boards: beaglebone_ai64: Add BeagleBone AI-64

Add minimal BeagleBone AI-64 support

Signed-off-by: Prashanth S <[email protected]>

boards/arm/beagle_bbai_64/Kconfig.board

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+# Copyright (C) 2023 BeagleBoard.org Foundation
+# Copyright (C) 2023 S Prashanth
+#
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_BBAI64
+	bool "Beaglebone AI-64"
+	depends on SOC_TI_J721E_R5
+	select CPU_CORTEX_R5

boards/arm/beagle_bbai_64/Kconfig.defconfig

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+# Copyright (C) 2023 BeagleBoard.org Foundation
+# Copyright (C) 2023 S Prashanth
+#
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_BBAI64
+
+config BOARD
+	default "bbai_64"
+
+endif # BOARD_BBAI64

boards/arm/beagle_bbai_64/bbai_64.dts

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+/* Copyright (C) 2023 BeagleBoard.org Foundation
+ * Copyright (C) 2023 S Prashanth
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <ti/j721e_r5.dtsi>
+#include <arm/ti/j721e-pinctrl.dtsi>
+#include <freq.h>
+
+/ {
+	chosen {
+		zephyr,sram = &atcm;
+		zephyr,console = &uart2;
+	};
+};
+
+&uart2 {
+	current-speed = <115200>;
+	status = "okay";
+	pinctrl-0 = <&uart2_tx_default &uart2_rx_default>;
+	pinctrl-names = "default";
+};

boards/arm/beagle_bbai_64/bbai_64.yaml

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+# Copyright (C) 2023 BeagleBoard.org Foundation
+# Copyright (C) 2023 S Prashanth
+#
+# SPDX-License-Identifier: Apache-2.0
+
+identifier: bbai_64
+name: BeagleBone-AI64
+type: mcu
+arch: arm
+ram: 32
+toolchain:
+  - zephyr
+  - gnuarmemb
+  - xtools
+supported:
+  - uart

boards/arm/beagle_bbai_64/bbai_64_defconfig

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+# Copyright (C) 2023 BeagleBoard.org Foundation
+# Copyright (C) 2023 S Prashanth
+#
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_SOC_SERIES_TI_J721E=y
+CONFIG_SOC_TI_J721E_R5=y
+
+# enable uart
+CONFIG_SERIAL=y
+
+# enable console
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+
+CONFIG_BUILD_OUTPUT_UF2=n
+CONFIG_BUILD_OUTPUT_HEX=y
+
+CONFIG_XIP=n
+CONFIG_FLASH_SIZE=0
+CONFIG_FLASH_BASE_ADDRESS=0
+
+CONFIG_BOOTLOADER_SRAM_SIZE=0
+
+CONFIG_PRINTK=y

boards/arm/beagle_bbai_64/board.cmake

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+# Copyright (C) 2023 BeagleBoard.org Foundation
+# Copyright (C) 2023 S Prashanth
+#
+# SPDX-License-Identifier: Apache-2.0

boards/arm/beagle_bbai_64/doc/index.rst

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+.. _beaglebone_ai64:
+
+BeagleBone AI-64
+################
+
+Overview
+********
+BeagleBone AI-64 is a computational platform powered by TI J721E Soc, which is
+targeted for automotive applications.
+
+.. figure:: assets/bbai_64.png
+		:align: center
+		:width: 500px
+		:alt: BeagleBoard.org BeagleBone AI-64
+
+Hardware
+********
+The BeagleBone AI-64 is powered by TI J721E Soc, which has three domains (Main,
+MCU, WKUP). This document gives overview of Zephyr running on Cortex R5 in the
+Main domain.
+
+L1 Memory System
+----------------
+* 16 KB instruction cache.
+* 16 KB data cache.
+* 64 KB TCM.
+
+Region Address Translation
+--------------------------
+The RAT module performs a region based address translation. It translates a
+32-bit input address into a 48-bit output address. Any input transaction that
+starts inside of a programmed region will have its address translated, if the
+region is enabled.
+
+VIM Interrupt Controller
+------------------------
+The VIM aggregates device interrupts and sends them to the R5F CPU(s). The VIM
+module supports 512 interrupt inputs per R5F core. Each interrupt can be either
+a level or a pulse (both active-high). The VIM has two interrupt outputs per core
+IRQ and FIQ.
+
+Supported Features
+******************
+The board configuration supports,
+
++-----------+------------+----------------------+
+| Interface | Controller | Driver/Component     |
++===========+============+======================+
+| UART      | on-chip    | serial               |
++-----------+------------+----------------------+
+
+Other hardwares features are currently not supported.
+
+The default configuration can be found in the defconfig file:
+> boards/arm/beaglebone-ai64/bbai_64_defconfig
+
+Flashing
+********
+The Zephyr image can be flashed to J721E Cortex R5 through remoteproc from
+Linux (Running on A72).
+
+Steps to flash the image
+------------------------
+#. cp build/zephyr/zephyr.elf /lib/firmware/
+#. echo stop > /sys/class/remoteproc/remoteproc18/state
+#. echo zephyr.elf > /sys/class/remoteproc/remoteproc18/firmware
+#. echo start > /sys/class/remoteproc/remoteproc18/state
+
+Note:
+-----
+As the image is loaded through remoteproc, which is running on Linux. To flash
+Linux image on A72, please refer https://beagleboard.org/latest-images
+
+References
+**********
+* https://beagleboard.org/ai-64
+* J721E TRM