Stefan Kalkowski
committed by
Christian Helmuth
Christian Helmuth
parent
585c4b8c69
commit
f051065582
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===============================================
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Getting started with 'base-hw' on PandaBoard A2
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===============================================
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Martin Stein
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Abstract
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########
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This is a short tutorial that depicts a handy way to get a Genode ELF-image,
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build with 'base-hw', started on the PandaBoard A2. For informations
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about how to build Genode images with 'base-hw', have a look at
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'<GENODE_DIR>/repos/base-hw/doc/hw.txt'. This tutorial is dedicated to common
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Linux systems, but all examples originate from a Ubuntu 11.10.
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Tutorial
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########
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Connect the PandaBoard to your local Ethernet through its RJ45 connector.
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Additionally connect the PandaBoard to your machine through its COM port.
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Ensure that you have installed the genode tool chain that is available at:
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:[http://genode.org/download/tool-chain]:
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Genode tool-chain
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Ensure that '<GENODE_TOOL_CHAIN_DIR>/bin/' is in your 'PATH' variable.
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Get the Linaro U-Boot repository and compile U-Boot for PandaBoard:
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! git clone git://git.linaro.org/boot/u-boot-linaro-stable.git
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! cd <UBOOT_DIR>
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! make CROSS_COMPILE=genode-arm- omap4_panda_config
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! make CROSS_COMPILE=genode-arm-
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During the compilation i had some errors. The first was in assembly code,
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it seemed to originate from a slip with the typo and was easy to fix.
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The second kind of errors occured because the GCC version had no support for
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direct array initialization, thus i avoided them by simply initialize
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the array elements separately.
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Now install the following packages to communicate with the PandaBoard:
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! apt-get install tftp-hpa minicom
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Open '/etc/default/tftpd-hpa' with a text editor and ensure that it has
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the following content:
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! TFTP_USERNAME="tftp"
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! TFTP_DIRECTORY="/var/lib/tftpboot"
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! TFTP_ADDRESS="0.0.0.0:69"
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! TFTP_OPTIONS="-l"
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Tell TFTP wich image to provide:
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! cd /var/lib/tftpboot/
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! ln -s <GENODE_BOOT_ELF> image.elf
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Where '<GENODE_BOOT_ELF>' is the absolute path of the targeted ELF image.
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Start TFTP to enable the upload of the image:
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! service tftp-hpa restart
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Start Minicom in configuration mode:
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! minicom -s
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Go to 'Serial port setting' and ensure that the device is set to the
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TTY of the COM port you've conntected PandaBoard with. In my case it was
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'/dev/ttyS0'. Configure the other settings for a baud rate of '115200',
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8 bit char length, no parity and 1 stop bit. Quit Minicom and start
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it once more:
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! minicom
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Mount your SD-card and copy the U-Boot files to its boot partition:
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! cd <UBOOT_DIR>; cp MLO /media/boot/; cp u-boot.bin /media/boot/
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Unmount the SD card and insert it into the appropriate PandaBoard slot.
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Plug in the power connector or push the 'S1' button if the PandaBoard is
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already powered. Minicom should now show the following message below some
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bootloader info:
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! Hit any key to stop autoboot:
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We have to stop autoboot and type in this line to load and boot the genode
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image via ethernet:
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! usb start; dhcp; bootelf 0x82000000
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Now your Genode scenario should start and offer its debug output
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in Minicom. You can boot other images by redirecting the link
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'/var/lib/tftpboot/image.elf' accordingly, restarting your PandaBoard
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and instructing U-boot again as described above.
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@@ -1,14 +0,0 @@
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NR_OF_CPUS = 2
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INC_DIR += $(BASE_DIR)/../base-hw/src/bootstrap/spec/panda
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SRC_CC += bootstrap/spec/arm/cpu.cc
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SRC_CC += bootstrap/spec/arm/cortex_a9_mmu.cc
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SRC_CC += bootstrap/spec/arm/gicv2.cc
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SRC_CC += bootstrap/spec/panda/platform.cc
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SRC_CC += bootstrap/spec/arm/arm_v7_cpu.cc
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SRC_CC += hw/spec/32bit/memory_map.cc
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SRC_S += bootstrap/spec/arm/crt0.s
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CC_MARCH = -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=softfp
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include $(BASE_DIR)/../base-hw/lib/mk/bootstrap-hw.inc
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@@ -1,19 +0,0 @@
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#
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# \brief Build config for Genodes core process
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# \author Stefan Kalkowski
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# \author Martin Stein
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# \date 2012-10-04
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#
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# add include paths
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INC_DIR += $(REP_DIR)/src/core/spec/panda
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# add C++ sources
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SRC_CC += platform_services.cc
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NR_OF_CPUS += 2
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CC_MARCH = -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=softfp
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# include less specific configuration
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include $(REP_DIR)/lib/mk/spec/cortex_a9/core-hw.inc
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@@ -1,7 +0,0 @@
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BOARD = panda
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include $(GENODE_DIR)/repos/base-hw/recipes/src/base-hw_content.inc
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content: enable_board_spec
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enable_board_spec: etc/specs.conf
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echo "SPECS += panda" >> etc/specs.conf
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@@ -1 +0,0 @@
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2020-03-25 95696501234a205d9b50d1cb661aca7ca3d2beb2
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@@ -1,2 +0,0 @@
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base-hw
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base
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@@ -1,81 +0,0 @@
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/*
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* \brief Pandaboard specific definitions
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* \author Stefan Kalkowski
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* \date 2017-02-20
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*/
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/*
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* Copyright (C) 2017 Genode Labs GmbH
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*
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* This file is part of the Genode OS framework, which is distributed
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* under the terms of the GNU Affero General Public License version 3.
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*/
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#ifndef _SRC__BOOTSTRAP__SPEC__PANDA__BOARD_H_
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#define _SRC__BOOTSTRAP__SPEC__PANDA__BOARD_H_
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#include <hw/spec/arm/panda_board.h>
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#include <spec/arm/cortex_a9_page_table.h>
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#include <spec/arm/cpu.h>
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#include <hw/spec/arm/gicv2.h>
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namespace Board {
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using namespace Hw::Panda_board;
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using Pic = Hw::Gicv2;
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static constexpr bool NON_SECURE = false;
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class L2_cache;
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}
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namespace Bootstrap { struct Actlr; }
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struct Bootstrap::Actlr
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{
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static void enable_smp()
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{
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using namespace Board;
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call_panda_firmware(CPU_ACTLR_SMP_BIT_RAISE, 0);
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}
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static void disable_smp() { /* not implemented */ }
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};
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class Board::L2_cache : Hw::Pl310
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{
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private:
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unsigned long _init_value()
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{
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Aux::access_t v = 0;
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Aux::Associativity::set(v, Aux::Associativity::WAY_16);
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Aux::Way_size::set(v, Aux::Way_size::KB_64);
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Aux::Share_override::set(v, true);
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Aux::Replacement_policy::set(v, Aux::Replacement_policy::PRAND);
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Aux::Ns_lockdown::set(v, true);
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Aux::Ns_irq_ctrl::set(v, true);
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Aux::Data_prefetch::set(v, true);
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Aux::Inst_prefetch::set(v, true);
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Aux::Early_bresp::set(v, true);
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return v;
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}
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public:
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L2_cache(Genode::addr_t mmio) : Hw::Pl310(mmio) {
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call_panda_firmware(L2_CACHE_AUX_REG, _init_value()); }
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using Hw::Pl310::invalidate;
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void enable()
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{
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call_panda_firmware(L2_CACHE_ENABLE_REG, 1);
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Pl310::mask_interrupts();
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}
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void disable() {
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call_panda_firmware(L2_CACHE_ENABLE_REG, 0); }
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};
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#endif /* _SRC__BOOTSTRAP__SPEC__PANDA__BOARD_H_ */
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@@ -1,50 +0,0 @@
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/*
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* \brief Parts of platform that are specific to Pandaboard
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* \author Stefan Kalkowski
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* \date 2017-01-30
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*/
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/*
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* Copyright (C) 2017 Genode Labs GmbH
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*
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* This file is part of the Genode OS framework, which is distributed
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* under the terms of the GNU Affero General Public License version 3.
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*/
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#include <platform.h>
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using namespace Board;
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Bootstrap::Platform::Board::Board()
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: early_ram_regions(Memory_region { RAM_0_BASE, RAM_0_SIZE }),
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core_mmio(Memory_region { CORTEX_A9_PRIVATE_MEM_BASE,
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CORTEX_A9_PRIVATE_MEM_SIZE },
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Memory_region { TL16C750_3_MMIO_BASE,
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TL16C750_MMIO_SIZE },
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Memory_region { PL310_MMIO_BASE,
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PL310_MMIO_SIZE }) { }
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bool Board::Cpu::errata(Board::Cpu::Errata) { return false; }
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void Board::Cpu::wake_up_all_cpus(void * const ip)
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{
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struct Wakeup_generator : Genode::Mmio
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{
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struct Aux_core_boot_0 : Register<0x800, 32> {
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struct Cpu1_status : Bitfield<2, 2> { }; };
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struct Aux_core_boot_1 : Register<0x804, 32> { };
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Wakeup_generator(void * const ip) : Mmio(CORTEX_A9_WUGEN_MMIO_BASE)
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{
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write<Aux_core_boot_1>((Genode::addr_t)ip);
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write<Aux_core_boot_0::Cpu1_status>(1);
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}
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};
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Wakeup_generator wgen(ip);
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asm volatile("dsb\n"
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"sev\n");
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}
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@@ -1,55 +0,0 @@
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/*
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* \brief Board driver for core on pandaboard
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* \author Stefan Kalkowski
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* \author Martin Stein
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* \date 2014-06-02
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*/
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/*
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* Copyright (C) 2014-2017 Genode Labs GmbH
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*
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* This file is part of the Genode OS framework, which is distributed
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* under the terms of the GNU Affero General Public License version 3.
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*/
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#ifndef _CORE__SPEC__PANDA__BOARD_H_
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#define _CORE__SPEC__PANDA__BOARD_H_
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#include <hw/spec/arm/gicv2.h>
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#include <hw/spec/arm/panda_board.h>
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#include <spec/arm/cortex_a9_private_timer.h>
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namespace Board {
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using namespace Hw::Panda_board;
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using Pic = Hw::Gicv2;
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class L2_cache : public Hw::Pl310
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{
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private:
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unsigned long _debug_value()
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{
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Debug::access_t v = 0;
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Debug::Dwb::set(v, 1);
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Debug::Dcl::set(v, 1);
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return v;
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}
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public:
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L2_cache(Genode::addr_t mmio) : Hw::Pl310(mmio) { }
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void clean_invalidate()
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{
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using namespace Hw;
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call_panda_firmware(L2_CACHE_SET_DEBUG_REG, _debug_value());
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Pl310::clean_invalidate();
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call_panda_firmware(L2_CACHE_SET_DEBUG_REG, 0);
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}
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};
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L2_cache & l2_cache();
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}
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#endif /* _CORE__SPEC__PANDA__BOARD_H_ */
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@@ -1,54 +0,0 @@
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/*
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* \brief Pandaboard specific definitions
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* \author Stefan Kalkowski
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* \date 2019-05-16
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*/
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/*
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* Copyright (C) 2019 Genode Labs GmbH
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*
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* This file is part of the Genode OS framework, which is distributed
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* under the terms of the GNU Affero General Public License version 3.
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*/
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#ifndef _SRC__INCLUDE__HW__SPEC__ARM__PANDA_BOARD_H_
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#define _SRC__INCLUDE__HW__SPEC__ARM__PANDA_BOARD_H_
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#include <base/stdint.h>
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#include <drivers/defs/panda.h>
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#include <drivers/uart/tl16c750.h>
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#include <hw/spec/arm/boot_info.h>
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#include <hw/spec/arm/cortex_a9.h>
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#include <hw/spec/arm/pl310.h>
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namespace Hw::Panda_board {
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using namespace Panda;
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using Cpu_mmio = Hw::Cortex_a9_mmio<CORTEX_A9_PRIVATE_MEM_BASE>;
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using Serial = Genode::Tl16c750_uart;
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enum {
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UART_BASE = TL16C750_3_MMIO_BASE,
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UART_CLOCK = TL16C750_CLOCK,
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};
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enum Panda_firmware_opcodes {
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CPU_ACTLR_SMP_BIT_RAISE = 0x25,
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L2_CACHE_SET_DEBUG_REG = 0x100,
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L2_CACHE_ENABLE_REG = 0x102,
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L2_CACHE_AUX_REG = 0x109,
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};
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static inline void call_panda_firmware(Genode::addr_t func,
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Genode::addr_t val)
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{
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register Genode::addr_t _func asm("r12") = func;
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register Genode::addr_t _val asm("r0") = val;
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asm volatile("dsb \n"
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"push {r1-r11} \n"
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"smc #0 \n"
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"pop {r1-r11} \n"
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:: "r" (_func), "r" (_val) : "memory", "cc");
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}
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}
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#endif /* _SRC__INCLUDE__HW__SPEC__ARM__PANDA_BOARD_H_ */
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Block a user