Update GCC RISC-V QEMU project to support new RISC-V port and vector mode (#780)

.github/scripts/core_checker.py

@@ -280,8 +280,8 @@ FREERTOS_IGNORED_FILES = [
     'platform.c',
     'platform.h',
     'platform_config.h',
-    'FreeRTOS_asm_vectors.S'
+    'FreeRTOS_asm_vectors.S',
-
+    'gdbinit'
 ]
 
 FREERTOS_HEADER = [

FreeRTOS/Demo/RISC-V_RV32_QEMU_VIRT_GCC/Readme.md

@@ -0,0 +1,70 @@
+# Emulating generic RISC-V 32bit machine on QEMU
+
+## Requirements
+
+1. GNU RISC-V toolchains (tested on pre-built Sifive GNU Embedded Toolchain — v2020.12.8)
+  - https://www.sifive.com/software
+1. qemu-riscv32-system  (tested on pre-built Sifive QEMU — v2020.08.1)
+  - https://www.sifive.com/software
+1. Linux OS (tested on Ubuntu 20.04.3 LTS)
+
+
+## How to build
+
+Add path of toolchain that is described above section, such as:
+
+```
+$ export PATH="/YOUR_PATH/riscv64-unknown-elf/bin:${PATH}"
+```
+
+For release build:
+
+```
+$ make -C build/gcc/
+```
+
+For debug build:
+
+```
+$ make -C build/gcc/ DEBUG=1
+```
+
+To clean build artifacts:
+
+```
+$ make -C build/gcc/ clean
+```
+
+If the build was successful, the RTOSDemo.elf executable will be located in the build/gcc/output directory.
+
+
+## How to run
+
+```
+$ qemu-system-riscv32 -nographic -machine virt -net none \
+  -chardev stdio,id=con,mux=on -serial chardev:con \
+  -mon chardev=con,mode=readline -bios none \
+  -smp 4 -kernel ./build/gcc/output/RTOSDemo.elf
+```
+
+
+## How to debug with gdb
+
+Append -s and -S options to the previous qemu command.
+
+- -s: enable to attach gdb to QEMU at port 1234
+- -S: start and halted CPU (wait for attach from gdb)
+
+It is recommended to use the 'debug build' so that gdb can automatically map symbols.
+Run these commands after starting the QEMU with above options:
+
+```
+$ riscv64-unknown-elf-gdb -x build/gcc/gdbinit
+```
+
+
+## Description
+
+This demo just prints Tx/Rx message of queue to serial port, use no
+other hardware and use only primary core (currently hart 0).
+Other cores are simply going to wfi state and execute nothing else.

FreeRTOS/Demo/RISC-V_RV32_QEMU_VIRT_GCC/build/gcc/Makefile

@@ -95,6 +95,7 @@ SOURCE_FILES += (DEMO_PROJECT)/riscv-virt.c
 SOURCE_FILES += ./printf-stdarg.c
 ASM_SOURCE_FILES += ./start.S
 ASM_SOURCE_FILES += ./RegTest.S
+ASM_SOURCE_FILES += ./vector.S
 
 
 #Create a list of object files with the desired output directory path.

FreeRTOS/Demo/RISC-V_RV32_QEMU_VIRT_GCC/build/gcc/gdbinit

@@ -0,0 +1,7 @@
+target remote localhost:1234
+set arch riscv:rv32
+set remotetimeout 250
+flushregs
+file ./output/RTOSDemo.elf
+load
+tb main

FreeRTOS/Demo/RISC-V_RV32_QEMU_VIRT_GCC/main.c

@@ -67,6 +67,15 @@ demo application will be built.  The comprehensive test and demo application is
 implemented and described in main_full.c. */
 #define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY	0
 
+/* Set to 1 to use direct mode and set to 0 to use vectored mode.
+VECTOR MODE=Direct --> all traps into machine mode cause the pc to be set to the
+vector base address (BASE) in the mtvec register.
+VECTOR MODE=Vectored --> all synchronous exceptions into machine mode cause the
+pc to be set to the BASE, whereas interrupts cause the pc to be set to the
+address BASE plus four times the interrupt cause number.
+*/
+#define mainVECTOR_MODE_DIRECT	0
+
 /* printf() output uses the UART.  These constants define the addresses of the
 required UART registers. */
 #define UART0_ADDRESS 	( 0x40004000UL )
@@ -82,6 +91,9 @@ required UART registers. */
 #define mainPLIC_ENABLE_0  ( * ( ( volatile uint32_t * ) 0x0C002000UL ) )
 #define mainPLIC_ENABLE_1  ( * ( ( volatile uint32_t * ) 0x0C002004UL ) )
 
+extern void freertos_risc_v_trap_handler( void );
+extern void freertos_vector_table( void );
+
 /*
  * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
  * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
@@ -103,6 +115,16 @@ void main( void )
 	/* See https://www.freertos.org/freertos-on-qemu-mps2-an385-model.html for
 	instructions. */
 
+	#if( mainVECTOR_MODE_DIRECT == 1 )
+	{
+		__asm__ volatile( "csrw mtvec, %0" :: "r"( freertos_risc_v_trap_handler ) );
+	}
+	#else
+	{
+		__asm__ volatile( "csrw mtvec, %0" :: "r"( ( uintptr_t )freertos_vector_table | 0x1 ) );
+	}
+	#endif
+
 	/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
 	of this file. */
 	#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
@@ -299,3 +321,4 @@ void *malloc( size_t size )
 
 }
 /*-----------------------------------------------------------*/
+

FreeRTOS/Demo/RISC-V_RV32_QEMU_VIRT_GCC/main_full.c

@@ -238,7 +238,7 @@ static void prvRegTestTaskEntry2( void *pvParameters )
 /* See the comments at the top of this file. */
 static void prvCheckTask( void *pvParameters )
 {
-static const char * pcMessage = "PASS";
+static const char * pcMessage = "FreeRTOS Demo SUCCESS:";
 const TickType_t xTaskPeriod = pdMS_TO_TICKS( 5000UL );
 TickType_t xPreviousWakeTime;
 uint32_t ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
@@ -246,6 +246,9 @@ uint32_t ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
     /* Avoid warning about unused parameter. */
     ( void ) pvParameters;
 
+	/* Demo start marker. */
+	printf( "FreeRTOS Demo Start\r\n" );
+
 	xPreviousWakeTime = xTaskGetTickCount();
 
 	for( ;; )
@@ -255,95 +258,95 @@ uint32_t ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
 		/* Has an error been found in any task? */
 		if( xAreStreamBufferTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreStreamBufferTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreStreamBufferTasksStillRunning() returned false";
 		}
 		else if( xAreMessageBufferTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreMessageBufferTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreMessageBufferTasksStillRunning() returned false";
 		}
 		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreGenericQueueTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreGenericQueueTasksStillRunning() returned false";
 		}
 	    else if( xIsCreateTaskStillRunning() != pdTRUE )
 	    {
-	        pcMessage = "xIsCreateTaskStillRunning() returned false";
+	        pcMessage = "FreeRTOS Demo ERROR: xIsCreateTaskStillRunning() returned false";
 	    }
 		else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreBlockTimeTestTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreBlockTimeTestTasksStillRunning() returned false";
 		}
 		else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreSemaphoreTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreSemaphoreTasksStillRunning() returned false";
 		}
 		else if( xArePollingQueuesStillRunning() != pdTRUE )
 		{
-			pcMessage = "xArePollingQueuesStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xArePollingQueuesStillRunning() returned false";
 		}
 		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreQueuePeekTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreQueuePeekTasksStillRunning() returned false";
 		}
 		else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreRecursiveMutexTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreRecursiveMutexTasksStillRunning() returned false";
 		}
 		else if( xAreQueueSetTasksStillRunning() != pdPASS )
 		{
-			pcMessage = "xAreQueueSetTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreQueueSetTasksStillRunning() returned false";
 		}
 		else if( xAreEventGroupTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreEventGroupTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreEventGroupTasksStillRunning() returned false";
 		}
 		else if( xAreAbortDelayTestTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreAbortDelayTestTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreAbortDelayTestTasksStillRunning() returned false";
 		}
 		else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreCountingSemaphoreTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreCountingSemaphoreTasksStillRunning() returned false";
 		}
 		else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreDynamicPriorityTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreDynamicPriorityTasksStillRunning() returned false";
 		}
 		else if( xAreMessageBufferAMPTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreMessageBufferAMPTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreMessageBufferAMPTasksStillRunning() returned false";
 		}
 		else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
 		{
-			pcMessage = "xIsQueueOverwriteTaskStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xIsQueueOverwriteTaskStillRunning() returned false";
 		}
 		else if( xAreQueueSetPollTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreQueueSetPollTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreQueueSetPollTasksStillRunning() returned false";
 		}
 		else if( xAreStaticAllocationTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreStaticAllocationTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreStaticAllocationTasksStillRunning() returned false";
 		}
 		else if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreTaskNotificationTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreTaskNotificationTasksStillRunning() returned false";
 		}
 		else if( xAreTaskNotificationArrayTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreTaskNotificationArrayTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreTaskNotificationArrayTasksStillRunning() returned false";
 		}
 		else if( xAreTimerDemoTasksStillRunning( xTaskPeriod ) != pdTRUE )
 		{
-			pcMessage = "xAreTimerDemoTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreTimerDemoTasksStillRunning() returned false";
 		}
 		else if( xIsInterruptStreamBufferDemoStillRunning() != pdTRUE )
 		{
-			pcMessage = "xIsInterruptStreamBufferDemoStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xIsInterruptStreamBufferDemoStillRunning() returned false";
 		}
 		else if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
 		{
-			pcMessage = "xAreInterruptSemaphoreTasksStillRunning() returned false";
+			pcMessage = "FreeRTOS Demo ERROR: xAreInterruptSemaphoreTasksStillRunning() returned false";
 		}
 		else if( ulLastRegTest1Value == ulRegTest1LoopCounter ) /* Check that the register test 1 task is still running. */
 		{

FreeRTOS/Demo/RISC-V_RV32_QEMU_VIRT_GCC/vector.S

@@ -0,0 +1,62 @@
+/*
+ * FreeRTOS V202112.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+.balign 128, 0
+.option norvc
+.global freertos_vector_table
+freertos_vector_table:
+IRQ_0:
+        j freertos_risc_v_exception_handler
+IRQ_1:
+        j freertos_risc_v_interrupt_handler
+IRQ_2:
+        j freertos_risc_v_interrupt_handler
+IRQ_3:
+        j freertos_risc_v_interrupt_handler
+IRQ_4:
+        j freertos_risc_v_interrupt_handler
+IRQ_5:
+        j freertos_risc_v_interrupt_handler
+IRQ_6:
+        j freertos_risc_v_interrupt_handler
+IRQ_7:
+        j freertos_risc_v_mtimer_interrupt_handler
+IRQ_8:
+        j freertos_risc_v_interrupt_handler
+IRQ_9:
+        j freertos_risc_v_interrupt_handler
+IRQ_10:
+        j freertos_risc_v_interrupt_handler
+IRQ_11:
+        j freertos_risc_v_interrupt_handler
+IRQ_12:
+        j freertos_risc_v_interrupt_handler
+IRQ_13:
+        j freertos_risc_v_interrupt_handler
+IRQ_14:
+        j freertos_risc_v_interrupt_handler
+IRQ_15:
+        j freertos_risc_v_interrupt_handler

FreeRTOS/Source

@@ -1 +1 @@
-Subproject commit 9efca75d1ebfc6c02f9e004c199dffa327267a09
+Subproject commit d5a10e45958148d437ae5096835a118be58e6df9

lexicon.txt

@@ -1351,6 +1351,7 @@ msr
 mss
 mtcoverage
 mtu
+mtvec
 muc
 multithreaded
 multple

manifest.yml

@@ -4,7 +4,7 @@ description: "This is the standard distribution of FreeRTOS."
 
 dependencies:
   - name: "FreeRTOS-Kernel"
-    version: "9efca75d1"
+    version: "d5a10e459"
     repository:
       type: "git"
       url: "https://github.com/FreeRTOS/FreeRTOS-Kernel.git"