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NXP S32G3

1) Setup firmware

Creat a directory to put the imx build tools:

export BAO_DEMOS_NXP_TOOLS=$BAO_DEMOS_WRKDIR_SRC/nxp-tools

1.1) DDR FW

Create a folder for NXP tools:

export BAO_DEMOS_NXP_TOOLS=$BAO_DEMOS_WRKDIR_SRC/nxp-tools
mkdir -p $BAO_DEMOS_NXP_TOOLS

Download the DDR firmware from NXP:

  1. Log in into your NXP account and go to S32G3 BSP Download page
  2. Download s32g3_linuxbsp_46.0.0_binaries.tgz
  3. Place it in your nxp-tools folder:
mv ~/Downloads/s32g3_linuxbsp_46.0.0_binaries.tgz $BAO_DEMOS_NXP_TOOLS/

Unpack the firmware:

cd $BAO_DEMOS_NXP_TOOLS
tar -xzf s32g3_linuxbsp_46.0.0_binaries.tgz

Verify the DDR firmware binary exists:

ls -lh $BAO_DEMOS_NXP_TOOLS/s32g3_linuxbsp_46.0_binaries/s32g399ardb3/ddr_fw_ecc_on.bin

After this, the DDR firmware is ready for the ATF build.

1.2) Build U-boot

Setup the u-boot directory variable:

export BAO_DEMOS_UBOOT=$BAO_DEMOS_WRKDIR_SRC/u-boot

Download, configure it:

git clone https://github.com/nxp-auto-linux/u-boot $BAO_DEMOS_UBOOT\
    --depth 1 --branch bsp46.0-2022.04
cd $BAO_DEMOS_UBOOT
make s32g399ardb3_defconfig

Now you need to set the Kconfig options:

  • CONFIG_AUTOBOOT=n

You can do it via using an interface such as menuconfig or just write them directly to the config file:

echo "CONFIG_AUTOBOOT=n\n" >> $BAO_DEMOS_UBOOT/.config

And build it:

make -j $(nproc)

And copy the image to the platform's working directory:

cp $BAO_DEMOS_UBOOT/u-boot.bin $BAO_DEMOS_WRKDIR_PLAT
cp $BAO_DEMOS_UBOOT/u-boot-nodtb.bin $BAO_DEMOS_WRKDIR_PLAT

1.3) Build TF-A

Setup the TF-A directory variable:

export BAO_DEMOS_ATF=$BAO_DEMOS_WRKDIR_SRC/arm-trusted-firmware

Download and build it:

git clone https://github.com/nxp-auto-linux/arm-trusted-firmware\
    $BAO_DEMOS_ATF --branch bsp46.0-2.10.25 --depth 1
cd $BAO_DEMOS_ATF
make PLAT=s32g399ardb3 BL33=$BAO_DEMOS_WRKDIR_PLAT/u-boot-nodtb.bin BL33DIR=$BAO_DEMOS_UBOOT DDR_FW_BIN_PATH=$BAO_DEMOS_NXP_TOOLS/s32g3_linuxbsp_46.0_binaries/s32g399ardb3/ddr_fw_ecc_on.bin

And copy the images to the platform's working directory:

cp $BAO_DEMOS_ATF/build/imx8qm/release/bl2_w_dtb.s32 $BAO_DEMOS_WRKDIR_PLAT
cp $BAO_DEMOS_ATF/build/imx8qm/release/fip.bin $BAO_DEMOS_WRKDIR_PLAT

Note: The TF-A compilation produces two binary artifacts used in the boot process: bl2_w_dtb.s32 and fip.bin. The fip.bin binary artifact contains the second TF-A boot stage (BL31) and the U-Boot binary (BL33). Hence, the TF-A build process depends on U-Boot being available. To that end, the BL33 parameter to the make command-line must be the path to the u-boot-nodtb.bin located in the directory where U-Boot has been built as part of the prerequisites.

2) Setup SD card

Finally, prepare your sd card, install the firmware on it, and copy bao's final image to it:

sudo dd\
    if=$BAO_DEMOS_WRKDIR_IMGS/bl2_w_dtb.s32\
    of=/dev/mmcblk0\
    conv=notrunc,fsync seek=512 skip=512 oflag=seek_bytes iflag=skip_bytes
sudo dd\
    if=$BAO_DEMOS_WRKDIR_IMGS/fip.bin\
    of=/dev/mmcblk0p1\
    conv=notrunc,fsync
sudo cp $BAO_DEMOS_WRKDIR_IMGS/bao.bin $BAO_DEMOS_SDCARD
sync
umount $BAO_DEMOS_SDCARD

3) Setup board

Make sure you have the board configured to boot from SD card. Checkout out the Getting Started with the S32G Reference Design Board 3 for Vehicle Network Processing guide for more information on the boot switch setup.

Insert the sd card in the board's sd slot.

Connect to the UART via the USB cable. If you are using the dual guest configuration, connect to both available UARTs (in our setup /dev/ttyUSB0) with baud 115200.

Open a new terminal and connect to it. For example:

screen /dev/ttyUSB0 115200

Reset the board.

You should be presented with the u-boot prompt.

4) Run u-boot commands

Quickly press any key to skip autoboot. If not possibly press ctrl-c until you get the u-boot prompt. Then load the bao image, and jump to it:

fatload mmc 0:2 0xF0000000 bao.bin && go 0xF0000000

You should see a message from Bao followed by the guests' output on the UART console.

At this point, depending on your demo, you might be able connect to one of the guests via ssh by connecting to the board's ethernet RJ45 socket.