boards: nxp: add support for platform FRDM-IMX93

Add initial support for FRDM-IMX93 board

Building hello_world:
west build -p always -b frdm_imx93/mimx9352/a55 samples/hello_world

Signed-off-by: Hongbo Wang <[email protected]>
Signed-off-by: Chekhov Ma <[email protected]>

Author: whbo158

boards/nxp/frdm_imx93/Kconfig.defconfig

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+# Copyright 2025 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_FRDM_IMX93
+
+if BOARD_FRDM_IMX93_MIMX9352_A55
+
+if GPIO
+
+# CAN Phy must be initialized after board mux
+config I2C
+	default y
+
+endif # GPIO
+
+if CAN
+
+# CAN Phy must be initialized after board mux
+config GPIO_PCA_SERIES_INIT_PRIORITY
+	default 60
+
+config CAN_TRANSCEIVER_INIT_PRIORITY
+	default 65
+
+endif # CAN
+
+if NETWORKING
+
+config NET_L2_ETHERNET
+	default y
+
+config NET_TX_STACK_SIZE
+	default 8192
+
+config NET_RX_STACK_SIZE
+	default 8192
+
+if NET_TCP
+
+config NET_TCP_WORKQ_STACK_SIZE
+	default 8192
+
+endif # NET_TCP
+
+if NET_MGMT_EVENT
+
+config NET_MGMT_EVENT_STACK_SIZE
+	default 8192
+
+endif # NET_MGMT_EVENT
+
+if NET_SOCKETS_SERVICE
+
+config NET_SOCKETS_SERVICE_STACK_SIZE
+	default 8192
+
+endif # NET_SOCKETS_SERVICE
+
+endif # NETWORKING
+
+endif # BOARD_FRDM_IMX93_MIMX9352_A55
+
+endif # BOARD_FRDM_IMX93

boards/nxp/frdm_imx93/Kconfig.frdm_imx93

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+# Copyright 2025 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_FRDM_IMX93
+	select SOC_MIMX9352_A55 if BOARD_FRDM_IMX93_MIMX9352_A55
+	select SOC_PART_NUMBER_MIMX9352DVVXM

boards/nxp/frdm_imx93/board.yml

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+board:
+  name: frdm_imx93
+  full_name: FRDM-IMX93
+  vendor: nxp
+  socs:
+  - name: mimx9352

boards/nxp/frdm_imx93/doc/frdm_imx93.webp

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+.. zephyr:board:: frdm_imx93
+
+Overview
+********
+
+The FRDM-IMX93 board is a low-cost and compact platform designed to show
+the most commonly used features of the i.MX 93 Applications Processor in a
+small and low cost package. The FRDM-IMX93 board is an entry-level development
+board, which helps developers to get familiar with the processor before
+investing a large amount of resources in more specific designs.
+
+i.MX93 MPU is composed of one cluster of 2x Cortex®-A55 cores and a single
+Cortex®-M33 core. Zephyr RTOS is ported on Cortex®-A55 core.
+
+Hardware
+********
+
+- i.MX 93 applications processor
+
+  - The processor integrates up to two Arm Cortex-A55 cores, and supports
+    built-in Arm Cortex-M33 core.
+
+- RAM: 2GB LPDDR4
+- Storage:
+
+  - SanDisk 16GB eMMC5.1
+  - microSD Socket
+- Wireless:
+
+  - Murata Type-2EL (SDIO+UART+SPI) module. It is based on NXP IW612 SoC,
+    which supports dual-band (2.4 GHz /5 GHz) 1x1 Wi-Fi 6, Bluetooth 5.2,
+    and 802.15.4
+- USB:
+
+  - One USB 2.0 Type C connector
+  - One USB 2.0 Type A connector
+- Ethernet
+- PCI-E M.2
+- Connectors:
+
+  - 40-Pin Dual Row Header
+- LEDs:
+
+  - 1x Power status LED
+  - 1x RGB LED
+- Debug
+
+  - JTAG 3-pin connector
+  - USB-C port for UART debug, two COM ports for A55 and M33
+
+
+Supported Features
+==================
+
+.. zephyr:board-supported-hw::
+
+Devices
+========
+System Clock
+------------
+
+This board configuration uses a system clock frequency of 24 MHz.
+Cortex-A55 Core runs up to 1.7 GHz.
+Cortex-M33 Core runs up to 200MHz in which SYSTICK runs on same frequency.
+
+Serial Port
+-----------
+
+This board configuration uses a single serial communication channel with the
+CPU's UART2 for A55 core and M33 core.
+
+User Button GPIO Option
+--------------------------
+
+The user buttons USER_BTN1 and USER_BTN2 are connected to onboard GPIO expander
+PCAL6524 by default, but can be changed to connect to FRDM-IMX93 GPIO. A devicetree
+overlay is included to support this.
+
+Run following command to test user buttons connected to FRDM-IMX93 GPIO:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/basic/button
+   :host-os: unix
+   :board: frdm_imx93/mimx9352/a55
+   :goals: build
+   :gen-args: -DEXTRA_DTC_OVERLAY_FILE=frdm_imx93_mimx9352_native_btn.overlay
+
+Note: The overlay only supports ``mimx9352/a55``, but can be extended to support
+``mimx9352/m33`` if I2C and PCAL6524 is enabled.
+
+Programming and Debugging (A55)
+*******************************
+
+U-Boot "cpu" command is used to load and kick Zephyr to Cortex-A secondary Core, Currently
+it is supported in : `Real-Time Edge U-Boot`_ (use the branch "uboot_vxxxx.xx-y.y.y,
+xxxx.xx is uboot version and y.y.y is Real-Time Edge Software version, for example
+"uboot_v2023.04-2.9.0" branch is U-Boot v2023.04 used in Real-Time Edge Software release
+v2.9.0), and pre-build images and user guide can be found at `Real-Time Edge Software`_.
+
+.. _Real-Time Edge U-Boot:
+   https://github.com/nxp-real-time-edge-sw/real-time-edge-uboot
+.. _Real-Time Edge Software:
+   https://www.nxp.com/rtedge
+
+Copy the compiled ``zephyr.bin`` to the first FAT partition of the SD card and
+plug the SD card into the board. Power it up and stop the u-boot execution at
+prompt.
+
+Use U-Boot to load and kick zephyr.bin to Cortex-A55 Core1:
+
+.. code-block:: console
+
+    fatload mmc 1:1 0xd0000000 zephyr.bin; dcache flush; icache flush; cpu 1 release 0xd0000000
+
+
+Or use the following command to kick zephyr.bin to Cortex-A55 Core0:
+
+.. code-block:: console
+
+    fatload mmc 1:1 0xd0000000 zephyr.bin; dcache off; icache flush; go 0xd0000000
+
+
+Use this configuration to run basic Zephyr applications and kernel tests,
+for example, with the :zephyr:code-sample:`synchronization` sample:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/synchronization
+   :host-os: unix
+   :board: frdm_imx93/mimx9352/a55
+   :goals: build
+
+This will build an image with the synchronization sample app, boot it and
+display the following console output:
+
+.. code-block:: console
+
+    *** Booting Zephyr OS build v4.1.0-41-g6395333e3d18 ***
+    thread_a: Hello World from cpu 0 on frdm_imx93!
+    thread_b: Hello World from cpu 0 on frdm_imx93!
+    thread_a: Hello World from cpu 0 on frdm_imx93!
+    thread_b: Hello World from cpu 0 on frdm_imx93!
+
+System Reboot (A55)
+===================
+
+Currently i.MX93 only support cold reboot and doesn't support warm reboot.
+Use this configuratiuon to verify cold reboot with :zephyr:code-sample:`shell-module`
+sample:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/subsys/shell/shell_module
+   :host-os: unix
+   :board: frdm_imx93/mimx9352/a55
+   :goals: build
+
+This will build an image with the shell sample app, boot it and execute
+kernel reboot command in shell command line:
+
+.. code-block:: console
+
+    uart:~$ kernel reboot cold
+
+.. include:: ../../common/board-footer.rst
+   :start-after: nxp-board-footer

boards/nxp/frdm_imx93/doc/index.rst

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+/*
+ * Copyright 2025 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * Apply this overlay to test USER_BTN1 and USER_BTN2 on PCAL6524.
+ *
+ * The user buttons USER_BTN1 and USER_BTN2 is connected to onboard GPIO expander PCAL6524
+ * by default, but can be changed to connect to FRDM-IMX93 GPIO. To do this, remove R2608
+ * and R2610, populate R2611 and R2612.
+ */
+
+/* Remove default keys */
+/delete-node/ &btn_1;
+/delete-node/ &btn_2;
+
+/ {
+	keys {
+		compatible = "gpio-keys";
+
+		btn_1: btn_1 {
+			label = "BTN1";
+			gpios = <&gpio2 23 GPIO_ACTIVE_LOW>;
+			zephyr,code = <INPUT_KEY_0>;
+		};
+
+		btn_2: btn_2 {
+			label = "BTN2";
+			gpios = <&gpio2 24 GPIO_ACTIVE_LOW>;
+			zephyr,code = <INPUT_KEY_1>;
+		};
+	};
+};