TI AM64x port on the cortex-r5

.gitignore

@@ -391,6 +391,9 @@ language.settings.xml
 /**/build
 /**/build-**
 
+# Any generated directories
+/**/generated
+
 # User config
 # See cmake/config_defaults_user.cmake.sample
 /**/cmake/config_defaults_user.cmake
@@ -426,3 +429,6 @@ port/stmicro/stm32h5-tz-wolfhsm/out/
 
 # CI-only generated Libero settings stub (see tools/ci/gen_mpfs_libero_stub.sh)
 tools/ci/mpfs_libero_stub/
+
+# VS Code
+.vscode/

CMakeLists.txt

@@ -413,6 +413,7 @@ if(NOT DEFINED ARM_TARGETS)
                             stm32u5
                             stm32wb
                             ti
+                            ti_am64x
                             zynqmp
     )
     set(ARM_TARGETS

Makefile

@@ -434,12 +434,39 @@ wolfboot.efi: wolfboot.elf
 	$(Q)$(SIZE) wolfboot.efi
 	@echo
 
+ifeq ($(TARGET),ti_am64x)
+$(GENERATED_SRCS): 
+	@echo "\t[TI SYSCONFIG] generated/hal/"
+	$(Q)$(TI_SYSCONFIG)/nodejs/node \
+      $(TI_SYSCONFIG)/dist/cli.js -q \
+      --product $(TI_MCU_PLUS_SDK)/.metadata/product.json \
+      --context r5fss0-0 --part Default --package ALV \
+      --output generated/hal/ \
+      config/examples/ti-am64x/ti-am64x-r5_hal.syscfg
+endif
+
 wolfboot.bin: wolfboot.elf
+ifeq ($(TARGET),ti_am64x)
+	@echo "\t[BIN] wolfboot.tmp"
+	$(Q)$(OBJCOPY) $(OBJCOPY_FLAGS) -O binary $^ wolfboot.tmp
+	@echo "\t[TI BIN] ROM-bootable image: wolfboot.bin"
+	$(Q)python3 $(TI_MCU_PLUS_SDK)/source/security/security_common/tools/boot/signing/rom_image_gen.py \
+	  --swrv 1 \
+	  --sbl-bin wolfboot.tmp \
+	  --sysfw-bin $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/soc/am64x_am243x/sysfw-hs-fs-enc.bin \
+	  --sysfw-inner-cert $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/soc/am64x_am243x/sysfw-hs-fs-enc-cert.bin \
+	  --boardcfg-blob $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/sciclient_default_boardcfg/am64x/boardcfg_blob.bin \
+	  --sbl-loadaddr 0x70000000 --sysfw-loadaddr 0x44000 --bcfg-loadaddr 0x7B000 \
+	  --key $(TI_MCU_PLUS_SDK)/source/security/security_common/tools/boot/signing/rom_degenerateKey.pem \
+	  --rom-image $@
+	$(Q)rm -f wolfboot.tmp
+else
 	@echo "\t[BIN] $@"
 	$(Q)$(OBJCOPY) $(OBJCOPY_FLAGS) -O binary $^ $@
 ifeq ($(TARGET),nxp_lpc54s0xx)
 	@echo "\t[LPC] enhanced boot block"
 	$(Q)python3 tools/scripts/lpc54s0xx_patch_boot_block.py $@
+endif
 endif
 	@echo
 	@echo "\t[SIZE]"
@@ -583,7 +610,11 @@ endif
 
 test-app/image.elf: wolfboot.elf
 	$(Q)$(MAKE) -C test-app WOLFBOOT_ROOT="$(WOLFBOOT_ROOT)" ELF_FLASH_SCATTER="$(ELF_FLASH_SCATTER)" LIBERO_FPGA_CONFIG_DIR="$(LIBERO_FPGA_CONFIG_DIR)" image.elf
+ifeq ($(ELF_FLASH_SCATTER),1)
+	$(Q)$(SIZE) test-app/image-orig.elf
+else
 	$(Q)$(SIZE) test-app/image.elf
+endif
 
 ifeq ($(ELF_FLASH_SCATTER),1)
 test-app/image.elf: squashelf
@@ -714,6 +745,7 @@ clean:
 	$(Q)rm -f $(WH_NVM_BIN) $(WH_NVM_HEX)
 	$(Q)rm -f test-lib
 	$(Q)rm -f lib-fs
+	$(Q)rm -rf generated
 	$(Q)$(MAKE) -C test-app clean V=$(V)
 	$(Q)$(MAKE) -C tools/check_config -s clean
 	$(Q)$(MAKE) -C stage1 -s clean

arch.mk

@@ -441,7 +441,6 @@ ifeq ($(ARCH),ARM)
     ifneq ($(DEBUG),0)
         CFLAGS+=-DPKCS11_SMALL
     endif
-
   endif
 
   ifeq ($(TARGET),stm32n6)
@@ -585,8 +584,15 @@ ifeq ($(ARCH),ARM)
   endif
 
 ## Cortex CPU
-
-ifeq ($(CORTEX_A5),1)
+ifeq ($(CORTEX_R5),1)
+  CFLAGS+=-mcpu=cortex-r5 -DCORTEX_R5
+  LDFLAGS+=-mcpu=cortex-r5
+  ifeq ($(NO_ASM),1)
+    ifeq ($(SPMATH),1)
+      MATH_OBJS += $(WOLFBOOT_LIB_WOLFSSL)/wolfcrypt/src/sp_c32.o
+    endif
+  endif
+else ifeq ($(CORTEX_A5),1)
   FPU=-mfpu=vfp4-d16
   CFLAGS+=-mcpu=cortex-a5  -mtune=cortex-a5 -static -z noexecstack \
 		  -mno-unaligned-access
@@ -1550,6 +1556,137 @@ ifeq ($(TARGET),ti_hercules)
   OPTIMIZATION_LEVEL=2
 endif
 
+ifeq ($(TARGET),ti_am64x)
+  TI_MCU_PLUS_SDK=$(abspath $(wildcard $(PWD)/../TI/mcu_plus_sdk_am64x_*))
+  ifeq ($(TI_MCU_PLUS_SDK),)
+    $(error "No sdk found at $(PWD)/../TI/mcu_plus_sdk_am64x_*")
+  endif
+
+  TI_MPSDK_VERSION=$(shell grep version $(TI_MCU_PLUS_SDK)/.metadata/product.json | cut -c17-24)
+  ifneq ($(TI_MPSDK_VERSION),$(TI_MCU_PLUS_SDK_VERSION_REQUIRED))
+    $(error "TI MCU Plus SDK version $(TI_MCU_PLUS_SDK_VERSION_REQUIRED) required")
+  endif
+
+  TI_SYSCONFIG=$(abspath $(wildcard $(PWD)/../TI/tools/sysconfig_*))
+  ifeq ($(TI_SYSCONFIG),)
+    $(error "No sysconfig found at $(PWD)/../TI/tools/sysconfig_*")
+  endif
+
+  CROSS_COMPILE_PATH=$(abspath $(wildcard $(PWD)/../TI/tools/ti-cgt-armllvm_*))
+  ifeq ($(CROSS_COMPILE_PATH),)
+    $(error "No toolchain found at $(PWD)/../TI/tools/ti-cgt-armllvm_*")
+  endif
+
+  ARCH_FLASH_OFFSET=0x60000000
+  USE_GCC_HEADLESS=0
+
+  CROSS_COMPILE=$(CROSS_COMPILE_PATH)/bin
+  CC=$(CROSS_COMPILE)/tiarmclang
+  LD=$(CROSS_COMPILE)/tiarmclang
+  AS=$(CROSS_COMPILE)/tiarmasm
+  AR=$(CROSS_COMPILE)/tiarmar rc
+  OBJCOPY=$(CROSS_COMPILE)/tiarmobjcopy
+  SIZE=$(CROSS_COMPILE)/tiarmsize
+  OUTPUT_FLAG=-o
+  OPTIMIZATION_LEVEL=s
+
+  CFLAGS+=-DSOC_AM64X -DOS_NORTOS
+  CFLAGS+=-DTI_MCU_PLUS_SDK
+  CFLAGS+=-DWOLFBOOT_USE_STDLIBC
+  CFLAGS+=-DWOLFSSL_USE_ALIGN
+  CFLAGS+=-Wno-main-return-type -Wno-extra
+  CFLAGS+=\
+    -I$(CROSS_COMPILE_PATH)/include/c \
+    -I$(TI_MCU_PLUS_SDK)/source \
+    -I$(TI_MCU_PLUS_SDK)/source/kernel/dpl \
+    -I$(TI_MCU_PLUS_SDK)/source/security
+
+  LDFLAGS+=\
+    -Wl,--diag_suppress=10063 \
+    -Wl,--ram_model \
+    -Wl,--reread_libs \
+    -Wl,-i$(CROSS_COMPILE_PATH)/lib
+  LD_START_GROUP=
+  LD_END_GROUP=-Wl,$(LSCRIPT) -Wl,-m=wolfboot.map
+
+  LIBS+=-llibc.a -llibsysbm.a
+
+  GENERATED_SRCS=
+  GENERATED_SRCS+=generated/hal/ti_board_config.c
+  GENERATED_SRCS+=generated/hal/ti_board_open_close.c
+  GENERATED_SRCS+=generated/hal/ti_dpl_config.c
+  GENERATED_SRCS+=generated/hal/ti_drivers_config.c
+  GENERATED_SRCS+=generated/hal/ti_drivers_open_close.c
+  GENERATED_SRCS+=generated/hal/ti_pinmux_config.c
+  GENERATED_SRCS+=generated/hal/ti_power_clock_config.c
+
+  OBJS+=$(patsubst %.c,%.o,$(GENERATED_SRCS))
+  OBJS+=\
+    $(TI_MCU_PLUS_SDK)/source/drivers/bootloader/soc/am64x_am243x/bootloader_soc.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/ospi/v0/ospi_v0.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/ospi/v0/lld/dma/udma/ospi_udma_lld.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/ospi/v0/lld/ospi_v0_lld.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/sciclient_boardcfg.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/sciclient_firewall.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/sciclient_procboot.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/firewall/v0/firewall.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/pinmux/am64x_am243x/pinmux.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/qos/v0/qos.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/csl_sec_proxy.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/sciclient.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/sciclient_pm.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/sciclient_rm.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/sciclient_rm_irq.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/soc/am64x_am243x/sciclient_fmwSecureProxyMap.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/soc/am64x_am243x/sciclient_irq_rm.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/sciclient/soc/am64x_am243x/sciclient_soc_priv.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/soc/am64x_am243x/soc.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/uart/v0/uart_v0.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/uart/v0/lld/uart_v0_lld.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/uart/v0/lld/dma/soc/am64x_am243x/uart_dma_soc.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/uart/v0/lld/dma/udma/uart_dma_udma.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/hw_include/csl_bcdma.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/hw_include/csl_intaggr.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/hw_include/csl_lcdma_ringacc.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/hw_include/csl_pktdma.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/soc/udma_rmcfg_common.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/soc/am64x_am243x/udma_rmcfg.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/soc/am64x_am243x/udma_soc.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/v0/udma.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/v0/udma_ch.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/v0/udma_event.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/v0/udma_flow.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/v0/udma_ring_common.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/v0/udma_ring_lcdma.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/v0/udma_rm.o \
+    $(TI_MCU_PLUS_SDK)/source/drivers/udma/v0/udma_utils.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/AddrTranslateP.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/ClockP_nortos.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/DebugP_log.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/DebugP_nortos.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/DebugP_uartLogWriter.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/printf.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/SemaphoreP_nortos.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/TaskP_nortos.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/TimerP_rti_nortos.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/common/TimerP_rti_priv.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/boot_armv7r.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/boot_armv7r_asm.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/CacheP_armv7r.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/CacheP_armv7r_asm.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/ClockP_nortos_r5.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/HwiP_armv7r_asm.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/HwiP_armv7r_handlers_nortos.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/HwiP_armv7r_handlers_nortos_asm.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/HwiP_armv7r_vectors_nortos_sbl_asm.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/HwiP_armv7r_vim.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/MpuP_armv7r.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/MpuP_armv7r_asm.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/PmuP_armv7r.o \
+    $(TI_MCU_PLUS_SDK)/source/kernel/nortos/dpl/r5/PmuP_armv7r_asm.o \
+    $(TI_MCU_PLUS_SDK)/source/security/security_common/drivers/crypto/rng/rng.o
+endif
+
 ifeq ($(TARGET),lpc)
   ifeq ($(MCUXSDK),1)
     # Some targets in the SDK use drivers from a different target

config/examples/ti-am64x.config

@@ -0,0 +1,39 @@
+ARCH?=ARM
+TARGET?=ti_am64x
+SIGN?=ECC256
+HASH?=SHA256
+CORTEX_R5?=1
+USE_GCC?=0
+TI_MCU_PLUS_SDK_VERSION_REQUIRED=11.02.00
+DEBUG?=0
+DEBUG_UART?=1
+VTOR?=1
+NO_ASM?=1
+NO_ARM_ASM=1
+NO_MPU=1
+EXT_FLASH?=1
+SPI_FLASH?=0
+NO_XIP?=1
+ALLOW_DOWNGRADE?=0
+NVM_FLASH_WRITEONCE?=1
+WOLFBOOT_VERSION?=0
+V?=0
+SPMATH?=1
+RAM_CODE?=0
+DUALBANK_SWAP?=0
+FLASH_MULTI_SECTOR_ERASE?=1
+ELF=1
+ELF_FLASH_SCATTER=1
+
+PKA?=0
+
+WOLFBOOT_SECTOR_SIZE?=0x200
+
+# Default configuration
+WOLFBOOT_PARTITION_SIZE?=0x40000
+WOLFBOOT_PARTITION_BOOT_ADDRESS?=0x60080000
+WOLFBOOT_PARTITION_UPDATE_ADDRESS?=0x600c0000
+WOLFBOOT_PARTITION_SWAP_ADDRESS?=0x600e0000
+
+WOLFCRYPT_TEST?=1
+WOLFCRYPT_BENCHMARK?=1

config/examples/ti-am64x/mcuplussdk_11.02.00_sa2ul.c.patch

@@ -0,0 +1,38 @@
+--- a/sa2ul.c	2026-08-05 22:36:06.345330013 -0400
++++ b/sa2ul.c	2026-08-06 18:28:41.124171790 -0400
+@@ -1123,7 +1123,7 @@
+                     sc.u.auth.authCtx1 =
+                         CSL_FMK(SA2UL_AUTHCTX1_MODESEL, 0u) |
+                         CSL_FMK(SA2UL_AUTHCTX1_DEFAULT_NEXT_ENGINE_ID, SA2UL_ENGINE_CODE_DEFAULT_EGRESS_PORT) |
+-                        CSL_FMK(SA2UL_AUTHCTX1_SW_CONTROL, 0x40u | ctxObj->ctxPrms.hashAlg);
++                        CSL_FMK(SA2UL_AUTHCTX1_SW_CONTROL, 0xc0u | ctxObj->ctxPrms.hashAlg);
+
+                     /* Authentication length in bits for basic hash, length in bits */
+                     sc.u.auth.authenticationLengthLo = authLen;
+@@ -1208,7 +1208,7 @@
+                         else
+                         {
+                             /* Copy IV */
+-                            SA2UL_u8LeToU32(sc.u.enc.encAux3, ctxObj->ctxPrms.iv,SA2UL_MAX_IV_SIZE_BYTES);
++                            SA2UL_u8LeToU32(sc.u.enc.encAux2, ctxObj->ctxPrms.iv,SA2UL_MAX_IV_SIZE_BYTES);
+                         }
+
+                         sc.scctl.scctl1 =
+@@ -1873,7 +1873,7 @@
+                 txDescr->exPktInfo.swWord0 |= (CSL_FMK(SA2UL_SWWORD0_BYP_CMD_LBL_LEN, 1u) | CSL_FMK(SA2UL_SWWORD0_FRAGMENT, 1u));
+             }
+
+-            if(pCtxObj->ctxPrms.inputLen > CSL_FEXT(0xffffffffu, SA2UL_CMDLBLHDR1_LEN_TO_BE_PROCESSESED))
++//            if(pCtxObj->ctxPrms.inputLen > CSL_FEXT(0xffffffffu, SA2UL_CMDLBLHDR1_LEN_TO_BE_PROCESSESED))
+             {
+                 /* Update protocol specific data length, add 8 */
+                 CSL_FINS(txDescr->pd.descInfo,
+@@ -2026,7 +2026,7 @@
+         reg = CSL_FEXT(rxDescr->pd.descInfo, PKTDMA_CPPI5_PD_DESCINFO_PKTLEN);
+         pCtxObj->rxBytesCnt += reg;
+
+-        if(pCtxObj->rxBytesCnt == pCtxObj->ctxPrms.inputLen)
++//        if(pCtxObj->rxBytesCnt == pCtxObj->ctxPrms.inputLen)
+         {
+             if(pCtxObj->ctxPrms.opType == SA2UL_OP_AUTH)
+             {