一、移植准备：修改Makefile文件，在U-Boot中建立自己的开发板文件(以友善之臂的sbc2410x为基础)。
1 解压u-boot-1.3.4，并进入u-boot目录，修改Makefile文件，添加开发板的配置选项。 tar -xjvf u-boot-1.3.4.tar.bz2
cd u-boot-1.3.4
vi Makefile
in Makefile:
#为mini2440建立配置项
smdk2410_config : unconfig
@$(MKCONFIG) $(@:_config=) arm arm920t smdk2410 NULL s3c24x0
mini2440_config : unconfig
@$(MKCONFIG) $(@:_config=) arm arm920t mini2440 tekkamanninja s3c24x0
各项的意思如下:
arm : CPU的架构(ARCH)
arm920t : CPU的类型(CPU)，其对应于cpu/arm920t子目录。
mini2440: 开发板的型号(BOARD)，对应于board/tekkamanninja/mini2440目录。
tekkamanninja: 开发者/或经销商(vender)。
s3c24x0 : 片上系统(SOC)。
同时在“ifndef CROSS_COMPILE ”之前加上自己交叉编译器的路径，比如我使用crosstool-0.43制作的基于2.6.27.4内核和gcc-4.1.1-glibc-2.3.2的ARM9TDMI交叉编译器，则：
CROSS_COMPILE=arm-9tdmi-linux-gnu-
别忘了在环境变量PATH中加上你的编译器路径！！！！
特别注意： 在u-boot1.3.3及以上版本Makefile有一定的变化，使得对于24x0处理器从nand启动的遇到问题。也就是网上有人说的：无法运行过lowlevel_init。其实这个问题是由于编译器将我们自己添加的用于nandboot的子函数nand_read_ll放到了4K之后造成的（到这不理解的话，请仔细看看24x0处理器nandboot原理）。我是在运行失败后，利用mini2440的4个LED调试发现u-boot根本没有完成自我拷贝，然后看了uboot根目录下的System.map文件就可知道原因。
解决办法其实很简单：
将__LIBS := $(subst $(obj),,$(LIBS)) $(subst $(obj),,$(LIBBOARD))
改为__LIBS := $(subst $(obj),,$(LIBBOARD)) $(subst $(obj),,$(LIBS))
2 在/board子目录中建立自己的开发板mini2440目录
由于我在上一步板子的开发者/或经销商(vender)中填了 tekkamanninja ，所以开发板mini2440目录一定要建在/board子目录中的tekkamanninja目录下 ，否则编译会出错。 cd board
mkdir tekkamanninja tekkamanninja/mini2440
cp -arf sbc2410x/* tekkamanninja/mini2440/
cd tekkamanninja/mini2440/
mv sbc2410x.c mini2440.c
还要记得修改自己的开发板mini2440目录下的Makefile文件，不然编译时会出错：
vi Makefile
in Makefile: COBJS := mini2440.o flash.o
3 在include/configs/中建立配置头文件
cd ../../..
cp include/configs/sbc2410x.h include/configs/mini2440.h
4 测试编译能否成功
make mini2440_config
Configuring for mini2440 board...
make
测试编译成功后继续。 可能出现的问题:
(1) 如果出现：
$ make mini2440_config
Makefile:xxxx: *** 遗漏分隔符 。 停止。
请在U－boot的根目录下的Makefile的
@$(MKCONFIG) $(@:_config=) arm arm920t mini2440 tekkamanninja)
前加上“Tab”键
--------------------------------------------------------------------------------
二、修改U－Boot中的文件，以同时匹配2440和2410。
1 修改/cpu/arm920t/start.S
(1)删除AT91RM9200使用的LED代码。
#include
#include
#if defined(CONFIG_AT91RM9200DK)
#include /*这是针对AT91RM9200DK开发板的。对于mini2440也有4个LED指示灯，我用来指示程序用行的进度。*/
#endif
......
/*
* the actual start code
*/
start_code:
/*
* set the cpu to SVC32 mode
*/
mrs r0,cpsr
bic r0,r0,#0x1f
orr r0,r0,#0xd3
msr cpsr,r0
#if defined(CONFIG_AT91RM9200DK)
bl coloured_LED_init
bl red_LED_on
#endif
(2)修改寄存器地址定义
#if defined(CONFIG_S3C2400) || defined(CONFIG_S3C2410)|| defined(CONFIG_S3C2440)
/* turn off the watchdog */
#if defined(CONFIG_S3C2400)
#define pWTCON 0x15300000
#define INTMSK 0x14400008 /* Interupt-Controller base addresses */
#define CLKDIVN 0x14800014 /* clock divisor register */
#else
#define pWTCON 0x53000000
#define INTMSK 0x4A000008 /* Interupt-Controller base addresses */
#define INTSUBMSK 0x4A00001C
#define CLKDIVN 0x4C000014 /* clock divisor register */
#endif
#define CLK_CTL_BASE 0x4C000000 /* tekkaman */
#define MDIV_405 0x7f << 12 /* tekkaman */
#define PSDIV_405 0x21 /* tekkaman */
#define MDIV_200 0xa1 << 12 /* tekkaman */
#define PSDIV_200 0x31 /* tekkaman */
(3)修改中断禁止部分
#if defined(CONFIG_S3C2410)
ldr r1, =0x7ff /*根据2410芯片手册，INTSUBMSK有11位可用*/
ldr r0, =INTSUBMSK
str r1, [r0]
#endif
#if defined(CONFIG_S3C2440)
ldr r1, =0x7fff /*根据2440芯片手册，INTSUBMSK有15位可用*/
ldr r0, =INTSUBMSK
str r1, [r0]
#endif
(4)修改时钟设置（2440的主频为405MHz。）
# if defined(CONFIG_S3C2440)
/* FCLK:HCLKCLK = 1:4:8 */
ldr r0, =CLKDIVN
mov r1, #5
str r1, [r0]
mrc p15, 0, r1, c1, c0, 0 /*read ctrl register tekkaman*/
orr r1, r1, #0xc0000000 /*Asynchronous tekkaman*/
mcr p15, 0, r1, c1, c0, 0 /*write ctrl register tekkaman*/
/*now, CPU clock is 405.00 Mhz tekkaman*/
mov r1, #CLK_CTL_BASE /* tekkaman*/
mov r2, #MDIV_405 /* mpll_405mhz tekkaman*/
add r2, r2, #PSDIV_405 /* mpll_405mhz tekkaman*/
str r2, [r1, #0x04] /* MPLLCON tekkaman */
#else
/* FCLK:HCLKCLK = 1:2:4 */
/* default FCLK is 12 MHz ! 在这里U－Boot有一个错误：以为默认时钟为120MHz。其实如果没有添加以下设置FCLK的语句，芯片内部的PLL是无效的，即FCLK为12MHz。S3C24x0的芯片手册说得很明白。我一开始没有注意到这一点，是 CalmArrow提醒了我并和我讨论过，他也做过实验证实了这点。在这里对CalmArrow表示感谢和敬意！*/
ldr r0, =CLKDIVN
mov r1, #3
str r1, [r0]
mrc p15, 0, r1, c1, c0, 0 /*read ctrl register tekkaman*/
orr r1, r1, #0xc0000000 /*Asynchronous tekkaman*/
mcr p15, 0, r1, c1, c0, 0 /*write ctrl register tekkaman*/
/*now, CPU clock is 202.8 Mhz tekkaman*/
mov r1, #CLK_CTL_BASE /* tekkaman*/
mov r2, #MDIV_200 /* mpll_200mhz tekkaman*/
add r2, r2, #PSDIV_200 /* mpll_200mhz tekkaman*/
str r2, [r1, #0x04]
# endif
#endif /* CONFIG_S3C2400 || CONFIG_S3C2410|| CONFIG_S3C2440 */
(5)将从Flash启动改成从NAND Flash启动。
在以下U－Boot的重定向语句段(作用是将u-boot的源代码从nor flash到sdram中)： #ifndef CONFIG_AT91RM9200
#ifndef CONFIG_SKIP_RELOCATE_UBOOT
relocate: /* relocate U-Boot to RAM */
adr r0, _start /* r0 <- current position of code */
ldr r1, _TEXT_BASE /* test if we run from flash or RAM */
cmp r0, r1 /* don't reloc during debug */
beq stack_setup
ldr r2, _armboot_start
ldr r3, _bss_start
sub r2, r3, r2 /* r2 <- size of armboot */
add r2, r0, r2 /* r2 <- source end address*/
copy_loop:
ldmia {r3-r10} /* copy from source address [r0] */
stmia {r3-r10} /* copy to target address [r1] */
cmp r0, r2 /* until source end addreee [r2] */
ble copy_loop
#endif /* CONFIG_SKIP_RELOCATE_UBOOT */
#endif
的前面添加上以下的nand boot代码： #ifdef CONFIG_S3C2440_NAND_BOOT
#define NAND_CTL_BASE 0x4E000000
/* Offset */
#define oNFCONF 0x00
#define oNFCONT 0x04
#define oNFCMD 0x08
#define oNFSTAT 0x20
#define LENGTH_UBOOT 0x40000
@ reset NAND
mov r1, #NAND_CTL_BASE
ldr r2, =( (7<<12)|(7<<8)|(7<<4)|(0<<0) )
str r2, [r1, #oNFCONF]
ldr r2, [r1, #oNFCONF]
ldr r2, =( (1<<4)|(0<<1)|(1<<0) ) @ Active low CE Control
str r2, [r1, #oNFCONT]
ldr r2, [r1, #oNFCONT]
ldr r2, =(0x6) @ RnB Clear
str r2, [r1, #oNFSTAT]
ldr r2, [r1, #oNFSTAT]
mov r2, #0xff @ RESET command
strb r2, [r1, #oNFCMD]
mov r3, #0 @ wait
nand1:
add r3, r3, #0x1
cmp r3, #0xa
blt nand1
nand2:
ldr r2, [r1, #oNFSTAT] @ wait ready
tst r2, #0x4
beq nand2
ldr r2, [r1, #oNFCONT]
orr r2, r2, #0x2 @ Flash Memory Chip Disable
str r2, [r1, #oNFCONT]
@ get read to call C functions (for nand_read())
ldr sp, DW_STACK_START @ setup stack pointer
mov fp, #0 @ no previous frame, so fp=0
@ copy U-Boot to RAM
ldr r0, =TEXT_BASE
mov r1, #0x0
mov r2, #LENGTH_UBOOT
bl nand_read_ll
tst r0, #0x0
beq ok_nand_read
bad_nand_read:
loop2:
b loop2 @ infinite loop
ok_nand_read:
@ verify
mov r0, #0
ldr r1, =TEXT_BASE
mov r2, #0x400 @ 4 bytes * 1024 = 4K-bytes
go_next:
ldr r3, [r0], #4
ldr r4, [r1], #4
teq r3, r4
bne notmatch
subs r2, r2, #4
beq stack_setup
bne go_next
notmatch:
loop3:
b loop3 @ infinite loop
#endif
#ifdef CONFIG_S3C2410_NAND_BOOT
#define NAND_CTL_BASE 0x4E000000
/* Offset */
#define oNFCONF 0x00
#define oNFCMD 0x04
#define oNFSTAT 0x10
#define LENGTH_UBOOT 0x40000
@ reset NAND
mov r1, #NAND_CTL_BASE
ldr r2, =0xf830 @ initial value
str r2, [r1, #oNFCONF]
ldr r2, [r1, #oNFCONF]
bic r2, r2, #0x800 @ enable chip
str r2, [r1, #oNFCONF]
mov r2, #0xff @ RESET command
strb r2, [r1, #oNFCMD]
mov r3, #0 @ wait
nand1:
add r3, r3, #0x1
cmp r3, #0xa
blt nand1
nand2:
ldr r2, [r1, #oNFSTAT] @ wait ready
tst r2, #0x1
beq nand2
ldr r2, [r1, #oNFCONF]
orr r2, r2, #0x800 @ disable chip
str r2, [r1, #oNFCONF]
@ get read to call C functions (for nand_read())
ldr sp, DW_STACK_START @ setup stack pointer
mov fp, #0 @ no previous frame, so fp=0
@ copy U-Boot to RAM
ldr r0, =TEXT_BASE
mov r1, #0x0
mov r2, #LENGTH_UBOOT
bl nand_read_ll
tst r0, #0x0
beq ok_nand_read
bad_nand_read:
loop2:
b loop2 @ infinite loop
ok_nand_read:
@ verify
mov r0, #0
ldr r1, =TEXT_BASE
mov r2, #0x400 @ 4 bytes * 1024 = 4K-bytes
go_next:
ldr r3, [r0], #4
ldr r4, [r1], #4
teq r3, r4
bne notmatch
subs r2, r2, #4
beq stack_setup
bne go_next
notmatch:
loop3:
b loop3 @ infinite loop
#endif
在“ldr pc, _start_armboot”之前加入：
#if defined(CONFIG_MINI2440_LED)
#define GPIO_CTL_BASE 0x56000000
#define oGPIO_B 0x10
#define oGPIO_CON 0x0
/* R/W, Configures the pins of the port */
#define oGPIO_DAT 0x4
#define oGPIO_UP 0x8
/* R/W, Pull-up disable register */
mov r1, #GPIO_CTL_BASE
add r1, r1, #oGPIO_B
ldr r2, =0x295551
str r2, [r1, #oGPIO_CON]
mov r2, #0xff
str r2, [r1, #oGPIO_UP]
ldr r2, =0x1c1
str r2, [r1, #oGPIO_DAT]
#endif
修改目的：如果看到只有LED1亮了，并响起蜂鸣器，说明U－Boot的第一阶段已完成！(针对mini2440，若不是这块开发板的，必须修改或不添加)
在 “ _start_armboot: .word start_armboot ” 后加入： #define STACK_BASE 0x33f00000
#define STACK_SIZE 0x10000
.align 2
DW_STACK_START: .word STACK_BASE+STACK_SIZE-4
2 在board/tekkamaninija/mini2440加入NAND Flash读取函数（start.S中需要的nand_read_ll函数）文件nand_read.c
nand_read.c: #include
#define __REGb(x) (*(volatile unsigned char *)(x))
#define __REGi(x) (*(volatile unsigned int *)(x))
#define NF_BASE 0x4e000000
#define NFCONF __REGi(NF_BASE + 0x0)
#if defined(CONFIG_S3C2440)
#define NFCONT __REGi(NF_BASE + 0x4)
#define NFCMD __REGb(NF_BASE + 0x8)
#define NFADDR __REGb(NF_BASE + 0xC)
#define NFDATA __REGb(NF_BASE + 0x10)
#define NFSTAT __REGb(NF_BASE + 0x20)
#define NAND_CHIP_ENABLE (NFCONT &= ~(1<<1))
#define NAND_CHIP_DISABLE (NFCONT |= (1<<1))
#define NAND_CLEAR_RB (NFSTAT |= (1<<2))
#define NAND_DETECT_RB { while(! (NFSTAT&(1<<2)));}
/* low level nand read function */
int
nand_read_ll(unsigned char *buf, unsigned long start_addr, int size)
{
int i, j;
if ((start_addr & NAND_BLOCK_MASK) || (size & NAND_BLOCK_MASK)) {
return -1; /* invalid alignment */
}
NAND_CHIP_ENABLE;
for(i=start_addr; i < (start_addr + size);) {
/* READ0 */
NAND_CLEAR_RB;
NFCMD = 0;
/* Write Address */
NFADDR = i & 0xff;
NFADDR = (i >> 9) & 0xff;
NFADDR = (i >> 17) & 0xff;
NFADDR = (i >> 25) & 0xff;
NAND_DETECT_RB;
for(j=0; j < NAND_SECTOR_SIZE; j++, i++) {
*buf = (NFDATA & 0xff);
buf++;
}
}
NAND_CHIP_DISABLE;
return 0;
}
#endif
#if defined(CONFIG_S3C2410)
#define NFCMD __REGb(NF_BASE + 0x4)
#define NFADDR __REGb(NF_BASE + 0x8)
#define NFDATA __REGb(NF_BASE + 0xc)
#define NFSTAT __REGb(NF_BASE + 0x10)
#define BUSY 1
inline void wait_idle(void) {
int i;
while(!(NFSTAT & BUSY))
for(i=0; i<10; i++);
}
/* low level nand read function */
int
nand_read_ll(unsigned char *buf, unsigned long start_addr, int size)
{
int i, j;
if ((start_addr & NAND_BLOCK_MASK) || (size & NAND_BLOCK_MASK)) {
return -1; /* invalid alignment */
}
/* chip Enable */
NFCONF &= ~0x800;
for(i=0; i<10; i++);
for(i=start_addr; i < (start_addr + size);) {
/* READ0 */
NFCMD = 0;
/* Write Address */
NFADDR = i & 0xff;
NFADDR = (i >> 9) & 0xff;
NFADDR = (i >> 17) & 0xff;
NFADDR = (i >> 25) & 0xff;
wait_idle();
for(j=0; j < NAND_SECTOR_SIZE; j++, i++) {
*buf = (NFDATA & 0xff);
buf++;
}
}
/* chip Disable */
NFCONF |= 0x800; /* chip disable */
return 0;
}
#endif
顺便修改board/tekkamanninja/mini2440/Makefile文件,将nand_read.c编译进u-boot。
OBJS := mini2440.o nand_read.o flash.o
3 修改board/tekkamanninja/mini2440/lowlevel_init.S文件
/* REFRESH parameter */
#define REFEN 0x1 /* Refresh enable */
#define TREFMD 0x0 /* CBR(CAS before RAS)/Auto refresh */
#define Trc 0x3 /* 7clk */
#define Tchr 0x2 /* 3clk */
#if defined(CONFIG_S3C2440)
#define Trp 0x2 /* 4clk */
#define REFCNT 1012
#else
#define Trp 0x0 /* 2clk */
#define REFCNT 0x0459
#endif
4 修改/board/tekkamanninja/mini2440/mini2440.c
修改其对GPIO和PLL的配置(请参阅开发板的硬件说明和芯片手册)；并针对LCD显示部分和nand flash驱动添加相应的代码： ......
#include
#include
#include
#if defined(CONFIG_CMD_NAND)
#include
#endif
DECLARE_GLOBAL_DATA_PTR;
#define FCLK_SPEED 1
#if FCLK_SPEED==0 /* Fout = 203MHz, Fin = 12MHz for Audio */
#define M_MDIV 0xC3
#define M_PDIV 0x4
#define M_SDIV 0x1
#elif FCLK_SPEED==1 /* Fout = 202.8MHz */
#if defined(CONFIG_S3C2410)
/* Fout = 202.8MHz */
#define M_MDIV 0xA1
#define M_PDIV 0x3
#define M_SDIV 0x1
#endif
#if defined(CONFIG_S3C2440)
/* Fout = 405MHz */
#define M_MDIV 0x7f
#define M_PDIV 0x2
#define M_SDIV 0x1
#endif
#endif
#define USB_CLOCK 1
#if USB_CLOCK==0
#define U_M_MDIV 0xA1
#define U_M_PDIV 0x3
#define U_M_SDIV 0x1
#elif USB_CLOCK==1
#if defined(CONFIG_S3C2410)
#define U_M_MDIV 0x48
#define U_M_PDIV 0x3
#endif
#if defined(CONFIG_S3C2440)
#define U_M_MDIV 0x38
#define U_M_PDIV 0x2
#endif
#define U_M_SDIV 0x2
#endif
......
为连接LED和蜂鸣器的GPIO修改配置寄存器：
int board_init (void):
......
#if defined(CONFIG_MINI2440)
gpio->GPBCON = 0x00295551;
#else
gpio->GPBCON = 0x00044556;
#endif
......
为引导linux 内核，修改开发板的类型代码：
int board_init (void):
......
#if defined(CONFIG_S3C2410)
/* arch number of SMDK2410-Board */
gd->bd->bi_arch_number = MACH_TYPE_SMDK2410;
#endif
#if defined(CONFIG_S3C2440)
/* arch number of S3C2440-Board */
gd->bd->bi_arch_number = MACH_TYPE_S3C2440 ;
#endif
......
为使int board_init (void)设置完成后，LED1和LED2同时亮起，蜂鸣器继续鸣叫，在int board_init (void)的最后添加： ......
icache_enable();
dcache_enable();
#if defined(CONFIG_MINI2440_LED)
gpio->GPBDAT = 0x00000181;
#endif
return 0;
}
针对LCD显示部分,在int board_init (void)函数后添加2440的LCD控制器的初始化代码: #define MVAL (0)
#define MVAL_USED (0) //0=each frame 1=rate by MVAL
#define INVVDEN (1) //0=normal 1=inverted
#define BSWP (0) //Byte swap control
#define HWSWP (1) //Half word swap control
//TFT 240320
#define LCD_XSIZE_TFT_240320 (240)
#define LCD_YSIZE_TFT_240320 (320)
//TFT240320
#define HOZVAL_TFT_240320 (LCD_XSIZE_TFT_240320-1)
#define LINEVAL_TFT_240320 (LCD_YSIZE_TFT_240320-1)
//Timing parameter for NEC3.5'
#define VBPD_240320 (3)
#define VFPD_240320 (10)
#define VSPW_240320 (1)
#define HBPD_240320 (5)
#define HFPD_240320 (2)
#define HSPW_240320 (36)
#define CLKVAL_TFT_240320 (3)
//FCLK=101.25MHz,HCLK=50.625MHz,VCLK=6.33MHz
void board_video_init(GraphicDevice *pGD)
{
S3C24X0_LCD * const lcd = S3C24X0_GetBase_LCD();
/* FIXME: select LCM type by env variable */
/* Configuration for GTA01 LCM on QT2410 */
lcd->LCDCON1 = 0x00000378; /* CLKVAL=4, BPPMODE=16bpp, TFT, ENVID=0 */
lcd->LCDCON2 = (VBPD_240320<<24)|(LINEVAL_TFT_240320<<14)|(VFPD_240320<<6)|(VSPW_240320);
lcd->LCDCON3 = (HBPD_240320<<19)|(HOZVAL_TFT_240320<<8)|(HFPD_240320);
lcd->LCDCON4 = (MVAL<<8)|(HSPW_240320);
lcd->LCDCON5 = 0x00000f09;
lcd->LPCSEL = 0x00000000;
}
为nand flash驱动屏蔽相应的代码，因为此次使用的是u-boot从Linux移植来的代码，而不是原来的nand_legacy驱动： #if 0
#if defined(CONFIG_CMD_NAND)
extern ulong nand_probe(ulong physadr);
static inline void NF_Reset(void)
{
int i;
NF_SetCE(NFCE_LOW);
NF_Cmd(0xFF); /* reset command */
for(i = 0; i < 10; i++); /* tWB = 100ns. */
NF_WaitRB(); /* wait 200~500us; */
NF_SetCE(NFCE_HIGH);
}
static inline void NF_Init(void)
{
#if 1
#define TACLS 0
#define TWRPH0 3
#define TWRPH1 0
#else
#define TACLS 0
#define TWRPH0 4
#define TWRPH1 2
#endif
NF_Conf((1<<15)|(0<<14)|(0<<13)|(1<<12)|(1<<11)|(TACLS<<8)|(TWRPH0<<4)|(TWRPH1<<0));
/*nand->NFCONF = (1<<15)|(1<<14)|(1<<13)|(1<<12)|(1<<11)|(TACLS<<8)|(TWRPH0<<4)|(TWRPH1<<0); */
/* 1 1 1 1, 1 xxx, r xxx, r xxx */
/* En 512B 4step ECCR nFCE=H tACLS tWRPH0 tWRPH1 */
NF_Reset();
}
void nand_init(void)
{
S3C2410_NAND * const nand = S3C2410_GetBase_NAND();
NF_Init();
#ifdef DEBUG
printf('NAND flash probing at 0x%.8lX
', (ulong)nand);
#endif
printf ('%4lu MB
', nand_probe((ulong)nand) >> 20);
}
#endif
#endif
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