IMX6Q调试之 —– DDR3 32位移植

news/2024/11/22 22:57:04/

IMX6Q调试之 —– DDR3 32位移植

自己的板子是参考[fleescale][6]官方开发板[imx6qsabresd][6]的开发套件做的设计的，无奈修改的地方太多了本章主要来说ddr3 的移植，首先需要的工具和软件：

  • 一 、飞思卡尔IMX6 平台DRAM 接口高阶应用指南 -DDR3 篇
  • 二 、MX6Q_SabreSD_DDR3_register_programming_aid_v2.0.xlsx
  • 三 、ddr_stress_tester_v2.52

先详细阅读《飞思卡尔IMX6 平台DRAM 接口高阶应用指南 -DDR3 篇》，然后再根据自己具体使用的ddr3芯片，以及对比原理图（原理图主要看多少根地址线和数据线），然后再填写表格《MX6Q_SabreSD_DDR3_register_programming_aid_v0.10.xlsx》，如图：

这里写图片描述

填写好后会生成 [.inc][6]文件：

这里写图片描述

根据这个文件修改
mx6q-ddr.h
例如我根据生成的 inc文件
MX6Q_SabreSD_DDR3_32bit.inc

//=============================================================================         
//init script for i.Mx6Q DDR3           
//=============================================================================         
// Revision History         
// v01          
//=============================================================================         wait = on           
//=============================================================================         
// Disable  WDOG        
//=============================================================================         
//setmem /16    0x020bc000 =    0x30    

//=============================================================================         
// Enable all clocks (they are disabled by ROM code)            
//=============================================================================         
setmem /32  0x020c4068 =    0xffffffff  
setmem /32  0x020c406c =    0xffffffff  
setmem /32  0x020c4070 =    0xffffffff  
setmem /32  0x020c4074 =    0xffffffff  
setmem /32  0x020c4078 =    0xffffffff  
setmem /32  0x020c407c =    0xffffffff  
setmem /32  0x020c4080 =    0xffffffff  
setmem /32  0x020c4084 =    0xffffffff  

//=============================================================================         
// IOMUX            
//=============================================================================         
//DDR IO TYPE:          
setmem /32  0x020e0798 =    0x000C0000  // IOMUXC_SW_PAD_CTL_GRP_DDR_TYPE 
setmem /32  0x020e0758 =    0x00000000  // IOMUXC_SW_PAD_CTL_GRP_DDRPKE 

//CLOCK:            
setmem /32  0x020e0588 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDCLK_0
setmem /32  0x020e0594 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDCLK_1

//ADDRESS:          
setmem /32  0x020e056c =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_CAS
setmem /32  0x020e0578 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_RAS
setmem /32  0x020e074c =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_ADDDS 

//Control:          setmem /32  0x020e057c =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_RESETsetmem /32  0x020e058c =    0x00000000  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDBA2 - DSE can be configured using Group Control Register: IOMUXC_SW_PAD_CTL_GRP_CTLDS
setmem /32  0x020e059c =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDODT0
setmem /32  0x020e05a0 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDODT1
setmem /32  0x020e078c =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_CTLDS 

//Data Strobes:         setmem /32  0x020e0750 =    0x00020000  // IOMUXC_SW_PAD_CTL_GRP_DDRMODE_CTL setmem /32  0x020e05a8 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDQS0 
setmem /32  0x020e05b0 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDQS1 
setmem /32  0x020e0524 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDQS2 
setmem /32  0x020e051c =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDQS3 
//setmem /32    0x020e0518 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDQS4 
//setmem /32    0x020e050c =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDQS5 
//setmem /32    0x020e05b8 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDQS6 
//setmem /32    0x020e05c0 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_SDQS7 

//Data:         setmem /32  0x020e0774 =    0x00020000  // IOMUXC_SW_PAD_CTL_GRP_DDRMODEsetmem /32  0x020e0784 =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_B0DS 
setmem /32  0x020e0788 =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_B1DS 
setmem /32  0x020e0794 =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_B2DS 
setmem /32  0x020e079c =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_B3DS 
//setmem /32    0x020e07a0 =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_B4DS 
//setmem /32    0x020e07a4 =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_B5DS 
//setmem /32    0x020e07a8 =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_B6DS 
//setmem /32    0x020e0748 =    0x00000030  // IOMUXC_SW_PAD_CTL_GRP_B7DS setmem /32  0x020e05ac =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_DQM0
setmem /32  0x020e05b4 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_DQM1
setmem /32  0x020e0528 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_DQM2
setmem /32  0x020e0520 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_DQM3
//setmem /32    0x020e0514 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_DQM4
//setmem /32    0x020e0510 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_DQM5
//setmem /32    0x020e05bc =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_DQM6
//setmem /32    0x020e05c4 =    0x00000030  // IOMUXC_SW_PAD_CTL_PAD_DRAM_DQM7
//=============================================================================         
// DDR Controller Registers         
//=============================================================================         
// Manufacturer:    Micron      
// Device Part Number:  MT41K128M16JT-125       
// Clock Freq.:     528MHz      
// Density per CS in Gb:    4       
// Chip Selects used:   1       
// Number of Banks: 8       
// Row address:     14      
// Column address:  10      
// Data bus width   32      
//=============================================================================         
setmem /32  0x021b001c =    0x00008000  MMDC0_MDSCR, set the Configuration request bit during MMDC set up
//=============================================================================         
// Calibration setup.           
//=============================================================================         
setmem /32  0x021b0800 =    0xA1390003  // DDR_PHY_P0_MPZQHWCTRL, enable both one-time & periodic HW ZQ calibration.
// For target board, may need to run write leveling calibration to fine tune these settings.            
setmem /32  0x021b080c  =   0x0029002D  
setmem /32  0x021b0810 =    0x00340028  
//setmem /32    0x021b480c  =   0x00000000  
//setmem /32    0x021b4810 =    0x00000000  
Read DQS Gating calibration         
setmem /32  0x021b083c =    0x0238023E  // MPDGCTRL0 PHY0
setmem /32  0x021b0840 =    0x0238023C  // MPDGCTRL1 PHY0
//setmem /32    0x021b483c =    0x00000000  // MPDGCTRL0 PHY1
//setmem /32    0x021b4840 =    0x00000000  // MPDGCTRL1 PHY1

//Read calibration          
setmem /32  0x021b0848 =    0x342C3634  // MPRDDLCTL PHY0
//setmem /32    0x021b4848 =    0x40404040  // MPRDDLCTL PHY1

//Write calibration                                 
setmem /32  0x021b0850 =    0x2A282A26  // MPWRDLCTL PHY0
//setmem /32    0x021b4850 =    0x40404040  // MPWRDLCTL PHY1

//read data bit delay: (3 is the reccommended default value, although out of reset value is 0)          
setmem /32  0x021b081c =    0x33333333  // DDR_PHY_P0_MPREDQBY0DL3
setmem /32  0x021b0820 =    0x33333333  // DDR_PHY_P0_MPREDQBY1DL3
setmem /32  0x021b0824 =    0x33333333  // DDR_PHY_P0_MPREDQBY2DL3
setmem /32  0x021b0828 =    0x33333333  // DDR_PHY_P0_MPREDQBY3DL3
//setmem /32    0x021b481c =    0x33333333  // DDR_PHY_P1_MPREDQBY0DL3
//setmem /32    0x021b4820 =    0x33333333  // DDR_PHY_P1_MPREDQBY1DL3
//setmem /32    0x021b4824 =    0x33333333  // DDR_PHY_P1_MPREDQBY2DL3
//setmem /32    0x021b4828 =    0x33333333  // DDR_PHY_P1_MPREDQBY3DL3

//For i.mx6qd parts of versions A & B (v1.0, v1.1), uncomment the following lines. For version C (v1.2), keep commented         
//setmem /32    0x021b08c0 =    0x24911492  // fine tune SDCLK duty cyc to low - seen to improve measured duty cycle of i.mx6
//setmem /32    0x021b48c0 =    0x24911492  

// Complete calibration by forced measurement:                              
setmem /32  0x021b08b8 =    0x00000800  // DDR_PHY_P0_MPMUR0, frc_msr
//setmem /32    0x021b48b8 =    0x00000800  // DDR_PHY_P0_MPMUR0, frc_msr
//=============================================================================         
// Calibration setup end            
//=============================================================================         

//MMDC init:            
setmem /32  0x021b0004 =    0x00020036  // MMDC0_MDPDC
setmem /32  0x021b0008 =    0x09444040  // MMDC0_MDOTC
setmem /32  0x021b000c =    0x54597955  // MMDC0_MDCFG0
setmem /32  0x021b0010 =    0xFF328F64  // MMDC0_MDCFG1
setmem /32  0x021b0014 =    0x01FF00DB  // MMDC0_MDCFG2
//MDMISC: RALAT kept to the high level of 5.            
//MDMISC: consider reducing RALAT if your 528MHz board design allow that. Lower RALAT benefits:             
//a. better operation at low frequency, for LPDDR2 freq < 100MHz, change RALAT to 3         
//b. Small performence improvment           
setmem /32  0x021b0018 =    0x00011740  // MMDC0_MDMISCsetmem /32  0x021b001c =    0x00008000  // MMDC0_MDSCR, set the Configuration request bit during MMDC set up
setmem /32  0x021b002c =    0x000026D2  // MMDC0_MDRWD
setmem /32  0x021b0030 =    0x00591023  // MMDC0_MDOR
setmem /32  0x021b0040 =    0x00000017  // Chan0 CS0_END 
setmem /32  0x021b0000 =    0x83190000  // MMDC0_MDCTL
//Mode register writes                          
setmem /32  0x021b001c =    0x02088032  // MMDC0_MDSCR, MR2 write, CS0
setmem /32  0x021b001c =    0x00008033  // MMDC0_MDSCR, MR3 write, CS0
setmem /32  0x021b001c =    0x00048031  // MMDC0_MDSCR, MR1 write, CS0
setmem /32  0x021b001c =    0x19408030  // MMDC0_MDSCR, MR0write, CS0
setmem /32  0x021b001c =    0x04008040  // MMDC0_MDSCR, ZQ calibration command sent to device on CS0

//setmem /32    0x021b001c =    0x0208803A  // MMDC0_MDSCR, MR2 write, CS1
//setmem /32    0x021b001c =    0x0000803B  // MMDC0_MDSCR, MR3 write, CS1
//setmem /32    0x021b001c =    0x00048039  // MMDC0_MDSCR, MR1 write, CS1
//setmem /32    0x021b001c =    0x19408038  // MMDC0_MDSCR, MR0write, CS1
//setmem /32    0x021b001c =    0x04008048  // MMDC0_MDSCR, ZQ calibration command sent to device on CS1setmem /32  0x021b0020 =    0x00007800  // MMDC0_MDREFsetmem /32  0x021b0818 =    0x00022227  // DDR_PHY_P0_MPODTCTRL
//setmem /32    0x021b4818 =    0x00022227  // DDR_PHY_P1_MPODTCTRLsetmem /32  0x021b0004 =    0x00025576  // MMDC0_MDPDC now SDCTL power down enabledsetmem /32  0x021b0404 =    0x00011006  // MMDC0_MAPSR ADOPT power down enabled, MMDC will enter automatically to self-refresh while the number of idle cycle reached.setmem /32  0x021b001c =    0x00000000  // MMDC0_MDSCR, clear this register (especially the configuration bit as initialization is complete)
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修改uboot中 arch/arm/include/asm/arch-mx6/mx6q-ddr.h

/** Copyright (C) 2013 Boundary Devices Inc.** SPDX-License-Identifier: GPL-2.0+*/
#ifndef __ASM_ARCH_MX6Q_DDR_H__
#define __ASM_ARCH_MX6Q_DDR_H__#ifndef CONFIG_MX6Q
#error "wrong CPU"
#endif#define MX6_IOM_DRAM_DQM0   0x020e05ac
#define MX6_IOM_DRAM_DQM1   0x020e05b4
#define MX6_IOM_DRAM_DQM2   0x020e0528
#define MX6_IOM_DRAM_DQM3   0x020e0520
//#define MX6_IOM_DRAM_DQM4 0x020e0514
//#define MX6_IOM_DRAM_DQM5 0x020e0510
//#define MX6_IOM_DRAM_DQM6 0x020e05bc
//#define MX6_IOM_DRAM_DQM7 0x020e05c4#define MX6_IOM_DRAM_CAS    0x020e056c
#define MX6_IOM_DRAM_RAS    0x020e0578
#define MX6_IOM_DRAM_RESET  0x020e057c
#define MX6_IOM_DRAM_SDCLK_0    0x020e0588
#define MX6_IOM_DRAM_SDCLK_1    0x020e0594
#define MX6_IOM_DRAM_SDBA2  0x020e058c
#define MX6_IOM_DRAM_SDCKE0 0x020e0590
#define MX6_IOM_DRAM_SDCKE1 0x020e0598
#define MX6_IOM_DRAM_SDODT0 0x020e059c
#define MX6_IOM_DRAM_SDODT1 0x020e05a0#define MX6_IOM_DRAM_SDQS0  0x020e05a8
#define MX6_IOM_DRAM_SDQS1  0x020e05b0
#define MX6_IOM_DRAM_SDQS2  0x020e0524
#define MX6_IOM_DRAM_SDQS3  0x020e051c
//#define MX6_IOM_DRAM_SDQS4    0x020e0518
//#define MX6_IOM_DRAM_SDQS5    0x020e050c
//#define MX6_IOM_DRAM_SDQS6    0x020e05b8
//#define MX6_IOM_DRAM_SDQS7    0x020e05c0#define MX6_IOM_GRP_B0DS    0x020e0784
#define MX6_IOM_GRP_B1DS    0x020e0788
#define MX6_IOM_GRP_B2DS    0x020e0794
#define MX6_IOM_GRP_B3DS    0x020e079c
//#define MX6_IOM_GRP_B4DS  0x020e07a0
//#define MX6_IOM_GRP_B5DS  0x020e07a4
//#define MX6_IOM_GRP_B6DS  0x020e07a8
//#define MX6_IOM_GRP_B7DS  0x020e0748
#define MX6_IOM_GRP_ADDDS   0x020e074c
#define MX6_IOM_DDRMODE_CTL 0x020e0750
#define MX6_IOM_GRP_DDRPKE  0x020e0758
#define MX6_IOM_GRP_DDRMODE 0x020e0774
#define MX6_IOM_GRP_CTLDS   0x020e078c
#define MX6_IOM_GRP_DDR_TYPE    0x020e0798#endif  /*__ASM_ARCH_MX6Q_DDR_H__ */
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接下来需要用到imx6 的板子来微调了

windows 下打开
ddr_stress_tester_v2.52 应用程序，选择上面生成的[.inc][6]文件，开发板进入串行下载模式，可在设备管理器中看待HID设备，点击下载 然后 微调，


============================================DDR Stress Test (2.5.2) Build: Mar 31 2016, 23:07:26Freescale Semiconductor, Inc.========================================================================================Chip IDCHIP ID = i.MX6 Dual/Quad (0x63)Internal Revision = TO1.5========================================================================================Boot ConfigurationSRC_SBMR1(0x020d8004) = 0x40000040SRC_SBMR2(0x020d801c) = 0x32000001============================================ARM Clock set to 1GHz============================================DDR configurationBOOT_CFG3[5-4]: 0x00, Single DDR channel.DDR type is DDR3 Data width: 32, bank num: 8Row size: 15, col size: 10Chip select CSD0 is used Density per chip select: 1024MB ============================================Current Temperature: 60============================================DDR Freq: 528 MHz ddr_mr1=0x00000000Start write leveling calibration...running Write level HW calibrationWrite leveling calibration completed, update the following registers in your initialization scriptMMDC_MPWLDECTRL0 ch0 (0x021b080c) = 0x00250027MMDC_MPWLDECTRL1 ch0 (0x021b0810) = 0x00450034Write DQS delay result:Write DQS0 delay: 39/256 CKWrite DQS1 delay: 37/256 CKWrite DQS2 delay: 52/256 CKWrite DQS3 delay: 69/256 CKStarting DQS gating calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . BYTE 0: Start:       HC=0x02 ABS=0x48End:         HC=0x04 ABS=0x20Mean:        HC=0x03 ABS=0x34End-0.5*tCK:     HC=0x03 ABS=0x20Final:       HC=0x03 ABS=0x34BYTE 1: Start:       HC=0x02 ABS=0x44End:         HC=0x04 ABS=0x18Mean:        HC=0x03 ABS=0x2EEnd-0.5*tCK:     HC=0x03 ABS=0x18Final:       HC=0x03 ABS=0x2EBYTE 2: Start:       HC=0x02 ABS=0x50End:         HC=0x04 ABS=0x1CMean:        HC=0x03 ABS=0x36End-0.5*tCK:     HC=0x03 ABS=0x1CFinal:       HC=0x03 ABS=0x36BYTE 3: Start:       HC=0x02 ABS=0x44End:         HC=0x04 ABS=0x20Mean:        HC=0x03 ABS=0x32End-0.5*tCK:     HC=0x03 ABS=0x20Final:       HC=0x03 ABS=0x32DQS calibration MMDC0 MPDGCTRL0 = 0x032E0334, MPDGCTRL1 = 0x03320336Note: Array result[] holds the DRAM test result of each byte.  0: test pass.  1: test fail  4 bits respresent the result of 1 byte.    result 0001:byte 0 fail. result 0011:byte 0, 1 fail. Starting Read calibration...ABS_OFFSET=0x00000000   result[00]=0x1111ABS_OFFSET=0x04040404   result[01]=0x1111ABS_OFFSET=0x08080808   result[02]=0x1111ABS_OFFSET=0x0C0C0C0C   result[03]=0x1111ABS_OFFSET=0x10101010   result[04]=0x1111ABS_OFFSET=0x14141414   result[05]=0x1011ABS_OFFSET=0x18181818   result[06]=0x1000ABS_OFFSET=0x1C1C1C1C   result[07]=0x1000ABS_OFFSET=0x20202020   result[08]=0x1000ABS_OFFSET=0x24242424   result[09]=0x0000ABS_OFFSET=0x28282828   result[0A]=0x0000ABS_OFFSET=0x2C2C2C2C   result[0B]=0x0000ABS_OFFSET=0x30303030   result[0C]=0x0000ABS_OFFSET=0x34343434   result[0D]=0x0000ABS_OFFSET=0x38383838   result[0E]=0x0000ABS_OFFSET=0x3C3C3C3C   result[0F]=0x0000ABS_OFFSET=0x40404040   result[10]=0x0000ABS_OFFSET=0x44444444   result[11]=0x0101ABS_OFFSET=0x48484848   result[12]=0x0101ABS_OFFSET=0x4C4C4C4C   result[13]=0x0111ABS_OFFSET=0x50505050   result[14]=0x0111ABS_OFFSET=0x54545454   result[15]=0x1111ABS_OFFSET=0x58585858   result[16]=0x1111ABS_OFFSET=0x5C5C5C5C   result[17]=0x1111ABS_OFFSET=0x60606060   result[18]=0x1111ABS_OFFSET=0x64646464   result[19]=0x1111ABS_OFFSET=0x68686868   result[1A]=0x1111ABS_OFFSET=0x6C6C6C6C   result[1B]=0x1111ABS_OFFSET=0x70707070   result[1C]=0x1111ABS_OFFSET=0x74747474   result[1D]=0x1111ABS_OFFSET=0x78787878   result[1E]=0x1111ABS_OFFSET=0x7C7C7C7C   result[1F]=0x1111Byte 0: (0x18 - 0x40), middle value:0x2cByte 1: (0x18 - 0x48), middle value:0x30Byte 2: (0x14 - 0x40), middle value:0x2aByte 3: (0x24 - 0x50), middle value:0x3aMMDC0 MPRDDLCTL = 0x3A2A302CStarting Write calibration...ABS_OFFSET=0x00000000   result[00]=0x1111ABS_OFFSET=0x04040404   result[01]=0x1111ABS_OFFSET=0x08080808   result[02]=0x1111ABS_OFFSET=0x0C0C0C0C   result[03]=0x0011ABS_OFFSET=0x10101010   result[04]=0x0010ABS_OFFSET=0x14141414   result[05]=0x0000ABS_OFFSET=0x18181818   result[06]=0x0000ABS_OFFSET=0x1C1C1C1C   result[07]=0x0000ABS_OFFSET=0x20202020   result[08]=0x0000ABS_OFFSET=0x24242424   result[09]=0x0000ABS_OFFSET=0x28282828   result[0A]=0x0000ABS_OFFSET=0x2C2C2C2C   result[0B]=0x0000ABS_OFFSET=0x30303030   result[0C]=0x0000ABS_OFFSET=0x34343434   result[0D]=0x0000ABS_OFFSET=0x38383838   result[0E]=0x0000ABS_OFFSET=0x3C3C3C3C   result[0F]=0x0000ABS_OFFSET=0x40404040   result[10]=0x0000ABS_OFFSET=0x44444444   result[11]=0x0000ABS_OFFSET=0x48484848   result[12]=0x0100ABS_OFFSET=0x4C4C4C4C   result[13]=0x1100ABS_OFFSET=0x50505050   result[14]=0x1111ABS_OFFSET=0x54545454   result[15]=0x1111ABS_OFFSET=0x58585858   result[16]=0x1111ABS_OFFSET=0x5C5C5C5C   result[17]=0x1111ABS_OFFSET=0x60606060   result[18]=0x1111ABS_OFFSET=0x64646464   result[19]=0x1111ABS_OFFSET=0x68686868   result[1A]=0x1111ABS_OFFSET=0x6C6C6C6C   result[1B]=0x1111ABS_OFFSET=0x70707070   result[1C]=0x1111ABS_OFFSET=0x74747474   result[1D]=0x1111ABS_OFFSET=0x78787878   result[1E]=0x1111ABS_OFFSET=0x7C7C7C7C   result[1F]=0x1111Byte 0: (0x10 - 0x4c), middle value:0x2eByte 1: (0x14 - 0x4c), middle value:0x30Byte 2: (0x0c - 0x44), middle value:0x28Byte 3: (0x0c - 0x48), middle value:0x2aMMDC0 MPWRDLCTL = 0x2A28302EMMDC registers updated from calibration Write leveling calibrationMMDC_MPWLDECTRL0 ch0 (0x021b080c) = 0x00250027MMDC_MPWLDECTRL1 ch0 (0x021b0810) = 0x00450034Read DQS Gating calibrationMPDGCTRL0 PHY0 (0x021b083c) = 0x032E0334MPDGCTRL1 PHY0 (0x021b0840) = 0x03320336Read calibrationMPRDDLCTL PHY0 (0x021b0848) = 0x3A2A302CWrite calibrationMPWRDLCTL PHY0 (0x021b0850) = 0x2A28302ESuccess: DDR calibration completed!!!
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  Write leveling calibrationMMDC_MPWLDECTRL0 ch0 (0x021b080c) = 0x00250027MMDC_MPWLDECTRL1 ch0 (0x021b0810) = 0x00450034Read DQS Gating calibrationMPDGCTRL0 PHY0 (0x021b083c) = 0x032E0334MPDGCTRL1 PHY0 (0x021b0840) = 0x03320336Read calibrationMPRDDLCTL PHY0 (0x021b0848) = 0x3A2A302CWrite calibrationMPWRDLCTL PHY0 (0x021b0850) = 0x2A28302E
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这里得到的这几个寄存器的值就是我们需要的，根据这几个值修改：
uboot中[.cfg][6]文件，例如：
/board/freescale/mx6sabresd/xxxxx.cfg

/** Copyright (C) 2015 FEDEVEL** SPDX-License-Identifier: GPL-2.0+** Refer docs/README.imxmage for more details about how-to configure* and create imximage boot image** The syntax is taken as close as possible with the kwbimage*//* image version */IMAGE_VERSION 2/** Boot Device : one of* spi, sd (the board has no nand neither onenand)*/BOOT_FROM   sd/*
//=============================================================================
// DDR Controller Registers
//=============================================================================
// Manufacturer:    Micron
// Device Part Number:  MT41K256M16HA-125
// Clock Freq.:     528MHz
// Density per CS in Gb:    8
// Chip Selects used:   1
// Number of Banks: 8
// Row address:     15
// Column address:  10
// Data bus width   32
//=============================================================================
*//** Device Configuration Data (DCD)** Each entry must have the format:* Addr-type           Address        Value** where:*  Addr-type register length (1,2 or 4 bytes)*  Address   absolute address of the register*  value     value to be stored in the register*/
DATA 4 0x020e0798 0x000C0000
DATA 4 0x020e0758 0x00000000
DATA 4 0x020e0588 0x00000028
DATA 4 0x020e0594 0x00000028
DATA 4 0x020e056c 0x00000028
DATA 4 0x020e0578 0x00000028
DATA 4 0x020e074c 0x00000028
DATA 4 0x020e057c 0x00000028
DATA 4 0x020e058c 0x00000000
DATA 4 0x020e059c 0x00000028
DATA 4 0x020e05a0 0x00000028
DATA 4 0x020e078c 0x00000028
DATA 4 0x020e0750 0x00020000
DATA 4 0x020e05a8 0x00000028
DATA 4 0x020e05b0 0x00000028
DATA 4 0x020e0524 0x00000028
DATA 4 0x020e051c 0x00000028
DATA 4 0x020e0774 0x00020000 /**/
DATA 4 0x020e0784 0x00000028
DATA 4 0x020e0788 0x00000028
DATA 4 0x020e0794 0x00000028
DATA 4 0x020e079c 0x00000028
DATA 4 0x020e05ac 0x00000028 /**/
DATA 4 0x020e05b4 0x00000028
DATA 4 0x020e0528 0x00000028
DATA 4 0x020e0520 0x00000028
DATA 4 0x021b001c 0x00008000 /**/
DATA 4 0x021b0800 0xA1390003
DATA 4 0x021b080c 0x00250027 
DATA 4 0x021b0810 0x00450034 
DATA 4 0x021b083c 0x032E0334 
DATA 4 0x021b0840 0x03320336 
DATA 4 0x021b0848 0x3A2A302C 
DATA 4 0x021b0850 0x2A28302E 
DATA 4 0x021b081c 0x33333333
DATA 4 0x021b0820 0x33333333
DATA 4 0x021b0824 0x33333333
DATA 4 0x021b0828 0x33333333
DATA 4 0x021b08b8 0x00000800
DATA 4 0x021b0004 0x00020036
DATA 4 0x021b0008 0x09444040
DATA 4 0x021b000c 0x898E7955
DATA 4 0x021b0010 0xFF328F64
DATA 4 0x021b0014 0x01FF00DB
DATA 4 0x021b0018 0x00011740
DATA 4 0x021b001c 0x00008000
DATA 4 0x021b002c 0x000026D2
DATA 4 0x021b0030 0x008E1023
DATA 4 0x021b0040 0x00000027
DATA 4 0x021b0000 0x84190000
DATA 4 0x021b001c 0x02088032
DATA 4 0x021b001c 0x00008033
DATA 4 0x021b001c 0x00048031
DATA 4 0x021b001c 0x09408030
DATA 4 0x021b001c 0x04008040
DATA 4 0x021b0020 0x00007800
DATA 4 0x021b0818 0x00022227
DATA 4 0x021b0004 0x00025576
DATA 4 0x021b0404 0x00011006
DATA 4 0x021b001c 0x00000000/* set the default clock gate to save power */
DATA 4 0x020c4068 0x00C03F3F
DATA 4 0x020c406c 0x0030FC03
DATA 4 0x020c4070 0x0FFFC000
DATA 4 0x020c4074 0x3FF00000
DATA 4 0x020c4078 0x00FFF300
DATA 4 0x020c407c 0x0F0000C3
DATA 4 0x020c4080 0x000003FF/* enable AXI cache for VDOA/VPU/IPU */
DATA 4 0x020e0010 0xF00000CF
/* set IPU AXI-id0 Qos=0xf(bypass) AXI-id1 Qos=0x7 */
DATA 4 0x020e0018 0x007F007F
DATA 4 0x020e001c 0x007F007F
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当然最后还需要重新编译下uboot，然后烧到板子上，启动：

U-Boot 2015.04-14468-gd7d7c43-dirty (Jun 24 2016 - 09:55:12)

CPU: Freescale i.MX6Q rev1.5 at 792 MHz
CPU: Temperature 40 C
Reset cause: POR
Board: MX6Q-Sabreauto revA
I2C: ready
DRAM: 1 GiB
PMIC: PFUZE100 ID=0x10
MMC: FSL_SDHC: 0
SF: Detected M25P32 with page size 256 Bytes, erase size 64 KiB, total 4 MiB
In: serial
Out: serial
Err: serial
Net: FEC [PRIME]
Boot from USB for mfgtools
Use default environment for mfgtools
Run bootcmd_mfg: run mfgtool_args;bootz loadaddr” role=”presentation” style=”position: relative;”>loadaddrloadaddr{initrd_addr} ${fdt_addr};
Hit any key to stop autoboot: 0
=>


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