U-Boot overview

Revision as of 18:37, 31 January 2019 by imported>Frq07632



1 Das U-Boot[edit]

Das U-Boot ("the Universal Boot Loader" or just U-Boot) is an open-source boot loader, which can be used on ST boards to initialize the platform and load the Linux® kernel.

 PC $> git clone git://git.denx.de/u-boot.git

Reading the README file is recommended. It covers the following topics:

  • the source file tree structure
  • the meaning of the CONFIG defines
  • instructions for building U-Boot
  • a brief description of the Hush shell
  • a list of common environment variables

2 U-Boot overview[edit]

Zoom out to STM32MPU Embedded Software

The same U-Boot source can generate 2 pieces of firmware used in the STM32 MPU boot chain: SPL and U-Boot

  • Trusted boot chain: U-Boot as SSBL
  • Basic boot chain: SPL as FSBL and U-Boot as SSBL

2.1 SPL: FSBL for basic boot[edit]

The U-Boot SPL or just SPL is the first stage boot loader (FSBL) for the basic boot chain.
It is a small binary (bootstrap utility), generated from the U-Boot source, which fits in the internal and limited embedded RAM:

  • It is loaded by the ROM code
  • it does the initial CPU and board configuration: clocks and DDR
  • it loads the SSBL (U-Boot) into DDR memory

2.2 U-Boot: SSBL[edit]

U-Boot is the default second stage boot loader (SSBL) for the STM32 MPU platforms for the 2 boot chains, trusted and basic:

  • it is configurable and expendable
  • it has a simple command line interface (CLI), usually over a serial console port for interaction with the user
  • it provides scripting capabilities
  • it loads the kernel into RAM and passes control to the kernel
  • it manages many internal and external devices like NAND, NOR, Ethernet, USB
  • it has many supported features and commands for
    • file systems: FAT, UBI/UBIFS, JFFS
    • IP stack: FTP
    • display: LCD, HDMI, BMP for splashcreen
    • USB: host profile (mass storage) or device profile (DFU stack)

2.3 SPL phases[edit]

The SPL runs through the main following phases in SYSRAM:

  • board_init_f(): init drivers up to DDR initialisation (mininimal stack and heap: CONFIG_SPL_STACK_R_MALLOC_SIMPLE_LEN)
  • configure heap in DDR (CONFIG_SPL_SYS_MALLOC_F_LEN)
  • board_init_r(): init other drivers activated in the SPL device tree
  • load U-Boot (or Kernel in Falcon mode[1]: README.falcon ) and execute it

2.4 U-Boot phases[edit]

U-Boot runs through the following main phases in DDR:

  • Pre-relocation initialization (common/board_f.c): minimal init (cpu, clock, reset, ddr, console,...) running at the load address CONFIG_SYS_TEXT_BASE
  • Relocation: copy the code to the end of DDR
  • Post-relocation initialization:(common/board_r.c): init all the drivers
  • Execution of commands: through autoboot (CONFIG_AUTOBOOT) or console shell
    • execute the boot command (bootcmd=CONFIG_BOOTCOMMAND by default):
      for example, execute the command 'bootm' to:
      • load and check images (kernel, device tree, ramdisk....)
      • fixup kernel device tree
      • install secure monitor (optional)
      • pass control to the Linux kernel (or other target application)

3 U-Boot configuration[edit]

The U-Boot binary configuration is based on

  • DeviceTree = U-Boot and SPL binaries include a device tree blob which is parsed at run time

All the configuration flags (CONFIG_) are described in the source code: the README file or documentation directory
example: CONFIG_SPL => activate the SPL compilation.
Hence to compile U-Boot, you need to select the <target> and the device tree for the board to select a predefined configuration.
See #U-Boot_build for examples.

3.1 Kbuild[edit]

The U-Boot build system is based on configuration symbols as the kernel (defined in Kconfig files), and selected values are stored in a .config file in the build directory, with the same makefile target.

  • select pre-defined configuration (defconfig file, in configs directory ) and generate the first .config
 PC $> make <config>_defconfig
  • change U-Boot compile configuration (modify .config) using one of the 5 make command
 PC $> make menuconfig --> menu based program
 PC $> make config  --> line-oriented configuration
 PC $> make xconfig --> QT program[2]
 PC $> make gconfig --> GTK program
 PC $> make nconfig --> ncurse menu based program

You can then compile U-Boot with the updated .config.

Warning: modification is only done locally in the build directory, it is lost after a "make distclean"

So if you want to use your configuration as defconfig:

  PC $> make savedefconfig

This target saves the current config as a defconfig file in the build directory, and can be compared with the predefined configuration (configs/stm32mp*defconfig).

The other makefile targets are :

 PC $> make help
 Configuration targets:
   config	  - Update current config utilising a line-oriented program
   nconfig         - Update current config utilising a ncurses menu based
   menuconfig	  - Update current config utilising a menu based program
   xconfig	  - Update current config utilising a Qt based front-end
   gconfig	  - Update current config utilising a GTK+ based front-end
   oldconfig	  - Update current config utilising a provided .config as base
   localmodconfig  - Update current config disabling modules not loaded
   localyesconfig  - Update current config converting local mods to core
   defconfig	  - New config with default from ARCH supplied defconfig
   savedefconfig   - Save current config as ./defconfig (minimal config)
   allnoconfig	  - New config where all options are answered with no
   allyesconfig	  - New config where all options are accepted with yes
   allmodconfig	  - New config selecting modules when possible
   alldefconfig    - New config with all symbols set to default
   randconfig	  - New config with random answer to all options
   listnewconfig   - List new options
   olddefconfig	  - Same as oldconfig but sets new symbols to their
                    default value without prompting

3.2 Device tree[edit]

See doc/README.fdt-control

The board device tree, with the same binding as the kernel, is integrated with the SPL and U-Boot binaries:

  • appended at the end of the code by default (CONFIG_OF_SEPARATE)
  • embedded in binary (CONFIG_OF_EMBED): useful for debug, allows easy elf file loading

A default device tree is defined in the defconfig file (with CONFIG_DEFAULT_DEVICE_TREE).

You can also select another supported device tree with the make flag DEVICE_TREE
for stm32mp32 boards the file are: arch/arm/dts/stm32mp*.dts

  PC $> make DEVICE_TREE=<dts-file-name>

or you can provide a precompiled device tree blob (with EXT_DTB option)

  PC $> make EXT_DTB=boot/<dts-file-name>.dtb

The SPL device tree is also generated from this device tree; but to reduce its size, the U-Boot makefile uses the fdtgrep tool to parse the full U-Boot DTB and identify all the drivers needed by SPL.

To do this, U-Boot uses some specific device-tree flags to specify if the associated driver is initialized prior to U-Boot relocation and/or if the associated node is present in SPL :

  • u-boot,dm-pre-reloc => present in SPL, initialized before relocation in U-Boot
  • u-boot,dm-spl => present in SPL

In the device tree used by U-Boot, these flags need to be added in each node used in SPL or in U-Boot before relocation but also for each used handle (clock, reset, pincontrol).

4 U-Boot command line interface (CLI)[edit]

see U-Boot Command Line Interface

If CONFIG_AUTOBOOT is activated, to enter in this console, you have CONFIG_BOOTDELAY seconds (2s by default) before bootcmd execution (CONFIG_BOOTCOMMAND) by pressing any key when the line below is displayed.

 Hit any key to stop autoboot:  2

4.1 Commands[edit]

The commands are defined cmd/*.c , they are activated under associated configuration flag CONFIG_CMD_*.

Use the command help in the U-Boot shell to list the available commands on your device.

List of commands extracted from U-Boot Manual (not-exhaustive):

  • Information Commands
    • bdinfo - print Board Info structure
    • coninfo - print console devices and informations
    • flinfo - print FLASH memory information
    • iminfo - print header information for application image
    • help - print online help
  • Memory Commands
    • base - print or set address offset
    • crc32 - checksum calculation
    • cmp - memory compare
    • cp - memory copy
    • md - memory display
    • mm - memory modify (auto-incrementing)
    • mtest - simple RAM test
    • mw - memory write (fill)
    • nm - memory modify (constant address)
    • loop - infinite loop on address range
  • Flash Memory Commands
    • cp - memory copy
    • flinfo - print FLASH memory information
    • erase - erase FLASH memory
    • protect - enable or disable FLASH write protection
    • mtdparts - define a Linux compatible MTD partition scheme
  • Execution Control Commands
    • source - run script from memory
    • bootm - boot application image from memory
    • go - start application at address 'addr'
  • Download Commands
    • bootp - boot image via network using BOOTP/TFTP protocol
    • dhcp - invoke DHCP client to obtain IP/boot params
    • loadb - load binary file over serial line (kermit mode)
    • loads - load S-Record file over serial line
    • rarpboot- boot image via network using RARP/TFTP protocol
    • tftpboot- boot image via network using TFTP protocol
  • Environment Variables Commands
    • printenv- print environment variables
    • saveenv - save environment variables to persistent storage
    • setenv - set environment variables
    • run - run commands in an environment variable
    • bootd - boot default, i.e., run 'bootcmd'
  • Flattened Device Tree support
    • fdt addr - select FDT to work on
    • fdt list - print one level
    • fdt print - recursive print
    • fdt mknode - create new nodes
    • fdt set - set node properties
    • fdt rm - remove nodes or properties
    • fdt move - move FDT blob to new address
    • fdt chosen - fixup dynamic info
  • Special Commands
    • i2c - I2C sub-system
  • Storage devices
  • Miscellaneous Commands
    • echo - echo args to console
    • reset - Perform RESET of the CPU
    • sleep - delay execution for some time
    • version - print monitor version

To add a new command, see doc/README.commands

4.2 U-Boot environment variables[edit]

The U-Boot behavior is configured with environment variables.

see Manual and README / Environment Variables

By default the env is NOT saved (CONFIG_ENV_IS_NOWHERE), only the default environment is used (saveenv command is not working)

You can modify this default environment by changing the content of CONFIG_EXTRA_ENV_SETTINGS in your configuration file (for example ./include/configs/stm32mp1.h) (see README / - Default Environment).

You can also choose one location with configuration flags:


4.2.1 bootcmd[edit]

Autoboot command: defines the command executed when U-Boot starts (CONFIG_BOOTCOMMAND).

But you can change this variable in CONFIG_EXTRA_ENV_SETTINGS (after BOOTENV macro needed for #Generic Distro configuration).

	"stdin=serial\0" \
	"stdout=serial\0" \
	"stderr=serial\0" \
	"kernel_addr_r=0xc2000000\0" \
	"fdt_addr_r=0xc4000000\0" \
	"scriptaddr=0xc4100000\0" \
	"pxefile_addr_r=0xc4200000\0" \
	"splashimage=0xc4300000\0"  \
	"ramdisk_addr_r=0xc4400000\0" \
	"fdt_high=0xffffffff\0" \
	"initrd_high=0xffffffff\0" \
	"bootcmd=run bootcmd_mmc0\0"

4.3 Generic Distro configuration[edit]

see doc/README.distro

This feature is activated for ST boards (CONFIG_DISTRO_DEFAULTS):

  • one boot command (bootmcd_xxx) exists for each bootable device
  • U-Boot is independent of the Linux distribution used.
  • bootcmd is defined in ./include/config_distro_bootcmd.h

With DISTRO the default command executed: include/config_distro_bootcmd.h

 bootcmd=run distro_bootcmd

This script will try any device found in the variable 'boot_targets' and execute the associated bootcmd.

Example for device mmc0, mmc1, mmc2, pxe and ubifs:

 bootcmd_mmc0=setenv devnum 0; run mmc_boot
 bootcmd_mmc1=setenv devnum 1; run mmc_boot
 bootcmd_mmc2=setenv devnum 2; run mmc_boot
 bootcmd_pxe=run boot_net_usb_start; dhcp; if pxe get; then pxe boot; fi
 bootcmd_ubifs0=setenv devnum 0; run ubifs_boot

U-Boot searchs for a configuration file extlinux.conf in a bootable device, this file defines the kernel configuration to use:

  • bootargs
  • kernel + device tree + ramdisk files (optional)
  • FIT image

4.4 U-Boot scripting capabilities[edit]

"Script files" are command sequences that will be executed by U-Boot's command interpreter; this feature is especially useful when you configure U-Boot to use a real shell (hush) as command interpreter.

See U-Boot script manual for example.

5 U-Boot build[edit]

5.1 Prerequisites[edit]

You need:

 PC $> git clone https://github.com/STMicroelectronics/u-boot
  • from the Mainline U-Boot in official GIT repository [4]
 PC $> git clone http://git.denx.de/u-boot.git 

5.1.1 ARM cross compiler[edit]

You need to have a cross compiler [5] installed on your Host (X86_64, i686, ...) for the targeted Device architecture = ARM, the environment variables ($PATH and $CROSS_COMPILE) need to be configured in your shell.

You can use gcc for ARM, available in:

  1. the SDK toolchain
    See Cross-compile with OpenSTLinux SDK, PATH and CROSS_COMPILE are automatically updated.
  2. an existing package (for example, on Ubuntu/Debian: (PC $> sudo apt-get install gcc-arm-linux-gnueabihf)
  3. an existing toolchain:

for example: gcc-linaro-7.2.1-2017.11-x86_64_arm-linux-gnueabi.tar.xz
from https://releases.linaro.org/components/toolchain/binaries/7.2-2017.11/arm-linux-gnueabi/ unzip it in $HOME,
and you need to update your environment:

 PC $> export PATH=$HOME/gcc-linaro-7.2.1-2017.11-x86_64_arm-linux-gnueabi/bin:$PATH
 PC $> export CROSS_COMPILE=arm-linux-gnueabi-

5.2 Compilation[edit]

In the U-Boot source directory, you need to select the <target> and the <device tree> for your configuration and then execute the "make all" command.

 PC $> make <target>_defconfig
 PC $> make DEVICE_TREE=<device-tree> all

KBUILD_OUTPUT can be used optionally to change the output directory if you want to compile several targets or don't compile in the source directory, for example:

 PC $> export KBUILD_OUTPUT=../build/basic

DEVICE_TREE can be also exported to your environment when you support only one board, for example:

 PC $> export DEVICE_TREE=stm32mp157c-ev1

For all the stm32mp15 family, we manage 3 configurations:

  • stm32mp15_trusted_defconfig: trusted boot chain, U-Boot (without SPL) is unsecure and uses Secure monitor from TF-A
  • stm32mp15_optee_defconfig: trusted boot chain, U-Boot (without SPL) is unsecure and uses Secure monitor from SecureOS = OP-TEE
  • stm32mp15_basic_defconfig: basic boot chain, with an SPL as FSBL, U-BOOT is secure and installs monitor with PSCI

The board diversity is only managed with the device tree.

Examples from STM32MP15 U-Boot:

 PC $> export KBUILD_OUTPUT=../build/basic
 PC $> make stm32mp15_basic_defconfig
 PC $> make DEVICE_TREE=stm32mp157c-<board> all
 PC $> export KBUILD_OUTPUT=../build/trusted
 PC $> make stm32mp15_trusted_defconfig
 PC $> make DEVICE_TREE=stm32mp157c-<board> all
 PC $> export KBUILD_OUTPUT=../build/trusted
 PC $> export DEVICE_TREE=stm32mp157c-ev1
 PC $> make stm32mp15_trusted_defconfig
 PC $> make all

Use help to list other targets:

 PC $> make help

5.3 Output files[edit]

The resulting U-Boot files are present in your build directory (U-Boot or KBUILD_OUTPUT) and SPL Images are in the spl subdirectory.

STM32 image format (*.stm32) is managed by mkimage U-Boot tools and is requested by boot ROM (for basic boot chain) or by TF-A (for trusted boot chain).

  • u-boot.stm32 : U-Boot binary with STM32 image header => SSBL for Trusted boot chain
  • u-boot.img : U-Boot binary with uImage header => SSBL for Basic boot chain
  • u-boot : elf file, used to debug with gdb
  • spl/u-boot-spl.stm32 : SPL binary with STM32 image header => FSBL for Basic boot chain
  • spl/u-boot-spl : elf file, used to debug with gdb

6 References[edit]