mps3-an547:let ap build with pic,and use bootloader boot it

Implement PIC loading in armv8-m qemu,
for example: load address-independent AP ELF in the bootloader,
and the text segment in AP ELF is XIP,
no need to apply for memory and modify it.

Two config:

bootloader abbreviation bl:
  use romfs to load ap elf, use the boot command to parse and jump to ap

application abbreviation ap:
  run os test

We need to compile ap first, then compile bl.

compile step:
  ./tools/configure.sh mps3-an547:ap
  make -j20
  mkdir -p pic
  cp boot pic/.
  genromfs -a 128 -f ../romfs.img -d pic
  make distclean -j20
  ./tools/configure.sh mps3-an547:bl
  make -j20

run qemu:
  qemu-system-arm -M mps3-an547 -m 2G -nographic -kernel nuttx.bin \
    -gdb tcp::1127 -device loader,file=../romfs.img,addr=0x60000000

  nsh> boot /etc/boot
  ap> ostest

Signed-off-by: anjiahao <[email protected]>

Documentation/platforms/arm/mps/boards/mps3-an547/index.rst

@@ -41,6 +41,24 @@ Configuring and Running
    $ nsh> /pic/ostest
    ```
 
+4. **Pic bootloader boot to ap, and run ostest:**
+
+   ```bash
+   $ ./tools/configure.sh mps3-an547:ap
+   $ make -j20
+   $ mkdir -p pic
+   $ arm-none-eabi-strip --remove-section=.rel.text --remove-section=.comment --strip-unneeded nuttx -o pic/boot
+   $ genromfs -a -f 128 ../romfs.img -d pic
+   $ make distclean -j20
+   $ ./tools/configure.sh mps3-an547:bl
+   $ make -j20
+   $ qemu-system-arm -M mps3-an547 -m 2G -nographic \
+   -kernel nuttx.bin -gdb tcp::1127 \
+   -device loader,file=../romfs.img,addr=0x60000000
+   $ bl> boot /pic/boot
+   $ ap> ostest
+   ```
+
 Debugging with QEMU
 ===================
 

arch/arm/src/mps/Kconfig

@@ -42,6 +42,8 @@ config ARCH_CHIP_MPS3_AN547
 	select ARCH_CORTEXM55
 	select ARCH_HAVE_FPU
 	select ARM_HAVE_MVE
+	select ARCH_HAVE_TEXT_HEAP
+	select ARCH_HAVE_DATA_HEAP
 
 endchoice
 

arch/arm/src/mps/mps_allocateheap.c

@@ -43,6 +43,8 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+#define ALIGN_UP(x, a) (((x) + (a) - 1) & ~((a) - 1))
+
 /* Configuration ************************************************************/
 
 /* Terminology.
@@ -76,21 +78,12 @@
  */
 
 /****************************************************************************
- * Public Data
+ * Private Data
  ****************************************************************************/
 
-/* _sbss is the start of the BSS region (see the linker script) _ebss is the
- * end of the BSS regions (see the linker script). The idle task stack starts
- * at the end of BSS and is of size CONFIG_IDLETHREAD_STACKSIZE.  The IDLE
- * thread is the thread that the system boots on and, eventually, becomes the
- * idle, do nothing task that runs only when there is nothing else to run.
- * The heap continues from there until the configured end of memory.
- * g_idle_topstack is the beginning of this heap region (not necessarily
- * aligned).
- */
-
-const uintptr_t g_idle_topstack = (uintptr_t)_ebss +
-                                  CONFIG_IDLETHREAD_STACKSIZE;
+#if defined(CONFIG_ARCH_USE_TEXT_HEAP) || defined(CONFIG_ARCH_USE_DATA_HEAP)
+static uintptr_t g_alloc_count;
+#endif
 
 /****************************************************************************
  * Public Functions
@@ -169,8 +162,13 @@ void up_allocate_heap(void **heap_start, size_t *heap_size)
   /* Allow user-mode access to the user heap memory */
 
   mpu_user_intsram(ubase, usize);
-#else
+#elif defined(CONFIG_BUILD_PIC)
 
+  /* Use different heap useful to debug */
+
+  *heap_start = (void *)MPS_SRAM1_START;
+  *heap_size  = MPS_SRAM1_SIZE;
+#else
   /* Return the heap settings */
 
   *heap_start = (void *)g_idle_topstack;
@@ -271,3 +269,111 @@ void arm_addregion(void)
 #endif /* CONFIG_MM_REGIONS > 2 */
 }
 #endif /* CONFIG_MM_REGIONS > 1 */
+
+/****************************************************************************
+ * Name: up_textheap_memalign
+ *
+ * Description:
+ *   Allocate memory for text with the specified alignment and sectname.
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_ARCH_USE_TEXT_HEAP)
+#  if defined(CONFIG_ARCH_USE_SEPARATED_SECTION)
+void *up_textheap_memalign(const char *sectname,
+                           size_t align, size_t size)
+#  else
+void *up_textheap_memalign(size_t align, size_t size)
+#  endif
+{
+  uintptr_t base = (uintptr_t)MPS_SRAM2_START + g_alloc_count;
+  uintptr_t ret = ALIGN_UP(base, align);
+
+  g_alloc_count += ret - base + size;
+  return (void *)ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: up_textheap_free
+ *
+ * Description:
+ *   Free memory allocated for text sections.
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_ARCH_USE_TEXT_HEAP)
+void up_textheap_free(void *p)
+{
+}
+#endif
+
+/****************************************************************************
+ * Name: up_textheap_heapmember
+ *
+ * Description:
+ *   Test if memory is from text heap.
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_ARCH_USE_TEXT_HEAP)
+bool up_textheap_heapmember(void *p)
+{
+  return (uintptr_t)p >= MPS_SRAM2_START &&
+         (uintptr_t)p < MPS_SRAM2_START + MPS_SRAM2_SIZE;
+}
+#endif
+
+/****************************************************************************
+ * Name: up_dataheap_memalign
+ *
+ * Description:
+ *   Allocate memory for data with the specified alignment and sectname.
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_ARCH_USE_DATA_HEAP)
+#  if defined(CONFIG_ARCH_USE_SEPARATED_SECTION)
+void *up_dataheap_memalign(const char *sectname,
+                           size_t align, size_t size)
+#  else
+void *up_dataheap_memalign(size_t align, size_t size)
+#  endif
+{
+  uintptr_t base = (uintptr_t)MPS_SRAM2_START + g_alloc_count;
+  uintptr_t ret = ALIGN_UP(base, align);
+
+  g_alloc_count += ret - base + size;
+  return (void *)ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: up_dataheap_free
+ *
+ * Description:
+ *   Free memory allocated for data sections.
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_ARCH_USE_DATA_HEAP)
+void up_dataheap_free(void *p)
+{
+}
+#endif
+
+/****************************************************************************
+ * Name: up_dataheap_heapmember
+ *
+ * Description:
+ *   Test if memory is from data heap.
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_ARCH_USE_DATA_HEAP)
+bool up_dataheap_heapmember(void *p)
+{
+  return (uintptr_t)p >= MPS_SRAM2_START &&
+         (uintptr_t)p < MPS_SRAM2_START + MPS_SRAM2_SIZE;
+}
+#endif

arch/arm/src/mps/mps_start.c

@@ -36,6 +36,28 @@
 #include "mps_userspace.h"
 #include "mpu.h"
 
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+#define HEAP_BASE ((uintptr_t)_ebss + CONFIG_IDLETHREAD_STACKSIZE)
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* g_idle_topstack: _sbss is the start of the BSS region as defined by the
+ * linker script. _ebss lies at the end of the BSS region. The idle task
+ * stack starts at the end of BSS and is of size CONFIG_IDLETHREAD_STACKSIZE.
+ * The IDLE thread is the thread that the system boots on and, eventually,
+ * becomes the IDLE, do nothing task that runs only when there is nothing
+ * else to run.  The heap continues from there until the end of memory.
+ * g_idle_topstack is a read-only variable the provides this computed
+ * address.
+ */
+
+const uintptr_t g_idle_topstack = HEAP_BASE;
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
@@ -94,8 +116,10 @@ static inline void mps_tcmenable(void)
 
 void __start(void)
 {
+#ifndef CONFIG_BUILD_PIC
   const uint32_t *src;
   uint32_t *dest;
+#endif
 
   /* If enabled reset the MPU */
 
@@ -105,6 +129,10 @@ void __start(void)
 #endif
   arm_fpuconfig();
 
+  /* If used the PIC, then the PIC will have already been configured */
+
+#ifndef CONFIG_BUILD_PIC
+
   /* Set bss to zero */
 
   for (dest = (uint32_t *)_sbss; dest < (uint32_t *)_ebss; )
@@ -120,6 +148,7 @@ void __start(void)
     {
       *dest++ = *src++;
     }
+#endif
 
   /* Perform early serial initialization */
 

boards/arm/mps/mps3-an547/configs/bl/defconfig

@@ -91,6 +91,8 @@ CONFIG_ARCH_CHIP_MPS3_AN547=y
 CONFIG_ARCH_CHIP_MPS=y
 CONFIG_ARCH_INTERRUPTSTACK=2048
 CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_USE_DATA_HEAP=y
+CONFIG_ARCH_USE_SEPARATED_SECTION=y
 CONFIG_ARMV8M_SYSTICK=y
 CONFIG_BOARDCTL_APP_SYMTAB=y
 CONFIG_BOARDCTL_BOOT_IMAGE=y

boards/arm/mps/mps3-an547/scripts/flash.ld

@@ -18,6 +18,8 @@
  *
  ****************************************************************************/
 
+#include "nuttx/config.h"
+
 MEMORY
 {
   flash (rx)  : ORIGIN = 0x00000000, LENGTH = 512K
@@ -33,15 +35,16 @@ SECTIONS
 {
     .text : {
         _stext = ABSOLUTE(.);
+#ifndef CONFIG_BUILD_PIC /* We need change vectors use pic */
         *(.vectors)
+#endif
         *(.text .text.*)
         *(.fixup)
         *(.gnu.warning)
         *(.rodata .rodata.*)
         *(.gnu.linkonce.t.*)
         *(.glue_7)
         *(.glue_7t)
-        *(.got)
         *(.gcc_except_table)
         *(.gnu.linkonce.r.*)
         _etext = ABSOLUTE(.);
@@ -93,6 +96,11 @@ SECTIONS
         _edata = ABSOLUTE(.);
     } > sram1 AT > flash
 
+    .got :
+      {
+        *(.got*)
+      } > sram1
+
     .bss : ALIGN(4) {
         _sbss = ABSOLUTE(.);
         *(.bss .bss.*)

boards/arm/mps/mps3-an547/src/mps3_bringup.c

@@ -28,9 +28,13 @@
 #include <sys/mount.h>
 #include <syslog.h>
 
+#include <nuttx/lib/modlib.h>
 #include <nuttx/fs/fs.h>
 #include <nuttx/drivers/ramdisk.h>
 
+#include "nvic.h"
+#include "arm_internal.h"
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -97,6 +101,82 @@ static int mps3_bringup(void)
  * Public Functions
  ****************************************************************************/
 
+#ifdef CONFIG_BOARDCTL_BOOT_IMAGE
+
+int board_boot_image(FAR const char *path, uint32_t hdr_size)
+{
+  struct mod_loadinfo_s loadinfo;
+  struct module_s mod;
+  uintptr_t bss;
+  uintptr_t got;
+  uintptr_t msp;
+  int ret;
+
+  /* Initialize the ELF library to load the program binary. */
+
+  syslog(LOG_INFO, "modlib_init...\n");
+
+  ret = modlib_initialize(path, &loadinfo);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "Failed to modlib_init: %d\n", ret);
+      return ret;
+    }
+
+  /* Load the program binary */
+
+  syslog(LOG_INFO, "modlib_load...\n");
+
+  ret = modlib_load(&loadinfo);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "Failed to modlib_load: %d\n", ret);
+      goto errout_with_init;
+    }
+
+  syslog(LOG_INFO, "modlib_bind...\n");
+
+  memset(&mod, 0, sizeof(struct module_s));
+  ret = modlib_bind(&mod, &loadinfo, NULL, 0);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "Failed to modlib_bind: %d\n", ret);
+      goto errout_with_load;
+    }
+
+  bss = modlib_findsection(&loadinfo, ".bss");
+  got = loadinfo.shdr[loadinfo.gotindex].sh_addr;
+  msp = loadinfo.shdr[bss].sh_addr + loadinfo.shdr[bss].sh_size +
+        CONFIG_IDLETHREAD_STACKSIZE;
+
+  syslog(LOG_INFO, "add-symbol-file ap.elf -s .text 0x%x -s .data"
+         " 0x%x\n", loadinfo.textalloc, loadinfo.datastart);
+  up_irq_disable();
+
+  /* Disable systick */
+
+  putreg32(0, NVIC_SYSTICK_CTRL);
+  putreg32(NVIC_SYSTICK_RELOAD_MASK, NVIC_SYSTICK_RELOAD);
+  putreg32(0, NVIC_SYSTICK_CURRENT);
+
+  /* Set got address to r9 */
+
+  __asm__ __volatile__("mov r9, %0"::"r"(got));
+
+  /* set msp to the top of idle stack */
+
+  __asm__ __volatile__("msr msp, %0" : : "r" (msp));
+
+  ((void (*)(void))loadinfo.ehdr.e_entry + loadinfo.textalloc)();
+
+errout_with_load:
+  modlib_unload(&loadinfo);
+errout_with_init:
+  modlib_uninitialize(&loadinfo);
+  return ret;
+}
+#endif
+
 /****************************************************************************
  * Name: board_late_initialize
  *