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| | 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 94requests DMSC to get these services done as shown in the above diagram. 95 96Sources: 97-------- 981. 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 1032. ATF: 104 Tree: https://github.com/ARM-software/arm-trusted-firmware.git 105 Branch: master 106 1073. OPTEE: 108 Tree: https://github.com/OP-TEE/optee_os.git 109 Branch: master 110 1114. U-Boot: 112 Tree: http://git.denx.de/u-boot.git 113 Branch: master 114 115Build procedure: 116---------------- 1171. SYSFW: 118 ROM expects a signed binary that contains the X509 certificate. So 119the binary ti-sci-firmware-am6x.bin cannot be uses as-is and needs to be signed. 120Contact TI on the procedure to sign the system firmware binary. 121 1222. ATF: 123$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed 124 1253. OPTEE: 126$ make PLATFORM=k3-am65x CFG_ARM64_core=y 127 1284. U-Boot: 129 1304.1. R5: 131 TBD. 132 1334.2. 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 137Target Images 138-------------- 139Copy the below images to an SD card and boot: 140- tiboot3.bin from step 4.1 141- tispl.bin, u-boot.img from 4.2 142