├── .cargo └── config ├── .gitignore ├── LICENSE-APACHE ├── LICENSE-MIT ├── ON-CHIP_DEBUGGING.md ├── README.md └── ide └── rp-pico-workspace.code-workspace /.cargo/config: -------------------------------------------------------------------------------- 1 | [build] 2 | # Instruction set of Cortex-M0+ 3 | target = "thumbv6m-none-eabi" 4 | 5 | rustflags = [ 6 | # use the Tlink.x scrip from the cortex-m-rt crate 7 | "-C", "link-arg=-Tlink.x", 8 | ] 9 | 10 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | target 2 | Cargo.lock 3 | boards/rp-pico/blink.bin 4 | boards/rp-pico/blink.uf2 5 | boards/rp-pico/uart.bin 6 | boards/rp-pico/uart.uf2 7 | boards/rp-pico/.vscode/settings.json 8 | -------------------------------------------------------------------------------- /LICENSE-APACHE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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IN NO EVENT 21 | SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY 22 | CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 23 | OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR 24 | IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 25 | DEALINGS IN THE SOFTWARE. 26 | -------------------------------------------------------------------------------- /ON-CHIP_DEBUGGING.md: -------------------------------------------------------------------------------- 1 | # On chip debugging 2 | 3 | This document guides you through the steps necessary to set up on chip debugging on your system. 4 | 5 | This document will firstly cover on how to establish the SWD (serial wire debugging) connection as well as configuring VS Code to debug right from your IDE 6 | 7 | ## Setting up SWD 8 | 9 | There a several ways to establish this: 10 | 11 | 1. Use [picorobe](todo add link), here you can use a second Pico as the debugger 12 | 2. Use raspberry pi as a bit-banging. [Getting started: Chapter 5](https://datasheets.raspberrypi.org/pico/getting-started-with-pico.pdf) 13 | 3. Set up JLink 14 | 15 | This list is certainly not complete. 16 | 17 | ### Setting up jlink 18 | 19 | > This was tested on Ubuntu 20.04 20 | 21 | In order to have the JLink running you will need to compile openocd from the raspberry/openocd on github. 22 | 23 | ```sh 24 | $ sudo apt install automake autoconf build-essential texinfo libtool libftdi-dev libusb-1.0-0- 25 | dev 26 | $ git clone https://github.com/raspberrypi/openocd.git --recursive --branch rp2040_jlink --depth=1 27 | $ cd openocd 28 | $ ./bootstrap 29 | $ ./configure 30 | $ make -j4 31 | $ sudo make install 32 | ``` 33 | 34 | To check your installation run: 35 | ```sh 36 | openocd -f interface/jlink.cfg -c "transport select swd" -c "adapter speed 1000" -f target/rp2040.cfg 37 | ``` 38 | 39 | Your output should roughly look lite that: 40 | 41 | ```sh 42 | Open On-Chip Debugger 0.10.0+dev-g7e5ea18-dirty (2021-02-10-21:59) 43 | Licensed under GNU GPL v2 44 | For bug reports, read 45 | http://openocd.org/doc/doxygen/bugs.html 46 | swd 47 | adapter speed: 1000 kHz 48 | 49 | Info : Hardware thread awareness created 50 | Info : Hardware thread awareness created 51 | Info : RP2040 Flash Bank Command 52 | Info : Listening on port 6666 for tcl connections 53 | Info : Listening on port 4444 for telnet connections 54 | Info : J-Link V10 compiled Dec 11 2020 15:39:30 55 | Info : Hardware version: 10.10 56 | Info : VTarget = 3.286 V 57 | Info : clock speed 1000 kHz 58 | Info : SWD DPIDR 0x0bc12477 59 | Info : SWD DLPIDR 0x00000001 60 | Info : SWD DPIDR 0x0bc12477 61 | Info : SWD DLPIDR 0x10000001 62 | Info : rp2040.core0: hardware has 4 breakpoints, 2 watchpoints 63 | Info : rp2040.core1: hardware has 4 breakpoints, 2 watchpoints 64 | Info : starting gdb server for rp2040.core0 on 3333 65 | Info : Listening on port 3333 for gdb connections 66 | 67 | ``` 68 | 69 | ## Set up VSCode 70 | 71 | In order to use the gdb commands correctly you need to install gdb-multiarch: 72 | 73 | ```sh 74 | sudo apt install gdb-multiarch 75 | ``` 76 | 77 | In vscode you need to install at least `marus25.cortex-debug`. 78 | 79 | For RUST development you should have the `rust-anaylzer` installed as well. 80 | 81 | 82 | ### Workspace 83 | 84 | Either use the workspace provided in the `ide` folder or create your own workspace. 85 | 86 | 87 | In oder to create your own workspace follow the steps bellow: 88 | 89 | Open vscode and add boards/rp-pico to the workspace 90 | 91 | Setup your launch.json and define the following content to debug the uart example: 92 | 93 | 94 | ```json 95 | { 96 | "name": "Debug example 'uart'", 97 | "type": "cortex-debug", 98 | "request": "launch", 99 | "cwd": "${workspaceFolder}", 100 | "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/uart", 101 | "servertype": "openocd", 102 | "gdbPath": "gdb-multiarch", 103 | "device": "RP2040", 104 | "configFiles": [ 105 | "interface/jlink.cfg", 106 | "${workspaceFolder}/openocd_cfg/jlink_addon.cfg", 107 | "target/rp2040.cfg" 108 | ], 109 | "svdFile": "${workspaceFolder}/../../svd/rp2040.svd", 110 | "runToMain": true, 111 | "postRestartCommands": [ 112 | "break main", 113 | "continue" 114 | ] 115 | }, 116 | ``` 117 | 118 | 119 | > Remark: 120 | > The `jlink_addon.cfg` is a workaround to put in the swd selection and setting of the adapter speed. These commands need to happen after `jlink.cfg` and before `rp2040.cfg` 121 | 122 | > Disclaimer: 123 | > The launch.json setting have been derived from [Getting started with pico](https://datasheets.raspberrypi.org/pico/getting-started-with-pico.pdf) 124 | 125 | 126 | To use another probe, just change the entry "configFiles" from the launch.json. For example for picoprobe: 127 | 128 | ```json 129 | "configFiles": [ 130 | "interface/picoprobe.cfg", 131 | "target/rp2040.cfg" 132 | ], 133 | ``` 134 | 135 | 136 | ## Debug your code 137 | 138 | Open the previously defined workspace in vscode and open the _Run_ view by clicking on the symbol or by Ctrl+Shift+D. 139 | Choose your debug config from the drop down and start debugging. 140 | On start and restart you will stop at the `#[entry]`. From there you can start debugging. 141 | 142 | 143 | ## Known issues 144 | 145 | - [ ] Step over/into is very slow 146 | - [ ] If you use rust-analyzer clicking on the _Debug_ right above the main function will not work ("workspace not accessible") 147 | - [ ] `cargo build --target thumbv6m-none-eabi --example=uart` needs still to be run from the terminal. 148 | - [ ] Not yet tested on MAC and windows 149 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Rust support for RP2040 microcontrollers 2 | 3 | While the [official SDKs by Raspberry Pi 4 | Ltd](https://www.raspberrypi.com/documentation/microcontrollers/rp2040.html#software-development) 5 | only support C, C++ and python, it is also possible to develop a firmware 6 | using your favourite language, Rust. 7 | 8 | As the RP2040 is based on a popular architecture, ARM Cortex-M, many 9 | drivers and other supporting infrastructure from the general [Embedded 10 | Rust](https://github.com/rust-embedded/awesome-embedded-rust/blob/master/README.md) 11 | ecosystem can be used. 12 | 13 | The easiest way to get startet is by using 14 | [rp2040-hal](https://crates.io/crates/rp2040-hal), a hardware abstraction 15 | layer which hides the details of configuring the RP2040's registers 16 | behind a higher-level Rust API. 17 | 18 | Alternatively, [Embassy](https://embassy.dev/) has support for the RP2040 and 19 | provides a modern async API. 20 | 21 | ## Prerequisites 22 | 23 | ### Hardware 24 | 25 | It is easiest to start with one of the [supported boards](https://github.com/rp-rs/rp-hal-boards/#packages). 26 | Other boards based on the RP2040 should work as well, provided that you have some hardware documentation 27 | for that board. 28 | 29 | Technically, it is possible to program the RP2040 using the integrated USB boot loader, so if you have a board like the 30 | [Raspberry Pi Pico](https://www.raspberrypi.com/products/raspberry-pi-pico/), you only need a USB cable to get started. 31 | 32 | In practice, firmware development is much easier if you have a debug probe. This is a little device connecting 33 | the RP2040 to your computer, which allows direct access to the RP2040's memory, and provides means to show debug 34 | output generated by the firmware you are developing. 35 | 36 | If you have a second Raspberry Pi Pico, it can be used as a debug probe, as described in the 37 | [getting started document](https://datasheets.raspberrypi.com/pico/getting-started-with-pico.pdf#picoprobe_section). 38 | There's no need to buy a more expensive debug probe, they provide little advantage (if at all) when starting 39 | to develop for the RP2040. 40 | 41 | ### Software 42 | 43 | For building rust binaries for the rp2040, you need to install the rustc target `thumbv6m-none-eabi`: 44 | ``` 45 | rustup target add thumbv6m-none-eabi 46 | ``` 47 | 48 | To upload a firmware using the integrated USB boot loader, the binary file must be converted to UF2 format. This can 49 | be accomplished using the [elf2uf2 tool](https://github.com/raspberrypi/pico-sdk/tree/master/tools/elf2uf2) from the C SDK, 50 | or the rust port, [elf2uf2-rs](https://crates.io/crates/elf2uf2-rs). 51 | 52 | This conversion is not needed when using a debug probe for firmware upload. 53 | Instead, you need some software to talk to the debug probe. One good tool for 54 | that is [probe-run](https://github.com/knurling-rs/probe-run). 55 | 56 | ## Getting started 57 | 58 | A good place to start is the [rp2040-project-template](https://github.com/rp-rs/rp2040-project-template). It contains a 59 | simple firmware which just blinks a LED, wrapped in all the usual tooling. 60 | 61 | ## Getting help 62 | 63 | If you have questions, need help, or want to share your creations, join us Matrix: [#rp-rs:matrix.org](https://matrix.to/#/#rp-rs:matrix.org). 64 | 65 | ## License 66 | 67 | Licensed under the terms of both the [MIT license](LICENSE-MIT) and the [Apache License (Version 2.0)](LICENSE-APACHE), at your option. 68 | 69 | -------------------------------------------------------------------------------- /ide/rp-pico-workspace.code-workspace: -------------------------------------------------------------------------------- 1 | { 2 | "folders": [ 3 | { 4 | "path": "../boards/rp-pico" 5 | } 6 | ], 7 | "launch": { 8 | "version": "0.2.0", 9 | "configurations": [ 10 | { 11 | "name": "Debug example 'uart'", 12 | "type": "cortex-debug", 13 | "request": "launch", 14 | "cwd": "${workspaceFolder}", 15 | "executable": "${workspaceFolder}/target/thumbv6m-none-eabi/debug/examples/uart", 16 | "servertype": "openocd", 17 | "gdbPath": "gdb-multiarch", 18 | "device": "RP2040", 19 | "configFiles": [ 20 | "interface/jlink.cfg", 21 | "${workspaceFolder}/openocd_cfg/jlink_addon.cfg", 22 | "target/rp2040.cfg" 23 | ], 24 | "svdFile": "${workspaceFolder}/../../svd/rp2040.svd", 25 | "runToMain": true, 26 | "postRestartCommands": [ 27 | "break main", 28 | "continue" 29 | ] 30 | }, 31 | ] 32 | } 33 | } --------------------------------------------------------------------------------