TQMa62xx - YOCTO Linux BSP documentation

Build Bootstream manually

Prerequisites

In preparation for this guide, ensure the development host is set up correctly. With the following instructions, the bootstream for the TQMa62xx can be built manually on an Ubuntu 24.04 host system.

Manual compilation workflow

Compiling U-Boot and assembling the bootstream

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.

NOTE: Paths must match the actual working directory setup on the development host.
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/
The generated deployment binary files inside the `u-boot-binaries` directory are now ready to be written to the target boot media.
The information provided on this wiki page is subject to change due to circumstances beyond our control. While we strive to keep all details as accurate and up-to-date as possible, it is possible that certain updates or changes may go unnoticed for some time. As a result, some sections of this page may contain outdated information. If you notice any mistakes in the documentation, we kindly ask you to inform the TQ Support through our ticket system.