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rp2350: Define and implement a cpucluster of Cortex-M33s
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Assume that users want to run a dual Cortex-M33 on the Pico 2, and
update various parts of the codebase to match. I expect the majority of
the soc's definition will move from `dts/arm/raspberrypi` to
`dts/common/raspberrypi` if/when support is added for the Hazard3 cores.

Some parts of the codebase can cope without encoding the cluster in the
filename (e.g. Twister seems to use the identifier in
`boards/raspberrypi/rpi_pico2/rpi_pico2.yaml` rather than the filename
itself), others can't (e.g. `rpi_pico2_m33_defconfig`) which itself is
a form of <board>_<cpucluster>_defconfig and doesn't refer to the SoC.
Despite this, some files have been given the verbose fully-specified
name because this matches the current documentation.

Update documentation to try to highlight the capabilities and
limitations of the current support within Zephyr for the Pico 2 board
and the underlying SoC.

Update `.overlay` and `.conf` files in `samples/` and `tests/` to match
the new requirement.

Limited tested locally with no issues found.

Signed-off-by: Andrew Featherstone <[email protected]>
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ajf58 committed Nov 27, 2024
1 parent b144cfc commit 6bd29c1
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Showing 20 changed files with 78 additions and 22 deletions.
2 changes: 1 addition & 1 deletion boards/raspberrypi/rpi_pico2/Kconfig.rpi_pico2
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Expand Up @@ -2,4 +2,4 @@
# SPDX-License-Identifier: Apache-2.0

config BOARD_RPI_PICO2
select SOC_RP2350A
select SOC_RP2350A_M33 if BOARD_RPI_PICO2_RP2350A_M33
6 changes: 5 additions & 1 deletion boards/raspberrypi/rpi_pico2/doc/index.rst
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Expand Up @@ -6,6 +6,10 @@ Overview
The Raspberry Pi Pico 2 is the second-generation product in the Raspberry Pi
Pico family. From the `Raspberry Pi website <https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html>`_ is referred to as Pico 2.

There are many limitations of the board currently. Including but not limited to:
- The Zephyr build only supports configuring the RP2350A with the Cortex-M33 cores.
- As with the Pico 1, there's no support for running any code on the second core.

Hardware
********

Expand All @@ -26,7 +30,7 @@ Hardware
Supported Features
==================

The ``rpi_pico2`` board target supports the following
The ``rpi_pico2/rp2350a/m33`` board target supports the following
hardware features:

.. list-table::
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Expand Up @@ -4,15 +4,11 @@
* SPDX-License-Identifier: Apache-2.0
*/

/dts-v1/;

#include <freq.h>

#include <zephyr/dt-bindings/i2c/i2c.h>
#include <zephyr/dt-bindings/pwm/pwm.h>

#include <raspberrypi/rpi_pico/rp2350a.dtsi>

#include "rpi_pico2-pinctrl.dtsi"
#include "../common/rpi_pico-led.dtsi"

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22 changes: 22 additions & 0 deletions boards/raspberrypi/rpi_pico2/rpi_pico2_rp2350a_m33.dts
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@@ -0,0 +1,22 @@
/*
* Copyright (c) 2024 Andrew Featherstone
*
* SPDX-License-Identifier: Apache-2.0
*/

/dts-v1/;

/* The build system assumes that there's a cpucluster-specific file.
*
* This file provides composition of the device tree:
* 1. The common features of the SoC
* 2. Core-specific configuration.
* 3. Board-specific configuration.
*/
#include <raspberrypi/rpi_pico/rp2350a.dtsi>
#include <raspberrypi/rpi_pico/m33.dtsi>

/* there's nothing specific to the Cortex-M33 cores vs the (not yet
* implemented) Hazard3 cores.
*/
#include "rpi_pico2.dtsi"
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@@ -1,5 +1,5 @@
identifier: rpi_pico2
name: Raspberry Pi Pico 2
identifier: rpi_pico2/rp2350a/m33
name: Raspberry Pi Pico 2 (Cortex-M33)
type: mcu
arch: arm
flash: 4096
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@@ -1,3 +1,6 @@
# This configuration is orthogonal to whether the Cortex-M33 or Hazard3 cores
# are in use, but Zephyr does not support providing a qualifier-agnostic
# _defconfig file.
CONFIG_BUILD_OUTPUT_HEX=y
CONFIG_BUILD_OUTPUT_UF2=y
CONFIG_CLOCK_CONTROL=y
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22 changes: 22 additions & 0 deletions dts/arm/raspberrypi/rpi_pico/m33.dtsi
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@@ -0,0 +1,22 @@
/*
* Copyright (c) 2024 Andrew Featherstone
*
* SPDX-License-Identifier: Apache-2.0
*/

#include <arm/armv8-m.dtsi>

/* Model in the device tree a Cortex-M33 core being 'plugged' into each
* 'socket' within the SoC. Within the datasheet these are core 0 and core 1.
*/
&cpu0 {
compatible = "arm,cortex-m33";
};

&cpu1 {
compatible = "arm,cortex-m33";
};

&nvic {
arm,num-irq-priority-bits = <4>;
};
12 changes: 5 additions & 7 deletions dts/arm/raspberrypi/rpi_pico/rp2350.dtsi
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Expand Up @@ -4,7 +4,6 @@
* SPDX-License-Identifier: Apache-2.0
*/

#include <arm/armv8-m.dtsi>
#include <zephyr/dt-bindings/adc/adc.h>
#include <zephyr/dt-bindings/gpio/gpio.h>
#include <zephyr/dt-bindings/clock/rpi_pico_rp2350_clock.h>
Expand All @@ -26,13 +25,16 @@
#address-cells = <1>;
#size-cells = <0>;

/* There are two CPU sockets in the RP2350-series SoCs.
* Represent the sockets in the device tree as these two
* partially-defined CPU instances. Use a separate DTSI file to
* define what kind of CPU cores they are.
*/
cpu0: cpu@0 {
compatible = "arm,cortex-m33";
reg = <0>;
};

cpu1: cpu@1 {
compatible = "arm,cortex-m33";
reg = <1>;
};
};
Expand Down Expand Up @@ -434,7 +436,3 @@
status = "disabled";
};
};

&nvic {
arm,num-irq-priority-bits = <4>;
};
14 changes: 9 additions & 5 deletions soc/raspberrypi/rpi_pico/rp2350/Kconfig
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Expand Up @@ -4,22 +4,26 @@
# SPDX-License-Identifier: Apache-2.0

config SOC_SERIES_RP2350
select HAS_RPI_PICO
select HAS_SEGGER_RTT if ZEPHYR_SEGGER_MODULE
select SOC_RESET_HOOK
select XIP

config SOC_RP2350A_M33
select ARM
select ARM_TRUSTZONE_M
select CPU_CORTEX_M_HAS_SYSTICK
select CPU_CORTEX_M_HAS_VTOR
select CPU_CORTEX_M33
select CPU_HAS_ARM_MPU
select CPU_HAS_ARM_SAU
select HAS_RPI_PICO
select HAS_SEGGER_RTT if ZEPHYR_SEGGER_MODULE
select SOC_RESET_HOOK
select XIP

config RP2_REQUIRES_IMAGE_DEFINITION_BLOCK
bool
default y
depends on SOC_SERIES_RP2350
# Currently the IDF only supports using the Cortex-M33 cores. Enforce
# this at build configuration time.
depends on SOC_SERIES_RP2350 && CPU_CORTEX_M33
help
Include an Image Definition Block (IMAGE_DEF) to enable the bootroom in
RP23XX devices to consider this a valid image in flash.
9 changes: 7 additions & 2 deletions soc/raspberrypi/rpi_pico/rp2350/Kconfig.soc
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@@ -1,7 +1,6 @@
# Raspberry Pi RP2350 MCU line

# Copyright (c) 2021 Nordic Semiconductor ASA
# Copyright (c) 2021 Yonatan Schachter
# Copyright (c) 2024 Andrew Featherstone
# SPDX-License-Identifier: Apache-2.0

config SOC_SERIES_RP2350
Expand All @@ -15,5 +14,11 @@ config SOC_RP2350A
bool
select SOC_SERIES_RP2350

config SOC_RP2350A_M33
bool
select SOC_RP2350A
help
Use the RP2350A with a Cortex-M33 core in both 'sockets'.

config SOC
default "rp2350a" if SOC_RP2350A
2 changes: 2 additions & 0 deletions soc/raspberrypi/rpi_pico/soc.yml
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Expand Up @@ -7,3 +7,5 @@ family:
- name: rp2350
socs:
- name: rp2350a
cpuclusters:
- name: m33

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