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arch: imx6: add support kernel build and smp

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Summary:
- add support BUILD_KERNEL and SMP for imx6
- prepare page tables of cpu1,2,3
- add sabre-6quad:knsh_smp config

Impact:
- imx6

Testing:
- getprime, smp on sabre-6quad:knsh_smp w/ qemu

Signed-off-by: Oki Minabe <minabe.oki@gmail.com>
This commit is contained in:
Oki Minabe 2022-05-27 00:00:27 +09:00 committed by Xiang Xiao
parent d9e95a8f9b
commit f0fb530eaa
5 changed files with 160 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
arch/arm/src/armv7-a/mmu.h
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@ -637,7 +637,11 @@
*/
#define PGTABLE_SIZE 0x00004000
#define ALL_PGTABLE_SIZE (PGTABLE_SIZE * CONFIG_SMP_NCPUS)
#ifdef CONFIG_ARCH_ADDRENV
# define ALL_PGTABLE_SIZE (PGTABLE_SIZE * CONFIG_SMP_NCPUS)
#else
# define ALL_PGTABLE_SIZE PGTABLE_SIZE
#endif
/* Virtual Page Table Location **********************************************/

16
arch/arm/src/imx6/hardware/imx_memorymap.h
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@ -814,10 +814,10 @@
# ifdef CONFIG_ARCH_LOWVECTORS
/* In this case, page table must lie at the top 16Kb of OCRAM. */
/* In this case, page table must lie at the top 16Kb * ncpus of OCRAM. */
# define PGTABLE_BASE_PADDR (IMX_OCRAM_PBASE + IMX_OCRAM_SIZE - PGTABLE_SIZE)
# define PGTABLE_BASE_VADDR (IMX_OCRAM_VBASE + IMX_OCRAM_SIZE - PGTABLE_SIZE)
# define PGTABLE_BASE_PADDR (IMX_OCRAM_PBASE + IMX_OCRAM_SIZE - ALL_PGTABLE_SIZE)
# define PGTABLE_BASE_VADDR (IMX_OCRAM_VBASE + IMX_OCRAM_SIZE - ALL_PGTABLE_SIZE)
# define PGTABLE_IN_HIGHSRAM 1
/* We will force the IDLE stack to precede the page table */
@ -829,7 +829,7 @@
/* Otherwise, the vectors lie at another location (perhaps in NOR FLASH,
* perhaps elsewhere in OCRAM). The page table will then be positioned
* at the first 16Kb of SRAM.
* at the first 16Kb * ncpus of SRAM.
*/
# define PGTABLE_BASE_PADDR IMX_OCRAM_PBASE
@ -838,8 +838,8 @@
/* We will force the IDLE stack to follow the page table */
# define IDLE_STACK_PBASE (PGTABLE_BASE_PADDR + PGTABLE_SIZE)
# define IDLE_STACK_VBASE (PGTABLE_BASE_VADDR + PGTABLE_SIZE)
# define IDLE_STACK_PBASE (PGTABLE_BASE_PADDR + ALL_PGTABLE_SIZE)
# define IDLE_STACK_VBASE (PGTABLE_BASE_VADDR + ALL_PGTABLE_SIZE)
# endif /* CONFIG_ARCH_LOWVECTORS */
@ -884,8 +884,8 @@
/* We will force the IDLE stack to follow the page table */
# define IDLE_STACK_PBASE (PGTABLE_BASE_PADDR + PGTABLE_SIZE)
# define IDLE_STACK_VBASE (PGTABLE_BASE_VADDR + PGTABLE_SIZE)
# define IDLE_STACK_PBASE (PGTABLE_BASE_PADDR + ALL_PGTABLE_SIZE)
# define IDLE_STACK_VBASE (PGTABLE_BASE_VADDR + ALL_PGTABLE_SIZE)
#endif /* !PGTABLE_BASE_PADDR || !PGTABLE_BASE_VADDR */

10
arch/arm/src/imx6/imx_cpuboot.c
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@ -36,6 +36,8 @@
#include "smp.h"
#include "scu.h"
#include "gic.h"
#include "mmu.h"
#include "barriers.h"
#ifdef CONFIG_SMP
@ -205,6 +207,14 @@ void imx_cpu_enable(void)
for (cpu = 1; cpu < CONFIG_SMP_NCPUS; cpu++)
{
#ifdef CONFIG_ARCH_ADDRENV
/* Copy cpu0 page table to each cpu. */
memcpy((uint32_t *)(PGTABLE_BASE_VADDR + PGTABLE_SIZE * cpu),
(uint32_t *)PGTABLE_BASE_VADDR, PGTABLE_SIZE);
ARM_DSB();
#endif
/* Set the start up address */
regaddr = g_cpu_gpr[cpu];

50
boards/arm/imx6/sabre-6quad/README.txt
View File

@ -940,3 +940,53 @@ Configuration sub-directories
thread #0 finished, found 1230 primes, last one was 9973
Done
/system/bin/getprime took 1850 msec
knsh_smp
--------
This is a configuration of testing the BUILD_KERNEL and SMP configuration.
$ cd nuttx
$ ./tools/configure.sh sabre-6quad:knsh_smp
$ make
$ make export
$ cd ../apps
$ ./tools/mkimport.sh -x ../nuttx/nuttx-export-*.zip
$ make import
$ cd ../nuttx
$ qemu-system-arm -semihosting -M sabrelite -m 1024 -smp 4 -nographic -kernel ./nuttx
NuttShell (NSH) NuttX-10.3.0-RC2
nsh> uname -a
NuttX 10.3.0-RC2 d9e95a8f9b-dirty May 26 2022 23:39:42 arm sabre-6quad
nsh> ps
PID GROUP CPU PRI POLICY TYPE NPX STATE EVENT SIGMASK STACK USED FILLED COMMAND
0 0 0 0 FIFO Kthread N-- Assigned 00000000 002024 000880 43.4% CPU0 IDLE
1 1 1 0 FIFO Kthread N-- Running 00000000 002024 000664 32.8% CPU1 IDLE
2 2 2 0 FIFO Kthread N-- Running 00000000 002024 000664 32.8% CPU2 IDLE
3 3 3 0 FIFO Kthread N-- Running 00000000 002024 000664 32.8% CPU3 IDLE
4 4 0 100 RR Task --- Running 00000000 004064 001116 27.4% /system/bin/init
nsh> free
total used free largest nused nfree
Umem: 1048224 5872 1042352 1036256 9 2
Kmem: 1065247648 12800 1065234848 1065234768 45 3
Page: 134217728 1101824 133115904 133115904
nsh> hello
Hello, World!!
nsh> getprime 4
Set thread priority to 10
Set thread policy to SCHED_RR
Start thread #0
Start thread #1
thread #1 started, looking for primes < 10000, doing 10 run(s)
Start thread #2
thread #2 started, looking for primes < 10000, doing 10 run(s)
Start thread #3
thread #3 started, looking for primes < 10000, doing 10 run(s)
thread #0 started, looking for primes < 10000, doing 10 run(s)
thread #1 finished, found 1230 primes, last one was 9973
thread #2 finished, found 1230 primes, last one was 9973
thread #3 finished, found 1230 primes, last one was 9973
thread #0 finished, found 1230 primes, last one was 9973
Done
getprime took 1570 msec
nsh>

87
boards/arm/imx6/sabre-6quad/configs/knsh_smp/defconfig Normal file
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@ -0,0 +1,87 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_ADDRENV=y
CONFIG_ARCH_BOARD="sabre-6quad"
CONFIG_ARCH_BOARD_SABRE_6QUAD=y
CONFIG_ARCH_BUTTONS=y
CONFIG_ARCH_CHIP="imx6"
CONFIG_ARCH_CHIP_IMX6=y
CONFIG_ARCH_CHIP_IMX6_6QUAD=y
CONFIG_ARCH_DATA_NPAGES=256
CONFIG_ARCH_DATA_VBASE=0x80100000
CONFIG_ARCH_HEAP_NPAGES=256
CONFIG_ARCH_HEAP_VBASE=0x80200000
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_IRQBUTTONS=y
CONFIG_ARCH_KERNEL_STACKSIZE=3072
CONFIG_ARCH_LOWVECTORS=y
CONFIG_ARCH_PGPOOL_MAPPING=y
CONFIG_ARCH_PGPOOL_PBASE=0x18000000
CONFIG_ARCH_PGPOOL_SIZE=134217728
CONFIG_ARCH_PGPOOL_VBASE=0x18000000
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARCH_TEXT_NPAGES=256
CONFIG_ARCH_TEXT_VBASE=0x80000000
CONFIG_ARM_SEMIHOSTING_HOSTFS=y
CONFIG_BOARD_LOOPSPERMSEC=99369
CONFIG_BOOT_RUNFROMSDRAM=y
CONFIG_BUILD_KERNEL=y
CONFIG_DEBUG_ASSERTIONS=y
CONFIG_DEBUG_FEATURES=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_TASK_STACKSIZE=4096
CONFIG_DEV_ZERO=y
CONFIG_ELF=y
CONFIG_EXAMPLES_HELLO=y
CONFIG_FS_HOSTFS=y
CONFIG_FS_PROCFS=y
CONFIG_HAVE_CXX=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_IMX6_DDRCS_PGHEAP_OFFSET=0x08000000
CONFIG_IMX6_DDRCS_PGHEAP_SIZE=134217728
CONFIG_IMX6_UART1=y
CONFIG_IMX_DDR_SIZE=1073741824
CONFIG_INIT_FILEPATH="/system/bin/init"
CONFIG_INIT_MOUNT=y
CONFIG_INIT_MOUNT_DATA="fs=../apps"
CONFIG_INIT_MOUNT_FLAGS=0x1
CONFIG_INIT_MOUNT_FSTYPE="hostfs"
CONFIG_INIT_MOUNT_SOURCE=""
CONFIG_INIT_MOUNT_TARGET="/system"
CONFIG_INIT_STACKSIZE=3072
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_ENVPATH=y
CONFIG_LIBC_EXECFUNCS=y
CONFIG_MM_PGALLOC=y
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_FILE_APPS=y
CONFIG_NSH_READLINE=y
CONFIG_PATH_INITIAL="/system/bin"
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=1073741824
CONFIG_RAM_START=0x10000000
CONFIG_RAM_VSTART=0x10000000
CONFIG_RAW_BINARY=y
CONFIG_READLINE_CMD_HISTORY=y
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_SMP=y
CONFIG_STACK_COLORATION=y
CONFIG_START_MONTH=5
CONFIG_START_YEAR=2022
CONFIG_SYMTAB_ORDEREDBYNAME=y
CONFIG_SYSLOG_TIMESTAMP=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_NSH_PROGNAME="init"
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_SMP=y
CONFIG_UART1_SERIAL_CONSOLE=y