AM6421: Industrial Communication SDK Ethercat Application does not Run on R5F0_0 from linux

Part Number: AM6421
Other Parts Discussed in Thread: SYSCONFIG, , AM6442

Tool/software:

Hi,
We are using Industrial Communication SDK 11.00.00.13 on R5F0_0 Core with FREE Rtos Running.
We are using EtherCat Prptocol Application given in ethercat_slave_beckhoff_ssc_demo examples
Processor SDK RT-Linux 11.01.05.03 on A53 with Linux
-Using on Custom Board.

Using Jtag:

When we run our application on R5F0_0 using Jtag with DEV boot mode the Application run's fine.


ON SD card:

When we put the Board in SD Card boot mode and copy the same application on to SD card it does not come up.

when command cat /sys/class/remoteproc/remoteproc0/state is executed
The core status shows Running , But there is no trace log seen when we execute cat /sys/kernel/debug/remoteproc/remoteproc1/trace0.


We have debugged the Application along side Linux with CCS.
and found that the application stops with exeception at Module_clockSetFrequency() call;
below is the clock object.
SOC_ModuleClockFrequency gSocModulesClockFrequency[] = {

{ TISCI_DEV_PRU_ICSSG1, TISCI_DEV_PRU_ICSSG1_CORE_CLK, 200000000,2},
{ TISCI_DEV_PRU_ICSSG1, TISCI_DEV_PRU_ICSSG1_UCLK_CLK, 192000000, SOC_MODULES_END},
{ TISCI_DEV_PRU_ICSSG1, TISCI_DEV_PRU_ICSSG1_IEP_CLK, 200000000,5},

{ SOC_MODULES_END, SOC_MODULES_END, SOC_MODULES_END, SOC_MODULES_END },
};

We have disabled the ICSSG1 from resource allocation in Linux.
Please guide how to clear this issue.

  • Hello Narasimha Rao,

    The issue here could be due to a resource conflict (like I2C, UART) between Linux and R5F core. Also, please check the memory regions in the syscfg as per Linux DDR in order to bootup the EtherCAT SubDevice example via remote proc in tandem with Linux on A53 core.

    Kind Regards,

  • Hi Harsha,

      We double checked the Resource allocations between R5f and Linux there are no conflicts.

      The same set of Resource and  MEMORY REGION configurations are working fine on SDK9.

        For your reference, please find attached the sysconfig file for reviewing the Memory regions.

    /**
     * These arguments were used when this file was generated. They will be automatically applied on subsequent loads
     * via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
     * @cliArgs --device "AM64x" --part "Default" --package "ALV" --context "r5fss0-0" --product "INDUSTRIAL_COMMUNICATIONS_SDK_AM64x@11.00.00"
     * @v2CliArgs --device "AM6442" --package "FCBGA (ALV)" --variant "AM6442-F" --context "r5fss0-0" --product "INDUSTRIAL_COMMUNICATIONS_SDK_AM64x@11.00.00"
     * @versions {"tool":"1.22.0+3893"}
     */
    
    /**
     * Import the modules used in this configuration.
     */
    const eeprom          = scripting.addModule("/board/eeprom/eeprom", {}, false);
    const eeprom1         = eeprom.addInstance();
    const i2c             = scripting.addModule("/drivers/i2c/i2c", {}, false);
    const i2c1            = i2c.addInstance();
    const ipc             = scripting.addModule("/drivers/ipc/ipc");
    const pruicss         = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
    const pruicss1        = pruicss.addInstance();
    const ethercat        = scripting.addModule("/industrial_comms/ethercat/ethercat", {}, false);
    const ethercat1       = ethercat.addInstance();
    const debug_log       = scripting.addModule("/kernel/dpl/debug_log");
    const dpl_cfg         = scripting.addModule("/kernel/dpl/dpl_cfg");
    const mpu_armv7       = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
    const mpu_armv71      = mpu_armv7.addInstance();
    const mpu_armv72      = mpu_armv7.addInstance();
    const mpu_armv73      = mpu_armv7.addInstance();
    const mpu_armv74      = mpu_armv7.addInstance();
    const mpu_armv75      = mpu_armv7.addInstance();
    const mpu_armv76      = mpu_armv7.addInstance();
    const mpu_armv77      = mpu_armv7.addInstance();
    const mpu_armv78      = mpu_armv7.addInstance();
    const mpu_armv79      = mpu_armv7.addInstance();
    const mpu_armv710     = mpu_armv7.addInstance();
    const mpu_armv711     = mpu_armv7.addInstance();
    const default_linker  = scripting.addModule("/memory_configurator/default_linker", {}, false);
    const default_linker1 = default_linker.addInstance();
    const general         = scripting.addModule("/memory_configurator/general", {}, false);
    const general1        = general.addInstance();
    const region          = scripting.addModule("/memory_configurator/region", {}, false);
    const region1         = region.addInstance();
    const section         = scripting.addModule("/memory_configurator/section", {}, false);
    const section1        = section.addInstance();
    const section2        = section.addInstance();
    const section3        = section.addInstance();
    const section4        = section.addInstance();
    const section5        = section.addInstance();
    const section6        = section.addInstance();
    const section7        = section.addInstance();
    const section8        = section.addInstance();
    const section9        = section.addInstance();
    const section10       = section.addInstance();
    const section11       = section.addInstance();
    const section12       = section.addInstance();
    const section13       = section.addInstance();
    
    /**
     * Write custom configuration values to the imported modules.
     */
    eeprom1.$name = "CONFIG_EEPROM0";
    
    i2c1.$name               = "CONFIG_I2C0";
    eeprom1.peripheralDriver = i2c1;
    i2c1.I2C.$assign         = "I2C0";
    i2c1.I2C.SCL.$assign     = "I2C0_SCL";
    i2c1.I2C.SDA.$assign     = "I2C0_SDA";
    i2c1.I2C_child.$name     = "drivers_i2c_v0_i2c_v0_template1";
    
    ipc.r5fss0_1       = "NONE";
    ipc.r5fss1_1       = "NONE";
    ipc.r5fss1_0       = "notify";
    ipc.m4fss0_0       = "NONE";
    ipc.enableLinuxIpc = true;
    
    ethercat1.$name                                   = "CONFIG_ETHERCAT0";
    ethercat1.instance                                = "ICSSG1";
    ethercat1.ethphy[0].$name                         = "CONFIG_ETHPHY0";
    ethercat1.ethphy[0].name                          = "CUSTOM";
    ethercat1.ethphy[0].customDeviceName              = "DP83822";
    ethercat1.ethphy[0].mdioPort                      = 1;
    ethercat1.ethphy[1].$name                         = "CONFIG_ETHPHY1";
    ethercat1.ethphy[1].name                          = "CUSTOM";
    ethercat1.ethphy[1].customDeviceName              = "DP83822";
    ethercat1.ethphy[1].mdioPort                      = 2;
    ethercat1.PRU_ICSSG1_IEP.EDIO_DATA_IN_OUT28.$used = false;
    ethercat1.PRU_ICSSG1_IEP.EDIO_DATA_IN_OUT29.$used = false;
    ethercat1.PRU_ICSSG1_IEP.EDIO_DATA_IN_OUT30.$used = false;
    ethercat1.PRU_ICSSG1_IEP.EDIO_DATA_IN_OUT31.$used = false;
    
    pruicss1.iepSyncMode                     = scripting.forceWrite(true);
    ethercat1.icss                           = pruicss1;
    pruicss1.$name                           = "CONFIG_PRU_ICSS1";
    pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
    
    debug_log.enableSharedMemLogReader = true;
    debug_log.enableLogZoneInfo        = true;
    
    dpl_cfg.hwiPEnable = false;
    
    mpu_armv71.$name             = "CONFIG_MPU_REGION0";
    mpu_armv71.size              = 31;
    mpu_armv71.attributes        = "Device";
    mpu_armv71.accessPermissions = "Supervisor RD+WR, User RD";
    mpu_armv71.allowExecute      = false;
    
    mpu_armv72.$name             = "CONFIG_MPU_REGION1";
    mpu_armv72.size              = 15;
    mpu_armv72.accessPermissions = "Supervisor RD+WR, User RD";
    
    mpu_armv73.$name             = "CONFIG_MPU_REGION2";
    mpu_armv73.baseAddr          = 0x41010000;
    mpu_armv73.size              = 15;
    mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
    
    mpu_armv74.$name             = "CONFIG_MPU_REGION3";
    mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
    mpu_armv74.size              = 18;
    mpu_armv74.allowExecute      = false;
    mpu_armv74.baseAddr          = 0x70080000;
    
    mpu_armv75.$name    = "CONFIG_MPU_REGION4";
    mpu_armv75.baseAddr = 0x80000000;
    mpu_armv75.size     = 31;
    
    mpu_armv76.$name        = "CONFIG_MPU_REGION5";
    mpu_armv76.baseAddr     = 0x70000000;
    mpu_armv76.size         = 16;
    mpu_armv76.attributes   = "Cached+Sharable";
    mpu_armv76.allowExecute = false;
    
    mpu_armv77.$name    = "CONFIG_MPU_REGION6";
    mpu_armv77.baseAddr = 0x60100000;
    mpu_armv77.size     = 19;
    
    mpu_armv78.$name        = "CONFIG_MPU_REGION7";
    mpu_armv78.baseAddr     = 0xA5000000;
    mpu_armv78.size         = 20;
    mpu_armv78.attributes   = "NonCached";
    mpu_armv78.allowExecute = false;
    
    mpu_armv79.$name        = "CONFIG_MPU_REGION8";
    mpu_armv79.baseAddr     = 0xA0100000;
    mpu_armv79.size         = 20;
    mpu_armv79.attributes   = "NonCached";
    mpu_armv79.allowExecute = false;
    
    mpu_armv710.$name    = "CONFIG_MPU_REGION9";
    mpu_armv710.baseAddr = 0xA0400000;
    mpu_armv710.size     = 22;
    
    mpu_armv711.$name        = "CONFIG_MPU_REGION10";
    mpu_armv711.baseAddr     = 0xA0000000;
    mpu_armv711.size         = 20;
    mpu_armv711.attributes   = "NonCached";
    mpu_armv711.allowExecute = false;
    
    default_linker1.$name = "memory_configurator_default_linker0";
    
    general1.$name        = "CONFIG_GENERAL0";
    general1.stack_size   = 131072;
    general1.heap_size    = 131072;
    general1.linker.$name = "TIARMCLANG0";
    
    region1.$name                                = "MEMORY_REGION_CONFIGURATION0";
    region1.memory_region.create(11);
    region1.memory_region[0].type                = "TCMA_R5F";
    region1.memory_region[0].$name               = "R5F_VECS";
    region1.memory_region[0].size                = 0x40;
    region1.memory_region[0].auto                = false;
    region1.memory_region[1].type                = "TCMA_R5F";
    region1.memory_region[1].$name               = "R5F_TCMA";
    region1.memory_region[1].size                = 0x7FC0;
    region1.memory_region[2].type                = "TCMB_R5F";
    region1.memory_region[2].$name               = "R5F_TCMB0";
    region1.memory_region[2].size                = 0x8000;
    region1.memory_region[3].$name               = "NON_CACHE_MEM";
    region1.memory_region[3].auto                = false;
    region1.memory_region[3].manualStartAddress  = 0x70060000;
    region1.memory_region[3].size                = 0x8000;
    region1.memory_region[4].$name               = "MSRAM";
    region1.memory_region[4].auto                = false;
    region1.memory_region[4].manualStartAddress  = 0x70080000;
    region1.memory_region[4].size                = 0x80000;
    region1.memory_region[5].type                = "FLASH";
    region1.memory_region[5].$name               = "FLASH";
    region1.memory_region[5].auto                = false;
    region1.memory_region[5].manualStartAddress  = 0x60100000;
    region1.memory_region[5].size                = 0x80000;
    region1.memory_region[6].auto                = false;
    region1.memory_region[6].type                = "DDR_ALL";
    region1.memory_region[6].$name               = "DDR_USER_SHM_MEM";
    region1.memory_region[6].manualStartAddress  = 0xA5000000;
    region1.memory_region[6].size                = 0x38000;
    region1.memory_region[6].isShared            = true;
    region1.memory_region[6].shared_cores        = ["r5fss1-0"];
    region1.memory_region[7].auto                = false;
    region1.memory_region[7].type                = "DDR_ALL";
    region1.memory_region[7].$name               = "DDR_LOG_SHM_MEM";
    region1.memory_region[7].manualStartAddress  = 0xA5038000;
    region1.memory_region[7].size                = 0x4000;
    region1.memory_region[7].isShared            = true;
    region1.memory_region[7].shared_cores        = ["r5fss1-0"];
    region1.memory_region[8].auto                = false;
    region1.memory_region[8].type                = "DDR_ALL";
    region1.memory_region[8].$name               = "DDR_RTOS_NORTOS_IPC_SHM_MEM";
    region1.memory_region[8].size                = 0x8000;
    region1.memory_region[8].isShared            = true;
    region1.memory_region[8].shared_cores        = ["r5fss1-0"];
    region1.memory_region[8].manualStartAddress  = 0xA503C000;
    region1.memory_region[9].type                = "DDR_ALL";
    region1.memory_region[9].$name               = "DDR0";
    region1.memory_region[9].auto                = false;
    region1.memory_region[9].manualStartAddress  = 0xA0100000;
    region1.memory_region[9].size                = 0x100000;
    region1.memory_region[10].type               = "DDR_ALL";
    region1.memory_region[10].$name              = "DDR_1";
    region1.memory_region[10].auto               = false;
    region1.memory_region[10].manualStartAddress = 0xA0400000;
    region1.memory_region[10].size               = 0x400000;
    
    section1.$name                        = "Vector Table";
    section1.load_memory                  = "R5F_VECS";
    section1.group                        = false;
    section1.output_section.create(1);
    section1.output_section[0].$name      = ".vectors";
    section1.output_section[0].palignment = true;
    
    section2.$name                        = "Text Segments";
    section2.load_memory                  = "R5F_TCMA";
    section2.output_section.create(5);
    section2.output_section[0].$name      = ".text.hwi";
    section2.output_section[0].palignment = true;
    section2.output_section[1].$name      = ".text.cache";
    section2.output_section[1].palignment = true;
    section2.output_section[2].$name      = ".text.mpu";
    section2.output_section[2].palignment = true;
    section2.output_section[3].$name      = ".text.boot";
    section2.output_section[3].palignment = true;
    section2.output_section[4].$name      = ".text:abort";
    section2.output_section[4].palignment = true;
    
    section3.$name                        = "Code and Read-Only Data";
    section3.load_memory                  = "DDR_1";
    section3.output_section.create(2);
    section3.output_section[0].$name      = ".text";
    section3.output_section[0].palignment = true;
    section3.output_section[1].$name      = ".rodata";
    section3.output_section[1].palignment = true;
    
    section4.$name                        = "Data Segment";
    section4.load_memory                  = "DDR_1";
    section4.output_section.create(1);
    section4.output_section[0].$name      = ".data";
    section4.output_section[0].palignment = true;
    
    section5.$name                                   = "Memory Segments";
    section5.load_memory                             = "DDR_1";
    section5.output_section.create(3);
    section5.output_section[0].$name                 = ".bss";
    section5.output_section[0].palignment            = true;
    section5.output_section[0].output_sections_start = "__BSS_START";
    section5.output_section[0].output_sections_end   = "__BSS_END";
    section5.output_section[1].$name                 = ".sysmem";
    section5.output_section[1].palignment            = true;
    section5.output_section[2].$name                 = ".stack";
    section5.output_section[2].palignment            = true;
    
    section6.$name                                    = "Stack Segments";
    section6.load_memory                              = "DDR_1";
    section6.output_section.create(5);
    section6.output_section[0].$name                  = ".irqstack";
    section6.output_section[0].output_sections_start  = "__IRQ_STACK_START";
    section6.output_section[0].output_sections_end    = "__IRQ_STACK_END";
    section6.output_section[0].input_section.create(1);
    section6.output_section[0].input_section[0].$name = ". = . + __IRQ_STACK_SIZE;";
    section6.output_section[1].$name                  = ".fiqstack";
    section6.output_section[1].output_sections_start  = "__FIQ_STACK_START";
    section6.output_section[1].output_sections_end    = "__FIQ_STACK_END";
    section6.output_section[1].input_section.create(1);
    section6.output_section[1].input_section[0].$name = ". = . + __FIQ_STACK_SIZE;";
    section6.output_section[2].$name                  = ".svcstack";
    section6.output_section[2].output_sections_start  = "__SVC_STACK_START";
    section6.output_section[2].output_sections_end    = "__SVC_STACK_END";
    section6.output_section[2].input_section.create(1);
    section6.output_section[2].input_section[0].$name = ". = . + __SVC_STACK_SIZE;";
    section6.output_section[3].$name                  = ".abortstack";
    section6.output_section[3].output_sections_start  = "__ABORT_STACK_START";
    section6.output_section[3].output_sections_end    = "__ABORT_STACK_END";
    section6.output_section[3].input_section.create(1);
    section6.output_section[3].input_section[0].$name = ". = . + __ABORT_STACK_SIZE;";
    section6.output_section[4].$name                  = ".undefinedstack";
    section6.output_section[4].output_sections_start  = "__UNDEFINED_STACK_START";
    section6.output_section[4].output_sections_end    = "__UNDEFINED_STACK_END";
    section6.output_section[4].input_section.create(1);
    section6.output_section[4].input_section[0].$name = ". = . + __UNDEFINED_STACK_SIZE;";
    
    section7.$name                        = "Initialization and Exception Handling";
    section7.load_memory                  = "DDR_1";
    section7.output_section.create(3);
    section7.output_section[0].$name      = ".ARM.exidx";
    section7.output_section[0].palignment = true;
    section7.output_section[1].$name      = ".init_array";
    section7.output_section[1].palignment = true;
    section7.output_section[2].$name      = ".fini_array";
    section7.output_section[2].palignment = true;
    
    section8.$name                        = "User Shared Memory";
    section8.type                         = "NOLOAD";
    section8.group                        = false;
    section8.load_memory                  = "DDR_USER_SHM_MEM";
    section8.output_section.create(1);
    section8.output_section[0].$name      = ".bss.user_shared_mem";
    section8.output_section[0].palignment = true;
    
    section9.$name                       = "Log Shared Memory";
    section9.type                        = "NOLOAD";
    section9.group                       = false;
    section9.load_memory                 = "DDR_LOG_SHM_MEM";
    section9.output_section.create(1);
    section9.output_section[0].$name     = ".bss.log_shared_mem";
    section9.output_section[0].alignment = 0;
    
    section10.$name                       = "IPC Shared Memory";
    section10.type                        = "NOLOAD";
    section10.group                       = false;
    section10.load_memory                 = "DDR_RTOS_NORTOS_IPC_SHM_MEM";
    section10.output_section.create(1);
    section10.output_section[0].$name     = ".bss.ipc_vring_mem";
    section10.output_section[0].alignment = 0;
    
    section11.$name                       = "Non Cacheable Memory";
    section11.load_memory                 = "NON_CACHE_MEM";
    section11.group                       = false;
    section11.type                        = "NOLOAD";
    section11.output_section.create(1);
    section11.output_section[0].$name     = ".bss.nocache";
    section11.output_section[0].alignment = 0;
    
    section12.$name                        = "TCMB Stack Segments";
    section12.load_memory                  = "DDR_1";
    section12.output_section.create(1);
    section12.output_section[0].$name      = ".threadstack";
    section12.output_section[0].palignment = true;
    
    section13.$name                        = "Resource Table";
    section13.load_memory                  = "DDR0";
    section13.output_section.create(1);
    section13.output_section[0].$name      = ".resource_table";
    section13.output_section[0].palignment = true;
    section13.output_section[0].alignment  = 4096;
    
    /**
     * These are the reserved peripherals and settings in this configuration
     */
    const iPRU_ICSSG0_IEP1 = scripting.addPeripheral("PRU_ICSSG0_IEP");
    iPRU_ICSSG0_IEP1.$name = "MyPRU_ICSSG0_IEP1";
    
    /**
     * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
     * version of the tool will not impact the pinmux you originally saw.  These lines can be completely deleted in order to
     * re-solve from scratch.
     */
    ethercat1.PRU_ICSSG1_MDIO.$suggestSolution                 = "PRU_ICSSG1_MDIO0";
    ethercat1.PRU_ICSSG1_MDIO.MDC.$suggestSolution             = "PRG1_MDIO0_MDC";
    ethercat1.PRU_ICSSG1_MDIO.MDIO.$suggestSolution            = "PRG1_MDIO0_MDIO";
    ethercat1.PRU_ICSSG1_IEP.$suggestSolution                  = "PRU_ICSSG1_IEP0";
    ethercat1.PRU_ICSSG1_IEP.EDC_LATCH_IN0.$suggestSolution    = "PRG1_PRU0_GPO18";
    ethercat1.PRU_ICSSG1_IEP.EDC_LATCH_IN1.$suggestSolution    = "PRG1_PRU0_GPO7";
    ethercat1.PRU_ICSSG1_IEP.EDC_SYNC_OUT0.$suggestSolution    = "PRG1_PRU0_GPO19";
    ethercat1.PRU_ICSSG1_IEP.EDC_SYNC_OUT1.$suggestSolution    = "PRG1_PRU0_GPO17";
    ethercat1.PRU_ICSSG1_MII_G_RT.$suggestSolution             = "PRU_ICSSG1_MII_G_RT";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_RXD0.$suggestSolution   = "PRG1_PRU0_GPO0";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_RXD1.$suggestSolution   = "PRG1_PRU0_GPO1";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_RXD2.$suggestSolution   = "PRG1_PRU0_GPO2";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_RXD3.$suggestSolution   = "PRG1_PRU0_GPO3";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_RXDV.$suggestSolution   = "PRG1_PRU0_GPO4";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_RXER.$suggestSolution   = "PRG1_PRU0_GPO5";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_RXLINK.$suggestSolution = "PRG1_PRU0_GPO8";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_TXD0.$suggestSolution   = "PRG1_PRU0_GPO11";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_TXD1.$suggestSolution   = "PRG1_PRU0_GPO12";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_TXD2.$suggestSolution   = "PRG1_PRU0_GPO13";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_TXD3.$suggestSolution   = "PRG1_PRU0_GPO14";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII0_TXEN.$suggestSolution   = "PRG1_PRU0_GPO15";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_RXD0.$suggestSolution   = "PRG1_PRU1_GPO0";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_RXD1.$suggestSolution   = "PRG1_PRU1_GPO1";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_RXD2.$suggestSolution   = "PRG1_PRU1_GPO2";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_RXD3.$suggestSolution   = "PRG1_PRU1_GPO3";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_RXDV.$suggestSolution   = "PRG1_PRU1_GPO4";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_RXER.$suggestSolution   = "PRG1_PRU1_GPO5";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_RXLINK.$suggestSolution = "PRG1_PRU1_GPO8";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_TXD0.$suggestSolution   = "PRG1_PRU1_GPO11";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_TXD1.$suggestSolution   = "PRG1_PRU1_GPO12";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_TXD2.$suggestSolution   = "PRG1_PRU1_GPO13";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_TXD3.$suggestSolution   = "PRG1_PRU1_GPO14";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII1_TXEN.$suggestSolution   = "PRG1_PRU1_GPO15";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII_MR0_CLK.$suggestSolution = "PRG1_PRU0_GPO6";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII_MR1_CLK.$suggestSolution = "PRG1_PRU1_GPO6";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII_MT0_CLK.$suggestSolution = "PRG1_PRU0_GPO16";
    ethercat1.PRU_ICSSG1_MII_G_RT.MII_MT1_CLK.$suggestSolution = "PRG1_PRU1_GPO16";
    iPRU_ICSSG0_IEP1.$suggestSolution                          = "PRU_ICSSG0_IEP0";
    iPRU_ICSSG0_IEP1.EDC_LATCH_IN0.$suggestSolution            = "PRG0_PRU0_GPO18";
    iPRU_ICSSG0_IEP1.EDC_LATCH_IN1.$suggestSolution            = "PRG0_PRU0_GPO7";
    iPRU_ICSSG0_IEP1.EDC_SYNC_OUT0.$suggestSolution            = "PRG0_PRU0_GPO19";
    iPRU_ICSSG0_IEP1.EDC_SYNC_OUT1.$suggestSolution            = "PRG0_PRU0_GPO17";
    iPRU_ICSSG0_IEP1.EDIO_DATA_IN_OUT28.$suggestSolution       = "PRG0_PRU0_GPO9";
    iPRU_ICSSG0_IEP1.EDIO_DATA_IN_OUT29.$suggestSolution       = "PRG0_PRU0_GPO10";
    iPRU_ICSSG0_IEP1.EDIO_DATA_IN_OUT30.$suggestSolution       = "PRG0_PRU1_GPO9";
    iPRU_ICSSG0_IEP1.EDIO_DATA_IN_OUT31.$suggestSolution       = "PRG0_PRU1_GPO10";
    iPRU_ICSSG0_IEP1.EDIO_OUTVALID.$suggestSolution            = "SPI0_CS1";
    

  • Hi Narasimha Rao, 

    Can you verify if Linux has given up the ownership of icssg1?

    You can disable ICSSG in Linux and give up it's ownership by running the below commands at uboot.

    setenv boot_fit 0
    run args_all args_mmc get_kern_mmc findfdt get_fdt_mmc                         
    fdt addr $fdtaddr; fdt resize
    fdt set /bus@f4000/ethernet@8000000/ethernet-ports/port@2 status disabled
    fdt set /bus@f4000/icssg@30000000 status disabled                        
    fdt set /bus@f4000/icssg@30080000 status disabled
    fdt set /bus@f4000/bus@fc00000/spi@fc40000 status disabled
    fdt set /mdio-mux-1 status disabled                       
    fdt set /icssg1-eth status disabled
    run run_kern 

  • Hi Bharath

           Thank you for the response.

             We have tried the suggested commands at u-boot, but still the R5f0_0 Ethercat Application does not run.

             we have verified this with trace log command

              cat /sys/kernel/debug/remoteproc/remoteproc0/trace0.

             Below is the log after executing suggested commands

    Hit any key to stop autoboot: 0
    => setenv boot_fit 0
    => run args_all args_mmc get_kern_mmc findfdt get_fdt_mmc
    14199296 bytes read in 586 ms (23.1 MiB/s)
    WARN: fdtfile already set. Stop using findfdt in script
    61176 bytes read in 5 ms (11.7 MiB/s)
    => fdt addr $fdtaddr; fdt resize
    Working FDT set to 88000000
    => fdt set /bus@f4000/ethernet@8000000/ethernet-ports/port@2 status disabled
    => fdt set /bus@f4000/icssg@30000000 status disabled
    => fdt set /bus@f4000/icssg@30080000 status disabled
    => fdt set /bus@f4000/bus@fc00000/spi@fc40000 status disabled
    => fdt set /mdio-mux-1 status disabled
    libfdt fdt_path_offset() returned FDT_ERR_NOTFOUND
    => fdt set /icssg1-eth status disabled
    => run run_kern

     Please suggest what to be done next.

  • Hi Narasimha Rao, 

    The response is not exactly as expected. 
    Did the device boot up after this ? 

    Can you please run the following command once linux boots up and you're in root.

    dmesg | grep remoteproc 

    Please share the log you see

  • Hi Bharath,

          Yes the device is booting up and the kernel gets loaded.

         Below is the dmesg log after kernel loaded.


    root@am64xx-evm:~# dmesg | grep remoteproc
    [ 11.305823] platform 78000000.r5f: configured R5F for remoteproc mode
    [ 11.324377] remoteproc remoteproc0: 78000000.r5f is available
    [ 11.372302] platform 78400000.r5f: configured R5F for remoteproc mode
    [ 11.403189] remoteproc remoteproc1: 78400000.r5f is available
    [ 11.493938] remoteproc remoteproc0: powering up 78000000.r5f
    [ 11.493974] remoteproc remoteproc0: Booting fw image am64-main-r5f0_0-fw, size 2011192
    [ 11.565317] remoteproc remoteproc0: remote processor 78000000.r5f is now up
    [ 11.588448] remoteproc remoteproc1: powering up 78400000.r5f
    [ 11.588484] remoteproc remoteproc1: Booting fw image am64-main-r5f1_0-fw, size 1692648
    [ 11.636255] k3-m4-rproc 5000000.m4fss: configured M4F for remoteproc mode
    [ 11.663307] remoteproc remoteproc2: 5000000.m4fss is available
    [ 11.682305] remoteproc remoteproc1: remote processor 78400000.r5f is now up
    [ 11.756950] remoteproc remoteproc2: powering up 5000000.m4fss
    [ 11.756985] remoteproc remoteproc2: Booting fw image am64-mcu-m4f0_0-fw, size 88248
    [ 11.821574] remoteproc remoteproc2: remote processor 5000000.m4fss is now up
    root@am64xx-evm:~#

    Above the log shows the core is powering up and running. but there is no response from the application.

    and there is no trace log shown when checked with 

    cat /sys/kernel/debug/remoteproc/remoteproc0/trace0

    So we have debuged the application from CCS using JTAG along side with Linux running,

     The execution aborts in the below function.

    status = SOC_moduleSetClockFrequencyWithParent(
    gSocModulesClockFrequency[i].moduleId,
    gSocModulesClockFrequency[i].clkId,
    gSocModulesClockFrequency[i].clkParentId,
    gSocModulesClockFrequency[i].clkRate
    );

    below is the clock object

    below is the clock object.
    SOC_ModuleClockFrequency gSocModulesClockFrequency[] = {

    { TISCI_DEV_PRU_ICSSG1, TISCI_DEV_PRU_ICSSG1_CORE_CLK, 200000000,2},
    { TISCI_DEV_PRU_ICSSG1, TISCI_DEV_PRU_ICSSG1_UCLK_CLK, 192000000, SOC_MODULES_END},
    { TISCI_DEV_PRU_ICSSG1, TISCI_DEV_PRU_ICSSG1_IEP_CLK, 200000000,5},

    { SOC_MODULES_END, SOC_MODULES_END, SOC_MODULES_END, SOC_MODULES_END },
    };

    For any further information please message back.

  • Hi Bharath,

       To speed up the process can we connect online through teams to resolve the issue faster.

        We have delivery schedule to be made to customer.

        Can we get any local support inbangalore to resolve faster.

  • Hi Narasimha Rao,

    If the application boots with SBL bootloader, and works fine, and doesn't work fine with linux in the system, the main things to look for mismatches are:
    1. Placing the application
    2. resource allocation differences between sbl flow and spl flow
    3. If linux and R5 application tries to control same resource

    Since you have confirmed that there are no conflict between r5 and a53 in terms of resource allocation , we can rule out point 3.
    The sys config file you'd previously provided looks good and since you mentioned it works well with SDK9, it shouldn't have any problem. 

    Which leaves point 1 and 2. 

    Can you confirm if the R5F application is placed correctly in the memory. It is expected to be placed between 0xA0100000 - 0xA1000000 as per Linux DDR. 
    If you have updated the SBL or resource partition in your usecase then you'd have to update the resource table in Linux as well. 

    I understand you see the code is aborting at SOC_moduleSetClockFrequencyWithParent, which means your code is crashing at system_init phase. This could happen if the core has started execution when underlying memory allocations is wrong.

    We are checking internally the best route to support you, but in order to coordinate the debug process we would need some additional time.

  • Hi Bharath,

              Thanks for your response.

             Yes the R5F application is placed correctly in the memory if you could see the sysconfig file the details are available.

      Resource table is placed at 0xA0100000 with size 0x100000.

      Application is placed at 0xA0400000 and size is 4MB.

      These are as per core DDR memory allocations for AM64X 

      your quick response is appreciated.

  • Hello Narasimha Rao,

    To speed up the process can we connect online through teams to resolve the issue faster.

        We have delivery schedule to be made to customer.

        Can we get any local support inbangalore to resolve faster.

    Please reach out to your regional TI sales representatives. 

    Kind Regards,

  • Hi,

            Can we get the update on the issue mentioned.

           Your quick response is appreciated.

  • Hi Bharath,

                We have not heard any response from you.

                 Can you update the status of resolving the issue.

                  your quick response is appreciated.

  • Please reach out to your regional TI sales representatives. 

    Hi Narasimha Rao,

    Further investigation would require recreation of your custom use-case, which is not available for the public (standard) packages.
    As previously mentioned by Harsha, please reach out to your regional TI sales representative to understand your available options.

    Regards,
    Bharath

  • Hi

    I would like to bring to your attention a critical issue we are facing with SDK11 on the AM6421 platform. The SDK11 release is officially for AM6442, but we are adapting it for AM6421.

    While the CIP EtherCAT stack successfully boots and operates when launched via JTAG, it fails to execute from SD Card or eMMC through remote proc. In contrast, the same setup works seamlessly with SDK9, which indicates that there are no hardware or custom design issues involved.

    We would like to understand the root cause of this execution failure with SDK11, and specifically, the changes or differences between SDK9 and SDK11 that could impact boot behavior or CIP EtherCAT initialization.

    This information is critical for us and the broader developer community to ensure compatibility and stability with newer SDK versions.

    Kindly escalate this issue internally and share:

    1. Any internal documentation or change logs related to boot or CIP EtherCAT modifications in SDK11.
    2. Any known issues or fixes related to SD/eMMC boot under SDK11.

      The application aborts in function SOC_moduleSetClockFrequencyWithParent,

    Your timely assistance and escalation of this issue will be highly appreciated.

    Thank You.

  • Hi Narasimha Rao, 

    As I can see, there are some differences in how R5 applications need to be modified for Linux from SDK 9.1 or later ! 
    I would recommend to check this documentation for more details : https://dev.ti.com/tirex/explore/node?node=A__AfSHr0vWbFdGCnmoPeMXzg__AM64-ACADEMY__WI1KRXP__LATEST 
    This might explain why it works with SDK9 but not with SDK11.

    Regards,
    Bharath

  • Hi Bharath,

                   Yes we followed the same Document.

                   As per document we have created the Resource Table region

                   We have enabled the LinuxA53 IPC RP Message Protocol in sysconfig.

                   We are getting the exception in  SOC_moduleSetClockFrequencyWithParent, function call.

                   Please advise us how to handle this exception.                             

  • Hello Narasimha,

    General guidance

    There are additional modifications that must be made to get R5F networking running alongside Linux (like making sure that the DMA channels are assigned to the R5F instead of Linux in the resource configuration settings). Please refer to this FAQ, which was written for SDK 10.x:  [FAQ] AM64X: How to combine R5F PRU_ICSSG Ethernet with Linux A53 cores 

    What about SOC_moduleSetClockFrequencyWithParent exception? 

    This seems likely to be a resource conflict. There is a device manager core running on the AM64x that keeps track of which core "owns" a peripheral. Before the R5F is allowed to set the clock for a peripheral, I would expect that it would request ownership of that peripheral. If the peripheral is enabled in the Linux devicetree, then Linux already has ownership. The R5F request will fail, and the R5F will fail to set the clock.

    For more, see the FAQ listed under "General guidance".

    Regards,

    Nick

  • HI Nick,

              After Disabling the resources as suggested  and build U-boot along with tispl.bin  and tiboot3.bin.The boot process stops as below attached log.

    U-Boot SPL 2025.01-gd2a72467939e-dirty (Nov 03 2025 - 16:50:32 +0530)
    Resetting on cold boot to workaround ErrataID:i2331
    Please resend tiboot3.bin in case of UART/DFU boot
    resetting ...
    
    U-Boot SPL 2025.01-gd2a72467939e-dirty (Nov 03 2025 - 16:50:32 +0530)
    SYSFW ABI: 4.0 (firmware rev 0x000b '11.1.2--v11.01.02 (Fancy Rat)')
    EEPROM not available at 0x50, trying to read at 0x51
    Reading on-board EEPROM at 0x51 failed -121
    SPL initial stack usage: 13504 bytes
    Trying to boot from MMC2
    Authentication passed
    Authentication passed
    Loading Environment from nowhere... OK
    Authentication passed
    Authentication passed
    Starting ATF on ARM64 core...
    
    NOTICE:  BL31: v2.13.0(release):v2.13.0-240-gd90bb650fe-dirty
    NOTICE:  BL31: Built : 21:37:18, Jun 23 2025
    I/TC: 
    I/TC: OP-TEE version: 4.6.0-dev (gcc version 13.4.0 (GCC)) #1 Fri Apr 25 11:17:53 UTC 2025 aarch64
    I/TC: WARNING: This OP-TEE configuration might be insecure!
    I/TC: WARNING: Please check https://optee.readthedocs.io/en/latest/architecture/porting_guidelines.html
    I/TC: Primary CPU initializing
    I/TC: GIC redistributor base address not provided
    I/TC: Assuming default GIC group status and modifier
    I/TC: SYSFW ABI: 4.0 (firmware rev 0x000b '11.1.2--v11.01.02 (Fancy Rat)')
    I/TC: Activated SA2UL device
    I/TC: Enabled firewalls for SA2UL TRNG device
    I/TC: SA2UL TRNG initialized
    I/TC: SA2UL Drivers initialized
    I/TC: HUK Initialized
    I/TC: Primary CPU switching to normal world boot
    
    U-Boot SPL 2025.01-gd2a72467939e-dirty (Nov 03 2025 - 16:50:56 +0530)
    SYSFW ABI: 4.0 (firmware rev 0x000b '11.1.2--v11.01.02 (Fancy Rat)')
    EEPROM not available at 0x50, trying to read at 0x51
    Reading on-board EEPROM at 0x51 failed -121
    Trying to boot from MMC2
    __omap24_i2c_xfer_msg: error waiting for ACK (status=0x116)
    omap_i2c_xfer: errored out at msg 0: -121
    pca953x gpio@22: Error reading output register
    Authentication passed
    Authentication passed
    
    
    U-Boot 2025.01-gd2a72467939e-dirty (Nov 03 2025 - 16:50:56 +0530)
    
    SoC:   AM64X SR2.0 HS-FS
    Model: Texas Instruments AM642 EVM
    EEPROM not available at 0x50, trying to read at 0x51
    Reading on-board EEPROM at 0x51 failed -121
    DRAM:  1 GiB
    

    Please guide what could be the issue. to proceed further.

  • Hello Narasimha,

    If you make a bunch of changes at once, it is difficult to see what caused the issue. In general, if you are trying to debug, you should try making one change at a time to figure out which change is causing specific behavior.

    Did you disable the I2C in the SysConfig project, or in Linux? If you disabled the I2C in Linux, let's try disabling it in the SysConfig project instead.

    Regards,

    Nick

  • Hi Nick,

        As suggested we have done the changes one at a time as below.

      changed below in resource allocation and generated the rm-cfg.yaml and build the u-boot,tispl and tiboot3

    •  - Disabled ICSSG0 in linux core , 
    •  - Disabled ICSSg1 in linux core.

          Disabled below in device tree

    •  Disbaled i2c0.
    •  DIsabled i2c1.
    • Disabled ICSSG0
    • Disabled ICSSG1
    • Disabled icssg1_eth
    •  Disabled mdio_mux
    • Disabled mdio_mux_1
    • Disabled icssg1_iep0 

             But still the Ethercat application is not able to run.

             The R5F1_0 and m4f core application are running successfully.

             one observation seen is the remote proc id for r5f and m4f keeps on changing for every power cycle. as shown in the below boot log.

       

    U-Boot SPL 2025.01-gd2a72467939e-dirty (Nov 05 2025 - 18:27:25 +0530)
    Resetting on cold boot to workaround ErrataID:i2331
    Please resend tiboot3.bin in case of UART/DFU boot
    resetting ...
    
    U-Boot SPL 2025.01-gd2a72467939e-dirty (Nov 05 2025 - 18:27:25 +0530)
    SYSFW ABI: 4.0 (firmware rev 0x000b '11.1.2--v11.01.02 (Fancy Rat)')
    EEPROM not available at 0x50, trying to read at 0x51
    Reading on-board EEPROM at 0x51 failed -121
    SPL initial stack usage: 13504 bytes
    Trying to boot from MMC2
    Authentication passed
    Authentication passed
    Loading Environment from nowhere... OK
    Authentication passed
    Authentication passed
    Starting ATF on ARM64 core...
    
    NOTICE:  BL31: v2.13.0(release):v2.13.0-240-gd90bb650fe-dirty
    NOTICE:  BL31: Built : 21:37:18, Jun 23 2025
    I/TC: 
    I/TC: OP-TEE version: 4.6.0-dev (gcc version 13.4.0 (GCC)) #1 Fri Apr 25 11:17:53 UTC 2025 aarch64
    I/TC: WARNING: This OP-TEE configuration might be insecure!
    I/TC: WARNING: Please check https://optee.readthedocs.io/en/latest/architecture/porting_guidelines.html
    I/TC: Primary CPU initializing
    I/TC: GIC redistributor base address not provided
    I/TC: Assuming default GIC group status and modifier
    I/TC: SYSFW ABI: 4.0 (firmware rev 0x000b '11.1.2--v11.01.02 (Fancy Rat)')
    I/TC: Activated SA2UL device
    I/TC: Enabled firewalls for SA2UL TRNG device
    I/TC: SA2UL TRNG initialized
    I/TC: SA2UL Drivers initialized
    I/TC: HUK Initialized
    I/TC: Primary CPU switching to normal world boot
    
    U-Boot SPL 2025.01-gd2a72467939e-dirty (Nov 05 2025 - 18:27:50 +0530)
    SYSFW ABI: 4.0 (firmware rev 0x000b '11.1.2--v11.01.02 (Fancy Rat)')
    EEPROM not available at 0x50, trying to read at 0x51
    Reading on-board EEPROM at 0x51 failed -121
    Trying to boot from MMC2
    __omap24_i2c_xfer_msg: error waiting for ACK (status=0x116)
    omap_i2c_xfer: errored out at msg 0: -121
    pca953x gpio@22: Error reading output register
    Authentication passed
    Authentication passed
    
    
    U-Boot 2025.01-gd2a72467939e-dirty (Nov 05 2025 - 18:27:50 +0530)
    
    SoC:   AM64X SR2.0 HS-FS
    Model: Texas Instruments AM642 EVM
    EEPROM not available at 0x50, trying to read at 0x51
    Reading on-board EEPROM at 0x51 failed -121
    DRAM:  2 GiB
    Core:  105 devices, 33 uclasses, devicetree: separate
    MMC:   mmc@fa10000: 0, mmc@fa00000: 1
    Loading Environment from nowhere... OK
    In:    serial@2800000
    Out:   serial@2800000
    Err:   serial@2800000
    EEPROM not available at 0x50, trying to read at 0x51
    Reading on-board EEPROM at 0x51 failed -121
    Net:   eth0: ethernet@8000000port@1Could not get PHY for mdio@32400: addr 15
    prueth_port icssg1-eth-port@0: phy_connect() failed
    
    Hit any key to stop autoboot:  2  1  0 
    __omap24_i2c_xfer_msg: error waiting for ACK (status=0x116)
    omap_i2c_xfer: errored out at msg 0: -121
    pca953x gpio@22: Error reading output register
    switch to partitions #0, OK
    mmc1 is current device
    __omap24_i2c_xfer_msg: error waiting for ACK (status=0x116)
    omap_i2c_xfer: errored out at msg 0: -121
    pca953x gpio@22: Error reading output register
    SD/MMC found on device 1
    574 bytes read in 1 ms (560.5 KiB/s)
    Loaded env from uEnv.txt
    Importing environment from mmc1 ...
    14729728 bytes read in 610 ms (23 MiB/s)
    59426 bytes read in 6 ms (9.4 MiB/s)
    Working FDT set to 88000000
    ## Flattened Device Tree blob at 88000000
       Booting using the fdt blob at 0x88000000
    Working FDT set to 88000000
       Loading Device Tree to 000000008feee000, end 000000008fffffff ... OK
    Working FDT set to 8feee000
    
    Starting kernel ...
    
    [    0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd034]
    [    0.000000] Linux version 6.12.35-ge3e551586dfa-dirty (tummalanr@lapunix-tummalanr) (aarch64-oe-linux-gcc (GCC) 13.4.0, GNU ld (GNU Binutils) 2.42.0.20240723) #1 SMP PREEMPT_RT Wed Nov  5 16:35:38 IST 2025
    [    0.000000] Machine model: Texas Instruments AM642 EVM
    [    0.000000] earlycon: ns16550a0 at MMIO32 0x0000000002800000 (options '')
    [    0.000000] printk: legacy bootconsole [ns16550a0] enabled
    [    0.000000] efi: UEFI not found.
    [    0.000000] OF: reserved mem: 0x000000009e800000..0x000000009fffffff (24576 KiB) nomap non-reusable optee@9e800000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a0000000, size 1 MiB
    [    0.000000] OF: reserved mem: initialized node r5f-dma-memory@a0000000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a0000000..0x00000000a00fffff (1024 KiB) nomap non-reusable r5f-dma-memory@a0000000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a0100000, size 15 MiB
    [    0.000000] OF: reserved mem: initialized node r5f-memory@a0100000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a0100000..0x00000000a0ffffff (15360 KiB) nomap non-reusable r5f-memory@a0100000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a1000000, size 1 MiB
    [    0.000000] OF: reserved mem: initialized node r5f-dma-memory@a1000000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a1000000..0x00000000a10fffff (1024 KiB) nomap non-reusable r5f-dma-memory@a1000000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a1100000, size 15 MiB
    [    0.000000] OF: reserved mem: initialized node r5f-memory@a1100000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a1100000..0x00000000a1ffffff (15360 KiB) nomap non-reusable r5f-memory@a1100000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a2000000, size 1 MiB
    [    0.000000] OF: reserved mem: initialized node r5f-dma-memory@a2000000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a2000000..0x00000000a20fffff (1024 KiB) nomap non-reusable r5f-dma-memory@a2000000
    ERROR:   Failed to get response (-19)
    ERROR:   Transfer send failed (-19)
    ERROR:   Request to start core failed: -19
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a2100000, size 15 MiB
    [    0.000000] OF: reserved mem: initialized node r5f-memory@a2100000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a2100000..0x00000000a2ffffff (15360 KiB) nomap non-reusable r5f-memory@a2100000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a3000000, size 1 MiB
    [    0.000000] OF: reserved mem: initialized node r5f-dma-memory@a3000000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a3000000..0x00000000a30fffff (1024 KiB) nomap non-reusable r5f-dma-memory@a3000000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a3100000, size 15 MiB
    [    0.000000] OF: reserved mem: initialized node r5f-memory@a3100000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a3100000..0x00000000a3ffffff (15360 KiB) nomap non-reusable r5f-memory@a3100000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a4000000, size 1 MiB
    [    0.000000] OF: reserved mem: initialized node m4f-dma-memory@a4000000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a4000000..0x00000000a40fffff (1024 KiB) nomap non-reusable m4f-dma-memory@a4000000
    [    0.000000] Reserved memory: created DMA memory pool at 0x00000000a4100000, size 15 MiB
    [    0.000000] OF: reserved mem: initialized node m4f-memory@a4100000, compatible id shared-dma-pool
    [    0.000000] OF: reserved mem: 0x00000000a4100000..0x00000000a4ffffff (15360 KiB) nomap non-reusable m4f-memory@a4100000
    [    0.000000] OF: reserved mem: 0x00000000a5000000..0x00000000a57fffff (8192 KiB) nomap non-reusable ipc-memories@a5000000
    [    0.000000] Zone ranges:
    [    0.000000]   DMA      [mem 0x0000000080000000-0x00000000ffffffff]
    [    0.000000]   DMA32    empty
    [    0.000000]   Normal   empty
    [    0.000000] Movable zone start for each node
    [    0.000000] Early memory node ranges
    [    0.000000]   node   0: [mem 0x0000000080000000-0x000000009e7fffff]
    [    0.000000]   node   0: [mem 0x000000009e800000-0x00000000a57fffff]
    [    0.000000]   node   0: [mem 0x00000000a5800000-0x00000000ffffffff]
    [    0.000000] Initmem setup node 0 [mem 0x0000000080000000-0x00000000ffffffff]
    [    0.000000] cma: Reserved 32 MiB at 0x00000000fbe00000 on node -1
    [    0.000000] psci: probing for conduit method from DT.
    [    0.000000] psci: PSCIv1.1 detected in firmware.
    [    0.000000] psci: Using standard PSCI v0.2 function IDs
    [    0.000000] psci: Trusted OS migration not required
    [    0.000000] psci: SMC Calling Convention v1.5
    [    0.000000] percpu: Embedded 23 pages/cpu s54640 r8192 d31376 u94208
    [    0.000000] Detected VIPT I-cache on CPU0
    [    0.000000] CPU features: detected: GIC system register CPU interface
    [    0.000000] CPU features: kernel page table isolation disabled by kernel configuration
    [    0.000000] CPU features: detected: ARM erratum 845719
    [    0.000000] alternatives: applying boot alternatives
    [    0.000000] Kernel command line: console=ttyS2,115200n8 earlycon=ns16550a,mmio32,0x02800000 root=PARTUUID=076c4a2a-02 rw rootfstype=ext4 rootwait
    [    0.000000] Dentry cache hash table entries: 262144 (order: 9, 2097152 bytes, linear)
    [    0.000000] Inode-cache hash table entries: 131072 (order: 8, 1048576 bytes, linear)
    [    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 524288
    [    0.000000] mem auto-init: stack:all(zero), heap alloc:off, heap free:off
    [    0.000000] software IO TLB: SWIOTLB bounce buffer size adjusted to 2MB
    [    0.000000] software IO TLB: area num 2.
    [    0.000000] software IO TLB: mapped [mem 0x00000000fba00000-0x00000000fbc00000] (2MB)
    [    0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=2, Nodes=1
    [    0.000000] rcu: Preemptible hierarchical RCU implementation.
    [    0.000000] rcu: 	RCU restricting CPUs from NR_CPUS=512 to nr_cpu_ids=2.
    [    0.000000] rcu: 	RCU_SOFTIRQ processing moved to rcuc kthreads.
    [    0.000000] 	No expedited grace period (rcu_normal_after_boot).
    [    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 100 jiffies.
    [    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=2
    [    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
    [    0.000000] GICv3: GIC: Using split EOI/Deactivate mode
    [    0.000000] GICv3: 256 SPIs implemented
    [    0.000000] GICv3: 0 Extended SPIs implemented
    [    0.000000] Root IRQ handler: 0xffff8000800100bc
    [    0.000000] GICv3: GICv3 features: 16 PPIs
    [    0.000000] GICv3: GICD_CTRL.DS=0, SCR_EL3.FIQ=1
    [    0.000000] GICv3: CPU0: found redistributor 0 region 0:0x0000000001840000
    [    0.000000] ITS [mem 0x01820000-0x0182ffff]
    [    0.000000] GIC: enabling workaround for ITS: Socionext Synquacer pre-ITS
    [    0.000000] ITS@0x0000000001820000: Devices Table too large, reduce ids 20->19
    [    0.000000] ITS@0x0000000001820000: allocated 524288 Devices @80800000 (flat, esz 8, psz 64K, shr 0)
    [    0.000000] ITS: using cache flushing for cmd queue
    [    0.000000] GICv3: using LPI property table @0x0000000080030000
    [    0.000000] GIC: using cache flushing for LPI property table
    [    0.000000] GICv3: CPU0: using allocated LPI pending table @0x0000000080040000
    [    0.000000] rcu: srcu_init: Setting srcu_struct sizes based on contention.
    [    0.000000] arch_timer: cp15 timer(s) running at 200.00MHz (phys).
    [    0.000000] clocksource: arch_sys_counter: mask: 0x3ffffffffffffff max_cycles: 0x2e2049d3e8, max_idle_ns: 440795210634 ns
    [    0.000001] sched_clock: 58 bits at 200MHz, resolution 5ns, wraps every 4398046511102ns
    [    0.000444] Console: colour dummy device 80x25
    [    0.000511] Calibrating delay loop (skipped), value calculated using timer frequency.. 400.00 BogoMIPS (lpj=200000)
    [    0.000523] pid_max: default: 32768 minimum: 301
    [    0.000605] LSM: initializing lsm=capability
    [    0.000780] Mount-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
    [    0.000806] Mountpoint-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
    [    0.003134] rcu: Hierarchical SRCU implementation.
    [    0.003150] rcu: 	Max phase no-delay instances is 400.
    [    0.046290] Timer migration: 1 hierarchy levels; 8 children per group; 1 crossnode level
    [    0.089165] EFI services will not be available.
    [    0.106553] smp: Bringing up secondary CPUs ...
    [    0.215108] psci: failed to boot CPU1 (-22)
    [    0.788443] CPU1: failed to boot: -22
    [    0.788499] smp: Brought up 1 node, 1 CPU
    [    0.788506] SMP: Total of 1 processors activated.
    [    0.788509] CPU: All CPU(s) started at EL2
    [    0.788516] CPU features: detected: 32-bit EL0 Support
    [    0.788524] CPU features: detected: CRC32 instructions
    [    0.788568] alternatives: applying system-wide alternatives
    [    0.822055] Memory: 1888796K/2097152K available (9088K kernel code, 1072K rwdata, 2200K rodata, 1920K init, 584K bss, 168196K reserved, 32768K cma-reserved)
    [    0.837557] devtmpfs: initialized
    [    0.854478] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 1911260446275000 ns
    [    0.854507] futex hash table entries: 512 (order: 3, 32768 bytes, linear)
    [    0.872758] 29008 pages in range for non-PLT usage
    [    0.872778] 520528 pages in range for PLT usage
    [    0.873062] pinctrl core: initialized pinctrl subsystem
    [    0.878871] DMI not present or invalid.
    [    0.893299] NET: Registered PF_NETLINK/PF_ROUTE protocol family
    [    0.900886] DMA: preallocated 256 KiB GFP_KERNEL pool for atomic allocations
    [    0.901461] DMA: preallocated 256 KiB GFP_KERNEL|GFP_DMA pool for atomic allocations
    [    0.917551] DMA: preallocated 256 KiB GFP_KERNEL|GFP_DMA32 pool for atomic allocations
    [    0.917697] audit: initializing netlink subsys (disabled)
    [    0.918000] audit: type=2000 audit(0.904:1): state=initialized audit_enabled=0 res=1
    [    0.921727] thermal_sys: Registered thermal governor 'step_wise'
    [    0.921960] ASID allocator initialised with 65536 entries
    [    0.957296] /bus@f4000/interrupt-controller@1800000: Fixed dependency cycle(s) with /bus@f4000/interrupt-controller@1800000
    [    0.978823] HugeTLB: registered 1.00 GiB page size, pre-allocated 0 pages
    [    0.978841] HugeTLB: 0 KiB vmemmap can be freed for a 1.00 GiB page
    [    0.978848] HugeTLB: registered 32.0 MiB page size, pre-allocated 0 pages
    [    0.978851] HugeTLB: 0 KiB vmemmap can be freed for a 32.0 MiB page
    [    0.978856] HugeTLB: registered 2.00 MiB page size, pre-allocated 0 pages
    [    0.978859] HugeTLB: 0 KiB vmemmap can be freed for a 2.00 MiB page
    [    0.978864] HugeTLB: registered 64.0 KiB page size, pre-allocated 0 pages
    [    0.978868] HugeTLB: 0 KiB vmemmap can be freed for a 64.0 KiB page
    [    1.034166] k3-chipinfo 43000014.chipid: Family:AM64X rev:SR2.0 JTAGID[0x1bb3802f] Detected
    [    1.045857] iommu: Default domain type: Translated
    [    1.045875] iommu: DMA domain TLB invalidation policy: strict mode
    [    1.046366] SCSI subsystem initialized
    [    1.062610] pps_core: LinuxPPS API ver. 1 registered
    [    1.062623] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
    [    1.062642] PTP clock support registered
    [    1.062696] EDAC MC: Ver: 3.0.0
    [    1.084847] scmi_core: SCMI protocol bus registered
    [    1.090223] FPGA manager framework
    [    1.095288] clocksource: Switched to clocksource arch_sys_counter
    [    1.095586] VFS: Disk quotas dquot_6.6.0
    [    1.095609] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
    [    1.121825] NET: Registered PF_INET protocol family
    [    1.122150] IP idents hash table entries: 32768 (order: 6, 262144 bytes, linear)
    [    1.136919] tcp_listen_portaddr_hash hash table entries: 1024 (order: 3, 40960 bytes, linear)
    [    1.136976] Table-perturb hash table entries: 65536 (order: 6, 262144 bytes, linear)
    [    1.137002] TCP established hash table entries: 16384 (order: 5, 131072 bytes, linear)
    [    1.141307] TCP bind hash table entries: 16384 (order: 8, 1310720 bytes, linear)
    [    1.171240] TCP: Hash tables configured (established 16384 bind 16384)
    [    1.178230] UDP hash table entries: 1024 (order: 4, 98304 bytes, linear)
    [    1.185253] UDP-Lite hash table entries: 1024 (order: 4, 98304 bytes, linear)
    [    1.192907] NET: Registered PF_UNIX/PF_LOCAL protocol family
    [    1.199299] RPC: Registered named UNIX socket transport module.
    [    1.199308] RPC: Registered udp transport module.
    [    1.199311] RPC: Registered tcp transport module.
    [    1.199314] RPC: Registered tcp-with-tls transport module.
    [    1.199318] RPC: Registered tcp NFSv4.1 backchannel transport module.
    [    1.228611] Initialise system trusted keyrings
    [    1.228840] workingset: timestamp_bits=62 max_order=19 bucket_order=0
    [    1.229245] squashfs: version 4.0 (2009/01/31) Phillip Lougher
    [    1.246728] NFS: Registering the id_resolver key type
    [    1.246772] Key type id_resolver registered
    [    1.246777] Key type id_legacy registered
    [    1.246803] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
    [    1.246809] nfs4flexfilelayout_init: NFSv4 Flexfile Layout Driver Registering...
    [    1.337927] Key type asymmetric registered
    [    1.337939] Asymmetric key parser 'x509' registered
    [    1.338029] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 244)
    [    1.338036] io scheduler mq-deadline registered
    [    1.338041] io scheduler kyber registered
    [    1.338069] io scheduler bfq registered
    [    1.371042] pinctrl-single 4084000.pinctrl: 33 pins, size 132
    [    1.377701] pinctrl-single f4000.pinctrl: 180 pins, size 720
    [    1.392048] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
    [    1.410737] loop: module loaded
    [    1.418802] tun: Universal TUN/TAP device driver, 1.6
    [    1.425169] VFIO - User Level meta-driver version: 0.3
    [    1.429806] i2c_dev: i2c /dev entries driver
    [    1.436546] sdhci: Secure Digital Host Controller Interface driver
    [    1.436555] sdhci: Copyright(c) Pierre Ossman
    [    1.436912] sdhci-pltfm: SDHCI platform and OF driver helper
    [    1.454309] SMCCC: SOC_ID: ARCH_SOC_ID not implemented, skipping ....
    I/TC: Reserved shared memory is enabled
    I/TC: Dynamic shared memory is enabled
    I/TC: Normal World virtualization support is disabled
    I/TC: Asynchronous notifications are disabled
    [    1.462456] optee: probing for conduit method.
    [    1.462496] optee: revision 4.6 (71785645fa6ce42d)
    [    1.483802] optee: dynamic shared memory is enabled
    [    1.494808] random: crng init done
    [    1.494956] optee: initialized driver
    [    1.504566] NET: Registered PF_PACKET protocol family
    [    1.504681] Key type dns_resolver registered
    [    1.523840] Loading compiled-in X.509 certificates
    [    1.545498] ti-sci 44043000.system-controller: ABI: 4.0 (firmware rev 0x000b '11.1.2--v11.01.02 (Fancy Rat)')
    [    1.671619] ti-sci-intr bus@f4000:interrupt-controller@a00000: Interrupt Router 3 domain created
    [    1.672059] ti-sci-inta 48000000.interrupt-controller: Interrupt Aggregator domain 28 created
    [    1.693500] ti-udma 485c0100.dma-controller: Number of rings: 68
    [    1.702109] ti-udma 485c0100.dma-controller: Channels: 24 (bchan: 12, tchan: 6, rchan: 6)
    [    1.713179] ti-udma 485c0000.dma-controller: Number of rings: 288
    [    1.727473] ti-udma 485c0000.dma-controller: Channels: 20 (tchan: 13, rchan: 7)
    [    1.738118] printk: legacy console [ttyS2] disabled
    [    1.743782] 2800000.serial: ttyS2 at MMIO 0x2800000 (irq = 163, base_baud = 3000000) is a 8250
    [    1.752808] printk: legacy console [ttyS2] enabled
    [    1.752808] printk: legacy console [ttyS2] enabled
    [    1.752816] printk: legacy bootconsole [ns16550a0] disabled
    [    1.752816] printk: legacy bootconsole [ns16550a0] disabled
    [    1.782551] 7 fixed-partitions partitions found on MTD device fc40000.spi.0
    [    1.782580] Creating 7 MTD partitions on "fc40000.spi.0":
    [    1.782589] 0x000000000000-0x000000100000 : "ospi.tiboot3"
    [    1.802500] 0x000000100000-0x000000300000 : "ospi.tispl"
    [    1.809686] 0x000000300000-0x000000700000 : "ospi.u-boot"
    [    1.816857] 0x000000700000-0x000000740000 : "ospi.env"
    [    1.823777] 0x000000740000-0x000000780000 : "ospi.env.backup"
    [    1.831335] 0x000000800000-0x000003fc0000 : "ospi.rootfs"
    [    1.838471] 0x000003fc0000-0x000004000000 : "ospi.phypattern"
    [    1.846144] cadence-qspi fc40000.spi: Pattern not found. Skipping calibration.
    [    1.855948] am65-cpts 39000000.cpts: CPTS ver 0x4e8a010c, freq:500000000, add_val:1 pps:1
    [    1.867151] mmc0: CQHCI version 5.10
    [    1.872566] mmc1: CQHCI version 5.10
    [    1.894155] clk: Disabling unused clocks
    [    1.919042] mmc1: SDHCI controller on fa00000.mmc [fa00000.mmc] using ADMA 64-bit
    [    1.923511] PM: genpd: Disabling unused power domains
    [    1.930199] mmc0: SDHCI controller on fa10000.mmc [fa10000.mmc] using ADMA 64-bit
    [    1.939942] Waiting for root device PARTUUID=076c4a2a-02...
    [    1.953699] mmc1: new high speed SDHC card at address aaaa
    [    1.959619] mmcblk1: mmc1:aaaa SL16G 14.8 GiB
    [    1.970369]  mmcblk1: p1 p2
    [    2.029520] mmc0: Command Queue Engine enabled
    [    2.029655] mmc0: new HS200 MMC card at address 0001
    [    2.040437] mmcblk0: mmc0:0001 S0J35A 7.28 GiB
    [    2.047416] mmcblk0boot0: mmc0:0001 S0J35A 31.5 MiB
    [    2.054575] mmcblk0boot1: mmc0:0001 S0J35A 31.5 MiB
    [    2.061361] mmcblk0rpmb: mmc0:0001 S0J35A 4.00 MiB, chardev (240:0)
    [    2.322317] EXT4-fs (mmcblk1p2): recovery complete
    [    2.324586] EXT4-fs (mmcblk1p2): mounted filesystem 15eb5eca-37a8-4d25-99d2-09bb612c8296 r/w with ordered data mode. Quota mode: none.
    [    2.324703] VFS: Mounted root (ext4 filesystem) on device 179:2.
    [    2.346362] devtmpfs: mounted
    [    2.350702] Freeing unused kernel memory: 1920K
    [    2.350828] Run /sbin/init as init process
    [    2.876121] systemd[1]: System time before build time, advancing clock.
    [    3.138418] NET: Registered PF_INET6 protocol family
    [    3.144618] Segment Routing with IPv6
    [    3.144661] In-situ OAM (IOAM) with IPv6
    [    3.187653] systemd[1]: systemd 255.21^ running in system mode (+PAM -AUDIT -SELINUX -APPARMOR +IMA -SMACK +SECCOMP -GCRYPT -GNUTLS -OPENSSL +ACL +BLKID -CURL -ELFUTILS -FIDO2 -IDN2 -IDN -IPTC +KMOD -LIBCRYPTSETUP +LIBFDISK -PCRE2 -PWQUALITY -P11KIT -QRENCODE -TPM2 -BZIP2 -LZ4 -XZ -ZLIB +ZSTD -BPF_FRAMEWORK -XKBCOMMON +UTMP +SYSVINIT default-hierarchy=unified)
    [    3.187697] systemd[1]: Detected architecture arm64.
    
    Welcome to Arago 2025.01!
    
    
    [    3.247570] systemd[1]: Hostname set to <am64xx-evm>.
    [    4.119841] systemd[1]: Queued start job for default target Graphical Interface.
    [  OK  ] Created slice Slice /system/getty[[    4.158603] systemd[1]: Created slice Slice /system/getty.
    0m.
    
    [    4.174170] systemd[1]: Created slice Slice /system/modprobe.
    [  OK  ] Created slice Slice /system/modprobe.
    
    [    4.189200] systemd[1]: Created slice Slice /system/serial-getty.
    [  OK  ] Created slice Slice /system/serial-getty.
    
    [  OK  ] Created slice User and Session Slic[    4.204621] systemd[1]: Created slice User and Session Slice.
    e.
    
    [  OK  ] Started Dispatch Password Requests [    4.218993] systemd[1]: Started Dispatch Password Requests to Console Directory Watch.
    to Console Directory Watch.
    
    [  OK  ] Started Forward Password Requests t[    4.237974] systemd[1]: Started Forward Password Requests to Wall Directory Watch.
    o Wall Directory Watch.
    
             Expecting device /dev/ttyS2...
    [    4.255717] systemd[1]: Expecting device /dev/ttyS2...
    
    [  OK  ] Reached target Path Units.
    [    4.267744] systemd[1]: Reached target Path Units.
    
    [  OK  ] Reached target Remote File Systems[    4.279636] systemd[1]: Reached target Remote File Systems.
    [0m.
    
    [  OK  ] Reached target Slice Units.
    [    4.292615] systemd[1]: Reached target Slice Units.
    
    [  OK  ] Reached target Swaps.
    [    4.304648] systemd[1]: Reached target Swaps.
    
    [    4.325985] systemd[1]: Listening on RPCbind Server Activation Socket.
    [  OK  ] Listening on RPCbind Server Activation Socket.
    
    [  OK  ] Reached target RPC Port Mapper.[    4.340684] systemd[1]: Reached target RPC Port Mapper.
    
    
    [  OK  ] Listening on Process Core Dump Sock[    4.365265] systemd[1]: Listening on Process Core Dump Socket.
    et.
    
    [    4.379155] systemd[1]: Listening on initctl Compatibility Named Pipe.
    [  OK  ] Listening on initctl Compatibility Named Pipe.
    
    [    4.395152] systemd[1]: Listening on Journal Audit Socket.
    [  OK  ] Listening on Journal Audit Socket.
    
    [  OK  ] Listening on Journal Socket (/dev/l[    4.409632] systemd[1]: Listening on Journal Socket (/dev/log).
    og).
    
    [  OK  ] Listening on Journal Socket.
    [    4.424658] systemd[1]: Listening on Journal Socket.
    
    [  OK  ] Listening on Network Service Netlin[    4.438772] systemd[1]: Listening on Network Service Netlink Socket.
    k Socket.
    
    [  OK  ] Listening on udev Control Socket[0[    4.465524] systemd[1]: Listening on udev Control Socket.
    m.
    
    [  OK  ] Listening on udev Kernel Socket[    4.479480] systemd[1]: Listening on udev Kernel Socket.
    .
    
    [  OK  ] Listening on User Database Manager [    4.493537] systemd[1]: Listening on User Database Manager Socket.
    Socket.
    
             Mounting Huge Pages File System...
    [    4.517696] systemd[1]: Mounting Huge Pages File System...
    
             Mounting POSIX Message Queue File System..[    4.541861] systemd[1]: Mounting POSIX Message Queue File System...
    .
    
             Mounting Kernel Debug File System...
    [    4.572921] systemd[1]: Mounting Kernel Debug File System...
    
    [    4.590157] systemd[1]: Kernel Trace File System was skipped because of an unmet condition check (ConditionPathExists=/sys/kernel/tracing).
             Mounting Temporary Directory /tmp...
    [    4.629820] systemd[1]: Mounting Temporary Directory /tmp...
    
             Starting Create List of Static Device Nodes[0[    4.685436] systemd[1]: Starting Create List of Static Device Nodes...
    m...
    
    [    4.738182] systemd[1]: Starting Load Kernel Module configfs...
             Starting Load Kernel Module configfs...
    
    [    4.790150] systemd[1]: Starting Load Kernel Module drm...
             Starting Load Kernel Module drm...
    
    [    4.838145] systemd[1]: Starting Load Kernel Module fuse...
             Starting Load Kernel Module fuse...
    
             Starting RPC Bind...
    [    4.898492] systemd[1]: Starting RPC Bind...
    
    [    4.914990] systemd[1]: File System Check on Root Device was skipped because of an unmet condition check (ConditionPathIsReadWrite=!/).
    [    4.938543] systemd[1]: systemd-journald.service: unit configures an IP firewall, but the local system does not support BPF/cgroup firewalling.
    [    4.938570] systemd[1]: systemd-journald.service: (This warning is only shown for the first unit using IP firewalling.)
    [    4.990233] systemd[1]: Starting Journal Service...
             Starting Journal Service...
    
             Starting Load Kernel Modules...
    [    5.062361] systemd[1]: Starting Load Kernel Modules...
    
    [    5.112809] systemd[1]: Starting Generate network units from Kernel command line...
             Starting Generate network units from Kernel command line...
    
             Starting Remount Root and Kernel File Systems[    5.181408] systemd[1]: Starting Remount Root and Kernel File Systems...
    [0m...
    
             Starting Coldplug All udev Devices...
    [    5.234680] systemd[1]: Starting Coldplug All udev Devices...
    
    [  OK  ] Mounted Huge Pages File System.[    5.306726] systemd[1]: Mounted Huge Pages File System.
    
    
    [  OK  ] Mounted POSIX Message Queue File Sy[    5.328669] systemd[1]: Mounted POSIX Message Queue File System.
    stem.
    
    [  OK  ] Mounted Kernel Debug File System[0[    5.350614] systemd[1]: Mounted Kernel Debug File System.
    m.
    
    [    5.366109] systemd[1]: Mounted Temporary Directory /tmp.
    [    5.378686] fuse: init (API version 7.41)
    [  OK  ] Mounted Temporary Directory /tmp.
    
    [  OK  ] Finished Create List of Static Devi[    5.416881] systemd[1]: Finished Create List of Static Device Nodes.
    ce Nodes.
    
    [    5.456795] systemd[1]: modprobe@configfs.service: Deactivated successfully.
    [  OK  ] Finished Load Kernel Module configf[    5.472740] systemd[1]: Finished Load Kernel Module configfs.
    s.
    
    [    5.502167] systemd[1]: modprobe@drm.service: Deactivated successfully.
    [  OK  ] Finished Load Kernel Module drm[    5.516770] systemd[1]: Finished Load Kernel Module drm.
    .
    
    [    5.545958] systemd[1]: modprobe@fuse.service: Deactivated successfully.
    [    5.560007] systemd[1]: Finished Load Kernel Module fuse.
    [  OK  ] Finished Load Kernel Module fuse.
    
             Mounting FUSE Control File System...
    [    5.618830] systemd[1]: Mounting FUSE Control File System...
    
    [    5.638178] systemd-journald[103]: Collecting audit messages is enabled.
             Mounting Kernel Configuration File System.[    5.671903] systemd[1]: Mounting Kernel Configuration File System...
    ..
    
             Starting Create Static Device Nodes in /dev gr[    5.735463] systemd[1]: Starting Create Static Device Nodes in /dev gracefully...
    acefully...
    
    [    5.769191] EXT4-fs (mmcblk1p2): re-mounted 15eb5eca-37a8-4d25-99d2-09bb612c8296.
    [  OK  ] Started RPC Bind.
    [    5.814714] systemd[1]: Started RPC Bind.
    
    [  OK  ] Finished Load Kernel Modules.
    [    5.841429] systemd[1]: Finished Load Kernel Modules.
    
    [    5.869475] systemd[1]: Finished Generate network units from Kernel command line.
    [  OK  ] Finished Generate network units from Kernel command line.
    
    [  OK  ] Finished Remount Root and Kernel Fi[    5.905782] systemd[1]: Finished Remount Root and Kernel File Systems.
    le Systems.
    
    [    5.947804] systemd[1]: Rebuild Hardware Database was skipped because of an unmet condition check (ConditionNeedsUpdate=/etc).
    [    5.995077] systemd[1]: Starting Apply Kernel Variables...
             Starting Apply Kernel Variables...
    
    [    6.030226] systemd[1]: Mounted FUSE Control File System.
    [  OK  ] Mounted FUSE Control File System.
    
    [  OK  ] Mounted Kernel Configuration File S[    6.051586] systemd[1]: Mounted Kernel Configuration File System.
    ystem.
    
    [  OK  ] Started Journal Service.
    [    6.119830] systemd[1]: Started Journal Service.
    
             Starting Flush Journal to Persistent Storage...
    
    [  OK  ] Finished Create Static Device Nodes in /dev gracefully.
    
             Starting Create Static Device Nodes in /dev[0[    6.462436] systemd-journald[103]: Received client request to flush runtime journal.
    m...
    
    [  OK  ] Finished Apply Kernel Variables.
    
    [  OK  ] Finished Flush Journal to Persistent Storage.
    
    [  OK  ] Finished Create Static Device Nodes in /dev.
    
    [  OK  ] Reached target Preparation for Local File Systems.
    
             Mounting /var/volatile...
    
             Starting Rule-based Manager for Device Events and Files...
    
    [  OK  ] Mounted /var/volatile.
    
             Starting Load/Save OS Random Seed...
    
    [  OK  ] Reached target Local File Systems.
    
             Starting Create System Files and Directories...
    
    [  OK  ] Finished Load/Save OS Random Seed.
    
    [  OK  ] Finished Create System Files and Directories.
    
             Starting Network Name Resolution...
    
             Starting Network Time Synchronization...
    
             Starting Record System Boot/Shutdown in UTMP...
    
             Starting User Database Manager...
    
    [  OK  ] Finished Record System Boot/Shutdown in UTMP.
    
    [  OK  ] Started User Database Manager.
    
    [  OK  ] Started Rule-based Manager for Device Events and Files.
    
    [  OK  ] Finished Coldplug All udev Devices.
    
    [  OK  ] Found device /dev/ttyS2.
    
    [  OK  ] Started Network Time Synchronization.
    
    [  OK  ] Reached target System Time Set.
    
    [  OK  ] Started Network Name Resolution.
    
    [  OK  ] Reached target Host and Network Name Lookups.
    
    [  OK  ] Reached target System Initialization.
    
    [  OK  ] Started Daily rotation of log files.
    
    [  OK  ] Started Daily Cleanup of Temporary Directories.
    
    [  OK  ] Reached target Timer Units.
    
    [  OK  ] Listening on Avahi mDNS/DNS-SD Stack Activation Socket.
    
    [  OK  ] Listening on D-Bus System Message Bus Socket.
    
             Starting Docker Socket for the API...
    
    [  OK  ] Listening on dropbear.socket.
    
    [  OK  ] Listening on PC/SC Smart Card Daemon Activation Socket.
    
             Starting D-Bus System Message Bus...
    
             Starting Reboot and dump vmcore via kexec...
    
    [  OK  ] Listening on Docker Socket for the API.
    
    [  OK  ] Finished Reboot and dump vmcore via kexec.
    
    [   11.943012] omap-mailbox 29020000.mailbox: omap mailbox rev 0x66fc9100
    [   11.964315] omap-mailbox 29040000.mailbox: omap mailbox rev 0x66fc9100
    [   11.983526] omap-mailbox 29060000.mailbox: omap mailbox rev 0x66fc9100
    [  OK  ] Started D-Bus System Message Bus.
    
    [   12.571438] platform 78000000.r5f: configured R5F for remoteproc mode
    [   12.580499] platform 78000000.r5f: assigned reserved memory node r5f-dma-memory@a0000000
    [   12.629679] remoteproc remoteproc0: 78000000.r5f is available
    [   12.696258] k3-m4-rproc 5000000.m4fss: assigned reserved memory node m4f-dma-memory@a4000000
    [   12.705858] k3-m4-rproc 5000000.m4fss: configured M4F for remoteproc mode
    [   12.718322] platform 78400000.r5f: configured R5F for remoteproc mode
    [   12.720694] platform 78400000.r5f: assigned reserved memory node r5f-dma-memory@a2000000
    [   12.744732] remoteproc remoteproc1: 78400000.r5f is available
    [   12.757506] remoteproc remoteproc2: 5000000.m4fss is available
    [   12.803959] remoteproc remoteproc0: powering up 78000000.r5f
    [   12.803996] remoteproc remoteproc0: Booting fw image am64-main-r5f0_0-fw, size 2006912
    [   12.844643] rproc-virtio rproc-virtio.0.auto: assigned reserved memory node r5f-dma-memory@a0000000
    [   12.874859] virtio_rpmsg_bus virtio0: rpmsg host is online
    [   12.875019] rproc-virtio rproc-virtio.0.auto: registered virtio0 (type 7)
    [   12.875033] remoteproc remoteproc0: remote processor 78000000.r5f is now up
    [   12.927499] remoteproc remoteproc2: powering up 5000000.m4fss
    [   12.927532] remoteproc remoteproc2: Booting fw image am64-mcu-m4f0_0-fw, size 88248
    [   12.942582] remoteproc remoteproc1: powering up 78400000.r5f
    [   12.942616] remoteproc remoteproc1: Booting fw image am64-main-r5f1_0-fw, size 1692648
    [   12.970155] rproc-virtio rproc-virtio.1.auto: assigned reserved memory node m4f-dma-memory@a4000000
    [   12.985555] virtio_rpmsg_bus virtio1: rpmsg host is online
    [   12.986379] virtio_rpmsg_bus virtio1: creating channel ti.ipc4.ping-pong addr 0xd
    [   12.986669] virtio_rpmsg_bus virtio1: creating channel rpmsg_chrdev addr 0xe
    [   12.988371] rproc-virtio rproc-virtio.1.auto: registered virtio1 (type 7)
    [   12.988384] remoteproc remoteproc2: remote processor 5000000.m4fss is now up
    [   13.063419] rproc-virtio rproc-virtio.2.auto: assigned reserved memory node r5f-dma-memory@a2000000
    [   13.088562] virtio_rpmsg_bus virtio2: rpmsg host is online
    [   13.088657] rproc-virtio rproc-virtio.2.auto: registered virtio2 (type 7)
    [   13.088669] remoteproc remoteproc1: remote processor 78400000.r5f is now up
    [  OK  ] Created slice Slice /system/tee-supplicant.
    
    [  OK  ] Reached target Socket Units.
    
    [  OK  ] Reached target Basic System.
    
    [  OK  ] Started Job spooling tools.
    
             Starting Avahi mDNS/DNS-SD Stack...
    
             Starting IPv6 Packet Filtering Framework...
    
             Starting IPv4 Packet Filtering Framework...
    
    [  OK  ] Started Multiple Spanning Tree Protocol Daemon.
    
             Starting Expand the rootfs partiti…to full size of the boot device....
    
             Starting User Login Management...
    
             Starting Virtual Console Setup...
    
    [  OK  ] Started TEE Supplicant on teepriv0.
    
             Starting Telnet Server...
    
    [  OK  ] Finished IPv6 Packet Filtering Framework.
    
    [  OK  ] Finished IPv4 Packet Filtering Framework.
    
    [  OK  ] Finished Telnet Server.
    
    [  OK  ] Reached target Preparation for Network.
    
             Starting Network Configuration...
    
    [  OK  ] Started Avahi mDNS/DNS-SD Stack.
    
    [  OK  ] Finished Expand the rootfs partition to full size of the boot device..
    
    [  OK  ] Finished Virtual Console Setup.
    
    [  OK  ] Created slice Slice /system/systemd-fsck.
    
             Expecting device /dev/mmcblk1p1...
    
    [  OK  ] Started User Login Management.
    
    [  OK  ] Found device /dev/mmcblk1p1.
    
             Starting File System Check on /dev/mmcblk1p1...
    
    [  OK  ] Listening on Load/Save RF Kill Switch Status /dev/rfkill Watch.
    
    [   17.185219] cfg80211: Loading compiled-in X.509 certificates for regulatory database
    [   17.225393] Loaded X.509 cert 'sforshee: 00b28ddf47aef9cea7'
    [   17.232229] Loaded X.509 cert 'wens: 61c038651aabdcf94bd0ac7ff06c7248db18c600'
    [  OK  ] Started Network Configuration.
    
    [  OK  ] Reached target Network.
    
             Starting containerd container runtime...
    
             Starting LLDP daemon...
    
    [  OK  ] Started Netperf Benchmark Server.
    
             Starting Simple Network Management Protocol (SNMP) Daemon....
    
             Starting Wait for Network to be Configured...
    
             Starting Permit User Sessions...
    
    [  OK  ] Finished File System Check on /dev/mmcblk1p1.
    
             Mounting /run/media/boot-mmcblk1p1...
    
    [  OK  ] Finished Permit User Sessions.
    
    [  OK  ] Started Getty on tty1.
    
    [  OK  ] Started Serial Getty on ttyS2.
    
    [  OK  ] Reached target Login Prompts.
    
    [  OK  ] Started LLDP daemon.
    
    [  OK  ] Mounted /run/media/boot-mmcblk1p1.
    
    [  OK  ] Started Simple Network Management Protocol (SNMP) Daemon..
    
    [  OK  ] Started containerd container runtime.
    
    
    
     _____                    _____           _         _   
    |  _  |___ ___ ___ ___   |  _  |___ ___  |_|___ ___| |_ 
    |     |  _| .'| . | . |  |   __|  _| . | | | -_|  _|  _|
    |__|__|_| |__,|_  |___|  |__|  |_| |___|_| |___|___|_|  
                  |___|                    |___|            
    
    Arago Project am64xx-evm ttyS2
    
    Arago 2025.01 am64xx-evm ttyS2
    
    am64xx-evm login: root
    
    [   32.254539] audit: type=1006 audit(1761835650.488:2): pid=518 uid=0 old-auid=4294967295 auid=0 tty=(none) old-ses=4294967295 ses=1 res=1
    [   32.254656] audit: type=1300 audit(1761835650.488:2): arch=c00000b7 syscall=64 success=yes exit=1 a0=8 a1=ffffddc6c358 a2=1 a3=1 items=0 ppid=1 pid=518 auid=0 uid=0 gid=0 euid=0 suid=0 fsuid=0 egid=0 sgid=0 fsgid=0 tty=(none) ses=1 comm="(systemd)" exe="/usr/lib/systemd/systemd-executor" key=(null)
    [   32.254727] audit: type=1327 audit(1761835650.488:2): proctitle="(systemd)"
    
    
    
    78root@am64xx-evm:~# 
    root@am64xx-evm:~# 
    root@am64xx-evm:~# dmesg | grep remoteproc
    [   12.571438] platform 78000000.r5f: configured R5F for remoteproc mode
    [   12.629679] remoteproc remoteproc0: 78000000.r5f is available
    [   12.705858] k3-m4-rproc 5000000.m4fss: configured M4F for remoteproc mode
    [   12.718322] platform 78400000.r5f: configured R5F for remoteproc mode
    [   12.744732] remoteproc remoteproc1: 78400000.r5f is available
    [   12.757506] remoteproc remoteproc2: 5000000.m4fss is available
    [   12.803959] remoteproc remoteproc0: powering up 78000000.r5f
    [   12.803996] remoteproc remoteproc0: Booting fw image am64-main-r5f0_0-fw, size 2006912
    [   12.875033] remoteproc remoteproc0: remote processor 78000000.r5f is now up
    [   12.927499] remoteproc remoteproc2: powering up 5000000.m4fss
    [   12.927532] remoteproc remoteproc2: Booting fw image am64-mcu-m4f0_0-fw, size 88248
    [   12.942582] remoteproc remoteproc1: powering up 78400000.r5f
    [   12.942616] remoteproc remoteproc1: Booting fw image am64-main-r5f1_0-fw, size 1692648
    [   12.988384] remoteproc remoteproc2: remote processor 5000000.m4fss is now up
    [   13.088669] remoteproc remoteproc1: remote processor 78400000.r5f is now up
    root@am64xx-evm:~# head /sys/class/remoteproc/remoteproc*/name
    ==> /sys/class/remoteproc/remoteproc0/name <==
    78000000.r5f
    
    ==> /sys/class/remoteproc/remoteproc1/name <==
    78400000.r5f
    
    ==> /sys/class/remoteproc/remoteproc2/name <==
    5000000.m4fss
    root@am64xx-evm:~# 

    Below is our device tree

    // SPDX-License-Identifier: GPL-2.0-only OR MIT
    /*
     * Copyright (C) 2020-2024 Texas Instruments Incorporated - https://www.ti.com/
     */
    
    /dts-v1/;
    
    #include <dt-bindings/phy/phy.h>
    #include <dt-bindings/leds/common.h>
    #include <dt-bindings/gpio/gpio.h>
    #include <dt-bindings/net/ti-dp83867.h>
    #include "k3-am642.dtsi"
    
    #include "k3-serdes.h"
    #include "k3-timesync-router.h"
    
    / {
    	compatible = "ti,am642-evm", "ti,am642";
    	model = "Texas Instruments AM642 EVM";
    
    	chosen {
    		stdout-path = &main_uart0;
    	};
    
    	aliases {
    		serial0 = &mcu_uart0;
    		serial1 = &main_uart1;
    		serial2 = &main_uart0;
    		serial3 = &main_uart3;
    		//i2c0 = &main_i2c0;		//Commented by us
    		//i2c1 = &main_i2c1;
    		mmc0 = &sdhci0;
    		mmc1 = &sdhci1;
    		//ethernet0 = &cpsw_port1;		//Commented by us
    		//ethernet1 = &cpsw_port2;		//Commented by us
    		//ethernet2 = &icssg1_emac0;		//Commented by us
    	};
    
    	memory@80000000 {
    		bootph-all;
    		device_type = "memory";
    		/* 2G RAM */
    		reg = <0x00000000 0x80000000 0x00000000 0x80000000>;
    	};
    
    	reserved-memory {
    		#address-cells = <2>;
    		#size-cells = <2>;
    		ranges;
    
    		secure_ddr: optee@9e800000 {
    			reg = <0x00 0x9e800000 0x00 0x01800000>; /* for OP-TEE */
    			alignment = <0x1000>;
    			no-map;
    		};
    
    		main_r5fss0_core0_dma_memory_region: r5f-dma-memory@a0000000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa0000000 0x00 0x100000>;
    			no-map;
    		};
    
    		main_r5fss0_core0_memory_region: r5f-memory@a0100000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa0100000 0x00 0xf00000>;
    			no-map;
    		};
    
    		main_r5fss0_core1_dma_memory_region: r5f-dma-memory@a1000000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa1000000 0x00 0x100000>;
    			no-map;
    		};
    
    		main_r5fss0_core1_memory_region: r5f-memory@a1100000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa1100000 0x00 0xf00000>;
    			no-map;
    		};
    
    		main_r5fss1_core0_dma_memory_region: r5f-dma-memory@a2000000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa2000000 0x00 0x100000>;
    			no-map;
    		};
    
    		main_r5fss1_core0_memory_region: r5f-memory@a2100000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa2100000 0x00 0xf00000>;
    			no-map;
    		};
    
    		main_r5fss1_core1_dma_memory_region: r5f-dma-memory@a3000000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa3000000 0x00 0x100000>;
    			no-map;
    		};
    
    		main_r5fss1_core1_memory_region: r5f-memory@a3100000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa3100000 0x00 0xf00000>;
    			no-map;
    		};
    
    		mcu_m4fss_dma_memory_region: m4f-dma-memory@a4000000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa4000000 0x00 0x100000>;
    			no-map;
    		};
    
    		mcu_m4fss_memory_region: m4f-memory@a4100000 {
    			compatible = "shared-dma-pool";
    			reg = <0x00 0xa4100000 0x00 0xf00000>;
    			no-map;
    		};
    
    		rtos_ipc_memory_region: ipc-memories@a5000000 {
    			reg = <0x00 0xa5000000 0x00 0x00800000>;
    			alignment = <0x1000>;
    			no-map;
    		};
    	};
    
    	evm_12v0: regulator-0 {
    		/* main DC jack */
    		bootph-all;
    		compatible = "regulator-fixed";
    		regulator-name = "evm_12v0";
    		regulator-min-microvolt = <12000000>;
    		regulator-max-microvolt = <12000000>;
    		regulator-always-on;
    		regulator-boot-on;
    	};
    
    	vsys_5v0: regulator-1 {
    		/* output of LM5140 */
    		compatible = "regulator-fixed";
    		regulator-name = "vsys_5v0";
    		regulator-min-microvolt = <5000000>;
    		regulator-max-microvolt = <5000000>;
    		vin-supply = <&evm_12v0>;
    		regulator-always-on;
    		regulator-boot-on;
    	};
    
    	vsys_3v3: regulator-2 {
    		/* output of LM5140 */
    		bootph-all;
    		compatible = "regulator-fixed";
    		regulator-name = "vsys_3v3";
    		regulator-min-microvolt = <3300000>;
    		regulator-max-microvolt = <3300000>;
    		vin-supply = <&evm_12v0>;
    		regulator-always-on;
    		regulator-boot-on;
    	};
    
    	vdd_mmc1: regulator-3 {
    		/* TPS2051BD */
    		bootph-all;
    		compatible = "regulator-fixed";
    		regulator-name = "vdd_mmc1";
    		regulator-min-microvolt = <3300000>;
    		regulator-max-microvolt = <3300000>;
    		regulator-boot-on;
    		regulator-always-on;			//check later added by us
    		enable-active-high;
    		vin-supply = <&vsys_3v3>;
    		//gpio = <&exp1 6 GPIO_ACTIVE_HIGH>;		//commented by us
    	};
    
    	vddb: regulator-4 {
    		compatible = "regulator-fixed";
    		regulator-name = "vddb_3v3_display";
    		regulator-min-microvolt = <3300000>;
    		regulator-max-microvolt = <3300000>;
    		vin-supply = <&vsys_3v3>;
    		regulator-always-on;
    		regulator-boot-on;
    	};
    
    	vtt_supply: regulator-5 {
    		bootph-all;
    		compatible = "regulator-fixed";
    		regulator-name = "vtt";
    		pinctrl-names = "default";
    		pinctrl-0 = <&ddr_vtt_pins_default>;
    		regulator-min-microvolt = <3300000>;
    		regulator-max-microvolt = <3300000>;
    		gpio = <&main_gpio0 12 GPIO_ACTIVE_HIGH>;
    		vin-supply = <&vsys_3v3>;
    		enable-active-high;
    		regulator-always-on;
    		regulator-boot-on;
    	};
    	
    	/* Commented by us
    	leds {
    		compatible = "gpio-leds";
    
    		led-0 {
    			label = "am64-evm:red:heartbeat";
    			gpios = <&exp1 16 GPIO_ACTIVE_HIGH>;
    			linux,default-trigger = "heartbeat";
    			function = LED_FUNCTION_HEARTBEAT;
    			default-state = "off";
    		};
    	};
    
    	
    	mdio_mux: mux-controller {
    		compatible = "gpio-mux";
    		#mux-control-cells = <0>;
    
    		mux-gpios = <&exp1 12 GPIO_ACTIVE_HIGH>;
    	};
    
    	mdio_mux_1: mdio-mux-1 {
    		compatible = "mdio-mux-multiplexer";
    		mux-controls = <&mdio_mux>;
    		mdio-parent-bus = <&cpsw3g_mdio>;
    		#address-cells = <1>;
    		#size-cells = <0>;
    
    		mdio@1 {
    			reg = <0x1>;
    			#address-cells = <1>;
    			#size-cells = <0>;
    
    			cpsw3g_phy3: ethernet-phy@3 {
    				reg = <3>;
    			};
    		};
    	};
    	
    	
    
    	transceiver1: can-phy0 {
    		compatible = "ti,tcan1042";
    		#phy-cells = <0>;
    		max-bitrate = <5000000>;
    		standby-gpios = <&exp1 8 GPIO_ACTIVE_HIGH>;
    	};
    
    	transceiver2: can-phy1 {
    		compatible = "ti,tcan1042";
    		#phy-cells = <0>;
    		max-bitrate = <5000000>;
    		standby-gpios = <&exp1 9 GPIO_ACTIVE_HIGH>;
    	};
    	*/
    	//added by us
    	icssg1_eth: icssg1-eth {
    	
    	status = "disabled";			
    	};
    	
    	/* //commented by us
    	icssg1_eth: icssg1-eth {
    	
    	status = "disabled";			//added by us
    		compatible = "ti,am642-icssg-prueth";
    		pinctrl-names = "default";
    		pinctrl-0 = <&icssg1_rgmii1_pins_default>;
    		sram = <&oc_sram>;
    		ti,prus = <&pru1_0>, <&rtu1_0>, <&tx_pru1_0>, <&pru1_1>, <&rtu1_1>, <&tx_pru1_1>;
    		firmware-name = "ti-pruss/am64x-sr2-pru0-prueth-fw.elf",
    				"ti-pruss/am64x-sr2-rtu0-prueth-fw.elf",
    				"ti-pruss/am64x-sr2-txpru0-prueth-fw.elf",
    				"ti-pruss/am64x-sr2-pru1-prueth-fw.elf",
    				"ti-pruss/am64x-sr2-rtu1-prueth-fw.elf",
    				"ti-pruss/am64x-sr2-txpru1-prueth-fw.elf";
    
    		ti,pruss-gp-mux-sel = <2>,	// MII mode
    				      <2>,
    				      <2>,
    				      <2>,	// MII mode
    				      <2>,
    				      <2>;
    		ti,mii-g-rt = <&icssg1_mii_g_rt>;
    		ti,mii-rt = <&icssg1_mii_rt>;
    		ti,iep = <&icssg1_iep0>,  <&icssg1_iep1>;
    		ti,pa-stats = <&icssg1_pa_stats>;
    		interrupt-parent = <&icssg1_intc>;
    		interrupts = <24 0 2>, <25 1 3>;
    		interrupt-names = "tx_ts0", "tx_ts1";
    		dmas = <&main_pktdma 0xc200 15>, // egress slice 0
    		       <&main_pktdma 0xc201 15>, // egress slice 0 
    		       <&main_pktdma 0xc202 15>, // egress slice 0 
    		       <&main_pktdma 0xc203 15>, // egress slice 0 
    		       <&main_pktdma 0xc204 15>, // egress slice 1 
    		       <&main_pktdma 0xc205 15>, // egress slice 1 
    		       <&main_pktdma 0xc206 15>, // egress slice 1 
    		       <&main_pktdma 0xc207 15>, // egress slice 1 
    		       <&main_pktdma 0x4200 15>, // ingress slice 0 
    		       <&main_pktdma 0x4201 15>; // ingress slice 1 
    		dma-names = "tx0-0", "tx0-1", "tx0-2", "tx0-3",
    			    "tx1-0", "tx1-1", "tx1-2", "tx1-3",
    			    "rx0", "rx1";
    
    		ethernet-ports {
    			#address-cells = <1>;
    			#size-cells = <0>;
    			icssg1_emac0: port@0 {
    				reg = <0>;
    				phy-handle = <&icssg1_phy1>;
    				phy-mode = "rgmii-id";
    				// Filled in by bootloader
    				local-mac-address = [00 00 00 00 00 00];
    			};
    			icssg1_emac1: port@1 {
    				reg = <1>;
    				// Filled in by bootloader
    				local-mac-address = [00 00 00 00 00 00];
    				status = "disabled";
    			};
    		};
    	};
    	*/	//commented by us
    };
    
    &main_pmx0 {
    	main_mmc1_pins_default: main-mmc1-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0294, PIN_INPUT_PULLUP, 0) /* (J19) MMC1_CMD */
    			AM64X_IOPAD(0x028c, PIN_INPUT_PULLDOWN, 0) /* (L20) MMC1_CLK */
    			AM64X_IOPAD(0x0288, PIN_INPUT_PULLUP, 0) /* (K21) MMC1_DAT0 */
    			AM64X_IOPAD(0x0284, PIN_INPUT_PULLUP, 0) /* (L21) MMC1_DAT1 */
    			AM64X_IOPAD(0x0280, PIN_INPUT_PULLUP, 0) /* (K19) MMC1_DAT2 */
    			AM64X_IOPAD(0x027c, PIN_INPUT_PULLUP, 0) /* (K18) MMC1_DAT3 */
    			AM64X_IOPAD(0x0298, PIN_INPUT_PULLUP, 0) /* (D19) MMC1_SDCD */
    			AM64X_IOPAD(0x029c, PIN_INPUT, 0) /* (C20) MMC1_SDWP */
    			AM64X_IOPAD(0x0290, PIN_INPUT, 0) /* MMC1_CLKLB */
    		>;
    	};
    
    	main_uart1_pins_default: main-uart1-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0248, PIN_INPUT, 0)		/* (D16) UART1_CTSn */
    			AM64X_IOPAD(0x024c, PIN_OUTPUT, 0)		/* (E16) UART1_RTSn */
    			AM64X_IOPAD(0x0240, PIN_INPUT, 0)		/* (E15) UART1_RXD */
    			AM64X_IOPAD(0x0244, PIN_OUTPUT, 0)		/* (E14) UART1_TXD */
    		>;
    	};
    
    	main_uart0_pins_default: main-uart0-default-pins {
    		bootph-all;
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0238, PIN_INPUT, 0) /* (B16) UART0_CTSn */
    			AM64X_IOPAD(0x023c, PIN_OUTPUT, 0) /* (A16) UART0_RTSn */
    			AM64X_IOPAD(0x0230, PIN_INPUT, 0) /* (D15) UART0_RXD */
    			AM64X_IOPAD(0x0234, PIN_OUTPUT, 0) /* (C16) UART0_TXD */
    		>;
    	};
    
    	main_spi0_pins_default: main-spi0-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0210, PIN_INPUT, 0) /* (D13) SPI0_CLK */
    			AM64X_IOPAD(0x0208, PIN_OUTPUT, 0) /* (D12) SPI0_CS0 */
    			AM64X_IOPAD(0x0214, PIN_OUTPUT, 0) /* (A13) SPI0_D0 */
    			AM64X_IOPAD(0x0218, PIN_INPUT, 0) /* (A14) SPI0_D1 */
    		>;
    	};
    
    	/*main_i2c0_pins_default: main-i2c0-default-pins {
    		bootph-all;
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0260, PIN_INPUT_PULLUP, 0) // (A18) I2C0_SCL 
    			AM64X_IOPAD(0x0264, PIN_INPUT_PULLUP, 0) //(B18) I2C0_SDA 
    		>;
    	};
    
    	main_i2c1_pins_default: main-i2c1-default-pins {
    		bootph-all;
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0268, PIN_INPUT_PULLUP, 0) // (C18) I2C1_SCL 
    			AM64X_IOPAD(0x026c, PIN_INPUT_PULLUP, 0) // (B19) I2C1_SDA 
    		>;
    	};*/
    
    /* commented by us
    	mdio1_pins_default: mdio1-default-pins {
    		bootph-all;
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x01fc, PIN_OUTPUT, 4) // (R2) PRG0_PRU1_GPO19.MDIO0_MDC 
    			AM64X_IOPAD(0x01f8, PIN_INPUT, 4) // (P5) PRG0_PRU1_GPO18.MDIO0_MDIO 
    		>;
    	};
    
    	rgmii1_pins_default: rgmii1-default-pins {
    		bootph-all;
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x01cc, PIN_INPUT, 4) // (W5) PRG0_PRU1_GPO7.RGMII1_RD0
    			AM64X_IOPAD(0x01d4, PIN_INPUT, 4) // (Y5) PRG0_PRU1_GPO9.RGMII1_RD1 
    			AM64X_IOPAD(0x01d8, PIN_INPUT, 4) // (V6) PRG0_PRU1_GPO10.RGMII1_RD2 
    			AM64X_IOPAD(0x01f4, PIN_INPUT, 4) // (V5) PRG0_PRU1_GPO17.RGMII1_RD3 
    			AM64X_IOPAD(0x0188, PIN_INPUT, 4) // (AA5) PRG0_PRU0_GPO10.RGMII1_RXC 
    			AM64X_IOPAD(0x0184, PIN_INPUT, 4) // (W6) PRG0_PRU0_GPO9.RGMII1_RX_CTL 
    			AM64X_IOPAD(0x0124, PIN_OUTPUT, 4) // (V15) PRG1_PRU1_GPO7.RGMII1_TD0 
    			AM64X_IOPAD(0x012c, PIN_OUTPUT, 4) // (V14) PRG1_PRU1_GPO9.RGMII1_TD1 
    			AM64X_IOPAD(0x0130, PIN_OUTPUT, 4) // (W14) PRG1_PRU1_GPO10.RGMII1_TD2 
    			AM64X_IOPAD(0x014c, PIN_OUTPUT, 4) // (AA14) PRG1_PRU1_GPO17.RGMII1_TD3 
    			AM64X_IOPAD(0x00e0, PIN_OUTPUT, 4) // (U14) PRG1_PRU0_GPO10.RGMII1_TXC 
    			AM64X_IOPAD(0x00dc, PIN_OUTPUT, 4) // (U15) PRG1_PRU0_GPO9.RGMII1_TX_CTL 
    		>;
    	};
    
           rgmii2_pins_default: rgmii2-default-pins {
    		bootph-all;
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0108, PIN_INPUT, 4) // (W11) PRG1_PRU1_GPO0.RGMII2_RD0 
    			AM64X_IOPAD(0x010c, PIN_INPUT, 4) // (V11) PRG1_PRU1_GPO1.RGMII2_RD1 
    			AM64X_IOPAD(0x0110, PIN_INPUT, 4) // (AA12) PRG1_PRU1_GPO2.RGMII2_RD2 
    			AM64X_IOPAD(0x0114, PIN_INPUT, 4) // (Y12) PRG1_PRU1_GPO3.RGMII2_RD3 
    			AM64X_IOPAD(0x0120, PIN_INPUT, 4) // (U11) PRG1_PRU1_GPO6.RGMII2_RXC 
    			AM64X_IOPAD(0x0118, PIN_INPUT, 4) // (W12) PRG1_PRU1_GPO4.RGMII2_RX_CTL 
    			AM64X_IOPAD(0x0134, PIN_OUTPUT, 4) // (AA10) PRG1_PRU1_GPO11.RGMII2_TD0 
    			AM64X_IOPAD(0x0138, PIN_OUTPUT, 4) // (V10) PRG1_PRU1_GPO12.RGMII2_TD1 
    			AM64X_IOPAD(0x013c, PIN_OUTPUT, 4) // (U10) PRG1_PRU1_GPO13.RGMII2_TD2 
    			AM64X_IOPAD(0x0140, PIN_OUTPUT, 4) // (AA11) PRG1_PRU1_GPO14.RGMII2_TD3 
    			AM64X_IOPAD(0x0148, PIN_OUTPUT, 4) // (Y10) PRG1_PRU1_GPO16.RGMII2_TXC 
    			AM64X_IOPAD(0x0144, PIN_OUTPUT, 4) // (Y11) PRG1_PRU1_GPO15.RGMII2_TX_CTL 
    		>;
    	};
    	
    
    	main_usb0_pins_default: main-usb0-default-pins {
    		bootph-all;
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x02a8, PIN_OUTPUT, 0) // (E19) USB0_DRVVBUS 
    		>;
    	};
    	*/
    	ospi0_pins_default: ospi0-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0000, PIN_OUTPUT, 0) /* (N20) OSPI0_CLK */
    			AM64X_IOPAD(0x002c, PIN_OUTPUT, 0) /* (L19) OSPI0_CSn0 */
    			AM64X_IOPAD(0x000c, PIN_INPUT, 0) /* (M19) OSPI0_D0 */
    			AM64X_IOPAD(0x0010, PIN_INPUT, 0) /* (M18) OSPI0_D1 */
    			AM64X_IOPAD(0x0014, PIN_INPUT, 0) /* (M20) OSPI0_D2 */
    			AM64X_IOPAD(0x0018, PIN_INPUT, 0) /* (M21) OSPI0_D3 */
    			AM64X_IOPAD(0x001c, PIN_INPUT, 0) /* (P21) OSPI0_D4 */
    			AM64X_IOPAD(0x0020, PIN_INPUT, 0) /* (P20) OSPI0_D5 */
    			AM64X_IOPAD(0x0024, PIN_INPUT, 0) /* (N18) OSPI0_D6 */
    			AM64X_IOPAD(0x0028, PIN_INPUT, 0) /* (M17) OSPI0_D7 */
    			AM64X_IOPAD(0x0008, PIN_INPUT, 0) /* (N19) OSPI0_DQS */
    		>;
    		bootph-all;
    	};
    
    	main_ecap0_pins_default: main-ecap0-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0270, PIN_INPUT, 0) /* (D18) ECAP0_IN_APWM_OUT */
    		>;
    	};
    
    	main_mcan0_pins_default: main-mcan0-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0254, PIN_INPUT, 0) /* (B17) MCAN0_RX */
    			AM64X_IOPAD(0x0250, PIN_OUTPUT, 0) /* (A17) MCAN0_TX */
    		>;
    	};
    
    	main_mcan1_pins_default: main-mcan1-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x025c, PIN_INPUT, 0) /* (D17) MCAN1_RX */
    			AM64X_IOPAD(0x0258, PIN_OUTPUT, 0) /* (C17) MCAN1_TX */
    		>;
    	};
    
    	ddr_vtt_pins_default: ddr-vtt-default-pins {
    		bootph-all;
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0030, PIN_OUTPUT_PULLUP, 7) /* (L18) OSPI0_CSN1.GPIO0_12 */
    		>;
    	};
    
    	icssg1_mdio1_pins_default: icssg1-mdio1-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x015c, PIN_OUTPUT, 0) /* (Y6) PRG1_MDIO0_MDC */
    			AM64X_IOPAD(0x0158, PIN_INPUT, 0) /* (AA6) PRG1_MDIO0_MDIO */
    		>;
    	};
    
    	/*
    	icssg1_rgmii1_pins_default: icssg1-rgmii1-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x00b8, PIN_INPUT, 2) // (Y7) PRG1_PRU0_GPO0.PRG1_RGMII1_RD0 
    			AM64X_IOPAD(0x00bc, PIN_INPUT, 2) // (U8) PRG1_PRU0_GPO1.PRG1_RGMII1_RD1 
    			AM64X_IOPAD(0x00c0, PIN_INPUT, 2) // (W8) PRG1_PRU0_GPO2.PRG1_RGMII1_RD2 
    			AM64X_IOPAD(0x00c4, PIN_INPUT, 2) // (V8) PRG1_PRU0_GPO3.PRG1_RGMII1_RD3 
    			AM64X_IOPAD(0x00d0, PIN_INPUT, 2) // (AA7) PRG1_PRU0_GPO6.PRG1_RGMII1_RXC 
    			AM64X_IOPAD(0x00c8, PIN_INPUT, 2) // (Y8) PRG1_PRU0_GPO4.PRG1_RGMII1_RX_CTL 
    			AM64X_IOPAD(0x00e4, PIN_INPUT, 2) // (AA8) PRG1_PRU0_GPO11.PRG1_RGMII1_TD0 
    			AM64X_IOPAD(0x00e8, PIN_INPUT, 2) // (U9) PRG1_PRU0_GPO12.PRG1_RGMII1_TD1 
    			AM64X_IOPAD(0x00ec, PIN_INPUT, 2) // (W9) PRG1_PRU0_GPO13.PRG1_RGMII1_TD2 
    			AM64X_IOPAD(0x00f0, PIN_INPUT, 2) // (AA9) PRG1_PRU0_GPO14.PRG1_RGMII1_TD3 
    			AM64X_IOPAD(0x00f8, PIN_INPUT, 2) // (V9) PRG1_PRU0_GPO16.PRG1_RGMII1_TXC 
    			AM64X_IOPAD(0x00f4, PIN_INPUT, 2) // (Y9) PRG1_PRU0_GPO15.PRG1_RGMII1_TX_CTL 
    		>;
    	};
    	
    
    	icssg1_iep0_pins_default: icssg1-iep0-default-pins {
    		pinctrl-single,pins = <
    			AM64X_IOPAD(0x0104, PIN_OUTPUT, 2) // (W7) PRG1_PRU0_GPO19.PRG1_IEP0_EDC_SYNC_OUT0 
    		>;
    	};
    	*/	//commented by us
    };
    
    &fss {
    	bootph-all;
    };
    
    &main_uart0 {
    	bootph-all;
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_uart0_pins_default>;
    };
    
    /* main_uart1 is reserved for firmware usage */
    &main_uart1 {
    	status = "reserved";
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_uart1_pins_default>;
    };
    /* commented by us
    &main_i2c0 {
    	bootph-all;
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_i2c0_pins_default>;
    	clock-frequency = <400000>;
    
    	gpio@38 {
    		// TCA9554 
    		compatible = "nxp,pca9554";
    		reg = <0x38>;
    		gpio-controller;
    		#gpio-cells = <2>;
    		gpio-line-names = "HSE_DETECT";
    	};
    
    	eeprom@50 {
    		// AT24CM01 
    		compatible = "atmel,24c1024";
    		reg = <0x50>;
    	};
    };
    */
    //added by us
    &main_i2c0 {
    	status = "disabled";
    };
    
    /* Commented by us
    &main_i2c1 {
    	bootph-all;
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_i2c1_pins_default>;
    	clock-frequency = <400000>;
    
    	exp1: gpio@22 {
    		bootph-all;
    		compatible = "ti,tca6424";
    		reg = <0x22>;
    		gpio-controller;
    		#gpio-cells = <2>;
    		gpio-line-names = "GPIO_eMMC_RSTn", "CAN_MUX_SEL",
    				  "GPIO_CPSW1_RST", "GPIO_RGMII1_RST",
    				  "GPIO_RGMII2_RST", "GPIO_PCIe_RST_OUT",
    				  "MMC1_SD_EN", "FSI_FET_SEL",
    				  "MCAN0_STB_3V3", "MCAN1_STB_3V3",
    				  "CPSW_FET_SEL", "CPSW_FET2_SEL",
    				  "PRG1_RGMII2_FET_SEL", "TEST_GPIO2",
    				  "GPIO_OLED_RESETn", "VPP_LDO_EN",
    				  "TEST_LED1", "TP92", "TP90", "TP88",
    				  "TP87", "TP86", "TP89", "TP91";
    	};
    
    	// osd9616p0899-10 
    	display@3c {
    		compatible = "solomon,ssd1306fb-i2c";
    		reg = <0x3c>;
    		reset-gpios = <&exp1 14 GPIO_ACTIVE_LOW>;
    		vbat-supply = <&vddb>;
    		solomon,height = <16>;
    		solomon,width = <96>;
    		solomon,com-seq;
    		solomon,com-invdir;
    		solomon,page-offset = <0>;
    		solomon,prechargep1 = <2>;
    		solomon,prechargep2 = <13>;
    	};
    };
    */
    //added by us
    &main_i2c1 {
    	status = "disabled";
    };
    
    &main_gpio0 {
    	bootph-all;
    };
    
    /* mcu_gpio0 and mcu_gpio_intr are reserved for mcu firmware usage */
    &mcu_gpio0 {
    	status = "reserved";
    };
    
    &mcu_gpio_intr {
    	status = "reserved";
    };
    
    &main_spi0 {
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_spi0_pins_default>;
    	ti,pindir-d0-out-d1-in;
    	eeprom@0 {
    		compatible = "microchip,93lc46b";
    		reg = <0>;
    		spi-max-frequency = <1000000>;
    		spi-cs-high;
    		data-size = <16>;
    	};
    };
    
    /* eMMC */
    &sdhci0 {
    	bootph-all;
    	status = "okay";
    	non-removable;
    	ti,driver-strength-ohm = <50>;
    	disable-wp;
    	bootph-all;
    };
    
    /* SD/MMC */
    &sdhci1 {
    	bootph-all;
    	status = "okay";
    	vmmc-supply = <&vdd_mmc1>;
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_mmc1_pins_default>;
    	disable-wp;
    	
    	//below added by us
    	bus-width = <4>;
    	ti,driver-strength-ohm = <50>;
    	no-1-8-v; 			/* disabling all the UHS modes  added by us*/
    	sd-uhs-sdr50;  			//added by us
    };
    
    /*Commented by us
    &usbss0 {
    	bootph-all;
    	ti,vbus-divider;
    	ti,usb2-only;
    };
    
    &usb0 {
    	bootph-all;
    	dr_mode = "otg";
    	maximum-speed = "high-speed";
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_usb0_pins_default>;
    };*/
    
    /*Commented by us
    &cpsw3g {
    	bootph-all;
    	pinctrl-names = "default";
    	pinctrl-0 = <&rgmii1_pins_default>, <&rgmii2_pins_default>;
    	status = "okay";
    
    	// Map HW8_TS_PUSH to GENF1
    	cpts@3d000 {
    		ti,pps = <7 1>;
    	};
    };
    
    &cpsw_port1 {
    	bootph-all;
    	phy-mode = "rgmii-rxid";
    	phy-handle = <&cpsw3g_phy0>;
    	status = "okay";
    };
    
    &cpsw_port2 {
    	phy-mode = "rgmii-rxid";
    	phy-handle = <&cpsw3g_phy3>;
    	status = "okay";
    };
    */
    //added by us
    &cpsw_port1 { 
    	status = "disabled";
    };
    //added by us
    &cpsw_port2 {
    	status = "disabled";
    };
    
    
    /*commented by us
    &cpsw3g_mdio {
    	bootph-all;
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&mdio1_pins_default>;
    
    	cpsw3g_phy0: ethernet-phy@0 {
    		bootph-all;
    		reg = <0>;
    		ti,rx-internal-delay = <DP83867_RGMIIDCTL_2_00_NS>;
    		ti,fifo-depth = <DP83867_PHYCR_FIFO_DEPTH_4_B_NIB>;
    	};
    };
    */
    //added by us
    &cpsw3g_mdio {
    	status = "okay";
    };
    
    &tscadc0 {
    	/* ADC is reserved for R5 usage */
    	status = "reserved";
    
    	adc {
    		ti,adc-channels = <0 1 2 3 4 5 6 7>;
    	};
    };
    
    &ospi0 {
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&ospi0_pins_default>;
    	bootph-all;
    
    	flash@0 {
    		compatible = "jedec,spi-nor";
    		reg = <0x0>;
    		spi-tx-bus-width = <8>;
    		spi-rx-bus-width = <8>;
    		spi-max-frequency = <25000000>;
    		cdns,tshsl-ns = <60>;
    		cdns,tsd2d-ns = <60>;
    		cdns,tchsh-ns = <60>;
    		cdns,tslch-ns = <60>;
    		cdns,read-delay = <4>;
    		cdns,phy-mode;
    		bootph-all;
    
    		partitions {
    			compatible = "fixed-partitions";
    			#address-cells = <1>;
    			#size-cells = <1>;
    			bootph-all;
    
    			partition@0 {
    				label = "ospi.tiboot3";
    				reg = <0x0 0x100000>;
    			};
    
    			partition@100000 {
    				label = "ospi.tispl";
    				reg = <0x100000 0x200000>;
    			};
    
    			partition@300000 {
    				label = "ospi.u-boot";
    				reg = <0x300000 0x400000>;
    			};
    
    			partition@700000 {
    				label = "ospi.env";
    				reg = <0x700000 0x40000>;
    			};
    
    			partition@740000 {
    				label = "ospi.env.backup";
    				reg = <0x740000 0x40000>;
    			};
    
    			partition@800000 {
    				label = "ospi.rootfs";
    				reg = <0x800000 0x37c0000>;
    			};
    
    			partition@3fc0000 {
    				label = "ospi.phypattern";
    				reg = <0x3fc0000 0x40000>;
    				bootph-all;
    			};
    		};
    	};
    };
    
    &mailbox0_cluster2 {
    	status = "okay";
    
    	mbox_main_r5fss0_core0: mbox-main-r5fss0-core0 {
    		ti,mbox-rx = <0 0 2>;
    		ti,mbox-tx = <1 0 2>;
    	};
    
    	mbox_main_r5fss0_core1: mbox-main-r5fss0-core1 {
    		ti,mbox-rx = <2 0 2>;
    		ti,mbox-tx = <3 0 2>;
    	};
    };
    
    &mailbox0_cluster4 {
    	status = "okay";
    
    	mbox_main_r5fss1_core0: mbox-main-r5fss1-core0 {
    		ti,mbox-rx = <0 0 2>;
    		ti,mbox-tx = <1 0 2>;
    	};
    
    	mbox_main_r5fss1_core1: mbox-main-r5fss1-core1 {
    		ti,mbox-rx = <2 0 2>;
    		ti,mbox-tx = <3 0 2>;
    	};
    };
    
    &mailbox0_cluster6 {
    	status = "okay";
    
    	mbox_m4_0: mbox-m4-0 {
    		ti,mbox-rx = <0 0 2>;
    		ti,mbox-tx = <1 0 2>;
    	};
    };
    
    &main_r5fss0_core0 {
    	mboxes = <&mailbox0_cluster2 &mbox_main_r5fss0_core0>;
    	memory-region = <&main_r5fss0_core0_dma_memory_region>,
    			<&main_r5fss0_core0_memory_region>;
    };
    
    &main_r5fss0_core1 {
    	mboxes = <&mailbox0_cluster2 &mbox_main_r5fss0_core1>;
    	memory-region = <&main_r5fss0_core1_dma_memory_region>,
    			<&main_r5fss0_core1_memory_region>;
    };
    
    &main_r5fss1_core0 {
    	mboxes = <&mailbox0_cluster4 &mbox_main_r5fss1_core0>;
    	memory-region = <&main_r5fss1_core0_dma_memory_region>,
    			<&main_r5fss1_core0_memory_region>;
    };
    
    &main_r5fss1_core1 {
    	mboxes = <&mailbox0_cluster4 &mbox_main_r5fss1_core1>;
    	memory-region = <&main_r5fss1_core1_dma_memory_region>,
    			<&main_r5fss1_core1_memory_region>;
    };
    
    &mcu_m4fss {
    	mboxes = <&mailbox0_cluster6 &mbox_m4_0>;
    	memory-region = <&mcu_m4fss_dma_memory_region>,
    			<&mcu_m4fss_memory_region>;
    	status = "okay";
    };
    
    /* main domain timers 8 to 11 are used by TI MCU FW */
    &main_timer8 {
    	status = "reserved";
    };
    
    &main_timer9 {
    	status = "reserved";
    };
    
    &main_timer10 {
    	status = "reserved";
    };
    
    &main_timer11 {
    	status = "reserved";
    };
    
    &serdes_ln_ctrl {
    	idle-states = <AM64_SERDES0_LANE0_PCIE0>;
    };
    
    &serdes0 {
    	serdes0_pcie_link: phy@0 {
    		reg = <0>;
    		cdns,num-lanes = <1>;
    		#phy-cells = <0>;
    		cdns,phy-type = <PHY_TYPE_PCIE>;
    		resets = <&serdes_wiz0 1>;
    	};
    };
    
    /* commented by us
    &pcie0_rc {
    	status = "okay";
    	reset-gpios = <&exp1 5 GPIO_ACTIVE_HIGH>;
    	phys = <&serdes0_pcie_link>;
    	phy-names = "pcie-phy";
    	num-lanes = <1>;
    };*/
    //added by us
    &pcie0_rc {
    	status = "disabled";
    };
    
    &ecap0 {
    	status = "okay";
    	/* PWM is available on Pin 1 of header J12 */
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_ecap0_pins_default>;
    };
    /* commented by us
    &main_mcan0 {
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_mcan0_pins_default>;
    	phys = <&transceiver1>;
    };
    
    &main_mcan1 {
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&main_mcan1_pins_default>;
    	phys = <&transceiver2>;
    };
    
    &icssg1_mdio {
    	status = "okay";
    	pinctrl-names = "default";
    	pinctrl-0 = <&icssg1_mdio1_pins_default>;
    
    	icssg1_phy1: ethernet-phy@f {
    		reg = <0xf>;
    		tx-internal-delay-ps = <250>;
    		rx-internal-delay-ps = <2000>;
    	};
    };
    */
    &main_mcan0 {
    	status = "disabled";
    };
    
    &main_mcan1 {
    	status = "disabled";
    };
    &icssg1_mdio {
    	status = "disabled";
    };
    
    &gpmc0 {
    	ranges = <0 0 0x00 0x51000000 0x01000000>; /* CS0 space. Min partition = 16MB */
    };
    
    /* commented by us
    &icssg1_iep0 {
    	pinctrl-names = "default";
    	pinctrl-0 = <&icssg1_iep0_pins_default>;
    };
    */
    
    &timesync_router {
    	/* Use Time Sync Router to map GENF1 input to HW8_TS_PUSH output. */
    	mux-reg-masks-state = <
    		/* pps [cpts genf1] in22 -> out37 [cpts hw8_push] */
    		K3_TS_OFFSET(37, 0x0001ffff, 22)
    		/* iep-pps [iep sync_out0] in29 -> out23 [navss cpts hw8_push] */
    		K3_TS_OFFSET(23, 0x0001ffff, 29)
    		>;
    	status = "okay";
    };
    
    &main_cpts0 {
    	/*
    	 * Use HW8_TS_PUSH of NAVSS CPTS to generate events for IEP PPS
    	 * signal (PRGx_IEP0_EDC_SYNC_OUT0)
    	 */
    	ti,pps = <7 1>;
    };
    
    //Added by us to disable 2nd A53
    &main_rti1 {
    	 status = "disabled";
    };
    //added by us
    /* set R5F subsystem to single-CPU mode */
    &main_r5fss0 {
    	ti,cluster-mode = <2>;
    };
    
    
    //added by us
    /* set R5F subsystem to single-CPU mode */
    &main_r5fss1 {
    	ti,cluster-mode = <2>;
    };
    
    //added by us
    &icssg1 {
    	status = "disabled";		//added by us
    };
    &icssg0 {
    	status = "disabled";		//added by us
    	//status = "okay";
    };
    
    
    

    below is our rm-cfg.yaml used in building uboot,tispl and tiboot3

    # SPDX-License-Identifier: GPL-2.0+
    # Copyright (C) 2022-2025 Texas Instruments Incorporated - https://www.ti.com/
    #
    # Resource management configuration for AM64X
    #
    
    ---
    
    rm-cfg:
        rm_boardcfg:
            rev:
                boardcfg_abi_maj: 0x0
                boardcfg_abi_min: 0x1
            host_cfg:
                subhdr:
                    magic: 0x4C41
                    size: 356
                host_cfg_entries:
                    -  # 1
                        host_id: 12
                        allowed_atype: 0x2A
                        allowed_qos: 0xAAAA
                        allowed_orderid: 0xAAAAAAAA
                        allowed_priority: 0xAAAA
                        allowed_sched_priority: 0xAA
                    -  # 2
                        host_id: 30
                        allowed_atype: 0x2A
                        allowed_qos: 0xAAAA
                        allowed_orderid: 0xAAAAAAAA
                        allowed_priority: 0xAAAA
                        allowed_sched_priority: 0xAA
                    -  # 3
                        host_id: 36
                        allowed_atype: 0x2A
                        allowed_qos: 0xAAAA
                        allowed_orderid: 0xAAAAAAAA
                        allowed_priority: 0xAAAA
                        allowed_sched_priority: 0xAA
                    -  # 4
                        host_id: 38
                        allowed_atype: 0x2A
                        allowed_qos: 0xAAAA
                        allowed_orderid: 0xAAAAAAAA
                        allowed_priority: 0xAAAA
                        allowed_sched_priority: 0xAA
                    -  # 5
                        host_id: 41
                        allowed_atype: 0x2A
                        allowed_qos: 0xAAAA
                        allowed_orderid: 0xAAAAAAAA
                        allowed_priority: 0xAAAA
                        allowed_sched_priority: 0xAA
                    -  # 6
                        host_id: 43
                        allowed_atype: 0x2A
                        allowed_qos: 0xAAAA
                        allowed_orderid: 0xAAAAAAAA
                        allowed_priority: 0xAAAA
                        allowed_sched_priority: 0xAA
                    -  # 7
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 8
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 9
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 10
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 11
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 12
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 13
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 14
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 15
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 16
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 17
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 18
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 19
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 20
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 21
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 22
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 23
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 24
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 25
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 26
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 27
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 28
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 29
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 30
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 31
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
                    -  # 32
                        host_id: 0
                        allowed_atype: 0
                        allowed_qos: 0
                        allowed_orderid: 0
                        allowed_priority: 0
                        allowed_sched_priority: 0
            resasg:
                subhdr:
                    magic: 0x7B25
                    size: 8
                resasg_entries_size: 1328
                reserved: 0
        resasg_entries:
            -
                start_resource: 0
                num_resource: 16
                type: 64
                host_id: 12
                reserved: 0
            -
                start_resource: 16
                num_resource: 4
                type: 64
                host_id: 35
                reserved: 0
            -
                start_resource: 16
                num_resource: 4
                type: 64
                host_id: 36
                reserved: 0
            -
                start_resource: 20
                num_resource: 4
                type: 64
                host_id: 38
                reserved: 0
            -
                start_resource: 24
                num_resource: 4
                type: 64
                host_id: 41
                reserved: 0
            -
                start_resource: 28
                num_resource: 4
                type: 64
                host_id: 43
                reserved: 0
            -
                start_resource: 32
                num_resource: 8
                type: 64
                host_id: 128
                reserved: 0
            -
                start_resource: 0
                num_resource: 12
                type: 192
                host_id: 12
                reserved: 0
            -
                start_resource: 12
                num_resource: 2
                type: 192
                host_id: 41
                reserved: 0
            -
                start_resource: 14
                num_resource: 2
                type: 192
                host_id: 43
                reserved: 0
            -
                start_resource: 0
                num_resource: 4
                type: 320
                host_id: 12
                reserved: 0
            -
                start_resource: 4
                num_resource: 4
                type: 320
                host_id: 30
                reserved: 0
            -
                start_resource: 0
                num_resource: 41
                type: 384
                host_id: 128
                reserved: 0
            -
                start_resource: 50176
                num_resource: 136
                type: 1666
                host_id: 128
                reserved: 0
            -
                start_resource: 0
                num_resource: 1
                type: 1667
                host_id: 128
                reserved: 0
            -
                start_resource: 0
                num_resource: 12
                type: 1677
                host_id: 12
                reserved: 0
            -
                start_resource: 12
                num_resource: 6
                type: 1677
                host_id: 35
                reserved: 0
            -
                start_resource: 12
                num_resource: 6
                type: 1677
                host_id: 36
                reserved: 0
            -
                start_resource: 18
                num_resource: 2
                type: 1677
                host_id: 38
                reserved: 0
            -
                start_resource: 20
                num_resource: 4
                type: 1677
                host_id: 41
                reserved: 0
            -
                start_resource: 24
                num_resource: 2
                type: 1677
                host_id: 43
                reserved: 0
            -
                start_resource: 26
                num_resource: 1
                type: 1677
                host_id: 30
                reserved: 0
            -
                start_resource: 27
                num_resource: 1
                type: 1677
                host_id: 128
                reserved: 0
            -
                start_resource: 48
                num_resource: 6
                type: 1678
                host_id: 12
                reserved: 0
            -
                start_resource: 54
                num_resource: 6
                type: 1678
                host_id: 35
                reserved: 0
            -
                start_resource: 54
                num_resource: 6
                type: 1678
                host_id: 36
                reserved: 0
            -
                start_resource: 60
                num_resource: 2
                type: 1678
                host_id: 38
                reserved: 0
            -
                start_resource: 62
                num_resource: 4
                type: 1678
                host_id: 41
                reserved: 0
            -
                start_resource: 66
                num_resource: 2
                type: 1678
                host_id: 43
                reserved: 0
            -
                start_resource: 28
                num_resource: 6
                type: 1679
                host_id: 12
                reserved: 0
            -
                start_resource: 34
                num_resource: 6
                type: 1679
                host_id: 35
                reserved: 0
            -
                start_resource: 34
                num_resource: 6
                type: 1679
                host_id: 36
                reserved: 0
            -
                start_resource: 40
                num_resource: 2
                type: 1679
                host_id: 38
                reserved: 0
            -
                start_resource: 42
                num_resource: 4
                type: 1679
                host_id: 41
                reserved: 0
            -
                start_resource: 46
                num_resource: 2
                type: 1679
                host_id: 43
                reserved: 0
            -
                start_resource: 0
                num_resource: 12
                type: 1696
                host_id: 12
                reserved: 0
            -
                start_resource: 12
                num_resource: 6
                type: 1696
                host_id: 35
                reserved: 0
            -
                start_resource: 12
                num_resource: 6
                type: 1696
                host_id: 36
                reserved: 0
            -
                start_resource: 18
                num_resource: 2
                type: 1696
                host_id: 38
                reserved: 0
            -
                start_resource: 20
                num_resource: 4
                type: 1696
                host_id: 41
                reserved: 0
            -
                start_resource: 24
                num_resource: 2
                type: 1696
                host_id: 43
                reserved: 0
            -
                start_resource: 26
                num_resource: 1
                type: 1696
                host_id: 30
                reserved: 0
            -
                start_resource: 27
                num_resource: 1
                type: 1696
                host_id: 128
                reserved: 0
            -
                start_resource: 0
                num_resource: 6
                type: 1697
                host_id: 12
                reserved: 0
            -
                start_resource: 6
                num_resource: 6
                type: 1697
                host_id: 35
                reserved: 0
            -
                start_resource: 6
                num_resource: 6
                type: 1697
                host_id: 36
                reserved: 0
            -
                start_resource: 12
                num_resource: 2
                type: 1697
                host_id: 38
                reserved: 0
            -
                start_resource: 14
                num_resource: 4
                type: 1697
                host_id: 41
                reserved: 0
            -
                start_resource: 18
                num_resource: 2
                type: 1697
                host_id: 43
                reserved: 0
            -
                start_resource: 0
                num_resource: 6
                type: 1698
                host_id: 12
                reserved: 0
            -
                start_resource: 6
                num_resource: 6
                type: 1698
                host_id: 35
                reserved: 0
            -
                start_resource: 6
                num_resource: 6
                type: 1698
                host_id: 36
                reserved: 0
            -
                start_resource: 12
                num_resource: 2
                type: 1698
                host_id: 38
                reserved: 0
            -
                start_resource: 14
                num_resource: 4
                type: 1698
                host_id: 41
                reserved: 0
            -
                start_resource: 18
                num_resource: 2
                type: 1698
                host_id: 43
                reserved: 0
            -
                start_resource: 5
                num_resource: 35
                type: 1802
                host_id: 12
                reserved: 0
            -
                start_resource: 44
                num_resource: 14
                type: 1802
                host_id: 35
                reserved: 0
            -
                start_resource: 44
                num_resource: 14
                type: 1802
                host_id: 36
                reserved: 0
            -
                start_resource: 58
                num_resource: 14
                type: 1802
                host_id: 38
                reserved: 0
            -
                start_resource: 92
                num_resource: 14
                type: 1802
                host_id: 41
                reserved: 0
            -
                start_resource: 106
                num_resource: 14
                type: 1802
                host_id: 43
                reserved: 0
            -
                start_resource: 168
                num_resource: 16
                type: 1802
                host_id: 30
                reserved: 0
            -
                start_resource: 16
                num_resource: 512
                type: 1805
                host_id: 12
                reserved: 0
            -
                start_resource: 528
                num_resource: 256
                type: 1805
                host_id: 35
                reserved: 0
            -
                start_resource: 528
                num_resource: 256
                type: 1805
                host_id: 36
                reserved: 0
            -
                start_resource: 784
                num_resource: 192
                type: 1805
                host_id: 38
                reserved: 0
            -
                start_resource: 976
                num_resource: 256
                type: 1805
                host_id: 41
                reserved: 0
            -
                start_resource: 1232
                num_resource: 192
                type: 1805
                host_id: 43
                reserved: 0
            -
                start_resource: 1424
                num_resource: 96
                type: 1805
                host_id: 30
                reserved: 0
            -
                start_resource: 1520
                num_resource: 16
                type: 1805
                host_id: 128
                reserved: 0
            -
                start_resource: 0
                num_resource: 1024
                type: 1807
                host_id: 128
                reserved: 0
            -
                start_resource: 4096
                num_resource: 42
                type: 1808
                host_id: 128
                reserved: 0
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    Please guide what to be done next.

       

           

  • Hi Nick,

               Any Update on this issue.

               Your quick response is greatly appreciated.

  • Hello Narasimha,

    Apologies for the delay, I am out of office until Wednesday. You can help me by pinging the thread again on Wednesday so that I get the reminder when I'm back in office.

    Regards,

    Nick

  • Hi Nick,

                  Can you please update on this issue.

    Your quick response is greatly appreciated.

  • Hi Nick,

                  Can you please update on this issue.

                  Waiting for your Response.

    Your quick response is greatly appreciated.

  • Hi Nick,

                  Can you please update on this issue.

                  Waiting for your Response.

    Your quick response is greatly appreciated.

  • Hi Nick,

                  Can you please update on this issue.

                  Waiting for your Response.

    Your quick response is greatly appreciated.