Add pico-debug support (#239 )

Update toolchain, add CMSIS-DAP to OpenOCD (#241 )
Enable use of the included openocd binary with pico-debug
2021-07-07 12:55:03 -07:00 · 2021-07-05 19:29:47 -07:00 · 2021-07-04 13:46:50 -07:00 · 2021-07-04 12:30:59 -07:00 · 2021-06-30 08:42:13 -07:00 · 2021-06-30 08:22:36 -07:00
30 changed files with 1888 additions and 671 deletions
@@ -102,8 +102,25 @@ The first line creates a file with the USB vendor and ID of the Picoprobe and te

 Once Picoprobe permissions are set up properly, then select the board "Raspberry Pi Pico (Picoprobe)" in the Tools menu and upload as normal.

-# Debugging with Picoprobe, OpenOCD, and GDB
-The installed tools include a version of OpenOCD (in the pqt-openocd directory) and GDB (in the pqt-gcc directory).  These may be used to run GDB in an interactive window as documented in the Pico Getting Started manuals from the Raspberry Pi Foundation.
+# Uploading Sketches with pico-debug
+[pico-debug](https://github.com/majbthrd/pico-debug/) differs from Picoprobe in that pico-debug is a virtual debug pod that runs side-by-side on the same RP2040 that you run your code on; so, you only need one RP2040 board instead of two.  pico-debug also differs from Picoprobe in that pico-debug is standards-based; it uses the CMSIS-DAP protocol, which means even software not specially written for the Raspberry Pi Pico can support it.  pico-debug uses OpenOCD to handle your sketch uploads, and debugging can be accomplished with CMSIS-DAP capable debuggers including GDB.
+
+Under Windows and macOS, any user should be able to access pico-debug automatically, but under Linux `udev` must be told about the device and to allow normal users access.
+
+To set up user-level access to all CMSIS-DAP adapters on Ubuntu (and other OSes which use `udev`):
+````
+echo 'ATTRS{product}=="*CMSIS-DAP*", MODE="664", GROUP="plugdev"' | sudo tee -a /etc/udev/rules.d/98-CMSIS-DAP.rules
+sudo udevadm control --reload
+````
+
+The first line creates a file that recognizes all CMSIS-DAP adapters and tells UDEV to give users full access to it.  The second causes `udev` to load this new rule.  Note that you will need to unplug and re-plug in your device the first time you create this file, to allow udev to make the device node properly.
+
+Once CMSIS-DAP permissions are set up properly, then select the board "Raspberry Pi Pico (pico-debug)" in the Tools menu.
+
+When first connecting the USB port to your PC, you must copy [pico-debug-gimmecache.uf2](https://github.com/majbthrd/pico-debug/releases/) to the Pi Pico to load pico-debug into RAM; after this, upload as normal.
+
+# Debugging with Picoprobe/pico-debug, OpenOCD, and GDB
+The installed tools include a version of OpenOCD (in the pqt-openocd directory) and GDB (in the pqt-gcc directory).  These may be used to run GDB in an interactive window as documented in the Pico Getting Started manuals from the Raspberry Pi Foundation.  For [pico-debug](https://github.com/majbthrd/pico-debug/), replace the raspberrypi-swd and picoprobe example OpenOCD arguments of "-f interface/raspberrypi-swd.cfg -f target/rp2040.cfg" or "-f interface/picoprobe.cfg -f target/rp2040.cfg" respectively in the Pico Getting Started manual with "-f board/pico-debug.cfg".

 # Features
 * Adafruit TinyUSB Arduino (USB mouse, keyboard, flash drive, generic HID, CDC Serial, MIDI, WebUSB, others)
@@ -1,315 +0,0 @@
-/*
- * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
- *
- * SPDX-License-Identifier: BSD-3-Clause
- */
-
-#include "hardware/regs/m0plus.h"
-#include "hardware/platform_defs.h"
-#include "hardware/regs/addressmap.h"
-#include "hardware/regs/sio.h"
-#include "pico/binary_info/defs.h"
-
-#ifdef NDEBUG
-#ifndef COLLAPSE_IRQS
-#define COLLAPSE_IRQS
-#endif
-#endif
-
-.syntax unified
-.cpu cortex-m0plus
-.thumb
-
-.section .vectors, "ax"
-.align 2
-
-.global __vectors
-__vectors:
-.word __StackTop
-.word _reset_handler
-.word isr_nmi
-.word isr_hardfault
-.word isr_invalid // Reserved, should never fire
-.word isr_invalid // Reserved, should never fire
-.word isr_invalid // Reserved, should never fire
-.word isr_invalid // Reserved, should never fire
-.word isr_invalid // Reserved, should never fire
-.word isr_invalid // Reserved, should never fire
-.word isr_invalid // Reserved, should never fire
-.word isr_svcall
-.word isr_invalid // Reserved, should never fire
-.word isr_invalid // Reserved, should never fire
-.word isr_pendsv
-.word isr_systick
-.word isr_irq0
-.word isr_irq1
-.word isr_irq2
-.word isr_irq3
-.word isr_irq4
-.word isr_irq5
-.word isr_irq6
-.word isr_irq7
-.word isr_irq8
-.word isr_irq9
-.word isr_irq10
-.word isr_irq11
-.word isr_irq12
-.word isr_irq13
-.word isr_irq14
-.word isr_irq15
-.word isr_irq16
-.word isr_irq17
-.word isr_irq18
-.word isr_irq19
-.word isr_irq20
-.word isr_irq21
-.word isr_irq22
-.word isr_irq23
-.word isr_irq24
-.word isr_irq25
-.word isr_irq26
-.word isr_irq27
-.word isr_irq28
-.word isr_irq29
-.word isr_irq30
-.word isr_irq31
-
-// Declare a weak symbol for each ISR.
-// By default, they will fall through to the undefined IRQ handler below (breakpoint),
-// but can be overridden by C functions with correct name.
-
-.macro decl_isr_bkpt name
-.weak \name
-.type \name,%function
-.thumb_func
-\name:
-    bkpt #0
-.endm
-
-// these are separated out for clarity
-decl_isr_bkpt isr_invalid
-decl_isr_bkpt isr_nmi
-decl_isr_bkpt isr_hardfault
-decl_isr_bkpt isr_svcall
-decl_isr_bkpt isr_pendsv
-decl_isr_bkpt isr_systick
-
-.macro decl_isr name
-.weak \name
-.type \name,%function
-.thumb_func
-\name:
-.endm
-
-decl_isr isr_irq0
-decl_isr isr_irq1
-decl_isr isr_irq2
-decl_isr isr_irq3
-decl_isr isr_irq4
-decl_isr isr_irq5
-decl_isr isr_irq6
-decl_isr isr_irq7
-decl_isr isr_irq8
-decl_isr isr_irq9
-decl_isr isr_irq10
-decl_isr isr_irq11
-decl_isr isr_irq12
-decl_isr isr_irq13
-decl_isr isr_irq14
-decl_isr isr_irq15
-decl_isr isr_irq16
-decl_isr isr_irq17
-decl_isr isr_irq18
-decl_isr isr_irq19
-decl_isr isr_irq20
-decl_isr isr_irq21
-decl_isr isr_irq22
-decl_isr isr_irq23
-decl_isr isr_irq24
-decl_isr isr_irq25
-decl_isr isr_irq26
-decl_isr isr_irq27
-decl_isr isr_irq28
-decl_isr isr_irq29
-decl_isr isr_irq30
-decl_isr isr_irq31
-
-// All unhandled USER IRQs fall through to here
-.global __unhandled_user_irq
-.thumb_func
-__unhandled_user_irq:
-    bl __get_current_exception
-    subs r0, #16
-.global unhandled_user_irq_num_in_r0
-unhandled_user_irq_num_in_r0:
-    bkpt #0
-
-.section .reset, "ax"
-
-// This is the beginning of the image, which is entered from stage2 or bootrom USB MSD watchdog reboot
-
-// note if we are NO_FLASH then start: below is currently identical anyway, so save 4 bytes
-#if !PICO_NO_FLASH
-    // We simply install our own vector table and redirect through it
-    ldr r0, =__vectors
-    b __vector_entry
-#endif
-
-// ELF entry point generally called when we load an ELF via debugger
-.type _entry_point,%function
-.thumb_func
-.global _entry_point
-_entry_point:
-
-#if PICO_NO_FLASH
-    // non flash
-    ldr r0, =__vectors
-#else
-    // todo clear watchdog?
-    // When using flash, we install and use the ROM vector table to go thru regular bootrom/stage2 flash sequence
-    movs r0, #0
-#endif
-
-__vector_entry:
-    ldr r1, =(PPB_BASE + M0PLUS_CPUID_OFFSET)
-    str r0, [r1, #8]
-    ldmia r0!, {r1, r2}
-    msr msp, r1
-    bx r2
-
-// ----------------------------------------------------------------------------
-// Reset handler:
-// - initialises .data
-// - clears .bss
-// - calls runtime_init
-// - calls main
-// - calls exit (which should eventually hang the processor via _exit)
-
-.type _reset_handler,%function
-.thumb_func
-_reset_handler:
-    // Hang all cores except core 0
-    ldr r0, =(SIO_BASE + SIO_CPUID_OFFSET)
-    ldr r0, [r0]
-    cmp r0, #0
-    bne wait_for_vector
-
-    adr r4, data_cpy_table
-
-    // assume there is at least one entry
-1:
-    ldmia r4!, {r1-r3}
-    cmp r1, #0
-    beq 2f
-    bl data_cpy
-    b 1b
-2:
-
-    // Zero out the BSS
-    ldr r1, =__bss_start__
-    ldr r2, =__bss_end__
-    movs r0, #0
-    b bss_fill_test
-bss_fill_loop:
-    stm r1!, {r0}
-bss_fill_test:
-    cmp r1, r2
-    bne bss_fill_loop
-
-platform_entry: // symbol for stack traces
-    // Use 32-bit jumps, in case these symbols are moved out of branch range
-    // (e.g. if main is in SRAM and crt0 in flash)
-    ldr r1, =runtime_init
-    blx r1
-    ldr r1, =main
-    blx r1
-    ldr r1, =exit
-    blx r1
-    // exit should not return.  If it does, hang the core.
-    // (fall thru into our hang _exit impl
-.weak _exit
-.type _exit,%function
-.thumb_func
-_exit:
-1: // separate label because _exit can be moved out of branch range
-    bkpt #0
-    b 1b
-
-data_cpy_loop:
-    ldm r1!, {r0}
-    stm r2!, {r0}
-data_cpy:
-    cmp r2, r3
-    blo data_cpy_loop
-    bx lr
-
-#if !PICO_NO_BINARY_INFO
-binary_info_header:
-.word BINARY_INFO_MARKER_START
-.word __binary_info_start
-.word __binary_info_end
-.word data_cpy_table // we may need to decode pointers that are in RAM at runtime.
-.word BINARY_INFO_MARKER_END
-#endif
-
-.align 2
-data_cpy_table:
-#if PICO_COPY_TO_RAM
-.word __ram_text_source__
-.word __ram_text_start__
-.word __ram_text_end__
-#endif
-.word __etext
-.word __data_start__
-.word __data_end__
-
-.word __scratch_x_source__
-.word __scratch_x_start__
-.word __scratch_x_end__
-
-.word __scratch_y_source__
-.word __scratch_y_start__
-.word __scratch_y_end__
-
-.word 0 // null terminator
-
-// ----------------------------------------------------------------------------
-// Provide safe defaults for _exit and runtime_init
-// Full implementations usually provided by platform.c
-
-.weak runtime_init
-.type runtime_init,%function
-.thumb_func
-runtime_init:
-    bx lr
-
-// ----------------------------------------------------------------------------
-// In case core 1's VTOR has already been moved into flash, we need to handle
-// core 1 reset. However, we do so by just jumping back into bootrom version of
-// wait_for_vector
-
-wait_for_vector:
-    ldr r0, = 'W' | ('V' << 8)
-    bl rom_func_lookup
-    bx r0
-
-.global __get_current_exception
-.thumb_func
-__get_current_exception:
-    mrs  r0, ipsr
-    uxtb r0, r0
-    bx   lr
-
-// ----------------------------------------------------------------------------
-// Stack/heap dummies to set size
-
-.section .stack
-// align to allow for memory protection (although this alignment is pretty much ignored by linker script)
-.align 5
-    .equ StackSize, PICO_STACK_SIZE
-.space StackSize
-
-.section .heap
-.align 2
-    .equ HeapSize, PICO_HEAP_SIZE
-.space HeapSize
@@ -21,6 +21,8 @@
 #include <hardware/clocks.h>
 #include <hardware/irq.h>
 #include <hardware/pio.h>
+#include <hardware/exception.h>
+#include <hardware/structs/systick.h>
 #include <pico/multicore.h>
 #include <pico/util/queue.h>
 #include <CoreMutex.h>
@@ -114,8 +116,21 @@ private:
    static constexpr int _GOTOSLEEP = 0x66666666;
 };

+class RP2040;
+extern RP2040 rp2040;
 class RP2040 {
 public:
+    RP2040() {
+        _epoch = 0;
+        // Enable SYSTICK exception
+        exception_set_exclusive_handler(SYSTICK_EXCEPTION, _SystickHandler);
+        systick_hw->csr = 0x7;
+        systick_hw->rvr = 0x00FFFFFF;
+    }
+
+    ~RP2040() { /* noop */ }
+
+
    // Convert from microseconds to PIO clock cycles
    static int usToPIOCycles(int us) {
        // Parenthesis needed to guarantee order of operations to avoid 32bit overflow
@@ -127,18 +142,44 @@ public:
        return clock_get_hz(clk_sys);
    }

+    // Get CPU cycle count.  Needs to do magic to extens 24b HW to something longer
+    volatile uint64_t _epoch = 0;
+    inline uint32_t getCycleCount() {
+        uint32_t epoch;
+        uint32_t ctr;
+        do {
+            epoch = (uint32_t)_epoch;
+            ctr = systick_hw->cvr;
+        } while (epoch != (uint32_t)_epoch);
+        return epoch + (1 << 24) - ctr; /* CTR counts down from 1<<24-1 */
+    }
+
+    inline uint64_t getCycleCount64() {
+        uint64_t epoch;
+        uint64_t ctr;
+        do {
+            epoch = _epoch;
+            ctr = systick_hw->cvr;
+        } while (epoch != _epoch);
+        return epoch + (1LL << 24) - ctr;
+    }
+
    void idleOtherCore() {
        fifo.idleOtherCore();
    }
+
    void resumeOtherCore() {
        fifo.resumeOtherCore();
    }

    // Multicore comms FIFO
    _MFIFO fifo;
-};

-extern RP2040 rp2040;
+private:
+    static void _SystickHandler() {
+        rp2040._epoch += 1LL << 24;
+    }
+};

 // Wrapper class for PIO programs, abstracting common operations out
 // TODO - Add unload/destructor
@@ -19,7 +19,7 @@
    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */

-#ifndef USE_TINYUSB
+#if !defined(USE_TINYUSB) && !defined(NO_USB)

 #include <Arduino.h>
 #include "CoreMutex.h"
@@ -161,7 +161,7 @@ uint8_t const * tud_hid_descriptor_report_cb(uint8_t instance) {

 const uint8_t *tud_descriptor_configuration_cb(uint8_t index) {
    (void)index;
-    static uint8_t *usbd_desc_cfg;
+    static uint8_t *usbd_desc_cfg = NULL;

    if (!usbd_desc_cfg) {
        bool hasHID = __USBInstallKeyboard || __USBInstallMouse;
@@ -20,7 +20,7 @@
    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */

-#ifndef USE_TINYUSB
+#if !defined(USE_TINYUSB) && !defined(NO_USB)

 #include <Arduino.h>
 #include "CoreMutex.h"
@@ -1,90 +0,0 @@
-/*
-    The MIT License (MIT)
-
-    Copyright (c) 2018, hathach for Adafruit
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in
-    all copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-    THE SOFTWARE.
-*/
-
-#ifndef _TUSB_CONFIG_H_
-#define _TUSB_CONFIG_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//--------------------------------------------------------------------
-// COMMON CONFIGURATION
-//--------------------------------------------------------------------
-#ifdef USE_TINYUSB
-#define CFG_TUSB_RHPORT0_MODE       OPT_MODE_DEVICE
-#else
-#define CFG_TUSB_RHPORT0_MODE       OPT_MODE_NONE
-#endif
-
-//#ifndef CFG_TUSB_MCU
-// #define CFG_TUSB_MCU                OPT_MCU_RP2040
-//#endif
-#define CFG_TUSB_OS                 OPT_OS_PICO
-
-#define CFG_TUSB_DEBUG              0
-//#if CFG_TUSB_DEBUG
-//  #define tu_printf                 serial1_printf
-//  extern int serial1_printf(const char *__restrict __format, ...);
-//#endif
-
-#define CFG_TUSB_MEM_SECTION
-#define CFG_TUSB_MEM_ALIGN          TU_ATTR_ALIGNED(4)
-
-//--------------------------------------------------------------------
-// DEVICE CONFIGURATION
-//--------------------------------------------------------------------
-
-#define CFG_TUD_ENDOINT0_SIZE       64
-
-//------------- CLASS -------------//
-#define CFG_TUD_CDC                 1
-#define CFG_TUD_MSC                 1
-#define CFG_TUD_HID                 1
-#define CFG_TUD_MIDI                1
-#define CFG_TUD_VENDOR              1
-
-// CDC FIFO size of TX and RX
-#define CFG_TUD_CDC_RX_BUFSIZE      256
-#define CFG_TUD_CDC_TX_BUFSIZE      256
-
-// MSC Buffer size of Device Mass storage
-#define CFG_TUD_MSC_BUFSIZE         512
-
-// HID buffer size Should be sufficient to hold ID (if any) + Data
-#define CFG_TUD_HID_BUFSIZE         64
-
-// MIDI FIFO size of TX and RX
-#define CFG_TUD_MIDI_RX_BUFSIZE     128
-#define CFG_TUD_MIDI_TX_BUFSIZE     128
-
-// Vendor FIFO size of TX and RX
-#define CFG_TUD_VENDOR_RX_BUFSIZE   64
-#define CFG_TUD_VENDOR_TX_BUFSIZE   64
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _TUSB_CONFIG_H_ */
@@ -61,6 +61,7 @@ extern "C" int main() {
    mutex_init(&_pioMutex);
    initVariant();

+#ifndef NO_USB
 #ifdef USE_TINYUSB
    TinyUSB_Device_Init(0);

@@ -72,11 +73,13 @@ extern "C" int main() {
    Serial.begin(115200);
 #endif
 #endif
+#endif

 #if defined DEBUG_RP2040_PORT
    DEBUG_RP2040_PORT.begin();
 #endif

+#ifndef NO_USB
    if (setup1 || loop1) {
        rp2040.fifo.begin(2);
        multicore_launch_core1(main1);
@@ -84,6 +87,7 @@ extern "C" int main() {
        rp2040.fifo.begin(1);
    }
    rp2040.fifo.registerCore();
+#endif

    setup();
    while (true) {
@@ -135,6 +135,25 @@ The first line creates a file with the USB vendor and ID of the Picoprobe and te

 Once Picoprobe permissions are set up properly, then select the board "Raspberry Pi Pico (Picoprobe)" in the Tools menu and upload as normal.

-Debugging with Picoprobe, OpenOCD, and GDB
------------------------------------------
-The installed tools include a version of OpenOCD (in the pqt-openocd directory) and GDB (in the pqt-gcc directory).  These may be used to run GDB in an interactive window as documented in the Pico Getting Started manuals from the Raspberry Pi Foundation.
+Uploading Sketches with pico-debug
+----------------------------------
+pico-debug differs from Picoprobe in that pico-debug is a virtual debug pod that runs side-by-side on the same RP2040 that you run your code on; so, you only need one RP2040 board instead of two.  pico-debug also differs from Picoprobe in that pico-debug is standards-based; it uses the CMSIS-DAP protocol, which means even software not specially written for the Raspberry Pi Pico can support it.  pico-debug uses OpenOCD to handle your sketch uploads, and debugging can be accomplished with CMSIS-DAP capable debuggers including GDB.
+
+Under Windows and macOS, any user should be able to access pico-debug automatically, but under Linux `udev` must be told about the device and to allow normal users access.
+
+To set up user-level access to all CMSIS-DAP adapters on Ubuntu (and other OSes which use `udev`):
+
+.. code::
+
+        echo 'ATTRS{product}=="*CMSIS-DAP*", MODE="664", GROUP="plugdev"' | sudo tee -a /etc/udev/rules.d/98-CMSIS-DAP.rules
+        sudo udevadm control --reload
+
+The first line creates a file that recognizes all CMSIS-DAP adapters and tells UDEV to give users full access to it.  The second causes `udev` to load this new rule.  Note that you will need to unplug and re-plug in your device the first time you create this file, to allow udev to make the device node properly.
+
+Once CMSIS-DAP permissions are set up properly, then select the board "Raspberry Pi Pico (pico-debug)" in the Tools menu.
+
+When first connecting the USB port to your PC, you must copy pico-debug-gimmecache.uf2 to the Pi Pico to load pico-debug into RAM; after this, upload as normal.
+
+Debugging with Picoprobe/pico-debug, OpenOCD, and GDB
+-----------------------------------------------------
+The installed tools include a version of OpenOCD (in the pqt-openocd directory) and GDB (in the pqt-gcc directory).  These may be used to run GDB in an interactive window as documented in the Pico Getting Started manuals from the Raspberry Pi Foundation.  For pico-debug, replace the raspberrypi-swd and picoprobe example OpenOCD arguments of "-f interface/raspberrypi-swd.cfg -f target/rp2040.cfg" or "-f interface/picoprobe.cfg -f target/rp2040.cfg" respectively in the Pico Getting Started manual with "-f board/pico-debug.cfg".
@@ -9,12 +9,27 @@
 #######################################
 # Methods and Functions (KEYWORD2)
 #######################################
-setup1  KEYWORD2
-loop2   KEYWORD2
+
+setup1	KEYWORD2
+loop2	KEYWORD2
+
 analogWriteFreq	KEYWORD2
 analogWriteRange	KEYWORD2
-analogWriteResolution KEYWORD2
+analogWriteResolution	KEYWORD2

-######################################
-# Constants (LITERAL1)
-#######################################
+push	KEYWORD2
+push_nb	KEYWORD2
+pop	KEYWORD2
+pop_nb	KEYWORD2
+
+rp2040	KEYWORD2
+RP2040	KEYWORD2
+usToPIOCycles	KEYWORD2
+f_cpu	KEYWORD2
+getCycleCount	KEYWORD2
+getCycleCount64	KEYWORD2
+idleOtherCore	KEYWORD2
+resumeOtherCore	KEYWORD2
+
+PIOProgram	KEYWORD2
+prepare	KEYWORD2
@@ -24,7 +24,7 @@
 MEMORY
 {
    FLASH(rx) : ORIGIN = 0x10000000, LENGTH = __FLASH_LENGTH__
-    RAM(rwx) : ORIGIN =  0x20000000, LENGTH = 256k
+    RAM(rwx) : ORIGIN =  0x20000000, LENGTH = __RAM_LENGTH__
    SCRATCH_X(rwx) : ORIGIN = 0x20040000, LENGTH = 4k
    SCRATCH_Y(rwx) : ORIGIN = 0x20041000, LENGTH = 4k
 }
@@ -1,13 +1,11 @@
 -iwithprefixbefore/cores/rp2040/api/deprecated-avr-comp/
 -iwithprefixbefore/lib/pico_base/
-iwithprefixbefore/pico-examples/build/generated/pico_base
 -iwithprefixbefore/pico-extras/src/common/pico_audio/include
 -iwithprefixbefore/pico-extras/src/common/pico_util_buffer/include
 -iwithprefixbefore/pico-extras/src/rp2_common/pico_audio_i2s/include
 -iwithprefixbefore/pico-sdk/lib/tinyusb/src/
 -iwithprefixbefore/pico-sdk/src/boards/include
 -iwithprefixbefore/pico-sdk/src/common/pico_base/include
-iwithprefixbefore/pico-sdk/src/common/pico_base/include/
 -iwithprefixbefore/pico-sdk/src/common/pico_binary_info/include
 -iwithprefixbefore/pico-sdk/src/common/pico_bit_ops/include
 -iwithprefixbefore/pico-sdk/src/common/pico_divider/include
@@ -16,8 +14,6 @@
 -iwithprefixbefore/pico-sdk/src/common/pico_time/include
 -iwithprefixbefore/pico-sdk/src/common/pico_util/include
 -iwithprefixbefore/pico-sdk/src/rp2040/hardware_regs/include
-iwithprefixbefore/pico-sdk/src/rp2040/hardware_regs/include/
-iwithprefixbefore/pico-sdk/src/rp2040/hardware_regs/include/
 -iwithprefixbefore/pico-sdk/src/rp2040/hardware_structs/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_adc/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_base/include
@@ -25,6 +21,7 @@
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_clocks/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_divider/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_dma/include
+-iwithprefixbefore/pico-sdk/src/rp2_common/hardware_exception/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_flash/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_gpio/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_i2c/include
@@ -36,7 +33,6 @@
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_spi/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_sync/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_timer/include
-iwithprefixbefore/pico-sdk/src/rp2_common/hardware_timer/include/
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_uart/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_vreg/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_watchdog/include
@@ -46,12 +42,9 @@
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_float/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_int64_ops/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_multicore/include
-iwithprefixbefore/pico-sdk/src/rp2_common/pico_multicore/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_platform/include
-iwithprefixbefore/pico-sdk/src/rp2_common/pico_platform/include/
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_printf/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_runtime/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_stdio/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_stdio_uart/include
-iwithprefixbefore/pico-sdk/src/rp2_common/pico_stdio_usb/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_unique_id/include
@@ -139,7 +139,6 @@ void TwoWire::begin(uint8_t addr) {
 }

 void TwoWire::onIRQ() {
-    Serial.printf("Wire.IRQ=%08x\n", _i2c->hw->intr_stat);
    if (_i2c->hw->intr_stat & (1 << 10)) {
        _buffLen = 0;
        _buffOff = 0;
@@ -0,0 +1,21 @@
+void setup() {
+  Serial.begin(115200);
+  delay(3000);
+  Serial.println("High precision timing measurements/delays can be built using");
+  Serial.println("rp2040.getCycleCount() and rp2040.getCycleCount64().\n");
+  uint32_t a = rp2040.getCycleCount();
+  delay(1000);
+  uint32_t b = rp2040.getCycleCount();
+  Serial.printf("There are %d cycles in one second.\n\n\n", b - a);
+
+  delay(3000);
+
+  Serial.println("Note that the (32-bit) getCycleCount() will wraparound in ~30 seconds.");
+  Serial.println("Using the 64-bit getCycleCount64() makes it practically infinite.");
+  Serial.printf("\n%15s - %15s\n", "getCycleCount", "getCycleCount64");
+}
+
+void loop() {
+  Serial.printf("%15u - %15llu\n", rp2040.getCycleCount(), rp2040.getCycleCount64());
+  delay(1500);
+}
@@ -51,22 +51,22 @@
               "toolsDependencies": [
                  {
                     "packager": "rp2040",
-                     "version": "1.2.0-a-407f016",
+                     "version": "1.3.1-a-7855b0c",
                     "name": "pqt-gcc"
                  },
                  {
                     "packager": "rp2040",
-                     "version": "1.2.0-a-407f016",
+                     "version": "1.3.1-a-7855b0c",
                     "name": "pqt-mklittlefs"
                  },
                  {
                     "packager": "rp2040",
-                     "version": "1.2.0-a-407f016",
+                     "version": "1.3.1-a-7855b0c",
                     "name": "pqt-elf2uf2"
                  },
                  {
                     "packager": "rp2040",
-                     "version": "1.2.0-a-407f016",
+                     "version": "1.3.1-a-7855b0c",
                     "name": "pqt-pioasm"
                  },
                  {
@@ -76,7 +76,7 @@
                  },
                  {
                     "packager": "rp2040",
-                     "version": "1.2.0-a-407f016",
+                     "version": "1.3.1-a-7855b0c",
                     "name": "pqt-openocd"
                  }
               ],
@@ -87,57 +87,57 @@
         ],
         "tools": [
            {
-               "version": "1.2.0-a-407f016",
+               "version": "1.3.1-a-7855b0c",
               "name": "pqt-openocd",
               "systems": [
                  {
                     "host": "aarch64-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/aarch64-linux-gnu.openocd-d58c2ef5e.210607.tar.gz",
-                     "archiveFileName": "aarch64-linux-gnu.openocd-d58c2ef5e.210607.tar.gz",
-                     "checksum": "SHA-256:a85f1df05614ac0bba3742df0aa36b0a87b9bbef0fbadd4d0ccfa1938801ae98",
-                     "size": "6144933"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/aarch64-linux-gnu.openocd-e3428fadb.210706.tar.gz",
+                     "archiveFileName": "aarch64-linux-gnu.openocd-e3428fadb.210706.tar.gz",
+                     "checksum": "SHA-256:62662b74a7cbbb5db0998987585d74a3261c3e6f0c1440d7449505832020e095",
+                     "size": "6224364"
                  },
                  {
                     "host": "arm-linux-gnueabihf",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/arm-linux-gnueabihf.openocd-d58c2ef5e.210607.tar.gz",
-                     "archiveFileName": "arm-linux-gnueabihf.openocd-d58c2ef5e.210607.tar.gz",
-                     "checksum": "SHA-256:f79ffe70110512ce41c61477910e33fa5ef986fbc142aedfd89f7009f132b237",
-                     "size": "5849262"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/arm-linux-gnueabihf.openocd-e3428fadb.210706.tar.gz",
+                     "archiveFileName": "arm-linux-gnueabihf.openocd-e3428fadb.210706.tar.gz",
+                     "checksum": "SHA-256:15b188279382ee182253984ed45785f3a15387576583a1c6bff2c71d724ff76a",
+                     "size": "5931976"
                  },
                  {
                     "host": "i686-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-linux-gnu.openocd-d58c2ef5e.210607.tar.gz",
-                     "archiveFileName": "i686-linux-gnu.openocd-d58c2ef5e.210607.tar.gz",
-                     "checksum": "SHA-256:b4a8af73539ae2e2a653f8fbe029a5b52db80580c942f0399cafb7d3829498c0",
-                     "size": "5651754"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-linux-gnu.openocd-e3428fadb.210706.tar.gz",
+                     "archiveFileName": "i686-linux-gnu.openocd-e3428fadb.210706.tar.gz",
+                     "checksum": "SHA-256:40a7a417b46875b2ccff582309b0e8ffcfd5c038ad1dc1775d53c683708c363c",
+                     "size": "5728004"
                  },
                  {
                     "host": "i686-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-w64-mingw32.openocd-d58c2ef5e.210607.zip",
-                     "archiveFileName": "i686-w64-mingw32.openocd-d58c2ef5e.210607.zip",
-                     "checksum": "SHA-256:7156af6e650df6fc4bfc8541f2f1fd05bfe136b3547b4a0aef91668af88f8b6d",
-                     "size": "8330281"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-w64-mingw32.openocd-e3428fadb.210706.zip",
+                     "archiveFileName": "i686-w64-mingw32.openocd-e3428fadb.210706.zip",
+                     "checksum": "SHA-256:945cf4b0de879b935e05af2f438a6964949fbbf6d163e96e507939c55cafbff0",
+                     "size": "8539935"
                  },
                  {
                     "host": "x86_64-apple-darwin",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-apple-darwin14.openocd-d58c2ef5e.210607.tar.gz",
-                     "archiveFileName": "x86_64-apple-darwin14.openocd-d58c2ef5e.210607.tar.gz",
-                     "checksum": "SHA-256:965e35faf4a93396c4f4a22a504fd6b4f639752922996447d5c1e0e65d7329de",
-                     "size": "1981786"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-apple-darwin14.openocd-e3428fadb.210706.tar.gz",
+                     "archiveFileName": "x86_64-apple-darwin14.openocd-e3428fadb.210706.tar.gz",
+                     "checksum": "SHA-256:b28b54580b16e6d7f0229a653acf68aeab8cc3270d8b9dcaf178b8b8c0aafcb7",
+                     "size": "2006182"
                  },
                  {
                     "host": "x86_64-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-linux-gnu.openocd-d58c2ef5e.210607.tar.gz",
-                     "archiveFileName": "x86_64-linux-gnu.openocd-d58c2ef5e.210607.tar.gz",
-                     "checksum": "SHA-256:c54390c9464bcf2a32265ecbafaec6d68cdd41471fa14ba4afabe43fe0a11645",
-                     "size": "6076479"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-linux-gnu.openocd-e3428fadb.210706.tar.gz",
+                     "archiveFileName": "x86_64-linux-gnu.openocd-e3428fadb.210706.tar.gz",
+                     "checksum": "SHA-256:90aec3a7818697e04e798a0470133caf62e7583a48f7ae3848b9b536c3180b0b",
+                     "size": "6154827"
                  },
                  {
                     "host": "x86_64-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-w64-mingw32.openocd-d58c2ef5e.210607.zip",
-                     "archiveFileName": "x86_64-w64-mingw32.openocd-d58c2ef5e.210607.zip",
-                     "checksum": "SHA-256:4b481449371b39b4e0e87bd5e5a247f99c025b97ccd186c3b1ca58ff2cb44875",
-                     "size": "8719676"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-w64-mingw32.openocd-e3428fadb.210706.zip",
+                     "archiveFileName": "x86_64-w64-mingw32.openocd-e3428fadb.210706.zip",
+                     "checksum": "SHA-256:86e0341d50723d5e0c2969a903e911273e3b70ed5b794284b7d7ec7a1f09ee2f",
+                     "size": "8929726"
                  }
               ]
            },
@@ -204,221 +204,221 @@
               ]
            },
            {
-               "version": "1.2.0-a-407f016",
+               "version": "1.3.1-a-7855b0c",
               "name": "pqt-gcc",
               "systems": [
                  {
                     "host": "aarch64-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/aarch64-linux-gnu.arm-none-eabi-407f016.210607.tar.gz",
-                     "archiveFileName": "aarch64-linux-gnu.arm-none-eabi-407f016.210607.tar.gz",
-                     "checksum": "SHA-256:fc30b07b98fe965db814178b71f368895790f6789d503d71c8af70ff92451d5c",
-                     "size": "103186508"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/aarch64-linux-gnu.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "archiveFileName": "aarch64-linux-gnu.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "checksum": "SHA-256:32f2a28e0f12bd1c8aaefa10bc2646f0f058b77d0030bec3e1e0ec89409d2380",
+                     "size": "103186082"
                  },
                  {
                     "host": "arm-linux-gnueabihf",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/arm-linux-gnueabihf.arm-none-eabi-407f016.210607.tar.gz",
-                     "archiveFileName": "arm-linux-gnueabihf.arm-none-eabi-407f016.210607.tar.gz",
-                     "checksum": "SHA-256:4a6ecfaf485ab428e233cc06e853b91dc272146ca0200fbbcdcb87f1930239b8",
-                     "size": "95858053"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/arm-linux-gnueabihf.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "archiveFileName": "arm-linux-gnueabihf.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "checksum": "SHA-256:0cca5b4c429acf26eeb093bf21b16c2265fd6c04aafe91ceb304dfee35a662d7",
+                     "size": "95859088"
                  },
                  {
                     "host": "i686-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-linux-gnu.arm-none-eabi-407f016.210607.tar.gz",
-                     "archiveFileName": "i686-linux-gnu.arm-none-eabi-407f016.210607.tar.gz",
-                     "checksum": "SHA-256:8f97c67d20077c551b13344c1a96a9f51dd3a91b178a4731cd9dcc27a19217e6",
-                     "size": "105954517"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-linux-gnu.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "archiveFileName": "i686-linux-gnu.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "checksum": "SHA-256:9a1ba7cdcb11d817ddbcb60d53f5b804b787a7a3c2e0bc5a33e86b8bbf653391",
+                     "size": "105956199"
                  },
                  {
                     "host": "i686-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-w64-mingw32.arm-none-eabi-407f016.210607.zip",
-                     "archiveFileName": "i686-w64-mingw32.arm-none-eabi-407f016.210607.zip",
-                     "checksum": "SHA-256:c30e8b67d16ae6f29bcca84c166ecc3fced209d73b1b8925d5dd0e79b850f923",
-                     "size": "105487629"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-w64-mingw32.arm-none-eabi-7855b0c.210706.zip",
+                     "archiveFileName": "i686-w64-mingw32.arm-none-eabi-7855b0c.210706.zip",
+                     "checksum": "SHA-256:5b06d0dcfcf78c83b85aadbcbd8b6e3301b60acd14d6319e066e125586331aac",
+                     "size": "105493451"
                  },
                  {
                     "host": "x86_64-apple-darwin",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-apple-darwin14.arm-none-eabi-407f016.210607.tar.gz",
-                     "archiveFileName": "x86_64-apple-darwin14.arm-none-eabi-407f016.210607.tar.gz",
-                     "checksum": "SHA-256:5c617ffcf86518a6451701bd5756e28f9b7587acc0cb2cd503b6c600b8cf417d",
-                     "size": "107365915"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-apple-darwin14.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "archiveFileName": "x86_64-apple-darwin14.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "checksum": "SHA-256:6d4dfd0e032df43687683504b747a0010cea53b2d86f4662f72997fd0cbd8b1a",
+                     "size": "107371801"
                  },
                  {
                     "host": "x86_64-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-linux-gnu.arm-none-eabi-407f016.210607.tar.gz",
-                     "archiveFileName": "x86_64-linux-gnu.arm-none-eabi-407f016.210607.tar.gz",
-                     "checksum": "SHA-256:0a2b7d03f79f723d62255595f9af862807feee601456bb0e2477ce188a4a975f",
-                     "size": "107847587"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-linux-gnu.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "archiveFileName": "x86_64-linux-gnu.arm-none-eabi-7855b0c.210706.tar.gz",
+                     "checksum": "SHA-256:791b6386a6b6742d627af3277f401db7bb2b407852c8b3f49eaee30fcc5ceb8a",
+                     "size": "107845636"
                  },
                  {
                     "host": "x86_64-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-w64-mingw32.arm-none-eabi-407f016.210607.zip",
-                     "archiveFileName": "x86_64-w64-mingw32.arm-none-eabi-407f016.210607.zip",
-                     "checksum": "SHA-256:675ee78477afc5f2daf1e25f3c0560a3adbaa7f2d73d99059e549835b4022bf8",
-                     "size": "110334002"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-w64-mingw32.arm-none-eabi-7855b0c.210706.zip",
+                     "archiveFileName": "x86_64-w64-mingw32.arm-none-eabi-7855b0c.210706.zip",
+                     "checksum": "SHA-256:7f8b591902e9f164904974bb8224808371b025affaf7cbffdeb3f3ff259b9464",
+                     "size": "110342777"
                  }
               ]
            },
            {
-               "version": "1.2.0-a-407f016",
+               "version": "1.3.1-a-7855b0c",
               "name": "pqt-elf2uf2",
               "systems": [
                  {
                     "host": "aarch64-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/aarch64-linux-gnu.elf2uf2-fc10a97.210607.tar.gz",
-                     "archiveFileName": "aarch64-linux-gnu.elf2uf2-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:59f6c2f08f1809987bf40df51808f848146a00c626dff06d3cabafb726db8830",
-                     "size": "79850"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/aarch64-linux-gnu.elf2uf2-fc10a97.210706.tar.gz",
+                     "archiveFileName": "aarch64-linux-gnu.elf2uf2-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:3c67eb63da563c505dd046cd069aee1754ff735e9d0d7dacfd8b003a85a078ca",
+                     "size": "79842"
                  },
                  {
                     "host": "arm-linux-gnueabihf",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/arm-linux-gnueabihf.elf2uf2-fc10a97.210607.tar.gz",
-                     "archiveFileName": "arm-linux-gnueabihf.elf2uf2-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:fb6d4270aaa017b5fa60937f82674e5e55cf12da392fd23cc5d1f6de279bcd04",
-                     "size": "54220"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/arm-linux-gnueabihf.elf2uf2-fc10a97.210706.tar.gz",
+                     "archiveFileName": "arm-linux-gnueabihf.elf2uf2-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:62457fc90b0993d720a3523537e8d55e9378769db1595709ff01357ebc13a3dd",
+                     "size": "54219"
                  },
                  {
                     "host": "i686-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-linux-gnu.elf2uf2-fc10a97.210607.tar.gz",
-                     "archiveFileName": "i686-linux-gnu.elf2uf2-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:b55b823e59b7fa4d1ea130621c6144d84a96f3cb9571109f878472fecbcda7f8",
-                     "size": "87882"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-linux-gnu.elf2uf2-fc10a97.210706.tar.gz",
+                     "archiveFileName": "i686-linux-gnu.elf2uf2-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:59e83f09322a2a292c20a4852512aa8c086b5b0d02842e11dfb9cb122485fb84",
+                     "size": "87881"
                  },
                  {
                     "host": "i686-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-w64-mingw32.elf2uf2-fc10a97.210607.zip",
-                     "archiveFileName": "i686-w64-mingw32.elf2uf2-fc10a97.210607.zip",
-                     "checksum": "SHA-256:e66f3959fcdc2874dd4074d6e5205715235551062d5283da22906e369dc24bf0",
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-w64-mingw32.elf2uf2-fc10a97.210706.zip",
+                     "archiveFileName": "i686-w64-mingw32.elf2uf2-fc10a97.210706.zip",
+                     "checksum": "SHA-256:2b7c676fa0ff8a7fb6638dfe770787e6bdd9c6cd2f5a0d86f8c64c267a9bc328",
                     "size": "70429"
                  },
                  {
                     "host": "x86_64-apple-darwin",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-apple-darwin14.elf2uf2-fc10a97.210607.tar.gz",
-                     "archiveFileName": "x86_64-apple-darwin14.elf2uf2-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:f85403c39741498547448f40fa6ae323519452af7ab0118c4cf7408340c20e07",
-                     "size": "81920"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-apple-darwin14.elf2uf2-fc10a97.210706.tar.gz",
+                     "archiveFileName": "x86_64-apple-darwin14.elf2uf2-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:1154dd7bb3186bb66b8b53699d29083a688564ace502f28cf53cf9f15214d816",
+                     "size": "81919"
                  },
                  {
                     "host": "x86_64-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-linux-gnu.elf2uf2-fc10a97.210607.tar.gz",
-                     "archiveFileName": "x86_64-linux-gnu.elf2uf2-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:5e9155cea5639b3716f5149e5a98fa864fe3abd9281f53f1dec65fdbe24d8f28",
-                     "size": "79515"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-linux-gnu.elf2uf2-fc10a97.210706.tar.gz",
+                     "archiveFileName": "x86_64-linux-gnu.elf2uf2-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:0ed4a2a3973ee2e7a5edc4932bd2485ac0825750b72fabdb8a96e8d274dc30a4",
+                     "size": "79516"
                  },
                  {
                     "host": "x86_64-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-w64-mingw32.elf2uf2-fc10a97.210607.zip",
-                     "archiveFileName": "x86_64-w64-mingw32.elf2uf2-fc10a97.210607.zip",
-                     "checksum": "SHA-256:e48b9e8d1c238f29e078056f6fedce715b773b042e52bf63df3759822fa66e64",
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-w64-mingw32.elf2uf2-fc10a97.210706.zip",
+                     "archiveFileName": "x86_64-w64-mingw32.elf2uf2-fc10a97.210706.zip",
+                     "checksum": "SHA-256:81c3c458fda68840439afc7b16133febb21e023a910924761abaee9c011a44db",
                     "size": "78298"
                  }
               ]
            },
            {
-               "version": "1.2.0-a-407f016",
+               "version": "1.3.1-a-7855b0c",
               "name": "pqt-pioasm",
               "systems": [
                  {
                     "host": "aarch64-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/aarch64-linux-gnu.pioasm-fc10a97.210607.tar.gz",
-                     "archiveFileName": "aarch64-linux-gnu.pioasm-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:6076ec3624c40cb59c456b501450621c57097bd83af4ebcbd03e3b46333fa745",
-                     "size": "453301"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/aarch64-linux-gnu.pioasm-fc10a97.210706.tar.gz",
+                     "archiveFileName": "aarch64-linux-gnu.pioasm-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:bbc6735939ffab312e700b687c29ecf7873564cec9028588c39b7be5a5b18ba3",
+                     "size": "453297"
                  },
                  {
                     "host": "arm-linux-gnueabihf",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/arm-linux-gnueabihf.pioasm-fc10a97.210607.tar.gz",
-                     "archiveFileName": "arm-linux-gnueabihf.pioasm-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:a6fe07241fb913e846c74855165e038b327705d75d2ca576dd714b42e17749c4",
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/arm-linux-gnueabihf.pioasm-fc10a97.210706.tar.gz",
+                     "archiveFileName": "arm-linux-gnueabihf.pioasm-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:9390b87fa87fa03d1033cf75624c0dd3d2acd7b2d794f5ab91a800ffb7546a17",
                     "size": "360370"
                  },
                  {
                     "host": "i686-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-linux-gnu.pioasm-fc10a97.210607.tar.gz",
-                     "archiveFileName": "i686-linux-gnu.pioasm-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:47808419d4a6019e527a0aec8c13b5a8bad7d838547fbb97abcddca866f3fc6b",
-                     "size": "511410"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-linux-gnu.pioasm-fc10a97.210706.tar.gz",
+                     "archiveFileName": "i686-linux-gnu.pioasm-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:a84e7389c5e959a409b6ce8b1150fad7641fad4ac55c129888439f33c5bfb7cc",
+                     "size": "511409"
                  },
                  {
                     "host": "i686-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-w64-mingw32.pioasm-fc10a97.210607.zip",
-                     "archiveFileName": "i686-w64-mingw32.pioasm-fc10a97.210607.zip",
-                     "checksum": "SHA-256:c815d6845d374133c346e3ae3e40746217be3a6313190a9b4cdc43a4cd2e2bea",
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-w64-mingw32.pioasm-fc10a97.210706.zip",
+                     "archiveFileName": "i686-w64-mingw32.pioasm-fc10a97.210706.zip",
+                     "checksum": "SHA-256:d1f1e34bd6e4b32301f3e7b147a9eb6710c2b52f816288a11e9aeb619f242355",
                     "size": "385662"
                  },
                  {
                     "host": "x86_64-apple-darwin",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-apple-darwin14.pioasm-fc10a97.210607.tar.gz",
-                     "archiveFileName": "x86_64-apple-darwin14.pioasm-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:cd19c8ff52ebed430e039b18fd5bf5bfa33f60727a51ca1c81ad3bbcbb6ec763",
-                     "size": "480403"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-apple-darwin14.pioasm-fc10a97.210706.tar.gz",
+                     "archiveFileName": "x86_64-apple-darwin14.pioasm-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:f9cb3bf99c84221b8c63d95dd22bbd1cc1ba40bd847530819392ee047962571e",
+                     "size": "480405"
                  },
                  {
                     "host": "x86_64-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-linux-gnu.pioasm-fc10a97.210607.tar.gz",
-                     "archiveFileName": "x86_64-linux-gnu.pioasm-fc10a97.210607.tar.gz",
-                     "checksum": "SHA-256:9b8d778a2b3dd5b6bc110dac86e4f9a8321e0bd43f8149bd2722b992b3684515",
-                     "size": "458642"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-linux-gnu.pioasm-fc10a97.210706.tar.gz",
+                     "archiveFileName": "x86_64-linux-gnu.pioasm-fc10a97.210706.tar.gz",
+                     "checksum": "SHA-256:96721566a97f07cbe4af3a1d80d63336a75b129a7cb821a407260d250666a30f",
+                     "size": "458641"
                  },
                  {
                     "host": "x86_64-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-w64-mingw32.pioasm-fc10a97.210607.zip",
-                     "archiveFileName": "x86_64-w64-mingw32.pioasm-fc10a97.210607.zip",
-                     "checksum": "SHA-256:87b5f6cd9c760e5091d1d6e6383028a4255c07d054e6eab0583590dbdc05de69",
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-w64-mingw32.pioasm-fc10a97.210706.zip",
+                     "archiveFileName": "x86_64-w64-mingw32.pioasm-fc10a97.210706.zip",
+                     "checksum": "SHA-256:15fe69c11ad86ddf78c1ee26610b8b0f9d4a2323af13854e8e6b5e20d5a6fff5",
                     "size": "408341"
                  }
               ]
            },
            {
-               "version": "1.2.0-a-407f016",
+               "version": "1.3.1-a-7855b0c",
               "name": "pqt-mklittlefs",
               "systems": [
                  {
                     "host": "aarch64-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/aarch64-linux-gnu.mklittlefs-6b5c62d.210607.tar.gz",
-                     "archiveFileName": "aarch64-linux-gnu.mklittlefs-6b5c62d.210607.tar.gz",
-                     "checksum": "SHA-256:6475b7cb24ba165fa97e5ae9e66e56901e3609b57b0edb359b75c810b8267d73",
-                     "size": "44791"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/aarch64-linux-gnu.mklittlefs-6b5c62d.210706.tar.gz",
+                     "archiveFileName": "aarch64-linux-gnu.mklittlefs-6b5c62d.210706.tar.gz",
+                     "checksum": "SHA-256:3b318dbefd8ac36b3f1531d14d018d7aaad26b4f7f259a3a0c116939e74c76f6",
+                     "size": "44788"
                  },
                  {
                     "host": "arm-linux-gnueabihf",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/arm-linux-gnueabihf.mklittlefs-6b5c62d.210607.tar.gz",
-                     "archiveFileName": "arm-linux-gnueabihf.mklittlefs-6b5c62d.210607.tar.gz",
-                     "checksum": "SHA-256:39bfd76f25b5da89244f708de856a5e9548db37eec7c5a88e4832dc5c3d0ee1f",
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/arm-linux-gnueabihf.mklittlefs-6b5c62d.210706.tar.gz",
+                     "archiveFileName": "arm-linux-gnueabihf.mklittlefs-6b5c62d.210706.tar.gz",
+                     "checksum": "SHA-256:2b67c6ab2d6fd7239944963beeca0664f85fbffb7b68bcf9eaa7c64e81cad7a5",
                     "size": "38247"
                  },
                  {
                     "host": "i686-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-linux-gnu.mklittlefs-6b5c62d.210607.tar.gz",
-                     "archiveFileName": "i686-linux-gnu.mklittlefs-6b5c62d.210607.tar.gz",
-                     "checksum": "SHA-256:9b6841d1c5070fb1f2b4a5b6c6850395740ac997aa3fbf888f8cd6e7628200e8",
-                     "size": "48240"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-linux-gnu.mklittlefs-6b5c62d.210706.tar.gz",
+                     "archiveFileName": "i686-linux-gnu.mklittlefs-6b5c62d.210706.tar.gz",
+                     "checksum": "SHA-256:791f12a6969e3b78d13e4355b7977a49e5b567261499451a10ce0781a7d08d70",
+                     "size": "48237"
                  },
                  {
                     "host": "i686-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/i686-w64-mingw32.mklittlefs-6b5c62d.210607.zip",
-                     "archiveFileName": "i686-w64-mingw32.mklittlefs-6b5c62d.210607.zip",
-                     "checksum": "SHA-256:9b6d7ab130c1f07d63a045e987f69496bfc5e3bb4bf6edc9bf4cd04d363c2ac4",
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/i686-w64-mingw32.mklittlefs-6b5c62d.210706.zip",
+                     "archiveFileName": "i686-w64-mingw32.mklittlefs-6b5c62d.210706.zip",
+                     "checksum": "SHA-256:a5bf0308b8f279f5e06c2b5f24f6843d934046ceba84fd7ed5c44ba682b770c4",
                     "size": "332804"
                  },
                  {
                     "host": "x86_64-apple-darwin",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-apple-darwin14.mklittlefs-6b5c62d.210607.tar.gz",
-                     "archiveFileName": "x86_64-apple-darwin14.mklittlefs-6b5c62d.210607.tar.gz",
-                     "checksum": "SHA-256:538c30d2a072845873d2e3552ac725dcef022f9ac9a873925c218d5564615321",
-                     "size": "362807"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-apple-darwin14.mklittlefs-6b5c62d.210706.tar.gz",
+                     "archiveFileName": "x86_64-apple-darwin14.mklittlefs-6b5c62d.210706.tar.gz",
+                     "checksum": "SHA-256:e5dd89a7a4ffe494440975ec511cdf24d5978da07a9bff96429a48ad0a7054e7",
+                     "size": "362810"
                  },
                  {
                     "host": "x86_64-pc-linux-gnu",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-linux-gnu.mklittlefs-6b5c62d.210607.tar.gz",
-                     "archiveFileName": "x86_64-linux-gnu.mklittlefs-6b5c62d.210607.tar.gz",
-                     "checksum": "SHA-256:f2b4d849a2146e54fec52abdfc4391894addfbf1e904094424fb5a2a22873e58",
-                     "size": "46918"
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-linux-gnu.mklittlefs-6b5c62d.210706.tar.gz",
+                     "archiveFileName": "x86_64-linux-gnu.mklittlefs-6b5c62d.210706.tar.gz",
+                     "checksum": "SHA-256:f1e3b374c66811bfe07997b12b6cb318c58ac84973c46e6887553aea13276884",
+                     "size": "46915"
                  },
                  {
                     "host": "x86_64-mingw32",
-                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.2.0-a/x86_64-w64-mingw32.mklittlefs-6b5c62d.210607.zip",
-                     "archiveFileName": "x86_64-w64-mingw32.mklittlefs-6b5c62d.210607.zip",
-                     "checksum": "SHA-256:c1105383c2c694978aee521dc1d921fb2e2c3452015c5456f323ffad09595725",
+                     "url": "https://github.com/earlephilhower/pico-quick-toolchain/releases/download/1.3.1-a/x86_64-w64-mingw32.mklittlefs-6b5c62d.210706.zip",
+                     "archiveFileName": "x86_64-w64-mingw32.mklittlefs-6b5c62d.210706.zip",
+                     "checksum": "SHA-256:f5d69785c0bb5397eb49cccaa23dd131d32ab013e1124e38c15f758ded799fdb",
                     "size": "345250"
                  }
               ]
@@ -426,4 +426,4 @@
         ]
      }
   ]
-}
+}
@@ -32,11 +32,11 @@ compiler.path={runtime.tools.pqt-gcc.path}/bin/
 # Compile variables
 # -----------------

-compiler.warning_flags=-w
-compiler.warning_flags.none=-w
-compiler.warning_flags.default=
-compiler.warning_flags.more=-Wall
-compiler.warning_flags.all=-Wall -Wextra
+compiler.warning_flags=-Werror=return-type
+compiler.warning_flags.none=-Werror=return-type
+compiler.warning_flags.default=-Werror=return-type
+compiler.warning_flags.more=-Wall -Werror=return-type -Wno-ignored-qualifiers
+compiler.warning_flags.all=-Wall -Wextra -Werror=return-type -Wno-ignored-qualifiers

 compiler.defines={build.led} {build.usbstack_flags} -DCFG_TUSB_MCU=OPT_MCU_RP2040 -DUSB_VID={build.vid} -DUSB_PID={build.pid} '-DUSB_MANUFACTURER={build.usb_manufacturer}' '-DUSB_PRODUCT={build.usb_product}'
 compiler.includes="-iprefix{runtime.platform.path}/" "@{runtime.platform.path}/lib/platform_inc.txt"
@@ -45,13 +45,13 @@ compiler.wrap="@{runtime.platform.path}/lib/platform_wrap.txt"
 compiler.libpico="{runtime.platform.path}/lib/libpico.a"

 compiler.c.cmd=arm-none-eabi-gcc
-compiler.c.flags=-c {compiler.defines} {compiler.flags} {compiler.includes} -std=gnu17 -g
+compiler.c.flags=-c {compiler.warning_flags} {compiler.defines} {compiler.flags} {compiler.includes} -std=gnu17 -g
 compiler.c.elf.cmd=arm-none-eabi-g++
-compiler.c.elf.flags={compiler.defines} {compiler.flags} -u _printf_float -u _scanf_float
+compiler.c.elf.flags={compiler.warning_flags} {compiler.defines} {compiler.flags} -u _printf_float -u _scanf_float
 compiler.S.cmd=arm-none-eabi-gcc
-compiler.S.flags=-c -g -x assembler-with-cpp -MMD {compiler.includes} -g
+compiler.S.flags=-c {compiler.warning_flags} -g -x assembler-with-cpp -MMD {compiler.includes} -g
 compiler.cpp.cmd=arm-none-eabi-g++
-compiler.cpp.flags=-c {compiler.defines} {compiler.flags} {compiler.includes} -fno-rtti -std=gnu++17 -g
+compiler.cpp.flags=-c {compiler.warning_flags} {compiler.defines} {compiler.flags} {compiler.includes} -fno-rtti -std=gnu++17 -g

 compiler.ar.cmd=arm-none-eabi-ar
 compiler.ar.flags=rcs
@@ -107,10 +107,10 @@ archive_file_path={build.path}/{archive_file}
 recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"

 ## Generate the linker map with specific flash sizes/locations
-recipe.hooks.linking.prelink.1.pattern="{runtime.tools.pqt-python3.path}/python3" "{runtime.platform.path}/tools/simplesub.py" --input "{runtime.platform.path}/lib/memmap_default.ld" --out "{build.path}/memmap_default.ld" --sub __FLASH_LENGTH__ {build.flash_length} --sub __EEPROM_START__ {build.eeprom_start} --sub __FS_START__ {build.fs_start} --sub __FS_END__ {build.fs_end}
+recipe.hooks.linking.prelink.1.pattern="{runtime.tools.pqt-python3.path}/python3" "{runtime.platform.path}/tools/simplesub.py" --input "{runtime.platform.path}/lib/memmap_default.ld" --out "{build.path}/memmap_default.ld" --sub __FLASH_LENGTH__ {build.flash_length} --sub __EEPROM_START__ {build.eeprom_start} --sub __FS_START__ {build.fs_start} --sub __FS_END__ {build.fs_end} --sub __RAM_LENGTH__ {build.ram_length}

 ## Compile the boot stage 2 blob
-recipe.hooks.linking.prelink.2.pattern="{compiler.path}{compiler.S.cmd}" {compiler.c.elf.flags} {compiler.c.elf.extra_flags} -c "{runtime.platform.path}/assembly/{build.boot2}.S" "-I{runtime.platform.path}/pico-sdk/src/rp2040/hardware_regs/include/" "-I{runtime.platform.path}/pico-sdk/src/common/pico_binary_info/include" -o "{build.path}/boot2.o"
+recipe.hooks.linking.prelink.2.pattern="{compiler.path}{compiler.S.cmd}" {compiler.c.elf.flags} {compiler.c.elf.extra_flags} -c "{runtime.platform.path}/boot2/{build.boot2}.S" "-I{runtime.platform.path}/pico-sdk/src/rp2040/hardware_regs/include/" "-I{runtime.platform.path}/pico-sdk/src/common/pico_binary_info/include" -o "{build.path}/boot2.o"

 ## Combine gc-sections, archives, and objects
 recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" "-L{build.path}" {compiler.c.elf.flags} {compiler.c.elf.extra_flags} {compiler.ldflags} "-Wl,--script={build.path}/memmap_default.ld" "-Wl,-Map,{build.path}/{build.project_name}.map" -o "{build.path}/{build.project_name}.elf" -Wl,--start-group {object_files} "{build.path}/{archive_file}" "{build.path}/boot2.o" {compiler.libpico} -lm -lc -lstdc++ -lc -Wl,--end-group
@@ -147,3 +147,9 @@ tools.picoprobe.upload.protocol=picoprobe
 tools.picoprobe.upload.params.verbose=
 tools.picoprobe.upload.params.quiet=
 tools.picoprobe.upload.pattern="{cmd}/bin/openocd" -f "interface/picoprobe.cfg" -f "target/rp2040.cfg" -s "{cmd}/share/openocd/scripts" -c "program {build.path}/{build.project_name}.elf verify reset exit"
+
+tools.picodebug.cmd={runtime.platform.path}/system/openocd
+tools.picodebug.upload.protocol=pico-debug
+tools.picodebug.upload.params.verbose=
+tools.picodebug.upload.params.quiet=
+tools.picodebug.upload.pattern="{cmd}/bin/openocd" -f "board/pico-debug.cfg" -s "{cmd}/share/openocd/scripts" -c "program {build.path}/{build.project_name}.elf verify reset exit"
@@ -33,6 +33,7 @@ target_link_libraries(pico
 	hardware_clocks
 	hardware_divider
 	hardware_dma
+	hardware_exception
 	hardware_flash
 	hardware_gpio
 	hardware_i2c
@@ -73,12 +74,6 @@ target_link_libraries(pico
 	pico_audio_i2s
 )

-add_custom_command(TARGET pico PRE_BUILD
-	COMMAND arm-none-eabi-gcc -g -c ../../../assembly/crt0.S -I "${PICO_SDK_PATH}/src/rp2040/hardware_regs/include" -I "${PICO_SDK_PATH}/src/common/pico_binary_info/include/"
-)
-
 add_custom_command(TARGET pico POST_BUILD
-	COMMAND ar d libpico.a crt0.S.obj
-	COMMAND ar r libpico.a crt0.o
 	COMMAND ar d libpico.a stdio.c.obj stdio_usb.c.obj stdio_usb_descriptors.c.obj
 )
@@ -42,4 +42,4 @@ for type in boot2_generic_03h boot2_is25lp080 boot2_w25q080 boot2_w25x10cl; do
                   -s 0xffffffff $type.$div.bin ${type}_${div}_padded_checksum.S
    done
 done
-mv *.S ../../../../assembly/.
+mv *.S ../../../../boot2/.
@@ -34,41 +34,17 @@
 // COMMON CONFIGURATION
 //--------------------------------------------------------------------

-// defined by board.mk
 #ifndef CFG_TUSB_MCU
-  #error CFG_TUSB_MCU must be defined
+ #define CFG_TUSB_MCU             OPT_MCU_RP2040
 #endif

-// RHPort number used for device can be defined by board.mk, default to port 0
-#ifndef BOARD_DEVICE_RHPORT_NUM
-  #define BOARD_DEVICE_RHPORT_NUM     0
-#endif
-
-// RHPort max operational speed can defined by board.mk
-// Default to Highspeed for MCU with internal HighSpeed PHY (can be port specific), otherwise FullSpeed
-#ifndef BOARD_DEVICE_RHPORT_SPEED
-  #if (CFG_TUSB_MCU == OPT_MCU_LPC18XX || CFG_TUSB_MCU == OPT_MCU_LPC43XX || CFG_TUSB_MCU == OPT_MCU_MIMXRT10XX || \
-       CFG_TUSB_MCU == OPT_MCU_NUC505  || CFG_TUSB_MCU == OPT_MCU_CXD56)
-    #define BOARD_DEVICE_RHPORT_SPEED   OPT_MODE_HIGH_SPEED
-  #else
-    #define BOARD_DEVICE_RHPORT_SPEED   OPT_MODE_FULL_SPEED
-  #endif
-#endif
-
-// Device mode with rhport and speed defined by board.mk
-#if   BOARD_DEVICE_RHPORT_NUM == 0
-  #define CFG_TUSB_RHPORT0_MODE     (OPT_MODE_DEVICE | BOARD_DEVICE_RHPORT_SPEED)
-#elif BOARD_DEVICE_RHPORT_NUM == 1
-  #define CFG_TUSB_RHPORT1_MODE     (OPT_MODE_DEVICE | BOARD_DEVICE_RHPORT_SPEED)
-#else
-  #error "Incorrect RHPort configuration"
-#endif
-
-// This example doesn't use an RTOS
-//#define CFG_TUSB_OS               OPT_OS_NONE
+#define CFG_TUSB_RHPORT0_MODE     OPT_MODE_DEVICE
+#define CFG_TUSB_OS               OPT_OS_PICO

 // CFG_TUSB_DEBUG is defined by compiler in DEBUG build
-// #define CFG_TUSB_DEBUG           0
+#ifndef CFG_TUSB_DEBUG
+#define CFG_TUSB_DEBUG           0
+#endif

 /* USB DMA on some MCUs can only access a specific SRAM region with restriction on alignment.
 * Tinyusb use follows macros to declare transferring memory so that they can be put
@@ -46,18 +46,22 @@ def BuildBoot(name):

 def BuildUSBStack(name):
    print("%s.menu.usbstack.picosdk=Pico SDK" % (name))
-    print("%s.menu.usbstack.picosdk.build.usbstack_flags=" % (name))
+    print('%s.menu.usbstack.picosdk.build.usbstack_flags="-I{runtime.platform.path}/tools/libpico"' % (name))
    print("%s.menu.usbstack.tinyusb=Adafruit TinyUSB" % (name))
-    print('%s.menu.usbstack.tinyusb.build.usbstack_flags=-DUSE_TINYUSB "-I{build.core.path}/TinyUSB" "-I{runtime.platform.path}/libraries/Adafruit_TinyUSB_Arduino/src/arduino"' % (name))
+    print('%s.menu.usbstack.tinyusb.build.usbstack_flags=-DUSE_TINYUSB "-I{runtime.platform.path}/libraries/Adafruit_TinyUSB_Arduino/src/arduino"' % (name))

-def BuildHeader(name, vendor_name, product_name, pidtouse, vid, pid, boarddefine, variant, uploadtool, flashsize, boot2):
+def BuildWithoutUSBStack(name):
+    print("%s.menu.usbstack.nousb=No USB" % (name))
+    print('%s.menu.usbstack.nousb.build.usbstack_flags="-DNO_USB -DDISABLE_USB_SERIAL -I{runtime.platform.path}/tools/libpico"' % (name))
+
+def BuildHeader(name, vendor_name, product_name, vidtouse, pidtouse, vid, pid, boarddefine, variant, uploadtool, flashsize, ramsize, boot2):
    prettyname = vendor_name + " " + product_name
    print()
    print("# -----------------------------------")
    print("# %s" % (prettyname))
    print("# -----------------------------------")
    print("%s.name=%s" % (name, prettyname))
-    print("%s.vid.0=%s" % (name, vid))
+    print("%s.vid.0=%s" % (name, vidtouse))
    print("%s.pid.0=%s" % (name, pidtouse))
    print("%s.build.usbpid=-DSERIALUSB_PID=%s" % (name, pid))
    print("%s.build.board=%s" % (name, boarddefine))
@@ -65,7 +69,7 @@ def BuildHeader(name, vendor_name, product_name, pidtouse, vid, pid, boarddefine
    print("%s.build.variant=%s" % (name, variant))
    print("%s.upload.tool=%s" % (name, uploadtool))
    print("%s.upload.maximum_size=%d" % (name, flashsize))
-    print("%s.upload.maximum_data_size=262144" % (name))
+    print("%s.upload.maximum_data_size=%d" % (name, ramsize))
    print("%s.upload.wait_for_upload_port=true" % (name))
    print("%s.upload.erase_cmd=" % (name))
    print("%s.serial.disableDTR=false" % (name))
@@ -75,6 +79,7 @@ def BuildHeader(name, vendor_name, product_name, pidtouse, vid, pid, boarddefine
    print("%s.build.core=rp2040" % (name))
    print("%s.build.mcu=rp2040" % (name))
    print("%s.build.ldscript=memmap_default.ld" % (name))
+    print("%s.build.ram_length=%dk" % (name, ramsize / 1024))
    print("%s.build.boot2=%s" % (name, boot2))
    print("%s.build.vid=%s" % (name, vid))
    print("%s.build.pid=%s" % (name, pid))
@@ -92,17 +97,23 @@ def BuildGlobalMenuList():


 def MakeBoard(name, vendor_name, product_name, vid, pid, boarddefine, flashsizemb, boot2):
-    for a, b, c in [ ["", "", "uf2conv"], ["picoprobe", " (Picoprobe)", "picoprobe"]]:
+    for a, b, c in [ ["", "", "uf2conv"], ["picoprobe", " (Picoprobe)", "picoprobe"], ["picodebug", " (pico-debug)", "picodebug"]]:
        n = name + a
        p = product_name + b
        fssizelist = [ 0, 64 * 1024, 128 * 1024, 256 * 1024, 512 * 1024 ]
        for i in range(1, flashsizemb):
            fssizelist.append(i * 1024 * 1024)
+        vidtouse = vid;
+        ramsizekb = 256;
        if a == "picoprobe":
            pidtouse = '0x0004'
+        elif a == "picodebug":
+            vidtouse = '0x1209'
+            pidtouse = '0x2488'
+            ramsizekb = 240;
        else:
            pidtouse = pid
-        BuildHeader(n, vendor_name, p, pidtouse, vid, pid, boarddefine, name, c, flashsizemb * 1024 * 1024, boot2)
+        BuildHeader(n, vendor_name, p, vidtouse, pidtouse, vid, pid, boarddefine, name, c, flashsizemb * 1024 * 1024, ramsizekb * 1024, boot2)
        if name == "generic":
            BuildFlashMenu(n, 2*1024*1024, [0, 1*1024*1024])
            BuildFlashMenu(n, 4*1024*1024, [0, 2*1024*1024])
@@ -113,7 +124,10 @@ def MakeBoard(name, vendor_name, product_name, vid, pid, boarddefine, flashsizem
        BuildFreq(n)
        BuildDebugPort(n)
        BuildDebugLevel(n)
-        BuildUSBStack(n)
+        if a == "picodebug":
+            BuildWithoutUSBStack(n)
+        else:
+            BuildUSBStack(n)
        if name == "generic":
            BuildBoot(n)
Author	SHA1	Message	Date
majbthrd	47a4d9f803	Add pico-debug support (#239 )	2021-07-07 12:55:03 -07:00
Earle F. Philhower, III	e4185ce4ce	Update toolchain, add CMSIS-DAP to OpenOCD (#241 ) Enable use of the included openocd binary with pico-debug	2021-07-05 19:29:47 -07:00
Earle F. Philhower, III	c539742e13	Disable ignored-qualifier warning in SDK (#238 ) The Pico SDK has some magic with const pointers that generates lots of "ignored qualifer" warnings on the more pedantic modes. To clean the normal builds up, disable this warning for now. At some point a PR to the PICO-SDK may be indicated.	2021-07-04 13:46:50 -07:00
Earle F. Philhower, III	ebd2289971	Add warning flags to build, catch missing return (#237 ) Fixes #236 Compiler warning flags were completely ignored/missed in platform.txt. Add them, as normal, and include -Werror=return-type because GCC will produce crashing apps when a function return value is missing.	2021-07-04 12:30:59 -07:00
Earle F. Philhower, III	d67329a2b8	Rename assembly dir to boot2, only has boot2.Ss (#230 )	2021-06-30 08:42:13 -07:00
Ha Thach	3a9703fc20	Update tinyusb 1.3.0 (#228 ) * update included tinyusb to 1.2.0 move tusb_config.h from core to library for more portability * pump tinyusb * update tinyusb to 1.3.0 * try to fix ci warning	2021-06-30 08:22:36 -07:00
Earle F. Philhower, III	856b105ab9	Clean up include paths, remove duplicates/invalids (#229 )	2021-06-30 08:13:19 -07:00
Earle F. Philhower, III	03e740a511	Add CPU cycle counter accessors (#226 ) Use the 24-bit SYSTICK peripheral, wrapped in logic to extend it to a full 32 or 64bits. W/o the wrapper, SYSTICK will wrap around in ~100ms. Adds rp2040.getCycleCount() and rp2040.getCycleCount64() Clean up the libpico build process as crt0.S from the pico-sdk should be directly used. Clean up the keywords file.	2021-06-28 20:53:40 -07:00
Earle F. Philhower, III	e628c8e211	Upgrade Newlib to include 64-bit/8-bit %llu/%hhd (#227 )	2021-06-28 20:46:08 -07:00
Ha Thach	7eca6c609f	Use correct tusb_config.h for built-in usb (pico-sdk) (#219 ) Fix issue with usbd_desc_cfg value may not be initialized as zero.	2021-06-26 09:37:41 -07:00
Earle F. Philhower, III	f299120798	Remove accidental debug message	2021-06-25 18:47:02 -07:00