310551097 lab7

lab6/.gitignore

@@ -0,0 +1,3 @@
+.vscode
+build
+*.img

lab6/Makefile

@@ -0,0 +1,61 @@
+# debug use CFLAGS='-g3' ASMFLAGS='-g3'
+# Modify from 
+# https://github.com/s-matyukevich/raspberry-pi-os/blob/master/src/lesson01/Makefile
+ARMGNU ?= aarch64-linux-gnu
+
+COPS = $(CFLAGS) -Wall -nostdlib -nostartfiles -ffreestanding -Iinclude #-ggdb  #-D__FS_DEBUG #-D__DEBUG #-D__DEBUG_MM #-D__DEBUG_MM_ALLOC #-D__DEBUG_MM_SCHED
+ASMOPS = $(ASMFLAGS) -Iinclude 
+
+BUILD_DIR = build
+SRC_DIR = src
+
+all : kernel8.img bootloader/bootloader.img
+
+debug: COPS   += -DDEBUG
+debug: ASMOPS += -DDEBUG
+debug: all
+
+clean :
+	rm -rf $(BUILD_DIR) *.img 
+	make -C bootloader clean
+
+$(BUILD_DIR)/%_c.o: $(SRC_DIR)/%.c
+	mkdir -p $(@D)
+	$(ARMGNU)-gcc $(COPS) -MMD -c $< -o $@
+
+$(BUILD_DIR)/%_s.o: $(SRC_DIR)/%.S
+	$(ARMGNU)-gcc $(ASMOPS) -MMD -c $< -o $@
+
+C_FILES = $(wildcard $(SRC_DIR)/*.c)
+ASM_FILES = $(wildcard $(SRC_DIR)/*.S)
+OBJ_FILES = $(C_FILES:$(SRC_DIR)/%.c=$(BUILD_DIR)/%_c.o)
+OBJ_FILES += $(ASM_FILES:$(SRC_DIR)/%.S=$(BUILD_DIR)/%_s.o)
+
+DEP_FILES = $(OBJ_FILES:%.o=%.d)
+-include $(DEP_FILES)
+
+kernel8.img: linker.ld $(OBJ_FILES)
+	$(ARMGNU)-ld -g -T linker.ld -o $(BUILD_DIR)/kernel8.elf  $(OBJ_FILES)
+	$(ARMGNU)-objcopy -g $(BUILD_DIR)/kernel8.elf -O binary kernel8.img
+
+run:
+	qemu-system-aarch64 -M raspi3 -kernel kernel8.img -display none -serial null -serial stdio -initrd initramfs.cpio -dtb bcm2710-rpi-3-b-plus.dtb
+
+run_display:
+	qemu-system-aarch64 -M raspi3 -kernel kernel8.img -serial null -serial stdio -initrd initramfs.cpio -dtb bcm2710-rpi-3-b-plus.dtb
+
+run_display_debug:
+	qemu-system-aarch64 -M raspi3 -kernel kernel8.img -serial null -serial stdio -s -S -initrd initramfs.cpio -dtb bcm2710-rpi-3-b-plus.dtb
+
+run_debug:
+	qemu-system-aarch64 -M raspi3 -kernel kernel8.img -display none -serial null -serial stdio -s -S -initrd initramfs.cpio -dtb bcm2710-rpi-3-b-plus.dtb
+
+connect_raspi:
+	sudo screen /dev/ttyUSB0 115200
+
+bootloader/bootloader.img:
+	make -C bootloader
+
+filesystem:
+	cd rootfs;find . | cpio -o -H newc > ../initramfs.cpio
+

lab6/bootloader/Makefile

@@ -0,0 +1,50 @@
+# debug use CFLAGS='-g' ASMFLAGS='-g'
+# Modify from 
+# https://github.com/s-matyukevich/raspberry-pi-os/blob/master/src/lesson01/Makefile
+ARMGNU ?= aarch64-linux-gnu
+
+COPS = $(CFLAGS) -Wall -nostdlib -nostartfiles -ffreestanding -Iinclude #-ggdb  #-D__FS_DEBUG #-D__DEBUG #-D__DEBUG_MM #-D__DEBUG_MM_ALLOC #-D__DEBUG_MM_SCHED
+ASMOPS = $(ASMFLAGS) -Iinclude 
+
+BUILD_DIR = build
+SRC_DIR = src
+
+all : bootloader.img
+
+clean :
+	rm -rf $(BUILD_DIR) *.img 
+
+$(BUILD_DIR)/%_c.o: $(SRC_DIR)/%.c
+	mkdir -p $(@D)
+	$(ARMGNU)-gcc $(COPS) -MMD -c $< -o $@
+
+$(BUILD_DIR)/%_s.o: $(SRC_DIR)/%.S
+	$(ARMGNU)-gcc $(ASMOPS) -MMD -c $< -o $@
+
+C_FILES = $(wildcard $(SRC_DIR)/*.c)
+ASM_FILES = $(wildcard $(SRC_DIR)/*.S)
+OBJ_FILES = $(C_FILES:$(SRC_DIR)/%.c=$(BUILD_DIR)/%_c.o)
+OBJ_FILES += $(ASM_FILES:$(SRC_DIR)/%.S=$(BUILD_DIR)/%_s.o)
+
+DEP_FILES = $(OBJ_FILES:%.o=%.d)
+-include $(DEP_FILES)
+
+bootloader.img: linker.ld $(OBJ_FILES)
+	$(ARMGNU)-ld -g -T linker.ld -o $(BUILD_DIR)/bootloader.elf  $(OBJ_FILES)
+	$(ARMGNU)-objcopy -g $(BUILD_DIR)/bootloader.elf -O binary bootloader.img
+
+run:
+	qemu-system-aarch64 -M raspi3 -kernel bootloader.img -display none -serial null -serial stdio
+
+run_pty:
+	qemu-system-aarch64 -M raspi3 -kernel bootloader.img -display none -serial null -serial pty -initrd ../initramfs.cpio -dtb ../bcm2710-rpi-3-b-plus.dtb
+
+run_debug:
+	qemu-system-aarch64 -M raspi3 -kernel bootloader.img -display none -serial null -serial stdio -dtb ../bcm2710-rpi-3-b-plus.dtb -s -S 
+
+run_debug_pty:
+	qemu-system-aarch64 -M raspi3 -kernel bootloader.img -display none -serial null -serial pty -s -S
+
+connect_raspi:
+	sudo screen /dev/ttyUSB0 115200
+

lab6/bootloader/include/gpio.h

@@ -0,0 +1,25 @@
+#ifndef GPIO_H
+#define GPIO_H
+
+#define MMIO_BASE       0x3F000000
+
+#define GPFSEL0         ((volatile unsigned int*)(MMIO_BASE+0x00200000))
+#define GPFSEL1         ((volatile unsigned int*)(MMIO_BASE+0x00200004))
+#define GPFSEL2         ((volatile unsigned int*)(MMIO_BASE+0x00200008))
+#define GPFSEL3         ((volatile unsigned int*)(MMIO_BASE+0x0020000C))
+#define GPFSEL4         ((volatile unsigned int*)(MMIO_BASE+0x00200010))
+#define GPFSEL5         ((volatile unsigned int*)(MMIO_BASE+0x00200014))
+#define GPSET0          ((volatile unsigned int*)(MMIO_BASE+0x0020001C))
+#define GPSET1          ((volatile unsigned int*)(MMIO_BASE+0x00200020))
+#define GPCLR0          ((volatile unsigned int*)(MMIO_BASE+0x00200028))
+#define GPLEV0          ((volatile unsigned int*)(MMIO_BASE+0x00200034))
+#define GPLEV1          ((volatile unsigned int*)(MMIO_BASE+0x00200038))
+#define GPEDS0          ((volatile unsigned int*)(MMIO_BASE+0x00200040))
+#define GPEDS1          ((volatile unsigned int*)(MMIO_BASE+0x00200044))
+#define GPHEN0          ((volatile unsigned int*)(MMIO_BASE+0x00200064))
+#define GPHEN1          ((volatile unsigned int*)(MMIO_BASE+0x00200068))
+#define GPPUD           ((volatile unsigned int*)(MMIO_BASE+0x00200094))
+#define GPPUDCLK0       ((volatile unsigned int*)(MMIO_BASE+0x00200098))
+#define GPPUDCLK1       ((volatile unsigned int*)(MMIO_BASE+0x0020009C))
+
+#endif

lab6/bootloader/include/mbox.h

@@ -0,0 +1,26 @@
+/* a properly aligned buffer */
+/* use this buffer(global variable) directly and the mbox_call will use it after call*/ 
+/* mbox  format https://github.com/raspberrypi/firmware/wiki/Mailbox-property-interface */
+/* mbox address need to be aligned to 16 bytes */
+extern volatile unsigned int mbox[36];
+
+#define MBOX_REQUEST    0
+
+/* channels */
+#define MBOX_CH_POWER   0
+#define MBOX_CH_FB      1
+#define MBOX_CH_VUART   2
+#define MBOX_CH_VCHIQ   3
+#define MBOX_CH_LEDS    4
+#define MBOX_CH_BTNS    5
+#define MBOX_CH_TOUCH   6
+#define MBOX_CH_COUNT   7
+#define MBOX_CH_PROP    8
+
+/* tags */
+#define GET_BOARD_REVISION      0x10002
+#define MBOX_TAG_GETSERIAL      0x10004
+#define GET_ARM_MEMORY          0x10005
+#define MBOX_TAG_LAST           0
+
+int mbox_call(unsigned char ch);

lab6/bootloader/include/shell.h

@@ -0,0 +1,8 @@
+#ifndef SHELL_H
+#define SHELL_H
+
+void shell();
+void do_cmd(char* cmd);
+void print_system_messages();
+
+#endif

lab6/bootloader/include/string.h

@@ -0,0 +1,9 @@
+#ifndef STRING_H
+#define STRING_H
+
+int  strcmp     (const char * s1, const char * s2 );
+char* strcat (char *dest, const char *src);
+unsigned long long strlen(const char *str);
+char* strcpy (char *dest, const char *src);
+char* memcpy (void *dest, const void *src, unsigned long long len);
+#endif

lab6/bootloader/include/system.h

@@ -0,0 +1,14 @@
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+extern char* _dtb;
+
+int get_board_revision(unsigned int* board_revision);
+int get_arm_memory_info(unsigned int* base_addr,unsigned int* size);
+void set(long addr, unsigned int value);
+void reboot();
+void reset(int tick);
+void cancel_reset();
+void load_kernel();
+
+#endif

lab6/bootloader/include/uart.h

@@ -0,0 +1,16 @@
+#ifndef UART_H
+#define UART_H
+
+#define MAX_BUF_SIZE 0x100
+
+void uart_init();
+void uart_putc(char c);
+char uart_getc();
+int uart_puts(char *s);
+char* uart_gets(char *buf);
+int uart_printf(char *s);
+void uart_hex(unsigned int d);
+void disable_uart();
+char uart_getc_pure();
+
+#endif

lab6/bootloader/linker.ld

@@ -0,0 +1,22 @@
+SECTIONS
+{
+    . = 0x70000;
+   _code_relocate_place = .;
+    /*bootloader on 0x80000, kernel on 0x80000 need to self relocate bootloader to other place*/
+    . = 0x80000;
+    PROVIDE(_start = .);
+    .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 = .;
+}
+__bss_size = (__bss_end - __bss_start)>>3;
+__code_size = (_end - _start);

lab6/bootloader/src/main.c

@@ -0,0 +1,44 @@
+#include "uart.h"
+#include "mbox.h"
+#include "shell.h"
+#include "string.h"
+#include "system.h"
+
+extern char* _code_relocate_place;
+extern unsigned long long  __code_size;
+extern unsigned long long _start;
+extern char* _dtb;
+
+void code_relocate(char * addr);
+
+int relocate=1;
+
+void main(char* arg)
+{
+    _dtb = arg;
+    char* reloc_place = (char*)&_code_relocate_place;
+
+    if(relocate) // only do relocate once
+    {
+        relocate = 0;
+        code_relocate(reloc_place);
+    }
+
+    // set up serial console
+    uart_init();
+
+    shell();
+}
+
+// relocate code and jump to there
+void code_relocate(char * addr)
+{
+    unsigned long long size = (unsigned long long)&__code_size;
+    char* start = (char *)&_start;
+    for(unsigned long long i=0;i<size;i++)
+    {
+        addr[i] = start[i];
+    }
+
+    ((void (*)(char*))addr)(_dtb);  //jump to new place
+}

lab6/bootloader/src/mbox.c

@@ -0,0 +1,37 @@
+#include "gpio.h"
+
+/* mailbox message buffer */
+volatile unsigned int  __attribute__((aligned(16))) mbox[36];
+
+#define VIDEOCORE_MBOX  (MMIO_BASE+0x0000B880)
+#define MBOX_READ       ((volatile unsigned int*)(VIDEOCORE_MBOX+0x0))
+#define MBOX_POLL       ((volatile unsigned int*)(VIDEOCORE_MBOX+0x10))
+#define MBOX_SENDER     ((volatile unsigned int*)(VIDEOCORE_MBOX+0x14))
+#define MBOX_STATUS     ((volatile unsigned int*)(VIDEOCORE_MBOX+0x18))
+#define MBOX_CONFIG     ((volatile unsigned int*)(VIDEOCORE_MBOX+0x1C))
+#define MBOX_WRITE      ((volatile unsigned int*)(VIDEOCORE_MBOX+0x20))
+#define MBOX_RESPONSE   0x80000000 // mbox[1] = 0x80000000 -> request successful
+#define MBOX_FULL       0x80000000
+#define MBOX_EMPTY      0x40000000
+
+/**
+ * Make a mailbox call. Returns 0 on failure, non-zero on success
+ */
+int mbox_call(unsigned char ch) // Mailbox 0 define several channels, but we only use channel 8 (CPU->GPU) for communication.
+{
+    unsigned int r = (((unsigned int)((unsigned long)&mbox)&~0xF) | (ch&0xF));
+    /* wait until we can write to the mailbox */
+    do{asm volatile("nop");}while(*MBOX_STATUS & MBOX_FULL);
+    /* write the address of our message to the mailbox with channel identifier */
+    *MBOX_WRITE = r;
+    /* now wait for the response */
+    while(1) {
+        /* is there a response? */
+        do{asm volatile("nop");}while(*MBOX_STATUS & MBOX_EMPTY);
+        /* is it a response to our message? */
+        if(r == *MBOX_READ)
+            /* is it a valid successful response? */
+            return mbox[1]==MBOX_RESPONSE;  
+    }
+    return 0;
+}

lab6/bootloader/src/shell.c

@@ -0,0 +1,63 @@
+#include "uart.h"
+#include "string.h"
+#include "shell.h"
+#include "mbox.h"
+#include "system.h"
+
+void shell()
+{
+    char cmd[MAX_BUF_SIZE];
+    print_system_messages();
+    uart_puts("Welcome, this is bootloader. Try to load kernel with uart with protocol in system.c(load_kernel)");
+    while(1)
+    {
+        uart_printf("# ");
+        uart_gets(cmd);
+        do_cmd(cmd);
+    }
+}
+
+void do_cmd(char* cmd)
+{
+    if(strcmp(cmd,"help")==0)
+    {
+        uart_puts("help       : print this help menu");
+        uart_puts("hello      : print Hello World!");
+        uart_puts("reboot     : reboot the device");
+        uart_puts("load_kernel   : load kernel code from uart to 0x80000 and jump to it!");
+    }
+    else if(strcmp(cmd,"hello")==0)
+    {
+        uart_puts("Hello World!");
+    }
+    else if(strcmp(cmd,"reboot")==0)
+    {
+        reboot();
+    }else if(strcmp(cmd,"load_kernel")==0)
+    {
+        load_kernel();
+    }else
+    {
+        uart_puts("Unknown command!");
+    }
+}
+
+void print_system_messages()
+{
+    unsigned int board_revision;
+    get_board_revision(&board_revision);
+    uart_printf("Board revision is : 0x");
+    uart_hex(board_revision);
+    uart_puts("");
+
+    unsigned int arm_mem_base_addr;
+    unsigned int arm_mem_size;
+
+    get_arm_memory_info(&arm_mem_base_addr,&arm_mem_size);
+    uart_printf("ARM memory base address in bytes : 0x");
+    uart_hex(arm_mem_base_addr);
+    uart_puts("");
+    uart_printf("ARM memory size in bytes : 0x");
+    uart_hex(arm_mem_size);
+    uart_puts("");
+}