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gerrit.devboardsforandroid.linaro.org / platform / external / u-boot / ad6be25c19840811e2e9ecd56620a0a1f5415631 / . / board / ti / am65x / README
blob: 0b82bd557b502fb6dbdfd2d1e5848a92ff326df3 [file] [log] [blame]
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]1Introduction:
2-------------
3The AM65x family of SoCs is the first device family from K3 Multicore
4SoC architecture, targeted for broad market and industrial control with
5aim to meet the complex processing needs of modern embedded products.
6
7The device is built over three domains, each containing specific processing
8cores, voltage domains and peripherals:
91. Wake-up (WKUP) domain:
10 - Device Management and Security Controller (DMSC)
112. Microcontroller (MCU) domain:
12 - Dual Core ARM Cortex-R5F processor
133. MAIN domain:
14 - Quad core 64-bit ARM Cortex-A53
15
16More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7
17
18Boot Flow:
19----------
20On AM65x family devices, ROM supports boot only via MCU(R5). This means that
21bootloader has to run on R5 core. In order to meet this constraint, and for
22the following reasons the boot flow is designed as mentioned:
231. Need to move away from R5 asap, so that we want to start *any*
24firmware on the r5 cores like.... autosar can be loaded to receive CAN
25response and other safety operations to be started. This operation is
26very time critical and is applicable for all automotive use cases.
272. U-Boot on A53 should start other remotecores for various
28applications. This should happen before running Linux.
293. In production boot flow, we might not like to use full u-boot,
30instead use Flacon boot flow to reduce boot time.
31
32+------------------------------------------------------------------------+
33| DMSC | R5 | A53 |
34+------------------------------------------------------------------------+
35| +--------+ | | |
36| | Reset | | | |
37| +--------+ | | |
38| : | | |
39| +--------+ | +-----------+ | |
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]40| | *ROM* |----------|-->| Reset rls | | |
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]41| +--------+ | +-----------+ | |
42| | | | : | |
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]43| | ROM | | : | |
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]44| |services| | : | |
45| | | | +-------------+ | |
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]46| | | | | *R5 ROM* | | |
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]47| | | | +-------------+ | |
48| | |<---------|---|Load and auth| | |
49| | | | | tiboot3.bin | | |
50| | | | +-------------+ | |
51| | | | : | |
52| | | | : | |
53| | | | : | |
54| | | | +-------------+ | |
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]55| | | | | *R5 SPL* | | |
56| | | | +-------------+ | |
57| | | | | Load | | |
58| | | | | sysfw.itb | | |
59| | Start | | +-------------+ | |
60| | System |<---------|---| Start | | |
61| |Firmware| | | SYSFW | | |
62| +--------+ | +-------------+ | |
63| : | | | | |
64| +---------+ | | Load | | |
65| | *SYSFW* | | | system | | |
66| +---------+ | | Config data | | |
67| | |<--------|---| | | |
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]68| | | | +-------------+ | |
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]69| | | | | | | |
70| | | | | DDR | | |
71| | | | | config | | |
72| | | | +-------------+ | |
73| | | | | | | |
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]74| | |<--------|---| Start A53 | | |
75| | | | | and Reset | | |
76| | | | +-------------+ | |
77| | | | | +-----------+ |
78| | |---------|-----------------------|---->| Reset rls | |
79| | | | | +-----------+ |
80| | DMSC | | | : |
81| |Services | | | +-----------+ |
82| | |<--------|-----------------------|---->|*ATF/OPTEE*| |
83| | | | | +-----------+ |
84| | | | | : |
85| | | | | +-----------+ |
86| | |<--------|-----------------------|---->| *A53 SPL* | |
87| | | | | +-----------+ |
88| | | | | | Load | |
89| | | | | | u-boot.img| |
90| | | | | +-----------+ |
91| | | | | : |
92| | | | | +-----------+ |
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]93| | |<--------|-----------------------|---->| *U-Boot* | |
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]94| | | | | +-----------+ |
95| | | | | | prompt | |
96| | | | | +-----------+ |
97| +---------+ | | |
98| | | |
99+------------------------------------------------------------------------+
100
101- Here DMSC acts as master and provides all the critical services. R5/A53
102requests DMSC to get these services done as shown in the above diagram.
103
104Sources:
105--------
1061. SYSFW:
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]107 Tree: git://git.ti.com/processor-firmware/system-firmware-image-gen.git
108 Branch: master
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]109
1102. ATF:
111 Tree: https://github.com/ARM-software/arm-trusted-firmware.git
112 Branch: master
113
1143. OPTEE:
115 Tree: https://github.com/OP-TEE/optee_os.git
116 Branch: master
117
1184. U-Boot:
119 Tree: http://git.denx.de/u-boot.git
120 Branch: master
121
122Build procedure:
123----------------
1241. SYSFW:
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]125$ make CROSS_COMPILE=arm-linux-gnueabihf-
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]126
1272. ATF:
128$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
129
1303. OPTEE:
131$ make PLATFORM=k3-am65x CFG_ARM64_core=y
132
1334. U-Boot:
134
1354.1. R5:
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]136$ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- am65x_evm_r5_defconfig O=/tmp/r5
137$ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]138
1394.2. A53:
140$ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]141$ make ARCH=arm 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.bin O=/tmp/a53
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]142
143Target Images
144--------------
145Copy the below images to an SD card and boot:
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]146- sysfw.itb from step 1
Lokesh Vutla0911d952018-08-27 15:59:06 +0530[diff] [blame]147- tiboot3.bin from step 4.1
148- tispl.bin, u-boot.img from 4.2
Lokesh Vutla64180002018-11-02 19:51:11 +0530[diff] [blame]149
150Image formats:
151--------------
152
153- tiboot3.bin:
154 +-----------------------+
155 | X.509 |
156 | Certificate |
157 | +-------------------+ |
158 | | | |
159 | | R5 | |
160 | | u-boot-spl.bin | |
161 | | | |
162 | +-------------------+ |
163 | | | |
164 | | FIT header | |
165 | | +---------------+ | |
166 | | | | | |
167 | | | DTB 1...N | | |
168 | | +---------------+ | |
169 | +-------------------+ |
170 +-----------------------+
171
172- tispl.bin
173 +-----------------------+
174 | |
175 | FIT HEADER |
176 | +-------------------+ |
177 | | | |
178 | | A53 ATF | |
179 | +-------------------+ |
180 | | | |
181 | | A53 OPTEE | |
182 | +-------------------+ |
183 | | | |
184 | | A53 SPL | |
185 | +-------------------+ |
186 | | | |
187 | | SPL DTB 1...N | |
188 | +-------------------+ |
189 +-----------------------+
190
191- sysfw.itb
192 +-----------------------+
193 | |
194 | FIT HEADER |
195 | +-------------------+ |
196 | | | |
197 | | sysfw.bin | |
198 | +-------------------+ |
199 | | | |
200 | | board config | |
201 | +-------------------+ |
202 | | | |
203 | | PM config | |
204 | +-------------------+ |
205 | | | |
206 | | RM config | |
207 | +-------------------+ |
208 | | | |
209 | | Secure config | |
210 | +-------------------+ |
211 +-----------------------+