Misc nRF54H20 updates

boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20-ipc_conf.dtsi

@@ -27,11 +27,25 @@
 				 <&cpurad_bellboard 12>;
 		};
 
+		cpuapp_cpusys_ipc: ipc-2-12 {
+			compatible = "zephyr,ipc-icmsg";
+			status = "disabled";
+			mboxes = <&cpuapp_bellboard 6>,
+				 <&cpusys_vevif 12>;
+		};
+
 		cpuapp_cpuppr_ipc: ipc-2-13 {
 			compatible = "zephyr,ipc-icmsg";
 			status = "disabled";
 			mboxes = <&cpuapp_bellboard 13>,
 				 <&cpuppr_vevif 12>;
 		};
+
+		cpurad_cpusys_ipc: ipc-3-12 {
+			compatible = "zephyr,ipc-icmsg";
+			status = "disabled";
+			mboxes = <&cpurad_bellboard 6>,
+				 <&cpusys_vevif 18>;
+		};
 	};
 };

boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuapp.dts

@@ -11,6 +11,7 @@
 #include "nrf54h20dk_nrf54h20-ipc_conf.dtsi"
 #include "nrf54h20dk_nrf54h20-pinctrl.dtsi"
 
+/delete-node/ &cpurad_cpusys_ipc;
 /delete-node/ &cpusec_cpurad_ipc;
 
 / {
@@ -120,8 +121,8 @@
 	status = "okay";
 	interrupts = <96 NRF_DEFAULT_IRQ_PRIORITY>;
 	interrupt-names = "irq0";
-	/* irq0: 0: cpuapp-cpusec, 13: cpuapp-cpuppr, 18: cpuapp-cpurad */
-	nordic,interrupt-mapping = <0x00042001 0>;
+	/* irq0: 0: cpuapp-cpusec, 6: cpuapp-cpusys, 13: cpuapp-cpuppr, 18: cpuapp-cpurad */
+	nordic,interrupt-mapping = <0x00042041 0>;
 };
 
 &cpurad_bellboard {
@@ -143,6 +144,12 @@ ipc0: &cpuapp_cpurad_ipc {
 	rx-blocks = <32>;
 };
 
+&cpuapp_cpusys_ipc {
+	mbox-names = "rx", "tx";
+	tx-region = <&cpuapp_cpusys_ipc_shm>;
+	rx-region = <&cpusys_cpuapp_ipc_shm>;
+};
+
 &cpuapp_cpuppr_ipc {
 	mbox-names = "rx", "tx";
 	tx-region = <&cpuapp_cpuppr_ipc_shm>;

boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuppr.dts

@@ -12,6 +12,8 @@
 #include "nrf54h20dk_nrf54h20-pinctrl.dtsi"
 
 /delete-node/ &cpuapp_cpurad_ipc;
+/delete-node/ &cpuapp_cpusys_ipc;
+/delete-node/ &cpurad_cpusys_ipc;
 /delete-node/ &cpusec_cpuapp_ipc;
 /delete-node/ &cpusec_cpurad_ipc;
 

boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpurad.dts

@@ -12,6 +12,7 @@
 #include "nrf54h20dk_nrf54h20-pinctrl.dtsi"
 
 /delete-node/ &cpuapp_cpuppr_ipc;
+/delete-node/ &cpuapp_cpusys_ipc;
 /delete-node/ &cpusec_cpuapp_ipc;
 
 / {
@@ -46,8 +47,8 @@
 	status = "okay";
 	interrupts = <96 NRF_DEFAULT_IRQ_PRIORITY>;
 	interrupt-names = "irq0";
-	/* irq0: 0: cpurad-cpusec, 12: cpurad-cpuapp */
-	nordic,interrupt-mapping = <0x00001001 0>;
+	/* irq0: 0: cpurad-cpusec, 6: cpurad-cpusys, 12: cpurad-cpuapp */
+	nordic,interrupt-mapping = <0x00001041 0>;
 };
 
 &cpuapp_bellboard {
@@ -69,6 +70,12 @@ ipc0: &cpuapp_cpurad_ipc {
 	rx-blocks = <32>;
 };
 
+&cpurad_cpusys_ipc {
+	mbox-names = "rx", "tx";
+	tx-region = <&cpurad_cpusys_ipc_shm>;
+	rx-region = <&cpusys_cpurad_ipc_shm>;
+};
+
 &cpurad_dma_region {
 	status = "okay";
 };

drivers/timer/Kconfig.nrf_grtc

@@ -40,20 +40,9 @@ config NRF_GRTC_TIMER_CLOCK_MANAGEMENT
 	  the GRTC. Usually this is only needed by the processor that is starting
 	  the SYSCOUNTER, but can be shared by multiple processors in the system.
 
-config NRF_GRTC_SYSCOUNTER_SLEEP_MINIMUM_LATENCY
+config NRF_GRTC_SLEEP_MINIMUM_LATENCY
 	int
 	default 1000
 	depends on NRF_GRTC_SLEEP_ALLOWED
-	help
-	  The value (in us) ensures that the wakeup event will not fire
-	  too early. In other words, applying SYSCOUNTER sleep state for less than
-	  NRF_GRTC_SYSCOUNTER_SLEEP_MINIMUM_LATENCY period makes no sense.
-
-config NRF_GRTC_TIMER_AUTO_KEEP_ALIVE
-	bool
-	default y if NRF_GRTC_START_SYSCOUNTER
-	help
-	  This feature prevents the SYSCOUNTER to sleep when any core is in
-	  active state.
 
 endif # NRF_GRTC_TIMER

drivers/timer/nrf_grtc_timer.c

@@ -29,6 +29,12 @@
 
 #define CHAN_COUNT     NRFX_GRTC_CONFIG_NUM_OF_CC_CHANNELS
 #define EXT_CHAN_COUNT (CHAN_COUNT - 1)
+/* The reset value of waketime is 1, which doesn't seem to work.
+ * It's being looked into, but for the time being use 4.
+ * Timeout must always be higher than waketime, so setting that to 5.
+ */
+#define WAKETIME       (4)
+#define TIMEOUT        (WAKETIME + 1)
 
 #ifndef GRTC_SYSCOUNTERL_VALUE_Msk
 #define GRTC_SYSCOUNTERL_VALUE_Msk GRTC_SYSCOUNTER_SYSCOUNTERL_VALUE_Msk
@@ -49,6 +55,9 @@
 
 #define MAX_CYCLES (MAX_TICKS * CYC_PER_TICK)
 
+/* The maximum SYSCOUNTERVALID settling time equals 1x32k cycles + 20x1MHz cycles. */
+#define GRTC_SYSCOUNTERVALID_SETTLE_MAX_TIME_US 51
+
 #if defined(CONFIG_TEST)
 const int32_t z_sys_timer_irq_for_test = DT_IRQN(GRTC_NODE);
 #endif
@@ -69,6 +78,36 @@ static nrfx_grtc_channel_t system_clock_channel_data = {
 	__ASSERT_NO_MSG((NRFX_GRTC_CONFIG_ALLOWED_CC_CHANNELS_MASK & (1UL << (chan))) &&           \
 			((chan) != system_clock_channel_data.channel))
 
+static inline void grtc_active_set(void)
+{
+#if defined(NRF_GRTC_HAS_SYSCOUNTER_ARRAY) && (NRF_GRTC_HAS_SYSCOUNTER_ARRAY == 1)
+	nrfy_grtc_sys_counter_active_set(NRF_GRTC, true);
+	while (!nrfy_grtc_sys_conter_ready_check(NRF_GRTC)) {
+	}
+#else
+	nrfy_grtc_sys_counter_active_state_request_set(NRF_GRTC, true);
+	k_busy_wait(GRTC_SYSCOUNTERVALID_SETTLE_MAX_TIME_US);
+#endif
+}
+
+static inline void grtc_wakeup(void)
+{
+	if (IS_ENABLED(CONFIG_NRF_GRTC_SLEEP_ALLOWED)) {
+		grtc_active_set();
+	}
+}
+
+static inline void grtc_sleep(void)
+{
+	if (IS_ENABLED(CONFIG_NRF_GRTC_SLEEP_ALLOWED)) {
+#if defined(NRF_GRTC_HAS_SYSCOUNTER_ARRAY) && (NRF_GRTC_HAS_SYSCOUNTER_ARRAY == 1)
+		nrfy_grtc_sys_counter_active_set(NRF_GRTC, false);
+#else
+		nrfy_grtc_sys_counter_active_state_request_set(NRF_GRTC, false);
+#endif
+	}
+}
+
 static inline uint64_t counter_sub(uint64_t a, uint64_t b)
 {
 	return (a - b);
@@ -77,7 +116,10 @@ static inline uint64_t counter_sub(uint64_t a, uint64_t b)
 static inline uint64_t counter(void)
 {
 	uint64_t now;
+
+	grtc_wakeup();
 	nrfx_grtc_syscounter_get(&now);
+	grtc_sleep();
 	return now;
 }
 
@@ -99,8 +141,10 @@ static inline uint64_t get_comparator(uint32_t chan)
 static void system_timeout_set(uint64_t value)
 {
 	if (value <= NRF_GRTC_SYSCOUNTER_CCADD_MASK) {
+		grtc_wakeup();
 		nrfx_grtc_syscounter_cc_relative_set(&system_clock_channel_data, value, true,
 						     NRFX_GRTC_CC_RELATIVE_SYSCOUNTER);
+		grtc_sleep();
 	} else {
 		nrfx_grtc_syscounter_cc_absolute_set(&system_clock_channel_data, value + counter(),
 						     true);
@@ -329,7 +373,6 @@ int z_nrf_grtc_timer_capture_read(int32_t chan, uint64_t *captured_time)
 	 */
 
 	uint64_t capt_time;
-	nrfx_err_t result;
 
 	IS_CHANNEL_ALLOWED_ASSERT(chan);
 
@@ -340,10 +383,8 @@ int z_nrf_grtc_timer_capture_read(int32_t chan, uint64_t *captured_time)
 		 */
 		return -EBUSY;
 	}
-	result = nrfx_grtc_syscounter_cc_value_read(chan, &capt_time);
-	if (result != NRFX_SUCCESS) {
-		return -EPERM;
-	}
+
+	capt_time = nrfy_grtc_sys_counter_cc_get(NRF_GRTC, chan);
 
 	__ASSERT_NO_MSG(capt_time < COUNTER_SPAN);
 
@@ -358,22 +399,16 @@ int z_nrf_grtc_wakeup_prepare(uint64_t wake_time_us)
 	nrfx_err_t err_code;
 	static uint8_t systemoff_channel;
 	uint64_t now = counter();
-	nrfx_grtc_sleep_config_t sleep_cfg;
 	/* Minimum time that ensures valid execution of system-off procedure. */
-	uint32_t minimum_latency_us;
+	uint32_t minimum_latency_us = nrfy_grtc_waketime_get(NRF_GRTC) +
+				      nrfy_grtc_timeout_get(NRF_GRTC) +
+				      CONFIG_NRF_GRTC_SLEEP_MINIMUM_LATENCY;
 	uint32_t chan;
 	int ret;
 
-	nrfx_grtc_sleep_configuration_get(&sleep_cfg);
-	minimum_latency_us = (sleep_cfg.waketime + sleep_cfg.timeout) * USEC_PER_SEC / 32768 +
-			     CONFIG_NRF_GRTC_SYSCOUNTER_SLEEP_MINIMUM_LATENCY;
-	sleep_cfg.auto_mode = false;
-	nrfx_grtc_sleep_configure(&sleep_cfg);
-
 	if (minimum_latency_us > wake_time_us) {
 		return -EINVAL;
 	}
-
 	k_spinlock_key_t key = k_spin_lock(&lock);
 
 	err_code = nrfx_grtc_channel_alloc(&systemoff_channel);
@@ -382,9 +417,7 @@ int z_nrf_grtc_wakeup_prepare(uint64_t wake_time_us)
 		return -ENOMEM;
 	}
 	(void)nrfx_grtc_syscounter_cc_int_disable(systemoff_channel);
-	ret = compare_set(systemoff_channel,
-			  now + wake_time_us * sys_clock_hw_cycles_per_sec() / USEC_PER_SEC, NULL,
-			  NULL);
+	ret = compare_set(systemoff_channel, now + wake_time_us, NULL, NULL);
 	if (ret < 0) {
 		k_spin_unlock(&lock, key);
 		return ret;
@@ -400,7 +433,7 @@ int z_nrf_grtc_wakeup_prepare(uint64_t wake_time_us)
 	}
 
 	/* Make sure that wake_time_us was not triggered yet. */
-	if (nrfx_grtc_syscounter_compare_event_check(systemoff_channel)) {
+	if (nrfy_grtc_sys_counter_compare_event_check(NRF_GRTC, systemoff_channel)) {
 		k_spin_unlock(&lock, key);
 		return -EINVAL;
 	}
@@ -411,7 +444,7 @@ int z_nrf_grtc_wakeup_prepare(uint64_t wake_time_us)
 		MAX_CC_LATCH_WAIT_TIME_US;
 	k_busy_wait(wait_time);
 #if NRF_GRTC_HAS_CLKSEL
-	nrfx_grtc_clock_source_set(NRF_GRTC_CLKSEL_LFXO);
+	nrfy_grtc_clksel_set(NRF_GRTC, NRF_GRTC_CLKSEL_LFXO);
 #endif
 	k_spin_unlock(&lock, key);
 	return 0;
@@ -452,10 +485,18 @@ static int sys_clock_driver_init(void)
 #if defined(CONFIG_NRF_GRTC_TIMER_CLOCK_MANAGEMENT) &&                                             \
 	(defined(NRF_GRTC_HAS_CLKSEL) && (NRF_GRTC_HAS_CLKSEL == 1))
 	/* Use System LFCLK as the low-frequency clock source. */
-	nrfx_grtc_clock_source_set(NRF_GRTC_CLKSEL_LFCLK);
+	nrfy_grtc_clksel_set(NRF_GRTC, NRF_GRTC_CLKSEL_LFCLK);
 #endif
 
-	IRQ_CONNECT(DT_IRQN(GRTC_NODE), DT_IRQ(GRTC_NODE, priority), nrfx_grtc_irq_handler, 0, 0);
+#if defined(CONFIG_NRF_GRTC_START_SYSCOUNTER)
+	/* SYSCOUNTER needs to be turned off before initialization. */
+	nrfy_grtc_sys_counter_set(NRF_GRTC, false);
+	nrfy_grtc_timeout_set(NRF_GRTC, TIMEOUT);
+	nrfy_grtc_waketime_set(NRF_GRTC, WAKETIME);
+#endif /* CONFIG_NRF_GRTC_START_SYSCOUNTER */
+
+	IRQ_CONNECT(DT_IRQN(GRTC_NODE), DT_IRQ(GRTC_NODE, priority), nrfx_isr,
+		    nrfx_grtc_irq_handler, 0);
 
 	err_code = nrfx_grtc_init(0);
 	if (err_code != NRFX_SUCCESS) {
@@ -467,13 +508,20 @@ static int sys_clock_driver_init(void)
 	if (err_code != NRFX_SUCCESS) {
 		return err_code == NRFX_ERROR_NO_MEM ? -ENOMEM : -EPERM;
 	}
+	if (IS_ENABLED(CONFIG_NRF_GRTC_SLEEP_ALLOWED)) {
+		nrfy_grtc_sys_counter_auto_mode_set(NRF_GRTC, false);
+	}
 #else
 	err_code = nrfx_grtc_channel_alloc(&system_clock_channel_data.channel);
 	if (err_code != NRFX_SUCCESS) {
 		return -ENOMEM;
 	}
 #endif /* CONFIG_NRF_GRTC_START_SYSCOUNTER */
 
+	if (!IS_ENABLED(CONFIG_NRF_GRTC_SLEEP_ALLOWED)) {
+		grtc_active_set();
+	}
+
 	int_mask = NRFX_GRTC_CONFIG_ALLOWED_CC_CHANNELS_MASK;
 	if (!IS_ENABLED(CONFIG_TICKLESS_KERNEL)) {
 		system_timeout_set(CYC_PER_TICK);

dts/arm/nordic/nrf54h20_cpuapp.dtsi

@@ -10,6 +10,7 @@ cpu: &cpuapp {};
 systick: &cpuapp_systick {};
 nvic: &cpuapp_nvic {};
 cpuppr_vevif: &cpuppr_vevif_remote {};
+cpusys_vevif: &cpusys_vevif_remote {};
 
 /delete-node/ &cpuppr;
 /delete-node/ &cpurad;

dts/arm/nordic/nrf54h20_cpurad.dtsi

@@ -10,6 +10,7 @@ cpu: &cpurad {};
 systick: &cpurad_systick {};
 nvic: &cpurad_nvic {};
 cpuppr_vevif: &cpuppr_vevif_remote {};
+cpusys_vevif: &cpusys_vevif_remote {};
 
 /delete-node/ &cpuapp;
 /delete-node/ &cpuapp_peripherals;

dts/common/nordic/nrf54h20.dtsi

@@ -300,6 +300,14 @@
 			#size-cells = <1>;
 			ranges = <0x0 0x5f000000 0x1000000>;
 
+			usbhs: usbhs@86000 {
+				compatible = "snps,dwc2";
+				reg = <0x86000 0x1000>, <0x2f700000 0x40000>;
+				reg-names = "wrapper", "core";
+				interrupts = <134 NRF_DEFAULT_IRQ_PRIORITY>;
+				status = "disabled";
+			};
+
 			exmif: spi@95000 {
 				compatible = "nordic,nrf-exmif", "snps,designware-spi";
 				#address-cells = <1>;
@@ -331,6 +339,15 @@
 				#mbox-cells = <1>;
 			};
 
+			cpusys_vevif_remote: mailbox@8c8000 {
+				compatible = "nordic,nrf-vevif-remote";
+				reg = <0x8c8000 0x1000>;
+				status = "disabled";
+				#mbox-cells = <1>;
+				nordic,tasks = <32>;
+				nordic,tasks-mask = <0xfffff0ff>;
+			};
+
 			ipct120: ipct@8d1000 {
 				compatible = "nordic,nrf-ipct-global";
 				reg = <0x8d1000 0x1000>;

dts/riscv/nordic/nrf54h20_cpuppr.dtsi

@@ -9,6 +9,7 @@
 cpu: &cpuppr {};
 clic: &cpuppr_clic {};
 cpuppr_vevif: &cpuppr_vevif_local {};
+cpusys_vevif: &cpusys_vevif_remote {};
 
 /delete-node/ &cpuapp;
 /delete-node/ &cpuapp_peripherals;

modules/hal_nordic/nrfx/CMakeLists.txt

@@ -127,19 +127,8 @@ if(CONFIG_NRFX_TWI OR CONFIG_NRFX_TWIM)
   zephyr_library_sources(${SRC_DIR}/nrfx_twi_twim.c)
 endif()
 
-if (CONFIG_NRF_GRTC_TIMER)
-	if (CONFIG_NRF_GRTC_TIMER_CLOCK_MANAGEMENT)
-	  zephyr_library_compile_definitions(NRF_GRTC_HAS_EXTENDED=1)
-	endif()
-  if (CONFIG_NRF_GRTC_SLEEP_ALLOWED)
-    zephyr_compile_definitions(NRFX_GRTC_CONFIG_SLEEP_ALLOWED=1)
-  endif()
-  if (CONFIG_NRF_GRTC_TIMER_AUTO_KEEP_ALIVE)
-    zephyr_compile_definitions(NRFX_GRTC_CONFIG_AUTOEN=1)
-  endif()
-  if (CONFIG_NRF_GRTC_START_SYSCOUNTER)
-    zephyr_compile_definitions(NRFX_GRTC_CONFIG_AUTOSTART=1)
-  endif()
+if (CONFIG_NRF_GRTC_TIMER AND CONFIG_NRF_GRTC_TIMER_CLOCK_MANAGEMENT)
+  zephyr_compile_definitions(NRF_GRTC_HAS_EXTENDED=1)
 endif()
 
 # Inject HAL "CONFIG_NFCT_PINS_AS_GPIOS" definition if user requests to