samples: Add idle relocated TCM multicore test for nRF54H20

Introduce a new sample demonstrating a multicore idle test
with firmware relocated to the radio core's TCM.
The test showcases the radio loader pattern, where firmware
is loaded from MRAM to TCM at runtime, ensuring efficient execution.

JIRA: NCSDK-36461

Signed-off-by: Jan Zyczkowski <[email protected]>

Author: zycz

CODEOWNERS

@@ -523,6 +523,8 @@
 /samples/nrf5340/empty_app_core/          @nrfconnect/ncs-si-muffin
 /samples/nrf5340/extxip_smp_svr/          @nrfconnect/ncs-eris
 /samples/nrf54h20/empty_app_core/         @nrfconnect/ncs-aurora
+/samples/nrf54h20/idle_relocated_tcm/     @nrfconnect/ncs-si-muffin
+/samples/nrf54h20/radio_loader/           @nrfconnect/ncs-si-muffin
 /samples/ironside_se/                     @nrfconnect/ncs-aurora
 /samples/nrf_compress/                    @nordicjm
 /samples/nrf_profiler/                    @nrfconnect/ncs-si-bluebagel
@@ -646,6 +648,7 @@
 /samples/net/**/*.rst                     @nrfconnect/ncs-cia-doc
 /samples/net/coap_client/*.rst            @nrfconnect/ncs-iot-oulu-tampere-doc
 /samples/nfc/**/*.rst                     @nrfconnect/ncs-si-muffin-doc
+/samples/nrf54h20/idle_relocated_tcm/*.rst @nrfconnect/ncs-si-muffin-doc
 /samples/nrf5340/empty_app_core/*.rst     @nrfconnect/ncs-si-muffin-doc
 /samples/nrf5340/extxip_smp_svr/*.rst     @nrfconnect/ncs-eris-doc
 /samples/nrf5340/netboot/*.rst            @nrfconnect/ncs-eris-doc

doc/nrf/releases_and_maturity/releases/release-notes-changelog.rst

@@ -855,6 +855,11 @@ Other samples
   * Added a new testing step demonstrating how to calculate event propagation statistics.
     Also added the related test preset for the :file:`calc_stats.py` script (:file:`nrf/scripts/nrf_profiler/stats_nordic_presets/app_event_manager_profiler_tracer.json`).
 
+* Added:
+
+  * The :ref:`idle_relocated_tcm_sample` sample to demonstrate how to relocate the firmware to the TCM memory at boot time.
+    The sample also uses the ``radio_loader`` sample image (located in :file:`nrf/samples/nrf54h20/radio_loader`), which cannot be tested as a standalone sample, to relocate the firmware from the MRAM to the TCM memory at boot time.
+
 Drivers
 =======
 

doc/nrf/samples/other.rst

@@ -25,3 +25,4 @@ This section lists single |NCS| samples for various uses that are not part of ot
    ../../../tests/benchmarks/multicore/*/README
    ../../../samples/zephyr/smp_svr_mini_boot/README
    ../../../samples/basic/*/README
+   ../../../samples/nrf54h20/*/README

samples/nrf54h20/idle_relocated_tcm/CMakeLists.txt

@@ -0,0 +1,19 @@
+#
+# Copyright (c) 2025 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+if(NOT SYSBUILD)
+	message(FATAL_ERROR
+		" This is a multi-image application that should be built using sysbuild.\n"
+		" Add --sysbuild argument to west build command to prepare all the images.")
+endif()
+
+project(idle)
+
+target_sources(app PRIVATE src/main.c)

samples/nrf54h20/idle_relocated_tcm/Kconfig.sysbuild

@@ -0,0 +1,24 @@
+#
+# Copyright (c) 2025 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+source "share/sysbuild/Kconfig"
+
+choice NETCORE
+
+default NETCORE_CUSTOM_RADIO
+
+config NETCORE_CUSTOM_RADIO
+	bool "Custom radio"
+	help
+	  Use custom radio.
+
+endchoice
+
+config NETCORE_IMAGE_NAME
+	default "remote_rad" if NETCORE_CUSTOM_RADIO
+
+config NETCORE_IMAGE_PATH
+	default "$(ZEPHYR_NRF_MODULE_DIR)/samples/nrf54h20/idle_relocated_tcm/remote" if NETCORE_CUSTOM_RADIO

samples/nrf54h20/idle_relocated_tcm/README.rst

@@ -0,0 +1,230 @@
+.. _idle_relocated_tcm_sample:
+
+Multicore idle test with firmware relocated to radio core TCM
+#############################################################
+
+.. contents::
+   :local:
+   :depth: 2
+
+The test benchmarks the idle behavior of an application that runs on multiple cores.
+It demonstrates a radio loader pattern where the radio core firmware is loaded from MRAM into TCM (Tightly Coupled Memory) at runtime.
+
+Requirements
+************
+
+The test supports the following development kit:
+
+.. table-from-rows:: /includes/sample_board_rows.txt
+   :header: heading
+   :rows: nrf54h20dk_nrf54h20_cpuapp
+
+Overview
+********
+
+This test demonstrates how to build a multicore idle application with :ref:`configuration_system_overview_sysbuild` using a two-stage boot process for the radio core:
+
+* Radio Loader - A small bootloader that runs on the radio core, copies firmware from MRAM to TCM, and jumps to it.
+* Remote Firmware - The actual application that runs from TCM after being loaded.
+
+The test automatically relocates the remote firmware binary to the correct MRAM address during build time, ensuring it can be loaded by the radio loader.
+
+Architecture
+============
+
+The system uses the following memory layout:
+
+* **MRAM (Non-volatile):**
+
+  * ``cpurad_loader_partition`` @ 0x92000 - Contains the radio loader (8 KB)
+  * ``cpurad_loaded_fw`` @ 0x94000 - Contains the remote firmware binary (128 KB)
+
+* **TCM (Volatile, fast execution):**
+
+  * ``cpurad_ram0`` @ 0x23000000 - Code execution region (128 KB)
+  * ``cpurad_data_ram`` @ 0x23020000 - Data region (64 KB)
+
+Additional files
+================
+
+The test comes with the following additional files:
+
+* :file:`sysbuild.conf` - Enables the radio loader by setting ``CONFIG_NRF_RADIO_LOADER=y``.
+* :file:`boards/memory_map.overlay` - Shared memory map configuration for both loader and remote firmware.
+* :file:`sysbuild/radio_loader/` - Radio loader configuration overrides (:file:`prj.conf`, overlay).
+* :file:`sysbuild/remote_rad/` - Radio core firmware configuration overrides (:file:`prj.conf`, overlay).
+
+Enabling the Radio Loader
+*************************
+
+The radio loader is automatically added to the build when you enable it in sysbuild configuration.
+
+In :file:`sysbuild.conf`:
+
+.. code-block:: kconfig
+
+   SB_CONFIG_NRF_RADIO_LOADER=y
+
+This single configuration option:
+
+#. Automatically adds the ``radio_loader`` application located in the :file:`nrf/samples/nrf54h20/radio_loader` folder.
+#. Builds it for the CPURAD core.
+#. No manual ``ExternalZephyrProject_Add()`` needed in sysbuild.
+
+Memory map configuration
+========================
+
+The memory map is defined in :file:`boards/memory_map.overlay` and is shared between the radio loader and remote firmware to ensure consistency.
+
+The overlay defines:
+
+#. TCM regions:
+
+   .. code-block:: devicetree
+
+      cpurad_ram0: sram@23000000 {
+          compatible = "mmio-sram";
+          reg = <0x23000000 0x20000>;  /* 128 KB for code */
+      };
+      cpurad_data_ram: sram@23020000 {
+          compatible = "mmio-sram";
+          reg = <0x23020000 0x10000>;  /* 64 KB for data */
+      };
+
+#. MRAM partitions:
+
+   .. code-block:: devicetree
+
+      &mram1x {
+          /delete-node/ partitions;
+
+          partitions {
+              compatible = "fixed-partitions";
+              #address-cells = <1>;
+              #size-cells = <1>;
+
+              cpurad_loader_partition: partition@92000 {
+                  label = "cpurad_loader_partition";
+                  reg = <0x92000 DT_SIZE_K(8)>;  /* 8 KB allocated (~4 KB actual) */
+              };
+
+              cpurad_loaded_fw: partition@94000 {
+                  label = "cpurad_loaded_fw";
+                  reg = <0x94000 DT_SIZE_K(128)>;  /* 128 KB fixed */
+              };
+          };
+      };
+
+Automatic firmware relocation
+*****************************
+
+The remote firmware must be relocated to match the MRAM partition address where it will be stored.
+This is automatically done by Zephyr's ``CONFIG_BUILD_OUTPUT_ADJUST_LMA`` feature when the devicetree chosen nodes are configured correctly.
+
+How it works
+============
+
+Firmware relocation is handled automatically by Zephyr's build system using the ``CONFIG_BUILD_OUTPUT_ADJUST_LMA`` configuration option, which is configured in ``zephyr/soc/nordic/nrf54h/Kconfig.defconfig.nrf54h20_cpurad`` for all nRF54H20 CPURAD projects.
+
+The configuration automatically detects the ``fw-to-relocate`` chosen node in your devicetree.
+When present, it calculates the LMA adjustment to relocate firmware from MRAM to TCM.
+Without this chosen node, firmware runs directly from the ``zephyr,code-partition`` location (standard XIP behavior).
+
+Simply configure the devicetree chosen nodes correctly in your firmware's overlay:
+
+.. code-block:: devicetree
+
+   /{
+       chosen {
+           /* VMA: where code runs (TCM) */
+           zephyr,code-partition = &cpurad_ram0;
+           zephyr,sram = &cpurad_data_ram;
+
+           /* LMA: where to load from (MRAM partition) - enables relocation */
+           fw-to-relocate = &cpurad_loaded_fw;
+       };
+   };
+
+Zephyr automatically calculates the Load Memory Address (LMA) adjustment based on your chosen nodes:
+
+**With fw-to-relocate chosen node** (for radio loader pattern):
+
+.. code-block:: text
+
+   LMA_adjustment = fw-to-relocate address - zephyr,code-partition address
+                  = cpurad_loaded_fw - cpurad_ram0
+                  = 0x94000 - 0x23000000
+
+**Without fw-to-relocate** (standard behavior):
+
+.. code-block:: text
+
+   LMA_adjustment = zephyr,code-partition address - zephyr,sram address
+
+The build system then adjusts the hex file so that the firmware is loaded from MRAM (``0x94000``), but runs from TCM (``0x23000000``).
+
+Building and running
+********************
+
+.. |test path| replace:: :file:`samples/nrf54h20/idle_relocated_tcm`
+
+.. include:: /includes/build_and_run_test.txt
+
+Testing
+=======
+
+After programming the test to your development kit, complete the following steps to test it:
+
+1. |connect_terminal|
+#. Reset the kit.
+#. Observe the console output for both cores:
+
+   * For the application core, the output should be as follows:
+
+     .. code-block:: console
+
+       *** Booting nRF Connect SDK zephyr-v3.5.0-3517-g9458a1aaf744 ***
+       build time: Nov 22 2025 17:00:59
+       Multicore idle test on [email protected]/nrf54h20/cpuapp
+       Multicore idle test iteration 0
+       Multicore idle test iteration 1
+       ...
+
+   * For the radio core, the output should be as follows:
+
+     .. code-block:: console
+
+       *** Booting nRF Connect SDK zephyr-v3.5.0-3517-g9458a1aaf744 ***
+       build time: Nov 22 2025 17:00:29
+       Multicore idle test on [email protected]/nrf54h20/cpurad
+       Current PC (program counter) address: 0x23000ae0
+       Multicore idle test iteration 0
+       Multicore idle test iteration 1
+       ...
+
+   The radio loader first loads the firmware from MRAM (``0x0e094000``) to TCM (``0x23000000``) and then jumps to the loaded firmware.
+   This process is transparent and happens during the early boot stage.
+
+#. Verify the DFU process:
+
+   #. Build the firmware for the secondary app slot, increase the version number in the :file:`prj.conf` file (uncomment the line):
+
+      .. code-block:: kconfig
+
+         CONFIG_MCUBOOT_IMGTOOL_SIGN_VERSION="0.0.1+0"
+
+   #. Build the firmware:
+
+      .. code-block:: console
+
+         west build -p -b nrf54h20dk/nrf54h20/cpuapp
+
+   #. Program the firmware to the secondary application slot:
+
+      .. code-block:: console
+
+         nrfutil device program --firmware build/zephyr_secondary_app.merged.hex  --options chip_erase_mode=ERASE_NONE
+
+   Reset the development kit.
+   The firmware must boot from the secondary application slot.
+   Observe the change in build time in the console output.