rp pico 2 w support

.dir-locals.el

@@ -6,6 +6,7 @@
                                                      ;; "examples/esp32/Cargo.toml"
                                                      ;; "examples/nrf-sdc/Cargo.toml"
                                                      ;; "examples/rp-pico-w/Cargo.toml"
+                                                     ;; "examples/rp-pico-2-w/Cargo.toml"
                                                      ;; "examples/serial-hci/Cargo.toml"
                                                      ;; "examples/apache-nimble/Cargo.toml"
                                                      ])))

.vscode/settings.json

@@ -18,6 +18,7 @@
         // "examples/esp32/Cargo.toml", 
         // "examples/nrf-sdc/Cargo.toml",
         // "examples/rp-pico-w/Cargo.toml",
+        // "examples/rp-pico-2-w/Cargo.toml",
         // "examples/serial-hci/Cargo.toml",
         // "examples/apache-nimble/Cargo.toml",
     ]

README.md

@@ -48,6 +48,7 @@ See `examples` for example applications for different BLE controllers.
 * `apache-nimble` which uses the controller from the [NimBLE stack](https://github.com/apache/mynewt-nimble) through high-level bindings from the [`apache-nimble`](https://github.com/benbrittain/apache-nimble-sys) crate.
 * `esp32` which uses the BLE controller in the [esp-hal](https://github.com/esp-rs/esp-hal).
 * `rp-pico-w` which uses the BLE controller in the [Raspberry Pi Pico W](https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html#raspberry-pi-pico-w).
+* `rp-pico-2-w` which uses the BLE controller in the [Raspberry Pi Pico 2 W](https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html#raspberry-pi-pico-2-w).
 
 Since a lot of the examples demo the same BLE functionality, they only contain basic wiring specific to the BLE controller, and share the 'business logic' within the `examples/apps` folder.
 

ci.sh

@@ -28,9 +28,10 @@ cargo batch \
     --- build --release --manifest-path examples/nrf-sdc/Cargo.toml --target thumbv7em-none-eabihf --features nrf52832 \
     --- build --release --manifest-path examples/esp32/Cargo.toml --target riscv32imc-unknown-none-elf --out-dir tests/esp32 \
     --- build --release --manifest-path examples/serial-hci/Cargo.toml \
-    --- build --release --manifest-path examples/rp-pico-w//Cargo.toml --target thumbv6m-none-eabi --features skip-cyw43-firmware
+    --- build --release --manifest-path examples/rp-pico-w/Cargo.toml --target thumbv6m-none-eabi --features skip-cyw43-firmware \
+    --- build --release --manifest-path examples/rp-pico-2-w/Cargo.toml --target thumbv8m.main-none-eabihf --features skip-cyw43-firmware
 #    --- build --release --manifest-path examples/apache-nimble/Cargo.toml --target thumbv7em-none-eabihf
 
 cargo fmt --check --manifest-path ./host/Cargo.toml
 cargo clippy --manifest-path ./host/Cargo.toml --features gatt,peripheral,central
-cargo test --manifest-path ./host/Cargo.toml --lib -- --nocapture
+cargo test --manifest-path ./host/Cargo.toml --lib -- --nocapture

examples/rp-pico-2-w/.cargo/config.toml

@@ -0,0 +1,9 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+#runner = "probe-rs run --chip RP2040"
+runner = "picotool load -u -v -x -t elf"
+
+[build]
+target = "thumbv8m.main-none-eabihf"
+
+[env]
+DEFMT_LOG = "debug"

examples/rp-pico-2-w/.gitignore

@@ -0,0 +1 @@
+cyw43-firmware/

examples/rp-pico-2-w/Cargo.toml

@@ -0,0 +1,59 @@
+[package]
+name = "trouble-rp23-examples"
+version = "0.1.0"
+edition = "2021"
+resolver = "2"
+
+[dependencies]
+embassy-executor = { version = "0.6.1", default-features = false, features = ["task-arena-size-98304", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
+embassy-time = { version = "0.4.0", default-features = false, features = ["defmt", "defmt-timestamp-uptime"] }
+embassy-rp = { version = "0.2.0", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp235xa", "binary-info"] }
+embassy-futures = "0.1.1"
+embassy-sync = { version = "0.6.1", features = ["defmt"] }
+
+futures = { version = "0.3", default-features = false, features = ["async-await"]}
+bt-hci = { version = "0.2.0", default-features = false, features = ["defmt"] }
+trouble-example-apps= { version = "0.1.0", path = "../apps", features = ["defmt"] }
+cyw43 = { version = "0.2.0", features = ["defmt", "firmware-logs", "bluetooth"] }
+cyw43-pio = { version = "0.2.0", features = ["defmt"] }
+
+defmt = "0.3"
+defmt-rtt = "0.4.0"
+
+cortex-m = { version = "0.7.6" }
+cortex-m-rt = "0.7.0"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+static_cell = "2"
+portable-atomic = { version = "1.5", features = ["critical-section"] }
+
+[build-dependencies]
+reqwest = { version = "0.12.9", features = ["blocking"]}
+
+[features]
+skip-cyw43-firmware = []
+
+[profile.release]
+debug = 2
+
+[patch.crates-io]
+embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+embassy-rp = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+embassy-time-driver = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+embassy-embedded-hal = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+cyw43 = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+cyw43-pio = { git = "https://github.com/embassy-rs/embassy.git", rev = "e68efc2d7cdea195aec112ecb61231e148a282c2" }
+
+#embassy-executor = {path = "../../../embassy/embassy-executor"}
+#embassy-nrf = {path = "../../../embassy/embassy-nrf"}
+#embassy-sync = {path = "../../../embassy/embassy-sync"}
+#embassy-futures = {path = "../../../embassy/embassy-futures"}
+#embassy-time = {path = "../../../embassy/embassy-time"}
+#embassy-time-driver = {path = "../../../embassy/embassy-time-driver"}
+#embassy-embedded-hal = {path = "../../../embassy/embassy-embedded-hal"}
+#embassy-hal-internal = {path = "../../../embassy/embassy-hal-internal"}
+#nrf-sdc = { path = "../../../nrf-sdc/nrf-sdc" }
+#nrf-mpsl = { path = "../../../nrf-sdc/nrf-mpsl" }
+#bt-hci = { path = "../../../bt-hci" }

examples/rp-pico-2-w/build.rs

@@ -0,0 +1,75 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    #[cfg(not(feature = "skip-cyw43-firmware"))]
+    download_cyw43_firmware();
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+
+    println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tlink.x");
+    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+}
+
+#[cfg(not(feature = "skip-cyw43-firmware"))]
+fn download_cyw43_firmware() {
+    let download_folder = "cyw43-firmware";
+    let url_base = "https://github.com/embassy-rs/embassy/raw/refs/heads/main/cyw43-firmware";
+    let file_names = [
+        "43439A0.bin",
+        "43439A0_btfw.bin",
+        "43439A0_clm.bin",
+        "LICENSE-permissive-binary-license-1.0.txt",
+        "README.md",
+    ];
+
+    println!("cargo:rerun-if-changed=build.rs");
+    println!("cargo:rerun-if-changed={}", download_folder);
+    std::fs::create_dir_all(download_folder).expect("Failed to create download directory");
+
+    // download each file into the folder "cyw43-firmware"
+    for file in file_names {
+        let url = format!("{}/{}", url_base, file);
+        // only fetch if it doesn't exist
+        if std::path::Path::new(download_folder).join(file).exists() {
+            continue;
+        }
+        match reqwest::blocking::get(&url) {
+            Ok(response) => {
+                let content = response.bytes().expect("Failed to read file content");
+                let file_path = PathBuf::from(download_folder).join(file);
+                std::fs::write(file_path, &content).expect("Failed to write file");
+            }
+            Err(err) => panic!(
+                "Failed to download the cyw43 firmware from {}: {}, required for pi-pico-w example",
+                url, err
+            ),
+        }
+    }
+}

examples/rp-pico-2-w/memory.x

@@ -0,0 +1,75 @@
+MEMORY {
+    /*
+     * The RP2350 has either external or internal flash.
+     *
+     * 2 MiB is a safe default here, although a Pico 2 has 4 MiB.
+     */
+    FLASH : ORIGIN = 0x10000000, LENGTH = 2048K
+    /*
+     * RAM consists of 8 banks, SRAM0-SRAM7, with a striped mapping.
+     * This is usually good for performance, as it distributes load on
+     * those banks evenly.
+     */
+    RAM : ORIGIN = 0x20000000, LENGTH = 512K
+    /*
+     * RAM banks 8 and 9 use a direct mapping. They can be used to have
+     * memory areas dedicated for some specific job, improving predictability
+     * of access times.
+     * Example: Separate stacks for core0 and core1.
+     */
+    SRAM4 : ORIGIN = 0x20080000, LENGTH = 4K
+    SRAM5 : ORIGIN = 0x20081000, LENGTH = 4K
+}
+
+SECTIONS {
+    /* ### Boot ROM info
+     *
+     * Goes after .vector_table, to keep it in the first 4K of flash
+     * where the Boot ROM (and picotool) can find it
+     */
+    .start_block : ALIGN(4)
+    {
+        __start_block_addr = .;
+        KEEP(*(.start_block));
+        KEEP(*(.boot_info));
+    } > FLASH
+
+} INSERT AFTER .vector_table;
+
+/* move .text to start /after/ the boot info */
+_stext = ADDR(.start_block) + SIZEOF(.start_block);
+
+SECTIONS {
+    /* ### Picotool 'Binary Info' Entries
+     *
+     * Picotool looks through this block (as we have pointers to it in our
+     * header) to find interesting information.
+     */
+    .bi_entries : ALIGN(4)
+    {
+        /* We put this in the header */
+        __bi_entries_start = .;
+        /* Here are the entries */
+        KEEP(*(.bi_entries));
+        /* Keep this block a nice round size */
+        . = ALIGN(4);
+        /* We put this in the header */
+        __bi_entries_end = .;
+    } > FLASH
+} INSERT AFTER .text;
+
+SECTIONS {
+    /* ### Boot ROM extra info
+     *
+     * Goes after everything in our program, so it can contain a signature.
+     */
+    .end_block : ALIGN(4)
+    {
+        __end_block_addr = .;
+        KEEP(*(.end_block));
+    } > FLASH
+
+} INSERT AFTER .uninit;
+
+PROVIDE(start_to_end = __end_block_addr - __start_block_addr);
+PROVIDE(end_to_start = __start_block_addr - __end_block_addr);

examples/rp-pico-2-w/src/bin/ble_bas_central.rs

@@ -0,0 +1,69 @@
+#![no_std]
+#![no_main]
+
+use bt_hci::controller::ExternalController;
+use cyw43_pio::{PioSpi, RM2_CLOCK_DIVIDER};
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::gpio::{Level, Output};
+use embassy_rp::peripherals::{DMA_CH0, PIO0};
+use embassy_rp::pio::{InterruptHandler, Pio};
+use static_cell::StaticCell;
+use trouble_example_apps::ble_bas_central;
+use {defmt_rtt as _, embassy_time as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+#[embassy_executor::task]
+async fn cyw43_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! {
+    runner.run().await
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+
+    #[cfg(feature = "skip-cyw43-firmware")]
+    let (fw, clm, btfw) = (&[], &[], &[]);
+
+    #[cfg(not(feature = "skip-cyw43-firmware"))]
+    let (fw, clm, btfw) = {
+        // IMPORTANT
+        //
+        // Download and make sure these files from https://github.com/embassy-rs/embassy/tree/main/cyw43-firmware
+        // are available in `./examples/rp-pico-2-w`. (should be automatic)
+        //
+        // IMPORTANT
+        let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");
+        let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin");
+        let btfw = include_bytes!("../../cyw43-firmware/43439A0_btfw.bin");
+        (fw, clm, btfw)
+    };
+
+    let pwr = Output::new(p.PIN_23, Level::Low);
+    let cs = Output::new(p.PIN_25, Level::High);
+    let mut pio = Pio::new(p.PIO0, Irqs);
+    let spi = PioSpi::new(
+        &mut pio.common,
+        pio.sm0,
+        RM2_CLOCK_DIVIDER,
+        pio.irq0,
+        cs,
+        p.PIN_24,
+        p.PIN_29,
+        p.DMA_CH0,
+    );
+
+    static STATE: StaticCell<cyw43::State> = StaticCell::new();
+    let state = STATE.init(cyw43::State::new());
+    let (_net_device, bt_device, mut control, runner) = cyw43::new_with_bluetooth(state, pwr, spi, fw, btfw).await;
+    unwrap!(spawner.spawn(cyw43_task(runner)));
+    control.init(clm).await;
+
+    let controller: ExternalController<_, 10> = ExternalController::new(bt_device);
+
+    ble_bas_central::run(controller).await;
+}