diff options
| author | shaojinchun <[email protected]> | 2018-08-23 09:52:41 +0800 |
|---|---|---|
| committer | shaojinchun <[email protected]> | 2018-08-23 09:52:41 +0800 |
| commit | e0b04166e891c2ec4fe111cfe5c26aed8e22e2c4 (patch) | |
| tree | e6afa1d3b53e4dc023e7010ca7288e9b0849c95b | |
| parent | c5a9371131690dd9ad216307ea8d214cbf79826f (diff) | |
[bsp][raspi2] add raspberry pi 2 support
34 files changed, 2715 insertions, 0 deletions
diff --git a/bsp/raspi2/.config b/bsp/raspi2/.config new file mode 100644 index 0000000000..aaa91ee0d2 --- /dev/null +++ b/bsp/raspi2/.config @@ -0,0 +1,274 @@ +# +# Automatically generated file; DO NOT EDIT. +# RT-Thread Project Configuration +# + +# +# RT-Thread Kernel +# +CONFIG_RT_NAME_MAX=8 +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_DEBUG=y +CONFIG_RT_USING_OVERFLOW_CHECK=y +CONFIG_RT_DEBUG_INIT=0 +CONFIG_RT_DEBUG_THREAD=0 +CONFIG_RT_USING_HOOK=y +CONFIG_IDLE_THREAD_STACK_SIZE=256 +# CONFIG_RT_USING_TIMER_SOFT 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_INTERRUPT_INFO is not set +CONFIG_RT_USING_CONSOLE=y +CONFIG_RT_CONSOLEBUF_SIZE=128 +CONFIG_RT_CONSOLE_DEVICE_NAME="uart1" +# CONFIG_RT_USING_MODULE is not set +CONFIG_ARCH_ARM=y +CONFIG_ARCH_ARM_CORTEX_A=y +CONFIG_ARCH_ARM_CORTEX_A7=y + +# +# RT-Thread Components +# +CONFIG_RT_USING_COMPONENTS_INIT=y +CONFIG_RT_USING_USER_MAIN=y +CONFIG_RT_MAIN_THREAD_STACK_SIZE=2048 + +# +# 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=y + +# +# Device virtual file system +# +# CONFIG_RT_USING_DFS is not set + +# +# Device Drivers +# +CONFIG_RT_USING_DEVICE_IPC=y +CONFIG_RT_USING_SERIAL=y +# 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_MTD_NOR is not set +# CONFIG_RT_USING_MTD_NAND 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_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_HAVE_SYS_SIGNALS is not set + +# +# Network stack +# + +# +# light weight TCP/IP stack +# +# CONFIG_RT_USING_LWIP is not set + +# +# Modbus master and slave stack +# +# CONFIG_RT_USING_MODBUS is not set + +# +# VBUS(Virtual Software BUS) +# +# CONFIG_RT_USING_VBUS is not set + +# +# Utilities +# +# CONFIG_RT_USING_LOGTRACE is not set +# CONFIG_RT_USING_RYM 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_MONGOOSE is not set +# CONFIG_PKG_USING_WEBTERMINAL is not set +# CONFIG_PKG_USING_CJSON is not set +# CONFIG_PKG_USING_LJSON is not set +# CONFIG_PKG_USING_EZXML is not set +# CONFIG_PKG_USING_NANOPB is not set +# CONFIG_PKG_USING_GAGENT_CLOUD 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_COAP is not set +# CONFIG_PKG_USING_NOPOLL is not set +# CONFIG_PKG_USING_NETUTILS is not set +# CONFIG_PKG_USING_ONENET 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_JERRYSCRIPT is not set +# CONFIG_PKG_USING_MICROPYTHON is not set + +# +# multimedia packages +# +# CONFIG_PKG_USING_OPENMV 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_IPERF is not set + +# +# system packages +# + +# +# RT-Thread GUI Engine +# +# CONFIG_PKG_USING_GUIENGINE is not set +# CONFIG_PKG_USING_PERSIMMON is not set +# CONFIG_PKG_USING_LWEXT4 is not set +# CONFIG_PKG_USING_PARTITION is not set +# CONFIG_PKG_USING_SQLITE is not set +# CONFIG_PKG_USING_RTI is not set +# CONFIG_PKG_USING_LITTLEVGL2RTT is not set + +# +# peripheral libraries and drivers +# +# CONFIG_PKG_USING_STM32F4_HAL is not set +# CONFIG_PKG_USING_STM32F4_DRIVERS is not set + +# +# miscellaneous packages +# +# 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_CANFESTIVAL is not set + +# +# sample package +# +# CONFIG_PKG_USING_SAMPLES is not set + +# +# example package: hello +# +# CONFIG_PKG_USING_HELLO is not set + +# +# Privated Packages of RealThread +# +# CONFIG_PKG_USING_CODEC is not set +# CONFIG_PKG_USING_PLAYER is not set +# CONFIG_PKG_USING_PERSIMMON_SRC is not set + +# +# Network Utilities +# +# CONFIG_PKG_USING_WLAN_WICED_SRC is not set +# CONFIG_PKG_USING_CLOUDSDK is not set +# CONFIG_PKG_USING_COREMARK is not set +# CONFIG_PKG_USING_POWER_MANAGER is not set +# CONFIG_PKG_USING_RT_OTA is not set +# CONFIG_PKG_USING_RT_AT is not set + +# +# Test Packages of RealThread +# +# CONFIG_PKG_USING_JERRYSCRIPT_WIN32 is not set +# CONFIG_PKG_USING_JS_PERSIMMON is not set +CONFIG_BCM2836_SOC=y +CONFIG_RT_USING_UART1=y diff --git a/bsp/raspi2/Kconfig b/bsp/raspi2/Kconfig new file mode 100644 index 0000000000..d2861718b4 --- /dev/null +++ b/bsp/raspi2/Kconfig @@ -0,0 +1,26 @@ +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 BCM2836_SOC + bool + select ARCH_ARM_CORTEX_A7 + default y + +source "driver/Kconfig" diff --git a/bsp/raspi2/README.md b/bsp/raspi2/README.md new file mode 100644 index 0000000000..f2c6740177 --- /dev/null +++ b/bsp/raspi2/README.md @@ -0,0 +1,2 @@ +# raspi2 +RT-Thread for Raspberry Pi 2B diff --git a/bsp/raspi2/SConscript b/bsp/raspi2/SConscript new file mode 100644 index 0000000000..c7ef7659ec --- /dev/null +++ b/bsp/raspi2/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/raspi2/SConstruct b/bsp/raspi2/SConstruct new file mode 100644 index 0000000000..1326632477 --- /dev/null +++ b/bsp/raspi2/SConstruct @@ -0,0 +1,27 @@ +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 + +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) + +Export('RTT_ROOT') +Export('rtconfig') + +# prepare building environment +objs = PrepareBuilding(env, RTT_ROOT, has_libcpu=True) + +# make a building +DoBuilding(TARGET, objs) diff --git a/bsp/raspi2/applications/SConscript b/bsp/raspi2/applications/SConscript new file mode 100644 index 0000000000..533df8ac31 --- /dev/null +++ b/bsp/raspi2/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/raspi2/applications/main.c b/bsp/raspi2/applications/main.c new file mode 100644 index 0000000000..101386fdfd --- /dev/null +++ b/bsp/raspi2/applications/main.c @@ -0,0 +1,36 @@ +/* + * File : main.c + * This file is part of RT-Thread RTOS + * 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: + * Date Author Notes + * 2017-5-30 Bernard the first version + */ +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> + +#include <rtthread.h> + +int main(int argc, char** argv) +{ + rt_kprintf("Hello RT-Thread!\n"); + + return 0; +} + diff --git a/bsp/raspi2/applications/mnt.c b/bsp/raspi2/applications/mnt.c new file mode 100644 index 0000000000..8da1dc1ece --- /dev/null +++ b/bsp/raspi2/applications/mnt.c @@ -0,0 +1,29 @@ +/* + * File : mnt.c + * This file is part of RT-Thread RTOS + * 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: + * Date Author Notes + */ + +#include <rtthread.h> + +int mnt_init(void) +{ + return 0; +} diff --git a/bsp/raspi2/cpu/SConscript b/bsp/raspi2/cpu/SConscript new file mode 100644 index 0000000000..eb4ee7a585 --- /dev/null +++ b/bsp/raspi2/cpu/SConscript @@ -0,0 +1,9 @@ +from building import * + +cwd = GetCurrentDir() +src = Glob('*.c') + Glob('*.cpp') + Glob('*_gcc.S') +CPPPATH = [cwd] + +group = DefineGroup('cpu', src, depend = [''], CPPPATH = CPPPATH) + +Return('group') diff --git a/bsp/raspi2/cpu/armv7.h b/bsp/raspi2/cpu/armv7.h new file mode 100644 index 0000000000..a07d9de2a9 --- /dev/null +++ b/bsp/raspi2/cpu/armv7.h @@ -0,0 +1,64 @@ +#ifndef __ARMV7_H__ +#define __ARMV7_H__ + +/* the exception stack without VFP registers */ +struct rt_hw_exp_stack +{ + unsigned long r0; + unsigned long r1; + unsigned long r2; + unsigned long r3; + unsigned long r4; + unsigned long r5; + unsigned long r6; + unsigned long r7; + unsigned long r8; + unsigned long r9; + unsigned long r10; + unsigned long fp; + unsigned long ip; + unsigned long sp; + unsigned long lr; + unsigned long pc; + unsigned long cpsr; +}; + +struct rt_hw_stack +{ + unsigned long cpsr; + unsigned long r0; + unsigned long r1; + unsigned long r2; + unsigned long r3; + unsigned long r4; + unsigned long r5; + unsigned long r6; + unsigned long r7; + unsigned long r8; + unsigned long r9; + unsigned long r10; + unsigned long fp; + unsigned long ip; + unsigned long lr; + unsigned long pc; +}; + +#define USERMODE 0x10 +#define FIQMODE 0x11 +#define IRQMODE 0x12 +#define SVCMODE 0x13 +#define MONITORMODE 0x16 +#define ABORTMODE 0x17 +#define HYPMODE 0x1b +#define UNDEFMODE 0x1b +#define MODEMASK 0x1f +#define NOINT 0xc0 + +#define T_Bit (1<<5) +#define F_Bit (1<<6) +#define I_Bit (1<<7) +#define A_Bit (1<<8) +#define E_Bit (1<<9) +#define J_Bit (1<<24) + +#endif diff --git a/bsp/raspi2/cpu/context_gcc.S b/bsp/raspi2/cpu/context_gcc.S new file mode 100644 index 0000000000..48402739f9 --- /dev/null +++ b/bsp/raspi2/cpu/context_gcc.S @@ -0,0 +1,105 @@ +/* + * File : context.S + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2013, 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: + * Date Author Notes + * 2013-07-05 Bernard the first version + */ + +.section .text, "ax" +/* + * rt_base_t rt_hw_interrupt_disable(); + */ +.globl rt_hw_interrupt_disable +rt_hw_interrupt_disable: + mrs r0, cpsr + cpsid i + bx lr + +/* + * void rt_hw_interrupt_enable(rt_base_t level); + */ +.globl rt_hw_interrupt_enable +rt_hw_interrupt_enable: + msr cpsr_c, r0 + bx lr + +/* + * void rt_hw_context_switch_to(rt_uint32 to); + * r0 --> to + */ +.globl rt_hw_context_switch_to +rt_hw_context_switch_to: + ldr sp, [r0] @ get new task stack pointer + + ldmfd sp!, {r4} @ pop new task spsr + msr spsr_cxsf, r4 + + ldmfd sp!, {r0-r12, lr, pc}^ @ pop new task r0-r12, lr & pc + +.section .bss.share.isr +_guest_switch_lvl: + .word 0 + +.globl vmm_virq_update + +.section .text.isr, "ax" +/* + * void rt_hw_context_switch(rt_uint32 from, rt_uint32 to); + * r0 --> from + * r1 --> to + */ +.globl rt_hw_context_switch +rt_hw_context_switch: + stmfd sp!, {lr} @ push pc (lr should be pushed in place of PC) + stmfd sp!, {r0-r12, lr} @ push lr & register file + + mrs r4, cpsr + tst lr, #0x01 + orrne r4, r4, #0x20 @ it's thumb code + + stmfd sp!, {r4} @ push cpsr + + str sp, [r0] @ store sp in preempted tasks TCB + ldr sp, [r1] @ get new task stack pointer + + ldmfd sp!, {r4} @ pop new task cpsr to spsr + msr spsr_cxsf, r4 + ldmfd sp!, {r0-r12, lr, pc}^ @ pop new task r0-r12, lr & pc, copy spsr to cpsr + +/* + * void rt_hw_context_switch_interrupt(rt_uint32 from, rt_uint32 to); + */ +.globl rt_thread_switch_interrupt_flag +.globl rt_interrupt_from_thread +.globl rt_interrupt_to_thread +.globl rt_hw_context_switch_interrupt +rt_hw_context_switch_interrupt: + ldr r2, =rt_thread_switch_interrupt_flag + ldr r3, [r2] + cmp r3, #1 + beq _reswitch + ldr ip, =rt_interrupt_from_thread @ set rt_interrupt_from_thread + mov r3, #1 @ set rt_thread_switch_interrupt_flag to 1 + str r0, [ip] + str r3, [r2] +_reswitch: + ldr r2, =rt_interrupt_to_thread @ set rt_interrupt_to_thread + str r1, [r2] + bx lr diff --git a/bsp/raspi2/cpu/cp15.h b/bsp/raspi2/cpu/cp15.h new file mode 100644 index 0000000000..ebea3f0fe3 --- /dev/null +++ b/bsp/raspi2/cpu/cp15.h @@ -0,0 +1,12 @@ +#ifndef __CP15_H__ +#define __CP15_H__ + +unsigned long rt_cpu_get_smp_id(void); + +void rt_cpu_mmu_disable(void); +void rt_cpu_mmu_enable(void); +void rt_cpu_tlb_set(volatile unsigned long*); + +void rt_cpu_vector_set_base(unsigned int addr); + +#endif diff --git a/bsp/raspi2/cpu/cp15_gcc.S b/bsp/raspi2/cpu/cp15_gcc.S new file mode 100644 index 0000000000..f1ed6492aa --- /dev/null +++ b/bsp/raspi2/cpu/cp15_gcc.S @@ -0,0 +1,140 @@ +/* + * File : cp15_gcc.S + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2013, RT-Thread Development Team + * http://www.rt-thread.org + * + * 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: + * Date Author Notes + * 2013-07-05 Bernard the first version + */ + +.globl rt_cpu_get_smp_id +rt_cpu_get_smp_id: + mrc p15, #0, r0, c0, c0, #5 + bx lr + +.globl rt_cpu_vector_set_base +rt_cpu_vector_set_base: + mcr p15, #0, r0, c12, c0, #0 + dsb + bx lr + +.globl rt_hw_cpu_dcache_enable +rt_hw_cpu_dcache_enable: + mrc p15, #0, r0, c1, c0, #0 + orr r0, r0, #0x00000004 + mcr p15, #0, r0, c1, c0, #0 + bx lr + +.globl rt_hw_cpu_icache_enable +rt_hw_cpu_icache_enable: + mrc p15, #0, r0, c1, c0, #0 + orr r0, r0, #0x00001000 + mcr p15, #0, r0, c1, c0, #0 + bx lr + +_FLD_MAX_WAY: + .word 0x3ff +_FLD_MAX_IDX: + .word 0x7ff + +.globl rt_cpu_dcache_clean_flush +rt_cpu_dcache_clean_flush: + push {r4-r11} + dmb + mrc p15, #1, r0, c0, c0, #1 @ read clid register + ands r3, r0, #0x7000000 @ get level of coherency + mov r3, r3, lsr #23 + beq finished + mov r10, #0 +loop1: + add r2, r10, r10, lsr #1 + mov r1, r0, lsr r2 + and r1, r1, #7 + cmp r1, #2 + blt skip + mcr p15, #2, r10, c0, c0, #0 + isb + mrc p15, #1, r1, c0, c0, #0 + and r2, r1, #7 + add r2, r2, #4 + ldr r4, _FLD_MAX_WAY + ands r4, r4, r1, lsr #3 + clz r5, r4 + ldr r7, _FLD_MAX_IDX + ands r7, r7, r1, lsr #13 +loop2: + mov r9, r4 +loop3: + orr r11, r10, r9, lsl r5 + orr r11, r11, r7, lsl r2 + mcr p15, #0, r11, c7, c14, #2 + subs r9, r9, #1 + bge loop3 + subs r7, r7, #1 + bge loop2 +skip: + add r10, r10, #2 + cmp r3, r10 + bgt loop1 + +finished: + dsb + isb + pop {r4-r11} + bx lr + +.globl rt_hw_cpu_dcache_disable +rt_hw_cpu_dcache_disable: + push {r4-r11, lr} + bl rt_cpu_dcache_clean_flush + mrc p15, #0, r0, c1, c0, #0 + bic r0, r0, #0x00000004 + mcr p15, #0, r0, c1, c0, #0 + pop {r4-r11, lr} + bx lr + +.globl rt_hw_cpu_icache_disable +rt_hw_cpu_icache_disable: + mrc p15, #0, r0, c1, c0, #0 + bic r0, r0, #0x00001000 + mcr p15, #0, r0, c1, c0, #0 + bx lr + +.globl rt_cpu_mmu_disable +rt_cpu_mmu_disable: + mcr p15, #0, r0, c8, c7, #0 @ invalidate tlb + mrc p15, #0, r0, c1, c0, #0 + bic r0, r0, #1 + mcr p15, #0, r0, c1, c0, #0 @ clear mmu bit + dsb + bx lr + +.globl rt_cpu_mmu_enable +rt_cpu_mmu_enable: + mrc p15, #0, r0, c1, c0, #0 + orr r0, r0, #0x001 + mcr p15, #0, r0, c1, c0, #0 @ set mmu enable bit + dsb + bx lr + +.globl rt_cpu_tlb_set +rt_cpu_tlb_set: + mcr p15, #0, r0, c2, c0, #0 + dmb + bx lr diff --git a/bsp/raspi2/cpu/cpu.c b/bsp/raspi2/cpu/cpu.c new file mode 100644 index 0000000000..8bf16d19e8 --- /dev/null +++ b/bsp/raspi2/cpu/cpu.c @@ -0,0 +1,37 @@ +/* + * File : cpu.c + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2006, RT-Thread Develop Team + * + * The license and distribution terms for this file may be + * found in the file LICENSE in this distribution or at + * http://www.rt-thread.org/license/LICENSE + * + * Change Logs: + * Date Author Notes + * 2011-09-15 Bernard first version + */ + +#include <rthw.h> +#include <rtthread.h> +#include <board.h> + +/** + * @addtogroup AM33xx + */ +/*@{*/ + +/** shutdown CPU */ +void rt_hw_cpu_shutdown() +{ + rt_uint32_t level; + rt_kprintf("shutdown...\n"); + + level = rt_hw_interrupt_disable(); + while (level) + { + RT_ASSERT(0); + } +} + +/*@}*/ diff --git a/bsp/raspi2/cpu/interrupt.c b/bsp/raspi2/cpu/interrupt.c new file mode 100644 index 0000000000..b9f0a00dd7 --- /dev/null +++ b/bsp/raspi2/cpu/interrupt.c @@ -0,0 +1,136 @@ +/* + * File : interrupt.c + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2013-2014, RT-Thread Development Team + * + * The license and distribution terms for this file may be + * found in the file LICENSE in this distribution or at + * http://www.rt-thread.org/license/LICENSE + * + * Change Logs: + * Date Author Notes + * 2018/5/3 Bernard first version + */ + +#include <rthw.h> +#include <rtthread.h> + +#include "cp15.h" +#include <board.h> + +#define MAX_HANDLERS 64 + +extern volatile rt_uint8_t rt_interrupt_nest; + +/* exception and interrupt handler table */ +struct rt_irq_desc isr_table[MAX_HANDLERS]; + +rt_uint32_t rt_interrupt_from_thread; +rt_uint32_t rt_interrupt_to_thread; +rt_uint32_t rt_thread_switch_interrupt_flag; + +extern int system_vectors; + +static void default_isr_handler(int vector, void *param) +{ + rt_kprintf("unhandled irq: %d\n", vector); +} + +/** + * This function will initialize hardware interrupt + */ +void rt_hw_interrupt_init(void) +{ + uint32_t index; + + /* mask all of interrupts */ + IRQ_DISABLE_BASIC = 0x000000ff; + IRQ_DISABLE1 = 0xffffffff; + IRQ_DISABLE2 = 0xffffffff; + + for (index = 0; index < MAX_HANDLERS; index ++) + { + isr_table[index].handler = default_isr_handler; + isr_table[index].param = NULL; +#ifdef RT_USING_INTERRUPT_INFO + rt_strncpy(isr_table[index].name, "unknown", RT_NAME_MAX); + isr_table[index].counter = 0; +#endif + } + + /* init interrupt nest, and context in thread sp */ + rt_interrupt_nest = 0; + rt_interrupt_from_thread = 0; + rt_interrupt_to_thread = 0; + rt_thread_switch_interrupt_flag = 0; +} + +/** + * This function will mask a interrupt. + * @param vector the interrupt number + */ +void rt_hw_interrupt_mask(int vector) +{ + if (vector < 8) + { + IRQ_DISABLE_BASIC = (1 << vector); + } + else if (vector < 32) + { + IRQ_DISABLE1 = (1 << vector); + } + else + { + vector = vector % 32; + IRQ_DISABLE2 = (1 << vector); + } +} + +/** + * This function will un-mask a interrupt. + * @param vector the interrupt number + */ +void rt_hw_interrupt_umask(int vector) +{ + if (vector < 8) + { + IRQ_ENABLE_BASIC = (1 << vector); + } + else if (vector < 32) + { + IRQ_ENABLE1 = (1 << vector); + } + else + { + vector = vector % 32; + IRQ_ENABLE2 = (1 << vector); + } +} + +/** + * 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, 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; +} diff --git a/bsp/raspi2/cpu/mmu.c b/bsp/raspi2/cpu/mmu.c new file mode 100644 index 0000000000..b2503e4260 --- /dev/null +++ b/bsp/raspi2/cpu/mmu.c @@ -0,0 +1,207 @@ +/* + * File : mmu.c + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2006, RT-Thread Development Team + * + * The license and distribution terms for this file may be + * found in the file LICENSE in this distribution or at + * http://www.rt-thread.org/license/LICENSE + * + * Change Logs: + * Date Author Notes + * 2012-01-10 bernard porting to AM1808 + */ + +#include <rtthread.h> +#include <rthw.h> +#include <board.h> + +#include "cp15.h" + +#define DESC_SEC (0x2) +#define CB (3<<2) //cache_on, write_back +#define CNB (2<<2) //cache_on, write_through +#define NCB (1<<2) //cache_off,WR_BUF on +#define NCNB (0<<2) //cache_off,WR_BUF off +#define AP_RW (3<<10) //supervisor=RW, user=RW +#define AP_RO (2<<10) //supervisor=RW, user=RO +#define XN (1<<4) // eXecute Never + +#define DOMAIN_FAULT (0x0) +#define DOMAIN_CHK (0x1) +#define DOMAIN_NOTCHK (0x3) +#define DOMAIN0 (0x0<<5) +#define DOMAIN1 (0x1<<5) + +#define DOMAIN0_ATTR (DOMAIN_CHK<<0) +#define DOMAIN1_ATTR (DOMAIN_FAULT<<2) + +/* Read/Write, cache, write back */ +#define RW_CB (AP_RW|DOMAIN0|CB|DESC_SEC) +/* Read/Write, cache, write through */ +#define RW_CNB (AP_RW|DOMAIN0|CNB|DESC_SEC) +/* Read/Write without cache and write buffer */ +#define RW_NCNB (AP_RW|DOMAIN0|NCNB|DESC_SEC) +/* Read/Write without cache and write buffer, no execute */ +#define RW_NCNBXN (AP_RW|DOMAIN0|NCNB|DESC_SEC|XN) +/* Read/Write without cache and write buffer */ +#define RW_FAULT (AP_RW|DOMAIN1|NCNB|DESC_SEC) + +/* dump 2nd level page table */ +void rt_hw_cpu_dump_page_table_2nd(rt_uint32_t *ptb) +{ + int i; + int fcnt = 0; + + for (i = 0; i < 256; i++) + { + rt_uint32_t pte2 = ptb[i]; + if ((pte2 & 0x3) == 0) + { + if (fcnt == 0) + rt_kprintf(" "); + rt_kprintf("%04x: ", i); + fcnt++; + if (fcnt == 16) + { + rt_kprintf("fault\n"); + fcnt = 0; + } + continue; + } + if (fcnt != 0) + { + rt_kprintf("fault\n"); + fcnt = 0; + } + + rt_kprintf(" %04x: %x: ", i, pte2); + if ((pte2 & 0x3) == 0x1) + { + rt_kprintf("L,ap:%x,xn:%d,texcb:%02x\n", + ((pte2 >> 7) | (pte2 >> 4))& 0xf, + (pte2 >> 15) & 0x1, + ((pte2 >> 10) | (pte2 >> 2)) & 0x1f); + } + else + { + rt_kprintf("S,ap:%x,xn:%d,texcb:%02x\n", + ((pte2 >> 7) | (pte2 >> 4))& 0xf, pte2 & 0x1, + ((pte2 >> 4) | (pte2 >> 2)) & 0x1f); + } + } +} + +void rt_hw_cpu_dump_page_table(rt_uint32_t *ptb) +{ + int i; + int fcnt = 0; + + rt_kprintf("page table@%p\n", ptb); + for (i = 0; i < 1024*4; i++) + { + rt_uint32_t pte1 = ptb[i]; + if ((pte1 & 0x3) == 0) + { + rt_kprintf("%03x: ", i); + fcnt++; + if (fcnt == 16) + { + rt_kprintf("fault\n"); + fcnt = 0; + } + continue; + } + if (fcnt != 0) + { + rt_kprintf("fault\n"); + fcnt = 0; + } + + rt_kprintf("%03x: %08x: ", i, pte1); + if ((pte1 & 0x3) == 0x3) + { + rt_kprintf("LPAE\n"); + } + else if ((pte1 & 0x3) == 0x1) + { + rt_kprintf("pte,ns:%d,domain:%d\n", + (pte1 >> 3) & 0x1, (pte1 >> 5) & 0xf); + /* + *rt_hw_cpu_dump_page_table_2nd((void*)((pte1 & 0xfffffc000) + * - 0x80000000 + 0xC0000000)); + */ + } + else if (pte1 & (1 << 18)) + { + rt_kprintf("super section,ns:%d,ap:%x,xn:%d,texcb:%02x\n", + (pte1 >> 19) & 0x1, + ((pte1 >> 13) | (pte1 >> 10))& 0xf, + (pte1 >> 4) & 0x1, + ((pte1 >> 10) | (pte1 >> 2)) & 0x1f); + } + else + { + rt_kprintf("section,ns:%d,ap:%x," + "xn:%d,texcb:%02x,domain:%d\n", + (pte1 >> 19) & 0x1, + ((pte1 >> 13) | (pte1 >> 10))& 0xf, + (pte1 >> 4) & 0x1, + (((pte1 & (0x7 << 12)) >> 10) | + ((pte1 & 0x0c) >> 2)) & 0x1f, + (pte1 >> 5) & 0xf); + } + } +} + +/* level1 page table, each entry for 1MB memory. */ +volatile static unsigned long MMUTable[4*1024] __attribute__((aligned(16*1024))); +void rt_hw_mmu_setmtt(rt_uint32_t vaddrStart, + rt_uint32_t vaddrEnd, + rt_uint32_t paddrStart, + rt_uint32_t attr) +{ + volatile rt_uint32_t *pTT; + volatile int i, nSec; + pTT = (rt_uint32_t *)MMUTable + (vaddrStart >> 20); + nSec = (vaddrEnd >> 20) - (vaddrStart >> 20); + for(i = 0; i <= nSec; i++) + { + *pTT = attr | (((paddrStart >> 20) + i) << 20); + pTT++; + } +} + +unsigned long rt_hw_set_domain_register(unsigned long domain_val) +{ + unsigned long old_domain; + + asm volatile ("mrc p15, 0, %0, c3, c0\n" : "=r" (old_domain)); + asm volatile ("mcr p15, 0, %0, c3, c0\n" : :"r" (domain_val) : "memory"); + + return old_domain; +} + +void rt_hw_mmu_init(void) +{ + rt_hw_cpu_dcache_disable(); + rt_hw_cpu_icache_disable(); + rt_cpu_mmu_disable(); + + /* set page table */ + /* 4G 1:1 memory */ + rt_hw_mmu_setmtt(0, 0xffffffff-1, 0, RW_CB); + /* IO memory region */ + rt_hw_mmu_setmtt(0x44000000, 0x80000000-1, 0x44000000, RW_NCNBXN); + + /*rt_hw_cpu_dump_page_table(MMUTable);*/ + rt_hw_set_domain_register(0x55555555); + + rt_cpu_tlb_set(MMUTable); + + rt_cpu_mmu_enable(); + + rt_hw_cpu_icache_enable(); + rt_hw_cpu_dcache_enable(); +} + diff --git a/bsp/raspi2/cpu/stack.c b/bsp/raspi2/cpu/stack.c new file mode 100644 index 0000000000..e60e8c7170 --- /dev/null +++ b/bsp/raspi2/cpu/stack.c @@ -0,0 +1,68 @@ +/* + * File : stack.c + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2011, RT-Thread Development Team + * + * The license and distribution terms for this file may be + * found in the file LICENSE in this distribution or at + * http://www.rt-thread.org/license/LICENSE + * + * 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 <armv7.h> + +/** + * @addtogroup AM33xx + */ +/*@{*/ + +/** + * 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_uint32_t *stk; + + stack_addr += sizeof(rt_uint32_t); + stack_addr = (rt_uint8_t *)RT_ALIGN_DOWN((rt_uint32_t)stack_addr, 8); + stk = (rt_uint32_t *)stack_addr; + *(--stk) = (rt_uint32_t)tentry; /* entry point */ + *(--stk) = (rt_uint32_t)texit; /* lr */ + *(--stk) = 0xdeadbeef; /* r12 */ + *(--stk) = 0xdeadbeef; /* r11 */ + *(--stk) = 0xdeadbeef; /* r10 */ + *(--stk) = 0xdeadbeef; /* r9 */ + *(--stk) = 0xdeadbeef; /* r8 */ + *(--stk) = 0xdeadbeef; /* r7 */ + *(--stk) = 0xdeadbeef; /* r6 */ + *(--stk) = 0xdeadbeef; /* r5 */ + *(--stk) = 0xdeadbeef; /* r4 */ + *(--stk) = 0xdeadbeef; /* r3 */ + *(--stk) = 0xdeadbeef; /* r2 */ + *(--stk) = 0xdeadbeef; /* r1 */ + *(--stk) = (rt_uint32_t)parameter; /* r0 : argument */ + + /* cpsr */ + if ((rt_uint32_t)tentry & 0x01) + *(--stk) = SVCMODE | 0x20; /* thumb mode */ + else + *(--stk) = SVCMODE; /* arm mode */ + + /* return task's current stack address */ + return (rt_uint8_t *)stk; +} + +/*@}*/ diff --git a/bsp/raspi2/cpu/start_gcc.S b/bsp/raspi2/cpu/start_gcc.S new file mode 100644 index 0000000000..e64563c91e --- /dev/null +++ b/bsp/raspi2/cpu/start_gcc.S @@ -0,0 +1,279 @@ +/* + * File : start_gcc.S + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2013-2014, 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: + * Date Author Notes + * 2013-07-05 Bernard the first version + */ + +.equ Mode_USR, 0x10 +.equ Mode_FIQ, 0x11 +.equ Mode_IRQ, 0x12 +.equ Mode_SVC, 0x13 +.equ Mode_ABT, 0x17 +.equ Mode_UND, 0x1B +.equ Mode_SYS, 0x1F + +.equ I_Bit, 0x80 @ when I bit is set, IRQ is disabled +.equ F_Bit, 0x40 @ when F bit is set, FIQ is disabled + +.equ UND_Stack_Size, 0x00000000 +.equ SVC_Stack_Size, 0x00000100 +.equ ABT_Stack_Size, 0x00000000 +.equ RT_FIQ_STACK_PGSZ, 0x00000000 +.equ RT_IRQ_STACK_PGSZ, 0x00000100 +.equ USR_Stack_Size, 0x00000100 + +#define ISR_Stack_Size (UND_Stack_Size + SVC_Stack_Size + ABT_Stack_Size + \ + RT_FIQ_STACK_PGSZ + RT_IRQ_STACK_PGSZ) + +.section .data.share.isr +/* stack */ +.globl stack_start +.globl stack_top + +stack_start: +.rept ISR_Stack_Size +.byte 0 +.endr +stack_top: + +.text +/* reset entry */ +.globl _reset +_reset: + /* Disable IRQ & FIQ */ + cpsid if + + /* Check for HYP mode */ + mrs r0, cpsr_all + and r0, r0, #0x1F + mov r8, #0x1A + cmp r0, r8 + beq overHyped + b continue + +overHyped: /* Get out of HYP mode */ + ldr r1, =continue + msr ELR_hyp, r1 + mrs r1, cpsr_all + and r1, r1, #0x1f ;@ CPSR_MODE_MASK + orr r1, r1, #0x13 ;@ CPSR_MODE_SUPERVISOR + msr SPSR_hyp, r1 + eret + +continue: + + /* disable smp */ + bl arm_smp_disable + + /* disable mmu */ + bl rt_cpu_mmu_disable + /* set the cpu to SVC32 mode and disable interrupt */ + mrs r0, cpsr + bic r0, r0, #0x1f + orr r0, r0, #0x13 + msr cpsr_c, r0 + + /* setup stack */ + bl stack_setup + + /* clear .bss */ + mov r0,#0 /* get a zero */ + ldr r1,=__bss_start /* bss start */ + ldr r2,=__bss_end /* bss end */ + +bss_loop: + cmp r1,r2 /* check if data to clear */ + strlo r0,[r1],#4 /* clear 4 bytes */ + blo bss_loop /* loop until done */ + + /* start RT-Thread Kernel */ + ldr pc, _rtthread_startup +_rtthread_startup: + .word rtthread_startup + +stack_setup: + ldr r0, =stack_top + + @ Set the startup stack for svc + mov sp, r0 + sub r0, r0, #SVC_Stack_Size + + @ Enter Undefined Instruction Mode and set its Stack Pointer + msr cpsr_c, #Mode_UND|I_Bit|F_Bit + mov sp, r0 + sub r0, r0, #UND_Stack_Size + + @ Enter Abort Mode and set its Stack Pointer + msr cpsr_c, #Mode_ABT|I_Bit|F_Bit + mov sp, r0 + sub r0, r0, #ABT_Stack_Size + + @ Enter FIQ Mode and set its Stack Pointer + msr cpsr_c, #Mode_FIQ|I_Bit|F_Bit + mov sp, r0 + sub r0, r0, #RT_FIQ_STACK_PGSZ + + @ Enter IRQ Mode and set its Stack Pointer + msr cpsr_c, #Mode_IRQ|I_Bit|F_Bit + mov sp, r0 + sub r0, r0, #RT_IRQ_STACK_PGSZ + + /* come back to SVC mode */ + msr cpsr_c, #Mode_SVC|I_Bit|F_Bit + bx lr + +.text +;@ void arm_smp_enable(void); +.globl arm_smp_enable +arm_smp_enable: + mrc p15, 0, r0, c1, c0, 1 ;@ set SMP bit in ACTLR + orr r0, r0, #0x40 + mcr p15, 0, r0, c1, c0, 1 + bx lr + +.text +;@ void arm_smp_disable(void); +.globl arm_smp_disable +arm_smp_disable: + mrc p15, 0, r0, c1, c0, 1 ;@ clear SMP bit in ACTLR + bic r0, r0, #0x40 + mcr p15, 0, r0, c1, c0, 1 + bx lr + +/* exception handlers: undef, swi, padt, dabt, resv, irq, fiq */ +.section .text.isr, "ax" + .align 5 +.globl vector_fiq +vector_fiq: + stmfd sp!,{r0-r7,lr} + bl rt_hw_trap_fiq + ldmfd sp!,{r0-r7,lr} + subs pc, lr, #4 + +.globl rt_interrupt_enter +.globl rt_interrupt_leave +.globl rt_thread_switch_interrupt_flag +.globl rt_interrupt_from_thread +.globl rt_interrupt_to_thread + +.globl rt_current_thread +.globl vmm_thread +.globl vmm_virq_check + + .align 5 +.globl vector_irq +vector_irq: + stmfd sp!, {r0-r12,lr} + + bl rt_interrupt_enter + bl rt_hw_trap_irq + bl rt_interrupt_leave + + @ if rt_thread_switch_interrupt_flag set, jump to + @ rt_hw_context_switch_interrupt_do and don't return + ldr r0, =rt_thread_switch_interrupt_flag + ldr r1, [r0] + cmp r1, #1 + beq rt_hw_context_switch_interrupt_do + + ldmfd sp!, {r0-r12,lr} + subs pc, lr, #4 + +rt_hw_context_switch_interrupt_do: + mov r1, #0 @ clear flag + str r1, [r0] + + mov r1, sp @ r1 point to {r0-r3} in stack + add sp, sp, #4*4 + ldmfd sp!, {r4-r12,lr}@ reload saved registers + mrs r0, spsr @ get cpsr of interrupt thread + sub r2, lr, #4 @ save old task's pc to r2 + + @ Switch to SVC mode with no interrupt. If the usr mode guest is + @ interrupted, this will just switch to the stack of kernel space. + @ save the registers in kernel space won't trigger data abort. + msr cpsr_c, #I_Bit|F_Bit|Mode_SVC + + stmfd sp!, {r2} @ push old task's pc + stmfd sp!, {r4-r12,lr}@ push old task's lr,r12-r4 + ldmfd r1, {r1-r4} @ restore r0-r3 of the interrupt thread + stmfd sp!, {r1-r4} @ push old task's r0-r3 + stmfd sp!, {r0} @ push old task's cpsr + + ldr r4, =rt_interrupt_from_thread + ldr r5, [r4] + str sp, [r5] @ store sp in preempted tasks's TCB + + ldr r6, =rt_interrupt_to_thread + ldr r6, [r6] + ldr sp, [r6] @ get new task's stack pointer + + ldmfd sp!, {r4} @ pop new task's cpsr to spsr + msr spsr_cxsf, r4 + + ldmfd sp!, {r0-r12,lr,pc}^ @ pop new task's r0-r12,lr & pc, copy spsr to cpsr + +.macro push_svc_reg + sub sp, sp, #17 * 4 @/* Sizeof(struct rt_hw_exp_stack) */ + stmia sp, {r0 - r12} @/* Calling r0-r12 */ + mov r0, sp + mrs r6, spsr @/* Save CPSR */ + str lr, [r0, #15*4] @/* Push PC */ + str r6, [r0, #16*4] @/* Push CPSR */ + cps #Mode_SVC + str sp, [r0, #13*4] @/* Save calling SP */ + str lr, [r0, #14*4] @/* Save calling PC */ +.endm + + .align 5 + .globl vector_swi +vector_swi: + push_svc_reg + bl rt_hw_trap_swi + b . + + .align 5 + .globl vector_undef +vector_undef: + push_svc_reg + bl rt_hw_trap_undef + b . + + .align 5 + .globl vector_pabt +vector_pabt: + push_svc_reg + bl rt_hw_trap_pabt + b . + + .align 5 + .globl vector_dabt +vector_dabt: + push_svc_reg + bl rt_hw_trap_dabt + b . + + .align 5 + .globl vector_resv +vector_resv: + push_svc_reg + bl rt_hw_trap_resv + b . diff --git a/bsp/raspi2/cpu/trap.c b/bsp/raspi2/cpu/trap.c new file mode 100644 index 0000000000..3012c26e2c --- /dev/null +++ b/bsp/raspi2/cpu/trap.c @@ -0,0 +1,183 @@ +/* + * File : trap.c + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2013, RT-Thread Develop Team + * + * The license and distribution terms for this file may be + * found in the file LICENSE in this distribution or at + * http://www.rt-thread.org/license/LICENSE + * + * Change Logs: + * Date Author Notes + * 2013-07-20 Bernard first version + */ + +#include <rthw.h> +#include <board.h> +#include <rtthread.h> + +#include "armv7.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%08x r01:0x%08x r02:0x%08x r03:0x%08x\n", regs->r0, regs->r1, regs->r2, regs->r3); + rt_kprintf("r04:0x%08x r05:0x%08x r06:0x%08x r07:0x%08x\n", regs->r4, regs->r5, regs->r6, regs->r7); + rt_kprintf("r08:0x%08x r09:0x%08x r10:0x%08x\n", regs->r8, regs->r9, regs->r10); + rt_kprintf("fp :0x%08x ip :0x%08x\n", regs->fp, regs->ip); + rt_kprintf("sp :0x%08x lr :0x%08x pc :0x%08x\n", regs->sp, regs->lr, regs->pc); + rt_kprintf("cpsr:0x%08x\n", regs->cpsr); +} + +/** + * 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_undef(struct rt_hw_exp_stack *regs) +{ + rt_kprintf("undefined instruction:\n"); + rt_hw_show_register(regs); +#ifdef RT_USING_FINSH + list_thread(); +#endif + rt_hw_cpu_shutdown(); +} + +/** + * The software interrupt instruction (SWI) is used for entering + * Supervisor mode, usually to request a particular supervisor + * function. + * + * @param regs system registers + * + * @note never invoke this function in application + */ +void rt_hw_trap_swi(struct rt_hw_exp_stack *regs) +{ + rt_kprintf("software interrupt:\n"); + rt_hw_show_register(regs); +#ifdef RT_USING_FINSH + list_thread(); +#endif + rt_hw_cpu_shutdown(); +} + +/** + * An abort indicates that the current memory access cannot be completed, + * which occurs during an instruction prefetch. + * + * @param regs system registers + * + * @note never invoke this function in application + */ +void rt_hw_trap_pabt(struct rt_hw_exp_stack *regs) +{ + rt_kprintf("prefetch abort:\n"); + rt_hw_show_register(regs); +#ifdef RT_USING_FINSH + list_thread(); +#endif + rt_hw_cpu_shutdown(); +} + +/** + * An abort indicates that the current memory access cannot be completed, + * which occurs during a data access. + * + * @param regs system registers + * + * @note never invoke this function in application + */ +void rt_hw_trap_dabt(struct rt_hw_exp_stack *regs) +{ + rt_kprintf("data abort:"); + rt_hw_show_register(regs); +#ifdef RT_USING_FINSH + list_thread(); +#endif + rt_hw_cpu_shutdown(); +} + +/** + * Normally, system will never reach here + * + * @param regs system registers + * + * @note never invoke this function in application + */ +void rt_hw_trap_resv(struct rt_hw_exp_stack *regs) +{ + rt_kprintf("reserved trap:\n"); + rt_hw_show_register(regs); +#ifdef RT_USING_FINSH + list_thread(); +#endif + rt_hw_cpu_shutdown(); +} + +void rt_hw_trap_irq(void) +{ + void *param; + rt_isr_handler_t isr_func; + extern struct rt_irq_desc isr_table[]; + + uint32_t value = 0; + + // rt_kprintf("pend basic: 0x%08x\n", IRQ_PEND_BASIC); + // rt_kprintf(" pend1: 0x%08x\n", IRQ_PEND1); + // rt_kprintf(" pend2: 0x%08x\n", IRQ_PEND2); + + value = IRQ_PEND_BASIC & 0x3ff; + if (value) + { + uint32_t irq; + + if (value & (1 << 8)) + { + value = IRQ_PEND1; + irq = __rt_ffs(value) - 1; + } + else if (value & (1 << 9)) + { + value = IRQ_PEND2; + irq = __rt_ffs(value) + 31; + } + else + { + value &= 0x0f; + irq = __rt_ffs(value) - 1; + } + + /* get interrupt service routine */ + isr_func = isr_table[irq].handler; +#ifdef RT_USING_INTERRUPT_INFO + isr_table[irq].counter++; +#endif + if (isr_func) + { + /* Interrupt for myself. */ + param = isr_table[irq].param; + /* turn to interrupt service routine */ + isr_func(irq, param); + } + } +} + +void rt_hw_trap_fiq(void) +{ + /* TODO */ +} diff --git a/bsp/raspi2/cpu/vector_gcc.S b/bsp/raspi2/cpu/vector_gcc.S new file mode 100644 index 0000000000..17c2d69c30 --- /dev/null +++ b/bsp/raspi2/cpu/vector_gcc.S @@ -0,0 +1,65 @@ +/* + * File : vector_gcc.S + * This file is part of RT-Thread RTOS + * COPYRIGHT (C) 2013, 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: + * Date Author Notes + * 2013-07-05 Bernard the first version + */ + +.section .vectors, "ax" +.code 32 + +.globl system_vectors +system_vectors: + ldr pc, _vector_reset + ldr pc, _vector_undef + ldr pc, _vector_swi + ldr pc, _vector_pabt + ldr pc, _vector_dabt + ldr pc, _vector_resv + ldr pc, _vector_irq + ldr pc, _vector_fiq + +.globl _reset +.globl vector_undef +.globl vector_swi +.globl vector_pabt +.globl vector_dabt +.globl vector_resv +.globl vector_irq +.globl vector_fiq + +_vector_reset: + .word _reset +_vector_undef: + .word vector_undef +_vector_swi: + .word vector_swi +_vector_pabt: + .word vector_pabt +_vector_dabt: + .word vector_dabt +_vector_resv: + .word vector_resv +_vector_irq: + .word vector_irq +_vector_fiq: + .word vector_fiq + +.balignl 16,0xdeadbeef diff --git a/bsp/raspi2/driver/Kconfig b/bsp/raspi2/driver/Kconfig new file mode 100644 index 0000000000..95c536178d --- /dev/null +++ b/bsp/raspi2/driver/Kconfig @@ -0,0 +1,3 @@ +config RT_USING_UART1 + bool "Enable UART1" + default y diff --git a/bsp/raspi2/driver/SConscript b/bsp/raspi2/driver/SConscript new file mode 100644 index 0000000000..25e7ef2e55 --- /dev/null +++ b/bsp/raspi2/driver/SConscript @@ -0,0 +1,17 @@ +# RT-Thread building script for component + +from building import * + +cwd = GetCurrentDir() +src = Split(''' +board.c +drv_uart.c +''') +CPPPATH = [cwd] + +if GetDepend('RT_USING_PIN'): + src += ['drv_gpio.c'] + +group = DefineGroup('Drivers', src, depend = [''], CPPPATH = CPPPATH) + +Return('group') diff --git a/bsp/raspi2/driver/bcm283x.h b/bsp/raspi2/driver/bcm283x.h new file mode 100644 index 0000000000..85422e2a22 --- /dev/null +++ b/bsp/raspi2/driver/bcm283x.h @@ -0,0 +1,125 @@ +#ifndef BCM283X_H__ +#define BCM283X_H__ + +#include <rthw.h> + +#define PER_BASE (0x3F000000) +#define PER_BASE_40000000 (0x40000000) + +/* + * GPIO + */ +#define GPIO_BASE (PER_BASE + 0x200000) +#define GPIO_GPFSEL0 HWREG32(GPIO_BASE + 0x00) /* GPIO Function Select 0 32bit R/W */ +#define GPIO_GPFSEL1 HWREG32(GPIO_BASE + 0x04) /* GPIO Function Select 1 32bit R/W */ +#define GPIO_GPFSEL2 HWREG32(GPIO_BASE + 0x08) /* GPIO Function Select 2 32bit R/W */ +#define GPIO_GPFSEL4 HWREG32(GPIO_BASE + 0x10) /* GPIO Function Select 4 32bit R/W */ +#define GPIO_GPSET0 HWREG32(GPIO_BASE + 0x1C) +#define GPIO_GPCLR0 HWREG32(GPIO_BASE + 0x28) +#define GPIO_GPPUD HWREG32(GPIO_BASE + 0x94) /* GPIO Pin Pull-up/down Enable */ +#define GPIO_GPPUDCLK0 HWREG32(GPIO_BASE + 0x98) /* GPIO Pin Pull-up/down Enable Clock 0 */ +#define GPIO_GPPUDCLK1 HWREG32(GPIO_BASE + 0x9C) /* GPIO Pin Pull-up/down Enable Clock 1 */ + +/* + * Interrupt Controler + */ +#define IRQ_BASE (PER_BASE + 0xB200) +#define IRQ_PEND_BASIC HWREG32(IRQ_BASE + 0x00) +#define IRQ_PEND1 HWREG32(IRQ_BASE + 0x04) +#define IRQ_PEND2 HWREG32(IRQ_BASE + 0x08) +#define IRQ_FIQ_CONTROL HWREG32(IRQ_BASE + 0x0C) +#define IRQ_ENABLE1 HWREG32(IRQ_BASE + 0x10) +#define IRQ_ENABLE2 HWREG32(IRQ_BASE + 0x14) +#define IRQ_ENABLE_BASIC HWREG32(IRQ_BASE + 0x18) +#define IRQ_DISABLE1 HWREG32(IRQ_BASE + 0x1C) +#define IRQ_DISABLE2 HWREG32(IRQ_BASE + 0x20) +#define IRQ_DISABLE_BASIC HWREG32(IRQ_BASE + 0x24) + +/* + * System Timer + */ +#define STIMER_BASE (PER_BASE + 0x3000) +#define STIMER_CS HWREG32(STIMER_BASE + 0x00) +#define STIMER_CLO HWREG32(STIMER_BASE + 0x04) +#define STIMER_CHI HWREG32(STIMER_BASE + 0x08) +#define STIMER_C0 HWREG32(STIMER_BASE + 0x0C) +#define STIMER_C1 HWREG32(STIMER_BASE + 0x10) +#define STIMER_C2 HWREG32(STIMER_BASE + 0x14) +#define STIMER_C3 HWREG32(STIMER_BASE + 0x18) + +/* + * ARM Timer + */ +#define ARM_TIMER_BASE (PER_BASE + 0xB000) + +#define ARM_TIMER_LOAD HWREG32(ARM_TIMER_BASE + 0x400) +#define ARM_TIMER_VALUE HWREG32(ARM_TIMER_BASE + 0x404) +#define ARM_TIMER_CTRL HWREG32(ARM_TIMER_BASE + 0x408) +#define ARM_TIMER_IRQCLR HWREG32(ARM_TIMER_BASE + 0x40C) +#define ARM_TIMER_RAWIRQ HWREG32(ARM_TIMER_BASE + 0x410) +#define ARM_TIMER_MASKIRQ HWREG32(ARM_TIMER_BASE + 0x414) +#define ARM_TIMER_RELOAD HWREG32(ARM_TIMER_BASE + 0x418) +#define ARM_TIMER_PREDIV HWREG32(ARM_TIMER_BASE + 0x41C) +#define ARM_TIMER_CNTR HWREG32(ARM_TIMER_BASE + 0x420) + +/* + * Core Timer + */ +#define CTIMER_CTL HWREG32(PER_BASE_40000000 + 0x00) /* Control register */ +#define CTIMER_PRE HWREG32(PER_BASE_40000000 + 0x08) /* Core timer prescaler */ +#define CTIMER_LS32B HWREG32(PER_BASE_40000000 + 0x1C) /* Core timer access LS 32 bits */ +#define CTIMER_MS32B HWREG32(PER_BASE_40000000 + 0x20) /* Core timer access MS 32 bits */ + +/* + * ARM Core Timer + */ +#define C0TIMER_INTCTL HWREG32(PER_BASE_40000000 + 0x40) /* Core0 timers Interrupt control */ +#define C1TIMER_INTCTL HWREG32(PER_BASE_40000000 + 0x44) /* Core1 timers Interrupt control */ +#define C2TIMER_INTCTL HWREG32(PER_BASE_40000000 + 0x48) /* Core2 timers Interrupt control */ +#define C3TIMER_INTCTL HWREG32(PER_BASE_40000000 + 0x4C) /* Core3 timers Interrupt control */ + +/* + * ARM Core Mailbox interrupt + */ +#define C0MB_INTCTL HWREG32(PER_BASE_40000000 + 0x50) /* Core0 Mailboxes Interrupt control */ +#define C1MB_INTCTL HWREG32(PER_BASE_40000000 + 0x54) /* Core1 Mailboxes Interrupt control */ +#define C2MB_INTCTL HWREG32(PER_BASE_40000000 + 0x58) /* Core2 Mailboxes Interrupt control */ +#define C3MB_INTCTL HWREG32(PER_BASE_40000000 + 0x5C) /* Core3 Mailboxes Interrupt control */ + +/* + * ARM Core IRQ/FIQ status + */ +#define C0_IRQSOURCE HWREG32(PER_BASE_40000000 + 0x60) /* Core0 IRQ Source */ +#define C1_IRQSOURCE HWREG32(PER_BASE_40000000 + 0x64) /* Core1 IRQ Source */ +#define C2_IRQSOURCE HWREG32(PER_BASE_40000000 + 0x68) /* Core2 IRQ Source */ +#define C3_IRQSOURCE HWREG32(PER_BASE_40000000 + 0x6C) /* Core3 IRQ Source */ +#define C0_FIQSOURCE HWREG32(PER_BASE_40000000 + 0x70) /* Core0 FIQ Source */ +#define C1_FIQSOURCE HWREG32(PER_BASE_40000000 + 0x74) /* Core1 FIQ Source */ +#define C2_FIQSOURCE HWREG32(PER_BASE_40000000 + 0x78) /* Core2 FIQ Source */ +#define C3_FIQSOURCE HWREG32(PER_BASE_40000000 + 0x7C) /* Core3 FIQ Source */ + +#define IRQ_ARM_TIMER 0 +#define IRQ_ARM_MAILBOX 1 +#define IRQ_ARM_DB0 2 +#define IRQ_ARM_DB1 3 +#define IRQ_ARM_GPU0_HALT 4 +#define IRQ_ARM_GPU1_HALT 5 +#define IRQ_ARM_ILLEGAL_ACC1 6 +#define IRQ_ARM_ILLEGAL_ACC0 7 + +#define IRQ_AUX 29 +#define IRQ_IIC_SPI_SLV 43 +#define IRQ_PWA0 45 +#define IRQ_PWA1 46 +#define IRQ_SMI 48 +#define IRQ_GPIO0 49 +#define IRQ_GPIO1 50 +#define IRQ_GPIO2 51 +#define IRQ_GPIO3 52 +#define IRQ_IIC 53 +#define IRQ_SPI 54 +#define IRQ_PCM 55 +#define IRQ_UART 57 + +#endif + diff --git a/bsp/raspi2/driver/board.c b/bsp/raspi2/driver/board.c new file mode 100644 index 0000000000..30f8cd93a1 --- /dev/null +++ b/bsp/raspi2/driver/board.c @@ -0,0 +1,90 @@ +/* + * File : board.c + * This file is part of RT-Thread RTOS + * 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: + * Date Author Notes + */ + +#include <rthw.h> +#include <rtthread.h> + +#include "board.h" +#include "drv_uart.h" + +void rt_hw_timer_isr(int vector, void *parameter) +{ + ARM_TIMER_IRQCLR = 0; + + rt_tick_increase(); +} + +int rt_hw_timer_init(void) +{ + /* timer_clock = apb_clock/(pre_divider + 1) */ + ARM_TIMER_PREDIV = (250 - 1); + + ARM_TIMER_RELOAD = 0; + ARM_TIMER_LOAD = 0; + ARM_TIMER_IRQCLR = 0; + ARM_TIMER_CTRL = 0; + + ARM_TIMER_RELOAD = 10000; + ARM_TIMER_LOAD = 10000; + + /* 23-bit counter, enable interrupt, enable timer */ + ARM_TIMER_CTRL = (1 << 1) | (1 << 5) | (1 << 7); + + rt_hw_interrupt_install(IRQ_ARM_TIMER, rt_hw_timer_isr, RT_NULL, "tick"); + rt_hw_interrupt_umask(IRQ_ARM_TIMER); + + return 0; +} + +void vector_copy(void) +{ + rt_memcpy((void*)0x0, (void*)0x8000, 64); +} + +void rt_hw_board_init(void) +{ + /* initialize hardware interrupt */ + rt_hw_interrupt_init(); + vector_copy(); + + /* initialize uart */ + rt_hw_uart_init(); + +#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(); + +#ifdef RT_USING_COMPONENTS_INIT + rt_components_board_init(); +#endif +} diff --git a/bsp/raspi2/driver/board.h b/bsp/raspi2/driver/board.h new file mode 100644 index 0000000000..92ef5de76c --- /dev/null +++ b/bsp/raspi2/driver/board.h @@ -0,0 +1,42 @@ +/* + * File : board.h + * This file is part of RT-Thread RTOS + * 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: + * Date Author Notes + * 2017-5-30 Bernard the first version + */ + +#ifndef BOARD_H__ +#define BOARD_H__ + +#include <stdint.h> + +#include <rthw.h> +#include <bcm283x.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*)(0x0 + 4 * 1024 * 1024) + +void rt_hw_board_init(void); + +#endif + diff --git a/bsp/raspi2/driver/drv_gpio.c b/bsp/raspi2/driver/drv_gpio.c new file mode 100644 index 0000000000..a371d476d3 --- /dev/null +++ b/bsp/raspi2/driver/drv_gpio.c @@ -0,0 +1,76 @@ +/* + * File : drv_gpio.c + * This file is part of RT-Thread RTOS + * 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: + * Date Author Notes + */ + +#include <rtdevice.h> +#include <rtthread.h> +#include "drv_gpio.h" + +static void hw_pin_mode(struct rt_device *device, rt_base_t pin, rt_base_t mode) +{ + return ; +} + +static void hw_pin_write(struct rt_device *device, rt_base_t pin, rt_base_t value) +{ + return ; +} + +static int hw_pin_read(struct rt_device *device, rt_base_t pin) +{ + return 0; +} + +static rt_err_t hw_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 hw_pin_detach_irq(struct rt_device *device, rt_int32_t pin) +{ + return RT_EOK; +} + +static rt_err_t hw_pin_irq_enable(struct rt_device *device, rt_base_t pin, rt_uint32_t enabled) +{ + return RT_EOK; +} + +struct rt_pin_ops _hw_pin_ops = +{ + hw_pin_mode, + hw_pin_write, + hw_pin_read, + + hw_pin_attach_irq, + hw_pin_detach_irq, + hw_pin_irq_enable +}; + +int hw_gpio_init(void) +{ + rt_device_pin_register("gpio", &_hw_pin_ops , RT_NULL); + + return 0; +} +INIT_BOARD_EXPORT(hw_gpio_init); diff --git a/bsp/raspi2/driver/drv_gpio.h b/bsp/raspi2/driver/drv_gpio.h new file mode 100644 index 0000000000..87e9242796 --- /dev/null +++ b/bsp/raspi2/driver/drv_gpio.h @@ -0,0 +1,29 @@ +/* + * File : drv_gpio.h + * This file is part of RT-Thread RTOS + * 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: + * Date Author Notes + */ + +#ifndef DRV_GPIO_H__ +#define DRV_GPIO_H__ + +int hw_gpio_init(void); + +#endif diff --git a/bsp/raspi2/driver/drv_uart.c b/bsp/raspi2/driver/drv_uart.c new file mode 100644 index 0000000000..de7b987c2a --- /dev/null +++ b/bsp/raspi2/driver/drv_uart.c @@ -0,0 +1,199 @@ +/* + * File : drv_uart.c + * This file is part of RT-Thread RTOS + * 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: + * Date Author Notes + * 2018/5/5 Bernard The first version + */ + +#include <rthw.h> +#include <rtthread.h> +#include <rtdevice.h> + +#include "board.h" +#include "drv_uart.h" + +#include <rtdevice.h> + +#define AUX_BASE (0x3F000000 + 0x215000) + +struct hw_uart_device +{ + rt_uint32_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; + + RT_ASSERT(serial != RT_NULL); + uart = (struct hw_uart_device *)serial->parent.user_data; + + if (uart->hw_base == AUX_BASE) + { + uint32_t value; + + /* GPIO function set */ + value = GPIO_GPFSEL1; + value &= ~(7<<12); /* GPIO14 */ + value |= 2<<12 ; /* ALT5 */ + value &= ~(7<<15); /* GPIO15 */ + value |= 2<<15 ; /* ALT5 */ + GPIO_GPFSEL1 = value; + + /* PullUD disable */ + GPIO_GPPUD = 0; + GPIO_GPPUDCLK0 = (1 << 14) | (1 << 15); + GPIO_GPPUDCLK0 = 0; + + AUX_ENABLES(uart->hw_base) = 1; /* Enable UART1 */ + AUX_MU_IER_REG(uart->hw_base) = 0; /* Disable interrupt */ + AUX_MU_CNTL_REG(uart->hw_base) = 0; /* Disable Transmitter and Receiver */ + AUX_MU_LCR_REG(uart->hw_base) = 3; /* Works in 8-bit mode */ + AUX_MU_MCR_REG(uart->hw_base) = 0; /* Disable RTS */ + AUX_MU_IIR_REG(uart->hw_base) = 0xC6; /* Enable FIFO, Clear FIFO */ + AUX_MU_BAUD_REG(uart->hw_base) = 270; /* 115200 = system clock 250MHz / (8 * (baud + 1)), baud = 270 */ + AUX_MU_CNTL_REG(uart->hw_base) = 3; /* Enable Transmitter and Receiver */ + } + + 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 */ + AUX_MU_IER_REG(uart->hw_base) = 0x0; + rt_hw_interrupt_mask(uart->irqno); + break; + + case RT_DEVICE_CTRL_SET_INT: + /* enable rx irq */ + AUX_MU_IER_REG(uart->hw_base) = 0x1; + 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 (!(AUX_MU_LSR_REG(uart->hw_base) & 0x20)); + AUX_MU_IO_REG(uart->hw_base) = 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 ((AUX_MU_LSR_REG(uart->hw_base) & 0x01)) + { + ch = AUX_MU_IO_REG(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); +} + +#ifdef RT_USING_UART0 +/* UART device driver structure */ +static struct hw_uart_device _uart0_device = +{ + RPI_UART0_BASE, + IRQ_PBA8_UART0, +}; +static struct rt_serial_device _serial0; +#endif + +#ifdef RT_USING_UART1 +/* UART1 device driver structure */ +static struct hw_uart_device _uart1_device = +{ + AUX_BASE, + IRQ_AUX, +}; +static struct rt_serial_device _serial1; +#endif + +int rt_hw_uart_init(void) +{ + struct hw_uart_device *uart; + struct serial_configure config = RT_SERIAL_CONFIG_DEFAULT; + +#ifdef RT_USING_UART0 + uart = &_uart0_device; + + _serial0.ops = &_uart_ops; + _serial0.config = config; + + /* register UART1 device */ + rt_hw_serial_register(&_serial0, "uart0", + RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX, + uart); + rt_hw_interrupt_install(uart->irqno, rt_hw_uart_isr, &_serial0, "uart0"); +#endif + +#ifdef RT_USING_UART1 + uart = &_uart1_device; + _serial1.ops = &_uart_ops; + _serial1.config = config; + + /* register UART1 device */ + rt_hw_serial_register(&_serial1, "uart1", + RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX, uart); + /* enable Rx and Tx of UART */ + rt_hw_interrupt_install(uart->irqno, rt_hw_uart_isr, &_serial1, "uart1"); +#endif + + return 0; +} diff --git a/bsp/raspi2/driver/drv_uart.h b/bsp/raspi2/driver/drv_uart.h new file mode 100644 index 0000000000..e489eaae65 --- /dev/null +++ b/bsp/raspi2/driver/drv_uart.h @@ -0,0 +1,56 @@ +/* + * File : drv_uart.h + * This file is part of RT-Thread RTOS + * 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: + * Date Author Notes + * 2017-5-30 Bernard the first version + */ + + +#ifndef DRV_UART_H__ +#define DRV_UART_H__ + +/* + * Auxiliary + */ +#define AUX_IRQ(BASE) HWREG32(BASE + 0x00) /* Auxiliary Interrupt status 3 */ +#define AUX_ENABLES(BASE) HWREG32(BASE + 0x04) /* Auxiliary enables 3bit */ +#define AUX_MU_IO_REG(BASE) HWREG32(BASE + 0x40) /* Mini Uart I/O Data 8bit */ +#define AUX_MU_IER_REG(BASE) HWREG32(BASE + 0x44) /* Mini Uart Interrupt Enable 8bit */ +#define AUX_MU_IIR_REG(BASE) HWREG32(BASE + 0x48) /* Mini Uart Interrupt Identify 8bit */ +#define AUX_MU_LCR_REG(BASE) HWREG32(BASE + 0x4C) /* Mini Uart Line Control 8bit */ +#define AUX_MU_MCR_REG(BASE) HWREG32(BASE + 0x50) /* Mini Uart Modem Control 8bit */ +#define AUX_MU_LSR_REG(BASE) HWREG32(BASE + 0x54) /* Mini Uart Line Status 8bit */ +#define AUX_MU_MSR_REG(BASE) HWREG32(BASE + 0x58) /* Mini Uart Modem Status 8bit */ +#define AUX_MU_SCRATCH(BASE) HWREG32(BASE + 0x5C) /* Mini Uart Scratch 8bit */ +#define AUX_MU_CNTL_REG(BASE) HWREG32(BASE + 0x60) /* Mini Uart Extra Control 8bit */ +#define AUX_MU_STAT_REG(BASE) HWREG32(BASE + 0x64) /* Mini Uart Extra Status 32bit */ +#define AUX_MU_BAUD_REG(BASE) HWREG32(BASE + 0x68) /* Mini Uart Baudrate 16bit */ +#define AUX_SPI0_CNTL0_REG(BASE) HWREG32(BASE + 0x80) /* SPI 1 Control register 0 32bit */ +#define AUX_SPI0_CNTL1_REG(BASE) HWREG32(BASE + 0x84) /* SPI 1 Control register 1 8bit */ +#define AUX_SPI0_STAT_REG(BASE) HWREG32(BASE + 0x88) /* SPI 1 Status 32bit */ +#define AUX_SPI0_IO_REG(BASE) HWREG32(BASE + 0x90) /* SPI 1 Data 32bit */ +#define AUX_SPI0_PEEK_REG(BASE) HWREG32(BASE + 0x94) /* SPI 1 Peek 16bit */ +#define AUX_SPI1_CNTL0_REG(BASE) HWREG32(BASE + 0xC0) /* SPI 2 Control register 0 32bit */ +#define AUX_SPI1_CNTL1_REG(BASE) HWREG32(BASE + 0xC4) /* SPI 2 Control register 1 8bit */ + +int rt_hw_uart_init(void); + +#endif /* DRV_UART_H__ */ + diff --git a/bsp/raspi2/link.lds b/bsp/raspi2/link.lds new file mode 100644 index 0000000000..75e0845943 --- /dev/null +++ b/bsp/raspi2/link.lds @@ -0,0 +1,149 @@ +/* + * 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 + */ + +OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm") +OUTPUT_ARCH(arm) + +SECTIONS +{ + . = 0x00008000; + . = ALIGN(4); + .text : + { + *(.vectors) + *(.text) /* remaining code */ + *(.text.*) /* remaining code */ + + *(.rodata) /* read-only data (constants) */ + *(.rodata*) + *(.glue_7) + *(.glue_7t) + *(.gnu.linkonce.t*) + + /* section information for finsh shell */ + . = ALIGN(4); + __fsymtab_start = .; + KEEP(*(FSymTab)) + __fsymtab_end = .; + . = ALIGN(4); + __vsymtab_start = .; + KEEP(*(VSymTab)) + __vsymtab_end = .; + . = ALIGN(4); + + /* section information for initial. */ + . = ALIGN(4); + __rt_init_start = .; + KEEP(*(SORT(.rti_fn*))) + __rt_init_end = .; + . = ALIGN(4); + + . = ALIGN(4); + _etext = .; + } + + .eh_frame_hdr : + { + *(.eh_frame_hdr) + *(.eh_frame_entry) + } + .eh_frame : ONLY_IF_RO { KEEP (*(.eh_frame)) } + + . = ALIGN(4); + .data : + { + *(.data) + *(.data.*) + + *(.data1) + *(.data1.*) + + . = ALIGN(8); + _gp = ABSOLUTE(.); /* Base of small data */ + + *(.sdata) + *(.sdata.*) + } + + . = ALIGN(4); + .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(4); + .bss : + { + PROVIDE(__bss_start = .); + *(.bss) + *(.bss.*) + *(.dynbss) + *(COMMON) + 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) } +} diff --git a/bsp/raspi2/qemu-dbg.bat b/bsp/raspi2/qemu-dbg.bat new file mode 100644 index 0000000000..036c3ac0c1 --- /dev/null +++ b/bsp/raspi2/qemu-dbg.bat @@ -0,0 +1 @@ +qemu-system-arm -M raspi2 --kernel rtthread.elf -serial vc -serial stdio -S -s
\ No newline at end of file diff --git a/bsp/raspi2/qemu.bat b/bsp/raspi2/qemu.bat new file mode 100644 index 0000000000..e615b5dcdd --- /dev/null +++ b/bsp/raspi2/qemu.bat @@ -0,0 +1 @@ +qemu-system-arm -M raspi2 --kernel rtthread.elf -serial vc -serial stdio
\ No newline at end of file diff --git a/bsp/raspi2/rtconfig.h b/bsp/raspi2/rtconfig.h new file mode 100644 index 0000000000..9cbe54aa10 --- /dev/null +++ b/bsp/raspi2/rtconfig.h @@ -0,0 +1,152 @@ +#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_DEBUG +#define RT_USING_OVERFLOW_CHECK +#define RT_DEBUG_INIT 0 +#define RT_DEBUG_THREAD 0 +#define RT_USING_HOOK +#define IDLE_THREAD_STACK_SIZE 1024 + +/* 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 "uart1" +#define ARCH_ARM +#define ARCH_ARM_CORTEX_A +#define ARCH_ARM_CORTEX_A7 + +/* RT-Thread Components */ + +#define RT_USING_COMPONENTS_INIT +#define RT_USING_USER_MAIN +#define RT_MAIN_THREAD_STACK_SIZE 2048 + +/* 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_USING_MSH_ONLY + +/* Device virtual file system */ + + +/* Device Drivers */ + +#define RT_USING_DEVICE_IPC +#define RT_USING_SERIAL +#define RT_USING_PIN + +/* Using USB */ + + +/* POSIX layer and C standard library */ + +#define RT_USING_LIBC + +/* Network stack */ + +/* light weight TCP/IP stack */ + + +/* Modbus master and slave stack */ + + +/* VBUS(Virtual Software BUS) */ + + +/* Utilities */ + + +/* RT-Thread online packages */ + +/* IoT - internet of things */ + + +/* Wi-Fi */ + +/* Marvell WiFi */ + + +/* Wiced WiFi */ + + +/* security packages */ + + +/* language packages */ + + +/* multimedia packages */ + + +/* tools packages */ + + +/* system packages */ + +/* RT-Thread GUI Engine */ + + +/* peripheral libraries and drivers */ + + +/* miscellaneous packages */ + + +/* sample package */ + + +/* example package: hello */ + + +/* Privated Packages of RealThread */ + + +/* Network Utilities */ + + +/* Test Packages of RealThread */ + +#define BCM2836_SOC +#define RT_USING_UART1 + +#endif diff --git a/bsp/raspi2/rtconfig.py b/bsp/raspi2/rtconfig.py new file mode 100644 index 0000000000..6e8a8ccb7c --- /dev/null +++ b/bsp/raspi2/rtconfig.py @@ -0,0 +1,53 @@ +import os + +# toolchains options +ARCH ='arm' +CPU ='cortex-a7' +CROSS_TOOL ='gcc' + +if os.getenv('RTT_ROOT'): + RTT_ROOT = os.getenv('RTT_ROOT') +else: + RTT_ROOT = r'rt-thread' + +if os.getenv('RTT_CC'): + CROSS_TOOL = os.getenv('RTT_CC') + +PLATFORM = 'gcc' +EXEC_PATH = r'/opt/gcc-arm-none-eabi-4_8-2014q1_gri/bin' + +if os.getenv('RTT_EXEC_PATH'): + EXEC_PATH = os.getenv('RTT_EXEC_PATH') + +BUILD = 'debug' + +if PLATFORM == 'gcc': + # toolchains + PREFIX = 'arm-none-eabi-' + 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 = ' -mfpu=neon-vfpv4 -mfloat-abi=softfp -march=armv7-a -mtune=cortex-a7 -ftree-vectorize -ffast-math' + 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 kernel7.img\n' + SIZE + ' $TARGET \n' |