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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>
313 lines
8 KiB
ReStructuredText
313 lines
8 KiB
ReStructuredText
.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
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.. sectionauthor:: Neha Francis <n-francis@ti.com>
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AM65x Platforms
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===============
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Introduction:
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-------------
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The AM65x family of SoCs is the first device family from K3 Multicore
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SoC architecture, targeted for broad market and industrial control with
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aim to meet the complex processing needs of modern embedded products.
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The device is built over three domains, each containing specific processing
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cores, voltage domains 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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* Quad core 64-bit ARM Cortex-A53
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More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7
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Platform information:
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* https://www.ti.com/tool/TMDX654GPEVM
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Boot Flow:
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----------
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On AM65x family devices, ROM supports boot only via MCU(R5). This means that
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bootloader has to run on R5 core. In order to meet this constraint, and for
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the following reasons the boot flow is designed as mentioned:
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1. Need to move away from R5 asap, so that we want to start *any*
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firmware on the R5 cores for example autosar can be loaded to receive CAN
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response and other safety operations to be started. This operation is
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very time critical and is applicable for all automotive use cases.
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2. U-Boot on A53 should start other remotecores for various
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applications. This should happen before running Linux.
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3. In production boot flow, we might not like to use full U-Boot,
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instead use Falcon boot flow to reduce boot time.
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.. image:: img/boot_diagram_am65.svg
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- Here DMSC acts as master and provides all the critical services. R5/A53
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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=am65x_evm_r5_defconfig
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$ export UBOOT_CFG_CORTEXA=am65x_evm_a53_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-am65x
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$ # we dont use any extra OP-TEE parameters
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$ unset OPTEE_EXTRA_ARGS
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.. am65x_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 A53:
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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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.. am65x_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 and HS) requires a different source for these files.
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- GP
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* tiboot3-am65x_sr2-gp-evm.bin, sysfw-am65x_sr2-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
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* tiboot3-am65x_sr2-hs-evm.bin, sysfw-am65x_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/nodm_tispl.bin.svg
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- sysfw.itb
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.. image:: img/sysfw.itb.svg
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eMMC:
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-----
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ROM supports booting from eMMC from boot0 partition offset 0x0
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Flashing images to eMMC:
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The following commands can be used to download tiboot3.bin, tispl.bin,
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u-boot.img, and sysfw.itb from an SD card and write them to the eMMC boot0
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partition at respective addresses.
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.. code-block:: text
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=> mmc dev 0 1
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=> fatload mmc 1 ${loadaddr} tiboot3.bin
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=> mmc write ${loadaddr} 0x0 0x400
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=> fatload mmc 1 ${loadaddr} tispl.bin
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=> mmc write ${loadaddr} 0x400 0x1000
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=> fatload mmc 1 ${loadaddr} u-boot.img
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=> mmc write ${loadaddr} 0x1400 0x2000
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=> fatload mmc 1 ${loadaddr} sysfw.itb
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=> mmc write ${loadaddr} 0x3600 0x800
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To give the ROM access to the boot partition, the following commands must be
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used for the first time:
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.. code-block:: text
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=> mmc partconf 0 1 1 1
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=> mmc bootbus 0 1 0 0
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To create a software partition for the rootfs, the following command can be
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used:
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.. code-block:: text
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=> gpt write mmc 0 ${partitions}
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eMMC layout:
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.. image:: img/emmc_am65x_evm_boot0.svg
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Kernel image and DT are expected to be present in the /boot folder of rootfs.
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To boot kernel from eMMC, use the following commands:
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.. code-block:: text
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=> setenv mmcdev 0
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=> setenv bootpart 0
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=> boot
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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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Kernel Image and DT are expected to be present in the /boot folder of UBIFS
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ospi.rootfs just like in SD card case. U-Boot looks for UBI volume named
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"rootfs" for rootfs.
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To boot kernel from OSPI, at the U-Boot prompt:
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.. code-block:: text
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=> setenv boot ubi
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=> boot
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UART:
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-----
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ROM supports booting from MCU_UART0 via X-Modem protocol. The entire UART-based
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boot process up to U-Boot (proper) prompt goes through different stages and uses
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different UART peripherals as follows:
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.. list-table:: ROM UART Boot Responsibilities
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:widths: 16 16 16 16
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:header-rows: 1
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* - Who
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- Loading What
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- Hardware Module
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- Protocol
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* - Boot ROM
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- tiboot3.bin
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- MCU_UART0
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- X-Modem(*)
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* - R5 SPL
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- sysfw.itb
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- MCU_UART0
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- Y-Modem(*)
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* - R5 SPL
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- tispl.bin
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- MAIN_UART0
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- Y-Modem
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* - A53 SPL
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- u-boot.img
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- MAIN_UART0
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- Y-Modem
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Note that in addition to X/Y-Modem related protocol timeouts the DMSC
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watchdog timeout of 3min (typ.) needs to be observed until System Firmware
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is fully loaded (from sysfw.itb) and started.
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Example bash script sequence for running on a Linux host PC feeding all boot
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artifacts needed to the device:
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.. code-block:: text
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MCU_DEV=/dev/ttyUSB1
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MAIN_DEV=/dev/ttyUSB0
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stty -F $MCU_DEV 115200 cs8 -cstopb -parenb
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stty -F $MAIN_DEV 115200 cs8 -cstopb -parenb
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sb --xmodem tiboot3.bin > $MCU_DEV < $MCU_DEV
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sb --ymodem sysfw.itb > $MCU_DEV < $MCU_DEV
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sb --ymodem tispl.bin > $MAIN_DEV < $MAIN_DEV
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sleep 1
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sb --xmodem u-boot.img > $MAIN_DEV < $MAIN_DEV
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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_am654evm.cfg
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