Pico loader

.github/workflows/cmake.yml

@@ -41,6 +41,14 @@ jobs:
             apt-packages: ccache gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib pipx python3-requests
 
           - os: ubuntu-22.04
+            pico-sdk: true
+            name: PicoSystem (.blit)
+            cache-key: picosystem-bl
+            release-suffix: PicoSystem-blit
+            cmake-args: -D32BLIT_DIR=$GITHUB_WORKSPACE -DPICO_SDK_PATH=$GITHUB_WORKSPACE/pico-sdk -DPICO_BOARD=pimoroni_picosystem -DBLIT_EXECUTABLE_PICO_BLIT=1 -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+            apt-packages: ccache gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib python3-setuptools
+
+          - os: ubuntu-20.04
             pico-sdk: true
             name: PicoVision
             cache-key: picovision

32blit-config.cmake

@@ -75,22 +75,60 @@ if (NOT DEFINED BLIT_ONCE)
 	function(blit_executable_args)
 		set(SOURCES)
 
+		# enable one of the pico builds if neither set
+		if(NOT BLIT_EXECUTABLE_PICO_STANDALONE_UF2 AND NOT BLIT_EXECUTABLE_PICO_BLIT)
+			set(BLIT_EXECUTABLE_PICO_STANDALONE_UF2 TRUE)
+		endif()
+
+		# global overrides
 		if(DEFINED BLIT_EXECUTABLE_INTERNAL_FLASH)
 			set(INTERNAL_FLASH ${BLIT_EXECUTABLE_INTERNAL_FLASH})
 		else()
 			set(INTERNAL_FLASH FALSE)
 		endif()
 
+		if(DEFINED BLIT_EXECUTABLE_PICO_STANDALONE_UF2)
+			set(PICO_STANDALONE_UF2 ${BLIT_EXECUTABLE_PICO_STANDALONE_UF2})
+		else()
+			set(PICO_STANDALONE_UF2 FALSE)
+		endif()
+
+		if(DEFINED BLIT_EXECUTABLE_PICO_BLIT)
+			set(PICO_BLIT ${BLIT_EXECUTABLE_PICO_BLIT})
+		else()
+			set(PICO_BLIT FALSE)
+		endif()
+
+		if(DEFINED BLIT_EXECUTABLE_PICO_BLIT_OFFSET_KB)
+			set(PICO_BLIT_OFFSET_KB ${BLIT_EXECUTABLE_PICO_BLIT_OFFSET_KB})
+		endif()
+
 		foreach(arg IN LISTS ARGN)
 			if(arg STREQUAL "INTERNAL_FLASH")
 				set(${arg} TRUE)
+			elseif(arg STREQUAL "PICO_STANDALONE_UF2")
+				set(${arg} TRUE)
+				set(PICO_BLIT FALSE) # can't build both
+			elseif(arg STREQUAL "PICO_BLIT")
+				set(${arg} TRUE)
+				set(PICO_STANDALONE_UF2 FALSE)
+			# args with value
+			elseif(arg STREQUAL "PICO_BLIT_OFFSET_KB")
+				set(prev_arg ${arg})
+			# value for args with one
+			elseif(prev_arg STREQUAL "PICO_BLIT_OFFSET_KB")
+				set(${prev_arg} ${arg})
+				unset(prev_arg)
 			else()
 				list(APPEND SOURCES ${arg})
 			endif()
 		endforeach()
 
 		set(SOURCES ${SOURCES} PARENT_SCOPE)
 		set(INTERNAL_FLASH ${INTERNAL_FLASH} PARENT_SCOPE)
+		set(PICO_STANDALONE_UF2 ${PICO_STANDALONE_UF2} PARENT_SCOPE)
+		set(PICO_BLIT ${PICO_BLIT} PARENT_SCOPE)
+		set(PICO_BLIT_OFFSET_KB ${PICO_BLIT_OFFSET_KB} PARENT_SCOPE)
 	endfunction()
 
 	if (32BLIT_HW)

32blit-pico/CMakeLists.txt

@@ -8,6 +8,11 @@ include (pico_sdk_import.cmake)
 
 set(32BLIT_PICO 1 PARENT_SCOPE)
 
+if(PICO_PLATFORM MATCHES "^rp2350")
+    set(32BLIT_PICO_2350 1)
+    set(32BLIT_PICO_2350 ${32BLIT_PICO_2350} PARENT_SCOPE)
+endif()
+
 # prevent find_package errors in pico_add_uf2_output later
 set(PICO_SDK_VERSION_MAJOR ${PICO_SDK_VERSION_MAJOR} PARENT_SCOPE)
 set(PICO_SDK_VERSION_MINOR ${PICO_SDK_VERSION_MINOR} PARENT_SCOPE)
@@ -34,11 +39,13 @@ endfunction()
 
 add_library(BlitHalPico INTERFACE)
 target_sources(BlitHalPico INTERFACE
+    ${CMAKE_CURRENT_LIST_DIR}/blit_launch.cpp
     ${CMAKE_CURRENT_LIST_DIR}/display.cpp
     ${CMAKE_CURRENT_LIST_DIR}/file.cpp
     ${CMAKE_CURRENT_LIST_DIR}/led.cpp
     ${CMAKE_CURRENT_LIST_DIR}/main.cpp
     ${CMAKE_CURRENT_LIST_DIR}/multiplayer.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/usb.cpp
     ${CMAKE_CURRENT_LIST_DIR}/usb_descriptors.c
 )
 
@@ -47,6 +54,7 @@ target_link_libraries(BlitHalPico INTERFACE
     pico_multicore pico_stdlib pico_unique_id pico_rand
     tinyusb_device
     FatFsBlitAPI
+    LauncherShared
 )
 
 target_include_directories(BlitHalPico INTERFACE
@@ -170,23 +178,110 @@ endif()
 target_compile_definitions(BlitHalPico INTERFACE ${BLIT_BOARD_DEFINITIONS})
 target_link_libraries(BlitHalPico INTERFACE ${BLIT_BOARD_LIBRARIES})
 
+set(BLIT_BOARD_DEFINITIONS ${BLIT_BOARD_DEFINITIONS} PARENT_SCOPE)
+
+# some file paths we need later
+if(32BLIT_PICO_2350)
+    set(LINKER_SCRIPT ${CMAKE_CURRENT_LIST_DIR}/memmap_blit_2350.ld.in PARENT_SCOPE)
+else()
+    set(LINKER_SCRIPT ${CMAKE_CURRENT_LIST_DIR}/memmap_blit.ld.in PARENT_SCOPE)
+endif()
+set(STARTUP_SRC ${CMAKE_CURRENT_LIST_DIR}/startup.S ${CMAKE_CURRENT_LIST_DIR}/startup.cpp PARENT_SCOPE)
+set(LAUNCHERSHARED_DIR ${CMAKE_CURRENT_LIST_DIR}/../launcher-shared PARENT_SCOPE)
+
 # functions
 function(blit_executable NAME)
     message(STATUS "Processing ${NAME}")
     blit_executable_args(${ARGN})
 
     add_executable(${NAME} ${SOURCES})
-    target_compile_definitions(${NAME} PRIVATE PICO_EMBED_XIP_SETUP=1)
-    target_link_libraries(${NAME} BlitHalPico BlitEngine)
+    target_link_libraries(${NAME} BlitEngine pico_platform_headers)
 
     pico_enable_stdio_uart(${NAME} 1)
     pico_enable_stdio_usb(${NAME} 0)
 
-    pico_add_extra_outputs(${NAME})
-
-    install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${NAME}.uf2
-        DESTINATION bin
-    )
+    if(PICO_STANDALONE_UF2)
+        # standalone .uf2
+        # TODO: import pico hal if standalone build
+        if(NOT TARGET LauncherShared)
+            add_subdirectory(${LAUNCHERSHARED_DIR} launcher-shared)
+        endif()
+
+        target_compile_definitions(${NAME} PRIVATE BLIT_PICO_STANDALONE=1 PICO_EMBED_XIP_SETUP=1)
+        target_link_libraries(${NAME} BlitHalPico)
+
+        pico_add_extra_outputs(${NAME})
+
+        install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${NAME}.uf2 
+            DESTINATION bin
+        )
+    elseif(PICO_BLIT)
+        # loadable .blit
+        set_property(TARGET ${NAME} PROPERTY BLIT_PICO_BLIT TRUE)
+
+        # calculate and verify flash offset
+        if(NOT PICO_BLIT_OFFSET_KB)
+            if(32BLIT_PICO_2350)
+                # if we build the file for a 4MB offset, we can use address translation
+                set(PICO_BLIT_OFFSET_KB 4096)
+            else()
+                set(PICO_BLIT_OFFSET_KB 512)
+            endif()
+        endif()
+
+        math(EXPR offset_mod "${PICO_BLIT_OFFSET_KB} % 64")
+        if(${PICO_BLIT_OFFSET_KB} LESS 256 OR offset_mod)
+            message(FATAL_ERROR "Blit offset should be >= 256k and a multiple of 64k")
+        endif()
+
+        math(EXPR FLASH_OFFSET_BYTES "${PICO_BLIT_OFFSET_KB} * 1024")
+
+        # customise linker script
+        configure_file(${LINKER_SCRIPT} memmap_blit.ld)
+        set(LINKER_SCRIPT_OUT ${CMAKE_CURRENT_BINARY_DIR}/memmap_blit.ld)
+
+        target_compile_definitions(${NAME} PRIVATE ${BLIT_BOARD_DEFINITIONS}) # need these for framebuffer config
+        target_compile_options(${NAME} PRIVATE -ffunction-sections -fdata-sections)
+
+        # set device id in header, these should match the BlitDevice enum
+        if(32BLIT_PICO_2350)
+            set_source_files_properties(${STARTUP_SRC} PROPERTIES COMPILE_DEFINITIONS DEVICE_ID=3)
+        else()
+            set_source_files_properties(${STARTUP_SRC} PROPERTIES COMPILE_DEFINITIONS DEVICE_ID=2)
+        endif()
+
+        # minimal pico-sdk libs
+        target_link_libraries(${NAME} boot_picobin_headers pico_bit_ops pico_clib_interface pico_cxx_options pico_divider pico_double pico_int64_ops pico_float pico_malloc pico_mem_ops pico_runtime_headers)
+        target_compile_definitions(${NAME} PRIVATE PICO_TIME_DEFAULT_ALARM_POOL_DISABLED) # avoid pulling timer and irq code
+
+        target_link_options(${NAME} PRIVATE --specs=nosys.specs LINKER:--script=${LINKER_SCRIPT_OUT} LINKER:--gc-sections)
+        set_property(TARGET ${NAME} APPEND PROPERTY LINK_DEPENDS ${LINKER_SCRIPT_OUT})
+
+        target_sources(${NAME} PRIVATE ${STARTUP_SRC})
+
+        pico_add_bin_output(${NAME})
+        pico_add_dis_output(${NAME})
+
+        # Ideally we want the .blit filename to match the .elf, but TARGET_FILE_BASE_NAME isn't always available
+        # (This only affects the firmware updater as it's the only thing setting a custom OUTPUT_NAME)
+        if(${CMAKE_VERSION} VERSION_LESS "3.15.0")
+            set(BLIT_FILENAME ${NAME}.blit)
+        else()
+            set(BLIT_FILENAME $<TARGET_FILE_BASE_NAME:${NAME}>.blit)
+        endif()
+
+        # no relocs, just copy it
+        set(BIN_NAME "$<IF:$<BOOL:$<TARGET_PROPERTY:${NAME},OUTPUT_NAME>>,$<TARGET_PROPERTY:${NAME},OUTPUT_NAME>,$<TARGET_PROPERTY:${NAME},NAME>>.bin")
+        add_custom_command(TARGET ${NAME} POST_BUILD
+            VERBATIM
+            COMMENT "Building ${NAME}.blit"
+            COMMAND cp ${BIN_NAME} ${BLIT_FILENAME}
+        )
+
+        install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${BLIT_FILENAME}
+            DESTINATION bin
+        )
+    endif()
 endfunction()
 
 function(blit_metadata TARGET FILE)
@@ -208,20 +303,42 @@ function(blit_metadata TARGET FILE)
 
     include(${CMAKE_CURRENT_BINARY_DIR}/metadata.cmake)
 
-    # create metadata/binary info source at build time
-    set(METADATA_SOURCE "${CMAKE_CURRENT_BINARY_DIR}/${TARGET}_binary_info.cpp")
+    get_property(PICO_BLIT TARGET ${TARGET} PROPERTY BLIT_PICO_BLIT)
 
-    add_custom_command(
-        OUTPUT ${METADATA_SOURCE}
-        COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && ${32BLIT_TOOLS_EXECUTABLE} metadata --force --config ${FILE} --pico-bi ${METADATA_SOURCE}
-        DEPENDS ${FILE}
-        VERBATIM
-    )
+    if(NOT PICO_BLIT)
+        # create metadata/binary info source at build time
+        set(METADATA_SOURCE "${CMAKE_CURRENT_BINARY_DIR}/${TARGET}_binary_info.cpp")
 
-    # add the generated source
-    target_sources(${TARGET} PRIVATE ${METADATA_SOURCE})
+        add_custom_command(
+            OUTPUT ${METADATA_SOURCE}
+            COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && ${32BLIT_TOOLS_EXECUTABLE} metadata --force --config ${FILE} --pico-bi ${METADATA_SOURCE}
+            DEPENDS ${FILE}
+            VERBATIM
+        )
 
-    # avoid the fallback to target name
-    target_compile_definitions(${TARGET} PRIVATE PICO_NO_BI_PROGRAM_NAME=1)
+        # add the generated source
+        target_sources(${TARGET} PRIVATE ${METADATA_SOURCE})
+
+        # avoid the fallback to target name
+        target_compile_definitions(${TARGET} PRIVATE PICO_NO_BI_PROGRAM_NAME=1)
+    else()
+        # real .blit metadata
+        if(${CMAKE_VERSION} VERSION_LESS "3.15.0")
+            set(BLIT_FILENAME ${TARGET}.blit)
+        else()
+            set(BLIT_FILENAME $<TARGET_FILE_BASE_NAME:${TARGET}>.blit)
+        endif()
+
+        add_custom_command(
+            TARGET ${TARGET} POST_BUILD
+            COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && ${32BLIT_TOOLS_EXECUTABLE} metadata --config ${FILE} --file ${CMAKE_CURRENT_BINARY_DIR}/${BLIT_FILENAME}
+            VERBATIM
+        )
+
+        # force relink on change so that the post-build commands are rerun
+        set_property(TARGET ${TARGET} APPEND PROPERTY LINK_DEPENDS ${FILE} ${METADATA_DEPENDS})
+    endif()
 
 endfunction()
+
+add_subdirectory(loader)