To get started, the required host toolchain packages and utilities must be installed on the development host:

sudo apt install gawk wget git diffstat unzip texinfo gcc build-essential chrpath socat cpio python3 python3-pip python3-pexpect xz-utils debianutils iputils-ping python3-git python3-jinja2 libegl1-mesa-dev libsdl1.2-dev xterm python3-subunit mesa-common-dev zstd liblz4-tool python3-pyelftools python3-jsonschema swig libgnutls28-dev yamllint

Install the required cross-compilers for ARM (32-bit R5) and AArch64 (64-bit A53) architectures:

sudo apt install gcc-arm-linux-gnueabihf gcc-aarch64-linux-gnu

Create a dedicated working directory for the compilation process and move into it:

mkdir tqma62xx
cd tqma62xx

Setup Shell Environment

Export the required environment variables to simplify path management during compilation.

export UBOOT_DIR=/home/embedded/tqma62xx/u-boot-tqmaxx
export K3IG_DIR=/home/embedded/tqma62xx/k3-image-gen
export TFA_DIR=/home/embedded/tqma62xx/arm-trusted-firmware
export OPTEE_DIR=/home/embedded/tqma62xx/optee_os

TI System Firmware (SYSFW)

Clone the Texas Instruments firmware repository and check out the validated release tag:

cd ~/tqma62xx
git clone https://git.ti.com/git/processor-firmware/ti-linux-firmware.git
cd ti-linux-firmware
git checkout 12.00.00.27

k3-image-gen

Clone the TI K3 image generation utility repository:

cd ~/tqma62xx
git clone https://git.ti.com/git/k3-image-gen/k3-image-gen.git

ARM Trusted Firmware (ATF)

Clone the official ATF repository, switch to the validated commit, and build the firmware for the K3 platform:

cd ~/tqma62xx
git clone https://github.com/ARM-software/arm-trusted-firmware.git
cd arm-trusted-firmware
git checkout 76500ceaeefcda967d8a1f4e30bb04f9fe0425a2

make CROSS_COMPILE=aarch64-linux-gnu- ARCH=aarch64 PLAT=k3 TARGET_BOARD=lite SPD=opteed

OP-TEE OS

Clone the TI OP-TEE repository, switch to the validated commit, and compile the secure OS binaries:

cd ~/tqma62xx
git clone https://git.ti.com/git/optee/ti-optee-os.git
cd ti-optee-os
git checkout f2a7ad0638aeff5243593b33cc56ad064cae7615

make PLATFORM=k3 CFG_ARM64_core=y CROSS_COMPILE=arm-linux-gnueabihf- CROSS_COMPILE64=aarch64-linux-gnu- PLATFORM=k3-am62x CFG_ARM64_core=y

U-Boot

Clone the TQ U-Boot repository and check out the specific BSP release branch. Symbolic links to the TI firmware directories are required before compilation:

cd ~/tqma62xx
git clone https://github.com/tq-systems/u-boot-tqmaxx.git
cd u-boot-tqmaxx
git checkout ba233196ee92a301b910ea360c174033ac3b07b8

ln -s /home/embedded/tqma62xx/ti-linux-firmware/ti-dm/ ti-dm
ln -s /home/embedded/tqma62xx/ti-linux-firmware/ti-sysfw/ ti-sysfw

First, build the R5 core (32-bit SPL) components:

make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- tqma62xx_mba62xx_r5_defconfig O=$UBOOT_DIR/out/r5
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- O=$UBOOT_DIR/out/r5 

Second, build the A53 core (64-bit) components, incorporating the previously compiled ATF and OP-TEE binaries:

make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- tqma62xx_mba62xx_a53_defconfig O=$UBOOT_DIR/out/a53
make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- BL31=$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

Deployment Binary Collection

Create a destination directory and collect all relevant bootloader binaries required for deployment:

mkdir ~/tqma62xx/u-boot-binaries/
cp $UBOOT_DIR/out/r5/tiboot3-am62x-gp-tqma62xx.bin ~/tqma62xx/u-boot-binaries/
cp $UBOOT_DIR/out/r5/tiboot3-am62x-hs-tqma62xx.bin ~/tqma62xx/u-boot-binaries/
cp $UBOOT_DIR/out/r5/tiboot3-am62x-hs-fs-tqma62xx.bin ~/tqma62xx/u-boot-binaries/
cp $UBOOT_DIR/out/r5/tiboot3-am62x-gp-tqma62xx.bin ~/tqma62xx/u-boot-binaries/tiboot3.bin
cp $UBOOT_DIR/out/a53/u-boot.img ~/tqma62xx/u-boot-binaries/