thermosphere: add qemu support

thermosphere/Makefile

@@ -17,6 +17,22 @@ ifneq (, $(strip $(shell git status --porcelain 2>/dev/null)))
     AMSREV := $(AMSREV)-dirty
 endif
 
+ifeq ($(PLATFORM), qemu)
+
+export PLATFORM	:= qemu
+
+PLATFORM_SOURCES	:= src/platform/qemu
+PLATFORM_DEFINES	:= -DPLATFORM_QEMU
+
+else
+
+export PLATFORM	:= tegra
+
+PLATFORM_SOURCES	:= src/platform/tegra
+PLATFORM_DEFINES	:= -DPLATFORM_TEGRA
+
+endif
+
 #---------------------------------------------------------------------------------
 # TARGET is the name of the output
 # BUILD is the directory where object files & intermediate files will be placed
@@ -26,7 +42,7 @@ endif
 #---------------------------------------------------------------------------------
 TARGET		:=	$(notdir $(CURDIR))
 BUILD		:=	build
-SOURCES		:=	src
+SOURCES		:=	src $(PLATFORM_SOURCES)
 DATA		:=	data
 INCLUDES	:=	include ../common/include
 
@@ -34,15 +50,16 @@ INCLUDES	:=	include ../common/include
 # options for code generation
 #---------------------------------------------------------------------------------
 ARCH	:=	-march=armv8-a -mtune=cortex-a57 -mgeneral-regs-only #<- important
-DEFINES	:=	-D__CCPLEX__ -DATMOSPHERE_GIT_BRANCH=\"$(AMSBRANCH)\" -DATMOSPHERE_GIT_REV=\"$(AMSREV)\" -DATMOSPHERE_RELEASE_VERSION_HASH="0x$(AMSHASH)"
+DEFINES	:=	-D__CCPLEX__ -DATMOSPHERE_GIT_BRANCH=\"$(AMSBRANCH)\" -DATMOSPHERE_GIT_REV=\"$(AMSREV)\"\
+			-DATMOSPHERE_RELEASE_VERSION_HASH="0x$(AMSHASH)" $(PLATFORM_DEFINES)
 CFLAGS	:= \
 	-g \
 	-Os \
 	-ffunction-sections \
 	-fdata-sections \
 	-fomit-frame-pointer \
-    -fno-asynchronous-unwind-tables \
+	-fno-asynchronous-unwind-tables \
-    -fno-unwind-tables \
+	-fno-unwind-tables \
 	-std=gnu11 \
 	-Werror \
 	-Wall \
@@ -109,11 +126,27 @@ export INCLUDE	:=	$(foreach dir,$(INCLUDES),-I$(CURDIR)/$(dir)) \
 
 export LIBPATHS	:=	$(foreach dir,$(LIBDIRS),-L$(dir)/lib)
 
-.PHONY: $(BUILD) clean all
+.PHONY: $(BUILD) clean all qemu qemudbg
 
 #---------------------------------------------------------------------------------
 all: $(BUILD)
 
+ifeq ($(PLATFORM), qemu)
+QEMUFLAGS :=	-nographic -machine virt,secure=on,virtualization=on -cpu cortex-a57 -smp 2 -m 1024\
+			-bios bl1.bin -d unimp -semihosting-config enable,target=native -serial mon:stdio
+
+# NOTE: copy bl1.bin, bl2.bin, bl31.bin from your own build of Arm Trusted Firmware!
+
+qemu: all
+	@cp thermosphere.bin bl33.bin
+	@qemu-system-aarch64 $(QEMUFLAGS)
+
+qemudbg: all
+	@cp thermosphere.bin bl33.bin
+	@qemu-system-aarch64 $(QEMUFLAGS) -s -S
+
+endif
+
 $(BUILD):
 	@[ -d $@ ] || mkdir -p $@
 	@$(MAKE) --no-print-directory -C $(BUILD) -f $(CURDIR)/Makefile
@@ -121,7 +154,7 @@ $(BUILD):
 #---------------------------------------------------------------------------------
 clean:
 	@echo clean ...
-	@rm -fr $(BUILD) $(TARGET).bin $(TARGET).elf
+	@rm -fr $(BUILD) $(TARGET).bin bl33.bin $(TARGET).elf
 
 
 #---------------------------------------------------------------------------------

thermosphere/linker.ld

@@ -1,15 +1,9 @@
 OUTPUT_ARCH(aarch64)
 ENTRY(_start)
 
-MEMORY
-{
-    NULL  : ORIGIN = 0,           LENGTH = 0x1000
-    main  : ORIGIN = 0x80000000,  LENGTH = 0xD000 - 0x1000 /* 0x1000 for stacks. */
-}
-
 SECTIONS
 {
-    PROVIDE(__start__ = 0x80000000);
+    PROVIDE(__start__ = ORIGIN(main));
     . = __start__;
 
     .text :

thermosphere/linker.specs

@@ -1,4 +1,4 @@
 %rename link                old_link
 
 *link:
-%(old_link) -T %:getenv(TOPDIR /linker.ld) --nmagic --gc-sections
+%(old_link) -T %:getenv(TOPDIR /%:getenv(PLATFORM .mem)) -T %:getenv(TOPDIR /linker.ld) --nmagic --gc-sections

thermosphere/qemu.mem

@@ -0,0 +1,5 @@
+MEMORY
+{
+    NULL  : ORIGIN = 0,           LENGTH = 0x1000
+    main  : ORIGIN = 0x60000000,  LENGTH = 128M   /* QEMU's memory map changes dynamically? */
+}

thermosphere/src/log.c

@@ -16,7 +16,7 @@
 
 #include <stdio.h>
 #include "log.h"
-#include "uart.h"
+#include "platform/uart.h"
 #include "utils.h"
 
 // NOTE: UNSAFE!
@@ -28,6 +28,6 @@ int serialLog(const char *fmt, ...)
     int res = vsprintf(buf, fmt, args);
     va_end(args);
 
-    uart_send(UART_C, buf, res);
+    uartWriteData(buf, (size_t)res);
     return res;
 }

thermosphere/src/main.c

@@ -1,12 +1,10 @@
 #include "utils.h"
-#include "uart.h"
 #include "log.h"
+#include "platform/uart.h"
 
 int main(void)
 {
-    uart_config(UART_C);
+    uartInit(115200);
-    uart_reset(UART_C);
-    uart_init(UART_C, 115200, true);
 
     //uart_send(UART_C, "0123\n", 3);
     serialLog("Hello from Thermosphere!\r\n");

thermosphere/src/platform/qemu/uart.c

@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2019 Atmosphère-NX
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms and conditions of the GNU General Public License,
+ * version 2, as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+ * more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "uart.h"
+#include "../../utils.h"
+
+// Adapted from ARM TF asm code
+// AMBA PL101 driver
+
+/*
+ * Copyright (c) 2013-2019, ARM Limited and Contributors. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+//115200
+
+void uartInit(u32 baudRate)
+{
+    // First, disable UART
+    g_uartRegs->CR &= ~PL011_UARTCR_UARTEN;
+
+    // Set baudrate, Divisor =  (Uart clock * 4) / baudrate; stored in IBRD|FBRD
+    u32 divisor = (4 * UART0_CLK_IN_HZ) / baudRate;
+    g_uartRegs->IBRD = divisor >> 6;
+    g_uartRegs->FBRD = divisor & 0x3F;
+    g_uartRegs->LCR_H = PL011_LINE_CONTROL;
+
+    // Clear any pending errors
+    g_uartRegs->ECR = 0;
+
+    // Enable tx, rx, and uart overall
+    g_uartRegs->CR = PL011_UARTCR_RXE | PL011_UARTCR_TXE | PL011_UARTCR_UARTEN;
+}
+
+void uartWriteData(const void *buffer, size_t size)
+{
+    const u8 *buf8 = (const u8 *)buffer;
+    for (size_t i = 0; i < size; i++) {
+        while (g_uartRegs->FR & PL011_UARTFR_TXFF); // while TX FIFO full
+        g_uartRegs->DR = buf8[i]; 
+    }
+}
+
+void uartReadData(void *buffer, size_t size)
+{
+    u8 *buf8 = (u8 *)buffer;
+    size_t i;
+
+    for (i = 0; i < size; i++) {
+        while (g_uartRegs->FR & PL011_UARTFR_RXFE);
+        buf8[i] = g_uartRegs->DR;
+    }
+}
+
+size_t uartReadDataMax(void *buffer, size_t maxSize)
+{
+    u8 *buf8 = (u8 *)buffer;
+    size_t i;
+
+    for (i = 0; i < maxSize && !(g_uartRegs->FR & PL011_UARTFR_RXFE); i++) {
+        buf8[i] = g_uartRegs->DR;
+    }
+
+    return 1 + i;
+}

thermosphere/src/platform/qemu/uart.h

@@ -0,0 +1,135 @@
+/*
+ * Copyright (c) 2019 Atmosphère-NX
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms and conditions of the GNU General Public License,
+ * version 2, as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+ * more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "../../types.h"
+
+// AMBA PL011 driver
+
+/*
+ * Copyright (c) 2013-2018, ARM Limited and Contributors. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#if 0
+/* PL011 Registers */
+#define UARTDR                    0x000
+#define UARTRSR                   0x004
+#define UARTECR                   0x004
+#define UARTFR                    0x018
+#define UARTIMSC                  0x038
+#define UARTRIS                   0x03C
+#define UARTICR                   0x044
+
+/* PL011 registers (out of the SBSA specification) */
+#if !PL011_GENERIC_UART
+#define UARTILPR                  0x020
+#define UARTIBRD                  0x024
+#define UARTFBRD                  0x028
+#define UARTLCR_H                 0x02C
+#define UARTCR                    0x030
+#define UARTIFLS                  0x034
+#define UARTMIS                   0x040
+#define UARTDMACR                 0x048
+#endif /* !PL011_GENERIC_UART */
+
+#endif 
+typedef struct PL011UartRegisters {
+    u32 DR;
+    union {
+        u32 SR;
+        u32 ECR;
+    };
+    u32 _0x08, _0x0C, _0x10;
+    u32 FR;
+    u32 _0x1C;
+    u32 ILPR;
+    u32 IBRD;
+    u32 FBRD;
+    u32 LCR_H;
+    u32 CR;
+    u32 IFLS;
+    u32 IMSC;
+    u32 TRIS;
+    u32 TMIS;
+    u32 TICR;
+    u32 TDMACR;
+} PL011UartRegisters;
+
+/* Data status bits */
+#define UART_DATA_ERROR_MASK      0x0F00
+
+/* Status reg bits */
+#define UART_STATUS_ERROR_MASK    0x0F
+
+/* Flag reg bits */
+#define PL011_UARTFR_RI           (1 << 8)	/* Ring indicator */
+#define PL011_UARTFR_TXFE         (1 << 7)	/* Transmit FIFO empty */
+#define PL011_UARTFR_RXFF         (1 << 6)	/* Receive  FIFO full */
+#define PL011_UARTFR_TXFF         (1 << 5)	/* Transmit FIFO full */
+#define PL011_UARTFR_RXFE         (1 << 4)	/* Receive  FIFO empty */
+#define PL011_UARTFR_BUSY         (1 << 3)	/* UART busy */
+#define PL011_UARTFR_DCD          (1 << 2)	/* Data carrier detect */
+#define PL011_UARTFR_DSR          (1 << 1)	/* Data set ready */
+#define PL011_UARTFR_CTS          (1 << 0)	/* Clear to send */
+
+#define PL011_UARTFR_TXFF_BIT   5   /* Transmit FIFO full bit in UARTFR register */
+#define PL011_UARTFR_RXFE_BIT   4   /* Receive FIFO empty bit in UARTFR register */
+#define PL011_UARTFR_BUSY_BIT   3   /* UART busy bit in UARTFR register */
+
+/* Control reg bits */
+#if !PL011_GENERIC_UART
+#define PL011_UARTCR_CTSEN        (1 << 15)	/* CTS hardware flow control enable */
+#define PL011_UARTCR_RTSEN        (1 << 14)	/* RTS hardware flow control enable */
+#define PL011_UARTCR_RTS          (1 << 11)	/* Request to send */
+#define PL011_UARTCR_DTR          (1 << 10)	/* Data transmit ready. */
+#define PL011_UARTCR_RXE          (1 << 9)	/* Receive enable */
+#define PL011_UARTCR_TXE          (1 << 8)	/* Transmit enable */
+#define PL011_UARTCR_LBE          (1 << 7)	/* Loopback enable */
+#define PL011_UARTCR_UARTEN       (1 << 0)	/* UART Enable */
+
+#if !defined(PL011_LINE_CONTROL)
+/* FIFO Enabled / No Parity / 8 Data bit / One Stop Bit */
+#define PL011_LINE_CONTROL  (PL011_UARTLCR_H_FEN | PL011_UARTLCR_H_WLEN_8)
+#endif
+
+/* Line Control Register Bits */
+#define PL011_UARTLCR_H_SPS       (1 << 7)	/* Stick parity select */
+#define PL011_UARTLCR_H_WLEN_8    (3 << 5)
+#define PL011_UARTLCR_H_WLEN_7    (2 << 5)
+#define PL011_UARTLCR_H_WLEN_6    (1 << 5)
+#define PL011_UARTLCR_H_WLEN_5    (0 << 5)
+#define PL011_UARTLCR_H_FEN       (1 << 4)	/* FIFOs Enable */
+#define PL011_UARTLCR_H_STP2      (1 << 3)	/* Two stop bits select */
+#define PL011_UARTLCR_H_EPS       (1 << 2)	/* Even parity select */
+#define PL011_UARTLCR_H_PEN       (1 << 1)	/* Parity Enable */
+#define PL011_UARTLCR_H_BRK       (1 << 0)	/* Send break */
+
+#endif /* !PL011_GENERIC_UART */
+
+#define UART0_BASE              0x09000000
+#define UART1_BASE              0x09040000
+#define UART0_CLK_IN_HZ         1
+#define UART1_CLK_IN_HZ         1
+
+static volatile PL011UartRegisters *const g_uartRegs = (volatile PL011UartRegisters *)UART0_BASE;
+
+void uartInit(u32 baudRate);
+void uartWriteData(const void *buffer, size_t size);
+void uartReadData(void *buffer, size_t size);
+size_t uartReadDataMax(void *buffer, size_t maxSize);

thermosphere/src/platform/tegra/car.c

@@ -16,7 +16,7 @@
  
 #include "car.h"
 #include "timers.h"
-#include "utils.h"
+#include "../../utils.h"
 
 static inline uint32_t get_clk_source_reg(CarDevice dev) {
     switch (dev) {

thermosphere/src/platform/tegra/car.h

@@ -15,7 +15,7 @@
  */
  
 #pragma once
-#include "utils.h"
+#include "../../utils.h"
 
 #define CAR_BASE 0x60006000
 #define MAKE_CAR_REG(n) MAKE_REG32(CAR_BASE + n)

thermosphere/src/platform/tegra/gpio.c

@@ -18,7 +18,7 @@
 #include <stdint.h>
 
 #include "gpio.h"
-#include "utils.h"
+#include "../../utils.h"
 
 /**
  * Returns a GPIO bank object that corresponds to the given GPIO pin,

thermosphere/src/platform/tegra/misc.h

@@ -16,7 +16,7 @@
 
 #pragma once
 
-#include "utils.h"
+#include "../../utils.h"
 
 #define MISC_BASE 0x70000000ull
 

thermosphere/src/platform/tegra/pinmux.h

@@ -16,6 +16,8 @@
  
 #pragma once
 
+#include <stdint.h>
+
 #define PINMUX_BASE 0x70003000
 #define MAKE_PINMUX_REG(n) MAKE_REG32(PINMUX_BASE + n)
 

thermosphere/src/platform/tegra/timers.h

@@ -15,7 +15,7 @@
  */
  
 #pragma once
-#include "utils.h"
+#include "../../utils.h"
 
 #define TIMERS_BASE 0x60005000
 #define MAKE_TIMERS_REG(n) MAKE_REG32(TIMERS_BASE + n)

thermosphere/src/platform/tegra/uart.c

@@ -130,3 +130,14 @@ void uart_recv(UartDevice dev, void *buf, size_t len) {
         *((uint8_t *)buf + i) = uart->UART_THR_DLAB;
     }
 }
+
+size_t uart_recv_max(UartDevice dev, void *buf, size_t max_len) {
+    volatile tegra_uart_t *uart = uart_get_regs(dev);
+    size_t i;
+
+    for (i = 0; i < max_len && (uart->UART_LSR & UART_LSR_RDR); i++) {
+        *((uint8_t *)buf + i) = uart->UART_THR_DLAB;
+    }
+
+    return 1 + i;
+}

thermosphere/src/platform/tegra/uart.h

@@ -17,7 +17,7 @@
  
 #pragma once
 
-#include "types.h"
+#include "../../utils.h"
 
 #define UART_BASE 0x70006000
 
@@ -162,6 +162,7 @@ void uart_init(UartDevice dev, uint32_t baud, bool inverted);
 void uart_wait_idle(UartDevice dev, UartVendorStatus status);
 void uart_send(UartDevice dev, const void *buf, size_t len);
 void uart_recv(UartDevice dev, void *buf, size_t len);
+size_t uart_recv_max(UartDevice dev, void *buf, size_t max_len);
 
 static inline volatile tegra_uart_t *uart_get_regs(UartDevice dev) {
     static const size_t offsets[] = {0, 0x40, 0x200, 0x300, 0x400};

thermosphere/src/platform/uart.h

@@ -0,0 +1,54 @@
+/*
+ * Copyright (c) 2019 Atmosphère-NX
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms and conditions of the GNU General Public License,
+ * version 2, as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+ * more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef PLATFORM_TEGRA
+#include "tegra/uart.h"
+
+#define DEFAULT_UART            UART_C
+#define DEFAULT_UARTINV_STATUS  true
+
+static inline void uartInit(u32 baudRate)
+{
+    uart_reset(DEFAULT_UART);
+    uart_init(DEFAULT_UART, baudRate, DEFAULT_UARTINV_STATUS);
+}
+
+static inline void uartWriteData(const void *buffer, size_t size)
+{
+    uart_send(DEFAULT_UART, buffer, size);
+}
+
+static inline void uartReadData(void *buffer, size_t size)
+{
+    uart_recv(DEFAULT_UART, buffer, size);
+}
+
+static inline size_t uartReadDataMax(void *buffer, size_t maxSize)
+{
+    return uart_recv_max(DEFAULT_UART, buffer, maxSize);
+}
+
+#elif defined(PLATFORM_QEMU)
+
+#include "qemu/uart.h"
+
+#else
+
+#error "Error: platform not defined"
+
+#endif

thermosphere/tegra.mem

@@ -0,0 +1,5 @@
+MEMORY
+{
+    NULL  : ORIGIN = 0,           LENGTH = 0x1000
+    main  : ORIGIN = 0x80000000,  LENGTH = 0xD000 - 0x1000 /* 0x1000 for stacks. */
+}