[PATCH] (2 commits squashed into one) Beagle BSP for review
Ben Gras
beng at shrike-systems.com
Mon Nov 3 21:28:51 UTC 2014
Indeed. I did right away verify I can build & run & test everything for the
beaglebones and the bbxm from mainline. So that seems to have gone fine.
The supporting tools and RSB stuff I am in contact with Chris about.
On Mon, Nov 3, 2014 at 10:23 PM, Joel Sherrill <joel.sherrill at oarcorp.com>
wrote:
>
> On 11/3/2014 3:06 PM, Ben Gras wrote:
>
> All,
>
>
> Joel merged these and I updated my blog post to reflect the mainline
> repo. Thanks Joel!
>
> Thank you Ben for the nice submission!!!
>
> Now to make sure it is reproducible from here and we have merged
> all the bits into the tools, etc.
>
> 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
>>> >>> >
>>> >>> >
>>> >>
>>> >>
>>> >
>>>
>>
>>
>
> --
> Joel Sherrill, Ph.D. Director of Research & Developmentjoel.sherrill at OARcorp.com On-Line Applications Research
> Ask me about RTEMS: a free RTOS Huntsville AL 35805
> Support Available (256) 722-9985
>
>
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