arch/arm64: Add support for PINE64 PinePhone

[lupyuen]

Summary

This PR adds support for PINE64 PinePhone and the Allwinner A64 SoC (based on Arm Cortex-A53).

With this PR, PinePhone boots successfully to nsh (via microSD Card) and runs console apps.

Changes to Kconfig

• arch/arm64/Kconfig: Added Allwinner A64 SoC

• boards/Kconfig: Added PINE64 PinePhone

• arch/arm64/src/a64/Kconfig: New Kconfig for Allwinner A64 SoC

• boards/arm64/a64/pinephone/Kconfig: New Kconfig for PINE64 PinePhone

Additions to arch/arm64

• src/a64/a64_boot.c, a64_boot.h: Boot functions for Allwinner A64

• src/a64/a64_lowputc.S: Low-level console output

• src/a64/a64_serial.c, a64_serial.h: A64 Serial Driver

• src/a64/chip.h: A64 SoC Definitions

• include/a64/chip.h: A64 Memory Map, Generic Interrupt Controller

• include/a64/irq.h: A64 Interrupts

• src/a64/Make.defs: Source files for A64

Additions to boards/arm64/a64/pinephone

• configs/nsh/defconfig: Board Configuration for pinephone:nsh

• src/pinephone_appinit.c: Init PinePhone

• src/pinephone_boardinit.c: Init PinePhone

• src/pinephone_bringup.c: Start PinePhone Drivers

• src/pinephone.h: PinePhone Declarations

• include/board_memorymap.h: PinePhone Memory Map

• scripts/dramboot.ld: PinePhone Linker Script

• scripts/Make.defs: Source files for PinePhone

• src/Makefile: PinePhone Makefile

Changes to Documentation

• platforms/arm/a64/boards/pinephone/index.rst: Building and booting NuttX on PinePhone

• platforms/arm/a64/index.rst: Overview of Allwinner A64

• introduction/supported_platforms.rst: Added Allwinner A64

• introduction/detailed_support.rst: Added Allwinner A64

Impact

With this PR, PinePhone boots successfully to nsh (via microSD Card) and runs console apps.

We select PinePhone through the new Board Configuration pinephone:nsh:

./tools/configure.sh -l pinephone:nsh

There is no impact on the existing implementation of QEMU for Armv8-A (qemu-armv8a).

Testing

We tested by booting PinePhone with a microSD Card that contains NuttX:

## Configure and build NuttX
./tools/configure.sh -l pinephone:nsh
make

## Compress the NuttX Image
cp nuttx.bin Image
rm -f Image.gz
gzip Image

## Copy to PinePhone Jumpdrive microSD Card
## https://lupyuen.github.io/articles/uboot#pinephone-jumpdrive
cp Image.gz "/Volumes/NO NAME"

When we insert the microSD Card into PinePhone and power it up, PinePhone boots successfully to nsh and runs console apps:

• NuttX PinePhone Log

Two lines of messages appear garbled because two tasks were printing messages simultaneously: "nsh: sysinit: fopen failed: 2" and "nsh: mkfatfs: command not found"

This will be fixed in a later PR.

[zouboan]

after two month of long trip from Germany, my Pinephone arrived last week, your PR is just in time！

[lupyuen]

@zouboan Very cool thanks! Remember to get the PinePhone Serial Debug Cable too :-)

[zouboan]

Hi Lup，thanks very much for your remind, i bought a PinePhone serial debug cable from TaoBao, now i'm testing it.
I have a little query, from your great porting tutorial, NuttX Header we should change PinePhone Image load offset from 0x48 0000 to 0x0 in arch/arm64/src/common/arm64_head.S but now I don't find this modification in this PR, it mean that it can work without this change as well, or we should create a arm64_head.S specifically for A64?

[lupyuen]

@zouboan Yep I also thought I had to change the Image Load Offset in the Linux Kernel Header arch/arm64/src/common/arm64_head.S to match the actual load address. Then I discovered that NuttX boots OK without changing the Image Load Offset. So it seems the Image Load Offset is not actually used by the U-Boot Bootloader?

Another thing I discovered: Previously the Vector Base Address Register for EL1 was set incorrectly. The new code doesn't have this problem. I wonder if it might be due to the Image Load Offset?

[zouboan]

@lupyuen Got it ! thanks for your explaining, now NuttX runs successfully on my Pinephone, you did a really magic works!