boards: openhwgroup: add CV64A6 on GenesysII board

Adds support for the CVA6 CPU on a GenesysII FPGA board
(https://github.com/openhwgroup/cva6).
The SoC currently contains the CVA6 CPU in 64-bit configuration with the
SV39 MMU, interrupt controllers (CLINT and PLIC), UART, a SPI for
booting from SD, a boot ROM, and I2C controller for on-board audio, a
GPIO and the lowRISC ethernet subsystem.

Signed-off-by: Eric Ackermann <eric.ackermann@cispa.de>

boards/openhwgroup/cv64a6_genesysII/CMakeLists.txt

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+# SPDX-License-Identifier: Apache-2.0

boards/openhwgroup/cv64a6_genesysII/Kconfig.cv64a6_genesysII

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+# Copyright 2024 CISPA Helmholtz Center for Information Security gGmbH
+# SPDX-License-Identifier: Apache-2.0
+config BOARD_CV64A6_GENESYSII
+	select SOC_CV64A6
+	select SOC_SERIES_CV64A6_PROVIDE_FPGA_POWEROFF

boards/openhwgroup/cv64a6_genesysII/board.cmake

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+# Copyright 2024 CISPA Helmholtz Center for Information Security gGmbH
+# SPDX-License-Identifier: Apache-2.0
+board_runner_args(openocd "--config=${BOARD_DIR}/support/ariane.cfg")
+board_runner_args(openocd "--use-elf")
+board_runner_args(openocd "--verify")
+board_runner_args(openocd "--cmd-pre-init=riscv.cpu configure -work-area-phys 0x90000000 -work-area-size 16780000")
+
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)

boards/openhwgroup/cv64a6_genesysII/board.yml

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+# Copyright 2024 CISPA Helmholtz Center for Information Security gGmbH
+# SPDX-License-Identifier: Apache-2.0
+board:
+  name: cv64a6_genesysII
+  vendor: openhwgroup
+  socs:
+    - name: cv64a6

boards/openhwgroup/cv64a6_genesysII/cv64a6_genesysII.dts

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+/*
+ * Copyright (c) 2024 CISPA Helmholtz Center for Information Security gGmbH
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/dts-v1/;
+
+#include <openhwgroup/cv64a6.dtsi>
+
+/ {
+	model = "Openhardwaregroup CV64A6 on Genesys II";
+	compatible = "ariane,cv64a6_genesysII";
+
+	chosen {
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,sram = &memory0;
+	};
+
+	// these devices are missing in the Northcape board
+	eth: lowrisc-eth@30000000 {
+		compatible = "lowrisc-eth";
+		device_type = "network";
+		interrupt-parent = <&PLIC0>;
+		interrupts = <3 0>;
+		local-mac-address = [00 18 3e 02 e3 7f];
+		reg = <0x0 0x30000000 0x0 0x8000>;
+	};
+    xlnx_gpio: gpio@40000000 {
+		#gpio-cells = <2>;
+		compatible = "xlnx,xps-gpio-1.00.a";
+		gpio-controller ;
+		reg = <0x0 0x40000000 0x0 0x10000 >;
+		xlnx,all-inputs = <0x0>;
+		xlnx,all-inputs-2 = <0x0>;
+		xlnx,dout-default = <0x0>;
+		xlnx,dout-default-2 = <0x0>;
+		xlnx,gpio-width = <0x8>;
+		xlnx,gpio2-width = <0x8>;
+		xlnx,interrupt-present = <0x0>;
+		xlnx,is-dual = <0x1>;
+		xlnx,tri-default = <0xffffffff>;
+		xlnx,tri-default-2 = <0xffffffff>;
+	};
+};
+
+&uart0 {
+	status = "okay";
+	// different interrupt than the CISPA version of the SoC
+	interrupts = <1>;
+};
+
+&spi0 {
+	status = "okay";
+	// different interrupt than the CISPA version of the SoC
+	interrupts = <2 2>;
+};
+
+&clint{
+	status = "okay";
+};
+
+&dma0 {
+	status = "disabled";
+};
+
+
+&mdio0{
+	status = "disabled";
+};
+
+&eth0 {
+	status = "disabled";
+};

boards/openhwgroup/cv64a6_genesysII/cv64a6_genesysII_defconfig

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+# Copyright 2024 CISPA Helmholtz Center for Information Security gGmbH
+# SPDX-License-Identifier: Apache-2.0
+CONFIG_BASE64=y
+CONFIG_INCLUDE_RESET_VECTOR=y
+CONFIG_CONSOLE=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_NS16550=y
+CONFIG_UART_NS16550_ACCESS_WORD_ONLY=y
+CONFIG_CONSOLE_HANDLER=y
+CONFIG_XIP=n
+CONFIG_INIT_STACKS=y
+CONFIG_SYS_CLOCK_TICKS_PER_SEC=25000000
+CONFIG_FPU=y
+CONFIG_POWEROFF=y
+
+# RNG
+CONFIG_TIMER_RANDOM_GENERATOR=y
+CONFIG_TEST_RANDOM_GENERATOR=y
+
+# IRQs
+CONFIG_MULTI_LEVEL_INTERRUPTS=y
+CONFIG_2ND_LEVEL_INTERRUPTS=y
+# 1 PLIC
+CONFIG_NUM_2ND_LEVEL_AGGREGATORS=1
+CONFIG_1ST_LEVEL_INTERRUPT_BITS=7
+CONFIG_2ND_LEVEL_INTERRUPT_BITS=23
+CONFIG_PLIC=y
+CONFIG_3RD_LEVEL_INTERRUPTS=n
+CONFIG_3RD_LEVEL_INTERRUPT_BITS=0
+
+# debug
+CONFIG_DEBUG=y
+CONFIG_DEBUG_OPTIMIZATIONS=y
+CONFIG_STACK_SENTINEL=y
+CONFIG_LOG=y
+CONFIG_LOG_MODE_IMMEDIATE=y
+CONFIG_LOG_DEFAULT_LEVEL=3
+CONFIG_THREAD_NAME=y
+
+CONFIG_ISR_STACK_SIZE=524288
+CONFIG_MAIN_STACK_SIZE=524288
+CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=524288
+CONFIG_IDLE_STACK_SIZE=524288
+
+CONFIG_DMA_LOG_LEVEL_INF=y

boards/openhwgroup/cv64a6_genesysII/support/ariane.cfg

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+# Copyright 2024 CISPA Helmholtz Center for Information Security gGmbH
+# SPDX-License-Identifier: Apache-2.0
+
+# Based on the ariane.cfg from the cva6 project:
+# https://github.com/openhwgroup/cva6/blob/master/corev_apu/fpga/ariane.cfg
+adapter_khz     1000
+
+interface ftdi
+ftdi_vid_pid 0x0403 0x6010
+
+# Channel 1 is taken by Xilinx JTAG
+ftdi_channel 0
+
+# links:
+# http://openocd.org/doc-release/html/Debug-Adapter-Configuration.html
+#
+# Bit  MPSSE     FT2232    JTAG    Type   Description
+# Bit0 TCK       ADBUS0    TCK     Out    Clock Signal Output
+# Bit1 TDI       ADBUS1    TDI     Out    Serial Data Out
+# Bit2 TDO       ADBUS2    TDO     In     Serial Data In
+# Bit3 TMS       ADBUS3    TMS     Out    Select Signal Out
+# Bit4 GPIOL0    ADBUS4    nTRST   In/Out General Purpose I/O
+# this corresponds to the following in/out layout, with TMS initially set to 1
+ftdi_layout_init 0x0018 0x001b
+# we only have to specify nTRST, the others are assigned correctly by default
+ftdi_layout_signal nTRST -ndata 0x0010
+
+set _CHIPNAME riscv
+jtag newtap $_CHIPNAME cpu -irlen 5
+
+set _TARGETNAME $_CHIPNAME.cpu
+target create $_TARGETNAME riscv -chain-position $_TARGETNAME -coreid 0
+
+gdb_report_data_abort enable
+gdb_report_register_access_error enable
+
+riscv set_reset_timeout_sec 120
+riscv set_command_timeout_sec 120
+
+# prefer to use sba for system bus access
+riscv set_prefer_sba off
+
+# Try enabling address translation (only works for newer versions)
+if { [catch {riscv set_enable_virtual on} ] } {
+    echo "Warning: This version of OpenOCD does not support address translation. To debug on virtual addresses, please update to the latest version." }
+
+init
+halt
+echo "Ready for Remote Connections"