doc/board/ti/am62px_sk.rst - u-boot - Git at Google

 .. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
 .. sectionauthor:: Bryan Brattlof <bb@ti.com>

 AM62Px Platforms
 ================

 The AM62Px is an extension of the existing Sitara AM62x low-cost family
 of application processors built for Automotive and Linux Application
 development. Scalable Arm Cortex-A53 performance and embedded features,
 such as: multi high-definition display support, 3D-graphics
 acceleration, 4K video acceleration, and extensive peripherals make the
 AM62Px well-suited for a broad range of automation and industrial
 application, including automotive digital instrumentation, automotive
 displays, industrial HMI, and more.

 Some highlights of AM62P SoC are:

 * Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster.
   Dual/Single core variants are provided in the same package to allow HW
   compatible designs.

 * One Device manager Cortex-R5F for system power and resource
   management, and one Cortex-R5F for Functional Safety or
   general-purpose usage.

 * One 3D GPU up to 50 GLFOPS

 * H.264/H.265 Video Encode/Decode.

 * Display support: 3x display support over OLDI/LVDS (1x OLDI-DL, 1x or
   2x OLDI-SL), DSI, or DPI. Up to 3840x1080 @ 60fps resolution

 * Integrated Giga-bit Ethernet switch supporting up to a total of two
   external ports (TSN capable).

 * 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3xMMC and SD, GPMC for
   NAND/FPGA connection, OSPI memory controller, 3xMcASP for audio,
   1xCSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other peripherals.

 * Dedicated Centralized Hardware Security Module with support for secure
   boot, debug security and crypto acceleration and trusted execution
   environment.

 * One 32-bit DDR Subsystem that supports LPDDR4, DDR4 memory types.

 * Multiple low power modes support, ex: Deep sleep, Standby, MCU-only,
   enabling battery powered system design.

 For those interested, more details about this SoC can be found in the
 Technical Reference Manual here: https://www.ti.com/lit/pdf/spruj83

 Boot Flow:
 ----------

 The bootflow is exactly the same as all SoCs in the am62xxx extended SoC
 family. Below is the pictorial representation:

 .. image:: img/boot_diagram_k3_current.svg
   :alt: Boot flow diagram

 - Here TIFS acts as master and provides all the critical services. R5/A53
   requests TIFS to get these services done as shown in the above diagram.

 Sources:
 --------

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_boot_sources
     :end-before: .. k3_rst_include_end_boot_sources

 Build procedure:
 ----------------

 0. Setup the environment variables:

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_common_env_vars_desc
     :end-before: .. k3_rst_include_end_common_env_vars_desc

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_board_env_vars_desc
     :end-before: .. k3_rst_include_end_board_env_vars_desc

 Set the variables corresponding to this platform:

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_common_env_vars_defn
     :end-before: .. k3_rst_include_end_common_env_vars_defn

 .. code-block:: bash

  $ export UBOOT_CFG_CORTEXR=am62px_evm_r5_defconfig
  $ export UBOOT_CFG_CORTEXA=am62px_evm_a53_defconfig
  $ export TFA_BOARD=lite
  $ # we dont use any extra TFA parameters
  $ unset TFA_EXTRA_ARGS
  $ export OPTEE_PLATFORM=k3-am62x
  $ export OPTEE_EXTRA_ARGS="CFG_WITH_SOFTWARE_PRNG=y"

 .. am62px_evm_rst_include_start_build_steps

 1. Trusted Firmware-A:

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_tfa
     :end-before: .. k3_rst_include_end_build_steps_tfa


 2. OP-TEE:

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_optee
     :end-before: .. k3_rst_include_end_build_steps_optee

 3. U-Boot:

 * 3.1 R5:

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_spl_r5
     :end-before: .. k3_rst_include_end_build_steps_spl_r5

 * 3.2 A53:

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_uboot
     :end-before: .. k3_rst_include_end_build_steps_uboot
 .. am62px_evm_rst_include_end_build_steps

 Target Images
 --------------

 In order to boot we need tiboot3.bin, tispl.bin and u-boot.img.  Each SoC
 variant (HS-FS, HS-SE) requires a different source for these files.

  - HS-FS

         * tiboot3-am62px-hs-fs-evm.bin from step 3.1
         * tispl.bin, u-boot.img from step 3.2

  - HS-SE

         * tiboot3-am62px-hs-evm.bin from step 3.1
         * tispl.bin, u-boot.img from step 3.2

 Image formats:
 --------------

 - tiboot3.bin

 .. image:: img/multi_cert_tiboot3.bin.svg
   :alt: tiboot3.bin image format

 - tispl.bin

 .. image:: img/dm_tispl.bin.svg
   :alt: tispl.bin image format

 A53 SPL DDR Memory Layout
 -------------------------

 .. am62px_evm_rst_include_start_ddr_mem_layout

 This provides an overview memory usage in A53 SPL stage.

 .. list-table::
    :widths: 16 16 16
    :header-rows: 1

    * - Region
      - Start Address
      - End Address

    * - EMPTY
      - 0x80000000
      - 0x80080000

    * - TEXT BASE
      - 0x80080000
      - 0x800d8000

    * - EMPTY
      - 0x800d8000
      - 0x80200000

    * - BMP IMAGE
      - 0x80200000
      - 0x80b77660

    * - STACK
      - 0x80b77660
      - 0x80b77e60

    * - GD
      - 0x80b77e60
      - 0x80b78000

    * - MALLOC
      - 0x80b78000
      - 0x80b80000

    * - EMPTY
      - 0x80b80000
      - 0x80c80000

    * - BSS
      - 0x80c80000
      - 0x80d00000

    * - BLOBS
      - 0x80d00000
      - 0x80d00400

    * - EMPTY
      - 0x80d00400
      - 0x81000000
 .. am62px_evm_rst_include_end_ddr_mem_layout

 Switch Setting for Boot Mode
 ----------------------------

 Boot Mode pins provide means to select the boot mode and options before the
 device is powered up. After every POR, they are the main source to populate
 the Boot Parameter Tables.

 The following table shows some common boot modes used on AM62Px
 platforms. More details can be found in the Technical Reference Manual:
 https://www.ti.com/lit/pdf/spruj83 under the `Boot Mode Pins` section.

 .. note::

    This device is very new. Currently only UART boot is available while
    we continue to add support for the other bootmodes.

 .. list-table:: Boot Modes
    :widths: 16 16 16
    :header-rows: 1

    * - Switch Label
      - SW2: 12345678
      - SW3: 12345678

    * - SD
      - 01000000
      - 11000010

    * - OSPI
      - 00000000
      - 11001110

    * - EMMC
      - 00000000
      - 11010010

    * - UART
      - 00000000
      - 11011100

    * - USB DFU
      - 00000000
      - 11001010

 For SW2 and SW1, the switch state in the "ON" position = 1.

 Debugging U-Boot
 ----------------

 See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
 detailed setup information.

 .. warning::

   **OpenOCD support after**: v0.12.0

   While support for the entire K3 generation including the am62xxx
   extended family was added before v0.12.0, the tcl scripts for the
   am62px have been accepted and will be available in the next release of
   OpenOCD. It may be necessary to build OpenOCD from source depending on
   the version your distribution has packaged.

 .. include::  k3.rst
     :start-after: .. k3_rst_include_start_openocd_connect_XDS110
     :end-before: .. k3_rst_include_end_openocd_connect_XDS110

 To start OpenOCD and connect to the board

 .. code-block:: bash

   openocd -f board/ti_am62pevm.cfg
	.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
	.. sectionauthor:: Bryan Brattlof <bb@ti.com>

	AM62Px Platforms
	================

	The AM62Px is an extension of the existing Sitara AM62x low-cost family
	of application processors built for Automotive and Linux Application
	development. Scalable Arm Cortex-A53 performance and embedded features,
	such as: multi high-definition display support, 3D-graphics
	acceleration, 4K video acceleration, and extensive peripherals make the
	AM62Px well-suited for a broad range of automation and industrial
	application, including automotive digital instrumentation, automotive
	displays, industrial HMI, and more.

	Some highlights of AM62P SoC are:

	* Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster.
	Dual/Single core variants are provided in the same package to allow HW
	compatible designs.

	* One Device manager Cortex-R5F for system power and resource
	management, and one Cortex-R5F for Functional Safety or
	general-purpose usage.

	* One 3D GPU up to 50 GLFOPS

	* H.264/H.265 Video Encode/Decode.

	* Display support: 3x display support over OLDI/LVDS (1x OLDI-DL, 1x or
	2x OLDI-SL), DSI, or DPI. Up to 3840x1080 @ 60fps resolution

	* Integrated Giga-bit Ethernet switch supporting up to a total of two
	external ports (TSN capable).

	* 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3xMMC and SD, GPMC for
	NAND/FPGA connection, OSPI memory controller, 3xMcASP for audio,
	1xCSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other peripherals.

	* Dedicated Centralized Hardware Security Module with support for secure
	boot, debug security and crypto acceleration and trusted execution
	environment.

	* One 32-bit DDR Subsystem that supports LPDDR4, DDR4 memory types.

	* Multiple low power modes support, ex: Deep sleep, Standby, MCU-only,
	enabling battery powered system design.

	For those interested, more details about this SoC can be found in the
	Technical Reference Manual here: https://www.ti.com/lit/pdf/spruj83

	Boot Flow:
	----------

	The bootflow is exactly the same as all SoCs in the am62xxx extended SoC
	family. Below is the pictorial representation:

	.. image:: img/boot_diagram_k3_current.svg
	:alt: Boot flow diagram

	- Here TIFS acts as master and provides all the critical services. R5/A53
	requests TIFS to get these services done as shown in the above diagram.

	Sources:
	--------

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_boot_sources
	:end-before: .. k3_rst_include_end_boot_sources

	Build procedure:
	----------------

	0. Setup the environment variables:

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_common_env_vars_desc
	:end-before: .. k3_rst_include_end_common_env_vars_desc

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_board_env_vars_desc
	:end-before: .. k3_rst_include_end_board_env_vars_desc

	Set the variables corresponding to this platform:

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_common_env_vars_defn
	:end-before: .. k3_rst_include_end_common_env_vars_defn

	.. code-block:: bash

	$ export UBOOT_CFG_CORTEXR=am62px_evm_r5_defconfig
	$ export UBOOT_CFG_CORTEXA=am62px_evm_a53_defconfig
	$ export TFA_BOARD=lite
	$ # we dont use any extra TFA parameters
	$ unset TFA_EXTRA_ARGS
	$ export OPTEE_PLATFORM=k3-am62x
	$ export OPTEE_EXTRA_ARGS="CFG_WITH_SOFTWARE_PRNG=y"

	.. am62px_evm_rst_include_start_build_steps

	1. Trusted Firmware-A:

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_build_steps_tfa
	:end-before: .. k3_rst_include_end_build_steps_tfa


	2. OP-TEE:

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_build_steps_optee
	:end-before: .. k3_rst_include_end_build_steps_optee

	3. U-Boot:

	* 3.1 R5:

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_build_steps_spl_r5
	:end-before: .. k3_rst_include_end_build_steps_spl_r5

	* 3.2 A53:

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_build_steps_uboot
	:end-before: .. k3_rst_include_end_build_steps_uboot
	.. am62px_evm_rst_include_end_build_steps

	Target Images
	--------------

	In order to boot we need tiboot3.bin, tispl.bin and u-boot.img. Each SoC
	variant (HS-FS, HS-SE) requires a different source for these files.

	- HS-FS

	* tiboot3-am62px-hs-fs-evm.bin from step 3.1
	* tispl.bin, u-boot.img from step 3.2

	- HS-SE

	* tiboot3-am62px-hs-evm.bin from step 3.1
	* tispl.bin, u-boot.img from step 3.2

	Image formats:
	--------------

	- tiboot3.bin

	.. image:: img/multi_cert_tiboot3.bin.svg
	:alt: tiboot3.bin image format

	- tispl.bin

	.. image:: img/dm_tispl.bin.svg
	:alt: tispl.bin image format

	A53 SPL DDR Memory Layout
	-------------------------

	.. am62px_evm_rst_include_start_ddr_mem_layout

	This provides an overview memory usage in A53 SPL stage.

	.. list-table::
	:widths: 16 16 16
	:header-rows: 1

	* - Region
	- Start Address
	- End Address

	* - EMPTY
	- 0x80000000
	- 0x80080000

	* - TEXT BASE
	- 0x80080000
	- 0x800d8000

	* - EMPTY
	- 0x800d8000
	- 0x80200000

	* - BMP IMAGE
	- 0x80200000
	- 0x80b77660

	* - STACK
	- 0x80b77660
	- 0x80b77e60

	* - GD
	- 0x80b77e60
	- 0x80b78000

	* - MALLOC
	- 0x80b78000
	- 0x80b80000

	* - EMPTY
	- 0x80b80000
	- 0x80c80000

	* - BSS
	- 0x80c80000
	- 0x80d00000

	* - BLOBS
	- 0x80d00000
	- 0x80d00400

	* - EMPTY
	- 0x80d00400
	- 0x81000000
	.. am62px_evm_rst_include_end_ddr_mem_layout

	Switch Setting for Boot Mode
	----------------------------

	Boot Mode pins provide means to select the boot mode and options before the
	device is powered up. After every POR, they are the main source to populate
	the Boot Parameter Tables.

	The following table shows some common boot modes used on AM62Px
	platforms. More details can be found in the Technical Reference Manual:
	https://www.ti.com/lit/pdf/spruj83 under the `Boot Mode Pins` section.

	.. note::

	This device is very new. Currently only UART boot is available while
	we continue to add support for the other bootmodes.

	.. list-table:: Boot Modes
	:widths: 16 16 16
	:header-rows: 1

	* - Switch Label
	- SW2: 12345678
	- SW3: 12345678

	* - SD
	- 01000000
	- 11000010

	* - OSPI
	- 00000000
	- 11001110

	* - EMMC
	- 00000000
	- 11010010

	* - UART
	- 00000000
	- 11011100

	* - USB DFU
	- 00000000
	- 11001010

	For SW2 and SW1, the switch state in the "ON" position = 1.

	Debugging U-Boot
	----------------

	See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
	detailed setup information.

	.. warning::

	OpenOCD support after: v0.12.0

	While support for the entire K3 generation including the am62xxx
	extended family was added before v0.12.0, the tcl scripts for the
	am62px have been accepted and will be available in the next release of
	OpenOCD. It may be necessary to build OpenOCD from source depending on
	the version your distribution has packaged.

	.. include:: k3.rst
	:start-after: .. k3_rst_include_start_openocd_connect_XDS110
	:end-before: .. k3_rst_include_end_openocd_connect_XDS110

	To start OpenOCD and connect to the board

	.. code-block:: bash

	openocd -f board/ti_am62pevm.cfg