3. Compile Linux AMP firmware¶
3.1. 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.
3.2. 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.
3.2.1. 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
3.2.2. 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
3.2.3. 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
3.2.4. 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
3.3. 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.
3.3.1. A brief introduction to Ubuntu firmware¶
3.3.2. Build Linux-SDK¶
3.3.2.1. 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-amp-ubuntu.mk
3.3.2.2. 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
3.3.2.3. 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.
3.3.2.4. 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-amp-ubuntu.mk # ROC-RK3568-PCcorresponds to the board-level configuration script file
The automatic compilation will perform all compilation and packaging operations to generate RK firmware.
./build.sh
3.3.2.5. 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-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
3.3.2.5.1. Compile AMP¶
Compile hal or rt-thread to make amp images
3.3.2.5.1.1. Use hal¶
Compile hal
./build.sh hal 3
The generated image is hal/project/rk3568/GCC/hal3.bin
3.3.2.5.1.2. Use rt-thread¶
Compile rt-thread
./build.sh rtthread 3
The generated image is rt-thread/bsp/rockchip/rk3568-32/Image/rtt3.bin
3.3.2.5.1.3. 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
3.3.2.5.1.4. 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.
3.3.2.6. 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
3.3.3. Partition table¶
3.3.3.1. 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.
3.3.3.2. 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
3.4. 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.
3.4.1. Compile SDK¶
3.4.1.1. 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-amp-buildroot.mk
3.4.1.2. 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.
3.4.1.3. 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-amp-ubuntu.mk # ROC-RK3568-PCcorresponds to the board-level configuration script file
Fully automatic compilation will perform all compilation and packaging operations to generate complete firmware.
./build.sh
3.4.1.4. 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-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.
3.4.1.4.1. Compile AMP¶
Compile hal or rt-thread to make amp images
3.4.1.4.1.1. Use hal¶
Compile hal
./build.sh hal 3
The generated image is hal/project/rk3568/GCC/hal3.bin
3.4.1.4.1.2. Use rt-thread¶
Compile rt-thread
./build.sh rtthread 3
The generated image is rt-thread/bsp/rockchip/rk3568-32/Image/rtt3.bin
3.4.1.4.1.3. 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
3.4.1.4.1.4. 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.
3.4.1.5. 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
3.4.2. Partition description¶
3.4.2.1. 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.
3.4.2.2. 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