Use pico_unique_id as the USB device serial number

cmake/pico_pre_load_toolchain.cmake

@@ -1,6 +1,5 @@
 # PICO_CMAKE_CONFIG: PICO_TOOLCHAIN_PATH, Path to search for compiler, default=none (i.e. search system paths), group=build
-# Set your compiler path here if it's not in the PATH environment variable.
-set(PICO_TOOLCHAIN_PATH "" CACHE INTERNAL "")
+set(PICO_TOOLCHAIN_PATH "${PICO_TOOLCHAIN_PATH}" CACHE INTERNAL "")
 
 # Set a default build type if none was specified
 set(default_build_type "Release")

cmake/preload/toolchains/pico_arm_gcc.cmake

@@ -52,8 +52,9 @@ set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 option(PICO_DEOPTIMIZED_DEBUG "Build debug builds with -O0" 0)
 
 # todo move to platform/Generix-xxx
-set(ARM_GCC_COMMON_FLAGS " -march=armv6-m -mcpu=cortex-m0plus -mthumb")
-#set(ARM_GCC_COMMON_FLAGS " -mcpu=cortex-m0plus -mthumb")
+
+# on ARM -mcpu should not be mixed with -march
+set(ARM_GCC_COMMON_FLAGS " -mcpu=cortex-m0plus -mthumb")
 foreach(LANG IN ITEMS C CXX ASM)
     set(CMAKE_${LANG}_FLAGS_INIT "${ARM_GCC_COMMON_FLAGS}")
     if (PICO_DEOPTIMIZED_DEBUG)

pico_sdk_version.cmake

@@ -1,12 +1,20 @@
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, pico_base
-# PICO_CONFIG: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, pico_base
+# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, group=pico_base
+# PICO_CONFIG: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, group=pico_base
 set(PICO_SDK_VERSION_MAJOR 1)
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, pico_base
-# PICO_CONFIG: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, pico_base
+# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, group=pico_base
+# PICO_CONFIG: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, group=pico_base
 set(PICO_SDK_VERSION_MINOR 1)
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, pico_base
-# PICO_CONFIG: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, pico_base
-set(PICO_SDK_VERSION_REVISION 0)
+# PICO_BUILD_DEFINE: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, group=pico_base
+# PICO_CONFIG: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, group=pico_base
+set(PICO_SDK_VERSION_REVISION 1)
+# PICO_BUILD_DEFINE: PICO_SDK_VERSION_PRE_RELEASE_ID, optional SDK pre-release version identifier, type=string, group=pico_base
+# PICO_CONFIG: PICO_SDK_VERSION_PRE_RELEASE_ID, optional SDK pre-release version identifier, type=string, group=pico_base
+set(PICO_SDK_VERSION_PRE_RELEASE_ID develop)
+
 # PICO_BUILD_DEFINE: PICO_SDK_VERSION_STRING, SDK version, type=string, group=pico_base
 # PICO_CONFIG: PICO_SDK_VERSION_STRING, SDK version, type=string, group=pico_base
 set(PICO_SDK_VERSION_STRING "${PICO_SDK_VERSION_MAJOR}.${PICO_SDK_VERSION_MINOR}.${PICO_SDK_VERSION_REVISION}")
+
+if (PICO_SDK_VERSION_PRE_RELEASE_ID)
+    set(PICO_SDK_VERSION_STRING "${PICO_SDK_VERSION_STRING}-${PICO_SDK_VERSION_PRE_RELEASE_ID}")
+endif()

src/boards/include/boards/pimoroni_keybow2040.h

@@ -107,7 +107,7 @@
 #define KEYBOW2040_SW15_PIN 6
 #endif
 
-#ifndef KEYBOW2040_NUM_SWITCHES
+#ifndef KEYBOW2040_NUM_SWITCHES_PINS
 #define KEYBOW2040_NUM_SWITCHES_PINS 16
 #endif
 

src/boards/include/boards/sparkfun_micromod.h

@@ -19,7 +19,7 @@
 
 #ifndef PICO_DEFAULT_UART
 #define PICO_DEFAULT_UART 0
-#define
+#endif
 
 #ifndef PICO_DEFAULT_UART_TX_PIN
 #define PICO_DEFAULT_UART_TX_PIN 0

src/boards/include/boards/vgaboard.h

@@ -26,8 +26,8 @@
 #define VGABOARD_VGA_COLOR_PIN_BASE 0
 #define VGABOARD_VGA_SYNC_PIN_BASE 16
 
-// Note DAT2/3 are shared with UART TX/RX (pull jumpers off header to access
-// UART pins and disconnect SD DAT2/3)
+// Note DAT1/2 are shared with UART TX/RX (pull jumpers off header to access
+// UART pins and disconnect SD DAT1/2)
 #define VGABOARD_SD_CLK_PIN 5
 #define VGABOARD_SD_CMD_PIN 18
 #define VGABOARD_SD_DAT0_PIN 19
@@ -57,10 +57,12 @@
 #define PICO_SD_CMD_PIN VGABOARD_SD_CMD_PIN
 #define PICO_SD_DAT0_PIN VGABOARD_SD_DAT0_PIN
 
+// 1 or 4
 #ifndef PICO_SD_DAT_PIN_COUNT
 #define PICO_SD_DAT_PIN_COUNT 4
 #endif
 
+// 1 or -1
 #define PICO_SD_DAT_PIN_INCREMENT 1
 
 #define PICO_AUDIO_I2S_DATA_PIN VGABOARD_I2S_DIN_PIN

src/common/pico_base/include/pico/types.h

@@ -25,7 +25,7 @@ typedef unsigned int uint;
     \see update_us_since_boot()
     \ingroup timestamp
 */
-#ifndef NDEBUG
+#ifdef NDEBUG
 typedef uint64_t absolute_time_t;
 #else
 typedef struct {
@@ -40,7 +40,7 @@ typedef struct {
  * \ingroup timestamp
  */
 static inline uint64_t to_us_since_boot(absolute_time_t t) {
-#ifndef NDEBUG
+#ifdef NDEBUG
     return t;
 #else
     return t._private_us_since_boot;
@@ -55,15 +55,15 @@ static inline uint64_t to_us_since_boot(absolute_time_t t) {
  * \ingroup timestamp
  */
 static inline void update_us_since_boot(absolute_time_t *t, uint64_t us_since_boot) {
-#ifndef NDEBUG
+#ifdef NDEBUG
     *t = us_since_boot;
 #else
     assert(us_since_boot <= INT64_MAX);
     t->_private_us_since_boot = us_since_boot;
 #endif
 }
 
-#ifndef NDEBUG
+#ifdef NDEBUG
 #define ABSOLUTE_TIME_INITIALIZED_VAR(name, value) name = value
 #else
 #define ABSOLUTE_TIME_INITIALIZED_VAR(name, value) name = {value}

src/common/pico_util/include/pico/util/queue.h

@@ -18,6 +18,10 @@
  * \ingroup pico_util
  */
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
     spin_lock_t *lock;
     uint8_t *data;
@@ -69,7 +73,7 @@ void queue_free(queue_t *q);
 static inline uint queue_get_level_unsafe(queue_t *q) {
     int32_t rc = (int32_t)q->wptr - (int32_t)q->rptr;
     if (rc < 0) {
-        rc += + q->element_count + 1;
+        rc += q->element_count + 1;
     }
     return (uint)rc;
 }
@@ -181,4 +185,7 @@ void queue_remove_blocking(queue_t *q, void *data);
  */
 void queue_peek_blocking(queue_t *q, void *data);
 
+#ifdef __cplusplus
+}
+#endif
 #endif

src/rp2_common/hardware_clocks/clocks.c

@@ -322,7 +322,7 @@ void clock_gpio_init(uint gpio, uint src, uint div) {
     if      (gpio == 21) gpclk = clk_gpout0;
     else if (gpio == 23) gpclk = clk_gpout1;
     else if (gpio == 24) gpclk = clk_gpout2;
-    else if (gpio == 26) gpclk = clk_gpout3;
+    else if (gpio == 25) gpclk = clk_gpout3;
     else {
         invalid_params_if(CLOCKS, true);
     }

src/rp2_common/hardware_clocks/include/hardware/clocks.h

@@ -170,7 +170,7 @@ void clocks_enable_resus(resus_callback_t resus_callback);
 /*! \brief Output an optionally divided clock to the specified gpio pin.
  *  \ingroup hardware_clocks
  *
- * \param gpio The GPIO pin to output the clock to. Valid GPIOs are: 21, 23, 24, 26. These GPIOs are connected to the GPOUT0-3 clock generators.
+ * \param gpio The GPIO pin to output the clock to. Valid GPIOs are: 21, 23, 24, 25. These GPIOs are connected to the GPOUT0-3 clock generators.
  * \param src  The source clock. See the register field CLOCKS_CLK_GPOUT0_CTRL_AUXSRC for a full list. The list is the same for each GPOUT clock generator.
  * \param div  The amount to divide the source clock by. This is useful to not overwhelm the GPIO pin with a fast clock.
  */

src/rp2_common/hardware_pio/include/hardware/pio.h

@@ -196,29 +196,6 @@ static inline void sm_config_set_sideset(pio_sm_config *c, uint bit_count, bool
                   (bool_to_bit(pindirs) << PIO_SM0_EXECCTRL_SIDE_PINDIR_LSB);
 }
 
-/*! \brief Set the state machine clock divider (from a floating point value) in a state machine configuration
- *  \ingroup sm_config
- *
- * The clock divider slows the state machine's execution by masking the
- * system clock on some cycles, in a repeating pattern, so that the state
- * machine does not advance. Effectively this produces a slower clock for the
- * state machine to run from, which can be used to generate e.g. a particular
- * UART baud rate. See the datasheet for further detail.
- *
- * \param c Pointer to the configuration structure to modify
- * \param div The fractional divisor to be set. 1 for full speed. An integer clock divisor of n
- *  will cause the state machine to run 1 cycle in every n.
- *  Note that for small n, the jitter introduced by a fractional divider (e.g. 2.5) may be unacceptable
- *  although it will depend on the use case.
- */
-static inline void sm_config_set_clkdiv(pio_sm_config *c, float div) {
-    uint div_int = (uint)div;
-    uint div_frac = (uint)((div - (float)div_int) * (1u << 8u));
-    c->clkdiv =
-            (div_frac << PIO_SM0_CLKDIV_FRAC_LSB) |
-            (div_int << PIO_SM0_CLKDIV_INT_LSB);
-}
-
 /*! \brief Set the state machine clock divider (from integer and fractional parts - 16:8) in a state machine configuration
  *  \ingroup sm_config
  *
@@ -238,6 +215,38 @@ static inline void sm_config_set_clkdiv_int_frac(pio_sm_config *c, uint16_t div_
             (((uint)div_int) << PIO_SM0_CLKDIV_INT_LSB);
 }
 
+static inline void pio_calculate_clkdiv_from_float(float div, uint16_t *div_int, uint8_t *div_frac) {
+    valid_params_if(PIO, div >= 1 && div <= 65536);
+    *div_int = (uint16_t)div;
+    if (*div_int == 0) {
+        *div_frac = 0;
+    } else {
+        *div_frac = (uint8_t)((div - (float)*div_int) * (1u << 8u));
+    }
+}
+
+/*! \brief Set the state machine clock divider (from a floating point value) in a state machine configuration
+ *  \ingroup sm_config
+ *
+ * The clock divider slows the state machine's execution by masking the
+ * system clock on some cycles, in a repeating pattern, so that the state
+ * machine does not advance. Effectively this produces a slower clock for the
+ * state machine to run from, which can be used to generate e.g. a particular
+ * UART baud rate. See the datasheet for further detail.
+ *
+ * \param c Pointer to the configuration structure to modify
+ * \param div The fractional divisor to be set. 1 for full speed. An integer clock divisor of n
+ *  will cause the state machine to run 1 cycle in every n.
+ *  Note that for small n, the jitter introduced by a fractional divider (e.g. 2.5) may be unacceptable
+ *  although it will depend on the use case.
+ */
+static inline void sm_config_set_clkdiv(pio_sm_config *c, float div) {
+    uint16_t div_int;
+    uint8_t div_frac;
+    pio_calculate_clkdiv_from_float(div, &div_int, &div_frac);
+    sm_config_set_clkdiv_int_frac(c, div_int, div_frac);
+}
+
 /*! \brief Set the wrap addresses in a state machine configuration
  *  \ingroup sm_config
  *
@@ -978,37 +987,36 @@ static inline uint32_t pio_sm_get_blocking(PIO pio, uint sm) {
  */
 void pio_sm_drain_tx_fifo(PIO pio, uint sm);
 
-/*! \brief set the current clock divider for a state machine
+/*! \brief set the current clock divider for a state machine using a 16:8 fraction
  *  \ingroup hardware_pio
  *
  * \param pio The PIO instance; either \ref pio0 or \ref pio1
  * \param sm State machine index (0..3)
- * \param div the floating point clock divider
+ * \param div_int the integer part of the clock divider
+ * \param div_frac the fractional part of the clock divider in 1/256s
  */
-static inline void pio_sm_set_clkdiv(PIO pio, uint sm, float div) {
+static inline void pio_sm_set_clkdiv_int_frac(PIO pio, uint sm, uint16_t div_int, uint8_t div_frac) {
     check_pio_param(pio);
     check_sm_param(sm);
-    uint div_int = (uint16_t) div;
-    uint div_frac = (uint8_t) ((div - (float)div_int) * (1u << 8u));
     pio->sm[sm].clkdiv =
-            (div_frac << PIO_SM0_CLKDIV_FRAC_LSB) |
-            (div_int << PIO_SM0_CLKDIV_INT_LSB);
+            (((uint)div_frac) << PIO_SM0_CLKDIV_FRAC_LSB) |
+            (((uint)div_int) << PIO_SM0_CLKDIV_INT_LSB);
 }
 
-/*! \brief set the current clock divider for a state machine using a 16:8 fraction
+/*! \brief set the current clock divider for a state machine
  *  \ingroup hardware_pio
  *
  * \param pio The PIO instance; either \ref pio0 or \ref pio1
  * \param sm State machine index (0..3)
- * \param div_int the integer part of the clock divider
- * \param div_frac the fractional part of the clock divider in 1/256s
+ * \param div the floating point clock divider
  */
-static inline void pio_sm_set_clkdiv_int_frac(PIO pio, uint sm, uint16_t div_int, uint8_t div_frac) {
+static inline void pio_sm_set_clkdiv(PIO pio, uint sm, float div) {
     check_pio_param(pio);
     check_sm_param(sm);
-    pio->sm[sm].clkdiv =
-            (((uint)div_frac) << PIO_SM0_CLKDIV_FRAC_LSB) |
-            (((uint)div_int) << PIO_SM0_CLKDIV_INT_LSB);
+    uint16_t div_int;
+    uint8_t div_frac;
+    pio_calculate_clkdiv_from_float(div, &div_int, &div_frac);
+    pio_sm_set_clkdiv_int_frac(pio, sm, div_int, div_frac);
 }
 
 /*! \brief Clear a state machine's TX and RX FIFOs

src/rp2_common/hardware_rtc/rtc.c

@@ -92,13 +92,16 @@ bool rtc_get_datetime(datetime_t *t) {
     }
 
     // Note: RTC_0 should be read before RTC_1
-    t->dotw  = (rtc_hw->rtc_0 & RTC_RTC_0_DOTW_BITS ) >> RTC_RTC_0_DOTW_LSB;
-    t->hour  = (rtc_hw->rtc_0 & RTC_RTC_0_HOUR_BITS ) >> RTC_RTC_0_HOUR_LSB;
-    t->min   = (rtc_hw->rtc_0 & RTC_RTC_0_MIN_BITS  ) >> RTC_RTC_0_MIN_LSB;
-    t->sec   = (rtc_hw->rtc_0 & RTC_RTC_0_SEC_BITS  ) >> RTC_RTC_0_SEC_LSB;
-    t->year  = (rtc_hw->rtc_1 & RTC_RTC_1_YEAR_BITS ) >> RTC_RTC_1_YEAR_LSB;
-    t->month = (rtc_hw->rtc_1 & RTC_RTC_1_MONTH_BITS) >> RTC_RTC_1_MONTH_LSB;
-    t->day   = (rtc_hw->rtc_1 & RTC_RTC_1_DAY_BITS  ) >> RTC_RTC_1_DAY_LSB;
+    uint32_t rtc_0 = rtc_hw->rtc_0;
+    uint32_t rtc_1 = rtc_hw->rtc_1;
+
+    t->dotw  = (rtc_0 & RTC_RTC_0_DOTW_BITS ) >> RTC_RTC_0_DOTW_LSB;
+    t->hour  = (rtc_0 & RTC_RTC_0_HOUR_BITS ) >> RTC_RTC_0_HOUR_LSB;
+    t->min   = (rtc_0 & RTC_RTC_0_MIN_BITS  ) >> RTC_RTC_0_MIN_LSB;
+    t->sec   = (rtc_0 & RTC_RTC_0_SEC_BITS  ) >> RTC_RTC_0_SEC_LSB;
+    t->year  = (rtc_1 & RTC_RTC_1_YEAR_BITS ) >> RTC_RTC_1_YEAR_LSB;
+    t->month = (rtc_1 & RTC_RTC_1_MONTH_BITS) >> RTC_RTC_1_MONTH_LSB;
+    t->day   = (rtc_1 & RTC_RTC_1_DAY_BITS  ) >> RTC_RTC_1_DAY_LSB;
 
     return true;
 }
@@ -185,4 +188,4 @@ void rtc_disable_alarm(void) {
     while(rtc_hw->irq_setup_0 & RTC_IRQ_SETUP_0_MATCH_ACTIVE_BITS) {
         tight_loop_contents();
     }
-}
+}

src/rp2_common/hardware_timer/timer.c

@@ -166,8 +166,9 @@ bool hardware_alarm_set_target(uint alarm_num, absolute_time_t target) {
         // 1) actually set the hardware timer
         spin_lock_t *lock = spin_lock_instance(PICO_SPINLOCK_ID_TIMER);
         uint32_t save = spin_lock_blocking(lock);
-        timer_hw->intr = 1u << alarm_num;
+        uint8_t old_timer_callbacks_pending = timer_callbacks_pending;
         timer_callbacks_pending |= (uint8_t)(1u << alarm_num);
+        timer_hw->intr = 1u << alarm_num; // clear any IRQ
         timer_hw->alarm[alarm_num] = (uint32_t) t;
         // Set the alarm. Writing time should arm it
         target_hi[alarm_num] = (uint32_t)(t >> 32u);
@@ -178,18 +179,26 @@ bool hardware_alarm_set_target(uint alarm_num, absolute_time_t target) {
             assert(timer_hw->ints & 1u << alarm_num);
         } else {
             if (time_us_64() >= t) {
-                // ok well it is time now; the irq isn't being handled yet because of the spin lock
-                // however the other core might be in the IRQ handler itself about to do a callback
-                // we do the firing ourselves (and indicate to the IRQ handler if any that it shouldn't
+                // we are already at or past the right time; there is no point in us racing against the IRQ
+                // we are about to generate. note however that, if there was already a timer pending before,
+                // then we still let the IRQ fire, as whatever it was, is not handled by our setting missed=true here
                 missed = true;
-                // disarm the timer
-                timer_hw->armed = 1u << alarm_num;
-                timer_hw->intr = 1u << alarm_num; // clear the IRQ too
-                // and set flag in case we're already in the IRQ handler waiting on the spinlock (on the other core)
-                timer_callbacks_pending &= (uint8_t)~(1u << alarm_num);
+                if (timer_callbacks_pending != old_timer_callbacks_pending) {
+                    // disarm the timer
+                    timer_hw->armed = 1u << alarm_num;
+                    // clear the IRQ...
+                    timer_hw->intr = 1u << alarm_num;
+                    // ... including anything pending on the processor - perhaps unnecessary, but
+                    // our timer flag says we aren't expecting anything.
+                    irq_clear(harware_alarm_irq_number(alarm_num));
+                    // and clear our flag so that if the IRQ handler is already active (because it is on
+                    // the other core) it will also skip doing anything
+                    timer_callbacks_pending = old_timer_callbacks_pending;
+                }
             }
         }
         spin_unlock(lock, save);
+        // note at this point any pending timer IRQ can likely run
     }
     return missed;
 }

src/rp2_common/pico_runtime/runtime.c

@@ -175,9 +175,9 @@ void *_sbrk(int incr) {
     prev_heap_end = heap_end;
     char *next_heap_end = heap_end + incr;
 
-    if (__builtin_expect(next_heap_end >= (&__StackLimit), false)) {
+    if (__builtin_expect(next_heap_end > (&__StackLimit), false)) {
 #if PICO_USE_OPTIMISTIC_SBRK
-        if (next_heap_end == &__StackLimit) {
+        if (heap_end == &__StackLimit) {
 //        errno = ENOMEM;
             return (char *) -1;
         }

src/rp2_common/pico_stdio_usb/CMakeLists.txt

@@ -13,9 +13,10 @@ if (TARGET tinyusb_device_unmarked)
         tinyusb_device_unmarked
         pico_stdio
         pico_time
+        pico_unique_id
     )
 
     target_compile_definitions(pico_stdio_usb INTERFACE
             PICO_STDIO_USB=1
     )
-endif()
+endif()