arm/qemu: add cortex-r5 support

arch/arm/include/armv7-r/cp15.h

@@ -161,6 +161,8 @@
 
 #define CP15_CNTPCT(lo,hi) _CP15_64(0, lo, hi, c14)   /* Physical Count register */
 
+#define CP15_CNTP_CVAL(lo,hi) _CP15_64(2, lo, hi, c14) /* Physical Timer CompareValue register */
+
 #define CP15_DCIALLU(r)    _CP15(0, r, c15, c5, 0)   /* Invalidate data cache */
 
 #define CP15_SET(reg, value)            \

arch/arm/src/armv7-r/mpcore.h

@@ -47,14 +47,18 @@
 /* Peripheral Base Offsets **************************************************/
 
 #define MPCORE_SCU_OFFSET  0x0000 /* 0x0000-0x00fc SCU registers */
+#ifndef MPCORE_ICC_OFFSET
 #define MPCORE_ICC_OFFSET  0x2000 /* 0x0000-0x00FC Interrupt controller interface */
+#endif
 #define MPCORE_GTM_OFFSET  0x0200 /* 0x0200-0x02ff Global timer */
 
 /* 0x0300-0x05ff Reserved */
 #define MPCORE_PTM_OFFSET  0x0600 /* 0x0600-0x06ff Private timers and watchdogs */
 
 /* 0x0700-0x07ff Reserved */
+#ifndef MPCORE_ICD_OFFSET
 #define MPCORE_ICD_OFFSET  0x1000 /* 0x1000-0x1fff Interrupt Distributor */
+#endif
 
 /* Peripheral Base Addresses ************************************************/
 

arch/arm/src/armv7-r/sctlr.h

@@ -42,6 +42,10 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+/* Vector Base Address Register (VBAR) */
+
+#define VBAR_MASK                (0xffffffe0)
+
 /* CP15 c0 Registers ********************************************************/
 
 /* Main ID Register (MIDR): CRn=c0, opc1=0, CRm=c0, opc2=0

arch/arm/src/qemu/CMakeLists.txt

@@ -20,7 +20,11 @@
 #
 # ##############################################################################
 
-set(SRCS qemu_boot.c qemu_serial.c qemu_irq.c qemu_timer.c qemu_memorymap.c)
+set(SRCS qemu_boot.c qemu_serial.c qemu_irq.c qemu_timer.c)
+
+if(CONFIG_ARCH_ARMV7A)
+  list(APPEND SRCS qemu_memorymap.c)
+endif()
 
 if(CONFIG_SMP)
   list(APPEND SRCS qemu_cpuboot.c)

arch/arm/src/qemu/Kconfig

@@ -25,6 +25,14 @@ config ARCH_CHIP_QEMU_CORTEXA7
 	select ARMV7A_HAVE_GTM
 	select ARMV7A_HAVE_PTM
 
+config ARCH_CHIP_QEMU_CORTEXR5
+	bool "Qemu virtual Processor (cortex-r5)"
+	select ARCH_CORTEXR5
+	select ARCH_HAVE_FPU
+	select ARCH_HAVE_LOWVECTORS
+	select ARMV7R_HAVE_GICv2
+	select ARMV7R_HAVE_PTM
+
 endchoice # Qemu Chip Selection
 
 endmenu # "Qemu Virt Chip Selection"

arch/arm/src/qemu/Make.defs

@@ -20,11 +20,20 @@
 #
 ############################################################################
 
+ifeq ($(CONFIG_ARCH_ARMV7A),y)
 include armv7-a/Make.defs
+endif
+
+ifeq ($(CONFIG_ARCH_ARMV7R),y)
+include armv7-r/Make.defs
+endif
 
 # qemu-specific C source files
-CHIP_CSRCS  = qemu_boot.c qemu_serial.c qemu_irq.c qemu_timer.c qemu_memorymap.c
-CHIP_CSRCS += qemu_pgalloc.c
+CHIP_CSRCS  = qemu_boot.c qemu_serial.c qemu_irq.c qemu_timer.c
+
+ifeq ($(CONFIG_ARCH_ARMV7A),y)
+CHIP_CSRCS += qemu_pgalloc.c qemu_memorymap.c
+endif
 
 ifeq ($(CONFIG_SMP),y)
   CHIP_CSRCS += qemu_cpuboot.c

arch/arm/src/qemu/qemu_boot.c

@@ -27,7 +27,10 @@
 #include <nuttx/config.h>
 
 #include "arm_internal.h"
-#include "arm_cpu_psci.h"
+
+#ifdef CONFIG_ARM_PSCI
+#  include "arm_cpu_psci.h"
+#endif
 
 #include "qemu_irq.h"
 #include "qemu_memorymap.h"
@@ -43,6 +46,10 @@
 #  include <nuttx/sched_note.h>
 #endif
 
+#ifdef CONFIG_ARCH_ARMV7R
+#  include <nuttx/init.h>
+#endif
+
 #include <nuttx/syslog/syslog_rpmsg.h>
 
 /****************************************************************************
@@ -73,9 +80,11 @@ void arm_boot(void)
   up_perf_init(0);
 #endif
 
+#ifdef CONFIG_ARCH_ARMV7A
   /* Set the page table for section */
 
   qemu_setupmappings();
+#endif
 
   arm_fpuconfig();
 
@@ -98,6 +107,12 @@ void arm_boot(void)
 #ifdef CONFIG_SYSLOG_RPMSG
   syslog_rpmsg_init_early(g_syslog_rpmsg_buf, sizeof(g_syslog_rpmsg_buf));
 #endif
+
+#ifdef CONFIG_ARCH_ARMV7R
+  /* dont return per armv7-r/arm_head.S design */
+
+  nx_start();
+#endif
 }
 
 #if defined(CONFIG_ARM_PSCI) && defined(CONFIG_SMP)

boards/Kconfig

@@ -2222,6 +2222,14 @@ config ARCH_BOARD_QEMU_ARMV8A
 		This options selects support for NuttX on the QEMU ARMv8a + virt
 		board featuring the qemu ARMv8a CPUs.
 
+config ARCH_BOARD_QEMU_ARMV7R
+	bool "Qemu ARMv7r CPUs board"
+	depends on ARCH_CHIP_QEMU_ARM
+	select ARCH_HAVE_IRQBUTTONS
+	---help---
+		This selects support for NuttX on the QEMU ARMv7r + virt
+		board featuring the qemu ARMv7r CPUs.
+
 config ARCH_BOARD_PINEPHONE
 	bool "PINE64 PinePhone"
 	depends on ARCH_CHIP_A64
@@ -3515,6 +3523,7 @@ config ARCH_BOARD
 	default "sabre-6quad"               if ARCH_BOARD_SABRE_6QUAD
 	default "tc397"                     if ARCH_BOARD_TC397
 	default "qemu-armv7a"               if ARCH_BOARD_QEMU_ARMV7A
+	default "qemu-armv7r"               if ARCH_BOARD_QEMU_ARMV7R
 	default "qemu-armv8a"               if ARCH_BOARD_QEMU_ARMV8A
 	default "pinephone"                 if ARCH_BOARD_PINEPHONE
 	default "pinephonepro"              if ARCH_BOARD_PINEPHONE_PRO

boards/arm/qemu/qemu-armv7r/CMakeLists.txt

@@ -0,0 +1,25 @@
+# ##############################################################################
+# boards/arm/qemu/qemu-armv7r/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+set_property(GLOBAL PROPERTY LD_SCRIPT "${NUTTX_BOARD_DIR}/scripts/dramboot.ld")
+
+add_subdirectory(src)

boards/arm/qemu/qemu-armv7r/Kconfig

@@ -0,0 +1,7 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_BOARD_QEMU_ARMV7R
+endif

boards/arm/qemu/qemu-armv7r/configs/nsh/defconfig

@@ -0,0 +1,60 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ALARM_ARCH=y
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="qemu-armv7r"
+CONFIG_ARCH_BOARD_QEMU_ARMV7R=y
+CONFIG_ARCH_CHIP="qemu"
+CONFIG_ARCH_CHIP_QEMU_ARM=y
+CONFIG_ARCH_CHIP_QEMU_CORTEXR5=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_LOWVECTORS=y
+CONFIG_BOARDCTL_POWEROFF=y
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_TASK_STACKSIZE=4096
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_FLASH_SIZE=1048576
+CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_ONESHOT=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=16777216
+CONFIG_RAM_START=0x40000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_HAVE_PARENT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=25
+CONFIG_START_YEAR=2025
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_UART1_BASE=0x9000000
+CONFIG_UART1_IRQ=33
+CONFIG_UART1_PL011=y
+CONFIG_UART1_SERIAL_CONSOLE=y
+CONFIG_UART_PL011=y
+CONFIG_USEC_PER_TICK=1000

boards/arm/qemu/qemu-armv7r/include/board.h

@@ -0,0 +1,61 @@
+/****************************************************************************
+ * boards/arm/qemu/qemu-armv7r/include/board.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_QEMU_QEMU_ARMV7R_INCLUDE_BOARD_H
+#define __BOARDS_ARM_QEMU_QEMU_ARMV7R_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM_QEMU_QEMU_ARMV7R_INCLUDE_BOARD_H */

boards/arm/qemu/qemu-armv7r/scripts/Make.defs

@@ -0,0 +1,42 @@
+############################################################################
+# boards/arm/qemu/qemu-armv7r/scripts/Make.defs
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(TOPDIR)/.config
+include $(TOPDIR)/tools/Config.mk
+include $(TOPDIR)/arch/arm/src/armv7-r/Toolchain.defs
+
+LDSCRIPT = dramboot.ld
+
+ARCHSCRIPT += $(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT)
+
+CFLAGS := $(ARCHCFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS := $(ARCHCXXFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS := $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
+AFLAGS := $(CFLAGS) -D__ASSEMBLY__
+
+# NXFLAT module definitions
+
+NXFLATLDFLAGS1 = -r -d -warn-common
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)$(DELIM)binfmt$(DELIM)libnxflat$(DELIM)gnu-nxflat-pcrel.ld -no-check-sections
+LDNXFLATFLAGS = -e main -s 2048