开发环境简介
| 开发板 | 正点原子MINI |
|---|---|
| 操作系统 | Linux-Mint 20.2 |
| 交叉编译链 | gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf |
| Kernel版本 | imx_5.4.70_2.3.0 |
NXP官方Kernel准备
NXP Kernel官方下载地址：https://source.codeaurora.org/external/imx/linux-imx
笔者在这里遇到了很大的困难，主要是一下三点：
- 访问速度，电信的网站访问外网真的很慢（其他的直接起飞），最后挂VPN解决;
- RPC Failed，完整的NXP的Kernel仓库分支太多导致的（.git文件大小有3G+）；
- 软链接文件在Windows下下载会变成普通文件失去链接功能，要在Linux环境下clone。
解决方案：使用浅层克隆，然后恢复为完整仓库
浅层克隆：
git clone -depth=1 https://source.codeaurora.org/external/imx/linux-imx
修改 .git/config 文件：
[core]
repositoryformatversion = 0
filemode = true
bare = false
logallrefupdates = true
[remote "origin"]
url = https://source.codeaurora.org/external/imx/linux-imx
fetch = +refs/heads/*:refs/remotes/origin/*
[branch "master"]
remote = origin
merge = refs/heads/master
获取仓库：
git fetch --all
等到下载完成，就可以查看所有分支（按q退出）：
git branch -a
切换到我们想要的分支（本文选用imx_5.4.70_2.3.0）：
git checkout imx_5.4.70_2.3.0
依赖环境安装
编译官方Kernel
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- distclean
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- imx_v7_defconfig
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- all -j8
- 找不到 openssl/bio.h
scripts/extract-cert.c:21:10: fatal error: openssl/bio.h: No such file or directory
21 | #include <openssl/bio.h>
| ^~~~~~~~~~~~~~~
compilation terminated.
解决办法：
sudo apt install libssl-dev
- 找不到lzop
/bin/sh: 1: lzop: not found
解决办法：
sudo apt install lzop
- 找不到ncurses包
*
* Unable to find the ncurses package.
* Install ncurses (ncurses-devel or libncurses-dev
* depending on your distribution).
*
解决办法：
sudo apt install libncurses5-dev
-
留坑待定
…
添加自定义开发板
-
复制默认配置文件
cp arch/arm/configs/imx_v7_defconfig arch/arm/configs/imx_custom_defconfig -
复制设备树
cp arch/arm/boot/dts/imx6ull-14x14-evk.dts arch/arm/boot/dts/imx6ull-custom.dts cp arch/arm/boot/dts/imx6ull-14x14-evk-emmc.dts arch/arm/boot/dts/imx6ull-custom-emmc.dts -
更改imx6ull-custom-emmc.dts里的头文件改成imx6ull-custom.dts
xxx-emmc.dts实质就是在xxx.dts的基础上加入了emmc节点信息。
-
添加设备树到Makefile
vim arch/arm/boot/dts/Makefile添加修改如下：
dtb-$(CONFIG_SOC_IMX6UL) += \ imx6ul-14x14-evk.dtb \ ... \ imx6ull-14x14-evk.dtb \ imx6ull-14x14-evk-emmc.dtb \ imx6ull-custom.dtb \ imx6ull-custom-emmc.dtb \ imx6ull-14x14-evk-btwifi.dtb \ imx6ull-14x14-evk-btwifi-oob.dtb \ ... -
创建编译脚本
在Kernel根目录创建build_custom_kernel.sh
#! /bin/sh make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- distclean // 清理 make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- imx_custom_defconfig // 默认配置 make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig // 图形化配置 make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- all -j8 // 编译添加运行权限
chmod a+x build_custom_kernel.sh -
编译
出现如下即说明内核编译成功
Kernel: arch/arm/boot/zImage is ready
网络启动Linux
TFTP服务搭建
-
安装软件包
sudo apt install tftp-hpa tftpd-hpa // TFTP sudo apt install xinetd // 必须 -
配置环境
新建文件夹作为传输目标地址
mkdir /home/<usr>/Workdir/tftp // 新建文件夹 chmod 777 /home/<usr>/Workdir/tftp // 以防万一，权限给满新建 /etc/xinetd.d/tftp 文件（修改需要权限），内容如下
server tftp { socket_type = dgram protocol = udp wait = yes user = root server = /usr/sbin/in.tftpd server_args = -s /home/<usr>/Workdir/tftp/ // 上面新建的 disable = no per_source = 11 cps = 100 2 flags = IPv4 }修改 /etc/default/tftpd-hpa 文件，内容如下：
# /etc/default/tftpd-hpa TFTP_USERNAME="tftp" TFTP_DIRECTORY="/home/hugh/Network/tftp" TFTP_ADDRESS=":69" TFTP_OPTIONS="-c -l -s" -
重启服务
sudo service tftpd-hpa restart -
传输测试
将上面生成的 zImage 放入tftp文件夹，启动UBoot设置服务器地址并下载zImage
setenv serverip 192.168.0.101 setenv tftp 80800000 zImage // 将zIamge刷写在80800000处成功打印如下（不成功可以先确认tftp服务是否成功启动）：
=> tftp 80800000 zImage Using ethernet@20b4000 device TFTP from server 192.168.0.101; our IP address is 192.168.0.107 Filename 'zImage'. Load address: 0x80800000 Loading: ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################## 635.7 KiB/s done Bytes transferred = 9076752 (8a8010 hex)
网络挂载Kernel和设备树
将生成的zImage(arch/arm/boot)和dtb文件(arch/arm/boot/dts)都放入tftp文件夹。
从网络直接启动
setenv bootargs 'console=ttymxc0,115200 root=/dev/nfs ip=dhcp nfsroot=192.168.0.101:,v3,tcp'
setenv fdt_file=imx6ull-custom-emmc.dtb
saveenv
将zImage和设备树下载到开发板再启动
setenv bootargs 'console=ttymxc0,115200 root=/dev/mmcblk1p2 rootwait rw'
setenv bootcmd 'tftp 80800000 zImage; tftp 83000000 imx6ull-custom-emmc.dtb; bootz 80800000 - 83000000'
saveenv
显示如下就表明内核启动成功
Starting kernel ...
[ 0.000000] Booting Linux on physical CPU 0x0
[ 0.000000] Linux version 5.4.70 (hugh@E540) (gcc version 7.5.0 (Linaro GCC 7.5-2019.12)) #1 SMP PREEMPT Sat Oct 16 20:34:03 CST 2021
[ 0.000000] CPU: ARMv7 Processor [410fc075] revision 5 (ARMv7), cr=10c5387d
[ 0.000000] CPU: div instructions available: patching division code
[ 0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
出现这个现象是因为没有挂载根文件系统
[ 98.560735] Kernel panic - not syncing: VFS: Unable to mount root fs on unknown-block(2,0)
[ 98.569017] ---[ end Kernel panic - not syncing: VFS: Unable to mount root fs on unknown-block(2,0) ]---
问题及解决
LCD显示修改
本文中使用的是800x480 TFT4.3的屏幕，NXP提供的设备树默认是480x272 TFT4.3的屏幕
根据对 im6ull-custom-emmc.dts 的层层查找可知，屏幕相关的参数在 imx6ul-14x14-evk.dtsi 设置。
display0: display@0 {
bits-per-pixel = <16>;
bus-width = <24>;
display-timings {
native-mode = <&timing0>;
timing0: timing0 {
clock-frequency = <9200000>;
hactive = <480>;
vactive = <272>;
hfront-porch = <8>;
hback-porch = <4>;
hsync-len = <41>;
vback-porch = <2>;
vfront-porch = <4>;
vsync-len = <10>;
hsync-active = <0>;
vsync-active = <0>;
de-active = <1>;
pixelclk-active = <0>;
};
};
};
填入对应的屏幕参数即可。
网卡驱动修改
PHY报错如下，原因是LAN8720的问题，需要复位：
[ 2.454825] fec 20b4000.ethernet eth0: Unable to connect to phy
[ 2.462375] IP-Config: Failed to open eth0
[ 2.468597] fec 2188000.ethernet eth1: Unable to connect to phy
[ 2.476182] IP-Config: Failed to open eth1
[ 2.480310] IP-Config: No network devices available
根据对 im6ull-custom-emmc.dts 的层层查找可知，屏幕相关的参数在 imx6ul-14x14-evk.dtsi 设置。
正点原子开发板的ENET1 复位引脚 ENET1_RST 连接在 I.M6ULL 的 SNVS_TAMPER7 ，ENET2的复位引脚 ENET2_RST 连接在 I.MX6ULL 的 SNVS_TAMPER8 。MINI只有一个网口，ENET2。
-
失能spi里的冲突引脚
pinctrl_spi4: spi4grp { fsl,pins = < MX6UL_PAD_BOOT_MODE0__GPIO5_IO10 0x70a1 MX6UL_PAD_BOOT_MODE1__GPIO5_IO11 0x70a1 /* MX6UL_PAD_SNVS_TAMPER7__GPIO5_IO07 0x70a1 MX6UL_PAD_SNVS_TAMPER8__GPIO5_IO08 0x80000000 */ >; };spi4 { compatible = "spi-gpio"; pinctrl-names = "default"; pinctrl-0 = <&pinctrl_spi4>; status = "disable"; // 失能 /* pinctrl-assert-gpios = <&gpio5 8 GPIO_ACTIVE_LOW>; */ gpio-sck = <&gpio5 11 0>; gpio-mosi = <&gpio5 10 0>; /* cs-gpios = <&gpio5 7 0>; */ num-chipselects = <1>; #address-cells = <1>; #size-cells = <0>; -
给网口添加复位引脚，并修改时钟
pinctrl_enet1: enet1grp { fsl,pins = < MX6UL_PAD_ENET1_RX_EN__ENET1_RX_EN 0x1b0b0 MX6UL_PAD_ENET1_RX_ER__ENET1_RX_ER 0x1b0b0 MX6UL_PAD_ENET1_RX_DATA0__ENET1_RDATA00 0x1b0b0 MX6UL_PAD_ENET1_RX_DATA1__ENET1_RDATA01 0x1b0b0 MX6UL_PAD_ENET1_TX_EN__ENET1_TX_EN 0x1b0b0 MX6UL_PAD_ENET1_TX_DATA0__ENET1_TDATA00 0x1b0b0 MX6UL_PAD_ENET1_TX_DATA1__ENET1_TDATA01 0x1b0b0 MX6UL_PAD_ENET1_TX_CLK__ENET1_REF_CLK1 0x4001b009 // 时钟 MX6UL_PAD_SNVS_TAMPER7__GPIO5_IO07 0x10B0 // 复位引脚 >; }; pinctrl_enet2: enet2grp { fsl,pins = < MX6UL_PAD_GPIO1_IO07__ENET2_MDC 0x1b0b0 MX6UL_PAD_GPIO1_IO06__ENET2_MDIO 0x1b0b0 MX6UL_PAD_ENET2_RX_EN__ENET2_RX_EN 0x1b0b0 MX6UL_PAD_ENET2_RX_ER__ENET2_RX_ER 0x1b0b0 MX6UL_PAD_ENET2_RX_DATA0__ENET2_RDATA00 0x1b0b0 MX6UL_PAD_ENET2_RX_DATA1__ENET2_RDATA01 0x1b0b0 MX6UL_PAD_ENET2_TX_EN__ENET2_TX_EN 0x1b0b0 MX6UL_PAD_ENET2_TX_DATA0__ENET2_TDATA00 0x1b0b0 MX6UL_PAD_ENET2_TX_DATA1__ENET2_TDATA01 0x1b0b0 MX6UL_PAD_ENET2_TX_CLK__ENET2_REF_CLK2 0x4001b009 MX6UL_PAD_SNVS_TAMPER8__GPIO5_IO08 0x10B0 >; }; -
修改FEC节点
&fec1 { pinctrl-names = "default"; pinctrl-0 = <&pinctrl_enet1>; phy-mode = "rmii"; phy-handle = <ðphy0>; phy-reset-gpios = <&gpio5 7 GPIO_ACTIVE_LOW>; // 复位引脚 phy-reset-duration = <200>; //复位时间 status = "disable"; }; &fec2 { pinctrl-names = "default"; pinctrl-0 = <&pinctrl_enet2>; phy-mode = "rmii"; phy-handle = <ðphy1>; phy-reset-gpios = <&gpio5 8 GPIO_ACTIVE_LOW>; // 复位引脚 phy-reset-duration = <200>; //复位时间 status = "okay"; mdio { #address-cells = <1>; #size-cells = <0>; ethphy0: ethernet-phy@0 { reg = <0>; smsc,led-mode = <1>; // LAN8720属于SMSC公司 clocks = <&clks IMX6UL_CLK_ENET_REF>; clock-names = "rmii-ref"; }; ethphy1: ethernet-phy@1 { reg = <1>; smsc,led-mode = <1>; clocks = <&clks IMX6UL_CLK_ENET2_REF>; clock-names = "rmii-ref"; }; }; }; -
修改重置函数（与UBoot不同，不过好像不修改也是正常的，记录一下）（！！！未完成！！！）
修改 smsc_phy_reset(…) 函数， 在本文的所用内核中，没做成功，卡在通过路径查找节点，主要思路就是通过phy_device找到是哪个网口，然后通过路径查找节点，在利用节点的参数复位，留待正式学习了再回头看：
// 添加头文件，查找和引脚操作 #include <linux/of_gpio.h> #include <linux/io.h> // // if( phy_dev->addr == 0/1 ) // 旧版 if( phy_dev->mdio.addr == 0/1 ) // 判断是哪个网口 node = of_find_node_by_path("/soc/aips-bus@02000000/ethernet@020b4000") // 通过路径查找节点 of_property_read_u32(node, "phy-reset-duration", &msec); // 读取复位时间 gpio = of_get_named_gpio(np, "phy-reset-gpios", 0); // 获取引脚 if(!gpio_is_valid(gpio)) // 判断引脚是否有效 gpio_direction_output(gpio, 0); // 设置引脚模式 gpio_set_value(gpio, 0); // 设置引脚输出 msleep(msec); // 延时 -
启动
SMSC LAN8710/LAN8720 20b4000.ethernet-1:01: attached PHY driver [SMSC LAN8710/LAN8720] (mii_bus:phy_addr=20b4000.ethernet-1:01, irq=POLL) [ 4.805177] fec 20b4000.ethernet eth0: Link is Up - 100Mbps/Full - flow control rx/tx [ 4.834878] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready [ 4.864452] Sending DHCP requests ., OK [ 5.008421] IP-Config: Got DHCP answer from 192.168.0.1, my address is 192.168.0.109 [ 5.016915] IP-Config: Complete: [ 5.020539] device=eth0, hwaddr=f6:b4:f4:d5:0a:f0, ipaddr=192.168.0.109, mask=255.255.255.0, gw=192.168.0.1 [ 5.030781] host=192.168.0.109, domain=, nis-domain=(none) [ 5.036924] bootserver=0.0.0.0, rootserver=192.168.0.101, rootpath= [ 5.036942] nameserver0=192.168.1.1, nameserver1=192.168.0.1
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