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commit 5dcaf8ace8d9170013e8dde49d1fb0a75f84b72d Author: Lourens Naude <[email protected]> AuthorDate: Thu Sep 24 23:02:49 2026 +0100 Documentation/platforms/arm/imxrt: Document the RT1170 CM4 rptun driver. Document CONFIG_IMXRT_RPTUN: what the driver does at start and stop, the memory map rules the board must follow (only the first 128 KB of the backdoor window reaches the CM4, boot from the backdoor alias, shared window mapped non-cacheable), the carveout resource the CM4 table must carry for the vrings and buffers, and the kick ordering the CM4 firmware must honour. Assisted-by: Claude:claude-fable-5-1 Signed-off-by: Lourens Naude <[email protected]> --- Documentation/platforms/arm/imxrt/index.rst | 42 +++++++++++++++++++++++++++++ 1 file changed, 42 insertions(+) diff --git a/Documentation/platforms/arm/imxrt/index.rst b/Documentation/platforms/arm/imxrt/index.rst index 3e302d83aaf..285f3330c9b 100644 --- a/Documentation/platforms/arm/imxrt/index.rst +++ b/Documentation/platforms/arm/imxrt/index.rst @@ -295,6 +295,48 @@ USB Console communication over USB is supported via CDC-ACM. Only USB Device is currently supported for i.MX RT in NuttX +Multicore: RT1170 CM4 over RPTUN +================================ + +The i.MX RT1170 pairs the Cortex-M7 with a Cortex-M4. NuttX runs on the CM7 and can load, release +and hold a firmware on the CM4 through the NuttX RPTUN device on top of the OpenAMP framework +(``CONFIG_IMXRT_RPTUN``, which selects ``CONFIG_RPTUN_LOADER``). The CM4 firmware is the virtio +device side and provides the resource table in its ELF image; it may be bare metal. The table must +carry a carveout resource for the shared window after the table: NuttX 13 rptun places the vrings +and the rpmsg buffers in it and refuses the device without it, NuttX 12.12 rptun parses it and lays +out the window on its own. + +The board registers the remote with :c:func:`imxrt_rptun_init`, passing the remote name, the ELF +path, the address environment (CM4 device addresses to CM7 physical addresses), the boot vector and +whether to autostart. The option is offered only on parts with a CM4 (``IMXRT_HAVE_CM4``) and +selects ``DEV_SIMPLE_ADDRENV`` for libmetal. +The driver: + +- Programs the boot vector into ``IOMUXC_LPSR_GPR0/1`` and reads it back. +- Releases the core with ``SRC_SCR.BT_RELEASE_M4``. The slice stays under reset until its first + release and cannot be held again afterwards: a software reset of the slice is a pulse after which + the core restarts from the boot vector. To stop the core the driver writes a ``wfi`` loop over the + start of the image and pulses the reset, so the core parks there until the next start reloads the + image. A reset completion is awaited only when restarting a core that was already released. +- Keeps a CM4 lockup local by setting ``SRC_SRMR`` so it does not reset the whole chip. +- Exchanges virtqueue kicks with the CM4 on MU-A channel 0. Neither side reads the mailbox word; a + kick into a full mailbox is coalesced with the pending one and the receiver rescans every + virtqueue. The CM4 firmware must therefore read MU-B ``RR0`` before it scans, so that a kick + coalesced during the scan is covered by it. +- Starts the remote from :c:func:`rptun_initialize` when the board sets ``autostart``; otherwise + ``RPTUNIOC_START`` on ``/dev/rptun/<name>`` or :c:func:`rptun_boot` starts it. + +Memory map rules the board must follow: + +- The CM7 reaches the CM4 TCM through the LMEM backdoor window at ``IMXRT_OCRAM_M4_BASE``. Only the + first 128 KB of that window, the CM4 code TCM, is reachable; writes to the second half do not + reach the system TCM. The resource table, vrings and rpmsg buffers must live in the code TCM. +- The CM4 boots from the backdoor alias of its code TCM (``0x20200000``), as NXP MCMGR does; the + CM4-native ``0x1FFE0000`` does not boot. +- The board maps the memory the CM4 writes as non-cacheable (for example an MPU region over the + shared window) before calling :c:func:`imxrt_rptun_init`. The driver cleans the D-cache over the + loaded image before releasing the core. + Supported Boards ================
