Merge pull request #299 from raspberrypi/back-merge-1.1.1

Back merge 1.1.1

cmake/pico_pre_load_toolchain.cmake

@@ -1,6 +1,5 @@
 # PICO_CMAKE_CONFIG: PICO_TOOLCHAIN_PATH, Path to search for compiler, default=none (i.e. search system paths), group=build
-# Set your compiler path here if it's not in the PATH environment variable.
+set(PICO_TOOLCHAIN_PATH "${PICO_TOOLCHAIN_PATH}" CACHE INTERNAL "")
-set(PICO_TOOLCHAIN_PATH "" CACHE INTERNAL "")
 
 # Set a default build type if none was specified
 set(default_build_type "Release")

cmake/preload/toolchains/pico_arm_gcc.cmake

@@ -52,8 +52,9 @@ set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 option(PICO_DEOPTIMIZED_DEBUG "Build debug builds with -O0" 0)
 
 # todo move to platform/Generix-xxx
-set(ARM_GCC_COMMON_FLAGS " -march=armv6-m -mcpu=cortex-m0plus -mthumb")
+
-#set(ARM_GCC_COMMON_FLAGS " -mcpu=cortex-m0plus -mthumb")
+# on ARM -mcpu should not be mixed with -march
+set(ARM_GCC_COMMON_FLAGS " -mcpu=cortex-m0plus -mthumb")
 foreach(LANG IN ITEMS C CXX ASM)
     set(CMAKE_${LANG}_FLAGS_INIT "${ARM_GCC_COMMON_FLAGS}")
     if (PICO_DEOPTIMIZED_DEBUG)

src/boards/include/boards/adafruit_feather_rp2040.h

@@ -68,12 +68,16 @@
 #endif
 
 //------------- FLASH -------------//
+
+// Use slower generic flash access
+#define PICO_BOOT_STAGE2_CHOOSE_GENERIC_03H 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
-#define PICO_FLASH_SPI_CLKDIV 2
+#define PICO_FLASH_SPI_CLKDIV 4
 #endif
 
 #ifndef PICO_FLASH_SIZE_BYTES
-#define PICO_FLASH_SIZE_BYTES (4 * 1024 * 1024)
+#define PICO_FLASH_SIZE_BYTES (8 * 1024 * 1024)
 #endif
 
 // All boards have B1 RP2040

src/boards/include/boards/adafruit_itsybitsy_rp2040.h

@@ -72,6 +72,9 @@
 #endif
 
 //------------- FLASH -------------//
+
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/adafruit_qtpy_rp2040.h

@@ -71,6 +71,9 @@
 #endif
 
 //------------- FLASH -------------//
+
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/pico.h

@@ -61,6 +61,8 @@
 
 // --- FLASH ---
 
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/pimoroni_keybow2040.h

@@ -107,10 +107,12 @@
 #define KEYBOW2040_SW15_PIN 6
 #endif
 
-#ifndef KEYBOW2040_NUM_SWITCHES
+#ifndef KEYBOW2040_NUM_SWITCHES_PINS
 #define KEYBOW2040_NUM_SWITCHES_PINS 16
 #endif
 
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/pimoroni_picosystem.h

@@ -124,6 +124,8 @@
 #define PICO_DEFAULT_LED_PIN_INVERTED 1
 #endif
 
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/pimoroni_tiny2040.h

@@ -76,6 +76,8 @@
 #define PICO_DEFAULT_LED_PIN_INVERTED 1
 #endif
 
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/sparkfun_micromod.h

@@ -19,7 +19,7 @@
 
 #ifndef PICO_DEFAULT_UART
 #define PICO_DEFAULT_UART 0
-#define
+#endif
 
 #ifndef PICO_DEFAULT_UART_TX_PIN
 #define PICO_DEFAULT_UART_TX_PIN 0
@@ -47,6 +47,8 @@
 #endif
 
 // spi flash
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/sparkfun_promicro.h

@@ -46,6 +46,8 @@
 #define PICO_DEFAULT_I2C_SCL_PIN   17
 #endif
 
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/sparkfun_thingplus.h

@@ -43,6 +43,9 @@
 #endif
 
 // spi flash
+
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
 #ifndef PICO_FLASH_SPI_CLKDIV
 #define PICO_FLASH_SPI_CLKDIV 2
 #endif

src/boards/include/boards/vgaboard.h

@@ -26,8 +26,8 @@
 #define VGABOARD_VGA_COLOR_PIN_BASE 0
 #define VGABOARD_VGA_SYNC_PIN_BASE 16
 
-// Note DAT2/3 are shared with UART TX/RX (pull jumpers off header to access
+// Note DAT1/2 are shared with UART TX/RX (pull jumpers off header to access
-// UART pins and disconnect SD DAT2/3)
+// UART pins and disconnect SD DAT1/2)
 #define VGABOARD_SD_CLK_PIN 5
 #define VGABOARD_SD_CMD_PIN 18
 #define VGABOARD_SD_DAT0_PIN 19
@@ -57,10 +57,12 @@
 #define PICO_SD_CMD_PIN VGABOARD_SD_CMD_PIN
 #define PICO_SD_DAT0_PIN VGABOARD_SD_DAT0_PIN
 
+// 1 or 4
 #ifndef PICO_SD_DAT_PIN_COUNT
 #define PICO_SD_DAT_PIN_COUNT 4
 #endif
 
+// 1 or -1
 #define PICO_SD_DAT_PIN_INCREMENT 1
 
 #define PICO_AUDIO_I2S_DATA_PIN VGABOARD_I2S_DIN_PIN

src/common/pico_base/include/pico/types.h

@@ -25,7 +25,7 @@ typedef unsigned int uint;
     \see update_us_since_boot()
     \ingroup timestamp
 */
-#ifndef NDEBUG
+#ifdef NDEBUG
 typedef uint64_t absolute_time_t;
 #else
 typedef struct {
@@ -40,7 +40,7 @@ typedef struct {
  * \ingroup timestamp
  */
 static inline uint64_t to_us_since_boot(absolute_time_t t) {
-#ifndef NDEBUG
+#ifdef NDEBUG
     return t;
 #else
     return t._private_us_since_boot;
@@ -55,7 +55,7 @@ static inline uint64_t to_us_since_boot(absolute_time_t t) {
  * \ingroup timestamp
  */
 static inline void update_us_since_boot(absolute_time_t *t, uint64_t us_since_boot) {
-#ifndef NDEBUG
+#ifdef NDEBUG
     *t = us_since_boot;
 #else
     assert(us_since_boot <= INT64_MAX);
@@ -63,7 +63,7 @@ static inline void update_us_since_boot(absolute_time_t *t, uint64_t us_since_bo
 #endif
 }
 
-#ifndef NDEBUG
+#ifdef NDEBUG
 #define ABSOLUTE_TIME_INITIALIZED_VAR(name, value) name = value
 #else
 #define ABSOLUTE_TIME_INITIALIZED_VAR(name, value) name = {value}

src/common/pico_util/include/pico/util/queue.h

@@ -18,6 +18,10 @@
  * \ingroup pico_util
  */
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
     spin_lock_t *lock;
     uint8_t *data;
@@ -69,7 +73,7 @@ void queue_free(queue_t *q);
 static inline uint queue_get_level_unsafe(queue_t *q) {
     int32_t rc = (int32_t)q->wptr - (int32_t)q->rptr;
     if (rc < 0) {
-        rc += + q->element_count + 1;
+        rc += q->element_count + 1;
     }
     return (uint)rc;
 }
@@ -181,4 +185,7 @@ void queue_remove_blocking(queue_t *q, void *data);
  */
 void queue_peek_blocking(queue_t *q, void *data);
 
+#ifdef __cplusplus
+}
+#endif
 #endif

src/host/CMakeLists.txt

@@ -14,12 +14,19 @@ pico_add_subdirectory(pico_stdlib)
 pico_add_doxygen(${CMAKE_CURRENT_LIST_DIR})
 
 macro(pico_set_float_implementation TARGET IMPL)
+    # ignore
 endmacro()
 
 macro(pico_set_double_implementation TARGET IMPL)
+    # ignore
+endmacro()
+
+macro(pico_set_binary_type TARGET IMPL)
+    # ignore
 endmacro()
 
 macro(pico_set_boot_stage2 TARGET IMPL)
+    # ignore
 endmacro()
 
 set(PICO_HOST_DIR "${CMAKE_CURRENT_LIST_DIR}" CACHE INTERNAL "")

src/rp2_common/boot_stage2/CMakeLists.txt

@@ -1,10 +1,24 @@
-# PICO_CMAKE_CONFIG: PICO_DEFAULT_BOOT_STAGE2_FILE, Default stage2 file to use unless overridden by pico_set_boot_stage2 on the TARGET, type=bool, default=.../boot2_w25q080.S, group=build
+# PICO_CMAKE_CONFIG: PICO_DEFAULT_BOOT_STAGE2_FILE, Default stage2 file to use unless overridden by pico_set_boot_stage2 on the TARGET; this setting is useful when explicitly setting the default build from a per board CMake file, group=build
-if (NOT PICO_DEFAULT_BOOT_STAGE2_FILE)
+# PICO_CMAKE_CONFIG: PICO_DEFAULT_BOOT_STAGE2, Simpler alternative to specifying PICO_DEFAULT_BOOT_STAGE2_FILE where the file is src/boards/{PICO_DEFAULT_BOOT_STAGE2_FILE}.S, default=compile_time_choice, group=build
-    set(PICO_DEFAULT_BOOT_STAGE2_FILE "${CMAKE_CURRENT_LIST_DIR}/boot2_w25q080.S")
+if (DEFINED ENV{PICO_DEFAULT_BOOT_STAGE2_FILE})
+    set(PICO_DEFAULT_BOOT_STAGE2_FILE $ENV{PICO_DEFAULT_BOOT_STAGE2_FILE})
+    message("Using PICO_DEFAULT_BOOT_STAGE2_FILE from environment ('${PICO_DEFAULT_BOOT_STAGE2_FILE}')")
 endif()
-
 set(PICO_DEFAULT_BOOT_STAGE2_FILE "${PICO_DEFAULT_BOOT_STAGE2_FILE}" CACHE STRING "boot_stage2 source file" FORCE)
 
+set(PICO_BOOT_STAGE2_COMPILE_TIME_CHOICE_NAME compile_time_choice) # local var
+if (NOT PICO_DEFAULT_BOOT_STAGE2_FILE)
+    if (DEFINED ENV{PICO_DEFAULT_BOOT_STAGE2})
+        set(PICO_DEFAULT_BOOT_STAGE2 $ENV{PICO_DEFAULT_BOOT_STAGE2})
+        message("Using PICO_DEFAULT_BOOT_STAGE2 from environment ('${PICO_DEFAULT_BOOT_STAGE2}')")
+    endif()
+    if (NOT DEFINED PICO_DEFAULT_BOOT_STAGE2)
+        set(PICO_DEFAULT_BOOT_STAGE2 ${PICO_BOOT_STAGE2_COMPILE_TIME_CHOICE_NAME})
+    endif()
+    set(PICO_DEFAULT_BOOT_STAGE2 "${PICO_DEFAULT_BOOT_STAGE2}" CACHE STRING "boot_stage2 short name" FORCE)
+    set(PICO_DEFAULT_BOOT_STAGE2_FILE "${CMAKE_CURRENT_LIST_DIR}/${PICO_DEFAULT_BOOT_STAGE2}.S")
+endif()
+
 if (NOT EXISTS ${PICO_DEFAULT_BOOT_STAGE2_FILE})
     message(FATAL_ERROR "Specified boot_stage2 source '${PICO_DEFAULT_BOOT_STAGE2_FILE}' does not exist.")
 endif()
@@ -12,6 +26,9 @@ endif()
 # needed by function below
 set(PICO_BOOT_STAGE2_DIR "${CMAKE_CURRENT_LIST_DIR}" CACHE INTERNAL "")
 
+add_library(boot_stage2_headers INTERFACE)
+target_include_directories(boot_stage2_headers INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include)
+
 # by convention the first source file name without extension is used for the binary info name
 function(pico_define_boot_stage2 NAME SOURCES)
     add_executable(${NAME}
@@ -29,7 +46,7 @@ function(pico_define_boot_stage2 NAME SOURCES)
     # boot2_helpers include dir
     target_include_directories(${NAME} PRIVATE ${PICO_BOOT_STAGE2_DIR}/asminclude)
 
-    target_link_libraries(${NAME} hardware_regs)
+    target_link_libraries(${NAME} hardware_regs boot_stage2_headers)
     target_link_options(${NAME} PRIVATE "LINKER:--script=${PICO_BOOT_STAGE2_DIR}/boot_stage2.ld")
     set_target_properties(${NAME} PROPERTIES LINK_DEPENDS ${PICO_BOOT_STAGE2_DIR}/boot_stage2.ld)
 
@@ -49,17 +66,22 @@ function(pico_define_boot_stage2 NAME SOURCES)
             COMMAND ${Python3_EXECUTABLE} ${PICO_BOOT_STAGE2_DIR}/pad_checksum -s 0xffffffff ${ORIGINAL_BIN} ${PADDED_CHECKSUMMED_ASM}
             )
 
-
     add_library(${NAME}_library INTERFACE)
     add_dependencies(${NAME}_library ${NAME}_padded_checksummed_asm)
     # not strictly (or indeed actually) a link library, but this avoids dependency cycle
     target_link_libraries(${NAME}_library INTERFACE ${PADDED_CHECKSUMMED_ASM})
+    target_link_libraries(${NAME}_library INTERFACE boot_stage2_headers)
 
     list(GET SOURCES 0 FIRST_SOURCE)
-    get_filename_component(BOOT2_BI_NAME ${FIRST_SOURCE} NAME_WE)
+    get_filename_component(BOOT_STAGE2_BI_NAME ${FIRST_SOURCE} NAME_WE)
 
+    # we only set the PICO_BUILD_STAGE2_NAME if it isn't 'compile_time_choice'
+    if (NOT BOOT_STAGE2_BI_NAME STREQUAL PICO_BOOT_STAGE2_COMPILE_TIME_CHOICE_NAME)
+        target_compile_definitions(${NAME} INTERFACE
+                -DPICO_BUILD_BOOT_STAGE2_NAME="${BOOT_STAGE2_BI_NAME}")
         target_compile_definitions(${NAME}_library INTERFACE
-            -DPICO_BOOT2_NAME="${BOOT2_BI_NAME}")
+                -DPICO_BUILD_BOOT_STAGE2_NAME="${BOOT_STAGE2_BI_NAME}")
+    endif()
 endfunction()
 
 macro(pico_set_boot_stage2 TARGET NAME)

src/rp2_common/boot_stage2/compile_time_choice.S

@@ -0,0 +1,29 @@
+// ----------------------------------------------------------------------------
+// Second stage boot code
+// Copyright (c) 2019-2021 Raspberry Pi (Trading) Ltd.
+// SPDX-License-Identifier: BSD-3-Clause
+// ----------------------------------------------------------------------------
+//
+// This implementation uses the PICO_BOOT_STAGE2_CHOOSE_ preprocessor defines to pick
+// amongst a menu of known boot stage 2 implementations, allowing the board
+// configuration header to be able to specify the boot stage 2
+
+#include "boot_stage2/config.h"
+
+#ifdef PICO_BUILD_BOOT_STAGE2_NAME
+    // boot stage2 is configured by cmake, so use the name specified there
+    #error PICO_BUILD_BOOT_STAGE2_NAME should not be defined for compile_time_choice builds
+#else
+    // boot stage2 is selected by board configu header, so we have to do some work
+    #if PICO_BOOT_STAGE2_CHOOSE_IS25LP080
+        #include "boot2_is25lp080.S"
+    #elif PICO_BOOT_STAGE2_CHOOSE_W25Q080
+        #include "boot2_w28q080.S"
+    #elif PICO_BOOT_STAGE2_CHOOSE_W25X10CL
+        #include "boot2_w25x10cl.S"
+    #elif PICO_BOOT_STAGE2_CHOOSE_GENERIC_03H
+        #include "boot2_generic_03h.S"
+    #else
+        #error unknown boot stage2 choice
+    #endif
+#endif

src/rp2_common/boot_stage2/include/boot_stage2/config.h

@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef _BOOT_STAGE2_CONFIG_H_
+#define _BOOT_STAGE2_CONFIG_H_
+
+// NOTE THIS HEADER IS INCLUDED FROM ASSEMBLY
+
+// PICO_CONFIG: PICO_BUILD_BOOT_STAGE2_NAME, The name of the boot stage 2 if selected by the build, group=boot_stage2
+// PICO_CONFIG: PICO_BOOT_STAGE2_CHOOSE_IS25LP080, Select boot2_is25lp080 as the boot stage 2 when no boot stage2 selection is made by the CMake build, type=bool, default=false, group=boot_stage2
+// PICO_CONFIG: PICO_BOOT_STAGE2_CHOOSE_W25Q080, Select boot2_w28q080 as the boot stage 2 when no boot stage2 selection is made by the CMake build, type=bool, default=false, group=boot_stage2
+// PICO_CONFIG: PICO_BOOT_STAGE2_CHOOSE_W25X10CL, Select boot2_is25lp080 as the boot stage 2 when no boot stage2 selection is made by the CMake build, type=bool, default=false, group=boot_stage2
+// PICO_CONFIG: PICO_BOOT_STAGE2_CHOOSE_GENERIC_03H, Select boot2_generic_03h as the boot stage 2 when no boot stage2 selection is made by the CMake build, type=bool, default=true, group=boot_stage2
+
+#ifdef PICO_BUILD_BOOT_STAGE2_NAME
+    // boot stage2 is configured by cmake, so use the name specified there
+    #define PICO_BOOT_STAGE2_NAME PICO_BUILD_BOOT_STAGE2_NAME
+#else
+    // boot stage2 is selected by board configu header, so we have to do some work
+    // NOTE: this switch is mirrored in compile_time_choice.S
+    #if PICO_BOOT_STAGE2_CHOOSE_IS25LP080
+        #define PICO_BOOT_STAGE2_NAME "boot2_is25lp080"
+    #elif PICO_BOOT_STAGE2_CHOOSE_W25Q080
+        #define PICO_BOOT_STAGE2_NAME "boot2_w28q080"
+    #elif PICO_BOOT_STAGE2_CHOOSE_W25X10CL
+        #define PICO_BOOT_STAGE2_NAME "boot2_w25x10cl"
+    #elif PICO_BOOT_STAGE2_CHOOSE_GENERIC_03H || !defined(PICO_BOOT_STAGE2_CHOOSE_GENERIC_03H)
+        #undef PICO_BOOT_STAGE2_CHOOSE_GENERIC_03H
+        #define PICO_BOOT_STAGE2_CHOOSE_GENERIC_03H 1
+        #define PICO_BOOT_STAGE2_NAME "boot2_generic_03h"
+    #else
+        #error no bootstage2 is defined by PICO_BOOT_STAGE2_CHOOSE_ macro
+    #endif
+#endif
+#endif

src/rp2_common/hardware_clocks/clocks.c

@@ -322,7 +322,7 @@ void clock_gpio_init(uint gpio, uint src, uint div) {
     if      (gpio == 21) gpclk = clk_gpout0;
     else if (gpio == 23) gpclk = clk_gpout1;
     else if (gpio == 24) gpclk = clk_gpout2;
-    else if (gpio == 26) gpclk = clk_gpout3;
+    else if (gpio == 25) gpclk = clk_gpout3;
     else {
         invalid_params_if(CLOCKS, true);
     }

src/rp2_common/hardware_clocks/include/hardware/clocks.h

@@ -170,7 +170,7 @@ void clocks_enable_resus(resus_callback_t resus_callback);
 /*! \brief Output an optionally divided clock to the specified gpio pin.
  *  \ingroup hardware_clocks
  *
- * \param gpio The GPIO pin to output the clock to. Valid GPIOs are: 21, 23, 24, 26. These GPIOs are connected to the GPOUT0-3 clock generators.
+ * \param gpio The GPIO pin to output the clock to. Valid GPIOs are: 21, 23, 24, 25. These GPIOs are connected to the GPOUT0-3 clock generators.
  * \param src  The source clock. See the register field CLOCKS_CLK_GPOUT0_CTRL_AUXSRC for a full list. The list is the same for each GPOUT clock generator.
  * \param div  The amount to divide the source clock by. This is useful to not overwhelm the GPIO pin with a fast clock.
  */

src/rp2_common/hardware_i2c/include/hardware/i2c.h

@@ -279,7 +279,7 @@ static inline size_t i2c_get_read_available(i2c_inst_t *i2c) {
  * \param src Data to send
  * \param len Number of bytes to send
  *
- * Writes directly to the to I2C TX FIFO which us mainly useful for
+ * Writes directly to the I2C TX FIFO which is mainly useful for
  * slave-mode operation.
  */
 static inline void i2c_write_raw_blocking(i2c_inst_t *i2c, const uint8_t *src, size_t len) {
@@ -291,14 +291,14 @@ static inline void i2c_write_raw_blocking(i2c_inst_t *i2c, const uint8_t *src, s
     }
 }
 
-/*! \brief Write direct to TX FIFO
+/*! \brief Read direct from RX FIFO
  *  \ingroup hardware_i2c
  *
  * \param i2c Either \ref i2c0 or \ref i2c1
  * \param dst Buffer to accept data
- * \param len Number of bytes to send
+ * \param len Number of bytes to read
  *
- * Reads directly from the I2C RX FIFO which us mainly useful for
+ * Reads directly from the I2C RX FIFO which is mainly useful for
  * slave-mode operation.
  */
 static inline void i2c_read_raw_blocking(i2c_inst_t *i2c, uint8_t *dst, size_t len) {

src/rp2_common/hardware_pio/include/hardware/pio.h

@@ -196,29 +196,6 @@ static inline void sm_config_set_sideset(pio_sm_config *c, uint bit_count, bool
                   (bool_to_bit(pindirs) << PIO_SM0_EXECCTRL_SIDE_PINDIR_LSB);
 }
 
-/*! \brief Set the state machine clock divider (from a floating point value) in a state machine configuration
- *  \ingroup sm_config
- *
- * The clock divider slows the state machine's execution by masking the
- * system clock on some cycles, in a repeating pattern, so that the state
- * machine does not advance. Effectively this produces a slower clock for the
- * state machine to run from, which can be used to generate e.g. a particular
- * UART baud rate. See the datasheet for further detail.
- *
- * \param c Pointer to the configuration structure to modify
- * \param div The fractional divisor to be set. 1 for full speed. An integer clock divisor of n
- *  will cause the state machine to run 1 cycle in every n.
- *  Note that for small n, the jitter introduced by a fractional divider (e.g. 2.5) may be unacceptable
- *  although it will depend on the use case.
- */
-static inline void sm_config_set_clkdiv(pio_sm_config *c, float div) {
-    uint div_int = (uint)div;
-    uint div_frac = (uint)((div - (float)div_int) * (1u << 8u));
-    c->clkdiv =
-            (div_frac << PIO_SM0_CLKDIV_FRAC_LSB) |
-            (div_int << PIO_SM0_CLKDIV_INT_LSB);
-}
-
 /*! \brief Set the state machine clock divider (from integer and fractional parts - 16:8) in a state machine configuration
  *  \ingroup sm_config
  *
@@ -238,6 +215,38 @@ static inline void sm_config_set_clkdiv_int_frac(pio_sm_config *c, uint16_t div_
             (((uint)div_int) << PIO_SM0_CLKDIV_INT_LSB);
 }
 
+static inline void pio_calculate_clkdiv_from_float(float div, uint16_t *div_int, uint8_t *div_frac) {
+    valid_params_if(PIO, div >= 1 && div <= 65536);
+    *div_int = (uint16_t)div;
+    if (*div_int == 0) {
+        *div_frac = 0;
+    } else {
+        *div_frac = (uint8_t)((div - (float)*div_int) * (1u << 8u));
+    }
+}
+
+/*! \brief Set the state machine clock divider (from a floating point value) in a state machine configuration
+ *  \ingroup sm_config
+ *
+ * The clock divider slows the state machine's execution by masking the
+ * system clock on some cycles, in a repeating pattern, so that the state
+ * machine does not advance. Effectively this produces a slower clock for the
+ * state machine to run from, which can be used to generate e.g. a particular
+ * UART baud rate. See the datasheet for further detail.
+ *
+ * \param c Pointer to the configuration structure to modify
+ * \param div The fractional divisor to be set. 1 for full speed. An integer clock divisor of n
+ *  will cause the state machine to run 1 cycle in every n.
+ *  Note that for small n, the jitter introduced by a fractional divider (e.g. 2.5) may be unacceptable
+ *  although it will depend on the use case.
+ */
+static inline void sm_config_set_clkdiv(pio_sm_config *c, float div) {
+    uint16_t div_int;
+    uint8_t div_frac;
+    pio_calculate_clkdiv_from_float(div, &div_int, &div_frac);
+    sm_config_set_clkdiv_int_frac(c, div_int, div_frac);
+}
+
 /*! \brief Set the wrap addresses in a state machine configuration
  *  \ingroup sm_config
  *
@@ -978,23 +987,6 @@ static inline uint32_t pio_sm_get_blocking(PIO pio, uint sm) {
  */
 void pio_sm_drain_tx_fifo(PIO pio, uint sm);
 
-/*! \brief set the current clock divider for a state machine
- *  \ingroup hardware_pio
- *
- * \param pio The PIO instance; either \ref pio0 or \ref pio1
- * \param sm State machine index (0..3)
- * \param div the floating point clock divider
- */
-static inline void pio_sm_set_clkdiv(PIO pio, uint sm, float div) {
-    check_pio_param(pio);
-    check_sm_param(sm);
-    uint div_int = (uint16_t) div;
-    uint div_frac = (uint8_t) ((div - (float)div_int) * (1u << 8u));
-    pio->sm[sm].clkdiv =
-            (div_frac << PIO_SM0_CLKDIV_FRAC_LSB) |
-            (div_int << PIO_SM0_CLKDIV_INT_LSB);
-}
-
 /*! \brief set the current clock divider for a state machine using a 16:8 fraction
  *  \ingroup hardware_pio
  *
@@ -1011,6 +1003,22 @@ static inline void pio_sm_set_clkdiv_int_frac(PIO pio, uint sm, uint16_t div_int
             (((uint)div_int) << PIO_SM0_CLKDIV_INT_LSB);
 }
 
+/*! \brief set the current clock divider for a state machine
+ *  \ingroup hardware_pio
+ *
+ * \param pio The PIO instance; either \ref pio0 or \ref pio1
+ * \param sm State machine index (0..3)
+ * \param div the floating point clock divider
+ */
+static inline void pio_sm_set_clkdiv(PIO pio, uint sm, float div) {
+    check_pio_param(pio);
+    check_sm_param(sm);
+    uint16_t div_int;
+    uint8_t div_frac;
+    pio_calculate_clkdiv_from_float(div, &div_int, &div_frac);
+    pio_sm_set_clkdiv_int_frac(pio, sm, div_int, div_frac);
+}
+
 /*! \brief Clear a state machine's TX and RX FIFOs
  *  \ingroup hardware_pio
  *

src/rp2_common/hardware_rtc/rtc.c

@@ -92,13 +92,16 @@ bool rtc_get_datetime(datetime_t *t) {
     }
 
     // Note: RTC_0 should be read before RTC_1
-    t->dotw  = (rtc_hw->rtc_0 & RTC_RTC_0_DOTW_BITS ) >> RTC_RTC_0_DOTW_LSB;
+    uint32_t rtc_0 = rtc_hw->rtc_0;
-    t->hour  = (rtc_hw->rtc_0 & RTC_RTC_0_HOUR_BITS ) >> RTC_RTC_0_HOUR_LSB;
+    uint32_t rtc_1 = rtc_hw->rtc_1;
-    t->min   = (rtc_hw->rtc_0 & RTC_RTC_0_MIN_BITS  ) >> RTC_RTC_0_MIN_LSB;
+
-    t->sec   = (rtc_hw->rtc_0 & RTC_RTC_0_SEC_BITS  ) >> RTC_RTC_0_SEC_LSB;
+    t->dotw  = (rtc_0 & RTC_RTC_0_DOTW_BITS ) >> RTC_RTC_0_DOTW_LSB;
-    t->year  = (rtc_hw->rtc_1 & RTC_RTC_1_YEAR_BITS ) >> RTC_RTC_1_YEAR_LSB;
+    t->hour  = (rtc_0 & RTC_RTC_0_HOUR_BITS ) >> RTC_RTC_0_HOUR_LSB;
-    t->month = (rtc_hw->rtc_1 & RTC_RTC_1_MONTH_BITS) >> RTC_RTC_1_MONTH_LSB;
+    t->min   = (rtc_0 & RTC_RTC_0_MIN_BITS  ) >> RTC_RTC_0_MIN_LSB;
-    t->day   = (rtc_hw->rtc_1 & RTC_RTC_1_DAY_BITS  ) >> RTC_RTC_1_DAY_LSB;
+    t->sec   = (rtc_0 & RTC_RTC_0_SEC_BITS  ) >> RTC_RTC_0_SEC_LSB;
+    t->year  = (rtc_1 & RTC_RTC_1_YEAR_BITS ) >> RTC_RTC_1_YEAR_LSB;
+    t->month = (rtc_1 & RTC_RTC_1_MONTH_BITS) >> RTC_RTC_1_MONTH_LSB;
+    t->day   = (rtc_1 & RTC_RTC_1_DAY_BITS  ) >> RTC_RTC_1_DAY_LSB;
 
     return true;
 }

src/rp2_common/hardware_timer/timer.c

@@ -166,8 +166,9 @@ bool hardware_alarm_set_target(uint alarm_num, absolute_time_t target) {
         // 1) actually set the hardware timer
         spin_lock_t *lock = spin_lock_instance(PICO_SPINLOCK_ID_TIMER);
         uint32_t save = spin_lock_blocking(lock);
-        timer_hw->intr = 1u << alarm_num;
+        uint8_t old_timer_callbacks_pending = timer_callbacks_pending;
         timer_callbacks_pending |= (uint8_t)(1u << alarm_num);
+        timer_hw->intr = 1u << alarm_num; // clear any IRQ
         timer_hw->alarm[alarm_num] = (uint32_t) t;
         // Set the alarm. Writing time should arm it
         target_hi[alarm_num] = (uint32_t)(t >> 32u);
@@ -178,18 +179,26 @@ bool hardware_alarm_set_target(uint alarm_num, absolute_time_t target) {
             assert(timer_hw->ints & 1u << alarm_num);
         } else {
             if (time_us_64() >= t) {
-                // ok well it is time now; the irq isn't being handled yet because of the spin lock
+                // we are already at or past the right time; there is no point in us racing against the IRQ
-                // however the other core might be in the IRQ handler itself about to do a callback
+                // we are about to generate. note however that, if there was already a timer pending before,
-                // we do the firing ourselves (and indicate to the IRQ handler if any that it shouldn't
+                // then we still let the IRQ fire, as whatever it was, is not handled by our setting missed=true here
                 missed = true;
+                if (timer_callbacks_pending != old_timer_callbacks_pending) {
                     // disarm the timer
                     timer_hw->armed = 1u << alarm_num;
-                timer_hw->intr = 1u << alarm_num; // clear the IRQ too
+                    // clear the IRQ...
-                // and set flag in case we're already in the IRQ handler waiting on the spinlock (on the other core)
+                    timer_hw->intr = 1u << alarm_num;
-                timer_callbacks_pending &= (uint8_t)~(1u << alarm_num);
+                    // ... including anything pending on the processor - perhaps unnecessary, but
+                    // our timer flag says we aren't expecting anything.
+                    irq_clear(harware_alarm_irq_number(alarm_num));
+                    // and clear our flag so that if the IRQ handler is already active (because it is on
+                    // the other core) it will also skip doing anything
+                    timer_callbacks_pending = old_timer_callbacks_pending;
+                }
             }
         }
         spin_unlock(lock, save);
+        // note at this point any pending timer IRQ can likely run
     }
     return missed;
 }

src/rp2_common/pico_runtime/runtime.c

@@ -175,9 +175,9 @@ void *_sbrk(int incr) {
     prev_heap_end = heap_end;
     char *next_heap_end = heap_end + incr;
 
-    if (__builtin_expect(next_heap_end >= (&__StackLimit), false)) {
+    if (__builtin_expect(next_heap_end > (&__StackLimit), false)) {
 #if PICO_USE_OPTIMISTIC_SBRK
-        if (next_heap_end == &__StackLimit) {
+        if (heap_end == &__StackLimit) {
 //        errno = ENOMEM;
             return (char *) -1;
         }

src/rp2_common/pico_standard_link/CMakeLists.txt

@@ -14,7 +14,7 @@ if (NOT TARGET pico_standard_link)
         target_link_options(pico_standard_link INTERFACE "LINKER:-nostdlib")
     endif ()
 
-    target_link_libraries(pico_standard_link INTERFACE hardware_regs pico_bootrom pico_binary_info pico_cxx_options)
+    target_link_libraries(pico_standard_link INTERFACE hardware_regs boot_stage2_headers pico_bootrom pico_binary_info pico_cxx_options)
 
     function(pico_add_link_depend TARGET dependency)
         get_target_property(target_type ${TARGET} TYPE)

src/rp2_common/pico_standard_link/binary_info.c

@@ -6,6 +6,7 @@
 
 #if !PICO_NO_BINARY_INFO && !PICO_NO_PROGRAM_INFO
 #include "pico/binary_info.h"
+#include "boot_stage2/config.h"
 
 // Note we put at most 4 pieces of binary info in the reset section because that's how much spare space we had
 // (picked the most common ones)... if there is a link failure because of .reset section overflow then move
@@ -66,9 +67,9 @@ bi_decl(bi_program_url(PICO_PROGRAM_URL))
 #endif
 #endif
 
-#if !PICO_NO_BI_BOOT2_NAME
+#if !PICO_NO_BI_BOOT_STAGE2_NAME
-#ifdef PICO_BOOT2_NAME
+#ifdef PICO_BOOT_STAGE2_NAME
-bi_decl(bi_string(BINARY_INFO_TAG_RASPBERRY_PI, BINARY_INFO_ID_RP_BOOT2_NAME, PICO_BOOT2_NAME))
+bi_decl(bi_string(BINARY_INFO_TAG_RASPBERRY_PI, BINARY_INFO_ID_RP_BOOT2_NAME, PICO_BOOT_STAGE2_NAME))
 #endif
 #endif
 

src/rp2_common/pico_stdio_usb/reset_interface.c

@@ -60,7 +60,7 @@ static bool resetd_control_request_cb(uint8_t __unused rhport, tusb_control_requ
 
 #if PICO_STDIO_USB_RESET_INTERFACE_SUPPORT_RESET_TO_FLASH_BOOT
         if (request->bRequest == RESET_REQUEST_FLASH) {
-            watchdog_reboot(0, SRAM_END, PICO_STDIO_USB_RESET_RESET_TO_FLASH_DELAY_MS);
+            watchdog_reboot(0, 0, PICO_STDIO_USB_RESET_RESET_TO_FLASH_DELAY_MS);
             return true;
         }
 #endif

src/rp2_common/pico_stdio_usb/stdio_usb.c

@@ -10,12 +10,13 @@
 #include "pico/time.h"
 #include "pico/stdio/driver.h"
 #include "pico/binary_info.h"
+#include "pico/mutex.h"
 #include "hardware/irq.h"
 
 static_assert(PICO_STDIO_USB_LOW_PRIORITY_IRQ > RTC_IRQ, ""); // note RTC_IRQ is currently the last one
 static mutex_t stdio_usb_mutex;
 
-static void low_priority_worker_irq() {
+static void low_priority_worker_irq(void) {
     // if the mutex is already owned, then we are in user code
     // in this file which will do a tud_task itself, so we'll just do nothing
     // until the next tick; we won't starve

src/rp2_common/pico_stdio_usb/stdio_usb_descriptors.c

@@ -89,7 +89,7 @@ static const tusb_desc_device_t usbd_desc_device = {
 
 static const uint8_t usbd_desc_cfg[USBD_DESC_LEN] = {
     TUD_CONFIG_DESCRIPTOR(1, USBD_ITF_MAX, USBD_STR_0, USBD_DESC_LEN,
-        TUSB_DESC_CONFIG_ATT_REMOTE_WAKEUP, USBD_MAX_POWER_MA),
+        0, USBD_MAX_POWER_MA),
 
     TUD_CDC_DESCRIPTOR(USBD_ITF_CDC, USBD_STR_CDC, USBD_CDC_EP_CMD,
         USBD_CDC_CMD_MAX_SIZE, USBD_CDC_EP_OUT, USBD_CDC_EP_IN, USBD_CDC_IN_OUT_MAX_SIZE),

test/kitchen_sink/kitchen_sink.c

@@ -83,6 +83,7 @@ int main(void) {
     dma_channel_configure(0, &config, &dma_to, &dma_from, 1, true);
     dma_channel_set_config(0, &config, false);
 
+    // note this loop expects to cause a breakpoint!!
     for (int i = 0; i < 20; i++) {
         puts("sleepy");
         sleep_ms(1000);
@@ -94,4 +95,6 @@ int main(void) {
             irq_remove_handler(DMA_IRQ_1, dma_handler_b);
         }
     }
+    // this should compile as we are Cortex M0+
+    __asm volatile("SVC #3");
 }

test/pico_time_test/pico_time_test.c

@@ -64,12 +64,13 @@ static bool repeating_timer_callback(struct repeating_timer *t) {
 #define RESOLUTION_ALLOWANCE PICO_HARDWARE_TIMER_RESOLUTION_US
 #endif
 
+int issue_195_test(void);
+
 int main() {
     setup_default_uart();
     alarm_pool_init_default();
 
     PICOTEST_START();
-
     struct alarm_pool *pools[NUM_TIMERS];
     for(uint i=0; i<NUM_TIMERS; i++) {
         if (i == alarm_pool_hardware_alarm_num(alarm_pool_get_default())) {
@@ -215,6 +216,35 @@ int main() {
     PICOTEST_CHECK(absolute_time_diff_us(near_the_end_of_time, at_the_end_of_time) > 0, "near the end of time should be before the end of time")
     PICOTEST_END_SECTION();
 
+    if (issue_195_test()) {
+        return -1;
+    }
+
     PICOTEST_END_TEST();
 }
 
+#define ISSUE_195_TIMER_DELAY 50
+volatile int issue_195_counter;
+int64_t issue_195_callback(alarm_id_t id, void *user_data) {
+    issue_195_counter++;
+    return -ISSUE_195_TIMER_DELAY;
+}
+
+int issue_195_test(void) {
+    PICOTEST_START_SECTION("Issue #195 race condition - without fix may hang on gcc 10.2.1 release builds");
+    absolute_time_t t1 = get_absolute_time();
+    int id = add_alarm_in_us(ISSUE_195_TIMER_DELAY, issue_195_callback, NULL, true);
+    for(uint i=0;i<5000;i++) {
+        sleep_us(100);
+        sleep_us(100);
+        uint delay = 9; // 9 seems to be the magic number (at least for reproducing on 10.2.1)
+        sleep_us(delay);
+    }
+    absolute_time_t t2 = get_absolute_time();
+    cancel_alarm(id);
+    int expected_count = absolute_time_diff_us(t1, t2) / ISSUE_195_TIMER_DELAY;
+    printf("Timer fires approx_expected=%d actual=%d\n", expected_count, issue_195_counter);
+    PICOTEST_END_SECTION();
+    return 0;
+}
+

tools/elf2uf2/main.cpp

@@ -65,10 +65,13 @@ typedef std::vector<address_range> address_ranges;
 #define FLASH_END             0x15000000u
 #define XIP_SRAM_START        0x15000000u
 #define XIP_SRAM_END          0x15004000u
+#define MAIN_RAM_BANKED_START 0x21000000u
+#define MAIN_RAM_BANKED_END   0x21040000u
 
 const address_ranges rp2040_address_ranges_flash {
     address_range(FLASH_START, FLASH_END, address_range::type::CONTENTS),
-    address_range(MAIN_RAM_START, MAIN_RAM_END, address_range::type::NO_CONTENTS)
+    address_range(MAIN_RAM_START, MAIN_RAM_END, address_range::type::NO_CONTENTS),
+    address_range(MAIN_RAM_BANKED_START, MAIN_RAM_BANKED_END, address_range::type::NO_CONTENTS)
 };
 
 const address_ranges rp2040_address_ranges_ram {