Fix serial/UART driver

Author: xusiwei

bsp/nxp/imx/imx91/.config

@@ -199,9 +199,9 @@ CONFIG_RT_BACKTRACE_LEVEL_MAX_NR=32
 #
 # AArch64 Architecture Configuration
 #
-CONFIG_ARCH_TEXT_OFFSET=0x200000
-CONFIG_ARCH_RAM_OFFSET=0
-CONFIG_ARCH_SECONDARY_CPU_STACK_SIZE=4096
+CONFIG_ARCH_TEXT_OFFSET=0x100000
+CONFIG_ARCH_RAM_OFFSET=0x80000000
+CONFIG_ARCH_SECONDARY_CPU_STACK_SIZE=16384
 CONFIG_ARCH_HAVE_EFFICIENT_UNALIGNED_ACCESS=y
 CONFIG_ARCH_USING_GENERIC_CPUID=y
 CONFIG_ARCH_HEAP_SIZE=0x4000000

bsp/nxp/imx/imx91/SConstruct

@@ -21,6 +21,7 @@ env = Environment(tools = ['mingw'],
     LINK = rtconfig.LINK, LINKFLAGS = rtconfig.LFLAGS)
 env.PrependENVPath('PATH', rtconfig.EXEC_PATH)
 env['ASCOM'] = env['ASPPCOM']
+env['LINKCOM'] = '$LINK -o $TARGET $LINKFLAGS $__RPATH $SOURCES $_LIBDIRFLAGS -Wl,--start-group $_LIBFLAGS -Wl,--end-group'
 
 Export('RTT_ROOT')
 Export('rtconfig')

bsp/nxp/imx/imx91/drivers/board.c

@@ -7,28 +7,33 @@
  * Date           Author       Notes
  * 2025-07-12     BruceOu    the first version
  */
-
-#include <rthw.h>
-#include <rtthread.h>
-
 #include "board.h"
 
-// #include <registers/regsarmglobaltimer.h>
-// #include <registers/regsepit.h>
+#include "serial.h"
 
-// #include <imx_uart.h>
-// #include <epit.h>
-// #include <cortex_a.h>
+#include <gtimer.h>
+#include <mm_aspace.h>
+#include <mm_page.h>
+#include <rtdevice.h>
 
 #include <mmu.h>
 
+#define BOARD_DRAM_SIZE (256 * 1024 * 1024)
+
 struct mem_desc platform_mem_desc[] = {
-    {0x00000000, 0x80000000, 0x00000000, DEVICE_MEM},
-    {0x80000000, 0xFFF00000, 0x80000000, NORMAL_MEM}
+    {0x00200000, 0x00200000 + BOARD_DRAM_SIZE - 1, 0x80000000, NORMAL_MEM}, // 256MB DRAM
+    {0xD0000000, 0xFFFFFFFF, 0x38000000, DEVICE_MEM},
 };
 
 const rt_uint32_t platform_mem_desc_size = sizeof(platform_mem_desc)/sizeof(platform_mem_desc[0]);
 
+rt_region_t init_page_region = {
+    (rt_size_t)PAGE_START,
+    (rt_size_t)PAGE_END,
+};
+
+extern unsigned long MMUTable[];
+
 static void rt_hw_timer_isr(int vector, void *param)
 {
     rt_tick_increase();
@@ -77,11 +82,37 @@ void rt_hw_board_init(void)
     // enable_neon_fpu();
     // disable_strict_align_check();
 
-    extern void uart1_puts(const char *str);
-    uart1_puts("RT-Thread on i.MX91\n");
+    imx_uart1_puts("rt_hw_board_init!\n");
+    // rt_hw_mmu_map_init(&rt_kernel_space, (void*)0x080000000000, 0x10000000, MMUTable, 0);
+
+    // imx_uart1_puts("rt_page_init!\n");
+    // imx_uart1_print_hex("PAGE_START: ", (rt_base_t) PAGE_START);
+    // imx_uart1_print_hex("PAGE_END:   ", (rt_base_t) PAGE_END);
+    // rt_page_init(init_page_region);
+
+    // imx_uart1_puts("rt_hw_mmu_setup!\n");
+    // rt_hw_mmu_setup(&rt_kernel_space, platform_mem_desc, platform_mem_desc_size);
+
+#ifdef RT_USING_HEAP
+    /* initialize system heap */
+    rt_system_heap_init((void *)HEAP_BEGIN, (void *)HEAP_END);
+#endif
+
+    /* initialize hardware interrupt */
+    rt_hw_interrupt_init();
+
+    rt_hw_uart_init();
+    rt_hw_console_output("rt_hw_uart_init done!\n");
+
+    /* initialize timer for os tick */
+    rt_hw_gtimer_init();
 
     rt_components_board_init();
     rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
+
+    rt_hw_console_output("rt_hw_board_init done!\n");
+    rt_kprintf("rt_kprintf works!\n");
+    rt_hw_console_output("rt_hw_board_init done!!\n");
 }
 
 /*@}*/

bsp/nxp/imx/imx91/drivers/board.h

@@ -25,7 +25,16 @@ extern int __bss_end;
 #define HEAP_BEGIN      ((void*)&__bss_end)
 #endif
 
-#define HEAP_END        (void*)(0x80000000 + 32 * 1024 * 1024)
+// #define KERNEL_VADDR_START 0x0
+#ifndef KERNEL_VADDR_START
+#define KERNEL_VADDR_START (ARCH_RAM_OFFSET + ARCH_TEXT_OFFSET)
+#endif
+
+#define HEAP_END        (KERNEL_VADDR_START + 32 * 1024 * 1024)
+
+// #define HEAP_END        (void*)(HEAP_BEGIN + 32 * 1024 * 1024)
+#define PAGE_START      HEAP_END
+#define PAGE_END        ((size_t)PAGE_START + 128 * 1024 * 1024)
 
 void rt_hw_board_init(void);
 

bsp/nxp/imx/imx91/drivers/sdk/drivers/lpuart/fsl_lpuart.c

@@ -8,6 +8,10 @@
 
 #include "fsl_lpuart.h"
 
+#include <rtthread.h>
+
+#define memset rt_memset
+
 /*
  * $Coverage Justification Reference$
  *
@@ -656,6 +660,7 @@ void LPUART_GetDefaultConfig(lpuart_config_t *config)
 {
     assert(NULL != config);
 
+    rt_hw_console_output("LPUART_GetDefaultConfig start!\n");
     /* Initializes the configure structure to zero. */
     (void)memset(config, 0, sizeof(*config));
 
@@ -683,6 +688,7 @@ void LPUART_GetDefaultConfig(lpuart_config_t *config)
 #if defined(FSL_FEATURE_LPUART_HAS_CTRL_SWAP) && FSL_FEATURE_LPUART_HAS_CTRL_SWAP
     config->swapTxdRxd   = false;
 #endif
+    rt_hw_console_output("LPUART_GetDefaultConfig done!\n");
 }
 
 /*!

bsp/nxp/imx/imx91/drivers/serial.c

@@ -10,9 +10,9 @@
  */
 
 #include <rthw.h>
-#include <rtconfig.h>
 #include <rtdevice.h>
-// #include <drivers/drv_serial.h>
+#include <ioremap.h>
+#include <drivers/misc.h>
 
 #include "serial.h"
 
@@ -44,9 +44,15 @@ static struct hw_uart_device _uart1_device =
     .clock_mux = kCLOCK_LPUART1_ClockRoot_MuxOsc24M,
     .clock_ip_name = kCLOCK_Lpuart1,
 };
-// static struct rt_serial_device _serial1;
 #endif
 
+static struct hw_uart_device* hw_uart_devices[] =
+{
+#ifdef BSP_USING_UART1
+    &_uart1_device,
+#endif
+};
+
 static void rt_hw_uart_isr(int irqn, void *param)
 {
     struct rt_serial_device *serial = (struct rt_serial_device *)param;
@@ -89,12 +95,16 @@ static rt_err_t uart_configure(struct rt_serial_device *serial, struct serial_co
     // uart_set_FIFO_mode(uart->uart_base, RX_FIFO, 1, IRQ_MODE);
 
     struct hw_uart_device *uart = RT_NULL;
-    lpuart_config_t config;
+    static lpuart_config_t config;
 
+    rt_hw_console_output("uart_configure start ...\n");
     RT_ASSERT(serial != RT_NULL);
     uart = (struct hw_uart_device *)serial->parent.user_data;
 
+    rt_hw_console_output("uart_configure LPUART_GetDefaultConfig ...\n");
     LPUART_GetDefaultConfig(&config);
+    rt_hw_console_output("uart_configure LPUART_GetDefaultConfig done!\n");
+
     config.baudRate_Bps = cfg->baud_rate;
 
     // data bits
@@ -171,17 +181,22 @@ static rt_err_t uart_configure(struct rt_serial_device *serial, struct serial_co
     config.enableRx = serial->parent.flag & RT_DEVICE_FLAG_RDONLY;
 
     // Set UART clock source and clock divider
-    CLOCK_SetRootClockMux(uart->clock_root, uart->clock_mux);
-    CLOCK_SetRootClockDiv(uart->clock_root, 1U);
+    // CLOCK_SetRootClockMux(uart->clock_root, uart->clock_mux);
+    // CLOCK_SetRootClockDiv(uart->clock_root, 1U);
 
     // Initialize the LPUART module with the configuration structure and clock source
+    rt_hw_console_output("uart_configure LPUART_Init ...\n");
     LPUART_Init(uart->uart_base, &config, CLOCK_GetIpFreq(uart->clock_root));
 
-    // Enable RX interrupt
+    // Install interrupt handler
+    rt_hw_console_output("uart_configure rt_hw_interrupt_install ...\n");   
     rt_hw_interrupt_install(uart->irqn, rt_hw_uart_isr, serial, "uart");
     rt_hw_interrupt_mask(uart->irqn);
 
-    return RT_EOK;
+    // Enable RX interrupt
+    rt_hw_console_output("uart_configure LPUART_EnableInterrupts ...\n");
+    LPUART_EnableInterrupts(uart->uart_base, kLPUART_RxDataRegFullInterruptEnable);
+   return RT_EOK;
 }
 
 static rt_err_t uart_control(struct rt_serial_device *serial, int cmd, void *arg)
@@ -223,24 +238,62 @@ static int uart_putc(struct rt_serial_device *serial, char c)
     return 1;
 }
 
-void uart1_putc(char c)
+void imx_uart1_putc(char c)
+{
+    LPUART_WriteByte(LPUART1, c);
+    while (!(LPUART_GetStatusFlags(LPUART1) & kLPUART_TxDataRegEmptyFlag));
+}
+
+void imx_uart1_puts(const char *str)
+{
+    int has_cr = 0;
+    while (*str) {
+        if (*str == '\r') {
+            has_cr = 1;
+        } else if (*str == '\n') {
+            if (!has_cr) {
+                imx_uart1_putc('\r');
+            }
+        }
+        imx_uart1_putc(*str++);
+    }
+}
+
+void imx_uart1_print_hex(const char *str, rt_base_t hex)
 {
+    imx_uart1_puts(str);
+    imx_uart1_putc('0');
+    imx_uart1_putc('x');
+    for (int i = 60; i >= 0; i -= 4) {
+        rt_base_t h = (hex >> i) & 0xF;
+        imx_uart1_putc(h < 10 ? '0' + h : 'A' + h - 10);
+    }
+    imx_uart1_putc('\r');
+    imx_uart1_putc('\n');
+}
+
+void rt_hw_console_putc(char c)
+{
+#if defined(BSP_USING_UART1)
     uart_putc(&_uart1_device.serial, c);
+#endif
 }
 
-void uart1_puts(const char *str)
+void rt_hw_console_output(const char *str)
 {
+#if defined(BSP_USING_UART1)
     int has_cr = 0;
     while (*str) {
         if (*str == '\r') {
             has_cr = 1;
         } else if (*str == '\n') {
             if (!has_cr) {
-                uart1_putc('\r');
+                rt_hw_console_putc('\r');
             }
         }
-        uart1_putc(*str++);
+        rt_hw_console_putc(*str++);
     }
+#endif
 }
 
 static int uart_getc(struct rt_serial_device *serial)
@@ -271,9 +324,8 @@ static const struct rt_uart_ops _uart_ops =
 
 int rt_hw_uart_init(void)
 {
-    struct hw_uart_device *uart;
     struct serial_configure config;
-
+    /* set serial configure */
     config.baud_rate = BAUD_RATE_115200;
     config.bit_order = BIT_ORDER_LSB;
     config.data_bits = DATA_BITS_8;
@@ -282,16 +334,19 @@ int rt_hw_uart_init(void)
     config.invert    = NRZ_NORMAL;
     config.bufsz     = RT_SERIAL_RB_BUFSZ;
 
-#ifdef BSP_USING_UART1
-    uart = &_uart1_device;
-    _uart1_device.serial.ops = &_uart_ops;
-    _uart1_device.serial.config = config;
-
-    /* register LPUART1 device */
-    rt_hw_serial_register(&_uart1_device.serial, _uart1_device.device_name,
-                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX, uart);
-#endif
+    for (int i = 0; i < RT_ARRAY_SIZE(hw_uart_devices); i++)
+    {
+        if (hw_uart_devices[i] != RT_NULL)
+        {
+            hw_uart_devices[i]->serial.ops = &_uart_ops;
+            hw_uart_devices[i]->serial.config = config;
+            // hw_uart_devices[i]->uart_base = rt_ioremap((void *)hw_uart_devices[i]->uart_base, sizeof(LPUART_Type));
+
+            rt_hw_serial_register(&hw_uart_devices[i]->serial, hw_uart_devices[i]->device_name,
+                                  RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX, hw_uart_devices[i]);
+        }
+    }
 
     return 0;
 }
-INIT_BOARD_EXPORT(rt_hw_uart_init);
+// INIT_BOARD_EXPORT(rt_hw_uart_init);

bsp/nxp/imx/imx91/drivers/serial.h

@@ -17,6 +17,13 @@
 
 int rt_hw_uart_init(void);
 
+void imx_uart1_putc(char c);
+void imx_uart1_puts(const char *str);
+void imx_uart1_print_hex(const char *str, rt_base_t hex);
+
+void rt_hw_console_putc(char c);
+void rt_hw_console_output(const char *str);
+
 #endif