doc: board: ti: Update documentation for binman flow

Earlier documentation specified builds for generating bootloader images
using an external TI repository k3-image-gen and core-secdev-k3. Modify
this to using the binman flow so that user understands how to build the
final boot images.

Reviewed-by: Simon Glass <sjg@chromium.org>
Signed-off-by: Neha Malcom Francis <n-francis@ti.com>

5 files changed, 584 insertions, 172 deletions

diff --git a/doc/board/ti/am62x_sk.rst b/doc/board/ti/am62x_sk.rst
index 8642bdf16d..3a122b0756 100644
--- a/doc/board/ti/am62x_sk.rst
+++ b/doc/board/ti/am62x_sk.rst
@@ -90,9 +90,9 @@ Below is the pictorial representation of boot flow:
  |    |        |----------|-----------------------|---->| Reset rls |     |
  |    |        |          |                       |     +-----------+     |
  |    |  TIFS  |          |                       |          :            |
- |    |Services|          |                       |     +-----------+     |
- |    |        |<---------|-----------------------|---->|*ATF/OPTEE*|     |
- |    |        |          |                       |     +-----------+     |
+ |    |Services|          |                       |     +-------------+   |
+ |    |        |<---------|-----------------------|---->|*TF-A/OP-TEE*|   |
+ |    |        |          |                       |     +-------------+   |
  |    |        |          |                       |          :            |
  |    |        |          |                       |     +-----------+     |
  |    |        |<---------|-----------------------|---->| *A53 SPL* |     |
@@ -115,65 +115,76 @@ Below is the pictorial representation of boot flow:
 
 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
+1. Trusted Firmware-A:
+	Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
 	Branch: master
 
-3. OPTEE:
+2. OP-TEE:
 	Tree: https://github.com/OP-TEE/optee_os.git
 	Branch: master
 
-4. U-Boot:
+3. U-Boot:
 	Tree: https://source.denx.de/u-boot/u-boot
 	Branch: master
 
-5. TI Linux Firmware:
+4. TI Linux Firmware:
 	Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
 	Branch: ti-linux-firmware
 
 Build procedure:
 ----------------
-1. ATF:
+1. Trusted Firmware-A:
 
-.. code-block:: text
+.. code-block:: bash
 
- $ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=lite SPD=opteed
+ $ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=aarch64 PLAT=k3 \
+        TARGET_BOARD=lite SPD=opteed
 
-2. OPTEE:
+2. OP-TEE:
 
-.. code-block:: text
+.. code-block:: bash
 
- $ make PLATFORM=k3 CFG_ARM64_core=y CROSS_COMPILE=arm-none-linux-gnueabihf- CROSS_COMPILE64=aarch64-none-linux-gnu-
+ $ make PLATFORM=k3 CFG_ARM64_core=y CROSS_COMPILE=arm-none-linux-gnueabihf- \
+        CROSS_COMPILE64=aarch64-none-linux-gnu-
 
 3. U-Boot:
 
 * 3.1 R5:
 
-.. code-block:: text
-
- $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- am62x_evm_r5_defconfig O=/tmp/r5
- $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- O=/tmp/r5
- $ cd <k3-image-gen>
- $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=am62x SBL=/tmp/r5/spl/u-boot-spl.bin SYSFW_PATH=<path to ti-linux-firmware>/ti-sysfw/ti-fs-firmware-am62x-gp.bin
+.. code-block:: bash
 
-Use the tiboot3.bin generated from last command
+ $ make ARCH=arm am62x_evm_r5_defconfig
+ $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
 
 * 3.2 A53:
 
-.. code-block:: text
+.. code-block:: bash
 
- $ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- am62x_evm_a53_defconfig O=/tmp/a53
- $ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- ATF=<path to ATF dir>/build/k3/lite/release/bl31.bin TEE=<path to OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin DM=<path to ti-linux-firmware>/ti-dm/am62xx/ipc_echo_testb_mcu1_0_release_strip.xer5f O=/tmp/a53
+ $ make ARCH=arm am62x_evm_a53_defconfig
+ $ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- \
+        BL31=<path/to/trusted-firmware-a/dir>/build/k3/lite/release/bl31.bin \
+        TEE=<path/to/optee_os/dir>/out/arm-plat-k3/core/tee-raw.bin \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
 
 Target Images
 --------------
 Copy the below images to an SD card and boot:
- - tiboot3.bin from step 3.1
- - tispl.bin, u-boot.img from 3.2
+
+ - GP
+
+        * tiboot3-am62x-gp-evm.bin from step 3.1
+        * tispl.bin_unsigned, u-boot.img_unsigned from step 3.2
+
+ - HS-FS
+
+        * tiboot3-am62x-hs-fs-evm.bin from step 3.1
+        * tispl.bin, u-boot.img from step 3.2
+
+ - HS-SE
+
+        * tiboot3-am62x-hs-evm.bin from step 3.1
+        * tispl.bin, u-boot.img from step 3.2
 
 Image formats:
 --------------
@@ -214,10 +225,10 @@ Image formats:
                 |       FIT HEADER      |
                 | +-------------------+ |
                 | |                   | |
-                | |      A53 ATF      | |
+                | |     A53 TF-A      | |
                 | +-------------------+ |
                 | |                   | |
-                | |     A53 OPTEE     | |
+                | |     A53 OP-TEE    | |
                 | +-------------------+ |
                 | |                   | |
                 | |      R5 DM FW     | |
diff --git a/doc/board/ti/am65x_evm.rst b/doc/board/ti/am65x_evm.rst
new file mode 100644
index 0000000000..300cd3e9b9
--- /dev/null
+++ b/doc/board/ti/am65x_evm.rst
@@ -0,0 +1,420 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Neha Francis <n-francis@ti.com>
+
+AM65x Platforms
+===============
+
+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 for example 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 Falcon boot flow to reduce boot time.
+
+.. code-block:: text
+
+ +------------------------------------------------------------------------+
+ |        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/OP-TEE*|    |
+ |    |         |         |                       |     +------------+    |
+ |    |         |         |                       |          :            |
+ |    |         |         |                       |     +-----------+     |
+ |    |         |<--------|-----------------------|---->| *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. Trusted Firmware-A:
+        Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
+        Branch: master
+
+2. OP-TEE:
+        Tree: https://github.com/OP-TEE/optee_os.git
+        Branch: master
+
+3. U-Boot:
+        Tree: https://source.denx.de/u-boot/u-boot
+        Branch: master
+
+4. TI Linux Firmware:
+        Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
+        Branch: ti-linux-firmware
+
+Build procedure:
+----------------
+1. Trusted Firmware-A:
+
+.. code-block:: bash
+
+ $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 \
+        TARGET_BOARD=generic SPD=opteed
+
+2. OP-TEE:
+
+.. code-block:: bash
+
+ $ make PLATFORM=k3-am65x CFG_ARM64_core=y
+
+3. U-Boot:
+
+* 4.1 R5:
+
+.. code-block:: bash
+
+ $ make am65x_evm_r5_defconfig
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
+
+* 4.2 A53:
+
+.. code-block:: bash
+
+ $ make am65x_evm_a53_defconfig
+ $ make CROSS_COMPILE=aarch64-linux-gnu- \
+        BL31=<path/to/trusted-firmware-a/dir>/build/k3/generic/release/bl31.bin \
+        TEE=<path/to/optee_os/dir>/out/arm-plat-k3/core/tee-raw.bin \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
+
+Target Images
+--------------
+Copy the below images to an SD card and boot:
+
+- GP
+
+        * tiboot3-am65x_sr2-gp-evm.bin, sysfw-am65x_sr2-gp-evm.itb from step 4.1
+        * tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
+
+- HS
+
+        * tiboot3-am65x_sr2-hs-evm.bin, sysfw-am65x_sr2-hs-evm.itb from step 4.1
+        * tispl.bin, u-boot.img from step 4.2
+
+Image formats:
+--------------
+
+- tiboot3.bin:
+
+.. code-block:: text
+
+                +-----------------------+
+                |        X.509          |
+                |      Certificate      |
+                | +-------------------+ |
+                | |                   | |
+                | |        R5         | |
+                | |   u-boot-spl.bin  | |
+                | |                   | |
+                | +-------------------+ |
+                | |                   | |
+                | |     FIT header    | |
+                | | +---------------+ | |
+                | | |               | | |
+                | | |   DTB 1...N   | | |
+                | | +---------------+ | |
+                | +-------------------+ |
+                +-----------------------+
+
+- tispl.bin
+
+.. code-block:: text
+
+                +-----------------------+
+                |                       |
+                |       FIT HEADER      |
+                | +-------------------+ |
+                | |                   | |
+                | |      A53 ATF      | |
+                | +-------------------+ |
+                | |                   | |
+                | |     A53 OP-TEE    | |
+                | +-------------------+ |
+                | |                   | |
+                | |      A53 SPL      | |
+                | +-------------------+ |
+                | |                   | |
+                | |   SPL DTB 1...N   | |
+                | +-------------------+ |
+                +-----------------------+
+
+- sysfw.itb
+
+.. code-block:: text
+
+                +-----------------------+
+                |                       |
+                |       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.
+
+.. code-block:: text
+
+ => 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:
+
+.. code-block:: text
+
+ => 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:
+
+.. code-block:: text
+
+ => gpt write mmc 0 ${partitions}
+
+eMMC layout:
+
+.. code-block:: text
+
+            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:
+
+.. code-block:: text
+
+ => 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.
+
+.. code-block:: text
+
+ => 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:
+
+.. code-block:: text
+
+         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:
+
+.. code-block:: text
+
+ => 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:
+
+.. code-block:: text
+
+ +---------+---------------+-------------+------------+
+ | 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:
+
+.. code-block:: text
+
+ 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
diff --git a/doc/board/ti/j7200_evm.rst b/doc/board/ti/j7200_evm.rst
index 0d3a526516..5e3d75059c 100644
--- a/doc/board/ti/j7200_evm.rst
+++ b/doc/board/ti/j7200_evm.rst
@@ -83,9 +83,9 @@ Below is the pictorial representation of boot flow:
  |    |         |---------|-----------------------|---->| Reset rls |     |                       |
  |    |         |         |                       |     +-----------+     |                       |
  |    |  TIFS   |         |                       |          :            |                       |
- |    |Services |         |                       |     +-----------+     |                       |
- |    |         |<--------|-----------------------|---->|*ATF/OPTEE*|     |                       |
- |    |         |         |                       |     +-----------+     |                       |
+ |    |Services |         |                       |     +-------------+   |                       |
+ |    |         |<--------|-----------------------|---->|*TF-A/OP-TEE*|   |                       |
+ |    |         |         |                       |     +-------------+   |                       |
  |    |         |         |                       |          :            |                       |
  |    |         |         |                       |     +-----------+     |                       |
  |    |         |<--------|-----------------------|---->| *A72 SPL* |     |                       |
@@ -120,68 +120,74 @@ Below is the pictorial representation of boot flow:
 
 Sources:
 --------
-1. SYSFW:
-	Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
+1. Trusted Firmware-A:
+	Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
 	Branch: master
 
-2. ATF:
-	Tree: https://github.com/ARM-software/arm-trusted-firmware.git
+2. OP-TEE:
+	Tree: https://github.com/OP-TEE/optee_os.git
 	Branch: master
 
-3. OPTEE:
-	Tree: https://github.com/OP-TEE/optee_os.git
+3. U-Boot:
+	Tree: https://source.denx.de/u-boot/u-boot
 	Branch: master
 
-4. DM Firmware:
+4. TI Linux Firmware:
 	Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
 	Branch: ti-linux-firmware
 
-5. U-Boot:
-	Tree: https://source.denx.de/u-boot/u-boot
-	Branch: master
-
 Build procedure:
 ----------------
-1. SYSFW:
+1. Trusted Firmware-A:
 
 .. code-block:: bash
 
-    make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=j7200 SBL=u-boot-spl.bin SYSFW_PATH=<path to sysfw>/ti-fs-firmware-j7200-gp.bin
-    u-boot-spl.bin is generated at step 4.
+ $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
 
-2. ATF:
+2. OP-TEE:
 
 .. code-block:: bash
 
-    make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
+ $ make PLATFORM=k3-j7200 CFG_ARM64_core=y
 
-3. OPTEE:
-
-.. code-block:: bash
-
-    make PLATFORM=k3-j7200 CFG_ARM64_core=y
-
-4. U-Boot:
+3. U-Boot:
 
 * 4.1 R5:
 
 .. code-block:: bash
 
-    make CROSS_COMPILE=arm-linux-gnueabihf- j7200_evm_r5_defconfig O=build/r5
-    make CROSS_COMPILE=arm-linux-gnueabihf- O=build/r5
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- j7200_evm_r5_defconfig O=build/r5
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
 
 * 4.2 A72:
 
 .. code-block:: bash
 
-    make CROSS_COMPILE=aarch64-linux-gnu- j7200_evm_a72_defconfig O=build/a72
-    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/j7200/ipc_echo_testb_mcu1_0_release_strip.xer5f O=build/a72
+ $ make CROSS_COMPILE=aarch64-linux-gnu- j7200_evm_a72_defconfig O=build/a72
+ $ make CROSS_COMPILE=aarch64-linux-gnu- \
+        BL31=<path/to/trusted-firmware-a/dir>/build/k3/generic/release/bl31.bin \
+        TEE=<path/to/optee_os/dir>/out/arm-plat-k3/core/tee-raw.bin \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
 
 Target Images
 --------------
 Copy the below images to an SD card and boot:
- - tiboot3.bin from step 1
- - tispl.bin, u-boot.img from 4.2
+
+ - GP
+
+        * tiboot3-j7200-gp-evm.bin from step 4.1
+        * tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
+
+ - HS-FS
+
+        * tiboot3-j7200_sr2-hs-fs-evm.bin from step 4.1
+        * tispl.bin, u-boot.img from step 4.2
+
+ - HS-SE
+
+        * tiboot3-j7200_sr2-hs-evm.bin from step 4.1
+        * tispl.bin, u-boot.img from step 4.2
 
 Image formats:
 --------------
@@ -236,10 +242,10 @@ Image formats:
  |       FIT HEADER      |
  | +-------------------+ |
  | |                   | |
- | |      A72 ATF      | |
+ | |     A72 TF-A      | |
  | +-------------------+ |
  | |                   | |
- | |     A72 OPTEE     | |
+ | |     A72 OP-TEE    | |
  | +-------------------+ |
  | |                   | |
  | |      R5 DM FW     | |
diff --git a/doc/board/ti/j721e_evm.rst b/doc/board/ti/j721e_evm.rst
index feaa2da5e9..46244197f3 100644
--- a/doc/board/ti/j721e_evm.rst
+++ b/doc/board/ti/j721e_evm.rst
@@ -90,9 +90,9 @@ support. Below is the pictorial representation of boot flow:
  |    |         |---------|-----------------------|---->| Reset rls |     |                       |
  |    |         |         |                       |     +-----------+     |                       |
  |    |  TIFS   |         |                       |          :            |                       |
- |    |Services |         |                       |     +-----------+     |                       |
- |    |         |<--------|-----------------------|---->|*ATF/OPTEE*|     |                       |
- |    |         |         |                       |     +-----------+     |                       |
+ |    |Services |         |                       |     +-------------+   |                       |
+ |    |         |<--------|-----------------------|---->|*TF-A/OP-TEE*|   |                       |
+ |    |         |         |                       |     +-------------+   |                       |
  |    |         |         |                       |          :            |                       |
  |    |         |         |                       |     +-----------+     |                       |
  |    |         |<--------|-----------------------|---->| *A72 SPL* |     |                       |
@@ -130,68 +130,75 @@ support. Below is the pictorial representation of boot flow:
 
 Sources:
 --------
-1. SYSFW:
-	Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
+1. Trusted Firmware-A:
+	Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
 	Branch: master
 
-2. ATF:
-	Tree: https://github.com/ARM-software/arm-trusted-firmware.git
+2. OP-TEE:
+	Tree: https://github.com/OP-TEE/optee_os.git
 	Branch: master
 
-3. OPTEE:
-	Tree: https://github.com/OP-TEE/optee_os.git
+3. U-Boot:
+	Tree: https://source.denx.de/u-boot/u-boot
 	Branch: master
 
-4. DM Firmware:
+4. TI Linux Firmware:
 	Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
 	Branch: ti-linux-firmware
 
-5. U-Boot:
-	Tree: https://source.denx.de/u-boot/u-boot
-	Branch: master
-
 Build procedure:
 ----------------
-1. SYSFW:
+1. Trusted Firmware-A:
 
 .. code-block:: bash
 
-    make CROSS_COMPILE=arm-linux-gnueabihf- SOC=j721e
+ $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 \
+        TARGET_BOARD=generic SPD=opteed
 
-2. ATF:
+2. OP-TEE:
 
 .. code-block:: bash
 
-    make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
+ $ make PLATFORM=k3-j721e CFG_ARM64_core=y
 
-3. OPTEE:
-
-.. code-block:: bash
-
-    make PLATFORM=k3-j721e CFG_ARM64_core=y
-
-4. U-Boot:
+3. U-Boot:
 
 * 4.1 R5:
 
 .. code-block:: bash
 
-    make CROSS_COMPILE=arm-linux-gnueabihf- j721e_evm_r5_defconfig O=build/r5
-    make CROSS_COMPILE=arm-linux-gnueabihf- O=build/r5
+ $ make j721e_evm_r5_defconfig
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
 
 * 4.2 A72:
 
 .. code-block:: bash
 
-    make CROSS_COMPILE=aarch64-linux-gnu- j721e_evm_a72_defconfig O=build/a72
-    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
+ $ make j721e_evm_a72_defconfig
+ $ make CROSS_COMPILE=aarch64-linux-gnu- \
+        BL31=<path/to/trusted-firmware-a/dir>/build/k3/generic/release/bl31.bin \
+        TEE=<path/to/optee_os/dir>/out/arm-plat-k3/core/tee-raw.bin \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
 
 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
+
+ - GP
+
+        * tiboot3-j721e-gp-evm.bin, sysfw-j721e-gp-evm.itb from step 4.1
+        * tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
+
+ - HS-FS
+
+        * tiboot3-j721e_sr2-hs-fs-evm.bin, sysfw-j721e_sr2-hs-fs-evm.itb from step 4.1
+        * tispl.bin, u-boot.img from step 4.2
+
+ - HS-SE
+
+        * tiboot3-j721e_sr2-hs-evm.bin, sysfw-j721e_sr2-hs-evm.itb from step 4.1
+        * tispl.bin, u-boot.img from step 4.2
 
 Image formats:
 --------------
@@ -227,10 +234,10 @@ Image formats:
                 |       FIT HEADER      |
                 | +-------------------+ |
                 | |                   | |
-                | |      A72 ATF      | |
+                | |     A72 TF-A      | |
                 | +-------------------+ |
                 | |                   | |
-                | |     A72 OPTEE     | |
+                | |     A72 OP-TEE    | |
                 | +-------------------+ |
                 | |                   | |
                 | |      R5 DM FW     | |
diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst
index 2b2f4bb8bb..7390e0305e 100644
--- a/doc/board/ti/k3.rst
+++ b/doc/board/ti/k3.rst
@@ -33,6 +33,7 @@ K3 Based SoCs
    j721e_evm
    j7200_evm
    am62x_sk
+   am65x_evm
 
 Boot Flow Overview
 ------------------
@@ -53,13 +54,13 @@ 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.
+starting with Trusted Firmware-A (TF-A), before moving on to start
+OP-TEE and the main domain's U-Boot SPL.
 
 .. code-block:: text
 
    |  WKUP Domain   | Main Domain ->
-    ROM -> WKUP SPL -> ATF -> OPTEE -> Main SPL
+    ROM -> WKUP SPL -> TF-A -> OP-TEE -> 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
@@ -70,7 +71,7 @@ finally prepare the main domain to run Linux.
 .. code-block:: text
 
    |  WKUP Domain   | Main Domain ->
-    ROM -> WKUP SPL -> ATF -> OPTEE -> Main SPL -> UBoot -> Linux
+    ROM -> WKUP SPL -> TF-A -> OP-TEE -> 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
@@ -115,17 +116,12 @@ online
   | **source:** https://source.denx.de/u-boot/u-boot.git
   | **branch:** master
 
-* **K3 Image Gen**
+* **Trusted Firmware-A (TF-A)**
 
-  | **source:** https://git.ti.com/git/k3-image-gen/k3-image-gen.git
+  | **source:** https://git.trustedfirmware.org/TF-A/trusted-firmware-a.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)**
+* **Open Portable Trusted Execution Environment (OP-TEE)**
 
   | **source:** https://github.com/OP-TEE/optee_os.git
   | **branch:** master
@@ -135,11 +131,6 @@ online
   | **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
 ---------------
 
@@ -161,54 +152,37 @@ All of that to say you will need both a 32bit and 64bit cross compiler
 
 .. code-block:: bash
 
-   export CC32=arm-linux-gnueabihf-
-   export CC64=aarch64-linux-gnu-
+ $ 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
+   am62x) 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)
 
-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>
+ $ # inside u-boot source
+ $ make ARCH=arm {SOC}_evm_r5_defconfig
+ $ make ARCH=arm CROSS_COMPILE=$CC32 \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware>
 
 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`
+   `tiboot3-{SOC}-{gp/hs-fs/hs}.bin`
 
 **Split Binary Boot Flow** (eg: j721e, am65x)
 
-   | `u-boot/build/wkup/tiboot3.bin`
-   | `k3-image-gen/sysfw-{SOC}-evm.bin`
+   | `tiboot3-{SOC}-{gp/hs-fs/hs}.bin`
+   | `sysfw-{SOC}-{gp/hs-fs/hs}-evm.itb`
 
 .. note ::
 
@@ -223,53 +197,47 @@ 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'
+2. We will first need TF-A, 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 \
+ $ # inside trusted-firmware-a source
+ $ make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \
+        TARGET_BOARD={lite|generic|j784s4} \
+        SPD=opteed
 
-Typically all `j7*` devices will use `TARGET_BOARD=generic` while all
-Sitara (`am6*`) devices use the `lite` option.
+Typically all `j7*` devices will use `TARGET_BOARD=generic` or `TARGET_BOARD
+=j784s4` (if it is a J784S4 device), while all Sitara (`am6*`) devices
+use the `lite` option.
 
-4. The Open Portable Trusted Execution Environment (OPTEE) is designed
+3. The Open Portable Trusted Execution Environment (OP-TEE) 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 \
+ $ # 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
+4. Finally, after TF-A has initialized the main domain and OP-TEE 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>
+ $ # inside u-boot source
+ $ make ARCH=arm {SOC}_evm_a{53,72}_defconfig
+ $ make ARCH=arm CROSS_COMPILE=$CC64 \
+        BINMAN_INDIRS=<path/to/ti-linux-firmware> \
+        BL31=<path/to/trusted-firmware-a/dir>/build/k3/generic/release/bl31.bin \
+        TEE=<path/to/optee_os/dir>/out/arm-plat-k3/core/tee-raw.bin
 
 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`
+   | `tispl.bin` for HS devices or `tispl.bin_unsigned` for GP devices
+   | `u-boot.img` for HS devices or `u-boot.img_unsigned` for GP devices