.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause .. sectionauthor:: Vignesh Raghavendra AM62 Platforms ============== Introduction: ------------- The AM62 SoC family is the follow on AM335x built on the K3 Multicore SoC architecture platform, providing ultra-low-power modes, dual display, multi-sensor edge compute, security and other BOM-saving integrations. The AM62 SoC targets a broad market to enable applications such as Industrial HMI, PLC/CNC/Robot control, Medical Equipment, Building Automation, Appliances and more. Some highlights of this SoC are: * Quad-Cortex-A53s (running up to 1.4GHz) in a single cluster. Pin-to-pin compatible options for single and quad core are available. * Cortex-M4F for general-purpose or safety usage. * Dual display support, providing 24-bit RBG parallel interface and OLDI/LVDS-4 Lane x2, up to 200MHz pixel clock support for 2K display resolution. * Selectable GPU support, up to 8GFLOPS, providing better user experience in 3D graphic display case and Android. * PRU(Programmable Realtime Unit) support for customized programmable interfaces/IOs. * Integrated Giga-bit Ethernet switch supporting up to a total of two external ports (TSN capable). * 9xUARTs, 5xSPI, 6xI2C, 2xUSB2, 3xCAN-FD, 3x eMMC and SD, GPMC for NAND/FPGA connection, OSPI memory controller, 3xMcASP for audio, 1x CSI-RX-4L for Camera, eCAP/eQEP, ePWM, among other peripherals. * Dedicated Centralized System Controller for Security, Power, and Resource Management. * Multiple low power modes support, ex: Deep sleep, Standby, MCU-only, enabling battery powered system design. More details can be found in the Technical Reference Manual: https://www.ti.com/lit/pdf/spruiv7 Platform information: * https://www.ti.com/tool/SK-AM62B 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=am62x_evm_r5_defconfig export UBOOT_CFG_CORTEXA=am62x_evm_a53_defconfig export TFA_BOARD=lite # we dont use any extra TFA parameters unset TFA_EXTRA_ARGS export OPTEE_PLATFORM=k3-am62x export OPTEE_EXTRA_ARGS="CFG_WITH_SOFTWARE_PRNG=y" .. am62x_evm_rst_include_start_build_steps 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 * 3.1.1 Alternative build of R5 for DFU boot: As the SPL size can get too big when building with support for booting both from local storage *and* DFU an extra config fragment should be used to enable DFU support (and disable storage support) .. prompt:: bash $ export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXR} am62x_r5_usbdfu.config" .. 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 * 3.2.1 Alternative build of A53 for Android bootflow: Since the Android requires many more dependencies, it is disabled by default. An extra config fragment should be used to enable Android bootflow support. .. prompt:: bash $ export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXA} am62x_a53_android.config" .. include:: ../ti/k3.rst :start-after: .. k3_rst_include_start_build_steps_uboot :end-before: .. k3_rst_include_end_build_steps_uboot .. am62x_evm_rst_include_end_build_steps Target Images ------------- In order to boot we need tiboot3.bin, tispl.bin and u-boot.img. Each SoC variant (GP, HS-FS, HS-SE) requires a different source for these files. - GP * tiboot3-am62x-gp-evm.bin from step 3.1 * tispl.bin_unsigned, u-boot.img_unsigned from step 3.2 - HS-FS * tiboot3-am62x-hs-fs-evm.bin from step 3.1 * tispl.bin, u-boot.img from step 3.2 - HS-SE * tiboot3-am62x-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 OSPI: ----- ROM supports booting from OSPI from offset 0x0. Flashing images to OSPI: Below commands can be used to download tiboot3.bin, tispl.bin, and u-boot.img, over tftp and then flash those to OSPI at their respective addresses. .. prompt:: bash => sf probe tftp ${loadaddr} tiboot3.bin sf update $loadaddr 0x0 $filesize tftp ${loadaddr} tispl.bin sf update $loadaddr 0x80000 $filesize tftp ${loadaddr} u-boot.img sf update $loadaddr 0x280000 $filesize Flash layout for OSPI: .. image:: img/ospi_sysfw2.svg :alt: OSPI flash partition layout A53 SPL DDR Memory Layout ------------------------- .. am62x_evm_rst_include_start_ddr_mem_layout This provides an overview memory usage in A53 SPL stage. .. list-table:: :widths: 16 16 16 :header-rows: 1 * - Region - Start Address - End Address * - EMPTY - 0x80000000 - 0x80080000 * - TEXT BASE - 0x80080000 - 0x800d8000 * - EMPTY - 0x800d8000 - 0x80200000 * - BMP IMAGE - 0x80200000 - 0x80b77660 * - STACK - 0x80b77660 - 0x80b77e60 * - GD - 0x80b77e60 - 0x80b78000 * - MALLOC - 0x80b78000 - 0x80b80000 * - EMPTY - 0x80b80000 - 0x80c80000 * - BSS - 0x80c80000 - 0x80d00000 * - BLOBS - 0x80d00000 - 0x80d00400 * - EMPTY - 0x80d00400 - 0x81000000 .. am62x_evm_rst_include_end_ddr_mem_layout 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/spruiv7 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 * - Ethernet - 00110000 - 11000100 For SW2 and SW1, the switch state in the "ON" position = 1. DFU based boot -------------- To boot the board over DFU, set the switches to DFU mode and connect to the USB type C DRD port on the board. After power-on the build artifacts needs to be uploaded one by one with a tool like dfu-util. .. am62x_evm_rst_include_start_dfu_boot The initial ROM will have a DFU alt named `bootloader` for the initial R5 spl upload. The next stages as exposed by U-Boot have target alts matching the name of the artifacts, for these a USB reset has to be done after each upload. When using dfu-util the following commands can be used to boot to a U-Boot shell: .. prompt:: bash $ dfu-util -a bootloader -D tiboot3.bin dfu-util -R -a tispl.bin -D tispl.bin dfu-util -R -a u-boot.img -D u-boot.img .. am62x_evm_rst_include_end_dfu_boot Ethernet based boot ------------------- To boot the board via Ethernet, configure the BOOT MODE pins for Ethernet boot. On powering on the device, ROM uses the Ethernet Port corresponding to CPSW3G's MAC Port 1 to transmit "TI K3 Bootp Boot". The TFTP server and DHCP server on the receiver device need to be configured such that VCI string "TI K3 Bootp Boot" maps to the file `tiboot3.bin` and the TFTP server should be capable of transferring it to the device. **Configuring DHCP server includes following steps:** * Install DHCP server: .. prompt:: bash $ sudo apt install isc-dhcp-server * Disable services before configuring: .. prompt:: bash $ sudo systemctl disable --now isc-dhcp-server.service isc-dhcp-server6.service * DHCP server setup Run the ip link or ifconfig command to find the name of your network interface: Example .. code-block:: eno1: flags=4163 mtu 1500 inet 172.24.145.229 netmask 255.255.254.0 broadcast 172.24.145.255 inet6 fe80::bbd5:34c8:3d4c:5de4 prefixlen 64 scopeid 0x20 ether c0:18:03:bd:b1:a6 txqueuelen 1000 (Ethernet) RX packets 2733979 bytes 1904440459 (1.9 GB) RX errors 0 dropped 3850 overruns 0 frame 0 TX packets 796807 bytes 84534764 (84.5 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 device interrupt 16 memory 0xe2200000-e2220000 enxf8e43b8cffe8: flags=4163 mtu 1500 ether f8:e4:3b:8c:ff:e8 txqueuelen 1000 (Ethernet) RX packets 95 bytes 31160 (31.1 KB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 89 bytes 17445 (17.4 KB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73 mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10 loop txqueuelen 1000 (Local Loopback) RX packets 85238 bytes 7244462 (7.2 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 85238 bytes 7244462 (7.2 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 Suppose we are using enxf8e43b8cffe8 interface, one end of it is connected to host PC and other to board. * Do the following changes in /etc/dhcp/dhcpd.conf in host PC. .. code-block:: subnet 192.168.0.0 netmask 255.255.254.0 { range dynamic-bootp 192.168.0.2 192.168.0.5; if substring (option vendor-class-identifier, 0, 16) = "TI K3 Bootp Boot" { filename "tiboot3.bin"; } elsif substring (option vendor-class-identifier, 0, 20) = "AM62X U-Boot R5 SPL" { filename "tispl.bin"; } elsif substring (option vendor-class-identifier, 0, 21) = "AM62X U-Boot A53 SPL" { filename "u-boot.img"; } default-lease-time 60000; max-lease-time 720000; next-server 192.168.0.1; } * Do following changes in /etc/default/isc-dhcp-server .. code-block:: DHCPDv4_CONF=/etc/dhcp/dhcpd.conf INTERFACESv4="enxf8e43b8cffe8" INTERFACESv6="" * For your interface change ip address and netmask to next-server and your netmask .. prompt:: bash $ sudo ifconfig enxf8e43b8cffe8 192.168.0.1 netmask 255.255.254.0 * Enable DHCP .. prompt:: bash $ sudo systemctl enable --now isc-dhcp-server * To see if there is any configuration error or if dhcp is running run .. prompt:: bash $ sudo service isc-dhcp-server status # If it shows error then something is wrong with configuration **For TFTP setup follow below steps:** * Install TFTP server: .. prompt:: bash $ sudo apt install tftpd-hpa tftpd-hpa package should be installed. Now, check whether the tftpd-hpa service is running with the following command: .. prompt:: bash $ sudo systemctl status tftpd-hpa * Configuring TFTP server: The default configuration file of tftpd-hpa server is /etc/default/tftpd-hpa. If you want to configure the TFTP server, then you have to modify this configuration file and restart the tftpd-hpa service afterword. To modify the /etc/default/tftpd-hpa configuration file, run the following command .. prompt:: bash $ sudo vim /etc/default/tftpd-hpa Configuration file may contain following configuration options by default: .. code-block:: # /etc/default/tftpd-hpa TFTP_USERNAME="tftp" TFTP_DIRECTORY="/var/lib/tftpboot" TFTP_ADDRESS=":69" TFTP_OPTIONS="--secure" Now change the **TFTP_DIRECTORY** to **/tftp** and add the **--create** option to the **TFTP_OPTIONS**. Without the **--create** option, you won't be able to create or upload new files to the TFTP server. You will only be able to update existing files. After above changes /etc/default/tftpd-hpa file would look like this: .. code-block:: # /etc/default/tftpd-hpa TFTP_USERNAME="tftp" TFTP_DIRECTORY="/tftp" TFTP_ADDRESS=":69" TFTP_OPTIONS="--secure --create" Since we have configured tftp directory as /tftp, put tiboot3.bin, tispl.bin and u-boot.img after building it using sdk or manually cloning all the repos. To build binaries use following defconfig files: .. code-block:: am62x_evm_r5_ethboot_defconfig am62x_evm_a53_ethboot_defconfig `tiboot3.bin` is expected to be built from `am62x_evm_r5_ethboot_defconfig` and `tispl.bin` and `u-boot.img` are expected to be built from `am62x_evm_a53_ethboot_defconfig`. Images should get fetched in following sequence as a part of boot procedure: .. code-block:: tiboot3.bin => tispl.bin => u-boot.img ROM loads and executes `tiboot3.bin` provided by the TFTP server. Next, based on NET_VCI_STRING string mentioned in respective defconfig file `tiboot3.bin` fetches `tispl.bin` and then `tispl.bin` fetches `u-boot.img` from TFTP server which completes Ethernet boot on the device. Falcon Mode ----------- Falcon Mode on AM62x platforms bypasses the A53 SPL and U-Boot with the overall boot flow as below: .. am62x_evm_falcon_start_boot_flow **Normal boot flow:** .. code-block:: | tiboot3.bin | tispl.bin | u-boot.img | Image | |-------------+----------------------------+------------+---------| R5 Core | SPL | | | | ---------| \ | | | | A53 Core | ------> TFA -> OP-TEE -> A53 SPL --> U-Boot --> Kernel | **With falcon mode:** .. code-block:: | tiboot3.bin | tifalcon.bin | fitImage | |-------------+------------------+----------| R5 Core | SPL | | | ---------| \ | | | A53 Core | ------> TFA -> OP-TEE --> Kernel | .. am62x_evm_falcon_end_boot_flow Build Process ^^^^^^^^^^^^^ .. am62x_evm_falcon_start_build_process Enabling falcon mode requires re-building TFA, U-Boot and the kernel ``fitImage`` as follows: 0. Setup environment variables: """"""""""""""""""""""""""""""" Refer to the build procedure above for setting up the environment variables. 1. Trusted Firmware-A: """""""""""""""""""""" The R5 SPL in falcon mode loads the kernel at ``0x82000000`` and the corresponding DTB at ``0x88000000``. Therefore TFA needs to be rebuild with changes to the respective addresses. .. prompt:: bash $ # Change load addresses for the kernel and DTB export TFA_EXTRA_ARGS="PRELOADED_BL33_BASE=0x82000000 K3_HW_CONFIG_BASE=0x88000000" .. include:: k3.rst :start-after: .. k3_rst_include_start_build_steps_tfa :end-before: .. k3_rst_include_end_build_steps_tfa 2. U-Boot: """""""""" * **2.1 R5:** .. prompt:: bash $ # use the common falcon config fragment for all K3 platforms export $UBOOT_FALCON_CFG_FRAGMENTR="k3_r5_falcon.config" export UBOOT_CFG_CORTEXR="${UBOOT_CFG_CORTEXR} ${UBOOT_FALCON_CFG_FRAGMENTR}" .. include:: k3.rst :start-after: .. k3_rst_include_start_build_steps_spl_r5 :end-before: .. k3_rst_include_end_build_steps_spl_r5 * **2.2 A53:** After rebuilding TFA, the binary needs to be repackaged inside the tispl binaries: .. include:: k3.rst :start-after: .. k3_rst_include_start_build_steps_uboot :end-before: .. k3_rst_include_end_build_steps_uboot 3. fitImage: """""""""""" .. warning:: The ``fitImage`` available by default under ``boot/fitImage`` in rootfs of the standard SDK release is not compatible with falcon mode. For authenticated boot in falcon mode, the compute heavy authentication required for the ``fitImage`` is offloaded from the slower R5 core to TIFS. This requires ``fitImage`` to package the necessary binaries (kernel and dtb) with a pre-signed x509 certificate. **fitImage for falcon mode:** .. image:: img/fitImage_falcon.svg :alt: fitImage for falcon boot image format * **Sources** * **Core Secdev K3** | **source:** https://git.ti.com/cgit/security-development-tools/core-secdev-k3 | **branch:** master **Follow the steps below to create a falcon compatible fitImage:** **3.1 Environment setup** .. prompt:: bash $ export DTB=path/to/dtb export IMAGE=path/to/kernel-image **3.2 fitImage creation** An Image tree source (*its*) file describes the structure and contents of the final image produced by the ``mkimage`` tool. To create the ``fitImage`` for falcon mode, create a file ``fitImage.its`` with the following contents inside the ``core-secdev-k3`` source directory,: .. code-block:: dts /dts-v1/; / { description = "Kernel fitImage"; #address-cells = <1>; images { kernel-sec { description = "Linux kernel"; data = /incbin/("Image.sec"); type = "kernel"; arch = "arm64"; os = "linux"; compression = "none"; load = <0x82000000>; entry = <0x82000000>; }; fdt-sec { description = "Flattened Device Tree blob"; data = /incbin/("falcon.dtb.sec"); type = "flat_dt"; arch = "arm64"; compression = "none"; load = <0x88000000>; entry = <0x88000000>; }; }; configurations { default = "conf-falcon"; conf-falcon { description = "Pre-signed Linux kernel, FDT blob"; kernel = "kernel-sec"; fdt = "fdt-sec"; }; }; }; Sign the kernel and dtb using ``secure-binary-image.sh`` and create the ``fitImage`` using mkimage: .. prompt:: bash $ # inside core-secdev-k3 source cp $IMAGE Image cp $DTB falcon.dtb ./scripts/secure-binary-image.sh Image Image.sec ./scripts/secure-binary-image.sh falcon.dtb falcon.dtb.sec mkimage -f fitImage.its fitImage .. am62x_evm_falcon_end_build_process Usage ^^^^^ .. am62x_evm_falcon_start_usage Falcon Mode makes use of a cut down variant of the tispl binary called ``tifalcon.bin`` with lacks the Cortex-A SPL and it's DTBs. This file should be present alongside the existing ``tispl.bin`` after building U-Boot for the Cortex-A core. - **tifalcon.bin** .. image:: img/tifsstub_dm_tifalcon.bin.svg :alt: tifalcon.bin image format The R5 SPL requires both ``tifalcon.bin`` and the ``fitImage`` (created in previous steps) to be present in the second partition of the MMC device specified by the ``mmcdev`` environment variable. By default, ``mmcdev`` is set to 1, which implies that the SD card is the boot media. Additionally, the ``bootpart`` environment variable, which defaults to 1:2, specifies that the second partition of the SD card should be used as the root file system for the kernel. To use eMMC instead of SD as the boot media, rebuild the R5 SPL with the following diff: .. code-block:: diff diff --git a/board/ti//.env b/board/ti//.env index 82b9f0741bb..73d59ac425c 100644 --- a/board/ti//.env +++ b/board/ti//.env @@ -17,8 +17,8 @@ run_kern=booti ${loadaddr} ${rd_spec} ${fdtaddr} boot_targets=mmc1 mmc0 usb pxe dhcp boot=mmc -mmcdev=1 -bootpart=1:2 +mmcdev=0 +bootpart=0:1 bootdir=/boot rd_spec=- **List of files required on SD/eMMC for Falcon Mode:** .. list-table:: :widths: 8 8 8 25 :header-rows: 1 * - File - Copy path on SD/eMMC - Partition - Description * - ``tifalcon.bin`` - ``/boot/tifalcon.bin`` - rootfs (ext4) - tispl binary without SPL for the A core and DTB * - ``fitImage`` - ``/boot/fitImage`` - rootfs (ext4) - kernel and dtb fitImage with pre-signed binaries .. note:: Falcon mode requires the boot binaries to be present in the root file system of either eMMC or SD, even when using raw eMMC boot mode to load ``tiboot3.bin``. .. am62x_evm_falcon_end_usage R5 SPL Memory Map ^^^^^^^^^^^^^^^^^ .. am62x_evm_falcon_start_r5_memory_map Standard Boot: """""""""""""" .. code-block:: 0x80000000 +===============================+ Start of DDR 512KiB | TFA reserved memory space | CONFIG_K3_ATF_LOAD_ADDR | | 0x80080000 +-------------------------------+ PRELOADED_BL33_BASE in TFA 29.5MiB | A53 SPL + DTB + | CONFIG_SPL_LOAD_FIT_ADDRESS | Download region for FIT in DFU| 0x81e00000 +-------------------------------+ | R5 U-Boot SPL Stack + Heap | 2MiB | (size defined by | | SPL_STACK_R_MALLOC_SIMPLE_LEN)| 0x82000000 +-------------------------------+ CONFIG_SPL_STACK_R_ADDR 112MiB | Unused | 0x89000000 +-------------------------------+ 331MiB | Device Manager (DM) Load Addr | 0x9db00000 +-------------------------------+ 12MiB | DM Reserved | 0x9e700000 +-------------------------------+ 1MiB | Unused | 0x9e800000 +-------------------------------+ BL32_BASE in TFA 24MiB | OPTEE | 0xa0000000 +===============================+ End of DDR (512MiB) Falcon Mode: """""""""""" .. code-block:: 0x80000000 +===============================+ Start of DDR 512KiB | TFA reserved memory space | CONFIG_K3_ATF_LOAD_ADDR 0x80080000 +-------------------------------+ 31.5MiB | Unused | 0x82000000 +-------------------------------+ PRELOADED_BL33_BASE in TFA | | CONFIG_SYS_LOAD_ADDR 57MiB | Kernel + initramfs Image | CONFIG_SPL_LOAD_FIT_ADDRESS | | 0x85900000 +-------------------------------+ | | | R5 U-Boot SPL Stack + Heap | 39MiB | (size defined by | | SPL_STACK_R_MALLOC_SIMPLE_LEN)| | | 0x88000000 +-------------------------------+ CONFIG_SPL_STACK_R_ADDR | | K3_HW_CONFIG_BASE in TFA 16MiB | Kernel DTB | CONFIG_SPL_PAYLOAD_ARGS_ADDR | | 0x89000000 +-------------------------------+ 331MiB | Device Manager (DM) Load Addr | 0x9db00000 +-------------------------------+ 12MiB | DM Reserved | 0x9e700000 +-------------------------------+ 1MiB | Unused | 0x9e800000 +-------------------------------+ BL32_BASE in TFA 24MiB | OPTEE | 0xa0000000 +===============================+ End of DDR (512MiB) .. am62x_evm_falcon_end_r5_memory_map Debugging U-Boot ---------------- See :ref:`Common Debugging environment - OpenOCD`: for detailed setup information. .. warning:: **OpenOCD support since**: v0.12.0 If the default package version of OpenOCD in your development environment's distribution needs to be updated, it might be necessary to build OpenOCD from the source. .. 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_am625evm.cfg