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dwelch67
2015-12-23 23:37:12 -05:00
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@@ -8,6 +8,41 @@ nor broadcom. I just happen to own one (some) and am sharing my
experiences. The raspberry pi is about education, and I feel bare
metal education is just as important as Python programming.
So I started this years ago when got my first ARM11 based raspberry pi
maybe we call that a raspberry pi 1, I dont know a good term. But
now there is a growing number of variations.
ARM11 based (BCM2835)
Raspberry Pi B
Raspberry Pi A+
Raspberry Pi B+
Raspberry Pi Zero
Cortex-A7 based (BCM2836)
Raspberry Pi 2 B
There is also the compute module but I dont have one of those.
General differences that we care about for these examples. The amount
of ram varies from board to board. The peripheral base address is
different between the BCM2835 and BCM2836. The BCM2835 looks for the
file kernel.img the BCM2836 looks for kernel7.img. The ARM11 based
Zero is a B with stuff removed and a new layout, but they up/over
clocked the processor from 750MHz to 1000MHz, one led on gpio 16. The
A+ and B+ they moved the led (or put two) on gpio 35 and 47. The
raspberry pi 2 is B+ like but with the different chip, supposedly the
BCM2836 is BCM2835 with the ARM11 core removed and replaced with
the Cortex A7 and for the most part it appears to be.
As of this writing I am adding plus and pi2 versions of the examples
as many of them are based on the early/original. No guarantees I will
do that, just looking at the differences between the blinker01 examples
should show you what to do to convert these yourself. In some cases
I am intentionally not trying to have one code base build for all
three with ifdefs and such, keep it simple stupid then complicate it
as needed. The text may say kernel.img but substitute with kernel7.img
as needed.
From what we know so far there is a gpu on chip which:
1) boots off of an on chip rom of some sort
@@ -15,15 +50,16 @@ From what we know so far there is a gpu on chip which:
bootcode.bin and start.elf in the root dir of the first partition
(fat32 formatted, loader.bin no longer used/required)
3) in the same dir it looks for config.txt which you can do things like
change the arm speed from the default 700MHz, change the address where
to load kernel.img, and many others
change the arm speed, or change the address where to load kernel.img,
and many others
4) it reads kernel.img the arm boot binary file and copies it to memory
5) releases reset on the arm such that it runs from the address where
the kernel.img data was written
The memory is split between the GPU and the ARM, I believe the default
is to split the memory in half. And there are ways to change that
split (to give the ARM more). Not going to worry about that here.
split (to give the ARM more)(using config.txt). Not going to worry
about that here.
From the ARMs perspective the kernel.img file is loaded, by default,
to address 0x8000. (there are ways to change that, not going to worry
@@ -33,12 +69,18 @@ Hardware and programming information:
You will want to go here
http://elinux.org/RPi_Hardware
And get the datasheet for the part
http://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
(might be an old link, find the one on the wiki page)
And the schematic for the board
http://www.raspberrypi.org/wp-content/uploads/2012/04/Raspberry-Pi-Schematics-R1.0.pdf
(might be an old link, find the one on the wiki page)
And the datasheet and schematic. These are moving targets the above
elinux link has the datasheet and errata which is important. They
didnt give us a full datasheet for the BCM2836 have to go with the
BCM2835.
You will want to go to
http://raspberrypi.org and then the forum tab then slide down to
the Bare Metal forum, the first (only) Sticky topic is Bare Metal
Resources. There are many more links there for good information.
Also go to
http://infocenter.arm.com and get the Architectural Reference Manual
and the Techincal Reference Manual for the ARM1176JZF-S (BCM2835)
and/or the Cortex-A7 (BCM2836).
Early in the BCM2835 document you see a memory map. I am going to
operate based on the middle map, this is how the ARM comes up. The
@@ -60,9 +102,12 @@ physical address. Experimentally I have seen the memory repeats every
0x40000000, read 0x40008000 and you see the data from 0x8000. From the
Broadcom doc this looks to be giving us access to the memory with
different caching schemes (cached, uncached, etc) depending on which
upper address bits you use.
upper address bits you use. Most likely to allow more room for RAM
the Raspberry Pi 2 uses a peripheral base address of 0x3Fxxxxxx instead
of the 0x20xxxxxx.
I do not normally zero out .bss or use .data so if you do this to my examples
I do not normally zero out .bss or use .data so if you do this to my
examples
int x;
fun()
@@ -70,7 +115,8 @@ fun()
static int y;
}
dont assume x and y are zero when your program starts. Nor if you do this
dont assume x and y are zero when your program starts. Nor if you do
this
int x=5;
fun()
@@ -78,16 +124,24 @@ fun()
static int y=7;
}
will x=5 or y=7. See the bssdata directory for more information.
will x=5 or y=7.
See the bssdata directory for more information, you can most likely
use the linker script to solve the problem for you since .text, .data,
.bss, (.rodata), everything lives in ram.
Nor do I use gcc libraries nor C libraries so you can build most if not
all of my examples using a gcc cross compiler. Basically it doesnt
matter if you use arm-none-linux-gnueabi or arm-none-eabi. What was
formerly codesourcery.com still has a LITE version of their toolchain
which is easy to come by, easy to install and well maybe not easy to use
but you can use it. Building your own toolchain from gnu sources (binutils
and gcc) is fairly straight forward see my build_gcc repository for a
build script.
matter if you use arm-none-linux-gnueabi or arm-none-eabi. I have not
looked in a while but formerly codesourcery.com (now a part of Mentor
Graphics) had a free LITE version of their toolchain which was pretty
easy to come by. An even easier place is here
https://launchpad.net/gcc-arm-embedded
to get a cross compiler. Building your own toolchain from gnu sources
(binutils and gcc) is fairly straight forward see my build_gcc
repository for a build script (Linux only but from that you might get
other platforms to build). And also rememeber that you can run linux
on the pi and on that it has a native, not cross, gnu toolchain.
As far as we know so far the Raspberry Pi is not "brickable". Normally
what brickable means is the processor relies on a boot flash and with
@@ -102,14 +156,19 @@ calculator, etc and you may see some holes or pads on the circuit board,
for some of these devices just opening the battery case you have a view
of some of the pcboard. This is no doubt a programming header. Long
story short, so far as I know the Raspberry Pi is not brickable because
the rom/flash that performs the initial boot is for the gpu and we dont
have access to the gpu nor its boot rom/flash. The gpu relies on the
sd card to complete the boot, so there is something in hardware or
perhaps there is an on chip flash for the gpu, from there on it is all
sd card. It is very easy for the customer to remove and
replace/modify that boot flash. So from a software perspective
unless you/we accidentally figure out how to change/erase the gpu boot
code (my guess is it is a one time programmable) you cant brick it.
it boots off of an sd card which we can easily remove and replace
ourselves. I dont know for sure, a lot more info is out about the
GPU since I started with this, but I assume that there is some GPU code
that boots off of an internal rom, I doubt with two on chip processors
they created pure logic to read the sd card, wade through the filesystem
to find a specific bootcode.bin file, load that into ram and run it.
If that assumption is true is that on chip rom one time programmable
or can it be erased/reprogrammed, and if the latter how lucky do we have
to be with a broken program to erase that? So I am not 100% sure but
almost 100% sure the Raspberry Pi is not brickable. This is actually
a big deal for bare metal programming, in particular if it is your first
platform. With decades of experience I still make mistakes from time
to time and brick a board, never to be recovered.
To use my samples you do not need a huge sd card. Nor do you need nor
want to download one of the linux images, takes a while to download,
@@ -124,13 +183,14 @@ For each of these files, bootcode.bin and start.elf (NOT kernel.img,
dont need it, too big)(loader.bin is no longer used/required). Click
on the file name, it will go to another page then click on View Raw and
it will let you download the file. For reference, I do not use nor
have a config.txt file on my sd card. I only have the three files (
bootcode.bin, start.elf, and then kernel.img from one of my examples).
have a config.txt file on my sd card. I only have the minimum number
of files on the sd card, bootcode.bin, start.elf and either kernel.img
or kernel7.img (or sometimes both).
My examples are basically the kernel.img file. Not a linux kernel,
just bare metal programs. Since the GPU bootloader is looking for
that file name, you use that file name. The kernel.img file is just a
blob that is copied to memory, nothing more.
blob that is copied to memory, dont worry about what they named it.
What I do is setup the sd card with a single partition, fat32. And
copy the above files in the root directory. bootcode.bin and start.elf.
@@ -153,9 +213,10 @@ this is going to get painful.
There are ways to avoid this, one is jtag, which is not as expensive
as it used to be. It used to be in the thousands of dollars, now it
is under $50 and the software tools are free. Now the raspi does have
jtag on the arm, getting the jtag connected requires soldering on some
models, but not on the newer models. I do not yet have a newer model.
How to use the jtag and how to hook it up is described later and in
jtag on the arm, getting the jtag connected requires soldering on older
of the older models, but unless you were an early adopter, you dont
need to worry about that all the signals are on the P1 connector. How
to use the jtag and how to hook it up is described later and in
the armjtag sample.
Another method is a bootloader, typically you use a serial port connected
@@ -172,18 +233,32 @@ bootloader dance:
2) power on raspi
3) type command to load and start new program
I have working bootloader examples. bootloader05 is the currently
recommended version. But you need more hardware (no soldering is
required). For those old enough to know what a serial port is, you
CANNOT connect your raspberry pi directly to this port, you will fry
the raspberry pi. You need some sort of serial port at 3.3V either
a level shifter of some sort (transceiver like a MAX232) or a usb
serial port where the signals are 3.3V (dont need to use RS232 just
stay at the logic level). The solution I recommend is a non-solder
Or if you solder on a reset button
1) reset raspi
2) type command to load and start new program
I have working bootloader examples. bootloader05 is currently the last
of the xmodem based ones (that basically take a kernel.img file),
personally I use bootloader07 which takes an intel hex formatted file
which these examples also build. The .bin file would be used with
bootloader05, the .hex with bootloader07. But you need more hardware
(no soldering is required). For those old enough to know what a serial
port is, you CANNOT connect your raspberry pi directly to this port,
you will fry the raspberry pi. You need some sort of serial port at
3.3V either a level shifter of some sort (transceiver like a MAX232) or
a usb serial port where the signals are 3.3V (dont need to use RS232
just stay at the logic level). The solution I recommend is a non-solder
solution:
A recent purchase, experimentally white is RX and green is TX, black GND
http://www.nexuscyber.com/usb-to-ttl-serial-debug-console-cable-for-raspberry-pi
Sparkfun has one
https://www.sparkfun.com/products/12977
As does Adafruit
https://www.adafruit.com/products/954
The above, assuming you figure out rx from tx, are all you need. The
ones below you may need to solder or may need some jumper wires.
http://www.sparkfun.com/products/9873
plus some male/female wire
@@ -216,7 +291,7 @@ P1. Starting at that corner of the board, the outside corner pin is
pin 2. From pin 2 heading toward the yellow rca connector the pins
are 2, 4, 6, 8, 10. Pin 6 connect to gnd on the usb to serial board
pin 8 is TX out of the raspi connect that to RX on the usb to serial
board. pin 10 is RX into the raspi, connect that to TX on the usb to
board. Pin 10 is RX into the raspi, connect that to TX on the usb to
serial board. Careful not to have metal items on the usb to serial
board touch metal items on the raspberry pi (other than the three
connections described). On your host computer you will want to use
@@ -245,13 +320,14 @@ jtag solution is the most powerful and useful. My typical setup is the
armjtag binary as kernel.img, a usb to jtag board like the amontec
jtag-tiny and a usb to serial using minicom.
If you can solder, the A+, B+, Zero and Pi 2 all have a pair of holes
sometimes with the text RUN next to them. I use buttons like this
https://www.sparkfun.com/products/97
with two of the legs broken off then the others twisted and adjusted
to fit in the holes and soldered down.
As far as these samples go I recommend starting with blinker01 then
follow the discovery of the chip into uart01, etc. I took one path
with the first bootloader then switched gears to use xmodem, if
interested at all you may wish to just skip to that one. It has no
features and isnt even robust, quick and dirty, and most of the time
it works just fine, if not power cycle the raspberry pi and try again.
(power cycle = unplug then plug back in)
follow the discovery of the chip into uart01, etc.
The bssdata and baremetal directories attempt to explain a little
bit about taking control of the gnu toolchain to build bare metal
@@ -267,44 +343,3 @@ makes life a lot easier, but leaves out some important bare metal
experiences that you will have to find elsewhere.
-----------
Sources for ARM ARMs
Google
ARM DDI 0100E
or
ARM DDI 0100I
https://www.scss.tcd.ie/~waldroj/3d1/arm_arm.pdf
http://morrow.ece.wisc.edu/ECE353/arm_reference/ddi0100e_arm_arm.pdf
http://reds.heig-vd.ch/share/cours/aro/ARM_Thumb_instructions.pdf
They have a rev B here...Which was the blue covered one in print. This
was the I learned from (the print version) later I got a rev a, then
rev e all in print then it was only electronic from there out as far as
I know. the older ones being more pure, but also some notable bugs
in the docs, instruction encodings and some other things.
http://www.home.marutan.net/arcemdocs/
Actually the preferred place is to go to http://infocenter.arm.com
On the left expand ARM Architecture, expand Reference Manuals, then
select ARMv5 Reference Manual then on the main part of the page click
on the pdf file to download. You might have to give up an email address
to make an account on the site to download. Yes the Raspberry pi 1
uses an ARMv6 but the ARMv5 manual is the original ARM ARM and covers
the ARMv6. The raspberry pi 2 uses an ARMv7 so you will want to also
or instead get the ARMv7-AR Reference Manual. The ARMv6-M does NOT
apply to the Rasperry pi 1 core.
I managed to get a pi zero ordered the first day somehow. And it works
like the pi 1, I assume it is 1000mhz now instead of 750, but the
peripheral clock for the uart still uses the same divisor and works.
I did need to get a new bootcode.bin and start.elf, not sure how old
the ones I had on the sd card were, but pulled new ones and the uart01
example worked just fine. You do have to solder pins now or somehow
solve that and I soldered a momentary button on the run pins and like
the other boards those appear to be the reset.