hifive1/

main.rs

// Licensed under the Apache License, Version 2.0 or the MIT License.
// SPDX-License-Identifier: Apache-2.0 OR MIT
// Copyright Tock Contributors 2022.

//! Board file for SiFive HiFive1b RISC-V development platform.
//!
//! - <https://www.sifive.com/boards/hifive1-rev-b>
//!
//! This board file is only compatible with revision B of the HiFive1.

#![no_std]
#![no_main]

use capsules_core::virtualizers::virtual_alarm::{MuxAlarm, VirtualMuxAlarm};
use e310_g002::interrupt_service::E310G002DefaultPeripherals;
use kernel::capabilities;
use kernel::component::Component;
use kernel::debug::PanicResources;
use kernel::hil;
use kernel::hil::led::LedLow;
use kernel::platform::{KernelResources, SyscallDriverLookup};
use kernel::scheduler::cooperative::CooperativeSched;
use kernel::utilities::registers::interfaces::ReadWriteable;
use kernel::utilities::single_thread_value::SingleThreadValue;
use kernel::Kernel;
use kernel::{create_capability, debug, static_init};
use rv32i::csr;

pub mod io;

pub const NUM_PROCS: usize = 4;

type ChipHw = e310_g002::chip::E310x<'static, E310G002DefaultPeripherals<'static>>;
type AlarmHw = e310_g002::chip::E310xClint<'static>;
type SchedulerTimerHw =
    components::virtual_scheduler_timer::VirtualSchedulerTimerComponentType<AlarmHw>;
type ProcessPrinterInUse = capsules_system::process_printer::ProcessPrinterText;

/// Resources for when a board panics used by io.rs.
static PANIC_RESOURCES: SingleThreadValue<PanicResources<ChipHw, ProcessPrinterInUse>> =
    SingleThreadValue::new(PanicResources::new());

// How should the kernel respond when a process faults.
const FAULT_RESPONSE: capsules_system::process_policies::PanicFaultPolicy =
    capsules_system::process_policies::PanicFaultPolicy {};

kernel::stack_size! {0x900}

/// A structure representing this platform that holds references to all
/// capsules for this platform. We've included an alarm and console.
struct HiFive1 {
    led: &'static capsules_core::led::LedDriver<
        'static,
        LedLow<'static, sifive::gpio::GpioPin<'static>>,
        3,
    >,
    console: &'static capsules_core::console::Console<'static>,
    lldb: &'static capsules_core::low_level_debug::LowLevelDebug<
        'static,
        capsules_core::virtualizers::virtual_uart::UartDevice<'static>,
    >,
    alarm: &'static capsules_core::alarm::AlarmDriver<
        'static,
        VirtualMuxAlarm<'static, e310_g002::chip::E310xClint<'static>>,
    >,
    scheduler: &'static CooperativeSched<'static>,
    scheduler_timer: &'static SchedulerTimerHw,
}

/// Mapping of integer syscalls to objects that implement syscalls.
impl SyscallDriverLookup for HiFive1 {
    fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
    where
        F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
    {
        match driver_num {
            capsules_core::led::DRIVER_NUM => f(Some(self.led)),
            capsules_core::console::DRIVER_NUM => f(Some(self.console)),
            capsules_core::alarm::DRIVER_NUM => f(Some(self.alarm)),
            capsules_core::low_level_debug::DRIVER_NUM => f(Some(self.lldb)),
            _ => f(None),
        }
    }
}

impl KernelResources<e310_g002::chip::E310x<'static, E310G002DefaultPeripherals<'static>>>
    for HiFive1
{
    type SyscallDriverLookup = Self;
    type SyscallFilter = ();
    type ProcessFault = ();
    type Scheduler = CooperativeSched<'static>;
    type SchedulerTimer = SchedulerTimerHw;
    type WatchDog = ();
    type ContextSwitchCallback = ();

    fn syscall_driver_lookup(&self) -> &Self::SyscallDriverLookup {
        self
    }
    fn syscall_filter(&self) -> &Self::SyscallFilter {
        &()
    }
    fn process_fault(&self) -> &Self::ProcessFault {
        &()
    }
    fn scheduler(&self) -> &Self::Scheduler {
        self.scheduler
    }
    fn scheduler_timer(&self) -> &Self::SchedulerTimer {
        self.scheduler_timer
    }
    fn watchdog(&self) -> &Self::WatchDog {
        &()
    }
    fn context_switch_callback(&self) -> &Self::ContextSwitchCallback {
        &()
    }
}

/// For the HiFive1, if load_process is inlined, it leads to really large stack utilization in
/// main. By wrapping it in a non-inlined function, this reduces the stack utilization once
/// processes are running.
#[inline(never)]
fn load_processes_not_inlined<C: kernel::platform::chip::Chip>(
    board_kernel: &'static Kernel,
    chip: &'static C,
) {
    // These symbols are defined in the linker script.
    extern "C" {
        /// Beginning of the ROM region containing app images.
        static _sapps: u8;
        /// End of the ROM region containing app images.
        static _eapps: u8;
        /// Beginning of the RAM region for app memory.
        static mut _sappmem: u8;
        /// End of the RAM region for app memory.
        static _eappmem: u8;
    }

    let app_flash = unsafe {
        core::slice::from_raw_parts(
            core::ptr::addr_of!(_sapps),
            core::ptr::addr_of!(_eapps) as usize - core::ptr::addr_of!(_sapps) as usize,
        )
    };

    let app_memory = unsafe {
        core::slice::from_raw_parts_mut(
            core::ptr::addr_of_mut!(_sappmem),
            core::ptr::addr_of!(_eappmem) as usize - core::ptr::addr_of!(_sappmem) as usize,
        )
    };

    let process_mgmt_cap = create_capability!(capabilities::ProcessManagementCapability);
    kernel::process::load_processes(
        board_kernel,
        chip,
        app_flash,
        app_memory,
        &FAULT_RESPONSE,
        &process_mgmt_cap,
    )
    .unwrap_or_else(|err| {
        debug!("Error loading processes!");
        debug!("{:?}", err);
    });
}

/// This is in a separate, inline(never) function so that its stack frame is
/// removed when this function returns. Otherwise, the stack space used for
/// these static_inits is wasted.
#[inline(never)]
unsafe fn start() -> (
    &'static kernel::Kernel,
    HiFive1,
    &'static e310_g002::chip::E310x<'static, E310G002DefaultPeripherals<'static>>,
) {
    // only machine mode
    rv32i::configure_trap_handler();

    // Initialize deferred calls very early.
    kernel::deferred_call::initialize_deferred_call_state::<
        <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
    >();

    // Bind global variables to this thread.
    PANIC_RESOURCES.bind_to_thread::<<ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider>();

    let peripherals = static_init!(
        E310G002DefaultPeripherals,
        E310G002DefaultPeripherals::new(344_000_000)
    );

    peripherals.init();

    peripherals.e310x.watchdog.disable();
    peripherals.e310x.rtc.disable();
    peripherals.e310x.pwm0.disable();
    peripherals.e310x.pwm1.disable();
    peripherals.e310x.pwm2.disable();
    peripherals.e310x.uart1.disable();

    peripherals
        .e310x
        .prci
        .set_clock_frequency(sifive::prci::ClockFrequency::Freq344Mhz);

    // Create an array to hold process references.
    let processes = components::process_array::ProcessArrayComponent::new()
        .finalize(components::process_array_component_static!(NUM_PROCS));
    PANIC_RESOURCES.get().map(|resources| {
        resources.processes.put(processes.as_slice());
    });

    // Setup space to store the core kernel data structure.
    let board_kernel = static_init!(kernel::Kernel, kernel::Kernel::new(processes.as_slice()));

    // Configure kernel debug gpios as early as possible
    let debug_gpios = static_init!(
        [&'static dyn kernel::hil::gpio::Pin; 1],
        [
            // Red
            &peripherals.e310x.gpio_port[22]
        ]
    );
    kernel::debug::initialize_debug_gpio::<
        <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
    >();
    kernel::debug::assign_gpios(debug_gpios);

    // Create a shared UART channel for the console and for kernel debug.
    let uart_mux = components::console::UartMuxComponent::new(&peripherals.e310x.uart0, 115200)
        .finalize(components::uart_mux_component_static!());

    // LEDs
    let led = components::led::LedsComponent::new().finalize(components::led_component_static!(
        LedLow<'static, sifive::gpio::GpioPin>,
        LedLow::new(&peripherals.e310x.gpio_port[22]), // Red
        LedLow::new(&peripherals.e310x.gpio_port[19]), // Green
        LedLow::new(&peripherals.e310x.gpio_port[21]), // Blue
    ));

    peripherals.e310x.uart0.initialize_gpio_pins(
        &peripherals.e310x.gpio_port[17],
        &peripherals.e310x.gpio_port[16],
    );

    let hardware_timer = static_init!(
        e310_g002::chip::E310xClint,
        e310_g002::chip::E310xClint::new(&e310_g002::clint::CLINT_BASE)
    );

    // Create a shared virtualization mux layer on top of a single hardware
    // alarm.
    let mux_alarm = static_init!(
        MuxAlarm<'static, e310_g002::chip::E310xClint>,
        MuxAlarm::new(hardware_timer)
    );
    hil::time::Alarm::set_alarm_client(hardware_timer, mux_alarm);

    // Alarm
    let virtual_alarm_user = static_init!(
        VirtualMuxAlarm<'static, e310_g002::chip::E310xClint>,
        VirtualMuxAlarm::new(mux_alarm)
    );
    virtual_alarm_user.setup();

    let memory_allocation_cap = create_capability!(capabilities::MemoryAllocationCapability);
    let alarm = static_init!(
        capsules_core::alarm::AlarmDriver<
            'static,
            VirtualMuxAlarm<'static, e310_g002::chip::E310xClint>,
        >,
        capsules_core::alarm::AlarmDriver::new(
            virtual_alarm_user,
            board_kernel.create_grant(capsules_core::alarm::DRIVER_NUM, &memory_allocation_cap)
        )
    );
    hil::time::Alarm::set_alarm_client(virtual_alarm_user, alarm);

    let chip = static_init!(
        e310_g002::chip::E310x<E310G002DefaultPeripherals>,
        e310_g002::chip::E310x::new(peripherals, hardware_timer)
    );
    PANIC_RESOURCES.get().map(|resources| {
        resources.chip.put(chip);
    });

    let process_printer = components::process_printer::ProcessPrinterTextComponent::new()
        .finalize(components::process_printer_text_component_static!());
    PANIC_RESOURCES.get().map(|resources| {
        resources.printer.put(process_printer);
    });

    let process_console = components::process_console::ProcessConsoleComponent::new(
        board_kernel,
        uart_mux,
        mux_alarm,
        process_printer,
        None,
    )
    .finalize(components::process_console_component_static!(
        e310_g002::chip::E310xClint
    ));
    let _ = process_console.start();

    // Need to enable all interrupts for Tock Kernel
    chip.enable_plic_interrupts();

    // enable interrupts globally
    csr::CSR
        .mie
        .modify(csr::mie::mie::mext::SET + csr::mie::mie::msoft::SET + csr::mie::mie::mtimer::SET);
    csr::CSR.mstatus.modify(csr::mstatus::mstatus::mie::SET);

    // Setup the console.
    let console = components::console::ConsoleComponent::new(
        board_kernel,
        capsules_core::console::DRIVER_NUM,
        uart_mux,
    )
    .finalize(components::console_component_static!());
    // Create the debugger object that handles calls to `debug!()`.
    const DEBUG_BUFFER_KB: usize = 1;
    components::debug_writer::DebugWriterComponent::new::<
        <ChipHw as kernel::platform::chip::Chip>::ThreadIdProvider,
    >(
        uart_mux,
        create_capability!(capabilities::SetDebugWriterCapability),
    )
    .finalize(components::debug_writer_component_static!(DEBUG_BUFFER_KB));

    let lldb = components::lldb::LowLevelDebugComponent::new(
        board_kernel,
        capsules_core::low_level_debug::DRIVER_NUM,
        uart_mux,
    )
    .finalize(components::low_level_debug_component_static!());

    // Need two debug!() calls to actually test with QEMU. QEMU seems to have a
    // much larger UART TX buffer (or it transmits faster). With a single call
    // the entire message is printed to console even if the kernel loop does not run
    debug!("HiFive1 initialization complete.");
    debug!("Entering main loop.");

    let scheduler = components::sched::cooperative::CooperativeComponent::new(processes)
        .finalize(components::cooperative_component_static!(NUM_PROCS));

    let scheduler_timer =
        components::virtual_scheduler_timer::VirtualSchedulerTimerComponent::new(mux_alarm)
            .finalize(components::virtual_scheduler_timer_component_static!(
                AlarmHw
            ));

    let hifive1 = HiFive1 {
        led,
        console,
        lldb,
        alarm,
        scheduler,
        scheduler_timer,
    };

    load_processes_not_inlined(board_kernel, chip);

    (board_kernel, hifive1, chip)
}

/// Main function called after RAM initialized.
#[no_mangle]
pub unsafe fn main() {
    let main_loop_capability = create_capability!(capabilities::MainLoopCapability);

    let (board_kernel, board, chip) = start();
    board_kernel.kernel_loop(
        &board,
        chip,
        None::<&kernel::ipc::IPC<0>>,
        &main_loop_capability,
    );
}