Raspberry Pi: Difference between revisions
Description of U-boot load of RTEMS application image. |
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=== RTEMS Boot with use of U-boot === | |||
Setup of RTEMS image boot over TFTP with U-boot and static IP address | |||
Copy '''u-boot.bin''' to RPi boot partition and setup first stage loader to run U-boot - i.e. modify '''config.txt''' select | |||
<code> | |||
<pre> | |||
kernel=u-boot.bin | |||
</pre> | |||
</code> | |||
Configure TFTP server on host system and convert binary to U-boot image format | |||
( RTEMS tests applications in ELF format can be found after successful compilation in build samples subdirectory, i.e. for ticker arm-rtems4.11/c/raspberrypi/testsuites/samples/ticker/ticker.exe). Convert that to U-boot image. | |||
<code> | |||
<pre> | |||
arm-rtems4.11-objcopy -R -S --strip-debug -O binary ticker.exe ticker.bin || exit 1 | |||
cat ticker.bin | gzip -9 >ticker.gz | |||
mkimage -A arm -O rtems -T kernel -a 0x00008000 -e 0x00008000 -n "RTEMS" -d ticker.gz ticker.img | |||
</pre> | |||
</code> | |||
Copy '''ticker.img''' to TFTP served directory (I use <tt>/srv/tftp/rpi/rtems</tt> on Debian). | |||
Setup U-boot environment. One option is to use '''uEnv.txt''' file on the RPi SD-card boot partition with next content | |||
<code> | |||
<pre> | |||
serverip=192.168.1.10 | |||
ipaddr=192.168.1.33 | |||
bootargs=place_for_kernel_options | |||
bootcmd=mw.l 0x20200000 0x04a020; mw.l 0x20200008 0x65b6c0; usb start; tftp ${kernel_addr_r} 192.168.1.10:/rpi/rtems/app.img ; bootm ${kernel_addr_r} | |||
</pre> | |||
</code> | |||
This sequence specifies default command invoked by '''boot''' and automatically during startup. | |||
The direct memory locations change is there to enable JTAG debugger pins on P1 connector. | |||
Revision as of 13:41, 20 July 2015
Raspberry Pi Based Projects
- Raspberry Pi minimal components DC motor servo control
- The small robotic arm control with use of Simulink CAN blocks with ERT Linux target
GNU/Linux Kernel and other Utilities
GCC Tool-chain for Cross-Compilation
There are more suggestion of different arm-gnueabihf toolchains variants to use for cross-build of applications for Raspberry Pi platform. But all of them which I have easily found do not correctly match ARMv6 BCM2835 target. The unfortunate selection of arm-linux-gnueabihf as GNU triplet for Raspbian build clashes with official arm-linux-gnueabihf tool-chains which target ARMv7 architecture and produced binaries are less or more incompatible with RPi hardware and GLIBC build.
I have decided to define separate/non-classing GCC architecture arm-rpi-linux-gnueabihf variant and use original Raspbian GLIBC binaries to ensure best compatibility for build tool-chain. The simple approach is to put whole Raspbian root filesystem copy to /usr/arm-rpi-linux-gnueabihf/sys-root. The mosts of the files are not required in fact so reduction to subset of /lib, /lib/arm-linux-gnueabihf, /lib/arm-linux-gnueabihf/libnfsidmap, /lib/arm-linux-gnueabihf/security, /usr/include, /usr/lib, /usr/lib/arm-rpi-linux-gnueabihf is enough. Other option is to use debootstrap with correct parameters to install base Raspbian libraries and development files in /usr/arm-rpi-linux-gnueabihf/sys-root directory. Some symbolic links has to be adapted to point correctly to target files by changing paths to relative. Then libc.so prepared for relative paths and cross-compilation needs to be provided. Create file /usr/arm-rpi-linux-gnueabihf/lib/libc.so with next content
/* GNU ld script
Use the shared library, but some functions are only in
the static library, so try that secondarily. */
OUTPUT_FORMAT(elf32-littlearm)
GROUP ( libc.so.6 libc_nonshared.a AS_NEEDED ( ld-linux.so.3 ) )
This should be enough for environment for standard binutils and GCC build. binutils-2.24 has been used without any changes. gcc-4.9.1 with statically included gmp-5.1.2, mpc-1.0.1 and mpfr-3.1.2 has been patched by subset of Debian patches
alpha-no-ev4-directive.diff
boehm-gc-getnprocs.diff
note-gnu-stack.diff
gcc-target-include-asm.diff
pr57653.diff
pr61046.diff
pr61336.diff
gcc-setmultilib-fix.diff
pr61841.diff
Then binutils and GCC has been compiled and installed with next configuration
../../../src/gcc-4.9/configure -v \
--enable-languages=c,c++ \
--prefix=/usr \
--with-system-zlib \
--without-included-gettext \
--enable-threads=posix \
--enable-shared \
--disable-nls \
--enable-clocale=gnu \
--enable-objc-gc \
--enable-mpfr \
--enable-tls \
--enable-secureplt \
--enable-targets=arm-linux-gnu \
--enable-symvers=gnu \
--enable-checking=release \
--build=x86_64-linux-gnu \
--host=x86_64-linux-gnu \
--target=arm-rpi-linux-gnueabihf \
--enable-version-specific-runtime-libs \
--disable-libgomp \
--with-headers=/usr/arm-rpi-linux-gnueabihf/sys-include \
--with-sysroot=/usr/arm-rpi-linux-gnueabihf/sys-root \
\
--enable-linker-build-id \
--enable-libstdcxx-time=yes \
--enable-gnu-unique-object \
--enable-plugin \
--enable-multiarch \
--disable-sjlj-exceptions \
--with-arch=armv6 \
--with-fpu=vfp \
--with-float=hard
The build binaries for x86_64/amd64 Debian based systems are provided in our DEB tool-chains collection
* http://rtime.felk.cvut.cz/debian/pool/main/b/binutils-2.24/binutils-arm-rpi-linux-gnueabihf_2.24-1_amd64.deb * http://rtime.felk.cvut.cz/debian/pool/main/g/gcc-4.9.1/gcc-arm-rpi-linux-gnueabihf_4.9.1-1_amd64.deb
Raspberry Pi JTAG debugguing
* RPi JTAG setup documentation http://sysprogs.com/VisualKernel/tutorials/raspberry/jtagsetup/
U-boot commands to enable JTAG pins
mw.l 0x20200000 0x04a020
mw.l 0x20200008 0x65b6c0
FTDI2232 JT_USB5 RPi Connection and Configuration
Interconnection of 10 pin JT_USB5 cable to RPi P1 connector
| JT_USB5 pin | Signal | RPi P1 | Type | Description |
|---|---|---|---|---|
| 1 | TCK | 22 | Out | Clock Signal Output |
| 2 | VREF | 1 | Out | Target voltage reference 3.3 V |
| 3 | TDI | 7 | Out | Serial Data Out |
| 4 | RTCK | 16 | In/Out | General Purpose I/O |
| 5 | TDO | 18 | In | Serial Data In |
| 6 | RST | NC | Reset | |
| 7 | nTRST | 15 | In/Out | Test system reset |
| 8 | GND | 6, 9, 25 | In/Out | Target ground |
| 9 | TMS | 13 | Out | Select Signal Out |
| 10 | GND | 6, 9, 25 | In/Out | Target ground |
telnet_port 4444
gdb_port 3333
interface ftdi
#ftdi_device_desc "Dual RS232"
ftdi_vid_pid 0x0403 0x6010
ftdi_layout_init 0x0cf8 0x0cfb
ftdi_layout_signal nTRST -data 0x0010 -noe 0x0800
ftdi_layout_signal nSRST -ndata 0x0040 -noe 0x0400
ftdi_layout_signal nTRST -data 0x0010
ftdi_layout_signal nSRST -ndata 0x0040
ftdi_layout_signal LED -ndata 0x0800
transport select jtag
adapter_khz 500
reset_config none
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME raspi
}
reset_config none
if { [info exists CPU_TAPID ] } {
set _CPU_TAPID $CPU_TAPID
} else {
set _CPU_TAPID 0x07b7617F
}
jtag newtap $_CHIPNAME arm -irlen 5 -expected-id $_CPU_TAPID
set _TARGETNAME $_CHIPNAME.arm
target create $_TARGETNAME arm11 -chain-position $_TARGETNAME
adapter_khz 500
init
RTEMS Boot with use of U-boot
Setup of RTEMS image boot over TFTP with U-boot and static IP address
Copy u-boot.bin to RPi boot partition and setup first stage loader to run U-boot - i.e. modify config.txt select
kernel=u-boot.bin
Configure TFTP server on host system and convert binary to U-boot image format ( RTEMS tests applications in ELF format can be found after successful compilation in build samples subdirectory, i.e. for ticker arm-rtems4.11/c/raspberrypi/testsuites/samples/ticker/ticker.exe). Convert that to U-boot image.
arm-rtems4.11-objcopy -R -S --strip-debug -O binary ticker.exe ticker.bin || exit 1
cat ticker.bin | gzip -9 >ticker.gz
mkimage -A arm -O rtems -T kernel -a 0x00008000 -e 0x00008000 -n "RTEMS" -d ticker.gz ticker.img
Copy ticker.img to TFTP served directory (I use /srv/tftp/rpi/rtems on Debian).
Setup U-boot environment. One option is to use uEnv.txt file on the RPi SD-card boot partition with next content
serverip=192.168.1.10
ipaddr=192.168.1.33
bootargs=place_for_kernel_options
bootcmd=mw.l 0x20200000 0x04a020; mw.l 0x20200008 0x65b6c0; usb start; tftp ${kernel_addr_r} 192.168.1.10:/rpi/rtems/app.img ; bootm ${kernel_addr_r}
This sequence specifies default command invoked by boot and automatically during startup. The direct memory locations change is there to enable JTAG debugger pins on P1 connector.