Add tutorial 01_bareminimum
Andre Richter
6 years ago
parent
b2f5da7184
commit
8f94a07675
@ -1,38 +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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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 $(CFLAGS) -c start.S -o start.o
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kernel8.img: start.o
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aarch64-elf-ld -nostdlib -nostartfiles start.o -T link.ld -o kernel8.elf
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aarch64-elf-objcopy -O binary kernel8.elf kernel8.img
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clean:
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rm kernel8.elf *.o >/dev/null 2>/dev/null || true
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@ -1,37 +0,0 @@
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Oktatóanyag 01 - A legszükségesebbek
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====================================
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Rendben, nem fogunk semmi érdekeset csinálni, csak kipróbáljuk a környezetet. A keletkezett kernel8.img-nek
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be kell tudnia bootolni a Raspberry Pi-n, ahol végtelen ciklusban várakoztatja a CPU magokat. Ezt ellenőrizheted a
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következő paranccsal:
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```sh
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$ qemu-system-aarch64 -M raspi3 -kernel kernel8.img -d in_asm
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... kimenet törölve az átláthatóság miatt, utolsó sor: ...
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0x0000000000080004: 17ffffff b #-0x4 (addr 0x80000)
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```
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Start
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-----
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Amikor a vezérlés átadódik a kernel8.img-nek, a környezet még nem alkalmas C kód futtatására. Ezért mindenképp
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szükség van egy kis Assembly bevezetőre. Mivel ez az első oktatóanyag nagyon egyszerű, nem is lesz más, nincs
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még C kódunk.
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Ne feledkezzünk meg róla, hogy 4 CPU magunk van. Most mind ugyanazt a végtelen ciklust hajtja végre.
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Makefile
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--------
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A Makefile-unk végtelenü legyszerű. Lefordítjuk a start.S-t, ez az egyetlen forrás fájlunk. Aztán a szerkesztési
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fázisban a linker.ld szrkript segítségével linkeljük. Végezetül pedig a keletkező elf futtahatót nyers programfájllá
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kovertáljuk.
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Linker szkript
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--------------
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Nem túl meglepő módon ez is egyszerű. Be kell állítanunk a bázis címet, ahová a kernel8.img töltődik, és mindent
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ide rakunk, mivel csak egy szekciónk van. Fontos megjegyezni, hogy AArch64 kód esetén a betöltési cím **0x80000**
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és nem **0x8000**, mint AArch32 esetében.
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@ -1,34 +0,0 @@
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Tutorial 01 - Bare Minimum
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==========================
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Okay, we're not going to do anything here, just test our toolchain. The resulting kernel8.img should
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boot on Raspberry Pi, and stop the CPU cores in an infinite loop. You can check that by running
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```sh
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$ qemu-system-aarch64 -M raspi3 -kernel kernel8.img -d in_asm
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... output removed for clearity, last line: ...
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0x0000000000080004: 17ffffff b #-0x4 (addr 0x80000)
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```
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Start
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-----
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When the control is passed to kernel8.img, the environment is not ready for C. Therefore we must
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implement a small preambule in Assembly. As this first tutorial is very simple, that's all we have, no C
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for now.
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Note that CPU has 4 cores. All of them are running the same infinite loop for now.
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Makefile
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--------
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Our Makefile is very simple. We compile start.S, as this is our only source. Then in linker phase we
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link it using the linker.ld script. Finaly we convert the resulting elf executable into a raw image.
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Linker script
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-------------
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Not surpisingly simple too. We just set the base address where our kernel8.img will be loaded, and we
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put the only section we have there. Important note, for AArch64 the load address is **0x80000**, and
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not **0x8000** as with AArch32.
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@ -0,0 +1,4 @@
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[[package]]
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name = "kernel8"
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version = "0.1.0"
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[package]
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name = "kernel8"
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version = "0.1.0"
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authors = ["Andre Richter <andre.o.richter@gmail.com>"]
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[dependencies]
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#
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# MIT License
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#
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# Copyright (c) 2018 Andre Richter <andre.o.richter@gmail.com>
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
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# copies 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 included in all
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# 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, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, 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 DEALINGS IN THE
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# SOFTWARE.
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#
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TARGET = aarch64-raspi3-none-elf
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CROSS_CONTAINER = ./dockcross-linux-aarch64
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CROSS_CONTAINER_OBJCOPY = aarch64-linux-gnu-objcopy
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QEMU_CONTAINER = andrerichter/raspi3-qemu
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DOCKER_CMD = docker run -it --rm -v $(shell pwd):/work -w /work
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QEMU_CMD = qemu-system-aarch64 -M raspi3 -kernel kernel8.img
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all: clean kernel8.img
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target/$(TARGET)/debug/kernel8: src/main.rs
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RUST_TARGET_PATH=$(shell pwd) xargo build --target=$(TARGET)
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cp $@ .
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target/$(TARGET)/release/kernel8: src/main.rs
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RUST_TARGET_PATH=$(shell pwd) xargo build --target=$(TARGET) --release
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cp $@ .
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ifeq ($(DEBUG),1)
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kernel8: target/$(TARGET)/debug/kernel8
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else
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kernel8: target/$(TARGET)/release/kernel8
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endif
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kernel8.img: kernel8
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$(CROSS_CONTAINER) $(CROSS_CONTAINER_OBJCOPY) -O binary -S $< kernel8.img
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qemu:
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$(DOCKER_CMD) $(QEMU_CONTAINER) $(QEMU_CMD) -d in_asm
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clean:
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cargo clean
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rm -f kernel8
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@ -0,0 +1,86 @@
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# Tutorial 01 - Bare Minimum
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Okay, we're not going to do much here, just test our toolchain. The resulting
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kernel8.img should boot on the Raspberry Pi 3, and stop all CPU cores in an
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infinite waiting loop. You can check that by running
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```bash
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$ make qemu
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... some output removed for clearity: ...
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----------------
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IN:
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0x00080000: d503205f wfe
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0x00080004: 17ffffff b #0x80000
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```
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## Crate setup
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In this tutorial, we are compiling a kernel that is in the end only executing a
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single assembly instruction which we program with an assembly file.
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However, since we want to use the toolchain that is delivered with `rustup` as
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much as possible, we are already setting up a Rust crate. This allows us to use
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`rustc` and LLVM's `lld.ld` linker to process our assembly file.
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## main.rs
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We define the crate to not use the standard library (`#![no_std]`), indicate
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that it does not have a main function via `#![no_main]`, and also define a stub
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for the `panic_fmt()` handler, which is a requirement for `no_std` crates.
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In th end, we (mis)use `main.rs` as a wrapper to process our assembly file via
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`rustc`. The assembly file iself is included with the [global_asm!()][gasm]
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macro.
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[gasm]: https://doc.rust-lang.org/unstable-book/language-features/global-asm.html
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## boot_cores.S
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When the control is passed to kernel8.img, the environment is not ready yet for
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Rust. Therefore we must implement a small preamble in assembly, no Rust for now.
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All we do is executing [wfe][wfe], an instruction that puts the CPU cores to
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sleep until an asynchronous event occurs. If that happens, we jump right back to
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`wfe` again.
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[wfe]: http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.ddi0360e/CHDBGCFH.html
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Note that the CPU has 4 cores. All of them will execute the same infinite loop
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for now.
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## aarch64-raspi3-none-elf.json
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This is our custom target definition of the RPi3 for [Xargo][xargo]. It also
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includes a directive to use the `link.ld` linker script.
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```json
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"pre-link-args": {
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"ld.lld": [
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"--script=link.ld"
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]
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},
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```
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[xargo]: https://github.com/japaric/xargo
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## Makefile
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Our Makefile has a few useful targets:
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- `kernel8` compiles the crate either in release or debug mode. For the latter,
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add `DEBUG=1` before invoking make, e.g. `DEBUG=1 make`
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- `kernel8.img` uses our cross-toolchain's `objcopy` in the docker container to
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generate our kernel binary. Citing the [binutils documentation][butils]:
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- "_When objcopy generates a raw binary file, it will essentially produce a
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memory dump of the contents of the input object file. All symbols and
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relocation information will be discarded. The memory dump will start at
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the load address of the lowest section copied into the output file._"
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- `qemu` loads our kernel into an emulated RPi3, and shows as output the
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assembler blocks that are executed. This happens in another docker container.
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[butils]: https://sourceware.org/binutils/docs/binutils/objcopy.html
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## Linker script `link.ld`
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We just set the base address where our kernel8.img will be loaded, and we put
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the only section we have there, which is `.text.boot`. Important note, for
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AArch64 the load address is **0x80_000**, and not **0x80_00** as with AArch32.
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@ -0,0 +1,24 @@
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{
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"arch": "aarch64",
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"data-layout": "e-m:e-i8:8:32-i16:16:32-i64:64-i128:128-n32:64-S128",
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"executables": true,
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"linker-flavor": "ld.lld",
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"linker-is-gnu": true,
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"pre-link-args": {
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"ld.lld": [
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"--script=link.ld"
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]
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},
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"llvm-target": "aarch64-unknown-none",
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"no-compiler-rt": true,
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"features": "+a53,+strict-align",
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"max-atomic-width": 128,
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"os": "none",
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"panic": "abort",
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"panic-strategy": "abort",
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"relocation-model": "pic",
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"target-c-int-width": "32",
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"target-endian": "little",
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"target-pointer-width": "64",
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"disable-redzone": true
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}
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#!/bin/bash
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DEFAULT_DOCKCROSS_IMAGE=dockcross/linux-arm64
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#------------------------------------------------------------------------------
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# Helpers
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#
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err() {
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echo -e >&2 ERROR: $@\\n
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}
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die() {
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err $@
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exit 1
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}
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has() {
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# eg. has command update
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local kind=$1
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local name=$2
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type -t $kind:$name | grep -q function
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}
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#------------------------------------------------------------------------------
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# Command handlers
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#
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command:update-image() {
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docker pull $FINAL_IMAGE
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}
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help:update-image() {
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echo Pull the latest $FINAL_IMAGE .
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}
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command:update-script() {
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if cmp -s <( docker run --rm $FINAL_IMAGE ) $0; then
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echo $0 is up to date
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else
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echo -n Updating $0 '... '
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docker run --rm $FINAL_IMAGE > $0 && echo ok
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fi
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}
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help:update-image() {
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echo Update $0 from $FINAL_IMAGE .
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}
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command:update() {
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command:update-image
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command:update-script
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}
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help:update() {
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echo Pull the latest $FINAL_IMAGE, and then update $0 from that.
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}
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command:help() {
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if [[ $# != 0 ]]; then
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if ! has command $1; then
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err \"$1\" is not an dockcross command
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command:help
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elif ! has help $1; then
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err No help found for \"$1\"
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else
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help:$1
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fi
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else
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cat >&2 <<ENDHELP
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Usage: dockcross [options] [--] command [args]
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By default, run the given *command* in an dockcross Docker container.
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The *options* can be one of:
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--args|-a Extra args to the *docker run* command
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--image|-i Docker cross-compiler image to use
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--config|-c Bash script to source before running this script
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Additionally, there are special update commands:
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update-image
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update-script
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update
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For update command help use: $0 help <command>
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ENDHELP
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exit 1
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fi
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}
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#------------------------------------------------------------------------------
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# Option processing
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#
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special_update_command=''
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while [[ $# != 0 ]]; do
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case $1 in
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--)
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shift
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break
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;;
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--args|-a)
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ARG_ARGS="$2"
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shift 2
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;;
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--config|-c)
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ARG_CONFIG="$2"
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shift 2
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;;
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--image|-i)
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ARG_IMAGE="$2"
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shift 2
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;;
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update|update-image|update-script)
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special_update_command=$1
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break
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;;
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-*)
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err Unknown option \"$1\"
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command:help
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exit
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;;
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*)
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break
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;;
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esac
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done
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# The precedence for options is:
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# 1. command-line arguments
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# 2. environment variables
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# 3. defaults
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# Source the config file if it exists
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DEFAULT_DOCKCROSS_CONFIG=~/.dockcross
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FINAL_CONFIG=${ARG_CONFIG-${DOCKCROSS_CONFIG-$DEFAULT_DOCKCROSS_CONFIG}}
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[[ -f "$FINAL_CONFIG" ]] && source "$FINAL_CONFIG"
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# Set the docker image
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FINAL_IMAGE=${ARG_IMAGE-${DOCKCROSS_IMAGE-$DEFAULT_DOCKCROSS_IMAGE}}
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# Handle special update command
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if [ "$special_update_command" != "" ]; then
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case $special_update_command in
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update)
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command:update
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exit $?
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;;
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update-image)
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command:update-image
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exit $?
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;;
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update-script)
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command:update-script
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exit $?
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;;
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esac
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fi
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# Set the docker run extra args (if any)
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FINAL_ARGS=${ARG_ARGS-${DOCKCROSS_ARGS}}
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# Bash on Ubuntu on Windows
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UBUNTU_ON_WINDOWS=$([ -e /proc/version ] && grep -l Microsoft /proc/version || echo "")
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# MSYS, Git Bash, etc.
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MSYS=$([ -e /proc/version ] && grep -l MINGW /proc/version || echo "")
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if [ -z "$UBUNTU_ON_WINDOWS" -a -z "$MSYS" ]; then
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USER_IDS="-e BUILDER_UID=$( id -u ) -e BUILDER_GID=$( id -g ) -e BUILDER_USER=$( id -un ) -e BUILDER_GROUP=$( id -gn )"
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fi
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# Change the PWD when working in Docker on Windows
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if [ -n "$UBUNTU_ON_WINDOWS" ]; then
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HOST_PWD=$PWD
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HOST_PWD=${HOST_PWD/\/mnt\//}
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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.
|
||||
#
|
||||
################################################################################
|
||||
@ -0,0 +1,40 @@
|
||||
/*
|
||||
* 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]
|
||||
#![no_main]
|
||||
#![feature(lang_items)]
|
||||
#![feature(global_asm)]
|
||||
|
||||
#[lang = "panic_fmt"]
|
||||
unsafe extern "C" fn panic_fmt(
|
||||
_args: core::fmt::Arguments,
|
||||
_file: &'static str,
|
||||
_line: u32,
|
||||
_col: u32,
|
||||
) -> ! {
|
||||
loop {}
|
||||
}
|
||||
|
||||
global_asm!(include_str!("boot_cores.S"));
|
||||
Loading…
Reference in New Issue