/newlib-examples

MOVED TO: https://github.com/************/linux-kernel-module-cheat/tree/595e52bb5cad842045127d56a978bd59a98bd45b#baremetal-setup Bare metal arm ARMv7 and aarch64 ARMv8 UART minimal examples that run on QEMU or gem5. Uses the C standard library via Newlib built from Crosstool-NG. GDB setup just works. Tested on Ubuntu 18.04.

Primary LanguageShell

Crosstool-NG Newlib Examples

Bare metal arm ARMv7 and aarch64 ARMv8 UART minimal examples that run on QEMU or gem5. Uses the C standard library via Newlib built from Crosstool-NG. GDB setup just works. Tested on Ubuntu 18.04.

1. Getting started

Clone, build and run on QEMU:

git clone https://github.com/************/newlib-examples
cd newlib-examples
git submodule update --recursive
./build-ctng && ./build-qemu && ./build-samples && ./run

Outcome: QEMU starts, go to the terminal and type the keys:

  • 'a'

  • 'b'

and watch QEMU reply as you type with:

97: a
new alloc of 1 bytes at address 0x1A2E0
Heap end = 0x1B000
98: b
new alloc of 2 bytes at address 0x1A2E0
Heap end = 0x1B000

To exit enter:

Ctrl-A X

This example illustrates the following Newlib syscall implementations:

  • read to get user UART input

  • write to give UART output

  • sbrk for malloc

1.1. ARMv8

Use ARMv8 instead of ARMv7:

./build-ctng -aA && ./build-qemu -aA && ./build-samples -aA && ./run -aA

1.2. GDB

Shell 1:

./run -d

Shell 2:

./rungdb

Now QEMU is at the first instruction of startup_arm.S, and you can step debug as usual.

The address is 0x40000000, which is what we set the ENTRY to in link.ld. If you change that, it will still work: QEMU just parses the ELF entry field, places the code there in memory, and sets PC to it.

1.3. gem5

Run on gem5 instead of QEMU:

./build-gem5 && ./build-samples -g && ./run -g

On another shell:

./gem5-shell

The rebuild of the examples is necessary because the UART and entry addresses are different for the available gem5 machines, and we do not have magic memory loaded DTBs to take care of that for us.

Trace executed instructions:

./run -T Exec,-ExecSymbol -g
less out/arm/m5out/trace.txt

GDB step debug:

./run -g
./rungdb -g

1.3.1. gem5 machine

The default machine is VExpress_GEM5_V1, but that can be changed with:

./build-samples -g -m RealViewPBX
./build-samples -g -m VExpress_GEM5_V1
./run -g -m RealViewPBX
./run -g -m VExpress_GEM5_V1

A separate sample rebuild is required for each machine type.

1.3.2. gem5 aarch64

TODO blows up with:

build/ARM/cpu/simple/atomic.cc:495: virtual Fault AtomicSimpleCPU::writeMem(uint8_t*, unsigned int, Addr, Request::Flags, uint64_t*): Assertion `!pkt.isError()' failed.

The trace contains just:

      0: system.cpu T0 : 0x10000    :   adcle   r0, r0, #1048576 : IntAlu : Predicated False
    500: system.cpu T0 : 0x10004    :   ldrle   r1, [r8, #-65]   : MemRead : Predicated False
   1000: system.cpu T0 : 0x10008    :   strle   r3, [r3, #-4063] : MemWrite : Predicated False

which is at the expected address, but not the first expected instruction from startup_aarch64, which must mean that the image is not being loaded properly into memory.

1.3.3. gem5 carriage return

TODO: our example is printing newlines without automatic carriage return \r as in:

enter a character
                 got: a

We use m5term by default, and if we try telnet instead:

telnet localhost 3456

it does add the carriage returns automatically.

1.4. GDB builtin CPU simulator

TODO: any advantage over QEMU? I doubt it, mostly using it as as toy for now:

Without runnint ./run, do directly:

./rungdb -s

Then inside GDB:

load
starti

and now you can debug normally.

Enabled with the crosstool-ng configuration:

CT_GDB_CROSS_SIM=y

which by grepping crosstool-ng we can see does on GDB:

./configure --enable-sim

Those are not set by default on gdb-multiarch in Ubuntu 16.04.

Bibliography:

1.4.1. GDB builtin CPU simulator userland

Since I had this compiled, I also decided to try it out on userland.

It just ignores the swi however, and does not forward syscalls to the host like QEMU does.

First it wouldn’t break, so I added -static to the Makefile, and then it started failing with:

Unhandled v6 thumb insn

Doing:

help architecture

shows ARM version up to armv6, so maybe armv6 is not implemented?

1.5. Ubuntu distro toolchain

If you are really lazy, and don’t want to wait 10 minutes for the toolchain or QEMU to build, you can also do just:

sudo apt-get install gcc-arm-none-eabi qemu-system-arm
./build-samples -p arm-none-eabi-
./run -h

Shame on you.

2. Debug the VM

gem5:

./build-gem5 -e debug -t debug
./run -e debug -D -g -t debug

3. Why this is cool

Usually, when you have to explain something, it is already not cool, but here goes in any case.

This allows you to run C programs without an operating system, directly on bare metal, and use a subset of the C standard library.

This allows you to run possibly unmodified C programs directly on bare metal.

Furthermore, we build a completely pristine GCC from source via crosstool-ng, therefore dispensing any distro provided blobs.

4. Directory structure

4.1. ctng_defconfig

Contains crosstool-ng defconfigs. To generate those, do:

# Generates the base config.
./build-ctng
cd crosstool-ng
./ct-ng menuconfig
./ct-ng savedefconfig
cp defconfig ../../ctng_defconfig/<yourname>

5. How we got some stuff to work

It is nice when thing just work.

But you can also learn a thing or two from how I actually made them work in the first place.

5.1. Find the UART address

Enter the QEMU console:

Ctrl-X C

Then do:

info mtree

And look for pl011:

    0000000009000000-0000000009000fff (prio 0, i/o): pl011

On gem5, it is easy to find it on the source. We are using the machine RealView_PBX, and a quick grep leads us to: https://github.com/gem5/gem5/blob/a27ce59a39ec8fa20a3c4e9fa53e9b3db1199e91/src/dev/arm/RealView.py#L615

class RealViewPBX(RealView):
    uart = Pl011(pio_addr=0x10009000, int_num=44)

5.2. aarch64 NEON setup

Inside startup_aarch64.S there is a chunk of code called "NEON setup".

Without that, the printf:

printf("got: %c\n", c);

compiled to a:

str    q0, [sp, #80]

which uses NEON registers, and goes into an exception loop.

It was a bit confusing because there was a previous printf:

printf("enter a character\n");

which did not blow up because GCC compiles it into puts directly since it has no arguments, and that does not generate NEON instructions.

The last instructions ran was found with:

while(1)
stepi
end

or by hacking the QEMU CLI to contain:

-D log.log -d in_asm

I could not find any previous NEON instruction executed so this led me to suspect that some NEON initialization was required:

We then tried to copy the code from the "Bare-metal Boot Code for ARMv8-A Processors" document:

// Disable trapping of accessing in EL3 and EL2.
MSR CPTR_EL3, XZR
MSR CPTR_EL3, XZR
// Disable access trapping in EL1 and EL0.
MOV X1, #(0x3 << 20) // FPEN disables trapping to EL1.
MSR CPACR_EL1, X1
ISB

but it entered an exception loop at MSR CPTR_EL3, XZR.

We then found out that QEMU starts in EL1, and so we kept just the EL1 part, and it worked. Related: