├── .gitignore
├── LICENSE
├── README.md
└── m4fwloader.c
/.gitignore:
--------------------------------------------------------------------------------
1 | # Object files
2 | *.o
3 | *.ko
4 | *.obj
5 | *.elf
6 |
7 | # Precompiled Headers
8 | *.gch
9 | *.pch
10 |
11 | # Libraries
12 | *.lib
13 | *.a
14 | *.la
15 | *.lo
16 |
17 | # Shared objects (inc. Windows DLLs)
18 | *.dll
19 | *.so
20 | *.so.*
21 | *.dylib
22 |
23 | # Executables
24 | *.exe
25 | *.out
26 | *.app
27 | *.i*86
28 | *.x86_64
29 | *.hex
30 |
31 | # Debug files
32 | *.dSYM/
33 | *.su
34 |
--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # imx-m4fwloader
2 | Tool for loading firmware to M4 core on i.MX6SX and i.MX7D from Linux user space.
3 |
4 | ### How to use this
5 | - Use the environment provided to you by Yocto:
6 | - For example:
7 | - ``source /opt/poky/1.8/environment-setup-cortexa9hf-vfp-neon-poky-linux-gnueabi``
8 | - ``$CC m4fwloader.c -o m4fwloader``
9 | - You get m4fwloader binary...
10 | - Then you need to build your M4 application and link it to some address. (e.g 0x00910000, try: https://github.com/EmbeddedRPC/erpc-imx-demos/tree/master/MCU/example_rpmsg)
11 | - Load it using m4fwloader: ``./m4fwloader myapp.bin 0x00910000``
12 | - Optionally use --verbose parameter to see what is written to each registers
13 | - Warning: Use this tool for debugging only, since it accesses directly the registers from the user space and requires therefore root priviledges!
14 | - You have been warned... :-)
15 | - Optionally, you can trigger an interrupt using message unit (MU) to the M4 core to get RPMsg started - this is normally done by Linux Kernel during startup: ``./m4fwloader kick 0``
16 | - Whole usage is here:
17 | - ``m4fwloader [filename.bin] [0xLOADADDR] [--verbose]`` # loads new firmware
18 | - or: ``m4fwloader stop`` # holds the auxiliary core in reset
19 | - or: ``m4fwloader start`` # releases the auxiliary core from reset
20 | - or: ``m4fwloader kick [n]`` # triggers interrupt on RPMsg virtqueue n
21 | - by Marek Novak: marek.novak@nxp.com
22 |
--------------------------------------------------------------------------------
/m4fwloader.c:
--------------------------------------------------------------------------------
1 | /*
2 | * m4fwloader - based on mqx_upload_on_m4SoloX
3 | * from Giuseppe Pagano
4 | *
5 | * Tool to control M4 AMP core from Linux user-space
6 | *
7 | * Copyright (C) 2015-2016 Giuseppe Pagano
8 | * Copyright 2017 NXP
9 | *
10 | * This program is free software; you can redistribute it and/or modify
11 | * it under the terms of the GNU General Public License as published by
12 | * the Free Software Foundation; either version 2 of the License, or
13 | * (at your option) any later version.
14 | *
15 | * This program is distributed in the hope that it will be useful,
16 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 | * GNU General Public License for more details.
19 | *
20 | * You should have received a copy of the GNU General Public License
21 | * along with this program; if not, write to the Free Software
22 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
23 | *
24 | */
25 |
26 | #include
27 | #include
28 | #include
29 | #include
30 | #include
31 | #include
32 | #include
33 | #include
34 | #include
35 | #include
36 | #include
37 | #include
38 |
39 | #define LogVerbose(...) \
40 | do { \
41 | if (verbose) \
42 | printf(__VA_ARGS__); \
43 | } while (0)
44 | #define LogError(...) printf(__VA_ARGS__)
45 |
46 | #define VERSION "1.0.0"
47 | #define NAME_OF_UTILITY "i.MX M4 Loader"
48 | #define HEADER NAME_OF_UTILITY " - M4 firmware loader v. " VERSION "\n"
49 |
50 | #define IMX7D_SRC_M4RCR (0x3039000C) /* reset register */
51 | #define IMX7D_STOP_CLEAR_MASK (0xFFFFFF00)
52 | #define IMX7D_STOP_SET_MASK (0x000000AA)
53 | #define IMX7D_START_CLEAR_MASK (0xFFFFFFFF)
54 | #define IMX7D_START_SET_MASK (0x00000001)
55 | #define IMX7D_MU_ATR1 (0x30AA0004) /* rpmsg_mu_kick_addr */
56 | #define IMX7D_M4_BOOTROM (0x00180000)
57 | #define IMX7D_CCM_ANALOG_PLL_480 (0x303600B0)
58 | #define IMX7D_CCM_CCGR1 (0x30384010)
59 |
60 | #define IMX6SX_SRC_SCR (0x020D8000) /* reset register */
61 | #define IMX6SX_STOP_CLEAR_MASK (0xFFFFFFEF)
62 | #define IMX6SX_STOP_SET_MASK (0x00400000)
63 | #define IMX6SX_START_CLEAR_MASK (0xFFFFFFFF)
64 | #define IMX6SX_START_SET_MASK (0x00400010)
65 | #define IMX6SX_MU_ATR1 (0x02294004) /* rpmsg_mu_kick_addr */
66 | #define IMX6SX_M4_BOOTROM (0x007F8000)
67 | #define IMX6SX_CCM_CCGR3 (0x020C4074)
68 |
69 | #define MAP_SIZE 4096UL
70 | #define MAP_MASK (MAP_SIZE - 1)
71 | #define SIZE_4BYTE 4UL
72 | #define SIZE_16BYTE 16UL
73 | #define MAP_OCRAM_SIZE 64 * 1024
74 | #define MAP_OCRAM_MASK (MAP_OCRAM_SIZE - 1)
75 | #define MAX_FILE_SIZE MAP_OCRAM_SIZE
76 | #define MAX_RETRIES 8
77 |
78 | #define RETURN_CODE_OK 0
79 | #define RETURN_CODE_ARGUMENTS_ERROR 1
80 | #define RETURN_CODE_M4STOP_FAILED 2
81 | #define RETURN_CODE_M4START_FAILED 3
82 |
83 | struct soc_specific {
84 | char* detect_name;
85 |
86 | uint32_t src_m4reg_addr;
87 |
88 | uint32_t start_and;
89 | uint32_t start_or;
90 | uint32_t stop_and;
91 | uint32_t stop_or;
92 |
93 | uint32_t rpmsg_mu_kick_addr;
94 |
95 | void (*clk_enable)(int);
96 |
97 | uint32_t stack_pc_addr;
98 | };
99 |
100 | static int verbose = 0;
101 |
102 | void regshow(uint32_t addr, char* name, int fd)
103 | {
104 | off_t target;
105 | void *map_base, *virt_addr;
106 |
107 | target = (off_t)addr;
108 | map_base = mmap(0, MAP_SIZE, PROT_READ, MAP_SHARED, fd, target & ~MAP_MASK);
109 | virt_addr = (unsigned char*)(map_base + (target & MAP_MASK));
110 | LogVerbose("%s (0x%08X): 0x%08X\r\n", name, addr, *((unsigned long*)virt_addr));
111 | munmap(map_base, MAP_SIZE);
112 | }
113 |
114 | void imx6sx_clk_enable(int fd)
115 | {
116 | off_t target;
117 | unsigned long read_result;
118 | void *map_base, *virt_addr;
119 |
120 | LogVerbose("i.MX6SX specific function for M4 clock enabling!\n");
121 |
122 | regshow(IMX6SX_CCM_CCGR3, "CCM_CCGR3", fd);
123 | target = (off_t)IMX6SX_CCM_CCGR3; /* M4 Clock gate*/
124 | map_base = mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK);
125 | virt_addr = (unsigned char*)(map_base + (target & MAP_MASK));
126 | read_result = *((unsigned long*)virt_addr);
127 | *((unsigned long*)virt_addr) = read_result | 0x0000000C;
128 | munmap(map_base, MAP_SIZE);
129 | regshow(IMX6SX_CCM_CCGR3, "CCM_CCGR3", fd);
130 | LogVerbose("CCM_CCGR3 done\n");
131 | }
132 |
133 | void imx7d_clk_enable(int fd)
134 | {
135 | off_t target;
136 | unsigned long read_result;
137 | void *map_base, *virt_addr;
138 |
139 | LogVerbose("i.MX7D specific function for M4 clock enabling!\n");
140 |
141 | regshow(IMX7D_CCM_ANALOG_PLL_480, "CCM_ANALOG_PLL_480", fd);
142 | /* Enable parent clock first! */
143 | target = (off_t)IMX7D_CCM_ANALOG_PLL_480;
144 | map_base = mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK);
145 | virt_addr = (unsigned char*)(map_base + (target & MAP_MASK));
146 | /* clock enabled by clearing the bit! */
147 | *((unsigned long*)virt_addr) = (*((unsigned long*)virt_addr)) & (~(1 << 5));
148 | munmap(map_base, MAP_SIZE);
149 | regshow(IMX7D_CCM_ANALOG_PLL_480, "CCM_ANALOG_PLL_480", fd);
150 | LogVerbose("CCM_ANALOG_PLL_480 done\n");
151 |
152 | /* ENABLE CLK */
153 | regshow(IMX7D_CCM_CCGR1, "CCM1_CCGR1", fd);
154 | target = (off_t)(IMX7D_CCM_CCGR1+4); /* CCM_CCGR1_SET */
155 | map_base = mmap(0, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK);
156 | virt_addr = (unsigned char*)(map_base + (target & MAP_MASK));
157 | *((unsigned long*)virt_addr) = 0x00000003;
158 | munmap(map_base, MAP_SIZE);
159 | regshow(IMX7D_CCM_CCGR1, "CCM1_CCGR1", fd);
160 | LogVerbose("CCM_CCGR1_SET done\n");
161 | }
162 |
163 | static struct soc_specific socs[] = {
164 | {
165 | "i.MX7 Dual",
166 | IMX7D_SRC_M4RCR,
167 | IMX7D_STOP_CLEAR_MASK,
168 | IMX7D_STOP_SET_MASK,
169 | IMX7D_START_CLEAR_MASK,
170 | IMX7D_START_SET_MASK,
171 | IMX7D_MU_ATR1,
172 |
173 | imx7d_clk_enable,
174 |
175 | IMX7D_M4_BOOTROM
176 | },
177 | {
178 | "i.MX6 SoloX",
179 | IMX6SX_SRC_SCR,
180 | IMX6SX_STOP_CLEAR_MASK,
181 | IMX6SX_STOP_SET_MASK,
182 | IMX6SX_START_CLEAR_MASK,
183 | IMX6SX_START_SET_MASK,
184 | IMX6SX_MU_ATR1,
185 |
186 | imx6sx_clk_enable,
187 |
188 | IMX6SX_M4_BOOTROM
189 | }
190 | };
191 |
192 | void rpmsg_mu_kick(int fd, int socid, uint32_t vq_id)
193 | {
194 | off_t target;
195 | void *map_base, *virt_addr;
196 |
197 | if (!socs[socid].rpmsg_mu_kick_addr)
198 | return;
199 |
200 | target = (off_t)socs[socid].rpmsg_mu_kick_addr;
201 | map_base = mmap(0, SIZE_4BYTE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK);
202 | virt_addr = (unsigned char*)(map_base + (target & MAP_MASK));
203 | vq_id = (vq_id << 16);
204 | *((unsigned long*)virt_addr) = vq_id;
205 | munmap(map_base, SIZE_4BYTE);
206 | }
207 |
208 | void ungate_m4_clk(int fd, int socid)
209 | {
210 | socs[socid].clk_enable(fd);
211 | }
212 |
213 | void stop_cpu(int fd, int socid)
214 | {
215 | unsigned long read_result;
216 | off_t target;
217 | void *map_base, *virt_addr;
218 |
219 | if (!socs[socid].src_m4reg_addr)
220 | return;
221 |
222 | regshow(socs[socid].src_m4reg_addr, "STOP - before", fd);
223 | target = (off_t)socs[socid].src_m4reg_addr;
224 | map_base = mmap(0, SIZE_4BYTE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK);
225 | virt_addr = (unsigned char*)(map_base + (target & MAP_MASK));
226 | read_result = *((unsigned long*)virt_addr);
227 | *((unsigned long*)virt_addr) = (read_result & (socs[socid].stop_and)) | socs[socid].stop_or;
228 | munmap(virt_addr, SIZE_4BYTE);
229 | regshow(socs[socid].src_m4reg_addr, "STOP - after", fd);
230 | }
231 |
232 | void start_cpu(int fd, int socid)
233 | {
234 | unsigned long read_result;
235 | off_t target;
236 | void *map_base, *virt_addr;
237 |
238 | if (!socs[socid].src_m4reg_addr)
239 | return;
240 |
241 | regshow(socs[socid].src_m4reg_addr, "START - before", fd);
242 | target = (off_t)socs[socid].src_m4reg_addr;
243 | map_base = mmap(0, SIZE_4BYTE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK);
244 | virt_addr = (unsigned char*)(map_base + (target & MAP_MASK));
245 | read_result = *((unsigned long*)virt_addr);
246 | *((unsigned long*)virt_addr) = (read_result & (socs[socid].start_and)) | socs[socid].start_or;
247 | munmap(virt_addr, SIZE_4BYTE);
248 | regshow(socs[socid].src_m4reg_addr, "START -after", fd);
249 | }
250 |
251 | void set_stack_pc(int fd, int socid, unsigned int stack, unsigned int pc)
252 | {
253 | off_t target = (off_t)socs[socid].stack_pc_addr;
254 | unsigned long read_result;
255 | void *map_base, *virt_addr;
256 | map_base = mmap(0, SIZE_16BYTE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, target & ~MAP_MASK);
257 | virt_addr = (unsigned char*)(map_base + (target & MAP_MASK));
258 | *((unsigned long*)virt_addr) = stack;
259 | virt_addr = (unsigned char*)(map_base + ((target + 0x4) & MAP_MASK));
260 | *((unsigned long*)virt_addr) = pc;
261 | munmap(map_base, SIZE_16BYTE);
262 | }
263 |
264 | int load_m4_fw(int fd, int socid, char* filepath, unsigned int loadaddr)
265 | {
266 | int n;
267 | int size;
268 | FILE* fdf;
269 | off_t target;
270 | char* filebuffer;
271 | void *map_base, *virt_addr;
272 | unsigned long stack, pc;
273 |
274 | fdf = fopen(filepath, "rb");
275 | fseek(fdf, 0, SEEK_END);
276 | size = ftell(fdf);
277 | fseek(fdf, 0, SEEK_SET);
278 | if (size > MAX_FILE_SIZE) {
279 | LogError("%s - File size too big, can't load: %d > %d \n", NAME_OF_UTILITY, size, MAX_FILE_SIZE);
280 | return -2;
281 | }
282 | filebuffer = (char*)malloc(size + 1);
283 | if (size != fread(filebuffer, sizeof(char), size, fdf)) {
284 | free(filebuffer);
285 | return -2;
286 | }
287 |
288 | fclose(fdf);
289 |
290 | stack = (filebuffer[0] | (filebuffer[1] << 8) | (filebuffer[2] << 16) | (filebuffer[3] << 24));
291 | pc = (filebuffer[4] | (filebuffer[5] << 8) | (filebuffer[6] << 16) | (filebuffer[7] << 24));
292 |
293 | if (loadaddr == 0x0) {
294 | loadaddr = pc & 0xFFFF0000; /* Align */
295 | }
296 | LogVerbose("%s - FILENAME = %s; loadaddr = 0x%08x\n", NAME_OF_UTILITY, filepath, loadaddr);
297 |
298 | map_base = mmap(0, MAP_OCRAM_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, loadaddr & ~MAP_OCRAM_MASK);
299 | LogVerbose("%s - start - end (0x%08x - 0x%08x)\n", NAME_OF_UTILITY, loadaddr & ~MAP_OCRAM_MASK, (loadaddr & ~MAP_OCRAM_MASK) + MAP_OCRAM_SIZE);
300 | virt_addr = (unsigned char*)(map_base + (loadaddr & MAP_OCRAM_MASK));
301 | memcpy(virt_addr, filebuffer, size);
302 | munmap(map_base, MAP_OCRAM_SIZE);
303 |
304 | LogVerbose("Will set PC and STACK...");
305 | set_stack_pc(fd, socid, stack, pc);
306 | LogVerbose("...Done\n");
307 | free(filebuffer);
308 |
309 | return size;
310 | }
311 |
312 | int get_board_id(void)
313 | {
314 | int i;
315 | char out[512];
316 | int result = -1;
317 | FILE* fp;
318 |
319 | fp = fopen("/proc/cpuinfo", "r");
320 | if (fp == NULL)
321 | return result;
322 |
323 | while (fgets(out, sizeof(out) - 1, fp) != NULL) {
324 | if (strstr(out, "Hardware")) {
325 | for (i = 0; i < (sizeof(socs) / sizeof(struct soc_specific)); i++) {
326 | if (strstr(out, socs[i].detect_name)) {
327 | result = i;
328 | break;
329 | }
330 | }
331 | break;
332 | }
333 | }
334 |
335 | fclose(fp);
336 | return result;
337 | }
338 |
339 | int main(int argc, char** argv)
340 | {
341 | int fd, n;
342 | unsigned long loadaddr;
343 | char* p;
344 | char m4IsStopped = 0;
345 | char m4IsRunning = 0;
346 | int m4TraceFlags = 0;
347 | int m4Retry;
348 | char* filepath = argv[1];
349 | int currentSoC = -1;
350 |
351 | if (argc < 2) {
352 | LogError(HEADER);
353 | LogError("-- %s -- \nUsage:\n"
354 | "%s [filename.bin] [0xLOADADDR] [--verbose] # loads new firmware\n"
355 | "or: %s stop # holds the auxiliary core in reset\n"
356 | "or: %s start # releases the auxiliary core from reset\n"
357 | "or: %s kick [n] # triggers interrupt on RPMsg virtqueue n\n",
358 | NAME_OF_UTILITY, argv[0], argv[0], argv[0], argv[0], argv[0]);
359 | return RETURN_CODE_ARGUMENTS_ERROR;
360 | }
361 |
362 | currentSoC = get_board_id();
363 | if (currentSoC == -1) {
364 | LogError(HEADER);
365 | LogError("Board is not supported.\n");
366 | return RETURN_CODE_ARGUMENTS_ERROR;
367 | }
368 |
369 | fd = open("/dev/mem", O_RDWR | O_SYNC);
370 | if (fd < 0) {
371 | LogError(HEADER);
372 | LogError("Could not open /dev/mem, are you root?\n");
373 | return RETURN_CODE_ARGUMENTS_ERROR;
374 | }
375 |
376 | /* PARTIAL COMMANDS */
377 | if (!strcmp(argv[1], "stop")) {
378 | stop_cpu(fd, currentSoC);
379 | return RETURN_CODE_OK;
380 | }
381 | else if (!strcmp(argv[1], "start")) {
382 | start_cpu(fd, currentSoC);
383 | return RETURN_CODE_OK;
384 | }
385 | else if (!strcmp(argv[1], "kick")) {
386 | if (argc < 3) {
387 | LogError(HEADER);
388 | LogError("%s - Usage: %s kick {vq_id to kick}\n", NAME_OF_UTILITY, argv[0]);
389 | return RETURN_CODE_ARGUMENTS_ERROR;
390 | }
391 | rpmsg_mu_kick(fd, currentSoC, strtoul(argv[2], &p, 16));
392 | return RETURN_CODE_OK;
393 | }
394 |
395 | /* FW LOADING */
396 | if (argc < 3) {
397 | LogError(HEADER);
398 | LogError("%s - Usage: %s [yourfwname.bin] [0xLOADADDR] [--verbose]\n", NAME_OF_UTILITY, argv[0]);
399 | return RETURN_CODE_ARGUMENTS_ERROR;
400 | }
401 |
402 | if (access(filepath, F_OK) == -1) {
403 | LogError("File %s not found.\n", argv[1]);
404 | return RETURN_CODE_ARGUMENTS_ERROR;
405 | }
406 |
407 | loadaddr = strtoul(argv[2], &p, 16);
408 |
409 | if (argc == 4) {
410 | if (!strcmp(argv[3], "--verbose")) {
411 | verbose = 1;
412 | }
413 | else {
414 | LogError(HEADER);
415 | LogError("%s - Usage: %s [yourfwname.bin] [0xLOADADDR] [--verbose]\n", NAME_OF_UTILITY, argv[0]);
416 | return RETURN_CODE_ARGUMENTS_ERROR;
417 | }
418 | }
419 |
420 | LogVerbose("LoadAddr is: %X\n", loadaddr);
421 | LogVerbose("Will stop CPU now...\n");
422 | stop_cpu(fd, currentSoC);
423 | LogVerbose("Will ungate M4 clock source...\n");
424 | ungate_m4_clk(fd, currentSoC);
425 | LogVerbose("Will load M4 firmware...\n");
426 | load_m4_fw(fd, currentSoC, filepath, loadaddr);
427 | LogVerbose("Will start CPU now...\n");
428 | start_cpu(fd, currentSoC);
429 | LogVerbose("Done!\n");
430 | close(fd);
431 | return RETURN_CODE_OK;
432 | }
433 |
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