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开发板：NanoPC-T4开发板
eMMC ：16GB
LPDDR3：4GB
显示屏：15.6 HDMI接口显示屏
u-boot ：2023.04
linux ：6.3
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在前面我们已经介绍了编译Rockchip官方提供的uboot源码，并下载到开发板中进行测试运行。这一节我们尝试下载最新的uboot版本试试，当前最新版本为2023.04。

一、uboot

1.1 下载源码

u-boot软件包下载网站：https://ftp.denx.de/pub/u-boot/。

DENX相关的网站：http://www.denx.de/re/DPLG.html。

u-boot git仓库：https://gitlab.denx.de/u-boot/u-boot。

我们在ubuntu运行如下命令：

root@zhengyang:/work/sambashare/rk3399# wget https://ftp.denx.de/pub/u-boot/u-boot-2023.04.tar.bz2

解压：

root@zhengyang:/work/sambashare/rk3399# tar -jxf u-boot-2023.04.tar.bz2

进入到uboot文件夹里，这就是我们需要的uboot的源码了：

root@zhengyang:/work/sambashare/rk3399#  cd u-boot-2023.04
root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ll
总用量 484
drwxrwxr-x  25 root root  4096 Apr  4 04:38 ./
drwxr-xr-x  14 root root  4096 May 21 15:22 ../
drwxrwxr-x   2 root root  4096 Apr  4 04:38 api/
drwxrwxr-x  14 root root  4096 Apr  4 04:38 arch/
-rw-rw-r--   1 root root 21095 Apr  4 04:38 .azure-pipelines.yml
drwxrwxr-x 177 root root  4096 Apr  4 04:38 board/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 boot/
-rw-rw-r--   1 root root   814 Apr  4 04:38 .checkpatch.conf
drwxrwxr-x  10 root root  4096 Apr  4 04:38 cmd/
drwxrwxr-x   5 root root  4096 Apr  4 04:38 common/
-rw-rw-r--   1 root root  2180 Apr  4 04:38 config.mk
drwxrwxr-x   2 root root 57344 Apr  4 04:38 configs/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 disk/
drwxrwxr-x  20 root root  4096 Apr  4 04:38 doc/
drwxrwxr-x  74 root root  4096 Apr  4 04:38 drivers/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 dts/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 env/
drwxrwxr-x   4 root root  4096 Apr  4 04:38 examples/
drwxrwxr-x  15 root root  4096 Apr  4 04:38 fs/
-rw-rw-r--   1 root root    44 Apr  4 04:38 .get_maintainer.conf
-rw-rw-r--   1 root root   207 Apr  4 04:38 .gitattributes
drwxrwxr-x   2 root root  4096 Apr  4 04:38 .github/
-rw-rw-r--   1 root root  1115 Apr  4 04:38 .gitignore
-rw-rw-r--   1 root root 14133 Apr  4 04:38 .gitlab-ci.yml
drwxrwxr-x  36 root root 20480 Apr  4 04:38 include/
-rw-rw-r--   1 root root   783 Apr  4 04:38 Kbuild
-rw-rw-r--   1 root root 20750 Apr  4 04:38 Kconfig
drwxrwxr-x  24 root root  4096 Apr  4 04:38 lib/
drwxrwxr-x   2 root root  4096 Apr  4 04:38 Licenses/
-rw-rw-r--   1 root root  4022 Apr  4 04:38 .mailmap
-rw-rw-r--   1 root root 42030 Apr  4 04:38 MAINTAINERS
-rw-rw-r--   1 root root 81547 Apr  4 04:38 Makefile
drwxrwxr-x   2 root root  4096 Apr  4 04:38 net/
drwxrwxr-x   5 root root  4096 Apr  4 04:38 post/
-rw-rw-r--   1 root root 94985 Apr  4 04:38 README
-rw-rw-r--   1 root root   491 Apr  4 04:38 .readthedocs.yml
drwxrwxr-x   6 root root  4096 Apr  4 04:38 scripts/
drwxrwxr-x  17 root root  4096 Apr  4 04:38 test/
drwxrwxr-x  15 root root  4096 Apr  4 04:38 tools/

1.2 配置uboot

uboot的编译分为两步：配置、编译。单板的默认配置在configs目录下，这里我们直接选择configs/evb-rk3399_defconfig，这是Rockchip评估板的配置：

Rockchip RK3399 - 移植uboot 2023.04和内核FIT uImage制作

CONFIG_ARM=y
CONFIG_SKIP_LOWLEVEL_INIT=y
CONFIG_COUNTER_FREQUENCY=24000000
CONFIG_ARCH_ROCKCHIP=y
CONFIG_TEXT_BASE=0x00200000
CONFIG_NR_DRAM_BANKS=1
CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x300000
CONFIG_ENV_OFFSET=0x3F8000
CONFIG_DEFAULT_DEVICE_TREE="rk3399-evb"
CONFIG_DM_RESET=y
CONFIG_ROCKCHIP_RK3399=y
CONFIG_TARGET_EVB_RK3399=y
CONFIG_SPL_STACK=0x400000
CONFIG_DEBUG_UART_BASE=0xFF1A0000
CONFIG_DEBUG_UART_CLOCK=24000000
CONFIG_SYS_LOAD_ADDR=0x800800
CONFIG_DEBUG_UART=y
CONFIG_DEFAULT_FDT_FILE="rockchip/rk3399-evb.dtb"
CONFIG_DISPLAY_BOARDINFO_LATE=y
CONFIG_SPL_MAX_SIZE=0x2e000
CONFIG_SPL_PAD_TO=0x7f8000
CONFIG_SPL_HAS_BSS_LINKER_SECTION=y
CONFIG_SPL_BSS_START_ADDR=0x400000
CONFIG_SPL_BSS_MAX_SIZE=0x2000
# CONFIG_SPL_RAW_IMAGE_SUPPORT is not set
# CONFIG_SPL_SHARES_INIT_SP_ADDR is not set
CONFIG_SPL_STACK_R=y
CONFIG_SPL_STACK_R_MALLOC_SIMPLE_LEN=0x10000
CONFIG_TPL=y
CONFIG_CMD_BOOTZ=y
CONFIG_CMD_GPT=y
CONFIG_CMD_MMC=y
CONFIG_CMD_USB=y
# CONFIG_CMD_SETEXPR is not set
CONFIG_CMD_TIME=y
CONFIG_SPL_OF_CONTROL=y
CONFIG_OF_SPL_REMOVE_PROPS="pinctrl-0 pinctrl-names clock-names interrupt-parent assigned-clocks assigned-clock-rates assigned-clock-parents"
CONFIG_ENV_IS_IN_MMC=y
CONFIG_SYS_RELOC_GD_ENV_ADDR=y
CONFIG_NET_RANDOM_ETHADDR=y
CONFIG_ROCKCHIP_GPIO=y
CONFIG_SYS_I2C_ROCKCHIP=y
CONFIG_MISC=y
CONFIG_MMC_HS400_SUPPORT=y
CONFIG_MMC_DW=y
CONFIG_MMC_DW_ROCKCHIP=y
CONFIG_MMC_SDHCI=y
CONFIG_MMC_SDHCI_SDMA=y
CONFIG_MMC_SDHCI_ROCKCHIP=y
CONFIG_SF_DEFAULT_SPEED=20000000
CONFIG_ETH_DESIGNWARE=y
CONFIG_GMAC_ROCKCHIP=y
CONFIG_PHY_ROCKCHIP_INNO_USB2=y
CONFIG_PHY_ROCKCHIP_TYPEC=y
CONFIG_PMIC_RK8XX=y
CONFIG_REGULATOR_PWM=y
CONFIG_REGULATOR_RK8XX=y
CONFIG_PWM_ROCKCHIP=y
CONFIG_DM_RNG=y
CONFIG_RNG_ROCKCHIP=y
CONFIG_BAUDRATE=1500000
CONFIG_DEBUG_UART_SHIFT=2
CONFIG_SYS_NS16550_MEM32=y
CONFIG_SYSRESET=y
CONFIG_USB=y
CONFIG_USB_XHCI_HCD=y
CONFIG_USB_XHCI_DWC3=y
CONFIG_USB_EHCI_HCD=y
CONFIG_USB_EHCI_GENERIC=y
CONFIG_USB_DWC3=y
CONFIG_USB_DWC3_GENERIC=y
CONFIG_USB_HOST_ETHER=y
CONFIG_USB_ETHER_ASIX=y
CONFIG_USB_ETHER_ASIX88179=y
CONFIG_USB_ETHER_MCS7830=y
CONFIG_USB_ETHER_RTL8152=y
CONFIG_USB_ETHER_SMSC95XX=y
CONFIG_VIDEO=y
# CONFIG_VIDEO_BPP8 is not set
CONFIG_DISPLAY=y
CONFIG_VIDEO_ROCKCHIP=y
CONFIG_VIDEO_ROCKCHIP_MAX_YRES=1200
CONFIG_DISPLAY_ROCKCHIP_MIPI=y
CONFIG_SPL_TINY_MEMSET=y
CONFIG_ERRNO_STR=y

View Code

因此执行如下命令，生成.config文件：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# make evb-rk3399_defconfig V=1

接着我们需要执行make menuconfig做一些配置。

1.2.1 配置串口波特率

uboot中默认的调试串口波特率是1500000，有很多的调试终端不支持1.5M的波特率，我们可以把波特率重新配置下；

Device Drivers  ---> 
      Serial --->     
           (115200) Default baudrate

注意：波特率数值如果无法删除，按CTRL+回车键尝试。如果配置为1500000，后面测试时串口输出内容一部分正常，偶尔出现乱码，考虑是串口波特率太高不稳定造成的，降低波特率到115200尝试。

1.2.2 配置eMMC

为什么要去配置eMMC呢？这个是因为我使用默认配置，编译后的uboot下载到开发板出现了无法对eMMC进行读写的问题，并且输出了如下错误：

sdhci_transfer_data: Error detected in status(0x208000)

然后我去比对了当前版本uboot和Rockchip官方（Rockchip RK3399 - TPL/SPL方式加载uboot）提供的uboot单板配置configs/evb-rk3399_defconfig的差异，发现当前版本默认开启了以下配置：

CONFIG_MMC_HS400_SUPPORT=y   # 多出了这个
CONFIG_MMC_DW=y
CONFIG_MMC_DW_ROCKCHIP=y
CONFIG_MMC_SDHCI=y
CONFIG_MMC_SDHCI_SDMA=y  # 多出了这个

那CONFIG_MMC_HS400_SUPPOR、CONFIG_MMC_SDHCI_SDMA是什么呢?

CONFIG_MMC_HS400_SUPPORT 是一个配置选项，用于支持嵌入式设备中的高速 MMC（Multimedia Card）/SD（Secure Digital）卡，默认情况下未启用。

启用这个选项可以让MMC/SD卡在HS400模式下运行，从而提高读写速度，但是需要确保硬件上支持 HS400 模式，并且芯片厂商提供了对应的驱动程序。如果硬件不支持或驱动程序不可用，则启用此选项将会导致系统无法正常启动。

既然我们已经明白了该配置项的作用，那我们就要看一下我们的eMMC芯片是否支持HS400模式，这里用的开发板板载的eMMC型号为：KLMAG2WEMB-B031，找到芯片的datasheet有关HS400 mode的信息，具体定位到EXT_CSD第196个字节DEVICE_TYPE，其值为0x57；可以看到eMMC工作在HS400模式时，电压要求为1.8V。

配置项CONFIG_MMC_SDHCI_SDMA用于启用SD/SDIO/MMC 主机控制器使用 DMA 方式进行数据传输。

这里我们暂且将CONFIG_MMC_HS400_SUPPORT，CONFIG_MMC_SDHCI_SDMA配置关掉：

Device Drivers  ---> 
      MMC Host controller Support  --->
            [ ] MMC debugging
            [ ] enable HS400 support  
            [ ] Support IO voltage configuration
            [ ] Support SDHCI SDMA

如果想查看eMMC读写命令信息，可以打开MMC debuging。

1.2.3 配置FIT

Boot options  --->    
     Boot images  --->
         [*] Use a script to generate the .its script                                                 
        (arch/arm/mach-rockchip/make_fit_atf.py) .its file generator script for U-Boot FIT image

我们之前介绍过在生成u-boot.itb文件时，需要执行如下命令：

tools/mkimage -f u-boot.its u-boot.itb

mkimage将its文件以及对应的image data file，打包成一个itb文件，也就是uboot可以识别的image file（FIT-uImage）。

因为mkimage是根据its文件中的描述来打包镜像生成itb文件（FIT-uImage），所以首先需要制作一个its文件，在its文件中描述需要被打包的镜像，主要是bl31.bin，dtb文件，u-boot-nodtb.bin。

这里我们需要使用到arch/arm/mach-rockchip/make_fit_atf.py文件，这个是从Rockchip官网uboot下拷贝过来的，内容如下，这是一个python脚本，主要就是生成一个u-boot.its文件：

#!/usr/bin/env python2
"""
A script to generate FIT image source for rockchip boards
with ARM Trusted Firmware
and multiple device trees (given on the command line)

usage: $0 <dt_name> [<dt_name> [<dt_name] ...]
"""

import os
import sys
import getopt

# pip install pyelftools
from elftools.elf.elffile import ELFFile
from elftools.elf.sections import SymbolTableSection
from elftools.elf.segments import Segment, InterpSegment, NoteSegment

ELF_SEG_P_TYPE='p_type'
ELF_SEG_P_PADDR='p_paddr'
ELF_SEG_P_VADDR='p_vaddr'
ELF_SEG_P_OFFSET='p_offset'
ELF_SEG_P_FILESZ='p_filesz'
ELF_SEG_P_MEMSZ='p_memsz'

DT_HEADER="""/*
 * Copyright (C) 2017 Fuzhou Rockchip Electronics Co., Ltd
 *
 * Minimal dts for a SPL FIT image payload.
 *
 * SPDX-License-Identifier: GPL-2.0+  X11
 */
/dts-v1/;

/ {
        description = "Configuration to load ATF before U-Boot";
        #address-cells = <1>;

        images {
                uboot {
                        description = "U-Boot (64-bit)";
                        data = /incbin/("u-boot-nodtb.bin");
                        type = "standalone";
                        os = "U-Boot";
                        arch = "arm64";
                        compression = "none";
                        load = <0x%08x>;
                        hash {
                                algo = "sha256";
                        };
                };
"""

DT_IMAGES_NODE_END="""
        };
"""

DT_END="""
};
"""

def append_atf_node(file, atf_index, phy_addr):
    """
    Append ATF DT node to input FIT dts file.
    """
    data = 'bl31_0x%08x.bin' % phy_addr
    print >> file, '\t\tatf@%d {' % atf_index
    print >> file, '\t\t\tdescription = \"ARM Trusted Firmware\";'
    print >> file, '\t\t\tdata = /incbin/("%s");' % data
    print >> file, '\t\t\ttype = "firmware";'
    print >> file, '\t\t\tarch = "arm64";'
    print >> file, '\t\t\tos = "arm-trusted-firmware";'
    print >> file, '\t\t\tcompression = "none";'
    print >> file, '\t\t\tload = <0x%08x>;' % phy_addr
    if atf_index == 1:
        print >> file, '\t\t\tentry = <0x%08x>;' % phy_addr
    print >> file, '\t\t\thash {'
    print >> file, '\t\t\t\talgo = "sha256";'
    print >> file, '\t\t\t};'
    print >> file, '\t\t};'
    print >> file, ''

def append_fdt_node(file, dtbs):
    """
    Append FDT nodes.
    """
    cnt = 1
    for dtb in dtbs:
        dtname = os.path.basename(dtb)
        print >> file, '\t\tfdt {'
        print >> file, '\t\t\tdescription = "U-Boot device tree blob";'
        print >> file, '\t\t\tdata = /incbin/("u-boot.dtb");'
        print >> file, '\t\t\ttype = "flat_dt";'
        print >> file, '\t\t\tarch = "arm64";'
        print >> file, '\t\t\tcompression = "none";'
        print >> file, '\t\t\thash {'
        print >> file, '\t\t\t\talgo = "sha256";'
        print >> file, '\t\t\t};'
        print >> file, '\t\t};'
        print >> file, ''
        cnt = cnt + 1

def append_conf_section(file, cnt, dtname, atf_cnt):
    print >> file, '\t\tconfig {'
    print >> file, '\t\t\tdescription = "Rockchip armv8 with ATF";'
    print >> file, '\t\t\trollback-index = <0x0>;'
    print >> file, '\t\t\tfirmware = "atf@1";'
    print >> file, '\t\t\tloadables = "uboot",',
    for i in range(1, atf_cnt):
        print >> file, '"atf@%d"' % (i+1),
        if i != (atf_cnt - 1):
            print >> file, ',',
        else:
            print >> file, ';'
    print >> file, '\t\t\tfdt = "fdt";'
    print >> file, '\t\t\tsignature {'
    print >> file, '\t\t\t\talgo = "sha256,rsa2048";'
    print >> file, '\t\t\t\tpadding = "pss";'
    print >> file, '\t\t\t\tkey-name-hint = "dev";'
    print >> file, '\t\t\t\tsign-images = "fdt", "firmware", "loadables";'
    print >> file, '\t\t\t};'
    print >> file, '\t\t};'
    print >> file, ''

def append_conf_node(file, dtbs, atf_cnt):
    """
    Append configeration nodes.
    """
    cnt = 1
    print >> file, '\tconfigurations {'
    print >> file, '\t\tdefault = "config";'
    for dtb in dtbs:
        dtname = os.path.basename(dtb)
        append_conf_section(file, cnt, dtname, atf_cnt)
        cnt = cnt + 1
    print >> file, '\t};'
    print >> file, ''

def generate_atf_fit_dts(fit_file_name, bl31_file_name, uboot_file_name, dtbs_file_name):
    """
    Generate FIT script for ATF image.
    """
    if fit_file_name != sys.stdout:
        fit_file = open(fit_file_name, "wb")
    else:
        fit_file = sys.stdout

    num_load_seg = 0
    p_paddr = 0xFFFFFFFF
    with open(uboot_file_name) as uboot_file:
        uboot = ELFFile(uboot_file)
        for i in range(uboot.num_segments()):
            seg = uboot.get_segment(i)
            if ('PT_LOAD' == seg.__getitem__(ELF_SEG_P_TYPE)):
                p_paddr = seg.__getitem__(ELF_SEG_P_PADDR)
                num_load_seg = num_load_seg + 1

    assert (p_paddr != 0xFFFFFFFF and num_load_seg == 1)

    print >> fit_file, DT_HEADER % p_paddr

    with open(bl31_file_name) as bl31_file:
        bl31 = ELFFile(bl31_file)
        for i in range(bl31.num_segments()):
            seg = bl31.get_segment(i)
            if ('PT_LOAD' == seg.__getitem__(ELF_SEG_P_TYPE)):
                paddr = seg.__getitem__(ELF_SEG_P_PADDR)
                p= seg.__getitem__(ELF_SEG_P_PADDR)
                append_atf_node(fit_file, i+1, paddr)
    atf_cnt = i+1
    append_fdt_node(fit_file, dtbs_file_name)
    print >> fit_file, '%s' % DT_IMAGES_NODE_END
    append_conf_node(fit_file, dtbs_file_name, atf_cnt)
    print >> fit_file, '%s' % DT_END

    if fit_file_name != sys.stdout:
        fit_file.close()

def generate_atf_binary(bl31_file_name):
    with open(bl31_file_name) as bl31_file:
        bl31 = ELFFile(bl31_file)

        num = bl31.num_segments()
        for i in range(num):
            seg = bl31.get_segment(i)
            if ('PT_LOAD' == seg.__getitem__(ELF_SEG_P_TYPE)):
                paddr = seg.__getitem__(ELF_SEG_P_PADDR)
                file_name = 'bl31_0x%08x.bin' % paddr
                with open(file_name, "wb") as atf:
                    atf.write(seg.data());

def get_bl31_segments_info(bl31_file_name):
    """
    Get load offset, physical offset, file size
    from bl31 elf file program headers.
    """
    with open(bl31_file_name) as bl31_file:
        bl31 = ELFFile(bl31_file)

        num = bl31.num_segments()
        print 'Number of Segments : %d' % bl31.num_segments()
        for i in range(num):
            print 'Segment %d' % i
            seg = bl31.get_segment(i)
            ptype = seg[ELF_SEG_P_TYPE]
            poffset = seg[ELF_SEG_P_OFFSET]
            pmemsz = seg[ELF_SEG_P_MEMSZ]
            pfilesz = seg[ELF_SEG_P_FILESZ]
            print 'type: %s\nfilesz: %08x\nmemsz: %08x\noffset: %08x' % (ptype, pfilesz, pmemsz, poffset)
            paddr = seg[ELF_SEG_P_PADDR]
            print 'paddr: %08x' % paddr

def main():
    uboot_elf="./u-boot"
    bl31_elf="./bl31.elf"
    FIT_ITS=sys.stdout

    opts, args = getopt.getopt(sys.argv[1:], "o:u:b:h")
    for opt, val in opts:
        if opt == "-o":
            FIT_ITS=val
        elif opt == "-u":
            uboot_elf=val
        elif opt == "-b":
            bl31_elf=val
        elif opt == "-h":
            print __doc__
            sys.exit(2)

    dtbs = args
    #get_bl31_segments_info("u-boot")
    #get_bl31_segments_info("bl31.elf")

    generate_atf_fit_dts(FIT_ITS, bl31_elf, uboot_elf, dtbs)
    generate_atf_binary(bl31_elf);

if __name__ == "__main__":
    main()

View Code

拷贝命令过来：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# cp ../u-boot/arch/arm/mach-rockchip/make_fit_atf.py ./arch/arm/mach-rockchip/

1.2.4 配置uboot启动倒计时

如果在uboot启动倒计时结束之前，没有按下任何键，将会执行那么将执行也就是bootcmd中配置中的命令，bootcmd中保存着默认的启动命令。

(5) delay in seconds before automatically booting

保存文件，输入文件名为evb-rk3399_defconfig ，在当前路径下生成evb-rk3399_defconfig ，存档：

root@zhengyang:/work/sambashare/rk3399/u-boot# mv evb-rk3399_defconfig ./configs/

注意：如果需要配置生效，需要使用make distclean清除之前的配置，重新执行配置命令。

1.3 编译uboot

执行make命令，生成u-boot文件:

root@zhengyang:/work/sambashare/rk3399/u-boot# make ARCH=arm CROSS_COMPILE=arm-linux-

然后出现了如下错误：

binman: Filename 'atf-bl31' not found in input path (.,.,./board/rockchip/evb_rk3399,arch/arm/dts) (cwd='/work/sambashare/rk3399/u-boot-2023.04')

大致意思就是缺少了bl31.elf文件，我们将Rockchip RK3399 - TPL/SPL方式加载uboot章节制作的bl31.elf拷贝到uboot根目录下：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# cp /work/sambashare/rk3399/arm-trusted-firmware/build/rk3399/release/bl31/bl31.elf ./
root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# cp bl31.elf atf-bl31

重新编译，可以看到在 ./spl、./tpl目录下生成镜像文件：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ls tpl/u-boot*
tpl/u-boot.cfg      tpl/u-boot-tpl      tpl/u-boot-tpl.dtb      tpl/u-boot-tpl.map        tpl/u-boot-tpl.sym
tpl/u-boot-spl.lds  tpl/u-boot-tpl.bin  tpl/u-boot-tpl-dtb.bin  tpl/u-boot-tpl-nodtb.bin
root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ls spl/u-boot*
spl/u-boot.cfg  spl/u-boot-spl.bin  spl/u-boot-spl-dtb.bin  spl/u-boot-spl.map        spl/u-boot-spl.sym
spl/u-boot-spl  spl/u-boot-spl.dtb  spl/u-boot-spl.lds      spl/u-boot-spl-nodtb.bin

二、idbloader.img

我们基于uboot源码编译出TPL/SPL，其中TPL负责实现DDR初始化，TPL初始化结束之后会回跳到BootROM程序，BootROM程序继续加载SPL，SPL加载u-boot.itb文件，然后跳转到uboor执行。

idbloader.img是由tpl/u-boot-tpl.bin和spl/u-boot-spl.bin文件生成，这里我们需要使用到tools目录下的mkimage工具。

2.1 tpl/u-boot-tpl.bin

在u-boot目录下执行：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# tools/mkimage -n rk3399 -T rksd -d tpl/u-boot-tpl.bin idbloader.img
Image Type:   Rockchip RK33 (SD/MMC) boot image
Init Data Size: 53248 bytes

其中：

-n rk3399将镜像文件的名称设置为"rk3399"；
-T rksd将映像类型指定为Rockchip SD卡启动映像；
-d tpl/u-boot-tpl.bin将生成的TPL镜像文件"tpl/u-boot-tpl.bin"指定为输入文件，而idbloader.img则指定为输出文件。

生成idbloader.img文件：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04#  ll idbloader.img
-rw-r--r-- 1 root root 55296 May 21 17:12 idbloader.img

2.2 spl/u-boot-spl.bin

将spl/u-boot-spl.bin合并到idbloader.img：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# cat spl/u-boot-spl.bin >> idbloader.img
root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ll idbloader.img
-rw-r--r-- 1 root root 143866 May 21 17:13 idbloader.img

三、u-boot.idb

3.1 u-boot.itd生成规则

这里我们需要生成FIT image，对应的镜像文件名称为u-boot.itd，在顶层Makefile定义有：

ifdef U_BOOT_ITS
u-boot.itb: u-boot-nodtb.bin \
                $(if $(CONFIG_OF_SEPARATE)$(CONFIG_OF_EMBED)$(CONFIG_SANDBOX),dts/dt.dtb) \
                $(if $(CONFIG_MULTI_DTB_FIT),$(FINAL_DTB_CONTAINER)) \
                $(U_BOOT_ITS) FORCE
        $(call if_changed,mkfitimage)
        $(BOARD_SIZE_CHECK)
endif

ifneq ($(CONFIG_SPL_FIT_SOURCE),"")             // 方式1. 如果自己已经有u-boot.its，配置CONFIG_SPL_FIT_SOURCE=u-boot.its
U_BOOT_ITS := u-boot.its
$(U_BOOT_ITS): $(subst ",,$(CONFIG_SPL_FIT_SOURCE))
        $(call if_changed,copy)
else
ifneq ($(CONFIG_USE_SPL_FIT_GENERATOR),)   // 方式2.  使用脚本生成 配置CONFIG_USE_SPL_FIT_GENERATOR=y
U_BOOT_ITS := u-boot.its
$(U_BOOT_ITS): $(U_BOOT_ITS_DEPS) FORCE
        $(srctree)/$(CONFIG_SPL_FIT_GENERATOR) \ 
        $(patsubst %,arch/$(ARCH)/dts/%.dtb,$(subst ",,$(CONFIG_OF_LIST))) > $@           // 在$(patsubst %.c,%.o,$(dir) )中，patsubst把$(dir)中的变量符合后缀是.c的全部替换成.o
endif
endif

这里我们采用的配置CONFIG_SPL_FIT_GENERATOR的方式来生成u-boot.its，也就是我们在执行make menuconfig时配置的：

CONFIG_SPL_FIT_SOURCE=""
CONFIG_USE_SPL_FIT_GENERATOR=y
CONFIG_SPL_FIT_GENERATOR="arch/arm/mach-rockchip/make_fit_atf.py"

3.2 编译

执行编译命令：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# make u-boot.itb ARCH=arm CROSS_COMPILE=arm-linux-
  UPD     include/generated/timestamp_autogenerated.h
  ENVC    include/generated/env.txt
  ENVP    include/generated/env.in
  ENVT    include/generated/environment.h
  CC      cmd/version.o
  AR      cmd/built-in.o
  CC      env/common.o
  AR      env/built-in.o
  CC      lib/efi_loader/dtbdump.o
  LD      lib/efi_loader/dtbdump_efi.so
  OBJCOPY lib/efi_loader/dtbdump.efi
  CC      lib/efi_loader/initrddump.o
  LD      lib/efi_loader/initrddump_efi.so
  OBJCOPY lib/efi_loader/initrddump.efi
  LD      u-boot
  OBJCOPY u-boot-nodtb.bin
  RELOC   u-boot-nodtb.bin
./"arch/arm/mach-rockchip/make_fit_atf.py" \
arch/arm/dts/rk3399-evb.dtb > u-boot.its
  MKIMAGE u-boot.itb

编译完成在当前路径下生成u-boot.its、u-boot.itb文件。

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ll u-boot.it*
-rw-r--r-- 1 root root 974224 May 21 17:14 u-boot.itb
-rw-r--r-- 1 root root   2423 May 21 17:14 u-boot.its

其中u-boot.its文件内容如下：

/*
 * Copyright (C) 2017 Fuzhou Rockchip Electronics Co., Ltd
 *
 * Minimal dts for a SPL FIT image payload.
 *
 * SPDX-License-Identifier: GPL-2.0+  X11
 */
/dts-v1/;

/ {
        description = "Configuration to load ATF before U-Boot";
        #address-cells = <1>;

        images {
                uboot {
                        description = "U-Boot (64-bit)";
                        data = /incbin/("u-boot-nodtb.bin");
                        type = "standalone";
                        os = "U-Boot";
                        arch = "arm64";
                        compression = "none";
                        load = <0x00200000>;
                        hash {
                                algo = "sha256";
                        };
                };

                atf@1 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0x00040000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0x00040000>;
                        entry = <0x00040000>;
                        hash {
                                algo = "sha256";
                        };
                };

                atf@2 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0xff3b0000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0xff3b0000>;
                        hash {
                                algo = "sha256";
                        };
                };

                atf@3 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0xff8c0000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0xff8c0000>;
                        hash {
                                algo = "sha256";
                        };
                };
                atf@4 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0xff8c1000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0xff8c1000>;
                        hash {
                                algo = "sha256";
                        };
                };

                atf@5 {
                        description = "ARM Trusted Firmware";
                        data = /incbin/("bl31_0xff8c2000.bin");
                        type = "firmware";
                        arch = "arm64";
                        os = "arm-trusted-firmware";
                        compression = "none";
                        load = <0xff8c2000>;
                        hash {
                                algo = "sha256";
                        };
                };

                fdt {
                        description = "U-Boot device tree blob";
                        data = /incbin/("u-boot.dtb");
                        type = "flat_dt";
                        arch = "arm64";
                        compression = "none";
                        hash {
                                algo = "sha256";
                        };
                };


        };

        configurations {
                default = "config";
                config {
                        description = "Rockchip armv8 with ATF";
                        rollback-index = <0x0>;
                        firmware = "atf@1";
                        loadables = "uboot", "atf@2" , "atf@3" , "atf@4" , "atf@5" , "atf@6" ;
                        fdt = "fdt";
                        signature {
                                algo = "sha256,rsa2048";
                                padding = "pss";
                                key-name-hint = "dev";
                                sign-images = "fdt", "firmware", "loadables";
                        };
                };

        };


};

View Code

四、Linux 6.3版本FIT uImage

在Rockchip RK3399 - 移植linux 5.2.8中我们已经介绍了linux 5.2.8版本FIT uImage镜像的制作，这一节我们将简单介绍一下linux 6.3版本FIT uImage镜像的制作。

4.1 源码下载

我们这里下载linux-6.3版本，执行如下命令：

root@zhengyang:/work/sambashare/rk3399# wget http://ftp.sjtu.edu.cn/sites/ftp.kernel.org/pub/linux/kernel/v6.x/linux-6.3.tar.gz

解压：

root@zhengyang:/work/sambashare/rk3399# tar -xvf linux-6.3.tar.gz

4.2 配置Makefile

修改顶层的 Makefile，打开 Makefile 文件，找到下面语句：

ARCH        ?= $(SUBARCH)

修改为：

ARCH        ?= arm64
CROSS_COMPILE    ?= arm-linux-

其中，ARCH 是指定目标平台为arm64，CROSS_COMPILE是指定交叉编译器，这里指定的是系统默认的交叉编译器，如要使用其它的，则要把编译器的全路径在这里写出。

交叉编译工具链安装参考：https://www.cnblogs.com/zyly/p/17380243.html#_label3。

4.3 内核defconfig配置

接下来要做的就是内核配置、编译了。单板的默认配置文件在arch/arm64/configs目录下：

root@zhengyang:/work/sambashare/rk3399/linux-6.3# ll arch/arm64/configs/defconfig
-rw-rw-r-- 1 root root 35014 Apr 24 03:02 arch/arm64/configs/defconfig
root@zhengyang:/work/sambashare/rk3399/linux-6.3# make defconfig

4.4 内核裁切

关于内核裁切内容比较多，参考Rockchip RK3399 - 移植linux 5.2.8即可。其中有一些步骤略有不同：

(1) 由于我们不使用ramdisk根文件系统，所以不用配置支持RAM块设备；

(2) 在配置有限网卡驱动的时候发生一些变化：

Device Drivers  ---> 
  [*] Network device support  --->
     [*] Ethernet driver support  --->    
        [*] STMicroelectronics devices 
            [*] STMicroelectronics Multi-Gigabit Ethernet driver
                 [*] STMMAC Platform bus support
                       [*] Rockchip dwmac support

(3) 配置支持SquashFS文件系统；

File systems ---> 
   -*- Miscellaneous filesystems 
       <*> SquashFS 4.0 - Squashed file system support 
           [*] Squashfs XATTR support 
           [*] Include support for ZLIB compressed file systems
           [*] Include support for LZ4 compressed file systems
           [*] Include support for LZO compressed file systems
           [*] Include support for XZ compressed file systems

配置这个的目的是后面移植的ubuntu根文件系统需要使用；如果不配置这个，当移植了ubuntu根文件系统时，内核启动会出现类似下面的错误；

[    9.192204] squashfs: SQUASHFS error: Filesystem uses "xz" compression. This is not supported

4.5 修改设备树

4.5.1 配置display-subsystem设备节点

执行如下命令：

root@zhengyang:/work/sambashare/rk3399/linux-6.3# vim arch/arm64/boot/dts/rockchip/rk3399.dtsi

将以下节点：

display-subsystem {
        compatible = "rockchip,display-subsystem";
        ports = <&vopl_out>, <&vopb_out>;
};

修改为：

display_subsystem: display-subsystem {
        compatible = "rockchip,display-subsystem";
        ports = <&vopl_out>, <&vopb_out>;
};

4.5.2 新增子节点属性

由于我使用的是HDMI显示器，因此需要在arch/arm64/boot/dts/rockchip/rk3399-evb.dts中为以下节点新增属性：

&i2c7 {
        status = "okay";
};

&display_subsystem {
         status = "okay";
};

&vopl {
        status = "okay";
};

&vopl_mmu {
        status = "okay";
};
     

&vopb {
        status = "okay";
};

&vopb_mmu {
        status = "okay";
};

&hdmi {
        ddc-i2c-bus = <&i2c7>;
        pinctrl-names = "default";
        pinctrl-0 = <&hdmi_cec>;
        status = "okay";
};

同时需要将edp更改为禁用状态；

&edp {
        status = "disabled";
        ....    
};

4.6 编译内核

在linux内核根目录下执行如下命令：

root@zhengyang:/work/sambashare/rk3399/linux-6.3# make -j8

编译完成，在arch/arm64/boot/文件夹下生成Image镜像文件，以及设备树dst/rockchip/xxx.dtb文件；

root@zhengyang:/work/sambashare/rk3399/linux-6.3# ll arch/arm64/boot/
总用量 52836
drwxrwxr-x  3 root root     4096 Jun 12 23:10 ./
drwxrwxr-x 14 root root     4096 Jun 12 22:54 ../
drwxrwxr-x 35 root root     4096 Apr 24 03:02 dts/
-rw-rw-r--  1 root root       64 Apr 24 03:02 .gitignore
-rw-r--r--  1 root root 40665600 Jun 12 23:10 Image
-rw-r--r--  1 root root      139 Jun 12 23:10 .Image.cmd
-rw-r--r--  1 root root 13585031 Jun 12 23:10 Image.gz
-rw-r--r--  1 root root      106 Jun 12 23:10 .Image.gz.cmd
-rwxrwxr-x  1 root root      962 Apr 24 03:02 install.sh*
-rw-rw-r--  1 root root     1198 Apr 24 03:02 Makefile
root@zhengyang:/work/sambashare/rk3399/linux-6.3/arch/arm64/boot/dts/rockchip# ls *rk3399*.dtb
rk3399-eaidk-610.dtb         rk3399-gru-scarlet-kd.dtb       rk3399-nanopi-m4b.dtb             rk3399pro-rock-pi-n10.dtb   rk3399-rock-pi-4c.dtb
rk3399-evb.dtb               rk3399-hugsun-x99.dtb           rk3399-nanopi-m4.dtb              rk3399-puma-haikou.dtb      rk3399-rockpro64.dtb
rk3399-ficus.dtb             rk3399-khadas-edge-captain.dtb  rk3399-nanopi-neo4.dtb            rk3399-rock-4c-plus.dtb     rk3399-rockpro64-v2.dtb
rk3399-firefly.dtb           rk3399-khadas-edge.dtb          rk3399-nanopi-r4s.dtb             rk3399-rock960.dtb          rk3399-roc-pc.dtb
rk3399-gru-bob.dtb           rk3399-khadas-edge-v.dtb        rk3399-nanopi-r4s-enterprise.dtb  rk3399-rock-pi-4a.dtb       rk3399-roc-pc-mezzanine.dtb
rk3399-gru-kevin.dtb         rk3399-kobol-helios64.dtb       rk3399-orangepi.dtb               rk3399-rock-pi-4a-plus.dtb  rk3399-roc-pc-plus.dtb
rk3399-gru-scarlet-dumo.dtb  rk3399-leez-p710.dtb            rk3399-pinebook-pro.dtb           rk3399-rock-pi-4b.dtb       rk3399-sapphire.dtb
rk3399-gru-scarlet-inx.dtb   rk3399-nanopc-t4.dtb            rk3399-pinephone-pro.dtb          rk3399-rock-pi-4b-plus.dtb  rk3399-sapphire-excavator.dtb

4.7 创建its文件

因为mkimage是根据its文件中的描述来打包镜像生成itb文件（FIT uImage），所以首先需要制作一个its文件，在its文件中描述需要被打包的镜像，主要是kernel镜像，dtb文件。

我们创建一个kernel.its文件，内容如下：

/*
 * Simple U-Boot uImage source file containing a single kernel and FDT blob
 */
/dts-v1/;

/ {
        description = "Simple image with single Linux kernel and FDT blob";
        #address-cells = <1>;

        images {

                kernel {
                        description = "Vanilla Linux kernel";
                        data = /incbin/("arch/arm64/boot/Image.gz");
                        type = "kernel";
                        arch = "arm64";
                        os = "linux";
                        compression = "gzip";
                        load = <0x280000>;
                        entry = <0x280000>;
                        hash-1 {
                                algo = "crc32";
                        };
                        hash-2 {
                                algo = "sha1";
                        };
                };

               fdt {
                        description = "Flattened Device Tree blob";
                        data = /incbin/("arch/arm64/boot/dts/rockchip/rk3399-evb.dtb");
                        type = "flat_dt";
                        arch = "arm64";
                        compression = "none";
                        load = <0x8300000>;
                        entry = <0x8300000>;
                        hash-1 {
                                algo = "crc32";
                        };
                        hash-2 {
                                algo = "sha1";
                        };
                };

        };

        configurations {
                default = "conf-1";
                conf-1 {
                        description = "Boot Linux kernel with FDT blob";
                        kernel = "kernel";
                        fdt = "fdt";
                };
        };
};

View Code

4.8 生成kernel.itb

在制作kernel.itb时编译命令和Rockchip RK3399 - 移植linux 5.2.8中说的略有不同，这里我们需要将u-boot-2023.04路径下的mkimage工具拷贝过来，然后在命令行使用mkimage工具编译即可：

root@zhengyang:/work/sambashare/rk3399/linux-6.3# cp ../u-boot-2023.04/tools/mkimage ./
root@zhengyang:/work/sambashare/rk3399/linux-6.3# ./mkimage -f kernel.its kernel.itb

需要注意的是这里一定不能指定-E参数，不然uboot在进行kernel镜像hash校验的时候就会失败。

五、烧录测试

由于我们每次修改程序后，重新编译步骤比较麻烦，这里我们可以将这些步骤编写成一个shell脚本，这样每次执行就比较容易了。

5.1 自动构建脚本

在uboot根目录下创建一个build.sh文件：

#!/bin/bash

# 接收第一个参数 支持 ''|'config'|'clean'
step=$1
# 接收 V=1  支持编译输出详细信息
V=$2
cmd=${V%=*}


if [[ ${cmd} = 'V' ]]; then
    V=${V#*=}
fi

if [[ ${step} == "config" ]];then
    echo '----------------config evb-rk3399_defconfig------- -------------'
    make evb-rk3399_defconfig V=${V}
fi

if [[ -z ${step} ]];then
    echo "---------------1. compile uboot-------------------------------- "
    make ARCH=arm CROSS_COMPILE=arm-linux- V=${V}
    echo "---------------2. mkimahe idbloader----------------------------"
    tools/mkimage -n rk3399 -T rksd -d tpl/u-boot-tpl.bin idbloader.img
    cat spl/u-boot-spl.bin >> idbloader.img
    echo "---------------3. make itb-------------------------------------"
    make u-boot.itb ARCH=arm CROSS_COMPILE=arm-linux-
    cp ./u-boot.itb ../rkdeveloptool
    cp ./idbloader.img ../rkdeveloptool
fi


if [[ ${step} == "clean" ]];then
    echo "-----------------clean-----------------------------------------"
    make clean
make distclean
fi

然后给文件赋予可执行权限：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04#  chmod +x build.sh

5.1.1 clean

执行如下命令进行清理：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04#  ./build.sh clean

5.1.2 配置

执行如下命令进行uboot配置：

root@zhengyang:/work/sambashare/rk3399/u-boot# ./build.sh config
----------------config evb-rk3399_defconfig------- -------------
  HOSTCC  scripts/basic/fixdep
  HOSTCC  scripts/kconfig/conf.o
  HOSTCC  scripts/kconfig/zconf.tab.o
  HOSTLD  scripts/kconfig/conf
#
# configuration written to .config
#

5.1.3 构建

执行如下命令进行uboot编译、生成idbloader.img、 u-boot.itb文件，并拷贝到rkdeveloptool目录下：

root@zhengyang:/work/sambashare/rk3399/u-boot-2023.04# ./build.sh

如果需要输出编译详情信息，追加V=1参数即可。

5.2 烧录uboot

烧录方法有两种：

一种是基于Rockchip的官方烧录工具RKDevTool；官方RKDevTool是基于recovery模式实现的，如果板子带有recovery按键，可以使用这种方式；
另外一种是在开发板上使用rkdeveloptool工具直接烧写eMMC；这里我们采用rkdeveloptool烧录的方式；

5.2.1 准备镜像

我们需按照之前的流程得到了idbloader.img、u-boot.itb文件，由于我们这里不进行内核和根文件系统的烧录，所以暂时不需要准备这俩。

按照Rockchip官方要求将idbloader.img烧录到eMMC的0x40扇区，u-boot.itb烧录到0x4000扇区。

我们需要将idbloader.img、u-boot.itb、kernel.itb拷贝到rkdeveloptool路径下：

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# cp ../u-boot-2023.04/u-boot.itb ./
root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# cp ../linux-6.3/kernel.itb ./

5.2.2 进入MASKROM升级模式

NanoPC-T4开发板如需进入MASKROM升级模式，需要进入如下操作：

将开发板连接上电源，并且连接Type-C数据线到PC；
按住BOOT键再长按Power键开机（保持按下BOOT键5秒以上），将强制进入MASKROM模式。

一般电脑识别到USB连接，都会发出声音。或者观察虚拟机右下角是否突然多个USB设备：右键点击链接；

5.2.3 下载uboot

使用下载引导命令去使目标机器初始化DDR与运行usbplug（初始化DDR的原因是由于升级需要很大的内存，所以需要使用到DDR）；

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool db rk3399_loader_v1.27.126.bin
Downloading bootloader succeeded.

由于BootROM启动会将rk3399_loader_v1.27.126.bin将在到内部SRAM中，然后跳转到ddr.bin代码进行DDR的初始化，ddr.bin执行之后会回跳到BootROM程序，BootROM程序继续加载usbplug.bin，由usbplug.bin完成程序的下载以及烧录到eMMC。

如果接上串口的话，执行完这一步可以看到如下输出信息：

DDR Version 1.27 20211018
In
Channel 0: LPDDR3, 800MHz
CS = 0
MR0=0x58
MR1=0x58
MR2=0x58
MR3=0x58
MR4=0x2
MR5=0x1
MR6=0x5
MR7=0x0
MR8=0x1F
MR9=0x1F
MR10=0x1F
MR11=0x1F
MR12=0x1F
MR13=0x1F
MR14=0x1F
MR15=0x1F
MR16=0x1F
CS = 1
MR0=0x58
MR1=0x58
MR2=0x58
MR3=0x58
MR4=0x2
MR5=0x1
MR6=0x5
MR7=0x0
MR8=0x1F
MR9=0x1F
MR10=0x1F
MR11=0x1F
MR12=0x1F
MR13=0x1F
MR14=0x1F
MR15=0x1F
MR16=0x1F
Bus Width=32 Col=10 Bank=8 Row=15/15 CS=2 Die Bus-Width=32 Size=2048MB
Channel 1: LPDDR3, 800MHz
CS = 0
MR0=0x58
MR1=0x58
MR2=0x58
MR3=0x58
MR4=0x2
MR5=0x1
MR6=0x5
MR7=0x0
MR8=0x1F
MR9=0x1F
MR10=0x1F
MR11=0x1F
MR12=0x1F
MR13=0x1F
MR14=0x1F
MR15=0x1F
MR16=0x1F
CS = 1
MR0=0x58
MR1=0x58
MR2=0x58
MR3=0x58
MR4=0x2
MR5=0x1
MR6=0x5
MR7=0x0
MR8=0x1F
MR9=0x1F
MR10=0x1F
MR11=0x1F
MR12=0x1F
MR13=0x1F
MR14=0x1F
MR15=0x1F
MR16=0x1F
Bus Width=32 Col=10 Bank=8 Row=15/15 CS=2 Die Bus-Width=32 Size=2048MB
256B stride
ch 0 ddrconfig = 0x101, ddrsize = 0x2020
ch 1 ddrconfig = 0x101, ddrsize = 0x2020
pmugrf_os_reg[2] = 0x3AA0DAA0, stride = 0xD
OUT
Boot1 Release Time: Jun  2 2020 15:02:17, version: 1.26
CPUId = 0x0
SdmmcInit=2 0
BootCapSize=100000
UserCapSize=14910MB
FwPartOffset=2000 , 100000
UsbBoot ...73858
powerOn 86071

View Code

使用wl命令烧写镜像到目标机器的eMMC，需要注意的是访问DDR所需的所有其他命令都应在使用db命令之后才能使用；

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool wl 0x40 idbloader.img
Write LBA from file (100%)
root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool wl 0x4000 u-boot.itb
Write LBA from file (100%)

如果有制作好ext4类型的根文件系统，可以将根文件系统烧录到eMMC 0x40000扇区处，烧录命令：

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool wl 0x40000 busybox_ext4_rootfs.img

在烧写镜像完成后使用rd命令重启目标机器：

root@zhengyang:/work/sambashare/rk3399/rkdeveloptool# rkdeveloptool rd
Reset Device OK.

需要注意的是：如果这个时候你也烧录了内核程序，执行完rd命令后是无法进入uboot命令的的，这里会直接启动内核。

5.3 测试u-boot

5.3.1 串口连接

使用准备好的USB转串口适配器和连接线(需另购)，连接开发板:

引脚	开发板接口	USB转串口
1	GNC	-
2	VCC 5V	-
3	UART2DBG_TX	RX
4	UART2DBG_RX	TX

5.3.2 MobaXterm

这里我使用的串口调试工具是MobaXterm，选择串口端口，设置波特率为115200，8位数据位，1位停止位。

5.3.3 上电

给开发板上电，通过串口打印输出：

U-Boot TPL 2023.04 (May 21 2023 - 17:50:22)
Channel 0: LPDDR3, 800MHz
BW=32 Col=10 Bk=8 CS0 Row=15 CS1 Row=15 CS=2 Die BW=16 Size=2048MB
Channel 1: LPDDR3, 800MHz
BW=32 Col=10 Bk=8 CS0 Row=15 CS1 Row=15 CS=2 Die BW=16 Size=2048MB
256B stride
Trying to boot from BOOTROM
Returning to boot ROM...

U-Boot SPL 2023.04 (May 21 2023 - 17:50:22 +0800)
Trying to boot from MMC2
spl_load_fit_image: Skip load 'atf@5': image size is 0!
cannot find image node 'atf@6': -1
NOTICE:  BL31: v2.8(release):c194aa0
NOTICE:  BL31: Built : 19:26:54, May 11 2023


U-Boot 2023.04 (May 21 2023 - 17:50:25 +0800)

SoC: Rockchip rk3399
Reset cause: RST
Model: Rockchip RK3399 Evaluation Board
DRAM:  4 GiB (effective 3.9 GiB)
Core:  254 devices, 27 uclasses, devicetree: separate
MMC:   mmc@fe320000: 1, mmc@fe330000: 0
Loading Environment from MMC... OK
In:    serial
Out:   serial
Err:   serial
Model: Rockchip RK3399 Evaluation Board
Net:   eth0: ethernet@fe300000
Hit any key to stop autoboot:  0

在倒计时执行完之前，按CTRL+C即可进入uboot命令行。

5.3.4 设置ip以及bootargs

这里我们这是本机和服务器的ip地址：

=> setenv ipaddr 192.168.0.105
=> setenv serverip 192.168.0.200
=> saveenv
Saving Environment to MMC... Writing to MMC(0)... OK

ARM64，在kernel未建立console之前，使用earlycon，实现日志信息的打印，因此需要配置bootargs，要加入如下选项：

earlycon=uart8250,mmio32,0xff1a0000,115200n8

其中uart8250表示针对uart8250这个串口设备，mio32表示内存I/O资源32位，0xff1a0000是RK3399串口2寄存器基地址，115200表示串口波特率。

uart8250串口驱动定义在内核根目录drivers/tty/serial/8250/8250_early.c文件中：

EARLYCON_DECLARE(uart8250, early_serial8250_setup);

有关uart8250串口驱动是如何注册的，这里就不过多介绍了，具体可以参考ARM64是怎样使用earlycon实现打印的。

我们在uboot命令行设置：

=> setenv bootargs earlycon=uart8250,mmio32,0xff1a0000 console=ttyS2,115200n8 root=PARTUUID=B921B045-1D rw rootwait rootfstype=ext4 init=/sbin/init
=> saveenv
Saving Environment to MMC... Writing to MMC(0)... OK
=> print bootargs
bootargs=earlycon=uart8250,mmio32,0xff1a0000 console=ttyS2,115200n8 root=PARTUUID=B921B045-1D rw rootwait rootfstype=ext4 init=/sbin/init

这里我通过root属性指定了根文件系统所在位置，这里我使用的ext4类型的根文件系统。

5.3.5 mmc

查看mmc信息：

=> mmc list
mmc@fe320000: 1
mmc@fe330000: 0 (eMMC)
=> mmc info
Device: mmc@fe330000
Manufacturer ID: 15
OEM: 0
Name: AJNB4R
Bus Speed: 200000000
Mode: HS200 (200MHz)
Rd Block Len: 512
MMC version 5.1
High Capacity: Yes
Capacity: 14.6 GiB
Bus Width: 8-bit
Erase Group Size: 512 KiB
HC WP Group Size: 8 MiB
User Capacity: 14.6 GiB WRREL
Boot Capacity: 4 MiB ENH
RPMB Capacity: 4 MiB ENH
Boot area 0 is not write protected
Boot area 1 is not write protected

从上图中可以看到MMC设备版本为5.1， 14.6GiB(eMMC为16GB)，速度为20000000Hz=200MHz， 8 位宽的总线。

5.4 烧录内核

5.4.1 下载kernel

我们将内核拷贝到tftp文件目录：

root@zhengyang:/work/sambashare/rk3399/linux-6.3# cp kernel.itb /work/tftpboot/

接着通过uboot命令行将kernel.itb下到内存地址0x10000000处：

=> tftp 0x10000000 kernel.itb
ethernet@fe300000 Waiting for PHY auto negotiation to complete.... done
Speed: 100, full duplex
Using ethernet@fe300000 device
TFTP from server 192.168.0.200; our IP address is 192.168.0.105
Filename 'kernel.itb'.
Load address: 0x10000000
Loading: ###################################T #T #############################
         #################################################################
         #################################################################
         ############T #####################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         ###########################################T ######################
         #################################################################
         ####################
         434.6 KiB/s
done
Bytes transferred = 13642712 (d02bd8 hex)

通过mmc write命令将内核镜像烧录到eMMC第0x8000个扇区处：

=> mmc erase 0x8000 0xA000

MMC erase: dev # 0, block # 32768, count 40960 ... 40960 blocks erased: OK
=>  mmc write 0x10000000 0x8000 0xA000

MMC write: dev # 0, block # 32768, count 40960 ... 40960 blocks written: OK

这里cnt传入的是0xA000，即写入大小为20MB，已经大于kernel.itb文件大小了。

5.4.2 bootm启动内核

在uboot命令行运行bootm 0x10000000命令启动内核：

=> bootm 0x10000000
## Loading kernel from FIT Image at 10000000 ...
   Using 'conf-1' configuration
   Trying 'kernel' kernel subimage
     Description:  Vanilla Linux kernel
     Type:         Kernel Image
     Compression:  gzip compressed
     Data Start:   0x100000e8
     Data Size:    13585031 Bytes = 13 MiB
     Architecture: AArch64
     OS:           Linux
     Load Address: 0x00280000
     Entry Point:  0x00280000
     Hash algo:    crc32
     Hash value:   0578d39a
     Hash algo:    sha1
     Hash value:   f0790b17a3b016447624a6bb92736363d57a01ef
   Verifying Hash Integrity ... crc32+ sha1+ OK
bootm_find_os images.os.load=0x280000  # kernel.its文件中kernel节点配置的"load"属性
bootm_find_os images.ep=0x280000       # kernel.its文件中kernel节点配置的"entry"属性
bootm_find_os images.os.image_start=0x100000e8
## Loading fdt from FIT Image at 10000000 ...
   Using 'conf-1' configuration
   Trying 'fdt' fdt subimage
     Description:  Flattened Device Tree blob
     Type:         Flat Device Tree
     Compression:  uncompressed
     Data Start:   0x10cf4c98
     Data Size:    55777 Bytes = 54.5 KiB
     Architecture: AArch64
     Load Address: 0x08300000
     Hash algo:    crc32
     Hash value:   c39db312
     Hash algo:    sha1
     Hash value:   9e46b71eeb21f56806f66781dac12415cb25335b
   Verifying Hash Integrity ... crc32+ sha1+ OK
   Loading fdt from 0x10cf4c98 to 0x08300000
   Booting using the fdt blob at 0x8300000
Working FDT set to 8300000
   Uncompressing Kernel Image
   kernel loaded at 0x00280000, end = 0x02948200
bootm_load_os 0x20000000=0x5aa5f00f
bootm_load_os 0x20000010=0xffffffff
   Loading Device Tree to 00000000f4601000, end 00000000f46119e0 ... OK
Working FDT set to f4601000
## Transferring control to Linux (at address 280000)...
boot_jump_linux 0x280000=0xfa405a4d      # 解压缩之后得到Image镜像，并加载到0x280000地址处
boot_jump_linux 0x280004=0x1469d827
boot_jump_linux 0x280014=0x0
boot_jump_linux 0xf4601000=0xedfe0dd0    #fdt镜像加载到0xf45e2000地址处
boot_jump_linux 0xf4601004=0xe00000
boot_jump_linux 0xf4601014=0x11000000

Starting kernel ...

上面的日志信息里，我打印了内存地址0x280000、0x280004、0x280014处的数据，可以看到和Image镜像文件的内容是一样的。

同时也打印了内存地址0xf45e2000、0xf45e2004、0xf45e2014处的数据，这里地址0xf45e2004和rk3399-evb.dtb镜像文件内容不太一样，这个字段是表示itb文件大小的（可能uboot修改了这个字段的值），其它两个地址数据一样的。

这里说明uboot已经成功解压了zImage，并将解压后的Image加载到了0x280000地址处，这个地址就是我们在kernel.its文件kernel节点load属性指定的地址。

但是设备树的地址我们在kernel.its文件fdt节点load属性指定的地址为0x8300000，这里却被uboot重定位到了f4601000；

Working FDT set to 8300000
   Uncompressing Kernel Image
   kernel loaded at 0x00280000, end = 0x02948200
bootm_load_os 0x20000000=0x5aa5f00f
bootm_load_os 0x20000010=0xffffffff
   Loading Device Tree to 00000000f4601000, end 00000000f46119e0 ... OK
Working FDT set to f4601000

不过这并不重要，因为它并不影响内核的启动。我们把内核启动的全部内容显示出来：

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd034]
[    0.000000] Linux version 6.3.0 (root@zhengyang) (arm-linux-gcc (Arm GNU Toolchain 12.2.Rel1 (Build arm-12.24)) 12.2.1 20221205, GNU ld (Arm GNU Toolchain 12.2.Rel1 (Build arm-12.24)) 2.39.0.20221210) #10 SMP PREEMPT Tue Jun 13 20:34:22 CST 2023
[    0.000000] Machine model: Rockchip RK3399 Evaluation Board
[    0.000000] earlycon: uart8250 at MMIO32 0x00000000ff1a0000 (options '')
[    0.000000] printk: bootconsole [uart8250] enabled
[    0.000000] efi: UEFI not found.
[    0.000000] [Firmware Bug]: Kernel image misaligned at boot, please fix your bootloader!
[    0.000000] NUMA: No NUMA configuration found
[    0.000000] NUMA: Faking a node at [mem 0x0000000000200000-0x00000000f7ffffff]
[    0.000000] NUMA: NODE_DATA [mem 0xf77ea9c0-0xf77ecfff]
[    0.000000] Zone ranges:
[    0.000000]   DMA      [mem 0x0000000000200000-0x00000000f7ffffff]
[    0.000000]   DMA32    empty
[    0.000000]   Normal   empty
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x0000000000200000-0x00000000f7ffffff]
[    0.000000] Initmem setup node 0 [mem 0x0000000000200000-0x00000000f7ffffff]
[    0.000000] On node 0, zone DMA: 512 pages in unavailable ranges
[    0.000000] cma: Reserved 32 MiB at 0x00000000f5600000
[    0.000000] psci: probing for conduit method from DT.
[    0.000000] psci: PSCIv1.1 detected in firmware.
[    0.000000] psci: Using standard PSCI v0.2 function IDs
[    0.000000] psci: MIGRATE_INFO_TYPE not supported.
[    0.000000] psci: SMC Calling Convention v1.2
[    0.000000] percpu: Embedded 22 pages/cpu s50472 r8192 d31448 u90112
[    0.000000] Detected VIPT I-cache on CPU0
[    0.000000] CPU features: detected: GIC system register CPU interface
[    0.000000] CPU features: detected: ARM erratum 845719
[    0.000000] alternatives: applying boot alternatives
[    0.000000] Fallback order for Node 0: 0
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 999432
[    0.000000] Policy zone: DMA
[    0.000000] Kernel command line: earlycon=uart8250,mmio32,0xff1a0000 console=tty0 console=ttyS2,115200n8 root=PARTUUID=B921B045-1D rw rootwait rootfstype=ext4 init=/sbin/init
[    0.000000] Dentry cache hash table entries: 524288 (order: 10, 4194304 bytes, linear)
[    0.000000] Inode-cache hash table entries: 262144 (order: 9, 2097152 bytes, linear)
[    0.000000] mem auto-init: stack:all(zero), heap alloc:off, heap free:off
[    0.000000] Memory: 3909540K/4061184K available (16832K kernel code, 4192K rwdata, 10164K rodata, 8384K init, 607K bss, 118876K reserved, 32768K cma-reserved)
[    0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=6, Nodes=1
[    0.000000] rcu: Preemptible hierarchical RCU implementation.
[    0.000000] rcu:     RCU event tracing is enabled.
[    0.000000] rcu:     RCU restricting CPUs from NR_CPUS=256 to nr_cpu_ids=6.
[    0.000000]  Trampoline variant of Tasks RCU enabled.
[    0.000000]  Tracing variant of Tasks RCU enabled.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
[    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=6
[    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[    0.000000] GICv3: GIC: Using split EOI/Deactivate mode
[    0.000000] GICv3: 256 SPIs implemented
[    0.000000] GICv3: 0 Extended SPIs implemented
[    0.000000] Root IRQ handler: gic_handle_irq
[    0.000000] GICv3: GICv3 features: 16 PPIs
[    0.000000] GICv3: CPU0: found redistributor 0 region 0:0x00000000fef00000
[    0.000000] ITS [mem 0xfee20000-0xfee3ffff]
[    0.000000] ITS@0x00000000fee20000: allocated 65536 Devices @2c80000 (flat, esz 8, psz 64K, shr 0)
[    0.000000] ITS: using cache flushing for cmd queue
[    0.000000] GICv3: using LPI property table @0x0000000002c40000
[    0.000000] GIC: using cache flushing for LPI property table
[    0.000000] GICv3: CPU0: using allocated LPI pending table @0x0000000002c50000
[    0.000000] GICv3: GIC: PPI partition interrupt-partition-0[0] { /cpus/cpu@0[0] /cpus/cpu@1[1] /cpus/cpu@2[2] /cpus/cpu@3[3] }
[    0.000000] GICv3: GIC: PPI partition interrupt-partition-1[1] { /cpus/cpu@100[4] /cpus/cpu@101[5] }
[    0.000000] rcu: srcu_init: Setting srcu_struct sizes based on contention.
[    0.000000] arch_timer: cp15 timer(s) running at 24.00MHz (phys).
[    0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0x588fe9dc0, max_idle_ns: 440795202592 ns
[    0.000001] sched_clock: 56 bits at 24MHz, resolution 41ns, wraps every 4398046511097ns
[    0.013109] Console: colour dummy device 80x25
[    0.018014] printk: console [tty0] enabled
[    0.023578] Calibrating delay loop (skipped), value calculated using timer frequency.. 48.00 BogoMIPS (lpj=96000)
[    0.034909] pid_max: default: 32768 minimum: 301
[    0.040105] LSM: initializing lsm=capability,integrity
[    0.045942] Mount-cache hash table entries: 8192 (order: 4, 65536 bytes, linear)
[    0.054130] Mountpoint-cache hash table entries: 8192 (order: 4, 65536 bytes, linear)
[    0.065451] cblist_init_generic: Setting adjustable number of callback queues.
[    0.073479] cblist_init_generic: Setting shift to 3 and lim to 1.
[    0.080319] cblist_init_generic: Setting shift to 3 and lim to 1.
[    0.087362] rcu: Hierarchical SRCU implementation.
[    0.092666] rcu:     Max phase no-delay instances is 1000.
[    0.098823] Platform MSI: msi-controller@fee20000 domain created
[    0.105882] PCI/MSI: /interrupt-controller@fee00000/msi-controller@fee20000 domain created
[    0.115273] fsl-mc MSI: msi-controller@fee20000 domain created
[    0.128185] EFI services will not be available.
[    0.133726] smp: Bringing up secondary CPUs ...
[    0.139533] Detected VIPT I-cache on CPU1
[    0.139614] GICv3: CPU1: found redistributor 1 region 0:0x00000000fef20000
[    0.139638] GICv3: CPU1: using allocated LPI pending table @0x0000000002c60000
[    0.139698] CPU1: Booted secondary processor 0x0000000001 [0x410fd034]
[    0.140573] Detected VIPT I-cache on CPU2
[    0.140635] GICv3: CPU2: found redistributor 2 region 0:0x00000000fef40000
[    0.140654] GICv3: CPU2: using allocated LPI pending table @0x0000000002c70000
[    0.140694] CPU2: Booted secondary processor 0x0000000002 [0x410fd034]
[    0.141463] Detected VIPT I-cache on CPU3
[    0.141525] GICv3: CPU3: found redistributor 3 region 0:0x00000000fef60000
[    0.141543] GICv3: CPU3: using allocated LPI pending table @0x0000000002d00000
[    0.141581] CPU3: Booted secondary processor 0x0000000003 [0x410fd034]
[    0.142388] CPU features: detected: Spectre-v2
[    0.142401] CPU features: detected: Spectre-v3a
[    0.142411] CPU features: detected: Spectre-BHB
[    0.142422] CPU features: detected: ARM erratum 1742098
[    0.142430] CPU features: detected: ARM errata 1165522, 1319367, or 1530923
[    0.142436] Detected PIPT I-cache on CPU4
[    0.142507] GICv3: CPU4: found redistributor 100 region 0:0x00000000fef80000
[    0.142526] GICv3: CPU4: using allocated LPI pending table @0x0000000002d10000
[    0.142566] CPU4: Booted secondary processor 0x0000000100 [0x410fd082]
[    0.143449] Detected PIPT I-cache on CPU5
[    0.143510] GICv3: CPU5: found redistributor 101 region 0:0x00000000fefa0000
[    0.143528] GICv3: CPU5: using allocated LPI pending table @0x0000000002d20000
[    0.143561] CPU5: Booted secondary processor 0x0000000101 [0x410fd082]
[    0.143676] smp: Brought up 1 node, 6 CPUs
[    0.312533] SMP: Total of 6 processors activated.
[    0.317733] CPU features: detected: 32-bit EL0 Support
[    0.323422] CPU features: detected: 32-bit EL1 Support
[    0.329097] CPU features: detected: CRC32 instructions
[    0.334912] CPU: All CPU(s) started at EL2
[    0.339469] alternatives: applying system-wide alternatives
[    0.349523] devtmpfs: initialized
[    0.364959] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
[    0.375717] futex hash table entries: 2048 (order: 5, 131072 bytes, linear)
[    0.384171] pinctrl core: initialized pinctrl subsystem
[    0.392872] DMI not present or invalid.
[    0.397977] NET: Registered PF_NETLINK/PF_ROUTE protocol family
[    0.406071] DMA: preallocated 512 KiB GFP_KERNEL pool for atomic allocations
[    0.414299] DMA: preallocated 512 KiB GFP_KERNEL|GFP_DMA pool for atomic allocations
[    0.423204] DMA: preallocated 512 KiB GFP_KERNEL|GFP_DMA32 pool for atomic allocations
[    0.431973] audit: initializing netlink subsys (disabled)
[    0.438141] audit: type=2000 audit(0.300:1): state=initialized audit_enabled=0 res=1
[    0.439821] thermal_sys: Registered thermal governor 'step_wise'
[    0.446700] thermal_sys: Registered thermal governor 'power_allocator'
[    0.453384] cpuidle: using governor menu
[    0.465151] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[    0.472830] ASID allocator initialised with 65536 entries
[    0.481540] Serial: AMBA PL011 UART driver
[    0.514068] platform fe330000.mmc: Fixed dependency cycle(s) with /syscon@ff770000/phy@f780
[    0.527861] platform ff940000.hdmi: Fixed dependency cycle(s) with /vop@ff8f0000/port/endpoint@2
[    0.537554] platform ff940000.hdmi: Fixed dependency cycle(s) with /vop@ff900000/port/endpoint@2
[    0.553098] gpio gpiochip0: Static allocation of GPIO base is deprecated, use dynamic allocation.
[    0.563190] rockchip-gpio ff720000.gpio: probed /pinctrl/gpio@ff720000
[    0.570872] gpio gpiochip1: Static allocation of GPIO base is deprecated, use dynamic allocation.
[    0.580854] rockchip-gpio ff730000.gpio: probed /pinctrl/gpio@ff730000
[    0.588446] gpio gpiochip2: Static allocation of GPIO base is deprecated, use dynamic allocation.
[    0.598423] rockchip-gpio ff780000.gpio: probed /pinctrl/gpio@ff780000
[    0.606080] gpio gpiochip3: Static allocation of GPIO base is deprecated, use dynamic allocation.
[    0.616047] rockchip-gpio ff788000.gpio: probed /pinctrl/gpio@ff788000
[    0.623640] gpio gpiochip4: Static allocation of GPIO base is deprecated, use dynamic allocation.
[    0.633599] rockchip-gpio ff790000.gpio: probed /pinctrl/gpio@ff790000
[    0.645353] KASLR disabled due to lack of seed
[    0.651086] HugeTLB: registered 1.00 GiB page size, pre-allocated 0 pages
[    0.658571] HugeTLB: 0 KiB vmemmap can be freed for a 1.00 GiB page
[    0.665471] HugeTLB: registered 32.0 MiB page size, pre-allocated 0 pages
[    0.672946] HugeTLB: 0 KiB vmemmap can be freed for a 32.0 MiB page
[    0.679841] HugeTLB: registered 2.00 MiB page size, pre-allocated 0 pages
[    0.687317] HugeTLB: 0 KiB vmemmap can be freed for a 2.00 MiB page
[    0.694212] HugeTLB: registered 64.0 KiB page size, pre-allocated 0 pages
[    0.701686] HugeTLB: 0 KiB vmemmap can be freed for a 64.0 KiB page
[    0.710727] ACPI: Interpreter disabled.
[    0.720526] iommu: Default domain type: Translated
[    0.725908] iommu: DMA domain TLB invalidation policy: strict mode
[    0.733129] SCSI subsystem initialized
[    0.737778] usbcore: registered new interface driver usbfs
[    0.743856] usbcore: registered new interface driver hub
[    0.749757] usbcore: registered new device driver usb
[    0.756953] pps_core: LinuxPPS API ver. 1 registered
[    0.762431] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux.it>
[    0.772495] PTP clock support registered
[    0.777057] EDAC MC: Ver: 3.0.0
[    0.781570] scmi_core: SCMI protocol bus registered
[    0.788163] FPGA manager framework
[    0.792025] Advanced Linux Sound Architecture Driver Initialized.
[    0.799773] vgaarb: loaded
[    0.803133] clocksource: Switched to clocksource arch_sys_counter
[    0.810077] VFS: Disk quotas dquot_6.6.0
[    0.814451] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
[    0.822222] pnp: PnP ACPI: disabled
[    0.836111] NET: Registered PF_INET protocol family
[    0.841763] IP idents hash table entries: 65536 (order: 7, 524288 bytes, linear)
[    0.854222] tcp_listen_portaddr_hash hash table entries: 2048 (order: 3, 32768 bytes, linear)
[    0.863731] Table-perturb hash table entries: 65536 (order: 6, 262144 bytes, linear)
[    0.872279] TCP established hash table entries: 32768 (order: 6, 262144 bytes, linear)
[    0.881351] TCP bind hash table entries: 32768 (order: 8, 1048576 bytes, linear)
[    0.890767] TCP: Hash tables configured (established 32768 bind 32768)
[    0.898104] UDP hash table entries: 2048 (order: 4, 65536 bytes, linear)
[    0.905638] UDP-Lite hash table entries: 2048 (order: 4, 65536 bytes, linear)
[    0.913764] NET: Registered PF_UNIX/PF_LOCAL protocol family
[    0.920458] RPC: Registered named UNIX socket transport module.
[    0.926992] RPC: Registered udp transport module.
[    0.932177] RPC: Registered tcp transport module.
[    0.937354] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    0.944464] PCI: CLS 0 bytes, default 64
[    0.949954] hw perfevents: enabled with armv8_cortex_a53 PMU driver, 7 counters available
[    0.959485] hw perfevents: enabled with armv8_cortex_a72 PMU driver, 7 counters available
[    0.969106] kvm [1]: IPA Size Limit: 40 bits
[    0.976120] kvm [1]: vgic-v2@fff20000
[    0.980204] kvm [1]: GIC system register CPU interface enabled
[    0.986676] kvm [1]: vgic interrupt IRQ18
[    0.991150] kvm [1]: Hyp mode initialized successfully
[    0.998787] Initialise system trusted keyrings
[    1.003910] workingset: timestamp_bits=42 max_order=20 bucket_order=0
[    1.011432] squashfs: version 4.0 (2009/01/31) Phillip Lougher
[    1.018176] NFS: Registering the id_resolver key type
[    1.023780] Key type id_resolver registered
[    1.028394] Key type id_legacy registered
[    1.032831] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
[    1.040219] nfs4flexfilelayout_init: NFSv4 Flexfile Layout Driver Registering...
[    1.048573] 9p: Installing v9fs 9p2000 file system support
[    1.119296] Key type asymmetric registered
[    1.123820] Asymmetric key parser 'x509' registered
[    1.129248] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 244)
[    1.137396] io scheduler mq-deadline registered
[    1.142393] io scheduler kyber registered
[    1.146849] io scheduler bfq registered
[    1.180430] EINJ: ACPI disabled.
[    1.231249] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[    1.242233] printk: console [ttyS2] disabled
[    1.247034] ff1a0000.serial: ttyS2 at MMIO 0xff1a0000 (irq = 35, base_baud = 1500000) is a 16550A
[    1.257065] printk: console [ttyS2] enabled
[    1.257065] printk: console [ttyS2] enabled
[    1.266470] printk: bootconsole [uart8250] disabled
[    1.266470] printk: bootconsole [uart8250] disabled
[    1.281782] SuperH (H)SCI(F) driver initialized
[    1.288044] msm_serial: driver initialized
[    1.299601] rockchip-vop ff8f0000.vop: Adding to iommu group 2
[    1.306774] rockchip-vop ff900000.vop: Adding to iommu group 3
[    1.318768] rockchip-drm display-subsystem: bound ff8f0000.vop (ops vop_component_ops)
[    1.327772] [drm] unsupported AFBC format[3231564e]
[    1.334310] rockchip-drm display-subsystem: bound ff900000.vop (ops vop_component_ops)
[    1.343313] dwhdmi-rockchip ff940000.hdmi: supply avdd-0v9 not found, using dummy regulator
[    1.352821] dwhdmi-rockchip ff940000.hdmi: supply avdd-1v8 not found, using dummy regulator
[    1.370531] loop: module loaded
[    1.376007] megasas: 07.725.01.00-rc1
[    1.392334] tun: Universal TUN/TAP device driver, 1.6
[    1.399740] thunder_xcv, ver 1.0
[    1.403420] thunder_bgx, ver 1.0
[    1.407073] nicpf, ver 1.0
[    1.412706] hns3: Hisilicon Ethernet Network Driver for Hip08 Family - version
[    1.420821] hns3: Copyright (c) 2017 Huawei Corporation.
[    1.426832] hclge is initializing
[    1.430574] e1000: Intel(R) PRO/1000 Network Driver
[    1.436044] e1000: Copyright (c) 1999-2006 Intel Corporation.
[    1.442518] e1000e: Intel(R) PRO/1000 Network Driver
[    1.448083] e1000e: Copyright(c) 1999 - 2015 Intel Corporation.
[    1.454752] igb: Intel(R) Gigabit Ethernet Network Driver
[    1.460808] igb: Copyright (c) 2007-2014 Intel Corporation.
[    1.467078] igbvf: Intel(R) Gigabit Virtual Function Network Driver
[    1.474101] igbvf: Copyright (c) 2009 - 2012 Intel Corporation.
[    1.481444] sky2: driver version 1.30
[    1.487833] rk_gmac-dwmac fe300000.ethernet: IRQ eth_wake_irq not found
[    1.495271] rk_gmac-dwmac fe300000.ethernet: IRQ eth_lpi not found
[    1.502294] rk_gmac-dwmac fe300000.ethernet: PTP uses main clock
[    1.509181] rk_gmac-dwmac fe300000.ethernet: clock input or output? (input).
[    1.517090] rk_gmac-dwmac fe300000.ethernet: TX delay(0x28).
[    1.523434] rk_gmac-dwmac fe300000.ethernet: RX delay(0x11).
[    1.529783] rk_gmac-dwmac fe300000.ethernet: integrated PHY? (no).
[    1.536760] rk_gmac-dwmac fe300000.ethernet: cannot get clock clk_mac_speed
[    1.544563] rk_gmac-dwmac fe300000.ethernet: clock input from PHY
[    1.556401] rk_gmac-dwmac fe300000.ethernet: init for RGMII
[    1.562846] rk_gmac-dwmac fe300000.ethernet: User ID: 0x10, Synopsys ID: 0x35
[    1.570863] rk_gmac-dwmac fe300000.ethernet:         DWMAC1000
[    1.576723] rk_gmac-dwmac fe300000.ethernet: DMA HW capability register supported
[    1.585109] rk_gmac-dwmac fe300000.ethernet: RX Checksum Offload Engine supported
[    1.593492] rk_gmac-dwmac fe300000.ethernet: COE Type 2
[    1.599347] rk_gmac-dwmac fe300000.ethernet: TX Checksum insertion supported
[    1.607243] rk_gmac-dwmac fe300000.ethernet: Wake-Up On Lan supported
[    1.614526] rk_gmac-dwmac fe300000.ethernet: Normal descriptors
[    1.621165] rk_gmac-dwmac fe300000.ethernet: Ring mode enabled
[    1.627700] rk_gmac-dwmac fe300000.ethernet: Enable RX Mitigation via HW Watchdog Timer
[    1.725692] RTL8211E Gigabit Ethernet stmmac-0:00: attached PHY driver (mii_bus:phy_addr=stmmac-0:00, irq=POLL)
[    1.737022] RTL8211E Gigabit Ethernet stmmac-0:01: attached PHY driver (mii_bus:phy_addr=stmmac-0:01, irq=POLL)
[    1.750894] VFIO - User Level meta-driver version: 0.3
[    1.762894] ehci-platform fe3c0000.usb: EHCI Host Controller
[    1.762921] ohci-platform fe3e0000.usb: Generic Platform OHCI controller
[    1.762927] usbcore: registered new interface driver usb-storage
[    1.762970] ohci-platform fe3e0000.usb: new USB bus registered, assigned bus number 1
[    1.763109] ehci-platform fe380000.usb: EHCI Host Controller
[    1.763164] ohci-platform fe3a0000.usb: Generic Platform OHCI controller
[    1.763179] ehci-platform fe380000.usb: new USB bus registered, assigned bus number 2
[    1.763202] ohci-platform fe3a0000.usb: new USB bus registered, assigned bus number 3
[    1.763202] ohci-platform fe3e0000.usb: irq 46, io mem 0xfe3e0000
[    1.763322] ohci-platform fe3a0000.usb: irq 45, io mem 0xfe3a0000
[    1.763350] ehci-platform fe380000.usb: irq 44, io mem 0xfe380000
[    1.769276] ehci-platform fe3c0000.usb: new USB bus registered, assigned bus number 4
[    1.779176] ehci-platform fe380000.usb: USB 2.0 started, EHCI 1.00
[    1.782039] i2c_dev: i2c /dev entries driver
[    1.783583] ehci-platform fe3c0000.usb: irq 43, io mem 0xfe3c0000
[    1.785806] i2c 0-001b: Fixed dependency cycle(s) with /i2c@ff3c0000/pmic@1b/regulators/LDO_REG3
[    1.793423] hub 2-0:1.0: USB hub found
[    1.815152] ehci-platform fe3c0000.usb: USB 2.0 started, EHCI 1.00
[    1.823816] hub 2-0:1.0: 1 port detected
[    1.897974] hub 3-0:1.0: USB hub found
[    1.902230] hub 3-0:1.0: 1 port detected
[    1.907920] hub 1-0:1.0: USB hub found
[    1.912251] hub 1-0:1.0: 1 port detected
[    1.917979] hub 4-0:1.0: USB hub found
[    1.922297] hub 4-0:1.0: 1 port detected
[    2.415160] usb 3-1: new low-speed USB device number 2 using ohci-platform
[    2.511156] usb 1-1: new full-speed USB device number 2 using ohci-platform
[    2.803153] rk3x-i2c ff3c0000.i2c: timeout, ipd: 0x00, state: 1
[    2.809826] rk808 0-001b: failed to read the chip id at 0x17
[    2.819375] rk808: probe of 0-001b failed with error -110
[    2.826856] fan53555-regulator 0-0040: FAN53555 Option[8] Rev[1] Detected!
[    2.839172] fan53555-regulator 0-0041: FAN53555 Option[8] Rev[1] Detected!
[    2.857836] dw_wdt ff848000.watchdog: No valid TOPs array specified
[    2.867639] ghes_edac: GHES probing device list is empty
[    2.868054] cpu cpu0: OPP table can't be empty
[    2.882691] sdhci: Secure Digital Host Controller Interface driver
[    2.889639] sdhci: Copyright(c) Pierre Ossman
[    2.896259] Synopsys Designware Multimedia Card Interface Driver
[    2.905203] sdhci-pltfm: SDHCI platform and OF driver helper
[    2.914795] mmc0: CQHCI version 5.10
[    2.919687] ledtrig-cpu: registered to indicate activity on CPUs
[    2.928460] SMCCC: SOC_ID: ARCH_SOC_ID not implemented, skipping ....
[    2.943208] mmc0: SDHCI controller on fe330000.mmc [fe330000.mmc] using ADMA
[    2.944417] input: SEMICO USB Keyboard as /devices/platform/fe3a0000.usb/usb3/3-1/3-1:1.0/0003:1A2C:4D7E.0001/input/input0
[    3.015984] mmc0: Command Queue Engine enabled
[    3.021041] mmc0: new HS400 Enhanced strobe MMC card at address 0001
[    3.024072] hid-generic 0003:1A2C:4D7E.0001: input: USB HID v1.10 Keyboard [SEMICO USB Keyboard] on usb-fe3a0000.usb-1/input0
[    3.029182] mmcblk0: mmc0:0001 AJNB4R 14.6 GiB
[    3.050954]  mmcblk0: p1 p2 p3 p4 p5
[    3.057429] mmcblk0boot0: mmc0:0001 AJNB4R 4.00 MiB
[    3.057457] input: SEMICO USB Keyboard Consumer Control as /devices/platform/fe3a0000.usb/usb3/3-1/3-1:1.1/0003:1A2C:4D7E.0002/input/input1
[    3.064770] mmcblk0boot1: mmc0:0001 AJNB4R 4.00 MiB
[    3.084536] mmcblk0rpmb: mmc0:0001 AJNB4R 4.00 MiB, chardev (511:0)
[    3.135923] input: SEMICO USB Keyboard System Control as /devices/platform/fe3a0000.usb/usb3/3-1/3-1:1.1/0003:1A2C:4D7E.0002/input/input2
[    3.150246] input: SEMICO USB Keyboard as /devices/platform/fe3a0000.usb/usb3/3-1/3-1:1.1/0003:1A2C:4D7E.0002/input/input4
[    3.163010] hid-generic 0003:1A2C:4D7E.0002: input: USB HID v1.10 Keyboard [SEMICO USB Keyboard] on usb-fe3a0000.usb-1/input1
[    3.179596] input: Logitech USB Receiver as /devices/platform/fe3e0000.usb/usb1/1-1/1-1:1.0/0003:046D:C52B.0003/input/input5
[    3.252224] hid-generic 0003:046D:C52B.0003: input: USB HID v1.11 Keyboard [Logitech USB Receiver] on usb-fe3e0000.usb-1/input0
[    3.272289] input: Logitech USB Receiver Mouse as /devices/platform/fe3e0000.usb/usb1/1-1/1-1:1.1/0003:046D:C52B.0004/input/input6
[    3.286466] input: Logitech USB Receiver Consumer Control as /devices/platform/fe3e0000.usb/usb1/1-1/1-1:1.1/0003:046D:C52B.0004/input/input7
[    3.360107] input: Logitech USB Receiver System Control as /devices/platform/fe3e0000.usb/usb1/1-1/1-1:1.1/0003:046D:C52B.0004/input/input8
[    3.374790] hid-generic 0003:046D:C52B.0004: input: USB HID v1.11 Mouse [Logitech USB Receiver] on usb-fe3e0000.usb-1/input1
[    3.392518] hid-generic 0003:046D:C52B.0005: device has no listeners, quitting
[    3.400782] usbcore: registered new interface driver usbhid
[    3.407044] usbhid: USB HID core driver
[    3.426309] NET: Registered PF_PACKET protocol family
[    3.432113] 9pnet: Installing 9P2000 support
[    3.436996] Key type dns_resolver registered
[    3.466889] registered taskstats version 1
[    3.472081] Loading compiled-in X.509 certificates
[    3.523516] rockchip-drm display-subsystem: bound ff8f0000.vop (ops vop_component_ops)
[    3.533689] rockchip-drm display-subsystem: bound ff900000.vop (ops vop_component_ops)
[    3.542698] dwhdmi-rockchip ff940000.hdmi: supply avdd-0v9 not found, using dummy regulator
[    3.552304] dwhdmi-rockchip ff940000.hdmi: supply avdd-1v8 not found, using dummy regulator
[    3.561921] dwhdmi-rockchip ff940000.hdmi: Detected HDMI TX controller v2.11a with HDCP (DWC HDMI 2.0 TX PHY)
[    3.575737] rockchip-drm display-subsystem: bound ff940000.hdmi (ops dw_hdmi_rockchip_ops)
[    3.586591] [drm] Initialized rockchip 1.0.0 20140818 for display-subsystem on minor 0
[    3.720667] Console: switching to colour frame buffer device 240x67
[    3.766105] rockchip-drm display-subsystem: [drm] fb0: rockchipdrmfb frame buffer device
[    3.778697] ALSA device list:
[    3.782111]   No soundcards found.
[    3.787386] dw-apb-uart ff1a0000.serial: forbid DMA for kernel console
[    3.801786] EXT4-fs (mmcblk0p5): mounted filesystem d1a04c89-1570-4150-95b4-be1eca7ea034 with ordered data mode. Quota mode: none.
[    3.815965] VFS: Mounted root (ext4 filesystem) on device 179:5.
[    3.823330] devtmpfs: mounted
[    3.832426] Freeing unused kernel memory: 8384K
[    3.837770] Run /sbin/init as init process

Please press Enter to activate this console. [   13.939869] amba ff6d0000.dma-controller: deferred probe pending
[   13.946698] amba ff6e0000.dma-controller: deferred probe pending

[root@zy:/]#

View Code

参考文章

[1] Rockchip参考官方移植

[2] Rockchip RK3399 - TPL/SPL方式加载uboot

[3] 嵌入式Linux之uboot源码make配置编译正向分析

[4] 嵌入式ARM64 Linux内核FIT uimage方式启动

[5] Mini2440之uboot移植流程之linux内核启动分析

[6] RK3399 探索之旅 / Display 子系统 / 基础概念\文章来源地址https://www.toymoban.com/news/detail-462296.html

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Rockchip RK3399 - 移植uboot 2023.04和内核FIT uImage制作

一、uboot

1.1 下载源码

1.2 配置uboot

1.2.1 配置串口波特率

1.2.2 配置eMMC

1.2.3 配置FIT

1.2.4 配置uboot启动倒计时

1.3 编译uboot

二、idbloader.img

2.1 tpl/u-boot-tpl.bin

2.2 spl/u-boot-spl.bin

三、u-boot.idb

3.1 u-boot.itd生成规则

3.2 编译

四、Linux 6.3版本FIT uImage

4.1 源码下载

4.2 配置Makefile

4.3 内核defconfig配置

4.4 内核裁切

4.5 修改设备树

4.5.1 配置display-subsystem设备节点

4.5.2 新增子节点属性

4.6 编译内核

4.7 创建its文件

4.8 生成kernel.itb

五、烧录测试

5.1 自动构建脚本

5.1.1 clean

5.1.2 配置

5.1.3 构建

5.2 烧录uboot

5.2.1 准备镜像

5.2.2 进入MASKROM升级模式

5.2.3 下载uboot

5.3 测试u-boot

5.3.1 串口连接

5.3.2 MobaXterm

5.3.3 上电

5.3.4 设置ip以及bootargs

5.3.5 mmc

5.4 烧录内核

5.4.1 下载kernel

5.4.2 bootm启动内核

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