Taishanpi-RK3566 Board Support Package (BSP) Usage Guide

0. Code Source Statement

The commit used in this document:

a1c642aa3a2848b47f2a1b52679dc4ee5156f2f4

Based on theoriginal documentation, this guide supplements and elaborates on the content with additional documentation and detailed step-by-step instructions.

1. Introduction

This support package usage guide is written based on the TaishanPi 1 development board.

All schematic diagrams, PCB files, and software resources for TaishanPi 1 are open-source

This guide provides detailed instructions and relevant precautions.

1.1. Chip Introduction

Rockchip RK3566 is a mid-to-high-end AIOT chip:

Manufactured using 22nm process technology
Quad-core Cortex-A55 64-bit CPU
Clock speed up to 1.8GHz
Integrated ARM Mali-G52 GPU
Integrated 1Tops AI accelerator NPU
Supports 4K 60FPS decoding
Supports 1080P 60FPS encoding
Supports 5M ISP and HDR

1.2. Host Machine Environment

This guide uses Ubuntu22.04.5 LTS Desktop running onVMware.

System information:

$ cat /etc/os-release
PRETTY_NAME="Ubuntu 22.04.5 LTS"
NAME="Ubuntu"
VERSION_ID="22.04"
VERSION="22.04.5 LTS (Jammy Jellyfish)"
VERSION_CODENAME=jammy
ID=ubuntu
ID_LIKE=debian
HOME_URL="https://www.ubuntu.com/"
SUPPORT_URL="https://help.ubuntu.com/"
BUG_REPORT_URL="https://bugs.launchpad.net/ubuntu/"
PRIVACY_POLICY_URL="https://www.ubuntu.com/legal/terms-and-policies/privacy-policy"
UBUNTU_CODENAME=jammy

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 22.04.2 LTS
Release:        22.04
Codename:       jammy

Pythonversion:

$ python --version
Python 3.10.12

2. Environment Setup

Run the following commands to install required packages:

Essential tools:

sudo apt update && \
sudo apt install -y python3 python3-pip u-boot-tools device-tree-compiler

Install tools using pip:
```
pip3 install --user tqdm scons
```

Set Python version:

sudo rm -rf /usr/bin/python && \
sudo ln -s /usr/bin/python3 /usr/bin/python

Download RT-Thread Smart toolchain:

wget https://download.rt-thread.org/download/rt-smart/toolchains/aarch64-linux-musleabi_for_x86_64-pc-linux-gnu_latest.tar.bz2

Extract the toolchain:

sudo tar -xf aarch64-linux-musleabi_for_x86_64-pc-linux-gnu_latest.tar.bz2  -C /opt

Set environment variables after extraction:

export RTT_CC="gcc"
export RTT_EXEC_PATH="/opt/aarch64-linux-musleabi_for_x86_64-pc-linux-gnu/bin/"
export RTT_CC_PREFIX="aarch64-linux-musleabi-"
export PATH="$RTT_EXEC_PATH:$PATH"

3. 编译

Navigate to the rt-thread/bsp/rockchip/rk3566 directory and run:

After entering menuconfig, simply save and exit to generate a .config file:

scons --menuconfig

This command pulls the zlib package required for compilation.

source  ~/.env/tools/scripts/pkgs --update

Start compilation:

Alternatively, use scons --exec-path="GCC toolchain path" to specify the toolchain location directly.

scons -j$(nproc)

The rtthread.elf and rtthread.bin files will be generated in the current rk3566 directory.

3. Running

3.1. Flashing the Board

To boot the rtthread system using U-Boot commands, flash the following files using the Rockchip development tool.

This guide uses the TaishanPi 1 Rockchip Linux5.10 SDK:

Github：https://github.com/TaishanPi
Tutorial Host Machine Build Method

After compilation, required files will be in the rockdev/ directory.

Erase all existing firmware from the board:

Flash these 4 files using the Rockchip Development Tool:

Note: The TaishanPi 1 SDK uses a custom partition layout. Other boards may require different files.

MiniLoaderAll.bin
parameter.txt
uboot.img
boot.img

3.2. Formatting the TF Card

Prepare a TF card to store files.

Download Rufus：https://rufus.org.cn/

Configure with these settings and click "Start":

3.3. Creating boot.scr

You can use the existing boot.scr in this directory, or create your own using the method below.

Create boot.cmd with the following content:

fatload mmc 1:1 0x480000 rtthread.bin;
fatload mmc 1:1 0x8300000 tspi-rk3566-user-v10-linux.dtb;
booti 0x480000 - 0x8300000;

The Device Tree Blob (DTB) file is required for system startup. For TaishanPi 1, the DTB file is located at kernel/arch/arm64/boot/dts/rockchip/tspi-rk3566-user-v10-linux.dtb. Other boards may use different DTB files. Without the correct DTB, rtthread will fail to boot (see "Common Issues and Solutions").

Generate boot.scr

mkimage -C none -A arm -T script -d boot.cmd boot.scr

3.4. Copying Files to TF Card

Copy these three files to the TF card:

boot.scr
tspi-rk3566-user-v10-linux.dtb
rtthread.bin

3.5. Running

Connect to the board's serial port using a tool like MoBaXterm：

Select the correct serial port
Set baud rate to 1500000

With boot.scr present, the system will boot automatically:

Note 1: If stuck at [I/rtdm.ofw] Console: uart0 (fiq-debugger), see "Common Issues and Solutions".

Note 2: After failed boot attempts, completely power cycle the board to clear memory.

Note 3: If automatic boot fails, manually execute the boot.cmd content in U-Boot.

Hit key to stop autoboot('CTRL+C'):  0
switch to partitions #0, OK
mmc1 is current device
Scanning mmc 1:1...
Found U-Boot script /boot.scr
reading /boot.scr
197 bytes read in 3 ms (63.5 KiB/s)
## Executing script at 00c00000
reading rtthread.bin
1220848 bytes read in 104 ms (11.2 MiB/s)
reading tspi-rk3566-user-v10-linux.dtb
167469 bytes read in 17 ms (9.4 MiB/s)
Fdt Ramdisk skip relocation
No misc partition
## Flattened Device Tree blob at 0x08300000
   Booting using the fdt blob at 0x08300000
   Using Device Tree in place at 0000000008300000, end 000000000832be2c
No resource file: logo_kernel.bmp
** Unable to read file logo_kernel.bmp **
Failed to do_load
VP0 fail to load kernel logo
vp0, plane_mask:0x3f, primary-id:4, curser-id:-1
vp1, plane_mask:0x0, primary-id:0, curser-id:-1
vp2, plane_mask:0x0, primary-id:0, curser-id:-1
## reserved-memory:
  drm-logo@00000000: addr=7df00000 size=ad000
  drm-cubic-lut@00000000: addr=7ff00000 size=8000
  ramoops@110000: addr=110000 size=f0000
Adding bank: 0x00200000 - 0x08400000 (size: 0x08200000)
Adding bank: 0x09400000 - 0x80000000 (size: 0x76c00000)
board seed: Pseudo
Total: 600.154/648.331 ms

Starting kernel ...

[I/rtdm.ofw] Booting RT-Thread on physical CPU 0x0
[I/rtdm.ofw] Machine model: lckfb tspi V10 Board
[I/rtdm.ofw] Earlycon: uart8250 at MMIO/PIO 0x00000000fe660000 (options '')
[I/rtdm.ofw] Memory node(1) ranges: 0x0000000000200000 - 0x0000000008400000
[I/rtdm.ofw] Memory node(1) ranges: 0x0000000009400000 - 0x0000000080000000
[I/mm.memblock] System memory:
[I/mm.memblock]            [0x0000000000200000, 0x0000000008400000]
[I/mm.memblock]            [0x0000000009400000, 0x0000000080000000]
[I/mm.memblock] Reserved memory:
[I/mm.memblock]            [0x0000000000110000, 0x0000000000200000]
[I/mm.memblock]            [0x0000000000480000, 0x00000000006d0000]
[I/mm.memblock]            [0x00000000006d0000, 0x00000000046d0000]
[I/mm.memblock]            [0x00000000046d0000, 0x00000000048d0000]
[I/mm.memblock]            [0x00000000048d0000, 0x00000000048fa000]
[I/mm.memblock]            [0x0000000008300000, 0x000000000832a000]
[I/mm.memblock]            [0x000000007df00000, 0x000000007dfad000]
[I/mm.memblock]            [0x000000007ff00000, 0x000000007ff08000]
[I/mm.memblock] physical memory region [0x0000000000200000-0x0000000000480000] installed to system page
[I/mm.memblock] physical memory region [0x00000000048fa000-0x0000000008300000] installed to system page
[I/mm.memblock] physical memory region [0x000000000832a000-0x0000000008400000] installed to system page
[I/mm.memblock] physical memory region [0x0000000009400000-0x000000007df00000] installed to system page
[I/mm.memblock] physical memory region [0x000000007dfad000-0x000000007ff00000] installed to system page
[I/mm.memblock] physical memory region [0x000000007ff08000-0x0000000080000000] installed to system page
[I/mm.memblock] 2055 MB memory installed to system page
[I/osi.psci] Using PSCI v1.1 Function IDs
[I/clk.rk3568] set cpu_freq to 1800000000
[I/rtdm.ofw] Console: uart0 (fiq-debugger)

 \ | /
- RT -     Thread Smart Operating System
 / | \     5.2.1 build Jul 30 2025 08:58:40
 2006 - 2024 Copyright by RT-Thread team
lwIP-2.1.2 initialized!
[I/sal.skt] Socket Abstraction Layer initialize success.
[I/utest] utest is initialize success.
[I/utest] total utest testcase num: (5)
[I/drivers.serial] Using /dev/ttyS0 as default console
Press any key to stop init process startup ... 3
Press any key to stop init process startup ... 2
Press any key to stop init process startup ... 1
Starting init ...
[E/DFS.fs] mount point (/proc) already mounted!
[I/rtdm.mnt] File system initialization done
Hi, this is RT-Thread!!
msh />I/TC: Secondary CPU 1 initializing
I/TC: Secondary CPU 1 switching to normal world boot
o/[C3:2 mS[eIc/ocnpdua.raya 6C4P]U  2 inCiatlila lcipzui n1g
 n success
I/TC: Secondary CPU 2 switching to normal world boot
I/TC: Secondary CPU 3 initializing
I/TC: Secondary CPU 3 switching to normal world boot
[I/cpu.aa64] Call cpu 2 on success
[I/cpu.aa64] Call cpu 3 on success

msh />
msh />

Common Issues and Solutions

Could not find a valid device tree

This error occurs when booting without loading the .dtb device tree file:

Hit key to stop autoboot('CTRL+C'):  0
=> <INTERRUPT>
=> <INTERRUPT>
=> <INTERRUPT>
=> <INTERRUPT>
=> <INTERRUPT>
=> fatload mmc 1:1 0x480000 rtthread.bin
reading rtthread.bin
1220848 bytes read in 104 ms (11.2 MiB/s)
=> booti 0x480000 - 0x8300000
Fdt Ramdisk skip relocation
No misc partition
ERROR: Did not find a cmdline Flattened Device Tree
Could not find a valid device tree
=>

Solution:

Power cycle the board completely after failed boot attempts
Copy the compiled .dtb file from kernel/arch/arm64/boot/dts/rockchip/ to the TF card
Load the DTB to address 0x8300000 using fatload
Execute the boot command again

System Stuck at `[I/rtdm.ofw] Console: uart0 (fiq-debugger)`

This is typically caused by incorrect device tree configuration. The chosen node parameters are critical.

Example configuration for TaishanPi 1 (Debug UART: uart2m0):

  chosen: chosen {
    bootargs = "earlycon=uart8250,mmio32,0xfe660000 console=ttyFIQ0";
  };

  fiq-debugger {
    compatible = "rockchip,fiq-debugger";
    rockchip,serial-id = <2>;
    rockchip,wake-irq = <0>;
    /* If enable uart uses irq instead of fiq */
    rockchip,irq-mode-enable = <1>;
    rockchip,baudrate = <1500000>;  /* Only 115200 and 1500000 */
    interrupts = <GIC_SPI 252 IRQ_TYPE_LEVEL_LOW>;
    pinctrl-names = "default";
    pinctrl-0 = <&uart2m0_xfer>;
    status = "okay";
  };

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