rk3568移植主线内核

Env

Board: Lubancat-2io

这篇文章需要用到之前移植的uboot和extlinux的基础知识。

Get source

❯ git clone [email protected]:torvalds/linux.git

查看一下dts的内容：

❯ ls arch/arm64/boot/dts/rockchip/rk3568* | grep lubancat
arch/arm64/boot/dts/rockchip/rk3568-lubancat-2.dts

主线是有lubancat-2的设备树的，这就很大的方便了我们，可以稍作修改设备树即可完美在2io上全适配。

内核config配置

❯ ls arch/arm64/configs
defconfig  hardening.config   virt.config

这里并没有rk3568 evb板子的配置文件，所以我们就先使用defconfig就好，遇到什么问题再解决什么问题。

❯ make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- defconfig
❯ make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- -j32
❯ ls arch/arm64/boot/dts/rockchip/rk3568-lubancat-2.dtb
arch/arm64/boot/dts/rockchip/rk3568-lubancat-2.dtb
❯ ls arch/arm64/boot/Image
arch/arm64/boot/Image

依据extlinux的经验，有了内核和设备树之后，我们只需要extlinux.conf文件即可。

❯ mkdir -p extboot && cp arch/arm64/boot/dts/rockchip/rk3568-lubancat-2.dtb extboot && cp arch/arm64/boot/Image extboot/Image-master
❯ mkdir -p extboot/extlinux/extlinux.conf

在extboot/extlinux/extlinux.conf文件中写入如下内容：

label rockchip-master
    kernel /Image-master
    fdt /rk3568-lubancat-2.dtb
    append root=dev/mmcblk0p3 earlyprintk console=ttyFIQ0 console=tty1 consoleblank=0 loglevel=7 rootwait rw rootfstype=ext4 cgroup_enable=cpuset cgroup_memory=1 cgroup_enable=memory swapaccount=1 switolb=1 coherent_pool=1m

其中append的bootargs来自于lubancat的extlinux.conf，创建好之后查看一下目录文件结构：

❯ tree extboot
.
├── extlinux
│   ├── extlinux.conf
├── Image-master
├── rk3568-lubancat-2.dtb

1 directory, 3 files

一切无误后，就可以生成boot分区的镜像了，注意，这个操作不要在extboot文件夹下操作，否则就会递归：

❯ genext2fs -b 32768 -B $((64*1024*1024/32768)) -d ./extboot -i 8192 -U boot.img

刷写进入系统后查看到如下log：

...
Found /extlinux/extlinux.conf
Retrieving file: /extlinux/extlinux.conf
929 bytes read in 3 ms (301.8 KiB/s)
3:      rockchip-6.10
Retrieving file: /Image-6.10
24766472 bytes read in 153 ms (154.4 MiB/s)
append: dev/mmcblk0p3 earlyprintk console=ttyFIQ0 console=tty1 consoleblank=0 loglevel=7 rootwait rw rootfstype=ext4 cgroup_enable=cpuset cgroup_memory
=1 cgroup_enable=memory swapaccount=1 switolb=1 coherent_pool=1m
Retrieving file: /rk3568-lubancat-2.dtb
60473 bytes read in 3 ms (19.2 MiB/s)
Fdt Ramdisk skip relocation
No misc partition
## Flattened Device Tree blob at 0x0a100000
   Booting using the fdt blob at 0x0a100000
   Using Device Tree in place at 000000000a100000, end 000000000a111c38
can't found rockchip,drm-logo, use rockchip,fb-logo
WARNING: could not set reg FDT_ERR_BADOFFSET.
failed to reserve fb-loader-logo memory
WARNING: could not set reg FDT_ERR_BADOFFSET.
Adding bank: 0x00200000 - 0x08400000 (size: 0x08200000)
Adding bank: 0x09400000 - 0xf0000000 (size: 0xe6c00000)
Adding bank: 0x1f0000000 - 0x200000000 (size: 0x10000000)
Total: 494.4/538.906 ms

Starting kernel ...

I/TC: Secondary CPU 1 initializing
I/TC: Secondary CPU 1 switching to normal world boot
I/TC: Secondary CPU 2 initializing
I/TC: Secondary CPU 2 switching to normal world boot
I/TC: Secondary CPU 3 initializing
I/TC: Secondary CPU 3 switching to normal world boot

然后就没有然后了…，看起来应该是earlycon不对，并且console也没起来，不然不应该什么输出都没有的。

查看主线内核下的设备树文件发现chosen节点一穷二白：

chosen

参照鲁班猫的sdk的设备树可以发现earlycon被指定了一个uart8250:

chosen

参照鲁班猫的sdk的设备树编写extlinux.conf:

label rockchip-master
    kernel /Image-master
    fdt /rk3568-lubancat-2.dtb
    append root=dev/mmcblk0p3 earlycon=uart8250,mmio32,0xfe660000 console=ttyFIQ0 console=tty1 consoleblank=0 loglevel=7 rootwait rw rootfstype=ext4 cgroup_enable=cpuset cgroup_memory=1 cgroup_enable=memory swapaccount=1 switolb=1 coherent_pool=1m

重新制作镜像后烧写，发现确实在CPU switch之前就能看到log了，但是之后却没有。

[    0.000000] GICv3: MBI range [229:259]
[    0.000000] GICv3: MBI range [289:319]
[    0.000000] GICv3: Using MBI frame 0x00000000fd410000
[    0.000000] Root IRQ handler: gic_handle_irq
[    0.000000] GICv3: GICv3 features: 16 PPIs
[    0.000000] GICv3: GICD_CTRL.DS=0, SCR_EL3.FIQ=1
[    0.000000] GICv3: CPU0: found redistributor 0 region 0:0x00000000fd460000
[    0.000000] ITS: No ITS available, not enabling LPIs
[    0.000000] rcu: srcu_init: Setting srcu_struct sizes based on contention.
[    0.000000] arch_timer: cp15 timer(s) running at 24.00MHz (phys).
[    0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0x588fe9dc0, max_idle_ns: 440795202592 ns
[    0.000001] sched_clock: 56 bits at 24MHz, resolution 41ns, wraps every 4398046511097ns
[    0.001817] Console: colour dummy device 80x25
[    0.002270] printk: legacy console [tty1] enabled
[    0.002741] printk: legacy bootconsole [uart8250] disabled
I/TC: Secondary CPU 1 initializing
I/TC: Secondary CPU 1 switching to normal world boot
I/TC: Secondary CPU 2 initializing
I/TC: Secondary CPU 2 switching to normal world boot
I/TC: Secondary CPU 3 initializing
I/TC: Secondary CPU 3 switching to normal world boot

在extlinux.conf文件中定义了这么一句话console=ttyFIQ0，并且在鲁班猫sdk里面能够看到该节点并且有对应的驱动:

❯ cat arch/arm64/boot/dts/rockchip/rk3568-lubancat-2.dtsi | grep fiq-debug
	fiq-debugger {
		compatible = "rockchip,fiq-debugger";
❯ find -name "*.c" -exec grep -n "rockchip,fiq-debugger" {} +
./drivers/soc/rockchip/rk_fiq_debugger.c:894:	{ .compatible = "rockchip,fiq-debugger", },

在主线内核的设备树和驱动里面都是没有这g些东西的，所以直接将ttyFIQ0改成ttyS2,1500000就行了，不走这个驱动了。

这两个硬件上是一个东西，更改后的conf文件如下：

label rockchip-master
    kernel /Image-master
    fdt /rk3568-lubancat-2.dtb
    append root=dev/mmcblk0p3 earlycon=uart8250,mmio32,0xfe660000 console=ttyS2,1500000 consoleblank=0 loglevel=7 rootwait rw rootfstype=ext4 cgroup_enable=cpuset cgroup_memory=1 cgroup_enable=memory swapaccount=1 switolb=1 coherent_pool=1m

重新打包镜像并烧写，可以发现log全部都有了但是无法进入系统：

[    0.998974] mmcblk1rpmb: mmc1:0001 SC6311 4.00 MiB, chardev (239:0)
[   10.939202] platform fe2b0000.mmc: deferred probe pending: platform: wait for supplier /i2c@fdd40000/pmic@20/regulators/LDO_REG5
[   10.940228] platform fe720000.saradc: deferred probe pending: platform: wait for supplier /i2c@fdd40000/pmic@20/regulators/LDO_REG7
[   10.941259] platform hdmi-sound: deferred probe pending: asoc-simple-card: parse error
[   10.941969] platform fdc20000.syscon:io-domains: deferred probe pending: platform: wait for supplier /i2c@fdd40000/pmic@20/regulators/SWITCH_REG1
[   10.943105] platform fe0a0000.hdmi: deferred probe pending: platform: wait for supplier /i2c@fdd40000/pmic@20/regulators/LDO_REG9

看起来是regulator的问题，查询设备树中pmic节点芯片对应的是rk809:

&i2c0 {
	status = "okay";
    ...

	rk809: pmic@20 {
		compatible = "rockchip,rk809";
		reg = <0x20>;
		interrupt-parent = <&gpio0>;
		interrupts = <RK_PA3 IRQ_TYPE_LEVEL_LOW>;
		assigned-clocks = <&cru I2S1_MCLKOUT_TX>;
    ...

该设备是一个i2c设备，查找该设备对应的驱动：

❯ find -name "*.c" -exec grep -n "rockchip,rk809" {} +
./drivers/mfd/rk8xx-i2c.c:230:	{ .compatible = "rockchip,rk809", .data = &rk809_data },
❯ cat ./drivers/mfd/Makefile | grep rk8xx
obj-$(CONFIG_MFD_RK8XX)		+= rk8xx-core.o
obj-$(CONFIG_MFD_RK8XX_I2C)	+= rk8xx-i2c.o
obj-$(CONFIG_MFD_RK8XX_SPI)	+= rk8xx-spi.o

所以我们需要打开CONFIG_MFD_RK8XX和CONFIG_MFD_RK8XX_I2C这两个驱动配置。

烧录到开发板中发现依旧卡死，但是log发生了变化：

[    1.015937] dwmmc_rockchip fe2b0000.mmc: Version ID is 270a
[    1.016498] dwmmc_rockchip fe2b0000.mmc: DW MMC controller at irq 73,32 bit host data width,256 deep fifo
[   11.158200] platform fe720000.saradc: deferred probe pending: rockchip-saradc: failed to get regulator
[   11.159081] platform hdmi-sound: deferred probe pending: asoc-simple-card: parse error
[   11.159808] platform fdc20000.syscon:io-domains: deferred probe pending: (reason unknown)
[   11.159863] dwmmc_rockchip fe2b0000.mmc: IDMAC supports 32-bit address mode.
[   11.160624] platform fe0a0000.hdmi: deferred probe pending: (reason unknown)
[   11.161303] dwmmc_rockchip fe2b0000.mmc: Using internal DMA controller.
[   11.162464] dwmmc_rockchip fe2b0000.mmc: Version ID is 270a
[   11.163053] dwmmc_rockchip fe2b0000.mmc: DW MMC controller at irq 73,32 bit host data width,256 deep fifo

根据多年卡死经验直接判断是根文件系统无法挂载，但是换回之前鲁班猫的内核就又好了，说明不是文件系统的原因。

进入uboot查看emmc:

=> mmc list
dwmmc@fe2b0000: 1
dwmmc@fe2c0000: 2
sdhci@fe310000: 0 (eMMC)
=> mmc info
Device: sdhci@fe310000
Manufacturer ID: ea
OEM: 2d00
Name: SC631 
Timing Interface: HS200
Tran Speed: 200000000
Rd Block Len: 512
MMC version 5.1
High Capacity: Yes
Capacity: 29.1 GiB
Bus Width: 8-bit
Erase Group Size: 512 KiB
HC WP Group Size: 8 MiB
User Capacity: 29.1 GiB WRREL
Boot Capacity: 4 MiB ENH
RPMB Capacity: 4 MiB ENH

可以看到emmc走的是sdhci，查看设备树发现aliases居然把sdhci搞成了mmc1:

aliases {
	ethernet0 = &gmac0;
	ethernet1 = &gmac1;
	mmc0 = &sdmmc0;
	mmc1 = &sdhci;
};

调换sdhci和sdmmc0的顺序：

aliases {
	ethernet0 = &gmac0;
	ethernet1 = &gmac1;
	mmc1 = &sdmmc0;
	mmc0 = &sdhci;
};

此时成功进入系统：

system