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Processor SDK RTOS Boot

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RTOS Software Developer Guide Boot



Overview

User Interface

Application

Debug


Overview

This page provides an overview about the Secondary Bootloader support provided in Processor SDK RTOS.

The Secondary Bootloader (SBL) sets-up the PLL clocks, powers on the I/O Peripherals, initializes the DDR, loads the application image into DDR & brings the slave cores for applicable SOCs out of reset. Additional details including execution boot flow is covered in more elaborate detail under individual SOC section.

Boot Modes

MMCSD

MMCSD bootloader is required to boot target using an SD card containing bootloader and application images. When the board is powered ON the ROM bootloader detects the MMCSD bootloader image and loads it to the internal memory.The bootloader initializes the board, copies the application image from SD card to the DDR memory and gives control to the application.

QSPI

A flash device interfaced with QSPI is flashed with QSPI bootloader and application images. When the board is powered ON the ROM bootloader detects the bootloader image from flash device and loads it to the internal memory. The Bootloader initializes the board, copies the application image from QSPI device to the DDR memory and gives control to the application.

UART

A Serial connection is used for transferring the bootloader binary from PC to target board through XMODEM protocol. The bootloader on execution prompts for application image to transfer through XMODEM. On providing the path, the application binary is transferred through serial connection to DDR memory and the control is passed to application to execute.

MCSPI/SPI

A SPI flash device flashed with MCSPI/SPI bootloader and application images is used for booting the board. When the board is powered ON the ROM bootloader detects the bootloader image from flash device and loads it to the internal memory. The Bootloader initializes the board, copies the application image from flash to the DDR memory and gives control to the application.

NAND

NAND flash with bootloader and and application images is used for booting the board. When the board is powered ON the ROM bootloader detects the bootloader image from flash device and loads it to the internal memory. The bootloader initializes the board, copies the application image from flash to the DDR memory and gives control to the application.

NOTE

For information on boot mode setting, see the applicable EVM Hardware User Guide.

AM335x/AM437x

Refer Processor SDK RTOS BOOT AM335x/AM437x for more information including procedure to boot via different modes for all supported BOARDs.

AM57x

Refer Processor SDK RTOS BOOT AM57x for more information including procedure to boot via different modes for all supported BOARDs.

C66x

Refer Processor SDK RTOS BOOT C66x for more information including procedure to boot via different modes for all supported BOARDs.

K2G

Refer Processor SDK RTOS BOOT K2G for more information including procedure to boot via different modes for all supported BOARDs.

K2H/K2E/K2L

Refer Processor SDK RTOS BOOT K2H/E/L for more information including procedure to boot via different modes for all supported BOARDs.

OMAPL137/OMAPL138/C6748

Refer Processor SDK RTOS BOOT OMAPL13x for more information including procedure to boot via different modes for all supported BOARDs.

Common Steps to debug application boot

Bootloading an application is a system level issue which is impacted by hardware as well as software setup. There are some common steps that users are expected to check while debugging boot related issues. This section discusses common issues to checkout when debugging application boot.


Hardware Debug Steps

Input clocks and power sequencing

  • Ensure that correct power sequencing is occurring on your board. Power sequencing specifications can be found in the data manual.
  • Check the system clock and ensure this is outputting the expected frequency and the signal is swinging rail to rail (should be a 1.8V signal). If you have an external oscillator, it should be outputting a square wave at the desired frequency. If you are using a crystal , you should have a sine wave at the desired frequency at XTALIN. XTALOUT should be similar (may be distorted a little).
  • Check the power on reset signal PORZ. This signal should stay low throughout the power sequencing and go high when the power AND high frequency clock are stable.
  • If the device has an OBSCLK or CLKOUT then ensure that this pin provides the correct output that matches your software configurations.

Boot pins:

Best way to confirm what the device ROM bootloader reads from the pins is to read the register where the Boot pins are latched into the device:

  • For AM335x/AM437x: Check the Control_status register
  • For AM57xs: Check CTRL_CORE_BOOTSTRAP register
  • For C66x/K2X devices: Check the DEVSTAT register
  • For OMAPL13x/C674x devices: Check BOOTCFG register

Boot media connectivity

Users are required to test their boot interface by running boot loader independent diagnostic tests that confirm that the SOC can read and write from the boot interface. Processor SDK RTOS provides Diagnostic utilities for K2G/AMXX devices and provides POST utility for keystone devices with which the TI EVM was tested.

TI Technical documentation like Technical reference manual (AMXX devices), Bootloader USer guide (for C66x/K2X devices) and Bootloader Application notes for OMAPLxx/C674x list default behavior or the ROM bootloader and limitations and constraints for each boot mode. Application developers need to account for this while designing their system to ensure smooth bring up process.

Signalling on boot media and reset pins

If software and other hardware debug steps have not helped identify the issue, you may need to hook up a scope or protocol analyzer to check the clocks and the data transfers from the boot media to check if there is any issues that can be identified. Another commonly known issue that impacts boot is noise on the power lines which may cause the SOC to reset or cause a hang on the boot core. Provide these scope shots to TI on E2E forums so TI engineers can confirm that there are no issues.

Software Debug Steps

SBL and app Entry points

If you don`t see your bootloader executing post boot, a good sanity check is for you to look at the map file for the bootloader and ensure that the entry point matches with the location in the TI or GPHeader in the boot image. this can be done by looking at the entry point in the MLO/_ti.bin/GPheader and ensure that it matches with the location of symbol Entry in the .out/map file for the bootloader.

SBL and App memory map

The SBL execute from device onchip memory so if your application is also using Onchip memory in addition to DDR memory, developers need to ensure that the code sections in the application do not overlap with memory sections that are used by the SBL. This can cause the SBL to hang during the application boot process and go into an abort state.

To check what memory region is used by the SBL please locate the map file created from building the bootloader.

Flash Programming verification

It is essential to understand that the flash programmer that you use has not just the ability to write the image to flash but should also be able to verify that the image written to flash matches the image that you have created on your host machine. you can use TI flash programming utilities as reference and ensure that the production flashing tools use a method to erase, write and then verify the boot image that is written to the flash.


DDR timings and configuration /SBL

The Processor SDK bootloader ships with DDR clock and timing settings that apply to the external memory devices that have been used in TI evaluation platforms. When running the code on custom platforms, users may be required to change these setting to match the timings required by custom design. We highly recommend that users create a GEL script similar to one provided by TI and test the memory interface with the new settings before using them in the secondary bootloader to setup external memory. Processor SDK Diagnostics provides a mem_test that can be used to test read and writes to the entire DDR address space for confirming the SOC EMIF settings.

Emulator based debugging of boot

The processor SDK RTOS bootloader is like any other application that can be loaded over the emulator and debugged. Steps to connect an emulator to the EVM have been described in the Hardware Setup Guides that is linked to the Processor SDK RTOS documentation.

Loading the bootloader over emulator can be very useful step in debugging the system boot. Before generating the final binary for bootloader, the build generates the .out file for the bootloader which is then formatted in a boot format that the ROM bootloader(RBL) can interpret. This .out can be loaded over the emulator similar to any other application. If you load the debug version of the bootloader, you can single step through the code that initializes the SOC and also part of the SBL code that loads the app from the boot media.

NOTE

SBL runs from onchip memory so users can load the SBL.out even without using the GEL file but using the GEL sometimes helps with putting the core in a clean state so usage of the GEL is optional

Alternate Approach:

Add a spinlock in SBL main

In some occasions the RBL may load the SBL but there may be some issue that you need to debug in the SBL. In this case you can add a spinlock loop at the start of main in SBL and allow the first stage boot to complete normally and then connect to the core when you connect the core will be held in the spinlock condition waiting for you to connect.

Example:

volatile int exitSpinLock = 0;
void Debug_spinLock(void)
{
    while (exitSpinLock == 0) { }
}

You will then have to "release" the core by toggling the variable which the while loop is blocking on. You can either do this manually by halting CCS, examining the variable in the watch window and then changing the value before continuing execution on the core, or you can use a GEL script.

Use an IO input to stall the core until user input is received:

printf("Hit enter to continue:");
getchar();

System state at boot failure

A useful data point for TI to debug boot related issues is to isolate commonly known initialization and to understand how far the bootloader has executed correctly before it runs into any issues. Users are required to capture ARM/DSP clocks, Program counter value, Entry points detected, pinmux configuration and confirm DDR initialization and slave core states. This helps minimize the number of variables in the system boot and helps us zero in on the most likely cause for the boot failure.