Add initial support for Pico-W

Document how to build a Pico-W AtomVM binary
Also bump the load address of applications as the binary is larger

Signed-off-by: Paul Guyot <[email protected]>

.github/workflows/pico-build.yaml

@@ -29,6 +29,10 @@ concurrency:
 jobs:
   pico:
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        board: ["pico", "pico_w"]
+
     steps:
     - name: Checkout repo
       uses: actions/checkout@v3
@@ -43,7 +47,7 @@ jobs:
         set -euo pipefail
         mkdir build
         cd build
-        cmake .. -G Ninja
+        cmake .. -G Ninja -DPICO_BOARD=${{ matrix.board }}
         ninja
 
     - name: Install nvm and nodejs 20
@@ -56,6 +60,8 @@ jobs:
     - name: Run tests with rp2040js
       shell: bash
       working-directory: ./src/platforms/rp2040/tests
+      # Unfortunately, rp2040js doesn't support cyw43 and cyw43_arch_init panics
+      if: success() && matrix.board != "pico_w"
       run: |
         set -euo pipefail
         source $HOME/.nvm/nvm.sh

CHANGELOG.md

@@ -19,6 +19,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Added `crypto:crypto_one_time/4,5` on ESP32
 - Improved nif and port support on STM32
 - Added support for `atomvm:posix_clock_settime/2`
+- Added support initial for Pico-W with the on-board LED
 
 ### Fixed
 
@@ -30,6 +31,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Fixed a bug in the STM32 port that caused the final result to never be returned.
 - Fix bug when building a binary using a 64-bit integer on a 32-bit CPU.
 
+### Breaking changes
+- Pico applications now need to be located at 0x10100000 (instead of 0x100A0000).
+  Users need to update the parameters passed to uf2tool.
+
 ## [0.6.0-alpha.0] - 2023-08-13
 
 ### Added

CMakeModules/BuildErlang.cmake

@@ -85,7 +85,7 @@ macro(pack_lib avm_name)
 
     add_custom_target(
         ${avm_name}.uf2 ALL
-        COMMAND ${CMAKE_BINARY_DIR}/tools/uf2tool/uf2tool create -o ${avm_name}.uf2 -s 0x10080000 ${avm_name}.avm
+        COMMAND ${CMAKE_BINARY_DIR}/tools/uf2tool/uf2tool create -o ${avm_name}.uf2 -s 0x10100000 ${avm_name}.avm
         COMMENT "Creating UF2 file ${avm_name}.uf2"
         VERBATIM
     )
@@ -208,7 +208,7 @@ macro(pack_uf2 avm_name main)
 
     add_custom_target(
         ${avm_name}.uf2 ALL
-        COMMAND ${CMAKE_BINARY_DIR}/tools/uf2tool/uf2tool create -o ${avm_name}.uf2 -s 0x100A0000 ${avm_name}.avm
+        COMMAND ${CMAKE_BINARY_DIR}/tools/uf2tool/uf2tool create -o ${avm_name}.uf2 -s 0x10180000 ${avm_name}.avm
         COMMENT "Creating UF2 file ${avm_name}.uf2"
         VERBATIM
     )

README.PICO.Md

@@ -22,6 +22,20 @@ ninja
 You may want to build with option `AVM_REBOOT_ON_NOT_OK` so Pico restarts on
 error.
 
+
+Building AtomVM for Raspberry Pico-W
+==================================
+
+To build for Pico-W, pass the board to cmake as follows:
+
+```
+cd src/platforms/rp2040/
+mkdir build
+cd build
+cmake .. -G Ninja -DPICO_BOARD=pico_w
+ninja
+```
+
 Installing AtomVM and programs on Raspberry Pico
 ================================================
 
@@ -89,10 +103,10 @@ You need to create an avm file using PackBEAM binary (or rebar3 plugin).
 ```
 
 Then the BEAM file must be converted to UF2.
-The VM currently expects the application to be loaded at address 0x100A0000.
+The VM currently expects the application to be loaded at address 0x10100000.
 
 ```sh
-./uf2tool create -o packed.uf2 -s 0x100A0000 packed.avm
+./uf2tool create -o packed.uf2 -s 0x10100000 packed.avm
 ```
 
 Copy this UF2 to the Pico after you copied the VM (`AtomVM.uf2`) and the

doc/src/build-instructions.md

@@ -560,7 +560,7 @@ is 8N1 with no flow control.
 * `Erlang/OTP`
 * `Elixir` (optional)
 
-### AtomVM build steps
+### AtomVM build steps (Pico)
 
     cd src/platforms/rp2040/
     mkdir build
@@ -570,6 +570,16 @@ is 8N1 with no flow control.
 
 > You may want to build with option `AVM_REBOOT_ON_NOT_OK` so Pico restarts on error.
 
+### AtomVM build steps (Pico-W)
+
+    cd src/platforms/rp2040/
+    mkdir build
+    cd build
+    cmake .. -G Ninja -DPICO_BOARD=pico_w
+    ninja
+
+> You may want to build with option `AVM_REBOOT_ON_NOT_OK` so Pico restarts on error.
+
 ### libAtomVM build steps
 
 Build of standard libraries is part of the generic unix build.

doc/src/getting-started-guide.md

@@ -306,9 +306,9 @@ or
     rebar3 packbeam -p -i packed.avm module.beam
 
 Then the BEAM file must be converted to UF2.
-The VM currently expects the application to be loaded at address 0x100A0000.
+The VM currently expects the application to be loaded at address 0x10100000.
 
-    ./uf2tool create -o packed.uf2 -s 0x100A0000 packed.avm
+    ./uf2tool create -o packed.uf2 -s 0x10100000 packed.avm
 
 Copy this UF2 to the Pico after you copied the VM (`AtomVM.uf2`) and the
 standard libraries (`atomvmlib.uf2`).

examples/erlang/rp2040/CMakeLists.txt

@@ -25,3 +25,4 @@ include(BuildErlang)
 pack_uf2(hello_pico hello_pico eavmlib estdlib)
 pack_uf2(pico_blink pico_blink eavmlib estdlib)
 pack_uf2(pico_rtc pico_rtc eavmlib estdlib)
+pack_uf2(picow_blink picow_blink eavmlib estdlib)

examples/erlang/rp2040/pico_blink.erl

@@ -21,7 +21,8 @@
 -module(pico_blink).
 -export([start/0]).
 
-% 25 is on-board led on Pico & Pico-W
+% 25 is on-board led on Pico
+% This code will not work on Pico-W where GPIO 25 has another purpose.
 -define(GPIO_NUM, 25).
 
 start() ->

examples/erlang/rp2040/picow_blink.erl

@@ -0,0 +1,34 @@
+%
+% This file is part of AtomVM.
+%
+% Copyright 2023 Paul Guyot <[email protected]>
+%
+% Licensed under the Apache License, Version 2.0 (the "License");
+% you may not use this file except in compliance with the License.
+% You may obtain a copy of the License at
+%
+%    http://www.apache.org/licenses/LICENSE-2.0
+%
+% Unless required by applicable law or agreed to in writing, software
+% distributed under the License is distributed on an "AS IS" BASIS,
+% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+% See the License for the specific language governing permissions and
+% limitations under the License.
+%
+% SPDX-License-Identifier: Apache-2.0 OR LGPL-2.1-or-later
+%
+
+-module(picow_blink).
+-export([start/0]).
+
+% 0 is CYW43 GPIO for on-board led
+% This code will not work on Pico
+-define(GPIO_NUM, 0).
+
+start() ->
+    loop(0).
+
+loop(N) ->
+    pico:cyw43_arch_gpio_put(?GPIO_NUM, N),
+    timer:sleep(1000),
+    loop((N + 1) rem 2).

libs/eavmlib/src/pico.erl

@@ -27,7 +27,9 @@
 -module(pico).
 
 -export([
-    rtc_set_datetime/1
+    rtc_set_datetime/1,
+    cyw43_arch_gpio_get/1,
+    cyw43_arch_gpio_put/2
 ]).
 
 %%-----------------------------------------------------------------------------
@@ -38,3 +40,27 @@
 -spec rtc_set_datetime(calendar:datetime()) -> ok.
 rtc_set_datetime(_Datetime) ->
     erlang:nif_error(undefined).
+
+
+%%-----------------------------------------------------------------------------
+%% @param   GPIO pin to read
+%% @returns the level of the GPIO pin
+%% @doc     Read a GPIO of the CYW43.
+%%          This function is only available on Pico-W.
+%% @end
+%%-----------------------------------------------------------------------------
+-spec cyw43_arch_gpio_get(GPIO :: 0..2) -> 0..1.
+cyw43_arch_gpio_get(_GPIO) ->
+    erlang:nif_error(undefined).
+
+%%-----------------------------------------------------------------------------
+%% @param   GPIO pin to write
+%% @param   Level value to write
+%% @doc     Write a GPIO of the CYW43.
+%%          This function is only available on Pico-W. It is typically used to
+%%          drive the on-board LED.
+%% @end
+%%-----------------------------------------------------------------------------
+-spec cyw43_arch_gpio_put(GPIO :: 0..2, Level :: 0..1) -> ok.
+cyw43_arch_gpio_put(_GPIO, _Level) ->
+    erlang:nif_error(undefined).

src/platforms/rp2040/pico_sdk_import.cmake

@@ -58,14 +58,14 @@ if (NOT PICO_SDK_PATH)
             FetchContent_Declare(
                     pico_sdk
                     GIT_REPOSITORY https://github.com/pguyot/pico-sdk   # revert to raspberrypi once PR 1101 is merged
-                    GIT_TAG w46/condition-variables                     # revert to master once PR 1101 is merged
+                    GIT_TAG v1.5.1+conditional-variables                # revert to master once PR 1101 is merged
                     GIT_SUBMODULES_RECURSE FALSE
             )
         else ()
             FetchContent_Declare(
                     pico_sdk
                     GIT_REPOSITORY https://github.com/pguyot/pico-sdk   # revert to raspberrypi once PR 1101 is merged
-                    GIT_TAG w46/condition-variables                     # revert to master once PR 1101 is merged
+                    GIT_TAG v1.5.1+conditional-variables                # revert to master once PR 1101 is merged
             )
         endif ()
 

src/platforms/rp2040/src/lib/CMakeLists.txt

@@ -64,4 +64,8 @@ if (NOT AVM_USE_32BIT_FLOAT)
     target_link_libraries(libAtomVM${PLATFORM_LIB_SUFFIX} PUBLIC pico_double)
 endif()
 
+if (PICO_CYW43_SUPPORTED)
+    target_link_libraries(libAtomVM${PLATFORM_LIB_SUFFIX} PUBLIC pico_cyw43_arch_lwip_threadsafe_background)
+endif()
+
 target_link_options(libAtomVM${PLATFORM_LIB_SUFFIX} PUBLIC -Wl,-u -Wl,gpio_nif)

src/platforms/rp2040/src/lib/lwipopts.h

@@ -0,0 +1,102 @@
+/*
+ * This file is part of AtomVM.
+ *
+ * Copyright 2023 Paul Guyot <[email protected]>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR LGPL-2.1-or-later
+ */
+
+#ifndef _LWIPOPTS_H
+#define _LWIPOPTS_H
+
+// See https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html
+
+#define NO_SYS 1
+#define LWIP_SOCKET 0
+#if PICO_CYW43_ARCH_POLL
+#define MEM_LIBC_MALLOC 1
+#else
+// MEM_LIBC_MALLOC is incompatible with non polling versions
+#define MEM_LIBC_MALLOC 0
+#endif
+#define MEM_ALIGNMENT 4
+#define MEM_SIZE 4000
+#define MEMP_NUM_TCP_SEG 32
+#define MEMP_NUM_ARP_QUEUE 10
+#define PBUF_POOL_SIZE 24
+#define LWIP_ARP 1
+#define LWIP_ETHERNET 1
+#define LWIP_ICMP 1
+#define LWIP_RAW 1
+#define TCP_WND (8 * TCP_MSS)
+#define TCP_MSS 1460
+#define TCP_SND_BUF (8 * TCP_MSS)
+#define TCP_SND_QUEUELEN ((4 * (TCP_SND_BUF) + (TCP_MSS - 1)) / (TCP_MSS))
+#define LWIP_NETIF_STATUS_CALLBACK 1
+#define LWIP_NETIF_LINK_CALLBACK 1
+#define LWIP_NETIF_HOSTNAME 1
+#define LWIP_NETCONN 0
+#define MEM_STATS 0
+#define SYS_STATS 0
+#define MEMP_STATS 0
+#define LINK_STATS 0
+// #define ETH_PAD_SIZE                2
+#define LWIP_CHKSUM_ALGORITHM 3
+#define LWIP_DHCP 1
+#define LWIP_IPV4 1
+#define LWIP_TCP 1
+#define LWIP_UDP 1
+#define LWIP_DNS 1
+#define LWIP_TCP_KEEPALIVE 1
+#define LWIP_NETIF_TX_SINGLE_PBUF 1
+#define DHCP_DOES_ARP_CHECK 0
+#define LWIP_DHCP_DOES_ACD_CHECK 0
+
+#ifndef NDEBUG
+#define LWIP_DEBUG 1
+#define LWIP_STATS 1
+#define LWIP_STATS_DISPLAY 1
+#endif
+
+#define ETHARP_DEBUG LWIP_DBG_OFF
+#define NETIF_DEBUG LWIP_DBG_OFF
+#define PBUF_DEBUG LWIP_DBG_OFF
+#define API_LIB_DEBUG LWIP_DBG_OFF
+#define API_MSG_DEBUG LWIP_DBG_OFF
+#define SOCKETS_DEBUG LWIP_DBG_OFF
+#define ICMP_DEBUG LWIP_DBG_OFF
+#define INET_DEBUG LWIP_DBG_OFF
+#define IP_DEBUG LWIP_DBG_OFF
+#define IP_REASS_DEBUG LWIP_DBG_OFF
+#define RAW_DEBUG LWIP_DBG_OFF
+#define MEM_DEBUG LWIP_DBG_OFF
+#define MEMP_DEBUG LWIP_DBG_OFF
+#define SYS_DEBUG LWIP_DBG_OFF
+#define TCP_DEBUG LWIP_DBG_OFF
+#define TCP_INPUT_DEBUG LWIP_DBG_OFF
+#define TCP_OUTPUT_DEBUG LWIP_DBG_OFF
+#define TCP_RTO_DEBUG LWIP_DBG_OFF
+#define TCP_CWND_DEBUG LWIP_DBG_OFF
+#define TCP_WND_DEBUG LWIP_DBG_OFF
+#define TCP_FR_DEBUG LWIP_DBG_OFF
+#define TCP_QLEN_DEBUG LWIP_DBG_OFF
+#define TCP_RST_DEBUG LWIP_DBG_OFF
+#define UDP_DEBUG LWIP_DBG_OFF
+#define TCPIP_DEBUG LWIP_DBG_OFF
+#define PPP_DEBUG LWIP_DBG_OFF
+#define SLIP_DEBUG LWIP_DBG_OFF
+#define DHCP_DEBUG LWIP_DBG_OFF
+
+#endif /* __LWIPOPTS_H__ */