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https://github.com/rp-rs/rp-hal

A Rust Embedded-HAL for the rp series microcontrollers
https://github.com/rp-rs/rp-hal

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A Rust Embedded-HAL for the rp series microcontrollers

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README 

        






  

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rp-hal



  


    Rust support for the "Raspberry Silicon" family of microcontrollers

    


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Table of Contents


  
    

        
  1. Getting Started
    2. 

        
  2. Programming
    3. 

        
  3. Roadmap
    4. 

        
  4. Contributing
    5. 

        
  5. License
    6. 

        
  6. Contact
    7. 

        
  7. Acknowledgements
    8. 

      



## Getting Started



So, you want to program your new Raspberry Silicon microcontroller, using the

Rust programming language. You've come to the right place!



This repository is `rp-hal` - a collection of high-level drivers for the

Raspberry Silicon RP2040 microcontroller and various associated boards, like

the Raspberry Pi Pico and the Adafruit Feather RP2040.



If you want to write an application for Raspberry Silicon, check out our

[RP2040 Project Template](https://github.com/rp-rs/rp2040-project-template).



If you want to write code that uses the Raspberry Silicon PIO State Machines,

check out [pio-rs](https://github.com/rp-rs/pio-rs). You can even compile PIO

programs at run-time, on the RP2040 itself!



If you want to try out some examples on one of our supported boards, check out

the list of [*Board Support Packages*][BSPs], and click through to see the various

examples for each board.



Before trying any of the examples, please ensure you have the latest stable

version of Rust installed, along with the right target support:



```sh

rustup self update

rustup update stable

rustup target add thumbv6m-none-eabi

```



You may also want to install these helpful tools:



```sh

# Useful to creating UF2 images for the RP2040 USB Bootloader

cargo install elf2uf2-rs --locked

# Useful for flashing over the SWD pins using a supported JTAG probe

cargo install probe-rs --features cli --locked

```



## Packages



There is a _Hardware Abstraction Layer_ (or HAL) crate for the RP2040 chip,

and _Board Support Package_ crates for a number of RP2040 based PCBs. If you

are writing code that should run on any microcontroller, consider using the

generic Rust Embedded Working Group's [Embedded HAL].



If you are writing code that should work on any RP2040 device, use the _HAL_

crate. If you are running code on a specific board, use the appropriate _BSP_

crate (which will include the _HAL_ crate for you). Please note, you cannot

depend on multiple _BSP_ crates; you have to pick one, or use [Cargo Features]

to select one at build time.



Each BSP includes some examples to show off the features of that particular board.



[Cargo Workspace]: https://doc.rust-lang.org/cargo/reference/workspaces.html

[Embedded HAL]: https://github.com/rust-embedded/embedded-hal

[Cargo Features]: https://doc.rust-lang.org/cargo/reference/features.html



### [rp2040-hal] - The HAL for the [Raspberry Silicon RP2040]



You should include this crate in your project if you want to write a driver or

library that runs on the [Raspberry Silicon RP2040], or if you are writing a Board

Support Package (see later on).



The crate provides high-level drivers for the RP2040's internal peripherals,

such as the SPI Controller and the I²C Controller. It doesn't know anything

about how your particular board is wired up (such as what each IO pin of the

RP2040 is connected to).



There are examples in this crate to show how to use various peripherals

(GPIO, I²C, SPI, UART, etc) but note that the pin-outs may not match any

particular board.



### [BSPs] - Board support packages



There are BSPs for various boards based on the RP2040 available in

a [separate repository][BSPs].



[rp2040-hal]: https://github.com/rp-rs/rp-hal/tree/main/rp2040-hal

[Raspberry Silicon RP2040]: https://www.raspberrypi.org/products/rp2040/

[BSPs]: https://github.com/rp-rs/rp-hal-boards/



## Programming



Rust generates standard Arm ELF files, which you can load onto your Raspberry Pi

Silicon device with your favourite Arm flashing/debugging tool. In addition, the

RP2040 contains a ROM bootloader which appears as a Mass Storage Device over USB

that accepts UF2 format images. You can use the `elf2uf2-rs` package to convert

the Arm ELF file to a UF2 format image.



For boards with USB Device support like the Raspberry Pi Pico, we recommend you

use the UF2 process.



The RP2040 contains two Cortex-M0+ processors, which execute Thumb-2 encoded

ARMv6-M instructions. There are no operating-specific features in the binaries

produced - they are for 'bare-metal' systems. For compatibility with other Arm

code (e.g. as produced by GCC), Rust uses the *Arm Embedded-Application Binary

Interface* standard or EABI. Therefore, any Rust code for the RP2040 should be

compiled with the target *`thumbv6m-none-eabi`*.



More details can be found in the [Project Template].



### Linker flags



Besides the correct target, which mainly defines the instruction set,

it's also necessary to use a certain memory layout compatible with

the rp2040. To achieve that, rustc must be called with appropriate

linker flags. In the [Project Template], those flags are defined in

[`.cargo/config.toml`](https://github.com/rp-rs/rp2040-project-template/blob/main/.cargo/config.toml).

Another necessary file is

[`memory.x`](https://github.com/rp-rs/rp2040-project-template/blob/main/memory.x).



More detailed information on how the linker flags work can be found in

[the cortex_m_rt docs](https://docs.rs/cortex-m-rt/latest/cortex_m_rt/).



In most cases, it should be sufficient to use the example files from the

[Project Template].



### Loading a UF2 over USB



*Step 1* - Install [`elf2uf2-rs`](https://github.com/JoNil/elf2uf2-rs):



```console

$ cargo install elf2uf2-rs --locked

```



*Step 2* - Make sure your .cargo/config contains the following (it should by

default if you are working in this repository):



```toml

[target.thumbv6m-none-eabi]

runner = "elf2uf2-rs -d"

```



The `thumbv6m-none-eabi` target may be replaced by the all-Arm wildcard

`'cfg(all(target_arch = "arm", target_os = "none"))'`.



*Step 3* - Boot your RP2040 into "USB Bootloader mode", typically by rebooting

whilst holding some kind of "Boot Select" button. On Linux, you will also need

to 'mount' the device, like you would a USB Thumb Drive.



*Step 4* - Use `cargo run`, which will compile the code and started the

specified 'runner'. As the 'runner' is the elf2uf2-rs tool, it will build a UF2

file and copy it to your RP2040.



```console

$ cargo run --release --example pwm_blink

```



### Loading with probe-rs

[probe-rs](https://github.com/probe-rs/probe-rs) is a library and a

command-line tool which can flash a wide variety of microcontrollers

using a wide variety of debug/JTAG probes. Unlike using, say, OpenOCD,

probe-rs can autodetect your debug probe, which can make it easier to use.



*Step 1* - Install `probe-rs`:



```console

$ cargo install probe-rs --features cli --locked

```



*Step 2* - Make sure your .cargo/config contains the following:



```toml

[target.thumbv6m-none-eabi]

runner = "probe-rs run --chip RP2040"

```



*Step 3* - Connect your USB JTAG/debug probe (such as a Raspberry Pi Pico

running [this firmware](https://github.com/majbthrd/DapperMime)) to the SWD

programming pins on your RP2040 board. Check the probe has been found by

running:



```console

$ probe-rs list

The following debug probes were found:

[0]: J-Link (J-Link) (VID: 1366, PID: 0101, Serial: 000099999999, JLink)

```



There is a SEGGER J-Link connected in the example above - the message you see

will reflect the probe you have connected.



*Step 4* - Use `cargo run`, which will compile the code and start the specified

'runner'. As the 'runner' is the `probe-rs` tool, it will connect to the

RP2040 via the first probe it finds, and install your firmware into the Flash

connected to the RP2040.



```console

$ cargo run --release --example pwm_blink

```



### Loading with picotool



As ELF files produced by compiling Rust code are completely compatible with ELF

files produced by compiling C or C++ code, you can also use the Raspberry Pi

tool [picotool](https://github.com/raspberrypi/picotool). The only thing to be

aware of is that picotool expects your ELF files to have a `.elf` extension, and

by default Rust does not give the ELF files any extension. You can fix this by

simply renaming the file.



Also of note is that the special

[pico-sdk](https://github.com/raspberrypi/pico-sdk) macros which hide

information in the ELF file in a way that `picotool info` can read it out, are

not supported in Rust. An alternative is TBC.



[Project Template]: https://github.com/rp-rs/rp2040-project-template



## Roadmap



NOTE These packages are under active development. As such, it is likely to

remain volatile until a 1.0.0 release.



See the [open issues](https://github.com/rp-rs/rp-hal/issues) for a list of

proposed features (and known issues).



## Contributing



Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are **greatly appreciated**.



The steps are:



1. Fork the Project by clicking the 'Fork' button at the top of the page.

2. Create your Feature Branch (`git checkout -b feature/AmazingFeature`)

3. Make some changes to the code or documentation.

4. Commit your Changes (`git commit -m 'Add some AmazingFeature'`)

5. Push to the Feature Branch (`git push origin feature/AmazingFeature`)

6. Create a [New Pull Request](https://github.com/rp-rs/rp-hal/pulls)

7. An admin will review the Pull Request and discuss any changes that may be required.

8. Once everyone is happy, the Pull Request can be merged by an admin, and your work is part of our project!



## Code of Conduct



Contribution to this crate is organized under the terms of the [Rust Code of

Conduct][CoC], and the maintainer of this crate, the [rp-rs team], promises

to intervene to uphold that code of conduct.



[CoC]: CODE_OF_CONDUCT.md

[rp-rs team]: https://github.com/orgs/rp-rs/people



## License



The contents of this repository are dual-licensed under the _MIT OR Apache

2.0_ License. That means you can choose either the MIT license or the

Apache-2.0 license when you re-use this code. See `MIT` or `APACHE2.0` for more

information on each specific license.



Any submissions to this project (e.g. as Pull Requests) must be made available

under these terms.



## Contact



Raise an issue: [https://github.com/rp-rs/rp-hal/issues](https://github.com/rp-rs/rp-hal/issues)

Chat to us on Matrix: [#rp-rs:matrix.org](https://matrix.to/#/#rp-rs:matrix.org)



## Acknowledgements



* [Othneil Drew's README template](https://github.com/othneildrew)

* [Rust Embedded Working Group](https://github.com/rust-embedded)

* [Raspberry Pi](https://raspberrypi.org) and the [Pico SDK](https://github.com/raspberrypi/pico-sdk)