Pico Micro Mac (pico-umac)

v0.21 20 December 2024

This project embeds the umac Mac 128K emulator project into a Raspberry Pi Pico microcontroller. At long last, the worst Macintosh in a cheap, portable form factor!

It has features, many features, the best features:

Outputs VGA 640x480@60Hz, monochrome, using three resistors
USB HID keyboard and mouse
Read-only disc image in flash (your creations are ephemeral, like life itself)
Or, if you have a hard time letting go, support for rewritable disc storage on an SPI-attached SD card
Mac 128K by default, or you can make use of more of the Pico's memory and run as a Mac 208K
Since you now have more memory, you can splash out on more screen real-estate, and use 640x480 resolution!

Great features. It even doesn't hang at random! (Anymore.)

The Mac 208K was, of course, never a real machine. But, umac supports odd-sized memories, and more memory runs more things. A surprising amount of software runs on the 128K config, but if you need to run MacPaint specifically then you'll need to build both SD storage in addition to the Mac 208K config.

So anyway, you can build this project yourself for less than the cost of a beer! You'll need at least a RPi Pico board, a VGA monitor (or VGA-HDMI adapter), a USB mouse (and maybe a USB keyboard/hub), plus a couple of cheap components.

Build

Prerequisites/essentials

git submodules
- Clone the repo with --recursive, or git submodule update --init --recursive
Install/set up the Pico/RP2040 SDK

Build umac

Install and build umac first. It'll give you a preview of the fun to come, plus is required to generate a patched ROM image.

If you want to use a non-default memory size (i.e. >128K) you will need to build umac with a matching MEMSIZE build parameter, for example:

cd external/umac
make MEMSIZE=208

This is because umac is used to patch the ROM, and when using unsupported sizes between 128K and 512K the RAM size can't be probed automatically, so the size needs to be embedded.

This is also the case for altering the video resolution, because the ROM must be patched for this. Build umac with DISP_WIDTH=640 DISP_HEIGHT=480 when you intend to use the USE_VGA_RES option. For example:

cd external/umac
make MEMSIZE=208 DISP_WIDTH=640 DISP_HEIGHT=480

Build pico-umac

Do the initial Pico SDK cmake setup into an out-of-tree build dir, providing config options if required.

From the top-level pico-umac directory:

mkdir build
(cd build ; PICO_SDK_PATH=/path/to/sdk cmake .. <options>)

Options are required if you want SD support, more than the default 128K of memory, higher resolution, to change pin configs, etc.:

-DUSE_SD=true: Include SD card support. The GPIOs default to spi0 running at 5MHz, and GPIOs 2,3,4,5 for SCK/TX/RX/CS respectively. These can be overridden for your board/setup:
- -DSD_TX=<gpio pin>
- -DSD_RX=<gpio pin>
- -DSD_SCK=<gpio pin>
- -DSD_CS=<gpio pin>
- -DSD_MHZ=<integer speed in MHz>
-DMEMSIZE=<size in KB>: The maximum practical size is about 208KB, but values between 128 and 208 should work on a RP2040. Note that although apps and Mac OS seem to gracefully detect free memory, these products never existed and some apps might behave strangely.
- With the Mac Plus ROM, a Mac 128K doesn't quite have enough memory to run MacPaint. So, 192 or 208 (and a writeable boot volume on SD) will allow MacPaint to run.
- NOTE: When this option is used, the ROM image must be built with an umac build with a corresponding MEMSIZE
-DUSE_VGA_RES=1: Use 640x480 screen resolution instead of the native 512x342. This uses an additional 16KB of RAM, so this option makes a Mac 128K configuration virtually unusable. It is recommended only to use this when configuring >208K using the option above.
-DVIDEO_PIN=<GPIO pin>: Move the video output pins; defaults to the pinout shown below.

Tip: cmake caches these variables, so if you see weird behaviour having built previously and then changed an option, delete the build directory and start again.

ROM image

The flow is to use umac built on your workstation (e.g. Linux, but WSL may work too) to prepare a patched ROM image.

umac is passed the 4D1F8172 MacPlusv3 ROM, and -W to write the post-patching binary out:

./external/umac/main -r '4D1F8172 - MacPlus v3.ROM' -W rom.bin

Note: Again, remember that if you are using the -DMEMSIZE option to increase the pico-umac memory, or the -DUSE_VGA_RES option to increase the pico-umac screen resolution, you will need to create this ROM image with a umac built with the corresponding MEMSIZE/DISP_WIDTH/DISP_HEIGHT options, as above.

Disc image

If you don't build SD support, an internal read-only disc image is stored in flash. If you do build SD support, you have the option to still include an image in flash, and this is used as a fallback if SD boot fails.

Grab a Macintosh system disc from somewhere. A 400K or 800K floppy image works just fine, up to System 3.2 (the last version to support Mac128Ks). I've used images from https://winworldpc.com/product/mac-os-0-6/system-3x but also check the various forums and MacintoshRepository. See the umac README for info on formats (it needs to be raw data without header).

The image size can be whatever you have space for in flash (typically about 1.3MB is free there), or on the SD card. (I don't know what the HFS limits are. But if you make a 50MB disc you're unlikely to fill it with software that actually works on the Mac 128K :) )

If using an SD card, use a FAT-formatted card and copy your disc image into one of the following files in the root of the card:

umac0.img: A normal read/write disc image
umac0ro.img: A read-only disc image

Putting it together, and building

Given the rom.bin prepared above and a disc.bin destinated for flash, you can now generate includes from them and perform the build:

mkdir incbin
xxd -i < rom.bin > incbin/umac-rom.h

# When using an internal disc image:
xxd -i < disc.bin > incbin/umac-disc.h
# OR, if using SD and if you do _not_ want an internal image:
echo > incbin/umac-disc.h

make -C build

You'll get a build/firmware.uf2 out the other end. Flash this to your Pico: e.g. plug it in with button held/drag/drop. (When iterating/testing during development, unplugging the OTG cable each time is a pain – I ended up moving to SWD probe programming.)

The LED should flash at about 2Hz once powered up.

Hardware contruction

It's a simple circuit in terms of having few components: just the Pico, with three series resistors and a VGA connection, and DC power. However, if you're not comfortable soldering then don't choose this as your first project: I don't want you to zap your mouse, keyboard, monitor, SD cards...

Disclaimer: This is a hardware project with zero warranty. All due care has been taken in design/docs, but if you choose to build it then I disclaim any responsibility for your hardware or personal safety.

With that out of the way...

Theory of operation

Three 3.3V GPIO pins are driven by PIO to give VSYNC, HSYNC, and video out signals.

The syncs are in many similar projects driven directly from GPIO, but here I suggest a 66Ω series resistor on each in order to keep the voltages at the VGA end (presumably into 75Ω termination?) in the correct range.

For the video output, one GPIO drives R,G,B channels for mono/white output. A 100Ω resistor gives roughly 0.7V (max intensity) into 3*75Ω signals.

That's it... power in, USB adapter.

Pinout and circuit

Parts needed:

Pico/RP2040 board
USB OTG micro-B to A adapter
USB keyboard, mouse (and hub, if not integrated)
5V DC supply (600mA+), and maybe a DC jack
100Ω resistor
2x 66Ω resistors
VGA DB15 connector, or janky chopped VGA cable
(optional) SD card breakout, SD card

If you want to get fancy with an SD card, you will need some kind of SD card SPI breakout adapter. (There are a lot of these around, but many seem to have a buffer/level-converter for 5V operation. Find one without, or modify your adapter for a 3.3V supply. Doing so, and finding an SD card that works well with SPI is out of scope of this doc.)

Pins are given for a RPi Pico board, but this will work on any RP2040 board with 2MB+ flash as long as all required GPIOs are pinned out:

GPIO/pin	Pico pin	Usage
GP0	1	UART0 TX
GP1	2	UART0 RX
GP18	24	Video output %
GP19	25	VSYNC
GP21	27	HSYNC
Gnd	23, 28	Video ground
VBUS (5V)	40	+5V supply
Gnd	38	Supply ground

%: The video pins default here, but can be moved by building with the -DVIDEO_PIN option. This sets the position of the Video pin, which is immediately followed by VSYNC, then a gap, then HSYNC. For example, -DVIDEO_PIN=20 configures the Video pin at 20, VSYNC at 21, HSYNC at 23.

Method:

Wire 5V supply to VBUS/Gnd
Video output --> 100Ω --> VGA RGB (pins 1,2,3) all connected together
HSYNC --> 66Ω --> VGA pin 13
VSYNC --> 66Ω --> VGA pin 14
Video ground --> VGA grounds (pins 5-8, 10)

If you don't have exactly 100Ω, using slightly more is OK but display will be dimmer. If you don't have 66Ω for the syncs, connecting them directly is "probably OK", but YMMV.

If you are including an SD card, the default pinout is as follows (this can be changed at build time, above):

GPIO/pin	Pico pin	Usage
GP2	4	SPI0 SCK
GP3	5	SPI0 TX (MOSI)
GP4	6	SPI0 RX (MISO)
GP5	7	SPI0 /CS

(The SD card needs a good ground, e.g. Pico pin 8 nearby, and 3.3V supply from Pico pin 36.)

If your SD breakout board is "raw", i.e. has no buffer or series resistors on-board, you may find adding a 66Ω resistor in series on all of the four signal lines will help. Supply decoupling caps will also be important (e.g. 1uF+0.1uF) to keep the SD card happy. Keep SD card wiring short. The default SPI clock (5MHz) is conservative/slow, but I suggest verifying the circuit/SD card works before increasing it.

Test your connections: the key part is not getting over 0.7V into your VGA connector's signals, or shorting SD card pins.

Connect USB mouse, and keyboard if you like, and power up.

Software

Both CPU cores are used, and are overclocked (blush) to 250MHz so that Missile Command is enjoyable to play.

The umac emulator and video output runs on core 1, and core 0 deals with USB HID input. Video DMA is initialised pointing to the framebuffer in the Mac's RAM.

Other than that, it's just a main loop in main.c shuffling things into umac.

Quite a lot of optimisation has been done in umac and Musashi to get performance up on Cortex-M0+ and the RP2040, like careful location of certain routines in RAM, ensuring inlining/constants can be foldeed, etc. It's 5x faster than it was at the beginning.

The top-level project might be a useful framework for other emulators, or other projects that need USB HID input and a framebuffer (e.g. a VT220 emulator!).

The USB HID code is largely stolen from the TinyUSB example, but shows how in practice you might capture keypresses/deal with mouse events.

Video

The video system is pretty good and IMHO worth stealing for other projects: It uses one PIO state machine and 3 DMA channels to provide a rock-solid bitmapped 1BPP 640x480 video output. The Mac 512x342 framebuffer is centred inside this by using horizontal blanking regions (programmed into the line scan-out) and vertical blanking areas from a dummy "always black" mini-framebuffer.

It supports (at build time) flexible resolutions/timings. The one caveat (or advantage?) is that it uses an HSYNC IRQ routine to recalculate the next DMA buffer pointer; doing this at scan-time costs about 1% of the CPU time (on core 1). However, it could be used to generate video on-the-fly from characters/tiles without a true framebuffer.

I'm considering improvements to the video system:

Supporting multiple BPP/colour output
Implement the rest of DE/display valid strobe support, making driving LCDs possible.
Using a video DMA address list and another DMA channel to reduce the IRQ frequency (CPU overhead) to per-frame, at the cost of a couple of KB of RAM.

Licence

hid.c and tusb_config.h are based on code from the TinyUSB project, which is Copyright (c) 2019, 2021 Ha Thach (tinyusb.org) and released under the MIT licence. sd_hw_config.c is based on code from the no-OS-FatFS-SD-SPI-RPi-Pico project, which is Copyright (c) 2021 Carl John Kugler III.

The remainder of the code is released under the MIT licence:

Copyright (c) 2024 Matt Evans:

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

evansm7/pico-mac

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