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Merge pull request #524 from danielinux/rp2350
Support for Raspberry-pi pico2 (rp2350)
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‎.github/workflows/test-build-pico-sdk.yml‎

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name: Wolfboot Reusable Build Workflow for Raspberry Pi Pico2 (rp2350)
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on:
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workflow_call:
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inputs:
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arch:
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required: true
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type: string
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config-file:
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required: true
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type: string
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make-args:
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required: false
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type: string
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target:
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required: true
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type: string
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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with:
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submodules: true
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- uses: actions/checkout@main
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with:
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repository: raspberrypi/pico-sdk
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path: pico-sdk
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- name: Workaround for sources.list
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run: sudo sed -i 's|http://azure.archive.ubuntu.com/ubuntu/|http://mirror.arizona.edu/ubuntu/|g' /etc/apt/sources.list
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- name: Update repository
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run: sudo apt-get update
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- name: Install cross compilers
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run: |
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sudo apt-get install -y gcc-arm-none-eabi
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- name: make distclean
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run: |
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make distclean
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- name: Select config
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run: |
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cp ${{inputs.config-file}} .config && make include/target.h
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- name: Build tools
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run: |
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make -C tools/keytools && make -C tools/bin-assemble
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- name: pre-build wolfboot
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run: |
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make
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- name: build wolfboot with pico-sdk
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run: |
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cd IDE/pico-sdk/${{inputs.target}}/wolfboot
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mkdir build
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cd build
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cmake ../ -DPICO_SDK_PATH="$GITHUB_WORKSPACE/pico-sdk" -DPICO_PLATFORM=${{inputs.target}}
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make

‎.github/workflows/test-configs.yml‎

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with:
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arch: host
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config-file: ./config/examples/sim-wolfHSM.config
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rp2350_test:
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uses: ./.github/workflows/test-build-pico-sdk.yml
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with:
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arch: arm
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config-file: ./config/examples/rp2350.config
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target: rp2350

‎.gitignore‎

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IDE/Renesas/e2studio/RX72N/wolfBoot/HardwareDebug
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IDE/Renesas/e2studio/RX72N/wolfBoot/src/smc_gen
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# IDE pico-sdk build directories
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IDE/pico-sdk/rp2350/wolfboot/build
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IDE/pico-sdk/rp2350/test-app/build
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# Third party test application distributed off-tree
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IDE/pico-sdk/rp2350/test-app/blink.c
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# Renesas Libraries
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lib/r_bsp
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lib/r_config

‎IDE/pico-sdk/rp2350/README.md‎

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## wolfBoot port for rp2350 (Raspberry pi pico 2)
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### Support for TrustZone
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By default, TZEN=1 is enabled in the provided configuration. wolfBoot will run
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from the Secure domain, and will stage the application in the Non-Secure domain.
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The flash memory is divided as follows:
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- wolfBoot partition (0x10000000 - 0x1003FFFF), 224 KB
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- Non-secure callable partition (for secure gateway) (0x10038000 - 0x1003FFFF), 32 KB
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- Boot partition (0x10040000 - 0x1007FFFF), 768 KB
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- Update partition (0x10100000 - 0x1013FFFF), 768 KB
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- Unused flash space (0x101C1000 - 0x101FFFFF), 252 KB
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- Swap space (0x101C0000 - 0x101C0FFF), 4 KB
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The SRAM bank0 is assigned to the Secure domain, and enforced using both SAU and `ACCESS_CONTROL` registers.
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- Secure SRAM0-3: 0x20000000 - 0x2003FFFF, 256 KB
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- Non-secure SRAM4-7: 0x20040000 - 0x2007FFFF, 256 KB
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- Non-secure stack for application SRAM8-9: 0x20080000 - 0x20081FFF, 8 KB
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### Requirements
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#### External debugger
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As the two images (bootloader + application) are stored in different areas in
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the flash memory, a SWD connector is recommended to upload the binary images
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into the flash, as opposed to the default bootloader, allowing to upload
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non-signed applications into a storage device.
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The scripts used in this example expect a JLink to be connected to the SWD port
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as documented [here](https://kb.segger.com/Raspberry_Pi_Pico).
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There is documentation below on how to do this with `picotool` instead, the
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scripts to error that it cannot file the JLink if you wish to use `picotool`
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instead, but this can be ignored.
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#### PicoSDK
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Clone the repository from raspberrypi's github:
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```
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git clone https://github.com/raspberrypi/pico-sdk.git
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```
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Export the `PICO_SDK_PATH` environment variable to point to the pico-sdk directory:
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```
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export PICO_SDK_PATH=/path/to/pico-sdk
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```
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### Configuring wolfBoot to build with pico-sdk
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From wolfBoot root directory, copy the example configuration:
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```
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cp config/examples/rp2350.config .config
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```
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You can now edit the .config file to change partition sizes/offsets, algorithms,
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disable trustzone, add/remove features, etc.
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When TZEN=0, the application will run in the Secure domain.
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When the configuration is complete, run `make`. This will:
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- Build the key tools (keygen & sign):
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- Generate the configuration header `target.h`
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- Generate a new keypair (only once), and place the public key in the
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keystore
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The environment has now been prepared to build and flash the two images
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(wolfBoot + test application).
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### Building and uploading wolfBoot.bin
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After preparing the configuration and creating the keypair,
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return to the `IDE/pico-sdk/rp2350/` directory and run:
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```
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cd wolfboot
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export PICO_SDK_PATH=...
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./build-wolfboot.sh
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```
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The script above will compile wolfboot as rp2350 second-stage bootloader.
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This version of wolfboot incorporates the `.boot2` sequence needed to enable
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the QSPI device, provided by the pico-sdk and always embedded in all
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applications.
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wolfboot.bin contains the bootloader, and can be loaded into the RP2350,
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starting at address 0x10000000. The script will automatically upload the binary
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if a JLink debugger is connected.
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If you do not have a JLink you can install the binary using:
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```
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picotool load build/wolfboot.uf2
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```
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### Building and uploading the application
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```
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cd ../test-app
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./build-signed-app.sh
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```
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The script above will compile the test application and sign it with the
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wolfBoot private key. The signed application is then uploaded to the boot
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partition of the flash memory, at address 0x10040000.
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The linker script included is modified to change the application entry point
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from 0x10000000 to 0x10040400, which is the start of the application code,
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taking into account the wolfBoot header size.
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The application is signed with the wolfBoot private key, and the signature is
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stored in the manifest header of the application binary.
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The output file `build/blink_v1_signed.bin` is automatically uploaded to the
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RP2350 if a JLink debugger is connected.
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The application image is stored in the boot partition, starting at address
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0x10040000.
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The entry point of the application (0x10040400), set in the linker script
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`hal/rp2350-app.ld`, is the start of the application code, taking into account
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the wolfBoot header size.
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To use `picotool` instead run:
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```
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picotool load build/blink_v1_signed.bin -o 0x10040000
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```
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### Testing the application
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The application is a simple blinky example, which toggles the LED on the board
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every 500ms.
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If the above steps are successful, the LED on the board should start blinking.
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The code has been tested on a Seeed studio XIAO RP2350 board and a Raspberry Pi
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Pico 2 (non-WiFi version).
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‎IDE/pico-sdk/rp2350/test-app/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.13)
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set(WOLFBOOT_PATH ../../../../)
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set(CMAKE_CXX_COMPILER arm-none-eabi-gcc)
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set(LIB_PICO_RUNTIME_INIT=0)
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include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
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set(PICOTOOL_FETCH_FROM_GIT_PATH ../wolfboot/build/picotool)
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set(BOOT_STAGE2_FILE ${CMAKE_CURRENT_LIST_DIR}/boot2_empty.S)
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set(PICO_NO_RUNTIME 1)
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project(blink)
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# initialize the Raspberry Pi Pico SDK
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pico_sdk_init()
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add_executable(blink
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blink.c
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runtime.c
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)
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target_compile_options(blink PRIVATE
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-DPICO_RUNTIME_NO_INIT_BOOTROM_RESET=1
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-DPICO_RUNTIME_NO_INIT_CLOCKS=1
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-DPICO_TIME_DEFAULT_ALARM_POOL_DISABLED=1
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)
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target_compile_definitions(blink PRIVATE PICO_NO_RUNTIME=1)
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pico_set_linker_script(blink ../../../../../hal/rp2350-app.ld)
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target_link_libraries(blink pico_stdlib)
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# create map/bin/hex/uf2 file etc.
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pico_add_extra_outputs(blink)
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‎IDE/pico-sdk/rp2350/test-app/build-signed-app.sh‎

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#!/bin/bash
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mkdir -p build
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cd build
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cmake .. -DPICO_SDK_PATH=$PICO_SDK_PATH -DPICO_PLATFORM=rp2350
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# Get off-tree source file from raspberry pico-examples
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curl -o blink.c https://raw.githubusercontent.com/raspberrypi/pico-examples/refs/tags/sdk-2.1.0/blink/blink.c
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make clean && make
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IMAGE_HEADER_SIZE=1024 ../../../../../tools/keytools/sign --sha256 --ecc256 blink.bin \
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../../../../../wolfboot_signing_private_key.der 1
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cd ..
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JLinkExe -Device RP2350_M33_0 -If swd -Speed 4000 -CommanderScript flash_app.jlink

‎IDE/pico-sdk/rp2350/test-app/flash_app.jlink‎

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connect
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r
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loadfile build/blink_v1_signed.bin 0x10040000
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r
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g
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exit

‎IDE/pico-sdk/rp2350/test-app/runtime.c‎

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/* runtime.c
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*
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* Custom pre-init for non-secure application, staged by wolfBoot.
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* Wolfboot test application for raspberry-pi pico2 (rp2350)
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*
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* Copyright (C) 2025 wolfSSL Inc.
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*
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* This file is part of wolfBoot.
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*
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* wolfBoot is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* wolfBoot is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1335, USA
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*/
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#include <stdint.h>
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typedef void (*preinit_fn_t)(void);
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void runtime_init_cpasr(void)
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{
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volatile uint32_t *cpasr_ns = (volatile uint32_t*) 0xE000ED88;
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*cpasr_ns |= 0xFF;
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}
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preinit_fn_t __attribute__((section(".nonsecure_preinit_array"))) nonsecure_preinit[] =
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{ &runtime_init_cpasr };

‎IDE/pico-sdk/rp2350/wolfboot/.gdbinit‎

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tar rem:3333
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file build/wolfboot.elf
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add-symbol-file ../test-app/build/blink.elf
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foc c
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