CN109634618A - Self-start method is serially loaded based on TMS320C674X processor second level BootLoader - Google Patents
Self-start method is serially loaded based on TMS320C674X processor second level BootLoader Download PDFInfo
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- CN109634618A CN109634618A CN201811339005.1A CN201811339005A CN109634618A CN 109634618 A CN109634618 A CN 109634618A CN 201811339005 A CN201811339005 A CN 201811339005A CN 109634618 A CN109634618 A CN 109634618A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/61—Installation
- G06F8/63—Image based installation; Cloning; Build to order
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/4401—Bootstrapping
- G06F9/4406—Loading of operating system
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Abstract
The present invention relates to one kind serially to load self-start method based on TMS320C674X processor second level BootLoader, under the conditions of need not dismantle Strapdown Inertial Navigation System, it takes into account and is updated by serial communication, while maintenance software program advantage, it can tolerate accidental interruption influence caused by system during burning, UBL (User BootLoader) second level BootLoader mode is used after the completion of FLASH burning simultaneously, it does not replace chip that application code is carried in SDRAM by serial burning program by chip itself and directly drives operation, system can have both been eliminated in this way re-powers operating process, there is certain flexibility and practicability in actual use.
Description
Technical field
The invention belongs to embedded basic software platform technical fields, are related to Strapdown Inertial Navigation System, and especially one kind is based on
TMS320C674X processor second level BootLoader serially loads self-start method.
Background technique
TI company's T MS320C674X series high-performance Floating-point DSP (Digital Signal Processing) handles utensil
Have the advantages that low in energy consumption, rich interface, floating-point operation ability are strong, is widely used to Strapdown Inertial Navigation System as system CPU and works as
In.It will necessarily be related to chip starting guidance link using TMS320C674X series processors in engineering practice, generally make at present
TMS320C674X processor guidance mode mainly include emulator jtag interface+FLASH loading method and serial line interface+
FLASH loading method.Emulator jtag interface+FLASH loading method, that is, application simulation device connects TMS320C674X chip
Jtag interface, by CCS Integrated Development Environment by application binaries code programming in FLASH, after re-powering, place
The reason automatic guiding application program of device is run into SDRAM；Serial line interface+FLASH loading method serial burning program and will answer
It is integrated together with program and is burnt to continuous FLASH address space, call serial burning program under given conditions, it is serial to burn
Record program receives new application binaries code by serial line interface, and by code programming to FLASH, system is re-powered
Starting, processor will guide new application program to run into SDRAM automatically.
No matter emulator jtag interface+FLASH loading method or serial line interface+FLASH loading method, for
It is to load start-up course using processor self-priming for TMS320C674X series DSP processor, belongs to level-one
BootLoader, that is, RBL (Rom BootLoader) mode.For emulator jtag interface+FLASH load method, due to
Dsp chip is integrated in circuit system, is updated software program every time and is required to disassemble Strapdown Inertial Navigation System, then passes through
Emulator connects chip jtag interface and updates software program, in relative complex navigation system, disassembly or dismantling inertial navigation
System is one and involves the more quite complicated process of aspect, therefore passes through emulator jtag interface+FLASH loading procedure
Method is there will naturally be in actual use in place of inconvenience；For serial line interface+FLASH loading method, in first passage
Jtag interface by serial burning program programming into FLASH after, subsequent more new application can be updated soft by serial line interface
Part can no longer dismantle inertial navigation, and opposite emulator jtag interface+FLASH loading method is significantly improved and can be operated
Property, but serial line interface+FLASH loading method is there is also being unable to interrupt operation during serial burning, as system is not in burning
Allow to power off, can't stand the disadvantages of burning mistake, disassembling system connection emulator JTAG is needed again to connect if burning failure
The serial burning program of oral replacement, while system need to be re-powered or be resetted after burning success, new application program can load
It can operate normally, this mode loses flexibility in certain applications.
By the retrieval of patent document, such as next chapter correlation patent document is only found:
Self-starting serial boot program load and reading system (101770373A), including system level chip and outside SPI
Interface memory, system level chip include CPU, internal program memory, self-starting serial boot program loading module, two-way pair
To multiplexer and standard SPI protocol interface.Self-starting serial boot program loading module is defeated with two-way bidirectional multiplexer respectively
Enter to hold I, CPU to connect, is connect by standard SPI protocol interface with external SPI interface memory, the input of two-way bidirectional multiplexer
End II is connect with CPU, and output end is connect with RAM；Self-starting serial boot program loading module is by self-starting loaded circuit, work
Mode switching circuit, SPI holotype circuit composition.After powering on, self-starting serial boot program loading module directly reads outside
Algorithm routine in memory, and be quickly loaded into internal program memory, program loading method is simple, system start-up time
It is short, and can be carried out repeated loading and read operation.
By the comparison of technical characteristic, Article Ⅰ patent document, self-starting serial mode and the present patent application are in skill
It is completely not identical in art composition, therefore will not influence the creativeness of the present patent application.
Summary of the invention
It is a kind of based on TMS320C674X processor it is an object of the invention to provide in place of overcome the deficiencies in the prior art
Second level BootLoader serially loads self-start method, and this method can utilize two under the conditions of need not dismantle Strapdown Inertial Navigation System
Grade BootLoader (UBL) technology realizes while having the advantages that pass through serial communication update, maintenance software program, can be with
It avoids accidental interruption influence caused by system in renewal process, and voluntarily loading application programs and can directly be booted up
The process of processor restarting load is omitted in operation, and the technology Strapdown Inertial Navigation System suitable for applying.
The present invention realizes that the technical solution of purpose is:
One kind serially loading self-start method based on TMS320C674X processor second level BootLoader, and step is:
(1) serial ports burning program and application program are respectively stored in the incoherent address space of FLASH；
(2) system electrification, processor detect Starting mode, and chip will be serial in FLASH self by level-one BootLoader
Burning program software AIS script, parsing are carried to corresponding On-Chip address ram space, and call serial ports burning journey automatically
The operation of sequence c_Int00 () entrance function；
(3) serial ports burning program judges the burning program mark in FLASH, is not set such as, serial ports burning program will be right
Application program AIS script is parsed, and application initialized section code is transported to corresponding L2RAM address space,
That is quadratic B ootLoader process, last burning program control processor PC pointer jump to application program entry address, application
Program can operate normally；
(4) burning program mark is such as set, and serial ports burning program only wipes application program address space AIS lattice in FLASH
Formula code, then new Application-script file is received by serial line interface, and be burnt in FLASH additional space；
(5) after the completion of burning, serial ports burning program by application program AIS script in updated FLASH, passes through two again
Grade BootLoader parsing is transported to L2RAM address space；After removing burning mark, burning program control processor PC pointer
Application program entry address is jumped to, new application program can be operated normally directly.
Moreover, the FLASH is NOR FLASH.
The advantages and positive effects of the present invention are:
1, the present invention takes into account under the conditions of need not dismantle Strapdown Inertial Navigation System and is updated by serial communication, safeguards software journey
While sequence advantage, accidental interruption influence caused by system during burning can be tolerated, while adopting after the completion of FLASH burning
With UBL (User BootLoader) second level BootLoader mode, do not replaced by chip itself by serial burning program
Application code is carried in SDRAM and directly drives operation by chip, can both eliminate system in this way and re-power operation
Process, during actual use there is certain flexibility and practicability.
2, for the present invention relative to serial line interface+FLASH loading method, second level BootLoader serially loads self-start method
Application code space in NORFLASH only can be wiped and be written when more new procedures, will not influence burning program in NORFLASH
AIS script, even if operating process generates the interrupt operations such as power down in this way, being again started up rear burning program still can be normal
Operation continues burning process, has comparable flexibility；Simultaneously as second level BootLoader technology is used, not against core
Piece itself but rely on serial ports burning program that the parsing of application program AIS script is transported to appropriate address space, and jump automatically
It is run to application program entry, is omitted and needs foreign intervention (such as re-power or DSP resets) that can just make new application program
Operational process, engineering use very convenient.
Detailed description of the invention
Fig. 1 is AISgen tools interfaces figure of the present invention；
Fig. 2 is serial line interface+FLASH flow diagram of the present invention；
Fig. 3 is Section Load command word of the present invention；
Fig. 4 is that second level BootLoader of the present invention serially loads self-start method schematic diagram；
Fig. 5 is second level BootLoader flow chart of the present invention；
Fig. 6 is the serial load self-starting system flow chart of the present invention.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing；The present embodiment is descriptive, is not to limit
Property, it cannot thus limit the scope of protection of the present invention.
To realize the present patent application, the technical solution of purpose is relatively sharp, and it is relevant to describe the present patent application first
TMS320C674X processor Boot start-up course and AIS (Application Image Script) apply mirror image script, finally
The second level BootLoader for describing the present patent application again serially loads self-start method, and thus, it is possible to more promptly understand this hair
Bright technological innovation scheme.
One, TMS320C674X processor Boot start-up course:
TMS320C674X processor is supported a variety of based on AIS (Application Image Script) script format
Boot Starting mode, such as NAND FLASH, NOR FLASH, HPI, I2C, SPI, UART, MMC/SD, various Boot start mould
Hardware interface form is different when formula only starts relative to TMS320C674X processor, and chip Boot starting pinciple basic one
It causes, the present embodiment Boot start-up course commonly used to TMS320C674X processor by taking NOR FLASH as an example is introduced.
1, emulator jtag interface+FLASH loading method.
Although there are some inconveniences in this method routine use, it is most common application side in engineering practice
Formula.Using emulator connection processor jtag interface by CCS Integrated Development Environment by AIS format application code burning in
In NOR FLASH, after the completion of TMS320C674X processor system electrification reset, chip detects BOOT [7:0] pin-like automatically
State, and the mapping of BOOT [7:0] pin input state is latched in system BOOTCFG register, to judge that system starts mould
Formula (for NOR FLASH start-up mode, BOOT [7:0] pin status is 0x02).After start-up mode is completed in detection, processing
BootLoader (RBL) bootstrap in chip therein ROM has been resided at when device application factory in NOR FLASH
AIS format application program is parsed, be first depending on AIS file to processor carry out system configuration, including PLL, SDRAM,
PSC, DDR, FLASH, Pinmux configuration etc., later initially by application program .text .data .switch .const etc.
Change section code copies and be transported to SDRAM appropriate address, SDRAM can be L2RAM, On- in piece for TMS320C674X
Chip RAM, can also be the SDRAM or DDR of external EMIF interface, last processor again according to Ais formatted file skip command,
Application program entry function c_Int00 () address assignment is run in processor PC pointer, so far application program can be transported normally
Row.
2, serial line interface+FLASH loading method:
Using AISgen tool by serial ports burning program and application program .out file mergences generate an Ais format two into
Code file processed, as shown in Figure 1, being needed burning file to NORFLASH for the first time through emulator jtag interface+FLASH mode
In continuation address space, after system re-powers, processor detects Starting mode, will with chip itself as above
The initialization segments code of two softwares of serial ports burning program and application program in NORFLASH, with being carried to corresponding SDRAM
Location space, it is however generally that, it is contemplated that system operational speed, it is empty that application program deposits in the faster L2RAM of processor arithmetic speed
Between, serial ports burning program is stored in processor On-Chip address ram space.After the completion of carrying, processor calls serial ports automatically
Burning program c_Int00 () entrance function, serial ports burning program can operate normally, and serial ports burning program will judge later
In the other block address of NORFLASH whether burning program mark, such as be not set, burning program control processor PC pointer
Application program entry address is jumped to, application program can operate normally；It is such as set, serial ports burning program wipes NORFLASH
In original burning program and application program AIS format code, then new AIS formatted data file is received by serial line interface,
And be burnt in NORFLASH, burning mark is removed after the completion of burning, system re-powers, and new application program can be more
New to complete, system flow schematic diagram is as shown in Figure 2.
TMS320C674X processor Boot start-up course as described above is both by residing in chip itself ROM
The process that application code is transported to corresponding SDRAM address space and run by BootLoader program, belongs to level-one
BootLoader scope.
Two, AIS (Application Image Script) applies mirror image script
After so-called second level BootLoader is both dsp system electrifying startup, on the basis of level-one guidance, unfavorable processing
Device is carried, but the bootstrap write by designer oneself, application code is transported to specified SDRAM
Location space, and drive the process (UBL) of operation.For TMS320C674X series DSP processor, the program generation of institute's burning
Code, is AIS script format data file, necessarily involves the parsing of AIS script, therefore need pair using second level BootLoader
AIS script file carries out the understanding of a deep step.
It is a kind of data script formatted file that TI company defines using mirror image script (AIS), by system command word, journey
Sequence code is stored hereof with binary data format, and this script file has obtained in TI a new generation processor extensively
Using.Series of orders word and code data are contained in AIS script file, are referred to as Opcode, either level-one in profession
BootLoader (RBL) or second level BootLoader (UBL) can parse Opcode, then be further processed.
Opcode command word is as shown in the table.
1 Opcode command word of table
Opcode command word frequency of use highest and most importantly magic word, Section Load
Command, Function Execute Command, Jump&Close Command, concrete meaning are as follows.
Magic word: magic code, script leader know, AIS script file be with magic word i.e. from
0x41504954 starts；
Function Execute Command: function executes order, and generally there are AIS file the beginning part, RBL
Or UBL initializes dsp processor by parsing this order, such as PLL, PSC, EMIF, DDR initialization；
Jump&Close Command: end order is jumped, which, which represents AIS script file, terminates, thereafter
32Bit data are institute bootstrap entrance c_Init00 () addresses, and PC pointer is arranged according to this address in bootstrap, drive institute
The program to be guided operation；
Section Load Command: section loading command identifies initialization segments binary code.In AIS script
In file, initial code is maintained in behind Section Load program, is illustrated in fig. 3 shown below, and address is specified in figure
Code is loaded into SDRAM specific address, and SIZE specifies code length, and DATA is program binary code.
Based on above-mentioned technical foundation, the specific embodiment of the present patent application is set forth below:
One kind serially loading self-start method based on TMS320C674X processor second level BootLoader, and step is:
(1) serial ports burning program and application program are respectively stored in two independent address spaces of NORFLASH；
(2) after system electrification, processor detects Starting mode, and chip is self by level-one BootLoader by NORFLASH
In serial burning program software AIS script, parsing is carried to corresponding On-Chip address ram space, and calls serial ports automatically
The operation of burning program c_Int00 () entrance function；
(3) serial ports burning program judges the burning program mark in NORFLASH, is not set such as, designer writes
Serial ports burning program application program AIS script will be parsed, and application initialized section code is transported to
Corresponding L2RAM address space, i.e. quadratic B ootLoader process, last burning program control processor PC pointer, which jumps to, answers
With program entry address, application program can be operated normally；
(4) burning program mark is such as set, and serial ports burning program only wipes application program address space in NORFLASH
AIS format code, then new Application-script file is received by serial line interface, and it is corresponding to be burnt to NORFLASH
In space；
(5) serial ports burning program passes through again by application program AIS script in updated NORFLASH after the completion of burning
Second level BootLoader parsing is transported to L2RAM address space；After removing burning mark, burning program control processor PC pointer
Application program entry address is jumped to, new application program can be operated normally directly.
Second level BootLoader serially loads self-start method as shown in figure 4, second level BootLoader flow chart such as Fig. 5 institute
Show, system flow chart is as shown in Figure 6.
It should be understood that as shown in Fig. 2, since serial line interface+FLASH loading method is used serial ports burning program
An Ais format script file is generated with application program .out file mergences, is burnt to NOR FLASH continuation address space,
When more new application, needs will reside in burning program, Application-script in NOR FLASH and wiped, then pass through
Serial communication receives the former burning program and new application program AIS script file regenerated, by AIS burning file to NOR
The space FLASH, this method advantage are not need designer's participation, processor itself using level-one BootLoader mode
Have parsing AIS script and two programs are transported to the ability of corresponding SDRAM operation, it is simple and practical.But this method exists
There can be no interrupt operation during wiping or re-writing, if pilot process interrupts, again after electrifying startup, processor without
Method identifies incomplete AIS script, therefore is also just unable to reach the effect of analyzing script file and driver application operation, together
When this method need foreign intervention (such as re-power or DSP resets) just new application program can be made to run, in certain applications
There are certain inconveniences for occasion.
Relative to serial line interface+FLASH loading method, the present embodiment second level BootLoader serially loads self-start method
Application code space (as shown in Figure 4) in NOR FLASH only can be wiped and be written when more new procedures, will not influence NOR
Burning program AIS script in FLASH, even if operating process generates the interrupt operations such as power down in this way, after being again started up
Burning program, which can still operate normally, continues burning process, has comparable flexibility.Simultaneously because using second level
BootLoader technology not against chip itself but relies on serial ports burning program to be transported to the parsing of application program AIS script
Appropriate address space, and application program entry operation is jumped to automatically, it is omitted and foreign intervention is needed (such as to re-power or DSP
Reset) it can just make new application program operational process, engineering uses very convenient.
Claims (2)
1. one kind serially loads self-start method based on TMS320C674X processor second level BootLoader, it is characterised in that: step
Suddenly it is:
(1) serial ports burning program and application program are respectively stored in the incoherent address space of FLASH；
(2) system electrification, processor detect Starting mode, and chip is self by level-one BootLoader by burning serial in FLASH
Program software AIS script, parsing are carried to corresponding On-Chip address ram space, and call serial ports burning program c_ automatically
The operation of Int00 () entrance function；
(3) serial ports burning program judges the burning program mark in FLASH, is not set such as, serial ports burning program will be to application
Program AIS script is parsed, and application initialized section code is transported to corresponding L2 address ram space, i.e., and two
Secondary BootLoader process, last burning program control processor PC pointer jump to application program entry address, application program
It can operate normally；
(4) burning program mark is such as set, and serial ports burning program only wipes application program address space AIS format generation in FLASH
Code, then new Application-script file is received by serial line interface, and be burnt in FLASH additional space；
(5) after the completion of burning, serial ports burning program by application program AIS script in updated FLASH, passes through second level again
BootLoader parsing is transported to L2 address ram space；After removing burning mark, burning program control processor PC pointer is jumped
Application program entry address is gone to, new application program can be operated normally directly.
2. according to claim 1 serially load self-starting side based on TMS320C674X processor second level BootLoader
Method, it is characterised in that: the FLASH is NOR FLASH.
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| CN201811339005.1A CN109634618B (en) | 2018-11-12 | 2018-11-12 | TMS320C 674X-based serial boot loader loading self-starting method for processor secondary boot loader |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110727450A (en) * | 2019-10-11 | 2020-01-24 | 上海元城汽车技术有限公司 | Method and device for updating boot loader |
| CN110990041A (en) * | 2019-12-16 | 2020-04-10 | 杭州涂鸦信息技术有限公司 | Bootloader upgrading method and bootloader upgrading system |
| CN111026420A (en) * | 2019-11-14 | 2020-04-17 | 天津航空机电有限公司 | Online loading method based on TMS320C6000 series processor |
| CN114816273A (en) * | 2022-06-27 | 2022-07-29 | 杭州优智联科技有限公司 | Adaptive optimal configuration method, device and medium for Norflash |
| CN114996056A (en) * | 2022-06-17 | 2022-09-02 | 中科芯集成电路有限公司 | DSP backup starting implementation method based on SPI |
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2018
- 2018-11-12 CN CN201811339005.1A patent/CN109634618B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110727450A (en) * | 2019-10-11 | 2020-01-24 | 上海元城汽车技术有限公司 | Method and device for updating boot loader |
| CN111026420A (en) * | 2019-11-14 | 2020-04-17 | 天津航空机电有限公司 | Online loading method based on TMS320C6000 series processor |
| CN110990041A (en) * | 2019-12-16 | 2020-04-10 | 杭州涂鸦信息技术有限公司 | Bootloader upgrading method and bootloader upgrading system |
| CN114996056A (en) * | 2022-06-17 | 2022-09-02 | 中科芯集成电路有限公司 | DSP backup starting implementation method based on SPI |
| CN114816273A (en) * | 2022-06-27 | 2022-07-29 | 杭州优智联科技有限公司 | Adaptive optimal configuration method, device and medium for Norflash |
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| CN109634618B (en) | 2021-12-31 |
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