Rockchip RK3399 - 移植uboot 2023.04和内核FIT uImage制作

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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
linux     :5.2.8
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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Image.gz(内核编译默认也会生成这个文件):

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

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/("arch/arm64/boot/Image.gz");
                        type = "kernel";
                        arch = "arm64";
                        os = "linux";
                        compression = "gzip";
                        load = <0x280000>;
                        entry = <0x280000>;
                        hash-1 {
                                algo = "crc32";
                        };
                        hash-2 {
                                algo = "sha1";
                        };
                };

               fdt {
                        description = "Flattened Device Tree blob";
                        data = /incbin/("arch/arm64/boot/dts/rockchip/rk3399-evb.dtb");
                        type = "flat_dt";
                        arch = "arm64";
                        compression = "none";
                        load = <0x8300000>;
                        entry = <0x8300000>;
                        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";
                };
        };
};

这里我们内核镜像使用的Image.gz文件,该文件是通过gzip对Image进行压缩得到的,因此需要在kernel属性中指定compression,这样uboot才知道如何解压。

4.2.1 内核加载地址0x280000

这里有一点一定要注意:kernel的load、entry地址一定要指定为0x280000;我最初将load、entry都指定为0x20000000、0x20080000,后来又尝试了0x200000,uboot启动内核时都会卡在Starting kernel ...,就这个小小的问题我排查了好多天,说多了这都是泪啊;那我后来是怎么发现load、entry加载地址有问题的呢?

我们在上一篇博客中介绍了Distro Boot启动内核的方式(Rockchip官方推荐的),当时是可以启动内核的。所以我去参考了Rockchip官方提供的uboot代码。

我修改了Rockchip官方提供的uboot代码,在arch/arm/lib/bootm.c文件中将 images->ep(Image镜像的加载地址)、images->fd_addr(fdt的加载地址)信息打印出来:

/* Subcommand: GO */
static void boot_jump_linux(bootm_headers_t *images, int flag)
{
#ifdef CONFIG_ARM64
        void (*kernel_entry)(void *fdt_addr, void *res0, void *res1,
                        void *res2);
        int fake = (flag & BOOTM_STATE_OS_FAKE_GO);
        int es_flag = 0;

#if defined(CONFIG_AMP)
        es_flag = arm64_switch_amp_pe(images);
#elif defined(CONFIG_ARM64_SWITCH_TO_AARCH32)
        es_flag = arm64_switch_aarch32(images);
#endif
        kernel_entry = (void (*)(void *fdt_addr, void *res0, void *res1,
                                void *res2))images->ep;

        printf("## Transferring control to Linux (at address %lx)...\n",
                (ulong) kernel_entry);
        printf("%s 0x%x=0x%x \n",__func__,images->ep,*((unsigned int *)images->ep));
        printf("%s 0x%x=0x%x \n",__func__,images->ep + 4,*((unsigned int *)(images->ep + 4) ));
                printf("%s 0x%x=0x%x \n",__func__,images->ep + 20,*((unsigned int *)(images->ep + 20) ));
        printf("%s 0x%x=0x%x \n",__func__,images->ft_addr,*((unsigned int *)images->ft_addr));
        printf("%s 0x%x=0x%x \n",__func__,((unsigned int *)images->ft_addr)+1,*((unsigned int *)images->ft_addr+1));
                printf("%s 0x%x=0x%x \n",__func__,((unsigned int *)images->ft_addr)+5,*((unsigned int *)images->ft_addr+5));

        bootstage_mark(BOOTSTAGE_ID_RUN_OS);

        announce_and_cleanup(images, fake);  // 这里面会输出Starting kernel

        if (!fake) {
#ifdef CONFIG_ARMV8_PSCI         // 不会走
                armv8_setup_psci();#endif
                do_nonsec_virt_switch();

                update_os_arch_secondary_cores(images->os.arch);

#ifdef CONFIG_ARMV8_SWITCH_TO_EL1      // 不会走
                armv8_switch_to_el2((u64)images->ft_addr, 0, 0, 0,
                                    (u64)switch_to_el1, ES_TO_AARCH64);
#else
                if ((IH_ARCH_DEFAULT == IH_ARCH_ARM64) &&
                    (images->os.arch == IH_ARCH_ARM)){           
                        armv8_switch_to_el2(0, (u64)gd->bd->bi_arch_number,
                                            (u64)images->ft_addr, es_flag,
                                            (u64)images->ep,
                                            ES_TO_AARCH32);
                }else {                // 走这里
                        armv8_switch_to_el2((u64)images->ft_addr, 0, 0, es_flag,
                                            images->ep,
                                            ES_TO_AARCH64);
                }
#endif
        }
 ......    // 后面是非CONFIG_ARM64成立时,才会走的代码
}

这是当时打印出来的内容:

## Transferring control to Linux (at address 280000)...
boot_jump_linux 0x280000=0x91005a4d
boot_jump_linux 0x280004=0x14433fff
boot_jump_linux 0x280014=0x0
boot_jump_linux 0x8300000=0xedfe0dd0
boot_jump_linux 0x8300004=0xc00000
boot_jump_linux 0x8300014=0x11000000
Total: 5818.548 ms

Starting kernel ...

然后我又修改了当前最新版本uboot的代码,将images->ep、images->fd_addr也打印出来,下面时我配置为load、entry为0x20000000时输出的内容:

## Transferring control to Linux (at address 20000000)...
boot_jump_linux 0x20000000=0x91005a4d
boot_jump_linux 0x20000004=0x14433fff
boot_jump_linux 0x20000014=0x0
boot_jump_linux 0xf4606000=0xedfe0dd0
boot_jump_linux 0xf4606004=0xc00000
boot_jump_linux 0xf4606014=0x11000000

同时比对这两个uboot 中ep、fd_addr内容差异:我发现kernel、fdt都成功加载到内存了,除了加载的地址不一样,但是内存的数据时完全一样的。

最开始我也没有往加载地址这方面去想,然后就开始百度,各种尝试。然而网上相关资料少之又少;后来我尝试了很多办法:

(1) 最初我想的是会不会是内核启动时卡住了,所以我就去定位内核日志缓冲区log_buf在内存的地址,然后去查看该内存的内容,但是该缓冲区并没有任何有用的数据;我就开始怀疑人生了,难道是我排查的方法有问题,在文章最后会记录这种方法;实际上现在回想起来,内核代码应该都没有执行到,直接卡在了armv8_switch_to_el2函数;该函数等后面我们有时间再研究;

(2) 然后又在想是不是启动参数bootargs配置的有问题,导致内核日志没有通过串口打印出来,专文为此我还去研究了一下earlycon控制台驱动和uart8250串口驱动;后面也会介绍如何配置earlycon和console;

(3) 最后我又尝试使用Rockchip官方提供的uboot代码去加载kernel.itb镜像文件,由于Rockchip官方提供的uboot在启动方式上做了大量魔改,所以我又去阅读了cmd/bootfit.c以及arch/arm/mach-rockchip/fit.c相关的代码,发现几处比较有意思的地方。

当我们把FIT uImage下载到内存某个地址,比如0x10000000,运行boot_fit  0x10000000启动内核,该命令会执行do_boot_fit函数,这个函数内部会调用fit_image_pre_process对FIT uImage进行预处理:包括检查其格式是否合法、修正镜像元素的入口地址和加载地址等信息,并且在必要时分配系统内存。因此要求FIT uImage必须满足以下条件:

必须要有ramdisk、kernel、fdt节点;(这里就很烦人,ramdisk你限制个屁,为此我还去做了ramdisk镜像);

校验kernel、ramdisk、ftd的data-offset、data-size属性,这个就导致在使用tools/mkimage工具生成FIT uImage镜像的时候必须要指定-E参数,不然生成的FIT uImage是不会有这两个属性的

后来我发现代码中会从环境变量中获取一个加载地址,虽然这个地址并没有被使用到,我就想着要不按照这个改一下,后来尝试发现内核竟然真的可以启动了,撒花啊......,至于为啥一定要配置kernel的load地址为0x280000,目前我还不知道原因,等后面有时间研究一下。

fdt_addr_r=0x08300000
kernel_addr_r=0x00280000
4.2.2 radmisk

关于radmisk根文件系统的制作上一节我们已经介绍过了,这里不重复说了,具体可以参考amdist根文件系统镜像

此外,如果不需要ramdisk的话,将kernel.its文件中ramdisk相关配置全部删除即可。

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

需要注意的是这里一定不能指定-E参数,不然uboot在进行kernel镜像hash校验的时候就会失败。

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/idbloader.img ./
root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# cp ../u-boot-2023.04/u-boot.itb ./
root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# cp ../linux-5.2.8/kernel.itb ./
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%)

如果有制作好ext4类型的根文件系统,可以将根文件系统烧录到eMMC 0x40000扇区处,烧录命令:

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool wl 0x40000 rk3399_ext4.img 

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ip以及bootargs

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

ARM64,在kernel未建立console之前,使用earlycon,实现日志信息的打印,因此需要配置bootargs,要加入如下选项:

earlycon=uart8250,mmio32,0xff1a0000,115200n8

其中uart8250表示针对uart8250这个串口设备,mio32表示内存I/O资源32位,0xff1a0000是RK3399串口2寄存器基地址,115200表示串口波特率。

uart8250串口驱动定义在内核根目录drivers/tty/serial/8250/8250_early.c文件中:

EARLYCON_DECLARE(uart8250, early_serial8250_setup);

有关uart8250串口驱动是如何注册的,这里就不过多介绍了,具体可以参考ARM64是怎样使用earlycon实现打印的

我们在uboot命令行设置:

=> setenv bootargs earlycon=uart8250,mmio32,0xff1a0000 console=ttyS2,115200n8 root=PARTUUID=B921B045-1D rw rootwait rootfstype=ext4 init=/sbin/init
=> saveenv
Saving Environment to MMC... Writing to MMC(0)... OK
=> print bootargs
bootargs=earlycon=uart8250,mmio32,0xff1a0000 console=ttyS2,115200n8 root=PARTUUID=B921B045-1D rw rootwait rootfstype=ext4 init=/sbin/init

这里我通过root属性指定了根文件系统所在位置,这里我是用的ext4类型的根文件系统

5.3.5 mmc

查看mmc信息:

=> mmc list
mmc@fe320000: 1
mmc@fe330000: 0 (eMMC)
=> 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
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: #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################
         1.2 MiB/s
done
Bytes transferred = 8832472 (86c5d8 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 0xA000

MMC erase: dev # 0, block # 32768, count 40960 ... 40960 blocks erased: OK
=>  mmc write 0x10000000 0x8000 0xA000

MMC write: dev # 0, block # 32768, count 40960 ... 40960 blocks written: OK

这里cnt传入的是0xA000,即写入大小为20MB,已经大于kernel.itb文件大小了。

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:    8648300 Bytes = 8.2 MiB
     Architecture: AArch64
     OS:           Linux
     Load Address: 0x00280000
     Entry Point:  0x00280000
     Hash algo:    crc32
     Hash value:   6470c524
     Hash algo:    sha1
     Hash value:   b0f2e3608a5689b77fc110e7c399cf6a0398c691
   Verifying Hash Integrity ... crc32+ sha1+ OK
bootm_find_os images.os.load=0x280000 # kernel.its文件中kernel节点配置的"load"属性
bootm_find_os images.ep=0x280000      # kernel.its文件中kernel节点配置的"entry"属性
bootm_find_os images.os.image_start=0x100000e8
## 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:   0x1084b298
     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:   0x1083f87c
     Data Size:    47365 Bytes = 46.3 KiB
     Architecture: AArch64
     Load Address: 0x08300000
     Hash algo:    crc32
     Hash value:   2489ab59
     Hash algo:    sha1
     Hash value:   002b18a40044056ce9097742d3cf5f4480338521
   Verifying Hash Integrity ... crc32+ sha1+ OK
   Loading fdt from 0x1083f87c to 0x08300000
   Booting using the fdt blob at 0x8300000
Working FDT set to 8300000
   Uncompressing Kernel Image
   kernel loaded at 0x00280000, end = 0x01679a00
   Loading Ramdisk to f45f1000, end f4611e05 ... OK
   Loading Device Tree to 00000000f45e2000, end 00000000f45f0904 ... OK
Working FDT set to f45e2000
## Transferring control to Linux (at address 280000)...
boot_jump_linux 0x280000=0x91005a4d    # 解压缩之后得到Image镜像,并加载到0x280000地址处
boot_jump_linux 0x280004=0x14433fff    
boot_jump_linux 0x280014=0x0
boot_jump_linux 0xf45e2000=0xedfe0dd0  #fdt镜像加载到0xf45e2000地址处
boot_jump_linux 0xf45e2004=0x80c00000
boot_jump_linux 0xf45e2014=0x11000000

Starting kernel ...

上面的日志信息里,我打印了内存地址0x280000、0x280004、0x280014处的数据,可以看到和Image镜像文件的内容是一样的。

同时也打印了内存地址0xf45e2000、0xf45e2004、0xf45e2014处的数据,这里地址0xf45e2004和rk3399-evb.dtb镜像文件内容不太一样,这个字段是表示itb文件大小的(可能uboot修改了这个字段的值),其它两个地址数据一样的。

这里说明uboot已经成功解压了zImage,并将解压后的Image加载到了0x280000地址处,这个地址就是我们在kernel.its文件kernel节点load属性指定的地址。

但是设备树的地址我们在kernel.its文件fdt节点load属性指定的地址为0x8300000,这里却被uboot重定位到了0xf45e2000;

   Uncompressing Kernel Image
   kernel loaded at 0x00280000, end = 0x01679a00
   Loading Ramdisk to f45f1000, end f4611e05 ... OK
   Loading Device Tree to 00000000f45e2000, end 00000000f45f0904 ... OK
Working FDT set to f45e2000

不过这并不重要,因为它并不影响内核的启动。我们把内核启动的全部内容显示出来:

=> 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:    8648300 Bytes = 8.2 MiB
     Architecture: AArch64
     OS:           Linux
     Load Address: 0x00280000
     Entry Point:  0x00280000
     Hash algo:    crc32
     Hash value:   6470c524
     Hash algo:    sha1
     Hash value:   b0f2e3608a5689b77fc110e7c399cf6a0398c691
   Verifying Hash Integrity ... crc32+ sha1+ OK
bootm_find_os images.os.load=0x280000
bootm_find_os images.ep=0x280000
bootm_find_os images.os.image_start=0x100000e8
## 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:   0x1084b298
     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:   0x1083f87c
     Data Size:    47365 Bytes = 46.3 KiB
     Architecture: AArch64
     Load Address: 0x08300000
     Hash algo:    crc32
     Hash value:   2489ab59
     Hash algo:    sha1
     Hash value:   002b18a40044056ce9097742d3cf5f4480338521
   Verifying Hash Integrity ... crc32+ sha1+ OK
   Loading fdt from 0x1083f87c to 0x08300000
   Booting using the fdt blob at 0x8300000
Working FDT set to 8300000
   Uncompressing Kernel Image
   kernel loaded at 0x00280000, end = 0x01679a00
bootm_load_os 0x20000000=0x5aa5f00f
bootm_load_os 0x20000010=0xffffffff
   Loading Ramdisk to f45f4000, end f4614e05 ... OK
   Loading Device Tree to 00000000f45e5000, end 00000000f45f3904 ... OK
Working FDT set to f45e5000
## Transferring control to Linux (at address 280000)...
boot_jump_linux 0x280000=0x91005a4d
boot_jump_linux 0x280004=0x14433fff
boot_jump_linux 0x280014=0x0
boot_jump_linux 0xf45e5000=0xedfe0dd0
boot_jump_linux 0xf45e5004=0x80c00000
boot_jump_linux 0xf45e5014=0x11000000

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd034]
[    0.000000] Linux version 5.2.8 (root@zhengyang) (gcc version 12.2.1 20221205 (Arm GNU Toolchain 12.2.Rel1 (Build arm-12.24))) #2 SMP PREEMPT Tue May 23 20:59:23 CST 2023
[    0.000000] Machine model: Rockchip RK3399 Evaluation Board
[    0.000000] earlycon: uart8250 at MMIO32 0x00000000ff1a0000 (options '')
[    0.000000] printk: bootconsole [uart8250] enabled
[    0.000000] efi: Getting EFI parameters from FDT:
[    0.000000] efi: UEFI not found.
[    0.000000] cma: Reserved 32 MiB at 0x00000000f6000000
[    0.000000] kmemleak: Kernel memory leak detector disabled
[    0.000000] NUMA: No NUMA configuration found
[    0.000000] NUMA: Faking a node at [mem 0x0000000000200000-0x00000000f7ffffff]
[    0.000000] NUMA: NODE_DATA [mem 0xf57fb840-0xf57fcfff]
[    0.000000] Zone ranges:
[    0.000000]   DMA32    [mem 0x0000000000200000-0x00000000f7ffffff]
[    0.000000]   Normal   empty
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x0000000000200000-0x00000000f7ffffff]
[    0.000000] Initmem setup node 0 [mem 0x0000000000200000-0x00000000f7ffffff]
[    0.000000] psci: probing for conduit method from DT.
[    0.000000] psci: PSCIv1.1 detected in firmware.
[    0.000000] psci: Using standard PSCI v0.2 function IDs
[    0.000000] psci: MIGRATE_INFO_TYPE not supported.
[    0.000000] psci: SMC Calling Convention v1.0
[    0.000000] percpu: Embedded 23 pages/cpu s56728 r8192 d29288 u94208
[    0.000000] Detected VIPT I-cache on CPU0
[    0.000000] CPU features: detected: ARM erratum 845719
[    0.000000] CPU features: detected: GIC system register CPU interface
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 999432
[    0.000000] Policy zone: DMA32
[    0.000000] Kernel command line: earlycon=uart8250,mmio32,0xff1a0000 console=ttyS2,115200n8 root=PARTUUID=B921B045-1D rw rootwait rootfstype=ext4 init=/sbin/init
[    0.000000] Memory: 3932900K/4061184K available (11324K kernel code, 1766K rwdata, 5836K rodata, 1472K init, 444K bss, 95516K reserved, 32768K cma-reserved)
[    0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=6, Nodes=1
[    0.000000] rcu: Preemptible hierarchical RCU implementation.
[    0.000000] rcu:     RCU restricting CPUs from NR_CPUS=256 to nr_cpu_ids=6.
[    0.000000]  Tasks RCU enabled.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
[    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=6
[    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[    0.000000] GICv3: GIC: Using split EOI/Deactivate mode
[    0.000000] GICv3: Distributor has no Range Selector support
[    0.000000] GICv3: no VLPI support, no direct LPI support
[    0.000000] GICv3: CPU0: found redistributor 0 region 0:0x00000000fef00000
[    0.000000] ITS [mem 0xfee20000-0xfee3ffff]
[    0.000000] ITS@0x00000000fee20000: allocated 65536 Devices @f5080000 (flat, esz 8, psz 64K, shr 0)
[    0.000000] ITS: using cache flushing for cmd queue
[    0.000000] GICv3: using LPI property table @0x00000000f5040000
[    0.000000] GIC: using cache flushing for LPI property table
[    0.000000] GICv3: CPU0: using allocated LPI pending table @0x00000000f5050000
[    0.000000] GICv3: GIC: PPI partition interrupt-partition-0[0] { /cpus/cpu@0[0] /cpus/cpu@1[1] /cpus/cpu@2[2] /cpus/cpu@3[3] }
[    0.000000] GICv3: GIC: PPI partition interrupt-partition-1[1] { /cpus/cpu@100[4] /cpus/cpu@101[5] }
[    0.000000] random: get_random_bytes called from start_kernel+0x2a8/0x440 with crng_init=0
[    0.000000] rockchip_mmc_get_phase: invalid clk rate
[    0.000000] rockchip_mmc_get_phase: invalid clk rate
[    0.000000] rockchip_mmc_get_phase: invalid clk rate
[    0.000000] rockchip_mmc_get_phase: invalid clk rate
[    0.000000] arch_timer: cp15 timer(s) running at 24.00MHz (phys).
[    0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0x588fe9dc0, max_idle_ns: 440795202592 ns
[    0.000006] sched_clock: 56 bits at 24MHz, resolution 41ns, wraps every 4398046511097ns
[    0.010567] Console: colour dummy device 80x25
[    0.015503] kmemleak: Early log buffer exceeded (4684), please increase DEBUG_KMEMLEAK_EARLY_LOG_SIZE
[    0.025718] Calibrating delay loop (skipped), value calculated using timer frequency.. 48.00 BogoMIPS (lpj=96000)
[    0.037007] pid_max: default: 32768 minimum: 301
[    0.042192] LSM: Security Framework initializing
[    0.049468] Dentry cache hash table entries: 524288 (order: 10, 4194304 bytes)
[    0.058479] Inode-cache hash table entries: 262144 (order: 9, 2097152 bytes)
[    0.066294] Mount-cache hash table entries: 8192 (order: 4, 65536 bytes)
[    0.073715] Mountpoint-cache hash table entries: 8192 (order: 4, 65536 bytes)
[    0.105683] ASID allocator initialised with 32768 entries
[    0.119660] rcu: Hierarchical SRCU implementation.
[    0.133070] Platform MSI: interrupt-controller@fee20000 domain created
[    0.140557] PCI/MSI: /interrupt-controller@fee00000/interrupt-controller@fee20000 domain created
[    0.153868] EFI services will not be available.
[    0.166887] smp: Bringing up secondary CPUs ...
[    0.204098] Detected VIPT I-cache on CPU1
[    0.204136] GICv3: CPU1: found redistributor 1 region 0:0x00000000fef20000
[    0.204152] GICv3: CPU1: using allocated LPI pending table @0x00000000f5060000
[    0.204195] CPU1: Booted secondary processor 0x0000000001 [0x410fd034]
[    0.236175] Detected VIPT I-cache on CPU2
[    0.236204] GICv3: CPU2: found redistributor 2 region 0:0x00000000fef40000
[    0.236217] GICv3: CPU2: using allocated LPI pending table @0x00000000f5070000
[    0.236249] CPU2: Booted secondary processor 0x0000000002 [0x410fd034]
[    0.268270] Detected VIPT I-cache on CPU3
[    0.268297] GICv3: CPU3: found redistributor 3 region 0:0x00000000fef60000
[    0.268310] GICv3: CPU3: using allocated LPI pending table @0x00000000f5100000
[    0.268340] CPU3: Booted secondary processor 0x0000000003 [0x410fd034]
[    0.300382] CPU features: detected: EL2 vector hardening
[    0.300389] ARM_SMCCC_ARCH_WORKAROUND_1 missing from firmware
[    0.300397] Detected PIPT I-cache on CPU4
[    0.300428] GICv3: CPU4: found redistributor 100 region 0:0x00000000fef80000
[    0.300441] GICv3: CPU4: using allocated LPI pending table @0x00000000f5110000
[    0.300475] CPU4: Booted secondary processor 0x0000000100 [0x410fd082]
[    0.332481] Detected PIPT I-cache on CPU5
[    0.332506] GICv3: CPU5: found redistributor 101 region 0:0x00000000fefa0000
[    0.332519] GICv3: CPU5: using allocated LPI pending table @0x00000000f5120000
[    0.332546] CPU5: Booted secondary processor 0x0000000101 [0x410fd082]
[    0.332658] smp: Brought up 1 node, 6 CPUs
[    0.485015] SMP: Total of 6 processors activated.
[    0.490191] CPU features: detected: 32-bit EL0 Support
[    0.495866] CPU features: detected: CRC32 instructions
[    0.502518] CPU: All CPU(s) started at EL2
[    0.507081] alternatives: patching kernel code
[    0.515264] devtmpfs: initialized
[    0.527144] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
[    0.537922] futex hash table entries: 2048 (order: 5, 131072 bytes)
[    0.545737] pinctrl core: initialized pinctrl subsystem
[    0.553111] DMI not present or invalid.
[    0.557801] NET: Registered protocol family 16
[    0.563230] audit: initializing netlink subsys (disabled)
[    0.569309] audit: type=2000 audit(0.440:1): state=initialized audit_enabled=0 res=1
[    0.577866] cpuidle: using governor menu
[    0.582412] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[    0.591647] DMA: preallocated 256 KiB pool for atomic allocations
[    0.599905] Serial: AMBA PL011 UART driver
[    0.641668] HugeTLB registered 1.00 GiB page size, pre-allocated 0 pages
[    0.649071] HugeTLB registered 32.0 MiB page size, pre-allocated 0 pages
[    0.656444] HugeTLB registered 2.00 MiB page size, pre-allocated 0 pages
[    0.663814] HugeTLB registered 64.0 KiB page size, pre-allocated 0 pages
[    0.674045] cryptd: max_cpu_qlen set to 1000
[    0.684207] ACPI: Interpreter disabled.
[    0.690524] vcc5v0_host: supplied by vcc5v0_sys
[    0.697856] vgaarb: loaded
[    0.701176] SCSI subsystem initialized
[    0.705720] usbcore: registered new interface driver usbfs
[    0.711813] usbcore: registered new interface driver hub
[    0.717737] usbcore: registered new device driver usb
[    0.724279] pps_core: LinuxPPS API ver. 1 registered
[    0.729754] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[    0.739819] PTP clock support registered
[    0.744302] EDAC MC: Ver: 3.0.0
[    0.749287] FPGA manager framework
[    0.753135] Advanced Linux Sound Architecture Driver Initialized.
[    0.760529] clocksource: Switched to clocksource arch_sys_counter
[    0.767412] VFS: Disk quotas dquot_6.6.0
[    0.771788] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
[    0.779554] pnp: PnP ACPI: disabled
[    0.792876] NET: Registered protocol family 2
[    0.798067] tcp_listen_portaddr_hash hash table entries: 2048 (order: 3, 32768 bytes)
[    0.806898] TCP established hash table entries: 32768 (order: 6, 262144 bytes)
[    0.815308] TCP bind hash table entries: 32768 (order: 7, 524288 bytes)
[    0.823454] TCP: Hash tables configured (established 32768 bind 32768)
[    0.830868] UDP hash table entries: 2048 (order: 4, 65536 bytes)
[    0.837627] UDP-Lite hash table entries: 2048 (order: 4, 65536 bytes)
[    0.845054] NET: Registered protocol family 1
[    0.854289] RPC: Registered named UNIX socket transport module.
[    0.860819] RPC: Registered udp transport module.
[    0.865992] RPC: Registered tcp transport module.
[    0.871168] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    0.878253] PCI: CLS 0 bytes, default 64
[    0.882710] Unpacking initramfs...
[    0.887059] Initramfs unpacking failed: no cpio magic
[    0.892694] Freeing initrd memory: 128K
[    0.897699] hw perfevents: enabled with armv8_cortex_a53 PMU driver, 7 counters available
[    0.907033] hw perfevents: enabled with armv8_cortex_a72 PMU driver, 7 counters available
[    0.916313] kvm [1]: IPA Size Limit: 40bits
[    0.921599] kvm [1]: vgic-v2@fff20000
[    0.925656] kvm [1]: GIC system register CPU interface enabled
[    0.932248] kvm [1]: vgic interrupt IRQ10
[    0.936894] kvm [1]: Hyp mode initialized successfully
[    0.952634] Initialise system trusted keyrings
[    0.957685] workingset: timestamp_bits=44 max_order=20 bucket_order=0
[    0.972551] squashfs: version 4.0 (2009/01/31) Phillip Lougher
[    0.979786] NFS: Registering the id_resolver key type
[    0.985379] Key type id_resolver registered
[    0.989977] Key type id_legacy registered
[    0.994572] 9p: Installing v9fs 9p2000 file system support
[    1.002090] Key type asymmetric registered
[    1.006609] Asymmetric key parser 'x509' registered
[    1.012015] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 245)
[    1.020152] io scheduler mq-deadline registered
[    1.025129] io scheduler kyber registered
[    1.046992] EINJ: ACPI disabled.
[    1.058723] dma-pl330 ff6d0000.dma-controller: Loaded driver for PL330 DMAC-241330
[    1.067069] dma-pl330 ff6d0000.dma-controller:       DBUFF-32x8bytes Num_Chans-6 Num_Peri-12 Num_Events-12
[    1.078680] dma-pl330 ff6e0000.dma-controller: Loaded driver for PL330 DMAC-241330
[    1.087034] dma-pl330 ff6e0000.dma-controller:       DBUFF-128x8bytes Num_Chans-8 Num_Peri-20 Num_Events-16
[    1.102268] pwm-regulator: supplied by regulator-dummy
[    1.113487] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[    1.122756] printk: console [ttyS2] disabled
[    1.127500] ff1a0000.serial: ttyS2 at MMIO 0xff1a0000 (irq = 30, base_baud = 1500000) is a 16550A
[    1.137445] printk: console [ttyS2] enabled
[    1.137445] printk: console [ttyS2] enabled
[    1.146826] printk: bootconsole [uart8250] disabled
[    1.146826] printk: bootconsole [uart8250] disabled
[    1.159234] SuperH (H)SCI(F) driver initialized
[    1.165065] msm_serial: driver initialized
[    1.171069] cacheinfo: Unable to detect cache hierarchy for CPU 0
[    1.186024] loop: module loaded
[    1.195578] libphy: Fixed MDIO Bus: probed
[    1.200531] tun: Universal TUN/TAP device driver, 1.6
[    1.207232] thunder_xcv, ver 1.0
[    1.210915] thunder_bgx, ver 1.0
[    1.214576] nicpf, ver 1.0
[    1.218450] hclge is initializing
[    1.222164] hns3: Hisilicon Ethernet Network Driver for Hip08 Family - version
[    1.230244] hns3: Copyright (c) 2017 Huawei Corporation.
[    1.236272] e1000e: Intel(R) PRO/1000 Network Driver - 3.2.6-k
[    1.242801] e1000e: Copyright(c) 1999 - 2015 Intel Corporation.
[    1.249467] igb: Intel(R) Gigabit Ethernet Network Driver - version 5.6.0-k
[    1.257258] igb: Copyright (c) 2007-2014 Intel Corporation.
[    1.263541] igbvf: Intel(R) Gigabit Virtual Function Network Driver - version 2.4.0-k
[    1.272303] igbvf: Copyright (c) 2009 - 2012 Intel Corporation.
[    1.279411] sky2: driver version 1.30
[    1.284512] VFIO - User Level meta-driver version: 0.3
[    1.292410] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    1.299731] ehci-pci: EHCI PCI platform driver
[    1.304767] ehci-platform: EHCI generic platform driver
[    1.312551] ehci-platform fe380000.usb: EHCI Host Controller
[    1.318912] ehci-platform fe380000.usb: new USB bus registered, assigned bus number 1
[    1.328582] ehci-platform fe380000.usb: irq 26, io mem 0xfe380000
[    1.348555] ehci-platform fe380000.usb: USB 2.0 started, EHCI 1.00
[    1.356122] hub 1-0:1.0: USB hub found
[    1.360361] hub 1-0:1.0: 1 port detected
[    1.367287] ehci-platform fe3c0000.usb: EHCI Host Controller
[    1.373647] ehci-platform fe3c0000.usb: new USB bus registered, assigned bus number 2
[    1.382729] ehci-platform fe3c0000.usb: irq 28, io mem 0xfe3c0000
[    1.404555] ehci-platform fe3c0000.usb: USB 2.0 started, EHCI 1.00
[    1.412032] hub 2-0:1.0: USB hub found
[    1.416271] hub 2-0:1.0: 1 port detected
[    1.421172] ehci-orion: EHCI orion driver
[    1.425865] ehci-exynos: EHCI EXYNOS driver
[    1.430680] ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
[    1.437613] ohci-pci: OHCI PCI platform driver
[    1.442658] ohci-platform: OHCI generic platform driver
[    1.448712] ohci-platform fe3a0000.usb: Generic Platform OHCI controller
[    1.456233] ohci-platform fe3a0000.usb: new USB bus registered, assigned bus number 3
[    1.465273] ohci-platform fe3a0000.usb: irq 27, io mem 0xfe3a0000
[    1.533221] hub 3-0:1.0: USB hub found
[    1.537457] hub 3-0:1.0: 1 port detected
[    1.542330] ohci-platform fe3e0000.usb: Generic Platform OHCI controller
[    1.549851] ohci-platform fe3e0000.usb: new USB bus registered, assigned bus number 4
[    1.558835] ohci-platform fe3e0000.usb: irq 29, io mem 0xfe3e0000
[    1.629112] hub 4-0:1.0: USB hub found
[    1.633347] hub 4-0:1.0: 1 port detected
[    1.638209] ohci-exynos: OHCI EXYNOS driver
[    1.643694] usbcore: registered new interface driver usb-storage
[    1.654584] i2c /dev entries driver
[    1.667216] sdhci: Secure Digital Host Controller Interface driver
[    1.674145] sdhci: Copyright(c) Pierre Ossman
[    1.679662] Synopsys Designware Multimedia Card Interface Driver
[    1.687679] sdhci-pltfm: SDHCI platform and OF driver helper
[    1.695906] mmc0: CQHCI version 5.10
[    1.724845] mmc0: SDHCI controller on fe330000.sdhci [fe330000.sdhci] using ADMA
[    1.735366] ledtrig-cpu: registered to indicate activity on CPUs
[    1.744128] usbcore: registered new interface driver usbhid
[    1.750398] usbhid: USB HID core driver
[    1.759722] NET: Registered protocol family 17
[    1.764911] 9pnet: Installing 9P2000 support
[    1.769773] Key type dns_resolver registered
[    1.775247] registered taskstats version 1
[    1.779845] Loading compiled-in X.509 certificates
[    1.811457] hctosys: unable to open rtc device (rtc0)
[    1.818093] ALSA device list:
[    1.821448]   No soundcards found.
[    1.825488] ttyS2 - failed to request DMA
[    1.830108] Waiting for root device PARTUUID=B921B045-1D...
[    1.840558] mmc0: Command Queue Engine enabled
[    1.845551] mmc0: new HS400 Enhanced strobe MMC card at address 0001
[    1.853481] mmcblk0: mmc0:0001 AJNB4R 14.6 GiB
[    1.858830] mmcblk0boot0: mmc0:0001 AJNB4R partition 1 4.00 MiB
[    1.865718] mmcblk0boot1: mmc0:0001 AJNB4R partition 2 4.00 MiB
[    1.872610] mmcblk0rpmb: mmc0:0001 AJNB4R partition 3 4.00 MiB, chardev (237:0)
[    1.884260]  mmcblk0: p1 p2 p3 p4 p5
[    1.911423] EXT4-fs (mmcblk0p5): recovery complete
[    1.917504] EXT4-fs (mmcblk0p5): mounted filesystem with ordered data mode. Opts: (null)
[    1.926604] VFS: Mounted root (ext4 filesystem) on device 179:5.
[    1.934088] devtmpfs: mounted
[    1.938355] Freeing unused kernel memory: 1472K
[    1.961024] Run /sbin/init as init process
[    2.044679] usb 4-1: new low-speed USB device number 2 using ohci-platform

Please press Enter to activate this console. [    2.520720] usb 4-1: device descriptor read/64, error -62
[    2.873915] input: SIGMACHIP Usb Mouse as /devices/platform/fe3e0000.usb/usb4/4-1/4-1:1.0/0003:1C4F:0065.0001/input/input0
[    2.886675] hid-generic 0003:1C4F:0065.0001: input: USB HID v1.10 Mouse [SIGMACHIP Usb Mouse] on usb-fe3e0000.usb-1/input0

[root@zy:/]# [
View Code
5.4.3 启动卡在start kernel排查方法

如果你在内核启动时,卡在了Starting kernel ...。如果想解决问题,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。我们在linux内核调试-printk说过printk函数输出的日志都会被保存到内核日志缓冲区__log_buf中,因此我们可以直接读取该缓冲区, __log_buf其地址在System.map被标记出来,我们可以找到具体的位置。具体步骤如下:

(1) 先去内核编译目录找到System.map文件。

(2) 找到System.map中_text(代码段起始地址)的虚拟地址,执行:

root@zhengyang:/work/sambashare/rk3399/linux-5.2.8# nm vmlinux | grep _text
ffff000010080000 T _text

(3) 找到System.map中__log_buf对应的虚拟地址,执行:

root@zhengyang:/work/sambashare/rk3399/linux-5.2.8# nm vmlinux | grep __log_buf
ffff000011493358 __log_buf

(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 0xA000

MMC read: dev # 0, block # 32768, count 40960 ... 40960 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) 计算__log_buf在内存的物理地址:

PA__log_buf = __log_buf - _text + PA

其中PA为内核在内存的起始地址,这里是0x280000;这里通过计算得到0x1693358

在命令行输入(数字是刚才得到的数字):

md 0x1693358

(7) 不停的敲击回车键,直到为全为0。

这个内容在内存中是使用struct prink_log结构存储的,每个truct prink_log后面跟着需要输出的内容,内容长度由text_len字段确定。

struct printk_log {
    u64 ts_nsec;  // 时间ns
    u16 len;      // 该条消息在内存占用的长度,包括当前结构体
    u16 text_len;  // 输出的内容长度
    u16 dict_len;
    u8 facility;
    u8 flags:5;
    u8 level:3;
#iddef CONFIG_PRINTK_CALLER
    u32 caller_id
#endif
}

如果想解析内核日志缓冲区log_buf的内容,可以参考DUMP kernel log_buf以及解析log_buf字符的办法这篇博客,这篇博客提供了python脚本解析内核日志缓存器的内容。

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

[5] DUMP kernel log_buf以及解析log_buf字符的办法

[6] Mini2440之uboot移植流程之linux内核启动分析

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