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"resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz",
"integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==",
"dev": true
},
"node_modules/yargs": {
"version": "17.7.2",
"resolved": "https://registry.npmjs.org/yargs/-/yargs-17.7.2.tgz",
"integrity": "sha512-7dSzzRQ++CKnNI/krKnYRV7JKKPUXMEh61soaHKg9mrWEhzFWhFnxPxGl+69cD1Ou63C13NUPCnmIcrvqCuM6w==",
"dev": true,
"dependencies": {
"cliui": "^8.0.1",
"escalade": "^3.1.1",
"get-caller-file": "^2.0.5",
"require-directory": "^2.1.1",
"string-width": "^4.2.3",
"y18n": "^5.0.5",
"yargs-parser": "^21.1.1"
},
"engines": {
"node": ">=12"
}
},
"node_modules/yargs-parser": {
"version": "21.1.1",
"resolved": "https://registry.npmjs.org/yargs-parser/-/yargs-parser-21.1.1.tgz",
"integrity": "sha512-tVpsJW7DdjecAiFpbIB1e3qxIQsE6NoPc5/eTdrbbIC4h0LVsWhnoa3g+m2HclBIujHzsxZ4VJVA+GUuc2/LBw==",
"dev": true,
"engines": {
"node": ">=12"
}
},
"node_modules/yargs-unparser": {
"version": "2.0.0",
"resolved": "https://registry.npmjs.org/yargs-unparser/-/yargs-unparser-2.0.0.tgz",
"integrity": "sha512-7pRTIA9Qc1caZ0bZ6RYRGbHJthJWuakf+WmHK0rVeLkNrrGhfoabBNdue6kdINI6r4if7ocq9aD/n7xwKOdzOA==",
"dev": true,
"dependencies": {
"camelcase": "^6.0.0",
"decamelize": "^4.0.0",
"flat": "^5.0.2",
"is-plain-obj": "^2.1.0"
},
"engines": {
"node": ">=10"
}
},
"node_modules/yargs/node_modules/emoji-regex": {
"version": "8.0.0",
"resolved": "https://registry.npmjs.org/emoji-regex/-/emoji-regex-8.0.0.tgz",
"integrity": "sha512-MSjYzcWNOA0ewAHpz0MxpYFvwg6yjy1NG3xteoqz644VCo/RPgnr1/GGt+ic3iJTzQ8Eu3TdM14SawnVUmGE6A==",
"dev": true
},
"node_modules/yargs/node_modules/string-width": {
"version": "4.2.3",
"resolved": "https://registry.npmjs.org/string-width/-/string-width-4.2.3.tgz",
"integrity": "sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g==",
"dev": true,
"dependencies": {
"emoji-regex": "^8.0.0",
"is-fullwidth-code-point": "^3.0.0",
"strip-ansi": "^6.0.1"
},
"engines": {
"node": ">=8"
}
},
"node_modules/yocto-queue": {
"version": "0.1.0",
"resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz",
"integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==",
"dev": true,
"engines": {
"node": ">=10"
},
"funding": {
"url": "https://github.com/sponsors/sindresorhus"
}
}
}
}
|
0 | repos | repos/zig-tools/tsconfig.json | {
"compilerOptions": {
"module": "Node16",
"target": "ES2022",
"outDir": "out",
"lib": [
"ES2022"
],
"sourceMap": true,
"rootDir": "src",
"strict": true /* enable all strict type-checking options */
/* Additional Checks */
// "noImplicitReturns": true, /* Report error when not all code paths in function return a value. */
// "noFallthroughCasesInSwitch": true, /* Report errors for fallthrough cases in switch statement. */
// "noUnusedParameters": true, /* Report errors on unused parameters. */
}
} |
0 | repos | repos/zig-tools/README.md | # Zig tools
<p align="center">
<img src="images/readme_icon.png" width="300">
</p>
<p align="center">
<a href="https://marketplace.visualstudio.com/items?itemName=bwork.zig-tools"><img alt="Visual Studio Marketplace Version" src="https://img.shields.io/visual-studio-marketplace/v/bwork.zig-tools?style=flat-square&logo=visualstudiocode&label=vscode&color=f7a41d"></a>
</p>
## ⚡ Features
### Data type hints on hover
### Bitwise operation hints on hover
### Convert a number from hexadecimal to decimal
|
0 | repos/zig-tools | repos/zig-tools/src/extension.ts | // The module 'vscode' contains the VS Code extensibility API
// Import the module and reference it with the alias vscode in your code below
import * as vscode from 'vscode';
import { TypesAutocomplete } from './tools/autocompletion';
import { BitwiseOperationHints } from './tools/bitwiseOpHint';
import { HexHints } from './tools/hexHints';
import { TypeHints } from './tools/typeHints';
const enum Config {
TypeHints = "zig-tools.type hints",
TypeAutocompletion = "zig-tools.type autocompletion",
BitwiseOPHints = "zig-tools.bitwise operation hints",
HexHints = "zig-tools.hex hints",
}
let hoverProviders: vscode.Disposable[] = [];
let disposable: vscode.Disposable | undefined;
export function activate(context: vscode.ExtensionContext) {
initExtensions();
vscode.workspace.onDidChangeConfiguration(initExtensions);
if (disposable) {
context.subscriptions.push(disposable);
}
}
function initExtensions() {
const isThEnabled = <boolean>vscode.workspace.getConfiguration().get(Config.TypeHints);
const isDtAutocompletionEnabled = <boolean>vscode.workspace.getConfiguration().get(Config.TypeAutocompletion);
const isBitwiseOPHintsEnabled = <boolean>vscode.workspace.getConfiguration().get(Config.BitwiseOPHints);
const isHexHintsEnabeld = <boolean>vscode.workspace.getConfiguration().get(Config.HexHints);
hoverProviders.forEach(provider => provider.dispose());
hoverProviders = [];
if (isHexHintsEnabeld) {
hoverProviders.push(
vscode.languages.registerHoverProvider({ language: "zig" }, HexHints)
);
}
if (isBitwiseOPHintsEnabled) {
hoverProviders.push(
vscode.languages.registerHoverProvider({ language: "zig" }, BitwiseOperationHints)
);
}
if (isThEnabled) {
hoverProviders.push(
vscode.languages.registerHoverProvider({ language: "zig" }, TypeHints)
);
}
if (isDtAutocompletionEnabled) {
hoverProviders.push(
vscode.languages.registerCompletionItemProvider({ language: "zig" }, TypesAutocomplete)
);
}
disposable = vscode.Disposable.from(...hoverProviders);
} |
0 | repos/zig-tools/src | repos/zig-tools/src/tools/hexHints.ts | import * as vscode from 'vscode';
export const HexHints: vscode.HoverProvider = {
provideHover(document: vscode.TextDocument, position: vscode.Position, token: vscode.CancellationToken) {
const range = document.getWordRangeAtPosition(position);
const hexStr = document.getText(range);
if (hexStr.startsWith("0x")) { // hex string
if (Number.isNaN(Number(hexStr))) {
return;
}
return new vscode.Hover(`${Number(hexStr)}`);
}
}
}; |
0 | repos/zig-tools/src | repos/zig-tools/src/tools/autocompletion.ts | import * as vscode from 'vscode';
export const TypesAutocomplete: vscode.CompletionItemProvider = {
provideCompletionItems(document: vscode.TextDocument, position: vscode.Position, token: vscode.CancellationToken, context: vscode.CompletionContext) {
const compItems: vscode.CompletionItem[] = [];
// there is no autocompletion for these data types in zig extension (idk why lol)
const dataTypes = [
"i8",
"i16",
"i32",
"i64",
"i28",
// uint
"u8",
"u16",
"u32",
"u64",
"u128",
// float
"f16",
"f32",
"f64",
"f80",
"f128",
];
dataTypes.forEach(dataType => {
const item = new vscode.CompletionItem(dataType, vscode.CompletionItemKind.TypeParameter);
compItems.push(item);
});
return compItems;
}
}; |
0 | repos/zig-tools/src | repos/zig-tools/src/tools/bitwiseOpHint.ts | import * as vscode from 'vscode';
export const BitwiseOperationHints: vscode.HoverProvider = {
provideHover(document: vscode.TextDocument, position: vscode.Position, token: vscode.CancellationToken) {
const lineText = document.lineAt(position.line).text;
const wordRange = document.getWordRangeAtPosition(position, /<<?|\||&|\^|>>/);
if (!wordRange) {
return;
}
const operator = document.getText(wordRange);
const { firstNum, secondNum } = getNumbersAroundOperator(lineText, wordRange);
if (!firstNum || !secondNum) {
return;
}
const result = execute(operator, firstNum, secondNum);
const mdStr = new vscode.MarkdownString();
mdStr.appendCodeblock(`${firstNum} ${operator} ${secondNum}`);
mdStr.appendMarkdown(`Result of bitwise operation: \`${result}\``);
return new vscode.Hover(mdStr);
},
};
function getNumbersAroundOperator(lineText: string, wordRange: vscode.Range): { firstNum: number | undefined, secondNum: number | undefined; } {
const textBeforeOperator = lineText.substring(0, wordRange.start.character);
const textAfterOperator = lineText.substring(wordRange.end.character);
const firstNum = findFirstNum(textBeforeOperator);
const secondNum = findSecondNum(textAfterOperator);
return { firstNum, secondNum };
}
function findFirstNum(text: string): number | undefined {
const matches = text.match(/\d+/g);
if (matches && matches.length > 0) {
return parseInt(matches[matches.length - 1]);
}
return undefined;
}
function findSecondNum(text: string): number | undefined {
const matches = text.match(/\d+/);
if (matches && matches.length > 0) {
return parseInt(matches[0]);
}
return undefined;
}
function execute(operator: string, firstNum: number, secondNum: number): number {
switch (operator) {
case "&":
return firstNum & secondNum;
case "^":
return firstNum ^ secondNum;
case "|":
return firstNum | secondNum;
case ">>":
return firstNum >> secondNum;
case "<<":
return firstNum << secondNum;
}
return 0;
} |
0 | repos/zig-tools/src | repos/zig-tools/src/tools/typeHints.ts | import * as vscode from 'vscode';
export const TypeHints: vscode.HoverProvider = {
provideHover(document: vscode.TextDocument, position: vscode.Position, token: vscode.CancellationToken) {
const range = document.getWordRangeAtPosition(position);
const datatype = document.getText(range);
const curLine = document.lineAt(position.line).text;
if (['i8', 'i16', 'i32', 'i64', 'i128', 'u8', 'u16', 'u32', 'u64', 'u128', 'isize', 'usize', 'comptime_int', 'comptime_float'].includes(datatype)) {
const mdStr = new vscode.MarkdownString();
mdStr.appendCodeblock(curLine.trimStart(), 'zig');
switch (datatype) {
// int
case "i8":
mdStr.appendText(`${datatype} is the set of all signed 8-bit integers.\nRange: -128 through 127.`);
return new vscode.Hover(mdStr);
case "i16":
mdStr.appendText(`${datatype} is the set of all signed 16 - bit integers.\nRange: -32,768 through 32,767.`);
return new vscode.Hover(mdStr);
case "i32":
mdStr.appendText(`${datatype} is the set of all signed 32-bit integers.\nRange: -2,147,483,648 through 2,147,483,647.`);
return new vscode.Hover(mdStr);
case "i64":
mdStr.appendText(`${datatype} is the set of all signed 64-bit integers.\nRange: -9,223,372,036,854,775,808 through 9,223,372,036,854,775,807.`);
return new vscode.Hover(mdStr);
case "i128":
mdStr.appendText(`${datatype} is the set of all signed 128-bit integers.\nRange: -170,141,183,460,469,231,731,687,303,715,884,105,728 through 170,141,183,460,469,231,731,687,303,715,884,105,727.`);
return new vscode.Hover(mdStr);
// uint
case 'u8':
mdStr.appendText(`${datatype} is the set of all unsigned 8-bit integers.\nRange: 0 through 255.`);
return new vscode.Hover(mdStr);
case 'u16':
mdStr.appendText(`${datatype} is the set of all unsigned 16-bit integers.\nRange: 0 through 65,535.`);
return new vscode.Hover(mdStr);
case 'u32':
mdStr.appendText(`${datatype} is the set of all unsigned 32-bit integers.\nRange: 0 through 4,294,967,295.`);
return new vscode.Hover(mdStr);
case 'u64':
mdStr.appendText(`${datatype} is the set of all unsigned 64-bit integers.\nRange: 0 through 18,446,744,073,709,551,615.`);
return new vscode.Hover(mdStr);
case 'u64':
mdStr.appendText(`${datatype} is the set of all unsigned 64-bit integers.\nRange: 0 through 18,446,744,073,709,551,615.`);
return new vscode.Hover(mdStr);
case 'u128':
mdStr.appendText(`${datatype} is the set of all unsigned 128-bit integers.\nRange: 0 through 340,282,366,920,938,463,463,374,607,431,768,211,455.`);
return new vscode.Hover(mdStr);
// other
case 'isize':
mdStr.appendText(`${datatype} is the signed pointer sized integer.\nC Equivalent: intptr_t.`);
return new vscode.Hover(mdStr);
case 'usize':
mdStr.appendMarkdown(`${datatype} is the unsigned pointer sized integer. Also see [#5185](https://github.com/ziglang/zig/issues/5185).\n\nC Equivalent: uintptr_t, size_t.`);
return new vscode.Hover(mdStr);
case "comptime_int":
mdStr.appendMarkdown(`${datatype} only allowed for [comptime](https://ziglang.org/documentation/master/#comptime)-known values.\n\nThe type of integer literals.`);
return new vscode.Hover(mdStr);
case "comptime_float":
mdStr.appendMarkdown(`${datatype} only allowed for [comptime](https://ziglang.org/documentation/master/#comptime)-known values.\n\nThe type of float literals.`);
return new vscode.Hover(mdStr);
}
}
return null;
}
}; |
0 | repos | repos/wavefront-obj/wavefront-obj.zig | const std = @import("std");
const zlm = @import("zlm");
const log = std.log.scoped(.wavefront_obj);
const vec2 = zlm.vec2;
const vec3 = zlm.vec3;
const vec4 = zlm.vec4;
const Vec2 = zlm.Vec2;
const Vec3 = zlm.Vec3;
const Vec4 = zlm.Vec4;
test "wavefront-obj" {
std.testing.refAllDecls(@This());
}
// this file parses OBJ wavefront according to
// http://paulbourke.net/dataformats/obj/
// with a lot of restrictions
pub const Vertex = struct {
position: usize,
normal: ?usize,
textureCoordinate: ?usize,
};
pub const Face = struct {
vertices: []Vertex,
};
pub const Line = struct {
vertices: [2]Vertex,
};
pub const Object = struct {
name: []const u8,
material: ?[]const u8,
start: usize,
count: usize,
};
pub const Model = struct {
const Self = @This();
allocator: std.mem.Allocator,
arena: std.heap.ArenaAllocator,
positions: []Vec4,
normals: []Vec3,
textureCoordinates: []Vec3,
faces: []Face,
lines: []Line,
objects: []Object,
pub fn deinit(self: *Self) void {
self.allocator.free(self.positions);
self.allocator.free(self.normals);
self.allocator.free(self.textureCoordinates);
self.allocator.free(self.faces);
self.allocator.free(self.lines);
self.allocator.free(self.objects);
self.arena.deinit();
self.* = undefined;
}
};
fn parseVertexSpec(spec: []const u8) !Vertex {
var vertex = Vertex{
.position = 0,
.normal = null,
.textureCoordinate = null,
};
var iter = std.mem.split(u8, spec, "/");
var state: u32 = 0;
while (iter.next()) |part| {
switch (state) {
0 => vertex.position = (try std.fmt.parseInt(usize, part, 10)) - 1,
1 => vertex.textureCoordinate = if (!std.mem.eql(u8, part, "")) (try std.fmt.parseInt(usize, part, 10)) - 1 else null,
2 => vertex.normal = if (!std.mem.eql(u8, part, "")) (try std.fmt.parseInt(usize, part, 10)) - 1 else null,
else => return error.InvalidFormat,
}
state += 1;
}
return vertex;
}
pub fn loadFile(allocator: std.mem.Allocator, path: []const u8) !Model {
var file = try std.fs.cwd().openFile(path, .{ .mode = .read_only });
defer file.close();
return load(allocator, file.reader());
}
pub fn load(
allocator: std.mem.Allocator,
stream: anytype,
) !Model {
var arena = std.heap.ArenaAllocator.init(allocator);
errdefer arena.deinit();
var positions = std.ArrayList(Vec4).init(allocator);
defer positions.deinit();
var normals = std.ArrayList(Vec3).init(allocator);
defer normals.deinit();
var textureCoordinates = std.ArrayList(Vec3).init(allocator);
defer textureCoordinates.deinit();
var faces = std.ArrayList(Face).init(allocator);
defer faces.deinit();
var lines = std.ArrayList(Line).init(allocator);
defer lines.deinit();
var objects = std.ArrayList(Object).init(allocator);
defer objects.deinit();
try positions.ensureTotalCapacity(10_000);
try normals.ensureTotalCapacity(10_000);
try textureCoordinates.ensureTotalCapacity(10_000);
try faces.ensureTotalCapacity(10_000);
try lines.ensureTotalCapacity(10_000);
try objects.ensureTotalCapacity(100);
// note:
// this may look like a dangling pointer as ArrayList changes it's pointers when resized.
// BUT: the pointer will be changed with the added element, so it will not dangle
var current_object: ?*Object = null;
var line_reader = lineIterator(allocator, stream);
defer line_reader.deinit();
while (try line_reader.next()) |line| {
errdefer {
log.err("error parsing line: '{s}'", .{line});
}
// parse vertex
if (std.mem.startsWith(u8, line, "v ")) {
var iter = std.mem.tokenize(u8, line[2..], " ");
var state: u32 = 0;
var vertex = vec4(0, 0, 0, 1);
while (iter.next()) |part| {
switch (state) {
0 => vertex.x = try std.fmt.parseFloat(f32, part),
1 => vertex.y = try std.fmt.parseFloat(f32, part),
2 => vertex.z = try std.fmt.parseFloat(f32, part),
3 => vertex.w = try std.fmt.parseFloat(f32, part),
else => return error.InvalidFormat,
}
state += 1;
}
if (state < 3) // v x y z w, with x,y,z are required, w is optional
return error.InvalidFormat;
try positions.append(vertex);
}
// parse uv coords
else if (std.mem.startsWith(u8, line, "vt ")) {
var iter = std.mem.tokenize(u8, line[3..], " ");
var state: u32 = 0;
var texcoord = vec3(0, 0, 0);
while (iter.next()) |part| {
switch (state) {
0 => texcoord.x = try std.fmt.parseFloat(f32, part),
1 => texcoord.y = try std.fmt.parseFloat(f32, part),
2 => texcoord.z = try std.fmt.parseFloat(f32, part),
else => return error.InvalidFormat,
}
state += 1;
}
if (state < 1) // vt u v w, with u is required, v and w are optional
return error.InvalidFormat;
try textureCoordinates.append(texcoord);
}
// parse normals
else if (std.mem.startsWith(u8, line, "vn ")) {
var iter = std.mem.tokenize(u8, line[3..], " ");
var state: u32 = 0;
var normal = vec3(0, 0, 0);
while (iter.next()) |part| {
switch (state) {
0 => normal.x = try std.fmt.parseFloat(f32, part),
1 => normal.y = try std.fmt.parseFloat(f32, part),
2 => normal.z = try std.fmt.parseFloat(f32, part),
else => return error.InvalidFormat,
}
state += 1;
}
if (state < 3) // vn i j k, with i,j,k are required, none are optional
return error.InvalidFormat;
try normals.append(normal);
}
// parse faces
else if (std.mem.startsWith(u8, line, "f ")) {
var iter = std.mem.tokenize(u8, line[2..], " ");
var state: u32 = 0;
var vertices = std.ArrayList(Vertex).init(arena.allocator());
defer vertices.deinit();
while (iter.next()) |part| {
const vert = try parseVertexSpec(part);
try vertices.append(vert);
state += 1;
}
if (vertices.items.len < 3) // less than 3 faces is an error (no line or point support)
return error.InvalidFormat;
try faces.append(Face{
.vertices = vertices.toOwnedSlice(),
});
}
// parse lines
else if (std.mem.startsWith(u8, line, "l ")) {
var iter = std.mem.tokenize(u8, line[2..], " ");
var state: u32 = 0;
var vertices = std.ArrayList(Vertex).init(arena.allocator());
defer vertices.deinit();
while (iter.next()) |part| {
const vert = try parseVertexSpec(part);
try vertices.append(vert);
state += 1;
}
if (vertices.items.len != 2) // Each line is always 2 vertices.
return error.InvalidFormat;
try lines.append(Line{
.vertices = vertices.items[0..2].*,
});
}
// parse objects
else if (std.mem.startsWith(u8, line, "o ")) {
if (current_object) |obj| {
// terminate object
obj.count = faces.items.len - obj.start;
}
var obj = try objects.addOne();
obj.start = faces.items.len;
obj.count = 0;
obj.name = arena.allocator().dupe(u8, line[2..]) catch |err| {
_ = objects.pop(); // remove last element, then error
return err;
};
current_object = obj;
}
// parse material libraries
else if (std.mem.startsWith(u8, line, "mtllib ")) {
// ignore material libraries for now...
// TODO: Implement material libraries
}
// parse material application
else if (std.mem.startsWith(u8, line, "usemtl ")) {
if (current_object) |*obj| {
if (obj.*.material != null) {
// duplicate object when two materials per object
const current_name = obj.*.name;
// terminate object
obj.*.count = faces.items.len - obj.*.start;
obj.* = try objects.addOne();
obj.*.start = faces.items.len;
obj.*.count = 0;
obj.*.name = arena.allocator().dupe(u8, current_name) catch |err| {
_ = objects.pop(); // remove last element, then error
return err;
};
}
obj.*.material = try arena.allocator().dupe(u8, line[7..]);
} else {
current_object = try objects.addOne();
current_object.?.start = faces.items.len;
current_object.?.count = 0;
current_object.?.name = arena.allocator().dupe(u8, "unnamed") catch |err| {
_ = objects.pop(); // remove last element, then error
return err;
};
current_object.?.material = try arena.allocator().dupe(u8, line[7..]);
}
}
// parse smoothing groups
else if (std.mem.startsWith(u8, line, "s ")) {
// and just ignore them :(
} else {
log.warn("unrecognized line: {s}", .{line});
}
}
// terminate object if any
if (current_object) |obj| {
obj.count = faces.items.len - obj.start;
}
return Model{
.allocator = allocator,
.arena = arena,
.positions = positions.toOwnedSlice(),
.normals = normals.toOwnedSlice(),
.textureCoordinates = textureCoordinates.toOwnedSlice(),
.faces = faces.toOwnedSlice(),
.lines = lines.toOwnedSlice(),
.objects = objects.toOwnedSlice(),
};
}
pub const Color = struct {
r: f32,
g: f32,
b: f32,
};
pub const Material = struct {
ambient_texture: ?[]const u8 = null,
diffuse_texture: ?[]const u8 = null,
specular_texture: ?[]const u8 = null,
ambient_color: ?Color = null,
diffuse_color: ?Color = null,
specular_color: ?Color = null,
};
pub const MaterialLibrary = struct {
const Self = @This();
arena: std.heap.ArenaAllocator,
materials: std.StringHashMap(Material),
pub fn deinit(self: *Self) void {
self.materials.deinit();
self.arena.deinit();
self.* = undefined;
}
};
pub fn loadMaterials(allocator: *std.mem.Allocator, stream: anytype) !MaterialLibrary {
var materials = std.StringHashMap(Material).init(allocator);
errdefer materials.deinit();
var arena = std.heap.ArenaAllocator.init(allocator);
errdefer arena.deinit();
var line_reader = lineIterator(allocator, stream);
defer line_reader.deinit();
var current_mtl: ?*Material = null;
while (try line_reader.next()) |line| {
errdefer {
log.err("error parsing line: '{s}'\n", .{
line,
});
}
if (std.mem.startsWith(u8, line, "newmtl ")) {
const mtl_name = try arena.allocator.dupe(u8, line[7..]);
const gop = try materials.getOrPut(mtl_name);
if (gop.found_existing) {
log.err("duplicate material name: '{s}'", .{mtl_name});
return error.DuplicateMaterial;
}
gop.entry.value = Material{};
current_mtl = &gop.entry.value;
} else if (std.mem.startsWith(u8, line, "Ka ")) {
if (current_mtl) |mtl| {
mtl.ambient_color = try parseColor(line[3..]);
} else {
log.err("missing newmtl!", .{});
return error.InvalidFormat;
}
} else if (std.mem.startsWith(u8, line, "Kd ")) {
if (current_mtl) |mtl| {
mtl.diffuse_color = try parseColor(line[3..]);
} else {
log.err("missing newmtl!", .{});
return error.InvalidFormat;
}
} else if (std.mem.startsWith(u8, line, "Ks ")) {
if (current_mtl) |mtl| {
mtl.specular_color = try parseColor(line[3..]);
} else {
log.err("missing newmtl!", .{});
return error.InvalidFormat;
}
} else if (std.mem.startsWith(u8, line, "map_Ka")) {
if (current_mtl) |mtl| {
mtl.ambient_texture = try arena.allocator.dupe(u8, std.mem.trim(u8, line[7..], " \t\r\n"));
} else {
log.err("missing newmtl!", .{});
return error.InvalidFormat;
}
} else if (std.mem.startsWith(u8, line, "map_Kd")) {
if (current_mtl) |mtl| {
mtl.diffuse_texture = try arena.allocator.dupe(u8, std.mem.trim(u8, line[7..], " \t\r\n"));
} else {
log.err("missing newmtl!", .{});
return error.InvalidFormat;
}
} else if (std.mem.startsWith(u8, line, "map_Ks")) {
if (current_mtl) |mtl| {
mtl.specular_texture = try arena.allocator.dupe(u8, std.mem.trim(u8, line[7..], " \t\r\n"));
} else {
log.err("missing newmtl!", .{});
return error.InvalidFormat;
}
} else {
log.warn("unrecognized line: '{s}'", .{line});
}
}
return MaterialLibrary{
.arena = arena,
.materials = materials,
};
}
fn parseColor(line: []const u8) !Color {
var iterator = std.mem.tokenize(line, " ");
var result = Color{
.r = undefined,
.g = undefined,
.b = undefined,
};
var index: usize = 0;
while (iterator.next()) |tok| : (index += 1) {
switch (index) {
0 => result.r = try std.fmt.parseFloat(f32, tok),
1 => result.g = try std.fmt.parseFloat(f32, tok),
2 => result.b = try std.fmt.parseFloat(f32, tok),
else => return error.InvalidFormat,
}
}
if (index < 3)
return error.InvalidFormat;
return result;
}
fn LineIterator(comptime Reader: type) type {
return struct {
const Self = @This();
reader: Reader,
buffer: std.ArrayList(u8),
pub fn deinit(self: *Self) void {
self.buffer.deinit();
self.* = undefined;
}
pub fn next(self: *Self) !?[]const u8 {
while (true) {
self.reader.readUntilDelimiterArrayList(&self.buffer, '\n', 4096) catch |err| switch (err) {
error.EndOfStream => return null,
else => return err,
};
var line: []const u8 = self.buffer.items;
// remove comments
if (std.mem.indexOf(u8, line, "#")) |idx| {
line = line[0..idx];
}
// strip trailing/leading whites
line = std.mem.trim(u8, line, " \r\n\t");
if (line.len == 0) {
continue;
}
return line;
}
}
};
}
fn lineIterator(allocator: std.mem.Allocator, reader: anytype) LineIterator(@TypeOf(reader)) {
return LineIterator(@TypeOf(reader)){
.reader = reader,
.buffer = std.ArrayList(u8).init(allocator),
};
}
|
0 | repos | repos/wavefront-obj/README.md | # wavefront-obj
A parser for wavefront object files
## Dependencies
Requires package [`zlm`](https://github.com/ziglibs/zlm) to be present.
|
0 | repos | repos/wavefront-obj/zigmod.yml | id: ejo6kd3iffi3axjpjkrvh8sjw08b0r9ipyok1kyk7q2omk1y
name: wavefront-obj
main: wavefront-obj.zig
license: MIT
description: A parser for wavefront object files
dependencies:
- src: git https://github.com/ziglibs/zlm
|
0 | repos | repos/MinimalRoboticsPlatform/LICENCE.md | GNU AFFERO GENERAL PUBLIC LICENSE
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|
0 | repos | repos/MinimalRoboticsPlatform/README.md | # Embedded Robotics Kernel
## Goal
The goal is to build a minimalistic robotic platform for embedded projects. The idea is to enable applications to run on this kernel with std support as well as a kernel-provided, robotics-specific toolset. Such a toolset includes communication, control, state handling, and other critical robotic domains. This would enable an ultra-light, simplistic and highly integrated robotic platform.
The whole project is designed to support multiple boards, as for example a Raspberry Pi or a NVIDIA Jetson Nano. To begin with, basic kernel features are implemented on a virtual machine (qemu virt armv7).
The end product is meant to be a compromise between a Real Time Operating system and a Microcontroller, to offer the best of both worlds on a modern Soc.
The idea is that the kernel and its drivers are fixed and generically usable across Arm Socs. The actual user implementation of the projects is meant to happen in `src/environment/*yourCustomEnvironmentName*` where every new dir is a new env. Every environment is built from separately compiled user/ kernel privileged apps. The apps can talk to each other with a variety of kernel provided interfaces, such as topics, services, actions and so on. Since every app is compiled on its own and completely isolated by the kernel, regarding their communications, which is compile time defined, maximum static runtime safety and security should be given.
Thanks to Zigs lazy compilation, driver handlers can be implemented and not be used or replaced, depending on the choice of board.
This project is aiming to build an experience that gives the end user (developer) as much guidance and form as necessary, to build a safe and secure platform, with as much freedom as possible. This is achieved by reducing complex runtime defined communications and allocations to an absolute minimum, whilst also being flexible enough to be used across a number of boards.
## Why not Rust?
I began this project in Rust but decided to switch to Zig (equally modern). Here is why.
The prime argument for Rust is safety, which is also important for embedded development but has a different nature. The thing is that I very rarely (wrote) saw embedded code that really made use (at least to an extent to which it would be relevant) of Rusts safety. This is due to the fact that embedded code is mostly procedural and linear and not overly complex (opposing to higher level code). Zig on the other hand, is a real improvement compared to Rust because it does not try to solve the problem through abstraction but concepts and rules. I really tried rust at the start of this project. That lead me to this conclusion.
The Rust code can still be found in the separate [rust branch](https://github.com/luickk/rust-rtos/tree/rust_code) and includes a proper Cargo build process(without making use of an external build tools) for the Raspberry, as well as basic serial(with print! macro implementation) and interrupt controller utils.
## Finding the perfect Board
In order to first boot the kernel on a physical board, I'm searching for the best board. Number one priority is simplicity. The raspberry has a relatively complex multi bootstage process. That is not ideal, includes a file system on an SD Card in is pretty ugly in general.
The Jetson Nano has a similarly complex boot process.
The Rock Pi on the other hand offer eMMC storage that can be flashed with the Maskrom directly from another device. The Rock Pi eMMC is quite elegant because it does, a) not require a file system, and b) is loaded directly by the arm cores(and not from the GPU as with the raspberry).
## Compatibility
Currently, there is support for the important Arm SOC elements such as the generic timer, interrupt controller as well as the Raspberries BCM2835 secondary interrupt controller and system timer. The project can be configured with ROM relocation and without, so most Arm SOC boards should be compatible at the moment.
## Allocation Policy
Memory allocation is an extremely powerful and basic functionality that can be very dangerous depending on when and how it's used.
For that reason the kernels allocations are only permitted at kernel boot/init time. There is no realloc, neither for userspace apps nor for the kernel. Alternatively, there are reserved memory buffers for every feature. I don't yet have a perfect solution for dealing with an out off memory event though.
There is an app allocation available in user space so that a considered decision can be made and an allocator still be used if the app is not important.
### Allocation Projection
// todo => alloc projection
Since there are no allocations at actual runtime (after the kernel init), a projection of the required (allocated) memory can be made, including spare reserves. That would not only give indications for Ram compatibility, but would allow for predictions about the risk for running out of memory in case of black swan events.
## Kernel wise features
### Topics
A way to share data streams with other processes, similar to pipes but optimized for sensor data and data distribution/ access over many processes.
How many topics and in which configuration must be setup at compiletime in the `envConfig.zig` of the project. Note that Topics are just another type of state and are implemented in StatusControl. Each Topic can be configured in its buffer type, size, identifier and so on. In the runtime phase of the platform, every topic then behaves according to its configuration and can be addressed through its fixed id.
There are two ways to communicate over a Topic, one is through SysCalls and the other is through direct mapped memory, which is very effective but less easy to use. Also, currently both ways of communicating on a Topic must not be mixed so only either one of both can be used.
#### What kind of data is it for?
Topics can be used for all kinds of statically sized data. Depending on the amount of data per time unit, there a re different methods of retrievals.
- `fn userSysCallInterface.waitForTopicUpdate(comptime name: []const u8)` (which leverages a semaphore) can be used to wait for data in a separate thread
Uses sys-calls as interface. Pushes/reads n units of the latest(depending on the buffer type) data
- `fn userSysCallInterface.popFromTopic(comptime name: []const u8, ret_buff: []u8)`
- `fn userSysCallInterface.pushToTopic(comptime name: []const u8, data: []u8)`
Uses direct mapped memory to read/write to a Topic. Is also bound to all preconfigured parameters including the buffer type.
- `fn ShareMemTopicsInterface.read(self: *SharedMemTopicsInterface, comptime name: []const u8, ret_buff: []u8)`
- `fn ShareMemTopicsInterface.write(self: *SharedMemTopicsInterface, comptime name: []const u8, data: []u8)`
### Status Control
A way to centrally communicate state and adapt the system appropriatly.
Since the status of a sensor, service, io device, or more abstract concepts is not just a tool but one of the most important control aspects in a robotic system, this funcitonality is deeply integrated and not just meant for state sharing but also as a state machine at the heart of the system.
The idea is that you can setup tasks which are only scheduled if a certain state is matching. // => todo
- `fn userSysCallInterface.updateStatus(comptime name: []const u8, value: anytype) !void`
- `fn userSysCallInterface.readStatus(comptime T: type, comptime name: []const u8) !T`
Statuses (including topics) have to be predefined in envConfig.zig for each environment are id'ed by their name. Since all the parameters and names are compile-time that allows for safe compile time type/ name checking.
The usage of names makes the code very readable and easy to understand.
### Setup Routines
Are routines that run at kernel start, but before scheduler init. Meant for for driver inititation and run in kernel space.
### Kernel Threads
Threads that run in kernel space, for example to handle IO that requires kernel level access or other drivers.
## User Apps
Thats where the actual development is meant to happen. The user apps run, as the name suggests, in userspace and are compiled separately.
Communication between all tasks is meant to happen through StatusControl(Topics, Statuses...) and Actions.
### Actions
Actions are similar to apps separately compiled programs with the key difference that they are only executed(scheduled) if commanded to do so. Whilst they can run in parallel (be conventionally scheduled) their main purpose is to offer a way to start a task quickly (or roughly the time it takes to interrupt and return).
If the action needs to be executed even faster, a direct (in current scheduler context) jump is inevitable (a conventional function call, for example).
## Project Structure
The project aims to give as much guidance to the developer as possible, that also applies to where to put which component of the kernel. In general the projects layout looks like that:
```bash
├── build.zig
├── src/
│ ├── appLib/
│ │ ├── ..
│ │ └── > everything that is linked with userspace apps
│ ├── arm/
│ │ ├── ..
│ │ └── > all the "drivers" required for the arm soc. linked with the kernel
│ ├── boards/
│ │ ├── * contains drivers and board configuration files (qemuVirt.zig, raspi3b.zig..). Which board is compiled can be selected in build.zig, the respective configuration file is then selected and linked. *
│ │ ├── drivers/
│ │ │ ├── > everything that is board specific, timer, irq, io code
│ │ │ ├── bootInit/
│ │ │ │ ├── > board specific startup code that sets up the correct el, exc. vec. table,.. and and calls the bootloader entry fn. linked witht the bootloader
│ │ │ │ ├── qemuVirt_boot.S
│ │ │ │ └── ..
│ │ │ ├── interruptController/
│ │ │ │ ├── > board specific drivers for additional(to the arm gic) interrupt controllers, linked with the kernel
│ │ │ │ ├── bcm2835InterruptController.zig
│ │ │ │ └── ..
│ │ │ └── timer/
│ │ │ ├── > board specific drivers for additional(to the arm gt) timer, linked with the kernel
│ │ │ ├── bcm2835Timer.zig
│ │ │ └── ..
│ │ ├── qemuVirt.zig
│ │ └── ..
│ ├── bootloader/
│ │ ├── bins/
│ │ │ └── > the kernels binary (non elf format) is saved here because it is embedded by the bootloader (usings Zigs `@embedFile`) and cannot be placed outside the package path
│ │ ├── ..
│ │ └── > contains everything required to make the bootloader boot the kernel
│ ├── configTemplates/
│ │ ├── ..
│ │ └── > contains all the templates for different configurations. E.g. the board or env. configuration
│ ├── environments/
│ │ ├── > actual development space. Every environment is a set of userspace apps and kernel threads. Only one environment at a time can be compiled. Which environment is compiled can be selected in the build.zig.
│ │ ├── basicKernelFunctionalityTest/
│ │ │ ├── > environment for basic kernel integration tests. In the envConfig.zig everthing environment can be configured. E.g. how many topics, with which buffer type they operate and so on..
│ │ │ ├── envConfig.zig
│ │ │ ├── kernelThreads/
│ │ │ │ ├── > all kernel threads required by the board. E.g. a handler for the additional(or secondary) interrupt controller. linked with the kernel!
│ │ │ │ ├── threads.zig
│ │ │ │ └── ..
│ │ │ ├── setupRoutines/
│ │ │ │ ├── > setup routines called on kernel entry. E.g. the init of additional interrupt controller handler. linked with the kernel!
│ │ │ │ ├── routines.zig
│ │ │ │ └── ..
│ │ │ └── userApps/
│ │ │ ├── > actual userspace with all the userspace apps. every app is build seperately
│ │ │ ├── _semaphoreTest/ > (apps starting with underscore and not compiled..)
│ │ │ │ ├── linker.ld
│ │ │ │ └── main.zig
│ │ │ └── mutexTest/
│ │ │ ├── linker.ld
│ │ │ └── main.zig
│ │ ├── ..
│ ├── kernel/
│ │ ├── > actual kernel space
│ │ ├── bins/
│ │ │ ├── ..
│ │ │ └── > app binaries are saved here because they are embedded by the kernel (user Zigs `@embedFile`) and cannot be placed outside the package path/
│ │ ├── exc_vec.S
│ │ ├── kernel.zig
│ │ ├── ..
│ │ ├── sharedKernelServices/
│ │ │ ├── SysCallsTopicsInterface.zig
│ │ │ ├── ..
│ │ │ └── > all services that have to be accessed over from the drivers for exampled., linked with the kernel
│ ├── kpi/
│ │ ├── secondaryInterruptControllerKpi.zig
│ │ ├── ..
│ │ └── > kernel programming interface for drivers. e.g. the timer or secondary irq handler driver. inited in the board configuration file
│ ├── periph/
│ │ ├── pl011.zig
│ │ ├── ..
│ │ └── > all the peripheral devices code
│ ├── sharedServices/
│ │ ├── Topic.zig
│ │ ├── ..
│ │ └── > code thats so basic that it is linked with both the kernel and the userspace
│ └── utils
│ └── utils.zig
```
# Kernel details
## Bootloader and kernel separation
Because it simplifies linking and building the kernel as a whole. Linking both the kernel and bootloader is difficult(and error-prone) because it requires the linker to link symbols with VMA offsets that are not supported in size and causes more issues when it comes to relocation of the kernel.
Both the bootloader and kernel are compiled&linked separately, then their binaries are concatenated(all in build.zig). The bootloader then prepares the exception vectors, mmu, memory drivers and relocates the kernel code.
The bootloader is really custom and does a few things differently. One of the primary goals is to keep non static memory allocations to an absolute minimum. This is also true for the stack/ paging tables, which have to be loaded at runtime. At the moment both, bootloader stack and page tables are allocated on the ram, to be more specific in the specified userspace section. This allows to boot from rom(non writable memory...) whilst still supporting boot from ram.
## MMU
I wrote a mmu "composer" with which one can simply configure and then generate/ write the pagetables. The page table generation supports 3 lvls and 4-16k granule. 64k is also possible but another level has to be added to the `TransLvl` enum in `src/board/boardConfig.zig` and it's not fully tested yet.
Ideally I wanted the page tables to be generated at comptime, but in order to have multiple translation levels, the mmu needs absolute physical addresses, which cannot be known at compile time(only relative addresses). Alternatively the memory can be statically reserved and written at runtime, which is not an option for the bootloader though because it is possibly located in rom, and cannot write to statically reserved memory, leaving the only option, allocating the bootloader page table on the ram (together with the stack). The kernel on the other hand could reserve at least the kernel space page tables, since they are static in size, but for consistency reasons kernel and userspace have linker-reserved memory.
### Addresses
The Arm mmu is really powerful and complex in order to be flexible. For this project the mmu is not required to be flexible, but safe and simple. For an embedded robotics platform it's neither required to have a lot of storage, nor to control the granularity in an extremely fine scope since most of the memory is static anyways.
Additionally devices as for example the Raspberry Pi forbid Lvl 0 translation at all since it's 512gb at 4k granule which is unnecessary for such a device.
With those constraints in place, this project only supports translation tables beginning at lvl 1, which is also why, `vaStart` is `0xFFFFFF8000000000`, since that's the lowest possible virtual address in lvl 1.
### Qemu Testing
In order to test the bootloader/ kernel, qemu offers `-kernel` but that includes a number of abstractions that are not wanted since I want to keep the development at least somewhat close to a real board. Instead, the booloader (which includes the kernel) is loaded with `-device loader`.
## Implementations
### CPU
#### Interrupt controller
The Raspberry ships with the BCM2835, which is based on the Arm A53 but does not adapt its interrupt controller. More about the BCM2835s ic can be found [here](https://www.raspberrypi.org/app/uploads/2012/02/BCM2835-ARM-Peripherals.pdf)(p109) and [here](https://xinu.cs.mu.edu/index.php/BCM2835_Interrupt_Controller). The [linux driver implementation](https://github.com/torvalds/linux/blob/master/drivers/irqchip/irq-bcm2835.c) comments are also worth looking at.
#### MMU
The best lecture to understand the MMU is probably the [official Arm documentation](https://developer.arm.com/documentation/100940/0101), which does a very good job of explaining the concepts of the mmu.
Since this project requires multiple applications running at the same time, virtual memory is indispensable for safety and performance.
## Installation
### Dependencies:
- zig (last tested version 0.10.1)
- qemu (for testing)
### Run
- `zig build qemu`
Builds and runs the project. The environment and board as well as all the other parameters for the build can be configured in build.zig
|
0 | repos | repos/MinimalRoboticsPlatform/build.zig | const std = @import("std");
const warn = std.debug.warn;
const os = std.os;
const BoardBuildConf = @import("src/configTemplates/boardBuildConfigTemplate.zig").BoardBuildConf;
const builtin = @import("builtin");
const Error = error{BlExceedsRomSize};
const Module = std.build.Module;
const ModuleDependency = std.build.ModuleDependency;
const raspi3b = BoardBuildConf{
.boardName = "raspi3b",
.has_rom = false,
.rom_start_addr = null,
// is duplicate and has to be changed here and in the runtime config file
.va_start = 0xFFFFFF8000000000,
// is duplicat and address to which the bl is loaded if there is NO rom(which is the case for the raspberry 3b)!
// if there is rom, the bootloader must be loaded to 0x0 (and bl_load_addr = null)
.bl_load_addr = 0x80000,
// , "-d", "trace:bcm2835_systmr*", "-D", "./log.txt"
.qemu_launch_command = &[_][]const u8{ "qemu-system-aarch64", "-machine", "raspi3b", "-device", "loader,addr=0x80000,file=zig-out/bin/bootloader.bin,cpu-num=0,force-raw=on", "-serial", "stdio", "-display", "none" },
};
const qemuVirt = BoardBuildConf{
.boardName = "qemuVirt",
.has_rom = true,
// qemus virt machine has no rom
.rom_start_addr = 0,
// is duplicate and has to be changed here and in the runtime config file
.va_start = 0xFFFFFF8000000000,
// is duplicat and address to which the bl is loaded if there is NO rom(which is the case for the raspberry 3b)!
// if there is rom, the bootloader must be loaded to 0x0 (and bl_load_addr = null)
.bl_load_addr = null,
// arm_gt, gic
// "-d", "trace:gic*", "-D", "./log.txt"
.qemu_launch_command = &[_][]const u8{ "qemu-system-aarch64", "-machine", "virt", "-m", "10G", "-cpu", "cortex-a53", "-device", "loader,file=zig-out/bin/bootloader.bin,cpu-num=0,force-raw=on", "-serial", "stdio", "-display", "none" },
};
// const currBoard = raspi3b;
const currBoard = qemuVirt;
// const env_path = "src/environments/statusControlTest";
// const env_path = "src/environments/basicMultiProcess";
// const env_path = "src/environments/basicMultithreading";
// const env_path = "src/environments/multiProcAndThreading";
// const env_path = "src/environments/sysCallTopicsTest";
// const env_path = "src/environments/sharedMemTopicsTest";
const env_path = "src/environments/basicKernelFunctionalityTest";
// const env_path = "src/environments/actionTest";
pub fn build(b: *std.Build) !void {
// currBoard.config.checkConfig();
const build_mode = std.builtin.Mode.ReleaseFast;
const build_options = b.addOptions();
// packages...
// SOC builtin features
var arm = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "arm", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/arm/arm.zig" } }) };
// package for kernel interfaces such as the timer or the interrupt controller or general drivers
var kpi = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "kpi", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/kpi/kpi.zig" } }) };
// functions generally required
var utils = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "utils", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/utils/utils.zig" } }) };
// board pkg contains the configuration "template"(boardConfig.zig) and different configuration files for different boards
var board = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "board", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/boards/" ++ currBoard.boardName ++ ".zig" } }) };
var environment = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "environment", .{}), .module = b.createModule(.{ .source_file = .{ .path = env_path ++ "/envConfig.zig" } }) };
// peripheral drivers
var periph = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "periph", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/periph/periph.zig" } }) };
// services that need to be accessed by kernel and other instances. the kernel allocator e.g.
var sharedKernelServices = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "sharedKernelServices", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/kernel/sharedKernelServices/sharedKernelServices.zig" } }) };
// package for all applications to call syscall
var appLib = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "appLib", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/appLib/appLib.zig" } }) };
const configTemplates = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "configTemplates", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/configTemplates/configTemplates.zig" } }) };
//kernel threads
var kernelThreads = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "kernelThreads", .{}), .module = b.createModule(.{ .source_file = .{ .path = env_path ++ "/kernelThreads/threads.zig" } }) };
var setupRoutines = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "setupRoutines", .{}), .module = b.createModule(.{ .source_file = .{ .path = env_path ++ "/setupRoutines/routines.zig" } }) };
// driver packages
var interruptControllerDriver = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "interruptControllerDriver", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/boards/drivers/interruptController/interruptController.zig" } }) };
var timerDriver = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "timerDriver", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/boards/drivers/timer/timer.zig" } }) };
var sharedServices = ModuleDependency{ .name = try std.fmt.allocPrint(b.allocator, "sharedServices", .{}), .module = b.createModule(.{ .source_file = .{ .path = "src/sharedServices/sharedServices.zig" } }) };
// inter package dependencies
const kernelThreads_deps = [_]ModuleDependency{ board, arm, sharedKernelServices, periph };
kernelThreads.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &kernelThreads_deps);
const setupRoutines_deps = [_]ModuleDependency{ board, arm, sharedKernelServices, periph };
setupRoutines.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &setupRoutines_deps);
const kpi_deps = [_]ModuleDependency{ sharedKernelServices, arm };
kpi.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &kpi_deps);
const interruptControllerDriver_deps = &[_]ModuleDependency{ board, arm };
interruptControllerDriver.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, interruptControllerDriver_deps);
const timerDriver_deps = [_]ModuleDependency{ board, utils, periph };
timerDriver.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &timerDriver_deps);
const board_deps = [_]ModuleDependency{ kpi, utils, arm, interruptControllerDriver, timerDriver, configTemplates };
board.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &board_deps);
const environment_deps = [_]ModuleDependency{configTemplates};
environment.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &environment_deps);
const sharedServices_deps = [_]ModuleDependency{ board, appLib, environment };
sharedServices.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &sharedServices_deps);
const sharedKernelServices_deps = [_]ModuleDependency{ board, environment, appLib, arm, utils, sharedServices, periph };
sharedKernelServices.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &sharedKernelServices_deps);
const periph_deps = [_]ModuleDependency{board};
periph.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &periph_deps);
const utils_deps = [_]ModuleDependency{ board, arm };
utils.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &utils_deps);
const arm_deps = [_]ModuleDependency{ periph, utils, board, sharedKernelServices };
arm.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &arm_deps);
const appLib_deps = [_]ModuleDependency{ board, utils, environment, sharedServices, sharedKernelServices };
appLib.module.dependencies = moduleDependenciesToArrayHashMap(b.allocator, &appLib_deps);
const temp_kernel_ld = "zig-cache/tmp/tempKernelLinker.ld";
const temp_bl_ld = "zig-cache/tmp/tempBlLinker.ld";
// compilation steps
const update_linker_scripts_bl = UpdateLinkerScripts.create(b, .bootloader, temp_bl_ld, temp_kernel_ld, currBoard);
const update_linker_scripts_k = UpdateLinkerScripts.create(b, .kernel, temp_bl_ld, temp_kernel_ld, currBoard);
const scan_for_apps = ScanForApps.create(b, build_options);
const build_and_run = b.step("qemu", "emulate the kernel with no graphics and output uart to console");
const build_kernel_and_bootloader = b.step("kernel_and_bootloader", "building the kernel and the bootloader(which embedds the kernel)");
// const launch_with_gdb = b.option(bool, "gdb", "Launch qemu with -s -S to allow for net gdb debugging") orelse false;
// ------- apps/ actions
const apps_and_action_step = try setEnvironment(b, build_mode, env_path, [4]ModuleDependency{ periph, board, configTemplates, appLib });
// ------- kernel
const kernel_exe = b.addExecutable(.{
.name = "kernel",
.target = .{ .cpu_arch = std.Target.Cpu.Arch.aarch64, .os_tag = std.Target.Os.Tag.freestanding, .abi = std.Target.Abi.eabihf },
.optimize = build_mode,
});
kernel_exe.force_pic = false;
kernel_exe.pie = false;
kernel_exe.code_model = .large;
kernel_exe.strip = false;
kernel_exe.addModule(arm.name, arm.module);
kernel_exe.addModule(sharedKernelServices.name, sharedKernelServices.module);
kernel_exe.addModule(appLib.name, appLib.module);
kernel_exe.addModule(sharedServices.name, sharedServices.module);
kernel_exe.addModule(utils.name, utils.module);
kernel_exe.addModule(kpi.name, kpi.module);
kernel_exe.addModule(board.name, board.module);
kernel_exe.addModule(environment.name, environment.module);
kernel_exe.addModule(periph.name, periph.module);
kernel_exe.addModule(interruptControllerDriver.name, interruptControllerDriver.module);
kernel_exe.addModule(timerDriver.name, timerDriver.module);
kernel_exe.addModule(kernelThreads.name, kernelThreads.module);
kernel_exe.addModule(setupRoutines.name, setupRoutines.module);
kernel_exe.addOptions("build_options", build_options);
kernel_exe.setLinkerScriptPath(.{ .path = temp_kernel_ld });
kernel_exe.addObjectFile(.{ .path = "src/kernel/kernel.zig" });
kernel_exe.addCSourceFile(.{ .file = .{ .path = "src/kernel/exc_vec.S" }, .flags = undefined });
kernel_exe.step.dependOn(&update_linker_scripts_k.step);
kernel_exe.step.dependOn(&scan_for_apps.step);
kernel_exe.step.dependOn(apps_and_action_step);
const install_kernel_raw = kernel_exe.addObjCopy(.{ .format = .bin });
const install_kernel_bin = b.addInstallBinFile(install_kernel_raw.getOutput(), "../../src/bootloader/bins/kernel.bin");
install_kernel_raw.step.dependOn(&kernel_exe.step);
install_kernel_bin.step.dependOn(&install_kernel_raw.step);
// ------- bootloader
const bl_exe = b.addExecutable(.{
.name = "bootloader",
.target = .{ .cpu_arch = std.Target.Cpu.Arch.aarch64, .os_tag = std.Target.Os.Tag.freestanding, .abi = std.Target.Abi.eabihf },
.optimize = build_mode,
});
bl_exe.force_pic = false;
bl_exe.pie = false;
bl_exe.code_model = .large;
bl_exe.addModule(arm.name, arm.module);
bl_exe.addModule(utils.name, utils.module);
bl_exe.addModule(board.name, board.module);
bl_exe.addModule(periph.name, periph.module);
bl_exe.addOptions("build_options", build_options);
bl_exe.setLinkerScriptPath(std.build.FileSource{ .path = temp_bl_ld });
bl_exe.addObjectFile(.{ .path = "src/bootloader/bootloader.zig" });
bl_exe.addCSourceFile(.{ .file = .{ .path = "src/boards/drivers/bootInit/" ++ currBoard.boardName ++ "_boot.S" }, .flags = undefined });
bl_exe.addCSourceFile(.{ .file = .{ .path = "src/bootloader/exc_vec.S" }, .flags = undefined });
bl_exe.step.dependOn(&update_linker_scripts_bl.step);
const install_bl_raw = bl_exe.addObjCopy(.{ .format = .bin });
const install_bl_bin = b.addInstallBinFile(install_kernel_raw.getOutput(), "bootloader.bin");
bl_exe.step.dependOn(&install_kernel_bin.step);
install_bl_raw.step.dependOn(&bl_exe.step);
install_bl_bin.step.dependOn(&install_bl_raw.step);
// ------- BUILD/ QEMU
build_kernel_and_bootloader.dependOn(&install_bl_bin.step);
const qemu_launch_cmd = b.addSystemCommand(currBoard.qemu_launch_command);
qemu_launch_cmd.step.dependOn(&install_bl_bin.step);
build_and_run.dependOn(&qemu_launch_cmd.step);
}
fn setEnvironment(b: *std.Build, build_mode: std.builtin.Mode, comptime path: []const u8, app_deps: [4]ModuleDependency) !*std.Build.Step {
const user_apps_path = path ++ "/userApps/";
var dir = try std.fs.cwd().openIterableDir(user_apps_path, .{});
var it = dir.iterate();
const apps_action_step = b.step("apps_actions", "compiles apps and actions");
while (try it.next()) |folder| {
if (folder.kind != .directory or folder.name[0] == '_' or std.mem.eql(u8, folder.name, "actions")) continue;
const app = try addApp(b, build_mode, try std.fmt.allocPrint(b.allocator, "{s}/{s}", .{ user_apps_path, folder.name }), app_deps);
const install_app_raw = app.addObjCopy(.{ .format = .bin });
const install_app_bin = b.addInstallBinFile(install_app_raw.getOutput(), try std.fmt.allocPrint(b.allocator, "../../src/kernel/bins/actions/{s}", .{folder.name}));
install_app_raw.step.dependOn(&app.step);
install_app_bin.step.dependOn(&install_app_raw.step);
apps_action_step.dependOn(&install_app_bin.step);
}
const actions_path = path ++ "/userApps/actions/";
dir = try std.fs.cwd().openIterableDir(actions_path, .{});
it = dir.iterate();
while (try it.next()) |folder| {
if (folder.kind != .directory or folder.name[0] == '_' or std.mem.eql(u8, folder.name, "actions")) continue;
const action = try addApp(b, build_mode, try std.fmt.allocPrint(b.allocator, "{s}/{s}", .{ actions_path, folder.name }), app_deps);
const install_action_raw = action.addObjCopy(.{ .format = .bin });
const install_action_bin = b.addInstallBinFile(install_action_raw.getOutput(), try std.fmt.allocPrint(b.allocator, "../../src/kernel/bins/apps/{s}", .{folder.name}));
install_action_raw.step.dependOn(&action.step);
install_action_bin.step.dependOn(&install_action_raw.step);
apps_action_step.dependOn(&install_action_bin.step);
}
return apps_action_step;
}
fn addApp(b: *std.Build, build_mode: std.builtin.Mode, path: []const u8, app_deps: [4]ModuleDependency) !*std.Build.Step.Compile {
const app = b.addExecutable(.{
.name = std.fs.path.basename(path),
.target = .{ .cpu_arch = std.Target.Cpu.Arch.aarch64, .os_tag = std.Target.Os.Tag.freestanding, .abi = std.Target.Abi.eabihf },
.optimize = build_mode,
});
app.force_pic = false;
app.pie = false;
app.setLinkerScriptPath(std.build.FileSource{ .path = try std.fmt.allocPrint(b.allocator, "{s}/linker.ld", .{path}) });
app.addObjectFile(.{ .path = try std.fmt.allocPrint(b.allocator, "{s}/main.zig", .{path}) });
for (app_deps) |dep| app.addModule(dep.name, dep.module);
// app.step.dependOn(&b.addInstallArtifact(app, .{}).step);
return app;
}
const UpdateLinkerScripts = struct {
pub const ToUpdate = enum { bootloader, kernel };
step: std.build.Step,
temp_bl_ld: []const u8,
temp_kernel_ld: []const u8,
board_config: BoardBuildConf,
to_update: ToUpdate,
allocator: std.mem.Allocator,
pub fn create(b: *std.Build, to_update: ToUpdate, temp_bl_ld: []const u8, temp_kernel_ld: []const u8, board_config: BoardBuildConf) *UpdateLinkerScripts {
const self = b.allocator.create(UpdateLinkerScripts) catch unreachable;
self.* = .{
.step = std.build.Step.init(.{ .id = .custom, .name = "UpdateLinkerScript", .owner = b, .makeFn = UpdateLinkerScripts.doStep }),
.temp_bl_ld = temp_bl_ld,
.temp_kernel_ld = temp_kernel_ld,
.board_config = board_config,
.to_update = to_update,
.allocator = b.allocator,
};
return self;
}
/// inserts args variables (in order), defined in inp_linker_script_path in outp_linker_script_path
// bc file reads cannot be comptime (and the loop not be unrolled), arr size is static and elements optional
// if more args are required just increase arr size (will have to pad all fn calls with fewer args in list!.)
fn writeVarsToLinkerScript(a: std.mem.Allocator, inp_linker_script_path: []const u8, outp_linker_script_path: []const u8, args: [3]?usize) !void {
var in_file = try std.fs.cwd().openFile(inp_linker_script_path, .{});
defer in_file.close();
var buf_reader = std.io.bufferedReader(in_file.reader());
var in_stream = buf_reader.reader();
const out_file = try std.fs.cwd().createFile(outp_linker_script_path, .{});
defer out_file.close();
var buf: [1024]u8 = undefined;
var args_conv_buff: [1024]u8 = undefined;
var args_i: usize = 0;
var outp_line = std.ArrayList(u8).init(a);
var j: usize = 0;
var to_insert: []u8 = undefined;
while (try in_stream.readUntilDelimiterOrEof(&buf, '\n')) |line| {
try outp_line.appendSlice(line);
for (line, 0..) |c, i| {
if (c == '{' and i + 4 <= line.len) {
if (std.mem.eql(u8, line[i .. i + 6], "{@zig}")) {
while (j < 6) : (j += 1) {
_ = outp_line.orderedRemove(i);
}
j = 0;
if (args[args_i]) |arg| {
to_insert = std.fmt.bufPrintIntToSlice(&args_conv_buff, arg, 10, .lower, .{});
try outp_line.insertSlice(i, to_insert);
} else {
return (error{TooFewArgs}).TooFewArgs;
}
args_i += 1;
}
}
}
try out_file.writeAll(outp_line.items);
try out_file.writeAll("\n");
outp_line.clearAndFree();
}
}
fn doStep(step: *std.build.Step, prog_node: *std.Progress.Node) !void {
_ = prog_node;
const self = @fieldParentPtr(UpdateLinkerScripts, "step", step);
switch (self.to_update) {
.bootloader => {
var bl_start_address: usize = self.board_config.rom_start_addr orelse 0;
if (!self.board_config.has_rom)
bl_start_address = self.board_config.bl_load_addr orelse 0;
// // in case there is no rom(rom_size is equal to zero) and the kernel(and bl) are directly loaded to memory by some rom bootloader
// // the ttbr0 memory is also identity mapped to the ram
// var bl_pt_size_ttbr0: usize = (currBoard.config.mem.rom_size orelse 0) + currBoard.config.mem.ram_size;
// if (!currBoard.config.mem.has_rom)
// bl_pt_size_ttbr0 = currBoard.config.mem.ram_size;
try writeVarsToLinkerScript(self.allocator, "src/bootloader/linker.ld", self.temp_bl_ld, .{
bl_start_address,
null,
null,
});
},
.kernel => {
try writeVarsToLinkerScript(self.allocator, "src/kernel/linker.ld", self.temp_kernel_ld, .{
currBoard.va_start,
null,
null,
});
},
}
}
};
const ScanForApps = struct {
step: std.build.Step,
builder: *std.Build,
build_options: *std.build.OptionsStep,
pub fn create(b: *std.Build, build_options: *std.build.OptionsStep) *ScanForApps {
const self = b.allocator.create(ScanForApps) catch unreachable;
self.* = .{ .step = std.build.Step.init(.{ .id = .custom, .name = "ScanForApps", .owner = b, .makeFn = ScanForApps.doStep }), .builder = b, .build_options = build_options };
return self;
}
fn doStep(step: *std.build.Step, prog_node: *std.Progress.Node) !void {
_ = prog_node;
const self = @fieldParentPtr(ScanForApps, "step", step);
// searching for apps in apps/
{
var apps = std.ArrayList([]const u8).init(self.builder.allocator);
var actions = std.ArrayList([]const u8).init(self.builder.allocator);
defer actions.deinit();
defer apps.deinit();
var dir = std.fs.cwd().openIterableDir("zig-out/bin/apps/", .{}) catch |e| {
if (e == error.FileNotFound) {
self.build_options.addOption([]const []const u8, "apps", &.{});
return;
} else return e;
};
var it = dir.iterate();
while (try it.next()) |file| {
if (file.kind != .file) continue;
try apps.append(file.name);
}
self.build_options.addOption([]const []const u8, "apps", apps.items);
dir = std.fs.cwd().openIterableDir("zig-out/bin/actions/", .{}) catch |e| {
if (e == error.FileNotFound) {
self.build_options.addOption([]const []const u8, "actions", &.{});
return;
} else return e;
};
it = dir.iterate();
while (try it.next()) |file| {
if (file.kind != .file) continue;
try actions.append(file.name);
}
self.build_options.addOption([]const []const u8, "actions", actions.items);
}
}
};
// std zig build additions
fn moduleDependenciesToArrayHashMap(arena: std.mem.Allocator, deps: []const ModuleDependency) std.StringArrayHashMap(*Module) {
var result = std.StringArrayHashMap(*Module).init(arena);
for (deps) |dep| {
result.put(dep.name, dep.module) catch @panic("OOM");
}
return result;
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/sharedServices/Topic.zig | const std = @import("std");
const utils = @import("utils");
const board = @import("board");
const env = @import("environment");
const TopicBufferTypes = env.envConfTemplate.TopicBufferTypes;
const appLib = @import("appLib");
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
// todo => permission restrictions
// changes behaviour based on runtime information
pub const UsersapceMultiBuff = struct {
const Error = error{
MaxRollOvers,
};
buff: []u8,
behaviour_type: TopicBufferTypes,
// this is the only state which is restored, all other variables will reset upon each call when used by SharedMemTopicsInterface
curr_read_write_ptr: *volatile usize,
pub fn init(topic_mem: []u8, buff_curr_read_write_ptr_state: *volatile usize, buff_type: TopicBufferTypes) UsersapceMultiBuff {
return .{ .buff = topic_mem, .behaviour_type = buff_type, .curr_read_write_ptr = buff_curr_read_write_ptr_state };
}
pub fn write(self: *UsersapceMultiBuff, data: []u8) !usize {
switch (self.behaviour_type) {
.RingBuffer => {
return self.write_ring_buff(data);
},
.ContinousBuffer => {
return self.write_continous_buff(data);
},
}
}
pub fn read(self: *UsersapceMultiBuff, ret_buff: []u8) !usize {
switch (self.behaviour_type) {
.RingBuffer => {
return self.read_ring_buff(ret_buff);
},
.ContinousBuffer => {
return self.read_continous_buff(ret_buff);
},
}
}
pub fn write_ring_buff(self: *UsersapceMultiBuff, data: []u8) !usize {
var space_left: usize = 0;
if (self.curr_read_write_ptr.* + data.len > self.buff.len) {
space_left = self.buff.len - try std.math.mod(usize, self.curr_read_write_ptr.*, self.buff.len);
} else space_left = data.len;
std.mem.copy(u8, self.buff[self.curr_read_write_ptr.* .. self.curr_read_write_ptr.* + space_left], data);
self.curr_read_write_ptr.* += data.len;
return space_left;
}
pub fn read_ring_buff(self: *UsersapceMultiBuff, ret_buff: []u8) !usize {
// if (asm volatile ("adr %[pc], ."
// : [pc] "=r" (-> usize),
// ) < 0xFFFFFF8000000000) kprint("curr read curr_read_write_ptr: {any} \n", .{self.curr_read_write_ptr});
var ret_data: []u8 = undefined;
if (self.curr_read_write_ptr.* < ret_buff.len) {
ret_data = self.buff[0..self.curr_read_write_ptr.*];
self.curr_read_write_ptr.* = 0;
} else {
ret_data = self.buff[self.curr_read_write_ptr.* - ret_buff.len .. self.curr_read_write_ptr.*];
self.curr_read_write_ptr.* -= ret_buff.len;
}
std.mem.copy(u8, ret_buff, ret_data);
return ret_data.len;
}
pub fn write_continous_buff(self: *UsersapceMultiBuff, data: []u8) !usize {
const buff_pointer = try std.math.mod(usize, self.curr_read_write_ptr.*, self.buff.len);
std.mem.copy(u8, self.buff[buff_pointer..], data);
if (buff_pointer + data.len > self.buff.len) {
std.mem.copy(u8, self.buff[0..], data[self.buff.len..]);
}
self.curr_read_write_ptr.* += data.len;
return data.len;
}
pub fn read_continous_buff(self: *UsersapceMultiBuff, ret_buff: []u8) !usize {
// if (asm volatile ("adr %[pc], ."
// : [pc] "=r" (-> usize),
// ) < 0xFFFFFF8000000000) kprint("curr read curr_read_write_ptr: {any} \n", .{self.curr_read_write_ptr.*});
const buff_pointer = try std.math.mod(usize, self.curr_read_write_ptr.*, self.buff.len);
var lower_read_bound: usize = 0;
if (buff_pointer > ret_buff.len) lower_read_bound = buff_pointer - ret_buff.len;
const data = self.buff[lower_read_bound..buff_pointer];
std.mem.copy(u8, ret_buff, data);
var rolled_over_data: []u8 = undefined;
if (buff_pointer < ret_buff.len and buff_pointer != 0) {
const rollover_size: usize = std.math.absCast(try std.math.sub(isize, @as(isize, @intCast(buff_pointer)), @as(isize, @intCast(ret_buff.len))));
// only one rollver is supported
if (rollover_size > self.buff.len) return Error.MaxRollOvers;
rolled_over_data = self.buff[self.buff.len - rollover_size .. self.buff.len];
var ret_buff_slice: []u8 = undefined;
ret_buff_slice.ptr = @ptrFromInt(@intFromPtr(ret_buff.ptr) + data.len);
ret_buff_slice.len = data.len;
std.mem.copy(u8, ret_buff_slice, rolled_over_data);
}
return data.len + rolled_over_data.len;
}
};
pub fn Topic(comptime Semaphore: type) type {
return struct {
const Self = @This();
buff: UsersapceMultiBuff,
id: usize,
opened: bool,
waiting_tasks: [board.config.static_memory_reserves.topics_max_process_in_queue]?Semaphore,
n_waiting_taks: usize,
pub fn init(topics_mem: []u8, buff_curr_read_write_ptr_state: *volatile usize, id: usize, buff_type: TopicBufferTypes) Self {
return .{
.buff = UsersapceMultiBuff.init(topics_mem, buff_curr_read_write_ptr_state, buff_type),
.id = id,
.opened = false,
.waiting_tasks = [_]?Semaphore{null} ** board.config.static_memory_reserves.topics_max_process_in_queue,
.n_waiting_taks = 0,
};
}
pub fn write(self: *Self, data: []u8) !usize {
return self.buff.write(data);
}
pub fn read(self: *Self, ret_buff: []u8) !usize {
return self.buff.read(ret_buff);
}
};
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/sharedServices/sharedServices.zig | pub const Topic = @import("Topic.zig").Topic;
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/kernel/utils.zig | const kprint = @import("periph").uart.UartWriter(.ttbr0).kprint;
pub fn panic() noreturn {
kprint("[kernel] panic \n", .{});
while (true) {}
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/kernel/kernelIntHandler.zig | const std = @import("std");
const arm = @import("arm");
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const CpuContext = arm.cpuContext.CpuContext;
const k_utils = @import("utils.zig");
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const board = @import("board");
const sysCalls = @import("sysCalls.zig");
// const bcm2835IntHandle = @import("board/raspi3b/bcm2835IntHandle.zig");
const gic = arm.gicv2;
const gt = arm.genericTimer;
pub fn trapHandler(on_stack_context: *CpuContext, tmp_int_type: usize) callconv(.C) void {
const int_type = tmp_int_type; // copy away from stack top (unsure about C abi standards...)
var context = on_stack_context.*;
// kprint("unique \n", .{});
context.int_type = int_type;
// kprint("cpucontext size: {d} \n", .{@sizeOf(CpuContext)});
// kprint("context: {any} \n", .{context});
// kprint("pc: {x} \n", .{ProccessorRegMap.getCurrentPc()});
const int_type_en = std.meta.intToEnum(gic.ExceptionType, int_type) catch {
printExc(&context, null);
return;
};
switch (int_type_en) {
.el0Sync, .el1Sync => {
const ec = @as(u6, @truncate(context.esr_el1 >> 26));
const ec_en = std.meta.intToEnum(ProccessorRegMap.Esr_el1.ExceptionClass, ec) catch {
kprint("Error decoding ExceptionClass 0x{x} \n", .{ec});
printExc(&context, int_type_en);
return;
};
switch (ec_en) {
.svcInstExAArch64 => {
var sys_call_found: bool = false;
for (&sysCalls.sysCallTable) |*sys_call| {
if (sys_call.id == context.x8) {
sys_call.fn_call(on_stack_context);
sys_call_found = true;
}
}
if (!sys_call_found) {
kprint("[kernel] SysCall id NOT found! \n", .{});
printExc(&context, int_type_en);
}
},
.bkptInstExecAarch64 => {
kprint("[app] halting execution due to debug trap\n", .{});
printContext(&context);
kprint("pc: 0x{x}\n", .{ProccessorRegMap.getCurrentPc()});
haltExec(true, on_stack_context);
},
else => {
printExc(&context, int_type_en);
},
}
},
// timer interrupts with custom timers per board
.el1Irq, .el0Irq => {
if (board.driver.secondaryInterruptConrtollerDriver) |secondary_ic| {
if (secondary_ic.context.handler_fn) |handler| handler(&context);
}
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "arm_gt")) {
board.driver.timerDriver.timerTick(&context) catch |e| {
kprint("kernel timer error {s} \n", .{@errorName(e)});
return;
};
}
},
else => {
printExc(&context, int_type_en);
},
}
}
fn printExc(context: *CpuContext, int_type_en: ?gic.ExceptionType) void {
// printing debug information
const iss = @as(u25, @truncate(context.esr_el1));
const ifsc = @as(u6, @truncate(context.esr_el1));
const il = @as(u1, @truncate(context.esr_el1 >> 25));
const ec = @as(u6, @truncate(context.esr_el1 >> 26));
const iss2 = @as(u5, @truncate(context.esr_el1 >> 32));
_ = iss;
_ = iss2;
kprint(".........sync exc............\n", .{});
if (int_type_en) |int_type| kprint("Int Type: {s} \n", .{@tagName(int_type)});
const ec_en = std.meta.intToEnum(ProccessorRegMap.Esr_el1.ExceptionClass, ec) catch {
kprint("Error decoding ExceptionClass 0x{x} \n", .{ec});
printContext(context);
return;
};
const ifsc_en = std.meta.intToEnum(ProccessorRegMap.Esr_el1.Ifsc, ifsc) catch {
kprint("Error decoding ExceptionClass IFSC 0x{x} \n", .{ifsc});
printContext(context);
return;
};
kprint("Exception Class(from esp reg): {s} \n", .{@tagName(ec_en)});
kprint("IFC(from esp reg): {s} \n", .{@tagName(ifsc_en)});
kprint("- debug info: \n", .{});
printContext(context);
kprint(".........sync exc............\n", .{});
if (il == 1) {
kprint("32 bit instruction trapped \n", .{});
} else {
kprint("16 bit instruction trapped \n", .{});
}
kprint(".........sync exc............\n", .{});
}
fn printContext(context: *CpuContext) void {
kprint("--------- context --------- \n", .{});
kprint("irq el: {d} \n", .{context.el});
kprint("far_el1: 0x{x} \n", .{context.far_el1});
kprint("irq esr_el1: 0x{x} \n", .{context.esr_el1});
kprint("irq elr_el1: 0x{x} \n", .{context.elr_el1});
kprint("- sys regs: \n", .{});
kprint("sp_el0: 0x{x} \n", .{context.sp_el0});
kprint("lr(x30): 0x{x} \n", .{context.x30});
kprint("irq sp_el1: 0x{x} \n", .{context.sp_el1});
kprint("irq spSel: {d} \n", .{context.sp_sel});
kprint("x0: 0x{x}, x1: 0x{x}, x2: 0x{x}, x3: 0x{x}, x4: 0x{x} \n", .{ context.x0, context.x1, context.x2, context.x3, context.x4 });
kprint("x5: 0x{x}, x6: 0x{x}, x7: 0x{x}, x8: 0x{x}, x9: 0x{x} \n", .{ context.x5, context.x6, context.x7, context.x8, context.x9 });
kprint("x10: 0x{x}, x11: 0x{x}, x12: 0x{x}, x13: 0x{x}, x14: 0x{x} \n", .{ context.x10, context.x11, context.x12, context.x13, context.x14 });
kprint("x15: 0x{x}, x16: 0x{x}, x17: 0x{x}, x18: 0x{x}, x19: 0x{x} \n", .{ context.x15, context.x16, context.x17, context.x18, context.x19 });
kprint("x20: 0x{x}, x21: 0x{x}, x22: 0x{x}, x23: 0x{x}, x24: 0x{x} \n", .{ context.x20, context.x21, context.x22, context.x23, context.x24 });
kprint("x25: 0x{x}, x26: 0x{x}, x27: 0x{x}, x28: 0x{x}, x29: 0x{x} \n", .{ context.x25, context.x26, context.x27, context.x28, context.x29 });
kprint("--------- context --------- \n", .{});
}
fn haltExec(halt_execution: bool, on_stack_context: *CpuContext) void {
if (!halt_execution) {
on_stack_context.elr_el1 += 4;
} else {
while (true) {}
}
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/kernel/tests.zig | const kprint = @import("periph").uart.UartWriter(.ttbr1).kprint;
pub fn testUserPageAlloc(alloc: anytype) !void {
const p1 = try alloc.allocNPage(10);
const p2 = try alloc.allocNPage(10);
const p3 = try alloc.allocNPage(10);
const p4 = try alloc.allocNPage(10);
@as(*volatile u8, @ptrCast(p1)).* = 10;
@as(*volatile u8, @ptrCast(p2)).* = 10;
@as(*volatile u8, @ptrCast(p3)).* = 10;
@as(*volatile u8, @ptrCast(p4)).* = 10;
const p5 = try alloc.allocNPage(10);
@as(*volatile u8, @ptrCast(p5)).* = 10;
try alloc.freeNPage(p2, 10);
const p6 = try alloc.allocNPage(10);
try alloc.freeNPage(p1, 10);
try alloc.freeNPage(p3, 10);
try alloc.freeNPage(p4, 10);
try alloc.freeNPage(p5, 10);
try alloc.freeNPage(p6, 10);
kprint("[kTEST] userspace page alloc test successfull \n", .{});
}
pub fn testUserSpaceMem(addr: usize) void {
@as(*usize, @ptrFromInt(addr)).* = 100;
if (@as(*usize, @ptrFromInt(addr)).* == 100)
kprint("[kTEST] write to userspace successfull \n", .{});
}
pub fn testKMalloc(alloc: anytype) !void {
const alloced_obj = try alloc.alloc(usize, 10, null);
alloced_obj[1] = 100;
alloced_obj[9] = 900;
const alloced_obj2 = try alloc.alloc(usize, 102, null);
try alloc.free(alloced_obj);
alloced_obj2[33] = 3;
try alloc.free(alloced_obj2);
const alloced_obj3 = try alloc.alloc(u8, 102400 * 1.5, null);
alloced_obj3[30] = 0xff;
const alloced_obj4 = try alloc.alloc(u8, 102400 * 1.5, null);
alloced_obj4[30] = 0xff;
const alloced_obj5 = try alloc.alloc(u8, 102400 * 1.5, null);
alloced_obj5[30] = 0xff;
try alloc.free(alloced_obj4);
const alloced_obj6 = try alloc.alloc(u8, 102400 * 1.5, null);
alloced_obj6[30] = 0xff;
try alloc.free(alloced_obj5);
try alloc.free(alloced_obj3);
try alloc.free(alloced_obj6);
kprint("[kTEST] kernel alloc test successfull \n", .{});
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/kernel/linker.ld | ENTRY(kernel_main)
SECTIONS {
# exaplatnation as to why this exact address can be found in the readme under mmu
. = {@zig};
.text : ALIGN(16) {
*(.text.kernel_main);
}
.exceptions : ALIGN(0x800) {
*(.text.exc_vec);
}
.kernel : ALIGN(16) {
*(.text.);
*(.text.*);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(16) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.kernel_space (NOLOAD) : ALIGN(8) {
_kernel_space_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/kernel/sysCalls.zig | const std = @import("std");
const periph = @import("periph");
const pl011 = periph.Pl011(.ttbr1);
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const utils = @import("utils");
const board = @import("board");
const arm = @import("arm");
const CpuContext = arm.cpuContext.CpuContext;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const k_utils = @import("utils.zig");
const sharedKernelServices = @import("sharedKernelServices");
const StatusControl = sharedKernelServices.StatusControl;
const Scheduler = sharedKernelServices.Scheduler;
const Topics = sharedKernelServices.SysCallsTopicsInterface;
const Semaphore = sharedKernelServices.KSemaphore;
// global user required since the scheduler calls are invoked via svc
extern var scheduler: *Scheduler;
extern var status_control: *StatusControl;
extern var topics: *Topics;
pub const Syscall = struct {
id: u32,
//x0..x7 = parameters and arguments (if x0 is negative it's an errno)
//x8 = SysCall id
fn_call: *const fn (params_args: *CpuContext) void,
};
pub const sysCallTable = [_]Syscall{
.{ .id = 0, .fn_call = &sysCallPrint },
.{ .id = 1, .fn_call = &killTask },
// .{ .id = 2, .fn_call = &xxx },
.{ .id = 3, .fn_call = &getPid },
.{ .id = 4, .fn_call = &killTaskRecursively },
// .{ .id = 5, .fn_call = &xxx },
.{ .id = 6, .fn_call = &createThread },
.{ .id = 7, .fn_call = &sleep },
.{ .id = 8, .fn_call = &haltProcess },
.{ .id = 9, .fn_call = &continueProcess },
// .{ .id = 10, .fn_call = &xxx },
// .{ .id = 11, .fn_call = &xxx },
.{ .id = 12, .fn_call = &pushToTopic },
.{ .id = 13, .fn_call = &popFromTopic },
.{ .id = 14, .fn_call = &waitForTopicUpdate },
.{ .id = 15, .fn_call = &increaseCurrTaskPreemptCounter },
.{ .id = 16, .fn_call = &decreaseCurrTaskPreemptCounter },
.{ .id = 17, .fn_call = &updateStatus },
.{ .id = 18, .fn_call = &readStatus },
};
fn sysCallPrint(params_args: *CpuContext) void {
// arguments for the function from the saved interrupt context
const data = params_args.x0;
const len = params_args.x1;
var sliced_data: []u8 = undefined;
sliced_data.len = len;
sliced_data.ptr = @as([*]u8, @ptrFromInt(data));
pl011.write(sliced_data);
}
fn killTask(params_args: *CpuContext) void {
kprint("[kernel] killing task with pid: {d} \n", .{params_args.x0});
scheduler.killTask(@as(u16, @truncate(params_args.x0))) catch |e| {
kprint("[panic] killTask error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
// kill a process and all its children processes
fn killTaskRecursively(params_args: *CpuContext) void {
kprint("[kernel] killing task and children starting with pid: {d} \n", .{params_args.x0});
scheduler.killTaskAndChildrend(@as(u16, @truncate(params_args.x0))) catch |e| {
kprint("[panic] killTaskRecursively error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
// fn forkProcess(params_args: *CpuContext) void {
// kprint("[kernel] forking task with pid: {d} \n", .{params_args.x0});
// scheduler.deepForkProcess(params_args.x0) catch |e| {
// kprint("[panic] deepForkProcess error: {s}\n", .{@errorName(e)});
// k_utils.panic();
// };
// }
fn getPid(params_args: *CpuContext) void {
params_args.x0 = scheduler.getCurrentProcessPid();
}
fn createThread(params_args: *CpuContext) void {
const entry_fn_ptr = @as(*anyopaque, @ptrFromInt(params_args.x0));
const thread_stack = params_args.x1;
const args = @as(*anyopaque, @ptrFromInt(params_args.x2));
const thread_fn_ptr = @as(*anyopaque, @ptrFromInt(params_args.x3));
scheduler.createThreadFromCurrentProcess(entry_fn_ptr, thread_fn_ptr, thread_stack, args) catch |e| {
kprint("[panic] createThreadFromCurrentProcess error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
fn sleep(params_args: *CpuContext) void {
const delay_in_sched_inter = params_args.x0;
scheduler.setProcessAsleep(scheduler.getCurrentProcessPid(), delay_in_sched_inter, params_args) catch |e| {
kprint("[panic] setProcessAsleep error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
fn haltProcess(params_args: *CpuContext) void {
const pid: u16 = @as(u16, @truncate(params_args.x0));
scheduler.setProcessState(pid, .halted, params_args) catch |e| {
kprint("Scheduler setProcessState err: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
fn continueProcess(params_args: *CpuContext) void {
const pid: u16 = @as(u16, @truncate(params_args.x0));
scheduler.setProcessState(pid, .running, params_args) catch |e| {
kprint("Scheduler setProcessState err: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
fn increaseCurrTaskPreemptCounter(params_args: *CpuContext) void {
_ = params_args;
scheduler.current_task.preempt_count += 1;
}
fn decreaseCurrTaskPreemptCounter(params_args: *CpuContext) void {
_ = params_args;
scheduler.current_task.preempt_count -= 1;
}
fn pushToTopic(params_args: *CpuContext) void {
const id = params_args.x0;
const data_ptr = params_args.x1;
const data_len = params_args.x2;
// kprint("...: {any}\n", .{params_args.x0});
params_args.x0 = topics.write(id, @as(*u8, @ptrFromInt(data_ptr)), data_len) catch |e| {
kprint("Topics write error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
fn popFromTopic(params_args: *CpuContext) void {
const id = params_args.x0;
const data_len = params_args.x1;
var ret_buff: []u8 = undefined;
ret_buff.ptr = @ptrFromInt(params_args.x2);
ret_buff.len = data_len;
params_args.x0 = topics.read(id, ret_buff) catch |e| {
kprint("Topics popFromTopic error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
fn waitForTopicUpdate(params_args: *CpuContext) void {
const topic_id = params_args.x0;
const pid: u16 = @as(u16, @truncate(params_args.x1));
topics.makeTaskWait(topic_id, pid, params_args) catch |e| {
kprint("Topics waitForTopicUpdate error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
fn updateStatus(params_args: *CpuContext) void {
const status_id = @as(u16, @intCast(params_args.x0));
const val_addr = params_args.x1;
status_control.updateStatusRaw(status_id, val_addr) catch |e| {
kprint("StatusControl updateStatus error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
fn readStatus(params_args: *CpuContext) void {
const status_id = @as(u16, @intCast(params_args.x0));
const ret_buff = params_args.x1;
status_control.readStatusRaw(status_id, ret_buff) catch |e| {
kprint("StatusControl readRaw error: {s}\n", .{@errorName(e)});
@as(*isize, @ptrCast(¶ms_args.x0)).* = 0 - @as(isize, @intCast(@intFromError(e)));
return;
};
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/kernel/kernel.zig | const std = @import("std");
const utils = @import("utils");
const board = @import("board");
const kernelThreads = @import("kernelThreads");
const setupRoutines = @import("setupRoutines");
// kernel services
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const SysCallsTopicsInterface = sharedKernelServices.SysCallsTopicsInterface;
const StatusControl = sharedKernelServices.StatusControl;
// KernelAllocator and UserPageAllocator types are inited in sharedKernelServices!.
const KernelAllocator = sharedKernelServices.KernelAllocator;
const UserPageAllocator = sharedKernelServices.UserPageAllocator;
const k_utils = @import("utils.zig");
const tests = @import("tests.zig");
const intHandle = @import("kernelIntHandler.zig");
const sysCalls = @import("sysCalls.zig");
const b_options = @import("build_options");
const kpi = @import("kpi");
const alignForward = std.mem.alignForward;
// arm specific periphs
const arm = @import("arm");
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const mmu = arm.mmu;
// general peripherals
const periph = @import("periph");
// pre_kernel_page_table_init_kprint...
// uses userspace addresses(ttbr0), since those are still identity mapped
// to access peripherals
const old_mapping_kprint = periph.uart.UartWriter(.ttbr0).kprint;
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
// raspberry specific periphs
// const bcm2835IntController = arm.bcm2835IntController.InterruptController(.ttbr1);
var user_page_alloc = UserPageAllocator.init() catch |e| {
@compileError(@errorName(e));
};
// pointer is now global, ! kernel main lifetime needs to be equal to schedulers lt.. !
export var scheduler: *Scheduler = undefined;
export var status_control: *StatusControl = undefined;
export var topics: *SysCallsTopicsInterface = undefined;
const apps = blk: {
var apps_addresses = [_][]const u8{undefined} ** b_options.apps.len;
for (b_options.apps, 0..) |app, i| {
const app_file = @embedFile("bins/apps/" ++ app);
apps_addresses[i] = app_file;
}
break :blk apps_addresses;
};
const actions = blk: {
var action_addresses = [_][]const u8{undefined} ** b_options.actions.len;
for (b_options.actions, 0..) |action, i| {
const app_file = @embedFile("bins/actions/" ++ action);
action_addresses[i] = app_file;
}
break :blk action_addresses;
};
// todo => add error handling such that try can be used in such "main" funcitons
export fn kernel_main(boot_without_rom_new_kernel_loc: usize) linksection(".text.kernel_main") callconv(.C) noreturn {
// !! kernel sp is set in the Bootloader!!
{
const _exc_vec_label: usize = @intFromPtr(@extern(?*u8, .{ .name = "_exception_vector_table" }) orelse {
kprint("[panic] error reading _exception_vector_table label\n", .{});
k_utils.panic();
});
ProccessorRegMap.setExceptionVec(_exc_vec_label);
}
// required for every page table modification, since the absolute memory location needs to be given to the mmu
const kernel_lma_offset = boot_without_rom_new_kernel_loc + board.config.mem.ram_start_addr;
const _kernel_space_start: usize = @intFromPtr(@extern(?*u8, .{ .name = "_kernel_space_start" }) orelse {
old_mapping_kprint("[panic] error reading _kernel_space_start label\n", .{});
k_utils.panic();
});
var kspace_alloc = KernelAllocator.init(std.mem.alignForward(usize, _kernel_space_start, 8) + board.config.mem.k_stack_size) catch |e| {
old_mapping_kprint("[panic] KernelAllocator init error: {s}\n", .{@errorName(e)});
k_utils.panic();
};
// mmu config block
{
const ttbr1 = blk: {
const page_table = mmu.PageTable(board.config.mem.va_kernel_space_page_table_capacity, board.config.mem.va_kernel_space_gran) catch |e| {
old_mapping_kprint("[panic] Page table init error: {s}\n", .{@errorName(e)});
k_utils.panic();
};
const ttbr1_mem = @as(*volatile [page_table.totaPageTableSize]usize, @ptrCast((kspace_alloc.alloc(usize, page_table.totaPageTableSize, board.config.mem.va_kernel_space_gran.page_size) catch |e| {
old_mapping_kprint("[panic] Page table kalloc error: {s}\n", .{@errorName(e)});
k_utils.panic();
}).ptr));
// mapping general kernel mem (inlcuding device base)
var ttbr1_write = page_table.init(ttbr1_mem, kernel_lma_offset) catch |e| {
old_mapping_kprint("[panic] Page table init error: {s}\n", .{@errorName(e)});
k_utils.panic();
};
{
// creating virtual address space for kernel
const kernel_space_mapping = mmu.Mapping{
.mem_size = board.config.mem.kernel_space_size,
.pointing_addr_start = kernel_lma_offset,
.virt_addr_start = 0,
.granule = board.config.mem.va_kernel_space_gran,
.addr_space = .ttbr1,
.flags_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .only_el1_read_write, .attrIndex = .mair0 },
.flags_non_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .only_el1_read_write },
};
ttbr1_write.mapMem(kernel_space_mapping) catch |e| {
old_mapping_kprint("[panic] Page table write error: {s}\n", .{@errorName(e)});
k_utils.panic();
};
}
{
// creating virtual address space for periphs
const periph_mapping = mmu.Mapping{
.mem_size = board.PeriphConfig(.ttbr0).device_base_size,
.pointing_addr_start = board.PeriphConfig(.ttbr0).device_base,
.virt_addr_start = board.PeriphConfig(.ttbr0).new_ttbr1_device_base,
.granule = board.config.mem.va_kernel_space_gran,
.addr_space = .ttbr1,
.flags_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .only_el1_read_write, .attrIndex = .mair0 },
.flags_non_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .only_el1_read_write },
};
ttbr1_write.mapMem(periph_mapping) catch |e| {
old_mapping_kprint("[panic] Page table write error: {s}\n", .{@errorName(e)});
k_utils.panic();
};
}
break :blk ttbr1_mem;
};
const ttbr0 = blk: {
const page_table = mmu.PageTable(board.config.mem.va_user_space_page_table_capacity, board.config.mem.va_user_space_gran) catch |e| {
@compileError(@errorName(e));
};
const ttbr0_mem = @as(*volatile [page_table.totaPageTableSize]usize, @ptrCast((kspace_alloc.alloc(usize, page_table.totaPageTableSize, board.config.mem.va_user_space_gran.page_size) catch |e| {
old_mapping_kprint("[panic] sPage table kalloc error: {s}\n", .{@errorName(e)});
k_utils.panic();
}).ptr));
// MMU page dir config
var page_table_write = page_table.init(ttbr0_mem, kernel_lma_offset) catch |e| {
old_mapping_kprint("[panic] Page table init error: {s}\n", .{@errorName(e)});
k_utils.panic();
};
const user_space_mapping = mmu.Mapping{
.mem_size = board.config.mem.user_space_size,
.pointing_addr_start = kernel_lma_offset + board.config.mem.kernel_space_size,
.virt_addr_start = 0,
.granule = board.config.mem.va_user_space_gran,
.addr_space = .ttbr0,
.flags_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .only_el1_read_write, .attrIndex = .mair0 },
.flags_non_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .only_el1_read_write },
};
page_table_write.mapMem(user_space_mapping) catch |e| {
old_mapping_kprint("[panic] Page table write error: {s}\n", .{@errorName(e)});
k_utils.panic();
};
break :blk ttbr0_mem;
};
ProccessorRegMap.TcrReg.setTcrEl(.el1, (ProccessorRegMap.TcrReg{ .t0sz = 25, .t1sz = 25, .tg0 = 0, .tg1 = 0 }).asInt());
ProccessorRegMap.MairReg.setMairEl(.el1, (ProccessorRegMap.MairReg{ .attr0 = 0xFF, .attr1 = 0x0, .attr2 = 0x0, .attr3 = 0x0, .attr4 = 0x0 }).asInt());
ProccessorRegMap.dsb();
ProccessorRegMap.isb();
ProccessorRegMap.invalidateOldPageTableEntries();
// ProccessorRegMap.invalidateMmuTlbEl1();
ProccessorRegMap.invalidateCache();
// updating page dirs for kernel and user space
// toUnsec is bc we are in ttbr1 and can't change with page tables that are also in ttbr1
ProccessorRegMap.setTTBR1(kernel_lma_offset + utils.toTtbr0(usize, @intFromPtr(ttbr1)));
ProccessorRegMap.setTTBR0(kernel_lma_offset + utils.toTtbr0(usize, @intFromPtr(ttbr0)));
ProccessorRegMap.dsb();
ProccessorRegMap.isb();
ProccessorRegMap.nop();
ProccessorRegMap.nop();
}
kprint("[kernel] page tables updated! \n", .{});
const current_el = ProccessorRegMap.getCurrentEl();
if (current_el != 1) {
kprint("[panic] el must be 1! (it is: {d})\n", .{current_el});
ProccessorRegMap.panic();
}
kprint("[kernel] kernel boot complete \n", .{});
tests.testUserPageAlloc(&user_page_alloc) catch |e| {
kprint("[panic] testUserPageAlloc test error: {s} \n", .{@errorName(e)});
k_utils.panic();
};
var scheduler_tmp = Scheduler.init(&user_page_alloc, kernel_lma_offset);
scheduler = &scheduler_tmp;
{
var topics_tmp = SysCallsTopicsInterface.init(&user_page_alloc, scheduler) catch |e| {
kprint("[panic] SysCallsTopicsInterface init error: {s} \n", .{@errorName(e)});
k_utils.panic();
};
topics = &topics_tmp;
}
{
var status_control_tmp = StatusControl.init(&kspace_alloc) catch |e| {
kprint("[panic] StatusControl init error: {s} \n", .{@errorName(e)});
k_utils.panic();
};
status_control = &status_control_tmp;
}
{
kprint("[kernel] starting scheduler \n", .{});
// boot process = this process
scheduler.configRootBootProcess();
scheduler.initAppsInScheduler(&apps, topics.mem_pool) catch |e| {
kprint("[panic] Scheduler initAppsInScheduler error: {s} \n", .{@errorName(e)});
k_utils.panic();
};
// scheduler.initActionsInScheduler(&actions, topics.mem_pool) catch |e| {
// kprint("[panic] actions init error: {s} \n", .{@errorName(e)});
// k_utils.panic();
// };
scheduler.initProcessCounter();
}
// kernel setup routines execution
inline for (setupRoutines.setupRoutines) |routine| {
routine(scheduler);
}
board.driver.timerDriver.initTimerDriver() catch |e| {
kprint("[panic] timer driver error: {s} \n", .{@errorName(e)});
k_utils.panic();
};
kprint("[kernel] timer inited \n", .{});
if (board.driver.secondaryInterruptConrtollerDriver) |secondary_ic| {
secondary_ic.initIcDriver() catch |e| {
kprint("[panic] initIcDriver error: {s} \n", .{@errorName(e)});
k_utils.panic();
};
}
// kernel thread scheduler init
inline for (kernelThreads.threads) |generic_thread| {
scheduler.createKernelThread(&kspace_alloc, generic_thread, .{scheduler}) catch |e| {
kprint("[panic] kernel thread createKernelThread error: {s} \n", .{@errorName(e)});
k_utils.panic();
};
}
var counter: usize = 0;
while (true) {
kprint("while counter: {d} \n", .{counter});
// kprint("timer: {d} irq: {d} \n", .{ bcm2835Timer.RegMap.timerCs.*, bcm2835IntController.RegMap.enableIrq1.* });
counter += 1;
}
}
comptime {
@export(intHandle.trapHandler, .{ .name = "trapHandler", .linkage = .Strong });
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/kernel/exc_vec.S | .section .text.exc_vec
// https://developer.arm.com/documentation/100933/0100/AArch64-exception-vector-table
.globl _exception_vector_table
.balign 0x80
_exception_vector_table:
b _el1Sp0Sync // el1_sp0_sync
.balign 0x80
b _el1Sp0Irq // el1_sp0_irq
.balign 0x80
b _el1Sp0Fiq // el1_sp0_fiq
.balign 0x80
b el1Sp0Err // el1_sp0_error
.balign 0x80
b _el1Sync // el1Sync
.balign 0x80
b _el1Irq // el1Irq
.balign 0x80
b _el1Fiq // el1Fiq
.balign 0x80
b _el1Err // el1Error
.balign 0x80
b _el0Sync // el0_sync
.balign 0x80
b _el0Irq // el0_irq
.balign 0x80
b _el0Fiq // el0_fiq
.balign 0x80
b _el0Err // el0_error
.balign 0x80
b _el032Sync // el0_32_sync
.balign 0x80
b _el032Irq // el0_32_irq
.balign 0x80
b _el032Fiq // el0_32_fiq
.balign 0x80
b _el032Err // el0_32_error
.balign 0x80
.macro SAVE_CPU_CONTEXT
// storing CpuContext struct(src/arm/CpuContext.zig) on stack
stp q1, q0, [sp, #-32]!
stp q3, q2, [sp, #-32]!
stp q5, q4, [sp, #-32]!
stp q7, q6, [sp, #-32]!
stp q9, q8, [sp, #-32]!
stp q11, q10, [sp, #-32]!
stp q13, q12, [sp, #-32]!
stp q15, q14, [sp, #-32]!
stp q17, q16, [sp, #-32]!
stp q19, q18, [sp, #-32]!
stp q21, q20, [sp, #-32]!
stp q23, q22, [sp, #-32]!
stp q25, q24, [sp, #-32]!
stp q27, q26, [sp, #-32]!
stp q29, q28, [sp, #-32]!
stp q31, q30, [sp, #-32]!
// gp regs
stp x1, x0, [sp, #-16]!
stp x3, x2, [sp, #-16]!
stp x5, x4, [sp, #-16]!
stp x7, x6, [sp, #-16]!
stp x9, x8, [sp, #-16]!
stp x11, x10, [sp, #-16]!
stp x13, x12, [sp, #-16]!
stp x15, x14, [sp, #-16]!
stp x17, x16, [sp, #-16]!
stp x19, x18, [sp, #-16]!
stp x21, x20, [sp, #-16]!
stp x23, x22, [sp, #-16]!
stp x25, x24, [sp, #-16]!
stp x27, x26, [sp, #-16]!
stp x29, x28, [sp, #-16]!
// sys regs
mov x1, sp
add x1, x1, #752
stp x1, x30, [sp, #-16]!
mov x0, fp
mrs x3, elr_el1
stp x3, x0, [sp, #-16]!
mrs x0, sp_el0
// debug regs
mrs x3, SPSel
stp x3, x0, [sp, #-16]!
mrs x0, far_el1
mrs x3, esr_el1
stp x0, x3, [sp, #-16]!
mrs x0, CurrentEL
lsr x0, x0, #2
stp xzr, x0, [sp, #-16]!
.endm
.macro EXCEPTION_VECTOR int_type
SAVE_CPU_CONTEXT
// bl disableIrq
// set stack as arg
ldr x1, #\int_type
mov x0, sp
bl trapHandler
// bl enableIrq
// restoreContextFromStack are fns exported from CpuContext.zig
b _restoreContextWithoutSwitchFromSp
.endm
_el1Sp0Sync:
EXCEPTION_VECTOR el1Sp0Sync
_el1Sp0Irq:
EXCEPTION_VECTOR el1Sp0Irq
_el1Sp0Fiq:
EXCEPTION_VECTOR el1Sp0Fiq
_el1Sp0Err:
EXCEPTION_VECTOR el1Sp0Err
_el1Sync:
EXCEPTION_VECTOR el1Sync
_el1Irq:
EXCEPTION_VECTOR el1Irq
_el1Fiq:
EXCEPTION_VECTOR el1Fiq
_el1Err:
EXCEPTION_VECTOR el1Err
_el0Sync:
EXCEPTION_VECTOR el0Sync
_el0Irq:
EXCEPTION_VECTOR el0Irq
_el0Fiq:
EXCEPTION_VECTOR el0Fiq
_el0Err:
EXCEPTION_VECTOR el0Err
_el032Sync:
EXCEPTION_VECTOR el032Sync
_el032Irq:
EXCEPTION_VECTOR el032Irq
_el032Fiq:
EXCEPTION_VECTOR el032Fiq
_el032Err:
EXCEPTION_VECTOR el032Err
|
0 | repos/MinimalRoboticsPlatform/src/kernel | repos/MinimalRoboticsPlatform/src/kernel/sharedKernelServices/SysCallsTopicsInterface.zig | const std = @import("std");
const utils = @import("utils");
const board = @import("board");
const env = @import("environment");
const TopicBufferTypes = env.envConfTemplate.EnvConfig.TopicBufferTypes;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const kprint = @import("periph").uart.UartWriter(.ttbr1).kprint;
const UserPageAllocator = @import("UserPageAllocator.zig").UserPageAllocator;
const Scheduler = @import("Scheduler.zig").Scheduler;
const arm = @import("arm");
const KSemaphore = @import("KSemaphore.zig").Semaphore;
const CpuContext = arm.cpuContext.CpuContext;
const Topic = @import("sharedServices").Topic(KSemaphore(1));
const alignForward = std.mem.alignForward;
pub const SysCallsTopicsInterface = struct {
const Error = error{
TopicIdNotFound,
};
topics: [env.env_config.countTopics()]Topic,
mem_pool: []u8,
scheduler: *Scheduler,
pub fn init(user_page_alloc: *UserPageAllocator, scheduler: *Scheduler) !SysCallsTopicsInterface {
var accumulatedTopicsBuffSize: usize = 0;
for (&env.env_config.status_control) |*status_control_conf| {
if (status_control_conf.*.status_type == .topic) {
accumulatedTopicsBuffSize += status_control_conf.topic_conf.?.buffer_size + @sizeOf(usize);
}
}
const pages_req = (try std.math.mod(usize, accumulatedTopicsBuffSize, board.config.mem.va_user_space_gran.page_size)) + 1;
const topics_mem = try user_page_alloc.allocNPage(pages_req);
var topics = [_]Topic{undefined} ** env.env_config.countTopics();
var used_topics_mem: usize = 0;
var i: usize = 0;
for (&env.env_config.status_control) |*status_control_conf| {
if (status_control_conf.*.status_type == .topic) {
const topic_read_write_buff_ptr = @as(*volatile usize, @ptrFromInt(used_topics_mem));
topic_read_write_buff_ptr.* = 0;
topics[i] = Topic.init(topics_mem[used_topics_mem + @sizeOf(usize) .. used_topics_mem + status_control_conf.topic_conf.?.buffer_size], topic_read_write_buff_ptr, status_control_conf.id, status_control_conf.topic_conf.?.buffer_type);
used_topics_mem += status_control_conf.topic_conf.?.buffer_size;
i += 1;
}
}
return .{
.topics = topics,
.mem_pool = topics_mem,
.scheduler = scheduler,
};
}
pub fn write(self: *SysCallsTopicsInterface, id: usize, data_ptr: *u8, len: usize) !usize {
// switching to boot userspace page table (which spans all apps in order to acces other apps memory with their relative userspace addresses...)
self.scheduler.switchMemContext(self.scheduler.scheduled_tasks[0].ttbr0.?, null);
defer self.scheduler.switchMemContext(self.scheduler.current_task.ttbr0.?, null);
const userspace_app_mapping_data_addr = @intFromPtr(self.scheduler.current_task.app_mem.?.ptr) + @intFromPtr(data_ptr);
if (self.findTopicById(id)) |index| {
var data: []u8 = undefined;
data.ptr = @as([*]u8, @ptrFromInt(userspace_app_mapping_data_addr));
data.len = len;
const data_written: usize = try self.topics[index].write(data);
for (&self.topics[index].waiting_tasks) |*semaphore| {
if (semaphore.* != null) {
try semaphore.*.?.signal(self.scheduler);
semaphore.* = null;
self.topics[index].n_waiting_taks -= 1;
}
}
return data_written;
} else return Error.TopicIdNotFound;
}
pub fn read(self: *SysCallsTopicsInterface, id: usize, ret_buff: []u8) !usize {
// switching to boot userspace page table (which spans all apps in order to acces other apps memory with their relative userspace addresses...)
self.scheduler.switchMemContext(self.scheduler.scheduled_tasks[0].ttbr0.?, null);
defer self.scheduler.switchMemContext(self.scheduler.current_task.ttbr0.?, null);
var userspace_app_mapping_ret_buff: []u8 = undefined;
userspace_app_mapping_ret_buff.ptr = @ptrFromInt(@intFromPtr(self.scheduler.current_task.app_mem.?.ptr) + @intFromPtr(ret_buff.ptr));
userspace_app_mapping_ret_buff.len = ret_buff.len;
if (self.findTopicById(id)) |index| {
return self.topics[index].read(userspace_app_mapping_ret_buff);
} else return Error.TopicIdNotFound;
}
pub fn makeTaskWait(self: *SysCallsTopicsInterface, topic_id: usize, pid: u16, irq_context: *CpuContext) !void {
if (self.findTopicById(topic_id)) |index| {
if (self.topics[index].n_waiting_taks > self.topics[index].waiting_tasks.len) {
kprint("[panic] Topic maxWaitingTasks exceeded \n", .{});
while (true) {}
}
// is increased before Semaphore wait call because that may invoke the scheduler which would thus not increase the counter
self.topics[index].n_waiting_taks += 1;
self.topics[index].waiting_tasks[self.topics[index].n_waiting_taks - 1] = KSemaphore(1).init(1);
try self.topics[index].waiting_tasks[self.topics[index].n_waiting_taks - 1].?.wait(pid, self.scheduler, irq_context);
}
}
// returns index
fn findTopicById(self: *SysCallsTopicsInterface, id: usize) ?usize {
for (&self.topics, 0..) |*topic, i| {
if (topic.id == id) return i;
}
return null;
}
};
|
0 | repos/MinimalRoboticsPlatform/src/kernel | repos/MinimalRoboticsPlatform/src/kernel/sharedKernelServices/Scheduler.zig | const std = @import("std");
const alignForward = std.mem.alignForward;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const board = @import("board");
const utils = @import("utils");
const b_options = @import("build_options");
const arm = @import("arm");
const mmu = arm.mmu;
const KernelAlloc = @import("KernelAllocator.zig").KernelAllocator;
const Topics = @import("SysCallsTopicsInterface.zig").SysCallsTopicsInterface;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const CpuContext = arm.cpuContext.CpuContext;
const UserPageAllocator = @import("UserPageAllocator.zig").UserPageAllocator;
const app_page_table = mmu.PageTable(board.config.mem.app_vm_mem_size, board.config.mem.va_user_space_gran) catch |e| {
@compileError(@errorName(e));
};
const kernel_page_table = mmu.PageTable(board.config.mem.app_vm_mem_size, board.config.mem.va_kernel_space_gran) catch |e| {
@compileError(@errorName(e));
};
const log = true;
pub const Task = struct {
pub const TaskState = enum(usize) {
running,
halted,
sleeping,
dead,
};
pub const PrivLevel = enum(usize) {
// initial task that comes up after the bootloader
boot,
// root level user type
kernel,
// userspace level
user,
};
pub const TaskType = enum(usize) {
process,
thread,
action,
};
cpu_context: CpuContext,
task_type: TaskType,
sleep_counter: usize,
priv_level: PrivLevel,
state: TaskState,
counter: isize,
priority: isize,
pid: ?u16,
parent_pid: ?u16,
child_pid: ?u16,
preempt_count: isize,
page_table: [app_page_table.totaPageTableSize]usize align(4096),
app_mem: ?[]u8,
ttbr1: ?usize,
ttbr0: ?usize,
pub fn init() Task {
return Task{
.cpu_context = CpuContext.init(),
.task_type = .process,
.priv_level = .user,
.state = .dead,
.counter = 0,
.sleep_counter = 0,
.pid = null,
.parent_pid = null,
.child_pid = null,
.priority = 1,
.preempt_count = 0,
.page_table = [_]usize{0} ** app_page_table.totaPageTableSize,
.app_mem = null,
.ttbr1 = null,
.ttbr0 = null,
};
}
};
pub const Error = error{
PidNotFound,
TaskIsDead,
ForkPermissionFault,
ThreadPermissionFault,
CannotKillAction,
};
const maxProcesss = 10;
const maxActions = 1;
var env_processes = [_]Task{Task.init()} ** maxProcesss;
pub const Scheduler = struct {
page_allocator: *UserPageAllocator,
kernel_lma_offset: usize,
scheduled_tasks: *[maxProcesss]Task,
tasks_sleeping: [maxProcesss]?*Task,
env_actions: [1]Task,
current_task: *Task,
pid_counter: u16,
pub fn init(page_allocator: *UserPageAllocator, kernel_lma_offset: usize) Scheduler {
return .{
.page_allocator = page_allocator,
.kernel_lma_offset = kernel_lma_offset,
.tasks_sleeping = [_]?*Task{null} ** maxProcesss,
.scheduled_tasks = &env_processes,
.env_actions = [_]Task{Task.init()} ** 1,
.current_task = &env_processes[0],
.pid_counter = 0,
};
}
pub fn configRootBootProcess(self: *Scheduler) void {
// the init process contains all relevant mem&cpu context information of the "main" kernel process
// and as such has the highest priority
self.current_task.priority = 15;
self.current_task.priv_level = .boot;
self.current_task.state = .running;
self.current_task.pid = 0;
var app_mem: []u8 = undefined;
app_mem.ptr = @as([*]u8, @ptrFromInt(board.config.mem.va_start));
app_mem.len = board.config.mem.kernel_space_size;
self.current_task.app_mem = app_mem;
self.current_task.ttbr0 = ProccessorRegMap.readTTBR0();
self.current_task.ttbr1 = ProccessorRegMap.readTTBR1();
self.pid_counter += 1;
}
// assumes that all process counter were inited to 0
pub fn initProcessCounter(self: *Scheduler) void {
for (self.scheduled_tasks) |*process| {
process.counter = (process.counter >> 1) + process.priority;
}
}
pub fn schedule(self: *Scheduler, irq_context: ?*CpuContext) void {
self.current_task.preempt_count += 1;
errdefer self.current_task.preempt_count -= 1;
self.current_task.counter = 0;
// round robin for processes
var next_proc_index: usize = 0;
var c: isize = -1;
while (true) {
for (self.scheduled_tasks, 0..) |*process, i| {
if (i >= self.pid_counter) break;
if (process.state == .running and process.counter > c) {
c = process.counter;
next_proc_index = i;
}
}
if (c != 0) break;
for (self.scheduled_tasks, 0..) |*process, i| {
if (i >= self.pid_counter) break;
process.counter = (process.counter >> 1) + process.priority;
}
}
self.current_task.preempt_count -= 1;
self.switchContextToProcess(&self.scheduled_tasks[next_proc_index], irq_context);
}
pub fn timerIntEvent(self: *Scheduler, irq_context: *CpuContext) void {
self.current_task.counter -= 1;
for (self.tasks_sleeping, 0..) |proc, i| {
if (proc) |process| {
if (process.sleep_counter <= 0) {
process.state = .running;
self.tasks_sleeping[i] = null;
} else {
process.sleep_counter -= 1;
}
}
}
if (self.current_task.counter > 0 or self.current_task.preempt_count > 0) {
if (self.current_task.counter <= 0) kprint("self.current_task.preempt_count: {d} \n", .{self.current_task.preempt_count});
if (log) kprint("--------- PROC WAIT counter: {d} \n", .{self.current_task.counter});
// return all the way back to the exc vector table where cpu state is restored from the stack
// if the task is dead already, we don't return back to the process but schedule the next task
if (self.current_task.state == .running) return;
}
self.schedule(irq_context);
}
pub fn initAppsInScheduler(self: *Scheduler, apps: []const []const u8, topics_mem_pool: []u8) !void {
self.current_task.preempt_count += 1;
defer self.current_task.preempt_count -= 1;
for (apps, 0..) |app, j| {
const i = j + 1;
// skip root task (index 0)
const req_pages = try std.math.divCeil(usize, board.config.mem.app_vm_mem_size, board.config.mem.va_user_space_gran.page_size);
const app_mem = try self.page_allocator.allocNPage(req_pages);
std.mem.copy(u8, app_mem, app);
self.scheduled_tasks[i].cpu_context.elr_el1 = 0;
self.scheduled_tasks[i].cpu_context.sp_el0 = alignForward(usize, app.len + board.config.mem.app_stack_size, 16);
self.scheduled_tasks[i].cpu_context.x0 = self.pid_counter;
self.scheduled_tasks[i].app_mem = app_mem;
self.scheduled_tasks[i].priority = self.current_task.priority;
self.scheduled_tasks[i].state = .running;
self.scheduled_tasks[i].priv_level = .user;
self.scheduled_tasks[i].counter = self.scheduled_tasks[i].priority;
self.scheduled_tasks[i].preempt_count = 0;
self.scheduled_tasks[i].pid = self.pid_counter;
// initing the apps page-table
{
// MMU page dir config
var page_table_write = try app_page_table.init(&self.scheduled_tasks[i].page_table, self.kernel_lma_offset);
const user_space_mapping = mmu.Mapping{
.mem_size = board.config.mem.app_vm_mem_size,
.pointing_addr_start = self.kernel_lma_offset + board.config.mem.kernel_space_size + @intFromPtr(app_mem.ptr),
.virt_addr_start = 0,
.granule = board.boardConfig.Granule.Fourk,
.addr_space = .ttbr0,
.flags_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .read_write, .attrIndex = .mair0 },
.flags_non_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .read_write },
};
try page_table_write.mapMem(user_space_mapping);
}
// initing the apps topics-interface
{
// MMU page dir config
var page_table_write = try app_page_table.init(&self.scheduled_tasks[i].page_table, self.kernel_lma_offset);
const topics_interace_mapping = mmu.Mapping{
.mem_size = topics_mem_pool.len,
.pointing_addr_start = self.kernel_lma_offset + board.config.mem.kernel_space_size + @intFromPtr(topics_mem_pool.ptr),
.virt_addr_start = 0x20000000,
.granule = board.boardConfig.Granule.Fourk,
.addr_space = .ttbr0,
.flags_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .read_write, .attrIndex = .mair0 },
.flags_non_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .read_write },
};
try page_table_write.mapMem(topics_interace_mapping);
}
self.scheduled_tasks[i].ttbr0 = self.kernel_lma_offset + utils.toTtbr0(usize, @intFromPtr(&self.scheduled_tasks[i].page_table));
self.pid_counter += 1;
}
}
pub fn killTask(self: *Scheduler, pid: u16) !void {
self.current_task.preempt_count += 1;
errdefer self.current_task.preempt_count -= 1;
_ = try self.checkForPid(pid);
const pid_info = try self.findTaskByPid(pid);
if (pid_info.task_type == .action) return Error.CannotKillAction;
self.scheduled_tasks[pid_info.index].state = .dead;
for (self.scheduled_tasks) |*proc| {
if (proc.task_type == .thread and proc.parent_pid == pid) {
proc.state = .dead;
}
}
self.current_task.preempt_count -= 1;
self.schedule(null);
}
pub fn exitTask(self: *Scheduler) !noreturn {
try self.killTaskAndChildrend(self.current_task.pid.?);
while (true) {}
}
// function is deprecated since new tasks cannot be created without allocating new memory which is not legal in system runtime
// todo => find way around policy
pub fn deepForkProcess(self: *Scheduler, to_clone_pid: u16) !void {
self.current_task.preempt_count += 1;
defer {
self.current_task.preempt_count -= 1;
self.switchMemContext(self.current_task.ttbr0.?, null);
}
// switching to boot userspace page table (which spans all apps in order to acces other apps memory with their relative userspace addresses...)
self.switchMemContext(self.scheduled_tasks[0].ttbr0.?, null);
try self.checkForPid(to_clone_pid);
if (self.scheduled_tasks[to_clone_pid].priv_level == .boot) return Error.ForkPermissionFault;
const req_pages = try std.math.divCeil(usize, board.config.mem.app_vm_mem_size, board.config.mem.va_user_space_gran.page_size);
const new_app_mem = try self.page_allocator.allocNPage(req_pages);
const new_pid: u16 = self.pid_counter;
std.mem.copy(u8, new_app_mem, self.scheduled_tasks[to_clone_pid].app_mem.?);
self.scheduled_tasks[new_pid] = self.scheduled_tasks[to_clone_pid];
self.scheduled_tasks[new_pid].app_mem = new_app_mem;
self.scheduled_tasks[new_pid].ttbr0 = self.kernel_lma_offset + utils.toTtbr0(usize, @intFromPtr(&self.scheduled_tasks[new_pid].page_table));
self.scheduled_tasks[new_pid].pid = new_pid;
self.scheduled_tasks[new_pid].parent_pid = to_clone_pid;
self.scheduled_tasks[to_clone_pid].child_pid = new_pid;
self.pid_counter += 1;
for (&self.scheduled_tasks) |*proc| {
if (proc.task_type == .thread or proc.parent_pid == to_clone_pid) {
try self.cloneThread(proc.pid.?, new_pid);
}
}
}
pub fn cloneThread(self: *Scheduler, to_clone_thread_pid: usize, new_proc_pid: usize) !void {
self.current_task.preempt_count += 1;
defer self.current_task.preempt_count -= 1;
try self.checkForPid(to_clone_thread_pid);
if (!self.scheduled_tasks[to_clone_thread_pid].task_type == .thread) return;
const new_pid = self.pid_counter;
self.scheduled_tasks[new_pid] = self.scheduled_tasks[to_clone_thread_pid];
self.scheduled_tasks[new_pid].pid = new_pid;
self.scheduled_tasks[new_pid].parent_pid = new_proc_pid;
self.scheduled_tasks[new_pid].ttbr0 = self.scheduled_tasks[new_proc_pid].ttbr0;
self.scheduled_tasks[new_pid].ttbr1 = self.scheduled_tasks[new_proc_pid].ttbr1;
self.pid_counter += 1;
}
pub fn createThreadFromCurrentProcess(self: *Scheduler, entry_fn_ptr: *const anyopaque, thread_fn_ptr: *const anyopaque, thread_stack_addr: usize, args: *anyopaque) !void {
self.current_task.preempt_count += 1;
defer self.current_task.preempt_count -= 1;
const curr_task_index = (try self.findTaskByPid(self.current_task.pid.?)).index;
const new_pid: u16 = self.pid_counter;
self.scheduled_tasks[new_pid].pid = new_pid;
self.scheduled_tasks[new_pid].task_type = .thread;
self.scheduled_tasks[new_pid].state = self.scheduled_tasks[curr_task_index].state;
self.scheduled_tasks[new_pid].counter = self.scheduled_tasks[curr_task_index].priority;
self.scheduled_tasks[new_pid].priority = self.scheduled_tasks[curr_task_index].priority;
self.scheduled_tasks[new_pid].parent_pid = self.current_task.pid.?;
self.scheduled_tasks[new_pid].cpu_context.x0 = @intFromPtr(thread_fn_ptr);
self.scheduled_tasks[new_pid].cpu_context.x1 = @intFromPtr(args);
self.scheduled_tasks[new_pid].cpu_context.elr_el1 = @intFromPtr(entry_fn_ptr);
self.scheduled_tasks[new_pid].cpu_context.sp_el0 = thread_stack_addr;
self.scheduled_tasks[new_pid].cpu_context.sp_el1 = thread_stack_addr;
self.scheduled_tasks[new_pid].priv_level = self.scheduled_tasks[curr_task_index].priv_level;
self.scheduled_tasks[new_pid].ttbr0 = self.scheduled_tasks[curr_task_index].ttbr0;
self.scheduled_tasks[new_pid].ttbr1 = self.scheduled_tasks[curr_task_index].ttbr1;
self.pid_counter += 1;
}
// provides a generic entry function (generic in regard to the thread and argument function since @call builtin needs them to properly invoke the thread start)
pub fn KernelThreadInstance(comptime thread_fn: anytype, comptime Args: type) type {
const ThreadFn = @TypeOf(thread_fn);
return struct {
pub fn threadEntry(entry_fn: *ThreadFn, entry_args: *Args) callconv(.C) void {
@call(.auto, entry_fn, entry_args.*);
}
};
}
// creates thread for current process
// info: use only permitted at kernel boot/init
pub fn createKernelThread(self: *Scheduler, app_alloc: *KernelAlloc, thread_fn: anytype, args: anytype) !void {
const thread_stack_mem = try app_alloc.alloc(u8, board.config.mem.k_stack_size, 16);
var thread_stack_start: []u8 = undefined;
thread_stack_start.ptr = @as([*]u8, @ptrFromInt(@intFromPtr(thread_stack_mem.ptr) + thread_stack_mem.len));
thread_stack_start.len = thread_stack_mem.len;
var arg_mem: []const u8 = undefined;
arg_mem.ptr = @as([*]const u8, @ptrCast(@alignCast(&args)));
arg_mem.len = @sizeOf(@TypeOf(args));
std.mem.copy(u8, thread_stack_start, arg_mem);
const entry_fn = &(KernelThreadInstance(thread_fn, @TypeOf(args)).threadEntry);
const thread_fn_ptr = &thread_fn;
const thread_stack_addr = @intFromPtr(thread_stack_start.ptr) - alignForward(usize, @sizeOf(@TypeOf(args)), 16);
const args_ptr = thread_stack_start.ptr;
try self.createThreadFromCurrentProcess(@as(*const anyopaque, @ptrCast(entry_fn)), @as(*const anyopaque, @ptrCast(thread_fn_ptr)), thread_stack_addr, @as(*anyopaque, @ptrCast(args_ptr)));
}
pub fn ActionInstance(comptime thread_fn: anytype) type {
const ThreadFn = @TypeOf(thread_fn);
return struct {
pub fn actionEntry(entry_fn: *ThreadFn) callconv(.C) void {
@call(.auto, entry_fn, .{});
}
};
}
pub fn initActionsInScheduler(self: *Scheduler, loading_actions: []const []const u8, topics_mem_pool: []u8) !void {
// kprint("ss: {any} \n", .{loading_actions});
self.current_task.preempt_count += 1;
defer self.current_task.preempt_count -= 1;
for (loading_actions, 0..) |action, i| {
const req_pages = try std.math.divCeil(usize, board.config.mem.app_vm_mem_size, board.config.mem.va_user_space_gran.page_size);
const app_mem = try self.page_allocator.allocNPage(req_pages);
std.mem.copy(u8, app_mem, action);
self.env_actions[i].cpu_context.elr_el1 = 0;
self.env_actions[i].cpu_context.sp_el0 = alignForward(usize, action.len + board.config.mem.app_stack_size, 16);
self.env_actions[i].cpu_context.x0 = self.pid_counter;
self.env_actions[i].task_type = .action;
self.env_actions[i].app_mem = app_mem;
self.env_actions[i].priority = self.current_task.priority;
self.env_actions[i].state = .halted;
self.env_actions[i].priv_level = .user;
self.env_actions[i].counter = self.env_actions[i].priority;
self.env_actions[i].preempt_count = 0;
self.env_actions[i].pid = self.pid_counter;
// initing the apps page-table
{
// MMU page dir config
var page_table_write = try app_page_table.init(&self.env_actions[i].page_table, self.kernel_lma_offset);
const user_space_mapping = mmu.Mapping{
.mem_size = board.config.mem.app_vm_mem_size,
.pointing_addr_start = self.kernel_lma_offset + board.config.mem.kernel_space_size + @intFromPtr(app_mem.ptr),
.virt_addr_start = 0,
.granule = board.boardConfig.Granule.Fourk,
.addr_space = .ttbr0,
.flags_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .read_write, .attrIndex = .mair0 },
.flags_non_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .read_write },
};
try page_table_write.mapMem(user_space_mapping);
}
// initing the apps topics-interface
{
// MMU page dir config
var page_table_write = try app_page_table.init(&self.env_actions[i].page_table, self.kernel_lma_offset);
const topics_interace_mapping = mmu.Mapping{
.mem_size = topics_mem_pool.len,
.pointing_addr_start = self.kernel_lma_offset + board.config.mem.kernel_space_size + @intFromPtr(topics_mem_pool.ptr),
.virt_addr_start = 0x20000000,
.granule = board.boardConfig.Granule.Fourk,
.addr_space = .ttbr0,
.flags_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .read_write, .attrIndex = .mair0 },
.flags_non_last_lvl = mmu.TableDescriptorAttr{ .accessPerm = .read_write },
};
try page_table_write.mapMem(topics_interace_mapping);
}
self.env_actions[i].ttbr0 = self.kernel_lma_offset + utils.toTtbr0(usize, @intFromPtr(&self.env_actions[i].page_table));
self.pid_counter += 1;
}
}
pub fn killTaskAndChildrend(self: *Scheduler, starting_pid: u16) !void {
self.current_task.preempt_count += 1;
errdefer self.current_task.preempt_count -= 1;
const index = try self.checkForPid(starting_pid);
self.scheduled_tasks[index].state = .dead;
var child_proc_index: ?u16 = index;
while (child_proc_index != null) {
self.scheduled_tasks[child_proc_index.?].state = .dead;
for (self.scheduled_tasks) |*proc| {
if (proc.task_type == .thread and proc.parent_pid == child_proc_index.?) {
proc.state = .dead;
}
}
if (self.scheduled_tasks[child_proc_index.?].child_pid) |child_pid| {
child_proc_index = (try self.findTaskByPid(child_pid)).index;
} else child_proc_index = null;
}
self.current_task.preempt_count -= 1;
self.schedule(null);
}
pub fn getCurrentProcessPid(self: *Scheduler) u16 {
return self.current_task.pid.?;
}
pub fn setProcessState(self: *Scheduler, pid: u16, state: Task.TaskState, irq_context: ?*CpuContext) !void {
const index = (try self.findTaskByPid(pid)).index;
self.scheduled_tasks[index].state = state;
if (pid == self.current_task.pid and irq_context != null) self.schedule(irq_context.?);
}
pub fn setProcessAsleep(self: *Scheduler, pid: u16, cycles_sleeping: usize, irq_context: *CpuContext) !void {
const index = try self.checkForPid(pid);
for (self.tasks_sleeping, 0..) |proc, i| {
if (proc == null) {
self.tasks_sleeping[i] = &self.scheduled_tasks[index];
}
}
self.scheduled_tasks[index].sleep_counter = cycles_sleeping;
self.scheduled_tasks[index].state = .sleeping;
self.schedule(irq_context);
}
fn checkForPid(self: *Scheduler, pid: u16) !u16 {
const index = (try self.findTaskByPid(pid)).index;
if (self.scheduled_tasks[index].state == .dead) return Error.TaskIsDead;
return index;
}
// args (process pointers) are past via registers
fn switchContextToProcess(self: *Scheduler, next_process: *Task, irq_context: ?*CpuContext) void {
const prev_process = self.current_task;
self.current_task = next_process;
if (next_process.priv_level == .user) self.switchMemContext(next_process.ttbr0, null);
switchCpuContext(self, prev_process, next_process, irq_context);
}
fn switchCpuPrivLvl(priv_level: Task.PrivLevel) void {
switch (priv_level) {
.user => {
ProccessorRegMap.SpsrReg.setSpsrReg(.el1, ProccessorRegMap.SpsrReg.readSpsrReg(.el1) & (~@as(usize, 0b0111)));
ProccessorRegMap.setSpsel(.el1);
},
.kernel, .boot => {
ProccessorRegMap.SpsrReg.setSpsrReg(.el1, ProccessorRegMap.SpsrReg.readSpsrReg(.el1) | 0b0101);
ProccessorRegMap.setSpsel(.el0);
},
}
}
// irq_context is optional in case the previous scheduled task is not needed anymore
fn switchCpuContext(self: *Scheduler, from: *Task, to: *Task, irq_context: ?*CpuContext) void {
kprint("current_procc: {*}, self.current_task.preempt_count: {d} \n", .{ self.current_task, self.current_task.preempt_count });
if (log) {
kprint("from: ({s}, {s}, {*}) to ({s}, {s}, {*}) \n", .{ @tagName(from.priv_level), @tagName(from.state), from, @tagName(to.priv_level), @tagName(to.state), to });
kprint("current scheduled_tasks(n={d}): \n", .{self.pid_counter + 1});
for (self.scheduled_tasks, 0..) |*proc, i| {
if (i >= self.pid_counter) break;
kprint("pid: {d} {s}, {s}, {s}, {any}, {*}\n", .{ i, @tagName(proc.priv_level), @tagName(proc.priv_level), @tagName(proc.state), proc.*.task_type, proc });
}
}
if (irq_context) |context| from.cpu_context = context.*;
switchCpuPrivLvl(to.priv_level);
// restore Context and erets
asm volatile (
\\ mov sp, %[sp_addr]
\\ b _restoreContextFromSp
:
: [sp_addr] "r" (&to.cpu_context),
);
}
pub fn switchMemContext(self: *Scheduler, ttbr_0_addr: ?usize, ttbr_1_addr: ?usize) void {
_ = self;
if (ttbr_0_addr) |addr| ProccessorRegMap.setTTBR0(addr);
if (ttbr_1_addr) |addr| ProccessorRegMap.setTTBR1(addr);
if (ttbr_0_addr != null or ttbr_0_addr != null) {
asm volatile ("tlbi vmalle1is");
// ensure completion of TLB invalidation
asm volatile ("dsb ish");
asm volatile ("isb");
}
}
fn findTaskByPid(self: *Scheduler, pid: u16) !struct { index: u16, task_type: Task.TaskType } {
for (self.scheduled_tasks, 0..) |*proc, i| {
if (proc.pid == pid) return .{ .index = @as(u16, @truncate(i)), .task_type = .process };
}
for (&self.env_actions, 0..) |*action, i| {
if (action.pid == pid) return .{ .index = @as(u16, @truncate(i)), .task_type = .action };
}
return Error.PidNotFound;
}
};
|
0 | repos/MinimalRoboticsPlatform/src/kernel | repos/MinimalRoboticsPlatform/src/kernel/sharedKernelServices/KSemaphore.zig | const std = @import("std");
const board = @import("board");
const Scheduler = @import("Scheduler.zig").Scheduler;
const arm = @import("arm");
const CpuContext = arm.cpuContext.CpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
pub fn Semaphore(comptime max_process_waiting: ?usize) type {
const max_process_waiting_queue = max_process_waiting orelse board.config.static_memory_reserves.ksemaphore_max_process_in_queue;
return struct {
const Self = @This();
const Error = error{
OutOfStaticMem,
};
waiting_processes: [max_process_waiting_queue]?u16,
i: isize,
locked_tasks_index: u16,
pub fn init(s: isize) Self {
return .{
.waiting_processes = [_]?u16{0} ** max_process_waiting_queue,
.locked_tasks_index = 0,
.i = s,
};
}
pub fn wait(self: *Self, pid: u16, scheduler: *Scheduler, irq_context: *CpuContext) !void {
self.i -= 1;
if (self.i < max_process_waiting_queue) {
scheduler.current_task.preempt_count += 1;
self.locked_tasks_index += 1;
if (self.locked_tasks_index > self.waiting_processes.len) return Error.OutOfStaticMem;
self.waiting_processes[self.locked_tasks_index] = pid;
try scheduler.setProcessState(pid, .halted, irq_context);
}
}
pub fn signal(self: *Self, scheduler: *Scheduler) !void {
if (self.i < max_process_waiting_queue) {
if (self.waiting_processes[self.locked_tasks_index]) |locked_pid| {
self.i += 1;
self.locked_tasks_index -= 1;
try scheduler.setProcessState(locked_pid, .running, null);
scheduler.current_task.preempt_count -= 1;
}
}
}
};
}
|
0 | repos/MinimalRoboticsPlatform/src/kernel | repos/MinimalRoboticsPlatform/src/kernel/sharedKernelServices/UserPageAllocator.zig | const std = @import("std");
const arm = @import("arm");
const board = @import("board");
const utils = @import("utils");
const kprint = @import("periph").uart.UartWriter(.ttbr1).kprint;
const mmu = arm.mmu;
const granule = board.config.mem.va_user_space_gran;
const userSpaceSizeInBytes = board.config.mem.user_space_size;
const maxChunks: usize = @divExact(userSpaceSizeInBytes, granule.page_size);
pub const UserPageAllocator = struct {
const Error = error{
OutOfChunks,
OutOfMem,
PageAllocMinimum,
PageAddrDoesNotAlign,
AddrNotInMem,
AddrNotValid,
};
kernel_mem: std.bit_set.ArrayBitSet(usize, maxChunks),
mem_start: usize,
curr_page_pointer: usize,
pub fn init() !UserPageAllocator {
return UserPageAllocator{
.kernel_mem = std.bit_set.ArrayBitSet(usize, maxChunks).initEmpty(),
// virt userspace 0x0
.mem_start = 0,
.curr_page_pointer = 0,
};
}
pub fn allocNPage(self: *UserPageAllocator, n: usize) ![]u8 {
// kprint("{d}, {d}, {d} \n", .{ maxChunks, self.curr_page_pointer + n, self.kernel_mem.capacity() });
if (n <= 0) return Error.PageAllocMinimum;
if (self.curr_page_pointer + n > self.kernel_mem.capacity()) {
kprint("SEARCHING \n", .{});
return try self.searchFreePages(n);
}
var ret_slice: []u8 = undefined;
ret_slice.ptr = @alignCast(@as([*]u8, @ptrFromInt(self.mem_start + self.curr_page_pointer * granule.page_size)));
ret_slice.len = granule.page_size * n;
self.curr_page_pointer += n;
// kprint("allocation addr: {*} \n", .{ret_slice.ptr});
return ret_slice;
}
fn searchFreePages(self: *UserPageAllocator, req_pages: usize) ![]u8 {
var iterator = self.kernel_mem.iterator(.{ .kind = .set });
var i: usize = 0;
var curr_set_bit_index: usize = 0;
var last_set_bit_index: usize = 0;
while (i <= self.kernel_mem.capacity()) : (i += 1) {
curr_set_bit_index = iterator.next() orelse return Error.OutOfMem;
if (curr_set_bit_index - last_set_bit_index >= req_pages) {
var ret_slice: []u8 = undefined;
ret_slice.ptr = @alignCast(@as([*]u8, @ptrFromInt(last_set_bit_index * granule.page_size)));
ret_slice.len = granule.page_size * req_pages;
return ret_slice;
}
last_set_bit_index = curr_set_bit_index;
}
return Error.OutOfMem;
}
pub fn freeNPage(self: *UserPageAllocator, page_addr: []u8, n: usize) !void {
if ((try std.math.mod(usize, utils.toTtbr0(usize, @intFromPtr(page_addr.ptr)), granule.page_size)) != 0)
return Error.PageAddrDoesNotAlign;
const pointing_addr_start: usize = std.math.sub(usize, utils.toTtbr0(usize, @intFromPtr(page_addr.ptr)), self.mem_start) catch {
return Error.AddrNotInMem;
};
// safe bc page_address is multiple of page_size
const n_page = pointing_addr_start / granule.page_size;
self.kernel_mem.setRangeValue(.{ .start = n_page, .end = n_page + n + n }, false);
self.curr_page_pointer -= n;
}
};
|
0 | repos/MinimalRoboticsPlatform/src/kernel | repos/MinimalRoboticsPlatform/src/kernel/sharedKernelServices/sharedKernelServices.zig | const board = @import("board");
pub const KernelAllocator = @import("KernelAllocator.zig").KernelAllocator;
pub const UserPageAllocator = @import("UserPageAllocator.zig").UserPageAllocator;
pub const Scheduler = @import("Scheduler.zig").Scheduler;
pub const KSemaphore = @import("KSemaphore.zig").Semaphore;
pub const SysCallsTopicsInterface = @import("SysCallsTopicsInterface.zig").SysCallsTopicsInterface;
pub const StatusControl = @import("StatusControl.zig").StatusControl;
|
0 | repos/MinimalRoboticsPlatform/src/kernel | repos/MinimalRoboticsPlatform/src/kernel/sharedKernelServices/KernelAllocator.zig | const std = @import("std");
const alignForward = std.mem.alignForward;
const board = @import("board");
const periph = @import("periph");
const utils = @import("utils");
const arm = @import("arm");
const kprint = periph.uart.UartWriter(.ttbr0).kprint;
const addr = periph.rbAddr;
const mmu = arm.mmu;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const kernelAllocatorChunkSize = 0x10000;
pub const KernelAllocator = struct {
const Error = error{
OutOfChunks,
OutOfMem,
AddrNotInMem,
AddrNotValid,
MemBaseNotAligned,
};
const maxChunks = @divExact(board.config.mem.kernel_space_size - board.config.mem.k_stack_size, kernelAllocatorChunkSize);
mem_base: usize,
kernel_mem: [maxChunks]bool,
used_chunks: usize,
pub fn init(mem_base: usize) !KernelAllocator {
if (mem_base % 8 != 0) return Error.MemBaseNotAligned;
const ka = KernelAllocator{
.kernel_mem = [_]bool{false} ** maxChunks,
// can currently only increase and indicates at which point findFree() is required
.used_chunks = 0,
.mem_base = mem_base,
};
return ka;
}
pub fn alloc(self: *KernelAllocator, comptime T: type, n: usize, alignment: ?usize) ![]T {
var alignm: usize = @alignOf(T);
if (alignment) |a| alignm = a;
const size = @sizeOf(T) * n;
const req_chunks = try std.math.divCeil(usize, size, kernelAllocatorChunkSize);
if (try self.findFree(self.used_chunks, size)) |free_mem_first_chunk| {
for (self.kernel_mem[free_mem_first_chunk .. free_mem_first_chunk + req_chunks]) |*chunk| {
chunk.* = true;
}
const alloc_addr = self.mem_base + (free_mem_first_chunk * kernelAllocatorChunkSize);
const aligned_alloc_slice = @as([*]T, @ptrFromInt(utils.toTtbr1(usize, alignForward(usize, alloc_addr, alignm))));
return aligned_alloc_slice[0 .. n - 1];
} else if (self.used_chunks + req_chunks > maxChunks) {
return Error.OutOfMem;
}
const first_chunk = self.used_chunks;
const last_chunk = self.used_chunks + req_chunks;
self.used_chunks += req_chunks;
for (self.kernel_mem[first_chunk..last_chunk]) |*chunk| {
chunk.* = true;
}
const alloc_addr = self.mem_base + (first_chunk * kernelAllocatorChunkSize);
const aligned_alloc_slice = @as([*]T, @ptrFromInt(utils.toTtbr1(usize, alignForward(usize, alloc_addr, alignm))));
// kprint("allocation addr: {*} \n", .{aligned_alloc_slice[0 .. n - 1].ptr});
return aligned_alloc_slice[0 .. n - 1];
}
/// finds continous free memory in fragmented kernel memory; marks returned memory as not free!
pub fn findFree(self: *KernelAllocator, to_chunk: usize, req_size: usize) !?usize {
var continous_chunks: usize = 0;
const req_chunks = (try std.math.divCeil(usize, req_size, kernelAllocatorChunkSize));
for (self.kernel_mem, 0..) |chunk, i| {
if (i >= to_chunk) {
return null;
}
if (!chunk) {
continous_chunks += 1;
} else {
continous_chunks = 0;
}
if (continous_chunks >= req_chunks) {
var first_chunk = i;
if (i > 0) first_chunk -= req_chunks;
return first_chunk;
}
}
return null;
}
pub fn free(self: *KernelAllocator, to_free: anytype) !void {
const Slice = @typeInfo(@TypeOf(to_free)).Pointer;
const byte_slice = std.mem.sliceAsBytes(to_free);
const size = byte_slice.len + if (Slice.sentinel != null) @sizeOf(Slice.child) else 0;
if (size == 0) return;
const unsec_addr = utils.toTtbr0(usize, @intFromPtr(byte_slice.ptr));
// compensating for alignment
const addr_unaligned = unsec_addr;
if (addr_unaligned == utils.toTtbr0(usize, self.mem_base)) addr_unaligned -= (try std.math.mod(usize, unsec_addr, kernelAllocatorChunkSize));
if (addr_unaligned > (self.mem_base + (maxChunks * kernelAllocatorChunkSize)))
return Error.AddrNotInMem;
const i_chunk_to_free: usize = (try std.math.divCeil(usize, std.math.sub(usize, addr_unaligned, utils.toTtbr0(usize, self.mem_base)) catch {
return Error.AddrNotInMem;
}, kernelAllocatorChunkSize)) - 1;
const n_chunks_to_free: usize = try std.math.divCeil(usize, size, kernelAllocatorChunkSize);
for (&self.kernel_mem[i_chunk_to_free .. i_chunk_to_free + n_chunks_to_free]) |*chunk| {
chunk.* = false;
}
}
};
|
0 | repos/MinimalRoboticsPlatform/src/kernel | repos/MinimalRoboticsPlatform/src/kernel/sharedKernelServices/StatusControl.zig | const std = @import("std");
const env = @import("environment");
const KernelAlloc = @import("KernelAllocator.zig").KernelAllocator;
const StatusType = env.envConfTemplate.StatusType;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
pub const StatusControl = struct {
const GenericStatus = struct {
status_type: StatusType,
name: []const u8,
id: u16,
mem_addr: usize,
size: usize,
};
const Error = error{
NameNotFound,
TypesNotMatching,
WrongInterface,
};
// yes, thats the plural
statuses: [env.env_config.countStatuses()]GenericStatus,
mem_pool: []u8,
pub fn init(kernel_alloc: *KernelAlloc) !StatusControl {
var accumulatedBuffSize: usize = 0;
var statuses = [_]GenericStatus{.{ .status_type = undefined, .name = undefined, .mem_addr = undefined, .size = undefined, .id = undefined }} ** env.env_config.countStatuses();
var i: usize = 0;
for (&env.env_config.status_control) |*status_control_conf| {
if (status_control_conf.status_type != .topic) {
switch (status_control_conf.status_type) {
.string => {
accumulatedBuffSize += @sizeOf([100]u8);
statuses[i] = GenericStatus{ .status_type = status_control_conf.status_type, .mem_addr = undefined, .size = @sizeOf([100]u8), .name = status_control_conf.name, .id = status_control_conf.id };
},
.usize, .isize => {
accumulatedBuffSize += @sizeOf(usize);
statuses[i] = GenericStatus{ .status_type = status_control_conf.status_type, .mem_addr = undefined, .size = @sizeOf(usize), .name = status_control_conf.name, .id = status_control_conf.id };
},
.bool => {
accumulatedBuffSize += @sizeOf(bool);
statuses[i] = GenericStatus{ .status_type = status_control_conf.status_type, .mem_addr = undefined, .size = @sizeOf(bool), .name = status_control_conf.name, .id = status_control_conf.id };
},
else => {},
}
i += 1;
}
}
const status_mem = try kernel_alloc.alloc(u8, accumulatedBuffSize, null);
var used_status_mem: usize = 0;
i = 0;
for (&env.env_config.status_control) |*status_control_conf| {
if (status_control_conf.status_type != .topic) {
const size = status_control_conf.status_type.statusTypeLen() orelse return Error.WrongInterface;
i += 1;
statuses[i].mem_addr = @intFromPtr(status_mem[used_status_mem .. used_status_mem + size].ptr);
used_status_mem += size;
}
}
return .{
.statuses = statuses,
.mem_pool = status_mem,
};
}
pub fn updateStatus(self: *StatusControl, name: []const u8, value: anytype) !void {
if (self.findStatusByName(name)) |index| {
if (!self.statuses[index].status_type.isTypeEqual(@TypeOf(value))) return Error.TypesNotMatching;
var value_as_bytes: []const u8 = undefined;
value_as_bytes.ptr = @as([*]const u8, @ptrCast(&value));
value_as_bytes.len = @sizeOf(@TypeOf(value));
std.mem.copy(u8, @as([]u8, @ptrFromInt(self.statuses[index].mem_addr)), value_as_bytes);
}
}
pub fn updateStatusRaw(self: *StatusControl, id: u16, val_mem_addr: usize) !void {
if (self.findStatusById(id)) |index| {
var copy_src: []u8 = undefined;
copy_src.ptr = @ptrFromInt(self.statuses[index].mem_addr);
copy_src.len = self.statuses[index].size;
@memcpy(copy_src, @as([*]u8, @ptrFromInt(val_mem_addr)));
} else return Error.NameNotFound;
}
pub fn readStatus(self: *StatusControl, comptime InpT: type, comptime name: []const u8) !InpT {
const T: type = (try env.env_config.getStatusInfo(name)).type;
if (self.findStatusByName(name)) |index| {
return @as(*T, @ptrFromInt(self.statuses[index].mem_addr)).*;
}
return Error.NameNotFound;
}
pub fn readStatusRaw(self: *StatusControl, id: u16, ret_buff: usize) !void {
if (self.findStatusById(id)) |index| {
var copy_src: []u8 = undefined;
copy_src.ptr = @ptrFromInt(ret_buff);
copy_src.len = self.statuses[index].size;
@memcpy(copy_src, @as([*]u8, @ptrFromInt(self.statuses[index].mem_addr)));
} else return Error.NameNotFound;
}
// returns index
fn findStatusByName(self: *StatusControl, name: []const u8) ?usize {
for (&self.statuses, 0..) |*status, i| {
if (std.mem.eql(u8, status.name, name)) return i;
}
return null;
}
// returns index
fn findStatusById(self: *StatusControl, id: u16) ?usize {
for (&self.statuses, 0..) |*status, i| {
if (status.id == id) return i;
}
return null;
}
};
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/configTemplates/boardBuildConfigTemplate.zig | pub const BoardBuildConf = struct {
boardName: []const u8,
has_rom: bool,
// the kernel is loaded by into 0x8000 ram by the gpu, so no relocation (or rom) required
rom_start_addr: ?usize,
bl_load_addr: ?usize,
va_start: usize,
qemu_launch_command: []const []const u8,
};
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/configTemplates/envConfigTemplate.zig | pub const TopicTypePlaceHolder = struct {};
pub const StatusType = enum {
string,
usize,
isize,
bool,
topic,
pub fn statusTypeToNativeType(comptime self: StatusType) ?type {
switch (self) {
inline .usize => return usize,
inline .isize => return isize,
inline .bool => return bool,
inline .string => return []const u8,
inline .topic => return null,
}
}
pub fn isTypeEqual(self: StatusType, comptime inp_type: type) bool {
switch (self) {
inline .usize => if (inp_type == usize) return true,
inline .isize => if (inp_type == isize) return true,
inline .bool => if (inp_type == bool) return true,
inline .string => if (inp_type == [100]u8) return true,
inline .topic => return false,
}
return false;
}
pub fn statusTypeLen(self: StatusType) ?usize {
switch (self) {
.usize => return @sizeOf(usize),
.isize => return @sizeOf(isize),
.bool => return @sizeOf(bool),
.string => return @sizeOf([]const u8),
.topic => return null,
}
}
};
pub const TopicBufferTypes = enum {
RingBuffer,
ContinousBuffer,
};
pub const TopicConf = struct {
buffer_type: TopicBufferTypes,
buffer_size: usize,
// permission_level:
};
pub const StatusControlConf = struct {
status_type: StatusType,
name: []const u8,
id: u16,
topic_conf: ?TopicConf,
};
pub fn EnvConfig(comptime n_statuses: usize) type {
return struct {
const Self = @This();
const Error = error{ StatusNameNotFound, StatusTypeNotMatching, WrongStatusInterface };
// comms model..
status_control: [n_statuses]StatusControlConf,
pub fn getStatusInfo(comptime self: *const Self, comptime name: []const u8) Error!struct { id: u16, type: ?type } {
statuses: inline for (self.status_control) |status_control_conf| {
comptime var found: bool = true;
if (status_control_conf.name.len != name.len) {
found = false;
continue :statuses;
}
inline for (status_control_conf.name, 0..) |char, j| {
if (char != name[j]) {
found = false;
continue :statuses;
}
}
if (found) return .{ .id = status_control_conf.id, .type = status_control_conf.status_type.statusTypeToNativeType() };
}
return Error.StatusNameNotFound;
}
pub fn countTopics(self: *const Self) usize {
var n_topics: usize = 0;
for (&self.status_control) |*status_control_conf| {
if (status_control_conf.*.status_type == .topic) n_topics += 1;
}
return n_topics;
}
pub fn countStatuses(self: *const Self) usize {
var n_topics: usize = 0;
for (&self.status_control) |*status_control_conf| {
if (status_control_conf.*.status_type != .topic) n_topics += 1;
}
return n_topics;
}
};
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/configTemplates/boardConfigTemplate.zig | const std = @import("std");
pub const AddrSpace = enum(u8) {
ttbr1 = 1,
ttbr0 = 0,
pub fn isKernelSpace(self: AddrSpace) bool {
return @intFromEnum(self) != 0;
}
};
pub const Granule = struct {
pub const GranuleParams = struct {
page_size: usize,
// not really neccessary but required to keep section size down
table_size: usize,
lvls_required: TransLvl,
};
// correct term for .page_size is .block_size
pub const FourkSection: GranuleParams = .{ .page_size = 2097152, .table_size = 512, .lvls_required = .second_lvl };
pub const Fourk: GranuleParams = .{ .page_size = 4096, .table_size = 512, .lvls_required = .third_lvl };
pub const Sixteenk: GranuleParams = .{ .page_size = 16384, .table_size = 2048, .lvls_required = .third_lvl };
pub const Sixtyfourk: GranuleParams = .{ .page_size = 65536, .table_size = 8192, .lvls_required = .second_lvl };
};
pub const TransLvl = enum(usize) { first_lvl = 0, second_lvl = 1, third_lvl = 2 };
pub const BoardConfig = struct {
pub const BoardMemLayout = struct {
va_start: usize,
bl_stack_size: usize,
k_stack_size: usize,
app_stack_size: usize,
app_vm_mem_size: usize,
bl_load_addr: ?usize,
rom_size: ?usize,
ram_start_addr: usize,
ram_size: usize,
kernel_space_size: usize,
user_space_size: usize,
va_kernel_space_gran: Granule.GranuleParams,
va_kernel_space_page_table_capacity: usize,
va_user_space_gran: Granule.GranuleParams,
va_user_space_page_table_capacity: usize,
storage_start_addr: usize,
storage_size: usize,
};
pub const StaticMemoryReserves = struct {
// *_max_process_in_queue describes the array which contains the list of tasks currently waiting.
// The array can be portioned quite big since it's only the pids being stored
ksemaphore_max_process_in_queue: usize,
// [n]usize
semaphore_max_process_in_queue: usize,
// [n]usize
mutex_max_process_in_queue: usize,
// [n]Semaphore !
topics_max_process_in_queue: usize,
};
board_name: []const u8,
mem: BoardMemLayout,
static_memory_reserves: StaticMemoryReserves,
scheduler_freq_in_hertz: usize,
pub fn checkConfig(self: BoardConfig) void {
if (!self.mem.has_rom and self.mem.rom_start_addr == null and self.mem.bl_load_addr == null)
@panic("if there is no rom, a boot loader start (or entry) address is required! \n");
if (!self.mem.has_rom and self.mem.rom_start_addr != null and self.mem.bl_load_addr != null)
@panic("if there is rom, no boot loader start (or entry) address is supported at the moment! \n");
// if (self.mem.kernel_space_size + self.mem.user_space_size > self.mem.ram_size)
// @panic("since no swapping is supported, user/kernel space cannot exceed ram size \n");
// optional does does not support equal operator..
if ((!self.mem.has_rom and self.mem.rom_size == null and self.mem.rom_start_addr != null) or (self.mem.rom_size != null and self.mem.rom_start_addr == null))
@panic("if rom is disabled, both rom addr and len have to be null \n");
}
};
pub fn Driver(comptime TimerType: type, comptime SecondaryInterruptControllerType: ?type) type {
return struct {
timerDriver: TimerType,
secondaryInterruptConrtollerDriver: ?(SecondaryInterruptControllerType orelse type),
};
}
|
0 | repos/MinimalRoboticsPlatform/src | repos/MinimalRoboticsPlatform/src/configTemplates/configTemplates.zig | pub const boardConfigTemplate = @import("boardConfigTemplate.zig");
pub const envConfigTemplate = @import("envConfigTemplate.zig");
|
0 | repos/MinimalRoboticsPlatform/src/environments | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/envConfig.zig | pub const envConfTemplate = @import("configTemplates").envConfigTemplate;
const StatusControlConf = envConfTemplate.StatusControlConf;
pub const env_config = envConfTemplate.EnvConfig(2){
.status_control = [_]StatusControlConf{
.{
.status_type = .isize,
.name = "height",
.id = 0,
.topic_conf = null,
},
.{
.status_type = .topic,
.name = "height-sensor",
.id = 1,
.topic_conf = .{
.buffer_type = envConfTemplate.TopicBufferTypes.RingBuffer,
.buffer_size = 1024,
},
},
},
};
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/setupRoutines/raspi3bSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn bcm2835Setup(scheduler: *Scheduler) void {
_ = scheduler;
// enabling arm generic timer irq
@as(*volatile u32, @ptrFromInt(board.PeriphConfig(.ttbr1).ArmGenericTimer.base_address)).* = 1 << 1 | 1 << 3;
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
if (board.driver.secondaryInterruptConrtollerDriver) |secondary_ic| {
secondary_ic.addIcHandler(&irqHandler) catch |e| {
kprint("[error] addIcHandler error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
kprint("inited raspberry secondary Ic and arm timer \n", .{});
}
pub const RegValues = struct {
// all banks are lister here: https://github.com/torvalds/linux/blob/master/Documentation/devicetree/bindings/interrupt-controller/brcm%2Cbcm2835-armctrl-ic.txt
pub const Bank0 = enum(u32) {
armTimer = 1 << 0,
armMailbox = 1 << 1,
armDoorbell0 = 1 << 2,
armDoorbell1 = 1 << 3,
vpu0Halted = 1 << 4,
vpu1Halted = 1 << 5,
illegalType0 = 1 << 6,
illegalType1 = 1 << 7,
pending1 = 1 << 8,
pending2 = 1 << 9,
notDefined = 0,
};
pub const Bank1 = enum(u32) {
timer0 = 1 << 0,
timer1 = 1 << 1,
timer2 = 1 << 2,
timer3 = 1 << 3,
codec0 = 1 << 4,
codec1 = 1 << 5,
codec2 = 1 << 6,
vcJpeg = 1 << 7,
isp = 1 << 8,
vcUsb = 1 << 9,
vc3d = 1 << 10,
transposer = 1 << 11,
multicoresync0 = 1 << 12,
multicoresync1 = 1 << 13,
multicoresync2 = 1 << 14,
multicoresync3 = 1 << 15,
dma0 = 1 << 16,
dma1 = 1 << 17,
vcDma2 = 1 << 18,
vcDma3 = 1 << 19,
dma4 = 1 << 20,
dma5 = 1 << 21,
dma6 = 1 << 22,
dma7 = 1 << 23,
dma8 = 1 << 24,
dma9 = 1 << 25,
dma10 = 1 << 26,
// 27: dma11-14 - shared interrupt for dma 11 to 14
dma11 = 1 << 27,
// 28: dmaall - triggers on all dma interrupts (including chanel 15)
dmaall = 1 << 28,
aux = 1 << 29,
arm = 1 << 30,
vpudma = 1 << 31,
notDefined = 0,
};
// bank2
pub const Bank2 = enum(u32) {
hostport = 1 << 0,
videoscaler = 1 << 1,
ccp2tx = 1 << 2,
sdc = 1 << 3,
dsi0 = 1 << 4,
ave = 1 << 5,
cam0 = 1 << 6,
cam1 = 1 << 7,
hdmi0 = 1 << 8,
hdmi1 = 1 << 9,
pixelValve1 = 1 << 10,
i2cSpislv = 1 << 11,
dsi1 = 1 << 12,
pwa0 = 1 << 13,
pwa1 = 1 << 14,
cpr = 1 << 15,
smi = 1 << 16,
gpio0 = 1 << 17,
gpio1 = 1 << 18,
gpio2 = 1 << 19,
gpio3 = 1 << 20,
vci2c = 1 << 21,
vcSpi = 1 << 22,
vcI2spcm = 1 << 23,
vcSdio = 1 << 24,
vcUart = 1 << 25,
slimbus = 1 << 26,
vec = 1 << 27,
cpg = 1 << 28,
rng = 1 << 29,
vcArasansdio = 1 << 30,
avspmon = 1 << 31,
notDefined = 0,
};
};
// bcm2835 interrupt controller handler for raspberry
const Bank0 = RegValues.Bank0;
const Bank1 = RegValues.Bank1;
const Bank2 = RegValues.Bank2;
pub fn irqHandler(context: *cpuContext.CpuContext) void {
var irq_bank_0 = std.meta.intToEnum(Bank0, board.SecondaryInterruptControllerKpiType.RegMap.pendingBasic.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
var irq_bank_1 = std.meta.intToEnum(Bank1, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq1.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
var irq_bank_2 = std.meta.intToEnum(Bank2, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq2.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
switch (irq_bank_0) {
// One or more bits set in pending register 1
Bank0.pending1 => {
switch (irq_bank_1) {
Bank1.timer1 => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "bcm2835_timer")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported 1 irq num: {s} \n", .{@tagName(irq_bank_1)});
},
}
},
// One or more bits set in pending register 2
Bank0.pending2 => {
switch (irq_bank_2) {
else => {
// kprint("Not supported bank 2 irq num: {s} \n", .{@tagName(irq_bank_0)});
},
}
},
Bank0.armTimer => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "arm_gt")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported bank(neither 1/2) irq num: {d} \n", .{intController.RegMap.pendingBasic.*});
// raspberries timers are a mess and I'm currently unsure if the Arm Generic timer
// has an enum defined in the banks or if it's not defined through the bcm28835 system.
},
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/setupRoutines/routines.zig | const board = @import("board");
const std = @import("std");
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const raspi3bSetup = @import("raspi3bSetup.zig").bcm2835Setup;
const qemuVirtSetup = @import("qemuVirtSetup.zig").qemuVirtSetup;
const SetupRoutine = fn (scheduler: *Scheduler) void;
const boardSpecificSetup = blk: {
if (std.mem.eql(u8, board.config.board_name, "raspi3b")) {
break :blk [_]SetupRoutine{raspi3bSetup};
} else if (std.mem.eql(u8, board.config.board_name, "qemuVirt")) {
break :blk [_]SetupRoutine{qemuVirtSetup};
}
};
// setupRoutines array is loaded and inited by the kernel
pub const setupRoutines = [_]SetupRoutine{} ++ boardSpecificSetup;
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/setupRoutines/qemuVirtSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const gic = arm.gicv2.Gic(.ttbr1);
const InterruptIds = gic.InterruptIds;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn qemuVirtSetup(scheduler: *Scheduler) void {
_ = scheduler;
gic.init() catch |e| {
kprint("[panic] gic init error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdConfig(InterruptIds.non_secure_physical_timer, 0x2) catch |e| {
kprint("[panic] gicd gicdConfig error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetPriority(InterruptIds.non_secure_physical_timer, 0) catch |e| {
kprint("[panic] gicd setPriority error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetTarget(InterruptIds.non_secure_physical_timer, 1) catch |e| {
kprint("[panic] gicd setTarget error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdClearPending(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicd clearPending error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdEnableInt(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicdEnableInt address calc error: {s}\n", .{@errorName(e)});
while (true) {}
};
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps/app1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("app1 initial pid: {d} \n", .{pid});
while (true) {
test_counter += 1;
kprint("app{d} test print {d} \n", .{ pid, test_counter });
kprint("sleeping... \n", .{});
sysCalls.sleep(std.time.ns_per_s) catch |e| {
kprint("syscall err {s} \n", .{@errorName(e)});
};
// if (test_counter == 40000) {
// test_counter += 1;
// // sysCalls.killTask(1);
// sysCalls.killTaskRecursively(1);
// }
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps/app1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps/actions/action1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
_ = pid;
while (true) {}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps/actions/action1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps/app2/main.zig | const std = @import("std");
const board = @import("board");
const appLib = @import("appLib");
const Mutex = appLib.Mutex;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const utils = appLib.utils;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
var shared_thread_counter: isize = 0;
var mutex = Mutex.init();
var shared_mutex: *Mutex = &mutex;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("app2 initial pid: {d} \n", .{pid});
while (true) {
test_counter += 1;
kprint("app{d} test print {d} \n", .{ pid, test_counter });
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/userApps/app2/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
*(.text.);
*(.text.*);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.got : {
*(.got.plt);
*(.got);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/kernelThreads/threads.zig | const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const Thread = fn (scheduler: *Scheduler) noreturn;
pub const testThread = @import("testThread.zig");
// threads array is loaded and inited by the kernel
pub const threads = [_]Thread{testThread.threadFn};
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess | repos/MinimalRoboticsPlatform/src/environments/basicMultiProcess/kernelThreads/testThread.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn threadFn(scheduler: *Scheduler) noreturn {
var i: usize = 0;
while (true) {
i += 1;
kprint("kernel test thread {d} \n", .{i});
}
scheduler.exitTask() catch |e| {
kprint("[error] exitTask error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
|
0 | repos/MinimalRoboticsPlatform/src/environments | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/envConfig.zig | pub const envConfTemplate = @import("configTemplates").envConfigTemplate;
const StatusControlConf = envConfTemplate.StatusControlConf;
pub const env_config = envConfTemplate.EnvConfig(2){
.status_control = [_]StatusControlConf{
.{
.status_type = .isize,
.name = "height",
.id = 0,
.topic_conf = null,
},
.{
.status_type = .topic,
.name = "height-sensor",
.id = 1,
.topic_conf = .{
.buffer_type = envConfTemplate.TopicBufferTypes.RingBuffer,
.buffer_size = 1024,
},
},
},
};
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/setupRoutines/raspi3bSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn bcm2835Setup(scheduler: *Scheduler) void {
_ = scheduler;
// enabling arm generic timer irq
@as(*volatile u32, @ptrFromInt(board.PeriphConfig(.ttbr1).ArmGenericTimer.base_address)).* = 1 << 1 | 1 << 3;
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
if (board.driver.secondaryInterruptConrtollerDriver) |secondary_ic| {
secondary_ic.addIcHandler(&irqHandler) catch |e| {
kprint("[error] addIcHandler error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
kprint("inited raspberry secondary Ic and arm timer \n", .{});
}
pub const RegValues = struct {
// all banks are lister here: https://github.com/torvalds/linux/blob/master/Documentation/devicetree/bindings/interrupt-controller/brcm%2Cbcm2835-armctrl-ic.txt
pub const Bank0 = enum(u32) {
armTimer = 1 << 0,
armMailbox = 1 << 1,
armDoorbell0 = 1 << 2,
armDoorbell1 = 1 << 3,
vpu0Halted = 1 << 4,
vpu1Halted = 1 << 5,
illegalType0 = 1 << 6,
illegalType1 = 1 << 7,
pending1 = 1 << 8,
pending2 = 1 << 9,
notDefined = 0,
};
pub const Bank1 = enum(u32) {
timer0 = 1 << 0,
timer1 = 1 << 1,
timer2 = 1 << 2,
timer3 = 1 << 3,
codec0 = 1 << 4,
codec1 = 1 << 5,
codec2 = 1 << 6,
vcJpeg = 1 << 7,
isp = 1 << 8,
vcUsb = 1 << 9,
vc3d = 1 << 10,
transposer = 1 << 11,
multicoresync0 = 1 << 12,
multicoresync1 = 1 << 13,
multicoresync2 = 1 << 14,
multicoresync3 = 1 << 15,
dma0 = 1 << 16,
dma1 = 1 << 17,
vcDma2 = 1 << 18,
vcDma3 = 1 << 19,
dma4 = 1 << 20,
dma5 = 1 << 21,
dma6 = 1 << 22,
dma7 = 1 << 23,
dma8 = 1 << 24,
dma9 = 1 << 25,
dma10 = 1 << 26,
// 27: dma11-14 - shared interrupt for dma 11 to 14
dma11 = 1 << 27,
// 28: dmaall - triggers on all dma interrupts (including chanel 15)
dmaall = 1 << 28,
aux = 1 << 29,
arm = 1 << 30,
vpudma = 1 << 31,
notDefined = 0,
};
// bank2
pub const Bank2 = enum(u32) {
hostport = 1 << 0,
videoscaler = 1 << 1,
ccp2tx = 1 << 2,
sdc = 1 << 3,
dsi0 = 1 << 4,
ave = 1 << 5,
cam0 = 1 << 6,
cam1 = 1 << 7,
hdmi0 = 1 << 8,
hdmi1 = 1 << 9,
pixelValve1 = 1 << 10,
i2cSpislv = 1 << 11,
dsi1 = 1 << 12,
pwa0 = 1 << 13,
pwa1 = 1 << 14,
cpr = 1 << 15,
smi = 1 << 16,
gpio0 = 1 << 17,
gpio1 = 1 << 18,
gpio2 = 1 << 19,
gpio3 = 1 << 20,
vci2c = 1 << 21,
vcSpi = 1 << 22,
vcI2spcm = 1 << 23,
vcSdio = 1 << 24,
vcUart = 1 << 25,
slimbus = 1 << 26,
vec = 1 << 27,
cpg = 1 << 28,
rng = 1 << 29,
vcArasansdio = 1 << 30,
avspmon = 1 << 31,
notDefined = 0,
};
};
// bcm2835 interrupt controller handler for raspberry
const Bank0 = RegValues.Bank0;
const Bank1 = RegValues.Bank1;
const Bank2 = RegValues.Bank2;
pub fn irqHandler(context: *cpuContext.CpuContext) void {
var irq_bank_0 = std.meta.intToEnum(Bank0, board.SecondaryInterruptControllerKpiType.RegMap.pendingBasic.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
var irq_bank_1 = std.meta.intToEnum(Bank1, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq1.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
var irq_bank_2 = std.meta.intToEnum(Bank2, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq2.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
switch (irq_bank_0) {
// One or more bits set in pending register 1
Bank0.pending1 => {
switch (irq_bank_1) {
Bank1.timer1 => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "bcm2835_timer")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported 1 irq num: {s} \n", .{@tagName(irq_bank_1)});
},
}
},
// One or more bits set in pending register 2
Bank0.pending2 => {
switch (irq_bank_2) {
else => {
// kprint("Not supported bank 2 irq num: {s} \n", .{@tagName(irq_bank_0)});
},
}
},
Bank0.armTimer => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "arm_gt")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported bank(neither 1/2) irq num: {d} \n", .{intController.RegMap.pendingBasic.*});
// raspberries timers are a mess and I'm currently unsure if the Arm Generic timer
// has an enum defined in the banks or if it's not defined through the bcm28835 system.
},
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/setupRoutines/routines.zig | const board = @import("board");
const std = @import("std");
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const raspi3bSetup = @import("raspi3bSetup.zig").bcm2835Setup;
const qemuVirtSetup = @import("qemuVirtSetup.zig").qemuVirtSetup;
const SetupRoutine = fn (scheduler: *Scheduler) void;
const boardSpecificSetup = blk: {
if (std.mem.eql(u8, board.config.board_name, "raspi3b")) {
break :blk [_]SetupRoutine{raspi3bSetup};
} else if (std.mem.eql(u8, board.config.board_name, "qemuVirt")) {
break :blk [_]SetupRoutine{qemuVirtSetup};
}
};
// setupRoutines array is loaded and inited by the kernel
pub const setupRoutines = [_]SetupRoutine{} ++ boardSpecificSetup;
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/setupRoutines/qemuVirtSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const gic = arm.gicv2.Gic(.ttbr1);
const InterruptIds = gic.InterruptIds;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn qemuVirtSetup(scheduler: *Scheduler) void {
_ = scheduler;
gic.init() catch |e| {
kprint("[panic] gic init error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdConfig(InterruptIds.non_secure_physical_timer, 0x2) catch |e| {
kprint("[panic] gicd gicdConfig error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetPriority(InterruptIds.non_secure_physical_timer, 0) catch |e| {
kprint("[panic] gicd setPriority error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetTarget(InterruptIds.non_secure_physical_timer, 1) catch |e| {
kprint("[panic] gicd setTarget error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdClearPending(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicd clearPending error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdEnableInt(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicdEnableInt address calc error: {s}\n", .{@errorName(e)});
while (true) {}
};
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/userApps/actions/action1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
_ = pid;
while (true) {}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/userApps/actions/action1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/userApps | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/userApps/app2/main.zig | const std = @import("std");
const board = @import("board");
const appLib = @import("appLib");
const Mutex = appLib.Mutex;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const utils = appLib.utils;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("initial pid: {d} \n", .{pid});
var app_alloc = AppAlloc.init(null) catch |e| {
kprint("AppAlloc init error: {s}\n", .{@errorName(e)});
while (true) {}
};
const thread_stack_mem = app_alloc.alloc(u8, board.config.mem.app_stack_size, 16) catch |e| {
kprint("AppAlloc alloc error: {s}\n", .{@errorName(e)});
while (true) {}
};
sysCalls.createThread(thread_stack_mem, testThread, .{@as(u16, @truncate(pid))}) catch |e| {
kprint("AppAlloc init error: {s}\n", .{@errorName(e)});
while (true) {}
};
const thread_stack_mem_2 = app_alloc.alloc(u8, board.config.mem.app_stack_size, 16) catch |e| {
kprint("AppAlloc alloc error: {s}\n", .{@errorName(e)});
while (true) {}
};
sysCalls.createThread(thread_stack_mem_2, testThread2, .{@as(u16, @truncate(pid))}) catch |e| {
kprint("AppAlloc init error: {s}\n", .{@errorName(e)});
while (true) {}
};
while (true) {
kprint("multithreading test counter \n", .{});
}
}
pub fn testThread(parent_pid: u16) void {
const pid: usize = sysCalls.getPid() catch {
return;
};
while (true) {
kprint("TEST THREAD 1 (daddy proc.: {d}, my pid: {d})\n", .{ parent_pid, pid });
}
}
pub fn testThread2(parent_pid: u16) void {
const pid: usize = sysCalls.getPid() catch {
return;
};
while (true) {
kprint("TEST THREAD 2 (daddy proc.: {d}, my pid: {d}) \n", .{ parent_pid, pid });
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/userApps | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/userApps/app2/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
*(.text.);
*(.text.*);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.got : {
*(.got.plt);
*(.got);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading | repos/MinimalRoboticsPlatform/src/environments/basicMultiThreading/kernelThreads/threads.zig | const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const Thread = fn (scheduler: *Scheduler) noreturn;
// threads array is loaded and inited by the kernel
pub const threads = [_]Thread{};
|
0 | repos/MinimalRoboticsPlatform/src/environments | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/envConfig.zig | pub const envConfTemplate = @import("configTemplates").envConfigTemplate;
const StatusControlConf = envConfTemplate.StatusControlConf;
pub const env_config = envConfTemplate.EnvConfig(2){
.status_control = [_]StatusControlConf{
.{
.status_type = .isize,
.name = "height",
.id = 0,
.topic_conf = null,
},
.{
.status_type = .topic,
.name = "height-sensor",
.id = 1,
.topic_conf = .{
.buffer_type = envConfTemplate.TopicBufferTypes.RingBuffer,
.buffer_size = 1024,
},
},
},
};
|
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/setupRoutines/raspi3bSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn bcm2835Setup(scheduler: *Scheduler) void {
_ = scheduler;
// enabling arm generic timer irq
@as(*volatile u32, @ptrFromInt(board.PeriphConfig(.ttbr1).ArmGenericTimer.base_address)).* = 1 << 1 | 1 << 3;
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
if (board.driver.secondaryInterruptConrtollerDriver) |secondary_ic| {
secondary_ic.addIcHandler(&irqHandler) catch |e| {
kprint("[error] addIcHandler error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
kprint("inited raspberry secondary Ic and arm timer \n", .{});
}
pub const RegValues = struct {
// all banks are lister here: https://github.com/torvalds/linux/blob/master/Documentation/devicetree/bindings/interrupt-controller/brcm%2Cbcm2835-armctrl-ic.txt
pub const Bank0 = enum(u32) {
armTimer = 1 << 0,
armMailbox = 1 << 1,
armDoorbell0 = 1 << 2,
armDoorbell1 = 1 << 3,
vpu0Halted = 1 << 4,
vpu1Halted = 1 << 5,
illegalType0 = 1 << 6,
illegalType1 = 1 << 7,
pending1 = 1 << 8,
pending2 = 1 << 9,
notDefined = 0,
};
pub const Bank1 = enum(u32) {
timer0 = 1 << 0,
timer1 = 1 << 1,
timer2 = 1 << 2,
timer3 = 1 << 3,
codec0 = 1 << 4,
codec1 = 1 << 5,
codec2 = 1 << 6,
vcJpeg = 1 << 7,
isp = 1 << 8,
vcUsb = 1 << 9,
vc3d = 1 << 10,
transposer = 1 << 11,
multicoresync0 = 1 << 12,
multicoresync1 = 1 << 13,
multicoresync2 = 1 << 14,
multicoresync3 = 1 << 15,
dma0 = 1 << 16,
dma1 = 1 << 17,
vcDma2 = 1 << 18,
vcDma3 = 1 << 19,
dma4 = 1 << 20,
dma5 = 1 << 21,
dma6 = 1 << 22,
dma7 = 1 << 23,
dma8 = 1 << 24,
dma9 = 1 << 25,
dma10 = 1 << 26,
// 27: dma11-14 - shared interrupt for dma 11 to 14
dma11 = 1 << 27,
// 28: dmaall - triggers on all dma interrupts (including chanel 15)
dmaall = 1 << 28,
aux = 1 << 29,
arm = 1 << 30,
vpudma = 1 << 31,
notDefined = 0,
};
// bank2
pub const Bank2 = enum(u32) {
hostport = 1 << 0,
videoscaler = 1 << 1,
ccp2tx = 1 << 2,
sdc = 1 << 3,
dsi0 = 1 << 4,
ave = 1 << 5,
cam0 = 1 << 6,
cam1 = 1 << 7,
hdmi0 = 1 << 8,
hdmi1 = 1 << 9,
pixelValve1 = 1 << 10,
i2cSpislv = 1 << 11,
dsi1 = 1 << 12,
pwa0 = 1 << 13,
pwa1 = 1 << 14,
cpr = 1 << 15,
smi = 1 << 16,
gpio0 = 1 << 17,
gpio1 = 1 << 18,
gpio2 = 1 << 19,
gpio3 = 1 << 20,
vci2c = 1 << 21,
vcSpi = 1 << 22,
vcI2spcm = 1 << 23,
vcSdio = 1 << 24,
vcUart = 1 << 25,
slimbus = 1 << 26,
vec = 1 << 27,
cpg = 1 << 28,
rng = 1 << 29,
vcArasansdio = 1 << 30,
avspmon = 1 << 31,
notDefined = 0,
};
};
// bcm2835 interrupt controller handler for raspberry
const Bank0 = RegValues.Bank0;
const Bank1 = RegValues.Bank1;
const Bank2 = RegValues.Bank2;
pub fn irqHandler(context: *cpuContext.CpuContext) void {
var irq_bank_0 = std.meta.intToEnum(Bank0, board.SecondaryInterruptControllerKpiType.RegMap.pendingBasic.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
var irq_bank_1 = std.meta.intToEnum(Bank1, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq1.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
var irq_bank_2 = std.meta.intToEnum(Bank2, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq2.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
switch (irq_bank_0) {
// One or more bits set in pending register 1
Bank0.pending1 => {
switch (irq_bank_1) {
Bank1.timer1 => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "bcm2835_timer")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported 1 irq num: {s} \n", .{@tagName(irq_bank_1)});
},
}
},
// One or more bits set in pending register 2
Bank0.pending2 => {
switch (irq_bank_2) {
else => {
// kprint("Not supported bank 2 irq num: {s} \n", .{@tagName(irq_bank_0)});
},
}
},
Bank0.armTimer => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "arm_gt")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported bank(neither 1/2) irq num: {d} \n", .{intController.RegMap.pendingBasic.*});
// raspberries timers are a mess and I'm currently unsure if the Arm Generic timer
// has an enum defined in the banks or if it's not defined through the bcm28835 system.
},
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/setupRoutines/routines.zig | const board = @import("board");
const std = @import("std");
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const raspi3bSetup = @import("raspi3bSetup.zig").bcm2835Setup;
const qemuVirtSetup = @import("qemuVirtSetup.zig").qemuVirtSetup;
const SetupRoutine = fn (scheduler: *Scheduler) void;
const boardSpecificSetup = blk: {
if (std.mem.eql(u8, board.config.board_name, "raspi3b")) {
break :blk [_]SetupRoutine{raspi3bSetup};
} else if (std.mem.eql(u8, board.config.board_name, "qemuVirt")) {
break :blk [_]SetupRoutine{qemuVirtSetup};
}
};
// setupRoutines array is loaded and inited by the kernel
pub const setupRoutines = [_]SetupRoutine{} ++ boardSpecificSetup;
|
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/setupRoutines/qemuVirtSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const gic = arm.gicv2.Gic(.ttbr1);
const InterruptIds = gic.InterruptIds;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn qemuVirtSetup(scheduler: *Scheduler) void {
_ = scheduler;
gic.init() catch |e| {
kprint("[panic] gic init error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdConfig(InterruptIds.non_secure_physical_timer, 0x2) catch |e| {
kprint("[panic] gicd gicdConfig error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetPriority(InterruptIds.non_secure_physical_timer, 0) catch |e| {
kprint("[panic] gicd setPriority error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetTarget(InterruptIds.non_secure_physical_timer, 1) catch |e| {
kprint("[panic] gicd setTarget error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdClearPending(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicd clearPending error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdEnableInt(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicdEnableInt address calc error: {s}\n", .{@errorName(e)});
while (true) {}
};
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps/app1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
while (true) {
test_counter += 1;
kprint("app{d} test print {d} \n", .{ pid, test_counter });
// if (test_counter == 40000) {
// test_counter += 1;
// // sysCalls.killTask(1);
// sysCalls.killTaskRecursively(1);
// }
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps/app1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps/actions/action1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
_ = pid;
while (true) {}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps/actions/action1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps/app2/main.zig | const std = @import("std");
const board = @import("board");
const appLib = @import("appLib");
const Mutex = appLib.Mutex;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const utils = appLib.utils;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
var shared_thread_counter: isize = 0;
var mutex = Mutex.init();
var shared_mutex: *Mutex = &mutex;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("initial pid: {d} \n", .{pid});
var app_alloc = AppAlloc.init(null) catch |e| {
kprint("[panic] AppAlloc init error: {s}\n", .{@errorName(e)});
while (true) {}
};
const thread_stack_mem = app_alloc.alloc(u8, board.config.mem.app_stack_size, 16) catch |e| {
kprint("AppAlloc alloc error: {s}\n", .{@errorName(e)});
while (true) {}
};
sysCalls.createThread(thread_stack_mem, testThread, .{@as(u16, @truncate(pid))}) catch |e| {
kprint("AppAlloc init error: {s}\n", .{@errorName(e)});
while (true) {}
};
const thread_stack_mem_2 = app_alloc.alloc(u8, board.config.mem.app_stack_size, 16) catch |e| {
kprint("AppAlloc alloc error: {s}\n", .{@errorName(e)});
while (true) {}
};
sysCalls.createThread(thread_stack_mem_2, testThread2, .{@as(u16, @truncate(pid))}) catch |e| {
kprint("AppAlloc init error: {s}\n", .{@errorName(e)});
while (true) {}
};
while (true) {
test_counter += 1;
kprint("app{d} test print {d} \n", .{ pid, test_counter });
// if (test_counter == 10000) {
// test_counter += 1;
// sysCalls.createThread(&alloc, &testThread) catch |e| {
// kprint("[panic] AppAlloc init error: {s}\n", .{@errorName(e)});
// while (true) {}
// };
// }
}
}
pub fn testThread(parent_pid: u16) void {
const pid: usize = sysCalls.getPid() catch {
return;
};
while (true) {
kprint("TEST THREAD 1 (daddy proc.: {d}, my pid: {d})\n", .{ parent_pid, pid });
// shared_mutex.lock();
shared_thread_counter += 1;
// shared_mutex.unlock();
}
}
pub fn testThread2(parent_pid: u16) void {
const pid: usize = sysCalls.getPid() catch {
return;
};
while (true) {
kprint("TEST THREAD 2 (daddy proc.: {d}, my pid: {d}) \n", .{ parent_pid, pid });
// shared_mutex.lock();
shared_thread_counter -= 1;
// shared_mutex.unlock();
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/userApps/app2/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
*(.text.);
*(.text.*);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.got : {
*(.got.plt);
*(.got);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading | repos/MinimalRoboticsPlatform/src/environments/multiProcAndThreading/kernelThreads/threads.zig | const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const Thread = fn (scheduler: *Scheduler) noreturn;
// threads array is loaded and inited by the kernel
pub const threads = [_]Thread{};
|
0 | repos/MinimalRoboticsPlatform/src/environments | repos/MinimalRoboticsPlatform/src/environments/actionTest/envConfig.zig | pub const envConfTemplate = @import("configTemplates").envConfigTemplate;
const StatusControlConf = envConfTemplate.StatusControlConf;
const Action = envConfTemplate.Action;
pub const env_config = envConfTemplate.EnvConfig(3){
.status_control = [_]StatusControlConf{
.{
.status_type = .isize,
.name = "height",
.id = 0,
.topic_conf = null,
},
.{
.status_type = .bool,
.name = "groundContact",
.id = 1,
.topic_conf = null,
},
.{
.status_type = .topic,
.name = "height-sensor",
.id = 2,
.topic_conf = .{
.buffer_type = envConfTemplate.TopicBufferTypes.RingBuffer,
.buffer_size = 1024,
},
},
},
};
|
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest | repos/MinimalRoboticsPlatform/src/environments/actionTest/setupRoutines/raspi3bSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn bcm2835Setup(scheduler: *Scheduler) void {
_ = scheduler;
// enabling arm generic timer irq
@as(*volatile u32, @ptrFromInt(board.PeriphConfig(.ttbr1).ArmGenericTimer.base_address)).* = 1 << 1 | 1 << 3;
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
if (board.driver.secondaryInterruptConrtollerDriver) |secondary_ic| {
secondary_ic.addIcHandler(&irqHandler) catch |e| {
kprint("[error] addIcHandler error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
kprint("inited raspberry secondary Ic and arm timer \n", .{});
}
pub const RegValues = struct {
// all banks are lister here: https://github.com/torvalds/linux/blob/master/Documentation/devicetree/bindings/interrupt-controller/brcm%2Cbcm2835-armctrl-ic.txt
pub const Bank0 = enum(u32) {
armTimer = 1 << 0,
armMailbox = 1 << 1,
armDoorbell0 = 1 << 2,
armDoorbell1 = 1 << 3,
vpu0Halted = 1 << 4,
vpu1Halted = 1 << 5,
illegalType0 = 1 << 6,
illegalType1 = 1 << 7,
pending1 = 1 << 8,
pending2 = 1 << 9,
notDefined = 0,
};
pub const Bank1 = enum(u32) {
timer0 = 1 << 0,
timer1 = 1 << 1,
timer2 = 1 << 2,
timer3 = 1 << 3,
codec0 = 1 << 4,
codec1 = 1 << 5,
codec2 = 1 << 6,
vcJpeg = 1 << 7,
isp = 1 << 8,
vcUsb = 1 << 9,
vc3d = 1 << 10,
transposer = 1 << 11,
multicoresync0 = 1 << 12,
multicoresync1 = 1 << 13,
multicoresync2 = 1 << 14,
multicoresync3 = 1 << 15,
dma0 = 1 << 16,
dma1 = 1 << 17,
vcDma2 = 1 << 18,
vcDma3 = 1 << 19,
dma4 = 1 << 20,
dma5 = 1 << 21,
dma6 = 1 << 22,
dma7 = 1 << 23,
dma8 = 1 << 24,
dma9 = 1 << 25,
dma10 = 1 << 26,
// 27: dma11-14 - shared interrupt for dma 11 to 14
dma11 = 1 << 27,
// 28: dmaall - triggers on all dma interrupts (including chanel 15)
dmaall = 1 << 28,
aux = 1 << 29,
arm = 1 << 30,
vpudma = 1 << 31,
notDefined = 0,
};
// bank2
pub const Bank2 = enum(u32) {
hostport = 1 << 0,
videoscaler = 1 << 1,
ccp2tx = 1 << 2,
sdc = 1 << 3,
dsi0 = 1 << 4,
ave = 1 << 5,
cam0 = 1 << 6,
cam1 = 1 << 7,
hdmi0 = 1 << 8,
hdmi1 = 1 << 9,
pixelValve1 = 1 << 10,
i2cSpislv = 1 << 11,
dsi1 = 1 << 12,
pwa0 = 1 << 13,
pwa1 = 1 << 14,
cpr = 1 << 15,
smi = 1 << 16,
gpio0 = 1 << 17,
gpio1 = 1 << 18,
gpio2 = 1 << 19,
gpio3 = 1 << 20,
vci2c = 1 << 21,
vcSpi = 1 << 22,
vcI2spcm = 1 << 23,
vcSdio = 1 << 24,
vcUart = 1 << 25,
slimbus = 1 << 26,
vec = 1 << 27,
cpg = 1 << 28,
rng = 1 << 29,
vcArasansdio = 1 << 30,
avspmon = 1 << 31,
notDefined = 0,
};
};
// bcm2835 interrupt controller handler for raspberry
const Bank0 = RegValues.Bank0;
const Bank1 = RegValues.Bank1;
const Bank2 = RegValues.Bank2;
pub fn irqHandler(context: *cpuContext.CpuContext) void {
const irq_bank_0 = std.meta.intToEnum(Bank0, board.SecondaryInterruptControllerKpiType.RegMap.pendingBasic.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
const irq_bank_1 = std.meta.intToEnum(Bank1, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq1.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
const irq_bank_2 = std.meta.intToEnum(Bank2, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq2.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
switch (irq_bank_0) {
// One or more bits set in pending register 1
Bank0.pending1 => {
switch (irq_bank_1) {
Bank1.timer1 => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "bcm2835_timer")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported 1 irq num: {s} \n", .{@tagName(irq_bank_1)});
},
}
},
// One or more bits set in pending register 2
Bank0.pending2 => {
switch (irq_bank_2) {
else => {
// kprint("Not supported bank 2 irq num: {s} \n", .{@tagName(irq_bank_0)});
},
}
},
Bank0.armTimer => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "arm_gt")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported bank(neither 1/2) irq num: {d} \n", .{intController.RegMap.pendingBasic.*});
// raspberries timers are a mess and I'm currently unsure if the Arm Generic timer
// has an enum defined in the banks or if it's not defined through the bcm28835 system.
},
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest | repos/MinimalRoboticsPlatform/src/environments/actionTest/setupRoutines/routines.zig | const board = @import("board");
const std = @import("std");
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const raspi3bSetup = @import("raspi3bSetup.zig").bcm2835Setup;
const qemuVirtSetup = @import("qemuVirtSetup.zig").qemuVirtSetup;
const SetupRoutine = fn (scheduler: *Scheduler) void;
const boardSpecificSetup = blk: {
if (std.mem.eql(u8, board.config.board_name, "raspi3b")) {
break :blk [_]SetupRoutine{raspi3bSetup};
} else if (std.mem.eql(u8, board.config.board_name, "qemuVirt")) {
break :blk [_]SetupRoutine{qemuVirtSetup};
}
};
// setupRoutines array is loaded and inited by the kernel
pub const setupRoutines = [_]SetupRoutine{} ++ boardSpecificSetup;
|
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest | repos/MinimalRoboticsPlatform/src/environments/actionTest/setupRoutines/qemuVirtSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const gic = arm.gicv2.Gic(.ttbr1);
const InterruptIds = gic.InterruptIds;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn qemuVirtSetup(scheduler: *Scheduler) void {
_ = scheduler;
gic.init() catch |e| {
kprint("[panic] gic init error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdConfig(InterruptIds.non_secure_physical_timer, 0x2) catch |e| {
kprint("[panic] gicd gicdConfig error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetPriority(InterruptIds.non_secure_physical_timer, 0) catch |e| {
kprint("[panic] gicd setPriority error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetTarget(InterruptIds.non_secure_physical_timer, 1) catch |e| {
kprint("[panic] gicd setTarget error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdClearPending(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicd clearPending error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdEnableInt(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicdEnableInt address calc error: {s}\n", .{@errorName(e)});
while (true) {}
};
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps/app1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("app1 initial pid: {d} \n", .{pid});
var read_state: bool = true;
sysCalls.updateStatus("groundContact", true) catch |e| {
kprint("sysCalls updateStatus err: {s} \n", .{@errorName(e)});
};
while (true) {
read_state = sysCalls.readStatus(bool, "groundContact") catch |e| {
kprint("sysCalls readStatus err: {s} \n", .{@errorName(e)});
while (true) {}
};
kprint("status read 1: {any} \n", .{read_state});
if (read_state) {
sysCalls.updateStatus("groundContact", false) catch |e| {
kprint("sysCalls updateStatus err: {s} \n", .{@errorName(e)});
};
kprint("status set 1 to false \n", .{});
}
}
}
// var test_counter: usize = 0;
// export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
// kprint("app1 initial pid: {d} \n", .{pid});
// while (true) {
// test_counter += 1;
// sysCalls.updateStatus("height", @intCast(isize, test_counter)) catch |e| {
// kprint("sysCalls updateStatus err: {s} \n", .{@errorName(e)});
// };
// var read = sysCalls.readStatus(isize, "height") catch |e| {
// kprint("sysCalls readStatus err: {s} \n", .{@errorName(e)});
// while (true) {}
// };
// kprint("status read: {d} \n", .{read});
// }
// }
|
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps/app1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps/actions/action1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
_ = pid;
while (true) {}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps/actions/action1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps/app2/main.zig | const std = @import("std");
const board = @import("board");
const appLib = @import("appLib");
const Mutex = appLib.Mutex;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const utils = appLib.utils;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
var shared_thread_counter: isize = 0;
var mutex = Mutex.init();
var shared_mutex: *Mutex = &mutex;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("app2 initial pid: {d} \n", .{pid});
var read_state: bool = false;
while (true) {
// test_counter += 1;
// kprint("app{d} test print {d} \n", .{ pid, test_counter });
read_state = sysCalls.readStatus(bool, "groundContact") catch |e| {
kprint("sysCalls readStatus err: {s} \n", .{@errorName(e)});
while (true) {}
};
kprint("status read 2: {any} \n", .{read_state});
if (!read_state) {
sysCalls.updateStatus("groundContact", true) catch |e| {
kprint("sysCalls updateStatus err: {s} \n", .{@errorName(e)});
};
kprint("status set 2 to true \n", .{});
}
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps | repos/MinimalRoboticsPlatform/src/environments/actionTest/userApps/app2/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
*(.text.);
*(.text.*);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.got : {
*(.got.plt);
*(.got);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest | repos/MinimalRoboticsPlatform/src/environments/actionTest/kernelThreads/threads.zig | const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const Thread = fn (scheduler: *Scheduler) noreturn;
pub const testThread = @import("testThread.zig");
// threads array is loaded and inited by the kernel
pub const threads = [_]Thread{testThread.threadFn};
|
0 | repos/MinimalRoboticsPlatform/src/environments/actionTest | repos/MinimalRoboticsPlatform/src/environments/actionTest/kernelThreads/testThread.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn threadFn(scheduler: *Scheduler) noreturn {
_ = scheduler;
while (true) {
// kprint("broken \n", .{});
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/envConfig.zig | pub const envConfTemplate = @import("configTemplates").envConfigTemplate;
const StatusControlConf = envConfTemplate.StatusControlConf;
pub const env_config = envConfTemplate.EnvConfig(3){
.status_control = [_]StatusControlConf{
.{
.status_type = .isize,
.name = "height",
.id = 0,
.topic_conf = null,
},
.{
.status_type = .topic,
.name = "height-sensor",
.id = 1,
.topic_conf = .{
.buffer_type = envConfTemplate.TopicBufferTypes.ContinousBuffer,
.buffer_size = 1024,
},
},
.{
.status_type = .topic,
.name = "radar-sensor",
.id = 2,
.topic_conf = .{
.buffer_type = envConfTemplate.TopicBufferTypes.RingBuffer,
.buffer_size = 1024,
},
},
},
};
|
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/setupRoutines/raspi3bSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn bcm2835Setup(scheduler: *Scheduler) void {
_ = scheduler;
// enabling arm generic timer irq
@as(*volatile u32, @ptrFromInt(board.PeriphConfig(.ttbr1).ArmGenericTimer.base_address)).* = 1 << 1 | 1 << 3;
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
if (board.driver.secondaryInterruptConrtollerDriver) |secondary_ic| {
secondary_ic.addIcHandler(&irqHandler) catch |e| {
kprint("[error] addIcHandler error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
kprint("inited raspberry secondary Ic and arm timer \n", .{});
}
pub const RegValues = struct {
// all banks are lister here: https://github.com/torvalds/linux/blob/master/Documentation/devicetree/bindings/interrupt-controller/brcm%2Cbcm2835-armctrl-ic.txt
pub const Bank0 = enum(u32) {
armTimer = 1 << 0,
armMailbox = 1 << 1,
armDoorbell0 = 1 << 2,
armDoorbell1 = 1 << 3,
vpu0Halted = 1 << 4,
vpu1Halted = 1 << 5,
illegalType0 = 1 << 6,
illegalType1 = 1 << 7,
pending1 = 1 << 8,
pending2 = 1 << 9,
notDefined = 0,
};
pub const Bank1 = enum(u32) {
timer0 = 1 << 0,
timer1 = 1 << 1,
timer2 = 1 << 2,
timer3 = 1 << 3,
codec0 = 1 << 4,
codec1 = 1 << 5,
codec2 = 1 << 6,
vcJpeg = 1 << 7,
isp = 1 << 8,
vcUsb = 1 << 9,
vc3d = 1 << 10,
transposer = 1 << 11,
multicoresync0 = 1 << 12,
multicoresync1 = 1 << 13,
multicoresync2 = 1 << 14,
multicoresync3 = 1 << 15,
dma0 = 1 << 16,
dma1 = 1 << 17,
vcDma2 = 1 << 18,
vcDma3 = 1 << 19,
dma4 = 1 << 20,
dma5 = 1 << 21,
dma6 = 1 << 22,
dma7 = 1 << 23,
dma8 = 1 << 24,
dma9 = 1 << 25,
dma10 = 1 << 26,
// 27: dma11-14 - shared interrupt for dma 11 to 14
dma11 = 1 << 27,
// 28: dmaall - triggers on all dma interrupts (including chanel 15)
dmaall = 1 << 28,
aux = 1 << 29,
arm = 1 << 30,
vpudma = 1 << 31,
notDefined = 0,
};
// bank2
pub const Bank2 = enum(u32) {
hostport = 1 << 0,
videoscaler = 1 << 1,
ccp2tx = 1 << 2,
sdc = 1 << 3,
dsi0 = 1 << 4,
ave = 1 << 5,
cam0 = 1 << 6,
cam1 = 1 << 7,
hdmi0 = 1 << 8,
hdmi1 = 1 << 9,
pixelValve1 = 1 << 10,
i2cSpislv = 1 << 11,
dsi1 = 1 << 12,
pwa0 = 1 << 13,
pwa1 = 1 << 14,
cpr = 1 << 15,
smi = 1 << 16,
gpio0 = 1 << 17,
gpio1 = 1 << 18,
gpio2 = 1 << 19,
gpio3 = 1 << 20,
vci2c = 1 << 21,
vcSpi = 1 << 22,
vcI2spcm = 1 << 23,
vcSdio = 1 << 24,
vcUart = 1 << 25,
slimbus = 1 << 26,
vec = 1 << 27,
cpg = 1 << 28,
rng = 1 << 29,
vcArasansdio = 1 << 30,
avspmon = 1 << 31,
notDefined = 0,
};
};
// bcm2835 interrupt controller handler for raspberry
const Bank0 = RegValues.Bank0;
const Bank1 = RegValues.Bank1;
const Bank2 = RegValues.Bank2;
pub fn irqHandler(context: *cpuContext.CpuContext) void {
var irq_bank_0 = std.meta.intToEnum(Bank0, board.SecondaryInterruptControllerKpiType.RegMap.pendingBasic.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
var irq_bank_1 = std.meta.intToEnum(Bank1, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq1.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
var irq_bank_2 = std.meta.intToEnum(Bank2, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq2.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
switch (irq_bank_0) {
// One or more bits set in pending register 1
Bank0.pending1 => {
switch (irq_bank_1) {
Bank1.timer1 => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "bcm2835_timer")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported 1 irq num: {s} \n", .{@tagName(irq_bank_1)});
},
}
},
// One or more bits set in pending register 2
Bank0.pending2 => {
switch (irq_bank_2) {
else => {
// kprint("Not supported bank 2 irq num: {s} \n", .{@tagName(irq_bank_0)});
},
}
},
Bank0.armTimer => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "arm_gt")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported bank(neither 1/2) irq num: {d} \n", .{intController.RegMap.pendingBasic.*});
// raspberries timers are a mess and I'm currently unsure if the Arm Generic timer
// has an enum defined in the banks or if it's not defined through the bcm28835 system.
},
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/setupRoutines/routines.zig | const board = @import("board");
const std = @import("std");
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const raspi3bSetup = @import("raspi3bSetup.zig").bcm2835Setup;
const qemuVirtSetup = @import("qemuVirtSetup.zig").qemuVirtSetup;
const SetupRoutine = fn (scheduler: *Scheduler) void;
const boardSpecificSetup = blk: {
if (std.mem.eql(u8, board.config.board_name, "raspi3b")) {
break :blk [_]SetupRoutine{raspi3bSetup};
} else if (std.mem.eql(u8, board.config.board_name, "qemuVirt")) {
break :blk [_]SetupRoutine{qemuVirtSetup};
}
};
// setupRoutines array is loaded and inited by the kernel
pub const setupRoutines = [_]SetupRoutine{} ++ boardSpecificSetup;
|
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/setupRoutines/qemuVirtSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const gic = arm.gicv2.Gic(.ttbr1);
const InterruptIds = gic.InterruptIds;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn qemuVirtSetup(scheduler: *Scheduler) void {
_ = scheduler;
gic.init() catch |e| {
kprint("[panic] gic init error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdConfig(InterruptIds.non_secure_physical_timer, 0x2) catch |e| {
kprint("[panic] gicd gicdConfig error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetPriority(InterruptIds.non_secure_physical_timer, 0) catch |e| {
kprint("[panic] gicd setPriority error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetTarget(InterruptIds.non_secure_physical_timer, 1) catch |e| {
kprint("[panic] gicd setTarget error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdClearPending(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicd clearPending error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdEnableInt(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicdEnableInt address calc error: {s}\n", .{@errorName(e)});
while (true) {}
};
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps/app1/main.zig | const std = @import("std");
const board = @import("board");
const appLib = @import("appLib");
const Mutex = appLib.Mutex;
const AppAlloc = appLib.AppAllocator;
const SharedMemTopicsInterface = appLib.SharedMemTopicsInterface;
const sysCalls = appLib.sysCalls;
const utils = appLib.utils;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
var shared_thread_counter: isize = 0;
var mutex = Mutex.init();
var shared_mutex: *Mutex = &mutex;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("app1 initial pid: {d} \n", .{pid});
var ret: usize = 0;
var ret_buff: []u8 = undefined;
ret_buff.ptr = @as([*]u8, @ptrCast(&ret));
ret_buff.len = @sizeOf(@TypeOf(ret));
var topics_interf = SharedMemTopicsInterface.init() catch |e| {
kprint("app1 SharedMemTopicsInterface init err: {s} \n", .{@errorName(e)});
while (true) {}
};
// var topics_interfaces_read = @intToPtr(*volatile [1000]usize, 0x20000000);
while (true) {
// kprint("topics interface read: {any} \n", .{topics_interfaces_read.*});
const read_len: usize = topics_interf.read("height-sensor", ret_buff) catch |e| {
kprint("app1 read err: {s} \n", .{@errorName(e)});
while (true) {}
};
if (read_len < ret_buff.len) kprint("buffer partially filled {d}/ {d} bytes \n", .{ read_len, ret_buff.len });
kprint("read: {any} \n", .{ret});
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps/app1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps/actions/action1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
_ = pid;
while (true) {}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps/actions/action1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps/app2/main.zig | const std = @import("std");
const board = @import("board");
const appLib = @import("appLib");
const Mutex = appLib.Mutex;
const AppAlloc = appLib.AppAllocator;
const SharedMemTopicsInterface = appLib.SharedMemTopicsInterface;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
const utils = appLib.utils;
var test_counter: usize = 0;
var shared_thread_counter: isize = 0;
var mutex = Mutex.init();
var shared_mutex: *Mutex = &mutex;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("app2 initial pid: {d} \n", .{pid});
var topics_interf = SharedMemTopicsInterface.init() catch |e| {
kprint("app2 SharedMemTopicsInterface init err: {s} \n", .{@errorName(e)});
while (true) {}
};
var counter: usize = 0;
var payload: []u8 = undefined;
payload.ptr = @as([*]u8, @ptrCast(&counter));
payload.len = @sizeOf(@TypeOf(counter));
while (true) {
counter += 1;
const written_data = topics_interf.write("height-sensor", payload) catch |e| {
kprint("app2 write err: {s} \n", .{@errorName(e)});
while (true) {}
};
if (written_data < payload.len) kprint("buffer partially filled {d}/ {d} bytes \n", .{ written_data, payload.len });
kprint("pushed: {d} \n", .{counter});
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/userApps/app2/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
*(.text.);
*(.text.*);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.got : {
*(.got.plt);
*(.got);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest | repos/MinimalRoboticsPlatform/src/environments/sharedMemTopicsTest/kernelThreads/threads.zig | const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const Thread = fn (scheduler: *Scheduler) noreturn;
// threads array is loaded and inited by the kernel
pub const threads = [_]Thread{};
|
0 | repos/MinimalRoboticsPlatform/src/environments | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/envConfig.zig | pub const envConfTemplate = @import("configTemplates").envConfigTemplate;
const StatusControlConf = envConfTemplate.StatusControlConf;
pub const env_config = envConfTemplate.EnvConfig(2){
.status_control = [_]StatusControlConf{
.{
.status_type = .isize,
.name = "height",
.id = 0,
.topic_conf = null,
},
.{
.status_type = .topic,
.name = "height-sensor",
.id = 1,
.topic_conf = .{
.buffer_type = envConfTemplate.TopicBufferTypes.RingBuffer,
.buffer_size = 1024,
},
},
},
};
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/setupRoutines/raspi3bSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn bcm2835Setup(scheduler: *Scheduler) void {
_ = scheduler;
// enabling arm generic timer irq
@as(*volatile u32, @ptrFromInt(board.PeriphConfig(.ttbr1).ArmGenericTimer.base_address)).* = 1 << 1 | 1 << 3;
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
if (board.driver.secondaryInterruptConrtollerDriver) |secondary_ic| {
secondary_ic.addIcHandler(&irqHandler) catch |e| {
kprint("[error] addIcHandler error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
kprint("inited raspberry secondary Ic and arm timer \n", .{});
}
pub const RegValues = struct {
// all banks are lister here: https://github.com/torvalds/linux/blob/master/Documentation/devicetree/bindings/interrupt-controller/brcm%2Cbcm2835-armctrl-ic.txt
pub const Bank0 = enum(u32) {
armTimer = 1 << 0,
armMailbox = 1 << 1,
armDoorbell0 = 1 << 2,
armDoorbell1 = 1 << 3,
vpu0Halted = 1 << 4,
vpu1Halted = 1 << 5,
illegalType0 = 1 << 6,
illegalType1 = 1 << 7,
pending1 = 1 << 8,
pending2 = 1 << 9,
notDefined = 0,
};
pub const Bank1 = enum(u32) {
timer0 = 1 << 0,
timer1 = 1 << 1,
timer2 = 1 << 2,
timer3 = 1 << 3,
codec0 = 1 << 4,
codec1 = 1 << 5,
codec2 = 1 << 6,
vcJpeg = 1 << 7,
isp = 1 << 8,
vcUsb = 1 << 9,
vc3d = 1 << 10,
transposer = 1 << 11,
multicoresync0 = 1 << 12,
multicoresync1 = 1 << 13,
multicoresync2 = 1 << 14,
multicoresync3 = 1 << 15,
dma0 = 1 << 16,
dma1 = 1 << 17,
vcDma2 = 1 << 18,
vcDma3 = 1 << 19,
dma4 = 1 << 20,
dma5 = 1 << 21,
dma6 = 1 << 22,
dma7 = 1 << 23,
dma8 = 1 << 24,
dma9 = 1 << 25,
dma10 = 1 << 26,
// 27: dma11-14 - shared interrupt for dma 11 to 14
dma11 = 1 << 27,
// 28: dmaall - triggers on all dma interrupts (including chanel 15)
dmaall = 1 << 28,
aux = 1 << 29,
arm = 1 << 30,
vpudma = 1 << 31,
notDefined = 0,
};
// bank2
pub const Bank2 = enum(u32) {
hostport = 1 << 0,
videoscaler = 1 << 1,
ccp2tx = 1 << 2,
sdc = 1 << 3,
dsi0 = 1 << 4,
ave = 1 << 5,
cam0 = 1 << 6,
cam1 = 1 << 7,
hdmi0 = 1 << 8,
hdmi1 = 1 << 9,
pixelValve1 = 1 << 10,
i2cSpislv = 1 << 11,
dsi1 = 1 << 12,
pwa0 = 1 << 13,
pwa1 = 1 << 14,
cpr = 1 << 15,
smi = 1 << 16,
gpio0 = 1 << 17,
gpio1 = 1 << 18,
gpio2 = 1 << 19,
gpio3 = 1 << 20,
vci2c = 1 << 21,
vcSpi = 1 << 22,
vcI2spcm = 1 << 23,
vcSdio = 1 << 24,
vcUart = 1 << 25,
slimbus = 1 << 26,
vec = 1 << 27,
cpg = 1 << 28,
rng = 1 << 29,
vcArasansdio = 1 << 30,
avspmon = 1 << 31,
notDefined = 0,
};
};
// bcm2835 interrupt controller handler for raspberry
const Bank0 = RegValues.Bank0;
const Bank1 = RegValues.Bank1;
const Bank2 = RegValues.Bank2;
pub fn irqHandler(context: *cpuContext.CpuContext) void {
const irq_bank_0 = std.meta.intToEnum(Bank0, board.SecondaryInterruptControllerKpiType.RegMap.pendingBasic.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
const irq_bank_1 = std.meta.intToEnum(Bank1, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq1.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
const irq_bank_2 = std.meta.intToEnum(Bank2, board.SecondaryInterruptControllerKpiType.RegMap.pendingIrq2.*) catch |e| {
kprint("[panic] std meta intToEnum error: {s} \n", .{@errorName(e)});
while (true) {}
};
switch (irq_bank_0) {
// One or more bits set in pending register 1
Bank0.pending1 => {
switch (irq_bank_1) {
Bank1.timer1 => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "bcm2835_timer")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported 1 irq num: {s} \n", .{@tagName(irq_bank_1)});
},
}
},
// One or more bits set in pending register 2
Bank0.pending2 => {
switch (irq_bank_2) {
else => {
// kprint("Not supported bank 2 irq num: {s} \n", .{@tagName(irq_bank_0)});
},
}
},
Bank0.armTimer => {
if (std.mem.eql(u8, board.driver.timerDriver.timer_name, "arm_gt")) {
board.driver.timerDriver.timerTick(context) catch |e| {
kprint("[panic] timerDriver timerTick error: {s} \n", .{@errorName(e)});
while (true) {}
};
}
},
else => {
// kprint("Not supported bank(neither 1/2) irq num: {d} \n", .{intController.RegMap.pendingBasic.*});
// raspberries timers are a mess and I'm currently unsure if the Arm Generic timer
// has an enum defined in the banks or if it's not defined through the bcm28835 system.
},
}
}
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0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/setupRoutines/routines.zig | const board = @import("board");
const std = @import("std");
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const raspi3bSetup = @import("raspi3bSetup.zig").bcm2835Setup;
const qemuVirtSetup = @import("qemuVirtSetup.zig").qemuVirtSetup;
const SetupRoutine = fn (scheduler: *Scheduler) void;
const boardSpecificSetup = blk: {
if (std.mem.eql(u8, board.config.board_name, "raspi3b")) {
break :blk [_]SetupRoutine{raspi3bSetup};
} else if (std.mem.eql(u8, board.config.board_name, "qemuVirt")) {
break :blk [_]SetupRoutine{qemuVirtSetup};
}
};
// setupRoutines array is loaded and inited by the kernel
pub const setupRoutines = [_]SetupRoutine{} ++ boardSpecificSetup;
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/setupRoutines/qemuVirtSetup.zig | const std = @import("std");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const ProccessorRegMap = arm.processor.ProccessorRegMap;
const gic = arm.gicv2.Gic(.ttbr1);
const InterruptIds = gic.InterruptIds;
const periph = @import("periph");
const kprint = periph.uart.UartWriter(.ttbr1).kprint;
const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
pub fn qemuVirtSetup(scheduler: *Scheduler) void {
_ = scheduler;
gic.init() catch |e| {
kprint("[panic] gic init error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdConfig(InterruptIds.non_secure_physical_timer, 0x2) catch |e| {
kprint("[panic] gicd gicdConfig error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetPriority(InterruptIds.non_secure_physical_timer, 0) catch |e| {
kprint("[panic] gicd setPriority error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdSetTarget(InterruptIds.non_secure_physical_timer, 1) catch |e| {
kprint("[panic] gicd setTarget error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdClearPending(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicd clearPending error: {s}\n", .{@errorName(e)});
while (true) {}
};
gic.Gicd.gicdEnableInt(InterruptIds.non_secure_physical_timer) catch |e| {
kprint("[panic] gicdEnableInt address calc error: {s}\n", .{@errorName(e)});
while (true) {}
};
ProccessorRegMap.DaifReg.setDaifClr(.{
.debug = true,
.serr = true,
.irqs = true,
.fiqs = true,
});
}
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0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps/semaphoreTest/main.zig | const std = @import("std");
const board = @import("board");
const appLib = @import("appLib");
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const Semaphore = appLib.Semaphore(null);
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var shared_resource: isize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
_ = pid;
var app_alloc = AppAlloc.init(null) catch |e| {
kprint("[panic] AppAlloc init error: {s}\n", .{@errorName(e)});
while (true) {}
};
var test_sem = Semaphore.init(1);
// eventual-todo => remove allcoations
const thread_stack_mem = app_alloc.alloc(u8, board.config.mem.app_stack_size, 16) catch |e| {
kprint("AppAlloc alloc error: {s}\n", .{@errorName(e)});
while (true) {}
};
sysCalls.createThread(thread_stack_mem, testThread1, .{&test_sem}) catch |e| {
kprint("sysCalls createThread error: {s}\n", .{@errorName(e)});
while (true) {}
};
const thread_stack_mem_2 = app_alloc.alloc(u8, board.config.mem.app_stack_size, 16) catch |e| {
kprint("AppAlloc alloc error: {s}\n", .{@errorName(e)});
while (true) {}
};
sysCalls.createThread(thread_stack_mem_2, testThread2, .{&test_sem}) catch |e| {
kprint("sysCalls createThread error: {s}\n", .{@errorName(e)});
while (true) {}
};
while (true) {}
}
fn testThread1(test_sem: *Semaphore) void {
while (true) {
kprint("thread1 waiting \n", .{});
test_sem.wait(null) catch |e| {
kprint("semaphore wait error: {s}\n", .{@errorName(e)});
while (true) {}
};
kprint("i: {d} \n", .{test_sem.i});
shared_resource += 1;
kprint("thread1 signaling {d} \n", .{test_sem.i});
test_sem.signal() catch |e| {
kprint("semaphore signal error: {s}\n", .{@errorName(e)});
while (true) {}
};
kprint("i: {d} \n", .{test_sem.i});
// kprint("thread1 last {d} \n", .{test_sem.i});
}
}
fn testThread2(test_sem: *Semaphore) void {
while (true) {
kprint("thread2 waiting {d} \n", .{test_sem.i});
test_sem.wait(null) catch |e| {
kprint("semaphore wait error: {s}\n", .{@errorName(e)});
while (true) {}
};
kprint("i: {d} \n", .{test_sem.i});
shared_resource -= 1;
kprint("thread2 signaling {d} \n", .{test_sem.i});
test_sem.signal() catch |e| {
kprint("semaphore signal error: {s}\n", .{@errorName(e)});
while (true) {}
};
kprint("i: {d} \n", .{test_sem.i});
// kprint("thread2 last i: {d} \n", .{test_sem.i});
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps/semaphoreTest/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps/actions/action1/main.zig | const std = @import("std");
const appLib = @import("appLib");
const board = @import("board");
const arm = @import("arm");
const cpuContext = arm.cpuContext;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var test_counter: usize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
_ = pid;
while (true) {}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps/actions | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps/actions/action1/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps/_mutexTest/main.zig | const std = @import("std");
const board = @import("board");
const appLib = @import("appLib");
const Mutex = appLib.Mutex;
const AppAlloc = appLib.AppAllocator;
const sysCalls = appLib.sysCalls;
const utils = appLib.utils;
const kprint = appLib.sysCalls.SysCallPrint.kprint;
var shared_thread_counter: isize = 0;
export fn app_main(pid: usize) linksection(".text.main") callconv(.C) noreturn {
kprint("initial pid: {d} \n", .{pid});
var app_alloc = AppAlloc.init(null) catch |e| {
kprint("AppAlloc init error: {s}\n", .{@errorName(e)});
while (true) {}
};
var mutex = Mutex.init();
const thread_stack_mem = app_alloc.alloc(u8, board.config.mem.app_stack_size, 16) catch |e| {
kprint("AppAlloc alloc error: {s}\n", .{@errorName(e)});
while (true) {}
};
sysCalls.createThread(thread_stack_mem, testThread2, .{&mutex}) catch |e| {
kprint("createThread init error: {s}\n", .{@errorName(e)});
while (true) {}
};
const thread_stack_mem_2 = app_alloc.alloc(u8, board.config.mem.app_stack_size, 16) catch |e| {
kprint("AppAlloc alloc error: {s}\n", .{@errorName(e)});
while (true) {}
};
sysCalls.createThread(thread_stack_mem_2, testThread, .{&mutex}) catch |e| {
kprint("createThread init error: {s}\n", .{@errorName(e)});
while (true) {}
};
while (true) {}
}
pub fn testThread2(mutex: *Mutex) void {
while (true) {
kprint("thread2 locking.. \n", .{});
mutex.lock() catch |e| {
kprint("mutex lock error: {s}\n", .{@errorName(e)});
while (true) {}
};
shared_thread_counter -= 1;
kprint("thread2 accessing shared mutex protected shared resource {d} \n", .{shared_thread_counter});
mutex.unlock();
kprint("thread2 unlocked.. \n", .{});
}
}
pub fn testThread(mutex: *Mutex) void {
while (true) {
kprint("thread1 locking.. \n", .{});
mutex.lock() catch |e| {
kprint("mutex lock error: {s}\n", .{@errorName(e)});
while (true) {}
};
shared_thread_counter += 1;
kprint("thread1 accessing shared mutex protected shared resource {d} \n", .{shared_thread_counter});
mutex.unlock();
kprint("thread1 unlocked.. \n", .{});
}
}
|
0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/userApps/_mutexTest/linker.ld | ENTRY(app_main)
SECTIONS {
. = 0x0;
.text : ALIGN(16) {
*(.text.main)
}
.got : {
*(.got.plt);
*(.got);
}
.rodata : ALIGN(0x8) {
*(.rodata);
*(.rodata.*);
}
.bss : ALIGN(0x10) {
_bss_start = .;
*(.bss.*);
*(COMMON);
_bss_end = .;
}
.data : {
*(.data);
*(.data.*);
}
.heap (NOLOAD) : ALIGN(8) {
_heap_start = .;
}
} |
0 | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest | repos/MinimalRoboticsPlatform/src/environments/basicKernelFunctionalityTest/kernelThreads/threads.zig | const sharedKernelServices = @import("sharedKernelServices");
const Scheduler = sharedKernelServices.Scheduler;
const Thread = fn (scheduler: *Scheduler) noreturn;
// threads array is loaded and inited by the kernel
pub const threads = [_]Thread{};
|
Subsets and Splits