doc/board/ti/am65x_evm.rst - platform/external/u-boot - Gitiles

 .. 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: http://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
 .. code-block:: 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.

 .. code-block:: text

  => 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:

 .. code-block:: text

  => 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:

 .. code-block:: text

  => 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:

 .. code-block:: text

  => 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.

 .. code-block:: text

  => 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:

 .. code-block:: text

  => 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:

 .. code-block:: text

  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

 .. code-block:: 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: http://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
	.. code-block:: 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.

	.. code-block:: text

	=> 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:

	.. code-block:: text

	=> 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:

	.. code-block:: text

	=> 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:

	.. code-block:: text

	=> 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.

	.. code-block:: text

	=> 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:

	.. code-block:: text

	=> 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:

	.. code-block:: text

	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

	.. code-block:: bash

	openocd -f board/ti_am654evm.cfg