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Merge pull request #21545 from AnnsAnns/pico2_pr
CPU/Boards: Add Raspberry Pi Pico 2 (RP2350) support
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‎boards/rpi-pico-2/Kconfig

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# SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
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# SPDX-FileCopyrightText: 2025 HAW Hamburg
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# SPDX-License-Identifier: LGPL-2.1-only
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config BOARD
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default "rpi-pico-2" if BOARD_RPI_PICO_2
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config BOARD_RPI_PICO_2
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bool
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default y
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select CPU_MODEL_RP2350

‎boards/rpi-pico-2/Makefile

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

‎boards/rpi-pico-2/Makefile.features

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CPU := rp2350

‎boards/rpi-pico-2/Makefile.include

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

‎boards/rpi-pico-2/board.c

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

‎boards/rpi-pico-2/dist/openocd.cfg

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echo "Make sure to use the Raspberry Pi OpenOCD version!"
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source [find target/rp2350.cfg]
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set USE_CORE 0
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set RESCUE 1
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$_TARGETNAME_0 configure -rtos auto
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adapter speed 5000
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rp2350.dap.core1 cortex_m reset_config sysresetreq

‎boards/rpi-pico-2/doc.md

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@defgroup boards_rpi_pico_2 Raspberry Pi Pico 2
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@ingroup boards
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@brief Support for the RP2350 based Raspberry Pi Pico board
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@warning The support for the Raspberry Pi Pico 2 is still in a very early stage!
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See [Known Issues](#rpi_pico_2_known_issues).
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## Overview
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The Raspberry Pi Pico 2 is a microcontroller board based on the RP2350 chip,
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featuring dual-core Arm Cortex-M0+ processors and RISC-V Hazard secondary
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architecture. It is designed for a wide range of applications,
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from hobbyist projects to professional embedded systems
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for a fairly affordable price.
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![The Raspberry Pi Pico 2 Board](https://www.raspberrypi.com/documentation/microcontrollers/images/pico-2.png)
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## Hardware
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| MCU | RP2350 |
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|:-----------|:------------------------------------------------------------|
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| Family | Dual Cortex-M33 or Hazard3 (RISC-V) |
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| Vendor | Raspberry Pi |
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| RAM | 520 kB on-chip SRAM (10 independent banks) |
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| Flash | Up to 16 MB external QSPI flash (Pico 2 has 4 MB by default)|
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| Frequency | up to 150 MHz (Set to 125 MHz in RIOT) |
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| Security | Boot signing, key storage, SHA-256 accelerator |
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| PIOs | 12 state machines |
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| UARTs | 2 |
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| SPIs | 2 |
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| I2Cs | 2 |
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| PWM | 24 channels |
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| USB | USB 1.1 controller with host and device support |
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| Power | On-chip switched-mode power supply with LDO sleep mode |
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| OTP | 8 kB of one-time-programmable storage |
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| Datasheet | [RP2350 Datasheet](https://datasheets.raspberrypi.com/rp2350/rp2350-datasheet.pdf) |
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## User Interfaces
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| Interface | Description |
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|:-----------|:-------------------------------------------------------------|
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| LED0 | User LED (GPIO 0 at Pin 25) |
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| SW0 | Button used in flash process, can be accessed using registers but difficult |
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## Pinout
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![Pinout Diagram](https://www.raspberrypi.com/documentation/microcontrollers/images/pico-2-r4-pinout.svg)
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## Flashing the Board
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The Raspberry Pi Pico 2 has a built-in bootloader that allows flashing via USB.
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However, you can also use OpenOCD for flashing the board.
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If you are using picotool, you need to hold the bootselect button
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(the only button on the board) while connecting the board to
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your computer via USB. This will put the board into bootloader mode,
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allowing you to flash it.
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### Flashing using OpenOCD
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If you have two Raspberry Pi Pico boards,
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you can utilize one as a programmer to program the other board.
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Please refer to the
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[Debugprobe documentation](https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html#getting-started)
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for more details.
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Note that Raspberry Pi actually uses their own OpenOCD fork, which is available
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in the [RP2040 OpenOCD repository](https://github.com/raspberrypi/openocd).
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While technically you can use the standard OpenOCD,
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it is recommended to use the Raspberry Pi fork for better compatibility with the
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RP2350, as its still fairly "new" and under development,
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which is why even their own Pico SDK Extension
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uses the Raspberry Pi fork of OpenOCD, instead of the standard one.
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To do this, you need to connect the board to your computer
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and use the following command:
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```bash
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PROGRAMMER=openocd BOARD=rpi-pico-2 make flash
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```
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You can then debug your application using GDB with the following command:
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```bash
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PROGRAMMER=openocd BOARD=rpi-pico-2 make debug
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```
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### Flashing using Picotool
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Simply connect the board to your computer via USB and use the following command:
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```bash
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BOARD=rpi-pico-2 make flash
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```
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This is the default method for flashing the Raspberry Pi Pico 2.
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However, it does not allow for debugging using GDB.
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@note When programming the board with the Picotool for the first time,
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RIOT will download and install the Picotool locally in the RIOT folder.
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This process will take some minutes to complete.
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## Known Issues {#rpi_pico_2_known_issues}
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Currently RP2350 support is rather minimal,
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as such peripheral support is extremely limited.
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The following peripherals are supported:
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- GPIO
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- Non-configurable write-only UART (UART0 using Pin 0 and 1)
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- The UART Baudrate is set to 115200.
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- UART does not work via USB, you need to connect it directly to the GPIO pins.
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More peripherals will be added in the future.
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It should also be noted that we currently only support the Cortex M33 cores,
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not the RISC-V Hazard cores.

‎boards/rpi-pico-2/include/board.h

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/*
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* SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
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* SPDX-FileCopyrightText: 2025 HAW Hamburg
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* SPDX-License-Identifier: LGPL-2.1-only
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*/
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#pragma once
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/**
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* @ingroup boards_rpi_pico_2
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* @{
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*
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* @file
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* @brief Board specific definitions for the Raspberry Pi Pico 2
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*
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* @author Tom Hert <[email protected]>
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*/
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#include "RP2350.h"
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#include "cpu.h"
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#include "cpu_conf.h"
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#include "periph_conf.h"
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#include "periph_cpu.h"
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/** GPIO Pin ID for the onboard LED */
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#define LED0_PIN_ID 25u
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#define LED0_ON gpio_set(LED0_PIN_ID)
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#define LED0_OFF gpio_clear(LED0_PIN_ID)
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#define LED0_TOGGLE gpio_toggle(LED0_PIN_ID)
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#define LED0_NAME "LED(Green)"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** Initialize the board, called from the cpu startup code */
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void board_init(void);
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#ifdef __cplusplus
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}
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#endif
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/** @} */

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

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

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

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/*
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* SPDX-FileCopyrightText: 2025 Tom Hert <[email protected]>
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* SPDX-FileCopyrightText: 2025 HAW Hamburg
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* SPDX-License-Identifier: LGPL-2.1-only
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*/
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#pragma once
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#include <stdint.h>
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#include "RP2350.h"
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#include "periph_cpu.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef __cplusplus
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}
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#endif

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