【嵌入式Linux】U-boot移植

U-boot移植

配置编译

官网下载 //http://www.denx.de/wiki/U-Boot/WebHome -> https://source.denx.de/u-boot/u-boot 
         //->选最新的稳定版本 如v2022.01 	-> 下载得u-boot.v2022.01.tar.bz2
$ tar -xvf  u-boot.v2022.01.tar.bz2 //注意，不能再共享目录解压
$ make 	p3450-0000_defconfig  /*导入官方配置
  见p3450由来，https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-3261/index.html
  的u-boot构建 里面的 命令中的占位符 里面可查到 jetson nano 板子的id号
  p3450-0000  p3450-0000_defconfig配置在configs下可查到，这是英伟达官方已做好的
  
  报错： /bin/sh: 1: bison: not found
  解决：sudo apt-get install bison
  报错： /bin/sh: 1: flex: not found
  解决：sudo apt-get install flex  
 
  */ 
$ make CROSS_COMPILE=aarch64-linux-gnu-  /* 编译时 需指定 交叉编译工具链（不用ARCH=arm指定 cpu体系结构，因前面导入配置里已指定）
 报错：include/image.h:1133:12: fatal error: openssl/evp.h: 没有那个文件或目录
 解决：sudo apt-get install libssl-dev
*/   
  
$ cp u-boot.bin /tftpboot
板子上运行 /*能看到下面信息表示成功
	U-Boot 2022.01 (Feb 25 2022 - 09:59:57 +0800)

	SoC: tegra210
	Model: NVIDIA Jetson Nano Developer Kit
	Board: NVIDIA P3450-0000
	DRAM:  3.5 GiB
	MMC:   sdhci@700b0000: 1, sdhci@700b0600: 0
*/

USB网卡移植

识别设备型号

usb网卡连入虚拟机 
$ lsusb  /*查看usb设备信息（里面有品牌信息）
Bus 004 Device 003: ID 2357:0601 TP-Link USB 10/100/1000 LAN    usb网卡的信息
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 006: ID 0e0f:0002 VMware, Inc. Virtual USB Hub
Bus 003 Device 005: ID 0e0f:0002 VMware, Inc. Virtual USB Hub
Bus 003 Device 003: ID 0e0f:0002 VMware, Inc. Virtual USB Hub
Bus 003 Device 004: ID 0e0f:0003 VMware, Inc. Virtual Mouse
Bus 003 Device 002: ID 0e0f:0002 VMware, Inc. Virtual USB Hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 002: ID 0e0f:0002 VMware, Inc. Virtual USB Hub
Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub

*/
$ lsusb -t /*查看usb 设备的树壮信息，里面有驱动信息
/:  Bus 04.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/4p, 5000M
    |__ Port 1: Dev 3, If 0, Class=Vendor Specific Class, Driver=r8152, 5000M   usb网卡的驱动是 r8152
/:  Bus 03.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/4p, 480M
    |__ Port 1: Dev 2, If 0, Class=Hub, Driver=hub/7p, 12M
        |__ Port 1: Dev 4, If 0, Class=Human Interface Device, Driver=usbhid, 12M
    |__ Port 2: Dev 3, If 0, Class=Hub, Driver=hub/7p, 480M
    |__ Port 3: Dev 5, If 0, Class=Hub, Driver=hub/7p, 12M
    |__ Port 4: Dev 6, If 0, Class=Hub, Driver=hub/7p, 480M
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
    |__ Port 2: Dev 2, If 0, Class=Hub, Driver=hub/7p, 12M
/:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=ehci-pci/6p, 480M
 */
$ lsmod  /*查看驱动模块是否安装
Module                  Size  Used by
cdc_ether              20480  0
usbnet                 49152  1 cdc_ether
r8152                 110592  0
mii                    20480  2 usbnet,r8152   驱动模块
vsock_loopback         16384  0

*/ 
$ lspci /*查看pci设备信息（网卡一般走PCI总线）
<pre>00:00.0 Host bridge: Intel Corporation 440BX/ZX/DX - 82443BX/ZX/DX Host bridge (rev 01)
00:01.0 PCI bridge: Intel Corporation 440BX/ZX/DX - 82443BX/ZX/DX AGP bridge (rev 01)
00:07.0 ISA bridge: Intel Corporation 82371AB/EB/MB PIIX4 ISA (rev 08)
00:07.1 IDE interface: Intel Corporation 82371AB/EB/MB PIIX4 IDE (rev 01)
00:07.3 Bridge: Intel Corporation 82371AB/EB/MB PIIX4 ACPI (rev 08)
00:07.7 System peripheral: VMware Virtual Machine Communication Interface (rev 10)
00:0f.0 VGA compatible controller: VMware SVGA II Adapter
00:10.0 SCSI storage controller: Broadcom / LSI 53c1030 PCI-X Fusion-MPT Dual Ultra320 SCSI (rev 01)
00:11.0 PCI bridge: VMware PCI bridge (rev 02)
00:15.0 PCI bridge: VMware PCI Express Root Port (rev 01)
00:15.1 PCI bridge: VMware PCI Express Root Port (rev 01)
...D
00:18.7 PCI bridge: VMware PCI Express Root Port (rev 01)
02:00.0 USB controller: VMware USB1.1 UHCI Controller
02:01.0 Ethernet controller: Intel Corporation 82545EM Gigabit Ethernet Controller (Copper) (rev 01)
02:02.0 Multimedia audio controller: Ensoniq ES1371/ES1373 / Creative Labs CT2518 (rev 02)
02:03.0 USB controller: VMware USB2 EHCI Controller
02:05.0 SATA controller: VMware SATA AHCI controller
02:06.0 Ethernet controller: Intel Corporation 82545EM Gigabit Ethernet Controller (Copper) (rev 01)
03:00.0 USB controller: VMware USB3 xHCI 1.0 Controller
</pre>
 */

OK示例参考(有线网卡)

1.运行测试

# pci enum;pci /*激活 并扫描pci总线(网卡一般走PCI总线)
电路图 从网卡 GBE_MDI0_P GBE_MDI0_N 配对 对应的是PCI总线的差分信号，-> 有线网卡是接PCI的，需激活pci，网卡才生效

Scanning PCI devices on bus 0
BusDevFun  VendorId   DeviceId   Device Class       Sub-Class
_____________________________________________________________
00.01.00   0x10de     0x0fae     Bridge device           0x04
00.02.00   0x10de     0x0faf     Bridge device           0x04
 */
# ping 192.168.9.119 /*能正常ping通 
 Using eth_rtl8169 device
 host 192.168.9.119 is alive
 */

2.配置

$ make menuconfig  
  //配置命令支持
  Command line interface
      Device access commands
    		 [*] pci - Access PCI devices

  Device Drivers
    //配置驱动支持     
    [*] Network device support 
			[*]   Realtek 8169 series Ethernet controller driver   
	  //配置PCI总线支持	
		[*] PCI support 
			[*]   Tegra PCI support	  

3.配置的补充取消pci命令

4.源码

{//cmd/pci.c   命令
#if defined(CONFIG_DM_PCI)
    "pci enum\n"
    "    - Enumerate PCI buses\n"
#endif
	
U_BOOT_CMD(
    pci,    5,  1,  do_pci,
    "list and access PCI Configuration Space", pci_help_text
);
	
}

{//cmd/Makefile
ifdef CONFIG_PCI                             
obj-$(CONFIG_CMD_PCI) += pci.o 
endif 	
}

{//cmd/Kconfig
config CMD_PCI                               
    bool "pci - Access PCI devices"          
    help 	
}

{//drivers/net/rtl8169.c	驱动
ifdef CONFIG_DM_ETH
static int rtl8169_eth_probe(struct udevice *dev)
{
    struct pci_child_platdata *pplat = dev_get_parent_platdata(dev);
    struct rtl8169_private *priv = dev_get_priv(dev);
    struct eth_pdata *plat = dev_get_platdata(dev);
    u32 iobase;
    int region;
    int ret;

    debug("rtl8169: REALTEK RTL8169 @0x%x\n", iobase);
    switch (pplat->device) {
    case 0x8168:
        region = 2;
        break;
   dm_pci_read_config32(dev, PCI_BASE_ADDRESS_0 + region * 4, &iobase); //PCI
    iobase &= ~0xf;
    priv->iobase = (int)dm_pci_mem_to_phys(dev, iobase);

    ret = rtl_init(priv->iobase, dev->name, plat->enetaddr);
    if (ret < 0) {
        printf(pr_fmt("failed to initialize card: %d\n"), ret);
        return ret;
    }
}
}

static const struct udevice_id rtl8169_eth_ids[] = {
    { .compatible = "realtek,rtl8169" },
    { }
};

U_BOOT_DRIVER(eth_rtl8169) = {
    .name   = "eth_rtl8169",
    .id = UCLASS_ETH,
    .of_match = rtl8169_eth_ids,
    .probe  = rtl8169_eth_probe,
    .ops    = &rtl8169_eth_ops,
    .priv_auto_alloc_size = sizeof(struct rtl8169_private),
    .platdata_auto_alloc_size = sizeof(struct eth_pdata),
};

U_BOOT_PCI_DEVICE(eth_rtl8169, supported);  //网卡是走PCI总线
}

{//drivers/net/Makefile
obj-$(CONFIG_RTL8169) += rtl8169.o
}

{//drivers/net/Kconfig
config RTL8169                               
    bool "Realtek 8169 series Ethernet controler driver"	
}

5.电路图芯片手册

//----2.3板子电路图Jetson_Nano_Carrier_Board_OrCAD_Schematics.pdf
Gigabit Ethernet with PoE -> GBE_MDI0_P	 
//----2.2板子芯片手册JetsonNano_DataSheet_DS09366001v1.0.pdf
4.2 PCI Express (PCIe)
PCIE_WAKE //唤醒  
PCIE0_CLK_N  PCIE0_CLK_P  //差分信号的参考时钟	
PCIE0_CLKREQ  //时钟请求
PCIE0_RST     //复位
//lane 0通道： 两对 收发 差分信号： 振幅相同，相位相反 -> 抗干扰
PCIE0_RX0_P   //接收端 正极差分信号
PCIE0_RX0_N   //接收端 负极差分信号

PCIE0_TX0_P   //发送端 正极差分信号
PCIE0_TX0_N   //发送端 负极差分信号
//lane 1通道：
//lane 2通道：
//lane 3通道：

//----3.1CPU芯片手册Tegra_X1_TRM_DP07225001_v1.3p.pdf
CHAPTER 34: PCI EXPRESS (PCIe) CONTROLLER

思考

老版本u-boot里没有8169，如何才能移植使它支持呢
当前u-boot里没有8169，最新的u-boot里才有，如何移植呢

移植USB命令

1.运行测试

//检测usb命令有没
板子上插入usb网卡
# usb  /* usb命令使用说明
usb - USB sub-system

Usage:
usb start - start (scan) USB controller
usb reset - reset (rescan) USB controller
usb stop [f] - stop USB [f]=force stop
usb tree - show USB device tree
usb info [dev] - show available USB devices
usb test [dev] [port] [mode] - set USB 2.0 test mode
    (specify port 0 to indicate the device's upstream port)
    Available modes: J, K, S[E0_NAK], P[acket], F[orce_Enable]
usb storage - show details of USB storage devices
usb dev [dev] - show or set current USB storage device
usb part [dev] - print partition table of one or all USB storage    devices
usb read addr blk# cnt - read `cnt' blocks starting at block `blk#'
    to memory address `addr'
usb write addr blk# cnt - write `cnt' blocks starting at block `blk#'
    from memory address `addr'
*/
# usb start /* 启动（扫描）usb控制器
starting USB...
Bus usb@7d000000: tegrausb: Invalid dr_mode 2 for host mode
probe failed, error -1
Bus xusb@70090000:
Firmware size 126464
Firmware timestamp: 0x5f23e558, Version: 50.26 release

Register HCSParams1: 9000124 NbrPorts: 9
Starting the controller
USB XHCI 1.00
scanning bus xusb@70090000 for devices... 5 USB Device(s) found
       scanning usb for storage devices... 0 Storage Device(s) found

 */ 
# usb tree /* 查看usb的设备树

USB device tree:
  1  Hub (5 Gb/s, 0mA)
  |  U-Boot XHCI Host Controller
  |
  +-2  Hub (480 Mb/s, 0mA)
  | |  Generic 4-Port USB 2.1 Hub
  | |
  | +-4  Hub (480 Mb/s, 100mA)
  |   |   USB 2.0 Hub
  |   |
  |   +-5  Vendor specific (480 Mb/s, 100mA)
  |        Realtek USB 10/100 LAN 00E04C3603EA   usb网卡 是Realtek的
  |
  +-3   (12 Mb/s, 100mA)

*/ 
# usb infor /*查看usb的设备 的信息
5: Vendor specific,  USB Revision 2.10
 - Realtek USB 10/100 LAN 00E04C3603EA
 - Class: (from Interface) Vendor specific
 - PacketSize: 64  Configurations: 2
 - Vendor: 0x0bda  Product 0x8152 Version 32.0       网卡芯片型号   8152
   Configuration: 1
   - Interfaces: 1 Bus Powered Remote Wakeup 100mA
     Interface: 0
     - Alternate Setting 0, Endpoints: 3
     - Class Vendor specific
     - Endpoint 1 In Bulk MaxPacket 512
     - Endpoint 2 Out Bulk MaxPacket 512
     - Endpoint 3 In Interrupt MaxPacket 2 Interval 8ms

*/
  //注意：如果usb命令没有，或一些信息不对，需配置u-boot usb相关配置选项

2.配置

$ make menuconfig  
  //配置命令支持
  Command line interface
      Device access commands
    		 [*] usb

3.源码

{//cmd/Kconfig
config CMD_USB
    bool "usb"
    select HAVE_BLOCK_DEVICE
    help 
      USB support.	
}

{//cmd/Makefile
obj-$(CONFIG_CMD_USB) += usb.o disk.o	
}
	
{//cmd/usb.c  usb命令（u-boot里大部分功能触发，通过命令）
U_BOOT_CMD(
    usb,    5,  1,  do_usb,
    "USB sub-system",
    "start - start (scan) USB controller\n"
    "usb reset - reset (rescan) USB controller\n"
    "usb stop [f] - stop USB [f]=force stop\n"
    "usb tree - show USB device tree\n"
    "usb info [dev] - show available USB devices\n"
    "usb test [dev] [port] [mode] - set USB 2.0 test mode\n"
    "    (specify port 0 to indicate the device's upstream port)\n"
    "    Available modes: J, K, S[E0_NAK], P[acket], F[orce_Enable]\n"
#ifdef CONFIG_USB_STORAGE
    "usb storage - show details of USB storage devices\n"
    "usb dev [dev] - show or set current USB storage device\n"
    "usb part [dev] - print partition table of one or all USB storage"
    "    devices\n"
    "usb read addr blk# cnt - read `cnt' blocks starting at block `blk#'\n"
    "    to memory address `addr'\n"
    "usb write addr blk# cnt - write `cnt' blocks starting at block `blk#'\n"
    "    from memory address `addr'"
#endif /* CONFIG_USB_STORAGE */
);	
}

移植网卡驱动

$ make menuconfig  
  Device Drivers 
    USB support
      //配置总线支持
      [*]   Enable driver model for USB
      [*]   xHCI HCD (USB 3.0) support
      [*]     Support for NVIDIA Tegra T210 on-chip XHCI USB controller 
      [*]   EHCI HCD (USB 2.0) support
      [*]     Support for NVIDIA Tegra on-chip EHCI USB controller 
      //配置驱动支持
      USB to Ethernet Controller Drivers
        [*]   Realtek RTL8152B/RTL8153 support   
       
$ make
$ cp u-boo.bin  /tftpboot

1.运行测试

# setenv bootcmd pci enum \;  pci \; tftp u-boot.bin //内存中测试u-boot
# reset
# goraw 0x84000000
# usb start 启动（扫描）usb控制器
把网线从网口拔出，插入到usb网卡
# ping 192.168.9.119   //测试网络
 Using r8152_eth device  //发现该信息表示8152驱动有加载（用自带的网卡时打印信息是 
 host 192.168.9.119 is alive //表示网卡成功启动
# tftp u-boot.bin //发现用该网卡，能成功下载。移植成功

//注意切换回原网卡时，需切换pci总线	
# usb stop //关闭usb网卡
# pci enum;pci 
# ping 192.168.9.119  //发现失败，不能切换到原网卡，原因不明

2.源码

//drivers/usb/eth/r8152.c

3.电路图芯片手册

//----2.3板子电路图Jetson_Nano_Carrier_Board_OrCAD_Schematics.pdf

//----2.2板子芯片手册JetsonNano_DataSheet_DS09366001v1.0.pdf

//----3.1CPU芯片手册Tegra_X1_TRM_DP07225001_v1.3p.pdf
CHAPTER 22: USB COMPLEX
框图 //Figure 51: Tegra X1 USB Controllers and Interfaces

4.挑战:尝试

看能否两个网卡同时工作，或可切换工作

U盘启动

启动盘优先顺序

启动盘优先顺序 //SD卡 -> 内部eMMC ->USB 设备(或 NVMe 设备)  -> 通过 DHCP/PXE 的 NFS 网络	
# run distro_bootcmd  //按启动盘优先顺序 选择启动
# setenv bootcmd run distro_bootcmd //设置自启动命令，为按启动盘优先顺序 选择启动
# saveenv

UBOOT环境变量

arch=arm
baudrate=115200
board=p3450-0000
board_name=p3450-0000
boot_a_script=load ${devtype} ${devnum}:${distro_bootpart} ${scriptaddr} ${prefix}${script}; source ${scriptaddr}
boot_dcache_off=dcache off
boot_efi_binary=if fdt addr ${fdt_addr_r}; then bootefi bootmgr ${fdt_addr_r};else bootefi bootmgr ${fdtcontroladdr};fi;load ${devtype} ${devnum}:${distro_bootpart} ${kernel_addr_r} efi/boot/bootaa64.efi; if fdt addr ${fdt_addr_r}; then bootefi ${kernel_addr_r} ${fdt_addr_r};else bootefi ${kernel_addr_r} ${fdtcontroladdr};fi
boot_extlinux=sysboot ${devtype} ${devnum}:${distro_bootpart} any ${scriptaddr} ${prefix}${boot_syslinux_conf}
boot_net_usb_start=usb start
boot_pci_enum=pci enum  //扫描激活pci总线
boot_prefixes=/ /boot/
boot_script_dhcp=boot.scr.uimg
boot_scripts=boot.scr.uimg boot.scr
boot_syslinux_conf=extlinux/extlinux.conf
boot_targets=mmc1 mmc0 usb0 nvme0 pxe dhcp //启动顺序：SD卡(mmc1) -> 内部eMMC(mmc0) -> USB 设备(usb0) -> 通过 DHCP的 NFS 网络	
            //NVMe 设备（仅限 Jetson TX2 系列才有）
bootcmd=run distro_bootcmd
bootcmd_dhcp=run boot_net_usb_start; run boot_pci_enum; if dhcp ${scriptaddr} ${boot_script_dhcp}; then source ${scriptaddr}; fi;setenv efi_fdtfile ${fdtfile}; setenv efi_old_vci ${bootp_vci};setenv efi_old_arch ${bootp_arch};setenv bootp_vci PXEClient:Arch:00011:UNDI:003000;setenv bootp_arch 0xb;if dhcp ${kernel_addr_r}; then tftpboot ${fdt_addr_r} dtb/${efi_fdtfile};if fdt addr ${fdt_addr_r}; then bootefi ${kernel_addr_r} ${fdt_addr_r}; else bootefi ${kernel_addr_r} ${fdtcontroladdr};fi;fi;setenv bootp_vci ${efi_old_vci};setenv bootp_arch ${efi_old_arch};setenv efi_fdtfile;setenv efi_old_arch;setenv efi_old_vci;
bootcmd_mmc0=devnum=0; run mmc_boot
bootcmd_mmc1=devnum=1; run mmc_boot
bootcmd_nvme0=devnum=0; run nvme_boot
bootcmd_pxe=run boot_net_usb_start; run boot_pci_enum; dhcp; if pxe get; then pxe boot; fi
bootcmd_usb0=devnum=0; run usb_boot
bootdelay=2
cbootargs=tegraid=21.1.2.0.0 ddr_die=4096M@2048M section=512M memtype=0 vpr_resize usb_port_owner_info=0 lane_owner_info=0 emc_max_dvfs=0 touch_id=0@63 video=tegrafb no_console_suspend=1 console=ttyS0,115200n8 debug_uartport=lsport,4 earlyprintk=uart8250-32bit,0x70006000 maxcpus=4 usbcore.old_scheme_first=1 lp0_vec=0x1000@0xff780000 core_edp_mv=1075 core_edp_ma=4000 gpt  earlycon=uart8250,mmio32,0x70006000  root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyS0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0
cpu=armv8
distro_bootcmd=setenv nvme_need_init; for target in ${boot_targets}; do run bootcmd_${target}; done
     //按boot_targets，顺序选择启动设备。
efi_dtb_prefixes=/ /dtb/ /dtb/current/
ethact=eth_rtl8169
ethaddr=48:b0:2d:51:f9:45
fdt_addr=83100000
fdt_addr_r=0x83000000
fdt_copy_node_paths=/chosen/plugin-manager:/chosen/reset:/chosen/display-board:/chosen/proc-board:/chosen/pmu-board:/external-memory-controller@7001b000:/memory@80000000
fdt_copy_prop_paths=/bpmp/carveout-start:/bpmp/carveout-size:/chosen/eks_info:/chosen/nvidia,bluetooth-mac:/chosen/nvidia,ethernet-mac:/chosen/nvidia,wifi-mac:/chosen/uuid:/chosen/linux,initrd-start:/chosen/linux,initrd-end:/serial-number:/psci/nvidia,system-lp0-disable
fdt_copy_src_addr=83100000
fdt_high=ffffffffffffffff
fdtcontroladdr=fc5fa380
fdtoverlay_addr_r=0x90200000
fileaddr=84000000
filesize=a6d84
initrd_high=ffffffffffffffff
ipaddr=192.168.9.9
kernel_addr_r=0x84000000
load_efi_dtb=load ${devtype} ${devnum}:${distro_bootpart} ${fdt_addr_r} ${prefix}${efi_fdtfile}
loadaddr=0x84000000
//从flash启动
mmc_boot=if mmc dev ${devnum}; then devtype=mmc; run scan_dev_for_boot_part; fi
nvme_boot=run boot_pci_enum; run boot_dcache_off; run nvme_init; if nvme dev ${devnum}; then devtype=nvme; run scan_dev_for_boot_part; fi
nvme_init=if ${nvme_need_init}; then setenv nvme_need_init false; nvme scan; fi
preboot=if test -e mmc 1:1 /u-boot-preboot.scr; then load mmc 1:1 ${scriptaddr} /u-boot-preboot.scr; source ${scriptaddr}; fi
pxefile_addr_r=0x90100000
ramdisk_addr_r=0x83200000
scan_dev_for_boot=echo Scanning ${devtype} ${devnum}:${distro_bootpart}...; for prefix in ${boot_prefixes}; do run scan_dev_for_extlinux; run scan_dev_for_scripts; done;run scan_dev_for_efi;
scan_dev_for_boot_part=part list ${devtype} ${devnum} -bootable devplist; env exists devplist || setenv devplist 1; for distro_bootpart in ${devplist}; do if fstype ${devtype} ${devnum}:${distro_bootpart} bootfstype; then run scan_dev_for_boot; fi; done; setenv devplist
scan_dev_for_efi=setenv efi_fdtfile ${fdtfile}; for prefix in ${efi_dtb_prefixes}; do if test -e ${devtype} ${devnum}:${distro_bootpart} ${prefix}${efi_fdtfile}; then run load_efi_dtb; fi;done;if test -e ${devtype} ${devnum}:${distro_bootpart} efi/boot/bootaa64.efi; then echo Found EFI removable media binary efi/boot/bootaa64.efi; run boot_efi_binary; echo EFI LOAD FAILED: continuing...; fi; setenv efi_fdtfile
scan_dev_for_extlinux=if test -e ${devtype} ${devnum}:${distro_bootpart} ${prefix}${boot_syslinux_conf}; then echo Found ${prefix}${boot_syslinux_conf}; run boot_extlinux; echo SCRIPT FAILED: continuing...; fi
scan_dev_for_scripts=for script in ${boot_scripts}; do if test -e ${devtype} ${devnum}:${distro_bootpart} ${prefix}${script}; then echo Found U-Boot script ${prefix}${script}; run boot_a_script; echo SCRIPT FAILED: continuing...; fi; done
scriptaddr=0x90000000
serverip=192.168.9.119
soc=tegra210
stderr=serial
stdin=serial
stdout=serial
//从usb启动
usb_boot=run boot_pci_enum; usb start; if usb dev ${devnum}; then devtype=usb; run scan_dev_for_boot_part; fi
vendor=nvidia
xusb_fw_addr=92ca828c

Environment size: 5340/8188 bytes

加载内核启动

1.传统加载内核方式

2.从应用层加载内核

把内核放到文件系统中  /boot/Image //在应用层 ，可像普通文件一样更新内核

*3.实现原理

extlinux启动 //从文件系统中加载内核启动
     //u-boot -> 从sd卡加载 初始小文件系统(ramdisk) ->  再从该文件系统里加载 kernel. 和挂载rootfs 
             
extlinux.conf /*启动配置文件 
注意：u-boot 通过 /boot/extlinux/extlinux.conf 里指定加载的内核，和挂载根文件系统的位置

LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image      //指定启动的内核名
      INITRD /boot/initrd    //指定初始ramdisk（u-boot加载内核用） 
      APPEND ${cbootargs} rootfstype=ext4 root=/dev/mmcblk0p1 rw rootwait //指定文件系统 
      

root=/dev/mmcblk0p1 指定要挂载的根文件系统的位置 是sd卡的第一个分区
mmcblk 指“ flash/sd块设备”，0 是设备的顺序编号，p1 就是第一个分区。  
sda 是硬盘的命名规则，很多U盘 硬件 ext2格式的文件系统都是按这个去分区
sda表示第一块硬盘 sda1表示第一个分区， sdb表示第二块硬盘      
      
*/

为何需要 extlinux /*目的是能把内核镜像，放在文件系统中，u-boot可以读取，
替换方便，可远程登录板子，可像普通文件一样替换内核即可

传统方式，是u-boot 是加载内核后，才能看到文件系统， 
如要更改，要用脚本刷分区才行。
如 sudo ./flash.sh -k LNX jetson-nano-qspi-sd mmcblk0p1
 */

虚拟机里：更改U盘分区信息

把sd卡通过读卡器，接入虚拟机里。
$ cd /media/yhai/b1c100cd-cc74-4e7f-acb8-f0d34c931ee8/  //接入虚拟机后自动识别的目录
yhai@yhai:~$ sudo parted /dev/sdc /*查看分区表
编号  起始点  结束点  大小    文件系统  名称     标志
 2    1049kB  1180kB  131kB             TBC
 3    2097kB  2556kB  459kB             RP1
 4    3146kB  3736kB  590kB             EBT
 5    4194kB  4260kB  65.5kB            WB0
 6    5243kB  5439kB  197kB             BPF
 7    6291kB  6685kB  393kB             BPF-DTB
 8    7340kB  7406kB  65.5kB            FX
 9    8389kB  8847kB  459kB             TOS
10    9437kB  9896kB  459kB             DTB //设备树
11    10.5MB  11.3MB  786kB             LNX //u-boot
12    11.5MB  11.6MB  65.5kB            EKS
13    12.6MB  12.8MB  197kB             BMP
14    13.6MB  13.8MB  131kB             RP4
 1    14.7MB  128GB   128GB   ext4      APP  //存放 rootfs（app的存储场所）
*/
	
$ sudo boot/extlinux/extlinux.conf /*更改启动分区
   把 root=/dev/mmcblk0p1
   改为 root=/dev/sda1      
   mmcblk 指“ flash/sd块设备”，0 是设备的顺序编号，p1 就是第一个分区。  
   sda 是硬盘的命名规则，很多U盘 硬件 ext2格式的文件系统都是按这个去分区
   sda表示第一块硬盘 sda1表示第一个分区， sdb表示第二块硬盘
 */

板子上:设置从U盘启动

插入到板子USB 
# run usb_boot  //从u盘启动
# setenv bootcmd run usb_boot //设置自动启动从u盘启动
# saveenv 
# reset  //复位后 发现能成功从U盘启动了