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gerrit.devboardsforandroid.linaro.org / platform / external / u-boot / c643468849730ccbdaaa79bbae972015cd5f0d4b / . / doc / board / ti / j721e_evm.rst
blob: ad70f15b7a4183cb122b7ac228607ec53b8ca65f [file] [log] [blame]
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]1.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
2.. sectionauthor:: Lokesh Vutla <lokeshvutla@ti.com>
3
4Texas Instruments K3 Platforms
5==============================
6
7Introduction:
8-------------
9The J721e family of SoCs are part of K3 Multicore SoC architecture platform
10targeting automotive applications. They are designed as a low power, high
11performance and highly integrated device architecture, adding significant
12enhancement on processing power, graphics capability, video and imaging
13processing, virtualization and coherent memory support.
14
15The device is partitioned into three functional domains, each containing
16specific processing cores and peripherals:
17
181. Wake-up (WKUP) domain:
19 * Device Management and Security Controller (DMSC)
20
212. Microcontroller (MCU) domain:
22 * Dual Core ARM Cortex-R5F processor
23
243. MAIN domain:
25 * Dual core 64-bit ARM Cortex-A72
26 * 2 x Dual cortex ARM Cortex-R5 subsystem
27 * 2 x C66x Digital signal processor sub system
28 * C71x Digital signal processor sub-system with MMA.
29
30More info can be found in TRM: http://www.ti.com/lit/pdf/spruil1
31
32Boot Flow:
33----------
34Boot flow is similar to that of AM65x SoC and extending it with remoteproc
35support. Below is the pictorial representation of boot flow:
36
37.. code-block:: text
38
39 +------------------------------------------------------------------------+-----------------------+
40 | DMSC | MCU R5 | A72 | MAIN R5/C66x/C7x |
41 +------------------------------------------------------------------------+-----------------------+
42 | +--------+ | | | |
43 | | Reset | | | | |
44 | +--------+ | | | |
45 | : | | | |
46 | +--------+ | +-----------+ | | |
47 | | *ROM* |----------|-->| Reset rls | | | |
48 | +--------+ | +-----------+ | | |
49 | | | | : | | |
50 | | ROM | | : | | |
51 | |services| | : | | |
52 | | | | +-------------+ | | |
53 | | | | | *R5 ROM* | | | |
54 | | | | +-------------+ | | |
55 | | |<---------|---|Load and auth| | | |
56 | | | | | tiboot3.bin | | | |
57 | | | | +-------------+ | | |
58 | | | | : | | |
59 | | | | : | | |
60 | | | | : | | |
61 | | | | +-------------+ | | |
62 | | | | | *R5 SPL* | | | |
63 | | | | +-------------+ | | |
64 | | | | | Load | | | |
65 | | | | | sysfw.itb | | | |
66 | | Start | | +-------------+ | | |
67 | | System |<---------|---| Start | | | |
68 | |Firmware| | | SYSFW | | | |
69 | +--------+ | +-------------+ | | |
70 | : | | | | | |
71 | +---------+ | | Load | | | |
72 | | *SYSFW* | | | system | | | |
73 | +---------+ | | Config data | | | |
74 | | |<--------|---| | | | |
75 | | | | +-------------+ | | |
76 | | | | | DDR | | | |
77 | | | | | config | | | |
78 | | | | +-------------+ | | |
79 | | | | | Load | | | |
80 | | | | | tispl.bin | | | |
81 | | | | +-------------+ | | |
82 | | | | | Load R5 | | | |
83 | | | | | firmware | | | |
84 | | | | +-------------+ | | |
85 | | |<--------|---| Start A72 | | | |
86 | | | | | and jump to | | | |
87 | | | | | DM fw image | | | |
88 | | | | +-------------+ | | |
89 | | | | | +-----------+ | |
90 | | |---------|-----------------------|---->| Reset rls | | |
91 | | | | | +-----------+ | |
92 | | TIFS | | | : | |
93 | |Services | | | +-----------+ | |
94 | | |<--------|-----------------------|---->|*ATF/OPTEE*| | |
95 | | | | | +-----------+ | |
96 | | | | | : | |
97 | | | | | +-----------+ | |
98 | | |<--------|-----------------------|---->| *A72 SPL* | | |
99 | | | | | +-----------+ | |
100 | | | | | | Load | | |
101 | | | | | | u-boot.img| | |
102 | | | | | +-----------+ | |
103 | | | | | : | |
104 | | | | | +-----------+ | |
105 | | |<--------|-----------------------|---->| *U-Boot* | | |
106 | | | | | +-----------+ | |
107 | | | | | | prompt | | |
108 | | | | | +-----------+ | |
109 | | | | | | Load R5 | | |
110 | | | | | | Firmware | | |
111 | | | | | +-----------+ | |
112 | | |<--------|-----------------------|-----| Start R5 | | +-----------+ |
113 | | |---------|-----------------------|-----+-----------+-----|----->| R5 starts | |
114 | | | | | | Load C6 | | +-----------+ |
115 | | | | | | Firmware | | |
116 | | | | | +-----------+ | |
117 | | |<--------|-----------------------|-----| Start C6 | | +-----------+ |
118 | | |---------|-----------------------|-----+-----------+-----|----->| C6 starts | |
119 | | | | | | Load C7 | | +-----------+ |
120 | | | | | | Firmware | | |
121 | | | | | +-----------+ | |
122 | | |<--------|-----------------------|-----| Start C7 | | +-----------+ |
123 | | |---------|-----------------------|-----+-----------+-----|----->| C7 starts | |
124 | +---------+ | | | +-----------+ |
125 | | | | |
126 +------------------------------------------------------------------------+-----------------------+
127
128- Here DMSC acts as master and provides all the critical services. R5/A72
129 requests DMSC to get these services done as shown in the above diagram.
130
131Sources:
132--------
1331. SYSFW:
134 Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
135 Branch: master
136
1372. ATF:
138 Tree: https://github.com/ARM-software/arm-trusted-firmware.git
139 Branch: master
140
1413. OPTEE:
142 Tree: https://github.com/OP-TEE/optee_os.git
143 Branch: master
144
Andrew Davis2434a012022-11-09 11:30:00 -0600[diff] [blame]1454. DM Firmware:
146 Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
147 Branch: ti-linux-firmware
148
1495. U-Boot:
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]150 Tree: https://source.denx.de/u-boot/u-boot
151 Branch: master
152
153Build procedure:
154----------------
1551. SYSFW:
156
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]157.. code-block:: bash
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]158
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]159 make CROSS_COMPILE=arm-linux-gnueabihf- SOC=j721e
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]160
1612. ATF:
162
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]163.. code-block:: bash
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]164
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]165 make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]166
1673. OPTEE:
168
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]169.. code-block:: bash
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]170
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]171 make PLATFORM=k3-j721e CFG_ARM64_core=y
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]172
1734. U-Boot:
174
175* 4.1 R5:
176
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]177.. code-block:: bash
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]178
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]179 make CROSS_COMPILE=arm-linux-gnueabihf- j721e_evm_r5_defconfig O=build/r5
180 make CROSS_COMPILE=arm-linux-gnueabihf- O=build/r5
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]181
182* 4.2 A72:
183
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]184.. code-block:: bash
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]185
Andrew Davis4bc50972022-11-09 11:30:01 -0600[diff] [blame]186 make CROSS_COMPILE=aarch64-linux-gnu- j721e_evm_a72_defconfig O=build/a72
187 make CROSS_COMPILE=aarch64-linux-gnu- ATF=<ATF dir>/build/k3/generic/release/bl31.bin TEE=<OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin DM=<DM firmware>/ti-dm/j721e/ipc_echo_testb_mcu1_0_release_strip.xer5f O=build/a72
Kishon Vijay Abraham I8baeeec2021-07-21 21:28:48 +0530[diff] [blame]188
189Target Images
190--------------
191Copy the below images to an SD card and boot:
192 - sysfw.itb from step 1
193 - tiboot3.bin from step 4.1
194 - tispl.bin, u-boot.img from 4.2
195
196Image formats:
197--------------
198
199- tiboot3.bin:
200
201.. code-block:: text
202
203 +-----------------------+
204 | X.509 |
205 | Certificate |
206 | +-------------------+ |
207 | | | |
208 | | R5 | |
209 | | u-boot-spl.bin | |
210 | | | |
211 | +-------------------+ |
212 | | | |
213 | | FIT header | |
214 | | +---------------+ | |
215 | | | | | |
216 | | | DTB 1...N | | |
217 | | +---------------+ | |
218 | +-------------------+ |
219 +-----------------------+
220
221- tispl.bin
222
223.. code-block:: text
224
225 +-----------------------+
226 | |
227 | FIT HEADER |
228 | +-------------------+ |
229 | | | |
230 | | A72 ATF | |
231 | +-------------------+ |
232 | | | |
233 | | A72 OPTEE | |
234 | +-------------------+ |
235 | | | |
236 | | R5 DM FW | |
237 | +-------------------+ |
238 | | | |
239 | | A72 SPL | |
240 | +-------------------+ |
241 | | | |
242 | | SPL DTB 1...N | |
243 | +-------------------+ |
244 +-----------------------+
245
246- sysfw.itb
247
248.. code-block:: text
249
250 +-----------------------+
251 | |
252 | FIT HEADER |
253 | +-------------------+ |
254 | | | |
255 | | sysfw.bin | |
256 | +-------------------+ |
257 | | | |
258 | | board config | |
259 | +-------------------+ |
260 | | | |
261 | | PM config | |
262 | +-------------------+ |
263 | | | |
264 | | RM config | |
265 | +-------------------+ |
266 | | | |
267 | | Secure config | |
268 | +-------------------+ |
269 +-----------------------+
270
271OSPI:
272-----
273ROM supports booting from OSPI from offset 0x0.
274
275Flashing images to OSPI:
276
277Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
278and sysfw.itb over tftp and then flash those to OSPI at their respective
279addresses.
280
281.. code-block:: text
282
283 => sf probe
284 => tftp ${loadaddr} tiboot3.bin
285 => sf update $loadaddr 0x0 $filesize
286 => tftp ${loadaddr} tispl.bin
287 => sf update $loadaddr 0x80000 $filesize
288 => tftp ${loadaddr} u-boot.img
289 => sf update $loadaddr 0x280000 $filesize
290 => tftp ${loadaddr} sysfw.itb
291 => sf update $loadaddr 0x6C0000 $filesize
292
293Flash layout for OSPI:
294
295.. code-block:: text
296
297 0x0 +----------------------------+
298 | ospi.tiboot3(512K) |
299 | |
300 0x80000 +----------------------------+
301 | ospi.tispl(2M) |
302 | |
303 0x280000 +----------------------------+
304 | ospi.u-boot(4M) |
305 | |
306 0x680000 +----------------------------+
307 | ospi.env(128K) |
308 | |
309 0x6A0000 +----------------------------+
310 | ospi.env.backup (128K) |
311 | |
312 0x6C0000 +----------------------------+
313 | ospi.sysfw(1M) |
314 | |
315 0x7C0000 +----------------------------+
316 | padding (256k) |
317 0x800000 +----------------------------+
318 | ospi.rootfs(UBIFS) |
319 | |
320 +----------------------------+
Kishon Vijay Abraham I4689aab2021-07-21 21:28:49 +0530[diff] [blame]321
322Firmwares:
323----------
324
325The J721e u-boot allows firmware to be loaded for the Cortex-R5 subsystem.
326The CPSW5G in J7200 and CPSW9G in J721E present in MAIN domain is configured
327and controlled by the ethernet firmware that executes in the MAIN Cortex R5.
328The default supported environment variables support loading these firmwares
329from only MMC. "dorprocboot" env variable has to be set for the U-BOOT to load
330and start the remote cores in the system.
331
332J721E common processor board can be attached to a Ethernet QSGMII card and the
333PHY in the card has to be reset before it can be used for data transfer.
334"do_main_cpsw0_qsgmii_phyinit" env variable has to be set for the U-BOOT to
335configure this PHY.