arm: mach-k3: am642: Load SYSFW binary and config from boot media

Use the System Firmware (SYSFW) loader framework to load and start
the SYSFW as part of the AM642 early initialization sequence. Also
make use of existing logic to detect if ROM has already loaded sysfw
and avoided attempting to reload and instead just prepare to use already
running firmware.

While at it also initialize the MAIN_UART1 pinmux as it is used by SYSFW
to print diagnostic messages.

Signed-off-by: Dave Gerlach <d-gerlach@ti.com>

arch/arm/mach-k3/am642_init.c

@@ -11,7 +11,14 @@
 #include <spl.h>
 #include <asm/io.h>
 #include <asm/arch/hardware.h>
+#include <asm/arch/sysfw-loader.h>
+#include <asm/arch/sys_proto.h>
 #include "common.h"
+#include <asm/arch/sys_proto.h>
+#include <linux/soc/ti/ti_sci_protocol.h>
+#include <dm.h>
+#include <dm/uclass-internal.h>
+#include <dm/pinctrl.h>
 
 #if defined(CONFIG_SPL_BUILD)
 
@@ -46,6 +53,11 @@ static void store_boot_info_from_rom(void)
 
 void board_init_f(ulong dummy)
 {
+#if defined(CONFIG_K3_LOAD_SYSFW)
+	struct udevice *dev;
+	int ret;
+#endif
+
 #if defined(CONFIG_CPU_V7R)
 	setup_k3_mpu_regions();
 #endif
@@ -62,6 +74,31 @@ void board_init_f(ulong dummy)
 	spl_early_init();
 
 	preloader_console_init();
+
+#if defined(CONFIG_K3_LOAD_SYSFW)
+	/*
+	 * Process pinctrl for serial3 a.k.a. MAIN UART1 module and continue
+	 * regardless of the result of pinctrl. Do this without probing the
+	 * device, but instead by searching the device that would request the
+	 * given sequence number if probed. The UART will be used by the system
+	 * firmware (SYSFW) image for various purposes and SYSFW depends on us
+	 * to initialize its pin settings.
+	 */
+	ret = uclass_find_device_by_seq(UCLASS_SERIAL, 3, &dev);
+	if (!ret)
+		pinctrl_select_state(dev, "default");
+
+	/*
+	 * Load, start up, and configure system controller firmware.
+	 * This will determine whether or not ROM has already loaded
+	 * system firmware and if so, will only perform needed config
+	 * and not attempt to load firmware again.
+	 */
+	k3_sysfw_loader(is_rom_loaded_sysfw(&bootdata), NULL, NULL);
+#endif
+
+	/* Output System Firmware version info */
+	k3_sysfw_print_ver();
 }
 
 u32 spl_boot_mode(const u32 boot_device)