Datasheet RP2040 (Raspberry Pi) - 30

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IMPORTANT
CPUID should not be confused with the Cortex-M0+ CPUID register (Section 2.4.4.1.1) on each processor’s internal Private Peripheral Bus, which lists the processor’s part number and version.
2.3.1.2. GPIO Control
The processors have access to GPIO registers for fast and direct control of pins with GPIO functionality. There are two identical sets of registers: • GPIO_x for direct control of IO bank 0 (user GPIOs 0 to 29, starting at the LSB) • GPIO_HI_x for direct control of the QSPI IO bank (in the order SCLK, SSn, SD0, SD1, SD2, SD3, starting at the LSB) 
NOTE
To drive a pin with the SIO’s GPIO registers, the GPIO multiplexer for this pin must first be configured to select the SIO GPIO function. See Table 289. These GPIO registers are shared between the two cores, and both cores can access them simultaneously. There are three registers for each bank: • Output registers, GPIO_OUT and GPIO_HI_OUT, are used to set the output level of the GPIO (1/0 for high/low) • Output enable registers, GPIO_OE and GPIO_HI_OE, are used to enable the output driver. 0 for high-impedance, 1 for drive high/low based on GPIO_OUT and GPIO_HI_OUT. • Input registers, GPIO_IN and GPIO_HI_IN, allow the processor to sample the current state of the GPIOs Reading GPIO_IN returns all 30 GPIO values (or 6 for GPIO_HI_IN) in a single read. Software can then mask out individual pins it is interested in. SDK: https://github.com/raspberrypi/pico-sdk/tree/master/src/rp2_common/hardware_gpio/include/hardware/gpio.h Lines 336 - 338 336 static inline bool gpio_get(uint gpio) { 337 return !!((1ul << gpio) & sio_hw->gpio_in); 338 } The OUT and OE registers also have atomic SET, CLR, and XOR aliases, which allows software to update a subset of the pins in one operation. This is vital not only for safe parallel GPIO access between the two cores, but also safe concurrent GPIO access in an interrupt handler and foreground code running on one core. SDK: https://github.com/raspberrypi/pico-sdk/tree/master/src/rp2_common/hardware_gpio/include/hardware/gpio.h Lines 358 - 360 358 static inline void gpio_set_mask(uint32_t mask) { 359 sio_hw->gpio_set = mask; 360 } SDK: https://github.com/raspberrypi/pico-sdk/tree/master/src/rp2_common/hardware_gpio/include/hardware/gpio.h Lines 367 - 369 367 static inline void gpio_clr_mask(uint32_t mask) { 368 sio_hw->gpio_clr = mask; 369 } 2.3. Processor subsystem
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Document Outline RP2040 Datasheet Colophon Legal Disclaimer Notice Table of Contents Chapter 1. Introduction 1.1. Why is the chip called RP2040? 1.2. Summary 1.3. The Chip 1.4. Pinout Reference 1.4.1. Pin Locations 1.4.2. Pin Descriptions 1.4.3. GPIO Functions Chapter 2. System Description 2.1. Bus Fabric 2.1.1. AHB-Lite Crossbar 2.1.2. Atomic Register Access 2.1.3. APB Bridge 2.1.4. Narrow IO Register Writes 2.1.5. List of Registers 2.2. Address Map 2.2.1. Summary 2.2.2. Detail 2.3. Processor subsystem 2.3.1. SIO 2.3.2. Interrupts 2.3.3. Event Signals 2.3.4. Debug 2.4. Cortex-M0+ 2.4.1. Features 2.4.2. Functional Description 2.4.3. Programmer’s model 2.4.4. System control 2.4.5. NVIC 2.4.6. MPU 2.4.7. Debug 2.4.8. List of Registers 2.5. DMA 2.5.1. Configuring Channels 2.5.2. Starting Channels 2.5.3. Data Request (DREQ) 2.5.4. Interrupts 2.5.5. Additional Features 2.5.6. Example Use Cases 2.5.7. List of Registers 2.6. Memory 2.6.1. ROM 2.6.2. SRAM 2.6.3. Flash 2.7. Boot Sequence 2.8. Bootrom 2.8.1. Processor Controlled Boot Sequence 2.8.2. Bootrom Contents 2.8.3. USB Mass Storage Interface 2.8.4. USB PICOBOOT Interface 2.9. Power Supplies 2.9.1. Digital IO Supply (IOVDD) 2.9.2. Digital Core Supply (DVDD) 2.9.3. On-Chip Voltage Regulator Input Supply (VREG_VIN) 2.9.4. USB PHY Supply (USB_VDD) 2.9.5. ADC Supply (ADC_AVDD) 2.9.6. Power Supply Sequencing 2.9.7. Power Supply Schemes 2.10. Core Supply Regulator 2.10.1. Application Circuit 2.10.2. Operating Modes 2.10.3. Output Voltage Select 2.10.4. Status 2.10.5. Current Limit 2.10.6. List of Registers 2.10.7. Detailed Specifications 2.11. Power Control 2.11.1. Top-level Clock Gates 2.11.2. SLEEP State 2.11.3. DORMANT State 2.11.4. Memory Power Down 2.11.5. Programmer’s Model 2.12. Chip-Level Reset 2.12.1. Overview 2.12.2. Power-on Reset 2.12.3. Brown-out Detection 2.12.4. Supply Monitor 2.12.5. External Reset 2.12.6. Rescue Debug Port Reset 2.12.7. Source of Last Reset 2.12.8. List of Registers 2.13. Power-On State Machine 2.13.1. Overview 2.13.2. Power On Sequence 2.13.3. Register Control 2.13.4. Interaction with Watchdog 2.13.5. List of Registers 2.14. Subsystem Resets 2.14.1. Overview 2.14.2. Programmer’s Model 2.14.3. List of Registers 2.15. Clocks 2.15.1. Overview 2.15.2. Clock sources 2.15.3. Clock Generators 2.15.4. Frequency Counter 2.15.5. Resus 2.15.6. Programmer’s Model 2.15.7. List of Registers 2.16. Crystal Oscillator (XOSC) 2.16.1. Overview 2.16.2. Usage 2.16.3. Startup Delay 2.16.4. XOSC Counter 2.16.5. DORMANT mode 2.16.6. Programmer’s Model 2.16.7. List of Registers 2.17. Ring Oscillator (ROSC) 2.17.1. Overview 2.17.2. ROSC/XOSC trade-offs 2.17.3. Modifying the frequency 2.17.4. ROSC divider 2.17.5. Random Number Generator 2.17.6. ROSC Counter 2.17.7. DORMANT mode 2.17.8. List of Registers 2.18. PLL 2.18.1. Overview 2.18.2. Calculating PLL parameters 2.18.3. Configuration 2.18.4. List of Registers 2.19. GPIO 2.19.1. Overview 2.19.2. Function Select 2.19.3. Interrupts 2.19.4. Pads 2.19.5. Software Examples 2.19.6. List of Registers 2.20. Sysinfo 2.20.1. Overview 2.20.2. List of Registers 2.21. Syscfg 2.21.1. Overview 2.21.2. List of Registers 2.22. TBMAN 2.22.1. List of Registers Chapter 3. PIO 3.1. Overview 3.2. Programmer’s Model 3.2.1. PIO Programs 3.2.2. Control Flow 3.2.3. Registers 3.2.4. Stalling 3.2.5. Pin Mapping 3.2.6. IRQ Flags 3.2.7. Interactions Between State Machines 3.3. PIO Assembler (pioasm) 3.3.1. Directives 3.3.2. Values 3.3.3. Expressions 3.3.4. Comments 3.3.5. Labels 3.3.6. Instructions 3.3.7. Pseudoinstructions 3.4. Instruction Set 3.4.1. Summary 3.4.2. JMP 3.4.3. WAIT 3.4.4. IN 3.4.5. OUT 3.4.6. PUSH 3.4.7. PULL 3.4.8. MOV 3.4.9. IRQ 3.4.10. SET 3.5. Functional Details 3.5.1. Side-set 3.5.2. Program Wrapping 3.5.3. FIFO Joining 3.5.4. Autopush and Autopull 3.5.5. Clock Dividers 3.5.6. GPIO Mapping 3.5.7. Forced and EXEC’d Instructions 3.6. Examples 3.6.1. Duplex SPI 3.6.2. WS2812 LEDs 3.6.3. UART TX 3.6.4. UART RX 3.6.5. Manchester Serial TX and RX 3.6.6. Differential Manchester (BMC) TX and RX 3.6.7. I2C 3.6.8. PWM 3.6.9. Addition 3.6.10. Further Examples 3.7. List of Registers Chapter 4. Peripherals 4.1. USB 4.1.1. Overview 4.1.2. Architecture 4.1.3. Programmer’s Model 4.1.4. List of Registers References 4.2. UART 4.2.1. Overview 4.2.2. Functional description 4.2.3. Operation 4.2.4. UART hardware flow control 4.2.5. UART DMA Interface 4.2.6. Interrupts 4.2.7. Programmer’s Model 4.2.8. List of Registers 4.3. I2C 4.3.1. Features 4.3.2. IP Configuration 4.3.3. I2C Overview 4.3.4. I2C Terminology 4.3.5. I2C Behaviour 4.3.6. I2C Protocols 4.3.7. Tx FIFO Management and START, STOP and RESTART Generation 4.3.8. Multiple Master Arbitration 4.3.9. Clock Synchronization 4.3.10. Operation Modes 4.3.11. Spike Suppression 4.3.12. Fast Mode Plus Operation 4.3.13. Bus Clear Feature 4.3.14. IC_CLK Frequency Configuration 4.3.15. DMA Controller Interface 4.3.16. Operation of Interrupt Registers 4.3.17. List of Registers 4.4. SPI 4.4.1. Overview 4.4.2. Functional Description 4.4.3. Operation 4.4.4. List of Registers 4.5. PWM 4.5.1. Overview 4.5.2. Programmer’s Model 4.5.3. List of Registers 4.6. Timer 4.6.1. Overview 4.6.2. Counter 4.6.3. Alarms 4.6.4. Programmer’s Model 4.6.5. List of Registers 4.7. Watchdog 4.7.1. Overview 4.7.2. Tick generation 4.7.3. Watchdog Counter 4.7.4. Scratch Registers 4.7.5. Programmer’s Model 4.7.6. List of Registers 4.8. RTC 4.8.1. Storage Format 4.8.2. Leap year 4.8.3. Interrupts 4.8.4. Reference clock 4.8.5. Programmer’s Model 4.8.6. List of Registers 4.9. ADC and Temperature Sensor 4.9.1. Features 4.9.2. ADC controller 4.9.3. SAR ADC 4.9.4. Temperature Sensor 4.9.5. List of Registers 4.10. SSI 4.10.1. Overview 4.10.2. Features 4.10.3. IP Modifications 4.10.4. Clock Ratios 4.10.5. Transmit and Receive FIFO Buffers 4.10.6. 32-Bit Frame Size Support 4.10.7. SSI Interrupts 4.10.8. Transfer Modes 4.10.9. Operation Modes 4.10.10. Partner Connection Interfaces 4.10.11. DMA Controller Interface 4.10.12. APB Interface 4.10.13. List of Registers Chapter 5. Electrical and Mechanical 5.1. Package 5.1.1. Recommended PCB Footprint 5.1.2. Compliance 5.2. Pinout 5.2.1. Pin Locations 5.2.2. Pin Definitions 5.2.3. Pin Specifications 5.3. Power Supplies 5.4. Power Consumption 5.4.1. Power Consumption versus frequency Appendix A: Register Field Types Standard types RW RO WO Clear types SC WC FIFO types RF WF RWF Appendix B: Errata Bootrom RP2040-E9 Clocks RP2040-E7 RP2040-E10 GPIO / ADC RP2040-E6 USB RP2040-E2 RP2040-E3 RP2040-E4 RP2040-E5 Watchdog RP2040-E1 XIP Flash RP2040-E8 Appendix C: Documentation Release History