Merge patch series "board: beagle: beagley-ai: Cleanups and stdboot"

Nishanth Menon <[email protected]> says:

Just happened to get a BeagleY-AI at desk and happened to test master
branch (7dd49a9264a6 drivers: scsi: Add 'erase' support), noticed a few
issues which were rather easy to solve.. so, here we go:

Link: https://lore.kernel.org/r/[email protected]

8 files changed, 493 insertions, 41 deletions

diff --git a/arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi b/arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi
index f1666f1ef76..ba05d410357 100644
--- a/arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi
+++ b/arch/arm/dts/k3-am67a-beagley-ai-u-boot.dtsi
@@ -53,6 +53,10 @@
 	status = "disabled";
 };
 
+&main_gpio1 {
+	bootph-all;
+};
+
 #if IS_ENABLED(CONFIG_TARGET_J722S_R5_BEAGLEY_AI)
 
 &binman {
diff --git a/board/beagle/beagley-ai/MAINTAINERS b/board/beagle/beagley-ai/MAINTAINERS
index 1623329b714..04d5f67aba6 100644
--- a/board/beagle/beagley-ai/MAINTAINERS
+++ b/board/beagle/beagley-ai/MAINTAINERS
@@ -3,6 +3,4 @@ M:      Robert Nelson <[email protected]>
 M:      Tom Rini <[email protected]>
 S:	Maintained
 F:	board/beagle/beagley-ai/
-F:	include/configs/beagley_ai.h
-F:	configs/am67a_beagley_ai_r5_defconfig
-F:	configs/am67a_beagley_ai_a53_defconfig
+N:      beagley_ai
diff --git a/board/beagle/beagley-ai/beagley-ai.env b/board/beagle/beagley-ai/beagley-ai.env
index 10d62034e1a..70afbf9763f 100644
--- a/board/beagle/beagley-ai/beagley-ai.env
+++ b/board/beagle/beagley-ai/beagley-ai.env
@@ -1,5 +1,6 @@
 #include <env/ti/ti_common.env>
 #include <env/ti/mmc.env>
+#include <env/ti/k3_dfu.env>
 
 #if CONFIG_CMD_REMOTEPROC
 #include <env/ti/k3_rproc.env>
@@ -10,8 +11,11 @@ console=ttyS2,115200n8
 args_all=setenv optargs ${optargs} earlycon=ns16550a,mmio32,0x02800000
 	${mtdparts}
 run_kern=booti ${loadaddr} ${rd_spec} ${fdtaddr}
+set_led_state_fail_load=led led-0 off
+set_led_state_start_load=led led-0 on
 
-boot_targets=mmc1 mmc0 pxe dhcp
+boot_targets=mmc1
+bootmeths=script extlinux efi pxe
 boot=mmc
 mmcdev=1
 bootpart=1:2
diff --git a/configs/am67a_beagley_ai_a53_defconfig b/configs/am67a_beagley_ai_a53_defconfig
index b0903b6ae8f..9a5172cda1f 100644
--- a/configs/am67a_beagley_ai_a53_defconfig
+++ b/configs/am67a_beagley_ai_a53_defconfig
@@ -1,37 +1,146 @@
-#include <configs/j722s_evm_a53_defconfig>
-
 CONFIG_ARM=y
 CONFIG_ARCH_K3=y
+CONFIG_SYS_MALLOC_F_LEN=0x8000
+CONFIG_TI_COMMON_CMD_OPTIONS=y
+CONFIG_SPL_GPIO=y
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
 CONFIG_SOC_K3_J722S=y
 CONFIG_TARGET_J722S_A53_BEAGLEY_AI=y
-
+CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
+CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x80480000
+CONFIG_ENV_SIZE=0x40000
+CONFIG_DM_GPIO=y
 CONFIG_DEFAULT_DEVICE_TREE="ti/k3-am67a-beagley-ai"
-CONFIG_SPL_OF_LIST="ti/k3-am67a-beagley-ai"
-CONFIG_OF_LIST="ti/k3-am67a-beagley-ai"
-
-CONFIG_BOOTCOMMAND="run findfdt; run envboot; run distro_bootcmd"
-CONFIG_EXT4_WRITE=y
-CONFIG_LZO=y
+CONFIG_OF_LIBFDT_OVERLAY=y
+CONFIG_DM_RESET=y
+CONFIG_SPL_MMC=y
+CONFIG_SPL_SERIAL=y
+CONFIG_SPL_STACK_R_ADDR=0x82000000
+CONFIG_SPL_TEXT_BASE=0x80080000
+CONFIG_SPL_HAS_BSS_LINKER_SECTION=y
+CONFIG_SPL_BSS_START_ADDR=0x80a00000
+CONFIG_SPL_BSS_MAX_SIZE=0x80000
+CONFIG_SPL_STACK_R=y
+CONFIG_SPL_FS_FAT=y
+CONFIG_SPL_LIBDISK_SUPPORT=y
+# CONFIG_SYS_MALLOC_CLEAR_ON_INIT is not set
+CONFIG_SPL_LOAD_FIT=y
+CONFIG_SPL_LOAD_FIT_ADDRESS=0x81000000
+CONFIG_BOOTSTD_FULL=y
 CONFIG_AUTOBOOT_KEYED=y
 CONFIG_AUTOBOOT_PROMPT="Press SPACE to abort autoboot in %d seconds\n"
 CONFIG_AUTOBOOT_DELAY_STR="d"
 CONFIG_AUTOBOOT_STOP_STR=" "
-CONFIG_TI_I2C_BOARD_DETECT=n
-CONFIG_SPL_SPI=n
-CONFIG_SPL_SPI_FLASH_SUPPORT=n
-CONFIG_SPL_DM_SPI_FLASH=n
-CONFIG_SPL_MTD_SUPPORT=n
-CONFIG_SPL_MTD_SUPPORT=n
-CONFIG_DM_SPI_FLASH=n
-CONFIG_SPI_FLASH=n
-CONFIG_MTD=n
-CONFIG_MTD_PARTITIONS=n
-CONFIG_DM_MTD=n
-CONFIG_MTD_UBI=n
-CONFIG_CMD_UBIFS=n
-CONFIG_CMD_UBI=n
-CONFIG_DFU_SF=n
-CONFIG_DM_SPI=n
-CONFIG_SPL_SPI_LOAD=n
-CONFIG_SPL_MTD=n
-CONFIG_CMD_SPI=n
+CONFIG_BOOTCOMMAND="run set_led_state_start_load; run envboot; bootflow scan -lb; run set_led_state_fail_load"
+CONFIG_BOARD_LATE_INIT=y
+CONFIG_SPL_MAX_SIZE=0x58000
+CONFIG_SPL_PAD_TO=0x0
+CONFIG_SPL_SYS_MALLOC_SIMPLE=y
+CONFIG_SPL_SYS_MMCSD_RAW_MODE=y
+CONFIG_SYS_MMCSD_RAW_MODE_U_BOOT_SECTOR=0x1400
+CONFIG_SPL_DMA=y
+CONFIG_SPL_ENV_SUPPORT=y
+CONFIG_SPL_FS_LOAD_PAYLOAD_NAME="u-boot.img"
+CONFIG_SPL_I2C=y
+CONFIG_SPL_DM_MAILBOX=y
+CONFIG_SPL_POWER_DOMAIN=y
+CONFIG_SPL_RAM_DEVICE=y
+CONFIG_SPL_THERMAL=y
+CONFIG_SPL_YMODEM_SUPPORT=y
+CONFIG_CMD_CLK=y
+CONFIG_CMD_GPIO_READ=y
+CONFIG_CMD_USB_MASS_STORAGE=y
+CONFIG_CMD_EFIDEBUG=y
+CONFIG_OF_CONTROL=y
+CONFIG_SPL_OF_CONTROL=y
+CONFIG_OF_UPSTREAM=y
+CONFIG_MULTI_DTB_FIT=y
+CONFIG_SPL_MULTI_DTB_FIT=y
+CONFIG_SPL_MULTI_DTB_FIT_NO_COMPRESSION=y
+CONFIG_NET_RANDOM_ETHADDR=y
+CONFIG_SPL_DM=y
+CONFIG_SPL_DM_DEVICE_REMOVE=y
+CONFIG_SPL_DM_SEQ_ALIAS=y
+CONFIG_REGMAP=y
+CONFIG_SPL_REGMAP=y
+CONFIG_SPL_SYSCON=y
+CONFIG_SPL_OF_TRANSLATE=y
+CONFIG_CLK=y
+CONFIG_SPL_CLK=y
+CONFIG_CLK_TI_SCI=y
+CONFIG_DFU_MMC=y
+CONFIG_DFU_RAM=y
+CONFIG_SYS_DFU_DATA_BUF_SIZE=0x40000
+CONFIG_SYS_DFU_MAX_FILE_SIZE=0x800000
+CONFIG_DMA_CHANNELS=y
+CONFIG_TI_K3_NAVSS_UDMA=y
+CONFIG_USB_FUNCTION_FASTBOOT=y
+CONFIG_FASTBOOT_BUF_ADDR=0xC0000000
+CONFIG_FASTBOOT_BUF_SIZE=0x2F000000
+CONFIG_TI_SCI_PROTOCOL=y
+CONFIG_SPL_DM_GPIO_LOOKUP_LABEL=y
+CONFIG_DA8XX_GPIO=y
+CONFIG_DM_I2C=y
+CONFIG_SYS_I2C_OMAP24XX=y
+CONFIG_LED=y
+CONFIG_SPL_LED=y
+CONFIG_LED_GPIO=y
+CONFIG_SPL_LED_GPIO=y
+CONFIG_DM_MAILBOX=y
+CONFIG_K3_SEC_PROXY=y
+CONFIG_I2C_EEPROM=y
+CONFIG_SPL_I2C_EEPROM=y
+CONFIG_FS_LOADER=y
+CONFIG_MMC_IO_VOLTAGE=y
+CONFIG_SPL_MMC_IO_VOLTAGE=y
+CONFIG_MMC_UHS_SUPPORT=y
+CONFIG_MMC_SDHCI=y
+CONFIG_MMC_SDHCI_ADMA=y
+CONFIG_SPL_MMC_SDHCI_ADMA=y
+CONFIG_MMC_SDHCI_AM654=y
+CONFIG_PHY_TI_DP83867=y
+CONFIG_TI_AM65_CPSW_NUSS=y
+CONFIG_PINCTRL=y
+CONFIG_SPL_PINCTRL=y
+CONFIG_PINCTRL_SINGLE=y
+CONFIG_POWER_DOMAIN=y
+CONFIG_TI_SCI_POWER_DOMAIN=y
+CONFIG_DM_PMIC=y
+CONFIG_PMIC_TPS65219=y
+CONFIG_DM_REGULATOR=y
+CONFIG_SPL_DM_REGULATOR=y
+CONFIG_DM_REGULATOR_FIXED=y
+CONFIG_SPL_DM_REGULATOR_FIXED=y
+CONFIG_DM_REGULATOR_GPIO=y
+CONFIG_SPL_DM_REGULATOR_GPIO=y
+CONFIG_DM_REGULATOR_TPS65219=y
+CONFIG_K3_SYSTEM_CONTROLLER=y
+CONFIG_RESET_TI_SCI=y
+CONFIG_DM_SERIAL=y
+CONFIG_SOC_DEVICE=y
+CONFIG_SOC_DEVICE_TI_K3=y
+CONFIG_SOC_TI=y
+CONFIG_SYSRESET=y
+CONFIG_SPL_SYSRESET=y
+CONFIG_SYSRESET_TI_SCI=y
+CONFIG_DM_THERMAL=y
+CONFIG_USB=y
+CONFIG_DM_USB_GADGET=y
+CONFIG_SPL_DM_USB_GADGET=y
+CONFIG_SPL_USB_HOST=y
+CONFIG_USB_XHCI_HCD=y
+CONFIG_USB_DWC3=y
+CONFIG_USB_DWC3_GENERIC=y
+CONFIG_SPL_USB_DWC3_GENERIC=y
+CONFIG_SPL_USB_DWC3_AM62=y
+CONFIG_USB_DWC3_AM62=y
+CONFIG_SPL_USB_STORAGE=y
+CONFIG_USB_GADGET=y
+CONFIG_SPL_USB_GADGET=y
+CONFIG_USB_GADGET_MANUFACTURER="Texas Instruments"
+CONFIG_USB_GADGET_VENDOR_NUM=0x0451
+CONFIG_USB_GADGET_PRODUCT_NUM=0x6165
+CONFIG_SPL_DFU=y
+CONFIG_FS_FAT_MAX_CLUSTSIZE=16384
+CONFIG_LZO=y
diff --git a/configs/am67a_beagley_ai_r5_defconfig b/configs/am67a_beagley_ai_r5_defconfig
index 5380747fe3c..0a7e1c84c4a 100644
--- a/configs/am67a_beagley_ai_r5_defconfig
+++ b/configs/am67a_beagley_ai_r5_defconfig
@@ -1,14 +1,105 @@
-#include <configs/j722s_evm_r5_defconfig>
-
 CONFIG_ARM=y
 CONFIG_ARCH_K3=y
+CONFIG_SYS_MALLOC_F_LEN=0x9000
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
 CONFIG_SOC_K3_J722S=y
+CONFIG_K3_QOS=y
 CONFIG_TARGET_J722S_R5_BEAGLEY_AI=y
-
+CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
+CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x43c4a7f0
+CONFIG_ENV_SIZE=0x20000
+CONFIG_SPL_DM_SPI=y
 CONFIG_DEFAULT_DEVICE_TREE="k3-am67a-r5-beagley-ai"
-CONFIG_SPL_OF_LIST="k3-am67a-r5-beagley-ai"
-CONFIG_OF_LIST="k3-am67a-r5-beagley-ai"
-
-CONFIG_TI_I2C_BOARD_DETECT=n
-CONFIG_SPL_DM_SPI_FLASH=n
-CONFIG_SPL_MTD_SUPPORT=n
+CONFIG_DM_RESET=y
+CONFIG_SPL_MMC=y
+CONFIG_SPL_SERIAL=y
+CONFIG_SPL_DRIVERS_MISC=y
+CONFIG_SPL_STACK_R_ADDR=0x82000000
+CONFIG_SPL_SYS_MALLOC_F_LEN=0x8000
+CONFIG_SPL_TEXT_BASE=0x43c00000
+CONFIG_SPL_HAS_BSS_LINKER_SECTION=y
+CONFIG_SPL_BSS_START_ADDR=0x43c7b000
+CONFIG_SPL_BSS_MAX_SIZE=0x3000
+CONFIG_SPL_STACK_R=y
+CONFIG_SPL_SIZE_LIMIT=0x3C000
+CONFIG_SPL_SIZE_LIMIT_PROVIDE_STACK=0x5000
+CONFIG_SPL_FS_FAT=y
+CONFIG_SPL_LIBDISK_SUPPORT=y
+CONFIG_SPL_SPI_FLASH_SUPPORT=y
+CONFIG_SPL_SPI=y
+CONFIG_SPL_LOAD_FIT=y
+CONFIG_SPL_LOAD_FIT_ADDRESS=0x80080000
+# CONFIG_DISPLAY_CPUINFO is not set
+CONFIG_SPL_SIZE_LIMIT_SUBTRACT_GD=y
+CONFIG_SPL_SIZE_LIMIT_SUBTRACT_MALLOC=y
+CONFIG_SPL_MAX_SIZE=0x6ce00
+CONFIG_SPL_PAD_TO=0x0
+CONFIG_SPL_SYS_REPORT_STACK_F_USAGE=y
+CONFIG_SPL_SYS_MALLOC_SIMPLE=y
+CONFIG_SPL_SEPARATE_BSS=y
+CONFIG_SPL_EARLY_BSS=y
+CONFIG_SPL_SYS_MMCSD_RAW_MODE=y
+CONFIG_SYS_MMCSD_RAW_MODE_U_BOOT_SECTOR=0x400
+CONFIG_SPL_DMA=y
+CONFIG_SPL_DM_MAILBOX=y
+CONFIG_SPL_DM_RESET=y
+CONFIG_SPL_POWER_DOMAIN=y
+CONFIG_SPL_RAM_DEVICE=y
+CONFIG_SPL_THERMAL=y
+CONFIG_SPL_YMODEM_SUPPORT=y
+CONFIG_HUSH_PARSER=y
+CONFIG_CMD_ASKENV=y
+CONFIG_CMD_DFU=y
+CONFIG_CMD_GPT=y
+CONFIG_CMD_MMC=y
+# CONFIG_CMD_SETEXPR is not set
+CONFIG_CMD_TIME=y
+CONFIG_CMD_FAT=y
+CONFIG_OF_CONTROL=y
+CONFIG_SPL_OF_CONTROL=y
+CONFIG_SYS_RELOC_GD_ENV_ADDR=y
+CONFIG_NO_NET=y
+CONFIG_SPL_DM=y
+CONFIG_SPL_DM_DEVICE_REMOVE=y
+CONFIG_SPL_DM_SEQ_ALIAS=y
+CONFIG_REGMAP=y
+CONFIG_SPL_REGMAP=y
+CONFIG_SPL_OF_TRANSLATE=y
+CONFIG_CLK=y
+CONFIG_SPL_CLK=y
+CONFIG_SPL_CLK_CCF=y
+CONFIG_SPL_CLK_K3_PLL=y
+CONFIG_SPL_CLK_K3=y
+CONFIG_DMA_CHANNELS=y
+CONFIG_TI_K3_NAVSS_UDMA=y
+CONFIG_TI_SCI_PROTOCOL=y
+# CONFIG_GPIO is not set
+CONFIG_DM_I2C=y
+CONFIG_SYS_I2C_OMAP24XX=y
+CONFIG_DM_MAILBOX=y
+CONFIG_K3_SEC_PROXY=y
+CONFIG_ESM_K3=y
+CONFIG_MMC_SDHCI=y
+CONFIG_MMC_SDHCI_ADMA=y
+CONFIG_SPL_MMC_SDHCI_ADMA=y
+CONFIG_MMC_SDHCI_AM654=y
+CONFIG_PINCTRL=y
+# CONFIG_PINCTRL_GENERIC is not set
+CONFIG_SPL_PINCTRL=y
+# CONFIG_SPL_PINCTRL_GENERIC is not set
+CONFIG_PINCTRL_SINGLE=y
+CONFIG_POWER_DOMAIN=y
+CONFIG_TI_POWER_DOMAIN=y
+CONFIG_K3_SYSTEM_CONTROLLER=y
+CONFIG_RESET_TI_SCI=y
+CONFIG_SPECIFY_CONSOLE_INDEX=y
+CONFIG_DM_SERIAL=y
+CONFIG_SOC_DEVICE=y
+CONFIG_SOC_DEVICE_TI_K3=y
+CONFIG_SOC_TI=y
+CONFIG_TIMER=y
+CONFIG_SPL_TIMER=y
+CONFIG_OMAP_TIMER=y
+CONFIG_LIB_RATIONAL=y
+CONFIG_SPL_LIB_RATIONAL=y
diff --git a/doc/board/beagle/am67a_beagley_ai.rst b/doc/board/beagle/am67a_beagley_ai.rst
new file mode 100644
index 00000000000..3d2fc4a3195
--- /dev/null
+++ b/doc/board/beagle/am67a_beagley_ai.rst
@@ -0,0 +1,244 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Nishanth Menon <[email protected]>
+
+AM67A Beagleboard.org BeagleY-AI
+================================
+
+Introduction:
+-------------
+
+BeagleBoard.org BeagleY-AI is an easy to use, affordable open source
+hardware single board computer based on the Texas Instruments AM67A,
+which features a quad-core 64-bit Arm CPU subsystem, 2 general-purpose
+digital-signal-processors (DSP) and matrix-multiply-accelerators (MMA),
+GPU, vision and deep learning accelerators, and multiple Arm Cortex-R5
+cores for low-power, low-latency GPIO control.
+
+Further information can be found at:
+
+* Product Page: https://beagley-ai.org/
+* Hardware documentation: https://openbeagle.org/beagley-ai/beagley-ai
+
+Boot Flow:
+----------
+Below is the pictorial representation of boot flow:
+
+.. image:: ../ti/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 R5F (Aux core) sends requests to TIFS/DM to accomplish these
+  services, as illustrated in the diagram above.
+
+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=am67a_beagley_ai_r5_defconfig
+  export UBOOT_CFG_CORTEXA=am67a_beagley_ai_a53_defconfig
+  export TFA_BOARD=lite
+  # we dont use any extra TFA parameters
+  unset TFA_EXTRA_ARGS
+  export OPTEE_PLATFORM=k3-am62x
+
+.. include::  ../ti/j722s_evm.rst
+    :start-after: .. j722s_evm_rst_include_start_build_steps
+    :end-before: .. j722s_evm_rst_include_end_build_steps
+
+Target Images
+-------------
+Copy these images to an SD card and boot:
+
+* tiboot3-j722s-hs-fs-evm.bin from Cortex-R5 build as tiboot3.bin.
+* tispl.bin and u-boot.img from Cortex-A build.
+
+Image formats
+-------------
+
+- tiboot3.bin
+
+.. image:: ../ti/img/multi_cert_tiboot3.bin.svg
+  :alt: tiboot3.bin image format
+
+- tispl.bin
+
+.. image:: ../ti/img/tifsstub_dm_tispl.bin.svg
+  :alt: tispl.bin image format
+
+Additional hardware for U-Boot development
+------------------------------------------
+
+* Serial Console is critical for U-Boot development on BeagleY-AI. See
+  `BeagleY-AI serial console documentation
+  <https://docs.beagleboard.org/boards/beagley/ai/02-quick-start.html#beagley-ai-headless>`_.
+* The only onboard storage option is uSD.
+* (optionally) JTAG is useful when working with very early stages of boot.
+
+Flash to uSD card or how to deal with "bricked" Board
+-----------------------------------------------------
+
+The only storage option on the platform is uSD card. However, 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
+* Or manually as follows (may not take into distro needs such as EFI or swap):
+
+.. prompt:: bash #
+
+  # Create image with partition table
+  parted --script <SD CARD DEVICE> \
+        mklabel msdos \
+        mkpart primary fat16 4MiB 20MiB \
+        mkpart primary ext4 20MiB 100% \
+        set 1 boot on \
+        set 1 bls_boot off \
+        set 1 lba on
+  # Create boot partition
+  mkfs.vfat <SD CARD DEVICE>1
+  # Create root partition
+  mkfs.ext4 <SD CARD DEVICE>2
+
+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
+BeagleY-AI. 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.
+
+.. 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. 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>`_
+
+LED patterns during boot
+------------------------
+
+.. list-table:: LED status indication as system boots up
+   :widths: 16 16
+   :header-rows: 1
+
+   * - LED Color
+     - Indicates
+
+   * - Only RED at startup
+     - Boot failure or R5 image not started up
+
+   * - Steady Green
+     - A53 U-boot has started up
+
+   * - Red/Orange
+     - OS boot process has been initiated
+
+   * - Steady Green
+     - OS boot process failed and drops to U-Boot shell
+
+.. warning ::
+
+  If the "red" power LED is not glowing, the system power supply is not
+  functional. Please refer to `BeagleY-AI documentation
+  <https://beagley-ai.org/>`_ for further information.
+
+A53 SPL DDR Memory Layout
+-------------------------
+
+.. include::  ../ti/j722s_evm.rst
+    :start-after: .. j722s_evm_rst_include_start_ddr_mem_layout
+    :end-before: .. j722s_evm_rst_include_end_ddr_mem_layout
+
+Debugging U-Boot
+----------------
+
+See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
+detailed setup and debugging information.
+
+.. warning::
+
+  **OpenOCD support since**: commit 33749a7fbeb5
+
+  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::  ../ti/k3.rst
+    :start-after: .. k3_rst_include_start_openocd_connect_tag_connect
+    :end-before: .. k3_rst_include_end_openocd_connect_tag_connect
+
+.. include::  ../ti/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 BeagleY-AI (J722S/AM67A 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 j722s
+  }
+
+  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/beagle/index.rst b/doc/board/beagle/index.rst
index 9124546ebc7..e33d39fc677 100644
--- a/doc/board/beagle/index.rst
+++ b/doc/board/beagle/index.rst
@@ -11,4 +11,5 @@ ARM based boards
    :maxdepth: 2
 
    am62x_beagleplay
+   am67a_beagley_ai.rst
    j721e_beagleboneai64
diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst
index b79f1526446..0d9ccd5a768 100644
--- a/doc/board/ti/k3.rst
+++ b/doc/board/ti/k3.rst
@@ -44,6 +44,7 @@ K3 Based SoCs
 K3 SoC based boards in other sections
 
 * :doc:`../beagle/am62x_beagleplay`
+* :doc:`../beagle/am67a_beagley_ai`
 * :doc:`../beagle/j721e_beagleboneai64`
 * :doc:`../phytec/phycore-am62x`
 * :doc:`../phytec/phycore-am62ax`