.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause .. sectionauthor:: Nishanth Menon J721E/TDA4VM Beagleboard.org BeagleBone AI-64 ============================================= Introduction: ------------- BeagleBoard.org BeagleBone AI-64 is an open source hardware single board computer based on the Texas Instruments TDA4VM SoC featuring dual-core 2.0GHz Arm Cortex-A72 processor, C7x+MMA and 2 C66x floating-point VLIW DSPs, 3x dual ARM Cortex-R5 co-processors, 2x 6-core Programmable Real-Time Unit and Industrial Communication SubSystem, PowerVR Rogue 8XE GE8430 3D GPU. The board features 4GB DDR4, USB3.0 Type-C, 2x USB SS Type-A, miniDisplayPort, 2x 4-lane CSI, DSI, 16GB eMMC flash, 1G Ethernet, M.2 E-key for WiFi/BT, and BeagleBone expansion headers. Further information can be found at: * Product Page: https://beagleboard.org/ai-64 * Hardware documentation: https://git.beagleboard.org/beagleboard/beaglebone-ai-64 Boot Flow: ---------- Below is the pictorial representation of boot flow: .. image:: ../ti/img/boot_diagram_j721e.svg :alt: Boot flow diagram - On this platform, DMSC runs 'TI Foundational Security' (TIFS) which functions as the security enclave master. The 'Device Manager' (DM), also known as the 'TISCI server' in "TI terminology", running on boot R5F, offers all the essential services required for device management. The A72, C7x, C6x or R5F (Aux cores) sends requests to TIFS/DM to accomplish the needed services, as illustrated in the diagram above. Sources: -------- .. include:: ../ti/k3.rst :start-after: .. k3_rst_include_start_boot_sources :end-before: .. k3_rst_include_end_boot_sources Build procedure: ---------------- 0. Setup the environment variables: .. include:: ../ti/k3.rst :start-after: .. k3_rst_include_start_common_env_vars_desc :end-before: .. k3_rst_include_end_common_env_vars_desc .. include:: ../ti/k3.rst :start-after: .. k3_rst_include_start_board_env_vars_desc :end-before: .. k3_rst_include_end_board_env_vars_desc Set the variables corresponding to this platform: .. include:: ../ti/k3.rst :start-after: .. k3_rst_include_start_common_env_vars_defn :end-before: .. k3_rst_include_end_common_env_vars_defn .. prompt:: bash $ export UBOOT_CFG_CORTEXR=j721e_beagleboneai64_r5_defconfig export UBOOT_CFG_CORTEXA=j721e_beagleboneai64_a72_defconfig export TFA_BOARD=generic # we dont use any extra TFA parameters unset TFA_EXTRA_ARGS export OPTEE_PLATFORM=k3-j721e # we dont use any extra OP-TEE parameters unset OPTEE_EXTRA_ARGS .. include:: ../ti/j721e_evm.rst :start-after: .. j721e_evm_rst_include_start_build_steps :end-before: .. j721e_evm_rst_include_end_build_steps Target Images -------------- Copy the below images to an SD card and boot: * tiboot3-j721e-gp-evm.bin from R5 build as tiboot3.bin * tispl.bin_unsigned from Cortex-A build as tispl.bin * u-boot.img_unsigned from Cortex-A build as u-boot.img Image formats ------------- - tiboot3.bin .. image:: ../ti/img/no_multi_cert_tiboot3.bin.svg :alt: tiboot3.bin image format - tispl.bin .. image:: ../ti/img/dm_tispl.bin.svg :alt: tispl.bin image format - sysfw.itb .. image:: ../ti/img/sysfw.itb.svg :alt: sysfw.itb image format Additional hardware for U-Boot development ------------------------------------------ * Serial Console is critical for U-Boot development on BeagleBone AI-64. See `BeagleBone AI-64 connector documentation `_. * uSD is preferred option over eMMC, and a SD/MMC reader will be needed. * (optionally) JTAG is useful when working with very early stages of boot. Default storage options ----------------------- There are multiple storage media options on BeagleBone AI-64, but primarily: * Onboard eMMC (default) - reliable, fast and meant for deployment use. * SD/MMC card interface (hold 'BOOT' switch and power on) - Entirely depends on the SD card quality. Flash to uSD card or how to deal with "bricked" Board -------------------------------------------------------- When deploying or working on Linux, it's common to use the onboard eMMC. However, avoiding the eMMC and using the uSD card is safer when working with U-Boot. If you choose to hand format your own bootable uSD card, be aware that it can be difficult. The following information may be helpful, but remember that it is only sometimes reliable, and partition options can cause issues. These can potentially help: * https://git.ti.com/cgit/arago-project/tisdk-setup-scripts/tree/create-sdcard.sh * https://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD The simplest option is to start with a standard distribution image like those in `BeagleBoard.org Distros Page `_ and download a disk image for BeagleBone AI-64. Pick a 16GB+ uSD card to be on the safer side. With an SD/MMC Card reader and `Balena Etcher `_, having a functional setup in minutes is a trivial matter, and it works on almost all Host Operating Systems. Yes Windows users, Windows Subsystem for Linux(WSL) based development with U-Boot and update uSD card is practical. Updating U-Boot is a matter of copying the tiboot3.bin, tispl.bin and u-boot.img to the "BOOT" partition of the uSD card. Remember to sync and unmount (or Eject - depending on the Operating System) the uSD card prior to physically removing from SD card reader. Also see following section on switch setting used for booting using uSD card. .. note:: Great news! If the board has not been damaged physically, there's no need to worry about it being "bricked" on this platform. You only have to flash an uSD card, plug it in, and reinstall the image on eMMC. This means that even if you make a mistake, you can quickly fix it and rest easy. If you are frequently working with uSD cards, you might find the following useful: * `USB-SD-Mux `_ * `SD-Wire `_ Flash to eMMC ------------- The eMMC layout selected is user-friendly for developers. The boot hardware partition of the eMMC only contains the fixed-size tiboot3.bin image. This is because the contents of the boot partitions need to run from the SoC's internal SRAM, which remains a fixed size constant. The other components of the boot sequence, such as tispl.bin and u-boot.img, are located in the /BOOT partition in the User Defined Area (UDA) hardware partition of the eMMC. These components can vary significantly in size. The choice of keeping tiboot3.bin in boot0 or boot1 partition depends on A/B update requirements. .. image:: img/beagleplay_emmc.svg :alt: eMMC partitions and boot file organization for BeagleBone AI-64 The following are the steps from Linux shell to program eMMC: .. prompt:: bash # # Enable Boot0 boot mmc bootpart enable 1 2 /dev/mmcblk0 mmc bootbus set single_backward x1 x8 /dev/mmcblk0 mmc hwreset enable /dev/mmcblk0 # Clear eMMC boot0 echo '0' >> /sys/class/block/mmcblk0boot0/force_ro dd if=/dev/zero of=/dev/mmcblk0boot0 count=32 bs=128k # Write tiboot3.bin dd if=tiboot3.bin of=/dev/mmcblk0boot0 bs=128k # Copy the rest of the boot binaries mount /dev/mmcblk0p1 /boot/firmware cp tispl.bin /boot/firmware cp u-boot.img /boot/firmware sync .. warning :: U-Boot is configured to prioritize booting from an SD card if it detects a valid boot partition and boot files on it, even if the system initially booted from eMMC. The boot order is set as follows: * SD/MMC * eMMC * USB * PXE LED patterns during boot ------------------------ .. list-table:: USR LED status indication :widths: 16 16 :header-rows: 1 * - USR LEDs (012345) - Indicates * - 00000 - Boot failure or R5 image not started up * - 11111 - A53 SPL/U-boot has started up * - 10101 - OS boot process has been initiated * - 01010 - OS boot process failed and drops to U-Boot shell .. note :: In the table above, 0 indicates LED switched off and 1 indicates LED switched ON. .. warning :: The green LED very next to the serial connector labelled "WKUP UART0" is the power LED (LED6). This is the same color as the rest of the USR LEDs. If the "green" LED6 power LED is not glowing, the system power supply is not functional. Please refer to `BeagleBone AI-64 documentation `_ for further information. Switch Setting for Boot Mode ---------------------------- The boot time option is configured via "BOOT" button on the board. See `BeagleBone AI-64 Schematics `_ for details. .. list-table:: Boot Modes :widths: 16 16 16 :header-rows: 1 * - BOOT Switch Position - Primary Boot - Secondary Boot * - Not Pressed - eMMC - SD Card * - Pressed - SD Card - SD Card To switch to SD card boot mode, hold the BOOT button while powering on with Type-C power supply, then release when power LED lights up. Debugging U-Boot ---------------- See :ref:`Common Debugging environment - OpenOCD`: for detailed setup and debugging information. .. warning:: **OpenOCD support since**: v0.12.0 If the default package version of OpenOCD in your development environment's distribution needs to be updated, it might be necessary to build OpenOCD from the source. .. include:: ../ti/k3.rst :start-after: .. k3_rst_include_start_openocd_connect_tag_connect :end-before: .. k3_rst_include_end_openocd_connect_tag_connect .. include:: ../ti/k3.rst :start-after: .. k3_rst_include_start_openocd_cfg_external_intro :end-before: .. k3_rst_include_end_openocd_cfg_external_intro For example, with BeagleBone AI-64 (J721e platform), the openocd_connect.cfg: .. code-block:: tcl # TUMPA example: # http://www.tiaowiki.com/w/TIAO_USB_Multi_Protocol_Adapter_User's_Manual source [find interface/ftdi/tumpa.cfg] transport select jtag # default JTAG configuration has only SRST and no TRST reset_config srst_only srst_push_pull # delay after SRST goes inactive adapter srst delay 20 if { ![info exists SOC] } { # Set the SoC of interest set SOC j721e } source [find target/ti_k3.cfg] ftdi tdo_sample_edge falling # Speeds for FT2232H are in multiples of 2, and 32MHz is tops # max speed we seem to achieve is ~20MHz.. so we pick 16MHz adapter speed 16000