boards: pico_spe: add support

boards/kws/index.rst

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+.. _boards-kws:
+
+KWS Computersysteme Gmbh
+########################
+
+.. toctree::
+   :maxdepth: 1
+   :glob:
+
+   **/*

boards/kws/pico_spe/Kconfig

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+# Copyright (c) 2024 KWS Computersysteme Gmbh
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_PICO_SPE
+	select RP2_FLASH_W25Q080

boards/kws/pico_spe/Kconfig.defconfig

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+# Copyright (c) 2024 KWS Computersysteme Gmbh
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_PICO_SPE
+
+if I2C_DW
+
+config I2C_DW_CLOCK_SPEED
+	default 125
+
+endif # I2C_DW
+
+config USB_SELF_POWERED
+	default n
+
+config PHY_INIT_PRIORITY
+	default 82
+	depends on NET_L2_ETHERNET && ETH_DRIVER
+
+if NETWORKING
+
+config NET_L2_ETHERNET
+	default y
+
+if ETH_LAN865X
+
+config NET_IF_MAX_IPV4_COUNT
+	default 2
+
+endif # ETH_LAN865X
+
+endif # NETWORKING
+
+endif # BOARD_PICO_SPE

boards/kws/pico_spe/Kconfig.pico_spe

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+# Copyright (c) 2024 KWS Computersysteme Gmbh
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_PICO_SPE
+	select SOC_RP2040

boards/kws/pico_spe/board.cmake

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+# SPDX-License-Identifier: Apache-2.0
+
+# This configuration allows selecting what debug adapter debugging Pico-SPE
+# by a command-line argument.
+# It is mainly intended to support both the 'picoprobe' and 'raspberrypi-swd'
+# adapter described in "Getting started with Raspberry Pi Pico".
+# And any other SWD debug adapter might also be usable with this configuration.
+
+# Set RPI_PICO_DEBUG_ADAPTER to select debug adapter by command-line arguments.
+# e.g.) west build -b pico_spe -- -DRPI_PICO_DEBUG_ADAPTER=raspberrypi-swd
+# The value is treated as a part of an interface file name that
+# the debugger's configuration file.
+# The value must be the 'stem' part of the name of one of the files
+# in the openocd interface configuration file.
+# The setting is store to CMakeCache.txt.
+if("${RPI_PICO_DEBUG_ADAPTER}" STREQUAL "")
+	set(RPI_PICO_DEBUG_ADAPTER "cmsis-dap")
+endif()
+
+board_runner_args(openocd --cmd-pre-init "source [find interface/${RPI_PICO_DEBUG_ADAPTER}.cfg]")
+board_runner_args(openocd --cmd-pre-init "transport select swd")
+board_runner_args(openocd --cmd-pre-init "source [find target/rp2040.cfg]")
+
+# The adapter speed is expected to be set by interface configuration.
+# But if not so, set 2000 to adapter speed.
+board_runner_args(openocd --cmd-pre-init "set_adapter_speed_if_not_set 2000")
+
+board_runner_args(jlink "--device=RP2040_M0_0")
+board_runner_args(uf2 "--board-id=RPI-RP2")
+board_runner_args(pyocd "--target=rp2040")
+
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/uf2.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/blackmagicprobe.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)

boards/kws/pico_spe/board.yml

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+board:
+  name: pico_spe
+  full_name: Pico-SPE
+  vendor: kws
+  socs:
+  - name: rp2040

boards/kws/pico_spe/doc/index.rst

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+.. zephyr:board:: pico_spe
+
+Overview
+********
+
+The Pico-SPE is a small, low-cost, versatile boards from
+KWS Computersysteme Gmbh. They are equipped with an RP2040 SoC, an on-board LED,
+a USB connector, an SWD interface. The Pico-SPE additionally contains an
+Microchip LAN8651 10Base-T1S module. The USB bootloader allows the
+ability to flash without any adapter, in a drag-and-drop manner.
+It is also possible to flash and debug the boards with their SWD interface,
+using an external adapter.
+
+Hardware
+********
+- Dual core Arm Cortex-M0+ processor running up to 133MHz
+- 264KB on-chip SRAM
+- 16MB on-board QSPI flash with XIP capabilities
+- 16 GPIO pins
+- 3 Analog inputs
+- 2 UART peripherals
+- 2 I2C controllers
+- 16 PWM channels
+- USB 1.1 controller (host/device)
+- 8 Programmable I/O (PIO) for custom peripherals
+- On-board LED
+- 1 Watchdog timer peripheral
+- Microchip LAN8651 10Base-T1S
+
+Supported Features
+==================
+
+The ``pico_spe`` board target supports the following
+hardware features:
+
+.. list-table::
+   :header-rows: 1
+
+   * - Peripheral
+     - Kconfig option
+     - Devicetree compatible
+   * - NVIC
+     - N/A
+     - :dtcompatible:`arm,v6m-nvic`
+   * - UART
+     - :kconfig:option:`CONFIG_SERIAL`
+     - :dtcompatible:`raspberrypi,pico-uart`
+   * - GPIO
+     - :kconfig:option:`CONFIG_GPIO`
+     - :dtcompatible:`raspberrypi,pico-gpio`
+   * - ADC
+     - :kconfig:option:`CONFIG_ADC`
+     - :dtcompatible:`raspberrypi,pico-adc`
+   * - I2C
+     - :kconfig:option:`CONFIG_I2C`
+     - :dtcompatible:`snps,designware-i2c`
+   * - SPI
+     - :kconfig:option:`CONFIG_SPI`
+     - :dtcompatible:`raspberrypi,pico-spi`
+   * - USB Device
+     - :kconfig:option:`CONFIG_USB_DEVICE_STACK`
+     - :dtcompatible:`raspberrypi,pico-usbd`
+   * - HWINFO
+     - :kconfig:option:`CONFIG_HWINFO`
+     - N/A
+   * - Watchdog Timer (WDT)
+     - :kconfig:option:`CONFIG_WATCHDOG`
+     - :dtcompatible:`raspberrypi,pico-watchdog`
+   * - PWM
+     - :kconfig:option:`CONFIG_PWM`
+     - :dtcompatible:`raspberrypi,pico-pwm`
+   * - Flash
+     - :kconfig:option:`CONFIG_FLASH`
+     - :dtcompatible:`raspberrypi,pico-flash`
+   * - Clock controller
+     - :kconfig:option:`CONFIG_CLOCK_CONTROL`
+     - :dtcompatible:`raspberrypi,pico-clock-controller`
+   * - UART (PIO)
+     - :kconfig:option:`CONFIG_SERIAL`
+     - :dtcompatible:`raspberrypi,pico-uart-pio`
+   * - SPI (PIO)
+     - :kconfig:option:`CONFIG_SPI`
+     - :dtcompatible:`raspberrypi,pico-spi-pio`
+   * - LAN8651 Single Pair Ethernet
+     - :kconfig:option:`CONFIG_NETWORKING`
+     - :dtcompatible:`microchip,lan865x`
+
+Pin Mapping
+===========
+
+The peripherals of the RP2040 SoC can be routed to various pins on the board.
+The configuration of these routes can be modified through DTS. Please refer to
+the datasheet to see the possible routings for each peripheral.
+
+External pin mapping on the Pico-SPE is identical to the Pico, but note that internal
+RP2040 GPIO lines 10, 11, 12, 13, 20, 21 are routed to the Microchip LAN8651 on the
+Pico-SPE.
+
+Default Zephyr Peripheral Mapping:
+----------------------------------
+
+.. rst-class:: rst-columns
+
+- UART0_TX : P0
+- UART0_RX : P1
+- I2C0_SDA : P4
+- I2C0_SCL : P5
+- I2C1_SDA : P6
+- I2C1_SCL : P7
+- ADC_CH0 : P26
+- ADC_CH1 : P27
+- ADC_CH2 : P28
+
+Programmable I/O (PIO)
+**********************
+The RP2040 SoC comes with two PIO periherals. These are two simple
+co-processors that are designed for I/O operations. The PIOs run
+a custom instruction set, generated from a custom assembly language.
+PIO programs are assembled using :command:`pioasm`, a tool provided by Raspberry Pi.
+
+Zephyr does not (currently) assemble PIO programs. Rather, they should be
+manually assembled and embedded in source code. An example of how this is done
+can be found at :zephyr_file:`drivers/serial/uart_rpi_pico_pio.c`.
+
+Sample: SPI via PIO
+====================
+
+The :zephyr:code-sample:`bme280` sample includes a
+demonstration of using the PIO SPI driver to communicate with an
+environmental sensor.  The PIO SPI driver supports using any
+combination of GPIO pins for an SPI bus, as well as allowing up to
+four independent SPI buses on a single board (using the two SPI
+devices as well as both PIO devices).
+
+Programming and Debugging
+*************************
+
+Flashing
+========
+
+Using SEGGER JLink
+------------------
+
+You can Flash the pico_spe with a SEGGER JLink debug probe as described in
+:ref:`Building, Flashing and Debugging <west-flashing>`.
+
+Here is an example of building and flashing the :zephyr:code-sample:`blinky` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/blinky
+   :board: pico_spe
+   :goals: build
+
+.. code-block:: bash
+
+  west flash --runner jlink
+
+Using OpenOCD
+-------------
+
+To use CMSIS-DAP, you must configure **udev**.
+
+Create a file in /etc/udev.rules.d with any name, and write the line below.
+
+.. code-block:: bash
+
+   ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000c", MODE="660", GROUP="plugdev", TAG+="uaccess"
+
+This example is valid for the case that the user joins to ``plugdev`` groups.
+
+The Pico-SPE has an SWD interface that can be used to program
+and debug the on board RP2040. This interface can be utilized by OpenOCD.
+To use it with the RP2040, OpenOCD version 0.12.0 or later is needed.
+
+If you are using a Debian based system (including RaspberryPi OS, Ubuntu. and more),
+using the `pico_setup.sh`_ script is a convenient way to set up the forked version of OpenOCD.
+
+Depending on the interface used (such as JLink), you might need to
+checkout to a branch that supports this interface, before proceeding.
+Build and install OpenOCD as described in the README.
+
+Here is an example of building and flashing the :zephyr:code-sample:`blinky` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/blinky
+   :board: pico_spe
+   :goals: build flash
+   :gen-args: -DOPENOCD=/usr/local/bin/openocd -DOPENOCD_DEFAULT_PATH=/usr/local/share/openocd/scripts -DRPI_PICO_DEBUG_ADAPTER=cmsis-dap
+
+Set the environment variables **OPENOCD** to :file:`/usr/local/bin/openocd`
+and **OPENOCD_DEFAULT_PATH** to :file:`/usr/local/share/openocd/scripts`. This should work
+with the OpenOCD that was installed with the default configuration.
+This configuration also works with an environment that is set up by the `pico_setup.sh`_ script.
+
+**RPI_PICO_DEBUG_ADAPTER** specifies what debug adapter is used for debugging.
+
+If **RPI_PICO_DEBUG_ADAPTER** was not assigned, ``cmsis-dap`` is used by default.
+The other supported adapters are ``raspberrypi-swd``, ``jlink`` and ``blackmagicprobe``.
+How to connect ``cmsis-dap`` and ``raspberrypi-swd`` is described in `Getting Started with Pico-SPE`_.
+Any other SWD debug adapter maybe also work with this configuration.
+
+The value of **RPI_PICO_DEBUG_ADAPTER** is cached, so it can be omitted from
+``west flash`` and ``west debug`` if it was previously set while running
+``west build``.
+
+**RPI_PICO_DEBUG_ADAPTER** is used in an argument to OpenOCD as ``"source [find interface/${RPI_PICO_DEBUG_ADAPTER}.cfg]"``.
+Thus, **RPI_PICO_DEBUG_ADAPTER** needs to be assigned the file name of the debug adapter.
+
+You can also flash the board with the following
+command that directly calls OpenOCD (assuming a SEGGER JLink adapter is used):
+
+.. code-block:: console
+
+   $ 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'
+
+Using UF2
+---------
+
+If you don't have an SWD adapter, you can flash the Pico-SPE with
+a UF2 file. By default, building an app for this board will generate a
+:file:`build/zephyr/zephyr.uf2` file. If the Pico is powered on with the ``BOOTSEL``
+button pressed, it will appear on the host as a mass storage device. The
+UF2 file should be drag-and-dropped to the device, which will flash the Pico.
+
+Debugging
+=========
+
+The SWD interface can also be used to debug the board. To achieve this, you can
+either use SEGGER JLink or OpenOCD.
+
+Using SEGGER JLink
+------------------
+
+Use a SEGGER JLink debug probe and follow the instruction in
+:ref:`Building, Flashing and Debugging<west-debugging>`.
+
+
+Using OpenOCD
+-------------
+
+Install OpenOCD as described for flashing the board.
+
+Here is an example for debugging the :zephyr:code-sample:`blinky` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/blinky
+   :board: pico_spe
+   :maybe-skip-config:
+   :goals: debug
+   :gen-args: -DOPENOCD=/usr/local/bin/openocd -DOPENOCD_DEFAULT_PATH=/usr/local/share/openocd/scripts -DRPI_PICO_DEBUG_ADAPTER=raspberrypi-swd
+
+As with flashing, you can specify the debug adapter by specifying **RPI_PICO_DEBUG_ADAPTER**
+at ``west build`` time. No needs to specify it at ``west debug`` time.
+
+You can also debug with OpenOCD and gdb launching from command-line.
+Run the following command:
+
+.. code-block:: console
+
+   $ openocd -f interface/jlink.cfg -c 'transport select swd' -f target/rp2040.cfg -c "adapter speed 2000" -c 'targets rp2040.core0'
+
+On another terminal, run:
+
+.. code-block:: console
+
+   $ gdb-multiarch
+
+Inside gdb, run:
+
+.. code-block:: console
+
+   (gdb) tar ext :3333
+   (gdb) file path/to/zephyr.elf
+
+You can then start debugging the board.
+
+.. target-notes::
+.. _pico_setup.sh:
+  https://raw.githubusercontent.com/raspberrypi/pico-setup/master/pico_setup.sh
+
+.. _Getting Started with Pico-SPE:
+  https://kws-computer.de/go/pico-spe-getting-started
+
+.. _Pico-SPE Documentation:
+  https://kws-computer.de/go/pico-spe-datasheet