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hw: support Wandboard Quad (i.MX6)

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The port uses the Cortex-A9 private timer for the kernel and an EPIT as
user timer. It was successfully tested on the Wandboard Quad and the CuBox-i
with the signal test. It lacks L2-cache and Trustzone support by now.

Thanks to Praveen Srinivas (IIT Madras, India) and  Nikolay Golikov (Ksys Labs
LLC, Russia). This work is partially based on their contributions.

Fix #1467
This commit is contained in:
Martin Stein 2015-03-25 19:30:37 +01:00 committed by Christian Helmuth
parent 4f887448c3
commit 60e392f0c0
13 changed files with 375 additions and 88 deletions
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18
repos/base-hw/lib/mk/platform_imx6/core.mk Normal file
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@ -0,0 +1,18 @@
#
# \brief Build config for Genodes core process
# \author Stefan Kalkowski
# \author Josef Söntgen
# \author Martin Stein
# \date 2014-02-25
#
# add include paths
INC_DIR += $(REP_DIR)/src/core/include/spec/imx6
INC_DIR += $(REP_DIR)/src/core/include/spec/imx
# add C++ sources
SRC_CC += platform_services.cc
SRC_CC += spec/imx6/platform_support.cc
# include less specific configuration
include $(REP_DIR)/lib/mk/cortex_a9/core.inc

20
repos/base-hw/mk/spec-hw_wand_quad.mk Normal file
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@ -0,0 +1,20 @@
#
# \brief Build configurations for 'base-hw' on WandBoard Quad
# \author Nikolay Golikov <nik@ksyslabs.org>
# \author Josef Soentgen
# \author Martin Stein
# \date 2014-02-25
#
# denote wich specs are also fullfilled by this spec
SPECS += hw platform_imx6
# configure multiprocessor mode
NR_OF_CPUS = 1
# set address where to link the text segment at
LD_TEXT_ADDR ?= 0x10001000
# include implied specs
include $(call select_from_repositories,mk/spec-hw.mk)
include $(call select_from_repositories,mk/spec-platform_imx6.mk)

138
repos/base-hw/src/core/include/spec/imx/board_support.h Normal file
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@ -0,0 +1,138 @@
/*
* \brief Board driver
* \author Stefan Kalkowski
* \author Martin Stein
* \date 2012-10-24
*/
/*
* Copyright (C) 2012-2015 Genode Labs GmbH
*
* This file is part of the Genode OS framework, which is distributed
* under the terms of the GNU General Public License version 2.
*/
#ifndef _SPEC__IMX__BOARD_SUPPORT_H_
#define _SPEC__IMX__BOARD_SUPPORT_H_
/* Genode includes */
#include <drivers/board_base.h>
#include <util/mmio.h>
namespace Imx
{
/**
* AHB to IP Bridge
*
* Interface between the system bus and lower bandwidth IP Slave (IPS)
* bus peripherals.
*/
class Aipstz;
/**
* Board driver
*/
class Board;
}
class Imx::Aipstz : public Genode::Mmio
{
/*
* Configuration of the masters
*/
struct Mpr { enum { ALL_UNBUFFERED_AND_FULLY_TRUSTED = 0x77777777 }; };
struct Mpr1 : Register<0x0, 32>, Mpr { };
struct Mpr2 : Register<0x4, 32>, Mpr { };
/*
* Configuration of the platform peripherals
*/
struct Pacr { enum { ALL_UNBUFFERED_AND_FULLY_UNPROTECTED = 0 }; };
struct Pacr1 : Register<0x20, 32>, Pacr { };
struct Pacr2 : Register<0x24, 32>, Pacr { };
struct Pacr3 : Register<0x28, 32>, Pacr { };
struct Pacr4 : Register<0x2c, 32>, Pacr { };
/*
* Configuration of the off-platform peripherals
*/
struct Opacr1 : Register<0x40, 32>, Pacr { };
struct Opacr2 : Register<0x44, 32>, Pacr { };
struct Opacr3 : Register<0x48, 32>, Pacr { };
struct Opacr4 : Register<0x4c, 32>, Pacr { };
struct Opacr5 : Register<0x50, 32>, Pacr { };
public:
/**
* Constructor
*/
Aipstz(Genode::addr_t const base) : Genode::Mmio(base) { }
/**
* Configure this module appropriately for the first kernel run
*/
void prepare_kernel()
{
/* avoid AIPS intervention at any memory access */
write<Mpr1>(Mpr::ALL_UNBUFFERED_AND_FULLY_TRUSTED);
write<Mpr2>(Mpr::ALL_UNBUFFERED_AND_FULLY_TRUSTED);
write<Pacr1>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Pacr2>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Pacr3>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Pacr4>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr1>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr2>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr3>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr4>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr5>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
}
};
class Imx::Board : public Genode::Board_base
{
/*
* static AIPSTZ instances
*/
static Aipstz * _aipstz_1()
{
static Aipstz a(AIPS_1_MMIO_BASE);
return &a;
}
static Aipstz * _aipstz_2()
{
static Aipstz a(AIPS_2_MMIO_BASE);
return &a;
}
public:
/**
* Configure this module appropriately for the first kernel run
*/
static void prepare_kernel()
{
_aipstz_1()->prepare_kernel();
_aipstz_2()->prepare_kernel();
}
/**
* Return wether the board has SMP extensions
*/
static bool is_smp();
/*
* Dummies
*/
static void outer_cache_invalidate() { }
static void outer_cache_flush() { }
static void secondary_cpus_ip(void *) { }
};
#endif /* _SPEC__IMX__BOARD_SUPPORT_H_ */

98
repos/base-hw/src/core/include/spec/imx53/board.h
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@ -1,11 +1,12 @@
/*
* \brief Board definitions for core
* \brief Board driver
* \author Stefan Kalkowski
* \author Martin Stein
* \date 2012-10-24
*/
/*
* Copyright (C) 2012-2013 Genode Labs GmbH
* Copyright (C) 2012-2015 Genode Labs GmbH
*
* This file is part of the Genode OS framework, which is distributed
* under the terms of the GNU General Public License version 2.
@ -14,94 +15,15 @@
#ifndef _BOARD_H_
#define _BOARD_H_
/* Genode includes */
#include <drivers/board_base.h>
#include <util/mmio.h>
/* core includes */
#include <spec/imx/board_support.h>
namespace Imx53
namespace Genode
{
class Aipstz : public Genode::Mmio
{
/**
* Configuration of the masters
*/
struct Mpr { enum { ALL_UNBUFFERED_AND_FULLY_TRUSTED = 0x77777777 }; };
struct Mpr1 : Register<0x0, 32>, Mpr { };
struct Mpr2 : Register<0x4, 32>, Mpr { };
/**
* Configuration of the platform peripherals
*/
struct Pacr { enum { ALL_UNBUFFERED_AND_FULLY_UNPROTECTED = 0 }; };
struct Pacr1 : Register<0x20, 32>, Pacr { };
struct Pacr2 : Register<0x24, 32>, Pacr { };
struct Pacr3 : Register<0x28, 32>, Pacr { };
struct Pacr4 : Register<0x2c, 32>, Pacr { };
/**
* Configuration of the off-platform peripherals
*/
struct Opacr1 : Register<0x40, 32>, Pacr { };
struct Opacr2 : Register<0x44, 32>, Pacr { };
struct Opacr3 : Register<0x48, 32>, Pacr { };
struct Opacr4 : Register<0x4c, 32>, Pacr { };
struct Opacr5 : Register<0x50, 32>, Pacr { };
public:
/**
* Constructor
*/
Aipstz(Genode::addr_t const base) : Genode::Mmio(base) { }
/**
* Configure this module appropriately for the first kernel run
*/
void prepare_kernel()
{
/* avoid AIPS intervention at any memory access */
write<Mpr1>(Mpr::ALL_UNBUFFERED_AND_FULLY_TRUSTED);
write<Mpr2>(Mpr::ALL_UNBUFFERED_AND_FULLY_TRUSTED);
write<Pacr1>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Pacr2>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Pacr3>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Pacr4>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr1>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr2>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr3>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr4>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
write<Opacr5>(Pacr::ALL_UNBUFFERED_AND_FULLY_UNPROTECTED);
}
};
struct Board : Genode::Board_base
{
/**
* static AIPS 1 instance
*/
static Aipstz * aips_1() { static Aipstz a(AIPS_1_MMIO_BASE); return &a; }
/**
* Static AIPS 2 instance
*/
static Aipstz * aips_2() { static Aipstz a(AIPS_2_MMIO_BASE); return &a; }
/**
* Configure this module appropriately for the first kernel run
*/
static void prepare_kernel()
{
aips_1()->prepare_kernel();
aips_2()->prepare_kernel();
}
static bool is_smp() { return false; }
static void outer_cache_invalidate() { }
static void outer_cache_flush() { }
static void secondary_cpus_ip(void *) { }
};
/**
* Board driver
*/
class Board : public Imx::Board { };
}
namespace Genode { class Board : public Imx53::Board { }; }
#endif /* _BOARD_H_ */

0
repos/base-hw/src/core/include/spec/imx/timer.h → repos/base-hw/src/core/include/spec/imx53/timer.h
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30
repos/base-hw/src/core/include/spec/imx6/board.h Normal file
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@ -0,0 +1,30 @@
/*
* \brief Board driver
* \author Stefan Kalkowski
* \author Martin Stein
* \date 2014-02-25
*/
/*
* Copyright (C) 2014-2015 Genode Labs GmbH
*
* This file is part of the Genode OS framework, which is distributed
* under the terms of the GNU General Public License version 2.
*/
#ifndef _BOARD_H_
#define _BOARD_H_
/* core includes */
#include <spec/imx/board_support.h>
#include <spec/cortex_a9/board_support.h>
namespace Genode
{
/**
* Board driver
*/
class Board : public Imx::Board, public Cortex_a9::Board { };
}
#endif /* _BOARD_H_ */

2
repos/base-hw/src/core/spec/imx53/platform_support.cc
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@ -59,4 +59,6 @@ Native_region * Platform::_core_only_mmio_regions(unsigned const i)
}
bool Imx::Board::is_smp() { return false; }
Cpu::User_context::User_context() { cpsr = Psr::init_user(); }

2
repos/base-hw/src/core/spec/imx53/trustzone/platform_support.cc
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@ -104,4 +104,6 @@ Native_region * Platform::_core_only_mmio_regions(unsigned const i)
}
bool Imx::Board::is_smp() { return false; }
Cpu::User_context::User_context() { cpsr = Psr::init_user_with_trustzone(); }

59
repos/base-hw/src/core/spec/imx6/platform_support.cc Normal file
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@ -0,0 +1,59 @@
/*
* \brief Specific core implementations
* \author Stefan Kalkowski
* \author Josef Soentgen
* \author Martin Stein
* \date 2014-02-25
*/
/*
* Copyright (C) 2014-2015 Genode Labs GmbH
*
* This file is part of the Genode OS framework, which is distributed
* under the terms of the GNU General Public License version 2.
*/
/* core includes */
#include <platform.h>
#include <cpu.h>
using namespace Genode;
Native_region * Platform::_ram_regions(unsigned const i)
{
static Native_region _regions[] =
{
{ Board::RAM0_BASE, Board::RAM0_SIZE }
};
return i < sizeof(_regions)/sizeof(_regions[0]) ? &_regions[i] : 0;
}
Native_region * Platform::_mmio_regions(unsigned const i)
{
static Native_region _regions[] =
{
{ Board::MMIO_BASE, Board::MMIO_SIZE }
};
return i < sizeof(_regions)/sizeof(_regions[0]) ? &_regions[i] : 0;
}
Native_region * Platform::_core_only_mmio_regions(unsigned const i)
{
static Native_region _regions[] =
{
/* core UART */
{ Board::UART_1_MMIO_BASE, Board::UART_1_MMIO_SIZE },
/* CPU-local core MMIO like interrupt controller and timer */
{ Board::CORTEX_A9_PRIVATE_MEM_BASE, Board::CORTEX_A9_PRIVATE_MEM_SIZE },
};
return i < sizeof(_regions)/sizeof(_regions[0]) ? &_regions[i] : 0;
}
bool Imx::Board::is_smp() { return true; }
Cpu::User_context::User_context() { cpsr = Psr::init_user(); }

67
repos/base/include/platform/imx6/drivers/board_base.h Normal file
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@ -0,0 +1,67 @@
/*
* \brief Board definitions for the Freescale i.MX6
* \author Nikolay Golikov <nik@ksyslabs.org>
* \author Josef Soentgen
* \author Martin Stein
* \date 2014-02-25
*/
/*
* Copyright (C) 2014-2015 Ksys Labs LLC
* Copyright (C) 2014-2015 Genode Labs GmbH
*
* This file is part of the Genode OS framework, which is distributed
* under the terms of the GNU General Public License version 2.
*/
#ifndef _DRIVERS__BOARD_BASE_H_
#define _DRIVERS__BOARD_BASE_H_
namespace Genode
{
/**
* i.MX6 motherboard
*/
struct Board_base;
}
struct Genode::Board_base
{
enum {
/* normal RAM */
RAM0_BASE = 0x10000000,
RAM0_SIZE = 0x80000000,
/* device IO memory */
MMIO_BASE = 0x00000000,
MMIO_SIZE = 0x10000000,
UART_1_IRQ = 58,
UART_1_MMIO_BASE = 0x02020000,
UART_1_MMIO_SIZE = 0x00004000,
/* timer */
EPIT_2_IRQ = 89,
EPIT_2_MMIO_BASE = 0x020d4000,
EPIT_2_MMIO_SIZE = 0x00004000,
/* ARM IP Bus control */
AIPS_1_MMIO_BASE = 0x0207c000,
AIPS_1_MMIO_SIZE = 0x00004000,
AIPS_2_MMIO_BASE = 0x0217c000,
AIPS_2_MMIO_SIZE = 0x00004000,
/* CPU */
CORTEX_A9_PRIVATE_MEM_BASE = 0x00a00000,
CORTEX_A9_PRIVATE_MEM_SIZE = 0x00002000,
CORTEX_A9_PRIVATE_TIMER_CLK = 395037500,
/* CPU cache */
CACHE_LINE_SIZE_LOG2 = 5,
/* wether board provides ARM security extension */
SECURITY_EXTENSION = 1,
};
};
#endif /* _DRIVERS__BOARD_BASE_H_ */

17
repos/base/mk/spec-platform_imx6.mk Normal file
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@ -0,0 +1,17 @@
#
# \brief Build-system configurations for Freescale i.MX6
# \author Nikolay Golikov <nik@ksyslabs.org>
# \author Josef Soentgen
# \author Martin Stein
# \date 2014-02-25
#
# denote wich specs are also fullfilled by this spec
SPECS += cortex_a9 imx6 imx epit
# add repository relative include paths
REP_INC_DIR += include/platform/imx6
# include implied specs
include $(call select_from_repositories,mk/spec-cortex_a9.mk)

7
tool/builddir/etc/build.conf.hw_wand_quad Normal file
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@ -0,0 +1,7 @@
REPOSITORIES += $(GENODE_DIR)/repos/base-hw
##
## Kernel-specific run tool configuration
##
RUN_OPT = --include boot_dir/hw

5
tool/create_builddir
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@ -33,6 +33,7 @@ usage:
@echo " 'hw_imx53_qsb'"
@echo " 'hw_imx53_qsb_tz'"
@echo " 'hw_usb_armory'"
@echo " 'hw_wand_quad'"
@echo " 'hw_arndale'"
@echo " 'hw_odroid_xu'"
@echo " 'hw_rpi'"
@ -237,6 +238,10 @@ hw_usb_armory::
@echo "SPECS = genode hw_usb_armory" > $(BUILD_DIR)/etc/specs.conf
@echo "SPECS += perf_counter" >> $(BUILD_DIR)/etc/specs.conf
hw_wand_quad::
@echo "SPECS = genode hw_wand_quad" > $(BUILD_DIR)/etc/specs.conf
@echo "SPECS += perf_counter" >> $(BUILD_DIR)/etc/specs.conf
hw_arndale::
@echo "SPECS = genode hw_arndale" > $(BUILD_DIR)/etc/specs.conf
@echo "SPECS += perf_counter" >> $(BUILD_DIR)/etc/specs.conf