Introduction

This is a bootloader example, which shows an example of booting Linux on A53 core and RTOS/NORTOS applications on DM R5 and M4 cores.

The booting is done in 2 stages(2 bootloader applications).

The stage1 of the bootloader runs from the HSM RAM. It boots MCU M4 with RTOS/NORTOS application and initializes the DDR. Then it loads the stage2 of the bootloader to DDR and stats running it.
The stage2 of the bootloader boots Linux on A53 and then self loads DM firmware on the DM R5.

The SBL uses 6 appimages

A Linux appimage containing the Linux binaries (ATF, OPTEE, A53 SPL).
tiboot3.bin with SBL stage1, TIFS, BoardConfig
Appimage for SBL stage2
Appimage for MCU M4
Appimage for HSM M4
DM firmware appimage for DM R5

Supported Combinations

Parameter	Value
CPU + OS	r5fss0-0 nortos
Toolchain	ti-arm-clang
Board	am62x-sk-lp
Example folder	examples/drivers/boot/sbl_ospi_nand_linux_multistage

Steps to Run the Example

Build the example

When using CCS projects to build, import the CCS project for the required combination and build it using the CCS project menu (see Using SDK with CCS Projects).
When using makefiles to build, note the required combination and build using make command (see Using SDK with Makefiles)
Note
Change DEVICE_TYPE to HS in ${SDK_INSTALL_PATH}/devconfig/devconfig.mak and then generate Linux Appimage for HS-SE device.
For booting A53 with linux, OSPI NAND needs to be flashed with the uboot and Linux image. Refer to Processor SDK Linux user guide on how to flash uboot and Linux kernel to OSPI NAND.

Create Linux Appimage

Note: Change DEVICE_TYPE to HS in ${SDK_INSTALL_PATH}/devconfig/devconfig.mak and then generate Linux Appimage for HS-SE device.; Change PSDK_LINUX_PATH to the path where A53 spl images (ATF, OPTEE, A53 uboot) is.; Instructions to build A53 uboot can be found in the SDK Linux documentation at Foundational Components » U-Boot » User’s Guide » General Information » Build U-Boot

Create a Linux Appimage containing the Linux binaries (ATF, OPTEE, A53 SPL)
This can be done by running the makefile at {SDK_INSTALL_PATH}/tools/boot/linuxAppimageGen after setting the PSDK path in file config.mak
Refer Linux Appimage Generator Tool for more details

Create HSM Appimage

Note: Change DEVICE_TYPE to HS in ${SDK_INSTALL_PATH}/devconfig/devconfig.mak and then generate HSM Appimage for HS-SE device.

Create a HSM Appimage
This can be done by running the makefile at {SDK_INSTALL_PATH}/tools/boot/HSMAppimageGen
Refer HSM Appimage Generator Tool for more details

Run the example

This example is the SBL which needs to be flashed on the EVM flash, along with sample application images for R5, M4 CPUs and Linux Appimage.

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

There is a default flash config file as shown below which flashes this SBL and the IPC RPMsg Linux echo applications
```
  ${SDK_INSTALL_PATH}/tools/boot/sbl_prebuilt/am62x-sk-lp/default_sbl_ospi_nand_linux.cfg
```
Make sure IPC rpmsg linux echo application is built before running the flash script. (see IPC RP Message Linux Echo)

Note: For IPC rpmsg linux echo, the resource table entity must be placed at the beginning of remoteproc memory section as mentoined in Linux dts file.

To flash to the EVM, refer to Flash an example application . Only when giving the flash config file, point to the default_sbl_ospi_nand_linux.cfg shown above.
Example, assuming SDK is installed at C:/ti/mcu_plus_sdk and this example and IPC application is built using makefiles, and Linux Appimage is already created, in Windows,
```
  cd C:/ti/mcu_plus_sdk/tools/boot
  python uart_uniflash.py -p COM13 --cfg=C:/ti/mcu_plus_sdk/tools/boot/sbl_prebuilt/am62x-sk-lp/default_sbl_ospi_nand_linux.cfg
```

If Linux PC is used, assuming SDK is installed at ~/ti/mcu_plus_sdk

  cd ~/ti/mcu_plus_sdk/tools/boot
  python uart_uniflash.py -p /dev/ttyUSB0 --cfg=~/ti/mcu_plus_sdk/tools/boot/sbl_prebuilt/am62x-sk-lp/default_sbl_ospi_nand_linux.cfg

Boot the EVM in OSPI NAND boot mode.

Sample Output

After flashing and booting the EVM, you will see below output on the UART console (Complete log is not shown)

DMSC Firmware Version 8.4.3--w2022.02-am62a (Jolly Je
DMSC Firmware revision 0x8
DMSC ABI revision 3.1

[BOOTLOADER_PROFILE] Boot Media       : SPI FLASH
[BOOTLOADER_PROFILE] Boot Media Clock : 200.000 MHz
[BOOTLOADER_PROFILE] Boot Image Size  : 133 KB
[BOOTLOADER_PROFILE] Cores present    :
mcu-r5f0-0
r5f0-0
[BOOTLOADER PROFILE] System_init                      :      38459us
[BOOTLOADER PROFILE] Drivers_open                     :         94us
[BOOTLOADER PROFILE] Board_driversOpen                :         75us
[BOOTLOADER PROFILE] Sciclient Get Version            :      10112us
[BOOTLOADER PROFILE] App_loadImages                   :      26331us
[BOOTLOADER PROFILE] App_loadSelfcoreImage            :      63094us
[BOOTLOADER_PROFILE] SBL Total Time Taken             :     138168us

Image loading done, switching to application ...
Starting MCU-r5f and 2nd stage bootloader

DMSC Firmware Version 8.4.3--w2022.02-am62a (Jolly Je
DMSC Firmware revision 0x8
DMSC ABI revision 3.1

[BOOTLOADER_PROFILE] Boot Media       : SPI FLASH
[BOOTLOADER_PROFILE] Boot Media Clock : 200.000 MHz
[BOOTLOADER_PROFILE] Boot Image Size  : 917 KB
[BOOTLOADER_PROFILE] Cores present    :
hsm-m4f0-0
r5f0-0
a530-0
[BOOTLOADER PROFILE] System_init                      :       1557us
[BOOTLOADER PROFILE] Drivers_open                     :         97us
[BOOTLOADER PROFILE] Board_driversOpen                :         72us
[BOOTLOADER PROFILE] Sciclient Get Version            :      10177us
[BOOTLOADER PROFILE] App_loadImages                   :        409us
[BOOTLOADER PROFILE] App_loadSelfcoreImage            :      81710us
[BOOTLOADER PROFILE] App_loadLinuxImages              :     504160us
[BOOTLOADER_PROFILE] SBL Total Time Taken             :     598184us

Image loading done, switching to application ...
Starting linux and RTOS/Baremetal applications
NOTICE:  BL31: v2.6(release):08.03.00.003-dirty
NOTICE:  BL31: Built : 19:07:38, Aug 10 2022

U-Boot SPL 2021.01-gacf0fe0dc6 (Aug 10 2022 - 19:11:27 +0000)
SYSFW ABI: 3.1 (firmware rev 0x0008 '8.4.3--w2022.02-am62a (Jolly Je')
am62a_init: board_init_f done
am62a_init: spl_boot_device: devstat = 0x3 bootmedia = 0x7 bootindex = 0
Trying to boot from SPINAND

U-Boot 2021.01-g060f008b9f (Aug 26 2022 - 16:48:08 +0000)

SoC:   AM62AX SR1.0 GP
Model: Texas Instruments AM62A7 SK
EEPROM not available at 0x50, trying to read at 0x51
Board: AM62A-SKEVM rev E1
DRAM:  2 GiB
MMC:   mmc@fa10000: 0, mmc@fa00000: 1, mmc@fa20000: 2


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