RESET_IO_QSPI |
-		rp.RESETS_RESET_PADS_QSPI |
-		rp.RESETS_RESET_PLL_USB |
-		rp.RESETS_RESET_USBCTRL |
-		rp.RESETS_RESET_SYSCFG |
-		rp.RESETS_RESET_PLL_SYS)
+	bits := ^uint32(initDontReset)
 	resetBlock(bits)
 
 	// Remove reset from peripherals which are clocked only by clkSys and
 	// clkRef. Other peripherals stay in reset until we've configured clocks.
-	bits = ^uint32(rp.RESETS_RESET_ADC |
-		rp.RESETS_RESET_RTC |
-		rp.RESETS_RESET_SPI0 |
-		rp.RESETS_RESET_SPI1 |
-		rp.RESETS_RESET_UART0 |
-		rp.RESETS_RESET_UART1 |
-		rp.RESETS_RESET_USBCTRL)
+	bits = ^uint32(initUnreset)
 	unresetBlockWait(bits)
 
 	clocks.init()
@@ -94,4 +111,25 @@ const (
 )
 
 // DMA channels usable on the RP2040.
-var dmaChannels = (*[12]dmaChannel)(unsafe.Pointer(rp.DMA))
+var dmaChannels = (*[12 + 4*rp2350ExtraReg]dmaChannel)(unsafe.Pointer(rp.DMA))
+
+//go:inline
+func boolToBit(a bool) uint32 {
+	if a {
+		return 1
+	}
+	return 0
+}
+
+//go:inline
+func u32max(a, b uint32) uint32 {
+	if a > b {
+		return a
+	}
+	return b
+}
+
+//go:inline
+func isReservedI2CAddr(addr uint8) bool {
+	return (addr&0x78) == 0 || (addr&0x78) == 0x78
+}

src/machine/machine_rp2040_i2c.go

@@ -631,24 +631,3 @@ func (b i2cAbortError) Reasons() (reasons []string) {
 	}
 	return reasons
 }
-
-//go:inline
-func boolToBit(a bool) uint32 {
-	if a {
-		return 1
-	}
-	return 0
-}
-
-//go:inline
-func u32max(a, b uint32) uint32 {
-	if a > b {
-		return a
-	}
-	return b
-}
-
-//go:inline
-func isReservedI2CAddr(addr uint8) bool {
-	return (addr&0x78) == 0 || (addr&0x78) == 0x78
-}

src/machine/machine_rp2040_rtc.go

@@ -97,7 +97,7 @@ func toAlarmTime(delay uint32) rtcTime {
 
 func (rtc *rtcType) setDivider() {
 	// Get clk_rtc freq and make sure it is running
-	rtcFreq := configuredFreq[clkRTC]
+	rtcFreq := configuredFreq[ClkRTC]
 	if rtcFreq == 0 {
 		panic("can not set RTC divider, clock is not running")
 	}