[PATCH v3 16/16] doc: board: ti: k3: Add J784S4 EVM and AM69 SK documentation

Tue Sep 12 14:50:35 CEST 2023

On Fri, 2023-09-08 at 16:35 +0530, Apurva Nandan wrote:
> TI K3 J784S4 and AM69 SK are new additions to the K3 SoC family.
> Add documentation about the J784S4 EVM and AM69 SK.
> 
> Signed-off-by: Dasnavis Sabiya <sabiya.d at ti.com>
> Signed-off-by: Apurva Nandan <a-nandan at ti.com>
> ---
>  board/ti/j784s4/MAINTAINERS |   1 +
>  doc/board/ti/j784s4_evm.rst | 339 ++++++++++++++++++++++++++++++++++++
>  doc/board/ti/k3.rst         |   1 +
>  3 files changed, 341 insertions(+)
>  create mode 100644 doc/board/ti/j784s4_evm.rst
> 
> diff --git a/board/ti/j784s4/MAINTAINERS b/board/ti/j784s4/MAINTAINERS
> index 7d3549dd31..be2f9a04b7 100644
> --- a/board/ti/j784s4/MAINTAINERS
> +++ b/board/ti/j784s4/MAINTAINERS
> @@ -18,3 +18,4 @@ F:    arch/arm/dts/k3-j784s4-ddr-evm-lp4-4266.dtsi
>  F:     arch/arm/dts/k3-am69-sk.dts
>  F:     arch/arm/dts/k3-am69-sk-u-boot.dtsi
>  F:     arch/arm/dts/k3-am69-r5-sk.dts
> +F:     doc/board/ti/j784s4_evm.rst
> diff --git a/doc/board/ti/j784s4_evm.rst b/doc/board/ti/j784s4_evm.rst
> new file mode 100644
> index 0000000000..1e2b7f3820
> --- /dev/null
> +++ b/doc/board/ti/j784s4_evm.rst
> @@ -0,0 +1,339 @@
> +.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause

Should be:

GPL-2.0-or-later OR BSD-3-Clause

> +.. sectionauthor:: Apurva Nandan <a-nandan at 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:
> +    * Dual core 64-bit ARM Cortex-A72, runs HLOS
> +
> +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
> +
> +- 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=generic
> + $ 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
> +
> +- tispl.bin
> +
> +.. image:: img/dm_tispl.bin.svg
> +
> +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 shows

show

>  some common boot modes used on J784S4 SoC 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
> +     - SW9: 12345678
> +     - SW8: 12345678
> +
> +   * - SD
> +     - 00000000
> +     - 10000010
> +
> +   * - EMMC
> +     - 01000000
> +     - 10000000
> +
> +   * - OSPI
> +     - 01000000
> +     - 00000110
> +
> +   * - UART
> +     - 01110000
> +     - 00000000
> +
> +   * - USB DFU
> +     - 00100000
> +     - 10000000
> +
> +For SW8 and SW9, the switch state in the "ON" position = 1.
> +
> +Boot Mode Pins for AM69-SK
> +^^^^^^^^^^^^^^^^^^^^^^^^^^
> +
> +The following table shows 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
> +
> +   * - OSPI
> +     - 1110
> +
> +   * - 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**: v0.12.0
> +
> +  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.
> +
> +Debugging U-Boot on J784S4-EVM
> +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
> +
> +.. 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 the board
> +
> +.. code-block:: bash
> +
> +  openocd -f board/ti_j784s4evm.cfg
> +
> +Debugging U-Boot on SK-AM69
> +^^^^^^^^^^^^^^^^^^^^^^^^^^^
> +
> +.. include::  k3.rst
> +    :start-after: .. k3_rst_include_start_openocd_connect_cti20
> +    :end-before: .. k3_rst_include_end_openocd_connect_cti20
> +
> +.. include::  k3.rst
> +    :start-after: .. k3_rst_include_start_openocd_cfg_external_intro
> +    :end-before: .. k3_rst_include_end_openocd_cfg_external_intro
> +
> +For SK-AM69, the openocd_connect.cfg is as follows:
> +
> +.. code-block:: tcl
> +
> +  # TUMPA example:
> +  # http://www.tiaowiki.com/w/TIAO_USB_Multi_Protocol_Adapter_User's_Manual
> +  source [find interface/ftdi/tumpa.cfg]
> +
> +  transport select jtag
> +
> +  # default JTAG configuration has only SRST and no TRST
> +  reset_config srst_only srst_push_pull
> +
> +  # delay after SRST goes inactive
> +  adapter srst delay 20
> +
> +  if { ![info exists SOC] } {
> +    # Set the SoC of interest
> +    set SOC j784s4
> +  }
> +
> +  source [find target/ti_k3.cfg]
> +
> +  ftdi tdo_sample_edge falling
> +
> +  # Speeds for FT2232H are in multiples of 2, and 32MHz is tops
> +  # max speed we seem to achieve is ~20MHz.. so we pick 16MHz
> +  adapter speed 16000
> diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst
> index 95cdb36625..314975e9ba 100644
> --- a/doc/board/ti/k3.rst
> +++ b/doc/board/ti/k3.rst
> @@ -36,6 +36,7 @@ K3 Based SoCs
>     am65x_evm
>     j7200_evm
>     j721e_evm
> +   j784s4_evm
>  
>  Boot Flow Overview
>  ------------------