doc/board/ti/am62x_sk.rst

.. 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_k3_current.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

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
.. code-block:: 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

* 3.2 A53:

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

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.

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

.. code-block:: bash

  openocd -f board/ti_am625evm.cfg