summaryrefslogtreecommitdiff
path: root/board/ti/j721e/README
blob: 5be7d099db962d4bd325493a8e3aa99171867bec (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
Introduction:
-------------
The J721e family of SoCs are part of K3 Multicore SoC architecture platform
targeting automotive applications. They are designed as a low power, high
performance and highly integrated device architecture, adding significant
enhancement on processing power, graphics capability, video and imaging
processing, virtualization and coherent memory support.

The device is partitioned into three functional domains, each containing
specific processing cores and peripherals:
1. Wake-up (WKUP) domain:
	- Device Management and Security Controller (DMSC)
2. Microcontroller (MCU) domain:
	- Dual Core ARM Cortex-R5F processor
3. MAIN domain:
	- Dual core 64-bit ARM Cortex-A72
	- 2 x Dual cortex ARM Cortex-R5 subsystem
	- 2 x C66x Digital signal processor sub system
	- C71x Digital signal processor sub-system with MMA.

More info can be found in TRM: http://www.ti.com/lit/pdf/spruil1

Boot Flow:
----------
Boot flow is similar to that of AM65x SoC and extending it with remoteproc
support. Below is the pictorial representation of boot flow:

+------------------------------------------------------------------------+-----------------------+
|        DMSC            |      MCU R5           |        A72            |  MAIN R5/C66x/C7x     |
+------------------------------------------------------------------------+-----------------------+
|    +--------+          |                       |                       |                       |
|    |  Reset |          |                       |                       |                       |
|    +--------+          |                       |                       |                       |
|         :              |                       |                       |                       |
|    +--------+          |   +-----------+       |                       |                       |
|    | *ROM*  |----------|-->| Reset rls |       |                       |                       |
|    +--------+          |   +-----------+       |                       |                       |
|    |        |          |         :             |                       |                       |
|    |  ROM   |          |         :             |                       |                       |
|    |services|          |         :             |                       |                       |
|    |        |          |   +-------------+     |                       |                       |
|    |        |          |   |  *R5 ROM*   |     |                       |                       |
|    |        |          |   +-------------+     |                       |                       |
|    |        |<---------|---|Load and auth|     |                       |                       |
|    |        |          |   | tiboot3.bin |     |                       |                       |
|    |        |          |   +-------------+     |                       |                       |
|    |        |          |         :             |                       |                       |
|    |        |          |         :             |                       |                       |
|    |        |          |         :             |                       |                       |
|    |        |          |   +-------------+     |                       |                       |
|    |        |          |   |  *R5 SPL*   |     |                       |                       |
|    |        |          |   +-------------+     |                       |                       |
|    |        |          |   |    Load     |     |                       |                       |
|    |        |          |   |  sysfw.itb  |     |                       |                       |
|    | Start  |          |   +-------------+     |                       |                       |
|    | System |<---------|---|    Start    |     |                       |                       |
|    |Firmware|          |   |    SYSFW    |     |                       |                       |
|    +--------+          |   +-------------+     |                       |                       |
|        :               |   |             |     |                       |                       |
|    +---------+         |   |   Load      |     |                       |                       |
|    | *SYSFW* |         |   |   system    |     |                       |                       |
|    +---------+         |   | Config data |     |                       |                       |
|    |         |<--------|---|             |     |                       |                       |
|    |         |         |   +-------------+     |                       |                       |
|    |         |         |   |    DDR      |     |                       |                       |
|    |         |         |   |   config    |     |                       |                       |
|    |         |         |   +-------------+     |                       |                       |
|    |         |         |   |    Load     |     |                       |                       |
|    |         |         |   |  tispl.bin  |     |                       |                       |
|    |         |         |   +-------------+     |                       |                       |
|    |         |         |   |   Load R5   |     |                       |                       |
|    |         |         |   |   firmware  |     |                       |                       |
|    |         |         |   +-------------+     |                       |                       |
|    |         |<--------|---| Start A72   |     |                       |                       |
|    |         |         |   | and jump to |     |                       |                       |
|    |         |         |   | next image  |     |                       |                       |
|    |         |         |   +-------------+     |                       |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |---------|-----------------------|---->| Reset rls |     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |  DMSC   |         |                       |          :            |                       |
|    |Services |         |                       |     +-----------+     |                       |
|    |         |<--------|-----------------------|---->|*ATF/OPTEE*|     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |         |                       |          :            |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |<--------|-----------------------|---->| *A72 SPL* |     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |         |                       |     |   Load    |     |                       |
|    |         |         |                       |     | u-boot.img|     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |         |                       |          :            |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |<--------|-----------------------|---->| *U-Boot*  |     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |         |                       |     |  prompt   |     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |         |                       |     |  Load R5  |     |                       |
|    |         |         |                       |     |  Firmware |     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |<--------|-----------------------|-----|  Start R5 |     |      +-----------+    |
|    |         |---------|-----------------------|-----+-----------+-----|----->| R5 starts |    |
|    |         |         |                       |     |  Load C6  |     |      +-----------+    |
|    |         |         |                       |     |  Firmware |     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |<--------|-----------------------|-----|  Start C6 |     |      +-----------+    |
|    |         |---------|-----------------------|-----+-----------+-----|----->| C6 starts |    |
|    |         |         |                       |     |  Load C7  |     |      +-----------+    |
|    |         |         |                       |     |  Firmware |     |                       |
|    |         |         |                       |     +-----------+     |                       |
|    |         |<--------|-----------------------|-----|  Start C7 |     |      +-----------+    |
|    |         |---------|-----------------------|-----+-----------+-----|----->| C7 starts |    |
|    +---------+         |                       |                       |      +-----------+    |
|                        |                       |                       |                       |
+------------------------------------------------------------------------+-----------------------+

- Here DMSC acts as master and provides all the critical services. R5/A72
requests DMSC to get these services done as shown in the above diagram.

Sources:
--------
1. SYSFW:
	Tree: git://git.ti.com/processor-firmware/system-firmware-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://gitlab.denx.de/u-boot/u-boot
	Branch: master

Build procedure:
----------------
1. SYSFW:
$ make CROSS_COMPILE=arm-linux-gnueabihf-

2. ATF:
$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed

3. OPTEE:
$ make PLATFORM=k3-j721e CFG_ARM64_core=y

4. U-Boot:

4.1. R5:
$ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- j721e_evm_r5_defconfig O=/tmp/r5
$ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5

4.2. A72:
$ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- j721e_evm_a72_defconfig O=/tmp/a72
$ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- ATF=<path to ATF dir>/build/k3/generic/release/bl31.bin TEE=<path to OPTEE OS dir>/out/arm-plat-k3/core/tee-pager.bin O=/tmp/a72

Target Images
--------------
Copy the below images to an SD card and boot:
- sysfw.itb from step 1
- tiboot3.bin from step 4.1
- tispl.bin, u-boot.img from 4.2

Image formats:
--------------

- tiboot3.bin:
                +-----------------------+
                |        X.509          |
                |      Certificate      |
                | +-------------------+ |
                | |                   | |
                | |        R5         | |
                | |   u-boot-spl.bin  | |
                | |                   | |
                | +-------------------+ |
                | |                   | |
                | |     FIT header    | |
                | | +---------------+ | |
                | | |               | | |
                | | |   DTB 1...N   | | |
                | | +---------------+ | |
                | +-------------------+ |
                +-----------------------+

- tispl.bin
                +-----------------------+
                |                       |
                |       FIT HEADER      |
                | +-------------------+ |
                | |                   | |
                | |      A72 ATF      | |
                | +-------------------+ |
                | |                   | |
                | |     A72 OPTEE     | |
                | +-------------------+ |
                | |                   | |
                | |      A72 SPL      | |
                | +-------------------+ |
                | |                   | |
                | |   SPL DTB 1...N   | |
                | +-------------------+ |
                +-----------------------+

- sysfw.itb
                +-----------------------+
                |                       |
                |       FIT HEADER      |
                | +-------------------+ |
                | |                   | |
                | |     sysfw.bin     | |
                | +-------------------+ |
                | |                   | |
                | |    board config   | |
                | +-------------------+ |
                | |                   | |
                | |     PM config     | |
                | +-------------------+ |
                | |                   | |
                | |     RM config     | |
                | +-------------------+ |
                | |                   | |
                | |    Secure config  | |
                | +-------------------+ |
                +-----------------------+