.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause .. sectionauthor:: Udit Kumar J7200 Platforms =============== Introduction: ------------- The J7200 family of SoCs are part of K3 Multicore SoC architecture platform targeting automotive applications. They are designed as a low power, high performance and highly integrated device architecture, adding significant enhancement on processing power, graphics capability, video and imaging processing, virtualization and coherent memory support. The device is partitioned into three functional domains, each containing specific processing cores and peripherals: 1. Wake-up (WKUP) domain: * Device Management and Security Controller (DMSC) 2. Microcontroller (MCU) domain: * Dual Core ARM Cortex-R5F processor 3. MAIN domain: * Dual core 64-bit ARM Cortex-A72 More info can be found in TRM: https://www.ti.com/lit/pdf/spruiu1 Boot Flow: ---------- Below is the pictorial representation of boot flow: .. code-block:: text +------------------------------------------------------------------------+-----------------------+ | DMSC | MCU R5 | A72 | MAIN R5/C7x | +------------------------------------------------------------------------+-----------------------+ | +--------+ | | | | | | Reset | | | | | | +--------+ | | | | | : | | | | | +--------+ | +-----------+ | | | | | *ROM* |----------|-->| Reset rls | | | | | +--------+ | +-----------+ | | | | | | | : | | | | | ROM | | : | | | | |services| | : | | | | | | | +-------------+ | | | | | | | | *R5 ROM* | | | | | | | | +-------------+ | | | | | |<---------|---|Load and auth| | | | | | | | | tiboot3.bin | | | | | | Start | | +-------------+ | | | | | TIFS |<---------|---| Start | | | | | | | | | TIFS | | | | | +--------+ | +-------------+ | | | | : | | | | | | | +---------+ | | Load | | | | | | *TIFS* | | | system | | | | | +---------+ | | Config data | | | | | | |<--------|---| | | | | | | | | +-------------+ | | | | | | | : | | | | | | | : | | | | | | | : | | | | | | | +-------------+ | | | | | | | | *R5 SPL* | | | | | | | | +-------------+ | | | | | | | | DDR | | | | | | | | | config | | | | | | | | +-------------+ | | | | | | | | Load | | | | | | | | | tispl.bin | | | | | | | | +-------------+ | | | | | | | | Load R5 | | | | | | | | | firmware | | | | | | | | +-------------+ | | | | | |<--------|---| Start A72 | | | | | | | | | and jump to | | | | | | | | | DM fw image | | | | | | | | +-------------+ | | | | | | | | +-----------+ | | | | |---------|-----------------------|---->| Reset rls | | | | | | | | +-----------+ | | | | TIFS | | | : | | | |Services | | | +-------------+ | | | | |<--------|-----------------------|---->|*TF-A/OP-TEE*| | | | | | | | +-------------+ | | | | | | | : | | | | | | | +-----------+ | | | | |<--------|-----------------------|---->| *A72 SPL* | | | | | | | | +-----------+ | | | | | | | | Load | | | | | | | | | u-boot.img| | | | | | | | +-----------+ | | | | | | | : | | | | | | | +-----------+ | | | | |<--------|-----------------------|---->| *U-Boot* | | | | | | | | +-----------+ | | | | | | | | prompt | | | | | | | | +-----------+ | | | | | | | | Load R5 | | | | | | | | | Firmware | | | | | | | | +-----------+ | | | | |<--------|-----------------------|-----| Start R5 | | +-----------+ | | | |---------|-----------------------|-----+-----------+-----|----->| R5 starts | | | | | | | | Load C7 | | +-----------+ | | | | | | | Firmware | | | | | | | | +-----------+ | | | | |<--------|-----------------------|-----| Start C7 | | +-----------+ | | | |---------|-----------------------|-----+-----------+-----|----->| C7 starts | | | | | | | | +-----------+ | | | | | | | | | +---------+ | | | | | | | | | +------------------------------------------------------------------------+-----------------------+ - Here DMSC acts as master and provides all the critical services. R5/A72 requests DMSC to get these services done as shown in the above diagram. Sources: -------- 1. Trusted Firmware-A: Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/ Branch: master 2. OP-TEE: Tree: https://github.com/OP-TEE/optee_os.git Branch: master 3. U-Boot: Tree: https://source.denx.de/u-boot/u-boot Branch: master 4. TI Linux Firmware: Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git Branch: ti-linux-firmware Build procedure: ---------------- 1. Trusted Firmware-A: .. code-block:: bash $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed 2. OP-TEE: .. code-block:: bash $ make PLATFORM=k3-j7200 CFG_ARM64_core=y 3. U-Boot: * 4.1 R5: .. code-block:: bash $ make CROSS_COMPILE=arm-linux-gnueabihf- j7200_evm_r5_defconfig O=build/r5 $ make CROSS_COMPILE=arm-linux-gnueabihf- \ BINMAN_INDIRS= * 4.2 A72: .. code-block:: bash $ make CROSS_COMPILE=aarch64-linux-gnu- j7200_evm_a72_defconfig O=build/a72 $ make CROSS_COMPILE=aarch64-linux-gnu- \ BL31=/build/k3/generic/release/bl31.bin \ TEE=/out/arm-plat-k3/core/tee-raw.bin \ BINMAN_INDIRS= Target Images -------------- Copy the below images to an SD card and boot: - GP * tiboot3-j7200-gp-evm.bin from step 4.1 * tispl.bin_unsigned, u-boot.img_unsigned from step 4.2 - HS-FS * tiboot3-j7200_sr2-hs-fs-evm.bin from step 4.1 * tispl.bin, u-boot.img from step 4.2 - HS-SE * tiboot3-j7200_sr2-hs-evm.bin from step 4.1 * tispl.bin, u-boot.img from step 4.2 Image formats: -------------- - tiboot3.bin: .. code-block:: console +-----------------------+ | X.509 | | Certificate | | +-------------------+ | | | | | | | R5 | | | | u-boot-spl.bin | | | | | | | +-------------------+ | | | | | | | FIT header | | | | +---------------+ | | | | | | | | | | | DTB 1...N | | | | | +---------------+ | | | +-------------------+ | | | | | | | FIT HEADER | | | | +---------------+ | | | | | | | | | | | sysfw.bin | | | | | +---------------+ | | | | | | | | | | | board config | | | | | +---------------+ | | | | | | | | | | | PM config | | | | | +---------------+ | | | | | | | | | | | RM config | | | | | +---------------+ | | | | | | | | | | | Secure config | | | | | +---------------+ | | | +-------------------+ | +-----------------------+ - tispl.bin .. code-block:: console +-----------------------+ | | | FIT HEADER | | +-------------------+ | | | | | | | A72 TF-A | | | +-------------------+ | | | | | | | A72 OP-TEE | | | +-------------------+ | | | | | | | R5 DM FW | | | +-------------------+ | | | | | | | A72 SPL | | | +-------------------+ | | | | | | | SPL DTB 1...N | | | +-------------------+ | +-----------------------+ 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 J7200 platform. More details can be found in the Technical Reference Manual: https://www.ti.com/lit/pdf/spruiu1 under the `Boot Mode Pins` section. *Boot Modes* ============ ============= ============= Switch Label SW9: 12345678 SW8: 12345678 ============ ============= ============= SD 00000000 10000010 EMMC 01000000 10000000 OSPI 01000000 00000110 UART 01110000 00000000 USB DFU 00100000 10000000 ============ ============= ============= For SW8 and SW9, the switch state in the "ON" position = 1. eMMC: ----- ROM supports booting from eMMC raw read or UDA FS mode. Below is memory layout in case of booting from boot 0/1 partition in raw mode. Current allocated size for tiboot3 size is 1MB, tispl is 2MB. Size of u-boot.img is taken 4MB for refernece, But this is subject to change depending upon atf, optee size .. code-block:: console boot0/1 partition (8 MB) user partition 0x0+----------------------------------+ 0x0+------------------------+ | tiboot3.bin (1 MB) | | | 0x800+----------------------------------+ | | | tispl.bin (2 MB) | | | 0x1800+----------------------------------+ | | | u-boot.img (4MB) | | | 0x3800+----------------------------------+ | | | | | | 0x3900+ environment | | | | | | | 0x3A00+----------------------------------+ +-------------------------+ In case of UDA FS mode booting, following is layout. All boot images tiboot3.bin, tispl and u-boot should be written to fat formatted UDA FS as file. .. code-block:: console boot0/1 partition (8 MB) user partition 0x0+---------------------------------+ 0x0+-------------------------+ | | | tiboot3.bin* | 0x800+----------------------------------+ | | | | | tispl.bin | 0x1800+----------------------------------+ | | | | | u-boot.img | 0x3800+----------------------------------+ | | | | | | 0x3900+ | | environment | | | | | 0x3A00+----------------------------------+ +-------------------------+ In case of booting from eMMC, write above images into raw or UDA FS. and set mmc partconf accordingly.