Hi everyone
Summary - trying to get util_libs/libplatsupport going for a HardKernel ODROID-C4, using the camkes serialserver_polling app - but not having any luck with mapping the UART. I'd welcome any explanations of what you think is happening here. The background and my progress follows.
I thought I'd dive into the seL4 world and do some experimenting. I thought a good place to start would be the UNSW AOS project (17 years after I first did it) - but with no more ODROID-C2, got a hold of an ODROID-C4 and figured that would be a good project in itself (and well timed with a Sydney lockdown).
So - good news: The peripheral devices we need are all very similar to a C2, so by getting a new DTS file and updating a few addresses it starts off fairly happily. sel4-test builds and runs (All is well...); so does the camkes adder app; and with some mods to provide enough slots (maybe because it has 4GB rather than 2GB) I have got the AOS milestone 0 stub to run (including the uart initialisation). (More work to actually finish m0 and keep going, but a job for later)
But then: I moved onto the util_libs / libplatsupport project to try and port over as much of the device settings as possible; and using the camkes app serialserver_polling, under the hood using SerialServer, I can't get the uart to initialiise (or more strictly can't get the uart address to map). chardev_map / ps_io_map fails, returning a vaddr of 0.
I've added a bunch of debug prints to the process; and for comparison also run it on QEMU emulating a Sabre board.
On odroidc4 hardware: ## Starting application at 0x01080000 ...
ELF-loader started on CPU: ARM Ltd. Cortex-A55 r1p0 paddr=[95e000..d5710f] No DTB passed in from boot loader. Looking for DTB in CPIO archive...found at a86de8. Loaded DTB from a86de8. paddr=[23f000..24afff] ELF-loading image 'kernel' to 0 paddr=[0..23efff] vaddr=[ffffff8000000000..ffffff800023efff] virt_entry=ffffff8000000000 ELF-loading image 'capdl-loader' to 24b000 paddr=[24b000..563fff] vaddr=[400000..718fff] virt_entry=408e48 Enabling MMU and paging Jumping to kernel-image entry point...
Bootstrapping kernel Booting all finished, dropped to user space pre_init@serial.c:501 About to init port, io_ops=0x487cf0 ps_cdev_init@chardev.c:46 About to init_fn 3 ps_cdev_init@chardev.c:47 dev_defn[3].paddr: 0xff803000, size 1000 uart_init@serial.c:51 about to chardev_map: dev=0x473948, defn->id=3, defn->padd r=0xff803000 chardev_map@chardev.h:26 ops->io_mapper=0x487be0 &(ops->io_mapper)=0x442728 dev-
paddr=0xff803000 dev->size=0x1000
uart_init@serial.c:56 chardev_map mapped page_vaddr 0 plat_pre_init@plat.c:64 Failed to initialise character device plat_pre_init@plat.c:65 PS_SERIAL_DEFAULT: 3
On Sabre QEMU: ./simulate: qemu-system-arm -machine sabrelite -nographic -serial null -serial mon:stdio -m size=1024M -kernel images/capdl-loader-image- arm-imx6 ELF-loader started on CPU: ARM Ltd. Cortex-A9 r0p0 paddr=[106fc000..10aa98e3] No DTB passed in from boot loader. Looking for DTB in CPIO archive...found at 107fe33c. Loaded DTB from 107fe33c. paddr=[1003d000..10047fff] ELF-loading image 'kernel' to 10000000 paddr=[10000000..1003cfff] vaddr=[e0000000..e003cfff] virt_entry=e0000000 ELF-loading image 'capdl-loader' to 10048000 paddr=[10048000..10300fff] vaddr=[10000..2c8fff] virt_entry=187f8 Enabling MMU and paging Jumping to kernel-image entry point...
Bootstrapping kernel Warning: Could not infer GIC interrupt target ID, assuming 0. Booting all finished, dropped to user space pre_init@serial.c:501 About to init port, io_ops=0x69cf0 ps_cdev_init@chardev.c:45 About to init_fn 1 ps_cdev_init@chardev.c:46 dev_defn[1].paddr: 0x21e8000, size 1000 uart_init@serial.c:224 about to chardev_map: dev=0x7f8c8, defn->id=1, defn->paddr=0x21e8000 chardev_map@chardev.h:26 ops->io_mapper=0x69cf0 &(ops->io_mapper)=0x1f328 dev->paddr=0x1f654 dev->size=0x4ebc4 uart_init@serial.c:226 chardev_map mapped vaddr 0xbb000 pollcli: Hello Serial Server! pollcli: abc
This has me confused - it's good it works, but I can't follow in the flow how the paddr gets changed from the value supplied to chardev_map (ie 0x21e80000 becomes 0x1f654), yet in that case it works. Or is it a complication of using QEMU?
A similar kind of test with AOS on odroidc4 - particularly the success of "*uart_init@uart.c:35 Mapped uart paddr:ff803000 size:1000 vaddr:b0000000*" ## Starting application at 0x01080000 ...
ELF-loader started on CPU: ARM Ltd. Cortex-A55 r1p0 paddr=[88a000..c2b10f] No DTB passed in from boot loader. Looking for DTB in CPIO archive...found at 9f3068. Loaded DTB from 9f3068. paddr=[247000..252fff] ELF-loading image 'kernel' to 0 paddr=[0..246fff] vaddr=[ffffff8000000000..ffffff8000246fff] virt_entry=ffffff8000000000 ELF-loading image 'sos' to 253000 paddr=[253000..48cfff] vaddr=[400000..639fff] virt_entry=4172e0 Enabling MMU and paging Jumping to kernel-image entry point...
Bootstrapping kernel Booting all finished, dropped to user space
SOS Starting... <<seL4(CPU 0) [handleInterruptEntry/52 T0xffffff803fff8400 "SOS:root" @400630]: Spurious interrupt!>> <<seL4(CPU 0) [handleInterruptEntry/52 T0xffffff803fff8400 "SOS:root" @400630]: Spurious interrupt!>> <<seL4(CPU 0) [handleInterruptEntry/52 T0xffffff803fff8400 "SOS:root" @400630]: Spurious interrupt!>> <<seL4(CPU 0) [handleInterruptEntry/52 T0xffffff803fff8400 "SOS:root" @400630]: Spurious interrupt!>> <<seL4(CPU 0) [handleInterruptEntry/52 T0xffffff803fff8400 "SOS:root" @400630]: Spurious interrupt!>> <<seL4(CPU 0) [handleInterruptEntry/52 T0xffffff803fff8400 "SOS:root" @400630]: Spurious interrupt!>> <<seL4(CPU 0) [handleInterruptEntry/52 T0xffffff803fff8400 "SOS:root" @400630]: Spurious interrupt!>> uart_init@uart.c:35 Mapped uart paddr:ff803000 size:1000 vaddr:b0000000 SOS Started! test_cspace@tests.c:59 Test cspace run_tests@tests.c:174 Root CSpace test passed! test_cspace@tests.c:59 Test cspace run_tests@tests.c:182 Single level cspace test passed! test_cspace@tests.c:59 Test cspace cspace_alloc_slot@cspace.c:335 Cspace is full!
run_tests@tests.c:195 Double level cspace test passed! run_tests@tests.c:199 DMA test passed! run_tests@tests.c:203 Frame table test passed! Network init dwmac.b0002000 Waiting for PHY auto negotiation to complete........ done Speed: 1000, full duplex Protocol ethernet registered (layer: 2). Protocol ipv4 registered (layer: 3). Protocol ipv6 registered (layer: 3). Protocol icmp4 registered (layer: 4). Protocol icmp6 registered (layer: 4). Protocol igmp registered (layer: 4). Protocol udp registered (layer: 4). Protocol tcp registered (layer: 4). Assigned ipv4 0.0.0.0 to device sos picotcp DHCP client: update link Assigned ipv4 192.168.200.125 to device sos picotcp DHCP client: renewal time (T1) 43200 DHCP client: rebinding time (T2) 75600 DHCP client: lease time 86400 DHCP client: netmask 255.255.255.0 DHCP client: gateway 192.168.200.4 Timer init Start first process Starting ttytest at 0x4001c8
SOS entering syscall loop aos: Error attempting syscall 29 task: Hello world, I'm tty_test! handle_syscall@main.c:128 Unknown syscall 1
<<seL4(CPU 0) [receiveIPC/148 T0xffffff803fff8400 "SOS:root" @407a48]: Reply obj ect already has unexecuted reply!>>
In this case it has worked, sos_map_device works as expected (although the spurious interrupts are another task to figure out). But trying to understand what's really going on underneath ps_io_map and ultimately why libplatsupport won't work for me has got me confused. Any ideas would be appreciated.
Regards Rob