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Merge pull request #21218 from crasbe/pr/rpico_doc
boards/rpi-pico*: Update and fix documentation and image
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‎boards/rpi-pico-w/doc.txt‎

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/**
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@defgroup boards_rpi_pico_w Raspberry Pi Pico W
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@ingroup boards
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@brief Support for the RP2040 based Raspberry Pi Pico W board
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## Overview
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The Raspberry Pi Pico W and Pico WH (with headers) is a board with RP2040 MCU,
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a custom dual core ARM Cortex-M0+ MCU with relatively high CPU clock, plenty of
10-
RAM, some unique peripheral (the Programmable IO) and the Infineon CYW43439 wireless
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chip.
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## Hardware
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![Raspberry Pi Pico W](https://www.raspberrypi.com/app/uploads/2022/06/Copy-of-PICO-W-HERO-800x533.jpg)
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Raspberry Pi Pico W is provided in two versions - without and with headers,
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the second one is called Pico WH. Detailed photos can be found at [Raspberry Pi Pico family](https://www.raspberrypi.com/documentation/microcontrollers/images/four_picos.jpg).
19-
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### MCU
21-
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The Programmable IO (PIO) peripheral and the SSI/QSPI peripheral that supports execution from
23-
flash (XIP) are the most distinguishing features of the MCU. The latter is especially important,
24-
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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| WiFi | via wireless chip (Infineon CYW43439) (*) |
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| Bluetooth | via wireless chip (Infineon CYW43439) (*) |
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| Vcc | 1.62V - 3.63V |
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| Datasheet | [Datasheet](https://datasheets.raspberrypi.com/picow/pico-w-datasheet.pdf) |
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| Wireless chip | [Infineon CYW43439 Datasheet](https://www.infineon.com/dgdl/Infineon-CYW43439-DataSheet-v03_00-EN.pdf?fileId=8ac78c8c8386267f0183c320336c029f) |
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(*) Currently not implemented in the RIOT OS.
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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 | WL_GPIO0 (*) |
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| SW0 | QSPI_SS_N (**) |
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(*) In the Pico W LED0 is directly connected to the Infineon CYW43439 module,
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and cannot be directly controlled by MCU.
63-
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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
66-
supported.
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### Pinout
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![Pinout Diagram of RPi Pico W](https://www.raspberrypi.com/documentation/microcontrollers/images/picow-pinout.svg)
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## Flashing the Board
73-
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### Flashing the Board Using the Bootloader
75-
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Connect the device to your Micro-USB cable while the button (labeled `BOOTSEL`
77-
on the silkscreen of the PCB) is pressed to enter the bootloader. The pico
78-
will present itself as a storage medium to the system, to which a UF2 file
79-
can be copied perform the flashing of the device. This can be automated by
80-
running:
81-
82-
```
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make BOARD=rpi-pico-w flash
84-
```
85-
86-
This is default flashing option using elf2uf2 PROGRAMMER. If the storage is
87-
not automatically mounted to `/media/<USER_NAME>/RPI-RP2`, you can overwrite
88-
the path by exporting the shell environment variable `ELF2UF2_MOUNT_PATH`.
89-
90-
### Flashing the Board Using OpenOCD
91-
92-
Currently (June 2021), only two methods for debugging via OpenOCD are supported:
93-
94-
1. Using a bit-banging low-level adapter, e.g. via the GPIOs of a Raspberry Pi 4B
95-
2. Using a virtual CMSIS-DAP adapter provided by the second CPU core via
96-
https://github.com/majbthrd/pico-debug
97-
98-
Option 2 requires no additional hardware however, you need to
99-
first "flash" the gimme-cache variant of [pico-debug](https://github.com/majbthrd/pico-debug)
100-
into RAM using the UF2 bootloader. For this, plug in the USB cable while holding down the BOOTSEL
101-
button of the Pico and copy the `pico-debug-gimmecache.uf2` from the
102-
[latest pico-debug release](https://github.com/majbthrd/pico-debug/releases) into the virtual FAT
103-
formatted drive the bootloader provides. Once this drive is unmounted again, this will result in
104-
the Raspberry Pi Pico showing up as CMSIS-DAP debugger. Afterwards run:
105-
106-
```
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make BOARD=rpi-pico-w PROGRAMMER=openocd flash
108-
```
109-
110-
@warning The `rpi-pico-w` virtual debugger is not persistent and needs to be "flashed" into RAM
111-
again after each cold boot.
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@note As of July 2021, the latest stable release of OpenOCD does not yet support the RP2040
114-
MCU. Instead, compile the current `master` branch from the upstream OpenOCD source.
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The OpenOCD fork of the Raspberry Pi foundation is incompatible with OpenOCD
116-
configuration provided, so please stick with upstream OpenOCD.
117-
118-
### Flashing the Board Using J-Link
119-
120-
Connect the Board to an Segger J-Link debugger, e.g. the EDU mini debugger is relatively affordable,
121-
but limited to educational purposes. Afterwards run:
122-
123-
```
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make BOARD=rpi-pico-w PROGRAMMER=jlink flash
125-
```
126-
127-
## Accessing RIOT shell
128-
129-
This board's default access to RIOT shell is via UART (UART0 TX - pin 1, UART0 RX - pin 2).
130-
131-
The default baud rate is 115 200.
132-
133-
The simplest way to connect to the shell is the execution of the command:
134-
135-
```
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make BOARD=rpi-pico-w term
137-
```
138-
139-
@warning Raspberry Pi Pico board is not 5V tolerant. Use voltage divider or logic level shifter when connecting to 5V UART.
140-
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## On-Chip Debugging
142-
143-
There are currently (June 2021) few hardware options for debugging the Raspberry Pi Pico:
144-
145-
1. Via J-Link using one of Seggers debuggers
146-
2. Via OpenOCD using a low-level bit-banging debugger (e.g. a Raspberry Pi 4B with the GPIOs
147-
connected to the Raspberry Pi Pico via jump wires)
148-
3. Via a recently updated [Black Magic Probe](https://github.com/blacksphere/blackmagic)
149-
150-
In addition, a software-only option is possible using
151-
[pico-debug](https://github.com/majbthrd/pico-debug). The default linker script reserved 16 KiB of
152-
RAM for this debugger, hence just "flash" the "gimme-cache" flavor into RAM using the UF2
153-
bootloader. Once this is done, debugging is as simple as running:
154-
155-
```
156-
make BOARD=rpi-pico-w debug
157-
```
158-
159-
***Beware:*** The `rpi-pico-w` virtual debugger is not persistent and needs to be "flashed" into RAM
160-
again after each cold boot. The initialization code of RIOT now seems to play well with the
161-
debugger, so it remains persistent on soft reboots. If you face issues with losing connection to
162-
the debugger on reboot, try `monitor reset init` in GDB to soft-reboot instead.
163-
164-
## Known Issues / Problems
165-
166-
### Early state Implementation
167-
168-
Currently no support for the following peripherals is implemented:
169-
170-
- Timers
171-
- ADC
172-
- SPI
173-
- I2C
174-
- 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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- Infineon CYW 43439 wireless chip
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* @defgroup boards_rpi_pico_w Raspberry Pi Pico W
3+
* @ingroup boards
4+
* @brief Support for the RP2040 based Raspberry Pi Pico W board
5+
*
6+
* ## Overview
7+
*
8+
* The Raspberry Pi Pico W and Pico WH (with headers) is a board with RP2040 MCU,
9+
* a custom dual core ARM Cortex-M0+ MCU with relatively high CPU clock, plenty of
10+
* RAM, some unique peripheral (the Programmable IO) and the Infineon CYW43439 wireless
11+
* chip.
12+
*
13+
* ## Hardware
14+
*
15+
* @image html https://www.raspberrypi.com/documentation/computers/images/pico-w.png "Raspberry Pi Pico W" width=50%
16+
*
17+
* Raspberry Pi Pico W is provided in two versions - without and with headers,
18+
* the second one is called Pico WH. Detailed photos can be found at [Raspberry Pi Pico family](https://www.raspberrypi.com/documentation/microcontrollers/images/four_picos.jpg).
19+
*
20+
* ### MCU
21+
*
22+
* The Programmable IO (PIO) peripheral and the SSI/QSPI peripheral that supports execution from
23+
* flash (XIP) are the most distinguishing features of the MCU. The latter is especially important,
24+
* since the RP2040 contains no internal flash.
25+
*
26+
* | MCU | RP2040 |
27+
* |:-----------|:------------------------------------------------------------ |
28+
* | Family | (2x) ARM Cortex-M0+ |
29+
* | Vendor | Raspberry Pi |
30+
* | RAM | 264 KiB |
31+
* | Flash | 2 MiB (up to 16 MiB) |
32+
* | Frequency | up to 133 MHz |
33+
* | FPU | no |
34+
* | PIOs | 8 |
35+
* | Timers | 1 x 64-bit |
36+
* | ADCs | 1x 12-bit (4 channels + temperature sensor) |
37+
* | UARTs | 2 |
38+
* | SPIs | 2 |
39+
* | I2Cs | 2 |
40+
* | RTCs | 1 |
41+
* | USBs | 1 (USB 2.0) |
42+
* | Watchdog | 1 |
43+
* | SSI/QSPI | 1 (connected to flash, with XIP support) |
44+
* | WiFi | via wireless chip (Infineon CYW43439) (*) |
45+
* | Bluetooth | via wireless chip (Infineon CYW43439) (*) |
46+
* | Vcc | 1.62V - 3.63V |
47+
* | Datasheet | [Datasheet](https://datasheets.raspberrypi.com/picow/pico-w-datasheet.pdf) |
48+
* | Wireless chip | [Infineon CYW43439 Datasheet](https://www.infineon.com/dgdl/Infineon-CYW43439-DataSheet-v03_00-EN.pdf?fileId=8ac78c8c8386267f0183c320336c029f) |
49+
*
50+
* (*) Currently not implemented in the RIOT OS.
51+
*
52+
* ### User Interface
53+
*
54+
* 1 button (also used for boot selection) and 1 LED:
55+
*
56+
* | Device | PIN |
57+
* |:------ |:---------------- |
58+
* | LED0 | WL_GPIO0 (*) |
59+
* | SW0 | QSPI_SS_N (**) |
60+
*
61+
* (*) In the Pico W LED0 is directly connected to the Infineon CYW43439 module,
62+
* and cannot be directly controlled by MCU.
63+
*
64+
* (**) Since the switch is connected to the chip-select pin of the QSPI interface the flash chip RIOT
65+
* is running from via XIP, the switch is difficult to read out from software. This is currently not
66+
* supported.
67+
*
68+
* ### Pinout
69+
*
70+
* ![Pinout Diagram of the RPi Pico W](https://www.raspberrypi.com/documentation/microcontrollers/images/picow-pinout.svg)
71+
*
72+
* ## Flashing the Board
73+
*
74+
* ### Flashing the Board Using the Bootloader
75+
*
76+
* Connect the device to your Micro-USB cable while the button (labeled `BOOTSEL`
77+
* on the silkscreen of the PCB) is pressed to enter the bootloader. The pico
78+
* will present itself as a storage medium to the system, to which a UF2 file
79+
* can be copied perform the flashing of the device. This can be automated by
80+
* running:
81+
*
82+
* ```
83+
* make BOARD=rpi-pico-w flash
84+
* ```
85+
*
86+
* This is default flashing option using elf2uf2 PROGRAMMER. If the storage is
87+
* not automatically mounted to `/media/<USER_NAME>/RPI-RP2`, you can overwrite
88+
* the path by exporting the shell environment variable `ELF2UF2_MOUNT_PATH`.
89+
*
90+
* ### Flashing the Board Using OpenOCD
91+
*
92+
* Currently (June 2021), only two methods for debugging via OpenOCD are supported:
93+
*
94+
* 1. Using a bit-banging low-level adapter, e.g. via the GPIOs of a Raspberry Pi 4B
95+
* 2. Using a virtual CMSIS-DAP adapter provided by the second CPU core via
96+
* https://github.com/majbthrd/pico-debug
97+
*
98+
* Option 2 requires no additional hardware however, you need to
99+
* first "flash" the gimme-cache variant of [pico-debug](https://github.com/majbthrd/pico-debug)
100+
* into RAM using the UF2 bootloader. For this, plug in the USB cable while holding down the BOOTSEL
101+
* button of the Pico and copy the `pico-debug-gimmecache.uf2` from the
102+
* [latest pico-debug release](https://github.com/majbthrd/pico-debug/releases) into the virtual FAT
103+
* formatted drive the bootloader provides. Once this drive is unmounted again, this will result in
104+
* the Raspberry Pi Pico showing up as CMSIS-DAP debugger. Afterwards run:
105+
*
106+
* ```
107+
* make BOARD=rpi-pico-w PROGRAMMER=openocd flash
108+
* ```
109+
*
110+
* @warning The `rpi-pico-w` virtual debugger is not persistent and needs to be "flashed" into RAM
111+
* again after each cold boot.
112+
*
113+
* @note The RP2040 MCU is supported from OpenOCD version 0.12.0 onwards.
114+
*
115+
* ### Flashing the Board Using J-Link
116+
*
117+
* Connect the Board to an Segger J-Link debugger, e.g. the EDU mini debugger is relatively affordable,
118+
* but limited to educational purposes. Afterwards run:
119+
*
120+
* ```
121+
* make BOARD=rpi-pico-w PROGRAMMER=jlink flash
122+
* ```
123+
*
124+
* ## Accessing RIOT shell
125+
*
126+
* This board's default access to RIOT shell is via UART (UART0 TX - pin 1, UART0 RX - pin 2).
127+
*
128+
* The default baud rate is 115 200.
129+
*
130+
* The simplest way to connect to the shell is the execution of the command:
131+
*
132+
* ```
133+
* make BOARD=rpi-pico-w term
134+
* ```
135+
*
136+
* @warning Raspberry Pi Pico board is not 5V tolerant. Use voltage divider or logic level shifter when connecting to 5V UART.
137+
*
138+
* ## On-Chip Debugging
139+
*
140+
* There are currently (June 2021) few hardware options for debugging the Raspberry Pi Pico:
141+
*
142+
* 1. Via J-Link using one of Seggers debuggers
143+
* 2. Via OpenOCD using a low-level bit-banging debugger (e.g. a Raspberry Pi 4B with the GPIOs
144+
* connected to the Raspberry Pi Pico via jump wires)
145+
* 3. Via a recently updated [Black Magic Probe](https://github.com/blacksphere/blackmagic)
146+
*
147+
* In addition, a software-only option is possible using
148+
* [pico-debug](https://github.com/majbthrd/pico-debug). The default linker script reserved 16 KiB of
149+
* RAM for this debugger, hence just "flash" the "gimme-cache" flavor into RAM using the UF2
150+
* bootloader. Once this is done, debugging is as simple as running:
151+
*
152+
* ```
153+
* make BOARD=rpi-pico-w debug
154+
* ```
155+
*
156+
* ***Beware:*** The `rpi-pico-w` virtual debugger is not persistent and needs to be "flashed"
157+
* into RAM again after each cold boot. The initialization code of RIOT now seems to play well with the
158+
* debugger, so it remains persistent on soft reboots. If you face issues with losing connection to
159+
* the debugger on reboot, try `monitor reset init` in GDB to soft-reboot instead.
160+
*
161+
* ## Known Issues / Problems
162+
*
163+
* ### Early State Implementation
164+
*
165+
* Currently no support for the following peripherals is implemented:
166+
*
167+
* - USB
168+
* - RTC
169+
* - Watchdog
170+
* - SMP support (multi CPU support is not implemented in RIOT)
171+
* - Infineon CYW 43439 wireless chip
172+
*
173+
* The I2C peripheral is implemented through the PIO.
180174
*/

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