copy code from embassy (most of the dependencies are unused)

controller/.cargo/config.toml

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+#[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+#runner = "probe-rs run --chip RP2040"
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "elf2uf2-rs --deploy --serial --verbose"
+
+[build]
+target = "thumbv6m-none-eabi"        # Cortex-M0 and Cortex-M0+
+
+[env]
+DEFMT_LOG = "debug"

controller/.gitignore

@@ -0,0 +1 @@
+target

controller/Cargo.toml

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+[package]
+edition = "2021"
+name = "controller"
+version = "0.1.0"
+license = "MIT OR Apache-2.0"
+
+
+[dependencies]
+embassy-executor = { version = "0.6.0", git="https://github.com/embassy-rs/embassy", features = ["task-arena-size-98304", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-time = { version = "0.3.2", git="https://github.com/embassy-rs/embassy", features = ["defmt", "defmt-timestamp-uptime"] }
+embassy-rp = { version = "0.2.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
+embassy-usb = { version = "0.3.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
+embassy-net = { version = "0.4.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "tcp", "udp", "raw", "dhcpv4", "medium-ethernet", "dns"] }
+embassy-net-wiznet = { version = "0.1.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
+embassy-futures = { version = "0.1.0",  git="https://github.com/embassy-rs/embassy"}
+embassy-usb-logger = { version = "0.2.0",  git="https://github.com/embassy-rs/embassy" }
+cyw43 = { version = "0.2.0",   git="https://github.com/embassy-rs/embassy", features = ["defmt", "firmware-logs", "bluetooth"] }
+cyw43-pio = { version = "0.2.0",  git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
+
+defmt = "0.3"
+defmt-rtt = "0.4"
+fixed = "1.23.1"
+fixed-macro = "1.2"
+
+# for web request example
+reqwless = { version = "0.12.0", features = ["defmt",]}
+serde = { version = "1.0.203", default-features = false, features = ["derive"] }
+serde-json-core = "0.5.1"
+
+# for assign resources example
+assign-resources = { git = "https://github.com/adamgreig/assign-resources", rev = "94ad10e2729afdf0fd5a77cd12e68409a982f58a" }
+
+#cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m = { version = "0.7.6", features = ["inline-asm"] }
+cortex-m-rt = "0.7.0"
+critical-section = "1.1"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+display-interface-spi = "0.4.1"
+embedded-graphics = "0.7.1"
+st7789 = "0.6.1"
+display-interface = "0.4.1"
+byte-slice-cast = { version = "1.2.0", default-features = false }
+smart-leds = "0.3.0"
+heapless = "0.8"
+usbd-hid = "0.8.1"
+
+embedded-hal-1 = { package = "embedded-hal", version = "1.0" }
+embedded-hal-async = "1.0"
+embedded-hal-bus = { version = "0.1", features = ["async"] }
+embedded-io-async = { version = "0.6.1", features = ["defmt-03"] }
+embedded-storage = { version = "0.3" }
+static_cell = "2.1"
+portable-atomic = { version = "1.5", features = ["critical-section"] }
+log = "0.4"
+pio-proc = "0.2"
+pio = "0.2.1"
+rand = { version = "0.8.5", default-features = false }
+embedded-sdmmc = "0.7.0"
+
+bt-hci = { version = "0.1.0", default-features = false, features = ["defmt"] }
+
+[profile.release]
+debug = 2
+lto = true
+opt-level = 'z'
+
+[profile.dev]
+debug = 2
+lto = true
+opt-level = "z"

controller/build.rs

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+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+
+    println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tlink.x");
+    println!("cargo:rustc-link-arg-bins=-Tlink-rp.x");
+    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+}

controller/memory.x

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+MEMORY {
+    BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
+    FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
+
+    /* Pick one of the two options for RAM layout     */
+
+    /* OPTION A: Use all RAM banks as one big block   */
+    /* Reasonable, unless you are doing something     */
+    /* really particular with DMA or other concurrent */
+    /* access that would benefit from striping        */
+    RAM   : ORIGIN = 0x20000000, LENGTH = 264K
+
+    /* OPTION B: Keep the unstriped sections separate */
+    /* RAM: ORIGIN = 0x20000000, LENGTH = 256K        */
+    /* SCRATCH_A: ORIGIN = 0x20040000, LENGTH = 4K    */
+    /* SCRATCH_B: ORIGIN = 0x20041000, LENGTH = 4K    */
+}

controller/src/main.rs

@@ -0,0 +1,135 @@
+//! This example uses the RP Pico W board Wifi chip (cyw43).
+//! Creates an Access point Wifi network and creates a TCP endpoint on port 1234.
+
+#![no_std]
+#![no_main]
+#![allow(async_fn_in_trait)]
+
+use core::str::from_utf8;
+
+use cyw43_pio::PioSpi;
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_net::tcp::TcpSocket;
+use embassy_net::{Config, StackResources};
+use embassy_rp::bind_interrupts;
+use embassy_rp::clocks::RoscRng;
+use embassy_rp::gpio::{Level, Output};
+use embassy_rp::peripherals::{DMA_CH0, PIO0};
+use embassy_rp::pio::{InterruptHandler, Pio};
+use embassy_time::Duration;
+use embedded_io_async::Write;
+use rand::RngCore;
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+#[embassy_executor::task]
+async fn cyw43_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! {
+    runner.run().await
+}
+
+#[embassy_executor::task]
+async fn net_task(mut runner: embassy_net::Runner<'static, cyw43::NetDriver<'static>>) -> ! {
+    runner.run().await
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    info!("Hello World!");
+
+    let p = embassy_rp::init(Default::default());
+    let mut rng = RoscRng;
+
+    let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");
+    let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin");
+
+    // To make flashing faster for development, you may want to flash the firmwares independently
+    // at hardcoded addresses, instead of baking them into the program with `include_bytes!`:
+    //     probe-rs download 43439A0.bin --binary-format bin --chip RP2040 --base-address 0x10100000
+    //     probe-rs download 43439A0_clm.bin --binary-format bin --chip RP2040 --base-address 0x10140000
+    //let fw = unsafe { core::slice::from_raw_parts(0x10100000 as *const u8, 230321) };
+    //let clm = unsafe { core::slice::from_raw_parts(0x10140000 as *const u8, 4752) };
+
+    let pwr = Output::new(p.PIN_23, Level::Low);
+    let cs = Output::new(p.PIN_25, Level::High);
+    let mut pio = Pio::new(p.PIO0, Irqs);
+    let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
+
+    static STATE: StaticCell<cyw43::State> = StaticCell::new();
+    let state = STATE.init(cyw43::State::new());
+    let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
+    unwrap!(spawner.spawn(cyw43_task(runner)));
+
+    control.init(clm).await;
+    control
+        .set_power_management(cyw43::PowerManagementMode::PowerSave)
+        .await;
+
+    // Use a link-local address for communication without DHCP server
+    let config = Config::ipv4_static(embassy_net::StaticConfigV4 {
+        address: embassy_net::Ipv4Cidr::new(embassy_net::Ipv4Address::new(169, 254, 1, 1), 16),
+        dns_servers: heapless::Vec::new(),
+        gateway: None,
+    });
+
+    // Generate random seed
+    let seed = rng.next_u64();
+
+    // Init network stack
+    static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+    let (stack, runner) = embassy_net::new(net_device, config, RESOURCES.init(StackResources::new()), seed);
+
+    unwrap!(spawner.spawn(net_task(runner)));
+
+    //control.start_ap_open("cyw43", 5).await;
+    control.start_ap_wpa2("cyw43", "password", 5).await;
+
+    // And now we can use it!
+
+    let mut rx_buffer = [0; 4096];
+    let mut tx_buffer = [0; 4096];
+    let mut buf = [0; 4096];
+
+    loop {
+        let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
+        socket.set_timeout(Some(Duration::from_secs(10)));
+
+        control.gpio_set(0, false).await;
+        info!("Listening on TCP:1234...");
+        if let Err(e) = socket.accept(1234).await {
+            warn!("accept error: {:?}", e);
+            continue;
+        }
+
+        info!("Received connection from {:?}", socket.remote_endpoint());
+        control.gpio_set(0, true).await;
+
+        loop {
+            let n = match socket.read(&mut buf).await {
+                Ok(0) => {
+                    warn!("read EOF");
+                    break;
+                }
+                Ok(n) => n,
+                Err(e) => {
+                    warn!("read error: {:?}", e);
+                    break;
+                }
+            };
+
+            info!("rxd {}", from_utf8(&buf[..n]).unwrap());
+
+            match socket.write_all(&buf[..n]).await {
+                Ok(()) => {}
+                Err(e) => {
+                    warn!("write error: {:?}", e);
+                    break;
+                }
+            };
+        }
+    }
+}

cyw43-firmware/LICENSE-permissive-binary-license-1.0.txt

@@ -0,0 +1,49 @@
+Permissive Binary License
+
+Version 1.0, July 2019
+
+Redistribution.  Redistribution and use in binary form, without
+modification, are permitted provided that the following conditions are
+met:
+
+1) Redistributions must reproduce the above copyright notice and the
+   following disclaimer in the documentation and/or other materials
+   provided with the distribution.
+
+2) Unless to the extent explicitly permitted by law, no reverse
+   engineering, decompilation, or disassembly of this software is
+   permitted.
+
+3) Redistribution as part of a software development kit must include the
+   accompanying file named <20>DEPENDENCIES<45> and any dependencies listed in
+   that file.
+
+4) Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+Limited patent license. The copyright holders (and contributors) grant a
+worldwide, non-exclusive, no-charge, royalty-free patent license to
+make, have made, use, offer to sell, sell, import, and otherwise
+transfer this software, where such license applies only to those patent
+claims licensable by the copyright holders (and contributors) that are
+necessarily infringed by this software. This patent license shall not
+apply to any combinations that include this software.  No hardware is
+licensed hereunder.
+
+If you institute patent litigation against any entity (including a
+cross-claim or counterclaim in a lawsuit) alleging that the software
+itself infringes your patent(s), then your rights granted under this
+license shall terminate as of the date such litigation is filed.
+
+DISCLAIMER. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+CONTRIBUTORS "AS IS." ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT
+NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

cyw43-firmware/README.md

@@ -0,0 +1,14 @@
+# WiFi + Bluetooth firmware blobs
+
+Firmware obtained from https://github.com/georgerobotics/cyw43-driver/tree/main/firmware
+
+Licensed under the [Infineon Permissive Binary License](./LICENSE-permissive-binary-license-1.0.txt)
+
+## Changelog
+
+* 2023-08-21: synced with `a1dc885` - Update 43439 fw + clm to come from `wb43439A0_7_95_49_00_combined.h` + add Bluetooth firmware
+* 2023-07-28: synced with `ad3bad0` - Update 43439 fw from 7.95.55 to 7.95.62
+
+## Notes
+
+If you update these files, please update the lengths in the `tests/rp/src/bin/cyw43_perf.rs` test (which relies on these files running from RAM).