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Bootloader debug usually tends to be a bit dicey prior to DDR and serial port getting active in the system. JTAG typically remains the only practical debug option during the initial bringup. OpenOCD is one of the most popular environment for providing debug capability via a GDB compatible interface for developers to work with. Debugging U-Boot and bootloaders on K3 platform does have a bit of tribal knowledge that is better documented in our common platform documentation. Signed-off-by: Jason Kacines <j-kacines@ti.com> Signed-off-by: Nishanth Menon <nm@ti.com>
272 lines
6.7 KiB
ReStructuredText
272 lines
6.7 KiB
ReStructuredText
.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
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.. sectionauthor:: Vignesh Raghavendra <vigneshr@ti.com>
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AM62 Platforms
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===============
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Introduction:
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-------------
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The AM62 SoC family is the follow on AM335x built on the K3 Multicore
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SoC architecture platform, providing ultra-low-power modes, dual
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display, multi-sensor edge compute, security and other BOM-saving
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integrations. The AM62 SoC targets a broad market to enable
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applications such as Industrial HMI, PLC/CNC/Robot control, Medical
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Equipment, Building Automation, Appliances and more.
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Some highlights of this SoC are:
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* Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster.
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Pin-to-pin compatible options for single and quad core are available.
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* Cortex-M4F for general-purpose or safety usage.
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* Dual display support, providing 24-bit RBG parallel interface and
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OLDI/LVDS-4 Lane x2, up to 200MHz pixel clock support for 2K display
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resolution.
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* Selectable GPU support, up to 8GFLOPS, providing better user experience
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in 3D graphic display case and Android.
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* PRU(Programmable Realtime Unit) support for customized programmable
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interfaces/IOs.
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* Integrated Giga-bit Ethernet switch supporting up to a total of two
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external ports (TSN capable).
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* 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3x eMMC and SD, GPMC for
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NAND/FPGA connection, OSPI memory controller, 3xMcASP for audio,
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1x CSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other peripherals.
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* Dedicated Centralized System Controller for Security, Power, and
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Resource Management.
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* Multiple low power modes support, ex: Deep sleep, Standby, MCU-only,
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enabling battery powered system design.
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More details can be found in the Technical Reference Manual:
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https://www.ti.com/lit/pdf/spruiv7
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Platform information:
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* https://www.ti.com/tool/SK-AM62B
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Boot Flow:
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----------
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Below is the pictorial representation of boot flow:
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.. image:: img/boot_diagram_k3_current.svg
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- Here TIFS acts as master and provides all the critical services. R5/A53
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requests TIFS to get these services done as shown in the above diagram.
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Sources:
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--------
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_boot_sources
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:end-before: .. k3_rst_include_end_boot_sources
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Build procedure:
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----------------
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0. Setup the environment variables:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_common_env_vars_desc
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:end-before: .. k3_rst_include_end_common_env_vars_desc
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_board_env_vars_desc
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:end-before: .. k3_rst_include_end_board_env_vars_desc
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Set the variables corresponding to this platform:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_common_env_vars_defn
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:end-before: .. k3_rst_include_end_common_env_vars_defn
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.. code-block:: bash
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$ export UBOOT_CFG_CORTEXR=am62x_evm_r5_defconfig
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$ export UBOOT_CFG_CORTEXA=am62x_evm_a53_defconfig
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$ export TFA_BOARD=lite
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$ # we dont use any extra TFA parameters
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$ unset TFA_EXTRA_ARGS
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$ export OPTEE_PLATFORM=k3-am62x
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$ export OPTEE_EXTRA_ARGS="CFG_WITH_SOFTWARE_PRNG=y"
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.. am62x_evm_rst_include_start_build_steps
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1. Trusted Firmware-A:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_tfa
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:end-before: .. k3_rst_include_end_build_steps_tfa
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2. OP-TEE:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_optee
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:end-before: .. k3_rst_include_end_build_steps_optee
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3. U-Boot:
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* 4.1 R5:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_spl_r5
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:end-before: .. k3_rst_include_end_build_steps_spl_r5
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* 4.2 A53:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_uboot
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:end-before: .. k3_rst_include_end_build_steps_uboot
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.. am62x_evm_rst_include_end_build_steps
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Target Images
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--------------
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In order to boot we need tiboot3.bin, tispl.bin and u-boot.img. Each SoC
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variant (GP, HS-FS, HS-SE) requires a different source for these files.
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- GP
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* tiboot3-am62x-gp-evm.bin from step 3.1
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* tispl.bin_unsigned, u-boot.img_unsigned from step 3.2
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- HS-FS
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* tiboot3-am62x-hs-fs-evm.bin from step 3.1
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* tispl.bin, u-boot.img from step 3.2
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- HS-SE
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* tiboot3-am62x-hs-evm.bin from step 3.1
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* tispl.bin, u-boot.img from step 3.2
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Image formats:
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--------------
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- tiboot3.bin
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.. image:: img/multi_cert_tiboot3.bin.svg
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- tispl.bin
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.. image:: img/dm_tispl.bin.svg
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A53 SPL DDR Memory Layout
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-------------------------
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.. am62x_evm_rst_include_start_ddr_mem_layout
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This provides an overview memory usage in A53 SPL stage.
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.. list-table::
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:widths: 16 16 16
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:header-rows: 1
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* - Region
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- Start Address
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- End Address
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* - EMPTY
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- 0x80000000
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- 0x80080000
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* - TEXT BASE
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- 0x80080000
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- 0x800d8000
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* - EMPTY
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- 0x800d8000
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- 0x80200000
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* - BMP IMAGE
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- 0x80200000
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- 0x80b77660
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* - STACK
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- 0x80b77660
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- 0x80b77e60
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* - GD
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- 0x80b77e60
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- 0x80b78000
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* - MALLOC
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- 0x80b78000
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- 0x80b80000
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* - EMPTY
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- 0x80b80000
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- 0x80c80000
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* - BSS
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- 0x80c80000
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- 0x80d00000
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* - BLOBS
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- 0x80d00000
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- 0x80d00400
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* - EMPTY
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- 0x80d00400
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- 0x81000000
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.. am62x_evm_rst_include_end_ddr_mem_layout
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Switch Setting for Boot Mode
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----------------------------
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Boot Mode pins provide means to select the boot mode and options before the
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device is powered up. After every POR, they are the main source to populate
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the Boot Parameter Tables.
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The following table shows some common boot modes used on AM62 platform. More
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details can be found in the Technical Reference Manual:
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https://www.ti.com/lit/pdf/spruiv7 under the `Boot Mode Pins` section.
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.. list-table:: Boot Modes
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:widths: 16 16 16
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:header-rows: 1
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* - Switch Label
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- SW2: 12345678
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- SW3: 12345678
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* - SD
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- 01000000
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- 11000010
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* - OSPI
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- 00000000
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- 11001110
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* - EMMC
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- 00000000
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- 11010010
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* - UART
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- 00000000
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- 11011100
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* - USB DFU
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- 00000000
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- 11001010
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For SW2 and SW1, the switch state in the "ON" position = 1.
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Debugging U-Boot
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----------------
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See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
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detailed setup information.
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.. warning::
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**OpenOCD support since**: v0.12.0
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If the default package version of OpenOCD in your development
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environment's distribution needs to be updated, it might be necessary to
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build OpenOCD from the source.
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.. include:: k3.rst
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:start-after: .. k3_rst_include_start_openocd_connect_XDS110
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:end-before: .. k3_rst_include_end_openocd_connect_XDS110
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To start OpenOCD and connect to the board
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.. code-block:: bash
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openocd -f board/ti_am625evm.cfg
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