[PATCH] doc: board: ti: Add AM62D documentation

[PATCH] doc: board: ti: Add AM62D documentation

[Paresh Bhagat]

Add info of boot flow and build steps for AM62Dx EVM.

Signed-off-by: Paresh Bhagat <p-bhagat@ti.com>
---
 doc/board/ti/am62dx_evm.rst | 254 ++++++++++++++++++++++++++++++++++++
 doc/board/ti/k3.rst         |   1 +
 2 files changed, 255 insertions(+)
 create mode 100644 doc/board/ti/am62dx_evm.rst

diff --git a/doc/board/ti/am62dx_evm.rst b/doc/board/ti/am62dx_evm.rst
new file mode 100644
index 00000000000..60442480726
--- /dev/null
+++ b/doc/board/ti/am62dx_evm.rst
@@ -0,0 +1,254 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Paresh Bhagat <p-bhagat@ti.com>
+
+AM62D Platforms
+===============
+
+Introduction:
+-------------
+The AM62D2 SoC belongs to the K3 Multicore SoC architecture with DSP core
+targeted for applications needing high-performance Digital Signal
+Processing. It is used in applications like automotive audio systems,
+professional sound equipment, radar and radio for aerospace, sonar in
+marine devices, and ultrasound in medical imaging. It also supports
+precise signal analysis in test and measurement tools.
+
+Some highlights of AM62D2 SoC are:
+
+* Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster. Dual/Single
+  core variants are provided in the same package to allow HW compatible
+  designs.
+* One Device manager Cortex-R5F for system power and resource management,
+  and one Cortex-R5F for Functional Safety or general-purpose usage.
+* DSP with Matrix Multiplication Accelerator(MMA) (up to 2 TOPS) based on
+  single core C7x.
+* 3x Multichannel Audio Serial Ports (McASP) Up to 4/6/16 Serial Data Pins
+  which can Transmit and Receive Clocks up to 50MHz, with multi-channel I2S
+  and TDM Audio inputs and outputs.
+* Integrated Giga-bit Ethernet switch supporting up to a total of two
+  external ports with TSN capable to enable audio networking features such
+  as, Ethernet Audio Video Bridging (eAVB) and Dante.
+* 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3x eMMC and SD, OSPI memory
+  controller, 1x CSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other
+  peripherals.
+* Dedicated Centralized Hardware Security Module with support for secure
+  boot, debug security and crypto acceleration and trusted execution
+  environment.
+* One 32 bit DDR Subsystem that supports LPDDR4, DDR4 memory types.
+* Low power mode support: Partial IO support for CAN/GPIO/UART wakeup.
+
+This SoC is of part K3 AM62x family, which includes the AM62A and AM62P
+variants. While the AM62A and AM62D are largely similar, the AM62D is
+specifically targeted for general-purpose DSP applications, whereas the
+AM62A focuses on edge AI workloads. A key distinction is that the AM62D
+does not include multimedia components such as the video encoder/decoder,
+MJPEG encoder, Vision Processing Accelerator (VPAC) for image signal
+processing, or the display subsystem. Additionally, the AM62D has a
+different pin configuration compared to the AM62A, which impacts
+embedded software development.
+
+More details can be found in the Technical Reference Manual:
+https://www.ti.com/lit/pdf/sprujd4
+
+Platform information:
+
+* https://www.ti.com/tool/AUDIO-AM62D-EVM
+
+Boot Flow:
+----------
+Below is the pictorial representation of boot flow:
+
+.. image:: img/boot_diagram_am62.svg
+  :alt: Boot flow diagram
+
+- Here TIFS acts as master and provides all the critical services. R5/A53
+  requests TIFS to get these services done as shown in the above diagram.
+
+Sources:
+--------
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_boot_sources
+    :end-before: .. k3_rst_include_end_boot_sources
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_boot_firmwares
+    :end-before: .. k3_rst_include_end_tifsstub
+
+Build procedure:
+----------------
+0. Setup the environment variables:
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_desc
+    :end-before: .. k3_rst_include_end_common_env_vars_desc
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_board_env_vars_desc
+    :end-before: .. k3_rst_include_end_board_env_vars_desc
+
+Set the variables corresponding to this platform:
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_defn
+    :end-before: .. k3_rst_include_end_common_env_vars_defn
+.. prompt:: bash
+
+   export UBOOT_CFG_CORTEXR=am62dx_evm_r5_defconfig
+   export UBOOT_CFG_CORTEXA=am62dx_evm_a53_defconfig
+   export TFA_BOARD=lite
+   # we dont use any extra TFA parameters
+   unset TFA_EXTRA_ARGS
+   export OPTEE_PLATFORM=k3-am62ax
+   # we dont use any extra OPTEE parameters
+   unset OPTEE_EXTRA_ARGS
+
+1. Trusted Firmware-A:
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_tfa
+    :end-before: .. k3_rst_include_end_build_steps_tfa
+
+2. OP-TEE:
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_optee
+    :end-before: .. k3_rst_include_end_build_steps_optee
+
+3. U-Boot:
+
+* 3.1 R5:
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_spl_r5
+    :end-before: .. k3_rst_include_end_build_steps_spl_r5
+
+* 3.2 A53:
+
+.. include::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_uboot
+    :end-before: .. k3_rst_include_end_build_steps_uboot
+
+Target Images
+--------------
+In order to boot we need tiboot3.bin, tispl.bin and u-boot.img.  Each SoC
+variant (HS-FS, HS-SE) requires a different source for these files.
+
+ - HS-FS
+
+        * tiboot3-am62ax-hs-fs-evm.bin from step 3.1
+        * tispl.bin, u-boot.img from step 3.2
+
+ - HS-SE
+
+        * tiboot3-am62ax-hs-evm.bin from step 3.1
+        * tispl.bin, u-boot.img from step 3.2
+
+Image formats:
+--------------
+
+- tiboot3.bin
+
+.. image:: img/multi_cert_tiboot3.bin.svg
+  :alt: tiboot3.bin image format
+
+- tispl.bin
+
+.. image:: img/tifsstub_dm_tispl.bin.svg
+  :alt: tispl.bin image format
+
+Switch Setting for Boot Mode
+----------------------------
+
+Boot Mode pins provide means to select the boot mode and options before the
+device is powered up. After every POR, they are the main source to populate
+the Boot Parameter Tables.
+
+The following table shows some common boot modes used on AM62 platform. More
+details can be found in the Technical Reference Manual:
+https://www.ti.com/lit/pdf/spruj16 under the `Boot Mode Pins` section.
+
+.. list-table:: Boot Modes
+   :widths: 16 16 16
+   :header-rows: 1
+
+   * - Switch Label
+     - SW2: 12345678
+     - SW3: 12345678
+
+   * - SD
+     - 01000000
+     - 11000010
+
+   * - OSPI
+     - 00000000
+     - 11001110
+
+   * - EMMC
+     - 00000000
+     - 11010010
+
+   * - UART
+     - 00000000
+     - 11011100
+
+   * - USB DFU
+     - 00000000
+     - 11001010
+
+For SW2 and SW1, the switch state in the "ON" position = 1.
+
+Falcon Mode
+-----------
+
+Falcon Mode on AM62dx platforms bypasses the A53 SPL and U-Boot with the overall
+boot flow as below:
+
+.. include:: am62x_sk.rst
+    :start-after: .. am62x_evm_falcon_start_boot_flow
+    :end-before: .. am62x_evm_falcon_end_boot_flow
+
+Build Process
+^^^^^^^^^^^^^
+
+.. include:: am62x_sk.rst
+    :start-after: .. am62x_evm_falcon_start_build_process
+    :end-before: .. am62x_evm_falcon_end_build_process
+
+Usage
+^^^^^
+
+.. include:: am62x_sk.rst
+    :start-after: .. am62x_evm_falcon_start_usage
+    :end-before: .. am62x_evm_falcon_end_usage
+
+R5 SPL Memory Map
+^^^^^^^^^^^^^^^^^
+
+.. include:: am62x_sk.rst
+    :start-after: .. am62x_evm_falcon_start_r5_memory_map
+    :end-before: .. am62x_evm_falcon_end_r5_memory_map
+
+Debugging U-Boot
+----------------
+
+See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
+detailed setup information.
+
+.. warning::
+
+  **OpenOCD support since**: August 2023 (git master)
+
+  Until the next stable release of OpenOCD is available in your development
+  environment's distribution, it might be necessary to build OpenOCD `from the
+  source <https://github.com/openocd-org/openocd>`_.
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_openocd_connect_XDS110
+    :end-before: .. k3_rst_include_end_openocd_connect_XDS110
+
+To start OpenOCD and connect to the board
+
+.. prompt:: bash
+
+  openocd -f board/ti_am62a7evm.cfg
diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst
index 913cdd7d09e..ed04a57c167 100644
--- a/doc/board/ti/k3.rst
+++ b/doc/board/ti/k3.rst
@@ -31,6 +31,7 @@ K3 Based SoCs
    :maxdepth: 1
 
    am62ax_sk
+   am62dx_evm
    am62x_sk
    am62px_sk
    am6254atl_sk
-- 
2.34.1

Re: [PATCH] doc: board: ti: Add AM62D documentation

[Nishanth Menon]

On 00:05-20260106, Paresh Bhagat wrote:
> Add info of boot flow and build steps for AM62Dx EVM.

[...]
> +  **OpenOCD support since**: August 2023 (git master)
> +
> +  Until the next stable release of OpenOCD is available in your development
> +  environment's distribution, it might be necessary to build OpenOCD `from the
> +  source <https://github.com/openocd-org/openocd>`_.
> +
> +.. include::  k3.rst
> +    :start-after: .. k3_rst_include_start_openocd_connect_XDS110
> +    :end-before: .. k3_rst_include_end_openocd_connect_XDS110
> +
> +To start OpenOCD and connect to the board
> +
> +.. prompt:: bash
> +
> +  openocd -f board/ti_am62a7evm.cfg

* Are you sure this is the location[1] ?
* is am62a7 correct for am62d ?

[1] https://github.com/openocd-org/openocd/tree/master/tcl/board/ti
-- 
Regards,
Nishanth Menon
Key (0xDDB5849D1736249D) / Fingerprint: F8A2 8693 54EB 8232 17A3  1A34 DDB5 849D 1736 249D
https://ti.com/opensource

Re: [PATCH] doc: board: ti: Add AM62D documentation

[Paresh Bhagat]

Hi Nishanth,


On 06/01/26 00:29, Nishanth Menon wrote:
> On 00:05-20260106, Paresh Bhagat wrote:
>> Add info of boot flow and build steps for AM62Dx EVM.
> [...]
>> +  **OpenOCD support since**: August 2023 (git master)
>> +
>> +  Until the next stable release of OpenOCD is available in your development
>> +  environment's distribution, it might be necessary to build OpenOCD `from the
>> +  source <https://github.com/openocd-org/openocd>`_.
>> +
>> +.. include::  k3.rst
>> +    :start-after: .. k3_rst_include_start_openocd_connect_XDS110
>> +    :end-before: .. k3_rst_include_end_openocd_connect_XDS110
>> +
>> +To start OpenOCD and connect to the board
>> +
>> +.. prompt:: bash
>> +
>> +  openocd -f board/ti_am62a7evm.cfg
> * Are you sure this is the location[1] ?
> * is am62a7 correct for am62d ?


Yes, since they have same core architecture and count (also verified 
locally).


>
> [1] https://github.com/openocd-org/openocd/tree/master/tcl/board/ti

Re: [PATCH] doc: board: ti: Add AM62D documentation

[Bryan Brattlof]

On January  8, 2026 thus sayeth Paresh Bhagat:
> Hi Nishanth,
> 
> 
> On 06/01/26 00:29, Nishanth Menon wrote:
> > On 00:05-20260106, Paresh Bhagat wrote:
> > > Add info of boot flow and build steps for AM62Dx EVM.
> > [...]
> > > +  **OpenOCD support since**: August 2023 (git master)
> > > +
> > > +  Until the next stable release of OpenOCD is available in your development
> > > +  environment's distribution, it might be necessary to build OpenOCD `from the
> > > +  source <https://github.com/openocd-org/openocd>`_.
> > > +
> > > +.. include::  k3.rst
> > > +    :start-after: .. k3_rst_include_start_openocd_connect_XDS110
> > > +    :end-before: .. k3_rst_include_end_openocd_connect_XDS110
> > > +
> > > +To start OpenOCD and connect to the board
> > > +
> > > +.. prompt:: bash
> > > +
> > > +  openocd -f board/ti_am62a7evm.cfg
> > * Are you sure this is the location[1] ?
> > * is am62a7 correct for am62d ?
> 
> 
> Yes, since they have same core architecture and count (also verified
> locally).

What version of openocd are you using? You might need to update some 
packages on your host.

~Bryan

Re: [PATCH] doc: board: ti: Add AM62D documentation

[Paresh Bhagat]

Hi Bryan,

On 08/01/26 19:01, Bryan Brattlof wrote:
> On January  8, 2026 thus sayeth Paresh Bhagat:
>> Hi Nishanth,
>>
>>
>> On 06/01/26 00:29, Nishanth Menon wrote:
>>> On 00:05-20260106, Paresh Bhagat wrote:
>>>> Add info of boot flow and build steps for AM62Dx EVM.
>>> [...]
>>>> +  **OpenOCD support since**: August 2023 (git master)
>>>> +
>>>> +  Until the next stable release of OpenOCD is available in your development
>>>> +  environment's distribution, it might be necessary to build OpenOCD `from the
>>>> +  source <https://github.com/openocd-org/openocd>`_.
>>>> +
>>>> +.. include::  k3.rst
>>>> +    :start-after: .. k3_rst_include_start_openocd_connect_XDS110
>>>> +    :end-before: .. k3_rst_include_end_openocd_connect_XDS110
>>>> +
>>>> +To start OpenOCD and connect to the board
>>>> +
>>>> +.. prompt:: bash
>>>> +
>>>> +  openocd -f board/ti_am62a7evm.cfg
>>> * Are you sure this is the location[1] ?
>>> * is am62a7 correct for am62d ?
>>
>> Yes, since they have same core architecture and count (also verified
>> locally).
> What version of openocd are you using? You might need to update some
> packages on your host.


My bad. New versions (~0.12) have slightly different path and filename. 
Will update the same in v2.


>
> ~Bryan