pwm: add raspberry pi pico PWM driver

CODEOWNERS

@@ -44,6 +44,7 @@
 /soc/arm/nuvoton/                         @ssekar15
 /soc/arm/nuvoton_npcx/                    @MulinChao @WealianLiao @ChiHuaL
 /soc/arm/quicklogic_eos_s3/               @kowalewskijan @kgugala
+/soc/arm/raspberrypi/                     @yonsch
 /soc/arm/silabs_exx32/efm32pg1b/          @rdmeneze
 /soc/arm/silabs_exx32/efr32mg21/          @l-alfred
 /soc/arm/st_stm32/                        @erwango
@@ -118,6 +119,7 @@
 /boards/arm/quick_feather/                @kowalewskijan @kgugala
 /boards/arm/rak4631_nrf52840/             @gpaquet85
 /boards/arm/rak5010_nrf52840/             @gpaquet85
+/boards/arm/raspberrypi_pico/             @yonsch
 /boards/arm/ronoth_lodev/                 @NorthernDean
 /boards/arm/xmc45_relax_kit/              @parthitce
 /boards/arm/sam4e_xpro/                   @nandojve
@@ -287,6 +289,7 @@
 /drivers/serial/uart_mcux_iuart.c         @Mani-Sadhasivam
 /drivers/serial/Kconfig.rtt               @carlescufi @pkral78
 /drivers/serial/uart_rtt.c                @carlescufi @pkral78
+/drivers/serial/uart_raspberrypi.c        @yonsch
 /drivers/serial/Kconfig.xlnx              @wjliang
 /drivers/serial/uart_xlnx_ps.c            @wjliang
 /drivers/serial/uart_xlnx_uartlite.c      @henrikbrixandersen
@@ -357,6 +360,7 @@
 /dts/arm/nuvoton/npcx/                    @MulinChao @WealianLiao @ChiHuaL
 /dts/arm/nxp/                             @MaureenHelm @mmahadevan108 @dleach02
 /dts/arm/microchip/                       @franciscomunoz @albertofloyd @scottwcpg
+/dts/arm/raspberrypi/                     @yonsch
 /dts/arm/silabs/efm32_pg_1b.dtsi          @rdmeneze
 /dts/arm/silabs/efm32gg11b*               @oanerer
 /dts/arm/silabs/efm32_jg_pg*              @chrta

boards/arm/raspberrypi_pico/Kconfig.board

@@ -0,0 +1,6 @@
+# Copyright (c) 2021 Yonatan Schachter
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_RPI_PICO
+	bool "Raspberry Pi Pico Board"
+	depends on SOC_RP2040

boards/arm/raspberrypi_pico/Kconfig.defconfig

@@ -0,0 +1,9 @@
+# Copyright (c) 2021 Yonatan Schachter
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_RPI_PICO
+
+config BOARD
+	default "raspberrypi_pico"
+
+endif # BOARD_RPI_PICO

boards/arm/raspberrypi_pico/doc/index.rst

@@ -0,0 +1,49 @@
+.. _raspberrypi_pico:
+
+Raspberry Pi Pico
+#################
+
+Overview
+********
+
+The Raspberry Pi Pico is a small, low-cost, versatile board from
+Raspberry Pi. It is equipped with an RP2040 SoC, an on-board LED,
+a USB connector, and an SWD inteface. The USB bootloader allows it
+to be flashed without any adapter, in a drag-and-drop manner.
+It is also possible to flash and debug the Pico with its SWD interface,
+using an external adapter.
+
+Hardware
+********
+- Dual core Arm Cortex-M0+ processor running up to 133MHz
+- 264KB on-chip SRAM
+- 2MB on-board QSPI flash with XIP capabilities
+- 26 GPIO pins
+- 3 Analog inputs
+- 2 UART peripherals
+- 2 SPI controllers
+- 2 I2C controllers
+- 16 PWM channels
+- USB 1.1 controller (host/device)
+- 8 Programmable I/O (PIO) for custom peripherals
+- On-board LED
+
+
+.. figure:: img/raspberrypi_pico.png
+     :width: 150px
+     :align: center
+     :alt: Raspberry Pi Pico
+
+     Raspberry Pi Pico (Image courtesy of Raspberry Pi)
+
+Supported Features
+==================
+
+The raspberrypi_pico board configuration supports the following
+hardware features:
+
++-----------+------------+----------------------+
+| Interface | Controller | Driver/Component     |
++===========+============+======================+
+| UART      | on-chip    | serial port          |
++-----------+------------+----------------------+

boards/arm/raspberrypi_pico/raspberrypi_pico.dts

@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2021 Yonatan Schachter
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <raspberrypi/rp2040.dtsi>
+
+/ {
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+		zephyr,console = &uart0;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+		led0: led_0 {
+			gpios = <&gpio0 25 GPIO_ACTIVE_LOW>;
+			label = "LED";
+		};
+	};
+
+	pwmleds {
+		compatible = "pwm-leds";
+		pwm_led0: pwm_led_0 {
+			pwms = <&pwm0 25 0>;
+			label = "PWM LED0";
+		};
+	};
+
+	aliases {
+		led0 = &led0;
+		pwm-led0 = &pwm_led0;
+	};
+};
+
+&flash0 {
+	/* 2MB of flash minus the 0x100 used for
+	 * the second stage bootloader
+	 */
+	reg = <0x10000100 0x001fff00>;
+};
+
+&uart0 {
+	current-speed = <115200>;
+	status = "okay";
+	tx-pin = <0>;
+	rx-pin = <1>;
+};
+
+&gpio0 {
+	status = "okay";
+};
+
+&pwm0 {
+	status = "okay";
+	prescaler = <255>;
+};

boards/arm/raspberrypi_pico/raspberrypi_pico.yaml

@@ -0,0 +1,12 @@
+identifier: raspberrypi_pico
+name: RaspberryPi-Pico
+type: mcu
+arch: arm
+flash: 2048
+ram: 264
+toolchain:
+  - zephyr
+  - gnuarmemb
+  - xtools
+supported:
+  - serial

boards/arm/raspberrypi_pico/raspberrypi_pico_defconfig

@@ -0,0 +1,9 @@
+CONFIG_SOC_SERIES_RP2XXX=y
+CONFIG_SOC_RP2040=y
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=125000000
+CONFIG_RP2_FLASH_W25Q080=y
+CONFIG_SERIAL=y
+CONFIG_LOG=y
+CONFIG_LOG_PRINTK=y
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y

drivers/gpio/CMakeLists.txt

@@ -26,6 +26,7 @@ zephyr_library_sources_ifdef(CONFIG_GPIO_SAM4L      gpio_sam4l.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_SX1509B    gpio_sx1509b.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_INTEL_APL  gpio_intel_apl.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_STELLARIS  gpio_stellaris.c)
+zephyr_library_sources_ifdef(CONFIG_GPIO_RASPBERRYPI gpio_raspberrypi.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_RV32M1     gpio_rv32m1.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_HT16K33    gpio_ht16k33.c)
 zephyr_library_sources_ifdef(CONFIG_GPIO_LMP90XXX   gpio_lmp90xxx.c)

drivers/gpio/Kconfig

@@ -67,6 +67,8 @@ source "drivers/gpio/Kconfig.xec"
 
 source "drivers/gpio/Kconfig.stellaris"
 
+source "drivers/gpio/Kconfig.raspberrypi"
+
 source "drivers/gpio/Kconfig.rv32m1"
 
 source "drivers/gpio/Kconfig.ht16k33"

drivers/gpio/Kconfig.raspberrypi

@@ -0,0 +1,5 @@
+# Copyright (c) 2021 Yonatan Schachter
+# SPDX-License-Identifier: Apache-2.0
+
+config GPIO_RASPBERRYPI
+       bool "Raspberry Pi GPIO driver"

drivers/gpio/gpio_raspberrypi.c

@@ -0,0 +1,178 @@
+/*
+ * Copyright (c) 2021, Yonatan Schachter
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <errno.h>
+#include <drivers/gpio.h>
+#include <hardware/gpio.h>
+#include <hardware/regs/intctrl.h>
+#include <hardware/structs/iobank0.h>
+
+#include "gpio_utils.h"
+
+#define DT_DRV_COMPAT raspberrypi_rp2_gpio
+
+#define IRQ_PRIORITY 0
+#define ALL_EVENTS (GPIO_IRQ_EDGE_FALL | GPIO_IRQ_EDGE_RISE \
+		| GPIO_IRQ_LEVEL_LOW | GPIO_IRQ_LEVEL_HIGH)
+
+struct gpio_raspberrypi_config {
+	struct gpio_driver_config common;
+};
+
+struct gpio_raspberrypi_data {
+	struct gpio_driver_data common;
+	sys_slist_t callbacks;
+	uint32_t int_enabled_mask;
+};
+
+static int gpio_raspberrypi_configure(const struct device *dev,
+				gpio_pin_t pin,
+				gpio_flags_t flags)
+{
+	if (flags & GPIO_SINGLE_ENDED) {
+		return -ENOTSUP;
+	}
+
+	gpio_init(pin);
+
+	if (flags & GPIO_OUTPUT) {
+		gpio_set_dir(pin, GPIO_OUT);
+
+		if (flags & GPIO_OUTPUT_INIT_HIGH)
+			gpio_put(pin, 1);
+		else if (flags & GPIO_OUTPUT_INIT_LOW)
+			gpio_put(pin, 0);
+
+	} else if (flags & GPIO_INPUT) {
+		gpio_set_dir(pin, GPIO_IN);
+		if (flags & GPIO_PULL_UP)
+			gpio_pull_up(pin);
+		else if (flags & GPIO_PULL_DOWN)
+			gpio_pull_down(pin);
+	}
+
+	return 0;
+}
+
+static int gpio_raspberrypi_port_get_raw(const struct device *dev, uint32_t *value)
+{
+	*value = gpio_get_all();
+	return 0;
+}
+
+static int gpio_raspberrypi_port_set_masked_raw(const struct device *port,
+					uint32_t mask, uint32_t value)
+{
+	gpio_put_masked(mask, value);
+	return 0;
+}
+
+static int gpio_raspberrypi_port_set_bits_raw(const struct device *port,
+					uint32_t pins)
+{
+	gpio_set_mask(pins);
+	return 0;
+}
+
+static int gpio_raspberrypi_port_clear_bits_raw(const struct device *port,
+					uint32_t pins)
+{
+	gpio_clr_mask(pins);
+	return 0;
+}
+
+static int gpio_raspberrypi_port_toggle_bits(const struct device *port,
+					uint32_t pins)
+{
+	gpio_xor_mask(pins);
+	return 0;
+}
+
+static int gpio_raspberrypi_pin_interrupt_configure(const struct device *dev,
+						gpio_pin_t pin,
+						enum gpio_int_mode mode,
+						enum gpio_int_trig trig)
+{
+	uint32_t events = 0;
+	struct gpio_raspberrypi_data *data = dev->data;
+
+	if (mode != GPIO_INT_DISABLE) {
+		if (mode & GPIO_INT_EDGE) {
+			if (trig & GPIO_INT_LOW_0)
+				events |= GPIO_IRQ_EDGE_FALL;
+			if (trig & GPIO_INT_HIGH_1)
+				events |= GPIO_IRQ_EDGE_RISE;
+		} else {
+			if (trig & GPIO_INT_LOW_0)
+				events |= GPIO_IRQ_LEVEL_LOW;
+			if (trig & GPIO_INT_HIGH_1)
+				events |= GPIO_IRQ_LEVEL_HIGH;
+		}
+		gpio_set_irq_enabled(pin, events, true);
+	}
+	WRITE_BIT(data->int_enabled_mask, pin, mode != GPIO_INT_DISABLE);
+	return 0;
+}
+
+static int gpio_raspberrypi_manage_callback(const struct device *dev,
+				struct gpio_callback *callback, bool set)
+{
+	struct gpio_raspberrypi_data *data = dev->data;
+
+	return gpio_manage_callback(&data->callbacks, callback, set);
+}
+
+static const struct gpio_driver_api gpio_raspberrypi_driver_api = {
+	.pin_configure = gpio_raspberrypi_configure,
+	.port_get_raw = gpio_raspberrypi_port_get_raw,
+	.port_set_masked_raw = gpio_raspberrypi_port_set_masked_raw,
+	.port_set_bits_raw = gpio_raspberrypi_port_set_bits_raw,
+	.port_clear_bits_raw = gpio_raspberrypi_port_clear_bits_raw,
+	.port_toggle_bits = gpio_raspberrypi_port_toggle_bits,
+	.pin_interrupt_configure = gpio_raspberrypi_pin_interrupt_configure,
+	.manage_callback = gpio_raspberrypi_manage_callback,
+};
+
+static void gpio_raspberrypi_isr(const struct device *dev)
+{
+	struct gpio_raspberrypi_data *data = dev->data;
+	uint32_t pin;
+	uint32_t events;
+	io_irq_ctrl_hw_t *irq_ctrl_base;
+	io_rw_32 *status_reg;
+
+	irq_ctrl_base = &iobank0_hw->proc0_irq_ctrl;
+	for (pin = 0; pin < NUM_BANK0_GPIOS; pin++) {
+		status_reg = &irq_ctrl_base->ints[pin / 8];
+		events = (*status_reg >> 4 * (pin % 8)) & ALL_EVENTS;
+		if (events) {
+			gpio_acknowledge_irq(pin, ALL_EVENTS);
+			gpio_fire_callbacks(&data->callbacks, dev, BIT(pin));
+		}
+	}
+}
+
+static int gpio_raspberrypi_init(const struct device *dev)
+{
+	IRQ_CONNECT(IO_IRQ_BANK0, IRQ_PRIORITY, gpio_raspberrypi_isr,
+			DEVICE_DT_GET(DT_INST(0, raspberrypi_rp2_gpio)), 0);
+	irq_enable(IO_IRQ_BANK0);
+	return 0;
+}
+
+#define GPIO_RASPBERRYPI_INIT(idx) \
+static const struct gpio_raspberrypi_config gpio_raspberrypi_##idx##_config = {	\
+};										\
+										\
+static struct gpio_raspberrypi_data gpio_raspberrypi_##idx##_data;		\
+										\
+DEVICE_DT_INST_DEFINE(idx, gpio_raspberrypi_init, NULL,				\
+			&gpio_raspberrypi_##idx##_data,				\
+			&gpio_raspberrypi_##idx##_config,			\
+			POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT,	\
+			&gpio_raspberrypi_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(GPIO_RASPBERRYPI_INIT)

drivers/pwm/CMakeLists.txt

@@ -13,6 +13,7 @@ zephyr_library_sources_ifdef(CONFIG_PWM_SAM		pwm_sam.c)
 zephyr_library_sources_ifdef(CONFIG_PWM_MCUX		pwm_mcux.c)
 zephyr_library_sources_ifdef(CONFIG_PWM_XEC		pwm_mchp_xec.c)
 zephyr_library_sources_ifdef(CONFIG_PWM_LITEX		pwm_litex.c)
+zephyr_library_sources_ifdef(CONFIG_PWM_RASPBERRYPI	pwm_raspberrypi.c)
 zephyr_library_sources_ifdef(CONFIG_PWM_RV32M1_TPM	pwm_rv32m1_tpm.c)
 zephyr_library_sources_ifdef(CONFIG_PWM_MCUX_TPM	pwm_mcux_tpm.c)
 zephyr_library_sources_ifdef(CONFIG_PWM_SAM0_TCC	pwm_sam0_tcc.c)