|
|
|
|
@ -2,14 +2,14 @@
|
|
|
|
|
|
|
|
|
|
## tl;dr
|
|
|
|
|
|
|
|
|
|
We add abstractions for the architectural timer, implement it for `aarch64` and
|
|
|
|
|
use it to annotate prints with timestamps; A `warn!()` macro is added.
|
|
|
|
|
We add abstractions for the architectural timer, implement it for `aarch64` and use it to annotate
|
|
|
|
|
prints with timestamps; A `warn!()` macro is added.
|
|
|
|
|
|
|
|
|
|
## Test it
|
|
|
|
|
|
|
|
|
|
Check it out via chainboot (added in previous tutorial):
|
|
|
|
|
```console
|
|
|
|
|
» make chainboot
|
|
|
|
|
$ make chainboot
|
|
|
|
|
[...]
|
|
|
|
|
Minipush 1.0
|
|
|
|
|
|
|
|
|
|
@ -26,572 +26,16 @@ Minipush 1.0
|
|
|
|
|
[MP] ⏩ Pushing 12 KiB =========================================🦀 100% 0 KiB/s Time: 00:00:00
|
|
|
|
|
[ML] Loaded! Executing the payload now
|
|
|
|
|
|
|
|
|
|
[ 0.585762] Booting on: Raspberry Pi 3
|
|
|
|
|
[ 0.586849] Architectural timer resolution: 52 ns
|
|
|
|
|
[ 0.589152] Drivers loaded:
|
|
|
|
|
[ 0.590498] 1. GPIO
|
|
|
|
|
[ 0.591758] 2. PL011Uart
|
|
|
|
|
[W 0.593235] Spin duration smaller than architecturally supported, skipping
|
|
|
|
|
[ 0.596623] Spinning for 1 second
|
|
|
|
|
[ 1.598232] Spinning for 1 second
|
|
|
|
|
[ 2.599104] Spinning for 1 second
|
|
|
|
|
[ 0.586140] Booting on: Raspberry Pi 3
|
|
|
|
|
[ 0.587227] Architectural timer resolution: 52 ns
|
|
|
|
|
[ 0.589530] Drivers loaded:
|
|
|
|
|
[ 0.590876] 1. BCM GPIO
|
|
|
|
|
[ 0.592309] 2. BCM PL011 UART
|
|
|
|
|
[W 0.594005] Spin duration smaller than architecturally supported, skipping
|
|
|
|
|
[ 0.597392] Spinning for 1 second
|
|
|
|
|
[ 1.599001] Spinning for 1 second
|
|
|
|
|
[ 2.599872] Spinning for 1 second
|
|
|
|
|
|
|
|
|
|
```
|
|
|
|
|
|
|
|
|
|
## Diff to previous
|
|
|
|
|
```diff
|
|
|
|
|
Binary files 07_uart_chainloader/demo_payload_rpi3.img and 08_timestamps/demo_payload_rpi3.img differ
|
|
|
|
|
Binary files 07_uart_chainloader/demo_payload_rpi4.img and 08_timestamps/demo_payload_rpi4.img differ
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/Makefile 08_timestamps/Makefile
|
|
|
|
|
--- 07_uart_chainloader/Makefile
|
|
|
|
|
+++ 08_timestamps/Makefile
|
|
|
|
|
@@ -20,8 +20,7 @@
|
|
|
|
|
QEMU_MACHINE_TYPE = raspi3
|
|
|
|
|
QEMU_RELEASE_ARGS = -serial stdio -display none
|
|
|
|
|
LINKER_FILE = src/bsp/rpi/link.ld
|
|
|
|
|
- RUSTC_MISC_ARGS = -C target-cpu=cortex-a53 -C relocation-model=pic
|
|
|
|
|
- CHAINBOOT_DEMO_PAYLOAD = demo_payload_rpi3.img
|
|
|
|
|
+ RUSTC_MISC_ARGS = -C target-cpu=cortex-a53
|
|
|
|
|
else ifeq ($(BSP),rpi4)
|
|
|
|
|
TARGET = aarch64-unknown-none-softfloat
|
|
|
|
|
OUTPUT = kernel8.img
|
|
|
|
|
@@ -29,8 +28,7 @@
|
|
|
|
|
# QEMU_MACHINE_TYPE =
|
|
|
|
|
# QEMU_RELEASE_ARGS = -serial stdio -display none
|
|
|
|
|
LINKER_FILE = src/bsp/rpi/link.ld
|
|
|
|
|
- RUSTC_MISC_ARGS = -C target-cpu=cortex-a72 -C relocation-model=pic
|
|
|
|
|
- CHAINBOOT_DEMO_PAYLOAD = demo_payload_rpi4.img
|
|
|
|
|
+ RUSTC_MISC_ARGS = -C target-cpu=cortex-a72
|
|
|
|
|
endif
|
|
|
|
|
|
|
|
|
|
RUSTFLAGS = -C link-arg=-T$(LINKER_FILE) $(RUSTC_MISC_ARGS)
|
|
|
|
|
@@ -58,7 +56,7 @@
|
|
|
|
|
DOCKER_EXEC_QEMU = $(QEMU_BINARY) -M $(QEMU_MACHINE_TYPE)
|
|
|
|
|
DOCKER_EXEC_MINIPUSH = ruby /utils/minipush.rb
|
|
|
|
|
|
|
|
|
|
-.PHONY: all doc qemu qemuasm chainboot clippy clean readelf objdump nm
|
|
|
|
|
+.PHONY: all doc qemu chainboot clippy clean readelf objdump nm
|
|
|
|
|
|
|
|
|
|
all: clean $(OUTPUT)
|
|
|
|
|
|
|
|
|
|
@@ -76,25 +74,17 @@
|
|
|
|
|
ifeq ($(QEMU_MACHINE_TYPE),)
|
|
|
|
|
qemu:
|
|
|
|
|
@echo "This board is not yet supported for QEMU."
|
|
|
|
|
-
|
|
|
|
|
-qemuasm:
|
|
|
|
|
- @echo "This board is not yet supported for QEMU."
|
|
|
|
|
else
|
|
|
|
|
qemu: all
|
|
|
|
|
@$(DOCKER_CMD) $(DOCKER_ARG_DIR_TUT) $(DOCKER_IMAGE) \
|
|
|
|
|
$(DOCKER_EXEC_QEMU) $(QEMU_RELEASE_ARGS) \
|
|
|
|
|
-kernel $(OUTPUT)
|
|
|
|
|
-
|
|
|
|
|
-qemuasm: all
|
|
|
|
|
- @$(DOCKER_CMD) $(DOCKER_ARG_DIR_TUT) $(DOCKER_IMAGE) \
|
|
|
|
|
- $(DOCKER_EXEC_QEMU) $(QEMU_RELEASE_ARGS) \
|
|
|
|
|
- -kernel $(OUTPUT) -d in_asm
|
|
|
|
|
endif
|
|
|
|
|
|
|
|
|
|
-chainboot:
|
|
|
|
|
+chainboot: all
|
|
|
|
|
@$(DOCKER_CMD) $(DOCKER_ARG_DIR_TUT) $(DOCKER_ARG_DIR_UTILS) $(DOCKER_ARG_TTY) \
|
|
|
|
|
$(DOCKER_IMAGE) $(DOCKER_EXEC_MINIPUSH) $(DEV_SERIAL) \
|
|
|
|
|
- $(CHAINBOOT_DEMO_PAYLOAD)
|
|
|
|
|
+ $(OUTPUT)
|
|
|
|
|
|
|
|
|
|
clippy:
|
|
|
|
|
RUSTFLAGS="$(RUSTFLAGS_PEDANTIC)" cargo xclippy --target=$(TARGET) --features bsp_$(BSP)
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/src/arch/aarch64/time.rs 08_timestamps/src/arch/aarch64/time.rs
|
|
|
|
|
--- 07_uart_chainloader/src/arch/aarch64/time.rs
|
|
|
|
|
+++ 08_timestamps/src/arch/aarch64/time.rs
|
|
|
|
|
@@ -0,0 +1,81 @@
|
|
|
|
|
+// SPDX-License-Identifier: MIT OR Apache-2.0
|
|
|
|
|
+//
|
|
|
|
|
+// Copyright (c) 2018-2020 Andre Richter <andre.o.richter@gmail.com>
|
|
|
|
|
+
|
|
|
|
|
+//! Timer primitives.
|
|
|
|
|
+
|
|
|
|
|
+use crate::{interface, warn};
|
|
|
|
|
+use core::time::Duration;
|
|
|
|
|
+use cortex_a::regs::*;
|
|
|
|
|
+
|
|
|
|
|
+const NS_PER_S: u64 = 1_000_000_000;
|
|
|
|
|
+
|
|
|
|
|
+//--------------------------------------------------------------------------------------------------
|
|
|
|
|
+// Arch-public
|
|
|
|
|
+//--------------------------------------------------------------------------------------------------
|
|
|
|
|
+
|
|
|
|
|
+pub struct Timer;
|
|
|
|
|
+
|
|
|
|
|
+//--------------------------------------------------------------------------------------------------
|
|
|
|
|
+// OS interface implementations
|
|
|
|
|
+//--------------------------------------------------------------------------------------------------
|
|
|
|
|
+
|
|
|
|
|
+impl interface::time::Timer for Timer {
|
|
|
|
|
+ fn resolution(&self) -> Duration {
|
|
|
|
|
+ Duration::from_nanos(NS_PER_S / (CNTFRQ_EL0.get() as u64))
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ fn uptime(&self) -> Duration {
|
|
|
|
|
+ let frq: u64 = CNTFRQ_EL0.get() as u64;
|
|
|
|
|
+ let current_count: u64 = CNTPCT_EL0.get() * NS_PER_S;
|
|
|
|
|
+
|
|
|
|
|
+ Duration::from_nanos(current_count / frq)
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ fn spin_for(&self, duration: Duration) {
|
|
|
|
|
+ // Instantly return on zero.
|
|
|
|
|
+ if duration.as_nanos() == 0 {
|
|
|
|
|
+ return;
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ // Calculate the register compare value.
|
|
|
|
|
+ let frq = CNTFRQ_EL0.get() as u64;
|
|
|
|
|
+ let x = match frq.checked_mul(duration.as_nanos() as u64) {
|
|
|
|
|
+ None => {
|
|
|
|
|
+ warn!("Spin duration too long, skipping");
|
|
|
|
|
+ return;
|
|
|
|
|
+ }
|
|
|
|
|
+ Some(val) => val,
|
|
|
|
|
+ };
|
|
|
|
|
+ let tval = x / NS_PER_S;
|
|
|
|
|
+
|
|
|
|
|
+ // Check if it is within supported bounds.
|
|
|
|
|
+ let warn: Option<&str> = if tval == 0 {
|
|
|
|
|
+ Some("smaller")
|
|
|
|
|
+ } else if tval > u32::max_value().into() {
|
|
|
|
|
+ Some("bigger")
|
|
|
|
|
+ } else {
|
|
|
|
|
+ None
|
|
|
|
|
+ };
|
|
|
|
|
+
|
|
|
|
|
+ if let Some(w) = warn {
|
|
|
|
|
+ warn!(
|
|
|
|
|
+ "Spin duration {} than architecturally supported, skipping",
|
|
|
|
|
+ w
|
|
|
|
|
+ );
|
|
|
|
|
+ return;
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
+ // Set the compare value register.
|
|
|
|
|
+ CNTP_TVAL_EL0.set(tval as u32);
|
|
|
|
|
+
|
|
|
|
|
+ // Kick off the counting. // Disable timer interrupt.
|
|
|
|
|
+ CNTP_CTL_EL0.modify(CNTP_CTL_EL0::ENABLE::SET + CNTP_CTL_EL0::IMASK::SET);
|
|
|
|
|
+
|
|
|
|
|
+ // ISTATUS will be '1' when cval ticks have passed. Busy-check it.
|
|
|
|
|
+ while !CNTP_CTL_EL0.matches_all(CNTP_CTL_EL0::ISTATUS::SET) {}
|
|
|
|
|
+
|
|
|
|
|
+ // Disable counting again.
|
|
|
|
|
+ CNTP_CTL_EL0.modify(CNTP_CTL_EL0::ENABLE::CLEAR);
|
|
|
|
|
+ }
|
|
|
|
|
+}
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/src/arch/aarch64.rs 08_timestamps/src/arch/aarch64.rs
|
|
|
|
|
--- 07_uart_chainloader/src/arch/aarch64.rs
|
|
|
|
|
+++ 08_timestamps/src/arch/aarch64.rs
|
|
|
|
|
@@ -5,8 +5,9 @@
|
|
|
|
|
//! AArch64.
|
|
|
|
|
|
|
|
|
|
pub mod sync;
|
|
|
|
|
+mod time;
|
|
|
|
|
|
|
|
|
|
-use crate::bsp;
|
|
|
|
|
+use crate::{bsp, interface};
|
|
|
|
|
use cortex_a::{asm, regs::*};
|
|
|
|
|
|
|
|
|
|
/// The entry of the `kernel` binary.
|
|
|
|
|
@@ -22,7 +23,7 @@
|
|
|
|
|
|
|
|
|
|
if bsp::BOOT_CORE_ID == MPIDR_EL1.get() & CORE_MASK {
|
|
|
|
|
SP.set(bsp::BOOT_CORE_STACK_START);
|
|
|
|
|
- crate::relocate::relocate_self::<u64>()
|
|
|
|
|
+ crate::runtime_init::runtime_init()
|
|
|
|
|
} else {
|
|
|
|
|
// If not core0, infinitely wait for events.
|
|
|
|
|
wait_forever()
|
|
|
|
|
@@ -30,6 +31,12 @@
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------
|
|
|
|
|
+// Global instances
|
|
|
|
|
+//--------------------------------------------------------------------------------------------------
|
|
|
|
|
+
|
|
|
|
|
+static TIMER: time::Timer = time::Timer;
|
|
|
|
|
+
|
|
|
|
|
+//--------------------------------------------------------------------------------------------------
|
|
|
|
|
// Implementation of the kernel's architecture abstraction code
|
|
|
|
|
//--------------------------------------------------------------------------------------------------
|
|
|
|
|
|
|
|
|
|
@@ -42,6 +49,11 @@
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
+/// Return a reference to a `interface::time::TimeKeeper` implementation.
|
|
|
|
|
+pub fn timer() -> &'static impl interface::time::Timer {
|
|
|
|
|
+ &TIMER
|
|
|
|
|
+}
|
|
|
|
|
+
|
|
|
|
|
/// Pause execution on the calling CPU core.
|
|
|
|
|
#[inline(always)]
|
|
|
|
|
pub fn wait_forever() -> ! {
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/src/bsp/driver/bcm/bcm2xxx_pl011_uart.rs 08_timestamps/src/bsp/driver/bcm/bcm2xxx_pl011_uart.rs
|
|
|
|
|
--- 07_uart_chainloader/src/bsp/driver/bcm/bcm2xxx_pl011_uart.rs
|
|
|
|
|
+++ 08_timestamps/src/bsp/driver/bcm/bcm2xxx_pl011_uart.rs
|
|
|
|
|
@@ -293,11 +293,18 @@
|
|
|
|
|
arch::nop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
+ // Read one character.
|
|
|
|
|
+ let mut ret = inner.DR.get() as u8 as char;
|
|
|
|
|
+
|
|
|
|
|
+ // Convert carrige return to newline.
|
|
|
|
|
+ if ret == '\r' {
|
|
|
|
|
+ ret = '\n'
|
|
|
|
|
+ }
|
|
|
|
|
+
|
|
|
|
|
// Update statistics.
|
|
|
|
|
inner.chars_read += 1;
|
|
|
|
|
|
|
|
|
|
- // Read one character.
|
|
|
|
|
- inner.DR.get() as u8 as char
|
|
|
|
|
+ ret
|
|
|
|
|
})
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/src/bsp/rpi/link.ld 08_timestamps/src/bsp/rpi/link.ld
|
|
|
|
|
--- 07_uart_chainloader/src/bsp/rpi/link.ld
|
|
|
|
|
+++ 08_timestamps/src/bsp/rpi/link.ld
|
|
|
|
|
@@ -5,10 +5,9 @@
|
|
|
|
|
|
|
|
|
|
SECTIONS
|
|
|
|
|
{
|
|
|
|
|
- /* Set the link address to the top-most 40 KiB of DRAM (assuming 1GiB) */
|
|
|
|
|
- . = 0x3F000000 - 0x10000;
|
|
|
|
|
+ /* Set current address to the value from which the RPi starts execution */
|
|
|
|
|
+ . = 0x80000;
|
|
|
|
|
|
|
|
|
|
- __binary_start = .;
|
|
|
|
|
.text :
|
|
|
|
|
{
|
|
|
|
|
*(.text._start) *(.text*)
|
|
|
|
|
@@ -33,14 +32,5 @@
|
|
|
|
|
__bss_end = .;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
- .got :
|
|
|
|
|
- {
|
|
|
|
|
- *(.got*)
|
|
|
|
|
- }
|
|
|
|
|
-
|
|
|
|
|
- /* Fill up to 8 byte, b/c relocating the binary is done in u64 chunks */
|
|
|
|
|
- . = ALIGN(8);
|
|
|
|
|
- __binary_end = .;
|
|
|
|
|
-
|
|
|
|
|
/DISCARD/ : { *(.comment*) }
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/src/bsp/rpi.rs 08_timestamps/src/bsp/rpi.rs
|
|
|
|
|
--- 07_uart_chainloader/src/bsp/rpi.rs
|
|
|
|
|
+++ 08_timestamps/src/bsp/rpi.rs
|
|
|
|
|
@@ -16,9 +16,6 @@
|
|
|
|
|
/// The early boot core's stack address.
|
|
|
|
|
pub const BOOT_CORE_STACK_START: u64 = 0x80_000;
|
|
|
|
|
|
|
|
|
|
-/// The address on which the RPi3 firmware loads every binary by default.
|
|
|
|
|
-pub const BOARD_DEFAULT_LOAD_ADDRESS: usize = 0x80_000;
|
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|
|
-
|
|
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|
|
//--------------------------------------------------------------------------------------------------
|
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|
|
|
// Global BSP driver instances
|
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|
|
|
//--------------------------------------------------------------------------------------------------
|
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|
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diff -uNr 07_uart_chainloader/src/interface.rs 08_timestamps/src/interface.rs
|
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|
|
|
--- 07_uart_chainloader/src/interface.rs
|
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|
|
|
+++ 08_timestamps/src/interface.rs
|
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|
@@ -112,3 +112,22 @@
|
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|
|
}
|
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|
|
}
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|
|
}
|
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|
+
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|
+/// Timekeeping interfaces.
|
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|
|
+pub mod time {
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|
|
+ use core::time::Duration;
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+
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|
|
+ /// Timer functions.
|
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|
|
|
+ pub trait Timer {
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|
|
+ /// The timer's resolution.
|
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|
|
+ fn resolution(&self) -> Duration;
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+
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|
|
+ /// The uptime since power-on of the device.
|
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|
|
+ ///
|
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|
|
+ /// This includes time consumed by firmware and bootloaders.
|
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|
|
+ fn uptime(&self) -> Duration;
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+
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|
|
+ /// Spin for a given duration.
|
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|
|
|
+ fn spin_for(&self, duration: Duration);
|
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|
|
|
+ }
|
|
|
|
|
+}
|
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|
diff -uNr 07_uart_chainloader/src/main.rs 08_timestamps/src/main.rs
|
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|
|
|
--- 07_uart_chainloader/src/main.rs
|
|
|
|
|
+++ 08_timestamps/src/main.rs
|
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|
|
|
@@ -29,11 +29,7 @@
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|
|
// the first function to run.
|
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|
|
mod arch;
|
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|
|
|
|
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|
|
|
-// `_start()` then calls `relocate::relocate_self()`.
|
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|
|
-mod relocate;
|
|
|
|
|
-
|
|
|
|
|
-// `relocate::relocate_self()` calls `runtime_init()`, which on completion, jumps to
|
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|
|
|
-// `kernel_init()`.
|
|
|
|
|
+// `_start()` then calls `runtime_init()`, which on completion, jumps to `kernel_init()`.
|
|
|
|
|
mod runtime_init;
|
|
|
|
|
|
|
|
|
|
// Conditionally includes the selected `BSP` code.
|
|
|
|
|
@@ -67,51 +63,25 @@
|
|
|
|
|
|
|
|
|
|
/// The main function running after the early init.
|
|
|
|
|
fn kernel_main() -> ! {
|
|
|
|
|
- use interface::console::All;
|
|
|
|
|
-
|
|
|
|
|
- println!(" __ __ _ _ _ _ ");
|
|
|
|
|
- println!("| \\/ (_)_ _ (_) | ___ __ _ __| |");
|
|
|
|
|
- println!("| |\\/| | | ' \\| | |__/ _ \\/ _` / _` |");
|
|
|
|
|
- println!("|_| |_|_|_||_|_|____\\___/\\__,_\\__,_|");
|
|
|
|
|
- println!();
|
|
|
|
|
- println!("{:^37}", bsp::board_name());
|
|
|
|
|
- println!();
|
|
|
|
|
- println!("[ML] Requesting binary");
|
|
|
|
|
- bsp::console().flush();
|
|
|
|
|
-
|
|
|
|
|
- // Clear the RX FIFOs, if any, of spurious received characters before starting with the loader
|
|
|
|
|
- // protocol.
|
|
|
|
|
- bsp::console().clear();
|
|
|
|
|
-
|
|
|
|
|
- // Notify `Minipush` to send the binary.
|
|
|
|
|
- for _ in 0..3 {
|
|
|
|
|
- bsp::console().write_char(3 as char);
|
|
|
|
|
- }
|
|
|
|
|
+ use core::time::Duration;
|
|
|
|
|
+ use interface::time::Timer;
|
|
|
|
|
|
|
|
|
|
- // Read the binary's size.
|
|
|
|
|
- let mut size: u32 = u32::from(bsp::console().read_char() as u8);
|
|
|
|
|
- size |= u32::from(bsp::console().read_char() as u8) << 8;
|
|
|
|
|
- size |= u32::from(bsp::console().read_char() as u8) << 16;
|
|
|
|
|
- size |= u32::from(bsp::console().read_char() as u8) << 24;
|
|
|
|
|
-
|
|
|
|
|
- // Trust it's not too big.
|
|
|
|
|
- bsp::console().write_char('O');
|
|
|
|
|
- bsp::console().write_char('K');
|
|
|
|
|
-
|
|
|
|
|
- let kernel_addr: *mut u8 = bsp::BOARD_DEFAULT_LOAD_ADDRESS as *mut u8;
|
|
|
|
|
- unsafe {
|
|
|
|
|
- // Read the kernel byte by byte.
|
|
|
|
|
- for i in 0..size {
|
|
|
|
|
- *kernel_addr.offset(i as isize) = bsp::console().read_char() as u8;
|
|
|
|
|
- }
|
|
|
|
|
+ info!("Booting on: {}", bsp::board_name());
|
|
|
|
|
+ info!(
|
|
|
|
|
+ "Architectural timer resolution: {} ns",
|
|
|
|
|
+ arch::timer().resolution().as_nanos()
|
|
|
|
|
+ );
|
|
|
|
|
+
|
|
|
|
|
+ info!("Drivers loaded:");
|
|
|
|
|
+ for (i, driver) in bsp::device_drivers().iter().enumerate() {
|
|
|
|
|
+ info!(" {}. {}", i + 1, driver.compatible());
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
- println!("[ML] Loaded! Executing the payload now\n");
|
|
|
|
|
- bsp::console().flush();
|
|
|
|
|
-
|
|
|
|
|
- // Use black magic to get a function pointer.
|
|
|
|
|
- let kernel: extern "C" fn() -> ! = unsafe { core::mem::transmute(kernel_addr as *const ()) };
|
|
|
|
|
+ // Test a failing timer case.
|
|
|
|
|
+ arch::timer().spin_for(Duration::from_nanos(1));
|
|
|
|
|
|
|
|
|
|
- // Jump to loaded kernel!
|
|
|
|
|
- kernel()
|
|
|
|
|
+ loop {
|
|
|
|
|
+ info!("Spinning for 1 second");
|
|
|
|
|
+ arch::timer().spin_for(Duration::from_secs(1));
|
|
|
|
|
+ }
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/src/print.rs 08_timestamps/src/print.rs
|
|
|
|
|
--- 07_uart_chainloader/src/print.rs
|
|
|
|
|
+++ 08_timestamps/src/print.rs
|
|
|
|
|
@@ -32,3 +32,71 @@
|
|
|
|
|
$crate::print::_print(format_args_nl!($($arg)*));
|
|
|
|
|
})
|
|
|
|
|
}
|
|
|
|
|
+
|
|
|
|
|
+/// Prints an info, with newline.
|
|
|
|
|
+#[macro_export]
|
|
|
|
|
+macro_rules! info {
|
|
|
|
|
+ ($string:expr) => ({
|
|
|
|
|
+ #[allow(unused_imports)]
|
|
|
|
|
+ use crate::interface::time::Timer;
|
|
|
|
|
+
|
|
|
|
|
+ let timestamp = $crate::arch::timer().uptime();
|
|
|
|
|
+ let timestamp_subsec_us = timestamp.subsec_micros();
|
|
|
|
|
+
|
|
|
|
|
+ $crate::print::_print(format_args_nl!(
|
|
|
|
|
+ concat!("[ {:>3}.{:03}{:03}] ", $string),
|
|
|
|
|
+ timestamp.as_secs(),
|
|
|
|
|
+ timestamp_subsec_us / 1_000,
|
|
|
|
|
+ timestamp_subsec_us modulo 1_000
|
|
|
|
|
+ ));
|
|
|
|
|
+ });
|
|
|
|
|
+ ($format_string:expr, $($arg:tt)*) => ({
|
|
|
|
|
+ #[allow(unused_imports)]
|
|
|
|
|
+ use crate::interface::time::Timer;
|
|
|
|
|
+
|
|
|
|
|
+ let timestamp = $crate::arch::timer().uptime();
|
|
|
|
|
+ let timestamp_subsec_us = timestamp.subsec_micros();
|
|
|
|
|
+
|
|
|
|
|
+ $crate::print::_print(format_args_nl!(
|
|
|
|
|
+ concat!("[ {:>3}.{:03}{:03}] ", $format_string),
|
|
|
|
|
+ timestamp.as_secs(),
|
|
|
|
|
+ timestamp_subsec_us / 1_000,
|
|
|
|
|
+ timestamp_subsec_us modulo 1_000,
|
|
|
|
|
+ $($arg)*
|
|
|
|
|
+ ));
|
|
|
|
|
+ })
|
|
|
|
|
+}
|
|
|
|
|
+
|
|
|
|
|
+/// Prints a warning, with newline.
|
|
|
|
|
+#[macro_export]
|
|
|
|
|
+macro_rules! warn {
|
|
|
|
|
+ ($string:expr) => ({
|
|
|
|
|
+ #[allow(unused_imports)]
|
|
|
|
|
+ use crate::interface::time::Timer;
|
|
|
|
|
+
|
|
|
|
|
+ let timestamp = $crate::arch::timer().uptime();
|
|
|
|
|
+ let timestamp_subsec_us = timestamp.subsec_micros();
|
|
|
|
|
+
|
|
|
|
|
+ $crate::print::_print(format_args_nl!(
|
|
|
|
|
+ concat!("[W {:>3}.{:03}{:03}] ", $string),
|
|
|
|
|
+ timestamp.as_secs(),
|
|
|
|
|
+ timestamp_subsec_us / 1_000,
|
|
|
|
|
+ timestamp_subsec_us modulo 1_000
|
|
|
|
|
+ ));
|
|
|
|
|
+ });
|
|
|
|
|
+ ($format_string:expr, $($arg:tt)*) => ({
|
|
|
|
|
+ #[allow(unused_imports)]
|
|
|
|
|
+ use crate::interface::time::Timer;
|
|
|
|
|
+
|
|
|
|
|
+ let timestamp = $crate::arch::timer().uptime();
|
|
|
|
|
+ let timestamp_subsec_us = timestamp.subsec_micros();
|
|
|
|
|
+
|
|
|
|
|
+ $crate::print::_print(format_args_nl!(
|
|
|
|
|
+ concat!("[W {:>3}.{:03}{:03}] ", $format_string),
|
|
|
|
|
+ timestamp.as_secs(),
|
|
|
|
|
+ timestamp_subsec_us / 1_000,
|
|
|
|
|
+ timestamp_subsec_us modulo 1_000,
|
|
|
|
|
+ $($arg)*
|
|
|
|
|
+ ));
|
|
|
|
|
+ })
|
|
|
|
|
+}
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/src/relocate.rs 08_timestamps/src/relocate.rs
|
|
|
|
|
--- 07_uart_chainloader/src/relocate.rs
|
|
|
|
|
+++ 08_timestamps/src/relocate.rs
|
|
|
|
|
@@ -1,46 +0,0 @@
|
|
|
|
|
-// SPDX-License-Identifier: MIT OR Apache-2.0
|
|
|
|
|
-//
|
|
|
|
|
-// Copyright (c) 2018-2020 Andre Richter <andre.o.richter@gmail.com>
|
|
|
|
|
-
|
|
|
|
|
-//! Relocation code.
|
|
|
|
|
-
|
|
|
|
|
-/// Relocates the own binary from `bsp::BOARD_DEFAULT_LOAD_ADDRESS` to the `__binary_start` address
|
|
|
|
|
-/// from the linker script.
|
|
|
|
|
-///
|
|
|
|
|
-/// # Safety
|
|
|
|
|
-///
|
|
|
|
|
-/// - Only a single core must be active and running this function.
|
|
|
|
|
-/// - Function must not use the `bss` section.
|
|
|
|
|
-pub unsafe fn relocate_self<T>() -> ! {
|
|
|
|
|
- extern "C" {
|
|
|
|
|
- static __binary_start: usize;
|
|
|
|
|
- static __binary_end: usize;
|
|
|
|
|
- }
|
|
|
|
|
-
|
|
|
|
|
- let binary_start_addr: usize = &__binary_start as *const _ as _;
|
|
|
|
|
- let binary_end_addr: usize = &__binary_end as *const _ as _;
|
|
|
|
|
- let binary_size_in_byte: usize = binary_end_addr - binary_start_addr;
|
|
|
|
|
-
|
|
|
|
|
- // Get the relocation destination address from the linker symbol.
|
|
|
|
|
- let mut reloc_dst_addr: *mut T = binary_start_addr as *mut T;
|
|
|
|
|
-
|
|
|
|
|
- // The address of where the previous firmware loaded us.
|
|
|
|
|
- let mut src_addr: *const T = crate::bsp::BOARD_DEFAULT_LOAD_ADDRESS as *const _;
|
|
|
|
|
-
|
|
|
|
|
- // Copy the whole binary.
|
|
|
|
|
- //
|
|
|
|
|
- // This is essentially a `memcpy()` optimized for throughput by transferring in chunks of T.
|
|
|
|
|
- let n = binary_size_in_byte / core::mem::size_of::<T>();
|
|
|
|
|
- for _ in 0..n {
|
|
|
|
|
- use core::ptr;
|
|
|
|
|
-
|
|
|
|
|
- ptr::write_volatile::<T>(reloc_dst_addr, ptr::read_volatile::<T>(src_addr));
|
|
|
|
|
- reloc_dst_addr = reloc_dst_addr.offset(1);
|
|
|
|
|
- src_addr = src_addr.offset(1);
|
|
|
|
|
- }
|
|
|
|
|
-
|
|
|
|
|
- // Call `init()` through a trait object, causing the jump to use an absolute address to reach
|
|
|
|
|
- // the relocated binary. An elaborate explanation can be found in the runtime_init.rs source
|
|
|
|
|
- // comments.
|
|
|
|
|
- crate::runtime_init::get().runtime_init()
|
|
|
|
|
-}
|
|
|
|
|
|
|
|
|
|
diff -uNr 07_uart_chainloader/src/runtime_init.rs 08_timestamps/src/runtime_init.rs
|
|
|
|
|
--- 07_uart_chainloader/src/runtime_init.rs
|
|
|
|
|
+++ 08_timestamps/src/runtime_init.rs
|
|
|
|
|
@@ -36,32 +36,14 @@
|
|
|
|
|
memory::zero_volatile(bss_range());
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
-/// We are outsmarting the compiler here by using a trait as a layer of indirection. Because we are
|
|
|
|
|
-/// generating PIC code, a static dispatch to `init()` would generate a relative jump from the
|
|
|
|
|
-/// callee to `init()`. However, when calling `init()`, code just finished copying the binary to the
|
|
|
|
|
-/// actual link-time address, and hence is still running at whatever location the previous loader
|
|
|
|
|
-/// has put it. So we do not want a relative jump, because it would not jump to the relocated code.
|
|
|
|
|
+/// Equivalent to `crt0` or `c0` code in C/C++ world. Clears the `bss` section, then jumps to kernel
|
|
|
|
|
+/// init code.
|
|
|
|
|
///
|
|
|
|
|
-/// By indirecting through a trait object, we can make use of the property that vtables store
|
|
|
|
|
-/// absolute addresses. So calling `init()` this way will kick execution to the relocated binary.
|
|
|
|
|
-pub trait RunTimeInit {
|
|
|
|
|
- /// Equivalent to `crt0` or `c0` code in C/C++ world. Clears the `bss` section, then jumps to
|
|
|
|
|
- /// kernel init code.
|
|
|
|
|
- ///
|
|
|
|
|
- /// # Safety
|
|
|
|
|
- ///
|
|
|
|
|
- /// - Only a single core must be active and running this function.
|
|
|
|
|
- unsafe fn runtime_init(&self) -> ! {
|
|
|
|
|
- zero_bss();
|
|
|
|
|
-
|
|
|
|
|
- crate::kernel_init()
|
|
|
|
|
- }
|
|
|
|
|
-}
|
|
|
|
|
-
|
|
|
|
|
-struct Traitor;
|
|
|
|
|
-impl RunTimeInit for Traitor {}
|
|
|
|
|
+/// # Safety
|
|
|
|
|
+///
|
|
|
|
|
+/// - Only a single core must be active and running this function.
|
|
|
|
|
+pub unsafe fn runtime_init() -> ! {
|
|
|
|
|
+ zero_bss();
|
|
|
|
|
|
|
|
|
|
-/// Give the callee a `RunTimeInit` trait object.
|
|
|
|
|
-pub fn get() -> &'static dyn RunTimeInit {
|
|
|
|
|
- &Traitor {}
|
|
|
|
|
+ crate::kernel_init()
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
```
|
|
|
|
|
|
Andre Richter
4 years ago