boards: arm: add PhyBOARD Polis (i.MX8MM)

Add board definitions to run Zephyr on the M4-Core
of the i.MX8M Mini SoC on the PhyBOARD Polis.

Signed-off-by: Peter Fecher <p.fecher@phytec.de>

CODEOWNERS

@@ -126,6 +126,7 @@
 /boards/arm/lpcxpresso*/doc/              @dleach02 @MeganHansen
 /boards/arm/mg100/                        @rerickson1
 /boards/arm/mimx8mm_evk/                  @Mani-Sadhasivam
+/boards/arm/mimx8mm_phyboard_polis        @pefech
 /boards/arm/mimxrt*/                      @mmahadevan108 @dleach02
 /boards/arm/mimxrt*/doc/                  @dleach02 @MeganHansen
 /boards/arm/mps2_an385/                   @fvincenzo

boards/arm/mimx8mm_phyboard_polis/Kconfig.board

@@ -0,0 +1,9 @@
+# MIMX8MM_PHYBOARD_POLIS board configuration
+
+# Copyright (c) 2022 PHYTEC Messtechnik GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_MIMX8MM_PHYBOARD_POLIS
+	bool "Phytec Phyboard Polis i.MX8M Mini"
+	depends on SOC_SERIES_IMX8MM_M4
+	select SOC_PART_NUMBER_MIMX8MM6DVTLZ

boards/arm/mimx8mm_phyboard_polis/Kconfig.defconfig

@@ -0,0 +1,18 @@
+# MIMX8MM_PHYBOARD_POLIS board defconfig
+#
+# Copyright (c) 2022 PHYTEC Messtechnik GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_MIMX8MM_PHYBOARD_POLIS
+
+config BOARD
+	default "mimx8mm_phyboard_polis"
+
+if !XIP
+config FLASH_SIZE
+	default 0
+config FLASH_BASE_ADDRESS
+	default 0
+endif
+
+endif # BOARD_MIMX8MM_PHYBOARD_POLIS

boards/arm/mimx8mm_phyboard_polis/board.cmake

@@ -0,0 +1,11 @@
+#
+# Copyright (c) 2020, NXP
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+board_set_debugger_ifnset(jlink)
+board_set_flasher_ifnset(jlink)
+
+board_runner_args(jlink "--device=MIMX8MD6_M4")
+include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

boards/arm/mimx8mm_phyboard_polis/doc/index.rst

@@ -0,0 +1,342 @@
+.. _mimx8mm_phyboard_polis:
+
+PhyBOARD Polis (NXP i.MX8M Mini)
+################################
+
+Overview
+********
+
+The phyBOARD-Polis, either a development platform for the
+phyCORE-i.MX 8M Mini/Nano, or a powerful, industry-compatible single-board
+computer for immediate implementation of your product idea. As a development
+platform, the phyBOARD-Polis serves as reference design for your
+customer-specific application and enables parallel development of the software
+and carrier board for the phyCORE-i.MX 8M Mini/Nano.
+
+
+As a powerful, industrial single-board computer (SBC), the phyBOARD-Polis is
+equipped with a variety of standard interfaces which are available on standard
+or socket/pin header connectors, while interesting extensions of the
+phyCORE-i.MX 8M Mini/Nano features such as CAN FD, WLAN and an integrated
+TPM chip further extend the range of applications that can be developed with
+the phyCORE-i.MX 8M Mini/Nano.
+
+- Board features:
+
+  - RAM: 512MB - 4GB (LPDDR4)
+  - Storage:
+
+    - 4GB - 128GB eMMC
+    - 8MB - 128MB SPI NOR Flash
+    - microSD Interfacce
+    - 4kB EEPROM
+  - Wireless:
+
+    - WiFi: 802.11 b/g/n (ac) 2,4 GHz / 5 GHz
+    - BLE 4.2
+  - USB:
+
+    - 1x USB2.0 OTG
+    - 1x USB2.0
+  - Ethernet: 1x 10/100/1000BASE-T
+  - Interfaces:
+    - 1x RS232 / RS485
+    - 2x UART
+    - 3x I²C
+    - 2x SPI
+    - Up to 4x PWM
+    - 4x SAI
+    - 1x MIPI CSI-2
+    - 1x MIPI DSI-2
+    - 2x MMC/SD/SDIO
+    - 1x PCIe (mini PCIE)
+  - LEDs:
+
+    - 1x Status LED (3 Color LED)
+    - 1x Debug UART LED
+  - Debug
+
+    - JTAG 20-pin connector
+    - MicroUSB for UART debug, two COM ports for A53 and M4
+
+.. image:: img/phyBOARD-Polis.jpg
+   :align: center
+   :alt: PhyBOARD Polis
+   :width: 500
+
+More information about the board can be found at the
+`PHYTEC website`_.
+
+Supported Features
+==================
+
+The Zephyr mimx8mm_phyboard_polis board configuration supports the following
+hardware features:
+
++-----------+------------+-------------------------------------+
+| Interface | Controller | Driver/Component                    |
++===========+============+=====================================+
+| NVIC      | on-chip    | nested vector interrupt controller  |
++-----------+------------+-------------------------------------+
+| SYSTICK   | on-chip    | systick                             |
++-----------+------------+-------------------------------------+
+| CLOCK     | on-chip    | clock_control                       |
++-----------+------------+-------------------------------------+
+| PINMUX    | on-chip    | pinmux                              |
++-----------+------------+-------------------------------------+
+| UART      | on-chip    | serial port-polling;                |
+|           |            | serial port-interrupt               |
++-----------+------------+-------------------------------------+
+| GPIO      | on-chip    | GPIO output                         |
+|           |            | GPIO input                          |
++-----------+------------+-------------------------------------+
+
+The default configuration can be found in the defconfig file:
+:zephyr_file:`boards/arm/mimx8mm_phyboard_polis/mimx8mm_phyboard_polis_defconfig`.
+
+It is recommended to disable peripherals used by the M4 core on the Linux host.
+
+Other hardware features are not currently supported with Zephyr on the
+M4-Core.
+
+Connections and IOs
+===================
+
+The following components are tested and working correctly.
+
+UART:
+-----
+
+Zephyr is configured to use UART4 on the PhyBoard Polis by default to minimize
+problems with the A53-Core because UART4 is only accessible from the M4-Core.
+
++---------------+-----------------+-----------------------------------+
+| Board Name    | SoM Name        | Usage                             |
++===============+=================+===================================+
+| RS232/485     | UART1           | RS232 / RS485 with flow-control   |
++---------------+-----------------+-----------------------------------+
+| To WiFi Module| UART2           | UART to WiFi/BLE Module           |
++---------------+-----------------+-----------------------------------+
+| Debug USB(A53)| UART3           | UART Debug Console via USB        |
++---------------+-----------------+-----------------------------------+
+| Debug USB(M4) | UART4           | UART Debug Console via USB        |
++---------------+-----------------+-----------------------------------+
+
+.. note::
+  Please note, that the to UART2 connected Wifi/BLE Module isn't working with
+  Zephyr yet.
+
+.. warning::
+  On Boards with the version number 1532.1 UART4 isn't connected to the Debug
+  USB. UART4 connects to pin 10(RX) and 12(TX) on the X8 pinheader.
+
+
+LEDs:
+-----
+
+Zephyr has the 3-color status LED configured. The led0 alias (the standard
+Zephyr led) is configured to be the blue led. The LED can also light up in red
+and green.
+
+GPIO:
+-----
+
+The pinmuxing for the GPIOs is the standard pinmuxing of the mimx8mm devicetree
+created by NXP. You can find it here:
+
+:zephyr_file:`dts/arm/nxp/nxp_imx8m_m4.dtsi`.
+
+The Pinout of the PhyBOARD Polis can be found here:
+
+`PHYTEC website`_
+
+System Clock
+============
+
+The M4 Core is configured to run at a 400 MHz clock speed.
+
+
+Programming and Debugging
+*************************
+
+The i.MX8MM does not have a separate flash for the M4-Core. Because of this
+the A53-Core has to load the program for the M4-Core to the right memory
+address, set the PC and start the processor.
+This can be done with U-Boot or Phytec's Linux BSP via remoteproc.
+
+Because remoteproc in Phytec's BSP only writes to the TCM memory area,
+everything was tested in this memory area.
+
+You can read more about remoteproc in Phytec's BSP here: `Remoteproc BSP`_
+
+These are the memory mapping for A53 and M4:
+
++------------+-------------------------+------------------------+-----------------------+----------------------+
+| Region     | Cortex-A53              | Cortex-M4 (System Bus) | Cortex-M4 (Code Bus)  | Size                 |
++============+=========================+========================+=======================+======================+
+| OCRAM      | 0x00900000-0x0093FFFF   | 0x20200000-0x2023FFFF  | 0x00900000-0x0093FFFF | 256KB                |
++------------+-------------------------+------------------------+-----------------------+----------------------+
+| TCMU       | 0x00800000-0x0081FFFF   | 0x20000000-0x2001FFFF  |                       | 128KB                |
++------------+-------------------------+------------------------+-----------------------+----------------------+
+| TCML       | 0x007E0000-0x007FFFFF   |                        | 0x1FFE0000-0x1FFFFFFF | 128KB                |
++------------+-------------------------+------------------------+-----------------------+----------------------+
+| OCRAM_S    | 0x00180000-0x00187FFF   | 0x20180000-0x20187FFF  | 0x00180000-0x00187FFF | 32KB                 |
++------------+-------------------------+------------------------+-----------------------+----------------------+
+
+For more information about memory mapping see the
+`i.MX 8M Applications Processor Reference Manual`_  (section 2.1.2 and 2.1.3)
+
+At compilation time you have to choose which RAM will be used. This
+configuration is done in the file ``boards/arm/mimx8mm_evk/mimx8mm_evk.dts``
+with "zephyr,flash" (when CONFIG_XIP=y) and "zephyr,sram" properties.
+The available configurations are:
+
+If you don't want to use the TCM memory area, you can either overwrite the
+boards devicetree in your program or edit the board devicetree located here:
+
+:zephyr_file:`boards/arm/mimx8mm_phyboard_polis/mimx8mm_phyboard_polis.dts`
+
+You also have to set XIP=n or edit the boards defconfig file, if you don't want
+the TCM memory area to be used. You can find the defconf file here:
+
+:zephyr_file:`boards/arm/mimx8mm_phyboard_polis/mimx8mm_phyboard_polis_defconfig`.
+
+The following configurations are possible for the flash and sram chosen nodes
+to change the used memory area:
+
+.. code-block:: none
+
+   "zephyr,flash"
+   - &tcml_code
+   - &ocram_code
+   - &ocram_s_code
+
+   "zephyr,sram"
+   - &tcmu_sys
+   - &ocram_sys
+   - &ocram_s_sys
+
+
+Starting the M4-Core via U-Boot
+===============================
+
+Load the compiled zephyr.bin to memory address 0x4800000.
+This should output something like this:
+
+.. code-block:: console
+
+   u-boot=> tftp 0x48000000 192.168.3.10:zyphr.bin
+   Using ethernet@30be0000 device
+   TFTP from server 192.168.3.10; our IP address is 192.168.3.11
+   Filename 'zepyhr.bin'.
+   Load address: 0x48000000
+   Loading: ##
+            2 KiB/s
+   done
+   Bytes transferred = 27240 (6a68 hex)
+
+Because it's not possible to load directly to the TCM memory area you have to
+copy the binaries. The last argument given is the size of the file in bytes,
+you can copy it from the output of the last command.
+
+.. code-block:: console
+
+   u-boot=> cp.b 0x48000000 0x7e0000 27240
+
+And finaly starting the M4-Core at the right memory address:
+
+.. code-block:: console
+
+   u-boot=> bootaux 0x7e0000
+   ## Starting auxiliary core stack = 0x20003A58, pc = 0x1FFE1905...
+
+
+Starting the M4-Core via remoteproc
+===================================
+
+Copy the zepyhr.elf to ``/lib/firmware`` on the target. Maybe a Zephyr sample
+will be included in a future BSP release.
+
+.. note::
+   In order to use remoteproc you have to add ``imx8mm-phycore-rpmsg.dtbo`` at
+   the end of the line in the ``/boot/bootenv.txt``, then reboot the target.
+
+.. warning::
+   Remoteproc only reads firmware files from the ``/lib/firmware`` directory!
+   If you try to load a binary from another location unexpected errors will
+   occur!
+
+To load and start a firmware use this commands:
+
+.. code-block:: console
+
+   target$ echo /lib/firmware/zepyhr.elf > /sys/class/remoteproc/remoteproc0/firmware
+   target$ echo start > /sys/class/remoteproc/remoteproc0/state
+   [   90.700611] remoteproc remoteproc0: powering up imx-rproc
+   [   90.706114] remoteproc remoteproc0: Direct firmware load for /lib/firmware/zepyhr.elf failed w2
+   [   90.716571] remoteproc remoteproc0: Falling back to sysfs fallback for: /lib/firmware/zepyhr.elf
+   [   90.739280] remoteproc remoteproc0: Booting fw image /lib/firmware/zepyhr.elf, size 599356
+   [   90.804448] remoteproc remoteproc0: remote processor imx-rproc is now up
+
+
+The M4-Core is now started up and running. You can see the output from Zephyr
+on UART4.
+
+Debugging
+=========
+
+The PhyBOARD Polis can be debugged using a JTAG Debugger.
+The easiest way to do that is to use a SEGGER JLink Debugger and Phytec's
+``PEB-EVAL-01`` Shield, which can be directly connected to the JLink.
+You can find the JLink Software package here: `JLink Software`_
+
+.. figure:: img/PEB-EVAL-01.jpg
+   :alt: PEB-EVAL-01
+   :width: 350
+
+   PEB-EVAL-01
+
+To debug efficiently you should use multiple terminals:
+
+(But its also possible to use ``west debug``)
+
+After connecting everything and building with west use this command while in
+the directory of the program you build earlier to start a debug server:
+
+.. code-block:: console
+
+   host$ west debugserver
+
+West automatically connects via the JLink to the Target. And keeps open a
+debug server.
+
+Use another terminal, start gdb, connect to target and load Zephyr on the
+target:
+
+.. code-block:: console
+
+   host$ gdb-multiarch build/zephyr/zephyr.elf -tui
+   (gdb) targ rem :2331
+   Remote debugging using :2331
+   0x1ffe0008 in _vector_table ()
+   (gdb) mon halt
+   (gdb) mon reset
+   (gdb) c
+   Continuing.
+
+The program can be debugged using standard gdb techniques.
+
+.. _PHYTEC website:
+   https://www.phytec.de/produkte/single-board-computer/phyboard-polis-imx8m-mini/
+
+.. _PhyBOARD Polis pinout:
+   https://download.phytec.de/Products/phyBOARD-Polis-iMX8M_Mini/TechData/phyCORE-i.MX8M_MINI_Pin_Muxing_Table.A1.xlsx?_ga=2.237582016.1177557183.1660563641-1900651135.1634193918
+
+.. _Remoteproc BSP:
+   https://wiki.phytec.com/pages/releaseview.action?pageId=472257137#L1002e.A3i.MX8MMini/NanoBSPManual-RunningExamplesfromLinuxusingRemoteproc
+
+.. _i.MX 8M Applications Processor Reference Manual:
+   https://www.nxp.com/webapp/Download?colCode=IMX8MMRM
+
+.. _JLink Software:
+   https://www.segger.com/downloads/jlink/

boards/arm/mimx8mm_phyboard_polis/mimx8mm_phyboard_polis-pinctrl.dtsi

@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2022 PHYTEC Messtechnik GmbH
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <nxp/nxp_imx/mimx8mm6dvtlz-pinctrl.dtsi>
+
+&pinctrl {
+	uart4_default: uart4_default {
+		group0 {
+			pinmux = <&iomuxc_uart4_rxd_uart_rx_uart4_rx>,
+				<&iomuxc_uart4_txd_uart_tx_uart4_tx>;
+			slew-rate = "fast";
+			drive-strength = "40-ohm";
+		};
+	};
+
+	uart3_default: uart3_default {
+		group0 {
+			pinmux = <&iomuxc_uart3_rxd_uart_rx_uart3_rx>,
+				<&iomuxc_uart3_txd_uart_tx_uart3_tx>;
+			slew-rate = "fast";
+			drive-strength = "40-ohm";
+		};
+	};
+
+	uart2_default: uart2_default {
+		group0 {
+			pinmux = <&iomuxc_sai3_rxd_uart_cts_b_uart2_rts_b>,
+				<&iomuxc_sai3_rxd_uart_rts_b_uart2_rts_b>,
+				<&iomuxc_sai3_txfs_uart_tx_uart2_rx>,
+				<&iomuxc_sai3_txc_uart_rx_uart2_tx>;
+			slew-rate = "fast";
+			drive-strength = "40-ohm";
+		};
+	};
+
+	uart1_default: uart1_default {
+		group0 {
+			pinmux = <&iomuxc_sai2_rxfs_uart_rx_uart1_tx>,
+				<&iomuxc_sai2_rxc_uart_rx_uart1_rx>,
+				<&iomuxc_sai2_rxd0_uart_rts_b_uart1_rts_b>,
+				<&iomuxc_sai2_txfs_uart_cts_b_uart1_cts_b>;
+			slew-rate = "fast";
+			drive-strength = "40-ohm";
+		};
+	};
+};

boards/arm/mimx8mm_phyboard_polis/mimx8mm_phyboard_polis.dts

@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2022 PHYTEC Messtechnik GmbH
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <nxp/nxp_imx8mm_m4.dtsi>
+#include "mimx8mm_phyboard_polis-pinctrl.dtsi"
+
+/ {
+	model = "Phyboard Polis NXP i.MX8M Mini";
+	compatible = "nxp,mimx8mm_phyboard_polis";
+
+	aliases {
+		uart-4 = &uart4;
+		uart-3 = &uart3;
+		uart-2 = &uart2;
+		uart-1 = &uart1;
+		led0 = &led_blue;
+	};
+
+	chosen {
+		zephyr,flash = &tcml_code;
+		zephyr,sram = &tcmu_sys;
+		zephyr,console = &uart4;
+		zephyr,shell-uart = &uart4;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+
+		led_red: led_red {
+			gpios = <&gpio1 1 GPIO_ACTIVE_HIGH>;
+		};
+
+		led_blue: led_blue {
+			gpios = <&gpio1 15 GPIO_ACTIVE_HIGH>;
+		};
+
+		led_green: led_green {
+			gpios = <&gpio1 14 GPIO_ACTIVE_HIGH>;
+		};
+	};
+
+};
+
+/* RS232 / RS485 pinheader on the board */
+&uart1 {
+	status = "disabled";
+	pinctrl-0 = <&uart1_default>;
+	pinctrl-names = "default";
+	hw-flow-control;
+};
+
+/*
+ *  UART to bluetooth module / X18 header
+ *  Currently there is no driver for the used module
+ */
+&uart2 {
+	status = "disabled";
+	pinctrl-0 = <&uart2_default>;
+	pinctrl-names = "default";
+	hw-flow-control;
+};
+
+/* UART usually used from A53 Core (1st tty on Debug USB connector */
+&uart3 {
+	status = "disabled";
+	pinctrl-0 = <&uart3_default>;
+	pinctrl-names = "default";
+};
+
+/* UART of the M4 Core (2nd tty on Debug USB connector) */
+&uart4 {
+	status = "okay";
+	current-speed = <115200>;
+	pinctrl-0 = <&uart4_default>;
+	pinctrl-names = "default";
+};
+
+/*
+ * needs to be configured, so the leds don't generate an error,
+ * but does not interfer with the A53-Core
+ */
+&gpio1 {
+	status = "okay";
+};
+
+&mailbox0 {
+	status = "okay";
+};

boards/arm/mimx8mm_phyboard_polis/mimx8mm_phyboard_polis.yaml

@@ -0,0 +1,20 @@
+#
+# Copyright (c) 2020 PHYTEC Messtechnik GmbH
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+identifier: mimx8mm_phyboard_polis
+name: Phyboard Polis i.MX8M Mini
+type: mcu
+arch: arm
+ram: 32
+flash: 32
+toolchain:
+  - zephyr
+  - gnuarmemb
+  - xtools
+testing:
+  ignore_tags:
+    - net
+    - bluetooth

boards/arm/mimx8mm_phyboard_polis/mimx8mm_phyboard_polis_defconfig

@@ -0,0 +1,17 @@
+#
+# Copyright (c) 2022 PHYTEC Messtechnik GmbH
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+CONFIG_SOC_SERIES_IMX8MM_M4=y
+CONFIG_SOC_MIMX8MM6=y
+CONFIG_BOARD_MIMX8MM_PHYBOARD_POLIS=y
+CONFIG_CORTEX_M_SYSTICK=y
+CONFIG_CLOCK_CONTROL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_SERIAL=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_CONSOLE=y
+CONFIG_PINCTRL=y
+CONFIG_GPIO=y