Difference between revisions of "U-Boot on Orange Pi 4"

Latest revision as of 18:11, 28 March 2020

U-Boot used on an Orange Pi 4 which sports an RK3399 processor.

This is the first step to getting the device booted and running any software. For the actual OS installation, see Linux on Orange Pi 4.

[i] Instructions Status

Compilation on x86_64: OK
- Tried and tested.
Compilation on ARMv8: Partially tested.
- Should work with minor tweaks.
- TODO: Finish testing and extend the instructions.

Introduction

Rockchip boot flow. Source: [1]

See U-Boot for general concepts and definitions.

U-Boot takes care of the initial booting. It is device (board) specific and so needs to be compiled specifically for Orange Pi 4 as it initializes the hardware, e.g. the RAM modules.

Internally there are 3 (!) bootloaders which form a boot chain: TPL -> SPL -> U-Boot. To boot an actual operating system, U-Boot executes the OS's bootloader, which brings this to 4 (!!) bootloaders in total. Crazy, right?

See ARM Trusted Firmware for ATF / trust related terminology.

Boot Sequence

Rockchip-specific booting is described here: [3]

Loader 1:
- option 1: miniloader
- option 2: SPL/TPL
Loader 2:
- option 1: uboot.img
- option 2: u-boot.itb
trust.img
boot.img
rootfs.img

(!) Option 1 (recommended by Rockchip) uses closed source tools and binaries!

rkbin/tools are pre-built x86 binaries and are therefore not usable on the target device. The source code is not available for audit or compilation on a different architecture.

Therefore this is not a usable route and will not be discussed further.

Setup

Base Build Tools

Arch Linux

dtc (device tree compiler)
bc (basic calculator)

TODO: Not complete. Add packages needed bases on testing on an x86_64 computer.

Ubuntu

TODO: Not complete. Add packages needed based on testing on Orange Pi 4.

Cross-compilation

This is needed only if you're not compiling on the Orange Pi 4 (or other ARMv8 device).

Binaries for aarch64-linux-gnu: [4]

U-Boot Sources

Note on orangepi-rk3399: Though there is an orangepi-rk3399 board available, this is NOT the same as Orange Pi 4. It does have the same processor, but the device tree is different. Notably there is difference in RAM: DDR3 vs LPDDR4.

TODO: orangepi-4-rk3399 doesn't exist in mainline as of 2020-03-25, apply this patch from Armbian to add the board definition: [5]

git clone https://gitlab.denx.de/u-boot/u-boot.git
cd u-boot
make orangepi-4-rk3399_defconfig

Compilation

Export cross compiler for AArch64

Export cross compiler path for aarch64:

'wget' the toolchain binaries (see above)
'unxz' the archive
prepare 'CROSS_COMPILE'
- 'cd gcc-linaro-.../bin'
- 'CROSS_COMPILE_AARCH64=`pwd`'
- 'CROSS_COMPILE=$CROSS_COMPILE_AARCH64'

The usage is this: CROSS_COMPILE=$CROSS_COMPILE (needed only when not running on the target device)

Compile ATF

	=> git clone https://github.com/ARM-software/arm-trusted-firmware.git
	=> cd arm-trusted-firmware

	(export cross compiler path for Cortex-M0 MCU likely arm-none-eabi-)
	=> make realclean
	=> make CROSS_COMPILE=$CROSS_COMPILE PLAT=rk3399

	(export bl31.elf)
	=> export BL31=/path/to/arm-trusted-firmware/build/rk3399/release/bl31/bl31.elf

Compile PMU M0 firmware (optional)

TODO: The internally provided cross-compile toolchain for cortex-m0 seems outdated (it wouldn't compile). Skipping for now.

     This is optional for most of the rk3399 boards and required only for Puma board.

     => git clone git://git.theobroma-systems.com/rk3399-cortex-m0.git
     => cd rk3399-cortex-m0

     (export cross compiler path for Cortex-M0 PMU)
     => make CROSS_COMPILE=arm-cortex_m0-eabi-

     (export rk3399m0.bin)
     => export PMUM0=/path/to/rk3399-cortex-m0/rk3399m0.bin

Compile U-Boot

U-Boot Makefile build dependencies [2]

     => cd /path/to/u-boot
     => make orangepi-4-rk3399_defconfig
     => make CROSS_COMPILE=$CROSS_COMPILE

     (Get idbloader.img and u-boot.itb)

TODO: The default CONFIG_TARGET_CHROMEBOOK_BOB=y fails to compile. Selecting CONFIG_TARGET_EVG_RK3399=y fixes this and the board successfully loads the bootloader command prompt.

Booting from an SD card

Flashing

Write tpl+spl at 64th sector

  sudo dd if=idbloader.img of=/dev/sdc seek=64

Write U-Boot proper at 16384 sector

  sudo dd if=u-boot.itb of=/dev/sdc seek=16384
  sync

Booting

Put this microSD card into your board and reset it. You should see something like:

U-Boot TPL 2020.04-rc3-00171-g0aadc0786e-dirty (Mar 27 2020 - 00:08:45)
Channel 0: LPDDR4, 50MHz
BW=32 Col=10 Bk=8 CS0 Row=15 CS1 Row=15 CS=2 Die BW=16 Size=2048MB
Channel 1: LPDDR4, 50MHz
BW=32 Col=10 Bk=8 CS0 Row=15 CS1 Row=15 CS=2 Die BW=16 Size=2048MB
256B stride
256B stride
lpddr4_set_rate: change freq to 400000000 mhz 0, 1
lpddr4_set_rate: change freq to 800000000 mhz 1, 0
Trying to boot from BOOTROM
Returning to boot ROM...

U-Boot SPL 2020.04-rc3-00171-g0aadc0786e-dirty (Mar 27 2020 - 00:08:45 +0100)
Trying to boot from MMC1


U-Boot 2020.04-rc3-00171-g0aadc0786e-dirty (Mar 27 2020 - 00:08:45 +0100)

Model: OrangePi 4 AI board
DRAM:  3.9 GiB
PMIC:  RK808 
MMC:   dwmmc@fe320000: 1, sdhci@fe330000: 0
Loading Environment from MMC... *** Warning - bad CRC, using default environment

In:    serial@ff1a0000
Out:   serial@ff1a0000
Err:   serial@ff1a0000
Model: OrangePi 4 AI board
Net:   eth0: ethernet@fe300000
Hit any key to stop autoboot:  0 
=>

External Links

Main resource: gitlab.denx.de/.../README.rockchip
Rockchip ATF wiki: [6]
- ATF repository: [7]

Difference between revisions of "U-Boot on Orange Pi 4"

Latest revision as of 18:11, 28 March 2020

Contents

Introduction

Boot Sequence

Setup

Base Build Tools

Arch Linux

Ubuntu

Cross-compilation

U-Boot Sources

Compilation

Export cross compiler for AArch64

Compile ATF

Compile PMU M0 firmware (optional)

Compile U-Boot

Booting from an SD card

Flashing

Write tpl+spl at 64th sector

Write U-Boot proper at 16384 sector

Booting

Related

External Links

Navigation menu

Personal tools

Namespaces

Variants

Views

More

Search

Navigation

Tools

@@ Line 1: / Line 1: @@
 [[U-Boot]] used on an [[Orange Pi 4]] which sports an [[RK3399]] processor.
-{{Todo|THIS!}}
+This is the first step to getting the device booted and running any software. For the actual OS installation, see [[Linux on Orange Pi 4]].
+{{Info|1=
+'''Instructions Status'''
+* Compilation on '''x86_64''': ''OK''
+** Tried and tested.
+* Compilation on '''ARMv8''': ''Partially tested''.
+** Should work with minor tweaks.
+** {{Todo|Finish testing and extend the instructions.}}
+}}
 == Introduction ==
@@ Line 7: / Line 18: @@
 See [[U-Boot]] for general concepts and definitions.
+[[U-Boot]] takes care of the initial booting. It is device (board) specific and so needs to be compiled specifically for [[Orange Pi 4]] as it initializes the hardware, e.g. the RAM modules.
+Internally there are 3 (!) bootloaders which form a boot chain: TPL -> SPL -> U-Boot. To boot an actual operating system, U-Boot executes the OS's bootloader, which brings this to 4 (!!) bootloaders in total. Crazy, right?
 See [[ARM Trusted Firmware]] for ATF / trust related terminology.
@@ Line 14: / Line 29: @@
 # Loader 1:
-#* option 1: miniloader
+#* <span style="color: gray">option 1: miniloader</span>
 #* option 2: SPL/TPL
 # Loader 2:
-#* option 1: uboot.img
+#* <span style="color: gray">option 1: uboot.img</span>
 #* option 2: u-boot.itb
 # trust.img
@@ Line 23: / Line 38: @@
 # rootfs.img
-{{Warning|Option 1 (recommended by [[Rockchip]]) uses closed source tools and binaries.
+{{Warning|Option 1 (recommended by [[Rockchip]]) uses closed source tools and binaries!
 [https://github.com/rockchip-linux/rkbin.git rkbin/tools] are pre-built x86 binaries and are therefore not usable on the target device. The source code is not available for audit or compilation on a different architecture.
-Therefore this is not a usable route.}}
+Therefore this is not a usable route and will not be discussed further.}}
 == Setup ==
-<pre>git clone https://gitlab.denx.de/u-boot/u-boot.git
+=== Base Build Tools ===
-cd u-boot
+==== Arch Linux ====
-make orangepi-rk3399_defconfig</pre>
+* dtc (device tree compiler)
+* bc (basic calculator)
+{{Todo|Not complete. Add packages needed bases on testing on an x86_64 computer.}}
-=== Option 1: Package the image with Rockchip miniloader ===
+==== Ubuntu ====
-<pre class="mw-collapsible mw-collapsed">
+{{Todo|Not complete. Add packages needed based on testing on Orange Pi 4.}}
-   - Compile U-Boot
-     => cd /path/to/u-boot
+=== Cross-compilation ===
-     => make orangepi-rk3399_defconfig
+This is needed only if you're not compiling on the [[Orange Pi 4]] (or other ARMv8 device).
-     => make
-   - Get the rkbin
+* Binaries for aarch64-linux-gnu: [https://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/]
-     => git clone https://github.com/rockchip-linux/rkbin.git
+=== U-Boot Sources ===
-   - Create trust.img
+'''Note on orangepi-rk3399:''' Though there is an ''orangepi-rk3399'' board available, this is NOT the same as Orange Pi 4. It does have the same processor, but the [[device tree]] is different. Notably there is difference in RAM: DDR3 vs LPDDR4.
-     => cd /path/to/rkbin
+{{Todo|1=
-     => ./tools/trust_merger RKTRUST/RK3399TRUST.ini
-   - Create uboot.img
+'''orangepi-4-rk3399''' doesn't exist in mainline as of 2020-03-25, [[Applying a git patch|apply this patch]] from [[Armbian]] to add the board definition: [https://github.com/armbian/build/blob/master/patch/u-boot/u-boot-rk3399/add-board-orangepi-4.patch]}}
-     => cd /path/to/rkbin
+<pre>git clone https://gitlab.denx.de/u-boot/u-boot.git
-     => ./tools/loaderimage --pack --uboot /path/to/u-boot/u-boot-dtb.bin uboot.img
+cd u-boot
+make orangepi-4-rk3399_defconfig</pre>
-     (Get trust.img and uboot.img)
+== Compilation ==
-</pre>
-=== Option 2: Package the image with SPL ===
+=== Export cross compiler for AArch64 ===
+Export cross compiler path for aarch64:
-<pre>
+# 'wget' the toolchain binaries (see above)
-   - Export cross compiler path for aarch64
+# 'unxz' the archive
+# prepare 'CROSS_COMPILE'
+#* 'cd gcc-linaro-.../bin'
+#* 'CROSS_COMPILE_AARCH64=`pwd`'
+#* 'CROSS_COMPILE=$CROSS_COMPILE_AARCH64'
-   - Compile ATF
+The usage is this: <code>CROSS_COMPILE=$CROSS_COMPILE</code> (needed only when not running on the target device)
+==== Compile ATF ====
+<pre>
 	=> git clone https://github.com/ARM-software/arm-trusted-firmware.git
 	=> cd arm-trusted-firmware
@@ Line 71: / Line 92: @@
 	(export cross compiler path for Cortex-M0 MCU likely arm-none-eabi-)
 	=> make realclean
-	=> make CROSS_COMPILE=aarch64-linux-gnu- PLAT=rk3399
+	=> make CROSS_COMPILE=$CROSS_COMPILE PLAT=rk3399
 	(export bl31.elf)
 	=> export BL31=/path/to/arm-trusted-firmware/build/rk3399/release/bl31/bl31.elf
+</pre>
-   - Compile PMU M0 firmware
+==== Compile PMU M0 firmware (optional) ====
+{{Todo|The internally provided cross-compile toolchain for cortex-m0 seems outdated (it wouldn't compile). Skipping for now.}}
+<pre>
       This is optional for most of the rk3399 boards and required only for Puma board.
@@ Line 88: / Line 113: @@
       (export rk3399m0.bin)
       => export PMUM0=/path/to/rk3399-cortex-m0/rk3399m0.bin
+</pre>
-   - Compile U-Boot
+==== Compile U-Boot ====
+[[File:U-boot dependencies digraph.png|thumb|right|U-Boot Makefile build dependencies [https://kb.d5o.eu/index.php/U-boot_dependencies_digraph_source] ]]
+<pre>
       => cd /path/to/u-boot
-      => make orangepi-rk3399_defconfig
+      => make orangepi-4-rk3399_defconfig
-      => make
+      => make CROSS_COMPILE=$CROSS_COMPILE
-      (Get spl/u-boot-spl-dtb.bin, u-boot.itb images and some boards would get
+      (Get idbloader.img and u-boot.itb)
-      spl/u-boot-spl.bin since it doesn't enable CONFIG_SPL_OF_CONTROL
+</pre>
-      If TPL enabled on the target, get tpl/u-boot-tpl-dtb.bin or tpl/u-boot-tpl.bin
+{{Todo|1=
-      if CONFIG_TPL_OF_CONTROL not enabled)
+The default ''CONFIG_TARGET_CHROMEBOOK_BOB=y'' fails to compile. Selecting ''CONFIG_TARGET_EVG_RK3399=y'' fixes this and the board successfully loads the bootloader command prompt.
-</pre> Source: [https://gitlab.denx.de/u-boot/u-boot/-/blob/master/doc/README.rockchip README.rockchip]
+}}
-== Building ==
+== Booting from an SD card ==
-<pre>make all</pre>
+=== Flashing ===
+==== Write tpl+spl at 64th sector ====
+<pre>
+  sudo dd if=idbloader.img of=/dev/sdc seek=64
+</pre>
-== Booting from an SD card on RK3399 ==
+==== Write U-Boot proper at 16384 sector ====
 <pre>
-To write an image that boots from an SD card (assumed to be /dev/sdc):
+   sudo dd if=u-boot.itb of=/dev/sdc seek=16384
+   sync
-Option 1: Package the image with Rockchip miniloader:
+</pre>
-   - Create idbloader.img
-    => cd /path/to/u-boot
-    => ./tools/mkimage  -n rk3399 -T rksd -d /path/to/rkbin/bin/rk33/rk3399_ddr_800MHz_v1.20.bin idbloader.img
-    => cat /path/to/rkbin/bin/rk33/rk3399_miniloader_v1.19.bin >> idbloader.img
-  - Write idbloader.img at 64 sector
-    => sudo dd if=idbloader.img of=/dev/sdc seek=64
-   - Write trust.img at 24576
-    => sudo dd if=trust.img of=/dev/sdc seek=24576
-  - Write uboot.img at 16384 sector
+=== Booting ===
+Put this microSD card into your board and reset it. You should see
-    => sudo dd if=uboot.img of=/dev/sdc seek=16384
-    => sync
-Put this SD (or micro-SD) card into your board and reset it. You should see
 something like:
+<pre class="mw-collapsed mw-collapsible">
-DDR Version 1.20 20190314
+U-Boot TPL 2020.04-rc3-00171-g0aadc0786e-dirty (Mar 27 2020 - 00:08:45)
-In
+Channel 0: LPDDR4, 50MHz
-Channel 0: DDR3, 933MHz
+BW=32 Col=10 Bk=8 CS0 Row=15 CS1 Row=15 CS=2 Die BW=16 Size=2048MB
-Bus Width=32 Col=10 Bank=8 Row=15 CS=1 Die Bus-Width=16 Size=1024MB
+Channel 1: LPDDR4, 50MHz
-no stride
+BW=32 Col=10 Bk=8 CS0 Row=15 CS1 Row=15 CS=2 Die BW=16 Size=2048MB
-ch 0 ddrconfig = 0x101, ddrsize = 0x20
+B stride
-pmugrf_os_reg[2] = 0x10006281, stride = 0x17
+B stride
-OUT
+lpddr4_set_rate: change freq to 400000000 mhz 0, 1
-Boot1: 2019-03-14, version: 1.19
+lpddr4_set_rate: change freq to 800000000 mhz 1, 0
-CPUId = 0x0
-ChipType = 0x10, 239
-mmc: ERROR: SDHCI ERR:cmd:0x102,stat:0x18000
-mmc: ERROR: Card did not respond to voltage select!
-emmc reinit
-mmc: ERROR: SDHCI ERR:cmd:0x102,stat:0x18000
-mmc: ERROR: Card did not respond to voltage select!
-emmc reinit
-mmc: ERROR: SDHCI ERR:cmd:0x102,stat:0x18000
-mmc: ERROR: Card did not respond to voltage select!
-SdmmcInit=2 1
-mmc0:cmd5,20
-SdmmcInit=0 0
-BootCapSize=0
-UserCapSize=60543MB
-FwPartOffset=2000 , 0
-StorageInit ok = 45266
-SecureMode = 0
-SecureInit read PBA: 0x4
-SecureInit read PBA: 0x404
-SecureInit read PBA: 0x804
-SecureInit read PBA: 0xc04
-SecureInit read PBA: 0x1004
-SecureInit read PBA: 0x1404
-SecureInit read PBA: 0x1804
-SecureInit read PBA: 0x1c04
-SecureInit ret = 0, SecureMode = 0
-atags_set_bootdev: ret:(0)
-GPT 0x3380ec0 signature is wrong
-recovery gpt...
-GPT 0x3380ec0 signature is wrong
-recovery gpt fail!
-LoadTrust Addr:0x4000
-No find bl30.bin
-Load uboot, ReadLba = 2000
-hdr 0000000003380880 + 0x0:0x88,0x41,0x3e,0x97,0xe6,0x61,0x54,0x23,0xe9,0x5a,0xd1,0x2b,0xdc,0x2f,0xf9,0x35,
-Load OK, addr=0x200000, size=0x9c9c0
-RunBL31 0x10000
-NOTICE:  BL31: v1.3(debug):370ab80
-NOTICE:  BL31: Built : 09:23:41, Mar  4 2019
-NOTICE:  BL31: Rockchip release version: v1.1
-INFO:    GICv3 with legacy support detected. ARM GICV3 driver initialized in EL3
-INFO:    Using opteed sec cpu_context!
-INFO:    boot cpu mask: 0
-INFO:    plat_rockchip_pmu_init(1181): pd status 3e
-INFO:    BL31: Initializing runtime services
-INFO:    BL31: Initializing BL32
-INF [0x0] TEE-CORE:init_primary_helper:337: Initializing (1.1.0-195-g8f090d20 #6 Fri Dec  7 06:11:20 UTC 2018 aarch64)
-INF [0x0] TEE-CORE:init_primary_helper:338: Release version: 1.2
-INF [0x0] TEE-CORE:init_teecore:83: teecore inits done
-INFO:    BL31: Preparing for EL3 exit to normal world
-INFO:    Entry point address = 0x200000
-INFO:    SPSR = 0x3c9
-U-Boot 2019.04-rc4-00136-gfd121f9641-dirty (Apr 16 2019 - 14:02:47 +0530)
-Model: FriendlyARM NanoPi NEO4
-DRAM:  1022 MiB
-MMC:   dwmmc@fe310000: 2, dwmmc@fe320000: 1, sdhci@fe330000: 0
-Loading Environment from MMC... *** Warning - bad CRC, using default environment
-In:    serial@ff1a0000
-Out:   serial@ff1a0000
-Err:   serial@ff1a0000
-Model: FriendlyARM NanoPi NEO4
-Net:   eth0: ethernet@fe300000
-Hit any key to stop autoboot:  0
-=>
-Option 2: Package the image with SPL:
-  - Prefix rk3399 header to SPL image
-    => cd /path/to/u-boot
-    => ./tools/mkimage -n rk3399 -T rksd -d spl/u-boot-spl-dtb.bin out
-  - Write prefixed SPL at 64th sector
-    => sudo dd if=out of=/dev/sdc seek=64
-  - Write U-Boot proper at 16384 sector
-    => sudo dd if=u-boot.itb of=/dev/sdc seek=16384
-    => sync
-Put this SD (or micro-SD) card into your board and reset it. You should see
-something like:
-U-Boot SPL board init
-Trying to boot from MMC1
-U-Boot 2019.01-00004-g14db5ee998 (Mar 11 2019 - 13:18:41 +0530)
-Model: Orange Pi RK3399 Board
-DRAM:  2 GiB
-MMC:   dwmmc@fe310000: 2, dwmmc@fe320000: 1, sdhci@fe330000: 0
-Loading Environment from MMC... OK
-In:    serial@ff1a0000
-Out:   serial@ff1a0000
-Err:   serial@ff1a0000
-Model: Orange Pi RK3399 Board
-Net:   eth0: ethernet@fe300000
-Hit any key to stop autoboot:  0
-=>
-Option 3: Package the image with TPL:
-  - Write tpl+spl at 64th sector
-    => sudo dd if=idbloader.img of=/dev/sdc seek=64
-  - Write U-Boot proper at 16384 sector
-    => sudo dd if=u-boot.itb of=/dev/sdc seek=16384
-    => sync
-Put this SD (or micro-SD) card into your board and reset it. You should see
-something like:
-U-Boot TPL board init
 Trying to boot from BOOTROM
 Returning to boot ROM...
-U-Boot SPL board init
+U-Boot SPL 2020.04-rc3-00171-g0aadc0786e-dirty (Mar 27 2020 - 00:08:45 +0100)
 Trying to boot from MMC1
-U-Boot 2019.07-rc1-00241-g5b3244767a (May 08 2019 - 10:51:06 +0530)
+U-Boot 2020.04-rc3-00171-g0aadc0786e-dirty (Mar 27 2020 - 00:08:45 +0100)
+Model: OrangePi 4 AI board
+DRAM:  3.9 GiB
+PMIC:  RK808
+MMC:   dwmmc@fe320000: 1, sdhci@fe330000: 0
+Loading Environment from MMC... *** Warning - bad CRC, using default environment
-Model: Orange Pi RK3399 Board
-DRAM:  2 GiB
-MMC:   dwmmc@fe310000: 2, dwmmc@fe320000: 1, sdhci@fe330000: 0
-Loading Environment from MMC... OK
 In:    serial@ff1a0000
 Out:   serial@ff1a0000
 Err:   serial@ff1a0000
-Model: Orange Pi RK3399 Board
+Model: OrangePi 4 AI board
 Net:   eth0: ethernet@fe300000
 Hit any key to stop autoboot:  0
 =>
 </pre>
-Source: [https://gitlab.denx.de/u-boot/u-boot/-/blob/master/doc/README.rockchip README.rockchip]
 == Related ==
 * ATF = [[ARM Trusted Firmware]]
+* [[U-Boot on Orange Pi 4 - logs]]
 == External Links ==