Add Pico W and lwIP support

.gitmodules

@@ -1,3 +1,9 @@
 [submodule "tinyusb"]
 	path = lib/tinyusb
 	url = https://github.com/hathach/tinyusb.git
+[submodule "lib/cyw43-driver"]
+	path = lib/cyw43-driver
+	url = https://github.com/georgerobotics/cyw43-driver.git
+[submodule "lib/lwip"]
+	path = lib/lwip
+	url = https://github.com/lwip-tcpip/lwip.git

README.md

@@ -110,6 +110,24 @@ instructions for other platforms, and just in general, we recommend you see [Ras
 
           ```
 
+   * Or by cloning the SDK locally, but without copying `pico_sdk_import.cmake`:
+       1. `git clone` this Raspberry Pi Pico SDK repository
+       2. Setup a `CMakeLists.txt` like:
+
+           ```cmake
+           cmake_minimum_required(VERSION 3.13)
+ 
+           # initialize the SDK directly
+           include(/path/to/pico-sdk/pico_sdk_init.cmake)
+ 
+           project(my_project)
+ 
+           # initialize the Raspberry Pi Pico SDK
+           pico_sdk_init()
+ 
+           # rest of your project
+ 
+           ```
 1. Write your code (see [pico-examples](https://github.com/raspberrypi/pico-examples) or the [Raspberry Pi Pico C/C++ SDK](https://rptl.io/pico-c-sdk) documentation for more information)
 
    About the simplest you can do is a single source file (e.g. hello_world.c)

docs/Doxyfile.in

@@ -60,4 +60,5 @@ PREDEFINED             = __not_in_flash_func(x) \
                          __time_critical_func(x) \
                          __not_in_flash(x)= \
                          __no_inline_not_in_flash(x)= \
-                         __attribute__(x)=
+                         __attribute__(x)= \
+                         DOXYGEN_GENERATION=

docs/index.h

@@ -56,6 +56,13 @@
  * \defgroup tinyusb_host tinyusb_host
  * @}
  *
+ * \defgroup networking Networking Libraries
+ * Functions for implementing networking
+ * @{
+ * \defgroup pico_lwip pico_lwip
+ * \defgroup pico_cyw43_arch pico_cyw43_arch
+ * @}
+ *
  * \defgroup runtime Runtime Infrastructure
  * Libraries that are used to provide efficient implementation of certain
  * language level and C library functions, as well as CMake INTERFACE libraries

src/boards/include/boards/pico_w.h

@@ -0,0 +1,102 @@
+/*
+ * Copyright (c) 2022 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+// -----------------------------------------------------
+// NOTE: THIS HEADER IS ALSO INCLUDED BY ASSEMBLER SO
+//       SHOULD ONLY CONSIST OF PREPROCESSOR DIRECTIVES
+// -----------------------------------------------------
+
+// This header may be included by other board headers as "boards/pico.h"
+
+#ifndef _BOARDS_PICO_W_H
+#define _BOARDS_PICO_W_H
+
+// For board detection
+#define RASPBERRYPI_PICO_W
+
+// --- UART ---
+#ifndef PICO_DEFAULT_UART
+#define PICO_DEFAULT_UART 0
+#endif
+#ifndef PICO_DEFAULT_UART_TX_PIN
+#define PICO_DEFAULT_UART_TX_PIN 0
+#endif
+#ifndef PICO_DEFAULT_UART_RX_PIN
+#define PICO_DEFAULT_UART_RX_PIN 1
+#endif
+
+// --- LED ---
+// no PICO_DEFAULT_LED_PIN - LED is on Wireless chip
+// no PICO_DEFAULT_WS2812_PIN
+
+// --- I2C ---
+#ifndef PICO_DEFAULT_I2C
+#define PICO_DEFAULT_I2C 0
+#endif
+#ifndef PICO_DEFAULT_I2C_SDA_PIN
+#define PICO_DEFAULT_I2C_SDA_PIN 4
+#endif
+#ifndef PICO_DEFAULT_I2C_SCL_PIN
+#define PICO_DEFAULT_I2C_SCL_PIN 5
+#endif
+
+// --- SPI ---
+#ifndef PICO_DEFAULT_SPI
+#define PICO_DEFAULT_SPI 0
+#endif
+#ifndef PICO_DEFAULT_SPI_SCK_PIN
+#define PICO_DEFAULT_SPI_SCK_PIN 18
+#endif
+#ifndef PICO_DEFAULT_SPI_TX_PIN
+#define PICO_DEFAULT_SPI_TX_PIN 19
+#endif
+#ifndef PICO_DEFAULT_SPI_RX_PIN
+#define PICO_DEFAULT_SPI_RX_PIN 16
+#endif
+#ifndef PICO_DEFAULT_SPI_CSN_PIN
+#define PICO_DEFAULT_SPI_CSN_PIN 17
+#endif
+
+// --- FLASH ---
+
+#define PICO_BOOT_STAGE2_CHOOSE_W25Q080 1
+
+#ifndef PICO_FLASH_SPI_CLKDIV
+#define PICO_FLASH_SPI_CLKDIV 2
+#endif
+
+#ifndef PICO_FLASH_SIZE_BYTES
+#define PICO_FLASH_SIZE_BYTES (2 * 1024 * 1024)
+#endif
+
+// note the SMSP mode pin is on WL_GPIO1
+// #define PICO_SMPS_MODE_PIN
+
+#ifndef PICO_RP2040_B0_SUPPORTED
+#define PICO_RP2040_B0_SUPPORTED 0
+#endif
+
+#ifndef PICO_RP2040_B1_SUPPORTED
+#define PICO_RP2040_B1_SUPPORTED 0
+#endif
+
+#ifndef CYW43_PIN_WL_HOST_WAKE
+#define CYW43_PIN_WL_HOST_WAKE 24
+#endif
+
+#ifndef CYW43_PIN_WL_REG_ON
+#define CYW43_PIN_WL_REG_ON 23
+#endif
+
+#ifndef CYW43_WL_GPIO_COUNT
+#define CYW43_WL_GPIO_COUNT 3
+#endif
+
+#ifndef CYW43_WL_GPIO_LED_PIN
+#define CYW43_WL_GPIO_LED_PIN 0
+#endif
+
+#endif

src/boards/pico_w.cmake

@@ -0,0 +1,2 @@
+set(PICO_CYW43_SUPPORTED "1" CACHE INTERNAL "Try to add support for PICO_CYW43")
+include(${CMAKE_CURRENT_LIST_DIR}/generic_board.cmake)

src/common/pico_base/include/pico/error.h

@@ -10,14 +10,18 @@
 #ifndef __ASSEMBLER__
 
 /*!
- * Common return codes from pico_sdk methods that return a status
+ * \brief Common return codes from pico_sdk methods that return a status
+ * \ingroup pico_base
  */
-enum {
+enum pico_error_codes {
     PICO_OK = 0,
     PICO_ERROR_NONE = 0,
     PICO_ERROR_TIMEOUT = -1,
     PICO_ERROR_GENERIC = -2,
     PICO_ERROR_NO_DATA = -3,
+    PICO_ERROR_NOT_PERMITTED = -4,
+    PICO_ERROR_INVALID_ARG = -5,
+    PICO_ERROR_IO = -6,
 };
 
 #endif // !__ASSEMBLER__

src/rp2_common/CMakeLists.txt

@@ -58,6 +58,10 @@ if (NOT PICO_BARE_METAL)
     pico_add_subdirectory(tinyusb)
     pico_add_subdirectory(pico_stdio_usb)
 
+    pico_add_subdirectory(cyw43_driver)
+    pico_add_subdirectory(pico_lwip)
+    pico_add_subdirectory(pico_cyw43_arch)
+
     pico_add_subdirectory(pico_stdlib)
 
     pico_add_subdirectory(pico_cxx_options)

src/rp2_common/cyw43_driver/CMakeLists.txt

@@ -0,0 +1,81 @@
+if (DEFINED ENV{PICO_CYW43_DRIVER_PATH} AND (NOT PICO_CYW43_DRIVER_PATH))
+    set(PICO_CYW43_DRIVER_PATH $ENV{PICO_CYW43_DRIVER_PATH})
+    message("Using PICO_CYW43_DRIVER_PATH from environment ('${PICO_CYW43_DRIVER_PATH}')")
+endif()
+
+set(CYW43_DRIVER_TEST_FILE "src/cyw43.h")
+
+if (NOT PICO_CYW43_DRIVER_PATH)
+    set(PICO_CYW43_DRIVER_PATH ${PICO_SDK_PATH}/lib/cyw43-driver)
+    if (PICO_CYW43_SUPPORTED AND NOT EXISTS ${PICO_CYW43_DRIVER_PATH}/${CYW43_DRIVER_TEST_FILE})
+        message(WARNING "cyw43-driver submodule has not been initialized; Pico W wireless support will be unavailable
+hint: try 'git submodule update --init' from your SDK directory (${PICO_SDK_PATH}).")
+    endif()
+elseif (NOT EXISTS ${PICO_CYW43_DRIVER_PATH}/${CYW43_DRIVER_TEST_FILE})
+    message(WARNING "PICO_CYW43_DRIVER_PATH specified but content not present.")
+endif()
+
+if (EXISTS ${PICO_CYW43_DRIVER_PATH}/${CYW43_DRIVER_TEST_FILE})
+    message("cyw43-driver available at ${PICO_CYW43_DRIVER_PATH}")
+
+    pico_register_common_scope_var(PICO_CYW43_DRIVER_PATH)
+
+    # base driver without our bus
+    add_library(cyw43_driver_base INTERFACE)
+    target_sources(cyw43_driver_base INTERFACE
+            ${PICO_CYW43_DRIVER_PATH}/src/cyw43_ll.c
+            ${PICO_CYW43_DRIVER_PATH}/src/cyw43_stats.c
+            ${PICO_CYW43_DRIVER_PATH}/src/cyw43_lwip.c
+            ${PICO_CYW43_DRIVER_PATH}/src/cyw43_ctrl.c
+            )
+    target_include_directories(cyw43_driver_base INTERFACE
+            ${PICO_CYW43_DRIVER_PATH}/src
+            ${PICO_CYW43_DRIVER_PATH}/firmware
+            )
+
+    # Build the driver for cyw43 for pico w
+
+    # Firmware stuff
+    set(CYW43_FIRMWARE_BIN 43439A0-7.95.49.00.combined)
+    string(REGEX REPLACE [\\\.\-] _ CYW43_FIRMWARE_BIN_ ${CYW43_FIRMWARE_BIN})
+    string(REGEX MATCH [^_]+_?[^_]*_?[^_]*_?[^_]*_?[^_]* CYW43_FIRMWARE_PRETTY ${CYW43_FIRMWARE_BIN_})
+    set(CYW43_FIRMWARE_PRETTY fw_${CYW43_FIRMWARE_PRETTY})
+    set(RESOURCE_SECNAME .big_const)
+    set(RESOURCE_SECFLAGS contents,alloc,load,readonly,data)
+    set(CYW43_FIRMWARE_OBJ ${CMAKE_CURRENT_BINARY_DIR}/cyw43_resource.o)
+
+    add_custom_target(cyw43_firmware_package DEPENDS ${CYW43_FIRMWARE_OBJ})
+
+    # cyw43_resource.o contains the WiFi and BT firmware as a binary blob
+    add_custom_command(
+            OUTPUT ${CYW43_FIRMWARE_OBJ}
+            DEPENDS ${PICO_CYW43_DRIVER_PATH}/firmware/${CYW43_FIRMWARE_BIN}
+            WORKING_DIRECTORY ${PICO_CYW43_DRIVER_PATH}/firmware
+            COMMAND ${CMAKE_OBJCOPY} -I binary -O elf32-littlearm -B arm
+            --readonly-text
+            --rename-section .data=${RESOURCE_SECNAME},${RESOURCE_SECFLAGS}
+            --redefine-sym _binary_${CYW43_FIRMWARE_BIN_}_start=${CYW43_FIRMWARE_PRETTY}_start
+            --redefine-sym _binary_${CYW43_FIRMWARE_BIN_}_end=${CYW43_FIRMWARE_PRETTY}_end
+            --redefine-sym _binary_${CYW43_FIRMWARE_BIN_}_size=${CYW43_FIRMWARE_PRETTY}_size
+            ${CYW43_FIRMWARE_BIN} ${CYW43_FIRMWARE_OBJ}
+    )
+
+    add_library(cyw43_driver_picow INTERFACE)
+    target_sources(cyw43_driver_picow INTERFACE
+            ${CMAKE_CURRENT_LIST_DIR}/cyw43_bus_pio_spi.c
+            )
+    pico_generate_pio_header(cyw43_driver_picow ${CMAKE_CURRENT_LIST_DIR}/cyw43_bus_pio_spi.pio)
+    add_dependencies(cyw43_driver_picow INTERFACE cyw43_firmware_package)
+    target_link_libraries(cyw43_driver_picow INTERFACE
+            ${CYW43_FIRMWARE_OBJ}
+            )
+    target_link_libraries(cyw43_driver_picow INTERFACE
+            cyw43_driver_base
+            pico_stdlib
+            hardware_pio
+            hardware_dma
+            hardware_exception
+            )
+
+    pico_promote_common_scope_vars()
+endif()