diff options
| -rw-r--r-- | bsp/raspberry-pico/README.md | 20 | ||||
| -rw-r--r-- | bsp/raspberry-pico/drivers/board.c | 20 | ||||
| -rw-r--r-- | bsp/raspberry-pico/drivers/board.h | 6 | ||||
| -rw-r--r-- | bsp/raspberry-pico/drivers/drv_uart.c | 127 | ||||
| -rw-r--r-- | bsp/raspberry-pico/libraries/pico-sdk/src/rp2_common/pico_runtime/runtime.c | 52 | ||||
| -rw-r--r-- | bsp/raspberry-pico/link.ld | 9 |
6 files changed, 158 insertions, 76 deletions
diff --git a/bsp/raspberry-pico/README.md b/bsp/raspberry-pico/README.md index c238850b9b..eaac07017b 100644 --- a/bsp/raspberry-pico/README.md +++ b/bsp/raspberry-pico/README.md @@ -64,14 +64,14 @@ msh > ## Peripheral Condition -| Drive | Support | Remark | -| ----- | ------- | ------ | -| UART | Support | UART0 | -| GPIO | Support | 0-29 | -| I2C | - | - | -| RTC | - | - | -| SDIO | - | - | -| SPI | - | - | -| TIMER | - | - | -| WDT | - | - | +| Drive | Support | Remark | +| ----- | ------- | ------- | +| UART | Support | UART0/1 | +| GPIO | Support | 0-29 | +| I2C | - | - | +| RTC | - | - | +| SDIO | - | - | +| SPI | - | - | +| TIMER | - | - | +| WDT | - | - | diff --git a/bsp/raspberry-pico/drivers/board.c b/bsp/raspberry-pico/drivers/board.c index af8bcb4f80..ff99bbfe86 100644 --- a/bsp/raspberry-pico/drivers/board.c +++ b/bsp/raspberry-pico/drivers/board.c @@ -16,8 +16,6 @@ #include "board.h" #include "hardware/structs/systick.h" -uint8_t heap[1024 * 80]; - void isr_systick(void) { /* enter interrupt */ @@ -45,11 +43,25 @@ uint32_t systick_config(uint32_t ticks) void rt_hw_board_init() { + rt_system_heap_init(HEAP_BEGIN, HEAP_END); + + alarm_pool_init_default(); + + // Start and end points of the constructor list, + // defined by the linker script. + extern void (*__init_array_start)(); + extern void (*__init_array_end)(); + + // Call each function in the list. + // We have to take the address of the symbols, as __init_array_start *is* + // the first function pointer, not the address of it. + for (void (**p)() = &__init_array_start; p < &__init_array_end; ++p) { + (*p)(); + } + /* Configure the SysTick */ systick_config(frequency_count_khz(CLOCKS_FC0_SRC_VALUE_ROSC_CLKSRC)*10000/RT_TICK_PER_SECOND); - rt_system_heap_init(heap, (uint8_t *)heap + sizeof(heap)); - stdio_init_all(); rt_hw_uart_init(); diff --git a/bsp/raspberry-pico/drivers/board.h b/bsp/raspberry-pico/drivers/board.h index e762b479f8..0c418d5c4e 100644 --- a/bsp/raspberry-pico/drivers/board.h +++ b/bsp/raspberry-pico/drivers/board.h @@ -20,9 +20,9 @@ #define PICO_SRAM_SIZE 256 #define PICO_SRAM_END (0x20000000 + PICO_SRAM_SIZE * 1024) -extern int __bss_end; -#define HEAP_BEGIN (&__bss_end) -#define HEAP_END PICO_SRAM_END +extern int __bss_end__; +#define HEAP_BEGIN (&__bss_end__) +#define HEAP_END ((void *)PICO_SRAM_END) int rt_hw_uart_init(void); diff --git a/bsp/raspberry-pico/drivers/drv_uart.c b/bsp/raspberry-pico/drivers/drv_uart.c index 925968f6d7..6077b60f92 100644 --- a/bsp/raspberry-pico/drivers/drv_uart.c +++ b/bsp/raspberry-pico/drivers/drv_uart.c @@ -153,3 +153,130 @@ int rt_hw_uart_init(void) return ret; } // INIT_DEVICE_EXPORT(rt_hw_uart_init); + +// We are using pins 0 and 1, but see the GPIO function select table in the +// datasheet for information on which other pins can be used. +#define UART1_TX_PIN 4 +#define UART1_RX_PIN 5 + +static struct pico_uart1_dev uart1_dev; + +struct pico_uart1_dev +{ + struct rt_serial_device parent; + rt_uint32_t uart_periph; + rt_uint32_t irqno; +}; + +void pico_uart1_isr(void) +{ + rt_interrupt_enter(); + /* read interrupt status and clear it */ + if (uart_is_readable(uart1)) /* rx ind */ + { + rt_hw_serial_isr(&uart1_dev.parent, RT_SERIAL_EVENT_RX_IND); + } + + rt_interrupt_leave(); +} + +/* + * UART interface + */ +static rt_err_t pico_uart1_configure(struct rt_serial_device *serial, struct serial_configure *cfg) +{ + return RT_EOK; +} + +static rt_err_t pico_uart1_control(struct rt_serial_device *serial, int cmd, void *arg) +{ + switch (cmd) + { + /* enable interrupt */ + case RT_DEVICE_CTRL_SET_INT: + // Set up a RX interrupt + // We need to set up the handler first + // And set up and enable the interrupt handlers + irq_set_exclusive_handler(UART1_IRQ, pico_uart1_isr); + irq_set_enabled(UART1_IRQ, true); + + // Now enable the UART to send interrupts - RX only + uart_set_irq_enables(uart1, true, false); + break; + } + return RT_EOK; +} + +static int pico_uart1_putc(struct rt_serial_device *serial, char c) +{ + uart_putc_raw(uart1, c); + + return 1; +} + +static int pico_uart1_getc(struct rt_serial_device *serial) +{ + int ch; + + if (uart_is_readable(uart1)) + { + ch = uart_get_hw(uart1)->dr; + } + else + { + ch =-1; + } + + return ch; +} + +const static struct rt_uart_ops _uart1_ops = +{ + pico_uart1_configure, + pico_uart1_control, + pico_uart1_putc, + pico_uart1_getc, + RT_NULL, +}; + +/* + * UART Initiation + */ +int rt_hw_uart1_init(void) +{ + rt_err_t ret = RT_EOK; + + struct serial_configure config = RT_SERIAL_CONFIG_DEFAULT; + + uart_init(uart1, 115200); + + // Set the TX and RX pins by using the function select on the GPIO + // Set datasheet for more information on function select + gpio_set_function(UART1_TX_PIN, GPIO_FUNC_UART); + gpio_set_function(UART1_RX_PIN, GPIO_FUNC_UART); + + // Actually, we want a different speed + // The call will return the actual baud rate selected, which will be as close as + // possible to that requested + uart_set_baudrate(uart1, BAUD_RATE); + + // Set UART flow control CTS/RTS, we don't want these, so turn them off + uart_set_hw_flow(uart1, false, false); + + // Set our data format + uart_set_format(uart1, DATA_BITS, STOP_BITS, PARITY); + + // Turn off FIFO's - we want to do this character by character + uart_set_fifo_enabled(uart1, false); + + uart1_dev.parent.ops = &_uart1_ops; + uart1_dev.parent.config = config; + + ret = rt_hw_serial_register(&uart1_dev.parent, + "uart1", + RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX, + &uart1_dev); + + return ret; +} +INIT_DEVICE_EXPORT(rt_hw_uart1_init); diff --git a/bsp/raspberry-pico/libraries/pico-sdk/src/rp2_common/pico_runtime/runtime.c b/bsp/raspberry-pico/libraries/pico-sdk/src/rp2_common/pico_runtime/runtime.c index 98104db73a..98f124f0a3 100644 --- a/bsp/raspberry-pico/libraries/pico-sdk/src/rp2_common/pico_runtime/runtime.c +++ b/bsp/raspberry-pico/libraries/pico-sdk/src/rp2_common/pico_runtime/runtime.c @@ -27,6 +27,7 @@ #endif extern char __StackLimit; /* Set by linker. */ +extern void _exit(int status); uint32_t __attribute__((section(".ram_vector_table"))) ram_vector_table[48]; @@ -136,57 +137,6 @@ void runtime_init(void) { spin_locks_reset(); irq_init_priorities(); - alarm_pool_init_default(); - - // Start and end points of the constructor list, - // defined by the linker script. - extern void (*__init_array_start)(); - extern void (*__init_array_end)(); - - // Call each function in the list. - // We have to take the address of the symbols, as __init_array_start *is* - // the first function pointer, not the address of it. - for (void (**p)() = &__init_array_start; p < &__init_array_end; ++p) { - (*p)(); - } - -} - -void _exit(int status) { -#if PICO_ENTER_USB_BOOT_ON_EXIT - reset_usb_boot(0,0); -#else - while (1) { - __breakpoint(); - } -#endif -} - -void *_sbrk(int incr) { - extern char end; /* Set by linker. */ - static char *heap_end; - char *prev_heap_end; - - if (heap_end == 0) - heap_end = &end; - - prev_heap_end = heap_end; - char *next_heap_end = heap_end + incr; - - if (__builtin_expect(next_heap_end >= (&__StackLimit), false)) { -#if PICO_USE_OPTIMISTIC_SBRK - if (next_heap_end == &__StackLimit) { -// errno = ENOMEM; - return (char *) -1; - } - next_heap_end = &__StackLimit; -#else - return (char *) -1; -#endif - } - - heap_end = next_heap_end; - return (void *) prev_heap_end; } // exit is not useful... no desire to pull in __call_exitprocs diff --git a/bsp/raspberry-pico/link.ld b/bsp/raspberry-pico/link.ld index 898139432f..ae2889b0fd 100644 --- a/bsp/raspberry-pico/link.ld +++ b/bsp/raspberry-pico/link.ld @@ -224,13 +224,6 @@ SECTIONS __bss_end__ = .; } > RAM - .heap (COPY): - { - __end__ = .; - end = __end__; - *(.heap*) - __HeapLimit = .; - } > RAM /* .stack*_dummy section doesn't contains any symbols. It is only * used for linker to calculate size of stack sections, and assign @@ -263,7 +256,7 @@ SECTIONS PROVIDE(__stack = __StackTop); /* Check if data + heap + stack exceeds RAM limit */ - ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed") + ASSERT(__StackLimit >= __bss_end__, "region RAM overflowed") /* todo assert on extra code */ } |