QNX提供的BBB BSP有6.5和6.6两个版本。6.5使用uboot引导，6.6提供了IPL引导程序。下载地址如下
http://community.qnx.com/sf/wiki/do/viewPage/projects.bsp/wiki/TiAm335Beaglebone
6.6这个IPL引导程序有问题，编译后将images目录的IPL重命名为MLO放置到SD卡中，引导后串口无任何信息。。
研究后发现这个IPL是不完整的，他至少缺失了串口引脚复用的配置，所以串口肯定没任何信息……
而且他的IPL是不支持emmc引导的。。
不知道qnx发布这个bsp的时候，这个ipl究竟做没做过测试？！引脚复用都没有就放？
通过参考uboot程序代码，研究下来，终于完善了这个IPL。主要补充的有：
1.串口可以正常打印信息
2.原ipl只支持sd卡引导，现在可以从EMMC引导
3.修复了timer没初始化的bug。
4.可以自动识别当前启动介质。
尤其是第3个，简直是挫！连timer都没初始化就用delay函数，导致的后果就是引导emmc的时候卡死。
这个BSP真的是漏洞百出，看来qnx对开源硬件是不怎么上心。。
下面给出代码修改的具体内容吧
位置src\hardware\ipl\board\am335x
2._start.s做如下修改
_start:
mov r1, r0 //<<<<<<<<<<<新增这行，将BOOT_PARAM传入main的第二参数 US.26.1.12.2
3.board.c做如下修改
新增 #include "am335x_pinmux.h"
powerdomain_clocks_en函数修改，添加了UART0和UART1，调整了顺序
static void powerdomain_clocks_en(void)
{
/*
* Power domain wake up transitions
* Must make its interface clock run before using the peripheral
*/
out32(AM335X_CM_WKUP_CLKSTCTRL, 2);
out32(AM335X_CM_WKUP_UART0_CLKCTRL, 2);
out32(AM335X_CM_PER_UART1_CLKCTRL, 2);
out32(AM335X_CM_PER_L3_CLKSTCTRL, 2);
out32(AM335X_CM_PER_L4LS_CLKSTCTRL, 2);
out32(AM335X_CM_PER_L4FW_CLKSTCTRL, 2);
out32(AM335X_CM_PER_L3S_CLKSTCTRL, 2);
}
peripheral_clocks_en修改，添加了TIMER3和MMC1
static void peripheral_clocks_en(void)
{
/* Enable the module clock */
out32(AM335X_CM_PER_TIMER2_CLKCTRL, 2);
/* Select the Master osc (19.2 MHz) as Timer2 clock source */
out32(AM335X_CLKSEL_TIMER2_CLK, 0x1);
/* Enable the module clock */
out32(AM335X_CM_PER_TIMER3_CLKCTRL, 2);
/* Select the Master osc (19.2 MHz) as Timer2 clock source */
out32(AM335X_CLKSEL_TIMER3_CLK, 0x1);
/* UART0 */
out32(AM335X_CM_WKUP_UART0_CLKCTRL, 2);
/* ELM */
out32(AM335X_CM_PER_ELM_CLKCTRL, 2);
/* i2c0 */
out32(AM335X_CM_WKUP_I2C0_CLKCTRL, 2);
/* MMC 0 */
out32(AM335X_CM_PER_MMC0_CLKCTRL, 2);
/* MMC 1 */
out32(AM335X_CM_PER_MMC1_CLKCTRL, 2);
/* Enable the control module though RBL would have done it*/
out32(AM335X_CM_WKUP_CONTROL_CLKCTRL, 2);
while (in32(AM335X_CM_PER_TIMER2_CLKCTRL ) != 2);
while (in32(AM335X_CM_PER_TIMER3_CLKCTRL ) != 2);
while (in32(AM335X_CM_WKUP_UART0_CLKCTRL ) != 2);
while (in32(AM335X_CM_PER_ELM_CLKCTRL ) != 2);
while (in32(AM335X_CM_WKUP_I2C0_CLKCTRL ) != 2);
while (in32(AM335X_CM_WKUP_CONTROL_CLKCTRL) != 2);
}
添加函数init_pinmux
static void init_uart0_pin_mux(void)
{
out32(conf_uart0_rxd , (MODE(0) | PULLUP_EN | RXACTIVE)); /* UART0_RXD */
out32(conf_uart0_txd , (MODE(0) | PULLUDEN )); /* UART0_TXD */
}
static void init_mmc1_pin_mux(void)
{
out32(conf_gpmc_ad7 , (MODE(1) | RXACTIVE)); /* [P8 4] MMC1_DAT7 */
out32(conf_gpmc_ad6 , (MODE(1) | RXACTIVE)); /* [P8 3] MMC1_DAT6 */
out32(conf_gpmc_ad5 , (MODE(1) | RXACTIVE)); /* [P8 22] MMC1_DAT5 */
out32(conf_gpmc_ad4 , (MODE(1) | RXACTIVE)); /* [P8 23] MMC1_DAT4 */
out32(conf_gpmc_ad3 , (MODE(1) | RXACTIVE)); /* [P8 6] MMC1_DAT3 */
out32(conf_gpmc_ad2 , (MODE(1) | RXACTIVE)); /* [P8 5] MMC1_DAT2 */
out32(conf_gpmc_ad1 , (MODE(1) | RXACTIVE)); /* [P8 24] MMC1_DAT1 */
out32(conf_gpmc_ad0 , (MODE(1) | RXACTIVE)); /* [P8 25] MMC1_DAT0 */
out32(conf_gpmc_csn1 , (MODE(2) | RXACTIVE)); /* [P8 21] MMC1_CLK */
out32(conf_gpmc_csn2 , (MODE(2) | RXACTIVE)); /* [P8 20] MMC1_CMD */
}
void init_pinmux()
{
init_uart0_pin_mux();
init_mmc1_pin_mux();
}
修改 init_am335x 函数，调用init_pinmux，并把powerdomain_clocks_en提前
void init_am335x( )
{
int count = LDELAY;
/* WDT1 is already running when the bootloader gets control
* Disable it to avoid "random" resets
*/
wdt_disable();
init_pinmux();
powerdomain_clocks_en(); //enable_basic_clocks
/* Get Timer and UART out of reset */
/* UART softreset */
out32(UART_SYSCFG, in32(UART_SYSCFG) | 0x02);
while(( (in32(UART_SYSSTS) & 0x1) != 0x1) && count--);
/* Disable smart idle */
out32(UART_SYSCFG, in32(UART_SYSCFG) | (1<<3));
/* We use UART0 as debug output */
init_seromap(AM335X_UART0_BASE, 115200, 48000000, 16);
init_timer(AM335X_TIMER2_BASE);
init_am335x_ddr();
interface_clocks_en();
peripheral_clocks_en();
init_edma();
}
4.main.c修改
添加外部引用如下，初始化timer3，给delay函数用的
extern void omap_timer_enable(unsigned long, unsigned long);
ipl_boot_menu函数修改，新增E选项，EMMC
IPL_BootOpt_t ipl_boot_menu()
{
char opt;
unsigned tmp_addr, tmp_val;
while (1) {
ser_putstr("\nCommand: \n");
ser_putstr("Press 'S' for SERIAL download, using the 'sendnto' utility to download file qnx-ifs .\n");
ser_putstr("Press 'M' for SD CARD download, file qnx-ifs assumed.\n");
ser_putstr("Press 'E' for EMMC download, file qnx-ifs assumed.\n");
ser_putstr("Press 'r' followed by physical address to read memory\n");
ser_putstr("Press 'w' followed by write address, followed by new value to write to memory\n");
opt = ser_getchar();
switch (opt) {
case 'M':
case 'm':
return (IPL_BOOT_SD);
case 'E':
case 'e':
return (IPL_BOOT_EMMC);
case 's':
case 'S':
return (IPL_BOOT_SERIAL);
case 'R': case 'r':
ser_putstr((char *)"Enter physical address to read: 0x");
tmp_addr = get_uint(AM335X_UART0_BASE);
ser_putstr((char *)"\n Value of 0x");
ser_puthex(tmp_addr);
ser_putstr((char *)" is: ");
ser_puthex(in32(tmp_addr));
ser_putstr((char *)"\n");
continue;
case 'W': case 'w':
ser_putstr("Enter physical address to write: 0x");
tmp_addr = get_uint(AM335X_UART0_BASE);
ser_putstr("\nEnter value (8-bits): 0x");
tmp_val = get_uint(AM335X_UART0_BASE);
*(unsigned char*)tmp_addr = (unsigned char)(tmp_val&0xff);
continue;
}
ser_putstr("Unrecognized option\n");
}
return 0;
}
sdmmc_load_file函数修改，新增参数devno用于选择mmc0或mmc1，两个设备的io基地址不一样，dma通道也不一样，还有就是初始化timer3作为delay定时器，否则sdmmc内部的delay函数会卡死。
static int sdmmc_load_file (unsigned devno, unsigned address, const char *fn){
sdmmc_t sdmmc;
int status;
omap_edma_ext_t dma_ext0 = {
.dma_pbase = AM335X_EDMA0_CC_BASE,
.dma_chnl = 25
};
omap_edma_ext_t dma_ext1 = {
.dma_pbase = AM335X_EDMA0_CC_BASE,
.dma_chnl = 3
};
if(devno == 0)
{
//sd card
omap_sdmmc_init_hc(&sdmmc, AM335X_MMCHS0_BASE, 192000, SDMMC_VERBOSE_LVL_0, OMAP_SDMMC_EDMA, &dma_ext0);
}
else
{
//emmc
omap_sdmmc_init_hc(&sdmmc, AM335X_MMC1_BASE, 192000, SDMMC_VERBOSE_LVL_0, OMAP_SDMMC_EDMA, &dma_ext1);
}
omap_timer_enable(AM335X_TIMER3_BASE, 19200000); //for omap_nano_delay
if (sdmmc_init_sd(&sdmmc)) {
ser_putstr("SD/MMC card init failed\n");
status = SDMMC_ERROR;
goto done;
}
ser_putstr("Load QNX image ");
ser_putstr(fn);
ser_putstr(" from SDMMC...\n");
fat_sdmmc_t fat = {
.ext = &sdmmc,
.buf1 = fat_buf1,
.buf1_len = FAT_FS_INFO_BUF_SIZE,
.buf2 = fat_buf2,
.buf2_len = FAT_COMMON_BUF_SIZE,
.verbose = 3
};
if (fat_init(&fat)) {
ser_putstr("Failed to init fat-fs\n");
status = SDMMC_ERROR;
goto done;
}
status = fat_copy_named_file((unsigned char *)address, (char *)fn);
done:
sdmmc_fini(&sdmmc);
#if defined (DEBUG_BOOT_TIMING)
omap_timer_curr("IFS loading from SDMMC", TIMING_MILLI_SECOND);
#endif
return status;
}
main函数修改，新增了BOOT_PARAM参数，是从start.s传来的，用于判断当前的启动介质，然后继续启动qnxifs，判断失败再显示启动菜单。
typedef struct _BOOT_PARAM{
uint32_t Reserved;
uint32_t pMemBootDesc;
uint8_t CurrBootDevice;
uint8_t ResetReason;
uint8_t Reserved2;
}BOOT_PARAM, *PBOOT_PARAM;
char *GetBootDeviceStr(PBOOT_PARAM pBootParam)
{
switch(pBootParam->CurrBootDevice)
{
case 0:
return "VOID";
case 1:
return "XIP MUX1 Memory";
case 2:
return "XIPWAIT MUX 1";
case 3:
return "XIP MUX2 Memory";
case 4:
return "XIPWAIT MUX 2";
case 5:
return "NAND";
case 6:
return "NAND with I2C";
case 8:
return "SD CARD";
case 9:
return "EMMC";
case 0xB:
return "SPI";
case 0x41:
return "UART0";
case 0x44:
return "USB";
case 0x46:
return "CPGMAC0";
}
return "N/A";
}
int main(int argc, char *argv[])
{
PBOOT_PARAM pBootParam = (PBOOT_PARAM)argv;
unsigned image;
IPL_BootOpt_t bootOpt;
init_am335x();
ser_putstr((char *)"\n\n\033[41;37m-QNX Neutrino IPL for AM335x BeagleBone Black Board-\033[0m\n\n");
ser_putstr("Current Boot Device: ");
ser_putstr(GetBootDeviceStr(pBootParam));
ser_putstr("\n\n");
image = QNX_LOAD_ADDRESS;
if(pBootParam->CurrBootDevice == 8)
{
bootOpt = IPL_BOOT_SD;
}
else if (pBootParam->CurrBootDevice == 9)
{
bootOpt = IPL_BOOT_EMMC;
}
else
{
bootOpt = ipl_boot_menu();
}
while (1) {
switch (bootOpt) {
case IPL_BOOT_SD:
ser_putstr("\nload image from SD CARD ...\n");
if (sdmmc_load_file(0, image, "QNX-IFS") != 0) {
ser_putstr("load QNX-IFS from SD CARD failed\n");
goto print_boot_menu;
}
break;
case IPL_BOOT_EMMC:
ser_putstr("\nload image from EMMC ...\n");
if (sdmmc_load_file(1, image, "QNX-IFS") != 0) {
ser_putstr("load QNX-IFS from EMMC failed\n");
goto print_boot_menu;
}
break;
case IPL_BOOT_SERIAL:
ser_putstr("Send IFS image through serial now...\n");
if (image_download_ser(image) != 0) {
ser_putstr("Download image failed\n");
goto print_boot_menu;
}
ser_putstr("Download ok...\n");
/* get remaining bytes */
while (ser_poll())
ser_getchar();
break;
default:
goto print_boot_menu;
}
if (bootOpt == IPL_BOOT_SERIAL) {
image = image_scan_2(image, image + MAX_SCAN, 0);
} else {
image = image_scan_2(image, image + MAX_SCAN, 1);
}
if (image != 0xffffffff) {
ser_putstr((char *)"\nFound image @ 0x");
ser_puthex(image);
ser_putstr((char *)"\n");
image_setup_2(image);
ser_putstr((char *)"\nJumping to startup @ 0x");
ser_puthex(startup_hdr.startup_vaddr);
ser_putstr((char *)"\n\n");
image_start_2(image);
/* Never reach here */
return 0;
} else {
ser_putstr((char *)"Image_scan failed...\n");
}
print_boot_menu:
bootOpt = ipl_boot_menu();
}
return 0;
}
用IPL启动比uboot稍微快一些，最后给个串口日志
-QNX Neutrino IPL for AM335x BeagleBone Black Board-
Current Boot Device: EMMC
load image from EMMC ...
Load QNX image QNX-IFS from SDMMC...
Partition entry 0:
Boot Indicator: 0x00000080
Partition type: 0x0000000E
Begin C_H_S: 0 1 1
END C_H_S: 63 32 96
Start sector: 2048
Partition size: 196608
Found image @ 0x84000008
Jumping to startup @ 0x81003718
DDR DPLL in Lock mode:
DDR clock 400 Mhz [400/1]
Disp DPLL in Lock mode:
Disp clock 200 Mhz [200/1]
MPU DPLL in Lock mode:
MPU clock 500 Mhz [500/1]
PER DPLL in Lock mode:
PER clock 192 Mhz [960/5]
CORE DPLL in Lock mode:
M4 CORE clock 100 Mhz [1000/10]
M5 CORE clock 125 Mhz [1000/8]
M6 CORE clock 250 Mhz [1000/4]
Not a BeagleBone??
CPU0: L1 Icache: 512x64
CPU0: L1 Dcache: 512x64 WB
CPU0: L2 Dcache: 4096x64 WB
CPU0: VFP-d32 FPSID=410330c3
CPU0: NEON MVFR0=11110222 MVFR1=00011111
CPU0: 413fc082: Cortex A8 rev 2 720MHz
Loading IFS...done
Jumping to QNX
System page at phys:80011000 user:fc404000 kern:fc404000
Starting next program at vfe046d48
cpu_startnext: cpu0 -> fe046d48
VFPv3: fpsid=410330c3
coproc_attach(10): replacing fe076700 with fe075f8c
coproc_attach(11): replacing fe076700 with fe075f8c
Welcome to QNX Neutrino 6.5.0 SP1 on the Texas Instruments BeagleBone (ARMv7 Cortex-A8 core) - Board
Starting MMC/SD driver...
Path=0 - TI OMAP3 MMCHS
target=0 lun=0 Direct-Access(0) - MMC:254 MMC04G Rev:
Path=0 - TI OMAP3 MMCHS
target=0 lun=0 Direct-Access(0) - SD:3 SL16G Rev: 8.0
mount: Can't mount /fs/emmcp0 (type dos)
mount: Possible reason: Invalid argument
mount: Can't mount /fs/emmcp1 (type qnx6)
mount: Possible reason: Invalid argument
starting I2C driver...
starting WDT reset utility...
changing thread parameters
AM335X Watchdog: No timeout specified, using 2x kicktime = 30000 ms
phy_base=0x44e35000 size=0x00000064
starting Board ID driver...
stop timer
Setting OS Clock from on-board RTC
Starting USB OTG Host driver...
Starting SPI driver...
Starting network driver...
starting leds driver...
Starting inetd daemon
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