Update to work on real hardware
This commit is contained in:
parent
85b0df56bb
commit
21a25ec4e8
4
Makefile
4
Makefile
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@ -1,4 +1,6 @@
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include Makevars.mk
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ROOT = ./
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include ${ROOT}Makevars.mk
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# Rules
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#
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11
Makevars.mk
11
Makevars.mk
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@ -3,6 +3,8 @@
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# Ilja Kartašov, 2019-11-29 17:38
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#
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include ${ROOT}kernel/config.mk
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BUILD_DIR ?= build/
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AARCH64_TOOLCHAIN ?= aarch64-linux-gnu
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@ -33,3 +35,12 @@ AARCH64_QEMU = \
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# -kernel /home/elias/git/rpi/boards/pi3/aarch64/uart02/kernel8.img \
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# vim:ft=make
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#
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CONFIG_CFLAGS = -D"CONFIG_ARCH=\"${CONFIG_ARCH}\""
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CONFIG_CFLAGS = -DCONFIG_ARM_TIMER=${CONFIG_ARM_TIMER}
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#ifeq (${CONFIG_HARDWARE}, rpi3)
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#CONFIG_CFLAGS += -DCONFIG_HARDWARE_RPI3=1
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#else ifeq (${CONFIG_HARDWARE}, qemu)
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#CONFIG_CFLAGS += -DCONFIG_HARDWARE_QEMU=1
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#endif
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14
README.md
14
README.md
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@ -1,4 +1,4 @@
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# Leos
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# LeOS
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Operating System for ARMv8 (aarch64) Architecture
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* [The Idea](#The Idea)
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@ -33,9 +33,9 @@ Early development is going for **Raspberry PI3** board and its emulation using
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## Documentation
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* [Project structure](docs/project-structure.md)
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* [Naming convention](docs/naming-convention.md)
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* [Task scheduling](docs/task-scheduling.md)
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* [Memory management](docs/memory-management.md)
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* [Coding style](docs/coding-style.md)
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* Task scheduling
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* Memory management
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## Compilation
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@ -56,7 +56,7 @@ To run Löwe OS on Raspberry PI3, follow these steps:
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1. Compile project and copy `build/kernel8.img` and `config.txt` files to
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Micro SD card
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2. Make sure latest boot code is installed on the SD card
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2. Make sure latest `bootcode.bin` and `start.elf` files are copied to the SD card
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3. Insert SD card into your Raspberry PI3 and power it up
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## Debug
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@ -72,8 +72,8 @@ easy as `make debug`.
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[x] Memory pages avalability bitmap
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[x] Interrupt vectors table
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[x] Basic task scheduler
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[ ] Context switching
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[ ] Memory Mapping Unit
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[x] Context switching
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[ ] MMU and entering user level
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2. Input/output:
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[ ] Graphical driver
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[ ] USB driver
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@ -0,0 +1,3 @@
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arm_control=0x200
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kernel_old=1
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disable_commandline_tags=1
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@ -0,0 +1,79 @@
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# LeOS Coding Style
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## Files names
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1. Only lower case
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2. Words separated with underscore:
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```
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aarch64/aarch64_boot.S
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```
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## Preprocessor macro constants
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1. Only upper case
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2. Words separated with underscore:
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```
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#define AARCH64_CORE0_TIMER_IRQCTL (*((uint32_t *) 0x40000040))
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```
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## Types
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1. Camel case started from upper case
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2. Do not typedef transparent structures
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3. Members of structre should be named in camel case started from lower case
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```
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struct Task {
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void *sp;
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void *stackStart;
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uint32_t pid;
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uint32_t stackSize;
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uint32_t lock;
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uint32_t counter;
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uint32_t cycles;
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int32_t priority;
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uint32_t state;
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char name[CONFIG_TASK_MAX_NAME_LEN + 1];
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struct Task *next;
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};
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```
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## Constants and variables
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1. Global constants and variablesmust be prefixed with `g_`
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2. Module (static) constants and variable must be prefixed `m_`
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3. Camel case
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```
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static struct Task *m_currentTask = NULL;
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```
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## Functions
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1. Camel case
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2. Prefix separated from function identifier by underscore
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3. Static functions may have no prefix
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4. Prefix always starts from capital letter
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5. Function identifier always starts from lower case verb
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```
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unsigned int
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AArch64_getEL(void);
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static struct Task *
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scheduleNext(void);
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```
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## Namespaces and prefixes
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1. Due to C has no native namespaces, prefixes should always be used
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2. Prefix should match with file name
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```
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/* file : task.h */
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void
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Task_initSheduler(void);
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```
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@ -0,0 +1,10 @@
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# Project Structure
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* `build/` - temporary output folder
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* `docs/` - documentation folder
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* `kernel/` - kernel source codes
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* `aarch64/` - core AArch64 architecture code
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* `drivers/` - code for various drivers
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* `leos/` - code of the core LeOS features
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* `Makefile` - kernel specific makefile
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* `Makefile` - root project makefile
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@ -1,6 +1,8 @@
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# environment
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include ../Makevars.mk
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ROOT = ../
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include ${ROOT}Makevars.mk
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# CFLAGS
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@ -65,5 +67,5 @@ $(BUILD_DIR)kernel.sym: $(BUILD_DIR)/kernel.elf
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$(BUILD_DIR)%.o: %
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$(info compiling file: $<)
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@mkdir -p $(dir ./$(BUILD_DIR)$<)
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$(AARCH64_CC) $(INCS) $(CFLAGS) -c $< -o $@
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$(AARCH64_CC) $(INCS) $(CFLAGS) $(CONFIG_CFLAGS) -c $< -o $@
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@ -125,13 +125,25 @@ die:
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.globl AArch64_startTask
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AArch64_startTask:
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bl Task_unlockScheduler
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blr x1
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mov x0, x20
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blr x21
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hang:
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/* todo: implement task exit here */
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WFE
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b hang
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.globl AArch64_getPState
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AArch64_getPState:
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mrs x23, NZCV
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mrs x3, DAIF
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orr x23, x23, x3
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mrs x3, CurrentEL
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lsr x3, x3, 0x02
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/* set third bit: todo: find out its real meaning (registers width?) */
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orr x3, x3, 0x04
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orr x0, x23, x3
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ret
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.globl AArch64_switchContext
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AArch64_switchContext:
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@ -157,6 +169,7 @@ AArch64_switchContext:
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mrs x3, DAIF
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orr x23, x23, x3
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mrs x3, CurrentEL
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lsr x3, x3, 0x02
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orr x23, x23, x3
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stp x30, x30, [sp, 16 * 15]
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@ -227,9 +240,11 @@ el1h_sync:
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el1h_irq:
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SAVE_REGISTERS
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mov x0, sp
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bl Task_setStackPointer
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bl IRQ_onInterrupt
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cbz x0, load_regs
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mov sp, x0 /* task context must be switched */
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bl Task_getStackPointer
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mov sp, x0
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load_regs:
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LOAD_REGISTERS
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eret
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@ -16,6 +16,7 @@
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#ifndef AARCH64_H_F3AA8888_CEB3_4C16_9835_C3F23B040BB5
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#define AARCH64_H_F3AA8888_CEB3_4C16_9835_C3F23B040BB5
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#include <leos/types.h>
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#include "aarch64_reg.h"
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#include "aarch64_irq.h"
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@ -46,6 +47,9 @@ AArch64_memzero(void *addr, unsigned long size);
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extern void
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AArch64_startTask(void *arg, void *callback);
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extern uint32_t
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AArch64_getPState(void);
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extern void
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AArch64_switchContext(void *currentTask, void *nextTask);
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@ -0,0 +1,7 @@
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# Target architecture (AARCH64)
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CONFIG_ARCH = AARCH64
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# Use ARM local timer (1/0)
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CONFIG_ARM_TIMER = 0
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-include config.dev.mk
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@ -18,38 +18,15 @@
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#include <leos/log.h>
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#include "timer.h"
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const unsigned int m_interval = 2000000;
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#if CONFIG_ARM_TIMER == 1
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const unsigned int m_interval = 500000000;
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#else
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const unsigned int m_interval = 200000;
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#endif
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unsigned int m_current = 0;
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#ifndef CONFIG_ARM_TIMER
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#define CONFIG_ARM_TIMER 1
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#endif
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#define TIMER_ENABLE ((1 << 31) | (1 << 29) | (1 << 28))
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#define TIMER_RELOAD 1
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/*
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* https://www.raspberrypi.org/forums/viewtopic.php?t=213393
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* The sequence on a real PI3 is
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* 1.) Route the local timer to a core register 0x40000024 (bits 0..2)
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* QA7_rev3.4.pdf page 18 ... say write 0 which is core 0
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*
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* 2.) Setup timer status control register 0x40000034 (all 32 bits)
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* QA7_rev3.4.pdf page 17 ... reload value 5000000 = like half sec, enable clock, enable interrupt
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* You can play with clock prescalers etc later.
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* 3.) Hit timer interrupt clear and reload register 0x40000038 (bits 30 & 31)
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* QA7_rev3.4.pdf page 18 ... write 1 to both bits which clears irq signal and loads value from above
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*
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* 4.) Setup timer interrupt control register 0x40000040 (all bits ... zero all but the one bit set)
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* QA7_rev3.4.pdf page 13 ... now this depends what mode Core0 leaves your bootstub in.
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* If you did no EL changes in stub the core0 will still be in Hyp mode if like me you dropped it to SVC mode it is Non Secure
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*
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* If Core0 enters in Hyp mode ... set nCNTHPIRQ_IRQ bit 1
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* If Core0 enters in Svc mode ... set nCNTPNSIRQ_IRQ bit 2
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*
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* 5.) Now you need to enable global interupts
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* asm(" cpsie i")
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* */
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#define TIMER_RELOAD 5000000
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void
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Timer_init(void)
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@ -65,28 +42,24 @@ Timer_init(void)
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AARCH64_CORE0_TIMER_IRQCTL = (1 << 1); /* nCNTPNSIR1 - Non Secure*/
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#else
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m_current = aarch64_get32r(TIMER_CLO);
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m_current = AArch64_getReg32(TIMER_CLO);
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m_current += m_interval;
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aarch64_set32r(TIMER_C1, m_current);
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AArch64_setReg32(TIMER_C1, m_current);
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#endif
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}
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void
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Timer_incFromISR(void)
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{
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m_current++; /*= m_interval;*/
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m_current += m_interval;
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#if CONFIG_ARM_TIMER == 1
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/* clear interrupt flag and reload timer */
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// AARCH64_LOCAL_TIMER_STATCTL |= TIMER_RELOAD;
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AARCH64_LOCAL_TIMER_RECLR |= (1 << 31) | (1 << 30);
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#else
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aarch64_set32r(TIMER_C1, m_current);
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aarch64_set32r(TIMER_CS, TIMER_CS_M1);
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AArch64_setReg32(TIMER_C1, m_current);
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AArch64_setReg32(TIMER_CS, TIMER_CS_M1);
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#endif
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/*
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Log_putS("--- tick --- ");
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Log_putI(m_current, 10);
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Log_putS(" ---\r\n");
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*/
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}
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uint32_t
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@ -39,11 +39,11 @@ static const char *m_types[] = {
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};
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static void *
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static void
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IRQ_onTimerInterrupt(void)
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{
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Timer_incFromISR();
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return Task_scheduleFromISR();
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Task_scheduleFromISR();
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}
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void
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@ -52,13 +52,15 @@ IRQ_init()
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AArch64_setReg32(ENABLE_IRQS_1, SYSTEM_TIMER_IRQ_1);
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}
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void *
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void
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IRQ_onInterrupt(void)
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{
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unsigned int irq = AArch64_getReg32(IRQ_PENDING_1);
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switch(irq) {
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#if CONFIG_ARM_TIMER == 1
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case LOCAL_TIMER_IRQ:
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#endif
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case SYSTEM_TIMER_IRQ_1:
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return IRQ_onTimerInterrupt();
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@ -67,7 +69,6 @@ IRQ_onInterrupt(void)
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Log_putU(irq, 16);
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Log_putS("\n");
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}
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return 0; /* do not change stack pointer */
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}
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void
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@ -21,7 +21,7 @@
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void
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IRQ_init(void);
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void *
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void
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IRQ_onInterrupt(void);
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void
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@ -13,14 +13,18 @@
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* @see https://lowenware.com/
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*/
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#include <leos/log.h>
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#include <leos/irq.h>
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#include <leos/leos.h>
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#include <leos/log.h>
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#include <leos/memory.h>
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#include <leos/task.h>
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#include <drivers/timer/timer.h>
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void
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Leos_demoTask(void *arg);
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Leos_demoTask1(void *arg);
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void
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Leos_demoTask2(void *arg);
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void
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@ -36,27 +40,38 @@ Leos_run(void)
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IRQ_init();
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Timer_init();
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IRQ_enable();
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Memory_init();
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Task_initSheduler();
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if (Task_create(Leos_demoTask, "Task 1") == -1)
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IRQ_enable();
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if (Task_create(Leos_demoTask1, "T1") == -1)
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Log_putS("Task 1 was not created\r\n");
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if (Task_create(Leos_demoTask2, "T2") == -1)
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Log_putS("Task 2 was not created\r\n");
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for (;;) {
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Log_putU(Timer_getTicks(), 10);
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Log_putS(". Idle Task\r\n");
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Log_putS("I");
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Task_yield();
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}
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}
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|
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void
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Leos_demoTask(void *arg)
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Leos_demoTask2(void *arg)
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{
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for (;;) {
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Log_putU(Timer_getTicks(), 10);
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Log_putS(". ");
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Log_putS((const char *)arg);
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Log_putS("\r\n");
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Log_putS("B");
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Task_yield();
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}
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}
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void
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Leos_demoTask1(void *arg)
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{
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for (;;) {
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Log_putS("A");
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Task_yield();
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}
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}
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|
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@ -15,19 +15,26 @@
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*/
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#include <stdlib.h>
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#include <aarch64/aarch64.h>
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#include <drivers/soc/bcm2837/bcm2837.h>
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#include "memory.h"
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#include "log.h"
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|
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static unsigned long m_map[MEMORY_PAGE_COUNT / sizeof(unsigned long) / 8] = {0,};
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static int m_ix = 0;
|
||||
static unsigned long m_map[MEMORY_PAGE_COUNT / sizeof(unsigned long) / 8];
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static int m_ix;
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|
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void
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Memory_init(void)
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{
|
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m_ix = 0;
|
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AArch64_memzero(m_map, sizeof(m_map));
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}
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|
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void *
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Memory_getPage(void)
|
||||
{
|
||||
int i, j;
|
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unsigned long map;
|
||||
|
||||
|
||||
for (i = m_ix; i < sizeof(m_map) / sizeof(m_map[0]); i++) {
|
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map = m_map[i];
|
||||
|
|
|
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|
|
@ -16,6 +16,10 @@
|
|||
#ifndef MEMORY_H_C583E24E_55B0_49EF_99C9_5A36B04468AC
|
||||
#define MEMORY_H_C583E24E_55B0_49EF_99C9_5A36B04468AC
|
||||
|
||||
|
||||
void
|
||||
Memory_init(void);
|
||||
|
||||
void *
|
||||
Memory_getPage(void);
|
||||
|
||||
|
|
|
|||
|
|
@ -16,11 +16,13 @@
|
|||
#include <stdlib.h>
|
||||
#include <aarch64/aarch64.h>
|
||||
#include <drivers/soc/bcm2837/bcm2837.h>
|
||||
#include <drivers/timer/timer.h>
|
||||
#include "memory.h"
|
||||
#include "log.h"
|
||||
#include "task.h"
|
||||
|
||||
#define TASK_STATE_RUNNING 0
|
||||
#define TASK_STATE_HALFCYCLE (1 << 8)
|
||||
|
||||
#ifndef CONFIG_IDLE_TASK_STACK_SIZE
|
||||
#define CONFIG_IDLE_TASK_STACK_SIZE 0x4000
|
||||
|
|
@ -46,21 +48,8 @@ struct __attribute__((packed)) TaskContext {
|
|||
uint64_t spsr_el1;
|
||||
};
|
||||
|
||||
static struct Task *m_currentTask = NULL
|
||||
, *m_lastTask = NULL
|
||||
, m_idleTask = {
|
||||
.sp = NULL
|
||||
, .stackStart = NULL
|
||||
, .stackSize = CONFIG_IDLE_TASK_STACK_SIZE
|
||||
, .pid = 1
|
||||
, .lock = 1
|
||||
, .counter = 1
|
||||
, .cycles = 1
|
||||
, .priority = 0
|
||||
, .state = TASK_STATE_RUNNING
|
||||
, .name = {'I', 'D', 'L', 'E', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
|
||||
, .next = NULL
|
||||
};
|
||||
static struct Task *m_currentTask, *m_lastTask, m_idleTask;
|
||||
|
||||
|
||||
static uint32_t m_pid = 1;
|
||||
|
||||
|
|
@ -70,7 +59,9 @@ scheduleNext(void)
|
|||
struct Task *i, *next = NULL;
|
||||
int32_t priority = -1;
|
||||
|
||||
Log_putS("scheduleNext\r\n ");
|
||||
if (m_currentTask->counter)
|
||||
m_currentTask->counter--;
|
||||
|
||||
for (;;) {
|
||||
/* check urgent tasks */
|
||||
for (i = &m_idleTask; i != NULL; i = i->next) {
|
||||
|
|
@ -81,10 +72,6 @@ scheduleNext(void)
|
|||
priority = i->priority;
|
||||
next = i;
|
||||
}
|
||||
if (!i->state && i->counter > priority) {
|
||||
priority = i->priority;
|
||||
next = i;
|
||||
}
|
||||
}
|
||||
|
||||
if (next) {
|
||||
|
|
@ -96,10 +83,6 @@ scheduleNext(void)
|
|||
}
|
||||
}
|
||||
|
||||
Log_putS("\t switch: ");
|
||||
Log_putU((uint64_t)next->pid, 10);
|
||||
Log_putS("\n");
|
||||
|
||||
return next;
|
||||
}
|
||||
|
||||
|
|
@ -107,6 +90,24 @@ void
|
|||
Task_initSheduler(void)
|
||||
{
|
||||
struct Task *idleTask = &m_idleTask;
|
||||
|
||||
m_pid = 1;
|
||||
m_idleTask.sp = NULL;
|
||||
m_idleTask.stackStart = NULL;
|
||||
m_idleTask.stackSize = CONFIG_IDLE_TASK_STACK_SIZE;
|
||||
m_idleTask.pid = 1;
|
||||
m_idleTask.lock = 1;
|
||||
m_idleTask.counter = 1;
|
||||
m_idleTask.cycles = 1;
|
||||
m_idleTask.priority = 0;
|
||||
m_idleTask.state = TASK_STATE_RUNNING;
|
||||
m_idleTask.name[0] = 'I';
|
||||
m_idleTask.name[1] = 'D';
|
||||
m_idleTask.name[2] = 'L';
|
||||
m_idleTask.name[3] = 'E';
|
||||
m_idleTask.name[4] = 0;
|
||||
m_idleTask.next = NULL;
|
||||
|
||||
m_currentTask = idleTask;
|
||||
m_lastTask = idleTask;
|
||||
Task_unlockScheduler();
|
||||
|
|
@ -120,6 +121,12 @@ Task_create(TaskCallback callback, void *arg)
|
|||
|
||||
if (!task)
|
||||
return -1;
|
||||
|
||||
Log_putS("Task @0x");
|
||||
Log_putU((uint64_t) task, 16);
|
||||
Log_putS(" - ");
|
||||
Log_putU(((uint64_t) task) + MEMORY_PAGE_SIZE, 16);
|
||||
Log_putS("\r\n");
|
||||
|
||||
task->sp = (void *)task + MEMORY_PAGE_SIZE - 272;
|
||||
task->stackStart = task->sp;
|
||||
|
|
@ -138,10 +145,11 @@ Task_create(TaskCallback callback, void *arg)
|
|||
task->next = 0;
|
||||
|
||||
ctx = (struct TaskContext *) task->sp;
|
||||
ctx->x[0] = (uint64_t) arg;
|
||||
ctx->x[1] = (uint64_t) callback;
|
||||
ctx->x[20] = (uint64_t) arg;
|
||||
ctx->x[21] = (uint64_t) callback;
|
||||
ctx->x[30] = (uint64_t) AArch64_startTask;
|
||||
ctx->elr_el1 = (uint64_t) AArch64_startTask;
|
||||
ctx->spsr_el1 = AArch64_getPState();
|
||||
|
||||
Task_lockScheduler();
|
||||
m_lastTask->next = task;
|
||||
|
|
@ -154,25 +162,41 @@ Task_create(TaskCallback callback, void *arg)
|
|||
void
|
||||
Task_yield(void)
|
||||
{
|
||||
struct Task *next, *prev = m_currentTask;
|
||||
#if 1
|
||||
uint64_t ticks = Timer_getTicks();
|
||||
|
||||
Log_putS("Task_yield()\r\n");
|
||||
Task_lockScheduler();
|
||||
Log_putS("^");
|
||||
m_currentTask->counter = 0;
|
||||
Task_unlockScheduler();
|
||||
__asm__("WFE");
|
||||
|
||||
while (ticks == Timer_getTicks());
|
||||
#else
|
||||
/* Task yield should be solved differently */
|
||||
struct Task *next, *prev;
|
||||
|
||||
Task_lockScheduler();
|
||||
Log_putS("^");
|
||||
prev = m_currentTask;
|
||||
prev->counter = 0;
|
||||
|
||||
next = scheduleNext();
|
||||
|
||||
if (next != prev) {
|
||||
next->state |= TASK_STATE_HALFCYCLE;
|
||||
m_currentTask = next;
|
||||
Task_unlockScheduler();
|
||||
AArch64_switchContext(prev, next);
|
||||
/* newly created tasks never exit here, that is why in AArch64_startTask
|
||||
* there is own Task_unlockScheduler() call
|
||||
/* `next` tasks never exits here, but in AArch64_startTask,
|
||||
* that is why there is an own Task_unlockScheduler() call
|
||||
* */
|
||||
} else {
|
||||
__asm__("WFE");
|
||||
// __asm__("WFE");
|
||||
}
|
||||
|
||||
Task_unlockScheduler();
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -184,35 +208,55 @@ Task_lockScheduler(void)
|
|||
void
|
||||
Task_unlockScheduler(void)
|
||||
{
|
||||
m_currentTask->lock--;
|
||||
if (m_currentTask->lock)
|
||||
m_currentTask->lock--;
|
||||
}
|
||||
|
||||
void *
|
||||
void
|
||||
Task_scheduleFromISR(void)
|
||||
{
|
||||
void *sp = NULL;
|
||||
|
||||
# if 0
|
||||
if (m_currentTask->counter)
|
||||
m_currentTask->counter--;
|
||||
|
||||
if (!m_currentTask->lock) {
|
||||
struct Task *next;
|
||||
Log_putS("Task_scheduleFromISR\r\n");
|
||||
|
||||
if (m_currentTask->state & TASK_STATE_HALFCYCLE) {
|
||||
m_currentTask->state &= ~TASK_STATE_HALFCYCLE;
|
||||
return;
|
||||
}
|
||||
|
||||
Log_putS("!");
|
||||
|
||||
Task_lockScheduler();
|
||||
|
||||
|
||||
next = scheduleNext();
|
||||
if (next != m_currentTask) {
|
||||
m_currentTask = next;
|
||||
sp = next->sp;
|
||||
}
|
||||
/* unlock call could be moved to aarch64.S interrupt handler in case of
|
||||
* issue
|
||||
* */
|
||||
Task_unlockScheduler();
|
||||
}
|
||||
#endif
|
||||
|
||||
return sp;
|
||||
}
|
||||
|
||||
void *
|
||||
Task_getStackPointer(void)
|
||||
{
|
||||
/*
|
||||
Log_putS("gSP:");
|
||||
Log_putU((uint64_t)m_currentTask->sp, 16);
|
||||
Log_putS("\r\n");
|
||||
*/
|
||||
return m_currentTask->sp;
|
||||
}
|
||||
|
||||
void
|
||||
Task_setStackPointer(void *sp)
|
||||
{
|
||||
/*
|
||||
Log_putS("sSP:");
|
||||
Log_putU((uint64_t)sp, 16);
|
||||
Log_putS("\r\n");
|
||||
*/
|
||||
m_currentTask->sp = sp;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -39,7 +39,13 @@ Task_lockScheduler(void);
|
|||
void
|
||||
Task_unlockScheduler(void);
|
||||
|
||||
void *
|
||||
void
|
||||
Task_scheduleFromISR(void);
|
||||
|
||||
void *
|
||||
Task_getStackPointer(void);
|
||||
|
||||
void
|
||||
Task_setStackPointer(void *sp);
|
||||
|
||||
#endif /* !TASK_H */
|
||||
|
|
|
|||
Loading…
Reference in New Issue