arm64/am62x: Add TISCI client, GPIO and I2C drivers

On K3 SoCs the A53 cluster does not own device power, clocks, resets or
interrupt routing; these are managed by the DM/TIFS firmware and requested
over TISCI through the secure-proxy mailbox.  Add:

  - a TISCI client (secure-proxy transport plus device/clock/reset helpers)
  - a GPIO driver for banks 0/1 with pad mux and TISCI power-on
  - an OMAP-I2C driver for the main-domain I2C controllers

and wire them into the PocketBeagle2 and BeaglePlay bring-up.

Tested on PocketBeagle2 (SYSFW 11.2.5) with the TechLab cape attached:

  nsh> i2c bus
  nsh> i2c dev -b 0 0x03 0x77   # I2C0 detects onboard 0x20 and 0x50
  nsh> gpio -o 1 /dev/gpio3     # drives a user LED; read back with:
  nsh> gpio /dev/gpio3

Signed-off-by: Piyush Patle <piyushpatle228@gmail.com>

Author: PiyushPatle26

arch/arm64/include/am62x/irq.h

@@ -102,4 +102,16 @@
 #define AM62X_IRQ_UART5           215   /* GIC_SPI 183                    */
 #define AM62X_IRQ_UART6           216   /* GIC_SPI 184                    */
 
+/* GPIO */
+
+#define AM62X_IRQ_GPIO0            57
+#define AM62X_IRQ_GPIO1            58
+
+/* I2C */
+
+#define AM62X_IRQ_I2C0            193   /* GIC_SPI 161 */
+#define AM62X_IRQ_I2C1            194   /* GIC_SPI 162 */
+#define AM62X_IRQ_I2C2            195   /* GIC_SPI 163 */
+#define AM62X_IRQ_I2C3            196   /* GIC_SPI 164 */
+
 #endif /* __ARCH_ARM64_INCLUDE_AM62X_IRQ_H */

arch/arm64/src/am62x/CMakeLists.txt

@@ -22,7 +22,12 @@
 
 # AM62x SoC sources that are always compiled
 
-list(APPEND SRCS am62x_boot.c am62x_16550serial.c)
+list(APPEND SRCS am62x_boot.c am62x_16550serial.c am62x_gpio.c am62x_i2c.c)
+
+if(CONFIG_AM62X_TISCI)
+  list(APPEND SRCS am62x_tisci.c)
+endif()
+
 
 # Early UART assembly (needed for CONFIG_ARCH_EARLY_PRINT / semihosting console
 # before the full serial driver is up)

arch/arm64/src/am62x/Kconfig

@@ -7,6 +7,94 @@
 
 if ARCH_CHIP_AM62X
 
-comment "AM62x peripheral selection is provided by board defconfig for now."
+menu "AM62x peripheral support"
+
+config AM62X_TISCI
+	bool "TISCI system controller (DM/TIFS) client"
+	default n
+	---help---
+		Enable the AM62x TISCI client.  On K3 SoCs the A53 does not own
+		device power, clocks, resets, or interrupt routing; those are
+		requested from the DM/TIFS firmware over the TISCI protocol via the
+		secure-proxy mailbox.  This driver provides the request helpers used
+		by peripheral drivers to power on a block, enable its functional
+		clock, release resets, and route its interrupt to the GIC.
+
+if AM62X_TISCI
+
+config AM62X_TISCI_HOST_ID
+	int "TISCI host ID"
+	default 12
+	---help---
+		Host ID this core presents to the DM/TIFS firmware.  Must match the
+		host allocation in the firmware boardcfg.  12 is the standard A53
+		HLOS host on AM62x.
+
+config AM62X_TISCI_RX_THREAD
+	int "Secure proxy RX (response) thread"
+	default 12
+	---help---
+		Secure-proxy thread the firmware uses to send responses back to this
+		host.
+
+config AM62X_TISCI_TX_THREAD
+	int "Secure proxy TX (request) thread"
+	default 13
+	---help---
+		Secure-proxy thread this host uses to send requests to the firmware.
+
+endif # AM62X_TISCI
+
+config AM62X_GPIO
+	bool "GPIO support"
+	default n
+	---help---
+		Enable the AM62x main-domain GPIO controller driver, including
+		basic GPIO input/output operations, pad-mux helper support, and
+		per-pin interrupt callback dispatch for GPIO0/GPIO1.
+
+config AM62X_GPIO_IRQ
+	bool "GPIO interrupt (GIC) delivery"
+	depends on AM62X_GPIO
+	default n
+	---help---
+		Enable per-bank GPIO interrupt delivery through the GIC.  On AM62x
+		the GPIO bank interrupts are routed through the main GPIO interrupt
+		router, which must be programmed over TISCI (RM_IRQ_SET) before the
+		GIC input line is valid.  Until that routing is implemented, leave
+		this disabled: enabling an unrouted GIC line faults at boot.  GPIO
+		input/output and the callback API still work without it.
+
+config AM62X_I2C0
+	bool "I2C0 support"
+	depends on I2C
+	default n
+
+config AM62X_I2C1
+	bool "I2C1 support"
+	depends on I2C
+	default n
+
+config AM62X_I2C2
+	bool "I2C2 support"
+	depends on I2C
+	default n
+
+config AM62X_I2C3
+	bool "I2C3 support"
+	depends on I2C
+	default n
+
+config AM62X_I2CTIMEOSEC
+	int "I2C transfer timeout seconds"
+	default 0
+	depends on AM62X_I2C0 || AM62X_I2C1 || AM62X_I2C2 || AM62X_I2C3
+
+config AM62X_I2CTIMEOMS
+	int "I2C transfer timeout milliseconds"
+	default 500
+	depends on AM62X_I2C0 || AM62X_I2C1 || AM62X_I2C2 || AM62X_I2C3
+
+endmenu
 
 endif # ARCH_CHIP_AM62X

arch/arm64/src/am62x/Make.defs

@@ -29,6 +29,13 @@ include common/Make.defs
 
 CHIP_CSRCS  = am62x_boot.c
 CHIP_CSRCS += am62x_16550serial.c
+CHIP_CSRCS += am62x_gpio.c
+CHIP_CSRCS += am62x_i2c.c
+
+ifeq ($(CONFIG_AM62X_TISCI),y)
+CHIP_CSRCS += am62x_tisci.c
+endif
+
 
 # Early UART assembly (only when CONFIG_ARCH_EARLY_PRINT is set, which
 # is selected automatically when CONFIG_ARCH_HAVE_LOWPUTC is enabled