BBAI64 - Debian 12.2 images (Bookworm) with kernel 5.10ti have panic during boot

[orgua]

I hope this is the right place to report this issue.

Tested Images

• images from here, tried current versions (2023-12-02) and some days back
• bbai64-ti-2023.04-debian-12.2-minimal and bbai64-debian-12.2-minimal versions panic, see below
• bookworm with kernel 6.1 and mainline (6.6 / 6.7) are not affected
• debian 11.8 with 5.10ti and ubuntu 22.04 with 5.10ti are also not affected

Debug-Output over UART

U-Boot SPL 2021.01-g3419da0b (Jan 13 2022 - 15:29:57 +0000)
Model: Texas Instruments K3 J721E SoC
Board: BBONEAI-64-B0- rev B0
SYSFW ABI: 3.1 (firmware rev 0x0015 '21.5.0--v2021.05 (Terrific Llam')
Trying to boot from MMC1
init_env from device 17 not supported!
Starting ATF on ARM64 core...

NOTICE:  BL31: v2.5(release):e0d9fdb
NOTICE:  BL31: Built : 20:08:51, Jan  7 2022

U-Boot SPL 2021.01-g3419da0b (Jan 13 2022 - 15:29:57 +0000)
Model: Texas Instruments K3 J721E SoC
Board: BBONEAI-64-B0- rev B0
SYSFW ABI: 3.1 (firmware rev 0x0015 '21.5.0--v2021.05 (Terrific Llam')
ti_i2c_eeprom_am6_parse_record: Ignoring record id 17
Trying to boot from MMC1


U-Boot 2021.01-g3419da0b (Jan 13 2022 - 15:29:57 +0000)

SoC:   J721E SR2.0
Model: Texas Instruments K3 J721E SoC
Board: BBONEAI-64-B0- rev B0
DRAM:  4 GiB
Flash: 0 Bytes
MMC:   sdhci@4f80000: 0, sdhci@4fb0000: 1
In:    serial@2800000
Out:   serial@2800000
Err:   serial@2800000
ti_i2c_eeprom_am6_parse_record: Ignoring record id 17
Net:   am65_cpsw_nuss_slave ethernet@46000000: K3 CPSW: nuss_ver: 0x6BA00101 cpsw_ver: 0x6BA80100 ale_ver: 0x00293904 Ports:1 mdio_freq:1000000
eth0: ethernet@46000000
Hit any key to stop autoboot:  2 \x08\x08\x08 1 \x08\x08\x08 0 
board_name=[BBONEAI-64-B0-] ...
name_fdt=[k3-j721e-beagleboneai64.dtb] ...
i2c_write: error waiting for data ACK (status=0x116)
pca953x gpio@22: Error reading output register
switch to partitions #0, OK
mmc1 is current device
Scanning mmc 1:1...
Found /extlinux/extlinux.conf
Retrieving file: /extlinux/extlinux.conf
690 bytes read in 8 ms (84 KiB/s)
BeagleBone AI-64 microSD Boot Options
1:      BeagleBone AI-64 Recovery
2:      BeagleBone AI-64 eMMC Flasher
3:      BeagleBone AI-64 Linux microSD (default)
Enter choice: 3:        BeagleBone AI-64 Linux microSD (default)
Retrieving file: /initrd.img
9532020 bytes read in 408 ms (22.3 MiB/s)
Retrieving file: /Image
29553152 bytes read in 1247 ms (22.6 MiB/s)
append: root=/dev/mmcblk1p2 ro rootfstype=ext4 rootwait net.ifnames=0 quiet
Retrieving file: /k3-j721e-beagleboneai64.dtb
226922 bytes read in 18 ms (12 MiB/s)
## Flattened Device Tree blob at 88000000
   Booting using the fdt blob at 0x88000000
   Loading Ramdisk to 8f6e8000, end 8ffff274 ... OK
   Loading Device Tree to 000000008f6ad000, end 000000008f6e7669 ... OK

Starting kernel ...

[    0.637191] debugfs: Directory '31010000.pat' with parent 'regmap' already present!
[    0.637391] debugfs: Directory '31011000.pat' with parent 'regmap' already present!
[    0.637524] debugfs: Directory '31012000.pat' with parent 'regmap' already present!
[    0.637645] debugfs: Directory '31013000.pat' with parent 'regmap' already present!
[    0.637788] debugfs: Directory '31014000.pat' with parent 'regmap' already present!
[    1.149902] am65-cpsw-nuss c000000.ethernet: /bus@100000/ethernet@c000000/ethernet-ports/port@1 error retrieving port phy: -19
[    3.047100] debugfs: Directory 'pd:27' with parent 'pm_genpd' already present!
[    3.054349] debugfs: Directory 'pd:26' with parent 'pm_genpd' already present!
[    3.062834] debugfs: Directory 'pd:242' with parent 'pm_genpd' already present!
[    3.070162] debugfs: Directory 'pd:241' with parent 'pm_genpd' already present!
[    3.077477] debugfs: Directory 'pd:240' with parent 'pm_genpd' already present!
[    3.084793] debugfs: Directory 'pd:239' with parent 'pm_genpd' already present!
trap: EXIT: bad trap
[    8.458127] k3-dsp-rproc 4d80800000.dsp: configured DSP for remoteproc mode
[    8.469855] k3-dsp-rproc 4d81800000.dsp: configured DSP for remoteproc mode
[    8.480925] k3-dsp-rproc 64800000.dsp: configured DSP for remoteproc mode
[    8.587767] remoteproc remoteproc12: request_firmware failed: -2
[    8.593919] remoteproc remoteproc13: request_firmware failed: -2
[    8.599999] remoteproc remoteproc14: request_firmware failed: -2
[    8.788893] img_enc 4200000.video-encoder: vxe_enc_probe: using heap 1 for internal alloc
[    8.813010] platform 41000000.r5f: configured R5F for IPC-only mode
[    8.819528] SError Interrupt on CPU1, code 0xbf000000 -- SError
[    8.819530] CPU: 1 PID: 465 Comm: (udev-worker) Tainted: G           O      5.10.168-ti-arm64-r112 #1bookworm
[    8.819531] Hardware name: BeagleBoard.org BeagleBone AI-64 (DT)
[    8.819533] pstate: 60000005 (nZCv daif -PAN -UAO -TCO BTYPE=--)
[    8.819534] pc : _RGXReadBVNCFromReg.isra.0+0x20/0x140 [pvrsrvkm]
[    8.819535] lr : RGXBvncInitialiseConfiguration+0x3c0/0x9c0 [pvrsrvkm]
[    8.819536] sp : ffff800012623740
[    8.819537] x29: ffff800012623740 x28: ffff80000936e548 
[    8.819540] x27: 0000000000000000 x26: ffff8000126237a8 
[    8.819542] x25: ffff000816ad8000 x24: 0000000000000000 
[    8.819544] x23: ffff800009377000 x22: 0000000000000000 
[    8.819546] x21: ffff000814dc5008 x20: ffff80000931e7d0 
[    8.819549] x19: 0000000000000000 x18: 0000000000000000 
[    8.819551] x17: 000000ffc0000000 x16: ffff8000092cd560 
[    8.819553] x15: 0000000000000001 x14: 0140000000000000 
[    8.819555] x13: ffff800011c34000 x12: 0000000000000000 
[    8.819557] x11: ffff000814dc5008 x10: 0000000000000020 
[    8.819559] x9 : 0000000000000000 x8 : 0000000000000024 
[    8.819561] x7 : 0000000000000000 x6 : ffff800013500000 
[    8.819563] x5 : ffff8000126237b0 x4 : ffff8000126237ac 
[    8.819565] x3 : ffff8000126237a8 x2 : ffff8000126237a4 
[    8.819567] x1 : 0000000000000000 x0 : ffff000814dc5008 
[    8.819569] Kernel panic - not syncing: Asynchronous SError Interrupt
[    8.819590] SMP: stopping secondary CPUs
[    8.819591] Kernel Offset: disabled
[    8.819592] CPU features: 0x28240022,20006008
[    8.819593] Memory Limit: none