IMX6ULL-移植uboot-imx_v2020.04_5.4.70_2.3.0

本文轉載自查看原文 2021-10-17 23:33 1830 imx6ull/ Linux/ u-boot/ 嵌入式Linux

作者：zzssdd2

E-mail：zzssdd2@foxmail.com

一、說明

主機系統：Ubuntu 20.04.3 LTS
開發板：TOPEET-IMX6ULL
Uboot版本：imx_v2020.04_5.4.70_2.3.0
交叉編譯器：gcc-arm-10.3-2021.07-x86_64-arm-none-linux-gnueabihf

二、環境搭建

2.1、uboot源碼

獲取NXP維護的uboot源碼：

git clone https://source.codeaurora.org/external/imx/uboot-imx

使用命令git branch -a查看分支然后切換到目標分支
```
git checkout imx_v2020.04_5.4.70_2.3.0
```
接下來就基於該分支源碼進行uboot的移植(根目錄下README文件有助於了解uboot的編譯移植)

2.2、交叉編譯器

在armDeveloper網站下載交叉編譯工具

GNU Toolchain for the A-profile Architecture: 10.3-2021.07
|
|__ x86_64 Linux hosted cross compilers
	|
	|__ AArch32 target with hard float (arm-linux-none-gnueabihf)
		|
		|__ gcc-arm-10.3-2021.07-x86_64-arm-none-linux-gnueabihf.tar.xz

將工具解壓至本地

# 創建文件夾
sudo mkdir /usr/local/arm
# 拷貝文件
sudo cp gcc-arm-10.3-2021.07-x86_64-arm-none-linux-gnueabihf.tar.xz /usr/local/arm/
# 解壓文件
sudo tar -vxf /usr/local/arm/gcc-arm-10.3-2021.07-x86_64-arm-none-linux-gnueabihf.tar.xz

可以導入工具鏈到環境變量中

# 導入到系統環境變量(對所有用戶有效)
sudo vim /etc/profile
export PATH=$PATH:/usr/local/arm/gcc-arm-10.3-2021.07-x86_64-arm-none-linux-gnueabihf/bin
# 或導入到用戶環境變量(僅對當前用戶有效)
sudo vim ~/.bashrc 
export PATH=$PATH:/usr/local/arm/gcc-arm-10.3-2021.07-x86_64-arm-none-linux-gnueabihf/bin

三、編譯源碼

手上的開發板參考NXP官方的EVK開發板設計，所以移植都是參考mx6ullevk開發板相關代碼進行

查看board/freescale/mx6ullevk文件夾下面的README文件說明
新建編譯腳本文件make.sh 並增加可執行權限chmod +x make.sh

#!/bin/bash

# 若之前已經導入到環境變量則不需要
export PATH=$PATH:/usr/local/arm/gcc-arm-10.3-2021.07-x86_64-arm-none-linux-gnueabihf/bin
# 若已經在頂層Makefile文件中指定則不需要
export ARCH=arm
# 若已經在頂層Makefile文件中指定則不需要
export CROSS_COMPILE=arm-none-linux-gnueabihf-

make distclean
# make mrproper
make mx6ull_14x14_evk_emmc_defconfig
make

執行編譯./make.sh並等待完成。
編譯源碼這一步的目的：一是為了驗證編譯環境是否正常；二是為了下一步移植過程中的代碼分析（一些文件只有在編譯后才會生成）

注意：若是在系統上第一次編譯uboot源碼可能會遇到缺少bison、flex的報錯信息導致編譯失敗，只需安裝后重新執行編譯即可

# 語法分析工具
sudo apt install bison 
# 詞法分析工具
sudo apt install flex

四、移植

4.1、工程管理

Ubuntu上安裝VScode
uboot源碼根目錄創建文件夾.vscode。使用VScode打開uboot源碼文件夾，然后點擊文件->將工作區另存為...保存文件名uboot.code-workspace在.vscode文件夾下。內容如下
```
{
	"folders": [
		{
			"path": ".."
		}
	],

	"settings": {
		"files.associations": {
			"*.cfg": "c",
			"*.S": "c",
		}
	}
}
```

為了便於文件分析，在搜索和源碼中隱藏一些不需要的文件，保留imx6相關文件。在.vscode目錄下新建文件settings.json，添加以下內容

{
    "search.exclude": {
        "**/node_modules": true,
        "**/bower_components": true,
        "**/*.code-search": true,

        "arch/ar[!m]":true,
        "arch/m*":true,
        "arch/n*":true,
        "arch/p*":true,
        "arch/r*":true,
        "arch/s*":true,
        "arch/x*":true,
        "arch/arm/mach-[a-h,j-z]*":true,
        "arch/arm/mach-i[!m]*":true,
        "arch/arm/mach-imx/i*":true,
        "arch/arm/mach-imx/mx[!6]*":true,
        "arch/arm/cpu/arm[!v]*":true,
        "arch/arm/cpu/armv7m":true,
        "arch/arm/cpu/armv8":true,
        "arch/arm/cpu/pxa":true,
        "arch/arm/cpu/sa1100":true,
        "arch/arm/dts/[a-h,j-z,A-L,N-Z]*":true,
        "arch/arm/dts/imx[!6]*":true,
        "board/[a-e,g-z,0-9,A-Z]*":true,
        "board/fir*":true,
        "board/freescale/[a-l,n-z,A-Z]*":true,
        "board/freescale/m[!x]*":true,
        "board/freescale/mx[!6]*":true,
        "configs/[0-9,a-l,n-z,A-Z]*":true,
        "configs/m[!x]*":true,
        "configs/mx[!6]*":true,
        "include/configs/[0-9,a-l,n-z,A-Z]*":true,
        "include/configs/m[!x]*":true,
        "include/configs/mx[!6]*":true,
    },

    "files.exclude": {
        "**/.git": true,
        "**/.svn": true,
        "**/.hg": true,
        "**/CVS": true,
        "**/.DS_Store": true,
        "**/Thumbs.db": true,

        "arch/ar[!m]":true,
        "arch/m*":true,
        "arch/n*":true,
        "arch/p*":true,
        "arch/r*":true,
        "arch/s*":true,
        "arch/x*":true,
        "arch/arm/mach-[a-h,j-z]*":true,
        "arch/arm/mach-i[!m]*":true,
        "arch/arm/mach-imx/i*":true,
        "arch/arm/mach-imx/mx[!6]*":true,
        "arch/arm/cpu/arm[!v]*":true,
        "arch/arm/cpu/armv7m":true,
        "arch/arm/cpu/armv8":true,
        "arch/arm/cpu/pxa":true,
        "arch/arm/cpu/sa1100":true,
        "arch/arm/dts/[a-h,j-z,A-L,N-Z]*":true,
        "arch/arm/dts/imx[!6]*":true,
        "board/[a-e,g-z,0-9,A-Z]*":true,
        "board/fir*":true,
        "board/freescale/[a-l,n-z,A-Z]*":true,
        "board/freescale/m[!x]*":true,
        "board/freescale/mx[!6]*":true,
        "configs/[0-9,a-l,n-z,A-Z]*":true,
        "configs/m[!x]*":true,
        "configs/mx[!6]*":true,
        "include/configs/[0-9,a-l,n-z,A-Z]*":true,
        "include/configs/m[!x]*":true,
        "include/configs/mx[!6]*":true,
    }
}

安裝C/C++插件。在.vscode目錄下新建文件c_cpp_properties.json內容如下

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${default}"
            ],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "gnu++14",
            "intelliSenseMode": "linux-gcc-x64",

            "forcedInclude": ["${workspaceFolder}/u-boot.cfg"]
        }
    ],
    "version": 4
}

u-boot.cfg文件為uboot編譯后生成的文件，里面包含源碼中的宏定義配置。

4.2、添加文件

這一步主要是參考mx6ullevk開發板在源碼中添加自己的開發板文件

添加配置文件

cp configs/mx6ull_14x14_evk_emmc_defconfig configs/mx6ull_14x14_topeet_emmc_defconfig

cp include/configs/mx6ullevk.h include/configs/mx6ull_topeet.h

添加開發板文件夾

cp -r board/freescale/mx6ullevk/ board/freescale/mx6ull_topeet/

更改文件名：

mv board/freescale/mx6ull_topeet/mx6ullevk.c board/freescale/mx6ull_topeet/mx6ull_topeet.c

添加設備樹文件

新版本uboot更多的參考了Linux內核引入了設備樹和驅動模型(Driver Model)。所以移植內容就更多的是設備樹文件的修改。

imx6ull-14x14-topeet-emmc.dts文件：

添加：

cp arch/arm/dts/imx6ull-14x14-evk-emmc.dts arch/arm/dts/imx6ull-14x14-topeet-emmc.dts

修改：

#include "imx6ull-14x14-evk.dts"
改為
#include "imx6ull-14x14-topeet.dts"

imx6ull-14x14-topeet.dts文件：

添加

cp arch/arm/dts/imx6ull-14x14-evk.dts arch/arm/dts/imx6ull-14x14-topeet.dts

修改：

#include "imx6ul-14x14-evk.dtsi"
#include "imx6ul-14x14-evk-u-boot.dtsi"
改為
#include "imx6ul-14x14-topeet.dtsi"
#include "imx6ul-14x14-topeet-u-boot.dtsi"

添加 imx6ul-14x14-topeet.dtsi和imx6ul-14x14-topeet-u-boot.dtsi 文件

cp arch/arm/dts/imx6ul-14x14-evk.dtsi arch/arm/dts/imx6ul-14x14-topeet.dtsi

cp arch/arm/dts/imx6ul-14x14-evk-u-boot.dtsi arch/arm/dts/imx6ul-14x14-topeet-u-boot.dtsi

4.3、修改文件

4.3.1、mx6ull_14x14_topeet_emmc_defconfig文件

第一處（目標板）

CONFIG_TARGET_MX6ULL_14X14_EVK=y
改為
CONFIG_TARGET_MX6ULL_14X14_TOPEET=y

第二處（imximage配置文件）

CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=board/freescale/mx6ullevk/imximage.cfg"
改為
CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=board/freescale/mx6ull_topeet/imximage.cfg"

第三處（設備樹）

CONFIG_DEFAULT_DEVICE_TREE="imx6ull-14x14-evk-emmc"
改為
CONFIG_DEFAULT_DEVICE_TREE="imx6ull-14x14-topeet-emmc"

第四處（74lv595相關，自己的開發板沒有該芯片）

CONFIG_DM_74X164=y
改為
# CONFIG_DM_74X164 is not set
    
CONFIG_SOFT_SPI=y
改為
# CONFIG_SOFT_SPI is not set

4.3.2、mx6ull_topeet.h文件修改

添加自己開發板的內容，修改如下：

		"findfdt="\
			"if test $fdt_file = undefined; then " \
				"if test $board_name = ULZ-EVK && test $board_rev = 14X14; then " \
					"setenv fdt_file imx6ulz-14x14-evk.dtb; fi; " \
				"if test $board_name = EVK && test $board_rev = 9X9; then " \
					"setenv fdt_file imx6ull-9x9-evk.dtb; fi; " \
				"if test $board_name = EVK && test $board_rev = 14X14; then " \
					"setenv fdt_file imx6ull-14x14-evk.dtb; fi; " \
				"if test $board_name = TOPEET && test $board_rev = 14X14; then " \
					"setenv fdt_file imx6ull-14x14-topeet.dtb; fi; " \
				"if test $fdt_file = undefined; then " \
					"echo WARNING: Could not determine dtb to use; " \
				"fi; " \
			"fi;\0" \
		"findtee="\
			"if test $tee_file = undefined; then " \
				"if test $board_name = ULZ-EVK && test $board_rev = 14X14; then " \
					"setenv tee_file uTee-6ulzevk; fi; " \
				"if test $board_name = EVK && test $board_rev = 9X9; then " \
					"setenv tee_file uTee-6ullevk; fi; " \
				"if test $board_name = EVK && test $board_rev = 14X14; then " \
					"setenv tee_file uTee-6ullevk; fi; " \
				"if test $board_name = TOPEET && test $board_rev = 14X14; then " \
					"setenv tee_file uTee-6ull_topeet; fi; " \
				"if test $tee_file = undefined; then " \
					"echo WARNING: Could not determine tee to use; " \
				"fi; " \
			"fi;\0" \

4.3.3、mx6ull_topeet文件夾

Kconfig文件修改如下（最后endif之后務必添加換行）

if TARGET_MX6ULL_14X14_TOPEET

config SYS_BOARD
	default "mx6ull_topeet"

config SYS_VENDOR
	default "freescale"

config SYS_CONFIG_NAME
	default "mx6ull_topeet"

config SYS_TEXT_BASE
	default 0x87800000
endif

Makefile文件修改如下
```
obj-y  := mx6ull_topeet.o
```
由於CONFIG_USE_IMXIMG_PLUGIN沒有使能，所以imximage_lpddr2.cfg文件和和imximage.cfg無需修改。否則改動如下
```
PLUGIN	board/freescale/mx6ullevk/plugin.bin 0x00907000
改為
PLUGIN	board/freescale/mx6ull_topeet/plugin.bin 0x00907000
```

mx6ull_topeet.c文件修改

LCD電源引腳

static iomux_v3_cfg_t const lcd_pads[] = {
	/* Use GPIO for Brightness adjustment, duty cycle = period. */
	MX6_PAD_GPIO1_IO08__GPIO1_IO08 | MUX_PAD_CTRL(NO_PAD_CTRL),
	/* Used for LCD power control*/
	MX6_PAD_LCD_DATA08__GPIO3_IO13 | MUX_PAD_CTRL(NO_PAD_CTRL),
};

static int setup_lcd(void)
{
	enable_lcdif_clock(LCDIF1_BASE_ADDR, 1);

	imx_iomux_v3_setup_multiple_pads(lcd_pads, ARRAY_SIZE(lcd_pads));

	/* Power on the LCD */
	gpio_request(IMX_GPIO_NR(3, 13), "lcd power");
	gpio_direction_output(IMX_GPIO_NR(3, 13) , 1);

	/* Reset the LCD */
	gpio_request(IMX_GPIO_NR(5, 9), "lcd reset");
	gpio_direction_output(IMX_GPIO_NR(5, 9) , 0);
	udelay(500);
	gpio_direction_output(IMX_GPIO_NR(5, 9) , 1);

	/* Set Brightness to high */
	gpio_request(IMX_GPIO_NR(1, 8), "backlight");
	gpio_direction_output(IMX_GPIO_NR(1, 8) , 1);

	return 0;
}

輸出信息修改

int board_late_init(void)
{
#ifdef CONFIG_CMD_BMODE
	add_board_boot_modes(board_boot_modes);
#endif

	env_set("tee", "no");
#ifdef CONFIG_IMX_OPTEE
	env_set("tee", "yes");
#endif

#ifdef CONFIG_ENV_VARS_UBOOT_RUNTIME_CONFIG
	env_set("board_name", "TOPEET");

	if (is_mx6ull_9x9_evk())
		env_set("board_rev", "9X9");
	else
		env_set("board_rev", "14X14");

	if (is_cpu_type(MXC_CPU_MX6ULZ)) {
		env_set("board_name", "ULZ-EVK");
		env_set("usb_net_cmd", "usb start");
    }
#endif

	setup_lcd();

#ifdef CONFIG_ENV_IS_IN_MMC
	board_late_mmc_env_init();
#endif

	set_wdog_reset((struct wdog_regs *)WDOG1_BASE_ADDR);

	return 0;
}


int checkboard(void)
{
	if (is_mx6ull_9x9_evk())
		puts("Board: MX6ULL 9x9 EVK\n");
	else if (is_cpu_type(MXC_CPU_MX6ULZ))
		puts("Board: MX6ULZ 14x14 EVK\n");
	else
		puts("Board: MX6ULL 14x14 TOPEET\n");

	return 0;
}

4.3.4、設備樹

imx6ull-14x14-topeet.dts文件

model = "i.MX6 ULL 14x14 EVK Board";
compatible = "fsl,imx6ull-14x14-evk", "fsl,imx6ull";
改為
model = "i.MX6 ULL 14x14 TOPEET Board";
compatible = "fsl,imx6ull-14x14-topeet", "fsl,imx6ull";

imx6ul-14x14-topeet.dtsi文件

1.官方evk開發板使用了一顆擴展IO的芯片74lv595，手上的開發板沒有該芯片，所以需要去掉該芯片相關內容。屏蔽或刪除以下內容：

	aliases {
		/*
		spi5 = &{/spi4};
		*/
	};

/*
	reg_can_3v3: regulator-can-3v3 {
		compatible = "regulator-fixed";
		regulator-name = "can-3v3";
		regulator-min-microvolt = <3300000>;
		regulator-max-microvolt = <3300000>;
		gpios = <&gpio_spi 3 GPIO_ACTIVE_LOW>;
	};
*/
/*
	spi4 {
		compatible = "spi-gpio";
		pinctrl-names = "default";
		pinctrl-0 = <&pinctrl_spi4>;
		status = "okay";
		pinctrl-assert-gpios = <&gpio5 8 GPIO_ACTIVE_LOW>;
		gpio-sck = <&gpio5 11 0>;
		gpio-mosi = <&gpio5 10 0>;
		cs-gpios = <&gpio5 7 0>;
		num-chipselects = <1>;
		#address-cells = <1>;
		#size-cells = <0>;

		gpio_spi: gpio@0 {
			compatible = "fairchild,74hc595";
			gpio-controller;
			#gpio-cells = <2>;
			reg = <0>;
			registers-number = <1>;
			registers-default = /bits/ 8 <0x57>;
			spi-max-frequency = <100000>;
		};
	};
*/

&can1 {
	pinctrl-names = "default";
	pinctrl-0 = <&pinctrl_flexcan1>;
	/*
	xceiver-supply = <&reg_can_3v3>;
	*/
	status = "okay";
};

&can2 {
	pinctrl-names = "default";
	pinctrl-0 = <&pinctrl_flexcan2>;
	/*
	xceiver-supply = <&reg_can_3v3>;
	*/
	status = "okay";
};

/*
	pinctrl_spi4: spi4grp {
		fsl,pins = <
			MX6UL_PAD_BOOT_MODE0__GPIO5_IO10	0x70a1
			MX6UL_PAD_BOOT_MODE1__GPIO5_IO11	0x70a1
			MX6UL_PAD_SNVS_TAMPER7__GPIO5_IO07	0x70a1
			MX6UL_PAD_SNVS_TAMPER8__GPIO5_IO08	0x80000000
		>;
	};
*/

LCD修改。手上的開發板使用的是1024x600的rgb液晶屏，主要修改display-timings以及電源引腳

pinctrl_lcdif_dat修改：

	pinctrl_lcdif_dat: lcdifdatgrp {
		fsl,pins = <
			/*
			MX6UL_PAD_LCD_DATA00__LCDIF_DATA00  0x79
			MX6UL_PAD_LCD_DATA01__LCDIF_DATA01  0x79
			MX6UL_PAD_LCD_DATA02__LCDIF_DATA02  0x79
			*/
			MX6UL_PAD_LCD_DATA03__LCDIF_DATA03  0x79
			MX6UL_PAD_LCD_DATA04__LCDIF_DATA04  0x79
			MX6UL_PAD_LCD_DATA05__LCDIF_DATA05  0x79
			MX6UL_PAD_LCD_DATA06__LCDIF_DATA06  0x79
			MX6UL_PAD_LCD_DATA07__LCDIF_DATA07  0x79
			/*
			MX6UL_PAD_LCD_DATA08__LCDIF_DATA08  0x79
			MX6UL_PAD_LCD_DATA09__LCDIF_DATA09  0x79
			*/
			MX6UL_PAD_LCD_DATA10__LCDIF_DATA10  0x79
			MX6UL_PAD_LCD_DATA11__LCDIF_DATA11  0x79
			MX6UL_PAD_LCD_DATA12__LCDIF_DATA12  0x79
			MX6UL_PAD_LCD_DATA13__LCDIF_DATA13  0x79
			MX6UL_PAD_LCD_DATA14__LCDIF_DATA14  0x79
			MX6UL_PAD_LCD_DATA15__LCDIF_DATA15  0x79
			/*
			MX6UL_PAD_LCD_DATA16__LCDIF_DATA16  0x79
			MX6UL_PAD_LCD_DATA17__LCDIF_DATA17  0x79
			MX6UL_PAD_LCD_DATA18__LCDIF_DATA18  0x79
			*/
			MX6UL_PAD_LCD_DATA19__LCDIF_DATA19  0x79
			MX6UL_PAD_LCD_DATA20__LCDIF_DATA20  0x79
			MX6UL_PAD_LCD_DATA21__LCDIF_DATA21  0x79
			MX6UL_PAD_LCD_DATA22__LCDIF_DATA22  0x79
			MX6UL_PAD_LCD_DATA23__LCDIF_DATA23  0x79
		>;
	};

pinctrl_lcdif_ctrl修改：

	pinctrl_lcdif_ctrl: lcdifctrlgrp {
		fsl,pins = <
			MX6UL_PAD_LCD_CLK__LCDIF_CLK	    0x79
			MX6UL_PAD_LCD_ENABLE__LCDIF_ENABLE  0x79
			MX6UL_PAD_LCD_HSYNC__LCDIF_HSYNC    0x79
			MX6UL_PAD_LCD_VSYNC__LCDIF_VSYNC    0x79
			/* used for lcd reset */
			MX6UL_PAD_SNVS_TAMPER9__GPIO5_IO09  0x79
			/* used for lcd power*/
			MX6UL_PAD_LCD_DATA08__GPIO3_IO13	0x79
		>;
	};

display-timings修改：

&lcdif {
	pinctrl-names = "default";
	pinctrl-0 = <&pinctrl_lcdif_dat
		     &pinctrl_lcdif_ctrl>;

	display = <&display0>;
	status = "okay";

	display0: display@0 {
		bits-per-pixel = <24>;
		bus-width = <24>;

		display-timings {
			native-mode = <&timing0>;
			timing0: timing0 {
			clock-frequency = <51200000>;
			hactive = <1024>;
			vactive = <600>;
			hfront-porch = <160>;
			hback-porch = <140>;
			hsync-len = <20>;
			vback-porch = <20>;
			vfront-porch = <12>;
			vsync-len = <3>;

			hsync-active = <0>;
			vsync-active = <0>;
			de-active = <1>;
			pixelclk-active = <0>;
			};
		};
	};
};

關於display-timings的說明可以參考uboot源碼下的該文檔：doc/device-tree-bindings/video/display-timing.txt

網絡芯片修改。手上開發板使用的網絡芯片與官方板同款KSZ8081，除了復位引腳不同外其他一樣，官方開發板是通過74lv595擴展IO控制復位引腳。修改如下：

&fec2 {
	pinctrl-names = "default";
	pinctrl-0 = <&pinctrl_enet2>;
	phy-mode = "rmii";
	phy-handle = <&ethphy1>;
	status = "okay";

	mdio {
		#address-cells = <1>;
		#size-cells = <0>;

		ethphy0: ethernet-phy@2 {
			reg = <2>;
			micrel,led-mode = <1>;
			clocks = <&clks IMX6UL_CLK_ENET_REF>;
			clock-names = "rmii-ref";
			phy-reset-gpios = <&gpio5 7 GPIO_ACTIVE_LOW>;
			phy-reset-duration = <10>;
			phy-reset-post-delay = <10>;
		};

		ethphy1: ethernet-phy@1 {
			reg = <1>;
			micrel,led-mode = <1>;
			clocks = <&clks IMX6UL_CLK_ENET2_REF>;
			clock-names = "rmii-ref";
			phy-reset-gpios = <&gpio5 8 GPIO_ACTIVE_LOW>;
			phy-reset-duration = <10>;
			phy-reset-post-delay = <10>;
		};
	};
};

phy-reset-gpios、phy-reset-duration、phy-reset-post-delay參數在文件drivers/net/fec_mxc.c中用到。

修改設備樹Makefile文件arch/arm/dts/Makefile，添加自己的開發板。

dtb-$(CONFIG_MX6ULL) += \
	imx6ull-14x14-ddr3-val.dtb \
	imx6ull-14x14-ddr3-val-epdc.dtb \
	imx6ull-14x14-ddr3-val-emmc.dtb \
	imx6ull-14x14-ddr3-val-gpmi-weim.dtb \
	imx6ull-14x14-ddr3-val-tsc.dtb \
	imx6ull-14x14-evk.dtb \
	imx6ull-14x14-evk-emmc.dtb \
	imx6ull-14x14-topeet-emmc.dtb \
	imx6ull-14x14-evk-gpmi-weim.dtb \
	imx6ull-9x9-evk.dtb \
	imx6ull-colibri.dtb \
	imx6ull-phytec-segin-ff-rdk-emmc.dtb \
	imx6ull-dart-6ul.dtb \
	imx6ull-somlabs-visionsom.dtb \
	imx6ulz-14x14-evk.dtb \
	imx6ulz-14x14-evk-emmc.dtb \
	imx6ulz-14x14-evk-gpmi-weim.dtb

4.3.5、其他修改

arch/arm/mach-imx/mx6/Kconfig文件修改:

添加自己開發板平台

config TARGET_MX6ULL_14X14_TOPEET
	bool "Support mx6ull_14x14_topeet"
	select BOARD_LATE_INIT
	select DM
	select DM_THERMAL
	select MX6ULL
	imply CMD_DM

添加自己的開發板Kconfig文件

source "board/freescale/mx6ull_topeet/Kconfig"

五、編譯啟動

修改make.sh文件

make mx6ull_14x14_evk_emmc_defconfig
改為
make mx6ull_14x14_topeet_emmc_defconfig

執行./make.sh等待編譯完成。

燒錄至SD卡
```
sudo dd if=u-boot-dtb.imx of=/dev/sdb bs=1K seek=1 && sync
```
編譯完成后使用上述命令將uboot固件燒錄至SD卡，sdb是我的SD卡掛載到Ubuntu下的名字，可以通過命令ls /dev/sd*查看掛載了哪些設備來確定燒錄對象。

啟動開發板

開發板撥碼開關對應啟動方式：

1	2	3	4	5	6	7	8	啟動設備
0	1	-	-	-	-	-	-	串行下載（USB _OTG燒寫鏡像）
1	0	0	0	0	0	1	0	SD 卡啟動
1	0	1	0	0	1	1	0	EMMC 啟動
1	0	0	0	1	0	0	1	NAND FLASH 啟動

六、其他

6.1、endif錯誤

board/freescale/mx6ull_topeet/Kconfig:14: 'endif' in different file than 'if'
board/freescale/mx6ull_topeet/Kconfig:3: location of the 'if'
arch/arm/mach-imx/mx6/Kconfig:913: 'endif' in different file than 'if'
board/freescale/mx6ull_topeet/Kconfig:3: location of the 'if'
arch/arm/Kconfig:1893: 'endmenu' in different file than 'menu'
board/freescale/mx6ull_topeet/Kconfig:3: location of the 'menu'
make[1]: *** [scripts/kconfig/Makefile:128：mx6ull_14x14_topeet_emmc_defconfig] 錯誤 1
make: *** [Makefile:539：mx6ull_14x14_topeet_emmc_defconfig] 錯誤 2
scripts/kconfig/conf  --syncconfig Kconfig
board/freescale/mx6ull_topeet/Kconfig:14: 'endif' in different file than 'if'
board/freescale/mx6ull_topeet/Kconfig:3: location of the 'if'
arch/arm/mach-imx/mx6/Kconfig:913: 'endif' in different file than 'if'
board/freescale/mx6ull_topeet/Kconfig:3: location of the 'if'
arch/arm/Kconfig:1893: 'endmenu' in different file than 'menu'
board/freescale/mx6ull_topeet/Kconfig:3: location of the 'menu'
make[2]: *** [scripts/kconfig/Makefile:47：syncconfig] 錯誤 1
make[1]: *** [Makefile:539：syncconfig] 錯誤 2
make: *** 沒有規則可制作目標“include/config/auto.conf”，由“include/config/uboot.release” 需求。 停止。

出現該錯誤的原因是因為我在修改board/freescale/mx6ull_topeet/Kconfig文件時沒有在文件最后endif之后添加換行，在該文件最后敲個換行即可解決。

6.2、Net Error錯誤

U-Boot 2020.04-00001-g44f5949dd9-dirty (Oct 17 2021 - 19:25:28 +0800)

CPU:   i.MX6ULL rev1.1 792 MHz (running at 396 MHz)
CPU:   Industrial temperature grade (-40C to 105C) at 37C
Reset cause: POR
Model: i.MX6 ULL 14x14 TOPEET Board
Board: MX6ULL 14x14 TOPEET
DRAM:  512 MiB
MMC:   FSL_SDHC: 0, FSL_SDHC: 1
Loading Environment from MMC... *** Warning - bad CRC, using default environment

[*]-Video Link 0 (1024 x 600)
        [0] lcdif@21c8000, video
In:    serial
Out:   serial
Err:   serial
switch to partitions #0, OK
mmc0 is current device
flash target is MMC:0
Net:
Error: ethernet@20b4000 address not set.

Error: ethernet@20b4000 address not set.

Error: ethernet@20b4000 address not set.
FEC: can't find phy-handle

Error: ethernet@20b4000 address not set.
Could not get PHY for FEC0: addr 2

Error: ethernet@20b4000 address not set.
FEC: can't find phy-handle

Error: ethernet@20b4000 address not set.
Could not get PHY for FEC0: addr 2
No ethernet found.

若uboot啟動后終端輸出如上錯誤信息，有兩種解決方案：

方案一：

在文件configs/mx6ull_14x14_topeet_emmc_defconfig添加以下內容使能uboot給網卡分配隨機MAC地址的功能，然后重新編譯后燒錄啟動

CONFIG_NET_RANDOM_ETHADDR=y

使能隨機分配MAC功能后結果：

U-Boot 2020.04-00001-g44f5949dd9-dirty (Oct 17 2021 - 21:57:35 +0800)

CPU:   i.MX6ULL rev1.1 792 MHz (running at 396 MHz)
CPU:   Industrial temperature grade (-40C to 105C) at 36C
Reset cause: POR
Model: i.MX6 ULL 14x14 TOPEET Board
Board: MX6ULL 14x14 TOPEET
DRAM:  512 MiB
MMC:   FSL_SDHC: 0, FSL_SDHC: 1
Loading Environment from MMC... *** Warning - bad CRC, using default environment

[*]-Video Link 0 (1024 x 600)
        [0] lcdif@21c8000, video
In:    serial
Out:   serial
Err:   serial
switch to partitions #0, OK
mmc0 is current device
flash target is MMC:0
Net:
Warning: ethernet@20b4000 (eth1) using random MAC address - 5a:49:f1:d9:07:cd
eth1: ethernet@20b4000 [PRIME]Get shared mii bus on ethernet@2188000

Warning: ethernet@2188000 (eth0) using random MAC address - ca:85:77:84:17:ae
, eth0: ethernet@2188000

方案二：

在終端中使用以下命令設置MAC地址

# 設置網卡1
setenv ethaddr ca:38:29:c3:28:30
# 設置網卡2
setenv eth1addr 76:7d:33:a8:f0:e7
# 保存
saveenv
# 重啟
reset

重啟后輸出結果：

U-Boot 2020.04-00001-g44f5949dd9-dirty (Oct 17 2021 - 22:03:25 +0800)

CPU:   i.MX6ULL rev1.1 792 MHz (running at 396 MHz)
CPU:   Industrial temperature grade (-40C to 105C) at 45C
Reset cause: POR
Model: i.MX6 ULL 14x14 TOPEET Board
Board: MX6ULL 14x14 TOPEET
DRAM:  512 MiB
MMC:   FSL_SDHC: 0, FSL_SDHC: 1
Loading Environment from MMC... OK
[*]-Video Link 0 (1024 x 600)
        [0] lcdif@21c8000, video
In:    serial
Out:   serial
Err:   serial
switch to partitions #0, OK
mmc0 is current device
flash target is MMC:0
Net:   eth1: ethernet@20b4000 [PRIME]Get shared mii bus on ethernet@2188000
, eth0: ethernet@2188000

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