boards: Add initial support for the Raspberry Pi Pico 2

The Raspberry Pi Pico 2 is Raspberry Pi's first board fitted with their
RP2350 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 either 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_pico_2\hello_world\zephyr\zephyr.elf \
    build\rpi_pico_2\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:

- RP2350 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>

boards/raspberrypi/rpi_pico_2/Kconfig.defconfig

@@ -0,0 +1,9 @@
+# Copyright (c) 2024 Andrew Featherstone
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_RPI_PICO_2
+
+config USB_SELF_POWERED
+ default n
+
+endif # BOARD_RPI_PICO_2

boards/raspberrypi/rpi_pico_2/Kconfig.rpi_pico_2

@@ -0,0 +1,5 @@
+# Copyright (c) 2024 Andrew Featherstone
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_RPI_PICO_2
+ select SOC_RP2350

boards/raspberrypi/rpi_pico_2/board.yml

@@ -0,0 +1,5 @@
+board:
+ name: rpi_pico_2
+ vendor: raspberrypi
+ socs:
+ - name: rp2350

boards/raspberrypi/rpi_pico_2/rpi_pico_2-common.dtsi

@@ -0,0 +1,122 @@
+/*
+ * Copyright (c) 2024 Andrew Featherstone
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <freq.h>
+
+#include <rpi_pico/rp2350.dtsi>
+#include "rpi_pico_2-pinctrl.dtsi"
+#include <zephyr/dt-bindings/pwm/pwm.h>
+
+#include <zephyr/dt-bindings/i2c/i2c.h>
+
+
+/ {
+ chosen {
+ zephyr,sram = &sram0;
+ zephyr,flash = &flash0;
+ zephyr,console = &uart0;
+ zephyr,shell-uart = &uart0;
+ zephyr,code-partition = &code_partition;
+ };
+
+ aliases {
+ };
+
+ pico_header: connector {
+ compatible = "raspberrypi,pico-header";
+ #gpio-cells = <2>;
+ gpio-map-mask = <0xffffffff 0xffffffc0>;
+ gpio-map-pass-thru = <0 0x3f>;
+ gpio-map = <0 0 &gpio0 0 0>, /* GP0 */
+ <1 0 &gpio0 1 0>, /* GP1 */
+ <2 0 &gpio0 2 0>, /* GP2 */
+ <3 0 &gpio0 3 0>, /* GP3 */
+ <4 0 &gpio0 4 0>, /* GP4 */
+ <5 0 &gpio0 5 0>, /* GP5 */
+ <6 0 &gpio0 6 0>, /* GP6 */
+ <7 0 &gpio0 7 0>, /* GP7 */
+ <8 0 &gpio0 8 0>, /* GP8 */
+ <9 0 &gpio0 9 0>, /* GP9 */
+ <10 0 &gpio0 10 0>, /* GP10 */
+ <11 0 &gpio0 11 0>, /* GP11 */
+ <12 0 &gpio0 12 0>, /* GP12 */
+ <13 0 &gpio0 13 0>, /* GP13 */
+ <14 0 &gpio0 14 0>, /* GP14 */
+ <15 0 &gpio0 15 0>, /* GP15 */
+ <16 0 &gpio0 16 0>, /* GP16 */
+ <17 0 &gpio0 17 0>, /* GP17 */
+ <18 0 &gpio0 18 0>, /* GP18 */
+ <19 0 &gpio0 19 0>, /* GP19 */
+ <20 0 &gpio0 20 0>, /* GP20 */
+ <21 0 &gpio0 21 0>, /* GP21 */
+ <22 0 &gpio0 22 0>, /* GP22 */
+ <26 0 &gpio0 26 0>, /* GP26 */
+ <27 0 &gpio0 27 0>, /* GP27 */
+ <28 0 &gpio0 28 0>; /* GP28 */
+ };
+};
+
+&flash0 {
+ reg = <0x10000000 DT_SIZE_M(4)>;
+
+ partitions {
+ compatible = "fixed-partitions";
+ #address-cells = <1>;
+ #size-cells = <1>;
+
+ /* Reserved memory for an image definition block. The block is much
+ * smaller than 256 bytes, but in practice the linker places the vector
+ * table at a much larger alignment offset.
+ */
+ image_def: partition@0 {
+ label = "image_def";
+ reg = <0x00000000 0x100>;
+ read-only;
+ };
+
+ /*
+ * Usable flash. Starts at 0x100, after the image definition block.
+ * The partition size is 4MB minus the 0x100 bytes taken by the
+ * image definition.
+ */
+ code_partition: partition@100 {
+ label = "code-partition";
+ reg = <0x100 (DT_SIZE_M(4) - 0x100)>;
+ read-only;
+ };
+ };
+};
+
+&clocks {
+ pinctrl-0 = <&clocks_default>;
+ pinctrl-names = "default";
+};
+
+&uart0 {
+ current-speed = <115200>;
+ status = "okay";
+ pinctrl-0 = <&uart0_default>;
+ pinctrl-names = "default";
+};
+
+&gpio0 {
+ status = "okay";
+};
+
+&timer0 {
+ status = "disabled";
+};
+
+zephyr_udc0: &usbd {
+ status = "okay";
+};
+
+&vreg {
+ regulator-always-on;
+ regulator-allowed-modes = <REGULATOR_RPI_PICO_MODE_NORMAL>;
+};
+
+pico_serial: &uart0 {};

boards/raspberrypi/rpi_pico_2/rpi_pico_2-pinctrl.dtsi

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2024, Andrew Featherstone
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/pinctrl/rpi-pico-rp2040-pinctrl.h>
+
+&pinctrl {
+ uart0_default: uart0_default {
+ group1 {
+ pinmux = <UART0_TX_P0>;
+ };
+ group2 {
+ pinmux = <UART0_RX_P1>;
+ input-enable;
+ };
+ };
+
+ spi0_default: spi0_default {
+ group1 {
+ pinmux = <SPI0_CSN_P17>, <SPI0_SCK_P18>, <SPI0_TX_P19>;
+ };
+ group2 {
+ pinmux = <SPI0_RX_P16>;
+ input-enable;
+ };
+ };
+
+ clocks_default: clocks_default {
+ };
+};

boards/raspberrypi/rpi_pico_2/rpi_pico_2.dts

@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2024 Andrew Featherstone
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include "rpi_pico_2-common.dtsi"
+
+/ {
+ leds {
+ compatible = "gpio-leds";
+ led0: led_0 {
+ gpios = <&gpio0 25 GPIO_ACTIVE_HIGH>;
+ label = "LED";
+ };
+ };
+
+ aliases {
+ led0 = &led0;
+ };
+};

boards/raspberrypi/rpi_pico_2/rpi_pico_2.yaml

@@ -0,0 +1,14 @@
+identifier: rpi_pico_2
+name: Raspberry Pi Pico 2
+type: mcu
+arch: arm
+flash: 4096
+ram: 520
+toolchain:
+ - zephyr
+ - gnuarmemb
+ - xtools
+supported:
+ - clock
+ - gpio
+ - uart

boards/raspberrypi/rpi_pico_2/rpi_pico_2_defconfig

@@ -0,0 +1,9 @@
+CONFIG_CLOCK_CONTROL=y
+CONFIG_CONSOLE=y
+CONFIG_GPIO=y
+CONFIG_RESET=y
+CONFIG_SERIAL=y
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=125000000
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_USE_DT_CODE_PARTITION=y