Rockchip RK3399 - 移植uboot 2023.04 & linux 6.3
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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 ：6.3
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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 2023.04
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：
View Code
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
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。
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：
View Code
#!/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()
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方式加载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uboot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 image，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
执行编译命令：
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";
};
};
};
};
四、Linux 6.3版本FIT uImage
在《Rockchip RK3399 - 移植linux 5.2.8》中我们已经介绍了linux 5.2.8版本FIT uImage镜像的制作，这一节我们将简单介绍一下linux 6.3版本FIT uImage镜像的制作。
4.1 源码下载
我们这里下载linux-6.3版本，执行如下命令：
root@zhengyang:/work/sambashare/rk3399# wget http://ftp.sjtu.edu.cn/sites/ftp.kernel.org/pub/linux/kernel/v6.x/linux-6.3.tar.gz
解压：
root@zhengyang:/work/sambashare/rk3399# tar -xvf linux-6.3.tar.gz
4.2 配置Makefile
修改顶层的Makefile，打开Makefile文件，找到下面语句：
ARCH ?= $(SUBARCH)
修改为：
ARCH ?= arm64
CROSS_COMPILE ?= arm-linux-
其中，ARCH是指定目标平台为 arm64 ， CROSS_COMPILE 是指定交叉编译器，这里指定的是系统默认的交叉编译器，如要使用其它的，则要把编译器的全路径在这里写出。
交叉编译工具链安装参考：《https://www.cnblogs.com/zyly/p/17380243.html#_label3》。
4.3 内核defconfig配置
接下来要做的就是内核配置、编译了。单板的默认配置文件在arch/arm64/configs目录下：
root@zhengyang:/work/sambashare/rk3399/linux-6.3# ll arch/arm64/configs/defconfig
-rw-rw-r-- 1 root root 35014 Apr 24 03:02 arch/arm64/configs/defconfig
root@zhengyang:/work/sambashare/rk3399/linux-6.3# make defconfig
4.4 内核裁切
关于内核裁切内容比较多，参考《Rockchip RK3399 - 移植linux 5.2.8》即可。其中有一些步骤略有不同：
(1) 由于我们不使用ramdisk根文件系统，所以不用配置支持RAM块设备；
(2) 在配置有限网卡驱动的时候发生一些变化：
Device Drivers --->
[*] Network device support --->
[*] Ethernet driver support --->
[*] STMicroelectronics devices
[*] STMicroelectronics Multi-Gigabit Ethernet driver
[*] STMMAC Platform bus support
[*] Rockchip dwmac support
(3) 配置支持SquashFS文件系统；
File systems --->
-*- Miscellaneous filesystems
<*> SquashFS 4.0 - Squashed file system support
[*] Squashfs XATTR support
[*] Include support for ZLIB compressed file systems
[*] Include support for LZ4 compressed file systems
[*] Include support for LZO compressed file systems
[*] Include support for XZ compressed file systems
配置这个的目的是后面移植的ubuntu根文件系统需要使用；如果不配置这个，当移植了ubuntu根文件系统时，内核启动会出现类似下面的错误；
[ 9.192204] squashfs: SQUASHFS error: Filesystem uses "xz" compression. This is not supported
4.5 修改设备树
4.5.1 配置display-subsystem设备节点
执行如下命令：
root@zhengyang:/work/sambashare/rk3399/linux-6.3# vim arch/arm64/boot/dts/rockchip/rk3399.dtsi
将以下节点：
display-subsystem {
compatible = "rockchip,display-subsystem";
ports = <&vopl_out>, <&vopb_out>;
};
修改为：
display_subsystem: display-subsystem {
compatible = "rockchip,display-subsystem";
ports = <&vopl_out>, <&vopb_out>;
};
4.5.2 新增子节点属性
由于我使用的是HDMI显示器，因此需要在arch/arm64/boot/dts/rockchip/rk3399-evb.dts中为以下节点新增属性：
&i2c7 {
status = "okay";
};
&display_subsystem {
status = "okay";
};
&vopl {
status = "okay";
};
&vopl_mmu {
status = "okay";
};
&vopb {
status = "okay";
};
&vopb_mmu {
status = "okay";
};
&hdmi {
ddc-i2c-bus = <&i2c7>;
pinctrl-names = "default";
pinctrl-0 = <&hdmi_cec>;
status = "okay";
};
同时需要将edp更改为禁用状态；
&edp {
status = "disabled";
....
};
4.6 编译内核
在linux内核根目录下执行如下命令：
root@zhengyang:/work/sambashare/rk3399/linux-6.3# make -j8
编译完成，在arch/arm64/boot/文件夹下生成Image镜像文件，以及设备树dst/rockchip/xxx.dtb文件；
root@zhengyang:/work/sambashare/rk3399/linux-6.3# ll arch/arm64/boot/
总用量 52836
drwxrwxr-x 3 root root 4096 Jun 12 23:10 ./
drwxrwxr-x 14 root root 4096 Jun 12 22:54 ../
drwxrwxr-x 35 root root 4096 Apr 24 03:02 dts/
-rw-rw-r-- 1 root root 64 Apr 24 03:02 .gitignore
-rw-r--r-- 1 root root 40665600 Jun 12 23:10 Image
-rw-r--r-- 1 root root 139 Jun 12 23:10 .Image.cmd
-rw-r--r-- 1 root root 13585031 Jun 12 23:10 Image.gz
-rw-r--r-- 1 root root 106 Jun 12 23:10 .Image.gz.cmd
-rwxrwxr-x 1 root root 962 Apr 24 03:02 install.sh*
-rw-rw-r-- 1 root root 1198 Apr 24 03:02 Makefile
root@zhengyang:/work/sambashare/rk3399/linux-6.3/arch/arm64/boot/dts/rockchip# ls *rk3399*.dtb
rk3399-eaidk-610.dtb rk3399-gru-scarlet-kd.dtb rk3399-nanopi-m4b.dtb rk3399pro-rock-pi-n10.dtb rk3399-rock-pi-4c.dtb
rk3399-evb.dtb rk3399-hugsun-x99.dtb rk3399-nanopi-m4.dtb rk3399-puma-haikou.dtb rk3399-rockpro64.dtb
rk3399-ficus.dtb rk3399-khadas-edge-captain.dtb rk3399-nanopi-neo4.dtb rk3399-rock-4c-plus.dtb rk3399-rockpro64-v2.dtb
rk3399-firefly.dtb rk3399-khadas-edge.dtb rk3399-nanopi-r4s.dtb rk3399-rock960.dtb rk3399-roc-pc.dtb
rk3399-gru-bob.dtb rk3399-khadas-edge-v.dtb rk3399-nanopi-r4s-enterprise.dtb rk3399-rock-pi-4a.dtb rk3399-roc-pc-mezzanine.dtb
rk3399-gru-kevin.dtb rk3399-kobol-helios64.dtb rk3399-orangepi.dtb rk3399-rock-pi-4a-plus.dtb rk3399-roc-pc-plus.dtb
rk3399-gru-scarlet-dumo.dtb rk3399-leez-p710.dtb rk3399-pinebook-pro.dtb rk3399-rock-pi-4b.dtb rk3399-sapphire.dtb
rk3399-gru-scarlet-inx.dtb rk3399-nanopc-t4.dtb rk3399-pinephone-pro.dtb rk3399-rock-pi-4b-plus.dtb rk3399-sapphire-excavator.dtb
4.7 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。
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";
};
};
};
configurations {
default = "conf-1";
conf-1 {
description = "Boot Linux kernel with FDT blob";
kernel = "kernel";
fdt = "fdt";
};
};
};
4.8 生成kernel.itb
在制作kernel.itb时编译命令和《Rockchip RK3399 - 移植linux 5.2.8》中说的略有不同，这里我们需要将u-boot-2023.04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-6.3# cp ../u-boot-2023.04/tools/mkimage ./
root@zhengyang:/work/sambashare/rk3399/linux-6.3# ./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/u-boot.itb ./
root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# cp ../linux-6.3/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；
亲爱的读者和支持者们，自动博客加入了打赏功能，陆陆续续收到了各位老铁的打赏。在此，我想由衷地感谢每一位对我们博客的支持和打赏。你们的慷慨与支持，是我们前行的动力与源泉。
| 日期 | 姓名 | 金额 |
|---|---|---|
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| 2024-04-26 | .*V | 30 |
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| 2024-07-31 | *北 | 12 |
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| 2024-08-23 | n*s | 2 |
| 2024-09-02 | *源 | 50 |
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| 2024-09-06 | *强 | 8.8 |
| 2024-09-09 | *波 | 1 |
| 2024-09-10 | *口 | 1 |
| 2024-09-10 | *波 | 1 |
| 2024-09-12 | *波 | 10 |
| 2024-09-18 | *明 | 1.68 |
| 2024-09-26 | B*h | 10 |
| 2024-09-30 | 岁 | 10 |
| 2024-10-02 | M*i | 1 |
| 2024-10-14 | *朋 | 10 |
| 2024-10-22 | *海 | 10 |
| 2024-10-23 | *南 | 10 |
| 2024-10-26 | *节 | 6.66 |
| 2024-10-27 | *o | 5 |
| 2024-10-28 | W*F | 6.66 |
| 2024-10-29 | R*n | 6.66 |
| 2024-11-02 | *球 | 6 |
| 2024-11-021 | *鑫 | 6.66 |
| 2024-11-25 | *沙 | 5 |
| 2024-11-29 | C*n | 2.88 |
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