Calao Atmel AT91 development board

Calao System propose Atmel AT91 ARM development Board with small form factor USB, Tiny, QIL

= USB Form Factor =

Barebox
You can use barebox on with the following support
 * uart
 * nand
 * ethernet
 * usb host
 * sd card (mci)
 * spi
 * generic barebox features (menu, hush, multi-devices, etc...)

1) First you need to clone the tree

The board support is currently in the next branch

git clone git://git.pengutronix.de/git/barebox.git git checkout -b work origin/next

2) Then you need to configure it

For the 64 MiB board

make usb_a9g20_defconfig

For the 128 MiB board

make usb_a9g20_128mib_defconfig

3) Compile it

make

4) Flash it

now you need to flash it via
 * SAM-BA
 * OpenOCD

5) start the board

barebox 2011.10.0-00144-gc9145e1 (Oct 25 2011 - 17:48:18) Board: Calao USB-A9G20 Clocks: CPU 399 MHz, master 133 MHz, main 12.000 MHz NAND device: Manufacturer ID: 0x2c, Chip ID: 0xaa (Micron NAND 256MiB 1,8V 8-bit) Scanning device for bad blocks Bad eraseblock 591 at 0x049e0000 Bad eraseblock 920 at 0x07300000 Bad eraseblock 1026 at 0x08040000 Bad eraseblock 1388 at 0x0ad80000 Bad eraseblock 1764 at 0x0dc80000 Malloc space: 0x23500000 -> 0x23f00000 (size 10 MB) Stack space : 0x234f8000 -> 0x23500000 (size 32 kB) envfs: wrong magic on /dev/env0 no valid environment found on /dev/env0. Using default environment running /env/bin/init... Hit any key to stop autoboot: 0 barebox@Calao USB-A9G20:/ #

Linux
You can use the mainline kernel (merge in release 3.1)

1) First you need to clone the tree

git clone git://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux-2.6.git git checkout -b work

2) Then you need to configure it

currently no defconfig is merge for the next release you could use at91sam9g20_defconfig but right now you need to use at91sam9g20ek_defconfig and select it via Kconfig "CALAO USB-A9G20"

make at91sam9g20ek_defconfig make menuconfig

or

make at91sam9g20ek_defconfig sed -i -e "s:# CONFIG_MACH_USB_A9G20 is not set:CONFIG_MACH_USB_A9G20=y:g" .config

3) Compile it

make uImage

4) Run it

You can run it via nfs or tftp from barebox

for this you need to modify the /env/config

a) on board

via

ed /env/config

b) on pc

by editing

diff --git a/arch/arm/boards/usb-a926x/env/config b/arch/arm/boards/usb-a926x/env/config index d77f678..660cb3c 100644 --- a/arch/arm/boards/usb-a926x/env/config +++ b/arch/arm/boards/usb-a926x/env/config @@ -2,16 +2,16 @@ # use 'dhcp' to do dhcp in barebox and in kernel # use 'none' if you want to skip kernel ip autoconfiguration -ip=dhcp +#ip=dh # or set your networking parameters here -#eth0.ipaddr=a.b.c.d -#eth0.netmask=a.b.c.d -#eth0.gateway=a.b.c.d -#eth0.serverip=a.b.c.d +eth0.ipaddr=192.168.201.33 +eth0.netmask=255.255.255.0 +eth0.gateway=192.168.201.98 +eth0.serverip=192.168.201.98 # can be either 'nfs', 'tftp', 'nor' or 'nand' -kernel_loc=tftp +kernel_loc=nfs # can be either 'net', 'nor', 'nand' or 'initrd' rootfs_loc=net @@ -29,6 +29,9 @@ kernelimage=uImage #kernelimage_type=raw_lzo #kernelimage=Image.lzo +nfsroot="${eth0.serverip}:/opt/work/buildroot/build/usb_9g20/target/" +kernelimage="/opt/work/buildroot/build/usb_9g20/images/uImage-usb-a9g20" + nand_device=atmel_nand nand_parts="128k(at91bootstrap),256k(barebox)ro,128k(bareboxenv),128k(bareboxenv2),4M(kernel),120M(rootfs),-(data)" rootfs_mtdblock_nand=5

5) start the board

Note that the kernel you see in this log is a development kernel using the Device tree

nb: sometime the nfs timeout to boot again just type boot enter

barebox 2011.10.0-00144-gc9145e1 (Oct 25 2011 - 17:48:18) Board: Calao USB-A9G20 Clocks: CPU 399 MHz, master 133 MHz, main 12.000 MHz NAND device: Manufacturer ID: 0x2c, Chip ID: 0xaa (Micron NAND 256MiB 1,8V 8-bit) Scanning device for bad blocks Bad eraseblock 591 at 0x049e0000 Bad eraseblock 920 at 0x07300000 Bad eraseblock 1026 at 0x08040000 Bad eraseblock 1388 at 0x0ad80000 Bad eraseblock 1764 at 0x0dc80000 Malloc space: 0x23500000 -> 0x23f00000 (size 10 MB) Stack space : 0x234f8000 -> 0x23500000 (size 32 kB) envfs: wrong magic on /dev/env0 no valid environment found on /dev/env0. Using default environment running /env/bin/init... Hit any key to stop autoboot: 0 warning: No MAC address set. Using random address D2:E7:9F:56:A2:96 phy0: Link is up - 100/Full T T Filename '/opt/work/buildroot/build/usb_9g20/images/uImage-usb-a9g20'. [#################################################################NFS failed: Interrupted system call barebox@Calao USB-A9G20:/ Filename '/opt/work/buildroot/build/usb_9g20/images/uImage-usb-a9g20'. [#################################################################] booting kernel of type uimage from /dev/ram0.kernel Verifying Checksum ... OK   Image Name:   Linux-3.0.0+ Created:     2011-10-24  21:55:00 UTC Image Type:  ARM Linux Kernel Image (uncompressed) Data Size:   1988582 Bytes =  1.9 MB    Load Address: 20008000 Entry Point: 20008000 OK Starting kernel ... commandline: console=ttyS0,115200 ip=192.168.201.33:192.168.201.98:192.168.201.98:255.255.255.0::eth0: root=/dev/nfs nfsroot=192.168.201.98:/opt/work/buildroot/build/usb_9g20/target/,v3,tcp noinitrd mtdparts=atmel_nand:128k(at91bootstrap),256k(barebox)ro,128k(bareboxenv),128k(bareboxenv2),4M(kernel),120M(rootfs),-(data) arch_number: 1841 Uncompressing Linux... done, booting the kernel. Linux version 3.0.0+ (root@j-debian) (gcc version 4.5.1 (Sourcery G++ Lite 2010.09-50) ) #66 Tue Oct 25 05:54:39 CST 2011 CPU: ARM926EJ-S [41069265] revision 5 (ARMv5TEJ), cr=00053177 CPU: VIVT data cache, VIVT instruction cache Machine: Atmel AT91SAM (Device Tree), model: Calao USB A9G20 Memory policy: ECC disabled, Data cache writeback AT91: Detected soc type: at91sam9g20 AT91: Detected soc subtype: Unknown AT91: sram at 0x200000 of 0x4000 mapped at 0xfef74000 AT91: sram at 0x300000 of 0x4000 mapped at 0xfef70000 Clocks: CPU 399 MHz, master 133 MHz, main 12.000 MHz Built 1 zonelists in Zone order, mobility grouping on. Total pages: 16256 Kernel command line: console=ttyS0,115200 ip=192.168.201.33:192.168.201.98:192.168.201.98:255.255.255.0::eth0: root=/dev/nfs nfsroot=192.168.201.98:/opt/work/buildroot/build/usb_9g20/target/,v3,tcp noinitrd mtdparts=atmel_nand:128k(at91bootstrap),256k(barebox)ro,128k(bareboxenv),128k(bareboxenv2),4M(kernel),120M(rootfs),-(data) PID hash table entries: 256 (order: -2, 1024 bytes) Dentry cache hash table entries: 8192 (order: 3, 32768 bytes) Inode-cache hash table entries: 4096 (order: 2, 16384 bytes) Memory: 64MB = 64MB total Memory: 60960k/60960k available, 4576k reserved, 0K highmem Virtual kernel memory layout: vector : 0xffff0000 - 0xffff1000   (   4 kB) fixmap : 0xfff00000 - 0xfffe0000   ( 896 kB) DMA    : 0xffc00000 - 0xffe00000   (   2 MB) vmalloc : 0xc4800000 - 0xfee00000  ( 934 MB) lowmem : 0xc0000000 - 0xc4000000   (  64 MB) modules : 0xbf000000 - 0xc0000000  (  16 MB) .text : 0xc0008000 - 0xc0388620  (3586 kB) .init : 0xc0389000 - 0xc03a7000  ( 120 kB) .data : 0xc03a8000 - 0xc03cc240  ( 145 kB) .bss : 0xc03cc264 - 0xc03dd8fc  (  70 kB) NR_IRQS:192 looking for phys_base=fffff000, irq_start=0 AT91: 96 gpio irqs in 3 banks Console: colour dummy device 80x30 Calibrating delay loop... 199.06 BogoMIPS (lpj=995328) pid_max: default: 32768 minimum: 301 Mount-cache hash table entries: 512 CPU: Testing write buffer coherency: ok pinctrl core: initialized pinctrl subsystem NET: Registered protocol family 16 0x0 0xfffffff0 AT91: Power Management AT91: Starting after general reset pinctrl.0: hogged map DGBU_RX, function dbgu_rxd pinctrl.0: hogged map DGBU_TX, function dbgu_txd pinmux-at91 pinmux.2: initialized AT91 pinmux driver atmel_tcb: probe of atmel_tcb.1 failed with error -22 bio: create slab  at 0 SCSI subsystem initialized usbcore: registered new interface driver usbfs usbcore: registered new interface driver hub usbcore: registered new device driver usb Advanced Linux Sound Architecture Driver Version 1.0.24. cfg80211: Calling CRDA to update world regulatory domain Switching to clocksource tcb_clksrc NET: Registered protocol family 2 IP route cache hash table entries: 1024 (order: 0, 4096 bytes) TCP established hash table entries: 2048 (order: 2, 16384 bytes) TCP bind hash table entries: 2048 (order: 1, 8192 bytes) TCP: Hash tables configured (established 2048 bind 2048) TCP reno registered UDP hash table entries: 256 (order: 0, 4096 bytes) UDP-Lite hash table entries: 256 (order: 0, 4096 bytes) NET: Registered protocol family 1 RPC: Registered named UNIX socket transport module. RPC: Registered udp transport module. RPC: Registered tcp transport module. RPC: Registered tcp NFSv4.1 backchannel transport module. NetWinder Floating Point Emulator V0.97 (double precision) JFFS2 version 2.2. (NAND) (SUMMARY) © 2001-2006 Red Hat, Inc. msgmni has been set to 119 io scheduler noop registered (default) fffff200.serial: ttyS0 at MMIO 0xfffff200 (irq = 1) is a ATMEL_SERIAL console [ttyS0] enabled brd: module loaded loop: module loaded No SmartMedia card inserted. ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver Initializing USB Mass Storage driver... usbcore: registered new interface driver usb-storage USB Mass Storage support registered. mousedev: PS/2 mouse device common for all mice ALSA device list: No soundcards found. TCP cubic registered NET: Registered protocol family 17 lib80211: common routines for IEEE802.11 drivers /opt/work/linux-2.6/drivers/rtc/hctosys.c: unable to open rtc device (rtc0)
 * 1) boot

RootFS
You can use multiple tools to build the rootfs

* Debian * OpenEmbedded * BuildRoot

OpenOCD
On the Board you will find a FDTI FT2232D that it's use as a UART and the JTAG.

If you have a old kernel the ftdi drivers will probe the two port of the FT2232D as UART

(ttyUSB0 as JTAG and ttyUSB1 as UART)

So you will need to patch your kernel with http://lkml.org/lkml/2011/9/28/466

or use a out-of-tree module like this tree git://uboot.jcrosoft.org/ftdi-module.git

now you have a working environment you can use OpenOCD

Most of the recent distribution now use the last release of OpenOCD we did which is currently the v0.5.0

How to use it?

OpenOCD need two part the

1) the Interface configuration

This the description of your ICE/JTAG

cat calao-usb-a9g20-lpw.cfg # # # interface ft2232 ft2232_device_desc "USB-A9G20-LPW" ft2232_layout jtagkey ft2232_vid_pid 0x0403 0x6010
 * 1) CALAO Systems USB-A9G20-C02
 * 1) http://www.calao-systems.com/

2) the board configuration

cat usb-a9g20-lpw.cfg source [find mem_helper.tcl] source [find target/at91sam9g20.cfg] reset_config trst_and_srst jtag_nsrst_delay 200 jtag_ntrst_delay 200 scan_chain proc at91sam9g20_reset_start { } { # Make sure that the the jtag is running slow, since there are a number of different ways the board # can be configured coming into this state that can cause communication problems with the jtag # adapter. Also since this call can be made following a "reset init" where fast memory accesses # are enabled, need to temporarily shut this down so that the RSTC_MR register can be written at slower # jtag speed without causing GDB keep alive problem. arm7_9 fast_memory_access disable jtag_khz 2                     ;# Slow-speed oscillator enabled at reset, so run jtag speed slow. halt 10000                             ;# Make sure processor is halted, or error will result in following steps. wait_halt 1000000 mww 0xfffffd08 0xa5000501      ;# RSTC_MR : enable user reset. } proc at91sam9g20_reset_init { } { # At reset AT91SAM9G20 chip runs on slow clock (32.768 kHz). To shift over to a normal clock requires # a number of steps that must be carefully performed. The process outline below follows the # recommended procedure outlined in the AT91SAM9G20 technical manual. #        # Several key and very important things to keep in mind: # The SDRAM parts used currently on the Atmel evaluation board are -75 grade parts. This # means the master clock (MCLK) must be at or below 133 MHz or timing errors will occur. The processor # core can operate up to 400 MHz and therefore PCLK must be at or below this to function properly. mww 0xfffffd44 0x00008000      # WDT_MR : disable watchdog. # Set oscillator bypass bit (12.00 MHz external oscillator) in CKGR_MOR register. mww 0xfffffc20 0x00000002 # Set PLLA Register for 798.000 MHz (divider: bypass, multiplier: 132). # Wait for LOCKA signal in PMC_SR to assert indicating PLLA is stable. mww 0xfffffc28 0x20843F02 while { [expr [mrw 0xfffffc68] & 0x02] != 2 } { sleep 1 } # Set master system clock prescaler divide by 6 and processor clock divide by 2 in PMC_MCKR. # Wait for MCKRDY signal from PMC_SR to assert. mww 0xfffffc30 0x00001300 while { [expr [mrw 0xfffffc68] & 0x08] != 8 } { sleep 1 } # Now change PMC_MCKR register to select PLLA. # Wait for MCKRDY signal from PMC_SR to assert. mww 0xfffffc30 0x00001302 while { [expr [mrw 0xfffffc68] & 0x08] != 8 } { sleep 1 } # Processor and master clocks are now operating and stable at maximum frequency possible: #      -> MCLK = 133.000 MHz #      -> PCLK = 400.000 MHz # Switch over to adaptive clocking. jtag_khz 0 # Enable faster DCC downloads. arm7_9 dcc_downloads enable # To be able to use external SDRAM, several peripheral configuration registers must # be modified. The first change is made to PIO_ASR to select peripheral functions # for D15 through D31. The second change is made to the PIO_PDR register to disable # this for D15 through D31. mww 0xfffff870 0xffff0000 mww 0xfffff804 0xffff0000 # The EBI chip select register EBI_CS must be specifically configured to enable the internal SDRAM controller # using CS1. Additionally we want CS3 assigned to NandFlash. Also VDDIO is connected physically on        # the board to the 1.8V VDC power supply so set the appropriate register bit to notify the micrcontroller. mww 0xffffef1c 0x000000a # The USB-A9G20-LPW Embedded computer has built-in NandFlash. The exact physical timing characteristics # for the memory type used on the current board (MT29F2G08AACWP) can be established by setting # four registers in order: SMC_SETUP3, SMC_PULSE3, SMC_CYCLE3, and SMC_MODE3. mww 0xffffec30 0x00020002 mww 0xffffec34 0x04040404 mww 0xffffec38 0x00070007 mww 0xffffec3c 0x00030003 # Now setup SDRAM. This is tricky and configuration is very important for reliability! The current calculations # are based on 2 x Micron LPSDRAM MT48H16M16LFBF-75 memory (4 M x 16 bit x 4 banks). If you use this file as a reference # for a new board that uses different SDRAM devices or clock rates, you need to recalculate the value inserted # into the SDRAM_CR register. Using the memory datasheet for the -75 grade part and assuming a master clock # of 133.000 MHz then the SDCLK period is equal to 7.6 ns. This means the device requires: #        #       CAS latency = 3 cycles #      TXSR = 10 cycles #      TRAS = 6 cycles #      TRCD = 3 cycles #      TRP = 3 cycles #      TRC = 9 cycles #      TWR = 2 cycles #      9 column, 13 row, 4 banks #      refresh equal to or less then 7.8 us for commerical/industrial rated devices #        #       Thus SDRAM_CR = 0xa6339279 mww 0xffffea08 0xa6339279 # Memory Device Type: Low-power SDRAM mww 0xffffea24 0x00000001 # Next issue a 'NOP' command through the SDRAMC_MR register followed by writing a zero value into # the starting memory location for the SDRAM. mww 0xffffea00 0x00000001 mww 0x20000000 0 # Issue an 'All Banks Precharge' command through the SDRAMC_MR register followed by writing a zero # value into the starting memory location for the SDRAM. mww 0xffffea00 0x00000002 mww 0x20000000 0 # Now issue an 'Auto-Refresh' command through the SDRAMC_MR register. Follow this operation by writing # zero values eight times into the starting memory location for the SDRAM. mww 0xffffea00 0x4 mww 0x20000000 0 mww 0x20000000 0 mww 0x20000000 0 mww 0x20000000 0 mww 0x20000000 0 mww 0x20000000 0 mww 0x20000000 0 mww 0x20000000 0 # Almost done, so next issue a 'Load Mode Register' command followed by a zero value write to the # the starting memory location for the SDRAM. mww 0xffffea00 0x3 mww 0x20000000 0 # Signal normal mode using the SDRAMC_MR register and follow with a zero value write the the starting # memory location for the SDRAM. mww 0xffffea00 0x0 mww 0x20000000 0 # Finally set the refresh rate to about every 7 us (7.5 ns x 924 cycles). mww 0xffffea04 0x0000039c }
 * 1) Author: gregory Hermant (gregory.hermant@calao-systems.com)                                   #
 * 2)         Jean-Christophe PLAGNIOL-VILLARD                                #
 * 3) Generated for the USB-A9G20-LPW using Amontec JTAGKEY probe                                   #
 * 1)         Jean-Christophe PLAGNIOL-VILLARD                                #
 * 2) Generated for the USB-A9G20-LPW using Amontec JTAGKEY probe                                   #
 * 1) We add to the minimal configuration.
 * 1) Use caution changing the delays listed below.  These seem to be affected by the board and type of
 * 2) debugger dongle.  A value of 200 ms seems to work reliably for the configuration listed in the file header above.
 * 1) $_TARGETNAME configure -event gdb-attach { reset init }
 * 2) $_TARGETNAME configure -event reset-start {at91sam9g20_reset_start}
 * 3) $_TARGETNAME configure -event reset-init {at91sam9g20_reset_init}

3) start OpenOCD

now you need so start OpenOCD. For this you need to specify the interface (First) and then the board

openocd -f tcl/interface/calao-usb-a9g20-lpw.cfg -f tcl/board/usb-a9g20-lpw.cfg Open On-Chip Debugger 0.5.0 (2011-08-09-08:45) Licensed under GNU GPL v2 For bug reports, read http://openocd.berlios.de/doc/doxygen/bugs.html Info : only one transport option; autoselect 'jtag' trst_and_srst separate srst_gates_jtag trst_push_pull srst_open_drain adapter_nsrst_delay: 300 jtag_ntrst_delay: 200 RCLK - adaptive RCLK - adaptive trst_and_srst separate srst_gates_jtag trst_push_pull srst_open_drain adapter_nsrst_delay: 200 jtag_ntrst_delay: 200 TapName            Enabled  IdCode     Expected   IrLen IrCap IrMask -- --- -- -- - - --  0 at91sam9g20.cpu        Y     0x00000000 0x0792603f     4 0x01  0x0f at91sam9g20_init Info : max TCK change to: 30000 kHz Info : RCLK (adaptive clock speed) Info : JTAG tap: at91sam9g20.cpu tap/device found: 0x0792603f (mfg: 0x01f, part: 0x7926, ver: 0x0) Info : Embedded ICE version 6 Info : at91sam9g20.cpu: hardware has 2 breakpoint/watchpoint units

you can now connect to you board via gdb or telnet

a) telnet

telnet 127.0.0.1 4444 Trying 127.0.0.1... Connected to 127.0.0.1. Escape character is '^]'. Open On-Chip Debugger > halt target state: halted target halted in ARM state due to debug-request, current mode: Supervisor cpsr: 0x600000d3 pc: 0x23f0457c MMU: disabled, D-Cache: disabled, I-Cache: enabled >

b) gdb

$ arm-none-linux-gnueabi-gdb GNU gdb (Sourcery G++ Lite 2010.09-50) 7.2.50.20100908-cvs Copyright (C) 2010 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later  This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "--host=i686-pc-linux-gnu --target=arm-none-linux-gnueabi". For bug reporting instructions, please see: . (gdb) target remote :3333 Remote debugging using :3333 0x23f07f74 in ?? 

note that the current board script does not init the hardware when you connect to gdb

for this you will need to use the monitor monitor reset init halt

sometime the halt timeout in this case just do monitor halt