doc/board/ti/k3.rst - platform/external/u-boot - Gitiles

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

 K3 Generation
 =============

 Summary
 -------

 Texas Instrument's K3 family of SoCs utilize a heterogeneous multicore
 and highly integrated device architecture targeted to maximize
 performance and power efficiency for a wide range of industrial,
 automotive and other broad market segments.

 Typically the processing cores and the peripherals for these devices are
 partitioned into three functional domains to provide ultra-low power
 modes as well as accommodating application and industrial safety systems
 on the same SoC.  These functional domains are typically called the:

 * Wakeup (WKUP) domain
 * Micro-controller (MCU) domain
 * Main domain

 For a more detailed view of what peripherals are attached to each
 domain, consult the device specific documentation.

 K3 Based SoCs
 -------------

 .. toctree::
    :maxdepth: 1

    j721e_evm
    am62x_sk

 Boot Flow Overview
 ------------------

 For all K3 SoCs the first core started will be inside the Security
 Management Subsystem (SMS) which will secure the device and start a core
 in the wakeup domain to run the ROM code. ROM will then initialize the
 boot media needed to load the binaries packaged inside `tiboot3.bin`,
 including a 32bit U-Boot SPL, (called the wakup SPL) that ROM will jump
 to after it has finished loading everything into internal SRAM.

 .. code-block:: text

    |  WKUP Domain
     ROM -> WKUP SPL ->

 The wakeup SPL, running on a wakeup domain core, will initialize DDR and
 any peripherals needed load the larger binaries inside the `tispl.bin`
 into DDR.  Once loaded the wakeup SPL will start one of the 'big'
 application cores inside the main domain to initialize the main domain,
 starting with ARM Trusted Firmware (ATF), before moving on to start
 OPTEE and the main domain's U-Boot SPL.

 .. code-block:: text

    |  WKUP Domain   | Main Domain ->
     ROM -> WKUP SPL -> ATF -> OPTEE -> Main SPL

 The main domain's SPL, running on a 64bit application core, has
 virtually unlimited space (billions of bytes now that DDR is working) to
 initialize even more peripherals needed to load in the `u-boot.img`
 which loads more firmware into the micro-controller & wakeup domains and
 finally prepare the main domain to run Linux.

 .. code-block:: text

    |  WKUP Domain   | Main Domain ->
     ROM -> WKUP SPL -> ATF -> OPTEE -> Main SPL -> UBoot -> Linux

 This is the typical boot flow for all K3 based SoCs, however this flow
 offers quite a lot in the terms of flexibility, especially on High
 Security (HS) SoCs.

 Boot Flow Variations
 ^^^^^^^^^^^^^^^^^^^^

 All K3 SoCs will generally use the above boot flow with two main
 differences depending on the capabilities of the boot ROM and the number
 of cores inside the device. These differences split the bootflow into
 essentially 4 unique but very similar flows:

 * Split binary with a combined firmware: (eg: AM65)
 * Combined binary with a combined firmware: (eg: AM64)
 * Split binary with a split firmware: (eg: J721E)
 * Combined binary with a split firmware: (eg: AM62)

 For devices that utilize the split binary approach, ROM is not capable
 of loading the firmware into the SoC requiring the wakeup domain's
 U-Boot SPL to load the firmware.

 Devices with a split firmware will have two firmwares loaded into the
 device at different times during the bootup process. TI's Foundational
 Security (TIFS), needed to operate the Security Management Subsystem,
 will either be loaded by ROM or the WKUP U-Boot SPL, then once the
 wakeup U-Boot SPL has completed, the second Device Management (DM)
 firmware can be loaded on the now free core in the wakeup domain.

 For more information on the bootup process of your SoC, consult the
 device specific boot flow documentation.

 Software Sources
 ----------------

 All scripts and code needed to build the `tiboot3.bin`, `tispl.bin` and
 `u-boot.img` for all K3 SoCs can be located at the following places
 online

 * **Das U-Boot**

   | **source:** https://source.denx.de/u-boot/u-boot.git
   | **branch:** master

 * **K3 Image Gen**

   | **source:** https://git.ti.com/git/k3-image-gen/k3-image-gen.git
   | **branch:** master

 * **ARM Trusted Firmware (ATF)**

   | **source:** https://github.com/ARM-software/arm-trusted-firmware.git
   | **branch:** master

 * **Open Portable Trusted Execution Environment (OPTEE)**

   | **source:** https://github.com/OP-TEE/optee_os.git
   | **branch:** master

 * **TI Firmware (TIFS, DM, DSMC)**

   | **source:** https://git.ti.com/git/processor-firmware/ti-linux-firmware.git
   | **branch:** ti-linux-firmware

 * **TI's Security Development Tools**

   | **source:** https://git.ti.com/git/security-development-tools/core-secdev-k3.git
   | **branch:** master

 Build Procedure
 ---------------

 Depending on the specifics of your device, you will need three or more
 binaries to boot your SoC.

 * `tiboot3.bin` (bootloader for the wakeup domain)
 * `tispl.bin` (bootloader for the main domain)
 * `u-boot.img`

 During the bootup process, both the 32bit wakeup domain and the 64bit
 main domains will be involved. This means everything inside the
 `tiboot3.bin` running in the wakeup domain will need to be compiled for
 32bit cores and most binaries in the `tispl.bin` will need to be
 compiled for 64bit main domain CPU cores.

 All of that to say you will need both a 32bit and 64bit cross compiler
 (assuming you're using an x86 desktop)

 .. code-block:: bash

    export CC32=arm-linux-gnueabihf-
    export CC64=aarch64-linux-gnu-

 Building tiboot3.bin
 ^^^^^^^^^^^^^^^^^^^^^

 1. To generate the U-Boot SPL for the wakeup domain, use the following
    commands, substituting :code:`{SOC}` for the name of your device (eg:
    am62x)

 .. code-block:: bash

    # inside u-boot source
    make ARCH=arm O=build/wkup CROSS_COMPILE=$CC32 {SOC}_evm_r5_defconfig
    make ARCH=arm O=build/wkup CROSS_COMPILE=$CC32

 2. Next we will use the K3 Image Gen scripts to package the various
    firmware and the wakeup UBoot SPL into the final `tiboot3.bin`
    binary. (or the `sysfw.itb` if your device uses the split binary
    flow)

 .. code-block:: bash

    # inside k3-image-gen source
    make CROSS_COMPILE=$CC32 SOC={SOC} SOC_TYPE={hs,gp} \
         TI_SECURE_DEV_PKG=<path/to/securit-development-tools> \
         SYSFW_PATH=<path/to/ti-sysfw/ti-fs-firmware-{SOC}-{hs|gp}.bin> \
         SYSFW_HS_INNER_CERT_PATH=<path/to/ti-sysfw/ti-fs-firmware-{SOC}-hs-cert.bin

 For devices that use the *combined binary flow*, you will also need to
 supply the location of the SPL we created in step 1 above, so it can be
 packaged into the final `tiboot3.bin`.

 .. code-block:: bash

    SBL=<path/to/wakeup/u-boot-spl.bin>

 At this point you should have all the needed binaries to boot the wakeup
 domain of your K3 SoC.

 **Combined Binary Boot Flow** (eg: am62x, am64x, ... )

    `k3-image-gen/tiboot3-{SOC}-{hs,gp}-evm.bin`

 **Split Binary Boot Flow** (eg: j721e, am65x)

    | `u-boot/build/wkup/tiboot3.bin`
    | `k3-image-gen/sysfw-{SOC}-evm.bin`

 .. note ::

    It's important to rename the generated `tiboot3.bin` and `sysfw.itb`
    to match exactly `tiboot3.bin` and `sysfw.itb` as ROM and the wakeup
    UBoot SPL will only look for and load the files with these names.

 Building tispl.bin
 ^^^^^^^^^^^^^^^^^^^

 The `tispl.bin` is a standard fitImage combining the firmware need for
 the main domain to function properly as well as Device Management (DM)
 firmware if your device using a split firmware.

 3. We will first need ATF, as it's the first thing to run on the 'big'
    application cores on the main domain.

 .. code-block:: bash

    # inside arm-trusted-firmware source
    make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \
         TARGET_BOARD={lite|generic} \
         SPD=opteed \

 Typically all `j7*` devices will use `TARGET_BOARD=generic` while all
 Sitara (`am6*`) devices use the `lite` option.

 4. The Open Portable Trusted Execution Environment (OPTEE) is designed
    to run as a companion to a non-secure Linux kernel for Cortex-A cores
    using the TrustZone technology built into the core.

 .. code-block:: bash

    # inside optee_os source
    make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 \
         PLATFORM=k3 CFG_ARM64_core=y

 5. Finally, after ATF has initialized the main domain and OPTEE has
    finished, we can jump back into U-Boot again, this time running on a
    64bit core in the main domain.

 .. code-block:: bash

    # inside u-boot source
    make ARCH=arm O=build/main CROSS_COMPILE=$CC64 {SOC}_evm_a{53,72}_defconfig
    make ARCH=arm O=build/main CROSS_COMPILE=$CC64 \
         ATF=<path/to/atf/bl31.bin \
         TEE=<path/to/optee/tee-pager_v2.bin

 If your device uses a split firmware, you will also need to supply the
 path to the Device Management (DM) Firmware to be included in the final
 `tispl.bin` binary

 .. code-block:: bash

    DM=<path/to/ti-linux-firmware/ti-dm/ipc_echo_testb_mcu1_0_release_strip.xer5f>

 At this point you should have every binary needed initialize both the
 wakeup and main domain and to boot to the U-Boot prompt

 **Main Domain Bootloader**

    | `u-boot/build/main/tispl.bin`
    | `u-boot/build/main/u-boot.img`
	.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
	.. sectionauthor:: Bryan Brattlof <bb@ti.com>

	K3 Generation
	=============

	Summary
	-------

	Texas Instrument's K3 family of SoCs utilize a heterogeneous multicore
	and highly integrated device architecture targeted to maximize
	performance and power efficiency for a wide range of industrial,
	automotive and other broad market segments.

	Typically the processing cores and the peripherals for these devices are
	partitioned into three functional domains to provide ultra-low power
	modes as well as accommodating application and industrial safety systems
	on the same SoC. These functional domains are typically called the:

	* Wakeup (WKUP) domain
	* Micro-controller (MCU) domain
	* Main domain

	For a more detailed view of what peripherals are attached to each
	domain, consult the device specific documentation.

	K3 Based SoCs
	-------------

	.. toctree::
	:maxdepth: 1

	j721e_evm
	am62x_sk

	Boot Flow Overview
	------------------

	For all K3 SoCs the first core started will be inside the Security
	Management Subsystem (SMS) which will secure the device and start a core
	in the wakeup domain to run the ROM code. ROM will then initialize the
	boot media needed to load the binaries packaged inside `tiboot3.bin`,
	including a 32bit U-Boot SPL, (called the wakup SPL) that ROM will jump
	to after it has finished loading everything into internal SRAM.

	.. code-block:: text

	\| WKUP Domain
	ROM -> WKUP SPL ->

	The wakeup SPL, running on a wakeup domain core, will initialize DDR and
	any peripherals needed load the larger binaries inside the `tispl.bin`
	into DDR. Once loaded the wakeup SPL will start one of the 'big'
	application cores inside the main domain to initialize the main domain,
	starting with ARM Trusted Firmware (ATF), before moving on to start
	OPTEE and the main domain's U-Boot SPL.

	.. code-block:: text

	\| WKUP Domain \| Main Domain ->
	ROM -> WKUP SPL -> ATF -> OPTEE -> Main SPL

	The main domain's SPL, running on a 64bit application core, has
	virtually unlimited space (billions of bytes now that DDR is working) to
	initialize even more peripherals needed to load in the `u-boot.img`
	which loads more firmware into the micro-controller & wakeup domains and
	finally prepare the main domain to run Linux.

	.. code-block:: text

	\| WKUP Domain \| Main Domain ->
	ROM -> WKUP SPL -> ATF -> OPTEE -> Main SPL -> UBoot -> Linux

	This is the typical boot flow for all K3 based SoCs, however this flow
	offers quite a lot in the terms of flexibility, especially on High
	Security (HS) SoCs.

	Boot Flow Variations
	^^^^^^^^^^^^^^^^^^^^

	All K3 SoCs will generally use the above boot flow with two main
	differences depending on the capabilities of the boot ROM and the number
	of cores inside the device. These differences split the bootflow into
	essentially 4 unique but very similar flows:

	* Split binary with a combined firmware: (eg: AM65)
	* Combined binary with a combined firmware: (eg: AM64)
	* Split binary with a split firmware: (eg: J721E)
	* Combined binary with a split firmware: (eg: AM62)

	For devices that utilize the split binary approach, ROM is not capable
	of loading the firmware into the SoC requiring the wakeup domain's
	U-Boot SPL to load the firmware.

	Devices with a split firmware will have two firmwares loaded into the
	device at different times during the bootup process. TI's Foundational
	Security (TIFS), needed to operate the Security Management Subsystem,
	will either be loaded by ROM or the WKUP U-Boot SPL, then once the
	wakeup U-Boot SPL has completed, the second Device Management (DM)
	firmware can be loaded on the now free core in the wakeup domain.

	For more information on the bootup process of your SoC, consult the
	device specific boot flow documentation.

	Software Sources
	----------------

	All scripts and code needed to build the `tiboot3.bin`, `tispl.bin` and
	`u-boot.img` for all K3 SoCs can be located at the following places
	online

	* Das U-Boot

	\| source: https://source.denx.de/u-boot/u-boot.git
	\| branch: master

	* K3 Image Gen

	\| source: https://git.ti.com/git/k3-image-gen/k3-image-gen.git
	\| branch: master

	* ARM Trusted Firmware (ATF)

	\| source: https://github.com/ARM-software/arm-trusted-firmware.git
	\| branch: master

	* Open Portable Trusted Execution Environment (OPTEE)

	\| source: https://github.com/OP-TEE/optee_os.git
	\| branch: master

	* TI Firmware (TIFS, DM, DSMC)

	\| source: https://git.ti.com/git/processor-firmware/ti-linux-firmware.git
	\| branch: ti-linux-firmware

	* TI's Security Development Tools

	\| source: https://git.ti.com/git/security-development-tools/core-secdev-k3.git
	\| branch: master

	Build Procedure
	---------------

	Depending on the specifics of your device, you will need three or more
	binaries to boot your SoC.

	* `tiboot3.bin` (bootloader for the wakeup domain)
	* `tispl.bin` (bootloader for the main domain)
	* `u-boot.img`

	During the bootup process, both the 32bit wakeup domain and the 64bit
	main domains will be involved. This means everything inside the
	`tiboot3.bin` running in the wakeup domain will need to be compiled for
	32bit cores and most binaries in the `tispl.bin` will need to be
	compiled for 64bit main domain CPU cores.

	All of that to say you will need both a 32bit and 64bit cross compiler
	(assuming you're using an x86 desktop)

	.. code-block:: bash

	export CC32=arm-linux-gnueabihf-
	export CC64=aarch64-linux-gnu-

	Building tiboot3.bin
	^^^^^^^^^^^^^^^^^^^^^

	1. To generate the U-Boot SPL for the wakeup domain, use the following
	commands, substituting :code:`{SOC}` for the name of your device (eg:
	am62x)

	.. code-block:: bash

	# inside u-boot source
	make ARCH=arm O=build/wkup CROSS_COMPILE=$CC32 {SOC}_evm_r5_defconfig
	make ARCH=arm O=build/wkup CROSS_COMPILE=$CC32

	2. Next we will use the K3 Image Gen scripts to package the various
	firmware and the wakeup UBoot SPL into the final `tiboot3.bin`
	binary. (or the `sysfw.itb` if your device uses the split binary
	flow)

	.. code-block:: bash

	# inside k3-image-gen source
	make CROSS_COMPILE=$CC32 SOC={SOC} SOC_TYPE={hs,gp} \
	TI_SECURE_DEV_PKG=<path/to/securit-development-tools> \
	SYSFW_PATH=<path/to/ti-sysfw/ti-fs-firmware-{SOC}-{hs\|gp}.bin> \
	SYSFW_HS_INNER_CERT_PATH=<path/to/ti-sysfw/ti-fs-firmware-{SOC}-hs-cert.bin

	For devices that use the combined binary flow, you will also need to
	supply the location of the SPL we created in step 1 above, so it can be
	packaged into the final `tiboot3.bin`.

	.. code-block:: bash

	SBL=<path/to/wakeup/u-boot-spl.bin>

	At this point you should have all the needed binaries to boot the wakeup
	domain of your K3 SoC.

	Combined Binary Boot Flow (eg: am62x, am64x, ... )

	`k3-image-gen/tiboot3-{SOC}-{hs,gp}-evm.bin`

	Split Binary Boot Flow (eg: j721e, am65x)

	\| `u-boot/build/wkup/tiboot3.bin`
	\| `k3-image-gen/sysfw-{SOC}-evm.bin`

	.. note ::

	It's important to rename the generated `tiboot3.bin` and `sysfw.itb`
	to match exactly `tiboot3.bin` and `sysfw.itb` as ROM and the wakeup
	UBoot SPL will only look for and load the files with these names.

	Building tispl.bin
	^^^^^^^^^^^^^^^^^^^

	The `tispl.bin` is a standard fitImage combining the firmware need for
	the main domain to function properly as well as Device Management (DM)
	firmware if your device using a split firmware.

	3. We will first need ATF, as it's the first thing to run on the 'big'
	application cores on the main domain.

	.. code-block:: bash

	# inside arm-trusted-firmware source
	make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \
	TARGET_BOARD={lite\|generic} \
	SPD=opteed \

	Typically all `j7*` devices will use `TARGET_BOARD=generic` while all
	Sitara (`am6*`) devices use the `lite` option.

	4. The Open Portable Trusted Execution Environment (OPTEE) is designed
	to run as a companion to a non-secure Linux kernel for Cortex-A cores
	using the TrustZone technology built into the core.

	.. code-block:: bash

	# inside optee_os source
	make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 \
	PLATFORM=k3 CFG_ARM64_core=y

	5. Finally, after ATF has initialized the main domain and OPTEE has
	finished, we can jump back into U-Boot again, this time running on a
	64bit core in the main domain.

	.. code-block:: bash

	# inside u-boot source
	make ARCH=arm O=build/main CROSS_COMPILE=$CC64 {SOC}_evm_a{53,72}_defconfig
	make ARCH=arm O=build/main CROSS_COMPILE=$CC64 \
	ATF=<path/to/atf/bl31.bin \
	TEE=<path/to/optee/tee-pager_v2.bin

	If your device uses a split firmware, you will also need to supply the
	path to the Device Management (DM) Firmware to be included in the final
	`tispl.bin` binary

	.. code-block:: bash

	DM=<path/to/ti-linux-firmware/ti-dm/ipc_echo_testb_mcu1_0_release_strip.xer5f>

	At this point you should have every binary needed initialize both the
	wakeup and main domain and to boot to the U-Boot prompt

	Main Domain Bootloader

	\| `u-boot/build/main/tispl.bin`
	\| `u-boot/build/main/u-boot.img`