1Introduction: 2------------- 3The AM65x family of SoCs is the first device family from K3 Multicore 4SoC architecture, targeted for broad market and industrial control with 5aim to meet the complex processing needs of modern embedded products. 6 7The device is built over three domains, each containing specific processing 8cores, voltage domains and peripherals: 91. Wake-up (WKUP) domain: 10 - Device Management and Security Controller (DMSC) 112. Microcontroller (MCU) domain: 12 - Dual Core ARM Cortex-R5F processor 133. MAIN domain: 14 - Quad core 64-bit ARM Cortex-A53 15 16More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7 17 18Boot Flow: 19---------- 20On AM65x family devices, ROM supports boot only via MCU(R5). This means that 21bootloader has to run on R5 core. In order to meet this constraint, and for 22the following reasons the boot flow is designed as mentioned: 231. Need to move away from R5 asap, so that we want to start *any* 24firmware on the r5 cores like.... autosar can be loaded to receive CAN 25response and other safety operations to be started. This operation is 26very time critical and is applicable for all automotive use cases. 272. U-Boot on A53 should start other remotecores for various 28applications. This should happen before running Linux. 293. In production boot flow, we might not like to use full u-boot, 30instead 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| | | | | *R5 SPL* | | | 56| | | | +-------------+ | | 57| | | | | Load | | | 58| | | | | sysfw.itb | | | 59| | Start | | +-------------+ | | 60| | System |<---------|---| Start | | | 61| |Firmware| | | SYSFW | | | 62| +--------+ | +-------------+ | | 63| : | | | | | 64| +---------+ | | Load | | | 65| | *SYSFW* | | | system | | | 66| +---------+ | | Config data | | | 67| | |<--------|---| | | | 68| | | | +-------------+ | | 69| | | | | | | | 70| | | | | DDR | | | 71| | | | | config | | | 72| | | | +-------------+ | | 73| | | | | | | | 74| | |<--------|---| Start A53 | | | 75| | | | | and Reset | | | 76| | | | +-------------+ | | 77| | | | | +-----------+ | 78| | |---------|-----------------------|---->| Reset rls | | 79| | | | | +-----------+ | 80| | DMSC | | | : | 81| |Services | | | +-----------+ | 82| | |<--------|-----------------------|---->|*ATF/OPTEE*| | 83| | | | | +-----------+ | 84| | | | | : | 85| | | | | +-----------+ | 86| | |<--------|-----------------------|---->| *A53 SPL* | | 87| | | | | +-----------+ | 88| | | | | | Load | | 89| | | | | | u-boot.img| | 90| | | | | +-----------+ | 91| | | | | : | 92| | | | | +-----------+ | 93| | |<--------|-----------------------|---->| *U-Boot* | | 94| | | | | +-----------+ | 95| | | | | | prompt | | 96| | | | | +-----------+ | 97| +---------+ | | | 98| | | | 99+------------------------------------------------------------------------+ 100 101- Here DMSC acts as master and provides all the critical services. R5/A53 102requests DMSC to get these services done as shown in the above diagram. 103 104Sources: 105-------- 1061. SYSFW: 107 Tree: git://git.ti.com/processor-firmware/system-firmware-image-gen.git 108 Branch: master 109 1102. ATF: 111 Tree: https://github.com/ARM-software/arm-trusted-firmware.git 112 Branch: master 113 1143. OPTEE: 115 Tree: https://github.com/OP-TEE/optee_os.git 116 Branch: master 117 1184. U-Boot: 119 Tree: http://git.denx.de/u-boot.git 120 Branch: master 121 122Build procedure: 123---------------- 1241. SYSFW: 125$ make CROSS_COMPILE=arm-linux-gnueabihf- 126 1272. ATF: 128$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed 129 1303. OPTEE: 131$ make PLATFORM=k3-am65x CFG_ARM64_core=y 132 1334. U-Boot: 134 1354.1. R5: 136$ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- am65x_evm_r5_defconfig O=/tmp/r5 137$ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5 138 1394.2. A53: 140$ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53 141$ 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 142 143Target Images 144-------------- 145Copy the below images to an SD card and boot: 146- sysfw.itb from step 1 147- tiboot3.bin from step 4.1 148- tispl.bin, u-boot.img from 4.2 149 150Image formats: 151-------------- 152 153- tiboot3.bin: 154 +-----------------------+ 155 | X.509 | 156 | Certificate | 157 | +-------------------+ | 158 | | | | 159 | | R5 | | 160 | | u-boot-spl.bin | | 161 | | | | 162 | +-------------------+ | 163 | | | | 164 | | FIT header | | 165 | | +---------------+ | | 166 | | | | | | 167 | | | DTB 1...N | | | 168 | | +---------------+ | | 169 | +-------------------+ | 170 +-----------------------+ 171 172- tispl.bin 173 +-----------------------+ 174 | | 175 | FIT HEADER | 176 | +-------------------+ | 177 | | | | 178 | | A53 ATF | | 179 | +-------------------+ | 180 | | | | 181 | | A53 OPTEE | | 182 | +-------------------+ | 183 | | | | 184 | | A53 SPL | | 185 | +-------------------+ | 186 | | | | 187 | | SPL DTB 1...N | | 188 | +-------------------+ | 189 +-----------------------+ 190 191- sysfw.itb 192 +-----------------------+ 193 | | 194 | FIT HEADER | 195 | +-------------------+ | 196 | | | | 197 | | sysfw.bin | | 198 | +-------------------+ | 199 | | | | 200 | | board config | | 201 | +-------------------+ | 202 | | | | 203 | | PM config | | 204 | +-------------------+ | 205 | | | | 206 | | RM config | | 207 | +-------------------+ | 208 | | | | 209 | | Secure config | | 210 | +-------------------+ | 211 +-----------------------+ 212