Merge pull request #3627 from bigmagic123/add_raspi4_uart

support raspi4 all uart

bsp/raspberry-pi/raspi4-32/.config

@@ -65,7 +65,7 @@ CONFIG_RT_USING_DEVICE=y
 # CONFIG_RT_USING_INTERRUPT_INFO is not set
 CONFIG_RT_USING_CONSOLE=y
 CONFIG_RT_CONSOLEBUF_SIZE=128
-CONFIG_RT_CONSOLE_DEVICE_NAME="uart"
+CONFIG_RT_CONSOLE_DEVICE_NAME="uart1"
 CONFIG_RT_VER_NUM=0x40003
 # CONFIG_RT_USING_CPU_FFS is not set
 CONFIG_ARCH_ARMV8=y
@@ -437,6 +437,10 @@ CONFIG_BCM2711_SOC=y
 #
 CONFIG_BSP_USING_UART=y
 CONFIG_RT_USING_UART0=y
+# CONFIG_RT_USING_UART1 is not set
+CONFIG_RT_USING_UART3=y
+CONFIG_RT_USING_UART4=y
+# CONFIG_RT_USING_UART5 is not set
 CONFIG_BSP_USING_GIC=y
 CONFIG_BSP_USING_GIC400=y
 # CONFIG_BSP_USING_GIC500 is not set

bsp/raspberry-pi/raspi4-32/README.md

@@ -47,6 +47,7 @@ enable_uart=1
 arm_64bit=0
 kernel_addr=0x8000
 kernel=kernel7.img
+core_freq=250
 ```
 
 按上面的方法做好SD卡后，插入树莓派4，通电可以在串口上看到如下所示的输出信息：
@@ -66,7 +67,7 @@ msh />
 
 | 驱动 | 支持情况  |  备注  |
 | ------ | ----  | :------:  |
-| UART | 支持 | UART0|
+| UART | 支持 | UART0,UART2,UART3,UART4,UART5 |
 
 ## 5. 联系人信息
 

bsp/raspberry-pi/raspi4-32/driver/Kconfig

@@ -14,6 +14,22 @@ menu "Hardware Drivers Config"
                 config RT_USING_UART0
                 bool "Enabel UART 0"
                 default y
+
+                config RT_USING_UART1
+                bool "Enabel UART 1"
+                default n
+
+                config RT_USING_UART3
+                bool "Enabel UART 3"
+                default n
+
+                config RT_USING_UART4
+                bool "Enabel UART 4"
+                default n
+
+                config RT_USING_UART5
+                bool "Enabel UART 5"
+                default n
             endif
             
         menuconfig BSP_USING_GIC

bsp/raspberry-pi/raspi4-32/driver/drv_gpio.c

@@ -11,13 +11,36 @@
 #include "drv_gpio.h"
 
 #ifdef BSP_USING_PIN
-
+void prev_raspi_pin_mode(GPIO_PIN pin, GPIO_FUNC mode)
-static void raspi_pin_mode(struct rt_device *dev, rt_base_t pin, rt_base_t mode)
 {
     uint32_t fselnum = pin / 10;
     uint32_t fselrest = pin % 10;
-
     uint32_t gpfsel = 0;
+    
+    switch (fselnum)
+    {
+    case 0:
+        gpfsel = GPIO_REG_GPFSEL0(GPIO_BASE);
+        break;
+    case 1:
+        gpfsel = GPIO_REG_GPFSEL1(GPIO_BASE);
+        break;
+    case 2:
+        gpfsel = GPIO_REG_GPFSEL2(GPIO_BASE);
+        break;
+    case 3:
+        gpfsel = GPIO_REG_GPFSEL3(GPIO_BASE);
+        break;
+    case 4:
+        gpfsel = GPIO_REG_GPFSEL4(GPIO_BASE);
+        break;
+    case 5:
+        gpfsel = GPIO_REG_GPFSEL5(GPIO_BASE);
+        break;
+    default:
+        break;
+    }
+
     gpfsel &= ~((uint32_t)(0x07 << (fselrest * 3)));
     gpfsel |= (uint32_t)(mode << (fselrest * 3));
 
@@ -46,6 +69,11 @@ static void raspi_pin_mode(struct rt_device *dev, rt_base_t pin, rt_base_t mode)
     }
 }
 
+static void raspi_pin_mode(struct rt_device *dev, rt_base_t pin, rt_base_t mode)
+{
+    prev_raspi_pin_mode((GPIO_PIN)pin, (GPIO_FUNC)mode);
+}
+
 static void raspi_pin_write(struct rt_device *dev, rt_base_t pin, rt_base_t value)
 {
     uint32_t num = pin / 32;

bsp/raspberry-pi/raspi4-32/driver/drv_gpio.h

@@ -60,6 +60,50 @@
 #define GPIO_REG_REV9(BASE)                HWREG32(BASE + 0xA0)
 #define GPIO_REG_TEST(BASE)                HWREG32(BASE + 0xA4)
 
+typedef enum {
+    GPIO_PIN_0,
+    GPIO_PIN_1,
+    GPIO_PIN_2,
+    GPIO_PIN_3,
+    GPIO_PIN_4,
+    GPIO_PIN_5,
+    GPIO_PIN_6,
+    GPIO_PIN_7,
+    GPIO_PIN_8,
+    GPIO_PIN_9,
+    GPIO_PIN_10,
+    GPIO_PIN_11,
+    GPIO_PIN_12,
+    GPIO_PIN_13,
+    GPIO_PIN_14,
+    GPIO_PIN_15,
+    GPIO_PIN_16,
+    GPIO_PIN_17,
+    GPIO_PIN_18,
+    GPIO_PIN_19,
+    GPIO_PIN_20,
+    GPIO_PIN_21,
+    GPIO_PIN_22,
+    GPIO_PIN_23,
+    GPIO_PIN_24,
+    GPIO_PIN_25,
+    GPIO_PIN_26,
+    GPIO_PIN_27,
+    GPIO_PIN_28,
+    GPIO_PIN_29,
+    GPIO_PIN_30,
+    GPIO_PIN_31,
+    GPIO_PIN_32,
+    GPIO_PIN_33,
+    GPIO_PIN_34,
+    GPIO_PIN_35,
+    GPIO_PIN_36,
+    GPIO_PIN_37,
+    GPIO_PIN_38,
+    GPIO_PIN_39,
+    GPIO_PIN_40,
+} GPIO_PIN;
+
 typedef enum {
     INPUT = 0b000,
     OUTPUT = 0b001,
@@ -71,7 +115,7 @@ typedef enum {
     ALT5 = 0b010
 } GPIO_FUNC;
 
-
+void prev_raspi_pin_mode(GPIO_PIN pin, GPIO_FUNC mode);
 int rt_hw_gpio_init(void);
 
 #endif /* __DRV_GPIO_H__ */

bsp/raspberry-pi/raspi4-32/driver/drv_uart.c

@@ -6,6 +6,7 @@
  * Change Logs:
  * Date           Author         Notes
  * 2020-04-16     bigmagic       first version
+ * 2020-05-26     bigmagic       add other uart
  */
 
 #include <rthw.h>
@@ -16,6 +17,26 @@
 #include "drv_uart.h"
 #include "drv_gpio.h"
 
+#ifdef RT_USING_UART0
+static struct rt_serial_device _serial0;
+#endif
+
+#ifdef RT_USING_UART1
+static struct rt_serial_device _serial1;
+#endif
+
+#ifdef RT_USING_UART3
+static struct rt_serial_device _serial3;
+#endif
+
+#ifdef RT_USING_UART4
+static struct rt_serial_device _serial4;
+#endif
+
+#ifdef RT_USING_UART5
+static struct rt_serial_device _serial5;
+#endif
+
 struct hw_uart_device
 {
     rt_ubase_t hw_base;
@@ -30,26 +51,54 @@ static rt_err_t uart_configure(struct rt_serial_device *serial, struct serial_co
 
     RT_ASSERT(serial != RT_NULL);
     uart = (struct hw_uart_device *)serial->parent.user_data;
-    if(uart->hw_base == PL011_BASE)
+
+    if(uart->hw_base == AUX_BASE)
     {
-        uint32_t gpfsel = 0;
+        prev_raspi_pin_mode(GPIO_PIN_14, ALT5);
+        prev_raspi_pin_mode(GPIO_PIN_15, ALT5);
 
-        gpfsel &= ~((uint32_t)(0x07 << (4 * 3)));
+        AUX_ENABLES(uart->hw_base)      = 1;    /* Enable UART1 */
-        gpfsel |= (uint32_t)(ALT0 << (4 * 3));
+        AUX_MU_IER_REG(uart->hw_base)   = 0;    /* Disable interrupt */
-        GPIO_REG_GPFSEL1(GPIO_BASE) = gpfsel;
+        AUX_MU_CNTL_REG(uart->hw_base)  = 0;    /* Disable Transmitter and Receiver */
-
+        AUX_MU_LCR_REG(uart->hw_base)   = 3;    /* Works in 8-bit mode */
-        gpfsel &= ~((uint32_t)(0x07 << (5 * 3)));
+        AUX_MU_MCR_REG(uart->hw_base)   = 0;    /* Disable RTS */
-        gpfsel |= (uint32_t)(ALT0 << (5 * 3));
+        AUX_MU_IIR_REG(uart->hw_base)   = 0xC6; /* Enable FIFO, Clear FIFO */
-        GPIO_REG_GPFSEL1(GPIO_BASE) = gpfsel;
+        AUX_MU_BAUD_REG(uart->hw_base)  = 270;  /* 115200 = system clock 250MHz / (8 * (baud + 1)), baud = 270 */
-
+        AUX_MU_CNTL_REG(uart->hw_base)  = 3;    /* Enable Transmitter and Receiver */
-        PL011_REG_CR(uart->hw_base) = 0;/*Clear UART setting*/
+        return RT_EOK;
-        PL011_REG_LCRH(uart->hw_base) = 0;/*disable FIFO*/
-        PL011_REG_IBRD(uart->hw_base) = ibrd;
-        PL011_REG_FBRD(uart->hw_base) = (((bauddiv - ibrd * 1000) * 64 + 500) / 1000);
-        PL011_REG_LCRH(uart->hw_base) = PL011_LCRH_WLEN_8;/*FIFO*/
-        PL011_REG_CR(uart->hw_base) = PL011_CR_UARTEN | PL011_CR_TXE | PL011_CR_RXE;/*art enable, TX/RX enable*/
     }
 
+    if(uart->hw_base == UART0_BASE)
+    {
+        prev_raspi_pin_mode(GPIO_PIN_14, ALT0);
+        prev_raspi_pin_mode(GPIO_PIN_15, ALT0);
+    }
+
+    if(uart->hw_base == UART3_BASE)
+    {
+        prev_raspi_pin_mode(GPIO_PIN_4, ALT4);
+        prev_raspi_pin_mode(GPIO_PIN_5, ALT4);
+    }
+
+    if(uart->hw_base == UART4_BASE)
+    {
+        prev_raspi_pin_mode(GPIO_PIN_8, ALT4);
+        prev_raspi_pin_mode(GPIO_PIN_9, ALT4);
+    }
+
+    if(uart->hw_base == UART5_BASE)
+    {
+        prev_raspi_pin_mode(GPIO_PIN_12, ALT4);
+        prev_raspi_pin_mode(GPIO_PIN_13, ALT4);
+    }
+
+    PL011_REG_CR(uart->hw_base) = 0;/*Clear UART setting*/
+    PL011_REG_LCRH(uart->hw_base) = 0;/*disable FIFO*/
+    PL011_REG_IBRD(uart->hw_base) = ibrd;
+    PL011_REG_FBRD(uart->hw_base) = (((bauddiv - ibrd * 1000) * 64 + 500) / 1000);
+    PL011_REG_LCRH(uart->hw_base) = PL011_LCRH_WLEN_8;/*FIFO*/
+    PL011_REG_CR(uart->hw_base) = PL011_CR_UARTEN | PL011_CR_TXE | PL011_CR_RXE;/*art enable, TX/RX enable*/
+
     return RT_EOK;
 }
 
@@ -64,17 +113,30 @@ static rt_err_t uart_control(struct rt_serial_device *serial, int cmd, void *arg
     {
     case RT_DEVICE_CTRL_CLR_INT:
         /* disable rx irq */
-        PL011_REG_IMSC(uart->hw_base) &= ~((uint32_t)PL011_IMSC_RXIM);
+        if(uart->hw_base == AUX_BASE)
+        {
+            AUX_MU_IER_REG(uart->hw_base) = 0x0;
+        }
+        else
+        {
+            PL011_REG_IMSC(uart->hw_base) &= ~((uint32_t)PL011_IMSC_RXIM);
+        }
         rt_hw_interrupt_mask(uart->irqno);
         break;
 
     case RT_DEVICE_CTRL_SET_INT:
         /* enable rx irq */
-        PL011_REG_IMSC(uart->hw_base) |= PL011_IMSC_RXIM;
+        if(uart->hw_base == AUX_BASE)
+        {
+            AUX_MU_IER_REG(uart->hw_base) = 0x1;
+        }
+        else
+        {
+            PL011_REG_IMSC(uart->hw_base) |= PL011_IMSC_RXIM;
+        }
         rt_hw_interrupt_umask(uart->irqno);
         break;
     }
-
     return RT_EOK;
 }
 
@@ -84,10 +146,16 @@ static int uart_putc(struct rt_serial_device *serial, char c)
 
     RT_ASSERT(serial != RT_NULL);
     uart = (struct hw_uart_device *)serial->parent.user_data;
-
+    if(uart->hw_base == AUX_BASE)
-    while ((PL011_REG_FR(uart->hw_base) & PL011_FR_TXFF));
+    {
-    PL011_REG_DR(uart->hw_base) = (uint8_t)c;
+        while (!(AUX_MU_LSR_REG(uart->hw_base) & 0x20));
-
+        AUX_MU_IO_REG(uart->hw_base) = c;
+    }
+    else
+    {
+        while ((PL011_REG_FR(uart->hw_base) & PL011_FR_TXFF));
+        PL011_REG_DR(uart->hw_base) = (uint8_t)c;
+    }
     return 1;
 }
 
@@ -99,9 +167,19 @@ static int uart_getc(struct rt_serial_device *serial)
     RT_ASSERT(serial != RT_NULL);
     uart = (struct hw_uart_device *)serial->parent.user_data;
 
-    if((PL011_REG_FR(uart->hw_base) & PL011_FR_RXFE) == 0)
+    if(uart->hw_base == AUX_BASE)
     {
-        ch = PL011_REG_DR(uart->hw_base) & 0xff;
+        if ((AUX_MU_LSR_REG(uart->hw_base) & 0x01))
+        {
+            ch = AUX_MU_IO_REG(uart->hw_base) & 0xff;
+        }
+    }
+    else
+    {
+        if((PL011_REG_FR(uart->hw_base) & PL011_FR_RXFE) == 0)
+        {
+            ch = PL011_REG_DR(uart->hw_base) & 0xff;
+        }
     }
 
     return ch;
@@ -115,38 +193,166 @@ static const struct rt_uart_ops _uart_ops =
     uart_getc,
 };
 
-static void rt_hw_uart_isr(int irqno, void *param)
+#ifdef RT_USING_UART1
+static void rt_hw_aux_uart_isr(int irqno, void *param)
 {
     struct rt_serial_device *serial = (struct rt_serial_device*)param; 
     rt_hw_serial_isr(serial, RT_SERIAL_EVENT_RX_IND);
-    PL011_REG_ICR(UART0_BASE) = PL011_INTERRUPT_RECEIVE;
+}
+#endif
+
+static void rt_hw_uart_isr(int irqno, void *param)
+{
+#ifdef RT_USING_UART0
+    if((PACTL_CS & IRQ_UART0) == IRQ_UART0)
+    {   
+        PACTL_CS &=  ~(IRQ_UART0);
+        rt_hw_serial_isr(&_serial0, RT_SERIAL_EVENT_RX_IND);
+        PL011_REG_ICR(UART0_BASE) = PL011_INTERRUPT_RECEIVE;
+    }
+#endif
+
+#ifdef RT_USING_UART3
+    if((PACTL_CS & IRQ_UART3) == IRQ_UART3)
+    {
+        PACTL_CS &=  ~(IRQ_UART3);
+        rt_hw_serial_isr(&_serial3, RT_SERIAL_EVENT_RX_IND);
+        PL011_REG_ICR(UART3_BASE) = PL011_INTERRUPT_RECEIVE;
+    }
+#endif
+
+#ifdef RT_USING_UART4
+    if((PACTL_CS & IRQ_UART4) == IRQ_UART4)
+    {
+        PACTL_CS &=  ~(IRQ_UART4);
+        rt_hw_serial_isr(&_serial4, RT_SERIAL_EVENT_RX_IND);
+        PL011_REG_ICR(UART4_BASE) = PL011_INTERRUPT_RECEIVE;
+    }
+#endif
+
+#ifdef RT_USING_UART5
+    if((PACTL_CS & IRQ_UART5) == IRQ_UART5)
+    {
+        PACTL_CS &=  ~(IRQ_UART5);
+        rt_hw_serial_isr(&_serial5, RT_SERIAL_EVENT_RX_IND);
+        PL011_REG_ICR(UART5_BASE) = PL011_INTERRUPT_RECEIVE;
+    }
+#endif
 }
 
-
+#ifdef RT_USING_UART0
 /* UART device driver structure */
 static struct hw_uart_device _uart0_device =
 {
-    PL011_BASE,
+    UART0_BASE,
     IRQ_PL011,
 };
+#endif
 
-static struct rt_serial_device _serial0;
+#ifdef RT_USING_UART1
+/* UART device driver structure */
+static struct hw_uart_device _uart1_device =
+{
+    AUX_BASE,
+    IRQ_AUX_UART,
+};
+#endif
+
+#ifdef RT_USING_UART3
+static struct hw_uart_device _uart3_device =
+{
+    UART3_BASE,
+    IRQ_PL011,
+};
+#endif
+
+#ifdef RT_USING_UART4
+static struct hw_uart_device _uart4_device =
+{
+    UART4_BASE,
+    IRQ_PL011,
+};
+#endif
+
+#ifdef RT_USING_UART5
+static struct hw_uart_device _uart5_device =
+{
+    UART5_BASE,
+    IRQ_PL011,
+};
+#endif
 
 int rt_hw_uart_init(void)
 {
-    struct hw_uart_device *uart;
     struct serial_configure config = RT_SERIAL_CONFIG_DEFAULT;
-
+#ifdef RT_USING_UART0
-    uart = &_uart0_device;
+    struct hw_uart_device *uart0;
+    uart0 = &_uart0_device;
 
     _serial0.ops    = &_uart_ops;
     _serial0.config = config;
 
-    /* register UART1 device */
+    /* register UART0 device */
-    rt_hw_serial_register(&_serial0, "uart",
+    rt_hw_serial_register(&_serial0, "uart0",
                           RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
-                          uart);
+                          uart0);
-    rt_hw_interrupt_install(uart->irqno, rt_hw_uart_isr, &_serial0, "uart");
+    rt_hw_interrupt_install(uart0->irqno, rt_hw_uart_isr, &_serial0, "uart0");
+#endif
 
+#ifdef RT_USING_UART1
+    struct hw_uart_device *uart1;
+    uart1 = &_uart1_device;
+
+    _serial1.ops    = &_uart_ops;
+    _serial1.config = config;
+
+    /* register UART1 device */
+    rt_hw_serial_register(&_serial1, "uart1",
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          uart1);
+    rt_hw_interrupt_install(uart1->irqno, rt_hw_aux_uart_isr, &_serial1, "uart1");
+#endif
+
+#ifdef RT_USING_UART3
+    struct hw_uart_device *uart3;
+    uart3 = &_uart3_device;
+
+    _serial3.ops    = &_uart_ops;
+    _serial3.config = config;
+
+    /* register UART3 device */
+    rt_hw_serial_register(&_serial3, "uart3",
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          uart3);
+    rt_hw_interrupt_install(uart3->irqno, rt_hw_uart_isr, &_serial3, "uart3");
+#endif
+
+#ifdef RT_USING_UART4
+    struct hw_uart_device *uart4;
+    uart4 = &_uart4_device;
+
+    _serial4.ops    = &_uart_ops;
+    _serial4.config = config;
+
+    /* register UART4 device */
+    rt_hw_serial_register(&_serial4, "uart4",
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          uart4);
+    rt_hw_interrupt_install(uart4->irqno, rt_hw_uart_isr, &_serial4, "uart4");
+#endif
+
+#ifdef RT_USING_UART5
+    struct hw_uart_device *uart5;
+    uart5 = &_uart5_device;
+
+    _serial5.ops    = &_uart_ops;
+    _serial5.config = config;
+
+    /* register UART5 device */
+    rt_hw_serial_register(&_serial5, "uart5",
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          uart5);
+    rt_hw_interrupt_install(uart5->irqno, rt_hw_uart_isr, &_serial5, "uart5");
+#endif
     return 0;
 }

bsp/raspberry-pi/raspi4-32/driver/drv_uart.h

@@ -78,6 +78,30 @@
 #define PL011_REG_ITOP(BASE)            HWREG32(BASE + 0x88)
 #define PL011_REG_TDR(BASE)             HWREG32(BASE + 0x8C)
 
+/*
+ *  Auxiliary
+ */
+#define AUX_IRQ(BASE)             HWREG32(BASE + 0x00)   /* Auxiliary Interrupt status 3 */
+#define AUX_ENABLES(BASE)         HWREG32(BASE + 0x04)   /* Auxiliary enables 3bit */
+#define AUX_MU_IO_REG(BASE)       HWREG32(BASE + 0x40)   /* Mini Uart I/O Data 8bit */
+#define AUX_MU_IER_REG(BASE)      HWREG32(BASE + 0x44)   /* Mini Uart Interrupt Enable 8bit */
+#define AUX_MU_IIR_REG(BASE)      HWREG32(BASE + 0x48)   /* Mini Uart Interrupt Identify 8bit */
+#define AUX_MU_LCR_REG(BASE)      HWREG32(BASE + 0x4C)   /* Mini Uart Line Control 8bit */
+#define AUX_MU_MCR_REG(BASE)      HWREG32(BASE + 0x50)   /* Mini Uart Modem Control 8bit */
+#define AUX_MU_LSR_REG(BASE)      HWREG32(BASE + 0x54)   /* Mini Uart Line Status 8bit */
+#define AUX_MU_MSR_REG(BASE)      HWREG32(BASE + 0x58)   /* Mini Uart Modem Status 8bit */
+#define AUX_MU_SCRATCH(BASE)      HWREG32(BASE + 0x5C)   /* Mini Uart Scratch 8bit */
+#define AUX_MU_CNTL_REG(BASE)     HWREG32(BASE + 0x60)   /* Mini Uart Extra Control 8bit */
+#define AUX_MU_STAT_REG(BASE)     HWREG32(BASE + 0x64)   /* Mini Uart Extra Status 32bit */
+#define AUX_MU_BAUD_REG(BASE)     HWREG32(BASE + 0x68)   /* Mini Uart Baudrate 16bit */
+#define AUX_SPI0_CNTL0_REG(BASE)  HWREG32(BASE + 0x80)   /* SPI 1 Control register 0 32bit */
+#define AUX_SPI0_CNTL1_REG(BASE)  HWREG32(BASE + 0x84)   /* SPI 1 Control register 1 8bit */
+#define AUX_SPI0_STAT_REG(BASE)   HWREG32(BASE + 0x88)   /* SPI 1 Status 32bit */
+#define AUX_SPI0_IO_REG(BASE)     HWREG32(BASE + 0x90)   /* SPI 1 Data 32bit */
+#define AUX_SPI0_PEEK_REG(BASE)   HWREG32(BASE + 0x94)   /* SPI 1 Peek 16bit */
+#define AUX_SPI1_CNTL0_REG(BASE)  HWREG32(BASE + 0xC0)   /* SPI 2 Control register 0 32bit */
+#define AUX_SPI1_CNTL1_REG(BASE)  HWREG32(BASE + 0xC4)   /* SPI 2 Control register 1 8bit */
+
 int rt_hw_uart_init(void);
 
 #endif /* DRV_UART_H__ */

bsp/raspberry-pi/raspi4-32/driver/raspi4.h

@@ -11,8 +11,24 @@
 /* base address */
 #define PER_BASE                    (0xFE000000)
 
+//gpio offset
+#define GPIO_BASE_OFFSET            (0x00200000)
+
+//pl011 offset
+#define PL011_UART0_BASE_OFFSET     (0x00201000)
+#define PL011_UART2_BASE_OFFSET     (0x00201400)
+#define PL011_UART3_BASE_OFFSET     (0x00201600)
+#define PL011_UART4_BASE_OFFSET     (0x00201800)
+#define PL011_UART5_BASE_OFFSET     (0x00201A00)
+
+//pactl cs offset
+#define PACTL_CS_OFFSET             (0x00204E00)
+
+//aux offset
+#define AUX_BASE_OFFSET             (0x00215000)
+
 /* GPIO */
-#define GPIO_BASE                   (PER_BASE + 0x00200000)
+#define GPIO_BASE                   (PER_BASE + GPIO_BASE_OFFSET)
 
 /* Timer (ARM side) */
 #define ARM_TIMER_IRQ       (64)
@@ -28,11 +44,43 @@
 #define ARM_TIMER_CNTR      HWREG32(ARM_TIMER_BASE + 0x420)
 
 /* UART PL011 */
-#define UART0_BASE                  (PER_BASE + 0x00201000)
+#define UART0_BASE                  (PER_BASE + PL011_UART0_BASE_OFFSET)
-#define PL011_BASE                  UART0_BASE
+#define UART2_BASE                  (PER_BASE + PL011_UART2_BASE_OFFSET)
-#define IRQ_PL011                   (96 + 57)
+#define UART3_BASE                  (PER_BASE + PL011_UART3_BASE_OFFSET)
+#define UART4_BASE                  (PER_BASE + PL011_UART4_BASE_OFFSET)
+#define UART5_BASE                  (PER_BASE + PL011_UART5_BASE_OFFSET)
+#define IRQ_AUX_UART                (96 + 29)
 #define UART_REFERENCE_CLOCK        (48000000)
 
+/* AUX */
+#define AUX_BASE                    (PER_BASE + AUX_BASE_OFFSET)
+#define IRQ_PL011                   (96 + 57)
+
+/* Peripheral IRQ OR-ing */
+#define PACTL_CS                    HWREG32((PER_BASE + PACTL_CS_OFFSET))
+typedef enum {
+    IRQ_SPI0 = 0x00000000,
+    IRQ_SPI1 = 0x00000002,
+    IRQ_SPI2 = 0x00000004,
+    IRQ_SPI3 = 0x00000008,
+    IRQ_SPI4 = 0x00000010,
+    IRQ_SPI5 = 0x00000020,
+    IRQ_SPI6 = 0x00000040,
+    IRQ_I2C0 = 0x00000100,
+    IRQ_I2C1 = 0x00000200,
+    IRQ_I2C2 = 0x00000400,
+    IRQ_I2C3 = 0x00000800,
+    IRQ_I2C4 = 0x00001000,
+    IRQ_I2C5 = 0x00002000,
+    IRQ_I2C6 = 0x00004000,
+    IRQ_I2C7 = 0x00008000,
+    IRQ_UART5 = 0x00010000,
+    IRQ_UART4 = 0x00020000,
+    IRQ_UART3 = 0x00040000,
+    IRQ_UART2 = 0x00080000,
+    IRQ_UART0 = 0x00100000
+} PACTL_CS_VAL;
+
 // 0x40, 0x44, 0x48, 0x4c: Core 0~3 Timers interrupt control
 #define CORE0_TIMER_IRQ_CTRL        HWREG32(0xFF800040)
 #define TIMER_IRQ                   30

bsp/raspberry-pi/raspi4-32/rtconfig.h

@@ -40,7 +40,7 @@
 #define RT_USING_DEVICE
 #define RT_USING_CONSOLE
 #define RT_CONSOLEBUF_SIZE 128
-#define RT_CONSOLE_DEVICE_NAME "uart"
+#define RT_CONSOLE_DEVICE_NAME "uart0"
 #define RT_VER_NUM 0x40003
 #define ARCH_ARMV8
 
@@ -162,6 +162,8 @@
 
 #define BSP_USING_UART
 #define RT_USING_UART0
+#define RT_USING_UART3
+#define RT_USING_UART4
 #define BSP_USING_GIC
 #define BSP_USING_GIC400
 #define BSP_USING_PIN

bsp/raspberry-pi/raspi4-64/README.md

@@ -81,6 +81,7 @@ EXEC_PATH   = r'/opt/gcc-arm-8.3-2019.03-x86_64-aarch64-elf/bin/'
 enable_uart=1
 arm_64bit=1
 kernel=rtthread.bin
+core_freq=250
 ```
 
 按上面的方法做好SD卡后，插入树莓派4，通电可以在串口上看到如下所示的输出信息：