I am using a Raspberry Pi Zero 2 W with a BTT SKR Pico V1.0 board on a custom Delta printer - 220mm Build plate. I also have a Bl Touch installed. This is my working printer.cfg:
# This file contains common pin mappings for the BIGTREETECH SKR Pico V1.0
# To use this config, the firmware should be compiled for the RP2040 with
# USB communication.
# The "make flash" command does not work on the SKR Pico V1.0. Instead,
# after running "make", copy the generated "out/klipper.uf2" file
# to the mass storage device in RP2040 boot mode
# See docs/Config_Reference.md for a description of parameters.
[include mainsail.cfg]
[mcu]
serial: /dev/ttyAMA0
restart_method: command
[virtual_sdcard]
path: /home/ftpi/printer_data/gcodes
on_error_gcode: CANCEL_PRINT
[exclude_object]
[include buttons.cfg]
[endstop_phase]
#[include adxl.cfg]
[printer]
kinematics: delta
max_velocity: 300
max_accel: 6000
max_z_velocity: 300
#delta_radius: 146.83
print_radius: 80.0
minimum_z_position: -5.0
square_corner_velocity: 5.0
[delta_calibrate]
radius: 75
speed: 20
horizontal_move_z: 5
[stepper_a]
step_pin: gpio11
dir_pin: gpio10
enable_pin: !gpio12
microsteps: 16
rotation_distance: 32
endstop_pin: ^gpio4
#position_endstop: 259.428422
homing_speed: 5
#arm_length: 241.713985
[tmc2209 stepper_a]
uart_pin: gpio9
tx_pin: gpio8
uart_address: 0
run_current: 0.650
#stealthchop_threshold: 999999
[stepper_b]
step_pin: gpio6
dir_pin: gpio5
enable_pin: !gpio7
microsteps: 16
rotation_distance: 32
endstop_pin: ^gpio3
#position_endstop: 258.604547
homing_speed: 5
[tmc2209 stepper_b]
uart_pin: gpio9
tx_pin: gpio8
uart_address: 2
run_current: 0.650
#stealthchop_threshold: 999999
[stepper_c]
step_pin: gpio19
dir_pin: gpio28
enable_pin: !gpio2
microsteps: 16
rotation_distance: 32
endstop_pin: ^gpio25
#position_endstop: 259.336938
homing_speed: 5
[tmc2209 stepper_c]
uart_pin: gpio9
tx_pin: gpio8
uart_address: 1
run_current: 0.650
#stealthchop_threshold: 999999
[extruder]
step_pin: gpio14
dir_pin: !gpio13
enable_pin: !gpio15
microsteps: 16
rotation_distance: 7.9886
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: gpio23
sensor_type: ATC Semitec 104GT-2
sensor_pin: gpio27
#control: pid
#pid_Kp: 29.198
#pid_Ki: 1.708
#pid_Kd: 124.823
min_extrude_temp: 20
min_temp: 0
max_temp: 285
pressure_advance: 0.7444
[tmc2209 extruder]
uart_pin: gpio9
tx_pin: gpio8
uart_address: 3
run_current: 0.800
#stealthchop_threshold: 999999
[heater_bed]
heater_pin: gpio21
sensor_type: EPCOS 100K B57560G104F
sensor_pin: gpio26
#control: pid
#pid_Kp: 76.329
#pid_Ki: 1.590
#pid_Kd: 915.948
min_temp: 0
max_temp: 110
[delayed_gcode bed_mesh_init]
initial_duration: .01
gcode:
BED_MESH_PROFILE LOAD=default
[bed_mesh]
speed: 20
horizontal_move_z: 5
mesh_radius: 80
mesh_origin: 0, 0
round_probe_count: 5
mesh_pps: 2, 2
algorithm: lagrange
move_check_distance: 5
split_delta_z: .025
fade_start: 1
fade_end: 10
fade_target: 0
# Fan 1
[fan]
pin: gpio17
max_power: 1.0
# Fan 2
[heater_fan hotend_fan]
pin: gpio18
#min_temp: 30
max_power: 1.0
heater: extruder
heater_temp: 10.0
# Fan 3
#[temperature_sensor pico]
#pin: gpio20
#control: watermark
#max_delta: 3.0
#sensor_type: temperature_mcu
#sensor_mcu: mcu
#min_temp: 0
#max_temp: 100
#target_temp: 35.0
#max_power: 1 #for 100%
#shutdown_speed: 1.0
#heater_temp: 45.0
[bltouch]
sensor_pin: ^gpio22
control_pin: gpio29
pin_move_time: 0.680
stow_on_each_sample: True
probe_with_touch_mode: False
x_offset: 0.0
y_offset: 30.0
#z_offset: 1.090
speed: 5.0
samples: 4
sample_retract_dist: 5.0
#pin_up_reports_not_triggered: True
#pin_up_touch_mode_reports_triggered: False
#[filament_switch_sensor runout_sensor]
#switch_pin: ^gpio16
[firmware_retraction]
retract_length: 2.5
# The length of filament (in mm) to retract when G10 is activated,
# and to unretract when G11 is activated (but see
# unretract_extra_length below). The default is 0 mm.
retract_speed: 40
# The speed of retraction, in mm/s. The default is 20 mm/s.
unretract_extra_length: 0
# The length (in mm) of *additional* filament to add when
# unretracting.
unretract_speed: 40
# The speed of unretraction, in mm/s. The default is 10 mm/s..
#[output_pin beeper]
#pin: EXP1_1