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Diffstat (limited to 'doc/board/ti/am65x_evm.rst')
| -rw-r--r-- | doc/board/ti/am65x_evm.rst | 301 |
1 files changed, 85 insertions, 216 deletions
diff --git a/doc/board/ti/am65x_evm.rst b/doc/board/ti/am65x_evm.rst index 300cd3e9b9..0129235c2b 100644 --- a/doc/board/ti/am65x_evm.rst +++ b/doc/board/ti/am65x_evm.rst @@ -24,6 +24,10 @@ cores, voltage domains and peripherals: More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7 +Platform information: + +* https://www.ti.com/tool/TMDX654GPEVM + Boot Flow: ---------- On AM65x family devices, ROM supports boot only via MCU(R5). This means that @@ -41,136 +45,80 @@ 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 | | - | | | | | +-----------+ | - | +---------+ | | | - | | | | - +------------------------------------------------------------------------+ +.. image:: img/boot_diagram_am65.svg - 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 +.. include:: k3.rst + :start-after: .. k3_rst_include_start_boot_sources + :end-before: .. k3_rst_include_end_boot_sources Build procedure: ---------------- -1. Trusted Firmware-A: +0. Setup the environment variables: -.. code-block:: bash +.. include:: k3.rst + :start-after: .. k3_rst_include_start_common_env_vars_desc + :end-before: .. k3_rst_include_end_common_env_vars_desc - $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 \ - TARGET_BOARD=generic SPD=opteed +.. include:: k3.rst + :start-after: .. k3_rst_include_start_board_env_vars_desc + :end-before: .. k3_rst_include_end_board_env_vars_desc -2. OP-TEE: +Set the variables corresponding to this platform: +.. include:: 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 - $ make PLATFORM=k3-am65x CFG_ARM64_core=y + $ export UBOOT_CFG_CORTEXR=am65x_evm_r5_defconfig + $ export UBOOT_CFG_CORTEXA=am65x_evm_a53_defconfig + $ export TFA_BOARD=generic + $ # we dont use any extra TFA parameters + $ unset TFA_EXTRA_ARGS + $ export OPTEE_PLATFORM=k3-am65x + $ # we dont use any extra OP-TEE parameters + $ unset OPTEE_EXTRA_ARGS + +.. am65x_evm_rst_include_start_build_steps + +1. Trusted Firmware-A: + +.. include:: 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 + :start-after: .. k3_rst_include_start_build_steps_optee + :end-before: .. k3_rst_include_end_build_steps_optee 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> +.. include:: 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: -.. 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> +.. include:: k3.rst + :start-after: .. k3_rst_include_start_build_steps_uboot + :end-before: .. k3_rst_include_end_build_steps_uboot +.. am65x_evm_rst_include_end_build_steps Target Images -------------- -Copy the below images to an SD card and boot: +In order to boot we need tiboot3.bin, sysfw.itb, tispl.bin and u-boot.img. +Each SoC variant (GP and HS) requires a different source for these files. - GP @@ -185,74 +133,17 @@ Copy the below images to an SD card and boot: Image formats: -------------- -- tiboot3.bin: - -.. code-block:: text +- tiboot3.bin - +-----------------------+ - | X.509 | - | Certificate | - | +-------------------+ | - | | | | - | | R5 | | - | | u-boot-spl.bin | | - | | | | - | +-------------------+ | - | | | | - | | FIT header | | - | | +---------------+ | | - | | | | | | - | | | DTB 1...N | | | - | | +---------------+ | | - | +-------------------+ | - +-----------------------+ +.. image:: img/no_multi_cert_tiboot3.bin.svg - tispl.bin -.. code-block:: text - - +-----------------------+ - | | - | FIT HEADER | - | +-------------------+ | - | | | | - | | A53 ATF | | - | +-------------------+ | - | | | | - | | A53 OP-TEE | | - | +-------------------+ | - | | | | - | | A53 SPL | | - | +-------------------+ | - | | | | - | | SPL DTB 1...N | | - | +-------------------+ | - +-----------------------+ +.. image:: img/nodm_tispl.bin.svg - sysfw.itb -.. code-block:: text - - +-----------------------+ - | | - | FIT HEADER | - | +-------------------+ | - | | | | - | | sysfw.bin | | - | +-------------------+ | - | | | | - | | board config | | - | +-------------------+ | - | | | | - | | PM config | | - | +-------------------+ | - | | | | - | | RM config | | - | +-------------------+ | - | | | | - | | Secure config | | - | +-------------------+ | - +-----------------------+ +.. image:: img/sysfw.itb.svg eMMC: ----- @@ -293,22 +184,7 @@ used: 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+----------------------------------+ +-------------------------+ +.. image:: img/emmc_am65x_evm_boot0.svg Kernel image and DT are expected to be present in the /boot folder of rootfs. To boot kernel from eMMC, use the following commands: @@ -343,32 +219,7 @@ addresses. 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) | - | | - +----------------------------+ +.. image:: img/ospi_sysfw.svg 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 @@ -387,16 +238,34 @@ 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 | - +---------+---------------+-------------+------------+ +.. list-table:: ROM UART Boot Responsibilities + :widths: 16 16 16 16 + :header-rows: 1 + + * - Who + - Loading What + - Hardware 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 |