.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause .. sectionauthor:: Vignesh Raghavendra Texas Instruments AM62 Platforms ================================ Introduction: ------------- The AM62 SoC family is the follow on AM335x built on the K3 Multicore SoC architecture platform, providing ultra-low-power modes, dual display, multi-sensor edge compute, security and other BOM-saving integrations. The AM62 SoC targets a broad market to enable applications such as Industrial HMI, PLC/CNC/Robot control, Medical Equipment, Building Automation, Appliances and more. Some highlights of this SoC are: * Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster. Pin-to-pin compatible options for single and quad core are available. * Cortex-M4F for general-purpose or safety usage. * Dual display support, providing 24-bit RBG parallel interface and OLDI/LVDS-4 Lane x2, up to 200MHz pixel clock support for 2K display resolution. * Selectable GPU support, up to 8GFLOPS, providing better user experience in 3D graphic display case and Android. * PRU(Programmable Realtime Unit) support for customized programmable interfaces/IOs. * Integrated Giga-bit Ethernet switch supporting up to a total of two external ports (TSN capable). * 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3x eMMC and SD, GPMC for NAND/FPGA connection, OSPI memory controller, 3xMcASP for audio, 1x CSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other peripherals. * Dedicated Centralized System Controller for Security, Power, and Resource Management. * Multiple low power modes support, ex: Deep sleep, Standby, MCU-only, enabling battery powered system design. More details can be found in the Technical Reference Manual: https://www.ti.com/lit/pdf/spruiv7 Boot Flow: ---------- Below is the pictorial representation of boot flow: .. code-block:: text +------------------------------------------------------------------------+ | TIFS | Main R5 | A53 | +------------------------------------------------------------------------+ | +--------+ | | | | | Reset | | | | | +--------+ | | | | : | | | | +--------+ | +-----------+ | | | | *ROM* |----------|-->| Reset rls | | | | +--------+ | +-----------+ | | | | | | : | | | | ROM | | : | | | |services| | : | | | | | | +-------------+ | | | | | | | *R5 ROM* | | | | | | | +-------------+ | | | | |<---------|---|Load and auth| | | | | | | | tiboot3.bin | | | | +--------+ | +-------------+ | | | | |<---------|---| Load sysfw | | | | | | | | part to TIFS| | | | | | | | core | | | | | | | +-------------+ | | | | | | : | | | | | | : | | | | | | : | | | | | | +-------------+ | | | | | | | *R5 SPL* | | | | | | | +-------------+ | | | | | | | DDR | | | | | | | | config | | | | | | | +-------------+ | | | | | | | Load | | | | | | | | tispl.bin | | | | | | | +-------------+ | | | | | | | Load R5 | | | | | | | | firmware | | | | | | | +-------------+ | | | | |<---------|---| Start A53 | | | | | | | | and jump to | | | | | | | | DM fw image | | | | | | | +-------------+ | | | | | | | +-----------+ | | | |----------|-----------------------|---->| Reset rls | | | | | | | +-----------+ | | | TIFS | | | : | | |Services| | | +-----------+ | | | |<---------|-----------------------|---->|*ATF/OPTEE*| | | | | | | +-----------+ | | | | | | : | | | | | | +-----------+ | | | |<---------|-----------------------|---->| *A53 SPL* | | | | | | | +-----------+ | | | | | | | Load | | | | | | | | u-boot.img| | | | | | | +-----------+ | | | | | | : | | | | | | +-----------+ | | | |<---------|-----------------------|---->| *U-Boot* | | | | | | | +-----------+ | | | | | | | prompt | | | | |----------|-----------------------|-----+-----------+-----| | +--------+ | | | | | | | +------------------------------------------------------------------------+ - Here TIFS acts as master and provides all the critical services. R5/A53 requests TIFS to get these services done as shown in the above diagram. Sources: -------- 1. SYSFW: Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git Branch: master 2. ATF: Tree: https://github.com/ARM-software/arm-trusted-firmware.git Branch: master 3. OPTEE: Tree: https://github.com/OP-TEE/optee_os.git Branch: master 4. U-Boot: Tree: https://source.denx.de/u-boot/u-boot Branch: master 5. TI Linux Firmware: Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git Branch: ti-linux-firmware Build procedure: ---------------- 1. ATF: .. code-block:: text $ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=lite SPD=opteed 2. OPTEE: .. code-block:: text $ make PLATFORM=k3 CFG_ARM64_core=y CROSS_COMPILE=arm-none-linux-gnueabihf- CROSS_COMPILE64=aarch64-none-linux-gnu- 3. U-Boot: * 3.1 R5: .. code-block:: text $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- am62x_evm_r5_defconfig O=/tmp/r5 $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- O=/tmp/r5 $ cd $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=am62x SBL=/tmp/r5/spl/u-boot-spl.bin SYSFW_PATH=/ti-sysfw/ti-fs-firmware-am62x-gp.bin Use the tiboot3.bin generated from last command * 3.2 A53: .. code-block:: text $ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- am62x_evm_a53_defconfig O=/tmp/a53 $ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- ATF=/build/k3/lite/release/bl31.bin TEE=/out/arm-plat-k3/core/tee-pager_v2.bin DM=/ti-dm/am62xx/ipc_echo_testb_mcu1_0_release_strip.xer5f O=/tmp/a53 Target Images -------------- Copy the below images to an SD card and boot: - tiboot3.bin from step 3.1 - tispl.bin, u-boot.img from 3.2 Image formats: -------------- - tiboot3.bin: .. code-block:: text +-----------------------+ | X.509 | | Certificate | | +-------------------+ | | | | | | | R5 | | | | u-boot-spl.bin | | | | | | | +-------------------+ | | | | | | |TIFS with board cfg| | | | | | | +-------------------+ | | | | | | | | | | | FIT header | | | | +---------------+ | | | | | | | | | | | DTB 1...N | | | | | +---------------+ | | | +-------------------+ | +-----------------------+ - tispl.bin .. code-block:: text +-----------------------+ | | | FIT HEADER | | +-------------------+ | | | | | | | A53 ATF | | | +-------------------+ | | | | | | | A53 OPTEE | | | +-------------------+ | | | | | | | R5 DM FW | | | +-------------------+ | | | | | | | A53 SPL | | | +-------------------+ | | | | | | | SPL DTB 1...N | | | +-------------------+ | +-----------------------+