board: toradex: add verdin am62 support

This adds initial support for the Toradex Verdin AM62 Quad 1GB WB IT
V1.0A module and subsequent V1.1 launch configuration SKUs. They are
strapped to boot from their on-module eMMC. U-Boot supports booting
from the on-module eMMC only, DFU support is disabled for now due to
missing AM62x USB support.

The device trees were taken straight from Linux v6.5-rc1.

Boot sequence is:
SYSFW ---> R5 SPL (both in tiboot3.bin) ---> ATF (TF-A) ---> OP-TEE
  ---> A53 SPL (part of tispl.bin) ---> U-boot proper (u-boot.img)

Signed-off-by: Marcel Ziswiler <marcel.ziswiler@toradex.com>
Reviewed-by: Nishanth Menon <nm@ti.com>

4 files changed, 140 insertions, 8 deletions

diff --git a/doc/board/ti/am62x_sk.rst b/doc/board/ti/am62x_sk.rst
index 637985cb09..4646bc0f52 100644
--- a/doc/board/ti/am62x_sk.rst
+++ b/doc/board/ti/am62x_sk.rst
@@ -54,7 +54,7 @@ Below is the pictorial representation of boot flow:
 Sources:
 --------
 
-.. include::  k3.rst
+.. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_boot_sources
     :end-before: .. k3_rst_include_end_boot_sources
 
@@ -62,17 +62,17 @@ Build procedure:
 ----------------
 0. Setup the environment variables:
 
-.. include::  k3.rst
+.. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_common_env_vars_desc
     :end-before: .. k3_rst_include_end_common_env_vars_desc
 
-.. include::  k3.rst
+.. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_board_env_vars_desc
     :end-before: .. k3_rst_include_end_board_env_vars_desc
 
 Set the variables corresponding to this platform:
 
-.. include::  k3.rst
+.. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_common_env_vars_defn
     :end-before: .. k3_rst_include_end_common_env_vars_defn
 .. code-block:: bash
@@ -89,14 +89,14 @@ Set the variables corresponding to this platform:
 
 1. Trusted Firmware-A:
 
-.. include::  k3.rst
+.. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_tfa
     :end-before: .. k3_rst_include_end_build_steps_tfa
 
 
 2. OP-TEE:
 
-.. include::  k3.rst
+.. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_optee
     :end-before: .. k3_rst_include_end_build_steps_optee
 
@@ -104,13 +104,13 @@ Set the variables corresponding to this platform:
 
 * 4.1 R5:
 
-.. include::  k3.rst
+.. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_spl_r5
     :end-before: .. k3_rst_include_end_build_steps_spl_r5
 
 * 4.2 A53:
 
-.. include::  k3.rst
+.. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_uboot
     :end-before: .. k3_rst_include_end_build_steps_uboot
 .. am62x_evm_rst_include_end_build_steps
diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst
index 9d40675b60..d2f86b0a11 100644
--- a/doc/board/ti/k3.rst
+++ b/doc/board/ti/k3.rst
@@ -31,6 +31,7 @@ K3 Based SoCs
    :maxdepth: 1
 
    am62x_sk
+   ../toradex/verdin-am62
    am65x_evm
    j7200_evm
    j721e_evm
diff --git a/doc/board/toradex/index.rst b/doc/board/toradex/index.rst
index ead5efbb95..89fbdcbb9e 100644
--- a/doc/board/toradex/index.rst
+++ b/doc/board/toradex/index.rst
@@ -9,5 +9,6 @@ Toradex
    apalis-imx8
    colibri_imx7
    colibri-imx8x
+   verdin-am62
    verdin-imx8mm
    verdin-imx8mp
diff --git a/doc/board/toradex/verdin-am62.rst b/doc/board/toradex/verdin-am62.rst
new file mode 100644
index 0000000000..ac0e86b300
--- /dev/null
+++ b/doc/board/toradex/verdin-am62.rst
@@ -0,0 +1,130 @@
+.. SPDX-License-Identifier: GPL-2.0-or-later
+.. sectionauthor:: Marcel Ziswiler <marcel.ziswiler@toradex.com>
+
+Verdin AM62 Module
+==================
+
+Quick Start
+-----------
+
+- Get the binary-only SYSFW
+- Get binary-only TI Linux firmware
+- Build the ARM trusted firmware binary
+- Build the OPTEE binary
+- Build U-Boot for the R5
+- Build U-Boot for the A53
+- Flash to eMMC
+- Boot
+
+For an overview of the TI AM62 SoC boot flow please head over to:
+:doc:`../ti/am62x_sk`
+
+Sources:
+--------
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_boot_sources
+    :end-before: .. k3_rst_include_end_boot_sources
+
+Build procedure:
+----------------
+0. Setup the environment variables:
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_desc
+    :end-before: .. k3_rst_include_end_common_env_vars_desc
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_board_env_vars_desc
+    :end-before: .. k3_rst_include_end_board_env_vars_desc
+
+Set the variables corresponding to this platform:
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_defn
+    :end-before: .. k3_rst_include_end_common_env_vars_defn
+.. code-block:: bash
+
+ $ export UBOOT_CFG_CORTEXR=verdin-am62_r5_defconfig
+ $ export UBOOT_CFG_CORTEXA=verdin-am62_a53_defconfig
+ $ export TFA_BOARD=lite
+ $ # we dont use any extra TFA parameters
+ $ unset TFA_EXTRA_ARGS
+ $ export OPTEE_PLATFORM=k3-am62x
+ $ export OPTEE_EXTRA_ARGS="CFG_WITH_SOFTWARE_PRNG=y"
+
+.. include::  ../ti/am62x_sk.rst
+    :start-after: .. am62x_evm_rst_include_start_build_steps
+    :end-before: .. am62x_evm_rst_include_end_build_steps
+
+Flash to eMMC
+-------------
+
+.. code-block:: bash
+
+    => 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
+
+Boot
+----
+
+Output:
+
+.. code-block:: bash
+
+U-Boot SPL 2023.10-rc1-00210-gb678170a34c (Aug 03 2023 - 00:09:14 +0200)
+SYSFW ABI: 3.1 (firmware rev 0x0009 '9.0.1--v09.00.01 (Kool Koala)')
+SPL initial stack usage: 13368 bytes
+Trying to boot from MMC1
+Authentication passed
+Authentication passed
+Authentication passed
+Authentication passed
+Authentication passed
+Starting ATF on ARM64 core...
+
+NOTICE:  BL31: v2.9(release):v2.9.0-73-g463655cc8
+NOTICE:  BL31: Built : 14:51:42, Jun  5 2023
+I/TC:
+I/TC: OP-TEE version: 3.21.0-168-g322cf9e33 (gcc version 12.2.1 20221205 (Arm GNU Toolchain 12.2.Rel1 (Build arm-12.24))) #2 Mon Jun  5 13:04:15 UTC 2023 aarch64
+I/TC: WARNING: This OP-TEE configuration might be insecure!
+I/TC: WARNING: Please check https://optee.readthedocs.io/en/latest/architecture/porting_guidelines.html
+I/TC: Primary CPU initializing
+I/TC: SYSFW ABI: 3.1 (firmware rev 0x0009 '9.0.1--v09.00.01 (Kool Koala)')
+I/TC: HUK Initialized
+I/TC: Primary CPU switching to normal world boot
+
+U-Boot SPL 2023.10-rc1-00210-gb678170a34c (Aug 03 2023 - 00:09:41 +0200)
+SYSFW ABI: 3.1 (firmware rev 0x0009 '9.0.1--v09.00.01 (Kool Koala)')
+SPL initial stack usage: 1840 bytes
+Trying to boot from MMC1
+Authentication passed
+Authentication passed
+
+
+U-Boot 2023.10-rc1-00210-gb678170a34c (Aug 03 2023 - 00:09:41 +0200)
+
+SoC:   AM62X SR1.0 HS-FS
+DRAM:  2 GiB
+Core:  136 devices, 28 uclasses, devicetree: separate
+MMC:   mmc@fa10000: 0, mmc@fa00000: 1
+Loading Environment from MMC... OK
+In:    serial@2800000
+Out:   serial@2800000
+Err:   serial@2800000
+Model: Toradex 0076 Verdin AM62 Quad 2GB WB IT V1.0A
+Serial#: 15037380
+Carrier: Toradex Verdin Development Board V1.1A, Serial# 10754333
+am65_cpsw_nuss ethernet@8000000: K3 CPSW: nuss_ver: 0x6BA01103 cpsw_ver: 0x6BA81103 ale_ver: 0x00290105 Ports:2 mdio_freq:1000000
+Setting variant to wifi
+Net:
+Warning: ethernet@8000000port@1 MAC addresses don't match:
+Address in ROM is		1c:63:49:22:5f:f9
+Address in environment is	00:14:2d:e5:73:c4
+eth0: ethernet@8000000port@1 [PRIME], eth1: ethernet@8000000port@2
+Hit any key to stop autoboot:  0
+Verdin AM62 #