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 <d.schultz@phytec.de>

MAINTAINERS.yml

@@ -3635,6 +3635,7 @@ TI K3 Platforms:
     - gramsay0
   files:
     - boards/phytec/*am62*/
+    - boards/phytec/phyboard_electra/
     - boards/ti/*am62*/
     - drivers/*/*ti_k3*
     - dts/bindings/*/ti,k3*

boards/phytec/phyboard_electra/Kconfig.phyboard_electra

@@ -0,0 +1,8 @@
+# PHYTEC phyBOARD-Electra AM64x
+#
+# Copyright (c) 2024 PHYTEC Messtechnik GmbH
+#
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_PHYBOARD_ELECTRA
+	select SOC_AM6442_M4 if BOARD_PHYBOARD_ELECTRA_AM6442_M4

boards/phytec/phyboard_electra/board.yml

@@ -0,0 +1,5 @@
+board:
+  name: phyboard_electra
+  vendor: phytec
+  socs:
+  - name: am6442

boards/phytec/phyboard_electra/doc/index.rst

@@ -0,0 +1,143 @@
+.. _phyboard_electra_am64xx_m4:
+
+phyBOARD-Electra AM64x M4F Core
+###############################
+
+Overview
+********
+
+The AM64x phyBOARD-Electra board configuration is used by Zephyr applications
+that run on the TI AM64x platform. The board configuration provides support
+for the ARM Cortex-M4F MCU core and the following features:
+
+- Nested Vector Interrupt Controller (NVIC)
+- System Tick System Clock (SYSTICK)
+
+The board configuration also enables support for the semihosting debugging console.
+
+See the `PHYTEC AM64x Product Page`_ for details.
+
+.. figure:: img/phyCORE-AM64x_Electra_frontside.webp
+   :align: center
+   :alt: phyBOARD-Electra AM64x
+
+   PHYTEC phyBOARD-Electra with the phyCORE-AM64x SoM
+
+Hardware
+********
+The AM64x phyBOARD-Electra kit features the AM64x SoC, which is composed of a
+dual Cortex-A53 cluster and two dual Cortex-R5F cores in the MAIN domain as
+well as a single Cortex-M4 core in the MCU domain. Zephyr is ported to run on
+the M4F core and the following listed hardware specifications are used:
+
+- Low-power ARM Cortex-M4F
+- Memory
+
+   - 256KB of SRAM
+   - 2GB of DDR4
+
+- Debug
+
+   - XDS110 based JTAG
+
+Supported Features
+==================
+
+The phyboard_electra/am6442/m4 configuration supports the following hardware features:
+
++-----------+------------+-------------------------------------+
+| Interface | Controller | Driver/Component                    |
++===========+============+=====================================+
+| NVIC      | on-chip    | nested vector interrupt controller  |
++-----------+------------+-------------------------------------+
+| SYSTICK   | on-chip    | systick                             |
++-----------+------------+-------------------------------------+
+| PINCTRL   | on-chip    | pinctrl                             |
++-----------+------------+-------------------------------------+
+| UART      | on-chip    | serial                              |
++-----------+------------+-------------------------------------+
+| GPIO      | on-chip    | gpio                                |
++-----------+------------+-------------------------------------+
+
+Other hardware features are not currently supported by the port.
+
+Devices
+========
+System Clock
+------------
+
+This board configuration uses a system clock frequency of 400 MHz.
+
+DDR RAM
+-------
+
+The board has 2GB of DDR RAM available. This board configuration
+allocates Zephyr 4kB of RAM (only for resource table: 0xa4100000 to 0xa4100400).
+
+Serial Port
+-----------
+
+This board configuration uses a single serial communication channel with the
+MCU domain UART (MCU_UART0).
+
+GPIO
+----
+
+The phyCORE-AM64x has a heartbeat LED connected to gpio6. It's configured
+to build and run the `basic/blinky` sample.
+
+SD Card
+*******
+
+Download PHYTEC's official `WIC`_ as well as `BMAP`_ and flash the WIC file with
+an etching software onto an SD-card. This will boot Linux on the A53 application
+cores of the SoM. These cores will then load the zephyr binary on the M4 core
+using remoteproc.
+
+The default configuration can be found in
+:zephyr_file:`boards/phytec/phyboard_electra/phyboard_electra_am6442_m4_defconfig`
+
+Flashing
+********
+
+The Linux running on the A53 uses the remoteproc framework to manage the M4F co-processor.
+Therefore, the testing requires the binary to be copied to the SD card to allow the A53 cores to
+load it while booting using remoteproc.
+
+To test the M4F core, we build the `hello_world` sample with the following command.
+
+.. code-block:: console
+
+   # From the root of the Zephyr repository
+   west build -p -b phyboard_electra/am6442/m4 samples/hello_world
+
+This builds the program and the binary is present in the `build/zephyr` directory as `zephyr.elf`.
+
+We now copy this binary onto the SD card in the `/lib/firmware` directory and name it as `am64-mcu-m4f0_0-fw`.
+
+.. code-block:: console
+
+   # Mount the SD card at sdcard for example
+   sudo mount /dev/sdX sdcard
+   # copy the elf to the /lib/firmware directory
+   sudo cp --remove-destination zephyr.elf sdcard/lib/firmware/am64-mcu-m4f0_0-fw
+
+The SD card can now be used for booting. The binary will now be loaded onto the M4F core on boot.
+
+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`_.
+
+The board should boot into Linux and the binary will run and print Hello world to the MCU_UART0
+port.
+
+
+.. _PHYTEC AM64x Product Page:
+   https://www.phytec.com/product/phycore-am64x/
+
+.. _WIC:
+   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
+
+.. _BMAP:
+   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
+
+.. _phyBOARD SD Card Booting Essentials:
+   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

@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2024 PHYTEC Messtechnik GmbH
+ * Author: Daniel Schultz <d.schultz@phytec.de>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <ti/am64x_m4.dtsi>
+
+/ {
+	model = "PHYTEC phyBOARD-Electra AM64x M4";
+	compatible = "phytec,phyboard-electra-am64xx-m4", "ti,am6442";
+
+	chosen {
+		zephyr,sram = &sram0;
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,sram1 = &ddr0;
+	};
+
+	aliases {
+		led0 = &heartbeat_led;
+	};
+
+	cpus {
+		cpu@0 {
+			status = "okay";
+			clock-frequency = <DT_FREQ_M(400)>;
+		};
+	};
+
+	ddr0:memory@a4100000 {
+		compatible = "zephyr,memory-region", "mmio-sram";
+		reg = <0xa4100000 DT_SIZE_K(4)>;
+		zephyr,memory-region = "DDR";
+	};
+
+	leds: leds {
+		compatible = "gpio-leds";
+		heartbeat_led: led_0 {
+			gpios = <&gpio0 6 GPIO_ACTIVE_HIGH>;
+			label = "Heartbeat LED";
+		};
+	};
+};
+
+&pinctrl {
+	mcu_uart0_rx_default: mcu_uart0_rx_default {
+		pinmux = <K3_PINMUX(0x028, PIN_INPUT, MUX_MODE_0)>;
+	};
+	mcu_uart0_tx_default: mcu_uart0_tx_default {
+		pinmux = <K3_PINMUX(0x002C, PIN_OUTPUT, MUX_MODE_0)>;
+	};
+	mcu_gpio0_led_default: mcu_gpio0_led_default {
+		pinmux = <K3_PINMUX(0x0018, PIN_OUTPUT, MUX_MODE_7)>;
+	};
+};
+
+&uart0 {
+	current-speed = <115200>;
+	pinctrl-0 = <&mcu_uart0_rx_default &mcu_uart0_tx_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};
+
+&gpio0 {
+	pinctrl-0 = <&mcu_gpio0_led_default>;
+	pinctrl-names = "default";
+	status = "okay";
+};

boards/phytec/phyboard_electra/phyboard_electra_am6442_m4.yaml

@@ -0,0 +1,8 @@
+identifier: phyboard_electra/am6442/m4
+name: PHYTEC phyBOARD-Electra AM64x M4
+type: mcu
+arch: arm
+toolchain:
+  - zephyr
+ram: 192
+vendor: phytec

boards/phytec/phyboard_electra/phyboard_electra_am6442_m4_defconfig

@@ -0,0 +1,25 @@
+# PHYTEC AM64x M4 phyBOARD-Electra
+#
+# Copyright (C) 2024 PHYTEC Messtechnik GmbH
+# Author: Daniel Schultz <d.schultz@phytec.de>
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# Platform Configuration
+CONFIG_CORTEX_M_SYSTICK=y
+
+# Zephyr Kernel Configuration
+CONFIG_XIP=n
+
+# Enable Pinctrl
+CONFIG_PINCTRL=y
+
+# Serial Driver
+CONFIG_SERIAL=y
+
+# GPIO Driver
+CONFIG_GPIO=y
+
+# Enable Console
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y