modules: CMSIS_6: Switch to CMSIS_6 for Cortex-M

What is the change?
Switch to module CMSIS_6 for Cortex-M while continuing to use
cmsis module (version 5.9.0) for Cortex-A/R.

Why do we need this change?

The current cmsis module consists of:
- Cortex-M support from upstream cmsis 5.9.0
- Cortex-A/R support which was not upstreamed to CMSIS

Upstream cmsis 5.9 was deprecated so we should be using CMSIS_6 however,
it seems due to lack of Cortex-A/R support in upstream and other reasons,
this was pushed back.

While upstreaming Cortex-A/R support to CMSIS_6 could take its time,
this shouldn't stop Cortex-M to start using CMSIS_6.

Also, if we do not use CMSIS_6 for Cortex-M then using the
newer GCC 14.2 toolchain will return below compiler error:
```
zephyrproject/modules/hal/cmsis/CMSIS/Core/Include/core_cm85.h:4406:10:
fatal error: pac_armv81.h: No such file or directory
 4406 | #include "pac_armv81.h"
```
Using CMSIS_6 for Cortex-M will fix this.

Signed-off-by: Sudan Landge <sudan.landge@arm.com>

Author: wearyzen

modules/cmsis/CMakeLists.txt

@@ -3,6 +3,6 @@
 
 add_subdirectory(${ZEPHYR_CURRENT_MODULE_DIR} cmsis)
 
-if(CONFIG_CPU_CORTEX_M OR CONFIG_CPU_AARCH32_CORTEX_A OR CONFIG_CPU_AARCH32_CORTEX_R)
+if(CONFIG_CPU_AARCH32_CORTEX_A OR CONFIG_CPU_AARCH32_CORTEX_R)
   zephyr_include_directories(.)
 endif()

modules/cmsis/Kconfig

@@ -8,7 +8,6 @@ config HAS_CMSIS_CORE
 	bool
 	select HAS_CMSIS_CORE_A if CPU_AARCH32_CORTEX_A
 	select HAS_CMSIS_CORE_R if CPU_AARCH32_CORTEX_R
-	select HAS_CMSIS_CORE_M if CPU_CORTEX_M
 
 if HAS_CMSIS_CORE
 
@@ -18,19 +17,4 @@ config HAS_CMSIS_CORE_A
 config HAS_CMSIS_CORE_R
 	bool
 
-config HAS_CMSIS_CORE_M
-	bool
-
-config CMSIS_M_CHECK_DEVICE_DEFINES
-	bool "Check device defines"
-	default n
-	depends on HAS_CMSIS_CORE_M
-	help
-	  This options enables the validation of CMSIS configuration flags.
-
-config CMSIS_CORE_HAS_SYSTEM_CORE_CLOCK
-	bool
-	help
-	  Enable this option if CMSIS SystemCoreClock symbols is available.
-
 endif

modules/cmsis/cmsis_core.h

@@ -6,9 +6,7 @@
 #ifndef ZEPHYR_MODULES_CMSIS_CMSIS_H_
 #define ZEPHYR_MODULES_CMSIS_CMSIS_H_
 
-#if defined(CONFIG_CPU_CORTEX_M)
-#include "cmsis_core_m.h"
-#elif defined(CONFIG_CPU_AARCH32_CORTEX_A) || defined(CONFIG_CPU_AARCH32_CORTEX_R)
+#if defined(CONFIG_CPU_AARCH32_CORTEX_A) || defined(CONFIG_CPU_AARCH32_CORTEX_R)
 #include "cmsis_core_a_r.h"
 #endif
 

modules/cmsis_6/CMakeLists.txt

@@ -0,0 +1,9 @@
+# Copyright (c) 2023 Nordic Semiconductor ASA
+# Copyright 2025 Arm Limited and/or its affiliates <open-source-office@arm.com>
+# SPDX-License-Identifier: Apache-2.0
+
+add_subdirectory(${ZEPHYR_CURRENT_MODULE_DIR} cmsis_6)
+
+if(CONFIG_CPU_CORTEX_M)
+  zephyr_include_directories(.)
+endif()

modules/cmsis_6/Kconfig

@@ -0,0 +1,28 @@
+# Copyright (c) 2016 Intel Corporation
+# Copyright 2025 Arm Limited and/or its affiliates <open-source-office@arm.com>
+# SPDX-License-Identifier: Apache-2.0
+
+config ZEPHYR_CMSIS_6_MODULE
+	bool
+
+config HAS_CMSIS_CORE
+	bool
+	select HAS_CMSIS_CORE_M if CPU_CORTEX_M
+
+if HAS_CMSIS_CORE
+
+config HAS_CMSIS_CORE_M
+	bool
+
+config CMSIS_M_CHECK_DEVICE_DEFINES
+	bool "Check device defines"
+	depends on HAS_CMSIS_CORE_M
+	help
+	  This options enables the validation of CMSIS configuration flags.
+
+config CMSIS_CORE_HAS_SYSTEM_CORE_CLOCK
+	bool
+	help
+	  Enable this option if CMSIS SystemCoreClock symbols is available.
+
+endif

modules/cmsis_6/cmsis_core.h

@@ -0,0 +1,14 @@
+/*
+ * Copyright (c) 2023 Nordic Semiconductor ASA
+ * Copyright 2025 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_H_
+#define ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_H_
+
+#if defined(CONFIG_CPU_CORTEX_M)
+#include "cmsis_core_m.h"
+#endif
+
+#endif /* ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_H_ */

modules/cmsis/cmsis_core_m.h renamed to modules/cmsis_6/cmsis_core_m.h

@@ -1,6 +1,6 @@
 /*
  * Copyright (c) 2017 Nordic Semiconductor ASA
- * Copyright (c) 2023 Arm Limited
+ * Copyright 2023,2025 Arm Limited and/or its affiliates <open-source-office@arm.com>
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -12,8 +12,8 @@
  * This header contains the interface to the ARM CMSIS Core headers.
  */
 
-#ifndef ZEPHYR_MODULES_CMSIS_CMSIS_M_H_
-#define ZEPHYR_MODULES_CMSIS_CMSIS_M_H_
+#ifndef ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_M_H_
+#define ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_M_H_
 
 #if defined(CONFIG_CMSIS_M_CHECK_DEVICE_DEFINES) && CONFIG_CMSIS_M_CHECK_DEVICE_DEFINES == 1U
 #define __CHECK_DEVICE_DEFINES 1U
@@ -68,4 +68,4 @@
 #error "__SAUREGION_PRESENT and CONFIG_CPU_HAS_ARM_SAU are not set to the same value"
 #endif
 
-#endif /* ZEPHYR_MODULES_CMSIS_CMSIS_M_H_ */
+#endif /* ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_M_H_ */

modules/cmsis/cmsis_core_m_defaults.h renamed to modules/cmsis_6/cmsis_core_m_defaults.h

@@ -1,6 +1,6 @@
 /*
  * Copyright (c) 2017 Nordic Semiconductor ASA
- * Copyright (c) 2023 Arm Limited
+ * Copyright 2023,2025 Arm Limited and/or its affiliates <open-source-office@arm.com>
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -13,8 +13,8 @@
  * ARM CMSIS Core headers.
  */
 
-#ifndef ZEPHYR_MODULES_CMSIS_CMSIS_M_DEFAULTS_H_
-#define ZEPHYR_MODULES_CMSIS_CMSIS_M_DEFAULTS_H_
+#ifndef ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_M_DEFAULTS_H_
+#define ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_M_DEFAULTS_H_
 
 #include <zephyr/arch/arm/cortex_m/nvic.h>
 
@@ -143,4 +143,4 @@ typedef enum {
 #error "Unknown Cortex-M device"
 #endif
 
-#endif /* ZEPHYR_MODULES_CMSIS_CMSIS_M_DEFAULTS_H_ */
+#endif /* ZEPHYR_MODULES_CMSIS_6_CMSIS_CORE_M_DEFAULTS_H_ */