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alif: Implement Open-AMP port backend.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
1 parent 6b4d465 commit 4f6f283

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Lines changed: 403 additions & 2 deletions

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‎ports/alif/Makefile‎

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@@ -76,10 +76,10 @@ $(BUILD):
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$(MKDIR) -p $@
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$(BUILD)/M55_HP/firmware.bin:
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make -f alif.mk MCU_CORE=M55_HP
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make -f alif.mk MCU_CORE=M55_HP MICROPY_PY_OPENAMP_MODE=0
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$(BUILD)/M55_HE/firmware.bin:
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make -f alif.mk MCU_CORE=M55_HE
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make -f alif.mk MCU_CORE=M55_HE MICROPY_PY_OPENAMP_MODE=1
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$(BUILD)/firmware.toc.bin: $(ALIF_TOC_APPS)
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$(Q)python $(ALIF_TOOLS)/app-gen-toc.py \

‎ports/alif/alif.mk‎

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@@ -203,6 +203,17 @@ $(BUILD)/tinyusb_port/tusb_alif_dcd.o: CFLAGS += -Wno-unused-variable -DTUSB_ALI
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$(BUILD)/$(ALIF_DFP_REL_TOP)/se_services/source/services_host_boot.o: CFLAGS += -Wno-stringop-truncation
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$(BUILD)/$(ALIF_DFP_REL_TOP)/se_services/source/services_host_system.o: CFLAGS += -Wno-maybe-uninitialized
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# Add Alif-specific implementation of libmetal (and optionally OpenAMP's rproc).
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# Note: libmetal code is generated via a pre-processor so ensure that runs first.
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ifeq ($(MICROPY_PY_OPENAMP),1)
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SRC_C += mpmetalport.c
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$(BUILD)/mpmetalport.o: $(BUILD)/openamp/metal/config.h
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ifeq ($(MICROPY_PY_OPENAMP_REMOTEPROC),1)
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SRC_C += mpremoteprocport.c
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$(BUILD)/mpremoteprocport.o: $(BUILD)/openamp/metal/config.h
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endif
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endif
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# List of sources for qstr extraction
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SRC_QSTR += $(SRC_C) $(SHARED_SRC_C) $(GEN_PINS_SRC)
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‎ports/alif/irq.h‎

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@@ -45,6 +45,7 @@
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#define IRQ_PRI_UART_REPL NVIC_EncodePriority(NVIC_PRIORITYGROUP_7, 1, 0)
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#define IRQ_PRI_ADC NVIC_EncodePriority(NVIC_PRIORITYGROUP_7, 3, 0)
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#define IRQ_PRI_USB NVIC_EncodePriority(NVIC_PRIORITYGROUP_7, 5, 0)
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#define IRQ_PRI_HWSEM NVIC_EncodePriority(NVIC_PRIORITYGROUP_7, 8, 0)
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#define IRQ_PRI_PENDSV NVIC_EncodePriority(NVIC_PRIORITYGROUP_7, 127, 0)
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// these states correspond to values from query_irq, enable_irq and disable_irq

‎ports/alif/mcu/ensemble.ld.S‎

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Original file line numberDiff line numberDiff line change
@@ -114,6 +114,14 @@ SECTIONS
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* (.bss.sram0*)
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} > SRAM0
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/* Open-AMP Shared Memory Region */
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.openamp_memory (NOLOAD) : ALIGN(32)
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{
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_openamp_shm_region_start = .;
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. = . + 64K;
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_openamp_shm_region_end = .;
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} >SRAM6_A
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.bss : ALIGN(4)
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{
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__bss_start__ = .;

‎ports/alif/mpconfigport.h‎

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@@ -91,6 +91,7 @@
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#define MICROPY_SCHEDULER_DEPTH (8)
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#define MICROPY_SCHEDULER_STATIC_NODES (1)
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#define MICROPY_USE_INTERNAL_ERRNO (1)
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#define MICROPY_TRACKED_ALLOC (MICROPY_PY_OPENAMP)
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// Fine control over Python builtins, classes, modules, etc
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#define MICROPY_PY_SYS_PLATFORM "alif"

‎ports/alif/mpmetalport.c‎

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@@ -0,0 +1,119 @@
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2024 OpenMV LLC.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* libmetal Alif port.
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*/
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#include ALIF_CMSIS_H
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#include "hwsem.h"
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#include "py/mperrno.h"
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#include "py/mphal.h"
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#include "metal/sys.h"
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#include "metal/utilities.h"
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#include "metal/device.h"
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struct metal_state _metal;
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static mp_sched_node_t rproc_notify_node;
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int metal_sys_init(const struct metal_init_params *params) {
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metal_unused(params);
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// Reset the hardware semaphore.
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hwsem_reset(METAL_HSEM_DEVICE);
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#if MICROPY_PY_OPENAMP_HOST
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hwsem_reset(METAL_HSEM_REMOTE);
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#endif
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// Enable the hardware semaphore IRQ.
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NVIC_ClearPendingIRQ(METAL_HSEM_IRQn);
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NVIC_SetPriority(METAL_HSEM_IRQn, IRQ_PRI_HWSEM);
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NVIC_EnableIRQ(METAL_HSEM_IRQn);
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// If cache management is not enabled, configure the MPU to disable
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// caching for the entire Open-AMP shared memory region.
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#ifndef VIRTIO_USE_DCACHE
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ARM_MPU_Disable();
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// NOTE: The startup code uses the first 4 attributes.
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#define MEMATTR_IDX_NORMAL_NON_CACHEABLE 4
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ARM_MPU_SetMemAttr(MEMATTR_IDX_NORMAL_NON_CACHEABLE, ARM_MPU_ATTR(
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ARM_MPU_ATTR_NON_CACHEABLE,
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ARM_MPU_ATTR_NON_CACHEABLE));
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MPU->RNR = METAL_MPU_REGION_ID;
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MPU->RBAR = ARM_MPU_RBAR(METAL_MPU_REGION_BASE, ARM_MPU_SH_NON, 0, 1, 0); // RO-0, NP-1, XN-0
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MPU->RLAR = ARM_MPU_RLAR(METAL_MPU_REGION_BASE + METAL_MPU_REGION_SIZE - 1, MEMATTR_IDX_NORMAL_NON_CACHEABLE);
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ARM_MPU_Enable(MPU_CTRL_PRIVDEFENA_Msk | MPU_CTRL_HFNMIENA_Msk);
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#endif
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metal_bus_register(&metal_generic_bus);
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return 0;
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}
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void metal_sys_finish(void) {
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NVIC_DisableIRQ(METAL_HSEM_IRQn);
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NVIC_ClearPendingIRQ(METAL_HSEM_IRQn);
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hwsem_reset(METAL_HSEM_DEVICE);
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metal_bus_unregister(&metal_generic_bus);
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}
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unsigned int sys_irq_save_disable(void) {
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return disable_irq();
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}
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void sys_irq_restore_enable(unsigned int state) {
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enable_irq(state);
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}
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void *metal_machine_io_mem_map(void *va, metal_phys_addr_t pa,
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size_t size, unsigned int flags) {
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metal_unused(pa);
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metal_unused(size);
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metal_unused(flags);
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return va;
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}
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void metal_machine_cache_flush(void *addr, unsigned int len) {
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SCB_CleanDCache_by_Addr(addr, len);
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}
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void metal_machine_cache_invalidate(void *addr, unsigned int len) {
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SCB_InvalidateDCache_by_Addr(addr, len);
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}
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int metal_rproc_notify(void *priv, uint32_t id) {
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// Release the HW semaphore to notify the other core.
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hwsem_release(METAL_HSEM_REMOTE, HWSEM_MASTERID);
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return 0;
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}
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void METAL_HSEM_IRQ_HANDLER(void) {
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// Schedule the node only if the other core released the Semaphore.
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if (METAL_HSEM_DEVICE->HWSEM_REL_REG == 0) {
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mp_sched_schedule_node(&rproc_notify_node, openamp_remoteproc_notified);
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}
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hwsem_request(METAL_HSEM_DEVICE, METAL_HSEM_REMOTE_ID);
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}

‎ports/alif/mpmetalport.h‎

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@@ -0,0 +1,89 @@
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2024 OpenMV LLC.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
9+
* of this software and associated documentation files (the "Software"), to deal
10+
* in the Software without restriction, including without limitation the rights
11+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12+
* copies of the Software, and to permit persons to whom the Software is
13+
* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
16+
* all copies or substantial portions of the Software.
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*
18+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* libmetal alif port.
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*/
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#ifndef MICROPY_INCLUDED_ALIF_MPMETALPORT_H
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#define MICROPY_INCLUDED_ALIF_MPMETALPORT_H
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#include <stdlib.h>
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#include "py/mphal.h"
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#include "py/runtime.h"
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#define METAL_HAVE_STDATOMIC_H 0
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#define METAL_HAVE_FUTEX_H 0
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#define METAL_MAX_DEVICE_REGIONS 2
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#if MICROPY_PY_OPENAMP_HOST
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#define METAL_HSEM_DEVICE ((HWSEM_Type *)HWSEM14_BASE)
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#define METAL_HSEM_REMOTE ((HWSEM_Type *)HWSEM15_BASE)
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#define METAL_HSEM_REMOTE_ID (0x410FD222U)
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#define METAL_HSEM_IRQn HWSEM_IRQ14_IRQn
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#define METAL_HSEM_IRQ_HANDLER HWSEM_IRQ14Handler
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#else
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#define METAL_HSEM_DEVICE ((HWSEM_Type *)HWSEM15_BASE)
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#define METAL_HSEM_REMOTE ((HWSEM_Type *)HWSEM14_BASE)
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#define METAL_HSEM_REMOTE_ID (0x410FD221U)
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#define METAL_HSEM_IRQn HWSEM_IRQ15_IRQn
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#define METAL_HSEM_IRQ_HANDLER HWSEM_IRQ15Handler
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#endif
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// Set to 1 to enable log output.
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#define METAL_LOG_HANDLER_ENABLE 0
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#define metal_cpu_yield()
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// Shared memory config
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#define METAL_SHM_NAME "OPENAMP_SHM"
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// Note 1K must be reserved at the start of the openamp
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// shared memory region, for the shared resource table.
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#define METAL_RSC_ADDR ((void *)_openamp_shm_region_start)
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#define METAL_RSC_SIZE (1024)
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#define METAL_SHM_ADDR ((metal_phys_addr_t)(_openamp_shm_region_start + METAL_RSC_SIZE))
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#define METAL_SHM_SIZE ((size_t)(_openamp_shm_region_end - _openamp_shm_region_start - METAL_RSC_SIZE))
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#define METAL_MPU_REGION_ID (9) // NOTE: The startup code uses the first 9 regions.
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#define METAL_MPU_REGION_BASE ((uint32_t)_openamp_shm_region_start)
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#define METAL_MPU_REGION_SIZE (0x00010000U)
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extern const char _openamp_shm_region_start[];
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extern const char _openamp_shm_region_end[];
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int metal_rproc_notify(void *priv, uint32_t id);
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extern void openamp_remoteproc_notified(mp_sched_node_t *node);
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static inline int __metal_sleep_usec(unsigned int usec) {
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mp_hal_delay_us(usec);
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return 0;
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}
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static inline void metal_generic_default_poll(void) {
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mp_event_handle_nowait();
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__WFI();
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}
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#endif // MICROPY_INCLUDED_ALIF_METAL_PORT_H

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