Obey timeout value on SerialUART.read/.peek (#211)

Fixes a hang when reading from the Serial UART ports because before the
core would pause indefinitely for the next character.

Now, wait up to Serial.setTimeout() milliseconds and if it times out
return -1 to the app.

Fixes #210

cores/rp2040/Arduino.h

@@ -24,16 +24,11 @@
 #include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
-// Wacky deprecated AVR compatibility functions
-#include "stdlib_noniso.h"
-
+#include "stdlib_noniso.h" // Wacky deprecated AVR compatibility functions
 #include "api/ArduinoAPI.h"
+#include "api/itoa.h" // ARM toolchain doesn't provide itoa etc, provide them
 #include <pins_arduino.h>
-
-
-// Required for the port*Register macros
-#include "hardware/gpio.h"
-
+#include "hardware/gpio.h" // Required for the port*Register macros
 #include "debug_internal.h"
 
 // Try and make the best of the old Arduino abs() macro.  When in C++, use
@@ -44,8 +39,10 @@
 #endif // abs
 #ifdef __cplusplus
 using std::abs;
+using std::round;
 #else
-#define abs(x) ((x)>0?(x):-(x))
+#define abs(x) ({ __typeof__(x) _x = (x); _x >= 0 ? _x : -_x; })
+#define round(x) ({ __typeof__(x) _x = (x); _x >= 0 ? (long)(_x + 0.5) : (long)(_x - 0.5); })
 #endif
 
 #ifdef __cplusplus
@@ -61,10 +58,6 @@ extern "C" {
 void interrupts();
 void noInterrupts();
 
-// GPIO change/value interrupts
-void attachInterrupt(pin_size_t pin, voidFuncPtr callback, PinStatus mode);
-void detachInterrupt(pin_size_t pin);
-
 // AVR compatibility macros...naughty and accesses the HW directly
 #define digitalPinToPort(pin)       (0)
 #define digitalPinToBitMask(pin)    (1UL << (pin))
@@ -75,28 +68,14 @@ void detachInterrupt(pin_size_t pin);
 #define portInputRegister(port)     ((volatile uint32_t*) sio_hw->gpio_in)
 #define portModeRegister(port)      ((volatile uint32_t*) sio_hw->gpio_oe)
 
-// IO config
-void pinMode(pin_size_t pinNumber, PinMode pinMode);
-
-// SIO (GPIO)
-void digitalWrite(pin_size_t pinNumber, PinStatus status);
-PinStatus digitalRead(pin_size_t pinNumber);
-
-// ADC
-int analogRead(pin_size_t pinNumber);
+// ADC RP2040-specific calls
 float analogReadTemp();  // Returns core temp in Centigrade
 
-// PWM
-void analogWrite(pin_size_t pinNumber, int value);
+// PWM RP2040-specific calls
 void analogWriteFreq(uint32_t freq);
 void analogWriteRange(uint32_t range);
 void analogWriteResolution(int res);
 
-// Timing
-void delay(unsigned long);
-void delayMicroseconds(unsigned int us);
-unsigned long millis();
-
 #ifdef __cplusplus
 } // extern "C"
 #endif
@@ -127,8 +106,4 @@ constexpr uint32_t __bitset(const int (&a)[N], size_t i = 0U) {
 }
 #endif
 
-
-// ARM toolchain doesn't provide itoa etc, provide them
-#include "api/itoa.h"
-
 #endif // Arduino_h

cores/rp2040/RP2040USB.cpp

@@ -153,7 +153,8 @@ static uint8_t *GetDescHIDReport(int *len) {
 // Invoked when received GET HID REPORT DESCRIPTOR
 // Application return pointer to descriptor
 // Descriptor contents must exist long enough for transfer to complete
-uint8_t const * tud_hid_descriptor_report_cb(void) {
+uint8_t const * tud_hid_descriptor_report_cb(uint8_t instance) {
+    (void) instance;
     return GetDescHIDReport(nullptr);
 }
 
@@ -177,7 +178,7 @@ const uint8_t *tud_descriptor_configuration_cb(uint8_t index) {
         uint8_t hid_itf = __USBInstallSerial ? 2 : 0;
         static uint8_t hid_desc[TUD_HID_DESC_LEN] = {
             // Interface number, string index, protocol, report descriptor len, EP In & Out address, size & polling interval
-            TUD_HID_DESCRIPTOR(hid_itf, 0, HID_PROTOCOL_NONE, hid_report_len, EPNUM_HID, CFG_TUD_HID_EP_BUFSIZE, 10)
+            TUD_HID_DESCRIPTOR(hid_itf, 0, HID_ITF_PROTOCOL_NONE, hid_report_len, EPNUM_HID, CFG_TUD_HID_EP_BUFSIZE, 10)
         };
 
         uint8_t midi_itf = hid_itf + (hasHID ? 1 : 0);
@@ -230,15 +231,7 @@ const uint16_t *tud_descriptor_string_cb(uint8_t index, uint16_t langid) {
     };
 
     if (!idString[0]) {
-        // Get ID string into human readable serial number on the first pass
-        pico_unique_board_id_t id;
-        pico_get_unique_board_id(&id);
-        idString[0] = 0;
-        for (auto i = 0; i < PICO_UNIQUE_BOARD_ID_SIZE_BYTES; i++) {
-            char hx[3];
-            sprintf(hx, "%02X", id.id[i]);
-            strcat(idString, hx);
-        }
+        pico_get_unique_board_id_string(idString, sizeof(idString));
     }
 
     uint8_t len;
@@ -296,8 +289,9 @@ void __USBStart() {
 // Invoked when received GET_REPORT control request
 // Application must fill buffer report's content and return its length.
 // Return zero will cause the stack to STALL request
-uint16_t tud_hid_get_report_cb(uint8_t report_id, hid_report_type_t report_type, uint8_t* buffer, uint16_t reqlen) {
-    // TODO not Implemented
+extern "C" uint16_t tud_hid_get_report_cb(uint8_t instance, uint8_t report_id, hid_report_type_t report_type, uint8_t* buffer, uint16_t reqlen) {
+    // TODO not implemented
+    (void) instance;
     (void) report_id;
     (void) report_type;
     (void) buffer;
@@ -308,8 +302,9 @@ uint16_t tud_hid_get_report_cb(uint8_t report_id, hid_report_type_t report_type,
 
 // Invoked when received SET_REPORT control request or
 // received data on OUT endpoint ( Report ID = 0, Type = 0 )
-void tud_hid_set_report_cb(uint8_t report_id, hid_report_type_t report_type, uint8_t const* buffer, uint16_t bufsize) {
+extern "C" void tud_hid_set_report_cb(uint8_t instance, uint8_t report_id, hid_report_type_t report_type, uint8_t const* buffer, uint16_t bufsize) {
     // TODO set LED based on CAPLOCK, NUMLOCK etc...
+    (void) instance;
     (void) report_id;
     (void) report_type;
     (void) buffer;
@@ -317,4 +312,3 @@ void tud_hid_set_report_cb(uint8_t report_id, hid_report_type_t report_type, uin
 }
 
 #endif
-

cores/rp2040/SerialUART.cpp

@@ -115,7 +115,11 @@ int SerialUART::peek() {
     if (_peek >= 0) {
         return _peek;
     }
-    _peek = uart_getc(_uart);
+    if (uart_is_readable_within_us(_uart, _timeout * 1000)) {
+        _peek = uart_getc(_uart);
+    } else {
+        _peek = -1; // Timeout
+    }
     return _peek;
 }
 
@@ -129,7 +133,11 @@ int SerialUART::read() {
         _peek = -1;
         return ret;
     }
-    return uart_getc(_uart);
+    if (uart_is_readable_within_us(_uart, _timeout * 1000)) {
+        return uart_getc(_uart);
+    } else {
+        return -1; // Timeout
+    }
 }
 
 int SerialUART::available() {

cores/rp2040/SerialUSB.cpp

@@ -70,7 +70,7 @@ int SerialUSB::peek() {
     }
 
     uint8_t c;
-    return tud_cdc_peek(0, &c) ? (int) c : -1;
+    return tud_cdc_peek(&c) ? (int) c : -1;
 }
 
 int SerialUSB::read() {

cores/rp2040/Tone.cpp

@@ -88,6 +88,7 @@ void tone(uint8_t pin, unsigned int frequency, unsigned long duration) {
             newTone->alarm = 0;
         }
     }
+    pio_sm_clear_fifos(newTone->pio, newTone->sm); // Remove any old updates that haven't yet taken effect
     pio_sm_put_blocking(newTone->pio, newTone->sm, RP2040::usToPIOCycles(us));
     pio_sm_set_enabled(newTone->pio, newTone->sm, true);
 

lib/pico_base/pico/version.h

@@ -12,8 +12,8 @@
 #define _PICO_VERSION_H
 
 #define PICO_SDK_VERSION_MAJOR    1
-#define PICO_SDK_VERSION_MINOR    1
-#define PICO_SDK_VERSION_REVISION 2
-#define PICO_SDK_VERSION_STRING   "1.1.2"
+#define PICO_SDK_VERSION_MINOR    2
+#define PICO_SDK_VERSION_REVISION 0
+#define PICO_SDK_VERSION_STRING   "1.2.0"
 
 #endif

libraries/Servo/src/Servo.cpp

@@ -135,6 +135,7 @@ void Servo::writeMicroseconds(int value) {
     value = constrain(value, _minUs, _maxUs);
     _valueUs = value;
     if (_attached) {
+        pio_sm_clear_fifos(_pio, _smIdx); // Remove any old updates that haven't yet taken effect
         pio_sm_put_blocking(_pio, _smIdx, RP2040::usToPIOCycles(value) / 3);
     }
 }

libraries/rp2040/examples/Siren/Siren.ino

@@ -7,7 +7,8 @@ void setup() {
 }
 
 void loop() {
-  for (int i = 100; i < 10000; i += 5) {
+  for (int i = 100; i < 10000; i += 1) {
     tone(TONEPIN, i);
+    delayMicroseconds(20);
   }
 }