Make a draft board configuration for Orin NX / Jetson

Signed-off-by: Jukka Laitinen <[email protected]>

boards/arm64/jetson/jetson-nano/Kconfig

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+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_BOARD_JETSON_NANO
+
+endif # ARCH_BOARD_JETSON_NANO

boards/arm64/jetson/jetson-nano/configs/nsh/defconfig

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+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_16550_ADDRWIDTH=32
+CONFIG_16550_REGWIDTH=32
+CONFIG_16550_SUPRESS_CONFIG=y
+CONFIG_16550_UART0=y
+CONFIG_16550_UART0_BASE=0x98200000
+CONFIG_16550_UART0_CLOCK=14745600
+CONFIG_16550_UART0_IRQ=31
+CONFIG_16550_UART0_SERIAL_CONSOLE=y
+CONFIG_16550_UART=y
+CONFIG_ARCH="arm64"
+CONFIG_ARCH_ARM64=y
+CONFIG_ARCH_BOARD="jetson-nano"
+CONFIG_ARCH_BOARD_JETSON_NANO=y
+CONFIG_ARCH_CHIP="jetson"
+CONFIG_ARCH_CHIP_JETSON=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_BOARD_LOOPSPERMSEC=116524
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_INFO=y
+CONFIG_DEBUG_SCHED=y
+CONFIG_DEBUG_SCHED_ERROR=y
+CONFIG_DEBUG_SCHED_WARN=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_WARN=y
+CONFIG_DEFAULT_TASK_STACKSIZE=8192
+CONFIG_DEV_ZERO=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=8192
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_PTHREAD_STACK_MIN=8192
+CONFIG_RAMLOG=y
+CONFIG_RAM_SIZE=134217728
+CONFIG_RAM_START=0x24000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_SPINLOCK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_YEAR=2024
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_SYSTEM_TIME64=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_USEC_PER_TICK=1000

boards/arm64/jetson/jetson-nano/include/board.h

@@ -0,0 +1,34 @@
+/****************************************************************************
+ * boards/arm64/jetson/jetson-nano/include/board.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM64_JETSON_JETSON_NANO_INCLUDE_BOARD_H
+#define __BOARDS_ARM64_JETSON_JETSON_NANO_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#endif /* __BOARDS_ARM64_JETSON_JETSON_NANO_INCLUDE_BOARD_H */

boards/arm64/jetson/jetson-nano/include/board_memorymap.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ * boards/arm64/jetson/jetson-nano/include/board_memorymap.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM64_JETSON_JETSON_NANO_INCLUDE_BOARD_MEMORYMAP_H
+#define __BOARDS_ARM64_JETSON_JETSON_NANO_INCLUDE_BOARD_MEMORYMAP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM64_JETSON_JETSON_NANO_INCLUDE_BOARD_MEMORYMAP_H */

boards/arm64/jetson/jetson-nano/scripts/Make.defs

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+############################################################################
+# boards/arm64/jetson/jetson-nano/scripts/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/.config
+include $(TOPDIR)/tools/Config.mk
+include $(TOPDIR)/arch/arm64/src/Toolchain.defs
+
+LDSCRIPT = dramboot.ld
+
+ARCHSCRIPT += $(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT)
+
+CFLAGS := $(ARCHCFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS := $(ARCHCXXFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS := $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
+AFLAGS := $(CFLAGS) -D__ASSEMBLY__
+
+# NXFLAT module definitions
+
+NXFLATLDFLAGS1 = -r -d -warn-common
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)$(DELIM)binfmt$(DELIM)libnxflat$(DELIM)gnu-nxflat-pcrel.ld -no-check-sections
+LDNXFLATFLAGS = -e main -s 2048
+
+# ELF module definitions
+
+CELFFLAGS = $(CFLAGS) -mlong-calls # --target1-abs
+CXXELFFLAGS = $(CXXFLAGS) -mlong-calls # --target1-abs
+
+LDELFFLAGS = -r -e main
+LDELFFLAGS += -T $(call CONVERT_PATH,$(TOPDIR)/binfmt/libelf/gnu-elf.ld)

boards/arm64/jetson/jetson-nano/scripts/dramboot.ld

@@ -0,0 +1,126 @@
+/****************************************************************************
+ * boards/arm64/jetson/jetson-nano/scripts/dramboot.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+OUTPUT_ARCH(aarch64)
+
+ENTRY(__start)
+
+PHDRS
+{
+  text PT_LOAD ;
+}
+
+SECTIONS
+{
+  . = 0x24000000;  /* BAO loads NuttX at this address (kernel_addr_r) */
+  _start = .;
+  .text : {
+        _stext = .;            /* Text section */
+       *(.text)
+       *(.text.cold)
+       *(.text.unlikely)
+       *(.fixup)
+       *(.gnu.warning)
+  } :text = 0x9090
+
+  . = ALIGN(4096);
+
+  .init_section : {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+  }
+
+  . = ALIGN(4096);
+
+  .vector : {
+        _vector_start = .;
+        KEEP(*(.exc_vector_table))
+        KEEP(*(".exc_vector_table.*"))
+        KEEP(*(.vectors))
+       _vector_end = .;
+  } :text
+  . = ALIGN(4096);
+  _etext = .; /* End_1 of .text */
+  _sztext = _etext - _stext;
+
+  . = ALIGN(4096);
+  .rodata : {
+        _srodata = .;          /* Read-only data */
+       *(.rodata)
+       *(.rodata.*)
+       *(.data.rel.ro)
+       *(.data.rel.ro.*)
+  } :text
+  . = ALIGN(4096);
+  _erodata = .;                /* End of read-only data */
+  _szrodata = _erodata - _srodata;
+  _eronly = .;  /* End of read-only data */
+
+  . = ALIGN(4096);
+  .data : {                    /* Data */
+        _sdata = .;
+       *(.data.page_aligned)
+       *(.data)
+       . = ALIGN(8);
+       *(.data.rel)
+       *(.data.rel.*)
+       CONSTRUCTORS
+  } :text
+  _edata = .; /* End+1 of .data */
+
+  .bss : {                     /* BSS */
+       . = ALIGN(8);
+       _sbss = .;
+       *(.bss)
+       . = ALIGN(8);
+  } :text
+  . = ALIGN(4096);
+  _ebss = .;
+  _szbss = _ebss - _sbss;
+
+  .initstack : {             /* INIT STACK */
+       _s_initstack = .;
+       *(.initstack)
+       . = ALIGN(16);
+  } :text
+  . = ALIGN(4096);
+  _e_initstack = . ;
+  g_idle_topstack = . ;
+
+  _szdata = _e_initstack - _sdata;
+
+  /* Sections to be discarded */
+  /DISCARD/ : {
+       *(.exit.text)
+       *(.exit.data)
+       *(.exitcall.exit)
+       *(.eh_frame)
+  }
+
+  /* Stabs debugging sections.  */
+  .stab 0 : { *(.stab) }
+  .stabstr 0 : { *(.stabstr) }
+  .stab.excl 0 : { *(.stab.excl) }
+  .stab.exclstr 0 : { *(.stab.exclstr) }
+  .stab.index 0 : { *(.stab.index) }
+  .stab.indexstr 0 : { *(.stab.indexstr) }
+  .comment 0 : { *(.comment) }
+}

boards/arm64/jetson/jetson-nano/src/Makefile

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+############################################################################
+# boards/arm64/jetson/jetson-nano/src/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/Make.defs
+
+CSRCS = jetson_boardinit.c jetson_bringup.c
+
+ifeq ($(CONFIG_BOARDCTL),y)
+CSRCS += jetson_appinit.c
+ifeq ($(CONFIG_BOARDCTL_RESET),y)
+CSRCS += jetson_reset.c
+endif
+endif
+
+include $(TOPDIR)/boards/Board.mk