[rt-smart] porting c906 and D1s to mm (#6848)

* [rv64/bsp] porting to mm

* [mm] report more info for debugging

* [fix] code format

* [libcpu/c906] porting to RTOS

* [fix] using rtdbg api

* [fix] add return

* [fix] report more information for debugging

* [fix] use assert 0 for unrecoverable error

bsp/allwinner/d1s/.config

@@ -91,7 +91,7 @@ CONFIG_RT_USING_CACHE=y
 # CONFIG_ARCH_CPU_STACK_GROWS_UPWARD is not set
 # CONFIG_RT_USING_CPU_FFS is not set
 CONFIG_ARCH_MM_MMU=y
-CONFIG_KERNEL_VADDR_START=0x150000000
+CONFIG_KERNEL_VADDR_START=0x40000000
 CONFIG_PV_OFFSET=0x0
 CONFIG_ARCH_RISCV=y
 CONFIG_ARCH_RISCV64=y

bsp/allwinner/d1s/board/board.c

@@ -43,7 +43,14 @@ rt_region_t init_page_region =
 // 内核页表
 extern volatile rt_size_t MMUTable[__SIZE(VPN2_BIT)] __attribute__((aligned(4 * 1024)));
 
-#endif
+struct mem_desc platform_mem_desc[] = {
+    {KERNEL_VADDR_START, KERNEL_VADDR_START + 0x4000000 - 1, KERNEL_VADDR_START + PV_OFFSET, NORMAL_MEM},
+    {0x1000, 0x3ffff000 - 1, 0x1000 + PV_OFFSET, DEVICE_MEM},
+};
+
+#define NUM_MEM_DESC (sizeof(platform_mem_desc) / sizeof(platform_mem_desc[0]))
+
+#endif /* RT_USING_SMART */
 
 // 初始化BSS节区
 void init_bss(void)
@@ -69,9 +76,6 @@ void primary_cpu_entry(void)
 {
     extern void entry(void);
 
-    // 初始化BSS
-    init_bss();
-    sbi_init();
     // 关中断
     rt_hw_interrupt_disable();
     rt_assert_set_hook(__rt_assert_handler);
@@ -87,20 +91,15 @@ void rt_hw_board_init(void)
 #ifdef RT_USING_SMART
     rt_hw_mmu_map_init(&rt_kernel_space, (void *)(USER_VADDR_START - IOREMAP_SIZE), IOREMAP_SIZE, (rt_size_t *)MMUTable, 0);
     rt_page_init(init_page_region);
-    rt_hw_mmu_kernel_map_init(&rt_kernel_space, 0x00000000UL, USER_VADDR_START - 1);
-    // 将低1GB MMIO区域设置为无Cache与Strong Order访存模式
-    MMUTable[0] &= ~PTE_CACHE;
-    MMUTable[0] &= ~PTE_SHARE;
-    MMUTable[0] |= PTE_SO;
-    rt_hw_aspace_switch(&rt_kernel_space);
+    rt_hw_mmu_setup(&rt_kernel_space, platform_mem_desc, NUM_MEM_DESC);
 #endif
-    /* initalize interrupt */
-    rt_hw_interrupt_init();
 #ifdef RT_USING_HEAP
-    rt_kprintf("heap: [0x%08x - 0x%08x]\n", (rt_ubase_t)RT_HW_HEAP_BEGIN, (rt_ubase_t)RT_HW_HEAP_END);
     /* initialize memory system */
     rt_system_heap_init(RT_HW_HEAP_BEGIN, RT_HW_HEAP_END);
 #endif
+    /* initalize interrupt */
+    rt_hw_interrupt_init();
+
     /* init hal hardware */
     hal_clock_init();
     hal_gpio_init();

bsp/allwinner/d1s/board/board.h

@@ -19,12 +19,12 @@ extern unsigned int __bss_end;
 
 #define RAM_SIZE    (64 * 1024 * 1024)
 #define RAM_BASE    (0x40000000)
-#define RAM_END     (RAM_BASE + RAM_SIZE)
+#define RAM_END     (RAM_BASE + RAM_SIZE - PV_OFFSET)
 
 #define RT_HW_HEAP_BEGIN    ((void *)&__bss_end)
 #define RT_HW_HEAP_END      ((void *)(((rt_size_t)RT_HW_HEAP_BEGIN) + 16 * 1024 * 1024))
-#define RT_HW_PAGE_START RT_HW_HEAP_END
-#define RT_HW_PAGE_END ((void *)(RAM_END))
+#define RT_HW_PAGE_START    (RT_HW_HEAP_END)
+#define RT_HW_PAGE_END      ((void *)RAM_END)
 
 void rt_hw_board_init(void);
 void rt_init_user_mem(struct rt_thread *thread, const char *name, unsigned long *entry);

bsp/allwinner/d1s/rtconfig.h

@@ -54,7 +54,7 @@
 #define ARCH_CPU_64BIT
 #define RT_USING_CACHE
 #define ARCH_MM_MMU
-#define KERNEL_VADDR_START 0x150000000
+#define KERNEL_VADDR_START 0x40000000
 #define PV_OFFSET 0x0
 #define ARCH_RISCV
 #define ARCH_RISCV64
@@ -104,7 +104,7 @@
 #define FAL_DEBUG_CONFIG
 #define FAL_DEBUG 1
 #define FAL_PART_HAS_TABLE_CFG
-#define RT_USING_SMART
+#define RT_USING_LWP
 #define RT_LWP_MAX_NR 30
 #define LWP_TASK_STACK_SIZE 16384
 #define RT_CH_MSG_MAX_NR 1024

bsp/allwinner/d1s/rtconfig.py

@@ -38,7 +38,7 @@ if PLATFORM == 'gcc':
     OBJCPY  = PREFIX + 'objcopy'
 
     DEVICE  = ' -mcmodel=medany -march=rv64imafdc -mabi=lp64'
-    CFLAGS  = DEVICE + ' -Wno-cpp -fvar-tracking -ffreestanding -fno-common -ffunction-sections -fdata-sections -fstrict-volatile-bitfields '
+    CFLAGS  = DEVICE + ' -Wno-cpp -fvar-tracking -ffreestanding -fno-common -ffunction-sections -fdata-sections -fstrict-volatile-bitfields -D_POSIX_SOURCE '
     AFLAGS  = ' -c' + DEVICE + ' -x assembler-with-cpp -D__ASSEMBLY__'
     LFLAGS  = DEVICE + ' -nostartfiles -Wl,--gc-sections,-Map=rtthread.map,-cref,-u,_start -T link.lds' + ' -lsupc++ -lgcc -static'
     CPATH   = ''

bsp/allwinner/libraries/libos/src/os.c

@@ -5,6 +5,8 @@
 #ifdef RT_USING_SMART
 #include <mmu.h>
 #include <lwp_arch.h>
+#else
+#define PV_OFFSET 0
 #endif
 #include <cache.h>