GK SDK 源码库: XMIPCLinuxV100R005C00SPC030 (kernel/tools/open_source excluded)
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if TARGET_LEGOEV3
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config SYS_BOARD
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default "ev3"
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config SYS_VENDOR
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default "lego"
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config SYS_CONFIG_NAME
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default "legoev3"
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endif
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LEGOEV3 BOARD
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M: David Lechner <david@lechnology.com>
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S: Maintained
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F: board/lego/ev3/
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F: include/configs/legoev3.h
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F: configs/legoev3_defconfig
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# SPDX-License-Identifier: GPL-2.0+
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#
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# (C) Copyright 2000, 2001, 2002
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# Wolfgang Denk, DENX Software Engineering, wd@denx.de.
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#
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# Copyright (C) 2007 Sergey Kubushyn <ksi@koi8.net>
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obj-y += legoev3.o
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Summary
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=======
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LEGO MINDSTORMS EV3 is a toy robot produced by the LEGO Group. It is based
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on the davinci da850 evm. The EV3 has a 16MB spi flash and a SDHC microSD card
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reader.
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Booting
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=======
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The EV3 contains a bootloader in EEPROM that loads u-boot.bin from address 0x0
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of the SPI flash memory (with a size of 256KiB!). Because the EEPROM is read-
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only and it takes care of low level configuration (PLL and DDR), we don't use
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U-Boot to produce an SPL image.
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Using the default configuration, U-Boot had a boot scrips that works as follows:
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* Check to see if microSD card is present
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* If it is, try to load boot.scr from the first FAT partition
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* If loading boot.scr was successful, run it
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* Otherwise, try loading uEnv.txt
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* If loading uEnv.txt was successful, import it
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* If there is a uenvcmd variable (from uEnv.txt), run it
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* Try to load uImage from the first FAT partition
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* If it was successful, try to load da850-lego-ev3.dtb
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* If loading uImage was successful, boot it (DT is optional)
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* If none of the above was successful, try booting from flash
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Suggested Flash Memory Layout
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=============================
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The following is based on the default U-Boot configuration:
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| Image (file) | Start Addr. | Max. Size |
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+--------------------+-------------+-------------------+
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| u-boot.bin | 0x0 | 0x40000 (256KiB) |
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| da850-lego-ev3.dtb | 0x40000 | 0x10000 (64KiB) |
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| uImage | 0x50000 | 0x400000 (4MiB) |
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| rootfs (squashfs) | 0x450000 | 0xa00000 (10MiB) |
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Writing image to flash
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======================
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The EEPROM contains a program for uploading an image file to the flash memory.
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The program is started by holding down the right button on the EV3 when powering
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it on. You can also `run fwupdateboot` in the u-boot shell to reboot into this
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mode. The image can then be uploaded using the official LEGO MINDSTORMS EV3
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software or a 3rd party program capable of uploading a firmware file.
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If you are booting from the microSD card, it is enough to just write uboot.bin
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to the flash. If you are not using a microSD card, you will need to create an
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image file using the layout described above.
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IMPORTANT: The EEPROM bootloader only copies 256k, so u-boot.img must not
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exceed that size!
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@@ -0,0 +1,151 @@
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// SPDX-License-Identifier: GPL-2.0+
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/*
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* Copyright (C) 2016 David Lechner <david@lechnology.com>
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*
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* Based on da850evm.c
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*
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* Copyright (C) 2010 Texas Instruments Incorporated - http://www.ti.com/
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*
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* Based on da830evm.c. Original Copyrights follow:
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*
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* Copyright (C) 2009 Nick Thompson, GE Fanuc, Ltd. <nick.thompson@gefanuc.com>
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* Copyright (C) 2007 Sergey Kubushyn <ksi@koi8.net>
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*/
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#include <common.h>
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#include <i2c.h>
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#include <spi.h>
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#include <spi_flash.h>
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#include <asm/arch/hardware.h>
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#include <asm/arch/pinmux_defs.h>
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#include <asm/io.h>
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#include <asm/arch/davinci_misc.h>
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#include <linux/errno.h>
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#include <hwconfig.h>
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#include <asm/mach-types.h>
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#include <asm/setup.h>
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DECLARE_GLOBAL_DATA_PTR;
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u8 board_rev;
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#define EEPROM_I2C_ADDR 0x50
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#define EEPROM_REV_OFFSET 0x3F00
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#define EEPROM_MAC_OFFSET 0x3F06
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const struct pinmux_resource pinmuxes[] = {
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PINMUX_ITEM(spi0_pins_base),
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PINMUX_ITEM(spi0_pins_scs0),
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PINMUX_ITEM(uart1_pins_txrx),
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PINMUX_ITEM(i2c0_pins),
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PINMUX_ITEM(mmc0_pins),
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};
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const int pinmuxes_size = ARRAY_SIZE(pinmuxes);
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const struct lpsc_resource lpsc[] = {
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{ DAVINCI_LPSC_SPI0 }, /* Serial Flash */
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{ DAVINCI_LPSC_UART1 }, /* console */
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{ DAVINCI_LPSC_MMC_SD },
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};
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const int lpsc_size = ARRAY_SIZE(lpsc);
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u32 get_board_rev(void)
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{
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u8 buf[2];
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if (!board_rev) {
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if (i2c_read(EEPROM_I2C_ADDR, EEPROM_REV_OFFSET, 2, buf, 2)) {
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printf("\nBoard revision read failed!\n");
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} else {
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/*
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* Board rev 3 has MAC address at EEPROM_REV_OFFSET.
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* Other revisions have checksum at EEPROM_REV_OFFSET+1
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* to detect this.
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*/
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if ((buf[0] ^ buf[1]) == 0xFF)
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board_rev = buf[0];
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else
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board_rev = 3;
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}
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}
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return board_rev;
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}
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/*
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* The Bluetooth MAC address serves as the board serial number.
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*/
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void get_board_serial(struct tag_serialnr *serialnr)
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{
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u32 offset;
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u8 buf[6];
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if (!board_rev)
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board_rev = get_board_rev();
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/* Board rev 3 has MAC address where rev should be */
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offset = (board_rev == 3) ? EEPROM_REV_OFFSET : EEPROM_MAC_OFFSET;
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if (i2c_read(EEPROM_I2C_ADDR, offset, 2, buf, 6)) {
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printf("\nBoard serial read failed!\n");
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} else {
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u8 *nr;
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nr = (u8 *)&serialnr->low;
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nr[0] = buf[5];
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nr[1] = buf[4];
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nr[2] = buf[3];
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nr[3] = buf[2];
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nr = (u8 *)&serialnr->high;
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nr[0] = buf[1];
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nr[1] = buf[0];
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nr[2] = 0;
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nr[3] = 0;
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}
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}
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int board_early_init_f(void)
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{
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/* enable the console UART */
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writel((DAVINCI_UART_PWREMU_MGMT_FREE | DAVINCI_UART_PWREMU_MGMT_URRST |
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DAVINCI_UART_PWREMU_MGMT_UTRST),
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&davinci_uart1_ctrl_regs->pwremu_mgmt);
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/*
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* Power on required peripherals
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* ARM does not have access by default to PSC0 and PSC1
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* assuming here that the DSP bootloader has set the IOPU
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* such that PSC access is available to ARM
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*/
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if (da8xx_configure_lpsc_items(lpsc, ARRAY_SIZE(lpsc)))
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return 1;
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return 0;
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}
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int board_init(void)
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{
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irq_init();
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/* arch number of the board */
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/* LEGO didn't register for a unique number and uses da850evm */
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gd->bd->bi_arch_number = MACH_TYPE_DAVINCI_DA850_EVM;
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/* address of boot parameters */
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gd->bd->bi_boot_params = LINUX_BOOT_PARAM_ADDR;
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/* setup the SUSPSRC for ARM to control emulation suspend */
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writel(readl(&davinci_syscfg_regs->suspsrc) &
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~(DAVINCI_SYSCFG_SUSPSRC_I2C |
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DAVINCI_SYSCFG_SUSPSRC_SPI0 | DAVINCI_SYSCFG_SUSPSRC_TIMER0 |
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DAVINCI_SYSCFG_SUSPSRC_UART1),
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&davinci_syscfg_regs->suspsrc);
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/* configure pinmux settings */
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if (davinci_configure_pin_mux_items(pinmuxes, ARRAY_SIZE(pinmuxes)))
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return 1;
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return 0;
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}
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