Added rockpro64

build_sdk.py

@@ -55,30 +55,29 @@ class ConfigInfo:
 
 SUPPORTED_BOARDS = (
     BoardInfo(
-        name="tqma8xqp1gb",
-        gcc_cpu="cortex-a35",
-        loader_link_address=0x80280000,
+        name="zcu102",
+        gcc_cpu="cortex-a53",
+        loader_link_address=0x40000000,
         kernel_options={
-            "KernelPlatform": "tqma8xqp1gb",
+            "KernelPlatform": "zynqmp",
+            "KernelARMPlatform": "zcu102",
             "KernelIsMCS": True,
             "KernelArmExportPCNTUser": True,
         },
         examples={
-            "ethernet": Path("example/tqma8xqp1gb/ethernet")
         }
     ),
     BoardInfo(
-        name="zcu102",
+        name="rockpro64",
         gcc_cpu="cortex-a53",
-        loader_link_address=0x40000000,
+        loader_link_address=0x20000000,
         kernel_options={
-            "KernelPlatform": "zynqmp",
-            "KernelARMPlatform": "zcu102",
+            "KernelPlatform": "rockpro64",
+            "KernelARMPlatform": "rockpro64",
             "KernelIsMCS": True,
             "KernelArmExportPCNTUser": True,
         },
         examples={
-            "hello": Path("example/zcu102/hello")
         }
     ),
     # BoardInfo(

example/rockpro64/hello/Makefile

@@ -0,0 +1,55 @@
+#
+# Copyright 2021, Breakaway Consulting Pty. Ltd.
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+ifeq ($(strip $(BUILD_DIR)),)
+$(error BUILD_DIR must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_SDK)),)
+$(error MICROKIT_SDK must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_BOARD)),)
+$(error MICROKIT_BOARD must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_CONFIG)),)
+$(error MICROKIT_CONFIG must be specified)
+endif
+
+TOOLCHAIN := aarch64-none-elf
+
+CPU := cortex-a53
+
+CC := $(TOOLCHAIN)-gcc
+LD := $(TOOLCHAIN)-ld
+AS := $(TOOLCHAIN)-as
+MICROKIT_TOOL ?= $(MICROKIT_SDK)/bin/microkit
+
+HELLO_OBJS := hello.o
+
+BOARD_DIR := $(MICROKIT_SDK)/board/$(MICROKIT_BOARD)/$(MICROKIT_CONFIG)
+
+IMAGES := hello.elf
+CFLAGS := -mcpu=$(CPU) -mstrict-align -nostdlib -ffreestanding -g3 -O3 -Wall  -Wno-unused-function -Werror -I$(BOARD_DIR)/include
+LDFLAGS := -L$(BOARD_DIR)/lib
+LIBS := -lmicrokit -Tmicrokit.ld
+
+IMAGE_FILE = $(BUILD_DIR)/loader.img
+REPORT_FILE = $(BUILD_DIR)/report.txt
+
+all: $(IMAGE_FILE)
+
+$(BUILD_DIR)/%.o: %.c Makefile
+	$(CC) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/%.o: %.s Makefile
+	$(AS) -g3 -mcpu=$(CPU) $< -o $@
+
+$(BUILD_DIR)/hello.elf: $(addprefix $(BUILD_DIR)/, $(HELLO_OBJS))
+	$(LD) $(LDFLAGS) $^ $(LIBS) -o $@
+
+$(IMAGE_FILE) $(REPORT_FILE): $(addprefix $(BUILD_DIR)/, $(IMAGES)) hello.system
+	$(MICROKIT_TOOL) hello.system --search-path $(BUILD_DIR) --board $(MICROKIT_BOARD) --config $(MICROKIT_CONFIG) -o $(IMAGE_FILE) -r $(REPORT_FILE)

example/rockpro64/hello/hello.c

@@ -0,0 +1,18 @@
+/*
+ * Copyright 2021, Breakaway Consulting Pty. Ltd.
+ *
+ * SPDX-License-Identifier: BSD-2-Clause
+ */
+#include <stdint.h>
+#include <microkit.h>
+
+void
+init(void)
+{
+    microkit_dbg_puts("hello, world\n");
+}
+
+void
+notified(microkit_channel ch)
+{
+}

example/rockpro64/hello/hello.system

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+ Copyright 2021, Breakaway Consulting Pty. Ltd.
+
+ SPDX-License-Identifier: BSD-2-Clause
+-->
+<system>
+    <protection_domain name="hello" priority="1">
+        <program_image path="hello.elf" />
+    </protection_domain>
+</system>

loader/src/loader.c

@@ -31,6 +31,21 @@ _Static_assert(sizeof(uintptr_t) == 8 || sizeof(uintptr_t) == 4, "Expect uintptr
 #if defined(BOARD_zcu102)
 #define GICD_BASE 0x00F9010000UL
 #define GICC_BASE 0x00F9020000UL
+#elif defined(BOARD_rockpro64) /*see line 513 of rockpro64.dts*/
+#define GICD_BASE 0xfee00000UL
+#define GICC_BASE 0xfee10000UL
+#endif
+
+/*
+ * seL4 expects platforms with a GICv2 to be configured. This configuration is
+ * usually done by U-Boot and so the loader does not have to do anything.
+ * However, in the case of using something like QEMU, where the system is run
+ * without U-Boot, we have to do this configuration in the loader. Otherwise
+ * interrupts will not work.
+ */
+#if defined(BOARD_zcu102) || \
+    defined(BOARD_rockpro64)
+    #define GIC_V2
 #endif
 
 #define REGION_TYPE_DATA 1
@@ -143,6 +158,19 @@ putc(uint8_t ch)
 {
     *((volatile uint32_t *)(0x00FF000030)) = ch;
 }
+
+#elif defined(BOARD_rockpro64)
+#define UART_BASE 0x9000000
+#define UARTDR 0x000
+#define UARTFR 0x018
+#define PL011_UARTFR_TXFF (1 << 5)
+
+static void
+putc(uint8_t ch)
+{
+    while ((*UART_REG(UARTFR) & PL011_UARTFR_TXFF) != 0);
+    *UART_REG(UARTDR) = ch;
+}
 #else
 #error Board not defined
 #endif
@@ -417,7 +445,7 @@ start_kernel(void)
     );
 }
 
-#if defined(BOARD_zcu102)
+#if defined(GIC_V2)
 static void
 configure_gicv2(void)
 {
@@ -483,7 +511,7 @@ main(void)
      */
     copy_data();
 
-#if defined(BOARD_zcu102)
+#if defined(GIC_V2)
     configure_gicv2();
 #endif