R-Car/Boards/Salvator-X

= Introduction =

This is the Wiki for the Renesas Salvator-X board, which is available in different versions, depending on the actual SiP mounted: Refer to the R-Car page for information about Renesas' R-Car SoC family.
 * RTP0RC7795SIPB0010S (with R-Car H3),
 * RTP0RC7796SIPB0011S (with R-Car M3-W or M3-N).

= Hardware Features =


 * R-CAR H3
 * ARM CA57 (ARMv8) 1.5 GHz quad core, with NEON/VFPv4, L1$ I/D 48K/32K, L2$ 2MB
 * ARM CA53 (ARMv8) 1.2 GHz quad core, with NEON/VFPv4, L1$ I/D 32K/32K, L2$ 512K
 * Memory controller for LPDDR4-3200 4GB in 2 channels, each 64-bit wide
 * Two- and three-dimensional graphics engines,
 * Video processing units,
 * 3 channels Display Output,
 * 6 channels Video Input,
 * SD card host interface,
 * USB3.0 and USB2.0 interfaces,
 * CAN interfaces
 * Ethernet AVB
 * PCI Express Interfaces
 * Memories
 * INTERNAL 384KB SYSTEM RAM
 * DDR 4 GB LPDDR4
 * HYPERFLASH 64 MB HYPER FLASH (512 MBITS, 160 MHZ, 320 MBYTES/S)
 * QSPI FLASH 16MB QSPI (128 MBITS,80 MHZ,80 MBYTES/S)1 HEADER QSPI MODULE
 * EMMC 32 GB EMMC (HS400 240 MBYTES/S)
 * MICROSD-CARD SLOT (SDR104 100 MBYTES/S)

= Quick Start How To =

This sections describes steps that are necessary to run a "Hello, World!" application using Yocto build. Both X11 and Wayland are supported.

Build Yocto image
Refer to Yocto for steps necessary for making a Yocto image.

Connect 12 V power supply to the board
Use 12 V power supply with a 5.5 mm barrel plug. The power supply should be able to provide 9 Amps.

Connect to serial console
Use a microUSB cable to connect the Salvator-X board. CN25 ("DEBUG SERIAL-0") must be used on Salvator-X side. It is routed to SCIF2 in the R-Car H3 via a FT232 interface converter chip.

On Linux, FT232 driver is included with kernel versions >=2.6.12. Windows driver and sources can be found on Silicon Labs website.

Serial settings are 115200 8N1. Any standard terminal emulator program can be used.

On Linux:

picocom

sudo picocom -b 115200 DEVICE replace DEVICE with the proper tty device name, for example /dev/ttyUSB0. Running dmesg | tail can help locating proper device. After the successful connection, picocom should display:

picocom v1.7 port is       : /dev/ttyUSB0 flowcontrol   : none baudrate is   : 115200 parity is     : none databits are  : 8 escape is     : C-a local echo is : no noinit is      : no noreset is     : no nolock is      : no send_cmd is    : sz -vv receive_cmd is : rz -vv imap is       : omap is       : emap is       : crcrlf,delbs, Terminal ready

Use Ctrl+A, Ctrl+Q to exit picocom.

minicom

sudo minicom -b 115200 -D DEVICE replace DEVICE with the proper tty device name, for example /dev/ttyUSB0. Running dmesg | tail can help locating proper device. After the successful connection, minicom should display:

Welcome to minicom 2.6.2 OPTIONS: I18n Compiled on Aug 7 2013, 13:32:48. Port /dev/ttyUSB0 Press CTRL-A Z for help on special keys Use Ctrl+A, Q to exit minicom.

Power on the board and go to U-Boot prompt
Switch "SW23" to "ON" to switch the board on. Then you should see the following output in the terminal: Welcome to minicom 2.7 OPTIONS: I18n Compiled on Jan 1 2014, 17:13:19. Port /dev/ttyUSB0, 18:31:48 Press CTRL-A Z for help on special keys NOTICE: BL2: R-Car Gen3 Initial Program Loader(CA57) Rev.1.0.9 NOTICE: BL2: PRR is R-Car H3 ES1.1 NOTICE: BL2: Boot device is HyperFlash(80MHz) NOTICE: BL2: LCM state is CM NOTICE:  BL2: AVS setting succeeded. DVFS_SetVID=0x52 NOTICE: BL2: DDR1600(rev.0.10) NOTICE: BL2: DRAM Split is 4ch NOTICE: BL2: QoS is default setting(rev.0.32) NOTICE: BL2: Lossy Decomp areas NOTICE:      Entry 0: DCMPAREACRAx:0x80000540 DCMPAREACRBx:0x570 NOTICE:      Entry 1: DCMPAREACRAx:0x40000000 DCMPAREACRBx:0x0 NOTICE:      Entry 2: DCMPAREACRAx:0x20000000 DCMPAREACRBx:0x0 NOTICE: BL2: v1.1(release):3ad02ac NOTICE: BL2: Built : 13:03:52, Sep 20 2016 NOTICE: BL2: Normal boot NOTICE: BL2: dst=0xe631a208 src=0x8180000 len=512(0x200) NOTICE: BL2: dst=0x43f00000 src=0x8180400 len=6144(0x1800) NOTICE: BL2: dst=0x44000000 src=0x81c0000 len=65536(0x10000) NOTICE: BL2: dst=0x44100000 src=0x8200000 len=524288(0x80000) NOTICE: BL2: dst=0x49000000 src=0x8640000 len=1048576(0x100000) U-Boot 2015.04 (Sep 23 2016 - 18:54:42) CPU: Renesas Electronics R8A7795 rev 1.1 Board: H3ULCB I2C:  ready DRAM: 3.9 GiB MMC:  sh-sdhi: 0, sh-sdhi: 1 In:   serial Out:  serial Err:  serial Net:  ravb Hit any key to stop autoboot: 3 Quickly hit any key to get into U-boot command prompt. Use SW9 ("Reset") to reboot the board when necessary.

You should see the following:

Hit any key to stop autoboot: 0 =>

Configure U-Boot to boot over TFTP + NFS or from a micro SD card
Refer to Yocto page for steps necessary for running Yocto.

= Serial Console =

Use a micro-USB cable to connect to "Debug Serial 0". Serial settings are 115200 8N1.

= Booting Linux =

* Kernel config: defconfig * Kernel image: arch/arm64/boot/Image * DTB: arch/arm64/boot/dts/renesas/r8a77950-salvator-x.dtb (for R-Car H3 ES1.x) * DTB: arch/arm64/boot/dts/renesas/r8a77951-salvator-x.dtb (for R-Car H3 ES2.0 and later) * DTB: arch/arm64/boot/dts/renesas/r8a77960-salvator-x.dtb (for R-Car M3-W) * DTB: arch/arm64/boot/dts/renesas/r8a77965-salvator-x.dtb (for R-Car M3-N)

U-Boot boot command: tftpboot 0x50000000 Image tftpboot 0x58000000 r8a77951-salvator-x.dtb (for R-Car H3 ES2.0 and later) tftpboot 0x58000000 r8a77960-salvator-x.dtb (for R-Car M3-W) tftpboot 0x58000000 r8a77965-salvator-x.dtb (for R-Car M3-N) booti 0x50000000 - 0x58000000

The old boot loader on R-Car H3 ES1.0 does not support the above addresses, but you can use the following instead, depending on the bootloader version installed on the board.

tftpboot 0x60000000 Image tftpboot 0x68000000 r8a77950-salvator-x.dtb (for R-Car H3 ES1.x) booti 0x60000000 - 0x68000000
 * U-Boot 2015.04 (Jan 30 2017 - 16:03:32)

tftpboot 0x48000000 Image tftpboot 0x49f00000 r8a77950-salvator-x.dtb (for R-Car H3 ES1.x) booti 0x48000000 - 0x49f00000
 * U-Boot 2015.04 (May 26 2016 - 16:49:14)

Kernel v5.5 and older used different DTB names: * DTB: arch/arm64/boot/dts/renesas/r8a7795-es1-salvator-x.dtb (for R-Car H3 ES1.x) * DTB: arch/arm64/boot/dts/renesas/r8a7795-salvator-x.dtb (for R-Car H3 ES2.0 and later) * DTB: arch/arm64/boot/dts/renesas/r8a7796-salvator-x.dtb (for R-Car M3-W) * DTB: arch/arm64/boot/dts/renesas/r8a77965-salvator-x.dtb (for R-Car M3-N)

= Lossy decomp =

If you see the following strings, the firmware enables Lossy decomp feature. And, we cannot use the memory area from 0x54000000 to 0x56ffffff as Linux system memory.

NOTICE: BL2: Lossy Decomp areas NOTICE:      Entry 0: DCMPAREACRAx:0x80000540 DCMPAREACRBx:0x570 NOTICE:      Entry 1: DCMPAREACRAx:0x40000000 DCMPAREACRBx:0x0 NOTICE:      Entry 2: DCMPAREACRAx:0x20000000 DCMPAREACRBx:0x0


 * Remarks
 * The bit 31 of "DCMPAREACRAx" is set to 1, this means the Lossy decomp feature is enabled.
 * The lower 18-bits of "DCMPAREACRAx" means start address.
 * This 0x540 in Entry 0 means that the start address is 0x54000000.
 * The lower 18-bits of "DCMPAREACRBx" means end address.
 * This 0x570 in Entry 0 means that the end address is 0x56ffffff.

= Test procedures =


 * Tests:eMMC-8bit-width: Test the on-board eMMC with an 8 bit bus width
 * Tests:SCIF-FIFO: Test SCIF FIFO behavior, using SCIF3 and HSCIF3 on expansion I/O connectors
 * Tests:SDIO-KS7010: Test SDIO with a Spectec SDW823 microSD card (using an SD size adapter) on connectors CN13 or CN14
 * Tests:SDIO-H3-Voltage-Switching: Test if voltages change properly when inserting UHS capable SD cards into connectors CN13 or CN14
 * Tests:Watchdog-Pretimeout: Test watchdog pretimeouts. Because the hardware watchdog (RWDT) doesn't support this feature, a software watchdog must be used in addition

= Suspend-to-RAM =

PSCI System Suspend
The system can be suspended by triggering a PSCI System Suspend: echo mem > /sys/power/state

Caveats: echo on > /sys/bus/i2c/drivers/bd9571mwv/*/bd9571mwv-regulator*/backup_mode i2cset -f -y 7 0x30 0x20 0x0F
 * Before you can use the above, you must configure the PMIC for DDR Backup Mode first, using the command below, followed by switching SW23 off:
 * On kernels up to and including v4.18, the "backup_mode" sysfs file doesn't exist yet. Hence you must use i2cset instead, and repeat this operation after each wake-up:
 * PSCI System Suspend supports wake-up by PMIC only. Switch SW23 on to resume the system.
 * Please use firmware 2.16 or later for proper PSCI System Suspend support on R-Car H3 (ES1.0 and ES1.1) and M3-W (ES1.0).

Suspend-to-Idle
If you want to suspend the system, and wake up through other wake-up sources, you must use Suspend-to-Idle instead of PSCI System Suspend.

The system can be suspended ("frozen") using: echo freeze > /sys/power/state

Alternatively (since v4.10), you can configure the system to use Suspend-to-Idle by default: echo s2idle > /sys/power/mem_sleep

After that, you can suspend the system using the standard: echo mem > /sys/power/state

Wake-Up Sources
Suspend-to-Idle supports the following wake-up sources:

ethtool -s eth0 wol g # Enable wake on MagicPacket ethtool -s eth0 wol d # Disable Wake-up by sending a MagicPacket from another system using: wakeonlan  | |  # or  must be in /etc/ethers
 * gpio-keys: Not enabled in the upstream kernel due to sharing of GPIOs between switches and LEDs, but see Remote Control below.
 * ravb (Ethernet): Configure using one of:
 * sh-sci (Serial): Disabled by default
 * usb: Disabled by default

= Remote Control =