.. SPDX-License-Identifier: GPL-2.0-or-later OR BSD-3-Clause .. sectionauthor:: Apurva Nandan 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 ` * tispl.bin_unsigned, u-boot.img_unsigned from :ref:`step 3.2 ` - HS-FS * tiboot3-j784s4-hs-fs-evm.bin from :ref:`step 3.1 ` * tispl.bin, u-boot.img from :ref:`step 3.2 ` - HS-SE * tiboot3-j784s4-hs-evm.bin from :ref:`step 3.1 ` * tispl.bin, u-boot.img from :ref:`step 3.2 ` 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`: 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 `_. 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