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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>
254 lines
6.4 KiB
ReStructuredText
254 lines
6.4 KiB
ReStructuredText
.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
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.. sectionauthor:: Lokesh Vutla <lokeshvutla@ti.com>
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J721E Platforms
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===============
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Introduction:
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-------------
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The J721e family of SoCs are part of K3 Multicore SoC architecture platform
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targeting automotive applications. They are designed as a low power, high
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performance and highly integrated device architecture, adding significant
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enhancement on processing power, graphics capability, video and imaging
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processing, virtualization and coherent memory support.
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The device is partitioned into three functional domains, each containing
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specific processing cores 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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* Dual core 64-bit ARM Cortex-A72
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* 2 x Dual cortex ARM Cortex-R5 subsystem
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* 2 x C66x Digital signal processor sub system
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* C71x Digital signal processor sub-system with MMA.
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More info can be found in TRM: http://www.ti.com/lit/pdf/spruil1
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Platform information:
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* https://www.ti.com/tool/J721EXSOMXEVM
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* https://www.ti.com/tool/SK-TDA4VM
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Boot Flow:
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----------
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Boot flow is similar to that of AM65x SoC and extending it with remoteproc
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support. Below is the pictorial representation of boot flow:
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.. image:: img/boot_diagram_j721e.svg
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- Here DMSC acts as master and provides all the critical services. R5/A72
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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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.. include:: 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:: 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:: 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:: 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=j721e_evm_r5_defconfig
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$ export UBOOT_CFG_CORTEXA=j721e_evm_a72_defconfig
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$ export TFA_BOARD=generic
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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-j721e
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$ # we dont use any extra OP-TEE parameters
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$ unset OPTEE_EXTRA_ARGS
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.. j721e_evm_rst_include_start_build_steps
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1. Trusted Firmware-A:
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.. include:: 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:: 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:: 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 A72:
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.. include:: 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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.. j721e_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, sysfw.itb, tispl.bin and u-boot.img.
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Each SoC variant (GP, HS-FS and HS-SE) requires a different source for these
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files.
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- GP
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* tiboot3-j721e-gp-evm.bin, sysfw-j721e-gp-evm.itb from step 4.1
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* tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
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- HS-FS
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* tiboot3-j721e_sr2-hs-fs-evm.bin, sysfw-j721e_sr2-hs-fs-evm.itb from step 4.1
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* tispl.bin, u-boot.img from step 4.2
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- HS-SE
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* tiboot3-j721e_sr2-hs-evm.bin, sysfw-j721e_sr2-hs-evm.itb from step 4.1
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* tispl.bin, u-boot.img from step 4.2
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Image formats:
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--------------
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- tiboot3.bin
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.. image:: img/no_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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- sysfw.itb
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.. image:: img/sysfw.itb.svg
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R5 Memory Map:
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--------------
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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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* - SPL
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- 0x41c00000
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- 0x41c40000
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* - EMPTY
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- 0x41c40000
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- 0x41c81920
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* - STACK
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- 0x41c85920
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- 0x41c81920
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* - Global data
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- 0x41c859f0
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- 0x41c85920
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* - Heap
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- 0x41c859f0
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- 0x41cf59f0
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* - BSS
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- 0x41cf59f0
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- 0x41cff9f0
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* - MCU Scratchpad
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- 0x41cff9fc
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- 0x41cffbfc
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* - ROM DATA
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- 0x41cffbfc
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- 0x41cfffff
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OSPI:
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-----
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ROM supports booting from OSPI from offset 0x0.
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Flashing images to OSPI:
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Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
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and sysfw.itb over tftp and then flash those to OSPI at their respective
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addresses.
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.. code-block:: text
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=> sf probe
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=> tftp ${loadaddr} tiboot3.bin
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=> sf update $loadaddr 0x0 $filesize
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=> tftp ${loadaddr} tispl.bin
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=> sf update $loadaddr 0x80000 $filesize
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=> tftp ${loadaddr} u-boot.img
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=> sf update $loadaddr 0x280000 $filesize
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=> tftp ${loadaddr} sysfw.itb
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=> sf update $loadaddr 0x6C0000 $filesize
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Flash layout for OSPI:
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.. image:: img/ospi_sysfw.svg
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Firmwares:
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----------
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The J721e u-boot allows firmware to be loaded for the Cortex-R5 subsystem.
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The CPSW5G in J7200 and CPSW9G in J721E present in MAIN domain is configured
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and controlled by the ethernet firmware that executes in the MAIN Cortex R5.
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The default supported environment variables support loading these firmwares
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from only MMC. "dorprocboot" env variable has to be set for the U-BOOT to load
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and start the remote cores in the system.
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J721E common processor board can be attached to a Ethernet QSGMII card and the
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PHY in the card has to be reset before it can be used for data transfer.
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"do_main_cpsw0_qsgmii_phyinit" env variable has to be set for the U-BOOT to
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configure this PHY.
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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_j721eevm.cfg
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