PICO: Build changes (makefiles, headers).

PICO.mk updates, tidy-ups, allow for PICO_trace
platform_mcu.h #include "pico.h" rather than messing around with addressmap.h (can do
since including as system headers now).
PICO/target/RP2350[AB]/target.h undef USE_MSP_DISPLAYPORT because won't compile debug
when USE_MSP_DISPLAYPORT defined without USE_OSD.

src/platform/PICO/mk/PICO.mk

@@ -1,6 +1,24 @@
 #
 # Raspberry PICO Make file include
 #
+# The top level Makefile adds $(MCU_COMMON_SRC) and $(DEVICE_STDPERIPH_SRC) to SRC collection.
+#
+
+PICO_TRACE = 1
+
+PICO_LIB_OPTIMISATION      := -O2 -fuse-linker-plugin -ffast-math -fmerge-all-constants
+
+# This file PICO.mk is $(TARGET_PLATFORM_DIR)/mk/$(TARGET_MCU_FAMILY).mk
+PICO_MK_DIR = $(TARGET_PLATFORM_DIR)/mk
+
+ifneq ($(PICO_TRACE),)
+include $(PICO_MK_DIR)/PICO_trace.mk
+endif
+
+RP2350_TARGETS = RP2350A RP2350B
+ifneq ($(filter $(TARGET_MCU), $(RP2350_TARGETS)),)
+RP2350_TARGET = $(TARGET_MCU)
+endif
 
 ifeq ($(DEBUG_HARDFAULTS),PICO)
 CFLAGS          += -DDEBUG_HARDFAULTS
@@ -13,16 +31,18 @@ CMSIS_DIR      := $(SDK_DIR)/rp2_common/cmsis/stub/CMSIS
 
 #STDPERIPH
 STDPERIPH_DIR  := $(SDK_DIR)
-STDPERIPH_SRC  := \
+
+PICO_LIB_SRC = \
+            rp2_common/pico_crt0/crt0.S \
             rp2_common/hardware_sync_spin_lock/sync_spin_lock.c \
             rp2_common/hardware_gpio/gpio.c \
-            rp2_common/pico_stdio/stdio.c \
             rp2_common/hardware_uart/uart.c \
             rp2_common/hardware_irq/irq.c \
             rp2_common/hardware_irq/irq_handler_chain.S \
             rp2_common/hardware_timer/timer.c \
             rp2_common/hardware_clocks/clocks.c \
             rp2_common/hardware_pll/pll.c \
+            rp2_common/hardware_dma/dma.c \
             rp2_common/hardware_spi/spi.c \
             rp2_common/hardware_i2c/i2c.c \
             rp2_common/hardware_adc/adc.c \
@@ -36,7 +56,33 @@ STDPERIPH_SRC  := \
             common/pico_sync/lock_core.c \
             common/hardware_claim/claim.c \
             common/pico_sync/critical_section.c \
-            rp2_common/hardware_sync/sync.c
+            rp2_common/hardware_sync/sync.c \
+            rp2_common/pico_bootrom/bootrom.c \
+            rp2_common/pico_runtime_init/runtime_init.c \
+            rp2_common/pico_runtime_init/runtime_init_clocks.c \
+            rp2_common/pico_runtime_init/runtime_init_stack_guard.c \
+            rp2_common/pico_runtime/runtime.c \
+            rp2_common/hardware_ticks/ticks.c \
+            rp2_common/hardware_xosc/xosc.c \
+            common/pico_sync/sem.c \
+            common/pico_time/timeout_helper.c \
+            common/pico_util/datetime.c \
+            common/pico_util/pheap.c \
+            common/pico_util/queue.c \
+            rp2350/pico_platform/platform.c \
+            rp2_common/pico_atomic/atomic.c \
+            rp2_common/pico_bootrom/bootrom.c \
+            rp2_common/pico_bootrom/bootrom_lock.c \
+            rp2_common/pico_divider/divider_compiler.c \
+            rp2_common/pico_double/double_math.c \
+            rp2_common/pico_flash/flash.c \
+            rp2_common/pico_float/float_math.c \
+            rp2_common/hardware_divider/divider.c \
+            rp2_common/hardware_vreg/vreg.c \
+            rp2_common/pico_standard_binary_info/standard_binary_info.c \
+            rp2_common/pico_clib_interface/newlib_interface.c \
+            rp2_common/pico_malloc/malloc.c \
+            rp2_common/pico_stdlib/stdlib.c
 
 TINY_USB_SRC_DIR = tinyUSB/src
 TINYUSB_SRC := \
@@ -48,26 +94,39 @@ TINYUSB_SRC := \
             $(TINY_USB_SRC_DIR)/portable/raspberrypi/rp2040/dcd_rp2040.c \
             $(TINY_USB_SRC_DIR)/portable/raspberrypi/rp2040/rp2040_usb.c
 
+# TODO which of these do we need?
+TINYUSB_SRC += \
+            $(TINY_USB_SRC_DIR)/class/vendor/vendor_device.c \
+            $(TINY_USB_SRC_DIR)/class/net/ecm_rndis_device.c \
+            $(TINY_USB_SRC_DIR)/class/net/ncm_device.c \
+            $(TINY_USB_SRC_DIR)/class/dfu/dfu_rt_device.c \
+            $(TINY_USB_SRC_DIR)/class/dfu/dfu_device.c \
+            $(TINY_USB_SRC_DIR)/class/msc/msc_device.c \
+            $(TINY_USB_SRC_DIR)/class/midi/midi_device.c \
+            $(TINY_USB_SRC_DIR)/class/video/video_device.c \
+            $(TINY_USB_SRC_DIR)/class/hid/hid_device.c \
+            $(TINY_USB_SRC_DIR)/class/usbtmc/usbtmc_device.c \
+            $(TINY_USB_SRC_DIR)/class/audio/audio_device.c
+
+
 VPATH := $(VPATH):$(STDPERIPH_DIR)
 
-DEVICE_STDPERIPH_SRC := \
+ifdef RP2350_TARGET
-            $(STDPERIPH_SRC) \
-            $(TINYUSB_SRC)
-
-ifeq ($(TARGET_MCU),RP2350B)
 TARGET_MCU_LIB_LOWER = rp2350
 TARGET_MCU_LIB_UPPER = RP2350
 endif
 
 #CMSIS
 VPATH       := $(VPATH):$(CMSIS_DIR)/Core/Include:$(CMSIS_DIR)/Device/$(TARGET_MCU_LIB_UPPER)/Include
-CMSIS_SRC   := \
+CMSIS_SRC   := 
 
 INCLUDE_DIRS += \
             $(TARGET_PLATFORM_DIR) \
             $(TARGET_PLATFORM_DIR)/include \
             $(TARGET_PLATFORM_DIR)/usb \
-            $(TARGET_PLATFORM_DIR)/startup \
+            $(TARGET_PLATFORM_DIR)/startup
+
+SYS_INCLUDE_DIRS = \
             $(SDK_DIR)/common/pico_bit_ops_headers/include \
             $(SDK_DIR)/common/pico_base_headers/include \
             $(SDK_DIR)/common/boot_picoboot_headers/include \
@@ -166,25 +225,139 @@ INCLUDE_DIRS += \
             $(SDK_DIR)/$(TARGET_MCU_LIB_LOWER)/hardware_structs/include \
             $(LIB_MAIN_DIR)/tinyUSB/src
 
+SYS_INCLUDE_DIRS += \
+            $(SDK_DIR)/rp2350/boot_stage2/include
+
 #Flags
 ARCH_FLAGS      = -mthumb -mcpu=cortex-m33 -march=armv8-m.main+fp+dsp -mcmse
 
-DEVICE_FLAGS    =
+# Automatically treating constants as single-precision breaks pico-sdk (-Werror=double-promotion)
+# We should go through BF code and explicitly declare constants as single rather than double as required,
+# rather than relying on this flag.
+# ARCH_FLAGS      += -fsingle-precision-constant
+
+PICO_STDIO_USB_FLAGS = \
+            -DLIB_PICO_PRINTF=1 \
+            -DLIB_PICO_PRINTF_PICO=1  \
+            -DLIB_PICO_STDIO=1  \
+            -DLIB_PICO_STDIO_USB=1 \
+            -DCFG_TUSB_DEBUG=0  \
+            -DCFG_TUSB_MCU=OPT_MCU_RP2040  \
+            -DCFG_TUSB_OS=OPT_OS_PICO  \
+            -DLIB_PICO_FIX_RP2040_USB_DEVICE_ENUMERATION=1 \
+            -DPICO_RP2040_USB_DEVICE_UFRAME_FIX=1  \
+            -DPICO_STDIO_USB_CONNECT_WAIT_TIMEOUT_MS=3000 \
+            -DLIB_PICO_UNIQUEID=1
+
+PICO_STDIO_LD_FLAGS  = \
+            -Wl,--wrap=sprintf \
+            -Wl,--wrap=snprintf \
+            -Wl,--wrap=vsnprintf \
+            -Wl,--wrap=printf \
+            -Wl,--wrap=vprintf \
+            -Wl,--wrap=puts \
+            -Wl,--wrap=putchar \
+            -Wl,--wrap=getchar
+
+EXTRA_LD_FLAGS += $(PICO_STDIO_LD_FLAGS) $(PICO_TRACE_LD_FLAGS)
+
+ifdef RP2350_TARGET
+
+# Q. do we need LIB_BOOT_STAGE_2_HEADERS?
+# TODO review LIB_PICO options
+DEVICE_FLAGS    += \
+            -D$(RP2350_TARGET) \
+            -DPICO_RP2350_A2_SUPPORTED=1 \
+            -DLIB_BOOT_STAGE2_HEADERS=1 \
+            -DLIB_PICO_ATOMIC=1 \
+            -DLIB_PICO_BIT_OPS=1 \
+            -DLIB_PICO_BIT_OPS_PICO=1 \
+            -DLIB_PICO_CLIB_INTERFACE=1 \
+            -DLIB_PICO_CRT0=1 \
+            -DLIB_PICO_CXX_OPTIONS=1 \
+            -DLIB_PICO_DIVIDER=1 \
+            -DLIB_PICO_DIVIDER_COMPILER=1 \
+            -DLIB_PICO_DOUBLE=1 \
+            -DLIB_PICO_DOUBLE_PICO=1 \
+            -DLIB_PICO_FLOAT=1 \
+            -DLIB_PICO_FLOAT_PICO=1 \
+            -DLIB_PICO_FLOAT_PICO_VFP=1 \
+            -DLIB_PICO_INT64_OPS=1 \
+            -DLIB_PICO_INT64_OPS_COMPILER=1 \
+            -DLIB_PICO_MALLOC=1 \
+            -DLIB_PICO_MEM_OPS=1 \
+            -DLIB_PICO_MEM_OPS_COMPILER=1 \
+            -DLIB_PICO_NEWLIB_INTERFACE=1 \
+            -DLIB_PICO_PLATFORM=1 \
+            -DLIB_PICO_PLATFORM_COMPILER=1 \
+            -DLIB_PICO_PLATFORM_PANIC=1 \
+            -DLIB_PICO_PLATFORM_SECTIONS=1 \
+            -DLIB_PICO_PRINTF=1 \
+            -DLIB_PICO_PRINTF_PICO=1 \
+            -DLIB_PICO_RUNTIME=1 \
+            -DLIB_PICO_RUNTIME_INIT=1 \
+            -DLIB_PICO_STANDARD_BINARY_INFO=1 \
+            -DLIB_PICO_STANDARD_LINK=1 \
+            -DLIB_PICO_STDIO=1 \
+            -DLIB_PICO_STDIO_UART=1 \
+            -DLIB_PICO_STDLIB=1 \
+            -DLIB_PICO_SYNC=1 \
+            -DLIB_PICO_SYNC_CRITICAL_SECTION=1 \
+            -DLIB_PICO_SYNC_MUTEX=1 \
+            -DLIB_PICO_SYNC_SEM=1 \
+            -DLIB_PICO_TIME=1 \
+            -DLIB_PICO_TIME_ADAPTER=1 \
+            -DLIB_PICO_UTIL=1 \
+            -DPICO_32BIT=1 \
+            -DPICO_BUILD=1 \
+            -DPICO_COPY_TO_RAM=0 \
+            -DPICO_CXX_ENABLE_EXCEPTIONS=0 \
+            -DPICO_NO_FLASH=0 \
+            -DPICO_NO_HARDWARE=0 \
+            -DPICO_ON_DEVICE=1 \
+            -DPICO_RP2350=1 \
+            -DPICO_USE_BLOCKED_RAM=0
 
-ifeq ($(TARGET_MCU),RP2350B)
-DEVICE_FLAGS    += -DRP2350B -DLIB_BOOT_STAGE2_HEADERS=1 -DLIB_PICO_ATOMIC=1 -DLIB_PICO_BIT_OPS=1 -DLIB_PICO_BIT_OPS_PICO=1 -DLIB_PICO_CLIB_INTERFACE=1 -DLIB_PICO_CRT0=1 -DLIB_PICO_CXX_OPTIONS=1 -DLIB_PICO_DIVIDER=1 -DLIB_PICO_DIVIDER_COMPILER=1 -DLIB_PICO_DOUBLE=1 -DLIB_PICO_DOUBLE_PICO=1 -DLIB_PICO_FLOAT=1 -DLIB_PICO_FLOAT_PICO=1 -DLIB_PICO_FLOAT_PICO_VFP=1 -DLIB_PICO_INT64_OPS=1 -DLIB_PICO_INT64_OPS_COMPILER=1 -DLIB_PICO_MALLOC=1 -DLIB_PICO_MEM_OPS=1 -DLIB_PICO_MEM_OPS_COMPILER=1 -DLIB_PICO_NEWLIB_INTERFACE=1 -DLIB_PICO_PLATFORM=1 -DLIB_PICO_PLATFORM_COMPILER=1 -DLIB_PICO_PLATFORM_PANIC=1 -DLIB_PICO_PLATFORM_SECTIONS=1 -DLIB_PICO_PRINTF=1 -DLIB_PICO_PRINTF_PICO=1 -DLIB_PICO_RUNTIME=1 -DLIB_PICO_RUNTIME_INIT=1 -DLIB_PICO_STANDARD_BINARY_INFO=1 -DLIB_PICO_STANDARD_LINK=1 -DLIB_PICO_STDIO=1 -DLIB_PICO_STDIO_UART=1 -DLIB_PICO_STDLIB=1 -DLIB_PICO_SYNC=1 -DLIB_PICO_SYNC_CRITICAL_SECTION=1 -DLIB_PICO_SYNC_MUTEX=1 -DLIB_PICO_SYNC_SEM=1 -DLIB_PICO_TIME=1 -DLIB_PICO_TIME_ADAPTER=1 -DLIB_PICO_UTIL=1 -DPICO_32BIT=1 -DPICO_BUILD=1 -DPICO_COPY_TO_RAM=0 -DPICO_CXX_ENABLE_EXCEPTIONS=0 -DPICO_NO_FLASH=0 -DPICO_NO_HARDWARE=0 -DPICO_ON_DEVICE=1 -DPICO_RP2350=1 -DPICO_USE_BLOCKED_RAM=0
 LD_SCRIPT       = $(LINKER_DIR)/pico_rp2350.ld
 STARTUP_SRC     = PICO/startup/bs2_default_padded_checksummed.S
-MCU_FLASH_SIZE  = 4096
+
 # Override the OPTIMISE_SPEED compiler setting to save flash space on these 512KB targets.
 # Performance is only slightly affected but around 50 kB of flash are saved.
 OPTIMISE_SPEED  = -O2
 
-STDPERIPH_SRC += \
+# TODO tidy up -
-            common/RP2350/pico_platform/platform.c
+# we might lose some/all of pico_stdio_*, pico_printf if not using PICO_TRACE
+PICO_LIB_SRC += \
+            rp2_common/pico_stdio/stdio.c \
+            rp2_common/pico_printf/printf.c
 
-MCU_SRC += \
+ifneq ($(PICO_TRACE),)
-            system_RP2350.c
+PICO_LIB_SRC += \
+            rp2_common/pico_stdio_uart/stdio_uart.c
+endif
+
+PICO_STDIO_USB_SRC = \
+            rp2_common/pico_stdio_usb/stdio_usb.c \
+            rp2_common/pico_stdio_usb/reset_interface.c \
+            rp2_common/pico_fix/rp2040_usb_device_enumeration/rp2040_usb_device_enumeration.c \
+            rp2_common/pico_bit_ops/bit_ops_aeabi.S \
+            rp2_common/pico_stdio_usb/stdio_usb_descriptors.c
+
+# TODO check
+#    rp2_common/pico_stdio_usb/stdio_usb_descriptors.c \
+# vs PICO/usb/usb_descriptors.c
+
+PICO_LIB_SRC += $(PICO_STDIO_USB_SRC)
+
+# Work around https://github.com/raspberrypi/pico-sdk/issues/2451
+# by using system headers, which are more tolerant of macro redefinitions.
+
+SYS_INCLUDE_DIRS += \
+            $(SDK_DIR)/rp2_common/pico_fix/rp2040_usb_device_enumeration/include
+
+# TODO use system_RP2350.c instead of writing into PICO/system.c
+# MCU_COMMON_SRC += \
+#             system_RP2350.c
 
 else
 $(error Unknown MCU for Raspberry PICO target)
@@ -192,6 +365,8 @@ endif
 
 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE) -DPICO
 
+DEVICE_FLAGS    += $(PICO_STDIO_USB_FLAGS)
+
 MCU_COMMON_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/dshot_bitbang_decode.c \
@@ -213,7 +388,20 @@ MCU_COMMON_SRC = \
             PICO/exti_pico.c \
             PICO/config_flash.c \
             PICO/serial_usb_vcp_pico.c \
-            PICO/usb/usb_cdc.c \
+            PICO/usb/usb_cdc.c
-            PICO/usb/usb_descriptors.c
 
-DEVICE_FLAGS +=
+DEVICE_STDPERIPH_SRC := \
+            $(PICO_LIB_SRC) \
+            $(STDPERIPH_SRC) \
+            $(TINYUSB_SRC) \
+            $(PICO_TRACE_SRC)
+
+# Add a target-specific definition for PICO_LIB_TARGETS in order
+# to remove -flto=auto for pico-sdk file compilation
+# (to avoid problem of interaction with wrapping -Wl,wrap=...).
+# Place this at the end because we require PICO_LIB_TARGETS to be expanded before setting the target
+
+PICO_LIB_OBJS = $(addsuffix .o, $(basename $(PICO_LIB_SRC)))
+PICO_LIB_OBJS += $(addsuffix .o, $(basename $(PICO_TRACE_SRC)))
+PICO_LIB_TARGETS := $(foreach pobj, $(PICO_LIB_OBJS), %/$(pobj))
+$(PICO_LIB_TARGETS): CC_DEFAULT_OPTIMISATION := $(PICO_LIB_OPTIMISATION)

src/platform/PICO/mk/PICO_trace.mk

@@ -0,0 +1,4 @@
+PICO_WRAPPED_FUNCTIONS = main
+PICO_WRAPPED_FUNCTIONS += init initEEPROM isEEPROMVersionValid
+PICO_TRACE_LD_FLAGS += $(foreach fn, $(PICO_WRAPPED_FUNCTIONS), -Wl,--wrap=$(fn))
+PICO_TRACE_SRC += PICO/pico_trace.c

src/platform/PICO/pico_trace.c

@@ -0,0 +1,25 @@
+#include "pico_trace.h"
+
+// Wrap main to insert the initialisation code.
+extern int main(int argc, char * argv[]);
+extern int REAL_FUNC(main)(int argc, char * argv[]);
+int WRAPPER_FUNC(main)(int argc, char * argv[])
+{
+    stdio_init_all();
+    return REAL_FUNC(main)(argc, argv);
+}
+
+#define TRACEvoidvoid(x)                        \
+    extern void x(void);\
+    extern void REAL_FUNC(x)(void);         \
+    void WRAPPER_FUNC(x)(void)\
+    {\
+    tprintf("*** enter " #x " ***");\
+    REAL_FUNC(x)();\
+    tprintf("*** exit  " #x " ***");\
+    }
+
+// remember to add to PICO_WRAPPED_FUNCTIONS in PICO_trace.mk
+TRACEvoidvoid(init)
+TRACEvoidvoid(initEEPROM)
+TRACEvoidvoid(isEEPROMVersionValid)

src/platform/PICO/pico_trace.h

@@ -0,0 +1,5 @@
+#include "pico/stdio.h"
+#include "pico/platform/compiler.h"
+
+#define tprintf(fmt,...) do {stdio_printf(fmt, ## __VA_ARGS__); stdio_printf("\n"); } while (0)
+

src/platform/PICO/platform_mcu.h

@@ -21,7 +21,13 @@
 
 #pragma once
 
-#define _ADDRESSMAP_H
+#include "RP2350.h"
+
+#include "pico.h"
+#include "pico/stdlib.h"
+#include "hardware/spi.h"
+#include "hardware/dma.h"
+#include "hardware/flash.h"
 
 #define NVIC_PriorityGroup_2         0x500
 
@@ -31,17 +37,6 @@
 #define SPI_IO_AF_SDI_CFG       0
 #define SPI_IO_CS_CFG           0
 
-// Register address offsets for atomic RMW aliases
-#define REG_ALIAS_RW_BITS  (_u(0x0) << _u(12))
-#define REG_ALIAS_XOR_BITS (_u(0x1) << _u(12))
-#define REG_ALIAS_SET_BITS (_u(0x2) << _u(12))
-#define REG_ALIAS_CLR_BITS (_u(0x3) << _u(12))
-
-#include "RP2350.h"
-#include "pico/stdlib.h"
-#include "hardware/spi.h"
-#include "hardware/dma.h"
-
 #if defined(RP2350A) || defined(RP2350B)
 
 typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
@@ -55,7 +50,7 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 #define DMA_TypeDef          void*
 #define DMA_InitTypeDef      void*
 //#define DMA_Channel_TypeDef
-#define SPI_TypeDef          SPI0_Type
+
 #define ADC_TypeDef          void*
 #define USART_TypeDef        uart_inst_t
 #define TIM_OCInitTypeDef    void*
@@ -70,9 +65,12 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 //#define EXTI_InitTypeDef
 //#define IRQn_Type           void*
 
+// We have to use SPI0_Type (or void) because config will pass in SPI0, SPI1,
+// which are defined in pico-sdk as SPI0_Type*.
+// SPI_INST converts to the correct type for use in pico-sdk functions.
+#define SPI_TypeDef          SPI0_Type
 #define SPI_INST(spi) ((spi_inst_t *)(spi))
 
-
 #endif
 
 #define DMA_DATA_ZERO_INIT
@@ -106,7 +104,6 @@ extern uint32_t systemUniqueId[3];
 #define UART_TX_BUFFER_ATTRIBUTE
 #define UART_RX_BUFFER_ATTRIBUTE
 
-#define MAX_SPI_PIN_SEL 4
 #define SERIAL_TRAIT_PIN_CONFIG 1
 
 #define xDMA_GetCurrDataCounter(dma_resource) (((dma_channel_hw_t *)(dma_resource))->transfer_count)

src/platform/PICO/target/RP2350A/target.h

@@ -0,0 +1,247 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * Betaflight 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef PICO_STDIO_TEST
+void _bprintf(const char * format, ...);
+//#define bprintf(fmt,...) _bprintf(fmt, ## __VA_ARGS__)
+#define bprintf(fmt,...) do {stdio_printf(fmt, ## __VA_ARGS__); stdio_printf("\n"); } while (0)
+//int __wrap_printf(const char * fmt, ...);
+//#define bprintf __wrap_printf
+#else
+#define bprintf(fmt,...)
+#endif
+
+
+#ifndef RP2350A
+#define RP2350A
+#endif
+
+#ifndef TARGET_BOARD_IDENTIFIER
+#define TARGET_BOARD_IDENTIFIER "235B"
+// TODO 235A?
+#endif
+
+#ifndef USBD_PRODUCT_STRING
+#define USBD_PRODUCT_STRING     "Betaflight RP2350B"
+// TODO
+#endif
+
+#define USE_IO
+#define USE_UART0
+#define USE_UART1
+
+#define USE_SPI
+#define USE_SPI_DEVICE_0
+#define USE_SPI_DEVICE_1
+
+// one of these ...
+// #define USE_SPI_DMA_ENABLE_EARLY
+#define USE_SPI_DMA_ENABLE_LATE
+
+#undef USE_SOFTSERIAL1
+#undef USE_SOFTSERIAL2
+
+#define USE_VCP
+
+#undef USE_TRANSPONDER
+#undef USE_FLASH
+#undef USE_FLASH_CHIP
+#undef USE_SDCARD
+
+#undef USE_TIMER
+#undef USE_I2C
+#undef USE_RCC
+#undef USE_CLI
+#undef USE_RX_PWM
+#undef USE_RX_PPM
+#undef USE_RX_SPI
+#undef USE_RX_CC2500
+#undef USE_SERIAL_4WAY_BLHELI_INTERFACE
+#undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+#undef USE_SERIAL_4WAY_SK_BOOTLOADER
+#undef USE_MULTI_GYRO
+#undef USE_BARO
+
+#undef USE_RANGEFINDER_HCSR04
+#undef USE_CRSF
+#undef USE_TELEMETRY_CRSF
+#undef USE_RX_EXPRESSLRS
+#undef USE_MAX7456
+#undef USE_MAG
+#undef USE_MAG_HMC5883
+#undef USE_MAG_SPI_HMC5883
+#undef USE_VTX_RTC6705
+#undef USE_VTX_RTC6705_SOFTSPI
+#undef USE_RX_SX1280
+#undef USE_SRXL
+#undef USE_TELEMETRY
+#undef USE_OSD
+#undef USE_SPEKTRUM
+#undef USE_SPEKTRUM_BIND
+#undef USE_MSP
+#undef USE_MSP_UART
+#undef USE_MSP_DISPLAYPORT
+#undef USE_GPS
+#undef USE_GPS_UBLOX
+#undef USE_GPS_MTK
+#undef USE_GPS_NMEA
+#undef USE_GPS_SERIAL
+#undef USE_GPS_SONAR
+#undef USE_GPS_UBLOX7
+#undef USE_GPS_UBLOX8
+#undef USE_GPS_RESCUE
+
+#undef USE_VTX
+#undef USE_VTX_TRAMP
+#undef USE_VTX_SMARTAUDIO
+#undef USE_SPEKTRUM_VTX_CONTROL
+#undef USE_VTX_COMMON
+#undef USE_FLASH
+#undef USE_FLASH_CHIP
+#undef USE_FLASH_M25P16
+#undef USE_FLASH_W25N01G
+#undef USE_FLASH_W25N02K
+#undef USE_FLASH_W25M
+#undef USE_FLASH_W25M512
+#undef USE_FLASH_W25M02G
+#undef USE_FLASH_W25Q128FV
+#undef USE_FLASH_PY25Q128HA
+#undef USE_FLASH_W25Q64FV
+
+#undef USE_RPM_LIMIT
+
+#undef USE_SERVOS
+#undef USE_LED_STRIP
+#undef USE_OSD
+#undef USE_OSD_SD
+#undef USE_OSD_HD
+#undef USE_OSD_QUICK_MENU
+#undef USE_GPS
+#undef USE_POSITION_HOLD
+
+//#define FLASH_PAGE_SIZE                     0x1
+#define CONFIG_IN_FLASH
+
+// Pico flash writes are all aligned and in batches of FLASH_PAGE_SIZE (256)
+#define FLASH_CONFIG_STREAMER_BUFFER_SIZE   FLASH_PAGE_SIZE
+#define FLASH_CONFIG_BUFFER_TYPE            uint8_t
+
+/* to be moved to a config file once target if working
+   defaults as per Laurel board for now */
+
+#define LED0_PIN             P25
+#undef LED1_PIN
+#undef LED2_PIN
+
+#define SPI0_SCK_PIN         P2
+#define SPI0_SDI_PIN         P4
+#define SPI0_SDO_PIN         P3
+
+#define SPI1_SCK_PIN         P26
+#define SPI1_SDI_PIN         P24
+#define SPI1_SDO_PIN         P27
+
+#define SDCARD_CS_PIN        P25
+#define FLASH_CS_PIN         P25
+#define MAX7456_SPI_CS_PIN   P17
+
+#define GYRO_1_CS_PIN        P1
+#define GYRO_2_CS_PIN        NONE
+
+#define MAX7456_SPI_INSTANCE SPI1
+#define SDCARD_SPI_INSTANCE  SPI1
+#define GYRO_1_SPI_INSTANCE  SPI0
+
+#define USE_GYRO
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC
+#define USE_ACC_SPI_ICM42688P
+//#define USE_FLASH
+//#define USE_FLASH_W25Q128FV
+//#define USE_MAX7456
+
+/*
+
+SPI0_CS         P1
+SPI0_SCLK       P2
+SPI0_COPI       P3
+SPI0_CIPO       P4
+BUZZER          P5
+LED0            P6
+LED1            P7
+UART1_TX        P8
+UART1_RX        P9
+I2C1_SDA        P10
+I2C1_SCL        P11
+UART0_TX        P12
+UART0_RX        P13
+
+OSD_CS          P17
+
+UART2_TX        P20
+UART2_RX        P21
+
+GYRO_INT        P22
+
+GYRO_CLK        P23
+
+SPI1_CIPO       P24
+SPI1_CS         P25
+SPI1_SCLK       P26
+SPI1_COPI       P27
+
+MOTOR1          P28
+MOTOR2          P29
+MOTOR3          P30
+MOTOR4          P31
+
+SPARE1          P32
+SPARE2          P33
+
+UART3_TX        P34
+UART3_RX        P35
+
+DVTX_SBUS_RX    P36
+TELEM_RX        P37
+LED_STRIP       P38
+RGB_LED         P39
+
+VBAT_SENSE      P40
+CURR_SENSE      P41
+ADC_SPARE       P42
+
+I2C0_SDA        P44
+I2C0_SCL        P45
+
+SPARE3          P47
+
+*/
+
+#define SPIDEV_COUNT 2
+#define MAX_SPI_PIN_SEL 4
+
+#define UART_RX_BUFFER_SIZE 1024
+#define UART_TX_BUFFER_SIZE 1024
+
+#define UARTHARDWARE_MAX_PINS 8
+#define UART_TRAIT_AF_PORT 1

src/platform/PICO/target/RP2350B/target.h

@@ -21,6 +21,17 @@
 
 #pragma once
 
+#ifdef PICO_STDIO_TEST
+void _bprintf(const char * format, ...);
+//#define bprintf(fmt,...) _bprintf(fmt, ## __VA_ARGS__)
+#define bprintf(fmt,...) do {stdio_printf(fmt, ## __VA_ARGS__); stdio_printf("\n"); } while (0)
+//int __wrap_printf(const char * fmt, ...);
+//#define bprintf __wrap_printf
+#else
+#define bprintf(fmt,...)
+#endif
+
+
 #ifndef RP2350B
 #define RP2350B
 #endif
@@ -41,6 +52,10 @@
 #define USE_SPI_DEVICE_0
 #define USE_SPI_DEVICE_1
 
+// one of these ...
+// #define USE_SPI_DMA_ENABLE_EARLY
+#define USE_SPI_DMA_ENABLE_LATE
+
 #undef USE_SOFTSERIAL1
 #undef USE_SOFTSERIAL2
 
@@ -83,6 +98,7 @@
 #undef USE_SPEKTRUM_BIND
 #undef USE_MSP
 #undef USE_MSP_UART
+#undef USE_MSP_DISPLAYPORT
 #undef USE_GPS
 #undef USE_GPS_UBLOX
 #undef USE_GPS_MTK
@@ -121,20 +137,22 @@
 #undef USE_GPS
 #undef USE_POSITION_HOLD
 
-
 //#define FLASH_PAGE_SIZE                     0x1
 #define CONFIG_IN_FLASH
 
-#define FLASH_CONFIG_STREAMER_BUFFER_SIZE   256
+// Pico flash writes are all aligned and in batches of FLASH_PAGE_SIZE (256)
+#define FLASH_CONFIG_STREAMER_BUFFER_SIZE   FLASH_PAGE_SIZE
 #define FLASH_CONFIG_BUFFER_TYPE            uint8_t
 
-/* to be moved to a config file once target if working */
+/* to be moved to a config file once target if working
+   defaults as per Laurel board for now */
+
 #define LED0_PIN             P6
 #define LED1_PIN             P7
 
-#define SPI0_SCK_PIN         P5
+#define SPI0_SCK_PIN         P2
-#define SPI0_SDI_PIN         P6
+#define SPI0_SDI_PIN         P4
-#define SPI0_SDO_PIN         P7
+#define SPI0_SDO_PIN         P3
 
 #define SPI1_SCK_PIN         P26
 #define SPI1_SDI_PIN         P24
@@ -217,8 +235,10 @@ SPARE3          P47
 */
 
 #define SPIDEV_COUNT 2
+#define MAX_SPI_PIN_SEL 6
+
 #define UART_RX_BUFFER_SIZE 1024
 #define UART_TX_BUFFER_SIZE 1024
 
-#define UARTHARDWARE_MAX_PINS 4
+#define UARTHARDWARE_MAX_PINS 12
 #define UART_TRAIT_AF_PORT 1