boards: nxp: add imx93_evk M33 support

Added basic board support for imx93_evk M33.

Signed-off-by: Yangbo Lu <yangbo.lu@nxp.com>

boards/nxp/imx93_evk/Kconfig.imx93_evk

@@ -3,4 +3,5 @@
 
 config BOARD_IMX93_EVK
 	select SOC_MIMX9352_A55 if BOARD_IMX93_EVK_MIMX9352_A55
+	select SOC_MIMX9352_M33 if BOARD_IMX93_EVK_MIMX9352_M33
 	select SOC_PART_NUMBER_MIMX9352DVVXM

boards/nxp/imx93_evk/doc/index.rst

@@ -1,7 +1,7 @@
 .. _imx93_evk:
 
-NXP i.MX93 EVK (Cortex-A55)
+NXP i.MX93 EVK
-############################
+##############
 
 Overview
 ********
@@ -71,6 +71,25 @@ hardware features:
 | ENET      | on-chip    | ethernet port                       |
 +-----------+------------+-------------------------------------+
 
+The Zephyr imx93_evk board Cortex-M33 configuration supports the following
+hardware features:
+
++-----------+------------+-------------------------------------+
+| Interface | Controller | Driver/Component                    |
++===========+============+=====================================+
+| NVIC      | on-chip    | interrupt controller                |
++-----------+------------+-------------------------------------+
+| SYSTICK   | on-chip    | systick                             |
++-----------+------------+-------------------------------------+
+| CLOCK     | on-chip    | clock_control                       |
++-----------+------------+-------------------------------------+
+| PINMUX    | on-chip    | pinmux                              |
++-----------+------------+-------------------------------------+
+| UART      | on-chip    | serial port                         |
++-----------+------------+-------------------------------------+
+| GPIO      | on-chip    | GPIO                                |
++-----------+------------+-------------------------------------+
+
 Devices
 ========
 System Clock
@@ -78,12 +97,13 @@ 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 UART4.
+CPU's UART2 for A55 core and M33 core.
 
 Board MUX Control
 -----------------
@@ -114,8 +134,8 @@ 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.
 
-Programming and Debugging
+Programming and Debugging (A55)
-*************************
+*******************************
 
 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
@@ -145,7 +165,7 @@ for example, with the :zephyr:code-sample:`synchronization` sample:
    :goals: run
 
 This will build an image with the synchronization sample app, boot it and
-display the following ram console output:
+display the following console output:
 
 .. code-block:: console
 
@@ -155,6 +175,45 @@ display the following ram console output:
     thread_a: Hello World from cpu 0 on mimx93_evk_a55!
     thread_b: Hello World from cpu 0 on mimx93_evk_a55!
 
+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:
+
+.. code-block:: console
+
+    load mmc 1:1 0x80000000 zephyr.bin;cp.b 0x80000000 0x201e0000 0x30000;bootaux 0x1ffe0000 0
+
+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
 ==========
 

boards/nxp/imx93_evk/imx93_evk_mimx9352_m33.dts

@@ -0,0 +1,83 @@
+/*
+ * Copyright 2024 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <nxp/nxp_imx93_m33.dtsi>
+#include "imx93_evk-pinctrl.dtsi"
+
+/ {
+	model = "NXP i.MX93 EVK board";
+	compatible = "nxp,imx93_evk";
+
+	chosen {
+		/* TCM */
+		zephyr,flash = &itcm;
+		zephyr,sram = &dtcm;
+
+		zephyr,console = &lpuart2;
+		zephyr,shell-uart = &lpuart2;
+	};
+
+	aliases {
+		led0 = &led_r;
+		led1 = &led_g;
+		sw0 = &btn_1;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+		led_r: led_r {
+			label = "LED_R";
+			gpios = <&gpio2 13 GPIO_ACTIVE_HIGH>;
+		};
+		led_g: led_g {
+			label = "LED_G";
+			gpios = <&gpio2 4 GPIO_ACTIVE_HIGH>;
+		};
+		led_b: led_b {
+			label = "LED_B";
+			gpios = <&gpio2 12 GPIO_ACTIVE_HIGH>;
+		};
+	};
+
+	keys {
+		compatible = "gpio-keys";
+
+		btn_1: btn_1{
+			label = "BTN1";
+			gpios = <&gpio2 23 GPIO_ACTIVE_LOW>;
+		};
+
+		btn_2: btn_2{
+			label = "BTN2";
+			gpios = <&gpio2 24 GPIO_ACTIVE_LOW>;
+		};
+	};
+};
+
+&lpuart2 {
+	status = "okay";
+	current-speed = <115200>;
+	pinctrl-0 = <&uart2_default>;
+	pinctrl-names = "default";
+};
+
+&gpio1 {
+	status = "okay";
+};
+
+&gpio2 {
+	status = "okay";
+};
+
+&gpio3 {
+	status = "okay";
+};
+
+&gpio4 {
+	status = "okay";
+};

boards/nxp/imx93_evk/imx93_evk_mimx9352_m33.yaml

@@ -0,0 +1,16 @@
+# Copyright 2024 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+identifier: imx93_evk/mimx9352/m33
+name: NXP i.MX93 EVK M33
+type: mcu
+arch: arm
+toolchain:
+  - zephyr
+  - cross-compile
+ram: 128
+flash: 128
+supported:
+  - gpio
+  - uart
+vendor: nxp

boards/nxp/imx93_evk/imx93_evk_mimx9352_m33_defconfig

@@ -0,0 +1,10 @@
+# Copyright 2024 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_CLOCK_CONTROL=y
+CONFIG_PINCTRL=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_CONSOLE=y
+CONFIG_XIP=y