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Diffstat (limited to 'doc/board/ti/k3.rst')
| -rw-r--r-- | doc/board/ti/k3.rst | 136 |
1 files changed, 96 insertions, 40 deletions
diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst index 2db7bbdb42..9d40675b60 100644 --- a/doc/board/ti/k3.rst +++ b/doc/board/ti/k3.rst @@ -30,10 +30,10 @@ K3 Based SoCs .. toctree:: :maxdepth: 1 - j721e_evm - j7200_evm am62x_sk am65x_evm + j7200_evm + j721e_evm Boot Flow Overview ------------------ @@ -45,10 +45,7 @@ boot media needed to load the binaries packaged inside `tiboot3.bin`, including a 32bit U-Boot SPL, (called the wakup SPL) that ROM will jump to after it has finished loading everything into internal SRAM. -.. code-block:: text - - | WKUP Domain - ROM -> WKUP SPL -> +.. image:: img/boot_flow_01.svg The wakeup SPL, running on a wakeup domain core, will initialize DDR and any peripherals needed load the larger binaries inside the `tispl.bin` @@ -57,10 +54,7 @@ application cores inside the main domain to initialize the main domain, 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 -> TF-A -> OP-TEE -> Main SPL +.. image:: img/boot_flow_02.svg The main domain's SPL, running on a 64bit application core, has virtually unlimited space (billions of bytes now that DDR is working) to @@ -68,10 +62,7 @@ initialize even more peripherals needed to load in the `u-boot.img` which loads more firmware into the micro-controller & wakeup domains and finally prepare the main domain to run Linux. -.. code-block:: text - - | WKUP Domain | Main Domain -> - ROM -> WKUP SPL -> TF-A -> OP-TEE -> Main SPL -> UBoot -> Linux +.. image:: img/boot_flow_03.svg 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 @@ -111,6 +102,8 @@ All scripts and code needed to build the `tiboot3.bin`, `tispl.bin` and `u-boot.img` for all K3 SoCs can be located at the following places online +.. k3_rst_include_start_boot_sources + * **Das U-Boot** | **source:** https://source.denx.de/u-boot/u-boot.git @@ -131,6 +124,8 @@ online | **source:** https://git.ti.com/git/processor-firmware/ti-linux-firmware.git | **branch:** ti-linux-firmware +.. k3_rst_include_end_boot_sources + Build Procedure --------------- @@ -150,10 +145,71 @@ compiled for 64bit main domain CPU cores. All of that to say you will need both a 32bit and 64bit cross compiler (assuming you're using an x86 desktop) +.. k3_rst_include_start_common_env_vars_desc +.. list-table:: Generic environment variables + :widths: 25 25 50 + :header-rows: 1 + + * - S/w Component + - Env Variable + - Description + * - All Software + - CC32 + - Cross compiler for ARMv7 (ARM 32bit), typically arm-linux-gnueabihf- + * - All Software + - CC64 + - Cross compiler for ARMv8 (ARM 64bit), typically aarch64-linux-gnu- + * - All Software + - LNX_FW_PATH + - Path to TI Linux firmware repository + * - All Software + - TFA_PATH + - Path to source of Trusted Firmware-A + * - All Software + - OPTEE_PATH + - Path to source of OP-TEE +.. k3_rst_include_end_common_env_vars_desc + +.. k3_rst_include_start_common_env_vars_defn .. code-block:: bash $ export CC32=arm-linux-gnueabihf- $ export CC64=aarch64-linux-gnu- + $ export LNX_FW_PATH=path/to/ti-linux-firmware + $ export TFA_PATH=path/to/trusted-firmware-a + $ export OPTEE_PATH=path/to/optee_os +.. k3_rst_include_end_common_env_vars_defn + +We will also need some common environment variables set up for the various +other build sources. we shall use the following, in the build descriptions below: + +.. k3_rst_include_start_board_env_vars_desc +.. list-table:: Board specific environment variables + :widths: 25 25 50 + :header-rows: 1 + + * - S/w Component + - Env Variable + - Description + * - U-Boot + - UBOOT_CFG_CORTEXR + - Defconfig for Cortex-R (Boot processor). + * - U-Boot + - UBOOT_CFG_CORTEXA + - Defconfig for Cortex-A (MPU processor). + * - Trusted Firmware-A + - TFA_BOARD + - Platform name used for building TF-A for Cortex-A Processor. + * - Trusted Firmware-A + - TFA_EXTRA_ARGS + - Any extra arguments used for building TF-A. + * - OP-TEE + - OPTEE_PLATFORM + - Platform name used for building OP-TEE for Cortex-A Processor. + * - OP-TEE + - OPTEE_EXTRA_ARGS + - Any extra arguments used for building OP-TEE. +.. k3_rst_include_end_board_env_vars_desc Building tiboot3.bin ^^^^^^^^^^^^^^^^^^^^^ @@ -164,13 +220,13 @@ Building tiboot3.bin the final `tiboot3.bin` binary. (or the `sysfw.itb` if your device uses the split binary flow) - +.. k3_rst_include_start_build_steps_spl_r5 .. code-block:: bash $ # inside u-boot source - $ make ARCH=arm {SOC}_evm_r5_defconfig - $ make ARCH=arm CROSS_COMPILE=$CC32 \ - BINMAN_INDIRS=<path/to/ti-linux-firmware> + $ make $UBOOT_CFG_CORTEXR + $ make CROSS_COMPILE=$CC32 BINMAN_INDIRS=$LNX_FW_PATH +.. k3_rst_include_end_build_steps_spl_r5 At this point you should have all the needed binaries to boot the wakeup domain of your K3 SoC. @@ -200,39 +256,43 @@ firmware if your device using a split firmware. 2. We will first need TF-A, as it's the first thing to run on the 'big' application cores on the main domain. +.. k3_rst_include_start_build_steps_tfa .. code-block:: bash $ # inside trusted-firmware-a source - $ make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \ - TARGET_BOARD={lite|generic|j784s4} \ - SPD=opteed + $ make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 SPD=opteed $TFA_EXTRA_ARGS \ + TARGET_BOARD=$TFA_BOARD +.. k3_rst_include_end_build_steps_tfa Typically all `j7*` devices will use `TARGET_BOARD=generic` or `TARGET_BOARD -=j784s4` (if it is a J784S4 device), while all Sitara (`am6*`) devices +=j784s4` (if it is a J784S4 device), while typical Sitara (`am6*`) devices use the `lite` option. 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. +.. k3_rst_include_start_build_steps_optee .. code-block:: bash $ # inside optee_os source - $ make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 \ - PLATFORM=k3 CFG_ARM64_core=y + $ make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 CFG_ARM64_core=y $OPTEE_EXTRA_ARGS \ + PLATFORM=$OPTEE_PLATFORM +.. k3_rst_include_end_build_steps_optee 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. +.. k3_rst_include_start_build_steps_uboot .. code-block:: bash $ # 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 + $ make $UBOOT_CFG_CORTEXA + $ make CROSS_COMPILE=$CC64 BINMAN_INDIRS=$LNX_FW_PATH \ + BL31=$TFA_PATH/build/k3/$TFA_BOARD/release/bl31.bin \ + TEE=$OPTEE_PATH/out/arm-plat-k3/core/tee-raw.bin +.. k3_rst_include_end_build_steps_uboot At this point you should have every binary needed initialize both the wakeup and main domain and to boot to the U-Boot prompt @@ -310,13 +370,11 @@ and the same can be extended to other platforms 2. Compile U-boot for the respective board - .. code-block:: bash - - make O=build/a72 CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=arm - BL31=/path/to/bl31.bin TEE=/path/to/bl32.bin - BINMAN_INDIRS="/path/to/ti-linux-firmware" -j15 +.. include:: k3.rst + :start-after: .. k3_rst_include_start_build_steps_uboot + :end-before: .. k3_rst_include_end_build_steps_uboot - .. note:: +.. note:: The changes only affect a72 binaries so the example just builds that @@ -362,11 +420,9 @@ and the same can be extended to other platforms This is required so that the modified dtb gets updated in u-boot.img - .. code-block:: bash - - make O=build/a72 CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=arm - BL31=/path/to/bl31.bin TEE=/path/to/bl32.bin - BINMAN_INDIRS="/path/to/ti-linux-firmware" -j15 +.. include:: k3.rst + :start-after: .. k3_rst_include_start_build_steps_uboot + :end-before: .. k3_rst_include_end_build_steps_uboot 6. (Optional) Enabled FIT_SIGNATURE_ENFORCED |