Add Adafruit Feather RP2040 board

.github/workflows/linux.yml

@@ -99,7 +99,7 @@ jobs:
       - name: Examples RP20 Devices
         if: always()
         run: |
-          (cd examples && ../tools/scripts/examples_compile.py rp_pico)
+          (cd examples && ../tools/scripts/examples_compile.py rp_pico feather_rp2040)
       - name: Execute Python Scripts
         if: always()
         run: |

README.md

@@ -78,9 +78,9 @@ git clone --recurse-submodules --jobs 8 https://github.com/modm-io/modm.git
 
 ## Microcontrollers
 
-modm can create a HAL for <!--allcount-->3287<!--/allcount--> devices of these vendors:
+modm can create a HAL for <!--allcount-->3304<!--/allcount--> devices of these vendors:
 
-- STMicroelectronics STM32: <!--stmcount-->2712<!--/stmcount--> devices.
+- STMicroelectronics STM32: <!--stmcount-->2729<!--/stmcount--> devices.
 - Microchip SAM: <!--samcount-->186<!--/samcount--> devices.
 - Microchip AVR: <!--avrcount-->388<!--/avrcount--> devices.
 - Raspberry Pi: <!--rpicount-->1<!--/rpicount--> device.
@@ -566,55 +566,56 @@ We have out-of-box support for many development boards including documentation.
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-l476vg">DISCO-L476VG</a></td>
 </tr><tr>
 <td align="center"><a href="https://modm.io/reference/config/modm-feather-m0">FEATHER-M0</a></td>
+<td align="center"><a href="https://modm.io/reference/config/modm-feather-rp2040">FEATHER-RP2040</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-mega-2560-pro">MEGA-2560-PRO</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f031k6">NUCLEO-F031K6</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f042k6">NUCLEO-F042K6</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f042k6">NUCLEO-F042K6</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f072rb">NUCLEO-F072RB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f091rc">NUCLEO-F091RC</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f103rb">NUCLEO-F103RB</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f303k8">NUCLEO-F303K8</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f303k8">NUCLEO-F303K8</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f303re">NUCLEO-F303RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f334r8">NUCLEO-F334R8</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f401re">NUCLEO-F401RE</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f411re">NUCLEO-F411RE</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f411re">NUCLEO-F411RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f429zi">NUCLEO-F429ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f439zi">NUCLEO-F439ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f446re">NUCLEO-F446RE</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f446ze">NUCLEO-F446ZE</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f446ze">NUCLEO-F446ZE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f746zg">NUCLEO-F746ZG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f767zi">NUCLEO-F767ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g071rb">NUCLEO-G071RB</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g431kb">NUCLEO-G431KB</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g431kb">NUCLEO-G431KB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g431rb">NUCLEO-G431RB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g474re">NUCLEO-G474RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-h723zg">NUCLEO-H723ZG</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-h743zi">NUCLEO-H743ZI</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-h743zi">NUCLEO-H743ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l031k6">NUCLEO-L031K6</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l053r8">NUCLEO-L053R8</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l152re">NUCLEO-L152RE</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l432kc">NUCLEO-L432KC</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l432kc">NUCLEO-L432KC</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l452re">NUCLEO-L452RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l476rg">NUCLEO-L476RG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l496zg-p">NUCLEO-L496ZG-P</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l552ze-q">NUCLEO-L552ZE-Q</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l552ze-q">NUCLEO-L552ZE-Q</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-olimexino-stm32">OLIMEXINO-STM32</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-raspberrypi">Raspberry Pi</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-rp-pico">Raspberry Pi Pico</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-samd21-mini">SAMD21-MINI</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-samd21-mini">SAMD21-MINI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-samg55-xplained-pro">SAMG55-XPLAINED-PRO</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-srxe">Smart Response XE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-stm32_f4ve">STM32-F4VE</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-stm32f030_demo">STM32F030-DEMO</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-stm32f030_demo">STM32F030-DEMO</a></td>
 </tr>
 </table>
 <!--/bsptable-->

examples/feather_rp2040/blink/main.cpp

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2016, Sascha Schade
+ * Copyright (c) 2017, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+using namespace Board;
+
+/*
+ * Blinks the green user LED with 1 Hz.
+ * It is on for 90% of the time and off for 10% of the time.
+ */
+
+int
+main()
+{
+	Board::initialize();
+
+	Led::setOutput();
+
+	while (true)
+	{
+		Led::set();
+		modm::delay(900ms);
+
+		Led::reset();
+		modm::delay(100ms);
+	}
+
+	return 0;
+}

examples/feather_rp2040/blink/project.xml

@@ -0,0 +1,9 @@
+<library>
+  <extends>modm:feather-rp2040</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/feather_rp2040/blink</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

src/modm/board/feather_rp2040/board.hpp

@@ -0,0 +1,104 @@
+/*
+ *
+ * Copyright (c) 2022, Andrey Kunitsyn
+ * Copyright (c) 2022, Nikolay Semenov
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+#include <modm/architecture/interface/clock.hpp>
+#include <modm/platform.hpp>
+
+using namespace modm::platform;
+
+namespace Board
+{
+using namespace modm::literals;
+
+/// RP2040 running at 125MHz generated from the external 12MHz crystal
+/// @ingroup modm_board_feather_rp2040
+struct SystemClock
+{
+	static constexpr uint32_t Frequency = 125_MHz;
+	static constexpr uint32_t XOSCFrequency = 12_MHz;
+	// https://github.com/raspberrypi/pico-sdk/pull/457
+	static constexpr uint16_t XOSCDelayMultiplier = 64;
+	static constexpr uint32_t PllSysFrequency = Frequency;
+	static constexpr uint32_t PllUsbFrequency = 48_MHz;
+	static constexpr uint32_t SysPLLMul = 125;
+	static constexpr uint32_t UsbPLLMul = 40;
+	static constexpr uint32_t RefFrequency = XOSCFrequency;
+	static constexpr uint32_t UsbFrequency = PllUsbFrequency;
+	static constexpr uint32_t SysFrequency = Frequency;
+	static constexpr uint32_t PeriFrequency = SysFrequency;
+
+	static bool inline enable()
+	{
+		ClockControl::disableResus();
+		ClockControl::enableExternalCrystal(XOSCFrequency, XOSCDelayMultiplier);
+		ClockControl::disableAux<ClockControl::Clock::Sys>();
+		ClockControl::disableAux<ClockControl::Clock::Ref>();
+		// PLL SYS: 12MHz / 1 = 12MHz * 125 = 1500MHZ / 6 / 2 = 125MHz
+		ClockControl::initPll<ClockControl::Pll::Sys, 1, SysPLLMul, 6, 2>();
+		// PLL USB: 12MHz / 1 = 12MHz * 40  = 480 MHz / 5 / 2 =  48MHz
+		ClockControl::initPll<ClockControl::Pll::Usb, 1, UsbPLLMul, 5, 2>();
+
+		// CLK_REF = XOSC (12MHz) / 1 = 12MHz
+		ClockControl::configureClock<ClockControl::Clock::Ref, ClockControl::ClockSrc::Xosc,
+									 XOSCFrequency, RefFrequency>();
+		// CLK SYS = PLL SYS (125MHz) / 1 = 125MHz
+		ClockControl::configureClock<ClockControl::Clock::Sys, ClockControl::ClockSrc::PllSys,
+									 PllSysFrequency, SysFrequency>();
+		// CLK USB = PLL USB (48MHz) / 1 = 48MHz
+		ClockControl::configureClock<ClockControl::Clock::Usb, ClockControl::ClockSrc::PllUsb,
+									 PllUsbFrequency, UsbFrequency>();
+		// CLK PERI = clk_sys. Used as reference clock for Peripherals. No dividers so just select
+		// and enable Normally choose clk_sys or clk_usb
+		ClockControl::configureClock<ClockControl::Clock::Peri, ClockControl::ClockSrc::Sys,
+									 SysFrequency, PeriFrequency>();
+
+		ClockControl::updateCoreFrequency<Frequency>();
+		return true;
+	}
+};
+
+namespace usb
+{
+/// @ingroup modm_board_feather_rp2040
+using Device = Usb;
+}
+
+/// @ingroup modm_board_feather_rp2040
+/// @{
+// User LED
+using LedRed = GpioOutput13;
+using Led = LedRed;
+using Leds = SoftwareGpioPort<Led>;
+
+using Button = GpioUnused;
+
+inline void
+initialize()
+{
+	SystemClock::enable();
+	SysTickTimer::initialize<SystemClock>();
+
+	Led::setOutput();
+}
+
+inline void
+initializeUsbFs(uint8_t priority=3)
+{
+	usb::Device::initialize<SystemClock>(priority);
+	usb::Device::connect<>();
+}
+/// @}
+
+}  // namespace Board

src/modm/board/feather_rp2040/board.xml

@@ -0,0 +1,16 @@
+<library>
+  <repositories>
+    <repository>
+      <path>../../../../repo.lb</path>
+    </repository>
+  </repositories>
+
+  <options>
+    <option name="modm:target">rp2040</option>
+    <option name="modm:platform:core:boot2">generic_03h</option>
+    <option name="modm:platform:core:boot2_size">8*1024*1024</option>
+  </options>
+  <modules>
+    <module>modm:board:feather-rp2040</module>
+  </modules>
+</library>

src/modm/board/feather_rp2040/module.lb

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2022, Andrey Kunitsyn
+# Copyright (c) 2022, Nikolay Semenov
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+def init(module):
+    module.name = ":board:feather-rp2040"
+    module.description = """\
+# Adafruit Feather RP2040
+
+A board with RP2040 chip and 8MB of flash memory.
+
+https://www.adafruit.com/product/4884
+
+See `modm:rp-pico` for programming instructions.
+"""
+
+def prepare(module, options):
+    if not options[":target"].partname.startswith("rp2040"):
+        return False
+
+    module.depends(
+        ":platform:clock",
+        ":platform:core",
+        ":platform:gpio",
+        ":platform:usb",
+        ":platform:clockgen")
+    return True
+
+def build(env):
+    env.outbasepath = "modm/src/modm/board"
+    env.substitutions = {
+        "with_logger": False,
+        "with_assert": env.has_module(":architecture:assert")
+    }
+    env.template("../board.cpp.in", "board.cpp")
+    env.copy('.')
+
+    env.outbasepath = "modm/openocd/modm/board/"
+    env.copy(repopath("tools/openocd/modm/rp2040_picoprobe.cfg"), "rp2040_picoprobe.cfg")
+    env.collect(":build:openocd.source", "modm/board/rp2040_picoprobe.cfg")

src/modm/platform/clock/rp/clocks.cpp

@@ -15,10 +15,6 @@
 
 #include "../device.hpp"
 
-#ifndef PICO_XOSC_STARTUP_DELAY_MULTIPLIER
-#define PICO_XOSC_STARTUP_DELAY_MULTIPLIER 1
-#endif
-
 // CMSIS Core compliance
 constinit uint32_t modm_fastdata SystemCoreClock(modm::platform::ClockControl::BootFrequency);
 
@@ -30,12 +26,12 @@ constinit uint16_t modm_fastdata delay_ns_per_loop(computeDelayNsPerLoop(ClockCo
 static uint32_t configured_freq[CLK_COUNT];
 
 void
-ClockControl::enableExternalCrystal(uint32_t freq)
+ClockControl::enableExternalCrystal(uint32_t freq, uint16_t delay_multiplier)
 {
 	// Assumes 1-15 MHz input, checked above.
 	xosc_hw->ctrl = XOSC_CTRL_FREQ_RANGE_VALUE_1_15MHZ;
 
-	uint32_t delay = ((((freq / 1000) + 128) / 256) * PICO_XOSC_STARTUP_DELAY_MULTIPLIER);
+	uint32_t delay = ((((freq / 1000) + 128) / 256) * delay_multiplier);
 
 	// Set xosc startup delay
 	xosc_hw->startup = delay;

src/modm/platform/clock/rp/clocks.hpp.in

@@ -82,7 +82,7 @@ public:
 	}
 
 	static void
-	enableExternalCrystal(uint32_t freq);
+	enableExternalCrystal(uint32_t freq, uint16_t delay_multiplier = 1);
 
 	template<Clock clk>
 	static void

src/modm/platform/core/cortex/module.lb

@@ -81,6 +81,13 @@ def common_memories(env):
     memories = listify(device.get_driver("core")["memory"])
 
     # Convert from string to int and add offsets
+    flash_size = env.get(":platform:core:boot2_size", 0)
+    if flash_size:
+        memories.append({
+            "name": "flash",
+            "access": "rx",
+            "start": "0x10000000",
+            "size": hex(flash_size)})
     flash_offset = env.get(":platform:cortex-m:linkerscript.flash_offset", 0)
     for m in memories:
         if m["name"] == "flash":
@@ -213,7 +220,7 @@ def prepare(module, options):
                 default=default_location))
 
     # Find the size of the flash memory
-    flash_size = next(int(x['size']) for x in memories if x['name'] == 'flash')
+    flash_size = next((int(x['size']) for x in memories if x['name'] == 'flash'), 16*1024*1024)
     module.add_option(
         NumericOption(
             name="linkerscript.flash_offset",

src/modm/platform/core/rp/module.lb

@@ -29,6 +29,13 @@ def prepare(module, options):
             description="Second-stage bootloader variant",
             enumeration=["generic_03h", "at25sf128a", "is25lp080", "w25q080", "w25x10cl"],
             default="generic_03h"))
+    module.add_option(
+        NumericOption(
+            name="boot2_size",
+            description="Specify the size of external QSPI FLASH chip",
+            minimum=0,
+            maximum=2 ** 24,
+            default=2 ** 21))
     return True
 
 

tools/build_script_generator/common.py

@@ -127,6 +127,13 @@ def common_memories(env):
             }
             for memory in core_driver["memory"]
         ])
+    flash_size = env.get(":platform:core:boot2_size", 0)
+    if flash_size:
+        memories.append({
+            "name": "flash",
+            "access": "rx",
+            "start": 0x10000000,
+            "size": flash_size})
     return memories
 
 def common_avrdude_options(env):