80c37c7b36
This does the following:
1. Fetches mkimage_imx8 (same used with imx9) source code
2. Fetches the ELE / AHAB binary
3. Extracts the ELE / AHAB binary
4. Compiles the mkimage with hostcc
5. Utilizes the mkimage tool to create a bootable SD image,
combining the ELE / AHAB image with the NuttX bootloader
6. dd is used to prepend empty space in place of BL31
7. Outputs sdimage.img which is a bootable binary
8. Removes all binaries, sources code images that have been
downloaded
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
170 lines
4.6 KiB
Plaintext
170 lines
4.6 KiB
Plaintext
README.txt
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==========
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The kit i.MX93 Evaluation Kit has a pre-installed Linux image which contains
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u-boot and the i.MX93 reference Linux installation.
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NuttX may work as the bootloader, replacing u-boot completely. Currently it
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doesn't initialize the DDR memory yet. In other words, DDR training is still
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missing.
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==========================================
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How to run nuttx on i.MX93 Evaluation Kit.
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==========================================
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Below is a set of instructions on how to run NuttX on the i.MX93 EVK, on top
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of the u-boot. Also, instructions on running NuttX as the bootloader will
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follow.
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==========================================
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Pre-requisites
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==========================================
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- imx93_ca55.JLinkScript which is a custom file, put it wherever you want
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==========================================
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U-Boot configuration
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==========================================
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Two things need to be configured on u-boot before NuttX can be loaded:
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- u-boot data cache must be turned off
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- u-boot must stop to the u-boot console, i.e. the Linux payload must not be loaded
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Manual option:
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1. Disable u-boot autostart (needs to be done only once):
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Hit any key to stop autoboot: 0
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u-boot=> setenv bootdelay -1
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u-boot=> saveenv
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Saving Environment to MMC... Writing to MMC(0)... OK
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u-boot=> reset
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2. On every boot, the data cache must be disabled for options 2 and 3 to work
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u-boot=> dcache off
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Automated option:
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1. Replace the default bootcmd to disable dcache automatically:
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u-boot=> setenv bootdelay 0
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u-boot=> setenv bootcmd dcache off
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u-boot=> saveenv
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Saving Environment to MMC... Writing to MMC(0)... OK
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u-boot=> reset
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To restore the default bootcmd which starts Linux automatically:
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u-boot=> setenv bootcmd run distro_bootcmd;run bsp_bootcmd
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u-boot=> saveenv
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Saving Environment to MMC... Writing to MMC(0)... OK
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u-boot=> reset
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The default bootcmd is:
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u-boot=> env print bootcmd
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bootcmd=run distro_bootcmd;run bsp_bootcmd
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==========================================
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Loading and running the NuttX image
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==========================================
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You have four options:
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1 - Load via u-boot from SD-card
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2 - Load via gdb
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3 - Load via JLink
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4 - Run from SD-card, without u-boot
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==========================================
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Option 1: load via u-boot from SD-card:
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==========================================
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1. Build nuttx, and move nuttx.bin to SD-card
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2. Load from SD-card and start nuttx payload
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u-boot=> dcache off; fatload mmc 1 0x80000000 nuttx.bin; go 0x80000000
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==========================================
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Option 2: start via gdb:
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==========================================
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1. Start JLinkGDBServer
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JLinkGDBServer -device CORTEX-A55 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
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2. Start gdb
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$ aarch64-none-elf-gdb
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2.1 Attach and load nuttx
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(gdb) target remote localhost:2331
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(gdb) set mem inaccessible-by-default off
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(gdb) load <path_to>/nuttx
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(gdb) monitor go
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==========================================
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Option 3: load with JLink:
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==========================================
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1. Start JLink
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$ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript
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1.1 Add -AutoConnect 1 to connect automatically
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$ JLinkExe -device CORTEX-A55 -if JTAG -jtagconf -1,-1 -speed 4000 -JLinkScriptFile <path_to>/imx93_ca55.JLinkScript -AutoConnect 1
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2. Connect JLink
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2.1 Connect to the debugger
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Type "connect" to establish a target connection, '?' for help
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J-Link>connect
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You should now have a JLink prompt.
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Cortex-A55 identified.
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J-Link>
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3. Load nuttx. Note that JLink expects the .elf extension, the default build output of nuttx is just "nuttx" without the extension, so it must be added to the file...
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J-Link>LoadFile <path_to>/nuttx.elf
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==========================================
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Option 4: Run from SD-card, without u-boot
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==========================================
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1. Make sure CONFIG_IMX9_BOOTLOADER is set and system is configured properly for bootloader operation:
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tools/configure.sh imx93-evk:bootloader
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2. The build outputs a file "imx9-sdimage.img". This image also contains the Ahab container. It's required to grant Trusted Resource Domain Controller (TRDC) permissions.
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Flash it to an SD-card, where sdX may be sda or something else; verify the block device name properly (eg. /dev/sda, /dev/sdb etc):
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sudo dd if=imx9-sdimage.img of=/dev/sdX bs=1k && sync
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3. Insert the SD-card into the imx93-evk, make sure BMODE switch is [1,2,3,4] = [Off, On, Off, Off] so that it boots from the SD-card.
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This should boot into NuttShell in EL3 level.
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