Add support for Odroid-C2 and Odroid-C4

Signed-off-by: Ivan Velickovic <[email protected]>
seL4 · Feb 25, 2024 · 224132b · 224132b
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diff --git a/build_sdk.py b/build_sdk.py
@@ -121,6 +121,32 @@ class ConfigInfo:
             "hello": Path("example/imx8mq_evk/hello")
         }
     ),
+    BoardInfo(
+        name="odroidc2",
+        gcc_cpu="cortex-a53",
+        loader_link_address=0x20000000,
+        kernel_options={
+            "KernelPlatform": "odroidc2",
+            "KernelIsMCS": True,
+            "KernelArmExportPCNTUser": True,
+        },
+        examples={
+            "hello": Path("example/odroidc2/hello")
+        }
+    ),
+    BoardInfo(
+        name="odroidc4",
+        gcc_cpu="cortex-a55",
+        loader_link_address=0x20000000,
+        kernel_options={
+            "KernelPlatform": "odroidc4",
+            "KernelIsMCS": True,
+            "KernelArmExportPCNTUser": True,
+        },
+        examples={
+            "timer": Path("example/odroidc4/timer")
+        }
+    ),
 )
 
 SUPPORTED_CONFIGS = (

diff --git a/docs/manual.md b/docs/manual.md
@@ -535,6 +535,24 @@ Microkit produces a raw binary file, so when using U-Boot you must execute the i
 
     => go 0x40480000
 
+## Odroid-C2
+
+The HardKernel Odroid-C2 is an ARM SBC based on the Amlogic Meson S905 system-on-chip. It
+should be noted that the Odroid-C2 is no longer available for purchase but its successor,
+the Odroid-C4, is readily available at the time of writing.
+
+Microkit produces a raw binary file, so when using U-Boot you must execute the image using:
+
+    => go 0x20000000
+
+## Odroid-C4
+
+The HardKernel Odroid-C4 is an ARM SBC based on the Amlogic Meson S905X3 system-on-chip.
+
+Microkit produces a raw binary file, so when using U-Boot you must execute the image using:
+
+    => go 0x20000000
+
 ## TQMa8XQP 1GB
 
 The TQMa8XQP is a system-on-module designed by TQ-Systems GmbH.

diff --git a/example/odroidc2/hello/Makefile b/example/odroidc2/hello/Makefile
@@ -0,0 +1,55 @@
+#
+# Copyright 2021, Breakaway Consulting Pty. Ltd.
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+ifeq ($(strip $(BUILD_DIR)),)
+$(error BUILD_DIR must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_SDK)),)
+$(error MICROKIT_SDK must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_BOARD)),)
+$(error MICROKIT_BOARD must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_CONFIG)),)
+$(error MICROKIT_CONFIG must be specified)
+endif
+
+TOOLCHAIN := aarch64-none-elf
+
+CPU := cortex-a55
+
+CC := $(TOOLCHAIN)-gcc
+LD := $(TOOLCHAIN)-ld
+AS := $(TOOLCHAIN)-as
+MICROKIT_TOOL ?= $(MICROKIT_SDK)/bin/microkit
+
+HELLO_OBJS := hello.o
+
+BOARD_DIR := $(MICROKIT_SDK)/board/$(MICROKIT_BOARD)/$(MICROKIT_CONFIG)
+
+IMAGES := hello.elf
+CFLAGS := -mcpu=$(CPU) -mstrict-align -nostdlib -ffreestanding -g -O3 -Wall  -Wno-unused-function -Werror -I$(BOARD_DIR)/include
+LDFLAGS := -L$(BOARD_DIR)/lib
+LIBS := -lmicrokit -Tmicrokit.ld
+
+IMAGE_FILE = $(BUILD_DIR)/loader.img
+REPORT_FILE = $(BUILD_DIR)/report.txt
+
+all: $(IMAGE_FILE)
+
+$(BUILD_DIR)/%.o: %.c Makefile
+	$(CC) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/%.o: %.s Makefile
+	$(AS) -g -mcpu=$(CPU) $< -o $@
+
+$(BUILD_DIR)/hello.elf: $(addprefix $(BUILD_DIR)/, $(HELLO_OBJS))
+	$(LD) $(LDFLAGS) $^ $(LIBS) -o $@
+
+$(IMAGE_FILE) $(REPORT_FILE): $(addprefix $(BUILD_DIR)/, $(IMAGES)) hello.system
+	$(MICROKIT_TOOL) hello.system --search-path $(BUILD_DIR) --board $(MICROKIT_BOARD) --config $(MICROKIT_CONFIG) -o $(IMAGE_FILE) -r $(REPORT_FILE)
diff --git a/example/odroidc2/hello/hello.c b/example/odroidc2/hello/hello.c
@@ -0,0 +1,16 @@
+/*
+ * Copyright 2021, Breakaway Consulting Pty. Ltd.
+ *
+ * SPDX-License-Identifier: BSD-2-Clause
+ */
+#include <stdint.h>
+#include <microkit.h>
+
+void init(void)
+{
+    microkit_dbg_puts("hello, world\n");
+}
+
+void notified(microkit_channel ch)
+{
+}
diff --git a/example/odroidc2/hello/hello.system b/example/odroidc2/hello/hello.system
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+ Copyright 2021, Breakaway Consulting Pty. Ltd.
+
+ SPDX-License-Identifier: BSD-2-Clause
+-->
+<system>
+    <protection_domain name="hello" priority="254">
+        <program_image path="hello.elf" />
+    </protection_domain>
+</system>
diff --git a/example/odroidc4/timer/Makefile b/example/odroidc4/timer/Makefile
@@ -0,0 +1,55 @@
+#
+# Copyright 2021, Breakaway Consulting Pty. Ltd.
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+ifeq ($(strip $(BUILD_DIR)),)
+$(error BUILD_DIR must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_SDK)),)
+$(error MICROKIT_SDK must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_BOARD)),)
+$(error MICROKIT_BOARD must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_CONFIG)),)
+$(error MICROKIT_CONFIG must be specified)
+endif
+
+TOOLCHAIN := aarch64-none-elf
+
+CPU := cortex-a55
+
+CC := $(TOOLCHAIN)-gcc
+LD := $(TOOLCHAIN)-ld
+AS := $(TOOLCHAIN)-as
+MICROKIT_TOOL ?= $(MICROKIT_SDK)/bin/microkit
+
+TIMER_OBJS := timer.o
+
+BOARD_DIR := $(MICROKIT_SDK)/board/$(MICROKIT_BOARD)/$(MICROKIT_CONFIG)
+
+IMAGES := timer.elf
+CFLAGS := -mcpu=$(CPU) -mstrict-align -nostdlib -ffreestanding -g -O3 -Wall  -Wno-unused-function -Werror -I$(BOARD_DIR)/include
+LDFLAGS := -L$(BOARD_DIR)/lib
+LIBS := -lmicrokit -Tmicrokit.ld
+
+IMAGE_FILE = $(BUILD_DIR)/loader.img
+REPORT_FILE = $(BUILD_DIR)/report.txt
+
+all: $(IMAGE_FILE)
+
+$(BUILD_DIR)/%.o: %.c Makefile
+	$(CC) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/%.o: %.s Makefile
+	$(AS) -g -mcpu=$(CPU) $< -o $@
+
+$(BUILD_DIR)/timer.elf: $(addprefix $(BUILD_DIR)/, $(TIMER_OBJS))
+	$(LD) $(LDFLAGS) $^ $(LIBS) -o $@
+
+$(IMAGE_FILE) $(REPORT_FILE): $(addprefix $(BUILD_DIR)/, $(IMAGES)) timer.system
+	$(MICROKIT_TOOL) timer.system --search-path $(BUILD_DIR) --board $(MICROKIT_BOARD) --config $(MICROKIT_CONFIG) -o $(IMAGE_FILE) -r $(REPORT_FILE)
diff --git a/example/odroidc4/timer/timer.c b/example/odroidc4/timer/timer.c
@@ -0,0 +1,145 @@
+/*
+ * Copyright 2024, UNSW
+ *
+ * SPDX-License-Identifier: BSD-2-Clause
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <microkit.h>
+
+/*
+ * This is a very simple timer driver with the intention of showing
+ * how to do MMIO and handle interrupts in Microkit.
+ */
+
+uintptr_t timer_regs;
+
+#define TIMER_IRQ_CH 0
+
+#define TIMER_REG_START   0x140
+
+#define TIMER_A_INPUT_CLK 0
+#define TIMER_E_INPUT_CLK 8
+#define TIMER_A_EN      (1 << 16)
+#define TIMER_A_MODE    (1 << 12)
+
+#define TIMESTAMP_TIMEBASE_SYSTEM   0b000
+#define TIMESTAMP_TIMEBASE_1_US     0b001
+#define TIMESTAMP_TIMEBASE_10_US    0b010
+#define TIMESTAMP_TIMEBASE_100_US   0b011
+#define TIMESTAMP_TIMEBASE_1_MS     0b100
+
+#define TIMEOUT_TIMEBASE_1_US   0b00
+#define TIMEOUT_TIMEBASE_10_US  0b01
+#define TIMEOUT_TIMEBASE_100_US 0b10
+#define TIMEOUT_TIMEBASE_1_MS   0b11
+
+#define NS_IN_US    1000ULL
+#define NS_IN_MS    1000000ULL
+
+typedef struct {
+    uint32_t mux;
+    uint32_t timer_a;
+    uint32_t timer_b;
+    uint32_t timer_c;
+    uint32_t timer_d;
+    uint32_t unused[13];
+    uint32_t timer_e;
+    uint32_t timer_e_hi;
+    uint32_t mux1;
+    uint32_t timer_f;
+    uint32_t timer_g;
+    uint32_t timer_h;
+    uint32_t timer_i;
+} meson_timer_reg_t;
+
+typedef struct {
+    volatile meson_timer_reg_t *regs;
+    bool disable;
+} meson_timer_t;
+
+meson_timer_t timer;
+
+static char hexchar(unsigned int v)
+{
+    return v < 10 ? '0' + v : ('a' - 10) + v;
+}
+
+static void puthex64(uint64_t val)
+{
+    char buffer[16 + 3];
+    buffer[0] = '0';
+    buffer[1] = 'x';
+    buffer[16 + 3 - 1] = 0;
+    for (unsigned i = 16 + 1; i > 1; i--) {
+        buffer[i] = hexchar(val & 0xf);
+        val >>= 4;
+    }
+    microkit_dbg_puts(buffer);
+}
+
+uint64_t meson_get_time()
+{
+    uint64_t initial_high = timer.regs->timer_e_hi;
+    uint64_t low = timer.regs->timer_e;
+    uint64_t high = timer.regs->timer_e_hi;
+    if (high != initial_high) {
+        low = timer.regs->timer_e;
+    }
+
+    uint64_t ticks = (high << 32) | low;
+    uint64_t time = ticks * NS_IN_US;
+    return time;
+}
+
+void meson_set_timeout(uint16_t timeout, bool periodic)
+{
+    if (periodic) {
+        timer.regs->mux |= TIMER_A_MODE;
+    } else {
+        timer.regs->mux &= ~TIMER_A_MODE;
+    }
+
+    timer.regs->timer_a = timeout;
+
+    if (timer.disable) {
+        timer.regs->mux |= TIMER_A_EN;
+        timer.disable = false;
+    }
+}
+
+void meson_stop_timer()
+{
+    timer.regs->mux &= ~TIMER_A_EN;
+    timer.disable = true;
+}
+
+void init()
+{
+    timer.regs = (void *)(timer_regs + TIMER_REG_START);
+
+    timer.regs->mux = TIMER_A_EN | (TIMESTAMP_TIMEBASE_1_US << TIMER_E_INPUT_CLK) |
+                      (TIMEOUT_TIMEBASE_1_MS << TIMER_A_INPUT_CLK);
+
+    timer.regs->timer_e = 0;
+
+    // Have a timeout of 1 second, and have it be periodic so that it will keep recurring.
+    microkit_dbg_puts("Setting a timeout of 1 second.\n");
+    meson_set_timeout(1000, true);
+}
+
+void notified(microkit_channel ch)
+{
+    switch (ch) {
+    case TIMER_IRQ_CH:
+        microkit_dbg_puts("Got timer interrupt!\n");
+        microkit_irq_ack(ch);
+        microkit_dbg_puts("Current time is: ");
+        puthex64(meson_get_time());
+        microkit_dbg_puts("\n");
+        break;
+    default:
+        microkit_dbg_puts("TIMER|ERROR: unexpected channel!\n");
+    }
+}
diff --git a/example/odroidc4/timer/timer.system b/example/odroidc4/timer/timer.system
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+ Copyright 2024, UNSW
+
+ SPDX-License-Identifier: BSD-2-Clause
+-->
+<system>
+    <memory_region name="timer" size="0x10_000" phys_addr="0xffd0f000" />
+
+    <protection_domain name="timer">
+        <program_image path="timer.elf" />
+        <map mr="timer" vaddr="0x2_000_000" perms="rw" cached="false" setvar_vaddr="timer_regs" />
+        <irq irq="42" id="0" trigger="edge" />
+    </protection_domain>
+</system>
diff --git a/loader/src/loader.c b/loader/src/loader.c
@@ -157,6 +157,28 @@ static void putc(uint8_t ch)
     while (!(*UART_REG(STAT) & STAT_TDRE)) { }
     *UART_REG(TRANSMIT) = ch;
 }
+#elif defined(BOARD_odroidc2)
+#define UART_BASE 0xc81004c0
+#define UART_WFIFO 0x0
+#define UART_STATUS 0xC
+#define UART_TX_FULL (1 << 21)
+
+static void putc(uint8_t ch)
+{
+    while ((*UART_REG(UART_STATUS) & UART_TX_FULL));
+    *UART_REG(UART_WFIFO) = ch;
+}
+#elif defined(BOARD_odroidc4)
+#define UART_BASE 0xff803000
+#define UART_WFIFO 0x0
+#define UART_STATUS 0xC
+#define UART_TX_FULL (1 << 21)
+
+static void putc(uint8_t ch)
+{
+    while ((*UART_REG(UART_STATUS) & UART_TX_FULL));
+    *UART_REG(UART_WFIFO) = ch;
+}
 #else
 #error Board not defined
 #endif