[rtems-docs commit] raspberrypi4.rst: Documentation for the new AArch64 Raspberry pi 4B BSP

Joel Sherrill joel at rtems.org
Fri Oct 7 17:37:12 UTC 2022

Module:    rtems-docs
Branch:    master
Commit:    fe10830f248185d5660a825b57bcc30ae345582e
Changeset: http://git.rtems.org/rtems-docs/commit/?id=fe10830f248185d5660a825b57bcc30ae345582e

Author:    Mohd Noor Aman <nooraman5718 at gmail.com>
Date:      Fri Oct  7 03:35:33 2022 +0530

raspberrypi4.rst: Documentation for the new AArch64 Raspberry pi 4B BSP

This patch adds the relevant documentations required for booting the new BSP.
JTAG support is added for debugging. I have built the HTML docs and verified


 user/bsps/aarch64/raspberrypi4.rst | 102 +++++++++++++++++++++++++++++++++++++
 user/bsps/bsps-aarch64.rst         |   1 +
 2 files changed, 103 insertions(+)

diff --git a/user/bsps/aarch64/raspberrypi4.rst b/user/bsps/aarch64/raspberrypi4.rst
new file mode 100644
index 0000000..729d71b
--- /dev/null
+++ b/user/bsps/aarch64/raspberrypi4.rst
@@ -0,0 +1,102 @@
+.. SPDX-License-Identifier: CC-BY-SA-4.0
+.. Copyright (C) 2022 Mohd Noor Aman
+.. _BSP_aarch64_Raspberrypi_4:
+Raspberry Pi 4B
+The 'raspberrypi4b' BSP currently supports only the LP64 ABI. ILP32 is not
+supported. Raspberry pi 4B all variants and Raspberry Pi 400  are supported. The
+default bootloader which is used by the Raspbian OS or other OS can be used to
+boot RTEMS. SMP is currently not supported.
+Raspberry Pi 4B has 2 types of interrupt controller, GIC-400 (GICv2) and ARM
+legacy generic controller. Both are supported. By default, raspberrypi 4B uses
+ARM legacy generic controller. Set ``enable_gic=1`` in the ``config.txt`` file
+to enable GIC.
+Clock Driver
+The clock driver uses the `ARM Generic Timer`.
+Console Driver
+Raspberry pi 4B has 2 types of UARTs, ARM PL011 and Mini-uart. The PL011 is a
+capable, broadly 16550-compatible UART, while the mini UART has a reduced
+feature set. The console driver supports the default Qemu emulated ARM PL011
+PrimeCell UART as well as the physical ARM PL011 PrimeCell UART in the
+raspberrypi hardware. Mini-uart is not supported.
+Preparing to boot
+Raspberry Pi uses a different mechanism to boot. First the GPU initializes,
+loads the bootloader and then looks for the kernel img. By default the arm64
+mode looks for the ``kernel8.img``. Any other kernel can be loaded by adding
+``kernel=<img_name>`` to the ``config.txt`` file.
+The Firmware files are required in order to boot RTEMS. The latest firmware can
+be downloaded from the `Raspberry Pi Firmware Repository
+<https://github.com/raspberrypi/firmware/>`_. USB boot is supported. All the
+files (Firmwares and kernel) must be place in the FAT32 partition only. Add
+``arm_64bit=1`` in the ``config.txt`` file in order to boot the BSP in 64bit
+kernel mode.
+UART Setup
+Connect your serial device to the GPIO15 and GPIO14. Add the following to the
+``config.txt`` file in order to use the PL011 UART0 and thus disabling the
+default Mini-uart.
+.. code-block:: none
+  dtoverlay = disable-bt
+  enable_uart=1
+.. note::
+  The Raspberry Pi 4B and 400 have an additional four PL011 UARTs. They are not
+  supported.
+Generating kernel image
+The following steps show how to run ``hello.exe`` on the BSP. Other executables
+can be processed in a similar way.
+To create the kernel image:
+.. code-block:: shell
+  $ aarch64-rtems at rtems-ver-major@-objcopy -Obinary hello.exe kernel8.img
+Copy the kernel image to the SD card.
+JTAG Setup
+The Raspberry Pi 4 doesn't have dedicated JTAG pins. Instead, you must configure
+the GPIO pins (GPIO22-GPIO27) to activate the JTAG functionality. The RPi 4
+documentation refers to this as Alt4 functions of those pins. Alt5 does exist
+too, which goes from GPIO4, 5, 6, 12 and 13. you can check this out from
+`pinout.xyz <https://pinout.xyz/pinout/jtag#>`_ or `eLinux
+One more thing to note on JTAG with Raspberry pi 4B is that, by default, All the
+GPIO pins are pulled down, according to the `BCM2711 documentation
+<https://datasheets.raspberrypi.com/bcm2711/bcm2711-peripherals.pdf>`_. This
+wasn't the case in the earlier models. So in order to let the data flow freely,
+we will have to disable them.
+.. code-block:: none
+  # Disable pull downs
+  gpio=22-27=np
+  # Enable jtag pins (i.e. GPIO22-GPIO27)
+  enable_jtag_gpio=1
diff --git a/user/bsps/bsps-aarch64.rst b/user/bsps/bsps-aarch64.rst
index 933370f..f3aa15c 100644
--- a/user/bsps/bsps-aarch64.rst
+++ b/user/bsps/bsps-aarch64.rst
@@ -9,3 +9,4 @@ aarch64 (AArch64)
 .. include:: aarch64/a72.rst
 .. include:: aarch64/xilinx-versal.rst
 .. include:: aarch64/xilinx-zynqmp.rst
+.. include:: aarch64/raspberrypi4.rst
\ No newline at end of file

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