0fd3a992bd
Add initial support for the BeagleY-AI MAIN domain Cortex-R5F core. BeagleY-AI: https://www.beagleboard.org/boards/beagley-ai Signed-off-by: Andrew Davis <afd@ti.com>
118 lines
4.1 KiB
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118 lines
4.1 KiB
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.. zephyr:board:: beagley_ai
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Overview
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********
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BeagleY-AI is a computational platform powered by TI AM67A (J722S) SoC, which is
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targeted for automotive applications.
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Hardware
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********
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BeagleY-AI is powered by TI AM67A (J722S) SoC, which has two domains (Main,
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MCU). This document gives overview of Zephyr running on Cortex R5 in the
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Main domain.
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L1 Memory System
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----------------
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BeagleY-AI defaults to single-core mode for the R5 subsystem. Changes in that
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will impact the L1 memory system configuration.
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* 32KB instruction cache
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* 32KB data cache
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* 64KB tightly-coupled memory (TCM)
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* 32KB TCMA
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* 32KB TCMB
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Region Address Translation
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--------------------------
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The RAT module performs a region based address translation. It translates a
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32-bit input address into a 36-bit output address. Any input transaction that
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starts inside of a programmed region will have its address translated, if the
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region is enabled.
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VIM Interrupt Controller
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------------------------
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The VIM aggregates device interrupts and sends them to the R5F CPU(s). The VIM
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module supports 512 interrupt inputs per R5F core. Each interrupt can be either
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a level or a pulse (both active-high). The VIM has two interrupt outputs per core
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IRQ and FIQ.
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Supported Features
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******************
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The board configuration supports a console UART via the HAT header pins. Future
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versions will also support a console over RPmsg.
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+-----------+------------+-----------------------+
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| Interface | Controller | Driver/Component |
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+===========+============+=======================+
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| UART | on-chip | serial port-polling |
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| | | serial port-interrupt |
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+-----------+------------+-----------------------+
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Other hardware features are currently not supported.
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The default configuration can be found in the defconfig file.
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Future configurations will add support for GPIO, I2C, SPI, etc.
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Running Zephyr
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**************
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The AM67A does not have a separate flash for the R5 core. Because of this
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an A53 core has to load the program for the R5 core to the right memory
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address, set the PC and start the processor.
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This can be done from Linux on the A53 core via remoteproc.
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This is the memory mapping from A53 to the memory usable by the R5. Note that
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the R5 core always sees its local TCMA at address 0x00000000 and its TCMB0
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at address 0x41010000.
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The A53 Linux configuration allocates a region in DDR that is shared with
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the R5. The amount of the allocation can be changed in the Linux device tree.
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Note that BeagleY-AI has 4GB of DDR.
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+-------------------+---------------+--------------+--------+
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| Region | Addr from A53 | MAIN R5F | Size |
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+===================+===============+==============+========+
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| ATCM | 0x0078400000 | 0x0000000000 | 32KB |
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+-------------------+---------------+--------------+--------+
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| BTCM | 0x0078500000 | 0x0041010000 | 32KB |
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+-------------------+---------------+--------------+--------+
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| DDR Shared Region | 0x00A2000000 | 0x00A2000000 | 16MB |
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+-------------------+---------------+--------------+--------+
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Steps to run the image
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----------------------
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Here is an example for the :zephyr:code-sample:`hello_world` application
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targeting the MAIN domain Cortex R5F on BeagleY-AI:
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.. zephyr-app-commands::
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:zephyr-app: samples/hello_world
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:board: beagley_ai/j722s/main_r5f0_0
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:goals: build
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To load the image:
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| Copy Zephyr image to the /lib/firmware/ directory.
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| ``cp build/zephyr/zephyr.elf /lib/firmware/``
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| Ensure the Core is not running.
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| ``echo stop > /dev/remoteproc/am67a-main-r5f0_0/state``
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| Configuring the image name to the remoteproc module.
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| ``echo zephyr.elf > /dev/remoteproc/am67a-main-r5f0_0/firmware``
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| Once the image name is configured, send the start command.
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| ``echo start > /dev/remoteproc/am67a-main-r5f0_0/state``
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Console
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-------
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The Zephyr on BeagleY-AI Cortex-R5F uses UART 1 (HAT pins 8-TX, 10-RX)
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as console.
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References
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**********
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* `BeagleY-AI Homepage <https://beagley.ai>`_
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* `AM67A TRM <https://www.ti.com/lit/zip/sprujb3>`_
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* `Pinout guide <https://pinout.beagley.ai/>`_
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* `Documentation <https://docs.beagleboard.org/latest/boards/beagley/ai>`_
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