From 8c2c5a1ff713fe9e2c70748174e92208bda68bae Mon Sep 17 00:00:00 2001
From: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
Date: Mon, 18 Nov 2024 15:47:05 +0900
Subject: [PATCH 1/3] drivers: gpio: rpi_pico: Add support for RP2350B

As the RP2350B has more than 32 GPIO pins,
we changed the configuration so that it is split into two ports.

To do this, we created a `raspberrypi,pico-gpio-port` node and
moved the previous `raspberrypi,pico-gpio-port` functions to it.

This became a child node of `raspberrypi,pico-gpio-port`, and
`raspberrypi,pico-gpio-port` will remain a gpio mapper.

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
---
 boards/raspberrypi/rpi_pico2/rpi_pico2.dtsi   |   2 +-
 doc/releases/migration-guide-4.2.rst          |  12 +
 drivers/gpio/Kconfig.rpi_pico                 |   2 +-
 drivers/gpio/gpio_rpi_pico.c                  | 259 +++++++++++++-----
 dts/arm/raspberrypi/rpi_pico/rp2040.dtsi      |  21 +-
 dts/arm/raspberrypi/rpi_pico/rp2350.dtsi      |  29 +-
 .../gpio/raspberrypi,pico-gpio-port.yaml      |  19 ++
 dts/bindings/gpio/raspberrypi,pico-gpio.yaml  |  15 +-
 8 files changed, 275 insertions(+), 84 deletions(-)
 create mode 100644 dts/bindings/gpio/raspberrypi,pico-gpio-port.yaml

diff --git a/boards/raspberrypi/rpi_pico2/rpi_pico2.dtsi b/boards/raspberrypi/rpi_pico2/rpi_pico2.dtsi
index 9c61122ee37c..522413c94f1a 100644
--- a/boards/raspberrypi/rpi_pico2/rpi_pico2.dtsi
+++ b/boards/raspberrypi/rpi_pico2/rpi_pico2.dtsi
@@ -97,7 +97,7 @@
 	pinctrl-names = "default";
 };
 
-&gpio0 {
+gpio0_lo: &gpio0 {
 	status = "okay";
 };
 
diff --git a/doc/releases/migration-guide-4.2.rst b/doc/releases/migration-guide-4.2.rst
index fbd8d34ede52..d21d352ec35b 100644
--- a/doc/releases/migration-guide-4.2.rst
+++ b/doc/releases/migration-guide-4.2.rst
@@ -35,9 +35,21 @@ Boards
 Device Drivers and Devicetree
 *****************************
 
+Ethernet
+========
+
 * Removed Kconfig option ``ETH_STM32_HAL_MII`` (:github:`86074`).
   PHY interface type is now selected via the ``phy-connection-type`` property in the device tree.
 
+GPIO
+====
+
+* To support the RP2350B, which has many pins, the RaspberryPi-GPIO configuration has
+  been changed. The previous role of :dtcompatible:`raspberrypi,rpi-gpio` has been migrated to
+  :dtcompatible:`raspberrypi,rpi-gpio-port`, and :dtcompatible:`raspberrypi,rpi-gpio` is
+  now left as a placeholder and mapper.
+  The labels have also been changed along, so no changes are necessary for regular use.
+
 Bluetooth
 *********
 
diff --git a/drivers/gpio/Kconfig.rpi_pico b/drivers/gpio/Kconfig.rpi_pico
index 64370be497c0..8d75fea44729 100644
--- a/drivers/gpio/Kconfig.rpi_pico
+++ b/drivers/gpio/Kconfig.rpi_pico
@@ -3,7 +3,7 @@
 
 config GPIO_RPI_PICO
 	default y
-	depends on DT_HAS_RASPBERRYPI_PICO_GPIO_ENABLED
+	depends on DT_HAS_RASPBERRYPI_PICO_GPIO_PORT_ENABLED
 	select PICOSDK_USE_GPIO
 	select PINCTRL
 	bool "Raspberry Pi Pico GPIO driver"
diff --git a/drivers/gpio/gpio_rpi_pico.c b/drivers/gpio/gpio_rpi_pico.c
index 2e2e592eee82..198820f9244e 100644
--- a/drivers/gpio/gpio_rpi_pico.c
+++ b/drivers/gpio/gpio_rpi_pico.c
@@ -16,28 +16,115 @@
 
 #include <zephyr/drivers/gpio/gpio_utils.h>
 
-#define DT_DRV_COMPAT raspberrypi_pico_gpio
+#define DT_DRV_COMPAT raspberrypi_pico_gpio_port
 
 #define ALL_EVENTS (GPIO_IRQ_EDGE_FALL | GPIO_IRQ_EDGE_RISE \
 		| GPIO_IRQ_LEVEL_LOW | GPIO_IRQ_LEVEL_HIGH)
 
+#define GPIO_RPI_PINS_PER_PORT 32
+
+#define ADDR_IS_ZERO(n, x)     (DT_INST_REG_ADDR(n) == 0) |
+#define ADDR_IS_NON_ZERO(n, x) (DT_INST_REG_ADDR(n) != 0) |
+#define GPIO_RPI_LO_AVAILABLE  (DT_INST_FOREACH_STATUS_OKAY_VARGS(ADDR_IS_ZERO) 0)
+#define GPIO_RPI_HI_AVAILABLE  (DT_INST_FOREACH_STATUS_OKAY_VARGS(ADDR_IS_NON_ZERO) 0)
+
+#if GPIO_RPI_HI_AVAILABLE
+#define PORT_NO(port) ((((struct gpio_rpi_config *)port->config)->high_dev != NULL) ? 0 : 1)
+#else
+#define PORT_NO(port) ((int)port & 0) /* generate zero and suppress unused warning */
+#endif
+
 struct gpio_rpi_config {
 	struct gpio_driver_config common;
 	void (*bank_config_func)(void);
+#if GPIO_RPI_HI_AVAILABLE
+	const struct device *high_dev;
+#endif
 };
 
 struct gpio_rpi_data {
 	struct gpio_driver_data common;
 	sys_slist_t callbacks;
-	uint32_t int_enabled_mask;
 	uint32_t single_ended_mask;
 	uint32_t open_drain_mask;
 };
 
+static inline void gpio_set_dir_out_masked_n(uint n, uint32_t mask)
+{
+	if (!n) {
+		gpio_set_dir_out_masked(mask);
+	} else if (n == 1) {
+#if PICO_USE_GPIO_COPROCESSOR
+		gpioc_hi_oe_set(mask);
+#else
+		sio_hw->gpio_hi_oe_set = mask;
+#endif
+	}
+}
+
+static inline void gpio_set_dir_in_masked_n(uint n, uint32_t mask)
+{
+	if (!n) {
+		gpio_set_dir_in_masked(mask);
+	} else if (n == 1) {
+#if PICO_USE_GPIO_COPROCESSOR
+		gpioc_hi_oe_clr(mask);
+#else
+		sio_hw->gpio_hi_oe_clr = mask;
+#endif
+	}
+}
+
+static inline void gpio_set_dir_masked_n(uint n, uint32_t mask, uint32_t value)
+{
+	if (!n) {
+		gpio_set_dir_masked(mask, value);
+	} else if (n == 1) {
+#if PICO_USE_GPIO_COPROCESSOR
+		gpioc_hi_oe_xor((gpioc_hi_oe_get() ^ value) & mask);
+#else
+		sio_hw->gpio_oe_togl = (sio_hw->gpio_hi_oe ^ value) & mask;
+#endif
+	}
+}
+
+static inline uint32_t gpio_get_all_n(uint n)
+{
+	if (!n) {
+		return gpio_get_all();
+	} else if (n == 1) {
+#if PICO_USE_GPIO_COPROCESSOR
+		return gpioc_hi_in_get();
+#else
+		return sio_hw->gpio_hi_in;
+#endif
+	}
+
+	return 0;
+}
+
+static inline void gpio_toggle_dir_masked_n(uint n, uint32_t mask)
+{
+	if (!n) {
+#if PICO_USE_GPIO_COPROCESSOR
+		gpioc_lo_oe_xor(mask);
+#else
+		sio_hw->gpio_oe_togl = mask;
+#endif
+	} else if (n == 1) {
+#if PICO_USE_GPIO_COPROCESSOR
+		gpioc_hi_oe_xor(mask);
+#else
+		sio_hw->gpio_hi_oe_togl = mask;
+#endif
+	}
+}
+
 static int gpio_rpi_configure(const struct device *dev,
 				gpio_pin_t pin,
 				gpio_flags_t flags)
 {
+	const int offset = GPIO_RPI_PINS_PER_PORT * PORT_NO(dev);
 	struct gpio_rpi_data *data = dev->data;
 
 	if (flags == GPIO_DISCONNECTED) {
@@ -51,17 +138,15 @@ static int gpio_rpi_configure(const struct device *dev,
 		return 0;
 	}
 
-	gpio_set_pulls(pin,
-		(flags & GPIO_PULL_UP) != 0U,
-		(flags & GPIO_PULL_DOWN) != 0U);
+	gpio_set_pulls(pin + offset, (flags & GPIO_PULL_UP) != 0U, (flags & GPIO_PULL_DOWN) != 0U);
 
 	/* Avoid gpio_init, since that also clears previously set direction/high/low */
-	gpio_set_function(pin, GPIO_FUNC_SIO);
+	gpio_set_function(pin + offset, GPIO_FUNC_SIO);
 
 	if (flags & GPIO_INPUT) {
-		gpio_set_dir(pin, GPIO_IN);
+		gpio_set_dir(pin + offset, GPIO_IN);
 	} else {
-		gpio_set_input_enabled(pin, false);
+		gpio_set_input_enabled(pin + offset, false);
 	}
 
 	if (flags & GPIO_OUTPUT) {
@@ -75,21 +160,21 @@ static int gpio_rpi_configure(const struct device *dev,
 			 */
 			if (flags & GPIO_LINE_OPEN_DRAIN) {
 				data->open_drain_mask |= BIT(pin);
-				gpio_put(pin, 0);
-				gpio_set_dir(pin, flags & GPIO_OUTPUT_INIT_LOW);
+				gpio_put(pin + offset, 0);
+				gpio_set_dir(pin + offset, flags & GPIO_OUTPUT_INIT_LOW);
 			} else {
 				data->open_drain_mask &= ~(BIT(pin));
-				gpio_put(pin, 1);
-				gpio_set_dir(pin, flags & GPIO_OUTPUT_INIT_HIGH);
+				gpio_put(pin + offset, 1);
+				gpio_set_dir(pin + offset, flags & GPIO_OUTPUT_INIT_HIGH);
 			}
 		} else {
 			data->single_ended_mask &= ~(BIT(pin));
 			if (flags & GPIO_OUTPUT_INIT_HIGH) {
-				gpio_put(pin, 1);
+				gpio_put(pin + offset, 1);
 			} else if (flags & GPIO_OUTPUT_INIT_LOW) {
-				gpio_put(pin, 0);
+				gpio_put(pin + offset, 0);
 			}
-			gpio_set_dir(pin, GPIO_OUT);
+			gpio_set_dir(pin + offset, GPIO_OUT);
 		}
 	}
 
@@ -99,20 +184,21 @@ static int gpio_rpi_configure(const struct device *dev,
 #ifdef CONFIG_GPIO_GET_CONFIG
 static int gpio_rpi_get_config(const struct device *dev, gpio_pin_t pin, gpio_flags_t *flags)
 {
+	const int offset = GPIO_RPI_PINS_PER_PORT * PORT_NO(dev);
 	struct gpio_rpi_data *data = dev->data;
 
 	*flags = 0;
 
 	/* RP2xxxx supports Bus Keeper mode where both pull-up and pull-down are enabled. */
-	if (gpio_is_pulled_up(pin)) {
+	if (gpio_is_pulled_up(pin + offset)) {
 		*flags |= GPIO_PULL_UP;
 	}
-	if (gpio_is_pulled_down(pin)) {
+	if (gpio_is_pulled_down(pin + offset)) {
 		*flags |= GPIO_PULL_DOWN;
 	}
 
-	if (gpio_get_dir(pin)) {
-		*flags |= gpio_get_out_level(pin) ? GPIO_OUTPUT_HIGH : GPIO_OUTPUT_LOW;
+	if (gpio_get_dir(pin + offset)) {
+		*flags |= gpio_get_out_level(pin + offset) ? GPIO_OUTPUT_HIGH : GPIO_OUTPUT_LOW;
 		if (data->single_ended_mask & BIT(pin)) {
 			*flags |=
 				data->open_drain_mask & BIT(pin) ? GPIO_OPEN_DRAIN : GPIO_PUSH_PULL;
@@ -127,9 +213,10 @@ static int gpio_rpi_get_config(const struct device *dev, gpio_pin_t pin, gpio_fl
 }
 #endif
 
-static int gpio_rpi_port_get_raw(const struct device *dev, uint32_t *value)
+static int gpio_rpi_port_get_raw(const struct device *port, uint32_t *value)
 {
-	*value = gpio_get_all();
+	*value = gpio_get_all_n(PORT_NO(port));
+
 	return 0;
 }
 
@@ -137,12 +224,16 @@ static int gpio_rpi_port_set_masked_raw(const struct device *port,
 					uint32_t mask, uint32_t value)
 {
 	struct gpio_rpi_data *data = port->data;
+
 	/* First handle push-pull pins: */
-	gpio_put_masked(mask & ~data->single_ended_mask, value);
+	gpio_put_masked_n(PORT_NO(port), mask & ~data->single_ended_mask, value);
 	/* Then handle open-drain pins: */
-	gpio_set_dir_masked(mask & data->single_ended_mask & data->open_drain_mask, ~value);
+	gpio_set_dir_masked_n(PORT_NO(port), mask & data->single_ended_mask & data->open_drain_mask,
+			      ~value);
 	/* Then handle open-source pins: */
-	gpio_set_dir_masked(mask & data->single_ended_mask & ~data->open_drain_mask, value);
+	gpio_set_dir_masked_n(PORT_NO(port),
+			      mask & data->single_ended_mask & ~data->open_drain_mask, value);
+
 	return 0;
 }
 
@@ -150,12 +241,16 @@ static int gpio_rpi_port_set_bits_raw(const struct device *port,
 					uint32_t pins)
 {
 	struct gpio_rpi_data *data = port->data;
+
 	/* First handle push-pull pins: */
-	gpio_set_mask(pins & ~data->single_ended_mask);
+	gpio_set_mask_n(PORT_NO(port), pins & ~data->single_ended_mask);
 	/* Then handle open-drain pins: */
-	gpio_set_dir_in_masked(pins & data->single_ended_mask & data->open_drain_mask);
+	gpio_set_dir_in_masked_n(PORT_NO(port),
+				 pins & data->single_ended_mask & data->open_drain_mask);
 	/* Then handle open-source pins: */
-	gpio_set_dir_out_masked(pins & data->single_ended_mask & ~data->open_drain_mask);
+	gpio_set_dir_out_masked_n(PORT_NO(port),
+				  pins & data->single_ended_mask & ~data->open_drain_mask);
+
 	return 0;
 }
 
@@ -163,12 +258,16 @@ static int gpio_rpi_port_clear_bits_raw(const struct device *port,
 					uint32_t pins)
 {
 	struct gpio_rpi_data *data = port->data;
+
 	/* First handle push-pull pins: */
-	gpio_clr_mask(pins & ~data->single_ended_mask);
+	gpio_clr_mask_n(PORT_NO(port), pins & ~data->single_ended_mask);
 	/* Then handle open-drain pins: */
-	gpio_set_dir_out_masked(pins & data->single_ended_mask & data->open_drain_mask);
+	gpio_set_dir_out_masked_n(PORT_NO(port),
+				  pins & data->single_ended_mask & data->open_drain_mask);
 	/* Then handle open-source pins: */
-	gpio_set_dir_in_masked(pins & data->single_ended_mask & ~data->open_drain_mask);
+	gpio_set_dir_in_masked_n(PORT_NO(port),
+				 pins & data->single_ended_mask & ~data->open_drain_mask);
+
 	return 0;
 }
 
@@ -176,13 +275,12 @@ static int gpio_rpi_port_toggle_bits(const struct device *port,
 					uint32_t pins)
 {
 	struct gpio_rpi_data *data = port->data;
+
 	/* First handle push-pull pins: */
-	gpio_xor_mask(pins & ~data->single_ended_mask);
+	gpio_xor_mask_n(PORT_NO(port), pins & ~data->single_ended_mask);
 	/* Then handle single-ended pins: */
-	/* (unfortunately there's no pico-sdk api call that can be used for this,
-	 * but it's possible by accessing the registers directly)
-	 */
-	sio_hw->gpio_oe_togl = (pins & data->single_ended_mask);
+	gpio_toggle_dir_masked_n(PORT_NO(port), pins & data->single_ended_mask);
+
 	return 0;
 }
 
@@ -191,10 +289,10 @@ static int gpio_rpi_pin_interrupt_configure(const struct device *dev,
 						enum gpio_int_mode mode,
 						enum gpio_int_trig trig)
 {
-	struct gpio_rpi_data *data = dev->data;
+	const int offset = GPIO_RPI_PINS_PER_PORT * PORT_NO(dev);
 	uint32_t events = 0;
 
-	gpio_set_irq_enabled(pin, ALL_EVENTS, false);
+	gpio_set_irq_enabled(pin + offset, ALL_EVENTS, false);
 	if (mode != GPIO_INT_DISABLE) {
 		if (mode & GPIO_INT_EDGE) {
 			if (trig & GPIO_INT_LOW_0) {
@@ -211,9 +309,9 @@ static int gpio_rpi_pin_interrupt_configure(const struct device *dev,
 				events |= GPIO_IRQ_LEVEL_HIGH;
 			}
 		}
-		gpio_set_irq_enabled(pin, events, true);
+		gpio_set_irq_enabled(pin + offset, events, true);
 	}
-	WRITE_BIT(data->int_enabled_mask, pin, mode != GPIO_INT_DISABLE);
+
 	return 0;
 }
 
@@ -296,6 +394,18 @@ static void gpio_rpi_isr(const struct device *dev)
 		events = (*status_reg >> 4 * (pin % 8)) & ALL_EVENTS;
 		if (events) {
 			gpio_acknowledge_irq(pin, ALL_EVENTS);
+
+#if GPIO_RPI_HI_AVAILABLE
+			if (pin >= GPIO_RPI_PINS_PER_PORT) {
+				const struct gpio_rpi_config *config = dev->config;
+				struct gpio_rpi_data *high_data = config->high_dev->data;
+
+				gpio_fire_callbacks(&high_data->callbacks, config->high_dev,
+						    BIT(pin - GPIO_RPI_PINS_PER_PORT));
+				continue;
+			}
+#endif
+
 			gpio_fire_callbacks(&data->callbacks, dev, BIT(pin));
 		}
 	}
@@ -305,31 +415,56 @@ static int gpio_rpi_bank_init(const struct device *dev)
 {
 	const struct gpio_rpi_config *config = dev->config;
 
-	config->bank_config_func();
+	if (config->bank_config_func != NULL) {
+		config->bank_config_func();
+	}
+
 	return 0;
 }
 
-#define GPIO_RPI_INIT(idx)							\
-	static void bank_##idx##_config_func(void)				\
-	{									\
-		IRQ_CONNECT(DT_INST_IRQN(idx), DT_INST_IRQ(idx, priority),	\
-			    gpio_rpi_isr, DEVICE_DT_INST_GET(idx), 0);		\
-		irq_enable(DT_INST_IRQN(idx));					\
-	}									\
-	static const struct gpio_rpi_config gpio_rpi_##idx##_config = {		\
-		.bank_config_func = bank_##idx##_config_func,			\
-		.common =							\
-		{								\
-			.port_pin_mask = GPIO_PORT_PIN_MASK_FROM_DT_INST(idx),	\
-		}								\
-	};									\
-										\
-	static struct gpio_rpi_data gpio_rpi_##idx##_data;			\
-										\
-	DEVICE_DT_INST_DEFINE(idx, gpio_rpi_bank_init, NULL,			\
-				&gpio_rpi_##idx##_data,				\
-				&gpio_rpi_##idx##_config,			\
-				POST_KERNEL, CONFIG_GPIO_INIT_PRIORITY,		\
-				&gpio_rpi_driver_api);
+#define GPIO_REG_0U            1
+#define IS_GPIO_RPI_LO_NODE(n) UTIL_CAT(GPIO_REG_, DT_REG_ADDR(n))
+
+#define DEVICE_IF_GPIO_RPI_HI_NODE(n) COND_CODE_1(IS_GPIO_RPI_LO_NODE(n), (), (DEVICE_DT_GET(n)))
+
+#define FIND_GPIO_RPI_HI_DEVICE(n)                                                                 \
+	COND_CODE_1(UTIL_CAT(GPIO_REG_, DT_REG_ADDR(n)),                                           \
+			(DT_FOREACH_CHILD(DT_PARENT(n), DEVICE_IF_GPIO_RPI_HI_NODE)), (NULL))
+
+#if GPIO_RPI_HI_AVAILABLE
+#define GPIO_RPI_INIT_HIGH_DEV(idx) .high_dev = FIND_GPIO_RPI_HI_DEVICE(DT_DRV_INST(idx)),
+#else
+#define GPIO_RPI_INIT_HIGH_DEV(idx)
+#endif
+
+#define GPIO_RPI_INIT(idx)                                                                         \
+	BUILD_ASSERT(DT_CHILD_NUM(DT_INST_PARENT(idx)) > 0 &&                                      \
+			     DT_CHILD_NUM(DT_INST_PARENT(idx)) <= 2,                               \
+		     "raspberrypi,pico-gpio node must have one or two child node.");               \
+	BUILD_ASSERT(GPIO_RPI_LO_AVAILABLE,                                                        \
+		     "raspberrypi,pico-gpio node must have reg=0 child node.");                    \
+	IF_ENABLED(IS_GPIO_RPI_LO_NODE(DT_DRV_INST(idx)), (                                        \
+		static void bank_##idx##_config_func(void)                                         \
+		{                                                                                  \
+			IRQ_CONNECT(DT_IRQN(DT_INST_PARENT(idx)),                                  \
+				    DT_IRQ(DT_INST_PARENT(idx), priority),                         \
+				    gpio_rpi_isr, DEVICE_DT_INST_GET(idx), 0);                     \
+			irq_enable(DT_IRQN(DT_INST_PARENT(idx)));                                  \
+		}                                                                                  \
+	))                                                                                         \
+	static const struct gpio_rpi_config gpio_rpi_##idx##_config = {                            \
+		.common = {                                                                        \
+			.port_pin_mask = GPIO_PORT_PIN_MASK_FROM_DT_INST(idx),                     \
+		},                                                                                 \
+		IF_ENABLED(IS_GPIO_RPI_LO_NODE(DT_DRV_INST(idx)), (                                \
+			.bank_config_func = bank_##idx##_config_func,                              \
+		))                                                                                 \
+		GPIO_RPI_INIT_HIGH_DEV(idx)                                                        \
+	};                                                                                         \
+	static struct gpio_rpi_data gpio_rpi_##idx##_data;                                         \
+                                                                                                   \
+	DEVICE_DT_INST_DEFINE(idx, gpio_rpi_bank_init, NULL, &gpio_rpi_##idx##_data,               \
+			      &gpio_rpi_##idx##_config, POST_KERNEL, CONFIG_GPIO_INIT_PRIORITY,    \
+			      &gpio_rpi_driver_api);
 
 DT_INST_FOREACH_STATUS_OKAY(GPIO_RPI_INIT)
diff --git a/dts/arm/raspberrypi/rpi_pico/rp2040.dtsi b/dts/arm/raspberrypi/rpi_pico/rp2040.dtsi
index 6398674e0e02..9c20584c710e 100644
--- a/dts/arm/raspberrypi/rpi_pico/rp2040.dtsi
+++ b/dts/arm/raspberrypi/rpi_pico/rp2040.dtsi
@@ -238,14 +238,27 @@
 				 "gpin0", "gpin1";
 		};
 
-		gpio0: gpio@40014000 {
+		gpio0_map: gpio@40014000 {
 			compatible = "raspberrypi,pico-gpio";
 			reg = <0x40014000 DT_SIZE_K(4)>;
 			interrupts = <13 RPI_PICO_DEFAULT_IRQ_PRIORITY>;
-			gpio-controller;
+
+			gpio-map-mask = <0xffffffe0 0xffffffc0>;
+			gpio-map-pass-thru = <0x1f 0x3f>;
+			gpio-map = <0x0 0x0 &gpio0 0x0 0x0>;
+
 			#gpio-cells = <2>;
-			status = "disabled";
-			ngpios = <30>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			gpio0: gpio-port@0 {
+				compatible = "raspberrypi,pico-gpio-port";
+				reg = <0x0>;
+				status = "disabled";
+				gpio-controller;
+				#gpio-cells = <2>;
+				ngpios = <30>;
+			};
 		};
 
 		uart0: uart@40034000 {
diff --git a/dts/arm/raspberrypi/rpi_pico/rp2350.dtsi b/dts/arm/raspberrypi/rpi_pico/rp2350.dtsi
index 687cafc19aad..4ddf435a7bca 100644
--- a/dts/arm/raspberrypi/rpi_pico/rp2350.dtsi
+++ b/dts/arm/raspberrypi/rpi_pico/rp2350.dtsi
@@ -235,13 +235,36 @@
 				 "gpin0", "gpin1";
 		};
 
-		gpio0: gpio@40028000 {
+		gpio0_map: gpio@40028000 {
 			compatible = "raspberrypi,pico-gpio";
 			reg = <0x40028000 DT_SIZE_K(4)>;
 			interrupts = <21 RPI_PICO_DEFAULT_IRQ_PRIORITY>;
-			gpio-controller;
+
+			gpio-map-mask = <0xffffffe0 0xffffffc0>;
+			gpio-map-pass-thru = <0x1f 0x3f>;
+			gpio-map = <0x00 0x0 &gpio0 0x0 0x0
+				    0x20 0x0 &gpio0_hi 0x0 0x0>;
 			#gpio-cells = <2>;
-			status = "disabled";
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			gpio0: gpio-port@0 {
+				compatible = "raspberrypi,pico-gpio-port";
+				reg = <0x0>;
+				status = "disabled";
+				gpio-controller;
+				#gpio-cells = <2>;
+				ngpios = <32>;
+			};
+
+			gpio0_hi: gpio-port@1 {
+				compatible = "raspberrypi,pico-gpio-port";
+				reg = <0x1>;
+				status = "disabled";
+				gpio-controller;
+				#gpio-cells = <2>;
+				ngpios = <32>;
+			};
 		};
 
 		uart0: uart@40070000 {
diff --git a/dts/bindings/gpio/raspberrypi,pico-gpio-port.yaml b/dts/bindings/gpio/raspberrypi,pico-gpio-port.yaml
new file mode 100644
index 000000000000..fb4c9e4e737f
--- /dev/null
+++ b/dts/bindings/gpio/raspberrypi,pico-gpio-port.yaml
@@ -0,0 +1,19 @@
+# Copyright (c) 2021, Yonatan Schachter
+# SPDX-License-Identifier: Apache-2.0
+
+description: Raspberry Pi Pico GPIO Port
+
+compatible: "raspberrypi,pico-gpio-port"
+
+include: [gpio-controller.yaml, base.yaml]
+
+properties:
+  reg:
+    required: true
+
+  "#gpio-cells":
+    const: 2
+
+gpio-cells:
+  - pin
+  - flags
diff --git a/dts/bindings/gpio/raspberrypi,pico-gpio.yaml b/dts/bindings/gpio/raspberrypi,pico-gpio.yaml
index 89afb5084b57..dc441964a7bc 100644
--- a/dts/bindings/gpio/raspberrypi,pico-gpio.yaml
+++ b/dts/bindings/gpio/raspberrypi,pico-gpio.yaml
@@ -1,19 +1,8 @@
-# Copyright (c) 2021, Yonatan Schachter
+# Copyright (c) 2024 TOKITA Hiroshi
 # SPDX-License-Identifier: Apache-2.0
 
 description: Raspberry Pi Pico GPIO
 
 compatible: "raspberrypi,pico-gpio"
 
-include: [gpio-controller.yaml, base.yaml]
-
-properties:
-  reg:
-    required: true
-
-  "#gpio-cells":
-    const: 2
-
-gpio-cells:
-  - pin
-  - flags
+include: [gpio-nexus.yaml, base.yaml]

From dd3c9d2867307485cb4e69869df4e3698a29c666 Mon Sep 17 00:00:00 2001
From: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
Date: Mon, 2 Sep 2024 21:54:34 +0900
Subject: [PATCH 2/3] soc: raspberrypi: rp2350: Add initial support for the
 RP2350B

RP2350B is a rich IO variant in the RP2350 series.

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
---
 dts/arm/raspberrypi/rpi_pico/rp2350b.dtsi   | 13 +++++++++++++
 soc/raspberrypi/rpi_pico/rp2350/Kconfig     |  9 +++++++++
 soc/raspberrypi/rpi_pico/rp2350/Kconfig.soc | 11 +++++++++++
 soc/raspberrypi/rpi_pico/soc.yml            |  3 +++
 4 files changed, 36 insertions(+)
 create mode 100644 dts/arm/raspberrypi/rpi_pico/rp2350b.dtsi

diff --git a/dts/arm/raspberrypi/rpi_pico/rp2350b.dtsi b/dts/arm/raspberrypi/rpi_pico/rp2350b.dtsi
new file mode 100644
index 000000000000..55b67427237d
--- /dev/null
+++ b/dts/arm/raspberrypi/rpi_pico/rp2350b.dtsi
@@ -0,0 +1,13 @@
+#include <arm/raspberrypi/rpi_pico/rp2350.dtsi>
+
+&gpio0 {
+	ngpios = <32>;
+};
+
+&gpio0_hi {
+	ngpios = <16>;
+};
+
+&die_temp {
+	io-channels = <&adc 8>;
+};
diff --git a/soc/raspberrypi/rpi_pico/rp2350/Kconfig b/soc/raspberrypi/rpi_pico/rp2350/Kconfig
index 2de28a5dd56f..28553021e2cb 100644
--- a/soc/raspberrypi/rpi_pico/rp2350/Kconfig
+++ b/soc/raspberrypi/rpi_pico/rp2350/Kconfig
@@ -18,6 +18,15 @@ config SOC_RP2350A_M33
 	select CPU_HAS_ARM_MPU
 	select CPU_HAS_ARM_SAU
 
+config SOC_RP2350B_M33
+	select ARM
+	select ARM_TRUSTZONE_M
+	select CPU_CORTEX_M_HAS_SYSTICK
+	select CPU_CORTEX_M_HAS_VTOR
+	select CPU_CORTEX_M33
+	select CPU_HAS_ARM_MPU
+	select CPU_HAS_ARM_SAU
+
 config RP2_REQUIRES_IMAGE_DEFINITION_BLOCK
 	bool
 	default y
diff --git a/soc/raspberrypi/rpi_pico/rp2350/Kconfig.soc b/soc/raspberrypi/rpi_pico/rp2350/Kconfig.soc
index 19012bb5648a..069bc56cfbf3 100644
--- a/soc/raspberrypi/rpi_pico/rp2350/Kconfig.soc
+++ b/soc/raspberrypi/rpi_pico/rp2350/Kconfig.soc
@@ -20,5 +20,16 @@ config SOC_RP2350A_M33
 	help
 	  Use the RP2350A with a Cortex-M33 core in both 'sockets'.
 
+config SOC_RP2350B
+	bool
+	select SOC_SERIES_RP2350
+
+config SOC_RP2350B_M33
+	bool
+	select SOC_RP2350B
+	help
+	  Use the RP2350B with a Cortex-M33 core in both 'sockets'.
+
 config SOC
 	default "rp2350a" if SOC_RP2350A
+	default "rp2350b" if SOC_RP2350B
diff --git a/soc/raspberrypi/rpi_pico/soc.yml b/soc/raspberrypi/rpi_pico/soc.yml
index 32039c209440..fac2f36cd969 100644
--- a/soc/raspberrypi/rpi_pico/soc.yml
+++ b/soc/raspberrypi/rpi_pico/soc.yml
@@ -9,3 +9,6 @@ family:
     - name: rp2350a
       cpuclusters:
       - name: m33
+    - name: rp2350b
+      cpuclusters:
+      - name: m33

From 3977e2a8f597a4153791be4b183d27e5d697c954 Mon Sep 17 00:00:00 2001
From: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
Date: Thu, 22 Aug 2024 20:27:29 +0900
Subject: [PATCH 3/3] boards: pimoroni: pico_plus2: Add Pimoroni Pico Plus2
 board

Pinoroni Pico Plus2 is an RP2350B based board that has
more rich I/O, RAM, and Flash than the original Raspberry Pi Pico2.

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
---
 boards/pimoroni/index.rst                     |  10 +
 boards/pimoroni/pico_plus2/Kconfig.defconfig  |   9 +
 boards/pimoroni/pico_plus2/Kconfig.pico_plus2 |   5 +
 boards/pimoroni/pico_plus2/board.cmake        |  14 ++
 boards/pimoroni/pico_plus2/board.yml          |   6 +
 .../pico_plus2/doc/img/pico_plus2.webp        | Bin 0 -> 29568 bytes
 boards/pimoroni/pico_plus2/doc/index.rst      |  59 ++++++
 .../pico_plus2/pico_plus2-pinctrl.dtsi        |  51 +++++
 boards/pimoroni/pico_plus2/pico_plus2.dtsi    | 178 ++++++++++++++++++
 .../pico_plus2/pico_plus2_rp2350b_m33.dts     |  22 +++
 .../pico_plus2/pico_plus2_rp2350b_m33.yaml    |  20 ++
 .../pico_plus2_rp2350b_m33_defconfig          |  14 ++
 .../pimoroni/pico_plus2/support/openocd.cfg   |  11 ++
 dts/bindings/vendor-prefixes.txt              |   1 +
 .../boards/pico_plus2_rp2350b_m33.overlay     |  24 +++
 samples/drivers/counter/alarm/src/main.c      |   4 +
 .../pwm/boards/pico_plus2_rp2350b_m33.overlay |  15 ++
 .../boards/pico_plus2_rp2350b_m33.conf        |   1 +
 .../boards/pico_plus2_rp2350b_m33.overlay     |   9 +
 .../boards/pico_plus2_rp2350b_m33.overlay     |  33 ++++
 .../boards/pico_plus2_rp2350b_m33.overlay     |   9 +
 .../boards/pico_plus2_rp2350b_m33.overlay     |   8 +
 .../boards/pico_plus2_rp2350b_m33.conf        |   1 +
 .../boards/pico_plus2_rp2350b_m33.overlay     |   8 +
 .../boards/pico_plus2_rp2350b_m33.conf        |   1 +
 .../spi/spi_loopback/socs/rp2040.overlay      |   7 +
 .../spi/spi_loopback/socs/rp2350b_m33.overlay |   7 +
 tests/drivers/spi/spi_loopback/testcase.yaml  |  20 +-
 28 files changed, 542 insertions(+), 5 deletions(-)
 create mode 100644 boards/pimoroni/index.rst
 create mode 100644 boards/pimoroni/pico_plus2/Kconfig.defconfig
 create mode 100644 boards/pimoroni/pico_plus2/Kconfig.pico_plus2
 create mode 100644 boards/pimoroni/pico_plus2/board.cmake
 create mode 100644 boards/pimoroni/pico_plus2/board.yml
 create mode 100644 boards/pimoroni/pico_plus2/doc/img/pico_plus2.webp
 create mode 100644 boards/pimoroni/pico_plus2/doc/index.rst
 create mode 100644 boards/pimoroni/pico_plus2/pico_plus2-pinctrl.dtsi
 create mode 100644 boards/pimoroni/pico_plus2/pico_plus2.dtsi
 create mode 100644 boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33.dts
 create mode 100644 boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33.yaml
 create mode 100644 boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33_defconfig
 create mode 100644 boards/pimoroni/pico_plus2/support/openocd.cfg
 create mode 100644 samples/drivers/adc/adc_dt/boards/pico_plus2_rp2350b_m33.overlay
 create mode 100644 samples/drivers/led/pwm/boards/pico_plus2_rp2350b_m33.overlay
 create mode 100644 samples/sensor/die_temp_polling/boards/pico_plus2_rp2350b_m33.conf
 create mode 100644 samples/sensor/die_temp_polling/boards/pico_plus2_rp2350b_m33.overlay
 create mode 100644 tests/drivers/adc/adc_api/boards/pico_plus2_rp2350b_m33.overlay
 create mode 100644 tests/drivers/dma/loop_transfer/boards/pico_plus2_rp2350b_m33.overlay
 create mode 100644 tests/drivers/gpio/gpio_api_1pin/boards/pico_plus2_rp2350b_m33.overlay
 create mode 100644 tests/drivers/gpio/gpio_basic_api/boards/pico_plus2_rp2350b_m33.conf
 create mode 100644 tests/drivers/gpio/gpio_basic_api/boards/pico_plus2_rp2350b_m33.overlay
 create mode 100644 tests/drivers/spi/spi_loopback/boards/pico_plus2_rp2350b_m33.conf
 create mode 100644 tests/drivers/spi/spi_loopback/socs/rp2040.overlay
 create mode 100644 tests/drivers/spi/spi_loopback/socs/rp2350b_m33.overlay

diff --git a/boards/pimoroni/index.rst b/boards/pimoroni/index.rst
new file mode 100644
index 000000000000..3867af38c3ca
--- /dev/null
+++ b/boards/pimoroni/index.rst
@@ -0,0 +1,10 @@
+.. _boards-pimoroni:
+
+Pimoroni Ltd.
+#############
+
+.. toctree::
+   :maxdepth: 1
+   :glob:
+
+   **/*
diff --git a/boards/pimoroni/pico_plus2/Kconfig.defconfig b/boards/pimoroni/pico_plus2/Kconfig.defconfig
new file mode 100644
index 000000000000..35cdf9270546
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/Kconfig.defconfig
@@ -0,0 +1,9 @@
+# Copyright (c) 2024 TOKITA Hiroshi
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_PICO_PLUS2
+
+config USB_SELF_POWERED
+	default n
+
+endif # BOARD_PICO_PLUS2
diff --git a/boards/pimoroni/pico_plus2/Kconfig.pico_plus2 b/boards/pimoroni/pico_plus2/Kconfig.pico_plus2
new file mode 100644
index 000000000000..cd30fda60aea
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/Kconfig.pico_plus2
@@ -0,0 +1,5 @@
+# Copyright (c) 2024 TOKITA Hiroshi
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_PICO_PLUS2
+	select SOC_RP2350B_M33 if BOARD_PICO_PLUS2_RP2350B_M33
diff --git a/boards/pimoroni/pico_plus2/board.cmake b/boards/pimoroni/pico_plus2/board.cmake
new file mode 100644
index 000000000000..6de42450d892
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/board.cmake
@@ -0,0 +1,14 @@
+# SPDX-License-Identifier: Apache-2.0
+
+board_runner_args(openocd --cmd-pre-init "source [find interface/cmsis-dap.cfg]")
+board_runner_args(openocd --cmd-pre-init "source [find target/rp2350.cfg]")
+
+# The adapter speed is expected to be set by interface configuration.
+# The Raspberry Pi's OpenOCD fork doesn't, so match their documentation at
+# https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html#debugging-with-swd
+board_runner_args(openocd --cmd-pre-init "set_adapter_speed_if_not_set 5000")
+
+board_runner_args(uf2 "--board-id=RP2350")
+
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/uf2.board.cmake)
diff --git a/boards/pimoroni/pico_plus2/board.yml b/boards/pimoroni/pico_plus2/board.yml
new file mode 100644
index 000000000000..71acca8e80e8
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/board.yml
@@ -0,0 +1,6 @@
+board:
+  name: pico_plus2
+  full_name: Pimoroni Pico Plus2
+  vendor: pimoroni
+  socs:
+  - name: rp2350b
diff --git a/boards/pimoroni/pico_plus2/doc/img/pico_plus2.webp b/boards/pimoroni/pico_plus2/doc/img/pico_plus2.webp
new file mode 100644
index 0000000000000000000000000000000000000000..4d4967b6a58d90b2322826e8e29a95b8fc91ba2c
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diff --git a/boards/pimoroni/pico_plus2/doc/index.rst b/boards/pimoroni/pico_plus2/doc/index.rst
new file mode 100644
index 000000000000..b8728050fd15
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/doc/index.rst
@@ -0,0 +1,59 @@
+.. zephyr:board:: pico_plus2
+
+Overview
+********
+
+The `Pimoroni Pico Plus 2`_ is a compact and versatile board featuring the Raspberry Pi RP2350B SoC.
+It includes USB Type-C, Qwiic/STEMMA QT connectors, SP/CE connectors, a debug connector,
+a reset button, and a BOOT button.
+
+Hardware
+********
+
+- Dual Cortex-M33 or Hazard3 processors at up to 150MHz
+- 520KB of SRAM, and 4MB of on-board flash memory
+- 16MB of on-board QSPI flash (supports XiP)
+- 8MB of PSRAM
+- USB 1.1 with device and host support
+- Low-power sleep and dormant modes
+- Drag-and-drop programming using mass storage over USB
+- 48 multi-function GPIO pins including 8 that can be used for ADC
+- 2 SPI, 2 I2C, 2 UART, 3 12-bit 500ksps Analogue to Digital - Converter (ADC), 24 controllable PWM channels
+- 2 Timer with 4 alarms, 1 AON Timer
+- Temperature sensor
+- 3 Programmable IO (PIO) blocks, 12 state machines total for custom peripheral support
+- USB-C connector for power, programming, and data transfer
+- Qwiic/STEMMA QT(Qw/ST) connector
+- SP/CE connector
+- 3-pin debug connector, this can use with `Raspberry Pi Debug Probe`_.
+- Reset button and BOOT button (BOOT button also usable as a user switch)
+
+Supported Features
+==================
+
+.. zephyr:board-supported-hw::
+
+You can use peripherals that are made by using the PIO.
+See :ref:`rpi_pico_pio_based_features`
+
+
+Programming and Debugging
+*************************
+
+The overall explanation regarding flashing and debugging is the same as or ``rpi_pico``.
+See :ref:`rpi_pico_flashing_using_openocd` and :ref:`rpi_pico_flashing_using_uf2`
+in ``rpi_pico`` documentation.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/blinky
+   :board: pico_plus2
+   :goals: build flash
+   :gen-args: -DOPENOCD=/usr/local/bin/openocd
+
+.. target-notes::
+
+.. _Pimoroni Pico Plus 2:
+  https://shop.pimoroni.com/products/pimoroni-pico-plus-2
+
+.. _Raspberry Pi Debug Probe:
+   https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html
diff --git a/boards/pimoroni/pico_plus2/pico_plus2-pinctrl.dtsi b/boards/pimoroni/pico_plus2/pico_plus2-pinctrl.dtsi
new file mode 100644
index 000000000000..1a0112cb80bd
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/pico_plus2-pinctrl.dtsi
@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2024 TOKITA Hiroshi
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/pinctrl/rpi-pico-rp2350b-pinctrl.h>
+
+&pinctrl {
+	uart0_default: uart0_default {
+		group1 {
+			pinmux = <UART0_TX_P0>;
+		};
+
+		group2 {
+			pinmux = <UART0_RX_P1>;
+			input-enable;
+		};
+	};
+
+	i2c0_default: i2c0_default {
+		group1 {
+			pinmux = <I2C0_SDA_P4>, <I2C0_SCL_P5>;
+			input-enable;
+			input-schmitt-enable;
+		};
+	};
+
+	spi0_default: spi0_default {
+		group1 {
+			pinmux = <SPI0_CSN_P17>, <SPI0_SCK_P18>, <SPI0_TX_P19>;
+		};
+
+		group2 {
+			pinmux = <SPI0_RX_P16>;
+			input-enable;
+		};
+	};
+
+	pwm_ch4b_default: pwm_ch4b_default {
+		group1 {
+			pinmux = <PWM_4B_P25>;
+		};
+	};
+
+	adc_default: adc_default {
+		group1 {
+			pinmux = <ADC_CH0_P40>, <ADC_CH1_P41>, <ADC_CH2_P42>, <ADC_CH3_P43>;
+			input-enable;
+		};
+	};
+};
diff --git a/boards/pimoroni/pico_plus2/pico_plus2.dtsi b/boards/pimoroni/pico_plus2/pico_plus2.dtsi
new file mode 100644
index 000000000000..f77ae33e0421
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/pico_plus2.dtsi
@@ -0,0 +1,178 @@
+/*
+ * Copyright (c) 2024 TOKITA Hiroshi
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <freq.h>
+
+#include <zephyr/dt-bindings/i2c/i2c.h>
+#include <zephyr/dt-bindings/pwm/pwm.h>
+#include <zephyr/dt-bindings/input/input-event-codes.h>
+
+#include "pico_plus2-pinctrl.dtsi"
+
+/ {
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,code-partition = &code_partition;
+	};
+
+	aliases {
+		watchdog0 = &wdt0;
+		led0 = &led0;
+		pwm-led0 = &pwm_led0;
+		sw0 = &user_sw;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+
+		led0: led_0 {
+			gpios = <&gpio0 25 GPIO_ACTIVE_HIGH>;
+			label = "LED";
+		};
+	};
+
+	pwm_leds {
+		compatible = "pwm-leds";
+		status = "disabled";
+
+		pwm_led0: pwm_led_0 {
+			pwms = <&pwm 9 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
+			label = "PWM_LED";
+		};
+	};
+
+	buttons {
+		compatible = "gpio-keys";
+
+		user_sw: user_sw {
+			gpios = <&gpio0_hi 13 (GPIO_ACTIVE_LOW)>;
+			zephyr,code = <INPUT_KEY_0>;
+		};
+	};
+
+	pico_header: connector {
+		compatible = "raspberrypi,pico-header";
+		#gpio-cells = <2>;
+		gpio-map-mask = <0xffffffff 0xffffffc0>;
+		gpio-map-pass-thru = <0 0x3f>;
+		gpio-map = <0 0 &gpio0 0 0>,	/* GP0 */
+			<1 0 &gpio0 1 0>,	/* GP1 */
+			<2 0 &gpio0 2 0>,	/* GP2 */
+			<3 0 &gpio0 3 0>,	/* GP3 */
+			<4 0 &gpio0 4 0>,	/* GP4 */
+			<5 0 &gpio0 5 0>,	/* GP5 */
+			<6 0 &gpio0 6 0>,	/* GP6 */
+			<7 0 &gpio0 7 0>,	/* GP7 */
+			<8 0 &gpio0 8 0>,	/* GP8 */
+			<9 0 &gpio0 9 0>,	/* GP9 */
+			<10 0 &gpio0 10 0>,	/* GP10 */
+			<11 0 &gpio0 11 0>,	/* GP11 */
+			<12 0 &gpio0 12 0>,	/* GP12 */
+			<13 0 &gpio0 13 0>,	/* GP13 */
+			<14 0 &gpio0 14 0>,	/* GP14 */
+			<15 0 &gpio0 15 0>,	/* GP15 */
+			<16 0 &gpio0 16 0>,	/* GP16 */
+			<17 0 &gpio0 17 0>,	/* GP17 */
+			<18 0 &gpio0 18 0>,	/* GP18 */
+			<19 0 &gpio0 19 0>,	/* GP19 */
+			<20 0 &gpio0 20 0>,	/* GP20 */
+			<21 0 &gpio0 21 0>,	/* GP21 */
+			<22 0 &gpio0 22 0>,	/* GP22 */
+			<26 0 &gpio0 26 0>,	/* GP26 */
+			<27 0 &gpio0 27 0>,	/* GP27 */
+			<28 0 &gpio0 28 0>;	/* GP28 */
+	};
+};
+
+&flash0 {
+	reg = <0x10000000 DT_SIZE_M(16)>;
+
+	partitions {
+		compatible = "fixed-partitions";
+		#address-cells = <1>;
+		#size-cells = <1>;
+
+		/* Reserved memory for an image definition block. The block is much
+		 * smaller than 256 bytes, but in practice the linker places the vector
+		 * table at a much larger alignment offset.
+		 */
+		image_def: partition@0 {
+			label = "image_def";
+			reg = <0x00000000 0x100>;
+			read-only;
+		};
+
+		/*
+		 * Usable flash. Starts at 0x100, after the image definition block.
+		 * The partition size is 16MB minus the 0x100 bytes taken by the
+		 * image definition.
+		 */
+		code_partition: partition@100 {
+			label = "code-partition";
+			reg = <0x100 (DT_SIZE_M(16) - 0x100)>;
+			read-only;
+		};
+	};
+};
+
+&uart0 {
+	current-speed = <115200>;
+	status = "okay";
+	pinctrl-0 = <&uart0_default>;
+	pinctrl-names = "default";
+};
+
+gpio0_lo: &gpio0 {
+	status = "okay";
+};
+
+&gpio0_hi {
+	status = "okay";
+};
+
+&spi0 {
+	clock-frequency = <DT_FREQ_M(8)>;
+	pinctrl-0 = <&spi0_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&i2c0 {
+	clock-frequency = <I2C_BITRATE_STANDARD>;
+	pinctrl-0 = <&i2c0_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&adc {
+	pinctrl-0 = <&adc_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&pwm {
+	pinctrl-0 = <&pwm_ch4b_default>;
+	pinctrl-names = "default";
+	divider-int-0 = <255>;
+};
+
+&timer0 {
+	status = "okay";
+};
+
+zephyr_udc0: &usbd {
+	status = "okay";
+};
+
+
+pico_spi: &spi0 {};
+pico_i2c0: &i2c0 {};
+pico_i2c1: &i2c1 {};
+pico_serial: &uart0 {};
+stemma_qt_i2c: &i2c0 {};
diff --git a/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33.dts b/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33.dts
new file mode 100644
index 000000000000..425c2237f735
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33.dts
@@ -0,0 +1,22 @@
+/*
+ * Copyright (c) 2024 TOKITA Hiroshi
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+/* The build system assumes that there's a cpucluster-specific file.
+ *
+ * This file provides composition of the device tree:
+ * 1. The common features of the SoC
+ * 2. Core-specific configuration.
+ * 3. Board-specific configuration.
+ */
+#include <raspberrypi/rpi_pico/rp2350b.dtsi>
+#include <raspberrypi/rpi_pico/m33.dtsi>
+
+/* there's nothing specific to the Cortex-M33 cores vs the (not yet
+ * implemented) Hazard3 cores.
+ */
+#include "pico_plus2.dtsi"
diff --git a/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33.yaml b/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33.yaml
new file mode 100644
index 000000000000..c4a91adfac8c
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33.yaml
@@ -0,0 +1,20 @@
+identifier: pico_plus2/rp2350b/m33
+name: Pimoroni Pico Plus 2 (Cortex-M33)
+type: mcu
+arch: arm
+flash: 16384
+ram: 8192
+toolchain:
+  - zephyr
+  - gnuarmemb
+supported:
+  - adc
+  - clock
+  - counter
+  - dma
+  - gpio
+  - hwinfo
+  - i2c
+  - pwm
+  - spi
+  - uart
diff --git a/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33_defconfig b/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33_defconfig
new file mode 100644
index 000000000000..8bd68e351139
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/pico_plus2_rp2350b_m33_defconfig
@@ -0,0 +1,14 @@
+# This configuration is orthogonal to whether the Cortex-M33 or Hazard3 cores
+# are in use, but Zephyr does not support providing a qualifier-agnostic
+# _defconfig file.
+CONFIG_BUILD_OUTPUT_HEX=y
+CONFIG_BUILD_OUTPUT_UF2=y
+CONFIG_CLOCK_CONTROL=y
+CONFIG_CONSOLE=y
+CONFIG_GPIO=y
+CONFIG_RESET=y
+CONFIG_SERIAL=y
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=150000000
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_USE_DT_CODE_PARTITION=y
diff --git a/boards/pimoroni/pico_plus2/support/openocd.cfg b/boards/pimoroni/pico_plus2/support/openocd.cfg
new file mode 100644
index 000000000000..82666bb53314
--- /dev/null
+++ b/boards/pimoroni/pico_plus2/support/openocd.cfg
@@ -0,0 +1,11 @@
+# Copyright (c) 2024 TOKITA Hiroshi
+# SPDX-License-Identifier: Apache-2.0
+
+# Checking and set 'adapter speed'.
+# Set the adaptor speed, if unset, and given as an argument.
+proc set_adapter_speed_if_not_set { speed } {
+	puts "checking adapter speed..."
+	if { [catch {adapter speed} ret] } {
+		adapter speed $speed
+	}
+}
diff --git a/dts/bindings/vendor-prefixes.txt b/dts/bindings/vendor-prefixes.txt
index 8243f706f1ed..373c06b35893 100644
--- a/dts/bindings/vendor-prefixes.txt
+++ b/dts/bindings/vendor-prefixes.txt
@@ -513,6 +513,7 @@ phicomm	PHICOMM Co., Ltd.
 phosense	Beijing Phosense Electronic Technology Co., Ltd.
 phytec	PHYTEC
 picochip	Picochip Ltd
+pimoroni	Pimoroni Ltd.
 pine64	Pine64
 pineriver	Shenzhen PineRiver Designs Co., Ltd.
 pixart	PixArt Imaging Inc.
diff --git a/samples/drivers/adc/adc_dt/boards/pico_plus2_rp2350b_m33.overlay b/samples/drivers/adc/adc_dt/boards/pico_plus2_rp2350b_m33.overlay
new file mode 100644
index 000000000000..abf2d227844b
--- /dev/null
+++ b/samples/drivers/adc/adc_dt/boards/pico_plus2_rp2350b_m33.overlay
@@ -0,0 +1,24 @@
+/*
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Copyright (c) 2024 TOKITA Hiroshi <tokita.hiroshi@fujitsu.com>
+ */
+
+/ {
+	zephyr,user {
+		io-channels = <&adc 0>;
+	};
+};
+
+&adc {
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	channel@0 {
+		reg = <0>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+};
diff --git a/samples/drivers/counter/alarm/src/main.c b/samples/drivers/counter/alarm/src/main.c
index d7f577e72c7e..4e86116b2cc1 100644
--- a/samples/drivers/counter/alarm/src/main.c
+++ b/samples/drivers/counter/alarm/src/main.c
@@ -54,7 +54,11 @@ struct counter_alarm_cfg alarm_cfg;
 #elif defined(CONFIG_COUNTER_SNPS_DW)
 #define TIMER DT_NODELABEL(timer0)
 #elif defined(CONFIG_COUNTER_TIMER_RPI_PICO)
+#ifdef CONFIG_SOC_SERIES_RP2040
 #define TIMER DT_NODELABEL(timer)
+#elif CONFIG_SOC_SERIES_RP2350
+#define TIMER DT_NODELABEL(timer0)
+#endif
 #elif defined(CONFIG_COUNTER_TIMER_MAX32)
 #define TIMER DT_NODELABEL(counter0)
 #elif defined(CONFIG_COUNTER_RA_AGT)
diff --git a/samples/drivers/led/pwm/boards/pico_plus2_rp2350b_m33.overlay b/samples/drivers/led/pwm/boards/pico_plus2_rp2350b_m33.overlay
new file mode 100644
index 000000000000..565dcd6fbbab
--- /dev/null
+++ b/samples/drivers/led/pwm/boards/pico_plus2_rp2350b_m33.overlay
@@ -0,0 +1,15 @@
+/ {
+	leds {
+		status = "disabled";
+	};
+
+	pwm_leds {
+		status = "okay";
+	};
+};
+
+&pwm {
+	status = "okay";
+	divider-frac-4 = <15>;
+	divider-int-4 = <255>;
+};
diff --git a/samples/sensor/die_temp_polling/boards/pico_plus2_rp2350b_m33.conf b/samples/sensor/die_temp_polling/boards/pico_plus2_rp2350b_m33.conf
new file mode 100644
index 000000000000..488a81dca520
--- /dev/null
+++ b/samples/sensor/die_temp_polling/boards/pico_plus2_rp2350b_m33.conf
@@ -0,0 +1 @@
+CONFIG_ADC=y
diff --git a/samples/sensor/die_temp_polling/boards/pico_plus2_rp2350b_m33.overlay b/samples/sensor/die_temp_polling/boards/pico_plus2_rp2350b_m33.overlay
new file mode 100644
index 000000000000..38f5ece1c98a
--- /dev/null
+++ b/samples/sensor/die_temp_polling/boards/pico_plus2_rp2350b_m33.overlay
@@ -0,0 +1,9 @@
+/*
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Copyright (c) 2024 TOKITA Hiroshi
+ */
+
+&die_temp {
+	status = "okay";
+};
diff --git a/tests/drivers/adc/adc_api/boards/pico_plus2_rp2350b_m33.overlay b/tests/drivers/adc/adc_api/boards/pico_plus2_rp2350b_m33.overlay
new file mode 100644
index 000000000000..1de395543efa
--- /dev/null
+++ b/tests/drivers/adc/adc_api/boards/pico_plus2_rp2350b_m33.overlay
@@ -0,0 +1,33 @@
+/*
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Copyright (c) 2024 TOKITA Hiroshi
+ */
+
+/ {
+	zephyr,user {
+		io-channels = <&adc 0>, <&adc 1>;
+	};
+};
+
+&adc {
+	status = "okay";
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	channel@0 {
+		reg = <0>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+
+	channel@1 {
+		reg = <1>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+};
diff --git a/tests/drivers/dma/loop_transfer/boards/pico_plus2_rp2350b_m33.overlay b/tests/drivers/dma/loop_transfer/boards/pico_plus2_rp2350b_m33.overlay
new file mode 100644
index 000000000000..35ee84e3c4ea
--- /dev/null
+++ b/tests/drivers/dma/loop_transfer/boards/pico_plus2_rp2350b_m33.overlay
@@ -0,0 +1,9 @@
+/*
+ * Copyright (c) 2023 Tokita, Hiroshi <tokita.hiroshi@fujitsu.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+tst_dma0: &dma {
+	status = "okay";
+};
diff --git a/tests/drivers/gpio/gpio_api_1pin/boards/pico_plus2_rp2350b_m33.overlay b/tests/drivers/gpio/gpio_api_1pin/boards/pico_plus2_rp2350b_m33.overlay
new file mode 100644
index 000000000000..32d95560343d
--- /dev/null
+++ b/tests/drivers/gpio/gpio_api_1pin/boards/pico_plus2_rp2350b_m33.overlay
@@ -0,0 +1,8 @@
+/*
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Copyright (c) 2024 TOKITA Hiroshi
+ */
+
+/* Pico Plus2 is pin-compatible with the RPi-Pico2, so reuse. */
+#include "rpi_pico2_rp2350a_m33.overlay"
diff --git a/tests/drivers/gpio/gpio_basic_api/boards/pico_plus2_rp2350b_m33.conf b/tests/drivers/gpio/gpio_basic_api/boards/pico_plus2_rp2350b_m33.conf
new file mode 100644
index 000000000000..b9d02cf11d5d
--- /dev/null
+++ b/tests/drivers/gpio/gpio_basic_api/boards/pico_plus2_rp2350b_m33.conf
@@ -0,0 +1 @@
+CONFIG_SKIP_PULL_TEST=y
diff --git a/tests/drivers/gpio/gpio_basic_api/boards/pico_plus2_rp2350b_m33.overlay b/tests/drivers/gpio/gpio_basic_api/boards/pico_plus2_rp2350b_m33.overlay
new file mode 100644
index 000000000000..3938f695d9d1
--- /dev/null
+++ b/tests/drivers/gpio/gpio_basic_api/boards/pico_plus2_rp2350b_m33.overlay
@@ -0,0 +1,8 @@
+/*
+ * Copyright (c) 2024 TOKITA Hiroshi
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/* Pico Plus2 is pin-compatible with the RPi-Pico, so reuse. */
+#include "rpi_pico.overlay"
diff --git a/tests/drivers/spi/spi_loopback/boards/pico_plus2_rp2350b_m33.conf b/tests/drivers/spi/spi_loopback/boards/pico_plus2_rp2350b_m33.conf
new file mode 100644
index 000000000000..53e8607eb619
--- /dev/null
+++ b/tests/drivers/spi/spi_loopback/boards/pico_plus2_rp2350b_m33.conf
@@ -0,0 +1 @@
+CONFIG_SPI_PL022_DMA=y
diff --git a/tests/drivers/spi/spi_loopback/socs/rp2040.overlay b/tests/drivers/spi/spi_loopback/socs/rp2040.overlay
new file mode 100644
index 000000000000..99b39fca98a2
--- /dev/null
+++ b/tests/drivers/spi/spi_loopback/socs/rp2040.overlay
@@ -0,0 +1,7 @@
+/*
+ * Copyright (c) 2022 TOKITA Hiroshi <tokita.hiroshi@fujitsu.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/dma/rpi-pico-dma-rp2040.h>
diff --git a/tests/drivers/spi/spi_loopback/socs/rp2350b_m33.overlay b/tests/drivers/spi/spi_loopback/socs/rp2350b_m33.overlay
new file mode 100644
index 000000000000..1d38b504b427
--- /dev/null
+++ b/tests/drivers/spi/spi_loopback/socs/rp2350b_m33.overlay
@@ -0,0 +1,7 @@
+/*
+ * Copyright (c) 2025 TOKITA Hiroshi <tokita.hiroshi@fujitsu.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/dma/rpi-pico-dma-rp2350.h>
diff --git a/tests/drivers/spi/spi_loopback/testcase.yaml b/tests/drivers/spi/spi_loopback/testcase.yaml
index 4bf13f43fac1..3fe2b8278cf4 100644
--- a/tests/drivers/spi/spi_loopback/testcase.yaml
+++ b/tests/drivers/spi/spi_loopback/testcase.yaml
@@ -173,35 +173,45 @@ tests:
     extra_configs:
       - CONFIG_SPI_PL022_INTERRUPT=y
       - CONFIG_SPI_PL022_DMA=n
-    platform_allow: rpi_pico
+    platform_allow:
+      - rpi_pico
+      - pico_plus2/rp2350b/m33
   drivers.spi.pl022_spi_dma.loopback:
     extra_args: DTC_OVERLAY_FILE="boards/rpi_pico_pl022_dma.overlay"
     extra_configs:
       - CONFIG_SPI_PL022_INTERRUPT=n
       - CONFIG_SPI_PL022_DMA=y
       - CONFIG_DMA=y
-    platform_allow: rpi_pico
+    platform_allow:
+      - rpi_pico
+      - pico_plus2/rp2350b/m33
   drivers.spi.pl022_spi_dma_and_interrupt.loopback:
     extra_args: DTC_OVERLAY_FILE="boards/rpi_pico_pl022_dma.overlay"
     extra_configs:
       - CONFIG_SPI_PL022_INTERRUPT=y
       - CONFIG_SPI_PL022_DMA=y
       - CONFIG_DMA=y
-    platform_allow: rpi_pico
+    platform_allow:
+      - rpi_pico
+      - pico_plus2/rp2350b/m33
   drivers.spi.pl022_spi_dma_no_dma_props.loopback:
     extra_args: DTC_OVERLAY_FILE="boards/rpi_pico_pl022.overlay"
     extra_configs:
       - CONFIG_SPI_PL022_INTERRUPT=n
       - CONFIG_SPI_PL022_DMA=y
       - CONFIG_DMA=y
-    platform_allow: rpi_pico
+    platform_allow:
+      - rpi_pico
+      - pico_plus2/rp2350b/m33
   drivers.spi.pl022_spi_dma_and_interrupt_no_dma_props.loopback:
     extra_args: DTC_OVERLAY_FILE="boards/rpi_pico_pl022.overlay"
     extra_configs:
       - CONFIG_SPI_PL022_INTERRUPT=y
       - CONFIG_SPI_PL022_DMA=y
       - CONFIG_DMA=y
-    platform_allow: rpi_pico
+    platform_allow:
+      - rpi_pico
+      - pico_plus2/rp2350b/m33
   drivers.spi.pio_spi.loopback:
     extra_args:
       - DTC_OVERLAY_FILE="boards/rpi_pico_pio.overlay"