mirror of
https://github.com/AsahiLinux/u-boot
synced 2024-11-18 18:59:44 +00:00
142 lines
7.1 KiB
Text
142 lines
7.1 KiB
Text
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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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| | Start | | | *R5 SPL* | | |
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| | System | | +-------------+ | |
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| |Firmware|<---------|---|Load and auth| | |
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| +--------+ | | sysfw bin | | |
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| : | +-------------+ | |
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| +---------+ | | DDR | | |
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| | *SYSFW* | | | config | | |
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| +---------+ | +-------------+ | |
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| | |<--------|---| Load | | |
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| | | | | tispl.bin | | |
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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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System Firmware repo is closed source and the binaries are delivered
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to users with NDA. Please contact TI to get the System Firmware
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Binary named ti-sci-firmware-am6x.bin that runs on AM65x SoC.
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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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ROM expects a signed binary that contains the X509 certificate. So
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the binary ti-sci-firmware-am6x.bin cannot be uses as-is and needs to be signed.
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Contact TI on the procedure to sign the system firmware binary.
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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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TBD.
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4.2. A53:
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$ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53
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$ 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
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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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- tiboot3.bin from step 4.1
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- tispl.bin, u-boot.img from 4.2
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