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boards: arm: Add AM62x M4F phyBOARD-Lyra
This is a copy of the TI AM62x SK EVM board file to support the M4F on the phyBOARD-Lyra AM62x, which is PHYTEC's development kit for the phyCORE-AM62x SoM. Signed-off-by: Daniel Schultz <[email protected]>
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‎boards/arm/am62x_m4/Kconfig.board

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config BOARD_AM62X_M4_SK
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bool "TI AM62x M4 Starter Kit (SK) Evaluation Module (EVM)"
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depends on SOC_SERIES_AM62X_M4
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config BOARD_AM62X_M4_PHYBOARD_LYRA
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bool "PHYTEC AM62x M4 phyBOARD-Lyra"
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depends on SOC_SERIES_AM62X_M4

‎boards/arm/am62x_m4/Kconfig.defconfig

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default "am62x_m4_sk"
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endif # BOARD_AM62X_M4_SK
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if BOARD_AM62X_M4_PHYBOARD_LYRA
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config BOARD
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default "am62x_m4_phyboard_lyra"
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endif # BOARD_AM62X_M4_PHYBOARD_LYRA

‎boards/arm/am62x_m4/am62x_m4_phyboard_lyra.dts

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/*
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* Copyright (C) 2023 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/am62x_m4.dtsi>
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/ {
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model = "PHYTEC AM62x M4 phyBOARD-Lyra";
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compatible = "phytec,am62x-m4-phyboard-lyra", "ti,am625";
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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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cpus {
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cpu@0 {
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status = "okay";
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clock-frequency = <400000000>;
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};
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};
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ddr0:memory@9CC00000{
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compatible = "zephyr,memory-region", "mmio-sram";
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reg = <0x9CC00000 DT_SIZE_K(4)>;
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zephyr,memory-region = "DDR";
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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(0x0014, 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(0x0018, PIN_OUTPUT, MUX_MODE_0)>;
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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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};

‎boards/arm/am62x_m4/am62x_m4_phyboard_lyra.yaml

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identifier: am62x_m4_phyboard_lyra
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name: PHYTEC AM62x M4 phyBOARD-Lyra
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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

‎boards/arm/am62x_m4/am62x_m4_phyboard_lyra_defconfig

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# PHYTEC AM62x M4 phyBOARD-Lyra
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#
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# Copyright (C) 2023 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_SOC_SERIES_AM62X_M4=y
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CONFIG_SOC_AM62x_M4=y
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CONFIG_BOARD_AM62X_M4_PHYBOARD_LYRA=y
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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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# Enable Console
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CONFIG_CONSOLE=y
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CONFIG_UART_CONSOLE=y

‎boards/arm/am62x_m4/doc/am62x_m4_phyboard_lyra.rst

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.. _am62x_m4_phyboard_lyra:
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AM62x phyBOARD-Lyra M4F Core
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############################
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Overview
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********
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The AM62x phyBOARD-Lyra board configuration is used by Zephyr applications
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that run on the TI AM62x 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 AM62x Product Page`_ for details.
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.. figure:: img/phyCORE-AM62x_Lyra_frontside.webp
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:align: center
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:alt: AM62x phyBOARD-Lyra
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PHYTEC phyBOARD-Lyra with the phyCORE-AM62x SoM
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Hardware
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********
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The AM62x phyBOARD-Lyra kit features the AM62x SoC, which is composed of a
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quad Cortex-A53 cluster and a single Cortex-M4 core in the MCU domain. Zephyr
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is ported to run on the M4F core and the following listed hardware
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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 am62x_m4_phyboard_lyra 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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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: 0x9CC00000 to 0x9CC00400).
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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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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 the defconfig file:
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.. code-block:: console
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boards/arm/am62x_m4/am62x_m4_phyboard_lyra_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 `hello_world` sample with the following command.
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.. code-block:: console
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# From the root of the Zephyr repository
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west build -p -b am62x_m4_phyboard_lyra samples/hello_world
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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 `am62-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/am62-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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After changing the boot mode, stop in U-Boot to enable the M4F co-processor.
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.. code-block:: console
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setenv overlays k3-am62-phyboard-lyra-rpmsg.dtbo
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# Save the overlays variable permanently
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saveenv
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boot
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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 AM62x Product Page:
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https://www.phytec.com/product/phycore-am62x/
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.. _WIC:
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https://download.phytec.de/Software/Linux/BSP-Yocto-AM62x/BSP-Yocto-AM62x-PD23.1.0/images/yogurt/phyboard-lyra-am62xx-2/phytec-qt5demo-image-phyboard-lyra-am62xx-2.wic.xz
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.. _BMAP:
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https://download.phytec.de/Software/Linux/BSP-Yocto-AM62x/BSP-Yocto-AM62x-PD23.1.0/images/yogurt/phyboard-lyra-am62xx-2/phytec-qt5demo-image-phyboard-lyra-am62xx-2.wic.bmap
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.. _phyBOARD SD Card Booting Essentials:
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https://docs.phytec.com/latest/phycore-am62x/bootingessentials/sdcard.html

‎boards/arm/am62x_m4/doc/am62x_m4_sk.rst

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.. _am62x_m4_sk:
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AM62x-SK M4F Core
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#################
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Overview
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********
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The AM62x-SK board configuration is used by Zephyr applications that run on
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the TI AM62x platform. The board configuration provides support for the ARM
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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 `TI AM62X Product Page`_ for details.
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.. figure:: img/sk_am62_angled.webp
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:align: center
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:alt: TI AM62x-SK EVM
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Texas Instruments AM62x SK EVM
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Hardware
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********
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The AM62x-SK EVM features the AM62x SoC, which is composed of a quad Cortex-A53
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cluster and 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 am62x_m4_sk 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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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: 0x9CC00000 to 0x9CC00400).
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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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SD Card
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*******
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Download TI's official `WIC`_ and flash the WIC file with an etching software
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onto an SD-card. This will boot Linux on the A53 application cores of the EVM.
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These cores will then load the zephyr binary on the M4 core using remoteproc.
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The default configuration can be found in the defconfig file:
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.. code-block:: console
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boards/arm/am62x_m4/am62x_m4_sk_defconfig
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Flashing
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********
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The board can using remoteproc, and uses the OpenAMP resource table to accomplish this.
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The testing requires the binary to be copied to the SD card to allow the A53 cores to load it while booting using remoteproc.
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To test the M4F core, we build the `hello_world` sample with the following command.
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.. code-block:: console
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# From the root of the Zephyr repository
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west build -p -b am62x_m4_sk samples/hello_world
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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 `am62-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/am62-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 `EVM Setup Page`_.
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After changing the boot mode, the board should go through the boot sequence on powering up.
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The binary will run and print Hello world to the MCU_UART0 port.
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References
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**********
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AM62x SK EVM TRM:
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https://www.ti.com/lit/ug/spruiv7/spruiv7.pdf
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.. _TI AM62X Product Page:
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https://www.ti.com/product/AM625
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.. _WIC:
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https://dr-download.ti.com/software-development/software-development-kit-sdk/MD-PvdSyIiioq/08.06.00.42/tisdk-default-image-am62xx-evm.wic.xz
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.. _AM62x SK EVM TRM:
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https://www.ti.com/lit/ug/spruiv7/spruiv7.pdf
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.. _EVM Setup Page:
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https://software-dl.ti.com/mcu-plus-sdk/esd/AM62X/08_06_00_18/exports/docs/api_guide_am62x/EVM_SETUP_PAGE.html

‎boards/arm/am62x_m4/doc/img/phyCORE-AM62x_Lyra_frontside.webp

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