树莓派BootLoader

made by Rk

本文由浙江大学《嵌入式系统》课程提供强力支持。

感谢翁恺老师 @翁恺BA5AG

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实验内容：

David Welch的GitHub的 bootloader05给出了一个非常简单的RPi bootloader，他的代码链接在内存的0x00020000位置，一直在监听串口是 否有XMODEM协议的文件下载，如果有就开始接收数据，并复制到0x00008000位置，传输完成后跳转到 0x00008000去执行。
TA写了一个Python脚本，按照下面的命令调用脚本可以下载并执行用户程序


python xmodem-loader.py -p com3 -baud 115200 output.bin
你的任务是修改bootloader和python脚本实现如下功能：


调用命令 python xmodem-loader.py -p com3 -baud 115200 启动脚本并且与板卡建立串口连接，之后可以发送下面的命令。
load *.bin 下载程序*.bin
go 执行已下载的程序
peek addr 以一个字为单位读取内存中addr位置的数据（addr是4字节对齐，十六进行的形式，长度为8，例如 0x00008000），并以十六进制的形式输出
poke addr data 以一个字为单位修改内存中addr位置的数据为data（addr是4字节对齐，十六进行的形式，长 度为8， data也是十六进行的形式，长度为8）
verify *.bin 验证已下载的程序和*.bin是否完全相同。

背景

在国外大神的README中介绍了相关背景：

This repo serves as a collection of low level examples.  No operating
system, embedded or low level embedded or deeply embedded or bare metal,
whatever your term is for this.
介绍了教程来源

I am in no way shape or form associated with the raspberry pi organization
nor broadcom.  I just happen to own one (some) and am sharing my
experiences.  The raspberry pi is about education, and I feel low
level education is just as important as Python programming.
介绍了作者对于树莓派的想法

From what we know so far there is a gpu on chip which:

1) boots off of an on chip rom of some sort
2) reads the sd card and looks for additional gpu specific boot files
bootcode.bin and start.elf in the root dir of the first partition
(fat32 formatted, loader.bin no longer used/required)
3) in the same dir it looks for config.txt which you can do things like
change the arm speed from the default 700MHz, change the address where
to load kernel.img, and many others
4) it reads kernel.img the arm boot binary file and copies it to memory
5) releases reset on the arm such that it runs from the address where
the kernel.img data was written

树莓派通过板上的GPU加载启动信息，

1、读取SD卡第一个分区根目录里面的bootcode二进制文件以及start.elf。

2、在同一个目录下加载系统配置文件，比如配置CPU主频等，然后切换到读取kernel.img的地址。

3、读取kelnel后加载ARM启动二进制文件然后拷贝到内存，发送重置信号，使得树莓派可以从kernel.img的写入数据区开始加载命令继续执行。

The memory is split between the GPU and the ARM, I believe the default
is to split the memory in half.  And there are ways to change that
split (to give the ARM more).  Not going to worry about that here.

内存被分为GPU和ARM使用两部分，目测对半分。

From the ARMs perspective the kernel.img file is loaded, by default,
to address 0x8000.  (there are ways to change that, not going to worry
about that right now).
从ARM的角度来看，kernel镜像从地址0x8000开始加载。

Hardware and programming information:


You will want to go here
http://elinux.org/RPi_Hardware
And get the datasheet for the part
http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
(might be an old link, find the one on the wiki page)
And the schematic for the board
http://www.raspberrypi.org/wp-content/uploads/2012/04/Raspberry-Pi-Schematics-R1.0.pdf
(might be an old link, find the one on the wiki page)


Early in the BCM2835 document you see a memory map.  I am going to
operate based on the middle map, this is how the ARM comes up.  The
left side is the system which we dont have direct access to in that
form, the gpu probably, not the ARM.  The ARM comes up with a memory
space that is basically 0x40000000 bytes in size as it mentions in
the middle chart.  The bottom of this picture shows total system
sdram (memory) and somewhere between zero and the top of ram is a
split between sdram for the ARM on the bottom and a chunk of that
for the VC SDRAM, basically memory for the gpu and memory shared
between the ARM and GPU to allow the ARM to ask the GPU to draw stuff
on the video screen.   256MBytes is 0x10000000, and 512MBytes is
0x20000000.