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boards: Add initial support for the Raspberry Pi Pico 2
The Raspberry Pi Pico 2 is Raspberry Pi's first board fitted with their RP2350A SoC. This adds a minimal board definition, sufficient to build and run `samples/hello_world` and `samples/basic/blinky` on the board. Images can be run on the target using OpenOCD. Raspberry Pi's `picotool` can create a UF2 binary, which ensures that errata RP2350-E10 is avoided e.g. ``` > picotool uf2 convert build\rpi_pico2\hello_world\zephyr\zephyr.elf \ build\rpi_pico2\hello_world\zephyr\zephyr.uf2 \ --family rp2350-arm-s --abs-block` ``` Raspberry Pi Pico 2 is a low-cost, high-performance microcontroller board with flexible digital interfaces. Key features include: - RP2350A microcontroller chip designed by Raspberry Pi in the United Kingdom - Dual Cortex-M33 or Hazard3 processors at up to 150MHz - 520KB of SRAM, and 4MB of on-board flash memory - USB 1.1 with device and host support - Low-power sleep and dormant modes - Drag-and-drop programming using mass storage over USB - 26x multi-function GPIO pins including 3 that can be used for ADC - 2x SPI, 2x I2C, 2x UART, 3x 12-bit 500ksps Analogue to Digital Converter (ADC), 24x controllable PWM channels - 2x Timer with 4 alarms, 1x AON Timer - Temperature sensor - 3x Programmable IO (PIO) blocks, 12 state machines total for custom peripheral support - Flexible, user-programmable high-speed IO - Can emulate interfaces such as SD Card and VGA The Raspberry Pi Pico 2 comes as a castellated module which allows soldering direct to carrier boards. Only enable timer 0 for now. Timer 1 won't work correctly until the rpi_pico HAL has picked up the fix for `hardware_alarm_irq_handler`. See raspberrypi/pico-sdk#1949 . Added some documentation for the board itself (mostly aiming to refer to canonical sources of information rather duplicate). Add entries in the release notes where applicable. boards/raspberrypi/rpi_pico2/doc/img/rpi_pico2.webp is a cropped and compressed version of https://www.raspberrypi.com/documentation/microcontrollers/images/pico-2.png which is released under the CC-BY-SA-4.0 license. See https://github.com/raspberrypi/documentation/blob/develop/LICENSE.md Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com> Signed-off-by: Benjamin Cabé <benjamin@zephyrproject.org>
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‎boards/raspberrypi/common/rpi_pico-led.dtsi

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/*
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* Copyright (c) 2021 Yonatan Schachter
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/* Pico and Pico 2 boards (but not Pico W) have a common LED placement. */
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/ {
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leds {
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compatible = "gpio-leds";
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led0: led_0 {
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gpios = <&gpio0 25 GPIO_ACTIVE_HIGH>;
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label = "LED";
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};
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};
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pwm_leds {
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compatible = "pwm-leds";
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status = "disabled";
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pwm_led0: pwm_led_0 {
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pwms = <&pwm 9 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
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label = "PWM_LED";
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};
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};
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aliases {
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led0 = &led0;
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pwm-led0 = &pwm_led0;
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};
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};

‎boards/raspberrypi/common/rpi_pico-pinctrl-common.dtsi

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/*
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* Copyright (c) 2021, Yonatan Schachter
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* SPDX-License-Identifier: Apache-2.0
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*/
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/* The Pico and Pico 2 are pin compatible. */
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&pinctrl {
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uart0_default: uart0_default {
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group1 {
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pinmux = <UART0_TX_P0>;
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};
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group2 {
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pinmux = <UART0_RX_P1>;
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input-enable;
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};
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};
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i2c0_default: i2c0_default {
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group1 {
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pinmux = <I2C0_SDA_P4>, <I2C0_SCL_P5>;
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input-enable;
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input-schmitt-enable;
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};
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};
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i2c1_default: i2c1_default {
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group1 {
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pinmux = <I2C1_SDA_P6>, <I2C1_SCL_P7>;
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input-enable;
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input-schmitt-enable;
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};
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};
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spi0_default: spi0_default {
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group1 {
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pinmux = <SPI0_CSN_P17>, <SPI0_SCK_P18>, <SPI0_TX_P19>;
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};
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group2 {
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pinmux = <SPI0_RX_P16>;
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input-enable;
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};
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};
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pwm_ch4b_default: pwm_ch4b_default {
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group1 {
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pinmux = <PWM_4B_P25>;
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};
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};
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adc_default: adc_default {
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group1 {
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pinmux = <ADC_CH0_P26>, <ADC_CH1_P27>, <ADC_CH2_P28>, <ADC_CH3_P29>;
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input-enable;
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};
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};
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};

‎boards/raspberrypi/rpi_pico/doc/index.rst

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- :kconfig:option:`CONFIG_SPI`
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- :dtcompatible:`raspberrypi,pico-spi-pio`
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.. _rpi_pico_pin_mapping:
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Pin Mapping
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===========
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‎boards/raspberrypi/rpi_pico/rpi_pico-pinctrl.dtsi

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#include <zephyr/dt-bindings/pinctrl/rpi-pico-rp2040-pinctrl.h>
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&pinctrl {
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uart0_default: uart0_default {
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group1 {
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pinmux = <UART0_TX_P0>;
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};
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group2 {
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pinmux = <UART0_RX_P1>;
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input-enable;
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};
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};
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i2c0_default: i2c0_default {
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group1 {
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pinmux = <I2C0_SDA_P4>, <I2C0_SCL_P5>;
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input-enable;
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input-schmitt-enable;
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};
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};
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i2c1_default: i2c1_default {
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group1 {
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pinmux = <I2C1_SDA_P6>, <I2C1_SCL_P7>;
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input-enable;
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input-schmitt-enable;
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};
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};
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spi0_default: spi0_default {
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group1 {
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pinmux = <SPI0_CSN_P17>, <SPI0_SCK_P18>, <SPI0_TX_P19>;
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};
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group2 {
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pinmux = <SPI0_RX_P16>;
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input-enable;
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};
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};
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pwm_ch4b_default: pwm_ch4b_default {
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group1 {
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pinmux = <PWM_4B_P25>;
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};
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};
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adc_default: adc_default {
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group1 {
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pinmux = <ADC_CH0_P26>, <ADC_CH1_P27>, <ADC_CH2_P28>, <ADC_CH3_P29>;
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input-enable;
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};
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};
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};
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#include "../common/rpi_pico-pinctrl-common.dtsi"

‎boards/raspberrypi/rpi_pico/rpi_pico.dts

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/dts-v1/;
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#include "rpi_pico-common.dtsi"
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/ {
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leds {
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compatible = "gpio-leds";
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led0: led_0 {
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gpios = <&gpio0 25 GPIO_ACTIVE_HIGH>;
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label = "LED";
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};
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};
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pwm_leds {
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compatible = "pwm-leds";
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status = "disabled";
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pwm_led0: pwm_led_0 {
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pwms = <&pwm 9 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
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label = "PWM_LED";
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};
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};
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aliases {
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led0 = &led0;
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pwm-led0 = &pwm_led0;
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};
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};
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#include "../common/rpi_pico-led.dtsi"

‎boards/raspberrypi/rpi_pico2/Kconfig.defconfig

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# Copyright (c) 2024 Andrew Featherstone
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# SPDX-License-Identifier: Apache-2.0
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if BOARD_RPI_PICO2
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config USB_SELF_POWERED
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default n
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endif # BOARD_RPI_PICO2

‎boards/raspberrypi/rpi_pico2/Kconfig.rpi_pico2

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# Copyright (c) 2024 Andrew Featherstone
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# SPDX-License-Identifier: Apache-2.0
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config BOARD_RPI_PICO2
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select SOC_RP2350A_M33 if BOARD_RPI_PICO2_RP2350A_M33

‎boards/raspberrypi/rpi_pico2/board.yml

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board:
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name: rpi_pico2
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full_name: Raspberry Pi Pico 2
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vendor: raspberrypi
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socs:
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- name: rp2350a

‎boards/raspberrypi/rpi_pico2/doc/img/rpi_pico2.webp

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‎boards/raspberrypi/rpi_pico2/doc/index.rst

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.. zephyr:board:: rpi_pico2
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Overview
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********
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The Raspberry Pi Pico 2 is the second-generation product in the Raspberry Pi
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Pico family. From the `Raspberry Pi website <https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html>`_ is referred to as Pico 2.
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There are many limitations of the board currently. Including but not limited to:
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- The Zephyr build only supports configuring the RP2350A with the Cortex-M33 cores.
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- As with the Pico 1, there's no support for running any code on the second core.
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Hardware
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********
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- Dual Cortex-M33 or Hazard3 processors at up to 150MHz
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- 520KB of SRAM, and 4MB of on-board flash memory
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- USB 1.1 with device and host support
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- Low-power sleep and dormant modes
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- Drag-and-drop programming using mass storage over USB
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- 26 multi-function GPIO pins including 3 that can be used for ADC
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- 2 SPI, 2 I2C, 2 UART, 3 12-bit 500ksps Analogue to Digital - Converter (ADC), 24 controllable PWM channels
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- 2 Timer with 4 alarms, 1 AON Timer
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- Temperature sensor
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- 3 Programmable IO (PIO) blocks, 12 state machines total for custom peripheral support
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- Flexible, user-programmable high-speed IO
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- Can emulate interfaces such as SD Card and VGA
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Supported Features
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==================
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The ``rpi_pico2/rp2350a/m33`` board target supports the following
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hardware features:
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.. list-table::
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:header-rows: 1
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* - Peripheral
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- Kconfig option
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- Devicetree compatible
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* - NVIC
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- N/A
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- :dtcompatible:`arm,v8m-nvic`
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* - ADC
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- :kconfig:option:`CONFIG_ADC`
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- :dtcompatible:`raspberrypi,pico-adc`
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* - Clock controller
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- :kconfig:option:`CONFIG_CLOCK_CONTROL`
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- :dtcompatible:`raspberrypi,pico-clock-controller`
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* - Counter
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- :kconfig:option:`CONFIG_COUNTER`
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- :dtcompatible:`raspberrypi,pico-timer`
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* - GPIO
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- :kconfig:option:`CONFIG_GPIO`
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- :dtcompatible:`raspberrypi,pico-gpio`
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* - HWINFO
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- :kconfig:option:`CONFIG_HWINFO`
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- N/A
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* - I2C
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- :kconfig:option:`CONFIG_I2C`
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- :dtcompatible:`snps,designware-i2c`
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* - PWM
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- :kconfig:option:`CONFIG_PWM`
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- :dtcompatible:`raspberrypi,pico-pwm`
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* - SPI
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- :kconfig:option:`CONFIG_SPI`
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- :dtcompatible:`raspberrypi,pico-spi`
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* - UART
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- :kconfig:option:`CONFIG_SERIAL`
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- :dtcompatible:`raspberrypi,pico-uart`
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Connections and IOs
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===================
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The default pin mapping is unchanged from the Pico 1 (see :ref:`rpi_pico_pin_mapping`).
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Programming and Debugging
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*************************
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As with the Pico 1, the SWD interface can be used to program and debug the
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device, e.g. using OpenOCD with the `Raspberry Pi Debug Probe <https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html>`_ .
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References
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**********
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.. target-notes::

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