• linux嵌入式学习

    linux开发板

    linux是 单体内核

    qnx 是 微内核(microKernel), 但不是开源的 而是商业闭源

    minix3 也是 微内核(microKernel), 同时是开源的, 从 v3.2.1开始支持arm

    minix3代码量比linux小很多
    minix3 v3.2.1 支持arm
    minix3 arm编译

    jlink :调试 烧写norFlash

    用J-Link烧写u-boot到Nor Flash

    AT91RM9200

    AT91RM9200_Datasheet 此文档中有启动流程描述

    uboot中的比如某个分支有at91rm9200dk

    ARM嵌入式Linux系统开发从入门到精通.pdf ，这本书用的s3c2410

    本书中讲到的 cpu为smdk2410的开发板配置 中的低级初始化

    mini2440资料

    mini2440开发板 可能资料多一些

    mini2440开发板资料 天翼云盘
    mini2440开发板资料: 百度网盘链接：https://pan.baidu.com/s/1vhAqbLljsQ2k0czkIFGNGg提取码：vew2

    mini2440资料 官网
    在这里插入图片描述

    嵌入式硬件设计-JohnCatsoulis
    嵌入式系统 Linux 内核开发实战指南(arm平台)-王洪辉
    ARM 嵌入式 Linux 系统开发从入门到精通
    韦东山嵌入式书

    qemu arm board

    虚拟机中安装32位ubuntuubuntu-16.04.6-desktop-i386.iso，

    ubuntu-16.04.6-desktop-i386.iso是ubuntu发行版中最后一个32位，之后的全部都不再有32位 而只有64位

    准备:

    1. 准备文件: /home/z/embedding/:
    • arm-2014.05-29-arm-none-linux-gnueabi-i686-pc-linux-gnu.tar.bz2
    • gcc-arm-none-eabi-4_8-2014q2-20140609-linux.tar.bz2
    • linux-3.16.tar.xz
    • busybox-1.21.1.tar.bz2

    各自解压

    1. 安装libncurses5-dev, 否则make menuconfig启不了
    apt install libncurses5-dev -y

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    1. /home/z/embedding/env.sh
    INIT_PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
export PATH=/home/z/embedding/arm-2014.05/bin:$INIT_PATH

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    echo “source /home/z/embedding/env.sh” >> ~/.bashrc

    编译linux(vexpress board)

    1. Makefile工具链修改为arm

    /home/z/embedding/linux-3.16/Makefile修改

    大约从257行开始

    ARCH            ?= arm
CROSS_COMPILE   ?= arm-none-linux-gnueabi-


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    1. 编译linux内核
    make  vexpress_defconfig
#/home/z/embedding/linux-3.16/arch/arm/configs/vexpress_defconfig

make menuconfig #这一步可以省略

make zImage
#time make -j 4 zImage #记录该命令消耗时长

make dtbs

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    用busybox制作根文件系统、并挂载根文件系统

    编译busybox 并 生成根文件系统

    1. 修改工具链为arm
    cd /home/z/embedding/busybox-1.21.1/


#方法1:直接改
#Makefile 第164行 第190行:
ARCH ?= arm
CROSS_COMPILE ?= arm-none-linux-gnueabi-

make defconfig
#生成 .config文件



#或者 方法2： 通过界面改:  make menuconfig
make menuconfig
#Busybox Settings --> Build Optiions --> Cross Compiler prefix
#输入arm-none-linux-gnueabi-
#退出, 即生成  .config文件

#查看刚刚的修改:
grep -Hn  arm-none-linux-gnueabi- .config
#.config:65:CONFIG_CROSS_COMPILER_PREFIX="arm-none-linux-gnueabi-"



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    1. 编译、
    #编译
make
#time make -j 4  #耗时大约30秒

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    1. 生成根文件系统(安装、补充其他文件)
    #安装， 生成目录_install
make install
#在_install目录下有
#bin  linuxrc  sbin  usr
#创建其他文件夹
mkdir  dev  etc  mnt  proc  var  tmp  sys  root

#添加动态链接库文件
cp /home/z/embedding/arm-2014.05/arm-none-linux-gnueabi/libc/lib/* /home/z/embedding/busybox-1.21.1/_install/


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    挂载根文件系统

    cd /home/z/embedding/

#1).创建挂载点
mkdir -p rootfs/{dev,etc/init.d,lib}  #这句跟  上文"#创建其他文件夹"  有点部分重复
cp busybox-1.22.1/_install/* -r rootfs/
sudo mknod rootfs/dev/tty1 c 4 1
sudo mknod rootfs/dev/tty2 c 4 2
sudo mknod rootfs/dev/tty3 c 4 3
sudo mknod rootfs/dev/tty4 c 4 4


#2).生成镜像
dd if=/dev/zero of=vexpress_rootfs.ext3 bs=1M count=32

#格式化成ext3文件系统
mkfs.ext3 vexpress_rootfs.ext3

#将文件拷贝到镜像中
sudo mkdir tmpfs
sudo mount -t ext3 vexpress_rootfs.ext3 tmpfs/ -o loop
sudo cp -r rootfs/*  tmpfs/
sudo umount tmpfs



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    安装qemu

    qemu启动内核(基于vexpress board)、根文件系统

    1. 启动
    qemu-system-arm -M vexpress-a9 -m 512M -kernel /home/z/embedding/linux-3.16/arch/arm/boot/zImage -dtb  /home/z/embedding/linux-3.16/arch/arm/boot/dts/vexpress-v2p-ca9.dtb -nographic -append "root=/dev/mmcblk0  console=ttyAMA0" -sd vexpress_rootfs.ext3
#能启动一段路, 最后打印kernel panic停止, 详细打印如下：
"""
WARNING: Image format was not specified for 'vexpress_rootfs.ext3' and probing guessed raw.
         Automatically detecting the format is dangerous for raw images, write operations on block 0 will be restricted.
         Specify the 'raw' format explicitly to remove the restrictions.
pulseaudio: set_sink_input_volume() failed
pulseaudio: Reason: Invalid argument
pulseaudio: set_sink_input_mute() failed
pulseaudio: Reason: Invalid argument
Booting Linux on physical CPU 0x0
Initializing cgroup subsys cpuset
Linux version 3.16.0 (z@xx) (gcc version 4.8.3 20140320 (prerelease) (Sourcery CodeBench Lite 2014.05-29) ) #2 SMP Thu Jun 23 17:19:31 CST 2022
CPU: ARMv7 Processor [410fc090] revision 0 (ARMv7), cr=10c53c7d
CPU: PIPT / VIPT nonaliasing data cache, VIPT nonaliasing instruction cache
Machine model: V2P-CA9
Memory policy: Data cache writeback
CPU: All CPU(s) started in SVC mode.
PERCPU: Embedded 7 pages/cpu @9fbcf000 s7552 r8192 d12928 u32768
Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 130048
Kernel command line: root=/dev/mmcblk0  console=ttyAMA0
PID hash table entries: 2048 (order: 1, 8192 bytes)
Dentry cache hash table entries: 65536 (order: 6, 262144 bytes)
Inode-cache hash table entries: 32768 (order: 5, 131072 bytes)
Memory: 513052K/524288K available (4625K kernel code, 190K rwdata, 1288K rodata, 247K init, 150K bss, 11236K reserved)
Virtual kernel memory layout:
    vector  : 0xffff0000 - 0xffff1000   (   4 kB)
    fixmap  : 0xffc00000 - 0xffe00000   (2048 kB)
    vmalloc : 0xa0800000 - 0xff000000   (1512 MB)
    lowmem  : 0x80000000 - 0xa0000000   ( 512 MB)
    modules : 0x7f000000 - 0x80000000   (  16 MB)
      .text : 0x80008000 - 0x805ce9f8   (5915 kB)
      .init : 0x805cf000 - 0x8060cd80   ( 248 kB)
      .data : 0x8060e000 - 0x8063da80   ( 191 kB)
       .bss : 0x8063da88 - 0x806632a4   ( 151 kB)
SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=4, Nodes=1
Hierarchical RCU implementation.
        RCU restricting CPUs from NR_CPUS=8 to nr_cpu_ids=4.
RCU: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=4
NR_IRQS:16 nr_irqs:16 16
GIC CPU mask not found - kernel will fail to boot.
GIC CPU mask not found - kernel will fail to boot.
L2C: platform modifies aux control register: 0x02020000 -> 0x02420000
L2C: device tree omits to specify unified cache
L2C: DT/platform modifies aux control register: 0x02020000 -> 0x02420000
L2C-310 enabling early BRESP for Cortex-A9
L2C-310 full line of zeros enabled for Cortex-A9
L2C-310 dynamic clock gating disabled, standby mode disabled
L2C-310 cache controller enabled, 8 ways, 128 kB
L2C-310: CACHE_ID 0x410000c8, AUX_CTRL 0x46420001
sched_clock: 32 bits at 24MHz, resolution 41ns, wraps every 178956969942ns
Console: colour dummy device 80x30
Calibrating delay loop... 789.70 BogoMIPS (lpj=3948544)
pid_max: default: 32768 minimum: 301
Mount-cache hash table entries: 1024 (order: 0, 4096 bytes)
Mountpoint-cache hash table entries: 1024 (order: 0, 4096 bytes)
CPU: Testing write buffer coherency: ok
CPU0: thread -1, cpu 0, socket 0, mpidr 80000000
Setting up static identity map for 0x60465ec8 - 0x60465f20
CPU1: failed to boot: -38
CPU2: failed to boot: -38
CPU3: failed to boot: -38
Brought up 1 CPUs
SMP: Total of 1 processors activated.
CPU: All CPU(s) started in SVC mode.
devtmpfs: initialized
VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 0
regulator-dummy: no parameters
NET: Registered protocol family 16
DMA: preallocated 256 KiB pool for atomic coherent allocations
cpuidle: using governor ladder
cpuidle: using governor menu
of_amba_device_create(): amba_device_add() failed (-19) for /memory-controller@100e0000
of_amba_device_create(): amba_device_add() failed (-19) for /memory-controller@100e1000
of_amba_device_create(): amba_device_add() failed (-19) for /watchdog@100e5000
of_amba_device_create(): amba_device_add() failed (-19) for /smb/motherboard/iofpga@7,00000000/sysctl@01000
of_amba_device_create(): amba_device_add() failed (-19) for /smb/motherboard/iofpga@7,00000000/wdt@0f000
hw-breakpoint: debug architecture 0x4 unsupported.
Serial: AMBA PL011 UART driver
10009000.uart: ttyAMA0 at MMIO 0x10009000 (irq = 37, base_baud = 0) is a PL011 rev1
console [ttyAMA0] enabled
1000a000.uart: ttyAMA1 at MMIO 0x1000a000 (irq = 38, base_baud = 0) is a PL011 rev1
1000b000.uart: ttyAMA2 at MMIO 0x1000b000 (irq = 39, base_baud = 0) is a PL011 rev1
1000c000.uart: ttyAMA3 at MMIO 0x1000c000 (irq = 40, base_baud = 0) is a PL011 rev1
3V3: 3300 mV
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 Initialized.
Switched to clocksource arm,sp804
NET: Registered protocol family 2
TCP established hash table entries: 4096 (order: 2, 16384 bytes)
TCP bind hash table entries: 4096 (order: 3, 32768 bytes)
TCP: Hash tables configured (established 4096 bind 4096)
TCP: reno registered
UDP hash table entries: 256 (order: 1, 8192 bytes)
UDP-Lite hash table entries: 256 (order: 1, 8192 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.
hw perfevents: enabled with ARMv7 Cortex-A9 PMU driver, 1 counters available
futex hash table entries: 1024 (order: 4, 65536 bytes)
squashfs: version 4.0 (2009/01/31) Phillip Lougher
jffs2: version 2.2. (NAND) © 2001-2006 Red Hat, Inc.
9p: Installing v9fs 9p2000 file system support
msgmni has been set to 1002
io scheduler noop registered (default)
clcd-pl11x: probe of 10020000.clcd failed with error -22
clcd-pl11x: probe of 1001f000.clcd failed with error -22
VD10: at 1000 mV
VD10_S2: at 1000 mV
VD10_S3: at 1000 mV
VCC1V8: at 1800 mV
DDR2VTT: at 900 mV
VCC3V3: at 3300 mV
VIO: at 3300 mV
40000000.flash: Found 2 x16 devices at 0x0 in 32-bit bank. Manufacturer ID 0x000000 Chip ID 0x000000
Intel/Sharp Extended Query Table at 0x0031
Using buffer write method
40000000.flash: Found 2 x16 devices at 0x0 in 32-bit bank. Manufacturer ID 0x000000 Chip ID 0x000000
Intel/Sharp Extended Query Table at 0x0031
Using buffer write method
Concatenating MTD devices:
(0): "40000000.flash"
(1): "40000000.flash"
into device "40000000.flash"
libphy: smsc911x-mdio: probed
smsc911x 4e000000.ethernet eth0: attached PHY driver [Generic PHY] (mii_bus:phy_addr=4e000000.etherne:01, irq=-1)
smsc911x 4e000000.ethernet eth0: MAC Address: 52:54:00:12:34:56
nxp-isp1760 4f000000.usb: NXP ISP1760 USB Host Controller
nxp-isp1760 4f000000.usb: new USB bus registered, assigned bus number 1
nxp-isp1760 4f000000.usb: Scratch test failed.
nxp-isp1760 4f000000.usb: can't setup: -19
nxp-isp1760 4f000000.usb: USB bus 1 deregistered
usbcore: registered new interface driver usb-storage
mousedev: PS/2 mouse device common for all mice
rtc-pl031 10017000.rtc: rtc core: registered pl031 as rtc0
mmci-pl18x 10005000.mmci: Got CD GPIO #244.
mmci-pl18x 10005000.mmci: Got WP GPIO #245.
mmci-pl18x 10005000.mmci: No vqmmc regulator found
mmci-pl18x 10005000.mmci: mmc0: PL181 manf 41 rev0 at 0x10005000 irq 41,42 (pio)
ledtrig-cpu: registered to indicate activity on CPUs
usbcore: registered new interface driver usbhid
usbhid: USB HID core driver
mmc0: new SD card at address 4567
mmcblk0: mmc0:4567 QEMU! 32.0 MiB
input: AT Raw Set 2 keyboard as /devices/smb/smb:motherboard/smb:motherboard:iofpga@7,00000000/10006000.kmi/serio0/input/input0
 mmcblk0: unknown partition table
aaci-pl041 10004000.aaci: ARM AC'97 Interface PL041 rev0 at 0x10004000, irq 43
aaci-pl041 10004000.aaci: FIFO 512 entries
oprofile: using arm/armv7-ca9
TCP: cubic registered
NET: Registered protocol family 17
9pnet: Installing 9P2000 support
rtc-pl031 10017000.rtc: setting system clock to 2022-06-23 10:27:21 UTC (1655980041)
ALSA device list:
  #0: ARM AC'97 Interface PL041 rev0 at 0x10004000, irq 43
input: ImExPS/2 Generic Explorer Mouse as /devices/smb/smb:motherboard/smb:motherboard:iofpga@7,00000000/10007000.kmi/serio1/input/input2
kjournald starting.  Commit interval 5 seconds
EXT3-fs (mmcblk0): mounted filesystem with writeback data mode
VFS: Mounted root (ext3 filesystem) readonly on device 179:0.
Freeing unused kernel memory: 244K (805cf000 - 8060c000)
Kernel panic - not syncing: No working init found.  Try passing init= option to kernel. See Linux Documentation/init.txt for guidance.
CPU: 0 PID: 1 Comm: swapper/0 Not tainted 3.16.0 #2
[<8001474c>] (unwind_backtrace) from [<80011660>] (show_stack+0x10/0x14)
[<80011660>] (show_stack) from [<804610cc>] (dump_stack+0x84/0x94)
[<804610cc>] (dump_stack) from [<8045e3dc>] (panic+0xa0/0x1f8)
[<8045e3dc>] (panic) from [<8045c9d8>] (cpu_die+0x0/0x80)
[<8045c9d8>] (cpu_die) from [<00000000>] (  (null))
---[ end Kernel panic - not syncing: No working init found.  Try passing init= option to kernel. See Linux Documentation/init.txt for guidance.


"""



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    1. 其他说明

    列出qemu支持的开发板

    #列出qemu支持的开发板:  
qemu-system-arm --machine help  

Supported machines are:
# akita                Sharp SL-C1000 (Akita) PDA (PXA270)
# ast2500-evb          Aspeed AST2500 EVB (ARM1176)
# ast2600-evb          Aspeed AST2600 EVB (Cortex-A7)
# borzoi               Sharp SL-C3100 (Borzoi) PDA (PXA270)
# canon-a1100          Canon PowerShot A1100 IS (ARM946)
# cheetah              Palm Tungsten|E aka. Cheetah PDA (OMAP310)
# collie               Sharp SL-5500 (Collie) PDA (SA-1110)
# connex               Gumstix Connex (PXA255)
# cubieboard           cubietech cubieboard (Cortex-A8)
# emcraft-sf2          SmartFusion2 SOM kit from Emcraft (M2S010)
# fp5280g2-bmc         Inspur FP5280G2 BMC (ARM1176)
# fuji-bmc             Facebook Fuji BMC (Cortex-A7)
# g220a-bmc            Bytedance G220A BMC (ARM1176)
# highbank             Calxeda Highbank (ECX-1000)
# imx25-pdk            ARM i.MX25 PDK board (ARM926)
# integratorcp         ARM Integrator/CP (ARM926EJ-S)
# kudo-bmc             Kudo BMC (Cortex-A9)
# kzm                  ARM KZM Emulation Baseboard (ARM1136)
# lm3s6965evb          Stellaris LM3S6965EVB (Cortex-M3)
# lm3s811evb           Stellaris LM3S811EVB (Cortex-M3)
# mainstone            Mainstone II (PXA27x)
# mcimx6ul-evk         Freescale i.MX6UL Evaluation Kit (Cortex-A7)
# mcimx7d-sabre        Freescale i.MX7 DUAL SABRE (Cortex-A7)
# microbit             BBC micro:bit (Cortex-M0)
# midway               Calxeda Midway (ECX-2000)
# mps2-an385           ARM MPS2 with AN385 FPGA image for Cortex-M3
# mps2-an386           ARM MPS2 with AN386 FPGA image for Cortex-M4
# mps2-an500           ARM MPS2 with AN500 FPGA image for Cortex-M7
# mps2-an505           ARM MPS2 with AN505 FPGA image for Cortex-M33
# mps2-an511           ARM MPS2 with AN511 DesignStart FPGA image for Cortex-M3
# mps2-an521           ARM MPS2 with AN521 FPGA image for dual Cortex-M33
# mps3-an524           ARM MPS3 with AN524 FPGA image for dual Cortex-M33
# mps3-an547           ARM MPS3 with AN547 FPGA image for Cortex-M55
# musca-a              ARM Musca-A board (dual Cortex-M33)
# musca-b1             ARM Musca-B1 board (dual Cortex-M33)
# musicpal             Marvell 88w8618 / MusicPal (ARM926EJ-S)
# n800                 Nokia N800 tablet aka. RX-34 (OMAP2420)
# n810                 Nokia N810 tablet aka. RX-44 (OMAP2420)
# netduino2            Netduino 2 Machine (Cortex-M3)
# netduinoplus2        Netduino Plus 2 Machine (Cortex-M4)
# none                 empty machine
# npcm750-evb          Nuvoton NPCM750 Evaluation Board (Cortex-A9)
# nuri                 Samsung NURI board (Exynos4210)
# orangepi-pc          Orange Pi PC (Cortex-A7)
# palmetto-bmc         OpenPOWER Palmetto BMC (ARM926EJ-S)
# quanta-gbs-bmc       Quanta GBS (Cortex-A9)
# quanta-gsj           Quanta GSJ (Cortex-A9)
# quanta-q71l-bmc      Quanta-Q71l BMC (ARM926EJ-S)
# rainier-bmc          IBM Rainier BMC (Cortex-A7)
# raspi0               Raspberry Pi Zero (revision 1.2)
# raspi1ap             Raspberry Pi A+ (revision 1.1)
# raspi2b              Raspberry Pi 2B (revision 1.1)
# realview-eb          ARM RealView Emulation Baseboard (ARM926EJ-S)
# realview-eb-mpcore   ARM RealView Emulation Baseboard (ARM11MPCore)
# realview-pb-a8       ARM RealView Platform Baseboard for Cortex-A8
# realview-pbx-a9      ARM RealView Platform Baseboard Explore for Cortex-A9
# romulus-bmc          OpenPOWER Romulus BMC (ARM1176)
# sabrelite            Freescale i.MX6 Quad SABRE Lite Board (Cortex-A9)
# smdkc210             Samsung SMDKC210 board (Exynos4210)
# sonorapass-bmc       OCP SonoraPass BMC (ARM1176)
# spitz                Sharp SL-C3000 (Spitz) PDA (PXA270)
# stm32vldiscovery     ST STM32VLDISCOVERY (Cortex-M3)
# supermicrox11-bmc    Supermicro X11 BMC (ARM926EJ-S)
# swift-bmc            OpenPOWER Swift BMC (ARM1176) (deprecated)
# sx1                  Siemens SX1 (OMAP310) V2
# sx1-v1               Siemens SX1 (OMAP310) V1
# tacoma-bmc           OpenPOWER Tacoma BMC (Cortex-A7)
# terrier              Sharp SL-C3200 (Terrier) PDA (PXA270)
# tosa                 Sharp SL-6000 (Tosa) PDA (PXA255)
# verdex               Gumstix Verdex (PXA270)
# versatileab          ARM Versatile/AB (ARM926EJ-S)
# versatilepb          ARM Versatile/PB (ARM926EJ-S)
# vexpress-a15         ARM Versatile Express for Cortex-A15
# vexpress-a9          ARM Versatile Express for Cortex-A9
# virt-2.10            QEMU 2.10 ARM Virtual Machine
# virt-2.11            QEMU 2.11 ARM Virtual Machine
# virt-2.12            QEMU 2.12 ARM Virtual Machine
# virt-2.6             QEMU 2.6 ARM Virtual Machine
# virt-2.7             QEMU 2.7 ARM Virtual Machine
# virt-2.8             QEMU 2.8 ARM Virtual Machine
# virt-2.9             QEMU 2.9 ARM Virtual Machine
# virt-3.0             QEMU 3.0 ARM Virtual Machine
# virt-3.1             QEMU 3.1 ARM Virtual Machine
# virt-4.0             QEMU 4.0 ARM Virtual Machine
# virt-4.1             QEMU 4.1 ARM Virtual Machine
# virt-4.2             QEMU 4.2 ARM Virtual Machine
# virt-5.0             QEMU 5.0 ARM Virtual Machine
# virt-5.1             QEMU 5.1 ARM Virtual Machine
# virt-5.2             QEMU 5.2 ARM Virtual Machine
# virt-6.0             QEMU 6.0 ARM Virtual Machine
# virt-6.1             QEMU 6.1 ARM Virtual Machine
# virt                 QEMU 6.2 ARM Virtual Machine (alias of virt-6.2)
# virt-6.2             QEMU 6.2 ARM Virtual Machine
# witherspoon-bmc      OpenPOWER Witherspoon BMC (ARM1176)
# xilinx-zynq-a9       Xilinx Zynq Platform Baseboard for Cortex-A9
# z2                   Zipit Z2 (PXA27x)

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    arm-none-linux-gnueabi-linux 是32位程序,

    如果在64位Ubuntu上运行, arm-none-linux-gnueabi-linux 则会报错 “arm-none-linux-gnueabi-gcc: No such file or directory”
    解决错误: apt-get install ia32-libs

    分度盘

    步进电机分度盘

    电机书籍

    永磁无刷电机及其驱动技术, 现代无刷直流永磁电动机的原理和设计

    kicad(代替sprint-layout)+Cut2DPro, 视频
    u.com/a/403483476_162758)

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  • 原文地址：https://blog.csdn.net/hfcaoguilin/article/details/125152066