Merge branch 'next'

Signed-off-by: Tom Rini <trini@konsulko.com>

12 files changed, 3052 insertions, 19 deletions

diff --git a/doc/board/coreboot/coreboot.rst b/doc/board/coreboot/coreboot.rst
index d660a22..10a251c 100644
--- a/doc/board/coreboot/coreboot.rst
+++ b/doc/board/coreboot/coreboot.rst
@@ -41,15 +41,56 @@ At present it seems that for Minnowboard Max, coreboot does not pass through
 the video information correctly (it always says the resolution is 0x0). This
 works correctly for link though.
 
+You can run via QEMU using::
+
+  qemu-system-x86_64 -bios build/coreboot.rom -serial mon:stdio
+
+The `-serial mon:stdio` part shows both output in the display and on the
+console. It is optional. You can add `nographic` as well to *only* get console
+output.
+
+To run with a SATA drive called `$DISK`::
+
+  qemu-system-x86_64 -bios build/coreboot.rom -serial mon:stdio \
+	-drive id=disk,file=$DISK,if=none \
+	-device ahci,id=ahci \
+	-device ide-hd,drive=disk,bus=ahci.0
+
+Then you can scan it with `scsi scan` and access it normally.
+
+To use 4GB of memory, typically necessary for booting Linux distros, add
+`-m 4GB`.
+
 64-bit U-Boot
 -------------
 
 In addition to the 32-bit 'coreboot' build there is a 'coreboot64' build. This
 produces an image which can be booted from coreboot (32-bit). Internally it
 works by using a 32-bit SPL binary to switch to 64-bit for running U-Boot. It
-can be useful for running UEFI applications, for example.
+can be useful for running UEFI applications, for example with the coreboot
+build in `$CBDIR`::
+
+   DISK=ubuntu-23.04-desktop-amd64.iso
+   CBDIR=~/coreboot/build
+
+   cp $CBDIR/coreboot.rom.in coreboot.rom
+   cbfstool coreboot.rom add-flat-binary -f u-boot-x86-with-spl.bin \
+      -n fallback/payload -c lzma -l 0x1110000 -e 0x1110000
+
+   qemu-system-x86_64 -m 2G -smp 4 -bios coreboot.rom \
+      -drive id=disk,file=$DISK,if=none \
+      -device ahci,id=ahci \
+      -device ide-hd,drive=disk,bus=ahci.0 \
+
+This allows booting and installing various distros, many of which are
+64-bit-only, so cannot work with the 32-bit 'coreboot' build.
+
+USB keyboard
+------------
 
-This has only been lightly tested.
+The `CONFIG_USE_PREBOOT` option is enabled by default, meaning that USB starts
+up just before the command-line starts. This allows user interaction on
+non-laptop devices which use a USB keyboard.
 
 CBFS access
 -----------
diff --git a/doc/board/emulation/qemu-arm.rst b/doc/board/emulation/qemu-arm.rst
index 7291fa4..1c91c7f 100644
--- a/doc/board/emulation/qemu-arm.rst
+++ b/doc/board/emulation/qemu-arm.rst
@@ -67,6 +67,10 @@ Additional persistent U-Boot environment support can be added as follows:
 Additional peripherals that have been tested to work in both U-Boot and Linux
 can be enabled with the following command line parameters:
 
+- To add a video console, remove "-nographic" and add e.g.::
+
+    -serial stdio -device VGA
+
 - To add a Serial ATA disk via an Intel ICH9 AHCI controller, pass e.g.::
 
     -drive if=none,file=disk.img,format=raw,id=mydisk \
@@ -80,6 +84,10 @@ can be enabled with the following command line parameters:
 
     -device usb-ehci,id=ehci
 
+- To add a USB keyboard attached to an emulated xHCI controller, pass e.g.::
+
+    -device qemu-xhci,id=xhci -device usb-kbd,bus=xhci.0
+
 - To add an NVMe disk, pass e.g.::
 
     -drive if=none,file=disk.img,id=mydisk -device nvme,drive=mydisk,serial=foo
@@ -90,6 +98,74 @@ can be enabled with the following command line parameters:
 
 These have been tested in QEMU 2.9.0 but should work in at least 2.5.0 as well.
 
+Booting distros
+---------------
+
+It is possible to install and boot a standard Linux distribution using
+qemu_arm64 by setting up a root disk::
+
+    qemu-img create root.img 20G
+
+then using the installer to install. For example, with Debian 12::
+
+    qemu-system-aarch64 \
+      -machine virt -cpu cortex-a53 -m 4G -smp 4 \
+      -bios u-boot.bin \
+      -serial stdio -device VGA \
+      -nic user,model=virtio-net-pci \
+      -device virtio-rng-pci \
+      -device qemu-xhci,id=xhci \
+      -device usb-kbd -device usb-tablet \
+      -drive if=virtio,file=debian-12.0.0-arm64-netinst.iso,format=raw,readonly=on,media=cdrom \
+      -drive if=virtio,file=root.img,format=raw,media=disk
+
+The output will be something like this::
+
+    U-Boot 2023.10-rc2-00075-gbe8fbe718e35 (Aug 11 2023 - 08:38:49 +0000)
+
+    DRAM:  4 GiB
+    Core:  51 devices, 14 uclasses, devicetree: board
+    Flash: 64 MiB
+    Loading Environment from Flash... *** Warning - bad CRC, using default environment
+
+    In:    serial,usbkbd
+    Out:   serial,vidconsole
+    Err:   serial,vidconsole
+    Bus xhci_pci: Register 8001040 NbrPorts 8
+    Starting the controller
+    USB XHCI 1.00
+    scanning bus xhci_pci for devices... 3 USB Device(s) found
+    Net:   eth0: virtio-net#32
+    Hit any key to stop autoboot:  0
+    Scanning for bootflows in all bootdevs
+    Seq  Method       State   Uclass    Part  Name                      Filename
+    ---  -----------  ------  --------  ----  ------------------------  ----------------
+    Scanning global bootmeth 'efi_mgr':
+    Scanning bootdev 'fw-cfg@9020000.bootdev':
+    fatal: no kernel available
+    scanning bus for devices...
+    Scanning bootdev 'virtio-blk#34.bootdev':
+      0  efi          ready   virtio       2  virtio-blk#34.bootdev.par efi/boot/bootaa64.efi
+    ** Booting bootflow 'virtio-blk#34.bootdev.part_2' with efi
+    Using prior-stage device tree
+    Failed to load EFI variables
+    Error: writing contents
+    ** Unable to write file ubootefi.var **
+    Failed to persist EFI variables
+    Missing TPMv2 device for EFI_TCG_PROTOCOL
+    Booting /efi\boot\bootaa64.efi
+    Error: writing contents
+    ** Unable to write file ubootefi.var **
+    Failed to persist EFI variables
+    Welcome to GRUB!
+
+Standard boot looks through various available devices and finds the virtio
+disks, then boots from the first one. After a second or so the grub menu appears
+and you can work through the installer flow normally.
+
+After the installation, you can boot into the installed system by running QEMU
+again without the drive argument corresponding to the installer CD image.
+
 Enabling TPMv2 support
 ----------------------
 
diff --git a/doc/board/emulation/qemu-x86.rst b/doc/board/emulation/qemu-x86.rst
index 15f56b6..c604e42 100644
--- a/doc/board/emulation/qemu-x86.rst
+++ b/doc/board/emulation/qemu-x86.rst
@@ -193,6 +193,9 @@ Linux is selected from grub, e.g. with `debian-12.1.0-i386-netinst.iso`::
 The bochs video driver also seems to cause problems before the OS is able to
 show a display.
 
+The QEMU `-cdrom` option is intended to work with the original ISO-format
+images, not the recently invented ISOHybrid image.
+
 Finally, the use of `-M accel=kvm` is intended to use the native CPU's
 virtual-machine features to accelerate operation, but this causes U-Boot to hang
 when jumping 64-bit mode, at least on AMD machines. This may be a bug in U-Boot
diff --git a/doc/board/kontron/sl28.rst b/doc/board/kontron/sl28.rst
index 44435d9..2cb8ec6 100644
--- a/doc/board/kontron/sl28.rst
+++ b/doc/board/kontron/sl28.rst
@@ -39,12 +39,12 @@ Update image
 ------------
 
 After the build finished, there will be an update image called
-u-boot.update. This can either be used in the DFU mode (which isn't
+u-boot-update.bin. This can either be used in the DFU mode (which isn't
 supported yet) or encapsulated in an EFI UpdateCapsule.
 
 To build the capsule use the following command
 
- $ tools/mkeficapsule -f u-boot.update -i 1 UpdateUboot
+ $ tools/mkeficapsule -f u-boot-update.bin -i 1 UpdateUboot
 
 Afterward you can copy this file to your ESP into the /EFI/UpdateCapsule/
 folder. On the next EFI boot this will automatically update your
diff --git a/doc/board/starfive/visionfive2.rst b/doc/board/starfive/visionfive2.rst
index 460f23a..9ee758e 100644
--- a/doc/board/starfive/visionfive2.rst
+++ b/doc/board/starfive/visionfive2.rst
@@ -67,18 +67,8 @@ Now build the U-Boot SPL and U-Boot proper
 	make starfive_visionfive2_defconfig
 	make OPENSBI=$(opensbi_dir)/opensbi/build/platform/generic/firmware/fw_dynamic.bin
 
-This will generate spl/u-boot-spl.bin and FIT image (u-boot.itb)
-
-u-boot-spl.bin cannot be used directly on StarFive VisionFive2,we need
-to convert the u-boot-spl.bin to u-boot-spl.bin.normal.out with
-the below command:
-
-	./spl_tool -c -f $(Uboot_PATH)/spl/u-boot-spl.bin
-
-More detailed description of spl_tool,please refer spl_tool documenation.
-(Note: spl_tool git repo is at https://github.com/starfive-tech/Tools/tree/master/spl_tool)
-
-This will generate u-boot-spl.bin.normal.out file.
+This will generate the U-Boot SPL image (spl/u-boot-spl.bin.normal.out) as well
+as the FIT image (u-boot.itb) with OpenSBI and U-Boot.
 
 Flashing
 ~~~~~~~~
diff --git a/doc/board/ti/am62x_beagleplay.rst b/doc/board/ti/am62x_beagleplay.rst
new file mode 100644
index 0000000..39913b2
--- /dev/null
+++ b/doc/board/ti/am62x_beagleplay.rst
@@ -0,0 +1,322 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Nishanth Menon <nm@ti.com>
+
+AM62x Beagleboard.org Beagleplay
+================================
+
+Introduction:
+-------------
+
+BeagleBoard.org BeaglePlay is an easy to use, affordable open source
+hardware single board computer based on the Texas Instruments AM625
+SoC that allows you to create connected devices that work even at long
+distances using IEEE 802.15.4g LR-WPAN and IEEE 802.3cg 10Base-T1L.
+Expansion is provided over open standards based mikroBUS, Grove and
+QWIIC headers among other interfaces.
+
+Further information can be found at:
+
+* Product Page: https://beagleplay.org/
+* Hardware documentation: https://git.beagleboard.org/beagleplay/beagleplay
+
+Boot Flow:
+----------
+Below is the pictorial representation of boot flow:
+
+.. image:: img/boot_diagram_k3_current.svg
+  :alt: Boot flow diagram
+
+- On this platform, 'TI Foundational Security' (TIFS) functions as the
+  security enclave master while 'Device Manager' (DM), also known as the
+  'TISCI server' in "TI terminology", offers all the essential services.
+  The A53 or M4F (Aux core) sends requests to TIFS/DM to accomplish these
+  services, as illustrated in the diagram above.
+
+Sources:
+--------
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_boot_sources
+    :end-before: .. k3_rst_include_end_boot_sources
+
+Build procedure:
+----------------
+0. Setup the environment variables:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_desc
+    :end-before: .. k3_rst_include_end_common_env_vars_desc
+
+.. include::  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::  k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_defn
+    :end-before: .. k3_rst_include_end_common_env_vars_defn
+.. code-block:: bash
+
+ $ export UBOOT_CFG_CORTEXR="am62x_evm_r5_defconfig beagleplay_r5.config"
+ $ export UBOOT_CFG_CORTEXA="am62x_evm_a53_defconfig beagleplay_a53.config"
+ $ 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"
+
+.. include::  am62x_sk.rst
+    :start-after: .. am62x_evm_rst_include_start_build_steps
+    :end-before: .. am62x_evm_rst_include_end_build_steps
+
+Target Images
+--------------
+Copy the below images to an SD card and boot:
+
+* tiboot3-am62x-gp-evm.bin from R5 build as tiboot3.bin
+* tispl.bin_unsigned from Cortex-A build as tispl.bin
+* u-boot.img_unsigned from Cortex-A build as u-boot.img
+
+Image formats
+-------------
+
+- tiboot3.bin
+
+.. image:: img/multi_cert_tiboot3.bin.svg
+  :alt: tiboot3.bin image format
+
+- tispl.bin
+
+.. image:: img/dm_tispl.bin.svg
+  :alt: tispl.bin image format
+
+Additional hardware for U-Boot development
+------------------------------------------
+
+* Serial Console is critical for U-Boot development on BeaglePlay. See
+  `BeaglePlay serial console documentation
+  <https://docs.beagleboard.org/latest/boards/beagleplay/demos-and-tutorials/using-serial-console.html>`_.
+* uSD is preferred option over eMMC, and a SD/MMC reader will be needed.
+* (optionally) JTAG is useful when working with very early stages of boot.
+
+Default storage options
+-----------------------
+
+There are multiple storage media options on BeaglePlay, but primarily:
+
+* Onboard eMMC (default) - reliable, fast and meant for deployment use.
+* SD/MMC card interface (hold 'USR' switch and power on) - Entirely
+  depends on the SD card quality.
+
+Flash to uSD card or how to deal with "bricked" Board
+--------------------------------------------------------
+
+When deploying or working on Linux, it's common to use the onboard
+eMMC. However, avoiding the eMMC and using the uSD card is safer when
+working with U-Boot.
+
+If you choose to  hand format your own bootable uSD card, be
+aware that it can be difficult. The following information
+may be helpful, but remember that it is only sometimes
+reliable, and partition options can cause issues. These
+can potentially help:
+
+* https://git.ti.com/cgit/arago-project/tisdk-setup-scripts/tree/create-sdcard.sh
+* https://elinux.org/Beagleboard:Expanding_File_System_Partition_On_A_microSD
+
+The simplest option is to start with a standard distribution
+image like those in `BeagleBoard.org Distros Page
+<https://www.beagleboard.org/distros>`_ and download a disk image for
+BeaglePlay. Pick a 16GB+ uSD card to be on the safer side.
+
+With an SD/MMC Card reader and `Balena Etcher
+<https://etcher.balena.io/>`_, having a functional setup in minutes is
+a trivial matter, and it works on almost all Host Operating Systems.
+Yes Windows users, Windows Subsystem for Linux(WSL) based development
+with U-Boot and update uSD card is practical.
+
+Updating U-Boot is a matter of copying the tiboot3.bin, tispl.bin and
+u-boot.img to the "BOOT" partition of the uSD card. Remember to sync
+and unmount (or Eject - depending on the Operating System) the uSD
+card prior to physically removing from SD card reader.
+
+Also see following section on switch setting used for booting using
+uSD card.
+
+.. note::
+  Great news! If the board has not been damaged physically, there's no
+  need to worry about it being "bricked" on this platform. You only have
+  to flash an uSD card, plug it in, and reinstall the image on eMMC. This
+  means that even if you make a mistake, you can quickly fix it and rest
+  easy.
+
+  If you are frequently working with uSD cards, you might find the
+  following useful:
+
+  * `USB-SD-Mux <https://www.linux-automation.com/en/products/usb-sd-mux.html>`_
+  * `SD-Wire <https://wiki.tizen.org/SDWire>`_
+
+Flash to eMMC
+-------------
+
+The eMMC layout selected is user-friendly for developers. The
+boot hardware partition of the eMMC only contains the fixed-size
+tiboot3.bin image. This is because the contents of the boot partitions
+need to run from the SoC's internal SRAM, which remains a fixed size
+constant. The other components of the boot sequence, such as tispl.bin
+and u-boot.img, are located in the /BOOT partition in the User Defined
+Area (UDA) hardware partition of the eMMC. These components can vary
+significantly in size. The choice of keeping tiboot3.bin in boot0 or
+boot1 partition depends on A/B update requirements.
+
+.. image:: img/beagleplay_emmc.svg
+  :alt: eMMC partitions and boot file organization for BeaglePlay
+
+The following are the steps from Linux shell to program eMMC:
+
+.. code-block:: bash
+
+  # # Enable Boot0 boot
+  # mmc bootpart enable 1 2 /dev/mmcblk0
+  # mmc bootbus set single_backward x1 x8 /dev/mmcblk0
+  # mmc hwreset enable /dev/mmcblk0
+
+  # # Clear eMMC boot0
+  # echo '0' >> /sys/class/block/mmcblk0boot0/force_ro
+  # dd if=/dev/zero of=/dev/mmcblk0boot0 count=32 bs=128k
+  # # Write tiboot3.bin
+  # dd if=tiboot3.bin of=/dev/mmcblk0boot0 bs=128k
+
+  # # Copy the rest of the boot binaries
+  # mount /dev/mmcblk0p1 /boot/firmware
+  # cp tispl.bin /boot/firmware
+  # cp u-boot.img /boot/firmware
+  # sync
+
+.. warning ::
+
+  U-Boot is configured to prioritize booting from an SD card if it
+  detects a valid boot partition and boot files on it, even if the
+  system initially booted from eMMC. The boot order is set as follows:
+
+  * SD/MMC
+  * eMMC
+  * USB
+  * PXE
+
+LED patterns during boot
+------------------------
+
+.. list-table:: USR LED status indication
+   :widths: 16 16
+   :header-rows: 1
+
+   * - USR LEDs (012345)
+     - Indicates
+
+   * - 00000
+     - Boot failure or R5 image not started up
+
+   * - 11111
+     - A53 SPL/U-boot has started up
+
+   * - 10101
+     - OS boot process has been initiated
+
+   * - 01010
+     - OS boot process failed and drops to U-Boot shell
+
+.. note ::
+
+  In the table above, 0 indicates LED switched off and 1 indicates LED
+  switched ON.
+
+.. warning ::
+
+  If the "red" power LED is not glowing, the system power supply is not
+  functional. Please refer to `BeaglePlay documentation
+  <https://beagleplay.org/>`_ for further information.
+
+A53 SPL DDR Memory Layout
+-------------------------
+
+.. include::  am62x_sk.rst
+    :start-after: .. am62x_evm_rst_include_start_ddr_mem_layout
+    :end-before: .. am62x_evm_rst_include_end_ddr_mem_layout
+
+Switch Setting for Boot Mode
+----------------------------
+
+The boot time option is configured via "USR" button on the board.
+See `Beagleplay Schematics <https://git.beagleboard.org/beagleplay/beagleplay/-/blob/main/BeaglePlay_sch.pdf>`_
+for details.
+
+.. list-table:: Boot Modes
+   :widths: 16 16 16
+   :header-rows: 1
+
+   * - USR Switch Position
+     - Primary Boot
+     - Secondary Boot
+
+   * - Not Pressed
+     - eMMC
+     - UART
+
+   * - Pressed
+     - SD/MMC File System (FS) mode
+     - USB Device Firmware Upgrade (DFU) mode
+
+To switch to SD card boot mode, hold the USR button while powering on
+with Type-C power supply, then release when power LED lights up.
+
+Debugging U-Boot
+----------------
+
+See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
+detailed setup and debugging 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_tag_connect
+    :end-before: .. k3_rst_include_end_openocd_connect_tag_connect
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_openocd_cfg_external_intro
+    :end-before: .. k3_rst_include_end_openocd_cfg_external_intro
+
+For example, with BeaglePlay (AM62X platform), the openocd_connect.cfg:
+
+.. code-block:: tcl
+
+  # TUMPA example:
+  # http://www.tiaowiki.com/w/TIAO_USB_Multi_Protocol_Adapter_User's_Manual
+  source [find interface/ftdi/tumpa.cfg]
+
+  transport select jtag
+
+  # default JTAG configuration has only SRST and no TRST
+  reset_config srst_only srst_push_pull
+
+  # delay after SRST goes inactive
+  adapter srst delay 20
+
+  if { ![info exists SOC] } {
+    # Set the SoC of interest
+    set SOC am625
+  }
+
+  source [find target/ti_k3.cfg]
+
+  ftdi tdo_sample_edge falling
+
+  # Speeds for FT2232H are in multiples of 2, and 32MHz is tops
+  # max speed we seem to achieve is ~20MHz.. so we pick 16MHz
+  adapter speed 16000
diff --git a/doc/board/ti/am64x_evm.rst b/doc/board/ti/am64x_evm.rst
new file mode 100644
index 0000000..db27461
--- /dev/null
+++ b/doc/board/ti/am64x_evm.rst
@@ -0,0 +1,200 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Nishanth Menon <nm@ti.com>
+
+AM64 Platforms
+==============
+
+Introduction:
+-------------
+The AM642 SoC belongs to the K3 Multicore SoC architecture platform,
+providing advanced system integration to enable applications such as
+Motor Drives, PLC, Remote IO and IoT Gateways.
+
+Some highlights of this SoC are:
+
+* Dual Cortex-A53s in a single cluster, two clusters of dual Cortex-R5F
+  MCUs, and a single Cortex-M4F.
+* Two Gigabit Industrial Communication Subsystems (ICSSG).
+* Integrated Ethernet switch supporting up to a total of two external
+  ports.
+* PCIe-GEN2x1L, USB3/USB2, 2xCAN-FD, eMMC and SD, UFS, OSPI memory
+  controller, QSPI, I2C, eCAP/eQEP, ePWM, ADC, among other
+  peripherals.
+* Centralized System Controller for Security, Power, and Resource
+  Management (DMSC).
+
+More details can be found in the Technical Reference Manual:
+ https://www.ti.com/lit/pdf/spruim2
+
+Platform information:
+
+* AM64-EVM: https://www.ti.com/tool/TMDS64EVM
+* AM64-SK: https://www.ti.com/tool/SK-AM64B
+
+Boot Flow:
+----------
+Below is the pictorial representation of boot flow:
+
+.. image:: img/boot_diagram_am64.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::  k3.rst
+    :start-after: .. k3_rst_include_start_boot_sources
+    :end-before: .. k3_rst_include_end_boot_sources
+
+Build procedure:
+----------------
+0. Setup the environment variables:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_desc
+    :end-before: .. k3_rst_include_end_common_env_vars_desc
+
+.. include::  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::  k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_defn
+    :end-before: .. k3_rst_include_end_common_env_vars_defn
+.. code-block:: bash
+
+ $ export UBOOT_CFG_CORTEXR=am64x_evm_r5_defconfig
+ $ export UBOOT_CFG_CORTEXA=am64x_evm_a53_defconfig
+ $ export TFA_BOARD=lite
+ $ # we dont use any extra TFA parameters
+ $ unset TFA_EXTRA_ARGS
+ $ export OPTEE_PLATFORM=k3-am64x
+ $ # we dont use any extra TFA parameters
+ $ unset OPTEE_EXTRA_ARGS
+
+.. am64x_evm_rst_include_start_build_steps
+
+1. Trusted Firmware-A:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_tfa
+    :end-before: .. k3_rst_include_end_build_steps_tfa
+
+
+2. OP-TEE:
+
+.. include::  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::  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::  k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_uboot
+    :end-before: .. k3_rst_include_end_build_steps_uboot
+.. am64x_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-am64x-gp-evm.bin from step 3.1
+        * tispl.bin_unsigned, u-boot.img_unsigned from step 3.2
+
+ - HS-FS
+
+        * tiboot3-am64x-hs-fs-evm.bin from step 3.1
+        * tispl.bin, u-boot.img from step 3.2
+
+ - HS-SE
+
+        * tiboot3-am64x-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/nodm_tispl.bin.svg
+  :alt: tispl.bin image format
+
+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 AM64 platform. More
+details can be found in the Technical Reference Manual:
+https://www.ti.com/lit/pdf/spruim2 under the `Boot Mode Pins` section.
+
+.. list-table:: Boot Modes for AM64x-EVM
+   :widths: 16 16 16
+   :header-rows: 1
+
+   * - Switch Label
+     - SW2: 12345678
+     - SW3: 12345678
+
+   * - SD/MMC
+     - 11000010
+     - 01000000
+
+   * - xSPI/SFDP (OSPI)
+     - 11001110
+     - 01000000
+
+   * - UART
+     - 11011100
+     - 00000000
+
+.. note ::
+
+  For SW2 and SW3, the switch state in the "ON" position = 1.
+
+.. list-table:: Boot Modes for AM64x-SK
+   :widths: 16 16 16
+   :header-rows: 1
+
+   * - Switch Label
+     - SW2: 12345678
+     - SW3: 12345678
+
+   * - SD/MMC
+     - 00000010
+     - 01000011
+
+   * - xSPI/SFDP (OSPI)
+     - 00000010
+     - 01110011
+
+   * - UART
+     - 00000000
+     - 00111011
+
+.. note ::
+
+  For SW2 and SW3, the switch state in the "ON" position = 1.
+  Boot bits on SK is reversed bits to the bootmode signals
diff --git a/doc/board/ti/img/beagleplay_emmc.svg b/doc/board/ti/img/beagleplay_emmc.svg
new file mode 100644
index 0000000..c6ff19b
--- /dev/null
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+                 style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">Release Reset</xhtml:div>
+            </xhtml:div>
+          </xhtml:div>
+        </foreignObject>
+        <text
+           x="203"
+           y="903"
+           fill="rgb(0, 0, 0)"
+           font-family="Helvetica"
+           font-size="11px"
+           text-anchor="middle"
+           id="text340">Release Re...</text>
+      </switch>
+    </g>
+  </g>
+  <switch
+     id="switch354">
+    <g
+       requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"
+       id="g348" />
+    <a
+       transform="translate(0,-5)"
+       xlink:href="https://www.drawio.com/doc/faq/svg-export-text-problems"
+       target="_blank"
+       id="a352">
+      <text
+         text-anchor="middle"
+         font-size="10px"
+         x="50%"
+         y="100%"
+         id="text350">Text is not SVG - cannot display</text>
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+</svg>
diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst
index ec44735..8b5c1a8 100644
--- a/doc/board/ti/k3.rst
+++ b/doc/board/ti/k3.rst
@@ -30,8 +30,10 @@ K3 Based SoCs
 .. toctree::
    :maxdepth: 1
 
+   am62x_beagleplay
    am62x_sk
    ../toradex/verdin-am62
+   am64x_evm
    am65x_evm
    j7200_evm
    j721e_evm
diff --git a/doc/board/xilinx/zynq.rst b/doc/board/xilinx/zynq.rst
index 438912f..76d67bd 100644
--- a/doc/board/xilinx/zynq.rst
+++ b/doc/board/xilinx/zynq.rst
@@ -83,7 +83,7 @@ Mainline status
 ---------------
 
 - Added basic board configurations support.
-- Added zynq u-boot bsp code - arch/arm/mach-zynq
+- Added zynq U-Boot bsp code - arch/arm/mach-zynq
 - Added zynq boards named - zc70x, zed, microzed, zc770_xm010/xm011/xm012/xm013
 - Added zynq drivers:
 
diff --git a/doc/board/xilinx/zynqmp-r5.rst b/doc/board/xilinx/zynqmp-r5.rst
index 2cd368b..266d07d 100644
--- a/doc/board/xilinx/zynqmp-r5.rst
+++ b/doc/board/xilinx/zynqmp-r5.rst
@@ -26,7 +26,7 @@ configure and build armv7 toolchain::
 Notes
 ^^^^^
 
-Output fragment is u-boot.
+Output fragment is U-Boot.
 
 Loading
 -------
@@ -38,7 +38,7 @@ Bootgen
 ^^^^^^^
 
 The first way is to use Xilinx FSBL (First stage
-bootloader) to load u-boot and start it. The following bif can be used for boot
+bootloader) to load U-Boot and start it. The following bif can be used for boot
 image generation via Xilinx bootgen utility::