Misc cleanup (#2569)

* miscellaneous cleanup:

* cleanup some #ifdefs which were slightly hacky when RP2350 was added; use HAS_ flags in preference to PICO_RP2040/RP2350
* make some dependencies more explicit - i.e. compile if the user doesn't want to include certain libraries
* cleanup some directory A -> directory B relative path names in CMakeLists.txt to be SDK root -> directory B

cmake/pico_pre_load_toolchain.cmake

@@ -4,7 +4,7 @@ set(PICO_TOOLCHAIN_PATH "${PICO_TOOLCHAIN_PATH}" CACHE INTERNAL "")
 # Set a default build type if none was specified
 set(default_build_type "Release")
 
-list(APPEND CMAKE_TRY_COMPILE_PLATFORM_VARIABLES CMAKE_PREFIX_PATH)
+list(APPEND CMAKE_TRY_COMPILE_PLATFORM_VARIABLES CMAKE_PREFIX_PATH PICO_SDK_PATH)
 
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     message(STATUS "Defaulting build type to '${default_build_type}' since not specified.")

pico_sdk_version.cmake

@@ -1,15 +1,17 @@
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, default=Current SDK major version, group=pico_base
+if (NOT DEFINED PICO_SDK_VERSION_MAJOR)
-# PICO_CMAKE_CONFIG: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, default=Current SDK major version, group=pico_base
+    # PICO_BUILD_DEFINE: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, default=Current SDK major version, group=pico_base
-set(PICO_SDK_VERSION_MAJOR 2)
+    # PICO_CMAKE_CONFIG: PICO_SDK_VERSION_MAJOR, SDK major version number, type=int, default=Current SDK major version, group=pico_base
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, default=Current SDK minor version, group=pico_base
+    set(PICO_SDK_VERSION_MAJOR 2)
-# PICO_CMAKE_CONFIG: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, default=Current SDK minor version, group=pico_base
+    # PICO_BUILD_DEFINE: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, default=Current SDK minor version, group=pico_base
-set(PICO_SDK_VERSION_MINOR 1)
+    # PICO_CMAKE_CONFIG: PICO_SDK_VERSION_MINOR, SDK minor version number, type=int, default=Current SDK minor version, group=pico_base
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, default=Current SDK revision, group=pico_base
+    set(PICO_SDK_VERSION_MINOR 1)
-# PICO_CMAKE_CONFIG: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, default=Current SDK revision, group=pico_base
+    # PICO_BUILD_DEFINE: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, default=Current SDK revision, group=pico_base
-set(PICO_SDK_VERSION_REVISION 2)
+    # PICO_CMAKE_CONFIG: PICO_SDK_VERSION_REVISION, SDK version revision, type=int, default=Current SDK revision, group=pico_base
-# PICO_BUILD_DEFINE: PICO_SDK_VERSION_PRE_RELEASE_ID, Optional SDK pre-release version identifier, default=Current SDK pre-release identifier, type=string, group=pico_base
+    set(PICO_SDK_VERSION_REVISION 2)
-# PICO_CMAKE_CONFIG: PICO_SDK_VERSION_PRE_RELEASE_ID, Optional SDK pre-release version identifier, default=Current SDK pre-release identifier, type=string, group=pico_base
+    # PICO_BUILD_DEFINE: PICO_SDK_VERSION_PRE_RELEASE_ID, Optional SDK pre-release version identifier, default=Current SDK pre-release identifier, type=string, group=pico_base
-set(PICO_SDK_VERSION_PRE_RELEASE_ID develop)
+    # PICO_CMAKE_CONFIG: PICO_SDK_VERSION_PRE_RELEASE_ID, Optional SDK pre-release version identifier, default=Current SDK pre-release identifier, type=string, group=pico_base
+    set(PICO_SDK_VERSION_PRE_RELEASE_ID develop)
+endif()
 
 # PICO_BUILD_DEFINE: PICO_SDK_VERSION_STRING, SDK version string, type=string, default=Current SDK version string, group=pico_base
 # PICO_CMAKE_CONFIG: PICO_SDK_VERSION_STRING, SDK version string, type=string, default=Current SDK version string, group=pico_base

src/cmake/rp2_common.cmake

@@ -63,14 +63,14 @@ pico_add_subdirectory(rp2_common/hardware_watchdog)
 pico_add_subdirectory(rp2_common/hardware_xip_cache)
 pico_add_subdirectory(rp2_common/hardware_xosc)
 
-if (PICO_RP2350 OR PICO_COMBINED_DOCS)
+if (PICO_COMBINED_DOCS OR NOT PICO_RP2040)
     pico_add_subdirectory(rp2_common/hardware_powman)
     # Note in spite of the name this is usable on Arm as well as RISC-V:
     pico_add_subdirectory(rp2_common/hardware_riscv_platform_timer)
     pico_add_subdirectory(rp2_common/hardware_sha256)
 endif()
 
-if (PICO_RP2350 OR PICO_COMBINED_DOCS)
+if (PICO_COMBINED_DOCS OR NOT PICO_RP2040)
     pico_add_subdirectory(rp2_common/hardware_dcp)
     pico_add_subdirectory(rp2_common/hardware_rcp)
 endif()
@@ -108,7 +108,7 @@ if (NOT PICO_BARE_METAL)
     pico_add_subdirectory(rp2_common/pico_printf)
     pico_add_subdirectory(rp2_common/pico_rand)
 
-    if (PICO_RP2350 OR PICO_COMBINED_DOCS)
+    if (PICO_COMBINED_DOCS OR NOT PICO_RP2040)
         pico_add_subdirectory(rp2_common/pico_sha256)
     endif()
 

src/rp2040/hardware_regs/include/hardware/platform_defs.h

@@ -46,6 +46,15 @@
 
 #define HAS_SIO_DIVIDER 1
 #define HAS_RP2040_RTC  1
+
+#ifndef FPGA_CLK_SYS_HZ
+#define FPGA_CLK_SYS_HZ (48 * MHZ)
+#endif
+
+#ifndef FPGA_CLK_REF_HZ
+#define FPGA_CLK_REF_HZ (12 * MHZ)
+#endif
+
 // PICO_CONFIG: XOSC_HZ, Crystal oscillator frequency in Hz, type=int, default=12000000, advanced=true, group=hardware_base
 // NOTE:  The system and USB clocks are generated from the frequency using two PLLs.
 // If you override this define, or SYS_CLK_HZ/USB_CLK_HZ below, you will *also* need to add your own adjusted PLL set-up defines to

src/rp2350/hardware_regs/include/hardware/platform_defs.h

@@ -73,6 +73,16 @@
 #define HAS_POWMAN_TIMER 1
 #define HAS_RP2350_TRNG 1
 #define HAS_HSTX 1
+#define HAS_PADS_BANK0_ISOLATION 1
+#define __RISCV_PMP_CHECKED 1
+
+#ifndef FPGA_CLK_SYS_HZ
+#define FPGA_CLK_SYS_HZ (48 * MHZ)
+#endif
+
+#ifndef FPGA_CLK_REF_HZ
+#define FPGA_CLK_REF_HZ (12 * MHZ)
+#endif
 
 // PICO_CONFIG: XOSC_HZ, Crystal oscillator frequency in Hz, type=int, default=12000000, advanced=true, group=hardware_base
 // NOTE:  The system and USB clocks are generated from the frequency using two PLLs.

src/rp2_common/boot_bootrom_headers/include/boot/bootrom_constants.h

@@ -255,11 +255,11 @@ typedef int (*bootrom_api_callback_generic_t)(uint32_t r0, uint32_t r1, uint32_t
 #define BOOTROM_NS_API_get_b_partition 7
 #define BOOTROM_NS_API_COUNT 8
 
-#define OTP_CMD_ROW_BITS                    0x0000ffffu
+#define OTP_CMD_ROW_BITS                    _u(0x0000ffff)
 #define OTP_CMD_ROW_LSB                     _u(0)
-#define OTP_CMD_WRITE_BITS                  0x00010000u
+#define OTP_CMD_WRITE_BITS                  _u(0x00010000)
 #define OTP_CMD_WRITE_LSB                   _u(16)
-#define OTP_CMD_ECC_BITS                    0x00020000u
+#define OTP_CMD_ECC_BITS                    _u(0x00020000)
 #define OTP_CMD_ECC_LSB                     _u(17)
 
 #ifndef __ASSEMBLER__

src/rp2_common/hardware_clocks/clocks.c

@@ -270,12 +270,12 @@ static const uint8_t gpin0_src[CLK_COUNT] = {
     CLOCKS_CLK_REF_CTRL_AUXSRC_VALUE_CLKSRC_GPIN0,    // CLK_REF
     CLOCKS_CLK_SYS_CTRL_AUXSRC_VALUE_CLKSRC_GPIN0,    // CLK_SYS
     CLOCKS_CLK_PERI_CTRL_AUXSRC_VALUE_CLKSRC_GPIN0,   // CLK_PERI
-#if !PICO_RP2040
+#if HAS_HSTX
     CLOCKS_CLK_HSTX_CTRL_AUXSRC_VALUE_CLKSRC_GPIN0,   // CLK_HSTX
 #endif
     CLOCKS_CLK_USB_CTRL_AUXSRC_VALUE_CLKSRC_GPIN0,    // CLK_USB
     CLOCKS_CLK_ADC_CTRL_AUXSRC_VALUE_CLKSRC_GPIN0,    // CLK_ADC
-#if PICO_RP2040
+#if HAS_RP2040_RTC
     CLOCKS_CLK_RTC_CTRL_AUXSRC_VALUE_CLKSRC_GPIN0,    // CLK_RTC
 #endif
 };

src/rp2_common/hardware_gpio/gpio.c

@@ -46,7 +46,7 @@ void gpio_set_function(uint gpio, gpio_function_t fn) {
     // Zero all fields apart from fsel; we want this IO to do what the peripheral tells it.
     // This doesn't affect e.g. pullup/pulldown, as these are in pad controls.
     io_bank0_hw->io[gpio].ctrl = fn << IO_BANK0_GPIO0_CTRL_FUNCSEL_LSB;
-#if !PICO_RP2040
+#if HAS_PADS_BANK0_ISOLATION
     // Remove pad isolation now that the correct peripheral is in control of the pad
     hw_clear_bits(&pads_bank0_hw->io[gpio], PADS_BANK0_GPIO0_ISO_BITS);
 #endif

src/rp2_common/hardware_rtc/include/hardware/rtc.h

@@ -8,7 +8,9 @@
 #define _HARDWARE_RTC_H
 
 #include "pico.h"
+#if HAS_RP2040_RTC
 #include "hardware/structs/rtc.h"
+#endif
 
 /** \file hardware/rtc.h
  *  \defgroup hardware_rtc hardware_rtc

src/rp2_common/pico_bit_ops/CMakeLists.txt

@@ -19,9 +19,10 @@ if (NOT TARGET pico_bit_ops)
             ${CMAKE_CURRENT_LIST_DIR}/bit_ops_aeabi.S
             )
 
-    target_link_libraries(pico_bit_ops_pico INTERFACE pico_bootrom pico_bit_ops_headers)
+    target_link_libraries(pico_bit_ops_pico INTERFACE pico_bit_ops_headers)
 
-    if (NOT PICO_RP2350)
+    if (PICO_RP2040)
+        target_link_libraries(pico_bit_ops_pico INTERFACE pico_bootrom)
         # gcc
         pico_wrap_function(pico_bit_ops_pico __clzsi2)
         pico_wrap_function(pico_bit_ops_pico __clzsi2)

src/rp2_common/pico_bit_ops/bit_ops_aeabi.S

@@ -5,7 +5,9 @@
  */
 
 #include "pico/asm_helper.S"
+#if PICO_RP2040
 #include "pico/bootrom.h"
+#endif
 #include "pico/runtime_init.h"
 
 pico_default_asm_setup

src/rp2_common/pico_bootrom/bootrom.c

@@ -113,7 +113,7 @@ int rom_add_flash_runtime_partition(uint32_t start_offset, uint32_t size, uint32
 }
 
 int rom_pick_ab_update_partition(uint32_t *workarea_base, uint32_t workarea_size, uint partition_a_num) {
-#if PICO_RP2350
+#if !PICO_RP2040
     // Generated from adding the following code into the bootrom
     // scan_workarea_t* scan_workarea = (scan_workarea_t*)workarea;
     // printf("VERSION_DOWNGRADE_ERASE_ADDR %08x\n", &(always->zero_init.version_downgrade_erase_flash_addr));

src/rp2_common/pico_btstack/CMakeLists.txt

@@ -6,7 +6,7 @@ endif ()
 
 set(BTSTACK_TEST_PATH "src/bluetooth.h")
 if (NOT PICO_BTSTACK_PATH)
-    set(PICO_BTSTACK_PATH ${PROJECT_SOURCE_DIR}/lib/btstack)
+    set(PICO_BTSTACK_PATH ${PICO_SDK_PATH}/lib/btstack)
     if (PICO_CYW43_SUPPORTED AND NOT EXISTS ${PICO_BTSTACK_PATH}/${BTSTACK_TEST_PATH})
         message(WARNING "btstack submodule has not been initialized; Pico W BLE support will be unavailable.
             hint: try 'git submodule update --init' from your SDK directory (${PICO_SDK_PATH}).")

src/rp2_common/pico_fix/rp2040_usb_device_enumeration/rp2040_usb_device_enumeration.c

@@ -5,6 +5,7 @@
  */
 
 #include "pico.h"
+#if PICO_RP2040_B0_SUPPORTED || PICO_RP2040_B1_SUPPORTED
 #include "pico/time.h"
 #include "hardware/structs/usb.h"
 #include "hardware/gpio.h"
@@ -17,7 +18,6 @@
 #define LS_K   0b10
 #define LS_SE1 0b11
 
-#if PICO_RP2040_B0_SUPPORTED || PICO_RP2040_B1_SUPPORTED
 static void hw_enumeration_fix_wait_se0(void);
 static void hw_enumeration_fix_force_ls_j(void);
 static void hw_enumeration_fix_finish(void);

src/rp2_common/pico_lwip/CMakeLists.txt

@@ -6,7 +6,7 @@ endif ()
 
 set(LWIP_TEST_PATH "src/Filelists.cmake")
 if (NOT PICO_LWIP_PATH)
-    set(PICO_LWIP_PATH ${PROJECT_SOURCE_DIR}/lib/lwip)
+    set(PICO_LWIP_PATH ${PICO_SDK_PATH}/lib/lwip)
     if (PICO_CYW43_SUPPORTED AND NOT EXISTS ${PICO_LWIP_PATH}/${LWIP_TEST_PATH})
         message(WARNING "LWIP submodule has not been initialized; Pico W wireless support will be unavailable
 #hint: try 'git submodule update --init' from your SDK directory (${PICO_SDK_PATH}).")

src/rp2_common/pico_mbedtls/CMakeLists.txt

@@ -6,7 +6,7 @@ endif()
 
 set(MBEDTLS_TEST_PATH "library/aes.c")
 if (NOT PICO_MBEDTLS_PATH)
-    set(PICO_MBEDTLS_PATH ${PROJECT_SOURCE_DIR}/lib/mbedtls)
+    set(PICO_MBEDTLS_PATH ${PICO_SDK_PATH}/lib/mbedtls)
 elseif (NOT EXISTS ${PICO_MBEDTLS_PATH}/${MBEDTLS_TEST_PATH})
     message(WARNING "PICO_MBEDTLS_PATH specified but content not present.")
 endif()

src/rp2_common/pico_multicore/multicore.c

@@ -14,7 +14,7 @@
 #include "hardware/structs/scb.h"
 #endif
 #include "hardware/structs/sio.h"
-#include "hardware/regs/psm.h"
+#include "hardware/structs/psm.h"
 #include "hardware/claim.h"
 
 #if !PICO_RP2040

src/rp2_common/pico_printf/printf_none.S

@@ -5,7 +5,6 @@
  */
 
 #include "pico/asm_helper.S"
-#include "pico/bootrom/sf_table.h"
 
 pico_default_asm_setup
 

src/rp2_common/pico_rand/CMakeLists.txt

@@ -7,8 +7,13 @@ target_sources(pico_rand INTERFACE
 target_include_directories(pico_rand_headers SYSTEM INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include)
 
 pico_mirrored_target_link_libraries(pico_rand INTERFACE
-        pico_unique_id
         hardware_clocks
         hardware_timer
         hardware_sync
 )
+
+if (TARGET pico_unique_id)
+    pico_mirrored_target_link_libraries(pico_rand INTERFACE
+            pico_unique_id
+    )
+endif()

src/rp2_common/pico_rand/rand.c

@@ -25,11 +25,19 @@
 */
 
 #include "pico/rand.h"
+#if PICO_RAND_SEED_ENTROPY_SRC_BOARD_ID
 #include "pico/unique_id.h"
+#endif
+#if PICO_RAND_ENTROPY_SRC_TIME
 #include "pico/time.h"
+#endif
 #include "hardware/clocks.h"
+#if PICO_RAND_SEED_ENTROPY_SRC_ROSC || PICO_RAND_ENTROPY_SRC_ROSC
 #include "hardware/structs/rosc.h"
+#endif
+#if PICO_RAND_SEED_ENTROPY_SRC_BUS_PERF_COUNTER || PICO_RAND_ENTROPY_SRC_BUS_PERF_COUNTER
 #include "hardware/structs/busctrl.h"
+#endif
 #include "hardware/sync.h"
 
 static bool rng_initialised = false;

src/rp2_common/pico_runtime_init/CMakeLists.txt

@@ -13,7 +13,13 @@ pico_mirrored_target_link_libraries(pico_runtime_init INTERFACE
 )
 
 if (TARGET hardware_clocks)
-    pico_mirrored_target_link_libraries(pico_runtime_init INTERFACE hardware_clocks hardware_timer hardware_vreg)
+    pico_mirrored_target_link_libraries(pico_runtime_init INTERFACE hardware_clocks)
+endif()
+if (TARGET hardware_timer)
+    pico_mirrored_target_link_libraries(pico_runtime_init INTERFACE hardware_timer)
+endif()
+if (TARGET hardware_vreg)
+    pico_mirrored_target_link_libraries(pico_runtime_init INTERFACE hardware_vreg)
 endif()
 
 # pico/runtime_init.h includes pico/runtime.h

src/rp2_common/pico_runtime_init/runtime_init_clocks.c

@@ -41,10 +41,10 @@ void __weak runtime_init_clocks(void) {
     // Note: These need setting *before* the ticks are started
     if (running_on_fpga()) {
         for (uint i = 0; i < CLK_COUNT; i++) {
-            clock_set_reported_hz(i, 48 * MHZ);
+            clock_set_reported_hz(i, FPGA_CLK_SYS_HZ);
         }
         // clk_ref is 12MHz in both RP2040 and RP2350 FPGA
-        clock_set_reported_hz(clk_ref, 12 * MHZ);
+        clock_set_reported_hz(clk_ref, FPGA_CLK_REF_HZ);
         // RP2040 has an extra clock, the rtc
 #if HAS_RP2040_RTC
         clock_set_reported_hz(clk_rtc, RTC_CLOCK_FREQ_HZ);

src/rp2_common/pico_runtime_init/runtime_init_stack_guard.c

@@ -32,7 +32,7 @@ void runtime_init_per_core_install_stack_guard(void *stack_bottom) {
                    | 0x10000000; // XN = disable instruction fetch; no other bits means no permissions
 
 #elif defined(__riscv)
-    #if !PICO_RP2350
+#if !__RISCV_PMP_CHECKED
 #error "Check PMP configuration for new platform"
 #endif
     // RISC-V PMP, RP2350 configuration of Hazard3: 8 non-hardwired regions,

src/rp2_common/pico_stdio_uart/stdio_uart.c

@@ -128,13 +128,13 @@ void stdio_uart_deinit_full(struct uart_inst *uart, int tx_pin, int rx_pin) {
     uart_instance = uart;
     stdio_set_driver_enabled(&stdio_uart, false);
     uart_deinit(uart_instance);
-#if PICO_RP2040
+#if HAS_PADS_BANK0_ISOLATION
-    ((void)tx_pin);
-    ((void)rx_pin);
-#else
     // Leave pads isolated
     if (tx_pin >= 0) hw_set_bits(&pads_bank0_hw->io[tx_pin], PADS_BANK0_GPIO0_ISO_BITS);
     if (rx_pin >= 0) hw_set_bits(&pads_bank0_hw->io[rx_pin], PADS_BANK0_GPIO0_ISO_BITS);
+#else
+    ((void)tx_pin);
+    ((void)rx_pin);
 #endif
 }
 

src/rp2_common/tinyusb/CMakeLists.txt

@@ -4,15 +4,19 @@ if (DEFINED ENV{PICO_TINYUSB_PATH} AND (NOT PICO_TINYUSB_PATH))
     message("Using PICO_TINYUSB_PATH from environment ('${PICO_TINYUSB_PATH}')")
 endif ()
 
-set(TINYUSB_TEST_PATH "src/portable/raspberrypi/rp2040")
+set(TINYUSB_TEST_PATH "hw/bsp/rp2040")
 if (NOT PICO_TINYUSB_PATH)
-    set(PICO_TINYUSB_PATH ${PROJECT_SOURCE_DIR}/lib/tinyusb)
+    set(PICO_TINYUSB_PATH ${PICO_SDK_PATH}/lib/tinyusb)
     if (NOT EXISTS ${PICO_TINYUSB_PATH}/${TINYUSB_TEST_PATH})
+        if (EXISTS "${PICO_TINYUSB_PATH}/LICENSE")
+            message(WARNING "TinyUSB submodule has been initialized, but does not contain ${TINYUSB_TEST_PATH}; USB support will be unavailable")
+        else()
             message(WARNING "TinyUSB submodule has not been initialized; USB support will be unavailable
 hint: try 'git submodule update --init' from your SDK directory (${PICO_SDK_PATH}).")
         endif()
+    endif()
 elseif (NOT EXISTS ${PICO_TINYUSB_PATH}/${TINYUSB_TEST_PATH})
-    message(WARNING "PICO_TINYUSB_PATH specified but content not present.")
+    message(WARNING "PICO_TINYUSB_PATH specified, but does not contain ${TINYUSB_TEST_PATH}; USB support will be unavailable")
 endif()
 
 if (EXISTS ${PICO_TINYUSB_PATH}/${TINYUSB_TEST_PATH})
@@ -35,14 +39,18 @@ if (EXISTS ${PICO_TINYUSB_PATH}/${TINYUSB_TEST_PATH})
         PICO_RP2040_USB_DEVICE_UFRAME_FIX=1
     )
 
+    if (TARGET tinyusb_device_base)
         # unmarked version used by stdio USB
         target_link_libraries(tinyusb_device_unmarked INTERFACE tinyusb_common pico_fix_rp2040_usb_device_enumeration tinyusb_device_base)
 
         pico_add_library(tinyusb_device)
         target_link_libraries(tinyusb_device INTERFACE tinyusb_device_unmarked)
+    endif()
 
+    if (TARGET tinyusb_host_base)
         pico_add_library(tinyusb_host)
         target_link_libraries(tinyusb_host INTERFACE tinyusb_host_base tinyusb_common)
+    endif()
 
     pico_add_library(tinyusb_board)
     target_include_directories(tinyusb_board INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include)

test/cmsis_test/CMakeLists.txt

@@ -1,3 +1,7 @@
+if (NOT TARGET cmsis_core)
+    message("Skipping cmsis_test as cmsis_core is unavailable on this platform")
+    return()
+endif()
 # todo remove check
 if (NOT PICO_RISCV)
     add_executable(cmsis_test cmsis_test.c)

test/hardware_irq_test/CMakeLists.txt

@@ -1,3 +1,7 @@
+if (NOT TARGET hardware_dma)
+    message("Skipping hardware_irq_test as hardware_dma is unavailable on this platform")
+    return()
+endif()
 add_executable(hardware_irq_test hardware_irq_test.c)
 
 target_link_libraries(hardware_irq_test PRIVATE pico_test hardware_irq hardware_dma)

test/hardware_pwm_test/CMakeLists.txt

@@ -1,3 +1,7 @@
+if (NOT TARGET hardware_pwm)
+    message("Skipping hardware_pwm_test as hardware_pwm is unavailable on this platform")
+    return()
+endif()
 add_executable(hardware_pwm_test hardware_pwm_test.c)
 
 target_link_libraries(hardware_pwm_test PRIVATE pico_test hardware_pwm)

test/hardware_sync_spin_lock_test/CMakeLists.txt

@@ -1,3 +1,8 @@
+if (NOT TARGET pico_multicore)
+	message("Skipping hardware_sync_spin_lock_test as pico_multicore is unavailable on this platform")
+	return()
+endif()
+
 add_executable(hardware_sync_spin_lock_test hardware_sync_spin_lock_test.c)
 
 target_link_libraries(hardware_sync_spin_lock_test PRIVATE pico_test hardware_sync pico_multicore)

test/pico_divider_test/CMakeLists.txt

@@ -1,3 +1,7 @@
+if (NOT TARGET pico_divider)
+    message("Skipping pico_divider_test as pico_divider is unavailable on this platform")
+    return()
+endif()
 PROJECT(pico_divider_test)
 
 if (PICO_ON_DEVICE)

test/pico_float_test/CMakeLists.txt

@@ -1,3 +1,8 @@
+if (NOT TARGET pico_float)
+    message("Skipping pico_float_test as pico_float is unavailable on this platform")
+    return()
+endif()
+
 PROJECT(pico_float_test)
 
 

test/pico_sha256_test/CMakeLists.txt

@@ -1,4 +1,5 @@
-if (NOT TARGET hardware_sha256)
+if (NOT TARGET pico_sha256)
+    message("Skipping pico_sha256_test as pico_sha256 is unavailable on this platform")
     return()
 endif()
 

test/pico_time_test/pico_time_test.c

@@ -41,8 +41,8 @@ static struct timeout {
     alarm_id_t alarm_id;
     absolute_time_t target;
     absolute_time_t fired_at;
-    uint pool;
     uint fired_count;
+    uint8_t pool;
     bool cancelled;
     bool not_cancelled; // tried to cancel but it was done
 } timeouts[NUM_TIMEOUTS];

tools/Findpicotool.cmake

@@ -34,10 +34,20 @@ if (NOT TARGET picotool)
             )
         endif()
 
+        if (NOT PICOTOOL_GIT_REPOSITORY_URL)
+            set(PICOTOOL_GIT_REPOSITORY_URL https://github.com/raspberrypi/picotool.git)
+        endif()
+        if (NOT PICOTOOL_GIT_BRANCH)
+            if (PICO_SDK_VERSION_PRE_RELEASE_ID)
+                set(PICOTOOL_GIT_BRANCH ${PICO_SDK_VERSION_PRE_RELEASE_ID})
+            else()
+                set(PICOTOOL_GIT_BRANCH ${PICO_SDK_VERSION_STRING})
+            endif()
+        endif()
         message("Downloading Picotool")
         FetchContent_Populate(picotool QUIET
-            GIT_REPOSITORY https://github.com/raspberrypi/picotool.git
+            GIT_REPOSITORY ${PICOTOOL_GIT_REPOSITORY_URL}
-            GIT_TAG develop
+            GIT_TAG ${PICOTOOL_GIT_BRANCH}
 
             SOURCE_DIR ${picotool_INSTALL_DIR}/picotool-src
             BINARY_DIR ${picotool_INSTALL_DIR}/picotool-build