doc/board/ti/am65x_evm.rst - u-boot - Git at Google

 .. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
 .. sectionauthor:: Neha Francis <n-francis@ti.com>

 AM65x Platforms
 ===============

 Introduction:
 -------------
 The AM65x family of SoCs is the first device family from K3 Multicore
 SoC architecture, targeted for broad market and industrial control with
 aim to meet the complex processing needs of modern embedded products.

 The device is built over three domains, each containing specific processing
 cores, voltage domains and peripherals:

 1. Wake-up (WKUP) domain:
         * Device Management and Security Controller (DMSC)

 2. Microcontroller (MCU) domain:
         * Dual Core ARM Cortex-R5F processor

 3. MAIN domain:
         * Quad core 64-bit ARM Cortex-A53

 More info can be found in TRM: https://www.ti.com/lit/pdf/spruid7

 Platform information:

 * https://www.ti.com/tool/TMDX654GPEVM

 Boot Flow:
 ----------
 On AM65x family devices, ROM supports boot only via MCU(R5). This means that
 bootloader has to run on R5 core. In order to meet this constraint, and for
 the following reasons the boot flow is designed as mentioned:

 1. Need to move away from R5 asap, so that we want to start *any*
 firmware on the R5 cores for example autosar can be loaded to receive CAN
 response and other safety operations to be started. This operation is
 very time critical and is applicable for all automotive use cases.

 2. U-Boot on A53 should start other remotecores for various
 applications. This should happen before running Linux.

 3. In production boot flow, we might not like to use full U-Boot,
 instead use Falcon boot flow to reduce boot time.

 .. image:: img/boot_diagram_am65.svg
   :alt: Boot flow diagram

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

 Sources:
 --------

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

 .. include::  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::  k3.rst
     :start-after: .. k3_rst_include_start_common_env_vars_defn
     :end-before: .. k3_rst_include_end_common_env_vars_defn
 .. prompt:: bash $

   export UBOOT_CFG_CORTEXR=am65x_evm_r5_defconfig
   export UBOOT_CFG_CORTEXA=am65x_evm_a53_defconfig
   export TFA_BOARD=generic
   # we dont use any extra TFA parameters
   unset TFA_EXTRA_ARGS
   export OPTEE_PLATFORM=k3-am65x
   # we dont use any extra OP-TEE parameters
   unset OPTEE_EXTRA_ARGS

 .. am65x_evm_rst_include_start_build_steps

 1. Trusted Firmware-A:

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


 2. OP-TEE:

 .. include::  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::  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::  k3.rst
     :start-after: .. k3_rst_include_start_build_steps_uboot
     :end-before: .. k3_rst_include_end_build_steps_uboot
 .. am65x_evm_rst_include_end_build_steps

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

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

 - GP

         * tiboot3-am65x_sr2-gp-evm.bin, sysfw-am65x_sr2-gp-evm.itb from step 3.1
         * tispl.bin_unsigned, u-boot.img_unsigned from step 3.2

 - HS

         * tiboot3-am65x_sr2-hs-evm.bin, sysfw-am65x_sr2-hs-evm.itb from step 3.1
         * tispl.bin, u-boot.img from step 3.2

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

 - tiboot3.bin

 .. image:: img/no_multi_cert_tiboot3.bin.svg
   :alt: tiboot3.bin image format

 - tispl.bin

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

 - sysfw.itb

 .. image:: img/sysfw.itb.svg
   :alt: sysfw.itb image format

 eMMC:
 -----
 ROM supports booting from eMMC from boot0 partition offset 0x0

 Flashing images to eMMC:

 The following commands can be used to download tiboot3.bin, tispl.bin,
 u-boot.img, and sysfw.itb from an SD card and write them to the eMMC boot0
 partition at respective addresses.

 .. prompt:: bash =>

   mmc dev 0 1
   fatload mmc 1 ${loadaddr} tiboot3.bin
   mmc write ${loadaddr} 0x0 0x400
   fatload mmc 1 ${loadaddr} tispl.bin
   mmc write ${loadaddr} 0x400 0x1000
   fatload mmc 1 ${loadaddr} u-boot.img
   mmc write ${loadaddr} 0x1400 0x2000
   fatload mmc 1 ${loadaddr} sysfw.itb
   mmc write ${loadaddr} 0x3600 0x800

 To give the ROM access to the boot partition, the following commands must be
 used for the first time:

 .. prompt:: bash =>

   mmc partconf 0 1 1 1
   mmc bootbus 0 1 0 0

 To create a software partition for the rootfs, the following command can be
 used:

 .. prompt:: bash =>

   gpt write mmc 0 ${partitions}

 eMMC layout:

 .. image:: img/emmc_am65x_evm_boot0.svg
   :alt: emmc boot partition layout

 Kernel image and DT are expected to be present in the /boot folder of rootfs.
 To boot kernel from eMMC, use the following commands:

 .. prompt:: bash =>

   setenv mmcdev 0
   setenv bootpart 0
   boot

 OSPI:
 -----
 ROM supports booting from OSPI from offset 0x0.

 Flashing images to OSPI:

 Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
 and sysfw.itb over tftp and then flash those to OSPI at their respective
 addresses.

 .. prompt:: bash =>

   sf probe
   tftp ${loadaddr} tiboot3.bin
   sf update $loadaddr 0x0 $filesize
   tftp ${loadaddr} tispl.bin
   sf update $loadaddr 0x80000 $filesize
   tftp ${loadaddr} u-boot.img
   sf update $loadaddr 0x280000 $filesize
   tftp ${loadaddr} sysfw.itb
   sf update $loadaddr 0x6C0000 $filesize

 Flash layout for OSPI:

 .. image:: img/ospi_sysfw.svg
   :alt: OSPI flash partition layout

 Kernel Image and DT are expected to be present in the /boot folder of UBIFS
 ospi.rootfs just like in SD card case. U-Boot looks for UBI volume named
 "rootfs" for rootfs.

 To boot kernel from OSPI, at the U-Boot prompt:

 .. prompt:: bash =>

   setenv boot ubi
   boot

 UART:
 -----
 ROM supports booting from MCU_UART0 via X-Modem protocol. The entire UART-based
 boot process up to U-Boot (proper) prompt goes through different stages and uses
 different UART peripherals as follows:

 .. list-table:: ROM UART Boot Responsibilities
    :widths: 16 16 16 16
    :header-rows: 1

    * - Who
      - Loading What
      - Hardware Module
      - Protocol

    * - Boot ROM
      - tiboot3.bin
      - MCU_UART0
      - X-Modem(*)

    * - R5 SPL
      - sysfw.itb
      - MCU_UART0
      - Y-Modem(*)

    * - R5 SPL
      - tispl.bin
      - MAIN_UART0
      - Y-Modem

    * - A53 SPL
      - u-boot.img
      - MAIN_UART0
      - Y-Modem

 Note that in addition to X/Y-Modem related protocol timeouts the DMSC
 watchdog timeout of 3min (typ.) needs to be observed until System Firmware
 is fully loaded (from sysfw.itb) and started.

 Example bash script sequence for running on a Linux host PC feeding all boot
 artifacts needed to the device:

 .. prompt:: bash $

   MCU_DEV=/dev/ttyUSB1
   MAIN_DEV=/dev/ttyUSB0

   stty -F $MCU_DEV 115200 cs8 -cstopb -parenb
   stty -F $MAIN_DEV 115200 cs8 -cstopb -parenb

   sb --xmodem tiboot3.bin > $MCU_DEV < $MCU_DEV
   sb --ymodem sysfw.itb > $MCU_DEV < $MCU_DEV
   sb --ymodem tispl.bin > $MAIN_DEV < $MAIN_DEV
   sleep 1
   sb --xmodem u-boot.img > $MAIN_DEV < $MAIN_DEV

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

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

 .. warning::

   **OpenOCD support since**: v0.12.0

   If the default package version of OpenOCD in your development
   environment's distribution needs to be updated, it might be necessary to
   build OpenOCD from the source.

 .. 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

 .. prompt:: bash $

   openocd -f board/ti_am654evm.cfg
	.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
	.. sectionauthor:: Neha Francis <n-francis@ti.com>

	AM65x Platforms
	===============

	Introduction:
	-------------
	The AM65x family of SoCs is the first device family from K3 Multicore
	SoC architecture, targeted for broad market and industrial control with
	aim to meet the complex processing needs of modern embedded products.

	The device is built over three domains, each containing specific processing
	cores, voltage domains and peripherals:

	1. Wake-up (WKUP) domain:
	* Device Management and Security Controller (DMSC)

	2. Microcontroller (MCU) domain:
	* Dual Core ARM Cortex-R5F processor

	3. MAIN domain:
	* Quad core 64-bit ARM Cortex-A53

	More info can be found in TRM: https://www.ti.com/lit/pdf/spruid7

	Platform information:

	* https://www.ti.com/tool/TMDX654GPEVM

	Boot Flow:
	----------
	On AM65x family devices, ROM supports boot only via MCU(R5). This means that
	bootloader has to run on R5 core. In order to meet this constraint, and for
	the following reasons the boot flow is designed as mentioned:

	1. Need to move away from R5 asap, so that we want to start any
	firmware on the R5 cores for example autosar can be loaded to receive CAN
	response and other safety operations to be started. This operation is
	very time critical and is applicable for all automotive use cases.

	2. U-Boot on A53 should start other remotecores for various
	applications. This should happen before running Linux.

	3. In production boot flow, we might not like to use full U-Boot,
	instead use Falcon boot flow to reduce boot time.

	.. image:: img/boot_diagram_am65.svg
	:alt: Boot flow diagram

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

	Sources:
	--------

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

	.. include:: 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:: k3.rst
	:start-after: .. k3_rst_include_start_common_env_vars_defn
	:end-before: .. k3_rst_include_end_common_env_vars_defn
	.. prompt:: bash $

	export UBOOT_CFG_CORTEXR=am65x_evm_r5_defconfig
	export UBOOT_CFG_CORTEXA=am65x_evm_a53_defconfig
	export TFA_BOARD=generic
	# we dont use any extra TFA parameters
	unset TFA_EXTRA_ARGS
	export OPTEE_PLATFORM=k3-am65x
	# we dont use any extra OP-TEE parameters
	unset OPTEE_EXTRA_ARGS

	.. am65x_evm_rst_include_start_build_steps

	1. Trusted Firmware-A:

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


	2. OP-TEE:

	.. include:: 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:: 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:: k3.rst
	:start-after: .. k3_rst_include_start_build_steps_uboot
	:end-before: .. k3_rst_include_end_build_steps_uboot
	.. am65x_evm_rst_include_end_build_steps

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

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

	- GP

	* tiboot3-am65x_sr2-gp-evm.bin, sysfw-am65x_sr2-gp-evm.itb from step 3.1
	* tispl.bin_unsigned, u-boot.img_unsigned from step 3.2

	- HS

	* tiboot3-am65x_sr2-hs-evm.bin, sysfw-am65x_sr2-hs-evm.itb from step 3.1
	* tispl.bin, u-boot.img from step 3.2

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

	- tiboot3.bin

	.. image:: img/no_multi_cert_tiboot3.bin.svg
	:alt: tiboot3.bin image format

	- tispl.bin

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

	- sysfw.itb

	.. image:: img/sysfw.itb.svg
	:alt: sysfw.itb image format

	eMMC:
	-----
	ROM supports booting from eMMC from boot0 partition offset 0x0

	Flashing images to eMMC:

	The following commands can be used to download tiboot3.bin, tispl.bin,
	u-boot.img, and sysfw.itb from an SD card and write them to the eMMC boot0
	partition at respective addresses.

	.. prompt:: bash =>

	mmc dev 0 1
	fatload mmc 1 ${loadaddr} tiboot3.bin
	mmc write ${loadaddr} 0x0 0x400
	fatload mmc 1 ${loadaddr} tispl.bin
	mmc write ${loadaddr} 0x400 0x1000
	fatload mmc 1 ${loadaddr} u-boot.img
	mmc write ${loadaddr} 0x1400 0x2000
	fatload mmc 1 ${loadaddr} sysfw.itb
	mmc write ${loadaddr} 0x3600 0x800

	To give the ROM access to the boot partition, the following commands must be
	used for the first time:

	.. prompt:: bash =>

	mmc partconf 0 1 1 1
	mmc bootbus 0 1 0 0

	To create a software partition for the rootfs, the following command can be
	used:

	.. prompt:: bash =>

	gpt write mmc 0 ${partitions}

	eMMC layout:

	.. image:: img/emmc_am65x_evm_boot0.svg
	:alt: emmc boot partition layout

	Kernel image and DT are expected to be present in the /boot folder of rootfs.
	To boot kernel from eMMC, use the following commands:

	.. prompt:: bash =>

	setenv mmcdev 0
	setenv bootpart 0
	boot

	OSPI:
	-----
	ROM supports booting from OSPI from offset 0x0.

	Flashing images to OSPI:

	Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
	and sysfw.itb over tftp and then flash those to OSPI at their respective
	addresses.

	.. prompt:: bash =>

	sf probe
	tftp ${loadaddr} tiboot3.bin
	sf update $loadaddr 0x0 $filesize
	tftp ${loadaddr} tispl.bin
	sf update $loadaddr 0x80000 $filesize
	tftp ${loadaddr} u-boot.img
	sf update $loadaddr 0x280000 $filesize
	tftp ${loadaddr} sysfw.itb
	sf update $loadaddr 0x6C0000 $filesize

	Flash layout for OSPI:

	.. image:: img/ospi_sysfw.svg
	:alt: OSPI flash partition layout

	Kernel Image and DT are expected to be present in the /boot folder of UBIFS
	ospi.rootfs just like in SD card case. U-Boot looks for UBI volume named
	"rootfs" for rootfs.

	To boot kernel from OSPI, at the U-Boot prompt:

	.. prompt:: bash =>

	setenv boot ubi
	boot

	UART:
	-----
	ROM supports booting from MCU_UART0 via X-Modem protocol. The entire UART-based
	boot process up to U-Boot (proper) prompt goes through different stages and uses
	different UART peripherals as follows:

	.. list-table:: ROM UART Boot Responsibilities
	:widths: 16 16 16 16
	:header-rows: 1

	* - Who
	- Loading What
	- Hardware Module
	- Protocol

	* - Boot ROM
	- tiboot3.bin
	- MCU_UART0
	- X-Modem(*)

	* - R5 SPL
	- sysfw.itb
	- MCU_UART0
	- Y-Modem(*)

	* - R5 SPL
	- tispl.bin
	- MAIN_UART0
	- Y-Modem

	* - A53 SPL
	- u-boot.img
	- MAIN_UART0
	- Y-Modem

	Note that in addition to X/Y-Modem related protocol timeouts the DMSC
	watchdog timeout of 3min (typ.) needs to be observed until System Firmware
	is fully loaded (from sysfw.itb) and started.

	Example bash script sequence for running on a Linux host PC feeding all boot
	artifacts needed to the device:

	.. prompt:: bash $

	MCU_DEV=/dev/ttyUSB1
	MAIN_DEV=/dev/ttyUSB0

	stty -F $MCU_DEV 115200 cs8 -cstopb -parenb
	stty -F $MAIN_DEV 115200 cs8 -cstopb -parenb

	sb --xmodem tiboot3.bin > $MCU_DEV < $MCU_DEV
	sb --ymodem sysfw.itb > $MCU_DEV < $MCU_DEV
	sb --ymodem tispl.bin > $MAIN_DEV < $MAIN_DEV
	sleep 1
	sb --xmodem u-boot.img > $MAIN_DEV < $MAIN_DEV

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

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

	.. warning::

	OpenOCD support since: v0.12.0

	If the default package version of OpenOCD in your development
	environment's distribution needs to be updated, it might be necessary to
	build OpenOCD from the source.

	.. 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

	.. prompt:: bash $

	openocd -f board/ti_am654evm.cfg