sim: Initial support on MacOS M1 and Linux AARCH64 based hosts.

arch/sim/Kconfig

@@ -23,6 +23,10 @@ config HOST_ARM
 	bool "arm"
 	select ARCH_HAVE_STACKCHECK
 
+config HOST_ARM64
+	bool "arm64"
+	select ARCH_HAVE_STACKCHECK
+
 endchoice # Host CPU Type
 
 config ARCH_CHIP

arch/sim/include/inttypes.h

@@ -104,7 +104,8 @@
 #  define UINT16_C(x) x
 #  define UINT32_C(x) x ## u
 
-#if defined(CONFIG_HOST_X86_64) && !defined(CONFIG_SIM_M32)
+#if (defined(CONFIG_HOST_X86_64) && !defined(CONFIG_SIM_M32)) || \
+     defined(CONFIG_HOST_ARM64)
 #  define PRIdPTR     "ld"
 #  define PRIiPTR     "li"
 #  define PRIoPTR     "lo"

arch/sim/include/limits.h

@@ -54,14 +54,15 @@
 
 /* These change on 32-bit and 64-bit platforms */
 
-#if !defined(CONFIG_HOST_X86_64) || defined(CONFIG_SIM_M32)
+#if (defined(CONFIG_HOST_X86_64) && !defined(CONFIG_SIM_M32)) || \
-#  define LONG_MIN   (-LONG_MAX - 1)
+     defined(CONFIG_HOST_ARM64)
-#  define LONG_MAX   2147483647L
-#  define ULONG_MAX  4294967295UL
-#else
 #  define LONG_MIN   (-LONG_MAX - 1)
 #  define LONG_MAX   9223372036854775807L
 #  define ULONG_MAX  18446744073709551615UL
+#else
+#  define LONG_MIN   (-LONG_MAX - 1)
+#  define LONG_MAX   2147483647L
+#  define ULONG_MAX  4294967295UL
 #endif
 
 #define LLONG_MIN    (-LLONG_MAX - 1)
@@ -71,12 +72,13 @@
 /* A pointer is 4 or 8 bytes */
 
 #define PTR_MIN      (-PTR_MAX - 1)
-#if !defined(CONFIG_HOST_X86_64) || defined(CONFIG_SIM_M32)
+#if (defined(CONFIG_HOST_X86_64) && !defined(CONFIG_SIM_M32)) || \
-#  define PTR_MAX    2147483647
+     defined(CONFIG_HOST_ARM64)
-#  define UPTR_MAX   4294967295U
-#else
 #  define PTR_MAX    9223372036854775807LL
 #  define UPTR_MAX   18446744073709551615ULL
+#else
+#  define PTR_MAX    2147483647
+#  define UPTR_MAX   4294967295U
 #endif
 
 #endif /* __ARCH_SIM_INCLUDE_LIMITS_H  */

arch/sim/include/setjmp.h

@@ -41,6 +41,7 @@
 #  define XCPTCONTEXT_SIZE    (8 * XCPTCONTEXT_REGS)
 
 #  ifdef __ASSEMBLY__
+
 #    define JB_RBX            (0*8)
 #    define JB_RSP            (1*8)
 #    define JB_RBP            (2*8)
@@ -51,6 +52,7 @@
 #    define JB_RSI            (7*8)
 
 #  else
+
 #    define JB_RBX            (0)
 #    define JB_RSP            (1)
 #    define JB_RBP            (2)
@@ -75,6 +77,7 @@
 #  define XCPTCONTEXT_SIZE    (4 * XCPTCONTEXT_REGS)
 
 #  ifdef __ASSEMBLY__
+
 #    define JB_EBX            (0*4)
 #    define JB_ESI            (1*4)
 #    define JB_EDI            (2*4)
@@ -83,6 +86,7 @@
 #    define JB_PC             (5*4)
 
 #  else
+
 #    define JB_EBX            (0)
 #    define JB_ESI            (1)
 #    define JB_EDI            (2)
@@ -97,12 +101,42 @@
 #  define JB_FP               JB_EBP
 
 #elif defined(CONFIG_HOST_ARM)
+
 #  define XCPTCONTEXT_REGS    16
 #  define XCPTCONTEXT_SIZE    (4 * XCPTCONTEXT_REGS)
 
 #  define JB_FP               7
 #  define JB_SP               8
 #  define JB_PC               9
+
+#elif defined(CONFIG_HOST_ARM64)
+
+#  define XCPTCONTEXT_REGS    32
+#  define XCPTCONTEXT_SIZE    (8 * XCPTCONTEXT_REGS)
+
+#  ifdef __ASSEMBLY__
+
+#    define JB_X19_X20        #0x00
+#    define JB_X21_X22        #0x10
+#    define JB_X23_X24        #0x20
+#    define JB_X25_X26        #0x30
+#    define JB_X27_X28        #0x40
+#    define JB_X29_XLR        #0x50
+#    define JB_XFP_XSP        #0x60
+
+#    define JB_D08_D09        #0x70
+#    define JB_D10_D11        #0x80
+#    define JB_D12_D13        #0x90
+#    define JB_D14_D15        #0xA0
+
+#  else
+
+#    define JB_PC             (11)
+#    define JB_FP             (12)
+#    define JB_SP             (13)
+
+#  endif /* __ASSEMBLY__ */
+
 #endif
 
 /****************************************************************************
@@ -113,6 +147,7 @@
 
 typedef unsigned long xcpt_reg_t;
 typedef xcpt_reg_t jmp_buf[XCPTCONTEXT_REGS];
+
 #endif
 
 /****************************************************************************

arch/sim/src/Makefile

@@ -49,6 +49,8 @@ else ifeq ($(CONFIG_HOST_X86),y)
   ASRCS += up_vfork_x86.S
 else ifeq ($(CONFIG_HOST_ARM),y)
   ASRCS += up_vfork_arm.S
+else ifeq ($(CONFIG_HOST_ARM64),y)
+  ASRCS += up_vfork_arm64.S
 endif
 
 AOBJS = $(ASRCS:.S=$(OBJEXT))

arch/sim/src/sim/up_hostmemory.c

@@ -63,8 +63,16 @@ void *host_alloc_heap(size_t sz)
 {
   void *p;
 
+#if defined(CONFIG_HOST_MACOS) && defined(CONFIG_HOST_ARM64)
+  /* see: https://developer.apple.com/forums/thread/672804 */
+
+  p = mmap(NULL, sz, PROT_READ | PROT_WRITE,
+           MAP_ANON | MAP_SHARED, -1, 0);
+#else
   p = mmap(NULL, sz, PROT_READ | PROT_WRITE | PROT_EXEC,
            MAP_ANON | MAP_PRIVATE, -1, 0);
+#endif
+
   if (p == MAP_FAILED)
     {
       return NULL;

arch/sim/src/sim/up_initialstate.c

@@ -82,12 +82,19 @@ void up_initial_state(struct tcb_s *tcb)
    * Thus, we need to emulate the effect of a CALL here, by subtracting
    * sizeof(xcpt_reg_t), which is the amount a CALL would move RSP to store
    * the return address.
+   *
+   * Note: On ARM64 architectures the return address is passed via LR
+   *       register. No extra adjustment for the stack needed.
    */
 
-  tcb->xcp.regs[JB_SP] = (xcpt_reg_t)tcb->stack_base_ptr +
+  tcb->xcp.regs[JB_SP] = (xcpt_reg_t)tcb->stack_base_ptr
-                                     tcb->adj_stack_size -
+#if !defined(CONFIG_HOST_ARM64)
-                                     sizeof(xcpt_reg_t);
+                                   - sizeof(xcpt_reg_t)
+#endif
+                                   + tcb->adj_stack_size;
+
   tcb->xcp.regs[JB_PC] = (xcpt_reg_t)tcb->start;
+
 #ifdef CONFIG_SIM_ASAN
   __asan_unpoison_memory_region(tcb->stack_alloc_ptr, tcb->adj_stack_size);
 #endif

arch/sim/src/sim/up_vfork_arm64.S

@@ -0,0 +1,116 @@
+/****************************************************************************
+ * arch/sim/src/sim/up_vfork_arm64.S
+ *
+ * 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 <arch/irq.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ***************************************************************************/
+
+#if defined(CONFIG_HOST_MACOS)
+	#define SYMBOL(x) _##x
+#else
+	#define SYMBOL(x) x
+#endif
+
+/****************************************************************************
+ * Public Symbols
+ ***************************************************************************/
+
+    .file  "up_vfork_arm64.S"
+    .globl SYMBOL(up_vfork)
+    .globl SYMBOL(setjmp)
+
+/****************************************************************************
+ * Public Functions
+ ***************************************************************************/
+
+/****************************************************************************
+ * Name: vfork
+ *
+ * Description:
+ *   The vfork() function has the same effect as fork(), except that the
+ *   behavior is undefined if the process created by vfork() either modifies
+ *   any data other than a variable of type pid_t used to store the return
+ *   value from vfork(), or returns from the function in which vfork() was
+ *   called, or calls any other function before successfully calling _exit()
+ *   or one of the exec family of functions.
+ *
+ *   This thin layer implements vfork by simply calling up_vfork() with the
+ *   vfork() context as an argument.  The overall sequence is:
+ *
+ *   1) User code calls vfork().  vfork() collects context information and
+ *      transfers control up up_vfork().
+ *   2) up_vfork() and calls nxtask_setup_vfork().
+ *   3) nxtask_setup_vfork() allocates and configures the child task's TCB.
+ *      This consists of:
+ *      - Allocation of the child task's TCB.
+ *      - Initialization of file descriptors and streams
+ *      - Configuration of environment variables
+ *      - Allocate and initialize the stack
+ *      - Setup the input parameters for the task.
+ *      - Initialization of the TCB (including call to up_initial_state())
+ *   4) up_vfork() provides any additional operating context. up_vfork must:
+ *      - Initialize special values in any CPU registers that were not
+ *        already configured by up_initial_state()
+ *   5) up_vfork() then calls nxtask_start_vfork()
+ *   6) nxtask_start_vfork() then executes the child thread.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   Upon successful completion, vfork() returns 0 to the child process and
+ *   returns the process ID of the child process to the parent process.
+ *   Otherwise, -1 is returned to the parent, no child process is created,
+ *   and errno is set to indicate the error.
+ *
+ ***************************************************************************/
+
+	.text
+	.globl	SYMBOL(vfork)
+	.align	4
+
+SYMBOL(vfork):
+
+	stp		x29, x30, [sp]				/* save FP/LR register */
+	sub		sp, sp, #XCPTCONTEXT_SIZE	/* area from stack for setjmp() */
+
+	mov		x0, sp						/* pass stack area to setjmp() */
+	bl		SYMBOL(setjmp)				/* save register for longjmp() */
+
+	subs	x0, x0, #1					/* 0: parent / 1: child */
+	cbz		x0, 1f						/* child --> return */
+
+	mov		x0, sp						/* pass stack area to up_vfork() */
+	bl		SYMBOL(up_vfork)			/* further process task creation */
+
+1:
+	add		sp, sp, #XCPTCONTEXT_SIZE	/* release area from stack */
+	ldp		x29, x30, [sp]				/* restore FP/LR register */
+
+	ret
+
+	.end

boards/sim/sim/sim/README.txt

@@ -472,6 +472,7 @@ Common Configuration Information
         CONFIG_HOST_WINDOWS=n
         CONFIG_HOST_X86=y
         CONFIG_HOST_X86_64=n
+        CONFIG_HOST_ARM64=n
 
      b. Linux, 64-bit CPU, 32-bit build
 
@@ -479,6 +480,7 @@ Common Configuration Information
         CONFIG_HOST_WINDOWS=n
         CONFIG_HOST_X86=n
         CONFIG_HOST_X86_64=y
+        CONFIG_HOST_ARM64=n
         CONFIG_SIM_X8664_MICROSOFT=n
         CONFIG_SIM_X8664_SYSTEMV=y
         CONFIG_SIM_M32=y
@@ -489,6 +491,7 @@ Common Configuration Information
         CONFIG_HOST_WINDOWS=n
         CONFIG_HOST_X86=n
         CONFIG_HOST_X86_64=y
+        CONFIG_HOST_ARM64=n
         CONFIG_SIM_X8664_MICROSOFT=n
         CONFIG_SIM_X8664_SYSTEMV=y
         CONFIG_SIM_M32=n
@@ -500,6 +503,7 @@ Common Configuration Information
         CONFIG_WINDOWS_CYGWIN=y
         CONFIG_HOST_X86=y
         CONFIG_HOST_X86_64=n
+        CONFIG_HOST_ARM64=n
 
      e. Cygwin64, 64-bit, 32-bit build
 
@@ -512,6 +516,7 @@ Common Configuration Information
         CONFIG_WINDOWS_CYGWIN=y
         CONFIG_HOST_X86=n
         CONFIG_HOST_X86_64=y
+        CONFIG_HOST_ARM64=n
         CONFIG_SIM_X8664_MICROSOFT=y
         CONFIG_SIM_X8664_SYSTEMV=n
         CONFIG_SIM_M32=n
@@ -523,6 +528,31 @@ Common Configuration Information
         CONFIG_HOST_WINDOWS=n
         CONFIG_HOST_X86=n
         CONFIG_HOST_X86_64=y
+        CONFIG_HOST_ARM64=n
+        CONFIG_SIM_X8664_MICROSOFT=n
+        CONFIG_SIM_X8664_SYSTEMV=y
+        CONFIG_SIM_M32=n
+
+     h. macOS M1, 64-bit, 64-bit build
+
+        CONFIG_HOST_LINUX=n
+        CONFIG_HOST_MACOS=y
+        CONFIG_HOST_WINDOWS=n
+        CONFIG_HOST_X86=n
+        CONFIG_HOST_X86_64=n
+        CONFIG_HOST_ARM64=y
+        CONFIG_SIM_X8664_MICROSOFT=n
+        CONFIG_SIM_X8664_SYSTEMV=y
+        CONFIG_SIM_M32=n
+
+     i. Linux ARM64, 64-bit, 64-bit build
+
+        CONFIG_HOST_LINUX=y
+        CONFIG_HOST_MACOS=n
+        CONFIG_HOST_WINDOWS=n
+        CONFIG_HOST_X86=n
+        CONFIG_HOST_X86_64=n
+        CONFIG_HOST_ARM64=y
         CONFIG_SIM_X8664_MICROSOFT=n
         CONFIG_SIM_X8664_SYSTEMV=y
         CONFIG_SIM_M32=n

libs/libc/machine/sim/Make.defs

@@ -48,6 +48,10 @@ else ifeq ($(CONFIG_HOST_ARM),y)
 ifeq ($(CONFIG_ARCH_SETJMP_H),y)
 ASRCS += arch_setjmp_arm.S
 endif
+else ifeq ($(CONFIG_HOST_ARM64),y)
+ifeq ($(CONFIG_ARCH_SETJMP_H),y)
+ASRCS += arch_setjmp_arm64.S
+endif
 endif
 
 DEPPATH += --dep-path machine/sim

libs/libc/machine/sim/arch_setjmp_arm64.S

@@ -0,0 +1,92 @@
+/****************************************************************************
+ * libs/libc/machine/sim/arch_setjmp_arm64.S
+ *
+ * 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 <arch/setjmp.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#if defined(CONFIG_HOST_MACOS)
+    #define SYMBOL(x) _##x
+#else
+    #define SYMBOL(x) x
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+    .text
+    .globl  SYMBOL(setjmp)
+    .align  4
+
+SYMBOL(setjmp):
+
+    stp     x19, x20, [x0, JB_X19_X20]
+    stp     x21, x22, [x0, JB_X21_X22]
+    stp     x23, x24, [x0, JB_X23_X24]
+    stp     x25, x26, [x0, JB_X25_X26]
+    stp     x27, x28, [x0, JB_X27_X28]
+    stp     x29, lr,  [x0, JB_X29_XLR]
+    mov     x1, sp                          /* STP can't access SP */
+    stp     fp, x1,   [x0, JB_XFP_XSP]
+    stp     d8, d9,   [x0, JB_D08_D09]
+    stp     d10, d11, [x0, JB_D10_D11]
+    stp     d12, d13, [x0, JB_D12_D13]
+    stp     d14, d15, [x0, JB_D14_D15]
+
+    mov     x0,#0                           /* return value */
+    ret
+
+    .text
+    .globl  SYMBOL(longjmp)
+    .align  4
+
+SYMBOL(longjmp):
+
+    ldp     x19, x20, [x0, JB_X19_X20]
+    ldp     x21, x22, [x0, JB_X21_X22]
+    ldp     x23, x24, [x0, JB_X23_X24]
+    ldp     x25, x26, [x0, JB_X25_X26]
+    ldp     x27, x28, [x0, JB_X27_X28]
+    ldp     x29, lr,  [x0, JB_X29_XLR]
+    ldp     fp, x2,   [x0, JB_XFP_XSP]
+    ldp     d8, d9,   [x0, JB_D08_D09]
+    ldp     d10, d11, [x0, JB_D10_D11]
+    ldp     d12, d13, [x0, JB_D12_D13]
+    ldp     d14, d15, [x0, JB_D14_D15]
+    mov     sp, x2                          /* LDP can't access SP */
+
+    mov     x0, x1
+    cmp     x0, #0
+    b.ne    1f                              /* return 1, if val is 0 */
+
+    mov     x0,#1                           /* return value */
+
+1:
+    ret
+
+    .end

tools/sethost.sh

@@ -112,10 +112,10 @@ fi
 if [ -z "$cpu" ]; then
   case $(uname -m) in
     arm64)
-      cpu=arm
+      cpu=arm64
       ;;
     aarch64)
-      cpu=arm
+      cpu=arm64
       ;;
     *)
       # Assume x86_64 as default
@@ -164,9 +164,9 @@ if [ "X$host" == "Xlinux" -o "X$host" == "Xmacos" -o "X$host" == "Xbsd" ]; then
     kconfig-tweak --file $nuttx/.config --disable CONFIG_HOST_BSD
     kconfig-tweak --file $nuttx/.config --enable CONFIG_HOST_LINUX
 
-    if [ "X$cpu" == "Xarm" ]; then
+    if [ "X$cpu" == "Xarm64" ]; then
-      echo "  Select CONFIG_HOST_ARM=y"
+      echo "  Select CONFIG_HOST_ARM64=y"
-      kconfig-tweak --file $nuttx/.config --enable CONFIG_HOST_ARM
+      kconfig-tweak --file $nuttx/.config --enable CONFIG_HOST_ARM64
     fi
 
   elif [ "X$host" == "Xbsd" ]; then
@@ -181,9 +181,9 @@ if [ "X$host" == "Xlinux" -o "X$host" == "Xmacos" -o "X$host" == "Xbsd" ]; then
     kconfig-tweak --file $nuttx/.config --disable CONFIG_HOST_BSD
     kconfig-tweak --file $nuttx/.config --enable CONFIG_HOST_MACOS
 
-    if [ "X$cpu" == "Xarm" ]; then
+    if [ "X$cpu" == "Xarm64" ]; then
-      echo "  Select CONFIG_HOST_ARM=y"
+      echo "  Select CONFIG_HOST_ARM64=y"
-      kconfig-tweak --file $nuttx/.config --enable CONFIG_HOST_ARM
+      kconfig-tweak --file $nuttx/.config --enable CONFIG_HOST_ARM64
     fi
   fi