開發環境：
開發板 FriendlyARM Tiny6410
主機 CentOS release 6.4 （Final）
參考：
http://www.CUOXin.com/plinx/archive/2013/03/15/2960925.html
http://www.CUOXin.com/plinx/archive/2013/04/11/2963823.html
http://www.CUOXin.com/plinx/archive/2013/04/13/3015851.html
http://wenku.baidu.com/view/a4d3f5320b4c2e3f572763d5.html
u-boot的2010.03版本最接近三星定制的s3c-u-boot-1.1.6版本，所以選此版本嘗試移植。對于arm11架構的芯片，u-boot-2010.03僅支持6400，我們可以復制并修改6400的相關文件，使u-boot支持6410。
1.獲得源碼
到http://ftp.denx.de/pub/u-boot/下載u-boot-2010.03.tar.bz2，解壓。
2.首次編譯
在u-boot根目錄配置并編譯
make smdk6400_config make
編譯成功，在u-boot根目錄下生成的u-boot.bin即為u-boot鏡像。
3.文件添加
make clean
3.1）board目錄
cd board/samsung/mkdir smdk6410cp smdk6400/* smdk6410/cd smdk6410mv smdk6400.c smdk6410.c
將目錄下所有文件中的。
查找board/samsung/smdk6410目錄下含有“6400”的文件，將這些文件中的“6400”替換成“6410”。vim下的替換命令是“:%s/6400/6410/g”。
[root@tanghuimin smdk6410]# find . -name "*" | xargs grep "6400"./Makefile:COBJS-y := smdk6400.o./lowlevel_init.S:#include <asm/arch/s3c6400.h>./lowlevel_init.S: /* r1 = physical address of s3c6400_cpu_resume function */./lowlevel_init.S: /* Jump to kernel (sleep-s3c6400.S) */./lowlevel_init.S: * seem to make much sense on S3C6400../lowlevel_init.S:#ifndef CONFIG_S3C6400./lowlevel_init.S:#elif !defined(CONFIG_S3C6400)./lowlevel_init.S: /* According to 661558um_S3C6400X_rev10.pdf 0x20 is reserved */./lowlevel_init.S: * NAND Interface init for SMDK6400./lowlevel_init.S: * MMU Table for SMDK6400./config.mk:# SAMSUNG SMDK6400 board with mDirac3 (ARM1176) cpu./config.mk:# On SMDK6400 we use the 64 MB SDRAM bank at./smdk6410.c:#include <asm/arch/s3c6400.h>./smdk6410.c: PRintf("Board: SMDK6400/n");./smdk6410.c:ulong virt_to_phy_smdk6400(ulong addr)[root@tanghuimin smdk6410]# 3.2)cpu目錄
查找cpu/arm1176目錄下含有“6400”的文件，將這些文件中的“6400”替換成“6410”。vim下的替換命令是“:%s/6400/6410/g”。
[root@tanghuimin arm1176]# pwd/home/thm/u-boot/u-boot-2010.03/cpu/arm1176[root@tanghuimin arm1176]# [root@tanghuimin arm1176]# find . -name "*" | xargs grep "6400"./s3c64xx/Makefile:COBJS-$(CONFIG_S3C6400) += cpu_init.o speed.o./s3c64xx/timer.c:#include <asm/arch/s3c6400.h>./s3c64xx/speed.c:#include <asm/arch/s3c6400.h>./s3c64xx/speed.c: * Bit 7 exists on s3c6410, and not on s3c6400, it is reserved on./s3c64xx/speed.c: * s3c6400 and is always 0, and it is indeed running in ASYNC mode./s3c64xx/speed.c: printf("/nCPU: S3C6400@%luMHz/n", get_ARMCLK() / 1000000);./s3c64xx/reset.S:#include <asm/arch/s3c6400.h>./s3c64xx/cpu_init.S: * Originates from Samsung's u-boot 1.1.6 port to S3C6400 / SMDK6400./s3c64xx/cpu_init.S:#include <asm/arch/s3c6400.h>./.depend: /home/thm/u-boot/u-boot-2010.03/include/configs/smdk6400.h /./.depend: /home/thm/u-boot/u-boot-2010.03/include/asm/arch/s3c6400.h /./.depend: /home/thm/u-boot/u-boot-2010.03/include/configs/smdk6400.h /./.depend: /home/thm/u-boot/u-boot-2010.03/include/asm/arch/s3c6400.h /./start.S: * armboot - Startup Code for S3C6400/ARM1176 CPU-core./start.S:#include <asm/arch/s3c6400.h>./cpu.c:#include <asm/arch/s3c6400.h>3.3)nand_spl目錄
cd nand_spl/board/samsung/mkdir smdk6410cp smdk6400/* smdk6410/cd smdk6410
查找nand_spl/board/samsung/smdk6410目錄下含有“6400”的文件，將這些文件中的“6400”替換成“6410”。vim下的替換命令是“:%s/6400/6410/g”。
[root@tanghuimin smdk6410]# pwd/home/thm/u-boot/u-boot-2010.03/nand_spl/board/samsung/smdk6410[root@tanghuimin smdk6410]# [root@tanghuimin smdk6410]# find . -name "*"| xargs grep "6400"./Makefile: @ln -s $(TOPDIR)/board/samsung/smdk6400/lowlevel_init.S $@./lowlevel_init.S:#include <asm/arch/s3c6400.h>./lowlevel_init.S: /* r1 = physical address of s3c6400_cpu_resume function */./lowlevel_init.S: /* Jump to kernel (sleep-s3c6400.S) */./lowlevel_init.S: * seem to make much sense on S3C6400../lowlevel_init.S:#ifndef CONFIG_S3C6400./lowlevel_init.S:#elif !defined(CONFIG_S3C6400)./lowlevel_init.S: /* According to 661558um_S3C6400X_rev10.pdf 0x20 is reserved */./lowlevel_init.S: * NAND Interface init for SMDK6400./lowlevel_init.S: * MMU Table for SMDK6400./s3c64xx.c:#include <asm/arch/s3c6400.h>./config.mk:# Samsung S3C64xx Reference Platform (smdk6400) board[root@tanghuimin smdk6410]#
3.4）添加頭文件smdk6410.h
cd include/configscp smdk6400.h smdk6410.hvim smdk6410.h:%s/6400/6410/g
3.5）添加頭文件s3c6410.h
cd include/asm-arm/arch-s3c64xx/cp s3c6400.h s3c6410.hvim s3c6410.h:%s/6400/6410/g
并且修改
#include "s3c64x0.h"
為
#include "./asm/arch/s3c64x0.h"
3.6）修改根目錄下mkconfig
if [ "$2" = "arm" ] ; then rm -f asm-$2/proc ln -s ${LNPREFIX}proc-armv asm-$2/procfiif [ "$1" = "smdk6410" ]; then rm -f regs.h ln -s asm-$2/arch/s3c6410.h regs.hfi3.7）修改根目錄下Makefile
搜索6400可以看到smdk6400的配置項，復制smdk6400的配置項并把6400改為6410。
########################################################################### ARM1176 Systems#########################################################################smdk6400_noUSB_config /smdk6400_config : unconfig @mkdir -p $(obj)include $(obj)board/samsung/smdk6400 @mkdir -p $(obj)nand_spl/board/samsung/smdk6400 @echo "#define CONFIG_NAND_U_BOOT" > $(obj)include/config.h @if [ -z "$(findstring smdk6400_noUSB_config,$@)" ]; then / echo "RAM_TEXT = 0x57e00000" >> $(obj)board/samsung/smdk6400/config.tmp;/ $(MKCONFIG) $(@:_config=) arm arm1176 smdk6400 samsung s3c64xx; / else / echo "RAM_TEXT = 0xc7e00000" >> $(obj)board/samsung/smdk6400/config.tmp;/ $(MKCONFIG) $(@:_noUSB_config=) arm arm1176 smdk6400 samsung s3c64xx; / fi @echo "CONFIG_NAND_U_BOOT = y" >> $(obj)include/config.mksmdk6410_noUSB_config /smdk6410_config : unconfig @mkdir -p $(obj)include $(obj)board/samsung/smdk6410 @mkdir -p $(obj)nand_spl/board/samsung/smdk6410 @echo "#define CONFIG_NAND_U_BOOT" > $(obj)include/config.h @if [ -z "$(findstring smdk6410_noUSB_config,$@)" ]; then / echo "RAM_TEXT = 0x57e00000" >> $(obj)board/samsung/smdk6410/config.tmp;/ $(MKCONFIG) $(@:_config=) arm arm1176 smdk6410 samsung s3c64xx; / else / echo "RAM_TEXT = 0xc7e00000" >> $(obj)board/samsung/smdk6410/config.tmp;/ $(MKCONFIG) $(@:_noUSB_config=) arm arm1176 smdk6410 samsung s3c64xx; / fi @echo "CONFIG_NAND_U_BOOT = y" >> $(obj)include/config.mk
3.8)配置編譯
make smdk6410_configmake
可以編譯成功。
4.文件修改
4.1)cpu/arm1176/start.S
4.1.1）將如下紅色代碼段注釋掉，添加“mcr p15,0,r0,c1,c0,0”。
#ifndef CONFIG_NAND_SPL /* * flush v4 I/D caches */ mov r0, #0 mcr p15, 0, r0, c7, c7, 0 /* flush v3/v4 cache */ mcr p15, 0, r0, c8, c7, 0 /* flush v4 TLB */ /* * disable MMU stuff and caches */ mrc p15, 0, r0, c1, c0, 0 bic r0, r0, #0x00002300 @ clear bits 13, 9:8 (--V- --RS) bic r0, r0, #0x00000087 @ clear bits 7, 2:0 (B--- -CAM) orr r0, r0, #0x00000002 @ set bit 2 (A) Align orr r0, r0, #0x00001000 @ set bit 12 (I) I-Cache /* Prepare to disable the MMU */ adr r1, mmu_disable_phys /* We presume we're within the first 1024 bytes */ and r1, r1, #0x3fc ldr r2, _TEXT_PHY_BASE ldr r3, =0xfff00000 and r2, r2, r3 orr r2, r2, r1 b mmu_disable .align 5 /* Run in a single cache-line */ mmu_disable: mcr p15, 0, r0, c1, c0, 0 nop nop mov pc, r2 #endif
修改后的代碼如下：
#ifndef CONFIG_NAND_SPL /* * flush v4 I/D caches */ mov r0, #0 mcr p15, 0, r0, c7, c7, 0 /* flush v3/v4 cache */ mcr p15, 0, r0, c8, c7, 0 /* flush v4 TLB */ /* * disable MMU stuff and caches */ mrc p15, 0, r0, c1, c0, 0 bic r0, r0, #0x00002300 @ clear bits 13, 9:8 (--V- --RS) bic r0, r0, #0x00000087 @ clear bits 7, 2:0 (B--- -CAM) orr r0, r0, #0x00000002 @ set bit 2 (A) Align orr r0, r0, #0x00001000 @ set bit 12 (I) I-Cache mcr p15, 0, r0, c1, c0, 0 #if 0 /* Prepare to disable the MMU */ adr r1, mmu_disable_phys /* We presume we're within the first 1024 bytes */ and r1, r1, #0x3fc ldr r2, _TEXT_PHY_BASE ldr r3, =0xfff00000 and r2, r2, r3 orr r2, r2, r1 b mmu_disable .align 5 /* Run in a single cache-line */ mmu_disable: mcr p15, 0, r0, c1, c0, 0 nop nop mov pc, r2 #endif #endif
4.1.2）查找“lowlevel_init”，在其下添加
/* when we already run in ram, we don't need to relocate U-Boot. * and actually, memory controller must be configured before U-Boot * is running in ram. */ ldr r0, =0xff000fff bic r1, pc, r0 /* r0 <- current base addr of code */ ldr r2, _TEXT_PHY_BASE /* r1 <- original base addr in ram */ bic r2, r2, r0 /* r0 <- current base addr of code */ cmp r1, r2 /* compare r0, r1 */ beq after_copy #ifdef CONFIG_BOOT_NAND mov r0, #0x1000 bl copy_from_nand #endif
4.1.3）查找
#ifdef CONFIG_ENABLE_MMU _mmu_table_base: .Word mmu_table #endif
在其下添加
/* * copy U-Boot to SDRAM and jump to ram (from NAND or OneNAND) * r0: size to be compared * Load 1'st 2blocks to RAM because U-boot's size is larger than 1block(128k) size */ .globl copy_from_nand copy_from_nand: mov r10, lr /* save return address */ mov r9, r0 /* get ready to call C functions */ ldr sp, _TEXT_PHY_BASE /* setup temp stack pointer */ sub sp, sp, #12 mov fp, #0 /* no previous frame, so fp=0 */ mov r9, #0x1000 bl copy_uboot_to_ram 3: tst r0, #0x0 bne copy_failed ldr r0, =0x0c000000 ldr r1, _TEXT_PHY_BASE 1: ldr r3, [r0], #4 ldr r4, [r1], #4 teq r3, r4 bne compare_failed /* not matched */ subs r9, r9, #4 bne 1b 4: mov lr, r10 /* all is OK */ mov pc, lr copy_failed: nop /* copy from nand failed */ b copy_failed compare_failed: nop /* compare failed */ b compare_failed
4.2）在cpu/arm1176下添加nand_cp.c
/* * $Id: nand_cp.c,v 1.4 2008/04/08 00:41:40 jsgood Exp $ * * (C) Copyright 2006 Samsung Electronics * * See file CREDITS for list of people who contributed to this * project. * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License as * published by the Free Software Foundation; either version 2 of * the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, * MA 02111-1307 USA *//* * You must make sure that all functions in this file are designed * to load only U-Boot image. * * So, DO NOT USE in common read. * * By scsuh. */#include <common.h>#include <asm/io.h>#include <linux/mtd/nand.h>#include <regs.h>#define NF8_ReadPage(a,b,c) (((int(*)(uint, uint, uchar *))(*((uint *)(0x0c004000))))(a,b,c))#define NF8_ReadPage_Adv(a,b,c) (((int(*)(uint, uint, uchar *))(*((uint *)(0x0c004004))))(a,b,c))void nand_bl2_copy(void){ int block, page; volatile uint *base = (uint *) 0x57e00000; for (block = 0; block < 16; block++) { for (page = 0; page < 32; page++) { NF8_ReadPage(block, page, (uchar *)base); base += (512 / (sizeof(uint))); } }}void nand_bl2_copy_adv(void){ int block, page; volatile uint *base = (uint *) 0x57e00000; for (block = 0; block < 2; block++) { for (page = 0; page < 128; page++) { NF8_ReadPage_Adv(block, page, (uchar *) base); base += (2048 / (sizeof(uint))); } }}/* * address format * 17 16 9 8 0 * -------------------------------------------- * | block(12bit) | page(5bit) | offset(9bit) | * -------------------------------------------- */static int nandll_read_page (uchar *buf, ulong addr, int large_block){ int i; int page_size = 512; if (large_block) page_size = 2048; NAND_ENABLE_CE(); NFCMD_REG = NAND_CMD_READ0; /* Write Address */ NFADDR_REG = 0; if (large_block) NFADDR_REG = 0; NFADDR_REG = (addr) & 0xff; NFADDR_REG = (addr >> 8) & 0xff; NFADDR_REG = (addr >> 16) & 0xff; if (large_block) NFCMD_REG = NAND_CMD_READSTART; NF_TRANSRnB(); /* for compatibility(2460). u32 cannot be used. by scsuh */ for(i=0; i < page_size; i++) { *buf++ = NFDATA8_REG; } NAND_DISABLE_CE(); return 0;}/* * Read data from NAND. */static int nandll_read_blocks (ulong dst_addr, ulong size, int large_block){ uchar *buf = (uchar *)dst_addr; int i; uint page_shift = 9; if (large_block) page_shift = 11; /* Read pages */ for (i = 0; i < (0x3c000>>page_shift); i++, buf+=(1<<page_shift)) { nandll_read_page(buf, i, large_block); } return 0;}int copy_uboot_to_ram (void){ int large_block = 0; int i; vu_char id; NAND_ENABLE_CE(); NFCMD_REG = NAND_CMD_READID; NFADDR_REG = 0x00; /* wait for a while */ for (i=0; i<200; i++); id = NFDATA8_REG; id = NFDATA8_REG; if (id > 0x80) large_block = 1; /* read NAND Block. * 128KB ->240KB because of U-Boot size increase. by scsuh * So, read 0x3c000 bytes not 0x20000(128KB). */ return nandll_read_blocks(CFG_PHY_UBOOT_BASE, 0x3c000, large_block);}View Code4.3）修改cpu/arm1176/Makefile
COBJS = cpu.o nand_cp.o
4.4）修改cpu/arm1176/u-boot.lds
.text :{ cpu/arm1176/start.o (.text) cpu/arm1176/s3c64xx/cpu_init.o (.text) board/samsung/smdk6410/lowlevel_init.o (.text) cpu/arm1176/nand_cp.o (.text) lib_arm/board.o (.text) *(.text)}4.5）修改board/samsung/smdk6410/u-boot-nand.lds
.text : { cpu/arm1176/start.o (.text) cpu/arm1176/s3c64xx/cpu_init.o (.text) board/samsung/smdk6410/lowlevel_init.o (.text) cpu/arm1176/nand_cp.o (.text) lib_arm/board.o (.text) *(.text) } 4.6）修改nand_spl/board/samsung/smdk6410/Makefile
COBJS = nand_boot.o nand_ecc.o s3c64xx.o nand_cp.o
補全規則
# from SoC directory $(obj)cpu_init.S: @rm -f $@ @ln -s $(TOPDIR)/cpu/arm1176/s3c64xx/cpu_init.S $@ $(obj)nand_cp.c: @rm -f $@ @ln -s $(TOPDIR)/cpu/arm1176/nand_cp.c $@
4.7）修改根目錄下u-boot.lds
.text : { cpu/arm1176/start.o (.text) cpu/arm1176/s3c64xx/cpu_init.o (.text) board/samsung/smdk6410/lowlevel_init.o (.text) cpu/arm1176/nand_cp.o (.text) lib_arm/board.o (.text) *(.text) } 4.8）修改include/configs/smdk6410.h
#if !defined(CONFIG_NAND_SPL) && (TEXT_BASE >= 0xc0000000)#define CONFIG_ENABLE_MMU#ifdef CONFIG_ENABLE_MMU#define virt_to_phys(x) virt_to_phy_smdk6410(x)#else#define virt_to_phys(x) (x)#endif#endif
#define MACH_TYPE 2520
//#define PHYS_SDRAM_1_SIZE 0x08000000 /* 128 MB in Bank #1 */ #define PHYS_SDRAM_1_SIZE 0x10000000 /* 256 MB in Bank #1 */
//#define CONFIG_SYS_HZ 1000 #define CONFIG_SYS_HZ 2062500 //PCLK 66HZ
文件末尾添加
#define NAND_DISABLE_CE() (NFCONT_REG |= (1 << 1)) #define NAND_ENABLE_CE() (NFCONT_REG &= ~(1 << 1)) #define NF_TRANSRnB() do { while(!(NFSTAT_REG & (1 << 0))); } while(0)#define CFG_PHY_UBOOT_BASE CONFIG_SYS_PHY_UBOOT_BASE4.9）再次編譯，生成u-boot.bin，將u-boot.bin燒寫到nand Flash，開發板從nand flash啟動。
打印信息如下：
U-Boot 2010.03 (Sep 10 2014 - 23:12:36) for SMDK6410CPU: S3C6410@533MHz Fclk = 533MHz, Hclk = 133MHz, Pclk = 66MHz (ASYNC Mode) Board: SMDK6410DRAM: 0 kBFlash: 0 kBNAND: raise: Signal # 8 caughtraise: Signal # 8 caughtraise: Signal # 8 caughtNAND device: Manufacturer ID: 0xec, Chip ID: 0xd5 (Samsung NAND 2GiB 3,3V 8-bit)NAND bus width 8 instead 16 bitNo NAND device found!!!0 MiB*** Warning - bad CRC, using default environmentIn: serialOut: serialErr: serialNet: No ethernet found.Hit any key to stop autoboot: 0 no devices availableWrong Image Format for bootm commandERROR: can't get kernel image!SMDK6410 #
5. 問題解決
開發板從nand flash啟動時，有異常信息打印。
5.1）問題1：
DRAM: 0 kB
解決方法：
將include/asm_arm/global_data.h中
#define DECLARE_GLOBAL_DATA_PTR register volatile gd_t *gd asm ("r8")修改為
#define DECLARE_GLOBAL_DATA_PTR extern volatile gd_t *gd;
將lib_arm/board.c中
DECLARE_GLOBAL_DATA_PTR;
修改為
volatile gd_t *gd;
5.2）問題2：
NAND: raise: Signal # 8 caught raise: Signal # 8 caught raise: Signal # 8 caught NAND device: Manufacturer ID: 0xec, Chip ID: 0xd5 (Samsung NAND 2GiB 3,3V 8-bit) NAND bus width 8 instead 16 bit No NAND device found!!! 0 MiB
解決方法：
將drivers/mtd/nand/s3c64xx.c函數board_nand_init中
nand->options = 0;
改為
nand->options = 0x20000;
將drivers/mtd/nand/nand_base.c函數nand_get_flash_type中
busw = (extid & 0x01) ? NAND_BUSWIDTH_16 : 0;
改為
busw = 0;
修改cpu/arm1176/s3c64xx/timer.c中函數get_timer_masked（解決“raise: Signal # 8 caught” ）
ulong get_timer_masked(void) { unsigned long long res = get_ticks(); //do_div (res, (timer_load_val / (100 * CONFIG_SYS_HZ))); return res; } 5.3）問題三：
*** Warning - bad CRC, using default environment
暫時無解，此警告不影響u-boot功能。
重新編譯，燒寫，啟動
U-Boot 2010.03 (Sep 10 2014 - 23:28:54) for SMDK6410CPU: S3C6410@533MHz Fclk = 533MHz, Hclk = 133MHz, Pclk = 66MHz (ASYNC Mode) Board: SMDK6410DRAM: 256 MBFlash: 0 kBNAND: 2048 MiB*** Warning - bad CRC, using default environmentIn: serialOut: serialErr: serialNet: CS8900-0Hit any key to stop autoboot: 0SMDK6410 #
6.修改網卡配置
smdk6400.h中網卡配置為CS8900，而開發板上的網卡為DM9000，網卡相關配置修改如下：
6.1）修改include/configs/smdk6410.h
/* * Hardware drivers */#define CONFIG_NET_MULTI//#define CONFIG_CS8900 /* we have a CS8900 on-board *///#define CONFIG_CS8900_BASE 0x18800300//#define CONFIG_CS8900_BUS16 /* follow the Linux driver */#define CONFIG_DRIVER_DM9000 1 /* we have a DM9000 on-board */#define CONFIG_DM9000_USE_16BIT 1#define CONFIG_DM9000_BASE 0x18000300#define DM9000_IO CONFIG_DM9000_BASE#define DM9000_DATA (CONFIG_DM9000_BASE+4)#define CONFIG_ETHADDR 08:90:90:90:90:90#define CONFIG_NETMASK 255.255.255.0#define CONFIG_IPADDR 192.168.1.230#define CONFIG_SERVERIP 192.168.1.88#define CONFIG_GATEWAYIP 192.168.1.1
6.2）修改net/eth.c
#if defined(CONFIG_DB64360) || defined(CONFIG_CPCI750) mv6436x_eth_initialize(bis); #endif #if defined(CONFIG_DB64460) || defined(CONFIG_P3Mx) mv6446x_eth_initialize(bis); #endif #if defined(CONFIG_DRIVER_DM9000) dm9000_initialize(bis); #endif
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