RP2350: Add RISCV, Unify RP2350, Update UART, Add XH3IRQ Interrupt Controller

.murdock

@@ -6,21 +6,8 @@
 #export APPS="examples/basic/hello-world tests/unittests"
 
 QUICKBUILD_BOARDS="
-adafruit-itsybitsy-m4
-atmega256rfr2-xpro
-esp32-wroom-32
-esp32s3-devkit
-frdm-k64f
-hifive1b
-msb-430
-msba2
-native32
-native64
-nrf52840dk
-qn9080dk
-samr21-xpro
-stk3200
-stm32f429i-disc1"
+rpi-pico-2-riscv
+rpi-pico-2-arm"
 
 # this configures boards that are available via pifleet
 case "${CI_MURDOCK_PROJECT}" in

boards/Makefile

@@ -6,6 +6,9 @@ DIRS += $(RIOTBOARD)/common/init
 ifneq (,$(filter boards_common_adafruit-nrf52-bootloader,$(USEMODULE)))
   DIRS += $(RIOTBOARD)/common/adafruit-nrf52-bootloader
 endif
+ifneq (,$(filter boards_common_rpi_pico_2,$(USEMODULE)))
+  DIRS += $(RIOTBOARD)/common/rpi-pico-2
+endif
 ifneq (,$(filter boards_common_seeedstudio-xiao-nrf52840,$(USEMODULE)))
   DIRS += $(RIOTBOARD)/common/seeedstudio-xiao-nrf52840
 endif

boards/Makefile.features

@@ -1,4 +1,7 @@
 # SORT THIS ALPHABETICALLY BY COMMON BOARD NAME!
+ifneq (,$(filter boards_common_rpi_pico_2,$(USEMODULE)))
+  include $(RIOTBOARD)/common/rpi-pico-2/Makefile.features
+endif
 ifneq (,$(filter boards_common_seeedstudio-xiao-nrf52840,$(USEMODULE)))
   include $(RIOTBOARD)/common/seeedstudio-xiao-nrf52840/Makefile.features
 endif

boards/Makefile.include

@@ -2,6 +2,9 @@
 ifneq (,$(filter boards_common_adafruit-nrf52-bootloader,$(USEMODULE)))
   include $(RIOTBOARD)/common/adafruit-nrf52-bootloader/Makefile.include
 endif
+ifneq (,$(filter boards_common_rpi_pico_2,$(USEMODULE)))
+  include $(RIOTBOARD)/common/rpi-pico-2/Makefile.include
+endif
 ifneq (,$(filter boards_common_seeedstudio-xiao-nrf52840,$(USEMODULE)))
   include $(RIOTBOARD)/common/seeedstudio-xiao-nrf52840/Makefile.include
 endif

boards/common/rpi-pico-2/Makefile

@@ -0,0 +1,3 @@
+MODULE = boards_common_rpi_pico_2
+
+include $(RIOTBASE)/Makefile.base

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

@@ -0,0 +1,2 @@
+# add the common header files to the include path
+INCLUDES += -I$(RIOTBOARD)/common/rpi-pico-2/include

boards/rpi-pico-2/include/board.h → boards/common/rpi-pico-2/include/board.h

@@ -7,7 +7,7 @@
 #pragma once
 
 /**
- * @ingroup         boards_rpi_pico_2
+ * @ingroup         boards_rpi_pico_2_arm
  * @{
  *
  * @file
@@ -16,11 +16,10 @@
  * @author          Tom Hert <[email protected]>
  */
 
-#include "RP2350.h"
 #include "cpu.h"
-#include "cpu_conf.h"
 #include "periph_conf.h"
-#include "periph_cpu.h"
+
+#include "periph/gpio.h"
 
 /** GPIO Pin ID for the onboard LED */
 #define LED0_PIN_ID 25u

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

@@ -0,0 +1,62 @@
+/*
+ * 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_arm
+ * @{
+ *
+ * @file
+ * @brief           Board periph definitions for the Raspberry Pi Pico 2
+ *
+ * @author          Tom Hert <[email protected]>
+ */
+
+#include <stdint.h>
+
+#include "RP2350.h"
+#include "periph_cpu.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Configuration details for an UART interface
+ */
+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
+
+/** @} */

boards/rpi-pico-2/Kconfig → boards/rpi-pico-2-arm/Kconfig

@@ -3,9 +3,9 @@
 # SPDX-License-Identifier: LGPL-2.1-only
 
 config BOARD
-    default "rpi-pico-2" if BOARD_RPI_PICO_2
+    default "rpi-pico-2-arm" if BOARD_RPI_PICO_2_ARM
 
-config BOARD_RPI_PICO_2
+config BOARD_RPI_PICO_2_ARM
     bool
     default y
-    select CPU_MODEL_RP2350
+    select CPU_MODEL_RP2350_ARM

boards/rpi-pico-2-arm/Makefile.dep

@@ -0,0 +1 @@
+USEMODULE += boards_common_rpi_pico_2

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

@@ -0,0 +1 @@
+CPU := rp2350_arm

boards/rpi-pico-2/Makefile.include → boards/rpi-pico-2-arm/Makefile.include

@@ -1,4 +1,4 @@
-CPU_MODEL       := RP2350
+CPU_MODEL       := RP2350_ARM
 PORT_LINUX      ?= /dev/ttyACM0
 
 # JLink isnt tested yet on RP2350

boards/rpi-pico-2/dist/openocd.cfg → boards/rpi-pico-2-arm/dist/openocd.cfg

@@ -1,7 +1,10 @@
 echo "Make sure to use the Raspberry Pi OpenOCD version!"
+echo "For further details see Appendix A Building OpenOCD:"
+echo "https://datasheets.raspberrypi.com/pico/getting-started-with-pico.pdf"
 source [find target/rp2350.cfg]
-set USE_CORE 0
+set USE_CORE SMP
 set RESCUE 1
 $_TARGETNAME_0 configure -rtos auto
 adapter speed 5000
 rp2350.dap.core1 cortex_m reset_config sysresetreq
+rp2350.dap.core0 cortex_m reset_config sysresetreq

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

@@ -0,0 +1,5 @@
+@defgroup    boards_rpi_pico_2_arm Raspberry Pi Pico 2
+@ingroup     boards
+@brief       Support for the RP2350 based Raspberry Pi Pico board
+
+See @ref boards_rpi_pico_2_riscv for further information.

boards/rpi-pico-2-riscv/Kconfig

@@ -0,0 +1,11 @@
+# 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

@@ -0,0 +1,3 @@
+MODULE = board
+
+include $(RIOTBASE)/Makefile.base

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

@@ -0,0 +1 @@
+USEMODULE += boards_common_rpi_pico_2

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

@@ -0,0 +1 @@
+CPU := rp2350_riscv

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

@@ -0,0 +1,7 @@
+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/dist/openocd.cfg

@@ -0,0 +1,8 @@
+echo "Make sure to use the Raspberry Pi OpenOCD version!"
+echo "For further details see Appendix A Building OpenOCD:"
+echo "https://datasheets.raspberrypi.com/pico/getting-started-with-pico.pdf"
+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/doc.md → boards/rpi-pico-2-riscv/doc.md

@@ -1,9 +1,9 @@
-@defgroup    boards_rpi_pico_2 Raspberry Pi Pico 2
+@defgroup    boards_rpi_pico_2_riscv Raspberry Pi Pico 2
 @ingroup     boards
-@brief       Support for the RP2350 based Raspberry Pi Pico board
+@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_known_issues).
+See [Known Issues](#rpi_pico_2_riscv_known_issues).
 
 ## Overview
 
@@ -55,6 +55,12 @@ If you are using picotool, you need to hold the bootselect button
 your computer via USB. This will put the board into bootloader mode,
 allowing you to flash it.
 
+Generally while Picotool is the easiest way to flash the board,
+it does not allow for debugging using GDB.
+
+It does tend to be more reliable than OpenOCD though,
+especially when switching between RISC-V and ARM cores.
+
 ### Flashing using OpenOCD
 
 If you have two Raspberry Pi Pico boards,
@@ -76,21 +82,39 @@ 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
+PROGRAMMER=openocd BOARD=rpi-pico-2-riscv make flash
+```
+
+or, if you want to use the CortexM:
+
+```bash
+PROGRAMMER=openocd BOARD=rpi-pico-2-arm make flash
 ```
 
 You can then debug your application using GDB with the following command:
 
 ```bash
-PROGRAMMER=openocd BOARD=rpi-pico-2 make debug
+PROGRAMMER=openocd BOARD=rpi-pico-2-riscv make debug
+```
+
+or, if you want to use the CortexM:
+
+```bash
+PROGRAMMER=openocd BOARD=rpi-pico-2-arm 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
+BOARD=rpi-pico-2-riscv make flash
+```
+
+or, if you want to use the CortexM:
+
+```bash
+BOARD=rpi-pico-2-arm make flash
 ```
 
 This is the default method for flashing the Raspberry Pi Pico 2.
@@ -100,17 +124,16 @@ However, it does not allow for debugging using GDB.
 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_known_issues}
+## 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:
 
+- XH3IRQ RISC-V Interrupt Controller (CortexM Interrupts also work)
 - GPIO
-- Non-configurable write-only UART (UART0 using Pin 0 and 1)
+- UART
     - 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.

cpu/riscv_common/Makefile

@@ -1,3 +1,3 @@
-DIRS = periph
+DIRS += periph
 
 include $(RIOTBASE)/Makefile.base