boards: toradex: add toradex verdin imx8mm board

Add Toradex Verdin iMX8M Mini board based on NXP MIMX8MM EVK using the
i.MX8MM SoC. This code is intented to be used with the Cortex-M4.

Signed-off-by: Hiago De Franco <hiago.franco@toradex.com>

boards/toradex/verdin_imx8mm/Kconfig.defconfig

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+# VERDIN_IMX8MM board defconfig
+#
+# Copyright (c) 2024, Toradex
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_VERDIN_IMX8MM
+
+if !XIP
+config FLASH_SIZE
+	default 0
+config FLASH_BASE_ADDRESS
+	default 0
+endif
+
+endif # BOARD_VERDIN_IMX8MM

boards/toradex/verdin_imx8mm/Kconfig.verdin_imx8mm

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+# Copyright (c) 2024 Toradex
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_VERDIN_IMX8MM
+	select SOC_PART_NUMBER_MIMX8MM6DVTLZ
+	select SOC_MIMX8MM6_M4 if BOARD_VERDIN_IMX8MM_MIMX8MM6_M4

boards/toradex/verdin_imx8mm/board.cmake

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+#
+# Copyright (c) 2024, Toradex
+#
+# 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/toradex/verdin_imx8mm/board.yml

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+board:
+  name: verdin_imx8mm
+  full_name: Verdin iMX8M Mini
+  vendor: toradex
+  socs:
+    - name: mimx8mm6

boards/toradex/verdin_imx8mm/doc/index.rst

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+.. zephyr:board:: verdin_imx8mm
+
+Overview
+********
+
+The Verdin iMX8M Mini is a System on Module based on the NXP® i.MX 8M Mini family of
+embedded System on Chips (SoCs). The i.MX 8M Mini family consists of the i.MX 8M Mini Quad,
+i.MX 8M Mini QuadLite, i.MX 8M Mini Dual, i.MX 8M Mini DualLite, i.MX 8M Mini Solo, and i.MX
+8M Mini SoloLite. The top-tier i.MX 8M Mini Quad features four Cortex-A53 cores as the main
+processor cluster. The cores provide complete 64-bit Armv8-A support while maintaining seamless
+backwards compatibility with 32-bit Armv7-A software. The main cores run at up to 1.8 GHz for
+commercial graded products and 1.6 GHz for industrial temperature range products.
+
+In addition to the main CPU complex, the i.MX 8M Mini features a Cortex-M4F processor which
+peaks up to 400 MHz. This processor is independent of the main complex and features its own
+dedicated interfaces while still being able to access the regular interfaces. This heterogeneous
+multicore system allows for the running of additional real-time operating systems on the M4 cores
+for time- and security-critical tasks.
+
+- Board features:
+
+  - RAM: 1GB - 2GB (LPDDR4)
+  - Storage:
+
+    - 4GB - 17GB eMMC
+    - 2KB I²C EEPROM
+  - Wireless:
+
+    - WiFi Dual-band 802.11 ac/a/b/g/n 2.4/5 GHz
+    - Bluetooth 5/BLE
+  - USB:
+
+    - 1x USB2.0 Host
+    - 1x USB2.0 OTG
+  - Ethernet Gigabit
+  - Interfaces:
+
+    - MIPI DSI 1x4 Data Lanes
+    - PCIe Gen 2
+    - MIPI CSI-2
+    - SPI
+    - QSPI
+    - UART
+    - I²C
+    - I²S
+    - SD/SDIO/MMC
+    - GPIOs
+    - CAN
+    - ADC
+    - S/PDIF
+  - Debug
+
+    - JTAG 10-pin connector
+
+More information about the board can be found at the
+`Toradex website`_.
+
+Supported Features
+==================
+
+The Zephyr ``verdin_imx8mm/mimx8mm6/m4`` board target 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/toradex/verdin_imx8mm/verdin_imx8mm_mimx8mm6_m4_defconfig`.
+
+It is recommended to disable peripherals used by the M4 core on the Linux host.
+
+Other hardware features are not currently supported by the port.
+
+Connections and IOs
+===================
+
+UART:
+
+Zephyr is configured to use the UART4 by default, which is connected to the FTDI
+USB converter on most Toradex carrier boards.
+
+This is also the UART connected to WiFi/BT chip in modules that have the WiFi/BT
+chip. Therefore, if UART4 is used, WiFI/BT will not work properly.
+
+If the WiFi/BT is needed, then another UART should be used for Zephyr (UART2 for
+example). You can change the UART by changing the ``zephyr,console`` and
+``zephyr,shell-uart`` in the :zephyr_file:`boards/toradex/verdin_imx8mm/verdin_imx8mm_mimx8mm6_m4.dts` file.
+
++---------------+-----------------+---------------------------+
+| Board Name    | SoC Name        | Usage                     |
++===============+=================+===========================+
+| UART_1        | UART2           | General purpose UART      |
++---------------+-----------------+---------------------------+
+| UART_2        | UART3           | General purpose UART      |
++---------------+-----------------+---------------------------+
+| UART_3        | UART1           | Cortex-A53 debug UART     |
++---------------+-----------------+---------------------------+
+| UART_4        | UART4           | Cortex-M4 debug UART      |
++---------------+-----------------+---------------------------+
+
+GPIO:
+
+All the GPIO banks are enabled in the :zephyr_file:`dts/arm/nxp/nxp_imx8m_m4.dtsi`.
+
+LED:
+
+There is no LED in the module itself, this is dependent on the carrier board that
+is being used with the module. The device tree is configured to use the GPIO3_IO1,
+which can be connected to the LED of the Verdin Development Board or changed in the
+:zephyr_file:`boards/toradex/verdin_imx8mm/verdin_imx8mm_mimx8mm6_m4.dts` if needed.
+
+System Clock
+============
+
+The M4 Core is configured to run at a 400 MHz clock speed.
+
+Programming and Debugging
+*************************
+
+The i.MX8MM doesn't have QSPI flash for the M4 and it needs
+to be started by the A53 core. The A53 core is responsible to load the M4 binary
+application into the RAM, putting the M4 in reset, setting the M4 Program Counter and
+Stack Pointer, and get the M4 out of reset. The A53 can perform these steps at the
+bootloader level or after the Linux system has booted via RemoteProc.
+
+The M4 can use up to 3 different RAMs. 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 :zephyr_file:`boards/toradex/verdin_imx8mm/verdin_imx8mm_mimx8mm6_m4.dts`
+with "zephyr,flash" (when CONFIG_XIP=y) and "zephyr,sram" properties.
+The available configurations are:
+
+.. code-block:: none
+
+   "zephyr,flash"
+   - &tcml_code
+   - &ocram_code
+   - &ocram_s_code
+
+   "zephyr,sram"
+   - &tcmu_sys
+   - &ocram_sys
+   - &ocram_s_sys
+
+Starting the Cortex-M4 via U-Boot
+=================================
+
+Load and run Zephyr on M4 from A53 using u-boot by copying the compiled
+``zephyr.bin`` to the eMMC (can be the FAT or EXT4 partition). You can do it
+by using a USB stick or through the ethernet with the scp command, for example.
+Power it up and stop at the u-boot prompt.
+
+Load the M4 binary onto the desired memory and start its execution using:
+
+.. code-block:: console
+
+   fatload mmc 0:1 ${loadaddr} zephyr.bin
+   cp.b ${loadaddr} 0x7e0000 <size_of_binary_in_bytes>
+   bootaux 0x7e0000
+
+Or if the binary is on the ext4 partition:
+
+.. code-block:: console
+
+   ext4load mmc 0:2 ${loadaddr} /path/to/zephyr.bin
+   cp.b ${loadaddr} 0x7e0000 <size_of_binary_in_bytes>
+   bootaux 0x7e0000
+
+If you are using `TorizonCore`_ OS, then you should use partition 1:
+
+.. code-block:: console
+
+   ext4load mmc 0:1 ${loadaddr} /path/to/zephyr.bin
+   cp.b ${loadaddr} 0x7e0000 <size_of_binary_in_bytes>
+   bootaux 0x7e0000
+
+Starting the Cortex-M4 via RemoteProc
+=====================================
+
+Copy the ``zepyhr.elf`` to ``/lib/firmware`` on the target.
+
+.. note::
+   In order to use remoteproc you have to add ``imx8mm-verdin_hmp_overlay.dtbo`` at
+   the end of the line in the ``/boot/overlays.txt``, then reboot the target. If
+   you are using `TorizonCore`_, then this file is located at
+   ``/boot/ostree/torizon-<hash>/dtb/overlays.txt``.
+
+To load and start a firmware use these commands:
+
+.. code-block:: console
+
+   verdin-imx8mm:~# echo zepyhr.elf > /sys/class/remoteproc/remoteproc0/firmware
+   verdin-imx8mm:~# echo start > /sys/class/remoteproc/remoteproc0/state
+   [   94.714498] remoteproc remoteproc0: powering up imx-rproc
+   [   94.720481] remoteproc remoteproc0: Booting fw image zephyr.elf, size 473172
+   [   94.727713] remoteproc remoteproc0: No resource table in elf
+   [   94.733615] 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
+=========
+
+MIMX8MM EVK board can be debugged by connecting an external JLink
+JTAG debugger to the J902 debug connector and to the PC. Then
+the application can be debugged using the usual way.
+
+Here is an example for the :zephyr:code-sample:`hello_world` application.
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/hello_world
+   :board: verdin_imx8mm/mimx8mm6/m4
+   :goals: debug
+
+Open a serial terminal, step through the application in your debugger, and you
+should see the following message in the terminal:
+
+.. code-block:: console
+
+   *** Booting Zephyr OS build zephyr-v3.4.0-1251-g43c549305bdb ***
+   Hello World! verdin_imx8mm_m4
+
+.. _Toradex website:
+   https://developer.toradex.com/hardware/verdin-som-family/modules/verdin-imx8m-mini/
+
+.. _i.MX 8M Applications Processor Reference Manual:
+   https://www.nxp.com/webapp/Download?colCode=IMX8MMRM
+
+.. _TorizonCore:
+   https://developer.toradex.com/torizon/

boards/toradex/verdin_imx8mm/verdin_imx8mm-pinctrl.dtsi

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+/*
+ * Copyright (c) 2023 Toradex
+ *
+ * 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 = "x6";
+		};
+	};
+
+	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 = "x6";
+		};
+	};
+
+	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 = "x6";
+		};
+	};
+
+	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 = "x6";
+		};
+	};
+};

boards/toradex/verdin_imx8mm/verdin_imx8mm_mimx8mm6_m4.dts

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+/*
+ * Copyright (c) 2024, Toradex
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <nxp/nxp_imx8mm_m4.dtsi>
+#include "verdin_imx8mm-pinctrl.dtsi"
+
+/ {
+	model = "Toradex Verdin iMX8M Mini";
+	compatible = "nxp,verdin_imx8mm";
+
+	aliases {
+		uart-1 = &uart1;
+		uart-2 = &uart2;
+		uart-3 = &uart3;
+		uart-4 = &uart4;
+		led0 = &led_0;
+	};
+
+	chosen {
+		zephyr,flash = &tcml_code;
+		zephyr,sram = &tcmu_sys;
+		zephyr,console = &uart4;
+		zephyr,shell-uart = &uart4;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+
+		led_0: led_0 {
+			gpios = <&gpio3 0 GPIO_ACTIVE_HIGH>;
+		};
+	};
+};
+
+&gpio3 {
+	status = "okay";
+};
+
+&mailbox0 {
+	status = "okay";
+};
+
+&uart1 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart4_default>;
+	current-speed = <115200>;
+	status = "disabled";
+};
+
+&uart2 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart4_default>;
+	current-speed = <115200>;
+	status = "disabled";
+};
+
+&uart3 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart4_default>;
+	current-speed = <115200>;
+	status = "disabled";
+};
+
+&uart4 {
+	pinctrl-names = "default";
+	pinctrl-0 = <&uart4_default>;
+	current-speed = <115200>;
+	status = "okay";
+};

boards/toradex/verdin_imx8mm/verdin_imx8mm_mimx8mm6_m4.yaml

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+#
+# Copyright (c) 2024 Toradex
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+identifier: verdin_imx8mm/mimx8mm6/m4
+name: Toradex Verdin iMX8M Mini
+type: mcu
+arch: arm
+ram: 128
+flash: 128
+toolchain:
+  - zephyr
+  - gnuarmemb
+  - xtools
+testing:
+  ignore_tags:
+    - net
+    - bluetooth
+vendor: toradex

boards/toradex/verdin_imx8mm/verdin_imx8mm_mimx8mm6_m4_defconfig

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+#
+# Copyright (c) 2024 Toradex
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+CONFIG_CLOCK_CONTROL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_SERIAL=y
+CONFIG_CONSOLE=y
+CONFIG_XIP=y
+CONFIG_GPIO=y