I am trying to debug a startup boot problem.
Is the source for the onboard boot firmware available? Or is there any documentation available on entry/exit points etc. for the firmware?
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Unfortunately the source code to the ROM boot loader is not available (this applies to most other OMAP/Davinci/C6x devices as well). In the case of the OMAP3 the primary source for information on the ROM boot loader is SPRUFD6, which does not go to the level of entry/exit points but does detail how each boot mode should function.
What boot mode are you using and what sort of problems are you seeing?
The TPS65950 is hardware and software compatible with the TWL4030, so the USB booting should still work.