Blackfin uClinux User Guide

Tinyboards from Bluetechnix www.bluetechnix.com

Tinyboards maximumperformanceatminimumsize

Contact BluetechnixMechatronischeSystemeGmbH Waidhausenstr.3/19 A1140Vienna AUSTRIA/EUROPE [email protected] http://www.bluetechnix.com DocumentNo.:099011001 Version6 Date:20090902

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Table of Contents
1 Introduction.........................................................................................................................8 2 WheretogetInformationandHelp....................................................................................9 3 SupportDVD......................................................................................................................10 3.1 3.2 Content.......................................................................................................................10 VMWareimagesetup.................................................................................................10 Installpackages....................................................................................................10 Usefulhints ..........................................................................................................11 . SetupwithoutVMWareimage ............................................................................11 .

3.2.1 3.2.2 3.2.3 3.3 3.4 3.5

Kermit .........................................................................................................................11 . TFTPserver..................................................................................................................12 NFSserver...................................................................................................................12

4 DevelopmentEnvironmentSetup.....................................................................................13 5 SoftwarePackages.............................................................................................................14 6 DevelopmentTools ...........................................................................................................15 . 6.1 6.2 gnICEJTAG..................................................................................................................15 PEEDIJTAG..................................................................................................................16 Resources.............................................................................................................16 Updatingtheconfigurationfile............................................................................16 Updatingthefirmware.........................................................................................16 DebuggingtheuClinuxkernel..............................................................................17 DebugginguClinuxapplications...........................................................................17

6.2.1 6.2.2 6.2.3 6.2.4 6.2.5 6.3

ICEbearJTAG...............................................................................................................17

7 BlackfinuClinuxToolChain...............................................................................................19 8 TheUBootbootloader.....................................................................................................20 8.1 8.2 8.3 8.4 8.5 8.6 8.7 FlashingtheUBoot....................................................................................................20 . UBootenvironment...................................................................................................20 LoadingfilesontotheCoreModule...........................................................................21 BuildingUBootfromsource......................................................................................22 UpgradingtheUBoot.................................................................................................23 BootingUBootfromUART.........................................................................................23 ProgrammingauClinuximagetoflashmemory........................................................23 Page3

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 8.8 9.1 9.2

Tinyboards maximumperformanceatminimumsize BootingauClinuxImage.............................................................................................24 Firstimpressionwithprecompiledimages ...............................................................26 . CompilingyourownuClinuxImage............................................................................26 DownloadingtheSourceCode.............................................................................26 ConfiguringtheKernelandUserSpaceApplications...........................................27 CompilinguClinux.................................................................................................27 SpecialconsiderationsforCMBF548..................................................................28 SD/MMCcard.......................................................................................................28 USBsupport(CMBF527,CMBF548)...................................................................28

9 BlackfinuClinux.................................................................................................................26

9.2.1 9.2.2 9.2.3 9.2.4 9.3 9.3.1 9.3.2 10

ConfigurationofonboardComponents....................................................................28

DocumentRevisionHistory............................................................................................30

A ListofFiguresandTables..................................................................................................31

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Edition200702 BluetechnixMechatronischeSystemeGmbH2007 AllRightsReserved. Theinformationhereinisgiventodescribecertaincomponentsandshallnotbeconsidered asaguaranteeofcharacteristics. Termsofdeliveryandrightsoftechnicalchangereserved. We hereby disclaim any warranties, including but not limited to warranties of non infringement,regardingcircuits,descriptionsandchartsstatedherein. Bluetechnixmakesandyoureceivenowarrantiesorconditions,express,implied,statutory orinanycommunicationwithyou.Bluetechnixspecificallydisclaimsanyimpliedwarrantyof merchantabilityorfitnessforaparticularpurpose. Bluetechnixtakesnoliabilityforanydamagesanderrorscausingoftheusageofthisboard. Theuserofthisboardisresponsiblebyhimselfforthefunctionalityofhisapplication.Heis allowedtousetheboardonlyifhehasthequalification.Moreinformationisfoundinthe GeneralTermsandConditions(AGB). Information For further information on technology, delivery terms and conditions and prices please contactBluetechnix(http://www.bluetechnix.com). Warnings Duetotechnicalrequirementscomponentsmaycontaindangeroussubstances. The Core Modules and development systems contain ESD (electrostatic discharge) sensitive devices. Electro static charges readily accumulate on thehumanbodyandequipmentand can discharge without detection. Permanent damage may occur on devices subjected to highenergy discharges. Proper ESD precautions are recommended to avoid performance degradation or loss of functionality. Unused Core Modules and Development Boards should be stored in the protective shipping package.

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BLACKFIN Products
CoreModules: CMBF533: Blackfin Processor Module powered by Analog Devices single core ADSPBF533processor;upto600MHz,32MBRAM,2MBFlash,120 pinexpansionconnectorandasizeof36.5x31.5mm Blackfin Processor Module powered by Analog Devices single core ADSPBF537 processor; up to 600MHz, 32MB RAM, 4MB Flash, integrated TP10/100 Ethernet physical transceiver, 120 pin expansionconnectorandasizeof36.5x31.5mm Blackfin Processor Module powered by Analog Devices single core ADSPBF537 processor; up to 600MHz, 32MB RAM, 4MB Flash, integratedUSB2.0Device,120pinexpansionconnectorandasizeof 36.5x31.5mm(willbereplacedbyCMBF527). Blackfin Processor Module powered by Analog Devices single core ADSPBF537 processor; up to 500MHz, 32MB RAM, 8MB Flash, 28x28mm, 120 pin expansion connector, Ball Grid Array or Border Pads for reflow soldering, industrial temperature range 40C to +85C. Blackfin Processor Module powered by Analog Devices dual core ADSPBF561 processor; up to 2x 600MHz, 64MB RAM, 8MB Flash, 120pinexpansionconnectorandasizeof36.5x31.5mm. The new Blackfin Processor Module is powered by Analog Devices singlecoreADSPBF527processor;keyfeaturesareUSBOTG2.0and Ethernet. The 2x60 pin expansion connectors are backwards compatiblewithotherCoreModules. The new Blackfin Processor Module is powered by Analog Devices single core ADSPBF548 processor; key features are 64MB DDR SD RAM2x100pinexpansionconnectors.

CMBF537E:

CMBF537U:

TCMBF537:

CMBF561:

CMBF527:

CMBF548:

DevelopmentBoards: EVALBF5xx: Low cost Blackfin processor Evaluation Board with one socket for any Bluetechnix Blackfin Core Module. Additional peripherals are available,suchasanSDCard. GetreadytoprogramanddebugBluetechnixCoreModuleswiththis tinydevelopmentplatformincludingaUSBBasedDebugAgent.The Page6

DEVBF5xxDALite:

BlackfinuClinuxUserGuide

Tinyboards maximumperformanceatminimumsize DEVBF5xxDALite is a low cost starter development system includingVDSP++EvaluationSoftwareLicense.

DEVBF5xxFPGA:

Blackfin Development Board with two sockets for any combination ofBlackfinCoreModules.Additionalperipheralsareavailable,such as SDCard, Ethernet, USB host, multiport JTAG including a USB basedDebugAgent,connectorforanLCDTFTDisplayandconnector foradigitalcamerasystem.AlargeonboardSPARTAN3FPGAand Soft IPs make this board the most flexible Blackfin development platformseverdeveloped. Get ready to program and debug Bluetechnix CMBF548 Core ModulewiththistinydevelopmentplatformincludingaUSBBased Debug Agent. The DEVBF548DALite is a low cost starter developmentsystemincludingVDSP++EvaluationSoftwareLicense. ThefollowingExtenderBoardsareavailable:EXTBF5xxAudio,EXT BF5xxVideo, EXTBF5xxCamera, EXTBF5xxExp, EXTBF5xxETH USB, EXTBF5xxAD/DA. Additional boards based on customer requestarealsoavailable.

DEVBF548DALite:

EXTBoards:

SoftwareSupport: BLACKSheep: TheBLACKSheepVDKisamultithreadedframeworkfortheBlackfin processor family from Analog Devices that includes driver support foravarietyofhardwareextensions.ItisbasedontherealtimeVDK kernelincludedwithintheVDSP++developmentenvironment. LabVIEW embedded support for the CMBF537E, CMBF537U and TCMBF537CoreModulesisbasedupontheBLACKSheepVDKdriver Framework. All the Core Modules are fully supported by uClinux. The required boot loader and uClinux can be downloaded from: http://blackfin.uClinux.org.

LabVIEW:

uClinux:

UpcomingProductsandSoftwareReleases: KeepuptodatewithallthechangestotheBluetechnixproductlineandsoftwareupdates at: www.bluetechnix.com

BLACKFIN Design Service

BasedonmorethanfiveyearsofexperiencewithBlackfin,Bluetechnixoffersdevelopment assistanceaswellascustomdesignservicesandsoftwaredevelopment.

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1 Introduction
This document is intended to provide help for starting development with uClinux on BluetechnixBlackfinbasedTinyboards.BluetechnixprovidesasetofhighsophisticatedCore Modules. For all Blackfin based Core Modules (CMBF527, CMBF533, CMBF537E, CM BF537U, TCMBF537, CMBF548, CMBF561) uClinux support is available. In addition, Bluetechnix provides development tools (gnICE JTAG, PEEDIJTAG, ICEbear JTAG) and DevelopmentBoards(EVALBF5xx,DEVBF5xxDALite,etc.)andExtenderboards(EXTBF5xx Audio,EXTBF5xxCam,EXTBF5xxUSBETH2,etc.).Pleasevisitwww.bluetechnix.comforthe completelist. In the following, we will introduce the development environment setup, the required Software packages and the development tools. A short intro to the Blackfin uClinux tool chain,theUBootbootloaderanduClinuxisgiven.

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2 Where to get Information and Help

ForstartingBlackfinuClinuxdevelopment,werecommendreadingthisguideandretrieving informationfromthefollowingresources. Bluetechnixwebsite:http://www.bluetechnix.at This site provides Hardware User Manuals of all Bluetechnix Products and SchematicsfortheEVAL,DEVandExtenderboards. BluetechnixprojectonBlackfinuClinuxwebsite: http://blackfin.uclinux.org/gf/project/bluetechnix/ The Blackfin uClinux website contains a dedicated project for support of Bluetechnix products. We provide precompiled images of UBoot and uClinux, patches forBluetechnixCore Modules and instructions regarding several topics. We post news regarding uClinux support there as well, and you may ask questionsintheforum. DocumentationWikionBlackfinuClinuxwebsite: http://docs.blackfin.uclinux.org There is plenty of general and specific information about all topics regarding uClinuxdevelopmentforBlackfinprocessors. ForumsonBlackfinuClinuxwebsite Eachproject(UBoot,uClinux,toolchain,etc.)hasahelpforum.Ifyouhaveany problemsorquestionsregardinguClinuxforBlackfinprocessors,postitthereand youwillgetananswerusuallywithin1day.

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3 Support DVD
3.1 Content
ThesupportDVDcontainsthefollowingfiles:
DevEnvVMWareImage.zip:ArchivecontainingaVMWareimagewiththeBluetechnix

DevelopmentEnvironmentforBlackfinuClinuxdevelopment. Toolchain2009R1.tar.bz2:Binarytoolchain,2009R1branch U-Boot2009.06.tar.bz2:UBootsources(SVNcheckout),trunk/2009.06branch uClinux-dist-2009R1.tar.bz2: uClinux distribution and Kernel sources (SVN checkout),2009R1branch Bluetechnix_Images/:PrecompiledimagesforallBluetechnixCoreModules Blackfin_uClinux_UserGuide.pdf:Thisfile

3.2 VMWare image setup

The VMWare image contains a Xubuntu Linux installation (http://www.xubuntu.org/). ChooseitasyourdevelopmentenvironmentifyouwanttodevelopinaLinuxenvironment on a Windows PC, or if you want to have a separate Linux installation for Blackfin uClinux development. First,unpackthefileDevEnvVMWareImage.ziptoaplaceofyourchoice. If you dont have VMWare Workstation or VMWare Player installed, download and install the VMWare Player for your operating system for free from http://www.vmware.com/products/player/.Afterinstallation,opentheVMWareimageyou just unpacked by selecting Open an existing Virtual Machine and choosing the file Bluetechnix Development Environment.vmx. You will be automatically logged in to the Xubuntudesktop. 3.2.1 Install packages Now you have to install the tool chain, the uClinux distribution and the UBoot sources. Insert the Support DVD into your DVD drive. If it does not show up automatically on the desktop,selectthefollowingfromtheVMWarePlayermenu: Devices CD/DVD(IDE) Connect

DoubleclicktheDVDicononthedesktop.Thiswillopenafilemanagerwindowandmount the DVD automatically to /media/cdrom1. Now open a terminal. In your home directory (/home/blt)typethefollowingcommandstouncompressthepackages:
tar -xjf /media/cdrom1/Toolchain2009R1.tar.bz2 tar -xjf /media/cdrom1/U-Boot2009.06.tar.bz2 tar -xjf /media/cdrom1/uClinux-dist-2009R1.tar.bz2

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Youwillenduphavingthefollowingdirectoriesinyourhomedirectory: toolchain2009R1/containsthebinarytoolchain.Toaddthetoolchainpathtothe $PATHenvironmentvariable,anentrywasalreadyaddedtothe~/.bashrcfile.Ifyou wish to have another directory layout or you want to use another tool chain, you havetomodifythisentry. u-boot-2009.06/ contains the UBoot source code. It was checked out from SVN and patches for our Core Modules are already applied. In this directory, you may executesvn updatetogetthelatestupdatesfromtheBlackfinuClinuxSVN. uclinux-2009R1/containstheuClinuxdistribution,includingtheLinuxkernel.Inthis directory, you may execute svn update to get the latest updates from Blackfin uClinux SVN (2009R1 branch). The kernel sources are in the linux-2.6.x/ subdirectory. 3.2.2 Useful hints Toreleasethemouseandkeyboardfocus,pressCtrl+Altkeys. Incaseyouwanttomodifytheinstallation,youneedthepasswordofthedefaultuser: User: blt Password: blt To install Linux applications, you may use the Synaptic Package Manager that comes with Xubuntu.ItiscontainedintheApplicationsmenu,sectionSystem. 3.2.3 Setup without VMWare image IfyoudonthavetheneedtoworkwiththeVMWareimage,youcansimplyunpackthetool chain,uClinuxandUBootpackagestoaplaceofyourchoice. Then add the following lines to the ~/.bashrc file. The tool chain path will then automaticallybeaddedtothe$PATHenvironmentvariableeachtimeyoulogin.
# BFIN UCLINUX TOOLCHAIN TOOLCHAINDIR=/home/blt/toolchain2009R1 export PATH=$PATH:$TOOLCHAINDIR/bfin-uclinux/bin:$TOOLCHAINDIR/bfinelf/bin:$TOOLCHAINDIR/bfin-linux-uclibc/bin

3.3 Kermit
Kermitisaserialterminalprogram.WeuseittocommunicatewiththeCoreModulesovera USBcablethatisconnectedtotheUARTtoUSBconverterchipontheDev/Evalboard.See http://docs.blackfin.uclinux.org/doku.php?id=terminal_programs for more information aboutserialterminals. ToaccesstheserialterminalwithinVMWarePlayer,attachtheUSBcablefirsttoyourPC. Most Linux distributions detect the UARTtoUSB converter automatically. (See the BlackfinuClinuxUserGuide Page11

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HardwareUserManualofyourEval/DevBF5xxboardhowtoinstalladriverfortheUARTto USBconverterchipinWindows.)IntheVMWarePlayermenu,click Devices USBtoUARTBridgeController Connect toconnecttheserialcabletothevirtualmachine. For your convenience, a shell script was installed that automatically searches for the last serial connection that was detected and opens the Kermit program with the correct parameters.Intheterminal,type(fromthehomedirectory)
stuff/serialterminal

3.4 TFTP server

To be able to load files from the virtual machine onto the Core Modules, a TFTP server is required. It is already installed in the virtual machine. The TFTP servers root directory is /tftpboot/. The TFTP server must be accessible in order to be able to download files to your Core Module.ItisrecommendedtosetupbridgedEthernetmodeforthevirtualmachine.Inthe VMWarePlayer,select Devices NetworkAdapter Bridged Now, the virtual machine will be directly connected to your physical network, and it will receiveaDHCPaddressincaseaDHCPserverisinstalledonyourLAN.Now,youcanusethis IPaddresstodownloadfilestotheCoreModule.

3.5 NFS server

AnNFSserverisalreadyinstalledinthevirtualmachine. IfyouwanttomounttherootfilesystemonyourCoreModuleviaNFS,youhavetoadda similarlineto/etc/exports,dependingonwherethefilesystemis:
/home/blt/uclinux-2009R1/romfs/ *(rw,no_root_squash,async)

Afterwards,restarttheNFSserverwiththecommand
/etc/init.d/nfs-kernel-server restart

Notethatyouhavetoconfigureyournetworkasdescribedinchapter3.4. Seehttp://docs.blackfin.uclinux.org/doku.php?id=uclinuxdist:nfsforinstructionshowtoset upanNFSrootfilesystem.

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4 Development Environment Setup

A serial connection is necessary for communicating with your Bluetechnix Core Module. EitheraUSBorastandardRS232canbeused.PleaserefertotheBluetechnixHardwareUser Manualforthenecessarybaseboardswitchsettings. ToconnectviaUSBcable,youroperatingsystemmusthaveadevicedriverfortheCP2101 USBtoUART converter chip. Most precompiled kernels of Linux distributions have it already enabled. To verify this, power on your Bluetechnix board and connect to your machine. A device file /dev/ttyUSB0 or similar should be automatically generated. The outputofthedmesgcommandinaLinuxterminalalsoreportsifthedevicewascorrectly detected:
usb 3-2: configuration #1 chosen from 1 choice cp2101 3-2:1.0: cp2101 converter detected usb 3-2: reset full speed USB device using uhci_hcd and address 4 usb 3-2: cp2101 converter now attached to ttyUSB0

FortheconnectiontothepromptsofUBootanduClinux,aterminalprogramisneeded.We recommend Kermit. It is part of most Linux distributions the package is usually named ckermit. A quick introduction to terminal programs is given on the web site http://docs.blackfin.uclinux.org/doku.php?id=terminal_programs&s=kermit Thebasicconnectionparametersforterminalprogramsareasfollows: Baudrate 115200 Databits 8 Stopbits 1 Flowcontrol none Parity none If you use Kermit, it is recommended to create the settings file .kermrc in your home directorywiththefollowinglines:
set set set set set set set set set set line /dev/ttyUSB0 speed 115200 carrier-watch off flow-control none prefixing all parity none stop-bits 1 modem none file type bin file name lit

For fast transfer of files (e.g., uClinux images) to the target hardware via Ethernet, it is recommendedtoinstallaTFTPserveronthedevelopmentworkstation.Thisrequireseither aCoreModulewithonboardEthernetcapabilityoracertainBaseorExtenderboard.Please refer to your Linux distributions package database for appropriate TFTP packages. Also, thereisanentryintheBluetechnixuClinuxWikiaboutinstallingaTFTPserver: http://docs.blackfin.uclinux.org/doku.php?id=setting_up_a_tftp_server

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5 Software Packages
ThethreebasicsoftwarepackagesneededforuClinuxdevelopmentare: BlackfinuClinuxdistribution,includesuClinuxkernel UBootbootloader Toolchainforcrosscompiling These software packages are available for download at the Blackfin uClinux web site http://blackfin.uclinux.org. Please follow the links on this page. Each project has a Files section where releases can be downloaded from. Furthermore, SVN access is available via theSVNsectiontogetthelatestsnapshotofeach. Youcaneitherworkwithreleasesofthesesoftwarepackages,orwiththecurrentsources from SVN. Releases are naturally stable and well tested. The advantage of SVN sources is that you will get the newest features and drivers from the uClinux kernel and the newest applications.Butpleasekeepinmindthatthisistheplacewheredevelopmentisgoingon! For the tool chain, daily generated precompiled SVN snapshots (nightly snapshots) are available. PrecompiledimagesforUBootanduClinuxaswellasspecificpatchesfortheBluetechnix Core Modules can be downloaded from the Bluetechnix project site at http://blackfin.uclinux.org/gf/project/bluetechnix/frs.

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6 Development Tools
The Bluetechnix Core Modules are either shipped with preflashed BLACKSheep software (forfurtherdetailspleaseseetheBLACKSheepdocumentation)orwithUBootanduClinux. Both provide a boot loader. Anyway, if they are corrupted or not available at your target hardware,youwillneedaJTAGprogrammerforflashinguBootand/oruClinux.Besidesthe HPUSBICE from Analog Devices, flashing and/or debugging Bluetechnix Core Modules is supported by three JTAG devices, the gnICE from Analog Devices, the PEEDI from Ronetix, andtheICEBearfromSection5. Certain Core Modules allow for booting the UBoot from UART: CMBF527, (T)CMBF537x, CMBF548.Forthese,aJTAGdeviceisnotrequiredifthesoftwarewasdeleted/corrupted.

6.1 gnICE JTAG

ThegnICE(http://docs.blackfin.uclinux.org/doku.php?id=hw:jtag:gnice)isafastandlowcost USBJTAGInCircuitEmulatorforBlackfinprocessors.It'sdesignedtoprovidereliableJTAG debugging and CFI NOR Flash programming via USB. The gnICE JTAG Adapter Cable is an Open Source hardware, based on the FT2232 chip from Future Technology Devices InternationalLtd. Features: USB2.0FullSpeed JTAGclock(TCK)6MHz LinkStatusLED SupportedOSes: Linux(anydistribution) MacOSX Windows2000andnewer Software: TheBlackfintoolchainfullysupportsthisICE. SupportedBlackfinderivatives(amongothers): BF527 BF533 BF537 BF561 BF548

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6.2 PEEDI JTAG

The PEEDI from Ronetix (http://www.ronetix.at/peedi.html) is a high speed JTAG/BDM Emulator and Flash Programmer. It enables you to debug software running on ARM, PowerPC,ColdFireandBlackfinprocessorcoresviatheJTAG/BDMport.PEEDIprovidesthe services needed to perform all debugging operations. PEEDI supports native GNU gdb/Eclipseandprovidesaveryhighrealdownloadspeedupto1.25Mbytes/s.Forrapid startinganewprojectRonetixprovidescompleteGNUtoolchainsincludingEclipseforLinux and Windows for ARM/XScale, PowerPC, ColdFire and Blackfin. The tool chains can be downloaded for free from the companys website. It supports uClinux as well as native C Programswithoutanoperatingsystem. 6.2.1 Resources ReadmefileforBlackfinuClinux: http://download.ronetix.at/blackfin/READMEuClinuxbfin Downloads(includingfirmwareupdates): http://www.ronetix.at/downloads.html ConfigurationfilesforthePEEDIJTAG: http://download.ronetix.at/peedi/peedi_config_files.zip ExampleswithoutuClinux: http://download.ronetix.at/blackfin/bf53x_examples.tar.bz2 6.2.2 Updating the configuration file PEEDIhasaserialterminalsimilartoBluetechnixCoreModules.Connectaserialcableand connecttoite.g.withKermittogetaprompt. TheconfigurationfileisplacedinEEPROMandcanbeaccessedviatheaddress
eep://bf537.cfg

TomakeabackupofPEEDIscurrentconfigurationfile,type
transfer eep://bf537.cfg tftp://192.168.1.1/bf537.cfg

atthePEEDIprompt.ThiswillcopyittoyourTFTPserversrootdirectory. ToupdatetheconfigurationfilefromaTFTPserver,type
config tftp://192.168.1.1/bf537.cfg

at the RedBoot prompt (Refer to section 6.2.3 for instructions how to reach the RedBoot prompt).ThenpresstheResetbuttononPEEDI. 6.2.3 Updating the firmware First,youhavetogettotheRedBootpromptofPEEDI: Pressandholdthetwobuttonsonthefrontside. PresstheResetbuttononthebacksideonce. Waitawhileandreleasethetwobuttonsonthefrontsideafterwards.

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Now you can connect to PEEDI with Telnet. The RedBoot prompt appears. Type the command
update tftp://192.168.1.1/firmware.bin

to start the update process (assuming that the file firmware.bin in your TFTP directory containsthenewfirmware). 6.2.4 Debugging the uClinux kernel FollowtheinstructionsintheReadmefileonhowtocompilethekernel.AftertheuClinux imageisprogrammedintoflashmemory,startGDBwiththecommand
bfin-uclinux-gdb vmlinux

Notethatyouhavetotakethevmlinuxfilefromthelinux2.6.x/directorybecauseitis theonlyonethatcontainsdebuggingsymbolsforGDB. Example: UBootandkernelbootintheserialconsolewindowasusual. HitCtrl+Cforhaltingtheprocessor. Createasamplebreakpointandcontinue

(gdb) break sys_open (gdb) c

NowtypelsontheserialconsolerunninguClinux.Thebreakpointwillbehit.

6.2.5 Debugging uClinux applications Because of some bugs in bfinuclinuxgdb as mentioned in the Readme file, it is recommendedtousegdbserverfordebugginguClinuxapplicationsasdescribedat http://docs.blackfin.uclinux.org/doku.php?id=debuggers.

6.3 ICEbear JTAG

TheICEbearadapterfromSection5(http://www.section5.ch)inconjunctionwithlibbfemu, gdbproxyandtheGNUtoolchain(binutils,gdb,gcc)isacosteffectivedevelopmenttoolfor Blackfinhardwareplatforms.BasedonaUSB2.0(1.1compatible)connectiontothehostPC, it 'outsources' all the JTAG signal generation to a dedicated JTAG controller, yielding improvedtimingandsignalintegritycomparedtoaclassicparallelportconnector. Itmainlysupports: Fastflashprogramming(~20sec.perMBor50kB/sunderMSWindows) Loadinganddebuggingofexecutables Automatedsystemtesting SupportedCPUs(inbrackets:CPUtypesthatarecompatible,butnottested): ADSPBF527in1.3release ADSPBF533,BF531,(BF532),ADSPBF534 ADSPBF536,BF537,BF539,BF539F4(BF538) ADSPBF548(9)in1.3release BlackfinuClinuxUserGuide Page17

Tinyboards maximumperformanceatminimumsize ADSPBF561dualcore SHARC2116X(BoundaryScan/Flashtoolonly) Multidevicechainsupport(Xilinx,ADI,etc.)onrequest(alphareleases)

Welltestedandsupportedplatforms: EZKITLiteADSPBF533,BF537andBF561 STAMPBF533/537 SRV1Robotcoremodule(www.surveyor.com) ZBrainBF533fromSchmidEngineeringAG DSPStampBF533andMinotaurBF537fromCambridgeSignalProcessingLTD CMBF533/537/561(v1andv2)fromBluetechnix

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7 Blackfin uClinux Tool Chain

TobeabletocrosscompileuClinuxfortheBlackfinprocessor,youmustinstallthetoolchain fromtheBlackfinuClinuxwebsiteonyourdevelopmentworkstation. The precompiled tool chain is available from http://blackfin.uclinux.org/gf/project/toolchain/frs, both releases and nightly snapshots. Most versions are available in the RPM format. The necessary files will be installed in the directory /opt/uClinux/.Thetoolchainconsistsofseveralpackageswhichareexplained indetailathttp://docs.blackfin.uclinux.org/doku.php?id=toolchain:installing. If you want to compile the tool chain from source, you can use a build script that is containedinthetoolchainssourcecodepackage.Thisworksforreleasedtoolchainsaswell asfortoolchainsfromSVN.Pleaserefertothefollowingwebsiteforinstructions: http://docs.blackfin.uclinux.org/doku.php?id=toolchain:buildscript It is required to add the bin/ directories of the tool chain to your $PATH environment variable.Forthebash,typethefollowingcommand:
export PATH=$PATH:/opt/uClinux/bfin-uclinux/bin:/opt/uClinux/bfinelf/bin:/opt/uClinux/bfin-linux-uclibc/bin

For your convenience, it is recommended to add these lines to the ~/.bashrc file of your homedirectory,sothatthesesettingswillareautomaticallybedoneeachtimeyoulogin.
Note! There are dependencies between Linux distribution, kernel and the tool chain. If youusedifferentversionsofeach(e.g.anoldreleaseoftheLinuxkernel,butthe latesttoolchainfromSVN),youmayexperienceproblems.

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8 The U-Boot boot loader

InordertoloadandbootuClinuxontheBlackfin,abootloaderisrequired.TheBluetechnix projectontheBlackfinuClinuxwebsitecontainsprecompiledUBootimagesforeachCore ModuleintheFilessection(http://blackfin.uclinux.org/gf/project/bluetechnix/frs/). ThesourcecodeofUBootisavailableontheBlackfinuClinuxwebsite: http://blackfin.uclinux.org/gf/project/uboot ThedocumentationWiki(availableathttp://docs.blackfin.uclinux.org/)containslotof informationaboutUBoot.

8.1 Flashing the U-Boot

If UBoot is not installed yet on your Core Module, you can either use a JTAG flash programmer, the BLACKSheep software, or UART boot, to program UBoot into flash memory.UARTbootissupportedbyBF527,BF537,andBF548processorsonly.
Core Module UBootfile CMBF527 uboot.ldr CMBF533 uboot.bin CM BF537U uboot.bin CM BF537E uboot.bin TCM BF537 uboot.bin CMBF548 uboot.ldr CMBF561 uboot.ldr

Table81:UBootimagetypesforCoreModules Table 81 lists all Core Modules and the file type of UBoot that must be used for flash programming. Please refer to the BLACKSheep Command Reference (available on the Bluetechnix web site,http://www.bluetechnix.at)forinstructionshowtoprogramUBootwithBLACKSheep. It is recommended to first program UBoot as application and to test it before replacing BLACKSheep with UBoot, because if the UBoot does not work and you have already removedtheBLACKSheep,youwouldneedaJTAGflashprogrammer. After you have replaced BLACKSheep with UBoot, you have to change the boot mode of thoseCoreModulesthatexecutetheu-boot.binfile.PleaserefertotheHardwareUser Manual(availableontheBluetechnixwebsite)ofyourCoreModulefortheappropriateDIP switchsettings.
Note! DonotusethesaveenvcommandofUBootifyouprogrammeditasapplication withBLACKSheep.ThiscommandsavestheUBootenvironmentvariablestoflash memoryandmayoverwritepartsofBLACKSheep,makingitunusable.

8.2 U-Boot environment

TheUBootbootloaderusesenvironmentvariablesforconfigurationofnetworkandboot settings. BlackfinuClinuxUserGuide Page20

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Thereare3commandstomodifythesevariables: 1. printenvPrintsallenvironmentvariablestotheterminal. 2. setenv [name] [value]Createsanewvariableoroverwritesanexistingone. Note that, if special characters are used in the value, they have to be prefixed with\. 3. saveenvSavesthecurrentenvironmentvariablestoflashmemorysothatthey arerestoredafterareset. Task1:SetIPaddressesoftheCoreModuleandoftheTFTPserver
setenv ipaddr 192.168.5.7 setenv serverip 192.168.5.1

Task2:SettheMACaddressfortheEthernetdevice
setenv ethaddr 02:80:ad:20:31:e8

Task3:SetthekernelbootargumentsforbootingwithJFFS2filesystem
setenv bootargs root=/dev/mtdblock2 rootfstype=jffs2 rw clkin_hz=25000000 earlyprintk=serial,uart0,115200 console=ttyBF0,115200 setenv bootargs root=/dev/mtdblock2 rootfstype=jffs2 rw clkin_hz=30000000 earlyprintk=serial,uart0,115200 console=ttyBF0,115200 (forCMBF537Uonly)

Task4:Runascript
setenv flashboot flread 0x20040000 0x1000000 0x280000\; bootm 0x1000000 (definethescript) run flashboot (executethescript)

Task5:ModifythebootcommandofUBoot
setenv bootcmd run flashboot(UBootwillruntheflashbootcommandat

boot)

8.3 Loading files onto the Core Module

IfyouhaveaccesstoEthernetviayourBluetechnixboardandaTFTPserverisinstalledon your workstation, you can transfer any file from the TFTP server to the Core Module by typing
tftp [file name]

attheUBootprompt.Afterthetransferiscomplete,thefilesizeisprintedtotheterminal. Thedefaultloadaddressis0x1000000inRAMmemory.Itcanbespecifiedoptionallybefore thefilename. BlackfinuClinuxUserGuide Page21

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IfnoEthernetaccessisavailable,filescanbetransferredovertheserialconnection.Please notethatthetransferrateisveryslow.Theprocedureisdescribedfortheterminalprogram Kermit: 1. TypeloadbattheUBootprompt. 2. SwitchtotheKermitpromptbypressingCtrl\followedbyc. 3. Typesend [file name]tostartthetransfer.Thestatusisshownduringthedata transfer. 4. Afterthetransferiscomplete,typectoreturntotheUBootprompt.Thefilesize isprintedtotheterminal.
Note! Ifthetransferfailswithanerror,tryusing2stopbitsinsteadof1.InKermit,you can do this by typing set stopbits 2 at the Kermit prompt. (This behavior was observedwithCMBF561coremodules.)

8.4 Building U-Boot from source

DownloadthesourcecodeforUBootfromtheBlackfinuClinuxwebsite.Pleasecheckthe web site http://blackfin.uclinux.org/gf/project/bluetechnix/frs/ afterwards if there are patchesforthesourcecodethatareneededforyourBluetechnixCoreModule.Applythe patchestothesourcecodebyenteringthecommand
patch p0 < [patch file]

intheUBootsourcedirectory.ToadaptUBoottoyourspecificneeds(core/systemclock, environment variables, network settings, etc.), please edit the configuration file correspondingtoyourCoreModule: CMBF527: CMBF533: CMBF537E: CMBF537U: TCMBF537: CMBF548: CMBF561:
u-boot-2009.06/include/configs/cm-bf527.h u-boot-2009.06/include/configs/cm-bf533.h u-boot-2009.06/include/configs/cm-bf537e.h u-boot-2009.06/include/configs/cm-bf537u.h u-boot-2009.06/include/configs/tcm-bf537.h u-boot-2009.06/include/configs/cm-bf548.h u-boot-2009.06/include/configs/cm-bf561.h

If you want to build an UBoot image for UART boot, you have to change the CONFIG_BFIN_BOOT_MODEsettinginthisconfigurationfiletoBFIN_BOOT_UART. Next,type make,followedbythenameoftheCoreModule(equaltotheheaderfilenames above).Forexample,type
make cm-bf537e

tobuildUBootfortheCMBF537ECoreModule. Several files named u-boot.* are created, whereof u-boot.bin and u-boot.ldr respectively(seeTable81)isthebinaryimagewhichisusedtoprogramUBootintoflash memory.

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IfyouwanttocreateanIntelHEXimagethatiscompatibletoAnalogDevicesVisualDSP++ flashprogrammer,youneedtotypethefollowingcommand:
bfin-uclinux-objcopy I binary O ihex u-boot.bin u-boot.hex or bfin-uclinux-objcopy I binary O ihex u-boot.ldr u-boot.hex

8.5 Upgrading the U-Boot

If you want to replace the existing UBoot by a newer one, you can use UBoot itself for upgrading.ItisrecommendedtotestthenewUBootimagepriortoprogrammingit.Inthe case of a nonfunctional image, you would have to use a JTAG flash programmer or UART boot(notsupportedbyallCoreModules). First, load the binary UBoot image (u-boot.bin) onto the Core Module. Instructions for loadingfileswithUBootaregiveninsection8.3. Assumingthatyouusedloadaddress0x1000000,type
go 0x1000000

attheUBootprompttoexecutethenewUBoot.Ifitboots,thetestwassuccessfulandyou can program the new image to flash memory. Reset the device, load u-boot.bin or uboot.ldrrespectivelyintoRAM,andtypethefollowingcommandsattheUBootprompt:
protect off 0x20000000 +$(filesize) erase 0x20000000 +$(filesize) cp.b 0x1000000 0x20000000 $(filesize) cmp.b 0x1000000 0x20000000 $(filesize)

(unprotectsrequiredsectors) (erasessectors) (copiesimageintoflashmemory) (compareswrittendata)

Aftertheprogrammingprocessisfinished,youcanresetyourdevice.ThenewUBootisnow installed.

8.6 Booting U-Boot from UART

See the following web site for instructions how to boot UBoot from UART for processors thatsupportit(BF527,BF537,BF548): http://docs.blackfin.uclinux.org/doku.php?id=bootloaders:u boot:loading#boot_via_the_uart

8.7 Programming a uClinux image to flash memory

To program a uClinux image to flash memory, you must first transfer the uClinux and file systemimagesintotheCoreModuleRAM.Pleaserefertosection8.3forinstructions. You have several choices what to program into flash memory, here are two that are commonlyused: uImage:containsthecompressedLinuxkernelandtherootfilesystem(initramdisk). You have to program this file only. The file system will be uncompressed to RAM whenLinuxboots.Changestothefilesystemarenotpersistent. BlackfinuClinuxUserGuide Page23

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vmImage: contains the compressed Linux kernel. You have to program a root file

systemimageadditionally. rootfs.jffs2:RootfilesysteminJFFS2format.Thefilesystemisaccesseddirectly inflashmemory.Changestothefilesystemarepersistent.

Iftheflashmemoryisnotempty,youhavetoeraseitfirst.Theerasecommandneedstwo arguments: The first is the start address of flash memory (0x20000000), the second is the memorysize.Toeraseallsectorsinflashmemory(includingUBoot),type:
protect off all erase all

ToeraseasmuchmemoryasisneededbyafilethatwasloadedintoRAMpreviously,type:
protect off 0x20040000 +$(filesize) erase 0x20040000 +$(filesize)

TheUBootbootloaderrequires256Kbytesofflashmemory.So,storingauClinuximageat address0x20040000isagoodchoice. Aftererasing,theimageistransferredtoflashmemorywiththecp.bcommandwhichneeds three arguments: The first one is the copyfrom address, it is usually 0x1000000 (RAM). Thesecondoneisthecopytoaddress.ThedefaultforourCoreModulesis0x20040000. Thethirdoneisthelength.Thecommandforprogrammingisasfollows:
cp.b 0x1000000 0x20040000 $(filesize) cp.b 0x1000000 0x20040000 $(filesize)

(uImage) (vmImage) (rootfs.jffs2)

(nowloadtherootfs.jffs2filetoRAM)
cp.b 0x1000000 0x20140000 $(filesize)

To verify the written data, you can use the cmp.b command which takes the same arguments:
cmp.b 0x1000000 0x20040000 $(filesize)

Note!

On Core Modules that use GPIOs for flash addressing, the compare command cmp.b does only work for the lowest 2 MBytes of flash memory, because cmp.b andsimilarcommandsarestrictlymemorymappedanddonotcareaboutGPIOs.

8.8 Booting a uClinux Image

HowtobootauClinuximagefromflashmemorydependsonthetypeoftheCoreModule.If theCoreModuleusesGPIOsasaddresslinesforflashmemory,UBootprovidestheflread command,whichreadsanimagefromflashto RAMwhilehandlingaddressingwithGPIOs transparently.Allothercoremodulesreadtheimagedirectlyfromflashmemory. BlackfinuClinuxUserGuide Page24

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CMBF527,CMBF537E,CMBF537U,TCMBF537:
flread 0x20040000 0x1000000 0x300000 bootm 0x1000000

CMBF533,CMBF548,CMBF561:
bootm 0x20040000

Thefirstargumentisthesourceaddress,thesecondthedestinationaddress,andthethird theimagelength.Itdoesnotmatterifthelengthisgreaterthantheactualimagesize.Ifyou knowtheexactlengthofyourimage,youmaystoreitinthe filesizeUBootenvironment variableandreplacethefixedlength0x300000intheaboveexamplewith$(filesize).Ifa fileisloadedinUBoot,UBootsetsthisvariableautomaticallytothefilesizeofthelastfile transferred.Ifyousavetheenvironmentafterwards,thevariablecontentwillberestoredat eachboot. ThedefaultofUBootistobootauImagestoredat0x20040000inflashmemory.Forusinga JFFS2filesystem,modificationstotheUBootenvironmentarerequired.Seechapter8.2for ashortreference.

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9 Blackfin uClinux
The uClinux distribution for the Blackfin processor contains the uClinux kernel and lots of tools and applications known from the Linux world. It is available from the uClinux distributionprojectonthefollowingwebsite: http://blackfin.uclinux.org To become familiar with uClinux, reading through the introduction of the documentation WikiofBlackfinuClinuxisagoodidea.Itisavailableon http://docs.blackfin.uclinux.org.

9.1 First impression with pre-compiled images

We provide precompiled images with UBoot, uClinux, and root file system for all of our Core Modules. They are available at the Bluetechnix Blackfin project site http://blackfin.uclinux.org/gf/project/bluetechnix/frsaswellasontheSupportDVD:
u-boot.bin/.ldr: uImage: vmImage: rootfs.jffs2: uboot+uImage.bin/.ldr:

UBootbinary uClinuxkernelandinitramdiskwithrootfilesystem uClinuxkernelimage JFFS2rootfilesystem Allinoneimage(programtoaddress0x20000000)

9.2 Compiling your own uClinux Image

9.2.1 Downloading the Source Code ThesourcecodeofthelastuClinuxreleasecanbedownloadedfromtheFilestabonthe Blackfin uClinux web site (uClinux project) or simply go to http://blackfin.uclinux.org/gf/project/uclinuxdist/frs. Only the last release is shown at the beginning, if you want to see all available releases click on the package name Blackfin uClinux.Thefilecontainingthesourcecodeisnamed uClinux-dist-[release].tar.bz2 whichyouhavetodownloadandunpack. InstructionsforcheckingoutthesourcesviaSVNaswellasviewingtherepositorywithyour browserareavailableontheSVNtabofthiswebsite.TheuClinuxkernelandtheuClinux distributionaremanagedindifferentSVNrepositories.However,ifyoucheckoutuClinux distviaSVN,theuClinuxkernelisfetchedautomaticallyasanexternalitem.
Note! ItisimportantthatthedatesofthetoolchainandtheuClinuxkernelarecloseto eachother.Ifyouworkwiththelastreleaseofeach,thisrequirementisfulfilled.

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9.2.2 Configuring the Kernel and User Space Applications Changetotheuclinux-2009R1/(orsimilar)directoryandstarttheconfigurationbytyping

make menuconfig

Inthefirstconfigurationdialog,youmustchoosethevendorandtheproductforwhichyou want to compile uClinux. Alwayschoose Bluetechnix as the vendor and selectyour Core Module in the products option. For example, if you have a CMBF537E Core Module, you havetomakethefollowingsettings:
Vendor/Product Selection ---> --- Select the Vendor you wish to target (Bluetechnix) Vendor --- Select the Product you wish to target (CM-BF537E) Bluetechnix Products

For further configuration dialogs for the kernel configuration and for user space programs configurationenablethefollowingoptions:
Kernel/Library/Defaults Selection ---> [*] Customize Kernel Settings [*] Customize Application/Library Settings

Thenexitfromthisdialogandsaveyoursettingswhenasked. Inthefollowing,twoconfigurationdialogsareopenedconsecutively:Thefirstoneincludes allconfigurationoptionsfortheuClinuxkernel,e.g.Blackfinspecificsettings,devicedrivers andfilesystemsupport.Afteryouhavemadechangesaccordingtoyourwishes,exitfrom thatdialogandsavethesettings. Now, the last dialog is opened which includes options for tools and applications. They are dividedintocategories.IfyouwantaprogramtobeavailableunderuClinux,enableithere tobuildit.Again,exitandsaveyoursettings. 9.2.3 Compiling uClinux IntheuClinuxdistdirectory,simplytype
make

after the configuration to start the building process. Now, the kernel will be built first, followed by the selected applications. The first compilation from fresh source code needs sometimetocomplete,thereafteracompilationrunsmuchfaster. After a successful build, the uClinux and file system images are copied to the uClinuxdist/images/directory,seechapter9.1forshortashortexplanationofthegeneratedfiles. Pleaserefertosection8.8forinstructionshowtoboottheseimageswithUBoot.

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9.2.4 Special considerations for CM-BF548 ThereisanissuewithBF548processorswithrevisionnumber<0.2withuClinuxduetoan anomaly of the processor. You will get an error explaining the details for those processor revisionsatcompiletime. Settingtherevisionoftheprocessorisdoneinthekernelconfigurationmenu:
Blackfin Processor Options ---> Silicon Rev (0.0) --->

ThechecksfortheBF548processorrevisionaredoneinthefollowingsourcefiles: arch/blackfin/mach-bf548/include/mach/anomaly.h,aroundline17 arch/blackfin/mach-common/arch_checks.c,aroundline71 arch/blackfin/kernel/setup.c,aroundline905

9.3 Configuration of on-board Components

This section is dedicated to components of the Bluetechnix Evaluation Boards and DevelopmentBoards. 9.3.1 SD/MMC card ToenableSD/MMCcardsupportinuClinux,thefollowingkernelconfigurationisrequired:
Block layer ---> [*] Enable the block layer Device Drivers ---> [*] SPI support ---> <*> SPI controller driver for ADI Blackfin5xx <*> MMC/SD/SDIO card support ---> <*> MMC block device driver <*> MMC/SD/SDIO over SPI

Furthermore, enable additional file system support in the File Systems menu which you wanttouse. 9.3.2 USB support (CM-BF527, CM-BF548) ThedefaultsettinginthekernelconfigurationisforUSBHost:
Device Drivers ---> [*] USB support ---> <M> Support for Host-side USB [*] USB device filesystem [*] Disable external hubs <M> Inventra Highspeed Dual Role Controller (TI, ADI, ...) Driver Mode (USB Host) ---> (onlyforCMBF527) [*] Disable DMA (always use PIO) <M> USB Mass Storage support

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<M>

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USB Gadget Support ---> USB Peripheral Controller Inventra HDRC USB Peripheral (TI, ADI, ...) Ethernet Gadget (with CDC Ethernet support)

<M>

(NotethatSCSIdisksupportisrequiredforUSBMassStorageSupport.) USB Host Example: To attach a USB mass storage device, connect Jumper JP3 of your Eval/DevBF5xx>=V5.1boardtoprovideVBUSvoltage.BootuClinux,andloadthefollowing modules:
modprobe usbcore modprobe musb_hdrc modprobe usb-storage

ThenconnectthedevicetoUSB.ThekerneldetectsthenewUSBdeviceandcreatesanew device file in the /dev/ directory. To mount the first partition of the device with VFAT file system,type
mount t vfat /dev/sdb1 /mnt

USB Device example: To enable Ethernet over USB, remove jumper JP3. In the kernel configuration,setthedrivermodetodevicemode:
Device Drivers ---> [*] USB support ---> <M> Inventra Highspeed Dual Role Controller (TI, ADI, ...) Driver Mode ---> USB Peripheral (gadget stack) USB Gadget Support ---> USB Peripheral Controller ---> Inventra HDRC USB Peripheral (TI, ADI, ...)

CompileandbootuClinux.Thenloadthefollowingmodules:
modprobe musb_hdrc modprobe g_ether

ThenconnecttheUSBplugoftheEval/DevBF5xxtoaLinuxPC.Intheoutputofthe dmesg command,youseetheEthernetdeviceusb0begenerated:

usb0: register 'cdc_ether' at usb-0000:00:10.4-8, Device, 4a:c4:12:9e:87:99 usbcore: registered new interface driver cdc_ether CDC Ethernet

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10 Document Revision History

Version Date 6 20090902 DocumentRevision Updated information about UBoot and uClinux; removed deprecated FAQ; added USB description; added Support DVD chapter;addedUARTbootdescription InformationaboutSVNtoolchainadded InformationaboutPEEDIJTAGadded GeneralInformation DevelopmentToolsadded FirstreleaseV1.0oftheDocument Table101:DocumentRevisionHistory

5 4 3 2 1

20071205 20070719 20070621 20070613 20070531

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List of Figures and Tables

Figures Notableoffiguresentriesfound. Tables Table81:UBootimagetypesforCoreModules...................................................................20 . Table101:DocumentRevisionHistory..................................................................................30

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