aarch64: make the microkit loader relocatable

This allows a microkit image to be loaded anywhere in memory at which
point it will relocate itself to the LOADER_LINK_ADDRESS. These changes
are based on the elfloader from seL4/seL4_tools.

Changes include:

* crt0.s was changed to crt0.S and compiled with gcc to pass in
  LINK_ADDRESS
* memmove and memcpy implementations were added
* loader_data was changed to include a size field. This is the size
  of loader_data, the list of regions, and the regions themselves.
  These also need to be relocated to ensure that everything works
  correctly

Signed-off-by: Alwin Joshy <[email protected]>

loader/Makefile

@@ -54,7 +54,7 @@ LINKSCRIPT_INPUT := $(ARCH).ld
 LINKSCRIPT := $(BUILD_DIR)/link.ld
 
 $(BUILD_DIR)/%.o : src/$(ARCH_DIR)/%.S
-	$(TOOLCHAIN)gcc -x assembler-with-cpp -c $(ASM_FLAGS) $< -o $@
+	$(TOOLCHAIN)gcc -DLINK_ADDRESS=$(LINK_ADDRESS) -x assembler-with-cpp -c $(ASM_FLAGS) $< -o $@
 
 $(BUILD_DIR)/%.o : src/$(ARCH_DIR)/%.s
 	$(TOOLCHAIN)as $< -o $@

loader/src/aarch64/crt0.S

@@ -0,0 +1,114 @@
+/*
+ * Copyright 2021, Breakaway Consulting Pty. Ltd.
+ *
+ * SPDX-License-Identifier: BSD-2-Clause
+ */
+.extern main
+
+.section ".text.start"
+
+.global _start;
+.type _start, %function;
+_start:
+
+     mrs    x0, mpidr_el1
+     and    x0, x0,#0xFF        // Check processor id
+     cbz    x0, master        // Hang for all non-primary CPU
+
+proc_hang:
+     wfe
+     b proc_hang
+
+master:
+    adrp    x1, _stack
+    add     x1, x1, #0xff0
+    mov     sp, x1
+    /* May not have been loaded in the right location.
+     * Try and move ourselves so we're in the right place
+     */
+    bl      fixup_image_base
+    cmp     x0, #1
+    beq     1f
+    /* Otherwise, jump to the start of the new elf-loader */
+    br      x0
+1:
+    b       main
+
+fixup_image_base:
+    stp     x29, x30, [sp, #-16]!
+    mov     x29, sp
+    /* Check if the image is already at the correct location */
+    ldr     x0, =LINK_ADDRESS
+    adr     x1, _start
+    cmp     x0, x1
+    beq     image_ok
+
+    /* Sanity check: We don't want to overwrite ourselves! We assume that
+     * everything between _start (src_start) and _bss_end (src_end) is important (i.e.
+     * something that might be run while relocating) but allow overlap for
+     * things after _bss_end i.e. the loader_data.
+     */
+    adrp    x2, _bss_end
+    add     x2, x2, #:lo12:_bss_end
+
+    /* The loader_data is directly after _bss_end, with the first
+     * value being the loader_data struct. The first field of this
+     * struct is the size of the loader_data region, so we add
+     * this to _bss_end to get the real end of the image
+     */
+    ldr     x3, [x2]
+    add     x2, x2, x3
+    sub     x2, x2, x1
+
+    adrp x3, _bss_end
+    add x3, x3, #:lo12:_bss_end
+
+    add x4, x0, x2 /* dst_end */
+
+    /* At this point:
+     *      x0: dst_start (LINK_ADDRESS)
+     *      x1: src_start (_start)
+     *      x2: image_size
+     *      x3: src_end (_bss_end)
+     *      x4: dst_end (LINK_ADDRESS + image_size)
+     */
+
+    /* check: if (dst_end >= src_start && dst_end < src_end) { abort } */
+    cmp     x4, x1
+    blt     1f
+
+    cmp     x4, x3
+    bge     1f
+
+    b cant_reloc
+1:
+
+    /* check: if (dst_start >= src_start && dest_start < src_end) { abort } */
+    cmp     x0, x1
+    blt     2f
+
+    cmp     x0, x3
+    bge     2f
+cant_reloc:
+    b abort
+
+2:
+    /* x0 = desired image base */
+    /* x1 = current image base */
+    /* x2 = image size */
+    bl memmove
+
+    /* x0 = dest, save it to a callee-saved register while we invalidate icache */
+    mov x19, x0
+    bl flush_dcache
+    bl invalidate_icache
+    mov x0, x19
+    b 1f
+
+image_ok:
+    /* Already in the right place, keep booting */
+    mov x0, #1
+
+1:
+    ldp x29, x30, [sp], #16
+    ret

loader/src/loader.c

@@ -10,8 +10,10 @@ _Static_assert(sizeof(uintptr_t) == 8 || sizeof(uintptr_t) == 4, "Expect uintptr
 
 #if UINTPTR_MAX == 0xffffffffUL
 #define WORD_SIZE 32
+#define BYTE_PER_WORD 4
 #else
 #define WORD_SIZE 64
+#define BYTE_PER_WORD 8
 #endif
 
 #if WORD_SIZE == 32
@@ -56,6 +58,7 @@ struct region {
 };
 
 struct loader_data {
+    uintptr_t size;
     uintptr_t magic;
     uintptr_t flags;
     uintptr_t kernel_entry;
@@ -81,6 +84,97 @@ typedef void (*sel4_entry)(
     uintptr_t extra_device_size
 );
 
+
+void *memcpy(void *restrict dest, const void *restrict src, size_t n)
+{
+    unsigned char *d = (unsigned char *)dest;
+    const unsigned char *s = (const unsigned char *)src;
+
+    /* For ARM, we also need to consider if src is aligned.           *
+     * There are two cases: (1) If rs == 0 and rd == 0, dest          *
+     * and src are copy_unit-aligned. (2) If (rs == rd && rs != 0),   *
+     * src and dest can be made copy_unit-aligned by copying rs bytes *
+     * first. (1) is a special case of (2).                           */
+
+    size_t copy_unit = BYTE_PER_WORD;
+    while (1) {
+        int rs = (uintptr_t)s % copy_unit;
+        int rd = (uintptr_t)d % copy_unit;
+        if (rs == rd) {
+            break;
+        }
+        if (copy_unit == 1) {
+            break;
+        }
+        copy_unit >>= 1;
+    }
+
+#ifdef HAS_MAY_ALIAS
+    /* copy byte by byte until copy-unit aligned */
+    for (; (uintptr_t)d % copy_unit != 0 && n > 0; d++, s++, n--) {
+        *d = *s;
+    }
+    /* copy unit by unit as long as we can */
+    for (; n > copy_unit - 1; n -= copy_unit, s += copy_unit, d += copy_unit) {
+        switch (copy_unit) {
+        case 8:
+            *(uint64_t *)d = *(const uint64_t *)s;
+            break;
+        case 4:
+            *(uint32_t *)d = *(const uint32_t *)s;
+            break;
+        case 2:
+            *(uint16_t *)d = *(const uint16_t *)s;
+            break;
+        case 1:
+            *(uint8_t *)d = *(const uint8_t *)s;
+            break;
+        default:
+            printf("Invalid copy unit %ld\n", copy_unit);
+            abort();
+        }
+    }
+    /* copy any remainder byte by byte */
+    for (; n > 0; d++, s++, n--) {
+        *d = *s;
+    }
+#else
+    size_t i;
+    for (i = 0; i < n; i++) {
+        d[i] = s[i];
+    }
+#endif
+
+    return dest;
+}
+
+void *memmove(void *restrict dest, const void *restrict src, size_t n)
+{
+    unsigned char *d = (unsigned char *)dest;
+    const unsigned char *s = (const unsigned char *)src;
+
+    /* no copying to do */
+    if (d == s) {
+        return dest;
+    }
+    /* for non-overlapping regions, just use memcpy */
+    else if (s + n <= d || d + n <= s) {
+        return memcpy(dest, src, n);
+    }
+    /* if copying from the start of s to the start of d, just use memcpy */
+    else if (s > d) {
+        return memcpy(dest, src, n);
+    }
+
+    /* copy from end of 's' to end of 'd' */
+    size_t i;
+    for (i = 1; i <= n; i++) {
+        d[n - i] = s[n - i];
+    }
+
+    return dest;
+}
+
 void switch_to_el1(void);
 void switch_to_el2(void);
 void el1_mmu_enable(void);
@@ -111,15 +205,6 @@ extern char _text;
 extern char _bss_end;
 const struct loader_data *loader_data = (void *) &_bss_end;
 
-static void memcpy(void *dst, const void *src, size_t sz)
-{
-    char *dst_ = dst;
-    const char *src_ = src;
-    while (sz-- > 0) {
-        *dst_++ = *src_++;
-    }
-}
-
 #if defined(BOARD_tqma8xqp1gb)
 #define UART_BASE 0x5a070000
 #define STAT 0x14
@@ -429,6 +514,13 @@ static char *ec_to_string(uintptr_t ec)
 }
 #endif
 
+void abort(void)
+{
+    puts("abort() was called. This means relocation failed. \n");
+
+    while (1);
+}
+
 /*
  * Print out the loader data structure.
  *

tool/microkit/src/loader.rs

@@ -108,6 +108,7 @@ struct LoaderRegion64 {
 
 #[repr(C)]
 struct LoaderHeader64 {
+    size: u64,
     magic: u64,
     flags: u64,
     kernel_entry: u64,
@@ -279,7 +280,25 @@ impl<'a> Loader<'a> {
             false => 0,
         };
 
+        let mut region_metadata = Vec::new();
+        let mut offset: u64 = 0;
+        for (addr, data) in &all_regions {
+            region_metadata.push(LoaderRegion64 {
+                load_addr: *addr,
+                size: data.len() as u64,
+                offset,
+                r#type: 1,
+            });
+            offset += data.len() as u64;
+        }
+
+        let size = std::mem::size_of::<LoaderHeader64>() as u64
+            + region_metadata.iter().fold(0_u64, |acc, x| {
+                acc + x.size + std::mem::size_of::<LoaderRegion64>() as u64
+            });
+
         let header = LoaderHeader64 {
+            size,
             magic,
             flags,
             kernel_entry,
@@ -292,18 +311,6 @@ impl<'a> Loader<'a> {
             num_regions: all_regions.len() as u64,
         };
 
-        let mut region_metadata = Vec::new();
-        let mut offset: u64 = 0;
-        for (addr, data) in &all_regions {
-            region_metadata.push(LoaderRegion64 {
-                load_addr: *addr,
-                size: data.len() as u64,
-                offset,
-                r#type: 1,
-            });
-            offset += data.len() as u64;
-        }
-
         Loader {
             image,
             header,