Jetson TK1 board support
David Rayson
drayson at andrew.cmu.edu
Tue Nov 18 19:31:58 UTC 2014
Thanks -- it works for me now! I added a driver for the RTC (although it's
still not super useful without being battery-backed); I'll send patches
later today. Would it make sense to set up a repository somewhere to put
this in instead of just sending around patches?
--David
On Fri, Nov 14, 2014 at 3:58 PM, Weiß, Dr. Jürgen <weiss at uni-mainz.de>
wrote:
> The Ethernet works quite well. But there has been a change in a more
> recent version of u-boot which did not initialize the interrupt
> routing of the pcie bridge. So you do not get receive interrupts.
>
> I put more recent patches for the jetson tk1 board to
>
> http://www.staff.uni-mainz.de/weiss/jetson-tk1-20141114.tgz
>
> New changes to u-boot:
> (diff to git://nv-tegra.nvidia.com/3rdparty/u-boot.git):
> device enumeration through the u-boot API did only return the
> first device of each type.
>
> New changes to the FreeBSD kernel:
> (diff to FreeBSD current):
> better initialize pcie bridge interrupt routing.
> change cpu clock to 2 GHz (about 3 times faster)
> SDHCI support. Tested only with non-highspeed cards.
> changed cpu_reset to return to boot loader (u-boot).
>
> Regards
>
> Juergen
>
> Juergen Weiss |Universitaet Mainz, Zentrum fuer Datenverarbeitung,
> weiss at uni-mainz.de |55099 Mainz, Tel: +49(6131)39-26361, FAX:
> +49(6131)39-26407
>
>
> > -----Original Message-----
> > From: David Rayson [mailto:drayson at andrew.cmu.edu]
> > Sent: Friday, November 14, 2014 8:29 AM
> > To: Weiß, Dr. Jürgen
> > Cc: freebsd-arm at freebsd.org
> > Subject: Re: Jetson TK1 board support
> >
> > How well does the ethernet support work for you? When I try to use it,
> packets are sent
> > successfully, but no packets are received (usually). I think there
> might be some sort of
> > odd race condition: if I break into the debugger, let it sit for a
> while, then continue,
> > it will start to (very intermittently) receive a packet every now and
> then (typically
> > after a watchdog timeout message from the ethernet driver). Any idea
> what could be going
> > on there?
> >
> >
> > --David
> >
> >
> > On Fri, Oct 3, 2014 at 9:33 AM, Weiß, Dr. Jürgen <weiss at uni-mainz.de>
> wrote:
> >
> >
> > If you enable the sdhci controller(s) in the fdt, the controllers
> and
> > the cards are (at least partially) recognized. Read data transfers
> > from the sd card slot return only data bytes with zero contents.
> > The quirk in the fdt should disable DMA. The transfers are done
> > in pio mode.
> >
> > U-boot should already have initialized the controllers. But the
> > generic sdhci driver tries at least to set frequency and bus width
> > according to the cards present. For the EMMC it certainly does
> > not know how to handle 8 bit transfers without further help
> > from a tegra specific driver extensions.
> >
> > Juergen
> >
> > Juergen Weiss |Universitaet Mainz, Zentrum fuer
> Datenverarbeitung,
> > weiss at uni-mainz.de |55099 Mainz, Tel: +49(6131)39-26361
> <tel:%2B49%286131%2939-26361>
> > , FAX: +49(6131)39-26407 <tel:%2B49%286131%2939-26407>
> >
> > > -----Original Message-----
> > > From: David Rayson [mailto:drayson at andrew.cmu.edu]
> > > Sent: Thursday, October 02, 2014 11:54 PM
> > > To: Weiß, Dr. Jürgen
> > > Cc: freebsd-arm at freebsd.org
> > > Subject: Re: Jetson TK1 board support
> > >
> >
> > > How much work do you think would be needed to get the SD
> controller working? Would
> > it
> > > simply be a matter of doing the appropriate initialization
> (wouldn't U-Boot do this
> > > already even?), enabling it in the device tree, and using the
> standard FreeBSD
> > SDHCI
> > > driver, or is there something more complicated that would need
> to be done?
> > >
> > >
> > > (This would probably be simple to test, but I don't have access
> to the hardware
> > right now)
> > >
> > >
> > > --David
> > >
> > >
> > > On Fri, Sep 26, 2014 at 4:39 PM, Weiß, Dr. Jürgen <
> weiss at uni-mainz.de> wrote:
> > >
> > >
> > > Hi,
> > >
> > > sorry, I did not have any time during the week.
> > >
> > > I just sent a mail to the list with a link to my changes.
> > >
> > > Only serial, USB2 and PCIe/Ethernet hardware is working -
> so no
> > > SATA.
> > >
> > > The drivers rely on u-boot to initialize the hardware.
> While this
> > > is ok for pinmux, other initializations should be done by
> the
> > > drivers.
> > >
> > > The interrupt handling for PCIe is rather ad hoc. The
> interrupt
> > > routing should honor the FDT description.
> > >
> > > The Tegra platform has a GIC with extensions for interrupt
> > > routing. I just made a copy of the GIC code end extended it
> > > in a few cases. There should probably be a mechanism to do
> > > this without duplicating code.
> > >
> > > I changed some non tegra files to get FreeBSD running on
> the
> > > hardware. There should be better solutions, which can be
> merged
> > > back to the FreeBSD source tree. For example the problem
> > > with cache coherency due to aggressive L2 prefetch awaits
> > > a real solution.
> > >
> > > There is no code to change the cpu clock yet.
> > >
> > > There is no support for SDHCI or EMMC.
> > >
> > > So I would consider this a first step, which allows to do
> > > native development on the platform.
> > >
> > > Besides that, the kernel seems to be quite stable - at
> least with
> > > the compiles I did.
> > >
> > > Regards
> > >
> > > Juergen
> > >
> > > Juergen Weiss |Universitaet Mainz, Zentrum fuer
> Datenverarbeitung,
> >
> > > weiss at uni-mainz.de |55099 Mainz, Tel: +49(6131)39-26361
> > <tel:%2B49%286131%2939-26361> <tel:%2B49%286131%2939-26361>
> > > , FAX: +49(6131)39-26407 <tel:%2B49%286131%2939-26407>
> <tel:%2B49%286131%2939-
> > 26407>
> >
> > >
> > >
> > > > -----Original Message-----
> > > > From: owner-freebsd-arm at freebsd.org [mailto:
> owner-freebsd-arm at freebsd.org]
> > On
> > > Behalf Of
> > > > David Rayson
> > > > Sent: Wednesday, September 24, 2014 9:25 AM
> > > > To: freebsd-arm at freebsd.org
> > > > Subject: Re: Jetson TK1 board support
> > > >
> > > > Hi,
> > > >
> > > > What other work would be useful to get this port working
> well? I might
> > > > be interested in working on improving it, but first I
> want to make sure
> > > > I have a clear sense of what's been done so far (and how
> stable/not it
> > > > is) and what still remains to be done.
> > > >
> > > > --David
> > > >
> > > > > Hi,
> > > > >
> > > > > I have a rather rough port of FreeBSD current on arm
> to Jetson TK1. I
> > > > > used Stephen Warren's tegra u-boot sources, which
> initialize and
> > configure
> > > > > USB and PCIe.
> > > > >
> > > > > So SMP, USB and the onboard PCIe Ethernet adapter work.
> > > > >
> > > > > After Ian's changes to busdma_machdep-v6 (r269212) I
> had problems with
> > > > > cache coherency with the Ethernet adapter. Seems this
> is due to the
> > aggressive
> > > > > L2 prefetcher of Cortex A15. Disabling L2 prefetch
> does help, as well as
> > > > > invalidating the cache a second time after the dma
> transfer. I'm not
> > > > > sure what the correct solution to this problem is. I
> wonder how
> > > > > other Cortex A15 platforms (exynos5) handle this.
> > > > >
> > > > > I will probably be able to do some cleanups and put
> patches on the web
> > > > > within a week.
> > > > >
> > > > > Regards
> > > > >
> > > > > Juergen
> > > > >
> > > > > Juergen Weiss |Universitaet Mainz, Zentrum fuer
> Datenverarbeitung,
> > > > > weiss at uni-mainz.de
> > <http://lists.freebsd.org/mailman/listinfo/freebsd-arm>
> > > |55099
> >
> > > > Mainz, Tel: +49(6131)39-26361
> <tel:%2B49%286131%2939-26361>
> > <tel:%2B49%286131%2939-26361> , FAX: +49(6131)39
> <tel:%2B49%286131%2939> -
> > > 26407 <tel:%2B49%286131%2939-26407>
> >
> > > > >
> > > > > >/ -----Original Message-----
> > > > > />/ From:owner-freebsd-arm at freebsd.org
> > > > <http://lists.freebsd.org/mailman/listinfo/freebsd-arm>
> [mailto:owner-
> > freebsd-arm
> > > at
> > > > freebsd.org <
> http://lists.freebsd.org/mailman/listinfo/freebsd-arm>] On
> > Behalf Of
> > > > > />/ Ian Lepore
> > > > > />/ Sent: Sunday, September 21, 2014 3:44 PM
> > > > > />/ To: Lundberg, Johannes
> > > > > />/ Cc:freebsd-arm at freebsd.org
> > > <http://lists.freebsd.org/mailman/listinfo/freebsd-
> > > > arm>
> > > > > />/ Subject: Re: Jetson TK1 board support
> > > > > />/
> > > > > />/ On Sun, 2014-09-21 at 16:45 +0900, Lundberg,
> Johannes wrote:
> > > > > />/ > Great!
> > > > > />/ >
> > > > > />/ > What I've done so far is
> > > > > />/ >
> > > > > />/ > - build and patch (enable API) u-boot-nvidia on
> freebsd (i think i
> > got it
> > > > > />/ > fromgit://
> nv-tegra.nvidia.com/3rdparty/u-boot.git, the normal u-
> > boot
> > > > > />/ > wouldn't work...)
> > > > > />/ > - flash u-boot-dtb-tegra.img onto the board's
> mmc using nvidia's
> > flash
> > > tool
> > > > > />/ > on ubuntu
> > > > > />/ > - build an image using crochet and dd to sd
> card (so far I copied
> > the
> > > > > />/ > beaglebone setup, just to get a ubldr and a
> kernel file)
> > > > > />/ >
> > > > > />/ >
> > > > > />/ > From u-boot I can see all devices. I load ubldr
> with
> > > > > />/ > fatload mmc 1:1 0x80200000 ubldr
> > > > > />/ > bootelf 0x80200000
> > > > > />/ >
> > > > > />/ > ubldr load fine but, from ubldr I can only see
> the mmc 0 and net
> > devices.
> > > > > />/ > There's no sd card (mmc 1), and no ufs
> partition..
> > > > > />/ >
> > > > > />/ >
> > > > > />/ >
> > > > > />/ >
> > > > > />/ > --
> > > > > />/ > Johannes Lundberg
> > > > > />/ > BRILLIANTSERVICE CO., LTD.
> > > > > />/ >
> > > > > />/ > On Fri, Sep 19, 2014 at 8:25 PM, John Howie
> <john at thehowies.com
> > > > <http://lists.freebsd.org/mailman/listinfo/freebsd-arm>>
> wrote:
> > > > > />/ >
> > > > > />/ > > Hi all,
> > > > > />/ > >
> > > > > />/ > > I am up for testing and supporting this
> board. I ordered and
> > received
> > > > > />/ > > mine, but have not really had a chance to use
> it due to work to-
> > date.
> > > The
> > > > > />/ > > good news is the next few months I will have
> bandwidth.
> > > > > />/ > >
> > > > > />/ > > Regards,
> > > > > />/ > >
> > > > > />/ > > John
> > > > > />/ > >
> > > > > />/ > >
> > > > > />/ > > On 9/19/14, 12:15 PM, "Lundberg, Johannes"
> > > > > />/ > > <johannes at brilliantservice.co.jp
> > > > <http://lists.freebsd.org/mailman/listinfo/freebsd-arm>>
> wrote:
> > > > > />/ > >
> > > > > />/ > > >Hi
> > > > > />/ > > >
> > > > > />/ > > >I started working on adding the Jetson TK1
> board to Crochet. Is
> > there
> > > any
> > > > > />/ > > >work in progress on this?
> > > > > />/ > > >I guess there is quite a lot of work that
> has to been done to
> > get full
> > > > > />/ > > >support for it in the kernel as well..
> > > > > />/ > > >
> > > > > />/ > > >Best regards
> > > > > />/ > > >--
> > > > > />/ > > >Johannes Lundberg
> > > > > />/ > > >
> > > > > />/
> > > > > />/ You may have to change some u-boot options to
> support multiple
> > mmc/sd
> > > > > />/ interfaces. Look in the config header for
> > CONFIG_SYS_MMC_MAX_DEVICE; if
> > > > > />/ it's not there you may need to add it. For
> wandboard I also had to
> > add
> > > > > />/ a freescale-specific one,
> CONFIG_SYS_FSL_USDHC_NUM, so there may be
> > > > > />/ something like that you need to find as well.
> > > > > />/
> > > > > />/ -- Ian
> > > > > />/
> > > > > />/
> > > > > />/ _______________________________________________
> > > > > />/ freebsd-arm at freebsd.org
> > > <http://lists.freebsd.org/mailman/listinfo/freebsd-arm>
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