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Add Raspberry Pi 4B & 5 baremetal examples (#67)
Provide new examples demonstrating how to run Swift Embedded on the Raspberry Pi 4B and 5 single-board computers, in a baremetal fashion, without an underlying operating system. The provided examples showcase how to blink the onboard green LED using Swift MMIO.
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| name: Build Raspberry Pi Baremetal Examples | ||
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| on: | ||
| push: | ||
| branches: ["main"] | ||
| pull_request: | ||
| branches: ["main"] | ||
| schedule: | ||
| # Build on Mondays at 9am PST every week | ||
| - cron: '0 17 * * 1' | ||
| jobs: | ||
| build-rpi-baremetal: | ||
| runs-on: ubuntu-24.04 | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| example: [rpi5-blink, rpi4b-blink] | ||
| swift: [swift-DEVELOPMENT-SNAPSHOT-2024-12-04-a] | ||
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| steps: | ||
| - name: Checkout repo | ||
| uses: actions/checkout@v4 | ||
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| - name: Install apt dependencies | ||
| run: sudo apt-get -qq update && sudo apt-get -qq -y install make llvm | ||
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| - name: Install ${{ matrix.swift }} | ||
| run: | | ||
| wget -q https://download.swift.org/development/ubuntu2404/${{ matrix.swift }}/${{ matrix.swift }}-ubuntu24.04.tar.gz | ||
| tar xzf ${{ matrix.swift }}-ubuntu24.04.tar.gz | ||
| export PATH="`pwd`/${{ matrix.swift }}-ubuntu24.04/usr/bin/:$PATH" | ||
| echo "PATH=$PATH" >> $GITHUB_ENV | ||
| which swiftc | ||
| swiftc --version | ||
| - name: Build ${{ matrix.example }} | ||
| run: | | ||
| cd ${{ matrix.example }} | ||
| make |
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| SWIFT_EXEC ?= $(shell if [ "$(shell uname)" = "Darwin" ]; then xcrun -f swift; else which swift; fi) | ||
| CLANG ?= $(shell if [ "$(shell uname)" = "Darwin" ]; then xcrun -f clang; else which clang; fi) | ||
| LLVM_OBJCOPY ?= $(shell if [ "$(shell uname)" = "Darwin" ]; then xcrun -f llvm-objcopy; else which llvm-objcopy; fi) | ||
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| BUILDROOT := $(shell $(SWIFT_EXEC) build --triple aarch64-none-none-elf -Xswiftc -Xfrontend -Xswiftc -disable-stack-protector --show-bin-path) | ||
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| .PHONY: all clean | ||
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| all: kernel8.img | ||
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| kernel8.img: kernel8.elf | ||
| @echo "💾 Converting to binary kernel image with llvm-objcopy..." | ||
| $(LLVM_OBJCOPY) -O binary kernel8.elf kernel8.img | ||
| @echo "" | ||
| @echo "🥳 Done! kernel8.img was saved to this directory." | ||
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| kernel8.elf: $(BUILDROOT)/libMainApp.a $(BUILDROOT)/Support.build/boot.S.o link.ld | ||
| @echo "🔗 Linking with clang..." | ||
| $(CLANG) --target=aarch64-elf -o kernel8.elf $< $^ -fuse-ld=lld -nostdlib -Wl,--unresolved-symbols=ignore-in-object-files -Wl,-T ./link.ld | ||
| @echo "" | ||
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| $(BUILDROOT)/libMainApp.a $(BUILDROOT)/Support.build/boot.S.o: | ||
| @echo "🛠️ Building with Swift Package Manager..." | ||
| $(SWIFT_EXEC) build --triple aarch64-none-none-elf -Xswiftc -Xfrontend -Xswiftc -disable-stack-protector | ||
| @echo "" | ||
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| clean: | ||
| rm -rf kernel8.elf kernel8.img .build |
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| // swift-tools-version: 6.1 | ||
| // The swift-tools-version declares the minimum version of Swift required to build this package. | ||
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| import PackageDescription | ||
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| let package = Package( | ||
| name: "RPi4B-Blink", | ||
| platforms: [ | ||
| .macOS(.v14) | ||
| ], | ||
| products: [ | ||
| .library( | ||
| name: "MainApp", | ||
| type: .static, | ||
| targets: ["MainApp"]) | ||
| ], | ||
| dependencies: [ | ||
| .package( | ||
| url: "https://github.com/apple/swift-mmio.git", | ||
| branch: "swift-embedded-examples") | ||
| ], | ||
| targets: [ | ||
| .target( | ||
| name: "MainApp", | ||
| dependencies: [ | ||
| .product(name: "MMIO", package: "swift-mmio") | ||
| ], | ||
| swiftSettings: [ | ||
| .enableExperimentalFeature("Embedded"), | ||
| .unsafeFlags(["-Xfrontend", "-function-sections"]), | ||
| ] | ||
| ), | ||
| .target(name: "Support"), | ||
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||
| ] | ||
| ) |
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| # rpi4b-blink | ||
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| <img src="assets/rpi4.png"> | ||
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| ## Requirements | ||
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| - A Raspberry Pi 4B board | ||
| - An SD Card, with a Raspberry Pi OS installed (this way, we don't need to create the configuration files from scratch). You may backup `kernel8.img` and `config.txt` if you need the Linux install later, since we will change these files. | ||
| - LLVM installed (`brew install llvm`) and added to PATH. This is needed to convert the resulted ELF file to binary image format using `llvm-objcopy`. | ||
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| ## How to build and run this example: | ||
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| - Make sure you have a recent nightly Swift toolchain that has Embedded Swift support. | ||
| - Build the program, then copy the kernel image to the SD card. | ||
| ``` console | ||
| $ cd rpi4b-blink | ||
| $ export TOOLCHAINS='<toolchain-identifier>' # Your Swift nightly toolchain identifier | ||
| $ make | ||
| $ cp kernel8.img /Volumes/bootfs | ||
| ``` | ||
| - If your original OS is not 64-bit, make sure to set `arm_64bit=1` in `config.txt`. | ||
| - Place the SD card in your Raspberry Pi 4B, and connect it to power. | ||
| - After the boot sequence, the green (ACT) led will start blinking in a regular pattern. | ||
|
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| //===----------------------------------------------------------------------===// | ||
| // | ||
| // This source file is part of the Swift open source project | ||
| // | ||
| // Copyright (c) 2024 Apple Inc. and the Swift project authors. | ||
| // Licensed under Apache License v2.0 with Runtime Library Exception | ||
| // | ||
| // See https://swift.org/LICENSE.txt for license information | ||
| // | ||
| //===----------------------------------------------------------------------===// | ||
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| import MMIO | ||
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| @Register(bitWidth: 32) | ||
| struct GPSET1 { | ||
| @ReadWrite(bits: 10..<11, as: Bool.self) | ||
| var set: SET | ||
| } | ||
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| @Register(bitWidth: 32) | ||
| struct GPCLR1 { | ||
| @ReadWrite(bits: 10..<11, as: Bool.self) | ||
| var clear: CLEAR | ||
| } | ||
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| @Register(bitWidth: 32) | ||
| struct GPFSEL4 { | ||
| @ReadWrite(bits: 6..<7, as: Bool.self) | ||
| var fsel42b1: FSEL42b1 | ||
| @ReadWrite(bits: 7..<8, as: Bool.self) | ||
| var fsel42b2: FSEL42b2 | ||
| @ReadWrite(bits: 8..<9, as: Bool.self) | ||
| var fsel42b3: FSEL42b3 | ||
| } | ||
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| @RegisterBlock | ||
| struct GPIO { | ||
| @RegisterBlock(offset: 0x200020) | ||
| var gpset1: Register<GPSET1> | ||
| @RegisterBlock(offset: 0x20002c) | ||
| var gpclr1: Register<GPCLR1> | ||
| @RegisterBlock(offset: 0x200010) | ||
| var gpfsel4: Register<GPFSEL4> | ||
| } | ||
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| let gpio = GPIO(unsafeAddress: 0xFE00_0000) | ||
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| func setLedOutput() { | ||
| gpio.gpfsel4.modify { | ||
| // setFunction Select 42 (fsel42) to 001 | ||
| $0.fsel42b1 = true | ||
| $0.fsel42b2 = false | ||
| $0.fsel42b3 = false | ||
| } | ||
| } | ||
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| func ledOn() { | ||
| gpio.gpset1.modify { | ||
| $0.set = true | ||
| } | ||
| } | ||
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| func ledOff() { | ||
| gpio.gpclr1.modify { | ||
| $0.clear = true | ||
| } | ||
| } | ||
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| @main | ||
| struct Main { | ||
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| static func main() { | ||
| setLedOutput() | ||
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| while true { | ||
| ledOn() | ||
| for _ in 1..<100000 {} // just a delay | ||
| ledOff() | ||
| for _ in 1..<100000 {} // just a delay | ||
| } | ||
| } | ||
| } |
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| //===----------------------------------------------------------------------===// | ||
| // | ||
| // This source file is part of the Swift open source project | ||
| // | ||
| // Copyright (c) 2024 Apple Inc. and the Swift project authors. | ||
| // Licensed under Apache License v2.0 with Runtime Library Exception | ||
| // | ||
| // See https://swift.org/LICENSE.txt for license information | ||
| // | ||
| //===----------------------------------------------------------------------===// | ||
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| .section ".text.boot" | ||
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| .global _start | ||
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| _start: | ||
| // Check processor ID is zero (executing on main core), else hang | ||
| mrs x1, mpidr_el1 | ||
| and x1, x1, #3 | ||
| cbz x1, 2f | ||
| // We're not on the main core, so hang in an infinite wait loop | ||
| 1: wfe | ||
| b 1b | ||
| 2: // We're on the main core! | ||
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| // Set stack to start below our code | ||
| ldr x1, =_start | ||
| mov sp, x1 | ||
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| // Clean the BSS section | ||
| ldr x1, =__bss_start // Start address | ||
| ldr w2, =__bss_size // Size of the section | ||
| 3: cbz w2, 4f // Quit loop if zero | ||
| str xzr, [x1], #8 | ||
| sub w2, w2, #1 | ||
| cbnz w2, 3b // Loop if non-zero | ||
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| // Jump to Swift! | ||
| 4: bl main | ||
| // Halt if Swift returns | ||
| b 1b |
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| SECTIONS | ||
| { | ||
| . = 0x80000; /* Kernel load address for AArch64 */ | ||
| .text : { KEEP(*(.text.boot)) *(.text .text.* .gnu.linkonce.t*) } | ||
| .rodata : { *(.rodata .rodata.* .gnu.linkonce.r*) } | ||
| PROVIDE(_data = .); | ||
| .data : { *(.data .data.* .gnu.linkonce.d*) } | ||
| .bss (NOLOAD) : { | ||
| . = ALIGN(16); | ||
| __bss_start = .; | ||
| *(.bss .bss.*) | ||
| *(COMMON) | ||
| __bss_end = .; | ||
| } | ||
| _end = .; | ||
|
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| /DISCARD/ : { *(.comment) *(.gnu*) *(.note*) *(.eh_frame*) } | ||
| } | ||
| __bss_size = (__bss_end - __bss_start)>>3; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| SWIFT_EXEC ?= $(shell if [ "$(shell uname)" = "Darwin" ]; then xcrun -f swift; else which swift; fi) | ||
| CLANG ?= $(shell if [ "$(shell uname)" = "Darwin" ]; then xcrun -f clang; else which clang; fi) | ||
| LLVM_OBJCOPY ?= $(shell if [ "$(shell uname)" = "Darwin" ]; then xcrun -f llvm-objcopy; else which llvm-objcopy; fi) | ||
|
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| BUILDROOT := $(shell $(SWIFT_EXEC) build --triple aarch64-none-none-elf -Xswiftc -Xfrontend -Xswiftc -disable-stack-protector --show-bin-path) | ||
|
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| .PHONY: all clean | ||
|
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| all: kernel8.img | ||
|
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| kernel8.img: kernel8.elf | ||
| @echo "💾 Converting to binary kernel image with llvm-objcopy..." | ||
| $(LLVM_OBJCOPY) -O binary kernel8.elf kernel8.img | ||
| @echo "" | ||
| @echo "🥳 Done! kernel8.img was saved to this directory." | ||
|
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||
| kernel8.elf: $(BUILDROOT)/libMainApp.a $(BUILDROOT)/Support.build/boot.S.o link.ld | ||
| @echo "🔗 Linking with clang..." | ||
| $(CLANG) --target=aarch64-elf -o kernel8.elf $< $^ -fuse-ld=lld -nostdlib -Wl,--unresolved-symbols=ignore-in-object-files -Wl,-T ./link.ld | ||
| @echo "" | ||
|
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| $(BUILDROOT)/libMainApp.a $(BUILDROOT)/Support.build/boot.S.o: | ||
| @echo "🛠️ Building with Swift Package Manager..." | ||
| $(SWIFT_EXEC) build --triple aarch64-none-none-elf -Xswiftc -Xfrontend -Xswiftc -disable-stack-protector | ||
| @echo "" | ||
|
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||
| clean: | ||
| rm -rf kernel8.elf kernel8.img .build |
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| @@ -0,0 +1,33 @@ | ||
| { | ||
| "originHash" : "193ca3f107e2c8dd2da5d091f6259f64b2cbfd6776d1c26bbcfb195b3a0b5045", | ||
| "pins" : [ | ||
| { | ||
| "identity" : "swift-argument-parser", | ||
| "kind" : "remoteSourceControl", | ||
| "location" : "https://github.com/apple/swift-argument-parser.git", | ||
| "state" : { | ||
| "revision" : "41982a3656a71c768319979febd796c6fd111d5c", | ||
| "version" : "1.5.0" | ||
| } | ||
| }, | ||
| { | ||
| "identity" : "swift-mmio", | ||
| "kind" : "remoteSourceControl", | ||
| "location" : "https://github.com/apple/swift-mmio.git", | ||
| "state" : { | ||
| "branch" : "swift-embedded-examples", | ||
| "revision" : "06d96ed4916739f2edafde87f3951b2d2a04df65" | ||
| } | ||
| }, | ||
| { | ||
| "identity" : "swift-syntax", | ||
| "kind" : "remoteSourceControl", | ||
| "location" : "https://github.com/swiftlang/swift-syntax.git", | ||
| "state" : { | ||
| "revision" : "0687f71944021d616d34d922343dcef086855920", | ||
| "version" : "600.0.1" | ||
| } | ||
| } | ||
| ], | ||
| "version" : 3 | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| // swift-tools-version: 6.1 | ||
| // The swift-tools-version declares the minimum version of Swift required to build this package. | ||
|
|
||
| import PackageDescription | ||
|
|
||
| let package = Package( | ||
| name: "RPi5-Blink", | ||
| platforms: [ | ||
| .macOS(.v14) | ||
| ], | ||
| products: [ | ||
| .library( | ||
| name: "MainApp", | ||
| type: .static, | ||
| targets: ["MainApp"]) | ||
| ], | ||
| dependencies: [ | ||
| .package( | ||
| url: "https://github.com/apple/swift-mmio.git", | ||
| branch: "swift-embedded-examples") | ||
| ], | ||
| targets: [ | ||
| .target( | ||
| name: "MainApp", | ||
| dependencies: [ | ||
| .product(name: "MMIO", package: "swift-mmio") | ||
| ], | ||
| swiftSettings: [ | ||
| .enableExperimentalFeature("Embedded"), | ||
| .unsafeFlags(["-Xfrontend", "-function-sections"]), | ||
| ] | ||
| ), | ||
| .target(name: "Support"), | ||
|
|
||
| ] | ||
| ) |
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