Merge pull request #524 from danielinux/rp2350

Support for Raspberry-pi pico2 (rp2350)

.github/workflows/test-build-pico-sdk.yml

@@ -0,0 +1,66 @@
+name: Wolfboot Reusable Build Workflow for Raspberry Pi Pico2 (rp2350)
+
+on:
+
+  workflow_call:
+    inputs:
+      arch:
+        required: true
+        type: string
+      config-file:
+        required: true
+        type: string
+      make-args:
+        required: false
+        type: string
+      target:
+        required: true
+        type: string
+
+jobs:
+
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+
+      - uses: actions/checkout@main
+        with:
+          repository: raspberrypi/pico-sdk
+          path: pico-sdk
+
+      - name: Workaround for sources.list
+        run: sudo sed -i 's|http://azure.archive.ubuntu.com/ubuntu/|http://mirror.arizona.edu/ubuntu/|g' /etc/apt/sources.list
+
+      - name: Update repository
+        run: sudo apt-get update
+
+      - name: Install cross compilers
+        run: |
+          sudo apt-get install -y gcc-arm-none-eabi
+
+      - name: make distclean
+        run: |
+          make distclean
+
+      - name: Select config
+        run: |
+          cp ${{inputs.config-file}} .config && make include/target.h
+
+      - name: Build tools
+        run: |
+          make -C tools/keytools && make -C tools/bin-assemble
+
+      - name: pre-build wolfboot
+        run: |
+          make
+      - name: build wolfboot with pico-sdk
+        run: |
+          cd IDE/pico-sdk/${{inputs.target}}/wolfboot
+          mkdir build
+          cd build
+          cmake ../ -DPICO_SDK_PATH="$GITHUB_WORKSPACE/pico-sdk" -DPICO_PLATFORM=${{inputs.target}}
+          make

.github/workflows/test-configs.yml

@@ -439,3 +439,10 @@ jobs:
     with:
       arch: host
       config-file: ./config/examples/sim-wolfHSM.config
+
+  rp2350_test:
+    uses: ./.github/workflows/test-build-pico-sdk.yml
+    with:
+      arch: arm
+      config-file: ./config/examples/rp2350.config
+      target: rp2350

.gitignore

@@ -231,6 +231,13 @@ IDE/Renesas/e2studio/RX72N/app_RenesasRX01/src/smc_gen
 IDE/Renesas/e2studio/RX72N/wolfBoot/HardwareDebug
 IDE/Renesas/e2studio/RX72N/wolfBoot/src/smc_gen
 
+# IDE pico-sdk build directories
+IDE/pico-sdk/rp2350/wolfboot/build
+IDE/pico-sdk/rp2350/test-app/build
+
+# Third party test application distributed off-tree
+IDE/pico-sdk/rp2350/test-app/blink.c
+
 # Renesas Libraries
 lib/r_bsp
 lib/r_config

IDE/pico-sdk/rp2350/README.md

@@ -0,0 +1,143 @@
+## wolfBoot port for rp2350 (Raspberry pi pico 2)
+
+### Support for TrustZone
+
+By default, TZEN=1 is enabled in the provided configuration. wolfBoot will run
+from the Secure domain, and will stage the application in the Non-Secure domain.
+
+The flash memory is divided as follows:
+
+- wolfBoot partition (0x10000000 - 0x1003FFFF), 224 KB
+- Non-secure callable partition (for secure gateway) (0x10038000 - 0x1003FFFF), 32 KB
+- Boot partition (0x10040000 - 0x1007FFFF), 768 KB
+- Update partition (0x10100000 - 0x1013FFFF), 768 KB
+- Unused flash space (0x101C1000 - 0x101FFFFF), 252 KB
+- Swap space (0x101C0000 - 0x101C0FFF), 4 KB
+
+The SRAM bank0 is assigned to the Secure domain, and enforced using both SAU and `ACCESS_CONTROL` registers.
+
+- Secure SRAM0-3: 0x20000000 - 0x2003FFFF, 256 KB
+- Non-secure SRAM4-7: 0x20040000 - 0x2007FFFF, 256 KB
+- Non-secure stack for application SRAM8-9: 0x20080000 - 0x20081FFF, 8 KB
+
+
+### Requirements
+
+#### External debugger
+
+As the two images (bootloader + application) are stored in different areas in
+the flash memory, a SWD connector is recommended to upload the binary images
+into the flash, as opposed to the default bootloader, allowing to upload
+non-signed applications into a storage device.
+
+The scripts used in this example expect a JLink to be connected to the SWD port
+as documented [here](https://kb.segger.com/Raspberry_Pi_Pico).
+
+There is documentation below on how to do this with `picotool` instead, the
+scripts to error that it cannot file the JLink if you wish to use `picotool`
+instead, but this can be ignored.
+
+#### PicoSDK
+
+Clone the repository from raspberrypi's github: 
+
+```
+git clone https://github.com/raspberrypi/pico-sdk.git
+```
+
+Export the `PICO_SDK_PATH` environment variable to point to the pico-sdk directory:
+
+```
+export PICO_SDK_PATH=/path/to/pico-sdk
+```
+
+### Configuring wolfBoot to build with pico-sdk
+
+From wolfBoot root directory, copy the example configuration:
+
+```
+cp config/examples/rp2350.config .config
+```
+
+You can now edit the .config file to change partition sizes/offsets, algorithms,
+disable trustzone, add/remove features, etc.
+
+When TZEN=0, the application will run in the Secure domain.
+
+When the configuration is complete, run `make`. This will:
+
+- Build the key tools (keygen & sign):
+- Generate the configuration header `target.h`
+- Generate a new keypair (only once), and place the public key in the
+keystore
+
+The environment has now been prepared to build and flash the two images
+(wolfBoot + test application).
+
+### Building and uploading wolfBoot.bin
+
+After preparing the configuration and creating the keypair,
+return to the `IDE/pico-sdk/rp2350/` directory and run:
+
+```
+cd wolfboot
+export PICO_SDK_PATH=...
+./build-wolfboot.sh
+```
+
+The script above will compile wolfboot as rp2350 second-stage bootloader.
+This version of wolfboot incorporates the `.boot2` sequence needed to enable
+the QSPI device, provided by the pico-sdk and always embedded in all
+applications.
+
+wolfboot.bin contains the bootloader, and can be loaded into the RP2350,
+starting at address 0x10000000. The script will automatically upload the binary
+if a JLink debugger is connected.
+
+If you do not have a JLink you can install the binary using:
+
+```
+picotool load build/wolfboot.uf2
+```
+
+### Building and uploading the application
+
+```
+cd ../test-app
+./build-signed-app.sh
+```
+The script above will compile the test application and sign it with the
+wolfBoot private key. The signed application is then uploaded to the boot
+partition of the flash memory, at address 0x10040000.
+
+The linker script included is modified to change the application entry point
+from 0x10000000 to 0x10040400, which is the start of the application code,
+taking into account the wolfBoot header size.
+
+The application is signed with the wolfBoot private key, and the signature is
+stored in the manifest header of the application binary.
+
+The output file `build/blink_v1_signed.bin` is automatically uploaded to the
+RP2350 if a JLink debugger is connected.
+The application image is stored in the boot partition, starting at address
+0x10040000.
+The entry point of the application (0x10040400), set in the linker script
+`hal/rp2350-app.ld`, is the start of the application code, taking into account
+the wolfBoot header size.
+
+To use `picotool` instead run:
+
+```
+picotool load build/blink_v1_signed.bin -o 0x10040000
+```
+
+### Testing the application
+
+The application is a simple blinky example, which toggles the LED on the board
+every 500ms.
+
+If the above steps are successful, the LED on the board should start blinking.
+
+The code has been tested on a Seeed studio XIAO RP2350 board and a Raspberry Pi
+Pico 2 (non-WiFi version).
+

IDE/pico-sdk/rp2350/test-app/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.13)
+set(WOLFBOOT_PATH ../../../../)
+set(CMAKE_CXX_COMPILER arm-none-eabi-gcc)
+set(LIB_PICO_RUNTIME_INIT=0)
+
+include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
+
+set(PICOTOOL_FETCH_FROM_GIT_PATH ../wolfboot/build/picotool)
+set(BOOT_STAGE2_FILE ${CMAKE_CURRENT_LIST_DIR}/boot2_empty.S)
+set(PICO_NO_RUNTIME 1)
+
+project(blink)
+
+# initialize the Raspberry Pi Pico SDK
+pico_sdk_init()
+
+
+add_executable(blink
+    blink.c
+    runtime.c
+)
+
+target_compile_options(blink PRIVATE
+    -DPICO_RUNTIME_NO_INIT_BOOTROM_RESET=1
+    -DPICO_RUNTIME_NO_INIT_CLOCKS=1
+    -DPICO_TIME_DEFAULT_ALARM_POOL_DISABLED=1
+)
+target_compile_definitions(blink PRIVATE PICO_NO_RUNTIME=1)
+
+pico_set_linker_script(blink ../../../../../hal/rp2350-app.ld)
+target_link_libraries(blink pico_stdlib)
+
+# create map/bin/hex/uf2 file etc.
+pico_add_extra_outputs(blink)
+

IDE/pico-sdk/rp2350/test-app/build-signed-app.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+mkdir -p build
+cd build
+cmake .. -DPICO_SDK_PATH=$PICO_SDK_PATH -DPICO_PLATFORM=rp2350
+
+# Get off-tree source file from raspberry pico-examples
+curl -o blink.c https://raw.githubusercontent.com/raspberrypi/pico-examples/refs/tags/sdk-2.1.0/blink/blink.c
+
+make clean && make
+
+IMAGE_HEADER_SIZE=1024 ../../../../../tools/keytools/sign --sha256 --ecc256 blink.bin \
+    ../../../../../wolfboot_signing_private_key.der 1
+
+cd ..
+
+JLinkExe -Device RP2350_M33_0 -If swd -Speed 4000 -CommanderScript flash_app.jlink

IDE/pico-sdk/rp2350/test-app/flash_app.jlink

@@ -0,0 +1,6 @@
+connect
+r
+loadfile build/blink_v1_signed.bin 0x10040000
+r
+g
+exit

IDE/pico-sdk/rp2350/test-app/runtime.c

@@ -0,0 +1,34 @@
+/* runtime.c
+ *
+ * Custom pre-init for non-secure application, staged by wolfBoot.
+ * Wolfboot test application for raspberry-pi pico2 (rp2350)
+ *
+ * Copyright (C) 2025 wolfSSL Inc.
+ *
+ * This file is part of wolfBoot.
+ *
+ * wolfBoot is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wolfBoot is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1335, USA
+ */
+#include <stdint.h>
+typedef void (*preinit_fn_t)(void);
+
+void runtime_init_cpasr(void)
+{
+    volatile uint32_t *cpasr_ns = (volatile uint32_t*) 0xE000ED88;
+    *cpasr_ns |= 0xFF;
+}
+
+preinit_fn_t __attribute__((section(".nonsecure_preinit_array"))) nonsecure_preinit[] = 
+             { &runtime_init_cpasr };

IDE/pico-sdk/rp2350/wolfboot/.gdbinit

@@ -0,0 +1,5 @@
+tar rem:3333
+file build/wolfboot.elf
+add-symbol-file ../test-app/build/blink.elf
+foc c
+