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Release Notes for the QNX Neutrino 6.4.0 BSP for Atmel AT91SAM9Rl64-EK Board#

System requirements#

Target system#

QNX Neutrino RTOS 6.4.0
Board: Atmel at91sam9rl64-EK Evaluation Board
Data-Flash: AT45DB642D (8 MB)
SDRAM: 16-bit Micron MT48LC16M16A2 (64 MB) SDRAM
NAND Flash: Micron MT29F2G08AAC (256 MB) NAND Flash

Host development system#

QNX Momentics 6.4.0, one of the following host systems:
- QNX Neutrino 6.4.0
- Microsoft Windows Vista, XP SP2 or SP3, 2000 SP4
- Linux Red Hat 8 or 9, Linux Red Hat Enterprise Workstation 3 or 4, Red Hat Fedora Core 3 or 4, or SUSE 10
Terminal emulation program (Qtalk, Momentics IDE Terminal, tip, HyperTerminal, etc.)
Windows Machine required SAM-BA appication to download the image on Data-Flash.
RS-232 serial port
NULL-modem serial cable
USB cable to connect board with windows Machine

Getting Started#

Step 1: Connect your hardware#

Connect the DEBUG port of the AT91SAM9RL64 board to the first serial port of your windows machine. Install the SAM-BA application provided by Atmel. Connect the board with Windows Machine using USB Cable.

Step 2: Build the BSP#

You can build an OS image from the source code or the binary components contained in a BSP package. For instructions about building an OS image, please refer to the chapter Working with a BSP in the Building Embedded Systems manual. After Building the BSP three bin files will be created in images directory.
*ifs-at91sam9rl64.bin
*ipl-at91sam9rl64.bin
*ipl-ifs-at91sam9rl64.bin

mkflashimage script creates a combined IPL/IFS image as ipl-ifs-at91sam9rl64.bin
The mkflashimage script:

#!/bin/sh
# script to build a binary IPL and boot image for ATMEL AT91SAM9XX Evaluation Kit board

# NOTE the image (ipl-ifs-at91sam9xx.bin) must be built as binary, i.e. [virtual=armle,binary] in the buildfile 
set -v

#	Convert IPL into BINARY format
${QNX_HOST}/usr/bin/ntoarm-objcopy --input-format=elf32-littlearm --output-format=binary -R.data ../install/armle/boot/sys/ipl-at91sam9xx-at91sam9rl64 ipl-tmp-at91sam9rl64.bin

#	Pad BINARY IPL
mkrec -s16k -ffull -r ipl-tmp-at91sam9rl64.bin > ipl-at91sam9rl64.bin

#	Combine the BINARY IPL with the BINARY OS Image
cat ./ipl-at91sam9rl64.bin ./ifs-at91sam9rl64.bin > ipl-ifs-at91sam9rl64.bin

#	Cleaning up temporary files
rm -f *tmp*

Step 3A: Download the Bootable IFS image.#

The Boot Program integrates different programs that manage download and/or upload into the different memories of the product. First, it initializes the Debug Unit serial port (DBGU) and the USB High Speed Device Port.

Then the SD Card Boot program is executed, It looks for a boot.bin file in the root directory of a FAT12/16/32 formatted SD Card. If such a file is found, code is downloaded into the internal SRAM. This is followed by a remap and a jump to the first address of the SRAM.
If the SD Card is not formatted or if boot.bin file is not found, NAND Flash Boot program is then executed. The NAND Flash Boot program searches for a valid application in the NAND Flash memory. If a valid application is found, this application is loaded into internal SRAM and executed by branching at address 0x0000_0000 after remap.
If no valid ARM vector sequence is found, the Data-Flash Boot program is then executed. It looks for a sequence of seven valid ARM exception vectors in a Data-Flash connected to the SPI. All these vectors must be B-branch or LDR load register instructions except for the sixth vector. This vector is used to store the size of the image to download. If a valid sequence is found, code is downloaded into the internal SRAM. This is followed by a remap and a jump to the first address of the SRAM.If no valid ARM vector sequence is found, SAM-BA Boot is then executed. It waits for transactions either on the USB device, or on the DBGU serial port.

Loading the IFS image using SAM-BA#

Select the Data-Flash AT45DB/DCB tab in SAM-BA Application. Execute the Enable Data-flash on CS0 script.
Select the ifs-at91sam9rl64.bin file to be sent to the target, and then press Send File. Depending on the size of your file, it will take a few seconds up to a minute.

AtmelAT91SAM9RL64EKEvaluationBoard/ifs-img.JPG

Now on your terminal you will see output as follows:


>RomBOOT
>
QNX/Neutrino IPL for ATMEL AT91SAM9xx Board :
Commands:
  d: download image to SDRAM using DBGU (serial) port
  f: scan Dataflash for image
ipl> Scanning Dataflash...

 Scanning Dataflash for image @ offset 0x00004000
Image Loaded       @ 0x20100000
Jumping to startup @ 0x20101CA0
GPIO init : DBGU, USART, Audio(AC97), NAND, LCD,
CPU0: Dcache: 128x32 WB
CPU0: Icache: 128x32
CPU0: 41069265: arm926 rev 5 200MHz
elf_map: 1M va=fe000000 pa=20100000 sz=00100000
elf_map: 1M va=fe000000 pa=20100000 sz=00100000
Header size=0x0000009c, Total Size=0x00000508, #Cpu=1, Type=4
Section:system_private offset:0x000001f0 size:0x00000068
  syspage ptr user:fc404000 kernel:fc404000
  cpupage ptr user:fc404808 kernel:fc404808 spacing:84
  kdebug info:00000000 callback:00000000
  boot pgms: idx=0
    0) base paddr:20110000 start addr:fe03d838
  ramsize:00000000 pagesize:00001000
Section:qtime offset:0x00000148 size:0x00000060
  boot:00000000 CPS:00000000005f5e10 rate/scale:160000/-12 intr:1
Section:callout offset:0x000000a0 size:0x00000048
  reboot:fc404680 power:fc40469c
  timer_load:fc4046b0 reload:fc4046d8 value:fc404704
  0) display:fc404724 poll:fc404748 break:fc40476c
  1) display:00000000 poll:00000000 break:00000000
Section:cpuinfo offset:0x000001a8 size:0x00000020
  0) cpu:41069265 flags:40000000 speed:000000c8 cache i/d:1/0 name:53
Section:cacheattr offset:0x000004c8 size:0x00000040
  0) flags:32 size:0020 #lines:0080 control:fc404508 next:255
  1) flags:11 size:0020 #lines:0080 control:fc40455c next:255
Section:meminfo offset:0x00000508 size:0x00000000
Section:asinfo offset:0x00000328 size:0x00000160
  0000) 0000000000000000-00000000ffffffff o:ffff a:0010 p:100 c:00000000 n:21
  0020) 0000000020000000-0000000023ffffff o:0000 a:0017 p:100 c:00000000 n:28
  0040) 0000000000000000-00000000ffffffff o:ffff a:0010 p:100 c:00000000 n:21
  0060) 0000000020000000-0000000023ffffff o:0040 a:0007 p:100 c:00000000 n:32
  0080) 000000002010e108-00000000205a729b o:0000 a:0005 p:100 c:00000000 n:60
  00a0) 0000000020100000-000000002010e107 o:0000 a:0007 p:100 c:00000000 n:68
  00c0) 000000002010e108-00000000205a729b o:0000 a:0007 p:100 c:00000000 n:76
  00e0) 0000000020000000-0000000020007fff o:0020 a:0007 p:100 c:00000000 n:84
  0100) 000000002001085c-00000000200fffff o:0020 a:0007 p:100 c:00000000 n:84
  0120) 00000000205a729c-0000000023dcffff o:0020 a:0007 p:100 c:00000000 n:84
  0140) 0000000023fd0000-0000000023ffffff o:0020 a:0007 p:100 c:00000000 n:84
Section:hwinfo offset:0x000002e0 size:0x00000048
  0) size:3 tag:3 isize:3, iname:0, owner:65535, kids:1
  12) size:3 tag:17 isize:3, iname:9, owner:0, kids:1
  24) size:3 tag:3 isize:3, iname:37, owner:12, kids:1
  36) size:4 tag:46 isize:4, iname:41, owner:24, kids:0
     00 00 00 00
Section:typed_strings offset:0x00000258 size:0x00000028
  off:0 type:5 string:'AT91SAM9RL64'
  off:20 type:2 string:'localhost'
Section:strings offset:0x00000280 size:0x00000060
  [0]'hw' [3]'Group' [9]'unknown' [17]'Bus' [21]'memory' [28]'ram' [32]'1to1'
  [37]'rtc' [41]'NONE' [46]'Device' [53]'arm926' [60]'imagefs' [68]'startup'
  [76]'bootram' [84]'sysram'
Section:intrinfo offset:0x00000488 size:0x00000040
  0) vector_base:00000000, #vectors:32, cascade_vector:7fffffff
     cpu_intr_base:00000000, cpu_intr_stride:0, flags:0000
      id => flags:8000, size:002c, rtn:fc4045c8
     eoi => flags:9000, size:0028, rtn:fc4045f4
     mask:fc40461c, unmask:fc404640, config:00000000
Section:smp offset:0x00000508 size:0x00000000
Section:pminfo offset:0x00000508 size:0x00000000
Section:mdriver offset:0x00000508 size:0x00000000
Section:boxinfo offset:0x000001c8 size:0x00000028
  hw_flags:00000000
Section:cpu offset:0x00000128 size:0x00000020
  page_flush:fc40458c page_flush_deferred:fc4045c4
  upte_ro:00000aae upte_rw:00000ffe
  kpte_ro:0000000e kpte_rw:0000055e
  mask_nc:0000000c
  mmu_cr1:00051078 set:0000317f clr:00000000 -> 0005317f

System page at phys:20010000 user:fc404000 kern:fc404000
Starting next program at vfe03d838
cpu_startnext: cpu0 -> fe03d838
Welcome to QNX Neutrino 6.4 on the Atmel AT91SAM9RL64 Board
#

You can test the OS simply by executing any shell builtin command or any command residing within the OS image (e.g. ls).

Step 3B: Reprogram the IPL.#

In case if Board is new or IPL gets corrupted, We can reprogram IPL using SAM-BA application.

Select the Data-Flash AT45DB/DCB tab in SAM-BA application window, . Execute the Enable Data-flash on CS0 script.
Select the ipl-at91sam9rl64.bin file to be sent to the target, and then press Send File. It will take a few seconds up to a minute.
Sanpshot is as follows:

AtmelAT91SAM9RL64EKEvaluationBoard/ipl-img.JPG

Step 3C: Download the combined IPL and IFS onto Data-Flash#

Select the Data-Flash AT45DB/DCB tab in SAM-BA application window, . Execute the Enable Data-flash on CS0 script.
Select the ipl-ifs-at91sam9rl64.bin file to be sent to the target, and then press Send File. It will take a few seconds up to a minute.
Sanpshot is as follows:

AtmelAT91SAM9RL64EKEvaluationBoard/ipl-ifs-img.JPG

Now on your terminal you will see output as follows:


>RomBOOT
>
QNX/Neutrino IPL for ATMEL AT91SAM9xx Board :
Commands:
  d: download image to SDRAM using DBGU (serial) port
  f: scan Dataflash for image
ipl> Scanning Dataflash...

 Scanning Dataflash for image @ offset 0x00004000
Image Loaded       @ 0x20100000
Jumping to startup @ 0x20101CA0
GPIO init : DBGU, USART, Audio(AC97), NAND, LCD,
CPU0: Dcache: 128x32 WB
CPU0: Icache: 128x32
CPU0: 41069265: arm926 rev 5 200MHz
elf_map: 1M va=fe000000 pa=20100000 sz=00100000
elf_map: 1M va=fe000000 pa=20100000 sz=00100000
Header size=0x0000009c, Total Size=0x00000508, #Cpu=1, Type=4
Section:system_private offset:0x000001f0 size:0x00000068
  syspage ptr user:fc404000 kernel:fc404000
  cpupage ptr user:fc404808 kernel:fc404808 spacing:84
  kdebug info:00000000 callback:00000000
  boot pgms: idx=0
    0) base paddr:20110000 start addr:fe03d838
  ramsize:00000000 pagesize:00001000
Section:qtime offset:0x00000148 size:0x00000060
  boot:00000000 CPS:00000000005f5e10 rate/scale:160000/-12 intr:1
Section:callout offset:0x000000a0 size:0x00000048
  reboot:fc404680 power:fc40469c
  timer_load:fc4046b0 reload:fc4046d8 value:fc404704
  0) display:fc404724 poll:fc404748 break:fc40476c
  1) display:00000000 poll:00000000 break:00000000
Section:cpuinfo offset:0x000001a8 size:0x00000020
  0) cpu:41069265 flags:40000000 speed:000000c8 cache i/d:1/0 name:53
Section:cacheattr offset:0x000004c8 size:0x00000040
  0) flags:32 size:0020 #lines:0080 control:fc404508 next:255
  1) flags:11 size:0020 #lines:0080 control:fc40455c next:255
Section:meminfo offset:0x00000508 size:0x00000000
Section:asinfo offset:0x00000328 size:0x00000160
  0000) 0000000000000000-00000000ffffffff o:ffff a:0010 p:100 c:00000000 n:21
  0020) 0000000020000000-0000000023ffffff o:0000 a:0017 p:100 c:00000000 n:28
  0040) 0000000000000000-00000000ffffffff o:ffff a:0010 p:100 c:00000000 n:21
  0060) 0000000020000000-0000000023ffffff o:0040 a:0007 p:100 c:00000000 n:32
  0080) 000000002010e108-00000000205a729b o:0000 a:0005 p:100 c:00000000 n:60
  00a0) 0000000020100000-000000002010e107 o:0000 a:0007 p:100 c:00000000 n:68
  00c0) 000000002010e108-00000000205a729b o:0000 a:0007 p:100 c:00000000 n:76
  00e0) 0000000020000000-0000000020007fff o:0020 a:0007 p:100 c:00000000 n:84
  0100) 000000002001085c-00000000200fffff o:0020 a:0007 p:100 c:00000000 n:84
  0120) 00000000205a729c-0000000023dcffff o:0020 a:0007 p:100 c:00000000 n:84
  0140) 0000000023fd0000-0000000023ffffff o:0020 a:0007 p:100 c:00000000 n:84
Section:hwinfo offset:0x000002e0 size:0x00000048
  0) size:3 tag:3 isize:3, iname:0, owner:65535, kids:1
  12) size:3 tag:17 isize:3, iname:9, owner:0, kids:1
  24) size:3 tag:3 isize:3, iname:37, owner:12, kids:1
  36) size:4 tag:46 isize:4, iname:41, owner:24, kids:0
     00 00 00 00
Section:typed_strings offset:0x00000258 size:0x00000028
  off:0 type:5 string:'AT91SAM9RL64'
  off:20 type:2 string:'localhost'
Section:strings offset:0x00000280 size:0x00000060
  [0]'hw' [3]'Group' [9]'unknown' [17]'Bus' [21]'memory' [28]'ram' [32]'1to1'
  [37]'rtc' [41]'NONE' [46]'Device' [53]'arm926' [60]'imagefs' [68]'startup'
  [76]'bootram' [84]'sysram'
Section:intrinfo offset:0x00000488 size:0x00000040
  0) vector_base:00000000, #vectors:32, cascade_vector:7fffffff
     cpu_intr_base:00000000, cpu_intr_stride:0, flags:0000
      id => flags:8000, size:002c, rtn:fc4045c8
     eoi => flags:9000, size:0028, rtn:fc4045f4
     mask:fc40461c, unmask:fc404640, config:00000000
Section:smp offset:0x00000508 size:0x00000000
Section:pminfo offset:0x00000508 size:0x00000000
Section:mdriver offset:0x00000508 size:0x00000000
Section:boxinfo offset:0x000001c8 size:0x00000028
  hw_flags:00000000
Section:cpu offset:0x00000128 size:0x00000020
  page_flush:fc40458c page_flush_deferred:fc4045c4
  upte_ro:00000aae upte_rw:00000ffe
  kpte_ro:0000000e kpte_rw:0000055e
  mask_nc:0000000c
  mmu_cr1:00051078 set:0000317f clr:00000000 -> 0005317f

System page at phys:20010000 user:fc404000 kern:fc404000
Starting next program at vfe03d838
cpu_startnext: cpu0 -> fe03d838
Welcome to QNX Neutrino 6.4 on the Atmel AT91SAM9RL64 Board
#

You can test the OS simply by executing any shell builtin command or any command residing within the OS image (e.g. ls).

Summary of driver commands#

The driver command lines below are specific to the Atmel AT91SAM9RL64 board. See the online docs for each driver for additional command-line options and other details.

Note: Some of the following drivers are commented out in the default buildfile. To use the drivers in the target hardware, you'll need to uncomment them in your buildfile, rebuild the image, and load the image into the board.

Startup:#

Command:

    startup-at91sam9xx-at91sam9rl64 -r 0x23dd0000,0x200000,1 -vvvvvvv

Serial:#

Command:

    devc-serusart -F -S -u2 -b115200 -c100000000 0xfffb0000^2,6

Required binaries:

devc-serusart

Command:

    devc-seratdbgu -e -F -S -b115200 -c100000000 0xfffff200,1

Required binaries:

devc-seratdbgu

SPI:#

Command:

    spi-master -d at91sam9xxspi base=0xfffcc000,irq=13 &

Required binaries:

spi-master
spi-at91sam9xxspi.so

Audio:#

Command:

    io-audio -d at91sam9xx_ac97 ioport=0xfffd8000,irq=24

Required binaries:

io-audio
libasound.so
deva-mixer-ac97.so
deva-ctrl-at91sam9xx_ac97.so

ETFS NAND flash#

Command:

    fs-etfs-at91sam9xx -D addr=0x40000000 -m /fs/etfs

Required binaries:

fs-etfs-at91sam9xx
etfsctl

Note: For more information about these commands, see the Neutrino Utilities Reference.

Graphics#

Command:

    io-display -dvid=0x0,did=0x0

Note: To run io-graphics use the following commands:
Photon &
io-graphics

Required binaries:

devg-atmel91xx.so
libphrender.so
libdisputil.so
libffb.so
libimg.so.1
libgf.so.1

Required configuration files:

/usr/photon/config/atmel91xx.conf=${PWD}/../src/hardware/devg/atmel91xx/atmel91xx.conf
/etc/system/config/display.conf=${PWD}/../src/hardware/devg/atmel91xx/display.conf

About graphics#

This driver currently supports the AT91SAM9RL64 integrated LCD controller . It was developed on the Atmel AT91SAM9RL64 Evaluation Board. This is the GF graphics driver is loaded by io-display.

LCD Displays#

By default the driver sets up the Hitachi TX09D71VM1CCA TFT with the AT91SAM9RL64 reference board.

You can use the driver configuration file atmel91xx.conf to other displays.

HW Format	QNX Format	Notes
8-bit	8-bit	8 bits-per-pixel palette-based
16-bit	15-bit	QNX framework format is ARGB1555, but MSB is not actually used because the hardware uses only 15 bits
24-bit	32-bit	actually unpacked 24-bit, meaning the upper 8 bits are not used

Reserving Memory / Memory Restrictions#

The Atmel AT91SMA9RL64 is a UMA system (Unified Memory Architecture). This means there is no dedicated video memory in the system. Surfaces displayed by the LCD controller, and rendered by the CPU, reside in system memory

To ensure there is enough memory available for graphics, we recommend that memory be reserved at startup by using the -r option to startup.

For example to reserve 2 MB of memory:

startup-at91sam9xx-at91sam9rl64 -r 0x23dd0000,0x200000,1 -vvvvvvv

where 0x23dd0000 is the physical base address of memory, and 0x200000 is the size of memory reserved in bytes.

When the graphics driver is started, this physical address and the size of memory are passed to the devg-atmel91xx.so through the following options in the driver configuration file atmel91xx.conf:

vidbase=0x23dd0000,vidsize=0x200000

For a complete list of options available to the driver please see the atmel91xx.conf file.

Attachments:

samba-ipl-ifs-img.JPG [AtmelAT91SAM9RL64EKEvaluationBoard/samba-ipl-ifs-img.JPG]

samba-ipl-img.JPG [AtmelAT91SAM9RL64EKEvaluationBoard/samba-ipl-img.JPG]

samba-ifs-img.JPG [AtmelAT91SAM9RL64EKEvaluationBoard/samba-ifs-img.JPG]

ipl-ifs-img.JPG [AtmelAT91SAM9RL64EKEvaluationBoard/ipl-ifs-img.JPG]

ipl-img.JPG [AtmelAT91SAM9RL64EKEvaluationBoard/ipl-img.JPG]

ifs-img.JPG [AtmelAT91SAM9RL64EKEvaluationBoard/ifs-img.JPG]

img2.JPG [AtmelAT91SAM9RL64EKEvaluationBoard/img2.JPG]

img1.JPG [AtmelAT91SAM9RL64EKEvaluationBoard/img1.JPG]

img1.bmp [AtmelAT91SAM9RL64EKEvaluationBoard/img1.bmp]

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