Add gpio_get_out_level() accessor, and correct SIO GPIO_OUT struct type from WO to RW

We can't really use traditional include guards, because the header file may be piped to stdout (which means we might not have a file name).

pico_sdk_version.cmake

@@ -1,12 +1,20 @@
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, pico_base
-# PICO_CONFIG: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, pico_base
+# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, group=pico_base
+# PICO_CONFIG: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, group=pico_base
 set(PICO_SDK_VERSION_MAJOR 1)
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, pico_base
-# PICO_CONFIG: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, pico_base
-set(PICO_SDK_VERSION_MINOR 1)
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, pico_base
-# PICO_CONFIG: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, pico_base
+# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, group=pico_base
+# PICO_CONFIG: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, group=pico_base
+set(PICO_SDK_VERSION_MINOR 2)
+# PICO_BUILD_DEFINE: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, group=pico_base
+# PICO_CONFIG: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, group=pico_base
 set(PICO_SDK_VERSION_REVISION 0)
+# PICO_BUILD_DEFINE: PICO_SDK_VERSION_PRE_RELEASE_ID, optional SDK pre-release version identifier, type=string, group=pico_base
+# PICO_CONFIG: PICO_SDK_VERSION_PRE_RELEASE_ID, optional SDK pre-release version identifier, type=string, group=pico_base
+set(PICO_SDK_VERSION_PRE_RELEASE_ID develop)
+
 # PICO_BUILD_DEFINE: PICO_SDK_VERSION_STRING, SDK version, type=string, group=pico_base
 # PICO_CONFIG: PICO_SDK_VERSION_STRING, SDK version, type=string, group=pico_base
 set(PICO_SDK_VERSION_STRING "${PICO_SDK_VERSION_MAJOR}.${PICO_SDK_VERSION_MINOR}.${PICO_SDK_VERSION_REVISION}")
+
+if (PICO_SDK_VERSION_PRE_RELEASE_ID)
+    set(PICO_SDK_VERSION_STRING "${PICO_SDK_VERSION_STRING}-${PICO_SDK_VERSION_PRE_RELEASE_ID}")
+endif()

src/rp2040/hardware_structs/include/hardware/structs/sio.h

@@ -17,7 +17,7 @@ typedef struct {
     io_ro_32 gpio_hi_in;
     uint32_t _pad;
 
-    io_wo_32 gpio_out;
+    io_rw_32 gpio_out;
     io_wo_32 gpio_set;
     io_wo_32 gpio_clr;
     io_wo_32 gpio_togl;
@@ -27,7 +27,7 @@ typedef struct {
     io_wo_32 gpio_oe_clr;
     io_wo_32 gpio_oe_togl;
 
-    io_wo_32 gpio_hi_out;
+    io_rw_32 gpio_hi_out;
     io_wo_32 gpio_hi_set;
     io_wo_32 gpio_hi_clr;
     io_wo_32 gpio_hi_togl;

src/rp2_common/hardware_gpio/include/hardware/gpio.h

@@ -415,6 +415,26 @@ static inline void gpio_put(uint gpio, bool value) {
         gpio_clr_mask(mask);
 }
 
+/*! \brief Determine whether a GPIO is currently driven high or low
+ *  \ingroup hardware_gpio
+ *
+ * This function returns the high/low output level most recently assigned to a
+ * GPIO via gpio_put() or similar. This is the value that is presented outward
+ * to the IO muxing, *not* the input level back from the pad (which can be
+ * read using gpio_get()).
+ *
+ * To avoid races, this function must not be used for read-modify-write
+ * sequences when driving GPIOs -- instead functions like gpio_put() should be
+ * used to atomically update GPIOs. This accessor is intended for debug use
+ * only.
+ *
+ * \param gpio GPIO number
+ * \return true if the GPIO output level is high, false if low.
+ */
+static inline bool gpio_get_out_level(uint gpio) {
+    return !!(sio_hw->gpio_out & 1u << gpio);
+}
+
 // ----------------------------------------------------------------------------
 // Direction
 // ----------------------------------------------------------------------------

src/rp2_common/hardware_pio/pio.c

@@ -54,7 +54,7 @@ static_assert(PIO_INSTRUCTION_COUNT <= 32, "");
 static uint32_t _used_instruction_space[2];
 
 static int _pio_find_offset_for_program(PIO pio, const pio_program_t *program) {
-    assert(program->length < PIO_INSTRUCTION_COUNT);
+    assert(program->length <= PIO_INSTRUCTION_COUNT);
     uint32_t used_mask = _used_instruction_space[pio_get_index(pio)];
     uint32_t program_mask = (1u << program->length) - 1;
     if (program->origin >= 0) {

src/rp2_common/hardware_sync/include/hardware/sync.h

@@ -194,6 +194,7 @@ inline static void restore_interrupts(uint32_t status) {
  * \return The spinlock instance
  */
 inline static spin_lock_t *spin_lock_instance(uint lock_num) {
+    invalid_params_if(SYNC, lock_num >= NUM_SPIN_LOCKS);
     return (spin_lock_t *) (SIO_BASE + SIO_SPINLOCK0_OFFSET + lock_num * 4);
 }
 

src/rp2_common/pico_multicore/include/pico/multicore.h

@@ -84,10 +84,10 @@ static inline bool multicore_fifo_rvalid(void) {
     return !!(sio_hw->fifo_st & SIO_FIFO_ST_VLD_BITS);
 }
 
-/*! \brief Check the FIFO to see if the write FIFO is full
+/*! \brief Check the write FIFO to see if it is ready for more data
  *  \ingroup multicore_fifo
  *
- *  @return true if the FIFO is full, false otherwise
+ *  @return true if the FIFO has room for more data, false otherwise
  */
 static inline bool multicore_fifo_wready(void) {
     return !!(sio_hw->fifo_st & SIO_FIFO_ST_RDY_BITS);

tools/CMakeLists.txt

@@ -44,17 +44,3 @@ function(pico_add_uf2_output TARGET)
                 COMMAND ELF2UF2 ${TARGET}${CMAKE_EXECUTABLE_SUFFIX} ${TARGET}.uf2)
     endif()
 endfunction()
-
-if (NOT DEFINED PICO_BUILD_PICOFLASH)
-    if (DEFINED ENV{PICO_BUILD_PICOFLASH})
-        set(PICO_BUILD_PICOFLASH $ENV{PICO_BUILD_PICOFLASH})
-    else()
-        # for now
-        set(PICO_BUILD_PICOFLASH 1)
-    endif()
-endif()
-
-if (PICO_BUILD_PICOTOOL)
-    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PICO_SDK_PATH}/tools)
-    find_package(Picotool REQUIRED)
-endif()

tools/FindPicotool.cmake

@@ -1,43 +0,0 @@
-# Finds (or builds) the PICOTOOL executable
-#
-# This will define the following variables
-#
-#    PICOTOOL_FOUND
-#
-# and the following imported targets
-#
-#     PICOTOOL
-#
-
-if (NOT PICOTOOL_FOUND)
-    # todo we would like to use pckgconfig to look for it first
-    # see https://pabloariasal.github.io/2018/02/19/its-time-to-do-cmake-right/
-
-    include(ExternalProject)
-
-    set(PICOTOOL_SOURCE_DIR ${PICO_SDK_PATH}/tools/picotool)
-    set(PICOTOOL_BINARY_DIR ${CMAKE_BINARY_DIR}/picotool)
-
-    set(PICOTOOL_BUILD_TARGET PicotoolBuild)
-    set(PICOTOOL_TARGET Picotool)
-
-    if (NOT TARGET ${PICOTOOL_BUILD_TARGET})
-        message("PICOTOOL will need to be built")
-        ExternalProject_Add(${PICOTOOL_BUILD_TARGET}
-                PREFIX picotool SOURCE_DIR ${PICOTOOL_SOURCE_DIR}
-                BINARY_DIR ${PICOTOOL_BINARY_DIR}
-                BUILD_ALWAYS 1 # force dependency checking
-                INSTALL_COMMAND ""
-                )
-    endif()
-
-    set(PICOTOOL_EXECUTABLE ${PICOTOOL_BINARY_DIR}/picotool)
-    if(NOT TARGET ${PICOTOOL_TARGET})
-        add_executable(${PICOTOOL_TARGET} IMPORTED)
-    endif()
-    set_property(TARGET ${PICOTOOL_TARGET} PROPERTY IMPORTED_LOCATION
-            ${PICOTOOL_EXECUTABLE})
-
-    add_dependencies(${PICOTOOL_TARGET} ${PICOTOOL_BUILD_TARGET})
-    set(PICOTOOL_FOUND 1)
-endif()

tools/pioasm/c_sdk_output.cpp

@@ -68,6 +68,8 @@ struct c_sdk_output : public output_format {
 
         header(out, "This file is autogenerated by pioasm; do not edit!");
 
+        fprintf(out, "#pragma once\n");
+        fprintf(out, "\n");
         fprintf(out, "#if !PICO_NO_HARDWARE\n");
         fprintf(out, "#include \"hardware/pio.h\"\n");
         fprintf(out, "#endif\n");