drivers: i2c: add i2c controller implementation using rp2040 pio

I2C controller that uses PIO on RP2040. Using this we can drive up to 8 I2C
busses in addition to the two supported by the built-in i2c peripheral.

This driver is adapted from the pico sdk pio i2c example with some changes
to fix identified issues.

1. Resetting the input shift register before reading a byte. Sometimes the
   shift register might get out of sync.
2. Resetting the SM after handling a NAK, related to shift registers
   counters getting out of sync.
3. Waiting for possible clock stretching when writing the I2C STOP.

This is a blocking driver as I found versions interacting with the PIO via
interrupts to perform much worse than simply waiting via `k_yield`.

The driver attempts to load the PIO code only once in order to allow
multiple driver instances to run the same code.

It also uses the `reg` property as the SM, instead of relying on pico sdk
to arbitrarily assign one, which seems to be the norm for other PIO-based
drivers in the codebase. I'll put up a separate PR to do this on the main
pio dts nodes and fix-up drivers if people think this is a good idea.

Signed-off-by: Yiding Jia <[email protected]>

Author: yiding

drivers/i2c/CMakeLists.txt

@@ -51,6 +51,7 @@ zephyr_library_sources_ifdef(CONFIG_I2C_NUMAKER		i2c_numaker.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_OMAP		i2c_omap.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_RCAR		i2c_rcar.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_RENESAS_RA_IIC	i2c_renesas_ra_iic.c)
+zephyr_library_sources_ifdef(CONFIG_I2C_RPI_PICO_PIO i2c_rpi_pico_pio.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_RV32M1_LPI2C	i2c_rv32m1_lpi2c.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_SAM0		i2c_sam0.c)
 zephyr_library_sources_ifdef(CONFIG_I2C_SAM_TWI		i2c_sam_twi.c)

drivers/i2c/Kconfig

@@ -254,6 +254,14 @@ config I2C_RV32M1_LPI2C
 	help
 	  Enable the RV32M1 LPI2C driver.
 
+config I2C_RPI_PICO_PIO
+	bool "Raspberry Pi Pico PIO based I2C driver"
+	default y
+	depends on DT_HAS_RASPBERRYPI_PICO_PIO_I2C_ENABLED
+	select PICOSDK_USE_PIO
+	help
+	  Enable the Raspberry Pi Pico PIO I2C driver.
+
 config GPIO_I2C_SWITCH
 	bool "GPIO controlled I2C bus switch"
 	default y