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boards/rpi-pico: add the Raspberry Pi Pico
Co-authored-by: Fabian Hüßler <fabian.huessler@st.ovgu.de> Co-authored-by: nickw96 <nick.weiler@st.ovgu.de> Co-authored-by: MaestroOnICe <justus.krebs@st.ovgu.de> Co-authored-by: Franz2000 <franz.freitag@st.ovgu.de>
This commit is contained in:
Marian Buschsieweke
parent
e3821480f1
commit
d778e2be0d
17
boards/rpi-pico/Kconfig
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17
boards/rpi-pico/Kconfig
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# Copyright (C) 2021 Otto-von-Guericke-Universität Magdeburg
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#
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# This file is subject to the terms and conditions of the GNU Lesser
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# General Public License v2.1. See the file LICENSE in the top level
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# directory for more details.
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#
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config BOARD
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default "rpi-pico" if BOARD_RPI_PICO
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config BOARD_RPI_PICO
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bool
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default y
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select CPU_MODEL_RP2040
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select HAS_PERIPH_UART
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select HAVE_SAUL_GPIO
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3
boards/rpi-pico/Makefile
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3
boards/rpi-pico/Makefile
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MODULE = board
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include $(RIOTBASE)/Makefile.base
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3
boards/rpi-pico/Makefile.dep
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3
boards/rpi-pico/Makefile.dep
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ifneq (,$(filter saul_default,$(USEMODULE)))
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USEMODULE += saul_gpio
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endif
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4
boards/rpi-pico/Makefile.features
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4
boards/rpi-pico/Makefile.features
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CPU := rpx0xx
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# Put defined MCU peripherals here (in alphabetical order)
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FEATURES_PROVIDED += periph_uart
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2
boards/rpi-pico/Makefile.include
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2
boards/rpi-pico/Makefile.include
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CPU_MODEL := RP2040
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PORT_LINUX ?= /dev/ttyUSB0
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29
boards/rpi-pico/board.c
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29
boards/rpi-pico/board.c
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/*
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* Copyright (C) 2021 Otto-von-Guericke-Universität Magdeburg
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_rpi_pico
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* @{
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*
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* @file
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* @brief Board specific implementations for the Raspberry Pi Pico
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*
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* @author Marian Buschsieweke <marian.buschsieweke@ovgu.de>
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* @}
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*/
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#include "board.h"
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#include "periph/gpio.h"
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void board_init(void)
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{
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/* initialize the CPU */
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cpu_init();
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gpio_init(LED0_PIN, GPIO_OUT);
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}
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3
boards/rpi-pico/dist/openocd.cfg
vendored
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3
boards/rpi-pico/dist/openocd.cfg
vendored
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source [find target/rp2040-core0.cfg]
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$_TARGETNAME configure -rtos auto
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adapter speed 4000
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142
boards/rpi-pico/doc.txt
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142
boards/rpi-pico/doc.txt
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/**
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@defgroup boards_rpi_pico Raspberry Pi Pico
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@ingroup boards
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@brief Support for the RP2040 based Raspberry Pi Pico board
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## Overview
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The Raspberry Pi Pico is sold by the Raspberry Pi foundation for about 4 USD. It features the
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RP2040 MCU, a custom dual core ARM Cortex-M0+ MCU with relatively high CPU clock, plenty of RAM and
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some unique peripheral (the Programmable IO).
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## Hardware
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### MCU
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The Programmable IO (PIO) peripheral and the SSI/QSPI peripheral that supports execution from
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flash (XIP) are the most distinguishing features of the MCU. The latter is especially important,
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since the RP2040 contains no internal flash.
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| MCU | RP2040 |
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|:-----------|:------------------------------------------------------------ |
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| Family | (2x) ARM Cortex-M0+ |
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| Vendor | Raspberry Pi |
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| RAM | 264 KiB |
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| Flash | 2 MiB (up to 16 MiB) |
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| Frequency | up to 133 MHz |
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| FPU | no |
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| PIOs | 8 |
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| Timers | 1 x 64-bit |
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| ADCs | 1x 12-bit (4 channels + temperature sensor) |
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| UARTs | 2 |
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| SPIs | 2 |
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| I2Cs | 2 |
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| RTCs | 1 |
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| USBs | 1 (USB 2.0) |
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| Watchdog | 1 |
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| SSI/QSPI | 1 (connected to flash, with XIP support) |
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| Vcc | 1.62V - 3.63V |
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| Datasheet | [Datasheet](https://www.raspberrypi.org/homepage-9df4b/static/rp2040@2x-d1b9dae9345ad2bd15a23c6a567edb5c.jpg) |
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### User Interface
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1 button (also used for boot selection) and 1 LED:
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| Device | PIN |
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|:------ |:---------------- |
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| LED0 | 25 |
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| SW0 | QSPI_SS_N (*) |
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(*) Since the switch is connected to the chip-select pin of the QSPI interface the flash chip RIOT
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is running from via XIP, the switch is difficult to read out from software. This is currently not
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supported.
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### Pinout
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## Flashing the Board
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### Flashing the Board Using OpenOCD
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Currently (June 2021), only two methods for debugging via OpenOCD are supported:
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1. Using a bit-banging low-level adapter, e.g. via the GPIOs of a Raspberry Pi 4B
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2. Using a virtual CMSIS-DAP adapter provided by the second CPU core via
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https://github.com/majbthrd/pico-debug
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Since option 2 requires no additional hardware, this is currently the default. However, you need to
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first "flash" the gimme-cache variant of [pico-debug](https://github.com/majbthrd/pico-debug)
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into RAM using the UF2 bootloader. For this, plug in the USB cable while holding down the BOOTSEL
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button of the Pico and copy the `pico-debug-gimmecache.uf2` from the
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[latest pico-debug release](https://github.com/majbthrd/pico-debug/releases) into the virtual FAT
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formatted drive the bootloader provides. Once this drive is unmounted again, this will result in
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the Raspberry Pi Pico showing up as CMSIS-DAP debugger. Afterwards run:
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```
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make BOARD=rpi-pico flash
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```
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***Beware:*** The `rpi-pico` virtual debugger is not persistent and needs to be "flashed" into RAM
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again after each cold boot.
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### Flashing the Board Using the Bootloader
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Connect the device to your Micro-USB cable while the button (labeled `BOOTSEL` on the silkscreen
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of the PCB) is pressed to enter the bootloader. Afterwards run:
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```
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make BOARD=rpi-pico PROGRAMMER=uf2conv flash
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```
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### Flashing the Board Using J-Link
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Connect the Board to an Segger J-Link debugger, e.g. the EDU mini debugger is relatively affordable,
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but limited to educational purposes. Afterwards run:
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```
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make BOARD=rpi-pico PROGRAMMER=jlink flash
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```
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## On-Chip Debugging
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There are currently (June 2021) few hardware options for debugging the Raspberry Pi Pico:
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1. Via J-Link using one of Seggers debuggers
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2. Via OpenOCD using a low-level bit-banging debugger (e.g. a Raspberry Pi 4B with the GPIOs
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connected to the Raspberry Pi Pico via jump wires)
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3. Via a recently updated [Black Magic Probe](https://github.com/blacksphere/blackmagic)
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In addition, a software-only option is possible using
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[pico-debug](https://github.com/majbthrd/pico-debug). The default linker script reserved 16 KiB of
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RAM for this debugger, hence just "flash" the "gimme-cache" flavor into RAM using the UF2
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bootloader. Once this is done, debugging is as simple as running:
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```
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make BOARD=rpi-pico debug
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```
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***Beware:*** The `rpi-pico` virtual debugger is not persistent and needs to be "flashed" into RAM
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again after each cold boot. The initialization code of RIOT now seems to play well with the
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debugger, so it remains persistent on soft reboots. If you face issues with losing connection to
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the debugger on reboot, try `monitor reset init` in GDB to soft-reboot instead.
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## Known Issues / Problems
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### Early state Implementation
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Currently no support for the following peripherals is implemented:
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- Timers
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- ADC
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- SPI
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- I2C
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- USB
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- PIO
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- RTC
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- Watchdog
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- SMP support (multi CPU support is not implemented in RIOT)
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*/
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52
boards/rpi-pico/include/board.h
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52
boards/rpi-pico/include/board.h
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/*
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* Copyright (C) 2021 Otto-von-Guericke-Universität Magdeburg
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_rpi_pico
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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
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*
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* @author Marian Buschsieweke <marian.buschsieweke@ovgu.de>
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*/
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#ifndef BOARD_H
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#define BOARD_H
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#include "cpu.h"
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#include "periph_conf.h"
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#include "periph_cpu.h"
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#include "periph/gpio.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name LED configuration
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* @{
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*/
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#define LED0_PIN GPIO_PIN(0, 25)
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#define LED0_ON do {SIO->GPIO_OUT_SET.reg = 1UL << 25;} while (0)
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#define LED0_OFF do {SIO->GPIO_OUT_CLR.reg = 1UL << 25;} while (0)
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#define LED0_TOGGLE do {SIO->GPIO_OUT_XOR.reg = 1UL << 25;} while (0)
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#define LED0_NAME "LED(Green)"
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/** @} */
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/**
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* @brief Initialize board specific hardware, including clock, LEDs and std-IO
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*/
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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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#endif /* BOARD_H */
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/** @} */
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48
boards/rpi-pico/include/gpio_params.h
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48
boards/rpi-pico/include/gpio_params.h
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/*
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* Copyright (C) 2021 Franz Freitag, Justus Krebs, Nick Weiler
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_rpi_pico
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* @{
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*
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* @file
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* @brief Board specific configuration of direct mapped GPIOs
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*
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* @author Franz Freitag <franz.freitag@st.ovgu.de>
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* @author Justus Krebs <justus.krebs@st.ovgu.de>
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* @author Nick Weiler <nick.weiler@st.ovgu.de>
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*/
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#ifndef GPIO_PARAMS_H
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#define GPIO_PARAMS_H
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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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/**
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* @brief GPIO pin configuration
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*/
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static const saul_gpio_params_t saul_gpio_params[] =
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{
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{
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.name = LED0_NAME,
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.pin = LED0_PIN,
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.mode = GPIO_OUT,
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}
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};
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#ifdef __cplusplus
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}
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#endif
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#endif /* GPIO_PARAMS_H */
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/** @} */
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55
boards/rpi-pico/include/periph_conf.h
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55
boards/rpi-pico/include/periph_conf.h
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/*
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* Copyright (C) 2021 Otto-von-Guericke-Universität Magdeburg
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_rpi_pico
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* @{
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*
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* @file
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* @brief Configuration of CPU peripherals for the Raspberry Pi Pico
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* @author Marian Buschsieweke <marian.buschsieweke@ovgu.de>
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*/
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#ifndef PERIPH_CONF_H
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#define PERIPH_CONF_H
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#include <stdint.h>
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#include "cpu.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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static const uart_conf_t uart_config[] = {
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{
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.dev = UART0,
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.rx_pin = GPIO_PIN(0, 1),
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.tx_pin = GPIO_PIN(0, 0),
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.irqn = UART0_IRQ_IRQn
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},
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{
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.dev = UART1,
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.rx_pin = GPIO_PIN(0, 9),
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.tx_pin = GPIO_PIN(0, 8),
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.irqn = UART1_IRQ_IRQn
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}
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};
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#define UART_0_ISR (isr_uart0)
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#define UART_1_ISR (isr_uart1)
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#define UART_NUMOF ARRAY_SIZE(uart_config)
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#ifdef __cplusplus
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}
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#endif
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#endif /* PERIPH_CONF_H */
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/** @} */
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