Working with RP2040s in upstream Pigweed#

This guide is intended for upstream Pigweed maintainers working with Raspberry Pi RP2040s. It shows maintainers how to do common RP2040-related tasks within upstream Pigweed, such as running on-device tests.

If you’re trying to develop a Pigweed-based application that runs on the RP2040 or Pico, check out Get Started With Pigweed And Bazel and Raspberry Pi RP2040.

Bazel guides#

This section quickly explains the Bazel workflows for the most common upstream Pigweed tasks related to RP2040s.

Build everything#

bazelisk build --config=rp2040 //...

Run on-device tests#

The recommended way to run on-device RP2040 tests is PicoPico, a custom hardware setup that the Pigweed team built to make parallel testing easier.

  1. Set up your hardware:

    Connect the USB-Micro port of the DEBUG PROBE Pico to a USB port on your development host. Don’t connect the DEVICE UNDER TEST Pico to anything.

    Make sure that your Debug Probe is running firmware version 2.0.1 or later. See Updating the firmware on the Debug Probe.

    Wire up your Pico to the Debug Probe as described in Getting Started.

    Important

    UART must be wired up as described in Getting Started.

  2. Start the test runner server:

    bazelisk run //targets/rp2040/py:unit_test_server
    
  3. Open another terminal and run the tests:

    bazelisk test --config=rp2040 //...
    

Older GN guides#

The following guides may be outdated. Most Pigweed contributors use (and should use) the Bazel workflows explained in Bazel guides. We’re keeping these older GN guides around for Pigweed contributors that are maintaining the upstream GN build system.

First-time setup#

GN#

To use this target, Pigweed must be set up to use FreeRTOS and the Pico SDK HAL. When using Bazel, dependencies will be automatically installed. For the GN build, the supported repositories can be downloaded via pw package, and then the build must be manually configured to point to the locations the repositories were downloaded to.

Warning

The GN build does not distribute the libusb headers which are required by picotool. If the picotool installation fails due to missing libusb headers, it can be fixed by installing them manually.

sudo apt-get install libusb-1.0-0-dev

Note

These instructions assume a Debian/Ubuntu Linux distribution.

brew install libusb
brew install pkg-config

Note

These instructions assume a brew is installed and used for package management.

$ pw package install freertos
$ pw package install pico_sdk
$ pw package install picotool

$ gn gen out --export-compile-commands --args="
    dir_pw_third_party_freertos=\"//environment/packages/freertos\"
    PICO_SRC_DIR=\"//environment/packages/pico_sdk\"
  "

Tip

Instead of the gn gen out with args set on the command line above you can run:

$ gn args out

Then add the following lines to that text file:

dir_pw_third_party_freertos = getenv("PW_PACKAGE_ROOT") + "/freertos"
PICO_SRC_DIR = getenv("PW_PACKAGE_ROOT") + "/pico_sdk"

Setting up udev rules#

On Linux, you may need to update your udev rules at /etc/udev/rules.d/49-pico.rules to include the following:

# RaspberryPi Debug probe: https://github.com/raspberrypi/debugprobe
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000c", MODE:="0666"
KERNEL=="ttyACM*", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000c", MODE:="0666"
# RaspberryPi Legacy Picoprobe (early Debug probe version)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="0004", MODE:="0666"
KERNEL=="ttyACM*", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="0004", MODE:="0666"
# RP2040 Bootloader mode
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="0003", MODE:="0666"
KERNEL=="ttyACM*", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="0003", MODE:="0666"
# RP2040 USB Serial
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000a", MODE:="0666"
KERNEL=="ttyACM*", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000a", MODE:="0666"

Building#

Once the Pico SDK is configured, the Pi Pico will build as part of the default GN build:

$ ninja -C out

The pw_system example is available as a separate build target:

$ ninja -C out pw_system_demo

Flashing#

Using the mass-storage booloader#

Hold down the BOOTSEL button when plugging in the Pico and it will appear as a mass storage device. Copy the UF2 firmware image (for example, out/rp2040.size_optimized/obj/pw_system/system_example.uf2) to your Pico when it is in USB bootloader mode.

Tip

This is the simplest solution if you are fine with physically interacting with your Pico whenever you want to flash a new firmware image.

Using OpenOCD#

To flash using OpenOCD, you’ll either need a Pico debug probe or a second Raspberry Pi Pico to use as a debug probe. Also, on Linux you’ll need to follow the instructions for Setting up udev rules.

First-time setup#

First, flash your first Pi Pico with debugprobe_on_pico.uf2 from the latest release of debugprobe.

Next, connect the two Pico boards as follows:

  • Pico probe GND -> target Pico GND

  • Pico probe GP2 -> target Pico SWCLK

  • Pico probe GP3 -> target Pico SWDIO

If you do not jump VSYS -> VSYS, you’ll need to connect both Pi Pico boards to USB ports so that they have power.

For more detailed instructions on how how to connect two Pico boards, see Appendix A: Using Picoprobe of the Getting started with Raspberry Pi Pico guide.

Flashing a new firmware#

Once your Pico is all wired up, you’ll be able to flash it using OpenOCD:

$ openocd -f interface/cmsis-dap.cfg \
      -f target/rp2040.cfg -c "adapter speed 5000" \
      -c "program out/rp2040.size_optimized/obj/pw_system/bin/system_example.elf verify reset exit"

Typical output:

xPack Open On-Chip Debugger 0.12.0+dev-01312-g18281b0c4-dirty (2023-09-05-01:33)
Licensed under GNU GPL v2
For bug reports, read
   http://openocd.org/doc/doxygen/bugs.html
Info : Hardware thread awareness created
Info : Hardware thread awareness created
adapter speed: 5000 kHz
Info : Using CMSIS-DAPv2 interface with VID:PID=0x2e8a:0x000c, serial=415032383337300B
Info : CMSIS-DAP: SWD supported
Info : CMSIS-DAP: Atomic commands supported
Info : CMSIS-DAP: Test domain timer supported
Info : CMSIS-DAP: FW Version = 2.0.0
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
Info : CMSIS-DAP: Interface ready
Info : clock speed 5000 kHz
Info : SWD DPIDR 0x0bc12477, DLPIDR 0x00000001
Info : SWD DPIDR 0x0bc12477, DLPIDR 0x10000001
Info : [rp2040.core0] Cortex-M0+ r0p1 processor detected
Info : [rp2040.core0] target has 4 breakpoints, 2 watchpoints
Info : [rp2040.core1] Cortex-M0+ r0p1 processor detected
Info : [rp2040.core1] target has 4 breakpoints, 2 watchpoints
Info : starting gdb server for rp2040.core0 on 3333
Info : Listening on port 3333 for gdb connections
Warn : [rp2040.core1] target was in unknown state when halt was requested
[rp2040.core0] halted due to debug-request, current mode: Thread
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
[rp2040.core1] halted due to debug-request, current mode: Thread
xPSR: 0xf1000000 pc: 0x000000ee msp: 0x20041f00
** Programming Started **
Info : Found flash device 'win w25q16jv' (ID 0x001540ef)
Info : RP2040 B0 Flash Probe: 2097152 bytes @0x10000000, in 32 sectors

Info : Padding image section 1 at 0x10022918 with 232 bytes (bank write end alignment)
Warn : Adding extra erase range, 0x10022a00 .. 0x1002ffff
** Programming Finished **
** Verify Started **
** Verified OK **
** Resetting Target **
shutdown command invoked

Tip

This is the most robust flashing solution if you don’t want to physically interact with the attached devices every time you want to flash a Pico.

Running unit tests#

Unlike most other targets in Pigweed, the RP2040 uses RPC-based unit testing. This makes it easier to fully automate on-device tests in a scalable and maintainable way.

Step 1: Start test server#

To allow Ninja to properly serialize tests to run on device, Ninja will send test requests to a server running in the background. The first step is to launch this server. By default, the script will attempt to automatically detect an attached Pi Pico running an application with USB serial enabled or a Pi Debug Probe, then use it for testing. To override this behavior, provide a custom server configuration file with --server-config.

$ python -m rp2040_utils.unit_test_server

Tip

If the server can’t find any attached devices, ensure your Pi Pico is already running an application that utilizes USB serial.

Warning

If you connect or disconnect any boards, you’ll need to restart the test server for hardware changes to take effect.

Step 2: Configure GN#

By default, this hardware target has incremental testing disabled. Enabling the pw_targets_ENABLE_RP2040_TEST_RUNNER build arg tells GN to send requests to a running rp2040_utils.unit_test_server.

$ gn args out
# Modify and save the args file to use pw_target_runner.
pw_targets_ENABLE_RP2040_TEST_RUNNER = true

Step 3: Build changes#

Now, whenever you run ninja -C out pi_pico, all tests affected by changes since the last build will be rebuilt and then run on the attached device. Alternatively, you may use pw watch to set up Pigweed to trigger builds/tests whenever changes to source files are detected.

Connect with pw_console#

Once the board has been flashed, you can connect to it and send RPC commands via the Pigweed console:

$ bazel run --config=rp2040 //pw_system:system_example_console
$ pw-system-console --device /dev/{ttyX} --baudrate 115200 \
    --token-databases \
      out/rp2040.size_optimized/obj/pw_system/bin/system_example.elf

Replace {ttyX} with the appropriate device on your machine. On Linux this may look like ttyACM0, and on a Mac it may look like cu.usbmodem***. If --device is omitted the first detected port will be used if there is only one. If multiple ports are detected an interactive prompt will be shown.

When the console opens, try sending an Echo RPC request. You should get back the same message you sent to the device.

>>> device.rpcs.pw.rpc.EchoService.Echo(msg="Hello, Pigweed!")
(Status.OK, pw.rpc.EchoMessage(msg='Hello, Pigweed!'))

You can also try out our thread snapshot RPC service, which should return a stack usage overview of all running threads on the device in Host Logs.

>>> device.snapshot_peak_stack_usage()

Example output:

20220826 09:47:22  INF  PendingRpc(channel=1, method=pw.thread.ThreadSnapshotService.GetPeakStackUsage) completed: Status.OK
20220826 09:47:22  INF  Thread State
20220826 09:47:22  INF    5 threads running.
20220826 09:47:22  INF
20220826 09:47:22  INF  Thread (UNKNOWN): IDLE
20220826 09:47:22  INF  Est CPU usage: unknown
20220826 09:47:22  INF  Stack info
20220826 09:47:22  INF    Current usage:   0x20002da0 - 0x???????? (size unknown)
20220826 09:47:22  INF    Est peak usage:  390 bytes, 76.77%
20220826 09:47:22  INF    Stack limits:    0x20002da0 - 0x20002ba4 (508 bytes)
20220826 09:47:22  INF
20220826 09:47:22  INF  ...

You are now up and running!

See also

The pw_console User Guide for more info on using the pw_console UI.

Interactive debugging#

To interactively debug a Pico, first ensure you are set up for Using OpenOCD.

In one terminal window, start an OpenOCD GDB server with the following command:

$ openocd -f interface/cmsis-dap.cfg \
      -f target/rp2040.cfg -c "adapter speed 5000"

In a second terminal window, connect to the open GDB server, passing the binary you will be debugging:

$ arm-none-eabi-gdb -ex "target remote :3333" \
  out/rp2040.size_optimized/obj/pw_system/bin/system_example.elf

Helpful GDB commands#

Action

shortcut / command

Reset the running device, stopping immediately

mon reset halt

Continue execution until pause or breakpoint

c

Pause execution

ctrl+c

Show backtrace

bt