[PATCH] (2 commits squashed into one) Beagle BSP for review

Gedare Bloom gedare at rtems.org
Thu Jul 24 14:45:10 UTC 2014

Hi Ben,
Great work. I have a few comments. I skipped the i2c.h and i2c.c
files. Most of my comments are about style and a few requests to
refactor some of the larger files. The refactoring can be added to
your TODO if you like. Please fix the style issues if it is not a

+++ b/c/src/lib/libbsp/arm/beagle/README
+$ ../claas-rtems/configure --target=arm-rtems4.11
--enable-rtemsbsp="beaglebonewhite beagleboardxm"
Replace claas-rtems with rtems. If RSB support is available, make a
note about it.

+++ b/c/src/lib/libbsp/arm/beagle/TODO
+ . how to handle the interrupt?

What does this mean?

+++ b/c/src/lib/libbsp/arm/beagle/clock.c
Why is the entire file ifdef'd on ARM_MULTILIB_ARCH_V4?

It might be sensible to put the struct definitions in a .h file if
these omap registers might be re-usable.

+static struct omap_timer_registers regs_v2 = {
This might be better to put behind an #if IS_AM335X since it is not
used otherwise?

Avoid more than one blank line in a row.

+static int done = 0;
It would be nice if you got rid of this, but otherwise give it a more
useful name like "mmio_init_done"

+static void beagle_clock_handler_install(rtems_interrupt_handler isr)
+  if (sc != RTEMS_SUCCESSFUL) {
+    rtems_fatal_error_occurred(0xdeadbeef);
I think there is some capabilities in ARM for bsp fatal error codes
now. They should be preferred to be used to help debug these fatal

+static inline uint32_t beagle_clock_nanoseconds_since_last_tick(void)
+  return (read_frc() - (uint64_t) last_tick_nanoseconds) * 1000000000
This line is > 80 characters, please break it or shrink it.

+++ b/c/src/lib/libbsp/arm/beagle/console/console-config.c
+#define CONSOLE_UART_LSR (*(volatile unsigned int
Line > 80 characters, even with the spacing modified.

+static void beagle_console_init(void)

+    while ((CONSOLE_SYSS & 1) == 0)
+      ;
Is this a fatal loop or is it waiting for hardware to clear something?

Again > 80 characters. Is the test logically equivalent to: if (

+    while ((CONSOLE_LSR & CONSOLE_LSR_TEMT) == 0)
+      ;
Is this a fatal loop or is it waiting for hardware?

+++ b/c/src/lib/libbsp/arm/beagle/include/bsp.h
This bsp.h is really long. Probably it should be refactored into other
headers, including non-public ones.

+static inline void dsb(void)
+        asm volatile("dsb" : : : "memory");
Fix the indentation.

+static inline void flush_data_cache(void)
Perhaps this should be using _CPU_cache_flush_entire_data()? Perhaps
there is a difference in that the cache manager code flushes and
"cleans" the cache...

Excess newlines. Done a few places in this file.

The comments following the defines for various AM33X_INT_ values go
off the end of the 80 column character width. Same for some other
comments following defines for OMAP3_TIMER, AM33X_DMTIMER1, and
AM335X_TIMER_. And further below for the CM_ WKUP and CM_PER_TIMER7

+#define OMAP3_TCLR_AR       (1 << 1)  /* Autoreload or one-shot mode */
+#define OMAP3_TCLR_PRE      (1 << 5)  /* Prescaler on */
+#define OMAP3_TCLR_PTV      2
This PTV is odd compared to the other defines here. Is it 2 == (1<<1),
or is there a typo here?

Tabs are used in the OMAP3_CM_ defines, it should be space characters.
Also tabs are used in the read/write actlr, ttbcr, dacr, rrbr0
functions and the refresh_tlb function.

+/* i2c stuff */
+typedef struct {
+} beagle_i2c;
Shouldn't this go in beagle/include/i2c.h?

All of this mmu handling code should be refactored. Where possible, it
should use the existing code in arm-cp15.h

+++ b/c/src/lib/libbsp/arm/beagle/include/i2c.h
This header defines static, non-inline functions. This doesn't make sense.

+++ b/c/src/lib/libbsp/arm/beagle/irq.c
+static int irqs_enabled[BSP_INTERRUPT_VECTOR_MAX+1];
This is an array of 512 bytes. You could use a bit vector comprising 4
unsigned ints for the same purpose.

+volatile static int level = 0;
Unused variable?

+static uint32_t get_mir_reg(int vector, uint32_t *mask)
+  if(vector <   0) while(1) ;
Make this a fatal error?

+  if(vector <  32) return OMAP3_INTCPS_MIR0;
+  if(vector <  32) return OMAP3_INTCPS_MIR0;
duplicate code.

+  while(1) ;
Make this a fatal error?

+rtems_status_code bsp_interrupt_facility_initialize(void)
+  mmio_write(omap_intr.base + OMAP3_INTCPS_SYSCONFIG,
Line length > 80.

+++ b/c/src/lib/libbsp/arm/beagle/startup/bspstartmmu.c

+//static uint32_t pagetable[ARM_SECTIONS] __attribute__((aligned (1024*16)));
commented-out.. delete it?

+BSP_START_TEXT_SECTION void beagle_setup_mmu_and_cache(void)
__attribute__ ((weak));
More than 80 characters.

diff --git a/c/src/lib/libbsp/bfin/acinclude.m4
index ab6082e..828fd89 100644
--- a/c/src/lib/libbsp/bfin/acinclude.m4
+++ b/c/src/lib/libbsp/bfin/acinclude.m4
diff --git a/c/src/lib/libbsp/powerpc/acinclude.m4
index 6442399..e46fa2b 100644
--- a/c/src/lib/libbsp/powerpc/acinclude.m4
+++ b/c/src/lib/libbsp/powerpc/acinclude.m4
Don't include these changes. Check your tool versions, and if the
correct version of tools does this, provide a separate patch for
generated files.


On Wed, Jul 23, 2014 at 9:00 PM, Ben Gras <beng at shrike-systems.com> wrote:
> All,
> Full details on how to reproduce all the work from source repositories to
> scripts & utilities to write a complete sd card booting RTEMS and test the
> whole thing:
> http://www.shrike-systems.com/beagleboard-xm-beaglebone-black-and-everything-else-rtems-on-the-beagles.html
> I am submitting the attached patch for review for merging. If accepted for
> merging, please use the top two commits on
> https://github.com/bengras/rtems/tree/beaglebone-wip
> which have the same net effect but preserve Claas' work because of the
> earlier commit. The squashed version attached is for more convenient review.
> I was ironing out more wrinkles but given recent interest it seems smarter
> to merge sooner and keep polishing from mainline. Nevertheless I have put a
> lot of work into getting it into good shape already.
> I have rebased everything on the very latest master and verified
> That building all the tools and utilities from scratch work, using the RTEMS
> Source Builder repository (Ubuntu + FreeBSD).
> That building the beaglebone and bbxm BSPs and linking them with all the
> testsuite programs works (Ubuntu + FreeBSD).
> That the beaglexm-emulating linaro qemu executes all of those tests
> properly, invoked using a single command line with the scripts in the RTEMS
> tools repository, even though not all pass currently (Ubuntu + FreeBSD).
> That loading & running over JTAG works, both interactively with gdb and in a
> batch using gdb and the test runner.
> That running RTEMS executables using u-boot on the beaglebones from sd card
> work; both with and without MMU enabled at RTEMS start time.
> That Claas' earlier commit builds.
> Thanks so far to Chris and Brandon for help, support, instructions and
> advice in various forms :)
> Test results on qemu:
> Passed:   497 Failed:     3 Timeouts:   1 Invalid:    0
> The test results on bbxm over jtag (older):
> Passed:   475 Failed:     7 Timeouts:  10 Invalid:    0
> I want to iron out more wrinkles and build support (ethernet) but giving the
> bsp more exposure and having it in mainline so i don't have to keep rebasing
> & testing would be nice at this point.
> _______________________________________________
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