arm64/imx9: Add support for imx9 series SoMs, imx93 implemented

Adds support for NXP i.MX9-series System-on-Module chips.

- Support for i.MX93 is added
- CPU is Cortex A55 / ARMv8.2A
  - The chip also contains a Cortex M33, but no support is provided
- Supported drivers include lpuart only for now

arch/arm64/Kconfig

@@ -91,6 +91,14 @@ config ARCH_CHIP_IMX8
 	---help---
 		NXP i.MX8 (ARMv8a) applications processors
 
+config ARCH_CHIP_IMX9
+	bool "NXP i.MX9 Platform (ARMv8.2a)"
+	select ARCH_HAVE_ADDRENV
+	select ARCH_HAVE_IRQTRIGGER
+	select ARCH_NEED_ADDRENV_MAPPING
+	---help---
+		NXP i.MX9 (ARMv8.2a) applications processors
+
 config ARCH_CHIP_ARM64_CUSTOM
 	bool "Custom ARM64 chip"
 	select ARCH_CHIP_CUSTOM
@@ -181,6 +189,18 @@ config ARCH_CORTEX_A53
 	select ARCH_HAVE_TESTSET
 	select ARM_HAVE_NEON
 
+config ARCH_CORTEX_A55
+	bool
+	default n
+	select ARCH_ARMV8A
+	select ARCH_HAVE_TRUSTZONE
+	select ARCH_DCACHE
+	select ARCH_ICACHE
+	select ARCH_HAVE_MMU
+	select ARCH_HAVE_FPU
+	select ARCH_HAVE_TESTSET
+	select ARM_HAVE_NEON
+
 config ARCH_CORTEX_A57
 	bool
 	default n
@@ -229,6 +249,7 @@ config ARCH_CHIP
 	default "goldfish"  if ARCH_CHIP_GOLDFISH
 	default "fvp-v8r"   if ARCH_CHIP_FVP_ARMV8R
 	default "imx8"      if ARCH_CHIP_IMX8
+	default "imx9"      if ARCH_CHIP_IMX9
 
 config ARM_HAVE_NEON
 	bool
@@ -311,6 +332,10 @@ if ARCH_CHIP_IMX8
 source "arch/arm64/src/imx8/Kconfig"
 endif
 
+if ARCH_CHIP_IMX9
+source "arch/arm64/src/imx9/Kconfig"
+endif
+
 if ARCH_CHIP_GOLDFISH
 source "arch/arm64/src/goldfish/Kconfig"
 endif

arch/arm64/include/imx9/chip.h

@@ -0,0 +1,77 @@
+/****************************************************************************
+ * arch/arm64/include/imx9/chip.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM64_INCLUDE_IMX9_CHIP_H
+#define __ARCH_ARM64_INCLUDE_IMX9_CHIP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Number of bytes in x kibibytes/mebibytes/gibibytes */
+
+#define KB(x)   ((x) << 10)
+#define MB(x)   (KB(x) << 10)
+#define GB(x)   (MB(UINT64_C(x)) << 10)
+
+#if defined(CONFIG_ARCH_CHIP_IMX93)
+
+#if CONFIG_ARM_GIC_VERSION == 3 || CONFIG_ARM_GIC_VERSION == 4
+
+#define CONFIG_GICD_BASE          0x48000000
+#define CONFIG_GICR_BASE          0x48040000
+#define CONFIG_GICR_OFFSET        0x20000
+
+#else
+
+#error CONFIG_ARM_GIC_VERSION should be 2, 3 or 4
+
+#endif /* CONFIG_ARM_GIC_VERSION */
+
+#define CONFIG_RAMBANK1_ADDR      0x80000000
+#define CONFIG_RAMBANK1_SIZE      MB(128)
+
+#define CONFIG_DEVICEIO_BASEADDR  0x40000000
+#define CONFIG_DEVICEIO_SIZE      MB(512)
+
+#define MPID_TO_CLUSTER_ID(mpid)  ((mpid) & ~0xff)
+
+#endif
+
+/****************************************************************************
+ * Assembly Macros
+ ****************************************************************************/
+
+#ifdef __ASSEMBLY__
+
+.macro  get_cpu_id xreg0
+  mrs    \xreg0, mpidr_el1
+  ubfx   \xreg0, \xreg0, #0, #8
+.endm
+
+#endif /* __ASSEMBLY__ */
+
+#endif /* __ARCH_ARM64_INCLUDE_IMX9_CHIP_H */

arch/arm64/include/imx9/irq.h

@@ -0,0 +1,70 @@
+/****************************************************************************
+ * arch/arm64/include/imx9/irq.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* This file should never be included directly but, rather,
+ * only indirectly through nuttx/irq.h
+ */
+
+#ifndef __ARCH_ARM64_INCLUDE_IMX9_IRQ_H
+#define __ARCH_ARM64_INCLUDE_IMX9_IRQ_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#if defined(CONFIG_ARCH_CHIP_IMX93)
+#  include <arch/imx9/imx93_irq.h>
+#else
+#  error "Unrecognized i.MX9 architecture"
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define IMX9_IRQ_SOFTWARE0          (0)   /* Cortex-A55 Software Generated Interrupt 0 */
+#define IMX9_IRQ_SOFTWARE1          (1)   /* Cortex-A55 Software Generated Interrupt 1 */
+#define IMX9_IRQ_SOFTWARE2          (2)   /* Cortex-A55 Software Generated Interrupt 2 */
+#define IMX9_IRQ_SOFTWARE3          (3)   /* Cortex-A55 Software Generated Interrupt 3 */
+#define IMX9_IRQ_SOFTWARE4          (4)   /* Cortex-A55 Software Generated Interrupt 4 */
+#define IMX9_IRQ_SOFTWARE5          (5)   /* Cortex-A55 Software Generated Interrupt 5 */
+#define IMX9_IRQ_SOFTWARE6          (6)   /* Cortex-A55 Software Generated Interrupt 6 */
+#define IMX9_IRQ_SOFTWARE7          (7)   /* Cortex-A55 Software Generated Interrupt 7 */
+#define IMX9_IRQ_SOFTWARE8          (8)   /* Cortex-A55 Software Generated Interrupt 8 */
+#define IMX9_IRQ_SOFTWARE9          (9)   /* Cortex-A55 Software Generated Interrupt 9 */
+#define IMX9_IRQ_SOFTWARE10         (10)  /* Cortex-A55 Software Generated Interrupt 10 */
+#define IMX9_IRQ_SOFTWARE11         (11)  /* Cortex-A55 Software Generated Interrupt 11 */
+#define IMX9_IRQ_SOFTWARE12         (12)  /* Cortex-A55 Software Generated Interrupt 12 */
+#define IMX9_IRQ_SOFTWARE13         (13)  /* Cortex-A55 Software Generated Interrupt 13 */
+#define IMX9_IRQ_SOFTWARE14         (14)  /* Cortex-A55 Software Generated Interrupt 14 */
+#define IMX9_IRQ_SOFTWARE15         (15)  /* Cortex-A55 Software Generated Interrupt 15 */
+#define IMX9_IRQ_VIRTUALMAINTENANCE (25)  /* Cortex-A55 Virtual Maintenance Interrupt */
+#define IMX9_IRQ_HYPERVISORTIMER    (26)  /* Cortex-A55 Hypervisor Timer Interrupt */
+#define IMX9_IRQ_VIRTUALTIMER       (27)  /* Cortex-A55 Virtual Timer Interrupt */
+#define IMX9_IRQ_LEGACYFASTINT      (28)  /* Cortex-A55 Legacy nFIQ signal Interrupt */
+#define IMX9_IRQ_SECUREPHYTIMER     (29)  /* Cortex-A55 Secure Physical Timer Interrupt */
+#define IMX9_IRQ_NONSECUREPHYTIMER  (30)  /* Cortex-A55 Non-secure Physical Timer Interrupt */
+#define IMX9_IRQ_LEGACYIRQ          (31)  /* Cortex-A55 Legacy nIRQ Interrupt */
+
+#define IMX9_IRQ_EXT                (32)  /* Vector number of the first ext int */
+
+#endif /* __ARCH_ARM64_INCLUDE_IMX9_IRQ_H */

arch/arm64/src/imx9/Kconfig

@@ -0,0 +1,31 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_CHIP_IMX9
+
+menu "i.MX9 Chip Selection"
+
+choice
+	prompt "i.MX9 Core Configuration"
+	default ARCH_CHIP_IMX93
+
+config ARCH_CHIP_IMX93
+	bool "i.MX9 Application Processor"
+	select ARCH_HAVE_MULTICPU
+	select ARMV8A_HAVE_GICv3
+	select ARCH_CORTEX_A55
+
+endchoice # i.MX9 Chip Selection
+
+endmenu # "i.MX9 Chip Selection"
+
+menu "i.MX9 Peripheral Selection"
+config IMX9_UART1
+	bool "UART1"
+	default n
+	select UART1_SERIALDRIVER
+endmenu # iMX Peripheral Selection
+
+endif # ARCH_CHIP_IMX9

arch/arm64/src/imx9/Make.defs

@@ -0,0 +1,32 @@
+############################################################################
+# arch/arm64/src/imx9/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include common/Make.defs
+
+# i.MX9-specific C source files
+
+CHIP_CSRCS = imx9_boot.c
+
+ifeq ($(CONFIG_ARCH_CHIP_IMX93),y)
+  CHIP_CSRCS += imx9_lpuart.c
+  ifeq ($(CONFIG_ARCH_EARLY_PRINT),y)
+    CHIP_ASRCS = imx93_lowputc.S
+  endif
+endif

arch/arm64/src/imx9/chip.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ * arch/arm64/src/imx9/chip.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM64_SRC_IMX9_CHIP_H
+#define __ARCH_ARM64_SRC_IMX9_CHIP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+#  include <nuttx/arch.h>
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Macro Definitions
+ ****************************************************************************/
+
+#endif /* __ARCH_ARM64_SRC_IMX9_CHIP_H */