+++ /dev/null
-Introduction:
--------------
-The AM65x family of SoCs is the first device family from K3 Multicore
-SoC architecture, targeted for broad market and industrial control with
-aim to meet the complex processing needs of modern embedded products.
-
-The device is built over three domains, each containing specific processing
-cores, voltage domains and peripherals:
-1. Wake-up (WKUP) domain:
- - Device Management and Security Controller (DMSC)
-2. Microcontroller (MCU) domain:
- - Dual Core ARM Cortex-R5F processor
-3. MAIN domain:
- - Quad core 64-bit ARM Cortex-A53
-
-More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7
-
-Boot Flow:
-----------
-On AM65x family devices, ROM supports boot only via MCU(R5). This means that
-bootloader has to run on R5 core. In order to meet this constraint, and for
-the following reasons the boot flow is designed as mentioned:
-1. Need to move away from R5 asap, so that we want to start *any*
-firmware on the r5 cores like.... autosar can be loaded to receive CAN
-response and other safety operations to be started. This operation is
-very time critical and is applicable for all automotive use cases.
-2. U-Boot on A53 should start other remotecores for various
-applications. This should happen before running Linux.
-3. In production boot flow, we might not like to use full u-boot,
-instead use Flacon boot flow to reduce boot time.
-
-+------------------------------------------------------------------------+
-| DMSC | R5 | A53 |
-+------------------------------------------------------------------------+
-| +--------+ | | |
-| | Reset | | | |
-| +--------+ | | |
-| : | | |
-| +--------+ | +-----------+ | |
-| | *ROM* |----------|-->| Reset rls | | |
-| +--------+ | +-----------+ | |
-| | | | : | |
-| | ROM | | : | |
-| |services| | : | |
-| | | | +-------------+ | |
-| | | | | *R5 ROM* | | |
-| | | | +-------------+ | |
-| | |<---------|---|Load and auth| | |
-| | | | | tiboot3.bin | | |
-| | | | +-------------+ | |
-| | | | : | |
-| | | | : | |
-| | | | : | |
-| | | | +-------------+ | |
-| | | | | *R5 SPL* | | |
-| | | | +-------------+ | |
-| | | | | Load | | |
-| | | | | sysfw.itb | | |
-| | Start | | +-------------+ | |
-| | System |<---------|---| Start | | |
-| |Firmware| | | SYSFW | | |
-| +--------+ | +-------------+ | |
-| : | | | | |
-| +---------+ | | Load | | |
-| | *SYSFW* | | | system | | |
-| +---------+ | | Config data | | |
-| | |<--------|---| | | |
-| | | | +-------------+ | |
-| | | | | | | |
-| | | | | DDR | | |
-| | | | | config | | |
-| | | | +-------------+ | |
-| | | | | | | |
-| | |<--------|---| Start A53 | | |
-| | | | | and Reset | | |
-| | | | +-------------+ | |
-| | | | | +-----------+ |
-| | |---------|-----------------------|---->| Reset rls | |
-| | | | | +-----------+ |
-| | DMSC | | | : |
-| |Services | | | +-----------+ |
-| | |<--------|-----------------------|---->|*ATF/OPTEE*| |
-| | | | | +-----------+ |
-| | | | | : |
-| | | | | +-----------+ |
-| | |<--------|-----------------------|---->| *A53 SPL* | |
-| | | | | +-----------+ |
-| | | | | | Load | |
-| | | | | | u-boot.img| |
-| | | | | +-----------+ |
-| | | | | : |
-| | | | | +-----------+ |
-| | |<--------|-----------------------|---->| *U-Boot* | |
-| | | | | +-----------+ |
-| | | | | | prompt | |
-| | | | | +-----------+ |
-| +---------+ | | |
-| | | |
-+------------------------------------------------------------------------+
-
-- Here DMSC acts as master and provides all the critical services. R5/A53
-requests DMSC to get these services done as shown in the above diagram.
-
-Sources:
---------
-1. SYSFW:
- Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
- Branch: master
-
-2. ATF:
- Tree: https://github.com/ARM-software/arm-trusted-firmware.git
- Branch: master
-
-3. OPTEE:
- Tree: https://github.com/OP-TEE/optee_os.git
- Branch: master
-
-4. U-Boot:
- Tree: http://git.denx.de/u-boot.git
- Branch: master
-
-Build procedure:
-----------------
-1. SYSFW:
-$ make CROSS_COMPILE=arm-linux-gnueabihf-
-
-2. ATF:
-$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
-
-3. OPTEE:
-$ make PLATFORM=k3-am65x CFG_ARM64_core=y
-
-4. U-Boot:
-
-4.1. R5:
-$ make CROSS_COMPILE=arm-linux-gnueabihf- am65x_evm_r5_defconfig O=/tmp/r5
-$ make CROSS_COMPILE=arm-linux-gnueabihf- O=/tmp/r5
-
-4.2. A53:
-$ make CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53
-$ make CROSS_COMPILE=aarch64-linux-gnu- ATF=<path to ATF dir>/build/k3/generic/release/bl31.bin TEE=<path to OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin O=/tmp/a53
-
-Target Images
---------------
-Copy the below images to an SD card and boot:
-- sysfw.itb from step 1
-- tiboot3.bin from step 4.1
-- tispl.bin, u-boot.img from 4.2
-
-Image formats:
---------------
-
-- tiboot3.bin:
- +-----------------------+
- | X.509 |
- | Certificate |
- | +-------------------+ |
- | | | |
- | | R5 | |
- | | u-boot-spl.bin | |
- | | | |
- | +-------------------+ |
- | | | |
- | | FIT header | |
- | | +---------------+ | |
- | | | | | |
- | | | DTB 1...N | | |
- | | +---------------+ | |
- | +-------------------+ |
- +-----------------------+
-
-- tispl.bin
- +-----------------------+
- | |
- | FIT HEADER |
- | +-------------------+ |
- | | | |
- | | A53 ATF | |
- | +-------------------+ |
- | | | |
- | | A53 OPTEE | |
- | +-------------------+ |
- | | | |
- | | A53 SPL | |
- | +-------------------+ |
- | | | |
- | | SPL DTB 1...N | |
- | +-------------------+ |
- +-----------------------+
-
-- sysfw.itb
- +-----------------------+
- | |
- | FIT HEADER |
- | +-------------------+ |
- | | | |
- | | sysfw.bin | |
- | +-------------------+ |
- | | | |
- | | board config | |
- | +-------------------+ |
- | | | |
- | | PM config | |
- | +-------------------+ |
- | | | |
- | | RM config | |
- | +-------------------+ |
- | | | |
- | | Secure config | |
- | +-------------------+ |
- +-----------------------+
-
-eMMC:
------
-ROM supports booting from eMMC from boot0 partition offset 0x0
-
-Flashing images to eMMC:
-
-The following commands can be used to download tiboot3.bin, tispl.bin,
-u-boot.img, and sysfw.itb from an SD card and write them to the eMMC boot0
-partition at respective addresses.
-
-=> mmc dev 0 1
-=> fatload mmc 1 ${loadaddr} tiboot3.bin
-=> mmc write ${loadaddr} 0x0 0x400
-=> fatload mmc 1 ${loadaddr} tispl.bin
-=> mmc write ${loadaddr} 0x400 0x1000
-=> fatload mmc 1 ${loadaddr} u-boot.img
-=> mmc write ${loadaddr} 0x1400 0x2000
-=> fatload mmc 1 ${loadaddr} sysfw.itb
-=> mmc write ${loadaddr} 0x3600 0x800
-
-To give the ROM access to the boot partition, the following commands must be
-used for the first time:
-=> mmc partconf 0 1 1 1
-=> mmc bootbus 0 1 0 0
-
-To create a software partition for the rootfs, the following command can be
-used:
-=> gpt write mmc 0 ${partitions}
-
-eMMC layout:
-
- boot0 partition (8 MB) user partition
- 0x0+----------------------------------+ 0x0+-------------------------+
- | tiboot3.bin (512 KB) | | |
- 0x400+----------------------------------+ | |
- | tispl.bin (2 MB) | | |
-0x1400+----------------------------------+ | rootfs |
- | u-boot.img (4 MB) | | |
-0x3400+----------------------------------+ | |
- | environment (128 KB) | | |
-0x3500+----------------------------------+ | |
- | backup environment (128 KB) | | |
-0x3600+----------------------------------+ | |
- | sysfw (1 MB) | | |
-0x3E00+----------------------------------+ +-------------------------+
-
-Kernel image and DT are expected to be present in the /boot folder of rootfs.
-To boot kernel from eMMC, use the following commands:
-=> setenv mmcdev 0
-=> setenv bootpart 0
-=> boot
-
-OSPI:
------
-ROM supports booting from OSPI from offset 0x0.
-
-Flashing images to OSPI:
-
-Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
-and sysfw.itb over tftp and then flash those to OSPI at their respective
-addresses.
-
-=> sf probe
-=> tftp ${loadaddr} tiboot3.bin
-=> sf update $loadaddr 0x0 $filesize
-=> tftp ${loadaddr} tispl.bin
-=> sf update $loadaddr 0x80000 $filesize
-=> tftp ${loadaddr} u-boot.img
-=> sf update $loadaddr 0x280000 $filesize
-=> tftp ${loadaddr} sysfw.itb
-=> sf update $loadaddr 0x6C0000 $filesize
-
-Flash layout for OSPI:
-
- 0x0 +----------------------------+
- | ospi.tiboot3(512K) |
- | |
- 0x80000 +----------------------------+
- | ospi.tispl(2M) |
- | |
- 0x280000 +----------------------------+
- | ospi.u-boot(4M) |
- | |
- 0x680000 +----------------------------+
- | ospi.env(128K) |
- | |
- 0x6A0000 +----------------------------+
- | ospi.env.backup (128K) |
- | |
- 0x6C0000 +----------------------------+
- | ospi.sysfw(1M) |
- | |
- 0x7C0000 +----------------------------+
- | padding (256k) |
- 0x800000 +----------------------------+
- | ospi.rootfs(UBIFS) |
- | |
- +----------------------------+
-
-Kernel Image and DT are expected to be present in the /boot folder of UBIFS
-ospi.rootfs just like in SD card case. U-Boot looks for UBI volume named
-"rootfs" for rootfs.
-
-To boot kernel from OSPI, at the U-Boot prompt:
-=> setenv boot ubi
-=> boot
-
-UART:
------
-ROM supports booting from MCU_UART0 via X-Modem protocol. The entire UART-based
-boot process up to U-Boot (proper) prompt goes through different stages and uses
-different UART peripherals as follows:
-
- WHO | Loading WHAT | HW Module | Protocol
-----------+---------------+-------------+------------
-Boot ROM | tiboot3.bin | MCU_UART0 | X-Modem(*)
-R5 SPL | sysfw.itb | MCU_UART0 | Y-Modem(*)
-R5 SPL | tispl.bin | MAIN_UART0 | Y-Modem
-A53 SPL | u-boot.img | MAIN_UART0 | Y-Modem
-
-(*) Note that in addition to X/Y-Modem related protocol timeouts the DMSC
- watchdog timeout of 3min (typ.) needs to be observed until System Firmware
- is fully loaded (from sysfw.itb) and started.
-
-Example bash script sequence for running on a Linux host PC feeding all boot
-artifacts needed to the device:
-
-MCU_DEV=/dev/ttyUSB1
-MAIN_DEV=/dev/ttyUSB0
-
-stty -F $MCU_DEV 115200 cs8 -cstopb -parenb
-stty -F $MAIN_DEV 115200 cs8 -cstopb -parenb
-
-sb --xmodem tiboot3.bin > $MCU_DEV < $MCU_DEV
-sb --ymodem sysfw.itb > $MCU_DEV < $MCU_DEV
-sb --ymodem tispl.bin > $MAIN_DEV < $MAIN_DEV
-sleep 1
-sb --xmodem u-boot.img > $MAIN_DEV < $MAIN_DEV
| | |----------|-----------------------|---->| Reset rls | |
| | | | | +-----------+ |
| | TIFS | | | : |
- | |Services| | | +-----------+ |
- | | |<---------|-----------------------|---->|*ATF/OPTEE*| |
- | | | | | +-----------+ |
+ | |Services| | | +-------------+ |
+ | | |<---------|-----------------------|---->|*TF-A/OP-TEE*| |
+ | | | | | +-------------+ |
| | | | | : |
| | | | | +-----------+ |
| | |<---------|-----------------------|---->| *A53 SPL* | |
Sources:
--------
-1. SYSFW:
- Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
- Branch: master
-
-2. ATF:
- Tree: https://github.com/ARM-software/arm-trusted-firmware.git
+1. Trusted Firmware-A:
+ Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
Branch: master
-3. OPTEE:
+2. OP-TEE:
Tree: https://github.com/OP-TEE/optee_os.git
Branch: master
-4. U-Boot:
+3. U-Boot:
Tree: https://source.denx.de/u-boot/u-boot
Branch: master
-5. TI Linux Firmware:
+4. TI Linux Firmware:
Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
Branch: ti-linux-firmware
Build procedure:
----------------
-1. ATF:
+1. Trusted Firmware-A:
-.. code-block:: text
+.. code-block:: bash
- $ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=lite SPD=opteed
+ $ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=aarch64 PLAT=k3 \
+ TARGET_BOARD=lite SPD=opteed
-2. OPTEE:
+2. OP-TEE:
-.. code-block:: text
+.. code-block:: bash
- $ make PLATFORM=k3 CFG_ARM64_core=y CROSS_COMPILE=arm-none-linux-gnueabihf- CROSS_COMPILE64=aarch64-none-linux-gnu-
+ $ make PLATFORM=k3 CFG_ARM64_core=y CROSS_COMPILE=arm-none-linux-gnueabihf- \
+ CROSS_COMPILE64=aarch64-none-linux-gnu-
3. U-Boot:
* 3.1 R5:
-.. code-block:: text
-
- $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- am62x_evm_r5_defconfig O=/tmp/r5
- $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- O=/tmp/r5
- $ cd <k3-image-gen>
- $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=am62x SBL=/tmp/r5/spl/u-boot-spl.bin SYSFW_PATH=<path to ti-linux-firmware>/ti-sysfw/ti-fs-firmware-am62x-gp.bin
+.. code-block:: bash
-Use the tiboot3.bin generated from last command
+ $ make ARCH=arm am62x_evm_r5_defconfig
+ $ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
* 3.2 A53:
-.. code-block:: text
+.. code-block:: bash
- $ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- am62x_evm_a53_defconfig O=/tmp/a53
- $ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- ATF=<path to ATF dir>/build/k3/lite/release/bl31.bin TEE=<path to OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin DM=<path to ti-linux-firmware>/ti-dm/am62xx/ipc_echo_testb_mcu1_0_release_strip.xer5f O=/tmp/a53
+ $ make ARCH=arm am62x_evm_a53_defconfig
+ $ make ARCH=arm CROSS_COMPILE=aarch64-none-linux-gnu- \
+ BL31=<path/to/trusted-firmware-a/dir>/build/k3/lite/release/bl31.bin \
+ TEE=<path/to/optee_os/dir>/out/arm-plat-k3/core/tee-raw.bin \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
Target Images
--------------
Copy the below images to an SD card and boot:
- - tiboot3.bin from step 3.1
- - tispl.bin, u-boot.img from 3.2
+
+ - GP
+
+ * tiboot3-am62x-gp-evm.bin from step 3.1
+ * tispl.bin_unsigned, u-boot.img_unsigned from step 3.2
+
+ - HS-FS
+
+ * tiboot3-am62x-hs-fs-evm.bin from step 3.1
+ * tispl.bin, u-boot.img from step 3.2
+
+ - HS-SE
+
+ * tiboot3-am62x-hs-evm.bin from step 3.1
+ * tispl.bin, u-boot.img from step 3.2
Image formats:
--------------
| FIT HEADER |
| +-------------------+ |
| | | |
- | | A53 ATF | |
+ | | A53 TF-A | |
| +-------------------+ |
| | | |
- | | A53 OPTEE | |
+ | | A53 OP-TEE | |
| +-------------------+ |
| | | |
| | R5 DM FW | |
--- /dev/null
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Neha Francis <n-francis@ti.com>
+
+AM65x Platforms
+===============
+
+Introduction:
+-------------
+The AM65x family of SoCs is the first device family from K3 Multicore
+SoC architecture, targeted for broad market and industrial control with
+aim to meet the complex processing needs of modern embedded products.
+
+The device is built over three domains, each containing specific processing
+cores, voltage domains and peripherals:
+
+1. Wake-up (WKUP) domain:
+ * Device Management and Security Controller (DMSC)
+
+2. Microcontroller (MCU) domain:
+ * Dual Core ARM Cortex-R5F processor
+
+3. MAIN domain:
+ * Quad core 64-bit ARM Cortex-A53
+
+More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7
+
+Boot Flow:
+----------
+On AM65x family devices, ROM supports boot only via MCU(R5). This means that
+bootloader has to run on R5 core. In order to meet this constraint, and for
+the following reasons the boot flow is designed as mentioned:
+
+1. Need to move away from R5 asap, so that we want to start *any*
+firmware on the R5 cores for example autosar can be loaded to receive CAN
+response and other safety operations to be started. This operation is
+very time critical and is applicable for all automotive use cases.
+
+2. U-Boot on A53 should start other remotecores for various
+applications. This should happen before running Linux.
+
+3. In production boot flow, we might not like to use full U-Boot,
+instead use Falcon boot flow to reduce boot time.
+
+.. code-block:: text
+
+ +------------------------------------------------------------------------+
+ | DMSC | R5 | A53 |
+ +------------------------------------------------------------------------+
+ | +--------+ | | |
+ | | Reset | | | |
+ | +--------+ | | |
+ | : | | |
+ | +--------+ | +-----------+ | |
+ | | *ROM* |----------|-->| Reset rls | | |
+ | +--------+ | +-----------+ | |
+ | | | | : | |
+ | | ROM | | : | |
+ | |services| | : | |
+ | | | | +-------------+ | |
+ | | | | | *R5 ROM* | | |
+ | | | | +-------------+ | |
+ | | |<---------|---|Load and auth| | |
+ | | | | | tiboot3.bin | | |
+ | | | | +-------------+ | |
+ | | | | : | |
+ | | | | : | |
+ | | | | : | |
+ | | | | +-------------+ | |
+ | | | | | *R5 SPL* | | |
+ | | | | +-------------+ | |
+ | | | | | Load | | |
+ | | | | | sysfw.itb | | |
+ | | Start | | +-------------+ | |
+ | | System |<---------|---| Start | | |
+ | |Firmware| | | SYSFW | | |
+ | +--------+ | +-------------+ | |
+ | : | | | | |
+ | +---------+ | | Load | | |
+ | | *SYSFW* | | | system | | |
+ | +---------+ | | Config data | | |
+ | | |<--------|---| | | |
+ | | | | +-------------+ | |
+ | | | | | | | |
+ | | | | | DDR | | |
+ | | | | | config | | |
+ | | | | +-------------+ | |
+ | | | | | | | |
+ | | |<--------|---| Start A53 | | |
+ | | | | | and Reset | | |
+ | | | | +-------------+ | |
+ | | | | | +-----------+ |
+ | | |---------|-----------------------|---->| Reset rls | |
+ | | | | | +-----------+ |
+ | | DMSC | | | : |
+ | |Services | | | +------------+ |
+ | | |<--------|-----------------------|---->|*ATF/OP-TEE*| |
+ | | | | | +------------+ |
+ | | | | | : |
+ | | | | | +-----------+ |
+ | | |<--------|-----------------------|---->| *A53 SPL* | |
+ | | | | | +-----------+ |
+ | | | | | | Load | |
+ | | | | | | u-boot.img| |
+ | | | | | +-----------+ |
+ | | | | | : |
+ | | | | | +-----------+ |
+ | | |<--------|-----------------------|---->| *U-Boot* | |
+ | | | | | +-----------+ |
+ | | | | | | prompt | |
+ | | | | | +-----------+ |
+ | +---------+ | | |
+ | | | |
+ +------------------------------------------------------------------------+
+
+- Here DMSC acts as master and provides all the critical services. R5/A53
+ requests DMSC to get these services done as shown in the above diagram.
+
+Sources:
+--------
+1. Trusted Firmware-A:
+ Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
+ Branch: master
+
+2. OP-TEE:
+ Tree: https://github.com/OP-TEE/optee_os.git
+ Branch: master
+
+3. U-Boot:
+ Tree: https://source.denx.de/u-boot/u-boot
+ Branch: master
+
+4. TI Linux Firmware:
+ Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
+ Branch: ti-linux-firmware
+
+Build procedure:
+----------------
+1. Trusted Firmware-A:
+
+.. code-block:: bash
+
+ $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 \
+ TARGET_BOARD=generic SPD=opteed
+
+2. OP-TEE:
+
+.. code-block:: bash
+
+ $ make PLATFORM=k3-am65x CFG_ARM64_core=y
+
+3. U-Boot:
+
+* 4.1 R5:
+
+.. code-block:: bash
+
+ $ make am65x_evm_r5_defconfig
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
+
+* 4.2 A53:
+
+.. code-block:: bash
+
+ $ make am65x_evm_a53_defconfig
+ $ make CROSS_COMPILE=aarch64-linux-gnu- \
+ 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 \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
+
+Target Images
+--------------
+Copy the below images to an SD card and boot:
+
+- GP
+
+ * tiboot3-am65x_sr2-gp-evm.bin, sysfw-am65x_sr2-gp-evm.itb from step 4.1
+ * tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
+
+- HS
+
+ * tiboot3-am65x_sr2-hs-evm.bin, sysfw-am65x_sr2-hs-evm.itb from step 4.1
+ * tispl.bin, u-boot.img from step 4.2
+
+Image formats:
+--------------
+
+- tiboot3.bin:
+
+.. code-block:: text
+
+ +-----------------------+
+ | X.509 |
+ | Certificate |
+ | +-------------------+ |
+ | | | |
+ | | R5 | |
+ | | u-boot-spl.bin | |
+ | | | |
+ | +-------------------+ |
+ | | | |
+ | | FIT header | |
+ | | +---------------+ | |
+ | | | | | |
+ | | | DTB 1...N | | |
+ | | +---------------+ | |
+ | +-------------------+ |
+ +-----------------------+
+
+- tispl.bin
+
+.. code-block:: text
+
+ +-----------------------+
+ | |
+ | FIT HEADER |
+ | +-------------------+ |
+ | | | |
+ | | A53 ATF | |
+ | +-------------------+ |
+ | | | |
+ | | A53 OP-TEE | |
+ | +-------------------+ |
+ | | | |
+ | | A53 SPL | |
+ | +-------------------+ |
+ | | | |
+ | | SPL DTB 1...N | |
+ | +-------------------+ |
+ +-----------------------+
+
+- sysfw.itb
+
+.. code-block:: text
+
+ +-----------------------+
+ | |
+ | FIT HEADER |
+ | +-------------------+ |
+ | | | |
+ | | sysfw.bin | |
+ | +-------------------+ |
+ | | | |
+ | | board config | |
+ | +-------------------+ |
+ | | | |
+ | | PM config | |
+ | +-------------------+ |
+ | | | |
+ | | RM config | |
+ | +-------------------+ |
+ | | | |
+ | | Secure config | |
+ | +-------------------+ |
+ +-----------------------+
+
+eMMC:
+-----
+ROM supports booting from eMMC from boot0 partition offset 0x0
+
+Flashing images to eMMC:
+
+The following commands can be used to download tiboot3.bin, tispl.bin,
+u-boot.img, and sysfw.itb from an SD card and write them to the eMMC boot0
+partition at respective addresses.
+
+.. code-block:: text
+
+ => mmc dev 0 1
+ => fatload mmc 1 ${loadaddr} tiboot3.bin
+ => mmc write ${loadaddr} 0x0 0x400
+ => fatload mmc 1 ${loadaddr} tispl.bin
+ => mmc write ${loadaddr} 0x400 0x1000
+ => fatload mmc 1 ${loadaddr} u-boot.img
+ => mmc write ${loadaddr} 0x1400 0x2000
+ => fatload mmc 1 ${loadaddr} sysfw.itb
+ => mmc write ${loadaddr} 0x3600 0x800
+
+To give the ROM access to the boot partition, the following commands must be
+used for the first time:
+
+.. code-block:: text
+
+ => mmc partconf 0 1 1 1
+ => mmc bootbus 0 1 0 0
+
+To create a software partition for the rootfs, the following command can be
+used:
+
+.. code-block:: text
+
+ => gpt write mmc 0 ${partitions}
+
+eMMC layout:
+
+.. code-block:: text
+
+ boot0 partition (8 MB) user partition
+ 0x0+----------------------------------+ 0x0+-------------------------+
+ | tiboot3.bin (512 KB) | | |
+ 0x400+----------------------------------+ | |
+ | tispl.bin (2 MB) | | |
+ 0x1400+----------------------------------+ | rootfs |
+ | u-boot.img (4 MB) | | |
+ 0x3400+----------------------------------+ | |
+ | environment (128 KB) | | |
+ 0x3500+----------------------------------+ | |
+ | backup environment (128 KB) | | |
+ 0x3600+----------------------------------+ | |
+ | sysfw (1 MB) | | |
+ 0x3E00+----------------------------------+ +-------------------------+
+
+Kernel image and DT are expected to be present in the /boot folder of rootfs.
+To boot kernel from eMMC, use the following commands:
+
+.. code-block:: text
+
+ => setenv mmcdev 0
+ => setenv bootpart 0
+ => boot
+
+OSPI:
+-----
+ROM supports booting from OSPI from offset 0x0.
+
+Flashing images to OSPI:
+
+Below commands can be used to download tiboot3.bin, tispl.bin, u-boot.img,
+and sysfw.itb over tftp and then flash those to OSPI at their respective
+addresses.
+
+.. code-block:: text
+
+ => sf probe
+ => tftp ${loadaddr} tiboot3.bin
+ => sf update $loadaddr 0x0 $filesize
+ => tftp ${loadaddr} tispl.bin
+ => sf update $loadaddr 0x80000 $filesize
+ => tftp ${loadaddr} u-boot.img
+ => sf update $loadaddr 0x280000 $filesize
+ => tftp ${loadaddr} sysfw.itb
+ => sf update $loadaddr 0x6C0000 $filesize
+
+Flash layout for OSPI:
+
+.. code-block:: text
+
+ 0x0 +----------------------------+
+ | ospi.tiboot3(512K) |
+ | |
+ 0x80000 +----------------------------+
+ | ospi.tispl(2M) |
+ | |
+ 0x280000 +----------------------------+
+ | ospi.u-boot(4M) |
+ | |
+ 0x680000 +----------------------------+
+ | ospi.env(128K) |
+ | |
+ 0x6A0000 +----------------------------+
+ | ospi.env.backup (128K) |
+ | |
+ 0x6C0000 +----------------------------+
+ | ospi.sysfw(1M) |
+ | |
+ 0x7C0000 +----------------------------+
+ | padding (256k) |
+ 0x800000 +----------------------------+
+ | ospi.rootfs(UBIFS) |
+ | |
+ +----------------------------+
+
+Kernel Image and DT are expected to be present in the /boot folder of UBIFS
+ospi.rootfs just like in SD card case. U-Boot looks for UBI volume named
+"rootfs" for rootfs.
+
+To boot kernel from OSPI, at the U-Boot prompt:
+
+.. code-block:: text
+
+ => setenv boot ubi
+ => boot
+
+UART:
+-----
+ROM supports booting from MCU_UART0 via X-Modem protocol. The entire UART-based
+boot process up to U-Boot (proper) prompt goes through different stages and uses
+different UART peripherals as follows:
+
+.. code-block:: text
+
+ +---------+---------------+-------------+------------+
+ | WHO | Loading WHAT | HW Module | Protocol |
+ +---------+---------------+-------------+------------+
+ |Boot ROM | tiboot3.bin | MCU_UART0 | X-Modem(*)|
+ |R5 SPL | sysfw.itb | MCU_UART0 | Y-Modem(*)|
+ |R5 SPL | tispl.bin | MAIN_UART0 | Y-Modem |
+ |A53 SPL | u-boot.img | MAIN_UART0 | Y-Modem |
+ +---------+---------------+-------------+------------+
+
+Note that in addition to X/Y-Modem related protocol timeouts the DMSC
+watchdog timeout of 3min (typ.) needs to be observed until System Firmware
+is fully loaded (from sysfw.itb) and started.
+
+Example bash script sequence for running on a Linux host PC feeding all boot
+artifacts needed to the device:
+
+.. code-block:: text
+
+ MCU_DEV=/dev/ttyUSB1
+ MAIN_DEV=/dev/ttyUSB0
+
+ stty -F $MCU_DEV 115200 cs8 -cstopb -parenb
+ stty -F $MAIN_DEV 115200 cs8 -cstopb -parenb
+
+ sb --xmodem tiboot3.bin > $MCU_DEV < $MCU_DEV
+ sb --ymodem sysfw.itb > $MCU_DEV < $MCU_DEV
+ sb --ymodem tispl.bin > $MAIN_DEV < $MAIN_DEV
+ sleep 1
+ sb --xmodem u-boot.img > $MAIN_DEV < $MAIN_DEV
| | |---------|-----------------------|---->| Reset rls | | |
| | | | | +-----------+ | |
| | TIFS | | | : | |
- | |Services | | | +-----------+ | |
- | | |<--------|-----------------------|---->|*ATF/OPTEE*| | |
- | | | | | +-----------+ | |
+ | |Services | | | +-------------+ | |
+ | | |<--------|-----------------------|---->|*TF-A/OP-TEE*| | |
+ | | | | | +-------------+ | |
| | | | | : | |
| | | | | +-----------+ | |
| | |<--------|-----------------------|---->| *A72 SPL* | | |
Sources:
--------
-1. SYSFW:
- Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
+1. Trusted Firmware-A:
+ Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
Branch: master
-2. ATF:
- Tree: https://github.com/ARM-software/arm-trusted-firmware.git
+2. OP-TEE:
+ Tree: https://github.com/OP-TEE/optee_os.git
Branch: master
-3. OPTEE:
- Tree: https://github.com/OP-TEE/optee_os.git
+3. U-Boot:
+ Tree: https://source.denx.de/u-boot/u-boot
Branch: master
-4. DM Firmware:
+4. TI Linux Firmware:
Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
Branch: ti-linux-firmware
-5. U-Boot:
- Tree: https://source.denx.de/u-boot/u-boot
- Branch: master
-
Build procedure:
----------------
-1. SYSFW:
+1. Trusted Firmware-A:
.. code-block:: bash
- make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabihf- SOC=j7200 SBL=u-boot-spl.bin SYSFW_PATH=<path to sysfw>/ti-fs-firmware-j7200-gp.bin
- u-boot-spl.bin is generated at step 4.
+ $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
-2. ATF:
+2. OP-TEE:
.. code-block:: bash
- make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
+ $ make PLATFORM=k3-j7200 CFG_ARM64_core=y
-3. OPTEE:
-
-.. code-block:: bash
-
- make PLATFORM=k3-j7200 CFG_ARM64_core=y
-
-4. U-Boot:
+3. U-Boot:
* 4.1 R5:
.. code-block:: bash
- make CROSS_COMPILE=arm-linux-gnueabihf- j7200_evm_r5_defconfig O=build/r5
- make CROSS_COMPILE=arm-linux-gnueabihf- O=build/r5
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- j7200_evm_r5_defconfig O=build/r5
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
* 4.2 A72:
.. code-block:: bash
- make CROSS_COMPILE=aarch64-linux-gnu- j7200_evm_a72_defconfig O=build/a72
- make CROSS_COMPILE=aarch64-linux-gnu- ATF=<ATF dir>/build/k3/generic/release/bl31.bin TEE=<OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin DM=<DM firmware>/ti-dm/j7200/ipc_echo_testb_mcu1_0_release_strip.xer5f O=build/a72
+ $ make CROSS_COMPILE=aarch64-linux-gnu- j7200_evm_a72_defconfig O=build/a72
+ $ make CROSS_COMPILE=aarch64-linux-gnu- \
+ 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 \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
Target Images
--------------
Copy the below images to an SD card and boot:
- - tiboot3.bin from step 1
- - tispl.bin, u-boot.img from 4.2
+
+ - GP
+
+ * tiboot3-j7200-gp-evm.bin from step 4.1
+ * tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
+
+ - HS-FS
+
+ * tiboot3-j7200_sr2-hs-fs-evm.bin from step 4.1
+ * tispl.bin, u-boot.img from step 4.2
+
+ - HS-SE
+
+ * tiboot3-j7200_sr2-hs-evm.bin from step 4.1
+ * tispl.bin, u-boot.img from step 4.2
Image formats:
--------------
| FIT HEADER |
| +-------------------+ |
| | | |
- | | A72 ATF | |
+ | | A72 TF-A | |
| +-------------------+ |
| | | |
- | | A72 OPTEE | |
+ | | A72 OP-TEE | |
| +-------------------+ |
| | | |
| | R5 DM FW | |
| | |---------|-----------------------|---->| Reset rls | | |
| | | | | +-----------+ | |
| | TIFS | | | : | |
- | |Services | | | +-----------+ | |
- | | |<--------|-----------------------|---->|*ATF/OPTEE*| | |
- | | | | | +-----------+ | |
+ | |Services | | | +-------------+ | |
+ | | |<--------|-----------------------|---->|*TF-A/OP-TEE*| | |
+ | | | | | +-------------+ | |
| | | | | : | |
| | | | | +-----------+ | |
| | |<--------|-----------------------|---->| *A72 SPL* | | |
Sources:
--------
-1. SYSFW:
- Tree: git://git.ti.com/k3-image-gen/k3-image-gen.git
+1. Trusted Firmware-A:
+ Tree: https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
Branch: master
-2. ATF:
- Tree: https://github.com/ARM-software/arm-trusted-firmware.git
+2. OP-TEE:
+ Tree: https://github.com/OP-TEE/optee_os.git
Branch: master
-3. OPTEE:
- Tree: https://github.com/OP-TEE/optee_os.git
+3. U-Boot:
+ Tree: https://source.denx.de/u-boot/u-boot
Branch: master
-4. DM Firmware:
+4. TI Linux Firmware:
Tree: git://git.ti.com/processor-firmware/ti-linux-firmware.git
Branch: ti-linux-firmware
-5. U-Boot:
- Tree: https://source.denx.de/u-boot/u-boot
- Branch: master
-
Build procedure:
----------------
-1. SYSFW:
+1. Trusted Firmware-A:
.. code-block:: bash
- make CROSS_COMPILE=arm-linux-gnueabihf- SOC=j721e
+ $ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 \
+ TARGET_BOARD=generic SPD=opteed
-2. ATF:
+2. OP-TEE:
.. code-block:: bash
- make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
+ $ make PLATFORM=k3-j721e CFG_ARM64_core=y
-3. OPTEE:
-
-.. code-block:: bash
-
- make PLATFORM=k3-j721e CFG_ARM64_core=y
-
-4. U-Boot:
+3. U-Boot:
* 4.1 R5:
.. code-block:: bash
- make CROSS_COMPILE=arm-linux-gnueabihf- j721e_evm_r5_defconfig O=build/r5
- make CROSS_COMPILE=arm-linux-gnueabihf- O=build/r5
+ $ make j721e_evm_r5_defconfig
+ $ make CROSS_COMPILE=arm-linux-gnueabihf- \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
* 4.2 A72:
.. code-block:: bash
- make CROSS_COMPILE=aarch64-linux-gnu- j721e_evm_a72_defconfig O=build/a72
- make CROSS_COMPILE=aarch64-linux-gnu- ATF=<ATF dir>/build/k3/generic/release/bl31.bin TEE=<OPTEE OS dir>/out/arm-plat-k3/core/tee-pager_v2.bin DM=<DM firmware>/ti-dm/j721e/ipc_echo_testb_mcu1_0_release_strip.xer5f O=build/a72
+ $ make j721e_evm_a72_defconfig
+ $ make CROSS_COMPILE=aarch64-linux-gnu- \
+ 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 \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
Target Images
--------------
Copy the below images to an SD card and boot:
- - sysfw.itb from step 1
- - tiboot3.bin from step 4.1
- - tispl.bin, u-boot.img from 4.2
+
+ - GP
+
+ * tiboot3-j721e-gp-evm.bin, sysfw-j721e-gp-evm.itb from step 4.1
+ * tispl.bin_unsigned, u-boot.img_unsigned from step 4.2
+
+ - HS-FS
+
+ * tiboot3-j721e_sr2-hs-fs-evm.bin, sysfw-j721e_sr2-hs-fs-evm.itb from step 4.1
+ * tispl.bin, u-boot.img from step 4.2
+
+ - HS-SE
+
+ * tiboot3-j721e_sr2-hs-evm.bin, sysfw-j721e_sr2-hs-evm.itb from step 4.1
+ * tispl.bin, u-boot.img from step 4.2
Image formats:
--------------
| FIT HEADER |
| +-------------------+ |
| | | |
- | | A72 ATF | |
+ | | A72 TF-A | |
| +-------------------+ |
| | | |
- | | A72 OPTEE | |
+ | | A72 OP-TEE | |
| +-------------------+ |
| | | |
| | R5 DM FW | |
j721e_evm
j7200_evm
am62x_sk
+ am65x_evm
Boot Flow Overview
------------------
any peripherals needed load the larger binaries inside the `tispl.bin`
into DDR. Once loaded the wakeup SPL will start one of the 'big'
application cores inside the main domain to initialize the main domain,
-starting with ARM Trusted Firmware (ATF), before moving on to start
-OPTEE and the main domain's U-Boot SPL.
+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 -> ATF -> OPTEE -> Main SPL
+ ROM -> WKUP SPL -> TF-A -> OP-TEE -> Main SPL
The main domain's SPL, running on a 64bit application core, has
virtually unlimited space (billions of bytes now that DDR is working) to
.. code-block:: text
| WKUP Domain | Main Domain ->
- ROM -> WKUP SPL -> ATF -> OPTEE -> Main SPL -> UBoot -> Linux
+ ROM -> WKUP SPL -> TF-A -> OP-TEE -> Main SPL -> UBoot -> Linux
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
| **source:** https://source.denx.de/u-boot/u-boot.git
| **branch:** master
-* **K3 Image Gen**
+* **Trusted Firmware-A (TF-A)**
- | **source:** https://git.ti.com/git/k3-image-gen/k3-image-gen.git
+ | **source:** https://git.trustedfirmware.org/TF-A/trusted-firmware-a.git/
| **branch:** master
-* **ARM Trusted Firmware (ATF)**
-
- | **source:** https://github.com/ARM-software/arm-trusted-firmware.git
- | **branch:** master
-
-* **Open Portable Trusted Execution Environment (OPTEE)**
+* **Open Portable Trusted Execution Environment (OP-TEE)**
| **source:** https://github.com/OP-TEE/optee_os.git
| **branch:** master
| **source:** https://git.ti.com/git/processor-firmware/ti-linux-firmware.git
| **branch:** ti-linux-firmware
-* **TI's Security Development Tools**
-
- | **source:** https://git.ti.com/git/security-development-tools/core-secdev-k3.git
- | **branch:** master
-
Build Procedure
---------------
.. code-block:: bash
- export CC32=arm-linux-gnueabihf-
- export CC64=aarch64-linux-gnu-
+ $ export CC32=arm-linux-gnueabihf-
+ $ export CC64=aarch64-linux-gnu-
Building tiboot3.bin
^^^^^^^^^^^^^^^^^^^^^
1. To generate the U-Boot SPL for the wakeup domain, use the following
commands, substituting :code:`{SOC}` for the name of your device (eg:
- am62x)
-
-.. code-block:: bash
-
- # inside u-boot source
- make ARCH=arm O=build/wkup CROSS_COMPILE=$CC32 {SOC}_evm_r5_defconfig
- make ARCH=arm O=build/wkup CROSS_COMPILE=$CC32
+ am62x) to package the various firmware and the wakeup UBoot SPL into
+ the final `tiboot3.bin` binary. (or the `sysfw.itb` if your device
+ uses the split binary flow)
-2. Next we will use the K3 Image Gen scripts to package the various
- firmware and the wakeup UBoot SPL into the final `tiboot3.bin`
- binary. (or the `sysfw.itb` if your device uses the split binary
- flow)
.. code-block:: bash
- # inside k3-image-gen source
- make CROSS_COMPILE=$CC32 SOC={SOC} SOC_TYPE={hs,gp} \
- TI_SECURE_DEV_PKG=<path/to/securit-development-tools> \
- SYSFW_PATH=<path/to/ti-sysfw/ti-fs-firmware-{SOC}-{hs|gp}.bin> \
- SYSFW_HS_INNER_CERT_PATH=<path/to/ti-sysfw/ti-fs-firmware-{SOC}-hs-cert.bin
-
-For devices that use the *combined binary flow*, you will also need to
-supply the location of the SPL we created in step 1 above, so it can be
-packaged into the final `tiboot3.bin`.
-
-.. code-block:: bash
-
- SBL=<path/to/wakeup/u-boot-spl.bin>
+ $ # inside u-boot source
+ $ make ARCH=arm {SOC}_evm_r5_defconfig
+ $ make ARCH=arm CROSS_COMPILE=$CC32 \
+ BINMAN_INDIRS=<path/to/ti-linux-firmware>
At this point you should have all the needed binaries to boot the wakeup
domain of your K3 SoC.
**Combined Binary Boot Flow** (eg: am62x, am64x, ... )
- `k3-image-gen/tiboot3-{SOC}-{hs,gp}-evm.bin`
+ `tiboot3-{SOC}-{gp/hs-fs/hs}.bin`
**Split Binary Boot Flow** (eg: j721e, am65x)
- | `u-boot/build/wkup/tiboot3.bin`
- | `k3-image-gen/sysfw-{SOC}-evm.bin`
+ | `tiboot3-{SOC}-{gp/hs-fs/hs}.bin`
+ | `sysfw-{SOC}-{gp/hs-fs/hs}-evm.itb`
.. note ::
the main domain to function properly as well as Device Management (DM)
firmware if your device using a split firmware.
-3. We will first need ATF, as it's the first thing to run on the 'big'
+2. We will first need TF-A, as it's the first thing to run on the 'big'
application cores on the main domain.
.. code-block:: bash
- # inside arm-trusted-firmware source
- make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \
- TARGET_BOARD={lite|generic} \
- SPD=opteed \
+ $ # inside trusted-firmware-a source
+ $ make CROSS_COMPILE=$CC64 ARCH=aarch64 PLAT=k3 \
+ TARGET_BOARD={lite|generic|j784s4} \
+ SPD=opteed
-Typically all `j7*` devices will use `TARGET_BOARD=generic` while all
-Sitara (`am6*`) devices use the `lite` option.
+Typically all `j7*` devices will use `TARGET_BOARD=generic` or `TARGET_BOARD
+=j784s4` (if it is a J784S4 device), while all Sitara (`am6*`) devices
+use the `lite` option.
-4. The Open Portable Trusted Execution Environment (OPTEE) is designed
+3. The Open Portable Trusted Execution Environment (OP-TEE) is designed
to run as a companion to a non-secure Linux kernel for Cortex-A cores
using the TrustZone technology built into the core.
.. code-block:: bash
- # inside optee_os source
- make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 \
+ $ # inside optee_os source
+ $ make CROSS_COMPILE=$CC32 CROSS_COMPILE64=$CC64 \
PLATFORM=k3 CFG_ARM64_core=y
-5. Finally, after ATF has initialized the main domain and OPTEE has
+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.
.. code-block:: bash
- # inside u-boot source
- make ARCH=arm O=build/main CROSS_COMPILE=$CC64 {SOC}_evm_a{53,72}_defconfig
- make ARCH=arm O=build/main CROSS_COMPILE=$CC64 \
- ATF=<path/to/atf/bl31.bin \
- TEE=<path/to/optee/tee-pager_v2.bin
-
-If your device uses a split firmware, you will also need to supply the
-path to the Device Management (DM) Firmware to be included in the final
-`tispl.bin` binary
-
-.. code-block:: bash
-
- DM=<path/to/ti-linux-firmware/ti-dm/ipc_echo_testb_mcu1_0_release_strip.xer5f>
+ $ # 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
At this point you should have every binary needed initialize both the
wakeup and main domain and to boot to the U-Boot prompt
**Main Domain Bootloader**
- | `u-boot/build/main/tispl.bin`
- | `u-boot/build/main/u-boot.img`
+ | `tispl.bin` for HS devices or `tispl.bin_unsigned` for GP devices
+ | `u-boot.img` for HS devices or `u-boot.img_unsigned` for GP devices
projects / u-boot.git / commitdiff