boards: arm: Add support for R-Car H3 Salvator-X board

Add initial support for the Salvator-X development board.

This work is strongly based on the H3ULCB board, but compared to it:
- device tree was enhanced
   - adding all available push buttons and LEDs
   - setting proper names according to the refdes used on the schematic and
     PCB silkscreen
- documentation was adapted to this board

Signed-off-by: Valerio Setti <vsetti@baylibre.com>

boards/arm/rcar_h3_salvatorx/Kconfig.board

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+# Copyright (c) 2022 BayLibre, SAS
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_RCAR_H3_SALVATORX_CR7
+	bool "Cortex-R7 for Renesas H3 Salvator-X"
+	depends on SOC_R8A77951

boards/arm/rcar_h3_salvatorx/Kconfig.defconfig

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+# Copyright (c) 2022 BayLibre, SAS
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_RCAR_H3_SALVATORX_CR7
+config BOARD
+	default "rcar_h3_salvatorx_cr7"
+endif # BOARD_RCAR_H3_SALVATORX_CR7

boards/arm/rcar_h3_salvatorx/board.cmake

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+# SPDX-License-Identifier: Apache-2.0
+board_runner_args(openocd "--use-elf")
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)

boards/arm/rcar_h3_salvatorx/doc/rcar_h3_salvatorx.rst

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+.. _rcar_h3_salvatorx_boards:
+
+Renesas R-Car H3 Salvator-X
+###########################
+
+Overview
+********
+- The H3 Salvator-X board is designed for evaluating the features and performance
+  of the R-CAR H3 device from Renesas Electronics and it is also used for developing
+  and evaluating application software for these R-CAR H3.
+
+- The H3 Salvator-X, based on the R-CAR H3 SIP, comes with LPDDR4 @4GB in 2-channel,
+  each 64-bit wide+Hyperflash @64MB, CSI2 interfaces and several communication interfaces
+  like USB, Ethernet, HDMI and can work standalone or can be adapted to other boards,
+  via 440pin connector on bottom side.
+
+.. figure:: img/rcar_h3_salvatorx.jpg
+   :width: 460px
+   :align: center
+   :height: 288px
+   :alt: R-Car Salvator-X kit
+
+More information about the board can be found at `Renesas R-Car Development Support website`_.
+
+Hardware
+********
+
+Hardware capabilities for the H3 Salvator-X for can be found on the `eLinux H3 Salvator-X page`_
+of the board.
+
+.. figure:: img/rcar_h3_features.jpg
+   :width: 286px
+   :align: center
+   :height: 280px
+   :alt: R-Car Salvator-X features
+
+.. note:: Zephyr will be booted on the CR7 processor provided for RTOS purpose.
+
+More information about the SoC that equips the board can be found here:
+
+- `Renesas R-Car H3 chip`_
+
+Supported Features
+==================
+
+Here is the current supported features when running Zephyr Project on the R-Car Salvator-X CR7:
+
++-----------+------------------------------+--------------------------------+
+| Interface | Driver/components            | Support level                  |
++===========+==============================+================================+
+| PINCTRL   | pinctrl                      |                                |
++-----------+------------------------------+--------------------------------+
+| CLOCK     | clock_control                |                                |
++-----------+------------------------------+--------------------------------+
+| GPIO      | gpio                         |                                |
++-----------+------------------------------+--------------------------------+
+| UART      | uart                         | serial port-polling            |
++           +                              +                                +
+|           | FT232RQ / CP2102             | serial port-interrupt          |
++-----------+------------------------------+--------------------------------+
+| CAN       | can                          | normal mode                    |
++           +                              +                                +
+|           | TCAN332GDCNT                 | loopback mode                  |
++-----------+------------------------------+--------------------------------+
+| I2C       | i2c                          | interrupt driven               |
++-----------+------------------------------+--------------------------------+
+
+It's also currently possible to write on the ram console.
+
+Connections and IOs
+===================
+
+.. figure:: img/r-car-h3-salvator-x-connections.jpg
+   :align: center
+   :alt: R-Car Salvator-X connections
+
+GPIO
+----
+
+By running Zephyr on H3 Salvator-X, the software readable push buttons 'SW20',
+'SW21', 'SW22' can be used as input, and the software contollable LEDs 'LED4',
+'LED5', 'LED6' can be used as output.
+
+UART
+----
+
+Salvator-X board is providing two serial ports:
+
+- one is for A53/A57 processors
+- the other one is for CR7
+
+Both ports are converted to USB through CP2102 converters and they are exposed
+as follows:
+
++-----------+-----------+
+| Connector | Processor |
++===========+===========+
+| CN25      | A53/A57   |
++-----------+-----------+
+| CN26      | CR7       |
++-----------+-----------+
+
+Programming and Debugging
+*************************
+
+Build and flash applications as usual (see :ref:`build_an_application` and
+:ref:`application_run` for more details).
+
+Supported Debug Probe
+=====================
+
+The "Olimex ARM-USB-OCD-H" probe is the only officially supported probe. This
+probe is supported by OpenOCD that is shipped with the Zephyr SDK.
+
+The "Olimex ARM-USB-OCD-H" probe needs to be connected to CN1 on Salvator-X.
+
+Configuring a Console
+=====================
+
+Connect a USB cable from your PC to CN25 and/or CN26 then use the following
+settings with your serial terminal of choice (minicom, putty,
+etc.):
+
+- Speed: 115200
+- Data: 8 bits
+- Parity: None
+- Stop bits: 1
+
+Flashing
+========
+
+First of all, open your serial terminal.
+
+Applications for the ``rcar_h3_salvatorx_cr7`` board configuration can be built
+in the usual way (see :ref:`build_an_application` for more details).
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: rcar_h3_salvatorx_cr7
+   :goals: flash
+
+You should see the following message in the terminal:
+
+.. code-block:: console
+
+	*** Booting Zephyr OS build v2.6.0-rc1 ***
+	Hello World! rcar_h3_salvatorx_cr7
+
+Debugging
+=========
+
+First of all, open your serial terminal.
+
+Here is an example for the :ref:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: rcar_h3_salvatorx_cr7
+   :goals: debug
+
+You will then get access to a GDB session for debug.
+
+By continuing the app, you should see the following message in the terminal:
+
+.. code-block:: console
+
+	*** Booting Zephyr OS build v2.6.0-rc1 ***
+	Hello World! rcar_h3_salvatorx_cr7
+
+References
+**********
+
+- `Renesas R-Car H3 chip`_
+- `Renesas R-Car Development Support website`_
+- `eLinux H3 Salvator-X page`_
+
+.. _Renesas R-Car H3 chip:
+	https://www.renesas.com/eu/en/products/automotive-products/automotive-system-chips-socs/r-car-h3-high-end-automotive-system-chip-soc-vehicle-infotainment-and-driving-safety-support
+
+.. _Renesas R-Car Development Support website:
+   https://www.renesas.com/us/en/support/partners/r-car-consortium/r-car-development-support
+
+.. _eLinux H3 Salvator-X page:
+	https://elinux.org/R-Car/Boards/Salvator-X
+
+.. _Install a toolchain:
+	https://docs.zephyrproject.org/latest/getting_started/index.html#install-a-toolchain

boards/arm/rcar_h3_salvatorx/rcar_h3_salvatorx_cr7-pinctrl.dtsi

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+/*
+ * Copyright (c) 2022 BayLibre, SAS
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <dt-bindings/pinctrl/renesas/pinctrl-r8a77951.h>
+
+&pfc {
+	can0_data_a_tx_default: can0_data_a_tx_default {
+		pin = <PIN_RD FUNC_CAN0_TX_A>;
+	};
+
+	can0_data_a_rx_default: can0_data_a_rx_default {
+		pin = <PIN_RD_WR FUNC_CAN0_RX_A>;
+	};
+
+	scif1_data_a_tx_default: scif1_data_a_tx_default {
+		pin = <PIN_TX1_A FUNC_TX1_A>;
+	};
+
+	scif1_data_a_rx_default: scif1_data_a_rx_default {
+		pin = <PIN_RX1_A FUNC_RX1_A>;
+	};
+
+	scif2_data_a_tx_default: scif2_data_a_tx_default {
+		pin = <PIN_TX2_A FUNC_TX2_A>;
+	};
+
+	scif2_data_a_rx_default: scif2_data_a_rx_default {
+		pin = <PIN_RX2_A FUNC_RX2_A>;
+	};
+};

boards/arm/rcar_h3_salvatorx/rcar_h3_salvatorx_cr7.dts

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+/*
+ * Copyright (c) 2022 BayLibre, SAS
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ */
+
+/dts-v1/;
+#include <arm/renesas/gen3/r8a77951.dtsi>
+#include "rcar_h3_salvatorx_cr7-pinctrl.dtsi"
+
+/ {
+	model = "Renesas h3 Salvator-X board";
+	compatible = "renesas,h3-salvatorx-cr7";
+
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,console = &scif1;
+		zephyr,shell-uart = &scif1;
+		zephyr,canbus = &can0;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+		user_led_0: led_4 {
+			gpios = <&gpio6 11 GPIO_ACTIVE_HIGH>;
+			label = "led4";
+		};
+		user_led_1: led_5 {
+			gpios = <&gpio6 12 GPIO_ACTIVE_HIGH>;
+			label = "led5";
+		};
+		user_led_2: led_6 {
+			gpios = <&gpio6 13 GPIO_ACTIVE_HIGH>;
+			label = "led6";
+		};
+	};
+
+	gpio_keys {
+		compatible = "gpio-keys";
+		user_button_0: sw20 {
+			gpios = <&gpio6 11 GPIO_ACTIVE_LOW>;
+			label = "sw20";
+		};
+		user_button_1: sw21 {
+			gpios = <&gpio6 12 GPIO_ACTIVE_LOW>;
+			label = "sw21";
+		};
+		user_button_2: sw22 {
+			gpios = <&gpio6 13 GPIO_ACTIVE_LOW>;
+			label = "sw22";
+		};
+	};
+
+	aliases {
+		led0 = &user_led_1;
+		sw0 = &user_button_0;
+	};
+};
+
+&cmt0 {
+	status = "okay";
+	clock-frequency = <32000>;
+};
+
+&gpio6 {
+	status = "okay";
+};
+
+&can0 {
+	pinctrl-0 = <&can0_data_a_tx_default &can0_data_a_rx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+	bus-speed = <125000>;
+};
+
+&scif1 {
+	pinctrl-0 = <&scif1_data_a_tx_default &scif1_data_a_rx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&i2c2 {
+	status = "okay";
+};
+
+&i2c4 {
+	status = "okay";
+};

boards/arm/rcar_h3_salvatorx/rcar_h3_salvatorx_cr7.yaml

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+identifier: rcar_h3_salvatorx_cr7
+name: Cortex r7 for Renesas H3 Salvator-X
+type: mcu
+arch: arm
+toolchain:
+  - zephyr
+  - gnuarmemb
+supported:
+  - i2c
+  - gpio
+  - clock_control
+  - uart
+testing:
+  ignore_tags:
+    - isotp

boards/arm/rcar_h3_salvatorx/rcar_h3_salvatorx_cr7_defconfig

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+CONFIG_SOC_R8A77951=y
+CONFIG_SOC_SERIES_RCAR_GEN3=y
+CONFIG_BOARD_RCAR_H3_SALVATORX_CR7=y
+CONFIG_CLOCK_CONTROL=y
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=32000
+CONFIG_RCAR_CMT_TIMER=y
+CONFIG_CONSOLE=y
+CONFIG_RAM_CONSOLE=y
+CONFIG_FLASH_SIZE=0
+CONFIG_FLASH_BASE_ADDRESS=0
+CONFIG_GPIO=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=y

boards/arm/rcar_h3_salvatorx/support/openocd.cfg

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+# Renesas R-Car Gen3 H3 Salvator-X Cortex-R7 Board Config
+
+source [find interface/ftdi/olimex-arm-usb-ocd-h.cfg]
+source [find target/renesas_rcar_reset_common.cfg]
+set _CHIPNAME r8a77951
+set DAP_TAPID 0x5ba00477
+set CA57_0_DBGBASE 0x80410000
+set CA57_0_CTIBASE 0x80420000
+set CR7_DBGBASE 0x80910000
+set CR7_CTIBASE 0x80918000
+
+adapter srst delay 1000
+adapter speed 20000
+global $_CHIPNAME
+transport select jtag
+
+jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x01 -irmask 0x0f -expected-id $DAP_TAPID
+dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu
+
+cti create $_CHIPNAME.r7.cti -dap $_CHIPNAME.dap -ap-num 1 -baseaddr $CR7_CTIBASE
+target create $_CHIPNAME.r7 cortex_r4 -dap $_CHIPNAME.dap -ap-num 1 -dbgbase $CR7_DBGBASE -defer-examine
+
+$_CHIPNAME.r7 configure -rtos auto
+
+cti create $_CHIPNAME.a57.0.cti -dap $_CHIPNAME.dap -ap-num 1 -baseaddr $CA57_0_CTIBASE
+target create $_CHIPNAME.a57.0 aarch64 -dap $_CHIPNAME.dap -ap-num 1 -dbgbase $CA57_0_DBGBASE -cti $_CHIPNAME.a57.0.cti
+
+proc reset_cr7 { assert } {
+    global _CHIPNAME
+    if { $assert == 1 } {
+	# Software Reset Register 2 Bit(22) Arm Realtime core
+	$_CHIPNAME.a57.0 mww 0xe61500b0 0x00400000
+    } else {
+	# Software Reset Clearing Register 2 Bit(22) Arm Realtime core
+	$_CHIPNAME.a57.0 mww 0xe6150948 0x00400000
+    }
+}
+
+# This function make use of A5x processor to:
+# - Power on the CR7 (PWRONCR7)
+# - Set the boot address (CR7BAR)
+# - Halt the processor
+# - Deassert the CR7 reset
+proc start_cr7 { args } {
+    global _CHIPNAME
+
+    targets $_CHIPNAME.a57.0
+    $_CHIPNAME.a57.0 arp_halt
+
+    # CR7BAR RBAR [31:18] BAREN bit(4)
+    $_CHIPNAME.a57.0 mww 0xe6160070 0x40040010
+
+    # PWRONCR7
+    $_CHIPNAME.a57.0 mww 0xe618024c 1
+    # Wait until power is on. Also possible to
+    # poll PWRSR7 and CR7PSTR register.
+    sleep 100
+
+    $_CHIPNAME.r7 arp_examine
+    catch { $_CHIPNAME.r7 arp_halt }
+    reset_cr7 0
+
+    # resume a5x processor or cmt timer will not run
+    resume
+    # set CR7 processor as default target for future commands
+    targets $_CHIPNAME.r7
+}
+
+$_CHIPNAME.r7 configure -event reset-end {
+     global _CHIPNAME
+     targets $_CHIPNAME.a57.0
+     # Resume the A57 processor and gives
+     # enough time to A57 bootloaders to set-up dram
+     # clocks, power management, security groups
+     resume
+     sleep 500
+     $_CHIPNAME.a57.0 arp_halt
+     $_CHIPNAME.a57.0 arp_poll
+     start_cr7
+}
+
+$_CHIPNAME.a57.0 configure -event examine-end {
+     start_cr7
+}
+
+$_CHIPNAME.r7 configure -event gdb-attach {
+     reset halt
+}