1.. _udoo_neo_full: 2 3UDOO Neo Full 4############# 5 6Overview 7******** 8 9UDOO Neo Full is an open source Arduino Uno compatible single board computer. 10It is equipped with an NXP |reg| i.MX 6SoloX hybrid multicore processor 11composed of one ARM |reg| Cortex-A9 core running up to 1 GHz and one Cortex-M4 12core running up to 227 MHz for high CPU performance and real-time response. 13Zephyr was ported to run on the Cortex-M4 core only. In a future release, it 14will also communicate with the Cortex-A9 core (running Linux) via OpenAMP. 15 16.. figure:: udoo_neo_full_mcimx6x_m4.jpg 17 :align: center 18 :alt: UDOO-Neo-Full 19 20 UDOO Neo Full (Credit: udoo.org) 21 22Hardware 23******** 24 25- MCIMX6X MCU with a single Cortex-A9 (1 GHz) core and single Cortex-M4 (227 MHz) core 26 27- Memory 28 29 - 1 GB RAM 30 - 128 KB OCRAM 31 - 256 KB L2 cache (can be switched into OCRAM instead) 32 - 16 KB OCRAM_S 33 - 32 KB TCML 34 - 32 KB TCMU 35 - 32 KB CAAM (secure RAM) 36 37- A9 Boot Devices 38 39 - NOR flash 40 - NAND flash 41 - OneNAND flash 42 - SD/MMC 43 - Serial (I2C/SPI) NOR flash and EEPROM 44 - QuadSPI (QSPI) flash 45 46- Display 47 48 - Micro HDMI connector 49 - LVDS display connector 50 - Touch (I2C signals) 51 52- Multimedia 53 54 - Integrated 2d/3d graphics controller 55 - 8-bit parallel interface for analog camera supporting NTSC and PAL 56 - HDMI audio transmitter 57 - S/PDIF 58 - I2S 59 60- Connectivity 61 62 - USB 2.0 Type A port 63 - USB OTG (micro-AB connector) 64 - 10/100 Mbit/s Ethernet PHY 65 - Wi-Fi 802.11 b/g/n 66 - Bluetooth 4.0 Low Energy 67 - 3x UART ports 68 - 2x CAN Bus interfaces 69 - 8x PWM signals 70 - 3x I2C interface 71 - 1x SPI interface 72 - 6x multiplexable signals 73 - 32x GPIO (A9) 74 - 22x GPIO (M4) 75 76- Other 77 78 - MicroSD card slot (8-bit SDIO interface) 79 - Power status LED (green) 80 - 2x user LED (red and orange) 81 82- Power 83 84 - 5 V DC Micro USB 85 - 6-15 V DC jack 86 - RTC battery connector 87 88- Debug 89 90 - pads for soldering of JTAG 14-pin connector 91 92- Sensor 93 94 - 3-Axis Accelerometer 95 - 3-Axis Magnetometer 96 - 3-Axis Digital Gyroscope 97 - 1x Sensor Snap-In I2C connector 98 99- Expansion port 100 101 - Arduino interface 102 103For more information about the MCIMX6X SoC and UDOO Neo Full board, 104see these references: 105 106- `NXP i.MX 6SoloX Website`_ 107- `NXP i.MX 6SoloX Datasheet`_ 108- `NXP i.MX 6SoloX Reference Manual`_ 109- `UDOO Neo Website`_ 110- `UDOO Neo Getting Started`_ 111- `UDOO Neo Documentation`_ 112- `UDOO Neo Datasheet`_ 113- `UDOO Neo Schematics`_ 114 115Supported Features 116================== 117 118The UDOO Neo Full board configuration supports the following hardware 119features: 120 121+-----------+------------+-------------------------------------+ 122| Interface | Controller | Driver/Component | 123+===========+============+=====================================+ 124| NVIC | on-chip | nested vector interrupt controller | 125+-----------+------------+-------------------------------------+ 126| SYSTICK | on-chip | systick | 127+-----------+------------+-------------------------------------+ 128| UART | on-chip | serial port-polling; | 129| | | serial port-interrupt | 130+-----------+------------+-------------------------------------+ 131| GPIO | on-chip | general purpose input/output | 132+-----------+------------+-------------------------------------+ 133| COUNTER | on-chip | counter | 134+-----------+------------+-------------------------------------+ 135 136The default configuration can be found in the defconfig file: 137 138 :zephyr_file:`boards/udoo/udoo_neo_full/udoo_neo_full_mcimx6x_m4_defconfig` 139 140Other hardware features are not currently supported by the port. 141 142Connections and IOs 143=================== 144 145The UDOO Neo Full board was tested with the following pinmux 146controller configuration. 147 148+---------------+-----------------+---------------------------+ 149| Board Name | SoC Name | Usage | 150+===============+=================+===========================+ 151| J4 RX | UART5_RX_DATA | UART Console | 152+---------------+-----------------+---------------------------+ 153| J4 TX | UART5_TX_DATA | UART Console | 154+---------------+-----------------+---------------------------+ 155 156System Clock 157============ 158 159The MCIMX6X SoC is configured to use the 24 MHz external oscillator 160on the board with the on-chip PLL to generate core clock. 161PLL settings for M4 core are set via code running on the A9 core. 162 163Serial Port 164=========== 165 166The MCIMX6X SoC has six UARTs. UART5 is configured for the M4 core and the 167remaining are used by the A9 core or not used. 168 169Programming and Debugging 170************************* 171 172The M4 core does not have a flash memory and is not provided a clock 173at power-on-reset. Therefore it needs to be started by the A9 core. 174The A9 core is responsible to load the M4 binary application into the RAM, 175put the M4 in reset, set the M4 Program Counter and Stack Pointer, and get 176the M4 out of reset. The A9 can perform these steps at the bootloader level 177or after the Linux system has booted. 178 179The M4 core can use up to 5 different RAMs (some other types of memory like 180a secure RAM are not currently implemented in Zephyr). 181These are the memory mappings for A9 and M4: 182 183+------------+-----------------------+-----------------------+-----------------------+ 184| Region | Cortex-A9 | Cortex-M4 | Size | 185+============+=======================+=======================+=======================+ 186| TCML | 0x007F8000-0x007FFFFF | 0x1FFF8000-0x1FFFFFFF | 32 KB | 187+------------+-----------------------+-----------------------+-----------------------+ 188| TCMU | 0x00800000-0x00807FFF | 0x20000000-0x20007FFF | 32 KB | 189+------------+-----------------------+-----------------------+-----------------------+ 190| OCRAM_S | 0x008F8000-0x008FBFFF | 0x208F8000-0x208FBFFF | 16 KB | 191+------------+-----------------------+-----------------------+-----------------------+ 192| OCRAM | 0x00900000-0x0091FFFF | 0x20900000-0x2091FFFF | 128 KB | 193+------------+-----------------------+-----------------------+-----------------------+ 194| DDR | 0x80000000-0xFFFFFFFF | 0x80000000-0xDFFFFFFF | 2048 MB (1536 for M4) | 195+------------+-----------------------+-----------------------+-----------------------+ 196 197References 198========== 199 200- `NXP i.MX 6SoloX Reference Manual`_ Chapter 2 - Memory Maps 201 202You have to choose which RAM will be used at compilation time. This configuration 203is done in the file :zephyr_file:`boards/udoo/udoo_neo_full/udoo_neo_full_mcimx6x_m4.dts`. 204 205If you want to have the code placed in the subregion of a memory, which will 206likely be the case when using DDR, select "zephyr,flash=&flash" and set the 207DT_FLASH_SIZE macro to determine the region size and DT_FLASH_ADDR to determine 208the address where the region begins. 209 210If you want to have the data placed in the subregion of a memory, which will 211likely be the case when using DDR, select "zephyr,sram = &sram", which sets the 212CONFIG_SRAM_SIZE macro to determine the region size and 213CONFIG_SRAM_BASE_ADDRESS to determine the address where the region begins. 214 215Otherwise set "zephyr,flash" and/or "zephyr,sram" to one of the predefined 216regions: 217 218.. code-block:: none 219 220 "zephyr,flash" 221 - &tcml 222 - &ocram_s 223 - &ocram 224 - &ddr 225 226 "zephyr,sram" 227 - &tcmu 228 - &ocram_s 229 - &ocram 230 - &ddr 231 232Below you will find the instructions how a Linux user space application running 233on the A9 core can be used to load and run Zephyr application on the M4 core. 234 235The UDOOBuntu Linux distribution contains a `udooneo-m4uploader`_ utility, 236but its purpose is to load UDOO Neo "Arduino-like" sketches, so it doesn't 237work with Zephyr applications in most cases. The reason is that there is 238an exchange of information between this utility and the program running on the 239M4 core using hardcoded shared memory locations. The utility writes a flag which 240is read by the program running on the M4 core. The program is then supposed to 241end safely and write the status to the shared memory location for the main core. 242The utility then loads the new application and reads its status from the shared 243memory location to determine if it has successfully launched. Since this 244functionality is specific for the UDOO Neo "Arduino-like" sketches, it is not 245implemented in Zephyr. However Zephyr applications can support it on their own 246if planned to be used along with the UDOOBuntu Linux running on the A9 core. 247The udooneo-uploader utility calls another executable named 248mqx_upload_on_m4SoloX which can be called directly to load Zephyr applications. 249Copy the Zephyr binary image into the Linux filesystem and invoke the utility 250as a root user: 251 252.. code-block:: console 253 254 mqx_upload_on_m4SoloX zephyr.bin 255 256If the output looks like below, the mqx_upload_on_m4SoloX could not read 257the status of the stopped application. This is expected if the previously 258loaded application is not a UDOO Neo "Arduino-like" sketch and ignores the 259shared memory communication: 260 261.. code-block:: console 262 263 UDOONeo - mqx_upload_on_m4SoloX 1.1.0 264 UDOONeo - Waiting M4 Stop, m4TraceFlags: 00000000 265 UDOONeo - Waiting M4 Stop, m4TraceFlags: 00000000 266 UDOONeo - Waiting M4 Stop, m4TraceFlags: 00000000 267 UDOONeo - Waiting M4 Stop, m4TraceFlags: 00000000 268 UDOONeo - Failed to Stop M4 sketch: reboot system ! 269 270In such situation, the mqx_upload_on_m4SoloX utility has reset the trace flags, 271so it will succeed when called again. Then it can have this output below: 272 273.. code-block:: console 274 275 UDOONeo - mqx_upload_on_m4SoloX 1.1.0 276 UDOONeo - FILENAME = zephyr.bin; loadaddr = 0x84000000 277 UDOONeo - start - end (0x84000000 - 0x84080000) 278 UDOONeo - Waiting M4 Run, m4TraceFlags: 000001E0 279 UDOONeo - M4 sketch is running 280 281Or the one below, if the utility cannot read the status flag that the M4 core 282applications has started. It can be ignored as the application should be 283running, the utility just doesn't know it: 284 285.. code-block:: console 286 287 UDOONeo - mqx_upload_on_m4SoloX 1.1.0 288 UDOONeo - FILENAME = zephyr.bin; loadaddr = 0x84000000 289 UDOONeo - start - end (0x84000000 - 0x84080000) 290 UDOONeo - Waiting M4 Run, m4TraceFlags: 00000000 291 UDOONeo - Waiting M4 Run, m4TraceFlags: 00000000 292 UDOONeo - Waiting M4 Run, m4TraceFlags: 00000000 293 UDOONeo - Waiting M4 Run, m4TraceFlags: 00000000 294 UDOONeo - Failed to Start M4 sketch: reboot system ! 295 296The stack pointer and the program counter values are read from the binary. 297The memory address where binary will be placed is calculated from the program 298counter as its value aligned to 64 KB down, or it can be provided as a second 299command line argument: 300 301.. code-block:: console 302 303 mqx_upload_on_m4SoloX zephyr.bin 0x84000000 304 305It is necessary to provide the address if the binary is copied into a memory 306region which has different mapping between the A9 and the M4 core. The address 307calculated from the stack pointer value in the binary file would be wrong. 308 309It is possible to modify the mqx_upload_on_m4SoloX utility source code 310to not exchange the information with the M4 core application using shared 311memory. 312 313It is also possible to use the `imx-m4fwloader`_ utility to load the M4 core 314application. 315 316One option applicable in UDOOBuntu Linux is to copy the binary file into the 317file /var/opt/m4/m4last.fw in the Linux filesystem. The next time the system is 318booted, Das U-Boot will load it from there. 319 320Another option is to directly use Das U-Boot to load the code. 321 322Debugging 323========= 324 325The UDOO Neo Full board includes pads for soldering the 14-pin JTAG 326connector. Zephyr applications running on the M4 core have only been 327tested by observing UART console output. 328 329References 330========== 331 332.. target-notes:: 333 334.. _UDOO Neo Website: 335 https://www.udoo.org/udoo-neo/ 336 337.. _UDOO Neo Getting Started: 338 https://www.udoo.org/get-started-neo/ 339 340.. _UDOO Neo Documentation: 341 https://www.udoo.org/docs-neo 342 343.. _UDOO Neo Datasheet: 344 https://www.udoo.org/download/files/datasheets/datasheet_udoo_neo.pdf 345 346.. _UDOO Neo Schematics: 347 https://www.udoo.org/download/files/schematics/UDOO_NEO_schematics.pdf 348 349.. _Udoo Neo Linux or Android Images for the A9 Core: 350 https://www.udoo.org/downloads/ 351 352.. _udooneo-m4uploader: 353 https://github.com/ektor5/udooneo-m4uploader 354 355.. _imx-m4fwloader: 356 https://github.com/codeauroraforum/imx-m4fwloader 357 358.. _NXP i.MX 6SoloX Website: 359 https://www.nxp.com/products/processors-and-microcontrollers/applications-processors/i.mx-applications-processors/i.mx-6-processors/i.mx-6solox-processors-heterogeneous-processing-with-arm-cortex-a9-and-cortex-m4-cores:i.MX6SX 360 361.. _NXP i.MX 6SoloX Datasheet: 362 https://www.nxp.com/docs/en/data-sheet/IMX6SXCEC.pdf 363 364.. _NXP i.MX 6SoloX Reference Manual: 365 https://www.nxp.com/docs/en/reference-manual/IMX6SXRM.pdf 366 367.. _Loading Code on Cortex-M4 from Linux for the i.MX 6SoloX and i.MX 7Dual/7Solo Application Processors: 368 https://www.nxp.com/docs/en/application-note/AN5317.pdf 369
