Add code for tutorial 08
parent
2933bcf162
commit
219493242c
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{
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"editor.formatOnSave": true,
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"rust.features": [
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"bsp_rpi3"
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],
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"rust.all_targets": false,
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"editor.rulers": [
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100
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],
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}
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# This file is automatically @generated by Cargo.
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# It is not intended for manual editing.
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[[package]]
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name = "cortex-a"
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version = "2.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"register 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "kernel"
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version = "0.1.0"
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dependencies = [
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"cortex-a 2.7.0 (registry+https://github.com/rust-lang/crates.io-index)",
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"r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
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"register 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "r0"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "register"
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version = "0.3.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"tock-registers 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "tock-registers"
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version = "0.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[metadata]
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"checksum cortex-a 2.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "cbb16c411ab74044f174746a6cbae67bcdebea126e376b5441e5986e6a6aa950"
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"checksum r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
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"checksum register 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)" = "469bb5ddde81d67fb8bba4e14d77689b8166cfd077abe7530591cefe29d05823"
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"checksum tock-registers 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)" = "c758f5195a2e0df9d9fecf6f506506b2766ff74cf64db1e995c87e2761a5c3e2"
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[package]
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name = "kernel"
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version = "0.1.0"
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authors = ["Andre Richter <andre.o.richter@gmail.com>"]
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edition = "2018"
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[package.metadata.cargo-xbuild]
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sysroot_path = "../xbuild_sysroot"
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# The features section is used to select the target board.
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[features]
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default = []
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bsp_rpi3 = ["cortex-a", "register"]
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[dependencies]
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r0 = "0.2.*"
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# Optional dependencies
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cortex-a = { version = "2.*", optional = true }
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register = { version = "0.3.*", optional = true }
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## SPDX-License-Identifier: MIT
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##
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## Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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# Default to the RPi3
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ifndef BSP
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BSP = bsp_rpi3
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endif
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# BSP-specific arguments
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ifeq ($(BSP),bsp_rpi3)
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TARGET = aarch64-unknown-none-softfloat
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OUTPUT = kernel8.img
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QEMU_BINARY = qemu-system-aarch64
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QEMU_MACHINE_TYPE = raspi3
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QEMU_MISC_ARGS = -serial null -serial stdio
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LINKER_FILE = src/bsp/rpi3/link.ld
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RUSTC_MISC_ARGS = -C target-cpu=cortex-a53
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endif
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SOURCES = $(wildcard **/*.rs) $(wildcard **/*.S) $(wildcard **/*.ld)
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XRUSTC_CMD = cargo xrustc \
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--target=$(TARGET) \
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--features $(BSP) \
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--release \
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-- \
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-C link-arg=-T$(LINKER_FILE) \
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$(RUSTC_MISC_ARGS)
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CARGO_OUTPUT = target/$(TARGET)/release/kernel
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OBJCOPY_CMD = cargo objcopy \
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-- \
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--strip-all \
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-O binary
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CONTAINER_UTILS = rustembedded/osdev-utils
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DOCKER_CMD = docker run -it --rm
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DOCKER_ARG_CURDIR = -v $(shell pwd):/work -w /work
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DOCKER_ARG_TTY = --privileged -v /dev:/dev
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DOCKER_EXEC_QEMU = $(QEMU_BINARY) -M $(QEMU_MACHINE_TYPE) -kernel $(OUTPUT)
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DOCKER_EXEC_RASPBOOT = raspbootcom
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DOCKER_EXEC_RASPBOOT_DEV = /dev/ttyUSB0
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# DOCKER_EXEC_RASPBOOT_DEV = /dev/ttyACM0
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.PHONY: all doc qemu chainboot clippy clean readelf objdump nm
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all: clean $(OUTPUT)
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$(CARGO_OUTPUT): $(SOURCES)
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RUSTFLAGS="-D warnings -D missing_docs" $(XRUSTC_CMD)
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$(OUTPUT): $(CARGO_OUTPUT)
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cp $< .
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$(OBJCOPY_CMD) $< $(OUTPUT)
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doc:
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cargo xdoc --target=$(TARGET) --features $(BSP) --document-private-items
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xdg-open target/$(TARGET)/doc/kernel/index.html
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qemu: all
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$(DOCKER_CMD) $(DOCKER_ARG_CURDIR) $(CONTAINER_UTILS) \
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$(DOCKER_EXEC_QEMU) $(QEMU_MISC_ARGS)
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chainboot: all
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$(DOCKER_CMD) $(DOCKER_ARG_CURDIR) $(DOCKER_ARG_TTY) \
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$(CONTAINER_UTILS) $(DOCKER_EXEC_RASPBOOT) $(DOCKER_EXEC_RASPBOOT_DEV) \
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$(OUTPUT)
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clippy:
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cargo xclippy --target=$(TARGET) --features $(BSP)
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clean:
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cargo clean
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readelf:
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readelf -a kernel
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objdump:
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cargo objdump --target $(TARGET) -- -disassemble -print-imm-hex kernel
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nm:
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cargo nm --target $(TARGET) -- kernel | sort
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# Tutorial 08 - Timestamps
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## tl;dr
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We add abstractions for the architectural timer, implement it for `aarch64` and
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use it to annotate prints with timestamps; A `warn!()` macro is added.
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Check it out via chainboot (added in previous tutorial):
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```console
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make chainboot
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[...]
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### Listening on /dev/ttyUSB0
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__ __ _ _ _ _
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| \/ (_)_ _ (_) | ___ __ _ __| |
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| |\/| | | ' \| | |__/ _ \/ _` / _` |
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|_| |_|_|_||_|_|____\___/\__,_\__,_|
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Raspberry Pi 3
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[ML] Requesting binary
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### sending kernel kernel8.img [13872 byte]
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### finished sending
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[ML] Loaded! Executing the payload now
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[ 1.233286] Booting on: Raspberry Pi 3
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[ 1.236282] Architectural timer resolution: 52 ns
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[ 1.241023] Drivers loaded:
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[ 1.243833] 1. GPIO
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[ 1.246467] 2. MiniUart
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[W 1.249453] Spin duration smaller than architecturally supported, skipping
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[ 1.256390] Spinning for 1 second
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[ 2.259728] Spinning for 1 second
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[ 3.262286] Spinning for 1 second
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```
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## Diff to previous
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```diff
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Binary files 07_uart_chainloader/demo_payload.img and 08_timestamps/demo_payload.img differ
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diff -uNr 07_uart_chainloader/Makefile 08_timestamps/Makefile
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--- 07_uart_chainloader/Makefile
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+++ 08_timestamps/Makefile
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@@ -15,7 +15,7 @@
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QEMU_MACHINE_TYPE = raspi3
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QEMU_MISC_ARGS = -serial null -serial stdio
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LINKER_FILE = src/bsp/rpi3/link.ld
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- RUSTC_MISC_ARGS = -C target-cpu=cortex-a53 -C relocation-model=pic
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+ RUSTC_MISC_ARGS = -C target-cpu=cortex-a53
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endif
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SOURCES = $(wildcard **/*.rs) $(wildcard **/*.S) $(wildcard **/*.ld)
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@@ -46,7 +46,7 @@
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DOCKER_EXEC_RASPBOOT_DEV = /dev/ttyUSB0
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# DOCKER_EXEC_RASPBOOT_DEV = /dev/ttyACM0
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-.PHONY: all doc qemu qemuasm chainboot clippy clean readelf objdump nm
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+.PHONY: all doc qemu chainboot clippy clean readelf objdump nm
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all: clean $(OUTPUT)
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@@ -65,14 +65,10 @@
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$(DOCKER_CMD) $(DOCKER_ARG_CURDIR) $(CONTAINER_UTILS) \
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$(DOCKER_EXEC_QEMU) $(QEMU_MISC_ARGS)
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-qemuasm: all
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- $(DOCKER_CMD) $(DOCKER_ARG_CURDIR) $(CONTAINER_UTILS) \
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- $(DOCKER_EXEC_QEMU) -d in_asm
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-
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-chainboot:
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+chainboot: all
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$(DOCKER_CMD) $(DOCKER_ARG_CURDIR) $(DOCKER_ARG_TTY) \
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$(CONTAINER_UTILS) $(DOCKER_EXEC_RASPBOOT) $(DOCKER_EXEC_RASPBOOT_DEV) \
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- demo_payload.img
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+ $(OUTPUT)
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clippy:
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cargo xclippy --target=$(TARGET) --features $(BSP)
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diff -uNr 07_uart_chainloader/src/arch/aarch64/time.rs 08_timestamps/src/arch/aarch64/time.rs
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--- 07_uart_chainloader/src/arch/aarch64/time.rs
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+++ 08_timestamps/src/arch/aarch64/time.rs
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@@ -0,0 +1,77 @@
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+// SPDX-License-Identifier: MIT
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+//
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+// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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+
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+//! Timer primitives.
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+
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+use crate::{interface, warn};
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+use core::time::Duration;
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+use cortex_a::regs::*;
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+
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+const NS_PER_S: u64 = 1_000_000_000;
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+
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+pub struct Timer;
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+
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+impl interface::time::Timer for Timer {
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+ fn resoultion(&self) -> Duration {
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+ Duration::from_nanos(NS_PER_S / (CNTFRQ_EL0.get() as u64))
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+ }
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+
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+ fn uptime(&self) -> Duration {
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+ let frq: u64 = CNTFRQ_EL0.get() as u64;
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+ let current_count: u64 = CNTPCT_EL0.get() * NS_PER_S;
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+
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+ Duration::from_nanos(current_count / frq)
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+ }
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+
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+ fn spin_for(&self, duration: Duration) {
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+ // Instantly return on zero.
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+ if duration.as_nanos() == 0 {
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+ return;
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+ }
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+
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+ // Calculate the register compare value.
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+ let frq = CNTFRQ_EL0.get() as u64;
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+ let x = match frq.checked_mul(duration.as_nanos() as u64) {
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+ None => {
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+ warn!("Spin duration too long, skipping");
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+ return;
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+ }
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+ Some(val) => val,
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+ };
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+ let tval = x / NS_PER_S;
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+
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+ // Check if it is within supported bounds.
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+ let warn: Option<&str> = if tval == 0 {
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+ Some("smaller")
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+ } else if tval > u32::max_value().into() {
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+ Some("bigger")
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+ } else {
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+ None
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+ };
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+
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+ if let Some(w) = warn {
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+ warn!(
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+ "Spin duration {} than architecturally supported, skipping",
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+ w
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+ );
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+ return;
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+ }
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+
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+ // Set the compare value register.
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+ CNTP_TVAL_EL0.set(tval as u32);
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+
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+ // Kick off the counting. // Disable timer interrupt.
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+ CNTP_CTL_EL0.modify(CNTP_CTL_EL0::ENABLE::SET + CNTP_CTL_EL0::IMASK::SET);
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+
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+ loop {
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+ // ISTATUS will be '1' when cval ticks have passed. Busy-check it.
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+ if CNTP_CTL_EL0.is_set(CNTP_CTL_EL0::ISTATUS) {
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+ break;
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+ }
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+ }
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+
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+ // Disable counting again.
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+ CNTP_CTL_EL0.modify(CNTP_CTL_EL0::ENABLE::CLEAR);
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+ }
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+}
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diff -uNr 07_uart_chainloader/src/arch/aarch64.rs 08_timestamps/src/arch/aarch64.rs
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--- 07_uart_chainloader/src/arch/aarch64.rs
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+++ 08_timestamps/src/arch/aarch64.rs
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@@ -5,8 +5,9 @@
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//! AArch64.
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pub mod sync;
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+mod time;
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-use crate::bsp;
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+use crate::{bsp, interface};
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use cortex_a::{asm, regs::*};
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/// The entry of the `kernel` binary.
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@@ -22,7 +23,7 @@
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if bsp::BOOT_CORE_ID == MPIDR_EL1.get() & CORE_MASK {
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SP.set(bsp::BOOT_CORE_STACK_START);
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- crate::relocate::relocate_self::<u64>()
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+ crate::runtime_init::init()
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} else {
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// if not core0, infinitely wait for events
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wait_forever()
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@@ -30,6 +31,12 @@
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}
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//--------------------------------------------------------------------------------------------------
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+// Global instances
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+//--------------------------------------------------------------------------------------------------
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+
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+static TIMER: time::Timer = time::Timer;
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+
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+//--------------------------------------------------------------------------------------------------
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// Implementation of the kernel's architecture abstraction code
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//--------------------------------------------------------------------------------------------------
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@@ -42,6 +49,11 @@
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}
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}
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+/// Return a reference to a `interface::time::TimeKeeper` implementation.
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+pub fn timer() -> &'static impl interface::time::Timer {
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+ &TIMER
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+}
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+
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/// Pause execution on the calling CPU core.
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#[inline(always)]
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pub fn wait_forever() -> ! {
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diff -uNr 07_uart_chainloader/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs 08_timestamps/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
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--- 07_uart_chainloader/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
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+++ 08_timestamps/src/bsp/driver/bcm/bcm2xxx_mini_uart.rs
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@@ -272,7 +272,14 @@
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}
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// Read one character.
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- inner.AUX_MU_IO.get() as u8 as char
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+ let mut ret = inner.AUX_MU_IO.get() as u8 as char;
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+
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+ // Convert carrige return to newline.
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+ if ret == '
' {
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+ ret = '
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'
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+ }
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+
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+ ret
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})
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}
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diff -uNr 07_uart_chainloader/src/bsp/rpi3/link.ld 08_timestamps/src/bsp/rpi3/link.ld
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--- 07_uart_chainloader/src/bsp/rpi3/link.ld
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+++ 08_timestamps/src/bsp/rpi3/link.ld
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@@ -5,10 +5,9 @@
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SECTIONS
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{
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- /* Set the link address to the top-most 40 KiB of DRAM */
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- . = 0x3F000000 - 0x10000;
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+ /* Set current address to the value from which the RPi3 starts execution */
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+ . = 0x80000;
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- __binary_start = .;
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.text :
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{
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*(.text._start) *(.text*)
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@@ -32,14 +31,5 @@
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__bss_end = .;
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}
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- .got :
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- {
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- *(.got*)
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- }
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-
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- /* Fill up to 8 byte, b/c relocating the binary is done in u64 chunks */
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- . = ALIGN(8);
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- __binary_end = .;
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-
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/DISCARD/ : { *(.comment*) }
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}
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diff -uNr 07_uart_chainloader/src/bsp/rpi3.rs 08_timestamps/src/bsp/rpi3.rs
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--- 07_uart_chainloader/src/bsp/rpi3.rs
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+++ 08_timestamps/src/bsp/rpi3.rs
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@@ -12,9 +12,6 @@
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pub const BOOT_CORE_ID: u64 = 0;
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pub const BOOT_CORE_STACK_START: u64 = 0x80_000;
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-/// The address on which the RPi3 firmware loads every binary by default.
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-pub const BOARD_DEFAULT_LOAD_ADDRESS: usize = 0x80_000;
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-
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//--------------------------------------------------------------------------------------------------
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// Global BSP driver instances
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//--------------------------------------------------------------------------------------------------
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diff -uNr 07_uart_chainloader/src/interface.rs 08_timestamps/src/interface.rs
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--- 07_uart_chainloader/src/interface.rs
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+++ 08_timestamps/src/interface.rs
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@@ -108,3 +108,22 @@
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}
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}
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}
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+
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+/// Timekeeping interfaces.
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+pub mod time {
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+ use core::time::Duration;
|
||||
+
|
||||
+ /// Timer functions.
|
||||
+ pub trait Timer {
|
||||
+ /// The timer's resolution.
|
||||
+ fn resoultion(&self) -> Duration;
|
||||
+
|
||||
+ /// The uptime since power-on of the device.
|
||||
+ ///
|
||||
+ /// This includes time consumed by firmware and bootloaders.
|
||||
+ fn uptime(&self) -> Duration;
|
||||
+
|
||||
+ /// Spin for a given duration.
|
||||
+ fn spin_for(&self, duration: Duration);
|
||||
+ }
|
||||
+}
|
||||
|
||||
diff -uNr 07_uart_chainloader/src/main.rs 08_timestamps/src/main.rs
|
||||
--- 07_uart_chainloader/src/main.rs
|
||||
+++ 08_timestamps/src/main.rs
|
||||
@@ -29,11 +29,7 @@
|
||||
// the first function to run.
|
||||
mod arch;
|
||||
|
||||
-// `_start()` then calls `relocate::relocate_self()`.
|
||||
-mod relocate;
|
||||
-
|
||||
-// `relocate::relocate_self()` calls `runtime_init::init()`, which on completion, jumps to
|
||||
-// `kernel_init()`.
|
||||
+// `_start()` then calls `runtime_init::init()`, which on completion, jumps to `kernel_init()`.
|
||||
mod runtime_init;
|
||||
|
||||
// Conditionally includes the selected `BSP` code.
|
||||
@@ -68,50 +64,25 @@
|
||||
|
||||
/// The main function running after the early init.
|
||||
fn kernel_main() -> ! {
|
||||
- use interface::console::All;
|
||||
-
|
||||
- println!(" __ __ _ _ _ _ ");
|
||||
- println!("| \/ (_)_ _ (_) | ___ __ _ __| |");
|
||||
- println!("| |\/| | | ' \| | |__/ _ \/ _` / _` |");
|
||||
- println!("|_| |_|_|_||_|_|____\___/\__,_\__,_|");
|
||||
- println!();
|
||||
- println!("{:^37}", bsp::board_name());
|
||||
- println!();
|
||||
- println!("[ML] Requesting binary");
|
||||
- bsp::console().flush();
|
||||
-
|
||||
- // Clear the RX FIFOs, if any, of spurious received characters before starting with the loader
|
||||
- // protocol.
|
||||
- bsp::console().clear();
|
||||
-
|
||||
- // Notify raspbootcom to send the binary.
|
||||
- for _ in 0..3 {
|
||||
- bsp::console().write_char(3 as char);
|
||||
- }
|
||||
+ use core::time::Duration;
|
||||
+ use interface::time::Timer;
|
||||
|
||||
- // Read the binary's size.
|
||||
- let mut size: u32 = u32::from(bsp::console().read_char() as u8);
|
||||
- size |= u32::from(bsp::console().read_char() as u8) << 8;
|
||||
- size |= u32::from(bsp::console().read_char() as u8) << 16;
|
||||
- size |= u32::from(bsp::console().read_char() as u8) << 24;
|
||||
-
|
||||
- // Trust it's not too big.
|
||||
- print!("OK");
|
||||
-
|
||||
- let kernel_addr: *mut u8 = bsp::BOARD_DEFAULT_LOAD_ADDRESS as *mut u8;
|
||||
- unsafe {
|
||||
- // Read the kernel byte by byte.
|
||||
- for i in 0..size {
|
||||
- *kernel_addr.offset(i as isize) = bsp::console().read_char() as u8;
|
||||
- }
|
||||
+ println!("Booting on: {}", bsp::board_name());
|
||||
+ println!(
|
||||
+ "Architectural timer resolution: {} ns",
|
||||
+ arch::timer().resoultion().as_nanos()
|
||||
+ );
|
||||
+
|
||||
+ println!("Drivers loaded:");
|
||||
+ for (i, driver) in bsp::device_drivers().iter().enumerate() {
|
||||
+ println!(" {}. {}", i + 1, driver.compatible());
|
||||
}
|
||||
|
||||
- println!("[ML] Loaded! Executing the payload now
|
||||
");
|
||||
- bsp::console().flush();
|
||||
-
|
||||
- // Use black magic to get a function pointer.
|
||||
- let kernel: extern "C" fn() -> ! = unsafe { core::mem::transmute(kernel_addr as *const ()) };
|
||||
+ // Test a failing timer case.
|
||||
+ arch::timer().spin_for(Duration::from_nanos(1));
|
||||
|
||||
- // Jump to loaded kernel!
|
||||
- kernel()
|
||||
+ loop {
|
||||
+ println!("Spinning for 1 second");
|
||||
+ arch::timer().spin_for(Duration::from_secs(1));
|
||||
+ }
|
||||
}
|
||||
|
||||
diff -uNr 07_uart_chainloader/src/print.rs 08_timestamps/src/print.rs
|
||||
--- 07_uart_chainloader/src/print.rs
|
||||
+++ 08_timestamps/src/print.rs
|
||||
@@ -16,13 +16,71 @@
|
||||
}
|
||||
|
||||
/// Prints with a newline.
|
||||
-///
|
||||
-/// Carbon copy from https://doc.rust-lang.org/src/std/macros.rs.html
|
||||
#[macro_export]
|
||||
macro_rules! println {
|
||||
() => ($crate::print!("
|
||||
"));
|
||||
- ($($arg:tt)*) => ({
|
||||
- $crate::print::_print(format_args_nl!($($arg)*));
|
||||
+ ($string:expr) => ({
|
||||
+ #[allow(unused_imports)]
|
||||
+ use crate::interface::time::Timer;
|
||||
+
|
||||
+ let timestamp = $crate::arch::timer().uptime();
|
||||
+ let timestamp_subsec_us = timestamp.subsec_micros();
|
||||
+
|
||||
+ $crate::print::_print(format_args_nl!(
|
||||
+ concat!("[ {:>3}.{:03}{:03}] ", $string),
|
||||
+ timestamp.as_secs(),
|
||||
+ timestamp_subsec_us / 1_000,
|
||||
+ timestamp_subsec_us modulo 1_000
|
||||
+ ));
|
||||
+ });
|
||||
+ ($format_string:expr, $($arg:tt)*) => ({
|
||||
+ #[allow(unused_imports)]
|
||||
+ use crate::interface::time::Timer;
|
||||
+
|
||||
+ let timestamp = $crate::arch::timer().uptime();
|
||||
+ let timestamp_subsec_us = timestamp.subsec_micros();
|
||||
+
|
||||
+ $crate::print::_print(format_args_nl!(
|
||||
+ concat!("[ {:>3}.{:03}{:03}] ", $format_string),
|
||||
+ timestamp.as_secs(),
|
||||
+ timestamp_subsec_us / 1_000,
|
||||
+ timestamp_subsec_us modulo 1_000,
|
||||
+ $($arg)*
|
||||
+ ));
|
||||
+ })
|
||||
+}
|
||||
+
|
||||
+/// Prints a warning, with newline.
|
||||
+#[macro_export]
|
||||
+macro_rules! warn {
|
||||
+ ($string:expr) => ({
|
||||
+ #[allow(unused_imports)]
|
||||
+ use crate::interface::time::Timer;
|
||||
+
|
||||
+ let timestamp = $crate::arch::timer().uptime();
|
||||
+ let timestamp_subsec_us = timestamp.subsec_micros();
|
||||
+
|
||||
+ $crate::print::_print(format_args_nl!(
|
||||
+ concat!("[W {:>3}.{:03}{:03}] ", $string),
|
||||
+ timestamp.as_secs(),
|
||||
+ timestamp_subsec_us / 1_000,
|
||||
+ timestamp_subsec_us modulo 1_000
|
||||
+ ));
|
||||
+ });
|
||||
+ ($format_string:expr, $($arg:tt)*) => ({
|
||||
+ #[allow(unused_imports)]
|
||||
+ use crate::interface::time::Timer;
|
||||
+
|
||||
+ let timestamp = $crate::arch::timer().uptime();
|
||||
+ let timestamp_subsec_us = timestamp.subsec_micros();
|
||||
+
|
||||
+ $crate::print::_print(format_args_nl!(
|
||||
+ concat!("[W {:>3}.{:03}{:03}] ", $format_string),
|
||||
+ timestamp.as_secs(),
|
||||
+ timestamp_subsec_us / 1_000,
|
||||
+ timestamp_subsec_us modulo 1_000,
|
||||
+ $($arg)*
|
||||
+ ));
|
||||
})
|
||||
}
|
||||
|
||||
|
||||
diff -uNr 07_uart_chainloader/src/relocate.rs 08_timestamps/src/relocate.rs
|
||||
--- 07_uart_chainloader/src/relocate.rs
|
||||
+++ 08_timestamps/src/relocate.rs
|
||||
@@ -1,46 +0,0 @@
|
||||
-// SPDX-License-Identifier: MIT
|
||||
-//
|
||||
-// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
-
|
||||
-//! Relocation code.
|
||||
-
|
||||
-/// Relocates the own binary from `bsp::BOARD_DEFAULT_LOAD_ADDRESS` to the `__binary_start` address
|
||||
-/// from the linker script.
|
||||
-///
|
||||
-/// # Safety
|
||||
-///
|
||||
-/// - Only a single core must be active and running this function.
|
||||
-/// - Function must not use the `bss` section.
|
||||
-pub unsafe fn relocate_self<T>() -> ! {
|
||||
- extern "C" {
|
||||
- static __binary_start: usize;
|
||||
- static __binary_end: usize;
|
||||
- }
|
||||
-
|
||||
- let binary_start_addr: usize = &__binary_start as *const _ as _;
|
||||
- let binary_end_addr: usize = &__binary_end as *const _ as _;
|
||||
- let binary_size_in_byte: usize = binary_end_addr - binary_start_addr;
|
||||
-
|
||||
- // Get the relocation destination address from the linker symbol.
|
||||
- let mut reloc_dst_addr: *mut T = binary_start_addr as *mut T;
|
||||
-
|
||||
- // The address of where the previous firmware loaded us.
|
||||
- let mut src_addr: *const T = crate::bsp::BOARD_DEFAULT_LOAD_ADDRESS as *const _;
|
||||
-
|
||||
- // Copy the whole binary.
|
||||
- //
|
||||
- // This is essentially a `memcpy()` optimized for throughput by transferring in chunks of T.
|
||||
- let n = binary_size_in_byte / core::mem::size_of::<T>();
|
||||
- for _ in 0..n {
|
||||
- use core::ptr;
|
||||
-
|
||||
- ptr::write_volatile::<T>(reloc_dst_addr, ptr::read_volatile::<T>(src_addr));
|
||||
- reloc_dst_addr = reloc_dst_addr.offset(1);
|
||||
- src_addr = src_addr.offset(1);
|
||||
- }
|
||||
-
|
||||
- // Call `init()` through a trait object, causing the jump to use an absolute address to reach
|
||||
- // the relocated binary. An elaborate explanation can be found in the runtime_init.rs source
|
||||
- // comments.
|
||||
- crate::runtime_init::get().init()
|
||||
-}
|
||||
|
||||
diff -uNr 07_uart_chainloader/src/runtime_init.rs 08_timestamps/src/runtime_init.rs
|
||||
--- 07_uart_chainloader/src/runtime_init.rs
|
||||
+++ 08_timestamps/src/runtime_init.rs
|
||||
@@ -4,39 +4,21 @@
|
||||
|
||||
//! Rust runtime initialization code.
|
||||
|
||||
-/// We are outsmarting the compiler here by using a trait as a layer of indirection. Because we are
|
||||
-/// generating PIC code, a static dispatch to `init()` would generate a relative jump from the
|
||||
-/// callee to `init()`. However, when calling `init()`, code just finished copying the binary to the
|
||||
-/// actual link-time address, and hence is still running at whatever location the previous loader
|
||||
-/// has put it. So we do not want a relative jump, because it would not jump to the relocated code.
|
||||
+/// Equivalent to `crt0` or `c0` code in C/C++ world. Clears the `bss` section, then jumps to kernel
|
||||
+/// init code.
|
||||
///
|
||||
-/// By indirecting through a trait object, we can make use of the property that vtables store
|
||||
-/// absolute addresses. So calling `init()` this way will kick execution to the relocated binary.
|
||||
-pub trait RunTimeInit {
|
||||
- /// Equivalent to `crt0` or `c0` code in C/C++ world. Clears the `bss` section, then jumps to kernel
|
||||
- /// init code.
|
||||
- ///
|
||||
- /// # Safety
|
||||
- ///
|
||||
- /// - Only a single core must be active and running this function.
|
||||
- unsafe fn init(&self) -> ! {
|
||||
- extern "C" {
|
||||
- // Boundaries of the .bss section, provided by the linker script.
|
||||
- static mut __bss_start: u64;
|
||||
- static mut __bss_end: u64;
|
||||
- }
|
||||
-
|
||||
- // Zero out the .bss section.
|
||||
- r0::zero_bss(&mut __bss_start, &mut __bss_end);
|
||||
-
|
||||
- crate::kernel_init()
|
||||
+/// # Safety
|
||||
+///
|
||||
+/// - Only a single core must be active and running this function.
|
||||
+pub unsafe fn init() -> ! {
|
||||
+ extern "C" {
|
||||
+ // Boundaries of the .bss section, provided by the linker script.
|
||||
+ static mut __bss_start: u64;
|
||||
+ static mut __bss_end: u64;
|
||||
}
|
||||
-}
|
||||
|
||||
-struct Traitor;
|
||||
-impl RunTimeInit for Traitor {}
|
||||
+ // Zero out the .bss section.
|
||||
+ r0::zero_bss(&mut __bss_start, &mut __bss_end);
|
||||
|
||||
-/// Give the callee a `RunTimeInit` trait object.
|
||||
-pub fn get() -> &'static dyn RunTimeInit {
|
||||
- &Traitor {}
|
||||
+ crate::kernel_init()
|
||||
}
|
||||
```
|
Binary file not shown.
Binary file not shown.
@ -0,0 +1,11 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Conditional exporting of processor architecture code.
|
||||
|
||||
#[cfg(feature = "bsp_rpi3")]
|
||||
mod aarch64;
|
||||
|
||||
#[cfg(feature = "bsp_rpi3")]
|
||||
pub use aarch64::*;
|
@ -0,0 +1,63 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! AArch64.
|
||||
|
||||
pub mod sync;
|
||||
mod time;
|
||||
|
||||
use crate::{bsp, interface};
|
||||
use cortex_a::{asm, regs::*};
|
||||
|
||||
/// The entry of the `kernel` binary.
|
||||
///
|
||||
/// The function must be named `_start`, because the linker is looking for this exact name.
|
||||
///
|
||||
/// # Safety
|
||||
///
|
||||
/// - Linker script must ensure to place this function at `0x80_000`.
|
||||
#[no_mangle]
|
||||
pub unsafe extern "C" fn _start() -> ! {
|
||||
const CORE_MASK: u64 = 0x3;
|
||||
|
||||
if bsp::BOOT_CORE_ID == MPIDR_EL1.get() & CORE_MASK {
|
||||
SP.set(bsp::BOOT_CORE_STACK_START);
|
||||
crate::runtime_init::init()
|
||||
} else {
|
||||
// if not core0, infinitely wait for events
|
||||
wait_forever()
|
||||
}
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// Global instances
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
|
||||
static TIMER: time::Timer = time::Timer;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// Implementation of the kernel's architecture abstraction code
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
|
||||
pub use asm::nop;
|
||||
|
||||
/// Spin for `n` cycles.
|
||||
pub fn spin_for_cycles(n: usize) {
|
||||
for _ in 0..n {
|
||||
asm::nop();
|
||||
}
|
||||
}
|
||||
|
||||
/// Return a reference to a `interface::time::TimeKeeper` implementation.
|
||||
pub fn timer() -> &'static impl interface::time::Timer {
|
||||
&TIMER
|
||||
}
|
||||
|
||||
/// Pause execution on the calling CPU core.
|
||||
#[inline(always)]
|
||||
pub fn wait_forever() -> ! {
|
||||
loop {
|
||||
asm::wfe()
|
||||
}
|
||||
}
|
@ -0,0 +1,44 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Synchronization primitives.
|
||||
|
||||
use crate::interface;
|
||||
use core::cell::UnsafeCell;
|
||||
|
||||
/// A pseudo-lock for teaching purposes.
|
||||
///
|
||||
/// Used to introduce [interior mutability].
|
||||
///
|
||||
/// In contrast to a real Mutex implementation, does not protect against concurrent access to the
|
||||
/// contained data. This part is preserved for later lessons.
|
||||
///
|
||||
/// The lock will only be used as long as it is safe to do so, i.e. as long as the kernel is
|
||||
/// executing single-threaded, aka only running on a single core with interrupts disabled.
|
||||
///
|
||||
/// [interior mutability]: https://doc.rust-lang.org/std/cell/index.html
|
||||
pub struct NullLock<T: ?Sized> {
|
||||
data: UnsafeCell<T>,
|
||||
}
|
||||
|
||||
unsafe impl<T: ?Sized + Send> Send for NullLock<T> {}
|
||||
unsafe impl<T: ?Sized + Send> Sync for NullLock<T> {}
|
||||
|
||||
impl<T> NullLock<T> {
|
||||
pub const fn new(data: T) -> NullLock<T> {
|
||||
NullLock {
|
||||
data: UnsafeCell::new(data),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<T> interface::sync::Mutex for &NullLock<T> {
|
||||
type Data = T;
|
||||
|
||||
fn lock<R>(&mut self, f: impl FnOnce(&mut Self::Data) -> R) -> R {
|
||||
// In a real lock, there would be code encapsulating this line that ensures that this
|
||||
// mutable reference will ever only be given out once at a time.
|
||||
f(unsafe { &mut *self.data.get() })
|
||||
}
|
||||
}
|
@ -0,0 +1,77 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Timer primitives.
|
||||
|
||||
use crate::{interface, warn};
|
||||
use core::time::Duration;
|
||||
use cortex_a::regs::*;
|
||||
|
||||
const NS_PER_S: u64 = 1_000_000_000;
|
||||
|
||||
pub struct Timer;
|
||||
|
||||
impl interface::time::Timer for Timer {
|
||||
fn resoultion(&self) -> Duration {
|
||||
Duration::from_nanos(NS_PER_S / (CNTFRQ_EL0.get() as u64))
|
||||
}
|
||||
|
||||
fn uptime(&self) -> Duration {
|
||||
let frq: u64 = CNTFRQ_EL0.get() as u64;
|
||||
let current_count: u64 = CNTPCT_EL0.get() * NS_PER_S;
|
||||
|
||||
Duration::from_nanos(current_count / frq)
|
||||
}
|
||||
|
||||
fn spin_for(&self, duration: Duration) {
|
||||
// Instantly return on zero.
|
||||
if duration.as_nanos() == 0 {
|
||||
return;
|
||||
}
|
||||
|
||||
// Calculate the register compare value.
|
||||
let frq = CNTFRQ_EL0.get() as u64;
|
||||
let x = match frq.checked_mul(duration.as_nanos() as u64) {
|
||||
None => {
|
||||
warn!("Spin duration too long, skipping");
|
||||
return;
|
||||
}
|
||||
Some(val) => val,
|
||||
};
|
||||
let tval = x / NS_PER_S;
|
||||
|
||||
// Check if it is within supported bounds.
|
||||
let warn: Option<&str> = if tval == 0 {
|
||||
Some("smaller")
|
||||
} else if tval > u32::max_value().into() {
|
||||
Some("bigger")
|
||||
} else {
|
||||
None
|
||||
};
|
||||
|
||||
if let Some(w) = warn {
|
||||
warn!(
|
||||
"Spin duration {} than architecturally supported, skipping",
|
||||
w
|
||||
);
|
||||
return;
|
||||
}
|
||||
|
||||
// Set the compare value register.
|
||||
CNTP_TVAL_EL0.set(tval as u32);
|
||||
|
||||
// Kick off the counting. // Disable timer interrupt.
|
||||
CNTP_CTL_EL0.modify(CNTP_CTL_EL0::ENABLE::SET + CNTP_CTL_EL0::IMASK::SET);
|
||||
|
||||
loop {
|
||||
// ISTATUS will be '1' when cval ticks have passed. Busy-check it.
|
||||
if CNTP_CTL_EL0.is_set(CNTP_CTL_EL0::ISTATUS) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// Disable counting again.
|
||||
CNTP_CTL_EL0.modify(CNTP_CTL_EL0::ENABLE::CLEAR);
|
||||
}
|
||||
}
|
@ -0,0 +1,13 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Conditional exporting of Board Support Packages.
|
||||
|
||||
mod driver;
|
||||
|
||||
#[cfg(feature = "bsp_rpi3")]
|
||||
mod rpi3;
|
||||
|
||||
#[cfg(feature = "bsp_rpi3")]
|
||||
pub use rpi3::*;
|
@ -0,0 +1,11 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Drivers.
|
||||
|
||||
#[cfg(feature = "bsp_rpi3")]
|
||||
mod bcm;
|
||||
|
||||
#[cfg(feature = "bsp_rpi3")]
|
||||
pub use bcm::*;
|
@ -0,0 +1,11 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! BCM driver top level.
|
||||
|
||||
mod bcm2837_gpio;
|
||||
mod bcm2xxx_mini_uart;
|
||||
|
||||
pub use bcm2837_gpio::GPIO;
|
||||
pub use bcm2xxx_mini_uart::MiniUart;
|
@ -0,0 +1,158 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! GPIO driver.
|
||||
|
||||
use crate::{arch, arch::sync::NullLock, interface};
|
||||
use core::ops;
|
||||
use register::{mmio::ReadWrite, register_bitfields};
|
||||
|
||||
// GPIO registers.
|
||||
//
|
||||
// Descriptions taken from
|
||||
// https://github.com/raspberrypi/documentation/files/1888662/BCM2837-ARM-Peripherals.-.Revised.-.V2-1.pdf
|
||||
register_bitfields! {
|
||||
u32,
|
||||
|
||||
/// GPIO Function Select 1
|
||||
GPFSEL1 [
|
||||
/// Pin 15
|
||||
FSEL15 OFFSET(15) NUMBITS(3) [
|
||||
Input = 0b000,
|
||||
Output = 0b001,
|
||||
AltFunc5 = 0b010 // Mini UART RX
|
||||
|
||||
],
|
||||
|
||||
/// Pin 14
|
||||
FSEL14 OFFSET(12) NUMBITS(3) [
|
||||
Input = 0b000,
|
||||
Output = 0b001,
|
||||
AltFunc5 = 0b010 // Mini UART TX
|
||||
]
|
||||
],
|
||||
|
||||
/// GPIO Pull-up/down Clock Register 0
|
||||
GPPUDCLK0 [
|
||||
/// Pin 15
|
||||
PUDCLK15 OFFSET(15) NUMBITS(1) [
|
||||
NoEffect = 0,
|
||||
AssertClock = 1
|
||||
],
|
||||
|
||||
/// Pin 14
|
||||
PUDCLK14 OFFSET(14) NUMBITS(1) [
|
||||
NoEffect = 0,
|
||||
AssertClock = 1
|
||||
]
|
||||
]
|
||||
}
|
||||
|
||||
#[allow(non_snake_case)]
|
||||
#[repr(C)]
|
||||
pub struct RegisterBlock {
|
||||
pub GPFSEL0: ReadWrite<u32>, // 0x00
|
||||
pub GPFSEL1: ReadWrite<u32, GPFSEL1::Register>, // 0x04
|
||||
pub GPFSEL2: ReadWrite<u32>, // 0x08
|
||||
pub GPFSEL3: ReadWrite<u32>, // 0x0C
|
||||
pub GPFSEL4: ReadWrite<u32>, // 0x10
|
||||
pub GPFSEL5: ReadWrite<u32>, // 0x14
|
||||
__reserved_0: u32, // 0x18
|
||||
GPSET0: ReadWrite<u32>, // 0x1C
|
||||
GPSET1: ReadWrite<u32>, // 0x20
|
||||
__reserved_1: u32, //
|
||||
GPCLR0: ReadWrite<u32>, // 0x28
|
||||
__reserved_2: [u32; 2], //
|
||||
GPLEV0: ReadWrite<u32>, // 0x34
|
||||
GPLEV1: ReadWrite<u32>, // 0x38
|
||||
__reserved_3: u32, //
|
||||
GPEDS0: ReadWrite<u32>, // 0x40
|
||||
GPEDS1: ReadWrite<u32>, // 0x44
|
||||
__reserved_4: [u32; 7], //
|
||||
GPHEN0: ReadWrite<u32>, // 0x64
|
||||
GPHEN1: ReadWrite<u32>, // 0x68
|
||||
__reserved_5: [u32; 10], //
|
||||
pub GPPUD: ReadWrite<u32>, // 0x94
|
||||
pub GPPUDCLK0: ReadWrite<u32, GPPUDCLK0::Register>, // 0x98
|
||||
pub GPPUDCLK1: ReadWrite<u32>, // 0x9C
|
||||
}
|
||||
|
||||
/// The driver's private data.
|
||||
struct GPIOInner {
|
||||
base_addr: usize,
|
||||
}
|
||||
|
||||
/// Deref to RegisterBlock.
|
||||
impl ops::Deref for GPIOInner {
|
||||
type Target = RegisterBlock;
|
||||
|
||||
fn deref(&self) -> &Self::Target {
|
||||
unsafe { &*self.ptr() }
|
||||
}
|
||||
}
|
||||
|
||||
impl GPIOInner {
|
||||
const fn new(base_addr: usize) -> GPIOInner {
|
||||
GPIOInner { base_addr }
|
||||
}
|
||||
|
||||
/// Return a pointer to the register block.
|
||||
fn ptr(&self) -> *const RegisterBlock {
|
||||
self.base_addr as *const _
|
||||
}
|
||||
|
||||
/// Map Mini UART as standard output.
|
||||
///
|
||||
/// TX to pin 14
|
||||
/// RX to pin 15
|
||||
pub fn map_mini_uart(&mut self) {
|
||||
// Map to pins.
|
||||
self.GPFSEL1
|
||||
.modify(GPFSEL1::FSEL14::AltFunc5 + GPFSEL1::FSEL15::AltFunc5);
|
||||
|
||||
// Enable pins 14 and 15.
|
||||
self.GPPUD.set(0);
|
||||
arch::spin_for_cycles(150);
|
||||
|
||||
self.GPPUDCLK0
|
||||
.write(GPPUDCLK0::PUDCLK14::AssertClock + GPPUDCLK0::PUDCLK15::AssertClock);
|
||||
arch::spin_for_cycles(150);
|
||||
|
||||
self.GPPUDCLK0.set(0);
|
||||
}
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// BSP-public
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
use interface::sync::Mutex;
|
||||
|
||||
/// The driver's main struct.
|
||||
pub struct GPIO {
|
||||
inner: NullLock<GPIOInner>,
|
||||
}
|
||||
|
||||
impl GPIO {
|
||||
pub const unsafe fn new(base_addr: usize) -> GPIO {
|
||||
GPIO {
|
||||
inner: NullLock::new(GPIOInner::new(base_addr)),
|
||||
}
|
||||
}
|
||||
|
||||
// Only visible to other BSP code.
|
||||
pub fn map_mini_uart(&self) {
|
||||
let mut r = &self.inner;
|
||||
r.lock(|inner| inner.map_mini_uart());
|
||||
}
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// OS interface implementations
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
|
||||
impl interface::driver::DeviceDriver for GPIO {
|
||||
fn compatible(&self) -> &str {
|
||||
"GPIO"
|
||||
}
|
||||
}
|
@ -0,0 +1,299 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Mini UART driver.
|
||||
|
||||
use crate::{arch, arch::sync::NullLock, interface};
|
||||
use core::{fmt, ops};
|
||||
use register::{mmio::*, register_bitfields};
|
||||
|
||||
// Mini UART registers.
|
||||
//
|
||||
// Descriptions taken from
|
||||
// https://github.com/raspberrypi/documentation/files/1888662/BCM2837-ARM-Peripherals.-.Revised.-.V2-1.pdf
|
||||
register_bitfields! {
|
||||
u32,
|
||||
|
||||
/// Auxiliary enables
|
||||
AUX_ENABLES [
|
||||
/// If set the mini UART is enabled. The UART will immediately start receiving data,
|
||||
/// especially if the UART1_RX line is low.
|
||||
///
|
||||
/// If clear the mini UART is disabled. That also disables any mini UART register access
|
||||
MINI_UART_ENABLE OFFSET(0) NUMBITS(1) []
|
||||
],
|
||||
|
||||
/// Mini Uart Interrupt Identify
|
||||
AUX_MU_IIR [
|
||||
/// Writing with bit 1 set will clear the receive FIFO
|
||||
/// Writing with bit 2 set will clear the transmit FIFO
|
||||
FIFO_CLEAR OFFSET(1) NUMBITS(2) [
|
||||
Rx = 0b01,
|
||||
Tx = 0b10,
|
||||
All = 0b11
|
||||
]
|
||||
],
|
||||
|
||||
/// Mini Uart Line Control
|
||||
AUX_MU_LCR [
|
||||
/// Mode the UART works in
|
||||
DATA_SIZE OFFSET(0) NUMBITS(2) [
|
||||
SevenBit = 0b00,
|
||||
EightBit = 0b11
|
||||
]
|
||||
],
|
||||
|
||||
/// Mini Uart Line Status
|
||||
AUX_MU_LSR [
|
||||
/// This bit is set if the transmit FIFO is empty and the transmitter is idle. (Finished
|
||||
/// shifting out the last bit).
|
||||
TX_IDLE OFFSET(6) NUMBITS(1) [],
|
||||
|
||||
/// This bit is set if the transmit FIFO can accept at least one byte.
|
||||
TX_EMPTY OFFSET(5) NUMBITS(1) [],
|
||||
|
||||
/// This bit is set if the receive FIFO holds at least 1 symbol.
|
||||
DATA_READY OFFSET(0) NUMBITS(1) []
|
||||
],
|
||||
|
||||
/// Mini Uart Extra Control
|
||||
AUX_MU_CNTL [
|
||||
/// If this bit is set the mini UART transmitter is enabled.
|
||||
/// If this bit is clear the mini UART transmitter is disabled.
|
||||
TX_EN OFFSET(1) NUMBITS(1) [
|
||||
Disabled = 0,
|
||||
Enabled = 1
|
||||
],
|
||||
|
||||
/// If this bit is set the mini UART receiver is enabled.
|
||||
/// If this bit is clear the mini UART receiver is disabled.
|
||||
RX_EN OFFSET(0) NUMBITS(1) [
|
||||
Disabled = 0,
|
||||
Enabled = 1
|
||||
]
|
||||
],
|
||||
|
||||
/// Mini Uart Baudrate
|
||||
AUX_MU_BAUD [
|
||||
/// Mini UART baudrate counter
|
||||
RATE OFFSET(0) NUMBITS(16) []
|
||||
]
|
||||
}
|
||||
|
||||
#[allow(non_snake_case)]
|
||||
#[repr(C)]
|
||||
pub struct RegisterBlock {
|
||||
__reserved_0: u32, // 0x00
|
||||
AUX_ENABLES: ReadWrite<u32, AUX_ENABLES::Register>, // 0x04
|
||||
__reserved_1: [u32; 14], // 0x08
|
||||
AUX_MU_IO: ReadWrite<u32>, // 0x40 - Mini Uart I/O Data
|
||||
AUX_MU_IER: WriteOnly<u32>, // 0x44 - Mini Uart Interrupt Enable
|
||||
AUX_MU_IIR: WriteOnly<u32, AUX_MU_IIR::Register>, // 0x48
|
||||
AUX_MU_LCR: WriteOnly<u32, AUX_MU_LCR::Register>, // 0x4C
|
||||
AUX_MU_MCR: WriteOnly<u32>, // 0x50
|
||||
AUX_MU_LSR: ReadOnly<u32, AUX_MU_LSR::Register>, // 0x54
|
||||
__reserved_2: [u32; 2], // 0x58
|
||||
AUX_MU_CNTL: WriteOnly<u32, AUX_MU_CNTL::Register>, // 0x60
|
||||
__reserved_3: u32, // 0x64
|
||||
AUX_MU_BAUD: WriteOnly<u32, AUX_MU_BAUD::Register>, // 0x68
|
||||
}
|
||||
|
||||
/// The driver's mutex protected part.
|
||||
struct MiniUartInner {
|
||||
base_addr: usize,
|
||||
chars_written: usize,
|
||||
}
|
||||
|
||||
/// Deref to RegisterBlock.
|
||||
///
|
||||
/// Allows writing
|
||||
/// ```
|
||||
/// self.MU_IER.read()
|
||||
/// ```
|
||||
/// instead of something along the lines of
|
||||
/// ```
|
||||
/// unsafe { (*MiniUart::ptr()).MU_IER.read() }
|
||||
/// ```
|
||||
impl ops::Deref for MiniUartInner {
|
||||
type Target = RegisterBlock;
|
||||
|
||||
fn deref(&self) -> &Self::Target {
|
||||
unsafe { &*self.ptr() }
|
||||
}
|
||||
}
|
||||
|
||||
impl MiniUartInner {
|
||||
const fn new(base_addr: usize) -> MiniUartInner {
|
||||
MiniUartInner {
|
||||
base_addr,
|
||||
chars_written: 0,
|
||||
}
|
||||
}
|
||||
|
||||
/// Return a pointer to the register block.
|
||||
fn ptr(&self) -> *const RegisterBlock {
|
||||
self.base_addr as *const _
|
||||
}
|
||||
|
||||
/// Send a character.
|
||||
fn write_char(&mut self, c: char) {
|
||||
// Wait until we can send.
|
||||
loop {
|
||||
if self.AUX_MU_LSR.is_set(AUX_MU_LSR::TX_EMPTY) {
|
||||
break;
|
||||
}
|
||||
|
||||
arch::nop();
|
||||
}
|
||||
|
||||
// Write the character to the buffer.
|
||||
self.AUX_MU_IO.set(c as u32);
|
||||
}
|
||||
}
|
||||
|
||||
/// Implementing `core::fmt::Write` enables usage of the `format_args!` macros, which in turn are
|
||||
/// used to implement the `kernel`'s `print!` and `println!` macros. By implementing `write_str()`,
|
||||
/// we get `write_fmt()` automatically.
|
||||
///
|
||||
/// The function takes an `&mut self`, so it must be implemented for the inner struct.
|
||||
///
|
||||
/// See [`src/print.rs`].
|
||||
///
|
||||
/// [`src/print.rs`]: ../../print/index.html
|
||||
impl fmt::Write for MiniUartInner {
|
||||
fn write_str(&mut self, s: &str) -> fmt::Result {
|
||||
for c in s.chars() {
|
||||
// Convert newline to carrige return + newline.
|
||||
if c == '\n' {
|
||||
self.write_char('\r')
|
||||
}
|
||||
|
||||
self.write_char(c);
|
||||
}
|
||||
|
||||
self.chars_written += s.len();
|
||||
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// BSP-public
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
|
||||
/// The driver's main struct.
|
||||
pub struct MiniUart {
|
||||
inner: NullLock<MiniUartInner>,
|
||||
}
|
||||
|
||||
impl MiniUart {
|
||||
/// # Safety
|
||||
///
|
||||
/// The user must ensure to provide the correct `base_addr`.
|
||||
pub const unsafe fn new(base_addr: usize) -> MiniUart {
|
||||
MiniUart {
|
||||
inner: NullLock::new(MiniUartInner::new(base_addr)),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// OS interface implementations
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
use interface::sync::Mutex;
|
||||
|
||||
impl interface::driver::DeviceDriver for MiniUart {
|
||||
fn compatible(&self) -> &str {
|
||||
"MiniUart"
|
||||
}
|
||||
|
||||
/// Set up baud rate and characteristics (115200 8N1).
|
||||
fn init(&self) -> interface::driver::Result {
|
||||
let mut r = &self.inner;
|
||||
r.lock(|inner| {
|
||||
// Enable register access to the MiniUart
|
||||
inner.AUX_ENABLES.modify(AUX_ENABLES::MINI_UART_ENABLE::SET);
|
||||
inner.AUX_MU_IER.set(0); // disable RX and TX interrupts
|
||||
inner.AUX_MU_CNTL.set(0); // disable send and receive
|
||||
inner.AUX_MU_LCR.write(AUX_MU_LCR::DATA_SIZE::EightBit);
|
||||
inner.AUX_MU_BAUD.write(AUX_MU_BAUD::RATE.val(270)); // 115200 baud
|
||||
inner.AUX_MU_MCR.set(0); // set "ready to send" high
|
||||
|
||||
// Enable receive and send.
|
||||
inner
|
||||
.AUX_MU_CNTL
|
||||
.write(AUX_MU_CNTL::RX_EN::Enabled + AUX_MU_CNTL::TX_EN::Enabled);
|
||||
|
||||
// Clear FIFOs before using the device.
|
||||
inner.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
|
||||
});
|
||||
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl interface::console::Write for MiniUart {
|
||||
/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded by a Mutex to
|
||||
/// serialize access.
|
||||
fn write_char(&self, c: char) {
|
||||
let mut r = &self.inner;
|
||||
r.lock(|inner| inner.write_char(c));
|
||||
}
|
||||
|
||||
fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result {
|
||||
// Fully qualified syntax for the call to `core::fmt::Write::write:fmt()` to increase
|
||||
// readability.
|
||||
let mut r = &self.inner;
|
||||
r.lock(|inner| fmt::Write::write_fmt(inner, args))
|
||||
}
|
||||
|
||||
fn flush(&self) {
|
||||
let mut r = &self.inner;
|
||||
r.lock(|inner| loop {
|
||||
if inner.AUX_MU_LSR.is_set(AUX_MU_LSR::TX_IDLE) {
|
||||
break;
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
impl interface::console::Read for MiniUart {
|
||||
fn read_char(&self) -> char {
|
||||
let mut r = &self.inner;
|
||||
r.lock(|inner| {
|
||||
// Wait until buffer is filled.
|
||||
loop {
|
||||
if inner.AUX_MU_LSR.is_set(AUX_MU_LSR::DATA_READY) {
|
||||
break;
|
||||
}
|
||||
|
||||
arch::nop();
|
||||
}
|
||||
|
||||
// Read one character.
|
||||
let mut ret = inner.AUX_MU_IO.get() as u8 as char;
|
||||
|
||||
// Convert carrige return to newline.
|
||||
if ret == '\r' {
|
||||
ret = '\n'
|
||||
}
|
||||
|
||||
ret
|
||||
})
|
||||
}
|
||||
|
||||
fn clear(&self) {
|
||||
let mut r = &self.inner;
|
||||
r.lock(|inner| {
|
||||
inner.AUX_MU_IIR.write(AUX_MU_IIR::FIFO_CLEAR::All);
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
impl interface::console::Statistics for MiniUart {
|
||||
fn chars_written(&self) -> usize {
|
||||
let mut r = &self.inner;
|
||||
r.lock(|inner| inner.chars_written)
|
||||
}
|
||||
}
|
@ -0,0 +1,50 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Board Support Package for the Raspberry Pi 3.
|
||||
|
||||
mod memory_map;
|
||||
|
||||
use super::driver;
|
||||
use crate::interface;
|
||||
|
||||
pub const BOOT_CORE_ID: u64 = 0;
|
||||
pub const BOOT_CORE_STACK_START: u64 = 0x80_000;
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// Global BSP driver instances
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
|
||||
static GPIO: driver::GPIO = unsafe { driver::GPIO::new(memory_map::mmio::GPIO_BASE) };
|
||||
static MINI_UART: driver::MiniUart =
|
||||
unsafe { driver::MiniUart::new(memory_map::mmio::MINI_UART_BASE) };
|
||||
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
// Implementation of the kernel's BSP calls
|
||||
//--------------------------------------------------------------------------------------------------
|
||||
|
||||
/// Board identification.
|
||||
pub fn board_name() -> &'static str {
|
||||
"Raspberry Pi 3"
|
||||
}
|
||||
|
||||
/// Return a reference to a `console::All` implementation.
|
||||
pub fn console() -> &'static impl interface::console::All {
|
||||
&MINI_UART
|
||||
}
|
||||
|
||||
/// Return an array of references to all `DeviceDriver` compatible `BSP` drivers.
|
||||
///
|
||||
/// # Safety
|
||||
///
|
||||
/// The order of devices is the order in which `DeviceDriver::init()` is called.
|
||||
pub fn device_drivers() -> [&'static dyn interface::driver::DeviceDriver; 2] {
|
||||
[&GPIO, &MINI_UART]
|
||||
}
|
||||
|
||||
/// BSP initialization code that runs after driver init.
|
||||
pub fn post_driver_init() {
|
||||
// Configure MiniUart's output pins.
|
||||
GPIO.map_mini_uart();
|
||||
}
|
@ -0,0 +1,35 @@
|
||||
/* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
*/
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* Set current address to the value from which the RPi3 starts execution */
|
||||
. = 0x80000;
|
||||
|
||||
.text :
|
||||
{
|
||||
*(.text._start) *(.text*)
|
||||
}
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rodata*)
|
||||
}
|
||||
|
||||
.data :
|
||||
{
|
||||
*(.data*)
|
||||
}
|
||||
|
||||
/* Align to 8 byte boundary */
|
||||
.bss ALIGN(8):
|
||||
{
|
||||
__bss_start = .;
|
||||
*(.bss*);
|
||||
__bss_end = .;
|
||||
}
|
||||
|
||||
/DISCARD/ : { *(.comment*) }
|
||||
}
|
@ -0,0 +1,13 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! The board's memory map.
|
||||
|
||||
/// Physical devices.
|
||||
#[rustfmt::skip]
|
||||
pub mod mmio {
|
||||
pub const BASE: usize = 0x3F00_0000;
|
||||
pub const GPIO_BASE: usize = BASE + 0x0020_0000;
|
||||
pub const MINI_UART_BASE: usize = BASE + 0x0021_5000;
|
||||
}
|
@ -0,0 +1,129 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Trait definitions for coupling `kernel` and `BSP` code.
|
||||
//!
|
||||
//! ```
|
||||
//! +-------------------+
|
||||
//! | Interface (Trait) |
|
||||
//! | |
|
||||
//! +--+-------------+--+
|
||||
//! ^ ^
|
||||
//! | |
|
||||
//! | |
|
||||
//! +----------+--+ +--+----------+
|
||||
//! | Kernel code | | BSP Code |
|
||||
//! | | | |
|
||||
//! +-------------+ +-------------+
|
||||
//! ```
|
||||
|
||||
/// System console operations.
|
||||
pub mod console {
|
||||
use core::fmt;
|
||||
|
||||
/// Console write functions.
|
||||
pub trait Write {
|
||||
fn write_char(&self, c: char);
|
||||
fn write_fmt(&self, args: fmt::Arguments) -> fmt::Result;
|
||||
|
||||
/// Block execution until the last character has been physically put on the TX wire
|
||||
/// (draining TX buffers/FIFOs, if any).
|
||||
fn flush(&self);
|
||||
}
|
||||
|
||||
/// Console read functions.
|
||||
pub trait Read {
|
||||
fn read_char(&self) -> char {
|
||||
' '
|
||||
}
|
||||
|
||||
/// Clear RX buffers, if any.
|
||||
fn clear(&self);
|
||||
}
|
||||
|
||||
/// Console statistics.
|
||||
pub trait Statistics {
|
||||
/// Return the number of characters written.
|
||||
fn chars_written(&self) -> usize {
|
||||
0
|
||||
}
|
||||
|
||||
/// Return the number of characters read.
|
||||
fn chars_read(&self) -> usize {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
||||
/// Trait alias for a full-fledged console.
|
||||
pub trait All = Write + Read + Statistics;
|
||||
}
|
||||
|
||||
/// Synchronization primitives.
|
||||
pub mod sync {
|
||||
/// Any object implementing this trait guarantees exclusive access to the data contained within
|
||||
/// the mutex for the duration of the lock.
|
||||
///
|
||||
/// The trait follows the [Rust embedded WG's
|
||||
/// proposal](https://github.com/korken89/wg/blob/master/rfcs/0377-mutex-trait.md) and therefore
|
||||
/// provides some goodness such as [deadlock
|
||||
/// prevention](https://github.com/korken89/wg/blob/master/rfcs/0377-mutex-trait.md#design-decisions-and-compatibility).
|
||||
///
|
||||
/// # Example
|
||||
///
|
||||
/// Since the lock function takes an `&mut self` to enable deadlock-prevention, the trait is
|
||||
/// best implemented **for a reference to a container struct**, and has a usage pattern that
|
||||
/// might feel strange at first:
|
||||
///
|
||||
/// ```
|
||||
/// static MUT: Mutex<RefCell<i32>> = Mutex::new(RefCell::new(0));
|
||||
///
|
||||
/// fn foo() {
|
||||
/// let mut r = &MUT; // Note that r is mutable
|
||||
/// r.lock(|data| *data += 1);
|
||||
/// }
|
||||
/// ```
|
||||
pub trait Mutex {
|
||||
/// Type of data encapsulated by the mutex.
|
||||
type Data;
|
||||
|
||||
/// Creates a critical section and grants temporary mutable access to the encapsulated data.
|
||||
fn lock<R>(&mut self, f: impl FnOnce(&mut Self::Data) -> R) -> R;
|
||||
}
|
||||
}
|
||||
|
||||
/// Driver interfaces.
|
||||
pub mod driver {
|
||||
/// Driver result type, e.g. for indicating successful driver init.
|
||||
pub type Result = core::result::Result<(), ()>;
|
||||
|
||||
/// Device Driver functions.
|
||||
pub trait DeviceDriver {
|
||||
/// Return a compatibility string for identifying the driver.
|
||||
fn compatible(&self) -> &str;
|
||||
|
||||
/// Called by the kernel to bring up the device.
|
||||
fn init(&self) -> Result {
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Timekeeping interfaces.
|
||||
pub mod time {
|
||||
use core::time::Duration;
|
||||
|
||||
/// Timer functions.
|
||||
pub trait Timer {
|
||||
/// The timer's resolution.
|
||||
fn resoultion(&self) -> Duration;
|
||||
|
||||
/// The uptime since power-on of the device.
|
||||
///
|
||||
/// This includes time consumed by firmware and bootloaders.
|
||||
fn uptime(&self) -> Duration;
|
||||
|
||||
/// Spin for a given duration.
|
||||
fn spin_for(&self, duration: Duration);
|
||||
}
|
||||
}
|
@ -0,0 +1,88 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
// Rust embedded logo for `make doc`.
|
||||
#![doc(html_logo_url = "https://git.io/JeGIp")]
|
||||
|
||||
//! The `kernel`
|
||||
//!
|
||||
//! The `kernel` is composed by glueing together code from
|
||||
//!
|
||||
//! - [Hardware-specific Board Support Packages] (`BSPs`).
|
||||
//! - [Architecture-specific code].
|
||||
//! - HW- and architecture-agnostic `kernel` code.
|
||||
//!
|
||||
//! using the [`kernel::interface`] traits.
|
||||
//!
|
||||
//! [Hardware-specific Board Support Packages]: bsp/index.html
|
||||
//! [Architecture-specific code]: arch/index.html
|
||||
//! [`kernel::interface`]: interface/index.html
|
||||
|
||||
#![feature(format_args_nl)]
|
||||
#![feature(panic_info_message)]
|
||||
#![feature(trait_alias)]
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
// Conditionally includes the selected `architecture` code, which provides the `_start()` function,
|
||||
// the first function to run.
|
||||
mod arch;
|
||||
|
||||
// `_start()` then calls `runtime_init::init()`, which on completion, jumps to `kernel_init()`.
|
||||
mod runtime_init;
|
||||
|
||||
// Conditionally includes the selected `BSP` code.
|
||||
mod bsp;
|
||||
|
||||
mod interface;
|
||||
mod panic_wait;
|
||||
mod print;
|
||||
|
||||
/// Early init code.
|
||||
///
|
||||
/// Concerned with with initializing `BSP` and `arch` parts.
|
||||
///
|
||||
/// # Safety
|
||||
///
|
||||
/// - Only a single core must be active and running this function.
|
||||
/// - The init calls in this function must appear in the correct order.
|
||||
unsafe fn kernel_init() -> ! {
|
||||
for i in bsp::device_drivers().iter() {
|
||||
if let Err(()) = i.init() {
|
||||
// This message will only be readable if, at the time of failure, the return value of
|
||||
// `bsp::console()` is already in functioning state.
|
||||
panic!("Error loading driver: {}", i.compatible())
|
||||
}
|
||||
}
|
||||
|
||||
bsp::post_driver_init();
|
||||
|
||||
// Transition from unsafe to safe.
|
||||
kernel_main()
|
||||
}
|
||||
|
||||
/// The main function running after the early init.
|
||||
fn kernel_main() -> ! {
|
||||
use core::time::Duration;
|
||||
use interface::time::Timer;
|
||||
|
||||
println!("Booting on: {}", bsp::board_name());
|
||||
println!(
|
||||
"Architectural timer resolution: {} ns",
|
||||
arch::timer().resoultion().as_nanos()
|
||||
);
|
||||
|
||||
println!("Drivers loaded:");
|
||||
for (i, driver) in bsp::device_drivers().iter().enumerate() {
|
||||
println!(" {}. {}", i + 1, driver.compatible());
|
||||
}
|
||||
|
||||
// Test a failing timer case.
|
||||
arch::timer().spin_for(Duration::from_nanos(1));
|
||||
|
||||
loop {
|
||||
println!("Spinning for 1 second");
|
||||
arch::timer().spin_for(Duration::from_secs(1));
|
||||
}
|
||||
}
|
@ -0,0 +1,19 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! A panic handler that infinitely waits.
|
||||
|
||||
use crate::{arch, println};
|
||||
use core::panic::PanicInfo;
|
||||
|
||||
#[panic_handler]
|
||||
fn panic(info: &PanicInfo) -> ! {
|
||||
if let Some(args) = info.message() {
|
||||
println!("Kernel panic: {}", args);
|
||||
} else {
|
||||
println!("Kernel panic!");
|
||||
}
|
||||
|
||||
arch::wait_forever()
|
||||
}
|
@ -0,0 +1,91 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Printing facilities.
|
||||
|
||||
use crate::{bsp, interface};
|
||||
use core::fmt;
|
||||
|
||||
/// Prints without a newline.
|
||||
///
|
||||
/// Carbon copy from https://doc.rust-lang.org/src/std/macros.rs.html
|
||||
#[macro_export]
|
||||
macro_rules! print {
|
||||
($($arg:tt)*) => ($crate::print::_print(format_args!($($arg)*)));
|
||||
}
|
||||
|
||||
/// Prints with a newline.
|
||||
#[macro_export]
|
||||
macro_rules! println {
|
||||
() => ($crate::print!("\n"));
|
||||
($string:expr) => ({
|
||||
#[allow(unused_imports)]
|
||||
use crate::interface::time::Timer;
|
||||
|
||||
let timestamp = $crate::arch::timer().uptime();
|
||||
let timestamp_subsec_us = timestamp.subsec_micros();
|
||||
|
||||
$crate::print::_print(format_args_nl!(
|
||||
concat!("[ {:>3}.{:03}{:03}] ", $string),
|
||||
timestamp.as_secs(),
|
||||
timestamp_subsec_us / 1_000,
|
||||
timestamp_subsec_us % 1_000
|
||||
));
|
||||
});
|
||||
($format_string:expr, $($arg:tt)*) => ({
|
||||
#[allow(unused_imports)]
|
||||
use crate::interface::time::Timer;
|
||||
|
||||
let timestamp = $crate::arch::timer().uptime();
|
||||
let timestamp_subsec_us = timestamp.subsec_micros();
|
||||
|
||||
$crate::print::_print(format_args_nl!(
|
||||
concat!("[ {:>3}.{:03}{:03}] ", $format_string),
|
||||
timestamp.as_secs(),
|
||||
timestamp_subsec_us / 1_000,
|
||||
timestamp_subsec_us % 1_000,
|
||||
$($arg)*
|
||||
));
|
||||
})
|
||||
}
|
||||
|
||||
/// Prints a warning, with newline.
|
||||
#[macro_export]
|
||||
macro_rules! warn {
|
||||
($string:expr) => ({
|
||||
#[allow(unused_imports)]
|
||||
use crate::interface::time::Timer;
|
||||
|
||||
let timestamp = $crate::arch::timer().uptime();
|
||||
let timestamp_subsec_us = timestamp.subsec_micros();
|
||||
|
||||
$crate::print::_print(format_args_nl!(
|
||||
concat!("[W {:>3}.{:03}{:03}] ", $string),
|
||||
timestamp.as_secs(),
|
||||
timestamp_subsec_us / 1_000,
|
||||
timestamp_subsec_us % 1_000
|
||||
));
|
||||
});
|
||||
($format_string:expr, $($arg:tt)*) => ({
|
||||
#[allow(unused_imports)]
|
||||
use crate::interface::time::Timer;
|
||||
|
||||
let timestamp = $crate::arch::timer().uptime();
|
||||
let timestamp_subsec_us = timestamp.subsec_micros();
|
||||
|
||||
$crate::print::_print(format_args_nl!(
|
||||
concat!("[W {:>3}.{:03}{:03}] ", $format_string),
|
||||
timestamp.as_secs(),
|
||||
timestamp_subsec_us / 1_000,
|
||||
timestamp_subsec_us % 1_000,
|
||||
$($arg)*
|
||||
));
|
||||
})
|
||||
}
|
||||
|
||||
pub fn _print(args: fmt::Arguments) {
|
||||
use interface::console::Write;
|
||||
|
||||
bsp::console().write_fmt(args).unwrap();
|
||||
}
|
@ -0,0 +1,24 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
//
|
||||
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||
|
||||
//! Rust runtime initialization code.
|
||||
|
||||
/// Equivalent to `crt0` or `c0` code in C/C++ world. Clears the `bss` section, then jumps to kernel
|
||||
/// init code.
|
||||
///
|
||||
/// # Safety
|
||||
///
|
||||
/// - Only a single core must be active and running this function.
|
||||
pub unsafe fn init() -> ! {
|
||||
extern "C" {
|
||||
// Boundaries of the .bss section, provided by the linker script.
|
||||
static mut __bss_start: u64;
|
||||
static mut __bss_end: u64;
|
||||
}
|
||||
|
||||
// Zero out the .bss section.
|
||||
r0::zero_bss(&mut __bss_start, &mut __bss_end);
|
||||
|
||||
crate::kernel_init()
|
||||
}
|
Loading…
Reference in New Issue