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jonlamb-ghjonlamb-gh
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* Add example M4 firmware stored in the A9 elf file as CPIO archive * Update README * Rename directories, update README * Update libsel4-sys, cleanup warnings
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‎Cargo.lock

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‎Cargo.toml

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@@ -7,6 +7,7 @@ authors = ["jonlamb-gh <[email protected]>"]
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# tracked as a submodule currently
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#libsel4-sys = {git = "https://github.com/jonlamb-gh/libsel4-sys.git", branch = "devel"}
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libsel4-sys = {path = "libsel4-sys"}
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rlibc = "1.0"
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[dependencies.wee_alloc]
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version = "0.4"

‎README.md

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@@ -10,9 +10,27 @@ It first initializes the system, then runs a separate Rust application on the M4
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## Building
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Note that the L2 cache memory is currently defined as OCRAM for the M4 core.
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Modify U-boot environment:
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```bash
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# default loadaddr
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loadaddr=0x82000000
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# move it up a bit so we don't overlap with the elf-loader
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setenv loadaddr 0x83000000
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# boot alias command
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setenv bootfel4img 'tftp ${loadaddr} ${serverip}:feL4img; dcache flush; dcache off; go ${loadaddr}'
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```
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Apply local patches to convert the imx6/sabre-lite platform into something the SoloX will run.
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```bash
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./scripts/apply-patches
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# a build.rs script is used to invoke the 'm4-firmware' project build
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cargo fel4 build
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```
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‎build.rs

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use std::process::Command;
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fn main() {
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// Instead of a dependency on the project, invoke its build manually.
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// Needed because they are different targets.
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Command::new("./build")
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.current_dir("m4-firmware/")
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.output()
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.expect("Failed to run M4 build script");
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println!("cargo:rerun-if-changed=m4-firmware");
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println!("cargo:rerun-if-changed=m4-firmware");
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println!("cargo:rustc-link-search=native=m4-firmware/target/thumbv7em-none-eabi/release");
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println!("cargo:rustc-link-lib=static=m4archive");
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}

‎fel4.toml

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@@ -114,12 +114,13 @@ KernelPrinting = false
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[armv7-sel4-fel4.sabre]
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KernelARMPlatform = "sabre"
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ElfloaderImage = "elf"
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ElfloaderImage = "binary"
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ElfloaderMode = "secure supervisor"
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ElfloaderErrata764369 = true
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KernelArmEnableA9Prefetcher = false
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KernelArmExportPMUUser = false
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KernelDebugDisableL2Cache = false
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# L2 cache memory is currently defined as OCRAM for the M4
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KernelDebugDisableL2Cache = true
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[aarch64-sel4-fel4]
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BuildWithCommonSimulationSettings = true

‎libsel4-sys

‎m4-firmware/.cargo/config

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[target.thumbv7em-none-eabi]
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runner = 'arm-none-eabi-gdb'
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rustflags = [
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"-C", "link-arg=-Wl,-Tlink.x",
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"-C", "link-arg=-nostartfiles",
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"-C", "target-cpu=cortex-m4",
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"-C", "target-feature=+vfp2",
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# uncomment to use rustc LLD to link programs (a)
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# "-C", "link-arg=-Tlink.x",
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# "-C", "linker=lld",
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# "-Z", "linker-flavor=ld.lld",
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]
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# (a) you also need to comment out the other two `link-arg` lines. But note that as of v0.6.0 LLD
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# has a bug where it mislinks FFI calls and they up crashing the program at runtime
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[build]
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target = "thumbv7em-none-eabi"

‎m4-firmware/.gitignore

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target/
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m4-build-result.txt

‎m4-firmware/Cargo.lock

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‎m4-firmware/Cargo.toml

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[package]
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name = "m4-firmware"
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version = "0.0.1"
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publish = false
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[dependencies]
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cortex-m = "0.5.2"
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cortex-m-rt = "0.5.1"
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panic-abort = "0.2.0"
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[profile.release]
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codegen-units = 1 # better optimizations
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debug = true
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lto = true # better optimizations

‎m4-firmware/build

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#!/usr/bin/env bash
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set -e
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if [ -f /opt/arm-none-eabi-v7/env ]; then
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echo "Sourcing custom toolchain"
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source /opt/arm-none-eabi-v7/env
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fi
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# unset some of cargo's environment since we're building for a different
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# target
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unset RUSTFLAGS
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unset RUST_TARGET_PATH
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unset TARGET
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cargo build --target thumbv7em-none-eabi --release &> m4-build-result.txt
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if [ ! -f ${PWD}/target/thumbv7em-none-eabi/release/m4-firmware ]; then
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echo "Failed to build the Rust M4 project"
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exit 1
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fi
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#export V=3
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export PLAT=imx6
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export SEL4_ARCH=aarch32
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export TOOLPREFIX=arm-none-eabi-
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# create a binary from the ELF file
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arm-none-eabi-objcopy -O binary \
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${PWD}/target/thumbv7em-none-eabi/release/m4-firmware \
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${PWD}/target/thumbv7em-none-eabi/release/m4-firmware.bin
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# create a CPIO archive object from our binary
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../libsel4-sys/deps/seL4_tools/common-tool/files_to_obj.sh \
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${PWD}/target/thumbv7em-none-eabi/release/archive.o \
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_cpio_archive \
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${PWD}/target/thumbv7em-none-eabi/release/m4-firmware.bin
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# turn the CPIO archive object into a static archive library
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arm-none-eabi-ar \
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rcs \
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${PWD}/target/thumbv7em-none-eabi/release/libm4archive.a \
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${PWD}/target/thumbv7em-none-eabi/release/archive.o
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echo "ELF file: ${PWD}/target/thumbv7em-none-eabi/release/m4-firmware"
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echo "binary file: ${PWD}/target/thumbv7em-none-eabi/release/m4-firmware.bin"
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echo "CPIO archive object: ${PWD}/target/thumbv7em-none-eabi/release/archive.o"
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echo "static archive library: ${PWD}/target/thumbv7em-none-eabi/release/libm4archive.a"
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exit 0

‎m4-firmware/memory.x

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/* TODO - still need to tune this up, probably should define _stext and stack/heap bits */
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MEMORY
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{
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/* NOTE K = KiBi = 1024 bytes */
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/* TCM configuration */
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/* TCM(L) region for code, and the TCM(U) region for data */
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/* FLASH in TCM(L) at 0x1FFF_8000 (alias 0x0000_0000), this is 0x007F_8000 from the A9 */
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/* RAM in TCM(U) at 0x2000_0000, this is 0x0080_0000 from the A9 */
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FLASH (rx) : ORIGIN = 0x1FFF8000, LENGTH = 32K
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RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 32K
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/* OCRAM configuration */
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/* TODO - reference has 32K but TRM says 128 KB, should we then have L=128/2=64K */
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/* FLASH in OSCRAM at 0x0091_0000 (upper half of region), this is 0x0091_0000 from the A9 */
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/* RAM in TCM(U) at 0x2000_0000, this is 0x0080_0000 from the A9 */
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/* FLASH (rx) : ORIGIN = 0x00910000, LENGTH = 32K */
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/* RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 32K */
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/* DDR configuration */
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/* FLASH in DDR at 0x9FF0_0000, this is 0x9FF0_0000 from the A9 */
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/* RAM in TCM(U) at 0x2000_0000, this is 0x0080_0000 from the A9 */
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/* FLASH (rx) : ORIGIN = 0x9FF00000, LENGTH = 1024K */
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/* RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 32K */
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}
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/* This is where the call stack will be allocated. */
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/* The stack is of the full descending type. */
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/* You may want to use this variable to locate the call stack and static
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variables in different memory regions. Below is shown the default value */
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/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
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/* You can use this symbol to customize the location of the .text section */
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/* If omitted the .text section will be placed right after the .vector_table
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section */
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/* This is required only on microcontrollers that store some configuration right
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after the vector table */
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/* _stext = ORIGIN(FLASH) + 0x400; */
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/* Size of the heap (in bytes) */
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/* _heap_size = 1024; */

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