doc/board/ti/j784s4_evm.rst - filogic/uboot - Gitiles

 .. SPDX-License-Identifier: GPL-2.0-or-later OR BSD-3-Clause
 .. sectionauthor:: Apurva Nandan <a-nandan@ti.com>

 J784S4 and AM69 Platforms
 =========================

 Introduction
 ------------
 The J784S4 SoC belongs to the K3 Multicore SoC architecture
 platform, providing advanced system integration in automotive,
 ADAS and industrial applications requiring AI at the network edge.
 This SoC extends the K3 Jacinto 7 family of SoCs with focus on
 raising performance and integration while providing interfaces,
 memory architecture and compute performance for multi-sensor, high
 concurrency applications.

 The device is partitioned into three functional domains, each containing
 specific processing cores and peripherals:

 1. Wake-up (WKUP) domain
     * ARM Cortex-M4F processor, runs TI Foundational Security (TIFS)

 2. Microcontroller (MCU) domain
     * Dual core ARM Cortex-R5F processor, runs device management
       and SoC early boot

 3. MAIN domain
     * Two clusters of quad core 64-bit ARM Cortex-A72, runs HLOS
     * Dual core ARM Cortex-R5F processor used for RTOS applications
     * Four C7x DSPs used for Machine Learning applications.


 More info can be found in TRM: http://www.ti.com/lit/zip/spruj52

 Platform information:

 * https://www.ti.com/tool/J784S4XEVM
 * https://www.ti.com/tool/SK-AM69

 Boot Flow
 ---------
 Below is the pictorial representation of boot flow:

 .. image:: img/boot_diagram_k3_current.svg
     :alt: K3 boot flow

 - On this platform, "TI Foundational Security" (TIFS) functions as the
   security enclave master. While "Device Manager" (DM), also known as the
   "TISCI server" in TI terminology, offers all the essential services.

 - As illustrated in the diagram above, R5 SPL manages power and clock
   services independently before handing over control to DM. The A72 or
   the C7x (Aux core) software components request TIFS/DM to handle
   security or device management services.

 Sources
 -------

 .. include::  k3.rst
     :start-after: .. k3_rst_include_start_boot_sources
     :end-before: .. k3_rst_include_end_boot_sources

 Build procedure
 ---------------
 0. Setup the environment variables:

 .. include::  k3.rst
     :start-after: .. k3_rst_include_start_common_env_vars_desc
     :end-before: .. k3_rst_include_end_common_env_vars_desc

 .. include::  k3.rst
     :start-after: .. k3_rst_include_start_board_env_vars_desc
     :end-before: .. k3_rst_include_end_board_env_vars_desc

 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

  $ export UBOOT_CFG_CORTEXR=j784s4_evm_r5_defconfig
  $ export UBOOT_CFG_CORTEXA=j784s4_evm_a72_defconfig
  $ export TFA_BOARD=j784s4
  $ export TFA_EXTRA_ARGS="K3_USART=0x8"
  $ export OPTEE_PLATFORM=k3-j784s4
  $ export OPTEE_EXTRA_ARGS="CFG_CONSOLE_UART=0x8"

 .. j784s4_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

 .. _j784s4_evm_rst_u_boot_r5:

 * 3.1 R5

 .. include::  k3.rst
     :start-after: .. k3_rst_include_start_build_steps_spl_r5
     :end-before: .. k3_rst_include_end_build_steps_spl_r5

 .. _j784s4_evm_rst_u_boot_a72:

 * 3.2 A72

 .. include::  k3.rst
     :start-after: .. k3_rst_include_start_build_steps_uboot
     :end-before: .. k3_rst_include_end_build_steps_uboot
 .. j784s4_evm_rst_include_end_build_steps

 Target Images
 -------------
 In order to boot we need tiboot3.bin, tispl.bin and u-boot.img. Each SoC
 variant (GP, HS-FS, HS-SE) requires a different source for these files.

  - GP

     * tiboot3-j784s4-gp-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>`
     * tispl.bin_unsigned, u-boot.img_unsigned from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>`

  - HS-FS

     * tiboot3-j784s4-hs-fs-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>`
     * tispl.bin, u-boot.img from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>`

  - HS-SE

     * tiboot3-j784s4-hs-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>`
     * tispl.bin, u-boot.img from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>`

 Image formats
 -------------

 - tiboot3.bin

 .. image:: img/multi_cert_tiboot3.bin.svg
     :alt: tiboot3.bin format

 - tispl.bin

 .. image:: img/dm_tispl.bin.svg
     :alt: tispl.bin format

 OSPI:
 -----
 ROM supports booting from OSPI from offset 0x0.

 Flashing images to OSPI NOR:

 Below commands can be used to download tiboot3.bin, tispl.bin, and
 u-boot.img over tftp and then flash those to OSPI at their respective
 addresses.

 .. prompt:: bash =>

   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

 Flash layout for OSPI NOR:

 .. image:: img/ospi_sysfw3.svg
   :alt: OSPI NOR flash partition layout

 R5 Memory Map
 -------------

 .. list-table::
    :widths: 16 16 16
    :header-rows: 1

    * - Region
      - Start Address
      - End Address

    * - SPL
      - 0x41c00000
      - 0x41c40000

    * - EMPTY
      - 0x41c40000
      - 0x41c61f20

    * - STACK
      - 0x41c65f20
      - 0x41c61f20

    * - Global data
      - 0x41c65f20
      - 0x41c66000

    * - Heap
      - 0x41c66000
      - 0x41c76000

    * - BSS
      - 0x41c76000
      - 0x41c80000

    * - DM DATA
      - 0x41c80000
      - 0x41c84130

    * - EMPTY
      - 0x41c84130
      - 0x41cff9fc

    * - MCU Scratchpad
      - 0x41cff9fc
      - 0x41cffbfc

    * - ROM DATA
      - 0x41cffbfc
      - 0x41cfffff

 Switch Setting for Boot Mode
 ----------------------------

 Boot Mode pins provide means to select the boot mode and options before the
 device is powered up. After every POR, they are the main source to populate
 the Boot Parameter Tables.

 Boot Mode Pins for J784S4-EVM
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

 The following tables show some common boot modes used on J784S4 EVM platform.
 More details can be found in the Technical Reference Manual:
 http://www.ti.com/lit/zip/spruj52 under the `Boot Mode Pins` section.

 .. list-table:: J784S4 EVM Boot Modes
    :widths: 16 16 16
    :header-rows: 1

    * - Switch Label
      - SW11: 12345678
      - SW7: 12345678

    * - SD
      - 10000010
      - 00000000

    * - EMMC
      - 10000000
      - 01000000

    * - OSPI
      - 00000110
      - 01000000

    * - UART
      - 00000000
      - 01110000

 For SW7 and SW11, the switch state in the "ON" position = 1.

 Boot Mode Pins for AM69-SK
 ^^^^^^^^^^^^^^^^^^^^^^^^^^

 The following table show some common boot modes used on AM69-SK platform.
 More details can be found in the User Guide for AM69-SK:
 https://www.ti.com/lit/ug/spruj70/spruj70.pdf under the `Bootmode Settings`
 section.

 .. list-table:: AM69 SK Boot Modes
    :widths: 16 16
    :header-rows: 1

    * - Switch Label
      - SW2: 1234

    * - SD
      - 0000

    * - OSPI
      - 0010

    * - EMMC
      - 0110

    * - UART
      - 1010

 For SW2, the switch state in the "ON" position = 1.

 Debugging U-Boot
 ----------------

 See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
 detailed setup information.

 .. warning::

   **OpenOCD support since**: September 2023 (git master)

   Until the next stable release of OpenOCD is available in your development
   environment's distribution, it might be necessary to build OpenOCD `from the
   source <https://github.com/openocd-org/openocd>`_.

 Debugging U-Boot on J784S4-EVM and AM69-SK
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

 .. include::  k3.rst
     :start-after: .. k3_rst_include_start_openocd_connect_XDS110
     :end-before: .. k3_rst_include_end_openocd_connect_XDS110

 To start OpenOCD and connect to J784S4-EVM or AM69-SK board, use the
 following.

 .. code-block:: bash

   openocd -f board/ti_j784s4evm.cfg
	.. SPDX-License-Identifier: GPL-2.0-or-later OR BSD-3-Clause
	.. sectionauthor:: Apurva Nandan <a-nandan@ti.com>

	J784S4 and AM69 Platforms
	=========================

	Introduction
	------------
	The J784S4 SoC belongs to the K3 Multicore SoC architecture
	platform, providing advanced system integration in automotive,
	ADAS and industrial applications requiring AI at the network edge.
	This SoC extends the K3 Jacinto 7 family of SoCs with focus on
	raising performance and integration while providing interfaces,
	memory architecture and compute performance for multi-sensor, high
	concurrency applications.

	The device is partitioned into three functional domains, each containing
	specific processing cores and peripherals:

	1. Wake-up (WKUP) domain
	* ARM Cortex-M4F processor, runs TI Foundational Security (TIFS)

	2. Microcontroller (MCU) domain
	* Dual core ARM Cortex-R5F processor, runs device management
	and SoC early boot

	3. MAIN domain
	* Two clusters of quad core 64-bit ARM Cortex-A72, runs HLOS
	* Dual core ARM Cortex-R5F processor used for RTOS applications
	* Four C7x DSPs used for Machine Learning applications.


	More info can be found in TRM: http://www.ti.com/lit/zip/spruj52

	Platform information:

	* https://www.ti.com/tool/J784S4XEVM
	* https://www.ti.com/tool/SK-AM69

	Boot Flow
	---------
	Below is the pictorial representation of boot flow:

	.. image:: img/boot_diagram_k3_current.svg
	:alt: K3 boot flow

	- On this platform, "TI Foundational Security" (TIFS) functions as the
	security enclave master. While "Device Manager" (DM), also known as the
	"TISCI server" in TI terminology, offers all the essential services.

	- As illustrated in the diagram above, R5 SPL manages power and clock
	services independently before handing over control to DM. The A72 or
	the C7x (Aux core) software components request TIFS/DM to handle
	security or device management services.

	Sources
	-------

	.. include:: k3.rst
	:start-after: .. k3_rst_include_start_boot_sources
	:end-before: .. k3_rst_include_end_boot_sources

	Build procedure
	---------------
	0. Setup the environment variables:

	.. include:: k3.rst
	:start-after: .. k3_rst_include_start_common_env_vars_desc
	:end-before: .. k3_rst_include_end_common_env_vars_desc

	.. include:: k3.rst
	:start-after: .. k3_rst_include_start_board_env_vars_desc
	:end-before: .. k3_rst_include_end_board_env_vars_desc

	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

	$ export UBOOT_CFG_CORTEXR=j784s4_evm_r5_defconfig
	$ export UBOOT_CFG_CORTEXA=j784s4_evm_a72_defconfig
	$ export TFA_BOARD=j784s4
	$ export TFA_EXTRA_ARGS="K3_USART=0x8"
	$ export OPTEE_PLATFORM=k3-j784s4
	$ export OPTEE_EXTRA_ARGS="CFG_CONSOLE_UART=0x8"

	.. j784s4_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

	.. _j784s4_evm_rst_u_boot_r5:

	* 3.1 R5

	.. include:: k3.rst
	:start-after: .. k3_rst_include_start_build_steps_spl_r5
	:end-before: .. k3_rst_include_end_build_steps_spl_r5

	.. _j784s4_evm_rst_u_boot_a72:

	* 3.2 A72

	.. include:: k3.rst
	:start-after: .. k3_rst_include_start_build_steps_uboot
	:end-before: .. k3_rst_include_end_build_steps_uboot
	.. j784s4_evm_rst_include_end_build_steps

	Target Images
	-------------
	In order to boot we need tiboot3.bin, tispl.bin and u-boot.img. Each SoC
	variant (GP, HS-FS, HS-SE) requires a different source for these files.

	- GP

	* tiboot3-j784s4-gp-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>`
	* tispl.bin_unsigned, u-boot.img_unsigned from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>`

	- HS-FS

	* tiboot3-j784s4-hs-fs-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>`
	* tispl.bin, u-boot.img from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>`

	- HS-SE

	* tiboot3-j784s4-hs-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>`
	* tispl.bin, u-boot.img from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>`

	Image formats
	-------------

	- tiboot3.bin

	.. image:: img/multi_cert_tiboot3.bin.svg
	:alt: tiboot3.bin format

	- tispl.bin

	.. image:: img/dm_tispl.bin.svg
	:alt: tispl.bin format

	OSPI:
	-----
	ROM supports booting from OSPI from offset 0x0.

	Flashing images to OSPI NOR:

	Below commands can be used to download tiboot3.bin, tispl.bin, and
	u-boot.img over tftp and then flash those to OSPI at their respective
	addresses.

	.. prompt:: bash =>

	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

	Flash layout for OSPI NOR:

	.. image:: img/ospi_sysfw3.svg
	:alt: OSPI NOR flash partition layout

	R5 Memory Map
	-------------

	.. list-table::
	:widths: 16 16 16
	:header-rows: 1

	* - Region
	- Start Address
	- End Address

	* - SPL
	- 0x41c00000
	- 0x41c40000

	* - EMPTY
	- 0x41c40000
	- 0x41c61f20

	* - STACK
	- 0x41c65f20
	- 0x41c61f20

	* - Global data
	- 0x41c65f20
	- 0x41c66000

	* - Heap
	- 0x41c66000
	- 0x41c76000

	* - BSS
	- 0x41c76000
	- 0x41c80000

	* - DM DATA
	- 0x41c80000
	- 0x41c84130

	* - EMPTY
	- 0x41c84130
	- 0x41cff9fc

	* - MCU Scratchpad
	- 0x41cff9fc
	- 0x41cffbfc

	* - ROM DATA
	- 0x41cffbfc
	- 0x41cfffff

	Switch Setting for Boot Mode
	----------------------------

	Boot Mode pins provide means to select the boot mode and options before the
	device is powered up. After every POR, they are the main source to populate
	the Boot Parameter Tables.

	Boot Mode Pins for J784S4-EVM
	^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

	The following tables show some common boot modes used on J784S4 EVM platform.
	More details can be found in the Technical Reference Manual:
	http://www.ti.com/lit/zip/spruj52 under the `Boot Mode Pins` section.

	.. list-table:: J784S4 EVM Boot Modes
	:widths: 16 16 16
	:header-rows: 1

	* - Switch Label
	- SW11: 12345678
	- SW7: 12345678

	* - SD
	- 10000010
	- 00000000

	* - EMMC
	- 10000000
	- 01000000

	* - OSPI
	- 00000110
	- 01000000

	* - UART
	- 00000000
	- 01110000

	For SW7 and SW11, the switch state in the "ON" position = 1.

	Boot Mode Pins for AM69-SK
	^^^^^^^^^^^^^^^^^^^^^^^^^^

	The following table show some common boot modes used on AM69-SK platform.
	More details can be found in the User Guide for AM69-SK:
	https://www.ti.com/lit/ug/spruj70/spruj70.pdf under the `Bootmode Settings`
	section.

	.. list-table:: AM69 SK Boot Modes
	:widths: 16 16
	:header-rows: 1

	* - Switch Label
	- SW2: 1234

	* - SD
	- 0000

	* - OSPI
	- 0010

	* - EMMC
	- 0110

	* - UART
	- 1010

	For SW2, the switch state in the "ON" position = 1.

	Debugging U-Boot
	----------------

	See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
	detailed setup information.

	.. warning::

	OpenOCD support since: September 2023 (git master)

	Until the next stable release of OpenOCD is available in your development
	environment's distribution, it might be necessary to build OpenOCD `from the
	source <https://github.com/openocd-org/openocd>`_.

	Debugging U-Boot on J784S4-EVM and AM69-SK
	^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

	.. include:: k3.rst
	:start-after: .. k3_rst_include_start_openocd_connect_XDS110
	:end-before: .. k3_rst_include_end_openocd_connect_XDS110

	To start OpenOCD and connect to J784S4-EVM or AM69-SK board, use the
	following.

	.. code-block:: bash

	openocd -f board/ti_j784s4evm.cfg