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Circle is a C++ bare metal programming environment for the Raspberry Pi. It should be usable on all existing models (tested on model A+, B, B+, on Raspberry Pi 2, 3, 4, 400 and on Raspberry Pi Zero), except on the Raspberry Pi Pico, which is not supported. Circle provides several ready-tested C++ classes and add-on libraries, which can be used to control different hardware features of the Raspberry Pi. Together with Circle there are delivered several sample programs, which demonstrate the use of its classes. Circle can be used to create 32-bit or 64-bit bare metal applications.
Circle includes bigger (optional) third-party C-libraries for specific purposes in addon/ now. This is the reason why GitHub rates the project as a C-language-project. The main Circle libraries are written in C++ using classes instead. That's why it is called a C++ programming environment.
This intermediate release supports the new Raspberry Pi Zero 2 W. Please download the updated recommended firmware in boot/ to be able to use it!
Tasks have a name now, which can be assigned using CTask::SetName() and is shown in the task list, which can be generated with CScheduler::ListTasks(). A task can be found with this name using CScheduler::GetTask() and can be suspended from running with CTask::Suspend() and reactivated later with CTask::Resume().
The I2S driver can be used via the P5 extension header on early Raspberry Pi models.
There are some new features in addon/:
- Driver for ST7789-based dot-matrix displays with SPI interface in addon/display/
- Experimental WLAN AP mode support for open networks with static IP addresses in addon/wlan/
- RAM loader for the Raspberry Pi Pico, which uses the SWD debug interface in addon/pico/
- MCP3004/3008 driver can return raw values in addon/sensor/
These fixes have been applied:
- The TCP sender did not set the PUSH flag under some circumstances, where it was necessary.
- When an synchronous xHCI USB transfer timed out, this might have lead to a failed assertion, when the next transfer starts.
- The DWHCI USB driver might have asserted, when a control message transfer failed before.
There is the new option usbignore= for the file cmdline.txt, which allows to explicitly ignore an USB device or interface in the USB device enumeration process, which is otherwise supported.
This release comes with new features, improvements and bug fixes. There is a new HDMI sound driver class CHDMISoundBaseDevice, which allows to generate HDMI sound without VCHIQ driver, which can be easier to integrate in an application. This is shown by the sample/29-miniorgan and sample/34-sounddevices. On the Raspberry Pi 4 only the connector HDMI0 is supported. The class CI2SSoundBaseDevice now supports the PCM5122 DAC.
A new class C2DGraphics has been added to the base library, which provides 2D drawing routines, which work without flickering or screen tearing. This is demonstrated in the sample/41-screenanimations.
The scheduler library has been improved and provides the new classes CMutex and CSemaphore. Multiple tasks can wait for a CSynchronzationEvent to be set now.
There is a new serial bootloader and flash tool (Flashy), which improves the download speed and reliability. Please see the second part of the file doc/bootloader.txt for more information! You can interrupt the download process with Ctrl-C now and start again, without resetting your Raspberry Pi. You should update your bootloader kernel image(s) on the SD card in any case. The old flash tool is still available.
Circle comes with a configure script now, which can be used to create the configuration file Config.mk easier. Please enter configure -h for a description of its options.
The C++ support has been improved. Now placement new operators and static objects inside of a function can be used. Furthermore the C++17 standard is optionally supported and can be enabled with the option --c++17 of configure, if you have a toolchain version, which supports it.
Further improvements:
- There is a new system option
NO_BUSY_WAIT. With this option enabled, the EMMC, SDHOST and USB drivers will not busy wait for the completion of synchronous transfers any more. This should improve system throughput and network latency, but requires the scheduler in the system. - The embedded MMC memory of the Compute Module 4 can be accessed, when the system option
USE_EMBEDDED_MMC_CM4has been defined. - The class
CTFTPFatFsFileServerwas added to addon/tftpfileserver to support TFTP access with the FatFs filesystem module. - The class
CDS18x20in addon/OneWire has been improved and is now part of the library, not of the sample as before. It determines the used power mode of the sensor automatically. - Functions for atomic memory access have been added to
<circle/atomic.h>.
Bug fixes:
- System timer IRQ handling may have stopped working after a while on the Raspberry Pi 1 and Zero before.
- xHCI USB controller did not work on some Raspberry Pi 4 models.
- Starting secondary cores 1-3 was not reliable.
- Access to USB mass-storage devices was not reliable on Raspberry Pi Model A+, 3A+ and Zero before.
- Add workaround for non-compliant low-speed USB devices with bulk endpoints.
- Suppress concurrent split IN/OUT requests on Raspberry Pi 1-3 and Zero in USB serial drivers.
- Enable serial FIFO in polling mode too.
- The screen size select-able in cmdline.txt was limited to 1920x1080 before.
- Semaphore implementation in addon/linux was not IRQ safe, but used from IRQ handler in VCHIQ driver.
- Allow received text segment in TCP state SYN-RECEIVED.
Don't forget to update the used firmware to the one downloadable in boot/!
Circle supports the following features:
| Group | Features |
|---|---|
| C++ build environment | AArch32 and AArch64 support |
| Basic library functions (e.g. new and delete) | |
| Enables all CPU caches using the MMU | |
| Interrupt support (IRQ and FIQ) | |
| Multi-core support (Raspberry Pi 2, 3 and 4) | |
| Cooperative non-preemtive scheduler | |
| CPU clock rate management | |
| Debug support | Kernel logging to screen, UART and/or syslog server |
| C-assertions with stack trace | |
| Hardware exception handler with stack trace | |
| GDB support using rpi_stub (Raspberry Pi 2 and 3) | |
| Serial bootloader (by David Welch) included | |
| Software profiling support (single-core) | |
| QEMU support | |
| SoC devices | GPIO pins (with interrupt, Act LED) and clocks |
| Frame buffer (screen driver with escape sequences) | |
| UART(s) (Polling and interrupt driver) | |
| System timer (with kernel timers) | |
| Platform DMA controller | |
| EMMC SD card interface driver | |
| SDHOST SD card interface driver (Raspberry Pi 1-3) | |
| PWM output (2 channels) | |
| PWM sound output (on headphone jack) | |
| I2C master(s) and slave | |
| SPI0 master (Polling and DMA driver) | |
| SPI1 auxiliary master (Polling) | |
| SPI3-6 masters of Raspberry Pi 4 (Polling) | |
| I2S sound output and input | |
| HDMI sound output (without VCHIQ) | |
| Hardware random number generator | |
| Watchdog device | |
| Official Raspberry Pi touch screen | |
| VCHIQ interface and audio service drivers | |
| BCM54213PE Gigabit Ethernet NIC of Raspberry Pi 4 | |
| Wireless LAN access (experimental) | |
| USB | Host controller interface (HCI) drivers |
| Standard hub driver (USB 2.0 only) | |
| HID class device drivers (keyboard, mouse, gamepad) | |
| Driver for on-board Ethernet device (SMSC951x) | |
| Driver for on-board Ethernet device (LAN7800) | |
| Driver for USB mass storage devices (bulk only) | |
| Drivers for different USB serial devices | |
| Audio class MIDI input support | |
| Touchscreen driver (digitizer mode) | |
| Printer driver | |
| File systems | Internal FAT driver (limited function) |
| FatFs driver (full function, by ChaN) | |
| TCP/IP networking | Protocols: ARP, IP, ICMP, UDP, TCP |
| Clients: DHCP, DNS, NTP, HTTP, Syslog, MQTT | |
| Servers: HTTP, TFTP | |
| BSD-like C++ socket API | |
| Graphics | OpenGL ES 1.1 and 2.0, OpenVG 1.1, EGL 1.4 |
| (not on Raspberry Pi 4) | |
| uGUI (by Achim Doebler) | |
| LVGL (by LVGL LLC) | |
| 2D graphics class in base library | |
| Not supported | Bluetooth |
| Camera | |
| USB device (gadget) mode | |
| USB isochronous transfers and audio |
For building 64-bit applications (AArch64) see the next section.
This describes building on PC Linux. See the file doc/windows-build.txt for information about building on Windows. If building for the Raspberry Pi 1 you need a toolchain for the ARM1176JZF core (with EABI support). For Raspberry Pi 2/3/4 you need a toolchain with Cortex-A7/-A53/-A72 support. A toolchain, which works for all of these, can be downloaded here. Circle has been tested with the version 10.3-2021.07 (gcc-arm-10.3-2021.07-x86_64-arm-none-eabi.tar.xz) from this website.
First edit the file Rules.mk and set the Raspberry Pi version (RASPPI, 1, 2, 3 or 4) and the PREFIX of your toolchain commands. Alternatively you can create a Config.mk file (which is ignored by git) and set the Raspberry Pi version and the PREFIX variable to the prefix of your compiler like this (don't forget the dash at the end):
RASPPI = 1
PREFIX = arm-none-eabi-
The following table gives support for selecting the right RASPPI value:
| RASPPI | Target | Models | Optimized for |
|---|---|---|---|
| 1 | kernel.img | A, B, A+, B+, Zero, (CM) | ARM1176JZF-S |
| 2 | kernel7.img | 2, 3, Zero 2, (CM3) | Cortex-A7 |
| 3 | kernel8-32.img | 3, Zero 2, (CM3) | Cortex-A53 |
| 4 | kernel7l.img | 4B, 400, CM4 | Cortex-A72 |
For a binary distribution you should do one build with RASPPI = 1, one with RASPPI = 2 and one build with RASPPI = 4 and include the created files kernel.img, kernel7.img and kernel7l.img. Optionally you can do a build with RASPPI = 3 and add the created file kernel8-32.img to provide an optimized version for the Raspberry Pi 3.
The configuration file Config.mk can be created using the configure tool too. Please enter ./configure -h for help on using it!
There are a number of configurable system options in the file include/circle/sysconfig.h. Please have a look into this file to learn, how you can configure Circle for your purposes. Some hardware configurations may require modifications to these options (e.g. using USB on the CM4).
Then go to the build root of Circle and do:
./makeall clean
./makeall
By default only the latest sample (with the highest number) is build. The ready build kernel.img file should be in its subdirectory of sample/. If you want to build another sample after makeall go to its subdirectory and do make.
You can also build Circle on the Raspberry Pi itself (set PREFIX = (empty)) on Raspbian but you need some method to put the kernel.img file onto the SD(HC) card. With an external USB card reader on model B+ or Raspberry Pi 2/3/4 model B (4 USB ports) this should be no problem.
Circle supports building 64-bit applications, which can be run on the Raspberry Pi 3 or 4. There are also Raspberry Pi 2 versions and the Raspberry Pi Zero 2, which are based on the BCM2837 SoC. These Raspberry Pi versions can be used too (with RASPPI = 3).
The recommended toolchain to build 64-bit applications with Circle can be downloaded here. Circle has been tested with the version 10.3-2021.07 (gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf.tar.xz) from this website.
There are distro-provided toolchains on certain Linux platforms (e.g. g++-aarch64-linux-gnu on Ubuntu or gcc-c++-aarch64-linux-gnu on Fedora), which may work with Circle and can be a quick way to use it, but you have to test this by yourself. If you encounter problems (e.g. no reaction at all, link failure with external library) using a distro-provided toolchain, please try the recommended toolchain (see above) first, before reporting an issue.
First edit the file Rules.mk and set the Raspberry Pi architecture (AARCH, 32 or 64) and the PREFIX64 of your toolchain commands. The RASPPI variable has to be set to 3 or 4 for AARCH = 64. Alternatively you can create a Config.mk file (which is ignored by git) and set the Raspberry Pi architecture and the PREFIX64 variable to the prefix of your compiler like this (don't forget the dash at the end):
AARCH = 64
RASPPI = 3
PREFIX64 = aarch64-none-elf-
The configuration file Config.mk can be created using the configure tool too. Please enter ./configure -h for help on using it!
Then go to the build root of Circle and do:
./makeall clean
./makeall
By default only the latest sample (with the highest number) is build. The ready build kernel8.img or kernel8-rpi4.img file should be in its subdirectory of sample/. If you want to build another sample after makeall go to its subdirectory and do make.
Copy the Raspberry Pi firmware (from boot/ directory, do make there to get them) files along with the kernel.img (from sample/ subdirectory) to a SD(HC) card with FAT file system. Put the SD(HC) card into the Raspberry Pi.
The config32.txt file, provided in the boot/ directory, is needed to enable FIQ use in 32-bit mode on the Raspberry Pi 4 and has to be copied to the SD card in this case (rename it to config.txt). Furthermore the additional file armstub7-rpi4.bin is required on the SD card then. Please see boot/README for information on how to build this file.
The config64.txt file, provided in the boot/ directory, is needed to enable 64-bit mode and has to be copied to the SD card in this case (rename it to config.txt). FIQ support for AArch64 on the Raspberry Pi 4 requires an additional file armstub8-rpi4.bin on the SD card. Please see boot/README for information on how to build this file.
- include: The common header files, most class headers are in the include/circle/ subdirectory.
- lib: The Circle class implementation and support files (other libraries are in subdirectories of lib/).
- sample: Several sample applications using Circle in different subdirectories. The main function is implemented in the CKernel class.
- addon: Contains contributed libraries and samples (has to be build manually).
- app: Place your own applications here. If you have own libraries put them into app/lib/.
- boot: Do make in this directory to get the Raspberry Pi firmware files required to boot.
- doc: Additional documentation files.
- test: Several test programs, which test different features of Circle.
- tools: Tools for building Circle and for using Circle more comfortable (e.g. a serial bootloader).
The following C++ classes were added to Circle:
Base library
- C2DGraphics: Software graphics library with VSync and hardware-accelerated double buffering
- CBcmWatchdog: Driver for the BCM2835 watchdog device
- CDMASoundBuffers: Concatenated DMA buffers to be used by sound device drivers
- CGenericLock: Locks a resource with or without scheduler
- CHDMISoundBaseDevice: Low level access to the HDMI sound device (without VCHIQ)
USB library
- CUSBTouchScreenDevice: Driver for USB HID-class touchscreens
Input library
- CRPiTouchScreen: Driver for the official Raspberry Pi touch screen
- CTouchScreenDevice: Generic touch screen interface device
Scheduler library
- CMutex: Provides a method to provide mutual exclusion (critical sections) across tasks
- CSemaphore: Implements a semaphore synchronization class
The available Circle classes are listed in the file doc/classes.txt. If you have Doxygen installed on your computer you can build a class documentation in doc/html/ using:
./makedoc
At the moment there are only a few classes described in detail for Doxygen.
- Standard library support
- Dynamic memory management and the "new" operator
- DMA buffer requirements
- Serial bootloader support
- Multi-core support
- USB plug-and-play
- Debugging support
- JTAG debugging
- QEMU support
- Eclipse IDE support
- About real-time applications
- cmdline.txt options
- Screen escape sequences
- Keyboard escape sequences
- Memory layout
- Known issues
Raspberry Pi is a trademark of the Raspberry Pi Foundation.
Linux is a trademark of Linus Torvalds.
PS3 and PS4 are registered trademarks of Sony Computer Entertainment Inc.
Windows, Xbox 360 and Xbox One are trademarks of the Microsoft group of companies.
Nintendo Switch is a trademark of Nintendo.
Khronos and OpenVG are trademarks of The Khronos Group Inc.
OpenGL ES is a trademark of Silicon Graphics Inc.
The micro:bit brand belongs to the Micro:bit Educational Foundation.
HDMI is a registered trademark of HDMI Licensing Administrator, Inc.