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Add support for Raspberry Pi Pico 2 #77368

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@ajf58 ajf58 commented Aug 21, 2024

This is a PR to add support for the Raspberry Pi Pico 2 board, and the RP2350 SoC. See also the discussion at #77329

This should not be merged currently, as it includes changes that will break the clock control driver for the RP2040.

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#76986

cc: @yonsch @soburi

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zephyrbot commented Aug 21, 2024

The following west manifest projects have been modified in this Pull Request:

Name Old Revision New Revision Diff
hal_rpi_pico zephyrproject-rtos/hal_rpi_pico@fba7162 zephyrproject-rtos/hal_rpi_pico#6 zephyrproject-rtos/hal_rpi_pico#6/files

Note: This message is automatically posted and updated by the Manifest GitHub Action.

@zephyrbot zephyrbot added manifest manifest-hal_rpi_pico DNM This PR should not be merged (Do Not Merge) labels Aug 21, 2024
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soburi commented Aug 22, 2024

@ajf58
First, I've listed some points that caught my attention at a glance.
I haven't been able to check it thoroughly yet, so I'll look at it a bit more.

soc/raspberrypi/rp2xxx/Kconfig Outdated Show resolved Hide resolved
soc/raspberrypi/soc.yml Outdated Show resolved Hide resolved
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soburi commented Aug 22, 2024

modules/hal_rpi_pico/CMakeLists.txt Outdated Show resolved Hide resolved
dts/arm/rpi_pico/rpi_pico_2_common.dtsi Outdated Show resolved Hide resolved
soc/raspberrypi/CMakeLists.txt Outdated Show resolved Hide resolved
@@ -219,7 +219,7 @@ manifest:
- hal
- name: hal_rpi_pico
path: modules/hal/rpi_pico
revision: fba7162cc7bee06d0149622bbcaac4e41062d368
revision: pull/6/head
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How can I help get this PR approved and merged?

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@fabiobaltieri fabiobaltieri Oct 5, 2024

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let's get #76986 in, then you can rebase on top of it and drop the duplicate commits

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nordicjm previously approved these changes Aug 27, 2024
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Updates are OK. Though migration guide entry needed for the SoC symbol change

boards/raspberrypi/rpi_pico_2/rpi_pico_2-pinctrl.dtsi Outdated Show resolved Hide resolved
@ajf58 ajf58 force-pushed the add-rpi-pico-2-support branch 5 times, most recently from b4d5164 to f5d043c Compare August 29, 2024 07:25
@ajf58 ajf58 force-pushed the add-rpi-pico-2-support branch 2 times, most recently from be3d6b9 to 384b0ee Compare August 29, 2024 21:01
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ajf58 commented Aug 30, 2024

Updates are OK. Though migration guide entry needed for the SoC symbol change

@nordicjm where should this update go? Is under boards in doc/releases/migration-guide-4.0.rst correct?

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nordicjm commented Sep 2, 2024

Updates are OK. Though migration guide entry needed for the SoC symbol change

@nordicjm where should this update go? Is under boards in doc/releases/migration-guide-4.0.rst correct?

Yes

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soburi commented Oct 5, 2024

@yonsch @petejohanson @fabiobaltieri @kartben @ThreeEights

Could you take a look, please?

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soburi commented Oct 5, 2024

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wow good work, just few comments from me really, would be nice to have this tested by some poeple with actual rp2040 projects

dts/arm/raspberrypi/rpi_pico/rpi_pico_common.dtsi Outdated Show resolved Hide resolved
Comment on lines +16 to +18
#ifndef RPI_PICO_DEFAULT_IRQ_PRIORITY
#define RPI_PICO_DEFAULT_IRQ_PRIORITY 7
#endif
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should this be a Kconfig option?

dts/arm/raspberrypi/rpi_pico/rp2350.dtsi Show resolved Hide resolved
samples/drivers/adc/adc_dt/boards/rpi_pico2.overlay Outdated Show resolved Hide resolved
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soburi commented Oct 6, 2024

@ajf58

Please confirm the change that was recently done for rp2040.

#78200

soburi and others added 24 commits October 6, 2024 08:56
Update RaspberryPi Pico hal to 2.0.0 release

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
The directory structure has changed in 2.0.0,
so we update it accordingly.

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
Following the GPIO interface changes in pico-sdk 2.0.0.

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
Some symbol names have been conflicted with introducing pico-sdk 2.0.0.
Rename these.

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
Follow the wider directory convention of dts/<arch>/<vendor>/<family>.

This is foundation work ahead of introducing support for the RP2350.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
Rename rpi_pico_common.dtsi to rp2040_reset.h . This is more consistent
with the wider Zephyr source tree, and is foundation work ahead of
introducing the RP2350 SoC.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
RESETS_RESET_PLL_USB_BITS was logically or'd twice and 'unreset'ting
PWM doesn't seem to be required, based on the contents of the SDK.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
The Pico SDK defines a default value for its XOSC multiplier. Reflect
this in the device tree binding so that it doesn't need to be repeated.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
No in-tree board uses this driver's pinctrl functionality, and every
RP2040-based board was configuring this to be an empty node in the
device tree, so remove them.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
RP2350 is Raspberry Pi's newest SoC. From the datasheet:

"RP2350 is a new family of microcontrollers from Raspberry Pi that
offers significant enhancements over RP2040. Key features include:
• Dual Cortex-M33 or Hazard3 processors at 150 MHz
• 520 kB on-chip SRAM, in 10 independent banks
• 8 kB of one-time-programmable storage (OTP)
• Up to 16 MB of external QSPI flash/PSRAM via dedicated QSPI bus
...
"

This commit introduces some changes to support the existing RP2040 and
what is describe by Raspberry Pi as the "RP2350 family". Currently there
are 4 published products in the family: RP2350A, RP2350B, RP2354A, and
RP2354A. Within Zephyr's taxonomy, split the configuration as follows:
Family: Raspberry Pi Pico. This contains all RP2XXX SoCs,
SoC Series: RP2040 and RP2350.
SoC: RP2040 and, for now, just the RP2350A, which is present on the Pico
2, where the A suffix indicates  QFN-60 package type. This structure is
reflected in `soc/raspberrypi/soc.yml`, and somewhat assumes that there
won't be a RP2050, for example, as a RP2040 with more RAM.

This is foundation work ahead of introducing support for Raspberry Pi's
Pico 2 board, which is fitted with a RP2350A and 4MB of flash.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
Add support for SoC-specific clock ids and update the initialization
function to support the existing RP2040 and add support for the RP2350.

clock_control_rpi_pico.c uses numerical values for clock ids taken from
rpi_pico_clock.h which are the "clock generator". For the RP2350 these
values are different for some of the same logical clock sources, as well
as the RP2040 and RP2350 having different clock sources available.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
Extend the existing driver to add some initial support for the new SoC,
whilst maintaining compatibility with the RP2040.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
Unlike the RP2040, the RP2350 has multiple tick generators that need to
be started. Start TIMER0 and TIMER1 tick generators during
clock_control_init.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
The watchdog register configuration of RP2350 differs from that
of RP2040, so we make fit that.

Signed-off-by: TOKITA Hiroshi <tokita.hiroshi@gmail.com>
Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
The RP2350 SoC series contain two timer peripherals. Extend the driver
to support using the second timer (`TIMER1`).

N.b. this requires a fix from the Pico SDK to be patched into
hal_rpi_pico. See raspberrypi/pico-sdk#1949 .

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
A significant amount of the pin muxing is duplicated between the RP2040,
the RP2350A, and RP2350B. Reflect this in the file structure, with a
`-common` suffix used to to indicate this.

Macros are defined in ascending order of the function index in the
relevant table in the datasheet. SoC/SoC-series specific macros are
defined in their respective tables. Functions that are not currently
used (e.g. the new HSTX) are intentionally not defined here as they do
not (currently) have any use in the Zephyr tree (i.e. there's no drivers
that make use of this functionality).

clang-format has been run over the existing definitions to reduce the
noise generated by CI. These are cosmetic changes; I've tried to retain
attribution to the relevant authors where applicable.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
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.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
Add UF2 Family ID for Raspberry Pi 2350 and build
UF2 image by default for Pico 2 board

Signed-off-by: Ryan Grachek <grachek@gmail.com>
Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
The Raspberry Pi Pico 2's device is compatible with the existing Pico 1.
The build system requires a `<board>.overlay` file, but these use the
pre-processing to #include the sibling rpi_pico.overlay files rather
than duplicating the contents as an attempt to keep things DRY.

Tested locally.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
For these tests' needs, the RP2350 on the Pico 2 is compatible with the
RP2040 on the Pico 1. #include the latter's overlay in preference to
duplicating the content.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
…ico 2

Only enable timer 0 for testing. 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 .

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
Add some documentation for the board itself (mostly aiming to refer to
canonical sources of information rather duplicate). Add entries in the
release notes where applicable.

boards/raspberrypi/rpi_pico2/doc/img/pico-2.jpg is a cropped and
compressed version of https://www.raspberrypi.com/documentation/microcontrollers/images/pico-2.png
which is released under the CC-BY-SA-4.0 license. See https://github.com/raspberrypi/documentation/blob/develop/LICENSE.md

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
Add OpenOCD debugger support.
For now we will need a Raspberry Pi'a forked version of OpenOCD from
https://github.com/raspberrypi/openocd .

The default adapter speed is set to match Raspberry Pi's documentation.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
Extend gpio_api_1pin so that tests can require a test fixture to provide
an external pulldown resistor to the board under test. Use the new
test-gpio-external-pulldown device tree binding to define where that
GPIO is, and, finally, add a device tree overlay for the Raspberry Pi
Pico 2 board that defines where the pulldown provided by the fixture
will be.

Tested locally using `--fixture gpio_external_pull_down` when running
Twister on the command line, or by creating and using a Hardware Map
file, in combination with a modified Pico 2.

Signed-off-by: Andrew Featherstone <andrew.featherstone@gmail.com>
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ajf58 commented Oct 6, 2024

Please confirm the change that was recently done for rp2040.

#78200

@soburi , I've tweaked dts/bindings/clock/raspberrypi,pico-xosc.yaml to have a default and updated RP2350.dtsi to use the new binding. It seems to work fine.

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