Software by Markus Dornhofer

Xenomai on AT91RM9200-DK (from the scratch)

Indroduction

This page should provide all the commands and configuration files, what are needed to get linux running on the Atmel Development kit AT91RM9200-DK. You will find a lot of information for this board on the internet. It is not a goal of this page to give you an inside course of all the tools which are needed to run linux on this board. It should just give you an overview of all the required steps and help you to save a lot of time. The operating system on the host computer was a plain Ubuntu 8.10 (Intrepid Ibex).
This is a project work for the system programming course at the FH JOANNEUM Kapfenberg (Austria). Special thanks to my professor Gernot Kvas.
The following packets had to be installed:

sudo apt-get install bison flex gettext ncurses-dev
sudo apt-get install build-essential gcc zlib1-dev patch

following steps were done/required:

important: supply enough voltage to the DK (approx. 12V)
load new u-boot in RAM an start it

connect the Wiggler to the JTAG Port
start openOCD
telnet connection to openOCD
gdb connection to openOCD

flash u-boot

connect a serial cable to the debug port
setup the serial port
transfer u-boot over the serial line
load u-boot from a tftp-server
transfer u-boot from the RAM to the flash

build the kernel

configuration of the new kernel

included files:

a lot of config files
some important files

OpenOCD - On Chip Debugger 1.0 (2009-02-28 0843) svn: 1383

The OCD makes it possible to access the JTAG/ICE Interface. If you want to use the Wiggler (old low-cost parallel port jtag debugger), it is important to use some configuration arguments. See below:

./configure --enable-parport --enable-parport_ppdev
make
sudo make install

After the installation are some default config-files in:

/usr/local/lib/openocd/board/*
/usr/local/lib/openocd/target/*
/usr/local/lib/openocd/interface/*

board/at91rm9200-dk.cfg (not changed)
This file includes the size and the positon of the flash and the initialization of the RAM.

#
# This is for the "at91rm9200-DK" (not the EK) eval board.
#
# The two are probably very simular.... I have DK...
#
# It has atmel at91rm9200 chip.
source [find target/at91rm9200.cfg]
$_TARGETNAME configure -event gdb-attach { reset init }
$_TARGETNAME configure -event reset-init { at91rm9200_dk_init }

#flash bank <driver> <base> <size> <chip_width> <bus_width> 
flash_bank cfi 0x10000000 0x00200000 2 2 0


proc at91rm9200_dk_init { } {
    # Try to run at 1khz... Yea, that slow!
    # Chip is really running @ 32khz
    jtag_khz 8
    
    mww 0xfffffc64 0xffffffff
    ##  disable all clocks but system clock
    mww 0xfffffc04 0xfffffffe
    ##  disable all clocks to pioa and piob
    mww 0xfffffc14 0xffffffc3
    ##  master clock = slow cpu = slow
    ##  (means the CPU is running at 32khz!)
    mww 0xfffffc30 0
    ##  main osc enable
    mww 0xfffffc20 0x0000ff01
    ##  program pllA
    mww 0xfffffc28 0x20263e04
    ##  program pllB
    mww 0xfffffc2c 0x10483e0e
    ##  let pll settle... sleep 100msec
    sleep 100
    ##  switch to fast clock
    mww 0xfffffc30 0x202
    ## Sleep some - (go read)
    sleep 100
    
    #========================================
    # CPU now runs at 180mhz
    # SYS runs at 60mhz.
    jtag_khz 40000
    #========================================
    
    
    ##  set memc for all memories
    mww 0xffffff60 0x02
    ##  program smc controller
    mww 0xffffff70 0x3284
    ##  init sdram
    mww 0xffffff98 0x7fffffd0
    ##  all banks precharge
    mww 0xffffff80 0x02
    ##  touch sdram chip to make it work
    mww 0x20000000 0
    ##  sdram controller mode register 
    mww 0xffffff90 0x04
    mww 0x20000000 0
    mww 0x20000000 0
    mww 0x20000000 0
    mww 0x20000000 0
    mww 0x20000000 0
    mww 0x20000000 0
    mww 0x20000000 0
    mww 0x20000000 0
    ##  sdram controller mode register
    ##  Refresh, etc....
    mww 0xffffff90 0x03
    mww 0x20000080 0
    mww 0xffffff94 0x1f4
    mww 0x20000080 0
    mww 0xffffff90 0x10
    mww 0x20000000 0
    mww 0xffffff00 0x01

}

target/at91rm9200.cfg (not changed) used by at91rm9200-dk

reset_config trst_and_srst

if { [info exists CHIPNAME] } {	
   set  _CHIPNAME $CHIPNAME    
} else {	 
   set  _CHIPNAME at91rm9200
}

if { [info exists ENDIAN] } {	
   set  _ENDIAN $ENDIAN    
} else {	 
   set  _ENDIAN little
}

if { [info exists CPUTAPID ] } {
   set _CPUTAPID $CPUTAPID
} else {
   set _CPUTAPID 0x05b0203f
}

# Never allow the following!
if { $_CPUTAPID == 0x15b0203f } {
   puts "-------------------------------------------------------"
   puts "- ERROR:                                              -"
   puts "- ERROR: TapID 0x15b0203f is wrong for at91rm9200      -"
   puts "- ERROR: The chip/board has a JTAG select pin/jumper  -"
   puts "- ERROR:                                              -"
   puts "- ERROR: In one position (0x05b0203f) it selects the   -"
   puts "- ERROR: ARM CPU, in the other position (0x1b0203f)   -"
   puts "- ERROR: it selects boundry-scan not the ARM          -"
   puts "- ERROR:                                              -"
   puts "-------------------------------------------------------"
}

jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID


# Create the GDB Target.
set _TARGETNAME [format "%s.cpu" $_CHIPNAME]
target create $_TARGETNAME arm920t -endian $_ENDIAN -chain-position $_TARGETNAME 
# AT91RM9200 has a 16K block of sram @ 0x0020.0000
$_TARGETNAME configure -work-area-virt 0x00200000 -work-area-phys 0x00200000 -work-area-size 0x4000 -work-area-backup 1

# This chip has a DCC ... use it
arm7_9 dcc_downloads enable

interface/parport.cfg (changed)
Here are all interfaces specified.
changed: parport_port /dev/parport0

telnet_port 4444
gdb_port 2001

interface parport
parport_port /dev/parport0
parport_cable wiggler
jtag_speed 0

Set JTAG Jumper to ICE. And run the command:

sudo openocd -f parport.cfg -f board/at91rm9200-dk.cfg -c "init" -c "reset"

It should display, that your target was found.

Telnet :OpenOCD

To test the connection to the board, we can run som programms. But all futher steps were done with the more powerful gdb.

telnet localhost 4444
>help
>poll
> scan_chain
TapName | Enabled | IdCode Expected IrLen IrCap IrMask Instr
---|--------------------|---------|------------|------------|------|------|------|---------
0 | at91rm9200.cpu | Y | 0x05b0203f | 0x05b0203f | 0x04 | 0x01 | 0x0f | 0x0c
>version
Open On-Chip Debugger 1.0 (2009-02-28-08:43) svn:1383

Install toolchain for ARM

We need some ARM compiler to build u-boot for the board. I decided to use the buildroot environment, because later we will need to build a kernel and a root file system too.
I provided two binary version of u-boot (with low level init/without low level init) so you can to this step later. But soon or later you will need it...
U-Boot without low level initialization (RAM) Version 3.2009
U-Boot with low level initialization (FLASH) Version 3.2009
Yeah. There are two different versions of u-boot. Later you hear more about...

ARM Compiler, ARM Debugger

If you download the buildroot enviroment there are a lot of options which can be selected. To build the compiler Compiler and Debugger for the host system (ARM), they must be selected.
Target Architecture -> arm
Target Architecture Variant -> arm920t
Toolchain -> Build gdb for the Host

~/buildroot:>make menuconfig
~/buildroot:>make all

after a succesful build the compiler can be found at: ~/buildroot/build_arm/staging_dir/usr/bin
all <arm-linux->files must be linked in your executable path (i.e. /usr/bin)

Compile u-boot

with low level init

The u-boot could be compiled without any changes.

without low level init

If you compile u-boot for the RAM, you have to skip the low level initialisation. Otherwise your RAM will be initializied twice.
Therefore a definition must be added to the ~/u-boot/include/configs/at91rm9200dk.h
add #define CONFIG_SKIP_LOWLEVEL_INIT -> to skip the init of the RAM

/*
 * Rick Bronson <rick@efn.org>
 *
 * Configuration settings for the AT91RM9200DK board.
 *
 * See file CREDITS for list of people who contributed to this
 * project.
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as
 * published by the Free Software Foundation; either version 2 of
 * the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston,
 * MA 02111-1307 USA
 */

#ifndef __CONFIG_H
#define __CONFIG_H

/* ARM asynchronous clock */
#define AT91C_MAIN_CLOCK	179712000	/* from 18.432 MHz crystal (18432000 / 4 * 39) */
#define AT91C_MASTER_CLOCK	59904000	/* peripheral clock (AT91C_MASTER_CLOCK / 3) */
/* #define AT91C_MASTER_CLOCK	44928000 */	/* peripheral clock (AT91C_MASTER_CLOCK / 4) */

#define AT91_SLOW_CLOCK		32768	/* slow clock */

#define CONFIG_ARM920T		1	/* This is an ARM920T Core	*/
#define CONFIG_AT91RM9200	1	/* It's an Atmel AT91RM9200 SoC	*/
#define CONFIG_AT91RM9200DK	1	/* on an AT91RM9200DK Board	*/
#undef  CONFIG_USE_IRQ			/* we don't need IRQ/FIQ stuff	*/
#define USE_920T_MMU		1

#define CONFIG_CMDLINE_TAG	1	/* enable passing of ATAGs	*/
#define CONFIG_SETUP_MEMORY_TAGS 1
#define CONFIG_INITRD_TAG	1

#define CONFIG_SKIP_LOWLEVEL_INIT 

#ifndef CONFIG_SKIP_LOWLEVEL_INIT
#define CONFIG_SYS_USE_MAIN_OSCILLATOR		1
/* flash */
#define CONFIG_SYS_MC_PUIA_VAL	0x00000000
#define CONFIG_SYS_MC_PUP_VAL	0x00000000
#define CONFIG_SYS_MC_PUER_VAL	0x00000000
#define CONFIG_SYS_MC_ASR_VAL	0x00000000
#define CONFIG_SYS_MC_AASR_VAL	0x00000000
#define CONFIG_SYS_EBI_CFGR_VAL	0x00000000
#define CONFIG_SYS_SMC_CSR0_VAL	0x00003284 /* 16bit, 2 TDF, 4 WS */

/* clocks */
#define CONFIG_SYS_PLLAR_VAL	0x20263E04 /* 179.712000 MHz for PCK */
#define CONFIG_SYS_PLLBR_VAL	0x10483E0E /* 48.054857 MHz (divider by 2 for USB) */
#define CONFIG_SYS_MCKR_VAL	0x00000202 /* PCK/3 = MCK Master Clock = 59.904000MHz from PLLA */

/* sdram */
#define CONFIG_SYS_PIOC_ASR_VAL	0xFFFF0000 /* Configure PIOC as peripheral (D16/D31) */
#define CONFIG_SYS_PIOC_BSR_VAL	0x00000000
#define CONFIG_SYS_PIOC_PDR_VAL	0xFFFF0000
#define CONFIG_SYS_EBI_CSA_VAL	0x00000002 /* CS1=CONFIG_SYS_SDRAM */
#define CONFIG_SYS_SDRC_CR_VAL	0x2188c155 /* set up the CONFIG_SYS_SDRAM */
#define CONFIG_SYS_SDRAM	0x20000000 /* address of the CONFIG_SYS_SDRAM */
#define CONFIG_SYS_SDRAM1	0x20000080 /* address of the CONFIG_SYS_SDRAM */
#define CONFIG_SYS_SDRAM_VAL	0x00000000 /* value written to CONFIG_SYS_SDRAM */
#define CONFIG_SYS_SDRC_MR_VAL	0x00000002 /* Precharge All */
#define CONFIG_SYS_SDRC_MR_VAL1	0x00000004 /* refresh */
#define CONFIG_SYS_SDRC_MR_VAL2	0x00000003 /* Load Mode Register */
#define CONFIG_SYS_SDRC_MR_VAL3	0x00000000 /* Normal Mode */
#define CONFIG_SYS_SDRC_TR_VAL	0x000002E0 /* Write refresh rate */
#else
#define CONFIG_SKIP_RELOCATE_UBOOT
#endif	/* CONFIG_SKIP_LOWLEVEL_INIT */
/*
 * Size of malloc() pool
 */
#define CONFIG_SYS_MALLOC_LEN	(CONFIG_ENV_SIZE + 128*1024)
#define CONFIG_SYS_GBL_DATA_SIZE	128	/* size in bytes reserved for initial data */

#define CONFIG_BAUDRATE 115200

/*
 * Hardware drivers
 */

/* define one of these to choose the DBGU, USART0  or USART1 as console */
#define CONFIG_DBGU
#undef CONFIG_USART0
#undef CONFIG_USART1

#undef	CONFIG_HWFLOW			/* don't include RTS/CTS flow control support	*/

#undef	CONFIG_MODEM_SUPPORT		/* disable modem initialization stuff */

#define CONFIG_BOOTDELAY      3
/* #define CONFIG_ENV_OVERWRITE	1 */


/*
 * BOOTP options
 */
#define CONFIG_BOOTP_BOOTFILESIZE
#define CONFIG_BOOTP_BOOTPATH
#define CONFIG_BOOTP_GATEWAY
#define CONFIG_BOOTP_HOSTNAME


/*
 * Command line configuration.
 */
#include <config_cmd_default.h>

#define CONFIG_CMD_DHCP
#define CONFIG_CMD_MII
#define CONFIG_CMD_NAND
#define CONFIG_CMD_NET
#define CONFIG_CMD_PING

#define CONFIG_NAND_LEGACY

#define CONFIG_SYS_MAX_NAND_DEVICE	1	/* Max number of NAND devices		*/
#define SECTORSIZE 512

#define ADDR_COLUMN 1
#define ADDR_PAGE 2
#define ADDR_COLUMN_PAGE 3

#define NAND_ChipID_UNKNOWN	0x00
#define NAND_MAX_FLOORS 1

#define AT91_SMART_MEDIA_ALE (1 << 22)	/* our ALE is AD22 */
#define AT91_SMART_MEDIA_CLE (1 << 21)	/* our CLE is AD21 */

#include <asm/arch/AT91RM9200.h>	/* needed for port definitions */
#define NAND_DISABLE_CE(nand) do { *AT91C_PIOC_SODR = AT91C_PIO_PC0;} while(0)
#define NAND_ENABLE_CE(nand) do { *AT91C_PIOC_CODR = AT91C_PIO_PC0;} while(0)

#define NAND_WAIT_READY(nand) while (!(*AT91C_PIOC_PDSR & AT91C_PIO_PC2))

#define WRITE_NAND_COMMAND(d, adr) do{ *(volatile __u8 *)((unsigned long)adr | AT91_SMART_MEDIA_CLE) = (__u8)(d); } while(0)
#define WRITE_NAND_ADDRESS(d, adr) do{ *(volatile __u8 *)((unsigned long)adr | AT91_SMART_MEDIA_ALE) = (__u8)(d); } while(0)
#define WRITE_NAND(d, adr) do{ *(volatile __u8 *)((unsigned long)adr) = (__u8)d; } while(0)
#define READ_NAND(adr) ((volatile unsigned char)(*(volatile __u8 *)(unsigned long)adr))
/* the following are NOP's in our implementation */
#define NAND_CTL_CLRALE(nandptr)
#define NAND_CTL_SETALE(nandptr)
#define NAND_CTL_CLRCLE(nandptr)
#define NAND_CTL_SETCLE(nandptr)

#define CONFIG_NR_DRAM_BANKS 1
#define PHYS_SDRAM 0x20000000
#define PHYS_SDRAM_SIZE 0x2000000  /* 32 megs */

#define CONFIG_SYS_MEMTEST_START		PHYS_SDRAM
#define CONFIG_SYS_MEMTEST_END			CONFIG_SYS_MEMTEST_START + PHYS_SDRAM_SIZE - 262144

#define CONFIG_DRIVER_ETHER
#define CONFIG_NET_RETRY_COUNT		20
#define CONFIG_AT91C_USE_RMII

/* AC Characteristics */
/* DLYBS = tCSS = 250ns min and DLYBCT = tCSH = 250ns */
#define DATAFLASH_TCSS	(0xC << 16)
#define DATAFLASH_TCHS	(0x1 << 24)

#define CONFIG_HAS_DATAFLASH		1
#define CONFIG_SYS_SPI_WRITE_TOUT		(5*CONFIG_SYS_HZ)
#define CONFIG_SYS_MAX_DATAFLASH_BANKS		2
#define CONFIG_SYS_MAX_DATAFLASH_PAGES		16384
#define CONFIG_SYS_DATAFLASH_LOGIC_ADDR_CS0	0xC0000000	/* Logical adress for CS0 */
#define CONFIG_SYS_DATAFLASH_LOGIC_ADDR_CS3	0xD0000000	/* Logical adress for CS3 */

#define PHYS_FLASH_1			0x10000000
#define PHYS_FLASH_SIZE			0x200000  /* 2 megs main flash */
#define CONFIG_SYS_FLASH_BASE			PHYS_FLASH_1
#define CONFIG_SYS_MAX_FLASH_BANKS		1
#define CONFIG_SYS_MAX_FLASH_SECT		256
#define CONFIG_SYS_FLASH_ERASE_TOUT		(2*CONFIG_SYS_HZ) /* Timeout for Flash Erase */
#define CONFIG_SYS_FLASH_WRITE_TOUT		(2*CONFIG_SYS_HZ) /* Timeout for Flash Write */

#undef	CONFIG_ENV_IS_IN_DATAFLASH

#ifdef CONFIG_ENV_IS_IN_DATAFLASH
#define CONFIG_ENV_OFFSET			0x20000
#define CONFIG_ENV_ADDR			(CONFIG_SYS_DATAFLASH_LOGIC_ADDR_CS0 + CONFIG_ENV_OFFSET)
#define CONFIG_ENV_SIZE			0x2000  /* 0x8000 */
#else
#define CONFIG_ENV_IS_IN_FLASH		1
#ifdef CONFIG_SKIP_LOWLEVEL_INIT
#define CONFIG_ENV_ADDR			(PHYS_FLASH_1 + 0xe000)  /* between boot.bin and u-boot.bin.gz */
#define CONFIG_ENV_SIZE			0x2000  /* 0x8000 */
#else
#define CONFIG_ENV_ADDR			(PHYS_FLASH_1 + 0x60000)  /* after u-boot.bin */
#define CONFIG_ENV_SIZE			0x10000 /* sectors are 64K here */
#endif	/* CONFIG_SKIP_LOWLEVEL_INIT */
#endif	/* CONFIG_ENV_IS_IN_DATAFLASH */


#define CONFIG_SYS_LOAD_ADDR		0x21000000  /* default load address */

#ifdef CONFIG_SKIP_LOWLEVEL_INIT
#define CONFIG_SYS_BOOT_SIZE		0x6000 /* 24 KBytes */
#define CONFIG_SYS_U_BOOT_BASE		(PHYS_FLASH_1 + 0x10000)
#define CONFIG_SYS_U_BOOT_SIZE		0x10000 /* 64 KBytes */
#else
#define CONFIG_SYS_BOOT_SIZE		0x00 /* 0 KBytes */
#define CONFIG_SYS_U_BOOT_BASE		PHYS_FLASH_1
#define CONFIG_SYS_U_BOOT_SIZE		0x60000 /* 384 KBytes */
#endif	/* CONFIG_SKIP_LOWLEVEL_INIT */

#define CONFIG_SYS_BAUDRATE_TABLE	{ 115200, 19200, 38400, 57600, 9600 }

#define CONFIG_SYS_PROMPT		"U-Boot> "	/* Monitor Command Prompt */
#define CONFIG_SYS_CBSIZE		256		/* Console I/O Buffer Size */
#define CONFIG_SYS_MAXARGS		16		/* max number of command args */
#define CONFIG_SYS_PBSIZE		(CONFIG_SYS_CBSIZE+sizeof(CONFIG_SYS_PROMPT)+16) /* Print Buffer Size */

#define CONFIG_SYS_HZ 1000
#define CONFIG_SYS_HZ_CLOCK AT91C_MASTER_CLOCK/2	/* AT91C_TC0_CMR is implicitly set to */
						/* AT91C_TC_TIMER_DIV1_CLOCK */

#define CONFIG_STACKSIZE	(32*1024)	/* regular stack */

#ifdef CONFIG_USE_IRQ
#error CONFIG_USE_IRQ not supported
#endif

#endif

Now the u-boot for the RAM is ready to complile

make at91rm9200dk_config
make

GDB :OpenOCD

Now the u-boot is ready to be loaded into RAM. I made a init File to setup the RAM from the GDB. I just insert the first line <target remote localhost:2001> and add <monitor> in front of every command from the openOCD board/at91rm9200-dk.cfg file.

target remote localhost:2001

 # Try to run at 1khz... Yea, that slow!
 # Chip is really running @ 32khz
  monitor jtag_khz 8
    
  monitor  mww 0xfffffc64 0xffffffff
    ##  disable all clocks but system clock
 monitor   mww 0xfffffc04 0xfffffffe
    ##  disable all clocks to pioa and piob
  monitor  mww 0xfffffc14 0xffffffc3
    ##  master clock = slow cpu = slow
    ##  (means the CPU is running at 32khz!)
  monitor  mww 0xfffffc30 0
    ##  main osc enable
 monitor   mww 0xfffffc20 0x0000ff01
    ##  program pllA
 monitor   mww 0xfffffc28 0x20263e04
    ##  program pllB
  monitor  mww 0xfffffc2c 0x10483e0e
    ##  let pll settle... sleep 100msec
  monitor  sleep 100
    ##  switch to fast clock
  monitor  mww 0xfffffc30 0x202
    ## Sleep some - (go read)
 monitor   sleep 100
    
    #========================================
    # CPU now runs at 180mhz
    # SYS runs at 60mhz.
 monitor   jtag_khz 40000
    #========================================
    
    
    ##  set memc for all memories
  monitor  mww 0xffffff60 0x02
    ##  program smc controller
  monitor  mww 0xffffff70 0x3284
    ##  init sdram
  monitor  mww 0xffffff98 0x7fffffd0
    ##  all banks precharge
  monitor  mww 0xffffff80 0x02
    ##  touch sdram chip to make it work
  monitor  mww 0x20000000 0
    ##  sdram controller mode register 
  monitor  mww 0xffffff90 0x04
  monitor  mww 0x20000000 0
 monitor   mww 0x20000000 0
  monitor  mww 0x20000000 0
  monitor  mww 0x20000000 0
 monitor   mww 0x20000000 0
  monitor  mww 0x20000000 0
  monitor  mww 0x20000000 0
  monitor  mww 0x20000000 0
    ##  sdram controller mode register
    ##  Refresh, etc....
  monitor  mww 0xffffff90 0x03
  monitor  mww 0x20000080 0
  monitor  mww 0xffffff94 0x1f4
  monitor  mww 0x20000080 0
  monitor  mww 0xffffff90 0x10
  monitor  mww 0x20000000 0
  monitor  mww 0xffffff00 0x01

Here the gdb could be started. The file and the init command are provided at the beginning.

sudo arm-linux-gdb --command init.cmd ../u-boot/skip_lowlevel_init/u-boot
gdb:load
gdb:c

Now we loaded the u-boot (skip low level init) file to the target. The file has been transmitted over JTAG. With the countinue command the programm is executed.
Files could also be loaded from GDB directly.

gdb:file ../u-boot2009/skip_low_level_init/u-boot
gdb:load
gdb:c

Connect to the serial port

There are a lot of programms which handles the access to the serial port. I used kermit and minicom. For some reason the u-boot transfer does not work with minicom. So I used kermit.
My kermit configuration file <~/.mykermrc> in the local directory.

set line /dev/ttyS0
set speed 115200
set carrier-watch off
set handshake none
set flow-control none
robust
set file type bin
set file name lit
set rec pack 1000
set send pack 1000
set window 5

Now the kermit programm could be started. Our u-boot.bin (with low level init) files is in our executing directory. And we load the file over the serial port to the RAM on position 0x21000000.

kermit -c
u-boot:>loadb 0x21000000
(ctrl+\) + C
kermit:>send u-boot.bin
kermit:>connect

The transferation over the serial port takes about a minute. But it is nice to see some old fashion protocol running. the size of the transfered file is printed out and written to the variable {filesize}.

Programm the Flash

The program is ready to be transfered in the FLASH. But there are some steps before.

With the <fli> command, you get some information of the flash.
Switch off the protection
Erase the needed space
Copy the programm to the flash
Switch on the protection

echo {filesize}
protect off bank 1
erase 0x100000000 0x10003FFF
cp.b 0x21000000 0x10000000 {filesize}
protect on bank 1

So after the reset. The board should boot from the flash.

Load the u-boot file from an tftp server

it is more comfortable and faster to load the file from an tftp server. I will not go into detail to setup a tftp server on your PC. There is a lot of descriptions on the internet.
I just show, how the board have to be configured. Please adjust the values for your own network.

setenv ethaddr 13:14:15:16:17:18
setenv ipaddr 172.16.1.213
setenv serverip 172.16.1.13
saveenv
tftp 0x21000000 u-boot.bin

So the program is in the RAM again. To flash it, see the steps above.

Build a new Kernel

make menuconfig ARCH=arm
make ARCH=arm uImage CROSS_COMPILE=arm-linux- -j4

Run the Kernel

Kernel uImage for the at91rm9200dk Version 2.6.29. Kernel Config-File Kernel .config File

cp ~/linux-2.6.29/arch/arm/boot/uImage /srv/tftp/uImage-at91
u-boot:>tftp 0x21000000 uImage-at91
u-boot:>iminfo 0x21000000
u-boot:>bootm

Root File System

The kernel starts up and sends log messages to the console. Until he trys to find the root file systems and stops (Kernel Panic). I choose the buildroot enviroment to generate my rootfile system. It is a very fast way to generate the rootfilesystem and the cross compiler environment. The buildroot downloads all needed sources(i.e. busybox,gcc,binutils) and compiles a whole development environment. The supported output filesystems are ext2,jffs2,cramfs,initramfs(cpio) and some more.
Initramfs
Cramfs
Buildroot Config-File Buildroot .config File
Both filesystems are located in RAM and loose all the changes on reboot.
There is a utility to make the rootfs image readable for u-boot. The important task is to specify the load address of the initramfs where the root filesystem is extracted in.

sudo apt-get install uboot-mkimage
mkimage -A arm -O linux -T ramdisk -a 0x21000000 -e 0x21000000 -n "Test1" -d rootfs.arm.cpio uInit1
cp uInit1 /srv/tftp
u-boot:>tftp 0x20d00000 uImage-at91
u-boot:>tftp 0x20b00000 uInit1
u-boot:>bootm 0x20d00000 0x20b00000

Patch the kernel with xenomai

Now the kernel source files has to be combined with Xenomai. There is a script in the xenomai source with prepares the patch process. The adeos patch is also included in the xenomai sources tree. After a successful patch the kernel could be build again and hopefully it produces a new Xenomai Kernel. Kernel (patched with xenomai)
Kernel Config-File with Xenomai Kernel .config File

cd ~/xenomai/xenomai-2.4.92/scrips
./prepare-kernel.sh --linux=/home/dornho/xenomai/linux-2.6.29.6-2/ --adeos=../ksrc/arch/arm/patches/adeos-ipipe-2.6.29-arm-1.13-03.patch --arch=arm

cd ~/xenomai/linux-2.6.29.6
make ARCH=arm uImage CROSS_COMPILE=arm-linux- -j4
cp ~/xenomai/linux-2.6.29.6/arch/arm/boot/uImage /srv/tftp/uX1

----uboot -----
U-Boot 2009.03 (Mär 24 2009 - 09:27:49)                                        
                                                                                
DRAM:  32 MB                                                                    
Atmel: AT49BV1614A (16Mbit)                                                     
Flash:  2 MB                                                                    
NAND:    64 MB                                                                  
DataFlash:AT45DB642                                                             
Nb pages:   8192                                                                
Page Size:   1056                                                               
Size= 8650752 bytes                                                             
Logical address: 0xC0000000                                                     
Area 0: C0000000 to C00041FF (RO) Bootstrap                                     
Area 1: C0004200 to C00083FF      Environment                                   
Area 2: C0008400 to C0041FFF (RO) U-Boot                                        
Area 3: C0042000 to C0251FFF      Kernel                                        
Area 4: C0252000 to C083FFFF      FS                                            
In:    serial                                                                   
Out:   serial                                                                   
Err:   serial                                                                   
U-Boot> tftp 20d00000 uX1                                                       
TFTP from server 172.16.1.13; our IP address is 172.16.1.213                    
Filename 'uX1'.                                                                 
Load address: 0x20d00000                                                        
Loading: T #################################################################    
         #################################################################      
         #################################################################      
         #################################################################      
         #################################################################      
         #################################################################      
         #################################################################      
         #########################                                              
done                                                                            
Bytes transferred = 2455064 (257618 hex)                                        
U-Boot> tftp 20b00000 uInit1                                                    
TFTP from server 172.16.1.13; our IP address is 172.16.1.213                    
Filename 'uInit1'.                                                              
Load address: 0x20b00000                                                        
Loading: #################################################################      
         #################################################################      
         #################################################################      
         ##############################################################         
done                                                                            
Bytes transferred = 1314880 (141040 hex)                                        
U-Boot> boot 20d00000 20b00000                                                  
Usage:                                                                          
boot - boot default, i.e., run 'bootcmd'                                        
                                                                                
U-Boot> bootm 20d00000 20b00000                                                 
## Booting kernel from Legacy Image at 20d00000 ...                             
   Image Name:   Linux-2.6.29.6                                                 
   Image Type:   ARM Linux Kernel Image (uncompressed)                          
   Data Size:    2455000 Bytes =  2.3 MB                                        
   Load Address: 20008000                                                       
   Entry Point:  20008000                                                       
   Verifying Checksum ... OK                                                    
## Loading init Ramdisk from Legacy Image at 20b00000 ...                       
   Image Name:   Test1                                                          
   Image Type:   ARM Linux RAMDisk Image (gzip compressed)                      
   Data Size:    1314816 Bytes =  1.3 MB                                        
   Load Address: 21000000                                                       
   Entry Point:  21000000                                                       
   Verifying Checksum ... OK                                                    
   Loading Kernel Image ... OK                                                  
OK                                                                              
                                                                                
Starting kernel ...                                                             
                                                                                
Uncompressing Linux.............................................................
[    0.000000] Initializing cgroup subsys cpu                                   
[    0.000000] Linux version 2.6.29.6 (dornho@dornho-dev2) (gcc version 4.3.3 (9
[    0.000000] CPU: ARM920T [41129200] revision 0 (ARMv4T), cr=c0007177         
[    0.000000] CPU: VIVT data cache, VIVT instruction cache                     
[    0.000000] Machine: Atmel AT91RM9200-DK                                     
[    0.000000] Memory policy: ECC disabled, Data cache writeback                
[    0.000000] Clocks: CPU 179 MHz, master 59 MHz, main 18.432 MHz              
[    0.000000] Built 1 zonelists in Zone order, mobility grouping on.  Total pa8
[    0.000000] Kernel command line: console=ttyS0,115200 root=/dev/ram          
[    0.000000] AT91: 128 gpio irqs in 4 banks                                   
[    0.000000] PID hash table entries: 128 (order: 7, 512 bytes)                
[    0.000000] AT91 I-pipe timer: div: 32, freq: 1.872000 MHz, wrap: 35.008547 s
[33554132.000000] I-pipe 1.13-03: pipeline enabled.                             
[33554132.007812] Console: colour dummy device 80x30                            
[33554132.007812] console [ttyS0] enabled                                       
[33554132.015625] Dentry cache hash table entries: 4096 (order: 2, 16384 bytes) 
[33554132.023437] Inode-cache hash table entries: 2048 (order: 1, 8192 bytes)   
[33554132.031250] allocated 163840 bytes of page_cgroup                         
[33554132.039062] please try cgroup_disable=memory option if you don't want     
[33554132.054687] Memory: 32MB = 32MB total                                     
[33554132.054687] Memory: 25240KB available (4600K code, 1018K data, 136K init) 
[33554132.062500] SLUB: Genslabs=12, HWalign=32, Order=0-3, MinObjects=0, CPUs=1
[33554132.070312] Calibrating delay loop... 89.53 BogoMIPS (lpj=349184)         
[33554132.242187] Security Framework initialized                                
[33554132.242187] SELinux:  Disabled at boot.                                   
[33554132.250000] Mount-cache hash table entries: 512                           
[33554132.257812] Initializing cgroup subsys ns                                 
[33554132.265625] Initializing cgroup subsys cpuacct                            
[33554132.265625] Initializing cgroup subsys memory                             
[33554132.273437] CPU: Testing write buffer coherency: ok                       
[33554132.312500] net_namespace: 1012 bytes                                     
[33554132.320312] NET: Registered protocol family 16                            
[33554132.367187] AT91: Power Management                                        
[33554132.593750] bio: create slab  at 0                                 
[33554132.648437] NET: Registered protocol family 8                             
[33554132.656250] NET: Registered protocol family 20                            
[33554132.664062] NetLabel: Initializing                                        
[33554132.671875] NetLabel:  domain hash size = 128                             
[33554132.671875] NetLabel:  protocols = UNLABELED CIPSOv4                      
[33554132.679687] NetLabel:  unlabeled traffic allowed by default               
[33554132.726562] NET: Registered protocol family 2                             
[33554132.734375] IP route cache hash table entries: 1024 (order: 0, 4096 bytes)
[33554132.750000] TCP established hash table entries: 1024 (order: 1, 8192 byte)
[33554132.757812] TCP bind hash table entries: 1024 (order: 0, 4096 bytes)      
[33554132.765625] TCP: Hash tables configured (established 1024 bind 1024)      
[33554132.773437] TCP reno registered                                           
[33554132.773437] NET: Registered protocol family 1                             
[33554132.789062] checking if image is initramfs... it is                       
[33554133.335937] Freeing initrd memory: 1284K                                  
[33554133.343750] NetWinder Floating Point Emulator V0.97 (extended precision)  
[33554133.375000] audit: initializing netlink socket (disabled)                 
[33554133.382812] type=2000 audit(1.386:1): initialized                         
[33554133.460937] Xenomai: scheduling class idle registered.                    
[33554133.468750] Xenomai: scheduling class rt registered.                      
[33554133.476562] Xenomai: scheduling class pss registered.                     
[33554133.476562] Xenomai: scheduling class tp registered.                      
[33554133.484375] I-pipe: Domain Xenomai registered.                            
[33554133.492187] Xenomai: hal/arm started.                                     
[33554133.625000] Xenomai: real-time nucleus v2.5-rc3 (Flying In A Blue Dream) .
[33554133.632812] Xenomai: debug mode enabled.                                  
[33554133.671875] Xenomai: starting native API services.                        
[33554133.671875] Xenomai: starting POSIX services.                             
[33554133.679687] Xenomai: starting RTDM services.                              
[33554133.687500] Xenomai: registered exported object RN#0 (regions)            
[33554133.695312] Xenomai: starting pSOS+ services.                             
[33554133.703125] Xenomai: registered exported object heap0 (heaps)             
[33554133.710937] Xenomai: starting VRTX services.                              
[33554133.710937] Xenomai: starting VxWorks services.                           
[33554133.718750] Xenomai: starting uITRON services.                            
[33554133.726562] Xenomai: starting RTAI emulator.                              
[33554134.046875] VFS: Disk quotas dquot_6.5.2                                  
[33554134.054687] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)    
[33554134.117187] squashfs: version 4.0 (2009/01/31) Phillip Lougher            
[33554134.132812] JFFS2 version 2.2. (NAND) �© 2001-2006 Red Hat, Inc.          
[33554134.203125] GFS2 (built Oct  2 2009 14:41:57) installed                   
[33554134.210937] msgmni has been set to 51                                     
[33554134.226562] alg: No test for stdrng (krng)                                
[33554134.234375] io scheduler noop registered                                  
[33554134.242187] io scheduler anticipatory registered                          
[33554134.242187] io scheduler deadline registered                              
[33554134.257812] io scheduler cfq registered (default)                         
[33554138.234375] atmel_usart.0: ttyS0 at MMIO 0xfefff200 (irq = 1) is a ATMEL_L
[33554138.250000] atmel_usart.1: ttyS1 at MMIO 0xfffc4000 (irq = 7) is a ATMEL_L
[33554138.460937] brd: module loaded                                            
[33554138.476562] SSFDC read-only Flash Translation layer                       
[33554138.492187] mice: PS/2 mouse device common for all mice                   
[33554138.515625] cpuidle: using governor ladder                                
[33554138.523437] cpuidle: using governor menu                                  
[33554138.531250] sdhci: Secure Digital Host Controller Interface driver        
[33554138.539062] sdhci: Copyright(c) Pierre Ossman                             
[33554138.546875] at91_mci at91_mci: 4 wire bus mode not supported - using 1 wie
[33554138.578125] RT-Socket-CAN 0.90.2 - (C) 2006 RT-Socket-CAN Development Team
[33554138.585937] rtcan: registered rtcan0                                      
[33554138.593750] rtcan0: VIRT driver loaded                                    
[33554138.601562] rtcan: registered rtcan1                                      
[33554138.601562] rtcan1: VIRT driver loaded                                    
[33554138.625000] TCP cubic registered                                          
[33554138.648437] registered taskstats version 1                                
[33554138.656250] drivers/rtc/hctosys.c: unable to open rtc device (rtc0)       
[33554138.664062] Freeing init memory: 136K                                     
Initializing random number generator... done.                                   
Starting network...                                                             
ip: RTNETLINK answers: File exists                                              
                                                                                
                                                                                
                                                                                
Welcome to Buildroot                                                            
uclibc login: root                                                              
# ls                                                                            
# cd /usr/bin/                                                                  
# ls                                                                            
[            deallocvt    hexdump      mkfifo       sha1sum      unzip          
[[           diff         hostid       nohup        sort         uptime         
ar           dirname      id           nslookup     strings      uudecode       
arping       dos2unix     install      od           tail         uuencode       
awk          du           ipcrm        openvt       tee          vlock          
basename     dumpleases   ipcs         passwd       telnet       wc             
bunzip2      eject        killall      patch        test         wget           
bzcat        env          killall5     printf       tftp         which          
chrt         ether-wake   last         readlink     time         who            
chvt         expr         length       realpath     top          whoami         
cksum        fdformat     less         renice       tr           xargs          
clear        find         logger       reset        traceroute   yes            
cmp          fold         logname      resize       tty                         
crontab      free         lzmacat      seq          uniq                        
cut          fuser        md5sum       setkeycodes  unix2dos                    
dc           head         mesg         setsid       unlzma                      
# uptime                                                                        
 17:01:12 up 1 min, load average: 0.05, 0.02, 0.00                              
# test                                                                          
# ifconfig                                                                      
lo        Link encap:Local Loopback                                             
          inet addr:127.0.0.1  Mask:255.0.0.0                                   
          UP LOOPBACK RUNNING  MTU:16436  Metric:1                              
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0                    
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0                  
          collisions:0 txqueuelen:0                                             
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)                                
                                                                                
# free                                                                          
              total         used         free       shared      buffers         
  Mem:        26660         8520        18140            0            0         
 Swap:            0            0            0                                   
Total:        26660         8520        18140                                   
# du                                                                            
0       .                                                                       
# df                                                                            
Filesystem                Size      Used Available Use% Mounted on              
tmpfs                    13.0M         0     13.0M   0% /tmp                    
#                                                                               
# cat /proc/xenomai/sched                                                       
CPU  PID    CLASS  PRI      TIMEOUT   TIMEBASE   STAT       NAME                
  0  0      idle    -1      -         master     R          ROOT                
# cat /proc/xenomai/                                                            
/proc/xenomai/acct           /proc/xenomai/rtdm/                                
/proc/xenomai/apc            /proc/xenomai/sched                                
/proc/xenomai/faults         /proc/xenomai/schedclasses/                        
/proc/xenomai/hal            /proc/xenomai/stat                                 
/proc/xenomai/heap           /proc/xenomai/timebases                            
/proc/xenomai/interfaces/    /proc/xenomai/timer                                
/proc/xenomai/irq            /proc/xenomai/timerstat/                           
/proc/xenomai/latency        /proc/xenomai/version                              
/proc/xenomai/registry/                                                         
# cat /proc/xenomai/stat                                                        
CPU  PID    MSW        CSW        PF    STAT       %CPU  NAME                   
  0  0      0          0          0     00200080   91.9  ROOT                   
  0  0      0          696591     0     00000000    7.9  IRQ17: [timer]         
# cat /proc/xenomai/latency                                                     
9615                                                                            
#

What is next...

As you see in the output there is no network interface (eth0) present. Also the compact flash card is not available. But that is an other task...

soft.mado.at