diff --git a/arch/arm/Kconfig b/arch/arm/Kconfig
index ae6f9f83287576d61f084f70737feed34161dcb0..c366e6206e52b395aa7ea58f514c776ac4745107 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -20,7 +20,7 @@ config CPU_CORTEX
config ARM_CUSTOM_INTERRUPT_CONTROLLER
bool
- depends on !CPU_CORTEX_M
+ depends on !CPU_CORTEX_M || SOC_BCM2837
help
This option indicates that the ARM CPU is connected to a custom (i.e.
non-GIC) interrupt controller.
diff --git a/arch/arm/core/aarch64/Kconfig b/arch/arm/core/aarch64/Kconfig
index b5494b455c038b0b2a5411daee6dea4456915fc8..aac7867222fa253b4cb15995300c2f9dce4e95ca 100644
--- a/arch/arm/core/aarch64/Kconfig
+++ b/arch/arm/core/aarch64/Kconfig
@@ -9,7 +9,6 @@ config CPU_CORTEX_A
select HAS_FLASH_LOAD_OFFSET
select USE_SWITCH
select USE_SWITCH_SUPPORTED
- select SCHED_IPI_SUPPORTED if SMP
help
This option signifies the use of a CPU of the Cortex-A family.
diff --git a/arch/arm/core/aarch64/smp.c b/arch/arm/core/aarch64/smp.c
index 2735be6cc05c5ec86139b7e88da8581eccafd4af..5030cd02cdac6b2e5891f91abfbeb02e2b0d5526 100644
--- a/arch/arm/core/aarch64/smp.c
+++ b/arch/arm/core/aarch64/smp.c
@@ -35,6 +35,18 @@ volatile uint32_t arm64_cpu_up_flag;
*/
volatile _cpu_t *_curr_cpu[CONFIG_MP_NUM_CPUS];
+#ifdef CONFIG_SOC_BCM2837
+static ALWAYS_INLINE void __SEV(void)
+{
+ __asm__ volatile ("sev" : : : "memory");
+}
+
+static void sys_write64(uint64_t val, uintptr_t addr) {
+ sys_write32(val, addr);
+ sys_write32(val >> 32, addr + sizeof(uint32_t));
+}
+#endif
+
extern void __start(void);
/* Called from Zephyr initialization */
void arch_start_cpu(int cpu_num, k_thread_stack_t *stack, int sz,
@@ -52,10 +64,16 @@ void arch_start_cpu(int cpu_num, k_thread_stack_t *stack, int sz,
arm64_cpu_up_flag = cpu_num;
arch_dcache_flush((void *)&arm64_cpu_up_flag, sizeof(uint32_t));
+#ifdef CONFIG_SOC_BCM2837
+ sys_write64((uint64_t) &__start, 0xd8 + 0x8 * cpu_num);
+ __DSB();
+ __SEV();
+#else
/* TODO: get mpidr from device tree, using cpu_num */
err = psci_cpu_on(cpu_num, (uint64_t)&__start);
if (err)
printk("Failed to boot CPU%d (%d)\n", cpu_num, err);
+#endif
while (arm64_cpu_up_flag != 0) {
;
@@ -71,9 +89,11 @@ void z_arm64_secondary_start(void)
arm_mmu_init(NULL);
+#ifndef CONFIG_SOC_BCM2837
arm_gic_secondary_init();
irq_enable(0);
+#endif
arm64_cpu_up_flag = 0;
@@ -83,6 +103,7 @@ void z_arm64_secondary_start(void)
}
#ifdef CONFIG_SMP
+#ifndef CONFIG_SOC_BCM2837
void sched_ipi_handler(const void *unused)
{
@@ -114,3 +135,4 @@ static int arm64_smp_init(const struct device *dev)
SYS_INIT(arm64_smp_init, PRE_KERNEL_1, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);
#endif
+#endif
diff --git a/arch/arm/include/aarch64/exc.h b/arch/arm/include/aarch64/exc.h
index 937ef6bfb43153ae818988593257162943026b02..5d07cfc86f29adcd79e9b44913f99c9242387ac6 100644
--- a/arch/arm/include/aarch64/exc.h
+++ b/arch/arm/include/aarch64/exc.h
@@ -34,7 +34,7 @@ extern void z_arm64_offload(void);
static ALWAYS_INLINE bool arch_is_in_isr(void)
{
- return _kernel.cpus[0].nested != 0U;
+ return arch_curr_cpu()->nested != 0U;
}
diff --git a/boards/arm/raspi3/Kconfig.board b/boards/arm/raspi3/Kconfig.board
new file mode 100644
index 0000000000000000000000000000000000000000..e15f9d03c8e6534a1fd40372045f56b014720f89
--- /dev/null
+++ b/boards/arm/raspi3/Kconfig.board
@@ -0,0 +1,8 @@
+# Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_RASPI3
+ bool "Raspberry Pi 3 Model B+ and QEMU Machine raspi3"
+ depends on SOC_BCM2837
+ select ARM64
+ select QEMU_TARGET
diff --git a/boards/arm/raspi3/Kconfig.defconfig b/boards/arm/raspi3/Kconfig.defconfig
new file mode 100644
index 0000000000000000000000000000000000000000..90c9ba689cc6b72b69d6fddd4d1e43c810730c8b
--- /dev/null
+++ b/boards/arm/raspi3/Kconfig.defconfig
@@ -0,0 +1,12 @@
+# Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_RASPI3
+
+config BUILD_OUTPUT_BIN
+ default y
+
+config BOARD
+ default "raspi3"
+
+endif # BOARD_RASPI3
diff --git a/boards/arm/raspi3/board.cmake b/boards/arm/raspi3/board.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..68c4452cab15ce0bf8655332bc91c5e0e5b8b434
--- /dev/null
+++ b/boards/arm/raspi3/board.cmake
@@ -0,0 +1,17 @@
+# Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+# SPDX-License-Identifier: Apache-2.0
+
+set(EMU_PLATFORM qemu)
+set(QEMU_ARCH aarch64)
+set(QEMU_KERNEL_OPTION "-kernel;${ZEPHYR_BINARY_DIR}/zephyr.bin")
+
+# https://github.com/s-matyukevich/raspberry-pi-os/issues/8#issuecomment-411024746
+set(QEMU_FLAGS_${ARCH}
+ -M raspi3
+ -smp 4
+ -nographic
+ -no-reboot
+ # To see Mini UART on qemu's stdout (default is PL011):
+ # -serial null -serial chardev:con -monitor none
+ )
+board_set_debugger_ifnset(qemu)
diff --git a/boards/arm/raspi3/raspi3.dts b/boards/arm/raspi3/raspi3.dts
new file mode 100644
index 0000000000000000000000000000000000000000..3696627252fb31e6c43f7bec1d0d09f733d9dc53
--- /dev/null
+++ b/boards/arm/raspi3/raspi3.dts
@@ -0,0 +1,139 @@
+/*
+* Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+*
+* SPDX-License-Identifier: Apache-2.0
+*
+*/
+
+/dts-v1/;
+
+#include <mem.h>
+#include <arm/armv8-a.dtsi>
+
+/ {
+ interrupt-parent = <&intc>;
+
+ cpus {
+ #address-cells = <1>;
+ #size-cells = <0>;
+
+ cpu@0 {
+ device_type = "cpu";
+ compatible = "arm,cortex-a53";
+ reg = <0>;
+ };
+
+ cpu@1 {
+ device_type = "cpu";
+ compatible = "arm,cortex-a53";
+ reg = <1>;
+ };
+
+ cpu@2 {
+ device_type = "cpu";
+ compatible = "arm,cortex-a53";
+ reg = <2>;
+ };
+
+ cpu@3 {
+ device_type = "cpu";
+ compatible = "arm,cortex-a53";
+ reg = <3>;
+ };
+ };
+
+ uartclk: apb-pclk {
+ compatible = "fixed-clock";
+ /* BUG: This is not used, instead the parameters are hardcored in uart_pl011. */
+ clock-frequency = <14000000>;
+ #clock-cells = <0>;
+ };
+
+ soc {
+ /* https://github.com/s-matyukevich/raspberry-pi-os/blob/master/docs/lesson03/rpi-os.md#configuring-interrupt-controller */
+ intc: interrupt-controller@3f00b200 {
+ compatible = "brcm,bcm2835-armctrl-ic";
+ reg = <0x3f00b200 0x200>;
+ interrupt-controller;
+ #interrupt-cells = <3>;
+ label = "intc";
+ };
+
+ local_intc: local_intc@40000000 {
+ compatible = "brcm,bcm2835-l1-intc";
+ reg = <0x40000000 0x100>;
+ interrupt-controller;
+ #interrupt-cells = <3>;
+ label = "l1-intc";
+ };
+
+ timer {
+ compatible = "arm,arm-timer";
+ interrupt-parent = <&local_intc>;
+ /* TODO: Is the intc nested into the local_intc? Maybe we can tell zephyr to generate the unique interrupt number for us? */
+ interrupts = <72 0 0>, <73 0 0>, <75 0 0>, <74 0 0>; /* CNTPSIRQ, CNTPNSIRQ, CNTVIRQ, CNTHPIRQ */
+ label = "arch_timer";
+ };
+
+ /* https://github.com/s-matyukevich/raspberry-pi-os/blob/master/docs/lesson03/rpi-os.md#timer-initialization */
+ timer@3f003000 {
+ compatible = "brcm,bcm2835-system-timer";
+ reg = <0x3f003000 0x20>;
+ interrupts = <0 0 0>, <1 0 0>, <2 0 0>, <3 0 0>;
+ /* This could be a reference to BCM2835_CLOCK_TIMER,
+ * but we don't have the driver using the common clock
+ * support yet.
+ */
+ clock-frequency = <1000000>; /* 1MHz */
+ };
+
+ /* Page 196 in the "BCM2837 ARM Peripherals manual" https://github.com/raspberrypi/documentation/files/1888662/BCM2837-ARM-Peripherals.-.Revised.-.V2-1.pdf */
+ /* TODO: This is likely not required. We just need timer@3f003000 for the system clock and armv7-timer for the timer ticks. */
+ timer@3f00b000 {
+ compatible = "brcm,bcm2835-arm-timer";
+ reg = <0x3f00b000 0x1000>;
+ interrupts = <64 0 0>;
+ clock-frequency = <1000000>; /* 1MHz */
+ };
+
+ uart0: uart@3f201000 {
+ compatible = "arm,pl011";
+ /* #clock-cells = <1>; */
+ reg = <0x3f201000 0x1000>;
+ status = "disabled";
+ interrupts = <57 0 0>;
+ interrupt-names = "irq_0";
+ clocks = <&uartclk>;
+ label = "UART_0";
+ };
+
+ /* sram: memory@80000 { */
+ /* device_type = "memory"; */
+ /* compatible = "mmio-sram"; */
+ /* BCM2837 has 1GiB of RAM. */
+
+ /* 0x80000 is the memory offset to which the kerenl image is loaded by the bootloader. */
+ /* If this is wrong, references to static data in the kernel image are off. */
+ /* https://wiki.osdev.org/Raspberry_Pi_Bare_Bones#Pi_3.2C_4 */
+ /* reg = <0x80000 1024>; */
+ /* label = "sram"; */
+ /* }; */
+ };
+};
+
+/ {
+ model = "Raspberry Pi 3 Model B+";
+ compatible = "qemu,arm-cortex-a53";
+
+ chosen {
+ zephyr,console = &uart0;
+ zephyr,shell-uart = &uart0;
+ /* TODO: why has this no effect? falls back to size 0xffffffffffff6000 */
+ /* zephyr,sram = &sram; */
+ };
+};
+
+&uart0 {
+ status = "okay";
+ current-speed = <115200>;
+};
diff --git a/boards/arm/raspi3/raspi3.yaml b/boards/arm/raspi3/raspi3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eda12d153090a5bb29d72649753339a81971f22c
--- /dev/null
+++ b/boards/arm/raspi3/raspi3.yaml
@@ -0,0 +1,14 @@
+identifier: raspi3
+name: Raspberry Pi 3
+type: qemu
+simulation: qemu
+arch: arm
+toolchain:
+ - zephyr
+ - cross-compile
+ram: 256
+testing:
+ default: true
+ ignore_tags:
+ - net
+ - bluetooth
diff --git a/boards/arm/raspi3/raspi3_defconfig b/boards/arm/raspi3/raspi3_defconfig
new file mode 100644
index 0000000000000000000000000000000000000000..70722f07f6509608a68a77e5854bd3a0d278d989
--- /dev/null
+++ b/boards/arm/raspi3/raspi3_defconfig
@@ -0,0 +1,47 @@
+CONFIG_SOC_BCM2837=y
+CONFIG_BOARD_RASPI3=y
+CONFIG_XIP=n
+
+# QEMU settings
+
+# Memory offset to which the kerenl image is loaded by the bootloader.
+# If this is wrong, references to static data in the kernel image are off.
+# https://wiki.osdev.org/Raspberry_Pi_Bare_Bones#Pi_3.2C_4
+CONFIG_SRAM_BASE_ADDRESS=0x80000
+# In KiB.
+CONFIG_SRAM_SIZE=256
+
+# Enable UART driver
+CONFIG_SERIAL=y
+
+# Enable console
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+
+# Enable serial port
+CONFIG_UART_PL011=y
+CONFIG_UART_PL011_PORT0=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+
+CONFIG_QEMU_ICOUNT=n
+
+CONFIG_LOG=y
+CONFIG_LOG_MINIMAL=y
+
+CONFIG_ARM_ARCH_TIMER=y
+
+CONFIG_SMP=y
+CONFIG_MP_NUM_CPUS=4
+
+CONFIG_CACHE_FLUSHING=y
+CONFIG_TIMEOUT_64BIT=y
+CONFIG_ARMV8_A_NS=y
+
+CONFIG_DEBUG=y
+CONFIG_ASSERT=y
+CONFIG_ASSERT_VERBOSE=y
+CONFIG_STACK_SENTINEL=y
+CONFIG_INIT_STACKS=y
+
+CONFIG_TICKLESS_KERNEL=n
+CONFIG_LOG_PRINTK=n
diff --git a/drivers/serial/uart_pl011.c b/drivers/serial/uart_pl011.c
index cd9a975c090470cc9ab80b1eb89e7b0cf747a1a3..b3c7c2b0e765f66c90b2caa7858d4de6e77e30a8 100644
--- a/drivers/serial/uart_pl011.c
+++ b/drivers/serial/uart_pl011.c
@@ -183,8 +183,13 @@ static int pl011_set_baudrate(const struct device *dev,
return -EINVAL;
}
+#ifdef CONFIG_BOARD_RASPI3
+ PL011_REGS(dev)->ibrd = 26;
+ PL011_REGS(dev)->fbrd = 3;
+#else
PL011_REGS(dev)->ibrd = bauddiv >> PL011_FBRD_WIDTH;
PL011_REGS(dev)->fbrd = bauddiv & ((1u << PL011_FBRD_WIDTH) - 1u);
+#endif
__DMB();
@@ -351,11 +356,51 @@ static const struct uart_driver_api pl011_driver_api = {
#endif /* CONFIG_UART_INTERRUPT_DRIVEN */
};
+#ifdef CONFIG_BOARD_RASPI3
+#define PBASE 0x3F000000
+
+#define GPFSEL1 (PBASE + 0x00200004)
+#define GPSET0 (PBASE + 0x0020001C)
+#define GPCLR0 (PBASE + 0x00200028)
+#define GPPUD (PBASE + 0x00200094)
+#define GPPUDCLK0 (PBASE + 0x00200098)
+
+static void write32_sys(uintptr_t addr, uint32_t val) {
+ sys_write32(val, addr);
+}
+
+#define GPIO_ALT0 4 // UART0/PL011
+#define GPIO_ALT5 2 // UART1/Mini/AUX
+
+static void raspi3_gpio_enable_pl011(void)
+{
+ unsigned int selector; // 32 bits
+
+ selector = sys_read32(GPFSEL1);
+ selector &= ~(7 << 12);
+ selector |= GPIO_ALT0 << 12; // Set GPIO14
+ selector &= ~(7 << 15);
+ selector |= GPIO_ALT0 << 15; // Set GPIO15
+ write32_sys(GPFSEL1, selector);
+
+ // Set GPIO pull-up/down. Common to Mini UART (AUX) and PL011.
+ write32_sys(GPPUD, 0);
+ k_busy_wait(150); /* 150 cycles ~= 150us */
+ write32_sys(GPPUDCLK0, (1 << 14) | (1 << 15));
+ k_busy_wait(150);
+ write32_sys(GPPUDCLK0, 0);
+}
+#endif
+
static int pl011_init(const struct device *dev)
{
int ret;
uint32_t lcrh;
+#ifdef CONFIG_BOARD_RASPI3
+ raspi3_gpio_enable_pl011();
+#endif
+
/* disable the uart */
pl011_disable(dev);
pl011_disable_fifo(dev);
diff --git a/drivers/timer/Kconfig b/drivers/timer/Kconfig
index 4233b9d7131c771e305854635cc09287206c60a1..5a33674fc43c097245dcae1b1e2a94ebb2e66287 100644
--- a/drivers/timer/Kconfig
+++ b/drivers/timer/Kconfig
@@ -113,7 +113,6 @@ config ARCV2_TIMER_IRQ_PRIORITY
config ARM_ARCH_TIMER
bool "ARM architected timer"
- depends on GIC
select ARCH_HAS_CUSTOM_BUSY_WAIT
select TICKLESS_CAPABLE
help
diff --git a/dts/bindings/interrupt-controller/brcm,bcm2835-armctrl-ic.yaml b/dts/bindings/interrupt-controller/brcm,bcm2835-armctrl-ic.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..93386a80ec19df90323fc7331560862041686e9f
--- /dev/null
+++ b/dts/bindings/interrupt-controller/brcm,bcm2835-armctrl-ic.yaml
@@ -0,0 +1,21 @@
+# Copyright (c) 2018 Marvell
+# SPDX-License-Identifier: Apache-2.0
+
+description: Interrupt Controller
+
+compatible: "brcm,bcm2835-armctrl-ic"
+
+include: base.yaml
+
+properties:
+ reg:
+ required: true
+
+ label:
+ required: true
+
+# GIC-compatible to allow reuse of arm,arm-timer. flags and priority are always 0.
+interrupt-cells:
+ - irq
+ - flags
+ - priority
diff --git a/dts/bindings/interrupt-controller/brcm,bcm2835-l1-intc.yaml b/dts/bindings/interrupt-controller/brcm,bcm2835-l1-intc.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..917b981413662d8f274342a93db585749a91da9c
--- /dev/null
+++ b/dts/bindings/interrupt-controller/brcm,bcm2835-l1-intc.yaml
@@ -0,0 +1,21 @@
+# Copyright (c) 2018 Marvell
+# SPDX-License-Identifier: Apache-2.0
+
+description: Interrupt Controller
+
+compatible: "brcm,bcm2835-l1-intc"
+
+include: base.yaml
+
+properties:
+ reg:
+ required: true
+
+ label:
+ required: true
+
+# GIC-compatible to allow reuse of arm,arm-timer. flags and priority are always 0.
+interrupt-cells:
+ - irq
+ - flags
+ - priority
diff --git a/dts/bindings/serial/arm,raspi3.yaml b/dts/bindings/serial/arm,raspi3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f1731792e479dd1d6b3bd2ee85d4712bb947ee9a
--- /dev/null
+++ b/dts/bindings/serial/arm,raspi3.yaml
@@ -0,0 +1,9 @@
+description: raspi3 UART
+
+compatible: "arm,raspi3"
+
+include: uart-controller.yaml
+
+properties:
+ reg:
+ required: true
diff --git a/include/arch/arm/aarch64/scripts/linker.ld b/include/arch/arm/aarch64/scripts/linker.ld
index 01b7d6b7206a277d54803c3f3d735030017c9aa9..8c3b317cfb041c19bd84c72e243e06860de713c0 100644
--- a/include/arch/arm/aarch64/scripts/linker.ld
+++ b/include/arch/arm/aarch64/scripts/linker.ld
@@ -111,6 +111,12 @@ SECTIONS
{
_image_text_start = .;
+ /* This has to be the first entry to allow __start to be located at
+ * 0x80000 on the Raspberry Pi 3b. */
+ *(.text)
+ *(".text.*")
+ *(.gnu.linkonce.t.*)
+
_vector_start = .;
KEEP(*(.exc_vector_table))
KEEP(*(".exc_vector_table.*"))
@@ -119,10 +125,6 @@ SECTIONS
_vector_end = .;
- *(.text)
- *(".text.*")
- *(.gnu.linkonce.t.*)
-
/*
* These are here according to 'arm-zephyr-elf-ld --verbose',
* after .gnu.linkonce.t.*
diff --git a/soc/arm/bcm2837/CMakeLists.txt b/soc/arm/bcm2837/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..584f43dab059861d6e234012098733b0ab5b5e0a
--- /dev/null
+++ b/soc/arm/bcm2837/CMakeLists.txt
@@ -0,0 +1,7 @@
+# Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library_sources_ifdef(CONFIG_ARM_MMU mmu_regions.c)
+
+zephyr_sources_ifdef(CONFIG_SOC_BCM2837 plat_core.S)
+zephyr_sources_ifdef(CONFIG_SOC_BCM2837 intc_bcm2837.c)
diff --git a/soc/arm/bcm2837/Kconfig.defconfig b/soc/arm/bcm2837/Kconfig.defconfig
new file mode 100644
index 0000000000000000000000000000000000000000..801c488d498e2e6eceb0e170116e171dcc54017c
--- /dev/null
+++ b/soc/arm/bcm2837/Kconfig.defconfig
@@ -0,0 +1,30 @@
+# Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+# SPDX-License-Identifier: Apache-2.0
+
+if SOC_BCM2837
+
+config SOC
+ default "bcm2837"
+
+config NUM_IRQS
+ # must be >= the highest interrupt number used
+ # - include the UART interrupts
+ # via BCM2837-PM Page 113
+ default 128
+
+config SYS_CLOCK_HW_CYCLES_PER_SEC
+ default 62500000
+
+# Workaround for not being able to have commas in macro arguments
+DT_CHOSEN_Z_FLASH := zephyr,flash
+
+config FLASH_SIZE
+ default $(dt_chosen_reg_size_int,$(DT_CHOSEN_Z_FLASH),0,K)
+
+config FLASH_BASE_ADDRESS
+ default $(dt_chosen_reg_addr_hex,$(DT_CHOSEN_Z_FLASH))
+
+config ARM_CUSTOM_INTERRUPT_CONTROLLER
+ default y
+
+endif # SOC_BCM2837
diff --git a/soc/arm/bcm2837/Kconfig.soc b/soc/arm/bcm2837/Kconfig.soc
new file mode 100644
index 0000000000000000000000000000000000000000..a5a92e4766464bbca765441363e1613ae10f7789
--- /dev/null
+++ b/soc/arm/bcm2837/Kconfig.soc
@@ -0,0 +1,7 @@
+# Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+# SPDX-License-Identifier: Apache-2.0
+
+config SOC_BCM2837
+ bool "BCM2837 and BCM2837B0 SoC, QEMU virt platform (raspi3)"
+ select ARM
+ select CPU_CORTEX_A53
diff --git a/soc/arm/bcm2837/README.md b/soc/arm/bcm2837/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..135a4cdd1ef6f801d2d9d9deb94eef94787886b8
--- /dev/null
+++ b/soc/arm/bcm2837/README.md
@@ -0,0 +1,9 @@
+# BCM2837
+
+SoC of the Raspberry Pi
+- 2 Mod. B v1.2,
+- 3 Mod. A+ (assumed to be qemu's `-M raspi3`)
+- 3 Mod. B
+- 3 Mod. B+.
+
+Peripheral Manual (BCM2837-PM): https://github.com/raspberrypi/documentation/files/1888662/BCM2837-ARM-Peripherals.-.Revised.-.V2-1.pdf
diff --git a/soc/arm/bcm2837/intc_bcm2837.c b/soc/arm/bcm2837/intc_bcm2837.c
new file mode 100644
index 0000000000000000000000000000000000000000..bbdc40fe3cd70044d06455714180d06f5cf76080
--- /dev/null
+++ b/soc/arm/bcm2837/intc_bcm2837.c
@@ -0,0 +1,207 @@
+/*
+ * Copyright 2020 Broadcom
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <sys/__assert.h>
+#include <arch/arm/aarch64/irq.h>
+
+/* TODO: Get these from device tree. */
+#define PBASE 0x3f000000
+#define BCM2836_ARMCTRL_BASE (PBASE+0x0000B200)
+
+/* Definitions copied from linux's irq-bcm2835.c: */
+
+/* Put the bank and irq (32 bits) into the hwirq */
+#define MAKE_HWIRQ(b, n) ((b << 5) | (n))
+#define HWIRQ_BANK(i) (i >> 5)
+#define HWIRQ_BIT(i) BIT(i & 0x1f)
+
+#define NR_IRQS_BANK0 8
+#define BANK0_HWIRQ_MASK 0xff
+/* Shortcuts can't be disabled so any unknown new ones need to be masked */
+#define SHORTCUT1_MASK 0x00007c00
+#define SHORTCUT2_MASK 0x001f8000
+#define SHORTCUT_SHIFT 10
+#define BANK1_HWIRQ BIT(8)
+#define BANK2_HWIRQ BIT(9)
+#define BANK0_VALID_MASK (BANK0_HWIRQ_MASK | BANK1_HWIRQ | BANK2_HWIRQ \
+ | SHORTCUT1_MASK | SHORTCUT2_MASK)
+
+#define REG_FIQ_CONTROL 0x0c
+#define FIQ_CONTROL_ENABLE BIT(7)
+
+#define NR_BANKS 3
+#define IRQS_PER_BANK 32
+
+static const int armctrl_reg_pending[] = { 0x04, 0x08, 0x00 };
+static const int armctrl_reg_enable[] = { 0x10, 0x14, 0x18 };
+static const int armctrl_reg_disable[] = { 0x1c, 0x20, 0x24 };
+static const int armctrl_bank_bits[] = { 32, 32, 8 };
+
+/* Copied from https://github.com/xinu-os/xinu/blob/master/system/platforms/arm-rpi/dispatch.c: */
+
+/* Number of IRQs shared between the GPU and ARM. These correspond to the IRQs
+ * that show up in the IRQ_pending_1 and IRQ_pending_2 registers. */
+#define ARMCTRL_NUM_GPU_SHARED_IRQS 64
+
+/* Number of ARM-specific IRQs. These correspond to IRQs that show up in the
+ * first 8 bits of IRQ_basic_pending. */
+#define ARMCTRL_NUM_ARM_SPECIFIC_IRQS 8
+
+#define ARMCTRL_NUM_IRQS (ARMCTRL_NUM_GPU_SHARED_IRQS + ARMCTRL_NUM_ARM_SPECIFIC_IRQS)
+#define L1_NUM_IRQS (32)
+#define NUM_IRQS (ARMCTRL_NUM_IRQS + L1_NUM_IRQS)
+
+static bool irq_enabled[NUM_IRQS];
+
+static void armctrl_irq_to_bank(unsigned int irq, int *bank, int *bank_bit) {
+ __ASSERT_NO_MSG(irq < ARMCTRL_NUM_IRQS);
+ *bank = 0;
+ *bank_bit = irq;
+ while (*bank_bit >= armctrl_bank_bits[*bank]) {
+ *bank_bit -= armctrl_bank_bits[*bank];
+ *bank += 1;
+
+ __ASSERT_NO_MSG(*bank <= 2);
+ }
+ __ASSERT_NO_MSG(0 <= *bank);
+ __ASSERT_NO_MSG(*bank <= 2);
+ __ASSERT_NO_MSG(0 <= *bank_bit);
+ __ASSERT_NO_MSG(*bank_bit < 32);
+}
+
+static void armctrl_irq_enable(unsigned int irq) {
+ int bank, bank_bit;
+ armctrl_irq_to_bank(irq, &bank, &bank_bit);
+ uintptr_t addr = BCM2836_ARMCTRL_BASE + armctrl_reg_enable[bank];
+
+ printk("armctrl_irq_enable irq=%d, bank=%d, bit=%d, addr=%p\n", irq, bank, bank_bit, (char *) addr);
+ sys_write32((1 << bank_bit), addr);
+}
+
+static void armctrl_irq_disable(unsigned int irq) {
+ int bank, bank_bit;
+ armctrl_irq_to_bank(irq, &bank, &bank_bit);
+ uintptr_t addr = BCM2836_ARMCTRL_BASE + armctrl_reg_disable[bank];
+
+ printk("armctrl_irq_enable irq=%d, bank=%d, bit=%d, addr=%p\n", irq, bank, bank_bit, (char *) addr);
+ sys_write32((1 << bank_bit), addr);
+}
+
+/* BCM2836 ARM-local peripherals manual, section 4.10 "Core interrupt sources" */
+/* QEMU Device Implementation: https://github.com/qemu/qemu/blob/918c81a53eb18ec4e9979876a39e86610cc565f4/hw/intc/bcm2836_control.c */
+
+static void l1_irq_enable(unsigned int l1_irq) {
+ __ASSERT_NO_MSG(l1_irq < L1_NUM_IRQS);
+
+ if (0 <= l1_irq && l1_irq <= 3) {
+ /* Core timer interrupts: CNT_PS_IRQ = 0, CNT_PNS_IRQ = 1, CNT_HP_IRQ = 2, CNT_V_IRQ = 3 */
+ int cpuid = arch_curr_cpu()->id;
+ intptr_t core_timer_interrupt_control_addr = 0x40000040 + cpuid * 4;
+ uint32_t val = sys_read32(core_timer_interrupt_control_addr);
+ val |= (1 << l1_irq);
+ sys_write32(val, core_timer_interrupt_control_addr);
+ } else {
+ printk("Warning: l1_irq_enable(%d) not implemented.\n", l1_irq);
+ }
+}
+
+static void l1_irq_disable(unsigned int l1_irq) {
+ __ASSERT_NO_MSG(l1_irq < L1_NUM_IRQS);
+ printk("Warning: l1_irq_disable(%d) not implemented.\n", l1_irq);
+}
+
+void z_soc_irq_init(void) {
+ /* Don't print anything here as C might not be initialized yet. */
+}
+
+int z_soc_irq_is_enabled(unsigned int irq) {
+ /* Manual does not explicitly state that reading from armctrl_reg_enable
+ * indicates if an IRQ was enabled, also Xinu does not do it like
+ * this. That's why we have irq_enabled. */
+ __ASSERT_NO_MSG(irq < ARMCTRL_NUM_IRQS);
+ return irq_enabled[irq];
+}
+
+void z_soc_irq_enable(unsigned int irq) {
+ if (irq < ARMCTRL_NUM_IRQS) {
+ armctrl_irq_enable(irq);
+ irq_enabled[irq] = true;
+ } else {
+ l1_irq_enable(irq - ARMCTRL_NUM_IRQS);
+ }
+}
+
+void z_soc_irq_disable(unsigned int irq) {
+ if (irq < ARMCTRL_NUM_IRQS) {
+ armctrl_irq_disable(irq);
+ irq_enabled[irq] = false;
+ } else {
+ l1_irq_disable(irq - ARMCTRL_NUM_IRQS);
+ }
+}
+
+void z_soc_irq_priority_set(unsigned int irq, unsigned int prio, unsigned int flags) {
+ /* Not supported. */
+
+ /* Peripheral Manual: There is no priority for any interrupt. If one
+ * interrupt is much more important then all others it canbe routed to
+ * the FIQ. */
+ return;
+}
+
+/* Called from HW IRQ context with interrupts disabled: Retrieve the currently
+ * active IRQ that should be handled.
+ *
+ * Resources:
+ * - https://embedded-xinu.readthedocs.io/en/latest/arm/rpi/BCM2835-Interrupt-Controller.html
+ */
+unsigned int z_soc_irq_get_active(void) {
+ int cpuid = arch_curr_cpu()->id;
+
+ /* printk("%s on cpu%d, stack at ~%p\n", __func__, cpuid, &cpuid); */
+
+ for (unsigned int irq = 0; irq < ARMCTRL_NUM_IRQS; irq++) {
+ int bank, bank_bit;
+ armctrl_irq_to_bank(irq, &bank, &bank_bit);
+
+ unsigned int bank_pending = sys_read32(BCM2836_ARMCTRL_BASE + armctrl_reg_pending[bank]);
+ bool is_pending = (bank_pending & (1 << bank_bit)) != 0;
+
+ if (is_pending) {
+ /* Clear pending to allow us to detect when this IRQ occurs again (nested irq). */
+ sys_write32(bank_pending & ~(1 << bank_bit), BCM2836_ARMCTRL_BASE + armctrl_reg_pending[bank]);
+ return irq;
+ }
+ }
+
+ intptr_t core_interrupt_sources_addr = 0x40000060 + cpuid * 4;
+ uint32_t pending = sys_read32(core_interrupt_sources_addr);
+ for (unsigned int l1_irq = 0; l1_irq < L1_NUM_IRQS; l1_irq++) {
+ unsigned int irq = ARMCTRL_NUM_IRQS + l1_irq;
+ if (pending & (1 << l1_irq)) {
+ /* https://developer.arm.com/architectures/learn-the-architecture/generic-timer/single-page */
+ if (l1_irq == 3) {
+ arm_arch_timer_irq_mask(true);
+ }
+ return irq;
+ }
+ }
+
+ __ASSERT_NO_MSG(false);
+ CODE_UNREACHABLE;
+}
+
+/* Mark irq as inactive (called in HW IRQ context after handler). */
+void z_soc_irq_eoi(unsigned int irq) {
+ if (irq < ARMCTRL_NUM_IRQS) {
+ printk("Warning: %s(%d)\n", __func__, irq);
+ } else {
+ unsigned int l1_irq = irq - ARMCTRL_NUM_IRQS;
+ if (l1_irq == 3) {
+ arm_arch_timer_irq_mask(false);
+ }
+ }
+}
diff --git a/soc/arm/bcm2837/linker.ld b/soc/arm/bcm2837/linker.ld
new file mode 100644
index 0000000000000000000000000000000000000000..fd1bad9e1d6d30ed1a4450dd67a4ce721c9ddd6a
--- /dev/null
+++ b/soc/arm/bcm2837/linker.ld
@@ -0,0 +1,8 @@
+/*
+ * Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ */
+
+#include <arch/arm/aarch64/scripts/linker.ld>
diff --git a/soc/arm/bcm2837/mmu_regions.c b/soc/arm/bcm2837/mmu_regions.c
new file mode 100644
index 0000000000000000000000000000000000000000..24fe7566f44bd6cfa474b330aef2d3203f51f5e2
--- /dev/null
+++ b/soc/arm/bcm2837/mmu_regions.c
@@ -0,0 +1,54 @@
+/*
+ * Copyright 2019 Broadcom
+ * The term "Broadcom" refers to Broadcom Inc. and/or its subsidiaries.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include <soc.h>
+#include <arch/arm/aarch64/arm_mmu.h>
+
+#define SZ_1K 1024
+
+static const struct arm_mmu_region mmu_regions[] = {
+#ifdef CONFIG_GIC_V3
+ MMU_REGION_FLAT_ENTRY("GIC",
+ DT_REG_ADDR_BY_IDX(DT_INST(0, arm_gic), 0),
+ DT_REG_SIZE_BY_IDX(DT_INST(0, arm_gic), 0),
+ MT_DEVICE_nGnRnE | MT_RW | MT_SECURE),
+
+ MMU_REGION_FLAT_ENTRY("GIC",
+ DT_REG_ADDR_BY_IDX(DT_INST(0, arm_gic), 1),
+ DT_REG_SIZE_BY_IDX(DT_INST(0, arm_gic), 1),
+ MT_DEVICE_nGnRnE | MT_RW | MT_SECURE),
+#else
+ MMU_REGION_FLAT_ENTRY("INTC_BCM2837_L1",
+ 0x40000000,
+ 0x1000,
+ MT_DEVICE_nGnRnE | MT_RW | MT_SECURE),
+ MMU_REGION_FLAT_ENTRY("INTC_BCM2837_ARMCTRK",
+ 0x3f00b000,
+ 0x1000,
+ MT_DEVICE_nGnRnE | MT_RW | MT_SECURE),
+#endif
+ MMU_REGION_FLAT_ENTRY("GP",
+ 0x3f200000,
+ 0x1000,
+ MT_DEVICE_nGnRnE | MT_RW | MT_SECURE),
+#ifdef CONFIG_UART_PL011
+ MMU_REGION_FLAT_ENTRY("UART",
+ DT_REG_ADDR(DT_INST(0, arm_pl011)),
+ DT_REG_SIZE(DT_INST(0, arm_pl011)),
+ MT_DEVICE_nGnRnE | MT_RW | MT_SECURE),
+#endif
+#if defined(CONFIG_SMP) || defined(CONFIG_ZTEST)
+ MMU_REGION_FLAT_ENTRY("SPINTABLE",
+ 0x00000000,
+ 0x1000,
+ MT_DEVICE_nGnRnE | MT_RW | MT_SECURE),
+#endif
+};
+
+const struct arm_mmu_config mmu_config = {
+ .num_regions = ARRAY_SIZE(mmu_regions),
+ .mmu_regions = mmu_regions,
+};
diff --git a/soc/arm/bcm2837/plat_core.S b/soc/arm/bcm2837/plat_core.S
new file mode 100644
index 0000000000000000000000000000000000000000..c1ee72db6c1caf7c0ebaca6ef767916fc5dbac23
--- /dev/null
+++ b/soc/arm/bcm2837/plat_core.S
@@ -0,0 +1,32 @@
+/*
+ * Copyright 2020 Carlo Caione <ccaione@baylibre.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ *@file
+ *@brief plat/core specific init
+*/
+
+#include <toolchain.h>
+#include <linker/sections.h>
+#include <arch/cpu.h>
+
+_ASM_FILE_PROLOGUE
+
+GTEXT(z_arch_el3_plat_init)
+
+SECTION_FUNC(TEXT, z_arch_el3_plat_init)
+
+ mov x20, x30
+
+#ifdef CONFIG_GIC_V3
+ /* Enable GIC v3 system interface */
+ mov_imm x0, (ICC_SRE_ELx_DFB | ICC_SRE_ELx_DIB | \
+ ICC_SRE_ELx_SRE | ICC_SRE_EL3_EN)
+ msr ICC_SRE_EL3, x0
+#endif
+
+ mov x30, x20
+ ret
diff --git a/soc/arm/bcm2837/soc.h b/soc/arm/bcm2837/soc.h
new file mode 100644
index 0000000000000000000000000000000000000000..889f634fe3e0997dc1e1afd4177eae669f915675
--- /dev/null
+++ b/soc/arm/bcm2837/soc.h
@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2019 Carlo Caione <ccaione@baylibre.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ */
+
+#ifndef _SOC_H_
+#define _SOC_H_
+
+#include <sys/util.h>
+
+#ifndef _ASMLANGUAGE
+
+#include <device.h>
+
+#endif /* !_ASMLANGUAGE */
+
+#endif /* _SOC_H_ */