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refactor: 📦 Restructure code 

All modules are modified to unified model
(mod.rs file in module directory).
Arch imports use modules from arch/ namespace
explicitly as arch_xxx.
This commit is contained in:
Berkus Decker 2023-08-06 16:42:33 +03:00 committed by Berkus Decker
parent 577b0b74ee
commit 0f30bf00aa
62 changed files with 2149 additions and 504 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
bin/chainboot/src/boot.rs
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@ -6,7 +6,7 @@ pub unsafe extern "C" fn _start() -> ! {
use { use {
aarch64_cpu::registers::{MPIDR_EL1, SP}, aarch64_cpu::registers::{MPIDR_EL1, SP},
core::cell::UnsafeCell, core::cell::UnsafeCell,
machine::endless_sleep, machine::cpu::endless_sleep,
tock_registers::interfaces::{Readable, Writeable}, tock_registers::interfaces::{Readable, Writeable},
}; };

6
bin/chainboot/src/main.rs
View File

@ -10,7 +10,7 @@
use { use {
aarch64_cpu::asm::barrier, aarch64_cpu::asm::barrier,
core::hash::Hasher, core::hash::Hasher,
machine::{console::console, platform::rpi3::BcmHost, print, println}, machine::{console::console, platform::raspberrypi::BcmHost, print, println},
seahash::SeaHasher, seahash::SeaHasher,
}; };
@ -24,14 +24,14 @@ mod boot;
/// - The init calls in this function must appear in the correct order. /// - The init calls in this function must appear in the correct order.
unsafe fn kernel_init(max_kernel_size: u64) -> ! { unsafe fn kernel_init(max_kernel_size: u64) -> ! {
#[cfg(feature = "jtag")] #[cfg(feature = "jtag")]
machine::arch::jtag::wait_debugger(); machine::debug::jtag::wait_debugger();
if let Err(x) = machine::platform::drivers::init() { if let Err(x) = machine::platform::drivers::init() {
panic!("Error initializing platform drivers: {}", x); panic!("Error initializing platform drivers: {}", x);
} }
// Initialize all device drivers. // Initialize all device drivers.
machine::drivers::driver_manager().init_drivers(); machine::drivers::driver_manager().init_drivers_and_irqs();
// println! is usable from here on. // println! is usable from here on.

2
machine/src/arch/README.md
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@ -4,6 +4,8 @@ This directory contains code specific to a certain architecture.
Implementations of arch-specific kernel calls are also placed here. Implementations of arch-specific kernel calls are also placed here.
One of the submodules will be exported based conditionally on target_arch. Currently, the code depending on it will import specific architecture explicitly, there are no default reexports.
---- ----
For more information please re-read. For more information please re-read.

4
machine/src/arch/aarch64/boot.rs → machine/src/arch/aarch64/cpu/boot.rs
View File

@ -5,11 +5,11 @@
* Copyright (c) Berkus Decker <berkus+vesper@metta.systems> * Copyright (c) Berkus Decker <berkus+vesper@metta.systems>
*/ */
//! Low-level boot of the Raspberry's processor //! Low-level boot of the ARMv8-A processor.
//! <http://infocenter.arm.com/help/topic/com.arm.doc.dai0527a/DAI0527A_baremetal_boot_code_for_ARMv8_A_processors.pdf> //! <http://infocenter.arm.com/help/topic/com.arm.doc.dai0527a/DAI0527A_baremetal_boot_code_for_ARMv8_A_processors.pdf>
use { use {
crate::endless_sleep, super::endless_sleep,
aarch64_cpu::{asm, registers::*}, aarch64_cpu::{asm, registers::*},
core::{ core::{
cell::UnsafeCell, cell::UnsafeCell,

15
machine/src/arch/aarch64/cpu/mod.rs Normal file
View File

@ -0,0 +1,15 @@
use aarch64_cpu::asm;
pub mod boot;
pub mod smp;
/// Expose CPU-specific no-op opcode.
pub use asm::nop;
/// Loop forever in sleep mode.
#[inline]
pub fn endless_sleep() -> ! {
loop {
asm::wfe();
}
}

1
machine/src/arch/aarch64/cpu/smp.rs Normal file
View File

@ -0,0 +1 @@
pub fn core_id() {}

34
machine/src/arch/aarch64/exception.rs Normal file
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@ -0,0 +1,34 @@
use {
crate::{exception::PrivilegeLevel, info},
aarch64_cpu::registers::*,
core::cell::UnsafeCell,
tock_registers::interfaces::Readable,
};
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
/// The processor's current privilege level.
pub fn current_privilege_level() -> (PrivilegeLevel, &'static str) {
let el = CurrentEL.read_as_enum(CurrentEL::EL);
match el {
Some(CurrentEL::EL::Value::EL3) => (PrivilegeLevel::Unknown, "EL3"),
Some(CurrentEL::EL::Value::EL2) => (PrivilegeLevel::Hypervisor, "EL2"),
Some(CurrentEL::EL::Value::EL1) => (PrivilegeLevel::Kernel, "EL1"),
Some(CurrentEL::EL::Value::EL0) => (PrivilegeLevel::User, "EL0"),
_ => (PrivilegeLevel::Unknown, "Unknown"),
}
}
pub fn handling_init() {
extern "Rust" {
static __EXCEPTION_VECTORS_START: UnsafeCell<()>;
}
unsafe {
super::traps::set_vbar_el1_checked(__EXCEPTION_VECTORS_START.get() as u64)
.expect("Vector table properly aligned!");
}
info!("[!] Exception traps set up");
}

10
machine/src/arch/aarch64/memory/mmu.rs → machine/src/arch/aarch64/memory/mmu/mod.rs
View File

@ -27,6 +27,8 @@ use {
tock_registers::interfaces::{ReadWriteable, Readable, Writeable}, tock_registers::interfaces::{ReadWriteable, Readable, Writeable},
}; };
pub(crate) mod translation_table;
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Private Definitions // Private Definitions
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
@ -138,9 +140,9 @@ impl interface::MMU for MemoryManagementUnit {
// Fail early if translation granule is not supported. // Fail early if translation granule is not supported.
if unlikely(!ID_AA64MMFR0_EL1.matches_all(ID_AA64MMFR0_EL1::TGran64::Supported)) { if unlikely(!ID_AA64MMFR0_EL1.matches_all(ID_AA64MMFR0_EL1::TGran64::Supported)) {
return Err(MMUEnableError::Other( return Err(MMUEnableError::Other {
"Translation granule not supported in HW", err: "Translation granule not supported in HW",
)); });
} }
// Prepare the memory attribute indirection register. // Prepare the memory attribute indirection register.
@ -149,7 +151,7 @@ impl interface::MMU for MemoryManagementUnit {
// Populate translation tables. // Populate translation tables.
KERNEL_TABLES KERNEL_TABLES
.populate_translation_table_entries() .populate_translation_table_entries()
.map_err(MMUEnableError::Other)?; .map_err(|err| MMUEnableError::Other { err })?;
// Set the "Translation Table Base Register". // Set the "Translation Table Base Register".
TTBR0_EL1.set_baddr(KERNEL_TABLES.phys_base_address()); TTBR0_EL1.set_baddr(KERNEL_TABLES.phys_base_address());

6
machine/src/arch/aarch64/memory/mmu/translation_table.rs
View File

@ -1,9 +1,7 @@
use { use {
super::{mair, Granule512MiB, Granule64KiB},
crate::{ crate::{
memory::mmu::{ memory::mmu::{AccessPermissions, AttributeFields, MemAttributes},
arch_mmu::{mair, Granule512MiB, Granule64KiB},
AccessPermissions, AttributeFields, MemAttributes,
},
platform, platform,
}, },
core::convert, core::convert,

2
machine/src/arch/aarch64/memory/mod.rs
View File

@ -6,7 +6,7 @@
//! Memory management functions for aarch64. //! Memory management functions for aarch64.
mod addr; mod addr;
// pub mod mmu; included directly as arch_mmu from main memory.rs module pub mod mmu;
pub use addr::{PhysAddr, VirtAddr}; pub use addr::{PhysAddr, VirtAddr};

45
machine/src/arch/aarch64/mod.rs
View File

@ -5,49 +5,8 @@
//! Implementation of aarch64 kernel functions. //! Implementation of aarch64 kernel functions.
use aarch64_cpu::asm; pub mod cpu;
pub mod exception;
mod boot;
#[cfg(feature = "jtag")]
pub mod jtag;
pub mod memory; pub mod memory;
pub mod time; pub mod time;
pub mod traps; pub mod traps;
/// Loop forever in sleep mode.
#[inline]
pub fn endless_sleep() -> ! {
loop {
asm::wfe();
}
}
/// Loop for a given number of `nop` instructions.
#[inline]
pub fn loop_delay(rounds: u32) {
for _ in 0..rounds {
asm::nop();
}
}
/// Loop until a passed function returns `true`.
#[inline]
pub fn loop_until<F: Fn() -> bool>(f: F) {
loop {
if f() {
break;
}
asm::nop();
}
}
/// Loop while a passed function returns `true`.
#[inline]
pub fn loop_while<F: Fn() -> bool>(f: F) {
loop {
if !f() {
break;
}
asm::nop();
}
}

9
machine/src/arch/aarch64/time.rs
View File

@ -12,7 +12,7 @@
//! crate::time::arch_time //! crate::time::arch_time
use { use {
crate::{sync, warn}, crate::{synchronization, warn},
aarch64_cpu::{asm::barrier, registers::*}, aarch64_cpu::{asm::barrier, registers::*},
core::{ core::{
num::{NonZeroU128, NonZeroU32, NonZeroU64}, num::{NonZeroU128, NonZeroU32, NonZeroU64},
@ -36,8 +36,9 @@ struct GenericTimerCounterValue(u64);
// Global instances // Global instances
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
static ARCH_TIMER_COUNTER_FREQUENCY: sync::NullLock<Lazy<NonZeroU32>> = // @todo use InitStateLock here
sync::NullLock::new(Lazy::new(|| { static ARCH_TIMER_COUNTER_FREQUENCY: synchronization::IRQSafeNullLock<Lazy<NonZeroU32>> =
synchronization::IRQSafeNullLock::new(Lazy::new(|| {
NonZeroU32::try_from(CNTFRQ_EL0.get() as u32).unwrap() NonZeroU32::try_from(CNTFRQ_EL0.get() as u32).unwrap()
})); }));
@ -46,7 +47,7 @@ static ARCH_TIMER_COUNTER_FREQUENCY: sync::NullLock<Lazy<NonZeroU32>> =
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
fn arch_timer_counter_frequency() -> NonZeroU32 { fn arch_timer_counter_frequency() -> NonZeroU32 {
use crate::sync::interface::Mutex; use crate::synchronization::interface::Mutex;
ARCH_TIMER_COUNTER_FREQUENCY.lock(|inner| **inner) ARCH_TIMER_COUNTER_FREQUENCY.lock(|inner| **inner)
} }

4
machine/src/arch/aarch64/traps.rs
View File

@ -50,7 +50,7 @@
//! to explicitly re-enable interrupts //! to explicitly re-enable interrupts
use { use {
crate::{arch::endless_sleep, println}, crate::{cpu::endless_sleep, println},
aarch64_cpu::{ aarch64_cpu::{
asm::barrier, asm::barrier,
registers::{ESR_EL1, FAR_EL1, SPSR_EL1, VBAR_EL1}, registers::{ESR_EL1, FAR_EL1, SPSR_EL1, VBAR_EL1},
@ -118,7 +118,7 @@ unsafe extern "C" fn default_exception_handler() -> ! {
println!("Unexpected exception. Halting CPU."); println!("Unexpected exception. Halting CPU.");
#[cfg(not(qemu))] #[cfg(not(qemu))]
endless_sleep(); super::cpu::endless_sleep();
#[cfg(qemu)] #[cfg(qemu)]
qemu::semihosting::exit_failure() qemu::semihosting::exit_failure()
} }

2
machine/src/arch/mod.rs
View File

@ -6,5 +6,3 @@
#[cfg(target_arch = "aarch64")] #[cfg(target_arch = "aarch64")]
#[macro_use] #[macro_use]
pub mod aarch64; pub mod aarch64;
#[cfg(target_arch = "aarch64")]
pub use self::aarch64::*;

14
machine/src/console.rs → machine/src/console/mod.rs
View File

@ -4,8 +4,6 @@
#![allow(dead_code)] #![allow(dead_code)]
use crate::sync::NullLock;
pub mod null_console; pub mod null_console;
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
@ -14,7 +12,7 @@ pub mod null_console;
/// Console interfaces. /// Console interfaces.
pub mod interface { pub mod interface {
use {crate::devices::SerialOps, core::fmt}; use {crate::devices::serial::SerialOps, core::fmt};
/// Console write functions. /// Console write functions.
pub trait Write { pub trait Write {
@ -66,25 +64,25 @@ pub mod interface {
// Global instances // Global instances
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
static CONSOLE: NullLock<&'static (dyn interface::All + Sync)> = static CONSOLE: InitStateLock<&'static (dyn interface::All + Sync)> =
NullLock::new(&null_console::NULL_CONSOLE); InitStateLock::new(&null_console::NULL_CONSOLE);
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Public Code // Public Code
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
use crate::sync::interface::Mutex; use crate::synchronization::{interface::ReadWriteEx, InitStateLock};
/// Register a new console. /// Register a new console.
pub fn register_console(new_console: &'static (dyn interface::All + Sync)) { pub fn register_console(new_console: &'static (dyn interface::All + Sync)) {
CONSOLE.lock(|con| *con = new_console); CONSOLE.write(|con| *con = new_console);
} }
/// Return a reference to the currently registered console. /// Return a reference to the currently registered console.
/// ///
/// This is the global console used by all printing macros. /// This is the global console used by all printing macros.
pub fn console() -> &'static dyn interface::All { pub fn console() -> &'static dyn interface::All {
CONSOLE.lock(|con| *con) CONSOLE.read(|con| *con)
} }
/// A command prompt. /// A command prompt.

2
machine/src/console/null_console.rs
View File

@ -1,4 +1,4 @@
use crate::{console::interface, devices::SerialOps}; use crate::{console::interface, devices::serial::SerialOps};
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Public Definitions // Public Definitions

10
machine/src/cpu/boot.rs Normal file
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@ -0,0 +1,10 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2021-2022 Andre Richter <andre.o.richter@gmail.com>
//! Boot code.
// Not used, arch/../cpu/boot.rs is used directly to generate boot code.
// #[cfg(target_arch = "aarch64")]
// #[path = "../arch/aarch64/cpu/boot.rs"]
// mod arch_boot;

48
machine/src/cpu/mod.rs Normal file
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@ -0,0 +1,48 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! Processor code.
#[cfg(target_arch = "aarch64")]
use crate::arch::aarch64::cpu as arch_cpu;
pub mod smp;
//--------------------------------------------------------------------------------------------------
// Architectural Public Reexports
//--------------------------------------------------------------------------------------------------
pub use arch_cpu::{endless_sleep, nop};
// #[cfg(feature = "test_build")]
// pub use arch_cpu::{qemu_exit_failure, qemu_exit_success};
/// Loop for a given number of `nop` instructions.
#[inline]
pub fn loop_delay(rounds: u32) {
for _ in 0..rounds {
nop();
}
}
/// Loop until a passed function returns `true`.
#[inline]
pub fn loop_until<F: Fn() -> bool>(f: F) {
loop {
if f() {
break;
}
nop();
}
}
/// Loop while a passed function returns `true`.
#[inline]
pub fn loop_while<F: Fn() -> bool>(f: F) {
loop {
if !f() {
break;
}
nop();
}
}

13
machine/src/cpu/smp.rs Normal file
View File

@ -0,0 +1,13 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
//! Symmetric multiprocessing.
#[cfg(target_arch = "aarch64")]
use crate::arch::aarch64::cpu::smp as arch_smp;
//--------------------------------------------------------------------------------------------------
// Architectural Public Reexports
//--------------------------------------------------------------------------------------------------
pub use arch_smp::core_id;

4
machine/src/arch/aarch64/jtag.rs → machine/src/debug/jtag.rs
View File

@ -1,7 +1,7 @@
//! JTAG helper functions. //! JTAG helper functions.
use { use {
aarch64_cpu::asm, crate::cpu::nop,
core::ptr::{read_volatile, write_volatile}, core::ptr::{read_volatile, write_volatile},
}; };
@ -13,7 +13,7 @@ static mut WAIT_FLAG: bool = true;
/// from inside this function's frame to continue running. /// from inside this function's frame to continue running.
pub fn wait_debugger() { pub fn wait_debugger() {
while unsafe { read_volatile(&WAIT_FLAG) } { while unsafe { read_volatile(&WAIT_FLAG) } {
asm::nop(); nop();
} }
// Reset the flag so that next jtag::wait_debugger() would block again. // Reset the flag so that next jtag::wait_debugger() would block again.
unsafe { write_volatile(&mut WAIT_FLAG, true) } unsafe { write_volatile(&mut WAIT_FLAG, true) }

2
machine/src/debug/mod.rs Normal file
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@ -0,0 +1,2 @@
#[cfg(feature = "jtag")]
pub mod jtag;

380
machine/src/devices/console.rs
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@ -1,190 +1,190 @@
use { // use {
crate::{ // crate::{
console::interface, // console::{interface, null_console::NullConsole},
devices::{null_console::NullConsole, SerialOps}, // devices::serial::SerialOps,
platform::rpi3::{mini_uart::PreparedMiniUart, pl011_uart::PreparedPL011Uart}, // platform::raspberrypi::device_driver::{mini_uart::MiniUart, pl011_uart::PL011Uart},
sync::NullLock, // synchronization::IRQSafeNullLock,
}, // },
core::fmt, // core::fmt,
}; // };
//
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
// Private Definitions // // Private Definitions
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
//
/// The mutex protected part. // /// The mutex protected part.
struct ConsoleInner { // struct ConsoleInner {
output: Output, // output: Output,
} // }
//
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
// Public Definitions // // Public Definitions
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
//
/// The main struct. // /// The main struct.
pub struct Console { // pub struct Console {
inner: NullLock<ConsoleInner>, // inner: IRQSafeNullLock<ConsoleInner>,
} // }
//
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
// Global instances // // Global instances
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
//
static CONSOLE: Console = Console::new(); // static CONSOLE: Console = Console::new();
//
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
// Private Code // // Private Code
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
//
impl ConsoleInner { // impl ConsoleInner {
pub const fn new() -> Self { // pub const fn new() -> Self {
Self { // Self {
output: Output::None(NullConsole {}), // output: Output::None(NullConsole {}),
} // }
} // }
//
fn current_ptr(&self) -> &dyn interface::ConsoleOps { // fn current_ptr(&self) -> &dyn interface::ConsoleOps {
match &self.output { // match &self.output {
Output::None(inner) => inner, // Output::None(inner) => inner,
Output::MiniUart(inner) => inner, // Output::MiniUart(inner) => inner,
Output::Uart(inner) => inner, // Output::Uart(inner) => inner,
} // }
} // }
//
/// Overwrite the current output. The old output will go out of scope and // /// Overwrite the current output. The old output will go out of scope and
/// its Drop function will be called. // /// its Drop function will be called.
pub fn replace_with(&mut self, new_output: Output) { // pub fn replace_with(&mut self, new_output: Output) {
self.current_ptr().flush(); // crashed here with Data Abort // self.current_ptr().flush(); // crashed here with Data Abort
// ...with ESR 0x25/0x96000000 // // ...with ESR 0x25/0x96000000
// ...with FAR 0x984f800000028 // // ...with FAR 0x984f800000028
// ...with ELR 0x946a8 // // ...with ELR 0x946a8
//
self.output = new_output; // self.output = new_output;
} // }
} // }
//
/// Implementing `core::fmt::Write` enables usage of the `format_args!` macros, which in turn are // /// Implementing `core::fmt::Write` enables usage of the `format_args!` macros, which in turn are
/// used to implement the `kernel`'s `print!` and `println!` macros. By implementing `write_str()`, // /// used to implement the `kernel`'s `print!` and `println!` macros. By implementing `write_str()`,
/// we get `write_fmt()` automatically. // /// we get `write_fmt()` automatically.
/// See src/macros.rs. // /// See src/macros.rs.
/// // ///
/// The function takes an `&mut self`, so it must be implemented for the inner struct. // /// The function takes an `&mut self`, so it must be implemented for the inner struct.
impl fmt::Write for ConsoleInner { // impl fmt::Write for ConsoleInner {
fn write_str(&mut self, s: &str) -> fmt::Result { // fn write_str(&mut self, s: &str) -> fmt::Result {
self.current_ptr().write_string(s); // self.current_ptr().write_string(s);
// for c in s.chars() { // // for c in s.chars() {
// // Convert newline to carrige return + newline. // // // Convert newline to carrige return + newline.
// if c == '\n' { // // if c == '\n' {
// self.write_char('\r') // // self.write_char('\r')
// } // // }
// // //
// self.write_char(c); // // self.write_char(c);
// } // // }
//
Ok(()) // Ok(())
} // }
} // }
//
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
// Public Code // // Public Code
//-------------------------------------------------------------------------------------------------- // //--------------------------------------------------------------------------------------------------
//
impl Console { // impl Console {
/// Create a new instance. // /// Create a new instance.
pub const fn new() -> Console { // pub const fn new() -> Console {
Console { // Console {
inner: NullLock::new(ConsoleInner::new()), // inner: NullLock::new(ConsoleInner::new()),
} // }
} // }
//
pub fn replace_with(&mut self, new_output: Output) { // pub fn replace_with(&mut self, new_output: Output) {
self.inner.lock(|inner| inner.replace_with(new_output)); // self.inner.lock(|inner| inner.replace_with(new_output));
} // }
} // }
//
/// The global console. Output of the kernel print! and println! macros goes here. // /// The global console. Output of the kernel print! and println! macros goes here.
pub fn console() -> &'static dyn crate::console::interface::All { // pub fn console() -> &'static dyn crate::console::interface::All {
&CONSOLE // &CONSOLE
} // }
//
//------------------------------------------------------------------------------ // //------------------------------------------------------------------------------
// OS Interface Code // // OS Interface Code
//------------------------------------------------------------------------------ // //------------------------------------------------------------------------------
use crate::sync::interface::Mutex; // use crate::synchronization::interface::Mutex;
//
/// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded by a Mutex to // /// Passthrough of `args` to the `core::fmt::Write` implementation, but guarded by a Mutex to
/// serialize access. // /// serialize access.
impl interface::Write for Console { // impl interface::Write for Console {
fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result { // fn write_fmt(&self, args: core::fmt::Arguments) -> fmt::Result {
self.inner.lock(|inner| fmt::Write::write_fmt(inner, args)) // self.inner.lock(|inner| fmt::Write::write_fmt(inner, args))
} // }
} // }
//
/// Dispatch the respective function to the currently stored output device. // /// Dispatch the respective function to the currently stored output device.
impl interface::ConsoleOps for Console { // impl interface::ConsoleOps for Console {
// @todo implement utf8 serialization here! // // @todo implement utf8 serialization here!
fn write_char(&self, c: char) { // fn write_char(&self, c: char) {
self.inner.lock(|con| con.current_ptr().write_char(c)); // self.inner.lock(|con| con.current_ptr().write_char(c));
} // }
//
fn write_string(&self, string: &str) { // fn write_string(&self, string: &str) {
self.inner // self.inner
.lock(|con| con.current_ptr().write_string(string)); // .lock(|con| con.current_ptr().write_string(string));
} // }
//
// @todo implement utf8 deserialization here! // // @todo implement utf8 deserialization here!
fn read_char(&self) -> char { // fn read_char(&self) -> char {
self.inner.lock(|con| con.current_ptr().read_char()) // self.inner.lock(|con| con.current_ptr().read_char())
} // }
} // }
//
impl SerialOps for Console { // impl SerialOps for Console {
fn read_byte(&self) -> u8 { // fn read_byte(&self) -> u8 {
self.inner.lock(|con| con.current_ptr().read_byte()) // self.inner.lock(|con| con.current_ptr().read_byte())
} // }
fn write_byte(&self, byte: u8) { // fn write_byte(&self, byte: u8) {
self.inner.lock(|con| con.current_ptr().write_byte(byte)) // self.inner.lock(|con| con.current_ptr().write_byte(byte))
} // }
fn flush(&self) { // fn flush(&self) {
self.inner.lock(|con| con.current_ptr().flush()) // self.inner.lock(|con| con.current_ptr().flush())
} // }
fn clear_rx(&self) { // fn clear_rx(&self) {
self.inner.lock(|con| con.current_ptr().clear_rx()) // self.inner.lock(|con| con.current_ptr().clear_rx())
} // }
} // }
//
impl interface::All for Console {} // impl interface::All for Console {}
//
impl Default for Console { // impl Default for Console {
fn default() -> Self { // fn default() -> Self {
Self::new() // Self::new()
} // }
} // }
//
impl Drop for Console { // impl Drop for Console {
fn drop(&mut self) {} // fn drop(&mut self) {}
} // }
//
//------------------------------------------------------------------------------ // //------------------------------------------------------------------------------
// Device Interface Code // // Device Interface Code
//------------------------------------------------------------------------------ // //------------------------------------------------------------------------------
//
/// Possible outputs which the console can store. // /// Possible outputs which the console can store.
enum Output { // enum Output {
None(NullConsole), // None(NullConsole),
MiniUart(PreparedMiniUart), // MiniUart(MiniUart),
Uart(PreparedPL011Uart), // Uart(PL011Uart),
} // }
//
/// Generate boilerplate for converting into one of Output enum values // /// Generate boilerplate for converting into one of Output enum values
macro make_from($optname:ident, $name:ty) { // macro make_from($optname:ident, $name:ty) {
impl From<$name> for Output { // impl From<$name> for Output {
fn from(instance: $name) -> Self { // fn from(instance: $name) -> Self {
Output::$optname(instance) // Output::$optname(instance)
} // }
} // }
} // }
//
make_from!(None, NullConsole); // make_from!(None, NullConsole);
make_from!(MiniUart, PreparedMiniUart); // make_from!(MiniUart, PreparedMiniUart);
make_from!(Uart, PreparedPL011Uart); // make_from!(Uart, PreparedPL011Uart);

6
machine/src/devices/mod.rs
View File

@ -1,8 +1,6 @@
/* /*
* SPDX-License-Identifier: BlueOak-1.0.0 * SPDX-License-Identifier: BlueOak-1.0.0
*/ */
// pub mod console;
// pub mod null_console;
pub mod serial;
pub use serial::SerialOps; pub mod console;
pub mod serial;

93
machine/src/drivers.rs
View File

@ -1,6 +1,6 @@
use crate::{ use crate::{
println, exception, println,
sync::{interface::Mutex, NullLock}, synchronization::{interface::ReadWriteEx, IRQSafeNullLock, InitStateLock},
}; };
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
@ -9,9 +9,12 @@ use crate::{
const NUM_DRIVERS: usize = 5; const NUM_DRIVERS: usize = 5;
struct DriverManagerInner { struct DriverManagerInner<T>
where
T: 'static,
{
next_index: usize, next_index: usize,
descriptors: [Option<DeviceDriverDescriptor>; NUM_DRIVERS], descriptors: [Option<DeviceDriverDescriptor<T>>; NUM_DRIVERS],
} }
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
@ -20,6 +23,9 @@ struct DriverManagerInner {
pub mod interface { pub mod interface {
pub trait DeviceDriver { pub trait DeviceDriver {
/// Different interrupt controllers might use different types for IRQ number.
type IRQNumberType: core::fmt::Display;
/// Return a compatibility string for identifying the driver. /// Return a compatibility string for identifying the driver.
fn compatible(&self) -> &'static str; fn compatible(&self) -> &'static str;
@ -32,6 +38,21 @@ pub mod interface {
unsafe fn init(&self) -> Result<(), &'static str> { unsafe fn init(&self) -> Result<(), &'static str> {
Ok(()) Ok(())
} }
/// Called by the kernel to register and enable the device's IRQ handler.
///
/// Rust's type system will prevent a call to this function unless the calling instance
/// itself has static lifetime.
fn register_and_enable_irq_handler(
&'static self,
irq_number: &Self::IRQNumberType,
) -> Result<(), &'static str> {
panic!(
"Attempt to enable IRQ {} for device {}, but driver does not support this",
irq_number,
self.compatible()
)
}
} }
} }
@ -40,27 +61,37 @@ pub type DeviceDriverPostInitCallback = unsafe fn() -> Result<(), &'static str>;
/// A descriptor for device drivers. /// A descriptor for device drivers.
#[derive(Copy, Clone)] #[derive(Copy, Clone)]
pub struct DeviceDriverDescriptor { pub struct DeviceDriverDescriptor<T>
device_driver: &'static (dyn interface::DeviceDriver + Sync), where
T: 'static,
{
device_driver: &'static (dyn interface::DeviceDriver<IRQNumberType = T> + Sync),
post_init_callback: Option<DeviceDriverPostInitCallback>, post_init_callback: Option<DeviceDriverPostInitCallback>,
irq_number: Option<T>,
} }
/// Provides device driver management functions. /// Provides device driver management functions.
pub struct DriverManager { pub struct DriverManager<T>
inner: NullLock<DriverManagerInner>, where
T: 'static,
{
inner: InitStateLock<DriverManagerInner<T>>,
} }
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Global instances // Global instances
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
static DRIVER_MANAGER: DriverManager = DriverManager::new(); static DRIVER_MANAGER: DriverManager<exception::asynchronous::IRQNumber> = DriverManager::new();
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Private Code // Private Code
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
impl DriverManagerInner { impl<T> DriverManagerInner<T>
where
T: 'static + Copy,
{
pub const fn new() -> Self { pub const fn new() -> Self {
Self { Self {
next_index: 0, next_index: 0,
@ -74,32 +105,37 @@ impl DriverManagerInner {
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
/// Return a reference to the global DriverManager. /// Return a reference to the global DriverManager.
pub fn driver_manager() -> &'static DriverManager { pub fn driver_manager() -> &'static DriverManager<exception::asynchronous::IRQNumber> {
&DRIVER_MANAGER &DRIVER_MANAGER
} }
impl DeviceDriverDescriptor { impl<T> DeviceDriverDescriptor<T> {
pub fn new( pub fn new(
device_driver: &'static (dyn interface::DeviceDriver + Sync), device_driver: &'static (dyn interface::DeviceDriver<IRQNumberType = T> + Sync),
post_init_callback: Option<DeviceDriverPostInitCallback>, post_init_callback: Option<DeviceDriverPostInitCallback>,
irq_number: Option<T>,
) -> Self { ) -> Self {
Self { Self {
device_driver, device_driver,
post_init_callback, post_init_callback,
irq_number,
} }
} }
} }
impl DriverManager { impl<T> DriverManager<T>
where
T: core::fmt::Display + Copy,
{
pub const fn new() -> Self { pub const fn new() -> Self {
Self { Self {
inner: NullLock::new(DriverManagerInner::new()), inner: InitStateLock::new(DriverManagerInner::new()),
} }
} }
/// Register a device driver with the kernel. /// Register a device driver with the kernel.
pub fn register_driver(&self, descriptor: DeviceDriverDescriptor) { pub fn register_driver(&self, descriptor: DeviceDriverDescriptor<T>) {
self.inner.lock(|inner| { self.inner.write(|inner| {
assert!(inner.next_index < NUM_DRIVERS); assert!(inner.next_index < NUM_DRIVERS);
inner.descriptors[inner.next_index] = Some(descriptor); inner.descriptors[inner.next_index] = Some(descriptor);
inner.next_index += 1; inner.next_index += 1;
@ -107,8 +143,8 @@ impl DriverManager {
} }
/// Helper for iterating over registered drivers. /// Helper for iterating over registered drivers.
fn for_each_descriptor(&self, f: impl FnMut(&DeviceDriverDescriptor)) { fn for_each_descriptor(&self, f: impl FnMut(&DeviceDriverDescriptor<T>)) {
self.inner.lock(|inner| { self.inner.read(|inner| {
inner inner
.descriptors .descriptors
.iter() .iter()
@ -122,7 +158,7 @@ impl DriverManager {
/// # Safety /// # Safety
/// ///
/// - During init, drivers might do things with system-wide impact. /// - During init, drivers might do things with system-wide impact.
pub unsafe fn init_drivers(&self) { pub unsafe fn init_drivers_and_irqs(&self) {
self.for_each_descriptor(|descriptor| { self.for_each_descriptor(|descriptor| {
// 1. Initialize driver. // 1. Initialize driver.
if let Err(x) = descriptor.device_driver.init() { if let Err(x) = descriptor.device_driver.init() {
@ -144,6 +180,23 @@ impl DriverManager {
} }
} }
}); });
// 3. After all post-init callbacks were done, the interrupt controller should be
// registered and functional. So let drivers register with it now.
self.for_each_descriptor(|descriptor| {
if let Some(irq_number) = &descriptor.irq_number {
if let Err(x) = descriptor
.device_driver
.register_and_enable_irq_handler(irq_number)
{
panic!(
"Error during driver interrupt handler registration: {}: {}",
descriptor.device_driver.compatible(),
x
);
}
}
});
} }
/// Enumerate all registered device drivers. /// Enumerate all registered device drivers.

170
machine/src/exception/asynchronous.rs Normal file
View File

@ -0,0 +1,170 @@
mod null_irq_manager;
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Interrupt number as defined by the BSP.
pub type IRQNumber = crate::platform::exception::asynchronous::IRQNumber;
/// Interrupt descriptor.
#[derive(Copy, Clone)]
pub struct IRQHandlerDescriptor<T>
where
T: Copy,
{
/// The IRQ number.
number: T,
/// Descriptive name.
name: &'static str,
/// Reference to handler trait object.
handler: &'static (dyn interface::IRQHandler + Sync),
}
/// IRQContext token.
///
/// An instance of this type indicates that the local core is currently executing in IRQ
/// context, aka executing an interrupt vector or subcalls of it.
///
/// Concept and implementation derived from the `CriticalSection` introduced in
/// <https://github.com/rust-embedded/bare-metal>
#[derive(Clone, Copy)]
pub struct IRQContext<'irq_context> {
_0: PhantomData<&'irq_context ()>,
}
/// Asynchronous exception handling interfaces.
pub mod interface {
/// Implemented by types that handle IRQs.
pub trait IRQHandler {
/// Called when the corresponding interrupt is asserted.
fn handle(&self) -> Result<(), &'static str>;
}
/// IRQ management functions.
///
/// The `BSP` is supposed to supply one global instance. Typically implemented by the
/// platform's interrupt controller.
pub trait IRQManager {
/// The IRQ number type depends on the implementation.
type IRQNumberType: Copy;
/// Register a handler.
fn register_handler(
&self,
irq_handler_descriptor: super::IRQHandlerDescriptor<Self::IRQNumberType>,
) -> Result<(), &'static str>;
/// Enable an interrupt in the controller.
fn enable(&self, irq_number: &Self::IRQNumberType);
/// Handle pending interrupts.
///
/// This function is called directly from the CPU's IRQ exception vector. On AArch64,
/// this means that the respective CPU core has disabled exception handling.
/// This function can therefore not be preempted and runs start to finish.
///
/// Takes an IRQContext token to ensure it can only be called from IRQ context.
#[allow(clippy::trivially_copy_pass_by_ref)]
fn handle_pending_irqs<'irq_context>(
&'irq_context self,
ic: &super::IRQContext<'irq_context>,
);
/// Print list of registered handlers.
fn print_handler(&self) {}
}
}
//--------------------------------------------------------------------------------------------------
// Global instances
//--------------------------------------------------------------------------------------------------
static IRQ_MANAGER: InitStateLock<
&'static (dyn interface::IRQManager<IRQNumberType = IRQNumber> + Sync),
> = InitStateLock::new(&null_irq_manager::NULL_IRQ_MANAGER);
use core::marker::PhantomData;
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
use crate::synchronization::{interface::ReadWriteEx, InitStateLock};
impl<T> IRQHandlerDescriptor<T>
where
T: Copy,
{
/// Create an instance.
pub const fn new(
number: T,
name: &'static str,
handler: &'static (dyn interface::IRQHandler + Sync),
) -> Self {
Self {
number,
name,
handler,
}
}
/// Return the number.
pub const fn number(&self) -> T {
self.number
}
/// Return the name.
pub const fn name(&self) -> &'static str {
self.name
}
/// Return the handler.
pub const fn handler(&self) -> &'static (dyn interface::IRQHandler + Sync) {
self.handler
}
}
impl<'irq_context> IRQContext<'irq_context> {
/// Creates an IRQContext token.
///
/// # Safety
///
/// - This must only be called when the current core is in an interrupt context and will not
/// live beyond the end of it. That is, creation is allowed in interrupt vector functions. For
/// example, in the ARMv8-A case, in `extern "C" fn current_elx_irq()`.
/// - Note that the lifetime `'irq_context` of the returned instance is unconstrained. User code
/// must not be able to influence the lifetime picked for this type, since that might cause it
/// to be inferred to `'static`.
#[inline(always)]
pub unsafe fn new() -> Self {
IRQContext { _0: PhantomData }
}
}
/// Executes the provided closure while IRQs are masked on the executing core.
///
/// While the function temporarily changes the HW state of the executing core, it restores it to the
/// previous state before returning, so this is deemed safe.
#[inline(always)]
pub fn exec_with_irq_masked<T>(f: impl FnOnce() -> T) -> T {
let saved = local_irq_mask_save();
let ret = f();
local_irq_restore(saved);
ret
}
/// Register a new IRQ manager.
pub fn register_irq_manager(
new_manager: &'static (dyn interface::IRQManager<IRQNumberType = IRQNumber> + Sync),
) {
IRQ_MANAGER.write(|manager| *manager = new_manager);
}
/// Return a reference to the currently registered IRQ manager.
///
/// This is the IRQ manager used by the architectural interrupt handling code.
pub fn irq_manager() -> &'static dyn interface::IRQManager<IRQNumberType = IRQNumber> {
IRQ_MANAGER.read(|manager| *manager)
}

42
machine/src/exception/asynchronous/null_irq_manager.rs Normal file
View File

@ -0,0 +1,42 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2022 Andre Richter <andre.o.richter@gmail.com>
//! Null IRQ Manager.
use super::{interface, IRQContext, IRQHandlerDescriptor};
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
pub struct NullIRQManager;
//--------------------------------------------------------------------------------------------------
// Global instances
//--------------------------------------------------------------------------------------------------
pub static NULL_IRQ_MANAGER: NullIRQManager = NullIRQManager {};
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
impl interface::IRQManager for NullIRQManager {
type IRQNumberType = super::IRQNumber;
fn register_handler(
&self,
_descriptor: IRQHandlerDescriptor<Self::IRQNumberType>,
) -> Result<(), &'static str> {
panic!("No IRQ Manager registered yet");
}
fn enable(&self, _irq_number: &Self::IRQNumberType) {
panic!("No IRQ Manager registered yet");
}
fn handle_pending_irqs<'irq_context>(&'irq_context self, _ic: &IRQContext<'irq_context>) {
panic!("No IRQ Manager registered yet");
}
}

46
machine/src/exception/mod.rs Normal file
View File

@ -0,0 +1,46 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! Synchronous and asynchronous exception handling.
#[cfg(target_arch = "aarch64")]
use crate::arch::aarch64::exception as arch_exception;
pub mod asynchronous;
//--------------------------------------------------------------------------------------------------
// Architectural Public Reexports
//--------------------------------------------------------------------------------------------------
pub use arch_exception::{current_privilege_level, handling_init};
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Kernel privilege levels.
#[allow(missing_docs)]
#[derive(Eq, PartialEq)]
pub enum PrivilegeLevel {
User,
Kernel,
Hypervisor,
Unknown,
}
//--------------------------------------------------------------------------------------------------
// Testing
//--------------------------------------------------------------------------------------------------
#[cfg(test)]
mod tests {
use super::*;
/// libmachine unit tests must execute in kernel mode.
#[test_case]
fn test_runner_executes_in_kernel_mode() {
let (level, _) = current_privilege_level();
assert!(level == PrivilegeLevel::Kernel)
}
}

21
machine/src/lib.rs
View File

@ -29,24 +29,33 @@ use architecture_not_supported_sorry;
/// Architecture-specific code. /// Architecture-specific code.
#[macro_use] #[macro_use]
pub mod arch; pub mod arch;
pub use arch::*;
pub mod console; pub mod console;
pub mod cpu;
pub mod debug;
pub mod devices; pub mod devices;
pub mod drivers; pub mod drivers;
pub mod exception;
pub mod macros; pub mod macros;
pub mod memory; pub mod memory;
mod mm; mod mm;
pub mod mmio_deref_wrapper;
pub mod panic; pub mod panic;
pub mod platform; pub mod platform;
pub mod qemu; pub mod qemu;
mod sync; pub mod state;
mod synchronization;
pub mod tests; pub mod tests;
pub mod time; pub mod time;
pub mod write_to; pub mod write_to;
/// Version string.
pub fn version() -> &'static str {
concat!(
env!("CARGO_PKG_NAME"),
" version ",
env!("CARGO_PKG_VERSION")
)
}
// The global allocator for DMA-able memory. That is, memory which is tagged // The global allocator for DMA-able memory. That is, memory which is tagged
// non-cacheable in the page tables. // non-cacheable in the page tables.
// #[allow(dead_code)] // #[allow(dead_code)]
@ -78,6 +87,8 @@ mod lib_tests {
/// Main for running tests. /// Main for running tests.
#[no_mangle] #[no_mangle]
pub unsafe fn main() -> ! { pub unsafe fn main() -> ! {
crate::exception::handling_init();
crate::platform::drivers::qemu_bring_up_console();
crate::test_main(); crate::test_main();
crate::qemu::semihosting::exit_success() crate::qemu::semihosting::exit_success()
} }

23
machine/src/memory/mmu.rs → machine/src/memory/mmu/mod.rs
View File

@ -4,13 +4,13 @@ use {
fmt::{self, Formatter}, fmt::{self, Formatter},
ops::RangeInclusive, ops::RangeInclusive,
}, },
snafu::Snafu,
}; };
pub mod translation_table;
#[cfg(target_arch = "aarch64")] #[cfg(target_arch = "aarch64")]
#[path = "../arch/aarch64/memory/mmu.rs"] use crate::arch::aarch64::memory::mmu as arch_mmu;
mod arch_mmu;
pub mod translation_table;
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Architectural Public Reexports // Architectural Public Reexports
@ -23,10 +23,12 @@ pub use arch_mmu::mmu;
/// MMU enable errors variants. /// MMU enable errors variants.
#[allow(missing_docs)] #[allow(missing_docs)]
#[derive(Debug)] #[derive(Debug, Snafu)]
pub enum MMUEnableError { pub enum MMUEnableError {
#[snafu(display("MMU is already enabled"))]
AlreadyEnabled, AlreadyEnabled,
Other(&'static str), #[snafu(display("{}", err))]
Other { err: &'static str },
} }
/// Memory Management interfaces. /// Memory Management interfaces.
@ -126,15 +128,6 @@ pub struct KernelVirtualLayout<const NUM_SPECIAL_RANGES: usize> {
// Public Implementations // Public Implementations
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
impl fmt::Display for MMUEnableError {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
match self {
MMUEnableError::AlreadyEnabled => write!(f, "MMU is already enabled"),
MMUEnableError::Other(x) => write!(f, "{}", x),
}
}
}
impl<const GRANULE_SIZE: usize> TranslationGranule<GRANULE_SIZE> { impl<const GRANULE_SIZE: usize> TranslationGranule<GRANULE_SIZE> {
/// The granule's size. /// The granule's size.
pub const SIZE: usize = Self::size_checked(); pub const SIZE: usize = Self::size_checked();

3
machine/src/memory/mmu/translation_table.rs
View File

@ -1,8 +1,7 @@
//! Translation table. //! Translation table.
#[cfg(target_arch = "aarch64")] #[cfg(target_arch = "aarch64")]
#[path = "../../arch/aarch64/memory/mmu/translation_table.rs"] use crate::arch::aarch64::memory::mmu::translation_table as arch_translation_table;
mod arch_translation_table;
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Architectural Public Reexports // Architectural Public Reexports

0
machine/src/memory.rs → machine/src/memory/mod.rs
View File

46
machine/src/mmio_deref_wrapper.rs
View File

@ -1,46 +0,0 @@
use core::{marker::PhantomData, ops};
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
pub struct MMIODerefWrapper<T> {
pub base_addr: usize, // @fixme why pub??
phantom: PhantomData<fn() -> T>,
}
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
impl<T> MMIODerefWrapper<T> {
/// Create an instance.
///
/// # Safety
///
/// You could specify any base address here, no checks.
pub const unsafe fn new(start_addr: usize) -> Self {
Self {
base_addr: start_addr,
phantom: PhantomData,
}
}
}
/// Deref to RegisterBlock
///
/// Allows writing
/// ```
/// self.GPPUD.read()
/// ```
/// instead of something along the lines of
/// ```
/// unsafe { (*GPIO::ptr()).GPPUD.read() }
/// ```
impl<T> ops::Deref for MMIODerefWrapper<T> {
type Target = T;
fn deref(&self) -> &Self::Target {
unsafe { &*(self.base_addr as *const _) }
}
}

5
machine/src/panic.rs
View File

@ -20,10 +20,11 @@ fn print_panic_info(info: &PanicInfo) {
} }
pub fn handler(info: &PanicInfo) -> ! { pub fn handler(info: &PanicInfo) -> ! {
crate::exception::asynchronous::local_irq_mask();
// Protect against panic infinite loops if any of the following code panics itself. // Protect against panic infinite loops if any of the following code panics itself.
panic_prevent_reenter(); panic_prevent_reenter();
print_panic_info(info); print_panic_info(info);
crate::endless_sleep() crate::cpu::endless_sleep()
} }
/// We have two separate handlers because other crates may use machine crate as a dependency for /// We have two separate handlers because other crates may use machine crate as a dependency for
@ -69,5 +70,5 @@ fn panic_prevent_reenter() {
#[cfg(qemu)] #[cfg(qemu)]
crate::qemu::semihosting::exit_failure(); crate::qemu::semihosting::exit_failure();
#[cfg(not(qemu))] #[cfg(not(qemu))]
crate::endless_sleep() crate::cpu::endless_sleep()
} }

5
machine/src/platform/mod.rs
View File

@ -3,7 +3,8 @@
* Copyright (c) Berkus Decker <berkus+vesper@metta.systems> * Copyright (c) Berkus Decker <berkus+vesper@metta.systems>
*/ */
pub mod rpi3; #[cfg(any(feature = "rpi3", feature = "rpi4"))]
pub mod raspberrypi;
#[cfg(any(feature = "rpi3", feature = "rpi4"))] #[cfg(any(feature = "rpi3", feature = "rpi4"))]
pub use rpi3::*; pub use raspberrypi::*;

143
machine/src/platform/raspberrypi/device_driver/arm/gicv2/gicc.rs Normal file
View File

@ -0,0 +1,143 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! GICC Driver - GIC CPU interface.
use {
crate::{bsp::device_driver::common::MMIODerefWrapper, exception},
tock_registers::{
interfaces::{Readable, Writeable},
register_bitfields, register_structs,
registers::ReadWrite,
},
};
//--------------------------------------------------------------------------------------------------
// Private Definitions
//--------------------------------------------------------------------------------------------------
register_bitfields! {
u32,
/// CPU Interface Control Register
CTLR [
Enable OFFSET(0) NUMBITS(1) []
],
/// Interrupt Priority Mask Register
PMR [
Priority OFFSET(0) NUMBITS(8) []
],
/// Interrupt Acknowledge Register
IAR [
InterruptID OFFSET(0) NUMBITS(10) []
],
/// End of Interrupt Register
EOIR [
EOIINTID OFFSET(0) NUMBITS(10) []
]
}
register_structs! {
#[allow(non_snake_case)]
pub RegisterBlock {
(0x000 => CTLR: ReadWrite<u32, CTLR::Register>),
(0x004 => PMR: ReadWrite<u32, PMR::Register>),
(0x008 => _reserved1),
(0x00C => IAR: ReadWrite<u32, IAR::Register>),
(0x010 => EOIR: ReadWrite<u32, EOIR::Register>),
(0x014 => @END),
}
}
/// Abstraction for the associated MMIO registers.
type Registers = MMIODerefWrapper<RegisterBlock>;
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Representation of the GIC CPU interface.
pub struct GICC {
registers: Registers,
}
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
impl GICC {
/// Create an instance.
///
/// # Safety
///
/// - The user must ensure to provide a correct MMIO start address.
pub const unsafe fn new(mmio_start_addr: usize) -> Self {
Self {
registers: Registers::new(mmio_start_addr),
}
}
/// Accept interrupts of any priority.
///
/// Quoting the GICv2 Architecture Specification:
///
/// "Writing 255 to the GICC_PMR always sets it to the largest supported priority field
/// value."
///
/// # Safety
///
/// - GICC MMIO registers are banked per CPU core. It is therefore safe to have `&self` instead
/// of `&mut self`.
pub fn priority_accept_all(&self) {
self.registers.PMR.write(PMR::Priority.val(255)); // Comment in arch spec.
}
/// Enable the interface - start accepting IRQs.
///
/// # Safety
///
/// - GICC MMIO registers are banked per CPU core. It is therefore safe to have `&self` instead
/// of `&mut self`.
pub fn enable(&self) {
self.registers.CTLR.write(CTLR::Enable::SET);
}
/// Extract the number of the highest-priority pending IRQ.
///
/// Can only be called from IRQ context, which is ensured by taking an `IRQContext` token.
///
/// # Safety
///
/// - GICC MMIO registers are banked per CPU core. It is therefore safe to have `&self` instead
/// of `&mut self`.
#[allow(clippy::trivially_copy_pass_by_ref)]
pub fn pending_irq_number<'irq_context>(
&self,
_ic: &exception::asynchronous::IRQContext<'irq_context>,
) -> usize {
self.registers.IAR.read(IAR::InterruptID) as usize
}
/// Complete handling of the currently active IRQ.
///
/// Can only be called from IRQ context, which is ensured by taking an `IRQContext` token.
///
/// To be called after `pending_irq_number()`.
///
/// # Safety
///
/// - GICC MMIO registers are banked per CPU core. It is therefore safe to have `&self` instead
/// of `&mut self`.
#[allow(clippy::trivially_copy_pass_by_ref)]
pub fn mark_comleted<'irq_context>(
&self,
irq_number: u32,
_ic: &exception::asynchronous::IRQContext<'irq_context>,
) {
self.registers.EOIR.write(EOIR::EOIINTID.val(irq_number));
}
}

202
machine/src/platform/raspberrypi/device_driver/arm/gicv2/gicd.rs Normal file
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@ -0,0 +1,202 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! GICD Driver - GIC Distributor.
//!
//! # Glossary
//! - SPI - Shared Peripheral Interrupt.
use {
crate::{
bsp::device_driver::common::MMIODerefWrapper,
state,
synchronization::{self, IRQSafeNullLock},
},
tock_registers::{
interfaces::{Readable, Writeable},
register_bitfields, register_structs,
registers::{ReadOnly, ReadWrite},
},
};
//--------------------------------------------------------------------------------------------------
// Private Definitions
//--------------------------------------------------------------------------------------------------
register_bitfields! {
u32,
/// Distributor Control Register
CTLR [
Enable OFFSET(0) NUMBITS(1) []
],
/// Interrupt Controller Type Register
TYPER [
ITLinesNumber OFFSET(0) NUMBITS(5) []
],
/// Interrupt Processor Targets Registers
ITARGETSR [
Offset3 OFFSET(24) NUMBITS(8) [],
Offset2 OFFSET(16) NUMBITS(8) [],
Offset1 OFFSET(8) NUMBITS(8) [],
Offset0 OFFSET(0) NUMBITS(8) []
]
}
register_structs! {
#[allow(non_snake_case)]
SharedRegisterBlock {
(0x000 => CTLR: ReadWrite<u32, CTLR::Register>),
(0x004 => TYPER: ReadOnly<u32, TYPER::Register>),
(0x008 => _reserved1),
(0x104 => ISENABLER: [ReadWrite<u32>; 31]),
(0x180 => _reserved2),
(0x820 => ITARGETSR: [ReadWrite<u32, ITARGETSR::Register>; 248]),
(0xC00 => @END),
}
}
register_structs! {
#[allow(non_snake_case)]
BankedRegisterBlock {
(0x000 => _reserved1),
(0x100 => ISENABLER: ReadWrite<u32>),
(0x104 => _reserved2),
(0x800 => ITARGETSR: [ReadOnly<u32, ITARGETSR::Register>; 8]),
(0x820 => @END),
}
}
/// Abstraction for the non-banked parts of the associated MMIO registers.
type SharedRegisters = MMIODerefWrapper<SharedRegisterBlock>;
/// Abstraction for the banked parts of the associated MMIO registers.
type BankedRegisters = MMIODerefWrapper<BankedRegisterBlock>;
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Representation of the GIC Distributor.
pub struct GICD {
/// Access to shared registers is guarded with a lock.
shared_registers: IRQSafeNullLock<SharedRegisters>,
/// Access to banked registers is unguarded.
banked_registers: BankedRegisters,
}
//--------------------------------------------------------------------------------------------------
// Private Code
//--------------------------------------------------------------------------------------------------
impl SharedRegisters {
/// Return the number of IRQs that this HW implements.
#[inline(always)]
fn num_irqs(&mut self) -> usize {
// Query number of implemented IRQs.
//
// Refer to GICv2 Architecture Specification, Section 4.3.2.
((self.TYPER.read(TYPER::ITLinesNumber) as usize) + 1) * 32
}
/// Return a slice of the implemented ITARGETSR.
#[inline(always)]
fn implemented_itargets_slice(&mut self) -> &[ReadWrite<u32, ITARGETSR::Register>] {
assert!(self.num_irqs() >= 36);
// Calculate the max index of the shared ITARGETSR array.
//
// The first 32 IRQs are private, so not included in `shared_registers`. Each ITARGETS
// register has four entries, so shift right by two. Subtract one because we start
// counting at zero.
let spi_itargetsr_max_index = ((self.num_irqs() - 32) >> 2) - 1;
// Rust automatically inserts slice range sanity check, i.e. max >= min.
&self.ITARGETSR[0..spi_itargetsr_max_index]
}
}
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
use synchronization::interface::Mutex;
impl GICD {
/// Create an instance.
///
/// # Safety
///
/// - The user must ensure to provide a correct MMIO start address.
pub const unsafe fn new(mmio_start_addr: usize) -> Self {
Self {
shared_registers: IRQSafeNullLock::new(SharedRegisters::new(mmio_start_addr)),
banked_registers: BankedRegisters::new(mmio_start_addr),
}
}
/// Use a banked ITARGETSR to retrieve the executing core's GIC target mask.
///
/// Quoting the GICv2 Architecture Specification:
///
/// "GICD_ITARGETSR0 to GICD_ITARGETSR7 are read-only, and each field returns a value that
/// corresponds only to the processor reading the register."
fn local_gic_target_mask(&self) -> u32 {
self.banked_registers.ITARGETSR[0].read(ITARGETSR::Offset0)
}
/// Route all SPIs to the boot core and enable the distributor.
pub fn boot_core_init(&self) {
assert!(
state::state_manager().is_init(),
"Only allowed during kernel init phase"
);
// Target all SPIs to the boot core only.
let mask = self.local_gic_target_mask();
self.shared_registers.lock(|regs| {
for i in regs.implemented_itargets_slice().iter() {
i.write(
ITARGETSR::Offset3.val(mask)
+ ITARGETSR::Offset2.val(mask)
+ ITARGETSR::Offset1.val(mask)
+ ITARGETSR::Offset0.val(mask),
);
}
regs.CTLR.write(CTLR::Enable::SET);
});
}
/// Enable an interrupt.
pub fn enable(&self, irq_num: &super::IRQNumber) {
let irq_num = irq_num.get();
// Each bit in the u32 enable register corresponds to one IRQ number. Shift right by 5
// (division by 32) and arrive at the index for the respective ISENABLER[i].
let enable_reg_index = irq_num >> 5;
let enable_bit: u32 = 1u32 << (irq_num % 32);
// Check if we are handling a private or shared IRQ.
match irq_num {
// Private.
0..=31 => {
let enable_reg = &self.banked_registers.ISENABLER;
enable_reg.set(enable_reg.get() | enable_bit);
}
// Shared.
_ => {
let enable_reg_index_shared = enable_reg_index - 1;
self.shared_registers.lock(|regs| {
let enable_reg = &regs.ISENABLER[enable_reg_index_shared];
enable_reg.set(enable_reg.get() | enable_bit);
});
}
}
}
}

226
machine/src/platform/raspberrypi/device_driver/arm/gicv2/mod.rs Normal file
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@ -0,0 +1,226 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! GICv2 Driver - ARM Generic Interrupt Controller v2.
//!
//! The following is a collection of excerpts with useful information from
//! - `Programmer's Guide for ARMv8-A`
//! - `ARM Generic Interrupt Controller Architecture Specification`
//!
//! # Programmer's Guide - 10.6.1 Configuration
//!
//! The GIC is accessed as a memory-mapped peripheral.
//!
//! All cores can access the common Distributor, but the CPU interface is banked, that is, each core
//! uses the same address to access its own private CPU interface.
//!
//! It is not possible for a core to access the CPU interface of another core.
//!
//! # Architecture Specification - 10.6.2 Initialization
//!
//! Both the Distributor and the CPU interfaces are disabled at reset. The GIC must be initialized
//! after reset before it can deliver interrupts to the core.
//!
//! In the Distributor, software must configure the priority, target, security and enable individual
//! interrupts. The Distributor must subsequently be enabled through its control register
//! (GICD_CTLR). For each CPU interface, software must program the priority mask and preemption
//! settings.
//!
//! Each CPU interface block itself must be enabled through its control register (GICD_CTLR). This
//! prepares the GIC to deliver interrupts to the core.
//!
//! Before interrupts are expected in the core, software prepares the core to take interrupts by
//! setting a valid interrupt vector in the vector table, and clearing interrupt mask bits in
//! PSTATE, and setting the routing controls.
//!
//! The entire interrupt mechanism in the system can be disabled by disabling the Distributor.
//! Interrupt delivery to an individual core can be disabled by disabling its CPU interface.
//! Individual interrupts can also be disabled (or enabled) in the distributor.
//!
//! For an interrupt to reach the core, the individual interrupt, Distributor and CPU interface must
//! all be enabled. The interrupt also needs to be of sufficient priority, that is, higher than the
//! core's priority mask.
//!
//! # Architecture Specification - 1.4.2 Interrupt types
//!
//! - Peripheral interrupt
//! - Private Peripheral Interrupt (PPI)
//! - This is a peripheral interrupt that is specific to a single processor.
//! - Shared Peripheral Interrupt (SPI)
//! - This is a peripheral interrupt that the Distributor can route to any of a specified
//! combination of processors.
//!
//! - Software-generated interrupt (SGI)
//! - This is an interrupt generated by software writing to a GICD_SGIR register in the GIC. The
//! system uses SGIs for interprocessor communication.
//! - An SGI has edge-triggered properties. The software triggering of the interrupt is
//! equivalent to the edge transition of the interrupt request signal.
//! - When an SGI occurs in a multiprocessor implementation, the CPUID field in the Interrupt
//! Acknowledge Register, GICC_IAR, or the Aliased Interrupt Acknowledge Register, GICC_AIAR,
//! identifies the processor that requested the interrupt.
//!
//! # Architecture Specification - 2.2.1 Interrupt IDs
//!
//! Interrupts from sources are identified using ID numbers. Each CPU interface can see up to 1020
//! interrupts. The banking of SPIs and PPIs increases the total number of interrupts supported by
//! the Distributor.
//!
//! The GIC assigns interrupt ID numbers ID0-ID1019 as follows:
//! - Interrupt numbers 32..1019 are used for SPIs.
//! - Interrupt numbers 0..31 are used for interrupts that are private to a CPU interface. These
//! interrupts are banked in the Distributor.
//! - A banked interrupt is one where the Distributor can have multiple interrupts with the
//! same ID. A banked interrupt is identified uniquely by its ID number and its associated
//! CPU interface number. Of the banked interrupt IDs:
//! - 00..15 SGIs
//! - 16..31 PPIs
mod gicc;
mod gicd;
use crate::{
bsp::{self, device_driver::common::BoundedUsize},
cpu, driver, exception,
synchronization::{self, InitStateLock},
};
//--------------------------------------------------------------------------------------------------
// Private Definitions
//--------------------------------------------------------------------------------------------------
type HandlerTable = [Option<exception::asynchronous::IRQHandlerDescriptor<IRQNumber>>;
IRQNumber::MAX_INCLUSIVE + 1];
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Used for the associated type of trait [`exception::asynchronous::interface::IRQManager`].
pub type IRQNumber = BoundedUsize<{ GICv2::MAX_IRQ_NUMBER }>;
/// Representation of the GIC.
pub struct GICv2 {
/// The Distributor.
gicd: gicd::GICD,
/// The CPU Interface.
gicc: gicc::GICC,
/// Stores registered IRQ handlers. Writable only during kernel init. RO afterwards.
handler_table: InitStateLock<HandlerTable>,
}
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
impl GICv2 {
const MAX_IRQ_NUMBER: usize = 300; // Normally 1019, but keep it lower to save some space.
pub const COMPATIBLE: &'static str = "GICv2 (ARM Generic Interrupt Controller v2)";
/// Create an instance.
///
/// # Safety
///
/// - The user must ensure to provide a correct MMIO start address.
pub const unsafe fn new(gicd_mmio_start_addr: usize, gicc_mmio_start_addr: usize) -> Self {
Self {
gicd: gicd::GICD::new(gicd_mmio_start_addr),
gicc: gicc::GICC::new(gicc_mmio_start_addr),
handler_table: InitStateLock::new([None; IRQNumber::MAX_INCLUSIVE + 1]),
}
}
}
//------------------------------------------------------------------------------
// OS Interface Code
//------------------------------------------------------------------------------
use synchronization::interface::ReadWriteEx;
impl driver::interface::DeviceDriver for GICv2 {
type IRQNumberType = IRQNumber;
fn compatible(&self) -> &'static str {
Self::COMPATIBLE
}
unsafe fn init(&self) -> Result<(), &'static str> {
if bsp::cpu::BOOT_CORE_ID == cpu::smp::core_id() {
self.gicd.boot_core_init();
}
self.gicc.priority_accept_all();
self.gicc.enable();
Ok(())
}
}
impl exception::asynchronous::interface::IRQManager for GICv2 {
type IRQNumberType = IRQNumber;
fn register_handler(
&self,
irq_handler_descriptor: exception::asynchronous::IRQHandlerDescriptor<Self::IRQNumberType>,
) -> Result<(), &'static str> {
self.handler_table.write(|table| {
let irq_number = irq_handler_descriptor.number().get();
if table[irq_number].is_some() {
return Err("IRQ handler already registered");
}
table[irq_number] = Some(irq_handler_descriptor);
Ok(())
})
}
fn enable(&self, irq_number: &Self::IRQNumberType) {
self.gicd.enable(irq_number);
}
fn handle_pending_irqs<'irq_context>(
&'irq_context self,
ic: &exception::asynchronous::IRQContext<'irq_context>,
) {
// Extract the highest priority pending IRQ number from the Interrupt Acknowledge Register
// (IAR).
let irq_number = self.gicc.pending_irq_number(ic);
// Guard against spurious interrupts.
if irq_number > GICv2::MAX_IRQ_NUMBER {
return;
}
// Call the IRQ handler. Panic if there is none.
self.handler_table.read(|table| {
match table[irq_number] {
None => panic!("No handler registered for IRQ {}", irq_number),
Some(descriptor) => {
// Call the IRQ handler. Panics on failure.
descriptor.handler().handle().expect("Error handling IRQ");
}
}
});
// Signal completion of handling.
self.gicc.mark_comleted(irq_number as u32, ic);
}
fn print_handler(&self) {
use crate::info;
info!(" Peripheral handler:");
self.handler_table.read(|table| {
for (i, opt) in table.iter().skip(32).enumerate() {
if let Some(handler) = opt {
info!(" {: >3}. {}", i + 32, handler.name());
}
}
});
}
}

9
machine/src/platform/raspberrypi/device_driver/arm/mod.rs Normal file
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@ -0,0 +1,9 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! ARM driver top level.
pub mod gicv2;
pub use gicv2::*;

10
machine/src/platform/rpi3/device_driver/gpio.rs → machine/src/platform/raspberrypi/device_driver/bcm/gpio.rs
View File

@ -6,7 +6,13 @@
*/ */
use { use {
crate::{mmio_deref_wrapper::MMIODerefWrapper, platform::BcmHost, time}, crate::{
platform::{
device_driver::{common::MMIODerefWrapper, IRQNumber},
BcmHost,
},
time,
},
core::{marker::PhantomData, time::Duration}, core::{marker::PhantomData, time::Duration},
tock_registers::{ tock_registers::{
fields::FieldValue, fields::FieldValue,
@ -96,6 +102,8 @@ pub struct GPIO {
pub const GPIO_BASE: usize = BcmHost::get_peripheral_address() + 0x20_0000; pub const GPIO_BASE: usize = BcmHost::get_peripheral_address() + 0x20_0000;
impl crate::drivers::interface::DeviceDriver for GPIO { impl crate::drivers::interface::DeviceDriver for GPIO {
type IRQNumberType = IRQNumber;
fn compatible(&self) -> &'static str { fn compatible(&self) -> &'static str {
Self::COMPATIBLE Self::COMPATIBLE
} }

154
machine/src/platform/raspberrypi/device_driver/bcm/interrupt_controller/mod.rs Normal file
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@ -0,0 +1,154 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! Interrupt Controller Driver.
mod peripheral_ic;
use {
crate::{
drivers,
exception::{self, asynchronous::IRQHandlerDescriptor},
platform::device_driver::common::BoundedUsize,
},
core::fmt,
};
//--------------------------------------------------------------------------------------------------
// Private Definitions
//--------------------------------------------------------------------------------------------------
/// Wrapper struct for a bitmask indicating pending IRQ numbers.
struct PendingIRQs {
bitmask: u64,
}
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
pub type LocalIRQ = BoundedUsize<{ InterruptController::MAX_LOCAL_IRQ_NUMBER }>;
pub type PeripheralIRQ = BoundedUsize<{ InterruptController::MAX_PERIPHERAL_IRQ_NUMBER }>;
/// Used for the associated type of trait [`exception::asynchronous::interface::IRQManager`].
#[derive(Copy, Clone)]
#[allow(missing_docs)]
pub enum IRQNumber {
Local(LocalIRQ),
Peripheral(PeripheralIRQ),
}
/// Representation of the Interrupt Controller.
pub struct InterruptController {
periph: peripheral_ic::PeripheralIC,
}
//--------------------------------------------------------------------------------------------------
// Private Code
//--------------------------------------------------------------------------------------------------
impl PendingIRQs {
pub fn new(bitmask: u64) -> Self {
Self { bitmask }
}
}
impl Iterator for PendingIRQs {
type Item = usize;
fn next(&mut self) -> Option<Self::Item> {
if self.bitmask == 0 {
return None;
}
let next = self.bitmask.trailing_zeros() as usize;
self.bitmask &= self.bitmask.wrapping_sub(1);
Some(next)
}
}
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
impl fmt::Display for IRQNumber {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
match self {
Self::Local(number) => write!(f, "Local({})", number),
Self::Peripheral(number) => write!(f, "Peripheral({})", number),
}
}
}
impl InterruptController {
// Restrict to 3 for now. This makes future code for local_ic.rs more straight forward.
const MAX_LOCAL_IRQ_NUMBER: usize = 3;
const MAX_PERIPHERAL_IRQ_NUMBER: usize = 63;
pub const COMPATIBLE: &'static str = "BCM Interrupt Controller";
/// Create an instance.
///
/// # Safety
///
/// - The user must ensure to provide a correct MMIO start address.
pub const unsafe fn new(periph_mmio_start_addr: usize) -> Self {
Self {
periph: peripheral_ic::PeripheralIC::new(periph_mmio_start_addr),
}
}
}
//------------------------------------------------------------------------------
// OS Interface Code
//------------------------------------------------------------------------------
impl drivers::interface::DeviceDriver for InterruptController {
type IRQNumberType = IRQNumber;
fn compatible(&self) -> &'static str {
Self::COMPATIBLE
}
}
impl exception::asynchronous::interface::IRQManager for InterruptController {
type IRQNumberType = IRQNumber;
fn register_handler(
&self,
irq_handler_descriptor: exception::asynchronous::IRQHandlerDescriptor<Self::IRQNumberType>,
) -> Result<(), &'static str> {
match irq_handler_descriptor.number() {
IRQNumber::Local(_) => unimplemented!("Local IRQ controller not implemented."),
IRQNumber::Peripheral(pirq) => {
let periph_descriptor = IRQHandlerDescriptor::new(
pirq,
irq_handler_descriptor.name(),
irq_handler_descriptor.handler(),
);
self.periph.register_handler(periph_descriptor)
}
}
}
fn enable(&self, irq: &Self::IRQNumberType) {
match irq {
IRQNumber::Local(_) => unimplemented!("Local IRQ controller not implemented."),
IRQNumber::Peripheral(pirq) => self.periph.enable(pirq),
}
}
fn handle_pending_irqs<'irq_context>(
&'irq_context self,
ic: &exception::asynchronous::IRQContext<'irq_context>,
) {
// It can only be a peripheral IRQ pending because enable() does not support local IRQs yet.
self.periph.handle_pending_irqs(ic)
}
fn print_handler(&self) {
self.periph.print_handler();
}
}

172
machine/src/platform/raspberrypi/device_driver/bcm/interrupt_controller/peripheral_ic.rs Normal file
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@ -0,0 +1,172 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! Peripheral Interrupt Controller Driver.
//!
//! # Resources
//!
//! - <https://github.com/raspberrypi/documentation/files/1888662/BCM2837-ARM-Peripherals.-.Revised.-.V2-1.pdf>
use {
super::{PendingIRQs, PeripheralIRQ},
crate::{
exception,
platform::device_driver::common::MMIODerefWrapper,
synchronization::{self, IRQSafeNullLock, InitStateLock},
},
tock_registers::{
interfaces::{Readable, Writeable},
register_structs,
registers::{ReadOnly, WriteOnly},
},
};
//--------------------------------------------------------------------------------------------------
// Private Definitions
//--------------------------------------------------------------------------------------------------
register_structs! {
#[allow(non_snake_case)]
WORegisterBlock {
(0x00 => _reserved1),
(0x10 => ENABLE_1: WriteOnly<u32>),
(0x14 => ENABLE_2: WriteOnly<u32>),
(0x18 => @END),
}
}
register_structs! {
#[allow(non_snake_case)]
RORegisterBlock {
(0x00 => _reserved1),
(0x04 => PENDING_1: ReadOnly<u32>),
(0x08 => PENDING_2: ReadOnly<u32>),
(0x0c => @END),
}
}
/// Abstraction for the WriteOnly parts of the associated MMIO registers.
type WriteOnlyRegisters = MMIODerefWrapper<WORegisterBlock>;
/// Abstraction for the ReadOnly parts of the associated MMIO registers.
type ReadOnlyRegisters = MMIODerefWrapper<RORegisterBlock>;
type HandlerTable = [Option<exception::asynchronous::IRQHandlerDescriptor<PeripheralIRQ>>;
PeripheralIRQ::MAX_INCLUSIVE + 1];
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Representation of the peripheral interrupt controller.
pub struct PeripheralIC {
/// Access to write registers is guarded with a lock.
wo_registers: IRQSafeNullLock<WriteOnlyRegisters>,
/// Register read access is unguarded.
ro_registers: ReadOnlyRegisters,
/// Stores registered IRQ handlers. Writable only during kernel init. RO afterwards.
handler_table: InitStateLock<HandlerTable>,
}
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
impl PeripheralIC {
/// Create an instance.
///
/// # Safety
///
/// - The user must ensure to provide a correct MMIO start address.
pub const unsafe fn new(mmio_start_addr: usize) -> Self {
Self {
wo_registers: IRQSafeNullLock::new(WriteOnlyRegisters::new(mmio_start_addr)),
ro_registers: ReadOnlyRegisters::new(mmio_start_addr),
handler_table: InitStateLock::new([None; PeripheralIRQ::MAX_INCLUSIVE + 1]),
}
}
/// Query the list of pending IRQs.
fn pending_irqs(&self) -> PendingIRQs {
let pending_mask: u64 = (u64::from(self.ro_registers.PENDING_2.get()) << 32)
| u64::from(self.ro_registers.PENDING_1.get());
PendingIRQs::new(pending_mask)
}
}
//------------------------------------------------------------------------------
// OS Interface Code
//------------------------------------------------------------------------------
use synchronization::interface::{Mutex, ReadWriteEx};
impl exception::asynchronous::interface::IRQManager for PeripheralIC {
type IRQNumberType = PeripheralIRQ;
fn register_handler(
&self,
irq_handler_descriptor: exception::asynchronous::IRQHandlerDescriptor<Self::IRQNumberType>,
) -> Result<(), &'static str> {
self.handler_table.write(|table| {
let irq_number = irq_handler_descriptor.number().get();
if table[irq_number].is_some() {
return Err("IRQ handler already registered");
}
table[irq_number] = Some(irq_handler_descriptor);
Ok(())
})
}
fn enable(&self, irq: &Self::IRQNumberType) {
self.wo_registers.lock(|regs| {
let enable_reg = if irq.get() <= 31 {
&regs.ENABLE_1
} else {
&regs.ENABLE_2
};
let enable_bit: u32 = 1 << (irq.get() % 32);
// Writing a 1 to a bit will set the corresponding IRQ enable bit. All other IRQ enable
// bits are unaffected. So we don't need read and OR'ing here.
enable_reg.set(enable_bit);
});
}
fn handle_pending_irqs<'irq_context>(
&'irq_context self,
_ic: &exception::asynchronous::IRQContext<'irq_context>,
) {
self.handler_table.read(|table| {
for irq_number in self.pending_irqs() {
match table[irq_number] {
None => panic!("No handler registered for IRQ {}", irq_number),
Some(descriptor) => {
// Call the IRQ handler. Panics on failure.
descriptor.handler().handle().expect("Error handling IRQ");
}
}
}
})
}
fn print_handler(&self) {
use crate::info;
info!(" Peripheral handler:");
self.handler_table.read(|table| {
for (i, opt) in table.iter().enumerate() {
if let Some(handler) = opt {
info!(" {: >3}. {}", i, handler.name());
}
}
});
}
}

25
machine/src/platform/rpi3/device_driver/mini_uart.rs → machine/src/platform/raspberrypi/device_driver/bcm/mini_uart.rs
View File

@ -10,10 +10,13 @@ use tock_registers::interfaces::{Readable, Writeable};
use { use {
crate::{ crate::{
console::interface, console::interface,
devices::SerialOps, devices::serial::SerialOps,
mmio_deref_wrapper::MMIODerefWrapper, exception::asynchronous::IRQNumber,
platform::{device_driver::gpio, BcmHost}, platform::{
sync::{interface::Mutex, NullLock}, device_driver::{common::MMIODerefWrapper, gpio},
BcmHost,
},
synchronization::{interface::Mutex, IRQSafeNullLock},
}, },
cfg_if::cfg_if, cfg_if::cfg_if,
core::{ core::{
@ -155,7 +158,7 @@ struct MiniUartInner {
} }
pub struct MiniUart { pub struct MiniUart {
inner: NullLock<MiniUartInner>, inner: IRQSafeNullLock<MiniUartInner>,
} }
/// Divisor values for common baud rates /// Divisor values for common baud rates
@ -173,6 +176,8 @@ impl From<Rate> for u32 {
pub const UART1_BASE: usize = BcmHost::get_peripheral_address() + 0x21_5000; pub const UART1_BASE: usize = BcmHost::get_peripheral_address() + 0x21_5000;
impl crate::drivers::interface::DeviceDriver for MiniUart { impl crate::drivers::interface::DeviceDriver for MiniUart {
type IRQNumberType = IRQNumber;
fn compatible(&self) -> &'static str { fn compatible(&self) -> &'static str {
Self::COMPATIBLE Self::COMPATIBLE
} }
@ -192,7 +197,7 @@ impl MiniUart {
/// - The user must ensure to provide a correct MMIO start address. /// - The user must ensure to provide a correct MMIO start address.
pub const unsafe fn new(base_addr: usize) -> Self { pub const unsafe fn new(base_addr: usize) -> Self {
Self { Self {
inner: NullLock::new(MiniUartInner::new(base_addr)), inner: IRQSafeNullLock::new(MiniUartInner::new(base_addr)),
} }
} }
@ -255,7 +260,7 @@ impl MiniUartInner {
fn flush_internal(&self) { fn flush_internal(&self) {
use tock_registers::interfaces::Readable; use tock_registers::interfaces::Readable;
crate::arch::loop_until(|| self.registers.AUX_MU_STAT.is_set(AUX_MU_STAT::TX_DONE)); crate::cpu::loop_until(|| self.registers.AUX_MU_STAT.is_set(AUX_MU_STAT::TX_DONE));
} }
} }
@ -273,7 +278,7 @@ impl SerialOps for MiniUartInner {
fn read_byte(&self) -> u8 { fn read_byte(&self) -> u8 {
use tock_registers::interfaces::Readable; use tock_registers::interfaces::Readable;
// wait until something is in the buffer // wait until something is in the buffer
crate::arch::loop_until(|| { crate::cpu::loop_until(|| {
self.registers self.registers
.AUX_MU_STAT .AUX_MU_STAT
.is_set(AUX_MU_STAT::SYMBOL_AVAILABLE) .is_set(AUX_MU_STAT::SYMBOL_AVAILABLE)
@ -286,7 +291,7 @@ impl SerialOps for MiniUartInner {
fn write_byte(&self, b: u8) { fn write_byte(&self, b: u8) {
use tock_registers::interfaces::{Readable, Writeable}; use tock_registers::interfaces::{Readable, Writeable};
// wait until we can send // wait until we can send
crate::arch::loop_until(|| { crate::cpu::loop_until(|| {
self.registers self.registers
.AUX_MU_STAT .AUX_MU_STAT
.is_set(AUX_MU_STAT::SPACE_AVAILABLE) .is_set(AUX_MU_STAT::SPACE_AVAILABLE)
@ -306,7 +311,7 @@ impl SerialOps for MiniUartInner {
/// consumed. /// consumed.
fn clear_rx(&self) { fn clear_rx(&self) {
use tock_registers::interfaces::Readable; use tock_registers::interfaces::Readable;
crate::arch::loop_while(|| { crate::cpu::loop_while(|| {
let pending = self let pending = self
.registers .registers
.AUX_MU_STAT .AUX_MU_STAT

15
machine/src/platform/raspberrypi/device_driver/bcm/mod.rs Normal file
View File

@ -0,0 +1,15 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
//! BCM driver top level.
pub mod gpio;
#[cfg(feature = "rpi3")]
pub mod interrupt_controller;
pub mod mini_uart;
pub mod pl011_uart;
#[cfg(feature = "rpi3")]
pub use interrupt_controller::*;
pub use {gpio::*, mini_uart::*, pl011_uart::*};

15
machine/src/platform/rpi3/device_driver/pl011_uart.rs → machine/src/platform/raspberrypi/device_driver/bcm/pl011_uart.rs
View File

@ -10,16 +10,15 @@
use { use {
crate::{ crate::{
arch::loop_while,
console::interface, console::interface,
devices::SerialOps, cpu::loop_while,
mmio_deref_wrapper::MMIODerefWrapper, devices::serial::SerialOps,
platform::{ platform::{
device_driver::gpio, device_driver::{common::MMIODerefWrapper, gpio, IRQNumber},
mailbox::{self, Mailbox, MailboxOps}, mailbox::{self, Mailbox, MailboxOps},
BcmHost, BcmHost,
}, },
sync::{interface::Mutex, NullLock}, synchronization::{interface::Mutex, IRQSafeNullLock},
}, },
core::fmt::{self, Arguments}, core::fmt::{self, Arguments},
snafu::Snafu, snafu::Snafu,
@ -233,7 +232,7 @@ struct PL011UartInner {
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
pub struct PL011Uart { pub struct PL011Uart {
inner: NullLock<PL011UartInner>, inner: IRQSafeNullLock<PL011UartInner>,
} }
pub struct RateDivisors { pub struct RateDivisors {
@ -290,7 +289,7 @@ impl PL011Uart {
/// - The user must ensure to provide a correct MMIO start address. /// - The user must ensure to provide a correct MMIO start address.
pub const unsafe fn new(base_addr: usize) -> Self { pub const unsafe fn new(base_addr: usize) -> Self {
Self { Self {
inner: NullLock::new(PL011UartInner::new(base_addr)), inner: IRQSafeNullLock::new(PL011UartInner::new(base_addr)),
} }
} }
@ -462,6 +461,8 @@ impl interface::Write for PL011Uart {
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
impl crate::drivers::interface::DeviceDriver for PL011Uart { impl crate::drivers::interface::DeviceDriver for PL011Uart {
type IRQNumberType = IRQNumber;
fn compatible(&self) -> &'static str { fn compatible(&self) -> &'static str {
Self::COMPATIBLE Self::COMPATIBLE
} }

74
machine/src/platform/raspberrypi/device_driver/common.rs Normal file
View File

@ -0,0 +1,74 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! Common device driver code.
use core::{fmt, marker::PhantomData, ops};
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
pub struct MMIODerefWrapper<T> {
pub base_addr: usize, // @todo unmake public, GPIO::Pin uses it
phantom: PhantomData<fn() -> T>,
}
/// A wrapper type for usize with integrated range bound check.
#[derive(Copy, Clone)]
pub struct BoundedUsize<const MAX_INCLUSIVE: usize>(usize);
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
impl<T> MMIODerefWrapper<T> {
/// Create an instance.
pub const fn new(base_addr: usize) -> Self {
Self {
base_addr,
phantom: PhantomData,
}
}
}
// Deref to RegisterBlock
///
/// Allows writing
/// ```
/// self.GPPUD.read()
/// ```
/// instead of something along the lines of
/// ```
/// unsafe { (*GPIO::ptr()).GPPUD.read() }
/// ```
impl<T> ops::Deref for MMIODerefWrapper<T> {
type Target = T;
fn deref(&self) -> &Self::Target {
unsafe { &*(self.base_addr as *const _) }
}
}
impl<const MAX_INCLUSIVE: usize> BoundedUsize<{ MAX_INCLUSIVE }> {
pub const MAX_INCLUSIVE: usize = MAX_INCLUSIVE;
/// Creates a new instance if number <= MAX_INCLUSIVE.
pub const fn new(number: usize) -> Self {
assert!(number <= MAX_INCLUSIVE);
Self(number)
}
/// Return the wrapped number.
pub const fn get(self) -> usize {
self.0
}
}
impl<const MAX_INCLUSIVE: usize> fmt::Display for BoundedUsize<{ MAX_INCLUSIVE }> {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "{}", self.0)
}
}

17
machine/src/platform/raspberrypi/device_driver/mod.rs Normal file
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@ -0,0 +1,17 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2018-2022 Andre Richter <andre.o.richter@gmail.com>
//! Device driver.
#[cfg(feature = "rpi4")]
mod arm;
#[cfg(any(feature = "rpi3", feature = "rpi4"))]
mod bcm;
pub mod common;
#[cfg(feature = "rpi4")]
pub use arm::*;
#[cfg(any(feature = "rpi3", feature = "rpi4"))]
pub use bcm::*;

0
machine/src/platform/rpi3/display.rs → machine/src/platform/raspberrypi/display.rs
View File

24
machine/src/platform/rpi3/drivers.rs → machine/src/platform/raspberrypi/drivers.rs
View File

@ -1,5 +1,8 @@
use { use {
crate::{console, drivers, platform::device_driver}, crate::{
console, drivers,
platform::{device_driver, memory::map::mmio},
},
core::sync::atomic::{AtomicBool, Ordering}, core::sync::atomic::{AtomicBool, Ordering},
}; };
@ -37,6 +40,13 @@ pub unsafe fn init() -> Result<(), &'static str> {
Ok(()) Ok(())
} }
/// Minimal code needed to bring up the console in QEMU (for testing only). This is often less steps
/// than on real hardware due to QEMU's abstractions.
#[cfg(test)]
pub fn qemu_bring_up_console() {
console::register_console(&PL011_UART);
}
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Global instances // Global instances
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
@ -47,6 +57,14 @@ static PL011_UART: device_driver::PL011Uart =
unsafe { device_driver::PL011Uart::new(device_driver::UART0_BASE) }; unsafe { device_driver::PL011Uart::new(device_driver::UART0_BASE) };
static GPIO: device_driver::GPIO = unsafe { device_driver::GPIO::new(device_driver::GPIO_BASE) }; static GPIO: device_driver::GPIO = unsafe { device_driver::GPIO::new(device_driver::GPIO_BASE) };
#[cfg(feature = "rpi3")]
static INTERRUPT_CONTROLLER: device_driver::InterruptController =
unsafe { device_driver::InterruptController::new(mmio::PERIPHERAL_IC_START) };
#[cfg(feature = "rpi4")]
static INTERRUPT_CONTROLLER: device_driver::GICv2 =
unsafe { device_driver::GICv2::new(mmio::GICD_START, mmio::GICC_START) };
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
// Private Code // Private Code
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
@ -78,14 +96,14 @@ fn driver_uart() -> Result<(), &'static str> {
// drivers::driver_manager().register_driver(uart_descriptor); // drivers::driver_manager().register_driver(uart_descriptor);
let uart_descriptor = let uart_descriptor =
drivers::DeviceDriverDescriptor::new(&PL011_UART, Some(post_init_pl011_uart)); drivers::DeviceDriverDescriptor::new(&PL011_UART, Some(post_init_pl011_uart), None);
drivers::driver_manager().register_driver(uart_descriptor); drivers::driver_manager().register_driver(uart_descriptor);
Ok(()) Ok(())
} }
fn driver_gpio() -> Result<(), &'static str> { fn driver_gpio() -> Result<(), &'static str> {
let gpio_descriptor = drivers::DeviceDriverDescriptor::new(&GPIO, Some(post_init_gpio)); let gpio_descriptor = drivers::DeviceDriverDescriptor::new(&GPIO, Some(post_init_gpio), None);
drivers::driver_manager().register_driver(gpio_descriptor); drivers::driver_manager().register_driver(gpio_descriptor);
Ok(()) Ok(())

26
machine/src/platform/raspberrypi/exception/asynchronous.rs Normal file
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@ -0,0 +1,26 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! Platform asynchronous exception handling.
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Export for reuse in generic asynchronous.rs.
pub use crate::platform::device_driver::IRQNumber;
#[cfg(feature = "rpi3")]
pub(in crate::platform) mod irq_map {
use crate::platform::device_driver::{IRQNumber, PeripheralIRQ};
pub const PL011_UART: IRQNumber = IRQNumber::Peripheral(PeripheralIRQ::new(57));
}
#[cfg(feature = "rpi4")]
pub(in crate::platform) mod irq_map {
use crate::platform::device_driver::IRQNumber;
pub const PL011_UART: IRQNumber = IRQNumber::new(153);
}

1
machine/src/platform/raspberrypi/exception/mod.rs Normal file
View File

@ -0,0 +1 @@
pub mod asynchronous;

0
machine/src/platform/rpi3/fb.rs → machine/src/platform/raspberrypi/fb.rs
View File

2
machine/src/platform/rpi3/mailbox.rs → machine/src/platform/raspberrypi/mailbox.rs
View File

@ -13,7 +13,7 @@
use { use {
super::BcmHost, super::BcmHost,
crate::{mmio_deref_wrapper::MMIODerefWrapper, println}, //DMA_ALLOCATOR crate::{platform::device_driver::common::MMIODerefWrapper, println}, //DMA_ALLOCATOR
aarch64_cpu::asm::barrier, aarch64_cpu::asm::barrier,
core::{ core::{
alloc::{AllocError, Allocator, Layout}, alloc::{AllocError, Allocator, Layout},

8
machine/src/platform/rpi3/memory/mmu.rs → machine/src/platform/raspberrypi/memory/mmu.rs
View File

@ -41,7 +41,7 @@ pub static LAYOUT: KernelVirtualLayout<NUM_MEM_RANGES> = KernelVirtualLayout::ne
name: "Remapped Device MMIO", name: "Remapped Device MMIO",
virtual_range: remapped_mmio_range_inclusive, virtual_range: remapped_mmio_range_inclusive,
physical_range_translation: Translation::Offset( physical_range_translation: Translation::Offset(
memory_map::phys::MMIO_BASE + 0x20_0000, memory_map::mmio::MMIO_BASE + 0x20_0000,
), ),
attribute_fields: AttributeFields { attribute_fields: AttributeFields {
mem_attributes: MemAttributes::Device, mem_attributes: MemAttributes::Device,
@ -74,7 +74,7 @@ pub static LAYOUT: KernelVirtualLayout<NUM_MEM_RANGES> = KernelVirtualLayout::ne
virtual_range: || { virtual_range: || {
RangeInclusive::new( RangeInclusive::new(
memory_map::phys::VIDEOMEM_BASE, memory_map::phys::VIDEOMEM_BASE,
memory_map::phys::MMIO_BASE - 1, memory_map::mmio::MMIO_BASE - 1,
) )
}, },
physical_range_translation: Translation::Identity, physical_range_translation: Translation::Identity,
@ -107,8 +107,8 @@ fn remapped_mmio_range_inclusive() -> RangeInclusive<usize> {
} }
fn mmio_range_inclusive() -> RangeInclusive<usize> { fn mmio_range_inclusive() -> RangeInclusive<usize> {
RangeInclusive::new(memory_map::phys::MMIO_BASE, memory_map::phys::MMIO_END) RangeInclusive::new(memory_map::mmio::MMIO_BASE, memory_map::mmio::MMIO_END)
// RangeInclusive::new(map::phys::VIDEOMEM_BASE, map::phys::MMIO_END), // RangeInclusive::new(map::phys::VIDEOMEM_BASE, map::mmio::MMIO_END),
} }
fn dma_range_inclusive() -> RangeInclusive<usize> { fn dma_range_inclusive() -> RangeInclusive<usize> {

46
machine/src/platform/rpi3/memory.rs → machine/src/platform/raspberrypi/memory/mod.rs
View File

@ -43,7 +43,7 @@ extern "Rust" {
//-------------------------------------------------------------------------------------------------- //--------------------------------------------------------------------------------------------------
/// System memory map. /// System memory map.
/// This is a fixed memory map for RasPi3, /// This is a fixed memory map for Raspberry Pi,
/// @todo we need to infer the memory map from the provided DTB. /// @todo we need to infer the memory map from the provided DTB.
#[rustfmt::skip] #[rustfmt::skip]
pub mod map { // @todo only pub(super) for proper isolation! pub mod map { // @todo only pub(super) for proper isolation!
@ -56,16 +56,52 @@ pub mod map { // @todo only pub(super) for proper isolation!
pub mod phys { pub mod phys {
/// Base address of video (VC) memory. /// Base address of video (VC) memory.
pub const VIDEOMEM_BASE: usize = 0x3e00_0000; pub const VIDEOMEM_BASE: usize = 0x3e00_0000;
}
pub const VIDEOCORE_MBOX_OFFSET: usize = 0x0000_B880;
pub const GPIO_OFFSET: usize = 0x0020_0000;
pub const UART_OFFSET: usize = 0x0020_1000;
pub const MINIUART_OFFSET: usize = 0x0021_5000;
/// Memory-mapped devices.
#[cfg(feature = "rpi3")]
pub mod mmio {
use super::*;
/// Base address of MMIO register range. /// Base address of MMIO register range.
pub const MMIO_BASE: usize = 0x3F00_0000; pub const MMIO_BASE: usize = 0x3F00_0000;
/// Base address of ARM<->VC mailbox area. /// Base address of ARM<->VC mailbox area.
pub const VIDEOCORE_MBOX_BASE: usize = MMIO_BASE + 0x0000_B880; pub const VIDEOCORE_MBOX_BASE: usize = MMIO_BASE + VIDEOCORE_MBOX_OFFSET;
/// Base address of GPIO registers. /// Base address of GPIO registers.
pub const GPIO_BASE: usize = MMIO_BASE + 0x0020_0000; pub const GPIO_BASE: usize = MMIO_BASE + GPIO_OFFSET;
/// Base address of regular UART. /// Base address of regular UART.
pub const PL011_UART_BASE: usize = MMIO_BASE + 0x0020_1000; pub const PL011_UART_BASE: usize = MMIO_BASE + UART_OFFSET;
/// Base address of MiniUART. /// Base address of MiniUART.
pub const MINI_UART_BASE: usize = MMIO_BASE + 0x0021_5000; pub const MINI_UART_BASE: usize = MMIO_BASE + MINIUART_OFFSET;
/// Interrupt controller
pub const PERIPHERAL_IC_START: usize = MMIO_BASE + 0x0000_B200;
/// End of MMIO memory.
pub const MMIO_END: usize = super::END_INCLUSIVE;
}
/// Memory-mapped devices.
#[cfg(feature = "rpi4")]
pub mod mmio {
use super::*;
/// Base address of MMIO register range.
pub const MMIO_BASE: usize = 0xFE00_0000;
/// Base address of ARM<->VC mailbox area.
pub const VIDEOCORE_MBOX_BASE: usize = MMIO_BASE + VIDEOCORE_MBOX_OFFSET;
/// Base address of GPIO registers.
pub const GPIO_BASE: usize = MMIO_BASE + GPIO_OFFSET;
/// Base address of regular UART.
pub const PL011_UART_BASE: usize = MMIO_BASE + UART_OFFSET;
/// Base address of MiniUART.
pub const MINI_UART_BASE: usize = MMIO_BASE + MINIUART_OFFSET;
/// Interrupt controller
pub const GICD_START: usize = 0xFF84_1000;
pub const GICC_START: usize = 0xFF84_2000;
/// End of MMIO memory. /// End of MMIO memory.
pub const MMIO_END: usize = super::END_INCLUSIVE; pub const MMIO_END: usize = super::END_INCLUSIVE;
} }

1
machine/src/platform/rpi3/mod.rs → machine/src/platform/raspberrypi/mod.rs
View File

@ -8,6 +8,7 @@
pub mod device_driver; pub mod device_driver;
pub mod display; pub mod display;
pub mod drivers; pub mod drivers;
pub mod exception;
pub mod fb; pub mod fb;
pub mod mailbox; pub mod mailbox;
pub mod memory; pub mod memory;

4
machine/src/platform/rpi3/power.rs → machine/src/platform/raspberrypi/power.rs
View File

@ -11,7 +11,7 @@ use {
mailbox::{channel, Mailbox, MailboxOps}, mailbox::{channel, Mailbox, MailboxOps},
BcmHost, BcmHost,
}, },
crate::mmio_deref_wrapper::MMIODerefWrapper, crate::platform::device_driver::common::MMIODerefWrapper,
snafu::Snafu, snafu::Snafu,
tock_registers::{ tock_registers::{
interfaces::{Readable, Writeable}, interfaces::{Readable, Writeable},
@ -116,6 +116,6 @@ impl Power {
val |= PM_PASSWORD | PM_RSTC_WRCFG_FULL_RESET; val |= PM_PASSWORD | PM_RSTC_WRCFG_FULL_RESET;
self.registers.PM_RSTC.set(val); self.registers.PM_RSTC.set(val);
crate::endless_sleep() crate::cpu::endless_sleep()
} }
} }

2
machine/src/platform/rpi3/vc.rs → machine/src/platform/raspberrypi/vc.rs
View File

@ -8,7 +8,7 @@ use {
mailbox::{self, channel, response::VAL_LEN_FLAG, Mailbox, MailboxOps}, mailbox::{self, channel, response::VAL_LEN_FLAG, Mailbox, MailboxOps},
BcmHost, BcmHost,
}, },
crate::{platform::rpi3::mailbox::MailboxStorageRef, println}, crate::{platform::raspberrypi::mailbox::MailboxStorageRef, println},
core::convert::TryInto, core::convert::TryInto,
snafu::Snafu, snafu::Snafu,
}; };

5
machine/src/platform/rpi3/device_driver/mod.rs
View File

@ -1,5 +0,0 @@
pub mod gpio;
pub mod mini_uart;
pub mod pl011_uart;
pub use {gpio::*, mini_uart::*, pl011_uart::*};

92
machine/src/state.rs Normal file
View File

@ -0,0 +1,92 @@
// SPDX-License-Identifier: MIT OR Apache-2.0
//
// Copyright (c) 2020-2022 Andre Richter <andre.o.richter@gmail.com>
//! State information about the kernel itself.
use core::sync::atomic::{AtomicU8, Ordering};
//--------------------------------------------------------------------------------------------------
// Private Definitions
//--------------------------------------------------------------------------------------------------
/// Different stages in the kernel execution.
#[derive(Copy, Clone, Eq, PartialEq)]
enum State {
/// The kernel starts booting in this state.
Init,
/// The kernel transitions to this state when jumping to `kernel_main()` (at the end of
/// `kernel_init()`, after all init calls are done).
SingleCoreMain,
/// The kernel transitions to this state when it boots the secondary cores, aka switches
/// exectution mode to symmetric multiprocessing (SMP).
MultiCoreMain,
}
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Maintains the kernel state and state transitions.
pub struct StateManager(AtomicU8);
//--------------------------------------------------------------------------------------------------
// Global instances
//--------------------------------------------------------------------------------------------------
static STATE_MANAGER: StateManager = StateManager::new();
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
/// Return a reference to the global StateManager.
pub fn state_manager() -> &'static StateManager {
&STATE_MANAGER
}
impl StateManager {
const INIT: u8 = 0;
const SINGLE_CORE_MAIN: u8 = 1;
const MULTI_CORE_MAIN: u8 = 2;
/// Create a new instance.
pub const fn new() -> Self {
Self(AtomicU8::new(Self::INIT))
}
/// Return the current state.
fn state(&self) -> State {
let state = self.0.load(Ordering::Acquire);
match state {
Self::INIT => State::Init,
Self::SINGLE_CORE_MAIN => State::SingleCoreMain,
Self::MULTI_CORE_MAIN => State::MultiCoreMain,
_ => panic!("Invalid KERNEL_STATE"),
}
}
/// Return if the kernel is init state.
pub fn is_init(&self) -> bool {
self.state() == State::Init
}
/// Transition from Init to SingleCoreMain.
pub fn transition_to_single_core_main(&self) {
if self
.0
.compare_exchange(
Self::INIT,
Self::SINGLE_CORE_MAIN,
Ordering::Acquire,
Ordering::Relaxed,
)
.is_err()
{
panic!("transition_to_single_core_main() called while state != Init");
}
}
}

82
machine/src/sync.rs
View File

@ -1,82 +0,0 @@
/*
* SPDX-License-Identifier: MIT OR BlueOak-1.0.0
* Copyright (c) 2019 Andre Richter <andre.o.richter@gmail.com>
* Original code distributed under MIT, additional changes are under BlueOak-1.0.0
*/
use core::cell::UnsafeCell;
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Synchronization interfaces.
pub mod interface {
/// Any object implementing this trait guarantees exclusive access to the data wrapped within
/// the Mutex for the duration of the provided closure.
pub trait Mutex {
/// The type of the data that is wrapped by this mutex.
type Data;
/// Locks the mutex and grants the closure temporary mutable access to the wrapped data.
fn lock<R>(&self, f: impl FnOnce(&mut Self::Data) -> R) -> R;
}
}
/// A pseudo-lock for teaching purposes.
///
/// In contrast to a real Mutex implementation, does not protect against concurrent access from
/// other cores to the contained data.
///
/// The lock can only be used as long as it is safe to do so, i.e. as long as the kernel is
/// executing single-threaded, aka only running on a single core with interrupts disabled.
pub struct NullLock<T>
where
T: ?Sized,
{
data: UnsafeCell<T>,
}
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
/// Since we are instantiating this struct as a static variable, which could
/// potentially be shared between different threads, we need to tell the compiler
/// that sharing of this struct is safe by marking it with the Sync trait.
///
/// At this point in time, we can do so without worrying, because the kernel
/// anyways runs on a single core and interrupts are disabled. In short, multiple
/// threads don't exist yet in our code.
///
/// Literature:
/// * <https://doc.rust-lang.org/beta/nomicon/send-and-sync.html>
/// * <https://doc.rust-lang.org/book/ch16-04-extensible-concurrency-sync-and-send.html>
unsafe impl<T> Send for NullLock<T> where T: ?Sized + Send {}
unsafe impl<T> Sync for NullLock<T> where T: ?Sized + Send {}
impl<T> NullLock<T> {
/// Create an instance.
pub const fn new(data: T) -> Self {
Self {
data: UnsafeCell::new(data),
}
}
}
//------------------------------------------------------------------------------
// OS Interface Code
//------------------------------------------------------------------------------
impl<T> interface::Mutex for NullLock<T> {
type Data = T;
fn lock<R>(&self, f: impl FnOnce(&mut Self::Data) -> R) -> R {
// In a real lock, there would be code encapsulating this line that ensures that this
// mutable reference will ever only be given out once at a time.
let data = unsafe { &mut *self.data.get() };
f(data)
}
}

165
machine/src/synchronization.rs Normal file
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@ -0,0 +1,165 @@
/*
* SPDX-License-Identifier: MIT OR BlueOak-1.0.0
* Copyright (c) 2019 Andre Richter <andre.o.richter@gmail.com>
* Original code distributed under MIT, additional changes are under BlueOak-1.0.0
*/
use core::cell::UnsafeCell;
//--------------------------------------------------------------------------------------------------
// Public Definitions
//--------------------------------------------------------------------------------------------------
/// Synchronization interfaces.
pub mod interface {
/// Any object implementing this trait guarantees exclusive access to the data wrapped within
/// the Mutex for the duration of the provided closure.
pub trait Mutex {
/// The type of the data that is wrapped by this mutex.
type Data;
/// Locks the mutex and grants the closure temporary mutable access to the wrapped data.
fn lock<R>(&self, f: impl FnOnce(&mut Self::Data) -> R) -> R;
}
/// A reader-writer exclusion type.
///
/// The implementing object allows either a number of readers or at most one writer at any point
/// in time.
pub trait ReadWriteEx {
/// The type of encapsulated data.
type Data;
/// Grants temporary mutable access to the encapsulated data.
fn write<R>(&self, f: impl FnOnce(&mut Self::Data) -> R) -> R;
/// Grants temporary immutable access to the encapsulated data.
fn read<R>(&self, f: impl FnOnce(&Self::Data) -> R) -> R;
}
}
/// A pseudo-lock for teaching purposes.
///
/// In contrast to a real Mutex implementation, does not protect against concurrent access from
/// other cores to the contained data. This part is preserved for later lessons.
///
/// The lock will only be used as long as it is safe to do so, i.e. as long as the kernel is
/// executing on a single core.
pub struct IRQSafeNullLock<T>
where
T: ?Sized,
{
data: UnsafeCell<T>,
}
/// A pseudo-lock that is RW during the single-core kernel init phase and RO afterwards.
///
/// Intended to encapsulate data that is populated during kernel init when no concurrency exists.
pub struct InitStateLock<T>
where
T: ?Sized,
{
data: UnsafeCell<T>,
}
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
/// Since we are instantiating this struct as a static variable, which could
/// potentially be shared between different threads, we need to tell the compiler
/// that sharing of this struct is safe by marking it with the Sync trait.
///
/// At this point in time, we can do so without worrying, because the kernel
/// anyways runs on a single core and interrupts are disabled. In short, multiple
/// threads don't exist yet in our code.
///
/// Literature:
/// * <https://doc.rust-lang.org/beta/nomicon/send-and-sync.html>
/// * <https://doc.rust-lang.org/book/ch16-04-extensible-concurrency-sync-and-send.html>
unsafe impl<T> Send for IRQSafeNullLock<T> where T: ?Sized + Send {}
unsafe impl<T> Sync for IRQSafeNullLock<T> where T: ?Sized + Send {}
impl<T> IRQSafeNullLock<T> {
/// Create an instance.
pub const fn new(data: T) -> Self {
Self {
data: UnsafeCell::new(data),
}
}
}
unsafe impl<T> Send for InitStateLock<T> where T: ?Sized + Send {}
unsafe impl<T> Sync for InitStateLock<T> where T: ?Sized + Send {}
impl<T> InitStateLock<T> {
/// Create an instance.
pub const fn new(data: T) -> Self {
Self {
data: UnsafeCell::new(data),
}
}
}
//------------------------------------------------------------------------------
// OS Interface Code
//------------------------------------------------------------------------------
use crate::{exception, state};
impl<T> interface::Mutex for IRQSafeNullLock<T> {
type Data = T;
fn lock<R>(&self, f: impl FnOnce(&mut Self::Data) -> R) -> R {
// In a real lock, there would be code encapsulating this line that ensures that this
// mutable reference will ever only be given out once at a time.
let data = unsafe { &mut *self.data.get() };
// Execute the closure while IRQs are masked.
exception::asynchronous::exec_with_irq_masked(|| f(data))
}
}
impl<T> interface::ReadWriteEx for InitStateLock<T> {
type Data = T;
fn write<R>(&self, f: impl FnOnce(&mut Self::Data) -> R) -> R {
assert!(
state::state_manager().is_init(),
"InitStateLock::write called after kernel init phase"
);
assert!(
!exception::asynchronous::is_local_irq_masked(),
"InitStateLock::write called with IRQs unmasked"
);
let data = unsafe { &mut *self.data.get() };
f(data)
}
fn read<R>(&self, f: impl FnOnce(&Self::Data) -> R) -> R {
let data = unsafe { &*self.data.get() };
f(data)
}
}
//--------------------------------------------------------------------------------------------------
// Testing
//--------------------------------------------------------------------------------------------------
#[cfg(test)]
mod tests {
use super::*; //, test_macros::kernel_test};
/// InitStateLock must be transparent.
#[test_case]
fn init_state_lock_is_transparent() {
use core::mem::size_of;
assert_eq!(size_of::<InitStateLock<u64>>(), size_of::<u64>());
}
}

58
nucleus/src/main.rs
View File

@ -40,7 +40,7 @@ use {
arch, arch,
console::console, console::console,
entry, info, memory, entry, info, memory,
platform::rpi3::{ platform::raspberrypi::{
display::{Color, DrawError}, display::{Color, DrawError},
mailbox::{channel, Mailbox, MailboxOps}, mailbox::{channel, Mailbox, MailboxOps},
vc::VC, vc::VC,
@ -51,28 +51,43 @@ use {
entry!(kernel_init); entry!(kernel_init);
/// Kernel entry point. /// Kernel early init code.
/// `arch` crate is responsible for calling it. /// `arch` crate is responsible for calling it.
/// ///
/// # Safety /// # Safety
/// ///
/// - Only a single core must be active and running this function. /// - Only a single core must be active and running this function.
/// - The init calls in this function must appear in the correct order. /// - The init calls in this function must appear in the correct order:
/// - MMU + Data caching must be activated at the earliest. Without it, any atomic operations,
/// e.g. the yet-to-be-introduced spinlocks in the device drivers (which currently employ
/// IRQSafeNullLocks instead of spinlocks), will fail to work (properly) on the RPi SoCs.
pub unsafe fn kernel_init() -> ! { pub unsafe fn kernel_init() -> ! {
#[cfg(feature = "jtag")] #[cfg(feature = "jtag")]
machine::arch::jtag::wait_debugger(); machine::debug::jtag::wait_debugger();
// init_exception_traps(); // @todo
//
// init_mmu(); // @todo
exception::handling_init();
if let Err(string) = memory::mmu::mmu().enable_mmu_and_caching() {
panic!("MMU: {}", string);
}
if let Err(x) = machine::platform::drivers::init() { if let Err(x) = machine::platform::drivers::init() {
panic!("Error initializing platform drivers: {}", x); panic!("Error initializing platform drivers: {}", x);
} }
// Initialize all device drivers. // Initialize all device drivers.
machine::drivers::driver_manager().init_drivers(); machine::drivers::driver_manager().init_drivers_and_irqs();
init_exception_traps(); // @todo // Unmask interrupts on the boot CPU core.
exception::asynchronous::local_irq_unmask();
init_mmu(); // @todo // Announce conclusion of the kernel_init() phase.
state::state_manager().transition_to_single_core_main();
// Transition from unsafe to safe.
kernel_main() kernel_main()
} }
@ -82,6 +97,9 @@ pub fn kernel_main() -> ! {
#[cfg(test)] #[cfg(test)]
test_main(); test_main();
// info!("{}", libkernel::version());
// info!("Booting on: {}", bsp::board_name());
info!( info!(
"{} version {}", "{} version {}",
env!("CARGO_PKG_NAME"), env!("CARGO_PKG_NAME"),
@ -89,6 +107,15 @@ pub fn kernel_main() -> ! {
); );
info!("Booting on: {}", machine::platform::BcmHost::board_name()); info!("Booting on: {}", machine::platform::BcmHost::board_name());
info!("MMU online. Special regions:");
bsp::memory::mmu::virt_mem_layout().print_layout();
let (_, privilege_level) = exception::current_privilege_level();
info!("Current privilege level: {}", privilege_level);
info!("Exception handling state:");
exception::asynchronous::print_state();
info!( info!(
"Architectural timer resolution: {} ns", "Architectural timer resolution: {} ns",
time::time_manager().resolution().as_nanos() time::time_manager().resolution().as_nanos()
@ -97,6 +124,9 @@ pub fn kernel_main() -> ! {
info!("Drivers loaded:"); info!("Drivers loaded:");
machine::drivers::driver_manager().enumerate(); machine::drivers::driver_manager().enumerate();
info!("Registered IRQ handlers:");
exception::asynchronous::irq_manager().print_handler();
// Test a failing timer case. // Test a failing timer case.
time::time_manager().spin_for(Duration::from_nanos(1)); time::time_manager().spin_for(Duration::from_nanos(1));
@ -131,18 +161,6 @@ fn init_mmu() {
print_mmu_state_and_features(); print_mmu_state_and_features();
} }
fn init_exception_traps() {
extern "Rust" {
static __EXCEPTION_VECTORS_START: UnsafeCell<()>;
}
unsafe {
arch::traps::set_vbar_el1_checked(__EXCEPTION_VECTORS_START.get() as u64)
.expect("Vector table properly aligned!");
}
info!("[!] Exception traps set up");
}
//------------------------------------------------------------ //------------------------------------------------------------
// Start a command prompt // Start a command prompt
//------------------------------------------------------------ //------------------------------------------------------------
@ -198,7 +216,7 @@ fn reboot() -> ! {
info!("Bye, shutting down QEMU"); info!("Bye, shutting down QEMU");
machine::qemu::semihosting::exit_success() machine::qemu::semihosting::exit_success()
} else { } else {
use machine::platform::rpi3::power::Power; use machine::platform::raspberrypi::power::Power;
info!("Bye, going to reset now"); info!("Bye, going to reset now");
Power::default().reset() Power::default().reset()