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docs/boards: Add documentation for t3-gem-o1 board.
Add documentation for the T3 Gemstone O1 (t3-gem-o1) development board, including board specifications, serial console, available configurations (nsh), and installation instructions via RemoteProc. Signed-off-by: Erkan Vatan <evatan@t3gemstone.org>
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‎Documentation/platforms/arm/am67/boards/t3-gem-o1/index.rst‎

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==============
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T3 Gemstone O1
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==============
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.. tags:: chip:am67, arch:arm, experimental
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.. list-table::
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:align: center
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* - .. figure:: t3-gem-o1-front.png
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:align: center
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T3 Gemstone O1 board layout - front
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- .. figure:: t3-gem-o1-back.png
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:align: center
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T3 Gemstone O1 board layout - back
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This page presents T3 Gemstone O1 – High-performance development board based on
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Texas Instruments AM67A processor, which runs NuttX on main domain Cortex-R5F
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core.
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- `Website <https://t3gemstone.org/en/>`__
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- `Board Specs <https://docs.t3gemstone.org/en/boards/o1/introduction/>`__
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- `Documentation <https://docs.t3gemstone.org/en/projects/nuttx/>`__
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Features
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========
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- **Processor** (`TI AM67A <https://www.ti.com/product/AM67A/>`__)
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- Quad-core 64-bit ARM Cortex-A53 @1.4 GHz for running high-level operating
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systems such as Linux
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- Dual single-core ARM Cortex-R5F @800 MHz for running real-time MCU
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applications
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- Dual 2 TOPS (4 TOPS total) deep learning accelerators for running vision
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applications
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- Advanced 50 GFLOPS GPU for high-performance graphics processing
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- 4GB LPDDR4 RAM
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- **Sensors**
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- InvenSense ICM-20948 IMU (accel, gyro, compass)
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- Bosch BMP390 barometer
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- TI HDC2010 humidity and temperature
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- **Storage**
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- **On-board**
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- 32GB eMMC flash
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- 512Kbit EEPROM
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- **Expandable**
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- microSD card slot
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- M.2 2280 SSD port
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- **Network Connections**
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- 1x Gigabit ethernet
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- 1x CAN bus
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- Wi-Fi 4 (802.11n)
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- Bluetooth 5.1, Bluetooth Low Energy (BLE)
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- **Power**
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- USB Type-C power (5-9V / 3A)
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- DC power connector (5-12V / 5A)
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- **Interfaces**
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- UART, I2C and SPI for extensions
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- S.Bus input
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- 7x PWM servo outputs
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- Green-red status leds
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- Real-time clock
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- Fan with PWM speed control
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- 4x USB ports
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- 2x 4-lane MIPI CSI/DSI
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- 1x HDMI
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.. warning::
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This board currently only supports a basic implementation of NuttX with
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only UART console as a supported peripheral. Please see the contributing
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documentation if you would like to help contribute to the support.
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Serial console
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==============
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The serial console is provided on UART-MAIN1, which is available on the 40-pin
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HAT:
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- **UART-MAIN1 TX:** GPIO-14
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- **UART-MAIN1 RX:** GPIO-15
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Installation
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============
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The :code:`arm‑none‑eabi‑gcc` toolchain can compile NuttX for R5F cores.
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You can obtain a compatible toolchain for your operating system directly from
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the official ARM website.
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If you’re running a Debian‑based Linux distribution, you can also install the
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toolchain via your package manager:
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.. code:: console
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$ sudo apt-get update
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$ sudo apt-get -y install gcc-arm-none-eabi
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Flashing
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========
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The board does not provide flash storage for the R5F firmware, so NuttX must be
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loaded onto the R5F cores through the RemoteProc framework from either U‑Boot or
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Linux. While the A53 cores run Linux, the R5F cores execute the NuttX operating
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system.
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To load code onto the R5F cores, place the compiled binaries in the
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:code:`/lib/firmware` directory, using the filenames expected by RemoteProc.
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During boot, RemoteProc will automatically detect these files and launch the
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corresponding programs on the appropriate cores.
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Follow the steps below to start NuttX on the main‑domain R5F core via RemoteProc.
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#. Copy the :code:`nuttx` file resulting from the compilation to the
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:code:`/lib/firmware` directory with the name :code:`j722s-main-r5f0_0-fw`.
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#. Reboot the board.
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#. You can access NuttShell by connecting a USB-to-TTL device to the
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UART-MAIN1's TX (GPIO-14) and RX (GPIO-15) pins on the 40-pin HAT.
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.. code-block:: console
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$ picocom -b 115200 /dev/ttyACM0
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NuttShell (NSH) NuttX-12.11.0
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nsh> cat proc/version
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NuttX version 12.11.0 8bdbb8c7d5-dirty Oct 22 2025 14:15:42 t3-gem-o1:nsh
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nsh>
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Configurations
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==============
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All of the configurations that can be used with :code:`t3-gem-o1` board name are
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listed below. For example you can select :code:`nsh` configuration with the
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following command:
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.. code:: console
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$ ./tools/configure.sh t3-gem-o1:nsh
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nsh
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---
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Configures the NuttShell (nsh) located at examples/nsh.
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This configuration enables a serial console on UART-MAIN1.

‎Documentation/platforms/arm/am67/boards/t3-gem-o1/t3-gem-o1-back.png‎

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‎Documentation/platforms/arm/am67/boards/t3-gem-o1/t3-gem-o1-front.png‎

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‎Documentation/platforms/arm/am67/index.rst‎

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=======
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TI AM67
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=======
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- **Processor** (`TI AM67A <https://www.ti.com/product/AM67A/>`__)
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- Quad-core 64-bit ARM Cortex-A53 @1.4 GHz for running high-level operating
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systems such as Linux
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- Dual single-core ARM Cortex-R5F @800 MHz for running real-time MCU
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applications
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- Dual 2 TOPS (4 TOPS total) deep learning accelerators for running vision
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applications
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- Advanced 50 GFLOPS GPU for high-performance graphics processing
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The TI AM67 platform integrates a dual‑domain architecture comprising:
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- **High‑Performance Domain –** Four Cortex‑A53 cores run a real‑time Linux
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operating system. These cores deliver the computational throughput required
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for intensive workloads such as image‑processing pipelines, computer‑vision
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algorithms, and other application‑level tasks.
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- **Safety‑Critical Domain –** Dedicated Cortex‑R5F cores execute NuttX, a
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deterministic, low‑latency RTOS optimized for hard real‑time control. This
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domain handles safety‑critical functions, including the autopilot control
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loop.
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.. warning::
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This chip currently only supports a basic implementation of NuttX with
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only UART console as a supported peripheral. Please see the contributing
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documentation if you would like to help contribute to the support.
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Supported Boards
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================
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.. toctree::
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:glob:
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:maxdepth: 1
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boards/*/*

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