boards/nxp/imx93_evk/doc/index.rst - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 .. 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

 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
	.. 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

	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