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Diffstat (limited to 'roms/u-boot/board/ti/am65x/README')
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diff --git a/roms/u-boot/board/ti/am65x/README b/roms/u-boot/board/ti/am65x/README new file mode 100644 index 000000000..67081ce34 --- /dev/null +++ b/roms/u-boot/board/ti/am65x/README @@ -0,0 +1,350 @@ +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 + +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 like.... 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 Flacon boot flow to reduce boot time. + ++------------------------------------------------------------------------+ +| DMSC | R5 | A53 | ++------------------------------------------------------------------------+ +| +--------+ | | | +| | Reset | | | | +| +--------+ | | | +| : | | | +| +--------+ | +-----------+ | | +| | *ROM* |----------|-->| Reset rls | | | +| +--------+ | +-----------+ | | +| | | | : | | +| | ROM | | : | | +| |services| | : | | +| | | | +-------------+ | | +| | | | | *R5 ROM* | | | +| | | | +-------------+ | | +| | |<---------|---|Load and auth| | | +| | | | | tiboot3.bin | | | +| | | | +-------------+ | | +| | | | : | | +| | | | : | | +| | | | : | | +| | | | +-------------+ | | +| | | | | *R5 SPL* | | | +| | | | +-------------+ | | +| | | | | Load | | | +| | | | | sysfw.itb | | | +| | Start | | +-------------+ | | +| | System |<---------|---| Start | | | +| |Firmware| | | SYSFW | | | +| +--------+ | +-------------+ | | +| : | | | | | +| +---------+ | | Load | | | +| | *SYSFW* | | | system | | | +| +---------+ | | Config data | | | +| | |<--------|---| | | | +| | | | +-------------+ | | +| | | | | | | | +| | | | | DDR | | | +| | | | | config | | | +| | | | +-------------+ | | +| | | | | | | | +| | |<--------|---| Start A53 | | | +| | | | | and Reset | | | +| | | | +-------------+ | | +| | | | | +-----------+ | +| | |---------|-----------------------|---->| Reset rls | | +| | | | | +-----------+ | +| | DMSC | | | : | +| |Services | | | +-----------+ | +| | |<--------|-----------------------|---->|*ATF/OPTEE*| | +| | | | | +-----------+ | +| | | | | : | +| | | | | +-----------+ | +| | |<--------|-----------------------|---->| *A53 SPL* | | +| | | | | +-----------+ | +| | | | | | Load | | +| | | | | | u-boot.img| | +| | | | | +-----------+ | +| | | | | : | +| | | | | +-----------+ | +| | |<--------|-----------------------|---->| *U-Boot* | | +| | | | | +-----------+ | +| | | | | | prompt | | +| | | | | +-----------+ | +| +---------+ | | | +| | | | ++------------------------------------------------------------------------+ + +- 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: +-------- +1. SYSFW: + Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git + Branch: master + +2. ATF: + Tree: https://github.com/ARM-software/arm-trusted-firmware.git + Branch: master + +3. OPTEE: + Tree: https://github.com/OP-TEE/optee_os.git + Branch: master + +4. U-Boot: + Tree: http://git.denx.de/u-boot.git + Branch: master + +Build procedure: +---------------- +1. SYSFW: +$ make CROSS_COMPILE=arm-linux-gnueabihf- + +2. ATF: +$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed + +3. OPTEE: +$ make PLATFORM=k3-am65x CFG_ARM64_core=y + +4. U-Boot: + +4.1. R5: +$ make CROSS_COMPILE=arm-linux-gnueabihf- am65x_evm_r5_defconfig O=/tmp/r5 +$ make CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5 + +4.2. A53: +$ make CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53 +$ 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/a53 + +Target Images +-------------- +Copy the below images to an SD card and boot: +- sysfw.itb from step 1 +- tiboot3.bin from step 4.1 +- tispl.bin, u-boot.img from 4.2 + +Image formats: +-------------- + +- tiboot3.bin: + +-----------------------+ + | X.509 | + | Certificate | + | +-------------------+ | + | | | | + | | R5 | | + | | u-boot-spl.bin | | + | | | | + | +-------------------+ | + | | | | + | | FIT header | | + | | +---------------+ | | + | | | | | | + | | | DTB 1...N | | | + | | +---------------+ | | + | +-------------------+ | + +-----------------------+ + +- tispl.bin + +-----------------------+ + | | + | FIT HEADER | + | +-------------------+ | + | | | | + | | A53 ATF | | + | +-------------------+ | + | | | | + | | A53 OPTEE | | + | +-------------------+ | + | | | | + | | A53 SPL | | + | +-------------------+ | + | | | | + | | SPL DTB 1...N | | + | +-------------------+ | + +-----------------------+ + +- sysfw.itb + +-----------------------+ + | | + | FIT HEADER | + | +-------------------+ | + | | | | + | | sysfw.bin | | + | +-------------------+ | + | | | | + | | board config | | + | +-------------------+ | + | | | | + | | PM config | | + | +-------------------+ | + | | | | + | | RM config | | + | +-------------------+ | + | | | | + | | Secure config | | + | +-------------------+ | + +-----------------------+ + +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. + +=> 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: +=> 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: +=> gpt write mmc 0 ${partitions} + +eMMC layout: + + boot0 partition (8 MB) user partition + 0x0+----------------------------------+ 0x0+-------------------------+ + | tiboot3.bin (512 KB) | | | + 0x400+----------------------------------+ | | + | tispl.bin (2 MB) | | | +0x1400+----------------------------------+ | rootfs | + | u-boot.img (4 MB) | | | +0x3400+----------------------------------+ | | + | environment (128 KB) | | | +0x3500+----------------------------------+ | | + | backup environment (128 KB) | | | +0x3600+----------------------------------+ | | + | sysfw (1 MB) | | | +0x3E00+----------------------------------+ +-------------------------+ + +Kernel image and DT are expected to be present in the /boot folder of rootfs. +To boot kernel from eMMC, use the following commands: +=> 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. + +=> 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: + + 0x0 +----------------------------+ + | ospi.tiboot3(512K) | + | | + 0x80000 +----------------------------+ + | ospi.tispl(2M) | + | | + 0x280000 +----------------------------+ + | ospi.u-boot(4M) | + | | + 0x680000 +----------------------------+ + | ospi.env(128K) | + | | + 0x6A0000 +----------------------------+ + | ospi.env.backup (128K) | + | | + 0x6C0000 +----------------------------+ + | ospi.sysfw(1M) | + | | + 0x7C0000 +----------------------------+ + | padding (256k) | + 0x800000 +----------------------------+ + | ospi.rootfs(UBIFS) | + | | + +----------------------------+ + +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: +=> 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: + + WHO | Loading WHAT | HW 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: + +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 |