doc/board/beagle/j721e_beagleboneai64.rst - filogic/uboot - Gitiles

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

 J721E/TDA4VM Beagleboard.org BeagleBone AI-64
 =============================================

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

 BeagleBoard.org BeagleBone AI-64 is an open source hardware single
 board computer based on the Texas Instruments TDA4VM SoC featuring
 dual-core 2.0GHz Arm Cortex-A72 processor, C7x+MMA and 2 C66x
 floating-point VLIW DSPs, 3x dual ARM Cortex-R5 co-processors,
 2x 6-core Programmable Real-Time Unit and Industrial Communication
 SubSystem, PowerVR Rogue 8XE GE8430 3D GPU. The board features 4GB
 DDR4, USB3.0 Type-C, 2x USB SS Type-A, miniDisplayPort, 2x 4-lane
 CSI, DSI, 16GB eMMC flash, 1G Ethernet, M.2 E-key for WiFi/BT, and
 BeagleBone expansion headers.

 Further information can be found at:

 * Product Page: https://beagleboard.org/ai-64
 * Hardware documentation: https://git.beagleboard.org/beagleboard/beaglebone-ai-64

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

 .. image:: ../ti/img/boot_diagram_j721e.svg
   :alt: Boot flow diagram

 - On this platform, DMSC runs 'TI Foundational Security' (TIFS) which
   functions as the security enclave master. The 'Device Manager' (DM),
   also known as the 'TISCI server' in "TI terminology", running on boot
   R5F, offers all the essential services required for device management.
   The A72, C7x, C6x or R5F (Aux cores) sends requests to TIFS/DM to
   accomplish the needed 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_boot_firmwares

 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=j721e_beagleboneai64_r5_defconfig
   export UBOOT_CFG_CORTEXA=j721e_beagleboneai64_a72_defconfig
   export TFA_BOARD=generic
   # we dont use any extra TFA parameters
   unset TFA_EXTRA_ARGS
   export OPTEE_PLATFORM=k3-j721e
   # we dont use any extra OP-TEE parameters
   unset OPTEE_EXTRA_ARGS

 .. include::  ../ti/j721e_evm.rst
     :start-after: .. j721e_evm_rst_include_start_build_steps
     :end-before: .. j721e_evm_rst_include_end_build_steps

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

 * tiboot3-j721e-gp-evm.bin from R5 build as tiboot3.bin
 * tispl.bin_unsigned from Cortex-A build as tispl.bin
 * u-boot.img_unsigned from Cortex-A build as u-boot.img

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

 - tiboot3.bin

 .. image:: ../ti/img/no_multi_cert_tiboot3.bin.svg
   :alt: tiboot3.bin image format

 - tispl.bin

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

 - sysfw.itb

 .. image:: ../ti/img/sysfw.itb.svg
   :alt: sysfw.itb image format

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

 * Serial Console is critical for U-Boot development on BeagleBone AI-64. See
   `BeagleBone AI-64 connector documentation
   <https://docs.beagleboard.org/latest/boards/beaglebone/ai-64/ch07.html>`_.
 * uSD is preferred option over eMMC, and a SD/MMC reader will be needed.
 * (optionally) JTAG is useful when working with very early stages of boot.

 Default storage options
 -----------------------

 There are multiple storage media options on BeagleBone AI-64, but primarily:

 * Onboard eMMC (default) - reliable, fast and meant for deployment use.
 * SD/MMC card interface (hold 'BOOT' switch and power on) - Entirely
   depends on the SD card quality.

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

 When deploying or working on Linux, it's common to use the onboard
 eMMC. However, avoiding the eMMC and using the uSD card is safer when
 working with U-Boot.

 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

 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
 BeagleBone AI-64. 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.

 Also see following section on switch setting used for booting using
 uSD card.

 .. 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, and reinstall the image on eMMC. 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>`_

 Flash to eMMC
 -------------

 The eMMC layout selected is user-friendly for developers. The
 boot hardware partition of the eMMC only contains the fixed-size
 tiboot3.bin image. This is because the contents of the boot partitions
 need to run from the SoC's internal SRAM, which remains a fixed size
 constant. The other components of the boot sequence, such as tispl.bin
 and u-boot.img, are located in the /BOOT partition in the User Defined
 Area (UDA) hardware partition of the eMMC. These components can vary
 significantly in size. The choice of keeping tiboot3.bin in boot0 or
 boot1 partition depends on A/B update requirements.

 .. image:: img/beagleplay_emmc.svg
   :alt: eMMC partitions and boot file organization for BeagleBone AI-64

 The following are the steps from Linux shell to program eMMC:

 .. prompt:: bash #

   # Enable Boot0 boot
   mmc bootpart enable 1 2 /dev/mmcblk0
   mmc bootbus set single_backward x1 x8 /dev/mmcblk0
   mmc hwreset enable /dev/mmcblk0

   # Clear eMMC boot0
   echo '0' >> /sys/class/block/mmcblk0boot0/force_ro
   dd if=/dev/zero of=/dev/mmcblk0boot0 count=32 bs=128k
   # Write tiboot3.bin
   dd if=tiboot3.bin of=/dev/mmcblk0boot0 bs=128k

   # Copy the rest of the boot binaries
   mount /dev/mmcblk0p1 /boot/firmware
   cp tispl.bin /boot/firmware
   cp u-boot.img /boot/firmware
   sync

 .. warning ::

   U-Boot is configured to prioritize booting from an SD card if it
   detects a valid boot partition and boot files on it, even if the
   system initially booted from eMMC. The boot order is set as follows:

   * SD/MMC
   * eMMC
   * USB
   * PXE

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

 .. list-table:: USR LED status indication
    :widths: 16 16
    :header-rows: 1

    * - USR LEDs (012345)
      - Indicates

    * - 00000
      - Boot failure or R5 image not started up

    * - 11111
      - A53 SPL/U-boot has started up

    * - 10101
      - OS boot process has been initiated

    * - 01010
      - OS boot process failed and drops to U-Boot shell

 .. note ::

   In the table above, 0 indicates LED switched off and 1 indicates LED
   switched ON.

 .. warning ::

   The green LED very next to the serial connector labelled "WKUP UART0"
   is the power LED (LED6). This is the same color as the rest of the USR
   LEDs. If the "green" LED6 power LED is not glowing, the system power
   supply is not functional. Please refer to `BeagleBone AI-64 documentation
   <https://beagleboard.org/ai-64/>`_ for further information.

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

 The boot time option is configured via "BOOT" button on the board.
 See `BeagleBone AI-64 Schematics <https://git.beagleboard.org/beagleboard/beaglebone-ai-64/-/blob/main/BeagleBone_AI-64_SCH.pdf>`_
 for details.

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

    * - BOOT Switch Position
      - Primary Boot
      - Secondary Boot

    * - Not Pressed
      - eMMC
      - SD Card

    * - Pressed
      - SD Card
      - SD Card

 To switch to SD card boot mode, hold the BOOT button while powering on
 with Type-C power supply, then release when power LED lights up.

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

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

 .. warning::

   **OpenOCD support since**: v0.12.0

   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 BeagleBone AI-64 (J721e 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 j721e
   }

   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>

	J721E/TDA4VM Beagleboard.org BeagleBone AI-64
	=============================================

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

	BeagleBoard.org BeagleBone AI-64 is an open source hardware single
	board computer based on the Texas Instruments TDA4VM SoC featuring
	dual-core 2.0GHz Arm Cortex-A72 processor, C7x+MMA and 2 C66x
	floating-point VLIW DSPs, 3x dual ARM Cortex-R5 co-processors,
	2x 6-core Programmable Real-Time Unit and Industrial Communication
	SubSystem, PowerVR Rogue 8XE GE8430 3D GPU. The board features 4GB
	DDR4, USB3.0 Type-C, 2x USB SS Type-A, miniDisplayPort, 2x 4-lane
	CSI, DSI, 16GB eMMC flash, 1G Ethernet, M.2 E-key for WiFi/BT, and
	BeagleBone expansion headers.

	Further information can be found at:

	* Product Page: https://beagleboard.org/ai-64
	* Hardware documentation: https://git.beagleboard.org/beagleboard/beaglebone-ai-64

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

	.. image:: ../ti/img/boot_diagram_j721e.svg
	:alt: Boot flow diagram

	- On this platform, DMSC runs 'TI Foundational Security' (TIFS) which
	functions as the security enclave master. The 'Device Manager' (DM),
	also known as the 'TISCI server' in "TI terminology", running on boot
	R5F, offers all the essential services required for device management.
	The A72, C7x, C6x or R5F (Aux cores) sends requests to TIFS/DM to
	accomplish the needed 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_boot_firmwares

	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=j721e_beagleboneai64_r5_defconfig
	export UBOOT_CFG_CORTEXA=j721e_beagleboneai64_a72_defconfig
	export TFA_BOARD=generic
	# we dont use any extra TFA parameters
	unset TFA_EXTRA_ARGS
	export OPTEE_PLATFORM=k3-j721e
	# we dont use any extra OP-TEE parameters
	unset OPTEE_EXTRA_ARGS

	.. include:: ../ti/j721e_evm.rst
	:start-after: .. j721e_evm_rst_include_start_build_steps
	:end-before: .. j721e_evm_rst_include_end_build_steps

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

	* tiboot3-j721e-gp-evm.bin from R5 build as tiboot3.bin
	* tispl.bin_unsigned from Cortex-A build as tispl.bin
	* u-boot.img_unsigned from Cortex-A build as u-boot.img

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

	- tiboot3.bin

	.. image:: ../ti/img/no_multi_cert_tiboot3.bin.svg
	:alt: tiboot3.bin image format

	- tispl.bin

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

	- sysfw.itb

	.. image:: ../ti/img/sysfw.itb.svg
	:alt: sysfw.itb image format

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

	* Serial Console is critical for U-Boot development on BeagleBone AI-64. See
	`BeagleBone AI-64 connector documentation
	<https://docs.beagleboard.org/latest/boards/beaglebone/ai-64/ch07.html>`_.
	* uSD is preferred option over eMMC, and a SD/MMC reader will be needed.
	* (optionally) JTAG is useful when working with very early stages of boot.

	Default storage options
	-----------------------

	There are multiple storage media options on BeagleBone AI-64, but primarily:

	* Onboard eMMC (default) - reliable, fast and meant for deployment use.
	* SD/MMC card interface (hold 'BOOT' switch and power on) - Entirely
	depends on the SD card quality.

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

	When deploying or working on Linux, it's common to use the onboard
	eMMC. However, avoiding the eMMC and using the uSD card is safer when
	working with U-Boot.

	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

	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
	BeagleBone AI-64. 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.

	Also see following section on switch setting used for booting using
	uSD card.

	.. 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, and reinstall the image on eMMC. 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>`_

	Flash to eMMC
	-------------

	The eMMC layout selected is user-friendly for developers. The
	boot hardware partition of the eMMC only contains the fixed-size
	tiboot3.bin image. This is because the contents of the boot partitions
	need to run from the SoC's internal SRAM, which remains a fixed size
	constant. The other components of the boot sequence, such as tispl.bin
	and u-boot.img, are located in the /BOOT partition in the User Defined
	Area (UDA) hardware partition of the eMMC. These components can vary
	significantly in size. The choice of keeping tiboot3.bin in boot0 or
	boot1 partition depends on A/B update requirements.

	.. image:: img/beagleplay_emmc.svg
	:alt: eMMC partitions and boot file organization for BeagleBone AI-64

	The following are the steps from Linux shell to program eMMC:

	.. prompt:: bash #

	# Enable Boot0 boot
	mmc bootpart enable 1 2 /dev/mmcblk0
	mmc bootbus set single_backward x1 x8 /dev/mmcblk0
	mmc hwreset enable /dev/mmcblk0

	# Clear eMMC boot0
	echo '0' >> /sys/class/block/mmcblk0boot0/force_ro
	dd if=/dev/zero of=/dev/mmcblk0boot0 count=32 bs=128k
	# Write tiboot3.bin
	dd if=tiboot3.bin of=/dev/mmcblk0boot0 bs=128k

	# Copy the rest of the boot binaries
	mount /dev/mmcblk0p1 /boot/firmware
	cp tispl.bin /boot/firmware
	cp u-boot.img /boot/firmware
	sync

	.. warning ::

	U-Boot is configured to prioritize booting from an SD card if it
	detects a valid boot partition and boot files on it, even if the
	system initially booted from eMMC. The boot order is set as follows:

	* SD/MMC
	* eMMC
	* USB
	* PXE

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

	.. list-table:: USR LED status indication
	:widths: 16 16
	:header-rows: 1

	* - USR LEDs (012345)
	- Indicates

	* - 00000
	- Boot failure or R5 image not started up

	* - 11111
	- A53 SPL/U-boot has started up

	* - 10101
	- OS boot process has been initiated

	* - 01010
	- OS boot process failed and drops to U-Boot shell

	.. note ::

	In the table above, 0 indicates LED switched off and 1 indicates LED
	switched ON.

	.. warning ::

	The green LED very next to the serial connector labelled "WKUP UART0"
	is the power LED (LED6). This is the same color as the rest of the USR
	LEDs. If the "green" LED6 power LED is not glowing, the system power
	supply is not functional. Please refer to `BeagleBone AI-64 documentation
	<https://beagleboard.org/ai-64/>`_ for further information.

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

	The boot time option is configured via "BOOT" button on the board.
	See `BeagleBone AI-64 Schematics <https://git.beagleboard.org/beagleboard/beaglebone-ai-64/-/blob/main/BeagleBone_AI-64_SCH.pdf>`_
	for details.

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

	* - BOOT Switch Position
	- Primary Boot
	- Secondary Boot

	* - Not Pressed
	- eMMC
	- SD Card

	* - Pressed
	- SD Card
	- SD Card

	To switch to SD card boot mode, hold the BOOT button while powering on
	with Type-C power supply, then release when power LED lights up.

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

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

	.. warning::

	OpenOCD support since: v0.12.0

	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 BeagleBone AI-64 (J721e 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 j721e
	}

	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