This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx.git
The following commit(s) were added to refs/heads/master by this push:
new 7cb8e590a1 risc-v/k230: kernel build for CanMV-K230 board
7cb8e590a1 is described below
commit 7cb8e590a1152fb2017f71d0cacc5380b11f0bc0
Author: Yanfeng Liu <[email protected]>
AuthorDate: Fri Dec 29 15:08:58 2023 +0800
risc-v/k230: kernel build for CanMV-K230 board
Changes:
- Documentation/platforms/risc-v/k230 revised for both modes
- arch/risc-v/include/k230/irq.h add S-mode IRQs
- under arch/risc-v/src/k230 folder:
- Make.defs drop use of k230_exception_m.S
- hardware/k230_clint.h add S-mode defs, revised freq
- k230_head.S unified flat/kernel mode support
- k230_irq.c add S-mode support with debug dump
- k230_mm_init.c revised for K230 S-mode
- k230_start.c revised for flat/s-mode,
- arch/risc-v/src/k230/k230_timerisr.c unified flat/s-mode support.
- under boards/risc-v/k230/canmv230 folder:
- configs/nsh/defconfig fix RAM size
- include/board_memorymap.h cleanup for S-mode
- src/.gitignore ignore romfs_boot.c
- src/Makefile add romfs support
Renames:
- under boards/risc-v/k230/canmv230/src/ folder:
- canmv_init.c from k230_appinit.c making room for more k230 devices
Dropped:
- under arch/risc-v/src/k230/
- k230_exception_m.S as hybrid mode not ready yet.
New files in boards/riscv/k230/canmv230:
- configs/knsh/defconfig S-mode config
- scripts/ld-kernel.script S-mode linker script
- src/romfs.h User space ROMFS defs needed in
S-mode
- src/romfs_stub.c Stub ROMFS image
Signed-off-by: Yanfeng Liu <[email protected]>
---
.../risc-v/k230/boards/canmv230/index.rst | 60 ++++--
arch/risc-v/include/k230/irq.h | 12 +-
arch/risc-v/src/k230/Make.defs | 1 -
arch/risc-v/src/k230/hardware/k230_clint.h | 13 +-
arch/risc-v/src/k230/k230_exception_m.S | 105 ----------
arch/risc-v/src/k230/k230_head.S | 29 +--
arch/risc-v/src/k230/k230_irq.c | 24 ++-
arch/risc-v/src/k230/k230_mm_init.c | 233 ++++++---------------
arch/risc-v/src/k230/k230_start.c | 107 ++--------
arch/risc-v/src/k230/k230_timerisr.c | 141 +------------
.../k230/canmv230/configs/{nsh => knsh}/defconfig | 49 ++++-
boards/risc-v/k230/canmv230/configs/nsh/defconfig | 2 +-
.../risc-v/k230/canmv230/include/board_memorymap.h | 13 +-
.../risc-v/k230/canmv230/scripts/ld-kernel.script | 143 +++++++++++++
boards/risc-v/k230/canmv230/src/.gitignore | 5 +-
boards/risc-v/k230/canmv230/src/Makefile | 8 +-
.../canmv230/src/{k230_appinit.c => canmv_init.c} | 31 ++-
.../risc-v/k230/canmv230/src/romfs.h | 17 +-
.../risc-v/k230/canmv230/src/romfs_stub.c | 24 +--
19 files changed, 426 insertions(+), 591 deletions(-)
diff --git a/Documentation/platforms/risc-v/k230/boards/canmv230/index.rst
b/Documentation/platforms/risc-v/k230/boards/canmv230/index.rst
index 7f5cdd67d5..673287db09 100644
--- a/Documentation/platforms/risc-v/k230/boards/canmv230/index.rst
+++ b/Documentation/platforms/risc-v/k230/boards/canmv230/index.rst
@@ -10,27 +10,25 @@ The `K230 SDK <https://github.com/kendryte/k230_sdk>`_
contains source code, lib
K230 boots from CPU0 and loads U-Boot into DRAM first, then U-Boot kicks off
OpenSBI wrapped Linux/RTT OS images on respective CPU cores accordingly.
-The K230 U-Boot operates in machine mode, thus provides an ideal environment
for NuttX. allowing one to run flat or kernel builds in theory.
-
+The K230 U-Boot runs in machine mode, thus it can run flat or kernel NuttX
builds. The kernel build shall run with or without SBI layer.
Preparations
============
-Please follow the K230 SDK to prepare a booting SD card for the board, or use
prebuilt boot image from `here
<https://kendryte-download.canaan-creative.com/developer/k230/k230_canmv_sdcard_v1.2_nncase_v2.5.1.img.gz>`_.
+Take the prebuilt CanMV-k230 boot image from `here
<https://gitee.com/yf1972/filexfers/tree/canmv230-tools-for-nuttx-v1.2>` as the
v1.2 K230 SDK doesn't provide RiscV standard PTE format support needed by
NuttX. This package also contains extract of OpenSBI from K230 SDK v1.2
release, which is needed to wrap kernel build NuttX binary.
Make sure that before trying NuttX:
-- The board can boot default SDK image normally.
-- U-Boot console can be accessed from host(e.g. `minicom -D /dev/ttyACM0`).
-- U-Boot has access to a TFTP service is available.
-- You can drop files to the TFTP service folder.
+- The board can boot K230 SDK image normally.
+- Device console access available (e.g. `minicom -D /dev/ttyACM0`).
+- U-Boot connectivity to TFTP service available.
-Note for below NuttX tests, the SD image is only used to enter U-Boot console.
+For NuttX tests, the microSD card is only used to enter U-Boot console, NuttX
isn't using any persistent storage on the target now.
-RISC-V Toolchain
-================
+Toolchains
+==========
-Before building NuttX for Star64, download the **RISC-V Toolchain
riscv64-unknown-elf** from `XPack
<https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack>`_ or use
"gcc-riscv64-unknown-elf" on Ubuntu.
+Before building NuttX, download the **RISC-V Toolchain riscv64-unknown-elf**
from `XPack <https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack>`_ or
use the stock "gcc-riscv64-unknown-elf" on Ubuntu.
Building
@@ -46,18 +44,50 @@ Configure the NuttX project and build the project:
$ tools/configure.sh canmv230:nsh
$ make -j4
-There should have `nuttx.bin` generated.
+This should have `nuttx.bin` generated, it can be used without OpenSBI
wrapping on the board.
+
+The kernel build requires two build passes: first pass to build kernel and
apps, second pass to build the kernel with a ROMFS image that includes some
built apps.
+
+.. code:: console
+
+ $ cd nuttx
+ $ tools/configure.sh canmv230:knsh
+ $ make -j4 # first pass for apps build preparations
+ $ (make export; cd ../apps; tools/mkimport.sh -z -x
../nuttx/nuttx-export-*.gz; make import)
+ $ (cd ../apps/; tools/mkromfsimg.sh
../nuttx/boards/risc-v/k230/canmv230/src/romfs_boot.c)
+ $ make -j4 # second pass to pick up ROMFS
+
+The built `nuttx.bin` can be then wrapped with K230 OpenSBI like below:
+
+.. code:: console
+
+ $ cd $HOME
+ $ tar xvf canmv230-opensbi-dtb.tar.xz
+ $ export OSBI=$HOME/opensbi
+ $ cd /tmp/aaa # use a temporary work folder
+ $ make -C $OSBI O=$(pwd) PLATFORM=generic\
+ CROSS_COMPILE=riscv64-unknown-elf- FW_PIC=n K230_LIITLE_CORE=1\
+ FW_FDT_PATH=$OSBI/k230.dtb FW_PAYLOAD_PATH=nuttx.bin -j4
+ $ cp platform/generic/firmware/fw_payload.bin tftp-server-path/nuttx.bin
+
+Note to use actual paths of SBI source tree, device dtb, TFTP folder etc when
using above commands.
Booting
=======
-Copy the `nuttx.bin` to the TFTP service folder and work with the U-Boot
console:
+Within U-boot console, load `nuttx.bin` from TFTP service and run it:
.. code:: console
k230# usb start
k230# ping $serverip
k230# tftp 8000000 nuttx.bin
- k230# boot_barememtal 0 8000000 $filesize
+ k230# go 8000000
+
+Then the `nsh> ` console should appear, type `help` to see available commands.
+
+Issues
+======
+
+ - The `ostest` app only works with flat build.
-Then the `nsh> `console should appear, type `help` to see available commands.
diff --git a/arch/risc-v/include/k230/irq.h b/arch/risc-v/include/k230/irq.h
index 4e527c7c82..c2676041c7 100644
--- a/arch/risc-v/include/k230/irq.h
+++ b/arch/risc-v/include/k230/irq.h
@@ -31,8 +31,16 @@
/* Map RISC-V exception code to NuttX IRQ */
-#define K230_IRQ_UART0 (RISCV_IRQ_MEXT + 16)
+#ifndef CONFIG_BUILD_KERNEL
+# define K230_IRQ_TIMER (RISCV_IRQ_MTIMER)
+# define K230_IRQ_UART0 (RISCV_IRQ_MEXT + 16)
+#else
+# define K230_IRQ_TIMER (RISCV_IRQ_STIMER)
+# define K230_IRQ_UART0 (RISCV_IRQ_SEXT + 16)
+#endif
-#define NR_IRQS (K230_IRQ_UART0 + 1)
+/* NR_IRQS is needed by NuttX */
+
+#define NR_IRQS (K230_IRQ_UART0 + 1)
#endif /* __ARCH_RISCV_INCLUDE_K230_IRQ_H */
diff --git a/arch/risc-v/src/k230/Make.defs b/arch/risc-v/src/k230/Make.defs
index d481c48d3c..73dab21378 100644
--- a/arch/risc-v/src/k230/Make.defs
+++ b/arch/risc-v/src/k230/Make.defs
@@ -30,7 +30,6 @@ CHIP_CSRCS += k230_timerisr.c k230_allocateheap.c
ifeq ($(CONFIG_BUILD_KERNEL),y)
CHIP_CSRCS += k230_mm_init.c
-CMN_ASRCS += k230_exception_m.S
endif
ifeq ($(CONFIG_MM_PGALLOC),y)
diff --git a/arch/risc-v/src/k230/hardware/k230_clint.h
b/arch/risc-v/src/k230/hardware/k230_clint.h
index 7bf4435007..834984a5c2 100644
--- a/arch/risc-v/src/k230/hardware/k230_clint.h
+++ b/arch/risc-v/src/k230/hardware/k230_clint.h
@@ -27,14 +27,21 @@
#define K230_CLINT_MSIP (K230_CLINT_BASE + 0x0000)
#define K230_CLINT_MTIMECMP (K230_CLINT_BASE + 0x4000)
+#define K230_CLINT_SSIP (K230_CLINT_BASE + 0xC000)
+#define K230_CLINT_STIMECMP (K230_CLINT_BASE + 0xD000)
#define K230_CLINT_MTIME (K230_CLINT_BASE + 0xBFF8)
+#define K230_CLINT_STIME (K230_CLINT_BASE + 0xBFF8)
-#define RISCV_CLINT_MSIP K230_CLINT_MSIP
+#define K230_CLINT_FREQ (27000000)
#ifdef CONFIG_ARCH_USE_S_MODE
-# define RISCV_IPI
+# define K230_IPI K230_CLINT_SSIP
+# define K230_TIME K230_CLINT_STIME
+# define K230_TIMECMP K230_CLINT_STIMECMP
#else
-# define RISCV_IPI RISCV_CLINT_MSIP
+# define K230_IPI K230_CLINT_MSIP
+# define K230_TIME K230_CLINT_MTIME
+# define K230_TIMECMP K230_CLINT_MTIMECMP
#endif
#endif /* __ARCH_RISCV_SRC_K230_HARDWARE_K230_CLINT_H */
diff --git a/arch/risc-v/src/k230/k230_exception_m.S
b/arch/risc-v/src/k230/k230_exception_m.S
deleted file mode 100644
index a4ca925afc..0000000000
--- a/arch/risc-v/src/k230/k230_exception_m.S
+++ /dev/null
@@ -1,105 +0,0 @@
-/****************************************************************************
- * arch/risc-v/src/qemu-rv/k230_exception_m.S
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements. See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership. The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <arch/arch.h>
-#include <arch/irq.h>
-#include <arch/mode.h>
-
-#include <sys/types.h>
-
-#include "chip.h"
-
-#include "riscv_macros.S"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* Provide a default section for the exeception handler. */
-
-#ifndef EXCEPTION_SECTION
-# define EXCEPTION_SECTION .text
-#endif
-
-/****************************************************************************
- * Public Symbols
- ****************************************************************************/
-
-.section .text
-.balign 8
-.global __trap_vec_m
-
-/****************************************************************************
- * Name: __trap_vec_m
- *
- * Description:
- * All M-mode exceptions and interrupts will be handled from here. If
- * kernel is in S-mode delegated exceptions and interrupts are handled.
- *
- ****************************************************************************/
-
-__trap_vec_m:
- j exception_m
-
-/****************************************************************************
- * Name: exception_m
- *
- * Description:
- * Handles interrupts for m-mode
- *
- ****************************************************************************/
-
-.section EXCEPTION_SECTION
-.global exception_m
-.align 8
-
-exception_m:
-
- /* Swap mscratch with sp */
- /* NOTE: mscratch has been set in up_mtimer_initialize() */
-
- csrrw sp, mscratch, sp
-
- /* Save the context */
-
- save_ctx sp
-
- /* Handle the mtimer interrupt */
- /* NOTE: we assume exception/interrupt only happens for mtimer */
-
- jal ra, k230_mtimer_interrupt
-
- /* Restore the context */
-
- load_ctx sp
-
- /* Swap mscratch with sp */
-
- csrrw sp, mscratch, sp
-
- /* Return from exception */
-
- mret
diff --git a/arch/risc-v/src/k230/k230_head.S b/arch/risc-v/src/k230/k230_head.S
index 1509a41b67..56d1bb271c 100644
--- a/arch/risc-v/src/k230/k230_head.S
+++ b/arch/risc-v/src/k230/k230_head.S
@@ -26,6 +26,7 @@
#include <arch/arch.h>
#include <arch/irq.h>
+#include <arch/mode.h>
#include "chip.h"
#include "riscv_internal.h"
@@ -33,6 +34,9 @@
/****************************************************************************
* Public Symbols
****************************************************************************/
+ /* Imported symbols */
+
+ .extern __trap_vec
/* Exported Symbols */
@@ -41,10 +45,13 @@
__start:
- /* Preserve a1 as it contains the pointer to DTB */
+ /* Preserve a1 by not using it here as it contains DTB */
+
+#ifndef CONFIG_BUILD_KERNEL
/* Load mhartid (cpuid) */
csrr a0, mhartid
+#endif
/* Set stack pointer to the idle thread stack */
@@ -64,7 +71,7 @@ __start:
/* If a0 (mhartid) >= t1 (the number of CPUs), stop here */
blt a0, t1, 3f
- csrw mie, zero
+ csrw CSR_IE, zero
wfi
3:
@@ -74,11 +81,7 @@ __start:
/* Offset = pointer width * hart id */
-#ifdef CONFIG_ARCH_RV32
- slli t1, a0, 2
-#else
slli t1, a0, 3
-#endif
add t0, t0, t1
/* Load idle stack base to sp */
@@ -97,14 +100,14 @@ __start:
2:
- /* Disable all interrupts (i.e. timer, external) in mie */
-
- csrw mie, zero
-
- la t0, __trap_vec
- csrw mtvec, t0
+ /* Disable all interrupts (i.e. timer, external) */
- /* Jump to k230_start */
+ csrw CSR_IE, zero
+
+ la t0, __trap_vec /* __trap_dump */
+ csrw CSR_TVEC, t0
+
+ /* Jump to k230_start, a0=mhartid, a1=dtb */
jal x1, k230_start
diff --git a/arch/risc-v/src/k230/k230_irq.c b/arch/risc-v/src/k230/k230_irq.c
index 1acfbc98e4..f803f829fd 100644
--- a/arch/risc-v/src/k230/k230_irq.c
+++ b/arch/risc-v/src/k230/k230_irq.c
@@ -35,6 +35,8 @@
#include "riscv_internal.h"
#include "chip.h"
+#define STATUS_LOW (READ_CSR(CSR_STATUS) & 0xffffffff) /* STATUS low part */
+
/****************************************************************************
* Public Functions
****************************************************************************/
@@ -70,6 +72,8 @@ void up_irqinitialize(void)
putreg32(1, (uintptr_t)(K230_PLIC_PRIORITY + 4 * id));
}
+ sinfo("prioritized %d plic irqs\n", NR_IRQS);
+
/* Set irq threshold to 0 (permits all global interrupts) */
putreg32(0, K230_PLIC_THRESHOLD);
@@ -114,7 +118,7 @@ void up_disable_irq(int irq)
}
else if (irq == RISCV_IRQ_TIMER)
{
- /* Read m/sstatus & clear timer interrupt enable in m/sie */
+ /* Disable timer interrupt in m/sie */
CLEAR_CSR(CSR_IE, IE_TIE);
}
@@ -134,6 +138,8 @@ void up_disable_irq(int irq)
PANIC();
}
}
+
+ sinfo("ie=%lx sts=%lx irq=%d\n", READ_CSR(CSR_IE), STATUS_LOW, irq);
}
/****************************************************************************
@@ -156,23 +162,15 @@ void up_enable_irq(int irq)
}
else if (irq == RISCV_IRQ_TIMER)
{
- /* Read m/sstatus & set timer interrupt enable in m/sie */
+ /* Enable timer interrupt in m/sie */
SET_CSR(CSR_IE, IE_TIE);
}
-#ifdef CONFIG_BUILD_KERNEL
- else if (irq == RISCV_IRQ_MTIMER)
- {
- /* Read m/sstatus & set timer interrupt enable in m/sie */
-
- SET_CSR(mie, MIE_MTIE);
- }
-#endif
else if (irq > RISCV_IRQ_EXT)
{
extirq = irq - RISCV_IRQ_EXT;
- /* Set enable bit for the irq */
+ /* Enable the irq in PLIC */
if (0 <= extirq && extirq <= 63)
{
@@ -184,6 +182,8 @@ void up_enable_irq(int irq)
PANIC();
}
}
+
+ sinfo("ie=%lx sts=%lx irq=%d\n", READ_CSR(CSR_IE), STATUS_LOW, irq);
}
irqstate_t up_irq_enable(void)
@@ -197,6 +197,8 @@ irqstate_t up_irq_enable(void)
/* Read and enable global interrupts (M/SIE) in m/sstatus */
oldstat = READ_AND_SET_CSR(CSR_STATUS, STATUS_IE);
+ sinfo("ie=%lx sts=%lx xcs=%d\n", READ_CSR(CSR_IE), STATUS_LOW,
+ XCPTCONTEXT_SIZE);
return oldstat;
}
diff --git a/arch/risc-v/src/k230/k230_mm_init.c
b/arch/risc-v/src/k230/k230_mm_init.c
index c3bbf154d7..7a75f8fb10 100644
--- a/arch/risc-v/src/k230/k230_mm_init.c
+++ b/arch/risc-v/src/k230/k230_mm_init.c
@@ -40,69 +40,44 @@
* Pre-processor Definitions
****************************************************************************/
-/* Map the whole I/O memory with vaddr = paddr mappings */
+/* T-Head C908 MMU flags for I/O Memory, just in case standard Risc-V
+ * PTE format is not working.
+ */
-#define MMU_IO_BASE (0x80400000) // KPU config
-#define MMU_IO_SIZE (0x19c00000) // DDR config
+#define MMU_THEAD_SHAREABLE (1ul << 60)
+#define MMU_THEAD_STRONG_ORDER (1ul << 63)
+#define MMU_THEAD_IO_FLAGS (MMU_IO_FLAGS | MMU_THEAD_SHAREABLE | \
+ MMU_THEAD_STRONG_ORDER)
-#ifdef CONFIG_ARCH_MMU_TYPE_SV32
+/* Map the whole I/O & PLIC memory with vaddr = paddr mappings */
-/* Physical and virtual addresses to page tables (vaddr = paddr mapping) */
-
-#define PGT_L1_PBASE (uintptr_t)&m_l1_pgtable
-#define PGT_L2_PBASE (uintptr_t)&m_l2_pgtable
-#define PGT_L1_VBASE PGT_L1_PBASE
-#define PGT_L2_VBASE PGT_L2_PBASE
+#define MMU_IO_BASE (0x80000000) /* KPU-Cache */
+#define MMU_IO_SIZE (0x40000000) /* 1GB, till XIP start */
-#define PGT_L1_SIZE (1024) /* Enough to map 4 GiB */
-#define PGT_L2_SIZE (3072) /* Enough to map 12 MiB */
+#define MMU_INT_BASE (0xF00000000ul) /* PLIC base */
+#define MMU_INT_SIZE (0x400000ul) /* 4MB */
-#define SLAB_COUNT (sizeof(m_l2_pgtable) / RV_MMU_PAGE_SIZE)
-
-#define KMM_PAGE_SIZE RV_MMU_L2_PAGE_SIZE
-#define KMM_PBASE PGT_L2_PBASE
-#define KMM_PBASE_IDX 2
-#define KMM_SPBASE PGT_L1_PBASE
-#define KMM_SPBASE_IDX 1
-
-#elif CONFIG_ARCH_MMU_TYPE_SV39
+#ifndef CONFIG_ARCH_MMU_TYPE_SV39
+#error "No valid MMU type defined"
+#endif
/* Physical and virtual addresses to page tables (vaddr = paddr mapping) */
#define PGT_L1_PBASE (uintptr_t)&m_l1_pgtable
-#define PGT_L2_PBASE (uintptr_t)&m_l2_pgtable
-#define PGT_L3_PBASE (uintptr_t)&m_l3_pgtable
+#define PGT_L2_PBDDR (uintptr_t)&m_l2_pgt_ddr
+#define PGT_L2_PBINT (uintptr_t)&m_l2_pgt_int
#define PGT_L1_VBASE PGT_L1_PBASE
-#define PGT_L2_VBASE PGT_L2_PBASE
-#define PGT_L3_VBASE PGT_L3_PBASE
+#define PGT_L2_VBDDR PGT_L2_PBDDR
+#define PGT_L2_VBINT PGT_L2_PBINT
#define PGT_L1_SIZE (512) /* Enough to map 512 GiB */
#define PGT_L2_SIZE (512) /* Enough to map 1 GiB */
#define PGT_L3_SIZE (1024) /* Enough to map 4 MiB (2MiB x 2) */
-#define SLAB_COUNT (sizeof(m_l3_pgtable) / RV_MMU_PAGE_SIZE)
-
-#define KMM_PAGE_SIZE RV_MMU_L3_PAGE_SIZE
-#define KMM_PBASE PGT_L3_PBASE
-#define KMM_PBASE_IDX 3
-#define KMM_SPBASE PGT_L2_PBASE
-#define KMM_SPBASE_IDX 2
-
-#else
-#error No valid MMU defined.
-#endif
-
/****************************************************************************
* Private Types
****************************************************************************/
-struct pgalloc_slab_s
-{
- sq_entry_t *next;
- void *memory;
-};
-typedef struct pgalloc_slab_s pgalloc_slab_t;
-
/****************************************************************************
* Private Data
****************************************************************************/
@@ -110,122 +85,37 @@ typedef struct pgalloc_slab_s pgalloc_slab_t;
/* Kernel mappings simply here, mapping is vaddr=paddr */
static size_t m_l1_pgtable[PGT_L1_SIZE] locate_data(".pgtables");
-static size_t m_l2_pgtable[PGT_L2_SIZE] locate_data(".pgtables");
-#ifdef CONFIG_ARCH_MMU_TYPE_SV39
-static size_t m_l3_pgtable[PGT_L3_SIZE] locate_data(".pgtables");
-#endif
+static size_t m_l2_pgt_ddr[PGT_L2_SIZE] locate_data(".pgtables");
+static size_t m_l2_pgt_int[PGT_L2_SIZE] locate_data(".pgtables");
-/* Kernel mappings (L1 base) */
+/* Kernel mappings (L1 base) required by riscv_addrenv */
uintptr_t g_kernel_mappings = PGT_L1_VBASE;
uintptr_t g_kernel_pgt_pbase = PGT_L1_PBASE;
-/* L3 page table allocator */
-
-static sq_queue_t g_free_slabs;
-static pgalloc_slab_t g_slabs[SLAB_COUNT];
-
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
- * Name: slab_init
+ * Name: dump_pgtable
*
* Description:
- * Initialize slab allocator for L2 or L3 page table entries
- *
- * L2 Page table is used for SV32. L3 used for SV39
- *
- * Input Parameters:
- * start - Beginning of the L2 or L3 page table pool
+ * Dump page tables to console, mainly for debugging purposes.
*
****************************************************************************/
-static void slab_init(uintptr_t start)
+static void dump_pgtable(const size_t * pgt, uint32_t len, const char * name)
{
- int i;
-
- sq_init(&g_free_slabs);
-
- for (i = 0; i < SLAB_COUNT; i++)
+ minfo("%s at %lx\n", name, (size_t)pgt);
+ for (uint32_t i = 0; i < len ; i++)
{
- g_slabs[i].memory = (void *)start;
- sq_addlast((sq_entry_t *)&g_slabs[i], (sq_queue_t *)&g_free_slabs);
- start += RV_MMU_PAGE_SIZE;
- }
-}
-
-/****************************************************************************
- * Name: slab_alloc
- *
- * Description:
- * Allocate single slab for L2/L3 page table entry
- *
- * L2 Page table is used for SV32. L3 used for SV39
- *
- ****************************************************************************/
-
-static uintptr_t slab_alloc(void)
-{
- pgalloc_slab_t *slab = (pgalloc_slab_t *)sq_remfirst(&g_free_slabs);
- return slab ? (uintptr_t)slab->memory : 0;
-}
-
-/****************************************************************************
- * Name: map_region
- *
- * Description:
- * Map a region of physical memory to the L3 page table
- *
- * Input Parameters:
- * paddr - Beginning of the physical address mapping
- * vaddr - Beginning of the virtual address mapping
- * size - Size of the region in bytes
- * mmuflags - The MMU flags to use in the mapping
- *
- ****************************************************************************/
-
-static void map_region(uintptr_t paddr, uintptr_t vaddr, size_t size,
- uint32_t mmuflags)
-{
- uintptr_t endaddr;
- uintptr_t pbase;
- int npages;
- int i;
- int j;
-
- /* How many pages */
-
- npages = (size + RV_MMU_PAGE_MASK) >> RV_MMU_PAGE_SHIFT;
- endaddr = vaddr + size;
-
- for (i = 0; i < npages; i += RV_MMU_PAGE_ENTRIES)
- {
- /* See if a mapping exists ? */
-
- pbase = mmu_pte_to_paddr(mmu_ln_getentry(
- KMM_SPBASE_IDX, KMM_SPBASE, vaddr));
- if (!pbase)
+ uintptr_t pte = (uintptr_t)pgt[i];
+ if (pte & PTE_VALID)
{
- /* No, allocate 1 page, this must not fail */
-
- pbase = slab_alloc();
- DEBUGASSERT(pbase);
-
- /* Map it to the new table */
-
- mmu_ln_setentry(
- KMM_SPBASE_IDX, KMM_SPBASE, pbase, vaddr, MMU_UPGT_FLAGS);
- }
-
- /* Then add the mappings */
-
- for (j = 0; j < RV_MMU_PAGE_ENTRIES && vaddr < endaddr; j++)
- {
- mmu_ln_setentry(KMM_PBASE_IDX, pbase, paddr, vaddr, mmuflags);
- paddr += KMM_PAGE_SIZE;
- vaddr += KMM_PAGE_SIZE;
+ minfo("#%03d paddr:%09lx flags:%02x %s\n", i,
+ mmu_pte_to_paddr(pte), (unsigned)(pte & 0xff),
+ (pte & PTE_LEAF_MASK)? "" : ">>>");
}
}
}
@@ -245,46 +135,55 @@ static void map_region(uintptr_t paddr, uintptr_t vaddr,
size_t size,
void k230_kernel_mappings(void)
{
- /* Initialize slab allocator for the L2/L3 page tables */
-
- slab_init(KMM_PBASE);
-
/* Begin mapping memory to MMU; note that at this point the MMU is not yet
* active, so the page table virtual addresses are actually physical
* addresses and so forth. M-mode does not perform translations anyhow, so
* this mapping is quite simple to do
*/
- /* Map I/O region, use enough large page tables for the IO region. */
+ /* Map I/O region in L1 page table. */
- binfo("map I/O regions\n");
+ minfo("map L1 I/O regions(%dGB)\n", MMU_IO_SIZE >> 30);
mmu_ln_map_region(1, PGT_L1_VBASE, MMU_IO_BASE, MMU_IO_BASE,
MMU_IO_SIZE, MMU_IO_FLAGS);
- /* Map the kernel text and data for L2/L3 */
-
- binfo("map kernel text\n");
- map_region(KFLASH_START, KFLASH_START, KFLASH_SIZE, MMU_KTEXT_FLAGS);
+ /* Map INT region using L2 page table */
- binfo("map kernel data\n");
- map_region(KSRAM_START, KSRAM_START, KSRAM_SIZE, MMU_KDATA_FLAGS);
+ minfo("map L2 INT regions(%ldMB)\n", MMU_INT_SIZE >> 20);
+ mmu_ln_map_region(2, PGT_L2_VBINT, MMU_INT_BASE, MMU_INT_BASE,
+ MMU_INT_SIZE, MMU_IO_FLAGS);
-#ifdef CONFIG_ARCH_MMU_TYPE_SV39
+ /* Map kernel text and data using L2 pages */
- /* Connect the L1 and L2 page tables for the kernel text and data */
+ minfo("map L2 kernel text(%ldMB)\n", KFLASH_SIZE >> 20);
+ mmu_ln_map_region(2, PGT_L2_VBDDR, KFLASH_START, KFLASH_START,
+ KFLASH_SIZE, MMU_KTEXT_FLAGS);
- binfo("connect the L1 and L2 page tables\n");
- mmu_ln_setentry(1, PGT_L1_VBASE, PGT_L2_PBASE, KFLASH_START, PTE_G);
+ minfo("map L2 kernel data(%ldMB)\n", KSRAM_SIZE >> 20);
+ mmu_ln_map_region(2, PGT_L2_VBDDR, KSRAM_START, KSRAM_START,
+ KSRAM_SIZE, MMU_KDATA_FLAGS);
/* Map the page pool */
- binfo("map the page pool\n");
- mmu_ln_map_region(2, PGT_L2_VBASE, PGPOOL_START, PGPOOL_START, PGPOOL_SIZE,
- MMU_KDATA_FLAGS);
-#elif CONFIG_ARCH_MMU_TYPE_SV32
- binfo("map the page pool\n");
- map_region(PGPOOL_START, PGPOOL_START, PGPOOL_SIZE, MMU_KDATA_FLAGS);
-#endif
+ minfo("map L2 pages pool(%ldMB)\n", PGPOOL_SIZE >> 20);
+ mmu_ln_map_region(2, PGT_L2_VBDDR, PGPOOL_START, PGPOOL_START,
+ PGPOOL_SIZE, MMU_KDATA_FLAGS);
+
+ /* Connect the L1 and L2 page tables */
+
+ minfo("connect L1 and L2 DDR pgtables\n");
+ mmu_ln_setentry(1, PGT_L1_VBASE, PGT_L2_PBDDR, KFLASH_START, 0);
+
+ /* Connect the L1 and L2 page tables for INT regions */
+
+ minfo("connect L1 and L2 INT pgtables\n");
+ mmu_ln_setentry(1, PGT_L1_VBASE, PGT_L2_PBINT, MMU_INT_BASE, 0);
+
+ /* dump page tables */
+
+ dump_pgtable(m_l1_pgtable, PGT_L1_SIZE, "L1");
+ dump_pgtable(m_l2_pgt_ddr, PGT_L2_SIZE, "L2_DDR");
+ dump_pgtable(m_l2_pgt_int, PGT_L2_SIZE, "L2_INT");
}
/****************************************************************************
@@ -302,8 +201,8 @@ void k230_mm_init(void)
k230_kernel_mappings();
- /* Enable MMU (note: system is still in M-mode) */
+ /* Enable MMU (note: system in S-mode) */
- binfo("mmu_enable: satp=%" PRIuPTR "\n", g_kernel_pgt_pbase);
+ minfo("mmu_enable: satp=%lx\n", g_kernel_pgt_pbase);
mmu_enable(g_kernel_pgt_pbase, 0);
}
diff --git a/arch/risc-v/src/k230/k230_start.c
b/arch/risc-v/src/k230/k230_start.c
index cf46c685f9..2bab9c4b7e 100644
--- a/arch/risc-v/src/k230/k230_start.c
+++ b/arch/risc-v/src/k230/k230_start.c
@@ -24,6 +24,7 @@
#include <nuttx/config.h>
+#include <debug.h>
#include <nuttx/init.h>
#include <nuttx/arch.h>
#include <nuttx/serial/uart_16550.h>
@@ -54,21 +55,11 @@
# error "Target requires kernel in S-mode, enable CONFIG_ARCH_USE_S_MODE"
#endif
-/****************************************************************************
- * Extern Function Declarations
- ****************************************************************************/
-
-#ifdef CONFIG_BUILD_KERNEL
-extern void __trap_vec(void);
-extern void __trap_vec_m(void);
-extern void up_mtimer_initialize(void);
-#endif
-
/****************************************************************************
* Name: k230_clear_bss
****************************************************************************/
-void k230_clear_bss(void)
+static void k230_clear_bss(void)
{
uint32_t *dest;
@@ -100,12 +91,23 @@ uintptr_t g_idle_topstack = K230_IDLESTACK_TOP;
* Name: k230_start
****************************************************************************/
-#ifdef CONFIG_BUILD_KERNEL
-void k230_start_s(int mhartid, const char *dtb)
-#else
void k230_start(int mhartid, const char *dtb)
-#endif
{
+ if (0 == mhartid)
+ {
+ k230_clear_bss();
+
+#ifdef CONFIG_BUILD_KERNEL
+ /* Initialize the per CPU areas */
+
+ riscv_percpu_add_hart(mhartid);
+#endif
+ }
+
+ /* Disable MMU */
+
+ WRITE_CSR(satp, 0x0);
+
/* Configure FPU */
riscv_fpuconfig();
@@ -115,10 +117,6 @@ void k230_start(int mhartid, const char *dtb)
goto cpux;
}
-#ifndef CONFIG_BUILD_KERNEL
- k230_clear_bss();
-#endif
-
#ifdef CONFIG_DEVICE_TREE
fdt_register(dtb);
#endif
@@ -157,77 +155,6 @@ cpux:
}
}
-#ifdef CONFIG_BUILD_KERNEL
-
-/****************************************************************************
- * Name: k230_start
- ****************************************************************************/
-
-void k230_start(int mhartid, const char *dtb)
-{
- /* NOTE: still in M-mode */
-
- if (0 == mhartid)
- {
- k230_clear_bss();
-
- /* Initialize the per CPU areas */
-
- riscv_percpu_add_hart(mhartid);
- }
-
- /* Disable MMU and enable PMP */
-
- WRITE_CSR(satp, 0x0);
- WRITE_CSR(pmpaddr0, 0x3fffffffffffffull);
- WRITE_CSR(pmpcfg0, 0xf);
-
- /* Set exception and interrupt delegation for S-mode */
-
- WRITE_CSR(medeleg, 0xffff);
- WRITE_CSR(mideleg, 0xffff);
-
- /* Allow to write satp from S-mode */
-
- CLEAR_CSR(mstatus, MSTATUS_TVM);
-
- /* Set mstatus to S-mode and enable SUM */
-
- CLEAR_CSR(mstatus, ~MSTATUS_MPP_MASK);
- SET_CSR(mstatus, MSTATUS_MPPS | SSTATUS_SUM);
-
- /* Set the trap vector for S-mode */
-
- WRITE_CSR(stvec, (uintptr_t)__trap_vec);
-
- /* Set the trap vector for M-mode */
-
- WRITE_CSR(mtvec, (uintptr_t)__trap_vec_m);
-
- if (0 == mhartid)
- {
- /* Only the primary CPU needs to initialize mtimer
- * before entering to S-mode
- */
-
- up_mtimer_initialize();
- }
-
- /* Set mepc to the entry */
-
- WRITE_CSR(mepc, (uintptr_t)k230_start_s);
-
- /* Set a0 to mhartid and a1 to dtb explicitly and enter to S-mode */
-
- asm volatile (
- "mv a0, %0 \n"
- "mv a1, %1 \n"
- "mret \n"
- :: "r" (mhartid), "r" (dtb)
- );
-}
-#endif
-
void riscv_earlyserialinit(void)
{
u16550_earlyserialinit();
diff --git a/arch/risc-v/src/k230/k230_timerisr.c
b/arch/risc-v/src/k230/k230_timerisr.c
index 1b82f98909..ff97e1cf3e 100644
--- a/arch/risc-v/src/k230/k230_timerisr.c
+++ b/arch/risc-v/src/k230/k230_timerisr.c
@@ -38,7 +38,6 @@
#include "riscv_internal.h"
#include "riscv_mtimer.h"
-#include "riscv_percpu.h"
#include "hardware/k230_memorymap.h"
#include "hardware/k230_clint.h"
@@ -46,78 +45,14 @@
* Pre-processor Definitions
****************************************************************************/
-#define MTIMER_FREQ 10000000
-#define TICK_COUNT (10000000 / TICK_PER_SEC)
-
-#ifdef CONFIG_BUILD_KERNEL
-
/****************************************************************************
* Private Data
****************************************************************************/
-static uint32_t g_mtimer_cnt = 0;
-static uint32_t g_stimer_pending = false;
-
/****************************************************************************
* Private Functions for S-mode
****************************************************************************/
-/****************************************************************************
- * Name: k230_ssoft_interrupt
- *
- * Description:
- * This function is S-mode software interrupt handler to proceed
- * the OS timer
- *
- ****************************************************************************/
-
-static int k230_ssoft_interrupt(int irq, void *context, void *arg)
-{
- /* Cleaer Supervisor Software Interrupt */
-
- CLEAR_CSR(sip, SIP_SSIP);
-
- if (g_stimer_pending)
- {
- g_stimer_pending = false;
-
- /* Proceed the OS timer */
-
- nxsched_process_timer();
- }
-#ifdef CONFIG_SMP
- else
- {
- /* We assume IPI has been issued */
-
- riscv_pause_handler(irq, context, arg);
- }
-#endif
-
- return 0;
-}
-
-/****************************************************************************
- * Name: k230_reload_mtimecmp
- *
- * Description:
- * This function is called during start-up to initialize mtimecmp
- * for CONFIG_BUILD_KERNEL=y
- *
- ****************************************************************************/
-
-static void k230_reload_mtimecmp(void)
-{
- uint64_t current;
- uint64_t next;
-
- current = READ_CSR(time);
- next = current + TICK_COUNT;
- putreg64(next, K230_CLINT_MTIMECMP);
-}
-
-#endif /* CONFIG_BUILD_KERNEL */
-
/****************************************************************************
* Public Functions
****************************************************************************/
@@ -126,86 +61,16 @@ static void k230_reload_mtimecmp(void)
* Name: up_timer_initialize
*
* Description:
- * This function is called during start-up to initialize
- * the timer interrupt.
- *
+ * This function is called during start-up to initialize timer interrupt
****************************************************************************/
void up_timer_initialize(void)
{
-#ifndef CONFIG_BUILD_KERNEL
+ /* KERNEL mode ignores CLINT addresses and use SBI timer. */
struct oneshot_lowerhalf_s *lower = riscv_mtimer_initialize(
- K230_CLINT_MTIME, K230_CLINT_MTIMECMP,
- RISCV_IRQ_MTIMER, MTIMER_FREQ);
+ K230_TIME, K230_TIMECMP, K230_IRQ_TIMER, K230_CLINT_FREQ);
DEBUGASSERT(lower);
-
up_alarm_set_lowerhalf(lower);
-#else
- /* NOTE: This function is called in S-mode */
-
- irq_attach(RISCV_IRQ_SSOFT, k230_ssoft_interrupt, NULL);
- up_enable_irq(RISCV_IRQ_SSOFT);
-#endif
-}
-
-#ifdef CONFIG_BUILD_KERNEL
-
-/****************************************************************************
- * Name: up_mtimer_initialize
- *
- * Description:
- * This function is called during start-up to initialize the M-mode timer
- *
- ****************************************************************************/
-
-void up_mtimer_initialize(void)
-{
- uintptr_t irqstacktop = riscv_percpu_get_irqstack();
-
- /* Set the irq stack base to mscratch */
-
- WRITE_CSR(mscratch,
- irqstacktop - STACK_ALIGN_DOWN(CONFIG_ARCH_INTERRUPTSTACK));
-
- /* NOTE: we do not attach a handler for mtimer,
- * because it is handled in the exception_m directly
- */
-
- up_enable_irq(RISCV_IRQ_MTIMER);
- k230_reload_mtimecmp();
}
-
-/****************************************************************************
- * Name: k230_mtimer_interrupt
- *
- * Description:
- * In RISC-V with S-mode, M-mode timer must be handled in M-mode
- * This function is called from exception_m in M-mode directly
- *
- ****************************************************************************/
-
-void k230_mtimer_interrupt(void)
-{
- uint64_t current;
- uint64_t next;
-
- /* Update mtimercmp */
-
- current = getreg64(K230_CLINT_MTIMECMP);
- next = current + TICK_COUNT;
- putreg64(next, K230_CLINT_MTIMECMP);
-
- g_mtimer_cnt++;
- g_stimer_pending = true;
-
- if (OSINIT_HW_READY())
- {
- /* Post Supervisor Software Interrupt */
-
- SET_CSR(sip, SIP_SSIP);
- }
-}
-
-#endif /* CONFIG_BUILD_KERNEL */
diff --git a/boards/risc-v/k230/canmv230/configs/nsh/defconfig
b/boards/risc-v/k230/canmv230/configs/knsh/defconfig
similarity index 58%
copy from boards/risc-v/k230/canmv230/configs/nsh/defconfig
copy to boards/risc-v/k230/canmv230/configs/knsh/defconfig
index abbbd4ce18..4679604e3a 100644
--- a/boards/risc-v/k230/canmv230/configs/nsh/defconfig
+++ b/boards/risc-v/k230/canmv230/configs/knsh/defconfig
@@ -14,52 +14,79 @@ CONFIG_16550_SUPRESS_CONFIG=y
CONFIG_16550_UART0=y
CONFIG_16550_UART0_BASE=0x91400000
CONFIG_16550_UART0_CLOCK=50000000
-CONFIG_16550_UART0_IRQ=43
+CONFIG_16550_UART0_IRQ=41
CONFIG_16550_UART0_SERIAL_CONSOLE=y
CONFIG_16550_UART=y
CONFIG_16550_WAIT_LCR=y
CONFIG_ARCH="risc-v"
+CONFIG_ARCH_ADDRENV=y
CONFIG_ARCH_BOARD="canmv230"
CONFIG_ARCH_BOARD_K230_CANMV=y
CONFIG_ARCH_CHIP="k230"
CONFIG_ARCH_CHIP_K230=y
-CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_DATA_NPAGES=128
+CONFIG_ARCH_DATA_VBASE=0xC0100000
+CONFIG_ARCH_HEAP_NPAGES=128
+CONFIG_ARCH_HEAP_VBASE=0xC0200000
+CONFIG_ARCH_INTERRUPTSTACK=3072
+CONFIG_ARCH_KERNEL_STACKSIZE=3072
+CONFIG_ARCH_LAZYFPU=y
+CONFIG_ARCH_PGPOOL_MAPPING=y
+CONFIG_ARCH_PGPOOL_PBASE=0x8600000
+CONFIG_ARCH_PGPOOL_SIZE=10485760
+CONFIG_ARCH_PGPOOL_VBASE=0x8600000
CONFIG_ARCH_RISCV=y
-CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_TEXT_NPAGES=128
+CONFIG_ARCH_TEXT_VBASE=0xC0000000
+CONFIG_ARCH_USE_MMU=y
+CONFIG_ARCH_USE_MPU=y
+CONFIG_ARCH_USE_S_MODE=y
+CONFIG_BOARD_LATE_INITIALIZE=y
CONFIG_BOARD_LOOPSPERMSEC=6366
-CONFIG_BUILTIN=y
+CONFIG_BUILD_KERNEL=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_FEATURES=y
CONFIG_DEV_ZERO=y
CONFIG_ELF=y
CONFIG_EXAMPLES_HELLO=y
CONFIG_FS_PROCFS=y
-CONFIG_IDLETHREAD_STACKSIZE=2048
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_FS_ROMFS=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_FILEPATH="/system/bin/init"
+CONFIG_INIT_MOUNT=y
+CONFIG_INIT_MOUNT_FLAGS=0x1
+CONFIG_INIT_MOUNT_TARGET="/system/bin"
CONFIG_INIT_STACKSIZE=3072
CONFIG_LIBC_ENVPATH=y
CONFIG_LIBC_EXECFUNCS=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_LIBM=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_PGALLOC=y
CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_FILE_APPS=y
CONFIG_NSH_READLINE=y
CONFIG_PATH_INITIAL="/system/bin"
-CONFIG_RAM_SIZE=134217728
-CONFIG_RAM_START=0x8000000
+CONFIG_RAM_SIZE=132116480
+CONFIG_RAM_START=0x8200000
CONFIG_RAW_BINARY=y
CONFIG_READLINE_CMD_HISTORY=y
CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_WAITPID=y
CONFIG_SERIAL_UART_ARCH_MMIO=y
CONFIG_STACK_COLORATION=y
CONFIG_STANDARD_SERIAL=y
+CONFIG_START_DAY=17
CONFIG_START_MONTH=12
-CONFIG_START_YEAR=2021
+CONFIG_START_YEAR=2023
CONFIG_SYMTAB_ORDEREDBYNAME=y
CONFIG_SYSTEM_NSH=y
-CONFIG_SYSTEM_NSH_STACKSIZE=3072
+CONFIG_SYSTEM_NSH_PROGNAME="init"
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_USEC_PER_TICK=1000
diff --git a/boards/risc-v/k230/canmv230/configs/nsh/defconfig
b/boards/risc-v/k230/canmv230/configs/nsh/defconfig
index abbbd4ce18..4ba26d61b1 100644
--- a/boards/risc-v/k230/canmv230/configs/nsh/defconfig
+++ b/boards/risc-v/k230/canmv230/configs/nsh/defconfig
@@ -46,7 +46,7 @@ CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_PATH_INITIAL="/system/bin"
-CONFIG_RAM_SIZE=134217728
+CONFIG_RAM_SIZE=134213632
CONFIG_RAM_START=0x8000000
CONFIG_RAW_BINARY=y
CONFIG_READLINE_CMD_HISTORY=y
diff --git a/boards/risc-v/k230/canmv230/include/board_memorymap.h
b/boards/risc-v/k230/canmv230/include/board_memorymap.h
index d2de8b3261..4c5a5e09d3 100644
--- a/boards/risc-v/k230/canmv230/include/board_memorymap.h
+++ b/boards/risc-v/k230/canmv230/include/board_memorymap.h
@@ -31,23 +31,16 @@
* Pre-processor Definitions
****************************************************************************/
-/* DDR start address */
-
-#define K230_DDR_BASE (0x8000000)
-#define K230_DDR_SIZE (0x8000000)
-
/* Kernel code memory (RX) */
#define KFLASH_START (uintptr_t)__kflash_start
#define KFLASH_SIZE (uintptr_t)__kflash_size
-#define KSRAM_START (uintptr_t)__ksram_start
-#define KSRAM_SIZE (uintptr_t)__ksram_size
-#define KSRAM_END (uintptr_t)__ksram_end
/* Kernel RAM (RW) */
-#define PGPOOL_START (uintptr_t)__pgheap_start
-#define PGPOOL_SIZE (uintptr_t)__pgheap_size
+#define KSRAM_START (uintptr_t)__ksram_start
+#define KSRAM_SIZE (uintptr_t)__ksram_size
+#define KSRAM_END (uintptr_t)__ksram_end
/* Page pool (RWX) */
diff --git a/boards/risc-v/k230/canmv230/scripts/ld-kernel.script
b/boards/risc-v/k230/canmv230/scripts/ld-kernel.script
new file mode 100644
index 0000000000..745ead8bba
--- /dev/null
+++ b/boards/risc-v/k230/canmv230/scripts/ld-kernel.script
@@ -0,0 +1,143 @@
+/****************************************************************************
+ * boards/risc-v/k230/canmv230/scripts/ld-kernel.script
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+MEMORY
+{
+ kflash (rx) : ORIGIN = 0x08200000, LENGTH = 2048K /* w/ cache */
+ ksram (rwx) : ORIGIN = 0x08400000, LENGTH = 2048K /* w/ cache */
+ pgram (rwx) : ORIGIN = 0x08600000, LENGTH = 10M /* w/ cache */
+}
+
+OUTPUT_ARCH("riscv")
+
+/* Provide the kernel boundaries */
+
+__kflash_start = ORIGIN(kflash);
+__kflash_size = LENGTH(kflash);
+__ksram_start = ORIGIN(ksram);
+__ksram_size = LENGTH(ksram);
+__ksram_end = ORIGIN(ksram) + LENGTH(ksram);
+
+/* Page heap */
+
+__pgheap_start = ORIGIN(pgram);
+__pgheap_size = LENGTH(pgram);
+
+SECTIONS
+{
+ . = 0x8200000;
+
+ .text :
+ {
+ _stext = . ;
+ *(.text)
+ *(.text.*)
+ *(.gnu.warning)
+ *(.stub)
+ *(.glue_7)
+ *(.glue_7t)
+ *(.jcr)
+
+ /* C++ support: The .init and .fini sections contain specific logic
+ * to manage static constructors and destructors.
+ */
+
+ *(.gnu.linkonce.t.*)
+ *(.init) /* Old ABI */
+ *(.fini) /* Old ABI */
+ _etext = . ;
+ }
+
+ .rodata :
+ {
+ _srodata = . ;
+ *(.rodata)
+ *(.rodata1)
+ *(.rodata.*)
+ *(.gnu.linkonce.r*)
+ _erodata = . ;
+ }
+
+ .tdata : {
+ _stdata = ABSOLUTE(.);
+ *(.tdata .tdata.* .gnu.linkonce.td.*);
+ _etdata = ABSOLUTE(.);
+ }
+
+ .tbss : {
+ _stbss = ABSOLUTE(.);
+ *(.tbss .tbss.* .gnu.linkonce.tb.* .tcommon);
+ _etbss = ABSOLUTE(.);
+ }
+
+ _eronly = ABSOLUTE(.);
+
+ .data :
+ {
+ _sdata = . ;
+ *(.data)
+ *(.data1)
+ *(.data.*)
+ *(.gnu.linkonce.d*)
+ . = ALIGN(4);
+ _edata = . ;
+ }
+
+ .bss :
+ {
+ _sbss = . ;
+ *(.bss)
+ *(.bss.*)
+ *(.sbss)
+ *(.sbss.*)
+ *(.gnu.linkonce.b*)
+ *(COMMON)
+ _ebss = . ;
+ } > ksram
+
+ /* Page tables here, align to 4K boundary */
+
+ .pgtables (NOLOAD) : ALIGN(0x1000) {
+ *(.pgtables)
+ . = ALIGN(4);
+ } > ksram
+
+ /* Stack top */
+
+ .stack_top : {
+ . = ALIGN(32);
+ _ebss = ABSOLUTE(.);
+ } > ksram
+
+ /* Stabs debugging sections. */
+
+ .stab 0 : { *(.stab) }
+ .stabstr 0 : { *(.stabstr) }
+ .stab.excl 0 : { *(.stab.excl) }
+ .stab.exclstr 0 : { *(.stab.exclstr) }
+ .stab.index 0 : { *(.stab.index) }
+ .stab.indexstr 0 : { *(.stab.indexstr) }
+ .comment 0 : { *(.comment) }
+ .debug_abbrev 0 : { *(.debug_abbrev) }
+ .debug_info 0 : { *(.debug_info) }
+ .debug_line 0 : { *(.debug_line) }
+ .debug_pubnames 0 : { *(.debug_pubnames) }
+ .debug_aranges 0 : { *(.debug_aranges) }
+}
diff --git a/boards/risc-v/k230/canmv230/src/.gitignore
b/boards/risc-v/k230/canmv230/src/.gitignore
index 1baf09ba3a..7c0a8cdf91 100644
--- a/boards/risc-v/k230/canmv230/src/.gitignore
+++ b/boards/risc-v/k230/canmv230/src/.gitignore
@@ -1 +1,4 @@
-/etctmp*
+etctmp/
+etctmp.c
+romfs_boot.c
+
diff --git a/boards/risc-v/k230/canmv230/src/Makefile
b/boards/risc-v/k230/canmv230/src/Makefile
index b514e41ee0..d73534315b 100644
--- a/boards/risc-v/k230/canmv230/src/Makefile
+++ b/boards/risc-v/k230/canmv230/src/Makefile
@@ -1,5 +1,5 @@
############################################################################
-# boards/risc-v/k230/canmv-k230/src/Makefile
+# boards/risc-v/k230/canmv230/src/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
@@ -22,6 +22,10 @@ include $(TOPDIR)/Make.defs
RCSRCS = etc/init.d/rc.sysinit etc/init.d/rcS
-CSRCS = k230_appinit.c
+CSRCS = canmv_init.c
+
+ifeq ($(CONFIG_BUILD_KERNEL),y)
+CSRCS += $(wildcard romfs_*.c)
+endif
include $(TOPDIR)/boards/Board.mk
diff --git a/boards/risc-v/k230/canmv230/src/k230_appinit.c
b/boards/risc-v/k230/canmv230/src/canmv_init.c
similarity index 85%
rename from boards/risc-v/k230/canmv230/src/k230_appinit.c
rename to boards/risc-v/k230/canmv230/src/canmv_init.c
index f1c170db97..9047d57519 100644
--- a/boards/risc-v/k230/canmv230/src/k230_appinit.c
+++ b/boards/risc-v/k230/canmv230/src/canmv_init.c
@@ -1,5 +1,5 @@
/****************************************************************************
- * boards/risc-v/k230/canmv230/src/k230_appinit.c
+ * boards/risc-v/k230/canmv230/src/canmv_init.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@@ -28,6 +28,7 @@
#include <stdio.h>
#include <syslog.h>
#include <errno.h>
+#include <debug.h>
#include <nuttx/board.h>
#include <nuttx/drivers/ramdisk.h>
@@ -35,10 +36,19 @@
#include <sys/boardctl.h>
#include <arch/board/board_memorymap.h>
+#ifdef CONFIG_BUILD_KERNEL
+#include "romfs.h"
+#endif
+
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
+#ifdef CONFIG_BUILD_KERNEL
+#define SECTORSIZE 512
+#define NSECTORS(b) (((b) + SECTORSIZE - 1) / SECTORSIZE)
+#endif /* CONFIG_BUILD_KERNEL */
+
/****************************************************************************
* Private Functions
****************************************************************************/
@@ -112,6 +122,25 @@ void board_late_initialize(void)
{
/* Perform board-specific initialization */
+#ifdef CONFIG_BUILD_KERNEL
+ /* Create ROM disk for mount in nx_start_application */
+
+ if (NSECTORS(romfs_img_len) > 5)
+ {
+ int ret = OK;
+ ret = romdisk_register(0, romfs_img, NSECTORS(romfs_img_len),
+ SECTORSIZE);
+ if (ret < 0)
+ {
+ serr("ERROR: Failed to register romfs: %d\n", -ret);
+ }
+ }
+ else
+ {
+ swarn("ROMFS too small: %d\n", NSECTORS(romfs_img_len));
+ }
+#endif /* CONFIG_BUILD_KERNEL */
+
#ifdef CONFIG_NSH_ARCHINIT
mount(NULL, "/proc", "procfs", 0, NULL);
diff --git a/arch/risc-v/include/k230/irq.h
b/boards/risc-v/k230/canmv230/src/romfs.h
similarity index 73%
copy from arch/risc-v/include/k230/irq.h
copy to boards/risc-v/k230/canmv230/src/romfs.h
index 4e527c7c82..4578780ffd 100644
--- a/arch/risc-v/include/k230/irq.h
+++ b/boards/risc-v/k230/canmv230/src/romfs.h
@@ -1,5 +1,5 @@
/****************************************************************************
- * arch/risc-v/include/k230/irq.h
+ * boards/risc-v/k230/canmv230/src/romfs.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@@ -18,8 +18,8 @@
*
****************************************************************************/
-#ifndef __ARCH_RISCV_INCLUDE_K230_IRQ_H
-#define __ARCH_RISCV_INCLUDE_K230_IRQ_H
+#ifndef __BOARDS_RISC_V_K230_CANMV230_SRC_ROMFS_H
+#define __BOARDS_RISC_V_K230_CANMV230_SRC_ROMFS_H
/****************************************************************************
* Included Files
@@ -29,10 +29,11 @@
* Pre-processor Definitions
****************************************************************************/
-/* Map RISC-V exception code to NuttX IRQ */
-
-#define K230_IRQ_UART0 (RISCV_IRQ_MEXT + 16)
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
-#define NR_IRQS (K230_IRQ_UART0 + 1)
+extern const unsigned char romfs_img[];
+extern const unsigned int romfs_img_len;
-#endif /* __ARCH_RISCV_INCLUDE_K230_IRQ_H */
+#endif /* __BOARDS_RISC_V_K230_CANMV230_SRC_ROMFS_H */
diff --git a/arch/risc-v/include/k230/irq.h
b/boards/risc-v/k230/canmv230/src/romfs_stub.c
similarity index 76%
copy from arch/risc-v/include/k230/irq.h
copy to boards/risc-v/k230/canmv230/src/romfs_stub.c
index 4e527c7c82..3ca1ec783b 100644
--- a/arch/risc-v/include/k230/irq.h
+++ b/boards/risc-v/k230/canmv230/src/romfs_stub.c
@@ -1,5 +1,5 @@
/****************************************************************************
- * arch/risc-v/include/k230/irq.h
+ * boards/risc-v/k230/canmv230/src/romfs_stub.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@@ -18,21 +18,21 @@
*
****************************************************************************/
-#ifndef __ARCH_RISCV_INCLUDE_K230_IRQ_H
-#define __ARCH_RISCV_INCLUDE_K230_IRQ_H
-
/****************************************************************************
* Included Files
****************************************************************************/
+#include <nuttx/compiler.h>
+weak_data const unsigned char aligned_data(4) romfs_img[] =
+{
+ 0x00
+};
+weak_data unsigned int romfs_img_len = 1;
+
/****************************************************************************
- * Pre-processor Definitions
+ * Private Functions
****************************************************************************/
-/* Map RISC-V exception code to NuttX IRQ */
-
-#define K230_IRQ_UART0 (RISCV_IRQ_MEXT + 16)
-
-#define NR_IRQS (K230_IRQ_UART0 + 1)
-
-#endif /* __ARCH_RISCV_INCLUDE_K230_IRQ_H */
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
