RP2350 (RISCV): Add initial support & XH3IRQ Interrupt Controller support

boards/rpi-pico-2-riscv/Kconfig

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+# SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
+# SPDX-FileCopyrightText: 2025 HAW Hamburg
+# SPDX-License-Identifier: LGPL-2.1-only
+
+config BOARD
+    default "rpi-pico-2-riscv" if BOARD_RPI_PICO_2_RISCV
+
+config BOARD_RPI_PICO_2_RISV
+    bool
+    default y
+    select CPU_MODEL_RP2350_RISCV

boards/rpi-pico-2-riscv/Makefile

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+MODULE = board
+
+include $(RIOTBASE)/Makefile.base

boards/rpi-pico-2-riscv/Makefile.features

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+CPU := rp2350_riscv
+
+FEATURES_PROVIDED += periph_uart
+FEATURES_PROVIDED += periph_gpio
+FEATURES_PROVIDED += periph_pmp

boards/rpi-pico-2-riscv/Makefile.include

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+CPU_MODEL       := RP2350_RISCV
+PORT_LINUX      ?= /dev/ttyACM0
+
+# JLink isnt tested yet on RP2350
+# ifeq ($(PROGRAMMER),jlink)
+#   JLINK_DEVICE = RP2350_M33_0
+# endif

boards/rpi-pico-2-riscv/board.c

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+/*
+ * SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
+ * SPDX-FileCopyrightText: 2025 HAW Hamburg
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#include "board.h"
+
+void board_init(void) {
+    /* Re-enable the LED0 pin
+     * Otherwise the LED will not work after a reset
+     * This is needed, esp. when the LED is used via
+     * the define macros */
+    gpio_init(LED0_PIN_ID, GPIO_OUT);
+}

boards/rpi-pico-2-riscv/dist/openocd.cfg

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+echo "Make sure to use the Raspberry Pi OpenOCD version!"
+source [find target/rp2350-riscv.cfg]
+set USE_CORE SMP
+set RESCUE 1
+$_TARGETNAME_0 configure -rtos auto
+adapter speed 5000

boards/rpi-pico-2-riscv/doc.md

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+@defgroup    boards_rpi_pico_2_riscv Raspberry Pi Pico 2
+@ingroup     boards
+@brief       Support for the RP2350 RISCV based Raspberry Pi Pico board
+
+@warning The support for the Raspberry Pi Pico 2 is still in a very early stage!
+See [Known Issues](#rpi_pico_2_riscv_known_issues).
+
+## Overview
+
+The Raspberry Pi Pico 2 is a microcontroller board based on the RP2350 chip,
+featuring dual-core Arm Cortex-M0+ processors and RISC-V Hazard secondary
+architecture. It is designed for a wide range of applications,
+from hobbyist projects to professional embedded systems
+for a fairly affordable price.
+
+![The Raspberry Pi Pico 2 Board](https://www.raspberrypi.com/documentation/microcontrollers/images/pico-2.png)
+
+## Hardware
+
+| MCU        | RP2350                                                      |
+|:-----------|:------------------------------------------------------------|
+| Family     | Dual Cortex-M33 or Hazard3 (RISC-V)                         |
+| Vendor     | Raspberry Pi                                                |
+| RAM        | 520 kB on-chip SRAM (10 independent banks)                  |
+| Flash      | Up to 16 MB external QSPI flash (Pico 2 has 4 MB by default)|
+| Frequency  | up to 150 MHz (Set to 125 MHz in RIOT)                      |
+| Security   | Boot signing, key storage, SHA-256 accelerator              |
+| PIOs       | 12 state machines                                           |
+| UARTs      | 2                                                           |
+| SPIs       | 2                                                           |
+| I2Cs       | 2                                                           |
+| PWM        | 24 channels                                                 |
+| USB        | USB 1.1 controller with host and device support             |
+| Power      | On-chip switched-mode power supply with LDO sleep mode      |
+| OTP        | 8 kB of one-time-programmable storage                       |
+| Datasheet  | [RP2350 Datasheet](https://datasheets.raspberrypi.com/rp2350/rp2350-datasheet.pdf) |
+
+## User Interfaces
+
+| Interface  | Description                                                  |
+|:-----------|:-------------------------------------------------------------|
+| LED0       | User LED (GPIO 0 at Pin 25)                                  |
+| SW0        | Button used in flash process, can be accessed using registers but difficult |
+
+## Pinout
+
+![Pinout Diagram](https://www.raspberrypi.com/documentation/microcontrollers/images/pico-2-r4-pinout.svg)
+
+## Flashing the Board
+
+The Raspberry Pi Pico 2 has a built-in bootloader that allows flashing via USB.
+However, you can also use OpenOCD for flashing the board.
+If you are using picotool, you need to hold the bootselect button
+(the only button on the board) while connecting the board to
+your computer via USB. This will put the board into bootloader mode,
+allowing you to flash it.
+
+### Flashing using OpenOCD
+
+If you have two Raspberry Pi Pico boards,
+you can utilize one as a programmer to program the other board.
+
+Please refer to the
+[Debugprobe documentation](https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html#getting-started)
+for more details.
+
+Note that Raspberry Pi actually uses their own OpenOCD fork, which is available
+in the [RP2040 OpenOCD repository](https://github.com/raspberrypi/openocd).
+While technically you can use the standard OpenOCD,
+it is recommended to use the Raspberry Pi fork for better compatibility with the
+RP2350, as its still fairly "new" and under development,
+which is why even their own Pico SDK Extension
+uses the Raspberry Pi fork of OpenOCD, instead of the standard one.
+
+To do this, you need to connect the board to your computer
+and use the following command:
+
+```bash
+PROGRAMMER=openocd BOARD=rpi-pico-2 make flash
+```
+
+You can then debug your application using GDB with the following command:
+
+```bash
+PROGRAMMER=openocd BOARD=rpi-pico-2 make debug
+```
+
+### Flashing using Picotool
+
+Simply connect the board to your computer via USB and use the following command:
+
+```bash
+BOARD=rpi-pico-2 make flash
+```
+
+This is the default method for flashing the Raspberry Pi Pico 2.
+However, it does not allow for debugging using GDB.
+
+@note When programming the board with the Picotool for the first time,
+RIOT will download and install the Picotool locally in the RIOT folder.
+This process will take some minutes to complete.
+
+## Known Issues {#rpi_pico_2_riscv_known_issues}
+
+Currently RP2350 support is rather minimal,
+as such peripheral support is extremely limited.
+The following peripherals are supported:
+
+- GPIO
+- Non-configurable write-only UART (UART0 using Pin 0 and 1)
+    - The UART Baudrate is set to 115200.
+    - UART does not work via USB, you need to connect it directly to the GPIO pins.
+
+More peripherals will be added in the future.
+It should also be noted that we currently only support the Cortex M33 cores,
+not the RISC-V Hazard cores.

boards/rpi-pico-2-riscv/include/board.h

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+/*
+ * SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
+ * SPDX-FileCopyrightText: 2025 HAW Hamburg
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+/**
+ * @ingroup         boards_rpi_pico_2_riscv
+ * @{
+ *
+ * @file
+ * @brief           Board specific definitions for the Raspberry Pi Pico 2
+ *
+ * @author          Tom Hert <[email protected]>
+ */
+
+#include "cpu.h"
+#include "periph_conf.h"
+
+#include "periph/gpio.h"
+
+/** GPIO Pin ID for the onboard LED */
+#define LED0_PIN_ID 25u
+#define LED0_ON         gpio_set(LED0_PIN_ID)
+#define LED0_OFF        gpio_clear(LED0_PIN_ID)
+#define LED0_TOGGLE     gpio_toggle(LED0_PIN_ID)
+#define LED0_NAME       "LED(Green)"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** Initialize the board, called from the cpu startup code */
+void board_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */

boards/rpi-pico-2-riscv/include/gpio_params.h

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+/*
+ * SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
+ * SPDX-FileCopyrightText: 2025 HAW Hamburg
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+#include "board.h"
+#include "saul/periph.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif

boards/rpi-pico-2-riscv/include/periph_conf.h

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+/*
+ * SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
+ * SPDX-FileCopyrightText: 2025 HAW Hamburg
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+/**
+ * @ingroup         boards_rpi_pico_2_riscv
+ * @{
+ *
+ * @file
+ * @brief           Board specific periph definitions
+ *                  for the Raspberry Pi Pico 2
+ *
+ * @author          Tom Hert <[email protected]>
+ */
+
+#include "kernel_defines.h"
+#include <stdint.h>
+#include "periph_cpu.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Configuration details for an UART interface needed by the RPX0XX peripheral
+    @todo this is shared between both
+ */
+typedef struct {
+    UART0_Type *dev;    /**< Base address of the I/O registers of the device */
+    gpio_t rx_pin;      /**< GPIO pin to use for RX */
+    gpio_t tx_pin;      /**< GPIO pin to use for TX */
+    IRQn_Type irqn;     /**< IRQ number of the UART interface */
+} uart_conf_t;
+
+static const uart_conf_t uart_config[] = {
+    {
+        .dev = UART0,
+        .rx_pin = GPIO_PIN(0, 1),
+        .tx_pin = GPIO_PIN(0, 0),
+        .irqn = UART0_IRQ_IRQn
+    },
+    {
+        .dev = UART1,
+        .rx_pin = GPIO_PIN(0, 9),
+        .tx_pin = GPIO_PIN(0, 8),
+        .irqn = UART1_IRQ_IRQn
+    }
+};
+
+#define UART_0_ISR      (isr_uart0)
+#define UART_1_ISR      (isr_uart1)
+
+#define UART_NUMOF      ARRAY_SIZE(uart_config)
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */

cpu/riscv_common/include/xh3irq.h

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+/*
+ * SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
+ * SPDX-FileCopyrightText: 2025 HAW Hamburg
+ * SPDX-License-Identifier: LGPL-2.1-only
+ */
+
+#pragma once
+
+#include <stdio.h>
+#include "cpu_conf.h"
+#include "panic.h"
+
+/**
+ * @ingroup     cpu_riscv_common
+ * @{
+ *
+ * @file
+ * @brief       xh3irq.h interrupt controller support
+ *
+ * @author      Tom Hert <[email protected]>
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** CPU specific interrupt vector table
+ * @see 3.2 Interrupts and IRQn_Type in RP2350.h
+ */
+extern const void *vector_cpu[CPU_IRQ_NUMOF];
+
+/**
+ * @brief  Check if there are any pending interrupts
+ * @return 1 if there are pending interrupts, 0 otherwise
+ */
+uint32_t xh3irq_has_pending(void);
+
+/**
+ * @brief  The main IRQ handler, called from the assembly IRQ handler
+ * @note   This function must clear the pending interrupt in the interrupt controller
+ */
+void xh3irq_handler(void);
+
+/**
+ * @brief  Enable the given IRQ number
+ * @param  irq_no The IRQ number to enable
+ */
+void xh3irq_enable_irq(uint32_t irq_no);
+
+/**
+ * @brief  Disable the given IRQ number
+ * @param  irq_no The IRQ number to disable
+ */
+void xh3irq_disable_irq(uint32_t irq_no);
+
+/**
+ * @brief  Force the given IRQ number to be pending
+ * @param  irq_no The IRQ number to force
+ * @note   The IRQ still must be enabled to be handled
+ */
+void xh3irq_force_irq(uint32_t irq_no);
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */