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boards: Added support for the Raspberry Pi Pico board
Added support for Raspberry Pi's Pico board, using the RP2040 SoC. Signed-off-by: Yonatan Schachter <[email protected]>
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‎CODEOWNERS‎

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/boards/arm/quick_feather/ @kowalewskijan @kgugala
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/boards/arm/rak4631_nrf52840/ @gpaquet85
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/boards/arm/rak5010_nrf52840/ @gpaquet85
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/boards/arm/rpi_pico/ @yonsch
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/boards/arm/ronoth_lodev/ @NorthernDean
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/boards/arm/xmc45_relax_kit/ @parthitce
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/boards/arm/sam4e_xpro/ @nandojve

‎boards/arm/rpi_pico/Kconfig.board‎

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# Copyright (c) 2021 Yonatan Schachter
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# SPDX-License-Identifier: Apache-2.0
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config BOARD_RPI_PICO
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bool "Raspberry Pi Pico Board"
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depends on SOC_RP2040

‎boards/arm/rpi_pico/Kconfig.defconfig‎

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# Copyright (c) 2021 Yonatan Schachter
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# SPDX-License-Identifier: Apache-2.0
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if BOARD_RPI_PICO
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config BOARD
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default "rpi_pico"
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config RP2_FLASH_W25Q080
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default y
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endif # BOARD_RPI_PICO

‎boards/arm/rpi_pico/board.cmake‎

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‎boards/arm/rpi_pico/doc/img/rpi_pico.png‎

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‎boards/arm/rpi_pico/doc/index.rst‎

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.. _rpi_pico:
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Raspberry Pi Pico
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#################
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Overview
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********
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The Raspberry Pi Pico is a small, low-cost, versatile board from
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Raspberry Pi. It is equipped with an RP2040 SoC, an on-board LED,
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a USB connector, and an SWD interface. The USB bootloader allows it
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to be flashed without any adapter, in a drag-and-drop manner.
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It is also possible to flash and debug the Pico with its SWD interface,
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using an external adapter.
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Hardware
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********
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- Dual core Arm Cortex-M0+ processor running up to 133MHz
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- 264KB on-chip SRAM
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- 2MB on-board QSPI flash with XIP capabilities
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- 26 GPIO pins
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- 3 Analog inputs
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- 2 UART peripherals
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- 2 SPI controllers
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- 2 I2C controllers
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- 16 PWM channels
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- USB 1.1 controller (host/device)
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- 8 Programmable I/O (PIO) for custom peripherals
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- On-board LED
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.. figure:: img/rpi_pico.png
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:width: 150px
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:align: center
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:alt: Raspberry Pi Pico
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Raspberry Pi Pico (Image courtesy of Raspberry Pi)
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Supported Features
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==================
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The rpi_pico board configuration supports the following
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hardware features:
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.. list-table::
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:header-rows: 1
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* - Peripheral
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- Kconfig option
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- Devicetree compatible
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* - NVIC
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- N/A
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- :dtcompatible:`arm,v6m-nvic`
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* - UART
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- :kconfig:`CONFIG_SERIAL`
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- :dtcompatible:`rpi,pico-uart`
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* - GPIO
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- :kconfig:`CONFIG_GPIO`
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- :dtcompatible:`rpi,pico-gpio`
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Programming and Debugging
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*************************
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Flashing
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========
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Using an SWD adapter
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--------------------
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The Raspberry Pi Pico has an SWD interface that can be used to program
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and debug the on board RP2040. This interface can be utilized by openocd.
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However, to use it with the RP2040, a custom fork of openocd is needed.
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This fork can be found here: https://github.com/raspberrypi/openocd
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Depending on the interface used (such as JLink), you might need to
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checkout to a branch that supports this interface, before proceeding.
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Build and install openocd as described in the README.
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When openocd is installed, you can flash the board with the following
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command (assuming JLink is used):
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.. code-block:: console
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$ openocd -f interface/jlink.cfg -c 'transport select swd' -f target/rp2040.cfg -c "adapter speed 2000" -c 'targets rp2040.core0' -c 'program path/to/zephyr.elf verify reset exit'
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Debugging
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=========
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The SWD interface can also be used to debug the board. To achieve this,
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install openocd as described for flashing the board. Also, install gdb-multiarch.
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Then run the following command:
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.. code-block:: console
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$ openocd -f interface/jlink.cfg -c 'transport select swd' -f target/rp2040.cfg -c "adapter speed 2000" -c 'targets rp2040.core0'
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On another terminal, run:
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.. code-block:: console
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$ gdb-multiarch
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Inside gdb, run:
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.. code-block:: console
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(gdb) tar ext :3333
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(gdb) file path/to/zephyr.elf
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You can then start debugging the board.

‎boards/arm/rpi_pico/rpi_pico-pinctrl.dtsi‎

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/*
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* Copyright (c) 2021, Yonatan Schachter
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <dt-bindings/pinctrl/rpi-pico-rp2040-pinctrl.h>
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&pinctrl {
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uart0_default: uart0_default {
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group1 {
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pinmux = <UART0_TX_P0>;
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};
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group2 {
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pinmux = <UART0_RX_P1>;
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input-enable;
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};
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};
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};

‎boards/arm/rpi_pico/rpi_pico.dts‎

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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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/dts-v1/;
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#include <rpi_pico/rp2040.dtsi>
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#include "rpi_pico-pinctrl.dtsi"
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/ {
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chosen {
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zephyr,sram = &sram0;
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zephyr,flash = &flash0;
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zephyr,console = &uart0;
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zephyr,code-partition = &code_partition;
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};
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leds {
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compatible = "gpio-leds";
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led0: led_0 {
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gpios = <&gpio0 25 GPIO_ACTIVE_LOW>;
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label = "LED";
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};
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};
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aliases {
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led0 = &led0;
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};
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};
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&flash0 {
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reg = <0x10000000 DT_SIZE_M(2)>;
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partitions {
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compatible = "fixed-partitions";
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#address-cells = <1>;
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#size-cells = <1>;
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/* Reserved memory for the second stage bootloader */
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second_stage_bootloader: partition@0 {
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label = "second_stage_bootloader";
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reg = <0x00000000 0x100>;
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read-only;
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};
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/*
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* Usable flash. Starts at 0x100, after the bootloader. The partition
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* size is 2MB minus the 0x100 bytes taken by the bootloader.
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*/
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code_partition: partition@100 {
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label = "code-partition";
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reg = <0x100 (DT_SIZE_M(2) - 0x100)>;
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read-only;
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};
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};
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};
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&uart0 {
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current-speed = <115200>;
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status = "okay";
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pinctrl-0 = <&uart0_default>;
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pinctrl-names = "default";
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};
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&gpio0 {
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status = "okay";
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};

‎boards/arm/rpi_pico/rpi_pico.yaml‎

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identifier: rpi_pico
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name: RaspberryPi-Pico
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type: mcu
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arch: arm
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flash: 2048
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ram: 264
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toolchain:
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- zephyr
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- gnuarmemb
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- xtools
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supported:
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- uart
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- gpio

‎boards/arm/rpi_pico/rpi_pico_defconfig‎

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CONFIG_SOC_SERIES_RP2XXX=y
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CONFIG_SOC_RP2040=y
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CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=125000000
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CONFIG_SERIAL=y
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CONFIG_CONSOLE=y
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CONFIG_UART_CONSOLE=y
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CONFIG_GPIO=y
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CONFIG_USE_DT_CODE_PARTITION=y

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