RPI RP 2040 support

boards.txt

@@ -564,3 +564,67 @@ opta.debug.cortex-debug.custom.request=attach
 opta.debug.svd_file={runtime.platform.path}/svd/STM32H747_CM7.svd
 
 ##############################################################################################################
+
+rpi_pico.name=Raspberry Pi Pico
+rpi_pico.build.core=arduino
+rpi_pico.build.crossprefix=arm-zephyr-eabi-
+rpi_pico.build.compiler_path={runtime.tools.arm-zephyr-eabi-0.16.8.path}/bin/
+
+rpi_pico.menu.debug.false=Standard
+rpi_pico.menu.debug.true=Debug
+
+rpi_pico.menu.debug.false.postbuild_debug=
+rpi_pico.menu.debug.true.postbuild_debug=-debug
+
+rpi_pico.build.zephyr_target=rpi_pico
+rpi_pico.build.zephyr_args=
+rpi_pico.build.zephyr_hals=hal_rpi_pico
+rpi_pico.build.variant=rpi_pico_rp2040
+rpi_pico.build.mcu=cortex-m0plus
+rpi_pico.build.fpu=
+rpi_pico.build.architecture=cortex-m0plus
+rpi_pico.compiler.zephyr.arch.define=
+
+rpi_pico.build.float-abi=-mfloat-abi=soft
+rpi_pico.build.extra_flags=
+rpi_pico.build.postbuild.cmd="{tools.imgtool.path}/{tools.imgtool.cmd}" exit
+rpi_pico.recipe.hooks.objcopy.postobjcopy.3.pattern="{runtime.platform.path}/extra/bin2uf2/bin2uf2" "{build.path}/{build.project_name}.elf-zsk.bin" "{build.path}/{build.project_name}.uf2"
+rpi_pico.build.architecture=cortex-m0plus
+rpi_pico.build.board=RASPBERRY_PI_PICO
+rpi_pico.compiler.zephyr=
+rpi_pico.vid.0=0x2e8a
+rpi_pico.pid.0=0x00C0
+rpi_pico.upload_port.0.vid=0x2e8a
+rpi_pico.upload_port.0.pid=0x00C0
+
+rpi_pico.upload.tool=picotool
+rpi_pico.upload.tool.default=picotool
+rpi_pico.upload.protocol=
+rpi_pico.upload.transport=
+rpi_pico.upload.vid=0x2e8a
+rpi_pico.upload.pid=0x00C0
+rpi_pico.upload.interface=0
+rpi_pico.upload.use_1200bps_touch=true
+rpi_pico.upload.wait_for_upload_port=false
+rpi_pico.upload.native_usb=true
+rpi_pico.upload.maximum_size=2097152
+rpi_pico.upload.maximum_data_size=270336
+
+rpi_pico.upload.address=0x100E0000
+
+rpi_pico.bootloader.tool=picotool
+rpi_pico.bootloader.tool.default=picotool
+rpi_pico.bootloader.vid=0x2e8a
+rpi_pico.bootloader.pid=0x00C0
+rpi_pico.bootloader.interface=0
+rpi_pico.bootloader.file=zephyr-{build.variant}
+
+
+rpi_pico.debug.tool=gdb
+rpi_pico.debug.server.openocd.scripts.0=interface/{programmer.protocol}.cfg
+rpi_pico.debug.server.openocd.scripts.1={programmer.transport_script}
+rpi_pico.debug.server.openocd.scripts.2=target/rp2040-core0.cfg
+rpi_pico.debug.cortex-debug.custom.request=attach
+rpi_pico.debug.svd_file={runtime.platform.path}/svd/rp2040.svd
+
+##############################################################################################################

extra/bin2uf2/.gitignore

@@ -0,0 +1 @@
+bin2uf2

extra/bin2uf2/go.mod

@@ -0,0 +1,3 @@
+module github.com/pennam/bin2uf2
+
+go 1.21

extra/bin2uf2/main.go

@@ -0,0 +1,181 @@
+package main
+
+import (
+	"encoding/binary"
+	"flag"
+	"fmt"
+	"io"
+	"os"
+	"strconv"
+	"strings"
+	"unsafe"
+)
+
+// UF2 block constants with fixed-size types.
+const (
+	magic1          uint32 = 0x0A324655
+	magic2          uint32 = 0x9E5D5157
+	magic3          uint32 = 0x0AB16F30
+	flags           uint32 = 0x00002000 // familyID present
+	payloadSize     uint32 = 256
+	blockSize       uint32 = 512
+	dataSectionSize uint32 = 476
+)
+
+// UF2Block defines the structure of a UF2 block, used as a data container.
+// The Payload array is sized to hold the entire data section, so the unused
+// portion of the array acts as our padding.
+type UF2Block struct {
+	Magic1      uint32
+	Magic2      uint32
+	Flags       uint32
+	TargetAddr  uint32
+	PayloadSize uint32
+	BlockNo     uint32
+	NumBlocks   uint32
+	FamilyID    uint32
+	Payload     [dataSectionSize]byte
+	Magic3      uint32
+}
+
+// Calculate the offset of the NumBlocks field within the block struct.
+const numBlocksOffset = unsafe.Offsetof(UF2Block{}.NumBlocks)
+
+func main() {
+	// Define optional string flags for address and family ID
+	addrStr := flag.String("addr", "0x100E0000", "The starting memory address in hexadecimal format.")
+	familyIDStr := flag.String("familyID", "0xe48bff56", "The family ID of the target device in hexadecimal format.")
+
+	// Customize the default usage message to be more explicit.
+	flag.Usage = func() {
+		fmt.Fprintf(os.Stderr, "Usage: %s [options] <source file> <destination file>\n", os.Args[0])
+		fmt.Fprintln(os.Stderr, "Converts a binary file to the UF2 format.")
+		fmt.Fprintln(os.Stderr, "\nOptions:")
+		flag.PrintDefaults()
+	}
+
+	flag.Parse()
+
+	// Check for the correct number of positional arguments.
+	if len(flag.Args()) != 2 {
+		flag.Usage()
+		os.Exit(1)
+	}
+
+	// Parse the address string from the flag.
+	parsedAddr, err := strconv.ParseUint(strings.TrimPrefix(*addrStr, "0x"), 16, 32)
+	if err != nil {
+		fmt.Fprintf(os.Stderr, "Error: Invalid address format: %v\n", err)
+		os.Exit(1)
+	}
+	address := uint32(parsedAddr)
+
+	// Parse the familyID string from the flag.
+	parsedFamilyID, err := strconv.ParseUint(strings.TrimPrefix(*familyIDStr, "0x"), 16, 32)
+	if err != nil {
+		fmt.Fprintf(os.Stderr, "Error: Invalid familyID format: %v\n", err)
+		os.Exit(1)
+	}
+	familyID := uint32(parsedFamilyID)
+
+	srcPath := flag.Arg(0)
+	dstPath := flag.Arg(1)
+
+	// Open source file
+	src, err := os.Open(srcPath)
+	if err != nil {
+		fmt.Fprintf(os.Stderr, "Error: Could not open source file %s: %v\n", srcPath, err)
+		os.Exit(1)
+	}
+	defer src.Close()
+
+	// Create destination file
+	dst, err := os.Create(dstPath)
+	if err != nil {
+		fmt.Fprintf(os.Stderr, "Error: Could not create destination file %s: %v\n", dstPath, err)
+		os.Exit(1)
+	}
+	defer dst.Close()
+
+	var blockNum uint32
+	var totalBlocks uint32
+	// This slice is a temporary buffer for reading one payload-worth of data.
+	readBuffer := make([]byte, payloadSize)
+
+	// Main loop to read source and write UF2 blocks
+	for {
+		bytesRead, err := io.ReadFull(src, readBuffer)
+		if err == io.EOF {
+			break
+		}
+		if err != nil && err != io.ErrUnexpectedEOF {
+			fmt.Fprintf(os.Stderr, "Error: Failed reading from source file %s: %v\n", srcPath, err)
+			os.Exit(1)
+		}
+
+		// Create the block struct and populate its fields.
+		block := UF2Block{
+			Magic1:      magic1,
+			Magic2:      magic2,
+			Flags:       flags,
+			TargetAddr:  address,
+			PayloadSize: payloadSize,
+			BlockNo:     blockNum,
+			NumBlocks:   0, // Placeholder, will be updated later.
+			FamilyID:    familyID,
+			Magic3:      magic3,
+		}
+		// Copy the data from our read buffer into the beginning of the
+		// larger Payload array. The rest of the array remains zero, acting as padding.
+		copy(block.Payload[:], readBuffer)
+
+		// --- Write the block to disk piece-by-piece ---
+		// 1. Write the header fields
+		binary.Write(dst, binary.LittleEndian, block.Magic1)
+		binary.Write(dst, binary.LittleEndian, block.Magic2)
+		binary.Write(dst, binary.LittleEndian, block.Flags)
+		binary.Write(dst, binary.LittleEndian, block.TargetAddr)
+		binary.Write(dst, binary.LittleEndian, block.PayloadSize)
+		binary.Write(dst, binary.LittleEndian, block.BlockNo)
+		binary.Write(dst, binary.LittleEndian, block.NumBlocks)
+		binary.Write(dst, binary.LittleEndian, block.FamilyID)
+
+		// 2. Write the entire 476-byte data section (payload + padding) in one go.
+		if _, err := dst.Write(block.Payload[:]); err != nil {
+			fmt.Fprintf(os.Stderr, "Error: Failed writing data section to %s: %v\n", dstPath, err)
+			os.Exit(1)
+		}
+
+		// 3. Write the final magic number
+		if err := binary.Write(dst, binary.LittleEndian, block.Magic3); err != nil {
+			fmt.Fprintf(os.Stderr, "Error: Failed writing final magic to %s: %v\n", dstPath, err)
+			os.Exit(1)
+		}
+
+		address += payloadSize
+		blockNum++
+
+		if err == io.EOF || bytesRead < int(payloadSize) {
+			break
+		}
+	}
+
+	totalBlocks = blockNum
+
+	// After writing all blocks, seek back and update the totalBlocks field in each header
+	for i := uint32(0); i < totalBlocks; i++ {
+		// Calculate the offset using our safe constant instead of a magic number.
+		offset := int64(i)*int64(blockSize) + int64(numBlocksOffset)
+		_, err := dst.Seek(offset, io.SeekStart)
+		if err != nil {
+			fmt.Fprintf(os.Stderr, "Error: Failed seeking in destination file %s: %v\n", dstPath, err)
+			os.Exit(1)
+		}
+		if err := binary.Write(dst, binary.LittleEndian, totalBlocks); err != nil {
+			fmt.Fprintf(os.Stderr, "Error: Failed updating total blocks in %s: %v\n", dstPath, err)
+			os.Exit(1)
+		}
+	}
+
+	fmt.Printf("Successfully converted %s to %s (%d blocks written).\n", srcPath, dstPath, totalBlocks)
+}

extra/build.sh

@@ -82,7 +82,7 @@ line_comment_only='^\s*\/\*' # match lines starting with comment
 line_continuation='\\$' # match lines ending with '\'
 c_comment='\s*\/\*.*?\*\/' # match C-style comments and any preceding space
 perl -i -pe "s/${c_comment}//gs unless /${line_preproc_ok}/ || (/${line_comment_only}/ && !/${line_continuation}/)" $(find ${VARIANT_DIR}/llext-edk/include/ -type f)
-for ext in elf bin hex; do
+for ext in elf bin hex uf2; do
     rm -f firmwares/zephyr-$variant.$ext
     if [ -f ${BUILD_DIR}/zephyr/zephyr.$ext ]; then
         cp ${BUILD_DIR}/zephyr/zephyr.$ext firmwares/zephyr-$variant.$ext

platform.txt

@@ -44,7 +44,7 @@ compiler.zephyr.common_cxxflags=-fdata-sections -ffunction-sections -fno-unwind-
 compiler.zephyr.common_ldflags=-fno-exceptions -fno-rtti -fno-threadsafe-statics -fno-unwind-tables -fno-use-cxa-atexit -lstdc++ -lsupc++ -lnosys -nostdlib
 
 compiler.zephyr.extra_cxxflags=
-compiler.zephyr.extra_ldflags=
+compiler.zephyr.extra_ldflags=-lgcc
 
 # this can be overriden in boards.txt
 build.extra_flags=
@@ -222,7 +222,15 @@ tools.picotool.path={runtime.tools.rp2040tools.path}
 tools.picotool.cmd=rp2040load
 tools.picotool.upload.params.verbose=-v
 tools.picotool.upload.params.quiet=
-tools.picotool.upload.pattern="{path}/{cmd}" {upload.verbose} -D "{build.path}/{build.project_name}.elf"
+tools.picotool.upload.pattern="{path}/{cmd}" {upload.verbose} -D "{build.path}/{build.project_name}"
+
+tools.picotool.erase.params.verbose=
+tools.picotool.erase.params.quiet=
+tools.picotool.erase.pattern=
+
+tools.picotool.bootloader.params.verbose=-v
+tools.picotool.bootloader.params.quiet=
+tools.picotool.bootloader.pattern="{path}/{cmd}" {upload.verbose} -D "{runtime.platform.path}/firmwares/{bootloader.file}"
 
 #
 # IMGTOOL

variants/rpi_pico_rp2040/rpi_pico_rp2040.conf

@@ -0,0 +1,10 @@
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_PRODUCT="Raspberry Pi Pico"
+CONFIG_USB_DEVICE_MANUFACTURER="Raspberry Pi"
+CONFIG_USB_DEVICE_VID=0x2E8A
+CONFIG_USB_DEVICE_PID=0x00C0
+
+CONFIG_SERIAL=y
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_LINE_CTRL=y