Subversion Repositories or1k

Feb 24, 2001

These are the original notes, based on the contribution from
Richard Panton at 3G Labs, Inc.

eCOS For The Compaq iPAQ H3600 Series Handheld PC
=================================================

Intro
-----

IMPORTANT - this current version does not allow the construction of a
_bootable_ ROM image for the iPAQ. However, it DOES allow the creation
of ROM and RAM based images.

You will need:
        A Compaq iPAQ h3600 series.
        The SERIAL docking cradle.

You can use:
        The CF-Card expansion sleeve.
        A Socket LP-E CF Ethernet card.

In order to load any Free Software onto the iPAQ, the Flash ROM must be
reprogrammed with the Linux Bootloader. Please see the instructions
at >>> www.handhelds.org <<< for installing the 'stable' bootloader. Note
that installing the bootloader will erase WinCE from the Flash ROMs, and
that ..
        
     .. IT MAY NOT BE POSSIBLE TO RE-INSTALL WinCE AFTER THIS.


(You WILL be able to load ARMLinux, however ;-)

The rest of this document assumes that you have a working bootloader on
your iPAQ, such that when you boot, the 'boot>' prompt comes out of the
serial port.

As the bootloader resides at address 0x0000 in the ROM, and we do not
wish to overwrite the bootloader (dangerous - this would turn the iPAQ
into what is colloquially known as a 'brick'), the eCOS Redboot image
must be loaded at some other address. In order to make memory mapping
simpler, eCOS/Redboot must be loaded onto a 1Mb boundary - i.e. at
address 0x00x00000, where x is 1,2,3...f. The eCOS startup code has been
adjusted for iPAQ to allow this. To minimise the changes to the memory
map, the MMU will map the correct 1Mb section to the start of ROM space
at 0x50000000 so that the rest of the image can run unchanged.

Patches to existing code
------------------------

Two patches to code are required:

$ECOS_REPOSITORY/hal/arm/arch/current/src/vectors.S:
    148c148,149
    <         ldr     pc,.reset_vector                // 0x00
    ---
    >         //ldr     pc,.reset_vector                // 0x00
    >   b       vectors                         // 0x00
    161c162,163
    < UNMAPPED_PTR(reset_vector)                      // 0x20
    ---
    > //UNMAPPED_PTR(reset_vector)                      // 0x20
    >   b       reset_vector

[This patch changes the reset vector to be position independant.]



and to $ECOS_REPOSITORY/hal/arm/sa11x0/var/current/src/hal_diag.c
    116,117c116
    < 
    <     // Set UART to 8N1 (8 data bits, no partity, 1 stop bit)
    ---
    >     // Set UART to 8N1 (8 data bits, no parity, 1 stop bit)
    182a182,187
    > #if defined(CYGPKG_HAL_ARM_SA11X0_IPAQ)
    > static channel_data_t ser_channels[2] = {
    >     { (volatile struct sa11x0_serial*)SA11X0_UART3_BASE, 1000, CYGNUM_HAL_INTERRUPT_UART3 },
    >     { (volatile struct sa11x0_serial*)SA11X0_UART1_BASE, 1000, CYGNUM_HAL_INTERRUPT_UART1 }
    > };
    > #else
    186a192
    > #endif

[This patch makes the iPAQ use UART3 for debugging rather than UART1]


Flash Support
-------------

The iPAQ uses the same flash devices as the Intel Assabet board, and
uses the same eCOS package, CYGPKG_DEVS_FLASH_ASSABET.

To enable the iPAQ HAL to use the Assabet flash driver, you must edit
the file:
    $ECOS_REPOSITORY/devs/flash/arm/assabet/current/cdl/flash_assabet.cdl

changing the line:
    requires  CYGPKG_HAL_ARM_SA11X0_ASSABET

to:
    requires  CYGPKG_HAL_ARM_SA11X0_ASSABET || CYGPKG_HAL_ARM_SA11X0_IPAQ

This change allows the assabet flash package to be used with this iPAQ
HAL.

When running RedBoot, it is important to execute the command:

    RedBoot> egpio -s 1

(which will turn on the programming power supply) before attempting to
program any flash area.

VERY IMPORTANT: Do NOT attempt to re-program any flash memory between
addresses 0x00000000 and 0x000fffff with RedBoot, since that is where
the iPAQ Linux bootloader resides.



Packages
--------
hal_ipaq-v1_0_0.epk     CYGPKG_HAL_ARM_SA11X0_IPAQ
        Basic support for the iPAQ platform.
        
pcmcia_ipaq-v1_0_0.epk  CYGPKG_DEVS_PCMCIA_IPAQ
        PCMCIA and CF card support for the iPAQ. Allows the use of the
        Socket LP-E Ethernet CF card for network and debugging.



Compiling and installing RedBoot
--------------------------------

As a concrete example (stuff you type is highlighted like this)
                                                          ^^^^

    $ ecosconfig new ipaq redboot
      ^^^^^^^^^^^^^^^^^^^^^^^^^^^
    U CYGSEM_HAL_USE_ROM_MONITOR, new inferred value 0
    U CYGDBG_HAL_DEBUG_GDB_BREAK_SUPPORT, new inferred value 1
    U CYGDBG_HAL_DEBUG_GDB_CTRLC_SUPPORT, new inferred value 0
    U CYGDBG_HAL_COMMON_CONTEXT_SAVE_MINIMUM, new inferred value 0
    U CYGDBG_HAL_DEBUG_GDB_INCLUDE_STUBS, new inferred value 1
    $ ecosconfig import \
      ^^^^^^^^^^^^^^^^^^^
    > $ECOS_REPOSITORY/hal/arm/sa11x0/ipaq/current/misc/redboot_ROM.cfg
      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

If you see an error here relating to unresolved FLASH components, then you
should edit the flash_assabet.cdl file as described above.

    $ ecosconfig resolve
      ^^^^^^^^^^^^^^^^^^
    $ ecosconfig tree
      ^^^^^^^^^^^^^^^
    $ make
      ^^^^
      ...
      ...
      [ creates install/bin/redboot.* ]
    $   

You can now power up the iPAQ and connect to it via the serial port by using,
for example, minicom, at 115200 baud (8 data bits, 1 stop bit, no parity).
You should see the 'boot>' prompt if you press space/return a couple of times.

    @000002BC
    F
    *MTST
      ...
      ... [ loads of status and copyright info here ]
      ...
    booting flash...
    no boot image in flash
    boot>
    boot> load flash 0x00100000
          ^^^^^^^^^^^^^^^^^^^^^
Now start an XMODEM send of install/bin/redboot.bin
When the download is complete, you should see the following:

    programming flash...erasing ...                                                 
    Erasing sector 00100000                                                         
      len=00019500                                                                  
    writing flash..                                                                 
    addr: 00100000 data: EA000006                                                   
    addr: 00110000 data: E3530006                                                   
    verifying ... done.                                                             
    boot>

[ You may find that the iPAQ bootloader times out before you get the chance
to start the XMODEM send. In this case, use a script to perform the download
- this also will ensure that you never type the incorrect address. A sample
script for minicom can be found below in appendix A.]

In order to see the RedBoot start-up messages, it is a good idea to change
the baudrate used by the Linx bootloader now.

    boot> set baudrate 38400
          ^^^^^^^^^^^^^^^^^^
      setting param=baudrate to value=38400
    update_baudrate:  new baudrate=00009600
      CSRBASE=42000000
      l_ubrlcr=00000005
      m_ubrlcr=00000000
      h_ubrlcr=00000000
     baudrate changed to 0x00009600
    boot>

The final part of this message will be corrupted (since you are listening
at 115200 baud). Change your communications program to work at 38400 baud
and hit return a couple of times.
    
To make this change permanent (recommended), execute the following command:
    
    boot> params save
          ^^^^^^^^^^^
    bootldr: set baudrate 0x00009600

    programming flash...erasing ...
    Erasing sector 000C0000
      len=00000084
    writing flash..
    addr: 000C0000 data: 746F6F62
    verifying ... done.
    boot>



Assuming that the download and flash programming have been successful, you
will now be able to launch RedBoot by issuing the following command to the
iPAQ bootloader:

    boot> jump 0x00100000
          ^^^^^^^^^^^^^^^
    Calling fcn=00100000
      a0=00000000
      a1=00000000
      a2=00000000
      a3=0......j
                 +
    RedBoot(tm) debug environment - built 14:56:04, Dec  7 2000
    Platform: Compaq iPaq handheld PC (StrongARM 1110)         
    This port Copyright (C) 2000, 3G Lab Ltd.          
    Copyright (C) 2000, Red Hat, Inc.        
                                 
    RAM: 0x00000000-0x02000000
    FLASH: 0x50000000 - 0x51000000, 64 blocks of 0x00040000 bytes each.
    FLASH configuration checksum error or invalid key                  
    ... Waiting for network card: .Ready!            

    Socket Communications, Inc: Low Power Ethernet CF Revision C 5V/3.3V 08/27/98
    IP: 192.168.0.106, Default server: 192.168.0.1                               
    RedBoot>



Hints and Tips
--------------

Set the iPAQ Linux bootloader to operate at 38400 (ie. the same as GDB). This
means you don't have to switch baud rate when starting RedBoot.

Don't load a Linux kernel into flash, otherwise it may be booted
automatically before you get the chance to get to the boot> prompt.

Use Ethernet if possible!

Flash support WILL NOT WORK unless you have modified the flash_assabet.cdl
file as described above.



Extended RedBoot Commands
-------------------------

Four new commands have been added to RedBoot to aid system development.

1)      gpio [-s <word>] [-c <word>]

        gpio            will display the current state of the GPIO pins.
         -s <word>      will set the bits that are set in <word>, leaving
                        other bits unchanged.
         -c <word>      will clear the bits that are set in <word>, leaving
                        other bits unchanged. -s and -c may be used in the
                        same command.

2)      egpio [-s <word>] [-c <word>]
        egpio           will display the current state of the EGPIO pins.
         -s <word>      will set the bits that are set in <word>, leaving
                        other bits unchanged.
         -c <word>      will clear the bits that are set in <word>, leaving
                        other bits unchanged. -s and -c may be used in the
                        same command.
            [ In particular, "egpio -s 1" will enable flash programming ].

3)      physaddr <virtual_address>
                        will manually walk the translation and page tables
                        to determine which physical address is referenced
                        by the given <virtual_address>. Also printed are
                        the page size (section, large (64k) page, or
                        small (4k) page), the ARM domain, and the access
                        permissions. Invalid mappings will be indicated
                        with an error message explaining WHY the mapping
                        is invalid.

4)      mem [-a <address>] [-b|-h] <word>
                        Stores the value given by <word> at the address
                        given by <address>. <Address> defaults to the
                        last address used if not supplied.
         -b             indicates a byte store (8 bits only).
         -h             indicates a half-word store (16 bits only).
                        Default is a word store (all 32 bits).


Appendix A - A sample minicom script to download images to flash
----------------------------------------------------------------

<<<<----------- CUT HERE ----------->>>>
getipaq:
        send " \c"
        expect {
            "boot>" goto gotit
            " " goto tryenter
            timeout 1 goto getipaq
        }
tryenter:
        send ""
        expect {
            "boot>" goto gotit
            timeout 1 goto getipaq
        }
gotit:
        send "load flash 0x00100000"
        ! sx install/bin/redboot.bin

<<<<----------- CUT HERE ----------->>>>



Appendix B - Differences between the Assabet and iPAQ source code
-----------------------------------------------------------------

memory map - Allocated space for LCD buffer at 0x8000. Use space at
0x0400 - 0x3fff for page tables.

hal_platform_setup.h - EGPIO word and initialisation. Skip memory
controller initialisation (for now).

redboot_cmds.c - Extra RedBoot commands as described above.

lcd_support.c - various changes for the iPAQ display.

ipaq_misc.c - Corrected descriptor structures. Added macros for setting
up page tables as well as sections. Use of domains. LCD is switched on
during plf_hardware_init(). phys_addr() function to perform translation
table walk under software control.

References
----------

ARM Architecture Reference Manual
        (Prentice-Hall ISBN 0-13-736299-4)

Compaq iPAQ H3600 Hardware Design Specification (Version 0.2f)
    
[ later versions of these documents may be available ].