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>
2026-08-14 07:53:40 +00:00 · 2024-12-18 15:36:30 -03:00
parent 0d13e61d0c
commit 37f35f8c91
33 changed files with 1349 additions and 294 deletions
@@ -0,0 +1,135 @@
+//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(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(initUnreset)
+	unresetBlockWait(bits)
+
+	clocks.init()
+
+	// Peripheral clocks should now all be running
+	unresetBlockWait(RESETS_RESET_Msk)
+}
+
+//go:linkname ticks runtime.machineTicks
+func ticks() uint64 {
+	return timer.timeElapsed()
+}
+
+//go:linkname lightSleep runtime.machineLightSleep
+func lightSleep(ticks uint64) {
+	timer.lightSleep(ticks)
+}
+
+// CurrentCore returns the core number the call was made from.
+func CurrentCore() int {
+	return int(rp.SIO.CPUID.Get())
+}
+
+// NumCores returns number of cores available on the device.
+func NumCores() int { return 2 }
+
+// ChipVersion returns the version of the chip. 1 is returned for B0 and B1
+// chip.
+func ChipVersion() uint8 {
+	const (
+		SYSINFO_BASE                  = 0x40000000
+		SYSINFO_CHIP_ID_OFFSET        = 0x00000000
+		SYSINFO_CHIP_ID_REVISION_BITS = 0xf0000000
+		SYSINFO_CHIP_ID_REVISION_LSB  = 28
+	)
+
+	// First register of sysinfo is chip id
+	chipID := *(*uint32)(unsafe.Pointer(uintptr(SYSINFO_BASE + SYSINFO_CHIP_ID_OFFSET)))
+	// Version 1 == B0/B1
+	version := (chipID & SYSINFO_CHIP_ID_REVISION_BITS) >> SYSINFO_CHIP_ID_REVISION_LSB
+	return uint8(version)
+}
+
+// Single DMA channel. See rp.DMA_Type.
+type dmaChannel struct {
+	READ_ADDR   volatile.Register32
+	WRITE_ADDR  volatile.Register32
+	TRANS_COUNT volatile.Register32
+	CTRL_TRIG   volatile.Register32
+	_           [12]volatile.Register32 // aliases
+}
+
+// Static assignment of DMA channels to peripherals.
+// Allocating them statically is good enough for now. If lots of peripherals use
+// DMA, these might need to be assigned at runtime.
+const (
+	spi0DMAChannel = iota
+	spi1DMAChannel
+)
+
+// DMA channels usable on the RP2040.
+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
+}