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diff --git a/board/ti/am65x/README b/board/ti/am65x/README deleted file mode 100644 index 67081ce349..0000000000 --- a/board/ti/am65x/README +++ /dev/null @@ -1,350 +0,0 @@ -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 |