ラズパイピコでZephyrOS動かし、VS Codeでデバッグしてみよう

$ cd ~/zephyrproject/zephyr/samples
$ ls
application_development	drivers			posix
arch			hello_world		sensor
basic			index.rst		shields
bluetooth		kernel			subsys
boards			modules			synchronization
classic.rst		net			tfm_integration
compression		philosophers		userspace
$ cd basic
$ ls
basic.rst	blinky_pwm	fade_led	rgb_led		threads
blinky		button		minimal		servo_motor
$ cd button
$ ls
CMakeLists.txt	README.rst	prj.conf	sample.yaml	src

cat src/main.c
...
void main(void)
{
...
    ret = gpio_pin_interrupt_configure_dt(&button, GPIO_INT_EDGE_TO_ACTIVE);
...
    gpio_init_callback(&button_cb_data, button_pressed, BIT(button.pin));
    gpio_add_callback(button.port, &button_cb_data);
...
}

<home>/
├─── zephyrproject/
│     ├─── .west/
│     │    └─── config
│     ├─── zephyr/
│     │    ├── arch/
│     │    ├── boards/
│     │    ├── cmake/
│     │    ├── samples/
│     │    │   ├── hello_world/  -> Zephyrリポジトリアプリケーション
│     │    │   └── ...
│     │    ├── tests/
│     │    └── ...
│     ├── bootloader/
│     ├── modules/
│     ├── ...
│     └── applications/
│         └── app/               -> Zephyrワークスペースアプリケーション
│
└─── app/                        -> Zephyr自立型アプリケーション
     ├── CMakeLists.txt
     ├── prj.conf
     └── src/
         └── main.c

cd ~/
cp -R ~/zephyrproject/zephyr/samples/basic/button ~/Desktop/gpio_int_test

$ cd ~/Desktop/gpio_int_test
$ west build -b nucleo_f411re
usage: west [-h] [-z ZEPHYR_BASE] [-v] [-V] <command> ...
west: error: argument <command>: invalid choice: 'build' (choose from 'init', 'update', 'list', 'manifest', 'diff', 'status', 'forall', 'help', 'config', 'topdir', 'selfupdate')
$

$ source ~/zephyrproject/zephyr/zephyr-env.sh
$ west build -b nucleo_f411re
-- west build: generating a build system
Loading Zephyr default modules (Zephyr base).
-- Application: /Users/user/Desktop/gpio_int_test
-- Found Python3: /usr/local/opt/python@3.9/bin/python3.9 (found suitable exact version "3.9.13") found components: Interpreter
-- Cache files will be written to: /Users/user/Library/Caches/zephyr
-- Zephyr version: 3.0.99 (/Users/user/zephyrproject/zephyr)
-- Found west (found suitable version "0.13.1", minimum required is "0.7.1")
-- Board: nucleo_f411re
...
[156/156] Linking C executable zephyr/zephyr.elf
Memory region         Used Size  Region Size  %age Used
           FLASH:       15108 B       512 KB      2.88%
            SRAM:        4416 B       128 KB      3.37%
        IDT_LIST:          0 GB         2 KB      0.00%

...
cmake_minimum_required(VERSION 3.20.0)
set(BOARD rpi_pico)
...

$ west build -p
...
/Users/user/Desktop/gpio_int_test/src/main.c:22:2: error: #error "Unsupported board: sw0 devicetree alias is not defined"
   22 | #error "Unsupported board: sw0 devicetree alias is not defined"
      |  ^~~~~
[117/160] Building C object zephyr/drivers/gpio/CMakeFiles/drivers__gpio.dir/gpio_rpi_pico.c.obj
ninja: build stopped: subcommand failed.
FATAL ERROR: command exited with status 1: /usr/local/bin/cmake --build /Users/user/Desktop/gpio_int_test/build

$ cat /Users/wizard/zephyrproject/zephyr/boards/arm/nucleo_f411re/nucleo_f411re.dts
...
/ {
	gpio_keys {
		compatible = "gpio-keys";
		user_button: button {
			label = "User";
			gpios = <&gpioc 13 GPIO_ACTIVE_LOW>;
		};
	};

	aliases {
		led0 = &green_led_2;
		sw0 = &user_button;
	};
};
...

/ {
	gpio_keys {
		compatible = "gpio-keys";
		user_button: button {
			label = "User";
			gpios = <&gpio0 28 GPIO_ACTIVE_LOW>;
		};
	};

	aliases {
		sw0 = &user_button;
	};
};

$ west build -p
WARNING: This looks like a fresh build and BOARD is unknown; so it probably won't work. To fix, use --board=<your-board>.
Note: to silence the above message, run 'west config build.board_warn false'
-- west build: generating a build system
...
[160/160] Linking C executable zephyr/zephyr.elf
Memory region         Used Size  Region Size  %age Used
      BOOT_FLASH:         256 B        256 B    100.00%
           FLASH:       11940 B    2096896 B      0.57%
            SRAM:        3760 B       264 KB      1.39%
        IDT_LIST:          0 GB         2 KB      0.00%
Converting to uf2, output size: 24576, start address: 0x10000000
Wrote 24576 bytes to zephyr.uf2
$ gpio_int_test %

$ cp ~/Downloads/picoprobe.uf2 /Volumes/RPI-RP2/

cd ~/
brew install libtool automake libusb wget pkg-config gcc texinfo
git clone https://github.com/raspberrypi/openocd.git --branch picoprobe --depth=1
cd openocd
export PATH="/usr/local/opt/texinfo/bin:$PATH"
./bootstrap
./configure --enable-picoprobe --disable-werror
make -j4

cd ~/pico
sudo apt install automake autoconf build-essential texinfo libtool libftdi-dev libusb-1.0-0-dev
git clone https://github.com/raspberrypi/openocd.git --branch picoprobe --depth=1 --no-single-branch
cd openocd
./bootstrap
./configure --enable-picoprobe
make -j4
sudo make i

$ ~/openocd/src/openocd --version
Open On-Chip Debugger 0.11.0-g4f2ae61 (2022-06-08-15:59)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html

cd ~/
brew tap eblot/armeabi
brew install arm-none-eabi-gdb

$ arm-none-eabi-gdb --version
GNU gdb (GDB) 10.1
Copyright (C) 2020 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.