boards: arm64: rpi_5: add rpi_5_xen_dom0 build target

Add board rpi_5_xen_dom0 to build RPI5 with Xen Dom0 support:

  west build -b rpi_5_xen_dom0 -p always samples/hello_world/

Signed-off-by: Grygorii Strashko <[email protected]>

boards/arm64/rpi_5/Kconfig.board

@@ -4,3 +4,7 @@
 config BOARD_RPI_5
 	bool "Broadcom BCM2712"
 	depends on SOC_BCM2712
+
+config BOARD_RPI_5_XEN_DOM0
+	bool "Broadcom BCM2712"
+	depends on SOC_BCM2712

boards/arm64/rpi_5/Kconfig.defconfig

@@ -1,6 +1,19 @@
 # Copyright 2023 honglin leng <[email protected]>
 # SPDX-License-Identifier: Apache-2.0
 
+if BOARD_RPI_5
+
 config BOARD
 	default "Raspberry Pi 5"
-	depends on BOARD_RPI_5
+
+endif # BOARD_RPI_5
+
+if BOARD_RPI_5_XEN_DOM0
+
+config BOARD
+	default "Raspberry Pi 5 Xen Dom0"
+
+config XEN_DOM0
+	default y
+
+endif # BOARD_RPI_5_XEN_DOM0

boards/arm64/rpi_5/doc/index.rst

@@ -159,3 +159,29 @@ When you power on the Raspberry Pi 5, you will see the following output in the s
 
 .. _Raspberry Pi Debug Probe:
    https://www.raspberrypi.com/products/debug-probe/
+
+XEN Dom0
+========
+
+The Raspberry Pi 5 platform can be used to run as Xen Zephyr Dom0. For such purposes the additional
+Raspberry Pi 5 platform is created named `rpi_5_xen_dom0`.
+
+Run below command as an example of Zephyr build as Dom0:
+
+.. code-block:: bash
+
+   west build -b rpi_5_xen_dom0 -p always samples/hello_world
+
+It is expected to be used with special application performing Xen0 functions.
+
+.. note::
+
+   The "hypervisor@x" and "memory@x" DT nodes may need to be updated depending on the Xen boot,
+   because normaly Xan will update DT for the target Kernel, but this is not possible in case
+   of Zephyr. See comments in `rpi_5_xen_dom0.dts`.
+
+There is also option to use snippet `xen_dom0` for the same purposes:
+
+.. code-block:: bash
+
+   west build -b rpi_5 -p always -S xen_dom0 samples/hello_worl

boards/arm64/rpi_5/rpi_5_xen_dom0.dts

@@ -0,0 +1,72 @@
+/*
+ * Copyright 2024 Junho Lee <[email protected]>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <broadcom/bcm2712.dtsi>
+#include <mem.h>
+
+/delete-node/ &sram0;
+
+/ {
+	compatible = "raspberrypi,5-model-b-dom0", "raspberrypi,5-model-b", "brcm,bcm2712";
+	model = "Raspberry Pi 5 Xen Dom0";
+	#address-cells = <2>;
+	#size-cells = <2>;
+
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,console = &xen_consoleio_hvc;
+		zephyr,shell-uart = &xen_consoleio_hvc;
+	};
+
+	psci {
+		method = "hvc";
+	};
+
+	xen_consoleio_hvc: hvc {
+		compatible = "xen,hvc-consoleio";
+		status = "okay";
+	};
+
+	/*
+	 * This node may differs on different setups, please check
+	 * following line in Xen boot log to set it right:
+	 * (XEN) Grant table range: 0x00000002800000-0x00000002840000
+	 * Also, add extended region 0 or 1:
+	 * (XEN) d0: extended region 0: 0x2a00000->0x7e00000
+	 * (XEN) d0: extended region 1: 0x10000000->0x3fa00000
+	 *
+	 * Xen passes actual values for setup in domain device tree, but Zephyr
+	 * is not capable to parse and handle it in runtime.
+	 *
+	 * Extended regions should not overlap kernel Virtual Memory region
+	 * (CONFIG_KERNEL_VM_SIZE, CONFIG_KERNEL_VM_BASE)
+	 */
+	hypervisor: hypervisor@2800000 {
+		compatible = "xen,xen";
+		reg = <0x0 0x2800000 0x0 0x40000>, <0x0 0x2a00000 0x0 0x5400000>;
+		interrupts = <GIC_PPI 0x0 IRQ_TYPE_EDGE IRQ_DEFAULT_PRIORITY>;
+		interrupt-parent = <&gic>;
+		status = "okay";
+	};
+
+	/*
+	 * This node may differs on different setups, because Xen picks
+	 * region for Domain-0 for every specific configuration. You can
+	 * start Xen for your platform and check following log:
+	 * (XEN) Allocating 1:1 mappings totalling 128MB for dom0:
+	 * (XEN) BANK[0] 0x00000008000000-0x00000010000000 (128MB)
+	 * (XEN) Loading zImage from 0000000000080000 to 0000000008000000-000000000831f004
+	 *
+	 * Xen passes actual values for setup in domain device tree, but Zephyr
+	 * is not capable to parse and handle it in runtime.
+	 */
+	sram0: memory@8000000 {
+		compatible = "mmio-sram";
+		reg = <0x00 0x8000000 0x0 DT_SIZE_M(128)>;
+	};
+};

boards/arm64/rpi_5/rpi_5_xen_dom0.yaml

@@ -0,0 +1,7 @@
+identifier: rpi_5_xen_dom0
+name: Raspberry Pi 5 Xen Dom0
+type: mcu
+arch: arm64
+toolchain:
+  - zephyr
+  - cross-compile

boards/arm64/rpi_5/rpi_5_xen_dom0_defconfig

@@ -0,0 +1,19 @@
+# Copyright (C) 2024 EPAM Systems.
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_SOC_BCM2712=y
+CONFIG_BOARD_RPI_5_XEN_DOM0=y
+CONFIG_ARM64_VA_BITS_40=y
+CONFIG_ARM64_PA_BITS_40=y
+CONFIG_TIMER_READS_ITS_FREQUENCY_AT_RUNTIME=y
+
+# Enable serial console.
+CONFIG_SERIAL=y
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=n
+
+CONFIG_XEN_REGIONS=y
+CONFIG_XEN_GRANT_TABLE=y
+CONFIG_COMMON_LIBC_MALLOC=y
+CONFIG_XEN_EVENTS=y