3.1.1.2. Build
3.1.1.2.1. Build U-Boot
Note
The following commands are intended to be run from the root of the U-Boot tree unless otherwise specified. The root of the U-Boot tree is the top-level directory and can be identified by looking for the “MAINTAINERS” file.
Note
Note about HSM Rearchitecture
After HSM rearchitecture in bootloader, loading of remote cores with firmware will be supported at A72 SPL stage only and not at R5 SPL stage. Early loading of remote core firmware in R5 SPL requires core reset functionality. As part of HSM rearchitecture, this functionality has moved into the DM service which requires SPL to re-implement device and clock control. This support is not present in Uboot R5 SPL due to memory constraints on the existing 64-bit TI devices.
Note
As of Processor SDK 9.0, compilation of bootloader images will no longer require different defconfigs for GP and HS devices. The same build commands will generate images for GP, HS-SE and HS-FS devices.
Prebuilt Images
Several prebuilt images are required from the TI Processor SDK for building U-Boot on K3 based platforms.
TF-A (BL-31): Refer to ARM Trusted Firmware-A for more information
OP-TEE (TEE): Refer to OP-TEE for more information
ti-linux-firmware (BINMAN_INDIRS): Prebuilt binaries for DM and SYSFW available here.
All of these are available in the SDK at <path to tisdk>/board-support/prebuilt-images>
Go here to download and install the SDK.
Setting up the toolchain paths
Before compiling any of the sources referenced in this document, set the cross compiler paths to the toolchains packaged in the Processor SDK [Recommended] as shown below. Refer to Yocto-built SDK Toolchains section for more details on usage.
host# export CROSS_COMPILE_64="${SDK_INSTALL_DIR}/linux-devkit/sysroots/x86_64-arago-linux/usr/bin/aarch64-oe-linux/aarch64-oe-linux-"
host# export SYSROOT_64="${SDK_INSTALL_DIR}/linux-devkit/sysroots/aarch64-oe-linux"
host# export CC_64="${CROSS_COMPILE_64}gcc --sysroot=${SYSROOT_64}"
host# export CROSS_COMPILE_32="${SDK_INSTALL_DIR}/k3r5-devkit/sysroots/x86_64-arago-linux/usr/bin/arm-oe-eabi/arm-oe-eabi-"
If the Processor SDK is not installed, the Arm GNU toolchains can be downloaded and setup. Refer to ARM toolchains section for more details on usage.
Compiling R5 and ARM64 images
Use the following table to determine what defconfig to use to configure with:
Board |
SD Boot |
USB DFU |
USB MSC |
|---|---|---|---|
AM62PX SK |
|
|
|
Note
Where to get the sources: Getting the Source Code
$ export UBOOT_DIR=<path-to-ti-u-boot>
$ export TI_LINUX_FW_DIR=<path-to-ti-linux-firmware>
$ export TFA_DIR=<path-to-arm-trusted-firmware>
$ export OPTEE_DIR=<path-to-ti-optee-os>
Note
The instructions below assume all binaries are built manually. For instructions to build bl31.bin go to: OP-TEE.
For instructions to build tee-pager_v2.bin (bl32.bin) go to: ARM Trusted Firmware-A. BINMAN_INDIRS can point to
<path-to-tisdk>/board-support/prebuilt-images to use the pre-built binaries that come in the pre-built SDK (bl31.bin for BL31, bl32.bin for TEE).
$ cd $UBOOT_DIR
R5
To build tiboot3.bin. Saved in $UBOOT_DIR/out/r5.
$ make ARCH=arm CROSS_COMPILE="$CROSS_COMPILE_32" am62px_evm_r5_defconfig O=$UBOOT_DIR/out/r5
$ make ARCH=arm CROSS_COMPILE="$CROSS_COMPILE_32" O=$UBOOT_DIR/out/r5 BINMAN_INDIRS=$TI_LINUX_FW_DIR
A53
To build tispl.bin and u-boot.img. Saved in $UBOOT_DIR/out/a53. Requires bl31.bin, tee-pager_v2.bin.
$ make ARCH=arm CROSS_COMPILE="$CROSS_COMPILE_64" am62px_evm_a53_defconfig O=$UBOOT_DIR/out/a53
$ make ARCH=arm CROSS_COMPILE="$CROSS_COMPILE_64" CC="$CC_64" BL31=$TFA_DIR/build/k3/lite/release/bl31.bin TEE=$OPTEE_DIR/out/arm-plat-k3/core/tee-pager_v2.bin O=$UBOOT_DIR/out/a53 BINMAN_INDIRS=$TI_LINUX_FW_DIR
Note
BINMAN_INDIRS is used to fetch the DM binary from board-support/prebuilt-images/ti-dm/ and SYSFW binaries from board-support/prebuilt-images/ti-sysfw/. If not using the SDK, BINMAN_INDIRS can point to either ti-linux-firmware or any folder where DM is located in <path to folder>/ti-dm/ and SYSFW binaries are present in <path to folder>/ti-sysfw/. Please make sure to use the absolute path.
Note
It is also possible to pick up a custom DM binary by adding TI_DM argument pointing to the file. If not provided, it defaults to picking up the DM binary from BINMAN_INDIRS. This is only applicable to devices that utilize split firmware.