Add other Raspberry Pi Pico boards support

Author: sashacmc

.github/workflows/rpi_pico_w.yaml renamed to .github/workflows/rpi_pico.yaml

@@ -11,7 +11,7 @@
 # Contributors:
 #   ZettaScale Zenoh Team, <[email protected]>
 #
-name: rpi_pico_w 
+name: rpi_pico 
 
 on:
   push:
@@ -21,12 +21,13 @@ on:
 
 jobs:
   build:
-    name: Build on ${{ matrix.os }}
+    name: Build on ${{ matrix.os }} for ${{ matrix.pico_board }}
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         os: [ubuntu-latest]
+        pico_board: ["pico", "pico_w", "pico2", "pico2_w"]
     steps:
       - uses: actions/checkout@v4
       - uses: jwlawson/[email protected]
@@ -48,13 +49,15 @@ jobs:
           export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/
           mkdir -p $FREERTOS_KERNEL_PATH
           cd $FREERTOS_KERNEL_PATH
-          git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git --branch V11.1.0 .
+          git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git .
           git submodule update --init
           
       - name: Build examples
         run: |
           export PICO_SDK_PATH=$HOME/work/pico-sdk
           export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/
-          cd $HOME/work/zenoh-pico/zenoh-pico/examples/rpi_pico_w
-          cmake -Bbuild -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password
+          cd $HOME/work/zenoh-pico/zenoh-pico/examples/rpi_pico
+          cmake -Bbuild -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password -DPICO_BOARD="$PICO_BOARD"
           cmake --build ./build
+        env:
+          PICO_BOARD: ${{ matrix.pico_board}}

CMakeLists.txt

@@ -45,7 +45,7 @@ include(GNUInstallDirs)
 option(BUILD_SHARED_LIBS "Build shared libraries if ON, otherwise build static libraries" ON)
 option(WITH_ZEPHYR "Build for Zephyr RTOS" OFF)
 option(WITH_FREERTOS_PLUS_TCP "Build for FreeRTOS RTOS and FreeRTOS-Plus-TCP network stack" OFF)
-option(WITH_RPI_PICO_W "Build for Raspberry Pi Pico W" OFF)
+option(WITH_RPI_PICO "Build for Raspberry Pi Pico" OFF)
 set(ZENOH_DEBUG 0 CACHE STRING "Use this to set the ZENOH_DEBUG variable")
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
 if(CMAKE_EXPORT_COMPILE_COMMANDS)
@@ -186,7 +186,7 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
     pico_add_compile_definition(ZENOH_FREERTOS_PLUS_TCP)
   endif()
 elseif(CMAKE_SYSTEM_NAME MATCHES "PICO") # Raspberry Pi Pico Series
-  pico_add_compile_definition(ZENOH_RPI_PICO_W)
+  pico_add_compile_definition(ZENOH_RPI_PICO)
   set(CHECK_THREADS "OFF")
 else()
   message(FATAL_ERROR "zenoh-pico is not yet available on ${CMAKE_SYSTEM_NAME} platform")
@@ -279,7 +279,7 @@ message(STATUS "Unicast batch max size: ${BATCH_UNICAST_SIZE}")
 message(STATUS "Multicast batch max size: ${BATCH_MULTICAST_SIZE}")
 message(STATUS "Build for Zephyr RTOS: ${WITH_ZEPHYR}")
 message(STATUS "Build for FreeRTOS-Plus-TCP: ${WITH_FREERTOS_PLUS_TCP}")
-message(STATUS "Build for Raspberry Pi Pico W: ${WITH_RPI_PICO_W}")
+message(STATUS "Build for Raspberry Pi Pico: ${WITH_RPI_PICO}")
 message(STATUS "Configuring for ${CMAKE_SYSTEM_NAME}")
 
 if(SKBUILD)
@@ -341,9 +341,9 @@ if(WITH_ZEPHYR)
 elseif(WITH_FREERTOS_PLUS_TCP)
   file (GLOB Sources_Freertos_Plus_TCP "src/system/freertos_plus_tcp/*.c")
   list(APPEND Sources ${Sources_Freertos_Plus_TCP})
-elseif(WITH_RPI_PICO_W)
-  file (GLOB Sources_RPI_Pico_W "src/system/rpi_pico_w/*.c")
-  list(APPEND Sources ${Sources_RPI_Pico_W})
+elseif(WITH_RPI_PICO)
+  file (GLOB Sources_RPI_Pico "src/system/rpi_pico/*.c")
+  list(APPEND Sources ${Sources_RPI_Pico})
 elseif(CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin" OR CMAKE_SYSTEM_NAME MATCHES "BSD" OR POSIX_COMPATIBLE)
   file (GLOB Sources_Unix "src/system/unix/*.c" "src/system/unix/link/*.c")
   list(APPEND Sources ${Sources_Unix})

README.md

@@ -34,7 +34,7 @@ Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
 |      **OpenCR**       | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
 |    **Emscripten**     |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
 | **FreeRTOS-Plus-TCP** |         UDP (unicast), TCP       |         IPv4        |                      Ethernet                      |
-|**Raspberry Pi Pico W**| UDP (unicast and multicast), TCP |         IPv4        |                    WiFi, Serial                    |
+| **Raspberry Pi Pico** | UDP (unicast and multicast), TCP |         IPv4        |           WiFi (for "W" version), Serial           |
 
 Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
 
@@ -330,7 +330,8 @@ To build and upload the code into the board, run the following command:
   platformio run -t upload
   ```
 
-#### 2.2.6. Raspberry Pi Pico W 
+#### 2.2.6. Raspberry Pi Pico 
+Note: tested with `Raspberry Pi Pico W` and `Raspberry Pi Pico 2 W` boards
 
 Ensure your system has the necessary tools and libraries installed. Run the following commands:
 
@@ -345,7 +346,7 @@ Set up the Raspberry Pi Pico SDK by cloning the repository:
 export PICO_SDK_PATH=$HOME/src/pico-sdk
 mkdir -p $PICO_SDK_PATH
 cd $PICO_SDK_PATH
-git clone https://github.com/raspberrypi/pico-sdk.git --branch 2.1.0 .
+git clone https://github.com/raspberrypi/pico-sdk.git .
 git submodule update --init
 ```
 
@@ -355,24 +356,25 @@ Clone the FreeRTOS Kernel repository for the project:
 export FREERTOS_KERNEL_PATH=$HOME/src/FreeRTOS-Kernel/
 mkdir -p $FREERTOS_KERNEL_PATH
 cd $FREERTOS_KERNEL_PATH
-git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git --branch V11.1.0 .
+git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git .
 git submodule update --init
 ```
 
 Setup and build the examples:
+  `PICO_BOARD` - Pico board type: pico, pico_w, pico2, pico2_w (default: pico_w) 
   `WIFI_SSID` - Wi-Fi network SSID
   `WIFI_PASSWORD` - Wi-Fi password
   `ZENOH_CONFIG_MODE` - client or peer mode (default: client)
   `ZENOH_CONFIG_CONNECT` - connect endpoint (only for client mode, optional)
   `ZENOH_CONFIG_LISTEN` - listen endpoint (only for peer mode, optional)
 
 ```bash
-cd examples/rpi_pico_w
-cmake -Bbuild -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password -DZENOH_CONFIG_MODE=[client|peer] -DZENOH_CONFIG_CONNECT=connect -DZENOH_CONFIG_LISTEN=listen
+cd examples/rpi_pico
+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
 cmake --build ./build
 ```
 
-To flash the Raspberry Pi Pico W board, connect it in bootloader mode (it will appear as a removable drive) and copy the generated .uf2 file onto it.
+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.
 
 ## 3. Running the Examples
 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.

examples/rpi_pico_w/CMakeLists.txt renamed to examples/rpi_pico/CMakeLists.txt

@@ -1,5 +1,12 @@
 cmake_minimum_required(VERSION 3.13)
 
+set(PICO_BOARD "pico_w" CACHE STRING "Raspberry Pi Pico board: pico, pico_w, pico2, pico2_w")
+
+set(WIFI_SUPPORT_ENABLED 0)
+if(PICO_BOARD STREQUAL "pico_w" OR PICO_BOARD STREQUAL "pico2_w")
+  set(WIFI_SUPPORT_ENABLED 1)
+endif()
+
 # Set options
 set(WIFI_SSID "" CACHE STRING "WiFi SSID")
 set(WIFI_PASSWORD "" CACHE STRING "WiFi Password")
@@ -8,6 +15,7 @@ set(ZENOH_CONFIG_MODE "client" CACHE STRING "ZENOH_CONFIG_MODE")
 set(ZENOH_CONFIG_CONNECT CACHE STRING "ZENOH_CONFIG_CONNECT")
 set(ZENOH_CONFIG_LISTEN CACHE STRING "ZENOH_CONFIG_LISTEN")
 
+message(STATUS "PICO_BOARD: ${PICO_BOARD}")
 message(STATUS "WIFI_SSID: ${WIFI_SSID}")
 if(WIFI_PASSWORD STREQUAL "")
   message(STATUS "WIFI_PASSWORD is empty")
@@ -27,7 +35,6 @@ configure_file(
 set(CMAKE_C_STANDARD 11)
 
 # Include Raspberry Pi Pico SDK
-set(PICO_BOARD "pico_w")
 if(NOT DEFINED ENV{PICO_SDK_PATH})
   message(FATAL_ERROR "PICO_SDK_PATH environment variable is not set. Please set it to the location of the Pico SDK.")
 endif()
@@ -37,7 +44,13 @@ include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
 include(FreeRTOS_Kernel_import.cmake)
 
 # Configure project
-project(zenohpico_rpi_pico_w_examples C CXX ASM)
+project(zenohpico_rpi_pico_examples C CXX ASM)
+
+if(WIFI_SUPPORT_ENABLED)
+  set(WIFI_LIB pico_cyw43_arch_lwip_sys_freertos)
+else()
+  set(WIFI_LIB "")
+endif()
 
 add_compile_definitions(LWIP_TIMEVAL_PRIVATE=0)
 pico_sdk_init()
@@ -46,15 +59,26 @@ pico_sdk_init()
 include(../../cmake/helpers.cmake)
 set_default_build_type(Release)
 
+if (NOT WIFI_SUPPORT_ENABLED)
+  declare_cache_var(Z_FEATURE_LINK_TCP 0 STRING "TCP support")
+  declare_cache_var(Z_FEATURE_LINK_UDP_MULTICAST 0 STRING "UDP multicast support")
+  declare_cache_var(Z_FEATURE_LINK_UDP_UNICAST 0 STRING "UDP unicast support")
+  declare_cache_var(Z_FEATURE_SCOUTING_UDP 0 STRING "Scouting support")
+endif()
+
+declare_cache_var(Z_FEATURE_LINK_SERIAL 1 STRING "Serial support")
+
 set(BUILD_SHARED_LIBS OFF)
-set(WITH_RPI_PICO_W ON)
+set(WITH_RPI_PICO ON)
+
 configure_include_project(ZENOHPICO zenohpico zenohpico::lib "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
 
 target_link_libraries(zenohpico_static
   hardware_uart 
   pico_stdlib
-  pico_cyw43_arch_lwip_sys_freertos
+  pico_rand
   FreeRTOS-Kernel-Heap4
+  ${WIFI_LIB} 
 )
 
 # Configure build  
@@ -71,8 +95,9 @@ target_include_directories(main PRIVATE
 )
 target_link_libraries(main
   pico_stdlib
-  pico_cyw43_arch_lwip_sys_freertos
+  pico_rand
   FreeRTOS-Kernel-Heap4
+  ${WIFI_LIB} 
 )
 
 function(add_example name)
@@ -81,9 +106,10 @@ function(add_example name)
     main
     hardware_uart 
     pico_stdlib
-    pico_cyw43_arch_lwip_sys_freertos
+    pico_rand
     FreeRTOS-Kernel-Heap4
     zenohpico::lib
+    ${WIFI_LIB} 
   )
   target_include_directories(${name} PRIVATE 
     ${CMAKE_CURRENT_LIST_DIR}

examples/rpi_pico_w/FreeRTOS_Kernel_import.cmake renamed to examples/rpi_pico/FreeRTOS_Kernel_import.cmake

@@ -1,6 +1,7 @@
 #ifndef CONFIG_H
 #define CONFIG_H
 
+#define WIFI_SUPPORT_ENABLED @WIFI_SUPPORT_ENABLED@
 #define WIFI_SSID "@WIFI_SSID@"
 #define WIFI_PASSWORD "@WIFI_PASSWORD@"
 #define ZENOH_CONFIG_MODE "@ZENOH_CONFIG_MODE@"

examples/rpi_pico_w/include/FreeRTOSConfig.h renamed to examples/rpi_pico/include/FreeRTOSConfig.h

@@ -12,9 +12,15 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 
+#include <stdio.h>
+
 #include "FreeRTOS.h"
 #include "config.h"
+
+#if WIFI_SUPPORT_ENABLED
 #include "pico/cyw43_arch.h"
+#endif
+
 #include "pico/stdlib.h"
 #include "task.h"
 
@@ -23,6 +29,7 @@
 
 int app_main();
 
+#if WIFI_SUPPORT_ENABLED
 void print_ip_address() {
     struct netif *netif = &cyw43_state.netif[CYW43_ITF_STA];
     if (netif_is_up(netif)) {
@@ -33,12 +40,12 @@ void print_ip_address() {
         printf("Network interface is down.\n");
     }
 }
+#endif
 
 void main_task(void *params) {
     (void)params;
 
-    vTaskDelay(pdMS_TO_TICKS(1000));
-
+#if WIFI_SUPPORT_ENABLED
     if (cyw43_arch_init()) {
         printf("Failed to initialise\n");
         return;
@@ -58,10 +65,15 @@ void main_task(void *params) {
         printf("Offline mode\n");
         app_main();
     }
+#else
+    app_main();
+#endif
 
     printf("Terminate.\n");
 
+#if WIFI_SUPPORT_ENABLED
     cyw43_arch_deinit();
+#endif
 
     vTaskDelete(NULL);
 }

examples/rpi_pico_w/include/config.h.in renamed to examples/rpi_pico/include/config.h.in

@@ -26,7 +26,7 @@
                   "-<system/emscripten/>",
                   "-<system/espidf/>",
                   "-<system/freertos_plus_tcp/>",
-                  "-<system/rpi_pico_w/>",
+                  "-<system/rpi_pico/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
                   "-<system/flipper/>",
@@ -43,7 +43,7 @@
                       "-<system/emscripten/>",
                       "-<system/espidf>",
                       "-<system/freertos_plus_tcp/>",
-                      "-<system/rpi_pico_w/>",
+                      "-<system/rpi_pico/>",
                       "-<system/mbed/>",
                       "-<system/unix/>",
                       "-<system/flipper/>",
@@ -60,7 +60,7 @@
                           "-<system/emscripten/>",
                           "-<system/espidf>",
                           "-<system/freertos_plus_tcp/>",
-                          "-<system/rpi_pico_w/>",
+                          "-<system/rpi_pico/>",
                           "-<system/mbed/>",
                           "-<system/unix/>",
                           "-<system/flipper/>",
@@ -75,7 +75,7 @@
                   "-<system/arduino/>",
                   "-<system/emscripten/>",
                   "-<system/freertos_plus_tcp/>",
-                  "-<system/rpi_pico_w/>",
+                  "-<system/rpi_pico/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
                   "-<system/flipper/>",
@@ -91,7 +91,7 @@
                   "-<system/emscripten/>",
                   "-<system/espidf/>",
                   "-<system/freertos_plus_tcp/>",
-                  "-<system/rpi_pico_w/>",
+                  "-<system/rpi_pico/>",
                   "-<system/unix/>",
                   "-<system/flipper/>",
                   "-<system/windows/>",

examples/rpi_pico_w/include/lwipopts.h renamed to examples/rpi_pico/include/lwipopts.h

@@ -34,7 +34,7 @@
 #define Z_FEATURE_LINK_TCP 1
 #define Z_FEATURE_LINK_BLUETOOTH 0
 #define Z_FEATURE_LINK_WS 0
-#define Z_FEATURE_LINK_SERIAL 1
+#define Z_FEATURE_LINK_SERIAL 0
 #define Z_FEATURE_SCOUTING_UDP 1
 #define Z_FEATURE_LINK_UDP_MULTICAST 1
 #define Z_FEATURE_LINK_UDP_UNICAST 1

examples/rpi_pico_w/main.c renamed to examples/rpi_pico/main.c

@@ -12,8 +12,10 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 
-#ifndef ZENOH_PICO_SYSTEM_RPI_PICO_W_TYPES_H
-#define ZENOH_PICO_SYSTEM_RPI_PICO_W_TYPES_H
+#ifndef ZENOH_PICO_SYSTEM_RPI_PICO_TYPES_H
+#define ZENOH_PICO_SYSTEM_RPI_PICO_TYPES_H
+
+#include <time.h>
 
 #include "FreeRTOS.h"
 #include "event_groups.h"
@@ -76,4 +78,4 @@ typedef struct {
 }
 #endif
 
-#endif  // ZENOH_PICO_SYSTEM_RPI_PICO_W_TYPES_H
+#endif  // ZENOH_PICO_SYSTEM_RPI_PICO_TYPES_H

examples/rpi_pico_w/z_get.c renamed to examples/rpi_pico/z_get.c

@@ -46,8 +46,8 @@
 #include "zenoh-pico/system/platform/flipper.h"
 #elif defined(ZENOH_FREERTOS_PLUS_TCP)
 #include "zenoh-pico/system/platform/freertos_plus_tcp.h"
-#elif defined(ZENOH_RPI_PICO_W)
-#include "zenoh-pico/system/platform/rpi_pico_w.h"
+#elif defined(ZENOH_RPI_PICO)
+#include "zenoh-pico/system/platform/rpi_pico.h"
 #else
 #include "zenoh-pico/system/platform/void.h"
 #error "Unknown platform"