soc: arm: introduce support for NXP S32K344

The S32K3 MCUs are 32-bit Arm Cortex-M7-based microcontrollers with a
focus on automotive and industrial applications. The S32K344 features
a lock-step core, internal flash, RAM and TCM with ECC.

Co-authored-by: Dat Nguyen Duy <dat.nguyenduy@nxp.com>
Co-authored-by: Cong Nguyen Huu <cong.nguyenhuu@nxp.com>
Signed-off-by: Manuel Argüelles <manuel.arguelles@nxp.com>

soc/arm/nxp_s32/Kconfig

@@ -14,5 +14,6 @@ source "soc/arm/nxp_s32/*/Kconfig.soc"
 
 config SOC_PART_NUMBER
 	default SOC_PART_NUMBER_S32ZE_R52 if SOC_SERIES_S32ZE_R52
+	default SOC_PART_NUMBER_S32K3 if SOC_SERIES_S32K3_M7
 
 endif # SOC_FAMILY_S32

soc/arm/nxp_s32/common/osif.c

@@ -1,5 +1,5 @@
 /*
- * Copyright 2022 NXP
+ * Copyright 2022-2023 NXP
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,8 @@
 
 #if defined(CONFIG_SOC_S32Z27_R52)
 #include <S32Z2_MSCM.h>
+#elif defined(CONFIG_SOC_S32K344_M7)
+#include <S32K344_MSCM.h>
 #endif
 
 /* Required by OsIf timer initialization but not used with Zephyr, so no values configured */

soc/arm/nxp_s32/s32k/CMakeLists.txt

@@ -0,0 +1,9 @@
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources(soc.c)
+zephyr_library_sources_ifdef(CONFIG_CPU_HAS_CUSTOM_FIXED_SOC_MPU_REGIONS mpu_regions.c)
+zephyr_linker_sources(SECTIONS sections.ld)
+zephyr_library_sources_ifdef(CONFIG_PLATFORM_SPECIFIC_INIT s32k3xx_startup.S)

soc/arm/nxp_s32/s32k/Kconfig.defconfig.s32k344

@@ -0,0 +1,14 @@
+# S32K344
+
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+if SOC_S32K344_M7
+
+config SOC
+	default "s32k344"
+
+config FPU
+	default y
+
+endif # SOC_S32K344_M7

soc/arm/nxp_s32/s32k/Kconfig.defconfig.series

@@ -0,0 +1,27 @@
+# S32 K M7 core series
+
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+if SOC_SERIES_S32K3_M7
+
+config SOC_SERIES
+	default "s32k"
+
+config SYS_CLOCK_HW_CYCLES_PER_SEC
+	default 2000000
+
+config NUM_IRQS
+	# must be >= the highest interrupt number used
+	default 239
+
+if !XIP
+config FLASH_SIZE
+	default 0
+config FLASH_BASE_ADDRESS
+	default 0
+endif
+
+source "soc/arm/nxp_s32/s32k/Kconfig.defconfig.s32k*"
+
+endif # SOC_SERIES_S32K_M7

soc/arm/nxp_s32/s32k/Kconfig.series

@@ -0,0 +1,17 @@
+# NXP S32K3 MCUs family
+
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+config SOC_SERIES_S32K3_M7
+	bool "S32K3 M7 Core Series"
+	select ARM
+	select CPU_CORTEX_M7
+	select SOC_FAMILY_S32
+	select CPU_HAS_FPU
+	select CPU_HAS_ARM_MPU
+	select CPU_HAS_CUSTOM_FIXED_SOC_MPU_REGIONS
+	select PLATFORM_SPECIFIC_INIT if XIP
+	select USE_DT_CODE_PARTITION if XIP
+	help
+	  Enable support for NXP S32K3 MCUs family on Cortex-M7 cores

soc/arm/nxp_s32/s32k/Kconfig.soc

@@ -0,0 +1,43 @@
+# NXP S32K MCUs family
+
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+choice
+	prompt "NXP S32K MCUs family SoC Selection"
+	depends on SOC_SERIES_S32K3_M7
+
+config SOC_S32K344_M7
+	bool "SOC_S32K_M7"
+	select HAS_S32_HAL
+
+endchoice
+
+if SOC_SERIES_S32K3_M7
+
+config SOC_PART_NUMBER_S32K344
+	bool
+
+config SOC_PART_NUMBER_S32K3
+	string
+	default "S32K344" if SOC_PART_NUMBER_S32K344
+	help
+	  This string holds the full part number of the SoC. It is a hidden option
+	  that you should not set directly. The part number selection choice defines
+	  the default value for this string.
+
+config IVT_HEADER_OFFSET
+	hex
+	depends on XIP
+	default $(dt_node_reg_addr_hex,$(dt_nodelabel_path,ivt_header))
+	help
+	  The offset address from flash base address for ivt header
+
+config IVT_HEADER_SIZE
+	hex
+	depends on XIP
+	default $(dt_node_reg_size_hex,$(dt_nodelabel_path,ivt_header))
+	help
+	  Size of ivt header region
+
+endif

soc/arm/nxp_s32/s32k/linker.ld

@@ -0,0 +1,15 @@
+/*
+ * Copyright 2023 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifdef CONFIG_XIP
+MEMORY
+{
+	IVT_HEADER (r) : ORIGIN = CONFIG_FLASH_BASE_ADDRESS + CONFIG_IVT_HEADER_OFFSET,
+			 LENGTH = CONFIG_IVT_HEADER_SIZE
+}
+#endif
+
+#include <zephyr/arch/arm/aarch32/cortex_m/scripts/linker.ld>

soc/arm/nxp_s32/s32k/mpu_regions.c

@@ -0,0 +1,46 @@
+/*
+ * Copyright 2023 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/devicetree.h>
+#include <zephyr/linker/devicetree_regions.h>
+#include "../../common/cortex_m/arm_mpu_mem_cfg.h"
+
+#if !defined(CONFIG_XIP)
+extern char _rom_attr[];
+#endif
+
+static struct arm_mpu_region mpu_regions[] = {
+
+	/* Keep before CODE region so it can be overlapped by SRAM CODE in non-XIP systems */
+	{
+		.name = "SRAM",
+		.base = CONFIG_SRAM_BASE_ADDRESS,
+		.attr = REGION_RAM_ATTR(REGION_SRAM_SIZE),
+	},
+
+#ifdef CONFIG_XIP
+	{
+		.name = "FLASH",
+		.base = CONFIG_FLASH_BASE_ADDRESS,
+		.attr = REGION_FLASH_ATTR(REGION_FLASH_SIZE),
+	},
+#else
+	/* Run from SRAM */
+	{
+		.name = "CODE",
+		.base = CONFIG_SRAM_BASE_ADDRESS,
+		.attr = {(uint32_t)_rom_attr},
+	},
+#endif
+
+	/* DT-defined regions */
+	LINKER_DT_REGION_MPU(ARM_MPU_REGION_INIT)
+};
+
+const struct arm_mpu_config mpu_config = {
+	.num_regions = ARRAY_SIZE(mpu_regions),
+	.mpu_regions = mpu_regions,
+};

soc/arm/nxp_s32/s32k/s32k3xx_startup.S

@@ -0,0 +1,67 @@
+/*
+ * Copyright 2023 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/devicetree.h>
+#include <zephyr/toolchain.h>
+#include <zephyr/linker/sections.h>
+
+_ASM_FILE_PROLOGUE
+
+GTEXT(z_arm_platform_init)
+
+SECTION_FUNC(TEXT, z_arm_platform_init)
+
+	/*
+	 * After chip power-on reset, SRAM must be initialized to a known value
+	 * using a 64-bit master before 32-bit masters can read or write to RAM.
+	 *
+	 * This is implemented directly in ASM, to ensure no stack access is performed.
+	 */
+
+	ldr r1, = DT_REG_ADDR(DT_CHOSEN(zephyr_sram))
+	ldr r2, = DT_REG_SIZE(DT_CHOSEN(zephyr_sram))
+
+	subs	r2, #1
+
+	ble SRAM_LOOP_END
+
+	movs	r0, 0
+	movs	r3, 0
+
+SRAM_LOOP:
+	stm r1!, {r0,r3}
+	subs r2, 8
+	bge SRAM_LOOP
+
+SRAM_LOOP_END:
+
+#if DT_NODE_HAS_STATUS(DT_CHOSEN(zephyr_itcm), okay)
+
+	ldr r1, = DT_REG_ADDR(DT_CHOSEN(zephyr_itcm))
+	ldr r2, = DT_REG_SIZE(DT_CHOSEN(zephyr_itcm))
+
+	subs	r2, #1
+
+ITCM_LOOP:
+	stm r1!, {r0,r3}
+	subs r2, 8
+	bge ITCM_LOOP
+#endif
+
+#if DT_NODE_HAS_STATUS(DT_CHOSEN(zephyr_dtcm), okay)
+
+	ldr r1, = DT_REG_ADDR(DT_CHOSEN(zephyr_dtcm))
+	ldr r2, = DT_REG_SIZE(DT_CHOSEN(zephyr_dtcm))
+
+	subs	r2, #1
+
+DTCM_LOOP:
+	stm r1!, {r0,r3}
+	subs r2, 8
+	bge DTCM_LOOP
+#endif
+
+	bx lr

soc/arm/nxp_s32/s32k/sections.ld

@@ -0,0 +1,22 @@
+/*
+ * Copyright 2023 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifdef CONFIG_XIP
+
+.ivt_header : {
+	KEEP(*(.ivt_header));
+} > IVT_HEADER
+
+#else
+
+#define _NORMAL_OUTER_INNER_WRITE_THROUGH_NON_SHAREABLE (1 << 17)
+#define _RO_Msk (7 << 24)
+
+/* ROM region size order for MPU configuration */
+_rom_region_order = ((LOG2CEIL(__rom_region_end - __rom_region_start) - 1) << 1);
+_rom_attr = (_NORMAL_OUTER_INNER_WRITE_THROUGH_NON_SHAREABLE | _rom_region_order | _RO_Msk);
+
+#endif

soc/arm/nxp_s32/s32k/soc.c

@@ -0,0 +1,76 @@
+/*
+ * Copyright 2023 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/init.h>
+#include <zephyr/arch/arm/aarch32/cortex_m/cmsis.h>
+
+#include <OsIf.h>
+#include <Clock_Ip.h>
+
+#ifdef CONFIG_XIP
+/* Image Vector Table structure definition for S32K3XX */
+struct ivt {
+	uint32_t header;
+	uint32_t boot_configure;
+	const uint32_t reserved_1;
+	const uint32_t *cm7_0_start_address;
+	const uint32_t reserved_2;
+	const uint32_t *cm7_1_start_address;
+	const uint32_t reserved_3;
+	const uint32_t *cm7_2_start_address;
+	const uint32_t reserved_4;
+	const uint32_t *lc_configure;
+	uint8_t reserved7[216];
+};
+
+#define IVT_MAGIC_MARKER 0x5AA55AA5
+
+extern char _vector_start[];
+
+/*
+ * IVT for SoC S32K344, the minimal boot configuration is:
+ * - Watchdog (SWT0) is disabled (default value).
+ * - Non-Secure Boot is used (default value).
+ * - Ungate clock for Cortex-M7_0 after boot.
+ * - Application start address of Cortex-M7_0 is application's vector table.
+ */
+const struct ivt ivt_header __attribute__((section(".ivt_header"))) = {
+	.header = IVT_MAGIC_MARKER,
+	.boot_configure = 1,
+	.cm7_0_start_address = (const void *)_vector_start,
+	.cm7_1_start_address = NULL,
+	.cm7_2_start_address = NULL,
+	.lc_configure = NULL,
+};
+#endif /* CONFIG_XIP */
+
+static int soc_init(void)
+{
+	SCB_EnableICache();
+
+	if (IS_ENABLED(CONFIG_DCACHE)) {
+		if (!(SCB->CCR & SCB_CCR_DC_Msk)) {
+			SCB_EnableDCache();
+		}
+	}
+
+	OsIf_Init(NULL);
+
+	/*
+	 * Clock for MSCM must be enabled first, before all clocks or peripherals
+	 * are initialized. Because for now, RTD critical sections need access MSCM
+	 * register to determine which core the code is running on.
+	 */
+	Clock_Ip_EnableModuleClock(MSCM_CLK);
+
+	Clock_Ip_Init(Clock_Ip_aClockConfig);
+
+	return 0;
+}
+
+SYS_INIT(soc_init, PRE_KERNEL_1, 0);

soc/arm/nxp_s32/s32k/soc.h

@@ -0,0 +1,21 @@
+/*
+ * Copyright 2023 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef _NXP_S32_S32K_SOC_H_
+#define _NXP_S32_S32K_SOC_H_
+
+#include <S32K344.h>
+
+#if defined(CONFIG_CMSIS_RTOS_V2)
+/*
+ * The HAL is defining these symbols already. To avoid redefinitions,
+ * let CMSIS RTOS wrapper define them.
+ */
+#undef TRUE
+#undef FALSE
+#endif
+
+#endif /* _NXP_S32_S32K_SOC_H_ */