doc/board/ti/am62x_sk.rst - filogic/uboot - Gitiles

 .. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
 .. sectionauthor:: Vignesh Raghavendra <vigneshr@ti.com>

 AM62 Platforms
 ==============

 Introduction:
 -------------
 The AM62 SoC family is the follow on AM335x built on the K3 Multicore
 SoC architecture platform, providing ultra-low-power modes, dual
 display, multi-sensor edge compute, security and other BOM-saving
 integrations.  The AM62 SoC targets a broad market to enable
 applications such as Industrial HMI, PLC/CNC/Robot control, Medical
 Equipment, Building Automation, Appliances and more.

 Some highlights of this SoC are:

 * Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster.
   Pin-to-pin compatible options for single and quad core are available.
 * Cortex-M4F for general-purpose or safety usage.
 * Dual display support, providing 24-bit RBG parallel interface and
   OLDI/LVDS-4 Lane x2, up to 200MHz pixel clock support for 2K display
   resolution.
 * Selectable GPU support, up to 8GFLOPS, providing better user experience
   in 3D graphic display case and Android.
 * PRU(Programmable Realtime Unit) support for customized programmable
   interfaces/IOs.
 * Integrated Giga-bit Ethernet switch supporting up to a total of two
   external ports (TSN capable).
 * 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3x eMMC and SD, GPMC for
   NAND/FPGA connection, OSPI memory controller, 3xMcASP for audio,
   1x CSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other peripherals.
 * Dedicated Centralized System Controller for Security, Power, and
   Resource Management.
 * Multiple low power modes support, ex: Deep sleep, Standby, MCU-only,
   enabling battery powered system design.

 More details can be found in the Technical Reference Manual:
 https://www.ti.com/lit/pdf/spruiv7

 Platform information:

 * https://www.ti.com/tool/SK-AM62B

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

 .. image:: img/boot_diagram_am62.svg
   :alt: Boot flow diagram

 - Here TIFS acts as master and provides all the critical services. R5/A53
   requests TIFS to get these services done as shown in the above diagram.

 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=am62x_evm_r5_defconfig
   export UBOOT_CFG_CORTEXA=am62x_evm_a53_defconfig
   export TFA_BOARD=lite
   # we dont use any extra TFA parameters
   unset TFA_EXTRA_ARGS
   export OPTEE_PLATFORM=k3-am62x
   export OPTEE_EXTRA_ARGS="CFG_WITH_SOFTWARE_PRNG=y"

 .. am62x_evm_rst_include_start_build_steps

 1. Trusted Firmware-A:

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_tfa
     :end-before: .. k3_rst_include_end_build_steps_tfa


 2. OP-TEE:

 .. include::  ../ti/k3.rst
     :start-after: .. k3_rst_include_start_build_steps_optee
     :end-before: .. k3_rst_include_end_build_steps_optee

 3. U-Boot:

 * 3.1 R5:

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

 * 3.1.1 Alternative build of R5 for DFU boot:

 As the SPL size can get too big when building with support for booting both
 from local storage *and* DFU an extra config fragment should be used to enable
 DFU support (and disable storage support)

 .. prompt:: bash $

   export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXR} am62x_r5_usbdfu.config"

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

 * 3.2 A53:

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

 * 3.2.1 Alternative build of A53 for Android bootflow:

 Since the Android requires many more dependencies, it is disabled by default.
 An extra config fragment should be used to enable Android bootflow support.

 .. prompt:: bash $

   export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXA} am62x_a53_android.config"

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

 .. am62x_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-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:
 --------------

 - tiboot3.bin

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

 - tispl.bin

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

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

 Flashing images to OSPI:

 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:

 .. image:: img/ospi_sysfw2.svg
   :alt: OSPI flash partition layout

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

 .. am62x_evm_rst_include_start_ddr_mem_layout

 This provides an overview memory usage in A53 SPL stage.

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

    * - Region
      - Start Address
      - End Address

    * - EMPTY
      - 0x80000000
      - 0x80080000

    * - TEXT BASE
      - 0x80080000
      - 0x800d8000

    * - EMPTY
      - 0x800d8000
      - 0x80200000

    * - BMP IMAGE
      - 0x80200000
      - 0x80b77660

    * - STACK
      - 0x80b77660
      - 0x80b77e60

    * - GD
      - 0x80b77e60
      - 0x80b78000

    * - MALLOC
      - 0x80b78000
      - 0x80b80000

    * - EMPTY
      - 0x80b80000
      - 0x80c80000

    * - BSS
      - 0x80c80000
      - 0x80d00000

    * - BLOBS
      - 0x80d00000
      - 0x80d00400

    * - EMPTY
      - 0x80d00400
      - 0x81000000
 .. am62x_evm_rst_include_end_ddr_mem_layout

 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.

 The following table shows some common boot modes used on AM62 platform. More
 details can be found in the Technical Reference Manual:
 https://www.ti.com/lit/pdf/spruiv7 under the `Boot Mode Pins` section.

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

    * - Switch Label
      - SW2: 12345678
      - SW3: 12345678

    * - SD
      - 01000000
      - 11000010

    * - OSPI
      - 00000000
      - 11001110

    * - EMMC
      - 00000000
      - 11010010

    * - UART
      - 00000000
      - 11011100

    * - USB DFU
      - 00000000
      - 11001010

 For SW2 and SW1, the switch state in the "ON" position = 1.

 DFU based boot
 --------------

 To boot the board over DFU, set the switches to DFU mode and connect to the
 USB type C DRD port on the board. After power-on the build artifacts needs to be
 uploaded one by one with a tool like dfu-util.

 .. am62x_evm_rst_include_start_dfu_boot

 The initial ROM will have a DFU alt named `bootloader` for the initial R5 spl
 upload. The next stages as exposed by U-Boot have target alts matching the name
 of the artifacts, for these a USB reset has to be done after each upload.

 When using dfu-util the following commands can be used to boot to a U-Boot shell:

 .. prompt:: bash $

   dfu-util -a bootloader -D tiboot3.bin
   dfu-util -R -a tispl -D tispl.bin
   dfu-util -R -a u-boot.img -D u-boot.img

 .. am62x_evm_rst_include_end_dfu_boot

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

 See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
 detailed setup 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::  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 the board

 .. prompt:: bash $

   openocd -f board/ti_am625evm.cfg
	.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
	.. sectionauthor:: Vignesh Raghavendra <vigneshr@ti.com>

	AM62 Platforms
	==============

	Introduction:
	-------------
	The AM62 SoC family is the follow on AM335x built on the K3 Multicore
	SoC architecture platform, providing ultra-low-power modes, dual
	display, multi-sensor edge compute, security and other BOM-saving
	integrations. The AM62 SoC targets a broad market to enable
	applications such as Industrial HMI, PLC/CNC/Robot control, Medical
	Equipment, Building Automation, Appliances and more.

	Some highlights of this SoC are:

	* Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster.
	Pin-to-pin compatible options for single and quad core are available.
	* Cortex-M4F for general-purpose or safety usage.
	* Dual display support, providing 24-bit RBG parallel interface and
	OLDI/LVDS-4 Lane x2, up to 200MHz pixel clock support for 2K display
	resolution.
	* Selectable GPU support, up to 8GFLOPS, providing better user experience
	in 3D graphic display case and Android.
	* PRU(Programmable Realtime Unit) support for customized programmable
	interfaces/IOs.
	* Integrated Giga-bit Ethernet switch supporting up to a total of two
	external ports (TSN capable).
	* 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3x eMMC and SD, GPMC for
	NAND/FPGA connection, OSPI memory controller, 3xMcASP for audio,
	1x CSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other peripherals.
	* Dedicated Centralized System Controller for Security, Power, and
	Resource Management.
	* Multiple low power modes support, ex: Deep sleep, Standby, MCU-only,
	enabling battery powered system design.

	More details can be found in the Technical Reference Manual:
	https://www.ti.com/lit/pdf/spruiv7

	Platform information:

	* https://www.ti.com/tool/SK-AM62B

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

	.. image:: img/boot_diagram_am62.svg
	:alt: Boot flow diagram

	- Here TIFS acts as master and provides all the critical services. R5/A53
	requests TIFS to get these services done as shown in the above diagram.

	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=am62x_evm_r5_defconfig
	export UBOOT_CFG_CORTEXA=am62x_evm_a53_defconfig
	export TFA_BOARD=lite
	# we dont use any extra TFA parameters
	unset TFA_EXTRA_ARGS
	export OPTEE_PLATFORM=k3-am62x
	export OPTEE_EXTRA_ARGS="CFG_WITH_SOFTWARE_PRNG=y"

	.. am62x_evm_rst_include_start_build_steps

	1. Trusted Firmware-A:

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_build_steps_tfa
	:end-before: .. k3_rst_include_end_build_steps_tfa


	2. OP-TEE:

	.. include:: ../ti/k3.rst
	:start-after: .. k3_rst_include_start_build_steps_optee
	:end-before: .. k3_rst_include_end_build_steps_optee

	3. U-Boot:

	* 3.1 R5:

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

	* 3.1.1 Alternative build of R5 for DFU boot:

	As the SPL size can get too big when building with support for booting both
	from local storage and DFU an extra config fragment should be used to enable
	DFU support (and disable storage support)

	.. prompt:: bash $

	export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXR} am62x_r5_usbdfu.config"

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

	* 3.2 A53:

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

	* 3.2.1 Alternative build of A53 for Android bootflow:

	Since the Android requires many more dependencies, it is disabled by default.
	An extra config fragment should be used to enable Android bootflow support.

	.. prompt:: bash $

	export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXA} am62x_a53_android.config"

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

	.. am62x_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-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:
	--------------

	- tiboot3.bin

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

	- tispl.bin

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

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

	Flashing images to OSPI:

	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:

	.. image:: img/ospi_sysfw2.svg
	:alt: OSPI flash partition layout

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

	.. am62x_evm_rst_include_start_ddr_mem_layout

	This provides an overview memory usage in A53 SPL stage.

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

	* - Region
	- Start Address
	- End Address

	* - EMPTY
	- 0x80000000
	- 0x80080000

	* - TEXT BASE
	- 0x80080000
	- 0x800d8000

	* - EMPTY
	- 0x800d8000
	- 0x80200000

	* - BMP IMAGE
	- 0x80200000
	- 0x80b77660

	* - STACK
	- 0x80b77660
	- 0x80b77e60

	* - GD
	- 0x80b77e60
	- 0x80b78000

	* - MALLOC
	- 0x80b78000
	- 0x80b80000

	* - EMPTY
	- 0x80b80000
	- 0x80c80000

	* - BSS
	- 0x80c80000
	- 0x80d00000

	* - BLOBS
	- 0x80d00000
	- 0x80d00400

	* - EMPTY
	- 0x80d00400
	- 0x81000000
	.. am62x_evm_rst_include_end_ddr_mem_layout

	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.

	The following table shows some common boot modes used on AM62 platform. More
	details can be found in the Technical Reference Manual:
	https://www.ti.com/lit/pdf/spruiv7 under the `Boot Mode Pins` section.

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

	* - Switch Label
	- SW2: 12345678
	- SW3: 12345678

	* - SD
	- 01000000
	- 11000010

	* - OSPI
	- 00000000
	- 11001110

	* - EMMC
	- 00000000
	- 11010010

	* - UART
	- 00000000
	- 11011100

	* - USB DFU
	- 00000000
	- 11001010

	For SW2 and SW1, the switch state in the "ON" position = 1.

	DFU based boot
	--------------

	To boot the board over DFU, set the switches to DFU mode and connect to the
	USB type C DRD port on the board. After power-on the build artifacts needs to be
	uploaded one by one with a tool like dfu-util.

	.. am62x_evm_rst_include_start_dfu_boot

	The initial ROM will have a DFU alt named `bootloader` for the initial R5 spl
	upload. The next stages as exposed by U-Boot have target alts matching the name
	of the artifacts, for these a USB reset has to be done after each upload.

	When using dfu-util the following commands can be used to boot to a U-Boot shell:

	.. prompt:: bash $

	dfu-util -a bootloader -D tiboot3.bin
	dfu-util -R -a tispl -D tispl.bin
	dfu-util -R -a u-boot.img -D u-boot.img

	.. am62x_evm_rst_include_end_dfu_boot

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

	See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
	detailed setup 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:: 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 the board

	.. prompt:: bash $

	openocd -f board/ti_am625evm.cfg