imx7d_sabre: add board for sel4 and foc

Ref #3251

repos/base-foc/config/imx7.kernel

@@ -0,0 +1,112 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Fiasco configuration
+#
+CONFIG_HAS_FPU_OPTION=y
+CONFIG_HAS_VIRT_OBJ_SPACE_OPTION=y
+CONFIG_HAS_SERIAL_OPTION=y
+CONFIG_HAS_JDB_GZIP_OPTION=y
+CONFIG_HAS_MP_OPTION=y
+CONFIG_HAS_CPU_VIRT=y
+
+#
+# Target configuration
+#
+# CONFIG_IA32 is not set
+# CONFIG_AMD64 is not set
+CONFIG_ARM=y
+# CONFIG_MIPS is not set
+# CONFIG_PF_INTEGRATOR is not set
+# CONFIG_PF_REALVIEW is not set
+# CONFIG_PF_SUNXI is not set
+# CONFIG_PF_BCM283X is not set
+# CONFIG_PF_SA1100 is not set
+# CONFIG_PF_XSCALE is not set
+# CONFIG_PF_ARMADA38X is not set
+# CONFIG_PF_KIRKWOOD is not set
+# CONFIG_PF_TEGRA is not set
+# CONFIG_PF_LAYERSCAPE is not set
+CONFIG_PF_IMX=y
+# CONFIG_PF_ARM_VIRT is not set
+# CONFIG_PF_RCAR3 is not set
+# CONFIG_PF_EXYNOS is not set
+# CONFIG_PF_S3C2410 is not set
+# CONFIG_PF_OMAP is not set
+# CONFIG_PF_ZYNQ is not set
+# CONFIG_PF_ZYNQMP is not set
+CONFIG_BSP_NAME="imx"
+CONFIG_CAN_ARM_CPU_CORTEX_A7=y
+CONFIG_ARM_V7=y
+CONFIG_ARM_V6PLUS=y
+CONFIG_ARM_V7PLUS=y
+# CONFIG_PF_IMX_21 is not set
+# CONFIG_PF_IMX_28 is not set
+# CONFIG_PF_IMX_35 is not set
+# CONFIG_PF_IMX_51 is not set
+# CONFIG_PF_IMX_6 is not set
+# CONFIG_PF_IMX_6UL is not set
+CONFIG_PF_IMX_7=y
+CONFIG_PF_IMX_RAM_PHYS_BASE=0x80000000
+CONFIG_ABI_VF=y
+CONFIG_ARM_CORTEX_A7=y
+# CONFIG_CPU_VIRT is not set
+CONFIG_FPU=y
+# CONFIG_ARM_ALIGNMENT_CHECK is not set
+CONFIG_ARM_EM_STD=y
+# CONFIG_ARM_EM_NS is not set
+# CONFIG_ARM_EM_TZ is not set
+# CONFIG_ARM_SMC_USER is not set
+# CONFIG_ARM_ENABLE_SWP is not set
+CONFIG_ARM_LPAE=y
+CONFIG_HAS_ARM_PSCI=y
+# CONFIG_ARM_PSCI is not set
+CONFIG_ARM_CPU_ERRATA=y
+
+#
+# Kernel options
+#
+CONFIG_MP=y
+CONFIG_MP_MAX_CPUS=4
+CONFIG_CONTEXT_4K=y
+# CONFIG_FINE_GRAINED_CPUTIME is not set
+CONFIG_SCHED_FIXED_PRIO=y
+CONFIG_VIRT_OBJ_SPACE=y
+
+#
+# Debugging
+#
+CONFIG_INLINE=y
+# CONFIG_NDEBUG is not set
+# CONFIG_NO_FRAME_PTR is not set
+# CONFIG_STACK_DEPTH is not set
+# CONFIG_LIST_ALLOC_SANITY is not set
+CONFIG_SERIAL=y
+CONFIG_JDB=y
+# CONFIG_JDB_LOGGING is not set
+CONFIG_JDB_GZIP=y
+# CONFIG_JDB_ACCOUNTING is not set
+# CONFIG_WARN_NONE is not set
+CONFIG_WARN_WARNING=y
+# CONFIG_WARN_ANY is not set
+
+#
+# ARM debugging options
+#
+# CONFIG_VMEM_ALLOC_TEST is not set
+# CONFIG_DEBUG_KERNEL_PAGE_FAULTS is not set
+
+#
+# Compiling
+#
+CONFIG_CC="gcc"
+CONFIG_CXX="g++"
+CONFIG_HOST_CC="gcc"
+CONFIG_HOST_CXX="g++"
+# CONFIG_MAINTAINER_MODE is not set
+CONFIG_LABEL=""
+# CONFIG_EXPERIMENTAL is not set
+CONFIG_PERF_CNT=y
+CONFIG_BIT32=y
+CONFIG_WARN_LEVEL=1
+CONFIG_XARCH="arm"
+CONFIG_ABI="vf"

repos/base-foc/config/imx7.user

@@ -0,0 +1,86 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# L4Re Configuration
+#
+CONFIG_ARCH_ENABLE_STACK_PROTECTOR=y
+# CONFIG_BUILD_ARCH_amd64 is not set
+CONFIG_BUILD_ARCH_arm=y
+# CONFIG_BUILD_ARCH_arm64 is not set
+# CONFIG_BUILD_ARCH_mips is not set
+# CONFIG_BUILD_ARCH_ppc32 is not set
+# CONFIG_BUILD_ARCH_sparc is not set
+# CONFIG_BUILD_ARCH_x86 is not set
+CONFIG_BUILD_ARCH="arm"
+CONFIG_BUILD_ABI_l4f=y
+CONFIG_BUILD_ABI="l4f"
+# CONFIG_CPU_ARM_ARMV4 is not set
+# CONFIG_CPU_ARM_ARMV4T is not set
+# CONFIG_CPU_ARM_ARMV5 is not set
+# CONFIG_CPU_ARM_ARMV5T is not set
+# CONFIG_CPU_ARM_ARMV5TE is not set
+# CONFIG_CPU_ARM_ARMV6 is not set
+# CONFIG_CPU_ARM_ARMV6T2 is not set
+# CONFIG_CPU_ARM_ARMV6ZK is not set
+CONFIG_CPU_ARM_ARMV7A=y
+CONFIG_CPU="armv7a"
+CONFIG_CPU_ARMV6KPLUS=y
+CONFIG_CPU_ARMV6PLUS=y
+# CONFIG_PLATFORM_TYPE_exynos4 is not set
+# CONFIG_PLATFORM_TYPE_imx35 is not set
+# CONFIG_PLATFORM_TYPE_zedboard is not set
+# CONFIG_PLATFORM_TYPE_beagleboard is not set
+# CONFIG_PLATFORM_TYPE_rv_pbx is not set
+# CONFIG_PLATFORM_TYPE_exynos5 is not set
+# CONFIG_PLATFORM_TYPE_kirkwood is not set
+# CONFIG_PLATFORM_TYPE_ls1012afrdm is not set
+# CONFIG_PLATFORM_TYPE_pandaboard is not set
+# CONFIG_PLATFORM_TYPE_arm_virt is not set
+# CONFIG_PLATFORM_TYPE_tegra2 is not set
+# CONFIG_PLATFORM_TYPE_rv is not set
+# CONFIG_PLATFORM_TYPE_rv_vexpress_a15 is not set
+# CONFIG_PLATFORM_TYPE_cubieboard2 is not set
+# CONFIG_PLATFORM_TYPE_omap3_am33xx is not set
+# CONFIG_PLATFORM_TYPE_parallella is not set
+# CONFIG_PLATFORM_TYPE_rpi_b is not set
+# CONFIG_PLATFORM_TYPE_imx21 is not set
+# CONFIG_PLATFORM_TYPE_imx51 is not set
+# CONFIG_PLATFORM_TYPE_ls1021atwr is not set
+# CONFIG_PLATFORM_TYPE_tegra3 is not set
+CONFIG_PLATFORM_TYPE_imx7=y
+# CONFIG_PLATFORM_TYPE_imx28 is not set
+# CONFIG_PLATFORM_TYPE_omap3evm is not set
+# CONFIG_PLATFORM_TYPE_rcar3_m3 is not set
+# CONFIG_PLATFORM_TYPE_zynqmp is not set
+# CONFIG_PLATFORM_TYPE_imx6 is not set
+# CONFIG_PLATFORM_TYPE_imx6ul is not set
+# CONFIG_PLATFORM_TYPE_armada38x is not set
+# CONFIG_PLATFORM_TYPE_omap5 is not set
+# CONFIG_PLATFORM_TYPE_rv_vexpress is not set
+# CONFIG_PLATFORM_TYPE_rpi_a is not set
+# CONFIG_PLATFORM_TYPE_integrator is not set
+# CONFIG_PLATFORM_TYPE_custom is not set
+CONFIG_PLATFORM_TYPE="imx7"
+# CONFIG_USE_DROPS_STDDIR is not set
+# CONFIG_USE_DICE is not set
+CONFIG_DROPS_STDDIR="/path/to/l4re"
+CONFIG_DROPS_INSTDIR="/path/to/l4re"
+CONFIG_BID_COLORED_PHASES=y
+
+#
+# Building
+#
+CONFIG_YACC="yacc"
+CONFIG_LEX="flex"
+CONFIG_CTAGS="ctags"
+CONFIG_ETAGS="etags"
+CONFIG_HAVE_LDSO=y
+CONFIG_INT_CPP_NAME_SWITCH=y
+CONFIG_INT_LD_NAME_SWITCH=y
+# CONFIG_BID_STRIP_PROGS is not set
+# CONFIG_BID_GCC_OMIT_FP is not set
+CONFIG_BID_GCC_ENABLE_STACK_PROTECTOR=y
+# CONFIG_BID_GCC_STACK_PROTECTOR_ALL is not set
+CONFIG_BID_GCC_STACK_PROTECTOR=y
+# CONFIG_BID_BUILD_DOC is not set
+# CONFIG_RELEASE_MODE is not set
+CONFIG_MAKECONFS_ADD=""

repos/base-foc/lib/mk/spec/imx7d_sabre/kernel-foc.mk

@@ -0,0 +1,3 @@
+KERNEL_CONFIG := $(REP_DIR)/config/imx7.kernel
+
+include $(REP_DIR)/lib/mk/kernel-foc.inc

repos/base-foc/lib/mk/spec/imx7d_sabre/syscall-foc.mk

@@ -0,0 +1,5 @@
+L4_CONFIG := $(call select_from_repositories,config/imx7.user)
+
+L4_BIN_DIR := $(LIB_CACHE_DIR)/syscall-foc/build/bin/arm_armv7a
+
+include $(REP_DIR)/lib/mk/spec/arm/syscall-foc.inc

repos/base-sel4/lib/mk/spec/imx7d_sabre/core-sel4.mk

@@ -0,0 +1,13 @@
+GEN_SRC_CC = platform_services.cc
+
+REP_SRC_CC = \
+             spec/arm/boot_info.cc \
+             spec/arm/irq.cc \
+             spec/arm/platform.cc \
+             spec/arm/platform_thread.cc \
+             spec/arm/thread.cc \
+             spec/arm/vm_space.cc
+
+INC_DIR += $(REP_DIR)/src/core/spec/arm
+
+include $(REP_DIR)/lib/mk/core-sel4.inc

repos/base-sel4/lib/mk/spec/imx7d_sabre/kernel-sel4.mk

@@ -0,0 +1,5 @@
+PLAT  := imx7
+CPU   := cortex-a7
+BOARD := imx7d_sabre
+
+-include $(REP_DIR)/lib/mk/spec/arm/kernel-sel4.inc

repos/base-sel4/lib/mk/spec/imx7d_sabre/syscall-sel4.mk

@@ -0,0 +1,8 @@
+PLAT := imx7
+ARCH := arm
+
+SEL4_ARCH := aarch32
+PLAT_BOARD := /imx7d_sabre
+SEL4_WORDBITS := 32
+
+include $(REP_DIR)/lib/mk/syscall-sel4.inc

repos/base-sel4/patches/imx7d_sabre.config

@@ -0,0 +1,27 @@
+--- src/kernel/sel4/configs/imx7/imx7d_sabre/autoconf.h
++++ src/kernel/sel4/configs/imx7/imx7d_sabre/autoconf.h
+@@ -38,6 +38,7 @@
+ #define CONFIG_LIBSEL4DEBUG_FUNCTION_INSTRUMENTATION_NONE 1
+ #define CONFIG_LIB_SEL4_UTILS 1
+ #define CONFIG_LIB_SEL4_VSPACE 1
++#define CONFIG_PRINTING 1
+ #define CONFIG_LIB_PLATSUPPORT 1
+ #define CONFIG_LIB_SEL4_ALLOCMAN 1
+ #define CONFIG_HAVE_LIB_SEL4_SIMPLE_DEFAULT 1
+@@ -75,7 +76,7 @@
+ #define CONFIG_USER_OPTIMISATION_O2 1
+ #define CONFIG_LIB_CPIO 1
+ #define CONFIG_RETYPE_FAN_OUT_LIMIT 256
+-#define CONFIG_ROOT_CNODE_SIZE_BITS 12
++#define CONFIG_ROOT_CNODE_SIZE_BITS 15
+ #define CONFIG_NUM_PRIORITIES 256
+ #define CONFIG_TESTPRINTER_REGEX ".*"
+ #define CONFIG_APP_SEL4TEST 1
+@@ -89,3 +90,7 @@
+ #define CONFIG_BUILDSYS_USE_CCACHE 1
+ #define CONFIG_MAX_NUM_NODES 1
+ #define CONFIG_KERNEL_STACK_BITS 12
++#define CONFIG_ARCH_AARCH32 1
++#define CONFIG_IPC_BUF_TPIDRURW 1
++#define CONFIG_HAVE_FPU 1
++#define CONFIG_FPU_MAX_RESTORES_SINCE_SWITCH 64

repos/base-sel4/ports/sel4.hash

@@ -1 +1 @@
-e9a08b9de9e3aceb19804af4473b65f9a1ee0280
+876d7aaf232c1b7dd548dd2b18474bb91f19ac23

repos/base-sel4/ports/sel4.port

@@ -16,6 +16,7 @@ $(call check_python_module,six)
 PATCHES   := $(sort $(wildcard $(REP_DIR)/patches/*.patch))
 
 HASH_INPUT += $(REP_DIR)/patches/imx6q_sabrelite.config
+HASH_INPUT += $(REP_DIR)/patches/imx7d_sabre.config
 
 # adjust kernel config usable on qemu and on native hw, and add a 32bit version
 default: $(DOWNLOADS)
@@ -27,3 +28,6 @@ default: $(DOWNLOADS)
 	$(VERBOSE)mkdir -p src/kernel/sel4/configs/imx6/imx6q_sabrelite
 	$(VERBOSE)mv src/kernel/sel4/configs/imx6/autoconf.h src/kernel/sel4/configs/imx6/imx6q_sabrelite/autoconf.h
 	$(VERBOSE)patch -p0 <$(REP_DIR)/patches/imx6q_sabrelite.config
+	$(VERBOSE)mkdir -p src/kernel/sel4/configs/imx7/imx7d_sabre
+	$(VERBOSE)mv src/kernel/sel4/configs/imx7/autoconf.h src/kernel/sel4/configs/imx7/imx7d_sabre/autoconf.h
+	$(VERBOSE)patch -p0 <$(REP_DIR)/patches/imx7d_sabre.config

repos/base/mk/spec/imx7d_sabre.mk

@@ -0,0 +1,3 @@
+SPECS += arm_v7a
+
+include $(BASE_DIR)/mk/spec/arm_v7a.mk

tool/create_builddir

@@ -12,7 +12,7 @@ PLATFORM = $(MAKECMDGOALS)
 
 PLATFORMS = x86_32  x86_64  panda  pbxa9  rpi arndale imx53_qsb imx53_qsb_tz \
             usb_armory wand_quad odroid_xu odroid_x2 zynq_qemu muen \
-            imx6q_sabrelite riscv_spike linux nit6_solox
+            imx6q_sabrelite imx7d_sabre riscv_spike linux nit6_solox
 
 PLATFORMS_DEPR = linux_x86 linux_arm fiasco_x86 okl4_x86 pistachio_x86 \
                  nova_x86_32 nova_x86_64 hw_x86_64 foc_x86_32 foc_x86_64 \
@@ -143,7 +143,8 @@ BUILD_CONF(imx53_qsb)    := run_kernel_hw     run_boot_dir repos
 BUILD_CONF(imx53_qsb_tz) := run_kernel_hw     run_boot_dir repos
 BUILD_CONF(usb_armory)   := run_kernel_hw     run_boot_dir repos
 BUILD_CONF(wand_quad)    := run_kernel_wand_quad run_boot_dir repos
-BUILD_CONF(imx6q_sabrelite) := run_kernel_imx6q_sabrelite run_boot_dir repos
+BUILD_CONF(imx6q_sabrelite) := run_kernel_hw_foc_sel4 run_boot_dir repos
+BUILD_CONF(imx7d_sabre)     := run_kernel_hw_foc_sel4 run_boot_dir repos
 BUILD_CONF(odroid_xu)    := run_kernel_hw     run_boot_dir repos
 BUILD_CONF(odroid_x2)    := run_kernel_foc    run_boot_dir repos
 BUILD_CONF(zynq_qemu)    := run_kernel_hw run_qemu run_opt_hw run_boot_dir qemu_opt_arm repos
@@ -229,6 +230,7 @@ SPECS(imx53_qsb_tz)    := imx53_qsb trustzone
 SPECS(usb_armory)      := usb_armory trustzone
 SPECS(wand_quad)       := wand_quad
 SPECS(imx6q_sabrelite) := imx6q_sabrelite
+SPECS(imx7d_sabre)     := imx7d_sabre
 SPECS(odroid_xu)       := odroid_xu
 SPECS(odroid_x2)       := odroid_x2
 SPECS(zynq_qemu)       := zynq_qemu

tool/run/boot_dir/foc

@@ -17,6 +17,7 @@ proc core_link_address { } {
 	if {[have_spec odroid_x2]} { return "0x80100000" }
 	if {[have_spec imx53    ]} { return "0x70140000" }
 	if {[have_spec imx6q_sabrelite ]} { return "0x14000000" }
+	if {[have_spec imx7d_sabre ]}     { return "0x80140000" }
 
 	puts stderr "Error: platform not supported, core link address unknown"
 	exit 1

tool/run/boot_dir/sel4

@@ -92,7 +92,11 @@ proc run_boot_dir {binaries} {
 	# Use seL4 elfloader tool to generate bootable image on ARM
 	#
 	if {[have_spec arm]} {
-		if {![have_spec imx6]} {
+		if {[have_spec imx6]} {
+			set ::env(PLAT) imx6
+		} elseif {[have_spec imx7d_sabre]} {
+			set ::env(PLAT) imx7
+		} else {
 			puts "abort - unknown ARM board"
 			exit 1
 		}
@@ -103,7 +107,6 @@ proc run_boot_dir {binaries} {
 		# call seL4 elfloader tool to generate image.elf bootable by uboot with 'bootelf' command
 		set ::env(COMMON_PATH) [sel4_elfloader_dir]
 		set ::env(CPPFLAGS) -I[sel4_elfloader_dir]/include
-		set ::env(PLAT) imx6
 		set ::env(TOOLPREFIX) [cross_dev_prefix]
 		exec [sel4_elfloader_dir]/gen_boot_image.sh [pwd]/[run_dir]/boot/kernel.elf [pwd]/[run_dir]/boot/genode.elf [pwd]/[run_dir]/boot/image.elf
 	}