The AM64x/AM243x bootflow

The AM64x/AM243x SoC series has it’s own bootflow due to supporting secure boot. After powering on the SoC an immutable bootloader in ROM (called RBL) is executed on R5F0_0. Based on the MCU+ SDK from Texas Instruments then a Second Stage Bootloader (called SBL) should be executed which then boots the final Zephyr firmware. The RBL can get it’s image from various sources, such as external flash or transmitted via UART. An alternative only on AM64x series SoCs it to use a premade image from a TI SDK that acts as SBL, starts Linux on the Cortex-A and then use remoteproc to load a Zephyr firmware onto another core.