arm64/imx9: Add board for imx93-evk

Adds board definition for imx93-evk board

- Support for the Cortex-A55 core in i.MX93, support for the Cortex-M33
  core is _not_ provided
- "nsh" profile is provided, this includes a minimalistic feature set
  which boots the SoM to nsh console
- A bootloader is required, u-boot has been tested

Documentation/platforms/arm64/imx9/boards/imx93-evk/README.txt

@@ -0,0 +1,145 @@
+README.txt
+==========
+
+The kit i.MX93 Evaluation Kit has a pre-installed Linux image which contains
+u-boot and the i.MX93 reference Linux installation.
+
+u-boot is required to boot NuttX (for now) as it initializes the hardware for
+us, i.e. DDR, clocks, I/O muxes etc.
+
+==========================================
+
+How to run nuttx on i.MX93 Evaluation Kit.
+
+==========================================
+
+Below is a set of instructions on how to run NuttX on the i.MX93 EVK
+
+==========================================
+
+Pre-requisites
+
+==========================================
+
+- imx93_ca55.JLinkScript which is a custom file, put it wherever you want
+
+==========================================
+
+U-Boot configuration
+
+==========================================
+
+Two things need to be configured on u-boot before NuttX can be loaded:
+
+- u-boot data cache must be turned off
+- u-boot must stop to the u-boot console, i.e. the Linux payload must not be loaded
+
+Manual option:
+
+1. Disable u-boot autostart (needs to be done only once):
+
+    Hit any key to stop autoboot:  0
+    u-boot=> setenv bootdelay -1
+    u-boot=> saveenv
+    Saving Environment to MMC... Writing to MMC(0)... OK
+    u-boot=> reset
+
+2. On every boot, the data cache must be disabled for options 2 and 3 to work
+
+    u-boot=> dcache off
+
+Automated option:
+
+1. Replace the default bootcmd to disable dcache automatically:
+
+    u-boot=> setenv bootcmd dcache off
+    u-boot=> saveenv
+    Saving Environment to MMC... Writing to MMC(0)... OK
+    u-boot=> reset
+
+To restore the default bootcmd which starts Linux automatically:
+
+    u-boot=> setenv bootcmd run distro_bootcmd;run bsp_bootcmd
+    u-boot=> saveenv
+    Saving Environment to MMC... Writing to MMC(0)... OK
+    u-boot=> reset
+
+The default bootcmd is:
+
+u-boot=> env print bootcmd
+bootcmd=run distro_bootcmd;run bsp_bootcmd
+
+==========================================
+
+Loading and running the NuttX image
+
+==========================================
+
+You have three options:
+
+1 - Load via u-boot from SD-card
+2 - Load via gdb
+3 - Load via JLink
+
+==========================================
+
+Option 1: load via u-boot from SD-card:
+
+==========================================
+
+1. Build nuttx, and move nuttx.bin to SD-card
+
+2. Load from SD-card and start nuttx payload
+
+    u-boot=> dcache off; fatload mmc 1 0x80000000 nuttx.bin; go 0x80000000
+
+==========================================
+
+Option 2: start via gdb:
+
+==========================================
+
+1. Start JLinkGDBServer
+
+    JLinkGDBServer -device CORTEX-A55 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
+
+2. Start gdb
+
+    $ aarch64-none-elf-gdb
+
+ 2.1 Attach and load nuttx
+
+    (gdb) target remote localhost:2331
+    (gdb) set mem inaccessible-by-default off
+    (gdb) load <path_to>/nuttx
+    (gdb) monitor go
+
+==========================================
+
+Option 3: load with JLink:
+
+==========================================
+
+1. Start JLink 
+
+    $ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
+
+ 1.1 Add -AutoConnect 1 to connect automatically
+
+    $ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript -AutoConnect 1
+
+2. Connect JLink
+    
+ 2.1 Connect to the debugger
+
+    Type "connect" to establish a target connection, '?' for help
+    J-Link>connect
+
+    You should now have a JLink prompt.
+    
+    Cortex-A55 identified.
+    J-Link>
+
+3. Load nuttx. Note that JLink expects the .elf extension, the default build output of nuttx is just "nuttx" without the extension, so it must be added to the file...
+
+    J-Link>LoadFile <path_to>/nuttx.elf

Documentation/platforms/arm64/imx9/boards/imx93-evk/index.rst

@@ -0,0 +1,6 @@
+==========
+imx93-evk
+==========
+
+.. include:: README.txt
+   :literal:

Documentation/platforms/arm64/imx9/index.rst

@@ -0,0 +1,12 @@
+=========
+NXP i.MX9
+=========
+
+Supported Boards
+================
+
+.. toctree::
+   :glob:
+   :maxdepth: 1
+
+   boards/*/*

boards/Kconfig

@@ -2119,6 +2119,14 @@ config ARCH_BOARD_IMX8QM_MEK
 		This options selects support for NuttX on the NXP i.MX8 QuadMax CPUs MEK
 		configure board with ARM Cortex-A53.
 
+config ARCH_BOARD_IMX93_EVK
+	bool "NXP i.MX93 CPUs EVK board"
+	depends on ARCH_CHIP_IMX93
+	select ARCH_HAVE_IRQBUTTONS
+	---help---
+		This options selects support for NuttX on the NXP i.MX93 CPUs EVK
+		board with ARM Cortex-A55.
+
 config ARCH_BOARD_SAMA5D2_XULT
 	bool "Atmel SAMA5D2 Xplained Ultra development board"
 	depends on ARCH_CHIP_ATSAMA5D27
@@ -3306,6 +3314,7 @@ config ARCH_BOARD
 	default "fvp-armv8r"                if ARCH_BOARD_FVP_ARMV8R
 	default "fvp-armv8r-aarch32"        if ARCH_BOARD_FVP_ARMV8R_AARCH32
 	default "imx8qm-mek"                if ARCH_BOARD_IMX8QM_MEK
+	default "imx93-evk"                 if ARCH_BOARD_IMX93_EVK
 	default "sama5d2-xult"              if ARCH_BOARD_SAMA5D2_XULT
 	default "giant-board"               if ARCH_BOARD_GIANT_BOARD
 	default "jupiter-nano"              if ARCH_BOARD_JUPITER_NANO
@@ -3524,6 +3533,9 @@ endif
 if ARCH_BOARD_IMX8QM_MEK
 source "boards/arm64/imx8/imx8qm-mek/Kconfig"
 endif
+if ARCH_BOARD_IMX93_EVK
+source "boards/arm64/imx9/imx93-evk/Kconfig"
+endif
 if ARCH_BOARD_IMXRT1020_EVK
 source "boards/arm/imxrt/imxrt1020-evk/Kconfig"
 endif

boards/arm64/imx9/imx93-evk/Kconfig

@@ -0,0 +1,7 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_BOARD_IMX9QM_MEK
+endif

boards/arm64/imx9/imx93-evk/configs/nsh/defconfig

@@ -0,0 +1,61 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm64"
+CONFIG_ARCH_ARM64=y
+CONFIG_ARCH_BOARD="imx93-evk"
+CONFIG_ARCH_BOARD_IMX93_EVK=y
+CONFIG_ARCH_CHIP="imx9"
+CONFIG_ARCH_CHIP_IMX93=y
+CONFIG_ARCH_CHIP_IMX9=y
+CONFIG_ARCH_EARLY_PRINT=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SCHED=y
+CONFIG_DEBUG_SCHED_ERROR=y
+CONFIG_DEBUG_SCHED_INFO=y
+CONFIG_DEBUG_SCHED_WARN=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_TASK_STACKSIZE=8192
+CONFIG_DEV_ZERO=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=8192
+CONFIG_IMX9_UART1=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAMLOG=y
+CONFIG_RAM_SIZE=134217728
+CONFIG_RAM_START=0x80000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_SPINLOCK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_MONTH=3
+CONFIG_START_YEAR=2022
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_SYSTEM_TIME64=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_UART1_SERIAL_CONSOLE=y

boards/arm64/imx9/imx93-evk/include/board.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/include/board.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_H
+#define __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_H */

boards/arm64/imx9/imx93-evk/include/board_memorymap.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/include/board_memorymap.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_MEMORYMAP_H
+#define __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_MEMORYMAP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM64_IMX9_IMX93_EVK_INCLUDE_BOARD_MEMORYMAP_H */

boards/arm64/imx9/imx93-evk/scripts/Make.defs

@@ -0,0 +1,48 @@
+############################################################################
+# boards/arm64/imx9/imx93-evk/scripts/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/.config
+include $(TOPDIR)/tools/Config.mk
+include $(TOPDIR)/arch/arm64/src/Toolchain.defs
+
+LDSCRIPT = dramboot.ld
+
+ARCHSCRIPT += $(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT)
+
+CFLAGS := $(ARCHCFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS := $(ARCHCXXFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS := $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
+AFLAGS := $(CFLAGS) -D__ASSEMBLY__
+
+# NXFLAT module definitions
+
+NXFLATLDFLAGS1 = -r -d -warn-common
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)$(DELIM)binfmt$(DELIM)libnxflat$(DELIM)gnu-nxflat-pcrel.ld -no-check-sections
+LDNXFLATFLAGS = -e main -s 2048
+
+# ELF module definitions
+
+CELFFLAGS = $(CFLAGS) -mlong-calls # --target1-abs
+CXXELFFLAGS = $(CXXFLAGS) -mlong-calls # --target1-abs
+
+LDELFFLAGS = -r -e main
+LDELFFLAGS += -T $(call CONVERT_PATH,$(TOPDIR)/binfmt/libelf/gnu-elf.ld)

boards/arm64/imx9/imx93-evk/scripts/dramboot.ld

@@ -0,0 +1,157 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/scripts/dramboot.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+OUTPUT_ARCH(aarch64)
+
+ENTRY(__start)
+EXTERN(__start)
+
+/* Memory is organized as follows:
+ * - Uboot reserved area is 0x00000000 - 0x00a00000
+ * - NuttX is loaded to 0x80000000, u-boot expects us here
+ * - NuttX ROM and RAM are one continuous region, starting from 0x80000000
+     with a size of 128MB
+ * - Heap memory is allocated from dram end to idlestack top
+ */
+
+MEMORY
+{
+  dram (rwx) : ORIGIN = 0x80000000, LENGTH = 128M
+}
+
+PHDRS
+{
+  /* R = 100, W = 010, X = 001 */
+
+  text   PT_LOAD FLAGS(5); /* RX */
+  rodata PT_LOAD FLAGS(4); /* R  */
+  data   PT_LOAD FLAGS(6); /* RW */
+}
+
+SECTIONS
+{
+  .text  :
+    {
+      _stext = ABSOLUTE(.);  /* Text section */
+      *(.text.__start)       /* Place __start here */
+      *(.text .text.*)
+      *(.text.cold)
+      *(.text.unlikely)
+      *(.fixup)
+      *(.gnu.warning)
+    } > dram :text
+
+  .init_section :
+    {
+      _sinit = ABSOLUTE(.);
+      KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
+      KEEP(*(.init_array .ctors))
+      _einit = ABSOLUTE(.);
+    } > dram :text
+
+  /* Vector table must be page aligned */
+
+  .vector : ALIGN(4096)
+    {
+      _vector_start = ABSOLUTE(.);
+      KEEP(*(.exc_vector_table))
+      KEEP(*(".exc_vector_table.*"))
+      KEEP(*(.vectors))
+      _vector_end = ABSOLUTE(.);
+    } > dram :text
+
+  /* End of text data must be aligned to page boundary */
+
+  . = ALIGN(4096);
+  _etext = .;
+  _sztext = _etext - _stext;
+
+  /* Start of RO data must be page aligned (mapped as read only) */
+
+  .rodata : ALIGN(4096)
+    {
+      _srodata = ABSOLUTE(.);          /* Read-only data */
+      *(.rodata .rodata.*)
+      *(.data.rel.ro)
+      *(.data.rel.ro.*)
+    } > dram :rodata
+
+  /* End of RO data must be page aligned */
+
+  . = ALIGN(4096);
+
+  _erodata = .;                /* End of read-only data */
+  _szrodata = _erodata - _srodata;
+  _eronly = .;  /* End of read-only data */
+
+  .data : ALIGN(4096)
+    {
+      _sdata = ABSOLUTE(.);
+      *(.data.page_aligned)
+      *(.data .data.*)
+      . = ALIGN(8);
+      *(.data.rel)
+      *(.data.rel.*)
+      CONSTRUCTORS
+      . = ALIGN(8);
+      _edata = ABSOLUTE(.);
+    } > dram :data
+
+  .bss :
+    {
+      . = ALIGN(8);
+      _sbss = ABSOLUTE(.);
+      *(.bss .bss.*)
+      . = ALIGN(8);
+      _ebss = ABSOLUTE(.);
+    } > dram :data
+
+  _szbss = _ebss - _sbss;
+
+  .initstack :
+    {
+      _s_initstack = ABSOLUTE(.);
+      *(.initstack)
+    } > dram :data
+
+  /* End of data must be page aligned */
+  . = ALIGN(4096);
+
+  g_idle_topstack = .;
+  _e_initstack = .;
+  _szdata = _e_initstack - _sdata;
+
+  /* Sections to be discarded */
+  /DISCARD/ : {
+       *(.exit.text)
+       *(.exit.data)
+       *(.exitcall.exit)
+       *(.eh_frame)
+  }
+
+  /* Stabs debugging sections.  */
+  .stab 0 : { *(.stab) }
+  .stabstr 0 : { *(.stabstr) }
+  .stab.excl 0 : { *(.stab.excl) }
+  .stab.exclstr 0 : { *(.stab.exclstr) }
+  .stab.index 0 : { *(.stab.index) }
+  .stab.indexstr 0 : { *(.stab.indexstr) }
+  .comment 0 : { *(.comment) }
+}

boards/arm64/imx9/imx93-evk/src/Makefile

@@ -0,0 +1,29 @@
+############################################################################
+# boards/arm64/imx9/emx93-evk/src/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/Make.defs
+
+CSRCS = imx9_boardinit.c imx9_bringup.c
+
+ifeq ($(CONFIG_BOARDCTL),y)
+CSRCS += imx9_appinit.c
+endif
+
+include $(TOPDIR)/boards/Board.mk

boards/arm64/imx9/imx93-evk/src/imx93-evk.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/src/imx93-evk.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM64_IMX9_IMX93_EVK_SRC_IMX93_EVK_H
+#define __BOARDS_ARM64_IMX9_IMX93_EVK_SRC_IMX93_EVK_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Functions Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: imx9_bringup
+ *
+ * Description:
+ *   Bring up board features
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_BOARDCTL) || defined(CONFIG_BOARD_LATE_INITIALIZE)
+int imx9_bringup(void);
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM64_IMX9_IMX93_EVK_SRC_IMX93_EVK_H */

boards/arm64/imx9/imx93-evk/src/imx9_appinit.c

@@ -0,0 +1,76 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/src/imx9_appinit.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <nuttx/board.h>
+
+#include "imx93-evk.h"
+
+#ifdef CONFIG_BOARDCTL
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initialization logic and the
+ *         matching application logic.  The value could be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+int board_app_initialize(uintptr_t arg)
+{
+  UNUSED(arg);
+#ifndef CONFIG_BOARD_LATE_INITIALIZE
+  /* Perform board initialization */
+
+  return imx9_bringup();
+#else
+  return OK;
+#endif
+}
+
+#endif /* CONFIG_BOARDCTL */

boards/arm64/imx9/imx93-evk/src/imx9_boardinit.c

@@ -0,0 +1,113 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/src/imx9_boardinit.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdint.h>
+#include <nuttx/board.h>
+#include "imx93-evk.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: imx9_memory_initialize
+ *
+ * Description:
+ *   All i.MX8 architectures must provide the following entry point.  This
+ *   entry point is called early in the initialization before memory has
+ *   been configured.  This board-specific function is responsible for
+ *   configuring any on-board memories.
+ *
+ *   Logic in imx9_memory_initialize must be careful to avoid using any
+ *   global variables because those will be uninitialized at the time this
+ *   function is called.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void imx9_memory_initialize(void)
+{
+  /* SDRAM was initialized by a bootloader in the supported configurations. */
+}
+
+/****************************************************************************
+ * Name: imx9_board_initialize
+ *
+ * Description:
+ *   All i.MX8 architectures must provide the following entry point.  This
+ *   entry point is called in the initialization phase -- after
+ *   imx_memory_initialize and after all memory has been configured and
+ *   mapped but before any devices have been initialized.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void imx9_board_initialize(void)
+{
+#ifdef CONFIG_ARCH_LEDS
+  /* Configure on-board LEDs if LED support has been selected. */
+
+#endif
+}
+
+/****************************************************************************
+ * Name: board_late_initialize
+ *
+ * Description:
+ *   If CONFIG_BOARD_LATE_INITIALIZE is selected, then an additional
+ *   initialization call will be performed in the boot-up sequence to a
+ *   function called board_late_initialize(). board_late_initialize() will be
+ *   called immediately after up_intitialize() is called and just before the
+ *   initial application is started.  This additional initialization phase
+ *   may be used, for example, to initialize board-specific device drivers.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_BOARD_LATE_INITIALIZE
+void board_late_initialize(void)
+{
+  /* Perform board initialization */
+
+  imx9_bringup();
+}
+#endif /* CONFIG_BOARD_LATE_INITIALIZE */

boards/arm64/imx9/imx93-evk/src/imx9_bringup.c

@@ -0,0 +1,62 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/src/imx9_bringup.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <syslog.h>
+
+#include <nuttx/fs/fs.h>
+
+#include "imx93-evk.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: imx_bringup
+ *
+ * Description:
+ *   Bring up board features
+ *
+ ****************************************************************************/
+
+int imx9_bringup(void)
+{
+  int ret;
+
+#ifdef CONFIG_FS_PROCFS
+  /* Mount the procfs file system */
+
+  ret = nx_mount(NULL, "/proc", "procfs", 0, NULL);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to mount procfs at /proc: %d\n", ret);
+    }
+#endif
+
+  UNUSED(ret);
+  return OK;
+}