diff --git a/LICENSE b/LICENSE index 0d4d62b..8cdb845 100644 --- a/LICENSE +++ b/LICENSE @@ -1,29 +1,340 @@ -BSD 3-Clause License - -Copyright (c) 2017, NXP Micro -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -* Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. 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It is safest +to attach them to the start of each source file to most effectively +convey the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + {description} + Copyright (C) {year} {fullname} + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this program; if not, write to the Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. + +Also add information on how to contact you by electronic and paper mail. + +If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: + + Gnomovision version 69, Copyright (C) year name of author + Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + {signature of Ty Coon}, 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. + diff --git a/README.md b/README.md index 81b8be1..791c000 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,21 @@ # imx-m4fwloader -Tool for loading firmware to M4 core on i.MX6SX and 7D +Tool for loading firmware to M4 core on i.MX6SX and i.MX7D from Linux user space. + +### How to use this +- Use the environment provided to you by Yocto: + - For example: + - ``source /opt/poky/1.8/environment-setup-cortexa9hf-vfp-neon-poky-linux-gnueabi`` + - ``$CC m4fwloader.c -o m4fwloader`` + - You get m4fwloader binary... +- Then you need to build your M4 application and link it to some address. (e.g 0x00910000, try: https://github.com/EmbeddedRPC/erpc-imx-demos/tree/master/MCU/example_rpmsg) +- Load it using m4fwloader: ``./m4fwloader myapp.bin 0x00910000`` +- Optionally use --verbose parameter to see what is written to each registers +- Warning: Use this tool for debugging only, since it accesses directly the registers from the user space and requires therefore root priviledges! +- You have been warned... :-) +- Optionally, you can trigger an interrupt using message unit (MU) to the M4 core to get RPMsg started - this is normally done by Linux Kernel during startup: ``./m4fwloader kick 0`` +- Whole usage is here: + - ``m4fwloader [filename.bin] [0xLOADADDR] [--verbose]`` # loads new firmware + - or: ``m4fwloader stop`` # holds the auxiliary core in reset + - or: ``m4fwloader start`` # releases the auxiliary core from reset + - or: ``m4fwloader kick [n]`` # triggers interrupt on RPMsg virtqueue n +- by Marek Novak: marek.novak@nxp.com diff --git a/m4fwloader.c b/m4fwloader.c new file mode 100644 index 0000000..c33d7bb --- /dev/null +++ b/m4fwloader.c @@ -0,0 +1,432 @@ +/* + * m4fwloader - based on mqx_upload_on_m4SoloX + * from Giuseppe Pagano + * + * Tool to control M4 AMP core from Linux user-space + * + * Copyright (C) 2015-2016 Giuseppe Pagano + * Copyright 2017 NXP + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define LogVerbose(...) \ + do { \ + if (verbose) \ + printf(__VA_ARGS__); \ + } while (0) +#define LogError(...) printf(__VA_ARGS__) + +#define VERSION "1.0.0" +#define NAME_OF_UTILITY "i.MX M4 Loader" +#define HEADER NAME_OF_UTILITY " - M4 firmware loader v. " VERSION "\n" + +#define IMX7D_SRC_M4RCR (0x3039000C) /* reset register */ +#define IMX7D_STOP_CLEAR_MASK (0xFFFFFF00) +#define IMX7D_STOP_SET_MASK (0x000000AA) +#define IMX7D_START_CLEAR_MASK (0xFFFFFFFF) +#define IMX7D_START_SET_MASK (0x00000001) +#define IMX7D_MU_ATR1 (0x30AA0004) /* rpmsg_mu_kick_addr */ +#define IMX7D_M4_BOOTROM (0x00180000) +#define IMX7D_CCM_ANALOG_PLL_480 (0x303600B0) +#define IMX7D_CCM_CCGR1 (0x30384010) + +#define IMX6SX_SRC_SCR (0x020D8000) /* reset register */ +#define IMX6SX_STOP_CLEAR_MASK (0xFFFFFFEF) +#define IMX6SX_STOP_SET_MASK (0x00400000) +#define IMX6SX_START_CLEAR_MASK (0xFFFFFFFF) +#define IMX6SX_START_SET_MASK (0x00400010) +#define IMX6SX_MU_ATR1 (0x02294004) /* rpmsg_mu_kick_addr */ +#define IMX6SX_M4_BOOTROM (0x007F8000) +#define IMX6SX_CCM_CCGR3 (0x020C4074) + +#define MAP_SIZE 4096UL +#define MAP_MASK (MAP_SIZE - 1) +#define SIZE_4BYTE 4UL +#define SIZE_16BYTE 16UL +#define MAP_OCRAM_SIZE 64 * 1024 +#define MAP_OCRAM_MASK (MAP_OCRAM_SIZE - 1) +#define MAX_FILE_SIZE MAP_OCRAM_SIZE +#define MAX_RETRIES 8 + +#define RETURN_CODE_OK 0 +#define RETURN_CODE_ARGUMENTS_ERROR 1 +#define RETURN_CODE_M4STOP_FAILED 2 +#define RETURN_CODE_M4START_FAILED 3 + +struct soc_specific { + char* detect_name; + + uint32_t src_m4reg_addr; + + uint32_t start_and; + uint32_t start_or; + uint32_t stop_and; + uint32_t stop_or; + + uint32_t rpmsg_mu_kick_addr; + + void (*clk_enable)(int); + + uint32_t stack_pc_addr; +}; + +static int verbose = 0; + +void regshow(uint32_t addr, char* name, int fd) +{ + off_t target; + void *map_base, *virt_addr; + + target = (off_t)addr; + map_base = mmap(0, MAP_SIZE, PROT_READ, MAP_SHARED, fd, target & ~MAP_MASK); + virt_addr = (unsigned char*)(map_base + (target & MAP_MASK)); + LogVerbose("%s (0x%08X): 0x%08X\r\n", name, addr, *((unsigned long*)virt_addr)); + munmap(map_base, MAP_SIZE); +} + +void imx6sx_clk_enable(int fd) +{ + off_t target; + unsigned long read_result; + void *map_base, *virt_addr; + + LogVerbose("i.MX6SX specific function for M4 clock enabling!\n"); + + regshow(IMX6SX_CCM_CCGR3, "CCM_CCGR3", fd); + target = (off_t)IMX6SX_CCM_CCGR3; /* M4 Clock gate*/ + map_base = mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK); + virt_addr = (unsigned char*)(map_base + (target & MAP_MASK)); + read_result = *((unsigned long*)virt_addr); + *((unsigned long*)virt_addr) = read_result | 0x0000000C; + munmap(map_base, MAP_SIZE); + regshow(IMX6SX_CCM_CCGR3, "CCM_CCGR3", fd); + LogVerbose("CCM_CCGR3 done\n"); +} + +void imx7d_clk_enable(int fd) +{ + off_t target; + unsigned long read_result; + void *map_base, *virt_addr; + + LogVerbose("i.MX7D specific function for M4 clock enabling!\n"); + + regshow(IMX7D_CCM_ANALOG_PLL_480, "CCM_ANALOG_PLL_480", fd); + /* Enable parent clock first! */ + target = (off_t)IMX7D_CCM_ANALOG_PLL_480; + map_base = mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK); + virt_addr = (unsigned char*)(map_base + (target & MAP_MASK)); + /* clock enabled by clearing the bit! */ + *((unsigned long*)virt_addr) = (*((unsigned long*)virt_addr)) & (~(1 << 5)); + munmap(map_base, MAP_SIZE); + regshow(IMX7D_CCM_ANALOG_PLL_480, "CCM_ANALOG_PLL_480", fd); + LogVerbose("CCM_ANALOG_PLL_480 done\n"); + + /* ENABLE CLK */ + regshow(IMX7D_CCM_CCGR1, "CCM1_CCGR1", fd); + target = (off_t)(IMX7D_CCM_CCGR1+4); /* CCM_CCGR1_SET */ + map_base = mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK); + virt_addr = (unsigned char*)(map_base + (target & MAP_MASK)); + *((unsigned long*)virt_addr) = 0x00000003; + munmap(map_base, MAP_SIZE); + regshow(IMX7D_CCM_CCGR1, "CCM1_CCGR1", fd); + LogVerbose("CCM_CCGR1_SET done\n"); +} + +static struct soc_specific socs[] = { + { + "i.MX7 Dual", + IMX7D_SRC_M4RCR, + IMX7D_STOP_CLEAR_MASK, + IMX7D_STOP_SET_MASK, + IMX7D_START_CLEAR_MASK, + IMX7D_START_SET_MASK, + IMX7D_MU_ATR1, + + imx7d_clk_enable, + + IMX7D_M4_BOOTROM + }, + { + "i.MX6 SoloX", + IMX6SX_SRC_SCR, + IMX6SX_STOP_CLEAR_MASK, + IMX6SX_STOP_SET_MASK, + IMX6SX_START_CLEAR_MASK, + IMX6SX_START_SET_MASK, + IMX6SX_MU_ATR1, + + imx6sx_clk_enable, + + IMX6SX_M4_BOOTROM + } +}; + +void rpmsg_mu_kick(int fd, int socid, uint32_t vq_id) +{ + off_t target; + void *map_base, *virt_addr; + + if (!socs[socid].rpmsg_mu_kick_addr) + return; + + target = (off_t)socs[socid].rpmsg_mu_kick_addr; + map_base = mmap(0, SIZE_4BYTE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK); + virt_addr = (unsigned char*)(map_base + (target & MAP_MASK)); + vq_id = (vq_id << 16); + *((unsigned long*)virt_addr) = vq_id; + munmap(map_base, SIZE_4BYTE); +} + +void ungate_m4_clk(int fd, int socid) +{ + socs[socid].clk_enable(fd); +} + +void stop_cpu(int fd, int socid) +{ + unsigned long read_result; + off_t target; + void *map_base, *virt_addr; + + if (!socs[socid].src_m4reg_addr) + return; + + regshow(socs[socid].src_m4reg_addr, "STOP - before", fd); + target = (off_t)socs[socid].src_m4reg_addr; + map_base = mmap(0, SIZE_4BYTE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK); + virt_addr = (unsigned char*)(map_base + (target & MAP_MASK)); + read_result = *((unsigned long*)virt_addr); + *((unsigned long*)virt_addr) = (read_result & (socs[socid].stop_and)) | socs[socid].stop_or; + munmap(virt_addr, SIZE_4BYTE); + regshow(socs[socid].src_m4reg_addr, "STOP - after", fd); +} + +void start_cpu(int fd, int socid) +{ + unsigned long read_result; + off_t target; + void *map_base, *virt_addr; + + if (!socs[socid].src_m4reg_addr) + return; + + regshow(socs[socid].src_m4reg_addr, "START - before", fd); + target = (off_t)socs[socid].src_m4reg_addr; + map_base = mmap(0, SIZE_4BYTE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK); + virt_addr = (unsigned char*)(map_base + (target & MAP_MASK)); + read_result = *((unsigned long*)virt_addr); + *((unsigned long*)virt_addr) = (read_result & (socs[socid].start_and)) | socs[socid].start_or; + munmap(virt_addr, SIZE_4BYTE); + regshow(socs[socid].src_m4reg_addr, "START -after", fd); +} + +void set_stack_pc(int fd, int socid, unsigned int stack, unsigned int pc) +{ + off_t target = (off_t)socs[socid].stack_pc_addr; + unsigned long read_result; + void *map_base, *virt_addr; + map_base = mmap(0, SIZE_16BYTE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK); + virt_addr = (unsigned char*)(map_base + (target & MAP_MASK)); + *((unsigned long*)virt_addr) = stack; + virt_addr = (unsigned char*)(map_base + ((target + 0x4) & MAP_MASK)); + *((unsigned long*)virt_addr) = pc; + munmap(map_base, SIZE_16BYTE); +} + +int load_m4_fw(int fd, int socid, char* filepath, unsigned int loadaddr) +{ + int n; + int size; + FILE* fdf; + off_t target; + char* filebuffer; + void *map_base, *virt_addr; + unsigned long stack, pc; + + fdf = fopen(filepath, "rb"); + fseek(fdf, 0, SEEK_END); + size = ftell(fdf); + fseek(fdf, 0, SEEK_SET); + if (size > MAX_FILE_SIZE) { + LogError("%s - File size too big, can't load: %d > %d \n", NAME_OF_UTILITY, size, MAX_FILE_SIZE); + return -2; + } + filebuffer = (char*)malloc(size + 1); + if (size != fread(filebuffer, sizeof(char), size, fdf)) { + free(filebuffer); + return -2; + } + + fclose(fdf); + + stack = (filebuffer[0] | (filebuffer[1] << 8) | (filebuffer[2] << 16) | (filebuffer[3] << 24)); + pc = (filebuffer[4] | (filebuffer[5] << 8) | (filebuffer[6] << 16) | (filebuffer[7] << 24)); + + if (loadaddr == 0x0) { + loadaddr = pc & 0xFFFF0000; /* Align */ + } + LogVerbose("%s - FILENAME = %s; loadaddr = 0x%08x\n", NAME_OF_UTILITY, filepath, loadaddr); + + map_base = mmap(0, MAP_OCRAM_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, loadaddr & ~MAP_OCRAM_MASK); + LogVerbose("%s - start - end (0x%08x - 0x%08x)\n", NAME_OF_UTILITY, loadaddr & ~MAP_OCRAM_MASK, (loadaddr & ~MAP_OCRAM_MASK) + MAP_OCRAM_SIZE); + virt_addr = (unsigned char*)(map_base + (loadaddr & MAP_OCRAM_MASK)); + memcpy(virt_addr, filebuffer, size); + munmap(map_base, MAP_OCRAM_SIZE); + + LogVerbose("Will set PC and STACK..."); + set_stack_pc(fd, socid, stack, pc); + LogVerbose("...Done\n"); + free(filebuffer); + + return size; +} + +int get_board_id(void) +{ + int i; + char out[512]; + int result = -1; + FILE* fp; + + fp = fopen("/proc/cpuinfo", "r"); + if (fp == NULL) + return result; + + while (fgets(out, sizeof(out) - 1, fp) != NULL) { + if (strstr(out, "Hardware")) { + for (i = 0; i < (sizeof(socs) / sizeof(struct soc_specific)); i++) { + if (strstr(out, socs[i].detect_name)) { + result = i; + break; + } + } + break; + } + } + + fclose(fp); + return result; +} + +int main(int argc, char** argv) +{ + int fd, n; + unsigned long loadaddr; + char* p; + char m4IsStopped = 0; + char m4IsRunning = 0; + int m4TraceFlags = 0; + int m4Retry; + char* filepath = argv[1]; + int currentSoC = -1; + + if (argc < 2) { + LogError(HEADER); + LogError("-- %s -- \nUsage:\n" + "%s [filename.bin] [0xLOADADDR] [--verbose] # loads new firmware\n" + "or: %s stop # holds the auxiliary core in reset\n" + "or: %s start # releases the auxiliary core from reset\n" + "or: %s kick [n] # triggers interrupt on RPMsg virtqueue n\n", + NAME_OF_UTILITY, argv[0], argv[0], argv[0], argv[0], argv[0]); + return RETURN_CODE_ARGUMENTS_ERROR; + } + + currentSoC = get_board_id(); + if (currentSoC == -1) { + LogError(HEADER); + LogError("Board is not supported.\n"); + return RETURN_CODE_ARGUMENTS_ERROR; + } + + fd = open("/dev/mem", O_RDWR | O_SYNC); + if (fd < 0) { + LogError(HEADER); + LogError("Could not open /dev/mem, are you root?\n"); + return RETURN_CODE_ARGUMENTS_ERROR; + } + + /* PARTIAL COMMANDS */ + if (!strcmp(argv[1], "stop")) { + stop_cpu(fd, currentSoC); + return RETURN_CODE_OK; + } + else if (!strcmp(argv[1], "start")) { + start_cpu(fd, currentSoC); + return RETURN_CODE_OK; + } + else if (!strcmp(argv[1], "kick")) { + if (argc < 3) { + LogError(HEADER); + LogError("%s - Usage: %s kick {vq_id to kick}\n", NAME_OF_UTILITY, argv[0]); + return RETURN_CODE_ARGUMENTS_ERROR; + } + rpmsg_mu_kick(fd, currentSoC, strtoul(argv[2], &p, 16)); + return RETURN_CODE_OK; + } + + /* FW LOADING */ + if (argc < 3) { + LogError(HEADER); + LogError("%s - Usage: %s [yourfwname.bin] [0xLOADADDR] [--verbose]\n", NAME_OF_UTILITY, argv[0]); + return RETURN_CODE_ARGUMENTS_ERROR; + } + + if (access(filepath, F_OK) == -1) { + LogError("File %s not found.\n", argv[1]); + return RETURN_CODE_ARGUMENTS_ERROR; + } + + loadaddr = strtoul(argv[2], &p, 16); + + if (argc == 4) { + if (!strcmp(argv[3], "--verbose")) { + verbose = 1; + } + else { + LogError(HEADER); + LogError("%s - Usage: %s [yourfwname.bin] [0xLOADADDR] [--verbose]\n", NAME_OF_UTILITY, argv[0]); + return RETURN_CODE_ARGUMENTS_ERROR; + } + } + + LogVerbose("LoadAddr is: %X\n", loadaddr); + LogVerbose("Will stop CPU now...\n"); + stop_cpu(fd, currentSoC); + LogVerbose("Will ungate M4 clock source...\n"); + ungate_m4_clk(fd, currentSoC); + LogVerbose("Will load M4 firmware...\n"); + load_m4_fw(fd, currentSoC, filepath, loadaddr); + LogVerbose("Will start CPU now...\n"); + start_cpu(fd, currentSoC); + LogVerbose("Done!\n"); + close(fd); + return RETURN_CODE_OK; +}