arm: move ASID PD slot

Move the location of ASID PD slot to avoid clash with hardware device
memeory

Signed-off-by: Siwei Zhuang <siwei.zhuang@data61.csiro.au>

include/arch/arm/arch/32/mode/kernel/vspace.h

@@ -12,7 +12,7 @@
 #include <object/structures.h>
 
 /* PD slot reserved for storing the PD's allocated hardware ASID */
-#define PD_ASID_SLOT (0xff000000 >> (PT_INDEX_BITS + PAGE_BITS))
+#define PD_ASID_SLOT (0xfe000000 >> (PT_INDEX_BITS + PAGE_BITS))
 
 enum pde_pte_tag {
     ME_PDE,

include/arch/arm/arch/32/mode/machine.h

@@ -385,13 +385,9 @@ static inline void cleanByVA_PoU(vptr_t vaddr, paddr_t paddr)
 #elif defined(CONFIG_ARCH_ARM_V6)
     /* V6 doesn't distinguish PoU and PoC, so use the basic flush. */
     asm volatile("mcr p15, 0, %0, c7, c10, 1" : : "r"(vaddr));
-#elif defined(CONFIG_PLAT_EXYNOS5)
+#elif defined(CONFIG_ARCH_ARM_V7VE)
     /* Flush to coherency for table walks... Why? */
     asm volatile("mcr p15, 0, %0, c7, c10, 1" : : "r"(vaddr));
-#elif defined(CONFIG_PLAT_IMX7)
-    asm volatile("mcr p15, 0, %0, c7, c10, 1" : : "r"(vaddr));
-#elif defined(CONFIG_PLAT_TK1)
-    asm volatile("mcr p15, 0, %0, c7, c10, 1" : : "r"(vaddr));
 #elif defined(CONFIG_ARM_CORTEX_A53)
     asm volatile("mcr p15, 0, %0, c7, c10, 1" : : "r"(vaddr));
 #else

libsel4/sel4_plat_include/rk3288/sel4/plat/api/constants.h

@@ -0,0 +1,22 @@
+/*
+ * Copyright 2020, Data61, CSIRO (ABN 41 687 119 230)
+ *
+ * SPDX-License-Identifier: BSD-2-Clause
+ */
+#pragma once
+
+#ifdef HAVE_AUTOCONF
+#include <autoconf.h>
+#endif
+
+/* Cortex a17 manual, section 9.2.2 */
+#define seL4_NumHWBreakpoints (10)
+#define seL4_NumExclusiveBreakpoints (6)
+#define seL4_NumExclusiveWatchpoints (4)
+#ifdef CONFIG_HARDWARE_DEBUG_API
+#define seL4_FirstWatchpoint (6)
+#define seL4_NumDualFunctionMonitors (0)
+#endif
+
+/* First address in the virtual address space that is not accessible to user level */
+#define seL4_UserTop 0xe0000000

src/arch/arm/32/kernel/vspace.c

@@ -2214,6 +2214,7 @@ static exception_t decodeARMPageTableInvocation(word_t invLabel, word_t length,
     pd = PDE_PTR(cap_page_directory_cap_get_capPDBasePtr(pdCap));
     asid = cap_page_directory_cap_get_capPDMappedASID(pdCap);
 
+#ifndef CONFIG_ARM_HYPERVISOR_SUPPORT
     if (unlikely(vaddr >= USER_TOP)) {
         userError("ARMPageTableMap: Virtual address cannot be in kernel window. vaddr: 0x%08lx, USER_TOP: 0x%08x", vaddr,
                   USER_TOP);
@@ -2222,6 +2223,7 @@ static exception_t decodeARMPageTableInvocation(word_t invLabel, word_t length,
 
         return EXCEPTION_SYSCALL_ERROR;
     }
+#endif
 
     {
         findPDForASID_ret_t find_ret;
@@ -2279,7 +2281,7 @@ static exception_t decodeARMFrameInvocation(word_t invLabel, word_t length,
 {
     switch (invLabel) {
     case ARMPageMap: {
-        word_t vaddr, vtop, w_rightsMask;
+        word_t vaddr, w_rightsMask;
         paddr_t capFBasePtr;
         cap_t pdCap;
         pde_t *pd;
@@ -2333,6 +2335,8 @@ static exception_t decodeARMFrameInvocation(word_t invLabel, word_t length,
                 return EXCEPTION_SYSCALL_ERROR;
             }
         } else {
+#ifndef CONFIG_ARM_HYPERVISOR_SUPPORT
+            word_t vtop;
             vtop = vaddr + BIT(pageBitsForSize(frameSize)) - 1;
 
             if (unlikely(vtop >= USER_TOP)) {
@@ -2343,6 +2347,7 @@ static exception_t decodeARMFrameInvocation(word_t invLabel, word_t length,
 
                 return EXCEPTION_SYSCALL_ERROR;
             }
+#endif
         }
 
         {

src/drivers/timer/generic_timer.c

@@ -33,14 +33,14 @@ BOOT_CODE void initGenericTimer(void)
 }
 
 /*
- * The exynos5 platforms require custom hardware initialisation before the
+ * The exynos5 and rk3288 platforms require custom hardware initialisation before the
  * generic timer is usable. They need to overwrite initTimer before calling
  * initGenericTimer because of this. We cannot use a `weak` symbol definition
  * in this case because the kernel is built as a single file and multiple
  * symbol definitions with the same name are not allowed. We therefore resort
  * to ifdef'ing out this initTimer definition for exynos5 platforms.
  */
-#ifndef CONFIG_PLAT_EXYNOS5
+#if !defined(CONFIG_PLAT_EXYNOS5) && !defined(CONFIG_PLAT_RK3288)
 BOOT_CODE void initTimer(void)
 {
     initGenericTimer();

src/plat/rk3288/config.cmake

@@ -0,0 +1,47 @@
+#
+# Copyright 2020, Data61, CSIRO (ABN 41 687 119 230)
+#
+# SPDX-License-Identifier: GPL-2.0-only
+#
+
+cmake_minimum_required(VERSION 3.7.2)
+
+declare_platform(rk3288 KernelPlatRK3288 PLAT_RK3288 "KernelSel4ArchAarch32 OR KernelSel4ArchArmHyp")
+
+if(KernelPlatRK3288)
+    if("${KernelSel4Arch}" STREQUAL aarch32)
+        declare_seL4_arch(aarch32)
+	elseif("${KernelSel4Arch}" STREQUAL arm_hyp)
+        declare_seL4_arch(arm_hyp)
+    else()
+        fallback_declare_seL4_arch_default(aarch32)
+    endif()
+    set(KernelArmCortexA15 ON) #almost the same as A17
+    set(KernelArchArmV7ve ON)
+    # v7ve is a superset of v7a, so we enable that as well
+    set(KernelArchArmV7a ON)
+    config_set(KernelARMPlatform ARM_PLAT rk3288)
+    config_set(KernelArmMach "rk3288" CACHE INTERNAL "")
+
+    list(APPEND KernelDTSList "tools/dts/${KernelARMPlatform}-ntablet.dts")
+    list(APPEND KernelDTSList "src/plat/rk3288/overlay-${KernelARMPlatform}-ntablet.dts")
+
+    declare_default_headers(
+        TIMER_FREQUENCY 24000000llu
+        MAX_IRQ 187
+        NUM_PPI 32
+        TIMER drivers/timer/arm_generic.h
+        INTERRUPT_CONTROLLER arch/machine/gic_v2.h
+        CLK_MAGIC 2863311531llu
+        CLK_SHIFT 36u
+        KERNEL_WCET 10u
+    )
+endif()
+
+add_sources(
+    DEP "KernelPlatRK3288"
+    CFILES
+        # I consider the next line to be too long,
+        # but the github style checker insists on having it all on one line.
+        src/arch/arm/machine/gic_v2.c src/arch/arm/machine/l2c_nop.c src/plat/rk3288/machine/timer.c
+)

src/plat/rk3288/machine/timer.c

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2020 Data61, CSIRO (ABN 41 687 119 230)
+ *
+ * SPDX-License-Identifier: GPL-2.0-only
+ */
+
+/*
+ * This code was taken from the Linux kernel, file arch/arm/mach-rockchip/rockchip.c
+ */
+
+#define RK3288_TIMER6_7_PHYS 0xff810000
+
+#define writel(v, a) (*(uint32_t *)(a) = (v))
+
+BOOT_CODE void initTimer(void)
+{
+    /*
+     * Most/all uboot versions for rk3288 don't enable timer7
+     * which is needed for the architected timer to work.
+     * So make sure it is running during early boot.
+     */
+    writel(0, RK3288_TIMER6_7_PHYS + 0x30);
+    writel(0xffffffff, RK3288_TIMER6_7_PHYS + 0x20);
+    writel(0xffffffff, RK3288_TIMER6_7_PHYS + 0x24);
+    writel(1, RK3288_TIMER6_7_PHYS + 0x30);
+    dsb();
+    initGenericTimer();
+}

src/plat/rk3288/overlay-rk3288-ntablet.dts

@@ -0,0 +1,24 @@
+/*
+ * Copyright 2020, Data61, CSIRO (ABN 41 687 119 230)
+ *
+ * SPDX-License-Identifier: GPL-2.0-only
+ */
+
+/ {
+	chosen {
+		seL4,elfloader-devices =
+		    "serial2";
+		seL4,kernel-devices =
+		    "serial2",
+		    &{/interrupt-controller@ffc01000},
+		    &{/timer};
+	};
+
+	// Trustzone carves out some RAM for its secure zone.
+	// Ideally we'd use the memory node passed in from U-Boot,
+	// but for now we need this at compile time.
+	memory {
+		 reg = <0x0 0x200000 0x0 0x7fe00000>;
+	};
+
+};

tools/dts/update-dts.sh

@@ -49,6 +49,7 @@ imx6q-wandboard-revd1=wandq
 imx7d-sdb=imx7sabre
 omap3-beagle=omap3
 qcom-apq8064-ifc6410=apq8064
+rk3288-ntablet=rk3288-ntablet-870a-5648
 sun7i-a20-cubietruck=allwinnera20
 tegra124-jetson-tk1=tk1
 zynq-zc706=zynq7000