adafruit · tannewt · Feb 2, 2026
diff --git a/ports/zephyr-cp/AGENTS.md b/ports/zephyr-cp/AGENTS.md
@@ -3,3 +3,4 @@
 - The files (not folders) in `boards/` directory are used by Zephyr.
 - To flash it on a board do `make BOARD=<vendor>_<board_name> flash`.
 - Zephyr board docs are at `zephyr/boards/<vendor>/<board_name>`.
+- Run zephyr-cp tests with `make test`.
diff --git a/ports/zephyr-cp/CMakeLists.txt b/ports/zephyr-cp/CMakeLists.txt
@@ -10,6 +10,10 @@ if(CONFIG_BOARD_NATIVE_SIM)
     target_sources(app PRIVATE native_sim_i2c_emul_control.c)
 endif()
 
+if(CONFIG_TRACING_PERFETTO)
+  zephyr_include_directories(${ZEPHYR_BINARY_DIR}/subsys/tracing/perfetto/proto)
+endif()
+
 # From: https://github.com/zephyrproject-rtos/zephyr/blob/main/samples/application_development/external_lib/CMakeLists.txt
 # The external static library that we are linking with does not know
 # how to build for this platform so we export all the flags used in

diff --git a/ports/zephyr-cp/Makefile b/ports/zephyr-cp/Makefile
@@ -8,6 +8,7 @@ BUILD ?= build-$(BOARD)
 
 TRANSLATION ?= en_US
 
+.DEFAULT_GOAL := $(BUILD)/zephyr-cp/zephyr/zephyr.elf
 
 .PHONY: $(BUILD)/zephyr-cp/zephyr/zephyr.elf flash recover debug run clean menuconfig all clean-all test fetch-port-submodules
 
@@ -24,6 +25,9 @@ $(BUILD)/firmware.hex: $(BUILD)/zephyr-cp/zephyr/zephyr.elf
 $(BUILD)/firmware.exe: $(BUILD)/zephyr-cp/zephyr/zephyr.elf
 	cp $(BUILD)/zephyr-cp/zephyr/zephyr.exe $@
 
+$(BUILD)/firmware.uf2: $(BUILD)/zephyr-cp/zephyr/zephyr.elf
+	cp $(BUILD)/zephyr-cp/zephyr/zephyr.uf2 $@
+
 flash: $(BUILD)/zephyr-cp/zephyr/zephyr.elf
 	west flash -d $(BUILD)
 

diff --git a/ports/zephyr-cp/boards/adafruit/feather_nrf52840_zephyr/autogen_board_info.toml b/ports/zephyr-cp/boards/adafruit/feather_nrf52840_zephyr/autogen_board_info.toml
@@ -0,0 +1,115 @@
+# This file is autogenerated when a board is built. Do not edit. Do commit it to git. Other scripts use its info.
+name = "Adafruit Industries LLC Feather nRF52840 (Express, Sense)"
+
+[modules]
+__future__ = true
+_bleio = false
+_eve = false
+_pew = false
+_pixelmap = false
+_stage = false
+adafruit_bus_device = false
+adafruit_pixelbuf = false
+aesio = false
+alarm = false
+analogbufio = false
+analogio = false
+atexit = false
+audiobusio = false
+audiocore = false
+audiodelays = false
+audiofilters = false
+audiofreeverb = false
+audioio = false
+audiomixer = false
+audiomp3 = false
+audiopwmio = false
+aurora_epaper = false
+bitbangio = false
+bitmapfilter = true # Zephyr board has busio
+bitmaptools = true # Zephyr board has busio
+bitops = false
+board = false
+busdisplay = true # Zephyr board has busio
+busio = true # Zephyr board has busio
+camera = false
+canio = false
+codeop = false
+countio = false
+digitalio = true
+displayio = true # Zephyr board has busio
+dotclockframebuffer = false
+dualbank = false
+epaperdisplay = true # Zephyr board has busio
+floppyio = false
+fontio = true # Zephyr board has busio
+fourwire = true # Zephyr board has busio
+framebufferio = true # Zephyr board has busio
+frequencyio = false
+getpass = false
+gifio = false
+gnss = false
+hashlib = false
+i2cdisplaybus = true # Zephyr board has busio
+i2cioexpander = false
+i2ctarget = false
+imagecapture = false
+ipaddress = false
+is31fl3741 = false
+jpegio = false
+keypad = false
+keypad_demux = false
+locale = false
+lvfontio = true # Zephyr board has busio
+math = false
+max3421e = false
+mdns = false
+memorymap = false
+memorymonitor = false
+microcontroller = true
+mipidsi = false
+msgpack = false
+neopixel_write = false
+nvm = false
+onewireio = false
+os = true
+paralleldisplaybus = false
+ps2io = false
+pulseio = false
+pwmio = false
+qrio = false
+rainbowio = true
+random = true
+rclcpy = false
+rgbmatrix = false
+rotaryio = true # Zephyr board has rotaryio
+rtc = false
+sdcardio = true # Zephyr board has busio
+sdioio = false
+sharpdisplay = true # Zephyr board has busio
+socketpool = false
+spitarget = false
+ssl = false
+storage = true # Zephyr board has flash
+struct = true
+supervisor = true
+synthio = false
+terminalio = true # Zephyr board has busio
+tilepalettemapper = true # Zephyr board has busio
+time = true
+touchio = false
+traceback = true
+uheap = false
+usb = false
+usb_cdc = true
+usb_hid = false
+usb_host = false
+usb_midi = false
+usb_video = false
+ustack = false
+vectorio = true # Zephyr board has busio
+warnings = true
+watchdog = false
+wifi = false
+zephyr_kernel = false
+zlib = false
diff --git a/ports/zephyr-cp/boards/adafruit/feather_nrf52840_zephyr/circuitpython.toml b/ports/zephyr-cp/boards/adafruit/feather_nrf52840_zephyr/circuitpython.toml
@@ -0,0 +1,3 @@
+CIRCUITPY_BUILD_EXTENSIONS = ["elf", "uf2"]
+USB_VID=0x239A
+USB_PID=0x802A
diff --git a/ports/zephyr-cp/boards/adafruit_feather_nrf52840_uf2.conf b/ports/zephyr-cp/boards/adafruit_feather_nrf52840_uf2.conf
@@ -0,0 +1,9 @@
+CONFIG_BT=y
+CONFIG_BT_PERIPHERAL=y
+CONFIG_BT_CENTRAL=y
+CONFIG_BT_BROADCASTER=y
+CONFIG_BT_OBSERVER=y
+CONFIG_BT_EXT_ADV=y
+
+CONFIG_BOARD_SERIAL_BACKEND_CDC_ACM=n
+CONFIG_BOARD_REQUIRES_SERIAL_BACKEND_CDC_ACM=n
diff --git a/ports/zephyr-cp/boards/adafruit_feather_nrf52840_uf2.overlay b/ports/zephyr-cp/boards/adafruit_feather_nrf52840_uf2.overlay
@@ -0,0 +1,24 @@
+/ {
+	chosen {
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,uart-mcumgr = &uart0;
+		zephyr,bt-mon-uart = &uart0;
+		zephyr,bt-c2h-uart = &uart0;
+	};
+};
+
+&zephyr_udc0 {
+	/delete-node/ board_cdc_acm_uart;
+};
+
+
+&gd25q16 {
+	/delete-node/ partitions;
+};
+
+&uart0 {
+    status = "okay";
+};
+
+#include "../app.overlay"
diff --git a/ports/zephyr-cp/boards/board_aliases.cmake b/ports/zephyr-cp/boards/board_aliases.cmake
@@ -1,4 +1,5 @@
 set(pca10056_BOARD_ALIAS nrf52840dk/nrf52840)
+set(adafruit_feather_nrf52840_zephyr_BOARD_ALIAS adafruit_feather_nrf52840/nrf52840/uf2)
 set(renesas_ek_ra6m5_BOARD_ALIAS ek_ra6m5)
 set(renesas_ek_ra8d1_BOARD_ALIAS ek_ra8d1)
 set(renesas_da14695_dk_usb_BOARD_ALIAS da14695_dk_usb)

diff --git a/ports/zephyr-cp/boards/native/native_sim/autogen_board_info.toml b/ports/zephyr-cp/boards/native/native_sim/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/native/nrf5340bsim/autogen_board_info.toml b/ports/zephyr-cp/boards/native/nrf5340bsim/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf5340dk/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/nordic/nrf54h20dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf54h20dk/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf54l15dk/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml b/ports/zephyr-cp/boards/nordic/nrf7002dk/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/nxp/frdm_mcxn947/autogen_board_info.toml b/ports/zephyr-cp/boards/nxp/frdm_mcxn947/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/nxp/frdm_rw612/autogen_board_info.toml b/ports/zephyr-cp/boards/nxp/frdm_rw612/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/nxp/mimxrt1170_evk/autogen_board_info.toml b/ports/zephyr-cp/boards/nxp/mimxrt1170_evk/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/renesas/da14695_dk_usb/autogen_board_info.toml b/ports/zephyr-cp/boards/renesas/da14695_dk_usb/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml b/ports/zephyr-cp/boards/renesas/ek_ra6m5/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml b/ports/zephyr-cp/boards/renesas/ek_ra8d1/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/st/nucleo_n657x0_q/autogen_board_info.toml b/ports/zephyr-cp/boards/st/nucleo_n657x0_q/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml b/ports/zephyr-cp/boards/st/nucleo_u575zi_q/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml b/ports/zephyr-cp/boards/st/stm32h7b3i_dk/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false

diff --git a/ports/zephyr-cp/boards/st/stm32wba65i_dk1/autogen_board_info.toml b/ports/zephyr-cp/boards/st/stm32wba65i_dk1/autogen_board_info.toml
@@ -82,7 +82,7 @@ rainbowio = true
 random = true
 rclcpy = false
 rgbmatrix = false
-rotaryio = false
+rotaryio = true # Zephyr board has rotaryio
 rtc = false
 sdcardio = true # Zephyr board has busio
 sdioio = false