diff --git a/.github/workflows/test-builds.yml b/.github/workflows/test-builds.yml
index 069f36714d93a..e034b2e8aaaf4 100644
--- a/.github/workflows/test-builds.yml
+++ b/.github/workflows/test-builds.yml
@@ -35,6 +35,8 @@ jobs:
test-platform:
# Base Environments
+ - SKR_Pico
+
- DUE
- DUE_archim
- esp32
diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h
index d8fdd9894387b..6969fbf8dea27 100644
--- a/Marlin/src/core/boards.h
+++ b/Marlin/src/core/boards.h
@@ -455,6 +455,7 @@
//
#define BOARD_RP2040 6200 // Generic RP2040 Test board
+#define BOARD_BTT_SKR_PICO 6201 // BigTreeTech SKR Pico 1.x
//
// Custom board
diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h
index 18eebd454faa9..756bbe3d403c9 100644
--- a/Marlin/src/pins/pins.h
+++ b/Marlin/src/pins/pins.h
@@ -749,6 +749,8 @@
#elif MB(RP2040)
#include "rp2040/pins_RP2040.h" // RP2040 env:RP2040
+#elif MB(BTT_SKR_PICO)
+ #include "rp2040/pins_BTT_SKR_Pico.h" // RP2040 env:SKR_Pico env:SKR_Pico_UART
//
// Custom board (with custom PIO env)
diff --git a/Marlin/src/pins/rp2040/env_validate.h b/Marlin/src/pins/rp2040/env_validate.h
new file mode 100644
index 0000000000000..1c92ffce96848
--- /dev/null
+++ b/Marlin/src/pins/rp2040/env_validate.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+#pragma once
+
+#if NOT_TARGET(__PLAT_RP2040__)
+ #error "Oops! Make sure to build with environment 'RP2040'."
+#endif
diff --git a/Marlin/src/pins/rp2040/pins_BTT_SKR_Pico.h b/Marlin/src/pins/rp2040/pins_BTT_SKR_Pico.h
new file mode 100644
index 0000000000000..9e84b942316a4
--- /dev/null
+++ b/Marlin/src/pins/rp2040/pins_BTT_SKR_Pico.h
@@ -0,0 +1,157 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+#pragma once
+
+/**
+ * BigTreeTech SKR Pico
+ * https://github.com/bigtreetech/SKR-Pico
+ */
+
+#include "env_validate.h"
+
+#define BOARD_INFO_NAME "BTT SKR Pico"
+#define DEFAULT_MACHINE_NAME "BIQU 3D Printer"
+
+#define USBCON
+
+#ifndef MARLIN_EEPROM_SIZE
+ #define MARLIN_EEPROM_SIZE 0x2000 // 8KB
+#endif
+
+//
+// Servos
+//
+#define SERVO0_PIN 29
+
+//
+// Limit Switches
+//
+#define X_DIAG_PIN 4
+#define Y_DIAG_PIN 3
+#define Z_DIAG_PIN 25 // probe:z_virtual_endstop
+
+#define X_STOP_PIN X_DIAG_PIN
+#define Y_STOP_PIN Y_DIAG_PIN
+#define Z_STOP_PIN Z_DIAG_PIN
+
+#ifndef FIL_RUNOUT_PIN
+ #define FIL_RUNOUT_PIN 16 // E0-STOP
+#endif
+
+#ifndef Z_MIN_PROBE_PIN
+ #define Z_MIN_PROBE_PIN 22
+#endif
+
+//
+// Steppers
+//
+#define X_STEP_PIN 11
+#define X_DIR_PIN 10
+#define X_ENABLE_PIN 12
+
+#define Y_STEP_PIN 6
+#define Y_DIR_PIN 5
+#define Y_ENABLE_PIN 7
+
+#define Z_STEP_PIN 19
+#define Z_DIR_PIN 28
+#define Z_ENABLE_PIN 2
+
+#define E0_STEP_PIN 14
+#define E0_DIR_PIN 13
+#define E0_ENABLE_PIN 15
+
+//
+// Temperature Sensors
+//
+#define TEMP_0_PIN 27 // Analog Input
+#define TEMP_BED_PIN 26 // Analog Input
+
+//
+// Heaters / Fans
+//
+#define HEATER_0_PIN 23
+#define HEATER_BED_PIN 21
+
+#define FAN_PIN 17
+#define FAN1_PIN 18
+
+#if HAS_CUTTER
+ #define SPINDLE_LASER_ENA_PIN 0
+ #define SPINDLE_LASER_PWM_PIN 1
+#else
+ #define FAN2_PIN 20
+#endif
+
+//
+// Misc. Functions
+//
+#define NEOPIXEL_PIN 24
+
+/**
+ * TMC2208/TMC2209 stepper drivers
+ */
+#if HAS_TMC_UART
+ /**
+ * Hardware serial communication ports.
+ * If undefined software serial is used according to the pins below
+ */
+ //#define X_HARDWARE_SERIAL Serial1
+ //#define X2_HARDWARE_SERIAL Serial1
+ //#define Y_HARDWARE_SERIAL Serial1
+ //#define Y2_HARDWARE_SERIAL Serial1
+ //#define Z_HARDWARE_SERIAL MSerial1
+ //#define Z2_HARDWARE_SERIAL Serial1
+ //#define E0_HARDWARE_SERIAL Serial1
+ //#define E1_HARDWARE_SERIAL Serial1
+ //#define E2_HARDWARE_SERIAL Serial1
+ //#define E3_HARDWARE_SERIAL Serial1
+ //#define E4_HARDWARE_SERIAL Serial1
+
+ /**
+ * Software serial
+ */
+ #ifndef X_SERIAL_TX_PIN
+ #define X_SERIAL_TX_PIN 8
+ #endif
+ #ifndef X_SERIAL_RX_PIN
+ #define X_SERIAL_RX_PIN 9
+ #endif
+ #ifndef Y_SERIAL_TX_PIN
+ #define Y_SERIAL_TX_PIN 8
+ #endif
+ #ifndef Y_SERIAL_RX_PIN
+ #define Y_SERIAL_RX_PIN 9
+ #endif
+ #ifndef Z_SERIAL_TX_PIN
+ #define Z_SERIAL_TX_PIN 8
+ #endif
+ #ifndef Z_SERIAL_RX_PIN
+ #define Z_SERIAL_RX_PIN 9
+ #endif
+ #ifndef E0_SERIAL_TX_PIN
+ #define E0_SERIAL_TX_PIN 8
+ #endif
+ #ifndef E0_SERIAL_RX_PIN
+ #define E0_SERIAL_RX_PIN 9
+ #endif
+#endif
diff --git a/Marlin/src/pins/rp2040/pins_RP2040.h b/Marlin/src/pins/rp2040/pins_RP2040.h
index 889915612f28e..48c291df9225f 100644
--- a/Marlin/src/pins/rp2040/pins_RP2040.h
+++ b/Marlin/src/pins/rp2040/pins_RP2040.h
@@ -21,37 +21,10 @@
*/
#pragma once
-/**
- * Arduino Mega with RAMPS v1.4 (or v1.3) pin assignments
- *
- * Applies to the following boards:
- *
- * RAMPS_14_EFB (Hotend, Fan, Bed)
- * RAMPS_14_EEB (Hotend0, Hotend1, Bed)
- * RAMPS_14_EFF (Hotend, Fan0, Fan1)
- * RAMPS_14_EEF (Hotend0, Hotend1, Fan)
- * RAMPS_14_SF (Spindle, Controller Fan)
- *
- * RAMPS_13_EFB (Hotend, Fan, Bed)
- * RAMPS_13_EEB (Hotend0, Hotend1, Bed)
- * RAMPS_13_EFF (Hotend, Fan0, Fan1)
- * RAMPS_13_EEF (Hotend0, Hotend1, Fan)
- * RAMPS_13_SF (Spindle, Controller Fan)
- *
- * Other pins_MYBOARD.h files may override these defaults
- *
- * Differences between
- * RAMPS_13 | RAMPS_14
- * 7 | 11
- */
+#include "env_validate.h"
-#ifndef BOARD_INFO_NAME
- #define BOARD_INFO_NAME "RP2040 Test"
-#endif
-
-#ifndef DEFAULT_MACHINE_NAME
- #define DEFAULT_MACHINE_NAME "RP2040 Test"
-#endif
+#define BOARD_INFO_NAME "RP2040 Test"
+#define DEFAULT_MACHINE_NAME "RP2040 Test"
#ifndef MARLIN_EEPROM_SIZE
#define MARLIN_EEPROM_SIZE 0x1000 // 4KB
@@ -66,13 +39,13 @@
//
// Limit Switches
//
-#define X_MIN_PIN 13
-#define Y_MIN_PIN 3
-#define Z_MIN_PIN 2
+#define X_STOP_PIN 13
+#define Y_STOP_PIN 3
+#define Z_STOP_PIN 2
//
// Steppers
-
+//
#define X_STEP_PIN 29
#define X_DIR_PIN 29
#define X_ENABLE_PIN 29
@@ -130,7 +103,7 @@
//
// Heaters / Fans
-
+//
#define HEATER_0_PIN 24
// Non-specific are "EFB" (i.e., "EFBF" or "EFBE")
diff --git a/buildroot/tests/SKR_Pico b/buildroot/tests/SKR_Pico
new file mode 100755
index 0000000000000..f0c3438cae45a
--- /dev/null
+++ b/buildroot/tests/SKR_Pico
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+#
+# Build tests for BTT SKR Pico
+#
+
+# exit on first failure
+set -e
+
+#
+# Build with the default configurations
+#
+restore_configs
+opt_set MOTHERBOARD BOARD_BTT_SKR_PICO
+exec_test $1 $2 "Default Configuration" "$3"
+
+# clean up
+restore_configs
diff --git a/buildroot/tests/at90usb1286_cdc b/buildroot/tests/at90usb1286_cdc
index 01d752db8b4c4..7dcf8d541ab5a 100755
--- a/buildroot/tests/at90usb1286_cdc
+++ b/buildroot/tests/at90usb1286_cdc
@@ -1,6 +1,6 @@
#!/usr/bin/env bash
#
-# Build tests for AT90USB1286 ARMED
+# Build tests for AT90USB1286 (CDC)
#
# exit on first failure
diff --git a/buildroot/tests/at90usb1286_dfu b/buildroot/tests/at90usb1286_dfu
index 75672a6a51507..a753097694c43 100755
--- a/buildroot/tests/at90usb1286_dfu
+++ b/buildroot/tests/at90usb1286_dfu
@@ -1,6 +1,6 @@
#!/usr/bin/env bash
#
-# Build tests for AT90USB1286 ARMED
+# Build tests for AT90USB1286 (DFU)
#
# exit on first failure
diff --git a/ini/raspberrypi.ini b/ini/raspberrypi.ini
index 852c5a4f69ffa..e674f1f47ab82 100644
--- a/ini/raspberrypi.ini
+++ b/ini/raspberrypi.ini
@@ -16,3 +16,12 @@ lib_ignore = WiFi
build_flags = ${common.build_flags} -D__PLAT_RP2040__ -Wno-expansion-to-defined
#debug_tool = jlink
#upload_protocol = jlink
+
+#
+# BigTreeTech SKR Pico 1.x
+#
+[env:SKR_Pico]
+extends = env:RP2040
+
+[env:SKR_Pico_UART]
+extends = env:SKR_Pico