Pi Pico port improvements

    * /dev/tty1 is not fully blocking console for kput
    * /dev/tty2-5 can be configured as independent USB ttys
        * USB ttys operate through a small ring-buffer to minimize
          dropouts at high rate of transmission
    * NAND flash (as block device) can be disabled in config to save 7KB of RAM
    * /dev/pico device can be used to trigger reboot into flash mode.
      See utils/rpi script
    * Trimmed pico SDK to save 5KB of RAM
    * Patched ps to report number of used blocks (4KB) per process
    * Misc fix of makeversion.c to prevent overflow

.gitignore

@@ -22,3 +22,4 @@ size.report
 .obj
 *.elf
 bin
+*.debug

Kernel/platform/platform-rpipico/.gitignore

@@ -0,0 +1,7 @@
+utils/progbase.h
+utils/ps
+utils/ps.c
+utils/*.o
+filesystem.*
+uf2conv
+

Kernel/platform/platform-rpipico/CMakeLists.txt

@@ -8,6 +8,20 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_BUILD_TYPE Debug)
 set(PICO_COPY_TO_RAM 1)
 
+add_compile_definitions(
+		PICO_HEAP_SIZE=0x0
+		PICO_NO_BINARY_INFO=1
+		PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
+		PICO_NO_GC_SECTIONS
+		)
+
+remove_definitions(
+	LIB_PICO_STDIO_UART
+	LIB_PICO_STDIO_USB
+	LIB_PICO_STDIO_SEMIHOSTING
+	PICO_NO_GC_SECTIONS
+)
+
 pico_sdk_init()
 
 include_directories(
@@ -20,13 +34,16 @@ include_directories(
 
 add_executable(fuzix
 	devices.c
+	devrpi.c
 	devflash.c
 	devsdspi.c
+	#/*devsdspidma.c*/
 	devtty.c
 	elf.c 
 	main.c
 	misc.c
 	rawflash.c
+	rawuart.c
 	swapper.c
 	tricks.S
 	core1.c
@@ -70,9 +87,7 @@ target_link_libraries(fuzix
 	pico_multicore
 	hardware_flash
 	hardware_spi
-	hardware_uart
-	tinyusb_device_unmarked
-	tinyusb_board
+	tinyusb_device
 )
 
 pico_set_float_implementation(fuzix none)

Kernel/platform/platform-rpipico/Makefile

@@ -20,6 +20,9 @@ image:: world uf2conv
 	arm-none-eabi-objcopy -I binary -O elf32-littlearm --change-section-vma .data=0x10018000 filesystem.ftl filesystem.elf
 	./uf2conv filesystem.ftl filesystem.uf2 0x10018000
 
+image-sd:: world uf2conv
+	./update-flash.sh sd
+
 clean:
 	rm -rf build
 	$(MAKE) -C ../../../Library/libs -f Makefile.armm0 clean
@@ -31,6 +34,7 @@ clean:
 	$(MAKE) -C ../../../Applications/cave -f Makefile.armm0 clean
 	$(MAKE) -C ../../../Applications/cursesgames -f Makefile.armm0 clean
 	$(MAKE) -C ../../../Standalone clean
+	$(MAKE) -C utils clean
 
 world: build/fuzix.elf
 	$(MAKE) -C ../../../Library/libs -f Makefile.armm0
@@ -42,6 +46,7 @@ world: build/fuzix.elf
 	$(MAKE) -C ../../../Applications/cave -f Makefile.armm0
 	$(MAKE) -C ../../../Applications/cursesgames -f Makefile.armm0
 	$(MAKE) -C ../../../Standalone
+	$(MAKE) -C utils
 
 uf2conv: tools/uf2conv.c
 	cc -O -g -o $@ $<

Kernel/platform/platform-rpipico/README.md

@@ -121,6 +121,14 @@ You can't turn swap off again.
 
 You probably can swap to the NAND flash, but it's a terrible idea.
 
+## Boot device
+
+Edit config.h to select appropriate boot device.
+
+`#define BOOTDEVICE 0x0000` - for NAND flash (hda)
+
+`#define BOOTDEVICE 0x0011` - for the first partioin on the SD card (hdb1)
+
 ## Using the NAND flash
 
 The Pico's built-in NAND flash is supported, appearing as `/dev/hda` insize
@@ -131,6 +139,13 @@ gets notified when sectors become free, but if the filesystem gets very full
 and Dhara runs out it can get extremely slow as it constantly does garbage
 collection.
 
+## Using SD Card
+
+1. Create dos partition table
+    * Partition 1: 32MB partition
+    * Partition 2: 4MB partition (optional)
+2. Run `dd if=filesystem.img bs=512 seek=2048 of=/dev/sdX conv=notrunc status=progress` to copy image onto SD card. (**Be careful to not damage your system drive**)
+
 ## Issues
 
 There are many, the biggest of which are:

Kernel/platform/platform-rpipico/config.h

@@ -1,3 +1,6 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+#include "tusb_config.h"
 /*
  *	Set this according to your SD card pins (default
  *	is the David Given arrangement).
@@ -42,13 +45,22 @@
 #undef CONFIG_VT
 #undef CONFIG_FONT8X8
 
+/* Disable block device in flash. Warning, it's unstable. */
+#define PICO_DISABLE_FLASH
+
 /* Program layout */
+#ifndef PICO_DISABLE_FLASH
+#define FLASHCODESIZE 7
+#else
+#define FLASHCODESIZE 0
+#endif
+
+#define USERMEM ((172-FLASHCODESIZE)*1024)
 
 #define UDATA_BLKS  3
 #define UDATA_SIZE  (UDATA_BLKS << BLKSHIFT)
-#define USERMEM (160*1024)
 #define PROGSIZE (65536 - UDATA_SIZE)
-extern uint8_t progbase[USERMEM];
+extern char progbase[USERMEM];
 #define udata (*(struct u_data*)progbase)
 
 #define USERSTACK (4*1024) /* 4kB */
@@ -69,11 +81,16 @@ extern uint8_t progbase[USERMEM];
 /* We need a tidier way to do this from the loader */
 #define CMDLINE	NULL	  /* Location of root dev name */
 
-#define BOOTDEVICE 0x0000 /* hda */
+#define BOOTDEVICE 0x0011 /* hda 0x0000 hdb1 0x0011 */
 #define SWAPDEV    (swap_dev) /* dynamic swap */
 
 /* Device parameters */
-#define NUM_DEV_TTY 1
+#define NUM_DEV_TTY_UART 1
+#define NUM_DEV_TTY_USB (CFG_TUD_CDC)
+#define NUM_DEV_TTY (NUM_DEV_TTY_UART + NUM_DEV_TTY_USB)
+
+#define USB_TO_TTY(x) (x + 1 + NUM_DEV_TTY_UART)
+#define TTY_TO_USB(x) (x - 1 - NUM_DEV_TTY_UART)
 
 #define TTYDEV   BOOT_TTY /* Device used by kernel for messages, panics */
 #define NBUFS    20       /* Number of block buffers */
@@ -91,5 +108,5 @@ extern uint8_t progbase[USERMEM];
 #define MANGLED 1
 #include "mangle.h"
 
+#endif
 // vim: sw=4 ts=4 et
-