board: doc: Update H3ULCB doc for v2.7

   :height: 288px

   :alt: R-Car starter kit

.. Note:: The H3ULCB board can be plugged on a Renesas Kingfisher Infotainment daughter board through COM Express connector in order to physically access more I/O. CAUTION : In this case, power supply is managed by the daughter board.

.. note:: The H3ULCB board can be plugged on a Renesas Kingfisher Infotainment daughter board through COM Express connector in order to physically access more I/O. CAUTION: In this case, power supply is managed by the daughter board.

More information about the board can be found at `Renesas R-Car Starter Kit website`_.

   :height: 280px

   :alt: R-Car starter kit features

.. Note:: Zephyr will be booted on the CR7 processor provided for RTOS purpose.

.. note:: Zephyr will be booted on the CR7 processor provided for RTOS purpose.

More information about the SoC that equips the board can be found here:

| GPIO      | gpio                         |                                |

+-----------+------------------------------+--------------------------------+

| UART      | uart                         | serial port-polling            |

+           +                              +                                +

|           | FT232RQ / CP2102             | serial port-interrupt          |

+-----------+------------------------------+--------------------------------+

| CAN       | can                          | normal mode                    |

+           +                              +                                +

|           | TCAN332GDCNT                 | loopback mode                  |

+-----------+------------------------------+--------------------------------+

| I2C       | i2c                          | interrupt driven               |

+-----------+------------------------------+--------------------------------+

It's also currently possible to write on the ram console.

Connections and IOs

===================

H3ULCB Board :

------------------

H3ULCB Board

------------

Here are official IOs figures from eLinux for H3ULCB board:

`H3SK bottom view`_

Kingfisher Infotainment daughter board :

----------------------------------------

Kingfisher Infotainment daughter board

--------------------------------------

When connected to Kingfisher Infotainment board through COMExpress connector, the board is exposing much more IOs.

`Kingfisher bottom view`_

GPIO :

------

GPIO

----

By running Zephyr on H3ULCB, the software readable push button 'SW3' can be used as input, and the software contollable LED 'LED5' can be used as output.

UART :

------

UART

----

H3ULCB board is providing two serial ports, only one is commonly available on the board, however, the second one can be made available either by welding components or by plugging the board on a Kingfisher Infotainment daughter board.

| CN04 DEBUG SERIAL  | Kingfisher        | SCIF1              |           | Secondary UART // Through ComExpress |

+--------------------+-------------------+--------------------+-----------+--------------------------------------+

.. Note:: The Zephyr console output is assigned to SCIF1 (commonly used on Kingfisher daughter board) with settings 115200 8N1 without hardware flow control by default.

.. note:: The Zephyr console output is assigned to SCIF1 (commonly used on Kingfisher daughter board) with settings 115200 8N1 without hardware flow control by default.

Here is CN04 UART interface pinout (depending on your Kingfisher board version):

| GND    | 9        | 6        |

+--------+----------+----------+

CAN

---

H3ULCB board provides two CAN interfaces. Both interfaces are available on the Kingfisher daughter board.

+--------------------+--------------------+--------------+

| Physical Interface | Software Interface | Transceiver  |

+====================+====================+==============+

| CN17               | CAN0               | TCAN332GDCNT |

+--------------------+--------------------+--------------+

| CN18               | CAN1               | TCAN332GDCNT |

+--------------------+--------------------+--------------+

.. note:: Interfaces are set to 125 kbit/s by default.

The following table lists CAN physical interfaces pinout:

+-----+--------+

| Pin | Signal |

+=====+========+

| 1   | CANH   |

+-----+--------+

| 2   | CANL   |

+-----+--------+

| 3   | GND    |

+-----+--------+

I2C

---

H3ULCB board provides two I2C buses. Unfortunately direct access to these buses is not available through connectors.

I2C is mainly used to manage and power on multiple of onboard chips on the H3ULCB and Kingfisher daughter board.

Embedded I2C devices and I/O expanders are not yet supported. The current I2C support therefore does not make any devices available to the user at this time.

Programming and Debugging

*************************

The Cortex®-R7 of rcar_h3ulcb board needs to be started by the Cortex®-A cores. Cortex®-A cores are responsible to load the Cortex®-R7 binary application into the RAM, and get the Cortex®-R7 out of reset. The Cortex®-A can currently perform these steps at bootloader level.

Build and flash applications as usual (see :ref:`build_an_application` and

:ref:`application_run` for more details).

Supported Debug Probe

=====================

The "Olimex ARM-USB-OCD-H" probe is the only officially supported probe. This probe is supported by OpenOCD that is shipped with the Zephyr SDK.

The "Olimex ARM-USB-OCD-H" probe needs to be connected with a SICA20I2P adapter to CN3 on H3ULCB.

.. note::

    See `eLinux Kingfisher page`_ "Known issues" section if you encounter problem with JTAG.

Building

Configuring a Console

=====================

Connect a USB cable from your PC to CN04 of your Kingfisher daughter board.

Use the following settings with your serial terminal of choice (minicom, putty,

etc.):

- Speed: 115200

- Data: 8 bits

- Parity: None

- Stop bits: 1

Flashing

========

First of all, open your serial terminal.

Applications for the ``rcar_h3ulcb_cr7`` board configuration can be built in the usual way (see :ref:`build_an_application` for more details).

.. zephyr-app-commands::

   :zephyr-app: samples/hello_world

   :board: rcar_h3ulcb_cr7

   :goals: build

Debugging

=========

You can debug an application using OpenOCD and GDB. The Solution proposed below is using a OpenOCD custom version that support R-Car ULCB boards Cortex®-R7.

   :goals: flash

Get Renesas ready OpenOCD version

---------------------------------

You should see the following message in the terminal:

.. code-block:: bash

.. code-block:: console

	git clone --branch renesas https://github.com/iotbzh/openocd.git

	cd openocd

	./bootstrap

	./configure

	make

	sudo make install

	*** Booting Zephyr OS build v2.6.0-rc1 ***

	Hello World! rcar_h3ulcb_cr7

Start OpenOCD

-------------

.. code-block:: bash

	cd openocd

	sudo openocd -f tcl/interface/ftdi/olimex-arm-usb-ocd-h.cfg -f tcl/board/renesas_h3ulcb.cfg

Debugging

=========

In a new terminal session

First of all, open your serial terminal.

.. code-block:: bash

Here is an example for the :ref:`hello_world` application.

	telnet 127.0.0.1 4444

	r8a77950.r7 arp_examine

.. zephyr-app-commands::

   :zephyr-app: samples/hello_world

   :board: rcar_h3ulcb_cr7

   :goals: debug

Start Debugging

---------------

You will then get access to a GDB session for debug.

In a new terminal session

By continuing the app, you should see the following message in the terminal:

.. code-block:: bash

.. code-block:: console

	{ZEPHYR_SDK}/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb {APP_BUILD_DIR}/zephyr/zephyr.elf

	*** Booting Zephyr OS build v2.6.0-rc1 ***

	Hello World! rcar_h3ulcb_cr7

References

**********

.. _Kingfisher bottom view:

	https://elinux.org/images/0/06/Kfisher_bot_specs.png

.. _Install a toolchain:

	https://docs.zephyrproject.org/latest/getting_started/index.html#install-a-toolchain