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 |    |        |          |   |  *R5 SPL*   |     |                       |
  56 |    |        |          |   +-------------+     |                       |
  57 |    |        |          |   |    Load     |     |                       |
  58 |    |        |          |   |  sysfw.itb  |     |                       |
  59 |    | Start  |          |   +-------------+     |                       |
  60 |    | System |<---------|---|    Start    |     |                       |
  61 |    |Firmware|          |   |    SYSFW    |     |                       |
  62 |    +--------+          |   +-------------+     |                       |
  63 |        :               |   |             |     |                       |
  64 |    +---------+         |   |   Load      |     |                       |
  65 |    | *SYSFW* |         |   |   system    |     |                       |
  66 |    +---------+         |   | Config data |     |                       |
  67 |    |         |<--------|---|             |     |                       |
  68 |    |         |         |   +-------------+     |                       |
  69 |    |         |         |   |             |     |                       |
  70 |    |         |         |   |    DDR      |     |                       |
  71 |    |         |         |   |   config    |     |                       |
  72 |    |         |         |   +-------------+     |                       |
  73 |    |         |         |   |             |     |                       |
  74 |    |         |<--------|---| Start A53   |     |                       |
  75 |    |         |         |   |  and Reset  |     |                       |
  76 |    |         |         |   +-------------+     |                       |
  77 |    |         |         |                       |     +-----------+     |
  78 |    |         |---------|-----------------------|---->| Reset rls |     |
  79 |    |         |         |                       |     +-----------+     |
  80 |    |  DMSC   |         |                       |          :            |
  81 |    |Services |         |                       |     +-----------+     |
  82 |    |         |<--------|-----------------------|---->|*ATF/OPTEE*|     |
  83 |    |         |         |                       |     +-----------+     |
  84 |    |         |         |                       |          :            |
  85 |    |         |         |                       |     +-----------+     |
  86 |    |         |<--------|-----------------------|---->| *A53 SPL* |     |
  87 |    |         |         |                       |     +-----------+     |
  88 |    |         |         |                       |     |   Load    |     |
  89 |    |         |         |                       |     | u-boot.img|     |
  90 |    |         |         |                       |     +-----------+     |
  91 |    |         |         |                       |          :            |
  92 |    |         |         |                       |     +-----------+     |
  93 |    |         |<--------|-----------------------|---->| *U-Boot*  |     |
  94 |    |         |         |                       |     +-----------+     |
  95 |    |         |         |                       |     |  prompt   |     |
  96 |    |         |         |                       |     +-----------+     |
  97 |    +---------+         |                       |                       |
  98 |                        |                       |                       |
  99 +------------------------------------------------------------------------+
 100
 101 - Here DMSC acts as master and provides all the critical services. R5/A53
 102 requests DMSC to get these services done as shown in the above diagram.
 103
 104 Sources:
 105 --------
 106 1. SYSFW:
 107         Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
 108         Branch: master
 109
 110 2. ATF:
 111         Tree: https://github.com/ARM-software/arm-trusted-firmware.git
 112         Branch: master
 113
 114 3. OPTEE:
 115         Tree: https://github.com/OP-TEE/optee_os.git
 116         Branch: master
 117
 118 4. U-Boot:
 119         Tree: http://git.denx.de/u-boot.git
 120         Branch: master
 121
 122 Build procedure:
 123 ----------------
 124 1. SYSFW:
 125 $ make CROSS_COMPILE=arm-linux-gnueabihf-
 126
 127 2. ATF:
 128 $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
 129
 130 3. OPTEE:
 131 $ make PLATFORM=k3-am65x CFG_ARM64_core=y
 132
 133 4. U-Boot:
 134
 135 4.1. R5:
 136 $ make CROSS_COMPILE=arm-linux-gnueabihf- am65x_evm_r5_defconfig O=/tmp/r5
 137 $ make CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5
 138
 139 4.2. A53:
 140 $ make CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53
 141 $ 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
 142
 143 Target Images
 144 --------------
 145 Copy the below images to an SD card and boot:
 146 - sysfw.itb from step 1
 147 - tiboot3.bin from step 4.1
 148 - tispl.bin, u-boot.img from 4.2
 149
 150 Image formats:
 151 --------------
 152
 153 - tiboot3.bin:
 154                 +-----------------------+
 155                 |        X.509          |
 156                 |      Certificate      |
 157                 | +-------------------+ |
 158                 | |                   | |
 159                 | |        R5         | |
 160                 | |   u-boot-spl.bin  | |
 161                 | |                   | |
 162                 | +-------------------+ |
 163                 | |                   | |
 164                 | |     FIT header    | |
 165                 | | +---------------+ | |
 166                 | | |               | | |
 167                 | | |   DTB 1...N   | | |
 168                 | | +---------------+ | |
 169                 | +-------------------+ |
 170                 +-----------------------+
 171
 172 - tispl.bin
 173                 +-----------------------+
 174                 |                       |
 175                 |       FIT HEADER      |
 176                 | +-------------------+ |
 177                 | |                   | |
 178                 | |      A53 ATF      | |
 179                 | +-------------------+ |
 180                 | |                   | |
 181                 | |     A53 OPTEE     | |
 182                 | +-------------------+ |
 183                 | |                   | |
 184                 | |      A53 SPL      | |
 185                 | +-------------------+ |
 186                 | |                   | |
 187                 | |   SPL DTB 1...N   | |
 188                 | +-------------------+ |
 189                 +-----------------------+
 190
 191 - sysfw.itb
 192                 +-----------------------+
 193                 |                       |
 194                 |       FIT HEADER      |
 195                 | +-------------------+ |
 196                 | |                   | |
 197                 | |     sysfw.bin     | |
 198                 | +-------------------+ |
 199                 | |                   | |
 200                 | |    board config   | |
 201                 | +-------------------+ |
 202                 | |                   | |
 203                 | |     PM config     | |
 204                 | +-------------------+ |
 205                 | |                   | |
 206                 | |     RM config     | |
 207                 | +-------------------+ |
 208                 | |                   | |
 209                 | |    Secure config  | |
 210                 | +-------------------+ |
 211                 +-----------------------+
 212
 213 eMMC:
 214 -----
 215 ROM supports booting from eMMC from boot0 partition offset 0x0
 216
 217 Flashing images to eMMC:
 218
 219 The following commands can be used to download tiboot3.bin, tispl.bin,
 220 u-boot.img, and sysfw.itb from an SD card and write them to the eMMC boot0
 221 partition at respective addresses.
 222
 223 => mmc dev 0 1
 224 => fatload mmc 1 ${loadaddr} tiboot3.bin
 225 => mmc write ${loadaddr} 0x0 0x400
 226 => fatload mmc 1 ${loadaddr} tispl.bin
 227 => mmc write ${loadaddr} 0x400 0x1000
 228 => fatload mmc 1 ${loadaddr} u-boot.img
 229 => mmc write ${loadaddr} 0x1400 0x2000
 230 => fatload mmc 1 ${loadaddr} sysfw.itb
 231 => mmc write ${loadaddr} 0x3600 0x800
 232
 233 To give the ROM access to the boot partition, the following commands must be
 234 used for the first time:
 235 => mmc partconf 0 1 1 1
 236 => mmc bootbus 0 1 0 0
 237
 238 To create a software partition for the rootfs, the following command can be
 239 used:
 240 => gpt write mmc 0 ${partitions}
 241
 242 eMMC layout:
 243
 244            boot0 partition (8 MB)                        user partition
 245    0x0+----------------------------------+      0x0+-------------------------+
 246       |     tiboot3.bin (512 KB)         |         |                         |
 247  0x400+----------------------------------+         |                         |
 248       |       tispl.bin (2 MB)           |         |                         |
 249 0x1400+----------------------------------+         |        rootfs           |
 250       |       u-boot.img (4 MB)          |         |                         |
 251 0x3400+----------------------------------+         |                         |
 252       |      environment (128 KB)        |         |                         |
 253 0x3500+----------------------------------+         |                         |
 254       |   backup environment (128 KB)    |         |                         |
 255 0x3600+----------------------------------+         |                         |
 256       |          sysfw (1 MB)            |         |                         |
 257 0x3E00+----------------------------------+         +-------------------------+
 258
 259 Kernel image and DT are expected to be present in the /boot folder of rootfs.
 260 To boot kernel from eMMC, use the following commands:
 261 => setenv mmcdev 0
 262 => setenv bootpart 0
 263 => boot
 264
 265 OSPI:
 266 -----
 267 ROM supports booting from OSPI from offset 0x0.
 268
 269 Flashing images to OSPI:
 270
 271 Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
 272 and sysfw.itb over tftp and then flash those to OSPI at their respective
 273 addresses.
 274
 275 => sf probe
 276 => tftp ${loadaddr} tiboot3.bin
 277 => sf update $loadaddr 0x0 $filesize
 278 => tftp ${loadaddr} tispl.bin
 279 => sf update $loadaddr 0x80000 $filesize
 280 => tftp ${loadaddr} u-boot.img
 281 => sf update $loadaddr 0x280000 $filesize
 282 => tftp ${loadaddr} sysfw.itb
 283 => sf update $loadaddr 0x6C0000 $filesize
 284
 285 Flash layout for OSPI:
 286
 287          0x0 +----------------------------+
 288              |     ospi.tiboot3(512K)     |
 289              |                            |
 290      0x80000 +----------------------------+
 291              |     ospi.tispl(2M)         |
 292              |                            |
 293     0x280000 +----------------------------+
 294              |     ospi.u-boot(4M)        |
 295              |                            |
 296     0x680000 +----------------------------+
 297              |     ospi.env(128K)         |
 298              |                            |
 299     0x6A0000 +----------------------------+
 300              |   ospi.env.backup (128K)   |
 301              |                            |
 302     0x6C0000 +----------------------------+
 303              |      ospi.sysfw(1M)        |
 304              |                            |
 305     0x7C0000 +----------------------------+
 306              |      padding (256k)        |
 307     0x800000 +----------------------------+
 308              |     ospi.rootfs(UBIFS)     |
 309              |                            |
 310              +----------------------------+
 311
 312 Kernel Image and DT are expected to be present in the /boot folder of UBIFS
 313 ospi.rootfs just like in SD card case. U-Boot looks for UBI volume named
 314 "rootfs" for rootfs.
 315
 316 To boot kernel from OSPI, at the U-Boot prompt:
 317 => setenv boot ubi
 318 => boot
 319
 320 UART:
 321 -----
 322 ROM supports booting from MCU_UART0 via X-Modem protocol. The entire UART-based
 323 boot process up to U-Boot (proper) prompt goes through different stages and uses
 324 different UART peripherals as follows:
 325
 326   WHO     | Loading WHAT  |  HW Module  |  Protocol
 327 ----------+---------------+-------------+------------
 328 Boot ROM  |  tiboot3.bin  |  MCU_UART0  |  X-Modem(*)
 329 R5 SPL    |  sysfw.itb    |  MCU_UART0  |  Y-Modem(*)
 330 R5 SPL    |  tispl.bin    |  MAIN_UART0 |  Y-Modem
 331 A53 SPL   |  u-boot.img   |  MAIN_UART0 |  Y-Modem
 332
 333 (*) Note that in addition to X/Y-Modem related protocol timeouts the DMSC
 334     watchdog timeout of 3min (typ.) needs to be observed until System Firmware
 335     is fully loaded (from sysfw.itb) and started.
 336
 337 Example bash script sequence for running on a Linux host PC feeding all boot
 338 artifacts needed to the device:
 339
 340 MCU_DEV=/dev/ttyUSB1
 341 MAIN_DEV=/dev/ttyUSB0
 342
 343 stty -F $MCU_DEV 115200 cs8 -cstopb -parenb
 344 stty -F $MAIN_DEV 115200 cs8 -cstopb -parenb
 345
 346 sb --xmodem tiboot3.bin > $MCU_DEV < $MCU_DEV
 347 sb --ymodem sysfw.itb > $MCU_DEV < $MCU_DEV
 348 sb --ymodem tispl.bin > $MAIN_DEV < $MAIN_DEV
 349 sleep 1
 350 sb --xmodem u-boot.img > $MAIN_DEV < $MAIN_DEV