foc: add support for Raspberry Pi 3

Ref #3260

repos/base-foc/config/rpi3.kernel

@@ -0,0 +1,107 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Fiasco configuration
+#
+CONFIG_HAS_FPU_OPTION=y
+CONFIG_HAS_VIRT_OBJ_SPACE_OPTION=y
+CONFIG_HAS_SERIAL_OPTION=y
+CONFIG_HAS_JDB_GZIP_OPTION=y
+CONFIG_HAS_MP_OPTION=y
+CONFIG_HAS_CPU_VIRT=y
+
+#
+# Target configuration
+#
+# CONFIG_IA32 is not set
+# CONFIG_AMD64 is not set
+CONFIG_ARM=y
+# CONFIG_MIPS is not set
+# CONFIG_PF_INTEGRATOR is not set
+# CONFIG_PF_REALVIEW is not set
+# CONFIG_PF_SUNXI is not set
+CONFIG_PF_BCM283X=y
+# CONFIG_PF_SA1100 is not set
+# CONFIG_PF_XSCALE is not set
+# CONFIG_PF_ARMADA38X is not set
+# CONFIG_PF_KIRKWOOD is not set
+# CONFIG_PF_TEGRA is not set
+# CONFIG_PF_LAYERSCAPE is not set
+# CONFIG_PF_IMX is not set
+# CONFIG_PF_ARM_VIRT is not set
+# CONFIG_PF_RCAR3 is not set
+# CONFIG_PF_EXYNOS is not set
+# CONFIG_PF_S3C2410 is not set
+# CONFIG_PF_OMAP is not set
+# CONFIG_PF_ZYNQ is not set
+# CONFIG_PF_ZYNQMP is not set
+CONFIG_BSP_NAME="bcm283x"
+CONFIG_HAS_64BIT=y
+CONFIG_CAN_ARM_CPU_CORTEX_A53=y
+CONFIG_ARM_V6PLUS=y
+CONFIG_ARM_V7PLUS=y
+CONFIG_ARM_V8=y
+# CONFIG_PF_BCM283X_RPI1 is not set
+# CONFIG_PF_BCM283X_RPI2 is not set
+CONFIG_PF_BCM283X_RPI3=y
+CONFIG_ABI_VF=y
+CONFIG_ARM_CORTEX_A53=y
+# CONFIG_CPU_VIRT is not set
+CONFIG_FPU=y
+# CONFIG_ARM_ALIGNMENT_CHECK is not set
+CONFIG_ARM_EM_STD=y
+# CONFIG_ARM_SMC_USER is not set
+CONFIG_BIT64_CHOICE=y
+CONFIG_ARM_LPAE=y
+# CONFIG_ARM_CPU_ERRATA is not set
+
+#
+# Kernel options
+#
+CONFIG_MP=y
+CONFIG_MP_MAX_CPUS=4
+CONFIG_CONTEXT_8K=y
+# CONFIG_FINE_GRAINED_CPUTIME is not set
+CONFIG_SCHED_FIXED_PRIO=y
+# CONFIG_SCHED_WFQ is not set
+# CONFIG_SCHED_FP_WFQ is not set
+# CONFIG_DISABLE_VIRT_OBJ_SPACE is not set
+CONFIG_VIRT_OBJ_SPACE=y
+
+#
+# Debugging
+#
+CONFIG_INLINE=y
+# CONFIG_NDEBUG is not set
+# CONFIG_NO_FRAME_PTR is not set
+# CONFIG_STACK_DEPTH is not set
+# CONFIG_LIST_ALLOC_SANITY is not set
+CONFIG_SERIAL=y
+CONFIG_JDB=y
+CONFIG_JDB_LOGGING=y
+CONFIG_JDB_GZIP=y
+# CONFIG_JDB_ACCOUNTING is not set
+# CONFIG_WARN_NONE is not set
+CONFIG_WARN_WARNING=y
+# CONFIG_WARN_ANY is not set
+
+#
+# ARM debugging options
+#
+# CONFIG_VMEM_ALLOC_TEST is not set
+# CONFIG_DEBUG_KERNEL_PAGE_FAULTS is not set
+
+#
+# Compiling
+#
+CONFIG_CC="gcc"
+CONFIG_CXX="g++"
+CONFIG_HOST_CC="gcc"
+CONFIG_HOST_CXX="g++"
+# CONFIG_MAINTAINER_MODE is not set
+CONFIG_LABEL=""
+CONFIG_EXPERIMENTAL=y
+CONFIG_PERF_CNT=y
+CONFIG_BIT64=y
+CONFIG_WARN_LEVEL=1
+CONFIG_XARCH="arm"
+CONFIG_ABI="vf"

repos/base-foc/config/rpi3.user

@@ -0,0 +1,49 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# L4Re Configuration
+#
+CONFIG_ARCH_ENABLE_STACK_PROTECTOR=y
+# CONFIG_BUILD_ARCH_amd64 is not set
+# CONFIG_BUILD_ARCH_arm is not set
+CONFIG_BUILD_ARCH_arm64=y
+# CONFIG_BUILD_ARCH_mips is not set
+# CONFIG_BUILD_ARCH_ppc32 is not set
+# CONFIG_BUILD_ARCH_sparc is not set
+# CONFIG_BUILD_ARCH_x86 is not set
+CONFIG_BUILD_ARCH="arm64"
+CONFIG_BUILD_ABI_l4f=y
+CONFIG_BUILD_ABI="l4f"
+CONFIG_CPU="armv8a"
+CONFIG_CPU_ARM_ARMV8A=y
+# CONFIG_PLATFORM_TYPE_ls1012afrdm is not set
+# CONFIG_PLATFORM_TYPE_arm_virt is not set
+# CONFIG_PLATFORM_TYPE_rv_vexpress_a15 is not set
+CONFIG_PLATFORM_TYPE_rpi_b=y
+# CONFIG_PLATFORM_TYPE_rcar3_m3 is not set
+# CONFIG_PLATFORM_TYPE_zynqmp is not set
+# CONFIG_PLATFORM_TYPE_custom is not set
+CONFIG_PLATFORM_TYPE="rpi_b"
+# CONFIG_USE_DROPS_STDDIR is not set
+# CONFIG_USE_DICE is not set
+CONFIG_DROPS_STDDIR="/path/to/l4re"
+CONFIG_DROPS_INSTDIR="/path/to/l4re"
+CONFIG_BID_COLORED_PHASES=y
+
+#
+# Building
+#
+CONFIG_YACC="yacc"
+CONFIG_LEX="flex"
+CONFIG_CTAGS="ctags"
+CONFIG_ETAGS="etags"
+CONFIG_HAVE_LDSO=y
+CONFIG_INT_CPP_NAME_SWITCH=y
+CONFIG_INT_LD_NAME_SWITCH=y
+# CONFIG_BID_STRIP_PROGS is not set
+CONFIG_BID_GCC_OMIT_FP=y
+CONFIG_BID_GCC_ENABLE_STACK_PROTECTOR=y
+# CONFIG_BID_GCC_STACK_PROTECTOR_ALL is not set
+CONFIG_BID_GCC_STACK_PROTECTOR=y
+# CONFIG_BID_BUILD_DOC is not set
+# CONFIG_RELEASE_MODE is not set
+CONFIG_MAKECONFS_ADD=""

repos/base-foc/lib/import/import-syscall-foc.mk

@@ -13,6 +13,12 @@ ifeq ($(filter-out $(SPECS),arm),)
   CC_OPT  += -DARCH_arm
 endif # ARM
 
+ifeq ($(filter-out $(SPECS),arm_64),)
+  INC_DIR += $(L4_INCLUDE_DIR)/arm64/l4f $(L4_INCLUDE_DIR)/arm64
+  CC_OPT  += -DARCH_arm64
+endif # ARM
+
+
 INC_DIR += $(L4_INCLUDE_DIR)/l4f $(L4_INCLUDE_DIR)
 CC_OPT += -DCONFIG_L4_CALL_SYSCALLS
 

repos/base-foc/lib/mk/l4_pkg.inc

@@ -24,6 +24,11 @@ ifeq ($(filter-out $(SPECS),arm_v6),)
 	L4_BUILD_ARCH := arm_armv6
 endif
 
+ifeq ($(filter-out $(SPECS),arm_v8),)
+	L4_BUILD_ARCH := arm_armv8a
+endif
+
+
 ifeq ($(L4_BUILD_ARCH),)
 $(error L4_BUILD_ARCH undefined, architecture not supported)
 endif

repos/base-foc/lib/mk/spec/arm/base-foc.mk

@@ -1,6 +1,3 @@
-# override default stack-area location
-INC_DIR += $(REP_DIR)/src/include/spec/arm
-
 LIBS += timeout-arm
 
 include $(REP_DIR)/lib/mk/base-foc.inc

repos/base-foc/lib/mk/spec/arm_64/base-foc.mk

@@ -0,0 +1,3 @@
+LIBS += timeout
+
+include $(REP_DIR)/lib/mk/base-foc.inc

repos/base-foc/lib/mk/spec/arm_64/core-foc.mk

@@ -0,0 +1,8 @@
+REQUIRES += arm_64
+SRC_CC   += spec/arm/platform_arm.cc \
+            spec/arm_64/ipc_pager.cc \
+            platform_services.cc
+
+include $(REP_DIR)/lib/mk/core-foc.inc
+
+vpath platform_services.cc $(GEN_CORE_DIR)

repos/base-foc/lib/mk/spec/arm_64/ld-foc.mk

@@ -0,0 +1,3 @@
+BASE_LIBS += base-foc-common base-foc
+
+include $(BASE_DIR)/lib/mk/spec/arm_64/ld-platform.inc

repos/base-foc/lib/mk/spec/arm_64/startup-foc.mk

@@ -0,0 +1,5 @@
+LIBS += syscall-foc
+
+include $(BASE_DIR)/lib/mk/startup.inc
+
+vpath crt0.s $(BASE_DIR)/src/lib/startup/spec/arm_64

repos/base-foc/lib/mk/spec/rpi3/kernel-foc.mk

@@ -0,0 +1,3 @@
+KERNEL_CONFIG := $(REP_DIR)/config/rpi3.kernel
+
+include $(REP_DIR)/lib/mk/kernel-foc.inc

repos/base-foc/lib/mk/spec/rpi3/syscall-foc.mk

@@ -0,0 +1,18 @@
+L4_CONFIG := $(call select_from_repositories,config/rpi3.user)
+
+L4_BIN_DIR := $(LIB_CACHE_DIR)/syscall-foc/rpi3-build/bin/arm_armv8
+
+L4_INC_TARGETS = arm64/l4/sys \
+                 arm64/l4f/l4/sys \
+                 arm64/l4/vcpu
+
+CC_OPT += -Iinclude/arm64
+
+include $(REP_DIR)/lib/mk/syscall-foc.inc
+
+SRC_C += utcb.c
+
+utcb.c:
+	$(VERBOSE)ln -sf $(L4_BUILD_DIR)/source/pkg/l4re-core/l4sys/lib/src/utcb.c
+
+utcb.c: $(PKG_TAGS)

repos/base-foc/src/core/spec/arm_64/ipc_pager.cc

@@ -0,0 +1,51 @@
+/*
+ * \brief  Fiasco.OC pager framework
+ * \author Stefan Kalkowski
+ * \date   2011-09-08
+ *
+ * ARM 64-bit specific parts, when handling cpu-exceptions.
+ */
+
+/*
+ * Copyright (C) 2011-2017 Genode Labs GmbH
+ *
+ * This file is part of the Genode OS framework, which is distributed
+ * under the terms of the GNU Affero General Public License version 3.
+ */
+
+/* core includes */
+#include <ipc_pager.h>
+
+namespace Fiasco {
+#include <l4/sys/utcb.h>
+}
+
+enum Exceptions { EX_REGS = 0x500000 };
+
+
+void Genode::Ipc_pager::_parse_exception()
+{
+	if (Fiasco::l4_utcb_exc()->err == EX_REGS)
+		_type = PAUSE;
+	else
+		_type = EXCEPTION;
+}
+
+
+void Genode::Ipc_pager::get_regs(Foc_thread_state &state) const
+{
+	state.ip   = _regs.pc;
+	state.sp   = _regs.sp;
+}
+
+
+void Genode::Ipc_pager::set_regs(Foc_thread_state const &state)
+{
+	_regs.pc    = state.ip;
+	_regs.sp    = state.sp;
+}
+
+bool Genode::Ipc_pager::exec_fault() const
+{
+	return (_pf_addr & 4) && !(_pf_addr & 1);
+}

tool/run/boot_dir/foc

@@ -12,6 +12,7 @@ proc core_link_address { } {
 	if {[have_spec x86      ]} { return "0x01100000" }
 	if {[have_spec arndale  ]} { return "0x80100000" }
 	if {[have_spec rpi      ]} { return "0x00800000" }
+	if {[have_spec rpi3     ]} { return "0x00800000" }
 	if {[have_spec panda    ]} { return "0xa0000000" }
 	if {[have_spec pbxa9    ]} { return "0x76000000" }
 	if {[have_spec odroid_x2]} { return "0x80100000" }
@@ -51,6 +52,7 @@ proc l4_bin_dir { } {
 	if {[have_spec x86_64]}  { return "[l4_build_dir]/bin/amd64_K8" }
 	if {[have_spec arm_v7a]} { return "[l4_build_dir]/bin/arm_armv7a" }
 	if {[have_spec arm_v6]}  { return "[l4_build_dir]/bin/arm_armv6" }
+	if {[have_spec arm_v8]}  { return "[l4_build_dir]/bin/arm64_armv8a" }
 
 	puts stderr "Error: Cannot determine bin directory"
 	exit 1
@@ -211,8 +213,9 @@ proc run_boot_dir_arm { binaries } {
 #
 proc run_boot_dir {binaries} {
 
-	if {[have_spec x86]} { return [run_boot_dir_x86 $binaries] }
-	if {[have_spec arm]} { return [run_boot_dir_arm $binaries] }
+	if {[have_spec x86]}    { return [run_boot_dir_x86 $binaries] }
+	if {[have_spec arm]}    { return [run_boot_dir_arm $binaries] }
+	if {[have_spec arm_64]} { return [run_boot_dir_arm $binaries] }
 }
 
 

tool/run/image/uboot

@@ -39,9 +39,12 @@ proc run_image {elf_img} {
 		set compress_type gzip
 	}
 
+	set arch "arm"
+	if {[have_spec arm_64]} { set arch "arm64" }
+
 	# create uImage
 	set uboot_img [run_dir]/uImage
-	exec mkimage -A arm -O linux -T kernel -C $compress_type -a $load_addr \
+	exec mkimage -A $arch -O linux -T kernel -C $compress_type -a $load_addr \
 	             -e $entrypoint -d $bin_img$bin_ext $uboot_img
 	exec rm -rf $bin_img$bin_ext
 }

tool/run/power_on/qemu

@@ -53,6 +53,7 @@ proc run_power_on { } {
 	if {[have_spec x86_32]} { set qemu "qemu-system-i386" }
 	if {[have_spec x86_64]} { set qemu "qemu-system-x86_64" }
 	if {[have_spec arm]}    { set qemu "qemu-system-arm" }
+	if {[have_spec arm_64]} { set qemu "qemu-system-aarch64" }
 
 	#
 	# Only the x86_64 variant of Qemu provides the emulation of hardware
@@ -62,13 +63,19 @@ proc run_power_on { } {
 	if {[have_spec nova]} { set qemu "qemu-system-x86_64" }
 
 	#
-	# Redirect serial output to stdio, but only in graphics mode and no
-	# explicit configuration of serial interfaces is specified in the run
-	# script. The 'mon' prefix enables the access to the qemu console.
+	# Redirect serial output to stdio, but only when no explicit configuration
+	# of serial interfaces is specified in the run script.
+	# The 'mon' prefix enables the access to the qemu console.
 	#
-	if {![regexp -- {-nographic} $qemu_args dummy] &&
-	    ![regexp -- {-serial}    $qemu_args dummy]} {
-	    append qemu_args " -serial mon:stdio " }
+	if {![regexp -- {-serial} $qemu_args dummy]} {
+
+		#
+		# In the raspi3 model the first UART is never used as
+		# log output, but the second
+		#
+		if {[have_spec rpi3]} { append qemu_args " -serial null " }
+		append qemu_args " -serial mon:stdio "
+	}
 
 	# SVM virtualization is broken after $qemu_good_old and until before $qemu_good_new
 	# We use "-cpu phenom" when using VMs in Qemu
@@ -100,6 +107,7 @@ proc run_power_on { } {
 	}
 	if {[have_spec vpb926]} { append qemu_args " -M versatilepb     -m 128 " }
 	if {[have_spec zynq_qemu]}   { append qemu_args " -M xilinx-zynq-a9 -cpu cortex-a9 -m 256 " }
+	if {[have_spec rpi3]}   { append qemu_args " -M raspi3 -m 512 " }
 
 	# on x86, we support booting via pxe or iso/disk image
 	if {[have_spec x86]} {
@@ -131,7 +139,7 @@ proc run_power_on { } {
 	}
 
 	# on ARM, we supply the boot image as kernel
-	if {[have_spec arm]} { append qemu_args " -kernel [run_dir]/boot/image.elf " }
+	if {[have_spec arm] || [have_spec arm_v8]} { append qemu_args " -kernel [run_dir]/boot/image.elf " }
 
 	eval spawn $qemu $qemu_args
 	set qemu_spawn_id $spawn_id