Update version

Wire probe clock stretch up to 500us (#2493 )
As reported by @Rasmusfk in #2455, allow for a longer clock stretch period during probes.
2024-09-24 06:59:23 -07:00 · 2024-09-24 06:58:41 -07:00 · 2024-09-24 06:46:05 -07:00 · 2024-09-22 15:16:28 -07:00 · 2024-09-20 15:04:56 -07:00 · 2024-09-19 17:03:23 -07:00
234 changed files with 19763 additions and 7041 deletions
@@ -187,11 +187,16 @@ jobs:
        mod: 500
        rem: 1
      run: |
+        brew update
+        brew install bash
+        /usr/bin/env bash --version
        uname -a
        cd pico-sdk
        git submodule update --init
        cd ..
-        bash ./tests/build.sh
+        /usr/bin/env bash ./tests/build.sh
+        ./system/picotool/picotool version
+        otool -L ./system/picotool/picotool

 # Build a few examples with PlatformIO to test if integration works
  build-platformio:
@@ -46,3 +46,6 @@
 [submodule "cores/rp2040/tlsf"]
 	path = lib/tlsf
 	url = https://github.com/earlephilhower/tlsf.git
+[submodule "libraries/ESPHost"]
+	path = libraries/ESPHost
+	url = https://github.com/Networking-for-Arduino/ESPHost.git
@@ -0,0 +1,41 @@
+# Read the Docs configuration file for Sphinx projects
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the OS, Python version and other tools you might need
+
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.12"
+  jobs:
+    post_create_environment:
+      - python -m pip install sphinx_rtd_theme
+    # You can also specify other tool versions:
+    # nodejs: "20"
+    # rust: "1.70"
+    # golang: "1.20"
+
+
+# Build documentation in the "docs/" directory with Sphinx
+
+sphinx:
+  configuration: docs/conf.py
+  # You can configure Sphinx to use a different builder, for instance use the dirhtml builder for simpler URLs
+  # builder: "dirhtml"
+  # Fail on all warnings to avoid broken references
+  # fail_on_warning: true
+
+# Optionally build your docs in additional formats such as PDF and ePub
+# formats:
+#   - pdf
+#   - epub
+
+# Optional but recommended, declare the Python requirements required
+# to build your documentation
+# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+# python:
+#   install:
+#     - requirements: docs/requirements.txt
@@ -4,7 +4,7 @@

 Raspberry Pi Pico Arduino core, for all RP2040 and RP2350 boards

-This is a port of Arduino to the RP2040 (Raspberry Pi Pico processor) anr RP2350 (Raspberry Pi Pico 2 processor). It uses the bare Raspberry Pi Pico SDK and a custom GCC 12.3/Newlib 4.0 toolchain.
+This is a port of Arduino to the RP2040 (Raspberry Pi Pico processor) and RP2350 (Raspberry Pi Pico 2 processor). It uses the bare Raspberry Pi Pico SDK and a custom GCC 12.3/Newlib 4.0 toolchain.

 # Documentation
 See https://arduino-pico.readthedocs.io/en/latest/ along with the examples for more detailed usage information.
@@ -35,10 +35,13 @@ Read the [Contributing Guide](https://github.com/earlephilhower/arduino-pico/blo
 * Breadstick Raspberry
 * BridgeTek IDM2040-7A
 * BridgeTek IDM2040-43A
+* Cytron IRIV IO Controller
 * Cytron Maker Pi RP2040
 * Cytron Maker Nano RP2040
 * Cytron Maker Uno RP2040
-* DatanoiseTV PicoADK+
+* Cytron Motion 2350 Pro
+* Datanoise PicoADK v1
+* Datanoise PicoADK v2 (RP2350)
 * Degz Suibo RP2040
 * DeRuiLab FlyBoard2040 Core
 * DFRobot Beetle RP2040
@@ -66,8 +69,10 @@ Read the [Contributing Guide](https://github.com/earlephilhower/arduino-pico/blo
 * Newsan Archi
 * nullbits Bit-C PRO
 * Pimoroni PGA2040
+* Pimoroni Pico Plus 2
 * Pimoroni Plasma2040
 * Pimoroni Tiny2040
+* Pimoroni Tiny2350
 * Pintronix PinMax
 * RAKwireless RAK11300
 * Redscorp RP2040-Eins
@@ -100,7 +105,6 @@ Read the [Contributing Guide](https://github.com/earlephilhower/arduino-pico/blo
 * Generic RP2350 (configurable flash, I/O pins)

 # Features
-* Transparent use of PSRAM globals and heap (RP2350 only)
 * Adafruit TinyUSB Arduino (USB mouse, keyboard, flash drive, generic HID, CDC Serial, MIDI, WebUSB, others)
 * Bluetooth on the PicoW (Classic and BLE) with Keyboard, Mouse, Joystick, and Virtual Serial
 * Bluetooth Classic and BLE HID master mode (connect to BT keyboard, mouse, or joystick)
@@ -121,6 +125,7 @@ Read the [Contributing Guide](https://github.com/earlephilhower/arduino-pico/blo
 * USB drive mode for data loggers (SingleFileDrive, FatFSUSB)
 * Peripherals:  SPI master/slave, Wire(I2C) master/slave, dual UART, emulated EEPROM, I2S audio input/output, Servo
 * printf (i.e. debug) output over USB serial
+* Transparent use of PSRAM globals and heap (RP2350 only)

 The RP2040 PIO state machines (SMs) are used to generate jitter-free:
 * Servos
@@ -193,11 +198,6 @@ cd ../tools
 python3 ./get.py
 `````

-# Installing both Arduino and CMake
-Tom's Hardware presented a very nice writeup on installing `arduino-pico` on both Windows and Linux, available at https://www.tomshardware.com/how-to/program-raspberry-pi-pico-with-arduino-ide
-
-If you follow Les' step-by-step you will also have a fully functional `CMake`-based environment to build Pico apps on if you outgrow the Arduino ecosystem.
-
 # Uploading Sketches
 To upload your first sketch, you will need to hold the BOOTSEL button down while plugging in the Pico to your computer.
 Then hit the upload button and the sketch should be transferred and start to run.
@@ -218,9 +218,9 @@ To install, follow the directions in
 * https://github.com/earlephilhower/arduino-pico-littlefs-plugin/blob/master/README.md

 For detailed usage information, please check the ESP8266 repo documentation (ignore SPIFFS related notes) available at
-* https://arduino-esp8266.readthedocs.io/en/latest/filesystem.html
+* https://arduino-pico.readthedocs.io/en/latest/fs.html

-# Uploading Sketches with Picoprobe
+# Uploading Sketches with Picoprobe/Debugprobe
 If you have built a Raspberry Pi Picoprobe, you can use OpenOCD to handle your sketch uploads and for debugging with GDB.

 Under Windows a local admin user should be able to access the Picoprobe port automatically, but under Linux `udev` must be told about the device and to allow normal users access.
@@ -240,28 +240,8 @@ If for some reason the device file does not appear, manually unplug and re-plug

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

-# 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 group-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
-sudo udevadm trigger -w -s usb
-````
-
-The first line creates a device file in `/dev` that matches all CMSIS-DAP adapters, and it enables read+write permissions for members of the `plugdev` group. The second line causes `udev` to load this new rule. The third line requests the kernel generate "device change" events that will cause our new `udev` rule to run. 
-
-If for some reason the device file does not appear, manually unplug and re-plug the USB connection and check again. The output from `dmesg` can reveal useful diagnostics if the device file remains absent.
-
-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".
+# 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.  Use the command line `./system/openocd/bin/openocd -f ./lib/rp2040/picoprobe_cmsis_dap.tcl` or `./system/openocd/bin/openocd -f ./lib/rp2350/picoprobe_cmsis_dap.tcl` from the `git` installation directory.

 # Licensing and Credits
 * The [Arduino IDE and ArduinoCore-API](https://arduino.cc) are developed and maintained by the Arduino team. The IDE is licensed under GPL.
@@ -282,6 +262,7 @@ The installed tools include a version of OpenOCD (in the pqt-openocd directory)
 * [Xoshiro-cpp](https://github.com/Reputeless/Xoshiro-cpp) is copyright (c) 2020 Ryo Suzuki and distributed under the MIT license.
 * [FatFS low-level filesystem](http://elm-chan.org/fsw/ff/) code is Copyright (C) 2024, ChaN, all rights reserved.
 * [TLSF memory manager for PSRAM from Espressif fork](https://github.com/espressif/tlsf) of [original](https://github.com/mattconte/tlsf) by Matthew Conte is copyright Matthew Conte and licensed under the MIT license.
+* [ESPHost library](https://github.com/Networking-for-Arduino/ESPHost) is LGPL licensed by its maintainers.

 -Earle F. Philhower, III  
 earlephilhower@yahoo.com
@@ -58,12 +58,15 @@ extern "C" {
 void interrupts();
 void noInterrupts();

+// Only implemented on some RP2350 boards, not the OG Pico 2
 #ifdef RP2350_PSRAM_CS
 void *pmalloc(size_t size);
 void *pcalloc(size_t count, size_t size);
+#else
+[[deprecated("This chip does not have PSRAM, pmalloc will always fail")]] void *pmalloc(size_t size);
+[[deprecated("This chip does not have PSRAM, pcalloc will always fail")]] void *pcalloc(size_t count, size_t size);
 #endif

-
 // AVR compatibility macros...naughty and accesses the HW directly
 #define digitalPinToPort(pin)       (0)
 #define digitalPinToBitMask(pin)    (1UL << (pin))
@@ -130,8 +133,8 @@ extern const String emptyString;
 // Template which will evaluate at *compile time* to a single 32b number
 // with the specified bits set.
 template <size_t N>
-constexpr uint32_t __bitset(const int (&a)[N], size_t i = 0U) {
-    return i < N ? (1L << a[i]) | __bitset(a, i + 1) : 0;
+constexpr uint64_t __bitset(const int (&a)[N], size_t i = 0U) {
+    return i < N ? (1LL << a[i]) | __bitset(a, i + 1) : 0;
 }
 #endif

@@ -146,3 +149,12 @@ constexpr uint32_t __bitset(const int (&a)[N], size_t i = 0U) {

 // PSRAM decorator
 #define PSRAM __attribute__((section("\".psram\"")))
+
+// General GPIO/ADC layout info
+#ifdef PICO_RP2350B
+#define __GPIOCNT 48
+#define __FIRSTANALOGGPIO 40
+#else
+#define __GPIOCNT 30
+#define __FIRSTANALOGGPIO 26
+#endif
@@ -26,7 +26,9 @@ static bool __no_inline_not_in_flash_func(get_bootsel_button)() {

    // Must disable interrupts, as interrupt handlers may be in flash, and we
    // are about to temporarily disable flash access!
-    noInterrupts();
+    if (!__isFreeRTOS) {
+        noInterrupts();
+    }
    rp2040.idleOtherCore();

    // Set chip select to Hi-Z
@@ -53,7 +55,9 @@ static bool __no_inline_not_in_flash_func(get_bootsel_button)() {
                    IO_QSPI_GPIO_QSPI_SS_CTRL_OEOVER_BITS);

    rp2040.resumeOtherCore();
-    interrupts();
+    if (!__isFreeRTOS) {
+        interrupts();
+    }

    return button_state;
 }
@@ -21,6 +21,7 @@
 #include <Arduino.h>
 #include "PIOProgram.h"
 #include <map>
+#include <hardware/claim.h>

 #if defined(PICO_RP2350)
 #define PIOS pio0, pio1, pio2
@@ -31,6 +32,8 @@
 #endif

 static std::map<const pio_program_t *, int> __pioMap[PIOCNT];
+static bool __pioAllocated[PIOCNT];
+static bool __pioHighGPIO[PIOCNT];
 auto_init_mutex(_pioMutex);

 PIOProgram::PIOProgram(const pio_program_t *pgm) {
@@ -47,16 +50,30 @@ PIOProgram::~PIOProgram() {
 }

 // Possibly load into a PIO and allocate a SM
-bool PIOProgram::prepare(PIO *pio, int *sm, int *offset) {
+bool PIOProgram::prepare(PIO *pio, int *sm, int *offset, int start, int cnt) {
    CoreMutex m(&_pioMutex);
    PIO pi[PIOCNT] = { PIOS };

+#if 0
+    uint usm;
+    uint uoff;
+    auto ret = pio_claim_free_sm_and_add_program_for_gpio_range(_pgm, pio, &usm, &uoff, start, cnt, true);
+    *sm = usm;
+    *offset = uoff;
+    DEBUGV("clain %d\n", ret);
+    return ret;
+#endif
+
+    bool needsHigh = (start + cnt) >= 32;
+    DEBUGV("PIOProgram %p: Searching for high=%d, pins %d-%d\n", _pgm, needsHigh ? 1 : 0, start, start + cnt - 1);
+
    // If it's already loaded into PIO IRAM, try and allocate in that specific PIO
    for (int o = 0; o < PIOCNT; o++) {
        auto p = __pioMap[o].find(_pgm);
-        if (p != __pioMap[o].end()) {
+        if ((p != __pioMap[o].end()) && (__pioHighGPIO[o] == needsHigh)) {
            int idx = pio_claim_unused_sm(pi[o], false);
            if (idx >= 0) {
+                DEBUGV("PIOProgram %p: Reusing IMEM ON PIO %p(high=%d) for pins %d-%d\n", _pgm, pi[o], __pioHighGPIO[o] ? 1 : 0, start, start + cnt - 1);
                _pio = pi[o];
                _sm = idx;
                *pio = pi[o];
@@ -69,21 +86,54 @@ bool PIOProgram::prepare(PIO *pio, int *sm, int *offset) {

    // Not in any PIO IRAM, so try and add
    for (int o = 0; o < PIOCNT; o++) {
-        if (pio_can_add_program(pi[o], _pgm)) {
-            int idx = pio_claim_unused_sm(pi[o], false);
-            if (idx >= 0) {
-                int off = pio_add_program(pi[o], _pgm);
-                __pioMap[o].insert({_pgm, off});
-                _pio = pi[o];
-                _sm = idx;
-                *pio = pi[o];
-                *sm = idx;
-                *offset = off;
-                return true;
+        if (__pioAllocated[o] && (__pioHighGPIO[o] == needsHigh)) {
+            DEBUGV("PIOProgram: Checking PIO %p\n", pi[o]);
+            if (pio_can_add_program(pi[o], _pgm)) {
+                int idx = pio_claim_unused_sm(pi[o], false);
+                if (idx >= 0) {
+                    DEBUGV("PIOProgram %p: Adding IMEM ON PIO %p(high=%d) for pins %d-%d\n", _pgm, pi[o], __pioHighGPIO[o] ? 1 : 0, start, start + cnt - 1);
+                    int off = pio_add_program(pi[o], _pgm);
+                    __pioMap[o].insert({_pgm, off});
+                    _pio = pi[o];
+                    _sm = idx;
+                    *pio = pi[o];
+                    *sm = idx;
+                    *offset = off;
+                    return true;
+                } else {
+                    DEBUGV("PIOProgram: can't claim unused SM\n");
+                }
+            } else {
+                DEBUGV("PIOProgram: can't add program\n");
            }
+        } else {
+            DEBUGV("PIOProgram: Skipping PIO %p, wrong allocated/needhi\n", pi[o]);
        }
    }

+    // No existing PIOs can meet, is there an unallocated one we can allocate?
+    PIO p;
+    uint idx;
+    uint off;
+    auto rc = pio_claim_free_sm_and_add_program_for_gpio_range(_pgm, &p, &idx, &off, start, cnt, true);
+    if (rc) {
+        int o = 0;
+        while (p != pi[o]) {
+            o++;
+        }
+        assert(!__pioAllocated[o]);
+        __pioAllocated[o]  = true;
+        __pioHighGPIO[o] = needsHigh;
+        DEBUGV("PIOProgram %p: Allocating new PIO %p(high=%d) for pins %d-%d\n", _pgm, pi[o], __pioHighGPIO[o] ? 1 : 0, start, start + cnt - 1);
+        __pioMap[o].insert({_pgm, off});
+        _pio = pi[o];
+        _sm = idx;
+        *pio = pi[o];
+        *sm = idx;
+        *offset = off;
+        return true;
+    }
+
    // Nope, no room either for SMs or INSNs
    return false;
 }
@@ -28,7 +28,7 @@ public:
    PIOProgram(const pio_program_t *pgm);
    ~PIOProgram();
    // Possibly load into a PIO and allocate a SM
-    bool prepare(PIO *pio, int *sm, int *offset);
+    bool prepare(PIO *pio, int *sm, int *offset, int gpio_start = 0, int gpio_cnt = 1);

 private:
    const pio_program_t *_pgm;
@@ -253,7 +253,7 @@ public:
    }

    inline int getUsedPSRAMHeap() {
-#if defined(PICO_RP2350)
+#if defined(RP2350_PSRAM_CS)
        extern size_t __psram_total_used();
        return __psram_total_used();
 #else
@@ -262,7 +262,7 @@ public:
    }

    inline int getTotalPSRAMHeap() {
-#if defined(PICO_RP2350)
+#if defined(RP2350_PSRAM_CS)
        extern size_t __psram_total_space();
        return __psram_total_space();
 #else
@@ -290,7 +290,7 @@ public:
    }

    inline size_t getPSRAMSize() {
-#if defined(PICO_RP2350)
+#if defined(RP2350_PSRAM_CS)
        extern size_t __psram_size;
        return __psram_size;
 #else
@@ -566,8 +566,6 @@ usbd_class_driver_t const *usbd_app_driver_get_cb(uint8_t *driver_count) {

 #elif defined NO_USB

-// will ensure backward compatibility with existing code when using pico-debug
-
 #warning "NO_USB selected. No output to Serial will occur!"

 #include <Arduino.h>
@@ -1,5 +1,5 @@
 #pragma once
 #define ARDUINO_PICO_MAJOR 4
 #define ARDUINO_PICO_MINOR 0
-#define ARDUINO_PICO_REVISION 0
-#define ARDUINO_PICO_VERSION_STR "4.0.0"
+#define ARDUINO_PICO_REVISION 3
+#define ARDUINO_PICO_VERSION_STR "4.0.3"
@@ -33,6 +33,7 @@ static std::map<int, PIOProgram*> _rxMap;
 // Duplicate a program and replace the first insn with a "set x, repl"
 static pio_program_t *pio_make_uart_prog(int repl, const pio_program_t *pg) {
    pio_program_t *p = new pio_program_t;
+    memcpy(p, pg, sizeof(*p));
    p->length = pg->length;
    p->origin = pg->origin;
    uint16_t *insn = (uint16_t *)malloc(p->length * 2);
@@ -46,24 +47,22 @@ static pio_program_t *pio_make_uart_prog(int repl, const pio_program_t *pg) {
    return p;
 }

-static PIOProgram *_getTxProgram(int bits, bool inverted) {
-    int key = inverted ? -bits : bits;
-    auto f = _txMap.find(key);
+static PIOProgram *_getTxProgram(int bits) {
+    auto f = _txMap.find(bits);
    if (f == _txMap.end()) {
-        pio_program_t * p = pio_make_uart_prog(bits, inverted ? &pio_tx_inv_program : &pio_tx_program);
-        _txMap.insert({key, new PIOProgram(p)});
-        f = _txMap.find(key);
+        pio_program_t * p = pio_make_uart_prog(bits, &pio_tx_program);
+        _txMap.insert({bits, new PIOProgram(p)});
+        f = _txMap.find(bits);
    }
    return f->second;
 }

-static PIOProgram *_getRxProgram(int bits, bool inverted) {
-    int key = inverted ? -bits : bits;
-    auto f = _rxMap.find(key);
+static PIOProgram *_getRxProgram(int bits) {
+    auto f = _rxMap.find(bits);
    if (f == _rxMap.end()) {
-        pio_program_t * p = pio_make_uart_prog(bits, inverted ? &pio_rx_inv_program : &pio_rx_program);
-        _rxMap.insert({key, new PIOProgram(p)});
-        f = _rxMap.find(key);
+        pio_program_t * p = pio_make_uart_prog(bits, &pio_rx_program);
+        _rxMap.insert({bits, new PIOProgram(p)});
+        f = _rxMap.find(bits);
    }
    return f->second;
 }
@@ -80,9 +79,9 @@ static int _parity(int bits, int data) {

 // We need to cache generated SerialPIOs so we can add data to them from
 // the shared handler
-static SerialPIO *_pioSP[2][4];
+static SerialPIO *_pioSP[3][4];
 static void __not_in_flash_func(_fifoIRQ)() {
-    for (int p = 0; p < 2; p++) {
+    for (int p = 0; p < 3; p++) {
        for (int sm = 0; sm < 4; sm++) {
            SerialPIO *s = _pioSP[p][sm];
            if (s) {
@@ -98,7 +97,7 @@ void __not_in_flash_func(SerialPIO::_handleIRQ)() {
        return;
    }
    while (!pio_sm_is_rx_fifo_empty(_rxPIO, _rxSM)) {
-        uint32_t decode = _rxPIO->rxf[_rxSM] ^ (_rxInverted ? 0xffffffff : 0);
+        uint32_t decode = _rxPIO->rxf[_rxSM];
        decode >>= 33 - _rxBits;
        uint32_t val = 0;
        for (int b = 0; b < _bits + 1; b++) {
@@ -140,6 +139,8 @@ SerialPIO::SerialPIO(pin_size_t tx, pin_size_t rx, size_t fifoSize) {
    _fifoSize = fifoSize + 1; // Always one unused entry
    _queue = new uint8_t[_fifoSize];
    mutex_init(&_mutex);
+    _invertTX = false;
+    _invertRX = false;
 }

 SerialPIO::~SerialPIO() {
@@ -147,6 +148,21 @@ SerialPIO::~SerialPIO() {
    delete[] _queue;
 }

+static int pio_irq_0(PIO p) {
+    switch (pio_get_index(p)) {
+    case 0:
+        return PIO0_IRQ_0;
+    case 1:
+        return PIO1_IRQ_0;
+#if defined(PICO_RP2350)
+    case 2:
+        return PIO2_IRQ_0;
+#endif
+    default:
+        return -1;
+    }
+}
+
 void SerialPIO::begin(unsigned long baud, uint16_t config) {
    _overflow = false;
    _baud = baud;
@@ -191,9 +207,9 @@ void SerialPIO::begin(unsigned long baud, uint16_t config) {

    if (_tx != NOPIN) {
        _txBits = _bits + _stop + (_parity != UART_PARITY_NONE ? 1 : 0) + 1/*start bit*/;
-        _txPgm = _getTxProgram(_txBits, _txInverted);
+        _txPgm = _getTxProgram(_txBits);
        int off;
-        if (!_txPgm->prepare(&_txPIO, &_txSM, &off)) {
+        if (!_txPgm->prepare(&_txPIO, &_txSM, &off, _tx, 1)) {
            DEBUGCORE("ERROR: Unable to allocate PIO TX UART, out of PIO resources\n");
            // ERROR, no free slots
            return;
@@ -211,6 +227,7 @@ void SerialPIO::begin(unsigned long baud, uint16_t config) {
        pio_sm_exec(_txPIO, _txSM, pio_encode_mov(pio_isr, pio_osr));

        // Start running!
+        gpio_set_outover(_tx, _invertTX);
        pio_sm_set_enabled(_txPIO, _txSM, true);
    }
    if (_rx != NOPIN) {
@@ -218,9 +235,9 @@ void SerialPIO::begin(unsigned long baud, uint16_t config) {
        _reader = 0;

        _rxBits = 2 * (_bits + _stop + (_parity != UART_PARITY_NONE ? 1 : 0) + 1) - 1;
-        _rxPgm = _getRxProgram(_rxBits, _rxInverted);
+        _rxPgm = _getRxProgram(_rxBits);
        int off;
-        if (!_rxPgm->prepare(&_rxPIO, &_rxSM, &off)) {
+        if (!_rxPgm->prepare(&_rxPIO, &_rxSM, &off, _rx, 1)) {
            DEBUGCORE("ERROR: Unable to allocate PIO RX UART, out of PIO resources\n");
            return;
        }
@@ -245,10 +262,11 @@ void SerialPIO::begin(unsigned long baud, uint16_t config) {
        case 2: pio_set_irq0_source_enabled(_rxPIO, pis_sm2_rx_fifo_not_empty, true); break;
        case 3: pio_set_irq0_source_enabled(_rxPIO, pis_sm3_rx_fifo_not_empty, true); break;
        }
-        auto irqno = pio_get_index(_rxPIO) == 0 ? PIO0_IRQ_0 : PIO1_IRQ_0;
+        auto irqno = pio_irq_0(_rxPIO);
        irq_set_exclusive_handler(irqno, _fifoIRQ);
        irq_set_enabled(irqno, true);

+        gpio_set_inover(_rx, _invertRX);
        pio_sm_set_enabled(_rxPIO, _rxSM, true);
    }

@@ -262,6 +280,7 @@ void SerialPIO::end() {
    if (_tx != NOPIN) {
        pio_sm_set_enabled(_txPIO, _txSM, false);
        pio_sm_unclaim(_txPIO, _txSM);
+        gpio_set_outover(_tx, 0);
    }
    if (_rx != NOPIN) {
        pio_sm_set_enabled(_rxPIO, _rxSM, false);
@@ -274,9 +293,10 @@ void SerialPIO::end() {
            used = used || !!_pioSP[pioNum][i];
        }
        if (!used) {
-            auto irqno = pioNum == 0 ? PIO0_IRQ_0 : PIO1_IRQ_0;
+            auto irqno = pio_irq_0(_rxPIO);
            irq_set_enabled(irqno, false);
        }
+        gpio_set_inover(_rx, 0);
    }
    _running = false;
 }
@@ -348,11 +368,6 @@ void SerialPIO::flush() {
    delay((1000 * (_txBits + 1)) / _baud);
 }

-void SerialPIO::setInverted(bool invTx, bool invRx) {
-    _txInverted = invTx;
-    _rxInverted = invRx;
-}
-
 size_t SerialPIO::write(uint8_t c) {
    CoreMutex m(&_mutex);
    if (!_running || !m || (_tx == NOPIN)) {
@@ -371,7 +386,7 @@ size_t SerialPIO::write(uint8_t c) {
    }
    val <<= 1;  // Start bit = low

-    pio_sm_put_blocking(_txPIO, _txSM, _txInverted ? ~val : val);
+    pio_sm_put_blocking(_txPIO, _txSM, val);

    return 1;
 }
@@ -41,7 +41,22 @@ public:
    void begin(unsigned long baud, uint16_t config) override;
    void end() override;

-    void setInverted(bool invTx = true, bool invRx = true);
+    void setInverted(bool invTx = true, bool invRx = true) {
+        setInvertTX(invTx);
+        setInvertRX(invRx);
+    }
+    bool setInvertTX(bool invert = true) {
+        if (!_running) {
+            _invertTX = invert;
+        }
+        return !_running;
+    }
+    bool setInvertRX(bool invert = true) {
+        if (!_running) {
+            _invertRX = invert;
+        }
+        return !_running;
+    }

    virtual int peek() override;
    virtual int read() override;
@@ -65,8 +80,8 @@ protected:
    int _stop;
    bool _overflow;
    mutex_t _mutex;
-    bool _txInverted = false;
-    bool _rxInverted = false;
+    bool _invertTX;
+    bool _invertRX;

    PIOProgram *_txPgm;
    PIO _txPIO;
@@ -32,10 +32,16 @@ extern void serialEvent1() __attribute__((weak));
 extern void serialEvent2() __attribute__((weak));

 bool SerialUART::setRX(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({1, 13, 17, 29}) /* UART0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({1, 13, 17, 29, 33, 45}) /* UART0 */,
+                                    __bitset({5, 9, 21, 25, 37, 41})  /* UART1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({1, 13, 17, 29}) /* UART0 */,
                                    __bitset({5, 9, 21, 25})  /* UART1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[uart_get_index(_uart)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[uart_get_index(_uart)])) {
        _rx = pin;
        return true;
    }
@@ -53,10 +59,16 @@ bool SerialUART::setRX(pin_size_t pin) {
 }

 bool SerialUART::setTX(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({0, 12, 16, 28}) /* UART0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({0, 12, 16, 28, 32, 44}) /* UART0 */,
+                                    __bitset({4, 8, 20, 24, 36, 40})  /* UART1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({0, 12, 16, 28}) /* UART0 */,
                                    __bitset({4, 8, 20, 24})  /* UART1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[uart_get_index(_uart)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[uart_get_index(_uart)])) {
        _tx = pin;
        return true;
    }
@@ -74,10 +86,16 @@ bool SerialUART::setTX(pin_size_t pin) {
 }

 bool SerialUART::setRTS(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({3, 15, 19}) /* UART0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({3, 15, 19, 31, 35, 47}) /* UART0 */,
+                                    __bitset({7, 11, 23, 27, 39, 43})  /* UART1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({3, 15, 19}) /* UART0 */,
                                    __bitset({7, 11, 23, 27})  /* UART1 */
                                  };
-    if ((!_running) && ((pin == UART_PIN_NOT_DEFINED) || ((1 << pin) & valid[uart_get_index(_uart)]))) {
+#endif
+    if ((!_running) && ((pin == UART_PIN_NOT_DEFINED) || ((1LL << pin) & valid[uart_get_index(_uart)]))) {
        _rts = pin;
        return true;
    }
@@ -95,10 +113,16 @@ bool SerialUART::setRTS(pin_size_t pin) {
 }

 bool SerialUART::setCTS(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({2, 14, 18}) /* UART0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({2, 14, 18, 30, 34, 46}) /* UART0 */,
+                                    __bitset({6, 10, 22, 26, 38, 42})  /* UART1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({2, 14, 18}) /* UART0 */,
                                    __bitset({6, 10, 22, 26})  /* UART1 */
                                  };
-    if ((!_running) && ((pin == UART_PIN_NOT_DEFINED) || ((1 << pin) & valid[uart_get_index(_uart)]))) {
+#endif
+    if ((!_running) && ((pin == UART_PIN_NOT_DEFINED) || ((1LL << pin) & valid[uart_get_index(_uart)]))) {
        _cts = pin;
        return true;
    }
@@ -138,6 +162,9 @@ SerialUART::SerialUART(uart_inst_t *uart, pin_size_t tx, pin_size_t rx, pin_size
    _cts = cts;
    mutex_init(&_mutex);
    mutex_init(&_fifoMutex);
+    _invertTX = false;
+    _invertRX = false;
+    _invertControl = false;
 }

 static void _uart0IRQ();
@@ -154,14 +181,18 @@ void SerialUART::begin(unsigned long baud, uint16_t config) {
    _fcnTx = gpio_get_function(_tx);
    _fcnRx = gpio_get_function(_rx);
    gpio_set_function(_tx, GPIO_FUNC_UART);
+    gpio_set_outover(_tx, _invertTX ? 1 : 0);
    gpio_set_function(_rx, GPIO_FUNC_UART);
+    gpio_set_inover(_rx, _invertRX ? 1 : 0);
    if (_rts != UART_PIN_NOT_DEFINED) {
        _fcnRts = gpio_get_function(_rts);
        gpio_set_function(_rts, GPIO_FUNC_UART);
+        gpio_set_outover(_rts, _invertControl ? 1 : 0);
    }
    if (_cts != UART_PIN_NOT_DEFINED) {
        _fcnCts = gpio_get_function(_cts);
        gpio_set_function(_cts, GPIO_FUNC_UART);
+        gpio_set_inover(_cts, _invertControl ? 1 : 0);
    }

    uart_init(_uart, baud);
@@ -246,12 +277,16 @@ void SerialUART::end() {

    // Restore pin functions
    gpio_set_function(_tx, _fcnTx);
+    gpio_set_outover(_tx, 0);
    gpio_set_function(_rx, _fcnRx);
+    gpio_set_inover(_rx, 0);
    if (_rts != UART_PIN_NOT_DEFINED) {
        gpio_set_function(_rts, _fcnRts);
+        gpio_set_outover(_rts, 0);
    }
    if (_cts != UART_PIN_NOT_DEFINED) {
        gpio_set_function(_cts, _fcnCts);
+        gpio_set_inover(_cts, 0);
    }
 }

@@ -43,6 +43,26 @@ public:
        ret &= setTX(tx);
        return ret;
    }
+
+    bool setInvertTX(bool invert = true) {
+        if (!_running) {
+            _invertTX = invert;
+        }
+        return !_running;
+    }
+    bool setInvertRX(bool invert = true) {
+        if (!_running) {
+            _invertRX = invert;
+        }
+        return !_running;
+    }
+    bool setInvertControl(bool invert = true) {
+        if (!_running) {
+            _invertControl = invert;
+        }
+        return !_running;
+    }
+
    bool setFIFOSize(size_t size);
    bool setPollingMode(bool mode = true);

@@ -86,6 +106,7 @@ private:
    bool _polling = false;
    bool _overflow;
    bool _break;
+    bool _invertTX, _invertRX, _invertControl;

    // Lockless, IRQ-handled circular queue
    uint32_t _writer;
@@ -30,10 +30,6 @@ public:
    }

    ~SoftwareSerial() {
-        if (_invert) {
-            gpio_set_outover(_tx, 0);
-            gpio_set_outover(_rx, 0);
-        }
    }

    virtual void begin(unsigned long baud = 115200) override {
@@ -41,11 +37,9 @@ public:
    };

    void begin(unsigned long baud, uint16_t config) override {
+        setInvertTX(_invert);
+        setInvertRX(_invert);
        SerialPIO::begin(baud, config);
-        if (_invert) {
-            gpio_set_outover(_tx, GPIO_OVERRIDE_INVERT);
-            gpio_set_inover(_rx, GPIO_OVERRIDE_INVERT);
-        }
    }

    void listen() { /* noop */ }
@@ -56,7 +56,7 @@ int64_t _stopTonePIO(alarm_id_t id, void *user_data) {
 }

 void tone(uint8_t pin, unsigned int frequency, unsigned long duration) {
-    if (pin > 29) {
+    if (pin >= __GPIOCNT) {
        DEBUGCORE("ERROR: Illegal pin in tone (%d)\n", pin);
        return;
    }
@@ -81,7 +81,7 @@ void tone(uint8_t pin, unsigned int frequency, unsigned long duration) {
        newTone = new Tone();
        newTone->pin = pin;
        pinMode(pin, OUTPUT);
-        if (!_tone2Pgm.prepare(&newTone->pio, &newTone->sm, &newTone->off)) {
+        if (!_tone2Pgm.prepare(&newTone->pio, &newTone->sm, &newTone->off, pin, 1)) {
            DEBUGCORE("ERROR: tone unable to start, out of PIO resources\n");
            // ERROR, no free slots
            delete newTone;
@@ -118,7 +118,7 @@ void tone(uint8_t pin, unsigned int frequency, unsigned long duration) {
 void noTone(uint8_t pin) {
    CoreMutex m(&_toneMutex);

-    if ((pin > 29) || !m) {
+    if ((pin > __GPIOCNT) || !m) {
        DEBUGCORE("ERROR: Illegal pin in tone (%d)\n", pin);
        return;
    }
@@ -54,5 +54,8 @@ extern "C" {

    extern void __freertos_idle_other_core() __attribute__((weak));
    extern void __freertos_resume_other_core() __attribute__((weak));
+
+    extern void __freertos_task_exit_critical() __attribute__((weak));
+    extern void __freertos_task_enter_critical() __attribute__((weak));
 }
 extern SemaphoreHandle_t __get_freertos_mutex_for_ptr(mutex_t *m, bool recursive = false);
@@ -79,7 +79,7 @@ extern void __loop() {
 static struct _reent *_impure_ptr1 = nullptr;

 extern "C" int main() {
-#if F_CPU != 125000000
+#if (defined(PICO_RP2040) && (F_CPU != 125000000)) || (defined(PICO_RP2350) && (F_CPU != 150000000))
    set_sys_clock_khz(F_CPU / 1000, true);
 #endif

@@ -73,13 +73,22 @@ extern "C" void *pcalloc(size_t count, size_t size) {
    interrupts();
    return rc;
 }
+#else
+// No PSRAM, always fail
+extern "C" void *pmalloc(size_t size) {
+    return nullptr;
+}
+
+extern "C" void *pcalloc(size_t count, size_t size) {
+    return nullptr;
+}
 #endif

 extern "C" void *__wrap_realloc(void *mem, size_t size) {
    void *rc;
    noInterrupts();
 #ifdef RP2350_PSRAM_CS
-    if (mem < __ram_start) {
+    if (mem && (mem < __ram_start)) {
        rc = __psram_realloc(mem, size);
    } else {
        rc = __real_realloc(mem, size);
@@ -94,7 +103,7 @@ extern "C" void *__wrap_realloc(void *mem, size_t size) {
 extern "C" void __wrap_free(void *mem) {
    noInterrupts();
 #ifdef RP2350_PSRAM_CS
-    if (mem < __ram_start) {
+    if (mem && (mem < __ram_start)) {
        __psram_free(mem);
    } else {
        __real_free(mem);
@@ -39,35 +39,13 @@ wait_bit:
    jmp y-- wait_bit
    jmp x-- bitloop

-    
-
-; inverted-logic version (inverts the stop bit)
-
-.program pio_tx_inv
-.side_set 1 opt
-
-
-; We shift out the start and stop bit as part of the FIFO
-    set x, 9
-
-    pull               side 0 ; Force stop bit low
-
-; Send the bits
-bitloop:
-    out pins, 1
-    mov y, isr                ; ISR is loaded by the setup routine with the period-1 count
-wait_bit:
-    jmp y-- wait_bit
-    jmp x-- bitloop
-
-
 % c-sdk {

 static inline void pio_tx_program_init(PIO pio, uint sm, uint offset, uint pin_tx) {
    // Tell PIO to initially drive output-high on the selected pin, then map PIO
    // onto that pin with the IO muxes.
-    pio_sm_set_pins_with_mask(pio, sm, 1u << pin_tx, 1u << pin_tx);
-    pio_sm_set_pindirs_with_mask(pio, sm, 1u << pin_tx, 1u << pin_tx);
+    pio_sm_set_set_pins(pio, sm, pin_tx, 1);
+    pio_sm_set_consecutive_pindirs(pio, sm, pin_tx, 1, true);
    pio_gpio_init(pio, pin_tx);

    pio_sm_config c = pio_tx_program_get_default_config(offset);
@@ -110,28 +88,6 @@ wait_half:
    
    push                ; Stuff it and wait for next start

-
-.program pio_rx_inv
-
-; IN pin 0 and JMP pin are both mapped to the GPIO used as UART RX.
-
-start:
-    set x, 18           ; Preload bit counter...we'll shift in the start bit and stop bit, and each bit will be double-recorded (to be fixed by RP2040 code)
-    wait 1 pin 0        ; Stall until start bit is asserted
-
-bitloop:
-   ; Delay until 1/2 way into the bit time
-    mov y, osr
-wait_half:
-    jmp y-- wait_half
-
-    ; Read in the bit
-    in pins, 1          ; Shift data bit into ISR
-    jmp x-- bitloop     ; Loop all bits
-    
-    push                ; Stuff it and wait for next start
-
-
 % c-sdk {
 static inline void pio_rx_program_init(PIO pio, uint sm, uint offset, uint pin) {
    pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, false);
@@ -44,50 +44,12 @@ static inline pio_sm_config pio_tx_program_get_default_config(uint offset) {
    sm_config_set_sideset(&c, 2, true, false);
    return c;
 }
-#endif
-
-// ---------- //
-// pio_tx_inv //
-// ---------- //
-
-#define pio_tx_inv_wrap_target 0
-#define pio_tx_inv_wrap 5
-#define pio_tx_inv_pio_version 0
-
-static const uint16_t pio_tx_inv_program_instructions[] = {
-    //     .wrap_target
-    0xe029, //  0: set    x, 9
-    0x90a0, //  1: pull   block           side 0
-    0x6001, //  2: out    pins, 1
-    0xa046, //  3: mov    y, isr
-    0x0084, //  4: jmp    y--, 4
-    0x0042, //  5: jmp    x--, 2
-    //     .wrap
-};
-
-#if !PICO_NO_HARDWARE
-static const struct pio_program pio_tx_inv_program = {
-    .instructions = pio_tx_inv_program_instructions,
-    .length = 6,
-    .origin = -1,
-    .pio_version = 0,
-#if PICO_PIO_VERSION > 0
-    .used_gpio_ranges = 0x0
-#endif
-};
-
-static inline pio_sm_config pio_tx_inv_program_get_default_config(uint offset) {
-    pio_sm_config c = pio_get_default_sm_config();
-    sm_config_set_wrap(&c, offset + pio_tx_inv_wrap_target, offset + pio_tx_inv_wrap);
-    sm_config_set_sideset(&c, 2, true, false);
-    return c;
-}

 static inline void pio_tx_program_init(PIO pio, uint sm, uint offset, uint pin_tx) {
    // Tell PIO to initially drive output-high on the selected pin, then map PIO
    // onto that pin with the IO muxes.
-    pio_sm_set_pins_with_mask(pio, sm, 1u << pin_tx, 1u << pin_tx);
-    pio_sm_set_pindirs_with_mask(pio, sm, 1u << pin_tx, 1u << pin_tx);
+    pio_sm_set_set_pins(pio, sm, pin_tx, 1);
+    pio_sm_set_consecutive_pindirs(pio, sm, pin_tx, 1, true);
    pio_gpio_init(pio, pin_tx);
    pio_sm_config c = pio_tx_program_get_default_config(offset);
    // OUT shifts to right, no autopull
@@ -140,44 +102,6 @@ static inline pio_sm_config pio_rx_program_get_default_config(uint offset) {
    sm_config_set_wrap(&c, offset + pio_rx_wrap_target, offset + pio_rx_wrap);
    return c;
 }
-#endif
-
-// ---------- //
-// pio_rx_inv //
-// ---------- //
-
-#define pio_rx_inv_wrap_target 0
-#define pio_rx_inv_wrap 6
-#define pio_rx_inv_pio_version 0
-
-static const uint16_t pio_rx_inv_program_instructions[] = {
-    //     .wrap_target
-    0xe032, //  0: set    x, 18
-    0x20a0, //  1: wait   1 pin, 0
-    0xa047, //  2: mov    y, osr
-    0x0083, //  3: jmp    y--, 3
-    0x4001, //  4: in     pins, 1
-    0x0042, //  5: jmp    x--, 2
-    0x8020, //  6: push   block
-    //     .wrap
-};
-
-#if !PICO_NO_HARDWARE
-static const struct pio_program pio_rx_inv_program = {
-    .instructions = pio_rx_inv_program_instructions,
-    .length = 7,
-    .origin = -1,
-    .pio_version = 0,
-#if PICO_PIO_VERSION > 0
-    .used_gpio_ranges = 0x0
-#endif
-};
-
-static inline pio_sm_config pio_rx_inv_program_get_default_config(uint offset) {
-    pio_sm_config c = pio_get_default_sm_config();
-    sm_config_set_wrap(&c, offset + pio_rx_inv_wrap_target, offset + pio_rx_inv_wrap);
-    return c;
-}

 static inline void pio_rx_program_init(PIO pio, uint sm, uint offset, uint pin) {
    pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, false);
@@ -332,6 +332,9 @@ static bool __psram_heap_init() {
        return true;
    }

+    if (!__psram_heap_size) {
+        return false;
+    }
    _mem_heap = NULL;
    _mem_psram_pool = NULL;
    _mem_heap = tlsf_create_with_pool((void *)&__psram_heap_start__, __psram_heap_size, 16 * 1024 * 1024);
@@ -49,11 +49,15 @@ static uint32_t pico_flash_bank_get_alignment(void * context) {
 static void pico_flash_bank_erase(void * context, int bank) {
    (void)(context);
    DEBUG_PRINT("erase: bank %d\n", bank);
-    noInterrupts();
+    if (!__isFreeRTOS) {
+        noInterrupts();
+    }
    rp2040.idleOtherCore();
    flash_range_erase(PICO_FLASH_BANK_STORAGE_OFFSET + (PICO_FLASH_BANK_SIZE * bank), PICO_FLASH_BANK_SIZE);
    rp2040.resumeOtherCore();
-    interrupts();
+    if (!__isFreeRTOS) {
+        interrupts();
+    }
 }

 static void pico_flash_bank_read(void *context, int bank, uint32_t offset, uint8_t *buffer, uint32_t size) {
@@ -147,11 +151,15 @@ static void pico_flash_bank_write(void * context, int bank, uint32_t offset, con
        offset = 0;

        // Now program the entire page
-        noInterrupts();
+        if (!__isFreeRTOS) {
+            noInterrupts();
+        }
        rp2040.idleOtherCore();
        flash_range_program(bank_start_pos + (page * FLASH_PAGE_SIZE), page_data, FLASH_PAGE_SIZE);
        rp2040.resumeOtherCore();
-        interrupts();
+        if (!__isFreeRTOS) {
+            interrupts();
+        }
    }
 }

@@ -30,7 +30,7 @@ void __clearADCPin(pin_size_t p);

 static uint32_t analogScale = 255;
 static uint32_t analogFreq = 1000;
-static uint32_t pwmInitted = 0;
+static uint64_t pwmInitted = 0;
 static bool scaleInitted = false;
 static bool adcInitted = false;
 static uint16_t analogWritePseudoScale = 1;
@@ -79,7 +79,7 @@ extern "C" void analogWriteResolution(int res) {
 extern "C" void analogWrite(pin_size_t pin, int val) {
    CoreMutex m(&_dacMutex);

-    if ((pin > 29) || !m) {
+    if ((pin >= __GPIOCNT) || !m) {
        DEBUGCORE("ERROR: Illegal analogWrite pin (%d)\n", pin);
        return;
    }
@@ -101,12 +101,12 @@ extern "C" void analogWrite(pin_size_t pin, int val) {
        }
        scaleInitted = true;
    }
-    if (!(pwmInitted & (1 << pwm_gpio_to_slice_num(pin)))) {
+    if (!(pwmInitted & (1LL << pwm_gpio_to_slice_num(pin)))) {
        pwm_config c = pwm_get_default_config();
        pwm_config_set_clkdiv(&c, clock_get_hz(clk_sys) / ((float)analogScale * analogFreq));
        pwm_config_set_wrap(&c, analogScale - 1);
        pwm_init(pwm_gpio_to_slice_num(pin), &c, true);
-        pwmInitted |= 1 << pwm_gpio_to_slice_num(pin);
+        pwmInitted |= 1LL << pwm_gpio_to_slice_num(pin);
    }

    val <<= analogWritePseudoScale;
@@ -125,17 +125,17 @@ extern "C" void analogWrite(pin_size_t pin, int val) {
 auto_init_mutex(_adcMutex);
 static uint8_t _readBits = 10;
 static uint8_t _lastADCMux = 0;
-static uint32_t _adcGPIOInit = 0;
+static uint64_t _adcGPIOInit = 0;

 void __clearADCPin(pin_size_t p) {
-    _adcGPIOInit &= ~(1 << p);
+    _adcGPIOInit &= ~(1LL << p);
 }

 extern "C" int analogRead(pin_size_t pin) {
    CoreMutex m(&_adcMutex);

-    pin_size_t maxPin = max(A0, A3);
-    pin_size_t minPin = min(A0, A3);
+    pin_size_t maxPin = __GPIOCNT;
+    pin_size_t minPin = __FIRSTANALOGGPIO;

    if ((pin < minPin) || (pin > maxPin) || !m) {
        DEBUGCORE("ERROR: Illegal analogRead pin (%d)\n", pin);
@@ -145,9 +145,9 @@ extern "C" int analogRead(pin_size_t pin) {
        adc_init();
        adcInitted = true;
    }
-    if (!(_adcGPIOInit & (1 << pin))) {
+    if (!(_adcGPIOInit & (1LL << pin))) {
        adc_gpio_init(pin);
-        _adcGPIOInit |= 1 << pin;
+        _adcGPIOInit |= 1LL << pin;
    }
    if (_lastADCMux != pin) {
        adc_select_input(pin - minPin);
@@ -169,7 +169,7 @@ extern "C" float analogReadTemp(float vref) {
    _lastADCMux = 0;
    adc_set_temp_sensor_enabled(true);
    delay(1); // Allow things to settle.  Without this, readings can be erratic
-    adc_select_input(4); // Temperature sensor
+    adc_select_input(__GPIOCNT - __FIRSTANALOGGPIO); // Temperature sensor
    int v = adc_read();
    adc_set_temp_sensor_enabled(false);
    float t = 27.0f - ((v * vref / 4096.0f) - 0.706f) / 0.001721f; // From the datasheet
@@ -23,10 +23,15 @@

 extern void __clearADCPin(pin_size_t p);

-static PinMode _pm[30];
+static PinMode _pm[__GPIOCNT];

 extern "C" void pinMode(pin_size_t ulPin, PinMode ulMode) __attribute__((weak, alias("__pinMode")));
 extern "C" void __pinMode(pin_size_t ulPin, PinMode ulMode) {
+    if (ulPin >= __GPIOCNT) {
+        DEBUGCORE("ERROR: Illegal pin in pinMode (%d)\n", ulPin);
+        return;
+    }
+
    switch (ulMode) {
    case INPUT:
        gpio_init(ulPin);
@@ -72,20 +77,16 @@ extern "C" void __pinMode(pin_size_t ulPin, PinMode ulMode) {
        return;
    }

-    if (ulPin > 29) {
-        DEBUGCORE("ERROR: Illegal pin in pinMode (%d)\n", ulPin);
-        return;
-    }
    _pm[ulPin] = ulMode;

-    if ((ulPin >= std::min(A0, A3)) && (ulPin <= std::max(A0, A3))) {
+    if (ulPin >= __FIRSTANALOGGPIO) {
        __clearADCPin(ulPin);
    }
 }

 extern "C" void digitalWrite(pin_size_t ulPin, PinStatus ulVal) __attribute__((weak, alias("__digitalWrite")));
 extern "C" void __digitalWrite(pin_size_t ulPin, PinStatus ulVal) {
-    if (ulPin > 29) {
+    if (ulPin >= __GPIOCNT) {
        DEBUGCORE("ERROR: Illegal pin in pinMode (%d)\n", ulPin);
        return;
    }
@@ -109,7 +110,7 @@ extern "C" void __digitalWrite(pin_size_t ulPin, PinStatus ulVal) {

 extern "C" PinStatus digitalRead(pin_size_t ulPin) __attribute__((weak, alias("__digitalRead")));
 extern "C" PinStatus __digitalRead(pin_size_t ulPin) {
-    if (ulPin > 29) {
+    if (ulPin >= __GPIOCNT) {
        DEBUGCORE("ERROR: Illegal pin in digitalRead (%d)\n", ulPin);
        return LOW;
    }
@@ -23,29 +23,40 @@
 #include <hardware/gpio.h>
 #include <hardware/sync.h>
 #include <map>
+#include "_freertos.h"
+

 // Support nested IRQ disable/re-enable
+#ifndef maxIRQs
 #define maxIRQs 15
+#endif
 static uint32_t _irqStackTop[2] = { 0, 0 };
 static uint32_t _irqStack[2][maxIRQs];

 extern "C" void interrupts() {
-    auto core = get_core_num();
-    if (!_irqStackTop[core]) {
-        // ERROR
-        return;
+    if (__freeRTOSinitted) {
+        __freertos_task_exit_critical();
+    } else {
+        auto core = get_core_num();
+        if (!_irqStackTop[core]) {
+            // ERROR
+            return;
+        }
+        restore_interrupts(_irqStack[core][--_irqStackTop[core]]);
    }
-    restore_interrupts(_irqStack[core][--_irqStackTop[core]]);
 }

 extern "C" void noInterrupts() {
-    auto core = get_core_num();
-    if (_irqStackTop[core] == maxIRQs) {
-        // ERROR
-        panic("IRQ stack overflow");
+    if (__freeRTOSinitted) {
+        __freertos_task_enter_critical();
+    } else {
+        auto core = get_core_num();
+        if (_irqStackTop[core] == maxIRQs) {
+            // ERROR
+            panic("IRQ stack overflow");
+        }
+        _irqStack[core][_irqStackTop[core]++] = save_and_disable_interrupts();
    }
-
-    _irqStack[core][_irqStackTop[core]++] = save_and_disable_interrupts();
 }

 // Only 1 GPIO IRQ callback for all pins, so we need to look at the pin it's for and
@@ -26,7 +26,7 @@ extern "C" unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeo
    uint64_t start = time_us_64();
    uint64_t abort = start + timeout;

-    if (pin > 29) {
+    if (pin >= __GPIOCNT) {
        DEBUGCORE("ERROR: Illegal pin in pulseIn (%d)\n", pin);
        return 0;
    }
@@ -24,11 +24,11 @@
 extern "C" uint8_t shiftIn(pin_size_t dataPin, pin_size_t clockPin, BitOrder bitOrder) {
    uint8_t value = 0;
    uint8_t i;
-    if (dataPin > 29) {
+    if (dataPin >= __GPIOCNT) {
        DEBUGCORE("ERROR: Illegal dataPin in shiftIn (%d)\n", dataPin);
        return 0;
    }
-    if (clockPin > 29) {
+    if (clockPin >= __GPIOCNT) {
        DEBUGCORE("ERROR: Illegal clockPin in shiftIn (%d)\n", clockPin);
        return 0;
    }
@@ -46,11 +46,11 @@ extern "C" uint8_t shiftIn(pin_size_t dataPin, pin_size_t clockPin, BitOrder bit

 extern "C" void shiftOut(pin_size_t dataPin, pin_size_t clockPin, BitOrder bitOrder, uint8_t val) {
    uint8_t i;
-    if (dataPin > 29) {
+    if (dataPin >= __GPIOCNT) {
        DEBUGCORE("ERROR: Illegal dataPin in shiftOut (%d)\n", dataPin);
        return;
    }
-    if (clockPin > 29) {
+    if (clockPin >= __GPIOCNT) {
        DEBUGCORE("ERROR: Illegal clockPin in shiftOut (%d)\n", clockPin);
        return;
    }
@@ -54,9 +54,9 @@ author = u'Earle F. Philhower, III'
 # built documents.
 #
 # The short X.Y version.
-version = u'4.0.0'
+version = u'4.0.3'
 # The full version, including alpha/beta/rc tags.
-release = u'4.0.0'
+release = u'4.0.3'

 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -89,6 +89,43 @@ code that only runs on this core, use the following define.
        ~~~ your changes ~~~
        #endif

+Identifying RP2040, RP2530A, or RP2350B
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+To check if a board is an original RP2040
+
+.. code:: cpp
+
+    #if defined(PICO_RP2040)
+    ...OG Pico code...
+    #endif
+
+For RP2350(A or B):
+
+.. code:: cpp
+
+    #if defined(PICO_RP2350)
+    ...Pico 2 code...
+    #endif
+
+For only RP2350A variants (using the compile options, not the onboard ID register):
+
+.. code:: cpp
+
+    #if defined(PICO_RP2350) && !defined(PICO_RP2350B)
+    ...RP2350A only code...
+    #endif
+
+For only RP2350B variants (again, at compile time as identified by the selected board
+and not the chip ID register):
+
+.. code:: cpp
+
+    #if defined(PICO_RP2350B)
+    ...48-GPIO version code here
+    #endif
+
+
 Library Architectures
 ~~~~~~~~~~~~~~~~~~~~~

@@ -98,3 +135,4 @@ not know your new code is compatible here.

 Add ``rp2040`` to ``architectures`` (in ``library.properties``) and
 ``"rp2040"`` to ``platforms[]`` (in ``library.json``) to let the tools know.
+Note that even the RP2350 is identified as ``rp2040`` for this purpose.
@@ -6,6 +6,10 @@ Board-Specific Pins
 The Raspberry Pi Pico RP2040 chip supports up to 30 digital I/O pins,
 however not all boards provide access to all pins.

+Pin Notation
+------------
+When using Analog or Digital I/Os, if you supply an integer it specifies the RP2040 GPIO pin to use. Using Dx or Ax notation (for example, D4 or A3) may be necessary on boards without a direct PCB pin to GPIO mapping.
+
 Input Modes
 -----------
 The Raspberry Pi Pico has 3 Input modes settings for use with `pinMode`: `INPUT`, `INPUT_PULLUP` and `INPUT_PULLDOWN`
@@ -1,8 +1,6 @@
 FreeRTOS SMP
 ============

-**NOTE:** FreeRTOS is not yet supported on the RP2350.  PRs gladly accepted!
-
 The SMP (multicore) port of FreeRTOS is included with the core.  This allows complex
 task operations and real preemptive multithreading in your sketches.  While the
 ``setup1`` and ``loop1`` way of multitasking is simplest for most folks, FreeRTOS
@@ -92,8 +92,9 @@ LittleFS File System Limitations
 --------------------------------

 The LittleFS implementation for the RP2040 supports filenames of up
-to 31 characters + terminating zero (i.e. ``char filename[32]``), and
-as many subdirectories as space permits.
+to 254 characters + terminating zero (i.e. ``char filename[255]`` or
+better ``char filename[LFS_NAME_MAX]`` ), and as many subdirectories
+as space permits.

 Filenames are assumed to be in the root directory if no initial "/" is
 present.
@@ -372,8 +373,8 @@ rename
 Renames file from ``pathFrom`` to ``pathTo``. Paths must be absolute.
 Returns *true* if file was renamed successfully.

-info  **DEPRECATED**
-~~~~~~~~~~~~~~~~~~~~
+info
+~~~~

 .. code:: cpp

@@ -382,9 +383,8 @@ info  **DEPRECATED**

 Fills `FSInfo structure <#filesystem-information-structure>`__ with
 information about the file system. Returns ``true`` if successful,
-``false`` otherwise.  Because this cannot report information about
-filesystemd greater than 4MB, don't use it in new code.  Use ``info64``
-instead which uses 64-bit fields for filesystem sizes.
+``false`` otherwise. ``ìnfo()`` has been updated to support filesystems 
+greater than 4GB and ``FSInfo64`` and ``info64()`` have been discarded.

 Filesystem information structure
 --------------------------------
@@ -392,8 +392,8 @@ Filesystem information structure
 .. code:: cpp

    struct FSInfo {
-        size_t totalBytes;
-        size_t usedBytes;
+        uint64_t totalBytes;
+        uint64_t usedBytes;
        size_t blockSize;
        size_t pageSize;
        size_t maxOpenFiles;
@@ -408,19 +408,6 @@ block size - ``pageSize`` — filesystem logical page size - ``maxOpenFiles``
 ``maxPathLength`` — max file name length (including one byte for zero
 termination)

-info64
-~~~~~~
-
-.. code:: cpp
-
-    FSInfo64 fsinfo;
-    SDFS.info64(fsinfo);
-    or LittleFS.info64(fsinfo);
-
-Performs the same operation as ``info`` but allows for reporting greater than
-4GB for filesystem size/used/etc.  Should be used with the SD and SDFS
-filesystems since most SD cards today are greater than 4GB in size.
-
 setTimeCallback(time_t (\*cb)(void))
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

@@ -44,6 +44,7 @@ For the latest version, always check https://github.com/earlephilhower/arduino-p
   USB (Arduino and Adafruit_TinyUSB) <usb>
   Multicore Processing <multicore>

+   RP2350 Specific Notes <rp2350>
   RP2350 PSRAM <psram>

   Bluetooth <bluetooth>
@@ -72,4 +73,5 @@ For the latest version, always check https://github.com/earlephilhower/arduino-p
   Ported/Optimized Libraries <libraries>
   Using Pico-SDK <sdk>

+
   Licenses <license>
@@ -184,11 +184,9 @@ 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.

-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.
+Uploading Sketches with OpenOCD
+-------------------------------
+Under Windows and macOS, any user should be able to access OpenOCD 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`):

@@ -199,10 +197,8 @@ To set up user-level access to all CMSIS-DAP adapters on Ubuntu (and other OSes

 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.
+Once CMSIS-DAP permissions are set up properly, then select the Upload Method "Picoprobe/Debugprobe (CMSIS-DAP)" 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
+Debugging with Picoprobe/Debugprobe, 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".
+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.
@@ -1,8 +1,6 @@
 OTA Updates
 ===========

-**NOTE:** OTA is not yet supported on the RP2350.  PRs gladly accepted!
-
 Introduction
 ------------

@@ -23,6 +23,12 @@ For example, to make a transmit-only port on GP16
 For detailed information about the Serial ports, see the
 Arduino `Serial Reference <https://www.arduino.cc/reference/en/language/functions/communication/serial/>`_ .

+Inversion
+---------
+
+``SoftwareSerial`` and ``SerialPIO`` can both support inverted input and/or outputs via the methods
+``setInvertRX(bool invert)`` and ``setInvertTX(bool invert)``.
+

 SoftwareSerial Emulation
 ========================
@@ -31,7 +37,6 @@ with the Arduino `Software Serial <https://docs.arduino.cc/learn/built-in-librar
 library.  Use the normal ``#include <SoftwareSerial.h>`` to include it.   The following
 differences from the Arduino standard are present:

-* Inverted mode is not supported
 * All ports are always listening
 * ``listen`` call is a no-op
 * ``isListening()`` always returns ``true``
@@ -342,7 +342,6 @@ To specify the debugging adapter, use ``debug_tool`` (`documentation <https://do
 * ``jlink``
 * ``raspberrypi-swd``
 * ``blackmagic``
-* ``pico-debug``

 These values can also be used in ``upload_protocol`` if you want PlatformIO to upload the regular firmware through this method, which you likely want.

@@ -362,25 +361,6 @@ For further information on customizing debug options, like the initial breakpoin

    You can obtain precompiled binaries from `here <https://github.com/blackmagic-debug/blackmagic/issues/1364#issuecomment-1503372723>`__. A flashing guide is available `here <https://primalcortex.wordpress.com/2017/06/13/building-a-black-magic-debug-probe/>`__. You then have to configure the target serial port ("GDB port") in your project per `documentation <https://docs.platformio.org/en/latest/plus/debug-tools/blackmagic.html#debugging-tool-blackmagic>`__.

-.. note::
-    For the pico-debug (`download <https://github.com/majbthrd/pico-debug/releases>`__) debugging way, *which needs no additional debug probe*, add this snippet to your ``platformio.ini`` and follow the given procedure:
-
-    .. code:: ini
-
-        upload_protocol = pico-debug
-        debug_tool = pico-debug
-        build_flags = -DPIO_FRAMEWORK_ARDUINO_NO_USB
-
-    1. Build your firmware normally
-    2. Plug in the Pico in BOOTSEL mode
-    3. Drag and drop your ``.pio/build/<env>/firmware.uf2`` onto the boot drive
-    4. Unplug and replug your Pico back into BOOTSEL mode for the second time
-    5. Drag and drop the downloaded ``pico-debug-gimmecache.uf2`` file onto the boot drive
-    6. A CMSIS-DAP device should now appear on your computer
-    7. Start debugging via the debug sidebar as normal
-
-    Note the restrictions: The second core cannot be used, the USB port cannot be used (no USB serial, only UART serial), 16KB less RAM is available.
-
 Filesystem Uploading
 --------------------

@@ -0,0 +1,27 @@
+RP2350 Specific Notes
+=====================
+
+The RP2350 chip (present on the Raspberry Pi Pico 2 board and many others)
+is supported by the core with some minor caveats:
+
+* PSRAM is supported via a new ``pmalloc`` call and ``PSRAM`` variable decorator.
+* Both RP2350A and RP2350B (48 GPIOs) are supported.
+* Only ARM mode is available.  For RISC-V (Hazard3), please use the raw SDK.
+
+P2350-E9 Errata ("Increased leakage current on Bank 0 GPIO when pad input is enabled")
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Like all chips, the RP2350-A2 stepping has post-silicon chip errata covering certain
+bugs found after the chip was manufactured.  Probably the most (in)famous and concerning
+is RP2350-E9 which is noted as resulting in "Increased leakage current on Bank 0 GPIO
+when pad input is enabled."  At a high level, this means that in some cases when an
+input pin is being driven by a weak (high impedance) input, it may not read properly.
+
+After discussion with the community and exploration of the issue by many users, this
+core has decided not to implement any forced workarounds for this issue.  Given the
+physical nature of the problem and how no one specific solution is appropriate for
+all conditions.
+
+For more information please read the errata yourself and check the Raspberry Pi Forums
+for the latest updates.
+
@@ -47,6 +47,14 @@ For detailed information about the Serial ports, see the
 Arduino `Serial Reference <https://www.arduino.cc/reference/en/language/functions/communication/serial/>`_ .


+Inversion
+---------
+
+``Serial1`` and ``Serial2`` can both support inverted input and/or outputs via the methods
+``Serial1/2::setInvertRX(bool invert)`` and ``Serial1/2::setInvertTX(bool invert)`` and
+``Serial1/2::serInvertControl(bool invert)``.
+
+
 RP2040 Specific SerialUSB methods
 ---------------------------------

@@ -11,3 +11,10 @@ require the use of a PIO machine.
 See the Arduino standard
 `Servo documentation <https://www.arduino.cc/reference/en/libraries/servo/>`_
 for detailed usage instructions.  There is also an included ``sweep`` example.
+
+Pulse Width Defaults
+--------------------
+The defaults in the Servo library are conservatively set to avoid damage in the case of over-driving. The pulse widths individual servos, especially the no-name or clones, occasionally need tweaking.
+
+You can set the min and max servo pulse width in the attach command, with default values used in most Arduino cores of 540/2400:
+```myServo.attach(D3, 540, 2400)```
@@ -33,32 +33,41 @@ being performed.  For example, a game could send a full screen update out over I
 processing the next frame without waiting for the first one to be sent over I2C.  DMA is used to handle
 the transfer to/from the I2C hardware freeing the CPU from bit-banging or busy waiting.

-Note that asynchronous operations can not be intersped with normal, synchronous ones.  Fully complete an
-asynchronous operation before attempting to do a normal ``Wire.beginTransaction()`` or ``Wire.requestFrom``.
-Also, all buffers need to be valid throughout the entire operation.  Read data cannot be accessed until
-the transaction is completed and can't be "peeked" at while the operation is ongoing.
+Note that asynchronous operations can not be intersped with normal, synchronous ones.  Fully complete or 
+abort an asynchronous operation before attempting to do a normal ``Wire.beginTransaction()`` or
+``Wire.requestFrom``.


-bool writeAsync(uint8_t address, const void \*buffer, size_t bytes, bool sendStop)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Begins an I2C asynchronous write transaction.  Writes to ``address`` of ``bytes`` from ``buffer`` and
-at the end will send an I2C stop if ``sendStop`` is ``true``.
-Check ``finishedAsync()`` to determine when the operation completes and conclude the transaction.
-This operation needs to allocate a buffer from heap equal to 2x ``bytes`` in size.
+bool writeReadAsync(uint8_t address, const void \*wbuffer, size_t wbytes, const void \*rbuffer, size_t rbytes, bool sendStop)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Executes a master I2C asynchronous write/read transaction to I2C slave ``address``.  First ``wbytes`` from
+``wbuffer`` are written to the I2C slave, followed by an I2C restart, then ``rbytes`` are read from the
+I2C slave into ``rbuffer``. The buffers need to be valid throughout the entire asynchronous operation.

-bool readAsync(uint8_t address, void \*buffer, size_t bytes, bool sendStop)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Begins an I2C asynchronous read transaction.  Reads from ``address`` for ``bytes`` into ``buffer`` and
-at the end will send an I2C stop if ``sendStop`` is ``true``.
-Check ``finishedAsync()`` to determine when the operation completes and conclude the transaction.
-This operation needs to allocate a buffer from heap equal to 4x ``bytes`` in size.
+At the end of the transaction an I2C stop is sent if ``sendStop`` is ``true``, and at the beginning of the
+transaction an I2C start is sent if the previous write/read had ``sendStop`` set to ``true``.
+
+Check ``finishedAsync()`` to determine when the operation completes, or use ``onFinishedAsync()`` to set a
+callback.
+
+Set ``rbytes`` to 0 to do a write-only operation, set ``wbytes`` to 0 to do a read-only operation. Or use:
+
+``bool writeAsync(uint8_t address, const void \*buffer, size_t bytes, bool sendStop)``
+
+``bool readAsync(uint8_t address, void \*buffer, size_t bytes, bool sendStop)``
+
+The first call to an asynchronous write/read operation allocates the required DMA channels and internal
+buffer.  If desired, call ``end()`` to free these resources.

 bool finishedAsync()
 ~~~~~~~~~~~~~~~~~~~~
-Call to check if the asynchronous operations is completed and the buffer passed in can be either read or
-reused.  Frees the allocated memory and completes the asynchronous transaction.
+Call to check if the asynchronous operations is completed.
+
+void onFinishedAsync(void(*function)(void))
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Set a (optional) callback for async operation.  The ``function`` will be called when the asynchronous
+operation finishes.

 void abortAsync()
 ~~~~~~~~~~~~~~~~~
-Cancels the outstanding asynchronous transaction and frees any allocated memory.
-
+Cancels any outstanding asynchronous transaction.
@@ -4,7 +4,7 @@

 // based on PICO_CONFIG_HEADER_FILES:

-#include "../../pico-sdk/src/boards/include/boards/pico2.h"
+#include "../../pico-sdk/src/boards/include/boards/solderparty_rp2350_stamp_xl.h"
 #include "../../pico-sdk/src/rp2_common/cmsis/include/cmsis/rename_exceptions.h"

 // based on PICO_RP2350_ARM_S_CONFIG_HEADER_FILES:
@@ -13,6 +13,7 @@ Dir	KEYWORD1
 File	KEYWORD1
 timeval	KEYWORD1
 time_t	KEYWORD1
+SoftwareSerial	KEYWORD1

 #######################################
 # Methods and Functions (KEYWORD2)
@@ -73,6 +74,9 @@ prepare	KEYWORD2
 SerialPIO	KEYWORD2
 setFIFOSize	KEYWORD2
 setPollingMode	KEYWORD2
+setInvertTX	KEYWORD2
+setInvertRX	KEYWORD2
+setInvertControl	KEYWORD2

 digitalWriteFast	KEYWORD2
 digitalReadFast	KEYWORD2
@@ -101,4 +105,4 @@ OUTPUT_12MA	LITERAL1

 ARDUINO_ARCH_RP2040	LITERAL1

-PRAM	LITERAL1
+PSRAM	LITERAL1
@@ -2,6 +2,7 @@

 -iwithprefixbefore/pico-sdk/lib/tinyusb/src
 -iwithprefixbefore/pico-sdk/src/boards/include
+-iwithprefixbefore/pico-sdk/src/common/hardware_claim/include
 -iwithprefixbefore/pico-sdk/src/common/pico_base/include
 -iwithprefixbefore/pico-sdk/src/common/pico_base_headers/include
 -iwithprefixbefore/pico-sdk/src/common/pico_binary_info/include
@@ -19,7 +20,6 @@
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_adc/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_base/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_boot_lock/include
-iwithprefixbefore/pico-sdk/src/rp2_common/hardware_claim/include
 -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
@@ -42,6 +42,7 @@
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_vreg/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_watchdog/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/hardware_xosc/include
+-iwithprefixbefore/pico-sdk/src/rp2_common/pico_aon_timer/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_async_context/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_bootrom/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/pico_double/include
@@ -1 +0,0 @@
-source [find board/pico-debug.cfg]
@@ -21,6 +21,9 @@
    __stack (== StackTop)
 */

+
+
+
 MEMORY
 {
    FLASH(rx) : ORIGIN = 0x10000000, LENGTH = __FLASH_LENGTH__
@@ -42,6 +45,20 @@ SECTIONS
        __flash_binary_start = .;
    } > FLASH

+    .ota : {
+        /* Start image with OTA */
+        KEEP (*(.OTA))
+        *ota.o
+    } > FLASH
+
+    .partition : {
+        . = __flash_binary_start + 0x2ff0;
+        LONG(__FS_START__)
+        LONG(__FS_END__)
+        LONG(__EEPROM_START__)
+        LONG(__FLASH_LENGTH__)
+    } > FLASH
+
    /* The bootrom will enter the image at the point indicated in your
       IMAGE_DEF, which is usually the reset handler of your vector table.

@@ -53,8 +70,8 @@ SECTIONS
    */

    .text : {
-        __logical_binary_start = .;
        KEEP (*(.vectors))
+        __logical_binary_start = .;
        KEEP (*(.binary_info_header))
        __binary_info_header_end = .;
        KEEP (*(.embedded_block))
@@ -276,7 +293,7 @@ SECTIONS
    .flash_end : {
        KEEP(*(.embedded_end_block*))
        PROVIDE(__flash_binary_end = .);
-    } > FLASH =0xaa
+    } > FLASH = 0xaa

    .psram (NOLOAD) : {
        __psram_start__ = .;
@@ -1,4 +1,3 @@
-DCFG_TUSB_DEBUG=0
 -DCFG_TUSB_MCU=OPT_MCU_RP2040
 -DCFG_TUSB_OS=OPT_OS_PICO
 -DLIB_BOOT_STAGE2_HEADERS=1
@@ -4,3 +4,5 @@
 -iwithprefixbefore/pico-sdk/src/rp2350/hardware_structs/include
 -iwithprefixbefore/pico-sdk/src/rp2350/pico_platform/include
 -iwithprefixbefore/pico-sdk/src/rp2_common/cmsis/stub/CMSIS/Device/RP2350/Include
+-iwithprefixbefore/pico-sdk/src/rp2_common/hardware_sha256/include
+-iwithprefixbefore/pico-sdk/src/rp2_common/pico_sha256/include
@@ -118,12 +118,16 @@ bool EEPROMClass::commit() {
        return false;
    }

-    noInterrupts();
+    if (!__isFreeRTOS) {
+        noInterrupts();
+    }
    rp2040.idleOtherCore();
    flash_range_erase((intptr_t)_sector - (intptr_t)XIP_BASE, 4096);
    flash_range_program((intptr_t)_sector - (intptr_t)XIP_BASE, _data, _size);
    rp2040.resumeOtherCore();
-    interrupts();
+    if (!__isFreeRTOS) {
+        interrupts();
+    }
    _dirty = false;

    return true;
@@ -1,5 +1 @@
-#ifdef PICO_RP2350
-#error Sorry, FreeRTOS is not yet supported on the RP2350 in this core.
-#else
 #include "../lib/FreeRTOS-Kernel/include/FreeRTOS.h"
-#endif
@@ -1,79 +1,196 @@
+#ifndef configNUMBER_OF_CORES
 #define configNUMBER_OF_CORES             2
+#endif
+#ifndef configUSE_CORE_AFFINITY
 #define configUSE_CORE_AFFINITY           1
+#endif
+#ifndef configRUN_MULTIPLE_PRIORITIES
 #define configRUN_MULTIPLE_PRIORITIES     1
+#endif

+#ifndef configUSE_PREEMPTION
 #define configUSE_PREEMPTION              1
+#endif
+#ifndef configUSE_IDLE_HOOK
 #define configUSE_IDLE_HOOK               1
+#endif
+#ifndef configUSE_PASSIVE_IDLE_HOOK
 #define configUSE_PASSIVE_IDLE_HOOK       1
+#endif
+#ifndef configUSE_TICK_HOOK
 #define configUSE_TICK_HOOK               1
+#endif
+#ifndef configCPU_CLOCK_HZ
 #define configCPU_CLOCK_HZ                ( ( unsigned long ) F_CPU  )
+#endif
+#ifndef configTICK_RATE_HZ
 #define configTICK_RATE_HZ                ( ( TickType_t ) 1000 )
+#endif
+#ifndef configMAX_PRIORITIES
 #define configMAX_PRIORITIES              ( 8 )
+#endif
+#ifndef configMINIMAL_STACK_SIZE
 #define configMINIMAL_STACK_SIZE          ( ( unsigned short ) 256 )
+#endif
+#ifndef configTOTAL_HEAP_SIZE
 #define configTOTAL_HEAP_SIZE             ( ( size_t ) ( 164 * 1024 ) )
+#endif
+#ifndef configMAX_TASK_NAME_LEN
 #define configMAX_TASK_NAME_LEN           ( 10 )
+#endif
+#ifndef configUSE_TRACE_FACILITY
 #define configUSE_TRACE_FACILITY          1
+#endif
+#ifndef configUSE_16_BIT_TICKS
 #define configUSE_16_BIT_TICKS            0
+#endif
+#ifndef configIDLE_SHOULD_YIELD
 #define configIDLE_SHOULD_YIELD           1
+#endif
+#ifndef configUSE_MUTEXES
 #define configUSE_MUTEXES                 1
+#endif
+#ifndef configQUEUE_REGISTRY_SIZE
 #define configQUEUE_REGISTRY_SIZE         8
+#endif
+#ifndef configUSE_RECURSIVE_MUTEXES
 #define configUSE_RECURSIVE_MUTEXES       1
+#endif
+#ifndef configUSE_MALLOC_FAILED_HOOK
 #define configUSE_MALLOC_FAILED_HOOK      1
+#endif
+#ifndef configUSE_APPLICATION_TASK_TAG
 #define configUSE_APPLICATION_TASK_TAG    0
+#endif
+#ifndef configUSE_COUNTING_SEMAPHORES
 #define configUSE_COUNTING_SEMAPHORES     1
+#endif
+#ifndef configUSE_QUEUE_SETS
 #define configUSE_QUEUE_SETS              1
+#endif
+#ifndef configSUPPORT_DYNAMIC_ALLOCATION
 #define configSUPPORT_DYNAMIC_ALLOCATION  1
+#endif
+#ifndef configSUPPORT_STATIC_ALLOCATION
 #define configSUPPORT_STATIC_ALLOCATION   1
+#endif
+#ifndef configSTACK_DEPTH_TYPE
 #define configSTACK_DEPTH_TYPE            uint32_t
+#endif
+#ifndef configUSE_TASK_PREEMPTION_DISABLE
 #define configUSE_TASK_PREEMPTION_DISABLE 1
+#endif

+#ifndef configUSE_NEWLIB_REENTRANT
 #define configUSE_NEWLIB_REENTRANT        1
+#endif
+#ifndef configNEWLIB_REENTRANT_IS_DYNAMIC
 #define configNEWLIB_REENTRANT_IS_DYNAMIC 1
+#endif

 /* Run time stats related definitions. */
+#ifndef configGENERATE_RUN_TIME_STATS
+#define configGENERATE_RUN_TIME_STATS	1
+#endif
+#ifdef configGENERATE_RUN_TIME_STATS
 extern void vMainConfigureTimerForRunTimeStats(void);
 extern unsigned long ulMainGetRunTimeCounterValue(void);
-#define configGENERATE_RUN_TIME_STATS	1
 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() //vMainConfigureTimerForRunTimeStats()
 #define portGET_RUN_TIME_COUNTER_VALUE() ulMainGetRunTimeCounterValue()
+#endif

 /* Co-routine definitions. */
+#ifndef configUSE_CO_ROUTINES
 #define configUSE_CO_ROUTINES           0
+#endif
+#ifndef configMAX_CO_ROUTINE_PRIORITIES
 #define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+#endif

 /* Software timer definitions. */
+#ifndef configUSE_TIMERS
 #define configUSE_TIMERS             1
+#endif
+#ifndef configTIMER_TASK_PRIORITY
 #define configTIMER_TASK_PRIORITY    ( 2 )
+#endif
+#ifndef configTIMER_QUEUE_LENGTH
 #define configTIMER_QUEUE_LENGTH     5
+#endif
+#ifndef configTIMER_TASK_STACK_DEPTH
 #define configTIMER_TASK_STACK_DEPTH ( 1024 )
+#endif

 /*  Set the following definitions to 1 to include the API function, or zero
    to exclude the API function. */
+#ifndef INCLUDE_eTaskGetState
 #define INCLUDE_eTaskGetState                   1
+#endif
+#ifndef INCLUDE_uxTaskGetStackHighWaterMark
 #define INCLUDE_uxTaskGetStackHighWaterMark 	1
+#endif
+#ifndef INCLUDE_uxTaskPriorityGet
 #define INCLUDE_uxTaskPriorityGet               1
+#endif
+#ifndef INCLUDE_vTaskCleanUpResources
 #define INCLUDE_vTaskCleanUpResources           1
+#endif
+#ifndef INCLUDE_vTaskDelay
 #define INCLUDE_vTaskDelay                      1
+#endif
+#ifndef INCLUDE_vTaskDelayUntil
 #define INCLUDE_vTaskDelayUntil                 1
+#endif
+#ifndef INCLUDE_vTaskDelete
 #define INCLUDE_vTaskDelete                     1
+#endif
+#ifndef INCLUDE_vTaskPrioritySet
 #define INCLUDE_vTaskPrioritySet                1
+#endif
+#ifndef INCLUDE_vTaskSuspend
 #define INCLUDE_vTaskSuspend                    1
+#endif
+#ifndef INCLUDE_xQueueGetMutexHolder
 #define INCLUDE_xQueueGetMutexHolder            1
+#endif
+#ifndef INCLUDE_xTaskAbortDelay
 #define INCLUDE_xTaskAbortDelay                 1
+#endif
+#ifndef INCLUDE_xTaskGetCurrentTaskHandle
 #define INCLUDE_xTaskGetCurrentTaskHandle       1
+#endif
+#ifndef INCLUDE_xTaskGetHandle
 #define INCLUDE_xTaskGetHandle                  1
+#endif
+#ifndef INCLUDE_xTaskGetIdleTaskHandle
 #define INCLUDE_xTaskGetIdleTaskHandle          1
+#endif
+#ifndef INCLUDE_xTaskGetSchedulerState
 #define INCLUDE_xTaskGetSchedulerState          1
+#endif
+#ifndef INCLUDE_xTaskResumeFromISR
 #define INCLUDE_xTaskResumeFromISR              1
+#endif
+#ifndef INCLUDE_xTimerPendFunctionCall
 #define INCLUDE_xTimerPendFunctionCall          1
+#endif

+#ifndef configUSE_STATS_FORMATTING_FUNCTIONS
 #define configUSE_STATS_FORMATTING_FUNCTIONS	1
+#endif

+#ifndef configUSE_MUTEXES
 #define configUSE_MUTEXES              1
+#endif
+#ifndef configUSE_MALLOC_FAILED_HOOK
 #define configUSE_MALLOC_FAILED_HOOK   1
+#endif
+#ifndef configCHECK_FOR_STACK_OVERFLOW
 #define configCHECK_FOR_STACK_OVERFLOW 2
+#endif

 /* Cortex-M specific definitions. */
+#ifndef configPRIO_BITS
 #undef __NVIC_PRIO_BITS
 #ifdef __NVIC_PRIO_BITS
 /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
@@ -81,24 +198,43 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
 #else
 #define configPRIO_BITS 3 /* 8 priority levels */
 #endif
+#endif

+#define configENABLE_MPU                        0
+#define configENABLE_TRUSTZONE                  0
+#define configRUN_FREERTOS_SECURE_ONLY          1
+#define configENABLE_FPU                        1
 /*  The lowest interrupt priority that can be used in a call to a "set priority"
    function. */
+#ifndef configLIBRARY_LOWEST_INTERRUPT_PRIORITY
 #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x7
+#endif

 /*  The highest interrupt priority that can be used by any interrupt service
    routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
    INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
    PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#ifndef configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY
 #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+#endif

 /*  Interrupt priorities used by the kernel port layer itself.  These are generic
    to all Cortex-M ports, and do not rely on any particular library functions. */
+#ifndef configKERNEL_INTERRUPT_PRIORITY
 #define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+#endif
+
 /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
    See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#ifndef configMAX_SYSCALL_INTERRUPT_PRIORITY
+#ifdef PICO_RP2350
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
+#else
 #define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+#endif
+#endif

+#ifndef configASSERT
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -109,11 +245,20 @@ void rtosFatalError(void);

 #define configASSERT( x ) \
 	if( ( x ) == 0 ) { portDISABLE_INTERRUPTS(); rtosFatalError(); }
+#endif

+#ifndef configUSE_DYNAMIC_EXCEPTION_HANDLERS
 #define configUSE_DYNAMIC_EXCEPTION_HANDLERS 0
+#endif
+#ifndef configSUPPORT_PICO_SYNC_INTEROP
 #define configSUPPORT_PICO_SYNC_INTEROP      1
+#endif
+#ifndef configSUPPORT_PICO_TIME_INTEROP
 #define configSUPPORT_PICO_TIME_INTEROP      1
+#endif

+#ifndef LIB_PICO_MULTICORE
 #define LIB_PICO_MULTICORE 1
+#endif

 #include "rp2040_config.h"
@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/mpu_syscall_numbers.h"
@@ -0,0 +1,3 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/mpu_wrappers_v2_asm.c"
+#endif
@@ -1 +1,5 @@
+#ifdef PICO_RP2040
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c"
+#else
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/port.c"
+#endif
@@ -0,0 +1,3 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/portasm.c"
+#endif
@@ -1 +1,5 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/portmacro.h"
+#else
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/portmacro.h"
+#endif
@@ -1 +1,5 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure//rp2040_config.h"
+#else
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/rp2040_config.h"
+#endif
@@ -91,6 +91,14 @@ extern "C" {
    bool __freertos_check_if_in_isr() {
        return portCHECK_IF_IN_ISR();
    }
+
+    void __freertos_task_exit_critical() {
+        taskEXIT_CRITICAL();
+    }
+
+    void __freertos_task_enter_critical() {
+        taskENTER_CRITICAL();
+    }
 }


@@ -0,0 +1,25 @@
+#include <Arduino.h>
+#include <FreeRTOS.h>
+#include "LittleFS.h"
+
+void setup() {
+  pinMode(LED_BUILTIN, OUTPUT);
+  digitalWrite(LED_BUILTIN, LOW);
+  LittleFS.format();
+}
+
+void setup1() {
+}
+
+void loop() {
+  digitalWrite(LED_BUILTIN, HIGH);
+  delay(200);
+}
+
+int x = 0;
+void loop1() {
+  delay(100);
+  digitalWrite(LED_BUILTIN, LOW);
+  delay(100);
+  Serial.printf("%d\n", x++);
+}
@@ -0,0 +1,57 @@
+// Released to the public domain
+#include <FreeRTOS.h>
+#include <task.h>
+#include <map>
+#define STACK_SIZE 512
+#define CORE_0 (1 << 0)
+#define CORE_1 (1 << 1)
+
+std::map<eTaskState, const char *> eTaskStateName { {eReady, "Ready"}, { eRunning, "Running" }, {eBlocked, "Blocked"}, {eSuspended, "Suspended"}, {eDeleted, "Deleted"} };
+void ps() {
+  int tasks = uxTaskGetNumberOfTasks();
+  TaskStatus_t *pxTaskStatusArray = new TaskStatus_t[tasks];
+  unsigned long runtime;
+  tasks = uxTaskGetSystemState( pxTaskStatusArray, tasks, &runtime );
+  Serial.printf("# Tasks: %d\n", tasks);
+  Serial.printf("%-3s %-16s %-10s %s %s\n", "ID", "NAME", "STATE", "PRIO", "CYCLES");
+  for (int i = 0; i < tasks; i++) {
+    Serial.printf("%2d: %-16s %-10s %4d %lu\n", i, pxTaskStatusArray[i].pcTaskName, eTaskStateName[pxTaskStatusArray[i].eCurrentState], (int)pxTaskStatusArray[i].uxCurrentPriority, pxTaskStatusArray[i].ulRunTimeCounter);
+  }
+  delete[] pxTaskStatusArray;
+}
+
+static TaskHandle_t l[16];
+
+void loop() {
+  ps();
+  delay(1000);
+}
+
+#define LOOP(z) \
+void loop##z(void *params) {\
+  (void) params;\
+  while (true) {\
+    srand(z);\
+    int sum = 0;\
+    for (int i = 0; i < 500000; i++) sum+= rand();\
+    Serial.printf("L%d: %08x\n", z, sum);\
+    delay(1000 + z * 10);\
+  }\
+}
+
+LOOP(0);
+LOOP(1);
+LOOP(2);
+LOOP(3);
+
+
+void setup() {
+  xTaskCreate(loop0, "loop0", STACK_SIZE, NULL, 1, &l[0]);
+  vTaskCoreAffinitySet(l[0], CORE_0);
+//  xTaskCreate(loop1, "loop1", STACK_SIZE, NULL, 1, &l[1]);
+//  vTaskCoreAffinitySet(l[1], CORE_0);
+//  xTaskCreate(loop2, "loop2", STACK_SIZE, NULL, 1, &l[2]);
+//  vTaskCoreAffinitySet(l[2], CORE_0);
+//  xTaskCreate(loop3, "loop3", STACK_SIZE, NULL, 1, &l[3]);
+//  vTaskCoreAffinitySet(l[3], CORE_1);
+}
@@ -66,23 +66,22 @@ I2S::~I2S() {
 }

 bool I2S::setBCLK(pin_size_t pin) {
-    if (_running || (pin > 28)) {
+    if (_running || (pin > __GPIOCNT - 1)) {
        return false;
    }
    _pinBCLK = pin;
    return true;
 }

-
 bool I2S::setMCLK(pin_size_t pin) {
-    if (_running || (pin > 28)) {
+    if (_running || (pin >= __GPIOCNT)) {
        return false;
    }
    _pinMCLK = pin;
    return true;
 }
 bool I2S::setDATA(pin_size_t pin) {
-    if (_running || (pin > 29)) {
+    if (_running || (pin >= __GPIOCNT)) {
        return false;
    }
    _pinDOUT = pin;
@@ -198,7 +197,7 @@ void I2S::onReceive(void(*fn)(void)) {
 void I2S::MCLKbegin() {
    int off = 0;
    _i2sMCLK = new PIOProgram(&pio_i2s_mclk_program);
-    _i2sMCLK->prepare(&_pioMCLK, &_smMCLK, &off); // not sure how to use the same PIO
+    _i2sMCLK->prepare(&_pioMCLK, &_smMCLK, &off, _pinMCLK, 1); // not sure how to use the same PIO
    pio_i2s_MCLK_program_init(_pioMCLK, _smMCLK, off, _pinMCLK);
    int mClk = _multMCLK * _freq * 2.0 /* edges per clock */;
    pio_sm_set_clkdiv_int_frac(_pioMCLK, _smMCLK, clock_get_hz(clk_sys) / mClk, 0);
@@ -215,7 +214,9 @@ bool I2S::begin() {
    } else {
        _i2s = new PIOProgram(_isOutput ? (_isTDM ? &pio_tdm_out_swap_program : (_isLSBJ ? &pio_lsbj_out_swap_program : &pio_i2s_out_swap_program)) : &pio_i2s_in_swap_program);
    }
-    if (!_i2s->prepare(&_pio, &_sm, &off)) {
+    int minpin = std::min((int)_pinDOUT, (int)_pinBCLK);
+    int maxpin = std::max((int)_pinDOUT, (int)_pinBCLK + 1);
+    if (!_i2s->prepare(&_pio, &_sm, &off, minpin, maxpin - minpin + 1)) {
        _running = false;
        delete _i2s;
        _i2s = nullptr;
@@ -220,9 +220,13 @@ static inline void pio_i2s_out_program_init(PIO pio, uint sm, uint offset, uint

    pio_sm_init(pio, sm, offset, &sm_config);

-    uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
-    pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
-    pio_sm_set_pins(pio, sm, 0); // clear pins
+    //uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
+    //pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
+    //pio_sm_set_pins(pio, sm, 0); // clear pins
+    pio_sm_set_consecutive_pindirs(pio, sm, data_pin, 1, true);
+    pio_sm_set_consecutive_pindirs(pio, sm, clock_pin_base, 2, true);
+    pio_sm_set_set_pins(pio, sm, data_pin, 1);
+    pio_sm_set_set_pins(pio, sm, clock_pin_base, 2);

    pio_sm_exec(pio, sm, pio_encode_set(pio_y, bits - 2));
 }
@@ -241,9 +245,13 @@ static inline void pio_tdm_out_program_init(PIO pio, uint sm, uint offset, uint

    pio_sm_init(pio, sm, offset, &sm_config);

-    uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
-    pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
-    pio_sm_set_pins(pio, sm, 0); // clear pins
+    //uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
+    //pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
+    //pio_sm_set_pins(pio, sm, 0); // clear pins
+    pio_sm_set_consecutive_pindirs(pio, sm, data_pin, 1, true);
+    pio_sm_set_consecutive_pindirs(pio, sm, clock_pin_base, 2, true);
+    pio_sm_set_set_pins(pio, sm, data_pin, 1);
+    pio_sm_set_set_pins(pio, sm, clock_pin_base, 2);

    // Can't set constant > 31, so push and pop/mov
    pio_sm_put_blocking(pio, sm, bits * channels - 2);
@@ -268,9 +276,13 @@ static inline void pio_lsbj_out_program_init(PIO pio, uint sm, uint offset, uint

    pio_sm_init(pio, sm, offset, &sm_config);

-    uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
-    pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
-    pio_sm_set_pins(pio, sm, 0); // clear pins
+    //uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
+    //pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
+    //pio_sm_set_pins(pio, sm, 0); // clear pins
+    pio_sm_set_consecutive_pindirs(pio, sm, data_pin, 1, true);
+    pio_sm_set_consecutive_pindirs(pio, sm, clock_pin_base, 2, true);
+    pio_sm_set_set_pins(pio, sm, data_pin, 1);
+    pio_sm_set_set_pins(pio, sm, clock_pin_base, 2);

    pio_sm_exec(pio, sm, pio_encode_set(pio_y, bits - 2));
 }
@@ -289,9 +301,12 @@ static inline void pio_i2s_in_program_init(PIO pio, uint sm, uint offset, uint d

    pio_sm_init(pio, sm, offset, &sm_config);

-    uint pin_mask = 3u << clock_pin_base;
-    pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
-    pio_sm_set_pins(pio, sm, 0); // clear pins
+    //uint pin_mask = 3u << clock_pin_base;
+    //pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
+    //pio_sm_set_pins(pio, sm, 0); // clear pins
+    pio_sm_set_consecutive_pindirs(pio, sm, data_pin, 1, false);
+    pio_sm_set_consecutive_pindirs(pio, sm, clock_pin_base, 2, true);
+    pio_sm_set_set_pins(pio, sm, clock_pin_base, 2);

    pio_sm_exec(pio, sm, pio_encode_set(pio_y, bits - 2));

@@ -369,9 +369,13 @@ static inline void pio_i2s_out_program_init(PIO pio, uint sm, uint offset, uint
    sm_config_set_out_shift(&sm_config, false, true, (bits <= 16) ? 2 * bits : bits);
    sm_config_set_fifo_join(&sm_config, PIO_FIFO_JOIN_TX);
    pio_sm_init(pio, sm, offset, &sm_config);
-    uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
-    pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
-    pio_sm_set_pins(pio, sm, 0); // clear pins
+    //uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
+    //pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
+    //pio_sm_set_pins(pio, sm, 0); // clear pins
+    pio_sm_set_consecutive_pindirs(pio, sm, data_pin, 1, true);
+    pio_sm_set_consecutive_pindirs(pio, sm, clock_pin_base, 2, true);
+    pio_sm_set_set_pins(pio, sm, data_pin, 1);
+    pio_sm_set_set_pins(pio, sm, clock_pin_base, 2);
    pio_sm_exec(pio, sm, pio_encode_set(pio_y, bits - 2));
 }
 static inline void pio_tdm_out_program_init(PIO pio, uint sm, uint offset, uint data_pin, uint clock_pin_base, uint bits, bool swap, uint channels) {
@@ -384,9 +388,13 @@ static inline void pio_tdm_out_program_init(PIO pio, uint sm, uint offset, uint
    sm_config_set_out_shift(&sm_config, false, true, 32);
    sm_config_set_fifo_join(&sm_config, PIO_FIFO_JOIN_TX);
    pio_sm_init(pio, sm, offset, &sm_config);
-    uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
-    pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
-    pio_sm_set_pins(pio, sm, 0); // clear pins
+    //uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
+    //pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
+    //pio_sm_set_pins(pio, sm, 0); // clear pins
+    pio_sm_set_consecutive_pindirs(pio, sm, data_pin, 1, true);
+    pio_sm_set_consecutive_pindirs(pio, sm, clock_pin_base, 2, true);
+    pio_sm_set_set_pins(pio, sm, data_pin, 1);
+    pio_sm_set_set_pins(pio, sm, clock_pin_base, 2);
    // Can't set constant > 31, so push and pop/mov
    pio_sm_put_blocking(pio, sm, bits * channels - 2);
    pio_sm_exec(pio, sm, pio_encode_pull(false, false));
@@ -404,9 +412,13 @@ static inline void pio_lsbj_out_program_init(PIO pio, uint sm, uint offset, uint
    sm_config_set_out_shift(&sm_config, false, true, (bits <= 16) ? 2 * bits : bits);
    sm_config_set_fifo_join(&sm_config, PIO_FIFO_JOIN_TX);
    pio_sm_init(pio, sm, offset, &sm_config);
-    uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
-    pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
-    pio_sm_set_pins(pio, sm, 0); // clear pins
+    //uint pin_mask = (1u << data_pin) | (3u << clock_pin_base);
+    //pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
+    //pio_sm_set_pins(pio, sm, 0); // clear pins
+    pio_sm_set_consecutive_pindirs(pio, sm, data_pin, 1, true);
+    pio_sm_set_consecutive_pindirs(pio, sm, clock_pin_base, 2, true);
+    pio_sm_set_set_pins(pio, sm, data_pin, 1);
+    pio_sm_set_set_pins(pio, sm, clock_pin_base, 2);
    pio_sm_exec(pio, sm, pio_encode_set(pio_y, bits - 2));
 }
 static inline void pio_i2s_in_program_init(PIO pio, uint sm, uint offset, uint data_pin, uint clock_pin_base, uint bits, bool swap) {
@@ -419,9 +431,12 @@ static inline void pio_i2s_in_program_init(PIO pio, uint sm, uint offset, uint d
    sm_config_set_in_shift(&sm_config, false, true, (bits <= 16) ? 2 * bits : bits);
    sm_config_set_fifo_join(&sm_config, PIO_FIFO_JOIN_RX);
    pio_sm_init(pio, sm, offset, &sm_config);
-    uint pin_mask = 3u << clock_pin_base;
-    pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
-    pio_sm_set_pins(pio, sm, 0); // clear pins
+    //uint pin_mask = 3u << clock_pin_base;
+    //pio_sm_set_pindirs_with_mask(pio, sm, pin_mask, pin_mask);
+    //pio_sm_set_pins(pio, sm, 0); // clear pins
+    pio_sm_set_consecutive_pindirs(pio, sm, data_pin, 1, false);
+    pio_sm_set_consecutive_pindirs(pio, sm, clock_pin_base, 2, true);
+    pio_sm_set_set_pins(pio, sm, clock_pin_base, 2);
    pio_sm_exec(pio, sm, pio_encode_set(pio_y, bits - 2));
    pio_sm_exec(pio, sm, pio_encode_in(pio_pins, bits)); // Shift in 1st L data
    pio_sm_exec(pio, sm, pio_encode_in(pio_pins, bits - 1)); // Shift in 1st R data modulo one bit, avoiding bit shift from #2037
@@ -182,12 +182,16 @@ int LittleFSImpl::lfs_flash_prog(const struct lfs_config *c,
                                 lfs_block_t block, lfs_off_t off, const void *buffer, lfs_size_t size) {
    LittleFSImpl *me = reinterpret_cast<LittleFSImpl*>(c->context);
    uint8_t *addr = me->_start + (block * me->_blockSize) + off;
-    noInterrupts();
+    if (!__isFreeRTOS) {
+        noInterrupts();
+    }
    rp2040.idleOtherCore();
    //    Serial.printf("WRITE: %p, $d\n", (intptr_t)addr - (intptr_t)XIP_BASE, size);
    flash_range_program((intptr_t)addr - (intptr_t)XIP_BASE, (const uint8_t *)buffer, size);
    rp2040.resumeOtherCore();
-    interrupts();
+    if (!__isFreeRTOS) {
+        interrupts();
+    }
    return 0;
 }

@@ -195,11 +199,15 @@ int LittleFSImpl::lfs_flash_erase(const struct lfs_config *c, lfs_block_t block)
    LittleFSImpl *me = reinterpret_cast<LittleFSImpl*>(c->context);
    uint8_t *addr = me->_start + (block * me->_blockSize);
    //    Serial.printf("ERASE: %p, %d\n", (intptr_t)addr - (intptr_t)XIP_BASE, me->_blockSize);
-    noInterrupts();
+    if (!__isFreeRTOS) {
+        noInterrupts();
+    }
    rp2040.idleOtherCore();
    flash_range_erase((intptr_t)addr - (intptr_t)XIP_BASE, me->_blockSize);
    rp2040.resumeOtherCore();
-    interrupts();
+    if (!__isFreeRTOS) {
+        interrupts();
+    }
    return 0;
 }

@@ -54,7 +54,7 @@ static inline void pdm_pio_program_init(PIO pio, uint sm, uint offset, uint clkP
    pio_sm_set_consecutive_pindirs(pio, sm, dataPin, 1, false);
    pio_sm_set_consecutive_pindirs(pio, sm, clkPin, 1, true);
    pio_sm_set_pins_with_mask(pio, sm, 0, (1u << clkPin));
-    //pio_gpio_init(pio, dataPin);
+    pio_gpio_init(pio, dataPin);
    pio_gpio_init(pio, clkPin);
    pio_sm_init(pio, sm, offset, &c);
    pio_sm_set_enabled(pio, sm, true);
@@ -1,4 +1,4 @@
-unsigned char out_raw[] = {
+const unsigned char out_raw[] __attribute__((aligned((2)))) = {
    0xbd, 0x1b, 0xd1, 0x1a, 0x41, 0x1b, 0x63, 0x1a, 0xdf, 0x19, 0xea, 0x19,
    0x18, 0x19, 0x50, 0x19, 0x2e, 0x1a, 0xdc, 0x19, 0x90, 0x1a, 0x8d, 0x1a,
    0x60, 0x19, 0x31, 0x19, 0x81, 0x17, 0x79, 0x16, 0xda, 0x16, 0x0b, 0x16,
@@ -12,7 +12,8 @@

 #include <PicoOTA.h>
 #include <LittleFS.h>
-#include "blink_100_1000.h"
+#include "blink_100_1000_rp2040.h"
+#include "blink_500_500_rp2350.h"

 void setup() {
  Serial.begin(115200);
@@ -1,3 +1,4 @@
+#ifdef PICO_RP2040
 const unsigned char blink_gz[] = {
    0x1f, 0x8b, 0x08, 0x08, 0x86, 0x7e, 0xf3, 0x62, 0x02, 0x03, 0x73, 0x6b,
    0x65, 0x74, 0x63, 0x68, 0x5f, 0x61, 0x75, 0x67, 0x31, 0x30, 0x61, 0x2e,
@@ -3896,3 +3897,4 @@ const unsigned char blink_gz[] = {
    0x03, 0xeb, 0x79, 0x7c, 0xf6, 0x3f, 0x01, 0xa8, 0x7b, 0x69, 0xf7, 0x10,
    0x11, 0x01, 0x00
 };
+#endif
@@ -9,7 +9,8 @@

 #include <PicoOTA.h>
 #include <LittleFS.h>
-#include "blink_100_1000.h"
+#include "blink_100_1000_rp2040.h"
+#include "blink_500_500_rp2350.h"

 void setup() {
  Serial.begin(115200);
@@ -1,3 +1,4 @@
+#ifdef PICO_RP2040
 const unsigned char blink[] = {
    0x00, 0xb5, 0x32, 0x4b, 0x21, 0x20, 0x58, 0x60, 0x98, 0x68, 0x02, 0x21,
    0x88, 0x43, 0x98, 0x60, 0xd8, 0x60, 0x18, 0x61, 0x58, 0x61, 0x2e, 0x4b,
@@ -5826,3 +5827,4 @@ const unsigned char blink[] = {
    0xc1, 0x45, 0x00, 0x10, 0x9d, 0x48, 0x00, 0x10, 0xad, 0x4b, 0x00, 0x10,
    0xed, 0x63, 0x00, 0x10
 };
+#endif
@@ -179,6 +179,12 @@ void SPIClassRP2040::transfer(const void *txbuf, void *rxbuf, size_t count) {
    DEBUGSPI("SPI::transfer completed\n");
 }

+#ifdef PICO_RP2350B
+#define GPIOIRQREGS 6
+#else
+#define GPIOIRQREGS 4
+#endif
+
 void SPIClassRP2040::beginTransaction(SPISettings settings) {
    noInterrupts(); // Avoid possible race conditions if IRQ comes in while main app is in middle of this
    DEBUGSPI("SPI::beginTransaction(clk=%lu, bo=%s)\n", settings.getClockFreq(), (settings.getBitOrder() == MSBFIRST) ? "MSB" : "LSB");
@@ -201,7 +207,7 @@ void SPIClassRP2040::beginTransaction(SPISettings settings) {
    }
    // Disable any IRQs that are being used for SPI
    io_bank0_irq_ctrl_hw_t *irq_ctrl_base = get_core_num() ? &iobank0_hw->proc1_irq_ctrl : &iobank0_hw->proc0_irq_ctrl;
-    DEBUGSPI("SPI: IRQ masks before = %08x %08x %08x %08x\n", (unsigned)irq_ctrl_base->inte[0], (unsigned)irq_ctrl_base->inte[1], (unsigned)irq_ctrl_base->inte[2], (unsigned)irq_ctrl_base->inte[3]);
+    DEBUGSPI("SPI: IRQ masks before = %08x %08x %08x %08x %08x %08x\n", (unsigned)irq_ctrl_base->inte[0], (unsigned)irq_ctrl_base->inte[1], (unsigned)irq_ctrl_base->inte[2], (unsigned)irq_ctrl_base->inte[3], (GPIOIRQREGS > 4) ? (unsigned)irq_ctrl_base->inte[4] : 0, (GPIOIRQREGS > 5) ? (unsigned)irq_ctrl_base->inte[5] : 0);
    for (auto entry : _usingIRQs) {
        int gpio = entry.first;

@@ -212,7 +218,7 @@ void SPIClassRP2040::beginTransaction(SPISettings settings) {
        DEBUGSPI("SPI: GPIO %d = %lu\n", gpio, val);
        (*en_reg) ^= val << (4 * (gpio % 8));
    }
-    DEBUGSPI("SPI: IRQ masks after = %08x %08x %08x %08x\n", (unsigned)irq_ctrl_base->inte[0], (unsigned)irq_ctrl_base->inte[1], (unsigned)irq_ctrl_base->inte[2], (unsigned)irq_ctrl_base->inte[3]);
+    DEBUGSPI("SPI: IRQ masks after = %08x %08x %08x %08x %08x %08x\n", (unsigned)irq_ctrl_base->inte[0], (unsigned)irq_ctrl_base->inte[1], (unsigned)irq_ctrl_base->inte[2], (unsigned)irq_ctrl_base->inte[3], (GPIOIRQREGS > 4) ? (unsigned)irq_ctrl_base->inte[4] : 0, (GPIOIRQREGS > 5) ? (unsigned)irq_ctrl_base->inte[5] : 0);
    interrupts();
 }

@@ -227,7 +233,7 @@ void SPIClassRP2040::endTransaction(void) {
    }
    io_bank0_irq_ctrl_hw_t *irq_ctrl_base = get_core_num() ? &iobank0_hw->proc1_irq_ctrl : &iobank0_hw->proc0_irq_ctrl;
    (void) irq_ctrl_base;
-    DEBUGSPI("SPI: IRQ masks = %08x %08x %08x %08x\n", (unsigned)irq_ctrl_base->inte[0], (unsigned)irq_ctrl_base->inte[1], (unsigned)irq_ctrl_base->inte[2], (unsigned)irq_ctrl_base->inte[3]);
+    DEBUGSPI("SPI: IRQ masks = %08x %08x %08x %08x %08x %08x\n", (unsigned)irq_ctrl_base->inte[0], (unsigned)irq_ctrl_base->inte[1], (unsigned)irq_ctrl_base->inte[2], (unsigned)irq_ctrl_base->inte[3], (GPIOIRQREGS > 4) ? (unsigned)irq_ctrl_base->inte[4] : 0, (GPIOIRQREGS > 5) ? (unsigned)irq_ctrl_base->inte[5] : 0);
    interrupts();
 }

@@ -329,10 +335,16 @@ void SPIClassRP2040::abortAsync() {


 bool SPIClassRP2040::setRX(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({0, 4, 16, 20}) /* SPI0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({0, 4, 16, 20, 32, 26}) /* SPI0 */,
+                                    __bitset({8, 12, 24, 28, 40, 44})  /* SPI1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({0, 4, 16, 20}) /* SPI0 */,
                                    __bitset({8, 12, 24, 28})  /* SPI1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[spi_get_index(_spi)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[spi_get_index(_spi)])) {
        _RX = pin;
        return true;
    }
@@ -350,10 +362,16 @@ bool SPIClassRP2040::setRX(pin_size_t pin) {
 }

 bool SPIClassRP2040::setCS(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({1, 5, 17, 21}) /* SPI0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({1, 5, 17, 21, 33, 37}) /* SPI0 */,
+                                    __bitset({9, 13, 25, 29, 41, 45})  /* SPI1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({1, 5, 17, 21}) /* SPI0 */,
                                    __bitset({9, 13, 25, 29})  /* SPI1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[spi_get_index(_spi)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[spi_get_index(_spi)])) {
        _CS = pin;
        return true;
    }
@@ -371,10 +389,16 @@ bool SPIClassRP2040::setCS(pin_size_t pin) {
 }

 bool SPIClassRP2040::setSCK(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({2, 6, 18, 22}) /* SPI0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({2, 6, 18, 22, 34, 38}) /* SPI0 */,
+                                    __bitset({10, 14, 26, 30, 42, 46})  /* SPI1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({2, 6, 18, 22}) /* SPI0 */,
                                    __bitset({10, 14, 26})  /* SPI1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[spi_get_index(_spi)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[spi_get_index(_spi)])) {
        _SCK = pin;
        return true;
    }
@@ -392,10 +416,16 @@ bool SPIClassRP2040::setSCK(pin_size_t pin) {
 }

 bool SPIClassRP2040::setTX(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({3, 7, 19, 23}) /* SPI0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({3, 7, 19, 23, 35, 39}) /* SPI0 */,
+                                    __bitset({11, 15, 27, 31, 43, 47})  /* SPI1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({3, 7, 19, 23}) /* SPI0 */,
                                    __bitset({11, 15, 27})  /* SPI1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[spi_get_index(_spi)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[spi_get_index(_spi)])) {
        _TX = pin;
        return true;
    }
@@ -79,10 +79,16 @@ inline spi_cpha_t SPISlaveClass::cpha(SPISettings _spis) {
 }

 bool SPISlaveClass::setRX(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({0, 4, 16, 20}) /* SPI0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({0, 4, 16, 20, 32, 26}) /* SPI0 */,
+                                    __bitset({8, 12, 24, 28, 40, 44})  /* SPI1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({0, 4, 16, 20}) /* SPI0 */,
                                    __bitset({8, 12, 24, 28})  /* SPI1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[spi_get_index(_spi)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[spi_get_index(_spi)])) {
        _RX = pin;
        return true;
    }
@@ -100,10 +106,16 @@ bool SPISlaveClass::setRX(pin_size_t pin) {
 }

 bool SPISlaveClass::setCS(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({1, 5, 17, 21}) /* SPI0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({1, 5, 17, 21, 33, 37}) /* SPI0 */,
+                                    __bitset({9, 13, 25, 29, 41, 45})  /* SPI1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({1, 5, 17, 21}) /* SPI0 */,
                                    __bitset({9, 13, 25, 29})  /* SPI1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[spi_get_index(_spi)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[spi_get_index(_spi)])) {
        _CS = pin;
        return true;
    }
@@ -121,10 +133,16 @@ bool SPISlaveClass::setCS(pin_size_t pin) {
 }

 bool SPISlaveClass::setSCK(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({2, 6, 18, 22}) /* SPI0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({2, 6, 18, 22, 34, 38}) /* SPI0 */,
+                                    __bitset({10, 14, 26, 30, 42, 46})  /* SPI1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({2, 6, 18, 22}) /* SPI0 */,
                                    __bitset({10, 14, 26})  /* SPI1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[spi_get_index(_spi)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[spi_get_index(_spi)])) {
        _SCK = pin;
        return true;
    }
@@ -142,10 +160,16 @@ bool SPISlaveClass::setSCK(pin_size_t pin) {
 }

 bool SPISlaveClass::setTX(pin_size_t pin) {
-    constexpr uint32_t valid[2] = { __bitset({3, 7, 19, 23}) /* SPI0 */,
+#ifdef PICO_RP2350B
+    constexpr uint64_t valid[2] = { __bitset({3, 7, 19, 23, 35, 39}) /* SPI0 */,
+                                    __bitset({11, 15, 27, 31, 43, 47})  /* SPI1 */
+                                  };
+#else
+    constexpr uint64_t valid[2] = { __bitset({3, 7, 19, 23}) /* SPI0 */,
                                    __bitset({11, 15, 27})  /* SPI1 */
                                  };
-    if ((!_running) && ((1 << pin) & valid[spi_get_index(_spi)])) {
+#endif
+    if ((!_running) && ((1LL << pin) & valid[spi_get_index(_spi)])) {
        _TX = pin;
        return true;
    }
@@ -85,7 +85,7 @@ int Servo::attach(pin_size_t pin, int minUs, int maxUs, int value) {
        digitalWrite(pin, LOW);
        pinMode(pin, OUTPUT);
        _pin = pin;
-        if (!_servoPgm.prepare(&_pio, &_smIdx, &_pgmOffset)) {
+        if (!_servoPgm.prepare(&_pio, &_smIdx, &_pgmOffset, pin, 1)) {
            // ERROR, no free slots
            return -1;
        }
@@ -291,12 +291,16 @@ bool UpdaterClass::_writeBuffer() {
            return false;
        }
    } else {
-        noInterrupts();
+        if (!__isFreeRTOS) {
+            noInterrupts();
+        }
        rp2040.idleOtherCore();
        flash_range_erase((intptr_t)_currentAddress - (intptr_t)XIP_BASE, 4096);
        flash_range_program((intptr_t)_currentAddress - (intptr_t)XIP_BASE, _buffer, 4096);
        rp2040.resumeOtherCore();
-        interrupts();
+        if (!__isFreeRTOS) {
+            interrupts();
+        }
    }
    if (!_verify) {
        _md5.add(_buffer, _bufferLen);
@@ -25,6 +25,8 @@ writeAsync	KEYWORD2
 readAsync	KEYWORD2
 finishedAsync	KEYWORD2
 abortAsync	KEYWORD2
+writeReadAsync	KEYWORD2
+onFinishedAsync	KEYWORD2

 #######################################
 # Instances (KEYWORD2)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Earle F. Philhower, III	f49d058477	Update version	2024-09-24 06:59:23 -07:00
Earle F. Philhower, III	777eacdfc3	Wire probe clock stretch up to 500us (#2493 ) As reported by @Rasmusfk in #2455, allow for a longer clock stretch period during probes.	2024-09-24 06:58:41 -07:00
Sylwester	39ad2aeced	Add Datanoise PicoADK v2 (RP2350). (#2413 )	2024-09-24 06:46:05 -07:00
Earle F. Philhower, III	a9fd579ce9	Add new Pico SDK AON_Timer module (#2489 ) Fixes #2488	2024-09-22 15:16:28 -07:00
Earle F. Philhower, III	a6ab6e1f95	Fix FreeRTOS Flash Freeze, Fastly (#2486 ) Fixes #2485	2024-09-20 15:04:56 -07:00
Earle F. Philhower, III	b2ec6ecb09	GCC to 12.4, Newlib to 4.3.0, faster RP2350 libs (#2480 ) Newlib built using `-Os` causes things like `memcpy` to be very slow on the RP2350 because it uses byte-wise operations. On the RP2040 this doesn't matter because there is a ROM routine we use instead of the library, but on the Pico 2 it's almost 10x slower than the optimal method. Update GCC to 12.4 Update Newlib to 4.4.0 Move to -O2 library compilation New toolchain looks to add ~10K to RP2350 flash usage (less on the RP2040).	2024-09-19 17:03:23 -07:00
Earle F. Philhower, III	f18fa88565	Update DMAMemcpy.ino (#2481 ) Use 64-bit cycle counts to avoid occasional overflows.	2024-09-19 09:25:29 -07:00
Tom MagnierandTom Magnier	07b7d9748b	I2C lib : implement "bus recovery" feature on timeout reset (#2479 ) * I2C lib : implement "bus recovery" feature on timeout reset --------- Co-authored-by: Tom Magnier <tom@tmagnier.fr>	2024-09-19 08:58:47 -07:00
Earle F. Philhower, III	66c1f78f7d	Minimize skipped ESPHost CI tests (#2477 )	2024-09-18 08:28:05 -07:00
Pontus OldbergandPontus Oldberg	f6940cc04e	Adds support for ESP Hosted to WiFi/BLE boards and adds a menu item for ESP WiFi selection (#2468 ) * Adds a menu item for selecting type of ESP wifi type. * Updated pin definitions to work with ESP hosted. * Fixed residual debug modification. * Added ESPHost support library. * Removed local cloning of ESPHost and added to excluded from CI * Updated boards.txt --------- Co-authored-by: Pontus Oldberg <pontus.oldberg@non.se.com>	2024-09-18 07:16:23 -07:00
Earle F. Philhower, III	5830cd8e7d	Clean up libpico Cmakefile, 1 entry per line (#2474 ) Split the 1300+ char define-setting line into a multi-line value. Makes it more maintainable and easier to see when changes needed. No settings should have been modified.	2024-09-17 18:26:16 -07:00
Earle F. Philhower, III	2063a2d23d	Enable OTA support for RP2350 (#2472 ) The RP2350 has a different blob header requirement to identify a working image. Ensure that header is present in the OTA loader. Update the PicoOTA examples for the 2350	2024-09-17 15:05:42 -07:00
Earle F. Philhower, III	4504d72972	Don't realloc(nullptr) from PSRAM by default (#2473 ) Several Arduino APIs realloc(NULL) which is legal and equivalent to "malloc()", but the PSRAM logic was placing those malloc calls in PSRAM and not RAM because "0" < RAM_START. Ensure the realloc address is non-null and before RAM_START before using PSRAM.	2024-09-17 14:46:41 -07:00
Yveaux	5db8063756	Also remove CFG_TUSB_DEBUG from platformio-build.py for rp2350 (#2471 )	2024-09-17 11:52:30 -07:00
Yveaux	5fbda35282	Remove CFG_TUSB_DEBUG for rp2350 (#2469 )	2024-09-17 11:21:16 -07:00
Liz Scott Shawcroft ladyada	163b209d6c	Add Adafruit Feather RP2350 with HSTX (#2459 ) * Add xosc delay for RP2350 * init feather rp2350 addition * Update Feather RP2350 JSON --------- Co-authored-by: Scott Shawcroft <scott@tannewt.org> Co-authored-by: ladyada <support@adafruit.com>	2024-09-17 09:45:45 -07:00
Earle F. Philhower, III	ccdc76c279	Update freertos.rst - FreeRTOS RP2350 support added	2024-09-16 16:59:19 -07:00
Earle F. Philhower, III	e88d2d0469	Update rp2350.rst - FreeRTOS support added	2024-09-16 16:57:32 -07:00
Earle F. Philhower, IIIandfietser28	a0b3876de4	Add FreeRTOS support for RP2350 (#2406 ) Pull in Raspberry Pi's custom RP2350 ARM and RISC-V ports for FreeRTOS. Basic tests run, but stress mutex test is failing in unique and interesting ways. * Add simplified switching test catching task swap problem * Freertosrp2350: use FreeRTOS macros in noInterrupts/interrupts when applicable. (#2456) * Use FreeRTOS macros in noInterrupts/interrupts when applicable. * Fixed calling taskEXIT_CRITICAL and taskENTER_CRITICAL --------- Co-authored-by: fietser28 <fietser28@users.noreply.github.com>	2024-09-16 16:56:22 -07:00
Earle F. Philhower, III	5f6e4aff5c	Allow LWIP Ethernet HW IRQs > 32 (#2464 ) Allow RP2350B boards to use GPIOs 31+ for the Ethernet HW IRQ line. Also update SPI debug output with the new registers.	2024-09-16 12:35:46 -07:00
Earle F. Philhower, III	4d1d1d2304	Fix PICO_RP2350B define check for other peripherals (#2463 ) Fixes #2461	2024-09-16 11:16:08 -07:00
Earle F. Philhower, III	1f291482cd	Fix SerialUART RP2350B define checks Fixes #2460	2024-09-16 09:27:08 -07:00
Tom MagnierandTom Magnier	d26a358055	I2C lib: Handle timeout in write() (#2458 ) Co-authored-by: Tom Magnier <tom@tmagnier.fr>	2024-09-16 08:08:21 -07:00
Earle F. Philhower, III	aaaa99d969	Support PIO2 for SoftwareSerial/SerialPIO (#2451 ) New IRQs and PIO pointers required for the 3rd PIO on the 2350. Fixes #2447	2024-09-13 12:25:55 -07:00
SamHalvoe	12130eb767	Add "#define PICO_RP2350B 1" since this board is based on RP2350B (#2445 )	2024-09-12 12:50:04 -07:00
arturo182	f5c85fa958	Solderparty_rp2350_stamp_xl: Properly mark as using RP2350B (#2446 )	2024-09-12 11:52:30 -07:00
Earle F. Philhower, III	ee9649a032	Update version	2024-09-12 10:16:13 -07:00
Earle F. Philhower, III	4098ba29af	Document E9 non-workaround (#2444 ) Fixes #2380	2024-09-12 09:51:24 -07:00
Earle F. Philhower, III	76811d3c66	Add RP2350B generic/Pimoroni PGA2350 support (#2433 ) * Add support for the extra 16 GPIO pins in the menus and core. * Clean up Generic RP2350 PSRAM ("none" is valid) and flash (other than 16MB) options. * Add extra GPIO<->peripheral connections * Add Pimoroni PGA2350 RP2350B-based board * Pins 32-47 can be used for PIOPrograms * Avoid hang when PSRAM fails to initialize * Move libpico to an RP2350B board for SDK (otherwise the SDK drops all GPIOHI support)	2024-09-11 18:55:28 -07:00
Earle F. Philhower, III	20c69bdfbd	Warn when using PSRAM on non-PSRAM boards (#2441 ) Avoid link errors with a warning message and always-failing calls to pmalloc/pcalloc. Addresses #2439	2024-09-10 09:50:51 -07:00
Earle F. Philhower, III	a9b390296f	Fix F_CPU 125MHz setting on RP2350 (#2436 ) Fixes #2434	2024-09-09 11:57:47 -07:00
Earle F. Philhower, III	8f7ddb6dc3	Ensure sample aligment on PWMAudio example (#2437 )	2024-09-09 11:22:00 -07:00
Dan Ellis	3e24400beb	libraries/PDM/src/rp2040/pdm.pio.h: pio_gpio_init data in pin. (#2432 )	2024-09-08 19:12:33 -07:00
Earle F. Philhower, III	be2174bdb6	Fix SoftwareSerial/SerialPIO inversion and build (#2423 ) SWSerial wasn't even building due to a typo in the header, and SerialPIO needs to set the OE-invert flag after PIO initialization for transmit. Fixes #2419	2024-09-06 19:54:31 -07:00
Earle F. Philhower, III	70b273544e	Add board Pimornoi Tiny2350 (#2426 ) Similar to Pimoroni Tiny2040	2024-09-06 19:44:21 -07:00
Earle F. Philhower, III	e0ff046f37	Remove even more pico-debug stragglers (#2425 )	2024-09-06 19:21:56 -07:00
Earle F. Philhower, III	5e07682d11	Remove straggler pico-debug references (#2422 )	2024-09-06 12:06:43 -07:00
SamHalvoe	902f709f6f	Add board Pimoroni Pico Plus 2 (#2415 )	2024-09-05 10:55:58 -07:00
qqqlab	bf33170691	Add TwoWire::writeReadAsync (#2388 )	2024-09-04 08:42:14 -07:00
Earle F. Philhower, III	50cb17497b	Fix RP2040 FP calls in ROM (#2411 ) A typo in the CMakefile resulted in ROM FPU calls not being added in the Pico library. Fix the file and rebuild libraries. Fixes #2410	2024-09-03 19:39:41 -07:00
Yveaux	48c4c20251	Allow reconfiguring individual FreeRTOS config items - fixes #2398 (#2407 )	2024-09-03 12:58:46 -07:00
Jean-Luc Béchennec	6a5f98c7ef	FS doc update (#2404 ) FSInfo64 removed and FSInfo updated. File name length limitation of LittleFS changed to 255 characters	2024-09-01 10:18:23 -07:00
Yveaux	bc7adf42c2	Allow configuring maxIRQs (#2401 )	2024-09-01 08:44:51 -07:00
AIWintermuteAI	94c9932417	Expand documentation to clarify pin notation and Servo usage (#2326 )	2024-08-31 13:11:42 -07:00
Earle F. Philhower, III	cde5fe3de5	Mac BASH update for CI scripts (#2400 )	2024-08-31 12:53:00 -07:00
Earle F. Philhower, III	226a318897	Add serial inversion for UART and SerialPIO (#2395 ) Use real GPIO pad inversion to allow inverted RX, TX, and controls for the hardware UART and software PIO-emulated serial ports. Adds ``setInvertTX(bool)`` and ``setInvertRX(bool)`` calls to both ports, with ``setInvertControl(bool)`` for the HW UARTS.	2024-08-31 07:46:11 -07:00
Earle F. Philhower, III	729163d0cc	Remove pico-debug because it's archived (#2392 ) Pico-Debug is no longer supported and was removed from OpenOCD, so remove the references and upload menu items for it. Fixes https://github.com/earlephilhower/pico-quick-toolchain/issues/61	2024-08-30 14:16:50 -07:00
Maximilian Gerhardt	42a0c88174	Update PIO board definition for PSRAM (#2387 )	2024-08-30 06:38:44 -07:00
Earle F. Philhower, III	7a9c4271d1	Add P.IO package.JSON to Mac/Win OpenOCD, Picotool (#2376 )	2024-08-27 13:30:25 -07:00
Earle F. Philhower, III	ca623a9643	Update README.md	2024-08-27 07:09:39 -07:00
Salam	057896899c	Add motion 2350 pro (#2372 ) * Added motion 2350 pro. * generated boards.txt * adjusted the f_cpu * Added Cytron Motion 2350 Pro to README.md * Update pins_arduino.h	2024-08-27 07:08:48 -07:00
Wai Weng	9f65f25992	Update README.md (#2374 )	2024-08-27 06:54:04 -07:00
Wai WengandKong Wai Weng	0c78fbd6c1	Add new board: IRIV IO Controller. (#2370 ) Co-authored-by: Kong Wai Weng <waiweng@cytron.io>	2024-08-26 21:30:25 -07:00
Earle F. Philhower, III	2cac51ee4b	Update PIOASM to 2.0.0 SDK version (#2369 ) Not actually used in the core, but useful for folks trying to build custom PIO apps.	2024-08-26 18:58:21 -07:00
Earle F. Philhower, III	404f188e25	Don't construct P.IO JSON from string, use JSON (#2368 ) I shall not generate a JSON file using string replacement!	2024-08-26 18:03:21 -07:00
Earle F. Philhower, III	84828f0461	Fix Pio MHZ for RP2350, fix RP2350 generic menus (#2366 ) * Fix Pio MHZ for RP2350, fix RP2350 generic menus * Clean up platform.txt IPV4 default Was never used, but should at least exist for sanity's sake Fixes #2365	2024-08-26 13:11:28 -07:00
Earle F. Philhower, III	b2428763d6	Add SHA256 SDK libs/inclues for RP2350 (#2364 )	2024-08-26 11:48:07 -07:00
Earle F. Philhower, III	99a907b0d7	Windows Picotool add support for upload (#2363 )	2024-08-26 11:17:44 -07:00
Earle F. Philhower, III	9cb9226744	Fix Platform.IO ARDUINO_ARCH_xxx define (#2361 ) The core will be identified (now for historical reasons) as ARDUINO_ARCH_RP2040.	2024-08-26 09:06:56 -07:00
Earle F. Philhower, III	f4bffc6ec6	More RTD edits	2024-08-26 06:34:04 -07:00
Earle F. Philhower, III	94af6f8aca	Add readthedocs.yaml file Seems RTD isn't building w/o it anymore.	2024-08-26 06:29:24 -07:00
Earle F. Philhower, III	45e5ca16da	Update version	2024-08-25 22:09:00 -07:00
Earle F. Philhower, III	b8408961b3	Attempt to make IDE really downloade SDK 2.0.0 tools (#2356 ) Fixes #2355	2024-08-25 22:08:33 -07:00
				`@@ -0,0 +1 @@`
				`#include "../lib/FreeRTOS-Kernel/include/mpu_syscall_numbers.h"`