merge upstream 2.0.0

.bazelignore

@@ -0,0 +1,4 @@
+# Don't accidentally pick up external CMake deps with Bazel build files.
+build
+# Don't treat submodules as part of this project.
+lib

.bazelrc

@@ -0,0 +1,10 @@
+# Required for new toolchain resolution API.
+build --incompatible_enable_cc_toolchain_resolution
+build --@rules_cc//cc/toolchains:experimental_enable_rule_based_toolchains
+
+# Silence all C/C++ warnings in external code.
+common --per_file_copt=external/.*@-w
+common --host_per_file_copt=external/.*@-w
+
+# Produce useful output when the build fails.
+common --verbose_failures

.bazelversion

@@ -0,0 +1 @@
+7.2.1

.github/workflows/choco_packages.config

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="gcc-arm-embedded" version="10.2.1" />
+  <package id="cmake" version="3.25.2" installArguments="ADD_CMAKE_TO_PATH=System" />
+  <package id="mingw" version="12.2.0" />
+  <package id="ninja" version="1.11.1" />
+</packages>

.github/workflows/cmake.yml

@@ -1,13 +1,18 @@
 name: CMake
-on: [push, pull_request]
+on:
+  push:
+    branches-ignore:
+      - 'iar/**'
+  pull_request:
 
 env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
   BUILD_TYPE: Release
 
 jobs:
   build:
-    if: github.repository_owner == 'raspberrypi'
+    # cannot specify filter for pull_request in on: above, so do it here
+    if: github.repository_owner == 'raspberrypi' && (github.event_name != 'pull_request' || !startsWith(github.head_ref, 'iar/'))
     runs-on: [self-hosted, Linux, X64]
 
     steps:
@@ -33,17 +38,13 @@ jobs:
       # access regardless of the host operating system
       shell: bash
       working-directory: ${{github.workspace}}/build
-      # Note the current convention is to use the -S and -B options here to specify source 
-      # and build directories, but this is only available with CMake 3.13 and higher.  
+      # Note the current convention is to use the -S and -B options here to specify source
+      # and build directories, but this is only available with CMake 3.13 and higher.
       # The CMake binaries on the Github Actions machines are (as of this writing) 3.12
-      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE
-
-    - name: Get core count
-      id: core_count
-      run : cat /proc/cpuinfo  | grep processor | wc -l
+      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DPICO_SDK_TESTS_ENABLED=1
 
     - name: Build
       working-directory: ${{github.workspace}}/build
       shell: bash
       # Execute the build.  You can specify a specific target with "--target <NAME>"
-      run: cmake --build . --config $BUILD_TYPE --parallel ${{steps.core_count.outputs.output}}
+      run: cmake --build . --config $BUILD_TYPE --parallel $(nproc)

.github/workflows/macOS.yml

@@ -0,0 +1,44 @@
+name: Build on macOS
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - 'develop'
+      - 'master'
+      - 'test_workflow'
+
+jobs:
+  build:
+    runs-on: macos-12
+    steps:
+      - name: Clean workspace
+        run: |
+          echo "Cleaning up previous run"
+          rm -rf "${{ github.workspace }}"
+          mkdir -p "${{ github.workspace }}"
+      - name: Checkout repo
+        uses: actions/checkout@v3
+      - name: Checkout submodules
+        run: git submodule update --init
+      - name: Install dependencies
+        run: |
+          brew install cmake
+          brew install --cask gcc-arm-embedded
+
+      - name: Build Project
+        # bash required otherwise this mysteriously (no error) fails at "Generating cyw43_bus_pio_spi.pio.h"
+        shell: bash
+        run: |
+          mkdir build
+          cd build
+          cmake .. -G "Unix Makefiles" -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_BOARD=pico_w
+          cmake --build .
+
+      - name: Build Native
+        # bash required otherwise this mysteriously (no error) fails at "Generating cyw43_bus_pio_spi.pio.h"
+        shell: bash
+        run: |
+          mkdir build_native
+          cd build_native
+          cmake .. -G "Unix Makefiles" -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_PLATFORM=host
+          cmake --build .

.github/workflows/multi-gcc.yml

@@ -0,0 +1,157 @@
+
+name: Multi GCC
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - 'master'
+      - 'test_workflow'
+
+jobs:
+  build:
+    if: github.repository_owner == 'raspberrypi'
+    runs-on: [self-hosted, Linux, X64]
+
+    steps:
+    - name: Clean workspace
+      run: |
+        echo "Cleaning up previous run"
+        rm -rf "${{ github.workspace }}"
+        mkdir -p "${{ github.workspace }}"
+
+    - name: Checkout repo
+      uses: actions/checkout@v2
+
+    - name: Checkout submodules
+      run: git submodule update --init
+
+    - name: GCC 6.2.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-6_2-2016q4 -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 6.2.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-6_2-2016q4 -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 6.3.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-6-2017-q2-update -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 6.3.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-6-2017-q2-update -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 7.2.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-7-2017-q4-major -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 7.2.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-7-2017-q4-major -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 7.3.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-7-2018-q2-update -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 7.3.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-7-2018-q2-update -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 8.2.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-8-2018-q4-major -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 8.2.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-8-2018-q4-major -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 8.3.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-8-2019-q3-update -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 8.3.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-8-2019-q3-update -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 9.2.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-9-2019-q4-major -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 9.2.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-9-2019-q4-major -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 9.3.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-9-2020-q2-update -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 9.3.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-9-2020-q2-update -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 10.2.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-10-2020-q4-major -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 10.2.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-10-2020-q4-major -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 10.3.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-10.3-2021.10 -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 10.3.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-none-eabi-10.3-2021.10 -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 11.2.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-11.2-2022.02-x86_64-arm-none-eabi -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 11.2.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/gcc-arm-11.2-2022.02-x86_64-arm-none-eabi -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 11.3.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 11.3.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 12.2.1 Debug
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_TOOLCHAIN_PATH=/opt/arm/arm-gnu-toolchain-12.2.rel1-x86_64-arm-none-eabi -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+
+    - name: GCC 12.2.1 Release
+      if: always()
+      shell: bash
+      run: cd ${{github.workspace}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Release -DPICO_TOOLCHAIN_PATH=/opt/arm/arm-gnu-toolchain-12.2.rel1-x86_64-arm-none-eabi -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)
+

.github/workflows/scripts/generate_multi_gcc_workflow.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import os
+from collections import OrderedDict
+import subprocess
+import re
+
+toolchain_dir = "/opt/arm"
+toolchains = os.listdir(toolchain_dir)
+
+gcc_versions = OrderedDict()
+
+for toolchain in toolchains:
+    fullpath = os.path.join(toolchain_dir, toolchain)
+    gcc_path = os.path.join(fullpath, "bin/arm-none-eabi-gcc")
+    version = subprocess.run([gcc_path, "--version"], capture_output=True)
+    stdout = version.stdout.decode('utf-8')
+    stderr = version.stderr.decode('utf-8')
+    assert(len(stderr) == 0)
+    # Version should be on first line
+    version_line = stdout.split("\n")[0]
+    m = re.search("(\d+\.\d+\.\d+)", version_line)
+    assert(m is not None)
+    version = m.group(1)
+
+    if version in gcc_versions:
+        raise Exception("Already have version {} in versions current path {}, this path {}".format(version, gcc_versions[version], fullpath))
+
+    gcc_versions[version] = fullpath
+
+# Sort by major version
+gcc_versions_sorted = OrderedDict(sorted(gcc_versions.items(), key=lambda item: int(item[0].replace(".", ""))))
+
+
+# Create output
+output = '''
+name: Multi GCC
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - 'master'
+      - 'test_workflow'
+
+jobs:
+  build:
+    if: github.repository_owner == 'raspberrypi'
+    runs-on: [self-hosted, Linux, X64]
+
+    steps:
+    - name: Clean workspace
+      run: |
+        echo "Cleaning up previous run"
+        rm -rf "${{ github.workspace }}"
+        mkdir -p "${{ github.workspace }}"
+
+    - name: Checkout repo
+      uses: actions/checkout@v2
+
+    - name: Checkout submodules
+      run: git submodule update --init
+'''
+
+for gcc_version, toolchain_path in gcc_versions_sorted.items():
+    for build_type in ["Debug", "Release"]:
+        output += "\n"
+        output += "    - name: GCC {} {}\n".format(gcc_version, build_type)
+        output += "      if: always()\n"
+        output += "      shell: bash\n"
+        output += "      run: cd ${{{{github.workspace}}}}; mkdir -p build; rm -rf build/*; cd build; cmake ../ -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE={} -DPICO_TOOLCHAIN_PATH={} -DPICO_BOARD=pico_w; make --output-sync=target --no-builtin-rules --no-builtin-variables -j$(nproc)\n".format(build_type, toolchain_path)
+
+print(output)

.github/workflows/windows.yml

@@ -0,0 +1,33 @@
+name: Build on Windows
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - 'develop'
+      - 'master'
+      - 'test_workflow'
+
+jobs:
+  build:
+    runs-on: windows-2022
+    steps:
+      - name: Clean workspace
+        shell: bash
+        run: |
+          echo "Cleaning up previous run"
+          rm -rf "${{ github.workspace }}/pico-sdk"
+      - name: Checkout repo
+        uses: actions/checkout@v3
+      - name: Checkout submodules
+        run: git submodule update --init
+      - name: Install dependencies
+        run: choco install .github/workflows/choco_packages.config
+
+      - name: Build Project
+        # bash required otherwise this mysteriously (no error) fails at "Generating cyw43_bus_pio_spi.pio.h"
+        shell: bash
+        run: |
+          mkdir build
+          cd build
+          cmake .. -G Ninja -DPICO_SDK_TESTS_ENABLED=1 -DCMAKE_BUILD_TYPE=Debug -DPICO_BOARD=pico_w
+          cmake --build .

.gitignore

@@ -3,3 +3,10 @@
 cmake-*
 .DS_Store
 build
+build-*
+
+bazel-*
+
+# Ignore until https://github.com/bazelbuild/bazel/issues/20369 is fixed.
+MODULE.bazel.lock
+__pycache__/

.gitmodules

@@ -7,3 +7,9 @@
 [submodule "lib/lwip"]
 	path = lib/lwip
 	url = https://github.com/lwip-tcpip/lwip.git
+[submodule "lib/mbedtls"]
+	path = lib/mbedtls
+	url = https://github.com/Mbed-TLS/mbedtls.git
+[submodule "lib/btstack"]
+	path = lib/btstack
+	url = https://github.com/bluekitchen/btstack.git