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boards: Add initial support for the Raspberry Pi Pico 2
The Raspberry Pi Pico 2 is Raspberry Pi's first board fitted with their RP2350A SoC. This adds a minimal board definition, sufficient to build and run `samples/hello_world` and `samples/basic/blinky` on the board. Images can be run on the target using OpenOCD. Raspberry Pi's `picotool` can create a UF2 binary, which ensures that errata RP2350-E10 is avoided e.g. ``` > picotool uf2 convert build\rpi_pico2\hello_world\zephyr\zephyr.elf \ build\rpi_pico2\hello_world\zephyr\zephyr.uf2 \ --family rp2350-arm-s --abs-block` ``` Raspberry Pi Pico 2 is a low-cost, high-performance microcontroller board with flexible digital interfaces. Key features include: - RP2350A microcontroller chip designed by Raspberry Pi in the United Kingdom - Dual Cortex-M33 or Hazard3 processors at up to 150MHz - 520KB of SRAM, and 4MB of on-board flash memory - USB 1.1 with device and host support - Low-power sleep and dormant modes - Drag-and-drop programming using mass storage over USB - 26x multi-function GPIO pins including 3 that can be used for ADC - 2x SPI, 2x I2C, 2x UART, 3x 12-bit 500ksps Analogue to Digital Converter (ADC), 24x controllable PWM channels - 2x Timer with 4 alarms, 1x AON Timer - Temperature sensor - 3x Programmable IO (PIO) blocks, 12 state machines total for custom peripheral support - Flexible, user-programmable high-speed IO - Can emulate interfaces such as SD Card and VGA The Raspberry Pi Pico 2 comes as a castellated module which allows soldering direct to carrier boards. Only enable timer 0 for now. Timer 1 won't work correctly until the rpi_pico HAL has picked up the fix for `hardware_alarm_irq_handler`. See raspberrypi/pico-sdk#1949 . Co-authored-by: Benjamin Cabé <[email protected]> Signed-off-by: Andrew Featherstone <[email protected]>
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‎boards/raspberrypi/common/rpi_pico-led.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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/* Pico and Pico 2 boards (but not Pico W) have a common LED placement. */
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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_HIGH>;
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label = "LED";
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};
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};
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pwm_leds {
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compatible = "pwm-leds";
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status = "disabled";
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pwm_led0: pwm_led_0 {
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pwms = <&pwm 9 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
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label = "PWM_LED";
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};
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};
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aliases {
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led0 = &led0;
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pwm-led0 = &pwm_led0;
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};
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};

‎boards/raspberrypi/common/rpi_pico-pinctrl-common.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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/* The Pico and Pico 2 are pin compatible. */
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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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i2c0_default: i2c0_default {
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group1 {
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pinmux = <I2C0_SDA_P4>, <I2C0_SCL_P5>;
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input-enable;
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input-schmitt-enable;
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};
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};
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i2c1_default: i2c1_default {
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group1 {
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pinmux = <I2C1_SDA_P6>, <I2C1_SCL_P7>;
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input-enable;
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input-schmitt-enable;
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};
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};
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spi0_default: spi0_default {
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group1 {
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pinmux = <SPI0_CSN_P17>, <SPI0_SCK_P18>, <SPI0_TX_P19>;
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};
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group2 {
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pinmux = <SPI0_RX_P16>;
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input-enable;
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};
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};
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pwm_ch4b_default: pwm_ch4b_default {
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group1 {
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pinmux = <PWM_4B_P25>;
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};
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};
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adc_default: adc_default {
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group1 {
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pinmux = <ADC_CH0_P26>, <ADC_CH1_P27>, <ADC_CH2_P28>, <ADC_CH3_P29>;
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input-enable;
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};
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};
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};

‎boards/raspberrypi/rpi_pico/rpi_pico-pinctrl.dtsi‎

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#include <zephyr/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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i2c0_default: i2c0_default {
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group1 {
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pinmux = <I2C0_SDA_P4>, <I2C0_SCL_P5>;
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input-enable;
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input-schmitt-enable;
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};
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};
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i2c1_default: i2c1_default {
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group1 {
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pinmux = <I2C1_SDA_P6>, <I2C1_SCL_P7>;
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input-enable;
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input-schmitt-enable;
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};
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};
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spi0_default: spi0_default {
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group1 {
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pinmux = <SPI0_CSN_P17>, <SPI0_SCK_P18>, <SPI0_TX_P19>;
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};
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group2 {
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pinmux = <SPI0_RX_P16>;
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input-enable;
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};
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};
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pwm_ch4b_default: pwm_ch4b_default {
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group1 {
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pinmux = <PWM_4B_P25>;
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};
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};
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adc_default: adc_default {
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group1 {
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pinmux = <ADC_CH0_P26>, <ADC_CH1_P27>, <ADC_CH2_P28>, <ADC_CH3_P29>;
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input-enable;
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};
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};
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};
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#include "../common/rpi_pico-pinctrl-common.dtsi"

‎boards/raspberrypi/rpi_pico/rpi_pico.dts‎

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/dts-v1/;
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#include "rpi_pico-common.dtsi"
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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_HIGH>;
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label = "LED";
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};
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};
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pwm_leds {
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compatible = "pwm-leds";
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status = "disabled";
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pwm_led0: pwm_led_0 {
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pwms = <&pwm 9 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
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label = "PWM_LED";
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};
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};
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aliases {
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led0 = &led0;
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pwm-led0 = &pwm_led0;
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};
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};
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#include "../common/rpi_pico-led.dtsi"

‎boards/raspberrypi/rpi_pico2/Kconfig.defconfig‎

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# Copyright (c) 2024 Andrew Featherstone
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# SPDX-License-Identifier: Apache-2.0
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if BOARD_RPI_PICO2
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config USB_SELF_POWERED
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default n
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endif # BOARD_RPI_PICO2

‎boards/raspberrypi/rpi_pico2/Kconfig.rpi_pico2‎

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# Copyright (c) 2024 Andrew Featherstone
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# SPDX-License-Identifier: Apache-2.0
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config BOARD_RPI_PICO2
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select SOC_RP2350A

‎boards/raspberrypi/rpi_pico2/board.yml‎

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board:
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name: rpi_pico2
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full_name: Raspberry Pi Pico 2
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vendor: raspberrypi
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socs:
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- name: rp2350a

‎boards/raspberrypi/rpi_pico2/rpi_pico2-pinctrl.dtsi‎

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/*
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* Copyright (c) 2024, Andrew Featherstone
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/pinctrl/rpi-pico-rp2350a-pinctrl.h>
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#include "../common/rpi_pico-pinctrl-common.dtsi"

‎boards/raspberrypi/rpi_pico2/rpi_pico2.dts‎

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/*
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* Copyright (c) 2024 Andrew Featherstone
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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 <freq.h>
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#include <zephyr/dt-bindings/i2c/i2c.h>
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#include <zephyr/dt-bindings/pwm/pwm.h>
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#include <raspberrypi/rpi_pico/rp2350a.dtsi>
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#include "rpi_pico2-pinctrl.dtsi"
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#include "../common/rpi_pico-led.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,shell-uart = &uart0;
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zephyr,code-partition = &code_partition;
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};
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aliases {
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watchdog0 = &wdt0;
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};
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pico_header: connector {
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compatible = "raspberrypi,pico-header";
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#gpio-cells = <2>;
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gpio-map-mask = <0xffffffff 0xffffffc0>;
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gpio-map-pass-thru = <0 0x3f>;
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gpio-map = <0 0 &gpio0 0 0>, /* GP0 */
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<1 0 &gpio0 1 0>, /* GP1 */
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<2 0 &gpio0 2 0>, /* GP2 */
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<3 0 &gpio0 3 0>, /* GP3 */
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<4 0 &gpio0 4 0>, /* GP4 */
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<5 0 &gpio0 5 0>, /* GP5 */
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<6 0 &gpio0 6 0>, /* GP6 */
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<7 0 &gpio0 7 0>, /* GP7 */
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<8 0 &gpio0 8 0>, /* GP8 */
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<9 0 &gpio0 9 0>, /* GP9 */
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<10 0 &gpio0 10 0>, /* GP10 */
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<11 0 &gpio0 11 0>, /* GP11 */
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<12 0 &gpio0 12 0>, /* GP12 */
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<13 0 &gpio0 13 0>, /* GP13 */
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<14 0 &gpio0 14 0>, /* GP14 */
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<15 0 &gpio0 15 0>, /* GP15 */
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<16 0 &gpio0 16 0>, /* GP16 */
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<17 0 &gpio0 17 0>, /* GP17 */
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<18 0 &gpio0 18 0>, /* GP18 */
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<19 0 &gpio0 19 0>, /* GP19 */
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<20 0 &gpio0 20 0>, /* GP20 */
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<21 0 &gpio0 21 0>, /* GP21 */
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<22 0 &gpio0 22 0>, /* GP22 */
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<26 0 &gpio0 26 0>, /* GP26 */
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<27 0 &gpio0 27 0>, /* GP27 */
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<28 0 &gpio0 28 0>; /* GP28 */
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};
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};
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&flash0 {
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reg = <0x10000000 DT_SIZE_M(4)>;
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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 an image definition block. The block is much
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* smaller than 256 bytes, but in practice the linker places the vector
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* table at a much larger alignment offset.
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*/
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image_def: partition@0 {
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label = "image_def";
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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 image definition block.
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* The partition size is 4MB minus the 0x100 bytes taken by the
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* image definition.
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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(4) - 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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};
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&spi0 {
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clock-frequency = <DT_FREQ_M(8)>;
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pinctrl-0 = <&spi0_default>;
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pinctrl-names = "default";
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};
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&i2c0 {
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clock-frequency = <I2C_BITRATE_STANDARD>;
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pinctrl-0 = <&i2c0_default>;
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pinctrl-names = "default";
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status = "okay";
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};
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&i2c1 {
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clock-frequency = <I2C_BITRATE_STANDARD>;
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pinctrl-0 = <&i2c1_default>;
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pinctrl-names = "default";
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status = "okay";
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};
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&adc {
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pinctrl-0 = <&adc_default>;
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pinctrl-names = "default";
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status = "okay";
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};
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&pwm {
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pinctrl-0 = <&pwm_ch4b_default>;
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pinctrl-names = "default";
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divider-int-0 = <255>;
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};
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&timer0 {
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status = "okay";
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};
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zephyr_udc0: &usbd {
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status = "okay";
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};
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pico_serial: &uart0 {};

‎boards/raspberrypi/rpi_pico2/rpi_pico2.yaml‎

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identifier: rpi_pico2
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name: Raspberry Pi Pico 2
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type: mcu
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arch: arm
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flash: 4096
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ram: 520
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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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- adc
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- clock
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- counter
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- gpio
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- hwinfo
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- i2c
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- pwm
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- spi
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- uart

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