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boards/raspberrypi-4b: Add SMP configuration

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Adds SMP support and an `smp` configuration for the RPi4B.

Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
This commit is contained in:
Matteo Golin
2026-05-10 03:58:04 -04:00
committed by Lup Yuen Lee
parent 2b670b83ae
commit 4f8b897e37
7 changed files with 224 additions and 4 deletions
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arch/arm64/src/bcm2711/CMakeLists.txt
+4
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@@ -22,6 +22,10 @@
set(SRCS bcm2711_boot.c bcm2711_mailbox.c bcm2711_serial.c bcm2711_gpio.c)
if(CONFIG_SMP)
list(APPEND SRCS bcm2711_cpustart.c)
endif()
# Early boot logging
if(CONFIG_ARCH_EARLY_PRINT)
arch/arm64/src/bcm2711/Make.defs
+4
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@@ -27,6 +27,10 @@ CHIP_CSRCS += bcm2711_mailbox.c
CHIP_CSRCS += bcm2711_serial.c
CHIP_CSRCS += bcm2711_gpio.c
ifeq ($(CONFIG_SMP),y)
CHIP_CSRCS += bcm2711_cpustart.c
endif
# Early boot logging
ifeq ($(CONFIG_ARCH_EARLY_PRINT),y)
arch/arm64/src/bcm2711/bcm2711_boot.c
+15 -4
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@@ -26,19 +26,21 @@
#include <assert.h>
#include <nuttx/debug.h>
#include <nuttx/cache.h>
#include <arch/chip/chip.h>
#include "arm64_arch.h"
#include "arm64_internal.h"
#include "arm64_mmu.h"
#include "bcm2711_boot.h"
#include "bcm2711_serial.h"
#include <arch/chip/chip.h>
#include "bcm2711_mailbox.h"
#ifdef CONFIG_SMP
#include "arm64_smp.h"
#include "bcm2711_cpustart.h"
#endif
#include <nuttx/cache.h>
#ifdef CONFIG_LEGACY_PAGING
#include <nuttx/page.h>
#endif
@@ -72,6 +74,10 @@ const struct arm_mmu_config g_mmu_config =
.mmu_regions = g_mmu_regions,
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
@@ -124,7 +130,12 @@ int arm64_get_cpuid(uint64_t mpid)
void arm64_el_init(void)
{
/* TODO: what goes here? */
#ifdef CONFIG_SMP
/* This needs to be run at high EL or it does not work for some reason. */
bcm2711_cpustart();
#endif
}
/****************************************************************************
arch/arm64/src/bcm2711/bcm2711_cpustart.c
+86
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@@ -0,0 +1,86 @@
/****************************************************************************
* arch/arm64/src/bcm2711/bcm2711_cpustart.c
*
* 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include <nuttx/debug.h>
#include "arm64_smp.h"
#include "arm64_internal.h"
#include "hardware/bcm2711_memmap.h"
#include "bcm2711_cpustart.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: bcm2711_cpustart
*
* Description:
* Populate CPU core spin tables with the correct start addresses and
* notify cores.
*
****************************************************************************/
void bcm2711_cpustart(void)
{
/* According to the bcm2711.dtsi file in the Linux source tree [1], the
* CPUs on the BCM2711 use a spin-table enable method and poll the
* following addresses:
*
* CPU0: 0x000000d8 (BCM_MBOX_CLR06)
* CPU1: 0x000000e0 (BCM_MBOX_CLR08)
* CPU2: 0x000000e8 (BCM_MBOX_CLR10)
* CPU3: 0x000000f0 (BCM_MBOX_CLR12)
*
* Some kernel docs about booting [2] have a handy explanation of how this
* works:
*
* "polling their cpu-release-addr location, which must be contained in the
* reserved region ... when a read of the location pointed to by the
* cpu-release-addr returns a non-zero value, the CPU must jump to this
* value" [2]
*
* In our case, we want these CPUs to load the NuttX kernel defined by
* `_start`. We don't need to worry about CPU0, that one always starts.
* These are 64-bit words (hence skipping every second register).
*
* [1] https://github.com/raspberrypi/linux/blob/rpi-6.12.y/
* arch/arm/boot/dts/broadcom/bcm2711.dtsi
*
* [2] https://www.kernel.org/doc/Documentation/arm64/booting.txt
*/
for (uint8_t cpu = 0; cpu < CONFIG_SMP_NCPUS; cpu++)
{
putreg64((uint64_t)__start, BCM_SPINTBL_CPU(cpu));
sinfo("Starting CPU %u at %p\n", cpu, __start);
}
UP_DSB();
UP_SEV();
}
arch/arm64/src/bcm2711/bcm2711_cpustart.h
+54
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@@ -0,0 +1,54 @@
/****************************************************************************
* arch/arm64/src/bcm2711/bcm2711_cpustart.h
*
* 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 __ARCH_ARM64_SRC_BCM2711_BCM2711_CPUSTART_H
#define __ARCH_ARM64_SRC_BCM2711_BCM2711_CPUSTART_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
void bcm2711_cpustart(void);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif // __ASSEMBLY__
#endif /* __ARCH_ARM64_SRC_BCM2711_BCM2711_CPUSTART_H */
arch/arm64/src/bcm2711/hardware/bcm2711_memmap.h
+6
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@@ -125,4 +125,10 @@
#define BCM_VC_MBOX_BASEADDR (BCM_PERIPHERAL_BASEADDR + 0xb880)
/* Spin table addresses
* https://huangweiliang.github.io/2026/02/03/QNX-Startup/
*/
#define BCM_SPINTBL_CPU(cpu) (0xd8L + (cpu) * 8)
#endif /* __ARCH_ARM64_SRC_BCM2711_MM_H */
boards/arm64/bcm2711/raspberrypi-4b/configs/smp/defconfig
+55
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@@ -0,0 +1,55 @@
#
# 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_NDEBUG is not set
CONFIG_ARCH="arm64"
CONFIG_ARCH_ARM64=y
CONFIG_ARCH_BOARD="raspberrypi-4b"
CONFIG_ARCH_BOARD_RASPBERRYPI_4B=y
CONFIG_ARCH_CHIP="bcm2711"
CONFIG_ARCH_CHIP_BCM2711=y
CONFIG_ARCH_INTERRUPTSTACK=4096
CONFIG_ARCH_IRQPRIO=y
CONFIG_BOARD_LOOPSPERMSEC=132954
CONFIG_BUILTIN=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_TASK_STACKSIZE=8192
CONFIG_EXAMPLES_HELLO=y
CONFIG_EXPERIMENTAL=y
CONFIG_FS_PROCFS=y
CONFIG_FS_ROMFS=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=8192
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_PTHREAD_STACK_MIN=8192
CONFIG_RAMLOG=y
CONFIG_RAM_SIZE=4227858432
CONFIG_RAM_START=0x00000000
CONFIG_RAW_BINARY=y
CONFIG_READLINE_CMD_HISTORY=y
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKPRIORITY=192
CONFIG_SMP=y
CONFIG_STACK_COLORATION=y
CONFIG_START_MONTH=11
CONFIG_START_YEAR=2022
CONFIG_SYMTAB_ORDEREDBYNAME=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_SYSTEM=y
CONFIG_TESTING_GETPRIME=y
CONFIG_TESTING_OSTEST=y
CONFIG_TESTING_SMP=y
CONFIG_USEC_PER_TICK=1000
CONFIG_USERLED=y