This document describes the instruction to build and flash ATF/OPTEE/U-Boot on pico-imx7d board. U-Boot is loaded as part of FIP image by ATF in this setup. The boot sequence is ATF -> OPTEE -> U-Boot -> Linux. U-Boot is in non-secure world in this case. - Build u-boot Set environment variable of CROSS_COMPILE for your toolchain and ARCH=arm $ make pico-imx7d_bl33_defconfig $ make all - Download and build OPTEE $ git clone git@github.com:OP-TEE/optee_os.git $ make PLATFORM=imx PLATFORM_FLAVOR=mx7dpico_mbl CFG_BOOT_SECONDARY_REQUEST=y ARCH=arm - Download and build ATF $ git clone https://git.linaro.org/landing-teams/working/mbl/arm-trusted-firmware.git -b linaro-imx7 $ make DEBUG=1 PLAT=picopi ARCH=aarch32 ARM_ARCH_MAJOR=7 \ CROSS_COMPILE=arm-linux-gnueabihf- LOG_LEVEL=50 V=1 \ CRASH_REPORTING=1 AARCH32_SP=optee all Save file content in this link to file pico-imx7d.cfg: http://git.linaro.org/landing-teams/working/mbl/u-boot.git/tree/board/technexion/pico-imx7d/pico-imx7d.cfg?h=linaro-imx $ u-boot/tools/mkimage -n pico-imx7d.cfg -T imximage -e 0x9df00000 -d \ build/picopi/debug/bl2.bin bl2.imx - Create FIP image Create a fiptool_images/ folder in ATF folder, copy u-boot.bin in u-boot folder and tee*.bin in optee out/arm-plat-imx/core/tee/ folder to fiptool_images. Run below command in ATF folder to generate FIP image. $ make -C tools/fiptool/ $ tools/fiptool/fiptool create --tos-fw fiptool_images/tee-header_v2.bin \ --tos-fw-extra1 fiptool_images/tee-pager_v2.bin \ --tos-fw-extra2 fiptool_images/tee-pageable_v2.bin \ --nt-fw fiptool_images/u-boot.bin \ fip.bin - Burn the images to eMMC for test. Run below command in atf folder: $ dd if=build/picopi/debug/bl2.bin.imx of=/dev/disk/by-id/usb- bs=1024 seek=1;sync $ dd if=fip.bin of=/dev/disk/by-id/usb- bs=1024 seek=1;sync - Test Just boot up your board and wait for u-boot start up after ATF's log. For booting Linux in FIT image, please reference the FIT files in u-boot doc/uImage.FIT/ folder.