arm64/imx9: provide EL3 bootloader support for iMX9
This provides a capable bootloader that may be run from OCRAM. The OCRAM contains regions that are always zero, so the linker file avoids those with best effort. iMX9 infrastructure expects: - 0x20480000 (Start of OCRAM, AHAB) - 0x2049a000 (NuttX or SPL) - 0x204e0000 (ARM Trustzone, not used) When started from SD-card, the offsets are: - 0x1f000 with AHAB - 0xa000 without AHAB Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
This commit is contained in:
Eero Nurkkala
Xiang Xiao
parent
1c308296a1
commit
1d3ce6b527
@ -16,7 +16,7 @@ config ARCH_CHIP_IMX93
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select ARCH_HAVE_MULTICPU
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select ARMV8A_HAVE_GICv3
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select ARCH_CORTEX_A55
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select ARCH_HAVE_PSCI
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select ARCH_HAVE_PSCI if !ARCH_BOOT_EL3
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select ARCH_HAVE_PWM_MULTICHAN
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select ARCH_HAVE_RESET
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@ -47,6 +47,22 @@ config IMX9_FLEXIO_PWM
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select PWM_MULTICHAN
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default n
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config IMX9_BOOTLOADER
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bool "Bootloader"
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select ARM64_DECODEFIQ
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default n
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---help---
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Configure NuttX as the bootloader. NuttX will be compiled
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into OCRAM. It will run in EL3 secure state.
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config BOOTLOADER_SYS_CLOCK
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int "Bootloader system clock for timer"
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default 1700000000
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depends on IMX9_BOOTLOADER
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---help---
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If the sysclk is set to a certain value, this should be it.
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The value is used by the timer interrupt infrastructure.
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menu "i.MX9 Peripheral Selection"
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config IMX9_EDMA
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@ -50,13 +50,13 @@
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static const struct arm_mmu_region g_mmu_regions[] =
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{
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MMU_REGION_FLAT_ENTRY("DEVICE_REGION",
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CONFIG_DEVICEIO_BASEADDR, CONFIG_DEVICEIO_SIZE,
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MT_DEVICE_NGNRNE | MT_RW | MT_SECURE),
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MMU_REGION_FLAT_ENTRY("DEVICE_REGION",
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CONFIG_DEVICEIO_BASEADDR, CONFIG_DEVICEIO_SIZE,
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MT_DEVICE_NGNRNE | MT_RW | MT_SECURE),
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MMU_REGION_FLAT_ENTRY("DRAM0_S0",
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CONFIG_RAMBANK1_ADDR, CONFIG_RAMBANK1_SIZE,
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MT_NORMAL | MT_RW | MT_SECURE),
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MMU_REGION_FLAT_ENTRY("DRAM0_S0",
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CONFIG_RAMBANK1_ADDR, CONFIG_RAMBANK1_SIZE,
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MT_NORMAL | MT_RW | MT_SECURE),
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};
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const struct arm_mmu_config g_mmu_config =
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@ -84,6 +84,11 @@ const struct arm_mmu_config g_mmu_config =
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void arm64_el_init(void)
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{
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#if (CONFIG_ARCH_ARM64_EXCEPTION_LEVEL == 3)
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/* At EL3, cntfrq_el0 is uninitialized. It must be set. */
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write_sysreg(CONFIG_BOOTLOADER_SYS_CLOCK, cntfrq_el0);
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#endif
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}
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/****************************************************************************
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64
boards/arm64/imx9/imx93-evk/configs/bootloader/defconfig
Normal file
64
boards/arm64/imx9/imx93-evk/configs/bootloader/defconfig
Normal file
@ -0,0 +1,64 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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# CONFIG_STANDARD_SERIAL is not set
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CONFIG_ARCH="arm64"
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CONFIG_ARCH_ARM64=y
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CONFIG_ARCH_BOARD="imx93-evk"
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CONFIG_ARCH_BOARD_IMX93_EVK=y
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CONFIG_ARCH_BOOT_EL3=y
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CONFIG_ARCH_CHIP="imx9"
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CONFIG_ARCH_CHIP_IMX93=y
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CONFIG_ARCH_CHIP_IMX9=y
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CONFIG_ARCH_INTERRUPTSTACK=4096
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CONFIG_ARM64_DCACHE_DISABLE=y
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CONFIG_BUILTIN=y
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CONFIG_DEBUG_ASSERTIONS=y
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CONFIG_DEBUG_FEATURES=y
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEFAULT_TASK_STACKSIZE=8192
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CONFIG_DEV_ZERO=y
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CONFIG_EXAMPLES_HELLO=y
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CONFIG_EXPERIMENTAL=y
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CONFIG_FS_PROCFS=y
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CONFIG_FS_ROMFS=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_IDLETHREAD_STACKSIZE=8192
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CONFIG_IMX9_BOOTLOADER=y
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CONFIG_IMX9_GPIO_IRQ=y
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CONFIG_IMX9_LPUART1=y
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CONFIG_INIT_ENTRYPOINT="nsh_main"
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CONFIG_INTELHEX_BINARY=y
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CONFIG_LPUART1_SERIAL_CONSOLE=y
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CONFIG_MM_FILL_ALLOCATIONS=y
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_FILEIOSIZE=512
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CONFIG_NSH_READLINE=y
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CONFIG_PREALLOC_TIMERS=4
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CONFIG_RAMLOG=y
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CONFIG_RAM_SIZE=548864
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CONFIG_RAM_START=0x2049a000
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CONFIG_RAW_BINARY=y
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CONFIG_READLINE_CMD_HISTORY=y
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CONFIG_RR_INTERVAL=200
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CONFIG_SCHED_HPWORK=y
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CONFIG_SCHED_HPWORKPRIORITY=192
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CONFIG_SCHED_LPWORK=y
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CONFIG_SCHED_LPWORKPRIORITY=50
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CONFIG_SPINLOCK=y
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CONFIG_STACK_COLORATION=y
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CONFIG_START_MONTH=3
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CONFIG_START_YEAR=2022
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CONFIG_SYMTAB_ORDEREDBYNAME=y
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CONFIG_SYSTEM_NSH=y
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CONFIG_SYSTEM_SYSTEM=y
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CONFIG_SYSTEM_TIME64=y
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CONFIG_TESTING_GETPRIME=y
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CONFIG_TESTING_OSTEST=y
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@ -20,9 +20,14 @@
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include $(TOPDIR)/.config
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include $(TOPDIR)/tools/Config.mk
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include $(TOPDIR)/tools/imx9/Config.mk
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include $(TOPDIR)/arch/arm64/src/Toolchain.defs
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LDSCRIPT = dramboot.ld
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ifeq ($(CONFIG_IMX9_BOOTLOADER),y)
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LDSCRIPT = ocramboot.ld
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else
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LDSCRIPT = dramboot.ld
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endif
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ARCHSCRIPT += $(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT)
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150
boards/arm64/imx9/imx93-evk/scripts/ocramboot.ld
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150
boards/arm64/imx9/imx93-evk/scripts/ocramboot.ld
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@ -0,0 +1,150 @@
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/****************************************************************************
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* boards/arm64/imx9/imx93-evk/scripts/ocramboot.ld
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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OUTPUT_ARCH(aarch64)
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ENTRY(__start)
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EXTERN(__start)
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/* Memory is organized as follows:
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* - ahab reserves memory from 2048k to 0x2049a000
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* - NuttX is compiled into 0x2049a000, ahab expects NuttX here
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* - Heap memory is allocated from ocram end to idlestack top
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*/
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MEMORY
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{
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ocram (rx) : ORIGIN = 0x2049a000, LENGTH = 0x37ff0
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ocram_data (rw) : ORIGIN = 0x204e0000, LENGTH = 0x2000
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ocram_noload (rw) : ORIGIN = 0x204f0000, LENGTH = 0x30000
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}
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PHDRS
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{
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/* R = 100, W = 010, X = 001 */
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text PT_LOAD FLAGS(5); /* RX */
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rodata PT_LOAD FLAGS(4); /* R */
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data PT_LOAD FLAGS(6); /* RW */
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}
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SECTIONS
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{
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.text :
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{
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_stext = ABSOLUTE(.); /* Text section */
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*(.start .start.*) /* Place __start here */
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*(.text .text.*)
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*(.text.cold)
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*(.text.unlikely)
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*(.fixup)
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*(.gnu.warning)
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} > ocram :text
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.init_section :
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{
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_sinit = ABSOLUTE(.);
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KEEP(*(SORT_BY_INIT_PRIORITY(.init_array.*) SORT_BY_INIT_PRIORITY(.ctors.*)))
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KEEP(*(.init_array .ctors))
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_einit = ABSOLUTE(.);
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} > ocram :text
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/* Vector table must be page aligned */
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.vector : ALIGN(4096)
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{
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_vector_start = ABSOLUTE(.);
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KEEP(*(.exc_vector_table))
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KEEP(*(".exc_vector_table.*"))
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KEEP(*(.vectors))
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_vector_end = ABSOLUTE(.);
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} > ocram :text
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_etext = .;
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.rodata : ALIGN(4096)
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{
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_srodata = ABSOLUTE(.); /* Read-only data */
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*(.rodata .rodata.*)
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*(.data.rel.ro)
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*(.data.rel.ro.*)
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} > ocram :rodata
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_erodata = .; /* End of read-only data */
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_eronly = .; /* End of read-only data */
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.data : ALIGN(4096)
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{
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_sdata = ABSOLUTE(.);
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*(.data.page_aligned)
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*(.data .data.*)
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. = ALIGN(8);
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*(.data.rel)
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*(.data.rel.*)
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CONSTRUCTORS
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. = ALIGN(8);
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_edata = ABSOLUTE(.);
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} > ocram_data :data
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.bss (NOLOAD) :
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{
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. = ALIGN(8);
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_sbss = ABSOLUTE(.);
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*(.bss .bss.*)
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. = ALIGN(8);
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_ebss = ABSOLUTE(.);
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} > ocram_noload :data
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.initstack :
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{
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_s_initstack = ABSOLUTE(.);
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*(.initstack)
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} > ocram_noload :data
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/* End of data must be page aligned */
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. = ALIGN(4096);
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g_idle_topstack = .;
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_e_initstack = .;
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_sztext = _srodata - _stext; /* _erodata is aligned, after _etext */
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_szrodata = _sdata - _srodata; /* _sdata is aligned, after _erodata */
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/* Sections to be discarded */
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/DISCARD/ : {
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*(.exit.text)
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*(.exit.data)
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*(.exitcall.exit)
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*(.eh_frame)
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}
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/* Stabs debugging sections. */
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.stab 0 : { *(.stab) }
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.stabstr 0 : { *(.stabstr) }
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.stab.excl 0 : { *(.stab.excl) }
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.stab.exclstr 0 : { *(.stab.exclstr) }
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.stab.index 0 : { *(.stab.index) }
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.stab.indexstr 0 : { *(.stab.indexstr) }
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.comment 0 : { *(.comment) }
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}
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_heapend = ORIGIN(ocram_noload) + LENGTH(ocram_noload);
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_szdata = _heapend - _sdata;
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33
tools/imx9/Config.mk
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33
tools/imx9/Config.mk
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@ -0,0 +1,33 @@
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############################################################################
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# tools/imx9/Config.mk
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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# this work for additional information regarding copyright ownership. The
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# ASF licenses this file to you under the Apache License, Version 2.0 (the
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# "License"); you may not use this file except in compliance with the
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# License. You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations
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# under the License.
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#
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############################################################################
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# These are the macros that will be used in the NuttX make system to compile
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# and assembly source files and to insert the resulting object files into an
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# archive. These replace the default definitions at tools/Config.mk
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# POSTBUILD -- Perform post build operations
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ifeq ($(CONFIG_IMX9_BOOTLOADER),y)
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define POSTBUILD
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$(Q) echo "Removing sections"
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$(Q) $(OBJCOPY) -O binary -R .bss -R .initstack $(BIN) nuttx.bin
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$(Q) ([ $$? -eq 0 ] && echo "Done.")
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endef
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endif
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