docs/develop: Mass directory restructure.

Now vaguely follows the tree structure of "src", with the exception of
directories that described subsystems spanning more than one "kit" or
"server" (e.g. "media", "midi", "bluetooth") -- these have been left as their
own top-level directory within docs/develop.
This commit is contained in:
Augustin Cavalier
2018-01-10 16:12:14 -05:00
parent cdf0ad6a80
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# Allwinner A10
* http://linux-sunxi.org
# Hardware Information
The A10 is a system-on chip. There are many devices based on it, for example
the CubieBoard and the Rikomagic mk802 (versions I and II).
* ARMv7 Architecture (Cortex-A8)
* Mali 400MP GPU
* CedarX VPU
* SD Card Storage
* 1GB RAM (DDR)
* 4GB NAND Flash
* Video Outputs
* HDMI Video Output
* Ethernet
* USB
# Setting up the Haiku SD card
Not so fun layout here. The A10 boot ROM reads raw blocks from the SD card
(MBR style), so the bootloader can't just be dropped in a FAT32 partition.
* 8KB partition table
* 24KB SPL loader
* 512KB u-boot
* 128KB u-boot environment variables
* 352KB unused
* partition 1 -- FAT32 or ext2 (anything u-boot can read is fine)
* partition 2 -- BeFS, Haiku filesystem, type 'eb'
Note this layout can be a bit different depending on the u-boot version used,
some versions will store the environment in uEnv.txt in the FAT32 partition
instead. Since everything is loaded from the SD Card, we are free to customize
the u-boot or even remove it and get haiku_loader booting directly.
## Boot Partition
### Required Files
* haiku_loader: Haiku Loader
* haiku-floppyboot.tgz: Compressed image with Haiku kernel
# Booting
1. SOC load SPL
2. SPL loads u-boot
2. u-boot loads and run the kernel
SPL is a small binary (24K) loaded from a fixed location on the SD card. It
does minimal hardware initializations, then loads u-boot, also from the SD
card. From there on things go as usual.
In the long term, we can make haiku_loader be an SPL executable on this
platform, if it fits the 24K size limit, or have a custom stage1 that loads it.
For now, u-boot can be an useful debugging tool.
## Script.bin
In order to work on different devices (RAM timings, PIO configs, ...), the
Linux kernels for Allwinner chips use a "script.bin" file. This is loaded to
RAM at a fixed address by u-boot, then the Kernel parses it and uses it to
configure the hardware (similar to FDT).
We should probably NOT use this, and convert the script.bin file to an FDT
instead. The format is known and there are tools to convert the binary file
to an editable text version and back (bin2fex and fex2bin).
This FEX stuff isn't merged in mainline Linux, and lives on as Allwinner
patches. The mainline Linux kernel has some A10 support, rewritten to use
FDT. We may use the FDT files from there for the most common boards.
# Emulation support
qemu 1.0 has a Cubieoard target which emulates this chip.
# Useful links
Arch Linux instructions on creating a bootable SD card (partition layout, etc)
http://archlinuxarm.org/platforms/armv7/allwinner/cubieboard#qt-platform_tabs-ui-tabs2
Linux SunXi: mainline Linux support for the Allwinner chips. Lots of docs on the hardware.
http://linux-sunxi.org/
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# BeagleBone Black
* http://beagleboard.org
* TODO: This is a WIP
# Hardware information (Rev A5A)
* ARMv7 Architecture
* Sitara AM3359AZCZ100 Cortex-A8 CPU @ 1 Ghz
* PowerVR SGX530 3D GPU
* eMMC Onboard Storage 2GB (MMC1)
* SD Card Storage (MMC0)
* 512 MB DDR3L RAM
* Video Outputs
* HDMI Video Output (with audio)
* SMSC LAN8710A Ethernet
# Setting up the Haiku SD card
The BeagleBone Black supports booting from an microSD card while the boot switch is pressed at power on. A MBR file system layout is normally used as seen below. Partition 1 is all that is required to boot an OS.
* partition 1 -- FAT32, bootable flag, type 'c'
* partition 2 -- BeFS, Haiku filesystem, type 'eb'
## Boot Partition
### Required files
* MLO
* u-boot.img: u-Boot image
* uEnv.txt: u-Boot Environment settings
### Optional files
* ID.txt: Unknown
# Compiling
* Create your work directory `mkdir generated.beagle; cd generated.beagle`
* Build an ARM toolchain using `../configure --build-cross-tools arm ../../buildtools --target-board beagle`
* TODO
# Booting
1. If the boot switch is not depressed:
MMC1, MMC0, UART0, USB0
2. If the boot switch is depressed:
SPI0, MMC0, USB0, UART0
# Emulation
The Linaro Fork of QEmu has beagle board (and other OMAP3) support.
https://launchpad.net/qemu-linaro
It seems you get this as the default QEmu install on some, but not all, Ubuntu
versions. For other distros (or Haiku), you'll have to compile it yourself.
# Additional information
* [CircutCo WikiPage](http://circuitco.com/support/index.php?title=BeagleBoneBlack)
* [BeagleBone Black A5A SRM](https://github.com/CircuitCo/BeagleBone-Black/blob/master/BBB_SRM.pdf?raw=true)
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Notes on Efika MX port -*- org -*-
* FDT
http://svnweb.freebsd.org/base/head/sys/boot/fdt/dts/imx51x.dtsi?revision=248557&view=markup
http://svnweb.freebsd.org/base/head/sys/boot/fdt/dts/efikamx.dts?revision=248557&view=markup
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http://www.NetBSD.org/ports/hpcarm/
http://www.ibm.com/developerworks/linux/library/l-ipaq/index.html
http://mstempin.free.fr/linux-ipaq/html_nochunks/Linux-iPAQ-HOWTO-1.1.html#BACKING-UP-BOOTLOADER
http://www.eecs.umich.edu/~panalyzer/
http://www.eecs.umich.edu/~panalyzer/sim-ipaq/sim_ipaq_readme.html
http://blogs.unbolt.net/index.php/brinley/2007/08/04/exploring_hp_ipaq_6515e_bootloader
http://gert-menke.de/jtag-howto/
http://ecos.sourceware.org/docs-3.0/redboot-guide/ipaq.html
http://www.balloonboard.org/balloon/balloon3/distro/test-v0.2/sources/balloonsvn/bootldr295/doc/install-via-osloader.html
RS232:
http://www.kronosrobotics.com/Zeus/IPAQcon.pdf
http://bevhoward.com/serial.htm
http://www.mail-archive.com/[email protected]/msg132363.html
http://web.archive.org/web/20050408063754/http://www.handhelds.org/pipermail/ipaq/2000-August/000061.html
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* Does not support < ARMv5
* Requires support for high vectors
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# Raspberry Pi
* http://raspberrypi.org
# Hardware Information
* ARMv6 Architecture
* Broadcom BCM2835 (SoC)
* Includes ARM1176JZF-S CPU @ 700 MHz
* Includes VideoCore IV GPU
* SD Card Storage
* 256 or 512 MB RAM (depending on revision)
* Video Outputs
* HDMI Video Output
* Composite Video Output
* Ethernet
# Setting up the Haiku SD card
The Raspberry Pi SD card generally uses the MBR file system layout below. Partition 1 is all that is required to boot an OS.
* partition 1 -- FAT32, bootable flag, type 'c'
* partition 2 -- BeFS, Haiku filesystem, type 'eb'
## Boot Partition
### Required Files
* bootcode.bin : 2nd stage bootloader
* start.elf: The GPU binary firmware image
* config.txt: A configuration file read by the Pi to start u-boot.bin
* u-boot.bin: u-boot loader for the Pi 2
* bcm2835-rpi-b.dtb: FDT binary for the Raspberry Pi 2
* haiku_loader_linux.ub: Haiku Loader
* haiku-floppyboot.tgz.ub: Compressed initial ram image with Haiku kernel
### Optional Files
* vlls directory: Additional GPU code, e.g. extra codecs.
* uEnv.txt: u-boot configuration script to automate boot.
# Compiling
* Create your ARM work directory `mkdir generated.arm; cd generated.arm`
* Build an ARM toolchain using `../configure --build-cross-tools arm ../../buildtools --target-board=rpi1`
* Build our loader using `jam -q haiku_loader_linux.ub`
* Build our initial ram disk using `jam -q haiku-floppyboot.tgz.ub`
# Booting
1. SOC finds bootcode.bin
2. bootcode.bin runs start.elf
3. start.elf reads config.txt and start u-boot
4. u-boot.bin starts the Haiku loader
5. Haiku loader boots Haiku kernel
## config.txt Options
kernel=u-boot.bin
## u-boot startup
These will be condensed and automated long-term via uEnv.txt :-)
* `fatload mmc 0 ${fdt_addr_r} bcm2835-rpi-b.dtb`
* `fdt addr ${fdt_addr_r}`
* `fatload mmc 0 ${ramdisk_addr_r} haiku-floppyboot.tgz.ub`
* `fatload mmc 0 ${kernel_addr_r} haiku_loader_linux.ub`
* `bootm ${kernel_addr_r} ${ramdisk_addr_r} ${fdt_addr_r}`
# Additional Information
* [Latest Raspberry Pi firmware](http://github.com/raspberrypi/firmware/tree/master/boot)
* [config.txt options](http://www.elinux.org/RPiconfig)
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# Raspberry Pi 2
* http://raspberrypi.org
# Hardware Information
* ARMv7 Architecture
* Broadcom BCM2836 (SoC)
* Includes Quad ARM1176JZF-S CPU @ 900 MHz
* Includes VideoCore IV GPU
* SD Card Storage
* 1 GB RAM
* Video Outputs
* HDMI Video Output
* Composite Video Output
* Ethernet
# Setting up the Haiku SD card
The Raspberry Pi SD card generally uses the MBR file system layout below. Partition 1 is all that is required to boot an OS.
* partition 1 -- FAT32, bootable flag, type 'c'
* partition 2 -- BeFS, Haiku filesystem, type 'eb'
## Boot Partition
### Required Files
* bootcode.bin : 2nd stage bootloader
* start.elf: The GPU binary firmware image
* config.txt: A configuration file read by the Pi to start u-boot.bin
* u-boot.bin: u-boot loader for the Pi 2
* bcm2836-rpi-2-b.dtb: FDT binary for the Raspberry Pi 2
* haiku_loader_linux.ub: Haiku Loader
* haiku-floppyboot.tgz.ub: Compressed initial ram image with Haiku kernel
### Optional Files
* vlls directory: Additional GPU code, e.g. extra codecs.
* uEnv.txt: u-boot configuration script to automate boot.
# Compiling
* Create your ARM work directory `mkdir generated.arm; cd generated.arm`
* Build an ARM toolchain using `../configure --build-cross-tools arm ../../buildtools --target-board=rpi2`
* Build our loader using `jam -q haiku_loader_linux.ub`
* Build our initial ram disk using `jam -q haiku-floppyboot.tgz.ub`
# Booting
1. SOC finds bootcode.bin
2. bootcode.bin runs start.elf
3. start.elf reads config.txt and start u-boot
4. u-boot.bin starts the Haiku loader
5. Haiku loader boots Haiku kernel
## config.txt Options
kernel=u-boot.bin
## u-boot startup
These will be condensed and automated long-term via uEnv.txt :-)
* `fatload mmc 0 ${fdt_addr_r} bcm2836-rpi-2-b.dtb`
* `fdt addr ${fdt_addr_r}`
* `fatload mmc 0 ${ramdisk_addr_r} haiku-floppyboot.tgz.ub`
* `fatload mmc 0 ${kernel_addr_r} haiku_loader_linux.ub`
* `bootm ${kernel_addr_r} ${ramdisk_addr_r} ${fdt_addr_r}`
# Additional Information
* [Latest Raspberry Pi firmware](http://github.com/raspberrypi/firmware/tree/master/boot)
* [config.txt options](http://www.elinux.org/RPiconfig)
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* Fix pre-ARMv7 support
Currently the cross-tools are compiled to default to ARMv7, Cortex-A8, and
hardware floating point. This works around the missing atomic support, see
below. This should be done by setting the -mcpu,-march and -mfloat-abi
switches at build time, however, they aren't passed on to haikuporter
during the bootstrap build, leading to the ports failing to find the
gcc atomic ops again.
* Determine how to handle atomic functions on ARM.
GCC inlines are not supported, since the instructionset is ill-equiped for
this on older (pre-ARMv7) architectures. We possibly have to do something
similar to the linux kernel helper functions for this....
On ARMv7 and later, this is not an issue. Not sure about ARMv6, we may get
it going there. ARMv5 definitely needs us to write some code, but is it
worth the trouble?
* Fix multilib support
ARM-targetting versions of gcc are usually built with multilib support, to
allow targetting architectures with or without FPU, and using either ARM
or Thumb instructions. This bascally means a different libgcc and libstdc++
are built for each combination.
The cross-tools can be built with multilib support. However, we do some
tricks to get a separate libgcc and libstdc++ for the kernel (without C++11
threads support, as that would not build in the kernel). Building this lib
is not done in a multilib-aware way, so you get one only for the default
arch/cpu/abi the compiler is targetting. This is good enough, as long as that
arch is the one we want to use for the kernel...
Later on, the bootstrap build of the native gcc compiler will fail, because
it tries to build its multilib library set by linking against the different
versions of libroot (with and without fpu, etc). We only build one libroot,
so this also fails.
* Figure out how to get page flags (modified/accessed) and implement it ;)
use unmapped/read-only mappings to trigger soft faults
for tracking used/modified flags for ARMv5 and ARMv6
* Fix serial port mapping. Currently kernel uses the haiku_loader identity
mapping for it, but this lives in user virtual address space...
(Need to not use identity mapping in haiku_loader but just
map_physical_memory() there too so it can be handed over without issues).
* Seperate ARM architecture/System-On-Chip IP code. Needed very early on
(Interrupt Controller, Timer IP block). Should use FDT for this too.
* Use FDT to remove all the seperate board definitions in the build. Use a
"minimal ARM architecture version" as the compile flag for ARM support.
This to be able to optimize a kernel build for a specific SoC (or family).
* KDL disasm module.
cf.
http://fxr.watson.org/fxr/source/arch/arm/arm/disassem.c?v=NETBSD
* Add KDL hangman to the boot floppy image for more enjoyment during porting....
* Userland...........
* Bootloader TODOs:
- Better handling of memory ranges. Currently no checks are done, and
memory is assumed to be a single contiguous range, and the "input"
ranges for mmu_init are setup, but never considered.
- Allocate the pagetable range using mmu_allocate() instead of identity
mapping it. That way, there's a bit more flexibility in where to place
it both physically and virtually. This will need a minor change on the
kernel side too (in the early pagetable allocator).
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* FDT
http://www.denx.de/wiki/U-Boot/UBootFdtInfo
http://wiki.freebsd.org/FlattenedDeviceTree#Supporting_library_.28libfdt.29
http://elinux.org/images/4/4e/Glikely-powerpc-porting-guide.pdf
http://ols.fedoraproject.org/OLS/Reprints-2008/likely2-reprint.pdf
http://www.bsdcan.org/2010/schedule/events/171.en.html
http://www.devicetree.org/ (unofficial bindings)
http://www.devicetree.org/Device_Tree_Usage
http://elinux.org/Device_Trees
* OF
http://www.openfirmware.info/Bindings
* Floating Point; VFP
https://wiki.debian.org/ArmHardFloatPort/VfpComparison
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- optimization: remove M68KPagingStructures[*]::UpdateAllPageDirs() and just allocate all the kernel page root entries at boot and be done with it. It's not very big anyway.
- possibly other optimizations in the VM code due to not supporting SMP?
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http://wandel.ca/homepage/execdis/
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Subject: Atari ST executables
From: DaFi <[email protected]>
The specs for Atari ST executables (was listed as requested on www.wotsit.demon.co.uk/wanted.htm)...
applies for TOS, PRG, TTP, PRX, GTP, APP, ACC, ACX (different suffixes indicate different behavior of the program, i.e. TOS and TTP may not use the GEM GUI, while all the others may; only TTP and GTP can be called with parameters; ACC may be installed as desktop accessories; PRX and ACX mean the programs were disabled.
file structure:
[2] WORD PRG_magic - magic value 0x601a
[4] LONG PRG_tsize - size of text segment
[4] LONG PRG_dsize - size of data segment
[4] LONG PRG_bsize - size of bss segment
[4] LONG PRG_ssize - size of symbol table
[4] LONG PRG_res1 - reserved
[4] LONG PRGFLAGS - bit vector that defines additional process characteristics, as follows:
Bit 0 PF_FASTLOAD - if set, only the BSS area is cleared, otherwise,
the program´s whole memory is cleared before loading
Bit 1 PF_TTRAMLOAD - if set, the program will be loaded into TT RAM
Bit 2 PF_TTRAMMEM - if set, the program will be allowed to allocate
memory from TT RAM
Bit 4 AND 5 as a two bit value with the following meanings:
0 PF_PRIVATE - the processes entire memory space is considered private
1 PF_GLOBAL - the processes memory will be r/w-allowed for others
2 PF_SUPER - the memory will be r/w for itself and any supervisor proc
3 PF_READ - the memory will be readable by others
[2] WORD ABSFLAG - is NON-ZERO, if the program does not need to be relocated
is ZERO, if the program needs to be relocated
note: since some TOS versions handle files with ABSFLAG>0 incorrectly,
this value should be set to ZERO also for programs that need to be
relocated, and the FIXUP_offset should be set to 0.
From there on... (should be offset 0x1c)
[PRG_tsize] TEXT segment
[PRG_dsize] DATA segment
[PRG_ssize] Symbol table
[4] LONG FIXUP_offset - first LONG that needs to be relocated (offset to beginning of file)
From there on till the end of the file...
FIXUP table, with entries as follows:
[1] BYTE value - with value as follows:
value=0 end of list
value=1 advance 254 bytes
value=2 to value=254 (only even values!) advance this many bytes and
relocate the LONG found there
That´s it. You made it through to EOF.
A final note about fixing up (relocating) an executable: (pseudo-code)
The long value FIXUP_offset tells you your start adress. Let´s call it "adr". So, now, that
you have adr, read the first byte of the table.
(*) loop
- if it´s 0, stop relocating -> you´re done!
- if it´s 1, add 254 to adr and read the next byte, jump back to the asterisk (*)
- if it´s any other even value, add the value to your adr, then relocate the LONG at adr.
(i.e. add the adress of the LONG to its value)
dafi
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http://toshyp.atari.org/en/index.html
http://www.lysator.liu.se/~celeborn/sync/atari/misc.html
http://www.lysator.liu.se/~celeborn/sync/atari/ATARI/F30.ZIP
http://www.lysator.liu.se/~celeborn/sync/atari/ATARI/FALCLIB6.ZIP
http://www.lysator.liu.se/~celeborn/sync/atari/ATARI/FALCREGS.ZIP
http://fxr.watson.org/fxr/source/include/asm-m68k/atarihw.h?v=linux-2.4.22
http://lxr.linux.no/linux+v2.6.27/arch/m68k/atari/config.c#L664
http://www.atari-forum.com/wiki/index.php/MFP_MK68901
http://ftp.netbsd.org/pub/NetBSD/NetBSD-current/src/sys/arch/atari/stand/xxboot/ahdi-xxboot/xxboot.ahdi.S
AHDI args
http://ftp.netbsd.org/pub/NetBSD/NetBSD-current/src/sys/arch/atari/stand/xxboot/wdboot/wdboot.S
http://ftp.netbsd.org/pub/NetBSD/NetBSD-current/src/sys/arch/atari/stand/xxboot/sdboot/sdboot.S
http://ftp.netbsd.org/pub/NetBSD/NetBSD-current/src/sys/arch/atari/stand/xxboot/fdboot/fdboot.S
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Notes on a possible BeBox Haiku port -*- org -*-
* references
http://www.netbsd.org/ports/bebox/
http://netbsd.2816.n7.nabble.com/BeBox-memory-configuration-td278318.html
** QEMU target
http://qemu-project.org/Features/BeBox
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http://www.linux-mips.org/wiki/Common_Firmware_Environment
http://www.broadcom.com/support/communications_processors/downloads.php
http://www.broadcom.com/docs/SiByte/README-1.4.2.txt
http://wiki.openwrt.org/doc/techref/bootloader/cfe
http://amigaos.net/content/2/what%E2%80%99s-new
http://lguohan.blogspot.com/2010/03/embedded-powerpc.html
@@ -0,0 +1,11 @@
http://www.debian.org/releases/stable/powerpc/ch05s01.html.en
http://www.kernelthread.com/mac/osx/arch_boot.html
http://playground.sun.com/1275/mejohnson/
http://homepages.gold.ac.uk/suzanne/startup.html
http://www.netbsd.org/ports/macppc/SystemDisk-tutorial/
http://www.netneurotic.net/mac/openfirmware.html
http://www.netbsd.org/ports/macppc/faq.html
http://mail-index.netbsd.org/port-macppc/1999/03/21/0001.html
http://mail-index.netbsd.org/port-macppc/1999/06/25/0006.html
http://ps-2.kev009.com/solinno.co.uk/7043-140/files/docs/ {OF,PReP}
http://www.openfirmware.org/1275/bindings/chrp/
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Notes on Sam460ex Haiku port -*- org -*-
* U-Boot commands
** no-fdt no-initrd
# (seems the U-Boot input buffer is quite limited, can't paste much more on single line in minicom)
setenv ipaddr 192.168.4.100; tftpboot 0x4000000 192.168.4.2:haiku_loader_linux.ub; bootm 0x4000000
** with FDT and tgz as initrd
setenv ipaddr 192.168.4.100
tftpboot 0x4000000 192.168.4.2:haiku_loader_linux.ub
tftpboot 0x8000000 192.168.4.2:haiku_initrd.ub
tftpboot 0xc000000 192.168.4.2:sam460ex.dtb
fdt addr 0xc000000
fdt header
bootm 0x4000000 0x8000000 0xc000000 plop
** for environment:
setenv booth1 'setenv ipaddr 192.168.4.100; tftpboot 0x4000000 192.168.4.2:haiku_loader_linux.ub'
setenv booth2 'tftpboot 0x8000000 192.168.4.2:haiku_initrd.ub'
setenv booth3 'tftpboot 0xc000000 192.168.4.2:sam460ex.dtb'
setenv booth4 'bootm 0x4000000 0x8000000 0xc000000 plop'
setenv booth 'run booth1; run booth2; run booth3; run booth4'
saveenv
run booth
* TODO U-Boot API?
** TODO move Partenope hack to proper official U-Boot API?
** TODO reserved regs?
BoardSetup +=:?
TARGET_BOOT_CCFLAGS += -ffixed-r2 -ffixed-r14 -ffixed-r29 ;
TARGET_BOOT_C++FLAGS += -ffixed-r2 -ffixed-r14 -ffixed-r29 ;
* Other ports
** AROS port
https://www.gitorious.org/aros/aros/commits/sam460
** Linux port
http://kernel.org/doc/ols/2003/ols2003-pages-340-350.pdf
** NetBSD
https://wiki.netbsd.org/users/rkujawa/sam4x0/
* PPC
** Classic
http://class.ee.iastate.edu/cpre211/labs/quickrefPPC.html
http://www.ibm.com/developerworks/library/l-ppc/
http://www.csd.uwo.ca/~mburrel/stuff/ppc-asm.html
** Book-E
http://www.linux-kvm.org/page/PowerPC_Book_E_MMU
http://wiki.freebsd.org/powerpc/BookE
http://en.wikipedia.org/wiki/Memory_management_unit#PowerPC
** ePAPR
https://www.power.org/wp-content/uploads/2012/06/Power_ePAPR_APPROVED_v1.1.pdf
** 440
http://elinux.org/Book_E_and_PPC_440
*** amcc 4x0
http://c0ff33.net/drop/PPC440_UM2013.pdf
http://www.embeddeddeveloper.com/assets/processors/amcc/datasheets/PP460EX_DS2063.pdf
*** Freescale 440 (different mmu!!)
http://www.freescale.com/files/32bit/doc/white_paper/POWRPCARCPRMRM.pdf
* FDT
http://www.denx.de/wiki/U-Boot/UBootFdtInfo
http://wiki.freebsd.org/FlattenedDeviceTree#Supporting_library_.28libfdt.29
(see also arm docs)
** Sam440 dts
http://lxr.linux.no/linux+v3.4/arch/powerpc/boot/dts/sam440ep.dts
** Sam460ex dts: identical to amcc,Canyonlands !?
http://www.denx.de/wiki/view/DULG/Appendix#Section_13.1.
* OF framebuffer
(not really usable from U-Boot (yet?))
http://www.feedface.com/howto/forth.html
http://mail-index.netbsd.org/port-macppc/2004/12/13/0046.html
http://lists.freebsd.org/pipermail/svn-src-user/2012-January/004806.html
http://www.openfirmware.info/Bindings
* TODO kdebug/disasm/ppc
http://code.google.com/p/ppcd/