| 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: |
| |
| +------------------------------------------------------------------------+-----------------------+ |
| | 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: |
| $ make CROSS_COMPILE=arm-linux-gnueabihf- |
| |
| 2. ATF: |
| $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed |
| |
| 3. OPTEE: |
| $ make PLATFORM=k3-j721e CFG_ARM64_core=y |
| |
| 4. U-Boot: |
| |
| 4.1. R5: |
| $ 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: |
| $ 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: |
| +-----------------------+ |
| | X.509 | |
| | Certificate | |
| | +-------------------+ | |
| | | | | |
| | | R5 | | |
| | | u-boot-spl.bin | | |
| | | | | |
| | +-------------------+ | |
| | | | | |
| | | FIT header | | |
| | | +---------------+ | | |
| | | | | | | |
| | | | DTB 1...N | | | |
| | | +---------------+ | | |
| | +-------------------+ | |
| +-----------------------+ |
| |
| - tispl.bin |
| +-----------------------+ |
| | | |
| | FIT HEADER | |
| | +-------------------+ | |
| | | | | |
| | | A72 ATF | | |
| | +-------------------+ | |
| | | | | |
| | | A72 OPTEE | | |
| | +-------------------+ | |
| | | | | |
| | | R5 DM FW | | |
| | +-------------------+ | |
| | | | | |
| | | A72 SPL | | |
| | +-------------------+ | |
| | | | | |
| | | SPL DTB 1...N | | |
| | +-------------------+ | |
| +-----------------------+ |
| |
| - sysfw.itb |
| +-----------------------+ |
| | | |
| | 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. |
| |
| => 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: |
| |
| 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) | |
| | | |
| +----------------------------+ |