NXP: add SPSDK as runner and support i.MX95 firmware build and flashing

boards/common/spsdk.board.cmake

@@ -0,0 +1,4 @@
+# SPDX-License-Identifier: Apache-2.0
+
+board_set_flasher_ifnset(spsdk)
+board_finalize_runner_args(spsdk)

boards/nxp/common/Kconfig

@@ -0,0 +1,8 @@
+# Copyright 2025 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_NXP_SPSDK_IMAGE
+	bool "Generate bootable firmware image with SPSDK"
+	help
+	  Generate bootable firmware image with NXP Secure
+	  Provisioning SDK (SPSDK).

boards/nxp/imx95_evk/CMakeLists.txt

@@ -12,5 +12,118 @@ if (CONFIG_SOF AND CONFIG_BOARD_IMX95_EVK_MIMX9596_M7_DDR)
   )
 endif()
 
+if(CONFIG_BOARD_NXP_SPSDK_IMAGE OR (DEFINED ENV{USE_NXP_SPSDK_IMAGE}
+  AND "$ENV{USE_NXP_SPSDK_IMAGE}" STREQUAL "y"))
+  find_program(7Z_EXECUTABLE 7z REQUIRED)
+  set(FIRMWARE_RELEASE "imx95-19x19-lpddr5-evk-boot-firmware-0.1")
+  # Parse SPSDK version
+  execute_process(
+    COMMAND spsdk --version
+    OUTPUT_VARIABLE SPSDK_VERSION_OUTPUT
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+  string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" SPSDK_VERSION "${SPSDK_VERSION_OUTPUT}")
+  message(STATUS "SPSDK version is ${SPSDK_VERSION}")
+
+  if(CONFIG_BOARD_IMX95_EVK_MIMX9596_M7)
+    set(AHAB_CONFIG_FILE "imx95_evk_mimx9596_m7_ahab.yaml")
+
+    file(WRITE ${CMAKE_BINARY_DIR}/zephyr/${AHAB_CONFIG_FILE}
+      "
+      family: mimx9596
+      revision: a1
+      target_memory: standard
+      output:                   ${CMAKE_BINARY_DIR}/zephyr/flash.bin
+      containers:
+        - binary_container:
+            path:               ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/mx95a0-ahab-container.img
+        - container:
+            srk_set: none
+            images:
+              - lpddr_imem:     ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/lpddr5_imem_v202311.bin
+                lpddr_imem_qb:  ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/lpddr5_imem_qb_v202311.bin
+                lpddr_dmem:     ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/lpddr5_dmem_v202311.bin
+                lpddr_dmem_qb:  ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/lpddr5_dmem_qb_v202311.bin
+                oei_ddr:        ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/oei-m33-ddr.bin
+              - oei_tcm:        ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/oei-m33-tcm.bin
+              - system_manager: ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/m33_image-mx95alt.bin
+              - cortex_m7_app:  ${CMAKE_BINARY_DIR}/zephyr/${CONFIG_KERNEL_BIN_NAME}.bin
+              - v2x_dummy: true
+      ")
+    set_property(GLOBAL APPEND PROPERTY extra_post_build_commands
+      COMMAND ${7Z_EXECUTABLE} x ${ZEPHYR_HAL_NXP_MODULE_DIR}/zephyr/blobs/imx-boot-firmware/${FIRMWARE_RELEASE}.bin -o./imx-boot-firmware -aos -bso0 -bse1
+      COMMAND ${7Z_EXECUTABLE} x imx-boot-firmware/${FIRMWARE_RELEASE} -aos -bso0 -bse1
+      COMMAND nxpimage ahab export -c ${CMAKE_BINARY_DIR}/zephyr/${AHAB_CONFIG_FILE}
+    )
+  elseif(CONFIG_SOC_MIMX9596_A55)
+    file(WRITE ${CMAKE_BINARY_DIR}/zephyr/imx95_evk_mimx9596_a55_ahab_primary.yaml
+      "
+      family: mimx9596
+      revision: a1
+      target_memory: standard
+      output:                   ${CMAKE_BINARY_DIR}/zephyr/primary_ahab.bin
+      containers:
+        - binary_container:
+            path:               ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/mx95a0-ahab-container.img
+        - container:
+            srk_set: none
+            images:
+              - lpddr_imem:     ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/lpddr5_imem_v202311.bin
+                lpddr_imem_qb:  ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/lpddr5_imem_qb_v202311.bin
+                lpddr_dmem:     ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/lpddr5_dmem_v202311.bin
+                lpddr_dmem_qb:  ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/lpddr5_dmem_qb_v202311.bin
+                oei_ddr:        ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/oei-m33-ddr.bin
+              - oei_tcm:        ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/oei-m33-tcm.bin
+              - system_manager: ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/m33_image-mx95evk.bin
+              - spl:            ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/u-boot-spl.bin-imx95-19x19-lpddr5-evk-sd
+              - v2x_dummy: true
+    ")
+    file(WRITE ${CMAKE_BINARY_DIR}/zephyr/imx95_evk_mimx9596_a55_ahab_secondary.yaml
+      "
+      family: mimx9596
+      revision: a1
+      target_memory: standard
+      output:                   ${CMAKE_BINARY_DIR}/zephyr/secondary_ahab.bin
+      containers:
+        - container:
+            srk_set: none
+            images:
+              - atf:            ${CMAKE_BINARY_DIR}/zephyr/${FIRMWARE_RELEASE}/bl31-imx95-zephyr.bin
+              - image_path:     ${CMAKE_BINARY_DIR}/zephyr/${CONFIG_KERNEL_BIN_NAME}.bin
+                load_address:   '${CONFIG_SRAM_BASE_ADDRESS}'
+                entry_point:    '${CONFIG_SRAM_BASE_ADDRESS}'
+                image_type:     executable
+                core_id:        cortex-a55
+                is_encrypted:   false
+    ")
+    file(WRITE ${CMAKE_BINARY_DIR}/zephyr/imx95_evk_mimx9596_a55_ahab_flash_template.yaml
+      "
+      family: mimx9596
+      revision: latest
+      memory_type: serial_downloader
+      primary_image_container_set: ${CMAKE_BINARY_DIR}/zephyr/imx95_evk_mimx9596_a55_ahab_primary.yaml
+      secondary_image_container_set: ${CMAKE_BINARY_DIR}/zephyr/imx95_evk_mimx9596_a55_ahab_secondary.yaml
+   ")
+    set_property(GLOBAL APPEND PROPERTY extra_post_build_commands
+      COMMAND ${7Z_EXECUTABLE} x ${ZEPHYR_HAL_NXP_MODULE_DIR}/zephyr/blobs/imx-boot-firmware/${FIRMWARE_RELEASE}.bin -o./imx-boot-firmware -aos -bso0 -bse1
+      COMMAND ${7Z_EXECUTABLE} x imx-boot-firmware/${FIRMWARE_RELEASE} -aos -bso0 -bse1
+    )
+    if(SPSDK_VERSION VERSION_GREATER_EQUAL "3.0.0")
+      set_property(GLOBAL APPEND PROPERTY extra_post_build_commands
+        COMMAND nxpimage bootable-image export -c ${CMAKE_BINARY_DIR}/zephyr/imx95_evk_mimx9596_a55_ahab_flash_template.yaml -o flash.bin
+      )
+    else()
+      set_property(GLOBAL APPEND PROPERTY extra_post_build_commands
+        COMMAND nxpimage bootable-image merge -c ${CMAKE_BINARY_DIR}/zephyr/imx95_evk_mimx9596_a55_ahab_flash_template.yaml -o flash.bin
+      )
+    endif()
+  else()
+    message(FATAL_ERROR "SPSDK Image not supported on the platform!")
+  endif()
+  zephyr_blobs_verify(FILES
+    ${ZEPHYR_HAL_NXP_MODULE_DIR}/zephyr/blobs/imx-boot-firmware/${FIRMWARE_RELEASE}.bin
+    REQUIRED)
+endif()
+
 zephyr_library()
 zephyr_library_sources(board.c)

boards/nxp/imx95_evk/Kconfig

@@ -0,0 +1,4 @@
+# Copyright 2025 NXP
+# SPDX-License-Identifier: Apache-2.0
+
+source "boards/nxp/common/Kconfig"

boards/nxp/imx95_evk/board.cmake

@@ -3,3 +3,19 @@
 if (CONFIG_SOF AND CONFIG_BOARD_IMX95_EVK_MIMX9596_M7_DDR)
   board_set_rimage_target(imx95)
 endif()
+
+if(CONFIG_BOARD_NXP_SPSDK_IMAGE OR (DEFINED ENV{USE_NXP_SPSDK_IMAGE}
+  AND "$ENV{USE_NXP_SPSDK_IMAGE}" STREQUAL "y"))
+  board_set_flasher_ifnset(spsdk)
+
+  board_runner_args(spsdk "--family=mimx9596")
+  board_runner_args(spsdk "--bootloader=${CMAKE_BINARY_DIR}/zephyr/imx95-19x19-lpddr5-evk-boot-firmware-0.1/imx-boot-imx95-19x19-lpddr5-evk-sd.bin-flash_all")
+  board_runner_args(spsdk "--flashbin=${CMAKE_BINARY_DIR}/zephyr/flash.bin")
+  if(CONFIG_CPU_CORTEX_A55)
+    board_runner_args(spsdk "--containers=two")
+  else()
+    board_runner_args(spsdk "--containers=one")
+  endif()
+
+  include(${ZEPHYR_BASE}/boards/common/spsdk.board.cmake)
+endif()

boards/nxp/imx95_evk/doc/index.rst

@@ -115,88 +115,139 @@ Programming and Debugging (A55)
 
 .. zephyr:board-supported-runners::
 
-Use this configuration to run basic Zephyr applications and kernel tests,
-for example, with the :zephyr:code-sample:`synchronization` sample:
+There are multiple methods to program and run Zephyr on the A55 core:
+
+Option 1. Boot Zephyr by Using SPSDK Runner
+===========================================
+
+SPSDK runner leverages SPSDK tools (https://spsdk.readthedocs.io), it builds an
+bootable flash image ``flash.bin`` which includes all necessary firmware components,
+such as ELE+V2X firmware, System Manager, TCM OEI, TF-A images etc. Using west flash
+command will download the boot image flash.bin to DDR memory, SD card or eMMC flash.
+By using flash.bin, as no U-Boot image is available, so TF-A will boot up Zephyr on
+the first Cortex-A55 Core directly.
+
+In order to use SPSDK runner, it requires fetching binary blobs, which can be achieved
+by running the following command:
+
+.. code-block:: console
 
-1. Build and run the Non-SMP application
+   west blobs fetch hal_nxp
+
+.. note::
+
+   It is recommended running the command above after :file:`west update`.
+
+SPSDK runner is enabled by configure item :kconfig:option:`CONFIG_BOARD_NXP_SPSDK_IMAGE`, currently
+it is not enabled by default for i.MX95 EVK board, so use this configuration to enable
+it, for example, with the :zephyr:code-sample:`synchronization` sample:
 
 .. zephyr-app-commands::
    :zephyr-app: samples/synchronization
    :host-os: unix
    :board: imx95_evk/mimx9596/a55
    :goals: build
+   :gen-args: -DCONFIG_BOARD_NXP_SPSDK_IMAGE=y
 
-This will build an image (zephyr.bin) with the synchronization sample app.
+If :kconfig:option:`CONFIG_BOARD_NXP_SPSDK_IMAGE` is available and enabled for the board variant,
+``flash.bin`` will be built automatically. The programming could be through below commands.
+Before that, switch SW7[1:4] should be configured to 0b1001 for usb download mode
+to boot, and USB1 and DBG ports should be connected to PC. There are 4 serial ports
+enumerated (115200 8n1), and we use the first for M7 and the fourth for M33 System Manager.
+(The flasher is spsdk which already installed via scripts/requirements.txt.
+On linux host, usb device permission should be configured per Installation Guide
+of https://spsdk.readthedocs.io)
 
-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.
+.. code-block:: none
 
-Use U-Boot to load and kick zephyr.bin to Cortex-A55 Core1:
+   # load and run without programming. for next flashing, execute 'reset' in the
+   # fourth serail port
+   $ west flash
 
-.. code-block:: console
+   # program to SD card, then set SW7[1:4]=0b1011 to reboot
+   $ west flash --bootdevice sd
 
-    fatload mmc 1:1 0xd0000000 zephyr.bin; dcache flush; icache flush; cpu 1 release 0xd0000000
+   # program to emmc card, then set SW7[1:4]=0b1010 to reboot
+   $ west flash --bootdevice=emmc
 
 
-Or use the following command to kick zephyr.bin to Cortex-A55 Core0:
+Option 2. Boot Zephyr by Using U-Boot Command
+=============================================
 
-.. code-block:: console
+U-Boot "go" command can be used to start Zephyr on A55 core0 and U-Boot "cpu" command
+is used to load and kick Zephyr to the other A55 secondary Cores. Currently "cpu" command
+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`_.
 
-    fatload mmc 1:1 0xd0000000 zephyr.bin; dcache flush; icache flush; go 0xd0000000
+.. _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
 
+Step 1: Download Zephyr Image into DDR Memory
+---------------------------------------------
 
-It will display the following console output:
+Firstly need to download Zephyr binary image into DDR memory, it can use tftp:
 
 .. code-block:: console
 
-    *** Booting Zephyr OS build v3.6.0-4569-g483c01ca11a7 ***
-    thread_a: Hello World from cpu 0 on imx95_evk!
-    thread_b: Hello World from cpu 0 on imx95_evk!
-    thread_a: Hello World from cpu 0 on imx95_evk!
-    thread_b: Hello World from cpu 0 on imx95_evk!
-    thread_a: Hello World from cpu 0 on imx95_evk!
+    tftp 0xd0000000 zephyr.bin
+
+Or copy the Zephyr image ``zephyr.bin`` SD card and plug the card into the board, for example
+if copy to the FAT partition of the SD card, use the following U-Boot command to load the image
+into DDR memory (assuming the SD card is dev 1, fat partition ID is 1, they could be changed
+based on actual setup):
 
-2. Build and run the SMP application
+.. code-block:: console
+
+    fatload mmc 1:1 0xd0000000 zephyr.bin;
+
+Step 2: Boot Zephyr
+-------------------
+
+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: imx95_evk/mimx9596/a55/smp
+   :board: imx95_evk/mimx9596/a55
    :goals: build
 
 This will build an image (zephyr.bin) with the synchronization sample app.
 
-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 the following command to kick zephyr.bin to Cortex-A55 Core0:
+Then use the following command to boot Zephyr on the core0:
 
 .. code-block:: console
 
-    fatload mmc 1:1 0xd0000000 zephyr.bin; dcache flush; icache flush; go 0xd0000000
+    dcache off; icache flush; go 0xd0000000;
 
+Or use "cpu" command to boot from secondary Core, for example Core1:
+
+.. code-block:: console
+
+    dcache flush; icache flush; cpu 1 release 0xd0000000
 
 It will display the following console output:
+
 .. code-block:: console
 
-    *** Booting Zephyr OS build v3.7.0-rc3-15-g2f0beaea144a ***
-    Secondary CPU core 1 (MPID:0x100) is up
-    Secondary CPU core 2 (MPID:0x200) is up
-    Secondary CPU core 3 (MPID:0x300) is up
-    Secondary CPU core 4 (MPID:0x400) is up
-    Secondary CPU core 5 (MPID:0x500) is up
-    thread_a: Hello World from cpu 0 on imx95_evk!
-    thread_b: Hello World from cpu 4 on imx95_evk!
-    thread_a: Hello World from cpu 0 on imx95_evk!
-    thread_b: Hello World from cpu 3 on imx95_evk!
+    *** Booting Zephyr OS build v3.6.0-4569-g483c01ca11a7 ***
     thread_a: Hello World from cpu 0 on imx95_evk!
-    thread_b: Hello World from cpu 1 on imx95_evk!
+    thread_b: Hello World from cpu 0 on imx95_evk!
     thread_a: Hello World from cpu 0 on imx95_evk!
-    thread_b: Hello World from cpu 5 on imx95_evk!
+    thread_b: Hello World from cpu 0 on imx95_evk!
     thread_a: Hello World from cpu 0 on imx95_evk!
-    thread_b: Hello World from cpu 2 on imx95_evk!
+
+Option 3. Boot Zephyr by Using Remoteproc under Linux
+=====================================================
+
+When running Linux on the A55 core, it can use the remoteproc framework to load and boot Zephyr,
+refer to Real-Time Edge user guide for more details. Pre-build images and user guide can be found
+at `Real-Time Edge Software`_.
+
 
 Programming and Debugging (M7)
 ******************************
@@ -213,13 +264,47 @@ To program M7, an i.MX container image ``flash.bin`` must be made, which contain
 multiple elements required, like ELE+V2X firmware, System Manager, TCM OEI, Cortex-M7
 image and so on.
 
-The steps making flash.bin and programming should refer to ``Getting Started with
+SPSDK runner is used to build ``flash.bin``, and it requires fetching binary blobs, which
+can be achieved by running the following command:
+
+.. code-block:: console
+
+   west blobs fetch hal_nxp
+
+.. note::
+
+   It is recommended running the command above after :file:`west update`.
+
+Two methods to build and program ``flash.bin``.
+
+1. If :kconfig:option:`CONFIG_BOARD_NXP_SPSDK_IMAGE` is not available for the board variant,
+the steps making flash.bin and programming should refer to ``Getting Started with
 MCUXpresso SDK for IMX95LPD5EVK-19.pdf`` in i.MX95 `MCUX SDK release`_. Note that
 for the DDR variant, one should use the Makefile targets containing the ``ddr`` keyword.
-
 See ``4.2 Run an example application``, just rename ``zephyr.bin`` to ``m7_image.bin``
 to make flash.bin and program to SD/eMMC.
 
+2. If :kconfig:option:`CONFIG_BOARD_NXP_SPSDK_IMAGE` is available and enabled for the board variant,
+``flash.bin`` will be built automatically. The programming could be through below commands.
+Before that, switch SW7[1:4] should be configured to 0b1001 for usb download mode
+to boot, and USB1 and DBG ports should be connected to PC. There are 4 serial ports
+enumerated (115200 8n1), and we use the first for M7 and the fourth for M33 System Manager.
+(The flasher is spsdk which already installed via scripts/requirements.txt.
+On linux host, usb device permission should be configured per Installation Guide
+of https://spsdk.readthedocs.io)
+
+.. code-block:: none
+
+   # load and run without programming. for next flashing, execute 'reset' in the
+   # fourth serail port
+   $ west flash
+
+   # program to SD card, then set SW7[1:4]=0b1011 to reboot
+   $ west flash --bootdevice sd
+
+   # program to emmc card, then set SW7[1:4]=0b1010 to reboot
+   $ west flash --bootdevice=emmc
+
 Zephyr supports two M7-based i.MX95 boards: ``imx95_evk/mimx9596/m7`` and
 ``imx95_evk/mimx9596/m7/ddr``. The main difference between them is the memory
 used. ``imx95_evk/mimx9596/m7`` uses TCM (ITCM for code and, generally, read-only