- Last edited 4 months ago ago
How to compile the device tree with the Developer Package
Contents
1 Purpose
This article explains how to update the boot chain (OP-TEE with FIP) for a "custom" device tree.
This article concentrates in particular on generating a "custom" device tree based on the STM32CubeMX.
This article describes how to update the device tree compiled (DTB) part of the boot binaries.
2 Rationale
There are various reasons for using a custom device tree, such as:
- the description of a new and private board
- the swapping of some internal peripherals from Cortex®-M side to Cortex®-A side (and vice versa)
3 Prerequisites
Compiling a new device tree means updating three software components belonging to the complete boot chain, Trusted Firmware-A (TF-A), U-Boot, and Linux kernel.
The material required to update the above software components is the following:
- Starter package:
- the flashlayout as well as the images to flash, provided within the en.flash-stm32mp1-openstlinux-6.1-yocto-mickledore-mp1-v23.06.21.tar.gz file
- Developer package:
- the component sources and patches, provided within the en.sources-stm32mp1-openstlinux-6.1-yocto-mickledore-mp1-v23.06.21.tar.gz file
- the SDK toolchain, provided within the en.SDK-x86_64-stm32mp1-openstlinux-6.1-yocto-mickledore-mp1-v23.06.21.tar.gz file
- the STM32CubeProgrammer, which is the tool used to flash the images and binaries into the target.
- Custom device tree sources:
- In the rest of this document, we assume that the custom device tree is generated by STM32CubeMX and stored in a MyDeviceTree_fromCubeMX.tar.xz tarball with following file tree:
MyDeviceTree_fromCubeMX
MyDeviceTree_fromCubeMX/
├── kernel
│ └── stm32mp135f-stm32mp135f-dk-mx.dts
├── optee-os
│ └── stm32mp135f-stm32mp135f-dk-mx.dts
├── tf-a
│ ├── stm32mp135f-stm32mp135f-dk-mx.dts
│ ├── stm32mp135f-stm32mp135f-dk-mx-fw-config.dts
│ └── stm32mp13-mx.dtsi
└── u-boot
├── stm32mp135f-stm32mp135f-dk-mx.dts
└── stm32mp135f-stm32mp135f-dk-mx-u-boot.dtsi
- Make sure the hardware configuration described in the PC prerequisites article has been executed (even with a WSL2 setup)
4 Preparing your environment
It is recommended to organize the numerous inputs described in #Prerequisites in your environment.
First create a dedicated WORKDIR under your HOME folder and copy there all the inputs listed in #Prerequisites:
- cd $HOME
- mkdir WORKDIR
- cd WORKDIR
- export WORKDIR="$PWD"
- tar --strip-components=1 -xf en.flash-stm32mp1-openstlinux-6.1-yocto-mickledore-mp1-v23.06.21.tar.gz -C $WORKDIR/
- tar --strip-components=1 -xf en.sources-stm32mp1-openstlinux-6.1-yocto-mickledore-mp1-v23.06.21.tar.gz -C $WORKDIR/
- tar --strip-components=1 -xf en.SDK-x86_64-stm32mp1-openstlinux-6.1-yocto-mickledore-mp1-v23.06.21.tar.gz -C $WORKDIR/
- tar xf <MyDeviceTree_fromCubeMX.tar.xz> -C $WORKDIR/
Then proceed with the STM32MP1_Developer_Package#Installing_the_SDK chapter.
The commands described in the rest of the document must be run in an SDK environment context: (STM32MP1_Developer_Package#Starting_up_the_SDK).
5 Updating the kernel device tree
Since 'extlinux.conf' explicitly points to the DTB, just update the kernel device tree by replacing the DTB file of the '/boot' partition. The path used must be something like '/boot/<devicetree>.dtb'.
The following chapters describe the procedure to generate and copy the new DTB into the target.
5.1 Kernel : unpack and patch sources
.
Run the following command into a shell:
- pushd $WORKDIR
- mkdir -p kernel
- tar xf sources/arm-ostl-linux-gnueabi/linux-stm32mp-*/linux-*.tar.xz -C kernel
- mv kernel/linux-* kernel/kernel-sources/
- pushd kernel/kernel-sources/
- for p in $(ls -1 ../../sources/arm-ostl-linux-gnueabi/linux-stm32mp-*/*.patch); do patch -p1 < $p; done
- popd
- popd
5.2 Kernel : copy the DTS into the source code
- pushd $WORKDIR
- cp -r MyDeviceTree_fromCubeMX/kernel/* kernel/kernel-sources/arch/arm/boot/dts/
- popd
5.3 Kernel : regenerate the kernel DTB
.
- pushd $WORKDIR/kernel/kernel-sources
- export OUTPUT_BUID_DIR=$PWD/../build
- mkdir -p ${OUTPUT_BUILD_DIR}
- make ARCH=arm O="${OUTPUT_BUILD_DIR}" multi_v7_defconfig fragment*.config
- for f in `ls -1 ../../sources/arm-ostl-linux-gnueabi/linux-stm32mp-*/fragment*.config`; do scripts/kconfig/merge_config.sh -m -r -O ${OUTPUT_BUILD_DIR} ${OUTPUT_BUILD_DIR}/.config $f; done
- (yes "" || true ) | make ARCH=arm oldconfig O="${OUTPUT_BUILD_DIR}"
- make ARCH=arm stm32mp135f-stm32mp135f-dk-mx.dtb LOADADDR=0xC2000040 O="${OUTPUT_BUILD_DIR}"
- popd
- ls -l $WORKDIR/kernel/build/arch/arm/boot/dts/stm32mp135f-stm32mp135f-dk-mx.dtb
5.4 Kernel : copy the DTB into bootfs
First, update all the #Updating bootfs with the new DTB for it to be taken it into account on the next boot of the target.
Then, if needed, edit by #Updating extlinux for the target with this new DTB filename. This is only required if the filename of the generated DTB is different from the one used by extlinux to boot.
6 Updating BOOT firmwares
The BOOT firmwares are TF-A and U-Boot and must be updated together (CubeMX provides devicetree for TF-A and U-Boot).
6.1 Updating the TF-A device tree
To update the TF-A device tree, replace the DTB part of the TF-A binary.
The TF-A binary allocates a 'fixed' area for the DTB, just after the STM32 image header. If the DTB is smaller than the reserved area, the remaining memory is padded with zero.
Below the procedure to generate TF-A with a new DTB and then flash it on the target:
6.1.1 TF-A : unpack and patch sources
.
- pushd $WORKDIR
- pushd sources/arm-ostl-linux-gnueabi/tf-a-stm32mp-v[0-9]*
- mkdir -p tf-a-sources
- tar xf tf-a-stm32mp-v[0-9]*.tar.* --one-top-level=tf-a-sources --strip-components=1
- pushd tf-a-sources
- for p in `ls -1 ../*.patch`; do patch -p1 < $p; done
- popd
- popd
6.1.2 TF-A : copy the DTS into the source code
- pushd $WORKDIR
- cp -r MyDeviceTree_fromCubeMX/tf-a/* sources/arm-ostl-linux-gnueabi/tf-a-stm32mp-v[0-9]*/tf-a-sources/fdts/
- popd
6.1.3 TF-A : regenerate TF-A
.
First only the TF-A "intermediates" artifacts are generated, the FIP image will be generated at final step (U-Boot compilation).
- pushd $WORKDIR/sources/arm-ostl-linux-gnueabi/tf-a-stm32mp-v[0-9]*/tf-a-sources
- export FIP_DEPLOYDIR_ROOT=$PWD/../../FIP_artifacts
- make -f ../Makefile.sdk TF_A_DEVICETREE=<devicetree_name> TF_A_CONFIG="<boot scheme> <device storage> <programmer device>" DEPLOYDIR=$FIP_DEPLOYDIR_ROOT/arm-trusted-firmware stm32
- <devicetree_name> : is the device tree just copied, i.e.: stm32mp135f-stm32mp135f-dk-mx
- DEPLOYDIR is the path where intermediate binaries of tf-a should be deployed (requiered by fip-tools to generate fip image)
- TF_A_CONFIG with optee as <boot scheme>, sdcard for the <device storage> and usb for <programmer device> (STM32Programmer flashes the board through USB/DFU).
- popd
6.2 Updating the OP-TEE device tree
To update the OP-TEE device tree, replace the DTB part of the OP-TEE binary.
Adding a new device tree to the OP-TEE source code forces the Makefile to regenerate new OP-TEE binaries.
The following chapters describe the procedure to update the OP-TEE device tree.
6.2.1 OP-TEE: unpack and patch sources
.
- pushd $WORKDIR
- pushd sources/arm-ostl-linux-gnueabi/optee-os-stm32mp-[0-9]*
- tar xf optee-os-stm32mp-[0-9]*.tar.* --one-top-level=optee-os-sources --strip-components=1
- pushd optee-os-sources
- tar xfz ../fonts.tar.gz
- for p in `ls -1 ../*.patch`; do patch -p1 < $p; done
- popd
- popd
6.2.2 OP-TEE: copy the DTS in the source code
- pushd $WORKDIR
- cp MyDeviceTree_fromCubeMX/optee-os/* sources/arm-ostl-linux-gnueabi/optee-os-stm32mp-*/optee-os-sources/core/arch/arm/dts/
- popd
6.2.3 OP-TEE: regenerate fip image within new OP-TEE
.
- pushd $WORKDIR/sources/arm-ostl-linux-gnueabi/optee-os-stm32mp-[0-9]*/optee-os-sources
- export FIP_DEPLOYDIR_ROOT=$PWD/../../FIP_artifacts
- make -f ../Makefile.sdk CFG_EMBED_DTB_SOURCE_FILE=<device tree> CFG_DRAM_SIZE=<RAM size> DEPLOYDIR=$WORKDIR/sources/arm-ostl-linux-gnueabi/FIP_artifacts/optee optee
- <device tree> : is the device tree just copied, i.e.: stm32mp135f-stm32mp135f-dk-mx
- <RAM size> : is the RAM size of the board selected by the device tree, i.e.: 0x20000000 for 512MB ramsize
- popd
6.3 Updating the U-Boot device tree
To update the U-Boot device tree, replace the U-Boot DTB in FIP image.
6.3.1 U-Boot : unpack and patch sources
.
- pushd $WORKDIR
- pushd sources/arm-ostl-linux-gnueabi/u-boot-stm32mp-v[0-9]*
- tar xf u-boot-stm32mp-v[0-9]*.tar.* --one-top-level=u-boot-sources --strip-components=1
- pushd u-boot-sources
- for p in `ls -1 ../*.patch`; do patch -p1 < $p; done
- popd
- popd
6.3.2 U-Boot : copy the DTS in the U-Boot source code
- pushd $WORKDIR
- cp MyDeviceTree_fromCubeMX/u-boot/* sources/arm-ostl-linux-gnueabi/u-boot-stm32mp-v[0-9]*/u-boot-sources/arch/arm/dts/
- popd
6.3.3 U-Boot : regenerate fip image within new U-Boot binary
.
- pushd $WORKDIR/sources/arm-ostl-linux-gnueabi/u-boot-stm32mp-v[0-9]*/u-boot-sources
- make -f ../Makefile.sdk UBOOT_CONFIG=trusted UBOOT_DEFCONFIG=<stm32mpu device>_defconfig UBOOT_BINARY=u-boot.dtb FIP_CONFIG="optee" DEVICETREE=<device tree> all
- <stm32mpu device> : is the targetted stm32mpu device, stm32mp13 or stm32mp15
- <device tree> : is the device tree just copied, i.e.: stm32mp135f-stm32mp135f-dk-mx
- popd
6.4 copy new Boot chain into the target
- Because of 'extlinux' and before flashing the new fip image, make sure #Updating extlinux is compliant with the 'compatible' value in the DTS file.
- Then, using STM32CubeProgrammer, flash the tf-a-xxxx-sdcard.stm32 file (generated at tf-a step) into the 'fsbl1' and 'fsbl2' partition of the target and the 'fip-a' partition with fip-stm32mpxxxx.bin file (generated just above).
7 Update methods
7.1 Updating extlinux
7.1.1 extlinux basics
extlinux describes how U-Boot boots. Updating extlinux consists in updating the extlinux.conf:
- A 135f-dk board booting from the sdcard use a specific extlinux.conf file from /boot/mmc0_extlinux/ (<device tree name>_extlinux.conf),
- otherwise if there is no specific extlinux.conf for your board/device tree, then the extlinux.conf is taking into account.
extlinux.conf is the description of a boot menu with one or several entries; 'DEFAULT' selects the default entry.
Below the content of the extlinux.conf located into /boot/mmc0_extlinux needed to boot with the device tree + boot chain just generated:
menu title Select the boot mode MENU BACKGROUND /splash_landscape.bmp TIMEOUT 20 DEFAULT stm32mp135f-stm32mp135f-dk-mx LABEL OpenSTLinux KERNEL /uImage FDTDIR / INITRD /st-image-resize-initrd APPEND root=PARTUUID=e91c4e10-16e6-4c0e-bd0e-77becf4a3582 rootwait rw console=${console},${baudrate} LABEL stm32mp135f-stm32mp135f-dk-mx KERNEL /uImage FDT /stm32mp135f-stm32mp135f-dk-mx.dtb APPEND root=PARTUUID=e91c4e10-16e6-4c0e-bd0e-77becf4a3582 rootwait rw console=${console},${baudrate}
Update/add the highlighted lines according to what have been compiled in chapter 5, 6 and/or 7:
- DEFAULT: This is the default 'LABEL' to boot
- LABEL : The entry 'LABEL' is the value of 'compatible' of the DTS file used by U-Boot.
- The 'compatible' value is at head of the DTS file and looks like : "st,stm32mp135f-stm32mp135f-dk-mx"
- FDT : The path from /boot of the kernel DTB to use
7.2 Updating bootfs
There are two methods to update bootfs:
- On an up and running target
- scp stm32mp157f-mydevicetree-mx.dtb root@<Target_IP>:/boot/
- Directly into 'bootfs' image
You do not need to have a target up and running. Only the "st-image-bootfs-openstlinux-weston-stm32mp1.ext4" file is required. To modify an 'ext4' file, a loopback mount, available within any Linux Distribution (even through WSL2), is required:
- mkdir -p $WORKDIR/bootfs
- mount -o loop <st-image-bootfs-openstlinux-weston-stm32mp1.ext4> $WORKDIR/bootfs
- ##Then copy the new dtb file at the root of $WORKDIR/bootfs
- umount $WORKDIR/bootfs
- sync
Then use STM32CubeProgrammer to update the bootfs partition.
7.2.1 Updating extlinux
Updating 'extlinux' consists in modifying the extlinux.conf. There are two ways to proceed:
- On an up and running target
Open an ssh connection to the target or use a direct connection with a tty terminal. Then use an vi editor to modify the extlinux.conf file.
- Do not forget to synchronize the file system before rebooting the target:
- sync
- Into 'bootfs' image directly
You do not need to have a target up and running. Only the "st-image-bootfs-openstlinux-weston-stm32mp1.ext4" file is required. To modify an 'ext4' file, a loopback mount tool, available in any Linux Distribution (even through WSL2), is needed:
- mkdir -p $WORKDIR/bootfs
- sudo mount -o loop <st-image-bootfs-openstlinux-weston-stm32mp1.ext4> $WORKDIR/bootfs
- ##Then edit the extlinux.conf file (for WSL2 use a 'Linux' type editor; vi, ...)
- ##Once extlinux.conf up-to-date, umount loopback and flash the bootfs into sdcard with STM32CubeProgrammer