| Lokesh Vutla | 3d95fc5 | 2019-09-04 16:01:51 +0530 | [diff] [blame] | 1 | Introduction: |
| 2 | ------------- |
| 3 | The J721e family of SoCs are part of K3 Multicore SoC architecture platform |
| 4 | targeting automotive applications. They are designed as a low power, high |
| 5 | performance and highly integrated device architecture, adding significant |
| 6 | enhancement on processing power, graphics capability, video and imaging |
| 7 | processing, virtualization and coherent memory support. |
| 8 | |
| 9 | The device is partitioned into three functional domains, each containing |
| 10 | specific processing cores and peripherals: |
| 11 | 1. Wake-up (WKUP) domain: |
| 12 | - Device Management and Security Controller (DMSC) |
| 13 | 2. Microcontroller (MCU) domain: |
| 14 | - Dual Core ARM Cortex-R5F processor |
| 15 | 3. MAIN domain: |
| 16 | - Dual core 64-bit ARM Cortex-A72 |
| 17 | - 2 x Dual cortex ARM Cortex-R5 subsystem |
| 18 | - 2 x C66x Digital signal processor sub system |
| 19 | - C71x Digital signal processor sub-system with MMA. |
| 20 | |
| 21 | More info can be found in TRM: http://www.ti.com/lit/pdf/spruil1 |
| 22 | |
| 23 | Boot Flow: |
| 24 | ---------- |
| 25 | Boot flow is similar to that of AM65x SoC and extending it with remoteproc |
| 26 | support. Below is the pictorial representation of boot flow: |
| 27 | |
| 28 | +------------------------------------------------------------------------+-----------------------+ |
| 29 | | DMSC | MCU R5 | A72 | MAIN R5/C66x/C7x | |
| 30 | +------------------------------------------------------------------------+-----------------------+ |
| 31 | | +--------+ | | | | |
| 32 | | | Reset | | | | | |
| 33 | | +--------+ | | | | |
| 34 | | : | | | | |
| 35 | | +--------+ | +-----------+ | | | |
| 36 | | | *ROM* |----------|-->| Reset rls | | | | |
| 37 | | +--------+ | +-----------+ | | | |
| 38 | | | | | : | | | |
| 39 | | | ROM | | : | | | |
| 40 | | |services| | : | | | |
| 41 | | | | | +-------------+ | | | |
| 42 | | | | | | *R5 ROM* | | | | |
| 43 | | | | | +-------------+ | | | |
| 44 | | | |<---------|---|Load and auth| | | | |
| 45 | | | | | | tiboot3.bin | | | | |
| 46 | | | | | +-------------+ | | | |
| 47 | | | | | : | | | |
| 48 | | | | | : | | | |
| 49 | | | | | : | | | |
| 50 | | | | | +-------------+ | | | |
| 51 | | | | | | *R5 SPL* | | | | |
| 52 | | | | | +-------------+ | | | |
| 53 | | | | | | Load | | | | |
| 54 | | | | | | sysfw.itb | | | | |
| 55 | | | Start | | +-------------+ | | | |
| 56 | | | System |<---------|---| Start | | | | |
| 57 | | |Firmware| | | SYSFW | | | | |
| 58 | | +--------+ | +-------------+ | | | |
| 59 | | : | | | | | | |
| 60 | | +---------+ | | Load | | | | |
| 61 | | | *SYSFW* | | | system | | | | |
| 62 | | +---------+ | | Config data | | | | |
| 63 | | | |<--------|---| | | | | |
| 64 | | | | | +-------------+ | | | |
| 65 | | | | | | DDR | | | | |
| 66 | | | | | | config | | | | |
| 67 | | | | | +-------------+ | | | |
| 68 | | | | | | Load | | | | |
| 69 | | | | | | tispl.bin | | | | |
| 70 | | | | | +-------------+ | | | |
| 71 | | | | | | Load R5 | | | | |
| 72 | | | | | | firmware | | | | |
| 73 | | | | | +-------------+ | | | |
| 74 | | | |<--------|---| Start A72 | | | | |
| 75 | | | | | | and jump to | | | | |
| 76 | | | | | | next image | | | | |
| 77 | | | | | +-------------+ | | | |
| 78 | | | | | | +-----------+ | | |
| 79 | | | |---------|-----------------------|---->| Reset rls | | | |
| 80 | | | | | | +-----------+ | | |
| 81 | | | DMSC | | | : | | |
| 82 | | |Services | | | +-----------+ | | |
| 83 | | | |<--------|-----------------------|---->|*ATF/OPTEE*| | | |
| 84 | | | | | | +-----------+ | | |
| 85 | | | | | | : | | |
| 86 | | | | | | +-----------+ | | |
| 87 | | | |<--------|-----------------------|---->| *A72 SPL* | | | |
| 88 | | | | | | +-----------+ | | |
| 89 | | | | | | | Load | | | |
| 90 | | | | | | | u-boot.img| | | |
| 91 | | | | | | +-----------+ | | |
| 92 | | | | | | : | | |
| 93 | | | | | | +-----------+ | | |
| 94 | | | |<--------|-----------------------|---->| *U-Boot* | | | |
| 95 | | | | | | +-----------+ | | |
| 96 | | | | | | | prompt | | | |
| 97 | | | | | | +-----------+ | | |
| 98 | | | | | | | Load R5 | | | |
| 99 | | | | | | | Firmware | | | |
| 100 | | | | | | +-----------+ | | |
| 101 | | | |<--------|-----------------------|-----| Start R5 | | +-----------+ | |
| 102 | | | |---------|-----------------------|-----+-----------+-----|----->| R5 starts | | |
| 103 | | | | | | | Load C6 | | +-----------+ | |
| 104 | | | | | | | Firmware | | | |
| 105 | | | | | | +-----------+ | | |
| 106 | | | |<--------|-----------------------|-----| Start C6 | | +-----------+ | |
| 107 | | | |---------|-----------------------|-----+-----------+-----|----->| C6 starts | | |
| 108 | | | | | | | Load C7 | | +-----------+ | |
| 109 | | | | | | | Firmware | | | |
| 110 | | | | | | +-----------+ | | |
| 111 | | | |<--------|-----------------------|-----| Start C7 | | +-----------+ | |
| 112 | | | |---------|-----------------------|-----+-----------+-----|----->| C7 starts | | |
| 113 | | +---------+ | | | +-----------+ | |
| 114 | | | | | | |
| 115 | +------------------------------------------------------------------------+-----------------------+ |
| 116 | |
| 117 | - Here DMSC acts as master and provides all the critical services. R5/A72 |
| 118 | requests DMSC to get these services done as shown in the above diagram. |
| 119 | |
| 120 | Sources: |
| 121 | -------- |
| 122 | 1. SYSFW: |
| Lokesh Vutla | 7e3221d | 2020-02-28 17:53:52 +0530 | [diff] [blame] | 123 | Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git |
| Lokesh Vutla | 3d95fc5 | 2019-09-04 16:01:51 +0530 | [diff] [blame] | 124 | Branch: master |
| 125 | |
| 126 | 2. ATF: |
| 127 | Tree: https://github.com/ARM-software/arm-trusted-firmware.git |
| 128 | Branch: master |
| 129 | |
| 130 | 3. OPTEE: |
| 131 | Tree: https://github.com/OP-TEE/optee_os.git |
| 132 | Branch: master |
| 133 | |
| 134 | 4. U-Boot: |
| Heinrich Schuchardt | a3bbd0b | 2021-02-24 13:19:04 +0100 | [diff] [blame] | 135 | Tree: https://source.denx.de/u-boot/u-boot |
| Lokesh Vutla | 3d95fc5 | 2019-09-04 16:01:51 +0530 | [diff] [blame] | 136 | Branch: master |
| 137 | |
| 138 | Build procedure: |
| 139 | ---------------- |
| 140 | 1. SYSFW: |
| 141 | $ make CROSS_COMPILE=arm-linux-gnueabihf- |
| 142 | |
| 143 | 2. ATF: |
| 144 | $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed |
| 145 | |
| 146 | 3. OPTEE: |
| 147 | $ make PLATFORM=k3-j721e CFG_ARM64_core=y |
| 148 | |
| 149 | 4. U-Boot: |
| 150 | |
| 151 | 4.1. R5: |
| Tom Rini | 8971358 | 2020-05-26 14:36:52 -0400 | [diff] [blame] | 152 | $ make CROSS_COMPILE=arm-linux-gnueabihf- j721e_evm_r5_defconfig O=/tmp/r5 |
| 153 | $ make CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5 |
| Lokesh Vutla | 3d95fc5 | 2019-09-04 16:01:51 +0530 | [diff] [blame] | 154 | |
| 155 | 4.2. A72: |
| Tom Rini | 8971358 | 2020-05-26 14:36:52 -0400 | [diff] [blame] | 156 | $ make CROSS_COMPILE=aarch64-linux-gnu- j721e_evm_a72_defconfig O=/tmp/a72 |
| 157 | $ make CROSS_COMPILE=aarch64-linux-gnu- ATF=<path to ATF dir>/build/k3/generic/release/bl31.bin TEE=<path to OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin O=/tmp/a72 |
| Lokesh Vutla | 3d95fc5 | 2019-09-04 16:01:51 +0530 | [diff] [blame] | 158 | |
| 159 | Target Images |
| 160 | -------------- |
| 161 | Copy the below images to an SD card and boot: |
| 162 | - sysfw.itb from step 1 |
| 163 | - tiboot3.bin from step 4.1 |
| 164 | - tispl.bin, u-boot.img from 4.2 |
| 165 | |
| 166 | Image formats: |
| 167 | -------------- |
| 168 | |
| 169 | - tiboot3.bin: |
| 170 | +-----------------------+ |
| 171 | | X.509 | |
| 172 | | Certificate | |
| 173 | | +-------------------+ | |
| 174 | | | | | |
| 175 | | | R5 | | |
| 176 | | | u-boot-spl.bin | | |
| 177 | | | | | |
| 178 | | +-------------------+ | |
| 179 | | | | | |
| 180 | | | FIT header | | |
| 181 | | | +---------------+ | | |
| 182 | | | | | | | |
| 183 | | | | DTB 1...N | | | |
| 184 | | | +---------------+ | | |
| 185 | | +-------------------+ | |
| 186 | +-----------------------+ |
| 187 | |
| 188 | - tispl.bin |
| 189 | +-----------------------+ |
| 190 | | | |
| 191 | | FIT HEADER | |
| 192 | | +-------------------+ | |
| 193 | | | | | |
| 194 | | | A72 ATF | | |
| 195 | | +-------------------+ | |
| 196 | | | | | |
| 197 | | | A72 OPTEE | | |
| 198 | | +-------------------+ | |
| 199 | | | | | |
| 200 | | | A72 SPL | | |
| 201 | | +-------------------+ | |
| 202 | | | | | |
| 203 | | | SPL DTB 1...N | | |
| 204 | | +-------------------+ | |
| 205 | +-----------------------+ |
| 206 | |
| 207 | - sysfw.itb |
| 208 | +-----------------------+ |
| 209 | | | |
| 210 | | FIT HEADER | |
| 211 | | +-------------------+ | |
| 212 | | | | | |
| 213 | | | sysfw.bin | | |
| 214 | | +-------------------+ | |
| 215 | | | | | |
| 216 | | | board config | | |
| 217 | | +-------------------+ | |
| 218 | | | | | |
| 219 | | | PM config | | |
| 220 | | +-------------------+ | |
| 221 | | | | | |
| 222 | | | RM config | | |
| 223 | | +-------------------+ | |
| 224 | | | | | |
| 225 | | | Secure config | | |
| 226 | | +-------------------+ | |
| 227 | +-----------------------+ |
| Vignesh Raghavendra | 29ab5d3 | 2020-02-04 11:09:57 +0530 | [diff] [blame] | 228 | |
| 229 | OSPI: |
| 230 | ----- |
| 231 | ROM supports booting from OSPI from offset 0x0. |
| 232 | |
| 233 | Flashing images to OSPI: |
| 234 | |
| 235 | Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img, |
| 236 | and sysfw.itb over tftp and then flash those to OSPI at their respective |
| 237 | addresses. |
| 238 | |
| 239 | => sf probe |
| 240 | => tftp ${loadaddr} tiboot3.bin |
| 241 | => sf update $loadaddr 0x0 $filesize |
| 242 | => tftp ${loadaddr} tispl.bin |
| 243 | => sf update $loadaddr 0x80000 $filesize |
| 244 | => tftp ${loadaddr} u-boot.img |
| 245 | => sf update $loadaddr 0x280000 $filesize |
| 246 | => tftp ${loadaddr} sysfw.itb |
| 247 | => sf update $loadaddr 0x6C0000 $filesize |
| 248 | |
| 249 | Flash layout for OSPI: |
| 250 | |
| 251 | 0x0 +----------------------------+ |
| 252 | | ospi.tiboot3(512K) | |
| 253 | | | |
| 254 | 0x80000 +----------------------------+ |
| 255 | | ospi.tispl(2M) | |
| 256 | | | |
| 257 | 0x280000 +----------------------------+ |
| 258 | | ospi.u-boot(4M) | |
| 259 | | | |
| 260 | 0x680000 +----------------------------+ |
| 261 | | ospi.env(128K) | |
| 262 | | | |
| 263 | 0x6A0000 +----------------------------+ |
| 264 | | ospi.env.backup (128K) | |
| 265 | | | |
| 266 | 0x6C0000 +----------------------------+ |
| 267 | | ospi.sysfw(1M) | |
| 268 | | | |
| 269 | 0x7C0000 +----------------------------+ |
| 270 | | padding (256k) | |
| 271 | 0x800000 +----------------------------+ |
| 272 | | ospi.rootfs(UBIFS) | |
| 273 | | | |
| 274 | +----------------------------+ |