[bsp][nxp][imx] Fix i.MX91 access peripheral issues

Author: xusiwei

.github/ALL_BSP_COMPILE.json

@@ -387,7 +387,8 @@
       "SUB_RTT_BSP": [
         "qemu-virt64-aarch64",
         "raspberry-pi/raspi3-64",
-        "raspberry-pi/raspi4-64"
+        "raspberry-pi/raspi4-64",
+        "nxp/imx/imx91"
       ]
     },
     {

bsp/Copyright_Notice.md

@@ -325,6 +325,17 @@ Path:
 
 - bsp/imx6ul/platform
 
+### imx91
+
+License: bsd-new
+
+Copyright: Copyright 2014-2016 Freescale Semiconductor, Inc.
+           Copyright 2016-2025 NXP
+
+Path:
+
+- bsp/nxp/imx/imx91/drivers/sdk
+
 ### imxrt
 
 License: clear-bsd

bsp/nxp/imx/imx91/.config

@@ -1469,7 +1469,7 @@ CONFIG_SOC_MIMX91X1D=y
 #
 # Hardware Drivers Config
 #
-# CONFIG_BSP_USING_EARLY_CONSOLE is not set
+CONFIG_BSP_USING_EARLY_CONSOLE=y
 CONFIG_BSP_USING_UART1=y
 CONFIG_BSP_USING_GIC=y
 CONFIG_BSP_USING_GICV3=y

bsp/nxp/imx/imx91/README.assets/GS-FRDM-IMX91-IMG1.webp

@@ -1,41 +1,215 @@
-# FRDM-IMX91 RT-Thread BSP
+# FRDM-IMX91 板级支持包 使用说明
 
-This folder contains the RT-Thread BSP for the NXP FRDM-IMX91 development board.
+本目录包含NXP FRDM-IMX91 开发板的板级支持包代码。
 
-## Board Overview
+## 1. 简介
 
-## Build and Run
+### 1.1 i.MX91系列处理器简介
 
-### Setup RT-Thread Development Environment
+i.MX 91系列采用了可扩展的Arm® Cortex®-A55内核，其主频高达1.4GHz，支持新一代LPDDR4内存以延长平台寿命，支持双千兆以太网和双USB端口，以及面向医疗、工业和消费物联网市场细分领域的丰富外设。
 
-### Setup Network and TFTP Server for FRDM-IMX91
 
-### Build RT-Thread BSP for FRDM-IMX91
 
-1. Clone the RT-Thread repository:
-   ```
-   git clone https://github.com/RT-Thread/rt-thread.git
-   ```
+### 1.2 FRDM-i.MX91开发板简介
 
-2. Navigate to the BSP folder:
-   ```
-   cd rt-thread/bsp/nxp/imx/imx91
-   ```
+FRDM i.MX 91开发板是一款低成本、紧凑型开发板，采用i.MX 91应用处理器。该板配备板载IW610模块，集成了恩智浦的三频解决方案，支持Wi-Fi 6、BLE 5.4和802.15.4，适用于开发现代工业和物联网应用。该开发板包含LPDDR4、用于快速启动的eMMC存储、PMIC以及扩展功能。
 
-3. Build the BSP:
-   ```
-   scons -j 8
-   ```
+FRDM i.MX 91开发板是一款入门级紧凑型开发板，采用i.MX 91应用处理器。
 
-4. copy the `rtthread.bin` to the TFTP server working directory:
-   ```
-   cp rtthread.bin /path/to/tftp_work_dir/
-   ```
+![GS-FRDM-IMX91-IMG1](README.assets/GS-FRDM-IMX91-IMG1.webp)
 
-### Run RT-Thread on FRDM-IMX91 with u-boot
+开发板主要硬件资源：
+
+| 资源               | 简介                                                         |
+| ------------------ | ------------------------------------------------------------ |
+| 处理器             | ◆ i.MX 91应用处理器<br />◆ [email protected]<br />◆ EdgeLock®安全区域 |
+| 存储器             | ◆ 1GB LPDDR4<br />◆ 8GB eMMC5.1<br />◆ MicroSD插槽<br />◆ EEPROM |
+| 显示器和摄像头接口 | ◆ 并行RGB LCD接口(40引脚扩展接口)<br />◆ 并行摄像头接口(40引脚扩展接口) |
+| 无线               | ◆ u-blox MAYA-W476-00B三频Wi-Fi 6/BLE 5.4/802.15.4模块       |
+| 音频               | ◆ 3.5mm耳机插孔                                              |
+| 连接               | ◆ USB2.0 Type-C连接器<br />◆ USB2.0 type A连接器 <br />◆ 两个GbE RJ45 <br />◆ CAN(HDR) <br />◆ 40引脚(2x20) <br />◆ 扩展接口 <br />◆ I²C HDR <br />◆ ADC HDR |
+| 调试               | ◆ SWD连接器 <br />◆ 通过USB Type C的UART                     |
+
+
+
+### 1.3 开发板和PC之间的连接
+
+在FRDM i.MX 91开发板上调测RT-Thread的过程中，需要使用到的接口有：
+
+1. POWER（P1），USB供电接口，用于向开发板供电；
+2. DEBUG（P16），带有USB转串口芯片，用于U-Boot和RT-Thread日志输出、命令行交互；
+3. ENET1（P4）或者ENET2（P3），以太网口，用于网络下载编译生成的RT-Thread固件；
+
+
+
+## 2. 编译
+
+### 2.1 下载AArch64工具链
+
+从ARM开发者网站下载AArch64裸机工具链，
+
+下载页面： [Arm GNU Toolchain Downloads – Arm Developer](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads)
+
+例如，64位Windows主机上下载： https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/arm-gnu-toolchain-14.3.rel1-mingw-w64-x86_64-aarch64-none-elf.zip
+
+例如，下载后解压到本地路径：`D:\ARM\arm-gnu-toolchain-14.3.rel1-mingw-w64-x86_64-aarch64-none-elf`
+
+
+
+### 2.2 下载RT-Thread Env工具
+
+下载页面：[rt-thread.org/download.html#download-rt-thread-env-tool](https://www.rt-thread.org/download.html#download-rt-thread-env-tool)
+
+
+
+### 2.3 下载RT-Thread源代码
+
+在Env环境中，使用git命令下载RT-Thread源代码，例如：
 
 ```sh
+git clone https://github.com/RT-Thread/rt-thread.git
+```
+
+
+
+### 2.4 编译FRDM-i.MX 91目标
+
+在Env环境中，转到`i.MX 91`的BSP目录：
+
+```sh
+cd bsp/nxp/imx/imx91/
+```
+
+然后，设置工具链路径（Windows Env环境）：
+
+```bat
+set RTT_EXEC_PATH=D:\ARM\arm-gnu-toolchain-14.3.rel1-mingw-w64-x86_64-aarch64-none-elf\bin
+```
+
+或者（bash）：
+
+```sh''
+export RTT_EXEC_PATH=/path/to/aarch64-none-elf/bin
+```
+
+接着，执行`scons`命令开始编译：
+
+```sh
+scons -j 8
+```
+
+
+
+## 3.下载
+
+开发板默认固件带有U-Boot启动加载器，开机3秒内通过串口发送换行符，可以进入U-Boot命令行界面。
+
+### 3.1 准备U-Boot网络环境
+
+将开发板和PC连接到同一个路由器。
+
+例如，PC的IP地址为：`192.168.0.101`
+
+在开发板的U-Boot命令行界面内，设置FRDM-i.MX为静态IP：
+
+```sh
+setenv ipaddr 192.168.0.120
+```
+
+或者从路由器动态获取IP：
+
+```sh
+dhcp
+```
+
+成功后，可以使用ping命令测试是否可以访问PC：
+
+```sh
+ping 192.168.0.101
+```
+
+成功则表示网络环境正常，可以执行后续步骤。
+
+
+
+### 3.2 安装TFTP服务
+
+Windows系统可以使用Tftpd，下载链接： [Releases · PJO2/tftpd64](https://github.com/PJO2/tftpd64/releases/)
+
+例如，下载portable免安装版本： https://github.com/PJO2/tftpd64/releases/download/v4.74/tftpd64_portable_v4.74.zip
+
+启动后，设置TFTP工作目录：
+
+![image-20251210021421740](README.assets/image-20251210021421740.png)
+
+
+
+### 3.3 拷贝rtthread.bin到TFTP工作目录
+
+在PC的Env环境中，将 `rtthread.bin` 拷贝到TFTP工作目录：
+```bat
+copy /Y rtthread.bin D:\PortableSoftwareApps\tftpd64_portable_v4.74\work\
+```
+
+或者：
+
+```sh
+cp rtthread.bin /path/to/tftp_work_dir/
+```
+
+
+
+### 3.4 下载rtthread.bin到开发板内存中
+
+在开发板的U-Boot命令行界面中，首先执行如下命令，设置TFTP服务地址（PC的IP地址）：
+
+```sh
+setenv serverip 192.168.0.101
+```
+
+然后，继续在开发板的U-Boot命令行界面中，执行如下命令，将`rtthread.bin`下载到内存中：
+
+```sh
+tftp 0x80000000 rtthread.bin
+```
+
+下载的目标内存地址为：`0x80000000`；
+
+
+
+## 4. 运行
+
+完成前述步骤后，在开发板的 U-Boot 命令行界面中，继续执行以下命令，以跳转至 `0x80000000` 地址并执行代码：
+
+```sh
+dcache flush
+icache flush
+go 0x80000000
+```
+
+每次开发板上电启动后，均需执行上述 U-Boot 命令，RT-Thread 方可正常运行。这在需要反复调试时显得不够便捷。
+
+为此，可将以上命令写入 U-Boot 的环境变量 `bootcmd` 中，从而实现开机自动执行，便于后续调试。具体操作命令如下：
+
+```sh
+setenv ipaddr 192.168.0.120
+setenv serverip 192.168.0.101
 setenv bootcmd "tftp 0x80000000 rtthread.bin; dcache flush; icache flush; go 0x80000000"
 saveenv
 reset
 ```
+
+其中，`saveenv` 命令用于保存环境变量的值，确保重启后依然生效；最后的 `reset` 为重启命令。
+
+执行效果如下图所示：
+
+![image-20251210220620728](README.assets/image-20251210220620728.png)
+
+## 5. 参考链接
+
+1. 维护人: [xusiwei](https://github.com/xusiwei)
+2. AArch64工具链下载页面： [Arm GNU Toolchain Downloads – Arm Developer](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads)
+3. Tftp64下载页面：https://github.com/PJO2/tftpd64/releases
+4. FRDM-i.MX91开发板介绍：[FRDM i.MX 91 Development Board | NXP 半导体](https://www.nxp.com.cn/design/design-center/development-boards-and-designs/FRDM-IMX91)
+5. i.MX91处理器介绍： [i.MX 91 Applications Processors Family | NXP 半导体](https://www.nxp.com.cn/products/i.MX91)
+

bsp/nxp/imx/imx91/README.assets/image-20251210021421740.png

@@ -23,32 +23,29 @@
 #include <limits.h>
 
 #define DRAM_MAP_START KERNEL_BOOT_ADDR
-#define DRAM_MAP_SIZE (64 * 1024 * 1024) // part of DRAM
+#define DRAM_MAP_SIZE  MB_SIZE(256)
 
 #define MEM_DESC(vaddr_start, size, paddr_start, attr) \
     vaddr_start, (vaddr_start + size - 1uL), paddr_start, attr
 
-static volatile unsigned long MMUTable[512*4] __attribute__((aligned(4 * 1024)));
+extern volatile unsigned long MMUTable[];
 
-struct mem_desc platform_mem_desc[] = {
-    {MEM_DESC(DRAM_MAP_START, DRAM_MAP_SIZE, DRAM_MAP_START, NORMAL_MEM)},
-    // {MEM_DESC(LPUART1_BASE, LPUART1_SIZE, LPUART1_BASE, DEVICE_MEM)}, // 0x4438_0000
-    // {MEM_DESC(CCM_CTRL_BASE, CCM_CTRL_SIZE, CCM_CTRL_BASE, DEVICE_MEM)}, // 0x4445_8000
-    // {MEM_DESC(GIC_DISTRIBUTOR_BASE, GIC_DISTRIBUTOR_SIZE, GIC_DISTRIBUTOR_BASE, DEVICE_MEM)}, // 0x4800_0000 
-    // {MEM_DESC(GIC_REDISTRIBUTOR_BASE, GIC_REDISTRIBUTOR_SIZE, GIC_REDISTRIBUTOR_BASE, DEVICE_MEM)}, // 0x4804_0000
+static struct mem_desc platform_mem_desc[] = {
+    { MEM_DESC(DRAM_MAP_START, DRAM_MAP_SIZE, DRAM_MAP_START, NORMAL_MEM) }, // 0x8000_0000
+    { MEM_DESC(LPUART1_BASE, LPUART1_SIZE, LPUART1_BASE, DEVICE_MEM) }, // 0x4438_0000
+    { MEM_DESC(CCM_CTRL_BASE, CCM_CTRL_SIZE, CCM_CTRL_BASE, DEVICE_MEM) }, // 0x4445_8000
+    { MEM_DESC(GIC_DISTRIBUTOR_BASE, GIC_DISTRIBUTOR_SIZE, GIC_DISTRIBUTOR_BASE, DEVICE_MEM) }, // 0x4800_0000
+    { MEM_DESC(GIC_REDISTRIBUTOR_BASE, GIC_REDISTRIBUTOR_SIZE, GIC_REDISTRIBUTOR_BASE, DEVICE_MEM) }, // 0x4804_0000
 };
 
-const rt_uint32_t platform_mem_desc_size = sizeof(platform_mem_desc)/sizeof(platform_mem_desc[0]);
+static const rt_uint32_t platform_mem_desc_size = sizeof(platform_mem_desc) / sizeof(platform_mem_desc[0]);
 
-rt_region_t init_page_region = {
-    (rt_size_t)PAGE_START,
-    (rt_size_t)PAGE_END,
-};
+static rt_region_t init_page_region;
 
 static rt_base_t get_sctlr_el1()
 {
     rt_base_t sctlr = 0;
-    __asm__ volatile ("mrs %0, sctlr_el1" : "=r"(sctlr));
+    __asm__ volatile("mrs %0, sctlr_el1" : "=r"(sctlr));
     return sctlr;
 }
 
@@ -57,18 +54,21 @@ static rt_base_t get_sctlr_el1()
  */
 void rt_hw_board_init(void)
 {
-    rt_hw_mmu_map_init(&rt_kernel_space, (void*)0x080000000000, 0x10000000, (size_t *) MMUTable, 0);
+    rt_hw_earlycon_ioremap();
+    rt_hw_earlycon_print_hex("sctlr_el1: ", get_sctlr_el1());
+    rt_hw_mmu_map_init(&rt_kernel_space, (void *)0x080000000000, 0x10000000, (size_t *)MMUTable, 0);
+
+    init_page_region.start = BOARD_PAGE_START;
+    init_page_region.end = BOARD_PAGE_END;
     rt_page_init(init_page_region);
+
     rt_hw_mmu_setup(&rt_kernel_space, platform_mem_desc, platform_mem_desc_size);
 
-#ifdef RT_USING_HEAP    
+#ifdef RT_USING_HEAP
     /* initialize system heap */
-    rt_system_heap_init((void *)HEAP_BEGIN, (void *)HEAP_END);
+    rt_system_heap_init((void *)BOARD_HEAP_BEGIN, (void *)BOARD_HEAP_END);
 #endif
 
-    /* map LPUART1/CCM_CTRL/GIC_DISTRIBUTOR/GIC_REDISTRIBUTOR virtual address to equals physical address */
-    rt_ioremap_early((void*)LPUART1_BASE, GIC_REDISTRIBUTOR_BASE + GIC_REDISTRIBUTOR_SIZE - LPUART1_BASE);
-
     /* initialize hardware interrupt */
     rt_hw_interrupt_init();
 
@@ -80,7 +80,4 @@ void rt_hw_board_init(void)
 
     rt_components_board_init();
     rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
-    rt_kprintf("[rt_hw_board_init] rt_kprintf works!\n");
 }
-
-/*@}*/

bsp/nxp/imx/imx91/README.assets/image-20251210220620728.png

@@ -7,6 +7,7 @@
  * Date           Author       Notes
  * 2025-08-10     Siwei Xu     Add i.MX91 SDK
  * 2025-09-15     Siwei Xu     Fix LPUART driver
+ * 2025-12-10     Siwei Xu     Fix ioremap issues
  */
 
 #ifndef __BOARD_H__
@@ -15,16 +16,18 @@
 #include "imx91.h"
 #include "rtconfig.h"
 
-extern int __bss_end;
-#define HEAP_BEGIN      ((void*)&__bss_end)
-
 #ifndef KERNEL_BOOT_ADDR
 #define KERNEL_BOOT_ADDR (ARCH_RAM_OFFSET + ARCH_TEXT_OFFSET)
 #endif
 
-#define HEAP_END        ((void*)((char*) HEAP_BEGIN + 32 * 1024 * 1024))
-#define PAGE_START      ((size_t)HEAP_END)
-#define PAGE_END        ((size_t)PAGE_START + 128 * 1024 * 1024)
+/* defined in linker script */
+extern unsigned char __bss_end;
+
+#define BOARD_PAGE_START RT_ALIGN((rt_base_t) & __bss_end, KB_SIZE(4))
+#define BOARD_PAGE_END   (BOARD_PAGE_START + MB_SIZE(1))
+
+#define BOARD_HEAP_BEGIN (BOARD_PAGE_END)
+#define BOARD_HEAP_END   (BOARD_HEAP_BEGIN + MB_SIZE(32))
 
 void rt_hw_board_init(void);