Support for Cheshire on Digilent Genesys 2

Signed-off-by: Matt Rossouw <matthew.rossouw@unsw.edu.au>

Author: Matt Rossouw

build_sdk.py

@@ -254,6 +254,18 @@ class ConfigInfo:
             "KernelRiscvExtF": True,
         },
     ),
+    BoardInfo(
+        name="cheshire",
+        arch=KernelArch.RISCV64,
+        gcc_cpu=None,
+        loader_link_address=0x90000000,
+        kernel_options={
+            "KernelIsMCS": True,
+            "KernelPlatform": "cheshire",
+            "KernelRiscvExtD": True,
+            "KernelRiscvExtF": True,
+        },
+    ),
 )
 
 SUPPORTED_CONFIGS = (
@@ -370,9 +382,11 @@ def build_sel4(
     sel4_install_dir.mkdir(exist_ok=True, parents=True)
     sel4_build_dir.mkdir(exist_ok=True, parents=True)
 
-    print(f"Building sel4: {sel4_dir=} {root_dir=} {build_dir=} {board=} {config=}")
+    print(
+        f"Building sel4: {sel4_dir=} {root_dir=} {build_dir=} {board=} {config=}")
 
-    config_args = list(board.kernel_options.items()) + list(config.kernel_options.items())
+    config_args = list(board.kernel_options.items()) + \
+        list(config.kernel_options.items())
     config_strs = []
     for arg, val in sorted(config_args):
         if isinstance(val, bool):
@@ -415,7 +429,8 @@ def build_sel4(
     dest.chmod(0o744)
 
     invocations_all = sel4_build_dir / "generated" / "invocations_all.json"
-    dest = (root_dir / "board" / board.name / config.name / "invocations_all.json")
+    dest = (root_dir / "board" / board.name /
+            config.name / "invocations_all.json")
     dest.unlink(missing_ok=True)
     copy(invocations_all, dest)
     dest.chmod(0o744)
@@ -470,7 +485,8 @@ def build_elf_component(
         )
     elf = build_dir / f"{component_name}.elf"
     dest = (
-        root_dir / "board" / board.name / config.name / "elf" / f"{component_name}.elf"
+        root_dir / "board" / board.name /
+        config.name / "elf" / f"{component_name}.elf"
     )
     dest.unlink(missing_ok=True)
     copy(elf, dest)
@@ -545,17 +561,25 @@ def build_lib_component(
 def main() -> None:
     parser = ArgumentParser()
     parser.add_argument("--sel4", type=Path, required=True)
-    parser.add_argument("--tool-target-triple", default=get_tool_target_triple(), help="Compile the Microkit tool for this target triple")
-    parser.add_argument("--boards", metavar="BOARDS", help="Comma-separated list of boards to support. When absent, all boards are supported.")
-    parser.add_argument("--configs", metavar="CONFIGS", help="Comma-separated list of configurations to support. When absent, all configurations are supported.")
-    parser.add_argument("--skip-tool", action="store_true", help="Tool will not be built")
-    parser.add_argument("--skip-sel4", action="store_true", help="seL4 will not be built")
-    parser.add_argument("--skip-docs", action="store_true", help="Docs will not be built")
-    parser.add_argument("--skip-tar", action="store_true", help="SDK and source tarballs will not be built")
+    parser.add_argument("--tool-target-triple", default=get_tool_target_triple(),
+                        help="Compile the Microkit tool for this target triple")
+    parser.add_argument("--boards", metavar="BOARDS",
+                        help="Comma-separated list of boards to support. When absent, all boards are supported.")
+    parser.add_argument("--configs", metavar="CONFIGS",
+                        help="Comma-separated list of configurations to support. When absent, all configurations are supported.")
+    parser.add_argument("--skip-tool", action="store_true",
+                        help="Tool will not be built")
+    parser.add_argument("--skip-sel4", action="store_true",
+                        help="seL4 will not be built")
+    parser.add_argument("--skip-docs", action="store_true",
+                        help="Docs will not be built")
+    parser.add_argument("--skip-tar", action="store_true",
+                        help="SDK and source tarballs will not be built")
     parser.add_argument("--version", default=VERSION, help="SDK version")
     for arch in KernelArch:
         arch_str = arch.name.lower()
-        parser.add_argument(f"--toolchain-prefix-{arch_str}", default=arch.c_toolchain(), help=f"C toolchain prefix when compiling for {arch_str}, e.g {arch_str}-none-elf")
+        parser.add_argument(f"--toolchain-prefix-{arch_str}", default=arch.c_toolchain(
+        ), help=f"C toolchain prefix when compiling for {arch_str}, e.g {arch_str}-none-elf")
 
     args = parser.parse_args()
 
@@ -567,22 +591,28 @@ def main() -> None:
     version = args.version
 
     if args.boards is not None:
-        supported_board_names = frozenset(board.name for board in SUPPORTED_BOARDS)
+        supported_board_names = frozenset(
+            board.name for board in SUPPORTED_BOARDS)
         selected_board_names = frozenset(args.boards.split(","))
         for board_name in selected_board_names:
             if board_name not in supported_board_names:
-                raise Exception(f"Trying to build a board: {board_name} that does not exist in supported list.")
-        selected_boards = [board for board in SUPPORTED_BOARDS if board.name in selected_board_names]
+                raise Exception(
+                    f"Trying to build a board: {board_name} that does not exist in supported list.")
+        selected_boards = [
+            board for board in SUPPORTED_BOARDS if board.name in selected_board_names]
     else:
         selected_boards = SUPPORTED_BOARDS
 
     if args.configs is not None:
-        supported_config_names = frozenset(config.name for config in SUPPORTED_CONFIGS)
+        supported_config_names = frozenset(
+            config.name for config in SUPPORTED_CONFIGS)
         selected_config_names = frozenset(args.configs.split(","))
         for config_name in selected_config_names:
             if config_name not in supported_config_names:
-                raise Exception(f"Trying to build a configuration: {config_name} that does not exist in supported list.")
-        selected_configs = [config for config in SUPPORTED_CONFIGS if config.name in selected_config_names]
+                raise Exception(
+                    f"Trying to build a configuration: {config_name} that does not exist in supported list.")
+        selected_configs = [
+            config for config in SUPPORTED_CONFIGS if config.name in selected_config_names]
     else:
         selected_configs = SUPPORTED_CONFIGS
 
@@ -642,7 +672,8 @@ def main() -> None:
     for board in selected_boards:
         for config in selected_configs:
             if not args.skip_sel4:
-                sel4_gen_config = build_sel4(sel4_dir, root_dir, build_dir, board, config)
+                sel4_gen_config = build_sel4(
+                    sel4_dir, root_dir, build_dir, board, config)
             loader_printing = 1 if config.name == "debug" else 0
             loader_defines = [
                 ("LINK_ADDRESS", hex(board.loader_link_address)),
@@ -651,19 +682,25 @@ def main() -> None:
             # There are some architecture dependent configuration options that the loader
             # needs to know about, so we figure that out here
             if board.arch.is_riscv():
-                loader_defines.append(("FIRST_HART_ID", sel4_gen_config["FIRST_HART_ID"]))
+                loader_defines.append(
+                    ("FIRST_HART_ID", sel4_gen_config["FIRST_HART_ID"]))
             if board.arch.is_arm():
                 if sel4_gen_config["ARM_PA_SIZE_BITS_40"]:
                     arm_pa_size_bits = 40
                 elif sel4_gen_config["ARM_PA_SIZE_BITS_44"]:
                     arm_pa_size_bits = 44
                 else:
-                    raise Exception("Unexpected ARM physical address bits defines")
-                loader_defines.append(("PHYSICAL_ADDRESS_BITS", arm_pa_size_bits))
-
-            build_elf_component("loader", root_dir, build_dir, board, config, loader_defines)
-            build_elf_component("monitor", root_dir, build_dir, board, config, [])
-            build_lib_component("libmicrokit", root_dir, build_dir, board, config)
+                    raise Exception(
+                        "Unexpected ARM physical address bits defines")
+                loader_defines.append(
+                    ("PHYSICAL_ADDRESS_BITS", arm_pa_size_bits))
+
+            build_elf_component("loader", root_dir, build_dir,
+                                board, config, loader_defines)
+            build_elf_component("monitor", root_dir,
+                                build_dir, board, config, [])
+            build_lib_component("libmicrokit", root_dir,
+                                build_dir, board, config)
 
     # Setup the examples
     for example, example_path in EXAMPLES.items():
@@ -691,7 +728,8 @@ def main() -> None:
         source_prefix = Path(f"{NAME}-source-{version}")
         with tar_open(source_tar_file, "w:gz") as tar:
             for filename in filenames:
-                tar.add(filename, arcname=source_prefix / filename, filter=tar_filter)
+                tar.add(filename, arcname=source_prefix /
+                        filename, filter=tar_filter)
 
 
 if __name__ == "__main__":

docs/manual.md

@@ -981,6 +981,61 @@ If you are booting from U-Boot, use the following command to start the system im
 Note that the OpenSBI version from the CVA6 SDK at the time of writing has issues when
 booting. It is recommended to use the mainline OpenSBI.
 
+## Cheshire
+
+Support is available for [Cheshire](https://github.com/pulp-platform/cheshire). It is an SoC design based on the CVA6 core, implementing a 64-bit RISC-V CPU. The design supports the hypervisor extension but currently is not supported in seL4.
+
+Microkit outputs a raw binary for this device. Several steps are required in order to boot.
+
+A custom version of OpenSBI is required. It can be found [here](https://github.com/pulp-platform/opensbi/tree/cheshire). Build the firmware payload using platform `fpga/cheshire`.
+
+### Using U-Boot
+
+With a system pre-configured with the Cheshire ZSBL, OpenSBI and U-boot:
+
+    => go 0x90000000
+
+### Raw systerm with no bootloader
+
+Without any firmware present on the SD card, it is still possible to boot Cheshire with a Microkit system.
+
+Using a GDB prompt via openOCD:
+
+1. Reset board
+    > monitor reset halt
+
+2. Load a device tree blob (DTS available in Cheshire repo or seL4) to memory and set the a0 and a1 registers to point at it:
+
+    > restore /path/to/cheshire.dtb binary 0xa0000000
+
+(tell openSBI where DTB is)
+
+    > set $a0=0xa0000000
+
+(tell openSBI that the default hart is #0)
+
+    > set $a1=0
+
+3. Load openSBI
+
+    > load /path/to/opensbi/fw_payload.elf
+
+4. Allow openSBI to boot, and interrupt it once the line `Test payload running` is emitted on serial.
+
+    > continue
+
+(wait for output)
+
+    > (Ctrl+C)
+
+5. Load Microkit image and execute
+
+    > restore /path/to/loader.img binary 0x90000000
+
+(execute)
+
+    > continue
+
 ## Adding Platform Support
 
 The following section is a guide for adding support for a new platform to Microkit.

example/cheshire/hello/Makefile

@@ -0,0 +1,50 @@
+#
+# Copyright 2024, UNSW
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+ifeq ($(strip $(BUILD_DIR)),)
+$(error BUILD_DIR must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_SDK)),)
+$(error MICROKIT_SDK must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_BOARD)),)
+$(error MICROKIT_BOARD must be specified)
+endif
+
+ifeq ($(strip $(MICROKIT_CONFIG)),)
+$(error MICROKIT_CONFIG must be specified)
+endif
+
+TOOLCHAIN := riscv64-unknown-elf
+
+CC := $(TOOLCHAIN)-gcc
+LD := $(TOOLCHAIN)-ld
+AS := $(TOOLCHAIN)-as
+MICROKIT_TOOL ?= $(MICROKIT_SDK)/bin/microkit
+
+HELLO_OBJS := hello.o
+
+BOARD_DIR := $(MICROKIT_SDK)/board/$(MICROKIT_BOARD)/$(MICROKIT_CONFIG)
+
+IMAGES := hello.elf
+CFLAGS := -mstrict-align -nostdlib -ffreestanding -g -O3 -Wall  -Wno-unused-function -Werror -I$(BOARD_DIR)/include -march=rv64imafdc_zicsr_zifencei -mabi=lp64d
+LDFLAGS := -L$(BOARD_DIR)/lib
+LIBS := -lmicrokit -Tmicrokit.ld
+
+IMAGE_FILE = $(BUILD_DIR)/loader.img
+REPORT_FILE = $(BUILD_DIR)/report.txt
+
+all: $(IMAGE_FILE)
+
+$(BUILD_DIR)/%.o: %.c Makefile
+	$(CC) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/hello.elf: $(addprefix $(BUILD_DIR)/, $(HELLO_OBJS))
+	$(LD) $(LDFLAGS) $^ $(LIBS) -o $@
+
+$(IMAGE_FILE) $(REPORT_FILE): $(addprefix $(BUILD_DIR)/, $(IMAGES)) hello.system
+	$(MICROKIT_TOOL) hello.system --search-path $(BUILD_DIR) --board $(MICROKIT_BOARD) --config $(MICROKIT_CONFIG) -o $(IMAGE_FILE) -r $(REPORT_FILE)

example/cheshire/hello/hello.c

@@ -0,0 +1,16 @@
+/*
+ * Copyright 2024, UNSW
+ *
+ * SPDX-License-Identifier: BSD-2-Clause
+ */
+#include <stdint.h>
+#include <microkit.h>
+
+void init(void)
+{
+    microkit_dbg_puts("hello, world\n");
+}
+
+void notified(microkit_channel ch)
+{
+}

example/cheshire/hello/hello.system

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+ Copyright 2024, UNSW
+
+ SPDX-License-Identifier: BSD-2-Clause
+-->
+<system>
+    <protection_domain name="hello" priority="254">
+        <program_image path="hello.elf" />
+    </protection_domain>
+</system>