firmware: add support for the raspberry pi pico

firmware/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.17)
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+# set(CMAKE_C_COMPILER_WORKS 1)
+
+#set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../lib/tinyusb/hw/bsp/family_support.cmake)
+
+# gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
+family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
+
+project(${PROJECT} C CXX ASM)
+
+# Checks this example is valid for the family and initializes the project
+family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
+
+# Espressif has its own cmake build system
+if(FAMILY STREQUAL "espressif")
+  return()
+endif()
+
+add_executable(${PROJECT})
+
+# Example source
+target_sources(${PROJECT} PUBLIC
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/console.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/debug_spi.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/jtag.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/jtag_tap.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/vendor.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/button.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/dfu.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/jtag.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/fpga.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/debug_spi.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/spi.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/led.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/uart.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/usb_descriptors.c
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}/usb_switch.c
+  )
+
+# Example include
+target_include_directories(${PROJECT} PUBLIC
+  ${CMAKE_CURRENT_SOURCE_DIR}/src
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/boards/${BOARD}
+  )
+
+target_compile_definitions(${PROJECT} PUBLIC
+#   CFG_TUSB_OS=OPT_OS_PICO
+  _BOARD_REVISION_MAJOR_=${BOARD_REVISION_MAJOR}
+  _BOARD_REVISION_MINOR_=${BOARD_REVISION_MINOR}
+  )
+
+# Configure compilation flags and libraries for the example... see the corresponding function
+# in hw/bsp/FAMILY/family.cmake for details.
+# family_configure_device_example(${PROJECT} noos)
+family_configure_target(${PROJECT} noos)
+target_link_libraries(${PROJECT} PUBLIC pico_stdlib tinyusb_device pico_unique_id pico_fix_rp2040_usb_device_enumeration hardware_spi)
+

firmware/src/boards/cynthion_d21/button.c

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+/**
+ * button handler
+ *
+ * Copyright (c) 2023 Great Scott Gadgets <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "button.h"
+#include "usb_switch.h"
+#include "fpga.h"
+#include "apollo_board.h"
+#include <hal/include/hal_gpio.h>
+
+
+/**
+ * Detect button press.
+ */
+bool button_pressed(void)
+{
+#ifdef BOARD_HAS_PROGRAM_BUTTON
+	return (gpio_get_pin_level(PROGRAM_BUTTON) == false);
+#else
+	return false;
+#endif
+}
+
+
+/**
+ * Handle button events.
+ */
+void button_task(void)
+{
+	if (button_pressed()) {
+		force_fpga_offline();
+		take_over_usb();
+	}
+}

firmware/src/boards/cynthion_d21/usb_switch.c

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+/**
+ * switch control for USB port shared by Apollo and FPGA
+ *
+ * This file is part of Apollo.
+ *
+ * Copyright (c) 2023 Great Scott Gadgets <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "usb_switch.h"
+#include "apollo_board.h"
+#include <hal/include/hal_gpio.h>
+
+
+/**
+ * Hand off shared USB port to FPGA.
+ */
+void hand_off_usb(void)
+{
+#ifdef BOARD_HAS_USB_SWITCH
+	gpio_set_pin_level(USB_SWITCH, false);
+	gpio_set_pin_direction(USB_SWITCH, GPIO_DIRECTION_OUT);
+#endif
+}
+
+
+/**
+ * Take control of USB port from FPGA.
+ */
+void take_over_usb(void)
+{
+#ifdef BOARD_HAS_USB_SWITCH
+	gpio_set_pin_level(USB_SWITCH, true);
+	gpio_set_pin_direction(USB_SWITCH, GPIO_DIRECTION_OUT);
+#endif
+}

firmware/src/boards/daisho/button.c

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+/**
+ * button handler
+ *
+ * Copyright (c) 2023 Great Scott Gadgets <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "button.h"
+#include "usb_switch.h"
+#include "fpga.h"
+#include "apollo_board.h"
+#include <hal/include/hal_gpio.h>
+
+
+/**
+ * Detect button press.
+ */
+bool button_pressed(void)
+{
+#ifdef BOARD_HAS_PROGRAM_BUTTON
+	return (gpio_get_pin_level(PROGRAM_BUTTON) == false);
+#else
+	return false;
+#endif
+}
+
+
+/**
+ * Handle button events.
+ */
+void button_task(void)
+{
+	if (button_pressed()) {
+		force_fpga_offline();
+		take_over_usb();
+	}
+}

firmware/src/boards/daisho/usb_switch.c

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+/**
+ * switch control for USB port shared by Apollo and FPGA
+ *
+ * This file is part of Apollo.
+ *
+ * Copyright (c) 2023 Great Scott Gadgets <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "usb_switch.h"
+#include "apollo_board.h"
+#include <hal/include/hal_gpio.h>
+
+
+/**
+ * Hand off shared USB port to FPGA.
+ */
+void hand_off_usb(void)
+{
+#ifdef BOARD_HAS_USB_SWITCH
+	gpio_set_pin_level(USB_SWITCH, false);
+	gpio_set_pin_direction(USB_SWITCH, GPIO_DIRECTION_OUT);
+#endif
+}
+
+
+/**
+ * Take control of USB port from FPGA.
+ */
+void take_over_usb(void)
+{
+#ifdef BOARD_HAS_USB_SWITCH
+	gpio_set_pin_level(USB_SWITCH, true);
+	gpio_set_pin_direction(USB_SWITCH, GPIO_DIRECTION_OUT);
+#endif
+}

firmware/src/boards/qtpy/button.c

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+/**
+ * button handler
+ *
+ * Copyright (c) 2023 Great Scott Gadgets <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "button.h"
+#include "usb_switch.h"
+#include "fpga.h"
+#include "apollo_board.h"
+#include <hal/include/hal_gpio.h>
+
+
+/**
+ * Detect button press.
+ */
+bool button_pressed(void)
+{
+#ifdef BOARD_HAS_PROGRAM_BUTTON
+	return (gpio_get_pin_level(PROGRAM_BUTTON) == false);
+#else
+	return false;
+#endif
+}
+
+
+/**
+ * Handle button events.
+ */
+void button_task(void)
+{
+	if (button_pressed()) {
+		force_fpga_offline();
+		take_over_usb();
+	}
+}

firmware/src/boards/qtpy/usb_switch.c

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+/**
+ * switch control for USB port shared by Apollo and FPGA
+ *
+ * This file is part of Apollo.
+ *
+ * Copyright (c) 2023 Great Scott Gadgets <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "usb_switch.h"
+#include "apollo_board.h"
+#include <hal/include/hal_gpio.h>
+
+
+/**
+ * Hand off shared USB port to FPGA.
+ */
+void hand_off_usb(void)
+{
+#ifdef BOARD_HAS_USB_SWITCH
+	gpio_set_pin_level(USB_SWITCH, false);
+	gpio_set_pin_direction(USB_SWITCH, GPIO_DIRECTION_OUT);
+#endif
+}
+
+
+/**
+ * Take control of USB port from FPGA.
+ */
+void take_over_usb(void)
+{
+#ifdef BOARD_HAS_USB_SWITCH
+	gpio_set_pin_level(USB_SWITCH, true);
+	gpio_set_pin_direction(USB_SWITCH, GPIO_DIRECTION_OUT);
+#endif
+}

firmware/src/boards/raspberry_pi_pico/apollo_board.h

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+/**
+ * Apollo board definitions for Adafruit QT Py RP2040
+ *
+ * This file is part of LUNA.
+ *
+ * Copyright (c) 2020 Great Scott Gadgets <[email protected]>
+ * Copyright (c) 2022 Markus Blechschmidt <[email protected]>
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef __APOLLO_BOARD_H__
+#define __APOLLO_BOARD_H__
+
+#include <stdbool.h>
+
+#include "boards/pico.h"
+#include "bsp/rp2040/board.h"
+#include "pico/stdlib.h"
+#include "hardware/gpio.h"
+#include "hardware/sync.h"
+
+
+#define __NOP() {asm volatile("nop");}
+
+
+typedef unsigned int gpio_t;
+
+
+typedef enum gpio_direction{
+	GPIO_DIRECTION_IN = GPIO_IN,
+	GPIO_DIRECTION_OUT = GPIO_OUT,
+} gpio_direction_t;
+
+
+typedef enum gpio_pull_mode {
+	GPIO_PULL_OFF,
+	GPIO_PULL_UP,
+	GPIO_PULL_DOWN,
+} gpio_pull_mode_t;
+
+
+/**
+ * GPIO pins for each of the microcontroller LEDs.
+ */
+typedef enum {
+	LED_A = LED_PIN, // Green
+
+	LED_COUNT = 1,
+} led_t;
+
+/**
+ * GPIO pin numbers.
+ */
+
+
+
+enum {
+	// // Each of the JTAG pins. SPI0
+	TMS_GPIO = 5,
+	TDI_GPIO = 3, // MOSI
+	TDO_GPIO = 4, // MISO
+	TCK_GPIO = 6, // SCK
+
+	// // Connected to orangecrab pins 0 and 1. SERCOM0
+	UART_RX = UART_RX_PIN,
+	UART_TX = UART_TX_PIN,
+};
+
+
+static inline void gpio_set_pin_level(const gpio_t gpio_pin, bool level) {
+	gpio_put(gpio_pin, level);
+}
+
+
+static inline bool gpio_get_pin_level(const gpio_t gpio_pin) {
+	return gpio_get(gpio_pin);
+}
+
+
+static inline void gpio_toggle_pin_level(const gpio_t gpio_pin) {
+	gpio_set_pin_level(gpio_pin, !gpio_get_pin_level(gpio_pin));
+}
+
+
+static inline void gpio_set_pin_direction(const gpio_t gpio_pin, const enum gpio_direction direction) {
+	gpio_init(gpio_pin);
+	gpio_set_dir(gpio_pin, direction);
+}
+
+
+static inline void gpio_set_pin_pull_mode(const gpio_t gpio_pin, const gpio_pull_mode_t pull_mode) {
+	switch(pull_mode) {
+		case GPIO_PULL_OFF: {
+			gpio_disable_pulls(gpio_pin);
+		} break;
+		case GPIO_PULL_UP: {
+			gpio_pull_up(gpio_pin);
+		} break;
+		case GPIO_PULL_DOWN: {
+			gpio_pull_down(gpio_pin);
+		} break;
+		default: {
+
+		} break;
+	}
+}
+
+
+#endif