Bring the VP to parity with testing in Keelhaul

.github/workflows/validate.yml

@@ -23,13 +23,13 @@ jobs:
     - name: Install requirements
       run: rustup target add riscv64imac-unknown-none-elf
     - name: Build examples
-      working-directory: ./examples/hello-dla
+      working-directory: ./examples/hpc/hello-dla
       run: cargo build --example dla
     - name: Upload artifact
       uses: actions/upload-artifact@v4
       with:
         name: dla-debug
-        path: ./examples/hello-dla/target/riscv64imac-unknown-none-elf/debug/examples/dla
+        path: ./examples/target/riscv64imac-unknown-none-elf/debug/examples/dla
         if-no-files-found: error
         retention-days: 14
 

examples/Cargo.toml

@@ -0,0 +1,11 @@
+[workspace]
+members = [
+    "headsail-bsp",
+    "hpc/hello-hpc",
+    "hpc/hello-dla",
+    "sysctrl/hello-sysctrl",
+]
+resolver = "2"
+
+[profile.release]
+debug = true

examples/headsail-bsp/Cargo.toml

@@ -0,0 +1,23 @@
+[package]
+name = "headsail-bsp"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[features]
+hpc-rt = ["rt"]
+sysctrl-rt = [
+    "rt",
+    "riscv-rt/single-hart",
+    "riscv/critical-section-single-hart",
+]
+panic-uart = []
+
+# This is generated by the above options, don't use directly
+rt = ["dep:riscv-rt", "dep:riscv"]
+
+[dependencies]
+ufmt = "0.2.0"
+riscv-rt = { version = "0.12.2", optional = true }
+riscv = { version = "0.11.1", optional = true }

examples/headsail-bsp/src/lib.rs

@@ -0,0 +1,75 @@
+//! A light-weight memory map based board support package for Headsail.
+#![no_std]
+
+pub mod sprintln;
+pub mod uart;
+
+#[cfg(any(feature = "rt"))]
+pub use riscv_rt as rt;
+pub use ufmt;
+
+mod mmap;
+mod ufmt_panic;
+
+/// # Safety
+///
+/// Unaligned reads may fail to produce expected results on RISC-V.
+#[inline(always)]
+pub unsafe fn read_u8(addr: usize) -> u8 {
+    core::ptr::read_volatile(addr as *const _)
+}
+
+/// # Safety
+///
+/// Unaligned writes may fail to produce expected results on RISC-V.
+#[inline(always)]
+pub unsafe fn write_u8(addr: usize, val: u8) {
+    core::ptr::write_volatile(addr as *mut _, val)
+}
+
+#[inline(always)]
+pub fn read_u32(addr: usize) -> u32 {
+    unsafe { core::ptr::read_volatile(addr as *const _) }
+}
+
+#[inline(always)]
+pub fn write_u32(addr: usize, val: u32) {
+    unsafe { core::ptr::write_volatile(addr as *mut _, val) }
+}
+
+#[cfg(feature = "sysctrl-rt")]
+#[export_name = "_setup_interrupts"]
+fn setup_interrupt_vector() {
+    use riscv::register::mtvec;
+
+    // Set the trap vector
+    unsafe {
+        extern "C" {
+            fn _trap_vector();
+        }
+
+        // Set all the trap vectors for good measure
+        let bits = _trap_vector as usize;
+        mtvec::write(bits, mtvec::TrapMode::Vectored);
+    }
+}
+
+// The vector table
+//
+// Do the ESP trick and route all interrupts to the direct dispatcher.
+//
+// N.b. vectors length must be exactly 0x80
+#[cfg(feature = "sysctrl-rt")]
+core::arch::global_asm!(
+    "
+.section .vectors, \"ax\"
+    .global _trap_vector
+    // Trap vector base address must always be aligned on a 4-byte boundary
+    .align 4
+_trap_vector:
+    j _start_trap
+    .rept 31
+    .word _start_trap // 1..31
+    .endr
+"
+);

examples/headsail-bsp/src/sprintln.rs

@@ -0,0 +1,38 @@
+use crate::uart::uart_write;
+
+pub struct Uart;
+
+#[macro_export]
+macro_rules! sprint {
+    ($s:expr) => {{
+        use $crate::{sprintln, ufmt};
+        ufmt::uwrite!(sprintln::Uart {}, $s).unwrap()
+    }};
+    ($($tt:tt)*) => {{
+        use $crate::{sprintln, ufmt};
+        ufmt::uwrite!(sprintln::Uart, $($tt)*).unwrap()
+    }};
+}
+
+#[macro_export]
+macro_rules! sprintln {
+    () => {{
+        use $crate::sprint;
+        sprint!("\r\n");
+    }};
+    // IMPORTANT use `tt` fragments instead of `expr` fragments (i.e. `$($exprs:expr),*`)
+    ($($tt:tt)*) => {{
+        use $crate::{sprint, sprintln};
+        sprint!($($tt)*);
+        sprint!("\r\n");
+    }};
+}
+
+impl ufmt::uWrite for Uart {
+    type Error = core::convert::Infallible;
+
+    fn write_str(&mut self, s: &str) -> Result<(), Self::Error> {
+        uart_write(s);
+        Ok(())
+    }
+}

examples/headsail-bsp/src/uart.rs

@@ -0,0 +1,14 @@
+use crate::{mmap::UART0_ADDR, write_u8};
+
+#[inline]
+pub fn uart_write(s: &str) {
+    for b in s.as_bytes() {
+        putc(*b);
+    }
+}
+
+#[inline]
+fn putc(c: u8) {
+    // Safety: we don't know if u8 writes work for all target architectures
+    unsafe { write_u8(UART0_ADDR, c as u8) };
+}

examples/headsail-bsp/src/ufmt_panic.rs

@@ -0,0 +1,26 @@
+//! Set panicking behavior to print into UART
+
+use crate::ufmt::uDisplay;
+use core::panic::PanicInfo;
+
+pub(crate) struct PanicInfoWrapper<'a>(pub(crate) &'a PanicInfo<'a>);
+
+impl uDisplay for PanicInfoWrapper<'_> {
+    fn fmt<W>(&self, f: &mut crate::ufmt::Formatter<'_, W>) -> Result<(), W::Error>
+    where
+        W: crate::ufmt::uWrite + ?Sized,
+    {
+        if let Some(msg) = self.0.payload().downcast_ref::<&str>() {
+            f.write_str(&msg)
+        } else {
+            f.write_str("panic occurred")
+        }
+    }
+}
+
+#[cfg(feature = "panic-uart")]
+#[panic_handler]
+fn panic(info: &PanicInfo) -> ! {
+    sprintln!("{}", PanicInfoWrapper(info));
+    loop {}
+}

examples/hello-hpc/Cargo.toml → examples/hpc/hello-dla/Cargo.toml

@@ -1,12 +1,12 @@
 [package]
-name = "hello-hpc"
+name = "hello-dla"
 version = "0.1.0"
 edition = "2021"
 
-[workspace]
-
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
 panic-halt = "0.2.0"
-riscv-rt = "0.12.2"
+headsail-bsp = { version = "0.1.0", path = "../../headsail-bsp", features = [
+    "hpc-rt",
+] }

examples/hpc/hello-dla/build.rs

@@ -0,0 +1,13 @@
+//! This Cargo build script finds the linker on setups where using a .cargo/config.toml file would
+//! be inconvenient, e.g. in a Cargo workspace.
+
+use std::{env, fs, path};
+
+const LINK_SCRIPT: &'static str = "memory.x";
+
+fn main() {
+    // Put link script in our output directory and ensure it's on the linker search path
+    let out = &path::PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    fs::copy(LINK_SCRIPT, out.join(LINK_SCRIPT)).unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+}

examples/hello-dla/examples/dla.rs → examples/hpc/hello-dla/examples/dla.rs

@@ -1,13 +1,13 @@
 #![no_std]
 #![no_main]
 
-use hello_hpc::{dla_read, dla_write, uart_write};
+use headsail_bsp::{rt::entry, sprintln};
+use hello_dla::{dla_read, dla_write};
 use panic_halt as _;
-use riscv_rt::entry;
 
 #[entry]
 fn main() -> ! {
-    uart_write("Hello world!\r\n");
+    sprintln!("Hello world!");
     dla_write("Hello DLA");
     let mut buf: [u8; 9] = [0; 9];
     dla_read(&mut buf, 9, 0);

examples/hello-dla/renode.sh → examples/hpc/hello-dla/renode.sh

@@ -5,7 +5,7 @@ BASEDIR=$(dirname "$0")
 BIN=${BIN=$1}
 RENODE_PATH=$(dirname $(which renode))
 RENODE_PYTHON_PERIPHERALS="$RENODE_PATH/scripts/pydev"
-VP_PYTHON_PERIPHERALS="$BASEDIR/../../vp/devel/python_peripherals"
+VP_PYTHON_PERIPHERALS="$BASEDIR/../../../vp/devel/python_peripherals"
 
 # Check if symlinks exist
 if [ ! -h "$RENODE_PYTHON_PERIPHERALS/DLA.py" ]; then
@@ -15,4 +15,4 @@ if [ ! -h "$RENODE_PYTHON_PERIPHERALS/DLA.py" ]; then
    ln -s $(readlink -f "$VP_PYTHON_PERIPHERALS/DLA.py") "$RENODE_PYTHON_PERIPHERALS/DLA.py"
 fi
 
-renode --console -e "set bin @$BIN; include @$BASEDIR/../../scripts/2_run_hpc.resc"
+renode --console -e "set bin @$BIN; include @$BASEDIR/../../../scripts/2_run_hpc.resc"

examples/hello-dla/Cargo.toml → examples/hpc/hello-hpc/Cargo.toml

@@ -3,10 +3,11 @@ name = "hello-hpc"
 version = "0.1.0"
 edition = "2021"
 
-[workspace]
-
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
 panic-halt = "0.2.0"
 riscv-rt = "0.12.2"
+headsail-bsp = { version = "0.1.0", path = "../../headsail-bsp", features = [
+    "hpc-rt",
+] }

examples/hpc/hello-hpc/build.rs

@@ -0,0 +1,13 @@
+//! This Cargo build script finds the linker on setups where using a .cargo/config.toml file would
+//! be inconvenient, e.g. in a Cargo workspace.
+
+use std::{env, fs, path};
+
+const LINK_SCRIPT: &'static str = "memory.x";
+
+fn main() {
+    // Put link script in our output directory and ensure it's on the linker search path
+    let out = &path::PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    fs::copy(LINK_SCRIPT, out.join(LINK_SCRIPT)).unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+}

examples/hello-hpc/examples/uart0.rs → examples/hpc/hello-hpc/examples/uart0.rs

@@ -1,9 +1,8 @@
 #![no_std]
 #![no_main]
 
-use hello_hpc::uart_write;
+use headsail_bsp::{rt::entry, uart::uart_write};
 use panic_halt as _;
-use riscv_rt::entry;
 
 #[entry]
 fn main() -> ! {

examples/hpc/hello-hpc/renode.sh

@@ -0,0 +1,7 @@
+#!/bin/sh
+set -x # echo on
+
+BASEDIR=$(dirname "$0")
+BIN=${BIN=$1}
+
+renode --console -e "set bin @$BIN; include @$BASEDIR/../../../scripts/2_run_hpc.resc"

examples/hpc/hello-hpc/src/mmap.rs

@@ -0,0 +1 @@
+pub(crate) const UART0_ADDR: usize = 0xFFF00000;

examples/sysctrl/hello-sysctrl/.cargo/config.toml

@@ -0,0 +1,6 @@
+[build]
+target = "riscv32imc-unknown-none-elf"
+
+[target.riscv32imc-unknown-none-elf]
+runner = "./renode.sh"
+rustflags = ["-C", "link-arg=-Tmemory.x", "-C", "link-arg=-Tlink.x"]

examples/sysctrl/hello-sysctrl/Cargo.toml

@@ -0,0 +1,12 @@
+[package]
+name = "hello-sysctrl"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+headsail-bsp = { version = "0.1.0", path = "../../headsail-bsp", features = [
+    "sysctrl-rt",
+] }
+panic-halt = "0.2.0"

examples/sysctrl/hello-sysctrl/build.rs

@@ -0,0 +1,13 @@
+//! This Cargo build script finds the linker on setups where using a .cargo/config.toml file would
+//! be inconvenient, e.g. in a Cargo workspace.
+
+use std::{env, fs, path};
+
+const LINK_SCRIPT: &'static str = "memory.x";
+
+fn main() {
+    // Put link script in our output directory and ensure it's on the linker search path
+    let out = &path::PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    fs::copy(LINK_SCRIPT, out.join(LINK_SCRIPT)).unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+}

examples/sysctrl/hello-sysctrl/connect-and-load.gdb

@@ -0,0 +1,3 @@
+# Sysctrl is exposed at to 3333
+target remote :3333
+backtrace

examples/sysctrl/hello-sysctrl/examples/uart0.rs

@@ -0,0 +1,11 @@
+#![no_std]
+#![no_main]
+
+use headsail_bsp::{rt::entry, uart::uart_write};
+use panic_halt as _;
+
+#[entry]
+fn main() -> ! {
+    uart_write("Hello world!");
+    loop {}
+}

examples/sysctrl/hello-sysctrl/memory.x

@@ -0,0 +1,12 @@
+MEMORY
+{
+  BANK0 : ORIGIN = 0x1c000000, LENGTH = 0x8000
+  BANK1 : ORIGIN = 0x1c008000, LENGTH = 0x8000
+}
+
+REGION_ALIAS("REGION_TEXT", BANK0);
+REGION_ALIAS("REGION_DATA", BANK0);
+REGION_ALIAS("REGION_RODATA", BANK1);
+REGION_ALIAS("REGION_BSS", BANK1);
+REGION_ALIAS("REGION_HEAP", BANK1);
+REGION_ALIAS("REGION_STACK", BANK1);