The RP2040 Datasheet is grouped into the following sections:

  1. Introduction
  2. System Description
  3. PIO
  4. Peripherals
  5. Electrical and Mechanical

The introduction has some high-level overview of the chip’s specs and the pinout reference. See the Pin Layout for example:

RP2040 pin layout from datasheet

Some interesting things I found was the diagram of the Bus Fabric, which apaprently routes addresses and data across the chip, and the internal structure of the process subsystem.

RP2040 bus fabric diagram RP2040 processor subsystem diagram

One of the most useful parts initially while trying to learn how to get the program onto the RP2040 was the flowchart of the boot sequence:

RP2040 boot sequence flowchart

There’s some interesting bits about the different kinds of boot options for the RP2040.

Each section in the System Description and Peripherals have further details about each component or aspect.