tock · bors · Dec 16, 2022 · Nov 2, 2022 · Nov 2, 2022 · Nov 2, 2022
diff --git a/boards/raspberry_pi_pico/Makefile b/boards/raspberry_pi_pico/Makefile
@@ -6,31 +6,39 @@ PLATFORM=raspberry_pi_pico
 
 include ../Makefile.common
 
-OPENOCD=openocd
-OPENOCD_INTERFACE=swd
-OPENOCD_OPTIONS=-f openocd-$(OPENOCD_INTERFACE).cfg
+# OPENOCD=openocd
+# OPENOCD_INTERFACE=swd
+# OPENOCD_OPTIONS=-f openocd-$(OPENOCD_INTERFACE).cfg
 
-KERNEL=$(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).elf
-KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/debug/$(PLATFORM)-app.elf
+KERNEL=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/release/$(PLATFORM).elf
+KERNEL_WITH_APP=$(TOCK_ROOT_DIRECTORY)/target/$(TARGET)/release/$(PLATFORM)-app.elf
 
+BOOTSEL_FOLDER?=/media/$(USER)/RPI-RP2
 
 # Default target for installing the kernel.
 .PHONY: install
 install: flash
 
 .PHONY: flash-debug
 flash-debug: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).elf
-	$(OPENOCD) $(OPENOCD_OPTIONS) -c "program $<; verify_image $<;  reset; shutdown;"
+	elf2uf2 $< $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).uf2
+	if [ -d $(BOOTSEL_FOLDER) ];
+	then
+		cp $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM)-app.uf2 $(BOOTSEL_FOLDER)"
+	else
+		@echo Please edit the BOOTSEL_FOLDER variable to point to you RPI RP2040 Flash Drive Folder
+	fi
 
 .PHONY: flash
 flash: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).elf
-	$(OPENOCD) $(OPENOCD_OPTIONS) -c "program $<; verify_image $<; reset; shutdown;"
+	elf2uf2 $< $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).uf2
+	@if [ -d $(BOOTSEL_FOLDER) ]; then cp $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).uf2 "$(BOOTSEL_FOLDER)"; else echo; echo Please edit the BOOTSEL_FOLDER variable to point to you Nano RP2040 Flash Drive Folder; fi
 
 .PHONY: program
-program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/debug/$(PLATFORM).bin
+program: $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM).bin
 ifeq ($(APP),)
 	$(error Please define the APP variable with the TBF file to flash an application) 
 endif 
 	arm-none-eabi-objcopy --update-section .apps=$(APP) $(KERNEL) $(KERNEL_WITH_APP)
-	$(OPENOCD) $(OPENOCD_OPTIONS) -c "program $(KERNEL_WITH_APP); verify_image $(KERNEL_WITH_APP); reset; shutdown;"
-
+	elf2uf2 $(KERNEL_WITH_APP) $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2
+	@if [ -d $(BOOTSEL_FOLDER) ]; then cp $(TOCK_ROOT_DIRECTORY)target/$(TARGET)/release/$(PLATFORM)-app.uf2 "$(BOOTSEL_FOLDER)"; else echo; echo Please edit the BOOTSEL_FOLDER variable to point to you Nano RP2040 Flash Drive Folder; fi
diff --git a/boards/raspberry_pi_pico/README.md b/boards/raspberry_pi_pico/README.md
@@ -10,9 +10,59 @@ board developed by the Raspberry Pi Foundation and is based on the RP2040 chip.
 
 First, follow the [Tock Getting Started guide](../../doc/Getting_Started.md)
 
+## Installing elf2uf2
+
+The Raspberry Pi Pico RP2040 uses UF2 files for flashing. Tock compiles to an ELF file.
+The `elf2uf2` utility is needed to transform the Tock ELF file into an UF2 file.
+
+To install `elf2uf2`, run the commands:
+
+```bash
+$ git clone https://github.com/raspberrypi/pico-sdk
+$ cd pico-sdk
+$ cd tools/elf2uf2
+$ mkdir build
+$ cd build
+$ cmake ..
+$ make
+$ sudo cp elf2uf2 /usr/local/bin
+```
+
 ## Flashing the kernel
 
-The Raspberry Pi Pico can be programmed via an SWD connection, which requires the Pico to be connected to a regular Raspberry Pi device that exposes the necessary pins OR using another Raspberry Pi Pico set up in “Picoprobe” mode. The kernel is transferred to the Raspberry Pi Pico using a [custom version of OpenOCD](https://github.com/raspberrypi/openocd).
+The Raspberry Pi Pico RP2040 Connect can be programmed using its bootloader, which requires an UF2 file.
+
+### Enter BOOTSEL mode
+
+To flash the Pico RP2040, it needs to be put into BOOTSEL mode. This will mount
+a flash drive that allows one to copy a UF2 file. To enter BOOTSEL mode, press the BOOTSEL button and hold it while you connect the other end of the micro USB cable to your computer.
+
+Then `cd` into `boards/raspberry_pi_pico` directory and run:
+
+```bash
+$ make flash
+
+(or)
+
+$ make flash-debug
+```
+
+> Note: The Makefile provides the BOOTSEL_FOLDER variable that points towards the mount point of
+> the Pico RP2040 flash drive. By default, this is located in `/media/$(USER)/RP2040`. This might
+> be different on several systems, make sure to adjust it.
+
+## Flashing app
+
+Enter BOOTSEL mode.
+
+Apps are built out-of-tree. Once an app is built, you can add the path to it in the Makefile (APP variable), then run:
+```bash
+$ APP="<path to app's tbf file>" make flash-app
+```
+
+## Debugging
+
+The Raspberry Pi Pico can also be programmed via an SWD connection, which requires the Pico to be connected to a regular Raspberry Pi device that exposes the necessary pins OR using another Raspberry Pi Pico set up in “Picoprobe” mode. The kernel is transferred to the Raspberry Pi Pico using a [custom version of OpenOCD](https://github.com/raspberrypi/openocd).
 
 ### Flashing Setup
 

diff --git a/boards/raspberry_pi_pico/layout.ld b/boards/raspberry_pi_pico/layout.ld
@@ -7,8 +7,8 @@ MEMORY
   ram (rwx) : ORIGIN = 0x20004000, LENGTH = 240K */
 
   /* boot from Flash */
-  rom (rx)  : ORIGIN = 0x10000000, LENGTH = 128K
-  prog (rx) : ORIGIN = 0x10020000, LENGTH = 256K
+  rom (rx)  : ORIGIN = 0x10000000, LENGTH = 256K
+  prog (rx) : ORIGIN = 0x10040000, LENGTH = 256K
   ram (rwx) : ORIGIN = 0x20000000, LENGTH = 264K
 }
 

diff --git a/boards/raspberry_pi_pico/src/main.rs b/boards/raspberry_pi_pico/src/main.rs
@@ -22,6 +22,7 @@ use kernel::dynamic_deferred_call::{DynamicDeferredCall, DynamicDeferredCallClie
 use kernel::hil::gpio::{Configure, FloatingState};
 use kernel::hil::i2c::I2CMaster;
 use kernel::hil::led::LedHigh;
+use kernel::hil::usb::Client;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::round_robin::RoundRobinSched;
 use kernel::syscall::SyscallDriver;
@@ -50,6 +51,15 @@ mod flash_bootloader;
 #[link_section = ".stack_buffer"]
 pub static mut STACK_MEMORY: [u8; 0x1000] = [0; 0x1000];
 
+// Function for the CDC/USB stack used to ask the MCU to reset into
+// tockbootloader.
+fn baud_rate_reset_bootloader_enter() {
+    // unsafe {
+    // cortexm0::scb::reset();
+    // }
+    // TODO reset into bootloader
+}
+
 // Manually setting the boot header section that contains the FCB header
    #[used]
 #[link_section = ".flash_bootloader"]
@@ -253,9 +263,6 @@ pub unsafe fn main() {
     let peripherals = get_peripherals();
     peripherals.resolve_dependencies();
 
-    // Set the UART used for panic
-    io::WRITER.set_uart(&peripherals.uart0);
-
     // Reset all peripherals except QSPI (we might be booting from Flash), PLL USB and PLL SYS
     peripherals.resets.reset_all_except(&[
         Peripheral::IOQSpi,
@@ -312,7 +319,7 @@ pub unsafe fn main() {
     let memory_allocation_capability = create_capability!(capabilities::MemoryAllocationCapability);
 
     let dynamic_deferred_call_clients =
-        static_init!([DynamicDeferredCallClientState; 2], Default::default());
+        static_init!([DynamicDeferredCallClientState; 3], Default::default());
     let dynamic_deferred_caller = static_init!(
         DynamicDeferredCall,
         DynamicDeferredCall::new(dynamic_deferred_call_clients)
@@ -329,14 +336,48 @@ pub unsafe fn main() {
     )
     .finalize(components::alarm_component_static!(RPTimer));
 
-    // UART
-    // Create a shared UART channel for kernel debug.
-    let uart_mux = components::console::UartMuxComponent::new(
-        &peripherals.uart0,
-        115200,
+    // CDC
+    let strings = static_init!(
+        [&str; 3],
+        [
+            "Raspberry Pi",      // Manufacturer
+            "Pico - TockOS",     // Product
+            "00000000000000000", // Serial number
+        ]
+    );
+
+    let cdc = components::cdc::CdcAcmComponent::new(
+        &peripherals.usb,
+        //capsules::usb::cdc::MAX_CTRL_PACKET_SIZE_RP2040,
+        64,
+        0x0,
+        0x1,
+        strings,
+        mux_alarm,
         dynamic_deferred_caller,
+        Some(&baud_rate_reset_bootloader_enter),
     )
-    .finalize(components::uart_mux_component_static!());
+    .finalize(components::cdc_acm_component_static!(
+        rp2040::usb::UsbCtrl,
+        rp2040::timer::RPTimer
+    ));
+
+    // UART
+    // Create a shared UART channel for kernel debug.
+
+    let uart_mux = components::console::UartMuxComponent::new(cdc, 115200, dynamic_deferred_caller)
+        .finalize(components::uart_mux_component_static!());
+
+    // Uncomment this to use UART as an output
+    // let uart_mux2 = components::console::UartMuxComponent::new(
+    //     &peripherals.uart0,
+    //     115200,
+    //     dynamic_deferred_caller,
+    // )
+    // .finalize(components::uart_mux_component_static!());
+
+    // Set the UART used for panic
+    io::WRITER.set_uart(&peripherals.uart0);
 
     // Setup the console.
     let console = components::console::ConsoleComponent::new(
@@ -349,6 +390,9 @@ pub unsafe fn main() {
     components::debug_writer::DebugWriterComponent::new(uart_mux)
         .finalize(components::debug_writer_component_static!());
 
+    cdc.enable();
+    cdc.attach();
+
     let gpio = GpioComponent::new(
         board_kernel,
         capsules::gpio::DRIVER_NUM,

diff --git a/chips/rp2040/src/chip.rs b/chips/rp2040/src/chip.rs
@@ -8,14 +8,15 @@ use kernel::platform::chip::InterruptService;
 use crate::adc;
 use crate::clocks::Clocks;
 use crate::deferred_call_tasks::DeferredCallTask;
-use crate::gpio::{RPPins, SIO};
+use crate::gpio::{RPGpio, RPPins, SIO};
 use crate::i2c;
 use crate::interrupts;
 use crate::resets::Resets;
 use crate::spi;
 use crate::sysinfo;
 use crate::timer::RPTimer;
 use crate::uart::Uart;
+use crate::usb;
 use crate::watchdog::Watchdog;
 use crate::xosc::Xosc;
 use cortexm0p::{interrupt_mask, CortexM0P, CortexMVariant};
@@ -131,6 +132,7 @@ pub struct Rp2040DefaultPeripherals<'a> {
     pub spi0: spi::Spi<'a>,
     pub sysinfo: sysinfo::SysInfo,
     pub i2c0: i2c::I2c<'a>,
+    pub usb: usb::UsbCtrl<'a>,
 }
 
 impl<'a> Rp2040DefaultPeripherals<'a> {
@@ -149,13 +151,15 @@ impl<'a> Rp2040DefaultPeripherals<'a> {
             spi0: spi::Spi::new_spi0(),
             sysinfo: sysinfo::SysInfo::new(),
             i2c0: i2c::I2c::new_i2c0(),
+            usb: usb::UsbCtrl::new(),
         }
     }
 
     pub fn resolve_dependencies(&'a self) {
         self.spi0.set_clocks(&self.clocks);
         self.uart0.set_clocks(&self.clocks);
         self.i2c0.resolve_dependencies(&self.clocks, &self.resets);
+        self.usb.set_gpio(self.pins.get_pin(RPGpio::GPIO15));
     }
 }
 
@@ -186,6 +190,10 @@ impl InterruptService<DeferredCallTask> for Rp2040DefaultPeripherals<'_> {
                 self.adc.handle_interrupt();
                 true
             }
+            interrupts::USBCTRL_IRQ => {
+                self.usb.handle_interrupt();
+                true
+            }
             interrupts::IO_IRQ_BANK0 => {
                 self.pins.handle_interrupt();
                 true

diff --git a/chips/rp2040/src/gpio.rs b/chips/rp2040/src/gpio.rs
@@ -460,6 +460,31 @@ impl<'a> RPGpioPin<'a> {
     pub fn handle_interrupt(&self) {
         self.client.map(|client| client.fired());
     }
+
+    // needed for usb errata https://datasheets.raspberrypi.com/rp2040/rp2040-datasheet.pdf#RP2040-E5
+
+    pub fn start_usb_errata(&self) -> (u32, u32) {
+        let prev_ctrl = self.gpio_registers.pin[self.pin].ctrl.get();
+        let prev_pad = self.gpio_pad_registers.gpio_pad[self.pin].get();
+
+        self.gpio_pad_registers.gpio_pad[self.pin].modify(GPIO_PAD::PUE::SET + GPIO_PAD::PDE::SET);
+        self.gpio_registers.pin[self.pin]
+            .ctrl
+            .modify(GPIOx_CTRL::OEOVER::Disable);
+
+        self.set_function(GpioFunction::GPCK);
+
+        self.gpio_registers.pin[self.pin]
+            .ctrl
+            .modify(GPIOx_CTRL::INOVER::DriveHigh);
+
+        (prev_ctrl, prev_pad)
+    }
+
+    pub fn finish_usb_errata(&self, prev_ctrl: u32, prev_pad: u32) {
+        self.gpio_registers.pin[self.pin].ctrl.set(prev_ctrl);
+        self.gpio_pad_registers.gpio_pad[self.pin].set(prev_pad);
+    }
 }
 
 impl<'a> hil::gpio::Interrupt<'a> for RPGpioPin<'a> {

diff --git a/chips/rp2040/src/lib.rs b/chips/rp2040/src/lib.rs
@@ -12,6 +12,7 @@ pub mod spi;
 pub mod sysinfo;
 pub mod timer;
 pub mod uart;
+pub mod usb;
 pub mod watchdog;
 pub mod xosc;