Raspberry Pi Pico target support

core/src/main/java/org/lflang/TargetConfig.java

@@ -383,7 +383,9 @@ public static class PlatformOptions {
     /**
      * The string value used to determine what type of embedded board we work with and can be used
      * to simplify the build process. For example, when we want to flash to an Arduino Nano 33 BLE
-     * board, we can use the string arduino:mbed_nano:nano33ble
+     * board, we can use the string arduino:mbed_nano:nano33ble TODO: move to lingo Can also be used
+     * to specify uart output setting on rp2040 boards where arduino_nano_rp2040_connect:uart or
+     * arduino_nano_rp2040_connect:usb (usb) fully specifies the board and uart output
      */
     public String board = null;
 

core/src/main/java/org/lflang/TargetProperty.java

@@ -1726,6 +1726,7 @@ public enum Platform {
     AUTO,
     ARDUINO,
     NRF52("Nrf52"),
+    RP2040("Rp2040"),
     LINUX("Linux"),
     MAC("Darwin"),
     ZEPHYR("Zephyr"),

core/src/main/java/org/lflang/generator/CodeBuilder.java

@@ -68,7 +68,7 @@ public int length() {
 
   /** Add a new line. */
   public void newLine() {
-    this.pr("");
+    this.pr("\n");
   }
 
   /**

core/src/main/java/org/lflang/generator/c/CCmakeGenerator.java

@@ -116,25 +116,40 @@ CodeBuilder generateCMakeCode(
 
     cMakeCode.pr("cmake_minimum_required(VERSION " + MIN_CMAKE_VERSION + ")");
 
-    if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
-      cMakeCode.pr("# Set default configuration file. To add custom configurations,");
-      cMakeCode.pr("# pass -- -DOVERLAY_CONFIG=my_config.prj to either cmake or west");
-      cMakeCode.pr("set(CONF_FILE prj_lf.conf)");
-      if (targetConfig.platformOptions.board != null) {
-        cMakeCode.pr("# Selecting board specified in target property");
-        cMakeCode.pr("set(BOARD " + targetConfig.platformOptions.board + ")");
-      } else {
-        cMakeCode.pr("# Selecting default board");
-        cMakeCode.pr("set(BOARD qemu_cortex_m3)");
-      }
-      cMakeCode.pr("# We recommend Zephyr v3.3.0 but we are compatible with older versions also");
-      cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE} 3.3.0)");
-      cMakeCode.newLine();
+    // Setup the project header for different platforms
+    switch (targetConfig.platformOptions.platform) {
+      case ZEPHYR:
+        cMakeCode.pr("# Set default configuration file. To add custom configurations,");
+        cMakeCode.pr("# pass -- -DOVERLAY_CONFIG=my_config.prj to either cmake or west");
+        cMakeCode.pr("set(CONF_FILE prj_lf.conf)");
+        if (targetConfig.platformOptions.board != null) {
+          cMakeCode.pr("# Selecting board specified in target property");
+          cMakeCode.pr("set(BOARD " + targetConfig.platformOptions.board + ")");
+        } else {
+          cMakeCode.pr("# Selecting default board");
+          cMakeCode.pr("set(BOARD qemu_cortex_m3)");
+        }
+        cMakeCode.pr("# We recommend Zephyr v3.3.0 but we are compatible with older versions also");
+        cMakeCode.pr("find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE} 3.3.0)");
+        cMakeCode.newLine();
+        cMakeCode.pr("project(" + executableName + " LANGUAGES C)");
+        cMakeCode.newLine();
+        break;
+      case RP2040:
+        cMakeCode.pr("include(pico_sdk_import.cmake)");
+        cMakeCode.pr("project(" + executableName + " LANGUAGES C CXX ASM)");
+        cMakeCode.newLine();
+        // board type for rp2040 based boards
+        if (targetConfig.platformOptions.board != null) {
+          String[] bProps = targetConfig.platformOptions.board.split(":");
+          cMakeCode.pr("set(PICO_BOARD \"" + bProps[0] + "\")");
+        }
+        break;
+      default:
+        cMakeCode.pr("project(" + executableName + " LANGUAGES C)");
+        cMakeCode.newLine();
     }
 
-    cMakeCode.pr("project(" + executableName + " LANGUAGES C)");
-    cMakeCode.newLine();
-
     // The Test build type is the Debug type plus coverage generation
     cMakeCode.pr("if(CMAKE_BUILD_TYPE STREQUAL \"Test\")");
     cMakeCode.pr("  set(CMAKE_BUILD_TYPE \"Debug\")");
@@ -153,6 +168,8 @@ CodeBuilder generateCMakeCode(
             + " gcc\")");
     cMakeCode.pr("  endif()");
     cMakeCode.pr("endif()");
+    // remove warnings for making building easier
+    cMakeCode.pr("set(CMAKE_C_FLAGS \"${CMAKE_C_FLAGS} -w\")");
 
     cMakeCode.pr("# Require C11");
     cMakeCode.pr("set(CMAKE_C_STANDARD 11)");
@@ -200,18 +217,28 @@ CodeBuilder generateCMakeCode(
     }
     cMakeCode.newLine();
 
-    if (targetConfig.platformOptions.platform == Platform.ZEPHYR) {
-      cMakeCode.pr(
-          setUpMainTargetZephyr(
-              hasMain,
-              executableName,
-              Stream.concat(additionalSources.stream(), sources.stream())));
-    } else {
-      cMakeCode.pr(
-          setUpMainTarget.getCmakeCode(
-              hasMain,
-              executableName,
-              Stream.concat(additionalSources.stream(), sources.stream())));
+    // Setup main target for different platforms
+    switch (targetConfig.platformOptions.platform) {
+      case ZEPHYR:
+        cMakeCode.pr(
+            setUpMainTargetZephyr(
+                hasMain,
+                executableName,
+                Stream.concat(additionalSources.stream(), sources.stream())));
+        break;
+      case RP2040:
+        cMakeCode.pr(
+            setUpMainTargetRp2040(
+                hasMain,
+                executableName,
+                Stream.concat(additionalSources.stream(), sources.stream())));
+        break;
+      default:
+        cMakeCode.pr(
+            setUpMainTarget.getCmakeCode(
+                hasMain,
+                executableName,
+                Stream.concat(additionalSources.stream(), sources.stream())));
     }
 
     // Ensure that the math library is linked
@@ -230,6 +257,27 @@ CodeBuilder generateCMakeCode(
     cMakeCode.pr("target_include_directories(${LF_MAIN_TARGET} PUBLIC include/core/modal_models)");
     cMakeCode.pr("target_include_directories(${LF_MAIN_TARGET} PUBLIC include/core/utils)");
 
+    // post target definition board configurations
+    if (targetConfig.platformOptions.board != null) {
+      switch (targetConfig.platformOptions.platform) {
+        case RP2040:
+          String[] bProps = targetConfig.platformOptions.board.split(":");
+          cMakeCode.pr("# Set pico-sdk default build configurations");
+          // uart ouput option provided
+          if (bProps.length > 1 && bProps[1].equals("uart")) {
+            cMakeCode.pr("pico_enable_stdio_usb(${LF_MAIN_TARGET} 0)");
+            cMakeCode.pr("pico_enable_stdio_uart(${LF_MAIN_TARGET} 1)");
+          } else if (bProps.length > 1 && bProps[1].equals("usb")) {
+            cMakeCode.pr("pico_enable_stdio_usb(${LF_MAIN_TARGET} 1)");
+            cMakeCode.pr("pico_enable_stdio_uart(${LF_MAIN_TARGET} 0)");
+          } else {
+            cMakeCode.pr("pico_enable_stdio_usb(${LF_MAIN_TARGET} 1)");
+            cMakeCode.pr("pico_enable_stdio_uart(${LF_MAIN_TARGET} 1)");
+          }
+          break;
+      }
+    }
+
     if (targetConfig.auth) {
       // If security is requested, add the auth option.
       var osName = System.getProperty("os.name").toLowerCase();
@@ -247,12 +295,13 @@ CodeBuilder generateCMakeCode(
     }
 
     if (targetConfig.threading || targetConfig.tracing != null) {
-      // If threaded computation is requested, add the threads option.
-      cMakeCode.pr("# Find threads and link to it");
-      cMakeCode.pr("find_package(Threads REQUIRED)");
-      cMakeCode.pr("target_link_libraries(${LF_MAIN_TARGET} PRIVATE Threads::Threads)");
-      cMakeCode.newLine();
-
+      if (targetConfig.platformOptions.platform != Platform.RP2040) {
+        // If threaded computation is requested, add the threads option.
+        cMakeCode.pr("# Find threads and link to it");
+        cMakeCode.pr("find_package(Threads REQUIRED)");
+        cMakeCode.pr("target_link_libraries(${LF_MAIN_TARGET} PRIVATE Threads::Threads)");
+        cMakeCode.newLine();
+      }
       // If the LF program itself is threaded or if tracing is enabled, we need to define
       // NUMBER_OF_WORKERS so that platform-specific C files will contain the appropriate functions
       cMakeCode.pr("# Set the number of workers to enable threading/tracing");
@@ -397,4 +446,35 @@ private static String setUpMainTargetZephyr(
     code.newLine();
     return code.toString();
   }
+
+  private static String setUpMainTargetRp2040(
+      boolean hasMain, String executableName, Stream<String> cSources) {
+    var code = new CodeBuilder();
+    // initialize sdk
+    code.pr("pico_sdk_init()");
+    code.newLine();
+    code.pr("add_subdirectory(core)");
+    code.pr("target_link_libraries(core PUBLIC pico_stdlib)");
+    code.pr("target_link_libraries(core PUBLIC pico_multicore)");
+    code.pr("target_link_libraries(core PUBLIC pico_sync)");
+    code.newLine();
+    code.pr("set(LF_MAIN_TARGET " + executableName + ")");
+
+    if (hasMain) {
+      code.pr("# Declare a new executable target and list all its sources");
+      code.pr("add_executable(");
+    } else {
+      code.pr("# Declare a new library target and list all its sources");
+      code.pr("add_library(");
+    }
+    code.indent();
+    code.pr("${LF_MAIN_TARGET}");
+    cSources.forEach(code::pr);
+    code.unindent();
+    code.pr(")");
+    code.newLine();
+    code.pr("pico_add_extra_outputs(${LF_MAIN_TARGET})");
+    code.newLine();
+    return code.toString();
+  }
 }

core/src/main/java/org/lflang/generator/c/CGenerator.java

@@ -930,6 +930,16 @@ protected void copyTargetFiles() throws IOException {
       FileUtil.copyFileFromClassPath(
           "/lib/platform/zephyr/Kconfig", fileConfig.getSrcGenPath(), true);
     }
+
+    // For the pico src-gen, copy over vscode configurations for debugging
+    if (targetConfig.platformOptions.platform == Platform.RP2040) {
+      Path vscodePath = Path.of(fileConfig.getSrcGenPath() + File.separator + ".vscode");
+      // If pico-sdk-path not defined, this can be used to pull the sdk into src-gen
+      FileUtil.copyFileFromClassPath(
+          "/lib/platform/rp2040/pico_sdk_import.cmake", fileConfig.getSrcGenPath(), true);
+      // VS Code configurations
+      FileUtil.copyFileFromClassPath("/lib/platform/rp2040/launch.json", vscodePath, true);
+    }
   }
 
   ////////////////////////////////////////////

core/src/main/java/org/lflang/generator/c/CMainFunctionGenerator.java

@@ -62,6 +62,9 @@ private String generateMainFunction() {
           "   int res = lf_reactor_c_main(0, NULL);",
           "   exit(res);",
           "}");
+    } else if (targetConfig.platformOptions.platform == Platform.RP2040) {
+      // Pico platform cannont use command line args.
+      return String.join("\n", "int main(void) {", "   return lf_reactor_c_main(0, NULL);", "}");
     } else {
       return String.join(
           "\n",

core/src/main/resources/lib/platform/rp2040/launch.json

@@ -0,0 +1,29 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico Debug",
+            "cwd": "${workspaceRoot}",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            // This may need to be "arm-none-eabi-gdb" for some previous builds
+            "gdbPath" : "gdb-multiarch",
+            "device": "RP2040",
+            "configFiles": [
+                "interface/cmsis-dap.cfg",
+                "target/rp2040.cfg"
+            ],
+            "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
+            "runToEntryPoint": "main",
+            // Work around for stopping at main on restart
+            "postRestartCommands": [
+                "break main",
+                "continue"
+            ],
+            "showDevDebugOutput": "raw",
+            "openOCDLaunchCommands": ["adapter speed 5000"]
+        }
+    ]
+}

core/src/main/resources/lib/platform/rp2040/pico_sdk_import.cmake

@@ -0,0 +1,73 @@
+# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
+
+# This can be dropped into an external project to help locate this SDK
+# It should be include()ed prior to project()
+
+if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
+    set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+    message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
+    set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
+    message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
+    set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
+    message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
+endif ()
+
+set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
+set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
+set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+
+if (NOT PICO_SDK_PATH)
+    if (PICO_SDK_FETCH_FROM_GIT)
+        include(FetchContent)
+        set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
+        if (PICO_SDK_FETCH_FROM_GIT_PATH)
+            get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
+        endif ()
+        # GIT_SUBMODULES_RECURSE was added in 3.17
+        if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG master
+                    GIT_SUBMODULES_RECURSE FALSE
+            )
+        else ()
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG master
+            )
+        endif ()
+
+        if (NOT pico_sdk)
+            message("Downloading Raspberry Pi Pico SDK")
+            FetchContent_Populate(pico_sdk)
+            set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
+        endif ()
+        set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
+    else ()
+        message(FATAL_ERROR
+                "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
+                )
+    endif ()
+endif ()
+
+get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${PICO_SDK_PATH})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
+endif ()
+
+set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
+if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
+endif ()
+
+set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
+
+include(${PICO_SDK_INIT_CMAKE_FILE})