add aarch64 bootloader framework

.gitignore

@@ -4,6 +4,7 @@ target
 
 Cargo.lock
 !kernel/Cargo.lock
+!bootloader/Cargo.lock
 !user/Cargo.lock
 
 .DS_Store

bootloader/Cargo.lock

@@ -0,0 +1,6 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+[[package]]
+name = "rcore-bootloader"
+version = "0.1.0"
+

bootloader/Cargo.toml

@@ -0,0 +1,7 @@
+[package]
+name = "rcore-bootloader"
+version = "0.1.0"
+authors = ["equation314 <equation618@gmail.com>"]
+edition = "2018"
+
+[dependencies]

bootloader/Makefile

@@ -0,0 +1,20 @@
+arch ?= aarch64
+mode ?= debug
+target := $(arch)
+
+bootloader := target/$(target)/$(mode)/rcore-bootloader
+
+build_args := --target=targets/$(arch).json
+ifeq ($(mode), release)
+build_args += --release
+endif
+
+.PHONY: all clean
+
+all: $(bootloader)
+
+$(bootloader):
+	@cargo xbuild $(build_args)
+
+clean:
+	@cargo clean

bootloader/src/arch/aarch64/boot.S

@@ -1,8 +1,9 @@
 # TODO rewrite in Rust, use crate cortex-a
 
 .section .text.boot
+.globl _start
 
-boot:
+_start:
     # read cpu affinity, start core 0, halt rest
     mrs     x1, mpidr_el1
     and     x1, x1, #3
@@ -104,11 +105,7 @@ zero_bss_loop:
     cbnz    x2, zero_bss_loop
 
 zero_bss_loop_end:
-    b       _start
-
-.section .text.entry
-.globl _start
-_start:
     # jump to rust_main, which shouldn't return. halt if it does
-    bl      rust_main
+    mov     x9, #0x100000
+    blr     x9
     b       halt

bootloader/src/arch/aarch64/boot.ld

@@ -0,0 +1,45 @@
+ENTRY(_start)
+
+SECTIONS {
+  . = 0x80000; /* Raspbery Pi 3 AArch64 (kernel8.img) load address */
+
+  .text : {
+    stext = .;
+    KEEP(*(.text.boot)) /* from boot.S */
+    *(.text .text.* .gnu.linkonce.t*)
+    . = ALIGN(4K);
+    etext = .;
+  }
+
+  .rodata : {
+    srodata = .;
+    *(.rodata .rodata.* .gnu.linkonce.r*)
+    . = ALIGN(4K);
+    erodata = .;
+  }
+
+  .data : {
+    sdata = .;
+    *(.data .data.* .gnu.linkonce.d*)
+    . = ALIGN(4K);
+    edata = .;
+  }
+
+  .bss (NOLOAD) : {
+    . = ALIGN(32);
+    sbss = .;
+    *(.bss .bss.*)
+    *(COMMON)
+    . = ALIGN(4K);
+    ebss = .;
+  }
+
+  /* end of the binary */
+  _end = ALIGN(8);
+
+  /* number of bytes in BSS section and complete binary */
+  __bss_length = (ebss - sbss);
+  __binary_length = (_end - _start);
+
+  /DISCARD/ : { *(.comment) *(.gnu*) *(.note*) *(.eh_frame*) }
+}

bootloader/src/arch/aarch64/mod.rs

@@ -0,0 +1 @@
+global_asm!(include_str!("boot.S"));

bootloader/src/main.rs

@@ -0,0 +1,15 @@
+#![no_std]
+#![no_main]
+#![feature(global_asm)]
+
+use core::panic::PanicInfo;
+
+#[panic_handler]
+#[no_mangle]
+pub extern "C" fn panic(_info: &PanicInfo) -> ! {
+    loop {}
+}
+
+#[cfg(target_arch = "aarch64")]
+#[path = "arch/aarch64/mod.rs"]
+pub mod arch;

bootloader/targets/aarch64.json

@@ -0,0 +1,36 @@
+{
+  "abi-blacklist": [
+    "stdcall",
+    "fastcall",
+    "vectorcall",
+    "thiscall",
+    "win64",
+    "sysv64"
+  ],
+  "arch": "aarch64",
+  "data-layout": "e-m:e-i8:8:32-i16:16:32-i64:64-i128:128-n32:64-S128",
+  "executables": true,
+  "linker": "rust-lld",
+  "linker-flavor": "ld.lld",
+  "linker-is-gnu": true,
+  "pre-link-args": {
+    "ld.lld": [
+      "-Tsrc/arch/aarch64/boot.ld"
+    ]
+  },
+  "llvm-target": "aarch64-unknown-none",
+  "no-compiler-rt": true,
+  "features": "+a53,+strict-align,-neon",
+  "max-atomic-width": 128,
+  "os": "none",
+  "panic": "abort",
+  "panic-strategy": "abort",
+  "relocation-model": "static",
+  "position-independent-executables": true,
+  "target-c-int-width": "32",
+  "target-endian": "little",
+  "target-pointer-width": "64",
+  "target-family": "unix",
+  "disable-redzone": true,
+  "eliminate-frame-pointer": false
+}

kernel/Cargo.toml

@@ -27,9 +27,9 @@ board_u540 = ["sv39"]
 # (for aarch64 RaspberryPi3)
 nographic = []
 board_raspi3 = ["bcm2837", "link_user"]
+raspi3_use_generic_timer = ["bcm2837/use_generic_timer"]
 # (for riscv64)
 board_k210 = ["m_mode"]
-raspi3_use_generic_timer = ["bcm2837/use_generic_timer"]
 # Hard link user program
 link_user = []
 

kernel/Makefile

@@ -32,8 +32,12 @@ m_mode ?=
 
 target := $(arch)
 kernel := target/$(target)/$(mode)/rcore
-bin := target/$(target)/$(mode)/kernel.bin
+boot_bin := target/$(target)/$(mode)/boot.bin
+kernel_bin := target/$(target)/$(mode)/kernel.bin
+kernel_img := target/$(target)/$(mode)/kernel.img
 bootimage := target/$(target)/bootimage.bin
+bootloader_dir = ../bootloader
+bootloader := $(bootloader_dir)/target/$(target)/$(mode)/rcore-bootloader
 bbl_path := $(PWD)/../riscv-pk
 user_dir := ../user
 k210_lib := ../tools/k210/libkendryte.a
@@ -53,9 +57,7 @@ endif
 export M_MODE = $(m_mode)
 
 ifeq ($(arch), aarch64)
-graphic ?= on
-else
-graphic ?= off
+graphic := on
 endif
 
 ### qemu options ###
@@ -76,7 +78,7 @@ qemu_net_opts += \
 else ifeq ($(arch), riscv32)
 qemu_opts += \
 	-machine virt \
-	-kernel $(bin) \
+	-kernel $(kernel_img) \
 	-drive file=$(SFSIMG),format=raw,id=sfs \
 	-device virtio-blk-device,drive=sfs
 qemu_net_opts += \
@@ -89,7 +91,7 @@ endif
 else ifeq ($(arch), riscv64)
 qemu_opts += \
 	-machine virt \
-	-kernel $(bin) \
+	-kernel $(kernel_img) \
 	-drive file=$(SFSIMG),format=raw,id=sfs \
 	-device virtio-blk-device,drive=sfs
 qemu_net_opts += \
@@ -103,7 +105,7 @@ else ifeq ($(arch), aarch64)
 qemu_opts += \
 	-machine $(board) \
 	-serial null -serial mon:stdio \
-	-kernel $(bin)
+	-kernel $(kernel_img)
 endif
 
 ifdef d
@@ -170,7 +172,7 @@ objdump := $(prefix)objdump
 objcopy := $(prefix)objcopy
 cc := $(prefix)gcc
 as := $(prefix)as
-gdb := gdb
+gdb := $(prefix)gdb
 export CC=$(cc)
 
 .PHONY: all clean run build asm doc justrun debug kernel sfsimg install runnet
@@ -179,6 +181,7 @@ all: kernel
 
 clean:
 	@cargo clean
+	@cd $(bootloader_dir) && make clean
 	@cd $(user_dir) && make clean
 
 doc:
@@ -199,12 +202,12 @@ justrunui: build
 		-device virtio-gpu-device \
 		-device virtio-mouse-device
 
-debug: $(kernel) $(bin)
+debug: $(kernel) $(kernel_img)
 	@qemu-system-$(arch) $(qemu_opts) -s -S &
 	@sleep 1
 	@$(gdb) $(kernel) -x ../tools/gdbinit
 
-build: $(bin)
+build: $(kernel_img)
 
 asm:
 	@$(objdump) -dS $(kernel) | less
@@ -215,7 +218,13 @@ header:
 sym:
 	@$(objdump) -t $(kernel) | less
 
-$(bin): kernel
+$(bootloader):
+ifeq ($(arch), aarch64)
+	@echo Building $(arch) bootloader
+	cd $(bootloader_dir) && make arch=$(arch) mode=$(mode)
+endif
+
+$(kernel_img): $(bootloader) kernel
 ifeq ($(arch), riscv32)
 	@mkdir -p target/$(target)/bbl && \
 	cd target/$(target)/bbl && \
@@ -243,10 +252,14 @@ else
 	cp bbl $(abspath $@)
 endif
 else ifeq ($(arch), aarch64)
-	@$(objcopy) $(kernel) --strip-all -O binary $@
+	@$(objcopy) $(bootloader) --strip-all -O binary $(boot_bin)
+	@$(objcopy) $(kernel) --strip-all -O binary $(kernel_bin)
+	dd if=$(boot_bin) of=$@ conv=notrunc
+	dd if=$(kernel_bin) of=$@ seek=1024 conv=notrunc
 endif
 
 kernel:
+	@echo Building $(arch) kernel
 ifeq ($(arch), x86_64)
 	@bootimage build $(build_args)
 else ifeq ($(arch), riscv32)
@@ -287,8 +300,8 @@ endif
 
 ifdef sd_card
 .PHONY:
-install: $(bin)
-	cp $(bin) $(sd_card)/kernel8.img
+install: $(kernel_img)
+	cp $(kernel_img) $(sd_card)/kernel8.img
 	sudo umount $(sd_card)
 endif
 
@@ -296,9 +309,9 @@ endif
 
 ifeq ($(board), k210)
 .PHONY:
-install: $(bin)
+install: $(kernel_img)
 	## baudrate no more than 600000
-	@python3 ../tools/k210/kflash.py $(bin) -b 600000
+	@python3 ../tools/k210/kflash.py $(kernel_img) -b 600000
 endif
 
 .PHONY:

kernel/src/arch/aarch64/entry.S

@@ -0,0 +1,21 @@
+.section .text.entry
+.globl _start
+
+_start:
+    ldr     x0, =bootstacktop
+    mov     sp, x0
+
+zero_bss:
+    # load the start address and number of bytes in BSS section
+    ldr     x1, =sbss
+    ldr     x2, =__bss_length
+
+zero_bss_loop:
+    # zero out the BSS section, 64-bits at a time
+    cbz     x2, zero_bss_loop_end
+    str     xzr, [x1], #8
+    sub     x2, x2, #8
+    cbnz    x2, zero_bss_loop
+
+zero_bss_loop_end:
+    bl      rust_main

kernel/src/arch/aarch64/linker.ld

@@ -1,12 +1,6 @@
 ENTRY(_start)
 
 SECTIONS {
-  . = 0x80000; /* Raspbery Pi 3 AArch64 (kernel8.img) load address */
-
-  .boot : {
-    KEEP(*(.text.boot)) /* from boot.S */
-  }
-
   . = 0x100000; /* Load the kernel at this address. It's also kernel stack top address */
   bootstacktop = .;
 

kernel/src/arch/aarch64/mod.rs

@@ -12,7 +12,7 @@ pub mod driver;
 #[path = "board/raspi3/mod.rs"]
 pub mod board;
 
-global_asm!(include_str!("boot/boot.S"));
+global_asm!(include_str!("entry.S"));
 
 /// The entry point of kernel
 #[no_mangle] // don't mangle the name of this function

kernel/targets/aarch64.json

@@ -15,7 +15,7 @@
   "linker-is-gnu": true,
   "pre-link-args": {
     "ld.lld": [
-      "-Tsrc/arch/aarch64/boot/linker.ld"
+      "-Tsrc/arch/aarch64/linker.ld"
     ]
   },
   "llvm-target": "aarch64-unknown-none",