.. toctree::
:maxdepth: 1
- j721e_evm
- j7200_evm
am62x_sk
+ ../toradex/verdin-am62
am65x_evm
+ j7200_evm
+ j721e_evm
Boot Flow Overview
------------------
including a 32bit U-Boot SPL, (called the wakup SPL) that ROM will jump
to after it has finished loading everything into internal SRAM.
-.. code-block:: text
-
- | WKUP Domain
- ROM -> WKUP SPL ->
+.. image:: img/boot_flow_01.svg
The wakeup SPL, running on a wakeup domain core, will initialize DDR and
any peripherals needed load the larger binaries inside the `tispl.bin`
starting with Trusted Firmware-A (TF-A), before moving on to start
OP-TEE and the main domain's U-Boot SPL.
-.. code-block:: text
-
- | WKUP Domain | Main Domain ->
- ROM -> WKUP SPL -> TF-A -> OP-TEE -> Main SPL
+.. image:: img/boot_flow_02.svg
The main domain's SPL, running on a 64bit application core, has
virtually unlimited space (billions of bytes now that DDR is working) to
which loads more firmware into the micro-controller & wakeup domains and
finally prepare the main domain to run Linux.
-.. code-block:: text
-
- | WKUP Domain | Main Domain ->
- ROM -> WKUP SPL -> TF-A -> OP-TEE -> Main SPL -> UBoot -> Linux
+.. image:: img/boot_flow_03.svg
This is the typical boot flow for all K3 based SoCs, however this flow
offers quite a lot in the terms of flexibility, especially on High
`u-boot.img` for all K3 SoCs can be located at the following places
online
+.. k3_rst_include_start_boot_sources
+
* **Das U-Boot**
| **source:** https://source.denx.de/u-boot/u-boot.git
| **source:** https://git.ti.com/git/processor-firmware/ti-linux-firmware.git
| **branch:** ti-linux-firmware
+.. k3_rst_include_end_boot_sources
+
Build Procedure
---------------
All of that to say you will need both a 32bit and 64bit cross compiler
(assuming you're using an x86 desktop)
+.. k3_rst_include_start_common_env_vars_desc
+.. list-table:: Generic environment variables
+ :widths: 25 25 50
+ :header-rows: 1
+
+ * - S/w Component
+ - Env Variable
+ - Description
+ * - All Software
+ - CC32
+ - Cross compiler for ARMv7 (ARM 32bit), typically arm-linux-gnueabihf-
+ * - All Software
+ - CC64
+ - Cross compiler for ARMv8 (ARM 64bit), typically aarch64-linux-gnu-
+ * - All Software
+ - LNX_FW_PATH
+ - Path to TI Linux firmware repository
+ * - All Software
+ - TFA_PATH
+ - Path to source of Trusted Firmware-A
+ * - All Software
+ - OPTEE_PATH
+ - Path to source of OP-TEE
+.. k3_rst_include_end_common_env_vars_desc
+
+.. k3_rst_include_start_common_env_vars_defn
.. code-block:: bash
$ export CC32=arm-linux-gnueabihf-
$ export CC64=aarch64-linux-gnu-
+ $ export LNX_FW_PATH=path/to/ti-linux-firmware
+ $ export TFA_PATH=path/to/trusted-firmware-a
+ $ export OPTEE_PATH=path/to/optee_os
+.. k3_rst_include_end_common_env_vars_defn
+
+We will also need some common environment variables set up for the various
+other build sources. we shall use the following, in the build descriptions below:
+
+.. k3_rst_include_start_board_env_vars_desc
+.. list-table:: Board specific environment variables
+ :widths: 25 25 50
+ :header-rows: 1
+
+ * - S/w Component
+ - Env Variable
+ - Description
+ * - U-Boot
+ - UBOOT_CFG_CORTEXR
+ - Defconfig for Cortex-R (Boot processor).
+ * - U-Boot
+ - UBOOT_CFG_CORTEXA
+ - Defconfig for Cortex-A (MPU processor).
+ * - Trusted Firmware-A
+ - TFA_BOARD
+ - Platform name used for building TF-A for Cortex-A Processor.
+ * - Trusted Firmware-A
+ - TFA_EXTRA_ARGS
+ - Any extra arguments used for building TF-A.
+ * - OP-TEE
+ - OPTEE_PLATFORM
+ - Platform name used for building OP-TEE for Cortex-A Processor.
+ * - OP-TEE
+ - OPTEE_EXTRA_ARGS
+ - Any extra arguments used for building OP-TEE.
+.. k3_rst_include_end_board_env_vars_desc
Building tiboot3.bin
^^^^^^^^^^^^^^^^^^^^^
the final `tiboot3.bin` binary. (or the `sysfw.itb` if your device
uses the split binary flow)
-
+.. k3_rst_include_start_build_steps_spl_r5
.. code-block:: bash
$ # inside u-boot source
- $ make ARCH=arm {SOC}_evm_r5_defconfig
- $ make ARCH=arm CROSS_COMPILE=$CC32 \
- BINMAN_INDIRS=<path/to/ti-linux-firmware>
+ $ make $UBOOT_CFG_CORTEXR
+ $ make CROSS_COMPILE=$CC32 BINMAN_INDIRS=$LNX_FW_PATH
+.. k3_rst_include_end_build_steps_spl_r5
At this point you should have all the needed binaries to boot the wakeup
domain of your K3 SoC.
2. We will first need TF-A, as it's the first thing to run on the 'big'
application cores on the main domain.
+.. k3_rst_include_start_build_steps_tfa
.. code-block:: bash
$ # inside trusted-firmware-a source
- $ make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \
- TARGET_BOARD={lite|generic|j784s4} \
- SPD=opteed
+ $ make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 SPD=opteed $TFA_EXTRA_ARGS \
+ TARGET_BOARD=$TFA_BOARD
+.. k3_rst_include_end_build_steps_tfa
Typically all `j7*` devices will use `TARGET_BOARD=generic` or `TARGET_BOARD
-=j784s4` (if it is a J784S4 device), while all Sitara (`am6*`) devices
+=j784s4` (if it is a J784S4 device), while typical Sitara (`am6*`) devices
use the `lite` option.
3. The Open Portable Trusted Execution Environment (OP-TEE) is designed
to run as a companion to a non-secure Linux kernel for Cortex-A cores
using the TrustZone technology built into the core.
+.. k3_rst_include_start_build_steps_optee
.. code-block:: bash
$ # inside optee_os source
- $ make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 \
- PLATFORM=k3 CFG_ARM64_core=y
+ $ make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 CFG_ARM64_core=y $OPTEE_EXTRA_ARGS \
+ PLATFORM=$OPTEE_PLATFORM
+.. k3_rst_include_end_build_steps_optee
4. Finally, after TF-A has initialized the main domain and OP-TEE has
finished, we can jump back into U-Boot again, this time running on a
64bit core in the main domain.
+.. k3_rst_include_start_build_steps_uboot
.. code-block:: bash
$ # inside u-boot source
- $ make ARCH=arm {SOC}_evm_a{53,72}_defconfig
- $ make ARCH=arm CROSS_COMPILE=$CC64 \
- BINMAN_INDIRS=<path/to/ti-linux-firmware> \
- 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
+ $ make $UBOOT_CFG_CORTEXA
+ $ make CROSS_COMPILE=$CC64 BINMAN_INDIRS=$LNX_FW_PATH \
+ BL31=$TFA_PATH/build/k3/$TFA_BOARD/release/bl31.bin \
+ TEE=$OPTEE_PATH/out/arm-plat-k3/core/tee-raw.bin
+.. k3_rst_include_end_build_steps_uboot
At this point you should have every binary needed initialize both the
wakeup and main domain and to boot to the U-Boot prompt
2. Compile U-boot for the respective board
- .. code-block:: bash
-
- make O=build/a72 CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=arm
- BL31=/path/to/bl31.bin TEE=/path/to/bl32.bin
- BINMAN_INDIRS="/path/to/ti-linux-firmware" -j15
+.. include:: k3.rst
+ :start-after: .. k3_rst_include_start_build_steps_uboot
+ :end-before: .. k3_rst_include_end_build_steps_uboot
- .. note::
+.. note::
The changes only affect a72 binaries so the example just builds that
This is required so that the modified dtb gets updated in u-boot.img
- .. code-block:: bash
-
- make O=build/a72 CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=arm
- BL31=/path/to/bl31.bin TEE=/path/to/bl32.bin
- BINMAN_INDIRS="/path/to/ti-linux-firmware" -j15
+.. include:: k3.rst
+ :start-after: .. k3_rst_include_start_build_steps_uboot
+ :end-before: .. k3_rst_include_end_build_steps_uboot
6. (Optional) Enabled FIT_SIGNATURE_ENFORCED
projects / J-u-boot.git / blobdiff