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+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Lokesh Vutla <lokeshvutla@ti.com>
+
+Texas Instruments K3 Platforms
+==============================
+
+Introduction:
+-------------
+The J721e family of SoCs are part of K3 Multicore SoC architecture platform
+targeting automotive applications. They are designed as a low power, high
+performance and highly integrated device architecture, adding significant
+enhancement on processing power, graphics capability, video and imaging
+processing, virtualization and coherent memory support.
+
+The device is partitioned into three functional domains, each containing
+specific processing cores 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:
+        * Dual core 64-bit ARM Cortex-A72
+        * 2 x Dual cortex ARM Cortex-R5 subsystem
+        * 2 x C66x Digital signal processor sub system
+        * C71x Digital signal processor sub-system with MMA.
+
+More info can be found in TRM: http://www.ti.com/lit/pdf/spruil1
+
+Boot Flow:
+----------
+Boot flow is similar to that of AM65x SoC and extending it with remoteproc
+support. Below is the pictorial representation of boot flow:
+
+.. code-block:: text
+
+ +------------------------------------------------------------------------+-----------------------+
+ |        DMSC            |      MCU R5           |        A72            |  MAIN R5/C66x/C7x     |
+ +------------------------------------------------------------------------+-----------------------+
+ |    +--------+          |                       |                       |                       |
+ |    |  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    |     |                       |                       |
+ |    |         |         |   +-------------+     |                       |                       |
+ |    |         |         |   |    Load     |     |                       |                       |
+ |    |         |         |   |  tispl.bin  |     |                       |                       |
+ |    |         |         |   +-------------+     |                       |                       |
+ |    |         |         |   |   Load R5   |     |                       |                       |
+ |    |         |         |   |   firmware  |     |                       |                       |
+ |    |         |         |   +-------------+     |                       |                       |
+ |    |         |<--------|---| Start A72   |     |                       |                       |
+ |    |         |         |   | and jump to |     |                       |                       |
+ |    |         |         |   | DM fw image |     |                       |                       |
+ |    |         |         |   +-------------+     |                       |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |---------|-----------------------|---->| Reset rls |     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |  TIFS   |         |                       |          :            |                       |
+ |    |Services |         |                       |     +-----------+     |                       |
+ |    |         |<--------|-----------------------|---->|*ATF/OPTEE*|     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |         |                       |          :            |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |<--------|-----------------------|---->| *A72 SPL* |     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |         |                       |     |   Load    |     |                       |
+ |    |         |         |                       |     | u-boot.img|     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |         |                       |          :            |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |<--------|-----------------------|---->| *U-Boot*  |     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |         |                       |     |  prompt   |     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |         |                       |     |  Load R5  |     |                       |
+ |    |         |         |                       |     |  Firmware |     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |<--------|-----------------------|-----|  Start R5 |     |      +-----------+    |
+ |    |         |---------|-----------------------|-----+-----------+-----|----->| R5 starts |    |
+ |    |         |         |                       |     |  Load C6  |     |      +-----------+    |
+ |    |         |         |                       |     |  Firmware |     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |<--------|-----------------------|-----|  Start C6 |     |      +-----------+    |
+ |    |         |---------|-----------------------|-----+-----------+-----|----->| C6 starts |    |
+ |    |         |         |                       |     |  Load C7  |     |      +-----------+    |
+ |    |         |         |                       |     |  Firmware |     |                       |
+ |    |         |         |                       |     +-----------+     |                       |
+ |    |         |<--------|-----------------------|-----|  Start C7 |     |      +-----------+    |
+ |    |         |---------|-----------------------|-----+-----------+-----|----->| C7 starts |    |
+ |    +---------+         |                       |                       |      +-----------+    |
+ |                        |                       |                       |                       |
+ +------------------------------------------------------------------------+-----------------------+
+
+- Here DMSC acts as master and provides all the critical services. R5/A72
+  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: https://source.denx.de/u-boot/u-boot
+	Branch: master
+
+Build procedure:
+----------------
+1. SYSFW:
+
+.. code-block:: text
+
+ $ make CROSS_COMPILE=arm-linux-gnueabihf-
+
+2. ATF:
+
+.. code-block:: text
+
+ $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
+
+3. OPTEE:
+
+.. code-block:: text
+
+ $ make PLATFORM=k3-j721e CFG_ARM64_core=y
+
+4. U-Boot:
+
+* 4.1 R5:
+
+.. code-block:: text
+
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- j721e_evm_r5_defconfig O=/tmp/r5
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5
+
+* 4.2 A72:
+
+.. code-block:: text
+
+ $ make CROSS_COMPILE=aarch64-linux-gnu- j721e_evm_a72_defconfig O=/tmp/a72
+ $ 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 DM=<path to DM firmware image> O=/tmp/a72
+
+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:
+
+.. code-block:: text
+
+                +-----------------------+
+                |        X.509          |
+                |      Certificate      |
+                | +-------------------+ |
+                | |                   | |
+                | |        R5         | |
+                | |   u-boot-spl.bin  | |
+                | |                   | |
+                | +-------------------+ |
+                | |                   | |
+                | |     FIT header    | |
+                | | +---------------+ | |
+                | | |               | | |
+                | | |   DTB 1...N   | | |
+                | | +---------------+ | |
+                | +-------------------+ |
+                +-----------------------+
+
+- tispl.bin
+
+.. code-block:: text
+
+                +-----------------------+
+                |                       |
+                |       FIT HEADER      |
+                | +-------------------+ |
+                | |                   | |
+                | |      A72 ATF      | |
+                | +-------------------+ |
+                | |                   | |
+                | |     A72 OPTEE     | |
+                | +-------------------+ |
+                | |                   | |
+                | |      R5 DM FW     | |
+                | +-------------------+ |
+                | |                   | |
+                | |      A72 SPL      | |
+                | +-------------------+ |
+                | |                   | |
+                | |   SPL DTB 1...N   | |
+                | +-------------------+ |
+                +-----------------------+
+
+- sysfw.itb
+
+.. code-block:: text
+
+                +-----------------------+
+                |                       |
+                |       FIT HEADER      |
+                | +-------------------+ |
+                | |                   | |
+                | |     sysfw.bin     | |
+                | +-------------------+ |
+                | |                   | |
+                | |    board config   | |
+                | +-------------------+ |
+                | |                   | |
+                | |     PM config     | |
+                | +-------------------+ |
+                | |                   | |
+                | |     RM config     | |
+                | +-------------------+ |
+                | |                   | |
+                | |    Secure config  | |
+                | +-------------------+ |
+                +-----------------------+
+
+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)     |
+             |                            |
+             +----------------------------+