Merge branch '2024-03-04-assorted-TI-K3-updates' into next

- Merge assorted TI K3 platform / SoC updates

16 files changed, 419 insertions, 340 deletions

diff --git a/arch/arm/mach-k3/Kconfig b/arch/arm/mach-k3/Kconfig
index fdde67c2d39..cb83bd20258 100644
--- a/arch/arm/mach-k3/Kconfig
+++ b/arch/arm/mach-k3/Kconfig
@@ -116,13 +116,6 @@ config K3_EARLY_CONS_IDX
 	  Use this option to set the index of the serial device to be used
 	  for the early console during SPL execution.
 
-config SYS_K3_SPL_ATF
-	bool "Start Cortex-A from SPL"
-	depends on CPU_V7R
-	help
-	  Enabling this will try to start Cortex-A (typically with ATF)
-	  after SPL from R5.
-
 config K3_ATF_LOAD_ADDR
 	hex "Load address of ATF image"
 	default 0x70000000
diff --git a/arch/arm/mach-k3/Makefile b/arch/arm/mach-k3/Makefile
index 945698e6e86..19b2d79e57d 100644
--- a/arch/arm/mach-k3/Makefile
+++ b/arch/arm/mach-k3/Makefile
@@ -3,9 +3,8 @@
 # Copyright (C) 2017-2018 Texas Instruments Incorporated - https://www.ti.com/
 #	Lokesh Vutla <lokeshvutla@ti.com>
 
+obj-$(CONFIG_ARM64) += arm64/
 obj-$(CONFIG_CPU_V7R) += r5/
-obj-$(CONFIG_ARM64) += arm64-mmu.o
-obj-$(CONFIG_ARM64) += cache.o
 obj-$(CONFIG_OF_LIBFDT) += common_fdt.o
 ifeq ($(CONFIG_OF_LIBFDT)$(CONFIG_OF_SYSTEM_SETUP),yy)
 obj-$(CONFIG_SOC_K3_AM654) += am654_fdt.o
diff --git a/arch/arm/mach-k3/am625_fdt.c b/arch/arm/mach-k3/am625_fdt.c
index 970dd3447de..3c46d1028fd 100644
--- a/arch/arm/mach-k3/am625_fdt.c
+++ b/arch/arm/mach-k3/am625_fdt.c
@@ -38,11 +38,48 @@ static void fdt_fixup_pru_node_am625(void *blob, int has_pru)
 		fdt_del_node_path(blob, "/bus@f0000/pruss@30040000");
 }
 
+static int fdt_fixup_trips_node(void *blob, int zoneoffset, int maxc)
+{
+	int node, trip;
+
+	node = fdt_subnode_offset(blob, zoneoffset, "trips");
+	if (node < 0)
+		return -1;
+
+	fdt_for_each_subnode(trip, blob, node) {
+		const char *type = fdt_getprop(blob, trip, "type", NULL);
+
+		if (!type || (strncmp(type, "critical", 8) != 0))
+			continue;
+
+		if (fdt_setprop_u32(blob, trip, "temperature", 1000 * maxc) < 0)
+			return -1;
+	}
+
+	return 0;
+}
+
+static void fdt_fixup_thermal_zone_nodes_am625(void *blob, int maxc)
+{
+	int node, zone;
+
+	node = fdt_path_offset(blob, "/thermal-zones");
+	if (node < 0)
+		return;
+
+	fdt_for_each_subnode(zone, blob, node) {
+		if (fdt_fixup_trips_node(blob, zone, maxc) < 0)
+			printf("Failed to set temperature in %s critical trips\n",
+			       fdt_get_name(blob, zone, NULL));
+	}
+}
+
 int ft_system_setup(void *blob, struct bd_info *bd)
 {
 	fdt_fixup_cores_nodes_am625(blob, k3_get_core_nr());
 	fdt_fixup_gpu_nodes_am625(blob, k3_has_gpu());
 	fdt_fixup_pru_node_am625(blob, k3_has_pru());
+	fdt_fixup_thermal_zone_nodes_am625(blob, k3_get_max_temp());
 
 	return 0;
 }
diff --git a/arch/arm/mach-k3/am62a7_init.c b/arch/arm/mach-k3/am62a7_init.c
index d72e19936b9..ccbde5bdd85 100644
--- a/arch/arm/mach-k3/am62a7_init.c
+++ b/arch/arm/mach-k3/am62a7_init.c
@@ -142,6 +142,9 @@ void board_init_f(ulong dummy)
 		panic("ROM has not loaded TIFS firmware\n");
 
 	k3_sysfw_loader(true, NULL, NULL);
+
+	/* Disable ROM configured firewalls right after loading sysfw */
+	remove_fwl_configs(cbass_main_fwls, ARRAY_SIZE(cbass_main_fwls));
 #endif
 
 #if defined(CONFIG_CPU_V7R)
@@ -170,9 +173,6 @@ void board_init_f(ulong dummy)
 	/* Output System Firmware version info */
 	k3_sysfw_print_ver();
 
-       /* Disable ROM configured firewalls right after loading sysfw */
-       remove_fwl_configs(cbass_main_fwls, ARRAY_SIZE(cbass_main_fwls));
-
 #if defined(CONFIG_K3_AM62A_DDRSS)
 	ret = uclass_get_device(UCLASS_RAM, 0, &dev);
 	if (ret)
diff --git a/arch/arm/mach-k3/arm64/Makefile b/arch/arm/mach-k3/arm64/Makefile
new file mode 100644
index 00000000000..f3d322e17f8
--- /dev/null
+++ b/arch/arm/mach-k3/arm64/Makefile
@@ -0,0 +1,6 @@
+# SPDX-License-Identifier: GPL-2.0+
+#
+# Copyright (C) 2023 Texas Instruments Incorporated - https://www.ti.com/
+
+obj-y += arm64-mmu.o
+obj-y += cache.o
diff --git a/arch/arm/mach-k3/arm64-mmu.c b/arch/arm/mach-k3/arm64/arm64-mmu.c
index 0e07b1b7ce0..0e07b1b7ce0 100644
--- a/arch/arm/mach-k3/arm64-mmu.c
+++ b/arch/arm/mach-k3/arm64/arm64-mmu.c
diff --git a/arch/arm/mach-k3/cache.S b/arch/arm/mach-k3/arm64/cache.S
index 17cfb12f108..17cfb12f108 100644
--- a/arch/arm/mach-k3/cache.S
+++ b/arch/arm/mach-k3/arm64/cache.S
diff --git a/arch/arm/mach-k3/common.c b/arch/arm/mach-k3/common.c
index f411366778f..ed8aec360c9 100644
--- a/arch/arm/mach-k3/common.c
+++ b/arch/arm/mach-k3/common.c
@@ -28,27 +28,6 @@
 #include <elf.h>
 #include <soc.h>
 
-#if IS_ENABLED(CONFIG_SYS_K3_SPL_ATF)
-enum {
-	IMAGE_ID_ATF,
-	IMAGE_ID_OPTEE,
-	IMAGE_ID_SPL,
-	IMAGE_ID_DM_FW,
-	IMAGE_AMT,
-};
-
-#if CONFIG_IS_ENABLED(FIT_IMAGE_POST_PROCESS)
-static const char *image_os_match[IMAGE_AMT] = {
-	"arm-trusted-firmware",
-	"tee",
-	"U-Boot",
-	"DM",
-};
-#endif
-
-static struct image_info fit_image_info[IMAGE_AMT];
-#endif
-
 struct ti_sci_handle *get_ti_sci_handle(void)
 {
 	struct udevice *dev;
@@ -128,233 +107,12 @@ int early_console_init(void)
 }
 #endif
 
-#if IS_ENABLED(CONFIG_SYS_K3_SPL_ATF)
-
-void init_env(void)
-{
-#ifdef CONFIG_SPL_ENV_SUPPORT
-	char *part;
-
-	env_init();
-	env_relocate();
-	switch (spl_boot_device()) {
-	case BOOT_DEVICE_MMC2:
-		part = env_get("bootpart");
-		env_set("storage_interface", "mmc");
-		env_set("fw_dev_part", part);
-		break;
-	case BOOT_DEVICE_SPI:
-		env_set("storage_interface", "ubi");
-		env_set("fw_ubi_mtdpart", "UBI");
-		env_set("fw_ubi_volume", "UBI0");
-		break;
-	default:
-		printf("%s from device %u not supported!\n",
-		       __func__, spl_boot_device());
-		return;
-	}
-#endif
-}
-
-int load_firmware(char *name_fw, char *name_loadaddr, u32 *loadaddr)
-{
-	struct udevice *fsdev;
-	char *name = NULL;
-	int size = 0;
-
-	if (!IS_ENABLED(CONFIG_FS_LOADER))
-		return 0;
-
-	*loadaddr = 0;
-#ifdef CONFIG_SPL_ENV_SUPPORT
-	switch (spl_boot_device()) {
-	case BOOT_DEVICE_MMC2:
-		name = env_get(name_fw);
-		*loadaddr = env_get_hex(name_loadaddr, *loadaddr);
-		break;
-	default:
-		printf("Loading rproc fw image from device %u not supported!\n",
-		       spl_boot_device());
-		return 0;
-	}
-#endif
-	if (!*loadaddr)
-		return 0;
-
-	if (!get_fs_loader(&fsdev)) {
-		size = request_firmware_into_buf(fsdev, name, (void *)*loadaddr,
-						 0, 0);
-	}
-
-	return size;
-}
-
-void release_resources_for_core_shutdown(void)
-{
-	struct ti_sci_handle *ti_sci = get_ti_sci_handle();
-	struct ti_sci_dev_ops *dev_ops = &ti_sci->ops.dev_ops;
-	struct ti_sci_proc_ops *proc_ops = &ti_sci->ops.proc_ops;
-	int ret;
-	u32 i;
-
-	/* Iterate through list of devices to put (shutdown) */
-	for (i = 0; i < ARRAY_SIZE(put_device_ids); i++) {
-		u32 id = put_device_ids[i];
-
-		ret = dev_ops->put_device(ti_sci, id);
-		if (ret)
-			panic("Failed to put device %u (%d)\n", id, ret);
-	}
-
-	/* Iterate through list of cores to put (shutdown) */
-	for (i = 0; i < ARRAY_SIZE(put_core_ids); i++) {
-		u32 id = put_core_ids[i];
-
-		/*
-		 * Queue up the core shutdown request. Note that this call
-		 * needs to be followed up by an actual invocation of an WFE
-		 * or WFI CPU instruction.
-		 */
-		ret = proc_ops->proc_shutdown_no_wait(ti_sci, id);
-		if (ret)
-			panic("Failed sending core %u shutdown message (%d)\n",
-			      id, ret);
-	}
-}
-
-void __noreturn jump_to_image_no_args(struct spl_image_info *spl_image)
-{
-	typedef void __noreturn (*image_entry_noargs_t)(void);
-	struct ti_sci_handle *ti_sci = get_ti_sci_handle();
-	u32 loadaddr = 0;
-	int ret, size = 0, shut_cpu = 0;
-
-	/* Release all the exclusive devices held by SPL before starting ATF */
-	ti_sci->ops.dev_ops.release_exclusive_devices(ti_sci);
-
-	ret = rproc_init();
-	if (ret)
-		panic("rproc failed to be initialized (%d)\n", ret);
-
-	init_env();
-
-	if (!fit_image_info[IMAGE_ID_DM_FW].image_start) {
-		size = load_firmware("name_mcur5f0_0fw", "addr_mcur5f0_0load",
-				     &loadaddr);
-	}
-
-	/*
-	 * It is assumed that remoteproc device 1 is the corresponding
-	 * Cortex-A core which runs ATF. Make sure DT reflects the same.
-	 */
-	if (!fit_image_info[IMAGE_ID_ATF].image_start)
-		fit_image_info[IMAGE_ID_ATF].image_start =
-			spl_image->entry_point;
-
-	ret = rproc_load(1, fit_image_info[IMAGE_ID_ATF].image_start, 0x200);
-	if (ret)
-		panic("%s: ATF failed to load on rproc (%d)\n", __func__, ret);
-
-#if (CONFIG_IS_ENABLED(FIT_IMAGE_POST_PROCESS) && IS_ENABLED(CONFIG_SYS_K3_SPL_ATF))
-	/* Authenticate ATF */
-	void *image_addr = (void *)fit_image_info[IMAGE_ID_ATF].image_start;
-
-	debug("%s: Authenticating image: addr=%lx, size=%ld, os=%s\n", __func__,
-	      fit_image_info[IMAGE_ID_ATF].image_start,
-	      fit_image_info[IMAGE_ID_ATF].image_len,
-	      image_os_match[IMAGE_ID_ATF]);
-
-	ti_secure_image_post_process(&image_addr,
-				     (size_t *)&fit_image_info[IMAGE_ID_ATF].image_len);
-
-	/* Authenticate OPTEE */
-	image_addr = (void *)fit_image_info[IMAGE_ID_OPTEE].image_start;
-
-	debug("%s: Authenticating image: addr=%lx, size=%ld, os=%s\n", __func__,
-	      fit_image_info[IMAGE_ID_OPTEE].image_start,
-	      fit_image_info[IMAGE_ID_OPTEE].image_len,
-	      image_os_match[IMAGE_ID_OPTEE]);
-
-	ti_secure_image_post_process(&image_addr,
-				     (size_t *)&fit_image_info[IMAGE_ID_OPTEE].image_len);
-
-#endif
-
-	if (!fit_image_info[IMAGE_ID_DM_FW].image_len &&
-	    !(size > 0 && valid_elf_image(loadaddr))) {
-		shut_cpu = 1;
-		goto start_arm64;
-	}
-
-	if (!fit_image_info[IMAGE_ID_DM_FW].image_start) {
-		loadaddr = load_elf_image_phdr(loadaddr);
-	} else {
-		loadaddr = fit_image_info[IMAGE_ID_DM_FW].image_start;
-		if (valid_elf_image(loadaddr))
-			loadaddr = load_elf_image_phdr(loadaddr);
-	}
-
-	debug("%s: jumping to address %x\n", __func__, loadaddr);
-
-start_arm64:
-	/* Add an extra newline to differentiate the ATF logs from SPL */
-	printf("Starting ATF on ARM64 core...\n\n");
-
-	ret = rproc_start(1);
-	if (ret)
-		panic("%s: ATF failed to start on rproc (%d)\n", __func__, ret);
-
-	if (shut_cpu) {
-		debug("Shutting down...\n");
-		release_resources_for_core_shutdown();
-
-		while (1)
-			asm volatile("wfe");
-	}
-	image_entry_noargs_t image_entry = (image_entry_noargs_t)loadaddr;
-
-	image_entry();
-}
-#endif
-
-#if CONFIG_IS_ENABLED(FIT_IMAGE_POST_PROCESS)
+#if CONFIG_IS_ENABLED(FIT_IMAGE_POST_PROCESS) && !IS_ENABLED(CONFIG_SYS_K3_SPL_ATF)
 void board_fit_image_post_process(const void *fit, int node, void **p_image,
 				  size_t *p_size)
 {
-#if IS_ENABLED(CONFIG_SYS_K3_SPL_ATF)
-	int len;
-	int i;
-	const char *os;
-	u32 addr;
-
-	os = fdt_getprop(fit, node, "os", &len);
-	addr = fdt_getprop_u32_default_node(fit, node, 0, "entry", -1);
-
-	debug("%s: processing image: addr=%x, size=%d, os=%s\n", __func__,
-	      addr, *p_size, os);
-
-	for (i = 0; i < IMAGE_AMT; i++) {
-		if (!strcmp(os, image_os_match[i])) {
-			fit_image_info[i].image_start = addr;
-			fit_image_info[i].image_len = *p_size;
-			debug("%s: matched image for ID %d\n", __func__, i);
-			break;
-		}
-	}
-	/*
-	 * Only DM and the DTBs are being authenticated here,
-	 * rest will be authenticated when A72 cluster is up
-	 */
-	if ((i != IMAGE_ID_ATF) && (i != IMAGE_ID_OPTEE))
-#endif
-	{
-		ti_secure_image_check_binary(p_image, p_size);
-		ti_secure_image_post_process(p_image, p_size);
-	}
-#if IS_ENABLED(CONFIG_SYS_K3_SPL_ATF)
-	else
-		ti_secure_image_check_binary(p_image, p_size);
-#endif
+	ti_secure_image_check_binary(p_image, p_size);
+	ti_secure_image_post_process(p_image, p_size);
 }
 #endif
 
@@ -453,75 +211,6 @@ void board_prep_linux(struct bootm_headers *images)
 }
 #endif
 
-#ifdef CONFIG_CPU_V7R
-void disable_linefill_optimization(void)
-{
-	u32 actlr;
-
-	/*
-	 * On K3 devices there are 2 conditions where R5F can deadlock:
-	 * 1.When software is performing series of store operations to
-	 *   cacheable write back/write allocate memory region and later
-	 *   on software execute barrier operation (DSB or DMB). R5F may
-	 *   hang at the barrier instruction.
-	 * 2.When software is performing a mix of load and store operations
-	 *   within a tight loop and store operations are all writing to
-	 *   cacheable write back/write allocates memory regions, R5F may
-	 *   hang at one of the load instruction.
-	 *
-	 * To avoid the above two conditions disable linefill optimization
-	 * inside Cortex R5F.
-	 */
-	asm("mrc p15, 0, %0, c1, c0, 1" : "=r" (actlr));
-	actlr |= (1 << 13); /* Set DLFO bit  */
-	asm("mcr p15, 0, %0, c1, c0, 1" : : "r" (actlr));
-}
-#endif
-
-static void remove_fwl_regions(struct fwl_data fwl_data, size_t num_regions,
-			       enum k3_firewall_region_type fwl_type)
-{
-	struct ti_sci_fwl_ops *fwl_ops;
-	struct ti_sci_handle *ti_sci;
-	struct ti_sci_msg_fwl_region region;
-	size_t j;
-
-	ti_sci = get_ti_sci_handle();
-	fwl_ops = &ti_sci->ops.fwl_ops;
-
-	for (j = 0; j < fwl_data.regions; j++) {
-		region.fwl_id = fwl_data.fwl_id;
-		region.region = j;
-		region.n_permission_regs = 3;
-
-		fwl_ops->get_fwl_region(ti_sci, &region);
-
-		/* Don't disable the background regions */
-		if (region.control != 0 &&
-		    ((region.control >> K3_FIREWALL_BACKGROUND_BIT) & 1) == fwl_type) {
-			pr_debug("Attempting to disable firewall %5d (%25s)\n",
-				 region.fwl_id, fwl_data.name);
-			region.control = 0;
-
-			if (fwl_ops->set_fwl_region(ti_sci, &region))
-				pr_err("Could not disable firewall %5d (%25s)\n",
-				       region.fwl_id, fwl_data.name);
-		}
-	}
-}
-
-void remove_fwl_configs(struct fwl_data *fwl_data, size_t fwl_data_size)
-{
-	size_t i;
-
-	for (i = 0; i < fwl_data_size; i++) {
-		remove_fwl_regions(fwl_data[i], fwl_data[i].regions,
-				   K3_FIREWALL_REGION_FOREGROUND);
-		remove_fwl_regions(fwl_data[i], fwl_data[i].regions,
-				   K3_FIREWALL_REGION_BACKGROUND);
-	}
-}
-
 void spl_enable_cache(void)
 {
 #if !(defined(CONFIG_SYS_ICACHE_OFF) && defined(CONFIG_SYS_DCACHE_OFF))
diff --git a/arch/arm/mach-k3/include/mach/am62_hardware.h b/arch/arm/mach-k3/include/mach/am62_hardware.h
index 4cf7778a89e..264f8a488b4 100644
--- a/arch/arm/mach-k3/include/mach/am62_hardware.h
+++ b/arch/arm/mach-k3/include/mach/am62_hardware.h
@@ -42,6 +42,10 @@
 
 #define JTAG_DEV_FEATURE_NO_PRU			0x4
 
+#define JTAG_DEV_TEMP_COMMERCIAL		0x3
+#define JTAG_DEV_TEMP_INDUSTRIAL		0x4
+#define JTAG_DEV_TEMP_AUTOMOTIVE		0x5
+
 #define CTRLMMR_MAIN_DEVSTAT			(WKUP_CTRL_MMR0_BASE + 0x30)
 #define MAIN_DEVSTAT_PRIMARY_BOOTMODE_MASK	GENMASK(6, 3)
 #define MAIN_DEVSTAT_PRIMARY_BOOTMODE_SHIFT	3
@@ -105,6 +109,19 @@ static inline int k3_get_temp_grade(void)
 	return (full_devid & JTAG_DEV_TEMP_MASK) >> JTAG_DEV_TEMP_SHIFT;
 }
 
+static inline int k3_get_max_temp(void)
+{
+	switch (k3_get_temp_grade()) {
+	case JTAG_DEV_TEMP_INDUSTRIAL:
+		return 105;
+	case JTAG_DEV_TEMP_AUTOMOTIVE:
+		return 125;
+	case JTAG_DEV_TEMP_COMMERCIAL:
+	default:
+		return 95;
+	}
+}
+
 static inline int k3_has_pru(void)
 {
 	u32 full_devid = readl(CTRLMMR_WKUP_JTAG_DEVICE_ID);
diff --git a/arch/arm/mach-k3/r5/Kconfig b/arch/arm/mach-k3/r5/Kconfig
index ae79f8ff6cd..317a6c4b67e 100644
--- a/arch/arm/mach-k3/r5/Kconfig
+++ b/arch/arm/mach-k3/r5/Kconfig
@@ -43,3 +43,9 @@ config K3_SYSFW_IMAGE_SPI_OFFS
 	help
 	  Offset of the combined System Firmware and configuration image tree
 	  blob to be loaded when booting from a SPI flash memory.
+
+config SYS_K3_SPL_ATF
+	bool "Start Cortex-A from SPL"
+	help
+	  Enabling this will try to start Cortex-A (typically with ATF)
+	  after SPL from R5.
diff --git a/arch/arm/mach-k3/r5/Makefile b/arch/arm/mach-k3/r5/Makefile
index b666ed34d10..ef0bf39d450 100644
--- a/arch/arm/mach-k3/r5/Makefile
+++ b/arch/arm/mach-k3/r5/Makefile
@@ -10,6 +10,7 @@ obj-$(CONFIG_SOC_K3_AM625) += am62x/
 obj-$(CONFIG_SOC_K3_AM62A7) += am62ax/
 obj-$(CONFIG_SOC_K3_J784S4) += j784s4/
 
+obj-y += common.o
 obj-y += lowlevel_init.o
 obj-y += r5_mpu.o
 
diff --git a/arch/arm/mach-k3/r5/common.c b/arch/arm/mach-k3/r5/common.c
new file mode 100644
index 00000000000..7309573a3fa
--- /dev/null
+++ b/arch/arm/mach-k3/r5/common.c
@@ -0,0 +1,328 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * K3: R5 Common Architecture initialization
+ *
+ * Copyright (C) 2023 Texas Instruments Incorporated - https://www.ti.com/
+ */
+
+#include <linux/printk.h>
+#include <linux/types.h>
+#include <asm/hardware.h>
+#include <asm/io.h>
+#include <image.h>
+#include <fs_loader.h>
+#include <linux/soc/ti/ti_sci_protocol.h>
+#include <spl.h>
+#include <remoteproc.h>
+#include <elf.h>
+
+#include "../common.h"
+
+#if IS_ENABLED(CONFIG_SYS_K3_SPL_ATF)
+enum {
+	IMAGE_ID_ATF,
+	IMAGE_ID_OPTEE,
+	IMAGE_ID_SPL,
+	IMAGE_ID_DM_FW,
+	IMAGE_AMT,
+};
+
+#if CONFIG_IS_ENABLED(FIT_IMAGE_POST_PROCESS)
+static const char *image_os_match[IMAGE_AMT] = {
+	"arm-trusted-firmware",
+	"tee",
+	"U-Boot",
+	"DM",
+};
+#endif
+
+static struct image_info fit_image_info[IMAGE_AMT];
+
+void init_env(void)
+{
+#ifdef CONFIG_SPL_ENV_SUPPORT
+	char *part;
+
+	env_init();
+	env_relocate();
+	switch (spl_boot_device()) {
+	case BOOT_DEVICE_MMC2:
+		part = env_get("bootpart");
+		env_set("storage_interface", "mmc");
+		env_set("fw_dev_part", part);
+		break;
+	case BOOT_DEVICE_SPI:
+		env_set("storage_interface", "ubi");
+		env_set("fw_ubi_mtdpart", "UBI");
+		env_set("fw_ubi_volume", "UBI0");
+		break;
+	default:
+		printf("%s from device %u not supported!\n",
+		       __func__, spl_boot_device());
+		return;
+	}
+#endif
+}
+
+int load_firmware(char *name_fw, char *name_loadaddr, u32 *loadaddr)
+{
+	struct udevice *fsdev;
+	char *name = NULL;
+	int size = 0;
+
+	if (!IS_ENABLED(CONFIG_FS_LOADER))
+		return 0;
+
+	*loadaddr = 0;
+#ifdef CONFIG_SPL_ENV_SUPPORT
+	switch (spl_boot_device()) {
+	case BOOT_DEVICE_MMC2:
+		name = env_get(name_fw);
+		*loadaddr = env_get_hex(name_loadaddr, *loadaddr);
+		break;
+	default:
+		printf("Loading rproc fw image from device %u not supported!\n",
+		       spl_boot_device());
+		return 0;
+	}
+#endif
+	if (!*loadaddr)
+		return 0;
+
+	if (!get_fs_loader(&fsdev)) {
+		size = request_firmware_into_buf(fsdev, name, (void *)*loadaddr,
+						 0, 0);
+	}
+
+	return size;
+}
+
+void release_resources_for_core_shutdown(void)
+{
+	struct ti_sci_handle *ti_sci = get_ti_sci_handle();
+	struct ti_sci_dev_ops *dev_ops = &ti_sci->ops.dev_ops;
+	struct ti_sci_proc_ops *proc_ops = &ti_sci->ops.proc_ops;
+	int ret;
+	u32 i;
+
+	/* Iterate through list of devices to put (shutdown) */
+	for (i = 0; i < ARRAY_SIZE(put_device_ids); i++) {
+		u32 id = put_device_ids[i];
+
+		ret = dev_ops->put_device(ti_sci, id);
+		if (ret)
+			panic("Failed to put device %u (%d)\n", id, ret);
+	}
+
+	/* Iterate through list of cores to put (shutdown) */
+	for (i = 0; i < ARRAY_SIZE(put_core_ids); i++) {
+		u32 id = put_core_ids[i];
+
+		/*
+		 * Queue up the core shutdown request. Note that this call
+		 * needs to be followed up by an actual invocation of an WFE
+		 * or WFI CPU instruction.
+		 */
+		ret = proc_ops->proc_shutdown_no_wait(ti_sci, id);
+		if (ret)
+			panic("Failed sending core %u shutdown message (%d)\n",
+			      id, ret);
+	}
+}
+
+void __noreturn jump_to_image_no_args(struct spl_image_info *spl_image)
+{
+	typedef void __noreturn (*image_entry_noargs_t)(void);
+	struct ti_sci_handle *ti_sci = get_ti_sci_handle();
+	u32 loadaddr = 0;
+	int ret, size = 0, shut_cpu = 0;
+
+	/* Release all the exclusive devices held by SPL before starting ATF */
+	ti_sci->ops.dev_ops.release_exclusive_devices(ti_sci);
+
+	ret = rproc_init();
+	if (ret)
+		panic("rproc failed to be initialized (%d)\n", ret);
+
+	init_env();
+
+	if (!fit_image_info[IMAGE_ID_DM_FW].image_start) {
+		size = load_firmware("name_mcur5f0_0fw", "addr_mcur5f0_0load",
+				     &loadaddr);
+	}
+
+	/*
+	 * It is assumed that remoteproc device 1 is the corresponding
+	 * Cortex-A core which runs ATF. Make sure DT reflects the same.
+	 */
+	if (!fit_image_info[IMAGE_ID_ATF].image_start)
+		fit_image_info[IMAGE_ID_ATF].image_start =
+			spl_image->entry_point;
+
+	ret = rproc_load(1, fit_image_info[IMAGE_ID_ATF].image_start, 0x200);
+	if (ret)
+		panic("%s: ATF failed to load on rproc (%d)\n", __func__, ret);
+
+#if CONFIG_IS_ENABLED(FIT_IMAGE_POST_PROCESS)
+	/* Authenticate ATF */
+	void *image_addr = (void *)fit_image_info[IMAGE_ID_ATF].image_start;
+
+	debug("%s: Authenticating image: addr=%lx, size=%ld, os=%s\n", __func__,
+	      fit_image_info[IMAGE_ID_ATF].image_start,
+	      fit_image_info[IMAGE_ID_ATF].image_len,
+	      image_os_match[IMAGE_ID_ATF]);
+
+	ti_secure_image_post_process(&image_addr,
+				     (size_t *)&fit_image_info[IMAGE_ID_ATF].image_len);
+
+	/* Authenticate OPTEE */
+	image_addr = (void *)fit_image_info[IMAGE_ID_OPTEE].image_start;
+
+	debug("%s: Authenticating image: addr=%lx, size=%ld, os=%s\n", __func__,
+	      fit_image_info[IMAGE_ID_OPTEE].image_start,
+	      fit_image_info[IMAGE_ID_OPTEE].image_len,
+	      image_os_match[IMAGE_ID_OPTEE]);
+
+	ti_secure_image_post_process(&image_addr,
+				     (size_t *)&fit_image_info[IMAGE_ID_OPTEE].image_len);
+#endif
+
+	if (!fit_image_info[IMAGE_ID_DM_FW].image_len &&
+	    !(size > 0 && valid_elf_image(loadaddr))) {
+		shut_cpu = 1;
+		goto start_arm64;
+	}
+
+	if (!fit_image_info[IMAGE_ID_DM_FW].image_start) {
+		loadaddr = load_elf_image_phdr(loadaddr);
+	} else {
+		loadaddr = fit_image_info[IMAGE_ID_DM_FW].image_start;
+		if (valid_elf_image(loadaddr))
+			loadaddr = load_elf_image_phdr(loadaddr);
+	}
+
+	debug("%s: jumping to address %x\n", __func__, loadaddr);
+
+start_arm64:
+	/* Add an extra newline to differentiate the ATF logs from SPL */
+	printf("Starting ATF on ARM64 core...\n\n");
+
+	ret = rproc_start(1);
+	if (ret)
+		panic("%s: ATF failed to start on rproc (%d)\n", __func__, ret);
+
+	if (shut_cpu) {
+		debug("Shutting down...\n");
+		release_resources_for_core_shutdown();
+
+		while (1)
+			asm volatile("wfe");
+	}
+	image_entry_noargs_t image_entry = (image_entry_noargs_t)loadaddr;
+
+	image_entry();
+}
+#endif
+
+void disable_linefill_optimization(void)
+{
+	u32 actlr;
+
+	/*
+	 * On K3 devices there are 2 conditions where R5F can deadlock:
+	 * 1.When software is performing series of store operations to
+	 *   cacheable write back/write allocate memory region and later
+	 *   on software execute barrier operation (DSB or DMB). R5F may
+	 *   hang at the barrier instruction.
+	 * 2.When software is performing a mix of load and store operations
+	 *   within a tight loop and store operations are all writing to
+	 *   cacheable write back/write allocates memory regions, R5F may
+	 *   hang at one of the load instruction.
+	 *
+	 * To avoid the above two conditions disable linefill optimization
+	 * inside Cortex R5F.
+	 */
+	asm("mrc p15, 0, %0, c1, c0, 1" : "=r" (actlr));
+	actlr |= (1 << 13); /* Set DLFO bit  */
+	asm("mcr p15, 0, %0, c1, c0, 1" : : "r" (actlr));
+}
+
+static void remove_fwl_regions(struct fwl_data fwl_data, size_t num_regions,
+			       enum k3_firewall_region_type fwl_type)
+{
+	struct ti_sci_fwl_ops *fwl_ops;
+	struct ti_sci_handle *ti_sci;
+	struct ti_sci_msg_fwl_region region;
+	size_t j;
+
+	ti_sci = get_ti_sci_handle();
+	fwl_ops = &ti_sci->ops.fwl_ops;
+
+	for (j = 0; j < fwl_data.regions; j++) {
+		region.fwl_id = fwl_data.fwl_id;
+		region.region = j;
+		region.n_permission_regs = 3;
+
+		fwl_ops->get_fwl_region(ti_sci, &region);
+
+		/* Don't disable the background regions */
+		if (region.control != 0 &&
+		    ((region.control >> K3_FIREWALL_BACKGROUND_BIT) & 1) == fwl_type) {
+			pr_debug("Attempting to disable firewall %5d (%25s)\n",
+				 region.fwl_id, fwl_data.name);
+			region.control = 0;
+
+			if (fwl_ops->set_fwl_region(ti_sci, &region))
+				pr_err("Could not disable firewall %5d (%25s)\n",
+				       region.fwl_id, fwl_data.name);
+		}
+	}
+}
+
+void remove_fwl_configs(struct fwl_data *fwl_data, size_t fwl_data_size)
+{
+	size_t i;
+
+	for (i = 0; i < fwl_data_size; i++) {
+		remove_fwl_regions(fwl_data[i], fwl_data[i].regions,
+				   K3_FIREWALL_REGION_FOREGROUND);
+		remove_fwl_regions(fwl_data[i], fwl_data[i].regions,
+				   K3_FIREWALL_REGION_BACKGROUND);
+	}
+}
+
+#if CONFIG_IS_ENABLED(FIT_IMAGE_POST_PROCESS)
+void board_fit_image_post_process(const void *fit, int node, void **p_image,
+				  size_t *p_size)
+{
+	int len;
+	int i;
+	const char *os;
+	u32 addr;
+
+	os = fdt_getprop(fit, node, "os", &len);
+	addr = fdt_getprop_u32_default_node(fit, node, 0, "entry", -1);
+
+	debug("%s: processing image: addr=%x, size=%d, os=%s\n", __func__,
+	      addr, *p_size, os);
+
+	for (i = 0; i < IMAGE_AMT; i++) {
+		if (!strcmp(os, image_os_match[i])) {
+			fit_image_info[i].image_start = addr;
+			fit_image_info[i].image_len = *p_size;
+			debug("%s: matched image for ID %d\n", __func__, i);
+			break;
+		}
+	}
+	/*
+	 * Only DM and the DTBs are being authenticated here,
+	 * rest will be authenticated when A72 cluster is up
+	 */
+	if ((i != IMAGE_ID_ATF) && (i != IMAGE_ID_OPTEE)) {
+		ti_secure_image_check_binary(p_image, p_size);
+		ti_secure_image_post_process(p_image, p_size);
+	} else {
+		ti_secure_image_check_binary(p_image, p_size);
+	}
+}
+#endif
diff --git a/board/ti/am62ax/rm-cfg.yaml b/board/ti/am62ax/rm-cfg.yaml
index 73e8e15f66a..cbd087de797 100644
--- a/board/ti/am62ax/rm-cfg.yaml
+++ b/board/ti/am62ax/rm-cfg.yaml
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: GPL-2.0+
-# Copyright (C) 2022-2023 Texas Instruments Incorporated - https://www.ti.com/
+# Copyright (C) 2022-2024 Texas Instruments Incorporated - https://www.ti.com/
 #
 # Resource management configuration for AM62A
 #
@@ -519,13 +519,13 @@ rm-cfg:
             reserved: 0
         -
             start_resource: 44
-            num_resource: 36
+            num_resource: 35
             type: 1802
             host_id: 35
             reserved: 0
         -
             start_resource: 44
-            num_resource: 36
+            num_resource: 35
             type: 1802
             host_id: 36
             reserved: 0
@@ -567,7 +567,7 @@ rm-cfg:
             reserved: 0
         -
             start_resource: 1038
-            num_resource: 498
+            num_resource: 497
             type: 1805
             host_id: 128
             reserved: 0
diff --git a/board/ti/am62x/rm-cfg.yaml b/board/ti/am62x/rm-cfg.yaml
index 725f7c83f0d..26d99b03b80 100644
--- a/board/ti/am62x/rm-cfg.yaml
+++ b/board/ti/am62x/rm-cfg.yaml
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: GPL-2.0+
-# Copyright (C) 2022-2023 Texas Instruments Incorporated - https://www.ti.com/
+# Copyright (C) 2022-2024 Texas Instruments Incorporated - https://www.ti.com/
 #
 # Resource management configuration for AM62X
 #
@@ -513,13 +513,13 @@ rm-cfg:
             reserved: 0
         -
             start_resource: 44
-            num_resource: 36
+            num_resource: 35
             type: 1802
             host_id: 35
             reserved: 0
         -
             start_resource: 44
-            num_resource: 36
+            num_resource: 35
             type: 1802
             host_id: 36
             reserved: 0
@@ -555,7 +555,7 @@ rm-cfg:
             reserved: 0
         -
             start_resource: 909
-            num_resource: 627
+            num_resource: 626
             type: 1805
             host_id: 128
             reserved: 0
diff --git a/configs/am64x_evm_r5_defconfig b/configs/am64x_evm_r5_defconfig
index 56df6a4a19c..707fe506f38 100644
--- a/configs/am64x_evm_r5_defconfig
+++ b/configs/am64x_evm_r5_defconfig
@@ -42,6 +42,7 @@ CONFIG_SPL_SYS_REPORT_STACK_F_USAGE=y
 CONFIG_SPL_BOARD_INIT=y
 CONFIG_SPL_SYS_MALLOC_SIMPLE=y
 CONFIG_SPL_STACK_R=y
+CONFIG_SPL_STACK_R_MALLOC_SIMPLE_LEN=0x400000
 CONFIG_SPL_SEPARATE_BSS=y
 CONFIG_SPL_SYS_MALLOC=y
 CONFIG_SPL_HAS_CUSTOM_MALLOC_START=y
diff --git a/drivers/dma/ti/k3-udma.c b/drivers/dma/ti/k3-udma.c
index eea9ec96598..ef3074aa13f 100644
--- a/drivers/dma/ti/k3-udma.c
+++ b/drivers/dma/ti/k3-udma.c
@@ -884,10 +884,10 @@ static int udma_alloc_tx_resources(struct udma_chan *uc)
 		return ret;
 
 	tchan = uc->tchan;
-	if (tchan->tflow_id >= 0)
+	if (tchan->tflow_id > 0)
 		ring_idx = tchan->tflow_id;
 	else
-		ring_idx = ud->bchan_cnt + tchan->id;
+		ring_idx = tchan->id;
 
 	ret = k3_nav_ringacc_request_rings_pair(ud->ringacc, ring_idx, -1,
 						&uc->tchan->t_ring,
@@ -1770,9 +1770,11 @@ static int udma_probe(struct udevice *dev)
 		return PTR_ERR(ud->ringacc);
 
 	ud->dev = dev;
-	ud->ch_count = setup_resources(ud);
-	if (ud->ch_count <= 0)
-		return ud->ch_count;
+	ret = setup_resources(ud);
+	if (ret < 0)
+		return ret;
+
+	ud->ch_count = ret;
 
 	for (i = 0; i < ud->bchan_cnt; i++) {
 		struct udma_bchan *bchan = &ud->bchans[i];
@@ -1831,7 +1833,7 @@ static int udma_probe(struct udevice *dev)
 
 	uc_priv->supported = DMA_SUPPORTS_MEM_TO_MEM | DMA_SUPPORTS_MEM_TO_DEV;
 
-	return ret;
+	return 0;
 }
 
 static int udma_push_to_ring(struct k3_nav_ring *ring, void *elem)