Add Raspberry PICO RP2040 and RP2040_W with ChibiOS

.devcontainer/All/devcontainer.json

@@ -9,9 +9,9 @@
 		// Bind the Unix socket the Docker daemon listens on by default
 		"source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind",
 		// Keep command history 
-		"source=nano-bashhistory,target=/home/vscode/commandhistory,type=volume",
+		"source=nano-bashhistory,target=/home/vscode/commandhistory,type=volume"
 		// OPTIONAL: Mount .azure folder for seamless az cli auth
-		// "source=${env:HOME}${env:USERPROFILE}/.azure,target=/home/vscode/.azure,type=bind"
+		// ,"source=${env:HOME}${env:USERPROFILE}/.azure,target=/home/vscode/.azure,type=bind"
 	],
 	// Set the *default* container specific settings.json values on container create.
 	"customizations": {

.devcontainer/ChibiOS-RP/Dockerfile.ChibiOS-RP

@@ -0,0 +1,5 @@
+# Pre-built image is not yet available for ChibiOS-RP.
+# Use Dockerfile.ChibiOS-RP.SRC to build from source.
+# Once published, replace this line with the image reference, e.g.:
+# FROM ghcr.io/nanoframework/dev-container-chibios-rp:v1.0
+FROM ghcr.io/nanoframework/dev-container-chibios-rp:v1.0

.devcontainer/ChibiOS-RP/Dockerfile.ChibiOS-RP.SRC

@@ -0,0 +1,113 @@
+FROM ubuntu:latest AS downloader
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends apt-utils \
+    && apt-get install -y \
+    curl \
+    xz-utils \
+    unzip \
+    wget
+
+RUN mkdir -p /tmp/dc-downloads /tmp/dc-extracted
+
+ARG GCC_VERSION=13.3.rel1
+ARG GCC_URI=https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu/$GCC_VERSION/binrel/arm-gnu-toolchain-$GCC_VERSION-x86_64-arm-none-eabi.tar.xz
+RUN mkdir -p /tmp/dc-downloads /tmp/dc-extracted/gcc \
+    && curl -o /tmp/dc-downloads/gcc-arm.tar.xz  $GCC_URI \
+    && xz -d /tmp/dc-downloads/gcc-arm.tar.xz \
+    && tar -xvf /tmp/dc-downloads/gcc-arm.tar -C /tmp/dc-extracted/gcc --strip-components 1 \
+    && rm -rf /tmp/dc-extracted/gcc/share/doc/ /tmp/dc-extracted/gcc/share/gcc-arm-none-eabi/samples/
+
+ARG CMAKE_VERSION=3.31.6
+ARG CMAKE_SCRIPT=https://github.com/Kitware/CMake/releases/download/v$CMAKE_VERSION/cmake-$CMAKE_VERSION-linux-x86_64.sh
+RUN wget $CMAKE_SCRIPT \
+    -q -O /tmp/dc-downloads/cmake-install.sh \
+    && chmod u+x /tmp/dc-downloads/cmake-install.sh \
+    && mkdir -p /tmp/dc-extracted/cmake \
+    && /tmp/dc-downloads/cmake-install.sh --skip-license --prefix=/tmp/dc-extracted/cmake \
+    && rm /tmp/dc-downloads/cmake-install.sh
+
+FROM ubuntu:latest AS devcontainer
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+# You can set up non-root user
+# ARG USERNAME=vscode
+# ARG USER_UID=1000
+# ARG USER_GID=$USER_UID
+
+# Configure apt and install packages
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends apt-utils dialog icu-devtools 2>&1 \
+    && apt-get install -y \
+    git \
+    git-svn \
+    subversion \
+    clang-format \
+    curl \
+    ninja-build \
+    srecord \
+    python3 \
+    python3-pip \
+    libusb-1.0-0-dev \
+    pkg-config \
+    build-essential
+
+# Create needed directories
+RUN mkdir -p /usr/local/bin/gcc
+
+# ============================================================
+# KEY DIFFERENCE from ChibiOS container:
+# Clone ChibiOS master/trunk which has RP2040/RP2350 support
+# The stable_21.11.x branch does NOT include RP ports.
+# ============================================================
+# Try GitHub mirror first (faster), fall back to SVN trunk
+RUN git clone --branch master https://github.com/ChibiOS/ChibiOS.git --depth 1 ./sources/ChibiOs \
+    || git svn clone http://svn.code.sf.net/p/chibios/code/trunk -rHEAD ./sources/ChibiOs
+
+# NO STM32 Cube packages — not needed for RP targets
+
+# Clone dependent repos (mbedtls, fatfs, littlefs, lwIP)
+RUN git clone --branch R0.16 https://github.com/abbrev/fatfs.git --depth 1 ./sources/fatfs \
+    && git clone --branch v2.11.2 https://github.com/littlefs-project/littlefs --depth 1 ./sources/littlefs \
+    && git clone --branch STABLE-2_1_3_RELEASE https://github.com/lwip-tcpip/lwip.git --depth 1 ./sources/lwip \
+    && git clone --branch mbedtls-3.6.5 https://github.com/ARMmbed/mbedtls.git --depth 1 ./sources/mbedtls \
+    && cd ./sources/mbedtls \
+    && git submodule update --init --recursive
+
+# set gcc location
+ARG TMP_GCC_PATH=/usr/local/bin/gcc
+ENV ARM_GCC_PATH=$TMP_GCC_PATH/bin
+
+# Copy from our other container
+COPY --from=downloader /tmp/dc-extracted/gcc $TMP_GCC_PATH
+COPY --from=downloader /tmp/dc-extracted/cmake /usr/bin/cmake
+
+ENV PATH=/usr/bin/cmake/bin:${PATH}
+
+# picotool is NOT included — it requires the Pico SDK (PICO_SDK_PATH) to build.
+# Since we use ChibiOS (not the Pico SDK), picotool can be added later if UF2
+# conversion is needed, by also cloning the pico-sdk.
+# hex2dfu is NOT included — RP targets use UF2 format, not DFU
+# srecord is still useful for bin packaging
+
+# Install Python dependencies for Kconfig configuration system
+RUN pip3 install --no-cache-dir --break-system-packages pyserial "kconfiglib>=14.1.0"
+
+# Clean up downloaded files
+RUN apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install .NET SDK 9.0 and .NET 8.0 runtime (needed by nanoFramework build tooling)
+RUN curl -sSL https://dot.net/v1/dotnet-install.sh -o /tmp/dotnet-install.sh \
+    && chmod +x /tmp/dotnet-install.sh \
+    && /tmp/dotnet-install.sh --channel 9.0 --install-dir /usr/share/dotnet \
+    && /tmp/dotnet-install.sh --channel 8.0 --runtime dotnet --install-dir /usr/share/dotnet \
+    && ln -sf /usr/share/dotnet/dotnet /usr/local/bin/dotnet \
+    && rm /tmp/dotnet-install.sh
+
+ENV DOTNET_ROOT=/usr/share/dotnet
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=dialog

.devcontainer/ChibiOS-RP/devcontainer.json

@@ -0,0 +1,50 @@
+{
+	"name": "nanoFramework-ChibiOS-RP",
+	// This container is for developing Raspberry Pi Pico (RP2040/RP2350) targets using ChibiOS.
+	// It uses Dockerfile.ChibiOS-RP.SRC which builds from source because there is no pre-built image yet.
+	// Once a pre-built image is published, change "dockerFile" to "Dockerfile.ChibiOS-RP".
+	"dockerFile": "Dockerfile.ChibiOS-RP.SRC",
+	"context": ".",
+	"runArgs": ["--privileged", "--device=/dev/ttyUSB0:/dev/ttyUSB0"],
+	"mounts": [
+		// Bind the Unix socket the Docker daemon listens on by default
+		"source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind",
+		// Keep command history 
+		"source=nano-bashhistory,target=/home/vscode/commandhistory,type=volume",
+		// Map /dev for USB device access (debug probes, serial ports)
+		"source=/dev,target=/dev,type=bind"
+		// OPTIONAL: Mount .azure folder for seamless az cli auth
+		// ,"source=${env:HOME}${env:USERPROFILE}/.azure,target=/home/vscode/.azure,type=bind"
+	],
+	// Set the *default* container specific settings.json values on container create.
+	"customizations": {
+		"vscode": {
+			"settings": {
+				"cmake.preferredGenerators": [
+					"Ninja"
+				],
+				"cmake.generator": "Ninja",
+				"cmake.autoRestartBuild" : true,
+				"cmake.configureSettings": {
+					"CMAKE_MAKE_PROGRAM":"/usr/bin/ninja"
+				},
+				"cmake.configureOnOpen": false
+			},
+			// Add the IDs of extensions you want installed when the container is created.
+			"extensions": [
+				"ms-vsliveshare.vsliveshare-pack",
+				"streetsidesoftware.code-spell-checker",
+				"twxs.cmake",
+				"ms-vscode.cmake-tools",
+				"xaver.clang-format"
+			]
+		}
+	},
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],	
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// This is needed to allow cloning repositories
+	"postCreateCommand": "git config --global safe.directory '*'"
+	// Uncomment to connect as a non-root user. See https: //aka.ms/vscode-remote/containers/non-root.
+	// ,"remoteUser": "vscode"
+}

.devcontainer/README.md

@@ -10,6 +10,7 @@ The available pre build images are:
 * ghcr.io/nanoframework/dev-container-esp32: contains all elements to build a firmware image for any of the ESP32 targets
 * ghcr.io/nanoframework/dev-container-azure-rtos: contains all elements to build a firmware image for any of the Eclipse ThreadX (used to be Azure RTOS) targets
 * ghcr.io/nanoframework/dev-container-freertos-nxp: contains all elements to build a firmware image for any of the NXP targets
+* ChibiOS-RP: contains all elements to build a firmware image for Raspberry Pi Pico (RP2040/RP2350) ChibiOS targets. Uses ChibiOS master branch which includes RP support.
 
 You can choose the dev container needed when opening a remote container in VSCode. The options are:
 
@@ -19,6 +20,7 @@ You can choose the dev container needed when opening a remote container in VSCod
 * `nanoFramework-ESP32` to use the pre build container with all the elements to build ESP32 targets
 * `nanoFramework-TI` to use the pre build container with all the elements to build TI SimpleLink targets
 * `nanoFramework-FreeRTOS-NXP` to use the pre build container with all the elements to build TI SimpleLink targets
+* `nanoFramework-ChibiOS-RP` to build from source a container with all the elements to build Raspberry Pi Pico RP2040/RP2350 ChibiOS targets
 
 To use the source dockerfile for the respective platform adjust its `devcontainer.json` file and change the `"dockerFile": "Dockerfile.<platform>"` element for the image you would like to use:
 
@@ -28,6 +30,7 @@ To use the source dockerfile for the respective platform adjust its `devcontaine
 * `Dockerfile.ESP32.SRC` to build the container image from the source with all the elements to build ESP32 based devices
 * `Dockerfile.TI.SRC` to build the container image from the source with all the elements to build TI SimpleLink based devices
 * `Dockerfile.FreeRTOS.NXP.SRC` to build the container image from the source with all the elements to build NXP based devices
+* `Dockerfile.ChibiOS-RP.SRC` to build the container image from the source with all the elements to build Raspberry Pi Pico (RP2040/RP2350) ChibiOS targets
 
 
 ## Building and releasing Docker images in a fork

.github/workflows/devcontainer-chibios-rp.yaml

@@ -0,0 +1,64 @@
+# Copyright (c) .NET Foundation and Contributors
+# See LICENSE file in the project root for full license information.
+
+name: Build Dev Container for ChibiOS-RP
+
+env:
+  CONTAINER_REPO: ghcr.io
+  CONTAINER_NAME: dev-container-chibios-rp
+  CONTAINER_SRC_FILE: .devcontainer/ChibiOS-RP/Dockerfile.ChibiOS-RP.SRC
+
+on:
+  push:
+    branches:
+      - main
+    paths:
+      - '**Dockerfile.ChibiOS-RP'
+
+  workflow_dispatch:
+
+jobs:
+  build:
+    if: ${{ vars.PUBLISH_DOCKER_IMAGE == 'true' }}
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    steps:
+
+    - name: Checkout Repository
+      uses: actions/checkout@v5
+
+    - name: Free Disk Space (Ubuntu)
+      uses: jlumbroso/free-disk-space@main
+      with:
+        # this might remove tools that are actually needed,
+        # when set to "true" but frees about 6 GB
+        tool-cache: true
+        large-packages: false
+
+    - name: Get container version
+      run: |
+        $dockerfileContent = Get-Content(".devcontainer/ChibiOS-RP/Dockerfile.ChibiOS-RP")
+        $dockerfileContent -match '(?<=\:)(?:[v]\d+.\d+)'
+        $containerVersion = $Matches[0].ToString()
+        echo "GCR_VERSION=$containerVersion" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf-8 -Append
+      shell: pwsh
+
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.CONTAINER_BUILD_TOKEN }}
+
+    - name: Build and Push Docker Image
+      uses: docker/build-push-action@v6
+      with:
+        file: ${{ env.CONTAINER_SRC_FILE }}
+        push: true # Will only build if this is not here
+        tags: |
+          ${{ env.CONTAINER_REPO }}/${{ github.repository_owner }}/${{ env.CONTAINER_NAME }}:${{ env.GCR_VERSION }}
+          ${{ env.CONTAINER_REPO }}/${{ github.repository_owner }}/${{ env.CONTAINER_NAME }}:latest

.github/workflows/devcontainer-smoketest.yaml

@@ -27,6 +27,7 @@ jobs:
           # { target: ESP32_H2_THREAD,         build-type: Debug, container: ESP32 },
           { target: NXP_MIMXRT1060_EVK,      build-type: Debug, container: FreeRTOS-NXP },
           { target: NXP_MIMXRT1060_EVK,      build-type: Debug, container: All },
+          { target: RP_PICO_W_RP2040,        build-type: Debug, container: ChibiOS-RP },
           { target: TI_CC1352R1_LAUNCHXL,    build-type: Debug, container: TI, radio-freq: 915 },
           { target: TI_CC1352R1_LAUNCHXL,    build-type: Debug, container: All, radio-freq: 915 },
           { target: TI_CC1352R1_LAUNCHXL,    build-type: Debug, container: TI, radio-freq: 868 },

CMake/Modules/CHIBIOS_RP2040_GCC_options.cmake

@@ -0,0 +1,68 @@
+#
+# Copyright (c) .NET Foundation and Contributors
+# See LICENSE file in the project root for full license information.
+#
+
+#################################################################
+# WHEN ADDING A NEW SERIES add the appropriate GCC options below
+#################################################################
+
+# RP2040: ARM Cortex-M0+ (ARMv6-M), no FPU, soft float
+
+# need to specify this for assembler
+set(CMAKE_ASM_FLAGS " -mthumb -mcpu=cortex-m0plus -mfloat-abi=soft -mabi=aapcs -x assembler-with-cpp -DCRT0_VTOR_INIT=TRUE" CACHE INTERNAL "asm compiler flags")
+
+# need to specify linker flags here
+set(CMAKE_EXE_LINKER_FLAGS " -Wl,--gc-sections -Wl,--no-wchar-size-warning -Wl,--print-memory-usage -Wl,--no-warn-rwx-segments -mthumb -mcpu=cortex-m0plus -mfloat-abi=soft -mabi=aapcs -nostartfiles " CACHE INTERNAL "executable linker flags")
+
+
+# TARGET parameter to set the target that's setting them for
+# optional EXTRA_COMPILE_OPTIONS with compile options to be added
+macro(nf_set_compile_options)
+
+    # parse arguments
+    cmake_parse_arguments(NFSCO "" "TARGET" "EXTRA_COMPILE_OPTIONS" ${ARGN})
+
+    if(NOT NFSCO_TARGET OR "${NFSCO_TARGET}" STREQUAL "")
+        message(FATAL_ERROR "Need to set TARGET argument when calling nf_set_compile_options()")
+    endif()
+
+    # include any extra options coming from any extra args?
+    target_compile_options(${NFSCO_TARGET} PUBLIC  ${NFSCO_EXTRA_COMPILE_OPTIONS} -mthumb -mcpu=cortex-m0plus -mabi=aapcs -nostdlib -Wall -Wextra -Werror -Wundef -Wshadow -Wimplicit-fallthrough $<$<COMPILE_LANGUAGE:CXX>:-Wno-cast-user-defined> -fshort-wchar -fno-builtin -fno-common -mno-long-calls -fno-exceptions -fcheck-new )
+
+    # RP2040 has no FPU (Cortex-M0+)
+    # Note: RP2040 is defined by ChibiOS board.h, no need to add it here
+    target_compile_definitions(${NFSCO_TARGET} PUBLIC -DPLATFORM_ARM -DCORTEX_USE_FPU=FALSE -DUSE_FPU=FALSE)
+
+endmacro()
+
+
+# TARGET parameter to set the target that's setting them for
+# optional EXTRA_LINK_FLAGS with link flags to be added
+macro(nf_set_link_options)
+
+    # parse arguments
+    cmake_parse_arguments(NFSLO "" "TARGET;EXTRA_LINK_FLAGS" "" ${ARGN})
+
+    if(NOT NFSLO_TARGET OR "${NFSLO_TARGET}" STREQUAL "")
+        message(FATAL_ERROR "Need to set TARGET argument when calling nf_set_link_options()")
+    endif()
+
+    # set optimization linker flags for RELEASE and MinSizeRel
+    if(CMAKE_BUILD_TYPE STREQUAL "Release" OR CMAKE_BUILD_TYPE STREQUAL "MinSizeRel")
+        set_property(TARGET ${NFSLO_TARGET} APPEND_STRING PROPERTY LINK_FLAGS " -Os -flto -fuse-linker-plugin -fstrict-aliasing -fomit-frame-pointer -fno-unroll-loops -frounding-math -fsignaling-nans -ffloat-store -fno-math-errno -ftree-vectorize -fno-default-inline -finline-functions-called-once -fno-defer-pop ")
+    endif()
+
+    # request specs from newlib nano
+    set_property(TARGET ${NFSLO_TARGET} APPEND_STRING PROPERTY LINK_FLAGS " --specs=nano.specs ")
+
+    # include libraries in build
+    nf_include_libraries_in_build(${NFSLO_TARGET})
+
+    # set extra linker flags
+    set_property(TARGET ${NFSLO_TARGET} APPEND_STRING PROPERTY LINK_FLAGS " ${NFSLO_EXTRA_LINK_FLAGS} ")
+
+    # set optimization flags
+    nf_set_optimization_options(${NFSLO_TARGET})
+
+endmacro()

CMake/Modules/CHIBIOS_RP2040_sources.cmake

@@ -0,0 +1,40 @@
+#
+# Copyright (c) .NET Foundation and Contributors
+# See LICENSE file in the project root for full license information.
+#
+
+include(FetchContent)
+FetchContent_GetProperties(chibios)
+
+# List of the ChibiOS generic RP2040 startup source files.
+# RP2040 uses ARM Cortex-M0+ (ARMv6-M architecture)
+
+set(CHIBIOS_PORT_SRCS
+
+    # RT port for ARMv6-M
+    chcore.c
+    chcoreasm.S
+)
+
+foreach(SRC_FILE ${CHIBIOS_PORT_SRCS})
+
+    set(CHIBIOS_RP_SRC_FILE SRC_FILE-NOTFOUND)
+
+    find_file(CHIBIOS_RP_SRC_FILE ${SRC_FILE}
+        PATHS 
+            ${chibios_SOURCE_DIR}/os/common/ports/ARMv6-M/compilers/GCC
+            ${chibios_SOURCE_DIR}/os/common/ports/ARMv6-M
+            ${chibios_SOURCE_DIR}/os/hal/ports/common/ARMCMx
+
+        CMAKE_FIND_ROOT_PATH_BOTH
+    )
+
+    if (BUILD_VERBOSE)
+        message("${SRC_FILE} >> ${CHIBIOS_RP_SRC_FILE}")
+    endif()
+
+    list(APPEND CHIBIOS_SOURCES ${CHIBIOS_RP_SRC_FILE})
+
+endforeach()
+
+list(APPEND CHIBIOS_INCLUDE_DIRS ${chibios_SOURCE_DIR}/os/common/ports/ARMv6-M)