Add RP2350 support #4459

soypat · 2024-09-08T14:31:21Z

Seeks to solve #4452.

Notes:

gen-device-svd.go Changed to support multiline Metadata descriptions such as the one found for the RP2350.
rp2350.ld takes rust version as reference. Ideally I'd like a minimal version, I've left it all in so people with more experience can note of what is required and what is "extra"
There's two packages, QFN-60 with 30 GPIOs and QFN80 with 48 GPIOs. I imagine we could expose all 48 GPIOs for the rp2350 and avoid making the distinction at the package level. Board would expose GP* pins.
Pico-sdk's second stage bootloader is spagghetified from what I can tell. Not sure which is the assembly we should be running... that said:
Likely candidate is boot2_generic_03h which is apparently what Rust uses. I've tried adding it as best as I could

github-actions · 2024-09-08T14:47:01Z

Size difference with the dev branch:

Binary size difference

not the same command!
    tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/adafruit4650
    go: downloading tinygo.org/x/tinyfont v0.3.0
 flash                          ram
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deadprogram · 2024-09-08T15:10:00Z

This is great @soypat thank you for getting going on it!

Please see tinygo-org/cmsis-svd-data#1 for some related supporting work.

soypat · 2024-09-08T15:12:57Z

Yes! I've looked at it and generated the device definitions. I just added a new commit with stubs for machine and runtime and am getting the following error during linking:

$ tinygo build -target=rp2350 -serial=none  examples/blinky1 
ld.lld: error: unable to insert .start_block after .vector_table
ld.lld: error: no memory region specified for section '.ARM.exidx'
ld.lld: error: no memory region specified for section '.text'

deadprogram · 2024-09-08T15:18:09Z

I'm not too sure that the ld file you added will actually work with TinyGo. You probably need to have mostly the same symbols in same order as other platforms.

soypat · 2024-09-08T15:34:10Z

OK, blinky1 now compiles. I am afraid of flashing the resulting .uf2 😅

soypat · 2024-09-08T15:37:42Z

I've noticed the bootloader is not included in the build pipeline. I can write invalid assembly in it and everything still compiles...

rminnich

my main concerns:
absolutely, make sure serial out is functional
make sure panic works
empty functions should panic
make sure all that stuff in ldscript is right
#if should have no defaults, there should always be a value, and the default should be "something was not set that is expected to be set"

src/machine/machine_rp2350.go

src/runtime/runtime_rp2350.go

targets/rp2350.ld

rminnich · 2024-09-09T09:31:55Z

targets/rp2350_boot2_generic03h.s

+    sw a0, QMI_M0_RCMD_OFFSET(a3)
+    li a0, INIT_M0_RFMT
+    sw a0, QMI_M0_RFMT_OFFSET(a3)
+#else


I would make the #else have an actual value, #elseif arm and have the fallthrough #else do a #error. Maybe that's too picky, but I've been burned by default behavior.

soypat · 2024-09-10T20:51:21Z

@rminnich I'll leave all functions so far in panic("unimplemented") state. We should focus on getting the bootloader working and setting the LED pin high/low.

soypat · 2024-09-11T03:51:48Z

@deadprogram @aykevl I'm melding the RP2040 and RP2350 APIs... it's got some design decisions that some may consider questionable. I've managed to reuse a lot of logic between them at the cost of some magic constant weirdness. There are a few cases where code reuse was just not worth it though such as with the peripheral reset. Love to hear your input on how it is coming along.

soypat · 2024-09-14T16:30:37Z

OK I feel like I've gotten the hang of writing Cortex assembler and understand what is going on with the linker scripts. I cannot however get to the point of flashing the RP2350 correctly- after I flash it the RP2350 enters bootoader mode and appears as a mass storage device ready to get flashed again.

soypat · 2024-09-14T19:51:43Z

Aha, looks like things have changed since the RP2040. We now have to build a valid IMAGE_DEF, which is a binary blob with specific format.

soypat · 2024-09-15T18:12:15Z

Working on a a pico binary encoder/decoder https://github.com/soypat/picobin. Raspberry Pi's picotool is missing lots of features to inspect binaries, which makes sense- it's not designed to reverse engineer their stuff.

Also RP2350 documentation on pico binary layout is VERY lackluster compared to their hardware documentation so having code to describe the layout gives me confidence on what exactly is going on.

soypat · 2024-09-22T19:31:09Z

OK. I've run into a limitation of the debug/elf package. I need to patch the bootloader by extending its length. I'm thinking of adding a elf implementation that can get the job done to https://github.com/soypat/tinyboot.

Note: @aykevl This PR would add aforementioned tinyboot as a dependency of tinygo compiler. I'm in favor of third partying build tools so that others can use the package and find bugs in parallel to the TinyGo compiler.

Edit: progress here: https://github.com/soypat/tinyboot/tree/main/build/xelf

cibomahto · 2024-11-17T01:50:54Z

Thanks for all you great work on this! I was able to bodge together enough fixes to build a working RP2350 GPIO out example here: Blinkinlabs@fbb5234

I cheated in several ways to get it to work so it isn't pullable as-is. The main changes were:

remove the second stage bootloader- the documentation suggests that it's no longer needed unless you have a weird spi flash chip, and elf files generated by the pico 2 sdk don't seem to include it. The functionality has been moved into the boot rom.
add a stub embedded block right after the isr vector table, so that the boot rom can identify the image. I borrowed this from the rp2350 datasheet. A more complete system like you are describing would include a second block at the end of the image. The elf files generated by the pico 2 sdk include this second block. I think the only function it serves is to verify that the entire image was written into flash, as the default block doesn't include an image checksum.

After disabling some other initialization bits which were causing the image to hang, I succeeded in running a very short that just turns the LED on and off repeatedly.

package main

import (
        "machine"
)

func main() {

    led := machine.LED
    led.Configure(machine.PinConfig{Mode: machine.PinOutput})

    for {
        led.Low()
        led.High()
    }
}

cibomahto · 2024-11-17T01:59:40Z

Here's also a very basic python tool for extracting IMAGE_BLOCKs from rp2350 ELF files: https://gist.github.com/cibomahto/790c1a34d6001a088de9bfba6e27ed23

aykevl · 2024-11-18T09:22:02Z

I need to patch the bootloader by extending its length.

@soypat What do you mean by this? It's generally not possible to move stuff in the firmware file after linking.

aykevl · 2024-11-18T09:37:33Z

Would it be possible to write binaries in a similar way that ESP8266/ESP32 binaries are created? So the ELF file is not modified, instead the ELF file is converted to a binary in a custom way that adds the special header.

cibomahto · 2024-11-18T10:54:33Z

@aykevl Looking at the esp builder:

I think not, because for the RP2350, the pico SDK generates a normal ELF image, just with some magic headers embedded in it.

For RP2350 ELF output, the pico SDK generates a normal ELF file directly, with one info block tucked between the isr table and the start of program image, and another in a second ELF section, at the end of the program image. The first one needs to include an offset to the second one (which needs to be calculated after the program image size is determined), but the second one points back to the memory address of the first one, which should be fixed. If this is done as a post-processing step, it does require rewriting the ELF file in order to make those two changes. Perhaps the builder could insert a dummy section for the second block, and then patch it with elfpatch? At a glance, this seems like it should also allow UF2 files to be generated from the patched ELF.

However, the datasheet also gives an example of a minimum implementation that doesn't need any post processing, just a simple header that needs to be placed in the first 4k of the image. I've chosen this approach to get a basic output working. The disadvantage of this is that it won't support any of the fancier validation options that the rp2350 boot rom offers, such as image signing or partition support.

aykevl · 2024-11-18T11:09:40Z

However, the datasheet also gives an example of a minimum implementation that doesn't need any post processing, just a simple header that needs to be placed in the first 4k of the image.

That looks like a much simpler way to do it!
This doesn't require any patching or rewriting of the ELF file, right? Just a way to tell the linker to put that magic block at the right position (presumably after the interrupt table).

The first one needs to include an offset to the second one (which needs to be calculated after the program image size is determined),

This can probably also be done by the linker, with some special assembler magic.

cibomahto · 2024-11-18T12:00:48Z

However, the datasheet also gives an example of a minimum implementation that doesn't need any post processing, just a simple header that needs to be placed in the first 4k of the image.

That looks like a much simpler way to do it! This doesn't require any patching or rewriting of the ELF file, right? Just a way to tell the linker to put that magic block at the right position (presumably after the interrupt table).

Correct. These 'blocks' each contain a pointer to the next block, in the form of an offset. The rp2350 bootrom uses the offsets to walk through the block chain, and to verify that they form a closed loop back to the first block. The trick is that if you only have one block, you can point it back to itself by specifying a zero offset, so no calculation needs to be done.

For the proof of concept, I gave it an explicit position by modifying the arm linker file: Blinkinlabs@fbb5234#diff-2048f2f7e5dcd7f7efd321f90018d841b002168ec4aa103d33363f4f4f316171R12 .

This is very straightforward, but seems a little invasive to add that for all ARM targets. Another straightforward option is to include a modified version of arm.ld just for the rp2350, but I don't see any other examples that do that and it's probably more difficult to maintain. Maybe there's an assembler directive to put something at the beginning of .text?

aykevl · 2024-11-18T14:13:16Z

For the proof of concept, I gave it an explicit position by modifying the arm linker file: Blinkinlabs@fbb5234#diff-2048f2f7e5dcd7f7efd321f90018d841b002168ec4aa103d33363f4f4f316171R12 .

Actually in my opinion it's fine, if the name is slightly different. Something more generic/descriptive. What about KEEP(*(.after_isr_vector))? Maybe with a short note like /* for the RP2350 */.

soypat · 2024-11-21T00:56:34Z

What do you mean by this? It's generally not possible to move stuff in the firmware file after linking.

Not without great effort, which I was motivated to do at one point but no longer- Seeing @cibomahto PR that works looks like a good starting point. Let me know what I can do to get this merged ASAP.

cibomahto · 2024-11-22T00:39:43Z

I sent a pull request for the changes that I knew how to add properly. I know of at least these issues that are remaining:

GPIO: Set the new 'isolation' bit for the RP2350 only: Blinkinlabs@fbb5234#diff-92842a5fcd6e32b41bc401586ea33fd04c1cfc107babed817b12118f08372667L129
Decide what to do for resets- the behavior of the frceoff/frceon bits has changed in rp2350. Commenting them out at least let the image boot: Blinkinlabs@fbb5234#diff-a7f56abb731d6475be3a5d0641c86fe6fd50b065ff75b2d5d5fbf21a71fcb30cL28
Figure out why the clock init hangs. Commenting it out allowed the image to boot: Blinkinlabs@fbb5234#diff-9e41e0242756386de153301b40712f687ae1925d01da8c6ec477d770c18bc4d8L61

cibomahto · 2024-12-02T22:33:43Z

In my 'experimental' branch, I've succeeded in getting the resets, clocks, timer, UART, and USB running, for at least enough functionality to use time.Sleep(), set a correct UART baud rate, and enable the USB CDC function for a virtual serial terminal.

For testing, I commented out the code that changed between the RP2040 and RP2350, but it needs to be integrated more cleanly.

For instance, in machine_rp2_clocks, the init code is mostly the same, but the registers are laid out differently:
src/machine/machine_rp2_clocks.go

Does anyone have a suggestion or reference for how these should be set up correctly? I think these peripherals are still close enough that it makes sense to have a common '_clocks' file for them.

Reset is here:
Blinkinlabs@96bb225
Blinkinlabs@0ddbe7d

System clocks (and tick source) are here:
Blinkinlabs@96df708
Blinkinlabs@f2327dc

and USB is here (the only difference from rp2040 are the CMSIS register names, and one pad disconnect):
Blinkinlabs@361bd1e

deadprogram · 2024-12-06T14:14:28Z

The CI builds show an error failed to calculate ELF ROM addresses: no ELF ROM sections found...

cibomahto · 2024-12-06T22:11:37Z

The CI builds show an error failed to calculate ELF ROM addresses: no ELF ROM sections found...

It looks like this started failing at f56a0c7 . @soypat Do you know if those changes are necessary if we don't need to patch the ELF file?

Note: I bisected the history using this pattern:

git checkout f56a0c74
git submodule update
go install
make gen-device
make llvm-source
tinygo build -size short -o test.hex -target=pca10040            examples/blinky1

soypat · 2024-12-07T16:24:23Z

@cibomahto The use of tinyboot is no longer needed. Reverting use of tinyboot- didn't think we'd solve this one so quickly :)

deadprogram · 2024-12-09T09:37:41Z

All unit tests now pass, including the TinyHCI hardware test on a RP2040 Pico.

Is this PR ready to be squashed and merged? @soypat @cibomahto @aykevl ?

deadprogram · 2024-12-09T09:39:07Z

builder/build.go

+		switch patch {
+		case "rp2040":
+			err = patchRP2040BootCRC(executable)
+		// case "rp2350":


Is this supposed to be commented out here?

No patch required for rp2350 from my understanding

Then we should remove this, no?

… bump tinyboot version

deadprogram · 2024-12-13T18:29:52Z

Rebased against latest dev branch.

cibomahto · 2024-12-14T15:27:00Z

@deadprogram I 'rebased' pull request #4655 against the updated rp2350-add branch, and added the usb serial fix.

Unfortunately the CI test seems to be failing in a new place now.

deadprogram · 2024-12-14T19:24:47Z

@cibomahto I see that..
https://github.com/tinygo-org/tinygo/actions/runs/12322471622/job/34419991680?pr=4655#step:17:33

Hmm not sure why that is happening. Maybe @aykevl might know something?

deadprogram · 2024-12-16T05:53:38Z

Tests in #4655 are now all passing!

cibomahto · 2024-12-16T14:32:16Z

@deadprogram Great! I just pushed an implementation of enterBootloader(). I verified that it can put the device into USB bootloader mode, but haven't been able to test it with tinygo -flash because that doesn't seem compatible with my container-based build environment.

I think that covers the minimum features for the rp2350. It would still be nice to run it at 150MHz instead of 125, but that could be added later.

deadprogram · 2024-12-16T14:36:29Z

I just pushed an implementation of enterBootloader(). I verified that it can put the device into USB bootloader mode,

Excellent news!

but haven't been able to test it with tinygo -flash because that doesn't seem compatible with my container-based build environment.

Not a problem, I will test that myself shortly.

deadprogram · 2024-12-17T17:10:08Z

@soypat I think we should merge PR #4655 into this PR now, and then mark this PR as ready for review.

* Merge rp2 reset code back together * Separate chip-specific clock definitions * Clear pad isolation bit on rp2350 * Init UART in rp2350 runtime

deadprogram · 2024-12-17T19:22:50Z

OK now #4655 has been rebased into this branch. GPIO and USB should be fully functional, as well as being able to reflash. That means we can really start development/integration 😸

src/machine/machine_rp2_pins.go

deadprogram · 2024-12-18T15:31:35Z

@soypat we need whatever feedback or changes very soon if we are going to be able to get this into the xmas release. ☃️

Signed-off-by: deadprogram <[email protected]>

deadprogram · 2024-12-18T17:47:45Z

Just added Pico2 to smoketests. If everything passes, I think we should squash this PR into dev and then continue working on it from there.

deadprogram · 2024-12-18T18:34:04Z

Now going to squash/merge. Thank you very much especially @soypat and @cibomahto for doing all the heavy lifting on this so far, and to everyone else who helped out!

tdunning · 2025-01-05T23:01:32Z

Just a quick comment on this. I wound up continuing on a project using Pico2 instead of the Pico I had been working with.

I had NO idea that that you guys had just added this support. It is amazingly functional already. I have found a few small issues that I will file as separate items but this does not feel like software that is 3 weeks old.

Congratulations on amazing work!

rminnich reviewed Sep 9, 2024

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cibomahto mentioned this pull request Nov 22, 2024

Fix RP2350 memory layout #4626

Merged

deadprogram reviewed Dec 9, 2024

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soypat added 3 commits December 13, 2024 19:28

gen-device-svd: enclose assembly description with multi-line comment;…

ae722c3

… bump tinyboot version

revert use of tinyboot

abd37fc

fix last commit slipup

f6e1d35

deadprogram force-pushed the rp2350-add branch from cf620b5 to f6e1d35 Compare December 13, 2024 18:29

deadprogram mentioned this pull request Dec 17, 2024

Implement RP2350 initialization clocks, uart, and (partial) USB support #4655

Merged

cibomahto added 7 commits December 17, 2024 20:19

Implement rp2350 init, clock, and uart support

d55b7f0

* Merge rp2 reset code back together * Separate chip-specific clock definitions * Clear pad isolation bit on rp2350 * Init UART in rp2350 runtime

Working USB, but separated

f6f5938

Use uart console for rp2350 since USB console crashes with fmt

f926eeb

Fix linting issues

3cdcfc0

Correct usb/serial initialization order

c30dcb4

Implement jump-to-bootloader

d3d3c2d

Fix linting

ba1919f

deadprogram marked this pull request as ready for review December 18, 2024 11:21

deadprogram reviewed Dec 18, 2024

View reviewed changes

src/machine/machine_rp2_pins.go Show resolved Hide resolved

deadprogram added this to the 0.35.0 milestone Dec 18, 2024

test: add pico2 to smoketests

677ba11

Signed-off-by: deadprogram <[email protected]>

deadprogram merged commit 37f35f8 into dev Dec 18, 2024
23 checks passed

deadprogram deleted the rp2350-add branch December 18, 2024 18:36

Add RP2350 support #4459

Add RP2350 support #4459

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