Mirrors/u-boot
1
0
Fork 0
mirror of https://source.denx.de/u-boot/u-boot.git synced 2026-06-13 15:03:58 +03:00
Code Issues Packages Projects Releases Wiki Activity

doc: board: ti: Update documentation for binman flow

Browse Source 
Earlier documentation specified builds for generating bootloader images
using an external TI repository k3-image-gen and core-secdev-k3. Modify
this to using the binman flow so that user understands how to build the
final boot images.

Reviewed-by: Simon Glass <sjg@chromium.org>
Signed-off-by: Neha Malcom Francis <n-francis@ti.com>
This commit is contained in:
Neha Malcom Francis
2023-07-22 00:14:43 +05:30
committed by Tom Rini
parent 8db194d046
commit 1ee652ab2f
6 changed files with 587 additions and 525 deletions
Download Patch File Download Diff File Expand all files Collapse all files

350
board/ti/am65x/README
View File

@@ -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

75
doc/board/ti/am62x_sk.rst
View File

@@ -90,9 +90,9 @@ Below is the pictorial representation of boot flow:
| | |----------|-----------------------|---->| Reset rls | |
| | | | | +-----------+ |
| | TIFS | | | : |
| |Services| | | +-----------+ |
| | |<---------|-----------------------|---->|*ATF/OPTEE*| |
| | | | | +-----------+ |
| |Services| | | +-------------+ |
| | |<---------|-----------------------|---->|*TF-A/OP-TEE*| |
| | | | | +-------------+ |
| | | | | : |
| | | | | +-----------+ |
| | |<---------|-----------------------|---->| *A53 SPL* | |
@@ -115,65 +115,76 @@ Below is the pictorial representation of boot flow:
Sources:
--------
1. SYSFW:
Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
1. Trusted Firmware-A:
Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
Branch: master
2. ATF:
Tree: https://github.com/ARM-software/arm-trusted-firmware.git
Branch: master
3. OPTEE:
2. OP-TEE:
Tree: https://github.com/OP-TEE/optee_os.git
Branch: master
4. U-Boot:
3. U-Boot:
Tree: https://source.denx.de/u-boot/u-boot
Branch: master
5. TI Linux Firmware:
4. TI Linux Firmware:
Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
Branch: ti-linux-firmware
Build procedure:
----------------
1. ATF:
1. Trusted Firmware-A:
.. code-block:: text
.. code-block:: bash
$ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=lite SPD=opteed
$ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=aarch64 PLAT=k3 \
TARGET_BOARD=lite SPD=opteed
2. OPTEE:
2. OP-TEE:
.. code-block:: text
.. code-block:: bash
$ make PLATFORM=k3 CFG_ARM64_core=y CROSS_COMPILE=arm-none-linux-gnueabihf- CROSS_COMPILE64=aarch64-none-linux-gnu-
$ make PLATFORM=k3 CFG_ARM64_core=y CROSS_COMPILE=arm-none-linux-gnueabihf- \
CROSS_COMPILE64=aarch64-none-linux-gnu-
3. U-Boot:
* 3.1 R5:
.. code-block:: text
.. code-block:: bash
$ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- am62x_evm_r5_defconfig O=/tmp/r5
$ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- O=/tmp/r5
$ cd <k3-image-gen>
$ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=am62x SBL=/tmp/r5/spl/u-boot-spl.bin SYSFW_PATH=<path to ti-linux-firmware>/ti-sysfw/ti-fs-firmware-am62x-gp.bin
Use the tiboot3.bin generated from last command
$ make ARCH=arm am62x_evm_r5_defconfig
$ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- \
BINMAN_INDIRS=<path/to/ti-linux-firmware>
* 3.2 A53:
.. code-block:: text
.. code-block:: bash
$ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- am62x_evm_a53_defconfig O=/tmp/a53
$ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- ATF=<path to ATF dir>/build/k3/lite/release/bl31.bin TEE=<path to OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin DM=<path to ti-linux-firmware>/ti-dm/am62xx/ipc_echo_testb_mcu1_0_release_strip.xer5f O=/tmp/a53
$ make ARCH=arm am62x_evm_a53_defconfig
$ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- \
BL31=<path/to/trusted-firmware-a/dir>/build/k3/lite/release/bl31.bin \
TEE=<path/to/optee_os/dir>/out/arm-plat-k3/core/tee-raw.bin \
BINMAN_INDIRS=<path/to/ti-linux-firmware>
Target Images
--------------
Copy the below images to an SD card and boot:
- tiboot3.bin from step 3.1
- tispl.bin, u-boot.img from 3.2
- GP
* tiboot3-am62x-gp-evm.bin from step 3.1
* tispl.bin_unsigned, u-boot.img_unsigned from step 3.2
- HS-FS
* tiboot3-am62x-hs-fs-evm.bin from step 3.1
* tispl.bin, u-boot.img from step 3.2
- HS-SE
* tiboot3-am62x-hs-evm.bin from step 3.1
* tispl.bin, u-boot.img from step 3.2
Image formats:
--------------
@@ -214,10 +225,10 @@ Image formats:
| FIT HEADER |
| +-------------------+ |
| | | |
| | A53 ATF | |
| | A53 TF-A | |
| +-------------------+ |
| | | |
| | A53 OPTEE | |
| | A53 OP-TEE | |
| +-------------------+ |
| | | |
| | R5 DM FW | |

420
doc/board/ti/am65x_evm.rst Normal file
View File

@@ -0,0 +1,420 @@
.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
.. sectionauthor:: Neha Francis <n-francis@ti.com>
AM65x Platforms
===============
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 for example 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 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 | |
| | | | | +-----------+ |
| +---------+ | | |
| | | |
+------------------------------------------------------------------------+
- 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
Build procedure:
----------------
1. Trusted Firmware-A:
.. code-block:: bash
$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 \
TARGET_BOARD=generic SPD=opteed
2. OP-TEE:
.. code-block:: bash
$ make PLATFORM=k3-am65x CFG_ARM64_core=y
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>
* 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>
Target Images
--------------
Copy the below images to an SD card and boot:
- GP
* tiboot3-am65x_sr2-gp-evm.bin, sysfw-am65x_sr2-gp-evm.itb from step 4.1
* tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
- HS
* tiboot3-am65x_sr2-hs-evm.bin, sysfw-am65x_sr2-hs-evm.itb from step 4.1
* tispl.bin, u-boot.img from step 4.2
Image formats:
--------------
- tiboot3.bin:
.. code-block:: text
+-----------------------+
| X.509 |
| Certificate |
| +-------------------+ |
| | | |
| | R5 | |
| | u-boot-spl.bin | |
| | | |
| +-------------------+ |
| | | |
| | FIT header | |
| | +---------------+ | |
| | | | | |
| | | DTB 1...N | | |
| | +---------------+ | |
| +-------------------+ |
+-----------------------+
- tispl.bin
.. code-block:: text
+-----------------------+
| |
| FIT HEADER |
| +-------------------+ |
| | | |
| | A53 ATF | |
| +-------------------+ |
| | | |
| | A53 OP-TEE | |
| +-------------------+ |
| | | |
| | A53 SPL | |
| +-------------------+ |
| | | |
| | SPL DTB 1...N | |
| +-------------------+ |
+-----------------------+
- sysfw.itb
.. code-block:: text
+-----------------------+
| |
| 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.
.. code-block:: text
=> 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:
.. code-block:: text
=> 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:
.. code-block:: text
=> gpt write mmc 0 ${partitions}
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+----------------------------------+ +-------------------------+
Kernel image and DT are expected to be present in the /boot folder of rootfs.
To boot kernel from eMMC, use the following commands:
.. code-block:: text
=> 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.
.. code-block:: text
=> 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:
.. 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) |
| |
+----------------------------+
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:
.. code-block:: text
=> 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:
.. 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 |
+---------+---------------+-------------+------------+
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:
.. code-block:: text
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

76
doc/board/ti/j7200_evm.rst
View File

@@ -83,9 +83,9 @@ Below is the pictorial representation of boot flow:
| | |---------|-----------------------|---->| Reset rls | | |
| | | | | +-----------+ | |
| | TIFS | | | : | |
| |Services | | | +-----------+ | |
| | |<--------|-----------------------|---->|*ATF/OPTEE*| | |
| | | | | +-----------+ | |
| |Services | | | +-------------+ | |
| | |<--------|-----------------------|---->|*TF-A/OP-TEE*| | |
| | | | | +-------------+ | |
| | | | | : | |
| | | | | +-----------+ | |
| | |<--------|-----------------------|---->| *A72 SPL* | | |
@@ -120,68 +120,74 @@ Below is the pictorial representation of boot flow:
Sources:
--------
1. SYSFW:
Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
1. Trusted Firmware-A:
Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
Branch: master
2. ATF:
Tree: https://github.com/ARM-software/arm-trusted-firmware.git
Branch: master
3. OPTEE:
2. OP-TEE:
Tree: https://github.com/OP-TEE/optee_os.git
Branch: master
4. DM Firmware:
Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
Branch: ti-linux-firmware
5. U-Boot:
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
Build procedure:
----------------
1. SYSFW:
1. Trusted Firmware-A:
.. code-block:: bash
make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=j7200 SBL=u-boot-spl.bin SYSFW_PATH=<path to sysfw>/ti-fs-firmware-j7200-gp.bin
u-boot-spl.bin is generated at step 4.
$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
2. ATF:
2. OP-TEE:
.. code-block:: bash
make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
$ make PLATFORM=k3-j7200 CFG_ARM64_core=y
3. OPTEE:
.. code-block:: bash
make PLATFORM=k3-j7200 CFG_ARM64_core=y
4. U-Boot:
3. U-Boot:
* 4.1 R5:
.. code-block:: bash
make CROSS_COMPILE=arm-linux-gnueabihf- j7200_evm_r5_defconfig O=build/r5
make CROSS_COMPILE=arm-linux-gnueabihf- O=build/r5
$ make CROSS_COMPILE=arm-linux-gnueabihf- j7200_evm_r5_defconfig O=build/r5
$ make CROSS_COMPILE=arm-linux-gnueabihf- \
BINMAN_INDIRS=<path/to/ti-linux-firmware>
* 4.2 A72:
.. code-block:: bash
make CROSS_COMPILE=aarch64-linux-gnu- j7200_evm_a72_defconfig O=build/a72
make CROSS_COMPILE=aarch64-linux-gnu- ATF=<ATF dir>/build/k3/generic/release/bl31.bin TEE=<OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin DM=<DM firmware>/ti-dm/j7200/ipc_echo_testb_mcu1_0_release_strip.xer5f O=build/a72
$ make CROSS_COMPILE=aarch64-linux-gnu- j7200_evm_a72_defconfig O=build/a72
$ 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>
Target Images
--------------
Copy the below images to an SD card and boot:
- tiboot3.bin from step 1
- tispl.bin, u-boot.img from 4.2
- GP
* tiboot3-j7200-gp-evm.bin from step 4.1
* tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
- HS-FS
* tiboot3-j7200_sr2-hs-fs-evm.bin from step 4.1
* tispl.bin, u-boot.img from step 4.2
- HS-SE
* tiboot3-j7200_sr2-hs-evm.bin from step 4.1
* tispl.bin, u-boot.img from step 4.2
Image formats:
--------------
@@ -236,10 +242,10 @@ Image formats:
| FIT HEADER |
| +-------------------+ |
| | | |
| | A72 ATF | |
| | A72 TF-A | |
| +-------------------+ |
| | | |
| | A72 OPTEE | |
| | A72 OP-TEE | |
| +-------------------+ |
| | | |
| | R5 DM FW | |

77
doc/board/ti/j721e_evm.rst
View File

@@ -90,9 +90,9 @@ support. Below is the pictorial representation of boot flow:
| | |---------|-----------------------|---->| Reset rls | | |
| | | | | +-----------+ | |
| | TIFS | | | : | |
| |Services | | | +-----------+ | |
| | |<--------|-----------------------|---->|*ATF/OPTEE*| | |
| | | | | +-----------+ | |
| |Services | | | +-------------+ | |
| | |<--------|-----------------------|---->|*TF-A/OP-TEE*| | |
| | | | | +-------------+ | |
| | | | | : | |
| | | | | +-----------+ | |
| | |<--------|-----------------------|---->| *A72 SPL* | | |
@@ -130,68 +130,75 @@ support. Below is the pictorial representation of boot flow:
Sources:
--------
1. SYSFW:
Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
1. Trusted Firmware-A:
Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
Branch: master
2. ATF:
Tree: https://github.com/ARM-software/arm-trusted-firmware.git
Branch: master
3. OPTEE:
2. OP-TEE:
Tree: https://github.com/OP-TEE/optee_os.git
Branch: master
4. DM Firmware:
Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
Branch: ti-linux-firmware
5. U-Boot:
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
Build procedure:
----------------
1. SYSFW:
1. Trusted Firmware-A:
.. code-block:: bash
make CROSS_COMPILE=arm-linux-gnueabihf- SOC=j721e
$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 \
TARGET_BOARD=generic SPD=opteed
2. ATF:
2. OP-TEE:
.. code-block:: bash
make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
$ make PLATFORM=k3-j721e CFG_ARM64_core=y
3. OPTEE:
.. code-block:: bash
make PLATFORM=k3-j721e CFG_ARM64_core=y
4. U-Boot:
3. U-Boot:
* 4.1 R5:
.. code-block:: bash
make CROSS_COMPILE=arm-linux-gnueabihf- j721e_evm_r5_defconfig O=build/r5
make CROSS_COMPILE=arm-linux-gnueabihf- O=build/r5
$ make j721e_evm_r5_defconfig
$ make CROSS_COMPILE=arm-linux-gnueabihf- \
BINMAN_INDIRS=<path/to/ti-linux-firmware>
* 4.2 A72:
.. code-block:: bash
make CROSS_COMPILE=aarch64-linux-gnu- j721e_evm_a72_defconfig O=build/a72
make CROSS_COMPILE=aarch64-linux-gnu- ATF=<ATF dir>/build/k3/generic/release/bl31.bin TEE=<OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin DM=<DM firmware>/ti-dm/j721e/ipc_echo_testb_mcu1_0_release_strip.xer5f O=build/a72
$ make j721e_evm_a72_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>
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
- GP
* tiboot3-j721e-gp-evm.bin, sysfw-j721e-gp-evm.itb from step 4.1
* tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
- HS-FS
* tiboot3-j721e_sr2-hs-fs-evm.bin, sysfw-j721e_sr2-hs-fs-evm.itb from step 4.1
* tispl.bin, u-boot.img from step 4.2
- HS-SE
* tiboot3-j721e_sr2-hs-evm.bin, sysfw-j721e_sr2-hs-evm.itb from step 4.1
* tispl.bin, u-boot.img from step 4.2
Image formats:
--------------
@@ -227,10 +234,10 @@ Image formats:
| FIT HEADER |
| +-------------------+ |
| | | |
| | A72 ATF | |
| | A72 TF-A | |
| +-------------------+ |
| | | |
| | A72 OPTEE | |
| | A72 OP-TEE | |
| +-------------------+ |
| | | |
| | R5 DM FW | |

114
doc/board/ti/k3.rst
View File

@@ -33,6 +33,7 @@ K3 Based SoCs
j721e_evm
j7200_evm
am62x_sk
am65x_evm
Boot Flow Overview
------------------
@@ -53,13 +54,13 @@ The wakeup SPL, running on a wakeup domain core, will initialize DDR and
any peripherals needed load the larger binaries inside the `tispl.bin`
into DDR. Once loaded the wakeup SPL will start one of the 'big'
application cores inside the main domain to initialize the main domain,
starting with ARM Trusted Firmware (ATF), before moving on to start
OPTEE and the main domain's U-Boot SPL.
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 -> ATF -> OPTEE -> Main SPL
ROM -> WKUP SPL -> TF-A -> OP-TEE -> Main SPL
The main domain's SPL, running on a 64bit application core, has
virtually unlimited space (billions of bytes now that DDR is working) to
@@ -70,7 +71,7 @@ finally prepare the main domain to run Linux.
.. code-block:: text
| WKUP Domain | Main Domain ->
ROM -> WKUP SPL -> ATF -> OPTEE -> Main SPL -> UBoot -> Linux
ROM -> WKUP SPL -> TF-A -> OP-TEE -> Main SPL -> UBoot -> Linux
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
@@ -115,17 +116,12 @@ online
| **source:** https://source.denx.de/u-boot/u-boot.git
| **branch:** master
* **K3 Image Gen**
* **Trusted Firmware-A (TF-A)**
| **source:** https://git.ti.com/git/k3-image-gen/k3-image-gen.git
| **source:** https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
| **branch:** master
* **ARM Trusted Firmware (ATF)**
| **source:** https://github.com/ARM-software/arm-trusted-firmware.git
| **branch:** master
* **Open Portable Trusted Execution Environment (OPTEE)**
* **Open Portable Trusted Execution Environment (OP-TEE)**
| **source:** https://github.com/OP-TEE/optee_os.git
| **branch:** master
@@ -135,11 +131,6 @@ online
| **source:** https://git.ti.com/git/processor-firmware/ti-linux-firmware.git
| **branch:** ti-linux-firmware
* **TI's Security Development Tools**
| **source:** https://git.ti.com/git/security-development-tools/core-secdev-k3.git
| **branch:** master
Build Procedure
---------------
@@ -161,54 +152,37 @@ All of that to say you will need both a 32bit and 64bit cross compiler
.. code-block:: bash
export CC32=arm-linux-gnueabihf-
export CC64=aarch64-linux-gnu-
$ export CC32=arm-linux-gnueabihf-
$ export CC64=aarch64-linux-gnu-
Building tiboot3.bin
^^^^^^^^^^^^^^^^^^^^^
1. To generate the U-Boot SPL for the wakeup domain, use the following
commands, substituting :code:`{SOC}` for the name of your device (eg:
am62x)
am62x) to package the various firmware and the wakeup UBoot SPL into
the final `tiboot3.bin` binary. (or the `sysfw.itb` if your device
uses the split binary flow)
.. code-block:: bash
# inside u-boot source
make ARCH=arm O=build/wkup CROSS_COMPILE=$CC32 {SOC}_evm_r5_defconfig
make ARCH=arm O=build/wkup CROSS_COMPILE=$CC32
2. Next we will use the K3 Image Gen scripts to package the various
firmware and the wakeup UBoot SPL into the final `tiboot3.bin`
binary. (or the `sysfw.itb` if your device uses the split binary
flow)
.. code-block:: bash
# inside k3-image-gen source
make CROSS_COMPILE=$CC32 SOC={SOC} SOC_TYPE={hs,gp} \
TI_SECURE_DEV_PKG=<path/to/securit-development-tools> \
SYSFW_PATH=<path/to/ti-sysfw/ti-fs-firmware-{SOC}-{hs|gp}.bin> \
SYSFW_HS_INNER_CERT_PATH=<path/to/ti-sysfw/ti-fs-firmware-{SOC}-hs-cert.bin
For devices that use the *combined binary flow*, you will also need to
supply the location of the SPL we created in step 1 above, so it can be
packaged into the final `tiboot3.bin`.
.. code-block:: bash
SBL=<path/to/wakeup/u-boot-spl.bin>
$ # inside u-boot source
$ make ARCH=arm {SOC}_evm_r5_defconfig
$ make ARCH=arm CROSS_COMPILE=$CC32 \
BINMAN_INDIRS=<path/to/ti-linux-firmware>
At this point you should have all the needed binaries to boot the wakeup
domain of your K3 SoC.
**Combined Binary Boot Flow** (eg: am62x, am64x, ... )
`k3-image-gen/tiboot3-{SOC}-{hs,gp}-evm.bin`
`tiboot3-{SOC}-{gp/hs-fs/hs}.bin`
**Split Binary Boot Flow** (eg: j721e, am65x)
| `u-boot/build/wkup/tiboot3.bin`
| `k3-image-gen/sysfw-{SOC}-evm.bin`
| `tiboot3-{SOC}-{gp/hs-fs/hs}.bin`
| `sysfw-{SOC}-{gp/hs-fs/hs}-evm.itb`
.. note ::
@@ -223,53 +197,47 @@ The `tispl.bin` is a standard fitImage combining the firmware need for
the main domain to function properly as well as Device Management (DM)
firmware if your device using a split firmware.
3. We will first need ATF, as it's the first thing to run on the 'big'
2. We will first need TF-A, as it's the first thing to run on the 'big'
application cores on the main domain.
.. code-block:: bash
# inside arm-trusted-firmware source
make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \
TARGET_BOARD={lite|generic} \
SPD=opteed \
$ # inside trusted-firmware-a source
$ make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \
TARGET_BOARD={lite|generic|j784s4} \
SPD=opteed
Typically all `j7*` devices will use `TARGET_BOARD=generic` while all
Sitara (`am6*`) devices use the `lite` option.
Typically all `j7*` devices will use `TARGET_BOARD=generic` or `TARGET_BOARD
=j784s4` (if it is a J784S4 device), while all Sitara (`am6*`) devices
use the `lite` option.
4. The Open Portable Trusted Execution Environment (OPTEE) is designed
3. The Open Portable Trusted Execution Environment (OP-TEE) is designed
to run as a companion to a non-secure Linux kernel for Cortex-A cores
using the TrustZone technology built into the core.
.. code-block:: bash
# inside optee_os source
make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 \
$ # inside optee_os source
$ make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 \
PLATFORM=k3 CFG_ARM64_core=y
5. Finally, after ATF has initialized the main domain and OPTEE has
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.
.. code-block:: bash
# inside u-boot source
make ARCH=arm O=build/main CROSS_COMPILE=$CC64 {SOC}_evm_a{53,72}_defconfig
make ARCH=arm O=build/main CROSS_COMPILE=$CC64 \
ATF=<path/to/atf/bl31.bin \
TEE=<path/to/optee/tee-pager_v2.bin
If your device uses a split firmware, you will also need to supply the
path to the Device Management (DM) Firmware to be included in the final
`tispl.bin` binary
.. code-block:: bash
DM=<path/to/ti-linux-firmware/ti-dm/ipc_echo_testb_mcu1_0_release_strip.xer5f>
$ # 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
At this point you should have every binary needed initialize both the
wakeup and main domain and to boot to the U-Boot prompt
**Main Domain Bootloader**
| `u-boot/build/main/tispl.bin`
| `u-boot/build/main/u-boot.img`
| `tispl.bin` for HS devices or `tispl.bin_unsigned` for GP devices
| `u-boot.img` for HS devices or `u-boot.img_unsigned` for GP devices