Attention: Flashing a application will overwrite the SOC init application that was flashed earlier. So if you want to load and run from CCS again, you will need to do the SOC init steps again. See Flash SOC Initialization Binary for more details.; As the wake-up R5 is the device manager, it needs to be started by the SBL. So it can not be loaded through CCS. It should be flashed and booted through SBL.

Note: See also Flashing Tools for more details on the flashing tools.

Introduction

In this step we will flash the application that we have build and run using CCS to the EVM flash. We can then boot this application without being connected to CCS via JTAG.

Getting ready to flash the application

A quick recap of steps done so far that are needed for the flashing to work
- Make sure the UART port used for terminal is identified as mentioned in Setup UART Terminal
- Make sure python3 is installed as mentioned in Python3
- Make sure you have the EVM power cable and UART cable connected as shown in Cable Connections
Build the hello world application as mentioned in Build a Hello World example

As part of the build process in the final step a file with extension .appimage.hs_fs is generated. This is the file we need to flash.

When building with makefiles and single-core projects, this file can be found here (shown for hello world example),

For MCU R5F

 ${SDK_INSTALL_PATH}/examples/hello_world/am62dx-evm/mcu-r5fss0-0_freertos/ti-arm-clang/hello_world.release.appimage.hs_fs

For DM R5F (WKUP R5F)

 ${SDK_INSTALL_PATH}/examples/hello_world/am62dx-evm/r5fss0-0_freertos/ti-arm-clang/hello_world.release.appimage.hs_fs

For c75

 ${SDK_INSTALL_PATH}/examples/hello_world/am62dx-evm/c75ss0-0_freertos/ti-c7000/hello_world.release.appimage.hs_fs

For A53

 ${SDK_INSTALL_PATH}/examples/hello_world/am62dx-evm/a53ss0-0_freertos/gcc-aarch64/hello_world.release.appimage.hs_fs

When building with CCS projects, this file can be found here (shown for hello world example),

For MCU R5F

 ${CCS_WORKSPACE_PATH}/hello_world_am62dx-evm_mcu-r5fss0-0_freertos_ti-arm-clang/Release/hello_world_am62dx-evm_mcu-r5fss0-0_freertos_ti-arm-clang.appimage.hs_fs

For DM R5F (WKUP R5F)

${CCS_WORKSPACE_PATH}/hello_world_am62dx-evm_r5fss0-0_freertos_ti-arm-clang/Release/hello_world_am62dx-evm_r5fss0-0_freertos_ti-arm-clang.appimage.hs_fs

For C75

${CCS_WORKSPACE_PATH}/hello_world_am62dx-evm_c75ss0-0_freertos_ti-c7000/Release/hello_world_am62dx-evm_c75ss0-0_freertos_ti-c7000.appimage.hs_fs

For A53

${CCS_WORKSPACE_PATH}/hello_world_am62dx-evm_a53ss0-0_freertos_gcc-aarch64/Release/hello_world_am62dx-evm_a53ss0-0_freertos_gcc-aarch64.appimage.hs_fs

NOTE: The folder name and file name in path can have "release", "Release" or "debug", "Debug" based on the profile that the application is built with.

Next, we need to list the files to flash in a flash configuration file. A default configuration file can be found at below path. You can edit this file directly or take a copy and edit this file.
```
  ${SDK_INSTALL_PATH}/tools/boot/sbl_prebuilt/am62dx-evm/default_sbl_ospi_hs_fs.cfg
```
Note
For HS-SE device, use default_sbl_ospi_hs.cfg as the cfg file.

For HS-FS device, use default_sbl_ospi_hs_fs.cfg as the cfg file.

Edit below line in the config file to point to your application .appimage file. Give the absolute path to the .appimage file or path relative to ${SDK_INSTALL_PATH}/tools/boot. Make sure to use forward slash / in the filename path.

For MCU R5F

--file=../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/mcu-r5fss0-0_freertos/ti-arm-clang/ipc_rpmsg_echo.release.appimage.hs_fs  --operation=flash --flash-offset=0x800000

For DM R5F

--file=../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/r5fss0-0_freertos/ti-arm-clang/ipc_rpmsg_echo.release.appimage.hs_fs --operation=flash --flash-offset=0xC0000

For C75

--file=../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/c75ss0-0_freertos/ti-c7000/ipc_rpmsg_echo.release.appimage.hs_fs     --operation=flash --flash-offset=0xA00000

For A53

--file=../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/a53ss0-0_freertos/gcc-aarch64/ipc_rpmsg_echo.release.appimage.hs_fs  --operation=flash --flash-offset=0x1200000

This file will additionally also list the flashing application that is run on the EVM and a OSPI flash bootloader that also needs to be flashed. You can keep this unchanged if you have not modified these applications.
Save and close the config file.

Building HSM app image

The HSM app image is to be generated to flash along with your application for MCU R5.

HSMAppImage

Note: For HS-SE device, use DEVICE_TYPE=HS option in the makefile.

Go to ${SDK_INSTALL_PATH}/tools/boot/HSMAppimageGen on terminal
Run the following command to build the HSM app image.
- For AM62D-EVM
  make BOARD=am62dx-evm all

Flashing the application

Build all the binaries
- For Linux
  make DEVICE=am62dx -sj
- For Windows
  gmake DEVICE=am62dx -sj
POWER-OFF the EVM
Set boot mode to UART BOOTMODE as shown in below image

UART BOOT MODE

POWER-ON the EVM
You should see character "C" getting printed on the UART terminal every 2-3 seconds as shown below

UART output in UART BOOT MODE

Close the UART terminal as shown below. This is important, else the UART script in next step wont be able to connect to the UART port.

Close UART terminal

Note: For HS-SE device, use default_sbl_ospi_hs.cfg as the cfg file.; For HS-FS device, use default_sbl_ospi_hs_fs.cfg as the cfg file.

Open a command prompt and run the below command to flash the SOC initialization binary to the EVM.
```
  cd ${SDK_INSTALL_PATH}/tools/boot
  python uart_uniflash.py -p COM13 --cfg=sbl_prebuilt/am62dx-evm/default_sbl_ospi_hs_fs.cfg
```
- Here COM13 is the port name of the identified UART port in Windows.
- On Linux,
  - The name for UART port is typically something like /dev/ttyUSB1
  - On some Linux systems, one needs to use python3 to invoke python3.x, just python command may invoke python 2.x which will not work with the flashing script.
When the flashing is in progress you will see something like below

Flash in progress

After all the flashing is done, you will see something like below

  Parsing config file ...
  Parsing config file ... SUCCESS. Found 9 command(s) !!!

  Executing command 1 of 9 ...
  Found flash writer ... sending sbl_prebuilt/am62dx-evm/sbl_uart_uniflash_stage1.release.hs_fs.tiimage
  Sent flashwriter sbl_prebuilt/am62dx-evm/sbl_uart_uniflash_stage1.release.hs_fs.tiimage of size 259175 bytes in 26.32s.

  Executing command 2 of 9 ...
  Command arguments : --file=../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs --operation=flash --flash-offset=0x0
  Sending ../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs: 133770bytes [00:12, 10719Sending ../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs: 133770bytes [00:12, 10719Sending ../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs: 134799bytes [00:12, 10719Sending ../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs: 134800bytes [00:12, 10719Sending ../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs: 134801bytes [00:14, 10719Sending ../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs: 134802bytes [00:14, 10719Sending ../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs: 134803bytes [00:14, 10719                                                                                                                                                                                                       Sent ../../examples/drivers/boot/sbl_uart_uniflash_multistage/sbl_uart_uniflash_stage2/am62dx-evm/r5fss0-0_nortos/ti-arm-clang/sbl_uart_uniflash_stage2.release.appimage.hs_fs of size 133210 bytes in 14.09s.
  [STATUS] SUCCESS !!!

  Executing command 3 of 9 ...
  Command arguments : --operation=flash-phy-tuning-data
  Sent flash phy tuning data in 3.13s.
  [STATUS] SUCCESS !!!

  Executing command 4 of 9 ...
  Command arguments : --file=sbl_prebuilt/am62dx-evm/sbl_ospi_stage1.release.hs_fs.tiimage --operation=flash --flash-offset=0x0
  Sent sbl_prebuilt/am62dx-evm/sbl_ospi_stage1.release.hs_fs.tiimage of size 298471 bytes in 31.03s.
  [STATUS] SUCCESS !!!

  Executing command 5 of 9 ...
  Command arguments : --file=../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/r5fss0-0_freertos/ti-arm-clang/ipc_rpmsg_echo.release.appimage.hs_fs --operation=flash --flash-offset=0x80000
  Sent ../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/r5fss0-0_freertos/ti-arm-clang/ipc_rpmsg_echo.release.appimage.hs_fs of size 205462 bytes in 22.3s.
  [STATUS] SUCCESS !!!

  Executing command 6 of 9 ...
  Command arguments : --file=../../tools/boot/HSMAppimageGen/board/am62dx-evm/hsm.appimage.hs_fs --operation=flash --flash-offset=0x240000
  Sent ../../tools/boot/HSMAppimageGen/board/am62dx-evm/hsm.appimage.hs_fs of size 9677 bytes in 3.96s.
  [STATUS] SUCCESS !!!

  Executing command 7 of 9 ...
  Command arguments : --file=../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/mcu-r5fss0-0_freertos/ti-arm-clang/ipc_rpmsg_echo.release.appimage.hs_fs  --operation=flash --flash-offset=0x800000
  Sent ../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/mcu-r5fss0-0_freertos/ti-arm-clang/ipc_rpmsg_echo.release.appimage.hs_fs of size 41618 bytes in 6.94s.
  [STATUS] SUCCESS !!!

  Executing command 8 of 9 ...
  Command arguments : --file=../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/c75ss0-0_freertos/ti-c7000/ipc_rpmsg_echo.release.appimage.hs_fs   --operation=flash --flash-offset=0xA00000
  Sent ../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/c75ss0-0_freertos/ti-c7000/ipc_rpmsg_echo.release.appimage.hs_fs of size 149974 bytes in 17.11s.
  [STATUS] SUCCESS !!!

  Executing command 9 of 9 ...
  Command arguments : --file=../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/a53ss0-0_nortos/gcc-aarch64/ipc_rpmsg_echo.release.appimage.hs_fs  --operation=flash --flash-offset=0x1200000
  Sent ../../examples/drivers/ipc/ipc_rpmsg_echo/am62dx-evm/a53ss0-0_nortos/gcc-aarch64/ipc_rpmsg_echo.release.appimage.hs_fs of size 77358 bytes in 10.3s.
  [STATUS] SUCCESS !!!

  All commands from config file are executed !!!

If flashing has failed, see Flash tool error messages and solutions, and resolve the errors.
If flashing is successful, do the next steps ...

Running the flashed application

POWER-OFF the EVM
Switch the EVM boot mode to OSPI mode as shown below,

OSPI BOOT MODE

Re-connect the UART terminal in CCS window as shown in Setup UART Terminal
POWER-ON the EVM

You should see the application output in WKUP UART terminal as below

  Sciserver Testapp Built On: Aug 29 2024 18:14:13
  Sciserver Version: v2024.07.0.0-REL.MCUSDK.K3.10.00.00.11+
  RM_PM_HAL Version: v10.00.08
  Starting Sciserver..... PASSED
  [mcu-r5f0-0]     0.023000s : [IPC RPMSG ECHO] Remote Core waiting for messages from main core ... !!!
  [a530-0]     0.000086s : [IPC RPMSG ECHO] Remote Core waiting for messages from main core ... !!!
  [c75ss0]     0.011115s : [IPC RPMSG ECHO] Remote Core waiting for messages from main core ... !!!
  [IPC RPMSG ECHO] Message exchange started by main core !!!
  [IPC RPMSG ECHO] All echoed messages received by main core from 3 remote cores !!!
  [IPC RPMSG ECHO] Messages sent to each core = 10
  [IPC RPMSG ECHO] Number of remote cores = 3
  [IPC RPMSG ECHO] Total execution time = 2457 usecs
  [IPC RPMSG ECHO] One way message latency = 40950 nsec
  All tests have passed!!
  [mcu-r5f0-0]     0.527000s : [IPC RPMSG ECHO] Received and echoed 10 messages ... !!!
  [mcu-r5f0-0]     0.527000s : All tests have passed!!
  [a530-0]     0.504734s : [IPC RPMSG ECHO] Received and echoed 10 messages ... !!!
  [a530-0]     0.504738s : All tests have passed!!
  [c75ss0]     0.515665s : [IPC RPMSG ECHO] Received and echoed 10 messages ... !!!
  [c75ss0]     0.516177s : All tests have passed!!

You should see the following SBL output on the main UART terminal as below.

  SYSFW Firmware Version 10.0.8--v10.00.08 (Fiery Fox)
  SYSFW Firmware revision 0xa
  SYSFW ABI revision 4.0

  [BOOTLOADER_PROFILE] Boot Media       : FLASH
  [BOOTLOADER_PROFILE] Boot Media Clock : 166.667 MHz
  [BOOTLOADER_PROFILE] Boot Image Size  : 180 KB
  [BOOTLOADER_PROFILE] Cores present    :
  mcu-r5f0-0
  r5f0-0
  [BOOTLOADER PROFILE] System_init                      :      35159us
  [BOOTLOADER PROFILE] Board_init                       :          0us
  [BOOTLOADER PROFILE] Drivers_open                     :        196us
  [BOOTLOADER PROFILE] Board_driversOpen                :       1341us
  [BOOTLOADER PROFILE] Sciclient Get Version            :      10183us
  [BOOTLOADER PROFILE] App_loadImages                   :       3198us
  [BOOTLOADER PROFILE] App_loadSelfcoreImage            :       5031us
  [BOOTLOADER_PROFILE] SBL Total Time Taken             :      55111us

  Image loading done, switching to application ...
  Starting MCU-r5f and 2nd stage bootloader
  [BOOTLOADER_PROFILE] Boot Media       : FLASH
  [BOOTLOADER_PROFILE] Boot Media Clock : 166.667 MHz
  [BOOTLOADER_PROFILE] Boot Image Size  : 381 KB
  [BOOTLOADER_PROFILE] Cores present    :
  hsm-m4f0-0
  r5f0-0
  a530-0
  c75ss0
  [BOOTLOADER PROFILE] System_init                      :       1917us
  [BOOTLOADER PROFILE] Board_init                       :          1us
  [BOOTLOADER PROFILE] Drivers_open                     :        242us
  [BOOTLOADER PROFILE] App_loadImages                   :       2863us
  [BOOTLOADER PROFILE] App_loadSelfcoreImage            :       5075us
  [BOOTLOADER PROFILE] App_loadA53Images                :       4091us
  [BOOTLOADER PROFILE] App_loadDSPImages                :      11400us
  [BOOTLOADER_PROFILE] SBL Total Time Taken             :      25591us

  Image loading done, switching to application ...
  Starting RTOS/Baremetal applications

Congratulations now the EVM is flashed with your application and you don't need CCS anymore to run the application.

Table of Contents

Introduction

Getting ready to flash the application

Building HSM app image

HSMAppImage

Flashing the application

Running the flashed application