pikasTech · lily-Robot · Aug 9, 2026
diff --git a/config/pikapython-capabilities.yaml b/config/pikapython-capabilities.yaml
@@ -333,6 +333,15 @@ profiles:
   hardware-control:
     roots: [binding.constants, binding.container-result, binding.mutable-buffer, binding.object-argument, binding.python-callable, builtin.container-construct, builtin.len, builtin.print, builtin.scalar-convert, call.defaults, call.keyword, call.reference, container.bytearray, container.dict, container.list, container.tuple, exception.finally, flow.loop, flow.pass, iter.builtin, iter.range, library.struct-basic, library.time-basic, literal.embedded-int, logic.short-circuit, machine.adc, machine.pin, machine.pwm, module.from-import, module.python, name.global, object.user-basic, op.augmented, op.bitwise, op.compare-basic, op.membership, op.numeric-basic, op.slice, op.subscript, runtime.frozen-program, runtime.gc, scope.global-statement, value.bool, value.bytes, value.float, value.none, value.string]
     syntaxLevel: 6
+  pico2:
+    roots: [binding.constants, binding.container-result, binding.mutable-buffer, binding.object-argument, binding.python-callable, builtin.container-construct, builtin.len, builtin.print, builtin.scalar-convert, call.defaults, call.keyword, call.reference, container.bytearray, container.dict, container.list, container.tuple, exception.finally, flow.loop, flow.pass, iter.builtin, iter.range, library.struct-basic, library.time-basic, literal.embedded-int, logic.short-circuit, machine.adc, machine.pin, machine.pwm, module.from-import, module.python, name.global, object.user-basic, op.augmented, op.bitwise, op.compare-basic, op.integer, op.membership, op.numeric-basic, op.slice, op.subscript, repl.auto-indent, runtime.frozen-program, runtime.gc, scope.global-statement, value.bool, value.bytes, value.float, value.none, value.string]
+    syntaxLevel: 6
+  pico2-full:
+    roots: [assignment.unpack, binding.constants, binding.container-argument, binding.container-result, binding.mutable-buffer, binding.object-argument, binding.object-result, binding.python-callable, builtin.container-construct, builtin.embedded, builtin.help, builtin.len, builtin.print, builtin.scalar-convert, builtin.type, call.defaults, call.keyword, call.reference, call.variadic, container.bytearray, container.dict, container.list, container.tuple, exception.finally, flow.pass, iter.builtin, iter.range, library.aes, library.base64, library.binascii, library.fuzzypid, library.hashlib, library.hmac, library.http-client, library.json, library.math, library.modbus-codec, library.mqtt-client, library.os-basic, library.random, library.socket-basic, library.struct-basic, library.time-basic, library.unittest-basic, library.zlib, literal.embedded-int, logic.short-circuit, machine.adc, machine.pin, machine.pwm, module.from-import, module.python, object.class, object.user-basic, op.augmented, op.bitwise, op.compare-basic, op.complete, op.float, op.integer, op.membership, op.numeric-basic, op.slice, op.subscript, protocol.text-network, repl.auto-indent, runtime.frozen-program, runtime.frozen-source, runtime.gc, scope.global-statement, value.bool, value.bytes, value.float, value.int, value.none, value.string]
+    resourceLimits:
+      frontend:
+        functionCount: 192
+    syntaxLevel: 6
   interactive-minimal:
     roots: [builtin.print, call.positional, flow.branch, name.global, op.integer, repl.auto-indent, runtime.frozen-program]
     syntaxLevel: 1

diff --git a/packages/fuzzypid/fuzzypid_module.c b/packages/fuzzypid/fuzzypid_module.c
@@ -81,8 +81,8 @@ typedef struct {
     int mf_parameters[PIKA_FUZZYPID_MF_PARAMETER_COUNT];
     PikaFuzzyPidState pids[PIKA_FUZZYPID_DOF_LIMIT];
     PikaFuzzyPidInference fuzzy[PIKA_FUZZYPID_DOF_LIMIT];
-    unsigned int mf_types[PIKA_FUZZYPID_DOF_LIMIT]
-                         [PIKA_FUZZYPID_MAX_MF_TYPES];
+    uint32_t mf_types[PIKA_FUZZYPID_DOF_LIMIT]
+                     [PIKA_FUZZYPID_MAX_MF_TYPES];
     float fuzzy_outputs[PIKA_FUZZYPID_DOF_LIMIT]
                        [PIKA_FUZZYPID_MAX_FUZZY_OUTPUTS];
     uint8_t directions[PIKA_FUZZYPID_DOF_LIMIT];

diff --git a/project-templates/pico2/CMakeLists.txt b/project-templates/pico2/CMakeLists.txt
@@ -0,0 +1,128 @@
+cmake_minimum_required(VERSION 3.19)
+
+# Prefer an explicit environment/cache override, then the user's standard
+# SDK location.
+if(NOT PICO_SDK_PATH AND DEFINED ENV{PICO_SDK_PATH})
+    set(PICO_SDK_PATH "$ENV{PICO_SDK_PATH}" CACHE PATH
+        "Path to the Raspberry Pi Pico SDK")
+endif()
+if(NOT PICO_SDK_PATH AND EXISTS "$ENV{HOME}/pico-sdk")
+    set(PICO_SDK_PATH "$ENV{HOME}/pico-sdk" CACHE PATH
+        "Path to the Raspberry Pi Pico SDK")
+endif()
+if(NOT PICO_SDK_PATH)
+    message(FATAL_ERROR
+        "Pico SDK was not found; set PICO_SDK_PATH or PICO_SDK_PATH environment variable")
+endif()
+
+set(PICO_BOARD pico2 CACHE STRING "Pico board")
+set(PICO_PLATFORM rp2350-arm-s CACHE STRING "Pico platform")
+set(PICO_STDIO_USB_CONNECT_WAIT_TIMEOUT_MS 0 CACHE STRING
+    "Do not block startup while waiting for a USB CDC host")
+
+include("${PICO_SDK_PATH}/external/pico_sdk_import.cmake")
+
+project(pikapython_pico2 C CXX ASM)
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+# The Pico SDK uses GNU inline assembly in its RP2350 runtime sources.
+set(CMAKE_C_EXTENSIONS ON)
+
+pico_sdk_init()
+
+set(PIKA_GENERATED_DIR "${CMAKE_SOURCE_DIR}/pikapython-generated")
+set(PIKA_SOURCE_MANIFEST "${PIKA_GENERATED_DIR}/source-manifest.json")
+if(NOT EXISTS "${PIKA_SOURCE_MANIFEST}")
+    message(FATAL_ERROR
+        "Missing pikapython-generated/source-manifest.json; run pikapython-cli build --prebuild-only first")
+endif()
+
+file(READ "${PIKA_SOURCE_MANIFEST}" PIKA_MANIFEST_JSON)
+string(JSON PIKA_SOURCE_COUNT LENGTH "${PIKA_MANIFEST_JSON}" sources)
+if(PIKA_SOURCE_COUNT EQUAL 0)
+    message(FATAL_ERROR "PikaPython source manifest contains no sources")
+endif()
+math(EXPR PIKA_SOURCE_LAST "${PIKA_SOURCE_COUNT} - 1")
+set(PIKA_SOURCES)
+foreach(PIKA_INDEX RANGE 0 ${PIKA_SOURCE_LAST})
+    string(JSON PIKA_RELATIVE_SOURCE GET
+        "${PIKA_MANIFEST_JSON}" sources ${PIKA_INDEX})
+    if(PIKA_RELATIVE_SOURCE STREQUAL "pikapython-packages/socket/platform_socket.c")
+        continue()
+    endif()
+    if(PIKA_RELATIVE_SOURCE MATCHES "/")
+        set(PIKA_SOURCE_PATH "${CMAKE_SOURCE_DIR}/${PIKA_RELATIVE_SOURCE}")
+    else()
+        set(PIKA_SOURCE_PATH "${PIKA_GENERATED_DIR}/${PIKA_RELATIVE_SOURCE}")
+    endif()
+    if(NOT EXISTS "${PIKA_SOURCE_PATH}")
+        message(FATAL_ERROR "PikaPython source is missing: ${PIKA_RELATIVE_SOURCE}")
+    endif()
+    list(APPEND PIKA_SOURCES "${PIKA_SOURCE_PATH}")
+endforeach()
+
+string(JSON PIKA_INCLUDE_COUNT LENGTH
+    "${PIKA_MANIFEST_JSON}" includeDirectories)
+set(PIKA_INCLUDE_DIRECTORIES)
+if(PIKA_INCLUDE_COUNT GREATER 0)
+    math(EXPR PIKA_INCLUDE_LAST "${PIKA_INCLUDE_COUNT} - 1")
+    foreach(PIKA_INDEX RANGE 0 ${PIKA_INCLUDE_LAST})
+        string(JSON PIKA_RELATIVE_INCLUDE GET
+            "${PIKA_MANIFEST_JSON}" includeDirectories ${PIKA_INDEX})
+        list(APPEND PIKA_INCLUDE_DIRECTORIES
+            "${CMAKE_SOURCE_DIR}/${PIKA_RELATIVE_INCLUDE}")
+    endforeach()
+endif()
+
+add_executable(pico2-firmware
+    firmware/main.c
+    firmware/platform.c
+    firmware/platform_socket.c
+    ${PIKA_SOURCES}
+)
+
+target_include_directories(pico2-firmware PRIVATE
+    firmware
+    ${PIKA_INCLUDE_DIRECTORIES}
+)
+
+target_compile_definitions(pico2-firmware PRIVATE
+    PIKA_FRONTEND_MODULE_LIMIT=32u
+    PIKA_FRONTEND_FUNCTION_LIMIT=128u
+    PIKA_FRONTEND_CLASS_LIMIT=16u
+    PIKA_FRONTEND_IDENTIFIER_BYTE_LIMIT=63u
+    PIKA_FRONTEND_SYMBOL_LIMIT=128u
+    PIKA_FRONTEND_PARAMETER_LIMIT=16u
+    PIKA_FRONTEND_ARGUMENT_LIMIT=16u
+    PIKA_FRONTEND_COLLECTION_ELEMENT_LIMIT=64u
+    PIKA_FRONTEND_EXCEPTION_HANDLER_LIMIT=16u
+    PIKA_RUNTIME_VALUE_LIMIT=64u
+    PIKA_REPL_MAX_LINE_BYTES=256u
+    PIKA_REPL_MAX_BLOCK_BYTES=4096u
+    PIKA_REPL_MAX_HISTORY_ENTRIES=8u
+    PIKA_REPL_MAX_HISTORY_BYTES=1024u
+    PIKA_REPL_MAX_CODE_BYTES=16384u
+    PIKA_REPL_MAX_OUTPUT_BYTES_PER_COMMAND=2048u
+    PIKA_REPL_MAX_TRACEBACK_FRAMES=8u
+)
+
+target_compile_options(pico2-firmware PRIVATE
+    -Wall
+    -Wextra
+    -ffunction-sections
+    -fdata-sections
+)
+
+target_link_libraries(pico2-firmware PRIVATE
+    pico_stdlib
+    hardware_adc
+    hardware_pwm
+)
+
+pico_enable_stdio_usb(pico2-firmware 1)
+pico_enable_stdio_uart(pico2-firmware 0)
+pico_set_program_name(pico2-firmware "PikaPython Pico 2")
+pico_set_program_description(pico2-firmware
+    "PikaPython v2 on Raspberry Pi Pico 2")
+pico_add_extra_outputs(pico2-firmware)
diff --git a/project-templates/pico2/README.md b/project-templates/pico2/README.md
@@ -0,0 +1,33 @@
+# Raspberry Pi Pico 2 ARM
+
+该模板面向 Raspberry Pi Pico 2（RP2350A、ARM Secure Cortex-M33），使用
+`~/pico-sdk` 中的 Pico SDK 2.3.0 或兼容版本构建。目标固定为
+`rp2350-arm-s`；USB CDC 是默认的 PikaPython 输出和 REPL 传输，
+`machine.Pin`、`machine.ADC` 和 `machine.PWM` 映射到 Pico SDK 的 GPIO、ADC 和 PWM。
+
+## 构建
+
+复制模板后执行：
+
+```bash
+pikapython-cli install
+pikapython-cli build --prebuild-only
+pikapython-cli build
+```
+
+如果 SDK 不在 `~/pico-sdk`，设置 `PICO_SDK_PATH` 或在 CMake 配置时传入
+`-DPICO_SDK_PATH=/absolute/path/to/pico-sdk`。构建输出位于
+`.pikapython/build/pico2/`，其中 `pico2-firmware.uf2` 可拖放到 Pico 2 的
+`RPI-RP2` 启动盘。
+
+首次启动后打开 USB CDC 串口即可看到 `main.py` 输出和 `>>>` 提示符。按 Ctrl-D
+结束 REPL；固件随后保持运行。
+
+## 支持边界
+
+- 固件架构：RP2350A ARM Secure Cortex-M33。*RISCV 并未提供支持*
+- SDK 后端：GPIO、ADC、PWM、时间、睡眠、临界区和 USB CDC。
+- PikaPython：默认使用 `pico2-full` capability，可安装模板列出的全部包。
+- 网络：socket、MQTT、HTTP 包可参与构建；Pico 2 本身没有网络控制器，网络操作
+  需要额外的 lwIP/外部网络硬件后端。
+- 输出：`.elf`、`.bin`、`.hex` 和 `.uf2` 均生成在 `.pikapython/build/pico2/`。
diff --git a/project-templates/pico2/firmware/main.c b/project-templates/pico2/firmware/main.c
@@ -0,0 +1,38 @@
+#include <string.h>
+
+#include "pico/stdlib.h"
+
+#include "pika_application.h"
+#include "pika_platform.h"
+#include "pikapython_modules.h"
+
+static void pika_pico2_fail(const char* message) {
+    (void)pika_platform_write(message, strlen(message));
+    for (;;) {
+        tight_loop_contents();
+    }
+}
+
+int main(void) {
+    PikaStatus status;
+
+    stdio_init_all();
+    status = pikaPythonInit();
+    if (status != PIKA_STATUS_OK) {
+        static const char message[] = "PikaPython init failed\r\n";
+        pika_pico2_fail(message);
+    }
+
+#if PIKA_REPL_ENABLE
+    status = pikaPythonRepl();
+    if (status != PIKA_STATUS_OK) {
+        static const char message[] = "PikaPython REPL failed\r\n";
+        pika_pico2_fail(message);
+    }
+#endif
+
+    pika_application_stop();
+    for (;;) {
+        tight_loop_contents();
+    }
+}