diff options
| author | Bernard Xiong <[email protected]> | 2020-04-17 13:30:22 +0800 |
|---|---|---|
| committer | GitHub <[email protected]> | 2020-04-17 13:30:22 +0800 |
| commit | 33f7124b3644314ca4ce96d9352b4ac973664a29 (patch) | |
| tree | d518f581f34313ea8786fd4d2a0ccf4f8af0b54c | |
| parent | 198c0d914cc62e95f97ed2782fb8c37474061bc2 (diff) | |
| parent | 709e0d5799a57e9904d856fd94a935bd1deb153d (diff) | |
Merge pull request #3541 from bigmagic123/add_raspi4
Add raspi4 bsp
43 files changed, 2541 insertions, 14 deletions
diff --git a/bsp/raspberry-pi/raspi3-64/README.md b/bsp/raspberry-pi/raspi3-64/README.md index 28e00f96c0..576b13ed0e 100644 --- a/bsp/raspberry-pi/raspi3-64/README.md +++ b/bsp/raspberry-pi/raspi3-64/README.md @@ -17,7 +17,7 @@ Windows环境下推荐使用[env工具][1]进行编译。 -首先下载Linux上的gcc工具，版本为gcc-arm-8.3选择aarch64-elf就可以。 +首先下载windows上的aarch64的gcc交叉编译工具，版本为gcc-arm-8.3选择aarch64-elf就可以。 将推荐将gcc解压到`\env\tools\gnu_gcc\arm_gcc`目录下。 diff --git a/bsp/raspberry-pi/raspi4/.config b/bsp/raspberry-pi/raspi4/.config new file mode 100644 index 0000000000..e300d0217b --- /dev/null +++ b/bsp/raspberry-pi/raspi4/.config @@ -0,0 +1,455 @@ +# +# Automatically generated file; DO NOT EDIT. +# RT-Thread Project Configuration +# + +# +# RT-Thread Kernel +# +CONFIG_RT_NAME_MAX=8 +# CONFIG_RT_USING_ARCH_DATA_TYPE is not set +# CONFIG_RT_USING_SMP is not set +CONFIG_RT_ALIGN_SIZE=4 +# CONFIG_RT_THREAD_PRIORITY_8 is not set +CONFIG_RT_THREAD_PRIORITY_32=y +# CONFIG_RT_THREAD_PRIORITY_256 is not set +CONFIG_RT_THREAD_PRIORITY_MAX=32 +CONFIG_RT_TICK_PER_SECOND=100 +CONFIG_RT_USING_OVERFLOW_CHECK=y +CONFIG_RT_USING_HOOK=y +CONFIG_RT_USING_IDLE_HOOK=y +CONFIG_RT_IDLE_HOOK_LIST_SIZE=4 +CONFIG_IDLE_THREAD_STACK_SIZE=2048 +CONFIG_RT_USING_TIMER_SOFT=y +CONFIG_RT_TIMER_THREAD_PRIO=4 +CONFIG_RT_TIMER_THREAD_STACK_SIZE=2048 +CONFIG_RT_DEBUG=y +# CONFIG_RT_DEBUG_COLOR is not set +# CONFIG_RT_DEBUG_INIT_CONFIG is not set +# CONFIG_RT_DEBUG_THREAD_CONFIG is not set +# CONFIG_RT_DEBUG_SCHEDULER_CONFIG is not set +# CONFIG_RT_DEBUG_IPC_CONFIG is not set +# CONFIG_RT_DEBUG_TIMER_CONFIG is not set +# CONFIG_RT_DEBUG_IRQ_CONFIG is not set +# CONFIG_RT_DEBUG_MEM_CONFIG is not set +# CONFIG_RT_DEBUG_SLAB_CONFIG is not set +# CONFIG_RT_DEBUG_MEMHEAP_CONFIG is not set +# CONFIG_RT_DEBUG_MODULE_CONFIG is not set + +# +# Inter-Thread communication +# +CONFIG_RT_USING_SEMAPHORE=y +CONFIG_RT_USING_MUTEX=y +CONFIG_RT_USING_EVENT=y +CONFIG_RT_USING_MAILBOX=y +CONFIG_RT_USING_MESSAGEQUEUE=y +# CONFIG_RT_USING_SIGNALS is not set + +# +# Memory Management +# +CONFIG_RT_USING_MEMPOOL=y +# CONFIG_RT_USING_MEMHEAP is not set +# CONFIG_RT_USING_NOHEAP is not set +CONFIG_RT_USING_SMALL_MEM=y +# CONFIG_RT_USING_SLAB is not set +# CONFIG_RT_USING_MEMTRACE is not set +CONFIG_RT_USING_HEAP=y + +# +# Kernel Device Object +# +CONFIG_RT_USING_DEVICE=y +# CONFIG_RT_USING_DEVICE_OPS is not set +# CONFIG_RT_USING_INTERRUPT_INFO is not set +CONFIG_RT_USING_CONSOLE=y +CONFIG_RT_CONSOLEBUF_SIZE=128 +CONFIG_RT_CONSOLE_DEVICE_NAME="uart" +CONFIG_RT_VER_NUM=0x40003 +CONFIG_ARCH_CPU_64BIT=y +# CONFIG_RT_USING_CPU_FFS is not set +# CONFIG_ARCH_CPU_STACK_GROWS_UPWARD is not set + +# +# RT-Thread Components +# +CONFIG_RT_USING_COMPONENTS_INIT=y +CONFIG_RT_USING_USER_MAIN=y +CONFIG_RT_MAIN_THREAD_STACK_SIZE=2048 +CONFIG_RT_MAIN_THREAD_PRIORITY=10 + +# +# C++ features +# +# CONFIG_RT_USING_CPLUSPLUS is not set + +# +# Command shell +# +CONFIG_RT_USING_FINSH=y +CONFIG_FINSH_THREAD_NAME="tshell" +CONFIG_FINSH_USING_HISTORY=y +CONFIG_FINSH_HISTORY_LINES=5 +CONFIG_FINSH_USING_SYMTAB=y +CONFIG_FINSH_USING_DESCRIPTION=y +# CONFIG_FINSH_ECHO_DISABLE_DEFAULT is not set +CONFIG_FINSH_THREAD_PRIORITY=20 +CONFIG_FINSH_THREAD_STACK_SIZE=4096 +CONFIG_FINSH_CMD_SIZE=80 +# CONFIG_FINSH_USING_AUTH is not set +CONFIG_FINSH_USING_MSH=y +CONFIG_FINSH_USING_MSH_DEFAULT=y +# CONFIG_FINSH_USING_MSH_ONLY is not set +CONFIG_FINSH_ARG_MAX=10 + +# +# Device virtual file system +# +CONFIG_RT_USING_DFS=y +CONFIG_DFS_USING_WORKDIR=y +CONFIG_DFS_FILESYSTEMS_MAX=2 +CONFIG_DFS_FILESYSTEM_TYPES_MAX=2 +CONFIG_DFS_FD_MAX=16 +# CONFIG_RT_USING_DFS_MNTTABLE is not set +# CONFIG_RT_USING_DFS_ELMFAT is not set +CONFIG_RT_USING_DFS_DEVFS=y +# CONFIG_RT_USING_DFS_ROMFS is not set +# CONFIG_RT_USING_DFS_RAMFS is not set +# CONFIG_RT_USING_DFS_UFFS is not set +# CONFIG_RT_USING_DFS_JFFS2 is not set + +# +# Device Drivers +# +CONFIG_RT_USING_DEVICE_IPC=y +CONFIG_RT_PIPE_BUFSZ=512 +# CONFIG_RT_USING_SYSTEM_WORKQUEUE is not set +CONFIG_RT_USING_SERIAL=y +CONFIG_RT_SERIAL_USING_DMA=y +CONFIG_RT_SERIAL_RB_BUFSZ=64 +# CONFIG_RT_USING_CAN is not set +# CONFIG_RT_USING_HWTIMER is not set +# CONFIG_RT_USING_CPUTIME is not set +# CONFIG_RT_USING_I2C is not set +CONFIG_RT_USING_PIN=y +# CONFIG_RT_USING_ADC is not set +# CONFIG_RT_USING_PWM is not set +# CONFIG_RT_USING_MTD_NOR is not set +# CONFIG_RT_USING_MTD_NAND is not set +# CONFIG_RT_USING_PM is not set +# CONFIG_RT_USING_RTC is not set +# CONFIG_RT_USING_SDIO is not set +# CONFIG_RT_USING_SPI is not set +# CONFIG_RT_USING_WDT is not set +# CONFIG_RT_USING_AUDIO is not set +# CONFIG_RT_USING_SENSOR is not set +# CONFIG_RT_USING_TOUCH is not set +# CONFIG_RT_USING_HWCRYPTO is not set +# CONFIG_RT_USING_PULSE_ENCODER is not set +# CONFIG_RT_USING_INPUT_CAPTURE is not set +# CONFIG_RT_USING_WIFI is not set + +# +# Using USB +# +# CONFIG_RT_USING_USB_HOST is not set +# CONFIG_RT_USING_USB_DEVICE is not set + +# +# POSIX layer and C standard library +# +CONFIG_RT_USING_LIBC=y +# CONFIG_RT_USING_PTHREADS is not set +CONFIG_RT_USING_POSIX=y +# CONFIG_RT_USING_POSIX_MMAP is not set +# CONFIG_RT_USING_POSIX_TERMIOS is not set +# CONFIG_RT_USING_POSIX_AIO is not set +# CONFIG_RT_USING_MODULE is not set + +# +# Network +# + +# +# Socket abstraction layer +# +# CONFIG_RT_USING_SAL is not set + +# +# Network interface device +# +# CONFIG_RT_USING_NETDEV is not set + +# +# light weight TCP/IP stack +# +# CONFIG_RT_USING_LWIP is not set + +# +# AT commands +# +# CONFIG_RT_USING_AT is not set + +# +# VBUS(Virtual Software BUS) +# +# CONFIG_RT_USING_VBUS is not set + +# +# Utilities +# +# CONFIG_RT_USING_RYM is not set +# CONFIG_RT_USING_ULOG is not set +# CONFIG_RT_USING_UTEST is not set + +# +# RT-Thread online packages +# + +# +# IoT - internet of things +# +# CONFIG_PKG_USING_PAHOMQTT is not set +# CONFIG_PKG_USING_WEBCLIENT is not set +# CONFIG_PKG_USING_WEBNET is not set +# CONFIG_PKG_USING_MONGOOSE is not set +# CONFIG_PKG_USING_MYMQTT is not set +# CONFIG_PKG_USING_WEBTERMINAL is not set +# CONFIG_PKG_USING_CJSON is not set +# CONFIG_PKG_USING_JSMN is not set +# CONFIG_PKG_USING_LIBMODBUS is not set +# CONFIG_PKG_USING_FREEMODBUS is not set +# CONFIG_PKG_USING_LJSON is not set +# CONFIG_PKG_USING_EZXML is not set +# CONFIG_PKG_USING_NANOPB is not set + +# +# Wi-Fi +# + +# +# Marvell WiFi +# +# CONFIG_PKG_USING_WLANMARVELL is not set + +# +# Wiced WiFi +# +# CONFIG_PKG_USING_WLAN_WICED is not set +# CONFIG_PKG_USING_RW007 is not set +# CONFIG_PKG_USING_COAP is not set +# CONFIG_PKG_USING_NOPOLL is not set +# CONFIG_PKG_USING_NETUTILS is not set +# CONFIG_PKG_USING_PPP_DEVICE is not set +# CONFIG_PKG_USING_AT_DEVICE is not set +# CONFIG_PKG_USING_ATSRV_SOCKET is not set +# CONFIG_PKG_USING_WIZNET is not set + +# +# IoT Cloud +# +# CONFIG_PKG_USING_ONENET is not set +# CONFIG_PKG_USING_GAGENT_CLOUD is not set +# CONFIG_PKG_USING_ALI_IOTKIT is not set +# CONFIG_PKG_USING_AZURE is not set +# CONFIG_PKG_USING_TENCENT_IOTHUB is not set +# CONFIG_PKG_USING_JIOT-C-SDK is not set +# CONFIG_PKG_USING_NIMBLE is not set +# CONFIG_PKG_USING_OTA_DOWNLOADER is not set +# CONFIG_PKG_USING_IPMSG is not set +# CONFIG_PKG_USING_LSSDP is not set +# CONFIG_PKG_USING_AIRKISS_OPEN is not set +# CONFIG_PKG_USING_LIBRWS is not set +# CONFIG_PKG_USING_TCPSERVER is not set +# CONFIG_PKG_USING_PROTOBUF_C is not set +# CONFIG_PKG_USING_ONNX_PARSER is not set +# CONFIG_PKG_USING_ONNX_BACKEND is not set +# CONFIG_PKG_USING_DLT645 is not set +# CONFIG_PKG_USING_QXWZ is not set +# CONFIG_PKG_USING_SMTP_CLIENT is not set +# CONFIG_PKG_USING_ABUP_FOTA is not set + +# +# security packages +# +# CONFIG_PKG_USING_MBEDTLS is not set +# CONFIG_PKG_USING_libsodium is not set +# CONFIG_PKG_USING_TINYCRYPT is not set + +# +# language packages +# +# CONFIG_PKG_USING_LUA is not set +# CONFIG_PKG_USING_JERRYSCRIPT is not set +# CONFIG_PKG_USING_MICROPYTHON is not set + +# +# multimedia packages +# +# CONFIG_PKG_USING_OPENMV is not set +# CONFIG_PKG_USING_MUPDF is not set +# CONFIG_PKG_USING_STEMWIN is not set +# CONFIG_PKG_USING_WAVPLAYER is not set +# CONFIG_PKG_USING_TJPGD is not set + +# +# tools packages +# +# CONFIG_PKG_USING_CMBACKTRACE is not set +# CONFIG_PKG_USING_EASYFLASH is not set +# CONFIG_PKG_USING_EASYLOGGER is not set +# CONFIG_PKG_USING_SYSTEMVIEW is not set +# CONFIG_PKG_USING_RDB is not set +# CONFIG_PKG_USING_QRCODE is not set +# CONFIG_PKG_USING_ULOG_EASYFLASH is not set +# CONFIG_PKG_USING_ADBD is not set +# CONFIG_PKG_USING_COREMARK is not set +# CONFIG_PKG_USING_DHRYSTONE is not set +# CONFIG_PKG_USING_NR_MICRO_SHELL is not set +# CONFIG_PKG_USING_CHINESE_FONT_LIBRARY is not set +# CONFIG_PKG_USING_LUNAR_CALENDAR is not set +# CONFIG_PKG_USING_BS8116A is not set + +# +# system packages +# +# CONFIG_PKG_USING_GUIENGINE is not set +# CONFIG_PKG_USING_CAIRO is not set +# CONFIG_PKG_USING_PIXMAN is not set +# CONFIG_PKG_USING_LWEXT4 is not set +# CONFIG_PKG_USING_PARTITION is not set +# CONFIG_PKG_USING_FAL is not set +# CONFIG_PKG_USING_SQLITE is not set +# CONFIG_PKG_USING_RTI is not set +# CONFIG_PKG_USING_LITTLEVGL2RTT is not set +# CONFIG_PKG_USING_CMSIS is not set +# CONFIG_PKG_USING_DFS_YAFFS is not set +# CONFIG_PKG_USING_LITTLEFS is not set +# CONFIG_PKG_USING_THREAD_POOL is not set +# CONFIG_PKG_USING_ROBOTS is not set +# CONFIG_PKG_USING_EV is not set + +# +# peripheral libraries and drivers +# +# CONFIG_PKG_USING_SENSORS_DRIVERS is not set +# CONFIG_PKG_USING_REALTEK_AMEBA is not set +# CONFIG_PKG_USING_SHT2X is not set +# CONFIG_PKG_USING_SHT3X is not set +# CONFIG_PKG_USING_STM32_SDIO is not set +# CONFIG_PKG_USING_ICM20608 is not set +# CONFIG_PKG_USING_U8G2 is not set +# CONFIG_PKG_USING_BUTTON is not set +# CONFIG_PKG_USING_PCF8574 is not set +# CONFIG_PKG_USING_SX12XX is not set +# CONFIG_PKG_USING_SIGNAL_LED is not set +# CONFIG_PKG_USING_LEDBLINK is not set +# CONFIG_PKG_USING_WM_LIBRARIES is not set +# CONFIG_PKG_USING_KENDRYTE_SDK is not set +# CONFIG_PKG_USING_INFRARED is not set +# CONFIG_PKG_USING_ROSSERIAL is not set +# CONFIG_PKG_USING_AGILE_BUTTON is not set +# CONFIG_PKG_USING_AGILE_LED is not set +# CONFIG_PKG_USING_AT24CXX is not set +# CONFIG_PKG_USING_MOTIONDRIVER2RTT is not set +# CONFIG_PKG_USING_AD7746 is not set +# CONFIG_PKG_USING_PCA9685 is not set +# CONFIG_PKG_USING_I2C_TOOLS is not set +# CONFIG_PKG_USING_NRF24L01 is not set +# CONFIG_PKG_USING_TOUCH_DRIVERS is not set +# CONFIG_PKG_USING_MAX17048 is not set +# CONFIG_PKG_USING_RPLIDAR is not set +# CONFIG_PKG_USING_AS608 is not set + +# +# miscellaneous packages +# +# CONFIG_PKG_USING_LIBCSV is not set +# CONFIG_PKG_USING_OPTPARSE is not set +# CONFIG_PKG_USING_FASTLZ is not set +# CONFIG_PKG_USING_MINILZO is not set +# CONFIG_PKG_USING_QUICKLZ is not set +# CONFIG_PKG_USING_MULTIBUTTON is not set +# CONFIG_PKG_USING_FLEXIBLE_BUTTON is not set +# CONFIG_PKG_USING_CANFESTIVAL is not set +# CONFIG_PKG_USING_ZLIB is not set +# CONFIG_PKG_USING_DSTR is not set +# CONFIG_PKG_USING_TINYFRAME is not set +# CONFIG_PKG_USING_KENDRYTE_DEMO is not set +# CONFIG_PKG_USING_DIGITALCTRL is not set +# CONFIG_PKG_USING_UPACKER is not set +# CONFIG_PKG_USING_UPARAM is not set + +# +# samples: kernel and components samples +# +# CONFIG_PKG_USING_KERNEL_SAMPLES is not set +# CONFIG_PKG_USING_FILESYSTEM_SAMPLES is not set +# CONFIG_PKG_USING_NETWORK_SAMPLES is not set +# CONFIG_PKG_USING_PERIPHERAL_SAMPLES is not set +# CONFIG_PKG_USING_HELLO is not set +# CONFIG_PKG_USING_VI is not set +# CONFIG_PKG_USING_NNOM is not set +# CONFIG_PKG_USING_LIBANN is not set +# CONFIG_PKG_USING_ELAPACK is not set +# CONFIG_PKG_USING_ARMv7M_DWT is not set +# CONFIG_PKG_USING_VT100 is not set +# CONFIG_PKG_USING_ULAPACK is not set +# CONFIG_PKG_USING_UKAL is not set + +# +# Privated Packages of RealThread +# +# CONFIG_PKG_USING_CODEC is not set +# CONFIG_PKG_USING_PLAYER is not set +# CONFIG_PKG_USING_MPLAYER is not set +# CONFIG_PKG_USING_PERSIMMON_SRC is not set +# CONFIG_PKG_USING_JS_PERSIMMON is not set +# CONFIG_PKG_USING_JERRYSCRIPT_WIN32 is not set + +# +# Network Utilities +# +# CONFIG_PKG_USING_WICED is not set +# CONFIG_PKG_USING_CLOUDSDK is not set +# CONFIG_PKG_USING_POWER_MANAGER is not set +# CONFIG_PKG_USING_RT_OTA is not set +# CONFIG_PKG_USING_RDBD_SRC is not set +# CONFIG_PKG_USING_RTINSIGHT is not set +# CONFIG_PKG_USING_SMARTCONFIG is not set +# CONFIG_PKG_USING_RTX is not set +# CONFIG_RT_USING_TESTCASE is not set +# CONFIG_PKG_USING_NGHTTP2 is not set +# CONFIG_PKG_USING_AVS is not set +# CONFIG_PKG_USING_JOYLINK is not set +# CONFIG_PKG_USING_STS is not set +# CONFIG_PKG_USING_DLMS is not set +# CONFIG_PKG_USING_AUDIO_FRAMEWORK is not set +# CONFIG_PKG_USING_ZBAR is not set +CONFIG_BCM2711_SOC=y +# CONFIG_BSP_SUPPORT_FPU is not set + +# +# Hardware Drivers Config +# + +# +# BCM Peripheral Drivers +# +CONFIG_BSP_USING_UART=y +CONFIG_RT_USING_UART0=y +CONFIG_BSP_USING_GIC=y +CONFIG_BSP_USING_GIC400=y +# CONFIG_BSP_USING_GIC500 is not set +CONFIG_BSP_USING_PIN=y +CONFIG_BSP_USING_CORETIMER=y +# CONFIG_BSP_USING_SYSTIMER is not set +# CONFIG_BSP_USING_WDT is not set +# CONFIG_BSP_USING_RTC is not set +# CONFIG_BSP_USING_SDIO is not set + +# +# Board Peripheral Drivers +# +# CONFIG_BSP_USING_HDMI is not set diff --git a/bsp/raspberry-pi/raspi4/Kconfig b/bsp/raspberry-pi/raspi4/Kconfig new file mode 100644 index 0000000000..075a5d81aa --- /dev/null +++ b/bsp/raspberry-pi/raspi4/Kconfig @@ -0,0 +1,29 @@ +mainmenu "RT-Thread Project Configuration" + +config BSP_DIR + string + option env="BSP_ROOT" + default "." + +config RTT_DIR + string + option env="RTT_ROOT" + default "../../.." + +config PKGS_DIR + string + option env="PKGS_ROOT" + default "packages" + +source "$RTT_DIR/Kconfig" +source "$PKGS_DIR/Kconfig" + +config BCM2711_SOC + bool + select ARCH_ARM_CORTEX_A72 + select RT_USING_COMPONENTS_INIT + select RT_USING_USER_MAIN + select ARCH_CPU_64BIT + default y + +source "driver/Kconfig" diff --git a/bsp/raspberry-pi/raspi4/README.md b/bsp/raspberry-pi/raspi4/README.md new file mode 100644 index 0000000000..1e7411894e --- /dev/null +++ b/bsp/raspberry-pi/raspi4/README.md @@ -0,0 +1,81 @@ +# Raspberry PI 4板级支持包说明 + +## 1. 简介 + +树莓派4B的核心处理器为博通BCM2711（四核1.5GHz，Cortex A72架构，树莓派3是四核A53）。LPDDR4内存，由5V/3A USB-C供电或GPIO 5V。 + +外设支持上，引入了双频Wi-Fi，蓝牙5.0，千兆网卡，MIPI CSI相机接口，两个USB口，40个扩展帧。 + +这份RT-Thread BSP是针对 Raspberry Pi 4的一份移植，树莓派价格便宜, 使用者甚众，是研究和运行RT-Thread的可选平台之一。 + + +## 2. 编译说明 + +Linux下推荐使用[gcc工具][2]。Linux版本下gcc版本可采用`gcc-arm-8.3-2019.03-x86_64-aarch64-elf`。 + +将工具链解压到指定目录,并修改当前bsp下的`EXEC_PATH`为自定义gcc目录。 + +``` +PLATFORM = 'gcc' +EXEC_PATH = r'/opt/gcc-arm-8.3-2019.03-x86_64-aarch64-elf/bin/' +``` + +直接进入`bsp\raspberry-pi\raspi4`，输入scons编译即可。 + + +## 3. 执行 + +### 3.1 下载**Raspberry Pi Imager**，生成可以运行的raspbian SD卡 + +首先下载镜像 + +* [Raspberry Pi Imager for Ubuntu](https://downloads.raspberrypi.org/imager/imager_amd64.deb) +* [Raspberry Pi Imager for Windows](https://downloads.raspberrypi.org/imager/imager.exe) +* [Raspberry Pi Imager for macOS](https://downloads.raspberrypi.org/imager/imager.dmg) + +### 3.2 准备好串口线 + +目前版本是使用raspi4的 GPIO 14, GPIO 15来作路口输出，连线情况如下图所示： + + + +串口参数： 115200 8N1 ，硬件和软件流控为关。 + +### 3.3 程序下载 + +当编译生成了rtthread.bin文件后，我们可以将该文件放到sd卡上，并修改sd卡中的`config.txt`文件如下： + +``` +enable_uart=1 +arm_64bit=1 +kernel=rtthread.bin +``` + +按上面的方法做好SD卡后，插入树莓派4，通电可以在串口上看到如下所示的输出信息： + +```text +heap: 0x000c9350 - 0x040c9350 + + \ | / +- RT - Thread Operating System + / | \ 4.0.3 build Apr 16 2020 + 2006 - 2020 Copyright by rt-thread team +Hi, this is RT-Thread!! +msh /> +``` + +## 4. 支持情况 + +| 驱动 | 支持情况 | 备注 | +| ------ | ---- | :------: | +| UART | 支持 | UART0| + +## 5. 联系人信息 + +维护人：[bernard][5] + +[1]: https://www.rt-thread.org/page/download.html +[2]: https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads +[3]: https://downloads.raspberrypi.org/raspbian_lite_latest +[4]: https://etcher.io +[5]: https://github.com/BernardXiong diff --git a/bsp/raspberry-pi/raspi4/SConscript b/bsp/raspberry-pi/raspi4/SConscript new file mode 100644 index 0000000000..c7ef7659ec --- /dev/null +++ b/bsp/raspberry-pi/raspi4/SConscript @@ -0,0 +1,14 @@ +# for module compiling +import os +from building import * + +cwd = GetCurrentDir() +objs = [] +list = os.listdir(cwd) + +for d in list: + path = os.path.join(cwd, d) + if os.path.isfile(os.path.join(path, 'SConscript')): + objs = objs + SConscript(os.path.join(d, 'SConscript')) + +Return('objs') diff --git a/bsp/raspberry-pi/raspi4/SConstruct b/bsp/raspberry-pi/raspi4/SConstruct new file mode 100644 index 0000000000..93f349aab8 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/SConstruct @@ -0,0 +1,30 @@ +import os +import sys +import rtconfig + +from rtconfig import RTT_ROOT + +sys.path = sys.path + [os.path.join(RTT_ROOT, 'tools')] +from building import * + +TARGET = 'rtthread.' + rtconfig.TARGET_EXT + +DefaultEnvironment(tools=[]) +env = Environment(tools = ['mingw'], + AS = rtconfig.AS, ASFLAGS = rtconfig.AFLAGS, + CC = rtconfig.CC, CCFLAGS = rtconfig.CFLAGS, + CXX = rtconfig.CXX, CXXFLAGS = rtconfig.CXXFLAGS, + AR = rtconfig.AR, ARFLAGS = '-rc', + LINK = rtconfig.LINK, LINKFLAGS = rtconfig.LFLAGS) +env.PrependENVPath('PATH', rtconfig.EXEC_PATH) +env['ASCOM'] = env['ASPPCOM'] + +Export('RTT_ROOT') +Export('rtconfig') + +# prepare building environment +objs = PrepareBuilding(env, RTT_ROOT, has_libcpu = False) + +# make a building +DoBuilding(TARGET, objs) + diff --git a/bsp/raspberry-pi/raspi4/applications/SConscript b/bsp/raspberry-pi/raspi4/applications/SConscript new file mode 100644 index 0000000000..533df8ac31 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/applications/SConscript @@ -0,0 +1,9 @@ +from building import * + +cwd = GetCurrentDir() +src = Glob('*.c') + Glob('*.cpp') +CPPPATH = [cwd, str(Dir('#'))] + +group = DefineGroup('Applications', src, depend = [''], CPPPATH = CPPPATH) + +Return('group') diff --git a/bsp/raspberry-pi/raspi4/applications/main.c b/bsp/raspberry-pi/raspi4/applications/main.c new file mode 100644 index 0000000000..9664e67d01 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/applications/main.c @@ -0,0 +1,19 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#include <rtthread.h> +#include <rtdevice.h> +#include <board.h> + +int main(int argc, char** argv) +{ + rt_kprintf("Hi, this is RT-Thread!!\n"); + return 0; +} diff --git a/bsp/raspberry-pi/raspi4/driver/Kconfig b/bsp/raspberry-pi/raspi4/driver/Kconfig new file mode 100644 index 0000000000..208b4b4300 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/Kconfig @@ -0,0 +1,97 @@ + +config BSP_SUPPORT_FPU + bool "Using Float" + default n + +menu "Hardware Drivers Config" + menu "BCM Peripheral Drivers" + menuconfig BSP_USING_UART + bool "Using UART" + select RT_USING_SERIAL + default y + + if BSP_USING_UART + config RT_USING_UART0 + bool "Enabel UART 0" + default y + endif + + menuconfig BSP_USING_GIC + bool "Enable GIC" + select RT_USING_GIC + default y + if BSP_USING_GIC + config BSP_USING_GIC400 + bool "Enable GIC400" + default y + config BSP_USING_GIC500 + bool "Enable GIC500" + default n + endif + + config BSP_USING_PIN + bool "Using PIN" + select RT_USING_PIN + default y + + config BSP_USING_CORETIMER + bool "Using core timer" + select RT_USING_CORETIMER + default y + + menuconfig BSP_USING_SYSTIMER + bool "Enable SYSTIMER" + select BSP_USING_SYSTIMER + default n + + if BSP_USING_SYSTIMER + config RT_USING_SYSTIMER1 + bool "Enable sys timer1" + default n + config RT_USING_SYSTIMER3 + bool "Enable sys timer3" + default n + endif + + config BSP_USING_WDT + bool "Enable WDT" + select RT_USING_WDT + default n + + menuconfig BSP_USING_RTC + bool "Enable RTC" + select RT_USING_RTC + default n + + if BSP_USING_RTC + config BSP_USING_ALARM + bool "Enable Alarm" + select RT_USING_ALARM + default n + endif + + menuconfig BSP_USING_SDIO + bool "Enable SDIO" + select RT_USING_SDIO + default n + + if BSP_USING_SDIO + config BSP_USING_SDIO0 + bool "Enable SDIO0" + select RT_USING_SDIO + default n + endif + endmenu + + menu "Board Peripheral Drivers" + menuconfig BSP_USING_HDMI + bool "Enable HDMI" + default n + + if BSP_USING_HDMI + config BSP_USING_HDMI_DISPLAY + bool "HDMI DISPLAY" + default n + endif + endmenu +endmenu diff --git a/bsp/raspberry-pi/raspi4/driver/SConscript b/bsp/raspberry-pi/raspi4/driver/SConscript new file mode 100644 index 0000000000..533df8ac31 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/SConscript @@ -0,0 +1,9 @@ +from building import * + +cwd = GetCurrentDir() +src = Glob('*.c') + Glob('*.cpp') +CPPPATH = [cwd, str(Dir('#'))] + +group = DefineGroup('Applications', src, depend = [''], CPPPATH = CPPPATH) + +Return('group') diff --git a/bsp/raspberry-pi/raspi4/driver/board.c b/bsp/raspberry-pi/raspi4/driver/board.c new file mode 100644 index 0000000000..46d629a35d --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/board.c @@ -0,0 +1,97 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#include <rthw.h> +#include <rtthread.h> + +#include "board.h" +#include "drv_uart.h" + +#include "cp15.h" +#include "mmu.h" + +static rt_uint64_t timerStep; +// 0x40, 0x44, 0x48, 0x4c: Core 0~3 Timers interrupt control +#define CORE0_TIMER_IRQ_CTRL HWREG32(0xFF800040) +#define TIMER_IRQ 30 +#define NON_SECURE_TIMER_IRQ (1 << 1) + +int rt_hw_get_gtimer_frq(void); +void rt_hw_set_gtimer_val(rt_uint64_t value); +int rt_hw_get_gtimer_val(void); +int rt_hw_get_cntpct_val(void); +void rt_hw_gtimer_enable(void); + +void core0_timer_enable_interrupt_controller() +{ + CORE0_TIMER_IRQ_CTRL |= NON_SECURE_TIMER_IRQ; +} + +void rt_hw_timer_isr(int vector, void *parameter) +{ + rt_hw_set_gtimer_val(timerStep); + rt_tick_increase(); +} + +void rt_hw_timer_init(void) +{ + rt_hw_interrupt_install(TIMER_IRQ, rt_hw_timer_isr, RT_NULL, "tick"); + rt_hw_interrupt_umask(TIMER_IRQ); + __ISB(); + timerStep = rt_hw_get_gtimer_frq(); + __DSB(); + timerStep /= RT_TICK_PER_SECOND; + + rt_hw_gtimer_enable(); + rt_hw_set_gtimer_val(timerStep); + core0_timer_enable_interrupt_controller(); +} + +void idle_wfi(void) +{ + asm volatile ("wfi"); +} + +/** + * Initialize the Hardware related stuffs. Called from rtthread_startup() + * after interrupt disabled. + */ +void rt_hw_board_init(void) +{ + mmu_init(); + armv8_map(0, 0, 0x6400000, MEM_ATTR_MEMORY); + armv8_map(0xFE200000, 0xFE200000, 0x200000, MEM_ATTR_IO);//uart gpio + armv8_map(0xFF800000, 0xFF800000, 0x200000, MEM_ATTR_IO);//gic timer + mmu_enable(); + + /* initialize hardware interrupt */ + rt_hw_interrupt_init(); // in libcpu/interrupt.c. Set some data structures, no operation on device + rt_hw_vector_init(); // in libcpu/interrupt.c. == rt_cpu_vector_set_base((rt_ubase_t)&system_vectors); + + /* initialize uart */ + rt_hw_uart_init(); // driver/drv_uart.c +#ifdef RT_USING_CONSOLE + /* set console device */ + rt_console_set_device(RT_CONSOLE_DEVICE_NAME); +#endif /* RT_USING_CONSOLE */ + +#ifdef RT_USING_HEAP + /* initialize memory system */ + rt_kprintf("heap: 0x%08x - 0x%08x\n", RT_HW_HEAP_BEGIN, RT_HW_HEAP_END); + rt_system_heap_init(RT_HW_HEAP_BEGIN, RT_HW_HEAP_END); +#endif + /* initialize timer for os tick */ + rt_hw_timer_init(); + rt_thread_idle_sethook(idle_wfi); + +#ifdef RT_USING_COMPONENTS_INIT + rt_components_board_init(); +#endif +}
\ No newline at end of file diff --git a/bsp/raspberry-pi/raspi4/driver/board.h b/bsp/raspberry-pi/raspi4/driver/board.h new file mode 100644 index 0000000000..66805464f2 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/board.h @@ -0,0 +1,25 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#ifndef BOARD_H__ +#define BOARD_H__ + +#include <stdint.h> + +extern unsigned char __bss_start; +extern unsigned char __bss_end; + +#define RT_HW_HEAP_BEGIN (void*)&__bss_end +#define RT_HW_HEAP_END (void*)(RT_HW_HEAP_BEGIN + 64 * 1024 * 1024) + +void rt_hw_board_init(void); + +#endif + diff --git a/bsp/raspberry-pi/raspi4/driver/drv_gpio.c b/bsp/raspberry-pi/raspi4/driver/drv_gpio.c new file mode 100644 index 0000000000..4317a358e0 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/drv_gpio.c @@ -0,0 +1,117 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#include "drv_gpio.h" + +#ifdef BSP_USING_PIN + +static void raspi_pin_mode(struct rt_device *dev, rt_base_t pin, rt_base_t mode) +{ + uint32_t fselnum = pin / 10; + uint32_t fselrest = pin % 10; + + uint32_t gpfsel = 0; + gpfsel &= ~((uint32_t)(0x07 << (fselrest * 3))); + gpfsel |= (uint32_t)(mode << (fselrest * 3)); + + switch (fselnum) + { + case 0: + GPIO_REG_GPFSEL0(GPIO_BASE) = gpfsel; + break; + case 1: + GPIO_REG_GPFSEL1(GPIO_BASE) = gpfsel; + break; + case 2: + GPIO_REG_GPFSEL2(GPIO_BASE) = gpfsel; + break; + case 3: + GPIO_REG_GPFSEL3(GPIO_BASE) = gpfsel; + break; + case 4: + GPIO_REG_GPFSEL4(GPIO_BASE) = gpfsel; + break; + case 5: + GPIO_REG_GPFSEL5(GPIO_BASE) = gpfsel; + break; + default: + break; + } +} + +static void raspi_pin_write(struct rt_device *dev, rt_base_t pin, rt_base_t value) +{ + uint32_t num = pin / 32; + + if(num == 0) + { + if(value == 0) + { + GPIO_REG_GPSET0(GPIO_BASE) = 1 << (pin % 32); + } + else + { + GPIO_REG_GPCLR0(GPIO_BASE) = 1 << (pin % 32); + } + } + else + { + if(value == 0) + { + GPIO_REG_GPSET1(GPIO_BASE) = 1 << (pin % 32); + } + else + { + GPIO_REG_GPCLR1(GPIO_BASE) = 1 << (pin % 32); + } + + } +} + +static int raspi_pin_read(struct rt_device *device, rt_base_t pin) +{ + return 0; +} + +static rt_err_t raspi_pin_attach_irq(struct rt_device *device, rt_int32_t pin, rt_uint32_t mode, void (*hdr)(void *args), void *args) +{ + return RT_EOK; +} + +static rt_err_t raspi_pin_detach_irq(struct rt_device *device, rt_int32_t pin) +{ + return RT_EOK; +} + +rt_err_t raspi_pin_irq_enable(struct rt_device *device, rt_base_t pin, rt_uint32_t enabled) +{ + return RT_EOK; +} + +static const struct rt_pin_ops ops = +{ + raspi_pin_mode, + raspi_pin_write, + raspi_pin_read, + raspi_pin_attach_irq, + raspi_pin_detach_irq, + raspi_pin_irq_enable, +}; +#endif + +int rt_hw_gpio_init(void) +{ +#ifdef BSP_USING_PIN + rt_device_pin_register("gpio", &ops, RT_NULL); +#endif + + return 0; +} +INIT_DEVICE_EXPORT(rt_hw_gpio_init); diff --git a/bsp/raspberry-pi/raspi4/driver/drv_gpio.h b/bsp/raspberry-pi/raspi4/driver/drv_gpio.h new file mode 100644 index 0000000000..ebc9452cec --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/drv_gpio.h @@ -0,0 +1,79 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#ifndef __DRV_GPIO_H__ +#define __DRV_GPIO_H__ + +#include <rtthread.h> +#include <rtdevice.h> + +#include "board.h" +#include "interrupt.h" + +#define GPIO_BASE (0xFE000000 + 0x00200000) + +#define GPIO_REG_GPFSEL0(BASE) HWREG32(BASE + 0x00) +#define GPIO_REG_GPFSEL1(BASE) HWREG32(BASE + 0x04) +#define GPIO_REG_GPFSEL2(BASE) HWREG32(BASE + 0x08) +#define GPIO_REG_GPFSEL3(BASE) HWREG32(BASE + 0x0C) +#define GPIO_REG_GPFSEL4(BASE) HWREG32(BASE + 0x10) +#define GPIO_REG_GPFSEL5(BASE) HWREG32(BASE + 0x14) +#define GPIO_REG_REV0(BASE) HWREG32(BASE + 0x18) +#define GPIO_REG_GPSET0(BASE) HWREG32(BASE + 0x1C) +#define GPIO_REG_GPSET1(BASE) HWREG32(BASE + 0x20) +#define GPIO_REG_REV1(BASE) HWREG32(BASE + 0x24) +#define GPIO_REG_GPCLR0(BASE) HWREG32(BASE + 0x28) +#define GPIO_REG_GPCLR1(BASE) HWREG32(BASE + 0x2C) +#define GPIO_REG_REV2(BASE) HWREG32(BASE + 0x30) +#define GPIO_REG_GPLEV0(BASE) HWREG32(BASE + 0x34) +#define GPIO_REG_GPLEV1(BASE) HWREG32(BASE + 0x38) +#define GPIO_REG_REV3(BASE) HWREG32(BASE + 0x3C) +#define GPIO_REG_GPEDS0(BASE) HWREG32(BASE + 0x40) +#define GPIO_REG_GPEDS1(BASE) HWREG32(BASE + 0x44) +#define GPIO_REG_REV4(BASE) HWREG32(BASE + 0x48) +#define GPIO_REG_GPREN0(BASE) HWREG32(BASE + 0x4C) +#define GPIO_REG_GPREN1(BASE) HWREG32(BASE + 0x50) +#define GPIO_REG_REV5(BASE) HWREG32(BASE + 0x54) +#define GPIO_REG_GPFEN0(BASE) HWREG32(BASE + 0x58) +#define GPIO_REG_GPFEN1(BASE) HWREG32(BASE + 0x5C) +#define GPIO_REG_REV6(BASE) HWREG32(BASE + 0x60) +#define GPIO_REG_GPHEN0(BASE) HWREG32(BASE + 0x64) +#define GPIO_REG_GPHEN1(BASE) HWREG32(BASE + 0x68) +#define GPIO_REG_REV7(BASE) HWREG32(BASE + 0x6C) +#define GPIO_REG_GPLEN0(BASE) HWREG32(BASE + 0x70) +#define GPIO_REG_GPLEN1(BASE) HWREG32(BASE + 0x74) +#define GPIO_REG_REV8(BASE) HWREG32(BASE + 0x78) +#define GPIO_REG_GPAREN0(BASE) HWREG32(BASE + 0x7C) +#define GPIO_REG_GPAREN1(BASE) HWREG32(BASE + 0x80) +#define GPIO_REG_REV11(BASE) HWREG32(BASE + 0x84) +#define GPIO_REG_GPAFEN0(BASE) HWREG32(BASE + 0x88) +#define GPIO_REG_GPAFEN1(BASE) HWREG32(BASE + 0x8C) +#define GPIO_REG_REV10(BASE) HWREG32(BASE + 0x90) +#define GPIO_REG_GPPUD(BASE) HWREG32(BASE + 0x94) +#define GPIO_REG_GPPUDCLK0(BASE) HWREG32(BASE + 0x98) +#define GPIO_REG_GPPUDCLK1(BASE) HWREG32(BASE + 0x9C) +#define GPIO_REG_REV9(BASE) HWREG32(BASE + 0xA0) +#define GPIO_REG_TEST(BASE) HWREG32(BASE + 0xA4) + +typedef enum { + INPUT = 0b000, + OUTPUT = 0b001, + ALT0 = 0b100, + ALT1 = 0b101, + ALT2 = 0b110, + ALT3 = 0b111, + ALT4 = 0b011, + ALT5 = 0b010 +} GPIO_FUNC; + + +int rt_hw_gpio_init(void); + +#endif /* __DRV_GPIO_H__ */ diff --git a/bsp/raspberry-pi/raspi4/driver/drv_uart.c b/bsp/raspberry-pi/raspi4/driver/drv_uart.c new file mode 100644 index 0000000000..a7ac1b5892 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/drv_uart.c @@ -0,0 +1,158 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#include <rthw.h> +#include <rtthread.h> +#include <rtdevice.h> + +#include "board.h" +#include "drv_uart.h" +#include "drv_gpio.h" + +#define UART0_BASE (0xFE000000 + 0x00201000) +#define PL011_BASE UART0_BASE +#define IRQ_PL011 (121 + 32) + +#define UART_REFERENCE_CLOCK 48000000 + +struct hw_uart_device +{ + rt_ubase_t hw_base; + rt_uint32_t irqno; +}; + +static rt_err_t uart_configure(struct rt_serial_device *serial, struct serial_configure *cfg) +{ + struct hw_uart_device *uart; + uint32_t bauddiv = (UART_REFERENCE_CLOCK / cfg->baud_rate)* 1000 / 16; + uint32_t ibrd = bauddiv / 1000; + + RT_ASSERT(serial != RT_NULL); + uart = (struct hw_uart_device *)serial->parent.user_data; + if(uart->hw_base == PL011_BASE) + { + uint32_t gpfsel = 0; + + gpfsel &= ~((uint32_t)(0x07 << (4 * 3))); + gpfsel |= (uint32_t)(ALT0 << (4 * 3)); + GPIO_REG_GPFSEL1(GPIO_BASE) = gpfsel; + + gpfsel &= ~((uint32_t)(0x07 << (5 * 3))); + gpfsel |= (uint32_t)(ALT0 << (5 * 3)); + GPIO_REG_GPFSEL1(GPIO_BASE) = gpfsel; + + PL011_REG_CR(uart->hw_base) = 0;/*Clear UART setting*/ + PL011_REG_LCRH(uart->hw_base) = 0;/*disable FIFO*/ + PL011_REG_IBRD(uart->hw_base) = ibrd; + PL011_REG_FBRD(uart->hw_base) = (((bauddiv - ibrd * 1000) * 64 + 500) / 1000); + PL011_REG_LCRH(uart->hw_base) = PL011_LCRH_WLEN_8;/*FIFO*/ + PL011_REG_CR(uart->hw_base) = PL011_CR_UARTEN | PL011_CR_TXE | PL011_CR_RXE;/*art enable, TX/RX enable*/ + } + + return RT_EOK; +} + +static rt_err_t uart_control(struct rt_serial_device *serial, int cmd, void *arg) +{ + struct hw_uart_device *uart; + + RT_ASSERT(serial != RT_NULL); + uart = (struct hw_uart_device *)serial->parent.user_data; + + switch (cmd) + { + case RT_DEVICE_CTRL_CLR_INT: + /* disable rx irq */ + PL011_REG_IMSC(uart->hw_base) &= ~((uint32_t)PL011_IMSC_RXIM); + rt_hw_interrupt_mask(uart->irqno); + break; + + case RT_DEVICE_CTRL_SET_INT: + /* enable rx irq */ + PL011_REG_IMSC(uart->hw_base) |= PL011_IMSC_RXIM; + rt_hw_interrupt_umask(uart->irqno); + break; + } + + return RT_EOK; +} + +static int uart_putc(struct rt_serial_device *serial, char c) +{ + struct hw_uart_device *uart; + + RT_ASSERT(serial != RT_NULL); + uart = (struct hw_uart_device *)serial->parent.user_data; + + while ((PL011_REG_FR(uart->hw_base) & PL011_FR_TXFF)); + PL011_REG_DR(uart->hw_base) = (uint8_t)c; + + return 1; +} + +static int uart_getc(struct rt_serial_device *serial) +{ + int ch = -1; + struct hw_uart_device *uart; + + RT_ASSERT(serial != RT_NULL); + uart = (struct hw_uart_device *)serial->parent.user_data; + + if((PL011_REG_FR(uart->hw_base) & PL011_FR_RXFE) == 0) + { + ch = PL011_REG_DR(uart->hw_base) & 0xff; + } + + return ch; +} + +static const struct rt_uart_ops _uart_ops = +{ + uart_configure, + uart_control, + uart_putc, + uart_getc, +}; + +static void rt_hw_uart_isr(int irqno, void *param) +{ + struct rt_serial_device *serial = (struct rt_serial_device*)param; + rt_hw_serial_isr(serial, RT_SERIAL_EVENT_RX_IND); + PL011_REG_ICR(UART0_BASE) = PL011_INTERRUPT_RECEIVE; +} + + +/* UART device driver structure */ +static struct hw_uart_device _uart0_device = +{ + PL011_BASE, + IRQ_PL011, +}; + +static struct rt_serial_device _serial0; + +int rt_hw_uart_init(void) +{ + struct hw_uart_device *uart; + struct serial_configure config = RT_SERIAL_CONFIG_DEFAULT; + + uart = &_uart0_device; + + _serial0.ops = &_uart_ops; + _serial0.config = config; + + /* register UART1 device */ + rt_hw_serial_register(&_serial0, "uart", + RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX, + uart); + rt_hw_interrupt_install(uart->irqno, rt_hw_uart_isr, &_serial0, "uart"); + + return 0; +} diff --git a/bsp/raspberry-pi/raspi4/driver/drv_uart.h b/bsp/raspberry-pi/raspi4/driver/drv_uart.h new file mode 100644 index 0000000000..4f23d7b46e --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/drv_uart.h @@ -0,0 +1,84 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#ifndef DRV_UART_H__ +#define DRV_UART_H__ + +// register's bit +#define PL011_FR_RI (1 << 8) +#define PL011_FR_TXFE (1 << 7) +#define PL011_FR_RXFF (1 << 6) +#define PL011_FR_TXFF (1 << 5) +#define PL011_FR_RXFE (1 << 4) +#define PL011_FR_BUSY (1 << 3) +#define PL011_FR_DCD (1 << 2) +#define PL011_FR_DSR (1 << 1) +#define PL011_FR_CTS (1 << 0) + +#define PL011_LCRH_SPS (1 << 7) +#define PL011_LCRH_WLEN_8 (3 << 5) +#define PL011_LCRH_WLEN_7 (2 << 5) +#define PL011_LCRH_WLEN_6 (1 << 5) +#define PL011_LCRH_WLEN_5 (0 << 5) +#define PL011_LCRH_FEN (1 << 4) +#define PL011_LCRH_STP2 (1 << 3) +#define PL011_LCRH_EPS (1 << 2) +#define PL011_LCRH_PEN (1 << 1) +#define PL011_LCRH_BRK (1 << 0) + +#define PL011_CR_CTSEN (1 << 15) +#define PL011_CR_RTSEN (1 << 14) +#define PL011_CR_RTS (1 << 11) +#define PL011_CR_DTR (1 << 10) +#define PL011_CR_RXE (1 << 9) +#define PL011_CR_TXE (1 << 8) +#define PL011_CR_LBE (1 << 7) +#define PL011_CR_SIRLP (1 << 2) +#define PL011_CR_SIREN (1 << 1) +#define PL011_CR_UARTEN (1 << 0) + +#define PL011_IMSC_TXIM (1 << 5) +#define PL011_IMSC_RXIM (1 << 4) + +#define PL011_INTERRUPT_OVERRUN_ERROR (1 << 10) +#define PL011_INTERRUPT_BREAK_ERROR (1 << 9) +#define PL011_INTERRUPT_PARITY_ERROR (1 << 8) +#define PL011_INTERRUPT_FRAMING_ERROR (1 << 7) +#define PL011_INTERRUPT_RECEIVE_TIMEOUT (1 << 6) +#define PL011_INTERRUPT_TRANSMIT (1 << 5) +#define PL011_INTERRUPT_RECEIVE (1 << 4) +#define PL011_INTERRUPT_nUARTCTS (1 << 1) + +#define PL011_REG_DR(BASE) HWREG32(BASE + 0x00) +#define PL011_REG_RSRECR(BASE) HWREG32(BASE + 0x04) +#define PL011_REG_RESERVED0(BASE) HWREG32(BASE + 0x08) +#define PL011_REG_FR(BASE) HWREG32(BASE + 0x18) +#define PL011_REG_RESERVED1(BASE) HWREG32(BASE + 0x1C) +#define PL011_REG_ILPR(BASE) HWREG32(BASE + 0x20) +#define PL011_REG_IBRD(BASE) HWREG32(BASE + 0x24) +#define PL011_REG_FBRD(BASE) HWREG32(BASE + 0x28) +#define PL011_REG_LCRH(BASE) HWREG32(BASE + 0x2C) +#define PL011_REG_CR(BASE) HWREG32(BASE + 0x30) +#define PL011_REG_IFLS(BASE) HWREG32(BASE + 0x34) +#define PL011_REG_IMSC(BASE) HWREG32(BASE + 0x38) +#define PL011_REG_RIS(BASE) HWREG32(BASE + 0x3C) +#define PL011_REG_MIS(BASE) HWREG32(BASE + 0x40) +#define PL011_REG_ICR(BASE) HWREG32(BASE + 0x44) +#define PL011_REG_DMACR(BASE) HWREG32(BASE + 0x48) +#define PL011_REG_RESERVED2(BASE) HWREG32(BASE + 0x4C) +#define PL011_REG_ITCR(BASE) HWREG32(BASE + 0x80) +#define PL011_REG_ITIP(BASE) HWREG32(BASE + 0x84) +#define PL011_REG_ITOP(BASE) HWREG32(BASE + 0x88) +#define PL011_REG_TDR(BASE) HWREG32(BASE + 0x8C) + +int rt_hw_uart_init(void); + +#endif /* DRV_UART_H__ */ + diff --git a/bsp/raspberry-pi/raspi4/driver/iomap.h b/bsp/raspberry-pi/raspi4/driver/iomap.h new file mode 100644 index 0000000000..675cd147e3 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/driver/iomap.h @@ -0,0 +1,14 @@ +#ifndef __RASPI4_H__ +#define __RASPI4_H__ + +#define ARM_GIC_NR_IRQS 512 +#define INTC_BASE 0xff800000 +#define GIC_V2_DISTRIBUTOR_BASE (INTC_BASE + 0x00041000) +#define GIC_V2_CPU_INTERFACE_BASE (INTC_BASE + 0x00042000) +#define GIC_V2_HYPERVISOR_BASE (INTC_BASE + 0x00044000) +#define GIC_V2_VIRTUAL_CPU_BASE (INTC_BASE + 0x00046000) + +#define GIC_PL400_DISTRIBUTOR_PPTR GIC_V2_DISTRIBUTOR_BASE +#define GIC_PL400_CONTROLLER_PPTR GIC_V2_CPU_INTERFACE_BASE + +#endif
\ No newline at end of file diff --git a/bsp/raspberry-pi/raspi4/link.lds b/bsp/raspberry-pi/raspi4/link.lds new file mode 100644 index 0000000000..b7b2dcc32c --- /dev/null +++ b/bsp/raspberry-pi/raspi4/link.lds @@ -0,0 +1,153 @@ +/* + * File : link.lds + * COPYRIGHT (C) 2017, RT-Thread Development Team + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. + * + * Change Logs: + * 2017-5-30 bernard first version + */ + +/* _EL1_STACK_SIZE = DEFINED(_EL1_STACK_SIZE) ? _EL1_STACK_SIZE : 0x20000; */ + +SECTIONS +{ + . = 0x80000; + . = ALIGN(4096); + .text : + { + KEEP(*(.text.entrypoint)) /* The entry point */ + *(.vectors) + *(.text) /* remaining code */ + *(.text.*) /* remaining code */ + + *(.rodata) /* read-only data (constants) */ + *(.rodata*) + *(.glue_7) + *(.glue_7t) + *(.gnu.linkonce.t*) + + *(COMMON) + + /* section information for finsh shell */ + . = ALIGN(16); + __fsymtab_start = .; + KEEP(*(FSymTab)) + __fsymtab_end = .; + . = ALIGN(16); + __vsymtab_start = .; + KEEP(*(VSymTab)) + __vsymtab_end = .; + . = ALIGN(16); + + /* section information for initial. */ + . = ALIGN(16); + __rt_init_start = .; + KEEP(*(SORT(.rti_fn*))) + __rt_init_end = .; + . = ALIGN(16); + + . = ALIGN(16); + _etext = .; + } + + .eh_frame_hdr : + { + *(.eh_frame_hdr) + *(.eh_frame_entry) + } + .eh_frame : ONLY_IF_RO { KEEP (*(.eh_frame)) } + + . = ALIGN(16); + .data : + { + *(.data) + *(.data.*) + + *(.data1) + *(.data1.*) + + . = ALIGN(16); + _gp = ABSOLUTE(.); /* Base of small data */ + + *(.sdata) + *(.sdata.*) + } + + . = ALIGN(16); + .ctors : + { + PROVIDE(__ctors_start__ = .); + KEEP(*(SORT(.ctors.*))) + KEEP(*(.ctors)) + PROVIDE(__ctors_end__ = .); + } + + .dtors : + { + PROVIDE(__dtors_start__ = .); + KEEP(*(SORT(.dtors.*))) + KEEP(*(.dtors)) + PROVIDE(__dtors_end__ = .); + } + + . = ALIGN(16); + .bss : + { + PROVIDE(__bss_start = .); + *(.bss) + *(.bss.*) + *(.dynbss) + + PROVIDE(__bss_end = .); + } + _end = .; + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + /* DWARF debug sections. + * Symbols in the DWARF debugging sections are relative to the beginning + * of the section so we begin them at 0. */ + /* DWARF 1 */ + .debug 0 : { *(.debug) } + .line 0 : { *(.line) } + /* GNU DWARF 1 extensions */ + .debug_srcinfo 0 : { *(.debug_srcinfo) } + .debug_sfnames 0 : { *(.debug_sfnames) } + /* DWARF 1.1 and DWARF 2 */ + .debug_aranges 0 : { *(.debug_aranges) } + .debug_pubnames 0 : { *(.debug_pubnames) } + /* DWARF 2 */ + .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_line 0 : { *(.debug_line) } + .debug_frame 0 : { *(.debug_frame) } + .debug_str 0 : { *(.debug_str) } + .debug_loc 0 : { *(.debug_loc) } + .debug_macinfo 0 : { *(.debug_macinfo) } + /* SGI/MIPS DWARF 2 extensions */ + .debug_weaknames 0 : { *(.debug_weaknames) } + .debug_funcnames 0 : { *(.debug_funcnames) } + .debug_typenames 0 : { *(.debug_typenames) } + .debug_varnames 0 : { *(.debug_varnames) } +} + +__bss_size = (__bss_end - __bss_start)>>3; diff --git a/bsp/raspberry-pi/raspi4/rtconfig.h b/bsp/raspberry-pi/raspi4/rtconfig.h new file mode 100644 index 0000000000..049e117559 --- /dev/null +++ b/bsp/raspberry-pi/raspi4/rtconfig.h @@ -0,0 +1,179 @@ +#ifndef RT_CONFIG_H__ +#define RT_CONFIG_H__ + +/* Automatically generated file; DO NOT EDIT. */ +/* RT-Thread Project Configuration */ + +/* RT-Thread Kernel */ + +#define RT_NAME_MAX 8 +#define RT_ALIGN_SIZE 4 +#define RT_THREAD_PRIORITY_32 +#define RT_THREAD_PRIORITY_MAX 32 +#define RT_TICK_PER_SECOND 100 +#define RT_USING_OVERFLOW_CHECK +#define RT_USING_HOOK +#define RT_USING_IDLE_HOOK +#define RT_IDLE_HOOK_LIST_SIZE 4 +#define IDLE_THREAD_STACK_SIZE 2048 +#define RT_USING_TIMER_SOFT +#define RT_TIMER_THREAD_PRIO 4 +#define RT_TIMER_THREAD_STACK_SIZE 2048 +#define RT_DEBUG + +/* Inter-Thread communication */ + +#define RT_USING_SEMAPHORE +#define RT_USING_MUTEX +#define RT_USING_EVENT +#define RT_USING_MAILBOX +#define RT_USING_MESSAGEQUEUE + +/* Memory Management */ + +#define RT_USING_MEMPOOL +#define RT_USING_SMALL_MEM +#define RT_USING_HEAP + +/* Kernel Device Object */ + +#define RT_USING_DEVICE +#define RT_USING_CONSOLE +#define RT_CONSOLEBUF_SIZE 128 +#define RT_CONSOLE_DEVICE_NAME "uart" +#define RT_VER_NUM 0x40003 +#define ARCH_CPU_64BIT + +/* RT-Thread Components */ + +#define RT_USING_COMPONENTS_INIT +#define RT_USING_USER_MAIN +#define RT_MAIN_THREAD_STACK_SIZE 2048 +#define RT_MAIN_THREAD_PRIORITY 10 + +/* C++ features */ + + +/* Command shell */ + +#define RT_USING_FINSH +#define FINSH_THREAD_NAME "tshell" +#define FINSH_USING_HISTORY +#define FINSH_HISTORY_LINES 5 +#define FINSH_USING_SYMTAB +#define FINSH_USING_DESCRIPTION +#define FINSH_THREAD_PRIORITY 20 +#define FINSH_THREAD_STACK_SIZE 4096 +#define FINSH_CMD_SIZE 80 +#define FINSH_USING_MSH +#define FINSH_USING_MSH_DEFAULT +#define FINSH_ARG_MAX 10 + +/* Device virtual file system */ + +#define RT_USING_DFS +#define DFS_USING_WORKDIR +#define DFS_FILESYSTEMS_MAX 2 +#define DFS_FILESYSTEM_TYPES_MAX 2 +#define DFS_FD_MAX 16 +#define RT_USING_DFS_DEVFS + +/* Device Drivers */ + +#define RT_USING_DEVICE_IPC +#define RT_PIPE_BUFSZ 512 +#define RT_USING_SERIAL +#define RT_SERIAL_USING_DMA +#define RT_SERIAL_RB_BUFSZ 64 +#define RT_USING_PIN + +/* Using USB */ + + +/* POSIX layer and C standard library */ + +#define RT_USING_LIBC +#define RT_USING_POSIX + +/* Network */ + +/* Socket abstraction layer */ + + +/* Network interface device */ + + +/* light weight TCP/IP stack */ + + +/* AT commands */ + + +/* VBUS(Virtual Software BUS) */ + + +/* Utilities */ + + +/* RT-Thread online packages */ + +/* IoT - internet of things */ + + +/* Wi-Fi */ + +/* Marvell WiFi */ + + +/* Wiced WiFi */ + + +/* IoT Cloud */ + + +/* security packages */ + + +/* language packages */ + + +/* multimedia packages */ + + +/* tools packages */ + + +/* system packages */ + + +/* peripheral libraries and drivers */ + + +/* miscellaneous packages */ + + +/* samples: kernel and components samples */ + + +/* Privated Packages of RealThread */ + + +/* Network Utilities */ + +#define BCM2711_SOC + +/* Hardware Drivers Config */ + +/* BCM Peripheral Drivers */ + +#define BSP_USING_UART +#define RT_USING_UART0 +#define BSP_USING_GIC +#define BSP_USING_GIC400 +#define BSP_USING_PIN +#define BSP_USING_CORETIMER + +/* Board Peripheral Drivers */ + + +#endif diff --git a/bsp/raspberry-pi/raspi4/rtconfig.py b/bsp/raspberry-pi/raspi4/rtconfig.py new file mode 100644 index 0000000000..a1dd168d3d --- /dev/null +++ b/bsp/raspberry-pi/raspi4/rtconfig.py @@ -0,0 +1,51 @@ +import os + +# toolchains options +ARCH ='aarch64' +CPU ='cortex-a72' +CROSS_TOOL ='gcc' + +if os.getenv('RTT_ROOT'): + RTT_ROOT = os.getenv('RTT_ROOT') +else: + RTT_ROOT = r'../../..' + +if os.getenv('RTT_CC'): + CROSS_TOOL = os.getenv('RTT_CC') + +PLATFORM = 'gcc' +EXEC_PATH = r'/opt/gcc-arm-8.3-2019.03-x86_64-aarch64-elf/bin/' + +BUILD = 'debug' + +if PLATFORM == 'gcc': + # toolchains + # PREFIX = 'arm-none-eabi-' + PREFIX = 'aarch64-elf-' + CC = PREFIX + 'gcc' + CXX = PREFIX + 'g++' + AS = PREFIX + 'gcc' + AR = PREFIX + 'ar' + LINK = PREFIX + 'gcc' + TARGET_EXT = 'elf' + SIZE = PREFIX + 'size' + OBJDUMP = PREFIX + 'objdump' + OBJCPY = PREFIX + 'objcopy' + + DEVICE = ' -march=armv8-a -mtune=cortex-a72' + CFLAGS = DEVICE + ' -Wall' + AFLAGS = ' -c' + ' -x assembler-with-cpp -D__ASSEMBLY__' + LFLAGS = DEVICE + ' -nostartfiles -Wl,--gc-sections,-Map=rtthread.map,-cref,-u,system_vectors -T link.lds' + CPATH = '' + LPATH = '' + + if BUILD == 'debug': + CFLAGS += ' -O0 -gdwarf-2' + AFLAGS += ' -gdwarf-2' + else: + CFLAGS += ' -O2' + + CXXFLAGS = CFLAGS + +DUMP_ACTION = OBJDUMP + ' -D -S $TARGET > rtt.asm\n' +POST_ACTION = OBJCPY + ' -O binary $TARGET rtthread.bin\n' + SIZE + ' $TARGET \n' diff --git a/libcpu/aarch64/SConscript b/libcpu/aarch64/SConscript index 453afe4b3e..5fca2b473b 100644 --- a/libcpu/aarch64/SConscript +++ b/libcpu/aarch64/SConscript @@ -9,6 +9,9 @@ cwd = GetCurrentDir() group = [] list = os.listdir(cwd) +# add common code files +group = group + SConscript(os.path.join('common', 'SConscript')) + # cpu porting code files if rtconfig.CPU != 'common': group = group + SConscript(os.path.join(rtconfig.CPU, 'SConscript')) diff --git a/libcpu/aarch64/common/SConscript b/libcpu/aarch64/common/SConscript new file mode 100644 index 0000000000..72fb8e26c3 --- /dev/null +++ b/libcpu/aarch64/common/SConscript @@ -0,0 +1,24 @@ +# RT-Thread building script for component + +from building import * + +Import('rtconfig') + +cwd = GetCurrentDir() +src = Glob('*.c') + Glob('*.cpp') + Glob('*.S') +CPPPATH = [cwd] + +group = DefineGroup('common', src, depend = [''], CPPPATH = CPPPATH) + +# build for sub-directory +list = os.listdir(cwd) +objs = [] + +for d in list: + path = os.path.join(cwd, d) + if os.path.isfile(os.path.join(path, 'SConscript')): + objs = objs + SConscript(os.path.join(d, 'SConscript')) +group = group + objs + + +Return('group') diff --git a/libcpu/aarch64/cortex-a53/armv8.h b/libcpu/aarch64/common/armv8.h index 4350890544..4350890544 100644 --- a/libcpu/aarch64/cortex-a53/armv8.h +++ b/libcpu/aarch64/common/armv8.h diff --git a/libcpu/aarch64/cortex-a53/cache.S b/libcpu/aarch64/common/cache.S index 7f295a2b02..7f295a2b02 100644 --- a/libcpu/aarch64/cortex-a53/cache.S +++ b/libcpu/aarch64/common/cache.S diff --git a/libcpu/aarch64/cortex-a53/context_gcc.S b/libcpu/aarch64/common/context_gcc.S index 934db7ed84..934db7ed84 100644 --- a/libcpu/aarch64/cortex-a53/context_gcc.S +++ b/libcpu/aarch64/common/context_gcc.S diff --git a/libcpu/aarch64/cortex-a53/cp15.h b/libcpu/aarch64/common/cp15.h index f3ffd6f857..f3ffd6f857 100644 --- a/libcpu/aarch64/cortex-a53/cp15.h +++ b/libcpu/aarch64/common/cp15.h diff --git a/libcpu/aarch64/cortex-a53/cpu.c b/libcpu/aarch64/common/cpu.c index 962a53a071..962a53a071 100644 --- a/libcpu/aarch64/cortex-a53/cpu.c +++ b/libcpu/aarch64/common/cpu.c diff --git a/libcpu/aarch64/cortex-a53/cpu_gcc.S b/libcpu/aarch64/common/cpu_gcc.S index b8c8b8768c..b8c8b8768c 100644 --- a/libcpu/aarch64/cortex-a53/cpu_gcc.S +++ b/libcpu/aarch64/common/cpu_gcc.S diff --git a/libcpu/aarch64/common/gic/SConscript b/libcpu/aarch64/common/gic/SConscript new file mode 100644 index 0000000000..b114ba7678 --- /dev/null +++ b/libcpu/aarch64/common/gic/SConscript @@ -0,0 +1,24 @@ +# RT-Thread building script for component + +from building import * + +cwd = GetCurrentDir() +CPPPATH = [cwd] + +gic400_group = Split(''' +gic_pl400.c +''') + +gic500_group = Split(''' +gic_pl500.c +''') + +src = () +if GetDepend('BSP_USING_GIC400'): + src = gic400_group +if GetDepend('BSP_USING_GIC500'): + src = gic500_group + +group = DefineGroup('gic', src, depend = ['BSP_USING_GIC'], CPPPATH = CPPPATH) + +Return('group') diff --git a/libcpu/aarch64/common/gic/gic_pl400.c b/libcpu/aarch64/common/gic/gic_pl400.c new file mode 100644 index 0000000000..4d003a9dcd --- /dev/null +++ b/libcpu/aarch64/common/gic/gic_pl400.c @@ -0,0 +1,262 @@ +/* + * Copyright (c) 2006-2018, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2013-07-20 Bernard first version + * 2014-04-03 Grissiom many enhancements + * 2018-11-22 Jesven add rt_hw_ipi_send() + * add rt_hw_ipi_handler_install() + */ +#include <rtthread.h> + +#include "gic_pl400.h" +#include "cp15.h" +#include "iomap.h" + +#define ARM_GIC_MAX_NR 1 +struct arm_gic +{ + rt_uint32_t offset; /* the first interrupt index in the vector table */ + + rt_uint32_t dist_hw_base; /* the base address of the gic distributor */ + rt_uint32_t cpu_hw_base; /* the base addrees of the gic cpu interface */ +}; + +/* 'ARM_GIC_MAX_NR' is the number of cores */ +static struct arm_gic _gic_table[ARM_GIC_MAX_NR]; + +static unsigned int _gic_max_irq; + +int arm_gic_get_active_irq(rt_uint32_t index) +{ + int irq; + + RT_ASSERT(index < ARM_GIC_MAX_NR); + + irq = GIC_CPU_INTACK(_gic_table[index].cpu_hw_base); + irq += _gic_table[index].offset; + return irq; +} + +void arm_gic_ack(rt_uint32_t index, int irq) +{ + rt_uint32_t mask = 1 << (irq % 32); + + RT_ASSERT(index < ARM_GIC_MAX_NR); + + irq = irq - _gic_table[index].offset; + RT_ASSERT(irq >= 0); + + GIC_DIST_ENABLE_CLEAR(_gic_table[index].dist_hw_base, irq) = mask; + GIC_CPU_EOI(_gic_table[index].cpu_hw_base) = irq; + GIC_DIST_ENABLE_SET(_gic_table[index].dist_hw_base, irq) = mask; +} + +void arm_gic_mask(rt_uint32_t index, int irq) +{ + rt_uint32_t mask = 1 << (irq % 32); + + RT_ASSERT(index < ARM_GIC_MAX_NR); + + irq = irq - _gic_table[index].offset; + RT_ASSERT(irq >= 0); + + GIC_DIST_ENABLE_CLEAR(_gic_table[index].dist_hw_base, irq) = mask; +} + +void arm_gic_clear_pending(rt_uint32_t index, int irq) +{ + rt_uint32_t mask = 1 << (irq % 32); + + RT_ASSERT(index < ARM_GIC_MAX_NR); + + irq = irq - _gic_table[index].offset; + RT_ASSERT(irq >= 0); + + GIC_DIST_PENDING_CLEAR(_gic_table[index].dist_hw_base, irq) = mask; +} + +void arm_gic_clear_active(rt_uint32_t index, int irq) +{ + rt_uint32_t mask = 1 << (irq % 32); + + RT_ASSERT(index < ARM_GIC_MAX_NR); + + irq = irq - _gic_table[index].offset; + RT_ASSERT(irq >= 0); + + GIC_DIST_ACTIVE_CLEAR(_gic_table[index].dist_hw_base, irq) = mask; +} + +/* Set up the cpu mask for the specific interrupt */ +void arm_gic_set_cpu(rt_uint32_t index, int irq, unsigned int cpumask) +{ + rt_uint32_t old_tgt; + + RT_ASSERT(index < ARM_GIC_MAX_NR); + + irq = irq - _gic_table[index].offset; + RT_ASSERT(irq >= 0); + + old_tgt = GIC_DIST_TARGET(_gic_table[index].dist_hw_base, irq); + + old_tgt &= ~(0x0FFUL << ((irq % 4)*8)); + old_tgt |= cpumask << ((irq % 4)*8); + + GIC_DIST_TARGET(_gic_table[index].dist_hw_base, irq) = old_tgt; +} + +void arm_gic_umask(rt_uint32_t index, int irq) +{ + rt_uint32_t mask = 1 << (irq % 32); + + RT_ASSERT(index < ARM_GIC_MAX_NR); + + irq = irq - _gic_table[index].offset; + RT_ASSERT(irq >= 0); + + GIC_DIST_ENABLE_SET(_gic_table[index].dist_hw_base, irq) = mask; +} + +void arm_gic_dump_type(rt_uint32_t index) +{ + unsigned int gic_type; + + gic_type = GIC_DIST_TYPE(_gic_table[index].dist_hw_base); + rt_kprintf("GICv%d on %p, max IRQs: %d, %s security extension(%08x)\n", + (GIC_DIST_ICPIDR2(_gic_table[index].dist_hw_base) >> 4) & 0xf, + _gic_table[index].dist_hw_base, + _gic_max_irq, + gic_type & (1 << 10) ? "has" : "no", + gic_type); +} + +void arm_gic_dump(rt_uint32_t index) +{ + unsigned int i, k; + + k = GIC_CPU_HIGHPRI(_gic_table[index].cpu_hw_base); + rt_kprintf("--- high pending priority: %d(%08x)\n", k, k); + rt_kprintf("--- hw mask ---\n"); + for (i = 0; i < _gic_max_irq / 32; i++) + { + rt_kprintf("0x%08x, ", + GIC_DIST_ENABLE_SET(_gic_table[index].dist_hw_base, + i * 32)); + } + rt_kprintf("\n--- hw pending ---\n"); + for (i = 0; i < _gic_max_irq / 32; i++) + { + rt_kprintf("0x%08x, ", + GIC_DIST_PENDING_SET(_gic_table[index].dist_hw_base, + i * 32)); + } + rt_kprintf("\n--- hw active ---\n"); + for (i = 0; i < _gic_max_irq / 32; i++) + { + rt_kprintf("0x%08x, ", + GIC_DIST_ACTIVE_SET(_gic_table[index].dist_hw_base, + i * 32)); + } + rt_kprintf("\n"); +} +#ifdef RT_USING_FINSH +#include <finsh.h> +FINSH_FUNCTION_EXPORT_ALIAS(arm_gic_dump, gic, show gic status); +#endif + +int arm_gic_dist_init(rt_uint32_t index, rt_uint32_t dist_base, int irq_start) +{ + unsigned int gic_type, i; + rt_uint32_t cpumask = 1 << 0; + + RT_ASSERT(index < ARM_GIC_MAX_NR); + + _gic_table[index].dist_hw_base = dist_base; + _gic_table[index].offset = irq_start; + + /* Find out how many interrupts are supported. */ + gic_type = GIC_DIST_TYPE(dist_base); + _gic_max_irq = ((gic_type & 0x1f) + 1) * 32; + + /* + * The GIC only supports up to 1020 interrupt sources. + * Limit this to either the architected maximum, or the + * platform maximum. + */ + if (_gic_max_irq > 1020) + _gic_max_irq = 1020; + if (_gic_max_irq > ARM_GIC_NR_IRQS) /* the platform maximum interrupts */ + _gic_max_irq = ARM_GIC_NR_IRQS; + + cpumask |= cpumask << 8; + cpumask |= cpumask << 16; + cpumask |= cpumask << 24; + + GIC_DIST_CTRL(dist_base) = 0x0; + + /* Set all global interrupts to be level triggered, active low. */ + for (i = 32; i < _gic_max_irq; i += 16) + GIC_DIST_CONFIG(dist_base, i) = 0x0; + + /* Set all global interrupts to this CPU only. */ + for (i = 32; i < _gic_max_irq; i += 4) + GIC_DIST_TARGET(dist_base, i) = cpumask; + + /* Set priority on all interrupts. */ + for (i = 0; i < _gic_max_irq; i += 4) + GIC_DIST_PRI(dist_base, i) = 0xa0a0a0a0; + + /* Disable all interrupts. */ + for (i = 0; i < _gic_max_irq; i += 32) + GIC_DIST_ENABLE_CLEAR(dist_base, i) = 0xffffffff; + +#if 0 + /* All interrupts defaults to IGROUP1(IRQ). */ + for (i = 0; i < _gic_max_irq; i += 32) + GIC_DIST_IGROUP(dist_base, i) = 0xffffffff; +#endif + for (i = 0; i < _gic_max_irq; i += 32) + GIC_DIST_IGROUP(dist_base, i) = 0; + + /* Enable group0 and group1 interrupt forwarding. */ + GIC_DIST_CTRL(dist_base) = 0x01; + + return 0; +} + +int arm_gic_cpu_init(rt_uint32_t index, rt_uint32_t cpu_base) +{ + RT_ASSERT(index < ARM_GIC_MAX_NR); + + _gic_table[index].cpu_hw_base = cpu_base; + + GIC_CPU_PRIMASK(cpu_base) = 0xf0; + GIC_CPU_BINPOINT(cpu_base) = 0x7; + /* Enable CPU interrupt */ + GIC_CPU_CTRL(cpu_base) = 0x01; + + return 0; +} + +void arm_gic_set_group(rt_uint32_t index, int vector, int group) +{ + /* As for GICv2, there are only group0 and group1. */ + RT_ASSERT(group <= 1); + RT_ASSERT(vector < _gic_max_irq); + + if (group == 0) + { + GIC_DIST_IGROUP(_gic_table[index].dist_hw_base, + vector) &= ~(1 << (vector % 32)); + } + else if (group == 1) + { + GIC_DIST_IGROUP(_gic_table[index].dist_hw_base, + vector) |= (1 << (vector % 32)); + } +} + diff --git a/libcpu/aarch64/common/gic/gic_pl400.h b/libcpu/aarch64/common/gic/gic_pl400.h new file mode 100644 index 0000000000..fa20846ea2 --- /dev/null +++ b/libcpu/aarch64/common/gic/gic_pl400.h @@ -0,0 +1,61 @@ +/* + * Copyright (c) 2006-2018, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2013-07-20 Bernard first version + */ + +#ifndef __GIC_PL400_H__ +#define __GIC_PL400_H__ + +#include <rthw.h> +#include <board.h> + +#define __REG32(x) (*((volatile unsigned int*)((rt_uint64_t)x))) + +#define GIC_CPU_CTRL(hw_base) __REG32((hw_base) + 0x00) +#define GIC_CPU_PRIMASK(hw_base) __REG32((hw_base) + 0x04) +#define GIC_CPU_BINPOINT(hw_base) __REG32((hw_base) + 0x08) +#define GIC_CPU_INTACK(hw_base) __REG32((hw_base) + 0x0c) +#define GIC_CPU_EOI(hw_base) __REG32((hw_base) + 0x10) +#define GIC_CPU_RUNNINGPRI(hw_base) __REG32((hw_base) + 0x14) +#define GIC_CPU_HIGHPRI(hw_base) __REG32((hw_base) + 0x18) + +#define GIC_DIST_CTRL(hw_base) __REG32((hw_base) + 0x000) +#define GIC_DIST_TYPE(hw_base) __REG32((hw_base) + 0x004) +#define GIC_DIST_IGROUP(hw_base, n) __REG32((hw_base) + 0x080 + ((n)/32) * 4) +#define GIC_DIST_ENABLE_SET(hw_base, n) __REG32((hw_base) + 0x100 + ((n)/32) * 4) +#define GIC_DIST_ENABLE_CLEAR(hw_base, n) __REG32((hw_base) + 0x180 + ((n)/32) * 4) +#define GIC_DIST_PENDING_SET(hw_base, n) __REG32((hw_base) + 0x200 + ((n)/32) * 4) +#define GIC_DIST_PENDING_CLEAR(hw_base, n) __REG32((hw_base) + 0x280 + ((n)/32) * 4) +#define GIC_DIST_ACTIVE_SET(hw_base, n) __REG32((hw_base) + 0x300 + ((n)/32) * 4) +#define GIC_DIST_ACTIVE_CLEAR(hw_base, n) __REG32((hw_base) + 0x380 + ((n)/32) * 4) +#define GIC_DIST_PRI(hw_base, n) __REG32((hw_base) + 0x400 + ((n)/4) * 4) +#define GIC_DIST_TARGET(hw_base, n) __REG32((hw_base) + 0x800 + ((n)/4) * 4) +#define GIC_DIST_CONFIG(hw_base, n) __REG32((hw_base) + 0xc00 + ((n)/16) * 4) +#define GIC_DIST_SOFTINT(hw_base) __REG32((hw_base) + 0xf00) +#define GIC_DIST_CPENDSGI(hw_base, n) __REG32((hw_base) + 0xf10 + ((n)/4) * 4) +#define GIC_DIST_ICPIDR2(hw_base) __REG32((hw_base) + 0xfe8) + +int arm_gic_dist_init(rt_uint32_t index, rt_uint32_t dist_base, int irq_start); +int arm_gic_cpu_init(rt_uint32_t index, rt_uint32_t cpu_base); + +void arm_gic_mask(rt_uint32_t index, int irq); +void arm_gic_umask(rt_uint32_t index, int irq); +void arm_gic_set_cpu(rt_uint32_t index, int irq, unsigned int cpumask); +void arm_gic_set_group(rt_uint32_t index, int vector, int group); + +int arm_gic_get_active_irq(rt_uint32_t index); +void arm_gic_ack(rt_uint32_t index, int irq); + +void arm_gic_clear_active(rt_uint32_t index, int irq); +void arm_gic_clear_pending(rt_uint32_t index, int irq); + +void arm_gic_dump_type(rt_uint32_t index); +void arm_gic_dump(rt_uint32_t index); + +#endif + diff --git a/libcpu/aarch64/cortex-a53/mmu.c b/libcpu/aarch64/common/mmu.c index b799143084..b799143084 100644 --- a/libcpu/aarch64/cortex-a53/mmu.c +++ b/libcpu/aarch64/common/mmu.c diff --git a/libcpu/aarch64/cortex-a53/mmu.h b/libcpu/aarch64/common/mmu.h index 6a66472c79..6a66472c79 100644 --- a/libcpu/aarch64/cortex-a53/mmu.h +++ b/libcpu/aarch64/common/mmu.h diff --git a/libcpu/aarch64/cortex-a53/startup_gcc.S b/libcpu/aarch64/common/startup_gcc.S index ea4268148c..ea4268148c 100644 --- a/libcpu/aarch64/cortex-a53/startup_gcc.S +++ b/libcpu/aarch64/common/startup_gcc.S diff --git a/libcpu/aarch64/cortex-a53/vector_gcc.S b/libcpu/aarch64/common/vector_gcc.S index fc88cce7f8..fc88cce7f8 100644 --- a/libcpu/aarch64/cortex-a53/vector_gcc.S +++ b/libcpu/aarch64/common/vector_gcc.S diff --git a/libcpu/aarch64/cortex-a53/SConscript b/libcpu/aarch64/cortex-a53/SConscript index 75e170a0cf..c6a4817802 100644 --- a/libcpu/aarch64/cortex-a53/SConscript +++ b/libcpu/aarch64/cortex-a53/SConscript @@ -1,16 +1,13 @@ +# RT-Thread building script for component + from building import * +Import('rtconfig') + cwd = GetCurrentDir() -src = Glob('*.c') + Glob('*.cpp') -asm_src = Split(''' -context_gcc.S -vector_gcc.S -entry_point.S -cpu_gcc.S -cache.S -''') +src = Glob('*.c') + Glob('*.cpp') + Glob('*.S') CPPPATH = [cwd] -group = DefineGroup('cpu', src + asm_src, depend = [''], CPPPATH = CPPPATH) +group = DefineGroup('common', src, depend = [''], CPPPATH = CPPPATH) Return('group') diff --git a/libcpu/aarch64/cortex-a53/interrupt.h b/libcpu/aarch64/cortex-a53/interrupt.h index 3533d3818c..8e741ed4e6 100644 --- a/libcpu/aarch64/cortex-a53/interrupt.h +++ b/libcpu/aarch64/cortex-a53/interrupt.h @@ -1,11 +1,11 @@ - /* * Copyright (c) 2006-2020, RT-Thread Development Team * * SPDX-License-Identifier: Apache-2.0 * * Change Logs: - * Date Author Notes + * Date Author Notes + * 2020-04-16 bigmagic first version */ #ifndef __INTERRUPT_H__ @@ -19,8 +19,6 @@ #define INT_IRQ 0x00 #define INT_FIQ 0x01 -//void rt_hw_vector_init(void); - void rt_hw_interrupt_init(void); void rt_hw_interrupt_mask(int vector); void rt_hw_interrupt_umask(int vector); diff --git a/libcpu/aarch64/cortex-a72/SConscript b/libcpu/aarch64/cortex-a72/SConscript new file mode 100644 index 0000000000..c6a4817802 --- /dev/null +++ b/libcpu/aarch64/cortex-a72/SConscript @@ -0,0 +1,13 @@ +# RT-Thread building script for component + +from building import * + +Import('rtconfig') + +cwd = GetCurrentDir() +src = Glob('*.c') + Glob('*.cpp') + Glob('*.S') +CPPPATH = [cwd] + +group = DefineGroup('common', src, depend = [''], CPPPATH = CPPPATH) + +Return('group') diff --git a/libcpu/aarch64/cortex-a72/entry_point.S b/libcpu/aarch64/cortex-a72/entry_point.S new file mode 100644 index 0000000000..6d2c69226b --- /dev/null +++ b/libcpu/aarch64/cortex-a72/entry_point.S @@ -0,0 +1,111 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Date Author Notes + * 2020-01-15 bigmagic the first version + */ + +.section ".text.entrypoint" + +.set EL1_stack, __el1_stack + +.global _start + +// This symbol is set to 0x80000 in ld script. That is the address that raspi3's firmware +// loads 'kernel8.img' file in. +_start: + // read cpu id, stop slave cores + mrs x1, mpidr_el1 // MPIDR_EL1: Multi-Processor Affinity Register + and x1, x1, #3 + cbz x1, .L__cpu_0 // .L prefix is the local label in ELF + + // cpu id > 0, stop + // cpu id == 0 will also goto here after returned from entry() if possible +.L__current_cpu_idle: + wfe + b .L__current_cpu_idle + +.L__cpu_0: // cpu id == 0 + + // set stack before our code + + /* Define stack pointer for current exception level */ + // ldr x2, =EL1_stack + // mov sp, x2 + + ldr x1, =_start + + // set up EL1 + mrs x0, CurrentEL // CurrentEL Register. bit 2, 3. Others reserved + and x0, x0, #12 // clear reserved bits + + // running at EL3? + cmp x0, #12 // 1100b. So, EL3 + bne .L__not_in_el3 // 11? !EL3 -> 5: + + // should never be executed, just for completeness. (EL3) + mov x2, #0x5b1 + msr scr_el3, x2 // SCR_ELn Secure Configuration Register + mov x2, #0x3c9 + msr spsr_el3, x2 // SPSR_ELn. Saved Program Status Register. 1111001001 + adr x2, .L__not_in_el3 + msr elr_el3, x2 + eret // Exception Return: from EL3, continue from .L__not_in_el3 + + // running at EL2 or EL1 +.L__not_in_el3: + cmp x0, #4 // 0x04 0100 EL1 + beq .L__in_el1 // EL1 -> 5: + + // in EL2 + msr sp_el1, x1 // Set sp of EL1 to _start + + // enable CNTP for EL1 + mrs x0, cnthctl_el2 // Counter-timer Hypervisor Control register + orr x0, x0, #3 + msr cnthctl_el2, x0 + msr cntvoff_el2, xzr + + // enable AArch64 in EL1 + mov x0, #(1 << 31) // AArch64 + orr x0, x0, #(1 << 1) // SWIO hardwired on Pi3 + msr hcr_el2, x0 + mrs x0, hcr_el2 + + // change execution level to EL1 + mov x2, #0x3c4 + msr spsr_el2, x2 // 1111000100 + adr x2, .L__in_el1 + msr elr_el2, x2 + eret // exception return. from EL2. continue from .L__in_el1 + +.L__in_el1: + mov sp, x1 // in EL1. Set sp to _start + + // Set CPACR_EL1 (Architecture Feature Access Control Register) to avoid trap from SIMD or float point instruction + mov x1, #0x00300000 // Don't trap any SIMD/FP instructions in both EL0 and EL1 + msr cpacr_el1, x1 + + mrs x1, sctlr_el1 + orr x1, x1, #(1 << 12) + bic x1, x1, #(3 << 3) + bic x1, x1, #(1 << 1) + msr sctlr_el1, x1 + + // clear bss + ldr x1, =__bss_start + ldr w2, =__bss_size + +.L__clean_bss_loop: + cbz w2, .L__jump_to_entry + str xzr, [x1], #8 + sub w2, w2, #1 + cbnz w2, .L__clean_bss_loop + + // jump to C code, should not return +.L__jump_to_entry: + bl entry + // for failsafe, halt this core too + b .L__current_cpu_idle diff --git a/libcpu/aarch64/cortex-a72/interrupt.c b/libcpu/aarch64/cortex-a72/interrupt.c new file mode 100644 index 0000000000..6fec968dc2 --- /dev/null +++ b/libcpu/aarch64/cortex-a72/interrupt.c @@ -0,0 +1,119 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#include <rthw.h> +#include <rtthread.h> +#include <gic_pl400.h> +#include <board.h> +#include <armv8.h> +#include "iomap.h" + +#define MAX_HANDLERS 256 +#define GIC_ACK_INTID_MASK 0x000003ff + +#ifdef RT_USING_SMP +#define rt_interrupt_nest rt_cpu_self()->irq_nest +#else +extern volatile rt_uint8_t rt_interrupt_nest; +#endif + +extern int system_vectors; + +/* exception and interrupt handler table */ +struct rt_irq_desc isr_table[MAX_HANDLERS]; + +rt_ubase_t rt_interrupt_from_thread; +rt_ubase_t rt_interrupt_to_thread; +rt_ubase_t rt_thread_switch_interrupt_flag; + +void rt_hw_vector_init(void) +{ + rt_hw_set_current_vbar((rt_ubase_t)&system_vectors); // cpu_gcc.S +} + +/** + * This function will initialize hardware interrupt + */ +void rt_hw_interrupt_init(void) +{ + + rt_uint32_t gic_cpu_base = 0; + rt_uint32_t gic_dist_base = 0; + + /* initialize ARM GIC */ + gic_dist_base = GIC_PL400_DISTRIBUTOR_PPTR; + gic_cpu_base = GIC_PL400_CONTROLLER_PPTR; + arm_gic_dist_init(0, gic_dist_base, 0); + arm_gic_cpu_init(0, gic_cpu_base); +} + +/** + * This function will install a interrupt service routine to a interrupt. + * @param vector the interrupt number + * @param new_handler the interrupt service routine to be installed + * @param old_handler the old interrupt service routine + */ +rt_isr_handler_t rt_hw_interrupt_install(int vector, rt_isr_handler_t handler, + void *param, const char *name) +{ + rt_isr_handler_t old_handler = RT_NULL; + + if (vector < MAX_HANDLERS) + { + old_handler = isr_table[vector].handler; + + if (handler != RT_NULL) + { +#ifdef RT_USING_INTERRUPT_INFO + rt_strncpy(isr_table[vector].name, name, RT_NAME_MAX); +#endif /* RT_USING_INTERRUPT_INFO */ + isr_table[vector].handler = handler; + isr_table[vector].param = param; + } + } + + return old_handler; +} + +/** + * This function will mask a interrupt. + * @param vector the interrupt number + */ +void rt_hw_interrupt_mask(int vector) +{ + arm_gic_mask(0, vector); +} + +/** + * This function will un-mask a interrupt. + * @param vector the interrupt number + */ +void rt_hw_interrupt_umask(int vector) +{ + arm_gic_umask(0, vector); +} + +/** + * This function returns the active interrupt number. + * @param none + */ +int rt_hw_interrupt_get_irq(void) +{ + return arm_gic_get_active_irq(0) & GIC_ACK_INTID_MASK; +} + +/** + * This function acknowledges the interrupt. + * @param vector the interrupt number + */ +void rt_hw_interrupt_ack(int vector) +{ + arm_gic_ack(0, vector); +} diff --git a/libcpu/aarch64/cortex-a72/interrupt.h b/libcpu/aarch64/cortex-a72/interrupt.h new file mode 100644 index 0000000000..0d2d4867c7 --- /dev/null +++ b/libcpu/aarch64/cortex-a72/interrupt.h @@ -0,0 +1,27 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020-04-16 bigmagic first version + */ + +#ifndef __INTERRUPT_H__ +#define __INTERRUPT_H__ + +#include <rthw.h> +#include <board.h> + +#define INT_IRQ 0x00 +#define INT_FIQ 0x01 + +void rt_hw_interrupt_init(void); +void rt_hw_interrupt_mask(int vector); +void rt_hw_interrupt_umask(int vector); + +rt_isr_handler_t rt_hw_interrupt_install(int vector, rt_isr_handler_t handler, + void *param, const char *name); + +#endif diff --git a/libcpu/aarch64/cortex-a72/stack.c b/libcpu/aarch64/cortex-a72/stack.c new file mode 100644 index 0000000000..68222c2c67 --- /dev/null +++ b/libcpu/aarch64/cortex-a72/stack.c @@ -0,0 +1,90 @@ +/* + * Copyright (c) 2006-2019, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2011-09-23 Bernard the first version + * 2011-10-05 Bernard add thumb mode + */ +#include <rtthread.h> +#include <board.h> + +#include <armv8.h> + +#define INITIAL_SPSR_EL3 (PSTATE_EL3 | SP_EL0) +#define INITIAL_SPSR_EL2 (PSTATE_EL2 | SP_EL0) +#define INITIAL_SPSR_EL1 (PSTATE_EL1 | SP_EL0) + +/** + * This function will initialize thread stack + * + * @param tentry the entry of thread + * @param parameter the parameter of entry + * @param stack_addr the beginning stack address + * @param texit the function will be called when thread exit + * + * @return stack address + */ +rt_uint8_t *rt_hw_stack_init(void *tentry, void *parameter, + rt_uint8_t *stack_addr, void *texit) +{ + rt_ubase_t *stk; + rt_ubase_t current_el; + + stk = (rt_ubase_t*)stack_addr; + + *(--stk) = ( rt_ubase_t ) 11; /* X1 */ + *(--stk) = ( rt_ubase_t ) parameter; /* X0 */ + *(--stk) = ( rt_ubase_t ) 33; /* X3 */ + *(--stk) = ( rt_ubase_t ) 22; /* X2 */ + *(--stk) = ( rt_ubase_t ) 55; /* X5 */ + *(--stk) = ( rt_ubase_t ) 44; /* X4 */ + *(--stk) = ( rt_ubase_t ) 77; /* X7 */ + *(--stk) = ( rt_ubase_t ) 66; /* X6 */ + *(--stk) = ( rt_ubase_t ) 99; /* X9 */ + *(--stk) = ( rt_ubase_t ) 88; /* X8 */ + *(--stk) = ( rt_ubase_t ) 11; /* X11 */ + *(--stk) = ( rt_ubase_t ) 10; /* X10 */ + *(--stk) = ( rt_ubase_t ) 13; /* X13 */ + *(--stk) = ( rt_ubase_t ) 12; /* X12 */ + *(--stk) = ( rt_ubase_t ) 15; /* X15 */ + *(--stk) = ( rt_ubase_t ) 14; /* X14 */ + *(--stk) = ( rt_ubase_t ) 17; /* X17 */ + *(--stk) = ( rt_ubase_t ) 16; /* X16 */ + *(--stk) = ( rt_ubase_t ) 19; /* X19 */ + *(--stk) = ( rt_ubase_t ) 18; /* X18 */ + *(--stk) = ( rt_ubase_t ) 21; /* X21 */ + *(--stk) = ( rt_ubase_t ) 20; /* X20 */ + *(--stk) = ( rt_ubase_t ) 23; /* X23 */ + *(--stk) = ( rt_ubase_t ) 22; /* X22 */ + *(--stk) = ( rt_ubase_t ) 25; /* X25 */ + *(--stk) = ( rt_ubase_t ) 24; /* X24 */ + *(--stk) = ( rt_ubase_t ) 27; /* X27 */ + *(--stk) = ( rt_ubase_t ) 26; /* X26 */ + *(--stk) = ( rt_ubase_t ) 29; /* X29 */ + *(--stk) = ( rt_ubase_t ) 28; /* X28 */ + *(--stk) = ( rt_ubase_t ) 0; /* XZR - has no effect, used so there are an even number of registers. */ + *(--stk) = ( rt_ubase_t ) texit; /* X30 - procedure call link register. */ + + current_el = rt_hw_get_current_el(); + + if(current_el == 3) + { + *(--stk) = INITIAL_SPSR_EL3; + } + else if(current_el == 2) + { + *(--stk) = INITIAL_SPSR_EL2; + } + else + { + *(--stk) = INITIAL_SPSR_EL1; + } + + *(--stk) = ( rt_ubase_t ) tentry; /* Exception return address. */ + + /* return task's current stack address */ + return (rt_uint8_t *)stk; +} diff --git a/libcpu/aarch64/cortex-a72/trap.c b/libcpu/aarch64/cortex-a72/trap.c new file mode 100644 index 0000000000..d93aa18fd6 --- /dev/null +++ b/libcpu/aarch64/cortex-a72/trap.c @@ -0,0 +1,98 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Date Author Notes + * 2018-10-06 ZhaoXiaowei the first version + */ + +#include <rtthread.h> +#include <rthw.h> + +#include "interrupt.h" +#include "armv8.h" + +extern struct rt_thread *rt_current_thread; +#ifdef RT_USING_FINSH +extern long list_thread(void); +#endif + +/** + * this function will show registers of CPU + * + * @param regs the registers point + */ +void rt_hw_show_register(struct rt_hw_exp_stack *regs) +{ + rt_kprintf("Execption:\n"); + rt_kprintf("r00:0x%16.16lx r01:0x%16.16lx r02:0x%16.16lx r03:0x%16.16lx\n", regs->x0, regs->x1, regs->x2, regs->x3); + rt_kprintf("r04:0x%16.16lx r05:0x%16.16lx r06:0x%16.16lx r07:0x%16.16lx\n", regs->x4, regs->x5, regs->x6, regs->x7); + rt_kprintf("r08:0x%16.16lx r09:0x%16.16lx r10:0x%16.16lx r11:0x%16.16lx\n", regs->x8, regs->x9, regs->x10, regs->x11); + rt_kprintf("r12:0x%16.16lx r13:0x%16.16lx r14:0x%16.16lx r15:0x%16.16lx\n", regs->x12, regs->x13, regs->x14, regs->x15); + rt_kprintf("r16:0x%16.16lx r17:0x%16.16lx r18:0x%16.16lx r19:0x%16.16lx\n", regs->x16, regs->x17, regs->x18, regs->x19); + rt_kprintf("r20:0x%16.16lx r21:0x%16.16lx r22:0x%16.16lx r23:0x%16.16lx\n", regs->x20, regs->x21, regs->x22, regs->x23); + rt_kprintf("r24:0x%16.16lx r25:0x%16.16lx r26:0x%16.16lx r27:0x%16.16lx\n", regs->x24, regs->x25, regs->x26, regs->x27); + rt_kprintf("r28:0x%16.16lx r29:0x%16.16lx r30:0x%16.16lx\n", regs->x28, regs->x29, regs->x30); + rt_kprintf("spsr:0x%16.16lx\n", regs->spsr); + rt_kprintf("return pc:0x%16.16lx\n", regs->pc); +} + +/** + * When comes across an instruction which it cannot handle, + * it takes the undefined instruction trap. + * + * @param regs system registers + * + * @note never invoke this function in application + */ +void rt_hw_trap_error(struct rt_hw_exp_stack *regs) +{ + rt_kprintf("error exception:\n"); + rt_hw_show_register(regs); +#ifdef RT_USING_FINSH + list_thread(); +#endif + rt_hw_cpu_shutdown(); +} + +#define GIC_ACK_INTID_MASK 0x000003ff + +int rt_hw_interrupt_get_irq(void); +void rt_hw_interrupt_ack(int fiq_irq); + +void rt_hw_trap_irq(void) +{ + void *param; + int ir; + rt_isr_handler_t isr_func; + extern struct rt_irq_desc isr_table[]; + + ir = rt_hw_interrupt_get_irq(); + if (ir == 1023) + { + /* Spurious interrupt */ + return; + } + + /* get interrupt service routine */ + isr_func = isr_table[ir].handler; +#ifdef RT_USING_INTERRUPT_INFO + isr_table[ir].counter++; +#endif + if (isr_func) + { + /* Interrupt for myself. */ + param = isr_table[ir].param; + /* turn to interrupt service routine */ + isr_func(ir, param); + } + + /* end of interrupt */ + rt_hw_interrupt_ack(ir); + +} + +void rt_hw_trap_fiq(void) +{ +} |