lib: freertos: Add support for A72 and A78

Enable A72 and A78 build in BSP for FreeRTOS OS.

Signed-off-by: Ben Levinsky <[email protected]>

lib/system/freertos/xlnx_common/CMakeLists.txt

@@ -2,4 +2,8 @@ collect (PROJECT_LIB_HEADERS sys.h)
 
 collect (PROJECT_LIB_SOURCES irq.c)
 
+if ("${PROJECT_MACHINE}" STREQUAL "zynqmp_a53" OR "${PROJECT_MACHINE}" STREQUAL "zynqmp_a72" OR "${PROJECT_MACHINE}" STREQUAL "zynqmp_a78")
+  add_subdirectory(zynqmp_aarch64)
+endif ("${PROJECT_MACHINE}" STREQUAL "zynqmp_a53" OR "${PROJECT_MACHINE}" STREQUAL "zynqmp_a72" OR "${PROJECT_MACHINE}" STREQUAL "zynqmp_a78")
+
 # vim: expandtab:ts=2:sw=2:smartindent

lib/system/freertos/xlnx_common/zynqmp_aarch64/CMakeLists.txt

@@ -0,0 +1,3 @@
+collect (PROJECT_LIB_HEADERS sys.h)
+collect (PROJECT_LIB_SOURCES sys.c)
+# vim: expandtab:ts=2:sw=2:smartindent

lib/system/freertos/xlnx_common/zynqmp_aarch64/sys.c

@@ -0,0 +1,115 @@
+/*
+ * Copyright (c) 2023 Advanced Micro Devices, Inc. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	freertos/xlnx_common/zynqmp_aarch64/sys.c
+ * @brief	machine specific system primitives implementation.
+ */
+
+#include <metal/compiler.h>
+#include <metal/io.h>
+#include <metal/sys.h>
+#include <metal/utilities.h>
+#include <stdint.h>
+#include "xil_cache.h"
+#include "xil_exception.h"
+#include "xil_mmu.h"
+#include "xscugic.h"
+
+/* System Device Tree (SDT) flow does not have the files generated. */
+#ifndef SDT
+
+#ifdef VERSAL_NET
+#include "xcpu_cortexa78.h"
+#elif defined(versal)
+#include "xcpu_cortexa72.h"
+#else
+#include "xreg_cortexa53.h"
+#endif /* defined(versal) */
+
+#endif /* !SDT */
+
+void sys_irq_restore_enable(unsigned int flags)
+{
+	Xil_ExceptionEnableMask(~flags);
+}
+
+unsigned int sys_irq_save_disable(void)
+{
+	unsigned int state = mfcpsr() & XIL_EXCEPTION_ALL;
+
+	if (state != XIL_EXCEPTION_ALL)
+		Xil_ExceptionDisableMask(XIL_EXCEPTION_ALL);
+
+	return state;
+}
+
+void metal_machine_cache_flush(void *addr, unsigned int len)
+{
+	if (!addr || !len)
+		Xil_DCacheFlush();
+	else
+		Xil_DCacheFlushRange((intptr_t)addr, len);
+}
+
+void metal_machine_cache_invalidate(void *addr, unsigned int len)
+{
+	if (!addr || !len)
+		Xil_DCacheInvalidate();
+	else
+		Xil_DCacheInvalidateRange((intptr_t)addr, len);
+}
+
+/**
+ * @brief poll function until some event happens
+ */
+inline void metal_weak metal_freertos_default_poll(void)
+{
+	metal_asm volatile("wfi");
+}
+
+/* TODO: document functionality of this function. */
+void *metal_machine_io_mem_map(void *va, metal_phys_addr_t pa,
+			       size_t size, unsigned int flags)
+{
+	unsigned long section_offset;
+	unsigned long ttb_addr;
+#if defined(__aarch64__)
+	unsigned long ttb_size = (pa < 4 * GB) ? 2 * MB : 1 * GB;
+#else
+	unsigned long ttb_size = 1 * MB;
+#endif /* defined(__aarch64__) */
+
+	if (!flags)
+		return va;
+
+	/* Ensure alignment on a section boundary */
+	pa &= ~(ttb_size - 1UL);
+
+	/*
+	 * Loop through entire region of memory (one MMU section at a time).
+	 * Each section requires a TTB entry.
+	 */
+	for (section_offset = 0; section_offset < size; ) {
+		/* Calculate translation table entry for this memory section */
+		ttb_addr = (pa + section_offset);
+
+		/* Write translation table entry value to entry address */
+		Xil_SetTlbAttributes(ttb_addr, flags);
+
+#if defined(__aarch64__)
+		/*
+		 * recalculate if we started below 4GB and going above in
+		 * 64bit mode
+		 */
+		if (ttb_addr >= 4 * GB)
+			ttb_size = 1 * GB;
+#endif
+		section_offset += ttb_size;
+	}
+
+	return va;
+}

lib/system/freertos/xlnx_common/zynqmp_aarch64/sys.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2023, Xilinx Inc. and Contributors. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	freertps/xlnx_common/zynqmp_aarch64/sys.h
+ * @brief	freertos zynqmp_aarch64 system primitives for libmetal.
+ */
+
+#ifndef __METAL_FREERTOS_SYS__H__
+#error "Include metal/sys.h instead of metal/freertos/@PROJECT_MACHINE@/sys.h"
+#endif
+
+#include <metal/system/@PROJECT_SYSTEM@/xlnx_common/sys.h>
+#include "xscugic.h"
+
+#ifndef __METAL_FREERTOS_ZYNQMP_XLNX_COMMON_AARCH64_SYS__H__
+#define __METAL_FREERTOS_ZYNQMP_XLNX_COMMON_AARCH64_SYS__H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef METAL_INTERNAL
+
+#define XLNX_MAXIRQS XSCUGIC_MAX_NUM_INTR_INPUTS
+
+static inline void sys_irq_enable(unsigned int vector)
+{
+	XScuGic_EnableIntr(XPAR_SCUGIC_0_DIST_BASEADDR, vector);
+}
+
+static inline void sys_irq_disable(unsigned int vector)
+{
+	XScuGic_DisableIntr(XPAR_SCUGIC_0_DIST_BASEADDR, vector);
+}
+
+#endif /* METAL_INTERNAL */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __METAL_FREERTOS_ZYNQMP_XLNX_COMMON_AARCH64_SYS__H__ */

lib/system/freertos/zynqmp_a72/CMakeLists.txt

@@ -0,0 +1,4 @@
+collect (PROJECT_LIB_HEADERS sys.h)
+
+add_subdirectory(../xlnx_common ${CMAKE_CURRENT_BINARY_DIR}/../xlnx_common)
+# vim: expandtab:ts=2:sw=2:smartindent

lib/system/freertos/zynqmp_a72/sys.h

@@ -0,0 +1,16 @@
+/*
+ * Copyright (c) 2023, Xilinx Inc. and Contributors. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	freertos/zynqmp_a72/sys.h
+ * @brief	freertos zynqmp_a72 system primitives for libmetal.
+ */
+
+/*
+ * The header file is still required as freertos/sys.h expects
+ * "./@PROJECT_MACHINE@/sys.h" to still exist.
+ */
+#include <metal/system/@PROJECT_SYSTEM@/xlnx_common/zynqmp_aarch64/sys.h>

lib/system/freertos/zynqmp_a78/CMakeLists.txt

@@ -0,0 +1,3 @@
+collect (PROJECT_LIB_HEADERS sys.h)
+
+add_subdirectory(../xlnx_common ${CMAKE_CURRENT_BINARY_DIR}/../xlnx_common)

lib/system/freertos/zynqmp_a78/sys.h

@@ -0,0 +1,16 @@
+/*
+ * Copyright (c) 2023 Advanced Micro Devices, Inc. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	freertos/zynqmp_a78/sys.h
+ * @brief	freertos zynqmp_a78 system primitives for libmetal.
+ */
+
+/*
+ * The header file is still required as freertos/sys.h expects
+ * "./@PROJECT_MACHINE@/sys.h" to still exist.
+ */
+#include <metal/system/@PROJECT_SYSTEM@/xlnx_common/zynqmp_aarch64/sys.h>

lib/system/generic/xlnx_common/zynqmp_aarch64/sys.c

@@ -13,6 +13,7 @@
 #include <metal/compiler.h>
 #include <metal/io.h>
 #include <metal/sys.h>
+#include <metal/utilities.h>
 #include <stdint.h>
 #include "xil_cache.h"
 #include "xil_exception.h"