Add RP2350 support (#4459)

machine/rp2350: add support

* add linker scripts for rp2350
* add bootloader
* begin melding rp2040 and rp2350 APIs
* add UART
* add rp2350 boot patching
* Fix RP2350 memory layout (#4626)
* Remove rp2040-style second stage bootloader.
* Add 'minimum viable' IMAGE_DEF embedded block
* Create a pico2 specific target
* Implement rp2350 init, clock, and uart support
* Merge rp2 reset code back together
* Separate chip-specific clock definitions
* Clear pad isolation bit on rp2350
* Init UART in rp2350 runtime
* Correct usb/serial initialization order
* Implement jump-to-bootloader
* test: add pico2 to smoketests

---------

Signed-off-by: deadprogram <ron@hybridgroup.com>
Co-authored-by: Matthew Mets <matt.mets@cibomahto.com>
Co-authored-by: Matt Mets <matt@blinkinlabs.com>
Co-authored-by: deadprogram <ron@hybridgroup.com>

.gitignore

@@ -37,5 +37,9 @@ test.exe
 test.gba
 test.hex
 test.nro
+test.uf2
 test.wasm
 wasm.wasm
+
+*.uf2
+*.elf

GNUmakefile

@@ -741,6 +741,8 @@ endif
 	@$(MD5SUM) test.hex
 	$(TINYGO) build -size short -o test.hex -target=thumby              examples/echo
 	@$(MD5SUM) test.hex
+	$(TINYGO) build -size short -o test.hex -target=pico2               examples/blinky1
+	@$(MD5SUM) test.hex
 	# test pwm
 	$(TINYGO) build -size short -o test.hex -target=itsybitsy-m0        examples/pwm
 	@$(MD5SUM) test.hex

builder/build.go

@@ -822,6 +822,12 @@ func Build(pkgName, outpath, tmpdir string, config *compileopts.Config) (BuildRe
 					return fmt.Errorf("could not modify stack sizes: %w", err)
 				}
 			}
+
+			// Apply patches of bootloader in the order they appear.
+			if len(config.Target.BootPatches) > 0 {
+				err = applyPatches(result.Executable, config.Target.BootPatches)
+			}
+
 			if config.RP2040BootPatch() {
 				// Patch the second stage bootloader CRC into the .boot2 section
 				err = patchRP2040BootCRC(result.Executable)
@@ -1434,6 +1440,23 @@ func printStacks(calculatedStacks []string, stackSizes map[string]functionStackS
 	}
 }
 
+func applyPatches(executable string, bootPatches []string) (err error) {
+	for _, patch := range bootPatches {
+		switch patch {
+		case "rp2040":
+			err = patchRP2040BootCRC(executable)
+		// case "rp2350":
+		// 	err = patchRP2350BootIMAGE_DEF(executable)
+		default:
+			err = errors.New("undefined boot patch name")
+		}
+		if err != nil {
+			return fmt.Errorf("apply boot patch %q: %w", patch, err)
+		}
+	}
+	return nil
+}
+
 // RP2040 second stage bootloader CRC32 calculation
 //
 // Spec: https://datasheets.raspberrypi.org/rp2040/rp2040-datasheet.pdf
@@ -1445,7 +1468,7 @@ func patchRP2040BootCRC(executable string) error {
 	}
 
 	if len(bytes) != 256 {
-		return fmt.Errorf("rp2040 .boot2 section must be exactly 256 bytes")
+		return fmt.Errorf("rp2040 .boot2 section must be exactly 256 bytes, got %d", len(bytes))
 	}
 
 	// From the 'official' RP2040 checksum script:
@@ -1484,3 +1507,10 @@ func lock(path string) func() {
 
 	return func() { flock.Close() }
 }
+
+func b2u8(b bool) uint8 {
+	if b {
+		return 1
+	}
+	return 0
+}

compileopts/target.go

@@ -46,6 +46,7 @@ type TargetSpec struct {
 	LinkerScript     string   `json:"linkerscript,omitempty"`
 	ExtraFiles       []string `json:"extra-files,omitempty"`
 	RP2040BootPatch  *bool    `json:"rp2040-boot-patch,omitempty"` // Patch RP2040 2nd stage bootloader checksum
+	BootPatches      []string `json:"boot-patches,omitempty"`      // Bootloader patches to be applied in the order they appear.
 	Emulator         string   `json:"emulator,omitempty"`
 	FlashCommand     string   `json:"flash-command,omitempty"`
 	GDB              []string `json:"gdb,omitempty"`

src/machine/board_pico2.go

@@ -0,0 +1,88 @@
+//go:build pico2
+
+package machine
+
+// GPIO pins
+const (
+	GP0  Pin = GPIO0
+	GP1  Pin = GPIO1
+	GP2  Pin = GPIO2
+	GP3  Pin = GPIO3
+	GP4  Pin = GPIO4
+	GP5  Pin = GPIO5
+	GP6  Pin = GPIO6
+	GP7  Pin = GPIO7
+	GP8  Pin = GPIO8
+	GP9  Pin = GPIO9
+	GP10 Pin = GPIO10
+	GP11 Pin = GPIO11
+	GP12 Pin = GPIO12
+	GP13 Pin = GPIO13
+	GP14 Pin = GPIO14
+	GP15 Pin = GPIO15
+	GP16 Pin = GPIO16
+	GP17 Pin = GPIO17
+	GP18 Pin = GPIO18
+	GP19 Pin = GPIO19
+	GP20 Pin = GPIO20
+	GP21 Pin = GPIO21
+	GP22 Pin = GPIO22
+	GP26 Pin = GPIO26
+	GP27 Pin = GPIO27
+	GP28 Pin = GPIO28
+
+	// Onboard LED
+	LED Pin = GPIO25
+
+	// Onboard crystal oscillator frequency, in MHz.
+	xoscFreq = 12 // MHz
+)
+
+// I2C Default pins on Raspberry Pico.
+const (
+	I2C0_SDA_PIN = GP4
+	I2C0_SCL_PIN = GP5
+
+	I2C1_SDA_PIN = GP2
+	I2C1_SCL_PIN = GP3
+)
+
+// SPI default pins
+const (
+	// Default Serial Clock Bus 0 for SPI communications
+	SPI0_SCK_PIN = GPIO18
+	// Default Serial Out Bus 0 for SPI communications
+	SPI0_SDO_PIN = GPIO19 // Tx
+	// Default Serial In Bus 0 for SPI communications
+	SPI0_SDI_PIN = GPIO16 // Rx
+
+	// Default Serial Clock Bus 1 for SPI communications
+	SPI1_SCK_PIN = GPIO10
+	// Default Serial Out Bus 1 for SPI communications
+	SPI1_SDO_PIN = GPIO11 // Tx
+	// Default Serial In Bus 1 for SPI communications
+	SPI1_SDI_PIN = GPIO12 // Rx
+)
+
+// UART pins
+const (
+	UART0_TX_PIN = GPIO0
+	UART0_RX_PIN = GPIO1
+	UART1_TX_PIN = GPIO8
+	UART1_RX_PIN = GPIO9
+	UART_TX_PIN  = UART0_TX_PIN
+	UART_RX_PIN  = UART0_RX_PIN
+)
+
+var DefaultUART = UART0
+
+// USB identifiers
+const (
+	usb_STRING_PRODUCT      = "Pico2"
+	usb_STRING_MANUFACTURER = "Raspberry Pi"
+)
+
+var (
+	usb_VID uint16 = 0x2E8A
+	usb_PID uint16 = 0x000A
+)

src/machine/machine_rp2.go

@@ -1,38 +1,55 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
 import (
 	"device/rp"
+	"runtime/interrupt"
 	"runtime/volatile"
 	"unsafe"
 )
 
 const deviceName = rp.Device
 
+const (
+	// Number of spin locks available
+	// Note: On RP2350, most spinlocks are unusable due to Errata 2
+	_NUMSPINLOCKS         = 32
+	_PICO_SPINLOCK_ID_IRQ = 9
+)
+
+// UART on the RP2040
+var (
+	UART0  = &_UART0
+	_UART0 = UART{
+		Buffer: NewRingBuffer(),
+		Bus:    rp.UART0,
+	}
+
+	UART1  = &_UART1
+	_UART1 = UART{
+		Buffer: NewRingBuffer(),
+		Bus:    rp.UART1,
+	}
+)
+
+func init() {
+	UART0.Interrupt = interrupt.New(rp.IRQ_UART0_IRQ, _UART0.handleInterrupt)
+	UART1.Interrupt = interrupt.New(rp.IRQ_UART1_IRQ, _UART1.handleInterrupt)
+}
+
 //go:linkname machineInit runtime.machineInit
 func machineInit() {
 	// Reset all peripherals to put system into a known state,
 	// except for QSPI pads and the XIP IO bank, as this is fatal if running from flash
 	// and the PLLs, as this is fatal if clock muxing has not been reset on this boot
 	// and USB, syscfg, as this disturbs USB-to-SWD on core 1
-	bits := ^uint32(rp.RESETS_RESET_IO_QSPI |
-		rp.RESETS_RESET_PADS_QSPI |
-		rp.RESETS_RESET_PLL_USB |
-		rp.RESETS_RESET_USBCTRL |
-		rp.RESETS_RESET_SYSCFG |
-		rp.RESETS_RESET_PLL_SYS)
+	bits := ^uint32(initDontReset)
 	resetBlock(bits)
 
 	// Remove reset from peripherals which are clocked only by clkSys and
 	// clkRef. Other peripherals stay in reset until we've configured clocks.
-	bits = ^uint32(rp.RESETS_RESET_ADC |
-		rp.RESETS_RESET_RTC |
-		rp.RESETS_RESET_SPI0 |
-		rp.RESETS_RESET_SPI1 |
-		rp.RESETS_RESET_UART0 |
-		rp.RESETS_RESET_UART1 |
-		rp.RESETS_RESET_USBCTRL)
+	bits = ^uint32(initUnreset)
 	unresetBlockWait(bits)
 
 	clocks.init()
@@ -94,4 +111,25 @@ const (
 )
 
 // DMA channels usable on the RP2040.
-var dmaChannels = (*[12]dmaChannel)(unsafe.Pointer(rp.DMA))
+var dmaChannels = (*[12 + 4*rp2350ExtraReg]dmaChannel)(unsafe.Pointer(rp.DMA))
+
+//go:inline
+func boolToBit(a bool) uint32 {
+	if a {
+		return 1
+	}
+	return 0
+}
+
+//go:inline
+func u32max(a, b uint32) uint32 {
+	if a > b {
+		return a
+	}
+	return b
+}
+
+//go:inline
+func isReservedI2CAddr(addr uint8) bool {
+	return (addr&0x78) == 0 || (addr&0x78) == 0x78
+}

src/machine/machine_rp2040_i2c.go

@@ -631,24 +631,3 @@ func (b i2cAbortError) Reasons() (reasons []string) {
 	}
 	return reasons
 }
-
-//go:inline
-func boolToBit(a bool) uint32 {
-	if a {
-		return 1
-	}
-	return 0
-}
-
-//go:inline
-func u32max(a, b uint32) uint32 {
-	if a > b {
-		return a
-	}
-	return b
-}
-
-//go:inline
-func isReservedI2CAddr(addr uint8) bool {
-	return (addr&0x78) == 0 || (addr&0x78) == 0x78
-}

src/machine/machine_rp2040_rtc.go

@@ -97,7 +97,7 @@ func toAlarmTime(delay uint32) rtcTime {
 
 func (rtc *rtcType) setDivider() {
 	// Get clk_rtc freq and make sure it is running
-	rtcFreq := configuredFreq[clkRTC]
+	rtcFreq := configuredFreq[ClkRTC]
 	if rtcFreq == 0 {
 		panic("can not set RTC divider, clock is not running")
 	}

src/machine/machine_rp2350_rom.go

@@ -0,0 +1,153 @@
+//go:build tinygo && rp2350
+
+package machine
+
+import ()
+
+/*
+typedef unsigned char uint8_t;
+typedef unsigned short uint16_t;
+typedef unsigned long uint32_t;
+typedef unsigned long size_t;
+typedef unsigned long uintptr_t;
+
+#define false 0
+#define true 1
+typedef int bool;
+
+// https://github.com/raspberrypi/pico-sdk
+// src/rp2_common/pico_platform_compiler/include/pico/platform/compiler.h
+
+#define pico_default_asm_volatile(...) __asm volatile (".syntax unified\n" __VA_ARGS__)
+
+
+// https://github.com/raspberrypi/pico-sdk
+// src/rp2350/pico_platform/include/pico/platform.h
+
+static bool pico_processor_state_is_nonsecure(void) {
+//    // todo add a define to disable NS checking at all?
+//    // IDAU-Exempt addresses return S=1 when tested in the Secure state,
+//    // whereas executing a tt in the NonSecure state will always return S=0.
+//    uint32_t tt;
+//    pico_default_asm_volatile (
+//        "movs %0, #0\n"
+//        "tt %0, %0\n"
+//        : "=r" (tt) : : "cc"
+//    );
+//    return !(tt & (1u << 22));
+
+    return false;
+}
+
+
+// https://github.com/raspberrypi/pico-sdk
+// src/rp2_common/pico_bootrom/include/pico/bootrom_constants.h
+
+// RP2040 & RP2350
+#define ROM_DATA_SOFTWARE_GIT_REVISION          ROM_TABLE_CODE('G', 'R')
+#define ROM_FUNC_FLASH_ENTER_CMD_XIP            ROM_TABLE_CODE('C', 'X')
+#define ROM_FUNC_FLASH_EXIT_XIP                 ROM_TABLE_CODE('E', 'X')
+#define ROM_FUNC_FLASH_FLUSH_CACHE              ROM_TABLE_CODE('F', 'C')
+#define ROM_FUNC_CONNECT_INTERNAL_FLASH         ROM_TABLE_CODE('I', 'F')
+#define ROM_FUNC_FLASH_RANGE_ERASE              ROM_TABLE_CODE('R', 'E')
+#define ROM_FUNC_FLASH_RANGE_PROGRAM            ROM_TABLE_CODE('R', 'P')
+
+// RP2350 only
+#define ROM_FUNC_PICK_AB_PARTITION              ROM_TABLE_CODE('A', 'B')
+#define ROM_FUNC_CHAIN_IMAGE                    ROM_TABLE_CODE('C', 'I')
+#define ROM_FUNC_EXPLICIT_BUY                   ROM_TABLE_CODE('E', 'B')
+#define ROM_FUNC_FLASH_RUNTIME_TO_STORAGE_ADDR  ROM_TABLE_CODE('F', 'A')
+#define ROM_DATA_FLASH_DEVINFO16_PTR            ROM_TABLE_CODE('F', 'D')
+#define ROM_FUNC_FLASH_OP                       ROM_TABLE_CODE('F', 'O')
+#define ROM_FUNC_GET_B_PARTITION                ROM_TABLE_CODE('G', 'B')
+#define ROM_FUNC_GET_PARTITION_TABLE_INFO       ROM_TABLE_CODE('G', 'P')
+#define ROM_FUNC_GET_SYS_INFO                   ROM_TABLE_CODE('G', 'S')
+#define ROM_FUNC_GET_UF2_TARGET_PARTITION       ROM_TABLE_CODE('G', 'U')
+#define ROM_FUNC_LOAD_PARTITION_TABLE           ROM_TABLE_CODE('L', 'P')
+#define ROM_FUNC_OTP_ACCESS                     ROM_TABLE_CODE('O', 'A')
+#define ROM_DATA_PARTITION_TABLE_PTR            ROM_TABLE_CODE('P', 'T')
+#define ROM_FUNC_FLASH_RESET_ADDRESS_TRANS      ROM_TABLE_CODE('R', 'A')
+#define ROM_FUNC_REBOOT                         ROM_TABLE_CODE('R', 'B')
+#define ROM_FUNC_SET_ROM_CALLBACK               ROM_TABLE_CODE('R', 'C')
+#define ROM_FUNC_SECURE_CALL                    ROM_TABLE_CODE('S', 'C')
+#define ROM_FUNC_SET_NS_API_PERMISSION          ROM_TABLE_CODE('S', 'P')
+#define ROM_FUNC_BOOTROM_STATE_RESET            ROM_TABLE_CODE('S', 'R')
+#define ROM_FUNC_SET_BOOTROM_STACK              ROM_TABLE_CODE('S', 'S')
+#define ROM_DATA_SAVED_XIP_SETUP_FUNC_PTR       ROM_TABLE_CODE('X', 'F')
+#define ROM_FUNC_FLASH_SELECT_XIP_READ_MODE     ROM_TABLE_CODE('X', 'M')
+#define ROM_FUNC_VALIDATE_NS_BUFFER             ROM_TABLE_CODE('V', 'B')
+
+#define BOOTSEL_FLAG_GPIO_PIN_SPECIFIED         0x20
+
+#define BOOTROM_FUNC_TABLE_OFFSET 0x14
+
+// todo remove this (or #ifdef it for A1/A2)
+#define BOOTROM_IS_A2() ((*(volatile uint8_t *)0x13) == 2)
+#define BOOTROM_WELL_KNOWN_PTR_SIZE (BOOTROM_IS_A2() ? 2 : 4)
+
+#define BOOTROM_VTABLE_OFFSET 0x00
+#define BOOTROM_TABLE_LOOKUP_OFFSET     (BOOTROM_FUNC_TABLE_OFFSET + BOOTROM_WELL_KNOWN_PTR_SIZE)
+
+// https://github.com/raspberrypi/pico-sdk
+// src/common/boot_picoboot_headers/include/boot/picoboot_constants.h
+
+// values 0-7 are secure/non-secure
+#define REBOOT2_FLAG_REBOOT_TYPE_NORMAL       0x0 // param0 = diagnostic partition
+#define REBOOT2_FLAG_REBOOT_TYPE_BOOTSEL      0x2 // param0 = bootsel_flags, param1 = gpio_config
+#define REBOOT2_FLAG_REBOOT_TYPE_RAM_IMAGE    0x3 // param0 = image_base, param1 = image_end
+#define REBOOT2_FLAG_REBOOT_TYPE_FLASH_UPDATE 0x4 // param0 = update_base
+
+#define REBOOT2_FLAG_NO_RETURN_ON_SUCCESS    0x100
+
+#define RT_FLAG_FUNC_ARM_SEC    0x0004
+#define RT_FLAG_FUNC_ARM_NONSEC 0x0010
+
+// https://github.com/raspberrypi/pico-sdk
+// src/rp2_common/pico_bootrom/include/pico/bootrom.h
+
+#define ROM_TABLE_CODE(c1, c2) ((c1) | ((c2) << 8))
+
+typedef void *(*rom_table_lookup_fn)(uint32_t code, uint32_t mask);
+
+__attribute__((always_inline))
+static void *rom_func_lookup_inline(uint32_t code) {
+    rom_table_lookup_fn rom_table_lookup = (rom_table_lookup_fn) (uintptr_t)*(uint16_t*)(BOOTROM_TABLE_LOOKUP_OFFSET);
+    if (pico_processor_state_is_nonsecure()) {
+        return rom_table_lookup(code, RT_FLAG_FUNC_ARM_NONSEC);
+    } else {
+        return rom_table_lookup(code, RT_FLAG_FUNC_ARM_SEC);
+    }
+}
+
+
+typedef int (*rom_reboot_fn)(uint32_t flags, uint32_t delay_ms, uint32_t p0, uint32_t p1);
+
+__attribute__((always_inline))
+int rom_reboot(uint32_t flags, uint32_t delay_ms, uint32_t p0, uint32_t p1) {
+    rom_reboot_fn func = (rom_reboot_fn) rom_func_lookup_inline(ROM_FUNC_REBOOT);
+    return func(flags, delay_ms, p0, p1);
+}
+
+
+// https://github.com/raspberrypi/pico-sdk
+// src/rp2_common/pico_bootrom/bootrom.c
+
+
+void reset_usb_boot(uint32_t usb_activity_gpio_pin_mask, uint32_t disable_interface_mask) {
+    uint32_t flags = disable_interface_mask;
+    if (usb_activity_gpio_pin_mask) {
+        flags |= BOOTSEL_FLAG_GPIO_PIN_SPECIFIED;
+        // the parameter is actually the gpio number, but we only care if BOOTSEL_FLAG_GPIO_PIN_SPECIFIED
+        usb_activity_gpio_pin_mask = (uint32_t)__builtin_ctz(usb_activity_gpio_pin_mask);
+    }
+    rom_reboot(REBOOT2_FLAG_REBOOT_TYPE_BOOTSEL | REBOOT2_FLAG_NO_RETURN_ON_SUCCESS, 10, flags, usb_activity_gpio_pin_mask);
+    __builtin_unreachable();
+}
+
+
+*/
+import "C"
+
+func enterBootloader() {
+	C.reset_usb_boot(0, 0)
+}

src/machine/machine_rp2350_usb.go

@@ -0,0 +1,380 @@
+//go:build rp2350
+
+package machine
+
+import (
+	"device/rp"
+	"machine/usb"
+	"runtime/interrupt"
+	"runtime/volatile"
+	"unsafe"
+)
+
+var (
+	sendOnEP0DATADONE struct {
+		offset int
+		data   []byte
+		pid    uint32
+	}
+)
+
+// Configure the USB peripheral. The config is here for compatibility with the UART interface.
+func (dev *USBDevice) Configure(config UARTConfig) {
+	// Reset usb controller
+	resetBlock(rp.RESETS_RESET_USBCTRL)
+	unresetBlockWait(rp.RESETS_RESET_USBCTRL)
+
+	// Clear any previous state in dpram just in case
+	usbDPSRAM.clear()
+
+	// Enable USB interrupt at processor
+	rp.USB.INTE.Set(0)
+	intr := interrupt.New(rp.IRQ_USBCTRL_IRQ, handleUSBIRQ)
+	intr.SetPriority(0x00)
+	intr.Enable()
+	irqSet(rp.IRQ_USBCTRL_IRQ, true)
+
+	// Mux the controller to the onboard usb phy
+	rp.USB.USB_MUXING.Set(rp.USB_USB_MUXING_TO_PHY | rp.USB_USB_MUXING_SOFTCON)
+
+	// Force VBUS detect so the device thinks it is plugged into a host
+	rp.USB.USB_PWR.Set(rp.USB_USB_PWR_VBUS_DETECT | rp.USB_USB_PWR_VBUS_DETECT_OVERRIDE_EN)
+
+	// Enable the USB controller in device mode.
+	rp.USB.MAIN_CTRL.Set(rp.USB_MAIN_CTRL_CONTROLLER_EN)
+
+	// Enable an interrupt per EP0 transaction
+	rp.USB.SIE_CTRL.Set(rp.USB_SIE_CTRL_EP0_INT_1BUF)
+
+	// Enable interrupts for when a buffer is done, when the bus is reset,
+	// and when a setup packet is received
+	rp.USB.INTE.Set(rp.USB_INTE_BUFF_STATUS |
+		rp.USB_INTE_BUS_RESET |
+		rp.USB_INTE_SETUP_REQ)
+
+	// Present full speed device by enabling pull up on DP
+	rp.USB.SIE_CTRL.SetBits(rp.USB_SIE_CTRL_PULLUP_EN)
+
+	// 12.7.2 Disable phy isolation
+	rp.USB.SetMAIN_CTRL_PHY_ISO(0x0)
+}
+
+func handleUSBIRQ(intr interrupt.Interrupt) {
+	status := rp.USB.INTS.Get()
+
+	// Setup packet received
+	if (status & rp.USB_INTS_SETUP_REQ) > 0 {
+		rp.USB.SIE_STATUS.Set(rp.USB_SIE_STATUS_SETUP_REC)
+		setup := usb.NewSetup(usbDPSRAM.setupBytes())
+
+		ok := false
+		if (setup.BmRequestType & usb.REQUEST_TYPE) == usb.REQUEST_STANDARD {
+			// Standard Requests
+			ok = handleStandardSetup(setup)
+		} else {
+			// Class Interface Requests
+			if setup.WIndex < uint16(len(usbSetupHandler)) && usbSetupHandler[setup.WIndex] != nil {
+				ok = usbSetupHandler[setup.WIndex](setup)
+			}
+		}
+
+		if !ok {
+			// Stall endpoint?
+			sendStallViaEPIn(0)
+		}
+
+	}
+
+	// Buffer status, one or more buffers have completed
+	if (status & rp.USB_INTS_BUFF_STATUS) > 0 {
+		if sendOnEP0DATADONE.offset > 0 {
+			ep := uint32(0)
+			data := sendOnEP0DATADONE.data
+			count := len(data) - sendOnEP0DATADONE.offset
+			if ep == 0 && count > usb.EndpointPacketSize {
+				count = usb.EndpointPacketSize
+			}
+
+			sendViaEPIn(ep, data[sendOnEP0DATADONE.offset:], count)
+			sendOnEP0DATADONE.offset += count
+			if sendOnEP0DATADONE.offset == len(data) {
+				sendOnEP0DATADONE.offset = 0
+			}
+		}
+
+		s2 := rp.USB.BUFF_STATUS.Get()
+
+		// OUT (PC -> rp2040)
+		for i := 0; i < 16; i++ {
+			if s2&(1<<(i*2+1)) > 0 {
+				buf := handleEndpointRx(uint32(i))
+				if usbRxHandler[i] != nil {
+					usbRxHandler[i](buf)
+				}
+				handleEndpointRxComplete(uint32(i))
+			}
+		}
+
+		// IN (rp2040 -> PC)
+		for i := 0; i < 16; i++ {
+			if s2&(1<<(i*2)) > 0 {
+				if usbTxHandler[i] != nil {
+					usbTxHandler[i]()
+				}
+			}
+		}
+
+		rp.USB.BUFF_STATUS.Set(s2)
+	}
+
+	// Bus is reset
+	if (status & rp.USB_INTS_BUS_RESET) > 0 {
+		rp.USB.SIE_STATUS.Set(rp.USB_SIE_STATUS_BUS_RESET)
+		//fixRP2040UsbDeviceEnumeration()
+
+		rp.USB.ADDR_ENDP.Set(0)
+		initEndpoint(0, usb.ENDPOINT_TYPE_CONTROL)
+	}
+}
+
+func initEndpoint(ep, config uint32) {
+	val := uint32(usbEpControlEnable) | uint32(usbEpControlInterruptPerBuff)
+	offset := ep*2*USBBufferLen + 0x100
+	val |= offset
+
+	switch config {
+	case usb.ENDPOINT_TYPE_INTERRUPT | usb.EndpointIn:
+		val |= usbEpControlEndpointTypeInterrupt
+		usbDPSRAM.EPxControl[ep].In.Set(val)
+
+	case usb.ENDPOINT_TYPE_BULK | usb.EndpointOut:
+		val |= usbEpControlEndpointTypeBulk
+		usbDPSRAM.EPxControl[ep].Out.Set(val)
+		usbDPSRAM.EPxBufferControl[ep].Out.Set(USBBufferLen & usbBuf0CtrlLenMask)
+		usbDPSRAM.EPxBufferControl[ep].Out.SetBits(usbBuf0CtrlAvail)
+
+	case usb.ENDPOINT_TYPE_INTERRUPT | usb.EndpointOut:
+		val |= usbEpControlEndpointTypeInterrupt
+		usbDPSRAM.EPxControl[ep].Out.Set(val)
+		usbDPSRAM.EPxBufferControl[ep].Out.Set(USBBufferLen & usbBuf0CtrlLenMask)
+		usbDPSRAM.EPxBufferControl[ep].Out.SetBits(usbBuf0CtrlAvail)
+
+	case usb.ENDPOINT_TYPE_BULK | usb.EndpointIn:
+		val |= usbEpControlEndpointTypeBulk
+		usbDPSRAM.EPxControl[ep].In.Set(val)
+
+	case usb.ENDPOINT_TYPE_CONTROL:
+		val |= usbEpControlEndpointTypeControl
+		usbDPSRAM.EPxBufferControl[ep].Out.Set(usbBuf0CtrlData1Pid)
+		usbDPSRAM.EPxBufferControl[ep].Out.SetBits(usbBuf0CtrlAvail)
+
+	}
+}
+
+func handleUSBSetAddress(setup usb.Setup) bool {
+	sendUSBPacket(0, []byte{}, 0)
+
+	// last, set the device address to that requested by host
+	// wait for transfer to complete
+	timeout := 3000
+	rp.USB.SIE_STATUS.Set(rp.USB_SIE_STATUS_ACK_REC)
+	for (rp.USB.SIE_STATUS.Get() & rp.USB_SIE_STATUS_ACK_REC) == 0 {
+		timeout--
+		if timeout == 0 {
+			return true
+		}
+	}
+
+	rp.USB.ADDR_ENDP.Set(uint32(setup.WValueL) & rp.USB_ADDR_ENDP_ADDRESS_Msk)
+
+	return true
+}
+
+// SendUSBInPacket sends a packet for USB (interrupt in / bulk in).
+func SendUSBInPacket(ep uint32, data []byte) bool {
+	sendUSBPacket(ep, data, 0)
+	return true
+}
+
+//go:noinline
+func sendUSBPacket(ep uint32, data []byte, maxsize uint16) {
+	count := len(data)
+	if 0 < int(maxsize) && int(maxsize) < count {
+		count = int(maxsize)
+	}
+
+	if ep == 0 {
+		if count > usb.EndpointPacketSize {
+			count = usb.EndpointPacketSize
+
+			sendOnEP0DATADONE.offset = count
+			sendOnEP0DATADONE.data = data
+		} else {
+			sendOnEP0DATADONE.offset = 0
+		}
+		epXdata0[ep] = true
+	}
+
+	sendViaEPIn(ep, data, count)
+}
+
+func ReceiveUSBControlPacket() ([cdcLineInfoSize]byte, error) {
+	var b [cdcLineInfoSize]byte
+	ep := 0
+
+	for !usbDPSRAM.EPxBufferControl[ep].Out.HasBits(usbBuf0CtrlFull) {
+		// TODO: timeout
+	}
+
+	ctrl := usbDPSRAM.EPxBufferControl[ep].Out.Get()
+	usbDPSRAM.EPxBufferControl[ep].Out.Set(USBBufferLen & usbBuf0CtrlLenMask)
+	sz := ctrl & usbBuf0CtrlLenMask
+
+	copy(b[:], usbDPSRAM.EPxBuffer[ep].Buffer0[:sz])
+
+	usbDPSRAM.EPxBufferControl[ep].Out.SetBits(usbBuf0CtrlData1Pid)
+	usbDPSRAM.EPxBufferControl[ep].Out.SetBits(usbBuf0CtrlAvail)
+
+	return b, nil
+}
+
+func handleEndpointRx(ep uint32) []byte {
+	ctrl := usbDPSRAM.EPxBufferControl[ep].Out.Get()
+	usbDPSRAM.EPxBufferControl[ep].Out.Set(USBBufferLen & usbBuf0CtrlLenMask)
+	sz := ctrl & usbBuf0CtrlLenMask
+
+	return usbDPSRAM.EPxBuffer[ep].Buffer0[:sz]
+}
+
+func handleEndpointRxComplete(ep uint32) {
+	epXdata0[ep] = !epXdata0[ep]
+	if epXdata0[ep] || ep == 0 {
+		usbDPSRAM.EPxBufferControl[ep].Out.SetBits(usbBuf0CtrlData1Pid)
+	}
+
+	usbDPSRAM.EPxBufferControl[ep].Out.SetBits(usbBuf0CtrlAvail)
+}
+
+func SendZlp() {
+	sendUSBPacket(0, []byte{}, 0)
+}
+
+func sendViaEPIn(ep uint32, data []byte, count int) {
+	// Prepare buffer control register value
+	val := uint32(count) | usbBuf0CtrlAvail
+
+	// DATA0 or DATA1
+	epXdata0[ep&0x7F] = !epXdata0[ep&0x7F]
+	if !epXdata0[ep&0x7F] {
+		val |= usbBuf0CtrlData1Pid
+	}
+
+	// Mark as full
+	val |= usbBuf0CtrlFull
+
+	copy(usbDPSRAM.EPxBuffer[ep&0x7F].Buffer0[:], data[:count])
+	usbDPSRAM.EPxBufferControl[ep&0x7F].In.Set(val)
+}
+
+func sendStallViaEPIn(ep uint32) {
+	// Prepare buffer control register value
+	if ep == 0 {
+		rp.USB.EP_STALL_ARM.Set(rp.USB_EP_STALL_ARM_EP0_IN)
+	}
+	val := uint32(usbBuf0CtrlFull)
+	usbDPSRAM.EPxBufferControl[ep&0x7F].In.Set(val)
+	val |= uint32(usbBuf0CtrlStall)
+	usbDPSRAM.EPxBufferControl[ep&0x7F].In.Set(val)
+}
+
+type USBDPSRAM struct {
+	// Note that EPxControl[0] is not EP0Control but 8-byte setup data.
+	EPxControl [16]USBEndpointControlRegister
+
+	EPxBufferControl [16]USBBufferControlRegister
+
+	EPxBuffer [16]USBBuffer
+}
+
+type USBEndpointControlRegister struct {
+	In  volatile.Register32
+	Out volatile.Register32
+}
+type USBBufferControlRegister struct {
+	In  volatile.Register32
+	Out volatile.Register32
+}
+
+type USBBuffer struct {
+	Buffer0 [USBBufferLen]byte
+	Buffer1 [USBBufferLen]byte
+}
+
+var (
+	usbDPSRAM  = (*USBDPSRAM)(unsafe.Pointer(uintptr(0x50100000)))
+	epXdata0   [16]bool
+	setupBytes [8]byte
+)
+
+func (d *USBDPSRAM) setupBytes() []byte {
+
+	data := d.EPxControl[usb.CONTROL_ENDPOINT].In.Get()
+	setupBytes[0] = byte(data)
+	setupBytes[1] = byte(data >> 8)
+	setupBytes[2] = byte(data >> 16)
+	setupBytes[3] = byte(data >> 24)
+
+	data = d.EPxControl[usb.CONTROL_ENDPOINT].Out.Get()
+	setupBytes[4] = byte(data)
+	setupBytes[5] = byte(data >> 8)
+	setupBytes[6] = byte(data >> 16)
+	setupBytes[7] = byte(data >> 24)
+
+	return setupBytes[:]
+}
+
+func (d *USBDPSRAM) clear() {
+	for i := 0; i < len(d.EPxControl); i++ {
+		d.EPxControl[i].In.Set(0)
+		d.EPxControl[i].Out.Set(0)
+		d.EPxBufferControl[i].In.Set(0)
+		d.EPxBufferControl[i].Out.Set(0)
+	}
+}
+
+const (
+	// DPRAM : Endpoint control register
+	usbEpControlEnable                 = 0x80000000
+	usbEpControlDoubleBuffered         = 0x40000000
+	usbEpControlInterruptPerBuff       = 0x20000000
+	usbEpControlInterruptPerDoubleBuff = 0x10000000
+	usbEpControlEndpointType           = 0x0c000000
+	usbEpControlInterruptOnStall       = 0x00020000
+	usbEpControlInterruptOnNak         = 0x00010000
+	usbEpControlBufferAddress          = 0x0000ffff
+
+	usbEpControlEndpointTypeControl   = 0x00000000
+	usbEpControlEndpointTypeISO       = 0x04000000
+	usbEpControlEndpointTypeBulk      = 0x08000000
+	usbEpControlEndpointTypeInterrupt = 0x0c000000
+
+	// Endpoint buffer control bits
+	usbBuf1CtrlFull     = 0x80000000
+	usbBuf1CtrlLast     = 0x40000000
+	usbBuf1CtrlData0Pid = 0x20000000
+	usbBuf1CtrlData1Pid = 0x00000000
+	usbBuf1CtrlSel      = 0x10000000
+	usbBuf1CtrlStall    = 0x08000000
+	usbBuf1CtrlAvail    = 0x04000000
+	usbBuf1CtrlLenMask  = 0x03FF0000
+	usbBuf0CtrlFull     = 0x00008000
+	usbBuf0CtrlLast     = 0x00004000
+	usbBuf0CtrlData0Pid = 0x00000000
+	usbBuf0CtrlData1Pid = 0x00002000
+	usbBuf0CtrlSel      = 0x00001000
+	usbBuf0CtrlStall    = 0x00000800
+	usbBuf0CtrlAvail    = 0x00000400
+	usbBuf0CtrlLenMask  = 0x000003FF
+
+	USBBufferLen = 64
+)

src/machine/machine_rp2_2040.go

@@ -0,0 +1,199 @@
+//go:build rp2040
+
+package machine
+
+import (
+	"device/rp"
+	"runtime/volatile"
+	"unsafe"
+)
+
+const (
+	_NUMBANK0_GPIOS  = 30
+	_NUMBANK0_IRQS   = 4
+	_NUMIRQ          = 32
+	rp2350ExtraReg   = 0
+	RESETS_RESET_Msk = 0x01ffffff
+	initUnreset      = rp.RESETS_RESET_ADC |
+		rp.RESETS_RESET_RTC |
+		rp.RESETS_RESET_SPI0 |
+		rp.RESETS_RESET_SPI1 |
+		rp.RESETS_RESET_UART0 |
+		rp.RESETS_RESET_UART1 |
+		rp.RESETS_RESET_USBCTRL
+	initDontReset = rp.RESETS_RESET_IO_QSPI |
+		rp.RESETS_RESET_PADS_QSPI |
+		rp.RESETS_RESET_PLL_USB |
+		rp.RESETS_RESET_USBCTRL |
+		rp.RESETS_RESET_SYSCFG |
+		rp.RESETS_RESET_PLL_SYS
+	padEnableMask = rp.PADS_BANK0_GPIO0_IE_Msk |
+		rp.PADS_BANK0_GPIO0_OD_Msk
+)
+
+const (
+	PinOutput PinMode = iota
+	PinInput
+	PinInputPulldown
+	PinInputPullup
+	PinAnalog
+	PinUART
+	PinPWM
+	PinI2C
+	PinSPI
+	PinPIO0
+	PinPIO1
+)
+
+const (
+	ClkGPOUT0 clockIndex = iota // GPIO Muxing 0
+	ClkGPOUT1                   // GPIO Muxing 1
+	ClkGPOUT2                   // GPIO Muxing 2
+	ClkGPOUT3                   // GPIO Muxing 3
+	ClkRef                      // Watchdog and timers reference clock
+	ClkSys                      // Processors, bus fabric, memory, memory mapped registers
+	ClkPeri                     // Peripheral clock for UART and SPI
+	ClkUSB                      // USB clock
+	ClkADC                      // ADC clock
+	ClkRTC                      // Real time clock
+	NumClocks
+)
+
+func CalcClockDiv(srcFreq, freq uint32) uint32 {
+	// Div register is 24.8 int.frac divider so multiply by 2^8 (left shift by 8)
+	return uint32((uint64(srcFreq) << 8) / uint64(freq))
+}
+
+type clocksType struct {
+	clk   [NumClocks]clockType
+	resus struct {
+		ctrl   volatile.Register32
+		status volatile.Register32
+	}
+	fc0      fc
+	wakeEN0  volatile.Register32
+	wakeEN1  volatile.Register32
+	sleepEN0 volatile.Register32
+	sleepEN1 volatile.Register32
+	enabled0 volatile.Register32
+	enabled1 volatile.Register32
+	intR     volatile.Register32
+	intE     volatile.Register32
+	intF     volatile.Register32
+	intS     volatile.Register32
+}
+
+// GPIO function selectors
+const (
+	fnJTAG pinFunc = 0
+	fnSPI  pinFunc = 1 // Connect one of the internal PL022 SPI peripherals to GPIO
+	fnUART pinFunc = 2
+	fnI2C  pinFunc = 3
+	// Connect a PWM slice to GPIO. There are eight PWM slices,
+	// each with two outputchannels (A/B). The B pin can also be used as an input,
+	// for frequency and duty cyclemeasurement
+	fnPWM pinFunc = 4
+	// Software control of GPIO, from the single-cycle IO (SIO) block.
+	// The SIO function (F5)must be selected for the processors to drive a GPIO,
+	// but the input is always connected,so software can check the state of GPIOs at any time.
+	fnSIO pinFunc = 5
+	// Connect one of the programmable IO blocks (PIO) to GPIO. PIO can implement a widevariety of interfaces,
+	// and has its own internal pin mapping hardware, allowing flexibleplacement of digital interfaces on bank 0 GPIOs.
+	// The PIO function (F6, F7) must beselected for PIO to drive a GPIO, but the input is always connected,
+	// so the PIOs canalways see the state of all pins.
+	fnPIO0, fnPIO1 pinFunc = 6, 7
+	// General purpose clock inputs/outputs. Can be routed to a number of internal clock domains onRP2040,
+	// e.g. Input: to provide a 1 Hz clock for the RTC, or can be connected to an internalfrequency counter.
+	// e.g. Output: optional integer divide
+	fnGPCK pinFunc = 8
+	// USB power control signals to/from the internal USB controller
+	fnUSB  pinFunc = 9
+	fnNULL pinFunc = 0x1f
+
+	fnXIP pinFunc = 0
+)
+
+// Configure configures the gpio pin as per mode.
+func (p Pin) Configure(config PinConfig) {
+	if p == NoPin {
+		return
+	}
+	p.init()
+	mask := uint32(1) << p
+	switch config.Mode {
+	case PinOutput:
+		p.setFunc(fnSIO)
+		rp.SIO.GPIO_OE_SET.Set(mask)
+	case PinInput:
+		p.setFunc(fnSIO)
+		p.pulloff()
+	case PinInputPulldown:
+		p.setFunc(fnSIO)
+		p.pulldown()
+	case PinInputPullup:
+		p.setFunc(fnSIO)
+		p.pullup()
+	case PinAnalog:
+		p.setFunc(fnNULL)
+		p.pulloff()
+	case PinUART:
+		p.setFunc(fnUART)
+	case PinPWM:
+		p.setFunc(fnPWM)
+	case PinI2C:
+		// IO config according to 4.3.1.3 of rp2040 datasheet.
+		p.setFunc(fnI2C)
+		p.pullup()
+		p.setSchmitt(true)
+		p.setSlew(false)
+	case PinSPI:
+		p.setFunc(fnSPI)
+	case PinPIO0:
+		p.setFunc(fnPIO0)
+	case PinPIO1:
+		p.setFunc(fnPIO1)
+	}
+}
+
+var (
+	timer = (*timerType)(unsafe.Pointer(rp.TIMER))
+)
+
+// Enable or disable a specific interrupt on the executing core.
+// num is the interrupt number which must be in [0,31].
+func irqSet(num uint32, enabled bool) {
+	if num >= _NUMIRQ {
+		return
+	}
+	irqSetMask(1<<num, enabled)
+}
+
+func irqSetMask(mask uint32, enabled bool) {
+	if enabled {
+		// Clear pending before enable
+		// (if IRQ is actually asserted, it will immediately re-pend)
+		rp.PPB.NVIC_ICPR.Set(mask)
+		rp.PPB.NVIC_ISER.Set(mask)
+	} else {
+		rp.PPB.NVIC_ICER.Set(mask)
+	}
+}
+
+func (clks *clocksType) initRTC() {
+	// ClkRTC = pllUSB (48MHz) / 1024 = 46875Hz
+	clkrtc := clks.clock(ClkRTC)
+	clkrtc.configure(0, // No GLMUX
+		rp.CLOCKS_CLK_RTC_CTRL_AUXSRC_CLKSRC_PLL_USB,
+		48*MHz,
+		46875)
+}
+
+func (clks *clocksType) initTicks() {} // No ticks on RP2040
+
+// startTick starts the watchdog tick.
+// cycles needs to be a divider that when applied to the xosc input,
+// produces a 1MHz clock. So if the xosc frequency is 12MHz,
+// this will need to be 12.
+func (wd *watchdogImpl) startTick(cycles uint32) {
+	rp.WATCHDOG.TICK.Set(cycles | rp.WATCHDOG_TICK_ENABLE)
+}

src/machine/machine_rp2_2350.go

@@ -0,0 +1,217 @@
+//go:build rp2350
+
+package machine
+
+import (
+	"device/rp"
+	"runtime/volatile"
+	"unsafe"
+)
+
+const (
+	_NUMBANK0_GPIOS  = 48
+	_NUMBANK0_IRQS   = 6
+	rp2350ExtraReg   = 1
+	_NUMIRQ          = 51
+	notimpl          = "rp2350: not implemented"
+	RESETS_RESET_Msk = 0x1fffffff
+	initUnreset      = rp.RESETS_RESET_ADC |
+		rp.RESETS_RESET_SPI0 |
+		rp.RESETS_RESET_SPI1 |
+		rp.RESETS_RESET_UART0 |
+		rp.RESETS_RESET_UART1 |
+		rp.RESETS_RESET_USBCTRL
+	initDontReset = rp.RESETS_RESET_USBCTRL |
+		rp.RESETS_RESET_SYSCFG |
+		rp.RESETS_RESET_PLL_USB |
+		rp.RESETS_RESET_PLL_SYS |
+		rp.RESETS_RESET_PADS_QSPI |
+		rp.RESETS_RESET_IO_QSPI |
+		rp.RESETS_RESET_JTAG
+	padEnableMask = rp.PADS_BANK0_GPIO0_IE_Msk |
+		rp.PADS_BANK0_GPIO0_OD_Msk |
+		rp.PADS_BANK0_GPIO0_ISO_Msk
+)
+
+const (
+	PinOutput PinMode = iota
+	PinInput
+	PinInputPulldown
+	PinInputPullup
+	PinAnalog
+	PinUART
+	PinPWM
+	PinI2C
+	PinSPI
+	PinPIO0
+	PinPIO1
+	PinPIO2
+)
+
+const (
+	ClkGPOUT0 clockIndex = iota // GPIO Muxing 0
+	ClkGPOUT1                   // GPIO Muxing 1
+	ClkGPOUT2                   // GPIO Muxing 2
+	ClkGPOUT3                   // GPIO Muxing 3
+	ClkRef                      // Watchdog and timers reference clock
+	ClkSys                      // Processors, bus fabric, memory, memory mapped registers
+	ClkPeri                     // Peripheral clock for UART and SPI
+	ClkHSTX                     // High speed interface
+	ClkUSB                      // USB clock
+	ClkADC                      // ADC clock
+	NumClocks
+)
+
+func CalcClockDiv(srcFreq, freq uint32) uint32 {
+	// Div register is 4.16 int.frac divider so multiply by 2^16 (left shift by 16)
+	return uint32((uint64(srcFreq) << 16) / uint64(freq))
+}
+
+type clocksType struct {
+	clk               [NumClocks]clockType
+	dftclk_xosc_ctrl  volatile.Register32
+	dftclk_rosc_ctrl  volatile.Register32
+	dftclk_lposc_ctrl volatile.Register32
+	resus             struct {
+		ctrl   volatile.Register32
+		status volatile.Register32
+	}
+	fc0      fc
+	wakeEN0  volatile.Register32
+	wakeEN1  volatile.Register32
+	sleepEN0 volatile.Register32
+	sleepEN1 volatile.Register32
+	enabled0 volatile.Register32
+	enabled1 volatile.Register32
+	intR     volatile.Register32
+	intE     volatile.Register32
+	intF     volatile.Register32
+	intS     volatile.Register32
+}
+
+// GPIO function selectors
+const (
+	// Connect the high-speed transmit peripheral (HSTX) to GPIO.
+	fnHSTX pinFunc = 0
+	fnSPI  pinFunc = 1 // Connect one of the internal PL022 SPI peripherals to GPIO
+	fnUART pinFunc = 2
+	fnI2C  pinFunc = 3
+	// Connect a PWM slice to GPIO. There are eight PWM slices,
+	// each with two outputchannels (A/B). The B pin can also be used as an input,
+	// for frequency and duty cyclemeasurement
+	fnPWM pinFunc = 4
+	// Software control of GPIO, from the single-cycle IO (SIO) block.
+	// The SIO function (F5)must be selected for the processors to drive a GPIO,
+	// but the input is always connected,so software can check the state of GPIOs at any time.
+	fnSIO pinFunc = 5
+	// Connect one of the programmable IO blocks (PIO) to GPIO. PIO can implement a widevariety of interfaces,
+	// and has its own internal pin mapping hardware, allowing flexibleplacement of digital interfaces on bank 0 GPIOs.
+	// The PIO function (F6, F7, F8) must beselected for PIO to drive a GPIO, but the input is always connected,
+	// so the PIOs canalways see the state of all pins.
+	fnPIO0, fnPIO1, fnPIO2 pinFunc = 6, 7, 8
+	// General purpose clock outputs. Can drive a number of internal clocks (including PLL
+	// 	outputs) onto GPIOs, with optional integer divide.
+	fnGPCK pinFunc = 9
+	// QSPI memory interface peripheral, used for execute-in-place from external QSPI flash or PSRAM memory devices.
+	fnQMI pinFunc = 9
+	// USB power control signals to/from the internal USB controller.
+	fnUSB     pinFunc = 10
+	fnUARTAlt pinFunc = 11
+	fnNULL    pinFunc = 0x1f
+)
+
+// Configure configures the gpio pin as per mode.
+func (p Pin) Configure(config PinConfig) {
+	if p == NoPin {
+		return
+	}
+	p.init()
+	mask := uint32(1) << p
+	switch config.Mode {
+	case PinOutput:
+		p.setFunc(fnSIO)
+		rp.SIO.GPIO_OE_SET.Set(mask)
+	case PinInput:
+		p.setFunc(fnSIO)
+		p.pulloff()
+	case PinInputPulldown:
+		p.setFunc(fnSIO)
+		p.pulldown()
+	case PinInputPullup:
+		p.setFunc(fnSIO)
+		p.pullup()
+	case PinAnalog:
+		p.setFunc(fnNULL)
+		p.pulloff()
+	case PinUART:
+		p.setFunc(fnUART)
+	case PinPWM:
+		p.setFunc(fnPWM)
+	case PinI2C:
+		// IO config according to 4.3.1.3 of rp2040 datasheet.
+		p.setFunc(fnI2C)
+		p.pullup()
+		p.setSchmitt(true)
+		p.setSlew(false)
+	case PinSPI:
+		p.setFunc(fnSPI)
+	case PinPIO0:
+		p.setFunc(fnPIO0)
+	case PinPIO1:
+		p.setFunc(fnPIO1)
+	case PinPIO2:
+		p.setFunc(fnPIO2)
+	}
+}
+
+var (
+	timer = (*timerType)(unsafe.Pointer(rp.TIMER0))
+)
+
+// Enable or disable a specific interrupt on the executing core.
+// num is the interrupt number which must be in [0,_NUMIRQ).
+func irqSet(num uint32, enabled bool) {
+	if num >= _NUMIRQ {
+		return
+	}
+
+	register_index := num / 32
+	var mask uint32 = 1 << (num % 32)
+
+	if enabled {
+		// Clear pending before enable
+		//(if IRQ is actually asserted, it will immediately re-pend)
+		if register_index == 0 {
+			rp.PPB.NVIC_ICPR0.Set(mask)
+			rp.PPB.NVIC_ISER0.Set(mask)
+		} else {
+			rp.PPB.NVIC_ICPR1.Set(mask)
+			rp.PPB.NVIC_ISER1.Set(mask)
+		}
+	} else {
+		if register_index == 0 {
+			rp.PPB.NVIC_ICER0.Set(mask)
+		} else {
+			rp.PPB.NVIC_ICER1.Set(mask)
+		}
+	}
+}
+
+func (clks *clocksType) initRTC() {} // No RTC on RP2350.
+
+func (clks *clocksType) initTicks() {
+	rp.TICKS.SetTIMER0_CTRL_ENABLE(0)
+	rp.TICKS.SetTIMER0_CYCLES(12)
+	rp.TICKS.SetTIMER0_CTRL_ENABLE(1)
+}
+
+func EnterBootloader() {
+	enterBootloader()
+}
+
+// startTick starts the watchdog tick.
+// On RP2040, the watchdog contained a tick generator used to generate a 1μs tick for the watchdog. This was also
+// distributed to the system timer. On RP2350, the watchdog instead takes a tick input from the system-level ticks block. See Section 8.5.
+func (wd *watchdogImpl) startTick(cycles uint32) {
+	rp.TICKS.WATCHDOG_CTRL.SetBits(1)
+}

src/machine/machine_rp2_adc.go

@@ -1,4 +1,4 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 

src/machine/machine_rp2_clocks.go

@@ -1,4 +1,4 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
@@ -22,20 +22,6 @@ func cpuPeriod() uint32 {
 // clockIndex identifies a hardware clock
 type clockIndex uint8
 
-const (
-	clkGPOUT0 clockIndex = iota // GPIO Muxing 0
-	clkGPOUT1                   // GPIO Muxing 1
-	clkGPOUT2                   // GPIO Muxing 2
-	clkGPOUT3                   // GPIO Muxing 3
-	clkRef                      // Watchdog and timers reference clock
-	clkSys                      // Processors, bus fabric, memory, memory mapped registers
-	clkPeri                     // Peripheral clock for UART and SPI
-	clkUSB                      // USB clock
-	clkADC                      // ADC clock
-	clkRTC                      // Real time clock
-	numClocks
-)
-
 type clockType struct {
 	ctrl     volatile.Register32
 	div      volatile.Register32
@@ -53,28 +39,9 @@ type fc struct {
 	result   volatile.Register32
 }
 
-type clocksType struct {
-	clk   [numClocks]clockType
-	resus struct {
-		ctrl   volatile.Register32
-		status volatile.Register32
-	}
-	fc0      fc
-	wakeEN0  volatile.Register32
-	wakeEN1  volatile.Register32
-	sleepEN0 volatile.Register32
-	sleepEN1 volatile.Register32
-	enabled0 volatile.Register32
-	enabled1 volatile.Register32
-	intR     volatile.Register32
-	intE     volatile.Register32
-	intF     volatile.Register32
-	intS     volatile.Register32
-}
-
 var clocks = (*clocksType)(unsafe.Pointer(rp.CLOCKS))
 
-var configuredFreq [numClocks]uint32
+var configuredFreq [NumClocks]uint32
 
 type clock struct {
 	*clockType
@@ -101,7 +68,7 @@ func (clks *clocksType) clock(cix clockIndex) clock {
 //
 // Not all clocks have both types of mux.
 func (clk *clock) hasGlitchlessMux() bool {
-	return clk.cix == clkSys || clk.cix == clkRef
+	return clk.cix == ClkSys || clk.cix == ClkRef
 }
 
 // configure configures the clock by selecting the main clock source src
@@ -113,8 +80,7 @@ func (clk *clock) configure(src, auxsrc, srcFreq, freq uint32) {
 		panic("clock frequency cannot be greater than source frequency")
 	}
 
-	// Div register is 24.8 int.frac divider so multiply by 2^8 (left shift by 8)
-	div := uint32((uint64(srcFreq) << 8) / uint64(freq))
+	div := CalcClockDiv(srcFreq, freq)
 
 	// If increasing divisor, set divisor before source. Otherwise set source
 	// before divisor. This avoids a momentary overspeed when e.g. switching
@@ -133,16 +99,16 @@ func (clk *clock) configure(src, auxsrc, srcFreq, freq uint32) {
 	} else
 	// If no glitchless mux, cleanly stop the clock to avoid glitches
 	// propagating when changing aux mux. Note it would be a really bad idea
-	// to do this on one of the glitchless clocks (clkSys, clkRef).
+	// to do this on one of the glitchless clocks (ClkSys, ClkRef).
 	{
-		// Disable clock. On clkRef and clkSys this does nothing,
+		// Disable clock. On ClkRef and ClkSys this does nothing,
 		// all other clocks have the ENABLE bit in the same position.
 		clk.ctrl.ClearBits(rp.CLOCKS_CLK_GPOUT0_CTRL_ENABLE_Msk)
 		if configuredFreq[clk.cix] > 0 {
 			// Delay for 3 cycles of the target clock, for ENABLE propagation.
 			// Note XOSC_COUNT is not helpful here because XOSC is not
 			// necessarily running, nor is timer... so, 3 cycles per loop:
-			delayCyc := configuredFreq[clkSys]/configuredFreq[clk.cix] + 1
+			delayCyc := configuredFreq[ClkSys]/configuredFreq[clk.cix] + 1
 			for delayCyc != 0 {
 				// This could be done more efficiently but TinyGo inline
 				// assembly is not yet capable enough to express that. In the
@@ -164,7 +130,7 @@ func (clk *clock) configure(src, auxsrc, srcFreq, freq uint32) {
 		}
 	}
 
-	// Enable clock. On clkRef and clkSys this does nothing,
+	// Enable clock. On ClkRef and ClkSys this does nothing,
 	// all other clocks have the ENABLE bit in the same position.
 	clk.ctrl.SetBits(rp.CLOCKS_CLK_GPOUT0_CTRL_ENABLE)
 
@@ -185,18 +151,18 @@ func (clks *clocksType) init() {
 	Watchdog.startTick(xoscFreq)
 
 	// Disable resus that may be enabled from previous software
-	clks.resus.ctrl.Set(0)
+	rp.CLOCKS.SetCLK_SYS_RESUS_CTRL_CLEAR(0)
 
 	// Enable the xosc
 	xosc.init()
 
 	// Before we touch PLLs, switch sys and ref cleanly away from their aux sources.
-	clks.clk[clkSys].ctrl.ClearBits(rp.CLOCKS_CLK_SYS_CTRL_SRC_Msk)
-	for !clks.clk[clkSys].selected.HasBits(0x1) {
+	clks.clk[ClkSys].ctrl.ClearBits(rp.CLOCKS_CLK_SYS_CTRL_SRC_Msk)
+	for !clks.clk[ClkSys].selected.HasBits(0x1) {
 	}
 
-	clks.clk[clkRef].ctrl.ClearBits(rp.CLOCKS_CLK_REF_CTRL_SRC_Msk)
-	for !clks.clk[clkRef].selected.HasBits(0x1) {
+	clks.clk[ClkRef].ctrl.ClearBits(rp.CLOCKS_CLK_REF_CTRL_SRC_Msk)
+	for !clks.clk[ClkRef].selected.HasBits(0x1) {
 	}
 
 	// Configure PLLs
@@ -207,47 +173,44 @@ func (clks *clocksType) init() {
 	pllUSB.init(1, 480*MHz, 5, 2)
 
 	// Configure clocks
-	// clkRef = xosc (12MHz) / 1 = 12MHz
-	clkref := clks.clock(clkRef)
+	// ClkRef = xosc (12MHz) / 1 = 12MHz
+	clkref := clks.clock(ClkRef)
 	clkref.configure(rp.CLOCKS_CLK_REF_CTRL_SRC_XOSC_CLKSRC,
 		0, // No aux mux
 		12*MHz,
 		12*MHz)
 
-	// clkSys = pllSys (125MHz) / 1 = 125MHz
-	clksys := clks.clock(clkSys)
+	// ClkSys = pllSys (125MHz) / 1 = 125MHz
+	clksys := clks.clock(ClkSys)
 	clksys.configure(rp.CLOCKS_CLK_SYS_CTRL_SRC_CLKSRC_CLK_SYS_AUX,
 		rp.CLOCKS_CLK_SYS_CTRL_AUXSRC_CLKSRC_PLL_SYS,
 		125*MHz,
 		125*MHz)
 
-	// clkUSB = pllUSB (48MHz) / 1 = 48MHz
-	clkusb := clks.clock(clkUSB)
+	// ClkUSB = pllUSB (48MHz) / 1 = 48MHz
+	clkusb := clks.clock(ClkUSB)
 	clkusb.configure(0, // No GLMUX
 		rp.CLOCKS_CLK_USB_CTRL_AUXSRC_CLKSRC_PLL_USB,
 		48*MHz,
 		48*MHz)
 
-	// clkADC = pllUSB (48MHZ) / 1 = 48MHz
-	clkadc := clks.clock(clkADC)
+	// ClkADC = pllUSB (48MHZ) / 1 = 48MHz
+	clkadc := clks.clock(ClkADC)
 	clkadc.configure(0, // No GLMUX
 		rp.CLOCKS_CLK_ADC_CTRL_AUXSRC_CLKSRC_PLL_USB,
 		48*MHz,
 		48*MHz)
 
-	// clkRTC = pllUSB (48MHz) / 1024 = 46875Hz
-	clkrtc := clks.clock(clkRTC)
-	clkrtc.configure(0, // No GLMUX
-		rp.CLOCKS_CLK_RTC_CTRL_AUXSRC_CLKSRC_PLL_USB,
-		48*MHz,
-		46875)
+	clks.initRTC()
 
-	// clkPeri = clkSys. Used as reference clock for Peripherals.
+	// ClkPeri = ClkSys. Used as reference clock for Peripherals.
 	// No dividers so just select and enable.
-	// Normally choose clkSys or clkUSB.
-	clkperi := clks.clock(clkPeri)
+	// Normally choose ClkSys or ClkUSB.
+	clkperi := clks.clock(ClkPeri)
 	clkperi.configure(0,
 		rp.CLOCKS_CLK_PERI_CTRL_AUXSRC_CLK_SYS,
 		125*MHz,
 		125*MHz)
+
+	clks.initTicks()
 }

src/machine/machine_rp2_gpio.go

@@ -1,4 +1,4 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
@@ -15,14 +15,26 @@ type ioType struct {
 }
 
 type irqCtrl struct {
-	intE [4]volatile.Register32
-	intF [4]volatile.Register32
-	intS [4]volatile.Register32
+	intE [_NUMBANK0_IRQS]volatile.Register32
+	intF [_NUMBANK0_IRQS]volatile.Register32
+	intS [_NUMBANK0_IRQS]volatile.Register32
+}
+
+type irqSummary struct {
+	proc [2]struct {
+		secure    [2]volatile.Register32
+		nonsecure [2]volatile.Register32
+	}
+	comaWake struct {
+		secure    [2]volatile.Register32
+		nonsecure [2]volatile.Register32
+	}
 }
 
 type ioBank0Type struct {
-	io                 [30]ioType
-	intR               [4]volatile.Register32
+	io                 [_NUMBANK0_GPIOS]ioType
+	irqsum             [rp2350ExtraReg]irqSummary
+	intR               [_NUMBANK0_IRQS]volatile.Register32
 	proc0IRQctrl       irqCtrl
 	proc1IRQctrl       irqCtrl
 	dormantWakeIRQctrl irqCtrl
@@ -32,7 +44,7 @@ var ioBank0 = (*ioBank0Type)(unsafe.Pointer(rp.IO_BANK0))
 
 type padsBank0Type struct {
 	voltageSelect volatile.Register32
-	io            [30]volatile.Register32
+	io            [_NUMBANK0_GPIOS]volatile.Register32
 }
 
 var padsBank0 = (*padsBank0Type)(unsafe.Pointer(rp.PADS_BANK0))
@@ -45,50 +57,6 @@ var padsBank0 = (*padsBank0Type)(unsafe.Pointer(rp.PADS_BANK0))
 // the peripheral sees the logical OR of these GPIO inputs.
 type pinFunc uint8
 
-// GPIO function selectors
-const (
-	fnJTAG pinFunc = 0
-	fnSPI  pinFunc = 1 // Connect one of the internal PL022 SPI peripherals to GPIO
-	fnUART pinFunc = 2
-	fnI2C  pinFunc = 3
-	// Connect a PWM slice to GPIO. There are eight PWM slices,
-	// each with two outputchannels (A/B). The B pin can also be used as an input,
-	// for frequency and duty cyclemeasurement
-	fnPWM pinFunc = 4
-	// Software control of GPIO, from the single-cycle IO (SIO) block.
-	// The SIO function (F5)must be selected for the processors to drive a GPIO,
-	// but the input is always connected,so software can check the state of GPIOs at any time.
-	fnSIO pinFunc = 5
-	// Connect one of the programmable IO blocks (PIO) to GPIO. PIO can implement a widevariety of interfaces,
-	// and has its own internal pin mapping hardware, allowing flexibleplacement of digital interfaces on bank 0 GPIOs.
-	// The PIO function (F6, F7) must beselected for PIO to drive a GPIO, but the input is always connected,
-	// so the PIOs canalways see the state of all pins.
-	fnPIO0, fnPIO1 pinFunc = 6, 7
-	// General purpose clock inputs/outputs. Can be routed to a number of internal clock domains onRP2040,
-	// e.g. Input: to provide a 1 Hz clock for the RTC, or can be connected to an internalfrequency counter.
-	// e.g. Output: optional integer divide
-	fnGPCK pinFunc = 8
-	// USB power control signals to/from the internal USB controller
-	fnUSB  pinFunc = 9
-	fnNULL pinFunc = 0x1f
-
-	fnXIP pinFunc = 0
-)
-
-const (
-	PinOutput PinMode = iota
-	PinInput
-	PinInputPulldown
-	PinInputPullup
-	PinAnalog
-	PinUART
-	PinPWM
-	PinI2C
-	PinSPI
-	PinPIO0
-	PinPIO1
-)
-
 func (p Pin) PortMaskSet() (*uint32, uint32) {
 	return (*uint32)(unsafe.Pointer(&rp.SIO.GPIO_OUT_SET)), 1 << p
 }
@@ -157,8 +125,7 @@ func (p Pin) setSchmitt(trigger bool) {
 // setFunc will set pin function to fn.
 func (p Pin) setFunc(fn pinFunc) {
 	// Set input enable, Clear output disable
-	p.padCtrl().ReplaceBits(rp.PADS_BANK0_GPIO0_IE,
-		rp.PADS_BANK0_GPIO0_IE_Msk|rp.PADS_BANK0_GPIO0_OD_Msk, 0)
+	p.padCtrl().ReplaceBits(rp.PADS_BANK0_GPIO0_IE, padEnableMask, 0)
 
 	// Zero all fields apart from fsel; we want this IO to do what the peripheral tells it.
 	// This doesn't affect e.g. pullup/pulldown, as these are in pad controls.
@@ -172,48 +139,6 @@ func (p Pin) init() {
 	p.clr()
 }
 
-// Configure configures the gpio pin as per mode.
-func (p Pin) Configure(config PinConfig) {
-	if p == NoPin {
-		return
-	}
-	p.init()
-	mask := uint32(1) << p
-	switch config.Mode {
-	case PinOutput:
-		p.setFunc(fnSIO)
-		rp.SIO.GPIO_OE_SET.Set(mask)
-	case PinInput:
-		p.setFunc(fnSIO)
-		p.pulloff()
-	case PinInputPulldown:
-		p.setFunc(fnSIO)
-		p.pulldown()
-	case PinInputPullup:
-		p.setFunc(fnSIO)
-		p.pullup()
-	case PinAnalog:
-		p.setFunc(fnNULL)
-		p.pulloff()
-	case PinUART:
-		p.setFunc(fnUART)
-	case PinPWM:
-		p.setFunc(fnPWM)
-	case PinI2C:
-		// IO config according to 4.3.1.3 of rp2040 datasheet.
-		p.setFunc(fnI2C)
-		p.pullup()
-		p.setSchmitt(true)
-		p.setSlew(false)
-	case PinSPI:
-		p.setFunc(fnSPI)
-	case PinPIO0:
-		p.setFunc(fnPIO0)
-	case PinPIO1:
-		p.setFunc(fnPIO1)
-	}
-}
-
 // Set drives the pin high if value is true else drives it low.
 func (p Pin) Set(value bool) {
 	if p == NoPin {
@@ -331,23 +256,3 @@ func (p Pin) ioIntBit(change PinChange) uint32 {
 func getIntChange(p Pin, status uint32) PinChange {
 	return PinChange(status>>(4*(p%8))) & 0xf
 }
-
-// UART on the RP2040
-var (
-	UART0  = &_UART0
-	_UART0 = UART{
-		Buffer: NewRingBuffer(),
-		Bus:    rp.UART0,
-	}
-
-	UART1  = &_UART1
-	_UART1 = UART{
-		Buffer: NewRingBuffer(),
-		Bus:    rp.UART1,
-	}
-)
-
-func init() {
-	UART0.Interrupt = interrupt.New(rp.IRQ_UART0_IRQ, _UART0.handleInterrupt)
-	UART1.Interrupt = interrupt.New(rp.IRQ_UART1_IRQ, _UART1.handleInterrupt)
-}

src/machine/machine_rp2_pins.go

@@ -1,4 +1,4 @@
-//go:build rp2040 || ae_rp2040 || badger2040 || challenger_rp2040 || feather_rp2040 || gopher_badge || kb2040 || macropad_rp2040 || nano_rp2040 || pico || qtpy_rp2040 || thingplus_rp2040 || thumby || tufty2040 || waveshare_rp2040_zero || xiao_rp2040
+//go:build rp2040 || rp2350 || ae_rp2040 || badger2040 || challenger_rp2040 || feather_rp2040 || gopher_badge || kb2040 || macropad_rp2040 || nano_rp2040 || pico || qtpy_rp2040 || thingplus_rp2040 || thumby || tufty2040 || waveshare_rp2040_zero || xiao_rp2040
 
 package machine
 

src/machine/machine_rp2_pll.go

@@ -1,4 +1,4 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 

src/machine/machine_rp2_resets.go

@@ -1,36 +1,24 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
 import (
 	"device/rp"
-	"runtime/volatile"
 	"unsafe"
 )
 
-// RESETS_RESET_Msk is bitmask to reset all peripherals
-//
-// TODO: This field is not available in the device file.
-const RESETS_RESET_Msk = 0x01ffffff
-
-type resetsType struct {
-	reset     volatile.Register32
-	wdSel     volatile.Register32
-	resetDone volatile.Register32
-}
-
-var resets = (*resetsType)(unsafe.Pointer(rp.RESETS))
+var resets = (*rp.RESETS_Type)(unsafe.Pointer(rp.RESETS))
 
 // resetBlock resets hardware blocks specified
 // by the bit pattern in bits.
 func resetBlock(bits uint32) {
-	resets.reset.SetBits(bits)
+	resets.RESET.SetBits(bits)
 }
 
 // unresetBlock brings hardware blocks specified by the
 // bit pattern in bits out of reset.
 func unresetBlock(bits uint32) {
-	resets.reset.ClearBits(bits)
+	resets.RESET.ClearBits(bits)
 }
 
 // unresetBlockWait brings specified hardware blocks
@@ -38,6 +26,6 @@ func unresetBlock(bits uint32) {
 // out of reset and wait for completion.
 func unresetBlockWait(bits uint32) {
 	unresetBlock(bits)
-	for !resets.resetDone.HasBits(bits) {
+	for !resets.RESET_DONE.HasBits(bits) {
 	}
 }

src/machine/machine_rp2_sync.go

@@ -1,24 +1,11 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
-import (
-	"device/rp"
-)
-
 // machine_rp2040_sync.go contains interrupt and
 // lock primitives similar to those found in Pico SDK's
 // irq.c
 
-const (
-	// Number of spin locks available
-	_NUMSPINLOCKS = 32
-	// Number of interrupt handlers available
-	_NUMIRQ               = 32
-	_PICO_SPINLOCK_ID_IRQ = 9
-	_NUMBANK0_GPIOS       = 30
-)
-
 // Clears interrupt flag on a pin
 func (p Pin) acknowledgeInterrupt(change PinChange) {
 	ioBank0.intR[p>>3].Set(p.ioIntBit(change))
@@ -50,23 +37,3 @@ func (p Pin) ctrlSetInterrupt(change PinChange, enabled bool, base *irqCtrl) {
 		enReg.ClearBits(p.ioIntBit(change))
 	}
 }
-
-// Enable or disable a specific interrupt on the executing core.
-// num is the interrupt number which must be in [0,31].
-func irqSet(num uint32, enabled bool) {
-	if num >= _NUMIRQ {
-		return
-	}
-	irqSetMask(1<<num, enabled)
-}
-
-func irqSetMask(mask uint32, enabled bool) {
-	if enabled {
-		// Clear pending before enable
-		// (if IRQ is actually asserted, it will immediately re-pend)
-		rp.PPB.NVIC_ICPR.Set(mask)
-		rp.PPB.NVIC_ISER.Set(mask)
-	} else {
-		rp.PPB.NVIC_ICER.Set(mask)
-	}
-}

src/machine/machine_rp2_timer.go

@@ -1,13 +1,11 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
 import (
 	"device/arm"
-	"device/rp"
 	"runtime/interrupt"
 	"runtime/volatile"
-	"unsafe"
 )
 
 const numTimers = 4
@@ -31,14 +29,14 @@ type timerType struct {
 	timeRawL volatile.Register32
 	dbgPause volatile.Register32
 	pause    volatile.Register32
+	locked   [rp2350ExtraReg]volatile.Register32
+	source   [rp2350ExtraReg]volatile.Register32
 	intR     volatile.Register32
 	intE     volatile.Register32
 	intF     volatile.Register32
 	intS     volatile.Register32
 }
 
-var timer = (*timerType)(unsafe.Pointer(rp.TIMER))
-
 // TimeElapsed returns time elapsed since power up, in microseconds.
 func (tmr *timerType) timeElapsed() (us uint64) {
 	// Need to make sure that the upper 32 bits of the timer

src/machine/machine_rp2_uart.go

@@ -1,4 +1,4 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
@@ -39,7 +39,7 @@ func (uart *UART) Configure(config UARTConfig) error {
 	settings := uint32(rp.UART0_UARTCR_UARTEN |
 		rp.UART0_UARTCR_RXE |
 		rp.UART0_UARTCR_TXE)
-
+	const bits = rp.UART0_UARTCR_UARTEN | rp.UART0_UARTCR_TXE
 	if config.RTS != 0 {
 		settings |= rp.UART0_UARTCR_RTSEN
 	}

src/machine/machine_rp2_watchdog.go

@@ -1,4 +1,4 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
@@ -60,11 +60,3 @@ func (wd *watchdogImpl) Start() error {
 func (wd *watchdogImpl) Update() {
 	rp.WATCHDOG.LOAD.Set(wd.loadValue)
 }
-
-// startTick starts the watchdog tick.
-// cycles needs to be a divider that when applied to the xosc input,
-// produces a 1MHz clock. So if the xosc frequency is 12MHz,
-// this will need to be 12.
-func (wd *watchdogImpl) startTick(cycles uint32) {
-	rp.WATCHDOG.TICK.Set(cycles | rp.WATCHDOG_TICK_ENABLE)
-}

src/machine/machine_rp2_xosc.go

@@ -1,4 +1,4 @@
-//go:build rp2040
+//go:build rp2040 || rp2350
 
 package machine
 
@@ -18,7 +18,7 @@ type xoscType struct {
 	status   volatile.Register32
 	dormant  volatile.Register32
 	startup  volatile.Register32
-	reserved [3]volatile.Register32
+	reserved [3 - 3*rp2350ExtraReg]volatile.Register32
 	count    volatile.Register32
 }
 

src/machine/uart.go

@@ -1,4 +1,4 @@
-//go:build atmega || esp || nrf || sam || sifive || stm32 || k210 || nxp || rp2040
+//go:build atmega || esp || nrf || sam || sifive || stm32 || k210 || nxp || rp2040 || rp2350
 
 package machine
 

src/machine/usb.go

@@ -1,4 +1,4 @@
-//go:build sam || nrf52840 || rp2040
+//go:build sam || nrf52840 || rp2040 || rp2350
 
 package machine
 

src/machine/watchdog.go

@@ -1,4 +1,4 @@
-//go:build nrf52840 || nrf52833 || rp2040 || atsamd51 || atsame5x || stm32
+//go:build nrf52840 || nrf52833 || rp2040 || rp2350 || atsamd51 || atsame5x || stm32
 
 package machine
 

src/runtime/runtime_rp2350.go

@@ -0,0 +1,88 @@
+//go:build rp2350
+
+package runtime
+
+import (
+	"device/arm"
+	"machine"
+	"machine/usb/cdc"
+)
+
+// machineTicks is provided by package machine.
+func machineTicks() uint64
+
+// machineLightSleep is provided by package machine.
+func machineLightSleep(uint64)
+
+type timeUnit int64
+
+// ticks returns the number of ticks (microseconds) elapsed since power up.
+func ticks() timeUnit {
+	t := machineTicks()
+	return timeUnit(t)
+}
+
+func ticksToNanoseconds(ticks timeUnit) int64 {
+	return int64(ticks) * 1000
+}
+
+func nanosecondsToTicks(ns int64) timeUnit {
+	return timeUnit(ns / 1000)
+}
+
+func sleepTicks(d timeUnit) {
+	if d <= 0 {
+		return
+	}
+
+	if hasScheduler {
+		// With scheduler, sleepTicks may return early if an interrupt or
+		// event fires - so scheduler can schedule any go routines now
+		// eligible to run
+		machineLightSleep(uint64(d))
+		return
+	}
+
+	// Busy loop
+	sleepUntil := ticks() + d
+	for ticks() < sleepUntil {
+	}
+}
+
+func waitForEvents() {
+	arm.Asm("wfe")
+}
+
+func putchar(c byte) {
+	machine.Serial.WriteByte(c)
+}
+
+func getchar() byte {
+	for machine.Serial.Buffered() == 0 {
+		Gosched()
+	}
+	v, _ := machine.Serial.ReadByte()
+	return v
+}
+
+func buffered() int {
+	return machine.Serial.Buffered()
+}
+
+// machineInit is provided by package machine.
+func machineInit()
+
+func init() {
+	machineInit()
+
+	cdc.EnableUSBCDC()
+	machine.USBDev.Configure(machine.UARTConfig{})
+	machine.InitSerial()
+}
+
+//export Reset_Handler
+func main() {
+	preinit()
+	run()
+	exit(0)
+}

targets/arm.ld

@@ -9,6 +9,7 @@ SECTIONS
     .text :
     {
         KEEP(*(.isr_vector))
+        KEEP(*(.after_isr_vector)) /* for the RP2350 */
         *(.text)
         *(.text.*)
         *(.rodata)

targets/pico2.json

@@ -0,0 +1,7 @@
+{
+    "inherits": [
+        "rp2350"
+    ],
+    "build-tags": ["pico2"],
+    "serial-port": ["2e8a:000A"]
+}

targets/rp2350.json

@@ -0,0 +1,19 @@
+{
+    "inherits": ["cortex-m33"],
+    "build-tags": ["rp2350", "rp"],
+    "flash-1200-bps-reset": "true",
+    "flash-method": "msd",
+    "serial": "usb",
+    "msd-volume-name": ["RP2350"],
+    "msd-firmware-name": "firmware.uf2",
+    "binary-format": "uf2",
+    "uf2-family-id": "0xe48bff59","comment":"See page 393 of RP2350 datasheet: RP2350 Arm Secure image (i.e. one intended to be booted directly by the bootrom)",
+    "extra-files": [
+        "src/device/rp/rp2350.s",
+        "targets/rp2350_embedded_block.s"
+    ],
+    "linkerscript": "targets/rp2350.ld",
+    "openocd-interface": "picoprobe",
+    "openocd-transport": "swd",
+    "openocd-target": "rp2350"
+}

targets/rp2350.ld

@@ -0,0 +1,23 @@
+/* See Rust for a more complete reference: https://github.com/rp-rs/rp-hal/blob/main/rp235x-hal-examples/memory.x */
+MEMORY
+{
+   /* 2MiB safe default.  */
+    FLASH : ORIGIN = 0x10000000, LENGTH = 2048k
+    /* RAM consists of 8 banks, SRAM0..SRAM7 with striped mapping. */
+    SRAM : ORIGIN = 0x20000000, LENGTH = 512k
+    /* Banks 8 and 9 use direct mapping which can be
+       specailized for applications where predictable access time is beneficial.
+       i.e: Separate stacks for core0 and core1. */
+    SRAM4 : ORIGIN = 0x20080000, LENGTH = 4k
+    SRAM5 : ORIGIN = 0x20081000, LENGTH = 4k
+    FLASH_TEXT (rx) : ORIGIN = 0x10000000, LENGTH = 2048k
+    RAM (rwx)       : ORIGIN = 0x20000000, LENGTH = 512k
+}
+
+_stack_size = 2K;
+
+SECTIONS
+{
+}
+
+INCLUDE "targets/arm.ld"

targets/rp2350_embedded_block.s

@@ -0,0 +1,10 @@
+// Minimum viable block image from datasheet section 5.9.5.1, "Minimum Arm IMAGE_DEF"
+.section .after_isr_vector, "a"
+.p2align 2
+embedded_block:
+.word 0xffffded3
+.word 0x10210142
+.word 0x000001ff
+.word 0x00000000
+.word 0xab123579
+embedded_block_end:

tools/gen-device-svd/gen-device-svd.go

@@ -909,8 +909,9 @@ func writeGo(outdir string, device *Device, interruptSystem string) error {
 
 //go:build {{.pkgName}} && {{.device.Metadata.NameLower}}
 
+/*
 {{.device.Metadata.Description}}
-//
+*/
 {{.device.Metadata.LicenseBlock}}
 package {{.pkgName}}
 
@@ -1357,8 +1358,10 @@ func writeAsm(outdir string, device *Device) error {
 	t := template.Must(template.New("go").Parse(`// Automatically generated file. DO NOT EDIT.
 // Generated by gen-device-svd.go from {{.File}}, see {{.DescriptorSource}}
 
+/*
 {{.Description}}
-//
+*/
+
 {{.LicenseBlock}}
 
 .syntax unified