Imx9 downstream

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/*/*

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 */