doc: board: ti: Update documentation for binman flow
Earlier documentation specified builds for generating bootloader images
using an external TI repository k3-image-gen and core-secdev-k3. Modify
this to using the binman flow so that user understands how to build the
final boot images.
Reviewed-by: Simon Glass <sjg@chromium.org>
Signed-off-by: Neha Malcom Francis <n-francis@ti.com>
diff --git a/doc/board/ti/am65x_evm.rst b/doc/board/ti/am65x_evm.rst
new file mode 100644
index 0000000..300cd3e
--- /dev/null
+++ b/doc/board/ti/am65x_evm.rst
@@ -0,0 +1,420 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Neha Francis <n-francis@ti.com>
+
+AM65x Platforms
+===============
+
+Introduction:
+-------------
+The AM65x family of SoCs is the first device family from K3 Multicore
+SoC architecture, targeted for broad market and industrial control with
+aim to meet the complex processing needs of modern embedded products.
+
+The device is built over three domains, each containing specific processing
+cores, voltage domains 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:
+ * Quad core 64-bit ARM Cortex-A53
+
+More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7
+
+Boot Flow:
+----------
+On AM65x family devices, ROM supports boot only via MCU(R5). This means that
+bootloader has to run on R5 core. In order to meet this constraint, and for
+the following reasons the boot flow is designed as mentioned:
+
+1. Need to move away from R5 asap, so that we want to start *any*
+firmware on the R5 cores for example autosar can be loaded to receive CAN
+response and other safety operations to be started. This operation is
+very time critical and is applicable for all automotive use cases.
+
+2. U-Boot on A53 should start other remotecores for various
+applications. This should happen before running Linux.
+
+3. In production boot flow, we might not like to use full U-Boot,
+instead use Falcon boot flow to reduce boot time.
+
+.. code-block:: text
+
+ +------------------------------------------------------------------------+
+ | DMSC | R5 | A53 |
+ +------------------------------------------------------------------------+
+ | +--------+ | | |
+ | | 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 | | |
+ | | | | +-------------+ | |
+ | | | | | | | |
+ | | |<--------|---| Start A53 | | |
+ | | | | | and Reset | | |
+ | | | | +-------------+ | |
+ | | | | | +-----------+ |
+ | | |---------|-----------------------|---->| Reset rls | |
+ | | | | | +-----------+ |
+ | | DMSC | | | : |
+ | |Services | | | +------------+ |
+ | | |<--------|-----------------------|---->|*ATF/OP-TEE*| |
+ | | | | | +------------+ |
+ | | | | | : |
+ | | | | | +-----------+ |
+ | | |<--------|-----------------------|---->| *A53 SPL* | |
+ | | | | | +-----------+ |
+ | | | | | | Load | |
+ | | | | | | u-boot.img| |
+ | | | | | +-----------+ |
+ | | | | | : |
+ | | | | | +-----------+ |
+ | | |<--------|-----------------------|---->| *U-Boot* | |
+ | | | | | +-----------+ |
+ | | | | | | prompt | |
+ | | | | | +-----------+ |
+ | +---------+ | | |
+ | | | |
+ +------------------------------------------------------------------------+
+
+- Here DMSC acts as master and provides all the critical services. R5/A53
+ requests DMSC to get these services done as shown in the above diagram.
+
+Sources:
+--------
+1. Trusted Firmware-A:
+ Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
+ Branch: master
+
+2. OP-TEE:
+ Tree: https://github.com/OP-TEE/optee_os.git
+ Branch: master
+
+3. U-Boot:
+ Tree: https://source.denx.de/u-boot/u-boot
+ Branch: master
+
+4. TI Linux Firmware:
+ Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
+ Branch: ti-linux-firmware
+
+Build procedure:
+----------------
+1. Trusted Firmware-A:
+
+.. code-block:: bash
+
+ $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 \
+ TARGET_BOARD=generic SPD=opteed
+
+2. OP-TEE:
+
+.. code-block:: bash
+
+ $ make PLATFORM=k3-am65x CFG_ARM64_core=y
+
+3. U-Boot:
+
+* 4.1 R5:
+
+.. code-block:: bash
+
+ $ make am65x_evm_r5_defconfig
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
+
+* 4.2 A53:
+
+.. code-block:: bash
+
+ $ make am65x_evm_a53_defconfig
+ $ make CROSS_COMPILE=aarch64-linux-gnu- \
+ BL31=<path/to/trusted-firmware-a/dir>/build/k3/generic/release/bl31.bin \
+ TEE=<path/to/optee_os/dir>/out/arm-plat-k3/core/tee-raw.bin \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
+
+Target Images
+--------------
+Copy the below images to an SD card and boot:
+
+- GP
+
+ * tiboot3-am65x_sr2-gp-evm.bin, sysfw-am65x_sr2-gp-evm.itb from step 4.1
+ * tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
+
+- HS
+
+ * tiboot3-am65x_sr2-hs-evm.bin, sysfw-am65x_sr2-hs-evm.itb from step 4.1
+ * tispl.bin, u-boot.img from step 4.2
+
+Image formats:
+--------------
+
+- tiboot3.bin:
+
+.. code-block:: text
+
+ +-----------------------+
+ | X.509 |
+ | Certificate |
+ | +-------------------+ |
+ | | | |
+ | | R5 | |
+ | | u-boot-spl.bin | |
+ | | | |
+ | +-------------------+ |
+ | | | |
+ | | FIT header | |
+ | | +---------------+ | |
+ | | | | | |
+ | | | DTB 1...N | | |
+ | | +---------------+ | |
+ | +-------------------+ |
+ +-----------------------+
+
+- tispl.bin
+
+.. code-block:: text
+
+ +-----------------------+
+ | |
+ | FIT HEADER |
+ | +-------------------+ |
+ | | | |
+ | | A53 ATF | |
+ | +-------------------+ |
+ | | | |
+ | | A53 OP-TEE | |
+ | +-------------------+ |
+ | | | |
+ | | A53 SPL | |
+ | +-------------------+ |
+ | | | |
+ | | SPL DTB 1...N | |
+ | +-------------------+ |
+ +-----------------------+
+
+- sysfw.itb
+
+.. code-block:: text
+
+ +-----------------------+
+ | |
+ | FIT HEADER |
+ | +-------------------+ |
+ | | | |
+ | | sysfw.bin | |
+ | +-------------------+ |
+ | | | |
+ | | board config | |
+ | +-------------------+ |
+ | | | |
+ | | PM config | |
+ | +-------------------+ |
+ | | | |
+ | | RM config | |
+ | +-------------------+ |
+ | | | |
+ | | Secure config | |
+ | +-------------------+ |
+ +-----------------------+
+
+eMMC:
+-----
+ROM supports booting from eMMC from boot0 partition offset 0x0
+
+Flashing images to eMMC:
+
+The following commands can be used to download tiboot3.bin, tispl.bin,
+u-boot.img, and sysfw.itb from an SD card and write them to the eMMC boot0
+partition at respective addresses.
+
+.. code-block:: text
+
+ => mmc dev 0 1
+ => fatload mmc 1 ${loadaddr} tiboot3.bin
+ => mmc write ${loadaddr} 0x0 0x400
+ => fatload mmc 1 ${loadaddr} tispl.bin
+ => mmc write ${loadaddr} 0x400 0x1000
+ => fatload mmc 1 ${loadaddr} u-boot.img
+ => mmc write ${loadaddr} 0x1400 0x2000
+ => fatload mmc 1 ${loadaddr} sysfw.itb
+ => mmc write ${loadaddr} 0x3600 0x800
+
+To give the ROM access to the boot partition, the following commands must be
+used for the first time:
+
+.. code-block:: text
+
+ => mmc partconf 0 1 1 1
+ => mmc bootbus 0 1 0 0
+
+To create a software partition for the rootfs, the following command can be
+used:
+
+.. code-block:: text
+
+ => gpt write mmc 0 ${partitions}
+
+eMMC layout:
+
+.. code-block:: text
+
+ boot0 partition (8 MB) user partition
+ 0x0+----------------------------------+ 0x0+-------------------------+
+ | tiboot3.bin (512 KB) | | |
+ 0x400+----------------------------------+ | |
+ | tispl.bin (2 MB) | | |
+ 0x1400+----------------------------------+ | rootfs |
+ | u-boot.img (4 MB) | | |
+ 0x3400+----------------------------------+ | |
+ | environment (128 KB) | | |
+ 0x3500+----------------------------------+ | |
+ | backup environment (128 KB) | | |
+ 0x3600+----------------------------------+ | |
+ | sysfw (1 MB) | | |
+ 0x3E00+----------------------------------+ +-------------------------+
+
+Kernel image and DT are expected to be present in the /boot folder of rootfs.
+To boot kernel from eMMC, use the following commands:
+
+.. code-block:: text
+
+ => setenv mmcdev 0
+ => setenv bootpart 0
+ => boot
+
+OSPI:
+-----
+ROM supports booting from OSPI from offset 0x0.
+
+Flashing images to OSPI:
+
+Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
+and sysfw.itb over tftp and then flash those to OSPI at their respective
+addresses.
+
+.. code-block:: text
+
+ => sf probe
+ => tftp ${loadaddr} tiboot3.bin
+ => sf update $loadaddr 0x0 $filesize
+ => tftp ${loadaddr} tispl.bin
+ => sf update $loadaddr 0x80000 $filesize
+ => tftp ${loadaddr} u-boot.img
+ => sf update $loadaddr 0x280000 $filesize
+ => tftp ${loadaddr} sysfw.itb
+ => sf update $loadaddr 0x6C0000 $filesize
+
+Flash layout for OSPI:
+
+.. code-block:: text
+
+ 0x0 +----------------------------+
+ | ospi.tiboot3(512K) |
+ | |
+ 0x80000 +----------------------------+
+ | ospi.tispl(2M) |
+ | |
+ 0x280000 +----------------------------+
+ | ospi.u-boot(4M) |
+ | |
+ 0x680000 +----------------------------+
+ | ospi.env(128K) |
+ | |
+ 0x6A0000 +----------------------------+
+ | ospi.env.backup (128K) |
+ | |
+ 0x6C0000 +----------------------------+
+ | ospi.sysfw(1M) |
+ | |
+ 0x7C0000 +----------------------------+
+ | padding (256k) |
+ 0x800000 +----------------------------+
+ | ospi.rootfs(UBIFS) |
+ | |
+ +----------------------------+
+
+Kernel Image and DT are expected to be present in the /boot folder of UBIFS
+ospi.rootfs just like in SD card case. U-Boot looks for UBI volume named
+"rootfs" for rootfs.
+
+To boot kernel from OSPI, at the U-Boot prompt:
+
+.. code-block:: text
+
+ => setenv boot ubi
+ => boot
+
+UART:
+-----
+ROM supports booting from MCU_UART0 via X-Modem protocol. The entire UART-based
+boot process up to U-Boot (proper) prompt goes through different stages and uses
+different UART peripherals as follows:
+
+.. code-block:: text
+
+ +---------+---------------+-------------+------------+
+ | WHO | Loading WHAT | HW Module | Protocol |
+ +---------+---------------+-------------+------------+
+ |Boot ROM | tiboot3.bin | MCU_UART0 | X-Modem(*)|
+ |R5 SPL | sysfw.itb | MCU_UART0 | Y-Modem(*)|
+ |R5 SPL | tispl.bin | MAIN_UART0 | Y-Modem |
+ |A53 SPL | u-boot.img | MAIN_UART0 | Y-Modem |
+ +---------+---------------+-------------+------------+
+
+Note that in addition to X/Y-Modem related protocol timeouts the DMSC
+watchdog timeout of 3min (typ.) needs to be observed until System Firmware
+is fully loaded (from sysfw.itb) and started.
+
+Example bash script sequence for running on a Linux host PC feeding all boot
+artifacts needed to the device:
+
+.. code-block:: text
+
+ MCU_DEV=/dev/ttyUSB1
+ MAIN_DEV=/dev/ttyUSB0
+
+ stty -F $MCU_DEV 115200 cs8 -cstopb -parenb
+ stty -F $MAIN_DEV 115200 cs8 -cstopb -parenb
+
+ sb --xmodem tiboot3.bin > $MCU_DEV < $MCU_DEV
+ sb --ymodem sysfw.itb > $MCU_DEV < $MCU_DEV
+ sb --ymodem tispl.bin > $MAIN_DEV < $MAIN_DEV
+ sleep 1
+ sb --xmodem u-boot.img > $MAIN_DEV < $MAIN_DEV