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rust-raspberrypi-OS-tutorials/07_timestamps/README.md

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# Tutorial 07 - Timestamps
## tl;dr
- We add abstractions for timer hardware, and implement them for the ARM architectural timer in
`_arch/aarch64`.
- The new timer functions are used to annotate UART prints with timestamps, and to get rid of the
cycle-based delays in the `GPIO` device driver, which boosts accuracy.
- A `warn!()` macro is added.
## Test it
Check it out via chainboot (added in previous tutorial):
```console
$ make chainboot
[...]
Minipush 1.0
[MP] ⏳ Waiting for /dev/ttyUSB0
[MP] ✅ Serial connected
[MP] 🔌 Please power the target now
__ __ _ _ _ _
| \/ (_)_ _ (_) | ___ __ _ __| |
| |\/| | | ' \| | |__/ _ \/ _` / _` |
|_| |_|_|_||_|_|____\___/\__,_\__,_|
Raspberry Pi 3
[ML] Requesting binary
[MP] ⏩ Pushing 12 KiB =========================================🦀 100% 0 KiB/s Time: 00:00:00
[ML] Loaded! Executing the payload now
[ 0.143123] mingo version 0.7.0
[ 0.143323] Booting on: Raspberry Pi 3
[ 0.143778] Architectural timer resolution: 52 ns
[ 0.144352] Drivers loaded:
[ 0.144688] 1. BCM PL011 UART
[ 0.145110] 2. BCM GPIO
[W 0.145469] Spin duration smaller than architecturally supported, skipping
[ 0.146313] Spinning for 1 second
[ 1.146715] Spinning for 1 second
[ 2.146938] Spinning for 1 second
```
## Diff to previous
```diff
diff -uNr 06_uart_chainloader/Cargo.toml 07_timestamps/Cargo.toml
--- 06_uart_chainloader/Cargo.toml
+++ 07_timestamps/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "mingo"
-version = "0.6.0"
+version = "0.7.0"
authors = ["Andre Richter <andre.o.richter@gmail.com>"]
edition = "2021"
Binary files 06_uart_chainloader/demo_payload_rpi3.img and 07_timestamps/demo_payload_rpi3.img differ
Binary files 06_uart_chainloader/demo_payload_rpi4.img and 07_timestamps/demo_payload_rpi4.img differ
diff -uNr 06_uart_chainloader/Makefile 07_timestamps/Makefile
--- 06_uart_chainloader/Makefile
+++ 07_timestamps/Makefile
@@ -24,29 +24,27 @@
QEMU_MISSING_STRING = "This board is not yet supported for QEMU."
ifeq ($(BSP),rpi3)
- TARGET = aarch64-unknown-none-softfloat
- KERNEL_BIN = kernel8.img
- QEMU_BINARY = qemu-system-aarch64
- QEMU_MACHINE_TYPE = raspi3
- QEMU_RELEASE_ARGS = -serial stdio -display none
- OBJDUMP_BINARY = aarch64-none-elf-objdump
- NM_BINARY = aarch64-none-elf-nm
- READELF_BINARY = aarch64-none-elf-readelf
- LD_SCRIPT_PATH = $(shell pwd)/src/bsp/raspberrypi
- RUSTC_MISC_ARGS = -C target-cpu=cortex-a53
- CHAINBOOT_DEMO_PAYLOAD = demo_payload_rpi3.img
+ TARGET = aarch64-unknown-none-softfloat
+ KERNEL_BIN = kernel8.img
+ QEMU_BINARY = qemu-system-aarch64
+ QEMU_MACHINE_TYPE = raspi3
+ QEMU_RELEASE_ARGS = -serial stdio -display none
+ OBJDUMP_BINARY = aarch64-none-elf-objdump
+ NM_BINARY = aarch64-none-elf-nm
+ READELF_BINARY = aarch64-none-elf-readelf
+ LD_SCRIPT_PATH = $(shell pwd)/src/bsp/raspberrypi
+ RUSTC_MISC_ARGS = -C target-cpu=cortex-a53
else ifeq ($(BSP),rpi4)
- TARGET = aarch64-unknown-none-softfloat
- KERNEL_BIN = kernel8.img
- QEMU_BINARY = qemu-system-aarch64
- QEMU_MACHINE_TYPE =
- QEMU_RELEASE_ARGS = -serial stdio -display none
- OBJDUMP_BINARY = aarch64-none-elf-objdump
- NM_BINARY = aarch64-none-elf-nm
- READELF_BINARY = aarch64-none-elf-readelf
- LD_SCRIPT_PATH = $(shell pwd)/src/bsp/raspberrypi
- RUSTC_MISC_ARGS = -C target-cpu=cortex-a72
- CHAINBOOT_DEMO_PAYLOAD = demo_payload_rpi4.img
+ TARGET = aarch64-unknown-none-softfloat
+ KERNEL_BIN = kernel8.img
+ QEMU_BINARY = qemu-system-aarch64
+ QEMU_MACHINE_TYPE =
+ QEMU_RELEASE_ARGS = -serial stdio -display none
+ OBJDUMP_BINARY = aarch64-none-elf-objdump
+ NM_BINARY = aarch64-none-elf-nm
+ READELF_BINARY = aarch64-none-elf-readelf
+ LD_SCRIPT_PATH = $(shell pwd)/src/bsp/raspberrypi
+ RUSTC_MISC_ARGS = -C target-cpu=cortex-a72
endif
# Export for build.rs.
@@ -92,7 +90,7 @@
-O binary
EXEC_QEMU = $(QEMU_BINARY) -M $(QEMU_MACHINE_TYPE)
-EXEC_TEST_MINIPUSH = ruby tests/chainboot_test.rb
+EXEC_TEST_DISPATCH = ruby ../common/tests/dispatch.rb
EXEC_MINIPUSH = ruby ../common/serial/minipush.rb
##------------------------------------------------------------------------------
@@ -162,7 +160,7 @@
##------------------------------------------------------------------------------
ifeq ($(QEMU_MACHINE_TYPE),) # QEMU is not supported for the board.
-qemu qemuasm:
+qemu:
$(call color_header, "$(QEMU_MISSING_STRING)")
else # QEMU is supported.
@@ -171,17 +169,13 @@
$(call color_header, "Launching QEMU")
@$(DOCKER_QEMU) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) -kernel $(KERNEL_BIN)
-qemuasm: $(KERNEL_BIN)
- $(call color_header, "Launching QEMU with ASM output")
- @$(DOCKER_QEMU) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) -kernel $(KERNEL_BIN) -d in_asm
-
endif
##------------------------------------------------------------------------------
## Push the kernel to the real HW target
##------------------------------------------------------------------------------
chainboot: $(KERNEL_BIN)
- @$(DOCKER_CHAINBOOT) $(EXEC_MINIPUSH) $(DEV_SERIAL) $(CHAINBOOT_DEMO_PAYLOAD)
+ @$(DOCKER_CHAINBOOT) $(EXEC_MINIPUSH) $(DEV_SERIAL) $(KERNEL_BIN)
##------------------------------------------------------------------------------
## Run clippy
@@ -238,8 +232,7 @@
##------------------------------------------------------------------------------
test_boot: $(KERNEL_BIN)
$(call color_header, "Boot test - $(BSP)")
- @$(DOCKER_TEST) $(EXEC_TEST_MINIPUSH) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) \
- -kernel $(KERNEL_BIN) $(CHAINBOOT_DEMO_PAYLOAD)
+ @$(DOCKER_TEST) $(EXEC_TEST_DISPATCH) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) -kernel $(KERNEL_BIN)
test: test_boot
diff -uNr 06_uart_chainloader/src/_arch/aarch64/cpu/boot.s 07_timestamps/src/_arch/aarch64/cpu/boot.s
--- 06_uart_chainloader/src/_arch/aarch64/cpu/boot.s
+++ 07_timestamps/src/_arch/aarch64/cpu/boot.s
@@ -18,17 +18,6 @@
add \register, \register, #:lo12:\symbol
.endm
-// Load the address of a symbol into a register, absolute.
-//
-// # Resources
-//
-// - https://sourceware.org/binutils/docs-2.36/as/AArch64_002dRelocations.html
-.macro ADR_ABS register, symbol
- movz \register, #:abs_g2:\symbol
- movk \register, #:abs_g1_nc:\symbol
- movk \register, #:abs_g0_nc:\symbol
-.endm
-
//--------------------------------------------------------------------------------------------------
// Public Code
//--------------------------------------------------------------------------------------------------
@@ -48,35 +37,31 @@
// If execution reaches here, it is the boot core.
// Initialize DRAM.
- ADR_ABS x0, __bss_start
- ADR_ABS x1, __bss_end_exclusive
+ ADR_REL x0, __bss_start
+ ADR_REL x1, __bss_end_exclusive
.L_bss_init_loop:
cmp x0, x1
- b.eq .L_relocate_binary
+ b.eq .L_prepare_rust
stp xzr, xzr, [x0], #16
b .L_bss_init_loop
- // Next, relocate the binary.
-.L_relocate_binary:
- ADR_REL x0, __binary_nonzero_start // The address the binary got loaded to.
- ADR_ABS x1, __binary_nonzero_start // The address the binary was linked to.
- ADR_ABS x2, __binary_nonzero_end_exclusive
-
-.L_copy_loop:
- ldr x3, [x0], #8
- str x3, [x1], #8
- cmp x1, x2
- b.lo .L_copy_loop
-
// Prepare the jump to Rust code.
+.L_prepare_rust:
// Set the stack pointer.
- ADR_ABS x0, __boot_core_stack_end_exclusive
+ ADR_REL x0, __boot_core_stack_end_exclusive
mov sp, x0
- // Jump to the relocated Rust code.
- ADR_ABS x1, _start_rust
- br x1
+ // Read the CPU's timer counter frequency and store it in ARCH_TIMER_COUNTER_FREQUENCY.
+ // Abort if the frequency read back as 0.
+ ADR_REL x1, ARCH_TIMER_COUNTER_FREQUENCY // provided by aarch64/time.rs
+ mrs x2, CNTFRQ_EL0
+ cmp x2, xzr
+ b.eq .L_parking_loop
+ str w2, [x1]
+
+ // Jump to Rust code.
+ b _start_rust
// Infinitely wait for events (aka "park the core").
.L_parking_loop:
diff -uNr 06_uart_chainloader/src/_arch/aarch64/cpu.rs 07_timestamps/src/_arch/aarch64/cpu.rs
--- 06_uart_chainloader/src/_arch/aarch64/cpu.rs
+++ 07_timestamps/src/_arch/aarch64/cpu.rs
@@ -19,15 +19,6 @@
pub use asm::nop;
-/// Spin for `n` cycles.
-#[cfg(feature = "bsp_rpi3")]
-#[inline(always)]
-pub fn spin_for_cycles(n: usize) {
- for _ in 0..n {
- asm::nop();
- }
-}
-
/// Pause execution on the core.
#[inline(always)]
pub fn wait_forever() -> ! {
diff -uNr 06_uart_chainloader/src/_arch/aarch64/time.rs 07_timestamps/src/_arch/aarch64/time.rs
--- 06_uart_chainloader/src/_arch/aarch64/time.rs
+++ 07_timestamps/src/_arch/aarch64/time.rs
@@ -0,0 +1,162 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2018-2023 Andre Richter <andre.o.richter@gmail.com>
+
+//! Architectural timer primitives.
+//!
+//! # Orientation
+//!
+//! Since arch modules are imported into generic modules using the path attribute, the path of this
+//! file is:
+//!
+//! crate::time::arch_time
+
+use crate::warn;
+use aarch64_cpu::{asm::barrier, registers::*};
+use core::{
+ num::{NonZeroU128, NonZeroU32, NonZeroU64},
+ ops::{Add, Div},
+ time::Duration,
+};
+use tock_registers::interfaces::Readable;
+
+//--------------------------------------------------------------------------------------------------
+// Private Definitions
+//--------------------------------------------------------------------------------------------------
+
+const NANOSEC_PER_SEC: NonZeroU64 = NonZeroU64::new(1_000_000_000).unwrap();
+
+#[derive(Copy, Clone, PartialOrd, PartialEq)]
+struct GenericTimerCounterValue(u64);
+
+//--------------------------------------------------------------------------------------------------
+// Global instances
+//--------------------------------------------------------------------------------------------------
+
+/// Boot assembly code overwrites this value with the value of CNTFRQ_EL0 before any Rust code is
+/// executed. This given value here is just a (safe) dummy.
+#[no_mangle]
+static ARCH_TIMER_COUNTER_FREQUENCY: NonZeroU32 = NonZeroU32::MIN;
+
+//--------------------------------------------------------------------------------------------------
+// Private Code
+//--------------------------------------------------------------------------------------------------
+
+fn arch_timer_counter_frequency() -> NonZeroU32 {
+ // Read volatile is needed here to prevent the compiler from optimizing
+ // ARCH_TIMER_COUNTER_FREQUENCY away.
+ //
+ // This is safe, because all the safety requirements as stated in read_volatile()'s
+ // documentation are fulfilled.
+ unsafe { core::ptr::read_volatile(&ARCH_TIMER_COUNTER_FREQUENCY) }
+}
+
+impl GenericTimerCounterValue {
+ pub const MAX: Self = GenericTimerCounterValue(u64::MAX);
+}
+
+impl Add for GenericTimerCounterValue {
+ type Output = Self;
+
+ fn add(self, other: Self) -> Self {
+ GenericTimerCounterValue(self.0.wrapping_add(other.0))
+ }
+}
+
+impl From<GenericTimerCounterValue> for Duration {
+ fn from(counter_value: GenericTimerCounterValue) -> Self {
+ if counter_value.0 == 0 {
+ return Duration::ZERO;
+ }
+
+ let frequency: NonZeroU64 = arch_timer_counter_frequency().into();
+
+ // Div<NonZeroU64> implementation for u64 cannot panic.
+ let secs = counter_value.0.div(frequency);
+
+ // This is safe, because frequency can never be greater than u32::MAX, which means the
+ // largest theoretical value for sub_second_counter_value is (u32::MAX - 1). Therefore,
+ // (sub_second_counter_value * NANOSEC_PER_SEC) cannot overflow an u64.
+ //
+ // The subsequent division ensures the result fits into u32, since the max result is smaller
+ // than NANOSEC_PER_SEC. Therefore, just cast it to u32 using `as`.
+ let sub_second_counter_value = counter_value.0 modulo frequency;
+ let nanos = unsafe { sub_second_counter_value.unchecked_mul(u64::from(NANOSEC_PER_SEC)) }
+ .div(frequency) as u32;
+
+ Duration::new(secs, nanos)
+ }
+}
+
+fn max_duration() -> Duration {
+ Duration::from(GenericTimerCounterValue::MAX)
+}
+
+impl TryFrom<Duration> for GenericTimerCounterValue {
+ type Error = &'static str;
+
+ fn try_from(duration: Duration) -> Result<Self, Self::Error> {
+ if duration < resolution() {
+ return Ok(GenericTimerCounterValue(0));
+ }
+
+ if duration > max_duration() {
+ return Err("Conversion error. Duration too big");
+ }
+
+ let frequency: u128 = u32::from(arch_timer_counter_frequency()) as u128;
+ let duration: u128 = duration.as_nanos();
+
+ // This is safe, because frequency can never be greater than u32::MAX, and
+ // (Duration::MAX.as_nanos() * u32::MAX) < u128::MAX.
+ let counter_value =
+ unsafe { duration.unchecked_mul(frequency) }.div(NonZeroU128::from(NANOSEC_PER_SEC));
+
+ // Since we checked above that we are <= max_duration(), just cast to u64.
+ Ok(GenericTimerCounterValue(counter_value as u64))
+ }
+}
+
+#[inline(always)]
+fn read_cntpct() -> GenericTimerCounterValue {
+ // Prevent that the counter is read ahead of time due to out-of-order execution.
+ barrier::isb(barrier::SY);
+ let cnt = CNTPCT_EL0.get();
+
+ GenericTimerCounterValue(cnt)
+}
+
+//--------------------------------------------------------------------------------------------------
+// Public Code
+//--------------------------------------------------------------------------------------------------
+
+/// The timer's resolution.
+pub fn resolution() -> Duration {
+ Duration::from(GenericTimerCounterValue(1))
+}
+
+/// The uptime since power-on of the device.
+///
+/// This includes time consumed by firmware and bootloaders.
+pub fn uptime() -> Duration {
+ read_cntpct().into()
+}
+
+/// Spin for a given duration.
+pub fn spin_for(duration: Duration) {
+ let curr_counter_value = read_cntpct();
+
+ let counter_value_delta: GenericTimerCounterValue = match duration.try_into() {
+ Err(msg) => {
+ warn!("spin_for: {}. Skipping", msg);
+ return;
+ }
+ Ok(val) => val,
+ };
+ let counter_value_target = curr_counter_value + counter_value_delta;
+
+ // Busy wait.
+ //
+ // Read CNTPCT_EL0 directly to avoid the ISB that is part of [`read_cntpct`].
+ while GenericTimerCounterValue(CNTPCT_EL0.get()) < counter_value_target {}
+}
diff -uNr 06_uart_chainloader/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs 07_timestamps/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
--- 06_uart_chainloader/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
+++ 07_timestamps/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
@@ -140,25 +140,19 @@
/// Disable pull-up/down on pins 14 and 15.
#[cfg(feature = "bsp_rpi3")]
fn disable_pud_14_15_bcm2837(&mut self) {
- use crate::cpu;
+ use crate::time;
+ use core::time::Duration;
- // Make an educated guess for a good delay value (Sequence described in the BCM2837
- // peripherals PDF).
- //
- // - According to Wikipedia, the fastest RPi4 clocks around 1.5 GHz.
- // - The Linux 2837 GPIO driver waits 1 µs between the steps.
- //
- // So lets try to be on the safe side and default to 2000 cycles, which would equal 1 µs
- // would the CPU be clocked at 2 GHz.
- const DELAY: usize = 2000;
+ // The Linux 2837 GPIO driver waits 1 µs between the steps.
+ const DELAY: Duration = Duration::from_micros(1);
self.registers.GPPUD.write(GPPUD::PUD::Off);
- cpu::spin_for_cycles(DELAY);
+ time::time_manager().spin_for(DELAY);
self.registers
.GPPUDCLK0
.write(GPPUDCLK0::PUDCLK15::AssertClock + GPPUDCLK0::PUDCLK14::AssertClock);
- cpu::spin_for_cycles(DELAY);
+ time::time_manager().spin_for(DELAY);
self.registers.GPPUD.write(GPPUD::PUD::Off);
self.registers.GPPUDCLK0.set(0);
diff -uNr 06_uart_chainloader/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs 07_timestamps/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs
--- 06_uart_chainloader/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs
+++ 07_timestamps/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs
@@ -275,7 +275,7 @@
}
/// Retrieve a character.
- fn read_char(&mut self, blocking_mode: BlockingMode) -> Option<char> {
+ fn read_char_converting(&mut self, blocking_mode: BlockingMode) -> Option<char> {
// If RX FIFO is empty,
if self.registers.FR.matches_all(FR::RXFE::SET) {
// immediately return in non-blocking mode.
@@ -290,7 +290,12 @@
}
// Read one character.
- let ret = self.registers.DR.get() as u8 as char;
+ let mut ret = self.registers.DR.get() as u8 as char;
+
+ // Convert carrige return to newline.
+ if ret == '\r' {
+ ret = '\n'
+ }
// Update statistics.
self.chars_read += 1;
@@ -376,14 +381,14 @@
impl console::interface::Read for PL011Uart {
fn read_char(&self) -> char {
self.inner
- .lock(|inner| inner.read_char(BlockingMode::Blocking).unwrap())
+ .lock(|inner| inner.read_char_converting(BlockingMode::Blocking).unwrap())
}
fn clear_rx(&self) {
// Read from the RX FIFO until it is indicating empty.
while self
.inner
- .lock(|inner| inner.read_char(BlockingMode::NonBlocking))
+ .lock(|inner| inner.read_char_converting(BlockingMode::NonBlocking))
.is_some()
{}
}
diff -uNr 06_uart_chainloader/src/bsp/raspberrypi/driver.rs 07_timestamps/src/bsp/raspberrypi/driver.rs
--- 06_uart_chainloader/src/bsp/raspberrypi/driver.rs
+++ 07_timestamps/src/bsp/raspberrypi/driver.rs
@@ -57,6 +57,17 @@
/// # Safety
///
/// See child function calls.
+///
+/// # Note
+///
+/// Using atomics here relieves us from needing to use `unsafe` for the static variable.
+///
+/// On `AArch64`, which is the only implemented architecture at the time of writing this,
+/// [`AtomicBool::load`] and [`AtomicBool::store`] are lowered to ordinary load and store
+/// instructions. They are therefore safe to use even with MMU + caching deactivated.
+///
+/// [`AtomicBool::load`]: core::sync::atomic::AtomicBool::load
+/// [`AtomicBool::store`]: core::sync::atomic::AtomicBool::store
pub unsafe fn init() -> Result<(), &'static str> {
static INIT_DONE: AtomicBool = AtomicBool::new(false);
if INIT_DONE.load(Ordering::Relaxed) {
diff -uNr 06_uart_chainloader/src/bsp/raspberrypi/kernel.ld 07_timestamps/src/bsp/raspberrypi/kernel.ld
--- 06_uart_chainloader/src/bsp/raspberrypi/kernel.ld
+++ 07_timestamps/src/bsp/raspberrypi/kernel.ld
@@ -3,6 +3,8 @@
* Copyright (c) 2018-2023 Andre Richter <andre.o.richter@gmail.com>
*/
+__rpi_phys_dram_start_addr = 0;
+
/* The physical address at which the the kernel binary will be loaded by the Raspberry's firmware */
__rpi_phys_binary_load_addr = 0x80000;
@@ -26,8 +28,7 @@
SECTIONS
{
- /* Set the link address to 32 MiB */
- . = 0x2000000;
+ . = __rpi_phys_dram_start_addr;
/***********************************************************************************************
* Boot Core Stack
@@ -44,7 +45,6 @@
/***********************************************************************************************
* Code + RO Data + Global Offset Table
***********************************************************************************************/
- __binary_nonzero_start = .;
.text :
{
KEEP(*(.text._start))
@@ -60,10 +60,6 @@
***********************************************************************************************/
.data : { *(.data*) } :segment_data
- /* Fill up to 8 byte, b/c relocating the binary is done in u64 chunks */
- . = ALIGN(8);
- __binary_nonzero_end_exclusive = .;
-
/* Section is zeroed in pairs of u64. Align start and end to 16 bytes */
.bss (NOLOAD) : ALIGN(16)
{
diff -uNr 06_uart_chainloader/src/bsp/raspberrypi/memory.rs 07_timestamps/src/bsp/raspberrypi/memory.rs
--- 06_uart_chainloader/src/bsp/raspberrypi/memory.rs
+++ 07_timestamps/src/bsp/raspberrypi/memory.rs
@@ -11,7 +11,6 @@
/// The board's physical memory map.
#[rustfmt::skip]
pub(super) mod map {
- pub const BOARD_DEFAULT_LOAD_ADDRESS: usize = 0x8_0000;
pub const GPIO_OFFSET: usize = 0x0020_0000;
pub const UART_OFFSET: usize = 0x0020_1000;
@@ -36,13 +35,3 @@
pub const PL011_UART_START: usize = START + UART_OFFSET;
}
}
-
-//--------------------------------------------------------------------------------------------------
-// Public Code
-//--------------------------------------------------------------------------------------------------
-
-/// The address on which the Raspberry firmware loads every binary by default.
-#[inline(always)]
-pub fn board_default_load_addr() -> *const u64 {
- map::BOARD_DEFAULT_LOAD_ADDRESS as _
-}
diff -uNr 06_uart_chainloader/src/cpu.rs 07_timestamps/src/cpu.rs
--- 06_uart_chainloader/src/cpu.rs
+++ 07_timestamps/src/cpu.rs
@@ -14,6 +14,3 @@
// Architectural Public Reexports
//--------------------------------------------------------------------------------------------------
pub use arch_cpu::{nop, wait_forever};
-
-#[cfg(feature = "bsp_rpi3")]
-pub use arch_cpu::spin_for_cycles;
diff -uNr 06_uart_chainloader/src/driver.rs 07_timestamps/src/driver.rs
--- 06_uart_chainloader/src/driver.rs
+++ 07_timestamps/src/driver.rs
@@ -4,7 +4,10 @@
//! Driver support.
-use crate::synchronization::{interface::Mutex, NullLock};
+use crate::{
+ info,
+ synchronization::{interface::Mutex, NullLock},
+};
//--------------------------------------------------------------------------------------------------
// Private Definitions
@@ -151,4 +154,14 @@
}
});
}
+
+ /// Enumerate all registered device drivers.
+ pub fn enumerate(&self) {
+ let mut i: usize = 1;
+ self.for_each_descriptor(|descriptor| {
+ info!(" {}. {}", i, descriptor.device_driver.compatible());
+
+ i += 1;
+ });
+ }
}
diff -uNr 06_uart_chainloader/src/main.rs 07_timestamps/src/main.rs
--- 06_uart_chainloader/src/main.rs
+++ 07_timestamps/src/main.rs
@@ -108,9 +108,12 @@
#![allow(clippy::upper_case_acronyms)]
#![feature(asm_const)]
+#![feature(const_option)]
#![feature(format_args_nl)]
+#![feature(nonzero_min_max)]
#![feature(panic_info_message)]
#![feature(trait_alias)]
+#![feature(unchecked_math)]
#![no_main]
#![no_std]
@@ -121,6 +124,7 @@
mod panic_wait;
mod print;
mod synchronization;
+mod time;
/// Early init code.
///
@@ -142,55 +146,30 @@
kernel_main()
}
-const MINILOAD_LOGO: &str = r#"
- __ __ _ _ _ _
-| \/ (_)_ _ (_) | ___ __ _ __| |
-| |\/| | | ' \| | |__/ _ \/ _` / _` |
-|_| |_|_|_||_|_|____\___/\__,_\__,_|
-"#;
-
/// The main function running after the early init.
fn kernel_main() -> ! {
- use console::console;
-
- println!("{}", MINILOAD_LOGO);
- println!("{:^37}", bsp::board_name());
- println!();
- println!("[ML] Requesting binary");
- console().flush();
-
- // Discard any spurious received characters before starting with the loader protocol.
- console().clear_rx();
-
- // Notify `Minipush` to send the binary.
- for _ in 0..3 {
- console().write_char(3 as char);
- }
+ use core::time::Duration;
- // Read the binary's size.
- let mut size: u32 = u32::from(console().read_char() as u8);
- size |= u32::from(console().read_char() as u8) << 8;
- size |= u32::from(console().read_char() as u8) << 16;
- size |= u32::from(console().read_char() as u8) << 24;
-
- // Trust it's not too big.
- console().write_char('O');
- console().write_char('K');
-
- let kernel_addr: *mut u8 = bsp::memory::board_default_load_addr() as *mut u8;
- unsafe {
- // Read the kernel byte by byte.
- for i in 0..size {
- core::ptr::write_volatile(kernel_addr.offset(i as isize), console().read_char() as u8)
- }
+ info!(
+ "{} version {}",
+ env!("CARGO_PKG_NAME"),
+ env!("CARGO_PKG_VERSION")
+ );
+ info!("Booting on: {}", bsp::board_name());
+
+ info!(
+ "Architectural timer resolution: {} ns",
+ time::time_manager().resolution().as_nanos()
+ );
+
+ info!("Drivers loaded:");
+ driver::driver_manager().enumerate();
+
+ // Test a failing timer case.
+ time::time_manager().spin_for(Duration::from_nanos(1));
+
+ loop {
+ info!("Spinning for 1 second");
+ time::time_manager().spin_for(Duration::from_secs(1));
}
-
- println!("[ML] Loaded! Executing the payload now\n");
- console().flush();
-
- // Use black magic to create a function pointer.
- let kernel: fn() -> ! = unsafe { core::mem::transmute(kernel_addr) };
-
- // Jump to loaded kernel!
- kernel()
}
diff -uNr 06_uart_chainloader/src/panic_wait.rs 07_timestamps/src/panic_wait.rs
--- 06_uart_chainloader/src/panic_wait.rs
+++ 07_timestamps/src/panic_wait.rs
@@ -45,15 +45,18 @@
// Protect against panic infinite loops if any of the following code panics itself.
panic_prevent_reenter();
+ let timestamp = crate::time::time_manager().uptime();
let (location, line, column) = match info.location() {
Some(loc) => (loc.file(), loc.line(), loc.column()),
_ => ("???", 0, 0),
};
println!(
- "Kernel panic!\n\n\
+ "[ {:>3}.{:06}] Kernel panic!\n\n\
Panic location:\n File '{}', line {}, column {}\n\n\
{}",
+ timestamp.as_secs(),
+ timestamp.subsec_micros(),
location,
line,
column,
diff -uNr 06_uart_chainloader/src/print.rs 07_timestamps/src/print.rs
--- 06_uart_chainloader/src/print.rs
+++ 07_timestamps/src/print.rs
@@ -34,3 +34,51 @@
$crate::print::_print(format_args_nl!($($arg)*));
})
}
+
+/// Prints an info, with a newline.
+#[macro_export]
+macro_rules! info {
+ ($string:expr) => ({
+ let timestamp = $crate::time::time_manager().uptime();
+
+ $crate::print::_print(format_args_nl!(
+ concat!("[ {:>3}.{:06}] ", $string),
+ timestamp.as_secs(),
+ timestamp.subsec_micros(),
+ ));
+ });
+ ($format_string:expr, $($arg:tt)*) => ({
+ let timestamp = $crate::time::time_manager().uptime();
+
+ $crate::print::_print(format_args_nl!(
+ concat!("[ {:>3}.{:06}] ", $format_string),
+ timestamp.as_secs(),
+ timestamp.subsec_micros(),
+ $($arg)*
+ ));
+ })
+}
+
+/// Prints a warning, with a newline.
+#[macro_export]
+macro_rules! warn {
+ ($string:expr) => ({
+ let timestamp = $crate::time::time_manager().uptime();
+
+ $crate::print::_print(format_args_nl!(
+ concat!("[W {:>3}.{:06}] ", $string),
+ timestamp.as_secs(),
+ timestamp.subsec_micros(),
+ ));
+ });
+ ($format_string:expr, $($arg:tt)*) => ({
+ let timestamp = $crate::time::time_manager().uptime();
+
+ $crate::print::_print(format_args_nl!(
+ concat!("[W {:>3}.{:06}] ", $format_string),
+ timestamp.as_secs(),
+ timestamp.subsec_micros(),
+ $($arg)*
+ ));
+ })
+}
diff -uNr 06_uart_chainloader/src/time.rs 07_timestamps/src/time.rs
--- 06_uart_chainloader/src/time.rs
+++ 07_timestamps/src/time.rs
@@ -0,0 +1,57 @@
+// SPDX-License-Identifier: MIT OR Apache-2.0
+//
+// Copyright (c) 2020-2023 Andre Richter <andre.o.richter@gmail.com>
+
+//! Timer primitives.
+
+#[cfg(target_arch = "aarch64")]
+#[path = "_arch/aarch64/time.rs"]
+mod arch_time;
+
+use core::time::Duration;
+
+//--------------------------------------------------------------------------------------------------
+// Public Definitions
+//--------------------------------------------------------------------------------------------------
+
+/// Provides time management functions.
+pub struct TimeManager;
+
+//--------------------------------------------------------------------------------------------------
+// Global instances
+//--------------------------------------------------------------------------------------------------
+
+static TIME_MANAGER: TimeManager = TimeManager::new();
+
+//--------------------------------------------------------------------------------------------------
+// Public Code
+//--------------------------------------------------------------------------------------------------
+
+/// Return a reference to the global TimeManager.
+pub fn time_manager() -> &'static TimeManager {
+ &TIME_MANAGER
+}
+
+impl TimeManager {
+ /// Create an instance.
+ pub const fn new() -> Self {
+ Self
+ }
+
+ /// The timer's resolution.
+ pub fn resolution(&self) -> Duration {
+ arch_time::resolution()
+ }
+
+ /// The uptime since power-on of the device.
+ ///
+ /// This includes time consumed by firmware and bootloaders.
+ pub fn uptime(&self) -> Duration {
+ arch_time::uptime()
+ }
+
+ /// Spin for a given duration.
+ pub fn spin_for(&self, duration: Duration) {
+ arch_time::spin_for(duration)
+ }
+}
diff -uNr 06_uart_chainloader/tests/boot_test_string.rb 07_timestamps/tests/boot_test_string.rb
--- 06_uart_chainloader/tests/boot_test_string.rb
+++ 07_timestamps/tests/boot_test_string.rb
@@ -0,0 +1,3 @@
+# frozen_string_literal: true
+
+EXPECTED_PRINT = 'Spinning for 1 second'
diff -uNr 06_uart_chainloader/tests/chainboot_test.rb 07_timestamps/tests/chainboot_test.rb
--- 06_uart_chainloader/tests/chainboot_test.rb
+++ 07_timestamps/tests/chainboot_test.rb
@@ -1,78 +0,0 @@
-# frozen_string_literal: true
-
-# SPDX-License-Identifier: MIT OR Apache-2.0
-#
-# Copyright (c) 2020-2023 Andre Richter <andre.o.richter@gmail.com>
-
-require_relative '../../common/serial/minipush'
-require_relative '../../common/tests/boot_test'
-require 'pty'
-
-# Match for the last print that 'demo_payload_rpiX.img' produces.
-EXPECTED_PRINT = 'Echoing input now'
-
-# Wait for request to power the target.
-class PowerTargetRequestTest < SubtestBase
- MINIPUSH_POWER_TARGET_REQUEST = 'Please power the target now'
-
- def initialize(qemu_cmd, pty_main)
- super()
- @qemu_cmd = qemu_cmd
- @pty_main = pty_main
- end
-
- def name
- 'Waiting for request to power target'
- end
-
- def run(qemu_out, _qemu_in)
- expect_or_raise(qemu_out, MINIPUSH_POWER_TARGET_REQUEST)
-
- # Now is the time to start QEMU with the chainloader binary. QEMU's virtual tty connects to
- # the MiniPush instance spawned on pty_main, so that the two processes talk to each other.
- Process.spawn(@qemu_cmd, in: @pty_main, out: @pty_main, err: '/dev/null')
- end
-end
-
-# Extend BootTest so that it listens on the output of a MiniPush instance, which is itself connected
-# to a QEMU instance instead of a real HW.
-class ChainbootTest < BootTest
- MINIPUSH = '../common/serial/minipush.rb'
-
- def initialize(qemu_cmd, payload_path)
- super(qemu_cmd, EXPECTED_PRINT)
-
- @test_name = 'Boot test using Minipush'
-
- @payload_path = payload_path
- end
-
- private
-
- # override
- def setup
- pty_main, pty_secondary = PTY.open
- mp_out, _mp_in = PTY.spawn("ruby #{MINIPUSH} #{pty_secondary.path} #{@payload_path}")
-
- # The subtests (from this class and the parents) listen on @qemu_out_wrapped. Hence, point
- # it to MiniPush's output.
- @qemu_out_wrapped = PTYLoggerWrapper.new(mp_out, "\r\n")
-
- # Important: Run this subtest before the one in the parent class.
- @console_subtests.prepend(PowerTargetRequestTest.new(@qemu_cmd, pty_main))
- end
-
- # override
- def finish
- super()
- @test_output.map! { |x| x.gsub(/.*\r/, ' ') }
- end
-end
-
-##--------------------------------------------------------------------------------------------------
-## Execution starts here
-##--------------------------------------------------------------------------------------------------
-payload_path = ARGV.pop
-qemu_cmd = ARGV.join(' ')
-
-ChainbootTest.new(qemu_cmd, payload_path).run
diff -uNr 06_uart_chainloader/update.sh 07_timestamps/update.sh
--- 06_uart_chainloader/update.sh
+++ 07_timestamps/update.sh
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-
-cd ../05_drivers_gpio_uart
-BSP=rpi4 make
-cp kernel8.img ../06_uart_chainloader/demo_payload_rpi4.img
-make
-cp kernel8.img ../06_uart_chainloader/demo_payload_rpi3.img
-rm kernel8.img
```
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