1 概述
参考韦东山视频教程。
写一个最小的BootLoader,从nand flash或nor flash都能够启动内核。参考uboot源码两阶段的启动流程,自己写的uboot各阶段功能应该包括:
1)第一阶段:初始化,包括看门狗、时钟、SDRAM、nand flash等;为第二阶段准备RAM空间。
2)第二阶段:串口初始化,启动内核。
2 第一阶段
文件:start.s
#define S3C2440_MPLL_200MHZ ((0x5c<<12)|(0x01<<4)|(0x02))
#define MEM_CTL_BASE 0x48000000
.text
.global _start
_start:
ldr r0, =0x53000000 //关看门狗
mov r1, #0
str r1, [r0]
ldr r0, =0x4c000014 //
mov r1, #0x03
str r1, [r0]
mrc p15, 0, r1, c1, c0, 0
orr r1, r1, #0xc0000000
mcr p15, 0, r1, c1, c0, 0
ldr r0, =0x4c000004
ldr r1, =S3C2440_MPLL_200MHZ //200MHz
str r1, [r0]
ldr r0, =MEM_CTL_BASE //SDRAM初始化
adr r1, sdram_config
add r3, r0, #(13*4)
1:
ldr r2, [r1], #4
str r2, [r0], #4
cmp r0, r3
bne 1b
ldr sp, =0x34000000
bl nand_init
mov r0, #0
ldr r1, =_start
ldr r2, =__bss_start
sub r2, r2, r1
bl copy_code_to_sdram
bl clear_bss
ldr lr, =halt
ldr pc, =main
halt:
b halt
sdram_config:
.long 0x22011110
.long 0x00000700
.long 0x00000700
.long 0x00000700
.long 0x00000700
.long 0x00000700
.long 0x00000700
.long 0x00018005
.long 0x00018005
.long 0x008C04F4
.long 0x000000B1
.long 0x00000030
.long 0x00000030
文件:init.c
/* NAND FLASH控制器 */
#define NFCONF (*((volatile unsigned long *)0x4E000000))
#define NFCONT (*((volatile unsigned long *)0x4E000004))
#define NFCMMD (*((volatile unsigned char *)0x4E000008))
#define NFADDR (*((volatile unsigned char *)0x4E00000C))
#define NFDATA (*((volatile unsigned char *)0x4E000010))
#define NFSTAT (*((volatile unsigned char *)0x4E000020))
/* GPIO */
#define GPHCON (*(volatile unsigned long *)0x56000070)
#define GPHUP (*(volatile unsigned long *)0x56000078)
/* UART registers*/
#define ULCON0 (*(volatile unsigned long *)0x50000000)
#define UCON0 (*(volatile unsigned long *)0x50000004)
#define UFCON0 (*(volatile unsigned long *)0x50000008)
#define UMCON0 (*(volatile unsigned long *)0x5000000c)
#define UTRSTAT0 (*(volatile unsigned long *)0x50000010)
#define UTXH0 (*(volatile unsigned char *)0x50000020)
#define URXH0 (*(volatile unsigned char *)0x50000024)
#define UBRDIV0 (*(volatile unsigned long *)0x50000028)
#define TXD0READY (1<<2)
void nand_read(unsigned int addr, unsigned char *buf, unsigned int len);
int isBootFromNorFlash(void)
{
volatile int *p = (volatile int *)0;
int val;
val = *p;
*p = 0x12345678;
if (*p == 0x12345678)
{
/* 写成功, 是nand启动 */
*p = val;
return 0;
}
else
{
/* NOR不能像内存一样写 */
return 1;
}
}
void copy_code_to_sdram(unsigned char *src, unsigned char *dest, unsigned int len)
{
int i = 0;
/* 如果是NOR启动 */
if (isBootFromNorFlash())
{
while (i < len)
{
dest[i] = src[i];//从原地址读出一个值给目的地址
i++;
}
}
else
{
//nand_init();
nand_read((unsigned int)src, dest, len);
}
}
void clear_bss(void)
{
extern int __bss_start, __bss_end;
int *p = &__bss_start;
for (; p < &__bss_end; p++)
*p = 0;
}
void nand_init(void)
{
#define TACLS 0
#define TWRPH0 1
#define TWRPH1 0
/* 设置时序 */
NFCONF = (TACLS<<12)|(TWRPH0<<8)|(TWRPH1<<4);
/* 使能NAND Flash控制器, 初始化ECC, 禁止片选 */
NFCONT = (1<<4)|(1<<1)|(1<<0);
}
void nand_select(void)
{
NFCONT &= ~(1<<1);
}
void nand_deselect(void)
{
NFCONT |= (1<<1);
}
void nand_cmd(unsigned char cmd)
{
volatile int i;
NFCMMD = cmd;
for (i = 0; i < 10; i++);
}
void nand_addr(unsigned int addr)
{
unsigned int col = addr % 2048;
unsigned int page = addr / 2048;
volatile int i;
NFADDR = col & 0xff;
for (i = 0; i < 10; i++);
NFADDR = (col >> 8) & 0xff;
for (i = 0; i < 10; i++);
NFADDR = page & 0xff;
for (i = 0; i < 10; i++);
NFADDR = (page >> 8) & 0xff;
for (i = 0; i < 10; i++);
NFADDR = (page >> 16) & 0xff;
for (i = 0; i < 10; i++);
}
void nand_wait_ready(void)
{
while (!(NFSTAT & 1));
}
unsigned char nand_data(void)
{
return NFDATA;
}
void nand_read(unsigned int addr, unsigned char *buf, unsigned int len)
{
int col = addr % 2048;
int i = 0;
/* 1. 选中 */
nand_select();
while (i < len)
{
/* 2. 发出读命令00h */
nand_cmd(0x00);
/* 3. 发出地址(分5步发出) */
nand_addr(addr);
/* 4. 发出读命令30h */
nand_cmd(0x30);
/* 5. 判断状态 */
nand_wait_ready();
/* 6. 读数据 */
for (; (col < 2048) && (i < len); col++)
{
buf[i] = nand_data();
i++;
addr++;
}
col = 0;
}
/* 7. 取消选中 */
nand_deselect();
}
#define PCLK 50000000 // init.c中的clock_init函数设置PCLK为50MHz
#define UART_CLK PCLK // UART0的时钟源设为PCLK
#define UART_BAUD_RATE 115200 // 波特率
#define UART_BRD ((UART_CLK / (UART_BAUD_RATE * 16)) - 1)
/*
* 初始化UART0
* 115200,8N1,无流控
*/
void uart0_init(void)
{
GPHCON |= 0xa0; // GPH2,GPH3用作TXD0,RXD0
GPHUP = 0x0c; // GPH2,GPH3内部上拉
ULCON0 = 0x03; // 8N1(8个数据位,无较验,1个停止位)
UCON0 = 0x05; // 查询方式,UART时钟源为PCLK
UFCON0 = 0x00; // 不使用FIFO
UMCON0 = 0x00; // 不使用流控
UBRDIV0 = UART_BRD; // 波特率为115200
}
/*
* 发送一个字符
*/
void putc(unsigned char c)
{
/* 等待,直到发送缓冲区中的数据已经全部发送出去 */
while (!(UTRSTAT0 & TXD0READY));
/* 向UTXH0寄存器中写入数据,UART即自动将它发送出去 */
UTXH0 = c;
}
void puts(char *str)
{
int i = 0;
while (str[i])
{
putc(str[i]);
i++;
}
}
void puthex(unsigned int val)
{
/* 0x1234abcd */
int i;
int j;
puts("0x");
for (i = 0; i < 8; i++)
{
j = (val >> ((7-i)*4)) & 0xf;
if ((j >= 0) && (j <= 9))
putc('0' + j);
else
putc('A' + j - 0xa);
}
}
链接文件:boot.lds
SECTIONS {
. = 0x33f80000;
.text : { *(.text) }
. = ALIGN(4);
.rodata : {*(.rodata*)}
. = ALIGN(4);
.data : { *(.data) }
. = ALIGN(4);
__bss_start = .;
.bss : { *(.bss) *(COMMON) }
__bss_end = .;
}
说明:
(1)copy_code_to_sdram
C函数,从汇编跳转到C,所以需要设置栈指针,栈向下增长,用两片32位的SDRAM并联组成64位,总大小为64MB,即0x4000000,这里sp直接设置为0x34000000。
ATPCS建议函数的形参不超过4个,如果形参个数少于或等于4,则形参由R0,R1,R2,R3四个寄存器进行传递;若形参个数大于4,大于4的部分必须通过堆栈进行传递。copy_code_to_sdram需要3个参数,通过R0、R1和R2三个寄存器传递。
(2)isBootFromNorFlash
nor flash启动,代码直接在nor flash中运行,因为nor flash不能像内存一样写,所以向0地址写入会失败;从nand flash启动,硬件会自动拷贝nand flash前4K代码到S3C2440内部RAM,并从内部RAM执行,所以此时向0地址写入成功。
(3)复制代码到SDRAM
nor flash启动:可以向内存一样读,直接复制;
nand flash启动:要按照nand flash时序,这里调用nand_read。
复制的长度即__bss_start-_start。
3 第二阶段
文件:boot.c
#include "setup.h"
extern void uart0_init(void);
extern void nand_read(unsigned int addr, unsigned char *buf, unsigned int len);
extern void puts(char *str);
extern void puthex(unsigned int val);
static struct tag *params;
void setup_start_tag(void)
{
params = (struct tag *)0x30000100;
params->hdr.tag = ATAG_CORE;
params->hdr.size = tag_size (tag_core);
params->u.core.flags = 0;
params->u.core.pagesize = 0;
params->u.core.rootdev = 0;
params = tag_next (params);
}
void setup_memory_tags(void)
{
params->hdr.tag = ATAG_MEM;
params->hdr.size = tag_size (tag_mem32);
params->u.mem.start = 0x30000000;
params->u.mem.size = 64*1024*1024;
params = tag_next (params);
}
int strlen(char *str)
{
int i = 0;
while (str[i])
{
i++;
}
return i;
}
void strcpy(char *dest, char *src)
{
while ((*dest++ = *src++) != '\0');
}
void setup_commandline_tag(char *cmdline)
{
int len = strlen(cmdline) + 1;
params->hdr.tag = ATAG_CMDLINE;
params->hdr.size = (sizeof (struct tag_header) + len + 3) >> 2;
strcpy (params->u.cmdline.cmdline, cmdline);
params = tag_next (params);
}
void setup_end_tag(void)
{
params->hdr.tag = ATAG_NONE;
params->hdr.size = 0;
}
int main(void)
{
void (*theKernel)(int zero, int arch, unsigned int params);
volatile unsigned int *p = (volatile unsigned int *)0x30008000;
/* 0. 帮内核设置串口: 内核启动的开始部分会从串口打印一些信息,但是内核一开始没有初始化串口 */
uart0_init();
/* 1. 从NAND FLASH里把内核读入内存 */
puts("Copy kernel from nand\n\r");
nand_read(0x60000+64, (unsigned char *)0x30008000, 0x200000);
puthex(0x1234ABCD);
puts("\n\r");
puthex(*p);
puts("\n\r");
/* 2. 设置参数 */
puts("Set boot params\n\r");
setup_start_tag();
setup_memory_tags();
setup_commandline_tag("noinitrd root=/dev/mtdblock3 init=/linuxrc console=ttySAC0");
setup_end_tag();
/* 3. 跳转执行 */
puts("Boot kernel\n\r");
theKernel = (void (*)(int, int, unsigned int))0x30008000;
theKernel(0, 1999, 0x30000100);
/*
* mov r0, #0
* ldr r1, =362
* ldr r2, =0x30000100
* mov pc, #0x30008000
*/
puts("Error!\n\r");
/* 如果一切正常, 不会执行到这里 */
return -1;
}
说明:
(1)内核
uImage要使用功能完整的uboot首先下载到nand flash中。下载的地址为0x60000。因为uImage包含了64字节的头部和真正的内核,所以直接从0x60000+64读取真正的内核到0x30008000。
(2)传递给内核参数
传参通过struct tag结构体,依次放到指定的地方,这里开始存放的地址为0x30000100。内核通过这些参数,获取启动信息。
4 实验
(1)Error: no such instruction: `ldr r0,=0x53000000’
在Makefile中
%.o:%.S
文件start.s后缀是.s,将Makefile改为.s后又出错
(.text+0xb4):undefined reference to ‘S3C2440_MPLL_200MHZ’
原因:大写的S可以使gcc自动识别汇编程序中的C预处理命令,像#include、#define、#ifdef、 #endif等,也就是说,使用gcc进行编译,你可以在汇编程序中使用C的预处理命令。
统一改为.S后,编译通过。
(2)bad gzip magic numbers
程序中:
nand_read(0x60000+64, (unsigned char *)0x30008000, 0x200000);
原因:读到的内核不完整,所用的uImage大小是2.3MB,改为
nand_read(0x60000+64, (unsigned char *)0x30008000, 0x500000);
正常启动。