1.5.1
版本发布时间: 2023-06-14 10:39:53
raspberrypi/pico-sdk最新发布版本:2.0.0(2024-08-08 22:59:22)
This release is largely a bug fix release, however it also makes Bluetooth support official and adds some new libraries and functionality.
Highlights are listed below, or you can see the full list of individual commits here, and the full list of resolved issues here.
Board Support
The following board has been added and may be specified via PICO_BOARD
:
-
pololu_3pi_2040_robot
The following board configurations have been modified:
-
adafruit_itsybitsy_rp2040
- corrected the mismatchedPICO_DEFAULT_I2C
bus number (favors the breadboard pins not the stemma connector). -
sparkfun_thingplus
- added WS2812 pin config.
Library Changes/Improvements
hardware_dma
- Added
dma_channel_cleanup()
function that can be used to clean up a dynamically claimed DMA channel after use, such that it won't be in a surprising state for the next user, making sure that any in-flight transfer is aborted, and no interrupts are left pending.
hardware_spi
- The
spi_set_format
,spi_set_slave
,spi_set_baudrate
functions that modify the configuration of an SPI instance, now disable the SPI while changing the configuration as specified in the data sheet.
pico_async_context
- Added
user_data
member toasync_when_pending_worker_t
to matchasync_at_time_worker_t
.
pico_cyw43_arch
- Added
cyw43_arch_disable_sta_mode()
function to complementcyw43_arch_enable_sta_mode()
. - Added
cyw43_arch_disable_ap_mode()
function to complementcyw43_arch_enable_ap_mode()
.
pico_stdio_usb
- The 20-character limit for descriptor strings
USBD_PRODUCT
andUSBD_MANUFACTURER
can now be extended by definingUSBD_DESC_STR_MAX
. -
PICO_STDIO_USB_CONNECT_WAIT_TIMEOUT_MS
is now supported in the build as well as compiler definitions; if it is set in the build, it is added to the compile definitions.
pico_rand
- Fixed poor randomness when
PICO_RAND_ENTROPY_SRC_BUS_PERF_COUNTER=1
.
PLL and Clocks
- The
set_sys_clock_pll
andset_sys_clock_khz
methods now reference a pre-processor definePICO_CLOCK_AJDUST_PERI_CLOCK_WITH_SYS_CLOCK
. If set to1
, the peripheral clock is updated to match the new system clock, otherwise the preexisting behavior (of setting the peripheral clock to a safe 48Mhz) is preserved. - Support for non-standard crystal frequencies, and compile-time custom clock configurations:
- The new define
XOSC_KHZ
is used in preference to the preexistingXOSC_MHZ
to define the crystal oscillator frequency. This value is now also correctly plumbed through the various clock setup functions, such that they behave correctly with a crystal frequency other than 12Mhz.XOSC_MHZ
will be automatically defined for backwards compatibility ifXOSC_KHZ
is an exact multiple of 1000 Khz. Note that eitherXOSC_MHZ
orXOSC_KHZ
may be specified by the user, but not both. - The new define
PLL_COMMON_REFDIV
can be specified to override the default reference divider of 1. - The new defines
PLL_SYS_VCO_FREQ_KHZ
,PLL_SYS_POSTDIV1
andPLL_SYS_POSTDIV2
are used to configure the system clock PLL during runtime initialization. These are defaulted for you ifSYS_CLK_KHZ=125000
,XOSC_KHZ=12000
andPLL_COMMON_REFDIV=1
. You can modify these values in yourCMakeLists.txt
if you want to configure a different system clock during runtime initialization, or are using a non-standard crystal. - The new defines
PLL_USB_VCO_FREQ_KHZ
,PLL_USB_POSTDIV1
andPLL_USB_POSTDIV2
are used to configure the USB clock PLL during runtime initialization. These are defaulted for you ifUSB_CLK_KHZ=48000
,XOSC_KHZ=12000
andPLL_COMMON_REFDIV=1
. You can modify these values in yourCMakeLists.txt
if you want to configure a different USB clock if you are using a non-standard crystal. - The new define
PICO_PLL_VCO_MIN_FREQ_KHZ
is used in preference to the pre-existingPICO_PLL_VCO_MIN_FREQ_MHZ
, though specifying either is supported. - The new define
PICO_PLL_VCO_MAX_FREQ_KHZ
is used in preference to the pre-existingPICO_PLL_VCO_MAX_FREQ_MHZ
, though specifying either is supported.
- The new define
New Libraries
pico_flash
- This is a new higher level library than
hardware_flash
. It provides helper functions to facilitate getting into a state where it is safe to write to flash (the default implementation disables interrupts on the current core, and if necessary, makes sure the other core is running from RAM, and has interrupts disabled). - Adds a
flash_safe_execute()
function to execute a callback function while in the "safe" state. - Adds a
flash_safe_execute_core_init()
function which must be called from the "other core" when usingpico_multicore
to enable the cooperative support for entering a "safe" state. - Supports user override of the mechanism by overriding the
get_flash_safety_helper()
function.
Miscellaneous
- All assembly (including inline) in the SDK now uses the
unified
syntax.- New C macros
pico_default_asm( ... )
andpico_default_asm_volatile( ... )
are provided that are equivalent to__asm
and__asm volatile
blocks, but with a.syntax unified
at the beginning.
- New C macros
- A new assembler macro
pico_default_asm_setup
is provided to configure the correct CPU and dialect. - Some code cleanup to make the SDK code at least compile cleanly on Clang and IAR.
Build
-
PICO_BOARD
andPICO_BOARD_HEADER_DIRS
now correctly use the latest environment variable value if present. -
A CMake performance regression due to repeated calls to
find_package
has been fixed. -
Experimental support is provided for compiling with Clang. As an example, you can build with the LLVM Embedded Toolchain for Arm, noting however that currently only version 14.0.0 works, as later versions use
picolib
rather thannewlib
.- Note that if you are using TinyUSB you need to use the latest master to compile with Clang.
mkdir clang_build cd clang_build cmake -DPICO_COMPILER=pico_arm_clang -DPICO_TOOLCHAIN_PATH=/path/to/arm-embedded-llvm-14.0.0 .. make
Bluetooth Support for Pico W
The support is now official. Please find examples in pico-examples.
- The Bluetooth API is provided by BTstack.
- The following libraries are provided that expose core BTstack functionality:
-
pico_btstack_ble
- Adds Bluetooth Low Energy (LE) support. -
pico_btstack_classic
- Adds Bluetooth Classic support. -
pico_btstack_sbc_encoder
- Adds Bluetooth Sub Band Coding (SBC) encoder support. -
pico_btstack_sbc_decoder
- Adds Bluetooth Sub Band Coding (SBC) decoder support. -
pico_btstack_bnep_lwip
- Adds Bluetooth Network Encapsulation Protocol (BNEP) support using LwIP. -
pico_btstack_bnep_lwip_sys_freertos
- Adds Bluetooth Network Encapsulation Protocol (BNEP) support using LwIP with FreeRTOS forNO_SYS=0
.
-
- The following integration libraries are also provided:
-
pico_btstack_run_loop_async_context
- provides a commonasync_context
backed implementation of a BTstack "run loop" that can be used for all BTstack use with thepico-sdk
. -
pico_btstack_flash_bank
- provides a sample implementation for storing required Bluetooth state in flash. -
pico_btstack_cyw43
- integrates BTstack with the CYW43 driver.
-
- The
CMake
functionpico_btstack_make_gatt_header
can be used to run the BTstackcompile_gatt
tool to make a GATT header file from a BTstackGATT
file. -
pico_cyw43_driver
andcyw43_driver
now support HCI communication for Bluetooth. -
cyw43_driver_picow
now supports Pico W specific HCI communication for Bluetooth over SPI. -
cyw43_arch_init()
andcyw43_arch_deinit()
automatically handle Bluetooth support ifCYW43_ENABLE_BLUETOOTH
is1
(as it will be automatically if you depend onpico_btstack_cyw43
).
Key changes since 1.5.0:
- Added Raspberry Pi specific BTstack license.
- The storage offset in flash for
pico_btstack_flash_bank
can be specified at runtime by definingpico_flash_bank_get_storage_offset_func
to your own function to return the offset within flash. -
pico_btstack_flash_bank
is now safe for multicore / FreeRTOS SMP use, as it uses the newpico_flash
library to make sure the other core is not accessing flash during flash updates. If you are usingpico_multicore
you must have calledflash_safe_execute_core_init
from the "other" core (to the one Bluetooth is running on). - Automatically set Bluetooth MAC address to the correct MAC address (Wi-Fi MAC address + 1), as some devices do not have it set in OTP and were using the same default MAC from the Bluetooth chip causing collisions.
- Various bug-fixes and stability improvements (especially with concurrent Wi-Fi), including updating
cyw43_driver
andbtstack
to the newest versions.
Authors
Thanks to the following for their contributions:
2bndy5, agento2, Andrew Burge, Andrew Scheller, arjunak234, David Thacher, djazz, Graham Sanderson, hubiscode, James Hughes, Luke Wren, Malte Thiesen, Michael Busby, Mr. Green's Workshop, Paul Grayson, Peter Harper
1、 sdk-1.5.1-html-doc.zip 10.53MB