RockchipUART (Universal Asynchronous Receiver/Transmitter) 基于16550A串口标准,完整模块支持以下功能:
(资料图片仅供参考)
支【zhī】持5、6、7、8 bits数据位。支持1、1.5、2 bits停止【zhǐ】位。支持奇校验和偶【ǒu】校验,不支持mark校验和space校验【yàn】。支持接【jiē】收FIFO和发送【sòng】FIFO,一般为【wéi】32字【zì】节或【huò】者64字节【jiē】。支持最高4M波特率,实际支【zhī】持波【bō】特【tè】率需【xū】要芯片时钟分频策略配合。支持中断传输模式和DMA传输模式。 支持硬件自动流控,RTS+CTS。在Linuxkernel 中【zhōng】,使用8250串【chuàn】口通【tōng】用驱动,以下【xià】为主【zhǔ】要驱动文件:
drivers/tty/serial/8250/8250_core.c # 8250串口驱【qū】动核【hé】心
drivers/tty/serial/8250/8250_dw.c # Synopsis DesignWare 8250串口驱动
drivers/tty/serial/8250/8250_dma.c # 8250串口【kǒu】DMA驱【qū】动
drivers/tty/serial/8250/8250_port.c # 8250串【chuàn】口端口【kǒu】操作
drivers/tty/serial/8250/8250_early.c # 8250串【chuàn】口【kǒu】early console驱动
SDK中提供的UART默认配置已经【jīng】使【shǐ】用了8250驱动我们就不需要修改
串口功能的硬件上比较简单,这是只附上调试串口的原理图
rk平台的设备树修改路径都是在kernel\\arch\\arm64\\boot\\dts\\rockchip下面,具体哪【nǎ】个文件根据对应开发板来决定,通常描述设备【bèi】硬件配【pèi】置在【zài】rkxxxx.dtsi中,比如在【zài】rk3588s.dtsi中:
uart2: serial@feb50000 {compatible = "rockchip,rk3588-uart", "snps,dw-apb-uart";reg = < 0x0 0xfeb50000 0x0 0x100 >;interrupts = < GIC_SPI 333 IRQ_TYPE_LEVEL_HIGH >;clocks = < &cru SCLK_UART2 >, < &cru PCLK_UART2 >;clock-names = "baudclk", "apb_pclk";reg-shift = < 2 >;reg-io-width = < 4 >;dmas = < &dmac0 10 >, < &dmac0 11 >;pinctrl-names = "default";pinctrl-0 = < &uart2m1_xfer >;status = "disabled";};
假入我们想使用w3开发板上40PIN上的uart7
我们在dts可以使用如下配置打开
&uart7 {status = "okay";pinctrl-names = "default";pinctrl-0 = < &uart7m1_xfer >;};
Rockchip UART作【zuò】为控制台,使用【yòng】fiq_debugger流程。
在dts中fiq_debugger节点配置【zhì】如下。由于【yú】fiq_debugger和普【pǔ】通串口互【hù】斥,在使能【néng】fiq_debugger节点后必须禁用对应的普通串【chuàn】口uart节点。
chosen: chosen {bootargs = "earlycon=uart8250,mmio32,0xfe660000 console=ttyFIQ0";};fiq-debugger {compatible = "rockchip,fiq-debugger";rockchip,serial-id = < 2 >;rockchip,wake-irq = < 0 >;/* If enable uart uses irq insteadof fiq */rockchip,irq-mode-enable = < 1 >;rockchip,baudrate = < 1500000 >; /* Only 115200 and 1500000 */interrupts = < GIC_SPI 252 IRQ_TYPE_LEVEL_LOW >;pinctrl-names = "default";pinctrl-0 = < &uart2m0_xfer >;status = "okay";};&uart2 {status = "disabled";};
rockchip,serial-id:使【shǐ】用的UART编号【hào】。修【xiū】改serial-id到不同UART,fiq_debugger设备也会注【zhù】册成ttyFIQ0设【shè】备。 rockchip,irq-mode-enable:配置为【wéi】1使【shǐ】用irq中断【duàn】,配【pèi】置为0使用【yòng】fiq中断【duàn】。interrupts:配置的辅助中断【duàn】,保持默认即可。pinctrl-0:使用的串口引脚rockchip,baudrate:波特率配【pèi】置【zhì】普通串口【kǒu】设备将会【huì】根据dts中的aliase来对串【chuàn】口【kǒu】进行编号,对【duì】应注【zhù】册成ttySx设备。注【zhù】册的节点为【wéi】/dev/ttyS4,命名【míng】规则是通过dts中的aliases来的。
aliases {serial0 = &uart0;serial1 = &uart1;serial2 = &uart2;serial3 = &uart3;}
对应uart0注册为ttyS0,uart0注【zhù】册为ttyS1,如【rú】果需【xū】要把uart3注册成ttyS1,可以【yǐ】进行以下修改
serial1 = &uart3; serial3 = &uart1;
Rockchip UART打【dǎ】印通常包括【kuò】DDR阶【jiē】段、Miniloader阶段、TF-A (Trusted Firmware-A)阶【jiē】段、OP-TEE阶段、Uboot阶【jiē】段和【hé】Kernel阶【jiē】段,我们平时主要关注【zhù】的是uboot阶段【duàn】和kernel阶段【duàn】的打印【yìn】,在这两个阶段我们可以尝试关闭所有打印或【huò】切换所有打印到其他UART,RK平台【tái】默【mò】认的调试串口是uart2_m0这一组引脚,假如【rú】现在我将打印【yìn】换成其他串口,可【kě】以尝试【shì】以【yǐ】下做法。
DDR Loader中关【guān】闭或切【qiē】换打印,需要修改【gǎi】DDR Loader中的UART打印【yìn】配【pèi】置,修改【gǎi】文件rkbin/tools/ddrbin_param.txt中的以下参数:
uart id= # UART控【kòng】制器id,配置为【wéi】0xf为关闭打印
uart iomux= # 复用的IOMUX引脚 uart
baudrate= # 115200 or 1500000
修改完成后,使用以下命令重新生成ddr.bin固件。
./ddrbin_tool ddrbin_param.txt rk3588_ddr_lp4_2112MHz_lp5_2736MHz_v1.09.bin
Uboot中关闭打印,需要【yào】在【zài】menuconfig中,打开配CONFIG_DISABLE_CONSOLE,保【bǎo】存到.config文件【jiàn】
Uboot中【zhōng】切换打印,由传【chuán】参机【jī】制决定,不需要进行额外修改。uboot解析传【chuán】参机【jī】制相关代【dài】码【mǎ】在arch/arm/mach-rockchip/board.c的board_init_f_init_serial()函数中。
去【qù】掉【diào】打印需【xū】要在menuconfig中,关闭配置CONFIG_SERIAL_8250_CONSOLE。
Device Drivers --->
Character devices --->
Serial drivers --->
[ ]Console on 8250/16550 and compatible serial port
在【zài】dts配【pèi】置中找到【dào】类似以下内容,并去掉UART基地【dì】址和console相关配置参【cān】数
chosen: chosen {bootargs = "earlycon=uart8250,mmio32,0xfeb50000 console=ttyFIQ0 irqchip.gicv3_pseudo_nmi=0 root=PARTUUID=614e0000-0000 rw rootwait";};
将0xfeb50000 console=ttyFIQ0 去【qù】掉,然后找到fiq-debugger节点,修改serial-id为0xffffffff,去掉【diào】UART引【yǐn】脚复用相关配置。注意,需要【yào】保持【chí】fiqdebugger节点使能【néng】,保持【chí】fiq-debugger流程【chéng】系【xì】统才能【néng】正常启动
fiq_debugger: fiq-debugger {compatible = "rockchip,fiq-debugger";rockchip,serial-id = < 0xffffffff >;rockchip,wake-irq = < 0 >;/* If enable uart uses irq instead of fiq */rockchip,irq-mode-enable = < 1 >;rockchip,baudrate = < 1500000 >; /* Only 115200 and 1500000 */interrupts = < GIC_SPI 423 IRQ_TYPE_LEVEL_LOW >;status = "okay";};
切换打印串口例如【rú】将Kernel打【dǎ】印从UART2切换【huàn】到UART3,在dts配置中找到【dào】类似以【yǐ】下【xià】内容【róng】,将UART基地址由UART2改为【wéi】UART3.
bootargs = "earlycon=uart8250,mmio32,0xfe670000 console=ttyFIQ0";
0xfe670000是UART3基地址,然后找到fiq-debugger节点,修改serial-id为【wéi】3,修改UART3引脚复用【yòng】配置pinctrl-0 = <&uart3m0_xfer>。注意,同时需要将切换【huàn】为打【dǎ】印串口的【de】UART3作为普【pǔ】通【tōng】串口的节点禁用。
在开发板上【shàng】跑【pǎo】一套应用程序,可以发送数【shù】据,可以接【jiē】收数据,测【cè】试方法可以短接【jiē】TX_RX
#include < stdio.h >#include < stdlib.h >#include < errno.h >#include < unistd.h >#include < fcntl.h >#include < string.h >#include < termio.h >#include < time.h >#include < pthread.h >int read_data(int fd, void *buf, int len);int write_data(int fd, void *buf, int len);int setup_port(int fd, int baud, int databits, int parity, int stopbits);void print_usage(char *program_name);pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;pthread_cond_t data_ready = PTHREAD_COND_INITIALIZER;int data_available = 0;void *read_thread(void *arg) { int fd = *(int *)arg; char buffer[1024]; // 存【cún】储读取的数据 while (1) { int bytes_read = read_data(fd, buffer, sizeof(buffer)); if (bytes_read > 0) { printf("Read Thread: Read %d bytes: %s\\n", bytes_read, buffer); } else { // 处理读【dú】取错误或设备关闭的【de】情【qíng】况 break; } } pthread_exit(NULL);}void *write_thread(void *arg) { int fd = *(int *)arg;char input[1024]; // 存储用户输入的【de】数据 while (1) { printf("Enter data to write (or "q" to quit): "); fgets(input, sizeof(input), stdin); if (strcmp(input, "q\\n") == 0 || strcmp(input, "Q\\n") == 0) { // 用【yòng】户输入 "q" 或 "Q",退【tuì】出循【xún】环 break; } int len = strlen(input); int bytes_written = write_data(fd, input, len); if (bytes_written > 0) { printf("Write Thread: Wrote %d bytes: %s\\n", bytes_written, input); } } pthread_exit(NULL);}int main(int argc, char *argv[]) //./a.out /dev/ttyS4 115200 8 0 1{ int fd; int baud; int len; int count; int i; int databits; int stopbits; int parity; if (argc != 6) { print_usage(argv[0]); return 1; } baud = atoi(argv[2]); if ((baud < 0) || (baud > 921600)) { fprintf(stderr, "Invalid baudrate!\\n"); return 1; } databits = atoi(argv[3]); if ((databits < 5) || (databits > 8)) { fprintf(stderr, "Invalid databits!\\n"); return 1; } parity = atoi(argv[4]); if ((parity < 0) || (parity > 2)) { fprintf(stderr, "Invalid parity!\\n"); return 1; } stopbits = atoi(argv[5]); if ((stopbits < 1) || (stopbits > 2)) { fprintf(stderr, "Invalid stopbits!\\n"); return 1; } fd = open(argv[1], O_RDWR, 0); if (fd < 0) { fprintf(stderr, "open < %s > error %s\\n", argv[1], strerror(errno)); return 1; } if (setup_port(fd, baud, databits, parity, stopbits)) { fprintf(stderr, "setup_port error %s\\n", strerror(errno)); close(fd); return 1; }pthread_t read_tid, write_tid; int ret; // 创建【jiàn】读取线程 ret = pthread_create(&read_tid, NULL, read_thread, &fd); if (ret != 0) { fprintf(stderr, "Failed to create read thread\\n"); return 1; } // 创建写入线程 ret = pthread_create(&write_tid, NULL, write_thread, &fd); if (ret != 0) { fprintf(stderr, "Failed to create write thread\\n"); return 1; } // 等待【dài】读取线【xiàn】程【chéng】和写入线程结束 pthread_join(read_tid, NULL); pthread_join(write_tid, NULL); close(fd); return 0;}static int baudflag_arr[] = { B921600, B460800, B230400, B115200, B57600, B38400, B19200, B9600, B4800, B2400, B1800, B1200, B600, B300, B150, B110, B75, B50};static int speed_arr[] = { 921600, 460800, 230400, 115200, 57600, 38400, 19200, 9600, 4800, 2400, 1800, 1200, 600, 300, 150, 110, 75, 50};int speed_to_flag(int speed){ int i; for (i = 0; i < sizeof(speed_arr)/sizeof(int); i++) { if (speed == speed_arr[i]) { return baudflag_arr[i]; } } fprintf(stderr, "Unsupported baudrate, use 9600 instead!\\n"); return B9600;}static struct termio oterm_attr;int setup_port(int fd, int baud, int databits, int parity, int stopbits){ struct termio term_attr; if (ioctl(fd, TCGETA, &term_attr) < 0) { return -1; } memcpy(&oterm_attr, &term_attr, sizeof(struct termio)); term_attr.c_iflag &= ~(INLCR | IGNCR | ICRNL | ISTRIP); term_attr.c_oflag &= ~(OPOST | ONLCR | OCRNL); term_attr.c_lflag &= ~(ISIG | ECHO | ICANON | NOFLSH); term_attr.c_cflag &= ~CBAUD; term_attr.c_cflag |= CREAD | speed_to_flag(baud); term_attr.c_cflag &= ~(CSIZE); switch (databits) { case 5: term_attr.c_cflag |= CS5; break; case 6: term_attr.c_cflag |= CS6; break; case 7: term_attr.c_cflag |= CS7; break; case 8: default: term_attr.c_cflag |= CS8; break; } switch (parity) { case 1: term_attr.c_cflag |= (PARENB | PARODD); break; case 2: term_attr.c_cflag |= PARENB; term_attr.c_cflag &= ~(PARODD); break; case 0: default: term_attr.c_cflag &= ~(PARENB); break; } switch (stopbits) { case 2: term_attr.c_cflag |= CSTOPB; break; case 1: default: term_attr.c_cflag &= ~CSTOPB; break; } term_attr.c_cc[VMIN] = 1; term_attr.c_cc[VTIME] = 0; if (ioctl(fd, TCSETAW, &term_attr) < 0) { return -1; } if (ioctl(fd, TCFLSH, 2) < 0) { return -1; } return 0;} int read_data(int fd, void *buf, int len){ int count; int ret; ret = 0; count = 0; //while (len > 0) { ret = read(fd, (char*)buf + count, len); if (ret < 1) { fprintf(stderr, "Read error %s\\n", strerror(errno)); //break; } count += ret; len = len - ret; //} *((char*)buf + count) = 0; return count;} int write_data(int fd, void *buf, int len){ int count; int ret; ret = 0; count = 0; while (len > 0) { ret = write(fd, (char*)buf + count, len); if (ret < 1) { fprintf(stderr, "Write error %s\\n", strerror(errno)); break; } count += ret; len = len - ret; } return count;}void print_usage(char *program_name){ fprintf(stderr, "*************************************\\n" " A Simple Serial Port Test Utility\\n" "*************************************\\n\\n" "Usage:\\n %s < device > < baud > < databits > < parity > < stopbits > \\n" " databits: 5, 6, 7, 8\\n" " parity: 0(None), 1(Odd), 2(Even)\\n" " stopbits: 1, 2\\n" "Example:\\n %s /dev/ttyS4 115200 8 0 1\\n\\n", program_name, program_name );}
运行效果如下:
审核编辑:汤梓红