This provides an example of Asymmetric Multiprocessing (AMP). The
master from Linux sends pings that this NuttX echoes back. The system
uses RPMsg from OpenAMP.
The Inter-Hart Communication module is present in the vendor's software
stack with the tag "2021.11". The software is present on github at the
polarfire-soc project. The following conditions must be met:
1. FPGA programmed with 2021.11 software
2. HSS (Vendor bootloader) with 2021.11 software
3. U-boot and Linux kernel from 2011.11 software
Currently the IHC works as a slave only on the hart number 4.
On the NuttX side, this patch uses rptun that incorporates rpmsg and
virtio. If it used only rpmsg and virtio, the future maintenance would
likely be much heavier. Using rptun also simplifies many things.
Upon success, the master side from Linux may issue an example test:
root@icicle-kit-es-amp:/opt/microchip/amp/rpmsg-pingpong# ./rpmsg-pingpong
However, the rpmsg-pingpong.c (compiled on target with gcc), may need to
be modified as seen below to match the device id:
- char *rpmsg_dev="virtio0.rpmsg-amp-demo-channel.-1.0";
+ char *rpmsg_dev="virtio0.rpmsg-amp-demo-channel.-1.1024";
This work uses a separate linker script. Due to a bug yet unknown to date,
a small NuttX, when loaded by the vendor HSS bootloader, will cause the
Linux kernel to hang at boot. Thus, the binary size is increased with
a section 'filler_area' whose only purpose is to increase the image size
so that the Linux kernel will boot up.
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
Mappings are done with vaddr=paddr.
- I/O space mapped with two gigapages
- Kernel space mapped to statically allocated page tables. 2MB of kernel
memory is supported.
- Page pool is mapped to the kernel space, to allow virtual memory access
for the kernel e.g. to initialize the page memory when it is allocated.
Enable this option to optimization the unused input sections with the
linker by compiling with " -ffunction-sections -fdata-sections ", and
linking with " --gc-sections ".
Signed-off-by: chao.an <anchao@xiaomi.com>
Move the target specific memory map to a separate file so there is no
need to copy&paste the __xxram_start etc linker symbols to each file
that needs them.
Also add MMU flags for I/O and kernel areas, they will be needed
when the kernel runs with virtual addresses also.
Mux USB IO pins one-by-one using package specific pinmux definitions. This avoids accidentally overwriting IO settings for other pins.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This adds a simple USB device driver for the mpfs. However,
this driver is still at its early phase. Only limited testing
with CDC/ACM has been conducted.
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
## Summary
A lot of linker scripts were listed twice, once for unix, once for windows.
This PR cleans up the logic so they're only listed once.
## Impact
Any opportunity to use a single source of truth and reduce lines of code is a win!
## Testing
CI will test all build
Summary:
- Apply the same style as sabre-6quad
Impact:
- None
- NOTE: esp32c3-devkit still remains old style because of link errors
Testing:
- Build only
Signed-off-by: Masayuki Ishikawa <Masayuki.Ishikawa@jp.sony.com>
The image must be placed into:
boards/risc-v/mpfs/icicle/include/boot_romfsimg.h
The image is mounted by mpfs_bringup, which is run by the application
itself, or by board_late_initialize() in the case when
CONFIG_BOARD_LATE_INITIALIZE is defined, e.g. with CONFIG_BUILD_KERNEL
NOTE: THIS ONLY WORKS WHEN KERNEL RUNS IN M-MODE FOR NOW
This frees the PMP for other use, e.g. HART memory separation.
The page tables are statically allocated, 1 per level.
This feature is now behind CONFIG_MPFS_USE_MMU_AS_MPU, because
only the MPFS target supports this (others are not tested).
If the MMU is used for memory separation within a HART, the PMP must
still be configured to allow user access to the memory mapped for the
HART, because PMP *rekoves* access by default. At this point all of
the user memory as well as the kernel RAM are opened.
A more flexible solution for PMP configuration will follow.
The old implementation used the default ld.script for the kernel side
which did not obey the memory.ld limits whatsoever.
Also, provide the user space addresses from the linker script to get rid
of the pre-processor macros that define (incorrect) default values for
the user space composition.
Some of the configuration options have changed, so update this
config file accordingly.
In this example config, the following hart configuration takes
place:
hart1: 0xafb00000 (Another NuttX)
hart2: unused
hart3: 0x80200000 (u-boot and Linux kernel)
hart4: 0x80200000 (u-boot and Linux kernel)
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
There is no such section. Instead, place the object mpfs_head.o at the start of
the text.
Put mpfs_head.o directly into the arch library; there is no need to define
it separately in HEAD_ASRC.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Add the rest of the OpenSBI code to .text.sbi -section. They belong
to there. This frees up some space in the very limited eNVM.
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
RAM is expected to start from 0x08000000, not from
0x80000000 in this case. DDR starts from 0x80000000.
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
Polarfire Icicle board has only (128K - 256) bytes for the bootloader
in the non-volatile eNVM. This space is barely enough for running NuttX.
If OpenSBI is selected, it will be placed in DDR. This all means the
nuttx.bin file grows into gigabyte size, filling the unused space (ddr -
envm) with zeroes.
The memory layout is as follows:
MEMORY
{
ddr (rx) : ORIGIN = 0x80000000, LENGTH = 4M
envm (rx) : ORIGIN = 0x20220100, LENGTH = 128K - 256
l2lim (rwx) : ORIGIN = 0x08000000, LENGTH = 1024k
l2zerodevice (rwx) : ORIGIN = 0x0A000000, LENGTH = 512k
}
OpenSBI library is used as a separate binary, which is stored into
eMMC or SD-card. It is then loaded into its precise location in DDR.
Thus, we separate OpenSBI from NuttX and end up with two images
by utilizing the objcopy options:
--only-section=sectionpattern (-j in short)
--remove-section=sectionpattern (-R in short)
This is only valid when CONFIG_MPFS_OPENSBI is set.
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
Add a pinmap header for mpfs to be able to configure MSSIO GPIOs
This also adds Kconfigs for some different chip/package types of the PolarFire SOC
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
OpenSBI may be compiled as an external library. OpenSBI commit d249d65
(Dec. 11, 2021) needs to be reverted as it causes memcpy / memcmp to
end up in the wrong section. That issue has yet no known workaround.
OpenSBI may be lauched from the hart0 (e51). It will start the U-Boot
and eventually the Linux kernel on harts 1-4.
OpenSBI, once initialized properly, will trap and handle illegal
instructions (for example, CSR time) and unaligned address accesses
among other things.
Due to size size limitations for the mpfs eNVM area where the NuttX
is located, we actually set up the OpenSBI on its own section which
is in the bottom of the DDR memory. Special care must be taken so that
the kernel doesn't override the OpenSBI. For example, the Linux device
tree may reserve some space from the beginning:
opensbi_reserved: opensbi@80000000 {
reg = <0x80000000 0x200000>;
label = "opensbi-reserved";
};
The resulting nuttx.bin file is very large, but objcopy is used to
create the final binary images for the regions (eNVM and DDR) using
the nuttx elf file.
Co-authored-by: Petro Karashchenko <petro.karashchenko@gmail.com>
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
Assign ways to L2 zerodevice. L2 zero device is used for
the scratchpad functionality. The area may be used for the
harts communicating to each other.
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
src/mpfs_emmcsd.c: In function 'mpfs_board_emmcsd_init':
Error: src/mpfs_emmcsd.c:72:40: error: 'SDIO_SLOTNO' undeclared (first use in this function)
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
^~~~~~~~~~~
src/mpfs_emmcsd.c:72:40: note: each undeclared identifier is reported only once for each function it appears in
Error: src/mpfs_emmcsd.c:83:55: error: 'SDIO_MINOR' undeclared (first use in this function); did you mean 'SHRT_MIN'?
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
- Add defconfig and board specific files
- Create mpfs/common for code which is shared between MPFS boards.
- Add support for GPIO driven EMMCSD mux.
- Move DDR Libero definitions from arch to boards.
Signed-off-by: Jani Paalijarvi <jani.paalijarvi@unikie.com>
E51 may configure the L1 and L2 caches. Once configured,
no reconfiguration is possible after hardware reset is
issued.
L2 is 16-way set associative with write-back policy. The
size 2 MB, from which 1 MB is utilized with the values
provided here. That's a total of 8 ways. The rest of the
L2 is left out for the bootloader usage.
mpfs_enable_cache() first checks the bootloader usage
doesn't overlap with the cache itself, thus providing a
set of functional values.
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
This adds DDR training. The training has a small chance of failing,
and then the training is restarted.
DDR training cannot be done meaningfully while the software is
in DDR. If the system is intended to run from eNVM, like a
bootloader, the linker script should be tuned to utilize the envm
region as follows:
envm (rx) : ORIGIN = 0x20220100, LENGTH = 128K - 256
l2lim (rwx) : ORIGIN = 0x08000000, LENGTH = 1024k
256 bytes are reserved for the system; The fixed block may be
installed from the 'hart-software-services' -repository:
https://github.com/polarfire-soc/hart-software-services.git
For example, the 256-byte image: hss-envm-wrapper-bm1-dummySbic.bin
may be prepended on the nuttx bootloader image in the following
manner:
cat hss-envm-wrapper-bm1-dummySbic.bin > nuttx_bootloader.bin
cat nuttx.bin >> nuttx_bootloader.bin
riscv64-unknown-elf-objcopy -I binary -O ihex --change-section-lma
*+0x20220000 nuttx_bootloader.bin flashable_image.hex
This provides an image 'flashable_image.hex' that may be flashed on
the eNVM region via Microsemi Libero tool.
Signed-off-by: Eero Nurkkala <eero.nurkkala@offcode.fi>
Add a driver for CorePWM block, which can be instantiated on PolarFire SOC FPGA
This supports 2 CorePWM blocks on the FPGA. One CorePWM block provides 8 PWM output signals
