机器感知
一个专注于SLAM、机器视觉、Linux 等相关技术文章分享的公众号
这里以smdk2410为例
首先根据链接脚本u-boot.lds来确定代码开始的地方
OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
OUTPUT_ARCH(arm)
ENTRY(_start)
SECTIONS
{
. = 0x00000000;
. = ALIGN(4);
.text :
{
*(.__image_copy_start)
*(.vectors)
CPUDIR/start.o (.text*)
*(.text*)
}
CPUDIR/start.o (.text*)
*(.text*)
}
因此定位到arch/arm/cpu/arm920t/start.S
/*
*************************************************************************
*
* Startup Code (called from the ARM reset exception vector)
*
* do important init only if we don't start from memory!
* relocate armboot to ram
* setup stack
* jump to second stage
*
*************************************************************************
*/
.globl reset
reset:
/*
* 设置cpu为svc32模式
*/
mrs r0, cpsr
bic r0, r0, #0x1f
orr r0, r0, #0xd3
msr cpsr, r0
#if defined(CONFIG_AT91RM9200DK) || defined(CONFIG_AT91RM9200EK)
/*
* 显然这个宏控制的代码在此处不会被执行,忽略
*/
ldr r0, =_start
ldr r1, =0x0
mov r2, #16
copyex:
subs r2, r2, #1
ldr r3, [r0], #4
str r3, [r1], #4
bne copyex
#endif
#ifdef CONFIG_S3C24X0
/* 关看门狗 */
# if defined(CONFIG_S3C2400)
# define pWTCON 0x15300000
# define INTMSK 0x14400008 /* Interrupt-Controller base addresses */
# define CLKDIVN 0x14800014 /* clock divisor register */
#else
# define pWTCON 0x53000000
# define INTMSK 0x4A000008 /* Interrupt-Controller base addresses */
# define INTSUBMSK 0x4A00001C
# define CLKDIVN 0x4C000014 /* clock divisor register */
# endif
ldr r0, =pWTCON
mov r1, #0x0
str r1, [r0]
/*
* 屏蔽所有中断
*/
mov r1, #0xffffffff
ldr r0, =INTMSK
str r1, [r0]
# if defined(CONFIG_S3C2410)
ldr r1, =0x3ff
ldr r0, =INTSUBMSK
str r1, [r0]
# endif
/* 设置时钟 */
/* default FCLK is 120 MHz ! */
ldr r0, =CLKDIVN
mov r1, #3
str r1, [r0]
#endif /* CONFIG_S3C24X0 */
/*
* we do sys-critical inits only at reboot,
* not when booting from ram!
*/
#ifndef CONFIG_SKIP_LOWLEVEL_INIT
bl cpu_init_crit
#endif
bl _main
/*------------------------------------------------------------------------------*/
.globl c_runtime_cpu_setup
c_runtime_cpu_setup:
mov pc, lr
/*
*************************************************************************
*
* CPU_init_critical registers
*
* setup important registers
* setup memory timing
*
*************************************************************************
*/
#ifndef CONFIG_SKIP_LOWLEVEL_INIT
cpu_init_crit:
/*
* 清空I/D cache
*/
mov r0, #0
mcr p15, 0, r0, c7, c7, 0 /* flush v3/v4 cache */
mcr p15, 0, r0, c8, c7, 0 /* flush v4 TLB */
/*
* 关闭MMU
*/
mrc p15, 0, r0, c1, c0, 0
bic r0, r0, #0x00002300 @ clear bits 13, 9:8 (--V- --RS)
bic r0, r0, #0x00000087 @ clear bits 7, 2:0 (B--- -CAM)
orr r0, r0, #0x00000002 @ set bit 2 (A) Align
orr r0, r0, #0x00001000 @ set bit 12 (I) I-Cache
mcr p15, 0, r0, c1, c0, 0
/*
* 重定位之前先初始化SDRAM
* 由于SDRAM时序跟具体的板子有关,
* 所以需要一个在板级目录中的板级文件lowlevel_init.S.
*/
mov ip, lr
bl lowlevel_init
mov lr, ip
mov pc, lr
#endif /* CONFIG_SKIP_LOWLEVEL_INIT */
mrs r0, cpsr
bic r0, r0, #0x1f
orr r0, r0, #0xd3
msr cpsr, r0
#if defined(CONFIG_AT91RM9200DK) || defined(CONFIG_AT91RM9200EK)
/*
* 显然这个宏控制的代码在此处不会被执行,忽略
*/
ldr r0, =_start
ldr r1, =0x0
mov r2, #16
copyex:
subs r2, r2, #1
ldr r3, [r0], #4
str r3, [r1], #4
bne copyex
#endif
#ifdef CONFIG_S3C24X0
/* 关看门狗 */
# if defined(CONFIG_S3C2400)
# define pWTCON 0x15300000
# define INTMSK 0x14400008 /* Interrupt-Controller base addresses */
# define CLKDIVN 0x14800014 /* clock divisor register */
#else
# define pWTCON 0x53000000
# define INTMSK 0x4A000008 /* Interrupt-Controller base addresses */
# define INTSUBMSK 0x4A00001C
# define CLKDIVN 0x4C000014 /* clock divisor register */
# endif
ldr r0, =pWTCON
mov r1, #0x0
str r1, [r0]
/*
* 屏蔽所有中断
*/
mov r1, #0xffffffff
ldr r0, =INTMSK
str r1, [r0]
# if defined(CONFIG_S3C2410)
ldr r1, =0x3ff
ldr r0, =INTSUBMSK
str r1, [r0]
# endif
/* 设置时钟 */
/* default FCLK is 120 MHz ! */
ldr r0, =CLKDIVN
mov r1, #3
str r1, [r0]
#endif /* CONFIG_S3C24X0 */
/*
* we do sys-critical inits only at reboot,
* not when booting from ram!
*/
#ifndef CONFIG_SKIP_LOWLEVEL_INIT
bl cpu_init_crit
#endif
bl _main
/*------------------------------------------------------------------------------*/
.globl c_runtime_cpu_setup
c_runtime_cpu_setup:
mov pc, lr
/*
*************************************************************************
*
* CPU_init_critical registers
*
* setup important registers
* setup memory timing
*
*************************************************************************
*/
#ifndef CONFIG_SKIP_LOWLEVEL_INIT
cpu_init_crit:
/*
* 清空I/D cache
*/
mov r0, #0
mcr p15, 0, r0, c7, c7, 0 /* flush v3/v4 cache */
mcr p15, 0, r0, c8, c7, 0 /* flush v4 TLB */
/*
* 关闭MMU
*/
mrc p15, 0, r0, c1, c0, 0
bic r0, r0, #0x00002300 @ clear bits 13, 9:8 (--V- --RS)
bic r0, r0, #0x00000087 @ clear bits 7, 2:0 (B--- -CAM)
orr r0, r0, #0x00000002 @ set bit 2 (A) Align
orr r0, r0, #0x00001000 @ set bit 12 (I) I-Cache
mcr p15, 0, r0, c1, c0, 0
/*
* 重定位之前先初始化SDRAM
* 由于SDRAM时序跟具体的板子有关,
* 所以需要一个在板级目录中的板级文件lowlevel_init.S.
*/
mov ip, lr
bl lowlevel_init
mov lr, ip
mov pc, lr
#endif /* CONFIG_SKIP_LOWLEVEL_INIT */