before start_kernel

本文详细介绍了arch/i386/kernel/head.S文件中如何启用分页机制,并为第一个进程准备执行环境的过程。文中解释了虚拟地址从PAGE_OFFSET+0x100000开始,物理地址从0x100000开始的情况。通过设置页表指针和分页位来实现地址转换。

arch/i386/kernel/head.S is responsible for turning on paging mechnisam, and prepare execution envrionment for the first process. The virtual address is from PAGE_OFFSET + 0x100000, and physical address is from 0x100000.

 

 /* enable the paging mechnism, so later address is all virtual address which is physical address + PAGE_OFFSET*/

 movl $0x101000,%eax
 movl %eax,%cr3  /* set the page table pointer.. */
 movl %cr0,%eax
 orl $0x80000000,%eax
 movl %eax,%cr0  /* ..and set paging (PG) bit */
 jmp 1f   /* flush the prefetch-queue */
1:
 movl $1f,%eax
 jmp *%eax  /* make sure eip is relocated */
1:
 /* Set up the stack pointer */
 lss stack_start,%esp

 

/* set gdtr and idtr to the final one. */

 lgdt gdt_descr
 lidt idt_descr
 ljmp $(__KERNEL_CS),$1f
1: movl $(__KERNEL_DS),%eax # reload all the segment registers
 movl %ax,%ds  # after changing gdt.
 movl %ax,%es
 movl %ax,%fs
 movl %ax,%gs
#ifdef __SMP__
 movl $(__KERNEL_DS), %eax
 mov  %ax,%ss  # Reload the stack pointer (segment only)
#else
 lss stack_start,%esp # Load processor stack

 

/* move to start_kernel - the modern age. */

 xorl %eax,%eax
 lldt %ax
 cld   # gcc2 wants the direction flag cleared at all times
 call SYMBOL_NAME(start_kernel)

基于数据驱动的 Koopman 算子的递归神经网络模型线性化,用于纳米定位系统的预测控制研究(Matlab代码实现)内容概要:本文围绕“基于数据驱动的Koopman算子的递归神经网络模型线性化”展开,旨在研究纳米定位系统的预测控制问题,并提供完整的Matlab代码实现。文章结合数据驱动方法与Koopman算子理论,利用递归神经网络(RNN)对非线性系统进行建模与线性化处理,从而提升纳米级定位系统的精度与动态响应性能。该方法通过提取系统隐含动态特征,构建近似线性模型,便于后续模型预测控制(MPC)的设计与优化,适用于高精度自动化控制场景。文中还展示了相关实验验证与仿真结果,证明了该方法的有效性和先进性。; 适合人群:具备一定控制理论基础和Matlab编程能力,从事精密控制、智能制造、自动化或相关领域研究的研究生、科研人员及工程技术人员。; 使用场景及目标:①应用于纳米级精密定位系统(如原子力显微镜、半导体制造设备)中的高性能控制设计;②为非线性系统建模与线性化提供一种结合深度学习与现代控制理论的新思路;③帮助读者掌握Koopman算子、RNN建模与模型预测控制的综合应用。; 阅读建议:建议读者结合提供的Matlab代码逐段理解算法实现流程,重点关注数据预处理、RNN结构设计、Koopman观测矩阵构建及MPC控制器集成等关键环节,并可通过更换实际系统数据进行迁移验证,深化对方法泛化能力的理解。
/* * (C) Copyright 2000-2009 * Wolfgang Denk, DENX Software Engineering, wd@denx.de. * * SPDX-License-Identifier: GPL-2.0+ */ #ifndef USE_HOSTCC #include <common.h> #include <bootstage.h> #include <bzlib.h> #include <errno.h> #include <fdt_support.h> #include <lmb.h> #include <malloc.h> #include <asm/io.h> #include <linux/lzo.h> #include <lzma/LzmaTypes.h> #include <lzma/LzmaDec.h> #include <lzma/LzmaTools.h> #ifdef CONFIG_XZ #include <xz/xz.h> #include <xz/xz_config.h> #include <xz/xz_lzma2.h> #include <xz/xz_stream.h> #endif #if defined(CONFIG_CMD_USB) #include <usb.h> #endif #else #include "mkimage.h" #endif #include <command.h> #include <bootm.h> #include <image.h> #ifndef CONFIG_SYS_BOOTM_LEN /* use 16MByte as default max gunzip size */ #define CONFIG_SYS_BOOTM_LEN 0x1000000 #endif #define IH_INITRD_ARCH IH_ARCH_DEFAULT #ifndef USE_HOSTCC DECLARE_GLOBAL_DATA_PTR; static const void *boot_get_kernel(cmd_tbl_t *cmdtp, int flag, int argc, char * const argv[], bootm_headers_t *images, ulong *os_data, ulong *os_len); #ifdef CONFIG_LMB static void boot_start_lmb(bootm_headers_t *images) { ulong mem_start; phys_size_t mem_size; lmb_init(&images->lmb); mem_start = getenv_bootm_low(); mem_size = getenv_bootm_size(); lmb_add(&images->lmb, (phys_addr_t)mem_start, mem_size); arch_lmb_reserve(&images->lmb); board_lmb_reserve(&images->lmb); } #else #define lmb_reserve(lmb, base, size) static inline void boot_start_lmb(bootm_headers_t *images) { } #endif static int bootm_start(cmd_tbl_t *cmdtp, int flag, int argc, char * const argv[]) { memset((void *)&images, 0, sizeof(images)); images.verify = getenv_yesno("verify"); boot_start_lmb(&images); bootstage_mark_name(BOOTSTAGE_ID_BOOTM_START, "bootm_start"); images.state = BOOTM_STATE_START; return 0; } static int bootm_find_os(cmd_tbl_t *cmdtp, int flag, int argc, char * const argv[]) { const void *os_hdr; bool ep_found = false; int ret; /* get kernel image header, start address and length */ os_hdr = boot_get_kernel(cmdtp, flag, argc, argv, &images, &images.os.image_start, &images.os.image_len); if (images.os.image_len == 0) { puts("ERROR: can't get kernel image!\n"); return 1; } /* get image parameters */ switch (genimg_get_format(os_hdr)) { #if defined(CONFIG_IMAGE_FORMAT_LEGACY) case IMAGE_FORMAT_LEGACY: images.os.type = image_get_type(os_hdr); images.os.comp = image_get_comp(os_hdr); images.os.os = image_get_os(os_hdr); images.os.end = image_get_image_end(os_hdr); images.os.load = image_get_load(os_hdr); images.os.arch = image_get_arch(os_hdr); break; #endif #if defined(CONFIG_FIT) case IMAGE_FORMAT_FIT: if (fit_image_get_type(images.fit_hdr_os, images.fit_noffset_os, &images.os.type)) { puts("Can't get image type!\n"); bootstage_error(BOOTSTAGE_ID_FIT_TYPE); return 1; } if (fit_image_get_comp(images.fit_hdr_os, images.fit_noffset_os, &images.os.comp)) { puts("Can't get image compression!\n"); bootstage_error(BOOTSTAGE_ID_FIT_COMPRESSION); return 1; } if (fit_image_get_os(images.fit_hdr_os, images.fit_noffset_os, &images.os.os)) { puts("Can't get image OS!\n"); bootstage_error(BOOTSTAGE_ID_FIT_OS); return 1; } if (fit_image_get_arch(images.fit_hdr_os, images.fit_noffset_os, &images.os.arch)) { puts("Can't get image ARCH!\n"); return 1; } images.os.end = fit_get_end(images.fit_hdr_os); if (fit_image_get_load(images.fit_hdr_os, images.fit_noffset_os, &images.os.load)) { puts("Can't get image load address!\n"); bootstage_error(BOOTSTAGE_ID_FIT_LOADADDR); return 1; } break; #endif #ifdef CONFIG_ANDROID_BOOT_IMAGE case IMAGE_FORMAT_ANDROID: images.os.type = IH_TYPE_KERNEL; images.os.comp = IH_COMP_NONE; images.os.os = IH_OS_LINUX; images.os.end = android_image_get_end(os_hdr); images.os.load = android_image_get_kload(os_hdr); images.ep = images.os.load; ep_found = true; break; #endif default: puts("ERROR: unknown image format type!\n"); return 1; } /* If we have a valid setup.bin, we will use that for entry (x86) */ if (images.os.arch == IH_ARCH_I386 || images.os.arch == IH_ARCH_X86_64) { ulong len; ret = boot_get_setup(&images, IH_ARCH_I386, &images.ep, &len); if (ret < 0 && ret != -ENOENT) { puts("Could not find a valid setup.bin for x86\n"); return 1; } /* Kernel entry point is the setup.bin */ } else if (images.legacy_hdr_valid) { images.ep = image_get_ep(&images.legacy_hdr_os_copy); #if defined(CONFIG_FIT) } else if (images.fit_uname_os) { int ret; ret = fit_image_get_entry(images.fit_hdr_os, images.fit_noffset_os, &images.ep); if (ret) { puts("Can't get entry point property!\n"); return 1; } #endif } else if (!ep_found) { puts("Could not find kernel entry point!\n"); return 1; } if (images.os.type == IH_TYPE_KERNEL_NOLOAD) { images.os.load = images.os.image_start; images.ep += images.os.load; } images.os.start = (ulong)os_hdr; return 0; } static int bootm_find_ramdisk(int flag, int argc, char * const argv[]) { int ret; /* find ramdisk */ ret = boot_get_ramdisk(argc, argv, &images, IH_INITRD_ARCH, &images.rd_start, &images.rd_end); if (ret) { puts("Ramdisk image is corrupt or invalid\n"); return 1; } return 0; } #if defined(CONFIG_OF_LIBFDT) static int bootm_find_fdt(int flag, int argc, char * const argv[]) { int ret; /* find flattened device tree */ ret = boot_get_fdt(flag, argc, argv, IH_ARCH_DEFAULT, &images, &images.ft_addr, &images.ft_len); if (ret) { puts("Could not find a valid device tree\n"); return 1; } set_working_fdt_addr(images.ft_addr); return 0; } #endif int bootm_find_ramdisk_fdt(int flag, int argc, char * const argv[]) { if (bootm_find_ramdisk(flag, argc, argv)) return 1; #if defined(CONFIG_OF_LIBFDT) if (bootm_find_fdt(flag, argc, argv)) return 1; #endif return 0; } static int bootm_find_other(cmd_tbl_t *cmdtp, int flag, int argc, char * const argv[]) { if (((images.os.type == IH_TYPE_KERNEL) || (images.os.type == IH_TYPE_KERNEL_NOLOAD) || (images.os.type == IH_TYPE_MULTI)) && (images.os.os == IH_OS_LINUX || images.os.os == IH_OS_VXWORKS)) return bootm_find_ramdisk_fdt(flag, argc, argv); return 0; } #endif /* USE_HOSTCC */ int bootm_decomp_image(int comp, ulong load, ulong image_start, int type, void *load_buf, void *image_buf, ulong image_len, uint unc_len, ulong *load_end) { const char *type_name = genimg_get_type_name(type); // __attribute__((unused)) uint unc_len = CONFIG_SYS_BOOTM_LEN; *load_end = load; switch (comp) { case IH_COMP_XIP: case IH_COMP_NONE: if (load == image_start) { printf(" XIP %s ... ", type_name); }else if(IH_COMP_XIP==comp){ printf(" Force XIP %s ... ", type_name); image_start=load; }else { printf(" Loading %s ... ", type_name); memmove_wd(load_buf, image_buf, image_len, CHUNKSZ); } *load_end = load + image_len; break; #ifdef CONFIG_GZIP case IH_COMP_GZIP: printf(" Uncompressing %s ... \n", type_name); if (gunzip(load_buf, unc_len, image_buf, &image_len) != 0) { puts(" GUNZIP: uncompress, out-of-mem or overwrite error - must RESET board to recover\n"); return BOOTM_ERR_RESET; } *load_end = load + image_len; break; #endif /* CONFIG_GZIP */ #ifdef CONFIG_BZIP2 case IH_COMP_BZIP2: printf(" Uncompressing %s ... \n", type_name); /* * If we've got less than 4 MB of malloc() space, * use slower decompression algorithm which requires * at most 2300 KB of memory. */ int i = BZ2_bzBuffToBuffDecompress(load_buf, &unc_len, image_buf, image_len, CONFIG_SYS_MALLOC_LEN < (4096 * 1024), 0); if (i != BZ_OK) { printf(" BUNZIP2: uncompress or overwrite error %d - must RESET board to recover\n", i); return BOOTM_ERR_RESET; } *load_end = load + unc_len; break; #endif /* CONFIG_BZIP2 */ #if defined CONFIG_LZMA || defined CONFIG_XZ case IH_COMP_LZMA: { #ifdef CONFIG_XZ struct xz_buf b; struct xz_dec *s; enum xz_ret ret; printf(" Uncompressing %s ... \n", type_name); xz_crc32_init(); /* * Support up to 64 MiB dictionary. The actually needed memory * is allocated once the headers have been parsed. */ s = xz_dec_init(XZ_SINGLE, 16*1024); if(s==NULL) { printf(" xz_dec_init ERROR!!"); } b.in = image_buf/*hardcore here*/; b.in_pos = 0; b.in_size = image_len; b.out = load_buf; b.out_pos = 0; b.out_size = unc_len; ret = xz_dec_run(s, &b); // if(ret != XZ_OK || ret != XZ_STREAM_END) // printf("\nXZ: uncompress erro %d\n", ret); printf(" XZ: uncompressed size=0x%x, ret=%d\n",b.out_pos, ret); xz_dec_end(s); break; #else SizeT lzma_len = unc_len; int ret; printf(" Uncompressing %s ... \n", type_name); ret = lzmaBuffToBuffDecompress(load_buf, &lzma_len, image_buf, image_len); unc_len = lzma_len; if (ret != SZ_OK) { printf(" LZMA: uncompress or overwrite error %d - must RESET board to recover\n", ret); bootstage_error(BOOTSTAGE_ID_DECOMP_IMAGE); return BOOTM_ERR_RESET; } *load_end = load + unc_len; break; #endif } #endif /* CONFIG_LZMA */ #ifdef CONFIG_LZO case IH_COMP_LZO: { size_t size = unc_len; int ret; printf(" Uncompressing %s ... \n", type_name); ret = lzop_decompress(image_buf, image_len, load_buf, &size); if (ret != LZO_E_OK) { printf(" LZO: uncompress or overwrite error %d - must RESET board to recover\n", ret); return BOOTM_ERR_RESET; } *load_end = load + size; break; } #endif /* CONFIG_LZO */ #ifdef CONFIG_MZ case IH_COMP_MZ: { extern size_t tinfl_decompress_mem_to_mem(void *pOut_buf, size_t out_buf_len, const void *pSrc_buf, size_t src_buf_len, int flags); int ret=-1; printf(" Uncompressing %s ... \n", type_name); // printf(" 0x%08X, 0x%08X, 0x%08X, 0x%08X\n",load_buf, unc_len, image_buf, image_len); if ((ret=tinfl_decompress_mem_to_mem(load_buf, unc_len, image_buf, image_len, 0)) <0) { puts(" MZ: uncompress failed - must RESET board to recover\n"); return BOOTM_ERR_RESET; } else { printf(" MZ: uncompressed size=0x%x\n",ret); } *load_end = load + image_len; break; } #endif /* CONFIG_MZ */ default: printf(" Unimplemented compression type %d\n", comp); return BOOTM_ERR_UNIMPLEMENTED; } puts("OK\n"); return 0; } #ifndef USE_HOSTCC static int bootm_load_os(bootm_headers_t *images, unsigned long *load_end, int boot_progress) { image_info_t os = images->os; ulong load = os.load; ulong blob_start = os.start; ulong blob_end = os.end; ulong image_start = os.image_start; ulong image_len = os.image_len; bool no_overlap; void *load_buf, *image_buf; int err; load_buf = map_sysmem(load, 0); image_buf = map_sysmem(os.image_start, image_len); err = bootm_decomp_image(os.comp, load, os.image_start, os.type, load_buf, image_buf, image_len,CONFIG_SYS_BOOTM_LEN, load_end); if (err) { bootstage_error(BOOTSTAGE_ID_DECOMP_IMAGE); return err; } flush_cache(load, (*load_end - load) * sizeof(ulong)); debug(" kernel loaded at 0x%08lx, end = 0x%08lx\n", load, *load_end); bootstage_mark_name(BOOTSTAGE_ID_KERNEL_LOADED,__FUNCTION__); no_overlap = (os.comp == IH_COMP_XIP || ( os.comp == IH_COMP_NONE && load == image_start )); if (!no_overlap && (load < blob_end) && (*load_end > blob_start)) { debug("images.os.start = 0x%lX, images.os.end = 0x%lx\n", blob_start, blob_end); debug("images.os.load = 0x%lx, load_end = 0x%lx\n", load, *load_end); /* Check what type of image this is. */ if (images->legacy_hdr_valid) { if (image_get_type(&images->legacy_hdr_os_copy) == IH_TYPE_MULTI) puts("WARNING: legacy format multi component image overwritten\n"); return BOOTM_ERR_OVERLAP; } else { puts("ERROR: new format image overwritten - must RESET the board to recover\n"); bootstage_error(BOOTSTAGE_ID_OVERWRITTEN); return BOOTM_ERR_RESET; } } return 0; } /** * bootm_disable_interrupts() - Disable interrupts in preparation for load/boot * * @return interrupt flag (0 if interrupts were disabled, non-zero if they were * enabled) */ ulong bootm_disable_interrupts(void) { ulong iflag; /* * We have reached the point of no return: we are going to * overwrite all exception vector code, so we cannot easily * recover from any failures any more... */ iflag = disable_interrupts(); #ifdef CONFIG_NETCONSOLE /* Stop the ethernet stack if NetConsole could have left it up */ eth_halt(); eth_unregister(eth_get_dev()); #endif #if defined(CONFIG_CMD_USB) /* * turn off USB to prevent the host controller from writing to the * SDRAM while Linux is booting. This could happen (at least for OHCI * controller), because the HCCA (Host Controller Communication Area) * lies within the SDRAM and the host controller writes continously to * this area (as busmaster!). The HccaFrameNumber is for example * updated every 1 ms within the HCCA structure in SDRAM! For more * details see the OpenHCI specification. */ #if 1//defined(CONFIG_MS_USB) printf("-usb_stop(USB_PORT0)\n"); usb_stop(USB_PORT0); #if defined(ENABLE_SECOND_EHC) printf("-usb_stop(USB_PORT1)\n"); usb_stop(USB_PORT1); #endif #if defined(ENABLE_THIRD_EHC) printf("-usb_stop(USB_PORT2)\n"); usb_stop(USB_PORT2); #endif #if defined(ENABLE_FOURTH_EHC) printf("-usb_stop(USB_PORT3)\n"); usb_stop(USB_PORT3); #endif #if defined(CONFIG_USB_XHCI) && defined(ENABLE_XHC) printf("-usb_stop(USB_PORT4)\n"); usb_stop_xhci(USB_PORT4, 1); //stop and turn off power #endif #else usb_stop(); #endif #endif return iflag; } #if defined(CONFIG_SILENT_CONSOLE) && !defined(CONFIG_SILENT_U_BOOT_ONLY) #define CONSOLE_ARG "console=" #define CONSOLE_ARG_LEN (sizeof(CONSOLE_ARG) - 1) static void fixup_silent_linux(void) { char *buf; const char *env_val; char *cmdline = getenv("bootargs"); int want_silent; /* * Only fix cmdline when requested. The environment variable can be: * * no - we never fixup * yes - we always fixup * unset - we rely on the console silent flag */ want_silent = getenv_yesno("silent_linux"); if (want_silent == 0) return; else if (want_silent == -1 && !(gd->flags & GD_FLG_SILENT)) return; debug("before silent fix-up: %s\n", cmdline); if (cmdline && (cmdline[0] != '\0')) { char *start = strstr(cmdline, CONSOLE_ARG); /* Allocate space for maximum possible new command line */ buf = malloc(strlen(cmdline) + 1 + CONSOLE_ARG_LEN + 1); if (!buf) { debug("%s: out of memory\n", __func__); return; } if (start) { char *end = strchr(start, ' '); int num_start_bytes = start - cmdline + CONSOLE_ARG_LEN; strncpy(buf, cmdline, num_start_bytes); if (end) strcpy(buf + num_start_bytes, end); else buf[num_start_bytes] = '\0'; } else { sprintf(buf, "%s %s", cmdline, CONSOLE_ARG); } env_val = buf; } else { buf = NULL; env_val = CONSOLE_ARG; } setenv("bootargs", env_val); debug("after silent fix-up: %s\n", env_val); free(buf); } #endif /* CONFIG_SILENT_CONSOLE */ /** * Execute selected states of the bootm command. * * Note the arguments to this state must be the first argument, Any 'bootm' * or sub-command arguments must have already been taken. * * Note that if states contains more than one flag it MUST contain * BOOTM_STATE_START, since this handles and consumes the command line args. * * Also note that aside from boot_os_fn functions and bootm_load_os no other * functions we store the return value of in 'ret' may use a negative return * value, without special handling. * * @param cmdtp Pointer to bootm command table entry * @param flag Command flags (CMD_FLAG_...) * @param argc Number of subcommand arguments (0 = no arguments) * @param argv Arguments * @param states Mask containing states to run (BOOTM_STATE_...) * @param images Image header information * @param boot_progress 1 to show boot progress, 0 to not do this * @return 0 if ok, something else on error. Some errors will cause this * function to perform a reboot! If states contains BOOTM_STATE_OS_GO * then the intent is to boot an OS, so this function will not return * unless the image type is standalone. */ int do_bootm_states(cmd_tbl_t *cmdtp, int flag, int argc, char * const argv[], int states, bootm_headers_t *images, int boot_progress) { boot_os_fn *boot_fn; ulong iflag = 0; int ret = 0, need_boot_fn; images->state |= states; /* * Work through the states and see how far we get. We stop on * any error. */ if (states & BOOTM_STATE_START) ret = bootm_start(cmdtp, flag, argc, argv); if (!ret && (states & BOOTM_STATE_FINDOS)) ret = bootm_find_os(cmdtp, flag, argc, argv); if (!ret && (states & BOOTM_STATE_FINDOTHER)) { ret = bootm_find_other(cmdtp, flag, argc, argv); argc = 0; /* consume the args */ } /* Load the OS */ if (!ret && (states & BOOTM_STATE_LOADOS)) { ulong load_end; iflag = bootm_disable_interrupts(); ret = bootm_load_os(images, &load_end, 0); if (ret == 0) lmb_reserve(&images->lmb, images->os.load, (load_end - images->os.load)); else if (ret && ret != BOOTM_ERR_OVERLAP) goto err; else if (ret == BOOTM_ERR_OVERLAP) ret = 0; #if defined(CONFIG_SILENT_CONSOLE) && !defined(CONFIG_SILENT_U_BOOT_ONLY) if (images->os.os == IH_OS_LINUX) fixup_silent_linux(); #endif } /* Relocate the ramdisk */ #ifdef CONFIG_SYS_BOOT_RAMDISK_HIGH if (!ret && (states & BOOTM_STATE_RAMDISK)) { ulong rd_len = images->rd_end - images->rd_start; ret = boot_ramdisk_high(&images->lmb, images->rd_start, rd_len, &images->initrd_start, &images->initrd_end); if (!ret) { setenv_hex("initrd_start", images->initrd_start); setenv_hex("initrd_end", images->initrd_end); } } //Copy ramdisk to the address given by kernel image if(!strncmp((char*)images->rd_end, "KIMG", 4)) { ulong rd_start = images->rd_start; ulong rd_len = images->rd_end - images->rd_start; images->initrd_start = *(ulong*)(images->rd_end+8); images->initrd_end = images->initrd_start + rd_len; memcpy((ulong*)images->initrd_start, (ulong*)images->rd_start, rd_len); //update new ramdisk address, it will pass to KERNEL later through ATAG format images->rd_start = images->initrd_start; images->rd_end = images->initrd_end; printf("[KIMG] initrd load to 0x%08X.[0x%08X, 0x%08X]\n", (unsigned int)images->rd_start,(unsigned int)rd_start,(unsigned int)rd_len); } else { //printf("ERR: Can't find KIMG header and initrd address, 0x%08X\n",(unsigned int)images->rd_end); images->rd_start = images->rd_end = 0; } #endif #if defined(CONFIG_OF_LIBFDT) && defined(CONFIG_LMB) if (!ret && (states & BOOTM_STATE_FDT)) { boot_fdt_add_mem_rsv_regions(&images->lmb, images->ft_addr); ret = boot_relocate_fdt(&images->lmb, &images->ft_addr, &images->ft_len); } #endif /* From now on, we need the OS boot function */ if (ret) return ret; boot_fn = bootm_os_get_boot_func(images->os.os); need_boot_fn = states & (BOOTM_STATE_OS_CMDLINE | BOOTM_STATE_OS_BD_T | BOOTM_STATE_OS_PREP | BOOTM_STATE_OS_FAKE_GO | BOOTM_STATE_OS_GO); if (boot_fn == NULL && need_boot_fn) { if (iflag) enable_interrupts(); printf("ERROR: booting os '%s' (%d) is not supported\n", genimg_get_os_name(images->os.os), images->os.os); bootstage_error(BOOTSTAGE_ID_CHECK_BOOT_OS); return 1; } /* Call various other states that are not generally used */ if (!ret && (states & BOOTM_STATE_OS_CMDLINE)) ret = boot_fn(BOOTM_STATE_OS_CMDLINE, argc, argv, images); if (!ret && (states & BOOTM_STATE_OS_BD_T)) ret = boot_fn(BOOTM_STATE_OS_BD_T, argc, argv, images); if (!ret && (states & BOOTM_STATE_OS_PREP)) ret = boot_fn(BOOTM_STATE_OS_PREP, argc, argv, images); #ifdef CONFIG_TRACE /* Pretend to run the OS, then run a user command */ if (!ret && (states & BOOTM_STATE_OS_FAKE_GO)) { char *cmd_list = getenv("fakegocmd"); ret = boot_selected_os(argc, argv, BOOTM_STATE_OS_FAKE_GO, images, boot_fn); if (!ret && cmd_list) ret = run_command_list(cmd_list, -1, flag); } #endif /* Check for unsupported subcommand. */ if (ret) { puts("subcommand not supported\n"); return ret; } /* Now run the OS! We hope this doesn't return */ if (!ret && (states & BOOTM_STATE_OS_GO)) ret = boot_selected_os(argc, argv, BOOTM_STATE_OS_GO, images, boot_fn); /* Deal with any fallout */ err: if (iflag) enable_interrupts(); if (ret == BOOTM_ERR_UNIMPLEMENTED) bootstage_error(BOOTSTAGE_ID_DECOMP_UNIMPL); else if (ret == BOOTM_ERR_RESET) do_reset(cmdtp, flag, argc, argv); return ret; } #if defined(CONFIG_CMD_BOOTMC1) int do_bootm_core1(cmd_tbl_t *cmdtp, int flag, int argc, char * const argv[], int states, bootm_headers_t *images, int boot_progress) { //boot_os_fn *boot_fn; ulong iflag = 0; int ret = 0;//, need_boot_fn; images->state |= states; /* * Work through the states and see how far we get. We stop on * any error. */ if (states & BOOTM_STATE_START) ret = bootm_start(cmdtp, flag, argc, argv); if (!ret && (states & BOOTM_STATE_FINDOS)) ret = bootm_find_os(cmdtp, flag, argc, argv); if (!ret && (states & BOOTM_STATE_FINDOTHER)) { ret = bootm_find_other(cmdtp, flag, argc, argv); argc = 0; /* consume the args */ } /* Load the OS */ if (!ret && (states & BOOTM_STATE_LOADOS)) { ulong load_end; iflag = bootm_disable_interrupts(); ret = bootm_load_os(images, &load_end, 0); if (ret == 0) lmb_reserve(&images->lmb, images->os.load, (load_end - images->os.load)); else if (ret && ret != BOOTM_ERR_OVERLAP) goto err; else if (ret == BOOTM_ERR_OVERLAP) ret = 0; #if defined(CONFIG_SILENT_CONSOLE) && !defined(CONFIG_SILENT_U_BOOT_ONLY) if (images->os.os == IH_OS_LINUX) fixup_silent_linux(); #endif } #define SECOND_START_ADDR_HI 0x1F20404C #define SECOND_START_ADDR_LO 0x1F204050 #define SECOND_MAGIC_NUMBER_ADDR 0x1F204058 *(volatile unsigned short *)SECOND_START_ADDR_LO = ((int)(images->ep) & 0xFFFF); *(volatile unsigned short *)SECOND_START_ADDR_HI = ((int)(images->ep) >> 16); *(volatile unsigned short *)SECOND_MAGIC_NUMBER_ADDR = 0xBABE; asm("dsb\n" "sev\n" "nop"); return 0; err: if (iflag) enable_interrupts(); return ret; } #endif #if defined(CONFIG_IMAGE_FORMAT_LEGACY) /** * image_get_kernel - verify legacy format kernel image * @img_addr: in RAM address of the legacy format image to be verified * @verify: data CRC verification flag * * image_get_kernel() verifies legacy image integrity and returns pointer to * legacy image header if image verification was completed successfully. * * returns: * pointer to a legacy image header if valid image was found * otherwise return NULL */ image_header_t *image_get_kernel(ulong img_addr, int verify) { image_header_t *hdr = (image_header_t *)img_addr; if (!image_check_magic(hdr)) { puts("Bad Magic Number\n"); bootstage_error(BOOTSTAGE_ID_CHECK_MAGIC); return NULL; } bootstage_mark(BOOTSTAGE_ID_CHECK_HEADER); if (!image_check_hcrc(hdr)) { puts("Bad Header Checksum\n"); bootstage_error(BOOTSTAGE_ID_CHECK_HEADER); return NULL; } bootstage_mark(BOOTSTAGE_ID_CHECK_CHECKSUM); image_print_contents(hdr); #if (!defined CONFIG_VERSION_FPGA) && (!defined CONFIG_VERSION_PZ1) if (verify) { puts(" Verifying Checksum ... "); if (!image_check_dcrc(hdr)) { printf("Bad Data CRC\n"); bootstage_error(BOOTSTAGE_ID_CHECK_CHECKSUM); return NULL; } puts("OK\n"); } #endif bootstage_mark(BOOTSTAGE_ID_CHECK_ARCH); if (!image_check_target_arch(hdr)) { printf("Unsupported Architecture 0x%x\n", image_get_arch(hdr)); bootstage_error(BOOTSTAGE_ID_CHECK_ARCH); return NULL; } return hdr; } #endif #if defined(CONFIG_HW_WATCHDOG) extern void hw_watchdog_disable(void); #endif /** * boot_get_kernel - find kernel image * @os_data: pointer to a ulong variable, will hold os data start address * @os_len: pointer to a ulong variable, will hold os data length * * boot_get_kernel() tries to find a kernel image, verifies its integrity * and locates kernel data. * * returns: * pointer to image header if valid image was found, plus kernel start * address and length, otherwise NULL */ #ifdef ENABLE_DOUBLE_SYSTEM_CHECK extern void cli_loop(void); #define KERNEL1_START_ADDR "0x260000" #define KERNEL1_IMAGE_SIZE "0x210000" int check_image_hash(void) { char * pchar = NULL; char* bootcmd1 = NULL; if(NULL == (pchar = getenv("image_index"))) { setenv("image_index", "1"); printf("check the kernel hash error and start the 2nd kernel ...\n"); setenv("sf_kernel_start", KERNEL1_START_ADDR); setenv("sf_kernel_size", KERNEL1_IMAGE_SIZE); if(NULL == (bootcmd1 = getenv("bootcmd"))) { printf("\nget bootcmd error!\n"); cli_loop(); } printf("\n>> run \"%s\" \n", bootcmd1); if (0 > run_command((const char *)bootcmd1, 0)) { printf("\n>> run \"%s\" error!\n", bootcmd1); cli_loop(); } } else { unsigned int image_idx = 0; image_idx = simple_strtoul(pchar, NULL, 16); if (1 == image_idx) { printf("check the kernel hash error and start to do netupgrade ...\n"); if(0 > run_command("net_upgrade", 0)) { cli_loop(); } } else { printf("get the kernel index(%d) is valid!\n", image_idx); run_command("setenv image_index", 0); run_command("saveenv", 0); return -1; } } return 0; } #endif static const void *boot_get_kernel(cmd_tbl_t *cmdtp, int flag, int argc, char * const argv[], bootm_headers_t *images, ulong *os_data, ulong *os_len) { #if defined(CONFIG_IMAGE_FORMAT_LEGACY) image_header_t *hdr; #endif ulong img_addr; const void *buf; const char *fit_uname_config = NULL; const char *fit_uname_kernel = NULL; #if defined(CONFIG_FIT) int os_noffset; #endif img_addr = genimg_get_kernel_addr_fit(argc < 1 ? NULL : argv[0], &fit_uname_config, &fit_uname_kernel); bootstage_mark(BOOTSTAGE_ID_CHECK_MAGIC); /* copy from dataflash if needed */ img_addr = genimg_get_image(img_addr); /* check image type, for FIT images get FIT kernel node */ *os_data = *os_len = 0; buf = map_sysmem(img_addr, 0); switch (genimg_get_format(buf)) { #if defined(CONFIG_IMAGE_FORMAT_LEGACY) case IMAGE_FORMAT_LEGACY: printf("## Booting kernel from Legacy Image at %08lx ...\n", img_addr); #if defined(CONFIG_HW_WATCHDOG) hw_watchdog_disable(); #endif hdr = image_get_kernel(img_addr, images->verify); if (!hdr) { #ifdef ENABLE_DOUBLE_SYSTEM_CHECK check_image_hash(); #endif return NULL; } bootstage_mark(BOOTSTAGE_ID_CHECK_IMAGETYPE); /* get os_data and os_len */ switch (image_get_type(hdr)) { case IH_TYPE_KERNEL: case IH_TYPE_KERNEL_NOLOAD: *os_data = image_get_data(hdr); *os_len = image_get_data_size(hdr); break; case IH_TYPE_MULTI: image_multi_getimg(hdr, 0, os_data, os_len); break; case IH_TYPE_STANDALONE: *os_data = image_get_data(hdr); *os_len = image_get_data_size(hdr); break; default: printf("Wrong Image Type for %s command\n", cmdtp->name); bootstage_error(BOOTSTAGE_ID_CHECK_IMAGETYPE); return NULL; } /* * copy image header to allow for image overwrites during * kernel decompression. */ memmove(&images->legacy_hdr_os_copy, hdr, sizeof(image_header_t)); /* save pointer to image header */ images->legacy_hdr_os = hdr; images->legacy_hdr_valid = 1; bootstage_mark_name(BOOTSTAGE_ID_DECOMP_IMAGE, __FUNCTION__); break; #endif #if defined(CONFIG_FIT) case IMAGE_FORMAT_FIT: os_noffset = fit_image_load(images, img_addr, &fit_uname_kernel, &fit_uname_config, IH_ARCH_DEFAULT, IH_TYPE_KERNEL, BOOTSTAGE_ID_FIT_KERNEL_START, FIT_LOAD_IGNORED, os_data, os_len); if (os_noffset < 0) return NULL; images->fit_hdr_os = map_sysmem(img_addr, 0); images->fit_uname_os = fit_uname_kernel; images->fit_uname_cfg = fit_uname_config; images->fit_noffset_os = os_noffset; break; #endif #ifdef CONFIG_ANDROID_BOOT_IMAGE case IMAGE_FORMAT_ANDROID: printf("## Booting Android Image at 0x%08lx ...\n", img_addr); if (android_image_get_kernel(buf, images->verify, os_data, os_len)) return NULL; break; #endif default: printf("Wrong Image Format for %s command\n", cmdtp->name); bootstage_error(BOOTSTAGE_ID_FIT_KERNEL_INFO); return NULL; } debug(" kernel data at 0x%08lx, len = 0x%08lx (%ld)\n", *os_data, *os_len, *os_len); return buf; } #else /* USE_HOSTCC */ void memmove_wd(void *to, void *from, size_t len, ulong chunksz) { memmove(to, from, len); } static int bootm_host_load_image(const void *fit, int req_image_type) { const char *fit_uname_config = NULL; ulong data, len; bootm_headers_t images; int noffset; ulong load_end; uint8_t image_type; uint8_t imape_comp; void *load_buf; int ret; memset(&images, '\0', sizeof(images)); images.verify = 1; noffset = fit_image_load(&images, (ulong)fit, NULL, &fit_uname_config, IH_ARCH_DEFAULT, req_image_type, -1, FIT_LOAD_IGNORED, &data, &len); if (noffset < 0) return noffset; if (fit_image_get_type(fit, noffset, &image_type)) { puts("Can't get image type!\n"); return -EINVAL; } if (fit_image_get_comp(fit, noffset, &imape_comp)) { puts("Can't get image compression!\n"); return -EINVAL; } /* Allow the image to expand by a factor of 4, should be safe */ load_buf = malloc((1 << 20) + len * 4); ret = bootm_decomp_image(imape_comp, 0, data, image_type, load_buf, (void *)data, len,CONFIG_SYS_BOOTM_LEN, &load_end); free(load_buf); if (ret && ret != BOOTM_ERR_UNIMPLEMENTED) return ret; return 0; } int bootm_host_load_images(const void *fit, int cfg_noffset) { static uint8_t image_types[] = { IH_TYPE_KERNEL, IH_TYPE_FLATDT, IH_TYPE_RAMDISK, }; int err = 0; int i; for (i = 0; i < ARRAY_SIZE(image_types); i++) { int ret; ret = bootm_host_load_image(fit, image_types[i]); if (!err && ret && ret != -ENOENT) err = ret; } /* Return the first error we found */ return err; } #endif /* ndef USE_HOSTCC */
10-08
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