Add tutorial 04_mailboxes
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#
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# Copyright (C) 2018 bzt (bztsrc@github)
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#
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# Permission is hereby granted, free of charge, to any person
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# obtaining a copy of this software and associated documentation
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# files (the "Software"), to deal in the Software without
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# restriction, including without limitation the rights to use, copy,
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# modify, merge, publish, distribute, sublicense, and/or sell copies
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# of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be
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# included in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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# HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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# WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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# DEALINGS IN THE SOFTWARE.
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#
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#
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SRCS = $(wildcard *.c)
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OBJS = $(SRCS:.c=.o)
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CFLAGS = -Wall -O2 -ffreestanding -nostdinc -nostdlib -nostartfiles
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all: clean kernel8.img
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start.o: start.S
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aarch64-elf-gcc $(CFLAGS) -c start.S -o start.o
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%.o: %.c
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aarch64-elf-gcc $(CFLAGS) -c $< -o $@
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kernel8.img: start.o $(OBJS)
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aarch64-elf-ld -nostdlib -nostartfiles start.o $(OBJS) -T link.ld -o kernel8.elf
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aarch64-elf-objcopy -O binary kernel8.elf kernel8.img
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clean:
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rm kernel8.elf *.o >/dev/null 2>/dev/null || true
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Oktatóanyag 04 - Levelesládák
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=============================
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Mielőtt nekiugranánk az UART0-ának, szükségünk lesz a levelesládára. Ezért ebben az oktatóanyagban bemutatom a
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mailbox interfészt. Arra használjuk, hogy lekérdezzük az alaplap egyedi sorszámát, majd kiírjuk azt.
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FIGYELEM: qemu nem irányítja át alapból az UART1-et a terminálra, csak az UART0-át!
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Uart.h, uart.c
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--------------
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`uart_hex(d)` kiír egy bináris értéket hexadecimális formátumban.
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Mbox.h, mbox.c
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--------------
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A levelesláda interfésze. Először értékekkel feltöltjük az `mbox` tömböt, aztán meghívjuk a `mbox_call(ch)`-t,
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hogy értesüljön róla a GPU, megadva közben a levelesláda csatornáját.
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Ebben a példában a [property csatornát](https://github.com/raspberrypi/firmware/wiki/Mailbox-property-interface)
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használtam, aminek az üzenete a következőképp néz ki:
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```
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0. üzenet teljes hossza bájtban, (x+1)*4
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1. MBOX_REQUEST mágikus szám, kérés típusú üzenetet jelent
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2-x. parancsok
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x+1. MBOX_TAG_LAST mágikus szám, nincs további parancs jelölése
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```
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Ahol minden egyes parancs szerkezete a következő:
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```
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n+0. parancs azonosító
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n+1. adatterület mérete bájtban
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n+2. nulla
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n+3. opcionális adatterület
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```
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Main
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----
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Lekérjük az alaplap egyedi szériaszámát, majd kiírjuk a soros konzolra.
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Tutorial 04 - Mailboxes
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=======================
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Before we could go on with UART0, we need mailboxes. So in this tutorial we introduce the mailbox interface.
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We'll use it to query the board's serial number and print that out on UART1.
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NOTE: qemu does not redirect UART1 to terminal by default, only UART0!
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Uart.h, uart.c
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--------------
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`uart_hex(d)` prints out a binary value in hexadecimal format.
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Mbox.h, mbox.c
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--------------
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The mailbox interface. First we fill up the message in `mbox` array, then we call
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`mbox_call(ch)` to pass it to the GPU, specifying the mailbox channel.
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In this example we have used the [property channel](https://github.com/raspberrypi/firmware/wiki/Mailbox-property-interface),
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which requires the message to be formatted as:
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```
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0. size of the message in bytes, (x+1)*4
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1. MBOX_REQUEST magic value, indicates request message
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2-x. tags
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x+1. MBOX_TAG_LAST magic value, indicates no more tags
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```
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Where each tag looks like:
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```
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n+0. tag identifier
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n+1. value buffer size in bytes
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n+2. must be zero
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n+3. optional value buffer
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```
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Main
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----
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We query the board's serial number and then we display it on the serial console.
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/*
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* Copyright (C) 2018 bzt (bztsrc@github)
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy,
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* modify, merge, publish, distribute, sublicense, and/or sell copies
|
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* of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
|
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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*/
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#define MMIO_BASE 0x3F000000
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#define GPFSEL0 ((volatile unsigned int*)(MMIO_BASE+0x00200000))
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#define GPFSEL1 ((volatile unsigned int*)(MMIO_BASE+0x00200004))
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#define GPFSEL2 ((volatile unsigned int*)(MMIO_BASE+0x00200008))
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#define GPFSEL3 ((volatile unsigned int*)(MMIO_BASE+0x0020000C))
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#define GPFSEL4 ((volatile unsigned int*)(MMIO_BASE+0x00200010))
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#define GPFSEL5 ((volatile unsigned int*)(MMIO_BASE+0x00200014))
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#define GPSET0 ((volatile unsigned int*)(MMIO_BASE+0x0020001C))
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#define GPSET1 ((volatile unsigned int*)(MMIO_BASE+0x00200020))
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#define GPCLR0 ((volatile unsigned int*)(MMIO_BASE+0x00200028))
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#define GPLEV0 ((volatile unsigned int*)(MMIO_BASE+0x00200034))
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#define GPLEV1 ((volatile unsigned int*)(MMIO_BASE+0x00200038))
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#define GPEDS0 ((volatile unsigned int*)(MMIO_BASE+0x00200040))
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#define GPEDS1 ((volatile unsigned int*)(MMIO_BASE+0x00200044))
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#define GPHEN0 ((volatile unsigned int*)(MMIO_BASE+0x00200064))
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#define GPHEN1 ((volatile unsigned int*)(MMIO_BASE+0x00200068))
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#define GPPUD ((volatile unsigned int*)(MMIO_BASE+0x00200094))
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#define GPPUDCLK0 ((volatile unsigned int*)(MMIO_BASE+0x00200098))
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#define GPPUDCLK1 ((volatile unsigned int*)(MMIO_BASE+0x0020009C))
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/*
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* Copyright (C) 2018 bzt (bztsrc@github)
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy,
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* modify, merge, publish, distribute, sublicense, and/or sell copies
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* of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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*/
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#include "uart.h"
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#include "mbox.h"
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void main()
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{
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// set up serial console
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uart_init();
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// get the board's unique serial number with a mailbox call
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mbox[0] = 8*4; // length of the message
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mbox[1] = MBOX_REQUEST; // this is a request message
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mbox[2] = MBOX_TAG_GETSERIAL; // get serial number command
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mbox[3] = 8; // buffer size
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mbox[4] = 8;
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mbox[5] = 0; // clear output buffer
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mbox[6] = 0;
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mbox[7] = MBOX_TAG_LAST;
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// send the message to the GPU and receive answer
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if (mbox_call(MBOX_CH_PROP)) {
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uart_puts("My serial number is: ");
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uart_hex(mbox[6]);
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uart_hex(mbox[5]);
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uart_puts("\n");
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} else {
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uart_puts("Unable to query serial!\n");
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}
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// echo everything back
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while(1) {
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uart_send(uart_getc());
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}
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}
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@ -1,63 +0,0 @@
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/*
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* Copyright (C) 2018 bzt (bztsrc@github)
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy,
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* modify, merge, publish, distribute, sublicense, and/or sell copies
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* of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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*/
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#include "gpio.h"
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/* mailbox message buffer */
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volatile unsigned int __attribute__((aligned(16))) mbox[36];
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#define VIDEOCORE_MBOX (MMIO_BASE+0x0000B880)
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#define MBOX_READ ((volatile unsigned int*)(VIDEOCORE_MBOX+0x0))
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#define MBOX_POLL ((volatile unsigned int*)(VIDEOCORE_MBOX+0x10))
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#define MBOX_SENDER ((volatile unsigned int*)(VIDEOCORE_MBOX+0x14))
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#define MBOX_STATUS ((volatile unsigned int*)(VIDEOCORE_MBOX+0x18))
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#define MBOX_CONFIG ((volatile unsigned int*)(VIDEOCORE_MBOX+0x1C))
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#define MBOX_WRITE ((volatile unsigned int*)(VIDEOCORE_MBOX+0x20))
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#define MBOX_RESPONSE 0x80000000
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#define MBOX_FULL 0x80000000
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#define MBOX_EMPTY 0x40000000
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/**
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* Make a mailbox call. Returns 0 on failure, non-zero on success
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*/
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int mbox_call(unsigned char ch)
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{
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unsigned int r;
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/* wait until we can write to the mailbox */
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do{asm volatile("nop");}while(*MBOX_STATUS & MBOX_FULL);
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/* write the address of our message to the mailbox with channel identifier */
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*MBOX_WRITE = (((unsigned int)((unsigned long)&mbox)&~0xF) | (ch&0xF));
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/* now wait for the response */
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while(1) {
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/* is there a response? */
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do{asm volatile("nop");}while(*MBOX_STATUS & MBOX_EMPTY);
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r=*MBOX_READ;
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/* is it a response to our message? */
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if((unsigned char)(r&0xF)==ch && (r&~0xF)==(unsigned int)((unsigned long)&mbox))
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/* is it a valid successful response? */
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return mbox[1]==MBOX_RESPONSE;
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}
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return 0;
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}
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/*
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* Copyright (C) 2018 bzt (bztsrc@github)
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy,
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* modify, merge, publish, distribute, sublicense, and/or sell copies
|
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* of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
|
||||
*
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* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
||||
*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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*/
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/* a properly aligned buffer */
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extern volatile unsigned int mbox[36];
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#define MBOX_REQUEST 0
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/* channels */
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#define MBOX_CH_POWER 0
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#define MBOX_CH_FB 1
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#define MBOX_CH_VUART 2
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#define MBOX_CH_VCHIQ 3
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#define MBOX_CH_LEDS 4
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#define MBOX_CH_BTNS 5
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#define MBOX_CH_TOUCH 6
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#define MBOX_CH_COUNT 7
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#define MBOX_CH_PROP 8
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/* tags */
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#define MBOX_TAG_GETSERIAL 0x10004
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#define MBOX_TAG_LAST 0
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int mbox_call(unsigned char ch);
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/*
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* Copyright (C) 2018 bzt (bztsrc@github)
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
|
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* files (the "Software"), to deal in the Software without
|
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* restriction, including without limitation the rights to use, copy,
|
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* modify, merge, publish, distribute, sublicense, and/or sell copies
|
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* of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
|
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*
|
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* The above copyright notice and this permission notice shall be
|
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* included in all copies or substantial portions of the Software.
|
||||
*
|
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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*/
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#include "gpio.h"
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/* Auxilary mini UART registers */
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#define AUX_ENABLE ((volatile unsigned int*)(MMIO_BASE+0x00215004))
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#define AUX_MU_IO ((volatile unsigned int*)(MMIO_BASE+0x00215040))
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#define AUX_MU_IER ((volatile unsigned int*)(MMIO_BASE+0x00215044))
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#define AUX_MU_IIR ((volatile unsigned int*)(MMIO_BASE+0x00215048))
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#define AUX_MU_LCR ((volatile unsigned int*)(MMIO_BASE+0x0021504C))
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#define AUX_MU_MCR ((volatile unsigned int*)(MMIO_BASE+0x00215050))
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#define AUX_MU_LSR ((volatile unsigned int*)(MMIO_BASE+0x00215054))
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#define AUX_MU_MSR ((volatile unsigned int*)(MMIO_BASE+0x00215058))
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#define AUX_MU_SCRATCH ((volatile unsigned int*)(MMIO_BASE+0x0021505C))
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#define AUX_MU_CNTL ((volatile unsigned int*)(MMIO_BASE+0x00215060))
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#define AUX_MU_STAT ((volatile unsigned int*)(MMIO_BASE+0x00215064))
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#define AUX_MU_BAUD ((volatile unsigned int*)(MMIO_BASE+0x00215068))
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/**
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* Set baud rate and characteristics (115200 8N1) and map to GPIO
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*/
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void uart_init()
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{
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register unsigned int r;
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/* initialize UART */
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*AUX_ENABLE |=1; // enable UART1, AUX mini uart
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*AUX_MU_IER = 0;
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*AUX_MU_CNTL = 0;
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*AUX_MU_LCR = 3; // 8 bits
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*AUX_MU_MCR = 0;
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*AUX_MU_IER = 0;
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*AUX_MU_IIR = 0xc6; // disable interrupts
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*AUX_MU_BAUD = 270; // 115200 baud
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/* map UART1 to GPIO pins */
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r=*GPFSEL1;
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r&=~((7<<12)|(7<<15)); // gpio14, gpio15
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r|=(2<<12)|(2<<15); // alt5
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*GPFSEL1 = r;
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*GPPUD = 0; // enable pins 14 and 15
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r=150; while(r--) { asm volatile("nop"); }
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*GPPUDCLK0 = (1<<14)|(1<<15);
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r=150; while(r--) { asm volatile("nop"); }
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*GPPUDCLK0 = 0; // flush GPIO setup
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*AUX_MU_CNTL = 3; // enable Tx, Rx
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}
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/**
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* Send a character
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*/
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void uart_send(unsigned int c) {
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/* wait until we can send */
|
||||
do{asm volatile("nop");}while(!(*AUX_MU_LSR&0x20));
|
||||
/* write the character to the buffer */
|
||||
*AUX_MU_IO=c;
|
||||
}
|
||||
|
||||
/**
|
||||
* Receive a character
|
||||
*/
|
||||
char uart_getc() {
|
||||
char r;
|
||||
/* wait until something is in the buffer */
|
||||
do{asm volatile("nop");}while(!(*AUX_MU_LSR&0x01));
|
||||
/* read it and return */
|
||||
r=(char)(*AUX_MU_IO);
|
||||
/* convert carrige return to newline */
|
||||
return r=='\r'?'\n':r;
|
||||
}
|
||||
|
||||
/**
|
||||
* Display a string
|
||||
*/
|
||||
void uart_puts(char *s) {
|
||||
while(*s) {
|
||||
/* convert newline to carrige return + newline */
|
||||
if(*s=='\n')
|
||||
uart_send('\r');
|
||||
uart_send(*s++);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Display a binary value in hexadecimal
|
||||
*/
|
||||
void uart_hex(unsigned int d) {
|
||||
unsigned int n;
|
||||
int c;
|
||||
for(c=28;c>=0;c-=4) {
|
||||
// get highest tetrad
|
||||
n=(d>>c)&0xF;
|
||||
// 0-9 => '0'-'9', 10-15 => 'A'-'F'
|
||||
n+=n>9?0x37:0x30;
|
||||
uart_send(n);
|
||||
}
|
||||
}
|
@ -1,30 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2018 bzt (bztsrc@github)
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person
|
||||
* obtaining a copy of this software and associated documentation
|
||||
* files (the "Software"), to deal in the Software without
|
||||
* restriction, including without limitation the rights to use, copy,
|
||||
* modify, merge, publish, distribute, sublicense, and/or sell copies
|
||||
* of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||||
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
|
||||
* DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
*/
|
||||
|
||||
void uart_init();
|
||||
void uart_send(unsigned int c);
|
||||
char uart_getc();
|
||||
void uart_puts(char *s);
|
||||
void uart_hex(unsigned int d);
|
@ -0,0 +1,35 @@
|
||||
[[package]]
|
||||
name = "kernel8"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"raspi3_glue 0.1.0",
|
||||
"rlibc 1.0.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "raspi3_glue"
|
||||
version = "0.1.0"
|
||||
|
||||
[[package]]
|
||||
name = "rlibc"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "vcell"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "volatile-register"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[metadata]
|
||||
"checksum rlibc 1.0.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fc874b127765f014d792f16763a81245ab80500e2ad921ed4ee9e82481ee08fe"
|
||||
"checksum vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "45c297f0afb6928cd08ab1ff9d95e99392595ea25ae1b5ecf822ff8764e57a0d"
|
||||
"checksum volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286"
|
@ -0,0 +1,9 @@
|
||||
[package]
|
||||
name = "kernel8"
|
||||
version = "0.1.0"
|
||||
authors = ["Andre Richter <andre.o.richter@gmail.com>"]
|
||||
|
||||
[dependencies]
|
||||
raspi3_glue = { path = "raspi3_glue" }
|
||||
volatile-register = "0.2.0"
|
||||
rlibc = "1.0"
|
@ -0,0 +1,58 @@
|
||||
#
|
||||
# MIT License
|
||||
#
|
||||
# Copyright (c) 2018 Andre Richter <andre.o.richter@gmail.com>
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in all
|
||||
# copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
# SOFTWARE.
|
||||
#
|
||||
|
||||
TARGET = aarch64-raspi3-none-elf
|
||||
|
||||
CROSS_CONTAINER = ./dockcross-linux-aarch64
|
||||
CROSS_CONTAINER_OBJCOPY = aarch64-linux-gnu-objcopy
|
||||
|
||||
QEMU_CONTAINER = andrerichter/raspi3-qemu
|
||||
DOCKER_CMD = docker run -it --rm -v $(shell pwd):/work -w /work
|
||||
QEMU_CMD = qemu-system-aarch64 -M raspi3 -kernel kernel8.img
|
||||
|
||||
all: clean kernel8.img
|
||||
|
||||
target/$(TARGET)/debug/kernel8: src/main.rs
|
||||
RUST_TARGET_PATH=$(shell pwd) xargo build --target=$(TARGET)
|
||||
cp $@ .
|
||||
|
||||
target/$(TARGET)/release/kernel8: src/main.rs
|
||||
RUST_TARGET_PATH=$(shell pwd) xargo build --target=$(TARGET) --release
|
||||
cp $@ .
|
||||
|
||||
ifeq ($(DEBUG),1)
|
||||
kernel8: target/$(TARGET)/debug/kernel8
|
||||
else
|
||||
kernel8: target/$(TARGET)/release/kernel8
|
||||
endif
|
||||
|
||||
kernel8.img: kernel8
|
||||
$(CROSS_CONTAINER) $(CROSS_CONTAINER_OBJCOPY) -O binary -S $< kernel8.img
|
||||
|
||||
qemu:
|
||||
$(DOCKER_CMD) $(QEMU_CONTAINER) $(QEMU_CMD) -serial stdio
|
||||
|
||||
clean:
|
||||
cargo clean
|
||||
rm -f kernel8
|
@ -0,0 +1,73 @@
|
||||
# Tutorial 04 - Mailboxes
|
||||
|
||||
Before we could go on with UART0, we need mailboxes. So in this tutorial we
|
||||
introduce the mailbox interface. We'll use it to query the board's serial
|
||||
number and print that out on UART1.
|
||||
|
||||
NOTE: qemu does not redirect UART1 to terminal by default, only UART0!
|
||||
|
||||
## uart.rs
|
||||
|
||||
`MiniUart::hex(&self, d: u32)` prints out a binary value in hexadecimal format.
|
||||
|
||||
## mbox.rs
|
||||
|
||||
The mailbox interface. First we fill up the message in the `mbox.buffer` array,
|
||||
then we call `Mbox::call(&mut self, channel: u32)` to pass it to the GPU,
|
||||
specifying the mailbox channel. In this example we have used the [property
|
||||
channel], which requires the message to be formatted as:
|
||||
|
||||
[property channel]: (https://github.com/raspberrypi/firmware/wiki/Mailbox-property-interface)
|
||||
|
||||
```
|
||||
0. size of the message in bytes, (x+1)*4
|
||||
1. mbox::REQUEST magic value, indicates request message
|
||||
2-x. tags
|
||||
x+1. mbox::tag::LAST magic value, indicates no more tags
|
||||
```
|
||||
|
||||
Where each tag looks like:
|
||||
|
||||
```
|
||||
n+0. tag identifier
|
||||
n+1. value buffer size in bytes
|
||||
n+2. must be zero
|
||||
n+3. optional value buffer
|
||||
```
|
||||
|
||||
### rlibc
|
||||
|
||||
The mailbox buffer is a fixed array that is zero-initialized. To achieve
|
||||
zero-initialization, Rust utilizies and links to the `memset()` function, which
|
||||
is normally provided by `libc`.
|
||||
|
||||
Since we are writing a `no_std` crate, we need to explicitly provide it. The
|
||||
easiest way is pulling in [rlibc] by adding it as an `extern crate` to `main.rs`
|
||||
and adding the dependency to `Cargo.toml`.
|
||||
|
||||
[rlibc]: https://github.com/alexcrichton/rlibc
|
||||
|
||||
### Synchronization
|
||||
|
||||
When signaling the GPU about a new mailbox message, we need to take care that
|
||||
mailbox buffer setup has really finished. Both setting up mailbox contents and
|
||||
signaling the GPU is done with store operations to memory (RAM and MMIO). There
|
||||
is an unlikely chance that the compiler reorders instructions, resulting in
|
||||
signaling the GPU _before_ all of the contents have been written to the mailbox
|
||||
buffer. We prevent this by inserting a [compiler fence].
|
||||
|
||||
Please note that such reordering might also be done by CPUs that feature
|
||||
[out-of-order execution]. Lucky us, although the Rasperry Pi 3 features
|
||||
`ARMv8.0-A` CPU cores, the `Cortex-A53` variant is used, [which does not support
|
||||
this feature]. Otherwise, a [fence] that additionally [emits corresponding CPU
|
||||
instructions] to prevent this behavior would be needed.
|
||||
|
||||
[compiler fence]: https://doc.rust-lang.org/beta/core/sync/atomic/fn.compiler_fence.html
|
||||
[out-of-order execution]: https://en.wikipedia.org/wiki/Out-of-order_execution
|
||||
[which does not support this feature]: https://en.wikipedia.org/wiki/Comparison_of_ARMv8-A_cores
|
||||
[fence]: https://doc.rust-lang.org/std/sync/atomic/fn.fence.html
|
||||
[emits corresponding CPU instructions]: https://developer.arm.com/products/architecture/a-profile/docs/100941/latest/barriers
|
||||
|
||||
## Main
|
||||
|
||||
We query the board's serial number and then we display it on the serial console.
|
@ -0,0 +1,24 @@
|
||||
{
|
||||
"arch": "aarch64",
|
||||
"data-layout": "e-m:e-i8:8:32-i16:16:32-i64:64-i128:128-n32:64-S128",
|
||||
"executables": true,
|
||||
"linker-flavor": "ld.lld",
|
||||
"linker-is-gnu": true,
|
||||
"pre-link-args": {
|
||||
"ld.lld": [
|
||||
"--script=link.ld"
|
||||
]
|
||||
},
|
||||
"llvm-target": "aarch64-unknown-none",
|
||||
"no-compiler-rt": true,
|
||||
"features": "+a53,+strict-align",
|
||||
"max-atomic-width": 128,
|
||||
"os": "none",
|
||||
"panic": "abort",
|
||||
"panic-strategy": "abort",
|
||||
"relocation-model": "pic",
|
||||
"target-c-int-width": "32",
|
||||
"target-endian": "little",
|
||||
"target-pointer-width": "64",
|
||||
"disable-redzone": true
|
||||
}
|
@ -0,0 +1,246 @@
|
||||
#!/bin/bash
|
||||
|
||||
DEFAULT_DOCKCROSS_IMAGE=dockcross/linux-arm64
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
# Helpers
|
||||
#
|
||||
err() {
|
||||
echo -e >&2 ERROR: $@\\n
|
||||
}
|
||||
|
||||
die() {
|
||||
err $@
|
||||
exit 1
|
||||
}
|
||||
|
||||
has() {
|
||||
# eg. has command update
|
||||
local kind=$1
|
||||
local name=$2
|
||||
|
||||
type -t $kind:$name | grep -q function
|
||||
}
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
# Command handlers
|
||||
#
|
||||
command:update-image() {
|
||||
docker pull $FINAL_IMAGE
|
||||
}
|
||||
|
||||
help:update-image() {
|
||||
echo Pull the latest $FINAL_IMAGE .
|
||||
}
|
||||
|
||||
command:update-script() {
|
||||
if cmp -s <( docker run --rm $FINAL_IMAGE ) $0; then
|
||||
echo $0 is up to date
|
||||
else
|
||||
echo -n Updating $0 '... '
|
||||
docker run --rm $FINAL_IMAGE > $0 && echo ok
|
||||
fi
|
||||
}
|
||||
|
||||
help:update-image() {
|
||||
echo Update $0 from $FINAL_IMAGE .
|
||||
}
|
||||
|
||||
command:update() {
|
||||
command:update-image
|
||||
command:update-script
|
||||
}
|
||||
|
||||
help:update() {
|
||||
echo Pull the latest $FINAL_IMAGE, and then update $0 from that.
|
||||
}
|
||||
|
||||
command:help() {
|
||||
if [[ $# != 0 ]]; then
|
||||
if ! has command $1; then
|
||||
err \"$1\" is not an dockcross command
|
||||
command:help
|
||||
elif ! has help $1; then
|
||||
err No help found for \"$1\"
|
||||
else
|
||||
help:$1
|
||||
fi
|
||||
else
|
||||
cat >&2 <<ENDHELP
|
||||
Usage: dockcross [options] [--] command [args]
|
||||
|
||||
By default, run the given *command* in an dockcross Docker container.
|
||||
|
||||
The *options* can be one of:
|
||||
|
||||
--args|-a Extra args to the *docker run* command
|
||||
--image|-i Docker cross-compiler image to use
|
||||
--config|-c Bash script to source before running this script
|
||||
|
||||
|
||||
Additionally, there are special update commands:
|
||||
|
||||
update-image
|
||||
update-script
|
||||
update
|
||||
|
||||
For update command help use: $0 help <command>
|
||||
ENDHELP
|
||||
exit 1
|
||||
fi
|
||||
}
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
# Option processing
|
||||
#
|
||||
special_update_command=''
|
||||
while [[ $# != 0 ]]; do
|
||||
case $1 in
|
||||
|
||||
--)
|
||||
shift
|
||||
break
|
||||
;;
|
||||
|
||||
--args|-a)
|
||||
ARG_ARGS="$2"
|
||||
shift 2
|
||||
;;
|
||||
|
||||
--config|-c)
|
||||
ARG_CONFIG="$2"
|
||||
shift 2
|
||||
;;
|
||||
|
||||
--image|-i)
|
||||
ARG_IMAGE="$2"
|
||||
shift 2
|
||||
;;
|
||||
update|update-image|update-script)
|
||||
special_update_command=$1
|
||||
break
|
||||
;;
|
||||
-*)
|
||||
err Unknown option \"$1\"
|
||||
command:help
|
||||
exit
|
||||
;;
|
||||
|
||||
*)
|
||||
break
|
||||
;;
|
||||
|
||||
esac
|
||||
done
|
||||
|
||||
# The precedence for options is:
|
||||
# 1. command-line arguments
|
||||
# 2. environment variables
|
||||
# 3. defaults
|
||||
|
||||
# Source the config file if it exists
|
||||
DEFAULT_DOCKCROSS_CONFIG=~/.dockcross
|
||||
FINAL_CONFIG=${ARG_CONFIG-${DOCKCROSS_CONFIG-$DEFAULT_DOCKCROSS_CONFIG}}
|
||||
|
||||
[[ -f "$FINAL_CONFIG" ]] && source "$FINAL_CONFIG"
|
||||
|
||||
# Set the docker image
|
||||
FINAL_IMAGE=${ARG_IMAGE-${DOCKCROSS_IMAGE-$DEFAULT_DOCKCROSS_IMAGE}}
|
||||
|
||||
# Handle special update command
|
||||
if [ "$special_update_command" != "" ]; then
|
||||
case $special_update_command in
|
||||
|
||||
update)
|
||||
command:update
|
||||
exit $?
|
||||
;;
|
||||
|
||||
update-image)
|
||||
command:update-image
|
||||
exit $?
|
||||
;;
|
||||
|
||||
update-script)
|
||||
command:update-script
|
||||
exit $?
|
||||
;;
|
||||
|
||||
esac
|
||||
fi
|
||||
|
||||
# Set the docker run extra args (if any)
|
||||
FINAL_ARGS=${ARG_ARGS-${DOCKCROSS_ARGS}}
|
||||
|
||||
# Bash on Ubuntu on Windows
|
||||
UBUNTU_ON_WINDOWS=$([ -e /proc/version ] && grep -l Microsoft /proc/version || echo "")
|
||||
# MSYS, Git Bash, etc.
|
||||
MSYS=$([ -e /proc/version ] && grep -l MINGW /proc/version || echo "")
|
||||
|
||||
if [ -z "$UBUNTU_ON_WINDOWS" -a -z "$MSYS" ]; then
|
||||
USER_IDS="-e BUILDER_UID=$( id -u ) -e BUILDER_GID=$( id -g ) -e BUILDER_USER=$( id -un ) -e BUILDER_GROUP=$( id -gn )"
|
||||
fi
|
||||
|
||||
# Change the PWD when working in Docker on Windows
|
||||
if [ -n "$UBUNTU_ON_WINDOWS" ]; then
|
||||
HOST_PWD=$PWD
|
||||
HOST_PWD=${HOST_PWD/\/mnt\//}
|
||||
HOST_PWD=${HOST_PWD/\//:\/}
|
||||
elif [ -n "$MSYS" ]; then
|
||||
HOST_PWD=$PWD
|
||||
HOST_PWD=${HOST_PWD/\//}
|
||||
HOST_PWD=${HOST_PWD/\//:\/}
|
||||
else
|
||||
HOST_PWD=$PWD
|
||||
fi
|
||||
|
||||
# Mount Additional Volumes
|
||||
if [ -z "$SSH_DIR" ]; then
|
||||
SSH_DIR="$HOME/.ssh"
|
||||
fi
|
||||
|
||||
HOST_VOLUMES=
|
||||
if [ -e "$SSH_DIR" ]; then
|
||||
HOST_VOLUMES+="-v $SSH_DIR:/home/$(id -un)/.ssh"
|
||||
fi
|
||||
|
||||
#------------------------------------------------------------------------------
|
||||
# Now, finally, run the command in a container
|
||||
#
|
||||
tty -s && TTY_ARGS=-ti || TTY_ARGS=
|
||||
CONTAINER_NAME=dockcross_$RANDOM
|
||||
docker run $TTY_ARGS --name $CONTAINER_NAME \
|
||||
-v "$HOST_PWD":/work \
|
||||
$HOST_VOLUMES \
|
||||
$USER_IDS \
|
||||
$FINAL_ARGS \
|
||||
$FINAL_IMAGE "$@"
|
||||
run_exit_code=$?
|
||||
|
||||
# Attempt to delete container
|
||||
rm_output=$(docker rm -f $CONTAINER_NAME 2>&1)
|
||||
rm_exit_code=$?
|
||||
if [[ $rm_exit_code != 0 ]]; then
|
||||
if [[ "$CIRCLECI" == "true" ]] && [[ $rm_output == *"Driver btrfs failed to remove"* ]]; then
|
||||
: # Ignore error because of https://circleci.com/docs/docker-btrfs-error/
|
||||
else
|
||||
echo "$rm_output"
|
||||
exit $rm_exit_code
|
||||
fi
|
||||
fi
|
||||
|
||||
exit $run_exit_code
|
||||
|
||||
################################################################################
|
||||
#
|
||||
# This image is not intended to be run manually.
|
||||
#
|
||||
# To create a dockcross helper script for the
|
||||
# dockcross/linux-armv7 image, run:
|
||||
#
|
||||
# docker run --rm dockcross/linux-armv7 > dockcross-linux-armv7
|
||||
# chmod +x dockcross-linux-armv7
|
||||
#
|
||||
# You may then wish to move the dockcross script to your PATH.
|
||||
#
|
||||
################################################################################
|
Binary file not shown.
@ -0,0 +1,6 @@
|
||||
[package]
|
||||
name = "raspi3_glue"
|
||||
version = "0.1.0"
|
||||
authors = ["Andre Richter <andre.o.richter@gmail.com>"]
|
||||
|
||||
[dependencies]
|
@ -0,0 +1,88 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 2018 Jorge Aparicio
|
||||
* Copyright (c) 2018 Andre Richter <andre.o.richter@gmail.com>
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
#![feature(lang_items)]
|
||||
#![no_std]
|
||||
#![feature(global_asm)]
|
||||
|
||||
use core::ptr;
|
||||
|
||||
#[lang = "panic_fmt"]
|
||||
unsafe extern "C" fn panic_fmt(
|
||||
_args: core::fmt::Arguments,
|
||||
_file: &'static str,
|
||||
_line: u32,
|
||||
_col: u32,
|
||||
) -> ! {
|
||||
loop {}
|
||||
}
|
||||
|
||||
#[lang = "start"]
|
||||
extern "C" fn start<T>(user_main: fn() -> T, _argc: isize, _argv: *const *const u8) -> isize
|
||||
where
|
||||
T: Termination,
|
||||
{
|
||||
user_main().report() as isize
|
||||
}
|
||||
|
||||
#[lang = "termination"]
|
||||
trait Termination {
|
||||
fn report(self) -> i32;
|
||||
}
|
||||
|
||||
impl Termination for () {
|
||||
fn report(self) -> i32 {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
||||
#[no_mangle]
|
||||
pub unsafe extern "C" fn reset() -> ! {
|
||||
extern "C" {
|
||||
fn main(argc: isize, argv: *const *const u8) -> isize;
|
||||
|
||||
static mut __bss_start: u32;
|
||||
static mut __bss_end: u32;
|
||||
}
|
||||
|
||||
zero_bss(&mut __bss_start, &mut __bss_end);
|
||||
|
||||
main(0, ptr::null());
|
||||
|
||||
loop {}
|
||||
}
|
||||
|
||||
unsafe fn zero_bss(bss_start: *mut u32, bss_end: *mut u32) {
|
||||
let mut bss = bss_start;
|
||||
while bss < bss_end {
|
||||
// NOTE(ptr::write*) to force aligned stores
|
||||
// NOTE(volatile) to prevent the compiler from optimizing this into `memclr`
|
||||
ptr::write_volatile(bss, 0);
|
||||
bss = bss.offset(1);
|
||||
}
|
||||
}
|
||||
|
||||
// Disable all cores except core 0, and then jump to reset()
|
||||
global_asm!(include_str!("boot_cores.S"));
|
@ -0,0 +1,30 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 2018 Andre Richter <andre.o.richter@gmail.com>
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
use volatile_register::RW;
|
||||
use super::MMIO_BASE;
|
||||
|
||||
pub const GPFSEL1: *const RW<u32> = (MMIO_BASE + 0x00200004) as *const RW<u32>;
|
||||
pub const GPPUD: *const RW<u32> = (MMIO_BASE + 0x00200094) as *const RW<u32>;
|
||||
pub const GPPUDCLK0: *const RW<u32> = (MMIO_BASE + 0x00200098) as *const RW<u32>;
|
@ -0,0 +1,84 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 2018 Andre Richter <andre.o.richter@gmail.com>
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
#![no_std]
|
||||
#![feature(asm)]
|
||||
|
||||
extern crate raspi3_glue;
|
||||
extern crate rlibc; // for memset et al.b
|
||||
extern crate volatile_register;
|
||||
|
||||
const MMIO_BASE: u32 = 0x3F000000;
|
||||
|
||||
mod mbox;
|
||||
mod gpio;
|
||||
mod uart;
|
||||
|
||||
use core::sync::atomic::{compiler_fence, Ordering};
|
||||
|
||||
fn main() {
|
||||
let mut mbox = mbox::Mbox::new();
|
||||
let uart = uart::MiniUart::new();
|
||||
|
||||
// set up serial console
|
||||
uart.init();
|
||||
|
||||
// get the board's unique serial number with a mailbox call
|
||||
mbox.buffer[0] = 8 * 4; // length of the message
|
||||
mbox.buffer[1] = mbox::REQUEST; // this is a request message
|
||||
mbox.buffer[2] = mbox::tag::GETSERIAL; // get serial number command
|
||||
mbox.buffer[3] = 8; // buffer size
|
||||
mbox.buffer[4] = 8;
|
||||
mbox.buffer[5] = 0; // clear output buffer
|
||||
mbox.buffer[6] = 0;
|
||||
mbox.buffer[7] = mbox::tag::LAST;
|
||||
|
||||
// Insert a compiler fence that ensures that all stores to the
|
||||
// mbox buffer are finished before the GPU is signaled (which is
|
||||
// done by a store operation as well).
|
||||
compiler_fence(Ordering::SeqCst);
|
||||
|
||||
// send the message to the GPU and receive answer
|
||||
let serial_avail = match mbox.call(mbox::channel::PROP) {
|
||||
Err(_) => false,
|
||||
Ok(()) => true,
|
||||
};
|
||||
|
||||
uart.getc(); // Press a key first before being greeted
|
||||
uart.puts("Hello Rustacean!\n");
|
||||
|
||||
if serial_avail {
|
||||
uart.puts("My serial number is: ");
|
||||
uart.hex(mbox.buffer[6]);
|
||||
uart.hex(mbox.buffer[5]);
|
||||
uart.puts("\n");
|
||||
} else {
|
||||
uart.puts("Unable to query serial!\n");
|
||||
}
|
||||
|
||||
// echo everything back
|
||||
loop {
|
||||
uart.send(uart.getc());
|
||||
}
|
||||
}
|
@ -0,0 +1,134 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 2018 Andre Richter <andre.o.richter@gmail.com>
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
use super::MMIO_BASE;
|
||||
use volatile_register::{RO, WO};
|
||||
|
||||
pub const VIDEOCORE_MBOX: u32 = MMIO_BASE + 0xB880;
|
||||
|
||||
#[allow(non_snake_case)]
|
||||
#[repr(C, packed)]
|
||||
pub struct Registers {
|
||||
READ: RO<u32>, // 0x00
|
||||
reserved: [u8; 0xC], // 0x04
|
||||
POLL: RO<u32>, // 0x10
|
||||
SENDER: RO<u32>, // 0x14
|
||||
STATUS: RO<u32>, // 0x18
|
||||
CONFIG: RO<u32>, // 0x1C
|
||||
WRITE: WO<u32>, // 0x20
|
||||
}
|
||||
|
||||
// Custom errors
|
||||
pub enum MboxError {
|
||||
ResponseError,
|
||||
UnknownError,
|
||||
}
|
||||
pub type Result<T> = ::core::result::Result<T, MboxError>;
|
||||
|
||||
// Channels
|
||||
pub mod channel {
|
||||
pub const PROP: u32 = 8;
|
||||
}
|
||||
|
||||
// Tags
|
||||
pub mod tag {
|
||||
pub const GETSERIAL: u32 = 0x10004;
|
||||
pub const LAST: u32 = 0;
|
||||
}
|
||||
|
||||
// Responses
|
||||
mod response {
|
||||
pub const SUCCESS: u32 = 0x80000000;
|
||||
pub const ERROR: u32 = 0x80000001; // error parsing request buffer (partial response)
|
||||
}
|
||||
|
||||
pub const REQUEST: u32 = 0;
|
||||
const FULL: u32 = 0x80000000;
|
||||
const EMPTY: u32 = 0x40000000;
|
||||
|
||||
// Public interface to the mailbox
|
||||
#[repr(C)]
|
||||
pub struct Mbox {
|
||||
// The address for buffer needs to be 16-byte aligned so that the
|
||||
// Videcore can handle it properly. We don't take precautions here
|
||||
// to achieve that, but for now it just works. Since alignment of
|
||||
// data structures in Rust is a bit of a hassle right now, we just
|
||||
// close our eyes and roll with it.
|
||||
pub buffer: [u32; 36],
|
||||
registers: *const Registers,
|
||||
}
|
||||
|
||||
impl Mbox {
|
||||
pub fn new() -> Mbox {
|
||||
Mbox {
|
||||
buffer: [0; 36],
|
||||
registers: VIDEOCORE_MBOX as *const Registers,
|
||||
}
|
||||
}
|
||||
|
||||
/// Make a mailbox call. Returns Err(MboxError) on failure, Ok(()) success
|
||||
pub fn call(&mut self, channel: u32) -> Result<()> {
|
||||
// wait until we can write to the mailbox
|
||||
loop {
|
||||
unsafe {
|
||||
if !(((*self.registers).STATUS.read() & FULL) == FULL) {
|
||||
break;
|
||||
}
|
||||
asm!("nop" :::: "volatile");
|
||||
}
|
||||
}
|
||||
|
||||
// write the address of our message to the mailbox with channel identifier
|
||||
unsafe {
|
||||
(*self.registers)
|
||||
.WRITE
|
||||
.write(((self.buffer.as_mut_ptr() as u32) & !0xF) | (channel & 0xF));
|
||||
}
|
||||
|
||||
// now wait for the response
|
||||
loop {
|
||||
// is there a response?
|
||||
loop {
|
||||
unsafe {
|
||||
if !(((*self.registers).STATUS.read() & EMPTY) == EMPTY) {
|
||||
break;
|
||||
}
|
||||
asm!("nop" :::: "volatile");
|
||||
}
|
||||
}
|
||||
|
||||
let resp: u32 = unsafe { (*self.registers).READ.read() };
|
||||
|
||||
// is it a response to our message?
|
||||
if ((resp & 0xF) == channel) && ((resp & !0xF) == (self.buffer.as_mut_ptr() as u32)) {
|
||||
// is it a valid successful response?
|
||||
return match self.buffer[1] {
|
||||
response::SUCCESS => Ok(()),
|
||||
response::ERROR => Err(MboxError::ResponseError),
|
||||
_ => Err(MboxError::UnknownError),
|
||||
};
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
@ -0,0 +1,169 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 2018 Andre Richter <andre.o.richter@gmail.com>
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*/
|
||||
|
||||
use super::MMIO_BASE;
|
||||
use volatile_register::*;
|
||||
use gpio;
|
||||
|
||||
const MINI_UART_BASE: u32 = MMIO_BASE + 0x215000;
|
||||
|
||||
/// Auxilary mini UART registers
|
||||
#[allow(non_snake_case)]
|
||||
#[repr(C, packed)]
|
||||
struct Registers {
|
||||
_reserved0: u32, // 0x00
|
||||
ENABLES: RW<u32>, // 0x04
|
||||
_reserved1: [u8; 0x38], // 0x08
|
||||
MU_IO: RW<u32>, // 0x40
|
||||
MU_IER: RW<u32>, // 0x44
|
||||
MU_IIR: RW<u32>, // 0x48
|
||||
MU_LCR: RW<u32>, // 0x4C
|
||||
MU_MCR: RW<u32>, // 0x50
|
||||
MU_LSR: RW<u32>, // 0x54
|
||||
MU_MSR: RW<u32>, // 0x58
|
||||
MU_SCRATCH: RW<u32>, // 0x5C
|
||||
MU_CNTL: RW<u32>, // 0x60
|
||||
MU_STAT: RW<u32>, // 0x64
|
||||
MU_BAUD: RW<u32>, // 0x68
|
||||
}
|
||||
|
||||
pub struct MiniUart {
|
||||
registers: *const Registers,
|
||||
}
|
||||
|
||||
impl MiniUart {
|
||||
pub fn new() -> MiniUart {
|
||||
MiniUart {
|
||||
registers: MINI_UART_BASE as *const Registers,
|
||||
}
|
||||
}
|
||||
|
||||
///Set baud rate and characteristics (115200 8N1) and map to GPIO
|
||||
pub fn init(&self) {
|
||||
// initialize UART
|
||||
unsafe {
|
||||
(*self.registers).ENABLES.modify(|x| x | 1); // enable UART1, AUX mini uart
|
||||
(*self.registers).MU_IER.write(0);
|
||||
(*self.registers).MU_CNTL.write(0);
|
||||
(*self.registers).MU_LCR.write(3); // 8 bits
|
||||
(*self.registers).MU_MCR.write(0);
|
||||
(*self.registers).MU_IER.write(0);
|
||||
(*self.registers).MU_IIR.write(0xC6); // disable interrupts
|
||||
(*self.registers).MU_BAUD.write(270); // 115200 baud
|
||||
|
||||
// map UART1 to GPIO pins
|
||||
(*gpio::GPFSEL1).modify(|x| {
|
||||
// Modify with a closure
|
||||
let mut ret = x;
|
||||
ret &= !((7 << 12) | (7 << 15)); // gpio14, gpio15
|
||||
ret |= (2 << 12) | (2 << 15); // alt5
|
||||
|
||||
ret
|
||||
});
|
||||
|
||||
(*gpio::GPPUD).write(0); // enable pins 14 and 15
|
||||
for _ in 0..150 {
|
||||
asm!("nop" :::: "volatile");
|
||||
}
|
||||
|
||||
(*gpio::GPPUDCLK0).write((1 << 14) | (1 << 15));
|
||||
for _ in 0..150 {
|
||||
asm!("nop" :::: "volatile");
|
||||
}
|
||||
(*gpio::GPPUDCLK0).write(0); // flush GPIO setup
|
||||
(*self.registers).MU_CNTL.write(3); // enable Tx, Rx
|
||||
}
|
||||
}
|
||||
|
||||
/// Send a character
|
||||
pub fn send(&self, c: char) {
|
||||
unsafe {
|
||||
// wait until we can send
|
||||
loop {
|
||||
if ((*self.registers).MU_LSR.read() & 0x20) == 0x20 {
|
||||
break;
|
||||
}
|
||||
asm!("nop" :::: "volatile");
|
||||
}
|
||||
|
||||
// write the character to the buffer
|
||||
(*self.registers).MU_IO.write(c as u32);
|
||||
}
|
||||
}
|
||||
|
||||
/// Receive a character
|
||||
pub fn getc(&self) -> char {
|
||||
unsafe {
|
||||
// wait until something is in the buffer
|
||||
loop {
|
||||
if ((*self.registers).MU_LSR.read() & 0x01) == 0x01 {
|
||||
break;
|
||||
}
|
||||
asm!("nop" :::: "volatile");
|
||||
}
|
||||
}
|
||||
|
||||
// read it and return
|
||||
let mut ret = unsafe { (*self.registers).MU_IO.read() as u8 as char };
|
||||
|
||||
// convert carrige return to newline
|
||||
if ret == '\r' {
|
||||
ret = '\n'
|
||||
}
|
||||
|
||||
ret
|
||||
}
|
||||
|
||||
/// Display a string
|
||||
pub fn puts(&self, string: &str) {
|
||||
for c in string.chars() {
|
||||
// convert newline to carrige return + newline
|
||||
if c == '\n' {
|
||||
self.send('\r')
|
||||
}
|
||||
|
||||
self.send(c);
|
||||
}
|
||||
}
|
||||
|
||||
/// Display a binary value in hexadecimal
|
||||
pub fn hex(&self, d: u32) {
|
||||
let mut n;
|
||||
|
||||
for i in 0..8 {
|
||||
// get highest tetrad
|
||||
n = d.wrapping_shr(28 - i * 4) & 0xF;
|
||||
|
||||
// 0-9 => '0'-'9', 10-15 => 'A'-'F'
|
||||
// Add proper offset for ASCII table
|
||||
if n > 9 {
|
||||
n += 0x37;
|
||||
} else {
|
||||
n += 0x30;
|
||||
}
|
||||
|
||||
self.send(n as u8 as char);
|
||||
}
|
||||
}
|
||||
}
|
Loading…
Reference in New Issue