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board: phytec: Add phyBOARD-Electra
Add PHYTEC's phyBOARD-Electra kit with the phyCORE-AM64x System on Module (SOM). This board only supports the M4F core, UART and GPIO right now, since other drivers are still missing. Signed-off-by: Daniel Schultz <[email protected]>
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‎MAINTAINERS.yml‎

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- dnltz
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files:
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- boards/phytec/phyboard_lyra/
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- boards/phytec/phyboard_electra/
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- boards/ti/*am62*/
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- drivers/*/*ti_k3*
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- dts/bindings/*/ti,k3*

‎boards/phytec/phyboard_electra/Kconfig.phyboard_electra‎

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# PHYTEC phyBOARD-Electra AM64x
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#
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# Copyright (c) 2024 PHYTEC Messtechnik GmbH
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#
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# SPDX-License-Identifier: Apache-2.0
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config BOARD_PHYBOARD_ELECTRA
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select SOC_AM6442_M4 if BOARD_PHYBOARD_ELECTRA_AM6442_M4

‎boards/phytec/phyboard_electra/board.yml‎

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board:
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name: phyboard_electra
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vendor: phytec
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socs:
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- name: am6442

‎boards/phytec/phyboard_electra/doc/img/phyCORE-AM64x_Electra_frontside.webp‎

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‎boards/phytec/phyboard_electra/doc/index.rst‎

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.. _phyboard_electra_am64xx_m4:
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phyBOARD-Electra AM64x M4F Core
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###############################
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Overview
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********
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The AM64x phyBOARD-Electra board configuration is used by Zephyr applications
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that run on the TI AM64x platform. The board configuration provides support
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for the ARM Cortex-M4F MCU core and the following features:
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- Nested Vector Interrupt Controller (NVIC)
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- System Tick System Clock (SYSTICK)
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The board configuration also enables support for the semihosting debugging console.
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See the `PHYTEC AM64x Product Page`_ for details.
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.. figure:: img/phyCORE-AM64x_Electra_frontside.webp
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:align: center
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:alt: phyBOARD-Electra AM64x
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PHYTEC phyBOARD-Electra with the phyCORE-AM64x SoM
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Hardware
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********
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The AM64x phyBOARD-Electra kit features the AM64x SoC, which is composed of a
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dual Cortex-A53 cluster and two dual Cortex-R5F cores in the MAIN domain as
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well as a single Cortex-M4 core in the MCU domain. Zephyr is ported to run on
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the M4F core and the following listed hardware specifications are used:
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- Low-power ARM Cortex-M4F
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- Memory
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- 256KB of SRAM
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- 2GB of DDR4
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- Debug
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- XDS110 based JTAG
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Supported Features
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==================
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The phyboard_electra/am6442/m4 configuration supports the following hardware features:
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+-----------+------------+-------------------------------------+
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| Interface | Controller | Driver/Component |
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+===========+============+=====================================+
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| NVIC | on-chip | nested vector interrupt controller |
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+-----------+------------+-------------------------------------+
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| SYSTICK | on-chip | systick |
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+-----------+------------+-------------------------------------+
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| PINCTRL | on-chip | pinctrl |
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+-----------+------------+-------------------------------------+
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| UART | on-chip | serial |
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+-----------+------------+-------------------------------------+
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| GPIO | on-chip | gpio |
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+-----------+------------+-------------------------------------+
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Other hardware features are not currently supported by the port.
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Devices
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========
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System Clock
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------------
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This board configuration uses a system clock frequency of 400 MHz.
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DDR RAM
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-------
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The board has 2GB of DDR RAM available. This board configuration
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allocates Zephyr 4kB of RAM (only for resource table: 0xa4100000 to 0xa4100400).
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Serial Port
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-----------
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This board configuration uses a single serial communication channel with the
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MCU domain UART (MCU_UART0).
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GPIO
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----
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The phyCORE-AM64x has a heartbeat LED connected to gpio6. It's configured
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to build and run the `basic/blinky` sample.
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SD Card
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*******
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Download PHYTEC's official `WIC`_ as well as `BMAP`_ and flash the WIC file with
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an etching software onto an SD-card. This will boot Linux on the A53 application
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cores of the SoM. These cores will then load the zephyr binary on the M4 core
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using remoteproc.
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The default configuration can be found in
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:zephyr_file:`boards/phytec/phyboard_electra/phyboard_electra_am6442_m4_defconfig`
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Flashing
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********
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The Linux running on the A53 uses the remoteproc framework to manage the M4F co-processor.
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Therefore, the testing requires the binary to be copied to the SD card to allow the A53 cores to
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load it while booting using remoteproc.
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To test the M4F core, we build the :ref:`hello_world` sample with the following command.
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.. zephyr-app-commands::
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:board: phyboard_electra/am6442/m4
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:zephyr-app: samples/hello_world
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:goals: build
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This builds the program and the binary is present in the `build/zephyr` directory as `zephyr.elf`.
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We now copy this binary onto the SD card in the `/lib/firmware` directory and name it as `am64-mcu-m4f0_0-fw`.
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.. code-block:: console
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# Mount the SD card at sdcard for example
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sudo mount /dev/sdX sdcard
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# copy the elf to the /lib/firmware directory
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sudo cp --remove-destination zephyr.elf sdcard/lib/firmware/am64-mcu-m4f0_0-fw
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The SD card can now be used for booting. The binary will now be loaded onto the M4F core on boot.
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To allow the board to boot using the SD card, set the boot pins to the SD Card boot mode. Refer to `phyBOARD SD Card Booting Essentials`_.
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The board should boot into Linux and the binary will run and print Hello world to the MCU_UART0
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port.
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.. _PHYTEC AM64x Product Page:
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https://www.phytec.com/product/phycore-am64x/
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.. _WIC:
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https://download.phytec.de/Software/Linux/BSP-Yocto-AM64x/BSP-Yocto-Ampliphy-AM64x-PD23.2.1/images/ampliphy/phyboard-electra-am64xx-2/phytec-headless-image-phyboard-electra-am64xx-2.wic.xz
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.. _BMAP:
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https://download.phytec.de/Software/Linux/BSP-Yocto-AM64x/BSP-Yocto-Ampliphy-AM64x-PD23.2.1/images/ampliphy/phyboard-electra-am64xx-2/phytec-headless-image-phyboard-electra-am64xx-2.wic.bmap
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.. _phyBOARD SD Card Booting Essentials:
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https://docs.phytec.com/projects/yocto-phycore-am64x/en/bsp-yocto-ampliphy-am64x-pd23.2.1/bootingessentials/sdcard.html

‎boards/phytec/phyboard_electra/phyboard_electra_am6442_m4.dts‎

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/*
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* Copyright (C) 2024 PHYTEC Messtechnik GmbH
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* Author: Daniel Schultz <[email protected]>
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/dts-v1/;
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#include <ti/am64x_m4.dtsi>
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/ {
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model = "PHYTEC phyBOARD-Electra AM64x M4";
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compatible = "phytec,phyboard-electra-am64xx-m4", "ti,am6442";
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chosen {
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zephyr,sram = &sram0;
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zephyr,console = &uart0;
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zephyr,shell-uart = &uart0;
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zephyr,sram1 = &ddr0;
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};
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aliases {
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led0 = &heartbeat_led;
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};
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cpus {
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cpu@0 {
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status = "okay";
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clock-frequency = <DT_FREQ_M(400)>;
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};
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};
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ddr0:memory@a4100000 {
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compatible = "zephyr,memory-region", "mmio-sram";
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reg = <0xa4100000 DT_SIZE_K(4)>;
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zephyr,memory-region = "DDR";
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};
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leds: leds {
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compatible = "gpio-leds";
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heartbeat_led: led_0 {
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gpios = <&gpio0 6 GPIO_ACTIVE_HIGH>;
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label = "Heartbeat LED";
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};
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};
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};
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&pinctrl {
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mcu_uart0_rx_default: mcu_uart0_rx_default {
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pinmux = <K3_PINMUX(0x028, PIN_INPUT, MUX_MODE_0)>;
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};
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mcu_uart0_tx_default: mcu_uart0_tx_default {
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pinmux = <K3_PINMUX(0x002C, PIN_OUTPUT, MUX_MODE_0)>;
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};
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mcu_gpio0_led_default: mcu_gpio0_led_default {
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pinmux = <K3_PINMUX(0x0018, PIN_OUTPUT, MUX_MODE_7)>;
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};
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};
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&uart0 {
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current-speed = <115200>;
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pinctrl-0 = <&mcu_uart0_rx_default &mcu_uart0_tx_default>;
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pinctrl-names = "default";
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status = "okay";
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};
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&gpio0 {
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pinctrl-0 = <&mcu_gpio0_led_default>;
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pinctrl-names = "default";
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status = "okay";
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};

‎boards/phytec/phyboard_electra/phyboard_electra_am6442_m4.yaml‎

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identifier: phyboard_electra/am6442/m4
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name: PHYTEC phyBOARD-Electra AM64x M4
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type: mcu
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arch: arm
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toolchain:
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- zephyr
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ram: 192
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vendor: phytec

‎boards/phytec/phyboard_electra/phyboard_electra_am6442_m4_defconfig‎

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# PHYTEC AM64x M4 phyBOARD-Electra
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#
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# Copyright (C) 2024 PHYTEC Messtechnik GmbH
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# Author: Daniel Schultz <[email protected]>
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#
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# SPDX-License-Identifier: Apache-2.0
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# Platform Configuration
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CONFIG_CORTEX_M_SYSTICK=y
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# Zephyr Kernel Configuration
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CONFIG_XIP=n
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# Enable Pinctrl
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CONFIG_PINCTRL=y
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# Serial Driver
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CONFIG_SERIAL=y
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# GPIO Driver
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CONFIG_GPIO=y
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# Enable Console
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CONFIG_CONSOLE=y
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CONFIG_UART_CONSOLE=y

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