This is a summary of steps for using the Rapberry Pi Pico in VS Code using WSL on Windows. You should absolutely use the the Pico SDK docs as authoritative, but they cover a lot of ground. There are also a couple of things specific to WSL like using usbip to get your device into that enviornment if you want to debug.
When using the official SDK guide be aware the docs assume you are on a Rpi, so even on Linux you have to look out for a few things if you aren't on a Pi.
The steps here may work on Windows 10, they absolutely work on Windows 11.
In WSL Best to do this in ~/pico
cd ~
mkdir pico
cd pico
Get the SDK
git clone -b master --recursive https://github.com/raspberrypi/pico-sdk.git
Get the samples
git clone -b master https://github.com/raspberrypi/pico-examples.git
Install tools
sudo apt install cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential
Create an env variable for the SDK location. To have this last across sessions add this to the bottom of your .bashrc file.
export PICO_SDK_PATH=~/pico/pico-sdk
##Look at the blink sample in VS Code Start VS Code from WSL
cd pico-examples/
code .
You may get prompted to install WSL tools in VS Code the first time you do this, do it.
You will want to install the C++ extension pack if not already installed.
When prompted by VS Code to "pick a kit" you can choose unspecified. The CMake for the projects here will pick the correct compiler provided they are installed.
The code for blink is in the blink subfolder. IntelliSense should be working. Try going to the definition of the SDK include file, that isn't in your project but because the SDK variable was configured and used in the CMake project it is available to navigate to.
Next to the build icon chose a target, set it to blink.
Click build. Now you have your program.
Hold down bootsel on the pico and attach it.
This opens a drive folder that is the pico.
Select build\blink in vscode explorer, reveal in Explorer. This may take a moment.
Drag blink.uf2 to the Pi folder, the explorer window will disappear and now your program is running.
You can debug with VS Code if you have 2 picos, setup one to be the debug probe and the other the target. The next section covers how to set that up. This section presumes you have already done the steps in the next session, but you'll probably refernece this section more often.
Make sure you picoprobe is connected to WSL.
In an admin PowerShell window
usbipd list
Identify the busid of the picoprobe
usbipd wsl attach --busid=3-2
Install gdb that works for device.
sudo apt install gdb-multiarch
Go back to the example directory.
cd ~/pico/pico-examples
Copy the default debug configuration.
cp ide/vscode/launch-raspberrypi-swd.json .vscode/launch.json
code .
Install the Cortex-Debug extension if you haven't already.
Open .vccode/launch.json
Under config files change
"interface/raspberrypi-swd.cfg",
To
"interface/picoprobe.cfg",
Save the file.
Click Run and Debug, run Pico Debug.
When prompted for a launch target select blink.
It will break on entry to the program. You can now step, set breakpoints, etc.
You will need to setup openocd and picoprobe for debugging from VS Code.
Make sure these tools are installed in WSL
sudo apt install automake autoconf build-essential texinfo libtool libftdi-dev libusb-1.0-0- dev
Get the repo
cd ~/pico
git clone https://github.com/raspberrypi/openocd.git --branch rp2040 --depth=1 --no-single-branch
cd openocd
./bootstrap
./configure --enable-picoprobe
make -j4
sudo make install
Note that if you do other embedded stuff you probably do not want to install this. It is difficult to configure paths to use it if you don't though. So if you do install it to make it easier, if you need to remove it from this same directory run
sudo make uninstall
cd ~/pico
git clone https://github.com/raspberrypi/picoprobe.git
cd picoprobe/
code .
When prompted by VS Code to "pick a kit" you can choose unspecified.
Click build in the status bar.
Right click the build folder in the explorer and select reveal in explorer.
Hold down bootsel and connect the pico that is going to be the probe.
Drag picoprobe.uf2 to the drive folder of the pico that opened.
The picoprobe needs a driver.
Use Zadig per Pi instructions on Windows, yes drivers stink.
These are the official docs for connecting USB devices in WSL.
We will connect the picoprobe into WSL using usbip which requires some software in Windows.
In a PowerShell window:
winget install --interactive --exact dorssel.usbipd-win
In an admin PowerShell window
usbipd list
Identify the busid of the picoprobe
usbipd wsl attach --busid=3-2
In WSL you can validate it is now there with lsusb.
While you don't need drivers in WSL you do need to setup udev rules. This is so that openocd can be run as a regular user to access the hardware without sudo. This is important as VS Code shouldn't be run as sudo. Use these rules: openocd/60-openocd.rules. If you are an embedded dev using WSL or Linux that is the most comprehensive list I've ever seen of udev rules for debug probes.
In WSL:
cd ~
wget https://raw.githubusercontent.com/raspberrypi/openocd/rp2040/contrib/60-openocd.rules
sudo mv 60-openocd.rules /etc/udev/rules.d/
sudo service udev restart
udevadm control --reload
You may want to shutdown and restart WSL at this point to make sure the rules kickin.
Connect the target Refer to the Pico SDK docs for details.
