mirror of
https://github.com/apache/nuttx.git
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docs/arm64/imx9/boards/imx93-evk: Migrate README.txt to RST
Migrate legacy README.txt to RST format. Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
This commit is contained in:
Matteo Golin
Xiang Xiao
@@ -1,204 +0,0 @@
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README.txt
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==========
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The kit i.MX93 Evaluation Kit has a pre-installed Linux image which contains
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u-boot and the i.MX93 reference Linux installation.
|
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||||||
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||||||
NuttX may work as the bootloader, replacing u-boot completely. Currently it
|
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||||||
doesn't initialize the DDR memory yet. In other words, DDR training is still
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||||||
missing.
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||||||
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==========================================
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||||||
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How to run nuttx on i.MX93 Evaluation Kit.
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||||||
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||||||
==========================================
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||||||
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||||||
Below is a set of instructions on how to run NuttX on the i.MX93 EVK, on top
|
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||||||
of the u-boot. Also, instructions on running NuttX as the bootloader will
|
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||||||
follow.
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||||||
|
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||||||
==========================================
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||||||
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Pre-requisites
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||||||
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==========================================
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||||||
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||||||
- imx93_ca55.JLinkScript which is a custom file, put it wherever you want
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==========================================
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||||||
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U-Boot configuration
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||||||
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||||||
==========================================
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||||||
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||||||
Two things need to be configured on u-boot before NuttX can be loaded:
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||||||
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||||||
- u-boot data cache must be turned off
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- u-boot must stop to the u-boot console, i.e. the Linux payload must not be loaded
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||||||
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||||||
Manual option:
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||||||
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||||||
1. Disable u-boot autostart (needs to be done only once):
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||||||
Hit any key to stop autoboot: 0
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u-boot=> setenv bootdelay -1
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u-boot=> saveenv
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Saving Environment to MMC... Writing to MMC(0)... OK
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u-boot=> reset
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2. On every boot, the data cache must be disabled for options 2 and 3 to work
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u-boot=> dcache off
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||||||
Automated option:
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1. Replace the default bootcmd to disable dcache automatically:
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u-boot=> setenv bootdelay 0
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u-boot=> setenv bootcmd dcache off
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u-boot=> saveenv
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Saving Environment to MMC... Writing to MMC(0)... OK
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u-boot=> reset
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To restore the default bootcmd which starts Linux automatically:
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u-boot=> setenv bootcmd run distro_bootcmd;run bsp_bootcmd
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u-boot=> saveenv
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Saving Environment to MMC... Writing to MMC(0)... OK
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u-boot=> reset
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The default bootcmd is:
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u-boot=> env print bootcmd
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bootcmd=run distro_bootcmd;run bsp_bootcmd
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==========================================
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|
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||||||
Loading and running the NuttX image
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||||||
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||||||
==========================================
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||||||
|
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||||||
You have four options:
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||||||
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1 - Load via u-boot from SD-card
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||||||
2 - Load via gdb
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3 - Load via JLink
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4 - Run from SD-card, without u-boot
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5 - Kernel build, via AHAB boot
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==========================================
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||||||
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||||||
Option 1: load via u-boot from SD-card:
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==========================================
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||||||
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||||||
1. Build nuttx, and move nuttx.bin to SD-card
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||||||
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||||||
2. Load from SD-card and start nuttx payload
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u-boot=> dcache off; fatload mmc 1 0x80000000 nuttx.bin; go 0x80000000
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||||||
==========================================
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||||||
|
|
||||||
Option 2: start via gdb:
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|
||||||
|
|
||||||
==========================================
|
|
||||||
|
|
||||||
1. Start JLinkGDBServer
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||||||
JLinkGDBServer -device CORTEX-A55 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
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||||||
|
|
||||||
2. Start gdb
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||||||
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|
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$ aarch64-none-elf-gdb
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||||||
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|
||||||
2.1 Attach and load nuttx
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||||||
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|
||||||
(gdb) target remote localhost:2331
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||||||
(gdb) set mem inaccessible-by-default off
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|
||||||
(gdb) load <path_to>/nuttx
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|
||||||
(gdb) monitor go
|
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||||||
|
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==========================================
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|
||||||
|
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||||||
Option 3: load with JLink:
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|
||||||
|
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||||||
==========================================
|
|
||||||
|
|
||||||
1. Start JLink
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||||||
|
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||||||
$ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
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||||||
1.1 Add -AutoConnect 1 to connect automatically
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||||||
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||||||
$ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript -AutoConnect 1
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2. Connect JLink
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||||||
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||||||
2.1 Connect to the debugger
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||||||
|
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||||||
Type "connect" to establish a target connection, '?' for help
|
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||||||
J-Link>connect
|
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||||||
|
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||||||
You should now have a JLink prompt.
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||||||
|
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||||||
Cortex-A55 identified.
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J-Link>
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||||||
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||||||
3. Load nuttx. Note that JLink expects the .elf extension, the default build output of nuttx is just "nuttx" without the extension, so it must be added to the file...
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||||||
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||||||
J-Link>LoadFile <path_to>/nuttx.elf
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||||||
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||||||
==========================================
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||||||
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||||||
Option 4: Run from SD-card, without u-boot
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|
||||||
|
|
||||||
==========================================
|
|
||||||
|
|
||||||
1. Make sure CONFIG_IMX9_BOOTLOADER is set and system is configured properly for bootloader operation:
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|
||||||
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|
||||||
tools/configure.sh imx93-evk:bootloader
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|
||||||
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|
||||||
2. The build outputs a file "imx9-sdimage.img". This image also contains the Ahab container. It's required to grant Trusted Resource Domain Controller (TRDC) permissions.
|
|
||||||
Flash it to an SD-card, where sdX may be sda or something else; verify the block device name properly (eg. /dev/sda, /dev/sdb etc):
|
|
||||||
|
|
||||||
sudo dd if=imx9-sdimage.img of=/dev/sdX bs=1k && sync
|
|
||||||
|
|
||||||
3. Insert the SD-card into the imx93-evk, make sure BMODE switch is [1,2,3,4] = [Off, On, Off, Off] so that it boots from the SD-card.
|
|
||||||
|
|
||||||
This should boot into NuttShell in EL3 level.
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|
||||||
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||||||
==========================================
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|
||||||
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|
||||||
Option 5: Kernel build, via AHAB boot
|
|
||||||
|
|
||||||
==========================================
|
|
||||||
|
|
||||||
1. Follow the instructions at: https://spsdk.readthedocs.io/en/latest/examples/ahab/imx93/imx93_ahab_uboot.html
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|
||||||
to create an eMMC-bootable image (latest version of instructions tested is v2.6.1). We will be replacing the u-boot binary in step 2.3 with NuttX.
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|
||||||
|
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||||||
2. Clone both NuttX and NuttX-Apps in same level directories `nuttx` and `apps` respectively.
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|
||||||
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|
||||||
3. Configure and build NuttX:
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||||||
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||||||
cd nuttx
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||||||
tools/configure.sh imx93-evk:knsh
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||||||
make
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||||||
make export
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||||||
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||||||
4. Build NuttX apps and prepare the /bin ROMFS image:
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||||||
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||||||
pushd ../apps
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||||||
tools/mkimport.sh -z -x ../nuttx/nuttx-export-*.tar.gz
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||||||
make import
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||||||
tools/mkromfsimg.sh
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mv boot_romfsimg.h ../nuttx/boards/arm64/imx9/imx93-evk/include/bin_romfsimg.h
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||||||
popd
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||||||
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||||||
5. Re-build NuttX embedding the generated /bin ROMFS image:
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||||||
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|
||||||
make clean clean_context
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|
||||||
make
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|
||||||
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||||||
6. Replace the value of the `u-boot:` entry in workspace/ahab_template.yaml created in step 1 above with the path to nuttx.bin.
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||||||
@@ -1,8 +1,230 @@
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|||||||
==========
|
=====================
|
||||||
imx93-evk
|
i.MX93 Evaluation Kit
|
||||||
==========
|
=====================
|
||||||
|
|
||||||
.. tags:: chip:imx93
|
.. tags:: chip:imx93, arch:arm64
|
||||||
|
|
||||||
.. include:: README.txt
|
The kit i.MX93 Evaluation Kit has a pre-installed Linux image which contains
|
||||||
:literal:
|
u-boot and the i.MX93 reference Linux installation.
|
||||||
|
|
||||||
|
NuttX may work as the bootloader, replacing u-boot completely. Currently it
|
||||||
|
doesn't initialize the DDR memory yet. In other words, DDR training is still
|
||||||
|
missing.
|
||||||
|
|
||||||
|
Below is a set of instructions on how to run NuttX on the i.MX93 EVK, on top
|
||||||
|
of the u-boot. Also, instructions on running NuttX as the bootloader will
|
||||||
|
follow.
|
||||||
|
|
||||||
|
Pre-requisites
|
||||||
|
--------------
|
||||||
|
|
||||||
|
* ``imx93_ca55.JLinkScript`` which is a custom file, put it wherever you want
|
||||||
|
|
||||||
|
U-Boot configuration
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
Two things need to be configured on u-boot before NuttX can be loaded:
|
||||||
|
|
||||||
|
* u-boot data cache must be turned off
|
||||||
|
* u-boot must stop to the u-boot console, i.e. the Linux payload must not be
|
||||||
|
loaded
|
||||||
|
|
||||||
|
--------------
|
||||||
|
Manual option:
|
||||||
|
--------------
|
||||||
|
|
||||||
|
1. Disable u-boot autostart (needs to be done only once):
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
Hit any key to stop autoboot: 0
|
||||||
|
u-boot=> setenv bootdelay -1
|
||||||
|
u-boot=> saveenv
|
||||||
|
Saving Environment to MMC... Writing to MMC(0)... OK
|
||||||
|
u-boot=> reset
|
||||||
|
|
||||||
|
2. On every boot, the data cache must be disabled for options 2 and 3 to work
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
u-boot=> dcache off
|
||||||
|
|
||||||
|
-----------------
|
||||||
|
Automated option:
|
||||||
|
-----------------
|
||||||
|
|
||||||
|
Replace the default bootcmd to disable dcache automatically:
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
u-boot=> setenv bootdelay 0
|
||||||
|
u-boot=> setenv bootcmd dcache off
|
||||||
|
u-boot=> saveenv
|
||||||
|
Saving Environment to MMC... Writing to MMC(0)... OK
|
||||||
|
u-boot=> reset
|
||||||
|
|
||||||
|
To restore the default bootcmd which starts Linux automatically:
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
u-boot=> setenv bootcmd run distro_bootcmd;run bsp_bootcmd
|
||||||
|
u-boot=> saveenv
|
||||||
|
Saving Environment to MMC... Writing to MMC(0)... OK
|
||||||
|
u-boot=> reset
|
||||||
|
|
||||||
|
The default bootcmd is:
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
u-boot=> env print bootcmd
|
||||||
|
bootcmd=run distro_bootcmd;run bsp_bootcmd
|
||||||
|
|
||||||
|
Loading and running the NuttX image
|
||||||
|
===================================
|
||||||
|
|
||||||
|
You have four options:
|
||||||
|
|
||||||
|
1. Load via u-boot from SD-card
|
||||||
|
2. Load via gdb
|
||||||
|
3. Load via JLink
|
||||||
|
4. Run from SD-card, without u-boot
|
||||||
|
5. Kernel build, via AHAB boot
|
||||||
|
|
||||||
|
|
||||||
|
Option 1: load via u-boot from SD-card:
|
||||||
|
---------------------------------------
|
||||||
|
|
||||||
|
1. Build nuttx, and move ``nuttx.bin`` to SD-card
|
||||||
|
|
||||||
|
2. Load from SD-card and start nuttx payload
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
u-boot=> dcache off; fatload mmc 1 0x80000000 nuttx.bin; go 0x80000000
|
||||||
|
|
||||||
|
Option 2: start via ``gdb``:
|
||||||
|
----------------------------
|
||||||
|
|
||||||
|
1. Start JLinkGDBServer
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ JLinkGDBServer -device CORTEX-A55 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
|
||||||
|
|
||||||
|
2. Start gdb
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ aarch64-none-elf-gdb
|
||||||
|
|
||||||
|
a. Attach and load nuttx
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
(gdb) target remote localhost:2331
|
||||||
|
(gdb) set mem inaccessible-by-default off
|
||||||
|
(gdb) load <path_to>/nuttx
|
||||||
|
(gdb) monitor go
|
||||||
|
|
||||||
|
Option 3: load with JLink:
|
||||||
|
--------------------------
|
||||||
|
|
||||||
|
1. Start JLink
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
|
||||||
|
|
||||||
|
a. Add -AutoConnect 1 to connect automatically
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript -AutoConnect 1
|
||||||
|
|
||||||
|
2. Connect JLink
|
||||||
|
|
||||||
|
a. Connect to the debugger
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
Type "connect" to establish a target connection, '?' for help
|
||||||
|
J-Link>connect
|
||||||
|
|
||||||
|
You should now have a JLink prompt.
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
Cortex-A55 identified.
|
||||||
|
J-Link>
|
||||||
|
|
||||||
|
3. Load nuttx. Note that JLink expects the .elf extension, the default build
|
||||||
|
output of nuttx is just "nuttx" without the extension, so it must be added to
|
||||||
|
the file...
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
J-Link>LoadFile <path_to>/nuttx.elf
|
||||||
|
|
||||||
|
Option 4: Run from SD-card, without u-boot
|
||||||
|
------------------------------------------
|
||||||
|
|
||||||
|
1. Make sure ``CONFIG_IMX9_BOOTLOADER`` is set and system is configured properly
|
||||||
|
for bootloader operation:
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ tools/configure.sh imx93-evk:bootloader
|
||||||
|
|
||||||
|
2. The build outputs a file ``imx9-sdimage.img``. This image also contains the
|
||||||
|
Ahab container. It's required to grant Trusted Resource Domain Controller
|
||||||
|
(TRDC) permissions. Flash it to an SD-card, where sdX may be sda or something
|
||||||
|
else; verify the block device name properly (eg. ``/dev/sda``, ``/dev/sdb`` etc):
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ sudo dd if=imx9-sdimage.img of=/dev/sdX bs=1k && sync
|
||||||
|
|
||||||
|
3. Insert the SD-card into the imx93-evk, make sure BMODE switch is [1,2,3,4] =
|
||||||
|
[Off, On, Off, Off] so that it boots from the SD-card. This should boot into
|
||||||
|
NuttShell in EL3 level.
|
||||||
|
|
||||||
|
Option 5: Kernel build, via AHAB boot
|
||||||
|
-------------------------------------
|
||||||
|
|
||||||
|
1. Follow the instructions at:
|
||||||
|
https://spsdk.readthedocs.io/en/latest/examples/ahab/imx93/imx93_ahab_uboot.html
|
||||||
|
to create an eMMC-bootable image (latest version of instructions tested is
|
||||||
|
v2.6.1). We will be replacing the u-boot binary in step 2.3 with NuttX.
|
||||||
|
|
||||||
|
2. Clone both NuttX and NuttX-Apps in same level directories `nuttx` and `apps`
|
||||||
|
respectively.
|
||||||
|
|
||||||
|
3. Configure and build NuttX:
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ cd nuttx
|
||||||
|
$ tools/configure.sh imx93-evk:knsh
|
||||||
|
$ make
|
||||||
|
$ make export
|
||||||
|
|
||||||
|
4. Build NuttX apps and prepare the ``/bin`` ROMFS image:
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ pushd ../apps
|
||||||
|
$ tools/mkimport.sh -z -x ../nuttx/nuttx-export-*.tar.gz
|
||||||
|
$ make import
|
||||||
|
$ tools/mkromfsimg.sh
|
||||||
|
$ mv boot_romfsimg.h ../nuttx/boards/arm64/imx9/imx93-evk/include/bin_romfsimg.h
|
||||||
|
$ popd
|
||||||
|
|
||||||
|
5. Re-build NuttX embedding the generated /bin ROMFS image:
|
||||||
|
|
||||||
|
.. code:: console
|
||||||
|
|
||||||
|
$ make clean clean_context
|
||||||
|
$ make
|
||||||
|
|
||||||
|
6. Replace the value of the `u-boot:` entry in ``workspace/ahab_template.yaml``
|
||||||
|
created in step 1 above with the path to ``nuttx.bin``.
|
||||||
|
|||||||
Reference in New Issue
Block a user