Merge pull request #4512 from Guozhanxin/pico-startup

Optimize pico bsp

bsp/raspberry-pico/README.md

@@ -64,14 +64,14 @@ msh >
 
 ## Peripheral Condition
 
-| Drive | Support | Remark |
-| ----- | ------- | ------ |
-| UART  | Support | UART0  |
-| GPIO  | Support | 0-29   |
-| I2C   | -       | -      |
-| RTC   | -       | -      |
-| SDIO  | -       | -      |
-| SPI   | -       | -      |
-| TIMER | -       | -      |
-| WDT   | -       | -      |
+| Drive | Support | Remark  |
+| ----- | ------- | ------- |
+| UART  | Support | UART0/1 |
+| GPIO  | Support | 0-29    |
+| I2C   | -       | -       |
+| RTC   | -       | -       |
+| SDIO  | -       | -       |
+| SPI   | -       | -       |
+| TIMER | -       | -       |
+| WDT   | -       | -       |
 

bsp/raspberry-pico/drivers/board.c

@@ -16,8 +16,6 @@
 #include "board.h"
 #include "hardware/structs/systick.h"
 
-uint8_t heap[1024 * 80];
-
 void isr_systick(void)
 {
     /* enter interrupt */
@@ -45,11 +43,25 @@ uint32_t systick_config(uint32_t ticks)
 
 void rt_hw_board_init()
 {
+    rt_system_heap_init(HEAP_BEGIN, HEAP_END);
+
+    alarm_pool_init_default();
+
+    // Start and end points of the constructor list,
+    // defined by the linker script.
+    extern void (*__init_array_start)();
+    extern void (*__init_array_end)();
+
+    // Call each function in the list.
+    // We have to take the address of the symbols, as __init_array_start *is*
+    // the first function pointer, not the address of it.
+    for (void (**p)() = &__init_array_start; p < &__init_array_end; ++p) {
+        (*p)();
+    }
+
     /* Configure the SysTick */
     systick_config(frequency_count_khz(CLOCKS_FC0_SRC_VALUE_ROSC_CLKSRC)*10000/RT_TICK_PER_SECOND);
 
-    rt_system_heap_init(heap, (uint8_t *)heap + sizeof(heap));
-
     stdio_init_all();
     rt_hw_uart_init();
 

bsp/raspberry-pico/drivers/board.h

@@ -20,9 +20,9 @@
 #define PICO_SRAM_SIZE         256
 #define PICO_SRAM_END          (0x20000000 + PICO_SRAM_SIZE * 1024)
 
-extern int __bss_end;
-#define HEAP_BEGIN      (&__bss_end)
-#define HEAP_END        PICO_SRAM_END
+extern int __bss_end__;
+#define HEAP_BEGIN      (&__bss_end__)
+#define HEAP_END        ((void *)PICO_SRAM_END)
 
 int rt_hw_uart_init(void);
 

bsp/raspberry-pico/drivers/drv_uart.c

@@ -153,3 +153,130 @@ int rt_hw_uart_init(void)
     return ret;
 }
 // INIT_DEVICE_EXPORT(rt_hw_uart_init);
+
+// We are using pins 0 and 1, but see the GPIO function select table in the
+// datasheet for information on which other pins can be used.
+#define UART1_TX_PIN 4
+#define UART1_RX_PIN 5
+
+static struct pico_uart1_dev uart1_dev;
+
+struct pico_uart1_dev
+{
+    struct rt_serial_device parent;
+    rt_uint32_t uart_periph;
+    rt_uint32_t irqno;
+};
+
+void pico_uart1_isr(void)
+{
+    rt_interrupt_enter();
+    /* read interrupt status and clear it */
+    if (uart_is_readable(uart1)) /* rx ind */
+    {
+        rt_hw_serial_isr(&uart1_dev.parent, RT_SERIAL_EVENT_RX_IND);
+    }
+
+    rt_interrupt_leave();
+}
+
+/*
+ * UART interface
+ */
+static rt_err_t pico_uart1_configure(struct rt_serial_device *serial, struct serial_configure *cfg)
+{
+    return RT_EOK;
+}
+
+static rt_err_t pico_uart1_control(struct rt_serial_device *serial, int cmd, void *arg)
+{
+    switch (cmd)
+    {
+    /* enable interrupt */
+    case RT_DEVICE_CTRL_SET_INT:
+        // Set up a RX interrupt
+        // We need to set up the handler first
+        // And set up and enable the interrupt handlers
+        irq_set_exclusive_handler(UART1_IRQ, pico_uart1_isr);
+        irq_set_enabled(UART1_IRQ, true);
+
+        // Now enable the UART to send interrupts - RX only
+        uart_set_irq_enables(uart1, true, false);
+        break;
+    }
+    return RT_EOK;
+}
+
+static int pico_uart1_putc(struct rt_serial_device *serial, char c)
+{
+    uart_putc_raw(uart1, c);
+
+    return 1;
+}
+
+static int pico_uart1_getc(struct rt_serial_device *serial)
+{
+    int ch;
+
+    if (uart_is_readable(uart1))
+    {
+        ch = uart_get_hw(uart1)->dr;
+    }
+    else
+    {
+        ch =-1;
+    }
+
+    return ch;
+}
+
+const static struct rt_uart_ops _uart1_ops =
+{
+    pico_uart1_configure,
+    pico_uart1_control,
+    pico_uart1_putc,
+    pico_uart1_getc,
+    RT_NULL,
+};
+
+/*
+ * UART Initiation
+ */
+int rt_hw_uart1_init(void)
+{
+    rt_err_t ret = RT_EOK;
+
+    struct serial_configure config = RT_SERIAL_CONFIG_DEFAULT;
+
+    uart_init(uart1, 115200);
+
+    // Set the TX and RX pins by using the function select on the GPIO
+    // Set datasheet for more information on function select
+    gpio_set_function(UART1_TX_PIN, GPIO_FUNC_UART);
+    gpio_set_function(UART1_RX_PIN, GPIO_FUNC_UART);
+
+    // Actually, we want a different speed
+    // The call will return the actual baud rate selected, which will be as close as
+    // possible to that requested
+    uart_set_baudrate(uart1, BAUD_RATE);
+
+    // Set UART flow control CTS/RTS, we don't want these, so turn them off
+    uart_set_hw_flow(uart1, false, false);
+
+    // Set our data format
+    uart_set_format(uart1, DATA_BITS, STOP_BITS, PARITY);
+
+    // Turn off FIFO's - we want to do this character by character
+    uart_set_fifo_enabled(uart1, false);
+
+    uart1_dev.parent.ops = &_uart1_ops;
+    uart1_dev.parent.config = config;
+
+    ret = rt_hw_serial_register(&uart1_dev.parent,
+                                "uart1",
+                                RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                                &uart1_dev);
+
+    return ret;
+}
+INIT_DEVICE_EXPORT(rt_hw_uart1_init);

bsp/raspberry-pico/libraries/pico-sdk/src/rp2_common/pico_runtime/runtime.c

@@ -27,6 +27,7 @@
 #endif
 
 extern char __StackLimit; /* Set by linker.  */
+extern void _exit(int status);
 
 uint32_t __attribute__((section(".ram_vector_table"))) ram_vector_table[48];
 
@@ -136,57 +137,6 @@ void runtime_init(void) {
 
     spin_locks_reset();
     irq_init_priorities();
-    alarm_pool_init_default();
-
-    // Start and end points of the constructor list,
-    // defined by the linker script.
-    extern void (*__init_array_start)();
-    extern void (*__init_array_end)();
-
-    // Call each function in the list.
-    // We have to take the address of the symbols, as __init_array_start *is*
-    // the first function pointer, not the address of it.
-    for (void (**p)() = &__init_array_start; p < &__init_array_end; ++p) {
-        (*p)();
-    }
-
-}
-
-void _exit(int status) {
-#if PICO_ENTER_USB_BOOT_ON_EXIT
-    reset_usb_boot(0,0);
-#else
-    while (1) {
-        __breakpoint();
-    }
-#endif
-}
-
-void *_sbrk(int incr) {
-    extern char end; /* Set by linker.  */
-    static char *heap_end;
-    char *prev_heap_end;
-
-    if (heap_end == 0)
-        heap_end = &end;
-
-    prev_heap_end = heap_end;
-    char *next_heap_end = heap_end + incr;
-
-    if (__builtin_expect(next_heap_end >= (&__StackLimit), false)) {
-#if PICO_USE_OPTIMISTIC_SBRK
-        if (next_heap_end == &__StackLimit) {
-//        errno = ENOMEM;
-            return (char *) -1;
-        }
-        next_heap_end = &__StackLimit;
-#else
-        return (char *) -1;
-#endif
-    }
-
-    heap_end = next_heap_end;
-    return (void *) prev_heap_end;
 }
 
 // exit is not useful... no desire to pull in __call_exitprocs

bsp/raspberry-pico/link.ld

@@ -224,13 +224,6 @@ SECTIONS
         __bss_end__ = .;
     } > RAM
 
-    .heap (COPY):
-    {
-        __end__ = .;
-        end = __end__;
-        *(.heap*)
-        __HeapLimit = .;
-    } > RAM
 
     /* .stack*_dummy section doesn't contains any symbols. It is only
      * used for linker to calculate size of stack sections, and assign
@@ -263,7 +256,7 @@ SECTIONS
     PROVIDE(__stack = __StackTop);
 
     /* Check if data + heap + stack exceeds RAM limit */
-    ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed")
+    ASSERT(__StackLimit >= __bss_end__, "region RAM overflowed")
     /* todo assert on extra code */
 }