完善bsp beaglebone的基本使用 (#6434)

* bsp beaglebone: rerun menuconfg

* bsp beaglebone: add uart0 support

* bsp beaglebone: use uart0 as console

* bsp beaglebone: add heap init

fix rt_application_init() error:
(m != RT_NULL) assertion failed at function:rt_smem_alloc, line number:288

* bsp beaglebone: add mmu & interrupt init

must init mmu, otherwise no interrupt is generated, cause scheduler can't work.
I don't know why need mmu, just seen: bsp/rockchip/rk3568/driver/board.c

* libcpu am335x: reset interrupt controller before init vector

I think reset before init is more better

AM335X_StarterWare_02_00_01_01\system_config\armv7a\am335x\interrupt.c
IntAINTCInit()

* bsp beaglebone: full gpio driver support

* bsp beaglebone: add tftpboot way to uboot_cmd.txt

* bsp beaglebone: optimize am33xx_gpio_hdr, check irqstatus is the last one

Co-authored-by: YangZhongQing <[email protected]>

11 files changed, 609 insertions, 73 deletions

diff --git a/bsp/beaglebone/.config b/bsp/beaglebone/.config
index 2d1d261f55..efd2c2ccc1 100644
--- a/bsp/beaglebone/.config
+++ b/bsp/beaglebone/.config
@@ -77,8 +77,8 @@ 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_VER_NUM=0x40101
+CONFIG_RT_CONSOLE_DEVICE_NAME="uart0"
+CONFIG_RT_VER_NUM=0x50000
 # CONFIG_RT_USING_CPU_FFS is not set
 # CONFIG_ARCH_CPU_STACK_GROWS_UPWARD is not set
 
@@ -428,6 +428,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_HASH_MATCH is not set
 # CONFIG_PKG_USING_FIRE_PID_CURVE is not set
 # CONFIG_PKG_USING_ARMV7M_DWT_TOOL is not set
+# CONFIG_PKG_USING_VOFA_PLUS is not set
 
 #
 # system packages
@@ -463,7 +464,6 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_UC_CLK is not set
 # CONFIG_PKG_USING_UC_COMMON is not set
 # CONFIG_PKG_USING_UC_MODBUS is not set
-# CONFIG_PKG_USING_RTDUINO is not set
 # CONFIG_PKG_USING_FREERTOS_WRAPPER is not set
 # CONFIG_PKG_USING_CAIRO is not set
 # CONFIG_PKG_USING_PIXMAN is not set
@@ -498,6 +498,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_KMULTI_RTIMER is not set
 # CONFIG_PKG_USING_TFDB is not set
 # CONFIG_PKG_USING_QPC is not set
+# CONFIG_PKG_USING_AGILE_UPGRADE is not set
 
 #
 # peripheral libraries and drivers
@@ -666,60 +667,36 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_QPARAM is not set
 
 #
-# Privated Packages of RealThread
+# Arduino libraries
+#
+# CONFIG_PKG_USING_RTDUINO is not set
+
+#
+# Sensor libraries
+#
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_SENSOR is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_BUSIO is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_AHTX0 is not set
+# CONFIG_PKG_USING_ARDUINO_DHT_SENSOR is not set
+# CONFIG_PKG_USING_ARDUINO_SEEED_BMP280 is not set
+# CONFIG_PKG_USING_ARDUINO_SEEED_LIS3DHTR is not set
+# CONFIG_PKG_USING_ARDUINO_CAPACITIVESENSOR is not set
+
+#
+# Display libraries
 #
-# CONFIG_PKG_USING_CODEC is not set
-# CONFIG_PKG_USING_PLAYER is not set
-# CONFIG_PKG_USING_MPLAYER is not set
-# CONFIG_PKG_USING_PERSIMMON_SRC is not set
-# CONFIG_PKG_USING_JS_PERSIMMON is not set
-# CONFIG_PKG_USING_JERRYSCRIPT_WIN32 is not set
+# CONFIG_PKG_USING_ARDUINO_U8G2 is not set
 
 #
-# Network Utilities
+# Timing libraries
 #
-# CONFIG_PKG_USING_WICED is not set
-# CONFIG_PKG_USING_CLOUDSDK is not set
-# CONFIG_PKG_USING_POWER_MANAGER is not set
-# CONFIG_PKG_USING_RT_OTA is not set
-# CONFIG_PKG_USING_RTINSIGHT is not set
-# CONFIG_PKG_USING_SMARTCONFIG is not set
-# CONFIG_PKG_USING_RTX is not set
-# CONFIG_RT_USING_TESTCASE is not set
-# CONFIG_PKG_USING_NGHTTP2 is not set
-# CONFIG_PKG_USING_AVS is not set
-# CONFIG_PKG_USING_ALI_LINKKIT is not set
-# CONFIG_PKG_USING_STS is not set
-# CONFIG_PKG_USING_DLMS is not set
-# CONFIG_PKG_USING_AUDIO_FRAMEWORK is not set
-# CONFIG_PKG_USING_ZBAR is not set
-# CONFIG_PKG_USING_MCF is not set
-# CONFIG_PKG_USING_URPC is not set
-# CONFIG_PKG_USING_DCM is not set
-# CONFIG_PKG_USING_EMQ is not set
-# CONFIG_PKG_USING_CFGM is not set
-# CONFIG_PKG_USING_RT_CMSIS_DAP is not set
-# CONFIG_PKG_USING_SMODULE is not set
-# CONFIG_PKG_USING_SNFD is not set
-# CONFIG_PKG_USING_UDBD is not set
-# CONFIG_PKG_USING_BENCHMARK is not set
-# CONFIG_PKG_USING_UBJSON is not set
-# CONFIG_PKG_USING_DATATYPE is not set
-# CONFIG_PKG_USING_FASTFS is not set
-# CONFIG_PKG_USING_RIL is not set
-# CONFIG_PKG_USING_WATCH_DCM_SVC is not set
-# CONFIG_PKG_USING_WATCH_APP_FWK is not set
-# CONFIG_PKG_USING_GUI_TEST is not set
-# CONFIG_PKG_USING_PMEM is not set
-# CONFIG_PKG_USING_LWRDP is not set
-# CONFIG_PKG_USING_MASAN is not set
-# CONFIG_PKG_USING_BSDIFF_LIB is not set
-# CONFIG_PKG_USING_PRC_DIFF is not set
+# CONFIG_PKG_USING_ARDUINO_MSTIMER2 is not set
 
 #
-# RT-Thread Smart
+# Project libraries
 #
-# CONFIG_PKG_USING_UKERNEL is not set
-# CONFIG_PKG_USING_TRACE_AGENT is not set
+# CONFIG_PKG_USING_ARDUINO_ULTRASOUND_RADAR is not set
+# CONFIG_PKG_USING_ARDUINO_SENSOR_KIT is not set
 CONFIG_SOC_AM335X=y
-CONFIG_RT_USING_UART1=y
+CONFIG_RT_USING_UART0=y
+# CONFIG_RT_USING_UART1 is not set
diff --git a/bsp/beaglebone/Kconfig b/bsp/beaglebone/Kconfig
index 2784e36068..10b5465b25 100644
--- a/bsp/beaglebone/Kconfig
+++ b/bsp/beaglebone/Kconfig
@@ -32,6 +32,10 @@ config SOC_AM335X
     select RT_USING_USER_MAIN
     default y
 
+config RT_USING_UART0
+    bool "Using RT_USING_UART0"
+    default n
+
 config RT_USING_UART1
     bool "Using RT_USING_UART1"
     default y
diff --git a/bsp/beaglebone/applications/board.c b/bsp/beaglebone/applications/board.c
index e1e1f8cae2..ae110fb57f 100644
--- a/bsp/beaglebone/applications/board.c
+++ b/bsp/beaglebone/applications/board.c
@@ -13,6 +13,7 @@
 #include <finsh.h>
 
 #include "board.h"
+#include <mmu.h>
 #include <interrupt.h>
 
 #ifdef RT_USING_VMM
@@ -147,6 +148,16 @@ INIT_BOARD_EXPORT(rt_hw_timer_init);
  */
 void rt_hw_board_init(void)
 {
+    rt_hw_mmu_init();
+
+    /* init hardware interrupt */
+    rt_hw_interrupt_init();
+
+    /* Heap initialization */
+#if defined(RT_USING_HEAP)
+    rt_system_heap_init((void *)HEAP_BEGIN, (void *)HEAP_END);
+#endif
+
     rt_components_board_init();
     rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
 }
diff --git a/bsp/beaglebone/drivers/gpio.c b/bsp/beaglebone/drivers/gpio.c
index 9fc0280b7d..e21da9e0ef 100644
--- a/bsp/beaglebone/drivers/gpio.c
+++ b/bsp/beaglebone/drivers/gpio.c
@@ -3,14 +3,20 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2015-06-19     ItsEddy           add gpio driver support
+ * 2022-09-14     YangZhongQing     full gpio driver support
+ *                                  I referred AM335X_StarterWare_02_00_01_01
  */
 
-
+#include <ctype.h>
 #include <rthw.h>
 #include <rtthread.h>
 #include <rtdevice.h>
 
 #include <am33xx.h>
+#include <interrupt.h>
 #include "gpio.h"
 
 #ifdef RT_USING_PIN
@@ -20,12 +26,31 @@
 #define GPIO_PIN_LOW              (0x0)
 #define GPIO_PIN_HIGH             (0x1)
 
-#define GPIO_CLEARDATAOUT         (0x190)
-#define GPIO_SETDATAOUT           (0x194)
-#define GPIO_DATAIN               (0x138)
-#define GPIO_OE                   (0x134)
+/* Values denoting the Interrupt Line number to be used. */
+#define GPIO_INT_LINE_1                  (0x0)
+#define GPIO_INT_LINE_2                  (0x1)
+
+#define GPIO_REVISION   (0x0)
+#define GPIO_SYSCONFIG   (0x10)
+#define GPIO_IRQSTATUS_RAW(n)   (0x24 + (n * 4))
+#define GPIO_IRQSTATUS(n)   (0x2C + (n * 4))
+#define GPIO_IRQSTATUS_SET(n)   (0x34 + (n * 4))
+#define GPIO_IRQSTATUS_CLR(n)   (0x3C + (n * 4))
+#define GPIO_IRQWAKEN(n)   (0x44 + (n * 4))
+#define GPIO_SYSSTATUS   (0x114)
+#define GPIO_CTRL   (0x130)
+#define GPIO_OE   (0x134)
+#define GPIO_DATAIN   (0x138)
+#define GPIO_DATAOUT   (0x13C)
+#define GPIO_LEVELDETECT(n)   (0x140 + (n * 4))
+#define GPIO_RISINGDETECT   (0x148)
+#define GPIO_FALLINGDETECT   (0x14C)
+#define GPIO_DEBOUNCENABLE   (0x150)
+#define GPIO_DEBOUNCINGTIME   (0x154)
+#define GPIO_CLEARDATAOUT   (0x190)
+#define GPIO_SETDATAOUT   (0x194)
 
-static rt_base_t GPIO_BASE[] =
+static const rt_base_t GPIO_BASE[] =
 {
     AM33XX_GPIO_0_REGS,
     AM33XX_GPIO_1_REGS,
@@ -33,6 +58,85 @@ static rt_base_t GPIO_BASE[] =
     AM33XX_GPIO_3_REGS
 };
 
+#define GPIO_INT0x GPIO_INT0A
+#define GPIO_INT1x GPIO_INT1A
+#define GPIO_INT2x GPIO_INT2A
+#define GPIO_INT3x GPIO_INT3A
+static const rt_uint8_t GPIO_INTx[] = {GPIO_INT0x, GPIO_INT1x, GPIO_INT2x, GPIO_INT3x};
+
+// auto determine which int line
+#define GPIO_INT0_LINE ((GPIO_INT0x == GPIO_INT0A) ? GPIO_INT_LINE_1 : GPIO_INT_LINE_2)
+#define GPIO_INT1_LINE ((GPIO_INT1x == GPIO_INT1A) ? GPIO_INT_LINE_1 : GPIO_INT_LINE_2)
+#define GPIO_INT2_LINE ((GPIO_INT2x == GPIO_INT2A) ? GPIO_INT_LINE_1 : GPIO_INT_LINE_2)
+#define GPIO_INT3_LINE ((GPIO_INT3x == GPIO_INT3A) ? GPIO_INT_LINE_1 : GPIO_INT_LINE_2)
+static const rt_uint8_t GPIO_INT_LINEx[] = {GPIO_INT0_LINE, GPIO_INT1_LINE, GPIO_INT2_LINE, GPIO_INT3_LINE};
+
+struct am33xx_pin_irq_hdr
+{
+    void (*hdr)(void *args);
+    void             *args;
+};
+
+struct am33xx_gpio_irq_param
+{
+    struct am33xx_pin_irq_hdr hdr_tab[32];
+};
+
+static struct am33xx_gpio_irq_param GPIO_PARAMx[sizeof(GPIO_BASE) / sizeof(GPIO_BASE[0])];
+
+rt_inline void am33xx_gpio_hdr(rt_base_t base, rt_base_t int_line, void *param)
+{
+    struct am33xx_gpio_irq_param *irq_param = param;
+    struct am33xx_pin_irq_hdr *irq_hdr;
+    int pinNumber;
+    rt_ubase_t irqstatus;
+
+    irqstatus = REG32(base + GPIO_IRQSTATUS(int_line));
+    REG32(base + GPIO_IRQSTATUS(int_line)) = irqstatus;
+
+    for (pinNumber = 0; pinNumber < sizeof(irq_param->hdr_tab); pinNumber++)
+    {
+        if (irqstatus & 0x1)
+        {
+            irq_hdr = &irq_param->hdr_tab[pinNumber];
+            if (irq_hdr->hdr)
+                irq_hdr->hdr(irq_hdr->args);
+            // if the last one, exit immediately
+            if (irqstatus == 0x1)
+                break;
+        }
+        irqstatus >>= 1;
+    }
+}
+
+static void am33xx_gpio0_isr(int vector, void *param)
+{
+    am33xx_gpio_hdr(AM33XX_GPIO_0_REGS, GPIO_INT0_LINE, param);
+}
+
+static void am33xx_gpio1_isr(int vector, void *param)
+{
+    am33xx_gpio_hdr(AM33XX_GPIO_1_REGS, GPIO_INT1_LINE, param);
+}
+
+static void am33xx_gpio2_isr(int vector, void *param)
+{
+    am33xx_gpio_hdr(AM33XX_GPIO_2_REGS, GPIO_INT2_LINE, param);
+}
+
+static void am33xx_gpio3_isr(int vector, void *param)
+{
+    am33xx_gpio_hdr(AM33XX_GPIO_3_REGS, GPIO_INT3_LINE, param);
+}
+
+static const rt_isr_handler_t GPIO_ISRx[] =
+{
+    am33xx_gpio0_isr,
+    am33xx_gpio1_isr,
+    am33xx_gpio2_isr,
+    am33xx_gpio3_isr,
+};
+
 static void am33xx_pin_mode(struct rt_device *device, rt_base_t pin, rt_base_t mode)
 {
     RT_ASSERT(pin >= 0 && pin < 128);
@@ -40,11 +144,11 @@ static void am33xx_pin_mode(struct rt_device *device, rt_base_t pin, rt_base_t m
     rt_base_t gpiox     = pin >> 5;
     rt_base_t pinNumber = pin & 0x1F;
 
-    if(PIN_MODE_OUTPUT == mode)
+    if (PIN_MODE_OUTPUT == mode)
     {
         reg(GPIO_BASE[gpiox] + GPIO_OE) &= ~(1 << pinNumber);
     }
-    else if(PIN_MODE_INPUT == mode)
+    else if (PIN_MODE_INPUT == mode)
     {
         reg(GPIO_BASE[gpiox] + GPIO_OE) |= (1 << pinNumber);
     }
@@ -56,7 +160,7 @@ static void am33xx_pin_write(struct rt_device *device, rt_base_t pin, rt_base_t
     rt_base_t gpiox     = pin >> 5;
     rt_base_t pinNumber = pin & 0x1F;
 
-    if(GPIO_PIN_HIGH == value)
+    if (GPIO_PIN_HIGH == value)
     {
         reg(GPIO_BASE[gpiox] + GPIO_SETDATAOUT) = (1 << pinNumber);
     }
@@ -75,20 +179,196 @@ static int am33xx_pin_read(struct rt_device *device, rt_base_t pin)
     return reg(GPIO_BASE[gpiox] + GPIO_DATAIN) & (1 << pinNumber) ? 1 : 0;
 }
 
-static struct rt_pin_ops am33xx_pin_ops =
+static rt_err_t am33xx_pin_attach_irq(struct rt_device *device, rt_int32_t pin,
+                                      rt_uint32_t mode, void (*hdr)(void *args), void *args)
+{
+    RT_ASSERT(pin >= 0 && pin < 128);
+    rt_base_t gpiox     = pin >> 5;
+    rt_base_t pinNumber = pin & 0x1F;
+    rt_base_t baseAdd = GPIO_BASE[gpiox];
+    struct am33xx_pin_irq_hdr *irq_hdr = &GPIO_PARAMx[gpiox].hdr_tab[pinNumber];
+    rt_base_t level;
+
+    level = rt_hw_interrupt_disable();
+
+    if (irq_hdr->hdr != RT_NULL)
+    {
+        rt_hw_interrupt_enable(level);
+        return -RT_EBUSY;
+    }
+
+    irq_hdr->hdr = hdr;
+    irq_hdr->args = args;
+
+    switch (mode)
+    {
+    case PIN_IRQ_MODE_RISING:
+        /* Enabling rising edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_RISINGDETECT) |= (1 << pinNumber);
+
+        /* Disabling falling edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_FALLINGDETECT) &= ~(1 << pinNumber);
+
+        /* Disabling logic LOW level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(0)) &= ~(1 << pinNumber);
+
+        /* Disabling logic HIGH level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(1)) &= ~(1 << pinNumber);
+        break;
+    case PIN_IRQ_MODE_FALLING:
+        /* Disabling rising edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_RISINGDETECT) &= ~(1 << pinNumber);
+
+        /* Enabling falling edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_FALLINGDETECT) |= (1 << pinNumber);
+
+        /* Disabling logic LOW level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(0)) &= ~(1 << pinNumber);
+
+        /* Disabling logic HIGH level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(1)) &= ~(1 << pinNumber);
+        break;
+    case PIN_IRQ_MODE_RISING_FALLING:
+        /* Enabling rising edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_RISINGDETECT) |= (1 << pinNumber);
+
+        /* Enabling falling edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_FALLINGDETECT) |= (1 << pinNumber);
+
+        /* Disabling logic LOW level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(0)) &= ~(1 << pinNumber);
+
+        /* Disabling logic HIGH level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(1)) &= ~(1 << pinNumber);
+        break;
+    case PIN_IRQ_MODE_HIGH_LEVEL:
+        /* Disabling logic LOW level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(0)) &= ~(1 << pinNumber);
+
+        /* Enabling logic HIGH level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(1)) |= (1 << pinNumber);
+
+        /* Disabling rising edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_RISINGDETECT) &= ~(1 << pinNumber);
+
+        /* Disabling falling edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_FALLINGDETECT) &= ~(1 << pinNumber);
+        break;
+    case PIN_IRQ_MODE_LOW_LEVEL:
+        /* Enabling logic LOW level detect interrupt geenration. */
+        REG32(baseAdd + GPIO_LEVELDETECT(0)) |= (1 << pinNumber);
+
+        /* Disabling logic HIGH level detect interrupt generation. */
+        REG32(baseAdd + GPIO_LEVELDETECT(1)) &= ~(1 << pinNumber);
+
+        /* Disabling rising edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_RISINGDETECT) &= ~(1 << pinNumber);
+
+        /* Disabling falling edge detect interrupt generation. */
+        REG32(baseAdd + GPIO_FALLINGDETECT) &= ~(1 << pinNumber);
+        break;
+    }
+
+    rt_hw_interrupt_enable(level);
+    return 0;
+}
+
+static rt_err_t am33xx_pin_detach_irq(struct rt_device *device, rt_int32_t pin)
+{
+    RT_ASSERT(pin >= 0 && pin < 128);
+    rt_base_t gpiox     = pin >> 5;
+    rt_base_t pinNumber = pin & 0x1F;
+    struct am33xx_pin_irq_hdr *irq_hdr = &GPIO_PARAMx[gpiox].hdr_tab[pinNumber];
+    rt_base_t level;
+
+    level = rt_hw_interrupt_disable();
+
+    irq_hdr->hdr = RT_NULL;
+    irq_hdr->args = RT_NULL;
+
+    rt_hw_interrupt_enable(level);
+    return 0;
+}
+
+static rt_err_t am33xx_pin_irq_enable(struct rt_device *device, rt_base_t pin, rt_uint32_t enabled)
+{
+    RT_ASSERT(pin >= 0 && pin < 128);
+    rt_base_t gpiox     = pin >> 5;
+    rt_base_t pinNumber = pin & 0x1F;
+    rt_base_t baseAdd = GPIO_BASE[gpiox];
+    rt_base_t intLine = GPIO_INT_LINEx[gpiox];
+
+    if (enabled == PIN_IRQ_ENABLE)
+        REG32(baseAdd + GPIO_IRQSTATUS_SET(intLine)) = (1 << pinNumber);
+    else
+        REG32(baseAdd + GPIO_IRQSTATUS_CLR(intLine)) = (1 << pinNumber);
+
+    return 0;
+}
+
+// name format: P0.0, range: GPIO0_[31:0] ... GPIO5_[31:0]
+static rt_base_t am33xx_pin_get(const char *name)
+{
+    rt_base_t gpiox;
+    rt_base_t pinNumber;
+
+    if (!isdigit((int)name[1]))
+        return -RT_EINVAL;
+    gpiox = name[1] - '0';
+
+    if (name[2] != '.')
+        return -RT_EINVAL;
+
+    if (!isdigit((int)name[3]))
+        return -RT_EINVAL;
+    pinNumber = name[3] - '0';
+
+    if (name[4] == '\0')
+        goto done;
+    else if (!isdigit((int)name[4]))
+        return -RT_EINVAL;
+
+    pinNumber *= 10;
+    pinNumber += name[4] - '0';
+
+    if (name[5] != '\0')
+        return -RT_EINVAL;
+
+done:
+    if (pinNumber > 0x1F)
+        return -RT_EINVAL;
+
+    return GET_PIN(gpiox, pinNumber);
+}
+
+static const struct rt_pin_ops am33xx_pin_ops =
 {
     am33xx_pin_mode,
     am33xx_pin_write,
     am33xx_pin_read,
-    RT_NULL,
-    RT_NULL,
-    RT_NULL,
-    RT_NULL,
+    am33xx_pin_attach_irq,
+    am33xx_pin_detach_irq,
+    am33xx_pin_irq_enable,
+    am33xx_pin_get,
 };
 
 int rt_hw_gpio_init(void)
 {
-    rt_device_pin_register("gpio", &am33xx_pin_ops , RT_NULL);
+    int vector;
+    rt_base_t gpiox;
+    char name[RT_NAME_MAX];
+
+    for (gpiox = 0; gpiox < 4; gpiox++)
+    {
+        rt_snprintf(name, sizeof(name), "%s%d", "gpio", gpiox);
+        vector = GPIO_INTx[gpiox];
+
+        rt_hw_interrupt_install(vector, GPIO_ISRx[gpiox], &GPIO_PARAMx[gpiox], name);
+        rt_hw_interrupt_control(vector, 0, 0);
+        rt_hw_interrupt_umask(vector);
+    }
+
+    rt_device_pin_register("gpio", &am33xx_pin_ops, RT_NULL);
     return 0;
 }
 INIT_BOARD_EXPORT(rt_hw_gpio_init);
diff --git a/bsp/beaglebone/drivers/gpio.h b/bsp/beaglebone/drivers/gpio.h
index ffc4fce780..b2be7d1837 100644
--- a/bsp/beaglebone/drivers/gpio.h
+++ b/bsp/beaglebone/drivers/gpio.h
@@ -8,6 +8,8 @@
 #ifndef __GPIO_H__
 #define __GPIO_H__
 
+#define GET_PIN(gpiox, pinNumber) (rt_base_t)(gpiox << 5 | pinNumber)
+
 int rt_hw_gpio_init(void);
 
 #endif
diff --git a/bsp/beaglebone/drivers/uart.c b/bsp/beaglebone/drivers/uart.c
index 887bf2b1cd..11d177359b 100644
--- a/bsp/beaglebone/drivers/uart.c
+++ b/bsp/beaglebone/drivers/uart.c
@@ -259,6 +259,7 @@ static void start_uart_clk(void)
 
     prcm_base = AM33XX_PRCM_REGS;
 
+#if defined(RT_USING_UART1) || defined(RT_USING_UART2) || defined(RT_USING_UART3) || defined(RT_USING_UART4) || defined(RT_USING_UART5)
     /* software forced wakeup */
     CM_PER_L4LS_CLKSTCTRL_REG(prcm_base) |= 0x2;
 
@@ -305,6 +306,26 @@ static void start_uart_clk(void)
     /* Waiting for the L4LS UART clock */
     while (!(CM_PER_L4LS_CLKSTCTRL_REG(prcm_base) & (1<<10)))
         ;
+#endif
+
+#ifdef RT_USING_UART0
+    /* software forced wakeup */
+    CM_WKUP_CLKSTCTRL_REG(prcm_base) |= 0x2;
+
+    /* Waiting for the L4_WKUP clock */
+    while (!(CM_WKUP_CLKSTCTRL_REG(prcm_base) & (1<<2)))
+        ;
+
+    /* enable uart0 */
+    CM_WKUP_UART0_CLKCTRL_REG(prcm_base) |= 0x2;
+    /* wait for uart0 clk */
+    while ((CM_WKUP_UART0_CLKCTRL_REG(prcm_base) & (0x3<<16)) != 0)
+        ;
+
+    /* Waiting for the L4_WKUP UART0 clock */
+    while (!(CM_WKUP_CLKSTCTRL_REG(prcm_base) & (1<<12)))
+        ;
+#endif
 }
 
 static void config_pinmux(void)
@@ -314,6 +335,11 @@ static void config_pinmux(void)
     ctlm_base = AM33XX_CTLM_REGS;
 
     /* make sure the pin mux is OK for uart */
+#ifdef RT_USING_UART0
+    REG32(ctlm_base + 0x800 + 0x170) = 0x20;
+    REG32(ctlm_base + 0x800 + 0x174) = 0x00;
+#endif
+
 #ifdef RT_USING_UART1
     REG32(ctlm_base + 0x800 + 0x180) = 0x20;
     REG32(ctlm_base + 0x800 + 0x184) = 0x00;
diff --git a/bsp/beaglebone/rtconfig.h b/bsp/beaglebone/rtconfig.h
index 798f314100..1a65854759 100644
--- a/bsp/beaglebone/rtconfig.h
+++ b/bsp/beaglebone/rtconfig.h
@@ -43,8 +43,8 @@
 #define RT_USING_DEVICE
 #define RT_USING_CONSOLE
 #define RT_CONSOLEBUF_SIZE 128
-#define RT_CONSOLE_DEVICE_NAME "uart"
-#define RT_VER_NUM 0x40101
+#define RT_CONSOLE_DEVICE_NAME "uart0"
+#define RT_VER_NUM 0x50000
 
 /* RT-Thread Components */
 
@@ -181,15 +181,21 @@
 /* entertainment: terminal games and other interesting software packages */
 
 
-/* Privated Packages of RealThread */
+/* Arduino libraries */
 
 
-/* Network Utilities */
+/* Sensor libraries */
 
 
-/* RT-Thread Smart */
+/* Display libraries */
+
+
+/* Timing libraries */
+
+
+/* Project libraries */
 
 #define SOC_AM335X
-#define RT_USING_UART1
+#define RT_USING_UART0
 
 #endif
diff --git a/bsp/beaglebone/uboot_cmd.txt b/bsp/beaglebone/uboot_cmd.txt
index 08c49d2bf2..cba53f3a69 100644
--- a/bsp/beaglebone/uboot_cmd.txt
+++ b/bsp/beaglebone/uboot_cmd.txt
@@ -1,5 +1,11 @@
+ͨ��SD������
 mmcinfo
 fatload mmc 0 0x80200000 rtthread.bin
+
+ͨ��TFTP����
+tftpboot 0x80200000 rtthread.bin
+
+��ת����
 go 0x80200000
 
 ���еĵ�ַ0x80200000�������ӵ�ַȷ��
\ No newline at end of file
diff --git a/libcpu/arm/am335x/am33xx.h b/libcpu/arm/am335x/am33xx.h
index 3112a8ac15..c74a0c1d62 100644
--- a/libcpu/arm/am335x/am33xx.h
+++ b/libcpu/arm/am335x/am33xx.h
@@ -98,6 +98,8 @@
 #define CM_PER_UART4_CLKCTRL(base)        (CM_PER(base) + 0x78)
 #define CM_PER_UART5_CLKCTRL(base)        (CM_PER(base) + 0x38)
 #define CM_WKUP(base)                     ((base) + 0x400)
+#define CM_WKUP_CLKSTCTRL(base)           (CM_WKUP(base) + 0)
+#define CM_WKUP_UART0_CLKCTRL(base)       (CM_WKUP(base) + 0xB4)
 #define CM_DPLL(base)                     ((base) + 0x500)
 #define CM_MPU(base)                      ((base) + 0x600)
 #define CM_DEVICE(base)                   ((base) + 0x700)
@@ -194,6 +196,9 @@
 #define PRM_PER_PWRSTST_REG(base)          REG32(PRM_PER_PWRSTST(base))
 #define PRM_PER_PWRSTCTRL_REG(base)        REG32(PRM_PER_PWRSTCTRL(base))
 
+#define CM_WKUP_CLKSTCTRL_REG(base)        REG32(CM_WKUP_CLKSTCTRL(base))
+#define CM_WKUP_UART0_CLKCTRL_REG(base)    REG32(CM_WKUP_UART0_CLKCTRL(base))
+
 #define CM_DPLL_CLKSEL_TIMER7_CLK(base)    REG32(CM_DPLL(base) + 0x4)
 #define CM_DPLL_CLKSEL_TIMER2_CLK(base)    REG32(CM_DPLL(base) + 0x8)
 
diff --git a/libcpu/arm/am335x/interrupt.c b/libcpu/arm/am335x/interrupt.c
index c4c5e8d7eb..1810a92a65 100644
--- a/libcpu/arm/am335x/interrupt.c
+++ b/libcpu/arm/am335x/interrupt.c
@@ -75,6 +75,16 @@ static void rt_hw_vector_init(void)
  */
 void rt_hw_interrupt_init(void)
 {
+    /* Reset the ARM interrupt controller */
+    INTC_SYSCONFIG(AINTC_BASE) = INTC_SYSCONFIG_SOFTRESET;
+
+    /* Wait for the reset to complete */
+    while((INTC_SYSSTATUS(AINTC_BASE)
+          & INTC_SYSSTATUS_RESETDONE) != INTC_SYSSTATUS_RESETDONE);
+
+    /* Enable any interrupt generation by setting priority threshold */
+    INTC_THRESHOLD(AINTC_BASE) = INTC_THRESHOLD_PRIORITYTHRESHOLD;
+
     /* initialize vector table */
     rt_hw_vector_init();
 
diff --git a/libcpu/arm/am335x/interrupt.h b/libcpu/arm/am335x/interrupt.h
index 90f392f407..35239b198f 100644
--- a/libcpu/arm/am335x/interrupt.h
+++ b/libcpu/arm/am335x/interrupt.h
@@ -14,6 +14,9 @@
 #define INT_IRQ     0x00
 #define INT_FIQ     0x01
 
+/*************************************************************************\
+ * Registers Definition
+\*************************************************************************/
 #define INTC_REVISION(hw_base)          REG32((hw_base) + 0x0)
 #define INTC_SYSCONFIG(hw_base)         REG32((hw_base) + 0x10)
 #define INTC_SYSSTATUS(hw_base)         REG32((hw_base) + 0x14)
@@ -37,6 +40,212 @@
 #define INTC_PENDING_FIQ(hw_base, n)    REG32((hw_base) + 0x9c + ((n) * 0x20))
 #define INTC_ILR(hw_base, n)            REG32((hw_base) + 0x100 + ((n) * 0x04))
 
+/**************************************************************************\
+* Field Definition Macros
+\**************************************************************************/
+
+/* REVISION */
+#define INTC_REVISION_REV    (0x000000FFu)
+#define INTC_REVISION_REV_SHIFT  (0x00000000u)
+
+/* SYSCONFIG */
+#define INTC_SYSCONFIG_SOFTRESET    (0x00000002u)
+#define INTC_SYSCONFIG_SOFTRESET_SHIFT  (0x00000001u)
+
+#define INTC_SYSCONFIG_AUTOIDLE    (0x00000001u)
+#define INTC_SYSCONFIG_AUTOIDLE_SHIFT  (0x00000000u)
+
+/* SYSSTATUS */
+#define INTC_SYSSTATUS_RESETDONE    (0x00000001u)
+#define INTC_SYSSTATUS_RESETDONE_SHIFT  (0x00000000u)
+
+/* SIR_IRQ */
+#define INTC_SIR_IRQ_SPURIOUSIRQ    (0xFFFFFF80u)
+#define INTC_SIR_IRQ_SPURIOUSIRQ_SHIFT  (0x00000007u)
+
+#define INTC_SIR_IRQ_ACTIVEIRQ    (0x0000007F)
+#define INTC_SIR_IRQ_ACTIVEIRQ_SHIFT  (0x00000000)
+
+/* SIR_FIQ */
+#define INTC_SIR_FIQ_SPURIOUSFIQ    (0xFFFFFF80)
+#define INTC_SIR_FIQ_SPURIOUSFIQ_SHIFT  (0x00000007)
+
+#define INTC_SIR_FIQ_ACTIVEFIQ    (0x0000007F)
+#define INTC_SIR_FIQ_ACTIVEFIQ_SHIFT  (0x00000000)
+
+/* CONTROL */
+#define INTC_CONTROL_NEWFIQAGR    (0x00000002)
+#define INTC_CONTROL_NEWFIQAGR_SHIFT  (0x00000001)
+
+#define INTC_CONTROL_NEWIRQAGR    (0x00000001)
+#define INTC_CONTROL_NEWIRQAGR_SHIFT  (0x00000000)
+
+/* PROTECTION */
+#define INTC_PROTECTION_PROTECTION    (0x00000001u)
+#define INTC_PROTECTION_PROTECTION_SHIFT  (0x00000000u)
+
+/* IDLE */
+#define INTC_IDLE_TURBO    (0x00000002u)
+#define INTC_IDLE_TURBO_SHIFT  (0x00000001u)
+
+#define INTC_IDLE_FUNCIDLE    (0x00000001u)
+#define INTC_IDLE_FUNCIDLE_SHIFT  (0x00000000u)
+
+/* IRQ_PRIORITY */
+#define INTC_IRQ_PRIORITY_SPURIOUSIRQFLAG    (0xFFFFFFC0u)
+#define INTC_IRQ_PRIORITY_SPURIOUSIRQFLAG_SHIFT  (0x00000006u)
+
+#define INTC_IRQ_PRIORITY_IRQPRIORITY    (0x0000003Fu)
+#define INTC_IRQ_PRIORITY_IRQPRIORITY_SHIFT  (0x00000000u)
+
+/* FIQ_PRIORITY */
+#define INTC_FIQ_PRIORITY_SPURIOUSFIQFLAG    (0xFFFFFFC0u)
+#define INTC_FIQ_PRIORITY_SPURIOUSFIQFLAG_SHIFT  (0x00000006u)
+
+#define INTC_FIQ_PRIORITY_FIQPRIORITY    (0x0000003Fu)
+#define INTC_FIQ_PRIORITY_FIQPRIORITY_SHIFT  (0x00000000u)
+
+/* THRESHOLD */
+#define INTC_THRESHOLD_PRIORITYTHRESHOLD    (0x000000FFu)
+#define INTC_THRESHOLD_PRIORITYTHRESHOLD_SHIFT  (0x00000000u)
+
+/* SICR */
+#define INTC_SICR_GLOBALMASK    (0x00000040u)
+#define INTC_SICR_GLOBALMASK_SHIFT  (0x00000006u)
+
+#define INTC_SICR_SOFTRESETINH    (0x00000020u)
+#define INTC_SICR_SOFTRESETINH_SHIFT  (0x00000005u)
+
+#define INTC_SICR_PUBLICMASKFEEDBACK    (0x00000010u)
+#define INTC_SICR_PUBLICMASKFEEDBACK_SHIFT  (0x00000004u)
+
+#define INTC_SICR_PUBLICINHIBIT    (0x00000008u)
+#define INTC_SICR_PUBLICINHIBIT_SHIFT  (0x00000003u)
+
+#define INTC_SICR_AUTOINHIBIT    (0x00000004u)
+#define INTC_SICR_AUTOINHIBIT_SHIFT  (0x00000002u)
+
+#define INTC_SICR_SSMFIQENABLE    (0x00000002u)
+#define INTC_SICR_SSMFIQENABLE_SHIFT  (0x00000001u)
+
+#define INTC_SICR_SSMFIQSTATUS    (0x00000001u)
+#define INTC_SICR_SSMFIQSTATUS_SHIFT  (0x00000000u)
+
+/* SCR0 */
+#define INTC_SCR0_SECUREENABLE    (0xFFFFFFFFu)
+#define INTC_SCR0_SECUREENABLE_SHIFT  (0x00000000u)
+
+/* SCR1 */
+#define INTC_SCR1_SECUREENABLE    (0xFFFFFFFFu)
+#define INTC_SCR1_SECUREENABLE_SHIFT  (0x00000000u)
+
+/* SCR2 */
+#define INTC_SCR2_SECUREENABLE    (0xFFFFFFFFu)
+#define INTC_SCR2_SECUREENABLE_SHIFT  (0x00000000u)
+
+/* ITR0 */
+#define INTC_ITR0_ITR    (0xFFFFFFFFu)
+#define INTC_ITR0_ITR_SHIFT  (0x00000000u)
+
+/* MIR0 */
+#define INTC_MIR0_MIR    (0xFFFFFFFFu)
+#define INTC_MIR0_MIR_SHIFT  (0x00000000u)
+
+/* MIR_CLEAR0 */
+#define INTC_MIR_CLEAR0_MIRCLEAR    (0xFFFFFFFFu)
+#define INTC_MIR_CLEAR0_MIRCLEAR_SHIFT  (0x00000000u)
+
+/* MIR_SET0 */
+#define INTC_MIR_SET0_MIRSET    (0xFFFFFFFFu)
+#define INTC_MIR_SET0_MIRSET_SHIFT  (0x00000000u)
+
+/* ISR_SET0 */
+#define INTC_ISR_SET0_ISRSET    (0xFFFFFFFFu)
+#define INTC_ISR_SET0_ISRSET_SHIFT  (0x00000000u)
+
+/* ISR_CLEAR0 */
+#define INTC_ISR_CLEAR0_ISRCLEAR    (0xFFFFFFFFu)
+#define INTC_ISR_CLEAR0_ISRCLEAR_SHIFT  (0x00000000u)
+
+/* PENDING_IRQ0 */
+#define INTC_PENDING_IRQ0_PENDING_IRQ    (0xFFFFFFFFu)
+#define INTC_PENDING_IRQ0_PENDING_IRQ_SHIFT  (0x00000000u)
+
+/* PENDING_FIQ0 */
+#define INTC_PENDING_FIQ0_PENDING_FIQ    (0xFFFFFFFFu)
+#define INTC_PENDING_FIQ0_PENDING_FIQ_SHIFT  (0x00000000u)
+
+/* ITR1 */
+#define INTC_ITR1_ITR    (0xFFFFFFFFu)
+#define INTC_ITR1_ITR_SHIFT  (0x00000000u)
+
+/* MIR1 */
+#define INTC_MIR1_MIR    (0xFFFFFFFFu)
+#define INTC_MIR1_MIR_SHIFT  (0x00000000u)
+
+/* MIR_CLEAR1 */
+#define INTC_MIR_CLEAR1_MIRCLEAR    (0xFFFFFFFFu)
+#define INTC_MIR_CLEAR1_MIRCLEAR_SHIFT  (0x00000000u)
+
+/* MIR_SET1 */
+#define INTC_MIR_SET1_MIRSET    (0xFFFFFFFFu)
+#define INTC_MIR_SET1_MIRSET_SHIFT  (0x00000000u)
+
+/* ISR_SET1 */
+#define INTC_ISR_SET1_ISRSET    (0xFFFFFFFFu)
+#define INTC_ISR_SET1_ISRSET_SHIFT  (0x00000000u)
+
+/* ISR_CLEAR1 */
+#define INTC_ISR_CLEAR1_ISRCLEAR    (0xFFFFFFFFu)
+#define INTC_ISR_CLEAR1_ISRCLEAR_SHIFT  (0x00000000u)
+
+/* PENDING_IRQ1 */
+#define INTC_PENDING_IRQ1_PENDING_IRQ    (0xFFFFFFFFu)
+#define INTC_PENDING_IRQ1_PENDING_IRQ_SHIFT  (0x00000000u)
+
+/* PENDING_FIQ1 */
+#define INTC_PENDING_FIQ1_PENDING_FIQ    (0xFFFFFFFFu)
+#define INTC_PENDING_FIQ1_PENDING_FIQ_SHIFT  (0x00000000u)
+
+/* ITR2 */
+#define INTC_ITR2_ITR    (0xFFFFFFFFu)
+#define INTC_ITR2_ITR_SHIFT  (0x00000000u)
+
+/* MIR2 */
+#define INTC_MIR2_MIR    (0xFFFFFFFFu)
+#define INTC_MIR2_MIR_SHIFT  (0x00000000u)
+
+/* MIR_CLEAR2 */
+#define INTC_MIR_CLEAR2_MIRCLEAR    (0xFFFFFFFFu)
+#define INTC_MIR_CLEAR2_MIRCLEAR_SHIFT  (0x00000000u)
+
+/* MIR_SET2 */
+#define INTC_MIR_SET2_MIRSET    (0xFFFFFFFFu)
+#define INTC_MIR_SET2_MIRSET_SHIFT  (0x00000000u)
+
+/* ISR_SET2 */
+#define INTC_ISR_SET2_ISRSET    (0xFFFFFFFFu)
+#define INTC_ISR_SET2_ISRSET_SHIFT  (0x00000000u)
+
+/* ISR_CLEAR2 */
+#define INTC_ISR_CLEAR2_ISRCLEAR    (0xFFFFFFFFu)
+#define INTC_ISR_CLEAR2_ISRCLEAR_SHIFT  (0x00000000u)
+
+/* PENDING_IRQ2 */
+#define INTC_PENDING_IRQ2_PENDING_IRQ    (0xFFFFFFFFu)
+#define INTC_PENDING_IRQ2_PENDING_IRQ_SHIFT  (0x00000000u)
+
+/* PENDING_FIQ2 */
+#define INTC_PENDING_FIQ2_PENDING_FIQ    (0xFFFFFFFFu)
+#define INTC_PENDING_FIQ2_PENDING_FIQ_SHIFT  (0x00000000u)
+
+/* ILR */
+#define INTC_ILR_PRIORITY    (0x000001FCu)
+#define INTC_ILR_PRIORITY_SHIFT  (0x00000002u)
+
+#define INTC_ILR_FIQNIRQ    (0x00000001u)
+#define INTC_ILR_FIQNIRQ_SHIFT  (0x00000000u)
+
 void rt_hw_interrupt_control(int vector, int priority, int route);
 int rt_hw_interrupt_get_active(int fiq_irq);
 void rt_hw_interrupt_ack(int fiq_irq);