├── .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. 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Of course, the commands you use may 322 | be called something other than `show w' and `show c'; they could even be 323 | mouse-clicks or menu items--whatever suits your program. 324 | 325 | You should also get your employer (if you work as a programmer) or your 326 | school, if any, to sign a "copyright disclaimer" for the program, if 327 | necessary. Here is a sample; alter the names: 328 | 329 | Yoyodyne, Inc., hereby disclaims all copyright interest in the program 330 | `Gnomovision' (which makes passes at compilers) written by James Hacker. 331 | 332 | {signature of Ty Coon}, 1 April 1989 333 | Ty Coon, President of Vice 334 | 335 | This General Public License does not permit incorporating your program into 336 | proprietary programs. If your program is a subroutine library, you may 337 | consider it more useful to permit linking proprietary applications with the 338 | library. If this is what you want to do, use the GNU Lesser General 339 | Public License instead of this License. 340 | 341 | -------------------------------------------------------------------------------- /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 | --------------------------------------------------------------------------------