Booting base-hw image on a Freescale i.MX6

Wed Jan 29 12:09:04 CET 2014

Hello,

The structure of Genode::printf is quite interesting. Running the
test-printf scenario with PDBG("Hello World") works fine. It simply prints
'int main(int, char**): Hello World!'

Looking up the definition for the Genode printf in base/printf.h was not so
revealing. What makes the "-1 = -1 = -1" regex special that init refuses to
spawn the init->test-printf child process?

Regards
Meenakshi

On Wed, Jan 29, 2014 at 11:06 AM, Aditya Kousik <adit267.kousik at ...9...>wrote:

> Hello all,
>
> Genode base-hw kernel runs successfully on i.MX6. Stefan: we were looking
> at the wrong UART port (1 instead of 2) which led us on a wild goose chase.
> And we set the GPIO pins directly by setting IOMUX to GPIO mode: we lit a
> LED bulb successfully. The driver, as you mentioned is quite complex.
>
> We're getting the following message for test-printf ::
>
> Starting kernel ...
>
> int main(): --- create local services ---
> int main(): --- start init ---
> int main(): transferred 1020 MB to init
> int main(): --- init created, waiting for exit condition ---
> [init] Could not open file "ld.lib.so"
> [init -> test-printf] -1 = -1 = -1
> [init] virtual void Genode::Child_policy::exit(int): child exited with
> exit value 0
>
> We ran nested_init to verify again and got the following::
>
> int main(): --- create local services ---
> int main(): --- start init ---
> int main(): transferred 1021 MB to init
> int main(): --- init created, waiting for exit condition ---
> [init] Could not open file "ld.lib.so"
> [init] parent provides
> [init]   service "ROM"
> [init]   service "RAM"
> [init]   service "CAP"
> [init]   service "PD"
> [init]   service "RM"
> [init]   service "CPU"
> [init]   service "LOG"
> [init]   service "SIGNAL"
> [init] child "init"
> [init]   RAM quota:  10223616
> [init]   ELF binary: init
> [init]   priority:   0
> [init -> init] Could not open file "ld.lib.so"
> [init -> init] parent provides
> [init -> init]   service "ROM"
> [init -> init]   service "RAM"
> [init -> init]   service "CAP"
> [init -> init]   service "PD"
> [init -> init]   service "RM"
> [init -> init]   service "CPU"
> [init -> init]   service "LOG"
> [init -> init]   service "SIGNAL"
> [init -> init] child "init"
> [init -> init]   RAM quota:  4980736
> [init -> init]   ELF binary: init
> [init -> init]   priority:   0
> [init -> init -> init] Could not open file "ld.lib.so"
> [init -> init -> init] parent provides
> [init -> init -> init]   service "ROM"
> [init -> init -> init]   service "RAM"
> [init -> init -> init]   service "CAP"
> [init -> init -> init]   service "PD"
> [init -> init -> init]   service "RM"
> [init -> init -> init]   service "CPU"
> [init -> init -> init]   service "LOG"
> [init -> init -> init]   service "SIGNAL"
> [init -> init -> init] No children to start
>
> One, Are these satisfactory messages? (Are the test scripts running as
> they should) Two, Why does test-printf not work when I try to print
> Genode::printf("Hello World!"); and consequently set run_genode_until
> "Hello World!" 10 (or {Hello World!} 10). [init -> test-printf] does not
> get initialized.
>
> Regards
> Aditya.
>
>
>
> On Mon, Jan 20, 2014 at 8:35 PM, Stefan Kalkowski <
> stefan.kalkowski at ...1...> wrote:
>
>> Hi Meenakshi,
>>
>> On 01/18/2014 09:16 AM, Meenakshi Narayanan wrote:
>> > Hi Stefan,
>> >
>> > I'm working with Aditya on the port. We're now trying to blink an LED at
>> > the start of execution of the kernel (at the place where you asked us to
>> > print a PDBG), since the JTAG is going to take a while. We've tried
>> using
>> > i.MX53's GPIO driver by modifying the register addresses in
>> board_base.h.
>>
>> well, I don't think this is the way to success.
>>
>> Because you didn't finished to get some output from the UART, possibly
>> because your kernel image isn't setup correctly, you're now trying to
>> rope the far more complex GPIO driver code into the kernel? As long as
>> things are working similar like within the i.MX53 SoC, moreover the GPIO
>> pins depend on a correctly configured IOMUX controller, which is a ball
>> of wires. Just to give you some complexity metric between both in form
>> of reference manual pages, the IOMUX controller comprises 800 pages, and
>> the UART about 80. To sum it up, setting up GPIO pins correctly is a far
>> more error-prone task than setting up the UART on this platform.
>>
>> What about my advices within the last mail, compiling your own u-boot,
>> thereby having the ability to better check the setup of your kernel
>> (e.g. via additional prints), and not initializing the UART within the
>> kernel, because it's already done successfully by u-boot?
>>
>> Moreover, you might start with a very easy binary (no complete Genode
>> kernel/image), which you write from scratch. That binary can be some
>> very simple assembler code, which only puts some character to the UART,
>> and nothing more. If that fails too, it's probably a boot issue, which I
>> would guess it is.
>>
>> >
>> > Basically, we need to write to the GPIO9 (GPIO1_IO09 in i.MX6) : Can
>> this
>> > be accomplished by calling the read/write/direction functions in
>> driver.h
>> > of os/src/driver/gpio. Or can we simply write to a register by
>> implementing
>> > util/mmio.h?
>>
>> Of course, you can use the classes in "util/mmio.h" to simply access I/O
>> memory mapped registers. In fact, the MMIO framework is designed for
>> that operation purpose.
>> The code in "os/src/driver/gpio" is used for the user-level GPIO driver
>> in Genode, and cannot be used directly within the base-hw kernel.
>>
>> Regards
>> Stefan
>>
>> >
>> > Thanks and regards
>> > Meenakshi
>> >
>> >
>> > On Thu, Jan 9, 2014 at 3:14 PM, Stefan Kalkowski <
>> > stefan.kalkowski at ...1...> wrote:
>> >
>> >> Hi Aditya,
>> >>
>> >> On 01/09/2014 08:30 AM, Aditya Kousik wrote:
>> >>> Hello Stefan,
>> >>>
>> >>> I was looking for alternate methods of running the program loaded at
>> >>> address 10001000. That was the only motive behind trying go. I kept
>> using
>> >>> bootm till then. I wasn't exactly able to check where u-boot loaded
>> its
>> >> own
>> >>> memory sections. So instead, I set the load address for the kernel way
>> >>> above at 20000000 where I'm sure nothing else clashed. And loaded the
>> >>> uImage to 20800000.
>> >>
>> >> I recommend using a self-compiled u-boot on you imx6 board. Therefore,
>> >> you'll be able to check its memory regions.
>> >>
>> >>>
>> >>> While it's still stuck at  'Starting kernel...' , I'll take your
>> previous
>> >>> advice seriously. To use a JTAG debugger or recheck the UART
>> definitions.
>> >>
>> >> Moreover, you might skip the UART initialization routine. Just comment
>> >> the body of the Imx31_uart_base constructor out in:
>> >>
>> >>   base/include/drivers/uart/imx31_uart_base.h
>> >>
>> >> The UART should be initialized by u-boot anyway.
>> >>
>> >> Of course, if you've a JTAG debugger present, and a corresponding
>> >> connector on your test board, this probably will be the most
>> comfortable
>> >> path.
>> >>
>> >>>
>> >>> I ran test-printf on linux and this is what I got:
>> >>>
>> >>> spawn ./core
>> >>> int main(): --- create local services ---
>> >>> int main(): --- start init ---
>> >>> int main(): transferred 17592186044415 MB to init
>> >>> int main(): --- init created, waiting for exit condition ---
>> >>> [init] Could not open file "ld.lib.so"
>> >>> Quota exceeded! amount=4096, size=4096, consumed=4096
>> >>> [init] upgrading quota donation for SIGNAL session
>> >>> [init -> test-printf] -1 = -1 = -1
>> >>> Test succeeded
>> >>>
>> >>> Am I supposed to get similar messages from core on my board?
>> >>
>> >> Yes that's right.
>> >>
>> >> Regards
>> >> Stefan
>> >>
>> >>>
>> >>> Thanks in advance
>> >>> Aditya
>> >>>
>> >>>
>> >>> On Mon, Jan 6, 2014 at 3:28 PM, Stefan Kalkowski <
>> >>> stefan.kalkowski at ...1...> wrote:
>> >>>
>> >>>> Hi Aditya,
>> >>>>
>> >>>> On 01/06/2014 09:18 AM, Aditya Kousik wrote:
>> >>>>> Hello Stefan,
>> >>>>>
>> >>>>> I added the print debug call inside extern "C" void kernel()
>> function
>> >> as
>> >>>>> you'd suggested. Still no response from the processor.
>> >>>>>
>> >>>>> I checked the address specifications in both Imx31_uart_base.h and
>> also
>> >>>>> base/include/platform/imx6/board_base.h in Nikolay's branch. They
>> are
>> >>>>> correct, to the dot. Even AIPS mapping in board.h in base-hw's core.
>> >> The
>> >>>>> definitions seem to be fine.
>> >>>>>
>> >>>>> Ideally, what is expected to happen, i.e, the expected course of
>> >> action?
>> >>>> we
>> >>>>> can't load the kernel by running 'bootm' since you say it uses a
>> >>>> different
>> >>>>> config. So what do we do with the uImage?
>> >>>>
>> >>>> Well, I can't follow your conclusions to not using bootm? You've a
>> >>>> complete scenario packed into an ELF image, which is built to be
>> loaded
>> >>>> at start address 0x10001000. This ELF image is used by u-boot's
>> mkimage
>> >>>> utility to form a uImage file. This uImage can be loaded to some
>> address
>> >>>> above 0x10300000 e.g. via TFTP like you did it.
>> >>>> Assuming you've loaded the uImage to 0x10800000, you should boot the
>> >>>> scenario with "bootm 0x10800000". After that u-boot will interpret
>> the
>> >>>> uImage header at that address, load the ELF image within the uImage
>> to
>> >>>> the appropriated memory sections, prepare the machine registers, and
>> >>>> finally jump to 0x10001000.
>> >>>>
>> >>>>>
>> >>>>> 1. I loaded the uImage to 0x10800000 with TFTP as 'tftp 10800000'.
>> It
>> >>>>> succesfully loaded the kernel to that address. At this point, I had
>> >>>> changed
>> >>>>> the load address to 10002000 to check if the image was read
>> properly.
>> >> It
>> >>>>> did.
>> >>>>> 2. As a different approach, ran 'go 10002000'. This was what I got
>> >>>>> "##Application
>> >>>>> started at 0x10002000, Application terminated, rc = 0x100A4004"
>> >>>>
>> >>>> Using the 'go XXX' command let u-boot simply load that address into
>> the
>> >>>> ip register. As you've loaded an uImage to the related address, the
>> >>>> machine executes the u-boot image header information, which of course
>> >>>> fails. Even if you load the ELF image by hand to the appropriated
>> memory
>> >>>> sections, it is not recommended to use the 'go' command, as u-boot
>> >>>> doesn't prepare the machine as expected. For instance, the kernel
>> gets
>> >>>> executed with the MMU enabled using u-boot's page-table setup etc.
>> >>>>
>> >>>>>
>> >>>>> What is the sequence of events, the programs that are sequentially
>> >>>> executed
>> >>>>> to say that the kernel is 'running'?
>> >>>>
>> >>>> In your case I assume:
>> >>>>
>> >>>>   tftp 0x10800000 <network path to uImage>
>> >>>>   bootm 0x10800000
>> >>>>
>> >>>> One further problem might be that u-boot's own memory sections
>> (binary
>> >>>> data, exception vector) clashes with the scenario ones.
>> Unfortunately,
>> >>>> mostly u-boot doesn't warn you if it fails to load the whole image
>> due
>> >>>> to memory clashes. Therefore, it would be good, if it's possible to
>> you,
>> >>>> to analyze the memory layout of the u-boot binary used on your
>> platform,
>> >>>> e.g.: "readelf -S <u-boot binary>"
>> >>>>
>> >>>> If there's a clash you can change the "LD_TEXT_ADDR" variable in
>> >>>> "base-hw/mk/spec-hw_imx6.mk" to another non-clashing address.
>> >>>>
>> >>>> Regards
>> >>>> Stefan
>> >>>>
>> >>>>>
>> >>>>> Thanks in advance
>> >>>>> Aditya Kousik
>> >>>>>
>> >>>>>
>> >>>>> On Thu, Jan 2, 2014 at 4:33 PM, Stefan Kalkowski <
>> >>>>> stefan.kalkowski at ...1...> wrote:
>> >>>>>
>> >>>>>> Hi,
>> >>>>>>
>> >>>>>> On 01/02/2014 08:52 AM, Aditya Kousik wrote:
>> >>>>>>> Hello all,
>> >>>>>>>
>> >>>>>>> We've tried to run a basic test-printf script on a Freescale i.MX6
>> >>>>>>> sabrelite board. Based on
>> >>>>>>> this<http://sourceforge.net/p/genode/mailman/message/31760885/>,
>> >>>>>>> we implemented the necessary files. We had also come across an
>> i.MX6
>> >>>>>> branch
>> >>>>>>> by Nikolay Golikov stating that he had a preliminary port of i.MX6
>> >>>> here:
>> >>>>>>> https://github.com/decaprox/genode/tree/i.mx6
>> >>>>>>>
>> >>>>>>> We ran RUN_OPT="--target=uboot" make run/printf to see if it does
>> >> print
>> >>>>>> "-1
>> >>>>>>> = -1 = -1" to the serial console (tested with gtkterm).
>> >>>>>>>
>> >>>>>>> We ran the boot image uImage through TFTP at load address
>> 0x10800000.
>> >>>> It
>> >>>>>>> loads the kernel (267.9 kB) but stops at "Loading kernel".
>> >>>>>>
>> >>>>>> Assuming, your resulting kernel image is linked to 0x10001000, and
>> >> ends
>> >>>>>> at about 0x102cbc55, like the result I got when compiling Nikolay's
>> >>>>>> branch, your load address for the u-boot uImage sounds reasonable.
>> >>>>>> Unfortunately, I can't reproduce your experiments, because I don't
>> >> have
>> >>>>>> such a board available. The first thing that comes to my mind is,
>> that
>> >>>>>> Nikolay used another board containing the i.MX6 SoC than you with
>> >>>>>> another memory layout of the related peripherals.
>> >>>>>>
>> >>>>>>>
>> >>>>>>> How do we know if the kernel is indeed running, or are we checking
>> >> the
>> >>>>>>> right UART ports? (we checked UART1)
>> >>>>>>
>> >>>>>> First at all, you should add a printf command like:
>> >>>>>>
>> >>>>>>   PDBG("kernel started!")"
>> >>>>>>
>> >>>>>> at the very beginning of the kernel's execution. In Nikolay's
>> branch I
>> >>>>>> would add it here:
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>
>> >>
>> https://github.com/decaprox/genode/blob/i.mx6/base-hw/src/core/kernel.cc#L1366
>> >>>>>>
>> >>>>>> If that message isn't printed, very likely your UART definitions
>> >> aren't
>> >>>>>> correct.
>> >>>>>>
>> >>>>>>>
>> >>>>>>> I gave "console=ttymxc0, 115200" as bootargs in u-boot. Any
>> >> suggestions
>> >>>>>> on
>> >>>>>>> how to proceed? Because we are literally stuck.
>> >>>>>>
>> >>>>>> Forget about "bootargs" in u-boot. They are specific to booting the
>> >>>>>> Linux kernel. U-boot puts them into the Linux/ARM specific ATAG
>> >>>>>> structure. In Genode that structure isn't used. It's hard coded in
>> the
>> >>>>>> kernel, which UART is used for kernel/core debug messages. In
>> >> Nikolay's
>> >>>>>> branch, he uses the UART with memory mapped I/O located at
>> 0x02020000,
>> >>>>>> and with the following UART definition:
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>
>> >>
>> https://github.com/decaprox/genode/blob/i.mx6/base/include/drivers/uart/imx31_uart_base.h
>> >>>>>>
>> >>>>>> Please check whether this corresponds with your board's
>> definitions.
>> >>>>>>
>> >>>>>>>
>> >>>>>>> Also, is there a good debugging tool for testing the genode
>> >> environment
>> >>>>>> on
>> >>>>>>> direct hardware?
>> >>>>>>
>> >>>>>> Well, there is JTAG of course, which isn't related to Genode
>> >>>>>> specifically. There are other debugging utils available on Genode,
>> >> like
>> >>>>>> GDB, but that wouldn't help on that low level you're currently
>> working
>> >>>> at.
>> >>>>>>
>> >>>>>> Regards
>> >>>>>> Stefan
>> >>>>>>
>> >>>>>>>
>> >>>>>>> Thanks in advance
>> >>>>>>> Aditya Kousik
>> >>>>>>>
>> >>>>>>>
>> >>>>>>>
>> >>>>>>>
>> >>>>>>
>> >>>>
>> >>
>> ------------------------------------------------------------------------------
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>> >>>>>>>
>> >>>>>>>
>> >>>>>>> _______________________________________________
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>> >>>>>>>
>> >>>>>>
>> >>>>>> --
>> >>>>>> Stefan Kalkowski
>> >>>>>> Genode Labs
>> >>>>>>
>> >>>>>> http://www.genode-labs.com/ · http://genode.org/
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>
>> >>
>> ------------------------------------------------------------------------------
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>> >> IT
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>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>
>> >>
>> ------------------------------------------------------------------------------
>> >>>>> Rapidly troubleshoot problems before they affect your business.
>> Most IT
>> >>>>> organizations don't have a clear picture of how application
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>> >>>>> affects their revenue. With AppDynamics, you get 100% visibility
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>> >>>>>
>> >>>>>
>> >>>>> _______________________________________________
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>> >>>>> https://lists.sourceforge.net/lists/listinfo/genode-main
>> >>>>>
>> >>>>
>> >>>> --
>> >>>> Stefan Kalkowski
>> >>>> Genode Labs
>> >>>>
>> >>>> http://www.genode-labs.com/ · http://genode.org/
>> >>>>
>> >>>>
>> >>>>
>> >>
>> ------------------------------------------------------------------------------
>> >>>> Rapidly troubleshoot problems before they affect your business. Most
>> IT
>> >>>> organizations don't have a clear picture of how application
>> performance
>> >>>> affects their revenue. With AppDynamics, you get 100% visibility into
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>> >>>> Java,.NET, & PHP application. Start your 15-day FREE TRIAL of
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>> >>>
>> >>>
>> >>>
>> >>>
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>> >>
>> >> --
>> >> Stefan Kalkowski
>> >> Genode Labs
>> >>
>> >> http://www.genode-labs.com/ · http://genode.org/
>> >>
>> >>
>> >>
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>> --
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>> Genode Labs
>>
>> http://www.genode-labs.com/ · http://genode.org/
>>
>>
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