[bsp][nxp][imx] WIP: Add FRDM-i.MX91 bsp

bsp/nxp/imx/imx91/Kconfig

@@ -0,0 +1,24 @@
+mainmenu "RT-Thread Configuration"
+
+BSP_DIR := .
+
+RTT_DIR := ../../../..
+
+PKGS_DIR := packages
+
+config BOARD_IMX91
+    bool
+    select ARCH_ARM_CORTEX_A55
+    select RT_USING_GIC_V2
+    default y
+
+source "$(RTT_DIR)/Kconfig"
+osource "$PKGS_DIR/Kconfig"
+
+source "$(BSP_DIR)/drivers/Kconfig"
+
+config SOC_MIMX91X1D
+    bool
+    select RT_USING_COMPONENTS_INIT
+    select RT_USING_USER_MAIN
+    default y

bsp/nxp/imx/imx91/Makefile

@@ -0,0 +1,10 @@
+scons:=python ${SCONS}\scons.py
+
+all:
+	@$(scons)
+
+clean:
+	@$(scons) -c
+
+copy:
+	@$(scons) --copy -s

bsp/nxp/imx/imx91/README.md

@@ -0,0 +1,13 @@
+# i.MX91
+
+The i.MX 91 applications processor features an Arm® Cortex®-A55 running at up to 1.4 GHz and support for modern LPDDR4 memory to enable platform longevity and reliability; dual Gigabit Ethernet for gateway or multi-network segment support; dual USB ports; and the essential I/O for products in smart factory, smart home, smart office, medical device, metering, and cost-optimized
+system-on-module platforms.
+
+The i.MX 91 may be used in applications such as:
+• EV Charging
+• Matter-enabled IoT Platforms
+• Smart Home, Office, and City
+• Building Automation and Monitoring
+• Industrial Monitoring and HMI
+• Portable or small form-factor Medical and Healthcare devices
+• Audio and Entertainment IoT

bsp/nxp/imx/imx91/SConscript

@@ -0,0 +1,14 @@
+# for module compiling
+import os
+Import('RTT_ROOT')
+
+cwd = str(Dir('#'))
+objs = []
+list = os.listdir(cwd)
+
+for d in list:
+    path = os.path.join(cwd, d)
+    if os.path.isfile(os.path.join(path, 'SConscript')):
+        objs = objs + SConscript(os.path.join(d, 'SConscript'))
+
+Return('objs')

bsp/nxp/imx/imx91/SConstruct

@@ -0,0 +1,49 @@
+import os
+import sys
+import rtconfig
+
+if os.getenv('RTT_ROOT'):
+    RTT_ROOT = os.getenv('RTT_ROOT')
+else:
+    RTT_ROOT = os.path.join(os.getcwd(), '..', '..', '..', '..')
+
+sys.path = sys.path + [os.path.join(RTT_ROOT, 'tools')]
+from building import *
+
+def bsp_pkg_check():
+    import subprocess
+
+    check_paths = [
+        os.path.join("packages", "nxp-imx91-sdk-latest"),
+    ]
+
+    need_update = not all(os.path.exists(p) for p in check_paths)
+
+    if need_update:
+        print("\n==============================================================")
+        print("Dependency packages missing, please running 'pkgs --update'...")
+        print("==============================================================")
+        exit(1)
+
+RegisterPreBuildingAction(bsp_pkg_check)
+
+TARGET = 'rtthread.' + rtconfig.TARGET_EXT
+
+DefaultEnvironment(tools=[])
+env = Environment(tools = ['mingw'],
+    AS = rtconfig.AS, ASFLAGS = rtconfig.AFLAGS,
+    CC = rtconfig.CC, CFLAGS = rtconfig.CFLAGS,
+    CXX= rtconfig.CXX, CXXFLAGS = rtconfig.CFLAGS,
+    AR = rtconfig.AR, ARFLAGS = '-rc',
+    LINK = rtconfig.LINK, LINKFLAGS = rtconfig.LFLAGS)
+env.PrependENVPath('PATH', rtconfig.EXEC_PATH)
+env['ASCOM'] = env['ASPPCOM']
+
+Export('RTT_ROOT')
+Export('rtconfig')
+
+# prepare building environment
+objs = PrepareBuilding(env, RTT_ROOT)
+
+# make a building
+DoBuilding(TARGET, objs)

bsp/nxp/imx/imx91/applications/SConscript

@@ -0,0 +1,15 @@
+from building import *
+import os
+
+cwd = GetCurrentDir()
+src = Glob('*.c')
+CPPPATH = [cwd]
+
+group = DefineGroup('Applications', src, depend = [''], CPPPATH = CPPPATH)
+
+list = os.listdir(cwd)
+for item in list:
+    if os.path.isfile(os.path.join(cwd, item, 'SConscript')):
+        group = group + SConscript(os.path.join(item, 'SConscript'))
+
+Return('group')

bsp/nxp/imx/imx91/applications/application.c

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2006-2025, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2025-07-12     BruceOu    the first version
+ */
+
+#include <rtthread.h>
+
+#include <sdk_version.h>
+#include <ccm_pll.h>
+
+void show_freq(void)
+{
+    rt_kprintf("CPU: %d MHz\n", get_main_clock(CPU_CLK)/1000000);
+    rt_kprintf("DDR: %d MHz\n", get_main_clock(MMDC_CH0_AXI_CLK)/1000000);
+    rt_kprintf("IPG: %d MHz\n", get_main_clock(IPG_CLK)/1000000);
+}
+
+void init_thread(void* parameter)
+{
+    rt_kprintf("Freescale i.MX91 Platform SDK %s\n", SDK_VERSION_STRING);
+    show_freq();
+
+    rt_components_init();
+}
+
+int rt_application_init()
+{
+    rt_thread_t tid;
+
+    tid = rt_thread_create("init", init_thread, RT_NULL,
+        1024, RT_THREAD_PRIORITY_MAX/3, 10);
+    if (tid != RT_NULL) rt_thread_startup(tid);
+
+    return 0;
+}
+

bsp/nxp/imx/imx91/applications/startup.c

@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2006-2025, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2025-07-12     BruceOu      the first version
+ */
+
+#include <rthw.h>
+#include <rtthread.h>
+
+#include <board.h>
+
+extern int  rt_application_init(void);
+extern void rt_hw_board_init(void);
+
+/**
+ * This function will startup RT-Thread RTOS.
+ */
+void rtthread_startup(void)
+{
+    // platform_init();
+    // print_version();
+
+    /* initialzie hardware interrupt */
+    rt_hw_interrupt_init();
+
+    /* initialize board */
+    rt_hw_board_init();
+
+    /* show RT-Thread version */
+    rt_show_version();
+
+    /* initialize memory system */
+#ifdef RT_USING_HEAP
+    rt_system_heap_init(HEAP_BEGIN, HEAP_END);
+#endif
+
+    /* initialize scheduler system */
+    rt_system_scheduler_init();
+
+    /* initialize timer and soft timer thread */
+    rt_system_timer_init();
+    rt_system_timer_thread_init();
+
+    /* initialize application */
+    rt_application_init();
+
+    /* initialize idle thread */
+    rt_thread_idle_init();
+
+    /* start scheduler */
+    rt_system_scheduler_start();
+
+    /* never reach here */
+    return ;
+}
+
+int main(void)
+{
+    /* disable interrupt first */
+    rt_hw_interrupt_disable();
+
+    /* invoke rtthread_startup */
+    rtthread_startup();
+
+    return 0;
+}

bsp/nxp/imx/imx91/drivers/Kconfig

@@ -0,0 +1,3 @@
+config RT_USING_UART1
+    bool "Enable UART1"
+    default y

bsp/nxp/imx/imx91/drivers/SConscript

@@ -0,0 +1,10 @@
+from building import *
+
+cwd = GetCurrentDir()
+src = Glob('*.c') + Glob('iomux/*.c')
+
+CPPPATH = [cwd, cwd + '/iomux']
+
+group = DefineGroup('Drivers', src, depend = [''], CPPPATH = CPPPATH)
+
+Return('group')

bsp/nxp/imx/imx91/drivers/board.c

@@ -0,0 +1,84 @@
+/*
+ * Copyright (c) 2006-2025, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2025-07-12     BruceOu    the first version
+ */
+
+#include <rthw.h>
+#include <rtthread.h>
+
+#include "board.h"
+
+#include <registers/regsarmglobaltimer.h>
+#include <registers/regsepit.h>
+
+#include <imx_uart.h>
+#include <epit.h>
+#include <cortex_a.h>
+
+#include <mmu.h>
+
+struct mem_desc platform_mem_desc[] = {
+    {0x00000000, 0x80000000, 0x00000000, DEVICE_MEM},
+    {0x80000000, 0xFFF00000, 0x80000000, NORMAL_MEM}
+};
+
+const rt_uint32_t platform_mem_desc_size = sizeof(platform_mem_desc)/sizeof(platform_mem_desc[0]);
+
+static void rt_hw_timer_isr(int vector, void *param)
+{
+    rt_tick_increase();
+    epit_get_compare_event(HW_EPIT1);
+}
+
+int rt_hw_timer_init(void)
+{
+    uint32_t freq;
+
+    // Make sure the timer is off.
+    HW_ARMGLOBALTIMER_CONTROL.B.TIMER_ENABLE = 0;
+
+    HW_ARMGLOBALTIMER_CONTROL.B.FCR0 =1;
+
+    HW_ARMGLOBALTIMER_CONTROL.B.FCR1 =0;
+
+    HW_ARMGLOBALTIMER_CONTROL.B.DBG_ENABLE =0;
+
+    // Clear counter.
+    HW_ARMGLOBALTIMER_COUNTER_HI_WR(0);
+    HW_ARMGLOBALTIMER_COUNTER_LO_WR(0);
+
+    // Now turn on the timer.
+    HW_ARMGLOBALTIMER_CONTROL.B.TIMER_ENABLE = 1;
+
+    freq = get_main_clock(IPG_CLK);
+
+    epit_init(HW_EPIT1, CLKSRC_IPG_CLK, freq / 1000000,
+              SET_AND_FORGET, 10000, WAIT_MODE_EN | STOP_MODE_EN);
+
+    epit_counter_enable(HW_EPIT1, 10000, IRQ_MODE);
+
+    rt_hw_interrupt_install(IMX_INT_EPIT1, rt_hw_timer_isr, RT_NULL, "tick");
+    rt_hw_interrupt_umask(IMX_INT_EPIT1);
+
+    return 0;
+}
+INIT_BOARD_EXPORT(rt_hw_timer_init);
+
+/**
+ * This function will initialize hardware board
+ */
+void rt_hw_board_init(void)
+{
+    enable_neon_fpu();
+    disable_strict_align_check();
+
+    rt_components_board_init();
+    rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
+}
+
+/*@}*/

bsp/nxp/imx/imx91/drivers/board.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) 2006-2025, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2025-07-12     BruceOu    the first version
+ */
+
+#ifndef __BOARD_H__
+#define __BOARD_H__
+
+#include <registers.h>
+#include <irq_numbers.h>
+#include "imx91.h"
+
+#define CONFIG_MX6
+#define CONFIG_MX6UL
+
+#if defined(__CC_ARM)
+extern int Image$$RW_IRAM1$$ZI$$Limit;
+#define HEAP_BEGIN      ((void*)&Image$$RW_IRAM1$$ZI$$Limit)
+#elif defined(__GNUC__)
+extern int __bss_end;
+#define HEAP_BEGIN      ((void*)&__bss_end)
+#endif
+
+#define HEAP_END        (void*)(0x80000000 + 32 * 1024 * 1024)
+
+void rt_hw_board_init(void);
+
+#endif