Initial commit pulled in a bunch of stuff - see description

* Add `PICO_MINIMAL_STORED_VECTOR_TABLE` config replacing (`PICO_NO_STORED_VECTOR_TABLE` which was a lie
* Add `PICO_NUM_VTABLE_IRQS`` which allows you to limit the number of IRQs included in both the STORED or RAM vector tables, and make the rest of the SDK behave properly based on that
* Because these new variables in `pico_crt0` are circularly dependent somewhat with variables in `hardware_irq` hoist all the interdependent variables into a new `pico_platform_common` which is common to all `rp2` platforms
* Move some previously duplicated `pico_platform` code into `pico_platform_common`

Net effect:

1. if you set PICO_MINIMAL_STORED_VECTOR_TABLE=1, you get a 4 word VTABLE on Arm.. you still get a RAM vector table with up to PICO_NUM_VTABLE_IRQs (defaults to NUM_IRQs) but everything - including things like `isr_pendsv` point to `__unhandled_user_irq`.
2. PICO_NUM_VTABLE_IRQs (default NUM_IRQS) sets the number of IRQs that have handlers in the VTABLE (this affects the space reserved, and what the irq APIs let you touch - at least as far as invalid_params_if!)
3. If you set PICO_MINIMAL_STORED_VECTOR_TABLE=1 for a no flash binary, then PICO_NUM_VTABLE_IRQs is forced to 0 as there is no reserved space for the handlers.

Co-authored-by: graham sanderson <graham.sanderson@raspberrypi.com>

Author: will-v-pi

src/cmake/rp2_common.cmake

@@ -82,6 +82,7 @@ endif()
 
 # Basic bootrom headers
 pico_add_subdirectory(rp2_common/boot_bootrom_headers)
+pico_add_subdirectory(rp2_common/pico_platform_common)
 pico_add_subdirectory(rp2_common/pico_platform_compiler)
 pico_add_subdirectory(rp2_common/pico_platform_sections)
 pico_add_subdirectory(rp2_common/pico_platform_panic)

src/common/pico_base_headers/BUILD.bazel

@@ -112,6 +112,7 @@ cc_library(
         "//src/rp2_common/hardware_watchdog:__pkg__",
         "//src/rp2_common/hardware_xosc:__pkg__",
         "//src/rp2_common/pico_crt0:__pkg__",
+        "//src/rp2_common/pico_platform_common:__pkg__",
         "//src/rp2_common/pico_printf:__pkg__",
         "//src/rp2_common/pico_runtime:__pkg__",
         "//src/rp2_common/pico_runtime_init:__pkg__",

src/host/hardware_irq/include/hardware/irq.h

@@ -128,7 +128,7 @@ extern "C" {
 typedef void (*irq_handler_t)(void);
 
 static inline void check_irq_param(__unused uint num) {
-    invalid_params_if(HARDWARE_IRQ, num >= NUM_IRQS);
+    invalid_params_if(HARDWARE_IRQ, num >= PICO_NUM_VTABLE_IRQS);
 }
 
 /*! \brief Set specified interrupt's priority

src/host/hardware_irq/irq.c

@@ -96,7 +96,7 @@ void PICO_WEAK_FUNCTION_IMPL_NAME(irq_init_priorities)() {
 }
 
 static uint get_user_irq_claim_index(uint irq_num) {
-    invalid_params_if(HARDWARE_IRQ, irq_num < FIRST_USER_IRQ || irq_num >= NUM_IRQS);
+    invalid_params_if(HARDWARE_IRQ, irq_num < FIRST_USER_IRQ || irq_num >= PICO_NUM_VTABLE_IRQS);
     // we count backwards from the last, to match the existing hard coded uses of user IRQs in the SDK which were previously using 31
     static_assert(NUM_IRQS - FIRST_USER_IRQ <= 8, ""); // we only use a single byte's worth of claim bits today.
     return NUM_IRQS - irq_num  - 1u;

src/rp2040/pico_platform/BUILD.bazel

@@ -27,6 +27,7 @@ cc_library(
     deps = [
         "//src/rp2040/hardware_regs",
         "//src/rp2040/hardware_regs:platform_defs",
+        "//src/rp2_common/pico_platform_common:pico_platform_common_headers",
         "//src/rp2_common/pico_platform_compiler",
         "//src/rp2_common/pico_platform_panic:pico_platform_panic_headers",
         "//src/rp2_common/pico_platform_sections",
@@ -44,6 +45,7 @@ cc_library(
         "//src/rp2040/hardware_regs",
         "//src/rp2040/hardware_regs:platform_defs",
         "//src/rp2_common/hardware_base",
+        "//src/rp2_common/pico_platform_common",
         "//src/rp2_common/pico_platform_compiler",
         "//src/rp2_common/pico_platform_panic",
         "//src/rp2_common/pico_platform_sections",

src/rp2040/pico_platform/CMakeLists.txt

@@ -17,6 +17,7 @@ if (NOT TARGET pico_platform)
 
     target_link_libraries(pico_platform_headers INTERFACE hardware_regs)
     pico_mirrored_target_link_libraries(pico_platform INTERFACE
+            pico_platform_common
             pico_platform_compiler
             pico_platform_panic
             pico_platform_sections

src/rp2040/pico_platform/include/pico/platform.h

@@ -23,6 +23,7 @@
 #include "pico/platform/compiler.h"
 #include "pico/platform/sections.h"
 #include "pico/platform/panic.h"
+#include "pico/platform/common.h"
 #include "hardware/regs/addressmap.h"
 #include "hardware/regs/sio.h"
 
@@ -66,10 +67,6 @@
 #define PICO_RP2040_B2_SUPPORTED 1
 #endif
 
-#ifndef PICO_RAM_VECTOR_TABLE_SIZE
-#define PICO_RAM_VECTOR_TABLE_SIZE (VTABLE_FIRST_IRQ + NUM_IRQS)
-#endif
-
 // PICO_CONFIG: PICO_CLKDIV_ROUND_NEAREST, True if floating point clock divisors should be rounded to the nearest possible clock divisor by default rather than rounding down, type=bool, default=1, group=pico_platform
 #ifndef PICO_CLKDIV_ROUND_NEAREST
 #define PICO_CLKDIV_ROUND_NEAREST 1
@@ -80,16 +77,6 @@
 #ifdef __cplusplus
 extern "C" {
 #endif
-
-/*! \brief No-op function for the body of tight loops
- *  \ingroup pico_platform
- *
- * No-op function intended to be called by any tight hardware polling loop. Using this ubiquitously
- * makes it much easier to find tight loops, but also in the future \#ifdef-ed support for lockup
- * debugging might be added
- */
-static __force_inline void tight_loop_contents(void) {}
-
 /*! \brief Helper method to busy-wait for at least the given number of cycles
  *  \ingroup pico_platform
  *
@@ -112,17 +99,6 @@ static inline void busy_wait_at_least_cycles(uint32_t minimum_cycles) {
     );
 }
 
-// PICO_CONFIG: PICO_NO_FPGA_CHECK, Remove the FPGA platform check for small code size reduction, type=bool, default=1, advanced=true, group=pico_runtime
-#ifndef PICO_NO_FPGA_CHECK
-#define PICO_NO_FPGA_CHECK 1
-#endif
-
-#if PICO_NO_FPGA_CHECK
-static inline bool running_on_fpga(void) {return false;}
-#else
-bool running_on_fpga(void);
-#endif
-
 /*! \brief Execute a breakpoint instruction
  *  \ingroup pico_platform
  */
@@ -158,9 +134,6 @@ static __force_inline uint __get_current_exception(void) {
     return exception;
 }
 
-#define host_safe_hw_ptr(x) ((uintptr_t)(x))
-#define native_safe_hw_ptr(x) host_safe_hw_ptr(x)
-
 /*! \brief Returns the RP2040 chip revision number
  *  \ingroup pico_platform
  * @return the RP2040 chip revision number (1 for B0/B1, 2 for B2)

src/rp2040/pico_platform/platform.c

@@ -6,23 +6,8 @@
 
 #include "pico.h"
 #include "hardware/address_mapped.h"
-#include "hardware/regs/tbman.h"
 #include "hardware/regs/sysinfo.h"
 
-// Note we leave the FPGA check in by default so that we can run bug repro
-// binaries coming in from the wild on the FPGA platform. It takes up around
-// 48 bytes if you include all the calls, so you can pass PICO_NO_FPGA_CHECK=1
-// to remove it. The FPGA check is used to skip initialisation of hardware
-// (mainly clock generators and oscillators) that aren't present on FPGA.
-
-#if !PICO_NO_FPGA_CHECK
-// Inline stub provided in header if this code is unused (so folding can be
-// done in each TU instead of relying on LTO)
-bool running_on_fpga(void) {
-    return (*(io_ro_32 *)TBMAN_BASE) & TBMAN_PLATFORM_FPGA_BITS;
-}
-#endif
-
 #define MANUFACTURER_RPI 0x927
 #define PART_RP2 0x2
 

src/rp2350/pico_platform/BUILD.bazel

@@ -27,6 +27,7 @@ cc_library(
     deps = [
         "//src/rp2350/hardware_regs",
         "//src/rp2350/hardware_regs:platform_defs",
+        "//src/rp2_common/pico_platform_common:pico_platform_common_headers",
         "//src/rp2_common/pico_platform_compiler",
         "//src/rp2_common/pico_platform_panic:pico_platform_panic_headers",
         "//src/rp2_common/pico_platform_sections",
@@ -44,6 +45,7 @@ cc_library(
         "//src/rp2350/hardware_regs",
         "//src/rp2350/hardware_regs:platform_defs",
         "//src/rp2_common/hardware_base",
+        "//src/rp2_common/pico_platform_common",
         "//src/rp2_common/pico_platform_compiler",
         "//src/rp2_common/pico_platform_panic",
         "//src/rp2_common/pico_platform_sections",

src/rp2350/pico_platform/CMakeLists.txt

@@ -23,6 +23,7 @@ if (NOT TARGET pico_platform)
             hardware_regs
     )
     pico_mirrored_target_link_libraries(pico_platform INTERFACE
+            pico_platform_common
             pico_platform_compiler
             pico_platform_panic
             pico_platform_sections

src/rp2350/pico_platform/include/pico/platform.h

@@ -23,13 +23,14 @@
 #include "pico/platform/compiler.h"
 #include "pico/platform/sections.h"
 #include "pico/platform/panic.h"
+#include "pico/platform/common.h"
 #include "hardware/regs/addressmap.h"
 #include "hardware/regs/sio.h"
 #ifdef __riscv
 #include "hardware/regs/rvcsr.h"
 #endif
 
-// PICO_CONFIG: PICO_RP2350A, Whether the current board has an RP2350 in an A (30 GPIO) package, type=bool, default=Usually provided via board header, group=pico_platform
+// PICO_CONFIG: PICO_RP2350A, Whether the current board has an RP2350 in an A (30 GPIO) package - set to 0 for RP2350 in a B (48 GPIO) package, type=bool, default=Usually provided via board header, group=pico_platform
 #if 0 // make tooling checks happy
 #define PICO_RP2350A 0
 #endif
@@ -54,10 +55,6 @@
 #define PICO_NO_RAM_VECTOR_TABLE 0
 #endif
 
-#ifndef PICO_RAM_VECTOR_TABLE_SIZE
-#define PICO_RAM_VECTOR_TABLE_SIZE (VTABLE_FIRST_IRQ + NUM_IRQS)
-#endif
-
 // PICO_CONFIG: PICO_USE_STACK_GUARDS, Enable/disable stack guards, type=bool, default=0, advanced=true, group=pico_platform
 #ifndef PICO_USE_STACK_GUARDS
 #define PICO_USE_STACK_GUARDS 0
@@ -73,16 +70,6 @@
 #ifdef __cplusplus
 extern "C" {
 #endif
-
-/*! \brief No-op function for the body of tight loops
- *  \ingroup pico_platform
- *
- * No-op function intended to be called by any tight hardware polling loop. Using this ubiquitously
- * makes it much easier to find tight loops, but also in the future \#ifdef-ed support for lockup
- * debugging might be added
- */
-static __force_inline void tight_loop_contents(void) {}
-
 /*! \brief Helper method to busy-wait for at least the given number of cycles
  *  \ingroup pico_platform
  *
@@ -116,27 +103,6 @@ static inline void busy_wait_at_least_cycles(uint32_t minimum_cycles) {
     );
 }
 
-// PICO_CONFIG: PICO_NO_FPGA_CHECK, Remove the FPGA platform check for small code size reduction, type=bool, default=1, advanced=true, group=pico_runtime
-#ifndef PICO_NO_FPGA_CHECK
-#define PICO_NO_FPGA_CHECK 1
-#endif
-
-// PICO_CONFIG: PICO_NO_SIM_CHECK, Remove the SIM platform check for small code size reduction, type=bool, default=1, advanced=true, group=pico_runtime
-#ifndef PICO_NO_SIM_CHECK
-#define PICO_NO_SIM_CHECK 1
-#endif
-
-#if PICO_NO_FPGA_CHECK
-static inline bool running_on_fpga(void) {return false;}
-#else
-bool running_on_fpga(void);
-#endif
-#if PICO_NO_SIM_CHECK
-static inline bool running_in_sim(void) {return false;}
-#else
-bool running_in_sim(void);
-#endif
-
 /*! \brief Execute a breakpoint instruction
  *  \ingroup pico_platform
  */
@@ -221,9 +187,6 @@ __force_inline static bool pico_processor_state_is_nonsecure(void) {
 #endif
 }
 
-#define host_safe_hw_ptr(x) ((uintptr_t)(x))
-#define native_safe_hw_ptr(x) host_safe_hw_ptr(x)
-
 /*! \brief Returns the RP2350 chip revision number
  *  \ingroup pico_platform
  * @return the RP2350 chip revision number (1 for B0/B1, 2 for B2)

src/rp2350/pico_platform/platform.c

@@ -6,28 +6,8 @@
 
 #include "pico.h"
 #include "hardware/address_mapped.h"
-#include "hardware/regs/tbman.h"
 #include "hardware/regs/sysinfo.h"
 
-// Note we leave the FPGA check in by default so that we can run bug repro
-// binaries coming in from the wild on the FPGA platform. It takes up around
-// 48 bytes if you include all the calls, so you can pass PICO_NO_FPGA_CHECK=1
-// to remove it. The FPGA check is used to skip initialisation of hardware
-// (mainly clock generators and oscillators) that aren't present on FPGA.
-
-#if !PICO_NO_FPGA_CHECK
-// Inline stub provided in header if this code is unused (so folding can be
-// done in each TU instead of relying on LTO)
-bool __attribute__((weak)) running_on_fpga(void) {
-    return (*(io_ro_32 *)TBMAN_BASE) & TBMAN_PLATFORM_FPGA_BITS;
-}
-#endif
-#if !PICO_NO_SIM_CHECK
-bool __attribute__((weak)) running_in_sim(void) {
-    return (*(io_ro_32 *)TBMAN_BASE) & TBMAN_PLATFORM_HDLSIM_BITS;
-}
-#endif
-
 #define MANUFACTURER_RPI 0x926
 #define PART_RP4 0x4
 
@@ -36,9 +16,9 @@ uint8_t rp2350_chip_version(void) {
     uint32_t chip_id = *((io_ro_32*)(SYSINFO_BASE + SYSINFO_CHIP_ID_OFFSET));
     uint32_t __unused manufacturer = chip_id & SYSINFO_CHIP_ID_MANUFACTURER_BITS;
     uint32_t __unused part = (chip_id & SYSINFO_CHIP_ID_PART_BITS) >> SYSINFO_CHIP_ID_PART_LSB;
-    assert(manufacturer == MANUFACTURER_RPI);
-    assert(part == PART_RP4);
+    assert(manufacturer == MANUFACTURER_RPI && part == PART_RP4);
     // 0 == A0, 1 == A1, 2 == A2
-    uint version = (chip_id & SYSINFO_CHIP_ID_REVISION_BITS) >> SYSINFO_CHIP_ID_REVISION_LSB;
+    uint32_t version = (chip_id & SYSINFO_CHIP_ID_REVISION_BITS) >> SYSINFO_CHIP_ID_REVISION_LSB;
+    version = (version & 3u) | ((version & 8u) >> 1);
     return (uint8_t)version;
 }

src/rp2_common/hardware_exception/exception.c

@@ -31,12 +31,14 @@ static inline exception_handler_t *get_exception_table(void) {
 #endif
 }
 
+#if !PICO_NO_RAM_VECTOR_TABLE
 static void set_raw_exception_handler_and_restore_interrupts(enum exception_number num, exception_handler_t handler, uint32_t save) {
     // update vtable (vtable_handler may be same or updated depending on cases, but we do it anyway for compactness)
     get_exception_table()[num] = handler;
     __dmb();
     restore_interrupts_from_disabled(save);
 }
+#endif
 
 static inline void check_exception_param(__unused enum exception_number num) {
     invalid_params_if(HARDWARE_EXCEPTION, num < MIN_EXCEPTION_NUM || num > MAX_EXCEPTION_NUM);
@@ -54,10 +56,12 @@ exception_handler_t exception_set_exclusive_handler(enum exception_number num, e
     exception_handler_t current = exception_get_vtable_handler(num);
     hard_assert(handler == current || exception_is_compile_time_default(current));
     set_raw_exception_handler_and_restore_interrupts(num, handler, save);
+    return current;
 #else
+    ((void)num);
+    ((void)handler);
     panic_unsupported();
 #endif
-    return current;
 }
 
 void exception_restore_handler(enum exception_number num, exception_handler_t original_handler) {
@@ -66,6 +70,8 @@ void exception_restore_handler(enum exception_number num, exception_handler_t or
     uint32_t save = save_and_disable_interrupts();
     set_raw_exception_handler_and_restore_interrupts(num, original_handler, save);
 #else
+    ((void)num);
+    ((void)original_handler);
     panic_unsupported();
 #endif
 }

src/rp2_common/hardware_irq/include/hardware/irq.h

@@ -195,7 +195,7 @@ extern "C" {
 typedef void (*irq_handler_t)(void);
 
 static inline void check_irq_param(__unused uint num) {
-    invalid_params_if(HARDWARE_IRQ, num >= NUM_IRQS);
+    invalid_params_if(HARDWARE_IRQ, num >= PICO_NUM_VTABLE_IRQS);
 }
 
 /*! \brief Set specified interrupt's priority