| Lokesh Vutla | 029f921 | 2018-08-27 15:59:06 +0530 | [diff] [blame^] | 1 | Introduction: |
| 2 | ------------- |
| 3 | The AM65x family of SoCs is the first device family from K3 Multicore |
| 4 | SoC architecture, targeted for broad market and industrial control with |
| 5 | aim to meet the complex processing needs of modern embedded products. |
| 6 | |
| 7 | The device is built over three domains, each containing specific processing |
| 8 | cores, voltage domains and peripherals: |
| 9 | 1. Wake-up (WKUP) domain: |
| 10 | - Device Management and Security Controller (DMSC) |
| 11 | 2. Microcontroller (MCU) domain: |
| 12 | - Dual Core ARM Cortex-R5F processor |
| 13 | 3. MAIN domain: |
| 14 | - Quad core 64-bit ARM Cortex-A53 |
| 15 | |
| 16 | More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7 |
| 17 | |
| 18 | Boot Flow: |
| 19 | ---------- |
| 20 | On AM65x family devices, ROM supports boot only via MCU(R5). This means that |
| 21 | bootloader has to run on R5 core. In order to meet this constraint, and for |
| 22 | the following reasons the boot flow is designed as mentioned: |
| 23 | 1. Need to move away from R5 asap, so that we want to start *any* |
| 24 | firmware on the r5 cores like.... autosar can be loaded to receive CAN |
| 25 | response and other safety operations to be started. This operation is |
| 26 | very time critical and is applicable for all automotive use cases. |
| 27 | 2. U-Boot on A53 should start other remotecores for various |
| 28 | applications. This should happen before running Linux. |
| 29 | 3. In production boot flow, we might not like to use full u-boot, |
| 30 | instead use Flacon boot flow to reduce boot time. |
| 31 | |
| 32 | +------------------------------------------------------------------------+ |
| 33 | | DMSC | R5 | A53 | |
| 34 | +------------------------------------------------------------------------+ |
| 35 | | +--------+ | | | |
| 36 | | | Reset | | | | |
| 37 | | +--------+ | | | |
| 38 | | : | | | |
| 39 | | +--------+ | +-----------+ | | |
| 40 | | | *rom* |----------|-->| Reset rls | | | |
| 41 | | +--------+ | +-----------+ | | |
| 42 | | | | | : | | |
| 43 | | | rom | | : | | |
| 44 | | |services| | : | | |
| 45 | | | | | +-------------+ | | |
| 46 | | | | | | *R5 rom* | | | |
| 47 | | | | | +-------------+ | | |
| 48 | | | |<---------|---|Load and auth| | | |
| 49 | | | | | | tiboot3.bin | | | |
| 50 | | | | | +-------------+ | | |
| 51 | | | | | : | | |
| 52 | | | | | : | | |
| 53 | | | | | : | | |
| 54 | | | | | +-------------+ | | |
| 55 | | | Start | | | *R5 SPL* | | | |
| 56 | | | System | | +-------------+ | | |
| 57 | | |Firmware|<---------|---|Load and auth| | | |
| 58 | | +--------+ | | sysfw bin | | | |
| 59 | | : | +-------------+ | | |
| 60 | | +---------+ | | DDR | | | |
| 61 | | | *SYSFW* | | | config | | | |
| 62 | | +---------+ | +-------------+ | | |
| 63 | | | |<--------|---| Load | | | |
| 64 | | | | | | tispl.bin | | | |
| 65 | | | | | +-------------+ | | |
| 66 | | | |<--------|---| Start A53 | | | |
| 67 | | | | | | and Reset | | | |
| 68 | | | | | +-------------+ | | |
| 69 | | | | | | +-----------+ | |
| 70 | | | |---------|-----------------------|---->| Reset rls | | |
| 71 | | | | | | +-----------+ | |
| 72 | | | DMSC | | | : | |
| 73 | | |Services | | | +-----------+ | |
| 74 | | | |<--------|-----------------------|---->|*ATF/OPTEE*| | |
| 75 | | | | | | +-----------+ | |
| 76 | | | | | | : | |
| 77 | | | | | | +-----------+ | |
| 78 | | | |<--------|-----------------------|---->| *A53 SPL* | | |
| 79 | | | | | | +-----------+ | |
| 80 | | | | | | | Load | | |
| 81 | | | | | | | u-boot.img| | |
| 82 | | | | | | +-----------+ | |
| 83 | | | | | | : | |
| 84 | | | | | | +-----------+ | |
| 85 | | | |<--------|-----------------------|---->| *u-boot* | | |
| 86 | | | | | | +-----------+ | |
| 87 | | | | | | | prompt | | |
| 88 | | | | | | +-----------+ | |
| 89 | | +---------+ | | | |
| 90 | | | | | |
| 91 | +------------------------------------------------------------------------+ |
| 92 | |
| 93 | - Here DMSC acts as master and provides all the critical services. R5/A53 |
| 94 | requests DMSC to get these services done as shown in the above diagram. |
| 95 | |
| 96 | Sources: |
| 97 | -------- |
| 98 | 1. SYSFW: |
| 99 | System Firmware repo is closed source and the binaries are delivered |
| 100 | to users with NDA. Please contact TI to get the System Firmware |
| 101 | Binary named ti-sci-firmware-am6x.bin that runs on AM65x SoC. |
| 102 | |
| 103 | 2. ATF: |
| 104 | Tree: https://github.com/ARM-software/arm-trusted-firmware.git |
| 105 | Branch: master |
| 106 | |
| 107 | 3. OPTEE: |
| 108 | Tree: https://github.com/OP-TEE/optee_os.git |
| 109 | Branch: master |
| 110 | |
| 111 | 4. U-Boot: |
| 112 | Tree: http://git.denx.de/u-boot.git |
| 113 | Branch: master |
| 114 | |
| 115 | Build procedure: |
| 116 | ---------------- |
| 117 | 1. SYSFW: |
| 118 | ROM expects a signed binary that contains the X509 certificate. So |
| 119 | the binary ti-sci-firmware-am6x.bin cannot be uses as-is and needs to be signed. |
| 120 | Contact TI on the procedure to sign the system firmware binary. |
| 121 | |
| 122 | 2. ATF: |
| 123 | $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed |
| 124 | |
| 125 | 3. OPTEE: |
| 126 | $ make PLATFORM=k3-am65x CFG_ARM64_core=y |
| 127 | |
| 128 | 4. U-Boot: |
| 129 | |
| 130 | 4.1. R5: |
| 131 | TBD. |
| 132 | |
| 133 | 4.2. A53: |
| 134 | $ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53 |
| 135 | $ make ARCH=arm 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.bin O=/tmp/a53 |
| 136 | |
| 137 | Target Images |
| 138 | -------------- |
| 139 | Copy the below images to an SD card and boot: |
| 140 | - tiboot3.bin from step 4.1 |
| 141 | - tispl.bin, u-boot.img from 4.2 |