Add basic rpi2040 blink demo app
Phew, things build! Lets check in how far we got.
Change-Id: Id82e2f4c73eed6620b2b4661726f931e79a6b0c1
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/.bazelrc b/.bazelrc
index 8290da4..53f34e8 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -22,6 +22,7 @@
build:roborio --platforms=//tools/platforms:linux_roborio
build:armhf-debian --platforms=//tools/platforms:linux_armhf
build:cortex-m4f --platforms=//tools/platforms:cortex_m4f
+build:rp2040 --platforms=//tools/platforms:rp2040
# Without this, we end up rebuilding from scratch every time we change compilers. This is needed to make --cpu work (even though it shouldn't be used).
build --crosstool_top=@//tools/cpp:toolchain --host_crosstool_top=@//tools/cpp:toolchain
diff --git a/WORKSPACE b/WORKSPACE
index d532887..8a49b63 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -123,6 +123,7 @@
"//tools/cpp:cc-toolchain-armhf-debian",
"//tools/cpp:cc-toolchain-roborio",
"//tools/cpp:cc-toolchain-cortex-m4f",
+ "//tools/cpp:cc-toolchain-rp2040",
# Find a good way to select between these two M4F toolchains.
#"//tools/cpp:cc-toolchain-cortex-m4f-k22",
"//tools/python:python_toolchain",
diff --git a/debian/gstreamer.BUILD b/debian/gstreamer.BUILD
index 7c3e569..205db5a 100644
--- a/debian/gstreamer.BUILD
+++ b/debian/gstreamer.BUILD
@@ -160,6 +160,7 @@
"usr/lib/arm-linux-gnueabihf/libxml2.so.2",
],
"cortex-m": [],
+ "cortex-m0plus": [],
}),
hdrs = glob([
"usr/lib/x86_64-linux-gnu/glib-2.0/include/**/*.h",
@@ -180,10 +181,9 @@
"usr/include/glib-2.0",
"usr/include/gstreamer-1.0",
],
- "roborio": [
- ],
- "cortex-m": [
- ],
+ "roborio": [],
+ "cortex-m": [],
+ "cortex-m0plus": [],
}),
linkopts = [
"-ldl",
diff --git a/debian/opencv.BUILD b/debian/opencv.BUILD
index 56b3cac..32ecec2 100644
--- a/debian/opencv.BUILD
+++ b/debian/opencv.BUILD
@@ -472,6 +472,7 @@
"usr/lib/arm-linux-gnueabihf/libgomp.so.1",
],
"cortex-m": [],
+ "cortex-m0plus": [],
}),
hdrs = glob([
"usr/include/opencv/**",
diff --git a/frc971/imu/BUILD b/frc971/imu/BUILD
new file mode 100644
index 0000000..f386da4
--- /dev/null
+++ b/frc971/imu/BUILD
@@ -0,0 +1,25 @@
+load("//third_party/pico-sdk:hex.bzl", "uf2_from_elf")
+
+# TODO(austin): We should be able to either push the linker script into the crosstool, or wrap this in a macro.
+cc_binary(
+ name = "blink.elf",
+ srcs = [
+ "blink.c",
+ "//third_party/pico-sdk/src/rp2_common/boot_stage2:bs2_default_padded_checksummed.S",
+ ],
+ additional_linker_inputs = [
+ "//third_party/pico-sdk:src/rp2_common/pico_standard_link/memmap_default.ld",
+ ],
+ linkopts = [
+ "-Wl,--script=third_party/pico-sdk/src/rp2_common/pico_standard_link/memmap_default.ld",
+ ],
+ target_compatible_with = [
+ "@platforms//os:none",
+ "//tools/platforms/hardware:cortex_m0plus",
+ ],
+ deps = ["//third_party/pico-sdk"],
+)
+
+uf2_from_elf(
+ name = "blink",
+)
diff --git a/frc971/imu/blink.c b/frc971/imu/blink.c
new file mode 100644
index 0000000..d478d78
--- /dev/null
+++ b/frc971/imu/blink.c
@@ -0,0 +1,23 @@
+/**
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "pico/stdlib.h"
+
+int main() {
+#ifndef PICO_DEFAULT_LED_PIN
+#warning blink example requires a board with a regular LED
+#else
+ const uint LED_PIN = PICO_DEFAULT_LED_PIN;
+ gpio_init(LED_PIN);
+ gpio_set_dir(LED_PIN, GPIO_OUT);
+ while (true) {
+ gpio_put(LED_PIN, 1);
+ sleep_ms(250);
+ gpio_put(LED_PIN, 0);
+ sleep_ms(250);
+ }
+#endif
+}
diff --git a/motors/core/BUILD b/motors/core/BUILD
index d5e7cca..9d9687f 100644
--- a/motors/core/BUILD
+++ b/motors/core/BUILD
@@ -21,7 +21,10 @@
"reg_debug.h",
"time.h",
],
- target_compatible_with = ["@platforms//os:none"],
+ target_compatible_with = [
+ "@platforms//os:none",
+ "//tools/platforms/hardware:cortex_m4f",
+ ],
visibility = ["//visibility:public"],
)
@@ -30,7 +33,10 @@
hdrs = [
"semihosting.h",
],
- target_compatible_with = ["@platforms//os:none"],
+ target_compatible_with = [
+ "@platforms//os:none",
+ "//tools/platforms/hardware:cortex_m4f",
+ ],
visibility = ["//visibility:public"],
deps = [
"//third_party/GSL",
@@ -45,7 +51,10 @@
hdrs = [
"itm.h",
],
- target_compatible_with = ["@platforms//os:none"],
+ target_compatible_with = [
+ "@platforms//os:none",
+ "//tools/platforms/hardware:cortex_m4f",
+ ],
visibility = ["//visibility:public"],
deps = [
":core",
diff --git a/platform_mappings b/platform_mappings
index 04265dd..718ca72 100644
--- a/platform_mappings
+++ b/platform_mappings
@@ -12,6 +12,9 @@
//tools/platforms:cortex_m4f
--cpu=cortex-m4f
+ //tools/platforms:rp2040
+ --cpu=rp2040
+
flags:
--cpu=k8
//tools/platforms:linux_x86
@@ -24,3 +27,6 @@
--cpu=cortex-m4f
//tools/platforms:cortex_m4f
+
+ --cpu=rp2040
+ //tools/platforms:rp2040
diff --git a/third_party/pico-sdk/BUILD b/third_party/pico-sdk/BUILD
new file mode 100644
index 0000000..ab6ff56
--- /dev/null
+++ b/third_party/pico-sdk/BUILD
@@ -0,0 +1,420 @@
+exports_files(["src/rp2_common/pico_standard_link/memmap_default.ld"])
+
+cc_library(
+ name = "pico-sdk",
+ srcs = [
+ "src/common/pico_sync/critical_section.c",
+ "src/common/pico_sync/lock_core.c",
+ "src/common/pico_sync/mutex.c",
+ "src/common/pico_sync/sem.c",
+ "src/common/pico_time/time.c",
+ "src/common/pico_time/timeout_helper.c",
+ "src/common/pico_util/datetime.c",
+ "src/common/pico_util/pheap.c",
+ "src/common/pico_util/queue.c",
+ "src/rp2_common/hardware_claim/claim.c",
+ "src/rp2_common/hardware_clocks/clocks.c",
+ "src/rp2_common/hardware_divider/divider.S",
+ "src/rp2_common/hardware_gpio/gpio.c",
+ "src/rp2_common/hardware_irq/irq.c",
+ "src/rp2_common/hardware_irq/irq_handler_chain.S",
+ "src/rp2_common/hardware_pll/pll.c",
+ "src/rp2_common/hardware_sync/sync.c",
+ "src/rp2_common/hardware_timer/timer.c",
+ "src/rp2_common/hardware_uart/uart.c",
+ "src/rp2_common/hardware_vreg/vreg.c",
+ "src/rp2_common/hardware_watchdog/watchdog.c",
+ "src/rp2_common/hardware_xosc/xosc.c",
+ "src/rp2_common/pico_bit_ops/bit_ops_aeabi.S",
+ "src/rp2_common/pico_bootrom/bootrom.c",
+ "src/rp2_common/pico_divider/divider.S",
+ "src/rp2_common/pico_double/double_aeabi.S",
+ "src/rp2_common/pico_double/double_init_rom.c",
+ "src/rp2_common/pico_double/double_math.c",
+ "src/rp2_common/pico_double/double_v1_rom_shim.S",
+ "src/rp2_common/pico_float/float_aeabi.S",
+ "src/rp2_common/pico_float/float_init_rom.c",
+ "src/rp2_common/pico_float/float_math.c",
+ "src/rp2_common/pico_float/float_v1_rom_shim.S",
+ "src/rp2_common/pico_int64_ops/pico_int64_ops_aeabi.S",
+ "src/rp2_common/pico_malloc/pico_malloc.c",
+ "src/rp2_common/pico_mem_ops/mem_ops_aeabi.S",
+ "src/rp2_common/pico_platform/platform.c",
+ "src/rp2_common/pico_printf/printf.c",
+ "src/rp2_common/pico_runtime/runtime.c",
+ "src/rp2_common/pico_standard_link/binary_info.c",
+ "src/rp2_common/pico_standard_link/crt0.S",
+ "src/rp2_common/pico_standard_link/new_delete.cpp",
+ "src/rp2_common/pico_stdio/stdio.c",
+ "src/rp2_common/pico_stdio_uart/stdio_uart.c",
+ "src/rp2_common/pico_stdlib/stdlib.c",
+ #"src/common/pico_util/doc.h",
+ ],
+ hdrs = [
+ "src/boards/include/boards/pico.h",
+ "src/common/pico_base/include/pico.h",
+ "src/common/pico_base/include/pico/assert.h",
+ "src/common/pico_base/include/pico/config.h",
+ "src/common/pico_base/include/pico/config_autogen.h",
+ "src/common/pico_base/include/pico/error.h",
+ "src/common/pico_base/include/pico/types.h",
+ "src/common/pico_base/include/pico/version.h",
+ "src/common/pico_binary_info/include/pico/binary_info.h",
+ "src/common/pico_binary_info/include/pico/binary_info/code.h",
+ "src/common/pico_binary_info/include/pico/binary_info/defs.h",
+ "src/common/pico_binary_info/include/pico/binary_info/structure.h",
+ "src/common/pico_stdlib/include/pico/stdlib.h",
+ "src/common/pico_sync/include/pico/critical_section.h",
+ "src/common/pico_sync/include/pico/lock_core.h",
+ "src/common/pico_sync/include/pico/mutex.h",
+ "src/common/pico_sync/include/pico/sem.h",
+ "src/common/pico_sync/include/pico/sync.h",
+ "src/common/pico_time/include/pico/time.h",
+ "src/common/pico_time/include/pico/timeout_helper.h",
+ "src/common/pico_util/include/pico/util/datetime.h",
+ "src/common/pico_util/include/pico/util/pheap.h",
+ "src/common/pico_util/include/pico/util/queue.h",
+ "src/rp2040/hardware_regs/include/hardware/platform_defs.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/adc.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/addressmap.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/busctrl.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/clocks.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/dma.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/dreq.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/i2c.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/intctrl.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/io_bank0.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/io_qspi.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/m0plus.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/pads_bank0.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/pads_qspi.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/pio.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/pll.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/psm.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/pwm.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/resets.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/rosc.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/rtc.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/sio.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/spi.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/ssi.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/syscfg.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/sysinfo.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/tbman.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/timer.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/uart.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/usb.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/usb_device_dpram.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/vreg_and_chip_reset.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/watchdog.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/xip.h",
+ "src/rp2040/hardware_regs/include/hardware/regs/xosc.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/adc.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/bus_ctrl.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/clocks.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/dma.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/i2c.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/interp.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/iobank0.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/ioqspi.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/mpu.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/pads_qspi.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/padsbank0.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/pio.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/pll.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/psm.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/pwm.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/resets.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/rosc.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/rtc.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/scb.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/sio.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/spi.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/ssi.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/syscfg.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/systick.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/timer.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/uart.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/usb.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/vreg_and_chip_reset.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/watchdog.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/xip_ctrl.h",
+ "src/rp2040/hardware_structs/include/hardware/structs/xosc.h",
+ "src/rp2_common/cmsis/include/cmsis/rename_exceptions.h",
+ "src/rp2_common/hardware_base/include/hardware/address_mapped.h",
+ "src/rp2_common/hardware_claim/include/hardware/claim.h",
+ "src/rp2_common/hardware_clocks/include/hardware/clocks.h",
+ "src/rp2_common/hardware_divider/include/hardware/divider.h",
+ "src/rp2_common/hardware_divider/include/hardware/divider_helper.S",
+ "src/rp2_common/hardware_gpio/include/hardware/gpio.h",
+ "src/rp2_common/hardware_irq/include/hardware/irq.h",
+ "src/rp2_common/hardware_pll/include/hardware/pll.h",
+ "src/rp2_common/hardware_resets/include/hardware/resets.h",
+ "src/rp2_common/hardware_sync/include/hardware/sync.h",
+ "src/rp2_common/hardware_timer/include/hardware/timer.h",
+ "src/rp2_common/hardware_uart/include/hardware/uart.h",
+ "src/rp2_common/hardware_vreg/include/hardware/vreg.h",
+ "src/rp2_common/hardware_watchdog/include/hardware/watchdog.h",
+ "src/rp2_common/hardware_xosc/include/hardware/xosc.h",
+ "src/rp2_common/pico_bootrom/include/pico/bootrom.h",
+ "src/rp2_common/pico_bootrom/include/pico/bootrom/sf_table.h",
+ "src/rp2_common/pico_double/include/pico/double.h",
+ "src/rp2_common/pico_float/include/pico/float.h",
+ "src/rp2_common/pico_int64_ops/include/pico/int64_ops.h",
+ "src/rp2_common/pico_malloc/include/pico/malloc.h",
+ "src/rp2_common/pico_mem_ops/include/pico/mem_ops.h",
+ "src/rp2_common/pico_platform/include/pico/asm_helper.S",
+ "src/rp2_common/pico_platform/include/pico/platform.h",
+ "src/rp2_common/pico_printf/include/pico/printf.h",
+ "src/rp2_common/pico_runtime/include/pico/runtime.h",
+ "src/rp2_common/pico_stdio/include/pico/stdio.h",
+ "src/rp2_common/pico_stdio/include/pico/stdio/driver.h",
+ "src/rp2_common/pico_stdio_uart/include/pico/stdio_uart.h",
+ ],
+ copts = [
+ "-Wno-unused-function",
+ ],
+ defines = [
+ "LIB_PICO_BIT_OPS=1",
+ "LIB_PICO_BIT_OPS_PICO=1",
+ "LIB_PICO_DIVIDER=1",
+ "LIB_PICO_DIVIDER_HARDWARE=1",
+ "LIB_PICO_DOUBLE=1",
+ "LIB_PICO_DOUBLE_PICO=1",
+ "LIB_PICO_FLOAT=1",
+ "LIB_PICO_FLOAT_PICO=1",
+ "LIB_PICO_INT64_OPS=1",
+ "LIB_PICO_INT64_OPS_PICO=1",
+ "LIB_PICO_MALLOC=1",
+ "LIB_PICO_MEM_OPS=1",
+ "LIB_PICO_MEM_OPS_PICO=1",
+ "LIB_PICO_PLATFORM=1",
+ "LIB_PICO_PRINTF=1",
+ "LIB_PICO_PRINTF_PICO=1",
+ "LIB_PICO_RUNTIME=1",
+ "LIB_PICO_STANDARD_LINK=1",
+ "LIB_PICO_STDIO=1",
+ "LIB_PICO_STDIO_UART=1",
+ "LIB_PICO_STDLIB=1",
+ "LIB_PICO_SYNC=1",
+ "LIB_PICO_SYNC_CORE=1",
+ "LIB_PICO_SYNC_CRITICAL_SECTION=1",
+ "LIB_PICO_SYNC_MUTEX=1",
+ "LIB_PICO_SYNC_SEM=1",
+ "LIB_PICO_TIME=1",
+ "LIB_PICO_UTIL=1",
+ "PICO_COPY_TO_RAM=0",
+ "PICO_CXX_ENABLE_EXCEPTIONS=0",
+ "PICO_NO_FLASH=0",
+ "PICO_USE_BLOCKED_RAM=0",
+ ],
+ includes = [
+ "src/boards/include",
+ "src/common/pico_base/include",
+ "src/common/pico_binary_info/include",
+ "src/common/pico_stdlib/include",
+ "src/common/pico_sync/include",
+ "src/common/pico_time/include",
+ "src/common/pico_util/include",
+ "src/rp2040/hardware_regs/include",
+ "src/rp2040/hardware_structs/include",
+ "src/rp2_common/cmsis/include",
+ "src/rp2_common/hardware_base/include",
+ "src/rp2_common/hardware_claim/include",
+ "src/rp2_common/hardware_clocks/include",
+ "src/rp2_common/hardware_divider/include",
+ "src/rp2_common/hardware_gpio/include",
+ "src/rp2_common/hardware_irq/include",
+ "src/rp2_common/hardware_pll/include",
+ "src/rp2_common/hardware_resets/include",
+ "src/rp2_common/hardware_sync/include",
+ "src/rp2_common/hardware_timer/include",
+ "src/rp2_common/hardware_uart/include",
+ "src/rp2_common/hardware_vreg/include",
+ "src/rp2_common/hardware_watchdog/include",
+ "src/rp2_common/hardware_xosc/include",
+ "src/rp2_common/pico_bootrom/include",
+ "src/rp2_common/pico_double/include",
+ "src/rp2_common/pico_float/include",
+ "src/rp2_common/pico_int64_ops/include",
+ "src/rp2_common/pico_malloc/include",
+ "src/rp2_common/pico_mem_ops/include",
+ "src/rp2_common/pico_platform/include",
+ "src/rp2_common/pico_printf/include",
+ "src/rp2_common/pico_runtime/include",
+ "src/rp2_common/pico_stdio/include",
+ "src/rp2_common/pico_stdio_uart/include",
+ ],
+ linkopts = [
+ "-Wl,--wrap=" + fn
+ for fn in [
+ "sprintf",
+ "snprintf",
+ "vsnprintf",
+ "__clzsi2",
+ "__clzdi2",
+ "__ctzsi2",
+ "__ctzdi2",
+ "__popcountsi2",
+ "__popcountdi2",
+ "__clz",
+ "__clzl",
+ "__clzll",
+ "__aeabi_idiv",
+ "__aeabi_idivmod",
+ "__aeabi_ldivmod",
+ "__aeabi_uidiv",
+ "__aeabi_uidivmod",
+ "__aeabi_uldivmod",
+ "__aeabi_dadd",
+ "__aeabi_ddiv",
+ "__aeabi_dmul",
+ "__aeabi_drsub",
+ "__aeabi_dsub",
+ "__aeabi_cdcmpeq",
+ "__aeabi_cdrcmple",
+ "__aeabi_cdcmple",
+ "__aeabi_dcmpeq",
+ "__aeabi_dcmplt",
+ "__aeabi_dcmple",
+ "__aeabi_dcmpge",
+ "__aeabi_dcmpgt",
+ "__aeabi_dcmpun",
+ "__aeabi_i2d",
+ "__aeabi_l2d",
+ "__aeabi_ui2d",
+ "__aeabi_ul2d",
+ "__aeabi_d2iz",
+ "__aeabi_d2lz",
+ "__aeabi_d2uiz",
+ "__aeabi_d2ulz",
+ "__aeabi_d2f",
+ "sqrt",
+ "cos",
+ "sin",
+ "tan",
+ "atan2",
+ "exp",
+ "log",
+ "ldexp",
+ "copysign",
+ "trunc",
+ "floor",
+ "ceil",
+ "round",
+ "sincos",
+ "asin",
+ "acos",
+ "atan",
+ "sinh",
+ "cosh",
+ "tanh",
+ "asinh",
+ "acosh",
+ "atanh",
+ "exp2",
+ "log2",
+ "exp10",
+ "log10",
+ "pow",
+ "powint",
+ "hypot",
+ "cbrt",
+ "fmod",
+ "drem",
+ "remainder",
+ "remquo",
+ "expm1",
+ "log1p",
+ "fma",
+ "__aeabi_lmul",
+ "__aeabi_fadd",
+ "__aeabi_fdiv",
+ "__aeabi_fmul",
+ "__aeabi_frsub",
+ "__aeabi_fsub",
+ "__aeabi_cfcmpeq",
+ "__aeabi_cfrcmple",
+ "__aeabi_cfcmple",
+ "__aeabi_fcmpeq",
+ "__aeabi_fcmplt",
+ "__aeabi_fcmple",
+ "__aeabi_fcmpge",
+ "__aeabi_fcmpgt",
+ "__aeabi_fcmpun",
+ "__aeabi_i2f",
+ "__aeabi_l2f",
+ "__aeabi_ui2f",
+ "__aeabi_ul2f",
+ "__aeabi_f2iz",
+ "__aeabi_f2lz",
+ "__aeabi_f2uiz",
+ "__aeabi_f2ulz",
+ "__aeabi_f2d",
+ "sqrtf",
+ "cosf",
+ "sinf",
+ "tanf",
+ "atan2f",
+ "expf",
+ "logf",
+ "ldexpf",
+ "copysignf",
+ "truncf",
+ "floorf",
+ "ceilf",
+ "roundf",
+ "sincosf",
+ "asinf",
+ "acosf",
+ "atanf",
+ "sinhf",
+ "coshf",
+ "tanhf",
+ "asinhf",
+ "acoshf",
+ "atanhf",
+ "exp2f",
+ "log2f",
+ "exp10f",
+ "log10f",
+ "powf",
+ "powintf",
+ "hypotf",
+ "cbrtf",
+ "fmodf",
+ "dremf",
+ "remainderf",
+ "remquof",
+ "expm1f",
+ "log1pf",
+ "fmaf",
+ "malloc",
+ "calloc",
+ "free",
+ "memcpy",
+ "memset",
+ "__aeabi_memcpy",
+ "__aeabi_memset",
+ "__aeabi_memcpy4",
+ "__aeabi_memset4",
+ "__aeabi_memcpy8",
+ "__aeabi_memset8",
+ "printf",
+ "vprintf",
+ "puts",
+ "putchar",
+ "getchar",
+ ]
+ ] + [
+ "-Wl,-z,max-page-size=4096",
+ ],
+ target_compatible_with = [
+ "@platforms//os:none",
+ "//tools/platforms/hardware:cortex_m0plus",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//third_party/pico-sdk/src/rp2_common/boot_stage2:boot_stage2_header",
+ ],
+)
diff --git a/third_party/pico-sdk/hex.bzl b/third_party/pico-sdk/hex.bzl
new file mode 100644
index 0000000..5e9dfae
--- /dev/null
+++ b/third_party/pico-sdk/hex.bzl
@@ -0,0 +1,25 @@
+def bin_from_elf(name, target_compatible_with = None):
+ native.genrule(
+ name = name,
+ srcs = ["%s.elf" % name],
+ outs = ["%s.bin" % name],
+ cmd = "$(OBJCOPY) -Obinary $< $@",
+ executable = True,
+ output_to_bindir = True,
+ target_compatible_with = target_compatible_with,
+ toolchains = ["@bazel_tools//tools/cpp:current_cc_toolchain"],
+ )
+
+def uf2_from_elf(name, target_compatible_with = None):
+ native.genrule(
+ name = name,
+ srcs = ["%s.elf" % name],
+ outs = ["%s.uf2" % name],
+ cmd = "$(location //third_party/pico-sdk/tools/elf2uf2) $< $@",
+ executable = True,
+ output_to_bindir = True,
+ target_compatible_with = target_compatible_with,
+ tools = [
+ "//third_party/pico-sdk/tools/elf2uf2",
+ ],
+ )
diff --git a/third_party/pico-sdk/src/common/boot_uf2/BUILD b/third_party/pico-sdk/src/common/boot_uf2/BUILD
new file mode 100644
index 0000000..771afa6
--- /dev/null
+++ b/third_party/pico-sdk/src/common/boot_uf2/BUILD
@@ -0,0 +1,8 @@
+cc_library(
+ name = "boot_uf2",
+ hdrs = [
+ "include/boot/uf2.h",
+ ],
+ includes = ["include"],
+ visibility = ["//visibility:public"],
+)
diff --git a/third_party/pico-sdk/src/common/pico_base/include/pico/config_autogen.h b/third_party/pico-sdk/src/common/pico_base/include/pico/config_autogen.h
new file mode 100644
index 0000000..d12198d
--- /dev/null
+++ b/third_party/pico-sdk/src/common/pico_base/include/pico/config_autogen.h
@@ -0,0 +1,11 @@
+// AUTOGENERATED FROM PICO_CONFIG_HEADER_FILES and then PICO_<PLATFORM>_CONFIG_HEADER_FILES
+// DO NOT EDIT!
+
+
+// based on PICO_CONFIG_HEADER_FILES:
+
+#include "third_party/pico-sdk/src/boards/include/boards/pico.h"
+
+// based on PICO_RP2040_CONFIG_HEADER_FILES:
+
+#include "third_party/pico-sdk/src/rp2_common/cmsis/include/cmsis/rename_exceptions.h"
diff --git a/third_party/pico-sdk/src/common/pico_base/include/pico/version.h b/third_party/pico-sdk/src/common/pico_base/include/pico/version.h
new file mode 100644
index 0000000..96e417b
--- /dev/null
+++ b/third_party/pico-sdk/src/common/pico_base/include/pico/version.h
@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+// ---------------------------------------
+// THIS FILE IS AUTOGENERATED; DO NOT EDIT
+// ---------------------------------------
+
+#ifndef _PICO_VERSION_H
+#define _PICO_VERSION_H
+
+#define PICO_SDK_VERSION_MAJOR 1
+#define PICO_SDK_VERSION_MINOR 3
+#define PICO_SDK_VERSION_REVISION 0
+#define PICO_SDK_VERSION_STRING "1.3.0"
+
+#endif
diff --git a/third_party/pico-sdk/src/rp2_common/boot_stage2/BUILD b/third_party/pico-sdk/src/rp2_common/boot_stage2/BUILD
new file mode 100644
index 0000000..c8fc22d
--- /dev/null
+++ b/third_party/pico-sdk/src/rp2_common/boot_stage2/BUILD
@@ -0,0 +1,67 @@
+load("//third_party/pico-sdk:hex.bzl", "bin_from_elf")
+
+cc_library(
+ name = "boot_stage2_header",
+ hdrs = [
+ "asminclude/boot2_helpers/exit_from_boot2.S",
+ "asminclude/boot2_helpers/read_flash_sreg.S",
+ "asminclude/boot2_helpers/wait_ssi_ready.S",
+ "include/boot_stage2/config.h",
+ ],
+ includes = [
+ "asminclude",
+ "include",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "boot_stage2",
+ hdrs = [
+ "boot2_w25q080.S",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":boot_stage2_header",
+ # This is probably too much, but the resulting binary is bitwise identical, so what can I complain about.
+ "//third_party/pico-sdk",
+ ],
+)
+
+cc_binary(
+ name = "bs2_default.elf",
+ srcs = [
+ "compile_time_choice.S",
+ ],
+ additional_linker_inputs = ["boot_stage2.ld"],
+ linkopts = [
+ "-Wl,--script=third_party/pico-sdk/src/rp2_common/boot_stage2/boot_stage2.ld",
+ ],
+ deps = ["boot_stage2"],
+)
+
+bin_from_elf(
+ name = "bs2_default",
+)
+
+genrule(
+ name = "pad_checksum_python_rename",
+ srcs = ["pad_checksum"],
+ outs = ["pad_checksum.py"],
+ cmd = "cp -f $(SRCS) $(OUTS)",
+)
+
+py_binary(
+ name = "pad_checksum_python",
+ srcs = ["pad_checksum.py"],
+ main = "pad_checksum.py",
+)
+
+genrule(
+ name = "gen_bs2_default_padded_checksummed.S",
+ srcs = ["bs2_default.bin"],
+ outs = ["bs2_default_padded_checksummed.S"],
+ cmd = "$(location :pad_checksum_python) -s 0xffffffff $(SRCS) $(OUTS)",
+ tools = [":pad_checksum_python"],
+ visibility = ["//visibility:public"],
+)
diff --git a/third_party/pico-sdk/tools/BUILD b/third_party/pico-sdk/tools/BUILD
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/third_party/pico-sdk/tools/BUILD
diff --git a/third_party/pico-sdk/tools/elf2uf2/BUILD b/third_party/pico-sdk/tools/elf2uf2/BUILD
new file mode 100644
index 0000000..98b8209
--- /dev/null
+++ b/third_party/pico-sdk/tools/elf2uf2/BUILD
@@ -0,0 +1,19 @@
+cc_binary(
+ name = "elf2uf2",
+ srcs = [
+ "elf.h",
+ "main.cpp",
+ ],
+ copts = [
+ "-Wno-format-nonliteral",
+ "-Wno-reorder",
+ "-Wno-unused-parameter",
+ "-Wno-unused-function",
+ ],
+ includes = ["."],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//third_party/pico-sdk/src/common/boot_uf2",
+ ],
+)
diff --git a/tools/BUILD b/tools/BUILD
index 3acd443..2e470fa 100644
--- a/tools/BUILD
+++ b/tools/BUILD
@@ -34,6 +34,11 @@
constraint_values = ["@//tools/platforms/hardware:cortex_m4f"],
)
+config_setting(
+ name = "cpu_cortex_m0plus",
+ constraint_values = ["@//tools/platforms/hardware:cortex_m0plus"],
+)
+
# TODO(phil): Re-enable this with proper support.
#config_setting(
# name = "cpu_cortex_m4f_k22",
diff --git a/tools/build_rules/select.bzl b/tools/build_rules/select.bzl
index 23addf5..cdeeb25 100644
--- a/tools/build_rules/select.bzl
+++ b/tools/build_rules/select.bzl
@@ -8,6 +8,7 @@
"roborio",
"armhf",
"cortex-m",
+ "cortex-m0plus",
]
"""All of the CPUs we know about."""
@@ -31,6 +32,7 @@
new_values["armhf"] = values["arm"]
new_values["roborio"] = values["arm"]
new_values["cortex-m"] = values["arm"]
+ new_values["cortex-m0plus"] = values["arm"]
values = new_values
for cpu in all_cpus:
if cpu not in values:
@@ -46,6 +48,7 @@
"@//tools:cpu_roborio": values["roborio"],
"@//tools:cpu_armhf": values["armhf"],
"@//tools:cpu_cortex_m4f": values["cortex-m"],
+ "@//tools:cpu_cortex_m0plus": values["cortex-m0plus"],
# TODO(phil): Support this properly.
#"@//tools:cpu_cortex_m4f_k22": values["cortex-m"],
})
@@ -67,6 +70,7 @@
"@//tools:cpu_roborio": values["32"],
"@//tools:cpu_armhf": values["32"],
"@//tools:cpu_cortex_m4f": values["32"],
+ "@//tools:cpu_cortex_m0plus": values["32"],
# TODO(phil): Support this properly.
#"@//tools:cpu_cortex_m4f_k22": values["32"],
})
diff --git a/tools/ci/buildkite.yaml b/tools/ci/buildkite.yaml
index 9ccb606..8532a75 100644
--- a/tools/ci/buildkite.yaml
+++ b/tools/ci/buildkite.yaml
@@ -3,6 +3,7 @@
COMMON: -c opt --stamp=no --curses=yes --symlink_prefix=/ --disk_cache=~/.cache/bazel/disk_cache/ --repo_env=FRC971_RUNNING_IN_CI=1
TARGETS: //... @com_github_google_glog//... @com_google_ceres_solver//... @com_github_rawrtc_rawrtc//... @com_google_googletest//...
M4F_TARGETS: //...
+ RP2040_TARGETS: //...
# Sanity check that we are able to build the y2020 roborio code, which confirms
# that we have the platform compatibility for the roborio set up correctly.
ROBORIO_TARGETS: ${TARGETS} //y2020:download_stripped
@@ -32,3 +33,8 @@
commands:
- tools/ci/clean-disk.sh
- tools/bazel ${STARTUP} --output_base=../cortex-m4f_output_base build ${COMMON} --config=cortex-m4f ${M4F_TARGETS}
+
+ - label: "rp2040"
+ commands:
+ - tools/ci/clean-disk.sh
+ - tools/bazel ${STARTUP} --output_base=../rp2040_output_base build ${COMMON} --config=rp2040 ${RP2040_TARGETS}
diff --git a/tools/cpp/BUILD b/tools/cpp/BUILD
index ea25dd1..0fe1512 100644
--- a/tools/cpp/BUILD
+++ b/tools/cpp/BUILD
@@ -9,6 +9,7 @@
"armhf-debian": ":cc-compiler-armhf-debian",
"roborio": ":cc-compiler-roborio",
"cortex-m4f": ":cc-compiler-cortex-m4f",
+ "rp2040": ":cc-compiler-rp2040",
},
visibility = ["//visibility:public"],
)
@@ -23,6 +24,7 @@
"armhf-debian",
"cortex-m4f",
"cortex-m4f-k22",
+ "rp2040",
"k8",
"roborio",
]
@@ -40,6 +42,7 @@
"//tools:has_asan": [],
"//tools:has_tsan": [],
"//tools:cpu_cortex_m4f": [],
+ "//tools:cpu_cortex_m0plus": [],
# TODO(phil): Support this properly.
#"//tools:cpu_cortex_m4f_k22": [],
"//conditions:default": ["//third_party/gperftools:tcmalloc"],
@@ -342,6 +345,34 @@
)
cc_toolchain(
+ name = "cc-compiler-rp2040",
+ all_files = ":gcc_arm_none_eabi_none_files",
+ ar_files = ":gcc_arm_none_eabi_ar_files",
+ compiler_files = ":gcc_arm_none_eabi_compiler_files",
+ dwp_files = ":empty",
+ linker_files = ":gcc_arm_none_eabi_linker_files",
+ objcopy_files = "//tools/cpp/gcc_arm_none_eabi:objcopy",
+ strip_files = "//tools/cpp/gcc_arm_none_eabi:strip",
+ supports_param_files = 1,
+ toolchain_config = ":rp2040_toolchain_config",
+ toolchain_identifier = "rp2040",
+)
+
+toolchain(
+ name = "cc-toolchain-rp2040",
+ exec_compatible_with = [
+ "@platforms//os:linux",
+ "@platforms//cpu:x86_64",
+ ],
+ target_compatible_with = [
+ "@platforms//os:none",
+ "//tools/platforms/hardware:cortex_m0plus",
+ ],
+ toolchain = ":cc-compiler-rp2040",
+ toolchain_type = "@bazel_tools//tools/cpp:toolchain_type",
+)
+
+cc_toolchain(
name = "cc-compiler-cortex-m4f",
all_files = ":gcc_arm_none_eabi_none_files",
ar_files = ":gcc_arm_none_eabi_ar_files",
diff --git a/tools/cpp/toolchain_config.bzl b/tools/cpp/toolchain_config.bzl
index 7b0ffbf..6a306b6 100644
--- a/tools/cpp/toolchain_config.bzl
+++ b/tools/cpp/toolchain_config.bzl
@@ -13,6 +13,8 @@
def _impl(ctx):
if (ctx.attr.cpu == "armhf-debian"):
toolchain_identifier = "clang_linux_armhf"
+ elif (ctx.attr.cpu == "rp2040"):
+ toolchain_identifier = "rp2040"
elif (ctx.attr.cpu == "cortex-m4f"):
toolchain_identifier = "cortex-m4f"
elif (ctx.attr.cpu == "cortex-m4f-k22"):
@@ -30,7 +32,8 @@
host_system_name = "armeabi-v7a"
elif (ctx.attr.cpu == "armhf-debian"):
host_system_name = "linux"
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22" or
ctx.attr.cpu == "k8"):
host_system_name = "local"
@@ -43,6 +46,8 @@
target_system_name = "arm_a15"
elif (ctx.attr.cpu == "armeabi-v7a"):
target_system_name = "armeabi-v7a"
+ elif (ctx.attr.cpu == "rp2040"):
+ target_system_name = "rp2040"
elif (ctx.attr.cpu == "cortex-m4f"):
target_system_name = "cortex-m4f"
elif (ctx.attr.cpu == "cortex-m4f-k22"):
@@ -58,6 +63,8 @@
target_cpu = "armeabi-v7a"
elif (ctx.attr.cpu == "armhf-debian"):
target_cpu = "armhf-debian"
+ elif (ctx.attr.cpu == "rp2040"):
+ target_cpu = "rp2040"
elif (ctx.attr.cpu == "cortex-m4f"):
target_cpu = "cortex-m4f"
elif (ctx.attr.cpu == "cortex-m4f-k22"):
@@ -71,6 +78,8 @@
if (ctx.attr.cpu == "armeabi-v7a"):
target_libc = "armeabi-v7a"
+ elif (ctx.attr.cpu == "rp2040"):
+ target_libc = "rp2040"
elif (ctx.attr.cpu == "cortex-m4f"):
target_libc = "cortex-m4f"
elif (ctx.attr.cpu == "cortex-m4f-k22"):
@@ -89,7 +98,8 @@
compiler = "clang"
elif (ctx.attr.cpu == "armeabi-v7a"):
compiler = "compiler"
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22" or
ctx.attr.cpu == "roborio"):
compiler = "gcc"
@@ -100,6 +110,8 @@
abi_version = "armeabi-v7a"
elif (ctx.attr.cpu == "armhf-debian"):
abi_version = "clang_6.0"
+ elif (ctx.attr.cpu == "rp2040"):
+ abi_version = "rp2040"
elif (ctx.attr.cpu == "cortex-m4f"):
abi_version = "cortex-m4f"
elif (ctx.attr.cpu == "cortex-m4f-k22"):
@@ -113,6 +125,8 @@
if (ctx.attr.cpu == "armeabi-v7a"):
abi_libc_version = "armeabi-v7a"
+ elif (ctx.attr.cpu == "rp2040"):
+ abi_libc_version = "rp2040"
elif (ctx.attr.cpu == "cortex-m4f"):
abi_libc_version = "cortex-m4f"
elif (ctx.attr.cpu == "cortex-m4f-k22"):
@@ -202,7 +216,8 @@
enabled = True,
tools = [tool(path = "clang_6p0/x86_64-linux-gnu-objcopy")],
)
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
objcopy_embed_data_action = action_config(
action_name = "objcopy_embed_data",
@@ -215,6 +230,7 @@
if (ctx.attr.cpu == "armeabi-v7a"):
action_configs = []
elif (ctx.attr.cpu == "armhf-debian" or
+ ctx.attr.cpu == "rp2040" or
ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22" or
ctx.attr.cpu == "k8" or
@@ -509,6 +525,88 @@
),
],
)
+ elif (ctx.attr.cpu == "rp2040"):
+ default_compile_flags_feature = feature(
+ name = "default_compile_flags",
+ enabled = True,
+ flag_sets = [
+ flag_set(
+ actions = [
+ ACTION_NAMES.assemble,
+ ACTION_NAMES.preprocess_assemble,
+ ACTION_NAMES.linkstamp_compile,
+ ACTION_NAMES.c_compile,
+ ACTION_NAMES.cpp_compile,
+ ACTION_NAMES.cpp_header_parsing,
+ ACTION_NAMES.cpp_module_compile,
+ ACTION_NAMES.cpp_module_codegen,
+ ACTION_NAMES.lto_backend,
+ ACTION_NAMES.clif_match,
+ ],
+ flag_groups = [
+ flag_group(
+ flags = [
+ "-DPICO_BOARD=\"pico\"",
+ "-DPICO_BUILD=1",
+ "-DPICO_NO_HARDWARE=0",
+ "-DPICO_ON_DEVICE=1",
+ "-D__STDC_FORMAT_MACROS",
+ "-D__STDC_CONSTANT_MACROS",
+ "-D__STDC_LIMIT_MACROS",
+ "-Wl,--gc-sections",
+ "-fstack-protector",
+ "-mcpu=cortex-m0plus",
+ "-mthumb",
+ "-fno-strict-aliasing",
+ "-fmessage-length=80",
+ "-fmax-errors=20",
+ "-Wall",
+ "-Wextra",
+ "-Wpointer-arith",
+ "-Wcast-qual",
+ "-Wwrite-strings",
+ "-Wtype-limits",
+ "-Wsign-compare",
+ "-Wformat=2",
+ "-Werror",
+ "-Wstrict-aliasing=2",
+ "-Wno-misleading-indentation",
+ "-Wno-int-in-bool-context",
+ "-Wdouble-promotion",
+ "-pipe",
+ "-g",
+ ],
+ ),
+ ],
+ ),
+ flag_set(
+ actions = [
+ ACTION_NAMES.assemble,
+ ACTION_NAMES.preprocess_assemble,
+ ACTION_NAMES.linkstamp_compile,
+ ACTION_NAMES.c_compile,
+ ACTION_NAMES.cpp_compile,
+ ACTION_NAMES.cpp_header_parsing,
+ ACTION_NAMES.cpp_module_compile,
+ ACTION_NAMES.cpp_module_codegen,
+ ACTION_NAMES.lto_backend,
+ ACTION_NAMES.clif_match,
+ ],
+ flag_groups = [
+ flag_group(
+ flags = [
+ "-O3",
+ "-finline-functions",
+ "-funroll-loops",
+ "-DNDEBUG",
+ "-ffunction-sections",
+ ],
+ ),
+ ],
+ with_features = [with_feature_set(features = ["opt"])],
+ ),
+ ],
+ )
elif (ctx.attr.cpu == "armhf-debian"):
default_compile_flags_feature = feature(
name = "default_compile_flags",
@@ -655,7 +753,8 @@
),
],
)
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
dbg_feature = feature(
name = "dbg",
@@ -713,7 +812,8 @@
),
],
)
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
fastbuild_feature = feature(name = "fastbuild", implies = ["all_modes"])
else:
@@ -788,7 +888,8 @@
],
implies = ["all_modes"],
)
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
opt_feature = feature(name = "opt", implies = ["all_modes"])
else:
@@ -815,7 +916,8 @@
],
)
- if (ctx.attr.cpu == "cortex-m4f" or
+ if (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
include_paths_feature = feature(
name = "include_paths",
@@ -993,6 +1095,30 @@
),
],
)
+ elif (ctx.attr.cpu == "rp2040"):
+ default_link_flags_feature = feature(
+ name = "default_link_flags",
+ enabled = True,
+ flag_sets = [
+ flag_set(
+ actions = all_link_actions,
+ flag_groups = [
+ flag_group(
+ flags = [
+ "-no-canonical-prefixes",
+ "-mcpu=cortex-m0plus",
+ "-mthumb",
+ "-fno-strict-aliasing",
+ "-Wl,--build-id=none",
+ "--specs=nosys.specs",
+ "-nostartfiles",
+ ],
+ ),
+ ],
+ ),
+ # TODO(austin): I'd love to turn --gc-sections on, but that breaks things.
+ ],
+ )
elif (ctx.attr.cpu == "k8"):
default_link_flags_feature = feature(
name = "default_link_flags",
@@ -1119,7 +1245,8 @@
),
],
)
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
all_modes_feature = feature(
name = "all_modes",
@@ -1130,7 +1257,7 @@
ACTION_NAMES.assemble,
ACTION_NAMES.c_compile,
],
- flag_groups = [flag_group(flags = ["--std=gnu99"])],
+ flag_groups = [flag_group(flags = ["--std=gnu11"])],
),
flag_set(
actions = [
@@ -1246,7 +1373,8 @@
),
],
)
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22" or
ctx.attr.cpu == "roborio"):
unfiltered_compile_flags_feature = feature(
@@ -1521,7 +1649,8 @@
],
)
- if (ctx.attr.cpu == "cortex-m4f" or
+ if (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
features = [
default_compile_flags_feature,
@@ -1604,7 +1733,8 @@
"%package(@linaro_linux_gcc_repo//lib/gcc/arm-linux-gnueabihf/7.4.1/include-fixed)%",
"%package(@linaro_linux_gcc_repo//arm-linux-gnueabihf/include)%/c++/7.4.1",
]
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
cxx_builtin_include_directories = [
"/usr/lib/gcc/arm-none-eabi/4.8/include",
@@ -1714,7 +1844,8 @@
path = "clang_6p0/x86_64-linux-gnu-strip",
),
]
- elif (ctx.attr.cpu == "cortex-m4f" or
+ elif (ctx.attr.cpu == "rp2040" or
+ ctx.attr.cpu == "cortex-m4f" or
ctx.attr.cpu == "cortex-m4f-k22"):
tool_paths = [
tool_path(
@@ -1856,7 +1987,7 @@
cc_toolchain_config = rule(
implementation = _impl,
attrs = {
- "cpu": attr.string(mandatory = True, values = ["armeabi-v7a", "armhf-debian", "cortex-m4f", "cortex-m4f-k22", "k8", "roborio"]),
+ "cpu": attr.string(mandatory = True, values = ["armeabi-v7a", "armhf-debian", "cortex-m4f", "cortex-m4f-k22", "k8", "roborio", "rp2040"]),
},
provides = [CcToolchainConfigInfo],
executable = True,
diff --git a/tools/platforms/BUILD b/tools/platforms/BUILD
index 4aa3db3..4df177c 100644
--- a/tools/platforms/BUILD
+++ b/tools/platforms/BUILD
@@ -47,4 +47,13 @@
],
)
+platform(
+ name = "rp2040",
+ constraint_values = [
+ "@platforms//os:none",
+ "//tools/platforms/hardware:cortex_m0plus",
+ "//tools/platforms/go:lacks_support",
+ ],
+)
+
# TODO(phil): Create something for "cortex-m4f-k22" builds.
diff --git a/tools/platforms/hardware/BUILD b/tools/platforms/hardware/BUILD
index 521b243..b33606a 100644
--- a/tools/platforms/hardware/BUILD
+++ b/tools/platforms/hardware/BUILD
@@ -19,3 +19,8 @@
name = "cortex_m4f",
constraint_setting = ":hardware",
)
+
+constraint_value(
+ name = "cortex_m0plus",
+ constraint_setting = ":hardware",
+)
diff --git a/y2020/vision/sift/fast_gaussian.bzl b/y2020/vision/sift/fast_gaussian.bzl
index 5eaa4bf..b699282 100644
--- a/y2020/vision/sift/fast_gaussian.bzl
+++ b/y2020/vision/sift/fast_gaussian.bzl
@@ -39,6 +39,7 @@
"roborio": "roborio",
"armhf": "armhf-debian",
"cortex-m": "cortex-m",
+ "cortex-m0plus": "cortex-m0plus",
}),
outs = headers + objects + htmls,
# The tool doesn't support anything other than k8 and armhf-debian