.. zephyr:board:: imx93_evk

Overview
********

The i.MX93 Evaluation Kit (MCIMX93-EVK board) is a platform designed to show
the most commonly used features of the i.MX 93 Applications Processor in a
small and low cost package. The MCIMX93-EVK board is an entry-level development
board, which helps developers to get familiar with the processor before
investing a large amount of resources in more specific designs.

i.MX93 MPU is composed of one cluster of 2x Cortex®-A55 cores and a single
Cortex®-M33 core. Zephyr OS is ported on Cortex®-A55 core and Cortex®-M33
core.

- Board features:

  - RAM: 2GB LPDDR4
  - Storage:

    - SanDisk 16GB eMMC5.1
    - microSD Socket
  - Wireless:

    - Murata Type-2EL (SDIO+UART+SPI) module. It is based on NXP IW612 SoC,
      which supports dual-band (2.4 GHz /5 GHz) 1x1 Wi-Fi 6, Bluetooth 5.2,
      and 802.15.4
  - USB:

    - Two USB 2.0 Type C connectors
  - Ethernet
  - PCI-E M.2
  - Connectors:

    - 40-Pin Dual Row Header
  - LEDs:

    - 1x Power status LED
    - 2x UART LED
  - Debug

    - JTAG 20-pin connector
    - MicroUSB for UART debug, two COM ports for A55 and M33


Supported Features
==================

.. zephyr:board-supported-hw::

TPM
---

TPM2 is enabled for PWM for M33 core. Signals can be observerd with
oscilloscope or logic analyzer.
Connect J1005-3 and J1005-7(GND) to Oscilloscope or logic analyzer

ADC
---

sar_adc1 is enabled for M33 core. Pins ADC_IN0/1/2/3 are connected to J1003-1/3/5/7

Devices
========
System Clock
------------

This board configuration uses a system clock frequency of 24 MHz.
Cortex-A55 Core runs up to 1.7 GHz.
Cortex-M33 Core runs up to 200MHz in which SYSTICK runs on same frequency.

Serial Port
-----------

This board configuration uses a single serial communication channel with the
CPU's UART2 for A55 core and M33 core.

uSDHC (SD or eMMC Interface on A55)
-----------------------------------

i.MX 93 processor has three ultra secured digital host controller (uSDHC) modules
for SD/eMMC interface support. On the MCIMX93-EVK board, the uSDHC2 interface of
the processor connects to the MicroSD card slot (J1002), and uSDHC1 interface connects
to the eMMC memory (located at the SOM board). DTS overlay file "usdhc1.overlay" and
"usdhc2.overlay" are provided to enable specified the uSDHC controller.

Currently it rely on U-boot or Linux to boot Zephyr on Cortex-A Core, so Zephyr need
to use different uSDHC controller from U-boot or Linux to avoid resource conflict.
For example, if EVK board boots from SD Card which uses uSDHC2, Zephyr can use MMC
which uses uSDHC1 for testing:

.. zephyr-app-commands::
   :zephyr-app: tests/subsys/sd/mmc
   :host-os: unix
   :board: imx93_evk/mimx9352/a55
   :goals: build
   :gen-args: -DEXTRA_DTC_OVERLAY_FILE=usdhc1.overlay

And if EVK board boots from MMC which uses uSDHC1, Zephyr can use SD Card which uses
uSDHC2 for testing:

.. zephyr-app-commands::
   :zephyr-app: tests/subsys/sd/sdmmc
   :host-os: unix
   :board: imx93_evk/mimx9352/a55
   :goals: build
   :gen-args: -DEXTRA_DTC_OVERLAY_FILE=usdhc2.overlay

Board MUX Control
-----------------

This board configuration uses a series of digital multiplexers to switch between
different board functions. The multiplexers are controlled by a GPIO signal called
``EXP_SEL`` from onboard GPIO expander ADP5585. It can be configured to select
function set "A" or "B" by dts configuration if board control module is enabled.
The following dts node is defined:

.. code-block:: dts

    board_exp_sel: board-exp-sel {
        compatible = "imx93evk-exp-sel";
        mux-gpios = <&gpio_exp0 4 GPIO_ACTIVE_HIGH>;
        mux = "A";
    };

Following steps are required to configure the ``EXP_SEL`` signal:

1. Enable Kconfig option ``CONFIG_BOARD_MIMX93_EVK_EXP_SEL_INIT``.
2. Select ``mux="A";`` or ``mux="B";`` in ``&board_exp_sel`` devicetree node.

Kconfig option ``CONFIG_BOARD_MIMX93_EVK_EXP_SEL_INIT`` is enabled if a board
function that requires configuring the mux is enabled. The MUX option is
automatically selected if certain board function is enabled, and takes precedence
over dts config. For instance, if ``CONFIG_CAN`` is enabled, MUX A is selected
even if ``mux="B";`` is configured in dts, and an warning would be reported in
the log.

User Button GPIO Option
--------------------------

The user buttons RFU_BTN1 and RFU_BTN2 is connected to i.MX 93 GPIO by default,
but can be changed to connect to onboard GPIO expander PCAL6524 with on-board DIP
switches. To do this, switch SW1006 to 0000, then switch SW1005 to 0101. An devicetree
overlay is included to support this.

Run following command to test user buttons on PCAL6524:

.. zephyr-app-commands::
   :zephyr-app: samples/basic/button
   :host-os: unix
   :board: imx93_evk/mimx9352/a55
   :goals: build
   :gen-args: -DEXTRA_DTC_OVERLAY_FILE=imx93_evk_mimx9352_exp_btn.overlay

Run the app, press RFU_BTN1 and the red LED turns on accordingly.

Note: The overlay only supports ``mimx9352/a55``, but can be extended to support
``mimx9352/m33`` if I2C and PCAL6524 is enabled.

Programming and Debugging (A55)
*******************************

.. zephyr:board-supported-runners::

There are multiple method to program and debug Zephyr on the A55 core:

Option 1. Boot Zephyr by Using JLink Runner
===========================================

The default runner for the board is JLink, connect the EVK board's JTAG connector to
the host computer using a J-Link debugger, power up the board and stop the board at
U-Boot command line, execute the following U-boot command to disable D-Cache:

.. code-block:: console

    dcache off

then use "west flash" or "west debug" command to load the zephyr.bin
image from the host computer and start the Zephyr application on A55 core0.

Flash and Run
-------------

Here is an example for the :zephyr:code-sample:`synchronization` application.

.. zephyr-app-commands::
   :zephyr-app: samples/synchronization
   :host-os: unix
   :board: imx93_evk/mimx9352/a55
   :goals: flash

Then the following log could be found on UART2 console:

.. code-block:: console

    *** Booting Zephyr OS build Booting Zephyr OS build v3.7.0-2055-g630f27a5a867  ***
    thread_a: Hello World from cpu 0 on imx93_evk!
    thread_b: Hello World from cpu 0 on imx93_evk!
    thread_a: Hello World from cpu 0 on imx93_evk!
    thread_b: Hello World from cpu 0 on imx93_evk!

Debug
-----

Here is an example for the :zephyr:code-sample:`hello_world` application.

.. zephyr-app-commands::
   :zephyr-app: samples/hello_world
   :host-os: unix
   :board: imx93_evk/mimx9352/a55
   :goals: debug

Option 2. Boot Zephyr by Using U-Boot Command
=============================================

U-Boot "go" command can be used to start Zephyr on A55 core0 and U-Boot "cpu" command
is used to load and kick Zephyr to the other A55 secondary Cores. Currently "cpu" command
is supported in : `Real-Time Edge U-Boot`_ (use the branch "uboot_vxxxx.xx-y.y.y,
xxxx.xx is uboot version and y.y.y is Real-Time Edge Software version, for example
"uboot_v2023.04-2.9.0" branch is U-Boot v2023.04 used in Real-Time Edge Software release
v2.9.0), and pre-build images and user guide can be found at `Real-Time Edge Software`_.

.. _Real-Time Edge U-Boot:
   https://github.com/nxp-real-time-edge-sw/real-time-edge-uboot
.. _Real-Time Edge Software:
   https://www.nxp.com/rtedge

Step 1: Download Zephyr Image into DDR Memory
---------------------------------------------

Firstly need to download Zephyr binary image into DDR memory, it can use tftp:

.. code-block:: console

    tftp 0xd0000000 zephyr.bin

Or copy the Zephyr image ``zephyr.bin`` SD card and plug the card into the board, for example
if copy to the FAT partition of the SD card, use the following U-Boot command to load the image
into DDR memory (assuming the SD card is dev 1, fat partition ID is 1, they could be changed
based on actual setup):

.. code-block:: console

    fatload mmc 1:1 0xd0000000 zephyr.bin;

Step 2: Boot Zephyr
-------------------

Then use the following command to boot Zephyr on the core0:

.. code-block:: console

    dcache off; icache flush; go 0xd0000000;

Or use "cpu" command to boot from secondary Core, for example Core1:

.. code-block:: console

    dcache flush; icache flush; cpu 1 release 0xd0000000

.. note::

   Use U-Boot "go" command to boot Zephyr when build with target ``imx93_evk/mimx9352/a55/smp``, since i.MX 93 only has 2 Cortex-A55 cores.

Option 3. Boot Zephyr by Using Remoteproc under Linux
=====================================================

When running Linux on the A55 core, it can use the remoteproc framework to load and boot Zephyr,
refer to Real-Time Edge user guide for more details. Pre-build images and user guide can be found
at `Real-Time Edge Software`_.

Use this configuration to run basic Zephyr applications and kernel tests,
for example, with the :zephyr:code-sample:`synchronization` sample:

.. zephyr-app-commands::
   :zephyr-app: samples/synchronization
   :host-os: unix
   :board: imx93_evk/mimx9352/a55
   :goals: build

This will build an image with the synchronization sample app, boot it and
display the following console output:

.. code-block:: console

    *** Booting Zephyr OS build Booting Zephyr OS build v3.7.0-2055-g630f27a5a867  ***
    thread_a: Hello World from cpu 0 on imx93_evk!
    thread_b: Hello World from cpu 0 on imx93_evk!
    thread_a: Hello World from cpu 0 on imx93_evk!
    thread_b: Hello World from cpu 0 on imx93_evk!

System Reboot (A55)
===================

Currently i.MX93 only support cold reboot and doesn't support warm reboot.
Use this configuratiuon to verify cold reboot with :zephyr:code-sample:`shell-module`
sample:

.. zephyr-app-commands::
   :zephyr-app: samples/subsys/shell/shell_module
   :host-os: unix
   :board: imx93_evk/mimx9352/a55
   :goals: build

This will build an image with the shell sample app, boot it and execute
kernel reboot command in shell command line:

.. code-block:: console

    uart:~$ kernel reboot cold

Programming and Debugging (M33)
*******************************

Copy the compiled ``zephyr.bin`` to the first FAT partition of the SD card and
plug the SD card into the board. Power it up and stop the u-boot execution at
prompt.

Use U-Boot to load and kick zephyr.bin to Cortex-M33 Core:

Boot with code from TCM
=======================

.. code-block:: console

    load mmc 1:1 0x80000000 zephyr.bin;cp.b 0x80000000 0x201e0000 0x30000;bootaux 0x1ffe0000 0

Boot with code from DDR
=======================

.. code-block:: console

    load mmc 1:1 0x84000000 zephyr.bin;dcache flush;bootaux 0x84000000 0

Note: Cortex M33 need execute permission to run code from DDR memory. In order
to enable this, `imx-atf`_ can to be modified in "plat/imx/imx93/trdc_config.h".

.. _imx-atf:
    https://github.com/nxp-imx/imx-atf

imx-atf changes:

.. code-block:: console

    git diff plat/imx/imx93/trdc_config.h
    diff --git a/plat/imx/imx93/trdc_config.h b/plat/imx/imx93/trdc_config.h
    index 6c8b8f8fa..b155f9048 100644
    --- a/plat/imx/imx93/trdc_config.h
    +++ b/plat/imx/imx93/trdc_config.h
    @@ -302,7 +302,7 @@ struct trdc_mbc_config trdc_n_mbc[] = {
     };

     struct trdc_glbac_config trdc_n_mrc_glbac[] = {
    -       { 0, 0, SP(RW)  | SU(RW)  | NP(RW)  | NU(RW)  },
    +       { 0, 0, SP(RWX)  | SU(RW)  | NP(RW)  | NU(RW)  },
            { 0, 1, SP(RWX) | SU(RWX) | NP(RWX) | NU(RWX) },
     };

    @@ -356,7 +356,7 @@ struct trdc_mrc_config trdc_n_mrc[] = {
     struct trdc_mrc_config trdc_n_mrc[] = {
            { 0, 0, 0, 0x80000000, 0x80000000, 0, false }, /* MRC0 DRAM for S400 DID0 */
            { 0, 1, 0, 0x80000000, 0x80000000, 0, false }, /* MRC0 DRAM for MTR DID1 */
    -       { 0, 2, 0, 0x80000000, 0x80000000, 0, true }, /* MRC0 DRAM for M33 DID2 */
    +       { 0, 2, 0, 0x80000000, 0x80000000, 1, true }, /* MRC0 DRAM for M33 DID2 */
            { 0, 3, 0, 0x80000000, 0x80000000, 1, false }, /* MRC0 DRAM for A55 DID3 */
            { 0, 5, 0, 0x80000000, 0x80000000, 0, false }, /* MRC0 DRAM for USDHC1 DID5 */
            { 0, 6, 0, 0x80000000, 0x80000000, 0, false }, /* MRC0 DRAM for USDHC2 DID6 */

Use this configuration to run basic Zephyr applications and kernel tests,
for example, with the :zephyr:code-sample:`synchronization` sample:

.. zephyr-app-commands::
   :zephyr-app: samples/synchronization
   :host-os: unix
   :board: imx93_evk/mimx9352/m33
   :goals: run

This will build an image with the synchronization sample app, boot it and
display the following console output:

.. code-block:: console

    *** Booting Zephyr OS build v3.7.0-684-g71a7d05ba60a ***
    thread_a: Hello World from cpu 0 on imx93_evk!
    thread_b: Hello World from cpu 0 on imx93_evk!
    thread_a: Hello World from cpu 0 on imx93_evk!
    thread_b: Hello World from cpu 0 on imx93_evk!

To make a container image flash.bin with ``zephyr.bin`` for SD/eMMC programming and booting
from BootROM. Refer to user manual of i.MX93 `MCUX SDK release`_.

.. _MCUX SDK release:
   https://mcuxpresso.nxp.com/

References
==========

More information can refer to NXP official website:
`NXP website`_.

.. _NXP website:
   https://www.nxp.com/products/processors-and-microcontrollers/arm-processors/i-mx-applications-processors/i-mx-9-processors/i-mx-93-applications-processor-family-arm-cortex-a55-ml-acceleration-power-efficient-mpu:i.MX93


Using the SOF-specific variant
******************************

Purpose
=======

Since this board doesn't have a DSP, an alternative for people who might be interested
in running SOF on this board had to be found. The alternative consists of running SOF
on an A55 core using Jailhouse as a way to "take away" one A55 core from Linux and
assign it to Zephyr with `SOF`_.

.. _SOF:
        https://github.com/thesofproject/sof

What is Jailhouse?
==================

Jailhouse is a light-weight hypervisor that allows the partitioning of hardware resources.
For more details on how this is done and, generally, about Jailhouse, please see: `1`_,
`2`_ and `3`_. The GitHub repo can be found `here`_.

.. _1:
        https://lwn.net/Articles/578295/

.. _2:
        https://lwn.net/Articles/578852/

.. _3:
        http://events17.linuxfoundation.org/sites/events/files/slides/ELCE2016-Jailhouse-Tutorial.pdf

.. _here:
        https://github.com/siemens/jailhouse


How does it work?
=================
Firstly, we need to explain a few Jailhouse concepts that will be referred to later on:

* **Cell**: refers to a set of hardware resources that the OS assigned to this
  cell can utilize.

* **Root cell**: refers to the cell in which Linux is running. This is the main cell which
  will contain all the hardware resources that Linux will utilize and will be used to assign
  resources to the inmates. The inmates CANNOT use resources such as the CPU that haven't been
  assigned to the root cell.

* **Inmate**: refers to any other OS that runs alongside Linux. The resources an inmate will
  use are taken from the root cell (the cell Linux is running in).

SOF+Zephyr will run as an inmate, alongside Linux, on core 1 of the board. This means that
said core will be taken away from Linux and will only be utilized by Zephyr.

The hypervisor restricts inmate's/root's access to certain hardware resources using
the second-stage translation table which is based on the memory regions described in the
configuration files. Please consider the following scenario:

        Root cell wants to use the **UART** which let's say has its registers mapped in
        the **[0x0 - 0x42000000]** region. If the inmate wants to use the same **UART** for
        some reason then we'd need to also add this region to inmate's configuration
        file and add the **JAILHOUSE_MEM_ROOTSHARED** flag. This flag means that the inmate
        is allowed to share this region with the root. If this region is not set in
        the inmate's configuration file and Zephyr (running as an inmate here) tries
        to access this region this will result in a second stage translation fault.

Notes:

* Linux and Zephyr are not aware that they are running alongside each other.
  They will only be aware of the cores they have been assigned through the config
  files (there's a config file for the root and one for each inmate).

Architecture overview
=====================

The architecture overview can be found at this `location`_. (latest status update as of now
and the only one containing diagrams).

.. _location:
        https://github.com/thesofproject/sof/issues/7192


How to use this board?
======================

This board has been designed for SOF so it's only intended to be used with SOF.

TODO: document the SOF build process for this board. For now, the support for
i.MX93 is still in review and has yet to merged on SOF side.

.. include:: ../../common/board-footer.rst.inc
