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drivers: pinctrl: Added pinctrl driver for RPi Pico
Added a pinctrl driver for the Raspberry Pi Pico series Signed-off-by: Yonatan Schachter <[email protected]>
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‎CODEOWNERS‎

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/dts/bindings/*/nordic* @anangl
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/dts/bindings/*/nxp* @mmahadevan108 @dleach02
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/dts/bindings/*/openisa* @dleach02
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/dts/bindings/*/raspberrypi*pico* @yonsch
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/dts/bindings/*/st* @erwango
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/dts/bindings/sensor/ams* @alexanderwachter
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/dts/bindings/*/sifive* @mateusz-holenko @kgugala @pgielda

‎drivers/pinctrl/CMakeLists.txt‎

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@@ -7,4 +7,5 @@ zephyr_library_sources_ifdef(CONFIG_PINCTRL_GD32_AF pinctrl_gd32_af.c)
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zephyr_library_sources_ifdef(CONFIG_PINCTRL_GD32_AFIO pinctrl_gd32_afio.c)
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zephyr_library_sources_ifdef(CONFIG_PINCTRL_NRF pinctrl_nrf.c)
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zephyr_library_sources_ifdef(CONFIG_PINCTRL_RCAR_PFC pfc_rcar.c)
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zephyr_library_sources_ifdef(CONFIG_PINCTRL_RPI_PICO pinctrl_rpi_pico.c)
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zephyr_library_sources_ifdef(CONFIG_PINCTRL_STM32 pinctrl_stm32.c)

‎drivers/pinctrl/Kconfig‎

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source "drivers/pinctrl/Kconfig.gd32"
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source "drivers/pinctrl/Kconfig.nrf"
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source "drivers/pinctrl/Kconfig.rcar"
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source "drivers/pinctrl/Kconfig.rpi_pico"
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source "drivers/pinctrl/Kconfig.stm32"
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endif # PINCTRL

‎drivers/pinctrl/Kconfig.rpi_pico‎

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# Copyright (c) 2021 Yonatan Schachter
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# SPDX-License-Identifier: Apache-2.0
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DT_COMPAT_RPI_PICO_PINCTRL := raspberrypi,pico-pinctrl
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config PINCTRL_RPI_PICO
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bool "RaspberryPi Pico pin controller driver"
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depends on SOC_FAMILY_RPI_PICO
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default $(dt_compat_enabled,$(DT_COMPAT_RPI_PICO_PINCTRL))
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select PICOSDK_USE_GPIO
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help
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RaspberryPi Pico pinctrl driver

‎drivers/pinctrl/pinctrl_rpi_pico.c‎

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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 <drivers/pinctrl.h>
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/* pico-sdk includes */
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#include <hardware/gpio.h>
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static void pinctrl_configure_pin(const pinctrl_soc_pin_t *pin)
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{
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gpio_init(pin->pin_num);
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gpio_set_function(pin->pin_num, pin->alt_func);
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gpio_set_pulls(pin->pin_num, pin->pullup, pin->pulldown);
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gpio_set_drive_strength(pin->pin_num, pin->drive_strength);
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gpio_set_slew_rate(pin->pin_num, (pin->slew_rate ?
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GPIO_SLEW_RATE_FAST : GPIO_SLEW_RATE_SLOW));
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gpio_set_input_hysteresis_enabled(pin->pin_num, pin->schmitt_enable);
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gpio_set_input_enabled(pin->pin_num, pin->input_enable);
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}
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int pinctrl_configure_pins(const pinctrl_soc_pin_t *pins, uint8_t pin_cnt,
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uintptr_t reg)
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{
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ARG_UNUSED(reg);
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for (uint8_t i = 0U; i < pin_cnt; i++) {
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pinctrl_configure_pin(pins++);
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}
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return 0;
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}

‎dts/arm/rpi_pico/rp2040.dtsi‎

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clock-frequency = <125000000>;
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#clock-cells = <0>;
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};
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pinctrl: pin-controller@40014000 {
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compatible = "raspberrypi,pico-pinctrl";
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reg = <0x40014000 DT_SIZE_K(4)>;
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status = "okay";
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label = "PINCTRL";
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};
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};
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};
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‎dts/bindings/pinctrl/raspberrypi,pico-pinctrl.yaml‎

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# Copyright (c) 2021 Teslabs Engineering S.L.
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# Copyright (c) 2021 Yonatan Schachter
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# SPDX-License-Identifier: Apache-2.0
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description: |
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The RPi Pico pin controller is a node responsible for controlling
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pin function selection and pin properties, such as routing a UART0 Rx
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to pin 1 and enabling the pullup resistor on that pin.
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The node has the 'pinctrl' node label set in your SoC's devicetree,
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so you can modify it like this:
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&pinctrl {
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/* your modifications go here */
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};
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All device pin configurations should be placed in child nodes of the
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'pinctrl' node, as shown in this example:
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/* You can put this in places like a board-pinctrl.dtsi file in
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* your board directory, or a devicetree overlay in your application.
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*/
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/* include pre-defined combinations for the SoC variant used by the board */
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#include <dt-bindings/pinctrl/rpi-pico-rp2040-pinctrl.h>
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&pinctrl {
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/* configuration for the usart0 "default" state */
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uart0_default: uart0_default {
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/* group 1 */
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group1 {
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/* configure P0 as UART0 TX */
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pinmux = <UART0_TX_P0>;
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};
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/* group 2 */
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group2 {
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/* configure P1 as UART0 RX */
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pinmux = <UART0_RX_P1>;
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/* enable input on pin 1 */
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input-enable;
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};
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};
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};
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The 'uart0_default' child node encodes the pin configurations for a
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particular state of a device; in this case, the default (that is, active)
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state.
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As shown, pin configurations are organized in groups within each child node.
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Each group can specify a list of pin function selections in the 'pinmux'
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property.
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A group can also specify shared pin properties common to all the specified
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pins, such as the 'input-enable' property in group 2. Here is a list of
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supported standard pin properties:
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- bias-disable: Disable pull-up/down (default, not required).
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- bias-pull-up: Enable pull-up resistor.
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- bias-pull-down: Enable pull-down resistor.
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- input-enable: Enable input from the pin.
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- input-schmitt-enable: Enable input hysteresys.
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- drive-strength: Set the drive strength of the pin, in milliamps. Possible
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values are: 2, 4, 8, 12 (default: 4mA)
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- slew-rate: If set to 0, slew rate is set to slow. If set to 1, it is set
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to fast.
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To link pin configurations with a device, use a pinctrl-N property for some
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number N, like this example you could place in your board's DTS file:
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#include "board-pinctrl.dtsi"
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&uart0 {
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pinctrl-0 = <&uart0_default>;
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pinctrl-1 = <&uart0_sleep>;
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pinctrl-names = "default", "sleep";
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};
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compatible: "raspberrypi,pico-pinctrl"
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include:
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- name: base.yaml
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- name: pincfg-node-group.yaml
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child-binding:
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child-binding:
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property-allowlist:
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- bias-disable
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- bias-pull-down
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- bias-pull-up
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- input-enable
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- input-schmitt-enable
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- drive-strength
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- slew-rate
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child-binding:
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description: |
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Definitions for a pinctrl state.
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child-binding:
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properties:
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pinmux:
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required: true
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type: array
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description: |
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An array of pins sharing the same group properties. Each
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element of the array is an integer constructed from the
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pin number and the alternative function of the pin.
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drive-strength:
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enum:
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- 2
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- 4
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- 8
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- 12
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default: 4
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description: |
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The drive strength of a pin, in mA. The default value is 4mA, as this
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is the power on reset value.
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slew-rate:
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enum:
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- 0
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- 1
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default: 0
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description: |
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The slew rate of a pin. 0 corresponds to slow, and 1 corresponds to fast.
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The default value is 0 (slow), as this is the power on reset value.

‎include/dt-bindings/pinctrl/rpi-pico-rp2040-pinctrl.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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#ifndef __RP2040_PINCTRL_H__
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#define __RP2040_PINCTRL_H__
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#define RP2_PINCTRL_GPIO_FUNC_XIP 0
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#define RP2_PINCTRL_GPIO_FUNC_SPI 1
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#define RP2_PINCTRL_GPIO_FUNC_UART 2
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#define RP2_PINCTRL_GPIO_FUNC_I2C 3
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#define RP2_PINCTRL_GPIO_FUNC_PWM 4
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#define RP2_PINCTRL_GPIO_FUNC_SIO 5
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#define RP2_PINCTRL_GPIO_FUNC_PIO0 6
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#define RP2_PINCTRL_GPIO_FUNC_PIO1 7
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#define RP2_PINCTRL_GPIO_FUNC_GPCK 8
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#define RP2_PINCTRL_GPIO_FUNC_USB 9
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#define RP2_PINCTRL_GPIO_FUNC_NULL 0xf
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#define RP2_ALT_FUNC_POS 0
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#define RP2_ALT_FUNC_MASK 0xf
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#define RP2_PIN_NUM_POS 4
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#define RP2_PIN_NUM_MASK 0x1f
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#define RP2040_PINMUX(pin_num, alt_func) (pin_num << RP2_PIN_NUM_POS | \
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alt_func << RP2_ALT_FUNC_POS)
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#define UART0_TX_P0 RP2040_PINMUX(0, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_RX_P1 RP2040_PINMUX(1, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_CTS_P2 RP2040_PINMUX(2, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_RTS_P3 RP2040_PINMUX(3, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_TX_P4 RP2040_PINMUX(4, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_RX_P5 RP2040_PINMUX(5, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_CTS_P6 RP2040_PINMUX(6, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_RTS_P7 RP2040_PINMUX(7, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_TX_P8 RP2040_PINMUX(8, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_RX_P9 RP2040_PINMUX(9, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_CTS_P10 RP2040_PINMUX(10, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_RTS_P11 RP2040_PINMUX(11, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_TX_P12 RP2040_PINMUX(12, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_RX_P13 RP2040_PINMUX(13, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_CTS_P14 RP2040_PINMUX(14, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_RTS_P15 RP2040_PINMUX(15, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_TX_P16 RP2040_PINMUX(16, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_RX_P17 RP2040_PINMUX(17, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_CTS_P18 RP2040_PINMUX(18, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_RTS_P19 RP2040_PINMUX(19, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_TX_P20 RP2040_PINMUX(20, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_RX_P21 RP2040_PINMUX(21, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_CTS_P22 RP2040_PINMUX(22, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_RTS_P23 RP2040_PINMUX(23, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_TX_P24 RP2040_PINMUX(24, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_RX_P25 RP2040_PINMUX(25, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_CTS_P26 RP2040_PINMUX(26, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART1_RTS_P27 RP2040_PINMUX(27, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_TX_P28 RP2040_PINMUX(28, RP2_PINCTRL_GPIO_FUNC_UART)
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#define UART0_RX_P29 RP2040_PINMUX(29, RP2_PINCTRL_GPIO_FUNC_UART)
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#endif /* __RP2040_PINCTRL_H__ */

‎soc/arm/rpi_pico/Kconfig.defconfig‎

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source "soc/arm/rpi_pico/*/Kconfig.defconfig.series"
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config PINCTRL
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default y
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endif # SOC_FAMILY_RPI_PICO

‎soc/arm/rpi_pico/rp2/pinctrl_soc.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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#ifndef ZEPHYR_SOC_ARM_RPI_PICO_RP2_PINCTRL_SOC_H_
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#define ZEPHYR_SOC_ARM_RPI_PICO_RP2_PINCTRL_SOC_H_
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#include <dt-bindings/pinctrl/rpi-pico-rp2040-pinctrl.h>
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/**
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* @brief Type to hold a pin's pinctrl configuration.
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*/
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struct rpi_pinctrl_soc_pin {
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/** Pin number 0..29 */
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uint32_t pin_num : 5;
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/** Alternative function (UART, SPI, etc.) */
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uint32_t alt_func : 4;
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/** Maximum current used by a pin, in mA */
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uint32_t drive_strength : 4;
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/** Slew rate, may be either false (slow) or true (fast) */
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uint32_t slew_rate : 1;
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/** Enable the internal pull up resistor */
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uint32_t pullup : 1;
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/** Enable the internal pull down resistor */
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uint32_t pulldown : 1;
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/** Enable the pin as an input */
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uint32_t input_enable : 1;
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/** Enable the internal schmitt trigger */
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uint32_t schmitt_enable : 1;
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};
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typedef struct rpi_pinctrl_soc_pin pinctrl_soc_pin_t;
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/**
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* @brief Utility macro to initialize each pin.
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*
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* @param node_id Node identifier.
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* @param prop Property name.
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* @param idx Property entry index.
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*/
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#define Z_PINCTRL_STATE_PIN_INIT(node_id, prop, idx) \
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{ \
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RP2_GET_PIN_NUM(DT_PROP_BY_IDX(node_id, prop, idx)), \
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RP2_GET_PIN_ALT_FUNC(DT_PROP_BY_IDX(node_id, prop, idx)), \
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DT_ENUM_IDX(node_id, drive_strength), \
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DT_ENUM_IDX(node_id, slew_rate), \
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DT_PROP(node_id, bias_pull_up), \
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DT_PROP(node_id, bias_pull_down), \
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DT_PROP(node_id, input_enable), \
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DT_PROP(node_id, input_schmitt_enable), \
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},
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/**
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* @brief Utility macro to initialize state pins contained in a given property.
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*
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* @param node_id Node identifier.
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* @param prop Property name describing state pins.
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*/
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#define Z_PINCTRL_STATE_PINS_INIT(node_id, prop) \
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{DT_FOREACH_CHILD_VARGS(DT_PHANDLE(node_id, prop), \
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DT_FOREACH_PROP_ELEM, pinmux, \
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Z_PINCTRL_STATE_PIN_INIT)}
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#define RP2_GET_PIN_NUM(pinctrl) \
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(((pinctrl) >> RP2_PIN_NUM_POS) & RP2_PIN_NUM_MASK)
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#define RP2_GET_PIN_ALT_FUNC(pinctrl) \
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(((pinctrl) >> RP2_ALT_FUNC_POS) & RP2_ALT_FUNC_MASK)
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#endif /* ZEPHYR_SOC_ARM_RPI_PICO_RP2_PINCTRL_SOC_H_ */

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