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Add Raspberry Pi Pico platform
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‎.github/workflows/rpi_pico.yaml

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,63 @@
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#
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# Copyright (c) 2024 ZettaScale Technology
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#
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# This program and the accompanying materials are made available under the
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# terms of the Eclipse Public License 2.0 which is available at
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# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
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# which is available at https://www.apache.org/licenses/LICENSE-2.0.
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#
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# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
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#
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# Contributors:
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# ZettaScale Zenoh Team, <[email protected]>
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#
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name: rpi_pico
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on:
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push:
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branches: [ '**' ]
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pull_request:
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branches: [ '**' ]
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jobs:
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build:
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name: Build on ${{ matrix.os }} for ${{ matrix.pico_board }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-latest]
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pico_board: ["pico", "pico_w", "pico2", "pico2_w"]
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steps:
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- uses: actions/checkout@v4
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- uses: jwlawson/[email protected]
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- name: Install requirements
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run: |
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sudo apt update
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sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential g++ libstdc++-arm-none-eabi-newlib
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- name: Install Raspberry Pico SDK
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run: |
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export PICO_SDK_PATH=$HOME/work/pico-sdk
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mkdir -p $PICO_SDK_PATH
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cd $PICO_SDK_PATH
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git clone https://github.com/raspberrypi/pico-sdk.git --branch 2.1.0 .
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git submodule update --init
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- name: Install FreeRTOS SDK
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run: |
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export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/
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mkdir -p $FREERTOS_KERNEL_PATH
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cd $FREERTOS_KERNEL_PATH
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git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git .
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git submodule update --init
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- name: Build examples
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run: |
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export PICO_SDK_PATH=$HOME/work/pico-sdk
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export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/
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cd $HOME/work/zenoh-pico/zenoh-pico/examples/rpi_pico
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cmake -Bbuild -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password -DPICO_BOARD="$PICO_BOARD"
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cmake --build ./build
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env:
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PICO_BOARD: ${{ matrix.pico_board}}

‎CMakeLists.txt

+18-1
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,7 @@ include(GNUInstallDirs)
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option(BUILD_SHARED_LIBS "Build shared libraries if ON, otherwise build static libraries" ON)
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option(WITH_ZEPHYR "Build for Zephyr RTOS" OFF)
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option(WITH_FREERTOS_PLUS_TCP "Build for FreeRTOS RTOS and FreeRTOS-Plus-TCP network stack" OFF)
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option(WITH_RPI_PICO "Build for Raspberry Pi Pico" OFF)
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set(ZENOH_DEBUG 0 CACHE STRING "Use this to set the ZENOH_DEBUG variable")
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
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if(CMAKE_EXPORT_COMPILE_COMMANDS)
@@ -90,7 +91,9 @@ if(CMAKE_BUILD_TYPE MATCHES "RELEASE" OR "Release")
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add_compile_options(-pipe -O3)
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endif()
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else()
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if(UNIX)
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if(CMAKE_SYSTEM_NAME MATCHES "PICO")
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add_compile_options(-c -Wall -Wextra -Wno-unused -Wno-strict-prototypes -pipe -g -O0)
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elseif(UNIX)
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add_compile_options(-c -Wall -Wextra -Werror -Wshadow -Wunused -Wstrict-prototypes -pipe -g -O0)
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# C99 pedantic doesn't like struct anonymous in unix header
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if (NOT CMAKE_C_STANDARD STREQUAL "99")
@@ -182,6 +185,9 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
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elseif(WITH_FREERTOS_PLUS_TCP)
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pico_add_compile_definition(ZENOH_FREERTOS_PLUS_TCP)
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endif()
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elseif(CMAKE_SYSTEM_NAME MATCHES "PICO") # Raspberry Pi Pico Series
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pico_add_compile_definition(ZENOH_RPI_PICO)
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set(CHECK_THREADS "OFF")
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else()
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message(FATAL_ERROR "zenoh-pico is not yet available on ${CMAKE_SYSTEM_NAME} platform")
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return()
@@ -226,6 +232,7 @@ set(Z_FEATURE_LINK_TCP 1 CACHE STRING "Toggle TCP links")
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set(Z_FEATURE_LINK_BLUETOOTH 0 CACHE STRING "Toggle Bluetooth links")
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set(Z_FEATURE_LINK_WS 0 CACHE STRING "Toggle WebSocket links")
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set(Z_FEATURE_LINK_SERIAL 0 CACHE STRING "Toggle Serial links")
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set(Z_FEATURE_LINK_SERIAL_USB 0 CACHE STRING "Toggle Serial USB links")
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set(Z_FEATURE_SCOUTING_UDP 1 CACHE STRING "Toggle UDP scouting")
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set(Z_FEATURE_LINK_UDP_MULTICAST 1 CACHE STRING "Toggle UDP multicast links")
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set(Z_FEATURE_LINK_UDP_UNICAST 1 CACHE STRING "Toggle UDP unicast links")
@@ -244,6 +251,12 @@ if(Z_FEATURE_LIVELINESS AND NOT Z_FEATURE_UNSTABLE_API)
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set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature" FORCE)
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endif()
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# Add a warning message if someone tries to enable Z_FEATURE_LINK_SERIAL_USB directly
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if(Z_FEATURE_LINK_SERIAL_USB AND NOT Z_FEATURE_UNSTABLE_API)
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message(WARNING "Z_FEATURE_LINK_SERIAL_USB can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_LINK_SERIAL_USB.")
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set(Z_FEATURE_LINK_SERIAL_USB 0 CACHE STRING "Toggle Serial USB links" FORCE)
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endif()
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add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
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message(STATUS "Building with feature confing:\n\
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* UNSTABLE_API: ${Z_FEATURE_UNSTABLE_API}\n\
@@ -277,6 +290,7 @@ message(STATUS "Unicast batch max size: ${BATCH_UNICAST_SIZE}")
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message(STATUS "Multicast batch max size: ${BATCH_MULTICAST_SIZE}")
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message(STATUS "Build for Zephyr RTOS: ${WITH_ZEPHYR}")
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message(STATUS "Build for FreeRTOS-Plus-TCP: ${WITH_FREERTOS_PLUS_TCP}")
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message(STATUS "Build for Raspberry Pi Pico: ${WITH_RPI_PICO}")
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message(STATUS "Configuring for ${CMAKE_SYSTEM_NAME}")
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if(SKBUILD)
@@ -338,6 +352,9 @@ if(WITH_ZEPHYR)
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elseif(WITH_FREERTOS_PLUS_TCP)
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file (GLOB Sources_Freertos_Plus_TCP "src/system/freertos_plus_tcp/*.c")
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list(APPEND Sources ${Sources_Freertos_Plus_TCP})
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elseif(WITH_RPI_PICO)
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file (GLOB Sources_RPI_Pico "src/system/rpi_pico/*.c")
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list(APPEND Sources ${Sources_RPI_Pico})
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elseif(CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin" OR CMAKE_SYSTEM_NAME MATCHES "BSD" OR POSIX_COMPATIBLE)
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file (GLOB Sources_Unix "src/system/unix/*.c" "src/system/unix/link/*.c")
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list(APPEND Sources ${Sources_Unix})

‎README.md

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@@ -34,6 +34,7 @@ Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
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| **OpenCR** | UDP (unicast and multicast), TCP | IPv4 | WiFi |
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| **Emscripten** | Websocket | IPv4, IPv6 | WiFi, Ethernet |
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| **FreeRTOS-Plus-TCP** | UDP (unicast), TCP | IPv4 | Ethernet |
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| **Raspberry Pi Pico** | UDP (unicast and multicast), TCP | IPv4 | WiFi (for "W" version), Serial, USB (CDC) |
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3839
Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
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@@ -329,6 +330,92 @@ To build and upload the code into the board, run the following command:
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platformio run -t upload
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```
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#### 2.2.6. Raspberry Pi Pico
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Note: tested with `Raspberry Pi Pico W` and `Raspberry Pi Pico 2 W` boards
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Ensure your system has the necessary tools and libraries installed. Run the following commands:
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```bash
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sudo apt update
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sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential g++ libstdc++-arm-none-eabi-newlib
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```
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Set up the Raspberry Pi Pico SDK by cloning the repository:
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```bash
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export PICO_SDK_PATH=$HOME/src/pico-sdk
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mkdir -p $PICO_SDK_PATH
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cd $PICO_SDK_PATH
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git clone https://github.com/raspberrypi/pico-sdk.git .
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git submodule update --init
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```
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Clone the FreeRTOS Kernel repository for the project:
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```bash
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export FREERTOS_KERNEL_PATH=$HOME/src/FreeRTOS-Kernel/
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mkdir -p $FREERTOS_KERNEL_PATH
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cd $FREERTOS_KERNEL_PATH
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git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git .
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git submodule update --init
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```
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Setup and build the examples:
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- `PICO_BOARD` - Pico board type: pico, pico_w, pico2, pico2_w (default: pico_w)
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- `WIFI_SSID` - Wi-Fi network SSID
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- `WIFI_PASSWORD` - Wi-Fi password
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- `ZENOH_CONFIG_MODE` - client or peer mode (default: client)
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- `ZENOH_CONFIG_CONNECT` - connect endpoint (only for client mode, optional)
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- `ZENOH_CONFIG_LISTEN` - listen endpoint (only for peer mode, optional)
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```bash
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cd examples/rpi_pico
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cmake -Bbuild -DPICO_BOARD="pico" -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password -DZENOH_CONFIG_MODE=[client|peer] -DZENOH_CONFIG_CONNECT=connect -DZENOH_CONFIG_LISTEN=listen
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cmake --build ./build
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```
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To flash the Raspberry Pi Pico board, connect it in bootloader mode (it will appear as a removable drive) and copy the generated .uf2 file onto it.
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**Serial connection**:
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To connect via UART specify pins or predefined device name and baud rate:
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e.g.
384+
```
385+
-DZENOH_CONFIG_CONNECT="serial/0.1#baudrate=38400"
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-DZENOH_CONFIG_CONNECT="serial/uart1_0#baudrate=38400"
387+
```
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Valid PIN combinations and associated device names:
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| **PINS** | **Device name** |
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|---------:|:---------------:|
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| 0.1 | uart0_0 |
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| 4.5 | uart1_0 |
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| 8.9 | uart1_1 |
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| 12.13 | uart0_1 |
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| 16.17 | uart0_2 |
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400+
**USB Serial connection (experemental)**:
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403+
To enable this feature, zenoh-pico should be compiled with `Z_FEATURE_LINK_SERIAL_USB` and `Z_FEATURE_UNSTABLE_API` enabled.
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To connect via USB CDC, specify `usb` device:
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e.g.
408+
```
409+
-DZENOH_CONFIG_CONNECT="serial/usb#baudrate=112500"
410+
```
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On the host Zenoh, specify the USB CDC device:
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e.g.
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```
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zenohd -l serial//dev/ttyACM1#baudrate=112500
417+
```
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332419
## 3. Running the Examples
333420
The simplest way to run some of the example is to get a Docker image of the **zenoh** router (see [http://zenoh.io/docs/getting-started/quick-test/](http://zenoh.io/docs/getting-started/quick-test/)) and then to run the examples on your machine.
334421

‎examples/rpi_pico/CMakeLists.txt

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1+
cmake_minimum_required(VERSION 3.13)
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3+
set(PICO_BOARD "pico_w" CACHE STRING "Raspberry Pi Pico board: pico, pico_w, pico2, pico2_w")
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5+
set(WIFI_SUPPORT_ENABLED 0)
6+
if(PICO_BOARD STREQUAL "pico_w" OR PICO_BOARD STREQUAL "pico2_w")
7+
set(WIFI_SUPPORT_ENABLED 1)
8+
endif()
9+
10+
# Set options
11+
set(WIFI_SSID "" CACHE STRING "WiFi SSID")
12+
set(WIFI_PASSWORD "" CACHE STRING "WiFi Password")
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14+
set(ZENOH_CONFIG_MODE "client" CACHE STRING "ZENOH_CONFIG_MODE")
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set(ZENOH_CONFIG_CONNECT CACHE STRING "ZENOH_CONFIG_CONNECT")
16+
set(ZENOH_CONFIG_LISTEN CACHE STRING "ZENOH_CONFIG_LISTEN")
17+
option(ZENOH_USB_UART "Enable USB UART" OFF)
18+
19+
message(STATUS "PICO_BOARD: ${PICO_BOARD}")
20+
message(STATUS "WIFI_SSID: ${WIFI_SSID}")
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if(WIFI_PASSWORD STREQUAL "")
22+
message(STATUS "WIFI_PASSWORD is empty")
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else()
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message(STATUS "WIFI_PASSWORD is set")
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endif()
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27+
message(STATUS "ZENOH_CONFIG_MODE: ${ZENOH_CONFIG_MODE}")
28+
message(STATUS "ZENOH_CONFIG_CONNECT: ${ZENOH_CONFIG_CONNECT}")
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message(STATUS "ZENOH_CONFIG_LISTEN: ${ZENOH_CONFIG_LISTEN}")
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message(STATUS "ZENOH_USB_UART: ${ZENOH_USB_UART}")
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configure_file(
33+
"${CMAKE_CURRENT_SOURCE_DIR}/include/config.h.in"
34+
"${CMAKE_CURRENT_SOURCE_DIR}/include/config.h"
35+
)
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set(CMAKE_C_STANDARD 11)
38+
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# Include Raspberry Pi Pico SDK
40+
if(NOT DEFINED ENV{PICO_SDK_PATH})
41+
message(FATAL_ERROR "PICO_SDK_PATH environment variable is not set. Please set it to the location of the Pico SDK.")
42+
endif()
43+
include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
44+
45+
# Include FreeRTOS SDK
46+
include(FreeRTOS_Kernel_import.cmake)
47+
48+
# Configure project
49+
project(zenohpico_rpi_pico_examples C CXX ASM)
50+
51+
if(WIFI_SUPPORT_ENABLED)
52+
set(WIFI_LIB pico_cyw43_arch_lwip_sys_freertos)
53+
else()
54+
set(WIFI_LIB "")
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endif()
56+
57+
if(ZENOH_USB_UART)
58+
set(USB_LIBS
59+
tinyusb_host
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tinyusb_device
61+
tinyusb_board
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)
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set(USB_INCLUDE
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${CMAKE_CURRENT_LIST_DIR}/include/tusb
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)
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else()
67+
set(USB_LIBS "")
68+
set(USB_INCLUDE "")
69+
endif()
70+
71+
add_compile_definitions(LWIP_TIMEVAL_PRIVATE=0)
72+
pico_sdk_init()
73+
74+
# Include Zenoh Pico library
75+
include(../../cmake/helpers.cmake)
76+
set_default_build_type(Release)
77+
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if (NOT WIFI_SUPPORT_ENABLED)
79+
declare_cache_var(Z_FEATURE_LINK_TCP 0 STRING "TCP support")
80+
declare_cache_var(Z_FEATURE_LINK_UDP_MULTICAST 0 STRING "UDP multicast support")
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declare_cache_var(Z_FEATURE_LINK_UDP_UNICAST 0 STRING "UDP unicast support")
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declare_cache_var(Z_FEATURE_SCOUTING_UDP 0 STRING "Scouting support")
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endif()
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declare_cache_var(Z_FEATURE_LINK_SERIAL 1 STRING "Serial support")
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if(ZENOH_USB_UART)
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declare_cache_var(Z_FEATURE_LINK_SERIAL_USB 1 STRING "Serial USB support")
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else()
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declare_cache_var(Z_FEATURE_LINK_SERIAL_USB 0 STRING "Serial USB support")
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endif()
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set(BUILD_SHARED_LIBS OFF)
93+
set(WITH_RPI_PICO ON)
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configure_include_project(ZENOHPICO zenohpico zenohpico::lib "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
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target_link_libraries(zenohpico_static
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hardware_uart
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pico_stdlib
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pico_rand
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FreeRTOS-Kernel-Heap4
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${WIFI_LIB}
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${USB_LIBS}
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)
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# Configure build
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target_include_directories(zenohpico_static PRIVATE
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${CMAKE_CURRENT_LIST_DIR}
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${CMAKE_CURRENT_LIST_DIR}/include
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${USB_INCLUDE}
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)
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add_library(main STATIC main.c)
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target_include_directories(main PRIVATE
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${CMAKE_CURRENT_LIST_DIR}
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${CMAKE_CURRENT_LIST_DIR}/include
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)
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target_link_libraries(main
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pico_stdlib
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pico_rand
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FreeRTOS-Kernel-Heap4
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${WIFI_LIB}
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)
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function(add_example name)
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add_executable(${name} ${name}.c)
128+
target_link_libraries(${name}
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main
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hardware_uart
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pico_stdlib
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pico_rand
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FreeRTOS-Kernel-Heap4
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zenohpico::lib
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${WIFI_LIB}
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${USB_LIBS}
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)
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target_include_directories(${name} PRIVATE
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${CMAKE_CURRENT_LIST_DIR}
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${CMAKE_CURRENT_LIST_DIR}/include
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${USB_INCLUDE}
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)
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if(ZENOH_USB_UART)
144+
pico_enable_stdio_uart(${name} 1)
145+
pico_enable_stdio_usb(${name} 0)
146+
else()
147+
pico_enable_stdio_uart(${name} 0)
148+
pico_enable_stdio_usb(${name} 1)
149+
endif()
150+
pico_add_extra_outputs(${name})
151+
endfunction()
152+
153+
#add_example(z_get)
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add_example(z_pub)
155+
#add_example(z_pub_st)
156+
#add_example(z_pub_thr)
157+
#add_example(z_pull)
158+
#add_example(z_put)
159+
#add_example(z_queryable)
160+
#add_example(z_scout)
161+
#add_example(z_sub)
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#add_example(z_sub_st)
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#add_example(z_sub_thr)

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