Add code for tutorial 04
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# This file is automatically @generated by Cargo.
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# It is not intended for manual editing.
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[[package]]
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name = "cortex-a"
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version = "2.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"register 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "kernel"
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version = "0.1.0"
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dependencies = [
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"cortex-a 2.7.0 (registry+https://github.com/rust-lang/crates.io-index)",
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"r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "r0"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "register"
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version = "0.3.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"tock-registers 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)",
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]
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[[package]]
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name = "tock-registers"
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version = "0.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[metadata]
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"checksum cortex-a 2.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "cbb16c411ab74044f174746a6cbae67bcdebea126e376b5441e5986e6a6aa950"
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"checksum r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
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"checksum register 0.3.3 (registry+https://github.com/rust-lang/crates.io-index)" = "469bb5ddde81d67fb8bba4e14d77689b8166cfd077abe7530591cefe29d05823"
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"checksum tock-registers 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)" = "c758f5195a2e0df9d9fecf6f506506b2766ff74cf64db1e995c87e2761a5c3e2"
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@ -0,0 +1,17 @@
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[package]
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name = "kernel"
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version = "0.1.0"
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authors = ["Andre Richter <andre.o.richter@gmail.com>"]
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edition = "2018"
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[package.metadata.cargo-xbuild]
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sysroot_path = "../xbuild_sysroot"
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# The features section is used to select the target board.
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[features]
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default = []
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bsp_rpi3 = []
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[dependencies]
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r0 = "0.2.2"
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cortex-a = "2.7.0"
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@ -0,0 +1,76 @@
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## SPDX-License-Identifier: MIT
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##
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## Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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# Default to the RPi3
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ifndef BSP
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BSP = bsp_rpi3
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endif
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# BSP-specific arguments
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ifeq ($(BSP),bsp_rpi3)
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TARGET = aarch64-unknown-none
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OUTPUT = kernel8.img
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QEMU_BINARY = qemu-system-aarch64
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QEMU_MACHINE_TYPE = raspi3
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QEMU_MISC_ARGS = -serial null -serial stdio
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LINKER_FILE = src/bsp/rpi3/link.ld
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RUSTC_MISC_ARGS = -C target-feature=-fp-armv8 -C target-cpu=cortex-a53
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endif
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SOURCES = $(wildcard **/*.rs) $(wildcard **/*.S) $(wildcard **/*.ld)
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XRUSTC_CMD = cargo xrustc \
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--target=$(TARGET) \
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--features $(BSP) \
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--release \
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-- \
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-C link-arg=-T$(LINKER_FILE) \
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$(RUSTC_MISC_ARGS)
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CARGO_OUTPUT = target/$(TARGET)/release/kernel
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OBJCOPY_CMD = cargo objcopy \
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-- \
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--strip-all \
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-O binary
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CONTAINER_UTILS = rustembedded/osdev-utils
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DOCKER_CMD = docker run -it --rm
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DOCKER_ARG_CURDIR = -v $(shell pwd):/work -w /work
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DOCKER_EXEC_QEMU = $(QEMU_BINARY) -M $(QEMU_MACHINE_TYPE) -kernel $(OUTPUT)
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.PHONY: all qemu clippy clean readelf objdump nm
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all: clean $(OUTPUT)
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$(CARGO_OUTPUT): $(SOURCES)
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RUSTFLAGS="-D warnings -D missing_docs" $(XRUSTC_CMD)
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$(OUTPUT): $(CARGO_OUTPUT)
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cp $< .
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$(OBJCOPY_CMD) $< $(OUTPUT)
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doc:
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cargo xdoc --target=$(TARGET) --features $(BSP) --document-private-items
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xdg-open target/$(TARGET)/doc/kernel/index.html
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qemu: all
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$(DOCKER_CMD) $(DOCKER_ARG_CURDIR) $(CONTAINER_UTILS) \
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$(DOCKER_EXEC_QEMU) $(QEMU_MISC_ARGS)
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clippy:
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cargo xclippy --target=$(TARGET) --features $(BSP)
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clean:
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cargo clean
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readelf:
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readelf -a kernel
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objdump:
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cargo objdump --target $(TARGET) -- -disassemble -print-imm-hex kernel
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nm:
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cargo nm --target $(TARGET) -- kernel | sort
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@ -0,0 +1,147 @@
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# Tutorial 04 - Zero Overhead Abstraction
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## tl;dr
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All hand-written assembly is replaced by Rust code from the [cortex-a] crate,
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which provides zero-overhead abstractions and wraps the `unsafe` parts.
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[cortex-a]: https://github.com/rust-embedded/cortex-a
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## Diff to previous
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```diff
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diff -uNr 03_hacky_hello_world/Cargo.toml 04_zero_overhead_abstraction/Cargo.toml
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--- 03_hacky_hello_world/Cargo.toml 2019-09-25 14:41:51.089487788 +0200
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+++ 04_zero_overhead_abstraction/Cargo.toml 2019-09-25 13:59:33.588482692 +0200
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@@ -14,3 +14,4 @@
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[dependencies]
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r0 = "0.2.2"
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+cortex-a = "2.7.0"
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diff -uNr 03_hacky_hello_world/src/bsp/rpi3/panic_wait.rs 04_zero_overhead_abstraction/src/bsp/rpi3/panic_wait.rs
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--- 03_hacky_hello_world/src/bsp/rpi3/panic_wait.rs 2019-09-25 14:41:51.093487759 +0200
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+++ 04_zero_overhead_abstraction/src/bsp/rpi3/panic_wait.rs 2019-09-25 15:26:48.988205284 +0200
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@@ -6,6 +6,7 @@
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use crate::println;
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use core::panic::PanicInfo;
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+use cortex_a::asm;
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#[panic_handler]
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fn panic(info: &PanicInfo) -> ! {
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@@ -15,9 +16,7 @@
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println!("Kernel panic!");
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}
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- unsafe {
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- loop {
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- asm!("wfe" :::: "volatile")
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- }
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+ loop {
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+ asm::wfe();
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}
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}
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diff -uNr 03_hacky_hello_world/src/bsp/rpi3/start.S 04_zero_overhead_abstraction/src/bsp/rpi3/start.S
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--- 03_hacky_hello_world/src/bsp/rpi3/start.S 2019-09-25 15:07:28.593140386 +0200
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+++ 04_zero_overhead_abstraction/src/bsp/rpi3/start.S 1970-01-01 01:00:00.000000000 +0100
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@@ -1,21 +0,0 @@
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-// SPDX-License-Identifier: MIT
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-//
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-// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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-
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-.section ".text._start"
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-
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-.global _start
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-
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-_start:
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- mrs x1, mpidr_el1 // Read Multiprocessor Affinity Register
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- and x1, x1, #3 // Clear all bits except [1:0], which hold core id
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- cbz x1, 2f // Jump to label 2 if we are core 0
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-1: wfe // Wait for event
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- b 1b // In case an event happend, jump back to 1
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-2: // If we are here, we are core0
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- ldr x1, =_start // Load address of function "_start()"
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- mov sp, x1 // Set start of stack to before our code, aka first
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- // address before "_start()"
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- bl init // Jump to the "init()" kernel function
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- b 1b // We should never reach here. But just in case,
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- // park this core aswell
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diff -uNr 03_hacky_hello_world/src/bsp/rpi3.rs 04_zero_overhead_abstraction/src/bsp/rpi3.rs
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--- 03_hacky_hello_world/src/bsp/rpi3.rs 2019-09-25 14:41:51.093487759 +0200
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+++ 04_zero_overhead_abstraction/src/bsp/rpi3.rs 2019-09-25 15:19:14.474175689 +0200
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@@ -8,8 +8,34 @@
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use crate::interface::console;
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use core::fmt;
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+use cortex_a::{asm, regs::*};
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-global_asm!(include_str!("rpi3/start.S"));
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+/// The entry of the `kernel` binary.
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+///
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+/// The function must be named `_start`, because the linker is looking for this
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+/// exact name.
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+///
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+/// # Safety
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+///
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+/// - Linker script must ensure to place this function at `0x80_000`.
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+#[no_mangle]
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+pub unsafe extern "C" fn _start() -> ! {
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+ use crate::runtime_init;
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+
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+ const CORE_0: u64 = 0;
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+ const CORE_MASK: u64 = 0x3;
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+ const STACK_START: u64 = 0x80_000;
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+
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+ if CORE_0 == MPIDR_EL1.get() & CORE_MASK {
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+ SP.set(STACK_START);
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+ runtime_init::init()
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+ } else {
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+ // if not core0, infinitely wait for events
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+ loop {
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+ asm::wfe();
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+ }
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+ }
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+}
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/// A mystical, magical device for generating QEMU output out of the void.
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struct QEMUOutput;
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diff -uNr 03_hacky_hello_world/src/main.rs 04_zero_overhead_abstraction/src/main.rs
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--- 03_hacky_hello_world/src/main.rs 2019-09-25 14:41:52.341478676 +0200
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+++ 04_zero_overhead_abstraction/src/main.rs 2019-09-25 15:22:45.433268740 +0200
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@@ -13,9 +13,7 @@
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//!
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//! [`kernel::interface`]: interface/index.html
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-#![feature(asm)]
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#![feature(format_args_nl)]
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-#![feature(global_asm)]
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#![feature(panic_info_message)]
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#![no_main]
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#![no_std]
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@@ -33,7 +31,7 @@
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/// Entrypoint of the `kernel`.
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fn kernel_entry() -> ! {
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- println!("Hello from Rust!");
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+ println!("Hello from pure Rust!");
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panic!("Stopping here.")
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}
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diff -uNr 03_hacky_hello_world/src/runtime_init.rs 04_zero_overhead_abstraction/src/runtime_init.rs
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--- 03_hacky_hello_world/src/runtime_init.rs 2019-09-25 14:41:51.093487759 +0200
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+++ 04_zero_overhead_abstraction/src/runtime_init.rs 2019-09-25 14:00:32.560262587 +0200
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@@ -13,7 +13,7 @@
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///
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/// - Only a single core must be active and running this function.
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#[no_mangle]
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-pub unsafe extern "C" fn init() -> ! {
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+pub unsafe fn init() -> ! {
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extern "C" {
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// Boundaries of the .bss section, provided by the linker script
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static mut __bss_start: u64;
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```
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// SPDX-License-Identifier: MIT
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//
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// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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//! Conditional exporting of Board Support Packages.
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#[cfg(feature = "bsp_rpi3")]
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pub mod rpi3;
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#[cfg(feature = "bsp_rpi3")]
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pub use rpi3::*;
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// SPDX-License-Identifier: MIT
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//
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// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
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//! Board Support Package for the Raspberry Pi 3.
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mod panic_wait;
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use crate::interface::console;
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use core::fmt;
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use cortex_a::{asm, regs::*};
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/// The entry of the `kernel` binary.
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///
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/// The function must be named `_start`, because the linker is looking for this
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/// exact name.
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///
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/// # Safety
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///
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/// - Linker script must ensure to place this function at `0x80_000`.
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#[no_mangle]
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pub unsafe extern "C" fn _start() -> ! {
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use crate::runtime_init;
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const CORE_0: u64 = 0;
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const CORE_MASK: u64 = 0x3;
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const STACK_START: u64 = 0x80_000;
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if CORE_0 == MPIDR_EL1.get() & CORE_MASK {
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SP.set(STACK_START);
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runtime_init::init()
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} else {
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// if not core0, infinitely wait for events
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loop {
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asm::wfe();
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}
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}
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}
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/// A mystical, magical device for generating QEMU output out of the void.
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struct QEMUOutput;
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/// Implementing `console::Write` enables usage of the `format_args!` macros,
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/// which in turn are used to implement the `kernel`'s `print!` and `println!`
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/// macros.
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///
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/// See [`src/print.rs`].
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///
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/// [`src/print.rs`]: ../../print/index.html
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impl console::Write for QEMUOutput {
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fn write_str(&mut self, s: &str) -> fmt::Result {
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for c in s.chars() {
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unsafe {
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core::ptr::write_volatile(0x3F21_5040 as *mut u8, c as u8);
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}
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}
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Ok(())
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}
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}
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////////////////////////////////////////////////////////////////////////////////
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// Implementation of the kernel's BSP calls
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////////////////////////////////////////////////////////////////////////////////
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||||||
|
|
||||||
|
/// Returns a ready-to-use `console::Write` implementation.
|
||||||
|
pub fn console() -> impl console::Write {
|
||||||
|
QEMUOutput {}
|
||||||
|
}
|
@ -0,0 +1,35 @@
|
|||||||
|
/* SPDX-License-Identifier: MIT
|
||||||
|
*
|
||||||
|
* Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||||
|
*/
|
||||||
|
|
||||||
|
SECTIONS
|
||||||
|
{
|
||||||
|
/* Set current address to the value from which the RPi3 starts execution */
|
||||||
|
. = 0x80000;
|
||||||
|
|
||||||
|
.text :
|
||||||
|
{
|
||||||
|
*(.text._start) *(.text*)
|
||||||
|
}
|
||||||
|
|
||||||
|
.rodata :
|
||||||
|
{
|
||||||
|
*(.rodata*)
|
||||||
|
}
|
||||||
|
|
||||||
|
.data :
|
||||||
|
{
|
||||||
|
*(.data*)
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Align to 8 byte boundary */
|
||||||
|
.bss ALIGN(8):
|
||||||
|
{
|
||||||
|
__bss_start = .;
|
||||||
|
*(.bss*);
|
||||||
|
__bss_end = .;
|
||||||
|
}
|
||||||
|
|
||||||
|
/DISCARD/ : { *(.comment*) }
|
||||||
|
}
|
@ -0,0 +1,22 @@
|
|||||||
|
// SPDX-License-Identifier: MIT
|
||||||
|
//
|
||||||
|
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||||
|
|
||||||
|
//! A panic handler that infinitely waits.
|
||||||
|
|
||||||
|
use crate::println;
|
||||||
|
use core::panic::PanicInfo;
|
||||||
|
use cortex_a::asm;
|
||||||
|
|
||||||
|
#[panic_handler]
|
||||||
|
fn panic(info: &PanicInfo) -> ! {
|
||||||
|
if let Some(args) = info.message() {
|
||||||
|
println!("{}", args);
|
||||||
|
} else {
|
||||||
|
println!("Kernel panic!");
|
||||||
|
}
|
||||||
|
|
||||||
|
loop {
|
||||||
|
asm::wfe();
|
||||||
|
}
|
||||||
|
}
|
@ -0,0 +1,36 @@
|
|||||||
|
// SPDX-License-Identifier: MIT
|
||||||
|
//
|
||||||
|
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||||
|
|
||||||
|
//! Trait definitions for coupling `kernel` and `BSP` code.
|
||||||
|
//!
|
||||||
|
//! ```
|
||||||
|
//! +-------------------+
|
||||||
|
//! | Interface (Trait) |
|
||||||
|
//! | |
|
||||||
|
//! +--+-------------+--+
|
||||||
|
//! ^ ^
|
||||||
|
//! | |
|
||||||
|
//! | |
|
||||||
|
//! +----------+--+ +--+----------+
|
||||||
|
//! | Kernel code | | BSP Code |
|
||||||
|
//! | | | |
|
||||||
|
//! +-------------+ +-------------+
|
||||||
|
//! ```
|
||||||
|
|
||||||
|
/// System console operations.
|
||||||
|
pub mod console {
|
||||||
|
/// Console write functions.
|
||||||
|
///
|
||||||
|
/// `core::fmt::Write` is exactly what we need. Re-export it here because
|
||||||
|
/// implementing `console::Write` gives a better hint to the reader about
|
||||||
|
/// the intention.
|
||||||
|
pub use core::fmt::Write;
|
||||||
|
|
||||||
|
/// Console read functions.
|
||||||
|
pub trait Read {
|
||||||
|
fn read_char(&mut self) -> char {
|
||||||
|
' '
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
@ -0,0 +1,37 @@
|
|||||||
|
// SPDX-License-Identifier: MIT
|
||||||
|
//
|
||||||
|
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||||
|
|
||||||
|
// Rust embedded logo for `make doc`.
|
||||||
|
#![doc(html_logo_url = "https://git.io/JeGIp")]
|
||||||
|
|
||||||
|
//! The `kernel`
|
||||||
|
//!
|
||||||
|
//! The `kernel` is composed by glueing together hardware-specific Board Support
|
||||||
|
//! Package (`BSP`) code and hardware-agnostic `kernel` code through the
|
||||||
|
//! [`kernel::interface`] traits.
|
||||||
|
//!
|
||||||
|
//! [`kernel::interface`]: interface/index.html
|
||||||
|
|
||||||
|
#![feature(format_args_nl)]
|
||||||
|
#![feature(panic_info_message)]
|
||||||
|
#![no_main]
|
||||||
|
#![no_std]
|
||||||
|
|
||||||
|
// This module conditionally includes the correct `BSP` which provides the
|
||||||
|
// `_start()` function, the first function to run.
|
||||||
|
mod bsp;
|
||||||
|
|
||||||
|
// Afterwards, `BSP`'s early init code calls `runtime_init::init()` of this
|
||||||
|
// module, which on completion, jumps to `kernel_entry()`.
|
||||||
|
mod runtime_init;
|
||||||
|
|
||||||
|
mod interface;
|
||||||
|
mod print;
|
||||||
|
|
||||||
|
/// Entrypoint of the `kernel`.
|
||||||
|
fn kernel_entry() -> ! {
|
||||||
|
println!("Hello from pure Rust!");
|
||||||
|
|
||||||
|
panic!("Stopping here.")
|
||||||
|
}
|
@ -0,0 +1,32 @@
|
|||||||
|
// SPDX-License-Identifier: MIT
|
||||||
|
//
|
||||||
|
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||||
|
|
||||||
|
//! Printing facilities.
|
||||||
|
|
||||||
|
use crate::bsp;
|
||||||
|
use crate::interface::console::Write;
|
||||||
|
use core::fmt;
|
||||||
|
|
||||||
|
/// Prints without a newline.
|
||||||
|
///
|
||||||
|
/// Carbon copy from https://doc.rust-lang.org/src/std/macros.rs.html
|
||||||
|
#[macro_export]
|
||||||
|
macro_rules! print {
|
||||||
|
($($arg:tt)*) => ($crate::print::_print(format_args!($($arg)*)));
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Prints with a newline.
|
||||||
|
///
|
||||||
|
/// Carbon copy from https://doc.rust-lang.org/src/std/macros.rs.html
|
||||||
|
#[macro_export]
|
||||||
|
macro_rules! println {
|
||||||
|
() => ($crate::print!("\n"));
|
||||||
|
($($arg:tt)*) => ({
|
||||||
|
$crate::print::_print(format_args_nl!($($arg)*));
|
||||||
|
})
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn _print(args: fmt::Arguments) {
|
||||||
|
bsp::console().write_fmt(args).unwrap();
|
||||||
|
}
|
@ -0,0 +1,27 @@
|
|||||||
|
// SPDX-License-Identifier: MIT
|
||||||
|
//
|
||||||
|
// Copyright (c) 2018-2019 Andre Richter <andre.o.richter@gmail.com>
|
||||||
|
|
||||||
|
//! Rust runtime initialization code.
|
||||||
|
|
||||||
|
/// Equivalent to `crt0` or `c0` code in C/C++ world. Clears the `bss` section,
|
||||||
|
/// then calls the kernel entry.
|
||||||
|
///
|
||||||
|
/// Called from BSP code.
|
||||||
|
///
|
||||||
|
/// # Safety
|
||||||
|
///
|
||||||
|
/// - Only a single core must be active and running this function.
|
||||||
|
#[no_mangle]
|
||||||
|
pub unsafe fn init() -> ! {
|
||||||
|
extern "C" {
|
||||||
|
// Boundaries of the .bss section, provided by the linker script
|
||||||
|
static mut __bss_start: u64;
|
||||||
|
static mut __bss_end: u64;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Zero out the .bss section
|
||||||
|
r0::zero_bss(&mut __bss_start, &mut __bss_end);
|
||||||
|
|
||||||
|
crate::kernel_entry()
|
||||||
|
}
|
Loading…
Reference in New Issue