arm64/imx9: Add board for imx93-evk

Adds board definition for imx93-evk board

- Support for the Cortex-A55 core in i.MX93, support for the Cortex-M33
  core is _not_ provided
- "nsh" profile is provided, this includes a minimalistic feature set
  which boots the SoM to nsh console
- A bootloader is required, u-boot has been tested

Documentation/platforms/arm64/imx9/boards/imx93-evk/README.txt

@@ -0,0 +1,145 @@
+README.txt
+==========
+
+The kit i.MX93 Evaluation Kit has a pre-installed Linux image which contains
+u-boot and the i.MX93 reference Linux installation.
+
+u-boot is required to boot NuttX (for now) as it initializes the hardware for
+us, i.e. DDR, clocks, I/O muxes etc.
+
+==========================================
+
+How to run nuttx on i.MX93 Evaluation Kit.
+
+==========================================
+
+Below is a set of instructions on how to run NuttX on the i.MX93 EVK
+
+==========================================
+
+Pre-requisites
+
+==========================================
+
+- imx93_ca55.JLinkScript which is a custom file, put it wherever you want
+
+==========================================
+
+U-Boot configuration
+
+==========================================
+
+Two things need to be configured on u-boot before NuttX can be loaded:
+
+- u-boot data cache must be turned off
+- u-boot must stop to the u-boot console, i.e. the Linux payload must not be loaded
+
+Manual option:
+
+1. Disable u-boot autostart (needs to be done only once):
+
+    Hit any key to stop autoboot:  0
+    u-boot=> setenv bootdelay -1
+    u-boot=> saveenv
+    Saving Environment to MMC... Writing to MMC(0)... OK
+    u-boot=> reset
+
+2. On every boot, the data cache must be disabled for options 2 and 3 to work
+
+    u-boot=> dcache off
+
+Automated option:
+
+1. Replace the default bootcmd to disable dcache automatically:
+
+    u-boot=> setenv bootcmd dcache off
+    u-boot=> saveenv
+    Saving Environment to MMC... Writing to MMC(0)... OK
+    u-boot=> reset
+
+To restore the default bootcmd which starts Linux automatically:
+
+    u-boot=> setenv bootcmd run distro_bootcmd;run bsp_bootcmd
+    u-boot=> saveenv
+    Saving Environment to MMC... Writing to MMC(0)... OK
+    u-boot=> reset
+
+The default bootcmd is:
+
+u-boot=> env print bootcmd
+bootcmd=run distro_bootcmd;run bsp_bootcmd
+
+==========================================
+
+Loading and running the NuttX image
+
+==========================================
+
+You have three options:
+
+1 - Load via u-boot from SD-card
+2 - Load via gdb
+3 - Load via JLink
+
+==========================================
+
+Option 1: load via u-boot from SD-card:
+
+==========================================
+
+1. Build nuttx, and move nuttx.bin to SD-card
+
+2. Load from SD-card and start nuttx payload
+
+    u-boot=> dcache off; fatload mmc 1 0x80000000 nuttx.bin; go 0x80000000
+
+==========================================
+
+Option 2: start via gdb:
+
+==========================================
+
+1. Start JLinkGDBServer
+
+    JLinkGDBServer -device CORTEX-A55 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
+
+2. Start gdb
+
+    $ aarch64-none-elf-gdb
+
+ 2.1 Attach and load nuttx
+
+    (gdb) target remote localhost:2331
+    (gdb) set mem inaccessible-by-default off
+    (gdb) load <path_to>/nuttx
+    (gdb) monitor go
+
+==========================================
+
+Option 3: load with JLink:
+
+==========================================
+
+1. Start JLink 
+
+    $ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
+
+ 1.1 Add -AutoConnect 1 to connect automatically
+
+    $ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript -AutoConnect 1
+
+2. Connect JLink
+
+ 2.1 Connect to the debugger
+
+    Type "connect" to establish a target connection, '?' for help
+    J-Link>connect
+
+    You should now have a JLink prompt.
+
+    Cortex-A55 identified.
+    J-Link>
+
+3. Load nuttx. Note that JLink expects the .elf extension, the default build output of nuttx is just "nuttx" without the extension, so it must be added to the file...
+
+    J-Link>LoadFile <path_to>/nuttx.elf

Documentation/platforms/arm64/imx9/boards/imx93-evk/index.rst

@@ -0,0 +1,6 @@
+==========
+imx93-evk
+==========
+
+.. include:: README.txt
+   :literal:

Documentation/platforms/arm64/imx9/index.rst

@@ -0,0 +1,12 @@
+=========
+NXP i.MX9
+=========
+
+Supported Boards
+================
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   boards/*/*

boards/Kconfig

@@ -2115,6 +2115,14 @@ config ARCH_BOARD_IMX8QM_MEK
 		This options selects support for NuttX on the NXP i.MX8 QuadMax CPUs MEK
 		configure board with ARM Cortex-A53.
 
+config ARCH_BOARD_IMX93_EVK
+	bool "NXP i.MX93 CPUs EVK board"
+	depends on ARCH_CHIP_IMX93
+	select ARCH_HAVE_IRQBUTTONS
+	---help---
+		This options selects support for NuttX on the NXP i.MX93 CPUs EVK
+		board with ARM Cortex-A55.
+
 config ARCH_BOARD_SAMA5D2_XULT
 	bool "Atmel SAMA5D2 Xplained Ultra development board"
 	depends on ARCH_CHIP_ATSAMA5D27
@@ -3284,6 +3292,7 @@ config ARCH_BOARD
 	default "fvp-armv8r"                if ARCH_BOARD_FVP_ARMV8R
 	default "fvp-armv8r-aarch32"        if ARCH_BOARD_FVP_ARMV8R_AARCH32
 	default "imx8qm-mek"                if ARCH_BOARD_IMX8QM_MEK
+	default "imx93-evk"                 if ARCH_BOARD_IMX93_EVK
 	default "sama5d2-xult"              if ARCH_BOARD_SAMA5D2_XULT
 	default "giant-board"               if ARCH_BOARD_GIANT_BOARD
 	default "jupiter-nano"              if ARCH_BOARD_JUPITER_NANO
@@ -3497,6 +3506,9 @@ endif
 if ARCH_BOARD_IMX8QM_MEK
 source "boards/arm64/imx8/imx8qm-mek/Kconfig"
 endif
+if ARCH_BOARD_IMX93_EVK
+source "boards/arm64/imx9/imx93-evk/Kconfig"
+endif
 if ARCH_BOARD_IMXRT1020_EVK
 source "boards/arm/imxrt/imxrt1020-evk/Kconfig"
 endif

boards/arm64/imx9/imx93-evk/Kconfig

@@ -0,0 +1,7 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_BOARD_IMX9QM_MEK
+endif

boards/arm64/imx9/imx93-evk/configs/nsh/defconfig

@@ -0,0 +1,61 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm64"
+CONFIG_ARCH_ARM64=y
+CONFIG_ARCH_BOARD="imx93-evk"
+CONFIG_ARCH_BOARD_IMX93_EVK=y
+CONFIG_ARCH_CHIP="imx9"
+CONFIG_ARCH_CHIP_IMX93=y
+CONFIG_ARCH_CHIP_IMX9=y
+CONFIG_ARCH_EARLY_PRINT=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SCHED=y
+CONFIG_DEBUG_SCHED_ERROR=y
+CONFIG_DEBUG_SCHED_INFO=y
+CONFIG_DEBUG_SCHED_WARN=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_TASK_STACKSIZE=8192
+CONFIG_DEV_ZERO=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=8192
+CONFIG_IMX9_UART1=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAMLOG=y
+CONFIG_RAM_SIZE=134217728
+CONFIG_RAM_START=0x80000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_SPINLOCK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_MONTH=3
+CONFIG_START_YEAR=2022
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_SYSTEM_TIME64=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_UART1_SERIAL_CONSOLE=y

boards/arm64/imx9/imx93-evk/include/board.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/include/board.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 __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_H
+#define __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_H */

boards/arm64/imx9/imx93-evk/include/board_memorymap.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/include/board_memorymap.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 __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_MEMORYMAP_H
+#define __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_MEMORYMAP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_MEMORYMAP_H */