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This does not block boot for 3 minutes. Please check the Note below the flow chart in the TRM and extract here:
DMSC ROM sets up a 3-minute watchdog timer (MCU_RTI0) timeout. During this time, the MCU boot needs to get completed, otherwise a WDT reset will occur. Once the R5 image is loaded (SBL/SPL), DMSC ROM will restart the watchdog timer for additional 3 minutes upon entering the R5 SBL. The customer-provided MCU image needs to load and install the TI-provided SYSFW image into the DMSC, which will manage the watchdog timer during run time.
As Ajay pointed out the time out is there for system to recover (from unrecoverable failures) and not for bootloader to wait until WDT expires. Please let us know if this clarifies.
