board: rockchip: add Theobroma-Systems RK3588 Jaguar SBC

JAGUAR is a Single-Board Computer (SBC) based around the rk3588 SoC and
is targeting Autonomous Mobile Robots (AMR).

It features:
 * LPDDR4X (up to 16GB)
 * 1Gbps Ethernet on RJ45 connector (KSZ9031 or KSZ9131)
 * PCIe 3.0 4-lane on M.2 M-key connector
 * PCIe 2.1 1-lane on M.2 E-key
 * USB 2.0 on M.2 E-key
 * 2x USB3 OTG type-c ports with DP Alt-Mode
 * USB2 host port
 * HDMI output
 * 2x camera connectors, each exposing:
   * 2-lane MIPI-CSI
   * 1v2, 1v8, 2v8 power rails
   * I2C bus
   * GPIOs
 * PPS input
 * CAN
 * RS485 UART
 * FAN connector
 * SD card slot
 * eMMC (up to 256GB)
 * RTC backup battery
 * Companion microcontroller
   * ISL1208 RTC emulation
   * AMC6821 PWM emulation
   * On/off buzzer control
 * Secure Element
 * 80-pin Mezzanine connector for daughterboards:
   * GPIOs
   * 1Gbps Ethernet
   * PCIe 2.1 1-lane
   * 2x 2-lane MIPI-CSI
   * ADC channel
   * I2C bus
   * PWM
   * UART
   * SPI
   * SDIO
   * CAN
   * I2S
   * 1v8, 3v3, 5v0, dc-in (12-24V) power rails

The Device Tree comes from next-20240110 Linux kernel.

Cc: Quentin Schulz <[email protected]>
Reviewed-by: Kever Yang <[email protected]>
Signed-off-by: Quentin Schulz <[email protected]>

4 files changed, 92 insertions, 0 deletions

diff --git a/board/theobroma-systems/jaguar_rk3588/Kconfig b/board/theobroma-systems/jaguar_rk3588/Kconfig
new file mode 100644
index 00000000000..0ff417af4dd
--- /dev/null
+++ b/board/theobroma-systems/jaguar_rk3588/Kconfig
@@ -0,0 +1,16 @@
+if TARGET_JAGUAR_RK3588
+
+config SYS_BOARD
+	default "jaguar_rk3588"
+
+config SYS_VENDOR
+	default "theobroma-systems"
+
+config SYS_CONFIG_NAME
+	default "jaguar_rk3588"
+
+config BOARD_SPECIFIC_OPTIONS # dummy
+	def_bool y
+	select ENV_IS_NOWHERE
+
+endif
diff --git a/board/theobroma-systems/jaguar_rk3588/MAINTAINERS b/board/theobroma-systems/jaguar_rk3588/MAINTAINERS
new file mode 100644
index 00000000000..28fae4b479f
--- /dev/null
+++ b/board/theobroma-systems/jaguar_rk3588/MAINTAINERS
@@ -0,0 +1,13 @@
+JAGUAR-RK3588 (SBC-RK3588-AMR Single Board Computer)
+M:	Klaus Goger <[email protected]>
+M:	Quentin Schulz <[email protected]>
+M:	Heiko Stuebner <[email protected]>
+S:	Maintained
+F:	board/theobroma-systems/jaguar_rk3588
+F:	board/theobroma-systems/common
+F:	doc/board/theobroma-systems/
+F:	include/configs/jaguar_rk3588.h
+F:	arch/arm/dts/rk3588-jaguar*
+F:	configs/jaguar-rk3588_defconfig
+W:	https://theobroma-systems.com/product/jaguar-sbc-rk3588/
+T:	git git://git.theobroma-systems.com/jaguar-u-boot.git
diff --git a/board/theobroma-systems/jaguar_rk3588/Makefile b/board/theobroma-systems/jaguar_rk3588/Makefile
new file mode 100644
index 00000000000..532aab01532
--- /dev/null
+++ b/board/theobroma-systems/jaguar_rk3588/Makefile
@@ -0,0 +1,10 @@
+#
+# Copyright (c) 2023 Theobroma Systems Design und Consulting GmbH
+#
+# SPDX-License-Identifier:	GPL-2.0+
+#
+
+obj-y += jaguar_rk3588.o
+ifneq ($(CONFIG_SPL_BUILD),y)
+obj-y	+= ../common/common.o
+endif
diff --git a/board/theobroma-systems/jaguar_rk3588/jaguar_rk3588.c b/board/theobroma-systems/jaguar_rk3588/jaguar_rk3588.c
new file mode 100644
index 00000000000..a6d44f10db3
--- /dev/null
+++ b/board/theobroma-systems/jaguar_rk3588/jaguar_rk3588.c
@@ -0,0 +1,53 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * (C) Copyright 2023 Theobroma Systems Design und Consulting GmbH
+ */
+
+#include <phy.h>
+#include <eth_phy.h>
+
+#include <asm/types.h>
+#include <asm/arch-rockchip/cru_rk3588.h>
+#include <asm/arch-rockchip/hardware.h>
+#include <asm/arch-rockchip/ioc_rk3588.h>
+#include <asm-generic/u-boot.h>
+#include <dm/device.h>
+#include <dm/uclass-id.h>
+#include <linux/bitfield.h>
+
+#include "../common/common.h"
+
+#define GPIO2C3_SEL_MASK		GENMASK(15, 12)
+#define GPIO2C3_ETH0_REFCLKO_25M	FIELD_PREP(GPIO2C3_SEL_MASK, 1)
+
+#define REFCLKO25M_ETH0_OUT_SEL_MASK	BIT(15)
+#define REFCLKO25M_ETH0_OUT_SEL_CPLL	FIELD_PREP(REFCLKO25M_ETH0_OUT_SEL_MASK, 1)
+#define REFCLKO25M_ETH0_OUT_DIV_MASK	GENMASK(14, 8)
+#define REFCLKO25M_ETH0_OUT_DIV(x)	FIELD_PREP(REFCLKO25M_ETH0_OUT_DIV_MASK, (x) - 1)
+
+#define REFCLKO25M_ETH0_OUT_EN		BIT(4)
+
+void setup_eth0refclko(void)
+{
+	/* Configure and enable ETH0_REFCLKO_25MHz */
+	static struct rk3588_bus_ioc * const bus_ioc = (void *)BUS_IOC_BASE;
+	static struct rk3588_cru * const cru = (void *)CRU_BASE;
+
+	/* 1. Pinmux */
+	rk_clrsetreg(&bus_ioc->gpio2c_iomux_sel_l, GPIO2C3_SEL_MASK, GPIO2C3_ETH0_REFCLKO_25M);
+	/* 2. Parent clock selection + divider => CPLL (1.5GHz) / 60 => 25MHz */
+	rk_clrsetreg(&cru->clksel_con[15],
+		     REFCLKO25M_ETH0_OUT_SEL_MASK | REFCLKO25M_ETH0_OUT_DIV_MASK,
+		     REFCLKO25M_ETH0_OUT_SEL_CPLL | REFCLKO25M_ETH0_OUT_DIV(60));
+	/* 3. Enable clock */
+	rk_clrreg(&cru->clkgate_con[5], REFCLKO25M_ETH0_OUT_EN);
+}
+
+int rockchip_early_misc_init_r(void)
+{
+	setup_boottargets();
+
+	setup_eth0refclko();
+
+	return 0;
+}