[rp2040] review fixes

Author: andryblack

ext/rp/irq.h

@@ -16,15 +16,15 @@
  */
 #include "hardware/regs/intctrl.h"
 
-static void irq_set_enabled(int irqn,bool enable) {
+static inline void irq_set_enabled(int irqn,bool enable) {
     if (enable) {
         NVIC_EnableIRQ(irqn);
     } else {
         NVIC_DisableIRQ(irqn);
     }
 }
 
-static void irq_set_exclusive_handler(int irqn,void(*handler)()) {
+static inline void irq_set_exclusive_handler(int irqn,void(*handler)()) {
     (void)irqn;
     (void)handler;
     // do nothing, irq implemented at modm

ext/rp/module.lb

@@ -21,12 +21,6 @@ def prepare(module, options):
         return False
 
     module.depends(":cmsis:core")
-    module.add_option(
-        EnumerationOption(
-            name="boot2",
-            description="Boot2 variant",
-            enumeration=['generic_03h','at25sf128a','is25lp080','w25q080','w25x10cl'],
-            default='generic_03h'))
     return True
 
 def build(env):
@@ -44,12 +38,12 @@ def build(env):
     env.copy("pico-sdk/include",'')
     env.copy("address_mapped.h",'hardware/address_mapped.h')
 
-    flash_variant = env.get("boot2")
-    env.copy("pico-sdk/src/boot2_" + flash_variant + '.cpp','src/boot2.cpp')
-
     if env.has_module(":tinyusb"):
+        env.substitutions = {
+            'with_debug': env.has_module(":debug")
+        }
         env.copy('pico.h')
-        env.copy('pico.cpp','src/pico.cpp')
+        env.template('pico.cpp.in','src/pico.cpp')
         env.copy('irq.h','hardware/irq.h')
         env.copy('resets.h','hardware/resets.h')
 

ext/rp/pico.cpp renamed to ext/rp/pico.cpp.in

@@ -2,6 +2,9 @@
 #include "hardware/resets.h"
 
 #include <modm/platform/core/resets.hpp>
+%% if with_debug
+#include <modm/debug.hpp>
+%% endif
 
 /**
  * Pico SDK compatibility for tinyusb
@@ -15,6 +18,11 @@ extern "C" void unreset_block_wait(uint32_t blocks) {
 }
 
 extern "C" void panic(const char *fmt, ...) {
-	// @todo any modm implementation? assert?
-	//va_list args;
+%% if with_debug
+	va_list va;
+	va_start(va, fmt);
+	modm::log::debug.vprintf(fmt, va);
+	va_end(va);
+%% endif
+	modm_assert(0, "pico", "Pico-SDK panic!");
 }

ext/rp/pico.h

@@ -17,15 +17,17 @@
 
 
 #include <stdint.h>
+#include <modm/architecture/interface/assert.h>
+/* need for static_assert at C compilation */
 #include <assert.h>
-
 #define TUD_OPT_RP2040_USB_DEVICE_ENUMERATION_FIX 0
 
 #ifdef __cplusplus
 extern "C" {
 #endif
+/* override expensive assert implementation */
 #undef assert
-#define assert(X) do { } while(false)
+#define assert(X) modm_assert((X), "pico", __FILE__ ":" MODM_STRINGIFY(__LINE__) " -> \"" #X "\"")
 void panic(const char *fmt, ...);
 
 #ifdef __cplusplus

src/modm/board/rp_pico/board.xml

@@ -7,7 +7,7 @@
 
   <options>
     <option name="modm:target">rp2040</option>
-    <option name="modm:cmsis:device:boot2">w25q080</option>
+    <option name="modm:platform:core:boot2">w25q080</option>
   </options>
   <modules>
     <module>modm:board:rp-pico</module>

src/modm/platform/core/rp/module.lb

@@ -24,7 +24,12 @@ def prepare(module, options):
 
     module.depends(":platform:cortex-m")
     module.depends(":platform:clockgen")
-
+    module.add_option(
+        EnumerationOption(
+            name="boot2",
+            description="Boot2 variant",
+            enumeration=['generic_03h','at25sf128a','is25lp080','w25q080','w25x10cl'],
+            default='generic_03h'))
     return True
 
 
@@ -60,6 +65,9 @@ def build(env):
     env.copy('multicore.hpp')
     env.copy('multicore.cpp')
 
+    flash_variant = env.get("boot2")
+    env.copy(repopath("ext/rp/pico-sdk/src/boot2_" + flash_variant + '.cpp'),'src/boot2.cpp')
+
 
 def post_build(env):
     env.substitutions = env.query("::cortex-m:linkerscript")

src/modm/platform/usb/rp/module.lb

@@ -27,8 +27,7 @@ def prepare(module, options):
     module.depends(
         ":architecture:interrupt",
         ":cmsis:device",
-        ":platform:gpio",
-        ":platform:core")
+        ":platform:gpio")
 
     return True