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857 lines
28 KiB
Markdown
857 lines
28 KiB
Markdown
# Tutorial 07 - Timestamps
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## tl;dr
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- We add abstractions for timer hardware, and implement them for the ARM architectural timer in
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`_arch/aarch64`.
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- The new timer functions are used to annotate UART prints with timestamps, and to get rid of the
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cycle-based delays in the `GPIO` device driver, which boosts accuracy.
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- A `warn!()` macro is added.
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## Test it
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Check it out via chainboot (added in previous tutorial):
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```console
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$ make chainboot
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[...]
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Minipush 1.0
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[MP] ⏳ Waiting for /dev/ttyUSB0
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[MP] ✅ Serial connected
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[MP] 🔌 Please power the target now
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__ __ _ _ _ _
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| \/ (_)_ _ (_) | ___ __ _ __| |
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| |\/| | | ' \| | |__/ _ \/ _` / _` |
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|_| |_|_|_||_|_|____\___/\__,_\__,_|
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Raspberry Pi 3
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[ML] Requesting binary
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[MP] ⏩ Pushing 12 KiB =========================================🦀 100% 0 KiB/s Time: 00:00:00
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[ML] Loaded! Executing the payload now
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[ 0.140431] mingo version 0.7.0
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[ 0.140630] Booting on: Raspberry Pi 3
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[ 0.141085] Architectural timer resolution: 52 ns
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[ 0.141660] Drivers loaded:
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[ 0.141995] 1. BCM GPIO
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[ 0.142353] 2. BCM PL011 UART
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[W 0.142777] Spin duration smaller than architecturally supported, skipping
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[ 0.143621] Spinning for 1 second
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[ 1.144023] Spinning for 1 second
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[ 2.144245] Spinning for 1 second
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```
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## Diff to previous
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```diff
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diff -uNr 06_uart_chainloader/Cargo.toml 07_timestamps/Cargo.toml
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--- 06_uart_chainloader/Cargo.toml
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+++ 07_timestamps/Cargo.toml
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@@ -1,6 +1,6 @@
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[package]
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name = "mingo"
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-version = "0.6.0"
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+version = "0.7.0"
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authors = ["Andre Richter <andre.o.richter@gmail.com>"]
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edition = "2018"
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Binary files 06_uart_chainloader/demo_payload_rpi3.img and 07_timestamps/demo_payload_rpi3.img differ
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Binary files 06_uart_chainloader/demo_payload_rpi4.img and 07_timestamps/demo_payload_rpi4.img differ
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diff -uNr 06_uart_chainloader/Makefile 07_timestamps/Makefile
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--- 06_uart_chainloader/Makefile
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+++ 07_timestamps/Makefile
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@@ -22,29 +22,27 @@
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# BSP-specific arguments.
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ifeq ($(BSP),rpi3)
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- TARGET = aarch64-unknown-none-softfloat
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- KERNEL_BIN = kernel8.img
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- QEMU_BINARY = qemu-system-aarch64
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- QEMU_MACHINE_TYPE = raspi3
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- QEMU_RELEASE_ARGS = -serial stdio -display none
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- OBJDUMP_BINARY = aarch64-none-elf-objdump
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- NM_BINARY = aarch64-none-elf-nm
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- READELF_BINARY = aarch64-none-elf-readelf
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- LINKER_FILE = src/bsp/raspberrypi/link.ld
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- RUSTC_MISC_ARGS = -C target-cpu=cortex-a53
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- CHAINBOOT_DEMO_PAYLOAD = demo_payload_rpi3.img
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+ TARGET = aarch64-unknown-none-softfloat
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+ KERNEL_BIN = kernel8.img
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+ QEMU_BINARY = qemu-system-aarch64
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+ QEMU_MACHINE_TYPE = raspi3
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+ QEMU_RELEASE_ARGS = -serial stdio -display none
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+ OBJDUMP_BINARY = aarch64-none-elf-objdump
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+ NM_BINARY = aarch64-none-elf-nm
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+ READELF_BINARY = aarch64-none-elf-readelf
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+ LINKER_FILE = src/bsp/raspberrypi/link.ld
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+ RUSTC_MISC_ARGS = -C target-cpu=cortex-a53
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else ifeq ($(BSP),rpi4)
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- TARGET = aarch64-unknown-none-softfloat
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- KERNEL_BIN = kernel8.img
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- QEMU_BINARY = qemu-system-aarch64
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- QEMU_MACHINE_TYPE =
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- QEMU_RELEASE_ARGS = -serial stdio -display none
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- OBJDUMP_BINARY = aarch64-none-elf-objdump
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- NM_BINARY = aarch64-none-elf-nm
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- READELF_BINARY = aarch64-none-elf-readelf
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- LINKER_FILE = src/bsp/raspberrypi/link.ld
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- RUSTC_MISC_ARGS = -C target-cpu=cortex-a72
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- CHAINBOOT_DEMO_PAYLOAD = demo_payload_rpi4.img
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+ TARGET = aarch64-unknown-none-softfloat
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+ KERNEL_BIN = kernel8.img
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+ QEMU_BINARY = qemu-system-aarch64
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+ QEMU_MACHINE_TYPE =
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+ QEMU_RELEASE_ARGS = -serial stdio -display none
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+ OBJDUMP_BINARY = aarch64-none-elf-objdump
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+ NM_BINARY = aarch64-none-elf-nm
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+ READELF_BINARY = aarch64-none-elf-readelf
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+ LINKER_FILE = src/bsp/raspberrypi/link.ld
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+ RUSTC_MISC_ARGS = -C target-cpu=cortex-a72
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endif
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QEMU_MISSING_STRING = "This board is not yet supported for QEMU."
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@@ -76,7 +74,7 @@
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-O binary
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EXEC_QEMU = $(QEMU_BINARY) -M $(QEMU_MACHINE_TYPE)
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-EXEC_TEST_MINIPUSH = ruby tests/chainboot_test.rb
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+EXEC_TEST_DISPATCH = ruby ../common/tests/dispatch.rb
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EXEC_MINIPUSH = ruby ../common/serial/minipush.rb
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##------------------------------------------------------------------------------
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@@ -133,7 +131,7 @@
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##------------------------------------------------------------------------------
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ifeq ($(QEMU_MACHINE_TYPE),) # QEMU is not supported for the board.
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-qemu qemuasm:
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+qemu:
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$(call colorecho, "\n$(QEMU_MISSING_STRING)")
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else # QEMU is supported.
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@@ -142,17 +140,13 @@
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$(call colorecho, "\nLaunching QEMU")
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@$(DOCKER_QEMU) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) -kernel $(KERNEL_BIN)
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-qemuasm: $(KERNEL_BIN)
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- $(call colorecho, "\nLaunching QEMU with ASM output")
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- @$(DOCKER_QEMU) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) -kernel $(KERNEL_BIN) -d in_asm
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-
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endif
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##------------------------------------------------------------------------------
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## Push the kernel to the real HW target
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##------------------------------------------------------------------------------
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chainboot: $(KERNEL_BIN)
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- @$(DOCKER_CHAINBOOT) $(EXEC_MINIPUSH) $(DEV_SERIAL) $(CHAINBOOT_DEMO_PAYLOAD)
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+ @$(DOCKER_CHAINBOOT) $(EXEC_MINIPUSH) $(DEV_SERIAL) $(KERNEL_BIN)
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##------------------------------------------------------------------------------
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## Run clippy
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@@ -216,8 +210,7 @@
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##------------------------------------------------------------------------------
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test_boot: $(KERNEL_BIN)
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$(call colorecho, "\nBoot test - $(BSP)")
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- @$(DOCKER_TEST) $(EXEC_TEST_MINIPUSH) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) \
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- -kernel $(KERNEL_BIN) $(CHAINBOOT_DEMO_PAYLOAD)
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+ @$(DOCKER_TEST) $(EXEC_TEST_DISPATCH) $(EXEC_QEMU) $(QEMU_RELEASE_ARGS) -kernel $(KERNEL_BIN)
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test: test_boot
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diff -uNr 06_uart_chainloader/src/_arch/aarch64/cpu/boot.s 07_timestamps/src/_arch/aarch64/cpu/boot.s
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--- 06_uart_chainloader/src/_arch/aarch64/cpu/boot.s
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+++ 07_timestamps/src/_arch/aarch64/cpu/boot.s
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@@ -18,17 +18,6 @@
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add \register, \register, #:lo12:\symbol
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.endm
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-// Load the address of a symbol into a register, absolute.
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-//
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-// # Resources
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-//
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-// - https://sourceware.org/binutils/docs-2.36/as/AArch64_002dRelocations.html
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-.macro ADR_ABS register, symbol
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- movz \register, #:abs_g2:\symbol
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- movk \register, #:abs_g1_nc:\symbol
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- movk \register, #:abs_g0_nc:\symbol
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-.endm
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-
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.equ _core_id_mask, 0b11
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//--------------------------------------------------------------------------------------------------
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@@ -50,35 +39,23 @@
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// If execution reaches here, it is the boot core.
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// Initialize DRAM.
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- ADR_ABS x0, __bss_start
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- ADR_ABS x1, __bss_end_exclusive
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+ ADR_REL x0, __bss_start
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+ ADR_REL x1, __bss_end_exclusive
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.L_bss_init_loop:
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cmp x0, x1
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- b.eq .L_relocate_binary
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+ b.eq .L_prepare_rust
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stp xzr, xzr, [x0], #16
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b .L_bss_init_loop
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- // Next, relocate the binary.
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-.L_relocate_binary:
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- ADR_REL x0, __binary_nonzero_start // The address the binary got loaded to.
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- ADR_ABS x1, __binary_nonzero_start // The address the binary was linked to.
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- ADR_ABS x2, __binary_nonzero_end_exclusive
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-
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-.L_copy_loop:
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- ldr x3, [x0], #8
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- str x3, [x1], #8
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- cmp x1, x2
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- b.lo .L_copy_loop
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-
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// Prepare the jump to Rust code.
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+.L_prepare_rust:
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// Set the stack pointer.
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- ADR_ABS x0, __boot_core_stack_end_exclusive
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+ ADR_REL x0, __boot_core_stack_end_exclusive
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mov sp, x0
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- // Jump to the relocated Rust code.
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- ADR_ABS x1, _start_rust
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- br x1
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+ // Jump to Rust code.
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+ b _start_rust
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// Infinitely wait for events (aka "park the core").
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.L_parking_loop:
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diff -uNr 06_uart_chainloader/src/_arch/aarch64/cpu.rs 07_timestamps/src/_arch/aarch64/cpu.rs
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--- 06_uart_chainloader/src/_arch/aarch64/cpu.rs
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+++ 07_timestamps/src/_arch/aarch64/cpu.rs
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@@ -19,15 +19,6 @@
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pub use asm::nop;
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-/// Spin for `n` cycles.
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-#[cfg(feature = "bsp_rpi3")]
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-#[inline(always)]
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-pub fn spin_for_cycles(n: usize) {
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- for _ in 0..n {
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- asm::nop();
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- }
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-}
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-
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/// Pause execution on the core.
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#[inline(always)]
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pub fn wait_forever() -> ! {
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diff -uNr 06_uart_chainloader/src/_arch/aarch64/time.rs 07_timestamps/src/_arch/aarch64/time.rs
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--- 06_uart_chainloader/src/_arch/aarch64/time.rs
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+++ 07_timestamps/src/_arch/aarch64/time.rs
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@@ -0,0 +1,119 @@
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+// SPDX-License-Identifier: MIT OR Apache-2.0
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+//
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+// Copyright (c) 2018-2021 Andre Richter <andre.o.richter@gmail.com>
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+
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+//! Architectural timer primitives.
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+//!
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+//! # Orientation
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+//!
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+//! Since arch modules are imported into generic modules using the path attribute, the path of this
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+//! file is:
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+//!
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+//! crate::time::arch_time
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+
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+use crate::{time, warn};
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+use core::time::Duration;
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+use cortex_a::{asm::barrier, registers::*};
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+use tock_registers::interfaces::{ReadWriteable, Readable, Writeable};
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+
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+//--------------------------------------------------------------------------------------------------
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+// Private Definitions
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+//--------------------------------------------------------------------------------------------------
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+
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+const NS_PER_S: u64 = 1_000_000_000;
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+
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+/// ARMv8 Generic Timer.
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+struct GenericTimer;
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+
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+//--------------------------------------------------------------------------------------------------
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+// Global instances
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+//--------------------------------------------------------------------------------------------------
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+
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+static TIME_MANAGER: GenericTimer = GenericTimer;
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+
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+//--------------------------------------------------------------------------------------------------
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+// Private Code
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+//--------------------------------------------------------------------------------------------------
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+
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+impl GenericTimer {
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+ #[inline(always)]
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+ fn read_cntpct(&self) -> u64 {
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+ // Prevent that the counter is read ahead of time due to out-of-order execution.
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+ unsafe { barrier::isb(barrier::SY) };
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+ CNTPCT_EL0.get()
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+ }
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+}
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+
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+//--------------------------------------------------------------------------------------------------
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+// Public Code
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+//--------------------------------------------------------------------------------------------------
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+
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+/// Return a reference to the time manager.
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+pub fn time_manager() -> &'static impl time::interface::TimeManager {
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+ &TIME_MANAGER
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+}
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+
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+//------------------------------------------------------------------------------
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+// OS Interface Code
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+//------------------------------------------------------------------------------
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+
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+impl time::interface::TimeManager for GenericTimer {
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+ fn resolution(&self) -> Duration {
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+ Duration::from_nanos(NS_PER_S / (CNTFRQ_EL0.get() as u64))
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+ }
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+
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+ fn uptime(&self) -> Duration {
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+ let current_count: u64 = self.read_cntpct() * NS_PER_S;
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+ let frq: u64 = CNTFRQ_EL0.get() as u64;
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+
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+ Duration::from_nanos(current_count / frq)
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+ }
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+
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+ fn spin_for(&self, duration: Duration) {
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+ // Instantly return on zero.
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+ if duration.as_nanos() == 0 {
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+ return;
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+ }
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+
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+ // Calculate the register compare value.
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+ let frq = CNTFRQ_EL0.get();
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+ let x = match frq.checked_mul(duration.as_nanos() as u64) {
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+ None => {
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+ warn!("Spin duration too long, skipping");
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+ return;
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+ }
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+ Some(val) => val,
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+ };
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+ let tval = x / NS_PER_S;
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+
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+ // Check if it is within supported bounds.
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+ let warn: Option<&str> = if tval == 0 {
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+ Some("smaller")
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+ // The upper 32 bits of CNTP_TVAL_EL0 are reserved.
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+ } else if tval > u32::max_value().into() {
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+ Some("bigger")
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+ } else {
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+ None
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+ };
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+
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+ if let Some(w) = warn {
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+ warn!(
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+ "Spin duration {} than architecturally supported, skipping",
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+ w
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+ );
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+ return;
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+ }
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+
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+ // Set the compare value register.
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+ CNTP_TVAL_EL0.set(tval);
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+
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+ // Kick off the counting. // Disable timer interrupt.
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+ CNTP_CTL_EL0.modify(CNTP_CTL_EL0::ENABLE::SET + CNTP_CTL_EL0::IMASK::SET);
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+
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+ // ISTATUS will be '1' when cval ticks have passed. Busy-check it.
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+ while !CNTP_CTL_EL0.matches_all(CNTP_CTL_EL0::ISTATUS::SET) {}
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+
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+ // Disable counting again.
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+ CNTP_CTL_EL0.modify(CNTP_CTL_EL0::ENABLE::CLEAR);
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+ }
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+}
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diff -uNr 06_uart_chainloader/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs 07_timestamps/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
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--- 06_uart_chainloader/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
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+++ 07_timestamps/src/bsp/device_driver/bcm/bcm2xxx_gpio.rs
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@@ -143,25 +143,19 @@
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/// Disable pull-up/down on pins 14 and 15.
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#[cfg(feature = "bsp_rpi3")]
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fn disable_pud_14_15_bcm2837(&mut self) {
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- use crate::cpu;
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+ use crate::{time, time::interface::TimeManager};
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+ use core::time::Duration;
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- // Make an educated guess for a good delay value (Sequence described in the BCM2837
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- // peripherals PDF).
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- //
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- // - According to Wikipedia, the fastest RPi4 clocks around 1.5 GHz.
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- // - The Linux 2837 GPIO driver waits 1 µs between the steps.
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- //
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- // So lets try to be on the safe side and default to 2000 cycles, which would equal 1 µs
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- // would the CPU be clocked at 2 GHz.
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- const DELAY: usize = 2000;
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+ // The Linux 2837 GPIO driver waits 1 µs between the steps.
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+ const DELAY: Duration = Duration::from_micros(1);
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self.registers.GPPUD.write(GPPUD::PUD::Off);
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- cpu::spin_for_cycles(DELAY);
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+ time::time_manager().spin_for(DELAY);
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self.registers
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.GPPUDCLK0
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.write(GPPUDCLK0::PUDCLK15::AssertClock + GPPUDCLK0::PUDCLK14::AssertClock);
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- cpu::spin_for_cycles(DELAY);
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+ time::time_manager().spin_for(DELAY);
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self.registers.GPPUD.write(GPPUD::PUD::Off);
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self.registers.GPPUDCLK0.set(0);
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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
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--- 06_uart_chainloader/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs
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+++ 07_timestamps/src/bsp/device_driver/bcm/bcm2xxx_pl011_uart.rs
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@@ -284,7 +284,7 @@
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}
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/// Retrieve a character.
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- fn read_char(&mut self, blocking_mode: BlockingMode) -> Option<char> {
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+ fn read_char_converting(&mut self, blocking_mode: BlockingMode) -> Option<char> {
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// If RX FIFO is empty,
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if self.registers.FR.matches_all(FR::RXFE::SET) {
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// immediately return in non-blocking mode.
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@@ -299,7 +299,12 @@
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}
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// Read one character.
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- let ret = self.registers.DR.get() as u8 as char;
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+ let mut ret = self.registers.DR.get() as u8 as char;
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+
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+ // Convert carrige return to newline.
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+ if ret == '\r' {
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+ ret = '\n'
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+ }
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// Update statistics.
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self.chars_read += 1;
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@@ -379,14 +384,14 @@
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impl console::interface::Read for PL011Uart {
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fn read_char(&self) -> char {
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self.inner
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- .lock(|inner| inner.read_char(BlockingMode::Blocking).unwrap())
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+ .lock(|inner| inner.read_char_converting(BlockingMode::Blocking).unwrap())
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}
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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/link.ld 07_timestamps/src/bsp/raspberrypi/link.ld
|
|
--- 06_uart_chainloader/src/bsp/raspberrypi/link.ld
|
|
+++ 07_timestamps/src/bsp/raspberrypi/link.ld
|
|
@@ -16,8 +16,7 @@
|
|
|
|
SECTIONS
|
|
{
|
|
- /* Set the link address to 32 MiB */
|
|
- . = 0x2000000;
|
|
+ . = __rpi_load_addr;
|
|
/* ^ */
|
|
/* | stack */
|
|
/* | growth */
|
|
@@ -27,7 +26,6 @@
|
|
/***********************************************************************************************
|
|
* Code + RO Data + Global Offset Table
|
|
***********************************************************************************************/
|
|
- __binary_nonzero_start = .;
|
|
.text :
|
|
{
|
|
KEEP(*(.text._start))
|
|
@@ -44,10 +42,6 @@
|
|
***********************************************************************************************/
|
|
.data : { *(.data*) } :segment_rw
|
|
|
|
- /* 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 : 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
|
|
@@ -11,10 +11,9 @@
|
|
/// 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;
|
|
+ pub const GPIO_OFFSET: usize = 0x0020_0000;
|
|
+ pub const UART_OFFSET: usize = 0x0020_1000;
|
|
|
|
/// Physical devices.
|
|
#[cfg(feature = "bsp_rpi3")]
|
|
@@ -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/main.rs 07_timestamps/src/main.rs
|
|
--- 06_uart_chainloader/src/main.rs
|
|
+++ 07_timestamps/src/main.rs
|
|
@@ -105,7 +105,6 @@
|
|
//! 2. Once finished with architectural setup, the arch code calls `kernel_init()`.
|
|
|
|
#![allow(clippy::upper_case_acronyms)]
|
|
-#![feature(asm)]
|
|
#![feature(const_fn_fn_ptr_basics)]
|
|
#![feature(format_args_nl)]
|
|
#![feature(global_asm)]
|
|
@@ -121,6 +120,7 @@
|
|
mod panic_wait;
|
|
mod print;
|
|
mod synchronization;
|
|
+mod time;
|
|
|
|
/// Early init code.
|
|
///
|
|
@@ -143,56 +143,38 @@
|
|
kernel_main()
|
|
}
|
|
|
|
-const MINILOAD_LOGO: &str = r#"
|
|
- __ __ _ _ _ _
|
|
-| \/ (_)_ _ (_) | ___ __ _ __| |
|
|
-| |\/| | | ' \| | |__/ _ \/ _` / _` |
|
|
-|_| |_|_|_||_|_|____\___/\__,_\__,_|
|
|
-"#;
|
|
-
|
|
/// The main function running after the early init.
|
|
fn kernel_main() -> ! {
|
|
- use bsp::console::console;
|
|
- use console::interface::All;
|
|
+ use core::time::Duration;
|
|
+ use driver::interface::DriverManager;
|
|
+ use time::interface::TimeManager;
|
|
|
|
- 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);
|
|
+ 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:");
|
|
+ for (i, driver) in bsp::driver::driver_manager()
|
|
+ .all_device_drivers()
|
|
+ .iter()
|
|
+ .enumerate()
|
|
+ {
|
|
+ info!(" {}. {}", i + 1, driver.compatible());
|
|
}
|
|
|
|
- // 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)
|
|
- }
|
|
- }
|
|
+ // Test a failing timer case.
|
|
+ time::time_manager().spin_for(Duration::from_nanos(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()
|
|
+ loop {
|
|
+ info!("Spinning for 1 second");
|
|
+ time::time_manager().spin_for(Duration::from_secs(1));
|
|
+ }
|
|
}
|
|
|
|
diff -uNr 06_uart_chainloader/src/print.rs 07_timestamps/src/print.rs
|
|
--- 06_uart_chainloader/src/print.rs
|
|
+++ 07_timestamps/src/print.rs
|
|
@@ -36,3 +36,71 @@
|
|
$crate::print::_print(format_args_nl!($($arg)*));
|
|
})
|
|
}
|
|
+
|
|
+/// Prints an info, with a newline.
|
|
+#[macro_export]
|
|
+macro_rules! info {
|
|
+ ($string:expr) => ({
|
|
+ #[allow(unused_imports)]
|
|
+ use crate::time::interface::TimeManager;
|
|
+
|
|
+ let timestamp = $crate::time::time_manager().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::time::interface::TimeManager;
|
|
+
|
|
+ let timestamp = $crate::time::time_manager().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 a newline.
|
|
+#[macro_export]
|
|
+macro_rules! warn {
|
|
+ ($string:expr) => ({
|
|
+ #[allow(unused_imports)]
|
|
+ use crate::time::interface::TimeManager;
|
|
+
|
|
+ let timestamp = $crate::time::time_manager().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::time::interface::TimeManager;
|
|
+
|
|
+ let timestamp = $crate::time::time_manager().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 06_uart_chainloader/src/time.rs 07_timestamps/src/time.rs
|
|
--- 06_uart_chainloader/src/time.rs
|
|
+++ 07_timestamps/src/time.rs
|
|
@@ -0,0 +1,37 @@
|
|
+// SPDX-License-Identifier: MIT OR Apache-2.0
|
|
+//
|
|
+// Copyright (c) 2020-2021 Andre Richter <andre.o.richter@gmail.com>
|
|
+
|
|
+//! Timer primitives.
|
|
+
|
|
+#[cfg(target_arch = "aarch64")]
|
|
+#[path = "_arch/aarch64/time.rs"]
|
|
+mod arch_time;
|
|
+
|
|
+//--------------------------------------------------------------------------------------------------
|
|
+// Architectural Public Reexports
|
|
+//--------------------------------------------------------------------------------------------------
|
|
+pub use arch_time::time_manager;
|
|
+
|
|
+//--------------------------------------------------------------------------------------------------
|
|
+// Public Definitions
|
|
+//--------------------------------------------------------------------------------------------------
|
|
+
|
|
+/// Timekeeping interfaces.
|
|
+pub mod interface {
|
|
+ use core::time::Duration;
|
|
+
|
|
+ /// Time management functions.
|
|
+ pub trait TimeManager {
|
|
+ /// The timer's resolution.
|
|
+ fn resolution(&self) -> Duration;
|
|
+
|
|
+ /// The uptime since power-on of the device.
|
|
+ ///
|
|
+ /// This includes time consumed by firmware and bootloaders.
|
|
+ fn uptime(&self) -> Duration;
|
|
+
|
|
+ /// Spin for a given duration.
|
|
+ fn spin_for(&self, duration: 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
|
|
@@ -1,80 +0,0 @@
|
|
-# frozen_string_literal: true
|
|
-
|
|
-# SPDX-License-Identifier: MIT OR Apache-2.0
|
|
-#
|
|
-# Copyright (c) 2020-2021 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'
|
|
-
|
|
-# 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'
|
|
- MINIPUSH_POWER_TARGET_REQUEST = 'Please power the target now'
|
|
-
|
|
- 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 post_process_and_add_output(output)
|
|
- temp = output.join.split("\r\n")
|
|
-
|
|
- # Should a line have solo carriage returns, remove any overridden parts of the string.
|
|
- temp.map! { |x| x.gsub(/.*\r/, '') }
|
|
-
|
|
- @test_output += temp
|
|
- end
|
|
-
|
|
- def wait_for_minipush_power_request(mp_out)
|
|
- output = []
|
|
- Timeout.timeout(MAX_WAIT_SECS) do
|
|
- loop do
|
|
- output << mp_out.gets
|
|
- break if output.last.include?(MINIPUSH_POWER_TARGET_REQUEST)
|
|
- end
|
|
- end
|
|
- rescue Timeout::Error
|
|
- @test_error = 'Timed out waiting for power request'
|
|
- rescue StandardError => e
|
|
- @test_error = e.message
|
|
- ensure
|
|
- post_process_and_add_output(output)
|
|
- end
|
|
-
|
|
- # override
|
|
- def setup
|
|
- pty_main, pty_secondary = PTY.open
|
|
- mp_out, _mp_in = PTY.spawn("ruby #{MINIPUSH} #{pty_secondary.path} #{@payload_path}")
|
|
-
|
|
- # Wait until MiniPush asks for powering the target.
|
|
- wait_for_minipush_power_request(mp_out)
|
|
-
|
|
- # Now is the time to start QEMU with the chainloader binary. QEMU's virtual tty is connected
|
|
- # to the MiniPush instance spawned above, so that the two processes talk to each other.
|
|
- Process.spawn(@qemu_cmd, in: pty_main, out: pty_main)
|
|
-
|
|
- # The remainder of the test is done by the parent class' run_concrete_test, which listens on
|
|
- # @qemu_serial. Hence, point it to MiniPush's output.
|
|
- @qemu_serial = mp_out
|
|
- 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
|
|
|
|
```
|