RIOT-OS · bors · Jan 14, 2023 · Jan 12, 2023
@@ -0,0 +1,18 @@
+# Copyright (C) 2022 Krzyszyof Cabaj <kcabaj@gmail.com>
+# Copyright (C) 2021 Otto-von-Guericke-Universität Magdeburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config BOARD
+    default "rpi-pico-w" if BOARD_RPI_PICO_W
+
+config BOARD_RPI_PICO_W
+    bool
+    default y
+    select CPU_MODEL_RP2040
+    select HAS_PERIPH_UART
+
+source "$(RIOTBOARD)/rpi-pico/Kconfig"
diff --git a/boards/rpi-pico-w/Makefile b/boards/rpi-pico-w/Makefile
@@ -0,0 +1,2 @@
+DIRS = $(RIOTBOARD)/rpi-pico
+include $(RIOTBASE)/Makefile.base
diff --git a/boards/rpi-pico-w/Makefile.dep b/boards/rpi-pico-w/Makefile.dep
@@ -0,0 +1 @@
+include $(RIOTBOARD)/rpi-pico/Makefile.dep
diff --git a/boards/rpi-pico-w/Makefile.features b/boards/rpi-pico-w/Makefile.features
@@ -0,0 +1 @@
+include $(RIOTBOARD)/rpi-pico/Makefile.features
diff --git a/boards/rpi-pico-w/Makefile.include b/boards/rpi-pico-w/Makefile.include
@@ -0,0 +1,3 @@
+INCLUDES += -I$(RIOTBOARD)/rpi-pico/include
+
+include $(RIOTBOARD)/rpi-pico/Makefile.include
diff --git a/boards/rpi-pico-w/doc.txt b/boards/rpi-pico-w/doc.txt
@@ -0,0 +1,179 @@
+/**
+@defgroup    boards_rpi_pico_w Raspberry Pi Pico W
+@ingroup     boards
+@brief       Support for the RP2040 based Raspberry Pi Pico W board
+
+## Overview
+
+The Raspberry Pi Pico W and Pico WH (with headers) is a board with RP2040 MCU,
+a custom dual core ARM Cortex-M0+ MCU with relatively high CPU clock, plenty of
+RAM, some unique peripheral (the Programmable IO) and the Infineon CYW43439 wireless
+chip.
+
+## Hardware
+
+Raspberry Pi Pico W (third from left) and Pico WH (forth from right).
+
+![Raspberry Pi Pico family](https://www.raspberrypi.com/documentation/microcontrollers/images/four_picos.jpg)
+
+### MCU
+
+The Programmable IO (PIO) peripheral and the SSI/QSPI peripheral that supports execution from
+flash (XIP) are the most distinguishing features of the MCU. The latter is especially important,
+since the RP2040 contains no internal flash.
+
+| MCU        | RP2040                                                       |
+|:-----------|:------------------------------------------------------------ |
+| Family     | (2x) ARM Cortex-M0+                                          |
+| Vendor     | Raspberry Pi                                                 |
+| RAM        | 264 KiB                                                      |
+| Flash      | 2 MiB (up to 16 MiB)                                         |
+| Frequency  | up to 133 MHz                                                |
+| FPU        | no                                                           |
+| PIOs       | 8                                                            |
+| Timers     | 1 x 64-bit                                                   |
+| ADCs       | 1x 12-bit (4 channels + temperature sensor)                  |
+| UARTs      | 2                                                            |
+| SPIs       | 2                                                            |
+| I2Cs       | 2                                                            |
+| RTCs       | 1                                                            |
+| USBs       | 1 (USB 2.0)                                                  |
+| Watchdog   | 1                                                            |
+| SSI/QSPI   | 1 (connected to flash, with XIP support)                     |
+| WiFi       | via wireless chip (Infineon CYW43439) (*)                    |
+| Bluetooth  | via wireless chip (Infineon CYW43439) (*)                    |
+| Vcc        | 1.62V - 3.63V                                                |
+| Datasheet  | [Datasheet](https://datasheets.raspberrypi.com/picow/pico-w-datasheet.pdf) |
+| Wireless chip  | [Infineon CYW43439 Datasheet](https://www.infineon.com/dgdl/Infineon-CYW43439-DataSheet-v03_00-EN.pdf?fileId=8ac78c8c8386267f0183c320336c029f) |
+
+(*) Currently not implemented in the RIOT OS.
+
+### User Interface
+
+1 button (also used for boot selection) and 1 LED:
+
+| Device | PIN              |
+|:------ |:---------------- |
+| LED0   | WL_GPIO0  (*)    |
+| SW0    | QSPI_SS_N (**)   |
+
+(*) In the Pico W LED0 is directly connected to the Infineon CYW43439 module,
+and cannot be directly controlled by MCU.
+
+(**) Since the switch is connected to the chip-select pin of the QSPI interface the flash chip RIOT
+is running from via XIP, the switch is difficult to read out from software. This is currently not
+supported.
+
+### Pinout
+
+![Pinout Diagram of RPi Pico W](https://www.raspberrypi.com/documentation/microcontrollers/images/picow-pinout.svg)
+
+## Flashing the Board
+
+### Flashing the Board Using the Bootloader
+
+Connect the device to your Micro-USB cable while the button (labeled `BOOTSEL`
+on the silkscreen of the PCB) is pressed to enter the bootloader. The pico
+will present itself as a storage medium to the system, to which a UF2 file
+can be copied perform the flashing of the device. This can be automated by
+running:
+
+```
+make BOARD=rpi-pico-w flash
+```
+
+This is default flashing option using elf2uf2 PROGRAMMER. If the storage is
+not automatically mounted to `/media/<USER_NAME>/RPI-RP2`, you can overwrite
+the path by exporting the shell environment variable `ELF2UF2_MOUNT_PATH`.
+
+### Flashing the Board Using OpenOCD
+
+Currently (June 2021), only two methods for debugging via OpenOCD are supported:
+
+1. Using a bit-banging low-level adapter, e.g. via the GPIOs of a Raspberry Pi 4B
+2. Using a virtual CMSIS-DAP adapter provided by the second CPU core via
+   https://github.com/majbthrd/pico-debug
+
+Option 2 requires no additional hardware however, you need to
+first "flash" the gimme-cache variant of [pico-debug](https://github.com/majbthrd/pico-debug)
+into RAM using the UF2 bootloader. For this, plug in the USB cable while holding down the BOOTSEL
+button of the Pico and copy the `pico-debug-gimmecache.uf2` from the
+[latest pico-debug release](https://github.com/majbthrd/pico-debug/releases) into the virtual FAT
+formatted drive the bootloader provides. Once this drive is unmounted again, this will result in
+the Raspberry Pi Pico showing up as CMSIS-DAP debugger. Afterwards run:
+
+```
+make BOARD=rpi-pico-w PROGRAMMER=openocd flash
+```
+
+@warning    The `rpi-pico-w` virtual debugger is not persistent and needs to be "flashed" into RAM
+            again after each cold boot.
+
+@note       As of July 2021, the latest stable release of OpenOCD does not yet support the RP2040
+            MCU. Instead, compile the current `master` branch from the upstream OpenOCD source.
+            The OpenOCD fork of the Raspberry Pi foundation is incompatible with OpenOCD
+            configuration provided, so please stick with upstream OpenOCD.
+
+### Flashing the Board Using J-Link
+
+Connect the Board to an Segger J-Link debugger, e.g. the EDU mini debugger is relatively affordable,
+but limited to educational purposes. Afterwards run:
+
+```
+make BOARD=rpi-pico-w PROGRAMMER=jlink flash
+```
+
+## Accessing RIOT shell
+
+This board's default access to RIOT shell is via UART (UART0 TX - pin 1, UART0 RX - pin 2).
+
+The default baud rate is 115 200.
+
+The simplest way to connect to the shell is the execution of the command:
+
+```
+make BOARD=rpi-pico-w term
+```
+
+@warning Raspberry Pi Pico board is not 5V tolerant. Use voltage divider or logic level shifter when connecting to 5V UART.
+
+## On-Chip Debugging
+
+There are currently (June 2021) few hardware options for debugging the Raspberry Pi Pico:
+
+1. Via J-Link using one of Seggers debuggers
+2. Via OpenOCD using a low-level bit-banging debugger (e.g. a Raspberry Pi 4B with the GPIOs
+   connected to the Raspberry Pi Pico via jump wires)
+3. Via a recently updated [Black Magic Probe](https://github.com/blacksphere/blackmagic)
+
+In addition, a software-only option is possible using
+[pico-debug](https://github.com/majbthrd/pico-debug). The default linker script reserved 16 KiB of
+RAM for this debugger, hence just "flash" the "gimme-cache" flavor into RAM using the UF2
+bootloader. Once this is done, debugging is as simple as running:
+
+```
+make BOARD=rpi-pico-w debug
+```
+
+***Beware:*** The `rpi-pico-w` virtual debugger is not persistent and needs to be "flashed" into RAM
+again after each cold boot. The initialization code of RIOT now seems to play well with the
+debugger, so it remains persistent on soft reboots. If you face issues with losing connection to
+the debugger on reboot, try `monitor reset init` in GDB to soft-reboot instead.
+
+## Known Issues / Problems
+
+### Early state Implementation
+
+Currently no support for the following peripherals is implemented:
+
+- Timers
+- ADC
+- SPI
+- I2C
+- USB
+- PIO
+- RTC
+- Watchdog
+- SMP support (multi CPU support is not implemented in RIOT)
+- Infineon CYW 43439 wireless chip
+ */
diff --git a/boards/rpi-pico/include/board.h b/boards/rpi-pico/include/board.h
@@ -28,6 +28,7 @@
 extern "C" {
 #endif
 
+#ifdef BOARD_RPI_PICO
 /**
  * @name    LED configuration
  * @{
@@ -39,6 +40,8 @@ extern "C" {
 #define LED0_NAME       "LED(Green)"
 /** @} */
 
+#endif
+
 #ifdef __cplusplus
 }
 #endif

diff --git a/boards/rpi-pico/include/gpio_params.h b/boards/rpi-pico/include/gpio_params.h
@@ -28,6 +28,8 @@
 extern "C" {
 #endif
 
+#ifdef BOARD_RPI_PICO
+
 /**
  * @brief    GPIO pin configuration
  */
@@ -40,6 +42,17 @@ static const  saul_gpio_params_t saul_gpio_params[] =
     }
 };
 
+#endif
+
+#ifdef BOARD_RPI_PICO_W
+
+/**
+ * @brief    Empty GPIO pin configuration
+ */
+#define SAUL_GPIO_NUMOF 0
+
+#endif
+
 #ifdef __cplusplus
 }
 #endif