Add dispatch loop, copy_to_ram, retry picotool load without sleep

cmd/load/main.go

@@ -112,18 +112,6 @@ func run(buildDir string) error {
 		}
 	}
 
-	for i := range 2 {
-		wg.Go(func() {
-			errs[i] = picotool.WaitForBootsel(serials[i], 10*time.Second)
-		})
-	}
-	wg.Wait()
-	for i, err := range errs {
-		if err != nil {
-			return fmt.Errorf("wait %s: %w", serials[i], err)
-		}
-	}
-
 	uf2s := []string{
 		filepath.Join(buildDir, "picomap.uf2"),
 		filepath.Join(buildDir, "picomap_test.uf2"),
@@ -132,7 +120,7 @@ func run(buildDir string) error {
 	fmt.Println("Loading firmware...")
 	for i := range 2 {
 		wg.Go(func() {
-			errs[i] = picotool.Load(uf2s[i], serials[i])
+			errs[i] = picotool.Load(uf2s[i], serials[i], 10*time.Second)
 		})
 	}
 	wg.Wait()

firmware/CMakeLists.txt

@@ -10,6 +10,7 @@ set(CMAKE_CXX_STANDARD 23)
 pico_sdk_init()
 
 set(LIB_SOURCES
+	lib/dispatch.cpp
 	lib/handlers.cpp
 	lib/net.cpp
 	lib/tusb_config.cpp
@@ -24,6 +25,7 @@ target_compile_options(picomap PRIVATE -Wall -Wextra -Wno-unused-parameter)
 pico_generate_pio_header(picomap ${CMAKE_CURRENT_LIST_DIR}/w6300/qspi.pio)
 pico_enable_stdio_usb(picomap 0)
 pico_enable_stdio_uart(picomap 0)
+pico_set_binary_type(picomap copy_to_ram)
 pico_add_extra_outputs(picomap)
 target_link_libraries(picomap ${LIB_DEPS})
 
@@ -33,5 +35,6 @@ target_compile_options(picomap_test PRIVATE -Wall -Wextra -Wno-unused-parameter)
 pico_generate_pio_header(picomap_test ${CMAKE_CURRENT_LIST_DIR}/w6300/qspi.pio)
 pico_enable_stdio_usb(picomap_test 0)
 pico_enable_stdio_uart(picomap_test 0)
+pico_set_binary_type(picomap_test copy_to_ram)
 pico_add_extra_outputs(picomap_test)
 target_link_libraries(picomap_test ${LIB_DEPS})

firmware/firmware.cpp

@@ -1,51 +1,11 @@
-#include "pico/stdlib.h"
+#include "dispatch.h"
-#include "tusb.h"
-#include "wire.h"
-#include "usb_cdc.h"
-#include "timer_queue.h"
 #include "handlers.h"
-#include "net.h"
 
-static usb_cdc usb;
+static constexpr handler_entry handlers[] = {
-static timer_queue timers;
+    {RequestPICOBOOT::ext_id, handle_picoboot},
+    {RequestInfo::ext_id, handle_info},
+};
 
 int main() {
-    tusb_init();
+    dispatch(handlers);
-
-    net_init();
-
-    static static_vector<uint8_t, 256> rx_buf;
-
-    while (true) {
-        tud_task();
-
-        usb.drain();
-        timers.run();
-
-        while (tud_cdc_available()) {
-            uint8_t byte;
-            if (tud_cdc_read(&byte, 1) != 1) break;
-
-            rx_buf.push_back(byte);
-
-            auto msg = try_decode(rx_buf);
-            if (!msg) {
-                if (rx_buf.full()) rx_buf.clear();
-                continue;
-            }
-
-            rx_buf.clear();
-
-            switch (msg->type_id) {
-            case RequestPICOBOOT::ext_id:
-                handle_picoboot(usb, msg->message_id);
-                break;
-            case RequestInfo::ext_id:
-                handle_info(usb, msg->message_id);
-                break;
-            }
-        }
-
-        __wfi();
-    }
 }

firmware/include/dispatch.h

@@ -0,0 +1,11 @@
+#pragma once
+#include <cstdint>
+#include <span>
+#include "usb_cdc.h"
+
+struct handler_entry {
+    int8_t type_id;
+    void (*handle)(usb_cdc&, uint32_t);
+};
+
+[[noreturn]] void dispatch(std::span<const handler_entry> handlers);

firmware/lib/dispatch.cpp

@@ -0,0 +1,50 @@
+#include "dispatch.h"
+#include <unordered_map>
+#include "pico/stdlib.h"
+#include "tusb.h"
+#include "wire.h"
+#include "timer_queue.h"
+#include "net.h"
+
+[[noreturn]] void dispatch(std::span<const handler_entry> handlers) {
+    std::unordered_map<int8_t, void (*)(usb_cdc&, uint32_t)> handler_map;
+    for (auto& entry : handlers) {
+        handler_map[entry.type_id] = entry.handle;
+    }
+
+    tusb_init();
+    net_init();
+
+    static usb_cdc usb;
+    static timer_queue timers;
+    static static_vector<uint8_t, 256> rx_buf;
+
+    while (true) {
+        tud_task();
+
+        usb.drain();
+        timers.run();
+
+        while (tud_cdc_available()) {
+            uint8_t byte;
+            if (tud_cdc_read(&byte, 1) != 1) break;
+
+            rx_buf.push_back(byte);
+
+            auto msg = try_decode(rx_buf);
+            if (!msg) {
+                if (rx_buf.full()) rx_buf.clear();
+                continue;
+            }
+
+            rx_buf.clear();
+
+            auto it = handler_map.find(msg->type_id);
+            if (it != handler_map.end()) {
+                it->second(usb, msg->message_id);
+            }
+        }
+
+        __wfi();
+    }
+}

firmware/test.cpp

@@ -1,47 +1,11 @@
-#include "pico/stdlib.h"
+#include "dispatch.h"
-#include "tusb.h"
-#include "wire.h"
-#include "usb_cdc.h"
 #include "handlers.h"
-#include "net.h"
 
-static usb_cdc usb;
+static constexpr handler_entry handlers[] = {
+    {RequestPICOBOOT::ext_id, handle_picoboot},
+    {RequestInfo::ext_id, handle_info},
+};
 
 int main() {
-    tusb_init();
+    dispatch(handlers);
-    net_init();
-
-    static static_vector<uint8_t, 256> rx_buf;
-
-    while (true) {
-        tud_task();
-
-        usb.drain();
-
-        while (tud_cdc_available()) {
-            uint8_t byte;
-            if (tud_cdc_read(&byte, 1) != 1) break;
-
-            rx_buf.push_back(byte);
-
-            auto msg = try_decode(rx_buf);
-            if (!msg) {
-                if (rx_buf.full()) rx_buf.clear();
-                continue;
-            }
-
-            rx_buf.clear();
-
-            switch (msg->type_id) {
-            case RequestPICOBOOT::ext_id:
-                handle_picoboot(usb, msg->message_id);
-                break;
-            case RequestInfo::ext_id:
-                handle_info(usb, msg->message_id);
-                break;
-            }
-        }
-
-        __wfi();
-    }
 }

lib/picotool/picotool.go

@@ -6,25 +6,20 @@ import (
 	"time"
 )
 
-func WaitForBootsel(serial string, timeout time.Duration) error {
+func Load(uf2Path string, serial string, timeout time.Duration) error {
 	deadline := time.Now().Add(timeout)
-	for time.Now().Before(deadline) {
+	var out []byte
-		cmd := exec.Command("picotool", "info", "--ser", serial)
+	var err error
-		if err := cmd.Run(); err == nil {
+	for {
+		cmd := exec.Command("picotool", "load", uf2Path, "-x", "--ser", serial)
+		out, err = cmd.CombinedOutput()
+		if err == nil {
 			return nil
 		}
-		time.Sleep(100 * time.Millisecond)
+		if time.Now().After(deadline) {
+			return fmt.Errorf("picotool load: %w\n%s", err, out)
+		}
 	}
-	return fmt.Errorf("device %s not found in BOOTSEL after %v", serial, timeout)
-}
-
-func Load(uf2Path string, serial string) error {
-	cmd := exec.Command("picotool", "load", uf2Path, "-x", "--ser", serial)
-	out, err := cmd.CombinedOutput()
-	if err != nil {
-		return fmt.Errorf("picotool load: %w\n%s", err, out)
-	}
-	return nil
 }
 
 func Reboot(serial string) error {