soc: riscv: add esp32c6 support

boards/riscv/esp32c6_devkitc/Kconfig.board

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+# ESP32C6 devkitc board configuration
+
+# Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd.
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_ESP32C6_DEVKITC
+	bool "ESP32-C6-DevKitC Board"
+	depends on SOC_SERIES_ESP32C6

boards/riscv/esp32c6_devkitc/Kconfig.defconfig

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+# ESP32C6 devkitc board configuration
+
+# Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd.
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD
+	default "esp32c6_devkitc"
+	depends on BOARD_ESP32C6_DEVKITC
+
+config HEAP_MEM_POOL_SIZE
+	default 98304 if WIFI
+	default 40960 if BT
+	default 4096

boards/riscv/esp32c6_devkitc/Kconfig.sysbuild

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+# Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd.
+# SPDX-License-Identifier: Apache-2.0
+
+choice BOOTLOADER
+	default BOOTLOADER_MCUBOOT
+endchoice
+
+choice BOOT_SIGNATURE_TYPE
+	default BOOT_SIGNATURE_TYPE_NONE
+endchoice

boards/riscv/esp32c6_devkitc/board.cmake

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+# SPDX-License-Identifier: Apache-2.0
+
+if(NOT "${OPENOCD}" MATCHES "^${ESPRESSIF_TOOLCHAIN_PATH}/.*")
+  set(OPENOCD OPENOCD-NOTFOUND)
+endif()
+find_program(OPENOCD openocd PATHS ${ESPRESSIF_TOOLCHAIN_PATH}/openocd-esp32/bin NO_DEFAULT_PATH)
+
+include(${ZEPHYR_BASE}/boards/common/esp32.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)

boards/riscv/esp32c6_devkitc/doc/index.rst

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+.. _esp32c6_devkitc:
+
+ESP32-C6-DevKitC-1
+########
+
+Overview
+********
+
+ESP32-C6 is Espressif’s first Wi-Fi 6 SoC integrating 2.4 GHz Wi-Fi 6, Bluetooth 5.3 (LE) and the
+802.15.4 protocol. ESP32-C6 achieves an industry-leading RF performance, with reliable security
+features and multiple memory resources for IoT products.
+It consists of a high-performance (HP) 32-bit RISC-V processor, which can be clocked up to 160 MHz,
+and a low-power (LP) 32-bit RISC-V processor, which can be clocked up to 20 MHz.
+It has a 320KB ROM, a 512KB SRAM, and works with external flash. [1]_
+
+ESP32-C6-DevKitC-1 is an entry-level development board based on ESP32-C6-WROOM-1(U),
+a general-purpose module with a 8 MB SPI flash.
+
+Most of the I/O pins are broken out to the pin headers on both sides for easy interfacing.
+Developers can either connect peripherals with jumper wires or mount ESP32-C6-DevKitC-1 on
+a breadboard. [2]_
+
+ESP32-C6 includes the fallowing features:
+
+- 32-bit core RISC-V microcontroller with a clock speed of up to 160 MHz
+- 400 KB of internal RAM
+- WiFi 802.11 ax 2.4GHz
+- Fully compatible with IEEE 802.11b/g/n protocol
+- Bluetooth LE: Bluetooth 5.3 certified
+- Internal co-existence mechanism between Wi-Fi and Bluetooth to share the same antenna
+- IEEE 802.15.4 (Zigbee and Thread)
+
+Digital interfaces:
+
+- 30x GPIOs (QFN40), or 22x GPIOs (QFN32)
+- 2x UART
+- 1x Low-power (LP) UART
+- 1x General purpose SPI
+- 1x I2C
+- 1x Low-power (LP) I2C
+- 1x I2S
+- 1x Pulse counter
+- 1x USB Serial/JTAG controller
+- 1x TWAI® controller, compatible with ISO 11898-1 (CAN Specification 2.0)
+- 1x SDIO 2.0 slave controller
+- LED PWM controller, up to 6 channels
+- 1x Motor control PWM (MCPWM)
+- 1x Remote control peripehral
+- 1x Parallel IO interface (PARLIO)
+- General DMA controller (GDMA), with 3 transmit channels and 3 receive channels
+- Event task matrix (ETM)
+
+Analog interfaces:
+
+- 1x 12-bit SAR ADCs, up to 7 channels
+- 1x temperature sensor
+
+Timers:
+
+- 1x 52-bit system timer
+- 1x 54-bit general-purpose timers
+- 3x Watchdog timers
+- 1x Analog watchdog timer
+
+Low Power:
+
+- Four power modes designed for typical scenarios: Active, Modem-sleep, Light-sleep, Deep-sleep
+
+Security:
+
+- Secure boot
+- Flash encryption
+- 4-Kbit OTP, up to 1792 bits for users
+- Cryptographic hardware acceleration: (AES-128/256, ECC, HMAC, RSA, SHA, Digital signature, Hash)
+- Random number generator (RNG)
+
+For more information, check the datasheet at `ESP32-C6 Datasheet`_.
+
+Supported Features
+==================
+
+Current Zephyr's ESP32-C6-DevKitC board supports the following features:
+
++------------+------------+-------------------------------------+
+| Interface  | Controller | Driver/Component                    |
++============+============+=====================================+
++------------+------------+-------------------------------------+
+| UART       | on-chip    | serial port                         |
++------------+------------+-------------------------------------+
+| GPIO       | on-chip    | gpio                                |
++------------+------------+-------------------------------------+
+| PINMUX     | on-chip    | pinmux                              |
++------------+------------+-------------------------------------+
+| USB-JTAG   | on-chip    | hardware interface                  |
++------------+------------+-------------------------------------+
+
+System requirements
+*******************
+
+Prerequisites
+=============
+
+Espressif HAL requires WiFi and Bluetooth binary blobs in order work. Run the command
+below to retrieve those files.
+
+.. code-block:: console
+
+   west blobs fetch hal_espressif
+
+.. note::
+
+   It is recommended running the command above after :file:`west update`.
+
+Building & Flashing
+*******************
+
+ESP-IDF bootloader
+==================
+
+The board is using the ESP-IDF bootloader as the default 2nd stage bootloader.
+It is build as a subproject at each application build. No further attention
+is expected from the user.
+
+MCUboot bootloader
+==================
+
+User may choose to use MCUboot bootloader instead. In that case the bootloader
+must be build (and flash) at least once.
+
+There are two options to be used when building an application:
+
+1. Sysbuild
+2. Manual build
+
+.. note::
+
+   User can select the MCUboot bootloader by adding the following line
+   to the board default configuration file.
+   ```
+   CONFIG_BOOTLOADER_MCUBOOT=y
+   ```
+
+Sysbuild
+========
+
+The sysbuild makes possible to build and flash all necessary images needed to
+bootstrap the board with the EPS32 SoC.
+
+To build the sample application using sysbuild use the command:
+
+.. zephyr-app-commands::
+   :tool: west
+   :app: samples/hello_world
+   :board: esp32c6_devkitc
+   :goals: build
+   :west-args: --sysbuild
+   :compact:
+
+By default, the ESP32 sysbuild creates bootloader (MCUboot) and application
+images. But it can be configured to create other kind of images.
+
+Build directory structure created by sysbuild is different from traditional
+Zephyr build. Output is structured by the domain subdirectories:
+
+.. code-block::
+
+  build/
+  ├── hello_world
+  │   └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  ├── mcuboot
+  │    └── zephyr
+  │       ├── zephyr.elf
+  │       └── zephyr.bin
+  └── domains.yaml
+
+.. note::
+
+   With ``--sysbuild`` option the bootloader will be re-build and re-flash
+   every time the pristine build is used.
+
+For more information about the system build please read the :ref:`sysbuild` documentation.
+
+Manual build
+============
+
+During the development cycle, it is intended to build & flash as quickly possible.
+For that reason, images can be build one at a time using traditional build.
+
+The instructions following are relevant for both manual build and sysbuild.
+The only difference is the structure of the build directory.
+
+.. note::
+
+   Remember that bootloader (MCUboot) needs to be flash at least once.
+
+Build and flash applications as usual (see :ref:`build_an_application` and
+:ref:`application_run` for more details).
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32c6_devkitc
+   :goals: build
+
+The usual ``flash`` target will work with the ``esp32c6_devkitc`` board
+configuration. Here is an example for the :ref:`hello_world`
+application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32c6_devkitc
+   :goals: flash
+
+Open the serial monitor using the following command:
+
+.. code-block:: shell
+
+   west espressif monitor
+
+After the board has automatically reset and booted, you should see the following
+message in the monitor:
+
+.. code-block:: console
+
+   ***** Booting Zephyr OS vx.x.x-xxx-gxxxxxxxxxxxx *****
+   Hello World! esp32c6_devkitc
+
+Debugging
+*********
+
+As with much custom hardware, the ESP32-C6 modules require patches to
+OpenOCD that are not upstreamed yet. Espressif maintains their own fork of
+the project. The custom OpenOCD can be obtained at `OpenOCD ESP32`_
+
+The Zephyr SDK uses a bundled version of OpenOCD by default. You can overwrite that behavior by adding the
+``-DOPENOCD=<path/to/bin/openocd> -DOPENOCD_DEFAULT_PATH=<path/to/openocd/share/openocd/scripts>``
+parameter when building.
+
+Here is an example for building the :ref:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32c6_devkitc
+   :goals: build flash
+   :gen-args: -DOPENOCD=<path/to/bin/openocd> -DOPENOCD_DEFAULT_PATH=<path/to/openocd/share/openocd/scripts>
+
+You can debug an application in the usual way. Here is an example for the :ref:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: esp32c6_devkitc
+   :goals: debug
+
+.. _`OpenOCD ESP32`: https://github.com/espressif/openocd-esp32/releases
+
+References
+**********
+
+.. [1] https://www.espressif.com/en/products/socs/esp32-c6
+.. [2] https://docs.espressif.com/projects/espressif-esp-dev-kits/en/latest/esp32c6/esp32-c6-devkitc-1/user_guide.html
+.. _ESP32C6 Devkitm User Guide: https://docs.espressif.com/projects/espressif-esp-dev-kits/en/latest/esp32c6/esp32-c6-devkitc-1/user_guide.html
+.. _ESP32C6 Technical Reference Manual: https://espressif.com/sites/default/files/documentation/esp32-c6_technical_reference_manual_en.pdf
+.. _ESP32C6 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-c6_datasheet_en.pdf

boards/riscv/esp32c6_devkitc/esp32c6_devkitc-pinctrl.dtsi

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+/*
+ * Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/pinctrl/esp-pinctrl-common.h>
+#include <dt-bindings/pinctrl/esp32c6-pinctrl.h>
+#include <zephyr/dt-bindings/pinctrl/esp32c6-gpio-sigmap.h>
+
+&pinctrl {
+
+	uart0_default: uart0_default {
+		group1 {
+			pinmux = <UART0_TX_GPIO16>;
+			output-high;
+		};
+		group2 {
+			pinmux = <UART0_RX_GPIO17>;
+			bias-pull-up;
+		};
+	};
+};