[doc] Update documentation in order to include OTP preload image

Signed-off-by: Michael Schaffner <msf@opentitan.org>
diff --git a/doc/ug/getting_started_fpga.md b/doc/ug/getting_started_fpga.md
index 18eade4..0d7539f 100644
--- a/doc/ug/getting_started_fpga.md
+++ b/doc/ug/getting_started_fpga.md
@@ -33,7 +33,7 @@
 ```console
 $ cd $REPO_TOP
 $ ./meson_init.sh
-$ ninja -C build-out sw/device/boot_rom/boot_rom_export_fpga_nexysvideo
+$ ninja -C build-out all
 ```
 
 Since not all FPGAs are able to fit the full design, there is a separate script that can be invoked to reduce the size of the design.
@@ -54,7 +54,7 @@
 $ cd $REPO_TOP
 $ ./meson_init.sh
 $ ./hw/top_earlgrey/util/top_earlgrey_reduce.py
-$ ninja -C build-out sw/device/boot_rom/boot_rom_export_fpga_nexysvideo
+$ ninja -C build-out all
 $ fusesoc --cores-root . run --flag=fileset_top --target=synth lowrisc:systems:top_earlgrey_nexysvideo
 ```
 The `fileset_top` flag used above is specific to the OpenTitan project to select the correct fileset.
diff --git a/doc/ug/getting_started_verilator.md b/doc/ug/getting_started_verilator.md
index f1a875e..30e8de9 100644
--- a/doc/ug/getting_started_verilator.md
+++ b/doc/ug/getting_started_verilator.md
@@ -38,6 +38,9 @@
 $ ninja -C build-out all
 ```
 
+The above command also builds the OTP image that contains the root secrets and life cycle state.
+By default, the life cycle state will be moved into DEV, which enables debugging features such as the JTAG interface for the main processor.
+
 Now the simulation can be run.
 The programs listed after `--meminit` are loaded into the system's specified memory and execution is started immediately.
 
@@ -45,7 +48,8 @@
 $ cd $REPO_TOP
 $ build/lowrisc_systems_top_earlgrey_verilator_0.1/sim-verilator/Vtop_earlgrey_verilator \
   --meminit=rom,build-bin/sw/device/boot_rom/boot_rom_sim_verilator.elf \
-  --meminit=flash,build-bin/sw/device/examples/hello_world/hello_world_sim_verilator.elf
+  --meminit=flash,build-bin/sw/device/examples/hello_world/hello_world_sim_verilator.elf \
+  --meminit=otp,build-bin/sw/device/otp_img/otp_img_sim_verilator.vmem
 ```
 
 To stop the simulation press CTRL-c.
@@ -102,6 +106,7 @@
 $ build/lowrisc_systems_top_earlgrey_verilator_0.1/sim-verilator/Vtop_earlgrey_verilator \
   --meminit=rom,build-bin/sw/device/boot_rom/boot_rom_sim_verilator.elf \
   --meminit=flash,build-bin/sw/device/examples/hello_world/hello_world_sim_verilator.elf \
+  --meminit=otp,build-bin/sw/device/otp_img/otp_img_sim_verilator.vmem \
   +UARTDPI_LOG_uart0=-
 ```
 
@@ -198,6 +203,7 @@
 $ build/lowrisc_systems_top_earlgrey_verilator_0.1/sim-verilator/Vtop_earlgrey_verilator \
   --meminit=rom,build-bin/sw/device/boot_rom/boot_rom_sim_verilator.elf \
   --meminit=flash,build-bin/sw/device/examples/hello_world/hello_world_sim_verilator.elf \
+  --meminit=otp,build-bin/sw/device/otp_img/otp_img_sim_verilator.vmem \
   --trace
 $ gtkwave sim.fst
 ```
diff --git a/hw/ip/otbn/README.md b/hw/ip/otbn/README.md
index 16959a6..7e5c7be 100644
--- a/hw/ip/otbn/README.md
+++ b/hw/ip/otbn/README.md
@@ -107,6 +107,7 @@
 build/lowrisc_systems_top_earlgrey_verilator_0.1/sim-verilator/Vtop_earlgrey_verilator \
   --meminit=rom,build-bin/sw/device/boot_rom/boot_rom_sim_verilator.elf  \
   --meminit=flash,build-bin/sw/device/tests/dif_otbn_smoketest_sim_verilator.elf \
+  --meminit=otp,build-bin/sw/device/otp_img/otp_img_sim_verilator.vmem \
   +UARTDPI_LOG_uart0=- \
   +OTBN_USE_MODEL=1
 ```