Program FPGA connected to SPI Jetson Nano

Autonomous Machines Jetson & Embedded Systems Jetson Nano
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1

Hi! I have a custom carrier board and an FPGA that is connected on SPI0.0 and I need to program it on boot. I have no problem programming it after boot, but I don’t know how to send the bit file and with the help of which driver/file, any ideas how I can do that?

Thanks in advance!

3

How do you programming it after boot?

4

Using these functions:

static void transfer(int fd, uint8_t const *tx, uint8_t const *rx, size_t len)
{
	int ret;
	int out_fd;
	struct spi_ioc_transfer tr = {
		.tx_buf = (unsigned long)tx,
		.rx_buf = (unsigned long)rx,
		.len = len,
		.delay_usecs = delay,
		.speed_hz = speed,
		.bits_per_word = bits,
	};

	if (mode & SPI_TX_QUAD)
		tr.tx_nbits = 4;
	else if (mode & SPI_TX_DUAL)
		tr.tx_nbits = 2;
	if (mode & SPI_RX_QUAD)
		tr.rx_nbits = 4;
	else if (mode & SPI_RX_DUAL)
		tr.rx_nbits = 2;
	if (!(mode & SPI_LOOP)) {
		if (mode & (SPI_TX_QUAD | SPI_TX_DUAL))
			tr.rx_buf = 0;
		else if (mode & (SPI_RX_QUAD | SPI_RX_DUAL))
			tr.tx_buf = 0;
	}

	ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
	if (ret < 1) {
		printf("ioctl error is %d", ret);
		pabort("can't send spi message");
	}
		

	if (verbose)
		hex_dump(tx, len, 32, "TX");

	if (output_file) {
		out_fd = open(output_file, O_WRONLY | O_CREAT | O_TRUNC, 0666);
		if (out_fd < 0)
			pabort("could not open output file");

		ret = write(out_fd, rx, len);
		if (ret != len)
			pabort("not all bytes written to output file");

		close(out_fd);
	}

	if (verbose || !output_file)
		hex_dump(rx, len, 32, "RX");
}

static void transfer_file(int fd, char *filename)
{
	ssize_t bytes;
	struct stat sb;
	int tx_fd;
	uint8_t *tx;
	uint8_t *rx;
	FILE *bit_file;

	if (stat(filename, &sb) == -1)
		pabort("can't stat input file");

	bit_file = fopen(filename, "rb");
	if (bit_file == NULL)
		pabort("Bit file is empty");

	tx = malloc(sb.st_size + 4);

	fread(&tx[4], sb.st_size, 1, bit_file);
	tx[0] = 0x7A;
	tx[1] = 0x00;
	tx[2] = 0x00;
	tx[3] = 0x00;

	fclose(bit_file);
	
	if (!tx)
		pabort("can't allocate tx buffer");

	rx = malloc(sb.st_size + 4);

	if (!rx)
		pabort("can't allocate rx buffer");

	transfer(fd, tx, rx, sb.st_size + 4);
	free(rx);
	free(tx);
}

I send the activation key and necessary bit stream from a file. This code is taken and modified from spidev_test.c file:

5

How about running your program at start up?

6

I will try this, thank you!

7

At what time in the boot process does the nano use the camera drivers to search for matching cameras?

8

Not really understand your question.
Maybe you check the kernel message to check if any clue.