arch: arm64: ARMv8-A support for NuttX #6478

qinwei2004 · 2022-06-19T03:59:38Z

Summary:

Arm64 support for NuttX, Features supported:

Cotex-a53 single core and SMP support: it's can run into nsh shell at
qemu virt machine.
qemu-a53 board configuration support: it's only for evaluate propose
FPU support for armv8-a: FPU context switching at NEON/floating-point
TRAP is supported.
psci interface, armv8 cache operation(data cache) and smccc support.

Please refer to boards/arm64/qemu/qemu-a53/README.txt for detail

Signed-off-by: qinwei1 [email protected]

Impact

No impact to the other platform

Testing

testing with ostest, smp.

qinwei2004 · 2022-06-19T04:16:32Z

@xiaoxiang781216 , please review

hartmannathan

Wow, this PR represents a tremendous amount of work and a huge potential improvement to NuttX! I will be very excited the day NuttX can run on SBCs such as the Raspberry Pi 4. I have given an initial cursory look over the 93 added files and I don't see any glaring obvious issues; currently I don't have the toolchain but I will try to at least do a test build with it soon. Hopefully we will get other reviews as well.

arch/arm64/include/arch.h

arch/arm64/include/inttypes.h

boards/arm64/qemu/qemu-a53/src/qemu-a53.h

boards/arm64/qemu/qemu-a53/scripts/dramboot.ld

boards/arm64/qemu/qemu-a53/scripts/Make.defs

boards/arm64/qemu/qemu-a53/include/board_memorymap.h

tools/ci/testlist/other.dat

arch/arm64/include/irq.h

arch/arm64/include/syscall.h

arch/arm64/src/common/arm64_arch_timer.h

arch/arm64/src/common/arm64_fpu.c

arch/arm64/src/common/arm64_fpu.h

arch/arm64/src/common/arm64_gic.h

arch/arm64/src/common/arm64_fatal.h

boards/arm64/qemu/qemu-a53/scripts/Make.defs

boards/Kconfig

arch/arm64/src/common/arm64_gic.h

arch/Kconfig

tools/ci/docker/linux/Dockerfile

tools/ci/testlist/other.dat

arch/arm64/include/arch.h

arch/arm64/include/spinlock.h

xiaoxiang781216 · 2022-06-22T06:19:18Z

@qinwei2004 please rebase your patch to the latest mainline and squash the temp change to the master one.

hartmannathan

Accidentally merged some unrelated commits into this PR? Some changes in graphics, drivers, etc., which are good changes, seem unrelated to this PR. Suggest to separate these and submit in other PRs. Not necessary to wait for this PR to be merged, IMO. Thanks!

arch/arm64/src/common/arm64_cache.c

arch/arm64/src/common/arm64_checkstack.c

arch/arm64/src/common/arm64_cpuidlestack.c

arch/arm64/src/common/arm64_fpu.c

qinwei2004 · 2022-06-23T02:04:54Z

Accidentally merged some unrelated commits into this PR? Some changes in graphics, drivers, etc., which are good changes, seem unrelated to this PR. Suggest to separate these and submit in other PRs. Not necessary to wait for this PR to be merged, IMO. Thanks!

----Sorry, error submit and fix already, please check again, thanks

hartmannathan · 2022-06-23T12:59:42Z

Accidentally merged some unrelated commits into this PR? Some changes in graphics, drivers, etc., which are good changes, seem unrelated to this PR. Suggest to separate these and submit in other PRs. Not necessary to wait for this PR to be merged, IMO. Thanks!

----Sorry, error submit and fix already, please check again, thanks

Yes, this looks much better. Thanks!

hartmannathan · 2022-06-23T13:05:42Z

In first commit log, s/Cotex-a53/Cortex-a53/

tools/ci/testlist/macos.dat

arch/arm64/src/common/arm64_initialstate.c

arch/arm64/src/common/arm64_syscall.c

arch/arm64/src/common/arm64_head.S

arch/arm64/src/qemu/qemu_lowputc.S

xiaoxiang781216 · 2022-07-12T18:23:07Z

Yes, I agree. @qinwei2004 please squash your change, thanks.

pkarashchenko · 2022-07-12T20:10:56Z

I think many comments have been addressed. I will not be able to do a review till Friday and I'm fine to address any leftovers with the next PR after this PR is merged. I will most probably post some comments to this PR after it is merged

qinwei2004 · 2022-07-13T01:40:51Z

I squashed all change into two commit, please check
@xiaoxiang781216, @hartmannathan @pkarashchenko

xiaoxiang781216 · 2022-07-13T05:33:43Z

let's merge the comment path into the master one too. it doesn't make sense to use two patch.

qinwei2004 · 2022-07-13T06:52:40Z

@xiaoxiang781216, @hartmannathan @pkarashchenko

qinwei2004 · 2022-07-13T06:54:08Z

the comments have merge, please check
@xiaoxiang781216

arch/arm64/include/irq.h

pkarashchenko · 2022-07-13T06:50:02Z

arch/arm64/include/qemu/chip.h

+#define CONFIG_GICR_BASE 0x80a0000
+
+#define CONFIG_RAMBANK1_ADDR 0x40000000
+#define CONFIG_RAMBANK1_SIZE MB(128)


above at line 32 of this file

arch/arm64/src/common/arm64_releasestack.c

arch/arm64/src/common/arm64_schedulesigaction.c

arch/arm64/src/common/arm64_usestack.c

arch/arm64/src/qemu/Kconfig

qinwei2004 · 2022-07-14T06:00:24Z

@xiaoxiang781216 @pkarashchenko @hartmannathan
please check again

pkarashchenko

Few minor comments, then please squash and let's move forward to merging

arch/arm64/include/irq.h

arch/arm64/src/common/arm64_arch.h

arch/arm64/src/common/arm64_fatal.c

arch/arm64/src/common/arm64_fatal.h

arch/arm64/src/common/arm64_mmu.c

qinwei2004 · 2022-07-14T11:32:12Z

@pkarashchenko , please check again
thanks for you careful check

pkarashchenko · 2022-07-14T11:48:21Z

Please squash into a single commit

@xiaoxiang781216

N/A Summary: Arm64 support for NuttX, Features supported: 1. Cortex-a53 single core and SMP support: it's can run into nsh shell at qemu virt machine. 2. qemu-a53 board configuration support: it's only for evaluate propose 3. FPU support for armv8-a: FPU context switching at NEON/floating-point TRAP is supported. 4. psci interface, armv8 cache operation(data cache) and smccc support. 5. fix mass code style issue, thank for @xiaoxiang781216, @hartmannathan @pkarashchenko Please refer to boards/arm64/qemu/qemu-a53/README.txt for detail Note: 1. GCC MACOS issue The GCC 11.2 toolchain for MACOS may get crash while compiling float operation function, the following link describe the issue and give analyse at the issue: https://bugs.linaro.org/show_bug.cgi?id=5825 it's seem GCC give a wrong instruction at certain machine which without architecture features the new toolchain is not available still, so just disable the MACOS cibuild check at present Signed-off-by: qinwei1 <[email protected]>

qinwei2004 · 2022-07-14T12:03:53Z

Please squash into a single commit

Done

hartmannathan

Beautiful! LGTM

hartmannathan · 2022-07-14T13:49:08Z

I would like to say Congratulations on this HUGE PR!

In the Single Core case, ostest is running successfully for me.

In the SMP case, it seems that ostest fails or hangs in different places, but my system is ancient and I am running QEMU 3.1.0 (!!!), so it is possible that I am seeing old bugs in QEMU. I would need to upgrade my system and try the latest QEMU before I could draw any conclusions.

Anyway, this PR is a very good starting point for NuttX on Arm64 and I look forward to seeing NuttX on real Arm64 hardware!

qinwei2004 · 2022-07-15T02:14:25Z

I would like to say Congratulations on this HUGE PR!

In the Single Core case, ostest is running successfully for me.

In the SMP case, it seems that ostest fails or hangs in different places, but my system is ancient and I am running QEMU 3.1.0 (!!!), so it is possible that I am seeing old bugs in QEMU. I would need to upgrade my system and try the latest QEMU before I could draw any conclusions.

Anyway, this PR is a very good starting point for NuttX on Arm64 and I look forward to seeing NuttX on real Arm64 hardware!

Yes, for SMP，the PR in qemu seem behave very different!!
In the beginning, I debug the PR with Ubuntu which is running in VMware. For Single Core, everything is OK, but for SMP, ostest hangs in different places just like your description. After fix some cache sync issue, the crash is occurred at signal testing every time, I check the crash with GDB and see a very strange phenomenon that data is different between CPU register and seeing with GDB, so it seem a data sync issue. I try different cache sync operation at this crash point but not work at all

things change when I debug the PR with a real Ubuntu PC, the crash not occurs anymore in that environment. I cannot explain why I see the phenomenon, but I cannot say it's certain a bug in qemu. because maybe with different speed it have different execution order between these two environment.

My real Ubuntu environment
Ubuntu 18.04.6 LTS
QEMU emulator version 4.0.1 (v4.0.1)
Intel(R) Core(TM) i7-8700 CPU @ 3.20GHz
memory: 16GB

I have a IMX8 porting patch but some change need to be done, I will testing it and submit ASAP

lupyuen · 2022-08-24T23:59:59Z

Hi @qinwei2004 thank you so much for implementing Arm64 support! I have written an article that's based on your work, I hope to run it on PinePhone soon :-)

"Apache NuttX RTOS on Arm Cortex-A53: How it might run on PinePhone"

qinwei2004 marked this pull request as draft June 19, 2022 04:11

qinwei2004 marked this pull request as ready for review June 19, 2022 04:12

qinwei2004 marked this pull request as draft June 19, 2022 04:14

qinwei2004 marked this pull request as ready for review June 19, 2022 04:15

xiaoxiang781216 linked an issue Jun 19, 2022 that may be closed by this pull request

ARMv8-A/R support in NuttX #6170

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qinwei2004 force-pushed the arm64 branch 3 times, most recently from 44e2c0b to c7d9b43 Compare June 23, 2022 01:59

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qinwei2004 deleted the arm64 branch June 23, 2022 02:06

qinwei2004 restored the arm64 branch June 23, 2022 02:06

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qinwei2004 force-pushed the arm64 branch 2 times, most recently from aec6a6f to caad346 Compare June 23, 2022 12:47

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qinwei2004 force-pushed the arm64 branch from 99ef713 to 3fa9202 Compare July 13, 2022 01:39

qinwei2004 force-pushed the arm64 branch from 3fa9202 to f0f6b66 Compare July 13, 2022 06:52

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qinwei2004 force-pushed the arm64 branch from ef110e4 to 288799c Compare July 14, 2022 12:03

acassis approved these changes Jul 14, 2022

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hartmannathan approved these changes Jul 14, 2022

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hartmannathan merged commit e77b067 into apache:master Jul 14, 2022

hartmannathan added new board new arch labels Jul 14, 2022

jerpelea added this to To-Add in Release Notes - 11.0.0 Aug 30, 2022

jerpelea moved this from To-Add to Added in Release Notes - 11.0.0 Sep 1, 2022

masayuki2009 mentioned this pull request Jan 13, 2023

ARMv8-A support in NuttX #1087

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arch: arm64: ARMv8-A support for NuttX #6478

arch: arm64: ARMv8-A support for NuttX #6478

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qinwei2004 commented Jun 19, 2022

Summary:

Impact

Testing

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