Merge pull request #34 from cyber-murmel/rp2040

Add support for Raspberry Pi Pico RP2040 board

.github/workflows/firmware.yml

@@ -13,6 +13,7 @@ jobs:
         - 'qtpy'
         - 'cynthion r0.2'
         - 'cynthion r0.4'
+        - 'raspberry_pi_pico'
         include:
           - target-board: 'cynthion r0.2'
             board-major: 0

firmware/CMakeLists.txt

@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 3.17)
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+# set(CMAKE_C_COMPILER_WORKS 1)
+
+#set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../lib/tinyusb/hw/bsp/family_support.cmake)
+
+# gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
+family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
+
+project(${PROJECT} C CXX ASM)
+
+# Checks this example is valid for the family and initializes the project
+family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
+
+# Espressif has its own cmake build system
+if(FAMILY STREQUAL "espressif")
+  return()
+endif()
+
+add_executable(${PROJECT})
+
+# Example source
+target_sources(${PROJECT} PUBLIC
+  # ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/dfu.c
+  # ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/usb_descriptors.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/fpga.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/jtag.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/led.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/spi.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/uart.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/mcu/rp2040/dfu.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/mcu/rp2040/usb_descriptors.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/button.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/console.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/debug_spi.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/fpga_adv.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/fpga.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/jtag_tap.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/jtag.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/usb_switch.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/vendor.c
+  )
+
+# Example include
+target_include_directories(${PROJECT} PUBLIC
+  ${CMAKE_CURRENT_SOURCE_DIR}/src
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}
+  )
+
+target_compile_definitions(${PROJECT} PUBLIC
+#   CFG_TUSB_OS=OPT_OS_PICO
+  _BOARD_REVISION_MAJOR_=${BOARD_REVISION_MAJOR}
+  _BOARD_REVISION_MINOR_=${BOARD_REVISION_MINOR}
+  VERSION_STRING="${VERSION_STRING}"
+  )
+
+# Configure compilation flags and libraries for the example... see the corresponding function
+# in hw/bsp/FAMILY/family.cmake for details.
+# family_configure_device_example(${PROJECT} noos)
+family_configure_target(${PROJECT} noos)
+target_link_libraries(${PROJECT} PUBLIC pico_stdlib tinyusb_device pico_unique_id pico_fix_rp2040_usb_device_enumeration hardware_spi)
+

firmware/src/boards/cynthion_d11/uart.c

@@ -68,7 +68,7 @@ void uart_release_pinmux(void)
  * Configures the UART we'll use for our system console.
  * TODO: support more configuration (parity, stop, etc.)
  */
-void uart_init(bool configure_pinmux, unsigned long baudrate)
+void uart_initialize(bool configure_pinmux, unsigned long baudrate)
 {
 	// Disable the SERCOM before configuring it, to 1) ensure we're not transacting
 	// during configuration; and 2) as many of the registers are R/O when the SERCOM is enabled.

firmware/src/boards/cynthion_d21/uart.c

@@ -68,7 +68,7 @@ void uart_release_pinmux(void)
  * Configures the UART we'll use for our system console.
  * TODO: support more configuration (parity, stop, etc.)
  */
-void uart_init(bool configure_pinmux, unsigned long baudrate)
+void uart_initialize(bool configure_pinmux, unsigned long baudrate)
 {
 	// Disable the SERCOM before configuring it, to 1) ensure we're not transacting
 	// during configuration; and 2) as many of the registers are R/O when the SERCOM is enabled.

firmware/src/boards/daisho/uart.c

@@ -18,7 +18,7 @@
  * @param configure_pinmux If true, the pinmux will be configured for UART use during init.
  * @param baudrate The baud rate to apply, in symbols/second.
  */
-void uart_init(bool configure_pinmux, unsigned long baudrate)
+void uart_initialize(bool configure_pinmux, unsigned long baudrate)
 {
 }
 

firmware/src/boards/qtpy/uart.c

@@ -68,7 +68,7 @@ void uart_release_pinmux(void)
  * Configures the UART we'll use for our system console.
  * TODO: support more configuration (parity, stop, etc.)
  */
-void uart_init(bool configure_pinmux, unsigned long baudrate)
+void uart_initialize(bool configure_pinmux, unsigned long baudrate)
 {
 	// Disable the SERCOM before configuring it, to 1) ensure we're not transacting
 	// during configuration; and 2) as many of the registers are R/O when the SERCOM is enabled.

firmware/src/boards/raspberry_pi_pico/apollo_board.h

@@ -0,0 +1,110 @@
+/**
+ * Apollo board definitions for Raspberry Pi Pico
+ *
+ * Copyright (c) 2020-2024 Great Scott Gadgets <[email protected]>
+ * Copyright (c) 2024 Markus Blechschmidt <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef __APOLLO_BOARD_H__
+#define __APOLLO_BOARD_H__
+
+#include <stdbool.h>
+
+#include "boards/pico.h"
+#include "bsp/rp2040/board.h"
+#include "pico/stdlib.h"
+#include "hardware/gpio.h"
+#include "hardware/sync.h"
+
+
+#define __NOP() {asm volatile("nop");}
+
+
+typedef unsigned int gpio_t;
+
+
+typedef enum gpio_direction{
+	GPIO_DIRECTION_IN = GPIO_IN,
+	GPIO_DIRECTION_OUT = GPIO_OUT,
+} gpio_direction_t;
+
+
+typedef enum gpio_pull_mode {
+	GPIO_PULL_OFF,
+	GPIO_PULL_UP,
+	GPIO_PULL_DOWN,
+} gpio_pull_mode_t;
+
+
+/**
+ * GPIO pins for each of the microcontroller LEDs.
+ */
+typedef enum {
+	LED_A = LED_PIN, // Green
+
+	LED_COUNT = 1,
+} led_t;
+
+/**
+ * GPIO pin numbers.
+ */
+
+
+
+enum {
+	// // Each of the JTAG pins. SPI0
+	TMS_GPIO = 5,
+	TDI_GPIO = 3, // MOSI
+	TDO_GPIO = 4, // MISO
+	TCK_GPIO = 6, // SCK
+
+	// // Connected to orangecrab pins 0 and 1. SERCOM0
+	UART_RX = UART_RX_PIN,
+	UART_TX = UART_TX_PIN,
+
+	// Connected to orangecrab RSTFPGA_RESET, ecp5 PROGRAMN
+	PIN_PROG = 7,
+};
+
+
+static inline void gpio_set_pin_level(const gpio_t gpio_pin, bool level) {
+	gpio_put(gpio_pin, level);
+}
+
+
+static inline bool gpio_get_pin_level(const gpio_t gpio_pin) {
+	return gpio_get(gpio_pin);
+}
+
+
+static inline void gpio_toggle_pin_level(const gpio_t gpio_pin) {
+	gpio_set_pin_level(gpio_pin, !gpio_get_pin_level(gpio_pin));
+}
+
+
+static inline void gpio_set_pin_direction(const gpio_t gpio_pin, const enum gpio_direction direction) {
+	gpio_init(gpio_pin);
+	gpio_set_dir(gpio_pin, direction);
+}
+
+
+static inline void gpio_set_pin_pull_mode(const gpio_t gpio_pin, const gpio_pull_mode_t pull_mode) {
+	switch(pull_mode) {
+		case GPIO_PULL_OFF: {
+			gpio_disable_pulls(gpio_pin);
+		} break;
+		case GPIO_PULL_UP: {
+			gpio_pull_up(gpio_pin);
+		} break;
+		case GPIO_PULL_DOWN: {
+			gpio_pull_down(gpio_pin);
+		} break;
+		default: {
+
+		} break;
+	}
+}
+
+
+#endif

firmware/src/boards/raspberry_pi_pico/board.mk

@@ -0,0 +1,17 @@
+
+# This is an external board, so its identity is determined by its revision number.
+# MAJOR = external board
+# MINOR = generic Apollo board
+BOARD_REVISION_MAJOR := 255
+BOARD_REVISION_MINOR := 3
+
+CMAKE_DEFSYM +=	\
+	-DBOARD_REVISION_MAJOR=$(BOARD_REVISION_MAJOR) \
+	-DBOARD_REVISION_MINOR=$(BOARD_REVISION_MINOR) \
+	-DVERSION_STRING="$(VERSION_STRING)"
+
+ifeq "$(PICO_SDK_PATH)" ""
+CMAKE_DEFSYM += -DPICO_SDK_FETCH_FROM_GIT=1
+else
+CMAKE_DEFSYM += -DPICO_SDK_PATH=$(PICO_SDK_PATH)
+endif

firmware/src/boards/raspberry_pi_pico/fpga.c

@@ -0,0 +1,60 @@
+/**
+ * Code for basic FPGA interfacing.
+ *
+ * Copyright (c) 2020-2023 Great Scott Gadgets <[email protected]>
+ * Copyright (c) 2024 Markus Blechschmidt <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <bsp/board_api.h>
+#include <apollo_board.h>
+
+#include "apollo_board.h"
+#include "jtag.h"
+#include "fpga.h"
+
+
+/*
+ * Allows or disallows the FPGA from configuring. When disallowed,
+ * initialization (erasing of configuration memory) takes place, but the FPGA
+ * does not proceed to the configuration phase.
+ */
+void permit_fpga_configuration(bool enable)
+{
+}
+
+/**
+ * Sets up the I/O pins needed to configure the FPGA.
+ */
+void fpga_io_init(void)
+{
+}
+
+
+/**
+ * Requests that the FPGA clear its configuration and try to reconfigure.
+ */
+void trigger_fpga_reconfiguration(void)
+{
+	/*
+	 * If the JTAG TAP was left in certain states, pulsing PROGRAMN has no
+	 * effect, so we reset the state first.
+	 */
+	jtag_init();
+	jtag_go_to_state(STATE_TEST_LOGIC_RESET);
+	jtag_wait_time(2);
+	jtag_deinit();
+	/*
+	 * Now pulse PROGRAMN to instruct the FPGA to configure itself.
+	 */
+	gpio_set_pin_direction(PIN_PROG, GPIO_DIRECTION_OUT);
+	gpio_set_pin_level(PIN_PROG, false);
+
+	board_delay(1);
+
+	gpio_set_pin_level(PIN_PROG, true);
+	gpio_set_pin_direction(PIN_PROG, GPIO_DIRECTION_IN);
+
+	// Update internal state.
+	fpga_set_online(true);
+}

firmware/src/boards/raspberry_pi_pico/jtag.c

@@ -0,0 +1,33 @@
+/**
+ * Copyright (c) 2020-2023 Great Scott Gadgets <[email protected]>
+ * Copyright (c) 2024 Markus Blechschmidt <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+
+#include <tusb.h>
+#include <apollo_board.h>
+#include "spi.h"
+
+#include <jtag.h>
+
+extern uint8_t jtag_in_buffer[256];
+extern uint8_t jtag_out_buffer[256];
+
+
+/**
+ * Hook that performs hardware-specific initialization.
+ */
+void jtag_platform_init(void)
+{
+	// Set up our SPI port for SPI-accelerated JTAG.
+	spi_initialize(SPI_FPGA_JTAG, true, false, 1, 1, 1);
+}
+
+
+/**
+ * Hook that performs hardware-specific deinitialization.
+ */
+void jtag_platform_deinit(void)
+{
+}