Problem running RTEMS on raspberrypi3
Niteesh
gsnb.gn at gmail.com
Mon Dec 16 14:41:03 UTC 2019
But I am not able to boot using the 3 stage bootloader. Can someone try
booting any examples on raspi3 or other newer models? If it's work's please
post the instructions. The steps that I followed are:
1. arm-rtems5-objcopy -Obinary hello.exe kernel.img
2. copied the kernel image to sd card and modified the config.txt to load
the kernel img.
No success in following these steps.
I think this is maybe because of the different start addresses. The default
kernel load address for raspberry pi is 0x8000 in 32bit mode and 0x80000 in
64bit mode.
but RTEMS has a start address of 0x200080.
On Mon, Dec 16, 2019 at 7:51 PM Christian Mauderer <list at c-mauderer.de>
wrote:
> I think I have guided you to a wrong path here. I mentioned U-Boot
> because it is often used on a lot of evaluation boards. In the raspberry
> case it seems that the stage 3 loader is something different. But
> everything should work with that stage 3 loader. I don't think that
> U-Boot is necessary.
>
> On 16/12/2019 14:01, Niteesh wrote:
> > I got uboot running on my raspi3. But I can't figure out to load and run
> > a custom kernel. Can you explain the steps or point me to some
> > reference.
> > On Mon, Dec 16, 2019 at 5:13 PM Niteesh <gsnb.gn at gmail.com
> > <mailto:gsnb.gn at gmail.com>> wrote:
> >
> > On Mon, Dec 16, 2019 at 2:36 AM Christian Mauderer
> > <list at c-mauderer.de <mailto:list at c-mauderer.de>> wrote:
> >
> >
> >
> > On 15/12/2019 21:29, Niteesh wrote:
> > >
> > >
> > > On Mon, Dec 16, 2019 at 12:53 AM Christian Mauderer
> > <list at c-mauderer.de <mailto:list at c-mauderer.de>
> > > <mailto:list at c-mauderer.de <mailto:list at c-mauderer.de>>>
> wrote:
> > >
> > > On 15/12/2019 19:46, Niteesh wrote:
> > > >
> > > >
> > > > On Sun, Dec 15, 2019 at 10:15 PM Christian Mauderer
> > > <list at c-mauderer.de <mailto:list at c-mauderer.de>
> > <mailto:list at c-mauderer.de <mailto:list at c-mauderer.de>>
> > > > <mailto:list at c-mauderer.de <mailto:list at c-mauderer.de>
> > <mailto:list at c-mauderer.de <mailto:list at c-mauderer.de>>>> wrote:
> > > >
> > > > Hello Niteesh,
> > > >
> > > > On 15/12/2019 09:05, Niteesh wrote:
> > > > > I am trying to get RTEMS examples running on the
> > RPI3, the
> > > RPI3 is
> > > > > similar to RPI2 so the examples built for RPI2
> should
> > > technically
> > > > run on
> > > > > the RPi3.But they don't :(, I am really sure of
> > what is causing
> > > > the problem.
> > > >
> > > > Note that there are at least two different versions
> > of the
> > > RPi3 which
> > > > use different chips. The original RPi3 which uses a
> > BCM2837
> > > (same like
> > > > later versions of RPi2) and the RPi3+ which uses a
> > BCM2837B0.
> > > Broadcom
> > > > is always quite sparse with documentation so it's
> > not easy to
> > > tell the
> > > > differences. Which one do you have?
> > > >
> > > > I have Rpi3 model b v1.2 which uses BCM2837 SOC, in my
> > bare-metal
> > > > programming I used the
> > > > 2835 doc as a reference because the only major
> > difference these
> > > two SOC
> > > > is the peripheral base address
> > > > offset. But this is arm cpu is also capable of
> > executing in 64bit
> > > mode.
> > >
> > > OK. Did you check, whether the offset is correct? In the
> > raspberrypi.h
> > > in RTEMS there is the following define:
> > >
> > > #if (BSP_IS_RPI2 == 1)
> > > #define RPI_PERIPHERAL_BASE 0x3F000000
> > > #else
> > > #define RPI_PERIPHERAL_BASE 0x20000000
> > > #endif
> > >
> > > The offsets are right.
> >
> > Good.
> >
> > >
> > > >
> > > > > I followed the steps
> > > > >
> > > >
> > >
> > from
> http://alanstechnotes.blogspot.com/2013/03/running-your-first-rtems-program-on.html
> (modified
> > > > > commands to use rtems5) to build the kernel img.
> > > >
> > > > It's a bit odd that the Bootloader doesn't use some
> > image
> > > format like
> > > > U-Boot but if that's the case for Raspberry, that's
> OK.
> > > >
> > > > Do you want me to try U-Boot, I was planning to use it
> > for my
> > > bare-metal
> > > > stuff because copying the kernel
> > > > to SD-card was a real pain. Will it even work with RTEMS?
> > >
> > > The manual that you linked uses the default Raspberry
> > bootloader. I'm
> > > not sure whether it's an U-Boot. If you skip the
> > bootloader entirely,
> > > your SDRAM might isn't initialized.
> > >
> > > The manual uses the default bootloader. I don't think we have
> > to worry
> > > about the SDRAM initialization
> > > because all of that is taken care of by the GPU.
> >
> > Sounds OK.
> >
> > > When using Uboot, the
> > > GPU will load the uboot image and
> > > pass the control to the CPU. And then the uboot continue's
> > it's execution.
> > >
> >
> > I don't wanted to suggest to use an extra U-Boot. I was just not
> > sure
> > whether the stage 3 loader is an U-Boot. Your approach sounds
> > fine so far.
> >
> > >
> > >
> > > PS: You answered that further below. You are using the
> > stage 3 loader.
> > >
> > > >
> > > > > I did try running it on
> > > > > Qemu but it doesn't always work, sometimes it gives
> > > weird output.
> > > >
> > > > How did you run it on Qemu? Did you build some image
> > for that too?
> > > >
> > > > qemu-system-arm -M raspi2 -m 1G -kernel hello.exe
> > -serial mon:stdio
> > > > -nographic
> > > > *
> > > > *
> > > > *
> > > > qemu-system-aarch64: GLib: g_mapped_file_unref:
> > assertion 'file !=
> > > NULL'
> > > > failed *I get this error
> > > > while trying to emulate raspi3.
> > >
> > > That sounds like a problem with Qemu. Is there some
> > official test image
> > > for rpi3 on qemu? Note that this isn't really relevant for
> > your current
> > > problem. So if you don't have some manual just ignore the
> > question.
> > >
> > > >
> > > > I ran qemu along with GDB to find what was causing the
> > wrong output. I
> > > > am really not sure if this is right,
> > > > I still have a lot to learn, but my assumption's using
> > GDB are as
> > > follows.
> > > > There are 4 active thread which run the same code.
> > > >
> > > > (gdb) info thread
> > > > Id Target Id Frame
> > > > * 1 Thread 1.1 (CPU#0 [running]) _start () at
> > > >
> > >
> >
> ../../../../../../../../rtems/c/src/lib/libbsp/arm/raspberrypi/../../../../../../bsps/arm/shared/start/start.S:153
> > > > 2 Thread 1.2 (CPU#1 [running]) _start () at
> > > >
> > >
> >
> ../../../../../../../../rtems/c/src/lib/libbsp/arm/raspberrypi/../../../../../../bsps/arm/shared/start/start.S:153
> > > > 3 Thread 1.3 (CPU#2 [running]) _start () at
> > > >
> > >
> >
> ../../../../../../../../rtems/c/src/lib/libbsp/arm/raspberrypi/../../../../../../bsps/arm/shared/start/start.S:153
> > > > 4 Thread 1.4 (CPU#3 [running]) _start () at
> > > >
> > >
> >
> ../../../../../../../../rtems/c/src/lib/libbsp/arm/raspberrypi/../../../../../../bsps/arm/shared/start/start.S:153
> > >
> > > In this case that are not threads but it's the CPU cores.
> > GDB shows them
> > > as threads. Most likely it wouldn't be able to detect the
> > RTEMS threads.
> > >
> > > It's a bit odd that they are all pointing to start.S:153.
> > That's the
> > > entry point for the program. It looks like not even one
> > instruction has
> > > been executed yet.
> > >
> > > I took this output before executing the program, that the
> > reason why not
> > > even a single instruction has been
> > > executed yet.
> >
> > OK.
> >
> > >
> > > >
> > > > After some time one of the thread call's the BSP reset
> > function
> > > this is
> > > > when the program crashes, the other threads complain
> > "*executing
> > > thread
> > > > is NULL*"
> > >
> > > I would rather assume that one core tries to do the
> > initialization while
> > > the others hang in a endless loop till they are needed.
> > The one core
> > > doing the initialization work hits an exception somewhere
> > and calls the
> > > exception handler which calls the bsp reset function.
> > >
> > > The executing thread is NULL is a sign that it happens
> > somewhere during
> > > initialization when the RTEMS threading hasn't been
> > started yet.
> > >
> > > The PC has an odd value. The linker command file tells
> > that there is a
> > > RAM_MMU at 0x00100000. It only puts a
> > bsp_translation_table there but
> > > there shouldn't be any code. So I don't know what the
> > processor is doing
> > > there. You could try to set a breakpoint on the address
> > 0x00100fc4 and
> > > take a look at why the processor is there with a "bt"
> > (backtrace).
> > >
> > > When I re-run it again, it now stops at a different address.
> > As you said
> > > that the other cores are put
> > > in an endless loop, I don't think that's is happening. I
> > single stepped
> > > the instruction and later at some point checked the threads
> > >
> > > (gdb) info threads
> >
> > >
> >
> > >
>
> > > Target Id Frame
> > > 1 Thread 1.1 (CPU#0 [running])
> arm_ccsidr_get_line_power
> > > (ccsidr=<optimized out>)
> > > at
> > >
> >
> /home/niteesh/development/rtems/kernel/rtems/cpukit/score/cpu/arm/include/libcpu/arm-cp15.h:850
> > > 2 Thread 1.2 (CPU#1 [running])
> > arm_cp15_cache_invalidate_level
> > > (inst_data_fl=0, level=1)
> > > at
> > >
> >
> /home/niteesh/development/rtems/kernel/rtems/cpukit/score/cpu/arm/include/libcpu/arm-cp15.h:1162
> > > 3 Thread 1.3 (CPU#2 [running])
> arm_ccsidr_get_line_power
> > > (ccsidr=<optimized out>)
> > > at
> > >
> >
> /home/niteesh/development/rtems/kernel/rtems/cpukit/score/cpu/arm/include/libcpu/arm-cp15.h:850
> > > * 4 Thread 1.4 (CPU#3 [running])
> > > arm_cp15_get_cache_size_id_for_level (level_and_inst_dat=0)
> > > at
> > >
> >
> /home/niteesh/development/rtems/kernel/rtems/cpukit/score/cpu/arm/include/libcpu/arm-cp15.h:936
> > > (gdb)
> > >
> > > They all are executing different instructions at the same time.
> >
> > Some of the initialization is done on all cores. Some isn't. I
> > took a
> > look at the initialization and it seems that I was wrong: There
> > is no
> > wait loop. All processors are running through the initialization
> > process. Some just skip parts. The part where they really start
> to
> > differ is in bsp_start_hook_0.
> >
> > > I> googled about just running one thread or CPU as you said at
> > a time and
> > > used "*set scheduler-locking on" *on doing this I always get
> > the right
> > > output.
> > >
> > > (gdb) info threads
> > > Id Target Id Frame
> > > * 1 Thread 1.1 (CPU#0 [running]) bsp_reset ()
> > > at
> > >
> >
> ../../../../../../../../rtems/c/src/lib/libbsp/arm/raspberrypi/../../../../../../bsps/arm/raspberrypi/start/bspreset.c:18
> > > 2 Thread 1.2 (CPU#1 [running]) _start ()
> > > at
> > >
> >
> ../../../../../../../../rtems/c/src/lib/libbsp/arm/raspberrypi/../../../../../../bsps/arm/shared/start/start.S:153
> > > 3 Thread 1.3 (CPU#2 [running]) _start ()
> > > at
> > >
> >
> ../../../../../../../../rtems/c/src/lib/libbsp/arm/raspberrypi/../../../../../../bsps/arm/shared/start/start.S:153
> > > 4 Thread 1.4 (CPU#3 [running]) _start ()
> > > at
> > >
> >
> ../../../../../../../../rtems/c/src/lib/libbsp/arm/raspberrypi/../../../../../../bsps/arm/shared/start/start.S:153
> > > (gdb)
> > >
> > > The above command allow's only a single thread to run.
> >
> > Maybe there is a timing difference between the simulator and the
> > real
> > hardware. I'm not sure how well tested the SMP code is on the
> > Raspberry.
> > There can be a hidden bug.
> >
> > Just a guess: If there is a bug it could be possible that you
> hit it
> > with your rpi3 too. Maybe it would be good to try a single core
> > version
> > of the BSP. I assume you have configured with "--enable-smp"?
> > Can you
> > try to build without it?
> >
> > I built 2 versions with SMP enabled and disabled, the one we are
> > talking about is the SMP disabled version, I ran
> > the example with SMP enabled, still, the error's are similar, I only
> > difference is, in the disabled one, there are only 4 or less panic's
> > (maybe corresponding to 4 cpu's) but the other one has a higher
> > number of panics.
> >
> > > Won't it be a good idea to make a separate BSP for rpi3?
> >
> > As soon as it is necessary: Sure. But from what you told me it
> seems
> > that the hardware is very similar so that we won't hit this
> > point soon.
> > Or do you already see differences that would make it necessary.
> >
> > I haven't had a look at the details but it could also be
> possible to
> > unify the BSPs and entirely remove the rpi2 variant if the
> > information
> > from the flattened device tree are used.
> >
> > Can you explain how FDT work in RTEMS. Can you mention some BSP's
> > which use FDT so I can use them as a reference to learn.
> > I previously took a look at the beagle FDT project (#3784), you
> > mentioned about hardcoded values and initialization functions, can
> > you explain more about what exactly do the initialization functions
> > do? Do they assign a function to a particular pin, like in raspi
> > the pins are multiplexed for various functions, so do the
> > initialization functions assign those pins to a particular function?
> >
> > And also please explain how does the initialization of the system
> > happen from the DT file.
> >
> > >
> > > > *** FATAL ***
> > > > fatal source: 9 (RTEMS_FATAL_SOURCE_EXCEPTION)
> > > >
> > > > R0 = 0x400005e6 R8 = 0x00000000
> > > > R1 = 0x00000001 R9 = 0x00000000
> > > > R2 = 0xbffffa1a R10 = 0x00000000
> > > > R3 = 0x00000000 R11 = 0x00000000
> > > > R4 = 0x002001db R12 = 0x00000000
> > > > R5 = 0x00000000 SP = 0x00300bd0
> > > > R6 = 0x00000000 LR = 0x00100fc4
> > > > R7 = 0x00000000 PC = 0x00100fc4
> > > > CPSR = 0x000001d3 VEC = 0x00000002
> > > > FPEXC = 0x40000000
> > > > FPSCR = 0x00000000
> > > > D00 = 0x0000000000000000
> > > > D01 = 0x0000000000000000
> > > > D02 = 0x0000000000000000
> > > > D03 = 0x0000000000000000
> > > > D04 = 0x0000000000000000
> > > > D05 = 0x0000000000000000
> > > > D06 = 0x0000000000000000
> > > > D07 = 0x0000000000000000
> > > > D08 = 0x0000000000000000
> > > > D09 = 0x0000000000000000
> > > > D10 = 0x0000000000000000
> > > > D11 = 0x0000000000000000
> > > > D12 = 0x0000000000000000
> > > > D13 = 0x0000000000000000
> > > > D14 = 0x0000000000000000
> > > > D15 = 0x0000000000000000
> > > > D16 = 0x0000000000000000
> > > > D17 = 0x0000000000000010
> > > > D18 = 0x0000000000000000
> > > > D19 = 0x0000000000000000
> > > > D20 = 0x0000000000000000
> > > > D21 = 0x0000000000000000
> > > > D22 = 0x0000000000000000
> > > > D23 = 0x0000000000000000
> > > > D24 = 0x0000000000000000
> > > > D25 = 0x0000000000000000
> > > > D26 = 0x0000000000000000
> > > > D27 = 0x0000000000000000
> > > > D28 = 0x0000000000000000
> > > > D29 = 0x0000000000000000
> > > > D30 = 0x0000000000000000
> > > > D31 = 0x0000000000000000
> > > > RTEMS version:
> > > 5.0.0.c6d8589bb00a9d2a5a094c68c90290df1dc44807-modified
> > > > RTEMS tools: 7.5.0 20191114 (RTEMS 5, RSB
> > > > 83fa79314dd87c0a8c78fd642b2cea3138be8dd6, Newlib
> > 3e24fbf6f)
> > > > executing thread is NULL
> > > >
> > > > > The steps that I followed are:
> > > > > 1. Created a bootable SD card using raspbian.
> > > > > 2. Replaced the kernel.img file with RTEMS
> > kernel.img file and
> > > > modified
> > > > > the config.txt to boot from the RTEMs kernel
> (boots in
> > > aarch32 bit
> > > > mode).
> > > > > I am still not able to wrap my head around the RPI
> > bsp build
> > > process.
> > > > > This is what I understood as of now, correct me if
> > I am wrong.
> > > > > Both RPi and Rpi2 are based on the same BSP, they
> just
> > > differ in the
> > > > > peripheral offsets, hardcoded checks are used to
> > select the
> > > right
> > > > offset
> > > > > at the time of compiling
> > > >
> > > > >From what I know of the Raspberry BSPs that is
> correct.
> > > >
> > > > > and the linkercmd file is responsible for
> > > > > building the final executable file.
> > > >
> > > > The linkercmd file is - like for all programs -
> > responsible
> > > where the
> > > > memory regions are that can be used for code or
> > data. So you
> > > could more
> > > > or less explain it like you did.
> > > >
> > > > > I looked at the linker script, it seem's to have
> > the start
> > > section at
> > > > > address 0x200000, I also loaded it in GDB and the
> > start
> > > address is
> > > > > *Start address 0x200080,*
> > > >
> > > > I agree with that. The different start in GDB is
> > most likely
> > > because
> > > > there is a vector table in front (at least if the
> > Broadcom chip is
> > > > similar to a lot of other processors that I have
> > encountered).
> > > >
> > > > Does that mean that you have a debugger connected to
> the
> > > raspberry? Can
> > > > you load code with it? If yes: Is the bootloader
> > executed
> > > before you
> > > > load your code? Otherwise the SDRAM might isn't
> > initialized yet.
> > > >
> > > > I don't have a debugger connected to it. I from what I
> > have SDRAM is
> > > > initialized by the 3 stage bootloader(start.elf).
> > >
> > > That should be OK and it answers my question above.
> > >
> > > >
> > > > > I did some bare metal programming on RPI3
> > > > > there I had the start section at address 0x8000 Is
> > this causing
> > > > the problem?
> > > >
> > > > I assume that you used some internal RAM when you
> > did bare metal
> > > > programming. You maybe even skipped one or two
> > bootloader
> > > stages. From a
> > > > quick look Raspberry has a quite complex boot
> > process with at
> > > least
> > > > three bootloaders:
> > > http://lions-wing.net/maker/raspberry-1/boot.html
> > > >
> > > > I don't think I have skipped any stages. The boot
> process is
> > > exactly the
> > > > same as how it boot's a normal raspbian or any other
> linux
> > > > distro, I just to replace the linux kernel with my own
> > kernel.
> > >
> > > Sounds reasonable. Does the bootloader print anything
> > where it puts the
> > > kernel image? Maybe the start address changed during the
> > raspberry
> > > versions.
> > >
> > > the default kernel load address is 0x8000 in 32bit mode and
> > 0x80000 in
> > > 64bit mode I have no idea about the raspberry 1,
> > > but the load address is same for rpi2 and 3.
> >
> > That sounds odd. Do you have a memory map somewhere? From the
> linker
> > command file it seems quite clear that RTEMS is build for a
> > 0x200000.
> >
> > >
> > > >
> > > >
> > > > > I have no idea on how to debug this, any
> > suggestion on how
> > > to start
> > > > > would be really helpfull.
> > > > >
> > > >
> > >
> >
>
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