getting closer

Cargo.lock

@@ -24,6 +24,15 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "cortex-a-rt"
+version = "0.1.0"
+dependencies = [
+ "arm-targets",
+ "cortex-r-a",
+ "semihosting",
+]
+
 [[package]]
 name = "cortex-r-a"
 version = "0.1.0"
@@ -33,15 +42,6 @@ dependencies = [
  "bitbybit",
 ]
 
-[[package]]
-name = "cortex-r-a-rt"
-version = "0.1.0"
-dependencies = [
- "arm-targets",
- "cortex-r-a",
- "semihosting",
-]
-
 [[package]]
 name = "proc-macro2"
 version = "1.0.93"
@@ -88,5 +88,12 @@ name = "zedboard-blinky-rs"
 version = "0.1.0"
 dependencies = [
  "cortex-r-a",
- "cortex-r-a-rt",
+ "zynq-rt",
+]
+
+[[package]]
+name = "zynq-rt"
+version = "0.1.0"
+dependencies = [
+ "cortex-a-rt",
 ]

Cargo.toml

@@ -8,4 +8,4 @@ edition = "2021"
 
 [dependencies]
 cortex-r-a = { path = "../cortex-r-a/cortex-r-a" }
-cortex-r-a-rt = { path = "../cortex-r-a/cortex-a-rt", features = ["vfp-dp"] }
+zynq-rt = { path = "zynq-rt" }

src/main.rs

@@ -3,7 +3,7 @@
 
 use core::panic::PanicInfo;
 use cortex_r_a::asm::nop;
-use cortex_r_a_rt as _;
+use zynq_rt as _;
 
 /// Entry point (not called like a normal main function)
 #[no_mangle]

zynq-rt/src/lib.rs

@@ -28,11 +28,7 @@ core::arch::global_asm!(
 .set EFUSEStatus,        (0xF800D000 + 0x10)            /*(XPS_EFUSE_BASEADDR + EFUSE_STATUS_OFFSET)*/
 
 /* workaround for simulation not working when L1 D and I caches,MMU and  L2 cache enabled - DT568997 */
-.if SIM_MODE == 1
-.set CRValMmuCac,	0b00000000000000	/* Disable IDC, and MMU */
-.else
 .set CRValMmuCac,	0b01000000000101	/* Enable IDC, and MMU */
-.endif
 
 .set CRValHiVectorAddr,	0b10000000000000	/* Set the Vector address to high, 0xFFFF0000 */
 
@@ -46,6 +42,8 @@ core::arch::global_asm!(
 .set SLCRUnlockKey,	        0xDF0D			/* SLCR unlock key */
 .set SLCRL2cRamConfig,      0x00020202      /* SLCR L2C ram configuration */
 
+.set FPEXC_EN,		0x40000000		/* FPU enable bit, (1 << 30) */
+
 .section .text.startup
 .align 0
 
@@ -110,19 +108,6 @@ initialize:
     bic	r0, r0, #0x1			/* clear bit 0 */
     mcr	p15, 0, r0, c1, c0, 0		/* write value back */
 
-#ifdef SHAREABLE_DDR
-    /* Mark the entire DDR memory as shareable */
-    ldr	r3, =0x3ff			/* 1024 entries to cover 1G DDR */
-    ldr	r0, =TblBase			/* MMU Table address in memory */
-    ldr	r2, =0x15de6			/* S=b1 TEX=b101 AP=b11, Domain=b1111, C=b0, B=b1 */
-shareable_loop:
-    str	r2, [r0]			/* write the entry to MMU table */
-    add	r0, r0, #0x4			/* next entry in the table */
-    add	r2, r2, #0x100000		/* next section */
-    subs	r3, r3, #1
-    bge	shareable_loop			/* loop till 1G is covered */
-#endif
-
     mrs	r0, cpsr			/* get the current PSR */
     mvn	r1, #0x1f			/* set up the irq stack pointer */
     and	r2, r1, r0
@@ -175,6 +160,8 @@ shareable_loop:
     msr	cpsr, r2
     ldr	r13,=SYS_stack			/* SYS stack pointer */
 
+    bl init_mmu_table
+
     /*set scu enable bit in scu*/
     ldr	r7, =0xf8f00000
     ldr	r0, [r7]
@@ -184,8 +171,8 @@ shareable_loop:
     /* enable MMU and cache */
 
     ldr	r0,=TblBase			/* Load MMU translation table base */
-    orr	r0, r0, #0x5B			/* Outer-cacheable, WB */
+    /* orr	r0, r0, #0x5B		 Outer-cacheable, WB */
-    mcr	15, 0, r0, c2, c0, 0		/* TTB0 */
+    mcr	p15, 0, r0, c2, c0, 0		/* TTB0 */
 
     mvn	r0,#0				/* Load MMU domains -- all ones=manager */
     mcr	p15,0,r0,c3,c0,0

zynq-rt/src/mmu.rs

@@ -1 +1,341 @@
+//! The overview of translation table memory attributes is described below.
+//!
+//!|                       | Memory Range            | Definition in Translation Table   |
+//!|-----------------------|-------------------------|-----------------------------------|
+//!| DDR                   | 0x00000000 - 0x3FFFFFFF | Normal write-back Cacheable       |
+//!| PL                    | 0x40000000 - 0xBFFFFFFF | Strongly Ordered                  |
+//!| Reserved              | 0xC0000000 - 0xDFFFFFFF | Unassigned                        |
+//!| Memory mapped devices | 0xE0000000 - 0xE02FFFFF | Device Memory                     |
+//!| Reserved              | 0xE0300000 - 0xE0FFFFFF | Unassigned                        |
+//!| NAND, NOR             | 0xE1000000 - 0xE3FFFFFF | Device memory                     |
+//!| SRAM                  | 0xE4000000 - 0xE5FFFFFF | Normal write-back Cacheable       |
+//!| Reserved              | 0xE6000000 - 0xF7FFFFFF | Unassigned                        |
+//!| AMBA APB Peripherals  | 0xF8000000 - 0xF8FFFFFF | Device Memory                     |
+//!| Reserved              | 0xF9000000 - 0xFBFFFFFF | Unassigned                        |
+//!| Linear QSPI - XIP     | 0xFC000000 - 0xFDFFFFFF | Normal write-through cacheable    |
+//!| Reserved              | 0xFE000000 - 0xFFEFFFFF | Unassigned                        |
+//!| OCM                   | 0xFFF00000 - 0xFFFFFFFF | Normal inner write-back cacheable |
+//!
+//! For region 0x00000000 - 0x3FFFFFFF, a system where DDR is less than 1 GB,
+//! region after DDR and before PL is marked as undefined/reserved in translation
+//! table. In 0xF8000000 - 0xF8FFFFFF, 0xF8000C00 - 0xF8000FFF, 0xF8010000 -
+//! 0xF88FFFFF and 0xF8F03000 to 0xF8FFFFFF are reserved  but due to granual size
+//! of 1 MB, it is not possible to define separate regions for them. For region
+//! 0xFFF00000 - 0xFFFFFFFF, 0xFFF00000 to 0xFFFB0000 is reserved but due to 1MB
+//! granual size, it is not possible to define separate region for it.
+pub const OFFSET_DDR: usize = 0;
+pub const OFFSET_DDR_ALL_ACCESSIBLE: usize = 0x10_0000;
 
+pub const OFFSET_FPGA_SLAVE_0: usize = 0x4000_0000;
+pub const OFFSET_FPGA_SLAVE_1_START: usize = 0x8000_0000;
+pub const OFFSET_FPGA_SLAVE_1_END: usize = 0xC000_0000;
+
+pub const OFFSET_IO_PERIPHERALS_START: usize = 0xE000_0000;
+pub const OFFSET_IO_PERIPHERALS_END: usize = 0xE030_0000;
+
+pub const OFFSET_NAND_MEMORY: usize = 0xE100_0000;
+pub const OFFSET_NOR_MEMORY: usize = 0xE200_0000;
+pub const OFFSET_SRAM_MEMORY: usize = 0xE400_0000;
+pub const OFFSET_SMC_MEMORIES_END: usize = 0xE600_0000;
+
+/// 0xf8000c00 to 0xf8000fff, 0xf8010000 to 0xf88fffff and
+/// 0xf8f03000 to 0xf8ffffff are reserved  but due to granual size of
+/// 1MB, it is not possible to define separate regions for them.
+pub const OFFSET_AMBA_APB_START: usize = 0xF800_0000;
+pub const OFFSET_AMBA_APB_END: usize = 0xF900_0000;
+
+pub const OFFSET_QSPI_XIP_START: usize = 0xFC00_0000;
+pub const OFFSET_QSPI_XIP_END: usize = 0xFE00_0000;
+
+/// 0xfff00000 to 0xfffb0000 is reserved but due to granual size of
+/// 1MB, it is not possible to define separate region for it
+pub const OFFSET_OCM_MAPPED_HIGH_START: usize = 0xFFF0_0000;
+pub const OFFSET_OCM_MAPPED_HIGH_END: u64 = 0x1_0000_0000;
+
+pub const MAX_DDR_SIZE: usize = 0x4000_0000;
+pub const ONE_MB: usize = 0x10_0000;
+/// First 1 MB of DDR has special treatment, access is dependant on SCU/OCM state.
+/// Refer to Zynq TRM UG585 p.106 for more details.
+pub const SEGMENTS_DDR_FULL_ACCESSIBLE: usize = (MAX_DDR_SIZE - ONE_MB) / ONE_MB;
+pub const SEGMENTS_FPGA_SLAVE: usize = (OFFSET_FPGA_SLAVE_1_START - OFFSET_FPGA_SLAVE_0) / ONE_MB;
+pub const SEGMENTS_UNASSIGNED_0: usize =
+    (OFFSET_IO_PERIPHERALS_START - OFFSET_FPGA_SLAVE_1_END) / ONE_MB;
+pub const SEGMENTS_IO_PERIPHS: usize =
+    (OFFSET_IO_PERIPHERALS_END - OFFSET_IO_PERIPHERALS_START) / ONE_MB;
+pub const SEGMENTS_NAND: usize = (OFFSET_NOR_MEMORY - OFFSET_NAND_MEMORY) / ONE_MB;
+pub const SEGMENTS_NOR: usize = (OFFSET_SRAM_MEMORY - OFFSET_NOR_MEMORY) / ONE_MB;
+pub const SEGMENTS_SRAM: usize = (OFFSET_SMC_MEMORIES_END - OFFSET_SRAM_MEMORY) / ONE_MB;
+pub const SEGMENTS_UNASSIGNED_1: usize = (OFFSET_AMBA_APB_START - OFFSET_SMC_MEMORIES_END) / ONE_MB;
+pub const SEGMENTS_AMBA_APB: usize = (OFFSET_AMBA_APB_END - OFFSET_AMBA_APB_START) / ONE_MB;
+pub const SEGMENTS_UNASSIGNED_2: usize = (OFFSET_QSPI_XIP_START - OFFSET_AMBA_APB_END) / ONE_MB;
+pub const SEGMENTS_QSPI_XIP: usize = (OFFSET_QSPI_XIP_END - OFFSET_QSPI_XIP_START) / ONE_MB;
+pub const SEGMENTS_UNASSIGNED_3: usize =
+    (OFFSET_OCM_MAPPED_HIGH_START - OFFSET_QSPI_XIP_END) / ONE_MB;
+pub const SEGMENTS_OCM_MAPPED_HIGH: usize = ((OFFSET_OCM_MAPPED_HIGH_END
+    - OFFSET_OCM_MAPPED_HIGH_START as u64)
+    / ONE_MB as u64) as usize;
+
+#[derive(Debug, Copy, Clone)]
+#[repr(u8)]
+pub enum AccessPermissions {
+    PermissionFault = 0b000,
+    PrivilegedOnly = 0b001,
+    NoUserWrite = 0b010,
+    FullAccess = 0b011,
+    _Reserved1 = 0b100,
+    PrivilegedReadOnly = 0b101,
+    ReadOnly = 0b110,
+    _Reserved2 = 0b111,
+}
+
+impl AccessPermissions {
+    const fn ap(&self) -> u8 {
+        (*self as u8) & 0b11
+    }
+
+    const fn apx(&self) -> bool {
+        (*self as u8) > (AccessPermissions::FullAccess as u8)
+    }
+}
+
+#[derive(Debug, Copy, Clone)]
+#[repr(u8)]
+pub enum L1EntryType {
+    /// Access generates an abort exception. Indicates an unmapped virtual address.
+    Fault = 0b00,
+    /// Entry points to a L2 translation table, allowing 1 MB of memory to be further divided
+    PageTable = 0b01,
+    /// Maps a 1 MB region to a physical address.
+    Section = 0b10,
+    /// Special 1MB section entry which requires 16 entries in the translation table.
+    Supersection = 0b11,
+}
+
+/// 1 MB section translation entry, mapping a 1 MB region to a physical address.
+#[derive(Debug, Copy, Clone)]
+pub struct L1Section(u32);
+
+pub struct SectionAttributes {
+    /// NG bit
+    non_global: bool,
+    /// Implementation defined bit.
+    p_bit: bool,
+    shareable: bool,
+    /// AP bits
+    access: AccessPermissions,
+    /// Type EXtension bits. See Zynq 7000 TRM
+    type_extensions: u8,
+    domain: u8,
+    /// xN bit.
+    execute_never: bool,
+    /// C bit
+    cacheable: bool,
+    /// B bit
+    bufferable: bool,
+}
+
+impl L1Section {
+    /// The physical base address. The uppermost 12 bits define which 1 MB of virtual address
+    /// space are being accessed. They will be stored in the L1 section table. This address
+    /// MUST be aligned to 1 MB. This code will panic if this is not the case.
+    pub const fn new(phys_base: u32, section_attrs: SectionAttributes) -> Self {
+        // Must be aligned to 1 MB
+        if phys_base & 0x000F_FFFF != 0 {
+            panic!("physical base address for L1 section must be aligned to 1 MB");
+        }
+        let higher_bits = phys_base >> 20;
+        let raw = (higher_bits << 20)
+            | ((section_attrs.non_global as u32) << 17)
+            | ((section_attrs.shareable as u32) << 16)
+            | ((section_attrs.access.apx() as u32) << 15)
+            | ((section_attrs.type_extensions as u32) << 12)
+            | ((section_attrs.access.ap() as u32) << 10)
+            | ((section_attrs.p_bit as u32) << 9)
+            | ((section_attrs.domain as u32) << 5)
+            | ((section_attrs.execute_never as u32) << 4)
+            | ((section_attrs.cacheable as u32) << 3)
+            | ((section_attrs.bufferable as u32) << 2)
+            | L1EntryType::Section as u32;
+        L1Section(raw)
+    }
+}
+
+const SECTION_ATTRS_DDR: SectionAttributes = SectionAttributes {
+    non_global: false,
+    p_bit: false,
+    shareable: true,
+    access: AccessPermissions::FullAccess,
+    type_extensions: 0b101,
+    // Manager domain
+    domain: 0b1111,
+    execute_never: false,
+    cacheable: false,
+    bufferable: true,
+};
+const SECTION_ATTRS_FPGA_SLAVES: SectionAttributes = SectionAttributes {
+    non_global: false,
+    p_bit: false,
+    shareable: false,
+    access: AccessPermissions::FullAccess,
+    // Strongly ordered
+    type_extensions: 0b000,
+    domain: 0b0000,
+    execute_never: false,
+    cacheable: false,
+    bufferable: false,
+};
+const SECTION_ATTRS_SHAREABLE_DEVICE: SectionAttributes = SectionAttributes {
+    non_global: false,
+    p_bit: false,
+    shareable: false,
+    access: AccessPermissions::FullAccess,
+    type_extensions: 0b000,
+    domain: 0b0000,
+    execute_never: false,
+    cacheable: false,
+    bufferable: true,
+};
+const SECTION_ATTRS_SRAM: SectionAttributes = SectionAttributes {
+    non_global: false,
+    p_bit: false,
+    shareable: false,
+    access: AccessPermissions::FullAccess,
+    type_extensions: 0b000,
+    domain: 0b0000,
+    execute_never: false,
+    cacheable: true,
+    bufferable: true,
+};
+const SECTION_ATTRS_QSPI_XIP: SectionAttributes = SectionAttributes {
+    non_global: false,
+    p_bit: false,
+    shareable: false,
+    access: AccessPermissions::FullAccess,
+    type_extensions: 0b000,
+    domain: 0b0000,
+    execute_never: false,
+    cacheable: true,
+    bufferable: false,
+};
+const SECTION_ATTRS_OCM_MAPPED_HIGH: SectionAttributes = SectionAttributes {
+    non_global: false,
+    p_bit: false,
+    shareable: false,
+    access: AccessPermissions::FullAccess,
+    type_extensions: 0b100,
+    domain: 0b0000,
+    execute_never: false,
+    cacheable: true,
+    bufferable: true,
+};
+const SECTION_ATTRS_UNASSIGNED_RESERVED: SectionAttributes = SectionAttributes {
+    non_global: false,
+    p_bit: false,
+    shareable: false,
+    access: AccessPermissions::PermissionFault,
+    type_extensions: 0b000,
+    domain: 0b0000,
+    execute_never: false,
+    cacheable: false,
+    bufferable: false,
+};
+
+const NUM_L1_PAGE_TABLE_ENTRIES: usize = 4096;
+
+#[repr(C, align(16384))]
+pub struct L1Table([u32; NUM_L1_PAGE_TABLE_ENTRIES]);
+
+/// MMU Level 1 Page table.
+///
+/// 4096 entries, each covering 1MB
+///
+static mut MMU_L1_PAGE_TABLE: L1Table = L1Table([0; NUM_L1_PAGE_TABLE_ENTRIES]);
+
+#[unsafe(no_mangle)]
+pub unsafe extern "C" fn init_mmu_table() {
+    let mut offset = 0;
+    let mut addr = 0;
+
+    unsafe {
+        // The first entry (1 MB) is related to special DDR memory. See p.101 of the TMR.
+        // We set is separtely to accomodate for future changes.
+        MMU_L1_PAGE_TABLE.0[0] = L1Section::new(addr, SECTION_ATTRS_DDR).0;
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_DDR_FULL_ACCESSIBLE] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_DDR).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_DDR_FULL_ACCESSIBLE;
+
+        // 2 FPGA slaves.
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_FPGA_SLAVE * 2] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_FPGA_SLAVES).0;
+            addr += ONE_MB as u32;
+        }
+        offset += 2 * SEGMENTS_FPGA_SLAVE;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_UNASSIGNED_0] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_UNASSIGNED_RESERVED).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_UNASSIGNED_0;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_IO_PERIPHS] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_SHAREABLE_DEVICE).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_IO_PERIPHS;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_NAND] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_SHAREABLE_DEVICE).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_NAND;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_NOR] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_SHAREABLE_DEVICE).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_NOR;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_SRAM] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_SRAM).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_SRAM;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_UNASSIGNED_1] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_UNASSIGNED_RESERVED).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_UNASSIGNED_1;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_AMBA_APB] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_SHAREABLE_DEVICE).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_AMBA_APB;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_UNASSIGNED_2] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_UNASSIGNED_RESERVED).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_UNASSIGNED_2;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_QSPI_XIP] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_QSPI_XIP).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_QSPI_XIP;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_UNASSIGNED_3] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_UNASSIGNED_RESERVED).0;
+            addr += ONE_MB as u32;
+        }
+        offset += SEGMENTS_UNASSIGNED_3;
+
+        for entry in &mut MMU_L1_PAGE_TABLE.0[offset..offset + SEGMENTS_OCM_MAPPED_HIGH] {
+            *entry = L1Section::new(addr, SECTION_ATTRS_OCM_MAPPED_HIGH).0;
+            addr += ONE_MB as u32;
+        }
+    }
+}