doc/board/beagle/am67a_beagley_ai.rst - filogic/uboot - Gitiles

 .. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
 .. sectionauthor:: Nishanth Menon <nm@ti.com>

 AM67A Beagleboard.org BeagleY-AI
 ================================

 Introduction:
 -------------

 BeagleBoard.org BeagleY-AI is an easy to use, affordable open source
 hardware single board computer based on the Texas Instruments AM67A,
 which features a quad-core 64-bit Arm CPU subsystem, 2 general-purpose
 digital-signal-processors (DSP) and matrix-multiply-accelerators (MMA),
 GPU, vision and deep learning accelerators, and multiple Arm Cortex-R5
 cores for low-power, low-latency GPIO control.

 Further information can be found at:

 * Product Page: https://beagley-ai.org/
 * Hardware documentation: https://openbeagle.org/beagley-ai/beagley-ai

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

 .. image:: ../ti/img/boot_diagram_k3_current.svg
   :alt: Boot flow diagram

 - 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.
   The A53 or R5F (Aux core) sends requests to TIFS/DM to accomplish these
   services, as illustrated in the diagram above.

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

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_boot_firmwares
     :end-before: .. k3_rst_include_end_tifsstub

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

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

 .. include::  ../ti/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::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_common_env_vars_defn
     :end-before: .. k3_rst_include_end_common_env_vars_defn
 .. prompt:: bash $

   export UBOOT_CFG_CORTEXR=am67a_beagley_ai_r5_defconfig
   export UBOOT_CFG_CORTEXA=am67a_beagley_ai_a53_defconfig
   export TFA_BOARD=lite
   # we dont use any extra TFA parameters
   unset TFA_EXTRA_ARGS
   export OPTEE_PLATFORM=k3-am62x

 .. include::  ../ti/j722s_evm.rst
     :start-after: .. j722s_evm_rst_include_start_build_steps
     :end-before: .. j722s_evm_rst_include_end_build_steps

 Target Images
 -------------
 Copy these images to an SD card and boot:

 * tiboot3-j722s-hs-fs-evm.bin from Cortex-R5 build as tiboot3.bin.
 * tispl.bin and u-boot.img from Cortex-A build.

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

 - tiboot3.bin

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

 - tispl.bin

 .. image:: ../ti/img/tifsstub_dm_tispl.bin.svg
   :alt: tispl.bin image format

 Additional hardware for U-Boot development
 ------------------------------------------

 * Serial Console is critical for U-Boot development on BeagleY-AI. See
   `BeagleY-AI serial console documentation
   <https://docs.beagleboard.org/boards/beagley/ai/02-quick-start.html#beagley-ai-headless>`_.
 * The only onboard storage option is uSD.
 * (optionally) JTAG is useful when working with very early stages of boot.

 Flash to uSD card or how to deal with "bricked" Board
 -----------------------------------------------------

 The only storage option on the platform is uSD card. However, if you
 choose to hand format your own bootable uSD card, be aware that it can
 be difficult. The following information may be helpful, but remember
 that it is only sometimes reliable, and partition options can cause
 issues. These can potentially help:

 * https://git.ti.com/cgit/arago-project/tisdk-setup-scripts/tree/create-sdcard.sh
 * https://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD
 * Or manually as follows (may not take into distro needs such as EFI or swap):

 .. prompt:: bash #

   # Create image with partition table
   parted --script <SD CARD DEVICE> \
         mklabel msdos \
         mkpart primary fat16 4MiB 20MiB \
         mkpart primary ext4 20MiB 100% \
         set 1 boot on \
         set 1 bls_boot off \
         set 1 lba on
   # Create boot partition
   mkfs.vfat <SD CARD DEVICE>1
   # Create root partition
   mkfs.ext4 <SD CARD DEVICE>2

 The simplest option is to start with a standard distribution
 image like those in `BeagleBoard.org Distros Page
 <https://www.beagleboard.org/distros>`_ and download a disk image for
 BeagleY-AI. Pick a 16GB+ uSD card to be on the safer side.

 With an SD/MMC Card reader and `Balena Etcher
 <https://etcher.balena.io/>`_, having a functional setup in minutes is
 a trivial matter, and it works on almost all Host Operating Systems.
 Yes Windows users, Windows Subsystem for Linux(WSL) based development
 with U-Boot and update uSD card is practical.

 Updating U-Boot is a matter of copying the tiboot3.bin, tispl.bin and
 u-boot.img to the "BOOT" partition of the uSD card. Remember to sync
 and unmount (or Eject - depending on the Operating System) the uSD
 card prior to physically removing from SD card reader.

 .. note::
   Great news! If the board has not been damaged physically, there's no
   need to worry about it being "bricked" on this platform. You only have
   to flash an uSD card, plug it in. This means that even if you make a
   mistake, you can quickly fix it and rest easy.

   If you are frequently working with uSD cards, you might find the
   following useful:

   * `USB-SD-Mux <https://www.linux-automation.com/en/products/usb-sd-mux.html>`_
   * `SD-Wire <https://wiki.tizen.org/SDWire>`_

 LED patterns during boot
 ------------------------

 .. list-table:: LED status indication as system boots up
    :widths: 16 16
    :header-rows: 1

    * - LED Color
      - Indicates

    * - Only RED at startup
      - Boot failure or R5 image not started up

    * - Steady Green
      - A53 U-boot has started up

    * - Red/Orange
      - OS boot process has been initiated

    * - Steady Green
      - OS boot process failed and drops to U-Boot shell

 .. warning ::

   If the "red" power LED is not glowing, the system power supply is not
   functional. Please refer to `BeagleY-AI documentation
   <https://beagley-ai.org/>`_ for further information.

 A53 SPL DDR Memory Layout
 -------------------------

 .. include::  ../ti/j722s_evm.rst
     :start-after: .. j722s_evm_rst_include_start_ddr_mem_layout
     :end-before: .. j722s_evm_rst_include_end_ddr_mem_layout

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

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

 .. warning::

   **OpenOCD support since**: commit 33749a7fbeb5

   If the default package version of OpenOCD in your development
   environment's distribution needs to be updated, it might be necessary to
   build OpenOCD from the source.

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_openocd_connect_tag_connect
     :end-before: .. k3_rst_include_end_openocd_connect_tag_connect

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_openocd_cfg_external_intro
     :end-before: .. k3_rst_include_end_openocd_cfg_external_intro

 For example, with BeagleY-AI (J722S/AM67A platform), the openocd_connect.cfg:

 .. code-block:: tcl

   # TUMPA example:
   # http://www.tiaowiki.com/w/TIAO_USB_Multi_Protocol_Adapter_User's_Manual
   source [find interface/ftdi/tumpa.cfg]

   transport select jtag

   # default JTAG configuration has only SRST and no TRST
   reset_config srst_only srst_push_pull

   # delay after SRST goes inactive
   adapter srst delay 20

   if { ![info exists SOC] } {
     # Set the SoC of interest
     set SOC j722s
   }

   source [find target/ti_k3.cfg]

   ftdi tdo_sample_edge falling

   # Speeds for FT2232H are in multiples of 2, and 32MHz is tops
   # max speed we seem to achieve is ~20MHz.. so we pick 16MHz
   adapter speed 16000
	.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
	.. sectionauthor:: Nishanth Menon <nm@ti.com>

	AM67A Beagleboard.org BeagleY-AI
	================================

	Introduction:
	-------------

	BeagleBoard.org BeagleY-AI is an easy to use, affordable open source
	hardware single board computer based on the Texas Instruments AM67A,
	which features a quad-core 64-bit Arm CPU subsystem, 2 general-purpose
	digital-signal-processors (DSP) and matrix-multiply-accelerators (MMA),
	GPU, vision and deep learning accelerators, and multiple Arm Cortex-R5
	cores for low-power, low-latency GPIO control.

	Further information can be found at:

	* Product Page: https://beagley-ai.org/
	* Hardware documentation: https://openbeagle.org/beagley-ai/beagley-ai

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

	.. image:: ../ti/img/boot_diagram_k3_current.svg
	:alt: Boot flow diagram

	- 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.
	The A53 or R5F (Aux core) sends requests to TIFS/DM to accomplish these
	services, as illustrated in the diagram above.

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

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_boot_firmwares
	:end-before: .. k3_rst_include_end_tifsstub

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

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

	.. include:: ../ti/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:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_common_env_vars_defn
	:end-before: .. k3_rst_include_end_common_env_vars_defn
	.. prompt:: bash $

	export UBOOT_CFG_CORTEXR=am67a_beagley_ai_r5_defconfig
	export UBOOT_CFG_CORTEXA=am67a_beagley_ai_a53_defconfig
	export TFA_BOARD=lite
	# we dont use any extra TFA parameters
	unset TFA_EXTRA_ARGS
	export OPTEE_PLATFORM=k3-am62x

	.. include:: ../ti/j722s_evm.rst
	:start-after: .. j722s_evm_rst_include_start_build_steps
	:end-before: .. j722s_evm_rst_include_end_build_steps

	Target Images
	-------------
	Copy these images to an SD card and boot:

	* tiboot3-j722s-hs-fs-evm.bin from Cortex-R5 build as tiboot3.bin.
	* tispl.bin and u-boot.img from Cortex-A build.

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

	- tiboot3.bin

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

	- tispl.bin

	.. image:: ../ti/img/tifsstub_dm_tispl.bin.svg
	:alt: tispl.bin image format

	Additional hardware for U-Boot development
	------------------------------------------

	* Serial Console is critical for U-Boot development on BeagleY-AI. See
	`BeagleY-AI serial console documentation
	<https://docs.beagleboard.org/boards/beagley/ai/02-quick-start.html#beagley-ai-headless>`_.
	* The only onboard storage option is uSD.
	* (optionally) JTAG is useful when working with very early stages of boot.

	Flash to uSD card or how to deal with "bricked" Board
	-----------------------------------------------------

	The only storage option on the platform is uSD card. However, if you
	choose to hand format your own bootable uSD card, be aware that it can
	be difficult. The following information may be helpful, but remember
	that it is only sometimes reliable, and partition options can cause
	issues. These can potentially help:

	* https://git.ti.com/cgit/arago-project/tisdk-setup-scripts/tree/create-sdcard.sh
	* https://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD
	* Or manually as follows (may not take into distro needs such as EFI or swap):

	.. prompt:: bash #

	# Create image with partition table
	parted --script <SD CARD DEVICE> \
	mklabel msdos \
	mkpart primary fat16 4MiB 20MiB \
	mkpart primary ext4 20MiB 100% \
	set 1 boot on \
	set 1 bls_boot off \
	set 1 lba on
	# Create boot partition
	mkfs.vfat <SD CARD DEVICE>1
	# Create root partition
	mkfs.ext4 <SD CARD DEVICE>2

	The simplest option is to start with a standard distribution
	image like those in `BeagleBoard.org Distros Page
	<https://www.beagleboard.org/distros>`_ and download a disk image for
	BeagleY-AI. Pick a 16GB+ uSD card to be on the safer side.

	With an SD/MMC Card reader and `Balena Etcher
	<https://etcher.balena.io/>`_, having a functional setup in minutes is
	a trivial matter, and it works on almost all Host Operating Systems.
	Yes Windows users, Windows Subsystem for Linux(WSL) based development
	with U-Boot and update uSD card is practical.

	Updating U-Boot is a matter of copying the tiboot3.bin, tispl.bin and
	u-boot.img to the "BOOT" partition of the uSD card. Remember to sync
	and unmount (or Eject - depending on the Operating System) the uSD
	card prior to physically removing from SD card reader.

	.. note::
	Great news! If the board has not been damaged physically, there's no
	need to worry about it being "bricked" on this platform. You only have
	to flash an uSD card, plug it in. This means that even if you make a
	mistake, you can quickly fix it and rest easy.

	If you are frequently working with uSD cards, you might find the
	following useful:

	* `USB-SD-Mux <https://www.linux-automation.com/en/products/usb-sd-mux.html>`_
	* `SD-Wire <https://wiki.tizen.org/SDWire>`_

	LED patterns during boot
	------------------------

	.. list-table:: LED status indication as system boots up
	:widths: 16 16
	:header-rows: 1

	* - LED Color
	- Indicates

	* - Only RED at startup
	- Boot failure or R5 image not started up

	* - Steady Green
	- A53 U-boot has started up

	* - Red/Orange
	- OS boot process has been initiated

	* - Steady Green
	- OS boot process failed and drops to U-Boot shell

	.. warning ::

	If the "red" power LED is not glowing, the system power supply is not
	functional. Please refer to `BeagleY-AI documentation
	<https://beagley-ai.org/>`_ for further information.

	A53 SPL DDR Memory Layout
	-------------------------

	.. include:: ../ti/j722s_evm.rst
	:start-after: .. j722s_evm_rst_include_start_ddr_mem_layout
	:end-before: .. j722s_evm_rst_include_end_ddr_mem_layout

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

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

	.. warning::

	OpenOCD support since: commit 33749a7fbeb5

	If the default package version of OpenOCD in your development
	environment's distribution needs to be updated, it might be necessary to
	build OpenOCD from the source.

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_openocd_connect_tag_connect
	:end-before: .. k3_rst_include_end_openocd_connect_tag_connect

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_openocd_cfg_external_intro
	:end-before: .. k3_rst_include_end_openocd_cfg_external_intro

	For example, with BeagleY-AI (J722S/AM67A platform), the openocd_connect.cfg:

	.. code-block:: tcl

	# TUMPA example:
	# http://www.tiaowiki.com/w/TIAO_USB_Multi_Protocol_Adapter_User's_Manual
	source [find interface/ftdi/tumpa.cfg]

	transport select jtag

	# default JTAG configuration has only SRST and no TRST
	reset_config srst_only srst_push_pull

	# delay after SRST goes inactive
	adapter srst delay 20

	if { ![info exists SOC] } {
	# Set the SoC of interest
	set SOC j722s
	}

	source [find target/ti_k3.cfg]

	ftdi tdo_sample_edge falling

	# Speeds for FT2232H are in multiples of 2, and 32MHz is tops
	# max speed we seem to achieve is ~20MHz.. so we pick 16MHz
	adapter speed 16000