i.MX93 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 to run on one of the Cortex®-A55 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
The Zephyr mimx93_evk board Cortex-A Core configuration supports the following hardware features:
Interface |
Controller |
Driver/Component |
|---|---|---|
GIC-v4 |
on-chip |
interrupt controller |
ARM TIMER |
on-chip |
system clock |
CLOCK |
on-chip |
clock_control |
PINMUX |
on-chip |
pinmux |
UART |
on-chip |
serial port |
GPIO |
on-chip |
GPIO |
I2C |
on-chip |
i2c |
SPI |
on-chip |
spi |
CAN |
on-chip |
can |
TPM |
on-chip |
TPM Counter |
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
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.
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:
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:
Enable Kconfig option
CONFIG_BOARD_MIMX93_EVK_EXP_SEL_INIT.Select
mux="A";ormux="B";in&board_exp_seldevicetree 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.
Programming and Debugging (A55)
U-Boot “cpu” command is used to load and kick Zephyr to Cortex-A secondary Core, Currently it 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.
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-A55 Core1:
fatload mmc 1:1 0xd0000000 zephyr.bin; dcache flush; icache flush; cpu 1 release 0xd0000000
Or use the following command to kick zephyr.bin to Cortex-A55 Core0:
fatload mmc 1:1 0xd0000000 zephyr.bin; dcache flush; icache flush; go 0xd0000000
Use this configuration to run basic Zephyr applications and kernel tests, for example, with the Basic Synchronization sample:
# From the root of the zephyr repository
west build -b imx93_evk/mimx9352/a55 samples/synchronization
This will build an image with the synchronization sample app, boot it and display the following console output:
*** 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 Custom Shell module sample:
# From the root of the zephyr repository
west build -b imx93_evk/mimx9352/a55 samples/subsys/shell/shell_module
This will build an image with the shell sample app, boot it and execute kernel reboot command in shell command line:
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
load mmc 1:1 0x80000000 zephyr.bin;cp.b 0x80000000 0x201e0000 0x30000;bootaux 0x1ffe0000 0
Boot with code from DDR
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”.
Use this configuration to run basic Zephyr applications and kernel tests, for example, with the Basic Synchronization sample:
# From the root of the zephyr repository
west build -b imx93_evk/mimx9352/m33 samples/synchronization
west build -t run
This will build an image with the synchronization sample app, boot it and display the following console output:
*** 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.
References
More information can refer to NXP official website: NXP website.
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.
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.
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).
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.