Merge pull request #3988 from bigmagic123/add_raspi4_watchdog

Add raspi4 watchdog&hdmi&sdio driver
2026-11-09 20:45:41 +08:00 · 2020-10-29 09:14:09 +08:00
commit d854416dd7
@@ -112,7 +112,23 @@ CONFIG_DFS_FILESYSTEMS_MAX=2
 CONFIG_DFS_FILESYSTEM_TYPES_MAX=2
 CONFIG_DFS_FD_MAX=16
 # CONFIG_RT_USING_DFS_MNTTABLE is not set
-# CONFIG_RT_USING_DFS_ELMFAT is not set
+CONFIG_RT_USING_DFS_ELMFAT=y
+
+#
+# elm-chan's FatFs, Generic FAT Filesystem Module
+#
+CONFIG_RT_DFS_ELM_CODE_PAGE=437
+CONFIG_RT_DFS_ELM_WORD_ACCESS=y
+# CONFIG_RT_DFS_ELM_USE_LFN_0 is not set
+# CONFIG_RT_DFS_ELM_USE_LFN_1 is not set
+# CONFIG_RT_DFS_ELM_USE_LFN_2 is not set
+CONFIG_RT_DFS_ELM_USE_LFN_3=y
+CONFIG_RT_DFS_ELM_USE_LFN=3
+CONFIG_RT_DFS_ELM_MAX_LFN=255
+CONFIG_RT_DFS_ELM_DRIVES=2
+CONFIG_RT_DFS_ELM_MAX_SECTOR_SIZE=512
+# CONFIG_RT_DFS_ELM_USE_ERASE is not set
+CONFIG_RT_DFS_ELM_REENTRANT=y
 CONFIG_RT_USING_DFS_DEVFS=y
 # CONFIG_RT_USING_DFS_ROMFS is not set
 # CONFIG_RT_USING_DFS_RAMFS is not set
@@ -140,14 +156,20 @@ CONFIG_RT_USING_PIN=y
 # CONFIG_RT_USING_MTD_NAND is not set
 # CONFIG_RT_USING_PM is not set
 # CONFIG_RT_USING_RTC is not set
-# CONFIG_RT_USING_SDIO is not set
+CONFIG_RT_USING_SDIO=y
+CONFIG_RT_SDIO_STACK_SIZE=512
+CONFIG_RT_SDIO_THREAD_PRIORITY=15
+CONFIG_RT_MMCSD_STACK_SIZE=1024
+CONFIG_RT_MMCSD_THREAD_PREORITY=22
+CONFIG_RT_MMCSD_MAX_PARTITION=16
+# CONFIG_RT_SDIO_DEBUG is not set
 CONFIG_RT_USING_SPI=y
 # CONFIG_RT_USING_QSPI is not set
 # CONFIG_RT_USING_SPI_MSD is not set
 # CONFIG_RT_USING_SFUD is not set
 # CONFIG_RT_USING_ENC28J60 is not set
 # CONFIG_RT_USING_SPI_WIFI is not set
-# CONFIG_RT_USING_WDT is not set
+CONFIG_RT_USING_WDT=y
 # CONFIG_RT_USING_AUDIO is not set
 # CONFIG_RT_USING_SENSOR is not set
 # CONFIG_RT_USING_TOUCH is not set
@@ -170,6 +192,7 @@ CONFIG_RT_USING_LIBC=y
 CONFIG_RT_USING_POSIX=y
 # CONFIG_RT_USING_POSIX_MMAP is not set
 # CONFIG_RT_USING_POSIX_TERMIOS is not set
+# CONFIG_RT_USING_POSIX_GETLINE is not set
 # CONFIG_RT_USING_POSIX_AIO is not set
 # CONFIG_RT_USING_MODULE is not set

@@ -216,7 +239,9 @@ CONFIG_RT_USING_POSIX=y
 #
 # IoT - internet of things
 #
+# CONFIG_PKG_USING_LORAWAN_DRIVER is not set
 # CONFIG_PKG_USING_PAHOMQTT is not set
+# CONFIG_PKG_USING_UMQTT is not set
 # CONFIG_PKG_USING_WEBCLIENT is not set
 # CONFIG_PKG_USING_WEBNET is not set
 # CONFIG_PKG_USING_MONGOOSE is not set
@@ -262,7 +287,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_GAGENT_CLOUD is not set
 # CONFIG_PKG_USING_ALI_IOTKIT is not set
 # CONFIG_PKG_USING_AZURE is not set
-# CONFIG_PKG_USING_TENCENT_IOTHUB is not set
+# CONFIG_PKG_USING_TENCENT_IOT_EXPLORER is not set
 # CONFIG_PKG_USING_JIOT-C-SDK is not set
 # CONFIG_PKG_USING_UCLOUD_IOT_SDK is not set
 # CONFIG_PKG_USING_JOYLINK is not set
@@ -284,6 +309,10 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_CAPNP is not set
 # CONFIG_PKG_USING_RT_CJSON_TOOLS is not set
 # CONFIG_PKG_USING_AGILE_TELNET is not set
+# CONFIG_PKG_USING_NMEALIB is not set
+# CONFIG_PKG_USING_AGILE_JSMN is not set
+# CONFIG_PKG_USING_PDULIB is not set
+# CONFIG_PKG_USING_BTSTACK is not set

 #
 # security packages
@@ -292,6 +321,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_libsodium is not set
 # CONFIG_PKG_USING_TINYCRYPT is not set
 # CONFIG_PKG_USING_TFM is not set
+# CONFIG_PKG_USING_YD_CRYPTO is not set

 #
 # language packages
@@ -308,6 +338,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_STEMWIN is not set
 # CONFIG_PKG_USING_WAVPLAYER is not set
 # CONFIG_PKG_USING_TJPGD is not set
+# CONFIG_PKG_USING_HELIX is not set

 #
 # tools packages
@@ -326,7 +357,9 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_CHINESE_FONT_LIBRARY is not set
 # CONFIG_PKG_USING_LUNAR_CALENDAR is not set
 # CONFIG_PKG_USING_BS8116A is not set
+# CONFIG_PKG_USING_GPS_RMC is not set
 # CONFIG_PKG_USING_URLENCODE is not set
+# CONFIG_PKG_USING_UMCN is not set

 #
 # system packages
@@ -337,6 +370,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_LWEXT4 is not set
 # CONFIG_PKG_USING_PARTITION is not set
 # CONFIG_PKG_USING_FAL is not set
+# CONFIG_PKG_USING_FLASHDB is not set
 # CONFIG_PKG_USING_SQLITE is not set
 # CONFIG_PKG_USING_RTI is not set
 # CONFIG_PKG_USING_LITTLEVGL2RTT is not set
@@ -349,6 +383,11 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_SYSWATCH is not set
 # CONFIG_PKG_USING_SYS_LOAD_MONITOR is not set
 # CONFIG_PKG_USING_PLCCORE is not set
+# CONFIG_PKG_USING_RAMDISK is not set
+# CONFIG_PKG_USING_MININI is not set
+# CONFIG_PKG_USING_QBOOT is not set
+# CONFIG_PKG_USING_UCOSIII_WRAPPER is not set
+# CONFIG_PKG_USING_PPOOL is not set

 #
 # peripheral libraries and drivers
@@ -386,6 +425,7 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_RPLIDAR is not set
 # CONFIG_PKG_USING_AS608 is not set
 # CONFIG_PKG_USING_RC522 is not set
+# CONFIG_PKG_USING_WS2812B is not set
 # CONFIG_PKG_USING_EMBARC_BSP is not set
 # CONFIG_PKG_USING_EXTERN_RTC_DRIVERS is not set
 # CONFIG_PKG_USING_MULTI_RTIMER is not set
@@ -393,6 +433,15 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_BEEP is not set
 # CONFIG_PKG_USING_EASYBLINK is not set
 # CONFIG_PKG_USING_PMS_SERIES is not set
+# CONFIG_PKG_USING_CAN_YMODEM is not set
+# CONFIG_PKG_USING_LORA_RADIO_DRIVER is not set
+# CONFIG_PKG_USING_QLED is not set
+# CONFIG_PKG_USING_PAJ7620 is not set
+# CONFIG_PKG_USING_AGILE_CONSOLE is not set
+# CONFIG_PKG_USING_LD3320 is not set
+# CONFIG_PKG_USING_WK2124 is not set
+# CONFIG_PKG_USING_LY68L6400 is not set
+# CONFIG_PKG_USING_DM9051 is not set

 #
 # miscellaneous packages
@@ -429,6 +478,11 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_VT100 is not set
 # CONFIG_PKG_USING_ULAPACK is not set
 # CONFIG_PKG_USING_UKAL is not set
+# CONFIG_PKG_USING_CRCLIB is not set
+# CONFIG_PKG_USING_THREES is not set
+# CONFIG_PKG_USING_2048 is not set
+# CONFIG_PKG_USING_LWGPS is not set
+# CONFIG_PKG_USING_TENSORFLOWLITEMICRO is not set

 #
 # Privated Packages of RealThread
@@ -461,6 +515,10 @@ CONFIG_RT_USING_POSIX=y
 # CONFIG_PKG_USING_ZBAR is not set
 # CONFIG_PKG_USING_MCF is not set
 # CONFIG_PKG_USING_URPC is not set
+# CONFIG_PKG_USING_BSAL is not set
+# CONFIG_PKG_USING_DCM is not set
+# CONFIG_PKG_USING_EMQ is not set
+# CONFIG_PKG_USING_CFGM is not set
 CONFIG_BCM2711_SOC=y
 # CONFIG_BSP_SUPPORT_FPU is not set

@@ -487,11 +545,13 @@ CONFIG_BSP_USING_SPI0_DEVICE0=y
 # CONFIG_BSP_USING_SPI0_DEVICE1 is not set
 CONFIG_BSP_USING_CORETIMER=y
 # CONFIG_BSP_USING_SYSTIMER is not set
-# CONFIG_BSP_USING_WDT is not set
+CONFIG_BSP_USING_WDT=y
 # CONFIG_BSP_USING_RTC is not set
-# CONFIG_BSP_USING_SDIO is not set
+CONFIG_BSP_USING_SDIO=y
+CONFIG_BSP_USING_SDIO0=y

 #
 # Board Peripheral Drivers
 #
-# CONFIG_BSP_USING_HDMI is not set
+CONFIG_BSP_USING_HDMI=y
+CONFIG_BSP_USING_HDMI_DISPLAY=y
@@ -20,17 +20,8 @@ scons
 来编译这个板级支持包。如果编译正确无误，会产生rtthread.elf、kernel7.img文件。


-## 3. 执行
-
-### 3.1 下载**Raspberry Pi Imager**，生成可以运行的raspbian SD卡
-
-首先下载镜像
-
-* [Raspberry Pi Imager for Ubuntu](https://downloads.raspberrypi.org/imager/imager_amd64.deb)
-* [Raspberry Pi Imager for Windows](https://downloads.raspberrypi.org/imager/imager.exe)
-* [Raspberry Pi Imager for macOS](https://downloads.raspberrypi.org/imager/imager.dmg)
-
-### 3.2 准备好串口线
+## 3. 环境搭建
+### 3.1 准备好串口线

 目前版本是使用raspi4的 GPIO 14, GPIO 15来作路口输出，连线情况如下图所示：

@@ -38,27 +29,90 @@ scons

 串口参数： 115200 8N1 ，硬件和软件流控为关。

-### 3.3 程序下载
+### 3.2 RTT固件放在SD卡运行

-当编译生成了rtthread.bin文件后，我们可以将该文件放到sd卡上，并修改sd卡中的`config.txt`文件如下：
+首先需要准备一张空的32GB以下的SD卡，如果不想自己制作启动固件，可以直接从百度网盘上下载boot的固件。

 ```
-enable_uart=1
-arm_64bit=0
-kernel_addr=0x8000
-kernel=kernel7.img
-core_freq=250
+链接：https://pan.baidu.com/s/1PxgvXAChUIOgueNXhgMs8w 
+提取码：pioj 
 ```

-按上面的方法做好SD卡后，插入树莓派4，通电可以在串口上看到如下所示的输出信息：
+解压后将sd目录下的文件拷贝到sd卡即可。以后每次编译后，将生成的kernel7.img进行替换即可。上电后可以看到程序正常运行。

-```text
-heap: 0x00044270 - 0x04044270
+### 3.3 RTT程序用uboot加载
+
+为了调试方便，已经将uboot引导程序放入uboot目录下，直接将这些文件放到sd卡中即可。
+
+需要注意的以下步骤：
+
+**1.电脑上启动tftp服务器**
+
+windows系统电脑上可以安装tftpd搭建tftp服务器。将目录指定到`bsp\raspberry-pi\raspi4-32`。
+
+**2.修改设置uboot**
+
+在控制台输入下列命令：
+
+```
+setenv bootcmd "dhcp 0x00200000 x.x.x.x:kernel7.img;dcache flush;go 0x00200000"
+saveenv
+reset
+```
+
+其中`x.x.x.x`为tftp服务器的pc的ip地址。
+
+**3.修改链接脚本**
+
+将树莓派`bsp\raspberry-pi\raspi4-32\link.ld`的文件链接地址改为`0x200000`。
+
+```
+SECTIONS
+{
+    . = 0x8000;
+    . = ALIGN(4096);
+    .
+    .
+    .
+}
+```
+
+改为
+
+```
+SECTIONS
+{
+    . = 0x200000;
+    . = ALIGN(4096);
+    .
+    .
+    .
+}
+```
+
+重新编译程序：
+
+```
+scons -c
+scons
+```
+
+**3.插入网线**
+
+上述准备完成后，将网线插入，保证开发板和tftp服务器在同一个网段的路由器上。上电后uboot可以自动从tftp服务器上获取固件，然后开始执行了。
+
+完成后可以看到串口的输出信息
+
+```
+heap: 0x000607e8 - 0x040607e8

 \ | /
 - RT -     Thread Operating System
- / | \     4.0.3 build May 25 2020
+ / | \     4.0.3 build Oct 27 2020
 2006 - 2020 Copyright by rt-thread team
+[I/SDIO] SD card capacity 31205376 KB.
+found part[0], begin: 1048576, size: 29.777GB
+file system initialization done!
 Hi, this is RT-Thread!!
 msh />
 ```
@@ -71,8 +125,15 @@ msh />
 | GPIO | 支持 | - |
 | SPI | 支持 | SPI0 |
 | MAILBOX | 支持 | - |
+| WATCHDOG | 支持 | - |
+| HDMI | 支持 | - |
+| SDIO | 支持 | - |

-## 5. 联系人信息
+## 5. 注意事项
+
+目前rt-thread程序可以使用的内存在100MB以内，可以通过调整`board.c`中`platform_mem_desc`表的数据进行相关内存的映射以及修改`board.h`来确定程序使用的堆栈大小。目前在地址`0x08000000`处的1M空间被映射成非cache区供树莓派4的CPU与GPU通信的消息管道。若需要扩大系统内存使用，可自行修改代码进行调整。
+
+## 6. 联系人信息

 维护人：[bernard][5]

@@ -12,8 +12,20 @@
 #include <rtdevice.h>
 #include <board.h>

+#define     ACTLED      (42)
+
 int main(int argc, char** argv)
 {
    rt_kprintf("Hi, this is RT-Thread!!\n");
-    return 0;
+    
+    rt_pin_mode(ACTLED, PIN_MODE_OUTPUT);
+
+    while(1)
+    {
+        rt_pin_write(ACTLED, PIN_HIGH);
+        rt_thread_mdelay(1000);
+        rt_pin_write(ACTLED, PIN_LOW);
+        rt_thread_mdelay(1000);
+    }
+    return RT_EOK;
 }
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2006-2019, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2017-5-30     bernard       the first version
+ */
+
+#include <rtthread.h>
+
+#ifdef BSP_USING_SDIO0
+#include <dfs_fs.h>
+
+int mnt_init(void)
+{
+    rt_thread_delay(RT_TICK_PER_SECOND);
+    if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
+    {
+        rt_kprintf("file system initialization done!\n");
+    }
+
+    return 0;
+}
+INIT_ENV_EXPORT(mnt_init);
+#endif
@@ -19,8 +19,10 @@

 struct mem_desc platform_mem_desc[] = {
    {0x0, 0x6400000, 0x0, NORMAL_MEM},
-    {0xFE000000, 0xFE400000, 0xFE000000, DEVICE_MEM},//uart gpio
-    {0xFF800000, 0xFFA00000, 0xFF800000, DEVICE_MEM} //gic
+    {0x8000000, 0x8100000, 0x8000000, DEVICE_MEM},    //mbox msg
+    {0x0EA00000, 0x0EE00000, 0x0EA00000, DEVICE_MEM}, //framebuffer
+    {0xFE000000, 0xFE400000, 0xFE000000, DEVICE_MEM}, //peripheral
+    {0xFF800000, 0xFFA00000, 0xFF800000, DEVICE_MEM}  //gic
 };

 const rt_uint32_t platform_mem_desc_size = sizeof(platform_mem_desc)/sizeof(platform_mem_desc[0]);
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2006-2020, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author         Notes
+ * 2020-10-26     bigmagic       first version
+ */
+#ifndef __DRV_HDMI_H__
+#define __DRV_HDMI_H__
+
+#define RGB(r, g, b) ((((r))<<16) | (((g))<<8) | ((b)))
+
+struct rt_hdmi_fb_device
+{
+    struct rt_device parent;
+
+    rt_uint32_t width;
+    rt_uint32_t height;
+    rt_uint32_t depth;
+    rt_uint32_t pitch;
+    rt_uint32_t pixel_format;
+
+    rt_uint8_t *fb;
+};
+#endif/* __DRV_HDMI_H__ */
@@ -0,0 +1,135 @@
+/*
+ * Copyright (c) 2006-2020, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author         Notes
+ * 2020-10-26     bigmagic       first version
+ */
+#include <rthw.h>
+#include "drv_wdt.h"
+#include "raspi4.h"
+
+#ifdef BSP_USING_WDT
+
+#define SECS_TO_WDOG_TICKS(x) ((x) << 16)
+#define WDOG_TICKS_TO_SECS(x) ((x) >> 16)
+
+static struct raspi_wdt_driver bcm_wdt;
+
+void raspi_watchdog_init(rt_uint32_t time_init)
+{
+    bcm_wdt.timeout = time_init;
+}
+
+void raspi_watchdog_start()
+{
+    volatile rt_uint32_t cur;
+    PM_WDOG = PM_PASSWORD | (SECS_TO_WDOG_TICKS(bcm_wdt.timeout) & PM_WDOG_TIME_SET);
+    cur = (PM_RSTC);
+    PM_RSTC = PM_PASSWORD | (cur & PM_RSTC_WRCFG_CLR) | PM_RSTC_WRCFG_FULL_RESET;
+}
+
+void raspi_watchdog_stop()
+{
+    PM_RSTC = PM_PASSWORD | PM_RSTC_RESET;
+}
+
+void raspi_watchdog_clr()
+{
+    bcm_wdt.timeout = 0;
+}
+
+void raspi_watchdog_set_timeout(rt_uint32_t timeout_us)
+{
+    bcm_wdt.timeout = timeout_us;
+}
+
+rt_uint64_t raspi_watchdog_get_timeout()
+{
+    return bcm_wdt.timeout;
+}
+
+rt_uint64_t raspi_watchdog_get_timeleft()
+{
+    rt_uint32_t ret = (PM_WDOG);
+    return WDOG_TICKS_TO_SECS(ret & PM_WDOG_TIME_SET);
+}
+
+static rt_err_t raspi_wdg_init(rt_watchdog_t *wdt)
+{
+    /*init for 10S*/
+    raspi_watchdog_init(1000000);
+    raspi_watchdog_start();
+    raspi_watchdog_stop();
+    return RT_EOK;
+}
+
+static rt_err_t raspi_wdg_control(rt_watchdog_t *wdt, int cmd, void *arg)
+{
+    rt_uint64_t  timeout_us = 0;
+    switch (cmd)
+    {
+    case RT_DEVICE_CTRL_WDT_SET_TIMEOUT:
+        timeout_us = *((rt_uint32_t *)arg) * 1000000;
+        if (timeout_us >= 0xFFFFFFFF)
+            timeout_us = 0xFFFFFFFF;
+        raspi_watchdog_set_timeout((rt_uint32_t)timeout_us);
+        break;
+    case RT_DEVICE_CTRL_WDT_GET_TIMEOUT:
+        timeout_us = raspi_watchdog_get_timeout();
+        *((rt_uint32_t *)arg) = timeout_us / 1000000;
+        break;
+    case RT_DEVICE_CTRL_WDT_GET_TIMELEFT:
+        timeout_us = raspi_watchdog_get_timeleft();
+        *((rt_uint32_t *)arg) = timeout_us / 1000000;
+        break;
+    case RT_DEVICE_CTRL_WDT_KEEPALIVE:
+        raspi_watchdog_clr();
+        break;
+    case RT_DEVICE_CTRL_WDT_START:
+        raspi_watchdog_start();
+        break;
+    case RT_DEVICE_CTRL_WDT_STOP:
+        raspi_watchdog_stop();
+        break;
+    default:
+        return RT_EIO;
+    }
+    return RT_EOK;
+}
+
+static const struct rt_watchdog_ops raspi_wdg_pos =
+{
+    raspi_wdg_init,
+    raspi_wdg_control,
+};
+
+static rt_watchdog_t raspi_wdg;
+
+int rt_hw_wdt_init(void)
+{
+    raspi_wdg.ops = &raspi_wdg_pos;
+    rt_hw_watchdog_register(&raspi_wdg, "wdg", 0, RT_NULL);
+    return RT_EOK;
+}
+INIT_DEVICE_EXPORT(rt_hw_wdt_init);
+
+void reboot(void)
+{
+    unsigned int r;
+
+    rt_kprintf("reboot system...\n");
+    rt_thread_mdelay(100);
+    r = PM_RSTS;
+    // trigger a restart by instructing the GPU to boot from partition 0
+    r &= ~0xfffffaaa;
+    PM_RSTS |= (PM_PASSWORD | r);   // boot from partition 0
+    PM_WDOG |= (PM_PASSWORD | 0x0A);
+    PM_RSTC |= (PM_PASSWORD | PM_RSTC_WRCFG_FULL_RESET);
+    
+    while (1);
+}
+MSH_CMD_EXPORT(reboot,reboot system...);
+#endif /*BSP_USING_WDT */
@@ -0,0 +1,25 @@
+/*
+ * Copyright (c) 2006-2020, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author         Notes
+ * 2020-10-26     bigmagic       first version
+ */
+#ifndef __DRV_WDT_H__
+#define __DRV_WDT_H__
+
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#include "board.h"
+
+struct raspi_wdt_driver
+{
+    rt_uint32_t timeout;
+};
+
+int rt_hw_wdt_init(void);
+
+#endif
@@ -49,6 +49,52 @@ int mbox_call(unsigned char ch, int mmu_enable)
    return 0;
 }

+int bcm271x_notify_reboot(void)
+{
+    mbox[0] = 7*4;                          // length of the message
+    mbox[1] = MBOX_REQUEST;                 // this is a request message
+    mbox[2] = MBOX_TAG_NOTIFY_REBOOT;       // (the tag id)
+    mbox[3] = 0x00000004;                   // length + 4
+    mbox[4] = 0x00000000;                   // size of the data
+    mbox[5] = 0x00000000;                   // request
+
+    mbox[6] = MBOX_TAG_LAST; 
+    mbox_call(8, MMU_DISABLE);
+    return 0;
+}
+
+int bcm271x_notify_xhci_reset(void)
+{
+    mbox[0] = 7*4;                          // length of the message
+    mbox[1] = MBOX_REQUEST;                 // this is a request message
+    mbox[2] = MBOX_TAG_NOTIFY_XHCI_RESET;   // (the tag id)
+    mbox[3] = 0x00000004;                   // length + 4
+    mbox[4] = 0x00000004;                   // size of the data
+    mbox[5] = 0x00100000;                   // request
+    mbox[6] = MBOX_TAG_LAST; 
+    mbox_call(8, MMU_DISABLE);
+    return 0;
+}
+
+int bcm271x_gpu_enable(void)
+{
+    mbox[0] = 12*4;                          // length of the message
+    mbox[1] = MBOX_REQUEST;                  // this is a request message
+    
+    mbox[2] = MBOX_TAG_CLOCK_SET_RATE;
+    mbox[3] = 0x00000008;                   // (the tag id)
+    mbox[4] = 0x00000008;                   // (the tag id)
+    mbox[5] = 5;                            // V3D
+    mbox[6] = 250 * 1000 * 1000;
+    mbox[7] = MBOX_TAG_ENABLE_QPU;                   // (the tag id)
+    mbox[8] = 0x00000004;                   // (size of the buffer)
+    mbox[9] = 0x00000004;                   // (size of the data)
+    mbox[10] = 0x00000001;
+    mbox[11] = MBOX_TAG_LAST;               // end tag
+    mbox_call(8, MMU_DISABLE);
+    return mbox[1];
+}
+
 int bcm271x_mbox_hardware_get_model(void)
 {
    mbox[0] = 8*4;                          // length of the message
@@ -35,7 +35,7 @@ extern volatile unsigned int* mbox;
 /* tags */
 #define MBOX_TAG_SETPOWER       0x28001
 #define MBOX_TAG_SETCLKRATE     0x38002
-#define MBOX_GET_MAC_ADDRESS	0x10003
+#define MBOX_GET_MAC_ADDRESS    0x10003
 #define MBOX_TAG_LAST           0

 #define MMIO_BASE       0xFE000000
@@ -50,14 +50,14 @@ extern volatile unsigned int* mbox;
 #define MBOX_FULL       0x80000000
 #define MBOX_EMPTY      0x40000000

-#define DEVICE_ID_SD_CARD	0
-#define DEVICE_ID_USB_HCD	3
-#define POWER_STATE_OFF		(0 << 0)
-#define POWER_STATE_ON		(1 << 0)
-#define POWER_STATE_WAIT	(1 << 1)
-#define POWER_STATE_NO_DEVICE	(1 << 1)	// in response
-#define MMU_ENABLE 1
-#define MMU_DISABLE 0
+#define DEVICE_ID_SD_CARD        (0)
+#define DEVICE_ID_USB_HCD        (3)
+#define POWER_STATE_OFF          (0 << 0)
+#define POWER_STATE_ON           (1 << 0)
+#define POWER_STATE_WAIT         (1 << 1)
+#define POWER_STATE_NO_DEVICE    (1 << 1)    // in response
+#define MMU_ENABLE               (1)
+#define MMU_DISABLE              (0)

 /*
 * raspi hardware info
@@ -102,9 +102,42 @@ enum {
    MBOX_TAG_TEMP_GET_MAX   = 0x0003000A,
 };

-#define MBOX_ADDR 0xc00000
+/*
+ * raspi Memory
+ */
+enum {
+    MBOX_TAG_ALLOCATE_MEMORY = 0x0003000C, // Memory: Allocates Contiguous Memory On The GPU (Response: Handle)
+    MBOX_TAG_LOCK_MEMORY     = 0x0003000D, // Memory: Unlock Buffer (Response: Status)
+    MBOX_TAG_UNLOCK_MEMORY   = 0x0003000E, // Memory: Unlock Buffer (Response: Status)
+    MBOX_TAG_RELEASE_MEMORY  = 0x0003000F, // Memory: Free The Memory Buffer (Response: Status)
+    MBOX_TAG_EXECUTE_CODE    = 0x00030010, // Memory: Calls The Function At Given (Bus) Address And With Arguments Given
+};
+
+/*
+ * raspi GPU
+ */
+enum {
+    MBOX_TAG_EXECUTE_QPU = 0x00030011, // QPU: Calls The QPU Function At Given (Bus) Address And With Arguments Given (Response: Number Of QPUs, Control, No Flush, Timeout In ms)
+    MBOX_TAG_ENABLE_QPU  = 0x00030012, // QPU: Enables The QPU (Response: Enable State)
+};
+
+/*
+ * raspi HDMI
+ */
+#define MBOX_TAG_GET_EDID_BLOCK        0x00030020 // HDMI: Read Specificed EDID Block From Attached HDMI/DVI Device (Response: Block Number, Status, EDID Block (128 Bytes))
+
+/*
+ * raspi NOTIFY
+ */
+#define MBOX_TAG_NOTIFY_REBOOT         0x00030048
+#define MBOX_TAG_NOTIFY_XHCI_RESET     0x00030058
+
+#define MBOX_ADDR 0x08000000

 int mbox_call(unsigned char ch, int mmu_enable);
+int bcm271x_notify_reboot(void);
+int bcm271x_notify_xhci_reset(void);
+int bcm271x_gpu_enable(void);
 int bcm271x_mbox_hardware_get_model(void);
 int bcm271x_mbox_hardware_get_revison(void);
 int bcm271x_mbox_hardware_get_mac_address(uint8_t * mac);
@@ -119,6 +119,39 @@ typedef enum {

 #define GIC_ACK_INTID_MASK  0x000003ff

+//watchdog
+#define PM_RSTC         HWREG32(PER_BASE + 0x0010001c)
+#define PM_RSTS         HWREG32(PER_BASE + 0x00100020)
+#define PM_WDOG         HWREG32(PER_BASE + 0x00100024)
+
+#define PM_PASSWORD                 (0x5A000000)
+#define PM_WDOG_TIME_SET            (0x000fffff)
+#define PM_RSTS_HADWRH_SET          (0x00000040)
+#define PM_RSTC_WRCFG_FULL_RESET    (0x00000020)
+#define PM_RSTC_WRCFG_CLR           (0xffffffcf)
+#define PM_RSTC_RESET               (0x00000102)
+
+//timer
+#define ST_BASE_OFFSET     (0x003000)
+#define STIMER_BASE  (PER_BASE  + ST_BASE_OFFSET)
+#define STIMER_CS    __REG32(STIMER_BASE + 0x0000)
+#define STIMER_CLO   __REG32(STIMER_BASE + 0x0004)
+#define STIMER_CHI   __REG32(STIMER_BASE + 0x0008)
+#define STIMER_C0    __REG32(STIMER_BASE + 0x000C)
+#define STIMER_C1    __REG32(STIMER_BASE + 0x0010)
+#define STIMER_C2    __REG32(STIMER_BASE + 0x0014)
+#define STIMER_C3    __REG32(STIMER_BASE + 0x0018)
+
+#define DELAY_MICROS(micros) \
+    do{ \
+ rt_uint32_t compare = STIMER_CLO + micros * 25; \
+ while (STIMER_CLO < compare); \
+    } while (0) \
+
+//External Mass Media Controller (SD Card)
+#define MMC0_BASE_ADDR		(PER_BASE+0x300000)   
+#define MMC2_BASE_ADDR		(PER_BASE+0x340000)  
+
 /* the basic constants and interfaces needed by gic */
 rt_inline rt_uint32_t platform_get_gic_dist_base(void)
 {
@@ -76,6 +76,18 @@
 #define DFS_FILESYSTEMS_MAX 2
 #define DFS_FILESYSTEM_TYPES_MAX 2
 #define DFS_FD_MAX 16
+#define RT_USING_DFS_ELMFAT
+
+/* elm-chan's FatFs, Generic FAT Filesystem Module */
+
+#define RT_DFS_ELM_CODE_PAGE 437
+#define RT_DFS_ELM_WORD_ACCESS
+#define RT_DFS_ELM_USE_LFN_3
+#define RT_DFS_ELM_USE_LFN 3
+#define RT_DFS_ELM_MAX_LFN 255
+#define RT_DFS_ELM_DRIVES 2
+#define RT_DFS_ELM_MAX_SECTOR_SIZE 512
+#define RT_DFS_ELM_REENTRANT
 #define RT_USING_DFS_DEVFS

 /* Device Drivers */
@@ -86,7 +98,14 @@
 #define RT_SERIAL_USING_DMA
 #define RT_SERIAL_RB_BUFSZ 64
 #define RT_USING_PIN
+#define RT_USING_SDIO
+#define RT_SDIO_STACK_SIZE 512
+#define RT_SDIO_THREAD_PRIORITY 15
+#define RT_MMCSD_STACK_SIZE 1024
+#define RT_MMCSD_THREAD_PREORITY 22
+#define RT_MMCSD_MAX_PARTITION 16
 #define RT_USING_SPI
+#define RT_USING_WDT

 /* Using USB */

@@ -178,8 +197,13 @@
 #define BSP_USING_SPI0_BUS
 #define BSP_USING_SPI0_DEVICE0
 #define BSP_USING_CORETIMER
+#define BSP_USING_WDT
+#define BSP_USING_SDIO
+#define BSP_USING_SDIO0

 /* Board Peripheral Drivers */

+#define BSP_USING_HDMI
+#define BSP_USING_HDMI_DISPLAY

 #endif