board/ti/am65x/README

   1 Introduction:
   2 -------------
   3 The AM65x family of SoCs is the first device family from K3 Multicore
   4 SoC architecture, targeted for broad market and industrial control with
   5 aim to meet the complex processing needs of modern embedded products.
   6
   7 The device is built over three domains, each containing specific processing
   8 cores, voltage domains and peripherals:
   9 1. Wake-up (WKUP) domain:
  10         - Device Management and Security Controller (DMSC)
  11 2. Microcontroller (MCU) domain:
  12         - Dual Core ARM Cortex-R5F processor
  13 3. MAIN domain:
  14         - Quad core 64-bit ARM Cortex-A53
  15
  16 More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7
  17
  18 Boot Flow:
  19 ----------
  20 On AM65x family devices, ROM supports boot only via MCU(R5). This means that
  21 bootloader has to run on R5 core. In order to meet this constraint, and for
  22 the following reasons the boot flow is designed as mentioned:
  23 1. Need to move away from R5 asap, so that we want to start *any*
  24 firmware on the r5 cores like.... autosar can be loaded to receive CAN
  25 response and other safety operations to be started. This operation is
  26 very time critical and is applicable for all automotive use cases.
  27 2. U-Boot on A53 should start other remotecores for various
  28 applications. This should happen before running Linux.
  29 3. In production boot flow, we might not like to use full u-boot,
  30 instead use Flacon boot flow to reduce boot time.
  31
  32 +------------------------------------------------------------------------+
  33 |        DMSC            |         R5            |        A53            |
  34 +------------------------------------------------------------------------+
  35 |    +--------+          |                       |                       |
  36 |    |  Reset |          |                       |                       |
  37 |    +--------+          |                       |                       |
  38 |         :              |                       |                       |
  39 |    +--------+          |   +-----------+       |                       |
  40 |    | *rom*  |----------|-->| Reset rls |       |                       |
  41 |    +--------+          |   +-----------+       |                       |
  42 |    |        |          |         :             |                       |
  43 |    |  rom   |          |         :             |                       |
  44 |    |services|          |         :             |                       |
  45 |    |        |          |   +-------------+     |                       |
  46 |    |        |          |   |  *R5 rom*   |     |                       |
  47 |    |        |          |   +-------------+     |                       |
  48 |    |        |<---------|---|Load and auth|     |                       |
  49 |    |        |          |   | tiboot3.bin |     |                       |
  50 |    |        |          |   +-------------+     |                       |
  51 |    |        |          |         :             |                       |
  52 |    |        |          |         :             |                       |
  53 |    |        |          |         :             |                       |
  54 |    |        |          |   +-------------+     |                       |
  55 |    | Start  |          |   |  *R5 SPL*   |     |                       |
  56 |    | System |          |   +-------------+     |                       |
  57 |    |Firmware|<---------|---|Load and auth|     |                       |
  58 |    +--------+          |   |  sysfw bin  |     |                       |
  59 |        :               |   +-------------+     |                       |
  60 |    +---------+         |   |     DDR     |     |                       |
  61 |    | *SYSFW* |         |   |    config   |     |                       |
  62 |    +---------+         |   +-------------+     |                       |
  63 |    |         |<--------|---|    Load     |     |                       |
  64 |    |         |         |   |  tispl.bin  |     |                       |
  65 |    |         |         |   +-------------+     |                       |
  66 |    |         |<--------|---| Start A53   |     |                       |
  67 |    |         |         |   |  and Reset  |     |                       |
  68 |    |         |         |   +-------------+     |                       |
  69 |    |         |         |                       |     +-----------+     |
  70 |    |         |---------|-----------------------|---->| Reset rls |     |
  71 |    |         |         |                       |     +-----------+     |
  72 |    |  DMSC   |         |                       |          :            |
  73 |    |Services |         |                       |     +-----------+     |
  74 |    |         |<--------|-----------------------|---->|*ATF/OPTEE*|     |
  75 |    |         |         |                       |     +-----------+     |
  76 |    |         |         |                       |          :            |
  77 |    |         |         |                       |     +-----------+     |
  78 |    |         |<--------|-----------------------|---->| *A53 SPL* |     |
  79 |    |         |         |                       |     +-----------+     |
  80 |    |         |         |                       |     |   Load    |     |
  81 |    |         |         |                       |     | u-boot.img|     |
  82 |    |         |         |                       |     +-----------+     |
  83 |    |         |         |                       |          :            |
  84 |    |         |         |                       |     +-----------+     |
  85 |    |         |<--------|-----------------------|---->| *u-boot*  |     |
  86 |    |         |         |                       |     +-----------+     |
  87 |    |         |         |                       |     |  prompt   |     |
  88 |    |         |         |                       |     +-----------+     |
  89 |    +---------+         |                       |                       |
  90 |                        |                       |                       |
  91 +------------------------------------------------------------------------+
  92
  93 - Here DMSC acts as master and provides all the critical services. R5/A53
  94 requests DMSC to get these services done as shown in the above diagram.
  95
  96 Sources:
  97 --------
  98 1. SYSFW:
  99         System Firmware repo is closed source and the binaries are delivered
 100         to users with NDA. Please contact TI to get the System Firmware
 101         Binary named ti-sci-firmware-am6x.bin that runs on AM65x SoC.
 102
 103 2. ATF:
 104         Tree: https://github.com/ARM-software/arm-trusted-firmware.git
 105         Branch: master
 106
 107 3. OPTEE:
 108         Tree: https://github.com/OP-TEE/optee_os.git
 109         Branch: master
 110
 111 4. U-Boot:
 112         Tree: http://git.denx.de/u-boot.git
 113         Branch: master
 114
 115 Build procedure:
 116 ----------------
 117 1. SYSFW:
 118         ROM expects a signed binary that contains the X509 certificate. So
 119 the binary ti-sci-firmware-am6x.bin cannot be uses as-is and needs to be signed.
 120 Contact TI on the procedure to sign the system firmware binary.
 121
 122 2. ATF:
 123 $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
 124
 125 3. OPTEE:
 126 $ make PLATFORM=k3-am65x CFG_ARM64_core=y
 127
 128 4. U-Boot:
 129
 130 4.1. R5:
 131         TBD.
 132
 133 4.2. A53:
 134 $ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53
 135 $ make ARCH=arm 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.bin O=/tmp/a53
 136
 137 Target Images
 138 --------------
 139 Copy the below images to an SD card and boot:
 140 - tiboot3.bin from step 4.1
 141 - tispl.bin, u-boot.img from 4.2