mirror of
https://github.com/tillitis/tillitis-key1.git
synced 2025-03-12 10:06:47 -04:00
PoC: Add example firmware with embedded that calls syscalls implemented in C
App is embedded in firmware and is loaded into app RAM when firmware starts. App continuously calls SET_LED syscalls. Simulation: `make tb_application_fpga_irqpoc_c_example`
This commit is contained in:
Mikael Ågren
parent
e1d7608897
commit
2e1925555d
@ -157,6 +157,12 @@ IRQPOC_WITH_APP_OBJS = \
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$(P)/fw/irqpoc_with_app/main.o \
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$(P)/fw/irqpoc_with_app/start.o
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IRQPOC_C_EXAMPLE_OBJS = \
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$(P)/fw/irqpoc_c_example/main.o \
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$(P)/fw/irqpoc_c_example/start.o \
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$(P)/fw/tk1/led.o \
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$(P)/fw/tk1/assert.o
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#-------------------------------------------------------------------
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# All: Complete build of HW and FW.
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#-------------------------------------------------------------------
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@ -196,6 +202,7 @@ $(TESTFW_OBJS): $(FIRMWARE_DEPS)
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$(IRQPOC_OBJS): $(FIRMWARE_DEPS)
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$(IRQPOC_LED_TOGGLE_OBJS): $(FIRMWARE_DEPS)
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$(IRQPOC_WITH_APP_OBJS): $(FIRMWARE_DEPS)
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$(IRQPOC_C_EXAMPLE_OBJS): $(FIRMWARE_DEPS)
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firmware.elf: $(FIRMWARE_OBJS) $(P)/fw/tk1/firmware.lds
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$(CC) $(CFLAGS) $(FIRMWARE_OBJS) $(LDFLAGS) -o $@
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@ -247,6 +254,9 @@ irqpoc_led_toggle.elf: $(IRQPOC_LED_TOGGLE_OBJS) $(P)/fw/tk1/firmware.lds
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irqpoc_with_app.elf: $(IRQPOC_WITH_APP_OBJS) $(P)/fw/tk1/firmware.lds
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$(CC) $(CFLAGS) $(IRQPOC_WITH_APP_OBJS) $(LDFLAGS) -o $@
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irqpoc_c_example.elf: $(IRQPOC_C_EXAMPLE_OBJS) $(P)/fw/tk1/firmware.lds
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$(CC) $(CFLAGS) $(IRQPOC_C_EXAMPLE_OBJS) $(LDFLAGS) -o $@
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# Generate a fake BRAM file that will be filled in later after place-n-route
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bram_fw.hex:
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$(ICESTORM_PATH)icebram -v -g 32 $(BRAM_FW_SIZE) > $@
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@ -261,6 +271,8 @@ irqpoc.hex: irqpoc.bin
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python3 $(P)/tools/makehex/makehex.py $< $(BRAM_FW_SIZE) > $@
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irqpoc_with_app.hex: irqpoc_with_app.bin
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python3 $(P)/tools/makehex/makehex.py $< $(BRAM_FW_SIZE) > $@
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irqpoc_c_example.hex: irqpoc_c_example.bin
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python3 $(P)/tools/makehex/makehex.py $< $(BRAM_FW_SIZE) > $@
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.PHONY: check-binary-hashes
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@ -485,6 +497,10 @@ tb_application_fpga_irqpoc: irqpoc.hex emptyapp tb_application_fpga
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tb_application_fpga_irqpoc_with_app: SIMFIRMWARE=irqpoc_with_app.hex
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tb_application_fpga_irqpoc_with_app: irqpoc_with_app.hex emptyapp tb_application_fpga
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.PHONY: tb_application_fpga_irqpoc_c_example
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tb_application_fpga_irqpoc_c_example: SIMFIRMWARE=irqpoc_c_example.hex
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tb_application_fpga_irqpoc_c_example: irqpoc_c_example.hex emptyapp tb_application_fpga
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#-------------------------------------------------------------------
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# FPGA device programming.
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@ -535,6 +551,7 @@ clean_fw:
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rm -f $(IRQPOC_OBJS)
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rm -f $(IRQPOC_LED_TOGGLE_OBJS)
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rm -f $(IRQPOC_WITH_APP_OBJS)
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rm -f $(IRQPOC_C_EXAMPLE_OBJS)
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rm -f qemu_firmware.elf
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.PHONY: clean_fw
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9
hw/application_fpga/fw/irqpoc_c_example/Makefile
Normal file
9
hw/application_fpga/fw/irqpoc_c_example/Makefile
Normal file
@ -0,0 +1,9 @@
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# Uses ../.clang-format
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FMTFILES=main.c
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.PHONY: fmt
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fmt:
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clang-format --dry-run --ferror-limit=0 $(FMTFILES)
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clang-format --verbose -i $(FMTFILES)
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.PHONY: checkfmt
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checkfmt:
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clang-format --dry-run --ferror-limit=0 --Werror $(FMTFILES)
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102
hw/application_fpga/fw/irqpoc_c_example/custom_ops.S
Normal file
102
hw/application_fpga/fw/irqpoc_c_example/custom_ops.S
Normal file
@ -0,0 +1,102 @@
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// This is free and unencumbered software released into the public domain.
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//
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// Anyone is free to copy, modify, publish, use, compile, sell, or
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// distribute this software, either in source code form or as a compiled
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// binary, for any purpose, commercial or non-commercial, and by any
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// means.
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#define regnum_q0 0
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#define regnum_q1 1
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#define regnum_q2 2
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#define regnum_q3 3
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#define regnum_x0 0
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#define regnum_x1 1
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#define regnum_x2 2
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#define regnum_x3 3
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#define regnum_x4 4
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#define regnum_x5 5
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#define regnum_x6 6
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#define regnum_x7 7
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#define regnum_x8 8
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#define regnum_x9 9
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#define regnum_x10 10
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#define regnum_x11 11
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#define regnum_x12 12
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#define regnum_x13 13
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#define regnum_x14 14
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#define regnum_x15 15
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#define regnum_x16 16
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#define regnum_x17 17
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#define regnum_x18 18
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#define regnum_x19 19
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#define regnum_x20 20
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#define regnum_x21 21
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#define regnum_x22 22
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#define regnum_x23 23
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#define regnum_x24 24
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#define regnum_x25 25
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#define regnum_x26 26
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#define regnum_x27 27
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#define regnum_x28 28
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#define regnum_x29 29
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#define regnum_x30 30
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#define regnum_x31 31
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#define regnum_zero 0
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#define regnum_ra 1
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#define regnum_sp 2
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#define regnum_gp 3
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#define regnum_tp 4
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#define regnum_t0 5
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#define regnum_t1 6
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#define regnum_t2 7
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#define regnum_s0 8
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#define regnum_s1 9
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#define regnum_a0 10
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#define regnum_a1 11
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#define regnum_a2 12
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#define regnum_a3 13
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#define regnum_a4 14
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#define regnum_a5 15
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#define regnum_a6 16
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#define regnum_a7 17
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#define regnum_s2 18
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#define regnum_s3 19
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#define regnum_s4 20
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#define regnum_s5 21
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#define regnum_s6 22
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#define regnum_s7 23
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#define regnum_s8 24
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#define regnum_s9 25
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#define regnum_s10 26
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#define regnum_s11 27
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#define regnum_t3 28
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#define regnum_t4 29
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#define regnum_t5 30
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#define regnum_t6 31
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// x8 is s0 and also fp
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#define regnum_fp 8
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#define r_type_insn(_f7, _rs2, _rs1, _f3, _rd, _opc) \
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.word (((_f7) << 25) | ((_rs2) << 20) | ((_rs1) << 15) | ((_f3) << 12) | ((_rd) << 7) | ((_opc) << 0))
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#define picorv32_getq_insn(_rd, _qs) \
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r_type_insn(0b0000000, 0, regnum_ ## _qs, 0b100, regnum_ ## _rd, 0b0001011)
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#define picorv32_setq_insn(_qd, _rs) \
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r_type_insn(0b0000001, 0, regnum_ ## _rs, 0b010, regnum_ ## _qd, 0b0001011)
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#define picorv32_retirq_insn() \
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r_type_insn(0b0000010, 0, 0, 0b000, 0, 0b0001011)
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#define picorv32_maskirq_insn(_rd, _rs) \
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r_type_insn(0b0000011, 0, regnum_ ## _rs, 0b110, regnum_ ## _rd, 0b0001011)
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#define picorv32_waitirq_insn(_rd) \
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r_type_insn(0b0000100, 0, 0, 0b100, regnum_ ## _rd, 0b0001011)
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#define picorv32_timer_insn(_rd, _rs) \
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r_type_insn(0b0000101, 0, regnum_ ## _rs, 0b110, regnum_ ## _rd, 0b0001011)
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58
hw/application_fpga/fw/irqpoc_c_example/main.c
Normal file
58
hw/application_fpga/fw/irqpoc_c_example/main.c
Normal file
@ -0,0 +1,58 @@
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/*
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* Copyright (C) 2022, 2023 - Tillitis AB
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* SPDX-License-Identifier: GPL-2.0-only
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*/
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#include "../tk1/types.h"
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#include "../tk1/led.h"
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#include "../tk1/assert.h"
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// Proof-of-concept firmware for handling syscalls.
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// This is NOT a best-practice example of secure syscall implementation.
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#define SYSCALL_HI (1 << 31)
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#define SYSCALL_LO 0
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#define SYSCALL_HI_SET_LED (SYSCALL_HI | 10)
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#define SYSCALL_LO_SET_LED (SYSCALL_LO | 10)
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static void delay(int32_t count) {
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volatile int32_t c = count;
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while (c > 0) {
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c--;
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}
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}
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int32_t syscall_lo_handler(uint32_t syscall_nr, uint32_t arg1) {
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switch (syscall_nr) {
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case SYSCALL_LO_SET_LED:
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set_led(arg1);
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//delay(1000000);
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return 0;
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default:
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assert(1 == 2);
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}
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assert(1 == 2);
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return -1; // This should never run
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}
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int32_t syscall_hi_handler(uint32_t syscall_nr, uint32_t arg1) {
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switch (syscall_nr) {
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case SYSCALL_HI_SET_LED:
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set_led(arg1);
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//delay(500000);
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return 0;
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default:
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assert(1 == 2);
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}
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assert(1 == 2);
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return -1; // This should never run
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}
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int main(void)
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{
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while (1) {
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}
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}
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261
hw/application_fpga/fw/irqpoc_c_example/start.S
Normal file
261
hw/application_fpga/fw/irqpoc_c_example/start.S
Normal file
@ -0,0 +1,261 @@
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/*
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* Copyright (C) 2022, 2023 - Tillitis AB
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* SPDX-License-Identifier: GPL-2.0-only
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*/
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// This firmware copies an app from ROM to app RAM.
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// The app continuosly calls the SET_LED syscalls in firmware (main.c).
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//
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#include "../tk1_mem.h"
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#include "custom_ops.S" // PicoRV32 custom instructions
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#define illegal_insn() .word 0
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#define FW_SP_STORAGE (TK1_MMIO_FW_RAM_BASE + TK1_MMIO_FW_RAM_SIZE - 4)
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#define FW_STACK_TOP (TK1_MMIO_FW_RAM_BASE + TK1_MMIO_FW_RAM_SIZE - 2*4)
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#define LED_RED (1 << TK1_MMIO_TK1_LED_R_BIT)
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#define LED_GREEN (1 << TK1_MMIO_TK1_LED_G_BIT)
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#define LED_BLUE (1 << TK1_MMIO_TK1_LED_B_BIT)
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.section ".text.init"
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.globl _start
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_start:
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j init
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//
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// IRQ handler
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//
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.=0x10 // IRQ handler at fixed address 0x10
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irq_handler:
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// PicoRV32 stores the IRQ bitmask in x4.
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// If bit 31 is 1: IRQ31 was triggered.
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// If bit 30 is 1: IRQ30 was triggered.
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irq_syscall_lo_check:
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li t4, (1 << 30)
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bne x4, t4, irq_syscall_hi_check
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// Run low privilege syscall handler
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call syscall_lo_handler
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j irq_source_check_done
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irq_syscall_hi_check:
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li t4, (1 << 31)
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bne x4, t4, unexpected_irq
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// Save app stack pointer. App is responsible for saving the rest of
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// the registers.
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la t0, FW_SP_STORAGE
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sw sp, 0(t0)
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// Setup firmware stack pointer
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la sp, FW_STACK_TOP
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// Run high privilege syscall handler
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call syscall_hi_handler
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// Restore app stack pointer
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la t0, FW_SP_STORAGE
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lw sp, 0(t0)
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j irq_source_check_done
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unexpected_irq:
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illegal_insn()
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irq_source_check_done:
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// Verify that interrupt return address is in app RAM
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li t0, TK1_RAM_BASE // 0x40000000
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blt x3, t0, x3_invalid
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li t0, TK1_RAM_BASE + TK1_RAM_SIZE // 0x40020000
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bge x3, t0, x3_invalid
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j x3_valid
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x3_invalid:
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illegal_insn()
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j x3_invalid
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x3_valid:
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// Remove data left over from the syscall handling
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mv x0, zero
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mv x1, zero
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// x2 (sp) is assumed to be preserved by the interrupt handler
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// x3 (interrupt return address) assumed preserved
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mv x4, zero
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mv x5, zero
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mv x6, zero
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mv x7, zero
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mv x8, zero
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mv x9, zero
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// x10 (a0) contains syscall return value. And should not be destroyed.
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mv x11, zero
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mv x12, zero
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mv x13, zero
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mv x14, zero
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mv x15, zero
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mv x16, zero
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mv x17, zero
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mv x18, zero
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mv x19, zero
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mv x20, zero
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mv x21, zero
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mv x22, zero
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mv x23, zero
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mv x24, zero
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mv x25, zero
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mv x26, zero
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mv x27, zero
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mv x28, zero
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mv x29, zero
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mv x30, zero
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mv x31, zero
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picorv32_retirq_insn() // Return from interrupt
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//
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// Init
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//
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.=0x100
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init:
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li t0, TK1_MMIO_TK1_LED
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li t1, LED_RED
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sw t1, 0(t0)
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// Enable IRQs
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li t0, 0x3fffffff // IRQ31 & IRQ30 mask
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picorv32_maskirq_insn(zero, t0) // Enable IRQs
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// Copy app to App RAM
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la t0, app_start
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la t1, app_end
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li t2, 0x40000000 // 0x40000000: App RAM
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copy_app:
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lw t3, 0(t0)
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sw t3, 0(t2)
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addi t0, t0, 4
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addi t2, t2, 4
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bleu t0, t1, copy_app
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// Jump to app
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li t2, 0x40000000 // 0x40000000: App RAM
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jalr zero, 0(t2)
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//
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// App
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//
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#define APP_SYSCALL_HI (1 << 31)
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#define APP_SYSCALL_LO 0
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#define APP_SYSCALL_HI_SET_LED (APP_SYSCALL_HI | 10)
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#define APP_SYSCALL_LO_SET_LED (APP_SYSCALL_LO | 10)
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.=0x1000
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app_start:
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// Set stack pointer to end of app RAM
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li sp, 0x4001fffc
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app_loop:
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li a0, APP_SYSCALL_LO_SET_LED
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li a1, LED_GREEN
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call app_syscall
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li a0, APP_SYSCALL_LO_SET_LED
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li a1, LED_BLUE
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call app_syscall
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li a0, APP_SYSCALL_HI_SET_LED
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li a1, LED_RED | LED_GREEN
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call app_syscall
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li a0, APP_SYSCALL_HI_SET_LED
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li a1, LED_RED | LED_BLUE
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call app_syscall
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j app_loop
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app_syscall:
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// Save registers to stack
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addi sp, sp, -32*4
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sw x0, 0*4(sp)
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sw x1, 1*4(sp)
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// x2 (sp) is assumed to be preserved by the interrupt handler.
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sw x3, 3*4(sp)
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sw x4, 4*4(sp)
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sw x5, 5*4(sp)
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sw x6, 6*4(sp)
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sw x7, 7*4(sp)
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sw x8, 8*4(sp)
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sw x9, 9*4(sp)
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// x10 (a0) will contain syscall return value. And should not be saved.
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sw x11, 11*4(sp)
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sw x12, 12*4(sp)
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sw x13, 13*4(sp)
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sw x14, 14*4(sp)
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sw x15, 15*4(sp)
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sw x16, 16*4(sp)
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sw x17, 17*4(sp)
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sw x18, 18*4(sp)
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sw x19, 19*4(sp)
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sw x20, 20*4(sp)
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sw x21, 21*4(sp)
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sw x22, 22*4(sp)
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sw x23, 23*4(sp)
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sw x24, 24*4(sp)
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sw x25, 25*4(sp)
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sw x26, 26*4(sp)
|
||||
sw x27, 27*4(sp)
|
||||
sw x28, 28*4(sp)
|
||||
sw x29, 29*4(sp)
|
||||
sw x30, 30*4(sp)
|
||||
sw x31, 31*4(sp)
|
||||
|
||||
// Raise interrupt depending on bit 31 in a0
|
||||
// 0: Low privilege syscall
|
||||
// 1: High privilege syscall
|
||||
li t0, (1 << 31)
|
||||
and t0, a0, t0
|
||||
beqz t0, app_syscall_low_priv
|
||||
li t1, 0xe1000000 // High privilege interrupt
|
||||
sw zero, 0(t1) // Trigger interrupt
|
||||
j app_syscall_restore_registers
|
||||
app_syscall_low_priv:
|
||||
li t1, 0xe0000000 // Low privelege interrupt
|
||||
sw zero, 0(t1) // Trigger interrupt
|
||||
|
||||
app_syscall_restore_registers:
|
||||
// Restore registers from stack
|
||||
lw x0, 0*4(sp)
|
||||
lw x1, 1*4(sp)
|
||||
// x2 (sp) is assumed to be preserved by the interrupt handler.
|
||||
lw x3, 3*4(sp)
|
||||
lw x4, 4*4(sp)
|
||||
lw x5, 5*4(sp)
|
||||
lw x6, 6*4(sp)
|
||||
lw x7, 7*4(sp)
|
||||
lw x8, 8*4(sp)
|
||||
lw x9, 9*4(sp)
|
||||
// x10 (a0) contains syscall return value. And should not be destroyed.
|
||||
lw x11, 11*4(sp)
|
||||
lw x12, 12*4(sp)
|
||||
lw x13, 13*4(sp)
|
||||
lw x14, 14*4(sp)
|
||||
lw x15, 15*4(sp)
|
||||
lw x16, 16*4(sp)
|
||||
lw x17, 17*4(sp)
|
||||
lw x18, 18*4(sp)
|
||||
lw x19, 19*4(sp)
|
||||
lw x20, 20*4(sp)
|
||||
lw x21, 21*4(sp)
|
||||
lw x22, 22*4(sp)
|
||||
lw x23, 23*4(sp)
|
||||
lw x24, 24*4(sp)
|
||||
lw x25, 25*4(sp)
|
||||
lw x26, 26*4(sp)
|
||||
lw x27, 27*4(sp)
|
||||
lw x28, 28*4(sp)
|
||||
lw x29, 29*4(sp)
|
||||
lw x30, 30*4(sp)
|
||||
lw x31, 31*4(sp)
|
||||
addi sp, sp, 32*4
|
||||
|
||||
ret
|
||||
|
||||
.align 4
|
||||
app_end:
|
||||
|
||||
@ -84,7 +84,7 @@ module tb_application_fpga_sim ();
|
||||
//----------------------------------------------------------------
|
||||
initial begin
|
||||
// End simulation after XXX time units (set by timescale)
|
||||
#3000;
|
||||
#14000;
|
||||
$display("TIMEOUT");
|
||||
$finish;
|
||||
end
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user