DRA7xx GLSDK Software Developers Guide
Contents
- 1 Introduction
- 2 Starting your software development
- 3 Repo tool Usage
- 4 Building Yocto Filesystem
- 5 GLSDK software overview
- 6 Running Examples
- 6.1 Graphics Demos from Command Line
- 6.2 Using the PowerVR Tools
- 6.3 Running aplay and arecord application
- 6.4 Running viddec3test application
- 6.5 Running DSP sample applications
- 6.6 Running a gstreamer pipeline
- 6.7 Running VIP/VPE application
- 6.8 Running DSS application
- 6.9 Gsttestplayer
- 6.10 Running IPC examples
- 6.11 Running basic Wifi tests
- 6.12 Running basic Bluetooth tests
- 6.13 How to bring up the GNSS driver and sample application
- 7 Booting EVM with different modes
- 7.1 Choosing the correct device tree (GLSDK 7.00.00.04 onwards)
- 7.2 Choosing the correct bootloader config (GLSDK 7.01.00.03 onwards)
- 7.3 Supported Boot modes
- 7.4 Using QSPI Boot
- 7.5 Using eMMC Boot
- 7.6 Using UART boot
- 7.7 Boot Over UART Procedure
- 7.8 Booting Secure DRA7xx Devices SD/eMMC
- 7.9 USB DRD (Dual Role Device) Support
- 8 IPC
- 9 Using the Late attach functionality
- 10 Using the Early video decode example
- 11 Changing MPU Frequency (DVFS)
- 12 Additional Procedures
Introduction
Welcome to the DRA7xx GLSDK Software Developer's Guide.
Thank you for choosing the DRA7xx evm for your application. The purpose of this guide is to get you going with developing software for the DRA7xx on a Linux development host only.
Note! All instructions in this guide are for Ubuntu 12.04. At this time, this is the only supported Linux host distribution for development.
Some commands are to be executed on the Linux development host, some on the Linux target and some on the u-boot (bootloader) prompt. The following conventions are used to distinguish the commands on a host and on the target:
host $ <this command is to be executed on the host> target # <this command is to be executed on the target> u-boot :> <this command is to be executed on the u-boot prompt>
Starting your software development
Setup up ARM linux development Environment on the host. Please refer to this link to see how to set one up.
Configuration of ARM Linux development Environment
Step 1: Install the GLSDK release on the host machine.
- Download the GLSDK installer for your platform.
- If necessary make the installer executable manually by executing:
host $ chmod +x ti-glsdk_dra7xx-evm_7_01_00_03_linux-installer.bin
- Execute the installer on the host and follow the instructions:
host $ ./ti-glsdk_dra7xx-evm_7_01_00_03_linux-installer.bin
Step 2: Setup the GLSDK environment variable to the location where the GLSDK is installed (the following assumes that GLSDK was installed at default location):
host $ export GLSDK="${HOME}/ti-glsdk_dra7xx-evm_7_01_00_03"
Step 3: Setup the GLSDK on host
The GLSDK comes with a script for setting up your Ubuntu 12.04 LTS development host. It is an interactive script, but if you accept the defaults by pressing return you will use the recommended settings. This is recommended for first time users. Note that this script requires ethernet access as it will update your Ubuntu Linux development host with the packages required to develop using the GLSDK.
Note: Please make sure that the proxy settings are done for http, https, git, ftp and wget before proceeding further.
Execute the script in the GLSDK release directory using:
host $ cd ${GLSDK}
host $ ./setup.sh
The setup script would perform the following operations:
- Installs all the necessary package on the host for the SDK.
- Prepares the UART terminal to communicate with the target over Debug USB on Minicom. If you want to use a windows host for connecting to the target instead, see the #Setting_up_Tera_Term section
- Setups the linaro cross compiler
- Installs the dependencies for the repo tool.
- Initialize the repo by pointing it to GLSDK release manifest location.
To start minicom on your Linux development host execute minicom -w (or Tera Term on Windows).
Step 4: Prepare SD card
To install the release image, you need a µSD Card (at least 4GB) with 2 partitions:
- boot (vfat) partition.
- rootfs (ext4 or ext3) partition.
The following procedure prepares the sdcard: (however, the user can choose to do it manually as well)
- Plug an SD card reader to your PC and insert a µSD card. It must be at least 4GB size.
- Identify which device corresponds to the SD card reader. sudo fdisk -l command can help you find out where the µSD Card is mapped. We will call it /dev/sdY here.
Note : If you are using NFS file system, then edit ${GLSDK}/board-support/pre-built-images/boot.script.sd, add "ip=dhcp" in bootargs.
- Re-format your µSD card with this script mksdboot.sh from the bin directory in the GLSDK
$ sudo ${GLSDK}/bin/mksdboot.sh --device /dev/sdY --sdk ${GLSDK}
The above script would prepare the SD card with the prebuilt images and yocto filesystem for SD boot.
Step 5: Booting the board
To boot the board with the above created SD card, refer to the Quick Start Guide at the GLSDK download location (https://software-dl.ti.com/dsps/dsps_public_sw/glsdk/latest/index_FDS.html) to setup the board.
Then, power cycle the board and login with username as root.
Repo tool Usage
Starting source code development using repo tool
The GLSDK release uses the repo tool to effectively manage the different components of the GLSDK.
NOTE :
1: The first step to the repo tool is the repo initialization and this is done as part of the $GLSDK/setup.sh script
2: The repo tool is downloaded into the bin folder in the GLSDK directory. Please ensure that this path is updated in the environment variable as shown below
host $ export PATH=${GLSDK}/bin:$PATH
The GLSDK release contains a helper script that sets up the development environment. Run the script as shown below:
host $ cd ${GLSDK}
host $ ./bin/fetch-sources.sh
The script does the following:
- Check for the repo tool.
- Perform repo sync
- Create a branch called glsdk_dev
- Checkout the branch glsdk_dev
It is expected that the development is done on the glsdk_dev branch.
How to get updates
If there are changes in the remote repositories, it could be fetched using the same script.
However, please make note of these important points.
1. The script will fetch the latest changes, and switch back to the glsdk_dev branch.
2. The new updates from the remote, will be available in the master branch.
3. The decision on whether to merge the changes to the local branch or merge the local branch to the master is left to the developer
Building Yocto Filesystem
Please ensure that the setup.sh script is run as described in Starting your software development section and answer 'yes' to fetch-sources prompt.
Before building the filesystem, ensure that the svn, http, ftp and git proxies are set correctly. Refer to the following link for these settings https://wiki.yoctoproject.org/wiki/Working_Behind_a_Network_Proxy.
Add the Linaro cross-compile toolchain path in the PATH environment variable.
host $ export PATH=<Path to Linaro cross-compile toolchain>/bin:$PATH
Run this command to as a one-time setup for the yocto build
host $ cd $GLSDK host $ ./bin/setup-yocto.sh
For building core sdk , run the build-core-sdk.sh passing machine name as an argument.
host $ cd yocto-layers
Create a downloads directory (if building using Yocto for the first time), where the Yocto build will place the downloads. Note the path of the directory.
host $ mkdir downloads
NOTE: Please pass the same downloads directory path to the following build-script when prompted
host $ ./build-core-sdk.sh dra7xx-evm
These scripts will build the arago-glsdk-multimedia-image.
After build is complete the generated images can be found in yocto-layers/build/arago-tmp-external-linaro-toolchain/deploy/images/
| Image name | Description |
|---|---|
| arago-glsdk-multimedia-image-<MACHINE-NAME>-<DATE>.rootfs.tar.gz | This is the filesystem tarball. Copy and extract it on the rootfs partition of the boot media. |
| zImage-<MACHINE-NAME>.bin | zImage for the machine. Copy as zImage in /boot folder of the rootfs partition. |
| zImage-<MACHINE-NAME>.dtb | Copy dra7-evm.dtb in boot partition. Or choose to copy the appropriate dtb based on the display and additional boards that are connected. |
| u-boot-<MACHINE-NAME>.img | Copy as u-boot.img in boot partition. |
Note: The build does not generate a uenv.txt. You need to copy it from the prebuilt binaries in the release.
Modifying source code and rebuilding a component
Once the Yocto setup is complete developers would like to modify a certain component source code and rebuild it.
The source code for the generic components like omapdrmtest can be found in ${GLSDK}/yocto-layers/build/arago-tmp-external-linaro-toolchain/work/cortexa15hf-vfp-neon-3.8-oe-linux-gnueabi/
Steps to rebuild:
1. Modify the source of the component in its work area
2. cd to yocto-layers
host $ cd ${GLSDK}/yocto-layers
3. export PATH if not done previously:
host $ export PATH=<Path to Linaro cross-compile toolchain>/bin:$PATH
4. Run one/combination of the folowing tasks:
a. To configure and compile with the latest changes in the work area:
host $ ./build-specific-recipe.sh <MACHINE-NAME> -f -c configure <RECIPE-NAME> host $ ./build-specific-recipe.sh <MACHINE-NAME> -f -c compile <RECIPE-NAME>
For example, if the omapdrmtest source is modified and you want to generate only the binaries for dra7xx-evm, the compile task should suffice:
host $ ./build-specific-recipe.sh <MACHINE-NAME> -f -c compile omapdrmtest
The binaries will be present in the same folder as the source files.
b. To generate .ipk package in addition to the binaries, following additional tasks need to be run after above steps:
host $ ./build-specific-recipe.sh <MACHINE-NAME> -f -c install <RECIPE-NAME> host $ ./build-specific-recipe.sh <MACHINE-NAME> -f -c package <RECIPE-NAME> host $ ./build-specific-recipe.sh <MACHINE-NAME> -f -c package_write_ipk <RECIPE-NAME>
This will generate .ipk packages for the recipe. They can be found in the deploy-ipks folder of the work area of the recipe.
The .ipk packages can be copied and installed on the target by:
target $ opkg install <PACKAGE-NAME>
This approach is useful in the case of recipes that generate a large number of binaries, that are difficult to copy manually, like gst-plugins-bad.
c. During building and debugging the kernel or kernel modules, the compile_kmodules task needs to be executed that generates kernel modules.
host $ ./build-specific-recipe.sh <MACHINE-NAME> -f -c compile_kmodules <RECIPE-NAME>
For a complete set of tasks that a specific recipe executes during its build, please refer to the log.task_order in the temp folder of the component.
Pass the relevant tasks to build-specific-recipe.sh for required outcome.
5. For a robust solution , once the change in source area is tested with the above steps, please update the recipe.
a. create a patch of the change
b. copy it in the folder where the recipe is present
c. add the patch name in the SRC_URI variable in the recipe
The build-specific-recipe.sh recognizes the change in the recipe and builds it if required.
To build a specific component after recipe is updated, use the build-specific-recipe.sh
host $ ./build-specific-recipe.sh <MACHINE-NAME> <RECIPE NAME>
For example to build omapdrmtest:
host $ ./build-specific-recipe.sh <MACHINE-NAME> omapdrmtest
MACHINE-NAME can be either omap5-evm or dra7xx-evm
To clean a specific component:
host $ ./clean-specific-recipe.sh <MACHINE-NAME> <RECIPE NAME>
GLSDK software overview
The GLSDK contains many software components. Some are developed by Texas Instruments and some are developed in and by the open source community(White). TI contributes, and sometimes even maintains, some of these open source community projects, but the support model is different from a project developed solely by TI.
Running Examples
Graphics Demos from Command Line
The graphics driver and userspace libraries and binaries are distributed along with the SDK.
To execute the demos, the graphics driver must be initialised by running pvrsrvinit.
target # pvrsrvinit
Please make sure the board is connected to atleast one display before running these demos.
Finding Connector ID
Note: Most of the applications used in the Demos would require the user to pass a connector id. A connector id is a number that is assigned to each of the display devices connected to the system. To get the list of the display devices connected and the corresponding connector id one can use the modetest application (shipped with the file system) as mentioned below:
target # modetest
Look for the display device for which the connector ID is required - such as HDMI, LCD etc.
Connectors:
id encoder status type size (mm) modes encoders
4 3 connected unknown 0x0 1 3
modes:
name refresh (Hz) hdisp hss hse htot vdisp vss vse vtot)
1280x800 60 1280 1328 1360 1404 800 804 811 823 flags: nhsync, nvsync; type: preferred, driver
...
16 11 connected HDMI-A 700x390 31 11
modes:
name refresh (Hz) hdisp hss hse htot vdisp vss vse vtot)
1280x720 60 1280 1390 1430 1650 720 725 730 750 flags: phsync, pvsync; type: preferred, driver
Usually LCD is assigned 4 (800x480), HDMI is assigned 16 (multiple resolutions).
Finding Plane ID
To find the Plane ID, run the modetest command:
target # modetest
Look for the section called Planes. (Sample truncated output of the Planes section is given below)
Planes: id crtc fb CRTC x,y x,y gamma size 19 0 0 0,0 0,0 0 formats: RG16 RX12 XR12 RA12 AR12 XR15 AR15 RG24 RX24 XR24 RA24 AR24 NV12 YUYV UYVY props: ... 20 0 0 0,0 0,0 0 formats: RG16 RX12 XR12 RA12 AR12 XR15 AR15 RG24 RX24 XR24 RA24 AR24 NV12 YUYV UYVY props: ...
kmscube
Run kmscube on default display (LCD):
target # kmscube
Run kmscube on secondary display (HDMI):
target # kmscube -c <connector-id> target # kmscube -c 16 #Usually, the connector id for HDMI is 16.
Run kmscube on all connected displays (LCD & HDMI & FPDLink(optional)):
target # kmscube -a
kmscube with video
A new demo has been added into the GLSDK starting with 6.10.00.01 release.This demo allows a video frame to be applied as a texture onto the surface of the kmscube. The user can invoke the demo by following the syntax below:
target # viddec3test <path_to_the_file> --kmscube --connector <connector_number>
Run kmscube with video on default display (LCD):
target # viddec3test <path_to_the_file> --kmscube
Run kmscube with video on secondary display (HDMI):
target # viddec3test <path_to_the_file> --kmscube --connector 16 #Usually, the connector id for HDMI is 16.
Additionally, to change the field of view of the rotating cube, the user can specify the same on the command line like below:
target # viddec3test <path_to_the_file> --kmscube --connector <connector_number> --fov <number>
Wayland/Weston
Starting from GLSDK 6.04, the supported Wayland/Weston version brings in the multiple display support in extended desktop mode and the ability to drag-and-drop windows from one display to the other.
To execute the demos, the graphics driver must be initialized by running pvrsrvinit if this has not been done earlier.
target # pvrsrvinit
To launch weston, do the following:
On default display (LCD):
target # weston --tty=1 --connector=4
On secondary display (HDMI):
target # weston --tty=1 --connector=16
On the third display (FPD link):
target # weston --tty=1 --connector=21
On all connected displays (LCD, HDMI and FPDLink):
target # weston --tty=1
By default, the screensaver timeout is configured to 300 seconds.
The user can change the screensaver timeout using a command line option
--idle-time=<number of seconds>
For example, to set timeout of 10 minutes and weston configured to display on all connectors, use the below command:
weston --tty=1 --idle-time=600
To disable the screen timeout and to configure weston configured to display on all connectors, use the below command:
weston --tty=1 --idle-time=0
If you face any issues with the above procedure, please refer GLSDK_FAQs#Unable_to_run_Weston_on_the_GLSDK_release for troubling shooting tips.
The filesystem comes with a preconfigured weston.ini file which will be located in
/home/root/.config/weston.ini after running the initialization steps.
Running weston clients
There is one icon on the top right hand corner of the weston desktop window which has been configured for
- weston-terminal
Clicking this icon should launch the applications on the Weston Desktop.
It is possible to add other icons by editing the weston.ini file.
There are several other applications that are included in the default filesystem. To invoke these applications, the user should launch the weston-terminal (top right hand corner of the desktop) and then invoke the client apps as described below from within the terminal window:
wayland sh # /usr/bin/weston-flower
wayland sh # /usr/bin/weston-clickdot
wayland sh # /usr/bin/weston-cliptest
wayland sh # /usr/bin/weston-dnd
wayland sh # /usr/bin/weston-editor
wayland sh # /usr/bin/weston-eventdemo
wayland sh # /usr/bin/weston-image /usr/share/weston/terminal.png
wayland sh # /usr/bin/weston-resizor
wayland sh # /usr/bin/weston-simple-egl
wayland sh # /usr/bin/weston-simple-shm
wayland sh # /usr/bin/weston-simple-touch
wayland sh # /usr/bin/weston-smoke
wayland sh # /usr/bin/weston-info
wayland sh # /usr/bin/weston-terminal
Running multimedia with Wayland sink
The GStreamer video sink for Wayland is the waylandsink. To use this video-sink for video playback:
target # gst-launch-1.0 playbin uri=file://<path-to-file-name> video-sink=waylandsink
Exiting weston
Terminate all Weston clients before exiting Weston. If you have invoked Weston from the serial console, exit Weston by pressing Ctrl-C.
It is also possible to invoke Weston from the native console, exit Weston by using pressing Ctrl-Alt-Backspace.
IMG PowerVR Demos
The GLSDK filesystem comes packaged with example OpenGLES applications. The examples can be invoked using the below commands.
target # /opt/img-powervr-sdk/Examples/Advanced/OGLES2Coverflow target # /opt/img-powervr-sdk/Examples/Advanced/OGLES2ChameleonMan target # /opt/img-powervr-sdk/Examples/Advanced/OGLES2ExampleUI target # /opt/img-powervr-sdk/Examples/Advanced/OGLES2Navigation
After you see the output on the display interface, hit q to terminate the application.
Using the PowerVR Tools
The target file system includes tools such as PVRScope and PVRTrace recorder libraries from Imagination PowerVR SDK to profile and trace SGX activities. In addition, it also includes PVRPerfServerDeveloper toolfor Jacinto6 platform.
This tool can be used along with the PVRTune running on the PC to gather data on the SGX loading and activity threads. You can invoke the tool with the below command:
target # /opt/img-powervr-sdk/PVRHub/PVRPerfServer/PVRPerfServerDeveloper
Please refer to http://community.imgtec.com/developers/powervr/graphics-sdk/ for additional details on the tools and further documentation.
Running aplay and arecord application
To playback/record on the evm via headset/mic, please make sure the following amixer settings are done:
- For playback via headset, enter the following at prompt target#
amixer sset 'Left DAC Mux',0 'DAC_L2' amixer sset 'Right DAC Mux',0 'DAC_R2' amixer cset name='HP Playback Switch' On amixer cset name='Line Playback Switch' Off amixer cset name='PCM Playback Volume' 127
Once these settings are successful, use aplay application for playback:
target # aplay <path_to_example_audio>.wav
- For recording via Mic In
amixer cset name='Left PGA Mixer Mic3L Switch' On amixer cset name='Right PGA Mixer Mic3L Switch' On amixer cset name='Left PGA Mixer Line1L Switch' off amixer cset name='Right PGA Mixer Line1R Switch' off amixer cset name='PGA Capture Switch' on amixer cset name='PGA Capture Volume' 6
Once these settings are successful, use arecord to record
target # arecord -r 44.1 > <path_to_example_audio>.wav
Running viddec3test application
viddec3test is a demo application for decoder/video playback using hardware accelerators. The application currently runs on the kms display. The application requires the connector information for display. One can get the information of the display connected to the board by running the modetest application in the filesystem, as described above. To execute the application "modetest" make sure the display is connected to the board.
Running a decode on a display
To run a hardware decode on a display connected to the board, execute the following command:
target # viddec3test -s <connector_id>:<display resolution> filename --fps 30 e.g.: target # viddec3test -s 4:1920x1080 file.h264 --fps 30
Running single decode on dual displays
To run the output of a single decode on the dual displays. Please make sure both the displays are connected and get the information about the connectors and the resolution associated with it for both the displays from the modetest application.
target # viddec3test -s <connector_id_1>:<display resolution> -s <connector_id_2>:<display resolution> filename --fps 30
e.g.: target # viddec3test -s 4:1920x1080 -s 12:1024x768 file.h264 --fps 30
Running dual decode on dual displays
One can also run a dual decode and display their output on two different displays. Please make sure both the displays are connected and get the information about the connectors and the resolution associated with it for both the displays from the modetest application.
target # viddec3test -s <connector_id_1>:<display resolution> filename1 -s <connector_id_2>:<display resolution> filename2
e.g.: target # viddec3test -s 4:1920x1080 file1.h264 -- -s 12:1024x768 file2.h264
Running DSP sample applications
DCE framework running on DSP1 supports C66x codecs with VIDDEC2 interface. In the current version of dspdce package, Universal_copy algorithm (with IUNIVERSAL interface) is invoked from dce VIDDEC2 interfaces. Universal_copy algorithm does simple input buffer to outbuffer memcopy. To integrate C66x codecs with VIDDEC2 interface, iuniversal interfaces needs to be replaced with ividdec2 interfaces in DCE framework.
The following are the applications that one could run from A15 to exercise the above on DSP:
copycodectest: This application is to test Universal_copy with VIDDEC2 interface.
This application fills the input buffer with a number entered as argument and after process output buffer is tested for same pattern.
usage: copycodectest pattern.
Example:
target # copycodectest 123
yuvcopytest: This applciation reads one frame of yuv of known width and height into input buffer.
Luma output buffer after process call is sent to display to check if universal_copy running on DSP is properly copied to output buffer.
usage: yuvcopytest -s <connector_Id>:<mode> yuvfile -w width -h height
Example:
target # yuvcopytest -s 4:800x480 input.yuv -w 1920 -h 1080
Running a gstreamer pipeline
GStreamer v1.2 is supported from GLSDK 7.00.00.04 onwards and GStreamer 0.10 is deprecated.
One can run an audio video file using the gstreamer playbin from the console. Currently, the supported Audio/video sink is kmssink, waylandsink and alsassink.
kmssink: target # gst-launch-1.0 playbin uri=file:///<path_to_file> video-sink=kmssink audio-sink=alsasink
waylandsink: 1. refer #Wayland/Weston to start the weston 2. target # gst-launch-1.0 playbin uri=file:///<path_to_file> video-sink=waylandsink audio-sink=alsasink
The following pipelines show how to use vpe for scaling, deinterlacing and color space conversion.
1. Decode-> Deinterlace->Display
target # gst-launch-1.0 -v filesrc location=example_interlaced_h264.mp4 ! qtdemux ! \
h264parse ! ducatih264dec ! vpe ! kmssink
2. Decode-> Scale->Display
target # gst-launch-1.0 -v filesrc location=example_h264.mp4 ! qtdemux ! h264parse ! \
ducatih264dec ! vpe ! 'video/x-raw, format=(string)NV12, width=(int)720, height=(int)480' ! kmssink
3. Color space conversion:
target # gst-launch-1.0 -v videotestsrc ! 'video/x-raw, format=(string)YUY2, width= \
(int)1280, height=(int)720' ! vpe ! 'video/x-raw, format=(string)NV12, width=(int)720, height=(int)480' \
! kmssink
Note: While using playbin for playing the stream, vpe plugin is automatically picked up for de-interlacing. However vpe cannot be used with playbin for scaling the output video. For utilizing scaling capabilities of vpe, using manual pipeline given above is recommended.
The following pipelines show how to use v4l2src and ducatimpeg4enc elements to capture video from VIP and encode captured video respectively.
Capture and Display Fullscreen target # gst-launch-1.0 v4l2src device=/dev/video1 num-buffers=1000 io-mode=4 ! 'video/x-raw, \ format=(string)YUY2, width=(int)1280, height=(int)720' ! vpe num-input-buffers=8 ! queue ! kmssink
Capture and Display to a window in wayland 1. refer #Wayland/Weston to start the weston 2. target # gst-launch-1.0 v4l2src device=/dev/video1 num-buffers=1000 io-mode=4 ! 'video/x-raw, \ format=(string)YUY2, width=(int)1280, height=(int)720' ! vpe num-input-buffers=8 ! queue ! waylandsink
Capture and Encode into a MP4 file. target # gst-launch-1.0 -e v4l2src device=/dev/video1 num-buffers=1000 io-mode=4 ! 'video/x-raw, \ format=(string)YUY2, width=(int)1280, height=(int)720' ! vpe num-input-buffers=8 ! queue ! \ ducatimpeg4enc bitrate=4000 ! queue ! mpeg4videoparse ! qtmux ! filesink location=x.mp4
Capture and Encode and Display in parallel. target # gst-launch-1.0 -e v4l2src device=/dev/video1 num-buffers=1000 io-mode=4 ! 'video/x-raw, \ format=(string)YUY2, width=(int)1280, height=(int)720' ! vpe num-input-buffers=8 ! tee name=t ! queue ! \ ducatimpeg4enc bitrate=4000 ! queue ! mpeg4videoparse ! qtmux ! filesink location=x.mp4 t. ! queue ! kmssink
Note: For capturing in NV12 format use
'video/x-raw, format=(string)NV12, width=(int)1280, height=(int)720'
Running VIP/VPE application
Video Input Port
Video Input Port is used to capture video frames from Camera. Currently the VIP driver supports following features.
For more information on VIP driver and other features, please refer to https://processors.wiki.ti.com/index.php/GLSDK_VIP_driver
- Standard V4L2 capture driver
- Supports single planar buffers
- Supports MMAP buffering method
- Supports DMABUF based buffering method (GLSDK 6.04 onwards)
- Supports V4L2 endpoint standard way of specifying camera nodes (GLSDK 6.04 onwards)
- Supports captures upto 60FPS (GLSDK 6.04 onwards)
- Multi instance capture - Currently only Vin1a, Vin2a, Vin3a, Vin5a supported (GLSDK 6.04 onwards)
- Capture from a YUYV camera(8bit)
- Capture from 24 bit RGB camera (GLSDK 6.04 onwards)
- NV12 capture format (GLSDK 7.04 onwards)
GLSDK release supports following sensors/cameras/video inputs:-
- OV10635 sensor - YUYV sensor on Vision board
- OV10635 sensor - YUYV sensor connected through LVDS (GLSDK 6.04 onwards)
- OV10633 sensor - YUYV sensor connected on J6 EVM (GLSDK 6.04 onwards)
- TVP5158 decoder - Support for decoding single channel analog video (GLSDK 6.04 onwards)
- FPDlink - Output of FPDlink display can be used as a camera input source (GLSDK 6.04 onwards)
I2C2 v/s HDMI conflict (only in GLSDK 6.04)
On J6 EVM, i2c2 lines are pinmuxed with the HDMI DDC lines Before running VIP demos, please run following commands to enable I2C2
target# devmem2 0x4a003808 w 0x60000 target# devmem2 0x4a00380C w 0x60000 target# devmem2 0x4847C010 w 0x4 target# devmem2 0x4847C014 w 0x0
To restore HDMI DDC pins, run following commands
target# devmem2 0x4a003808 w 0x60001 target# devmem2 0x4a00380C w 0x60001 target# devmem2 0x4847C010 w 0x4 target# devmem2 0x4847C014 w 0x4
Running dmabuftest
dmabuftest is a user space application which demonstrates capture display loopback. It can support multiple captures at the same time
Video buffers are allocated by libdrm and they are shared to VIP through dmabuf.
It interfaces with the VIP through standard v4l2 ioctls.
Arago filesystem from GLSDK release has dmabuftest app preinstalled.
To capture and display on the LCD screen, run following command target# dmabuftest -s 4:800x480 -d /dev/video1 -c 1280x720@YUYV
To capture and display on the HDMI display, run following command
target# dmabuftest -s 12:1920x1200 -d /dev/video1 -c 1280x720@YUYV
To capture video in NV12 format, run following command (GLSDK 7.04 onwards)
target# dmabuftest -s 12:1920x1200 -d /dev/video1 -c 1280x720@NV12
Capturing from OV10633 onboard camera
GLSDK kernel driver for OV1063x cameras support OV10633 sensor.
Video capture can be verified from the OV10633 sensor as follows
- Connect OV10633 sensor to the Leopard Imaging port on the J6 EVM
- Reboot the board and enable i2c2 as given above
- I2C device on Bus 2 slave address 0x37 should be probed successfully
- VIP should register a V4L2 video device (e.g. /dev/video1) using this i2c device
- Run dmabuftest with '1280x720@YUYV' as capture format
Capturing from OV10635 Vision board camera
GLSDK kernel driver for OV1063x cameras support OV10635 sensor.
Video capture can be verified from the OV10635 sensor as follows
- Connect OV10635 sensor to the OVcam port on the Vision board
- Change the SW3 switch setting on Vision board as SW3[1-8] = 01010101
- Reboot the board and enable i2c2 as given above
- I2C device on Bus 2 slave address 0x30 should be probed successfully
- VIP should register a V4L2 video device (e.g. /dev/video1) using this i2c device
- Run dmabuftest with '1280x720@YUYV' as capture format
Capturing through TVP decoder
GLSDK linux kernel supports TVP5158 NTSC/PAL decoder.
TVP5158 decoder is a TI chip which can decode upto 4 channels of NTSC/PAL analog video and multiplex it.
Currently, GLSDK 6.04 supports only 1 channel capture from TVP5158. From GLSDK 7.04 onwards, multichannel capture is supported. Change the fdtfile=dra7-evm-jamr3.dtb in uenv.txt
Video capture from 1 channel TVP5158 can be verified as follows.
- Connect analog camera to the Vin1 port of the JAMR3 board
- Change the SW2 switch setting on JAMR board as SW2[1-2] = 10
- Reboot the board and enable i2c2 as given above
- I2C device on Bus 2 slave address 0x58 should be probed successfully
- VIP should register a V4L2 video device (e.g. /dev/video1) using this i2c device
- Run dmabuftest with capture format of the analog camera (e.g. '720x240@YUYV')
Capturing through FPDlink camera
This is applicable only for 6.04.00.02 release
FPDlink camera is a device where a FPDlink deserializer can act as a camera.
On JAMR board, the FPDlink deserializer is connected to Vin1a of J6 EVM
GLSDK linux kernel has a dummy driver to control FPDlink camera
Video capture from FPDlink camera can be verified as follows.
- Connect any FPDlink serializer to the JAMR board deserializer port through FPDlink cable
- Another J6 EVM can also be used to genereate FPDlink video and can be connected here
- Even loopback, where FPDlink transmitter of base board can be connected to this port
- Apply patches http://review.omapzoom.org/35064 and http://review.omapzoom.org/35063 on linux kernel and rebuild
- Reboot the board and enable i2c2 as given above
- I2C device on Bus 2 slave address 0x20 should be probed successfully
- Note that this is a dummy driver, if this address conflict with anything else, please change in dts file
- VIP should register a V4L2 video device (e.g. /dev/video1) using this i2c device
- Run dmabuftest with capture format of FPDlink display (e.g. '1280x720@AR24')
- As FPDlink display transmits video in RGB format, in this case, Vin1a is configured for 24bit RGB data
Capturing through LVDS camera
LVDS camera is also a camera connected through a serializer and deserializer
GLSDK linux kernel has driver for FPDlink serializers and deserializers
For interfacing every LVDS camera with J6, an I2C slave for ser, deser and camera is needed. By default, all of the device tree nodes are disabled.
Following table shows mapping between all LVDS cameras on multi deserializer duaghter card for Vision Board.
LVDS camera Camera address alias Serializer address alias Derializer address VIP port
cam1 0x38 0x74 0x60 Vin1a(VIP1 slice0 port A) cam2 0x39 0x75 0x64 Vin2a(VIP1 slice1 port A) cam3 0x3A 0x76 0x68 Vin3a(VIP2 slice0 port A) cam4 0x3B 0x77 0x6C Vin5a(VIP3 slice0 port A) cam5 0x3C 0x78 0x61 Vin4b(VIP2 slice1 port B) cam6 0x3D 0x79 0x69 Vin6a(VIP3 slice1 port A)
Also, the ser/deser drivers fight with HDMI driver for using I2C lines as I2c vs DDC. Therefore, when using LVDS cameras, we need to disable HDMI.
To disable HDMI and enable all the LVDS cameras, apply the patches attached here.
For 6.04 release:- Enable_LVDS_Cameras.zip
For 6.10 release:- Enable_LVDS_Cameras.zip
For 7.00 release:- No need to disable HDMI, no extra patches needed. Change the fdtfile=dra7-evm-vision.dtb in uenv.txt
For 7.01 release:- No need to disable HDMI, no extra patches needed. Change the fdtfile=dra7-evm-vision.dtb in uenv.txt
Video capture from LVDS camera can be verified as follows.
- Connect a LVDS camera to cam1/2/3/4 port of Multides board.
- Change the SW3 switch setting on Vision board as SW3[1-8] = 00100101
- Apply attached patches on linux kernel and rebuild
- I2C device on Bus 2 slave address (e.g. 0x38 for cam1) should be probed successfully
- VIP should register a V4L2 video device (e.g. /dev/video1) using this i2c device
- Run dmabuftest with '1280x720@YUYV' as capture format
Video Processing Engine(VPE)
VPE supports Scalar, Colour Space Conversion and Deinterlace.It uses V4L2 mem2mem API.
Supported Input formats: nv12, yuyv, uyvy
Supported Output formats: nv12, yuyv, uyvy, rgb24, bgr24, argb24, abgr24
Not Supported formats: yuv444, yvyu, vyuy, nv16, nv61, nv21
File to File
testvpe Usage: <SRCfilename> <SRCWidth> <SRCHeight> <SRCFormat> <DSTfilename> <DSTWidth> <DSTHeight> <DSTformat> <interlace> <translen>
Note:
<interlace> : set 1, If input is interlaced and want deinterlaced(progressive) output. output height should be twice of input height.
Deinterlace(DI):-
target# testvpe frame-176-144-nv12-inp.yuv 176 144 nv12 progressive_output.nv12 176 288 nv12 1 1
Scalar(SC):-
target# testvpe frame-176-144-nv12-inp.yuv 176 144 nv12 frame-1920-1080-nv12-out.nv12 1920 1080 nv12 0 1
Colour Space Conversion(CSC):-
target# testvpe frame-720-240-yuyv-inp.yuv 720 240 yuyv frame-720-240-argb32-out.argb32 720 240 argb32 0 1
SC+CSC+DI:-
target# testvpe frame-720-240-yuyv-inp.yuv 720 240 yuyv frame-1920-1080-rgb24-dei-out.rgb24 1920 1080 rgb24 1 1
File to Display
filevpedisplay Usage: <src_filename> <src_w> <src_h> <src_format> <dst_w> <dst_h> <dst_format> <top> <left> <w> <h> <inter> <trans> -s <conn_id>:<mode>
Input without crop:
target# filevpedisplay frame-176-144-nv12-inp.yuv 176 144 nv12 800 480 yuyv 0 0 176 144 0 1 -s 4:800x480
Input with crop:
target# filevpedisplay frame-176-144-nv12-inp.yuv 176 144 nv12 800 480 yuyv 16 32 128 128 0 1 -s 4:800x480
VIP-VPE-Display
Support for this is added from GLSDK 6.04 onwards Camera captures the frames, which are processed by VPE(SC, CSC, Dei) then displays on LCD/HDMI.
capturevpedisplay Usage: <src_w> <src_h> <src_format> <dst_w> <dst_h> <dst_format> <inter> <trans> -s <conn_id>:<mode>
target# capturevpedisplay 640 480 yuyv 320 240 uyvy 0 1 -s 4:640x480
Running DSS application
DSS applications are omapdrm based. These will demonstrate the clone mode, extended mode, overlay window, z-order and alpha blending features. To demonstrate clone and extended mode, HDMI display must be connected to board. Application requires the supported mode information of connected displays and plane ids. One can get these information by running the modetest application in the filesystem.
target # modetest
Running drmclone application
This displays same test pattern on both LCD and HDMI (clone). Overlay window also displayed on LCD. To test clone mode, execute the following command:
target # drmclone -l <lcd_w>x<lcd_h> -p <plane_w>x<plane_h>:<x>+<y> -h <hdmi_w>x<hdmi_h>
e.g.: target # drmclone -l 1280x800 -p 320x240:0+0 -h 640x480
We can change position of overlay window by changing x+y values. eg. 240+120 will show @ center
Running drmextended application
This displays different test pattern on LCD and HDMI. Overlay window also displayed on LCD. To test extended mode, execute the following command:
target # drmextended -l <lcd_w>x<lcd_h> -p <plane_w>x<plane_h>:<x>+<y> -h <hdmi_w>x<hdmi_h>
e.g.: target # drmextended -l 1280x800 -p 320x240:0+0 -h 640x480
Running drmzalpha application
Z-order:
It determines, which overlay window appears on top of the other.
Range: 0 to 3
lowest value for bottom
highest value for top
Alpha Blend:
It determines transparency level of image as a result of both global alpha & pre multiplied alpha value.
Global alpha range: 0 to 255
0 - fully transparent
127 - semi transparent
255 - fully opaque
Pre multipled alpha value: 0 or 1
0 - source is not premultiply with alpha
1 - source is premultiply with alpha
To test drmzalpha, execute the following command:
target # drmzalpha -s <crtc_w>x<crtc_h> -w <plane1_id>:<z_val>:<glo_alpha>:<pre_mul_alpha> -w <plane2_id>:<z_val>:<glo_alpha>:<pre_mul_alpha>
e.g.: target # drmzalpha -s 1280x800 -w 19:1:255:1 -w 20:2:255:1
Testing with FPDLink Display setup
H/W setup
- DRA7xx EVM + 12V supply for the EVM.
- FPDLink Cable between DRA7xx and De-serilzer board (DS90UB928Q).
- 5V power supply for De-serializer board.
- LCD Adapter board (DS90UH928Q) that sits on De-serializer board.
- LCD Adapter cable which is between LCD panel and the Adapter board.
- 12V power supply for LCD Adapter board.
- The actual LCD panel (LG101(10.1in) or AUO (7.1 in))
- Please refer the picture which shows the overall setup attached here
Kernel Configuration
-> Device Drivers
-> Graphics support
-> OMAP2+ Display Subsystem support (OMAP2_DSS [=y])
-> OMAP2/3 Display Device Drivers
<*> LG101 LCD Panel
-> Device Drivers
-> Graphics support
-> OMAP2+ Display Subsystem support (OMAP2_DSS [=y])
-> OMAP2/3 Display Device Drivers
<*> SERLINK
-> Device Drivers
-> Graphics support
-> OMAP2+ Display Subsystem support (OMAP2_DSS [=y])
-> OMAP2/3 Display Device Drivers
<*> DSERLINK
Testing
On power-cycle, the EVM should boot and show the Tux Logo.
Given below is a snippet from the modetest - it should show the FPDLink Display connected via the following path.
The connector-id, crtc-id or plane-ids may change based on the release or kernel version.
Encoders:
id crtc type possible crtcs possible clones
3 10 TMDS 0x00000003 0x00000000
11 14 TMDS 0x00000002 0x00000000 ---------------------------> FPDLink
Connectors:
id encoder status type size (mm) modes encoders
4 3 connected unknown 0x0 1 3
modes:
name refresh (Hz) hdisp hss hse htot vdisp vss vse vtot)
800x480 60 800 841 890 931 480 493 497 526 flags: nhsync, nvsync; type: preferred, driver
props:
1 EDID:
flags: immutable blob
blobs:
value: 2 DPMS:
flags: enum
enums: On=0 Standby=1 Suspend=2 Off=3
value: 0
12 11 connected unknown 0x0 1 11 -----------> FPDLink
modes:
name refresh (Hz) hdisp hss hse htot vdisp vss vse vtot)
1280x800 57 1280 1312 1360 1440 800 804 807 814 flags: nhsync, nvsync; type: preferred, driver
props:
1 EDID:
flags: immutable blob
blobs:
value: 2 DPMS:
flags: enum
enums: On=0 Standby=1 Suspend=2 Off=3
value: 0
Gsttestplayer
gsttestplayer is a gstreamer test application useful for testing some features not testable with gst-launch-1.0 such as:
- Seek - Seeking to random points in a stream
- Trick play - Playback at different speeds (fast forward, rewind)
- Pause, Resume
- Playing multiple streams simultaneously in the same process, in a loop or one after another.
Running gsttestplayer
Command line options:
target # gsttestplayer -h
Usage: gsttestplayer <options>
-s <sinkname> Specify the video sink name to be used, default: kmssink
-n Do not use VPE, implies no scaling
-r <width>x<height> Resize the output to widthxheight, no scaling if left blank
-a Play with no A/V Sync
-c <cmds file> Non-interactive mode, reading commands from <cmds file>
--help-gst Show GStreamer Options
Example: To use waylandsink and resize the output video to 800x400.
target # gsttestplayer -s waylandsink -r 800x400
In normal mode, when -c option is not used, the application enters an command prompt at which the user enter various commands. Type "help" to print out the list of possible commands:
target # gsttestplayer -s waylandsink -r 800x400
Scaling output to 800x400
Using videosink=waylandsink
<Enter ip> help
Commands available:
start <instance num> <filename>
stop <instance num>
pause <instance num>
resume <instance num>
seek <instance num> <seek to time in seconds> <optional: playback speed>
sleep <sleep time in seconds>
rewind <line number> <rewind command file go to line number>
exit
<Enter ip>
Example commands:
start 0 KMS_MPEG4_D1.MP4 # Start playing the file "KMS_MPEG4_D1.MP4", using instance 0.
start 1 NTSC_h264.mp4 # Start playing the file "NTSC_h264.mp4" (simultaneously) using instance 1.
stop 0 # Stop playback of instance 0.
seek 0 0 2 # Seek to "0"th second mark of the stream playing in instance 0,
# and start playing back at speed 2x.
seek 0 300 -1 # Seek to "300"th second mark of the stream playing in instance 0,
# and start playing back reserve at speed 1x.
All these commands could be put into a text file and given as input to gsttestplayer with the "-c" option. In this case, gsttestplayer runs non-interactively, reading commands from the text file one line after another. The commands sleep and rewind are useful for this mode, to introduce delays or to create a loop respectively.
Notes:
- This application plays video only. Audio path is not used.
- The input filename should have the correct file extension to indicate the type of file. The supported extensions are "mp4", "avi", "ts", "asf" & "wmv".
- The input filename should contain the string "264", "mpeg2", "mpeg4" or "vc1"/"wmv" to indicate which video codec should be used for decoding - H.264, MPEG-2, MPEG-4 or Windows Media Video.
Running IPC examples
GLSDK includes makefile targets to ease the process of building IPC and the examples.
| Target | Purpose |
|---|---|
| ipc_ipu | Build the libraries and examples for IPU0 and IPU1 |
| ipc_dsp | Build the libraries and examples for the DSP1 and DSP2 |
| ipc_mpu | Build the userspace libraries for A15 and the examples |
You can directly build the IPU and DSP applications from the root of the GLSDK installation by running
host $ make ipc_ipu ipc_dsp
Build the A15 user space libraries requires that linux kernel is built as well. Please ensure the kernel is built by running
host $ make linux
and then
host $ make ipc_mpu
User space sample application
MessageQ is the user space API provided for IPC. The sample application for MessageQ consists of an application "MessageQApp" running on the A15 and corresponding binaries running on the remotecore. The below table shows the paths under which the remotecore binaries can be found and the expected path on the target file system.
| Core | Binary path on host relative to $GLSDK/component-sources/ipc_xx | Binary path on target file system |
|---|---|---|
| DSP2 | ./packages/ti/ipc/tests/bin/ti_platforms_evmDRA7XX_dsp2/messageq_single.xe66 | /lib/firmware/dra7-dsp2-fw.xe66 |
| IPU2 | ./packages/ti/ipc/tests/bin/ti_platforms_evmDRA7XX_ipu2/messageq_single.xem4 | /lib/firmware/dra7-ipu2-fw.xem4 |
| IPU1 | ./packages/ti/ipc/tests/bin/ti_platforms_evmDRA7XX_ipu1/messageq_single.xem4 | /lib/firmware/dra7-ipu1-fw.xem4 |
| DSP1 | ./packages/ti/ipc/tests/bin/ti_platforms_evmDRA7XX_dsp1/messageq_single.xe66 | /lib/firmware/dra7-dsp1-fw.xe66 |
MessageQApp can be found in the path ./linux/src/tests/.libs/MessageQApp from the ipc package root. Copy this file to /usr/bin on the target filesystem.
lad_dra7xx can be found in the path ./linux/src/daemon/.libs/lad_dra7xx from the ipc package root. Copy this file to /usr/bin on the target filesystem.
Boot the target and invoke the lad daemon
target # /usr/bin/lad_dra7xx
Start the MessageQApp
target # /usr/bin/MessageQApp <number of messages> <core id>
The core id to be used is 1,2,3,4 for IPU2,IPU1,DSP2 and DSP1 respectively.
RPMsg client sample application
RPMsg is the kernel space IPC and the building block for the user space MessageQ IPC API. The below wiki page illustrates how to build and run an rpmsg Linux kernel space client to communicate with a slave processor (e.g. DSP, IPU, etc) using IPC's RPMsg module.
RPMsg_Kernel_Client_Application
Running basic Wifi tests
To run this test, you would need to have the Wilink COM module connected to the EVM.
Check if the wlan0 interface is showing up:
target # ifconfig -a
Bring up the wlan0 inteface:
target # ifconfig wlan0 up
Search for the available Wifi networks:
target # iw wlan0 scan | grep -i ssid
Running basic Bluetooth tests
To run this test, you would need to have the Wilink COM module connected to the EVM. Make sure that this module supports the Bluetooth.
target # hciconfig hci0 up target # hciconfig -a
Turn on the Bluetooth on the device that you want to pair and make it discoverable, then run the following command:
target # hcitool scan
How to bring up the GNSS driver and sample application
WL8 GNSS driver that is compatible with GLSDK is now available as part of the click wrap license at the following location. https://www.ti.com/tool/wilink-sw
Users are requested to register and obtain the package.
The package contains the driver source and the required documentation.
The document "Bring up manual for WiLink8 GNSS driver on Linux" is the starting point that contains the instructions for compiling and trying the sample application.
NOTE: These instructions are known to work if the user starts with the GLSDK installer and compiles the Linux kernel using the instructions provided in the GLSDK Software Developers Guide.
Booting EVM with different modes
Choosing the correct device tree (GLSDK 7.00.00.04 onwards)
Booting Linux kernel needs to have a kernel image(zImage) and device tree blob(DTB) file. DTB file describes the hierarchy of the devices, and also describes various parameters about the devices.
Depending on which CPU board and application board you are trying to boot, there are different set of devices. For each permutation, there is a different DTB file describing all devices on baseboard as well as application board.
GLSDK release comes with most commonly used permutations of device trees. Following table shows the name of the device tree file to be used for each of the combination.
| Board | DTB name |
|---|---|
| J6 EVM + 10inch LCD | dra7-evm-lcd10.dtb |
| J6 EVM + 7inch LCD | dra7-evm-lcd7.dtb |
| J6 EVM + 10inch LCD + Vision app board | dra7-evm-vision.dtb |
| J6 EVM + 10inch LCD + JAMR3 app board | dra7-evm-lcd10.dtb (Base board DTB works for JAMR3 as well) |
| J6eco EVM + 10inch LCD | dra72-evm-lcd10.dtb |
| J6eco EVM + 7inch LCD | dra72-evm-lcd7.dtb |
| J6eco EVM + 10inch LCD + JAMR3 app board | dra72-evm-lcd10.dtb (Base board DTB works for JAMR3 as well) |
GLSDK bootloader tries to detect the platform (J6/J6eco) and assume But this can be overwritten via uenv.txt used by u-boot.
e.g. Add the following line in the uenv.txt file if booting a J6 EVM with 7inch LCD and JAMR3 app board.
fdtfile=dra7-evm-jamr3.dtb
Choosing the correct bootloader config (GLSDK 7.01.00.03 onwards)
GLSDK 7.01.00.03 onwards, all the padmux is performed from the first stage bootloader (MLO) instead of the kernel. Also, the bootloader takes care of configuring all the required PADs as well as the IOdelay configuration. Depending on the use case, boot loader needs to know the required pads to be configured at the boot time. Kernel would know the device information from DTB file but bootloader does not know which DTB file would be used by the kernel.
For this reason, we need to rebuild the bootloader (MLO) with a different config so that the appropriate PAD and IODELAY configuration is performed as required by the use case. GLSDK default bootloader works for most of the use cases.
When using vision use cases, rebuild the bootloader with dra7xx_evm_vision_config.
Use following commands to rebuild bootloader for vision use cases:-
host $ make dra7xx_evm_vision_config host $ make
Supported Boot modes
The same U-Boot image shipped with the SDK can be used to boot the system in following different modes based on the boot switch settings:
- MMC/SD
- eMMC
- Uart
- QSPI
- NAND
Using QSPI Boot
QSPI is a serial peripheral interface like SPI the major difference being the support for Quad read, uses 4 data lines for read compared to 2 lines used by the traditional SPI.
Supported boot modes
- QSPI Production Boot mode
- QSPI Development Boot mode
QSPI Production Boot Mode
This boot mode also called as 'spl_early_boot' in GLSDK
- In this boot mode SPL(first stage of Uboot) directly boots the Linux kernel and if IPU late attach is enabled, it boots the IPU slave core
- The executables - MLO, dtb, uImage & IPU are stored in QSPI flash memory. Refer the "Memory Layout" section for offset details.
- eMMC partition 2 contains the filesystem & is mounted as rootfs.
- Build MLO and u-boot.img for QSPI boot mode (use "dra7xx_evm_qspiboot_config").Rename MLO to "MLO.qspi" and u-boot.img to "u-boot.img.qspi". Note: The mk-qspi-boot.sh will look for MLO.qspi and u-boot.img.qspi while flashing to qspi device. Make sure file name is renamed correctly.
SYS BOOT Switch Settings
change the boot switches to QSPI boot mode as:
SW2[5:0] = 110110 Also SW5.4 = 0 (OFF)
Memory Layout of QSPI Flash
+----------------+ 0x00000 | MLO | | | +----------------+ 0x040000 | u-boot.img | | | +----------------+ 0x140000 | DRA7-evm.dtb | +----------------+ 0x1c0000 | u-boot env | +----------------+ 0x1d0000 | u-boot env | | (backup) | +----------------+ 0x1e0000 | | | uImage | | | | | +----------------+ 0x9e0000 | | | IPU exe | | | +----------------+
Add choosen node in DTSI file
In 'spl_early_boot' mode the kernel boot arguments are get passed through DTB 'chosen' node. Add a 'chosen' node into dra7.dtsi file and generate the DRA7-evm.dtb file.
chosen
{
bootargs = "elevator=noop console=ttyO0,115200n8 root=<rootfs> rw rootwait earlyprintk fixrtc omapdrm.num_crtc=2
consoleblank=0 cma=64M rootfstype=ext4";
};
where <rootfs> can be /dev/mmcblk0p2 for eMMC or /dev/mmcblk1p2 for mmc/sd.
Flashing the Image to QSPI from linux
The mk-qspi-boot.sh will be available at home direcotry of GLSDK filesystem. The mk-qspi-boot.sh runs on the target. It reads the binaries (MLO.qspi, u-boot.img.qspi, kernel/dtb, ipu images) from MMC/SD and flashes into QSPI flash memory at appropriate partition described in above table. For 'spl_early_boot'. Also format & flash the rootfs into eMMC parition 2.
Usage: target#mk-qspi-boot.sh --device1 --device2 --bootmode --device1 - devfs entry for qspi flash as char device node e.g /dev/mtd --device2 - devfs entry for eMMC flash as block device node e.g /dev/mmcblk0 --bootmode - 'spl_early_boot' & 'two_stage_boot' spl_early_boot - ROM=>SPL=>uImage two_stage_boot - ROM=>SPL=>u-boot.img=>uImage e.g target#: mk-qspi-boot.sh --device1 /dev/mtd --device2 /dev/mmcblk0 --bootmode spl_early_boot Note: Defualt DTB is dra7-evm-lcd10.dtb. Do change DTB in script if you want to boot the board with different device tree.
QSPI Development Boot Mode
This boot mode also called as 'two_stage_boot' in GLSDK
- In this boot mode SPL(first stage of Uboot) brings-up u-boot.img(second part of u-boot) and if IPU late attach is enabled, it also boots the IPU slave core
- The second stage of u-boot, then, loads & boots the Linux kernel.
- Build MLO and u-boot.img for QSPI boot mode (use "dra7xx_evm_qspiboot_config").Rename MLO to MLO.qspi and u-boot.img to u-boot.img.qspi
- Only MLO and u-boot.img are stored in QSPI flash memory.
- DTB & uImage are stored in MMC/SD boot parition.
- IPU executable is stored in <mmc_rootfs>/lib/firmware/dra7-ipu2-fw.xem4.
- The rootfs is mounted from MMC/SD partition 2
SYS BOOT Switch Settings
change the boot switches to QSPI boot mode as:
SW2[5:0] = 100110 Also, SW5.4 = 0 (OFF)
Flashing UBoot to QSPI from linux
The mk-qspi-boot.sh will be available at home direcotry of GLSDK filesystem. The mk-qspi-boot.sh runs on the target . It reads the executables from MMC/SD & flashes into QSPI flash memory for 'two_stage_boot'
target#mk-qspi-boot.sh --device1 --device2 --bootmode --device1 - devfs entry for qspi flash as char device node e.g /dev/mtd --device2 - devfs entry for eMMC flash as block device node e.g /dev/mmcblk0 --bootmode - 'spl_early_boot' & 'two_stage_boot' spl_early_boot - ROM=>SPL=>uImage two_stage_boot - ROM=>SPL=>u-boot.img=>uImage e.g target#: mk-qspi-boot.sh --device1 /dev/mtd --device2 /dev/mmcblk0 --bootmode two_stage_boot Note: Defualt DTB is dra7-evm-lcd10.dtb. Do change DTB in script if you want to boot the board with different device tree.
Also QSPI flash can be accessed from kernel through MTD device.
Following commands demonstrate how to flash MLO and u-boot from SD card to QSPI.
target# mount /dev/mmcblk1p1 /mnt
target# cat /proc/mtd
target# flash_erase -N /dev/mtd0 0 1
target# flash_erase -N /dev/mtd4 0 16
target# mtd_debug write /dev/mtd0 0x0 $(ls -l /mnt/MLO {{!}} awk '{ print $5 }') /mnt/MLO
target# mtd_debug write /dev/mtd4 0x0 $(ls -l /mnt/u-boot.img {{!}} awk '{ print $5 }') /mnt/u-boot.img
Flashing UBoot to QSPI from UBoot
UBoot can be flashed to QSPI from any boot mode, here we are using MMC boot mode as an example
Boot from SD card and at the U-Boot prompt, Choose the mmc card to read from
uboot# mmc dev 0 uboot# mmc0 is current device
- Probe the flash to see if there is a device connected,
NOTE: Do NOT copy-paste the commands, please type them at the prompt
#sf probe 0 SF: Detected S25FL256S with page size 64 KiB, total 32 MiB, mapped at 5c000000
- Erase flash before writing the bin
NOTE: Do NOT copy-paste the commands, please type them at the prompt
#sf erase <offset> <size> where, offset - qspi flash offset address start from 0. size - erase region size. It should be multiple of 64K #sf write <memory address> <offset> where, memory-address - source data to read from offset - qspi offset location to write
- Load the MLO.qspi (to offset 0x0) and u-boot-qspi.img(to offset 0x40000) to QSPI flash
Flashing MLO to QSPI uboot# fatload mmc 0 0x82000000 MLO.qspi uboot# sf erase 0 10000; uboot# sf write 0x82000000 0x0 0x10000 Flashing u-boot.img to QSPI uboot# fatload mmc 0 0x83000000 u-boot-qspi.img uboot# sf erase 40000 60000; uboot# sf write 0x83000000 0x40000 0x60000
- Build kernel to create uImage and dtb files. Load the uImage(to offset 1e0000) and DTB files (to offset 140000) to QSPI flash
Flashing kernel(uImage) to QSPI uboot# fatload mmc 0 0x82000000 uImage uboot# sf erase 1e0000 500000; uboot# sf write 82000000 1e0000 500000; Flashing dtb file to QSPI uboot# fatload mmc 0 0x83000000 <dtb file> uboot# sf erase 140000 20000; uboot# sf write 0x83000000 0x140000 0x20000
After reset, you should be able to boot from QSPI flash.
NOTE: QSPI_4 boot mode is not supported on PG1.0.
Using eMMC Boot
eMMC boot method is the same as MMC/SD flashing and booting procedure. MMC/SD card must be formatted with the correct partitions prior to flashing any device. Once the MMC/SD is configured it will contain two separate partitions that will be used to boot the device. The FAT32 partition is used for uboot (MLO,u-boot.img,boot.scr, boot.scr.eMMC) and kernel (uImage, dtb file). The ext4 partitions is used for the actual file system. Once both of these are loaded onto an MMC/SD the device can boot up and run the selected file system
Boot switches for eMMC boot
change the boot switches for eMMC boot mode as:
SYSBOOT [0-15] (SW2[1-8],SW3[1-8]): 0100 0100 1000 0001
USERCONFIG[1-10] (SW5): 0010 1000 00 O - OFF 1 - ON
Partitioning and formatting eMMC
Using eMMC is similar to using SD card. eMMC is an Embedded device. So we have to partition and format the the eMMC using kernel utility(fdisk, mkfs.msdos, mkfs.ext4) and that available in FileSystem. To partition and format eMMC, considering /dev/mmcblk0 is eMMC device, then use the following script
Note: Edit mk-eMMC-boot.sh file and make sure uenv-emmc.txt is copied to eMMC boot partition. cp /tmp/sdk/$$/mmc_boot/uenv-emmc.txt /tmp/sdk/$$/emmc_boot/uenv.txt ./mk-eMMC-boot.sh --device /dev/mmcblk0
Once done, remove MMC/SD & reboot the device.now board should boot from eMMC.
Using UART boot
The GLSDK release for DRA7xx does not support boot over UART out of the box. The purpose of this template is to provide details on how to add UART-boot support on top of GLSDK release.
Boot over UART is tested on a rev D DRA7xx EVM. The ROM code can boot from UART3. By default the EVM supports UART1. Hence it is mandatory to do a hardware change to work with UART-boot.
Hardware Changes for UART-boot support
Populate resistor R776 and R777 with 50 ohm resistor.
Serial port configuration
DRA7xx EVM comes with onboard USB-to-serial converter. The USB cable supplied with the EVM can be used to connect the EVM to a host. The mini-USB end of the cable should be connected to 'J1 Terminal' connector on the EVM.
For correct operation the serial terminal software should be configured with the following settings:
* Baud rate: 115200 * Data bits: 8 * Parity: None * Stop bits: 1 * Flow control: None * Transmit delay: 0 msec/char, 100 msec/line
NOTE: Ensure that version 4.67 or later of Teraterm is installed. The implementation of the kermit protocol in Teraterm is not reliable in older versions. The latest version of Teraterm can be downloaded from here.
Boot Switch Settings
SW2[5:0] = 010011
Other than this,
SW5.5 = OFF for UART3 support.
(Default = ON for UART1)
Note: Apart from this patch following changes should be taken note of: 1. dra7xx_evm_uart3_config should be used instead of dra7xx_evm_config while rebuilding u-boot. For this replace following line in GLSDK's Rules.make file: DEFAULT_UBOOT_CONFIG=dra7xx_evm_config to DEFAULT_UBOOT_CONFIG=dra7xx_evm_uart3_config 2. CONFIG_SPL_TEXT_BASE in include/configs/omap5_common.h should be manually changed from 0x40300350 to 0x40300000 for UART-boot. In memory boot mode ROM code transfers MLO to location OCMC_RAM1 base+offset (CONFIG_SPL_TEXT_BASE = 0x40300000+350). In peripheral boot mode ROM code transfers MLO to location OCMC_RAM1 base (0x40300000). UART-boot will not work without changing this address.
UART protocol used at various phases
ROM Code -> MLO :- binary transfer, UART3: 115.2 Kbps, 8 bits, even parity, 1 stop-bit, no flow control
MLO -> u-boot:- YModem protocol, UART3: 115.2 Kbps, 8 bits, none parity, 1 stop-bit, no flow control
u-boot -> Linux :- Kermit protocol, UART3: 115.2 Kbps, 8 bits, none parity, 1 stop-bit, no flow control
Software & Tools
The following software is needed:
- MLO & u-boot should be built for DRA7xx.
Note: For MLO use the spl/u-boot-spl.bin file. The difference between u-boot-spl.bin and MLO is that u-boot-spl.bin does not contain header information. Peripheral boot needs an MLO without header. For u-boot use u-boot.img file (and not u-boot.bin file)
- The serial-boot.pl script for transferring MLO.
Please note that this perl script is dependent on the perl Device::SerialPort module.
Perl can be downloaded from here. Let's say Perl is downloaded on Windows machine at location c:\perl.
For SerialPort module download following files from here to c:\perl
Win32-SerialPort-0.22-PPM510.tar.gz Win32-SerialPort-0.22-PPM512.tar.gz Win32-SerialPort-0.22-PPM514.tar.gz Win32-SerialPort-0.22-PPM516.tar.gz Win32-SerialPort-0.22-PPM56.tar.gz Win32-SerialPort-0.22-PPM58.tar.gz Win32-SerialPort.ppd
Open a cmd and cd c:\perl, run
ppm install Win32-SerialPort.ppd
- Teraterm on Windows machine.
Boot Over UART Procedure
Loading 1st state(MLO) over UART
1. Set boot mode switch SW2 and SW5.5 as per Boot_Switch_Settings
2. Switch ON EVM with UART boot mode.
3. Open Teraterm on Windows machine and set serial port to 115.2 Kbps, 8 bits, even parity, 1 stop-bit, no flow control
4. Ensure that “VA!” characters appear on TeraTerm window continuously
5. Close the teraterm window
6. Open cmd and execute the serial-boot.pl script as follows:
./serial-boot.pl -p <serial-device> -s <path>/u-boot-spl.bin
For example: ./serial-boot.pl -p com26 -s c:\temp\u-boot-spl.bin You can add debug option to see debug messages when running this script ./serial-boot.pl -p com26 -s c:\temp\u-boot-spl.bin -d 1
Note:- If the serial-boot.pl doesn't wait for you to reset the board and if it continues saying "Board Detected" let it continue (dont reset the board here) once done rerun the script
with the same paramaeters now it should actually wait for you to reset.
Note: serial-boot.pl script, after opening the COM port takes care of setting it to 115.2 Kbps, 8 bits, even parity, 1 stop-bit
7. The script will ask you to reset the EVM
8. Press "Reset button" on EVM to initiate image download
9. The download is completed when you see "Second file download completed" message.
10.After image is successfully downloaded, the ROM code will boot it.
11.MLO will then be waiting to receive u-boot over ymodem.
Note: You will NOT be able to see the MLO logs on console as teraterm is closed.
Loading 2nd stage(u-boot) over UART
The moment the serial script execution is over,
1. Open Teraterm
2. Choose File -> Transfer -> YModem -> Send
3. Select the 2nd stage u-boot image “u-boot.img” built earlier and click “OPEN” button
4. Wait for download to complete
5. u-boot will start its execution once download is completed
6. Interrupt the boot to get 2nd Stage u-boot prompt
DRA752 EVM#
Note: MLO waits to receive u-boot for maximum timeout period of 20sec. So do not fail to start u-boot transfer within 20 sec. The actual transfer of u-boot starts after ~4-5 secs of opening the u-boot.img file.
Loading dra7-evm.dtb over UART
1. Run following command on u-boot prompt
DRA752 EVM# loadb 0x825f0000
2. Choose File -> Transfer -> Kermit -> Send
3. Select "dra7-evm.dtb" click “OPEN” button
4. Wait for download to complete
Loading uImage over UART
1. Run following command on u-boot prompt
DRA752 EVM# loadb 0x80300000
2. Choose File -> Transfer -> Kermit -> Send
3. Select "uImage" click “OPEN” button
4. Wait for download to complete
5. You can check whether uImage is downloaded properly using
iminfo
Booting uImage
Run following command on u-boot prompt
setenv bootargs 'elevator=noop console=ttyO0,115200n8 root=/dev/mmcblk0p2 rw rootwait earlyprintk fixrtc' setenv fdt_high 0x84000000 bootm 0x80300000 - 0x825f0000
Note: Linux Kernel by default uses UART1 for console logs. In order to switch to UART3 as a default console use 'console=ttyO2' in the bootargs. e.g. setenv bootargs 'elevator=noop console=ttyO2,115200n8 root=/dev/mmcblk0p2 rw rootwait earlyprintk fixrtc' The final console where login prompt gets displayed is decided by the filesystem. Some filesystems read the default console being used while booting up(as in bootargs) and activate that as the final console. Some filesystems do not have this flexibility and will have a fixed final console, e.g. ttyO0. Based on the filesystem you use to boot the kernel, the login prompt will either get displayed directly or you will have to slide SW5.5=ON to see it.
Booting Secure DRA7xx Devices SD/eMMC
Note: This feature is applicable only for GLSDK 6.03 release onwards
The GLSDK u-boot supports booting the secure devices. In order to boot the secure DRA7xx devices, at minimum, the MLO binary must be signed and formatted properly with the necessary keys and certificates. If extended boot authentication is used, a special u-boot build is required and the u-boot.img, kernel and DTB files must also be signed. Signing is done using the IFT tools (contact local sales representative to get M-Shield-Dk/IFT tools). This process can be used with test secure (HS) devices with the TI dummey key. The sequence of authentication of images for HS devices as follows. The initial authentication is done by RM code and is required. The last 2 steps are optional and constitute extended secure boot authentication.
- ROM -> PKC – ROM code authenticates Public Key Certificate against Root eFuse key
- ROM -> PPA – ROM code authenticates Primary Protected Application and loads to secure RAM and executes
- ROM->MLO - ROM code loads and authenticates MLO
- MLO->u-boot - The MLO authenticate u-boot
- u-boot->kernel & dtb - The u-boot authenticates kernel and dtb file
In any stage if authentication fails, then device will enter a deadloop.
Install Mshield-DK
Install Mshield-DK tool and set the path to "MSHIELD_DK_DIR" environment variable corresponding to the version you installed (LITE, STD, for FULL).
#export MSHIELD_DK_DIR="${HOME}/omap-mshield-lite"
Signing MLO
Use the ift-sign-image.sh shell script to sign the MLO. This step is mandatory for secure devices and adds the Table of Contents (ToC), Signed Public Key Certificate (PKC) and signed PPA and formats the image as required. Note: you may have to edit this shell script to include appropriate key files(.pem) to sign the image.
#${GLSDK}/bin/ift-sign-image.sh -mlo -dra7xx
This command will use spl/u-boot-spl.bin and create signed MLO.
Copy MLO to SD boot partition.
#cp MLO /media/boot/
Building u-boot for extended authentication of secure devices
The defconfig "dra7xx_evm_hs_config" is used to compile the u-boot. Use below command to compile u-boot binaries
#make ARCH=arm CROSS_COMPILE=arm-arago-linux-gnueabihf- distclean #make ARCH=arm CROSS_COMPILE=arm-arago-linux-gnueabihf- dra7xx_evm_hs_config
When using the instructions above, a modified version of u-boot(u-boot.img.signed)is build that will authenticate the kernel and dtb and, in addition, the u-boot.img.that is created will be signed. By default, the key with ISW signing rights will also be used to sign the uboot image as well as the kernel and dtb. If you want to use a different key from the PKC, please modify the makefile and scripts accordingly.
Copy u-boot.img.signed (rename to u-boot.img) to SD boot partition.
#cp u-boot.img.signed /media/boot/u-boot.img
Signing kernel images & dtb for secure devices
After the kernel is built, issue the below command to sign the kernel image (zImage) and dra7-evm.dtb file. The shell script will use zImage to create signed uImage.
#${GLSDK}/bin/ift-sign-image.sh -kernel arch/arm/boot/zImage
The uImage.signed will be created in the current directory.
#${GLSDK}/bin/ift-sign-image.sh -dtb arch/arm/boot/dts/dra7-evm.dtb
The arch/arm/boot/dts/dra7-evm.dtb.signed will be created.
copy the signed images to SD boot partition
#cp uImage.signed /media/boot/uImage #cp dra7-evm.dtb.signed /media/boot/dra7-evm.dtb
booting the HS device
Insert the sd card to secure dra7xx(HS) EVM and reset the board. If the board is not booting then check signing procedure and make sure right keys (.pem) for the HS device is used
USB DRD (Dual Role Device) Support
The GLSDK kernel (6.04.x onwards) supports DRD feature, Where USB ports has capable of switching between device mode or host mode dynamically based on the usb cable type connected.
- If host-type (A-type) usb cable is connected, the port switched to host mode.
- If device-type (B-type) usb cable is connected, the port switched to device mode.
Note:
- edit /usr/bin/usb1-rules.sh(for USB1) /usr/bin/usb2-rules.sh(for USB2) and to include the <gadget-module>.ko to unload and load during role switch.
- Refer DRD support for more information.
- Refer drive-vbus-using-gpio in order to drive the vbus using gpio.
IPC
Unloading and loading remotecores at runtime
It is possible to unload and reload a remotecore at runtime from Linux using the sysfs interface. ~ target $ cd /sys/bus/platform/drivers/omap-rproc/ target $ echo 55020000.ipu > unbind target $ echo 55020000.ipu > bind ~
55020000.ipu corresponds to IPU2 as can be seen from $GLSDK/board-support/linux/arch/arm/boot/dts/dra7.dtsi.
ipu2: ipu@55020000 {
compatible = "ti,dra7-rproc-ipu";
The echo 55020000.ipu > unbind command tears down the communication channels between the A15 and the remotecore and unloads the remotecore. Any application level shutdown that needs to be performed needs to be handled by the system integrator.
The echo 55020000.ipu > bind loads the appropriate firmware binary onto the remotecore.
Changing the remotecore binary at runtime
To change the remotecore binary at runtime
- Unload the remotecore using
unbind. - Change the remotecore binary in the firmware folder. Default location is
/lib/firmwareon the target filesystem. - Load the remotecore using
bind.
target $ cd /sys/bus/platform/drivers/omap-rproc/ target $ echo 55020000.ipu > unbind target $ cp /home/root/new-binary.xem4 /lib/firmware/dra7-ipu2-fw.xem4 target $ echo 55020000.ipu > bind
Loading firmware during initial boot without using udev
During the default GLSDK boot, firmware is supplied to the kernel by udev. Starting the udev service on boot causes a few seconds increase in boot time. In cases where a quick boot is required, the user may not start the udev service in boot. In such cases, firmware can be supplied to the kernel using the sysfs interface. An example script is shown below.
FW_NAMES="dra7-dsp1-fw.xe66 dra7-dsp2-fw.xe66 dra7-ipu1-fw.xem4 dra7-ipu2-fw.xem4"
for FW in $FW_NAMES ; do
echo 1 > /sys/class/firmware/$FW/loading
cat /lib/firmware/$FW > /sys/class/firmware/$FW/data
echo 0 > /sys/class/firmware/$FW/loading
done
Handling the IPU bitbanding region
The ARM Cortex-M4 memory map includes a bit-banding region of memory from 0x4000:0000 to 0x400F:FFFF and 0x4200:0000 to 0x43FF:FFFF. Here is a Cortex-M4 memory map picture from ARM:
http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0553a/CHDBIJJE.html
Many Vayu components running on the IPUs, including IPC, must access peripherals physically located in this bit-banding region. As a result, these accesses must be performed indirectly using a virtual memory address, mapped using the IPU's AMMU.
Many of the components aligned on mapping this memory using one Large AMMU page that maps 512M of physical memory beginning at 0x4000:0000 to virtual memory beginning at 0x6000:0000. Then the components (by default) access the peripherals using the 0x6XXX:XXXX address space.
IPC specifics
IPC follows the convention of, by default, accessing memory physically located at 0x4XXX:XXXX using virtual memory at 0x6XXX:XXXX. You can see an example of this here - note the mailbox addresses configured here are in the 06XXX:XXXX range:
http://git.ti.com/cgit/cgit.cgi/ipc/ipcdev.git/tree/packages/ti/sdo/ipc/family/vayu/InterruptIpu.xs
In that same file, you can see that these addresses are configurable, and the default 0x6XXX:XXXX addresses are only used if other addresses haven't already been configured by the system integrator (e.g. in a .cfg script). Users can override these default mailbox addresses using the ti.sdo.ipc.family.vayu.InterruptIpu module's mailboxBaseAddr[] array, documented here:
Using the Late attach functionality
To satisfy the startup time requirements of specific use cases, one may need the boot loader to boot a remote core before booting the A15 with the linux kernel. The kernel then attaches to the already booted remote core for further communication. We refer to this feature as the "Early Boot - Late Attach" functionality. The "Early Boot" functionality is provided by the boot loader. The "Late Attach" functionality is a feature of the Linux Kernel. This functionality was added to GLSDK from v6.04. It has been reworked to support migration to the 3.14 kernel in GLSDK v7.0.
Below are the steps required to test early boot late attach functionality.
Configuring U-Boot
Please define the macro CONFIG_LATE_ATTACH in the file u-boot/include/configs/dra7xx_evm.h. Change the lines
#undef CONFIG_LATE_ATTACH #ifdef CONFIG_LATE_ATTACH
to
#define CONFIG_LATE_ATTACH #ifdef CONFIG_LATE_ATTACH
and rebuilt u-boot using the configuration dra7xx_evm_config.
Building the Linux kernel device tree
Linux kernel contains the "Late Attach" feature builtin. The feature is enabled or disabled on a per remote core basis at boot time through device tree node attributes. To enable "Late Attach" for a remote core, 3 attributes need to be set on the remote core and each of the timer, mmu nodes used by the remotecore. These three attributes are
-
ti,late-attach -
ti,no-idle-on-init -
ti,no-reset-on-init.
These three attributes together signal to the kernel that
- Late attach feature is in use for the remote core.
- The remotecore and other nodes have been configured and are in use before the kernel boot. These should not be reset or idled during kernel boot.
The Linux kernel tree delivered with GLSDK includes a dts file that shows how to enable late attach feature for IPU2 on a DRA7xx evm with 7" LCD. This file was built in the following manner. The timers used by IPU2 are found from $GLSDK/board-support/linux/arch/arm/boot/dts/dra7-evm.dts
&ipu2 {
status = "okay";
memory-region = <&ipu2_cma_pool>;
mboxes = <&mailbox6 &mbox_ipu2_legacy>;
timers = <&timer3>;
watchdog-timers = <&timer4>, <&timer9>;
};
The MMU used by IPU2 can be found from $GLSDK/board-support/linux/arch/arm/boot/dts/dra7.dtsi.
ipu2: ipu@55020000 {
compatible = "ti,dra7-rproc-ipu";
reg = <0x55020000 0x10000>;
reg-names = "l2ram";
ti,hwmods = "ipu2";
iommus = <&mmu_ipu2>;
ti,rproc-standby-info = <0x4a008920>;
status = "disabled";
};
IPU2 uses timer3 to supply the OS tick and timer4 and timer9 as watchdog timers. IPU2 also uses an MMU referred to as mmu_ipu2 in the device tree. All of these nodes including the IPU2 node need to have the three attributes described above set.
The file $GLSDK/board-support/linux/arch/arm/boot/dts/dra7-evm-lcd7-late-attach.dts has the full example. This file is structured such that it includes an existing configuration first
#include "dra7-evm-lcd7.dts"
and sets only the atrributes required for enabling late attach functionality.
Late attach can be enabled for other remotecores by setting the late attach atributes on the corresponding device tree nodes. Late attach can be enabled for other hardware configurations by choosing a different base .dts file. e.g. If the EVM has a 10" lcd instead of 7" LCD, you can change the include to "dra7-evm-lcd10.dts" instead of "dra7-evm-lcd7.dts".
Build the .dtb file and use it for linux boot instead of the regular dtb file.
Boot setup
- Configure the EVM for boot from SD card.
- Use the MLO and u-boot.img built above with the early boot functionality enabled.
- Use the dtb file built with the late attach functionality enabled.
- Copy the IPU2 binary into the boot partition of the SD card. The IPU2 binary can be found in
/lib/firmware/dra7-ipu2-fw.xem4on the target filesystem.
Boot the board and test the IPU2 functionality as you would normally do. You will not notice any difference in the functionality except that the IPU2 was already loaded and running before the Linux Kernel was booted.
Confirming Late attach functionality
There is no default indication of whether late attach feature is in use or not. This is by design as use of late attach should be invisible to the user. For debug purposes, enable the DEBUG flag on drivers/remoteproc/omap_remoteproc.c during kernel compilation. If late attach functionality is in use, additional traces will now show up in the dmesg logs.
root@dra7xx-evm:~# dmesg | grep late-attach [ 2.609644] omap-rproc 55020000.ipu: device will be late-attached.
Customizing Early Boot for a Usecase
The Early boot code in U-Boot does the necessary configuration to bring up a remotecore. This includes the timers and the MMUs. It does not configure any other peripherals by default. Some usecases may require additional peripheral configuration before running the remotecore. U-Boot includes placeholder functions that can be populated for this purpose. These can be found in the file $GLSDK/board-support/u-boot/board/ti/dra7xx/evm.c.
/*
* If the remotecore binary expects any peripherals to be setup before it has
* booted, configure them here.
*
* These functions are left empty by default as their operation is usecase
* specific.
*/
u32 ipu1_config_peripherals(u32 core_id, struct rproc *cfg)
{
return 0;
}
u32 ipu2_config_peripherals(u32 core_id, struct rproc *cfg)
{
return 0;
}
u32 dsp1_config_peripherals(u32 core_id, struct rproc *cfg)
{
return 0;
}
u32 dsp2_config_peripherals(u32 core_id, struct rproc *cfg)
{
return 0;
}
Validation and Limitations
Late attach functionality has been validated for all IPU2,IPU1,DSP1 and DSP2. However there are the following limitations.
- U-Boot has only been updated to load remotecore binaries from the boot partition of the SD card or eMMC.
- The ELF loader in U-Boot does not handle dynamic sections in ELF binaries. Presence of the dynamic sections will cause early boot to hang. A fix for this issue is under review.
- The ELF loader in U-Boot does not handle MMU page allocations less than 1 MB correctly. A fix for this issue is in under development.
Using the Early video decode example
Early Video decode is not supported in the GLSDK 7.0 EA release.
Changing MPU Frequency (DVFS)
DRA7xx supports running MPU (CPU0/1) at more than one frequency.
User may chose to run at different frequencies based on performance requirements for the application/use-case targeted.
The Data Manual contains all the frequencies supported by the Hardware and the GLSDK Datasheet available with current release contains details of supported frequencies in the Software.
Please refer to the following wiki for details on how to change CPU frequency and voltage DVFS UserGuide
Additional Procedures
Build Environment Setup
NOTE: From this release, each component i.e kernel, u-boot or any userspace application should be cross-compiled
Cross Compiler setup
The cross compiler setup for the Rules.make is done as a part of the setup.sh script in the GLSDK folder. The script for cross compiler ensures that the linaro cross compiler toolchain is installed in the ${HOME} (or user specified) folder of the host machine.
Note:Please ensure that the PATH variable is set in your machine to point to the cross compiler setup.
To compile the code (if not using the top level Makefile to build kernel and u-boot), please ensure the environment variables ARCH and CROSS_COMPILE is set to arm and to the linaro cross compiler path respectively.
Rebuilding the GLSDK components
The GLSDK has provided a top level Makefile to allow the re-building of the various components within the GLSDK.
Rebuild the GLSDK components by first entering the GLSDK directory using:
host $ cd ${GLSDK}
The GLSDK makefile has a number of build targets which allows you to rebuild the GLSDK components. For a complete list execute:
host $ make help
After that, each of the build targets listed by 'make help' can then be executed using:
host $ make <target>_clean host $ make <target> host $ make <target>_install
For example, to compile the Linux Kernel, you can use the following commands
host $ make linux_clean host $ make linux host $ make linux_install
In order to install the resulting binaries on your target, execute one of the "install" targets. Where the binaries are copied is controlled by the EXEC_DIR variable in ${GLSDK}/Rules.make. By default, this variable is set up to point to your NFS mounted target file system when you execute the GLSDK setup (setup.sh) script, but can be manually changed to fit your needs.
You can remove all components generated files at any time using:
host $ make clean
And you can rebuild all components using:
host $ make all
You can then install all the resulting target files using:
host $ make install
Creating your own Linux kernel image
The pre-built Linux kernel image (uImage) provided with the GLSDK is compiled with a default configuration. You may want to change this configuration for your application, or even alter the kernel source itself. This section shows you how to recompile the Linux kernel provided with the GLSDK, and shows you how to boot it instead of the default Linux kernel image.
1. If you haven't already done so, follow the instructions in #Setting_up_the_GLSDK to setup your build environment.
2. Recompile the kernel provided with the GLSDK by executing the following:
host $ cd ${GLSDK}
host $ make linux_clean
host $ make linux
host $ make linux_install
3. You will need a way for the boot loader (u-boot) to be able to reach your new uImage. Copy the new uImage that is generated in arch/arm/boot/ directory to the boot filesystem
4. Copy the exported Linux kernel modules from the EXEC_DIR to the /lib/modules directory to the root file system
Setting up Tera Term
Tera Term is a commonly used terminal program on Windows. If you prefer to use it instead of Minicom, you can follow these steps to set it up.
1. Download Tera Term from this location, and start the application.
2. In the menu select Setup->General... and set:
Default port: COM1
3. In the menu select Setup->Serial Port... and set the following:
Port: COM1 Baud rate: 115200 Data: 8 bits Parity: none Stop: 1 bit Flow control: none
NOTE: Kernel Bootargs can be generated by running the setup script. See the section #Setting_up_the_GLSDK for details on running the setup script.
Download the Latest GLSDK
The latest GLSDK is available for download from http://downloads.ti.com/dsps/dsps_public_sw/glsdk/latest/index_FDS.html
GLSDK releases can be downloaded from http://downloads.ti.com/dsps/dsps_public_sw/glsdk/
The current version is 7_01_00_03.
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For technical support please post your questions at http://e2e.ti.com. Please post only comments about the article DRA7xx GLSDK Software Developers Guide here. |
