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

Ben Gras beng at shrike-systems.com
Mon Nov 3 21:06:10 UTC 2014 

All,


Joel merged these and I updated my blog post to reflect the mainline repo.
Thanks Joel!

On Mon, Nov 3, 2014 at 8:40 PM, Ben Gras <beng at shrike-systems.com> wrote:

> All,
>
> I have new patches with some last-minute smoothings added; removed
> obsolete beagle.cfg, TODO, and separated the more generic ARM headers into
> a separate commit. The new 3 commits are attached (and in my RTEMS github
> repo).
>
> Gedare, there is also a diff w.r.t. the previous submission attached as
> requested.
>
>
>
> On Mon, Nov 3, 2014 at 3:01 PM, Gedare Bloom <gedare at rtems.org> wrote:
>
>> Hi,
>>
>> I don't have time to review, but am OK in principle with committing
>> this code as it is tested, with the caveat that my previous comments
>> be addressed post-merge.
>>
>> If you have a diff / commits on top of what you sent before, I'd be
>> glad to give those a quick look.
>>
>> Thanks for your contribution!
>> Gedare
>>
>> On Mon, Nov 3, 2014 at 7:20 AM, Ben Gras <beng at shrike-systems.com> wrote:
>> > All,
>> >
>> > Ok, as promised, I rebased and re-tested and have found & included a
>> > portable way of making the SD card image (included in sdcard.sh), to be
>> > merged with RSB (i.e. some of the tools sdcard.sh relies on are missing
>> in
>> > mainline RSB). Some of Gedare's initial feedback is processed thanks to
>> > Brandon Matthews. It's tested to run on the original beaglebone,
>> beaglebone
>> > black and qemu linaro. (The assumption is it'll run on the bbxm
>> hardware as
>> > well as it was before rebasing.)
>> >
>> > The result is split into 2 patches to show what was Claas's initial
>> work.
>> > This makes them a bit unreadable for the final result from the patches
>> > unfortunately.
>> >
>> > As before, see
>> >
>> http://www.shrike-systems.com/beagleboard-xm-beaglebone-black-and-everything-else-rtems-on-the-beagles.html
>> > on how to build all the tools, RTEMS executables, sdcard images, and
>> run the
>> > test set from linaro qemu.
>> >
>> >
>> >
>> > On Sat, Aug 30, 2014 at 5:50 PM, Ben Gras <beng at shrike-systems.com>
>> wrote:
>> >>
>> >> All,
>> >>
>> >> OK, that seems like a fruitful way to proceed to me.
>> >>
>> >> Then I will do some minor cleanups, rebase, do all the tests again, and
>> >> re-submit. There's just one problem I know of that I want to fix
>> before the
>> >> first commit happens, and that is that the FAT fs made by mtools
>> doesn't
>> >> boot on the HW it seems. (It does on the emulator.) A last-minute
>> change -
>> >> switching to mtools instead of dosfstools to use to make the SD card
>> image
>> >> because the latter is so linux-only.
>> >>
>> >> Stay tuned.
>> >>
>> >>
>> >>
>> >>
>> >> On Wed, Aug 20, 2014 at 4:20 PM, Gedare Bloom <gedare at rtems.org>
>> wrote:
>> >>>
>> >>> Ben, As far as getting this merged, all of my comments can be done as
>> >>> a follow-on commit. -Gedare
>> >>>
>> >>> On Thu, Jul 24, 2014 at 4:28 PM, Ben Gras <beng at shrike-systems.com>
>> >>> wrote:
>> >>> > Thanks for the fast & detailed review. Let me get back to it/you.
>> >>> >
>> >>> > In the meantime, any other feedback? From anyone I mean.
>> >>> >
>> >>> >
>> >>> >
>> >>> > On Thu, Jul 24, 2014 at 4:45 PM, Gedare Bloom <gedare at rtems.org>
>> wrote:
>> >>> >>
>> >>> >> 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
>> >>> >> burden.
>> >>> >>
>> >>> >> +++ 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
>> >>> >> [...]
>> >>> >> open:
>> >>> >> + . 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
>> >>> >> conditions.
>> >>> >>
>> >>> >> +static inline uint32_t
>> beagle_clock_nanoseconds_since_last_tick(void)
>> >>> >> +  return (read_frc() - (uint64_t) last_tick_nanoseconds) *
>> 1000000000
>> >>> >> / FRCLOCK_HZ;
>> >>> >> 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
>> >>> >> *)(BSP_CONSOLE_UART_BASE+0x14))
>> >>> >> 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?
>> >>> >>
>> >>> >> +    if ((CONSOLE_LSR & (CONSOLE_LSR_THRE | CONSOLE_LSR_TEMT)) ==
>> >>> >> CONSOLE_LSR_THRE) {
>> >>> >> Again > 80 characters. Is the test logically equivalent to: if (
>> >>> >> (CONSOLE_LSR & CONSOLE_LSR_THRE) == CONSOLE_LSR_THRE)
>> >>> >>
>> >>> >> +    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
>> >>> >> defines, and CLKSEL_TIMER1MS_CLK_SEL_SEL5.
>> >>> >>
>> >>> >> +#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,
>> >>> >> OMAP3_SYSCONFIG_AUTOIDLE);
>> >>> >> 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
>> >>> >> b/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
>> >>> >> b/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.
>> >>> >>
>> >>> >> -Gedare
>> >>> >>
>> >>> >> 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.
>> >>> >> >
>> >>> >> >
>> >>> >> >
>> >>> >> >
>> >>> >> > _______________________________________________
>> >>> >> > devel mailing list
>> >>> >> > devel at rtems.org
>> >>> >> > http://lists.rtems.org/mailman/listinfo/devel
>> >>> >
>> >>> >
>> >>
>> >>
>> >
>>
>
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.rtems.org/pipermail/devel/attachments/20141103/8923b700/attachment-0002.html>

More information about the devel mailing list