TI K3 J784S4 and AM69 are new additions to the K3 SoC family. Add documentation about the J784S4 EVM and AM69 SK.
Signed-off-by: Dasnavis Sabiya sabiya.d@ti.com Signed-off-by: Apurva Nandan a-nandan@ti.com --- board/ti/j784s4/MAINTAINERS | 1 + doc/board/ti/j784s4_evm.rst | 299 ++++++++++++++++++++++++++++++++++++ doc/board/ti/k3.rst | 1 + 3 files changed, 301 insertions(+) create mode 100644 doc/board/ti/j784s4_evm.rst
diff --git a/board/ti/j784s4/MAINTAINERS b/board/ti/j784s4/MAINTAINERS index 46f4ba5da96..b7605ff335b 100644 --- a/board/ti/j784s4/MAINTAINERS +++ b/board/ti/j784s4/MAINTAINERS @@ -10,6 +10,7 @@ F: arch/arm/dts/k3-j784s4-evm-u-boot.dtsi F: arch/arm/dts/k3-j784s4-r5-evm.dts F: arch/arm/dts/k3-j784s4-ddr.dtsi F: arch/arm/dts/k3-j784s4-ddr-evm-lp4-4266.dtsi +F: doc/board/ti/j784s4_evm.rst
AM69 SK BOARD M: Apurva Nandan a-nandan@ti.com diff --git a/doc/board/ti/j784s4_evm.rst b/doc/board/ti/j784s4_evm.rst new file mode 100644 index 00000000000..5c4bd2c927d --- /dev/null +++ b/doc/board/ti/j784s4_evm.rst @@ -0,0 +1,299 @@ +.. SPDX-License-Identifier: GPL-2.0-or-later OR BSD-3-Clause +.. sectionauthor:: Apurva Nandan a-nandan@ti.com + +J784S4 and AM69 Platforms +========================= + +Introduction +------------ +The J784S4 SoC belongs to the K3 Multicore SoC architecture +platform, providing advanced system integration in automotive, +ADAS and industrial applications requiring AI at the network edge. +This SoC extends the K3 Jacinto 7 family of SoCs with focus on +raising performance and integration while providing interfaces, +memory architecture and compute performance for multi-sensor, high +concurrency applications. + +The device is partitioned into three functional domains, each containing +specific processing cores and peripherals: + +1. Wake-up (WKUP) domain + * ARM Cortex-M4F processor, runs TI Foundational Security (TIFS) + +2. Microcontroller (MCU) domain + * Dual core ARM Cortex-R5F processor, runs device management + and SoC early boot + +3. MAIN domain + * Two clusters of quad core 64-bit ARM Cortex-A72, runs HLOS + * Dual core ARM Cortex-R5F processor used for RTOS applications + * Four C7x DSPs used for Machine Learning applications. + + +More info can be found in TRM: http://www.ti.com/lit/zip/spruj52 + +Platform information: + +* https://www.ti.com/tool/J784S4XEVM +* https://www.ti.com/tool/SK-AM69 + +Boot Flow +--------- +Below is the pictorial representation of boot flow: + +.. image:: img/boot_diagram_k3_current.svg + :alt: K3 boot flow + +- On this platform, "TI Foundational Security" (TIFS) functions as the + security enclave master. While "Device Manager" (DM), also known as the + "TISCI server" in TI terminology, offers all the essential services. + +- As illustrated in the diagram above, R5 SPL manages power and clock + services independently before handing over control to DM. The A72 or + the C7x (Aux core) software components request TIFS/DM to handle + security or device management services. + +Sources +------- + +.. include:: 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:: k3.rst + :start-after: .. k3_rst_include_start_common_env_vars_desc + :end-before: .. k3_rst_include_end_common_env_vars_desc + +.. include:: 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:: k3.rst + :start-after: .. k3_rst_include_start_common_env_vars_defn + :end-before: .. k3_rst_include_end_common_env_vars_defn +.. code-block:: bash + + $ export UBOOT_CFG_CORTEXR=j784s4_evm_r5_defconfig + $ export UBOOT_CFG_CORTEXA=j784s4_evm_a72_defconfig + $ export TFA_BOARD=j784s4 + $ export TFA_EXTRA_ARGS="K3_USART=0x8" + $ export OPTEE_PLATFORM=k3-j784s4 + $ export OPTEE_EXTRA_ARGS="CFG_CONSOLE_UART=0x8" + +.. j784s4_evm_rst_include_start_build_steps + +1. Trusted Firmware-A + +.. include:: k3.rst + :start-after: .. k3_rst_include_start_build_steps_tfa + :end-before: .. k3_rst_include_end_build_steps_tfa + + +2. OP-TEE + +.. include:: k3.rst + :start-after: .. k3_rst_include_start_build_steps_optee + :end-before: .. k3_rst_include_end_build_steps_optee + +3. U-Boot + +.. _j784s4_evm_rst_u_boot_r5: + +* 3.1 R5 + +.. include:: k3.rst + :start-after: .. k3_rst_include_start_build_steps_spl_r5 + :end-before: .. k3_rst_include_end_build_steps_spl_r5 + +.. _j784s4_evm_rst_u_boot_a72: + +* 3.2 A72 + +.. include:: k3.rst + :start-after: .. k3_rst_include_start_build_steps_uboot + :end-before: .. k3_rst_include_end_build_steps_uboot +.. j784s4_evm_rst_include_end_build_steps + +Target Images +------------- +In order to boot we need tiboot3.bin, tispl.bin and u-boot.img. Each SoC +variant (GP, HS-FS, HS-SE) requires a different source for these files. + + - GP + + * tiboot3-j784s4-gp-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>` + * tispl.bin_unsigned, u-boot.img_unsigned from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>` + + - HS-FS + + * tiboot3-j784s4-hs-fs-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>` + * tispl.bin, u-boot.img from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>` + + - HS-SE + + * tiboot3-j784s4-hs-evm.bin from :ref:`step 3.1 <j784s4_evm_rst_u_boot_r5>` + * tispl.bin, u-boot.img from :ref:`step 3.2 <j784s4_evm_rst_u_boot_a72>` + +Image formats +------------- + +- tiboot3.bin + +.. image:: img/multi_cert_tiboot3.bin.svg + :alt: tiboot3.bin format + +- tispl.bin + +.. image:: img/dm_tispl.bin.svg + :alt: tispl.bin format + +R5 Memory Map +------------- + +.. list-table:: + :widths: 16 16 16 + :header-rows: 1 + + * - Region + - Start Address + - End Address + + * - SPL + - 0x41c00000 + - 0x41c40000 + + * - EMPTY + - 0x41c40000 + - 0x41c61f20 + + * - STACK + - 0x41c65f20 + - 0x41c61f20 + + * - Global data + - 0x41c65f20 + - 0x41c66000 + + * - Heap + - 0x41c66000 + - 0x41c76000 + + * - BSS + - 0x41c76000 + - 0x41c80000 + + * - DM DATA + - 0x41c80000 + - 0x41c84130 + + * - EMPTY + - 0x41c84130 + - 0x41cff9fc + + * - MCU Scratchpad + - 0x41cff9fc + - 0x41cffbfc + + * - ROM DATA + - 0x41cffbfc + - 0x41cfffff + +Switch Setting for Boot Mode +---------------------------- + +Boot Mode pins provide means to select the boot mode and options before the +device is powered up. After every POR, they are the main source to populate +the Boot Parameter Tables. + +Boot Mode Pins for J784S4-EVM +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +The following tables show some common boot modes used on J784S4 EVM platform. +More details can be found in the Technical Reference Manual: +http://www.ti.com/lit/zip/spruj52 under the `Boot Mode Pins` section. + +.. list-table:: J784S4 EVM Boot Modes + :widths: 16 16 16 + :header-rows: 1 + + * - Switch Label + - SW11: 12345678 + - SW7: 12345678 + + * - SD + - 10000010 + - 00000000 + + * - EMMC + - 10000000 + - 01000000 + + * - OSPI + - 00000110 + - 01000000 + + * - UART + - 00000000 + - 01110000 + +For SW7 and SW11, the switch state in the "ON" position = 1. + +Boot Mode Pins for AM69-SK +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +The following table show some common boot modes used on AM69-SK platform. +More details can be found in the User Guide for AM69-SK: +https://www.ti.com/lit/ug/spruj70/spruj70.pdf under the `Bootmode Settings` +section. + +.. list-table:: AM69 SK Boot Modes + :widths: 16 16 + :header-rows: 1 + + * - Switch Label + - SW2: 1234 + + * - SD + - 0000 + + * - EMMC + - 0110 + + * - UART + - 1010 + +For SW2, the switch state in the "ON" position = 1. + +Debugging U-Boot +---------------- + +See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for +detailed setup information. + +.. warning:: + + **OpenOCD support since**: September 2023 (git master) + + Until the next stable release of OpenOCD is available in your development + environment's distribution, it might be necessary to build OpenOCD `from the + source https://github.com/openocd-org/openocd`_. + +Debugging U-Boot on J784S4-EVM and AM69-SK +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. include:: k3.rst + :start-after: .. k3_rst_include_start_openocd_connect_XDS110 + :end-before: .. k3_rst_include_end_openocd_connect_XDS110 + +To start OpenOCD and connect to J784S4-EVM or AM69-SK board, use the +following. + +.. code-block:: bash + + openocd -f board/ti_j784s4evm.cfg diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst index 3c33efd2e38..15e1ed232bf 100644 --- a/doc/board/ti/k3.rst +++ b/doc/board/ti/k3.rst @@ -41,6 +41,7 @@ K3 Based SoCs ../beagle/j721e_beagleboneai64 j721e_evm j721s2_evm + j784s4_evm
Boot Flow Overview ------------------