Demo for iMX93 BSP and Zephyr RTOS on A55 - MarekBykowski/readme GitHub Wiki

i.XM93

Cortex-A55 is ARMv8.2-A

BSP for i.XM93

i.XM supports Yocto building

Install repo tool

git clone https://gerrit.googlesource.com/git-repo

iMX manifest is here https://github.com/nxp-imx/imx-manifest

Clone manifest using the repo tool

./git-repo/repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-scarthgap -m imx-6.6.52-2.2.0.xml
./git-repo/repo sync

DISTRO=fsl-imx-xwayland MACHINE=imx93evk source imx-setup-release.sh -b build

You can test-run it on AVH

Typical boot sequence for Cortex-A55

BL0 (BootROM) –> BL1 (SPL u-boot) –> BL31 ( from arm-trusted-firmware) –> BL33 (u-boot) –> Linux kernel -> rootfs

If Trusted Zone than there is OPTEE-OS and Trusted Apps.

Boot up/image for Cortex-M33

Image for Cortex-M33 isn't built by Yocto. It is downloaded as a binary artifact and integrated.

$ pwd
/yocto/yocto-team/mbykowsx/imx-yocto-bsp/build_imx93evk
[mbykowsx@GNR-JF04-5350 build_imx93evk]$ find ../sources/ -name "*imx-m33-demos*"
../sources/meta-freescale/recipes-fsl/mcore-demos/imx-m33-demos_2.16.000.bb
../sources/meta-imx/meta-imx-bsp/recipes-fsl/mcore-demos/imx-m33-demos_2.16.000.bb

SRC_URI="https://www.nxp.com/lgfiles/NMG/MAD/YOCTO//imx93-m33-demo-2.16.000.bin;fsl-eula=true;name=imx93"

Click here https://www.nxp.com/lgfiles/NMG/MAD/YOCTO//imx93-m33-demo-2.16.000.bin

RTOS on A55 in i.XM93 on Zephyr example

Typically Zephyr has the code to bring A55 up. It can though integrate some, eg. bl31.

Run Zephyr on FVP

FVP is FVP_Base_RevC-2xAEMvA

Fast Model FVP (Fixed-Virtual-Platform)

They utilize Programmer’s View (PV) models of processors and devices

These are equivalent to what a programmer would see using the hardware

you can use the PV models for confirming software functionality, but you must not rely on the accuracy of cycle counts, bus traffic, execution timing

Eg. re-ordering and buffering of memory accesses, out-of-order execution, speculative prefetch and drain-buffers can cause timing differences. They are not modeled, since they are not visible to the programmer.

Fast Models can:

Accurately model instructions

Correctly execute architecturally-correct code

Fast Models cannot:

Model timing sensitive behavior, real HW can retire instruction if speculation was unsuccessful

Model bus traffic, do not support bus contention, QoS

As a result you cannot measure software performance

Bootom line: ☝ architecturally correct software cannot tell between running on hardware and running on the model.

$ ./run_hello_fvp_cortex-a.sh
[0/1] cd /home/xxbykowm/zephyrproject/zephyr/build && /home/xxbykowm/Downloads/Base_RevC_AEM_Fast_Models_11.26/Base_RevC_AEMvA_pkg/models/Linux64_GCC-9.3/FVP_Base_RevC-2xAEMvA -C bp.secure_memory=0 -C cluster0.NUM_CORES=1 -C bp.refcounte
r.non_arch_start_at_default=1 -C bp.pl011_uart0.out_file=- -C bp.pl011_uart0.unbuffered_output=1 -C bp.terminal_0.start_telnet=0 -C bp.pl011_uart1.out_file=- -C bp.pl011_uart1.unbuffered_output=1 -C bp.terminal_1.start_telnet=0 -C bp.pl0
11_uart2.out_file=- -C bp.pl011_uart2.unbuffered_output=1 -C bp.terminal_2.start_telnet=0 -C bp.pl011_uart3.out_file=- -C bp.pl011_uart3.unbuffered_output=1 -C bp.terminal_3.start_telnet=0 -C bp.vis.disable_visualisation=1 -C bp.vis.rate
_limit-enable=0 -C gic_distributor.ARE-fixed-to-one=1 -C gic_distributor.ITS-device-bits=16 -C cache_state_modelled=0 -a /home/xxbykowm/zephyrproject/zephyr/build/zephyr/zephyr.elf
terminal_0: Listening for serial connection on port 5000
terminal_1: Listening for serial connection on port 5001
terminal_3: Listening for serial connection on port 5002
terminal_2: Listening for serial connection on port 5003
*** Booting Zephyr OS build v4.1.0-rc1-57-g50c21f159143 ***
thread_a: Hello World from cpu 0 on fvp_base_revc_2xaemv8a!
thread_b: Hello World from cpu 0 on fvp_base_revc_2xaemv8a!
thread_a: Hello World from cpu 0 on fvp_base_revc_2xaemv8a!
thread_b: Hello World from cpu 0 on fvp_base_revc_2xaemv8a!