3. Foundational Components

• 3.1. U-Boot
  • 3.1.1. User’s Guide
    • 3.1.1.1. General Information
      • 3.1.1.1.1. Getting the U-Boot Source Code
      • 3.1.1.1.2. Build U-Boot
      • 3.1.1.1.3. Image Formats
      • 3.1.1.1.4. Boot Flow
      • 3.1.1.1.5. U-Boot Environment
      • 3.1.1.1.6. Available RAM for image download
      • 3.1.1.1.7. Device Trees
      • 3.1.1.1.8. SRAM memory Layout during R5 SPL bootloader stage
    • 3.1.1.2. USB Device Firmware Upgrade (DFU)
      • 3.1.1.2.1. USB Peripheral boot mode (SPL-DFU support)
    • 3.1.1.3. Booting over Ethernet (Ethernet RGMII)
      • 3.1.1.3.1. Booting U-Boot from the network
    • 3.1.1.4. NAND
      • 3.1.1.4.1. Erasing, Reading and Writing to/from NAND partitions
      • 3.1.1.4.2. Writing to NAND via DFU
      • 3.1.1.4.3. NAND Boot
      • 3.1.1.4.4. Booting Kernel and Filesystem from NAND
      • 3.1.1.4.5. U-Boot Environment in NAND
    • 3.1.1.5. SD, eMMC and USB
      • 3.1.1.5.1. Partitioning eMMC from U-Boot
      • 3.1.1.5.2. Updating an SD card from a host PC
      • 3.1.1.5.3. Updating an SD card or eMMC using DFU
      • 3.1.1.5.4. Booting Linux from SD card or eMMC
      • 3.1.1.5.5. Booting tiboot3.bin, tispl.bin and u-boot.img from eMMC boot partition (For K3 class of SoCs)
      • 3.1.1.5.6. Booting to U-Boot prompt from USB storage
      • 3.1.1.5.7. Booting Linux from USB storage
      • 3.1.1.5.8. Steps for working around SD card issues
    • 3.1.1.6. SPI
      • 3.1.1.6.1. Writing to SPI from U-Boot
      • 3.1.1.6.2. Booting from SPI
    • 3.1.1.7. OSPI/QSPI
    • 3.1.1.8. UART
      • 3.1.1.8.1. Booting U-Boot from the console UART
    • 3.1.1.9. DDRSS ECC
      • 3.1.1.9.1. Overview
        • 3.1.1.9.1.1. DDRSS ECC handling
  • 3.1.2. Troubleshooting
    • 3.1.2.1. U-Boot Debug Tips
    • 3.1.2.2. Debugging SPL in CCS
      • 3.1.2.2.1. Step 1: Downloading CCS
      • 3.1.2.2.2. Step 2: Creating a Target Configuration File
      • 3.1.2.2.3. Step 3: Loading Symbol files
    • 3.1.2.3. Debugging SPL in OpenOCD
• 3.2. Kernel
  • 3.2.1. Users Guide
    • 3.2.1.1. Overview
    • 3.2.1.2. Getting the Kernel Source Code
    • 3.2.1.3. Preparing to Build
      • 3.2.1.3.1. Compiler
      • 3.2.1.3.2. Cleaning the Kernel Sources
    • 3.2.1.4. Configuring the Kernel
      • 3.2.1.4.1. Using Default Configurations
      • 3.2.1.4.2. Customizing the Configuration
    • 3.2.1.5. Compiling the Sources
      • 3.2.1.5.1. Compiling the Kernel
      • 3.2.1.5.2. Compiling the Device Tree Binaries
      • 3.2.1.5.3. Compiling the Kernel Modules
    • 3.2.1.6. Creating the kernel fitImage for high security device / GP devices
      • 3.2.1.6.1. Describing FIT source
      • 3.2.1.6.2. Generating the fitImage
      • 3.2.1.6.3. Build uboot again
    • 3.2.1.7. Installing the Kernel
      • 3.2.1.7.1. Installing the Kernel Image and Device Tree Binaries
      • 3.2.1.7.2. Installing the Kernel Modules
  • 3.2.2. Kernel Drivers
    • 3.2.2.1. ADC
    • 3.2.2.2. Crypto
    • 3.2.2.3. MCAN
    • 3.2.2.4. EQEP
    • 3.2.2.5. GPIO
    • 3.2.2.6. I2C
    • 3.2.2.7. HSR PRP Non-Offload
    • 3.2.2.8. HSR Offload
    • 3.2.2.9. CPSW Ethernet
      • 3.2.2.9.1. Introduction
      • 3.2.2.9.2. Instances of the CPSW Subsystem
      • 3.2.2.9.3. TSN Documentation and Testing
    • 3.2.2.10. NETCONF/YANG
      • 3.2.2.10.1. Introduction
      • 3.2.2.10.2. Installation on Remote Machine
      • 3.2.2.10.3. Generic Execution
      • 3.2.2.10.4. Installing new YANG models
        • 3.2.2.10.4.1. Setup
    • 3.2.2.11. PCIe End Point
    • 3.2.2.12. PCIe Root Complex
    • 3.2.2.13. PWM
    • 3.2.2.14. OSPI/QSPI NOR/NAND
    • 3.2.2.15. SERDES
      • 3.2.2.15.1. Introduction
      • 3.2.2.15.2. Types of SERDES
      • 3.2.2.15.3. SERDES Configurations
      • 3.2.2.15.4. SERDES Instances
      • 3.2.2.15.5. SERDES Muxing
      • 3.2.2.15.6. SERDES Clocking Options
        • 3.2.2.15.6.1. Internal Reference Clock
        • 3.2.2.15.6.2. External Reference Clock
        • 3.2.2.15.6.3. Selecting Between Internal and External Reference Clock
    • 3.2.2.16. SPI
    • 3.2.2.17. NAND
    • 3.2.2.18. MMC/SD
      • 3.2.2.18.1. Introduction
      • 3.2.2.18.2. References
      • 3.2.2.18.3. Acronyms & Definitions
      • 3.2.2.18.4. Features
      • 3.2.2.18.5. Supported High Speed Modes
      • 3.2.2.18.6. Driver Configuration
      • 3.2.2.18.7. Steps for working around SD card issues
    • 3.2.2.19. UART
      • 3.2.2.19.1. Introduction
      • 3.2.2.19.2. Driver Features
      • 3.2.2.19.3. Basic External loopback testing
    • 3.2.2.20. USB
      • 3.2.2.20.1. Introduction
      • 3.2.2.20.2. TI SoC Integration
      • 3.2.2.20.3. EVM
    • 3.2.2.21. Voltage & Thermal Management (VTM)
      • 3.2.2.21.1. Introduction
      • 3.2.2.21.2. Driver Features
      • 3.2.2.21.3. Finding More Information
    • 3.2.2.22. Watchdog
      • 3.2.2.22.1. Driver Configuration
        • 3.2.2.22.1.1. How to change timeout as kernel module parameter
        • 3.2.2.22.1.2. How to change timeout using DT property
      • 3.2.2.22.2. Kernel Configuration
      • 3.2.2.22.3. Driver Usage
  • 3.2.3. LTP-DDT Validation
  • 3.2.4. FAQs
• 3.3. Security
  • 3.3.1. GP to HS-FS Migration Guide
    • 3.3.1.1. Overview
    • 3.3.1.2. Device types
    • 3.3.1.3. Processor SDK
    • 3.3.1.4. K3-image-gen
    • 3.3.1.5. U-Boot
    • 3.3.1.6. Linux Kernel
  • 3.3.2. Secure Boot
    • 3.3.2.1. Authenticated Boot
    • 3.3.2.2. Secure Boot Flow
    • 3.3.2.3. HS Boot Flow Tools
• 3.4. Filesystem
• 3.5. Tools
  • 3.5.1. Flash via USB Device Firmware Upgrade (DFU)
    • 3.5.1.1. Get Tool
      • 3.5.1.1.1. SDK installer
      • 3.5.1.1.2. Clone repository
    • 3.5.1.2. Important files
    • 3.5.1.3. Requirements
      • 3.5.1.3.1. For Ubuntu
      • 3.5.1.3.2. For Windows
    • 3.5.1.4. Flow of flashing
    • 3.5.1.5. Building bootloader binaries for flashing and DFU boot
    • 3.5.1.6. Connections
    • 3.5.1.7. Preparing the Flash Configuration file
    • 3.5.1.8. Flashing the files
      • 3.5.1.8.1. Flash to eMMC
      • 3.5.1.8.2. Flash to SPI NOR
      • 3.5.1.8.3. Flash to SPI NAND
      • 3.5.1.8.4. Flash to GPMC NAND
  • 3.5.2. Flash via Ethernet
    • 3.5.2.1. Get Tool
      • 3.5.2.1.1. SDK installer
      • 3.5.2.1.2. Clone repository
    • 3.5.2.2. Important files
    • 3.5.2.3. Requirements on host PC
    • 3.5.2.4. Building bootloader binaries for flashing and Ethernet Boot
    • 3.5.2.5. Getting ready to flash
    • 3.5.2.6. Environment variable text file for flashing
  • 3.5.3. Flash via UART
    • 3.5.3.1. Important files
    • 3.5.3.2. Requirements on Host PC
    • 3.5.3.3. Getting ready to flash
    • 3.5.3.4. Flash configuration file
    • 3.5.3.5. Flashing the files
    • 3.5.3.6. Flash tool options
• 3.6. PRU Subsystem
  • 3.6.1. Overview of PRU Subsystem
    • 3.6.1.1. Getting Started Information
    • 3.6.1.2. Hardware Information
      • 3.6.1.2.1. Technical Documentation
      • 3.6.1.2.2. PRU Differences Between Devices
      • 3.6.1.2.3. Miscellaneous
    • 3.6.1.3. Training Material
    • 3.6.1.4. Development Tools
      • 3.6.1.4.1. PRU C Compiler
      • 3.6.1.4.2. PRU Assembly Instructions
    • 3.6.1.5. Software Information
      • 3.6.1.5.1. Firmware Software Information
      • 3.6.1.5.2. U-Boot Software Information
    • 3.6.1.6. Examples
    • 3.6.1.7. Evaluation Hardware
    • 3.6.1.8. TI Designs
    • 3.6.1.9. Support
    • 3.6.1.10. PRU FAQ
      • 3.6.1.10.1. PRU Applications & Support questions
        • 3.6.1.10.1.1. What is the difference between the PRU subsystem and ICSS?
        • 3.6.1.10.1.2. Is TI providing libraries for the PRU?
        • 3.6.1.10.1.3. Can I develop my own industrial protocols on the PRU-ICSS?
        • 3.6.1.10.1.4. Can the PRU run a High Level Operating System?
        • 3.6.1.10.1.5. My processor has a PRU. Is the PRU supported in the Linux Processor SDK?
      • 3.6.1.10.2. PRU Memory Access questions
        • 3.6.1.10.2.1. Why does my PRU firmware hang when reading or writing to an address external to the PRU Subsystem?
        • 3.6.1.10.2.2. In AM437x, why can PRU-ICSS0 not access memories outside of the ARM?
        • 3.6.1.10.2.3. Why can the PRU not edit pinmux settings?
      • 3.6.1.10.3. PRU GPI/O questions
        • 3.6.1.10.3.1. What is the maximum speed for toggling PRU GPO pins via PRU software?
        • 3.6.1.10.3.2. When does the PRU start capturing from the input pins?
        • 3.6.1.10.3.3. Can the module be modified so that the GPI start bit is a zero instead of a one?
        • 3.6.1.10.3.4. What happens after 28 bit GPI shifts?
        • 3.6.1.10.3.5. Can data be pre-loaded into shadow registers prior to configuring the PRU GPO mode to shift out mode?
        • 3.6.1.10.3.6. When does PRU<n>_CLOCKOUT start running?
        • 3.6.1.10.3.7. When does the PRU start shifting data in the shadow registers?
        • 3.6.1.10.3.8. The shadow registers are loaded by writing to PRU<n>_R30 [0:15]. Does this change the state of the corresponding device-level pins?
        • 3.6.1.10.3.9. When the PRU<n>_ENABLE_SHIFT bit is cleared, does the PRU immediately stop shifting PRU<n>_DATAOUT?
        • 3.6.1.10.3.10. Does the PRU shift data out LSB or MSB first?
        • 3.6.1.10.3.11. What happens to the content stored in R30 when the PRU changes to a different GPO mode?
      • 3.6.1.10.4. PRU INTC and System Event questions
        • 3.6.1.10.4.1. How can a PRU core interrupt the ARM? How can the ARM interrupt a PRU core?
        • 3.6.1.10.4.2. On devices with multiple PRU-ICSSs, how can one PRU-ICSS interrupt the other?
      • 3.6.1.10.5. PRU Debugger questions
        • 3.6.1.10.5.1. When using the XDS510 USB emulator, why does the PRU Program Counter not increment correctly when stepping through PRU Disassembly code?
        • 3.6.1.10.5.2. Why are no MMRs outside the PRU subsystem visible from the PRU perspective memory browser window in CCS?
  • 3.6.2. Training
    • 3.6.2.1. PRU Getting Started Labs
      • 3.6.2.1.1. Introduction
        • 3.6.2.1.1.1. Supported Processors
        • 3.6.2.1.1.2. Required Hardware and Software
        • 3.6.2.1.1.3. Last Tested Configuration
    • 3.6.2.2. Lab 1: How to Create a PRU Project
      • 3.6.2.2.1. Creating a CCS PRU Project
        • 3.6.2.2.1.1. Install and Set up CCS
        • 3.6.2.2.1.2. Create the PRU Project
      • 3.6.2.2.2. Creating a Linux PRU Project
    • 3.6.2.3. Lab 2: How to Write PRU Firmware
      • 3.6.2.3.1. Writing C Code
        • 3.6.2.3.1.1. Writing C Code in CCS
        • 3.6.2.3.1.2. Writing C Code in Linux
      • 3.6.2.3.2. Writing Assembly Code
        • 3.6.2.3.2.1. Writing Assembly Code in CCS
        • 3.6.2.3.2.2. Writing Assembly Code in Linux
      • 3.6.2.3.3. Writing Mixed C and Assembly Code
        • 3.6.2.3.3.1. Write the Main Function in C
        • 3.6.2.3.3.2. Write the External Function in Assembly
        • 3.6.2.3.3.3. More Resources for Writing Mixed C and Assembly Code
      • 3.6.2.3.4. Writing Mixed C and Inline Assembly Code
        • 3.6.2.3.4.1. Write the Main Function in C
        • 3.6.2.3.4.2. Write the Inline Function in Assembly
        • 3.6.2.3.4.3. More Resources for Writing Mixed C and Inline Assembly Code
    • 3.6.2.4. Lab 3: How to Compile PRU Firmware
      • 3.6.2.4.1. Compiling From CCS
        • 3.6.2.4.1.1. Compiling to a .out File
        • 3.6.2.4.1.2. Compiling to a Hex Array File
        • 3.6.2.4.1.3. CCS Compiler Settings
      • 3.6.2.4.2. Compiling From Linux
        • 3.6.2.4.2.1. Linux Compiler Settings
    • 3.6.2.5. Lab 4: How to Initialize the PRU
      • 3.6.2.5.1. Initializing the PRU from CCS
        • 3.6.2.5.1.1. Set up the Target Configuration
        • 3.6.2.5.1.2. Connect to the EVM
        • 3.6.2.5.1.3. Test the Target Configuration
        • 3.6.2.5.1.4. Load the PRU firmware
      • 3.6.2.5.2. Initializing the PRU from Linux Core
        • 3.6.2.5.2.1. Configure the Kernel
        • 3.6.2.5.2.2. Modify Device Tree Files to account for Pinmuxing
        • 3.6.2.5.2.3. Copy files to the target filesystem
        • 3.6.2.5.2.4. Boot the new device tree and FS on the Target
    • 3.6.2.6. Lab 5: Basic Debugging of PRU Firmware
      • 3.6.2.6.1. Debugging the PRU from CCS
        • 3.6.2.6.1.1. Debugging C Code
        • 3.6.2.6.1.2. Debugging Assembly Code
      • 3.6.2.6.2. Debugging the PRU from Linux Core
    • 3.6.2.7. PRU Hands-on Labs
      • 3.6.2.7.1. Lab Configuration
        • 3.6.2.7.1.1. Hardware
        • 3.6.2.7.1.2. Software
        • 3.6.2.7.1.3. Supported Platforms
      • 3.6.2.7.2. LAB 1: Toggle LED with PRU GPO
        • 3.6.2.7.2.1. Create & Build the PRU Project
        • 3.6.2.7.2.2. Load the PRU Firmware
      • 3.6.2.7.3. LAB 2: Read Push Button Switch on PRU0 GPI & Toggle LED with PRU1 GPO
        • 3.6.2.7.3.1. Build the PRU Firmware
        • 3.6.2.7.3.2. Load the PRU Firmware
        • 3.6.2.7.3.3. Debug the PRU Firmware
      • 3.6.2.7.4. LAB 3: Temperature Monitor
        • 3.6.2.7.4.1. Design & Build the PRU Firmware
        • 3.6.2.7.4.2. Load the PRU Firmware
        • 3.6.2.7.4.3. Debug the PRU Firmware
      • 3.6.2.7.5. LAB 4: Introduction to Linux driver
        • 3.6.2.7.5.1. Build the PRU Firmware
        • 3.6.2.7.5.2. Configure the Kernel
        • 3.6.2.7.5.3. Build the Linux Kernel and remoteproc Driver
        • 3.6.2.7.5.4. Modify Device Tree Files to Account for PRU Cape
        • 3.6.2.7.5.5. Copy files to the target filesystem
        • 3.6.2.7.5.6. Boot the new device tree and FS on the Target
      • 3.6.2.7.6. LAB 5: RPMsg Communication between ARM and PRU
        • 3.6.2.7.6.1. Build the PRU Firmware - Using CCSv6
        • 3.6.2.7.6.2. Build the PRU Firmware - Using the Provided Makefile
        • 3.6.2.7.6.3. Build the RPMsg Client Sample Driver
        • 3.6.2.7.6.4. Copy files to the target file system
        • 3.6.2.7.6.5. Part 1: Kernel space communication
        • 3.6.2.7.6.6. What just happened?
        • 3.6.2.7.6.7. Part 2: User Space Communication
        • 3.6.2.7.6.8. Part 3: User Space Application
        • 3.6.2.7.6.9. What just happened?
      • 3.6.2.7.7. LAB 6: Blinking LEDs with RPMsg from Linux User Space
        • 3.6.2.7.7.1. Build the PRU Firmware - Using CCSv6
        • 3.6.2.7.7.2. Build the PRU Firmware - Using the Provided Makefile
        • 3.6.2.7.7.3. Copy files to the target file system
        • 3.6.2.7.7.4. Part 1: Linux Command Line LED Toggling
        • 3.6.2.7.7.5. What just happened?
        • 3.6.2.7.7.6. Part 2: Linux Shell Script LED Toggling
        • 3.6.2.7.7.7. What just happened?
    • 3.6.2.8. Getting Started with PRU Software Support Package
    • 3.6.2.9. RPMsg Quick Start Guide
      • 3.6.2.9.1. Introduction
        • 3.6.2.9.1.1. Supported Devices
        • 3.6.2.9.1.2. Hardware Assumptions
      • 3.6.2.9.2. Getting the Linux Processor SDK
      • 3.6.2.9.3. Configuring and Building the Linux Kernel with RPMsg Support
      • 3.6.2.9.4. Creating a Bootable SD Card with RPMsg Support
      • 3.6.2.9.5. Booting the Board and Testing RPMsg
        • 3.6.2.9.5.1. Out of Box Demo Explanation
      • 3.6.2.9.6. Getting Started with RPMsg Development
        • 3.6.2.9.6.1. Rebuilding the PRU Firmwares from Source
        • 3.6.2.9.6.2. Placing the Rebuilt Firmware into the Embedded Linux File System
        • 3.6.2.9.6.3. Loading the New Code into the PRUs and Running
      • 3.6.2.9.7. Common Issues
        • 3.6.2.9.7.1. Board is Not Set Up for SD Card Boot
  • 3.6.3. Linux Drivers
    • 3.6.3.1. RemoteProc
    • 3.6.3.2. RPMsg
      • 3.6.3.2.1. Introduction
        • 3.6.3.2.1.1. Supported Devices
    • 3.6.3.3. PRU_ICSSG Ethernet
      • 3.6.3.3.1. Introduction
      • 3.6.3.3.2. Supported platforms
      • 3.6.3.3.3. Features supported
      • 3.6.3.3.4. Driver Configuration
      • 3.6.3.3.5. Device tree bindings
      • 3.6.3.3.6. User guide
        • 3.6.3.3.6.1. Bringing Up interface
        • 3.6.3.3.6.2. Get information (ethtool)
        • 3.6.3.3.6.3. VLAN Config
        • 3.6.3.3.6.4. Interrupt pacing
        • 3.6.3.3.6.5. Multicast Add/Delete
        • 3.6.3.3.6.6. Promiscous Mode
        • 3.6.3.3.6.7. Configure interface (ethtool)
        • 3.6.3.3.6.8. PTP Ordinary Clock
      • 3.6.3.3.7. XDP
      • 3.6.3.3.8. Tips
        • 3.6.3.3.8.1. Ethernet PHYs/MDIO bindings
        • 3.6.3.3.8.2. Fixed link
        • 3.6.3.3.8.3. 100M/10M Half-Duplex
        • 3.6.3.3.8.4. MII Support
      • 3.6.3.3.9. CPSW / PRU Ethernet Selection
      • 3.6.3.3.10. Time Senstive Network (TSN) Offload Support
      • 3.6.3.3.11. SRAM Requirement
    • 3.6.3.4. PRU_ICSSG Two Port Ethernet Switch
      • 3.6.3.4.1. Enabling Switch mode
      • 3.6.3.4.2. Going back to Dual EMAC mode
      • 3.6.3.4.3. Turn On/Off Spanning Tree Protocol (STP)
      • 3.6.3.4.4. VLAN configuration
      • 3.6.3.4.5. Adding extra VLANs
      • 3.6.3.4.6. Forwarding Data Bases (FDBs)
      • 3.6.3.4.7. Multicast Data Bases (MDBs)
      • 3.6.3.4.8. Multicast flooding
      • 3.6.3.4.9. Limitations of switch mode offloading support
      • 3.6.3.4.10. Cut Through Forwarding
      • 3.6.3.4.11. SRAM Requirement
    • 3.6.3.5. PRU_ICSSG XDP
      • 3.6.3.5.1. Introduction
      • 3.6.3.5.2. Running XDP on EVM
  • 3.6.4. Firmware Development
    • 3.6.4.1. Resource Tables
      • 3.6.4.1.1. When are resource tables used?
      • 3.6.4.1.2. Linux kernel 5.10 or later
      • 3.6.4.1.3. Linux kernel 5.4 or earlier
    • 3.6.4.2. INTC Configuration
      • 3.6.4.2.1. Linux kernel 5.10 or later
      • 3.6.4.2.2. Linux kernel 5.4 or earlier
    • 3.6.4.3. Header Files
  • 3.6.5. Hardware
    • 3.6.5.1. PRU EVMs
    • 3.6.5.2. PRU Cape Hardware User Guide
      • 3.6.5.2.1. Introduction
        • 3.6.5.2.1.1. Description
        • 3.6.5.2.1.2. EVM System View
      • 3.6.5.2.2. Schematics/Design/Errata Files
      • 3.6.5.2.3. System Description
        • 3.6.5.2.3.1. System Board Diagram
        • 3.6.5.2.3.2. Signals Used
      • 3.6.5.2.4. PRU Cape Functional Block Descriptions
        • 3.6.5.2.4.1. Audio
        • 3.6.5.2.4.2. EEPROM
        • 3.6.5.2.4.3. eCAP
        • 3.6.5.2.4.4. LCD
        • 3.6.5.2.4.5. LEDs
        • 3.6.5.2.4.6. Switches
        • 3.6.5.2.4.7. Temperature Sensor
        • 3.6.5.2.4.8. Test Space
        • 3.6.5.2.4.9. UART
        • 3.6.5.2.4.10. Legal
    • 3.6.5.3. PRU Cape Getting Started Guide
    • 3.6.5.4. PRU Cape Building Demos
• 3.7. IPC for AM64x
  • 3.7.1. Software Dependencies to Get Started
  • 3.7.2. Typical Boot Flow on AM64x for ARM Linux users
  • 3.7.3. Getting Started with IPC Linux Examples
  • 3.7.4. Booting Remote Cores from Linux console/User space
  • 3.7.5. DMA memory Carveouts
  • 3.7.6. Changing the Memory Map
  • 3.7.7. RPMsg Char Driver
  • 3.7.8. ti-rpmsg-char library
  • 3.7.9. RPMsg examples:
• 3.8. ARM Trusted Firmware-A
• 3.9. OP-TEE
• 3.10. System Firmware