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soc: Added support for Raspberry Pi's RP2040 SoC
Added basic support for the RP2040 SoC. Support includes booting and starting the kernel, on one core only. Signed-off-by: Yonatan Schachter <[email protected]> Signed-off-by: Ioannis Glaropoulos <[email protected]>
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‎CODEOWNERS‎

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/soc/arm/nuvoton_npcx/ @MulinChao @WealianLiao @ChiHuaL
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/soc/arm/nuvoton_numicro/ @ssekar15
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/soc/arm/quicklogic_eos_s3/ @kowalewskijan @kgugala
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/soc/arm/rpi_pico/ @yonsch
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/soc/arm/silabs_exx32/efm32pg1b/ @rdmeneze
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/soc/arm/silabs_exx32/efr32mg21/ @l-alfred
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/soc/arm/st_stm32/ @erwango
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/dts/arm/nuvoton/ @ssekar15 @MulinChao @WealianLiao @ChiHuaL
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/dts/arm/nxp/ @mmahadevan108 @dleach02
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/dts/arm/microchip/ @franciscomunoz @albertofloyd @sjvasanth1
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/dts/arm/rpi_pico/ @yonsch
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/dts/arm/silabs/efm32_pg_1b.dtsi @rdmeneze
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/dts/arm/silabs/efm32gg11b* @oanerer
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/dts/arm/silabs/efm32_jg_pg* @chrta

‎dts/arm/rpi_pico/rp2040.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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#include <arm/armv6-m.dtsi>
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#include <mem.h>
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#include "rpi_pico_common.dtsi"
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/ {
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cpus {
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#address-cells = <1>;
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#size-cells = <0>;
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cpu0: cpu@0 {
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compatible = "arm,cortex-m0+";
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reg = <0>;
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};
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cpu1: cpu@1 {
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compatible = "arm,cortex-m0+";
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reg = <1>;
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};
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};
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soc {
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sram0: memory@20000000 {
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compatible = "mmio-sram";
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reg = <0x20000000 DT_SIZE_K(264)>;
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};
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flash0: flash@10000000 {
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compatible = "soc-nv-flash";
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label = "FLASH_RP2";
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write-block-size = <1>;
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};
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peripheral_clk: peripheral-clk {
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compatible = "fixed-clock";
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clock-frequency = <125000000>;
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#clock-cells = <0>;
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};
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};
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};
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&nvic {
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arm,num-irq-priority-bits = <3>;
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};

‎dts/arm/rpi_pico/rpi_pico_common.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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#ifndef RPI_PICO_DEFAULT_IRQ_PRIORITY
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#define RPI_PICO_DEFAULT_IRQ_PRIORITY 3
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#endif

‎modules/hal_rpi_pico/CMakeLists.txt‎

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# SPDX-License-Identifier: Apache-2.0
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include(ExternalProject)
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if(CONFIG_HAS_RPI_PICO)
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zephyr_library()
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set(rp2_common_dir ${ZEPHYR_HAL_RPI_PICO_MODULE_DIR}/src/rp2_common)
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set(rp2040_dir ${ZEPHYR_HAL_RPI_PICO_MODULE_DIR}/src/rp2040)
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set(common_dir ${ZEPHYR_HAL_RPI_PICO_MODULE_DIR}/src/common)
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set(boot_stage_dir ${rp2_common_dir}/boot_stage2)
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# The Second Stage Bootloader is only linked to the app that resides
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# at 0x100. Therefore, only if the app's offset is 0x100, the second
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# stage bootloader should be compiled.
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if(CONFIG_RP2_REQUIRES_SECOND_STAGE_BOOT)
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foreach(flash W25Q080 GENERIC_03H IS25LP080 W25X10CL AT25SF128A)
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if(CONFIG_RP2_FLASH_${flash})
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set(flash_type ${flash})
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break()
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endif()
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endforeach()
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set(rp2_bootloader_prefix ${CMAKE_BINARY_DIR}/bootloader)
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ExternalProject_Add(
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second_stage_bootloader
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SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/bootloader
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BINARY_DIR ${rp2_bootloader_prefix}
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CMAKE_ARGS
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-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
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-DCMAKE_ASM_COMPILER=${CMAKE_ASM_COMPILER}
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-DZEPHYR_HAL_RPI_PICO_MODULE_DIR=${ZEPHYR_HAL_RPI_PICO_MODULE_DIR}
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-DZEPHYR_BASE=${ZEPHYR_BASE}
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-DFLASH_TYPE=${flash_type}
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-DPYTHON_EXECUTABLE=${Python3_EXECUTABLE}
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INSTALL_COMMAND "" # No installation needed
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BUILD_BYPRODUCTS ${rp2_bootloader_prefix}/boot_stage2.S
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BUILD_ALWAYS TRUE
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)
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zephyr_library_sources(${rp2_bootloader_prefix}/boot_stage2.S)
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endif()
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# Pico sources and headers necessary for every build.
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# These contain definitions and implementation used mostly for
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# initializing the SoC, and therefore are always required.
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zephyr_library_sources(
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${rp2_common_dir}/hardware_clocks/clocks.c
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${rp2_common_dir}/hardware_pll/pll.c
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${rp2_common_dir}/hardware_xosc/xosc.c
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${rp2_common_dir}/hardware_watchdog/watchdog.c
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${rp2_common_dir}/pico_platform/platform.c
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)
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zephyr_include_directories(
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${rp2_common_dir}/hardware_base/include
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${rp2_common_dir}/hardware_clocks/include
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${rp2_common_dir}/hardware_watchdog/include
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${rp2_common_dir}/hardware_xosc/include
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${rp2_common_dir}/hardware_pll/include
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${rp2_common_dir}/hardware_irq/include
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${rp2_common_dir}/hardware_sync/include
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${rp2_common_dir}/hardware_timer/include
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${rp2_common_dir}/hardware_resets/include
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${rp2040_dir}/hardware_regs/include
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${rp2040_dir}/hardware_structs/include
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${common_dir}/pico_base/include
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${rp2_common_dir}/pico_platform/include
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${CMAKE_CURRENT_LIST_DIR}
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)
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zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_GPIO
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${rp2_common_dir}/hardware_gpio/gpio.c)
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zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_GPIO
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${rp2_common_dir}/hardware_gpio/include)
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zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_UART
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${rp2_common_dir}/hardware_uart/uart.c)
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zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_UART
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${rp2_common_dir}/hardware_uart/include)
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endif()

‎modules/hal_rpi_pico/Kconfig‎

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# Copyright (c) 2021 Yonatan Schachter
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# SPDX-License-Identifier: Apache-2.0
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config HAS_RPI_PICO
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bool
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config PICOSDK_USE_UART
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bool
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help
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Use the UART driver from pico-sdk
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config PICOSDK_USE_GPIO
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bool
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help
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Use the GPIO driver from pico-sdk

‎modules/hal_rpi_pico/bootloader/CMakeLists.txt‎

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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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# Skip compiler checking
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set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
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project(second_stage_bootloader)
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enable_language(ASM)
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set(rp2_common_dir ${ZEPHYR_HAL_RPI_PICO_MODULE_DIR}/src/rp2_common)
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set(rp2040_dir ${ZEPHYR_HAL_RPI_PICO_MODULE_DIR}/src/rp2040)
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set(common_dir ${ZEPHYR_HAL_RPI_PICO_MODULE_DIR}/src/common)
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set(boot_stage_dir ${rp2_common_dir}/boot_stage2)
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add_executable(boot_stage2)
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if(${FLASH_TYPE} STREQUAL W25Q080)
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set(flash_type_file boot2_w25q080.S)
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elseif(${FLASH_TYPE} STREQUAL GENERIC_03H)
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set(flash_type_file boot2_generic_03h.S)
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elseif(${FLASH_TYPE} STREQUAL IS25LP080)
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set(flash_type_file boot2_is25lp080.S)
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elseif(${FLASH_TYPE} STREQUAL W25X10CL)
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set(flash_type_file boot2_w25x10cl.S)
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elseif(${FLASH_TYPE} STREQUAL AT25SF128A)
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set(flash_type_file boot2_at25sf128a.S)
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else()
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message(FATAL_ERROR "No flash type selected")
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endif()
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target_sources(boot_stage2 PRIVATE ${boot_stage_dir}/${flash_type_file})
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target_include_directories(boot_stage2 PUBLIC
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..
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${boot_stage_dir}/asminclude
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${rp2_common_dir}/pico_platform/include
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${rp2040_dir}/hardware_regs/include
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${common_dir}/pico_base/include
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${ZEPHYR_BASE}/include
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)
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target_link_options(boot_stage2 PRIVATE
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"-nostartfiles"
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"--specs=nosys.specs"
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"LINKER:--script=${boot_stage_dir}/boot_stage2.ld"
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)
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# The second stage bootloader is compiled without kconfig definitions.
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# Therefore, in order to use toolchain.h, it needs to define CONFIG_ARM.
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target_compile_definitions(boot_stage2 PRIVATE -DCONFIG_ARM=1)
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# Generates a binary file from the compiled bootloader
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add_custom_command(TARGET boot_stage2
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POST_BUILD
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BYPRODUCTS boot_stage2.bin
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COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:boot_stage2> boot_stage2.bin
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)
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# Checksums the binary, pads it, and generates an assembly file
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add_custom_command(TARGET boot_stage2
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POST_BUILD
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BYPRODUCTS boot_stage2.S
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COMMAND ${PYTHON_EXECUTABLE} ${boot_stage_dir}/pad_checksum
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-s 0xffffffff boot_stage2.bin boot_stage2.S
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)

‎modules/hal_rpi_pico/pico/config_autogen.h‎

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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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/*
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* Originally this file is generated by pico-sdk, and some files
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* try to include it. Therefore, we have to provide that file,
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* with this exact name.
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* Since this file ends up included in all pico-sdk code, it's
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* used to inject workarounds to make pico-sdk compile with Zephyr.
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*/
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#ifndef _CONFIG_AUTOGEN_H_
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#define _CONFIG_AUTOGEN_H_
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/* WORKAROUNDS */
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/*
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* static_assert is not supported, so BUILD_ASSERT is used instead.
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* BUILD_ASSERT is included through toolchain.h.
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*/
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#include <toolchain.h>
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#define static_assert(expr, msg...) BUILD_ASSERT((expr), "" msg)
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/* Convert uses of asm, which is not supported in c99, to __asm */
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#define asm __asm
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/* Disable binary info */
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#define PICO_NO_BINARY_INFO 1
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/* Zephyr compatible way of forcing inline */
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#ifndef __always_inline
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#define __always_inline ALWAYS_INLINE
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#endif /* __always_inline */
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#endif

‎modules/hal_rpi_pico/pico/version.h‎

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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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/* File intentionally left blank. It's expected by pico-sdk, but isn't used. */

‎soc/arm/rpi_pico/CMakeLists.txt‎

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# SPDX-License-Identifier: Apache-2.0
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add_subdirectory(${SOC_SERIES})

‎soc/arm/rpi_pico/Kconfig‎

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# Raspberry Pi (RP) MCU line
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# Copyright (c) 2021 Nordic Semiconductor ASA
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# Copyright (c) 2021 Yonatan Schachter
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# SPDX-License-Identifier: Apache-2.0
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config SOC_FAMILY_RPI_PICO
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bool
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if SOC_FAMILY_RPI_PICO
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config SOC_FAMILY
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string
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default "rpi_pico"
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source "soc/arm/rpi_pico/*/Kconfig.soc"
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endif # SOC_FAMILY_RPI_PICO

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