arm64: Fix booting issue with FVP V8R >= 11.16.16

In the Armv8R AArch64 profile[1], the Armv8R AArch64 is always in secure
mode. But the FVP_BaseR_AEMv8R before version 11.16.16 doesn't strictly
follow this rule. It still has some non-secure registers
(e.g. CNTHP_CTL_EL2).

Since version 11.16.16, the FVP_BaseR_AEMv8R has fixed this issue. The
CNTHP_XXX_EL2 registers have been changed to CNTHPS_XXX_EL2. So the
FVP_BaseR_AEMv8R (version >= 11.16.16) cannot boot Zephyr. This patch
will fix it.

[1] https://developer.arm.com/documentation/ddi0600/latest/

Signed-off-by: Jaxson Han <jaxson.han@arm.com>
Change-Id: If986f34dc080ae7a8b226bba589b6fe616a4260b
(cherry picked from commit fd231e32e9)

arch/arm64/core/reset.c

@@ -129,7 +129,11 @@ void z_arm64_el2_init(void)
 
 	zero_cntvoff_el2();		/* Set 64-bit virtual timer offset to 0 */
 	zero_cnthctl_el2();
+#ifdef CONFIG_CPU_AARCH64_CORTEX_R
+	zero_cnthps_ctl_el2();
+#else
 	zero_cnthp_ctl_el2();
+#endif
 	/*
 	 * Enable this if/when we use the hypervisor timer.
 	 * write_cnthp_cval_el2(~(uint64_t)0);

include/arch/arm64/lib_helpers.h

@@ -56,6 +56,7 @@
 MAKE_REG_HELPER(cntfrq_el0);
 MAKE_REG_HELPER(cnthctl_el2);
 MAKE_REG_HELPER(cnthp_ctl_el2);
+MAKE_REG_HELPER(cnthps_ctl_el2);
 MAKE_REG_HELPER(cntv_ctl_el0)
 MAKE_REG_HELPER(cntv_cval_el0)
 MAKE_REG_HELPER(cntvct_el0);