Add base documentation for BeagleBone AI-64.
Signed-off-by: Nishanth Menon nm@ti.com --- doc/board/beagle/index.rst | 1 + doc/board/beagle/j721e_beagleboneai64.rst | 327 ++++++++++++++++++++++ doc/board/ti/k3.rst | 1 + 3 files changed, 329 insertions(+) create mode 100644 doc/board/beagle/j721e_beagleboneai64.rst
diff --git a/doc/board/beagle/index.rst b/doc/board/beagle/index.rst index e6f9b7480d31..9124546ebc79 100644 --- a/doc/board/beagle/index.rst +++ b/doc/board/beagle/index.rst @@ -11,3 +11,4 @@ ARM based boards :maxdepth: 2
am62x_beagleplay + j721e_beagleboneai64 diff --git a/doc/board/beagle/j721e_beagleboneai64.rst b/doc/board/beagle/j721e_beagleboneai64.rst new file mode 100644 index 000000000000..d6b9c8ca606a --- /dev/null +++ b/doc/board/beagle/j721e_beagleboneai64.rst @@ -0,0 +1,327 @@ +.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +.. sectionauthor:: Nishanth Menon nm@ti.com + +J721E/TDA4VM Beagleboard.org BeagleBone AI-64 +============================================= + +Introduction: +------------- + +BeagleBoard.org BeagleBone AI-64 is an open source hardware single +board computer based on the Texas Instruments TDA4VM SoC featuring +dual-core 2.0GHz Arm Cortex-A72 processor, C7x+MMA and 2 C66x +floating-point VLIW DSPs, 3x dual ARM Cortex-R5 co-processors, +2x 6-core Programmable Real-Time Unit and Industrial Communication +SubSystem, PowerVR Rogue 8XE GE8430 3D GPU. The board features 4GB +DDR4, USB3.0 Type-C, 2x USB SS Type-A, miniDisplayPort, 2x 4-lane +CSI, DSI, 16GB eMMC flash, 1G Ethernet, M.2 E-key for WiFi/BT, and +BeagleBone expansion headers. + +Further information can be found at: + +* Product Page: https://beagleboard.org/ai-64 +* Hardware documentation: https://git.beagleboard.org/beagleboard/beaglebone-ai-64 + +Boot Flow: +---------- +Below is the pictorial representation of boot flow: + +.. image:: ../ti/img/boot_diagram_j721e.svg + :alt: Boot flow diagram + +- On this platform, DMSC runs 'TI Foundational Security' (TIFS) which + functions as the security enclave master. The 'Device Manager' (DM), + also known as the 'TISCI server' in "TI terminology", running on boot + R5F, offers all the essential services required for device management. + The A72, C7x, C6x or R5F (Aux cores) sends requests to TIFS/DM to + accomplish the needed services, as illustrated in the diagram above. + +Sources: +-------- +.. include:: ../ti/k3.rst + :start-after: .. k3_rst_include_start_boot_sources + :end-before: .. k3_rst_include_end_boot_sources + +Build procedure: +---------------- +0. Setup the environment variables: + +.. include:: ../ti/k3.rst + :start-after: .. k3_rst_include_start_common_env_vars_desc + :end-before: .. k3_rst_include_end_common_env_vars_desc + +.. include:: ../ti/k3.rst + :start-after: .. k3_rst_include_start_board_env_vars_desc + :end-before: .. k3_rst_include_end_board_env_vars_desc + +Set the variables corresponding to this platform: + +.. include:: ../ti/k3.rst + :start-after: .. k3_rst_include_start_common_env_vars_defn + :end-before: .. k3_rst_include_end_common_env_vars_defn +.. prompt:: bash $ + + export UBOOT_CFG_CORTEXR=j721e_beagleboneai64_r5_defconfig + export UBOOT_CFG_CORTEXA=j721e_beagleboneai64_a72_defconfig + export TFA_BOARD=generic + # we dont use any extra TFA parameters + unset TFA_EXTRA_ARGS + export OPTEE_PLATFORM=k3-j721e + # we dont use any extra OP-TEE parameters + unset OPTEE_EXTRA_ARGS + +.. include:: ../ti/j721e_evm.rst + :start-after: .. j721e_evm_rst_include_start_build_steps + :end-before: .. j721e_evm_rst_include_end_build_steps + +Target Images +-------------- +Copy the below images to an SD card and boot: + +* tiboot3-j721e-gp-evm.bin from R5 build as tiboot3.bin +* tispl.bin_unsigned from Cortex-A build as tispl.bin +* u-boot.img_unsigned from Cortex-A build as u-boot.img + +Image formats +------------- + +- tiboot3.bin + +.. image:: ../ti/img/no_multi_cert_tiboot3.bin.svg + :alt: tiboot3.bin image format + +- tispl.bin + +.. image:: ../ti/img/dm_tispl.bin.svg + :alt: tispl.bin image format + +- sysfw.itb + +.. image:: ../ti/img/sysfw.itb.svg + :alt: sysfw.itb image format + +Additional hardware for U-Boot development +------------------------------------------ + +* Serial Console is critical for U-Boot development on BeagleBone AI-64. See + `BeagleBone AI-64 connector documentation + https://docs.beagleboard.org/latest/boards/beaglebone/ai-64/ch07.html`_. +* uSD is preferred option over eMMC, and a SD/MMC reader will be needed. +* (optionally) JTAG is useful when working with very early stages of boot. + +Default storage options +----------------------- + +There are multiple storage media options on BeagleBone AI-64, but primarily: + +* Onboard eMMC (default) - reliable, fast and meant for deployment use. +* SD/MMC card interface (hold 'BOOT' switch and power on) - Entirely + depends on the SD card quality. + +Flash to uSD card or how to deal with "bricked" Board +-------------------------------------------------------- + +When deploying or working on Linux, it's common to use the onboard +eMMC. However, avoiding the eMMC and using the uSD card is safer when +working with U-Boot. + +If you choose to hand format your own bootable uSD card, be +aware that it can be difficult. The following information +may be helpful, but remember that it is only sometimes +reliable, and partition options can cause issues. These +can potentially help: + +* https://git.ti.com/cgit/arago-project/tisdk-setup-scripts/tree/create-sdcard... +* https://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD + +The simplest option is to start with a standard distribution +image like those in `BeagleBoard.org Distros Page +https://www.beagleboard.org/distros`_ and download a disk image for +BeagleBone AI-64. Pick a 16GB+ uSD card to be on the safer side. + +With an SD/MMC Card reader and `Balena Etcher +https://etcher.balena.io/`_, having a functional setup in minutes is +a trivial matter, and it works on almost all Host Operating Systems. +Yes Windows users, Windows Subsystem for Linux(WSL) based development +with U-Boot and update uSD card is practical. + +Updating U-Boot is a matter of copying the tiboot3.bin, tispl.bin and +u-boot.img to the "BOOT" partition of the uSD card. Remember to sync +and unmount (or Eject - depending on the Operating System) the uSD +card prior to physically removing from SD card reader. + +Also see following section on switch setting used for booting using +uSD card. + +.. note:: + Great news! If the board has not been damaged physically, there's no + need to worry about it being "bricked" on this platform. You only have + to flash an uSD card, plug it in, and reinstall the image on eMMC. This + means that even if you make a mistake, you can quickly fix it and rest + easy. + + If you are frequently working with uSD cards, you might find the + following useful: + + * `USB-SD-Mux https://www.linux-automation.com/en/products/usb-sd-mux.html`_ + * `SD-Wire https://wiki.tizen.org/SDWire`_ + +Flash to eMMC +------------- + +The eMMC layout selected is user-friendly for developers. The +boot hardware partition of the eMMC only contains the fixed-size +tiboot3.bin image. This is because the contents of the boot partitions +need to run from the SoC's internal SRAM, which remains a fixed size +constant. The other components of the boot sequence, such as tispl.bin +and u-boot.img, are located in the /BOOT partition in the User Defined +Area (UDA) hardware partition of the eMMC. These components can vary +significantly in size. The choice of keeping tiboot3.bin in boot0 or +boot1 partition depends on A/B update requirements. + +.. image:: img/beagleplay_emmc.svg + :alt: eMMC partitions and boot file organization for BeagleBone AI-64 + +The following are the steps from Linux shell to program eMMC: + +.. prompt:: bash # + + # Enable Boot0 boot + mmc bootpart enable 1 2 /dev/mmcblk0 + mmc bootbus set single_backward x1 x8 /dev/mmcblk0 + mmc hwreset enable /dev/mmcblk0 + + # Clear eMMC boot0 + echo '0' >> /sys/class/block/mmcblk0boot0/force_ro + dd if=/dev/zero of=/dev/mmcblk0boot0 count=32 bs=128k + # Write tiboot3.bin + dd if=tiboot3.bin of=/dev/mmcblk0boot0 bs=128k + + # Copy the rest of the boot binaries + mount /dev/mmcblk0p1 /boot/firmware + cp tispl.bin /boot/firmware + cp u-boot.img /boot/firmware + sync + +.. warning :: + + U-Boot is configured to prioritize booting from an SD card if it + detects a valid boot partition and boot files on it, even if the + system initially booted from eMMC. The boot order is set as follows: + + * SD/MMC + * eMMC + * USB + * PXE + +LED patterns during boot +------------------------ + +.. list-table:: USR LED status indication + :widths: 16 16 + :header-rows: 1 + + * - USR LEDs (012345) + - Indicates + + * - 00000 + - Boot failure or R5 image not started up + + * - 11111 + - A53 SPL/U-boot has started up + + * - 10101 + - OS boot process has been initiated + + * - 01010 + - OS boot process failed and drops to U-Boot shell + +.. note :: + + In the table above, 0 indicates LED switched off and 1 indicates LED + switched ON. + +.. warning :: + + The green LED very next to the serial connector labelled "WKUP UART0" + is the power LED (LED6). This is the same color as the rest of the USR + LEDs. If the "green" LED6 power LED is not glowing, the system power + supply is not functional. Please refer to `BeagleBone AI-64 documentation + https://beagleboard.org/ai-64/`_ for further information. + +Switch Setting for Boot Mode +---------------------------- + +The boot time option is configured via "BOOT" button on the board. +See `BeagleBone AI-64 Schematics https://git.beagleboard.org/beagleboard/beaglebone-ai-64/-/blob/main/BeagleBone_AI-64_SCH.pdf`_ +for details. + +.. list-table:: Boot Modes + :widths: 16 16 16 + :header-rows: 1 + + * - BOOT Switch Position + - Primary Boot + - Secondary Boot + + * - Not Pressed + - eMMC + - SD Card + + * - Pressed + - SD Card + - SD Card + +To switch to SD card boot mode, hold the BOOT button while powering on +with Type-C power supply, then release when power LED lights up. + +Debugging U-Boot +---------------- + +See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for +detailed setup and debugging information. + +.. warning:: + + **OpenOCD support since**: v0.12.0 + + If the default package version of OpenOCD in your development + environment's distribution needs to be updated, it might be necessary to + build OpenOCD from the source. + +.. include:: ../ti/k3.rst + :start-after: .. k3_rst_include_start_openocd_connect_tag_connect + :end-before: .. k3_rst_include_end_openocd_connect_tag_connect + +.. include:: ../ti/k3.rst + :start-after: .. k3_rst_include_start_openocd_cfg_external_intro + :end-before: .. k3_rst_include_end_openocd_cfg_external_intro + +For example, with BeagleBone AI-64 (J721e platform), the openocd_connect.cfg: + +.. code-block:: tcl + + # TUMPA example: + # http://www.tiaowiki.com/w/TIAO_USB_Multi_Protocol_Adapter_User%27s_Manual + source [find interface/ftdi/tumpa.cfg] + + transport select jtag + + # default JTAG configuration has only SRST and no TRST + reset_config srst_only srst_push_pull + + # delay after SRST goes inactive + adapter srst delay 20 + + if { ![info exists SOC] } { + # Set the SoC of interest + set SOC j721e + } + + source [find target/ti_k3.cfg] + + ftdi tdo_sample_edge falling + + # Speeds for FT2232H are in multiples of 2, and 32MHz is tops + # max speed we seem to achieve is ~20MHz.. so we pick 16MHz + adapter speed 16000 diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst index 45f62fb094e8..723cfe2703b7 100644 --- a/doc/board/ti/k3.rst +++ b/doc/board/ti/k3.rst @@ -36,6 +36,7 @@ K3 Based SoCs am64x_evm am65x_evm j7200_evm + ../beagle/j721e_beagleboneai64 j721e_evm j721s2_evm