board: ti: am654: a53: Add initial support for am654

Add initial support for AM654 based EVM running on A53. Enable 4GB of DDR available on the EVM so that kernel DTB file can be updated accordingly. Reviewed-by: Tom Rini <trini@konsulko.com> Signed-off-by: Lokesh Vutla <lokeshvutla@ti.com> [Andreas: Added 4GB ddr support] Signed-off-by: Andreas Dannenberg <dannenberg@ti.com>

board: ti: am654: a53: Add initial support for am654
Add initial support for AM654 based EVM running on A53. Enable 4GB of DDR available on the EVM so that kernel DTB file can be updated accordingly. Reviewed-by: Tom Rini <trini@konsulko.com> Signed-off-by: Lokesh Vutla <lokeshvutla@ti.com> [Andreas: Added 4GB ddr support] Signed-off-by: Andreas Dannenberg <dannenberg@ti.com>
Lokesh Vutla · Tom Rini
1 parent 3980b16137
Showing 7 changed files with 273 additions and 0 deletions Side-by-side Diff
arch/arm/mach-k3/Kconfig
board/ti/am65x/Kconfig
board/ti/am65x/MAINTAINERS
board/ti/am65x/Makefile
board/ti/am65x/README
board/ti/am65x/evm.c
include/configs/am65x_evm.h
@@ -47,5 +47,6 @@
 	  Address at which ROM stores the value which determines if SPL
 	  is booted up by primary boot media or secondary boot media.
  
+source "board/ti/am65x/Kconfig"
 endif
+# SPDX-License-Identifier: GPL-2.0+
+#
+# Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
+#	Lokesh Vutla <lokeshvutla@ti.com>
+
+choice
+	prompt "K3 AM65 based boards"
+	optional
+
+config TARGET_AM654_A53_EVM
+	bool "TI K3 based AM654 EVM running on A53"
+	select ARM64
+	select SOC_K3_AM6
+
+endchoice
+
+if TARGET_AM654_A53_EVM
+
+config SYS_BOARD
+       default "am65x"
+
+config SYS_VENDOR
+       default "ti"
+
+config SYS_CONFIG_NAME
+       default "am65x_evm"
+
+endif
+AM65x BOARD
+M:	Lokesh Vutla <lokeshvutla@ti.com>
+S:	Maintained
+F:	board/ti/am65x/
+F:	include/configs/am65x_evm.h
+#
+# Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
+#	Lokesh Vutla <lokeshvutla@ti.com>
+#
+# SPDX-License-Identifier:     GPL-2.0+
+#
+
+obj-y  := evm.o
+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 |     |                       |
+|    |        |          |   +-------------+     |                       |
+|    |        |          |         :             |                       |
+|    |        |          |         :             |                       |
+|    |        |          |         :             |                       |
+|    |        |          |   +-------------+     |                       |
+|    | Start  |          |   |  *R5 SPL*   |     |                       |
+|    | System |          |   +-------------+     |                       |
+|    |Firmware|<---------|---|Load and auth|     |                       |
+|    +--------+          |   |  sysfw bin  |     |                       |
+|        :               |   +-------------+     |                       |
+|    +---------+         |   |     DDR     |     |                       |
+|    | *SYSFW* |         |   |    config   |     |                       |
+|    +---------+         |   +-------------+     |                       |
+|    |         |<--------|---|    Load     |     |                       |
+|    |         |         |   |  tispl.bin  |     |                       |
+|    |         |         |   +-------------+     |                       |
+|    |         |<--------|---| 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:
+	System Firmware repo is closed source and the binaries are delivered
+	to users with NDA. Please contact TI to get the System Firmware
+	Binary named ti-sci-firmware-am6x.bin that runs on AM65x SoC.
+
+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:
+	ROM expects a signed binary that contains the X509 certificate. So
+the binary ti-sci-firmware-am6x.bin cannot be uses as-is and needs to be signed.
+Contact TI on the procedure to sign the system firmware binary.
+
+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:
+	TBD.
+
+4.2. A53:
+$ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53
+$ make ARCH=arm 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.bin O=/tmp/a53
+
+Target Images
+--------------
+Copy the below images to an SD card and boot:
+- tiboot3.bin from step 4.1
+- tispl.bin, u-boot.img from 4.2
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Board specific initialization for AM654 EVM
+ *
+ * Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
+ *	Lokesh Vutla <lokeshvutla@ti.com>
+ *
+ */
+
+#include <common.h>
+#include <asm/io.h>
+#include <spl.h>
+
+DECLARE_GLOBAL_DATA_PTR;
+
+int board_init(void)
+{
+	return 0;
+}
+
+int dram_init(void)
+{
+#ifdef CONFIG_PHYS_64BIT
+	gd->ram_size = 0x100000000;
+#else
+	gd->ram_size = 0x80000000;
+#endif
+
+	return 0;
+}
+
+ulong board_get_usable_ram_top(ulong total_size)
+{
+#ifdef CONFIG_PHYS_64BIT
+	/* Limit RAM used by U-Boot to the DDR low region */
+	if (gd->ram_top > 0x100000000)
+		return 0x100000000;
+#endif
+
+	return gd->ram_top;
+}
+
+int dram_init_banksize(void)
+{
+	/* Bank 0 declares the memory available in the DDR low region */
+	gd->bd->bi_dram[0].start = CONFIG_SYS_SDRAM_BASE;
+	gd->bd->bi_dram[0].size = 0x80000000;
+
+#ifdef CONFIG_PHYS_64BIT
+	/* Bank 1 declares the memory available in the DDR high region */
+	gd->bd->bi_dram[1].start = CONFIG_SYS_SDRAM_BASE1;
+	gd->bd->bi_dram[1].size = 0x80000000;
+#endif
+
+	return 0;
+}
+/* SPDX-License-Identifier: GPL-2.0+ */
+/*
+ * Configuration header file for K3 AM654 EVM
+ *
+ * Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
+ *	Lokesh Vutla <lokeshvutla@ti.com>
+ */
+
+#ifndef __CONFIG_AM654_EVM_H
+#define __CONFIG_AM654_EVM_H
+
+#include <linux/sizes.h>
+#include <config_distro_bootcmd.h>
+
+#define CONFIG_ENV_SIZE			(128 << 10)
+
+/* DDR Configuration */
+#define CONFIG_SYS_SDRAM_BASE1		0x880000000
+
+/* SPL Loader Configuration */
+#ifdef CONFIG_TARGET_AM654_A53_EVM
+#define CONFIG_SPL_TEXT_BASE		0x80080000
+#endif
+
+#define CONFIG_SKIP_LOWLEVEL_INIT
+
+#define CONFIG_SPL_MAX_SIZE		CONFIG_SYS_K3_MAX_DOWNLODABLE_IMAGE_SIZE
+#define CONFIG_SYS_INIT_SP_ADDR         (CONFIG_SPL_TEXT_BASE +	\
+					CONFIG_SYS_K3_NON_SECURE_MSRAM_SIZE - 4)
+
+/* Now for the remaining common defines */
+#include <configs/ti_armv7_common.h>
+
+#endif /* __CONFIG_AM654_EVM_H */
...	...	@@ -47,5 +47,6 @@
47	47	Address at which ROM stores the value which determines if SPL
48	48	is booted up by primary boot media or secondary boot media.
49	49
	50	+source "board/ti/am65x/Kconfig"
50	51	endif
	1	+# SPDX-License-Identifier: GPL-2.0+
	2	+#
	3	+# Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
	4	+# Lokesh Vutla <lokeshvutla@ti.com>
	5	+
	6	+choice
	7	+ prompt "K3 AM65 based boards"
	8	+ optional
	9	+
	10	+config TARGET_AM654_A53_EVM
	11	+ bool "TI K3 based AM654 EVM running on A53"
	12	+ select ARM64
	13	+ select SOC_K3_AM6
	14	+
	15	+endchoice
	16	+
	17	+if TARGET_AM654_A53_EVM
	18	+
	19	+config SYS_BOARD
	20	+ default "am65x"
	21	+
	22	+config SYS_VENDOR
	23	+ default "ti"
	24	+
	25	+config SYS_CONFIG_NAME
	26	+ default "am65x_evm"
	27	+
	28	+endif
	1	+AM65x BOARD
	2	+M: Lokesh Vutla <lokeshvutla@ti.com>
	3	+S: Maintained
	4	+F: board/ti/am65x/
	5	+F: include/configs/am65x_evm.h
	1	+Introduction:
	2	+-------------
	3	+The AM65x family of SoCs is the first device family from K3 Multicore
	4	+SoC architecture, targeted for broad market and industrial control with
	5	+aim to meet the complex processing needs of modern embedded products.
	6	+
	7	+The device is built over three domains, each containing specific processing
	8	+cores, voltage domains and peripherals:
	9	+1. Wake-up (WKUP) domain:
	10	+ - Device Management and Security Controller (DMSC)
	11	+2. Microcontroller (MCU) domain:
	12	+ - Dual Core ARM Cortex-R5F processor
	13	+3. MAIN domain:
	14	+ - Quad core 64-bit ARM Cortex-A53
	15	+
	16	+More info can be found in TRM: http://www.ti.com/lit/pdf/spruid7
	17	+
	18	+Boot Flow:
	19	+----------
	20	+On AM65x family devices, ROM supports boot only via MCU(R5). This means that
	21	+bootloader has to run on R5 core. In order to meet this constraint, and for
	22	+the following reasons the boot flow is designed as mentioned:
	23	+1. Need to move away from R5 asap, so that we want to start any
	24	+firmware on the r5 cores like.... autosar can be loaded to receive CAN
	25	+response and other safety operations to be started. This operation is
	26	+very time critical and is applicable for all automotive use cases.
	27	+2. U-Boot on A53 should start other remotecores for various
	28	+applications. This should happen before running Linux.
	29	+3. In production boot flow, we might not like to use full u-boot,
	30	+instead use Flacon boot flow to reduce boot time.
	31	+
	32	++------------------------------------------------------------------------+
	33	+\| DMSC \| R5 \| A53 \|
	34	++------------------------------------------------------------------------+
	35	+\| +--------+ \| \| \|
	36	+\| \| Reset \| \| \| \|
	37	+\| +--------+ \| \| \|
	38	+\| : \| \| \|
	39	+\| +--------+ \| +-----------+ \| \|
	40	+\| \| rom \|----------\|-->\| Reset rls \| \| \|
	41	+\| +--------+ \| +-----------+ \| \|
	42	+\| \| \| \| : \| \|
	43	+\| \| rom \| \| : \| \|
	44	+\| \|services\| \| : \| \|
	45	+\| \| \| \| +-------------+ \| \|
	46	+\| \| \| \| \| R5 rom \| \| \|
	47	+\| \| \| \| +-------------+ \| \|
	48	+\| \| \|<---------\|---\|Load and auth\| \| \|
	49	+\| \| \| \| \| tiboot3.bin \| \| \|
	50	+\| \| \| \| +-------------+ \| \|
	51	+\| \| \| \| : \| \|
	52	+\| \| \| \| : \| \|
	53	+\| \| \| \| : \| \|
	54	+\| \| \| \| +-------------+ \| \|
	55	+\| \| Start \| \| \| R5 SPL \| \| \|
	56	+\| \| System \| \| +-------------+ \| \|
	57	+\| \|Firmware\|<---------\|---\|Load and auth\| \| \|
	58	+\| +--------+ \| \| sysfw bin \| \| \|
	59	+\| : \| +-------------+ \| \|
	60	+\| +---------+ \| \| DDR \| \| \|
	61	+\| \| SYSFW \| \| \| config \| \| \|
	62	+\| +---------+ \| +-------------+ \| \|
	63	+\| \| \|<--------\|---\| Load \| \| \|
	64	+\| \| \| \| \| tispl.bin \| \| \|
	65	+\| \| \| \| +-------------+ \| \|
	66	+\| \| \|<--------\|---\| Start A53 \| \| \|
	67	+\| \| \| \| \| and Reset \| \| \|
	68	+\| \| \| \| +-------------+ \| \|
	69	+\| \| \| \| \| +-----------+ \|
	70	+\| \| \|---------\|-----------------------\|---->\| Reset rls \| \|
	71	+\| \| \| \| \| +-----------+ \|
	72	+\| \| DMSC \| \| \| : \|
	73	+\| \|Services \| \| \| +-----------+ \|
	74	+\| \| \|<--------\|-----------------------\|---->\|ATF/OPTEE\| \|
	75	+\| \| \| \| \| +-----------+ \|
	76	+\| \| \| \| \| : \|
	77	+\| \| \| \| \| +-----------+ \|
	78	+\| \| \|<--------\|-----------------------\|---->\| A53 SPL \| \|
	79	+\| \| \| \| \| +-----------+ \|
	80	+\| \| \| \| \| \| Load \| \|
	81	+\| \| \| \| \| \| u-boot.img\| \|
	82	+\| \| \| \| \| +-----------+ \|
	83	+\| \| \| \| \| : \|
	84	+\| \| \| \| \| +-----------+ \|
	85	+\| \| \|<--------\|-----------------------\|---->\| u-boot \| \|
	86	+\| \| \| \| \| +-----------+ \|
	87	+\| \| \| \| \| \| prompt \| \|
	88	+\| \| \| \| \| +-----------+ \|
	89	+\| +---------+ \| \| \|
	90	+\| \| \| \|
	91	++------------------------------------------------------------------------+
	92	+
	93	+- Here DMSC acts as master and provides all the critical services. R5/A53
	94	+requests DMSC to get these services done as shown in the above diagram.
	95	+
	96	+Sources:
	97	+--------
	98	+1. SYSFW:
	99	+ System Firmware repo is closed source and the binaries are delivered
	100	+ to users with NDA. Please contact TI to get the System Firmware
	101	+ Binary named ti-sci-firmware-am6x.bin that runs on AM65x SoC.
	102	+
	103	+2. ATF:
	104	+ Tree: https://github.com/ARM-software/arm-trusted-firmware.git
	105	+ Branch: master
	106	+
	107	+3. OPTEE:
	108	+ Tree: https://github.com/OP-TEE/optee_os.git
	109	+ Branch: master
	110	+
	111	+4. U-Boot:
	112	+ Tree: http://git.denx.de/u-boot.git
	113	+ Branch: master
	114	+
	115	+Build procedure:
	116	+----------------
	117	+1. SYSFW:
	118	+ ROM expects a signed binary that contains the X509 certificate. So
	119	+the binary ti-sci-firmware-am6x.bin cannot be uses as-is and needs to be signed.
	120	+Contact TI on the procedure to sign the system firmware binary.
	121	+
	122	+2. ATF:
	123	+$ make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=generic SPD=opteed
	124	+
	125	+3. OPTEE:
	126	+$ make PLATFORM=k3-am65x CFG_ARM64_core=y
	127	+
	128	+4. U-Boot:
	129	+
	130	+4.1. R5:
	131	+ TBD.
	132	+
	133	+4.2. A53:
	134	+$ make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- am65x_evm_a53_defconfig O=/tmp/a53
	135	+$ make ARCH=arm 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.bin O=/tmp/a53
	136	+
	137	+Target Images
	138	+--------------
	139	+Copy the below images to an SD card and boot:
	140	+- tiboot3.bin from step 4.1
	141	+- tispl.bin, u-boot.img from 4.2
	1	+// SPDX-License-Identifier: GPL-2.0+
	2	+/*
	3	+ * Board specific initialization for AM654 EVM
	4	+ *
	5	+ * Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
	6	+ * Lokesh Vutla <lokeshvutla@ti.com>
	7	+ *
	8	+ */
	9	+
	10	+#include <common.h>
	11	+#include <asm/io.h>
	12	+#include <spl.h>
	13	+
	14	+DECLARE_GLOBAL_DATA_PTR;
	15	+
	16	+int board_init(void)
	17	+{
	18	+ return 0;
	19	+}
	20	+
	21	+int dram_init(void)
	22	+{
	23	+#ifdef CONFIG_PHYS_64BIT
	24	+ gd->ram_size = 0x100000000;
	25	+#else
	26	+ gd->ram_size = 0x80000000;
	27	+#endif
	28	+
	29	+ return 0;
	30	+}
	31	+
	32	+ulong board_get_usable_ram_top(ulong total_size)
	33	+{
	34	+#ifdef CONFIG_PHYS_64BIT
	35	+ /* Limit RAM used by U-Boot to the DDR low region */
	36	+ if (gd->ram_top > 0x100000000)
	37	+ return 0x100000000;
	38	+#endif
	39	+
	40	+ return gd->ram_top;
	41	+}
	42	+
	43	+int dram_init_banksize(void)
	44	+{
	45	+ /* Bank 0 declares the memory available in the DDR low region */
	46	+ gd->bd->bi_dram[0].start = CONFIG_SYS_SDRAM_BASE;
	47	+ gd->bd->bi_dram[0].size = 0x80000000;
	48	+
	49	+#ifdef CONFIG_PHYS_64BIT
	50	+ /* Bank 1 declares the memory available in the DDR high region */
	51	+ gd->bd->bi_dram[1].start = CONFIG_SYS_SDRAM_BASE1;
	52	+ gd->bd->bi_dram[1].size = 0x80000000;
	53	+#endif
	54	+
	55	+ return 0;
	56	+}
	1	+/* SPDX-License-Identifier: GPL-2.0+ */
	2	+/*
	3	+ * Configuration header file for K3 AM654 EVM
	4	+ *
	5	+ * Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
	6	+ * Lokesh Vutla <lokeshvutla@ti.com>
	7	+ */
	8	+
	9	+#ifndef __CONFIG_AM654_EVM_H
	10	+#define __CONFIG_AM654_EVM_H
	11	+
	12	+#include <linux/sizes.h>
	13	+#include <config_distro_bootcmd.h>
	14	+
	15	+#define CONFIG_ENV_SIZE (128 << 10)
	16	+
	17	+/* DDR Configuration */
	18	+#define CONFIG_SYS_SDRAM_BASE1 0x880000000
	19	+
	20	+/* SPL Loader Configuration */
	21	+#ifdef CONFIG_TARGET_AM654_A53_EVM
	22	+#define CONFIG_SPL_TEXT_BASE 0x80080000
	23	+#endif
	24	+
	25	+#define CONFIG_SKIP_LOWLEVEL_INIT
	26	+
	27	+#define CONFIG_SPL_MAX_SIZE CONFIG_SYS_K3_MAX_DOWNLODABLE_IMAGE_SIZE
	28	+#define CONFIG_SYS_INIT_SP_ADDR (CONFIG_SPL_TEXT_BASE + \
	29	+ CONFIG_SYS_K3_NON_SECURE_MSRAM_SIZE - 4)
	30	+
	31	+/* Now for the remaining common defines */
	32	+#include <configs/ti_armv7_common.h>
	33	+
	34	+#endif /* __CONFIG_AM654_EVM_H */