Compile Linux AMP firmware Overview The AMP (Asymmetric Multi-Processing) system is a type of non- symmetric multi-core heterogeneous system, in which CPUs are grouped on the same chip and different systems are run on CPUs in different groups. Through efficient task and resource allocation, the AMP system can deliver enhanced performance. The RK3568 chip has two types of CPUs: Cortex-A55 * 4 + RISC-V * 1. The four Cortex-A55 cores support Linux (kernel-4.19), Baremetal (HAL), and RTOS (RT-Thread), while the RISC-V core supports Baremetal (HAL). With the help of AMP features, Linux can be run on Cortex-A55 * 4 as the main processor, while RISC-V * 1 can be used as an auxiliary core to run a bare-metal system; or Linux can be run on Cortex-A55 * 3 as the main processor, while Cortex-A55 * 1 can be used as an auxiliary core to run a bare-metal or real-time system, among other combinations using AMP. Build the build environment This chapter introduces the compilation environment of the Linux SDK Note: (1) It is recommended to develop in the Ubuntu 18.04 system environment. If other system versions are used, the compilation environment may need to be adjusted accordingly. (2) Compile with ordinary user, do not compile with root user authority. Download Firefly_Linux_SDK First prepare an empty folder to place SDK, better under home, here we use "~/proj" as example. Attention: To avoid unnecessary errors, please do not place/unzip the SDK in VM shared folders or non-english directories. Get SDK needs: sudo apt update sudo apt install -y repo git python Method One Download via repo, you can choose to get full SDK or BSP: # Create SDK directory mkdir ~/proj/rk356x_amp_sdk cd ~/proj/rk356x_amp_sdk ## Full SDK repo init --no-clone-bundle --repo-url https://gitlab.com/firefly-linux/git-repo.git --no-repo-verify -u https://gitlab.com/firefly-linux/manifests.git -b master -m rk356x_linux_amp_release.xml ## BSP (Only include some basic repositories and compile tools) ## BSP includes device/rockchip, docs, kernel, u-boot, hal, rt-thread, rkbin, tools and cross-compile toolchian repo init --no-clone-bundle --repo-url https://gitlab.com/firefly-linux/git-repo.git --no-repo-verify -u https://gitlab.com/firefly-linux/manifests.git -b master -m rk356x_linux_amp_bsp_release.xml Method Two Download Firefly_Linux_SDK sub-volume compressed package: rk356x_amp_release_20240607_v0.0.1a Extract the SDK: # add execution permissions cd /path/to/rk356x_amp_release_20240607_v0.0.1a chmod +x ./sdk_tools.sh # create SDK directory mkdir -p ~/proj/rk356x_amp_sdk # unzip ./sdk_tools.sh --unpack -C ~/proj/rk356x_amp_sdk # restore working directory ./sdk_tools.sh --sync -C ~/proj/rk356x_amp_sdk Sync Code Execute the following command to synchronize the code: # Enter the SDK root directory cd ~/proj/rk356x_amp_sdk # Sync .repo/repo/repo sync -c --no-tags .repo/repo/repo start firefly --all You can use the following command to update the SDK later: .repo/repo/repo sync -c --no-tags Directory . ├── app ├── buildroot # Buildroot root filesystem build directory ├── build.sh # Compile script ├── device # Compile related configuration ├── docs # SDK documentation ├── envsetup.sh ├── external ├── hal │ ├── doc # HAL documentation │ ├── html # HAL doxygen generates driver documentation │ ├── lib # HAL driver code │ ├── project # HAL project directory │ ├── test # HAL test code │ └── tools # HAL related tools ├── kernel # Kernel ├── rt-thread # RT-Thread ├── prebuilts # SDK compilation toolchain (including compilation U-Boot, Kernel, HAL compilation toolchain) ├── rkbin ├── tools │ ├── linux # Linux platform burning tool │ ├── mac # Mac platform burning tool │ └── windows # Windows platform burning tools and drivers └── u-boot # U-boot Install dependencies Method 1: Install directly on PC： sudo apt-get install repo git ssh make gcc libssl-dev liblz4-tool \ expect g++ patchelf chrpath gawk texinfo chrpath diffstat binfmt-support \ qemu-user-static live-build bison flex fakeroot cmake \ unzip device-tree-compiler python-pip ncurses-dev python-pyelftools scons \ clang-format astyle libncurses5-dev build-essential python-configparser Method 2: Use Docker Use dockerfile to create a container, build SDK in the container, it will perfectly solve environment problems and isolate with host environments. First install docker in the host PC, you can refer to Docker instructions Create an empty folder as docker work dir, like "~/docker/", then touch a dockerfile with contents: FROM ubuntu:18.04 MAINTAINER firefly "service@t-firefly.com" ENV DEBIAN_FRONTEND=noninteractive RUN apt update RUN apt install -y build-essential crossbuild-essential-arm64 \ bash-completion vim sudo locales time rsync bc python RUN apt install -y repo git ssh libssl-dev liblz4-tool lib32stdc++6 \ expect patchelf chrpath gawk texinfo diffstat binfmt-support \ qemu-user-static live-build bison flex fakeroot cmake scons \ unzip device-tree-compiler python-pip ncurses-dev python-pyelftools \ subversion asciidoc w3m dblatex graphviz python-matplotlib cpio \ libparse-yapp-perl default-jre patchutils swig expect-dev u-boot-tools \ clang-format astyle libncurses5-dev build-essential python-configparser RUN apt update && apt install -y -f # language support RUN locale-gen en_US.UTF-8 ENV LANG en_US.UTF-8 # switch to a no-root user RUN useradd -c 'firefly user' -m -d /home/firefly -s /bin/bash firefly RUN sed -i -e '/\%sudo/ c \%sudo ALL=(ALL) NOPASSWD: ALL' /etc/sudoers RUN usermod -a -G sudo firefly USER firefly WORKDIR /home/firefly Create image cd ~/docker docker build -t sdkcompiler . # sdkcompiler is image name, you can change it, notice that there's a '.' at the end of cmd # This process takes a while, please wait Then create a container # Here we mount host SDK location into the container, so that you can access SDK inside container # source= is host SDK location; target= is a folder inside container, must be an empty folder # ubuntu18 is container name, firefly is container's hostname, you can change them # sdkcompiler is the image created in last step docker run --privileged --mount type=bind,source=/home/fierfly/proj,target=/home/firefly/proj --name="ubuntu18" -h firefly -it sdkcompiler Now you can build SDK inside the container. How to quit container and how to reopen: # Execute "exit" inside container will quit and close it # See all containers (include exited ones) docker ps -a # Start an exited container and attach it docker start ubuntu18 # container name docker attach ubuntu18 Compile Ubuntu firmware This chapter introduces the compilation process of Ubuntu firmware. It is recommended to develop under Ubuntu 18.04 system environment. If you use other system versions, you may need to adjust the compilation environment accordingly. A brief introduction to Ubuntu firmware What is Ubuntu Minimal firmware? What is Ubuntu Desktop firmware? Build Linux-SDK Precompile Configuration There are configuration files for different board in "device/rockchip/rk356x/". Return to SDK root directory to select the configuration file: ./build.sh roc-rk3568-pc-se-amp-ubuntu.mk Download Ubuntu filesystem Download: Ubuntu rootfs(64-bit)，put in SDK path Unzip 7z x ubuntu-aarch64-rootfs.7z Move filesystem to ubuntu_rootfs/ mkdir ubuntu_rootfs mv ubuntu-aarch64-rootfs.img ubuntu_rootfs/rk356x_ubuntu_rootfs.img SDK unified compilation and packaging The RK3568 supports Linux, HAL, and RT-Thread's AMP hybrid architecture design, allowing different cpus to run different systems to meet flexible product design needs. The SDK currently uses the mixed structure model of Linux + RT-Thread by default, in which the CPU running Linux is the primary core, and the CPU running rtt is the secondary core. Cores 0 to 2 run Linux, cores 3 run RT-Thread. Compile configuration The SDK unified compilation configuration script is located in the device/rockchip/rk356x/ directory. The compilation configuration script includes U-Boot, Kernel, HAL, and RT-Thread configurations, as well as AMP-related CPU allocation and memory allocation configurations. You can add or modify configuration script files to meet your compilation requirements. The main AMP configuration files are as follows: rk3568_amp_linux.its # linux+hal's AMP packs ITS configuration files rk3568_amp_linux_rtt.its # linux+rtt's AMP packs ITS configuration files firefly-rk3568-amp.mk # The AMP configuration file corresponding to linux+hal is also the AMP base configuration file firefly-rk3568-linux-rtt.mk # The AMP configuration file for linux+rtt roc-rk3568-pc-se-amp-ubuntu.mk # ROC-RK3568-PC-SEcorresponds to the board-level configuration script file The automatic compilation will perform all compilation and packaging operations to generate RK firmware. ./build.sh Partial compilation u-boot ./build.sh uboot kernel Notice: The kernel device tree is located in the directory kernel/arch/arm64/boot/dts/rockchip/. The device tree rk3568-firefly- roc-pc-se-amp.dts used by it is only compatible with 2GB of memory. If you need to apply it to devices with other memory specifications, you will need to modify its memory description label memory yourself. The hardware resources used by AMP need to be disabled in the kernel device tree and declared under the rockchip_amp label in the rk3568-amp.dtsi device tree. ./build.sh kernel recovery ./build.sh recovery Compile AMP Compile hal or rt-thread to make amp images Use hal Compile hal ./build.sh hal 3 The generated image is hal/project/rk3568/GCC/hal3.bin Use rt-thread Compile rt-thread ./build.sh rtthread 3 The generated image is rt-thread/bsp/rockchip/rk3568-32/Image/rtt3.bin Pack the AMP firmware Pack the AMP images ./build.sh ampimg Use the rockdev/amp/amp.its configuration file to package rockdev/amp/amp.img Others hal or rt-thread uses uart4 as the debug serial port by default with a baud rate of 115200. For more details, please refer to the amp documentation in SDK/docs/amp/manuals/rk3568. Pack the firmware Update links Update each part of the ".img" link to the directory "rockdev/": ./mkfirmware.sh Pack the firmware Pack the firmware, the firmware will be saved to the directory "rockdev/pack/". # Pack RK firmware ./build.sh updateimg Partition table parameter The parameter.txt file contains the partition information of the firmware. Take parameter-amp-ubuntu-fit.txt as an example: path: "device/rockchip/rk356x/parameter-amp-ubuntu-fit.txt" FIRMWARE_VER: 1.0 MACHINE_MODEL: RK3568 MACHINE_ID: 007 MANUFACTURER: RK3568 MAGIC: 0x5041524B ATAG: 0x00200800 MACHINE: 0xffffffff CHECK_MASK: 0x80 PWR_HLD: 0,0,A,0,1 TYPE: GPT CMDLINE: mtdparts=rk29xxnand:0x00002000@0x00004000(uboot),0x00001000@0x00006000(misc),0x00001000@0x00007000(amp),0x00040000@0x00008000(boot:bootable),0x00020000@0x00048000(recovery),0x00010000@0x00068000(backup),0x49dc00@0x00078000(rootfs),-@0x515c00(userdata:grow) uuid:rootfs=614e0000-0000-4b53-8000-1d28000054a9 The CMDLINE attribute is where we are concerned. Take uboot as an example. In 0x00002000@0x00004000(uboot), 0x00004000 is the starting position of the uboot partition, 0x00002000 is the size of the partition, and so on. package-file The package-file is used to determine the required partition image and image path when packaging the firmware, and it needs to be consistent with the parameter.txt. path: "tools/linux/Linux_Pack_Firmware/rockdev/rk356x-amp-ubuntu- package-file" # NAME Relative path # #HWDEF HWDEF package-file package-file bootloader Image/MiniLoaderAll.bin parameter Image/parameter.txt uboot Image/uboot.img misc Image/misc.img amp Image/amp.img boot Image/boot.img recovery Image/recovery.img rootfs Image/rootfs.img userdata RESERVED backup RESERVED Compile Buildroot firmware This chapter introduces the compilation process of Buildroot firmware. It is recommended to develop in the Ubuntu 18.04 system environment. If you use other system versions, you may need to adjust the compilation environment accordingly. Compile SDK Configuration before compilation In the "device/rockchip/rk356x/" directory, there are configuration files of different board types. Return to SDK root directory to select the configuration file: ./build.sh roc-rk3568-pc-se-amp-buildroot.mk SDK unified compilation and packaging The RK3568 supports Linux, HAL, and RT-Thread's AMP hybrid architecture design, allowing different cpus to run different systems to meet flexible product design needs. The SDK currently uses the mixed structure model of Linux + RT-Thread by default, in which the CPU running Linux is the primary core, and the CPU running rtt is the secondary core. Cores 0 to 2 run Linux, cores 3 run RT-Thread. Compile configuration The SDK unified compilation configuration script is located in the device/rockchip/rk356x/ directory. The compilation configuration script includes U-Boot, Kernel, HAL, and RT-Thread configurations, as well as AMP-related CPU allocation and memory allocation configurations. You can add or modify configuration script files to meet your compilation requirements. The main AMP configuration files are as follows: rk3568_amp_linux.its # linux+hal's AMP packs ITS configuration files rk3568_amp_linux_rtt.its # linux+rtt's AMP packs ITS configuration files firefly-rk3568-amp.mk # The AMP configuration file corresponding to linux+hal is also the AMP base configuration file firefly-rk3568-linux-rtt.mk # The AMP configuration file for linux+rtt roc-rk3568-pc-se-amp-ubuntu.mk # ROC-RK3568-PC-SEcorresponds to the board-level configuration script file Fully automatic compilation will perform all compilation and packaging operations to generate complete firmware. ./build.sh Partial compilation Compile u-boot ./build.sh uboot Compile kernel Notice: The kernel device tree is located in the directory kernel/arch/arm64/boot/dts/rockchip/. The device tree rk3568-firefly- roc-pc-se-amp.dts used by it is only compatible with 2GB of memory. If you need to apply it to devices with other memory specifications, you will need to modify its memory description label memory yourself. The hardware resources used by AMP need to be disabled in the kernel device tree and declared under the rockchip_amp label in the rk3568-amp.dtsi device tree. ./build.sh kernel Compile recovery ./build.sh recovery Compile Buildroot root filesystem Compiling the Buildroot root filesystem will generate a compilation output directory in "buildroot/output": ./build.sh buildroot # Note: Make sure to compile the Buildroot root filesystem as a normal user to avoid unnecessary errors. Compile AMP Compile hal or rt-thread to make amp images Use hal Compile hal ./build.sh hal 3 The generated image is hal/project/rk3568/GCC/hal3.bin Use rt-thread Compile rt-thread ./build.sh rtthread 3 The generated image is rt-thread/bsp/rockchip/rk3568-32/Image/rtt3.bin Pack the AMP firmware Pack the AMP images ./build.sh ampimg Use the rockdev/amp/amp.its configuration file to package rockdev/amp/amp.img Others hal or rt-thread uses uart4 as the debug serial port by default with a baud rate of 115200. For more details, please refer to the amp documentation in SDK/docs/amp/manuals/rk3568. Package the firmware Update each part of the mirror link to the "rockdev/" directory: ./mkfirmware.sh Pack the firmware, the generated complete firmware will be saved to the "rockdev/pack/" directory. ./build.sh updateimg Partition description parameter partition table The parameter.txt file contains the partition information of the firmware. Take "parameter-amp-buildroot-fit.txt" as an example: Path: "device/rockchip/rk356x/parameter-amp-buildroot-fit.txt" FIRMWARE_VER: 1.0 MACHINE_MODEL: RK3568 MACHINE_ID: 007 MANUFACTURER: RK3568 MAGIC: 0x5041524B ATAG: 0x00200800 MACHINE: 0xffffffff CHECK_MASK: 0x80 PWR_HLD: 0,0,A,0,1 TYPE: GPT CMDLINE: mtdparts=rk29xxnand:0x00002000@0x00004000(uboot),0x00002000@0x00006000(misc),0x00010000@0x00008000(boot),0x00010000@0x00018000(recovery),0x00010000@0x00028000(backup),0x00040000@0x00038000(oem),0x00c00000@0x00078000(rootfs),-@0x00c78000(userdata:grow) uuid:rootfs=614e0000-0000-4b53-8000-1d28000054a9 The CMDLINE attribute is our focus. Taking uboot as an example, 0x00004000 in 0x00002000@0x00004000(uboot) is the starting position of the uboot partition, 0x00002000 is the size of the partition, and so on. package-file The package-file file is used to determine the required partition image and image path when packaging the firmware, and it needs to be consistent with the parameter.txt file. Path: "tools/linux/Linux_Pack_Firmware/rockdev/rk356x-amp-package- file" package-file package-file bootloader Image/MiniLoaderAll.bin parameter Image/parameter.txt uboot Image/uboot.img misc Image/misc.img amp Image/amp.img boot Image/boot.img recovery Image/recovery.img rootfs Image/rootfs.img oem Image/oem.img userdata Image/userdata.img backup RESERVED