Rockchip RK3399 - 移植uboot 2023.04

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开发板:NanoPC-T4开发板
eMMC:16GB
LPDDR3:4GB
显示屏:15.6 HDMI接口显示屏
u-boot :2023.04
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在前面我们已经介绍了编译Rockchip官方提供的uboot源码,并下载到开发板中进行测试运行。这一节我们尝试下载最新的uboot版本试试,当前最新版本为2023.04。

一、uboot

1.1 下载源码

u-boot软件包下载网站:https://ftp.denx.de/pub/u-boot/

DENX相关的网站:http://www.denx.de/re/DPLG.html

u-boot git仓库:https://gitlab.denx.de/u-boot/u-boot

我们在ubuntu运行如下命令:

root@zhengyang:/work/sambashare/rk3399# wget https://ftp.denx.de/pub/u-boot/u-boot-2023.04.tar.bz2

解压:

root@zhengyang:/work/sambashare/rk3399# tar -jxf u-boot-2023.04.tar.bz2

进入到uboot文件夹里,这就是我们需要的uboot的源码了:

root@zhengyang:/work/sambashare/rk3399#  cd u-boot-2023.04
root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ll
总用量 484
drwxrwxr-x  25 root root  4096 Apr  4 04:38 ./
drwxr-xr-x  14 root root  4096 May 21 15:22 ../
drwxrwxr-x   2 root root  4096 Apr  4 04:38 api/
drwxrwxr-x  14 root root  4096 Apr  4 04:38 arch/
-rw-rw-r--   1 root root 21095 Apr  4 04:38 .azure-pipelines.yml
drwxrwxr-x 177 root root  4096 Apr  4 04:38 board/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 boot/
-rw-rw-r--   1 root root   814 Apr  4 04:38 .checkpatch.conf
drwxrwxr-x  10 root root  4096 Apr  4 04:38 cmd/
drwxrwxr-x   5 root root  4096 Apr  4 04:38 common/
-rw-rw-r--   1 root root  2180 Apr  4 04:38 config.mk
drwxrwxr-x   2 root root 57344 Apr  4 04:38 configs/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 disk/
drwxrwxr-x  20 root root  4096 Apr  4 04:38 doc/
drwxrwxr-x  74 root root  4096 Apr  4 04:38 drivers/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 dts/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 env/
drwxrwxr-x   4 root root  4096 Apr  4 04:38 examples/
drwxrwxr-x  15 root root  4096 Apr  4 04:38 fs/
-rw-rw-r--   1 root root    44 Apr  4 04:38 .get_maintainer.conf
-rw-rw-r--   1 root root   207 Apr  4 04:38 .gitattributes
drwxrwxr-x   2 root root  4096 Apr  4 04:38 .github/
-rw-rw-r--   1 root root  1115 Apr  4 04:38 .gitignore
-rw-rw-r--   1 root root 14133 Apr  4 04:38 .gitlab-ci.yml
drwxrwxr-x  36 root root 20480 Apr  4 04:38 include/
-rw-rw-r--   1 root root   783 Apr  4 04:38 Kbuild
-rw-rw-r--   1 root root 20750 Apr  4 04:38 Kconfig
drwxrwxr-x  24 root root  4096 Apr  4 04:38 lib/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 Licenses/
-rw-rw-r--   1 root root  4022 Apr  4 04:38 .mailmap
-rw-rw-r--   1 root root 42030 Apr  4 04:38 MAINTAINERS
-rw-rw-r--   1 root root 81547 Apr  4 04:38 Makefile
drwxrwxr-x   2 root root  4096 Apr  4 04:38 net/
drwxrwxr-x   5 root root  4096 Apr  4 04:38 post/
-rw-rw-r--   1 root root 94985 Apr  4 04:38 README
-rw-rw-r--   1 root root   491 Apr  4 04:38 .readthedocs.yml
drwxrwxr-x   6 root root  4096 Apr  4 04:38 scripts/
drwxrwxr-x  17 root root  4096 Apr  4 04:38 test/
drwxrwxr-x  15 root root  4096 Apr  4 04:38 tools/

1.2 配置uboot

uboot的编译分为两步:配置、编译。单板的默认配置在configs目录下,这里我们直接选择configs/evb-rk3399_defconfig,这是Rockchip评估板的配置:

CONFIG_ARM=y
CONFIG_SKIP_LOWLEVEL_INIT=y
CONFIG_COUNTER_FREQUENCY=24000000
CONFIG_ARCH_ROCKCHIP=y
CONFIG_TEXT_BASE=0x00200000
CONFIG_NR_DRAM_BANKS=1
CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x300000
CONFIG_ENV_OFFSET=0x3F8000
CONFIG_DEFAULT_DEVICE_TREE="rk3399-evb"
CONFIG_DM_RESET=y
CONFIG_ROCKCHIP_RK3399=y
CONFIG_TARGET_EVB_RK3399=y
CONFIG_SPL_STACK=0x400000
CONFIG_DEBUG_UART_BASE=0xFF1A0000
CONFIG_DEBUG_UART_CLOCK=24000000
CONFIG_SYS_LOAD_ADDR=0x800800
CONFIG_DEBUG_UART=y
CONFIG_DEFAULT_FDT_FILE="rockchip/rk3399-evb.dtb"
CONFIG_DISPLAY_BOARDINFO_LATE=y
CONFIG_SPL_MAX_SIZE=0x2e000
CONFIG_SPL_PAD_TO=0x7f8000
CONFIG_SPL_HAS_BSS_LINKER_SECTION=y
CONFIG_SPL_BSS_START_ADDR=0x400000
CONFIG_SPL_BSS_MAX_SIZE=0x2000
# CONFIG_SPL_RAW_IMAGE_SUPPORT is not set
# CONFIG_SPL_SHARES_INIT_SP_ADDR is not set
CONFIG_SPL_STACK_R=y
CONFIG_SPL_STACK_R_MALLOC_SIMPLE_LEN=0x10000
CONFIG_TPL=y
CONFIG_CMD_BOOTZ=y
CONFIG_CMD_GPT=y
CONFIG_CMD_MMC=y
CONFIG_CMD_USB=y
# CONFIG_CMD_SETEXPR is not set
CONFIG_CMD_TIME=y
CONFIG_SPL_OF_CONTROL=y
CONFIG_OF_SPL_REMOVE_PROPS="pinctrl-0 pinctrl-names clock-names interrupt-parent assigned-clocks assigned-clock-rates assigned-clock-parents"
CONFIG_ENV_IS_IN_MMC=y
CONFIG_SYS_RELOC_GD_ENV_ADDR=y
CONFIG_NET_RANDOM_ETHADDR=y
CONFIG_ROCKCHIP_GPIO=y
CONFIG_SYS_I2C_ROCKCHIP=y
CONFIG_MISC=y
CONFIG_MMC_HS400_SUPPORT=y
CONFIG_MMC_DW=y
CONFIG_MMC_DW_ROCKCHIP=y
CONFIG_MMC_SDHCI=y
CONFIG_MMC_SDHCI_SDMA=y
CONFIG_MMC_SDHCI_ROCKCHIP=y
CONFIG_SF_DEFAULT_SPEED=20000000
CONFIG_ETH_DESIGNWARE=y
CONFIG_GMAC_ROCKCHIP=y
CONFIG_PHY_ROCKCHIP_INNO_USB2=y
CONFIG_PHY_ROCKCHIP_TYPEC=y
CONFIG_PMIC_RK8XX=y
CONFIG_REGULATOR_PWM=y
CONFIG_REGULATOR_RK8XX=y
CONFIG_PWM_ROCKCHIP=y
CONFIG_DM_RNG=y
CONFIG_RNG_ROCKCHIP=y
CONFIG_BAUDRATE=1500000
CONFIG_DEBUG_UART_SHIFT=2
CONFIG_SYS_NS16550_MEM32=y
CONFIG_SYSRESET=y
CONFIG_USB=y
CONFIG_USB_XHCI_HCD=y
CONFIG_USB_XHCI_DWC3=y
CONFIG_USB_EHCI_HCD=y
CONFIG_USB_EHCI_GENERIC=y
CONFIG_USB_DWC3=y
CONFIG_USB_DWC3_GENERIC=y
CONFIG_USB_HOST_ETHER=y
CONFIG_USB_ETHER_ASIX=y
CONFIG_USB_ETHER_ASIX88179=y
CONFIG_USB_ETHER_MCS7830=y
CONFIG_USB_ETHER_RTL8152=y
CONFIG_USB_ETHER_SMSC95XX=y
CONFIG_VIDEO=y
# CONFIG_VIDEO_BPP8 is not set
CONFIG_DISPLAY=y
CONFIG_VIDEO_ROCKCHIP=y
CONFIG_VIDEO_ROCKCHIP_MAX_YRES=1200
CONFIG_DISPLAY_ROCKCHIP_MIPI=y
CONFIG_SPL_TINY_MEMSET=y
CONFIG_ERRNO_STR=y
View Code

因此执行如下命令,生成.config文件:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# make evb-rk3399_defconfig V=1

接着我们需要执行make menuconfig做一些配置。

1.2.1 配置串口波特率

uboot中默认的调试串口波特率是1500000,有很多的调试终端不支持1.5M的波特率,我们可以把波特率重新配置下;

Device Drivers  ---> 
      Serial --->     
           (115200) Default baudrate  

注意:波特率数值如果无法删除,按CTRL+回车键尝试。如果配置为1500000,后面测试时串口输出内容一部分正常,偶尔出现乱码,考虑是串口波特率太高不稳定造成的,降低波特率到115200尝试。

这里我更改为了115200,之前烧录Rockchip官方uboot时设置为1500000一点问题都没有,但是uboot官方代码设置为1500000竟然出现乱码,看样uboot官方对RK3399支持并不是很好。

1.2.2 配置eMMC

为什么要去配置eMMC呢?这个是因为我使用默认配置,编译后的uboot下载到开发板出现了无法对eMMC进行读写的问题,并且输出了如下错误:

sdhci_transfer_data: Error detected in status(0x208000)

然后我去比对了当前版本uboot和Rockchip官方(Rockchip RK3399 - TPL/SPL方式加载uboot)提供的uboot单板配置configs/evb-rk3399_defconfig的差异,发现当前版本默认开启了以下配置:

CONFIG_MMC_HS400_SUPPORT=y   # 多出了这个
CONFIG_MMC_DW=y
CONFIG_MMC_DW_ROCKCHIP=y
CONFIG_MMC_SDHCI=y
CONFIG_MMC_SDHCI_SDMA=y  # 多出了这个

那CONFIG_MMC_HS400_SUPPOR、CONFIG_MMC_SDHCI_SDMA是什么呢? 

CONFIG_MMC_HS400_SUPPORT 是一个配置选项,用于支持嵌入式设备中的高速 MMC(Multimedia Card)/SD(Secure Digital)卡,默认情况下未启用。

启用这个选项可以让MMC/SD卡在HS400模式下运行,从而提高读写速度,但是需要确保硬件上支持 HS400 模式,并且芯片厂商提供了对应的驱动程序。如果硬件不支持或驱动程序不可用,则启用此选项将会导致系统无法正常启动。

既然我们已经明白了该配置项的作用,那我们就要看一下我们的eMMC芯片是否支持HS400模式,这里用的开发板板载的eMMC型号为:KLMAG2WEMB-B031,找到芯片的datasheet有关HS400 mode的信息,具体定位到EXT_CSD第196个字节DEVICE_TYPE,其值为0x57;可以看到eMMC工作在HS400模式时,电压要求为1.8V。

配置项CONFIG_MMC_SDHCI_SDMA用于启用SD/SDIO/MMC 主机控制器使用 DMA 方式进行数据传输。

这里我们暂且将CONFIG_MMC_HS400_SUPPORT,CONFIG_MMC_SDHCI_SDMA配置关掉:

Device Drivers  ---> 
      MMC Host controller Support  --->
            [ ] MMC debugging
            [ ] enable HS400 support  
            [ ] Support IO voltage configuration
            [ ] Support SDHCI SDMA     

如果想查看eMMC读写命令信息,可以打开MMC debuging。

1.2.3 配置FIT
Boot options  --->    
     Boot images  --->
         [*] Use a script to generate the .its script                                                 
        (arch/arm/mach-rockchip/make_fit_atf.py) .its file generator script for U-Boot FIT image

我们之前介绍过在生成u-boot.itb文件时,需要执行如下命令:

tools/mkimage -f u-boot.its u-boot.itb

mkimage将its文件以及对应的image data file,打包成一个itb文件,也就是uboot可以识别的image file(FIT-uImage)。

因为mkimage是根据its文件中的描述来打包镜像生成itb文件(FIT-uImage),所以首先需要制作一个its文件,在its文件中描述需要被打包的镜像,主要是bl31.bin,dtb文件,u-boot-nodtb.bin。

这里我们需要使用到arch/arm/mach-rockchip/make_fit_atf.py文件,这个是从Rockchip官网uboot下拷贝过来的,内容如下,这是一个python脚本,主要就是生成一个u-boot.its文件:
#!/usr/bin/env python2
"""
A script to generate FIT image source for rockchip boards
with ARM Trusted Firmware
and multiple device trees (given on the command line)

usage: $0 <dt_name> [<dt_name> [<dt_name] ...]
"""

import os
import sys
import getopt

# pip install pyelftools
from elftools.elf.elffile import ELFFile
from elftools.elf.sections import SymbolTableSection
from elftools.elf.segments import Segment, InterpSegment, NoteSegment

ELF_SEG_P_TYPE='p_type'
ELF_SEG_P_PADDR='p_paddr'
ELF_SEG_P_VADDR='p_vaddr'
ELF_SEG_P_OFFSET='p_offset'
ELF_SEG_P_FILESZ='p_filesz'
ELF_SEG_P_MEMSZ='p_memsz'

DT_HEADER="""/*
 * Copyright (C) 2017 Fuzhou Rockchip Electronics Co., Ltd
 *
 * Minimal dts for a SPL FIT image payload.
 *
 * SPDX-License-Identifier: GPL-2.0+  X11
 */
/dts-v1/;

/ {
        description = "Configuration to load ATF before U-Boot";
        #address-cells = <1>;

        images {
                uboot {
                        description = "U-Boot (64-bit)";
                        data = /incbin/("u-boot-nodtb.bin");
                        type = "standalone";
                        os = "U-Boot";
                        arch = "arm64";
                        compression = "none";
                        load = <0x%08x>;
                        hash {
                                algo = "sha256";
                        };
                };
"""

DT_IMAGES_NODE_END="""
        };
"""

DT_END="""
};
"""

def append_atf_node(file, atf_index, phy_addr):
    """
    Append ATF DT node to input FIT dts file.
    """
    data = 'bl31_0x%08x.bin' % phy_addr
    print >> file, '\t\tatf@%d {' % atf_index
    print >> file, '\t\t\tdescription = \"ARM Trusted Firmware\";'
    print >> file, '\t\t\tdata = /incbin/("%s");' % data
    print >> file, '\t\t\ttype = "firmware";'
    print >> file, '\t\t\tarch = "arm64";'
    print >> file, '\t\t\tos = "arm-trusted-firmware";'
    print >> file, '\t\t\tcompression = "none";'
    print >> file, '\t\t\tload = <0x%08x>;' % phy_addr
    if atf_index == 1:
        print >> file, '\t\t\tentry = <0x%08x>;' % phy_addr
    print >> file, '\t\t\thash {'
    print >> file, '\t\t\t\talgo = "sha256";'
    print >> file, '\t\t\t};'
    print >> file, '\t\t};'
    print >> file, ''

def append_fdt_node(file, dtbs):
    """
    Append FDT nodes.
    """
    cnt = 1
    for dtb in dtbs:
        dtname = os.path.basename(dtb)
        print >> file, '\t\tfdt {'
        print >> file, '\t\t\tdescription = "U-Boot device tree blob";'
        print >> file, '\t\t\tdata = /incbin/("u-boot.dtb");'
        print >> file, '\t\t\ttype = "flat_dt";'
        print >> file, '\t\t\tarch = "arm64";'
        print >> file, '\t\t\tcompression = "none";'
        print >> file, '\t\t\thash {'
        print >> file, '\t\t\t\talgo = "sha256";'
        print >> file, '\t\t\t};'
        print >> file, '\t\t};'
        print >> file, ''
        cnt = cnt + 1

def append_conf_section(file, cnt, dtname, atf_cnt):
    print >> file, '\t\tconfig {'
    print >> file, '\t\t\tdescription = "Rockchip armv8 with ATF";'
    print >> file, '\t\t\trollback-index = <0x0>;'
    print >> file, '\t\t\tfirmware = "atf@1";'
    print >> file, '\t\t\tloadables = "uboot",',
    for i in range(1, atf_cnt):
        print >> file, '"atf@%d"' % (i+1),
        if i != (atf_cnt - 1):
            print >> file, ',',
        else:
            print >> file, ';'
    print >> file, '\t\t\tfdt = "fdt";'
    print >> file, '\t\t\tsignature {'
    print >> file, '\t\t\t\talgo = "sha256,rsa2048";'
    print >> file, '\t\t\t\tpadding = "pss";'
    print >> file, '\t\t\t\tkey-name-hint = "dev";'
    print >> file, '\t\t\t\tsign-images = "fdt", "firmware", "loadables";'
    print >> file, '\t\t\t};'
    print >> file, '\t\t};'
    print >> file, ''

def append_conf_node(file, dtbs, atf_cnt):
    """
    Append configeration nodes.
    """
    cnt = 1
    print >> file, '\tconfigurations {'
    print >> file, '\t\tdefault = "config";'
    for dtb in dtbs:
        dtname = os.path.basename(dtb)
        append_conf_section(file, cnt, dtname, atf_cnt)
        cnt = cnt + 1
    print >> file, '\t};'
    print >> file, ''

def generate_atf_fit_dts(fit_file_name, bl31_file_name, uboot_file_name, dtbs_file_name):
    """
    Generate FIT script for ATF image.
    """
    if fit_file_name != sys.stdout:
        fit_file = open(fit_file_name, "wb")
    else:
        fit_file = sys.stdout

    num_load_seg = 0
    p_paddr = 0xFFFFFFFF
    with open(uboot_file_name) as uboot_file:
        uboot = ELFFile(uboot_file)
        for i in range(uboot.num_segments()):
            seg = uboot.get_segment(i)
            if ('PT_LOAD' == seg.__getitem__(ELF_SEG_P_TYPE)):
                p_paddr = seg.__getitem__(ELF_SEG_P_PADDR)
                num_load_seg = num_load_seg + 1

    assert (p_paddr != 0xFFFFFFFF and num_load_seg == 1)

    print >> fit_file, DT_HEADER % p_paddr

    with open(bl31_file_name) as bl31_file:
        bl31 = ELFFile(bl31_file)
        for i in range(bl31.num_segments()):
            seg = bl31.get_segment(i)
            if ('PT_LOAD' == seg.__getitem__(ELF_SEG_P_TYPE)):
                paddr = seg.__getitem__(ELF_SEG_P_PADDR)
                p= seg.__getitem__(ELF_SEG_P_PADDR)
                append_atf_node(fit_file, i+1, paddr)
    atf_cnt = i+1
    append_fdt_node(fit_file, dtbs_file_name)
    print >> fit_file, '%s' % DT_IMAGES_NODE_END
    append_conf_node(fit_file, dtbs_file_name, atf_cnt)
    print >> fit_file, '%s' % DT_END

    if fit_file_name != sys.stdout:
        fit_file.close()

def generate_atf_binary(bl31_file_name):
    with open(bl31_file_name) as bl31_file:
        bl31 = ELFFile(bl31_file)

        num = bl31.num_segments()
        for i in range(num):
            seg = bl31.get_segment(i)
            if ('PT_LOAD' == seg.__getitem__(ELF_SEG_P_TYPE)):
                paddr = seg.__getitem__(ELF_SEG_P_PADDR)
                file_name = 'bl31_0x%08x.bin' % paddr
                with open(file_name, "wb") as atf:
                    atf.write(seg.data());

def get_bl31_segments_info(bl31_file_name):
    """
    Get load offset, physical offset, file size
    from bl31 elf file program headers.
    """
    with open(bl31_file_name) as bl31_file:
        bl31 = ELFFile(bl31_file)

        num = bl31.num_segments()
        print 'Number of Segments : %d' % bl31.num_segments()
        for i in range(num):
            print 'Segment %d' % i
            seg = bl31.get_segment(i)
            ptype = seg[ELF_SEG_P_TYPE]
            poffset = seg[ELF_SEG_P_OFFSET]
            pmemsz = seg[ELF_SEG_P_MEMSZ]
            pfilesz = seg[ELF_SEG_P_FILESZ]
            print 'type: %s\nfilesz: %08x\nmemsz: %08x\noffset: %08x' % (ptype, pfilesz, pmemsz, poffset)
            paddr = seg[ELF_SEG_P_PADDR]
            print 'paddr: %08x' % paddr

def main():
    uboot_elf="./u-boot"
    bl31_elf="./bl31.elf"
    FIT_ITS=sys.stdout

    opts, args = getopt.getopt(sys.argv[1:], "o:u:b:h")
    for opt, val in opts:
        if opt == "-o":
            FIT_ITS=val
        elif opt == "-u":
            uboot_elf=val
        elif opt == "-b":
            bl31_elf=val
        elif opt == "-h":
            print __doc__
            sys.exit(2)

    dtbs = args
    #get_bl31_segments_info("u-boot")
    #get_bl31_segments_info("bl31.elf")

    generate_atf_fit_dts(FIT_ITS, bl31_elf, uboot_elf, dtbs)
    generate_atf_binary(bl31_elf);

if __name__ == "__main__":
    main()
View Code

拷贝命令过来:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# cp ../u-boot/arch/arm/mach-rockchip/make_fit_atf.py ./arch/arm/mach-rockchip/
1.2.4 配置uboot启动倒计时

如果在uboot启动倒计时结束之前,没有按下任何键,将会执行那么将执行也就是bootcmd中配置中的命令,bootcmd中保存着默认的启动命令。

(5) delay in seconds before automatically booting

保存文件,输入文件名为evb-rk3399_defconfig ,在当前路径下生成evb-rk3399_defconfig ,存档:

root@zhengyang:/work/sambashare/rk3399/u-boot# mv evb-rk3399_defconfig ./configs/

注意:如果需要配置生效,需要使用make distclean清除之前的配置,重新执行配置命令。

1.3 编译uboot

执行make命令,生成u-boot文件:

root@zhengyang:/work/sambashare/rk3399/u-boot# make ARCH=arm CROSS_COMPILE=arm-linux- 

然后出现了如下错误:

binman: Filename 'atf-bl31' not found in input path (.,.,./board/rockchip/evb_rk3399,arch/arm/dts) (cwd='/work/sambashare/rk3399/u-boot-2023.04')

大致意思就是缺少了bl31.elf文件,我们将Rockchip RK3399 - TPL/SPL方加载uboot章节制作的bl31.elf拷贝到uboot根目录下:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# cp /work/sambashare/rk3399/arm-trusted-firmware/build/rk3399/release/bl31/bl31.elf ./
root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# cp bl31.elf atf-bl31

重新编译,可以看到在 ./spl、./tpl目录下生成镜像文件:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ls tpl/u-boot*
tpl/u-boot.cfg      tpl/u-boot-tpl      tpl/u-boot-tpl.dtb      tpl/u-boot-tpl.map        tpl/u-boot-tpl.sym
tpl/u-boot-spl.lds  tpl/u-boot-tpl.bin  tpl/u-boot-tpl-dtb.bin  tpl/u-boot-tpl-nodtb.bin
root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ls spl/u-boot*
spl/u-boot.cfg  spl/u-boot-spl.bin  spl/u-boot-spl-dtb.bin  spl/u-boot-spl.map        spl/u-boot-spl.sym
spl/u-boot-spl  spl/u-boot-spl.dtb  spl/u-boot-spl.lds      spl/u-boot-spl-nodtb.bin

二、idbloader.img

我们基于uboot源码编译出TPL/SPL,其中TPL负责实现DDR初始化,TPL初始化结束之后会回跳到BootROM程序,BootROM程序继续加载SPL,SPL加载u-boot.itb文件,然后跳转到uboor执行。

idbloader.img是由tpl/u-boot-tpl.bin和spl/u-boot-spl.bin文件生成,这里我们需要使用到tools目录下的mkimage工具。

2.1 tpl/u-boot-tpl.bin

在u-boot目录下执行:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# tools/mkimage -n rk3399 -T rksd -d tpl/u-boot-tpl.bin idbloader.img
Image Type:   Rockchip RK33 (SD/MMC) boot image
Init Data Size: 53248 bytes

其中:

  • -n rk3399将镜像文件的名称设置为"rk3399";
  • -T rksd将映像类型指定为Rockchip SD卡启动映像;
  • -d  tpl/u-boot-tpl.bin将生成的TPL镜像文件"tpl/u-boot-tpl.bin"指定为输入文件,而idbloader.img则指定为输出文件。

生成idbloader.img文件:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04#  ll idbloader.img
-rw-r--r-- 1 root root 55296 May 21 17:12 idbloader.img

2.2 spl/u-boot-spl.bin

将spl/u-boot-spl.bin合并到idbloader.img:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# cat spl/u-boot-spl.bin >> idbloader.img
root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ll idbloader.img
-rw-r--r-- 1 root root 143866 May 21 17:13 idbloader.img

三、u-boot.idb

3.1 u-boot.itd生成规则

这里我们需要生成FIT-uImage,对应的镜像文件名称为u-boot.itd,在顶层Makefile定义有:

ifdef U_BOOT_ITS
u-boot.itb: u-boot-nodtb.bin \
                $(if $(CONFIG_OF_SEPARATE)$(CONFIG_OF_EMBED)$(CONFIG_SANDBOX),dts/dt.dtb) \
                $(if $(CONFIG_MULTI_DTB_FIT),$(FINAL_DTB_CONTAINER)) \
                $(U_BOOT_ITS) FORCE
        $(call if_changed,mkfitimage)
        $(BOARD_SIZE_CHECK)
endif

ifneq ($(CONFIG_SPL_FIT_SOURCE),"")             // 方式1. 如果自己已经有u-boot.its,配置CONFIG_SPL_FIT_SOURCE=u-boot.its
U_BOOT_ITS := u-boot.its
$(U_BOOT_ITS): $(subst ",,$(CONFIG_SPL_FIT_SOURCE))
        $(call if_changed,copy)
else
ifneq ($(CONFIG_USE_SPL_FIT_GENERATOR),)   // 方式2.  使用脚本生成 配置CONFIG_USE_SPL_FIT_GENERATOR=y
U_BOOT_ITS := u-boot.its
$(U_BOOT_ITS): $(U_BOOT_ITS_DEPS) FORCE
        $(srctree)/$(CONFIG_SPL_FIT_GENERATOR) \ 
        $(patsubst %,arch/$(ARCH)/dts/%.dtb,$(subst ",,$(CONFIG_OF_LIST))) > $@           // 在$(patsubst %.c,%.o,$(dir) )中,patsubst把$(dir)中的变量符合后缀是.c的全部替换成.o
endif
endif

这里我们采用的配置CONFIG_SPL_FIT_GENERATOR的方式来生成u-boot.its,也就是我们在执行make menuconfig时配置的:

CONFIG_SPL_FIT_SOURCE=""
CONFIG_USE_SPL_FIT_GENERATOR=y
CONFIG_SPL_FIT_GENERATOR="arch/arm/mach-rockchip/make_fit_atf.py"

3.2 编译

行编译命令:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# make u-boot.itb ARCH=arm CROSS_COMPILE=arm-linux-
  UPD     include/generated/timestamp_autogenerated.h
  ENVC    include/generated/env.txt
  ENVP    include/generated/env.in
  ENVT    include/generated/environment.h
  CC      cmd/version.o
  AR      cmd/built-in.o
  CC      env/common.o
  AR      env/built-in.o
  CC      lib/efi_loader/dtbdump.o
  LD      lib/efi_loader/dtbdump_efi.so
  OBJCOPY lib/efi_loader/dtbdump.efi
  CC      lib/efi_loader/initrddump.o
  LD      lib/efi_loader/initrddump_efi.so
  OBJCOPY lib/efi_loader/initrddump.efi
  LD      u-boot
  OBJCOPY u-boot-nodtb.bin
  RELOC   u-boot-nodtb.bin
./"arch/arm/mach-rockchip/make_fit_atf.py" \
arch/arm/dts/rk3399-evb.dtb > u-boot.its
  MKIMAGE u-boot.itb

编译完成在当前路径下生成u-boot.its、u-boot.itb文件。

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ll u-boot.it*
-rw-r--r-- 1 root root 974224 May 21 17:14 u-boot.itb
-rw-r--r-- 1 root root   2423 May 21 17:14 u-boot.its

其中u-boot.its文件内容如下:

/*
 * Copyright (C) 2017 Fuzhou Rockchip Electronics Co., Ltd
 *
 * Minimal dts for a SPL FIT image payload.
 *
 * SPDX-License-Identifier: GPL-2.0+  X11
 */
/dts-v1/;

/ {
        description = "Configuration to load ATF before U-Boot";
        #address-cells = <1>;

        images {
                uboot {
                        description = "U-Boot (64-bit)";
                        data = /incbin/("u-boot-nodtb.bin");
                        type = "standalone";
                        os = "U-Boot";
                        arch = "arm64";
                        compression = "none";
                        load = <0x00200000>;
                        hash {
                                algo = "sha256";
                        };
                };

                atf@1 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0x00040000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0x00040000>;
                        entry = <0x00040000>;
                        hash {
                                algo = "sha256";
                        };
                };

                atf@2 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0xff3b0000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0xff3b0000>;
                        hash {
                                algo = "sha256";
                        };
                };

                atf@3 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0xff8c0000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0xff8c0000>;
                        hash {
                                algo = "sha256";
                        };
                };
                atf@4 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0xff8c1000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0xff8c1000>;
                        hash {
                                algo = "sha256";
                        };
                };

                atf@5 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0xff8c2000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0xff8c2000>;
                        hash {
                                algo = "sha256";
                        };
                };

                fdt {
                        description = "U-Boot device tree blob";
                        data = /incbin/("u-boot.dtb");
                        type = "flat_dt";
                        arch = "arm64";
                        compression = "none";
                        hash {
                                algo = "sha256";
                        };
                };


        };

        configurations {
                default = "config";
                config {
                        description = "Rockchip armv8 with ATF";
                        rollback-index = <0x0>;
                        firmware = "atf@1";
                        loadables = "uboot", "atf@2" , "atf@3" , "atf@4" , "atf@5" , "atf@6" ;
                        fdt = "fdt";
                        signature {
                                algo = "sha256,rsa2048";
                                padding = "pss";
                                key-name-hint = "dev";
                                sign-images = "fdt", "firmware", "loadables";
                        };
                };

        };


};
View Code

四、FIT uImage

我们在Mini2440之uboot移植流程之linux内核启动分析(六)中介绍过内核镜像包括多种格式,比如Legacy uImage、FIT uImage,这一节我们将学习制作FIT uImage,并将其烧录到开发板的eMMC第0x8000个扇区上。

4.1 编译内核

Rockchip RK3399 - linux内核移植我们介绍了linux内核5.2.8版本的编译,编译完成后会在arch/arm64/boot/文件夹下生成内核镜像文件,以及设备树dst/rockchip/xxx.dtb文件;

root@zhengyang:/work/sambashare/rk3399/linux-5.2.8# ll arch/arm64/boot
总用量 44032
drwxr-xr-x  3 root root     4096 May 16 11:28 ./
drwxr-xr-x 14 root root     4096 May 16 11:15 ../
drwxr-xr-x 33 root root     4096 May 16 10:27 dts/
-rw-r--r--  1 root root       55 May 16 10:27 .gitignore
-rw-r--r--  1 root root 33616384 May 16 11:27 Image
-rw-r--r--  1 root root      134 May 16 11:27 .Image.cmd
-rw-r--r--  1 root root 11617499 May 16 11:28 Image.gz
-rw-r--r--  1 root root      101 May 16 11:28 .Image.gz.cmd
-rw-r--r--  1 root root     1562 May 16 10:27 install.sh
-rw-r--r--  1 root root      960 May 16 10:27 Makefile
root@zhengyang:/work/sambashare/rk3399/linux-5.2.8/arch/arm64# cd arch/arm64/boot
root@zhengyang:/work/sambashare/rk3399/linux-5.2.8/arch/arm64/boot# ls dts/rockchip/*rk3399*.dtb
dts/rockchip/rk3399-evb.dtb              dts/rockchip/rk3399-gru-scarlet-kd.dtb  dts/rockchip/rk3399-rock960.dtb
dts/rockchip/rk3399-ficus.dtb            dts/rockchip/rk3399-nanopc-t4.dtb       dts/rockchip/rk3399-rock-pi-4.dtb
dts/rockchip/rk3399-firefly.dtb          dts/rockchip/rk3399-nanopi-m4.dtb       dts/rockchip/rk3399-rockpro64.dtb
dts/rockchip/rk3399-gru-bob.dtb          dts/rockchip/rk3399-nanopi-neo4.dtb     dts/rockchip/rk3399-roc-pc.dtb
dts/rockchip/rk3399-gru-kevin.dtb        dts/rockchip/rk3399-orangepi.dtb        dts/rockchip/rk3399-sapphire.dtb
dts/rockchip/rk3399-gru-scarlet-inx.dtb  dts/rockchip/rk3399-puma-haikou.dtb     dts/rockchip/rk3399-sapphire-excavator.dtb

其中Image是内核镜像原生二进制文件,可以直接在芯片上运行的,由于Image文件较大,我们将Image压缩转换为zImage:

cat arch/arm64/boot/Image | gzip -n -f -9 > arch/arm64/boot/zImage

实际上Image.gz文件就是将Image文件通过gzip进行打包得到的。

4.2 创建its文件

因为mkimage是根据its文件中的描述来打包镜像生成itb文件(FIT uImage),所以首先需要制作一个its文件,在its文件中描述需要被打包的镜像,主要是kernel镜像,dtb文件,ramdisk镜像。 

我们创建一个kernel.its文件,内容如下:

/*
 * Simple U-Boot uImage source file containing a single kernel and FDT blob
 */
/dts-v1/;

/ {
        description = "Simple image with single Linux kernel and FDT blob";
        #address-cells = <1>;

        images {

                kernel {
                        description = "Vanilla Linux kernel";
                        data = /incbin/("Image.gz");
                        type = "kernel";
                        arch = "arm64";
                        os = "linux";
                        compression = "gzip";
                        load = <0x20000000>;
                        entry = <0x20000000>;
                        hash-1 {
                                algo = "crc32";
                        };
                        hash-2 {
                                algo = "sha1";
                        };
                };

               fdt {
                        description = "Flattened Device Tree blob";
                        data = /incbin/("rk3399-evb.dtb");
                        type = "flat_dt";
                        arch = "arm64";
                        compression = "none";
                        hash-1 {
                                algo = "crc32";
                        };
                        hash-2 {
                                algo = "sha1";
                        };
                };


                ramdisk {
                    description = "Ramdisk for project-x";
                    data = /incbin/("ramdisk.gz");
                    type = "ramdisk";
                    arch = "arm64";
                    os = "linux";
                    load = <00000000>;
                    entry = <00000000>;
                    compression = "gzip";
                    hash-1 {
                        algo = "crc32";
                   };
              };
        };
        configurations {
                default = "conf-1";
                conf-1 {
                        description = "Boot Linux kernel with FDT blob";
                        kernel = "kernel";
                        fdt = "fdt";
                        ramdisk = "ramdisk";
                };
        };
};

4.3 生成kernel.itb

FIT image 文件的编译过程很简单,这里我们需要将uboot路径下的mkimage工具拷贝过来,然后在命令行使用mkimage工具编译即可:

root@zhengyang:/work/sambashare/rk3399/linux-5.2.8# cp ../u-boot-2023.04/tools/mkimage ./
root@zhengyang:/work/sambashare/rk3399/linux-5.2.8# ./mkimage -f kernel.its kernel.itb

五、烧录测试

由于我们每次修改程序后,重新编译步骤比较麻烦,这里我们可以将这些步骤编写成一个shell脚本,这样每次执行就比较容易了。

5.1 自动构建脚本

在uboot根目录下创建一个build.sh文件:

#!/bin/bash

# 接收第一个参数 支持 ''|'config'|'clean'
step=$1
# 接收 V=1  支持编译输出详细信息
V=$2
cmd=${V%=*}


if [[ ${cmd} = 'V' ]]; then
    V=${V#*=}
fi

if [[ ${step} == "config" ]];then
    echo '----------------config evb-rk3399_defconfig------- -------------'
    make evb-rk3399_defconfig V=${V}
fi

if [[ -z ${step} ]];then
    echo "---------------1. compile uboot-------------------------------- "
    make ARCH=arm CROSS_COMPILE=arm-linux- V=${V}
    echo "---------------2. mkimahe idbloader----------------------------"
    tools/mkimage -n rk3399 -T rksd -d tpl/u-boot-tpl.bin idbloader.img
    cat spl/u-boot-spl.bin >> idbloader.img
    echo "---------------3. make itb-------------------------------------"
    make u-boot.itb ARCH=arm CROSS_COMPILE=arm-linux-
    cp ./u-boot.itb ../rkdeveloptool
    cp ./idbloader.img ../rkdeveloptool
fi


if [[ ${step} == "clean" ]];then
    echo "-----------------clean-----------------------------------------"
    make clean
make distclean
fi

然后给文件赋予可执行权限:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04#  chmod +x build.sh
5.1.1 clean

执行如下命令进行清理:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04#  ./build.sh clean
5.1.2 配置

执行如下命令进行uboot配置:

root@zhengyang:/work/sambashare/rk3399/u-boot# ./build.sh config
----------------config evb-rk3399_defconfig------- -------------
  HOSTCC  scripts/basic/fixdep
  HOSTCC  scripts/kconfig/conf.o
  HOSTCC  scripts/kconfig/zconf.tab.o
  HOSTLD  scripts/kconfig/conf
#
# configuration written to .config
#
5.1.3 构建

执行如下命令进行uboot编译、生成idbloader.img、 u-boot.itb文件,并拷贝到rkdeveloptool目录下:

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ./build.sh

如果需要输出编译详情信息,追加V=1参数即可。

5.2 烧录uboot

烧录方法有两种:

  • 一种是基于Rockchip的官方烧录工具RKDevTool;官方RKDevTool是基于recovery模式实现的,如果板子带有recovery按键,可以使用这种方式;
  • 另外一种是在开发板上使用rkdeveloptool工具直接烧写eMMC;这里我们采用rkdeveloptool烧录的方式;
5.2.1 准备镜像

我们需按照之前的流程得到了idbloader.img、u-boot.itb文件,由于我们这里不进行内核和根文件系统的烧录,所以暂时不需要准备这俩。

按照Rockchip官方要求将idbloader.img烧录到eMMC的0x40扇区,u-boot.itb烧录到0x4000扇区。

我们需要将idbloader.img、u-boot.itb、kernel.itb拷贝到rkdeveloptool路径下:

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# cp ../u-boot-2023.04/u-boot.itb ./
root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# cp ../u-boot-2023.04/idbloader.img ./
5.2.2 进入MASKROM升级模式

NanoPC-T4开发板如需进入MASKROM升级模式,需要进入如下操作:

  • 将开发板连接上电源,并且连接Type-C数据线到PC;
  • 按住BOOT键再长按Power键开机(保持按下BOOT键5秒以上),将强制进入MASKROM模式。

一般电脑识别到USB连接,都会发出声音。或者观察虚拟机右下角是否突然多个USB设备:右键点击链接;

5.2.3 下载uboot

使用下载引导命令去使目标机器初始化DDR与运行usbplug(初始化DDR的原因是由于升级需要很大的内存,所以需要使用到DDR);

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool db rk3399_loader_v1.27.126.bin
Downloading bootloader succeeded.

由于BootROM启动会将rk3399_loader_v1.27.126.bin将在到内部SRAM中,然后跳转到ddr.bin代码进行DDR的初始化,ddr.bin执行之后会回跳到BootROM程序,BootROM程序继续加载usbplug.bin,由usbplug.bin完成程序的下载以及烧录到eMMC。

如果接上串口的话,执行完这一步可以看到如下输出信息:

DDR Version 1.27 20211018
In
Channel 0: LPDDR3, 800MHz
CS = 0
MR0=0x58
MR1=0x58
MR2=0x58
MR3=0x58
MR4=0x2
MR5=0x1
MR6=0x5
MR7=0x0
MR8=0x1F
MR9=0x1F
MR10=0x1F
MR11=0x1F
MR12=0x1F
MR13=0x1F
MR14=0x1F
MR15=0x1F
MR16=0x1F
CS = 1
MR0=0x58
MR1=0x58
MR2=0x58
MR3=0x58
MR4=0x2
MR5=0x1
MR6=0x5
MR7=0x0
MR8=0x1F
MR9=0x1F
MR10=0x1F
MR11=0x1F
MR12=0x1F
MR13=0x1F
MR14=0x1F
MR15=0x1F
MR16=0x1F
Bus Width=32 Col=10 Bank=8 Row=15/15 CS=2 Die Bus-Width=32 Size=2048MB
Channel 1: LPDDR3, 800MHz
CS = 0
MR0=0x58
MR1=0x58
MR2=0x58
MR3=0x58
MR4=0x2
MR5=0x1
MR6=0x5
MR7=0x0
MR8=0x1F
MR9=0x1F
MR10=0x1F
MR11=0x1F
MR12=0x1F
MR13=0x1F
MR14=0x1F
MR15=0x1F
MR16=0x1F
CS = 1
MR0=0x58
MR1=0x58
MR2=0x58
MR3=0x58
MR4=0x2
MR5=0x1
MR6=0x5
MR7=0x0
MR8=0x1F
MR9=0x1F
MR10=0x1F
MR11=0x1F
MR12=0x1F
MR13=0x1F
MR14=0x1F
MR15=0x1F
MR16=0x1F
Bus Width=32 Col=10 Bank=8 Row=15/15 CS=2 Die Bus-Width=32 Size=2048MB
256B stride
ch 0 ddrconfig = 0x101, ddrsize = 0x2020
ch 1 ddrconfig = 0x101, ddrsize = 0x2020
pmugrf_os_reg[2] = 0x3AA0DAA0, stride = 0xD
OUT
Boot1 Release Time: Jun  2 2020 15:02:17, version: 1.26
CPUId = 0x0
SdmmcInit=2 0
BootCapSize=100000
UserCapSize=14910MB
FwPartOffset=2000 , 100000
UsbBoot ...73858
powerOn 86071
View Code

使用wl命令烧写镜像到目标机器的eMMC,需要注意的是访问DDR所需的所有其他命令都应在使用db命令之后才能使用;

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool wl 0x40 idbloader.img
Write LBA from file (100%)
root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool wl 0x4000 u-boot.itb
Write LBA from file (100%)

在烧写镜像完成后使用rd命令重启目标机器:

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool rd
Reset Device OK.

需要注意的是:如果这个时候你也烧录了内核程序,执行完rd命令后是无法进入uboot命令的的,这里会直接启动内核。

5.3 测试u-boot

5.3.1 串口连接

使用准备好的USB转串口适配器和连接线(需另购),连接开发板:

引脚  开发板接口 USB转串口 
 1  GNC
VCC 5V 
UART2DBG_TX  RX
 UART2DBG_RX TX 
5.3.2 MobaXterm

这里我使用的串口调试工具是MobaXterm,选择串口端口,设置波特率为115200,8位数据位,1位停止位。

5.3.3 上电

给开发板上电,通过串口打印输出:

U-Boot TPL 2023.04 (May 21 2023 - 17:50:22)
Channel 0: LPDDR3, 800MHz
BW=32 Col=10 Bk=8 CS0 Row=15 CS1 Row=15 CS=2 Die BW=16 Size=2048MB
Channel 1: LPDDR3, 800MHz
BW=32 Col=10 Bk=8 CS0 Row=15 CS1 Row=15 CS=2 Die BW=16 Size=2048MB
256B stride
Trying to boot from BOOTROM
Returning to boot ROM...

U-Boot SPL 2023.04 (May 21 2023 - 17:50:22 +0800)
Trying to boot from MMC2
spl_load_fit_image: Skip load 'atf@5': image size is 0!
cannot find image node 'atf@6': -1
NOTICE:  BL31: v2.8(release):c194aa0
NOTICE:  BL31: Built : 19:26:54, May 11 2023


U-Boot 2023.04 (May 21 2023 - 17:50:25 +0800)

SoC: Rockchip rk3399
Reset cause: RST
Model: Rockchip RK3399 Evaluation Board
DRAM:  4 GiB (effective 3.9 GiB)
Core:  254 devices, 27 uclasses, devicetree: separate
MMC:   mmc@fe320000: 1, mmc@fe330000: 0
Loading Environment from MMC... OK
In:    serial
Out:   serial
Err:   serial
Model: Rockchip RK3399 Evaluation Board
Net:   eth0: ethernet@fe300000
Hit any key to stop autoboot:  0

在倒计时执行完之前,按CTRL+C即可进入uboot命令行。

5.3.4 设置环境变量

这里我们这是本机和服务器的ip地址:

=> setenv ipaddr 192.168.0.105
=> setenv serverip 192.168.0.200
=> saveenv
Saving Environment to MMC... Writing to MMC(0)... OK
5.3.5 mmc

查看mmc信息:

=> mmc info
Device: mmc@fe330000
Manufacturer ID: 15
OEM: 0
Name: AJNB4R
Bus Speed: 200000000
Mode: HS200 (200MHz)
Rd Block Len: 512
MMC version 5.1
High Capacity: Yes
Capacity: 14.6 GiB
Bus Width: 8-bit
Erase Group Size: 512 KiB
HC WP Group Size: 8 MiB
User Capacity: 14.6 GiB WRREL
Boot Capacity: 4 MiB ENH
RPMB Capacity: 4 MiB ENH
Boot area 0 is not write protected
Boot area 1 is not write protected

从上图中可以看到MMC设备版本为5.1, 14.6GiB(eMMC为16GB),速度为20000000Hz=200MHz, 8 位宽的总线。

5.4 烧录内核

5.4.1 下载kernel

我们将内核拷贝到tftp文件目录:

root@zhengyang:/work/sambashare/rk3399/linux-5.2.8# cp kernel.itb /work/tftpboot/

接着通过uboot命令行将kernel.itb下载待内存地址0x10000000处:

=> tftp 0x10000000 kernel.itb
ethernet@fe300000 Waiting for PHY auto negotiation to complete.... done
Speed: 100, full duplex
Using ethernet@fe300000 device
TFTP from server 192.168.0.200; our IP address is 192.168.0.105
Filename 'kernel.itb'.
Load address: 0x10000000
Loading: ##############T ##T #################################################
         #################################################################
         ###############################################################T ##T
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         ############T #T ################T #T ###################################
         #################################################################
         ################
         184.6 KiB/s
done
Bytes transferred = 8822112 (869d60 hex)

通过mmc write命令将内核镜像烧录到eMMC第0x8000个扇区处:

=> mmc erase 0x8000 20000

MMC erase: dev # 0, block # 32768, count 131072 ... 131072 blocks erased: OK
=> mmc write 0x10000000 0x8000 20000

MMC write: dev # 0, block # 32768, count 131072 ... 131072 blocks written: OK
5.4.2 bootm启动内核

在uboot命令行运行bootm 0x10000000命令启动内核:

=> bootm 0x10000000
## Loading kernel from FIT Image at 10000000 ...
   Using 'conf-1' configuration
   Trying 'kernel' kernel subimage
     Description:  Vanilla Linux kernel
     Type:         Kernel Image
     Compression:  gzip compressed
     Data Start:   0x100000e8
     Data Size:    8637971 Bytes = 8.2 MiB
     Architecture: AArch64
     OS:           Linux
     Load Address: 0x20000000
     Entry Point:  0x20000000
     Hash algo:    crc32
     Hash value:   dfbd0f6d
     Hash algo:    sha1
     Hash value:   aad6af66fe5cef720c93e6ea8115c69093216105
   Verifying Hash Integrity ... crc32+ sha1+ OK
bootm_find_os images.os.load=0x20000000    # kernel.its文件中kernel节点配置的"load"属性
bootm_find_os images.ep=0x20000000         # kernel.its文件中kernel节点配置的"entry"属性
bootm_find_os images.os.image_start=0x100000e8  # Image.gz镜像文件在内存中的地址
## Loading ramdisk from FIT Image at 10000000 ...
   Using 'conf-1' configuration
   Trying 'ramdisk' ramdisk subimage
     Description:  Ramdisk for project-x
     Type:         RAMDisk Image
     Compression:  gzip compressed
     Data Start:   0x10848a20
     Data Size:    134661 Bytes = 131.5 KiB
     Architecture: AArch64
     OS:           Linux
     Load Address: 0x00000000
     Entry Point:  0x00000000
     Hash algo:    crc32
     Hash value:   649c78d3
   Verifying Hash Integrity ... crc32+ OK
WARNING: 'compression' nodes for ramdisks are deprecated, please fix your .its file!
## Loading fdt from FIT Image at 10000000 ...
   Using 'conf-1' configuration
   Trying 'fdt' fdt subimage
     Description:  Flattened Device Tree blob
     Type:         Flat Device Tree
     Compression:  uncompressed
     Data Start:   0x1083d024
     Data Size:    47365 Bytes = 46.3 KiB
     Architecture: AArch64
     Hash algo:    crc32
     Hash value:   2489ab59
     Hash algo:    sha1
     Hash value:   002b18a40044056ce9097742d3cf5f4480338521
   Verifying Hash Integrity ... crc32+ sha1+ OK
   Booting using the fdt blob at 0x1083d024
Working FDT set to 1083d024
   Uncompressing Kernel Image
   kernel loaded at 0x20000000, end = 0x213e9a00
   bootm_load_os 0x20000000=0x91005a4d     # 加压缩之后得到Image镜像,并加载到0x20000000地址处
   bootm_load_os 0x20000010=0x145c000
   Loading Ramdisk to f45f0000, end f4610e05 ... OK
   Loading Device Tree to 00000000f45e1000, end 00000000f45ef904 ... OK
Working FDT set to f45e1000
## Transferring control to Linux (at address 20000000)...

Starting kernel ...

上面的日志信息里,我打印了内存地址0x20000000、0x20000010处的数据,可以看到和Image镜像文件的内容是一样的。

至少证明uboot已经成功解压了zImage,并将解压后的Image加载到了0x20000000地址处,只是在跳转到0x20000000处执行内核代码时卡住了。

5.4.3 启动卡在start kernel处理

假如想解决问题,就必须知道问题出现在了哪里,因此一般通过内核启动的时候打印的信息来定位问题产生的原因。

这里首先想到的是打开使能CONFIG_DEBUG_KMEMLEAK,执行make menuconfig配置内核、

Kernel hacking  ---> 
     Memory Debugging  --->
          [*]  Kernel memory leak detector

重新编译内核,再次将kernel.itb下载到开发板eMMC第0x8000个扇区上。

再次启动开发板然后看是否可以得到有效的提示信息,假如仍然不可以的话,那就你直接读取缓存 ,缓存的地址为 __log_buf其地址在system.map被标记出来,我们可以找到具体的位置。具体如下:

(1) 先去内核编译目录找到System.map文件。

(2) 接下来遭到System.map中__log_buf对应地址,执行:

root@zhengyang:/work/sambashare/rk3399/linux-5.2.8# cat  ./System.map | grep -n  __log_buf
117061:ffff000011493358 b __log_buf

此时记住0x11493358这个数字。

(3) 设置uboot环境变量,在bootargs中加入kmemleak=on;

设置新的bootargs:

=> setenv bootargs earlyprintk earlycon=uart8250,mmio32,0xff1a0000,115200n8 console=ttyS2,115200n8 root=/dev/nfs rw nfsroot=192.168.0.200:/work/nfs_root/rootfs_rk3399 ip=192.168.0.105:192.168.0.200:192.168.0.1:255.255.255.0::eth0:off
=> saveenv
Saving Environment to MMC... Writing to MMC(0)... OK

(4)  直接从eMMC第0x8000个扇区加载内核,启动内核,内核此时卡在Starting kernel …位置;

=> mmc read 0x10000000 0x8000 20000

MMC read: dev # 0, block # 32768, count 131072 ... 131072 blocks read: OK
=> bootm 0x10000000

(5)  重新启动系统(注意:不要断电启动,按下复位键即可),进入uboot命令行界面;

(6) 在命令行输入(数字是刚才得到的数字):

md 0x11493358

(7) 不停的敲击回车键,直到为全为0。

arm64和arm有点不太一样,待定.... ,在研究....

参考文章

[1] Rockchip参考官方移植

[2] Rockchip RK3399 - TPL/SPL方式加载uboot

[3] 嵌入式Linux之uboot源码make配置编译正向分析

[4]嵌入式ARM64 Linux内核FIT uimage方式启动

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