897135809a
When building U-Boot we select the architecture via Kconfig and not ARCH being passed in via the environment or make cmdline. Cc: Lokesh Vutla <lokeshvutla@ti.com> Cc: Vitaly Andrianov <vitalya@ti.com> Signed-off-by: Tom Rini <trini@konsulko.com>
351 lines
15 KiB
Plaintext
351 lines
15 KiB
Plaintext
Introduction:
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-------------
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The AM65x family of SoCs is the first device family from K3 Multicore
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SoC architecture, targeted for broad market and industrial control with
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aim to meet the complex processing needs of modern embedded products.
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The device is built over three domains, each containing specific processing
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cores, voltage domains and peripherals:
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1. Wake-up (WKUP) domain:
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- Device Management and Security Controller (DMSC)
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2. Microcontroller (MCU) domain:
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- Dual Core ARM Cortex-R5F processor
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3. MAIN domain:
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- Quad core 64-bit ARM Cortex-A53
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More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7
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Boot Flow:
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----------
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On AM65x family devices, ROM supports boot only via MCU(R5). This means that
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bootloader has to run on R5 core. In order to meet this constraint, and for
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the following reasons the boot flow is designed as mentioned:
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1. Need to move away from R5 asap, so that we want to start *any*
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firmware on the r5 cores like.... autosar can be loaded to receive CAN
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response and other safety operations to be started. This operation is
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very time critical and is applicable for all automotive use cases.
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2. U-Boot on A53 should start other remotecores for various
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applications. This should happen before running Linux.
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3. In production boot flow, we might not like to use full u-boot,
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instead use Flacon boot flow to reduce boot time.
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+------------------------------------------------------------------------+
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| DMSC | R5 | A53 |
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+------------------------------------------------------------------------+
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| +--------+ | | |
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| | Reset | | | |
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| +--------+ | | |
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| : | | |
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| +--------+ | +-----------+ | |
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| | *ROM* |----------|-->| Reset rls | | |
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| +--------+ | +-----------+ | |
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| | | | : | |
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| | ROM | | : | |
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| |services| | : | |
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| | | | +-------------+ | |
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| | | | | *R5 ROM* | | |
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| | | | +-------------+ | |
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| | |<---------|---|Load and auth| | |
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| | | | | tiboot3.bin | | |
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| | | | +-------------+ | |
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| | | | : | |
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| | | | : | |
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| | | | : | |
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| | | | +-------------+ | |
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| | | | | *R5 SPL* | | |
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| | | | +-------------+ | |
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| | | | | Load | | |
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| | | | | sysfw.itb | | |
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| | Start | | +-------------+ | |
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| | System |<---------|---| Start | | |
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| |Firmware| | | SYSFW | | |
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| +--------+ | +-------------+ | |
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| : | | | | |
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| +---------+ | | Load | | |
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| | *SYSFW* | | | system | | |
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| +---------+ | | Config data | | |
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| | |<--------|---| | | |
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| | | | +-------------+ | |
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| | | | | | | |
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| | | | | DDR | | |
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| | | | | config | | |
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| | | | +-------------+ | |
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| | | | | | | |
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| | |<--------|---| Start A53 | | |
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| | | | | and Reset | | |
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| | | | +-------------+ | |
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| | | | | +-----------+ |
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| | |---------|-----------------------|---->| Reset rls | |
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| | | | | +-----------+ |
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| | DMSC | | | : |
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| |Services | | | +-----------+ |
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| | |<--------|-----------------------|---->|*ATF/OPTEE*| |
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| | | | | +-----------+ |
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| | | | | : |
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| | | | | +-----------+ |
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| | |<--------|-----------------------|---->| *A53 SPL* | |
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| | | | | +-----------+ |
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| | | | | | Load | |
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| | | | | | u-boot.img| |
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| | | | | +-----------+ |
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| | | | | : |
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| | | | | +-----------+ |
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| | |<--------|-----------------------|---->| *U-Boot* | |
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| | | | | +-----------+ |
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| | | | | | prompt | |
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| | | | | +-----------+ |
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| +---------+ | | |
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+------------------------------------------------------------------------+
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- Here DMSC acts as master and provides all the critical services. R5/A53
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requests DMSC to get these services done as shown in the above diagram.
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Sources:
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--------
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1. SYSFW:
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Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
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Branch: master
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2. ATF:
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Tree: https://github.com/ARM-software/arm-trusted-firmware.git
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Branch: master
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3. OPTEE:
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Tree: https://github.com/OP-TEE/optee_os.git
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Branch: master
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4. U-Boot:
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Tree: http://git.denx.de/u-boot.git
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Branch: master
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Build procedure:
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----------------
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1. SYSFW:
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$ make CROSS_COMPILE=arm-linux-gnueabihf-
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2. ATF:
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$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
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3. OPTEE:
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$ make PLATFORM=k3-am65x CFG_ARM64_core=y
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4. U-Boot:
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4.1. R5:
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$ make CROSS_COMPILE=arm-linux-gnueabihf- am65x_evm_r5_defconfig O=/tmp/r5
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$ make CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5
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4.2. A53:
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$ make CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53
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$ 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 O=/tmp/a53
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Target Images
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--------------
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Copy the below images to an SD card and boot:
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- sysfw.itb from step 1
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- tiboot3.bin from step 4.1
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- tispl.bin, u-boot.img from 4.2
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Image formats:
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--------------
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- tiboot3.bin:
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+-----------------------+
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| X.509 |
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| Certificate |
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| +-------------------+ |
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| | R5 | |
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| | u-boot-spl.bin | |
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| +-------------------+ |
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| | FIT header | |
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| | +---------------+ | |
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| | | DTB 1...N | | |
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| | +---------------+ | |
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| +-------------------+ |
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+-----------------------+
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- tispl.bin
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+-----------------------+
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| FIT HEADER |
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| +-------------------+ |
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| | A53 ATF | |
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| +-------------------+ |
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| | A53 OPTEE | |
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| +-------------------+ |
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| | A53 SPL | |
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| +-------------------+ |
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| | SPL DTB 1...N | |
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| +-------------------+ |
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+-----------------------+
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- sysfw.itb
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+-----------------------+
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| FIT HEADER |
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| +-------------------+ |
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| | sysfw.bin | |
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| +-------------------+ |
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| | board config | |
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| +-------------------+ |
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| | PM config | |
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| +-------------------+ |
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| | RM config | |
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| +-------------------+ |
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| | Secure config | |
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| +-------------------+ |
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+-----------------------+
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eMMC:
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-----
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ROM supports booting from eMMC from boot0 partition offset 0x0
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Flashing images to eMMC:
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The following commands can be used to download tiboot3.bin, tispl.bin,
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u-boot.img, and sysfw.itb from an SD card and write them to the eMMC boot0
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partition at respective addresses.
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=> mmc dev 0 1
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=> fatload mmc 1 ${loadaddr} tiboot3.bin
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=> mmc write ${loadaddr} 0x0 0x400
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=> fatload mmc 1 ${loadaddr} tispl.bin
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=> mmc write ${loadaddr} 0x400 0x1000
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=> fatload mmc 1 ${loadaddr} u-boot.img
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=> mmc write ${loadaddr} 0x1400 0x2000
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=> fatload mmc 1 ${loadaddr} sysfw.itb
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=> mmc write ${loadaddr} 0x3600 0x800
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To give the ROM access to the boot partition, the following commands must be
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used for the first time:
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=> mmc partconf 0 1 1 1
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=> mmc bootbus 0 1 0 0
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To create a software partition for the rootfs, the following command can be
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used:
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=> gpt write mmc 0 ${partitions}
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eMMC layout:
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boot0 partition (8 MB) user partition
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0x0+----------------------------------+ 0x0+-------------------------+
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| tiboot3.bin (512 KB) | | |
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0x400+----------------------------------+ | |
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| tispl.bin (2 MB) | | |
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0x1400+----------------------------------+ | rootfs |
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| u-boot.img (4 MB) | | |
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0x3400+----------------------------------+ | |
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| environment (128 KB) | | |
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0x3500+----------------------------------+ | |
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| backup environment (128 KB) | | |
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0x3600+----------------------------------+ | |
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| sysfw (1 MB) | | |
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0x3E00+----------------------------------+ +-------------------------+
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Kernel image and DT are expected to be present in the /boot folder of rootfs.
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To boot kernel from eMMC, use the following commands:
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=> setenv mmcdev 0
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=> setenv bootpart 0
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=> boot
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OSPI:
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-----
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ROM supports booting from OSPI from offset 0x0.
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Flashing images to OSPI:
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Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
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and sysfw.itb over tftp and then flash those to OSPI at their respective
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addresses.
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=> sf probe
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=> tftp ${loadaddr} tiboot3.bin
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=> sf update $loadaddr 0x0 $filesize
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=> tftp ${loadaddr} tispl.bin
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=> sf update $loadaddr 0x80000 $filesize
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=> tftp ${loadaddr} u-boot.img
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=> sf update $loadaddr 0x280000 $filesize
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=> tftp ${loadaddr} sysfw.itb
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=> sf update $loadaddr 0x6C0000 $filesize
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Flash layout for OSPI:
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0x0 +----------------------------+
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| ospi.tiboot3(512K) |
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0x80000 +----------------------------+
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| ospi.tispl(2M) |
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0x280000 +----------------------------+
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| ospi.u-boot(4M) |
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0x680000 +----------------------------+
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| ospi.env(128K) |
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0x6A0000 +----------------------------+
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| ospi.env.backup (128K) |
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0x6C0000 +----------------------------+
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| ospi.sysfw(1M) |
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0x7C0000 +----------------------------+
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| padding (256k) |
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0x800000 +----------------------------+
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| ospi.rootfs(UBIFS) |
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+----------------------------+
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Kernel Image and DT are expected to be present in the /boot folder of UBIFS
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ospi.rootfs just like in SD card case. U-Boot looks for UBI volume named
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"rootfs" for rootfs.
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To boot kernel from OSPI, at the U-Boot prompt:
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=> setenv boot ubi
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=> boot
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UART:
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-----
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ROM supports booting from MCU_UART0 via X-Modem protocol. The entire UART-based
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boot process up to U-Boot (proper) prompt goes through different stages and uses
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different UART peripherals as follows:
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WHO | Loading WHAT | HW Module | Protocol
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----------+---------------+-------------+------------
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Boot ROM | tiboot3.bin | MCU_UART0 | X-Modem(*)
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R5 SPL | sysfw.itb | MCU_UART0 | Y-Modem(*)
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R5 SPL | tispl.bin | MAIN_UART0 | Y-Modem
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A53 SPL | u-boot.img | MAIN_UART0 | Y-Modem
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(*) Note that in addition to X/Y-Modem related protocol timeouts the DMSC
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watchdog timeout of 3min (typ.) needs to be observed until System Firmware
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is fully loaded (from sysfw.itb) and started.
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Example bash script sequence for running on a Linux host PC feeding all boot
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artifacts needed to the device:
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MCU_DEV=/dev/ttyUSB1
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MAIN_DEV=/dev/ttyUSB0
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stty -F $MCU_DEV 115200 cs8 -cstopb -parenb
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stty -F $MAIN_DEV 115200 cs8 -cstopb -parenb
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sb --xmodem tiboot3.bin > $MCU_DEV < $MCU_DEV
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sb --ymodem sysfw.itb > $MCU_DEV < $MCU_DEV
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sb --ymodem tispl.bin > $MAIN_DEV < $MAIN_DEV
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sleep 1
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sb --xmodem u-boot.img > $MAIN_DEV < $MAIN_DEV
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