boards: arm: introduce NXP MR-CANHUBK3 board

NXP MR-CANHUBK3 is an evaluation board for mobile robotics applications.
It features an NXP S32K344 MCU based on an Arm Cortex-M7 core
(lock-step).

By default, this board configuration uses Lauterbach TRACE32 West runner
for flashing and debugging applications, but other debuggers can be used
to download the program to flash.

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>

boards/arm/mr_canhubk3/Kconfig.board

@@ -0,0 +1,7 @@
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_MR_CANHUBK3
+	bool "mr_canhubk3"
+	depends on SOC_SERIES_S32K3_M7
+	select SOC_PART_NUMBER_S32K344

boards/arm/mr_canhubk3/Kconfig.defconfig

@@ -0,0 +1,9 @@
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_MR_CANHUBK3
+
+config BOARD
+	default "mr_canhubk3"
+
+endif # BOARD_MR_CANHUBK3

boards/arm/mr_canhubk3/board.cmake

@@ -0,0 +1,17 @@
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+board_runner_args(trace32
+  "--startup-args"
+    "elfFile=${PROJECT_BINARY_DIR}/${KERNEL_ELF_NAME}"
+)
+if(${CONFIG_XIP})
+  board_runner_args(trace32 "loadTo=flash")
+else()
+  board_runner_args(trace32 "loadTo=sram")
+endif()
+
+board_runner_args(jlink "--device=S32K344")
+
+include(${ZEPHYR_BASE}/boards/common/trace32.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

boards/arm/mr_canhubk3/mr_canhubk3.dts

@@ -0,0 +1,39 @@
+/*
+ * Copyright 2023 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+#include <arm/nxp/nxp_s32k344_m7.dtsi>
+
+/ {
+	model = "NXP MR-CANHUBK3";
+	compatible = "nxp,mr_canhubk3";
+
+	chosen {
+		zephyr,sram = &sram0_1;
+		zephyr,flash = &flash0;
+		zephyr,itcm = &itcm;
+		zephyr,dtcm = &dtcm;
+		zephyr,code-partition = &code_partition;
+	};
+};
+
+&flash0 {
+	partitions {
+		compatible = "fixed-partitions";
+		#address-cells = <1>;
+		#size-cells = <1>;
+
+		ivt_header: partition@0 {
+			label = "ivt-header";
+			reg = <0x00000000 0x100>;
+		};
+
+		code_partition: partition@100 {
+			label = "code-partition";
+			reg = <0x00000100 (DT_SIZE_K(4048) - 0x100)>;
+		};
+	};
+};

boards/arm/mr_canhubk3/mr_canhubk3.yaml

@@ -0,0 +1,11 @@
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+identifier: mr_canhubk3
+name: NXP MR-CANHUBK3
+type: mcu
+arch: arm
+ram: 1024
+flash: 1024
+toolchain:
+  - zephyr

boards/arm/mr_canhubk3/mr_canhubk3_defconfig

@@ -0,0 +1,19 @@
+# Copyright 2023 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_BOARD_MR_CANHUBK3=y
+CONFIG_SOC_S32K344_M7=y
+CONFIG_SOC_SERIES_S32K3_M7=y
+CONFIG_BUILD_OUTPUT_HEX=y
+
+# Use Systick as system clock
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=160000000
+
+# Run from internal Flash
+CONFIG_XIP=y
+
+# Enable MPU
+CONFIG_ARM_MPU=y
+
+# Use no-cached memory for HAL
+CONFIG_NOCACHE_MEMORY=y

boards/arm/mr_canhubk3/support/debug.cmm

@@ -0,0 +1,13 @@
+;*******************************************************************************
+;   Copyright 2023 NXP                                                         *
+;   SPDX-License-Identifier: Apache-2.0                                        *
+;                                                                              *
+;   Lauterbach TRACE32 start-up script for debugging mr_canhubk3               *
+;                                                                              *
+;*******************************************************************************
+
+ENTRY %LINE &args
+
+DO ~~~~/startup.cmm command=debug &args
+
+ENDDO

boards/arm/mr_canhubk3/support/flash.cmm

@@ -0,0 +1,13 @@
+;*******************************************************************************
+;   Copyright 2023 NXP                                                         *
+;   SPDX-License-Identifier: Apache-2.0                                        *
+;                                                                              *
+;   Lauterbach TRACE32 start-up script for flashing mr_canhubk3                *
+;                                                                              *
+;*******************************************************************************
+
+ENTRY %LINE &args
+
+DO ~~~~/startup.cmm command=flash &args
+
+ENDDO

boards/arm/mr_canhubk3/support/startup.cmm

@@ -0,0 +1,128 @@
+;*******************************************************************************
+;   Copyright 2023 NXP                                                         *
+;                                                                              *
+;   Lauterbach Trace32 start-up script for S32K344 / Cortex-M7                 *
+;                                                                              *
+;   Parameters:                                                                *
+;   - command     operation to execute                                         *
+;                 valid values: flash, debug                                   *
+;   - elfFile     filepath of ELF to load                                      *
+;   - loadTo      if "flash", the application will be downloaded to SoC        *
+;                 program flash by a flash programming routine; if "sram" it   *
+;                 will be downloaded to SoC SRAM.                              *
+;                 valid values: flash, sram                                    *
+;                 default: flash                                               *
+;   - eraseFlash  if set to "yes", the whole content in Flash device will be   *
+;                 erased before the application is downloaded to either Flash  *
+;                 or SRAM. This routine takes time to execute                  *
+;                 default: "no"                                                *
+;   - verifyFlash if set to "yes", verify after program application to Flash   *
+;                 default: "no"                                                *
+;*******************************************************************************
+
+ENTRY %LINE &args
+
+&command=STRing.SCANAndExtract("&args","command=","")
+&elfFile=STRing.SCANAndExtract("&args","elfFile=","")
+&loadTo=STRing.SCANAndExtract("&args","loadTo=","flash")
+&eraseFlash=STRing.SCANAndExtract("&args","eraseFlash=","no")
+&verifyFlash=STRing.SCANAndExtract("&args","verifyFlash=","no")
+
+IF ("&elfFile"=="")
+(
+  PRINT %ERROR "Missing ELF file path"
+  PLIST
+  STOP
+  ENDDO
+)
+
+; Initialize debugger
+RESet
+SYStem.RESet
+SYStem.CPU S32K344-M7
+SYStem.CONFIG.DEBUGPORTTYPE JTAG
+SYStem.Option.DUALPORT ON
+SYStem.Option.DisMode THUMB
+SYStem.MemAccess DAP
+SYStem.JtagClock 10MHz
+Trace.DISable
+TrOnchip.Set MMERR OFF
+TrOnchip.Set BUSERR OFF
+SYStem.Up
+
+; Init SRAM
+DO ~~/demo/arm/hardware/s32k3/scripts/init_sram.cmm
+
+; Only declares flash, does not execute flash programming
+DO ~~/demo/arm/flash/s32k3.cmm PREPAREONLY
+
+; The prepare cmm is protecting flash area for HSE firmware, but
+; since HSE firmware usage feature is not enabled, this region can
+; be used by application core, marked as programmable.
+FLASH.CHANGEtype 0x007D4000--0x7F3FFF TARGET
+
+IF ("&eraseFlash"=="yes")
+(
+  FLASH.Erase ALL
+)
+
+IF ("&loadTo"=="flash")
+(
+  ; Switch target flash to reprogramming state, erase virtual flash programming memory,
+  ; all target non-empty flash sectors are marked as pending, to be reprogrammed.
+  FLASH.ReProgram ALL /Erase
+
+  ; Write contents of the file to virtual Flash programming memory
+  Data.LOAD.Elf &elfFile
+
+  ; Program only changed sectors to target flash and erase obsolete code
+  FLASH.ReProgram off
+
+  IF ("&verifyFlash"=="yes")
+  (
+    Data.LOAD.Elf &elfFile /DIFF
+
+    IF FOUND()
+    (
+      AREA.view
+      PRINT %ERROR "ERROR ! Failed to download the code to flash"
+      Data.LOAD.Elf &elfFile /ComPare
+      ENDDO
+    )
+  )
+
+  ; Reset the processor
+  SYStem.Up
+)
+ELSE
+(
+  ; Init ITCM
+  DO ~~/demo/arm/hardware/s32k3/scripts/init_itcm.cmm
+
+  Data.LOAD.Elf &elfFile
+)
+
+IF ("&command"=="flash")
+(
+  ; Execute the application and quit
+  Go
+  QUIT
+)
+ELSE IF ("&command"=="debug")
+(
+  ; Setup minimal debug environment
+  WinCLEAR
+  SETUP.Var.%SpotLight
+  WinPOS 0. 0. 120. 30.
+  List.auto
+  WinPOS 125. 0. 80. 10.
+  Frame.view
+  WinPOS 125. 18.
+  Register.view /SpotLight
+)
+ELSE
+(
+  PRINT %ERROR "Invalid command"
+)
+
+ENDDO