[rp] Add USB module and TinyUSB port

Author: andryblack

ext/hathach/module.lb

@@ -104,6 +104,11 @@ def build(env):
             tusb_config["CFG_TUSB_MCU"] = "OPT_MCU_SAM{}{}".format(target.family.upper(), target.series.upper())
             env.copy("tinyusb/src/portable/microchip/samd/", "portable/microchip/samd/")
 
+    elif target.platform == "rp":
+        if target.family == "20":
+            tusb_config["CFG_TUSB_MCU"] = "OPT_MCU_RP2040"
+            env.copy("tinyusb/src/portable/raspberrypi/rp2040/", "portable/raspberrypi/rp2040/")
+
     if env.has_module(":freertos"):
         tusb_config["CFG_TUSB_OS"] = "OPT_OS_FREERTOS"
         env.copy("tinyusb/src/osal/osal_freertos.h", "osal/osal_freertos.h")
@@ -165,6 +170,8 @@ def build(env):
         irqs = irq_data["port_irqs"][speed]
     elif target.platform == "sam" and target.family in ["g"]:
         irqs = ["UDP"]
+    elif target.platform == "rp" and target.family in ["20"]:
+        irqs = ["USBCTRL_IRQ"]
     else:
         irqs = ["USB"]
 

ext/hathach/tusb_port.cpp.in

@@ -40,6 +40,10 @@ tusb_get_device_serial(uint16_t *serial_str)
 		(uint32_t *)0x0080A00C, (uint32_t *)0x0080A040,
 		(uint32_t *)0x0080A044, (uint32_t *)0x0080A048
 	%% endif
+%% elif target.platform in ["rp"]
+		/* sysinfo CHIP_ID and GIT_REV */
+		((uint32_t *)0x40000000),((uint32_t *)0x40000040),
+		((uint32_t *)0x40000000),((uint32_t *)0x40000040),
 %% endif
 	};
 

ext/rp/irq.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2022, Andrey Kunitsyn
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+/**
+ * Pico SDK compatibility for tinyusb
+ */
+#include "hardware/regs/intctrl.h"
+
+static inline void
+irq_set_enabled(int irqn, bool enable)
+{
+	if (enable) NVIC_EnableIRQ(irqn);
+	else NVIC_DisableIRQ(irqn);
+}
+
+static inline void
+irq_set_exclusive_handler(int irqn, void (*handler)())
+{
+	(void)irqn;
+	(void)handler;
+	// do nothing, irq implemented at modm
+}

ext/rp/module.lb

@@ -38,6 +38,15 @@ def build(env):
     env.copy("pico-sdk/include", "")
     env.copy("address_mapped.h", "hardware/address_mapped.h")
 
+    if env.has_module(":tinyusb"):
+        env.substitutions = {
+            "with_debug": env.has_module(":debug")
+        }
+        env.copy("pico.h")
+        env.template("pico.cpp.in", "pico.cpp")
+        env.copy("irq.h", "hardware/irq.h")
+        env.copy("resets.h", "hardware/resets.h")
+
     env.substitutions = {
         "headers": headers,
         "defines": defines,

ext/rp/pico.cpp.in

@@ -0,0 +1,31 @@
+#include "pico.h"
+#include "hardware/resets.h"
+
+#include <modm/platform/core/resets.hpp>
+%% if with_debug
+#include <modm/debug.hpp>
+%% endif
+
+/**
+ * Pico SDK compatibility for tinyusb
+ */
+
+extern "C" void reset_block(uint32_t blocks)
+{
+	modm::platform::Resets::reset(blocks);
+}
+extern "C" void unreset_block_wait(uint32_t blocks)
+{
+	modm::platform::Resets::unresetWait(blocks);
+}
+
+extern "C" void panic(const char *fmt, ...)
+{
+%% if with_debug
+	va_list va;
+	va_start(va, fmt);
+	modm::log::info.vprintf(fmt, va);
+	va_end(va);
+%% endif
+	modm_assert(0, "pico", "Pico-SDK panic!");
+}

ext/rp/pico.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2022, Andrey Kunitsyn
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+/**
+ * Pico SDK compatibility for tinyusb
+ */
+
+#include <modm/architecture/interface/assert.h>
+#include <stdint.h>
+/* need for static_assert at C compilation */
+#include <assert.h>
+#define TUD_OPT_RP2040_USB_DEVICE_ENUMERATION_FIX 0
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* override expensive assert implementation */
+#undef assert
+#define assert(X) modm_assert((X), "pico", __FILE__ ":" MODM_STRINGIFY(__LINE__) " -> \"" #X "\"")
+void
+panic(const char *fmt, ...);
+
+#ifdef __cplusplus
+}
+#endif

ext/rp/resets.h

@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2022, Andrey Kunitsyn
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+/**
+ * Pico SDK compatibility for tinyusb
+ */
+#include "hardware/structs/resets.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void
+reset_block(uint32_t blocks);
+void
+unreset_block_wait(uint32_t blocks);
+
+#ifdef __cplusplus
+}
+#endif

src/modm/platform/usb/rp/module.lb

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2022, Andrey Kunitsyn
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+# -----------------------------------------------------------------------------
+def init(module):
+    module.name = ":platform:usb"
+    module.description = "Universal Serial Bus (USB)"
+
+def prepare(module, options):
+    device = options[":target"]
+    if not device.has_driver("usb:rp20*"):
+        return False
+
+
+    module.depends(
+        ":architecture:interrupt",
+        ":cmsis:device",
+        ":platform:gpio")
+
+    return True
+
+def build(env):
+    env.outbasepath = "modm/src/modm/platform/usb"
+    env.copy('usb.hpp')
+    if env.has_module(":tinyusb:device:cdc"):
+        env.copy(repopath("ext/hathach/uart.hpp"), "uart.hpp")

src/modm/platform/usb/rp/usb.hpp

@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2022, Andrey Kunitsyn
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+#include <modm/platform/device.hpp>
+#include <modm/platform/gpio/connector.hpp>
+
+namespace modm::platform
+{
+
+/// @ingroup modm_platform_usb
+class Usb
+{
+public:
+	template<class SystemClock>
+	static void
+	initialize(uint8_t priority = 3)
+	{
+		static_assert(SystemClock::UsbFrequency == 48_MHz, "USB must have a 48MHz clock!");
+		NVIC_SetPriority(USBCTRL_IRQ_IRQn, priority);
+	}
+
+	template<class... Signals>
+	static void
+	connect()
+	{
+		using Connector = GpioConnector<Peripheral::Usb, Signals...>;
+		// Dp, Dm use dedicated pins, but Vbus and Overcurrent can be connected
+		Connector::connect();
+	}
+};
+
+}  // namespace modm::platform