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.. _target-raspberry-pi-pico-pw-system:
================================
Raspberry Pi Pico with pw_system
================================
.. warning::
This target is in a very preliminary state and is under active development.
This demo gives a preview of the direction we are heading with
:ref:`pw_system<module-pw_system>`, but it is not yet ready for production
use.
This target configuration uses :ref:`pw_system<module-pw_system>` on top of
FreeRTOS and the `Raspberry Pi Pico SDK
<https://github.com/raspberrypi/pico-sdk>`_ HAL rather than a from-the-ground-up
baremetal approach.
-----
Setup
-----
To use this target, Pigweed must be set up to use FreeRTOS and the STM32Cube HAL
for the STM32F4 series. 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.
.. code:: sh
pw package install nanopb
pw package install freertos
pw package install pico_sdk
gn gen out --export-compile-commands --args="
dir_pw_third_party_nanopb=\"//environment/packages/nanopb\"
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:
.. code:: sh
gn args out
Then add the following lines to that text file:
.. code::
dir_pw_third_party_nanopb = pw_env_setup_PACKAGE_ROOT + "/nanopb"
dir_pw_third_party_freertos = pw_env_setup_PACKAGE_ROOT + "/freertos"
PICO_SRC_DIR = pw_env_setup_PACKAGE_ROOT + "/pico_sdk"
-----------------------------
Building and Running the Demo
-----------------------------
This target has an associated demo application that can be built and then
flashed to a device with the following commands:
**Build**
.. code:: sh
ninja -C out pw_system_demo
**Flash**
- Using a uf2 file:
Copy to ``out/rp2040_pw_system.size_optimized/obj/pw_system/system_example.uf2``
your Pico when it is in USB bootloader mode. Hold down the BOOTSEL button when
plugging in the pico and it will appear as a mass storage device.
- Using a Pico Probe and openocd:
This requires installing the Raspberry Pi foundation's OpenOCD fork for the
Pico probe. More details including how to connect the two Pico boards is
available in ``Appendix A: Using Picoprobe`` of the `Getting started with
Raspberry Pi Pico
<https://datasheets.raspberrypi.com/pico/getting-started-with-pico.pdf>`_ guide.
**Install RaspberryPi's OpenOCD Fork:**
.. code:: sh
git clone https://github.com/raspberrypi/openocd.git \
--branch picoprobe \
--depth=1 \
--no-single-branch \
openocd-picoprobe
cd openocd-picoprobe
./bootstrap
./configure --enable-picoprobe --prefix=$HOME/apps/openocd --disable-werror
make -j2
make install
**Setup udev rules (Linux only):**
.. code:: sh
cat <<EOF > 49-picoprobe.rules
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000[43a]", MODE:="0666"
KERNEL=="ttyACM*", ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000[43a]", MODE:="0666"
EOF
sudo cp 49-picoprobe.rules /usr/lib/udev/rules.d/49-picoprobe.rules
sudo udevadm control --reload-rules
**Flash the Pico:**
.. code:: sh
~/apps/openocd/bin/openocd -f ~/apps/openocd/share/openocd/scripts/interface/picoprobe.cfg -f ~/apps/openocd/share/openocd/scripts/target/rp2040.cfg -c 'program out/rp2040_pw_system.size_optimized/obj/pw_system/bin/system_example.elf verify reset exit'
**Connect with pw_console**
Once the board has been flashed, you can connect to it and send RPC commands
via the Pigweed console:
.. code:: sh
pw-system-console -d /dev/{ttyX} -b 115200 \
--proto-globs pw_rpc/echo.proto \
--token-databases \
out/rp2040_pw_system.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***``.
When the console opens, try sending an Echo RPC request. You should get back
the same message you sent to the device.
.. code:: pycon
>>> 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.
.. code:: pycon
>>> device.snapshot_peak_stack_usage()
Example output:
.. code::
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!
.. seealso::
The :ref:`module-pw_console`
:bdg-ref-primary-line:`module-pw_console-user_guide` for more info on using
the the pw_console UI.
|
