| Renesas R-Car |
| ============= |
| |
| "R-Car" is the nickname for Renesas' system-on-chip (SoC) family for |
| car information systems designed for the next-generation of automotive |
| computing for the age of autonomous vehicles. |
| |
| The scalable R-Car hardware platform and flexible software platform |
| cover the full product range, from the premium class to the entry |
| level. Plug-ins are available for multiple open-source software tools. |
| |
| |
| Renesas R-Car Gen3 evaluation boards: |
| ------------------------------------- |
| |
| +------------+-----------------+-----------------------------+ |
| | | Standard | Low Cost Boards (LCB) | |
| +============+=================+=============================+ |
| | R-Car H3 | - Salvator-X | - R-Car Starter Kit Premier | |
| | | - Salvator-XS | | |
| +------------+-----------------+-----------------------------+ |
| | R-Car M3-W | - Salvator-X | | |
| | | - Salvator-XS | - R-Car Starter Kit Pro | |
| +------------+-----------------+-----------------------------+ |
| | R-Car M3-N | - Salvator-X | | |
| | | - Salvator-XS | | |
| +------------+-----------------+-----------------------------+ |
| | R-Car V3M | - Eagle | - Starter Kit | |
| +------------+-----------------+-----------------------------+ |
| | R-Car V3H | - Condor | - Starter Kit | |
| +------------+-----------------+-----------------------------+ |
| | R-Car D3 | - Draak | | |
| +------------+-----------------+-----------------------------+ |
| |
| `boards info <https://elinux.org/R-Car>`__ |
| |
| The current TF-A port has been tested on the R-Car H3 Salvator-X |
| Soc_id r8a7795 revision ES1.1 (uses a Secure Payload Dispatcher) |
| |
| |
| :: |
| |
| ARM CA57 (ARMv8) 1.5 GHz quad core, with NEON/VFPv4, L1$ I/D |
| 48K/32K, L2$ 2MB |
| ARM CA53 (ARMv8) 1.2 GHz quad core, with NEON/VFPv4, L1$ I/D 32K/32K, |
| L2$ 512K |
| Memory controller for LPDDR4-3200 4GB in 2 channels, each 64-bit wide |
| Two- and three-dimensional graphics engines, |
| Video processing units, |
| 3 channels Display Output, |
| 6 channels Video Input, |
| SD card host interface, |
| USB3.0 and USB2.0 interfaces, |
| CAN interfaces |
| Ethernet AVB |
| PCI Express Interfaces |
| Memories |
| INTERNAL 384KB SYSTEM RAM |
| DDR 4 GB LPDDR4 |
| HYPERFLASH 64 MB HYPER FLASH (512 MBITS, 160 MHZ, 320 MBYTES/S) |
| QSPI FLASH 16MB QSPI (128 MBITS,80 MHZ,80 MBYTES/S)1 HEADER QSPI |
| MODULE |
| EMMC 32 GB EMMC (HS400 240 MBYTES/S) |
| MICROSD-CARD SLOT (SDR104 100 MBYTES/S) |
| |
| |
| Overview |
| -------- |
| On the rcar-gen3 the BOOTROM starts the cpu at EL3; for this port BL2 |
| will therefore be entered at this exception level (the Renesas' ATF |
| reference tree [1] resets into EL1 before entering BL2 - see its |
| bl2.ld.S) |
| |
| BL2 initializes DDR (and on some platforms i2c to interface to the |
| PMIC) before determining the boot reason (cold or warm). |
| |
| During suspend all CPUs are switched off and the DDR is put in backup |
| mode (some kind of self-refresh mode). This means that BL2 is always |
| entered in a cold boot scenario. |
| |
| Once BL2 boots, it determines the boot reason, writes it to shared |
| memory (BOOT_KIND_BASE) together with the BL31 parameters |
| (PARAMS_BASE) and jumps to BL31. |
| |
| To all effects, BL31 is as if it is being entered in reset mode since |
| it still needs to initialize the rest of the cores; this is the reason |
| behind using direct shared memory access to BOOT_KIND_BASE _and_ |
| PARAMS_BASE instead of using registers to get to those locations (see |
| el3_common_macros.S and bl31_entrypoint.S for the RESET_TO_BL31 use |
| case). |
| |
| Depending on the boot reason BL31 initializes the rest of the cores: |
| in case of suspend, it uses a MBOX memory region to recover the |
| program counters. |
| |
| [1] https://github.com/renesas-rcar/arm-trusted-firmware |
| |
| |
| How to build |
| ------------ |
| |
| The TF-A build options depend on the target board so you will have to |
| refer to those specific instructions. What follows is customized to |
| the H3 SiP Salvator-X development system used in this port. |
| |
| Build Tested: |
| ~~~~~~~~~~~~~ |
| RCAR_OPT="LSI=H3 RCAR_DRAM_SPLIT=1 RCAR_LOSSY_ENABLE=1" |
| MBEDTLS_DIR=$mbedtls_src |
| |
| $ MBEDTLS_DIR=$mbedtls_src_tree make clean bl2 bl31 rcar_layout_tool \ |
| PLAT=rcar ${RCAR_OPT} SPD=opteed |
| |
| System Tested: |
| ~~~~~~~~~~~~~~ |
| * mbed_tls: |
| git@github.com:ARMmbed/mbedtls.git [devel] |
| |
| commit 552754a6ee82bab25d1bdf28c8261a4518e65e4d |
| Merge: 68dbc94 f34a4c1 |
| Author: Simon Butcher <simon.butcher@arm.com> |
| Date: Thu Aug 30 00:57:28 2018 +0100 |
| |
| * optee_os: |
| https://github.com/BayLibre/optee_os |
| |
| Until it gets merged into OP-TEE, the port requires Renesas' |
| Trusted Environment with a modification to support power |
| management. |
| commit 80105192cba9e704ebe8df7ab84095edc2922f84 |
| |
| Author: Jorge Ramirez-Ortiz <jramirez@baylibre.com> |
| Date: Thu Aug 30 16:49:49 2018 +0200 |
| plat-rcar: cpu-suspend: handle the power level |
| Signed-off-by: Jorge Ramirez-Ortiz <jramirez@baylibre.com> |
| |
| * u-boot: |
| The port has beent tested using mainline uboot. |
| |
| commit 4cdeda511f8037015b568396e6dcc3d8fb41e8c0 |
| Author: Fabio Estevam <festevam@gmail.com> |
| Date: Tue Sep 4 10:23:12 2018 -0300 |
| |
| * linux: |
| The port has beent tested using mainline kernel. |
| |
| commit 7876320f88802b22d4e2daf7eb027dd14175a0f8 |
| Author: Linus Torvalds <torvalds@linux-foundation.org> |
| Date: Sun Sep 16 11:52:37 2018 -0700 |
| Linux 4.19-rc4 |
| |
| TF-A Build Procedure |
| ~~~~~~~~~~~~~~~~~~~~ |
| |
| - Fetch all the above 4 repositories. |
| |
| - Prepare the AARCH64 toolchain. |
| |
| - Build u-boot using r8a7795_salvator-x_defconfig. |
| Result: u-boot-elf.srec |
| |
| .. code:: bash |
| |
| make CROSS_COMPILE=aarch64-linux-gnu- |
| r8a7795_salvator-x_defconfig |
| |
| make CROSS_COMPILE=aarch64-linux-gnu- |
| |
| - Build atf |
| Result: bootparam_sa0.srec, cert_header_sa6.srec, bl2.srec, bl31.srec |
| |
| .. code:: bash |
| |
| RCAR_OPT="LSI=H3 RCAR_DRAM_SPLIT=1 RCAR_LOSSY_ENABLE=1" |
| |
| MBEDTLS_DIR=$mbedtls_src_tree make clean bl2 bl31 rcar \ |
| PLAT=rcar ${RCAR_OPT} SPD=opteed |
| |
| - Build optee-os |
| Result: tee.srec |
| |
| .. code:: bash |
| |
| make -j8 PLATFORM="rcar" CFG_ARM64_core=y |
| |
| Install Procedure |
| ~~~~~~~~~~~~~~~~~ |
| |
| - Boot the board in Mini-monitor mode and enable access to the |
| Hyperflash. |
| |
| |
| - Use the XSL2 Mini-monitor utility to accept all the SREC ascii |
| transfers over serial. |
| |
| |
| Boot trace |
| ---------- |
| |
| Notice that BL31 traces are not accessible via the console and that in |
| order to verbose the BL2 output you will have to compile TF-A with |
| LOG_LEVEL=50 and DEBUG=1 |
| |
| :: |
| |
| Initial Program Loader(CA57) Rev.1.0.22 |
| NOTICE: BL2: PRR is R-Car H3 Ver.1.1 |
| NOTICE: BL2: Board is Salvator-X Rev.1.0 |
| NOTICE: BL2: Boot device is HyperFlash(80MHz) |
| NOTICE: BL2: LCM state is CM |
| NOTICE: AVS setting succeeded. DVFS_SetVID=0x53 |
| NOTICE: BL2: DDR1600(rev.0.33)NOTICE: [COLD_BOOT]NOTICE: ..0 |
| NOTICE: BL2: DRAM Split is 4ch |
| NOTICE: BL2: QoS is default setting(rev.0.37) |
| NOTICE: BL2: Lossy Decomp areas |
| NOTICE: Entry 0: DCMPAREACRAx:0x80000540 DCMPAREACRBx:0x570 |
| NOTICE: Entry 1: DCMPAREACRAx:0x40000000 DCMPAREACRBx:0x0 |
| NOTICE: Entry 2: DCMPAREACRAx:0x20000000 DCMPAREACRBx:0x0 |
| NOTICE: BL2: v2.0(release):v2.0-rc0-32-gbcda69a |
| NOTICE: BL2: Built : 16:41:23, Oct 2 2018 |
| NOTICE: BL2: Normal boot |
| INFO: BL2: Doing platform setup |
| INFO: BL2: Loading image id 3 |
| NOTICE: BL2: dst=0xe6322000 src=0x8180000 len=512(0x200) |
| NOTICE: BL2: dst=0x43f00000 src=0x8180400 len=6144(0x1800) |
| WARNING: r-car ignoring the BL31 size from certificate,using |
| RCAR_TRUSTED_SRAM_SIZE instead |
| INFO: Loading image id=3 at address 0x44000000 |
| NOTICE: rcar_file_len: len: 0x0003e000 |
| NOTICE: BL2: dst=0x44000000 src=0x81c0000 len=253952(0x3e000) |
| INFO: Image id=3 loaded: 0x44000000 - 0x4403e000 |
| INFO: BL2: Loading image id 4 |
| INFO: Loading image id=4 at address 0x44100000 |
| NOTICE: rcar_file_len: len: 0x00100000 |
| NOTICE: BL2: dst=0x44100000 src=0x8200000 len=1048576(0x100000) |
| INFO: Image id=4 loaded: 0x44100000 - 0x44200000 |
| INFO: BL2: Loading image id 5 |
| INFO: Loading image id=5 at address 0x50000000 |
| NOTICE: rcar_file_len: len: 0x00100000 |
| NOTICE: BL2: dst=0x50000000 src=0x8640000 len=1048576(0x100000) |
| INFO: Image id=5 loaded: 0x50000000 - 0x50100000 |
| NOTICE: BL2: Booting BL31 |
| INFO: Entry point address = 0x44000000 |
| INFO: SPSR = 0x3cd |
| VERBOSE: Argument #0 = 0xe6325578 |
| VERBOSE: Argument #1 = 0x0 |
| VERBOSE: Argument #2 = 0x0 |
| VERBOSE: Argument #3 = 0x0 |
| VERBOSE: Argument #4 = 0x0 |
| VERBOSE: Argument #5 = 0x0 |
| VERBOSE: Argument #6 = 0x0 |
| VERBOSE: Argument #7 = 0x0 |
| |
| |
| U-Boot 2018.09-rc3-00028-g3711616 (Sep 27 2018 - 18:50:24 +0200) |
| |
| CPU: Renesas Electronics R8A7795 rev 1.1 |
| Model: Renesas Salvator-X board based on r8a7795 ES2.0+ |
| DRAM: 3.5 GiB |
| Flash: 64 MiB |
| MMC: sd@ee100000: 0, sd@ee140000: 1, sd@ee160000: 2 |
| Loading Environment from MMC... OK |
| In: serial@e6e88000 |
| Out: serial@e6e88000 |
| Err: serial@e6e88000 |
| Net: eth0: ethernet@e6800000 |
| Hit any key to stop autoboot: 0 |
| => |
