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4b5750aaee
Document the procedure to enable Ethernet Boot on AM62x SoC. Signed-off-by: Chintan Vankar <c-vankar@ti.com>
551 lines
15 KiB
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551 lines
15 KiB
ReStructuredText
.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
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.. sectionauthor:: Vignesh Raghavendra <vigneshr@ti.com>
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AM62 Platforms
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==============
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Introduction:
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-------------
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The AM62 SoC family is the follow on AM335x built on the K3 Multicore
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SoC architecture platform, providing ultra-low-power modes, dual
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display, multi-sensor edge compute, security and other BOM-saving
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integrations. The AM62 SoC targets a broad market to enable
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applications such as Industrial HMI, PLC/CNC/Robot control, Medical
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Equipment, Building Automation, Appliances and more.
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Some highlights of this SoC are:
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* Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster.
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Pin-to-pin compatible options for single and quad core are available.
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* Cortex-M4F for general-purpose or safety usage.
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* Dual display support, providing 24-bit RBG parallel interface and
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OLDI/LVDS-4 Lane x2, up to 200MHz pixel clock support for 2K display
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resolution.
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* Selectable GPU support, up to 8GFLOPS, providing better user experience
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in 3D graphic display case and Android.
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* PRU(Programmable Realtime Unit) support for customized programmable
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interfaces/IOs.
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* Integrated Giga-bit Ethernet switch supporting up to a total of two
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external ports (TSN capable).
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* 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3x eMMC and SD, GPMC for
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NAND/FPGA connection, OSPI memory controller, 3xMcASP for audio,
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1x CSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other peripherals.
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* Dedicated Centralized System Controller for Security, Power, and
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Resource Management.
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* Multiple low power modes support, ex: Deep sleep, Standby, MCU-only,
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enabling battery powered system design.
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More details can be found in the Technical Reference Manual:
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https://www.ti.com/lit/pdf/spruiv7
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Platform information:
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* https://www.ti.com/tool/SK-AM62B
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Boot Flow:
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----------
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Below is the pictorial representation of boot flow:
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.. image:: img/boot_diagram_am62.svg
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:alt: Boot flow diagram
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- Here TIFS acts as master and provides all the critical services. R5/A53
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requests TIFS to get these services done as shown in the above diagram.
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Sources:
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--------
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_boot_sources
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:end-before: .. k3_rst_include_end_boot_sources
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_boot_firmwares
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:end-before: .. k3_rst_include_end_tifsstub
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Build procedure:
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----------------
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0. Setup the environment variables:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_common_env_vars_desc
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:end-before: .. k3_rst_include_end_common_env_vars_desc
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_board_env_vars_desc
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:end-before: .. k3_rst_include_end_board_env_vars_desc
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Set the variables corresponding to this platform:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_common_env_vars_defn
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:end-before: .. k3_rst_include_end_common_env_vars_defn
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.. prompt:: bash $
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export UBOOT_CFG_CORTEXR=am62x_evm_r5_defconfig
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export UBOOT_CFG_CORTEXA=am62x_evm_a53_defconfig
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export TFA_BOARD=lite
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# we dont use any extra TFA parameters
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unset TFA_EXTRA_ARGS
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export OPTEE_PLATFORM=k3-am62x
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export OPTEE_EXTRA_ARGS="CFG_WITH_SOFTWARE_PRNG=y"
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.. am62x_evm_rst_include_start_build_steps
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1. Trusted Firmware-A:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_tfa
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:end-before: .. k3_rst_include_end_build_steps_tfa
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2. OP-TEE:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_optee
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:end-before: .. k3_rst_include_end_build_steps_optee
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3. U-Boot:
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* 3.1 R5:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_spl_r5
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:end-before: .. k3_rst_include_end_build_steps_spl_r5
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* 3.1.1 Alternative build of R5 for DFU boot:
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As the SPL size can get too big when building with support for booting both
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from local storage *and* DFU an extra config fragment should be used to enable
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DFU support (and disable storage support)
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.. prompt:: bash $
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export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXR} am62x_r5_usbdfu.config"
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_spl_r5
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:end-before: .. k3_rst_include_end_build_steps_spl_r5
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* 3.2 A53:
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_uboot
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:end-before: .. k3_rst_include_end_build_steps_uboot
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* 3.2.1 Alternative build of A53 for Android bootflow:
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Since the Android requires many more dependencies, it is disabled by default.
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An extra config fragment should be used to enable Android bootflow support.
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.. prompt:: bash $
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export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXA} am62x_a53_android.config"
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.. include:: ../ti/k3.rst
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:start-after: .. k3_rst_include_start_build_steps_uboot
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:end-before: .. k3_rst_include_end_build_steps_uboot
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.. am62x_evm_rst_include_end_build_steps
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Target Images
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-------------
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In order to boot we need tiboot3.bin, tispl.bin and u-boot.img. Each SoC
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variant (GP, HS-FS, HS-SE) requires a different source for these files.
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- GP
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* tiboot3-am62x-gp-evm.bin from step 3.1
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* tispl.bin_unsigned, u-boot.img_unsigned from step 3.2
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- HS-FS
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* tiboot3-am62x-hs-fs-evm.bin from step 3.1
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* tispl.bin, u-boot.img from step 3.2
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- HS-SE
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* tiboot3-am62x-hs-evm.bin from step 3.1
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* tispl.bin, u-boot.img from step 3.2
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Image formats:
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--------------
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- tiboot3.bin
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.. image:: img/multi_cert_tiboot3.bin.svg
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:alt: tiboot3.bin image format
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- tispl.bin
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.. image:: img/tifsstub_dm_tispl.bin.svg
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:alt: tispl.bin image format
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OSPI:
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-----
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ROM supports booting from OSPI from offset 0x0.
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Flashing images to OSPI:
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Below commands can be used to download tiboot3.bin, tispl.bin, and u-boot.img,
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over tftp and then flash those to OSPI at their respective addresses.
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.. prompt:: bash =>
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sf probe
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tftp ${loadaddr} tiboot3.bin
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sf update $loadaddr 0x0 $filesize
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tftp ${loadaddr} tispl.bin
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sf update $loadaddr 0x80000 $filesize
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tftp ${loadaddr} u-boot.img
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sf update $loadaddr 0x280000 $filesize
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Flash layout for OSPI:
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.. image:: img/ospi_sysfw2.svg
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:alt: OSPI flash partition layout
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A53 SPL DDR Memory Layout
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-------------------------
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.. am62x_evm_rst_include_start_ddr_mem_layout
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This provides an overview memory usage in A53 SPL stage.
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.. list-table::
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:widths: 16 16 16
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:header-rows: 1
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* - Region
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- Start Address
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- End Address
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* - EMPTY
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- 0x80000000
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- 0x80080000
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* - TEXT BASE
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- 0x80080000
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- 0x800d8000
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* - EMPTY
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- 0x800d8000
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- 0x80200000
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* - BMP IMAGE
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- 0x80200000
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- 0x80b77660
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* - STACK
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- 0x80b77660
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- 0x80b77e60
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* - GD
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- 0x80b77e60
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- 0x80b78000
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* - MALLOC
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- 0x80b78000
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- 0x80b80000
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* - EMPTY
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- 0x80b80000
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- 0x80c80000
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* - BSS
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- 0x80c80000
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- 0x80d00000
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* - BLOBS
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- 0x80d00000
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- 0x80d00400
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* - EMPTY
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- 0x80d00400
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- 0x81000000
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.. am62x_evm_rst_include_end_ddr_mem_layout
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Switch Setting for Boot Mode
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----------------------------
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Boot Mode pins provide means to select the boot mode and options before the
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device is powered up. After every POR, they are the main source to populate
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the Boot Parameter Tables.
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The following table shows some common boot modes used on AM62 platform. More
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details can be found in the Technical Reference Manual:
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https://www.ti.com/lit/pdf/spruiv7 under the `Boot Mode Pins` section.
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.. list-table:: Boot Modes
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:widths: 16 16 16
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:header-rows: 1
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* - Switch Label
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- SW2: 12345678
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- SW3: 12345678
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* - SD
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- 01000000
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- 11000010
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* - OSPI
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- 00000000
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- 11001110
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* - EMMC
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- 00000000
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- 11010010
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* - UART
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- 00000000
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- 11011100
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* - USB DFU
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- 00000000
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- 11001010
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* - Ethernet
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- 00110000
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- 11000100
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For SW2 and SW1, the switch state in the "ON" position = 1.
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DFU based boot
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--------------
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To boot the board over DFU, set the switches to DFU mode and connect to the
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USB type C DRD port on the board. After power-on the build artifacts needs to be
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uploaded one by one with a tool like dfu-util.
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.. am62x_evm_rst_include_start_dfu_boot
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The initial ROM will have a DFU alt named `bootloader` for the initial R5 spl
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upload. The next stages as exposed by U-Boot have target alts matching the name
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of the artifacts, for these a USB reset has to be done after each upload.
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When using dfu-util the following commands can be used to boot to a U-Boot shell:
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.. prompt:: bash $
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dfu-util -a bootloader -D tiboot3.bin
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dfu-util -R -a tispl -D tispl.bin
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dfu-util -R -a u-boot.img -D u-boot.img
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.. am62x_evm_rst_include_end_dfu_boot
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Ethernet based boot
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-------------------
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To boot the board via Ethernet, configure the BOOT MODE pins for Ethernet boot.
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On powering on the device, ROM uses the Ethernet Port corresponding to CPSW3G's MAC
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Port 1 to transmit "TI K3 Bootp Boot".
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The TFTP server and DHCP server on the receiver device need to be configured such
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that VCI string "TI K3 Bootp Boot" maps to the file `tiboot3.bin` and the TFTP
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server should be capable of transferring it to the device.
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**Configuring DHCP server includes following steps:**
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* Install DHCP server:
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.. prompt:: bash $
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sudo apt install isc-dhcp-server
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* Disable services before configuring:
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.. prompt:: bash $
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sudo systemctl disable --now isc-dhcp-server.service isc-dhcp-server6.service
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* DHCP server setup
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Run the ip link or ifconfig command to find the name of your network interface:
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Example
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.. code-block::
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eno1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
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inet 172.24.145.229 netmask 255.255.254.0 broadcast 172.24.145.255
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inet6 fe80::bbd5:34c8:3d4c:5de4 prefixlen 64 scopeid 0x20<link>
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ether c0:18:03:bd:b1:a6 txqueuelen 1000 (Ethernet)
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RX packets 2733979 bytes 1904440459 (1.9 GB)
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RX errors 0 dropped 3850 overruns 0 frame 0
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TX packets 796807 bytes 84534764 (84.5 MB)
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TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
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device interrupt 16 memory 0xe2200000-e2220000
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enxf8e43b8cffe8: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
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ether f8:e4:3b:8c:ff:e8 txqueuelen 1000 (Ethernet)
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RX packets 95 bytes 31160 (31.1 KB)
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RX errors 0 dropped 0 overruns 0 frame 0
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TX packets 89 bytes 17445 (17.4 KB)
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TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
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lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
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inet 127.0.0.1 netmask 255.0.0.0
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inet6 ::1 prefixlen 128 scopeid 0x10<host>
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loop txqueuelen 1000 (Local Loopback)
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RX packets 85238 bytes 7244462 (7.2 MB)
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RX errors 0 dropped 0 overruns 0 frame 0
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TX packets 85238 bytes 7244462 (7.2 MB)
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TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
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Suppose we are using enxf8e43b8cffe8 interface, one end of it is connected to host PC
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and other to board.
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* Do the following changes in /etc/dhcp/dhcpd.conf in host PC.
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.. code-block::
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subnet 192.168.0.0 netmask 255.255.254.0
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{
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range dynamic-bootp 192.168.0.2 192.168.0.5;
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if substring (option vendor-class-identifier, 0, 16) = "TI K3 Bootp Boot"
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{
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filename "tiboot3.bin";
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} elsif substring (option vendor-class-identifier, 0, 20) = "AM62X U-Boot R5 SPL"
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{
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filename "tispl.bin";
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} elsif substring (option vendor-class-identifier, 0, 21) = "AM62X U-Boot A53 SPL"
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{
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filename "u-boot.img";
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}
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default-lease-time 60000;
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max-lease-time 720000;
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next-server 192.168.0.1;
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}
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* Do following changes in /etc/default/isc-dhcp-server
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.. code-block::
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DHCPDv4_CONF=/etc/dhcp/dhcpd.conf
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INTERFACESv4="enxf8e43b8cffe8"
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INTERFACESv6=""
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* For your interface change ip address and netmask to next-server and your netmask
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.. prompt:: bash $
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sudo ifconfig enxf8e43b8cffe8 192.168.0.1 netmask 255.255.254.0
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* Enable DHCP
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.. prompt:: bash $
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sudo systemctl enable --now isc-dhcp-server
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* To see if there is any configuration error or if dhcp is running run
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.. prompt:: bash $
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sudo service isc-dhcp-server status
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# If it shows error then something is wrong with configuration
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**For TFTP setup follow below steps:**
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* Install TFTP server:
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.. prompt:: bash $
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sudo apt install tftpd-hpa
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tftpd-hpa package should be installed.
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Now, check whether the tftpd-hpa service is running with the following command:
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.. prompt:: bash $
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sudo systemctl status tftpd-hpa
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* Configuring TFTP server:
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The default configuration file of tftpd-hpa server is /etc/default/tftpd-hpa.
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If you want to configure the TFTP server, then you have to modify this configuration
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file and restart the tftpd-hpa service afterword.
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To modify the /etc/default/tftpd-hpa configuration file, run the following command
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.. prompt:: bash $
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sudo vim /etc/default/tftpd-hpa
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Configuration file may contain following configuration options by default:
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.. code-block::
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# /etc/default/tftpd-hpa
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TFTP_USERNAME="tftp"
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TFTP_DIRECTORY="/var/lib/tftpboot"
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TFTP_ADDRESS=":69"
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TFTP_OPTIONS="--secure"
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Now change the **TFTP_DIRECTORY** to **/tftp** and add the **--create** option to the
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**TFTP_OPTIONS**. Without the **--create** option, you won't be able to create or upload
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new files to the TFTP server. You will only be able to update existing files.
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After above changes /etc/default/tftpd-hpa file would look like this:
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.. code-block::
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# /etc/default/tftpd-hpa
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TFTP_USERNAME="tftp"
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TFTP_DIRECTORY="/tftp"
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TFTP_ADDRESS=":69"
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TFTP_OPTIONS="--secure --create"
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Since we have configured tftp directory as /tftp, put tiboot3.bin, tispl.bin
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and u-boot.img after building it using sdk or manually cloning all the repos.
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To build binaries use following defconfig files:
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.. code-block::
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am62x_evm_r5_ethboot_defconfig
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am62x_evm_a53_ethboot_defconfig
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`tiboot3.bin` is expected to be built from `am62x_evm_r5_ethboot_defconfig` and
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`tispl.bin` and `u-boot.img` are expected to be built from
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`am62x_evm_a53_ethboot_defconfig`.
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Images should get fetched in following sequence as a part of boot procedure:
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.. code-block::
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tiboot3.bin => tispl.bin => u-boot.img
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ROM loads and executes `tiboot3.bin` provided by the TFTP server.
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Next, based on NET_VCI_STRING string mentioned in respective defconfig file `tiboot3.bin`
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fetches `tispl.bin` and then `tispl.bin` fetches `u-boot.img` from TFTP server which
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completes Ethernet boot on the device.
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|
Debugging U-Boot
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|
----------------
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See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
|
|
detailed setup information.
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|
.. warning::
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|
**OpenOCD support since**: v0.12.0
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|
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.
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|
|
|
.. include:: k3.rst
|
|
:start-after: .. k3_rst_include_start_openocd_connect_XDS110
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|
:end-before: .. k3_rst_include_end_openocd_connect_XDS110
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|
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|
To start OpenOCD and connect to the board
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|
|
|
.. prompt:: bash $
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|
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|
openocd -f board/ti_am625evm.cfg
|