Introduction

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

The SBL uses two appimages

A Linux appimage containing the Linux binaries (ATF, OPTEE, SPL).
A muticore appimage containing the RTOS/NORTOS applications for R5 and M4 cores.

The bootloader does SOC initializations and parses the multicore appimage present at 0x80000, splits it into RPRCs for each core applicable. Each core is then initialized, RPRC image is loaded, entry points are set and the core is released from reset.

For booting Linux, SBL parses the Linux appimage present at 0x300000, splits it into individual linux binaries (ATF, OPTEE, SPL). SBL loads the Linux binaries, entry point is set to the start address of ATF and A53 core is released from reset.

Supported Combinations

Parameter	Value
CPU + OS	r5fss0-0 nortos
Toolchain	ti-arm-clang
Board	am64x-evm
Example folder	examples/drivers/boot/sbl_ospi_linux

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)

Create an SD-Card with Linux image

For booting A53 with linux SD-Card with linux image needs to be created. Refer to Processor SDK Linux user guide on how to create SD-Card to boot Linux.

Create Linux Appimage

Create a Linux Appimage containing the Linux binaries (ATF, OPTEE, 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

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.
There is a default flash config file as shown below which flashes this SBL and the IPC RPMsg Linux echo applications
```
  ${SDK_INSTALL_PATH}/examples/drivers/boot/sbl_ospi_linux/am64x-evm/{cpu}_{os}/default_sbl_ospi_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 a Hello World example . Only when giving the flash config file, point to the default_sbl_ospi_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
  C:/ti/mcu_plus_sdk/tools/boot>python uart_uniflash.py -p COM13 --cfg=C:/ti/mcu_plus_sdk/examples/drivers/boot/sbl_ospi_linux/am64x-evm/r5fss0-0_nortos/default_sbl_ospi_linux.cfg

Boot the EVM in OSPI boot mode with the SD card containing the Linux image in the EVM.

Sample Output

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

[BOOTLOADER PROFILE] SYSFW Load                       :      17592us
[BOOTLOADER PROFILE] System_init                      :      19018us
[BOOTLOADER PROFILE] Drivers_open                     :        141us
[BOOTLOADER PROFILE] Board_driversOpen                :      21886us
[BOOTLOADER PROFILE] App_loadImages                   :       3446us
[BOOTLOADER_PROFILE] SBL Total Time Taken             :      65575us

Image loading done, switching to application ...
Starting linux and RTOS/Baremetal applications
NOTICE:  BL31: v2.5(release):08.00.00.004-dirty
NOTICE:  BL31: Built : 14:02:03, Aug  5 2021

U-Boot SPL 2021.01-g53e79d0e89 (Aug 05 2021 - 14:03:40 +0000)
SYSFW ABI: 3.1 (firmware rev 0x0015 '21.5.0--v2021.05 (Terrific Llam')
Trying to boot from MMC2

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Arago Project http://arago-project.org am64xx-evm ttyS2

Arago 2020.09 am64xx-evm ttyS2

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