Function usb_mmap instead of naive_mmap

This reverts commit 99967e9f9b.

APP_Framework/Applications/control_app/plc_demo/Makefile

@@ -1,3 +1,3 @@
-SRC_DIR := advantech beckhoff br delta mitsubishi omron schneider siemens ge xinje inovance keyence panasonic fatek ab abb koyo
+SRC_DIR := advantech beckhoff br delta mitsubishi omron schneider siemens ge xinje inovance keyence panasonic fatek ab abb
 
 include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Applications/control_app/plc_demo/inovance/Makefile

@@ -1,3 +1,3 @@
-SRC_FILES := inovance_am401_cpu1608tn_ethernet.c  inovance_am401_cpu1608tn_uart.c inovance_H3U_cpu3232MT_ethernet.c
+SRC_FILES := inovance_am401_cpu1608tn_ethernet.c  inovance_am401_cpu1608tn_uart.c
 
 include $(KERNEL_ROOT)/compiler.mk

APP_Framework/Applications/control_app/plc_demo/inovance/inovance_H3U_cpu3232MT_ethernet.c

@@ -1,52 +0,0 @@
-/*
- * Copyright (c) 2024 AIIT XUOS Lab
- * XiUOS is licensed under Mulan PSL v2.
- * You can use this software according to the terms and conditions of the Mulan PSL v2.
- * You may obtain a copy of Mulan PSL v2 at:
- *        http://license.coscl.org.cn/MulanPSL2
- * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
- * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
- * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
- * See the Mulan PSL v2 for more details.
- */
-
-/**
- * @file inovance_H3U_cpu3232MT_ethernet.c
- * @brief PLC Inovance H3U-3232MT app
- * @version 3.0
- * @author AIIT XUOS Lab
- * @date 2024.08.06
- */
-
-#include <control.h>
-
-void ControlInovanceH3UCPU3232MTTest(void)
-{
-    int i, j = 0;
-    int read_data_length = 0;
-    uint8_t read_data[128] = {0};
-    ControlProtocolType modbus_tcp_protocol = ControlProtocolFind();
-    if (NULL == modbus_tcp_protocol) {
-        printf("%s get modbus tcp protocol %p failed\n", __func__, modbus_tcp_protocol);
-        return;
-    }
-    printf("%s get modbus tcp protocol %p successfull\n", __func__, modbus_tcp_protocol);
-
-    if (CONTROL_REGISTERED == modbus_tcp_protocol->protocol_status) {
-        ControlProtocolOpen(modbus_tcp_protocol);
-        for (;;) {
-            read_data_length = ControlProtocolRead(modbus_tcp_protocol, read_data, sizeof(read_data));
-            printf("%s read [%d] modbus tcp data %d using receipe file\n", __func__, i, read_data_length);
-            if (read_data_length) {
-                for (j = 0; j < read_data_length; j++) {
-                    printf("j %d data 0x%x\n", j, read_data[j]);
-                }
-            }
-            i++;
-            memset(read_data, 0, sizeof(read_data));
-            PrivTaskDelay(10000);
-        }
-        // ControlProtocolClose(modbus_tcp_protocol);
-    }
-}
-PRIV_SHELL_CMD_FUNCTION(ControlInovanceH3UCPU3232MTTest, Inovance PLC N3UCPU3232MT Demo, PRIV_SHELL_CMD_MAIN_ATTR);

APP_Framework/Applications/control_app/plc_demo/inovance/json/test_recipe_inovance_H3U-3232MT_tcp.json

@@ -1,30 +0,0 @@
-{
-    "device_id": 1,
-    "device_name": "Ino_H3U3232MT",
-	"communication_type": 0,
-    "socket_config": {
-        "plc_ip": "192.168.250.55",
-		"local_ip": "192.168.250.147",
-        "gateway": "192.168.250.252",
-		"netmask": "255.255.255.0",
-        "port": 502
-    },
-    "protocol_type": 2,
-    "read_period": 300,
-    "read_item_list": [
-        {
-            "value_name": "M8000",
-            "value_type": 1,
-            "function_code": 1,
-            "start_address": 8000,
-            "quantity": 1
-        },
-        {
-            "value_name": "D120",
-            "value_type": 3,
-            "function_code": 3,
-            "start_address": 120,
-            "quantity": 1
-        }
-    ]
-}

APP_Framework/Applications/control_app/plc_demo/koyo/koyo_nk1cpu40.c

@@ -1,52 +0,0 @@
-/*
- * Copyright (c) 2024 AIIT XUOS Lab
- * XiUOS is licensed under Mulan PSL v2.
- * You can use this software according to the terms and conditions of the Mulan PSL v2.
- * You may obtain a copy of Mulan PSL v2 at:
- *        http://license.coscl.org.cn/MulanPSL2
- * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
- * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
- * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
- * See the Mulan PSL v2 for more details.
- */
-
-/**
- * @file koyo_nk1cpu40.c
- * @brief PLC AB MICRO850 app
- * @version 3.0
- * @author AIIT XUOS Lab
- * @date 2024.07.03
- */
-
-#include <control.h>
-
-void ControlKoyoNK1CPU40Test(void)
-{
-    int i, j = 0;
-    int read_data_length = 0;
-    uint8_t read_data[128] = {0};
-    ControlProtocolType modbus_tcp_protocol = ControlProtocolFind();
-    if (NULL == modbus_tcp_protocol) {
-        printf("%s get modbus tcp protocol %p failed\n", __func__, modbus_tcp_protocol);
-        return;
-    }
-    printf("%s get modbus tcp protocol %p successfull\n", __func__, modbus_tcp_protocol);
-
-    if (CONTROL_REGISTERED == modbus_tcp_protocol->protocol_status) {
-        ControlProtocolOpen(modbus_tcp_protocol);
-        for (;;) {
-            read_data_length = ControlProtocolRead(modbus_tcp_protocol, read_data, sizeof(read_data));
-            printf("%s read [%d] modbus tcp data %d using receipe file\n", __func__, i, read_data_length);
-            if (read_data_length) {
-                for (j = 0; j < read_data_length; j++) {
-                    printf("j %d data 0x%x\n", j, read_data[j]);
-                }
-            }
-            i++;
-            memset(read_data, 0, sizeof(read_data));
-            PrivTaskDelay(10000);
-        }
-        // ControlProtocolClose(modbus_tcp_protocol);
-    }
-}
-PRIV_SHELL_CMD_FUNCTION(ControlKoyoNK1CPU40Test, Koyo Plc NK1CPU40 Demo, PRIV_SHELL_CMD_MAIN_ATTR);

APP_Framework/Framework/connection/lora/adapter_lora.c

@@ -977,7 +977,7 @@ int AdapterLoraTest(void)
     char task_name_2[] = "adapter_lora_gateway";
     args.pthread_name = task_name_2;
     args.arg = (void *)adapter;
-    PrivTaskCreate(&lora_gateway_task, &lora_gateway_attr, &LoraGatewayTask, (void *)&args);
+    PrivTaskCreate(&lora_recv_data_task, &lora_gateway_attr, &LoraReceiveTask, (void *)&args);
 #endif
 
     PrivTaskStartup(&lora_gateway_task);

Ubiquitous/XiZi_AIoT/Makefile

@@ -4,7 +4,7 @@ MAKEFLAGS += --no-print-directory
 .PHONY:COMPILE_APP COMPILE_KERNEL
 
 riscv_support := 
-arm_support += imx6q-sabrelite zynq7000-zc702 ok1028a-c
+arm_support += imx6q-sabrelite zynq7000-zc702 3568
 emulator_support += 
 support := $(riscv_support) $(arm_support) $(emulator_support) 
 SRC_DIR :=
@@ -34,8 +34,8 @@ export UBIQUITOUS_ROOT ?= ..
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
 include $(KERNEL_ROOT)/hardkernel/arch/arm/armv7-a/cortex-a9/preboot_for_$(BOARD)/config.mk
 endif
-ifneq ($(findstring $(BOARD), ok1028a-c), )
-include $(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_$(BOARD)/config.mk
+ifneq ($(findstring $(BOARD), 3568), )
+include $(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_$(BOARD)/config.mk
 endif
 export BSP_BUILD_DIR := $(KERNEL_ROOT)
 export HOSTTOOLS_DIR ?= $(KERNEL_ROOT)/services/tools/hosttools
@@ -133,6 +133,8 @@ clean:
 	@rm -rf services/tools/mkfs/mkfs
 	@rm -rf services/app/fs.img
 	@rm -rf services/app/user.map
+	@rm -rf services/net/net_server/user.map
+	@rm -rf services/net/net_server/bin
 
 distclean:
 	@echo Clean all configuration

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/Makefile

@@ -1,5 +1,5 @@
 # The following three platforms support compatiable instructions.
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv7-a/cortex-a9/core.h

@@ -74,7 +74,7 @@ Modification:
 
 #include "cortex_a9.h"
 
-#define NR_CPU 4
+#define NR_CPU 1
 
 __attribute__((always_inline, optimize("O0"))) static inline uint32_t user_mode()
 {

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/Makefile

@@ -1,6 +1,6 @@
 # The following three platforms support compatiable instructions.
-ifneq ($(findstring $(BOARD), ok1028a-c), )
-SRC_DIR := cortex-a72
+ifneq ($(findstring $(BOARD), 3568), )
+SRC_DIR := cortex-a55
 endif
 
 

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/core.c

@@ -29,7 +29,7 @@ Modification:
 1. first version
 *************************************************/
 
-/*********cortex-a72 general register************
+/*********cortex-a55 general register************
    EL0            |         EL1        |       EL2      |       EL3
 
      x0;
@@ -63,7 +63,7 @@ Modification:
      x28;
      x29;
      x30;
-*********cortex-a72  special register************
+*********cortex-a55  special register************
                                                 XZR
                                                 PC
      SP_EL0             SP_EL1            SP_EL2           SP_EL3

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/core.h

@@ -12,7 +12,7 @@
 
 /**
  * @file core.h
- * @brief cortex-a72 core function
+ * @brief cortex-a55 core function
  * @version 1.0
  * @author AIIT XUOS Lab
  * @date 2024.04.11
@@ -20,7 +20,7 @@
 
 /*************************************************
 File name: core.h
-Description: cortex-a72 core function
+Description: cortex-a55 core function
 Others:
 History:
 Author: AIIT XUOS Lab
@@ -71,7 +71,7 @@ Modification:
 #include <stdint.h>
 #include <string.h>
 
-#include "cortex_a72.h"
+#include "cortex_a55.h"
 
 #define NR_CPU 4 // maximum number of CPUs
 
@@ -79,15 +79,6 @@ __attribute__((always_inline)) static inline uint64_t EL0_mode() // Set ARM mode
 {
     uint64_t val = 0;
 
-    __asm__ __volatile__(
-        "mrs %0, spsr_el1"
-        : "=r"(val)
-        :
-        :);
-    val &= ~DIS_INT;
-    val &= ~SPSR_MODE_MASK;
-    val |= ARM_MODE_EL0_t;
-
     return val;
 }
 

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/3568.lds

@@ -45,30 +45,36 @@ ENTRY( _ENTRY )
 ENTRY( _boot_start )
 
 MEMORY {
-  phy_ddr3 (rwx)      : ORIGIN = 0x0000000040000000, LENGTH = 1024M
-  vir_ddr3 (rwx)      : ORIGIN = 0x0000006040635000, LENGTH = 1024M
+  phy_ddr3 (rwx)      : ORIGIN = 0x0000000010000000, LENGTH = 1024M
+  vir_ddr3 (rwx)      : ORIGIN = 0x000000601040E000, LENGTH = 1024M
 }
 
 
 SECTIONS
 {
   .start_sec : {
-		. = ALIGN(0x1000);
+		. = ORIGIN(phy_ddr3);
 		/* initialization start checkpoint. */
 
-  boot.o(.text)
-  bootmmu.o(.text .text.*)
+    _start_image_addr = .;
 
-  boot.o(.rodata .rodata.*)
-  bootmmu.o(.rodata .rodata.*)
+    boot.o(.text)
+    bootmmu.o(.text .text.*)
+    /* ns16550.o(.text .text.*) */
 
-  boot.o(.data .data.*)
-  bootmmu.o(.data .data.*)
+    boot.o(.rodata .rodata.*)
+    bootmmu.o(.rodata .rodata.*)
+    /* ns16550.o(.rodata .rodata.*) */
 
-	PROVIDE(boot_start_addr = .);
+    boot.o(.data .data.*)
+    bootmmu.o(.data .data.*)
+    /* ns16550.o(.data .data.*) */
 
-  boot.o(.bss .bss.* COMMON)
-  bootmmu.o(.bss .bss.* COMMON)
+	  PROVIDE(boot_start_addr = .);
+
+    boot.o(.bss .bss.* COMMON)
+    bootmmu.o(.bss .bss.* COMMON)
+    /* ns16550.o(.bss .bss.* COMMON) */
   
 		/* stack for booting code. */
 		. = ALIGN(0x1000);
@@ -81,7 +87,7 @@ SECTIONS
 		PROVIDE(boot_end_addr = .);
 	} > phy_ddr3
 
-  .text : AT(0x40635000) {
+  .text : AT(0x1040E000) {
     . = ALIGN(0x1000);
     *(.text .text.* .gnu.linkonce.t.*)
   } > vir_ddr3
@@ -103,17 +109,19 @@ SECTIONS
 		PROVIDE(_binary_default_fs_start = .);
 		*(.rawdata_memfs*)
 		PROVIDE(_binary_default_fs_end = .);
+    PROVIDE(__init_array_start = .);
+    PROVIDE(__init_array_end = .);
   } > vir_ddr3
 
   . = ALIGN(0x1000);
-  PROVIDE(kernel_data_begin = .);
+  _image_size = . - 0x0000006010000000;
 
-  _image_size = . - 0x0000006040000000;
   .bss : {
+    PROVIDE(kernel_data_begin = .);
     PROVIDE(__bss_start__ = .);
 		*(.bss .bss.* COMMON)
+    . = ALIGN(0x1000);
 		PROVIDE(__bss_end__ = .);
+	  PROVIDE(kernel_data_end = .);
   } > vir_ddr3
-  . = ALIGN(0x1000);
-	PROVIDE(kernel_data_end = .);
 }

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/Makefile

@@ -1,5 +1,6 @@
 SRC_FILES := boot.S \
+			 xizi_smp.S \
 			 smp.c \
-			 cortexA72.S
+			 cortexA55.S
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/boot.S

@@ -0,0 +1,168 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *    http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+#include "core.h"
+
+#define HCR_VALUE (1 << 31)
+#define SPSR_EL2_VALUE (7 << 6) | (5 << 0)
+#define SCTLR_EL1_VALUE (0x30D00800)
+
+/* Macros for MAIR setting. */
+#define MAIR(attr, mt)	((attr) << ((mt) * 8))
+#define MT_DEVICE_nGnRnE	0
+#define MT_DEVICE_nGnRE		1
+#define MT_DEVICE_GRE		2
+#define MT_NORMAL_NC		3
+#define MT_NORMAL	    	4
+#define MT_NORMAL_WT		5
+
+.section ".text", "ax"
+.global _boot_start
+.global primary_cpu_init
+.global el2_setup
+/* The function for setting memory types and MAIR registers. */
+.global __cpu_mair_setup
+
+_boot_start:
+    bl el2_setup
+
+    /* set NSACR, both Secure and Non-secure access are allowed to NEON */
+    mov     x0,         #(3 << 20)
+    msr     cpacr_el1,  x0
+    isb
+
+    // clear some registers
+    msr     elr_el1,    XZR
+
+    ldr     x0, =stacks_top
+    mov     x1, #MODE_STACK_SIZE
+
+    // get cpu id, and subtract the offset from the stacks base address
+    mrs     x2, mpidr_el1
+    and     x2, x2, #0xFFF
+    lsr     x2, x2, #8
+    mov     x5, x2
+    mul     x3, x2, x1
+    sub     x0, x0, x3
+    mov     sp, x0
+
+    mov     x2,         #ARM_MODE_EL1_h | DIS_INT  
+    msr     spsr_el1,   x2
+
+    // check cpu id - cpu0 is primary cpu
+    mrs     x2, mpidr_el1
+    and     x2, x2, #0xFFF
+    lsr     x2, x2, #8
+    mov     x5, x2
+    cmp     x5, #0
+    beq     primary_cpu_init
+    bl      __cpu_mair_setup
+    bl      bootmain     // for secondary cpus, jump to argument function pointer passed in by ROM
+
+    bl      .
+
+primary_cpu_init:
+   	/* init .bss */
+     /* clear the .bss section (zero init) */
+    ldr x1,	=boot_start_addr
+    ldr x2,	=boot_end_addr
+    mov x3,	#0
+1:  
+    cmp x1,	x2
+    stp x3, x3, [x1], #16
+    b.lt    1b  
+
+    bl __cpu_mair_setup
+	bl bootmain
+
+    .func el2_setup
+el2_setup:
+    mrs x0, CurrentEL
+    lsr x0, x0, #2
+    and x0, x0, #3
+    cmp x0, #2
+    beq 1f
+    ret
+
+    /* Hyp configuration. */
+1:
+    mov x0, #(1 << 31)
+    msr hcr_el2, x0
+
+    /* Generic timers. */ 
+    mrs  x0, cnthctl_el2
+    orr  x0, x0, #3       // Enable EL1 physicaltimers
+    msr  cnthctl_el2, x0
+
+    /* Populate ID registers. */
+    mrs  x0,    midr_el1
+    mrs  x1,    mpidr_el1
+    msr  vpidr_el2,  x0
+    msr  vmpidr_el2, x1
+
+    /* Disable Coprocessor traps. */
+    mov x0, #0x33ff
+    msr  cptr_el2, x0 // Disable copro. traps to EL2
+    
+    msr  hstr_el2, xzr // Disable CP15 traps to EL2
+
+    mov x0, sp
+    msr sp_el1, x0
+
+    mrs x0, sctlr_el1
+    orr x0, x0, #(1 << 0)
+    bic x0, x0, #(1 << 1)
+    orr x0, x0, #(1 << 2)
+    msr sctlr_el1, x0
+
+    /* spsr */
+    mov x0, #SPSR_EL2_VALUE
+    msr spsr_el2, x0
+    msr elr_el2, lr
+    eret
+    .endfunc
+
+    .func __cpu_mair_setup
+__cpu_mair_setup:
+	tlbi	vmalle1				// Invalidate local TLB
+	dsb	nsh
+
+//	mov	x0, #3 << 20
+//	msr	cpacr_el1, x0			// Enable FP/ASIMD
+//	mov	x0, #1 << 12			// Reset mdscr_el1 and disable
+//	msr	mdscr_el1, x0			// access to the DCC from EL0
+	isb					// Unmask debug exceptions now,
+//	enable_dbg				// since this is per-cpu
+	/*
+	 * Memory region attributes for LPAE:
+	 *
+	 *   n = AttrIndx[2:0]
+	 *			n	MAIR
+	 *   DEVICE_nGnRnE	000	00000000
+	 *   DEVICE_nGnRE	001	00000100
+	 *   DEVICE_GRE		010	00001100
+	 *   NORMAL_NC		011	01000100
+	 *   NORMAL		100	11111111
+	 *   NORMAL_WT		101	10111011
+	 */
+	ldr	x5, =MAIR(0x00, MT_DEVICE_nGnRnE) | \
+		     MAIR(0x04, MT_DEVICE_nGnRE) | \
+		     MAIR(0x0c, MT_DEVICE_GRE) | \
+		     MAIR(0x44, MT_NORMAL_NC) | \
+		     MAIR(0xff, MT_NORMAL) | \
+		     MAIR(0xbb, MT_NORMAL_WT)
+	msr	mair_el1, x5
+
+    ret
+    .endfunc
+
+
+    .end  

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/config.mk

@@ -1,8 +1,7 @@
 export CROSS_COMPILE ?= aarch64-none-elf-
-export DEVICE = -mtune=cortex-a72 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie
+export DEVICE = -mtune=cortex-a55 -ffreestanding -fno-common -fno-stack-protector -fno-pie -no-pie
 export CFLAGS := $(DEVICE) -Wall -Werror -O2 -g -fno-omit-frame-pointer -fPIC
-# export AFLAGS := -c $(DEVICE) -x assembler-with-cpp -D__ASSEMBLY__ -gdwarf-2
-export LFLAGS := $(DEVICE) -Wl,-T -Wl,$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/nxp_ls1028.lds -Wl,--start-group,-lgcc,-lc,--end-group
+export LFLAGS := $(DEVICE) -Wl,-T -Wl,$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/3568.lds -Wl,--start-group,-lgcc,-lc,--end-group
 export CXXFLAGS := 
 
 export DEFINES := -DHAVE_CCONFIG_H -DCHIP_LS1028

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/cortexA55.S

@@ -1,14 +1,14 @@
 /*!
- * @file cortexA72.s
- * @brief This file contains cortexA72 functions
+ * @file cortexA55.s
+ * @brief This file contains cortexA55 functions
  *
  */
 /*************************************************
-File name: cortexA72.S
+File name: cortexA55.S
 Description: This file contains cortexA9 functions
 Others: 
 History:
-1. Date: 202-05-08
+1. Date: 2024-05-08
 Author: AIIT XUOS Lab
 Modification:
 1. No modifications
@@ -21,7 +21,8 @@ Modification:
     .func cpu_get_current
 cpu_get_current:
     mrs   x0, mpidr_el1
-    and   x0, x0, #3
+    and   x0, x0, #0xFFF
+    lsr   x0, x0, #8
     ret
     .endfunc
 
@@ -32,6 +33,6 @@ psci_call:
 
 
 # ------------------------------------------------------------
-# End of cortexA72.s
+# End of cortexA55.s
 # ------------------------------------------------------------
     .end

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/include/cortex_a55.h

@@ -28,16 +28,16 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 /**
- * @file cortex_a72.h
- * @brief some cortex A72 core functions
+ * @file cortex_a55.h
+ * @brief some cortex A55 core functions
  * @version 1.0
  * @author AIIT XUOS Lab
  * @date 2024.04.24
  */
 
 /*************************************************
-File name: cortex_a72.h
-Description: some cortex A72 core functions
+File name: cortex_a55.h
+Description: some cortex A55 core functions
 Others:
 History:
 Author: AIIT XUOS Lab
@@ -45,8 +45,8 @@ Modification:
 1. No modifications
 *************************************************/
 
-#if !defined(__CORTEX_A72_H__)
-#define __CORTEX_A72_H__
+#if !defined(__CORTEX_A55_H__)
+#define __CORTEX_A55_H__
 
 #include <stdbool.h>
 #include <stdint.h>
@@ -231,4 +231,4 @@ void scu_secure_invalidate(unsigned int cpu, unsigned int ways);
 }
 #endif
 
-#endif //__CORTEX_A72_H__
+#endif //__CORTEX_A55_H__

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/smp.c

@@ -48,12 +48,34 @@ Modification:
 #include <stdint.h>
 
 #define PSCI_CPUON 0xc4000003
+struct xizi_smccc_res {
+    unsigned long a0;
+    unsigned long a1;
+    unsigned long a2;
+    unsigned long a3;
+};
 
 extern void _boot_start();
-void psci_call(uint64_t fn, uint8_t cpuid, uint64_t entry, uint64_t ctxid);
+extern void __print();
+
+extern void __xizi_smccc_smc(unsigned long a0, unsigned long a1, unsigned long a2,
+    unsigned long a3, unsigned long a4, unsigned long a5,
+    unsigned long a6, unsigned long a7, struct xizi_smccc_res* res);
+
+static struct xizi_smccc_res __invoke_sip_fn_smc(unsigned long function_id,
+    unsigned long arg0,
+    unsigned long arg1,
+    unsigned long arg2)
+{
+    struct xizi_smccc_res res;
+
+    __xizi_smccc_smc(function_id, arg0, arg1, arg2, 0, 0, 0, 0, &res);
+    return res;
+}
+
 void cpu_start_secondary(uint8_t cpu_id)
 {
-    psci_call(PSCI_CPUON, cpu_id, (uintptr_t)&_boot_start, 0);
+    __invoke_sip_fn_smc(PSCI_CPUON, cpu_id, (uintptr_t)0xa00000, 0);
 }
 
 void start_smp_cache_broadcast(int cpu_id)

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_3568/xizi_smp.S

@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *    http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+.global __xizi_smccc_smc
+
+.func __xizi_smccc_smc
+__xizi_smccc_smc:
+    smc #0
+    ldr	x4, [sp]
+    stp	x0, x1, [x4, #0]
+    stp	x2, x3, [x4, #16]
+    ldr	x4, [sp, #8]
+    cbz	x4, 1f /* no quirk structure */
+    ldr	x9, [x4, #0]
+    cmp	x9, #1
+    b.ne	1f
+    str	x6, [x4, 8]
+1:  ret
+.endfunc

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_ok1028a-c/boot.S

@@ -1,81 +0,0 @@
-// #include "memlayout.h"
-#include "core.h"
-// #include "registers.h"
-// #include "cortex_a72.h"
-        // qemu -kernel loads the kernel at 0x40000000
-        // and causes each CPU to jump there.
-        // kernel.ld causes the following code to
-        // be placed at 0x40000000.
-.section ".text"
-//.global _entry
-.global _boot_start
-.global primary_cpu_init
-
-_boot_start:
-        // set up a stack for C.
-        // stack0 is declared in start.c,
-        // with a 4096-byte stack per CPU.
-        // sp = stack0 + ((cpuid+1) * 4096)
-        // cpuid = mpidr_el1 & 0xff
-        // save r0 for cores 1-3, r0 arg field passed by ROM
-        // r0 is a function pointer for secondary cpus
-
-        // mov x4, 	x0
-
-        mrs	x0, 	spsr_el1    /* Enter EL1 (Exception Level 1) */
-        bic	x0, 	x0, #0x1f
-        MOV     x1,     #0xC5
-        ORR     x0,     x0, x1
-        msr	spsr_el1,	x0                
-
-
-        /* set NSACR, both Secure and Non-secure access are allowed to NEON */
-        MRS     X1,     CPACR_EL1
-        ORR     X1,     X1, #(0X3 << 20)
-        MSR     CPACR_EL1, X1
-        ISB
-
-        // clear some registers
-        msr     elr_el1, XZR
-
-        ldr     x0, =stacks_top
-        mov     x1, #MODE_STACK_SIZE
-
-         // get cpu id, and subtract the offset from the stacks base address
-        mrs     x2,     mpidr_el1
-        and     x2,     x2, #0x3
-        mov     x5,     x2
-        mul     x3,     x2, x1
-        sub     x0,     x0, x3
-        
-        MOV     X2,     #ARM_MODE_EL1_h | DIS_INT  
-        MSR     SPSR_EL1, X2
-        mov     sp,     x0
-        SUB     x0,     x0,x1
-
-            // check cpu id - cpu0 is primary cpu
-        cmp     x5, 	#0
-        beq     primary_cpu_init
-        bl      bootmain     // for secondary cpus, jump to argument function pointer passed in by ROM
-
-        bl      .
-
-primary_cpu_init:
-   	/* init .bss */
-         /* clear the .bss section (zero init) */
-        ldr     x1,	=boot_start_addr
-        ldr     x2,	=boot_end_addr
-        mov     x3,	#0
-        1:  
-        cmp     x1,	x2
-        stp     x3,     x3, [x1], #16
-        b.lt     1b        
-
-        // branch to c library entry point 
-        mov     x0,		#0 // argc
-        mov     x1,		#0 // argv
-        mov     x2,		#0 // env
-
-	bl bootmain
-
-	.end

Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/Makefile

@@ -1,8 +1,8 @@
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )
 SRC_DIR := cortex-a9
 endif
-ifneq ($(findstring $(BOARD), ok1028a-c), )
-SRC_DIR := cortex-a72
+ifneq ($(findstring $(BOARD), 3568), )
+SRC_DIR := cortex-a55
 endif
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/Makefile

@@ -1,3 +1,3 @@
-SRC_FILES := l1_cache.c
+SRC_FILES := l1_cache.c cache.S
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/cache.S

@@ -0,0 +1,336 @@
+/*
+ * (C) Copyright 2013
+ * David Feng <fenghua@phytium.com.cn>
+ *
+ * This file is based on sample code from ARMv8 ARM.
+ *
+ * SPDX-License-Identifier:	GPL-2.0+
+ */
+
+
+#define ASM_NL		 ;
+
+#define SYMBOL_NAME(X)		X
+
+// #define SYMBOL_NAME_LABEL(X)	X##:
+
+#define SYMBOL_NAME_LABEL(X)	X:
+
+#ifndef __ALIGN
+#define __ALIGN .align		4
+#endif
+
+#ifndef __ALIGN_STR
+#define __ALIGN_STR		".align 4"
+#endif
+
+#define ALIGN			__ALIGN
+#define ALIGN_STR		__ALIGN_STR
+
+#define LENTRY(name) \
+	ALIGN ASM_NL \
+	SYMBOL_NAME_LABEL(name)
+
+#define ENTRY(name) \
+	.globl SYMBOL_NAME(name) ASM_NL \
+	LENTRY(name)
+
+#define WEAK(name) \
+	.weak SYMBOL_NAME(name) ASM_NL \
+	LENTRY(name)
+
+
+#define END(name) \
+	.size name, .-name
+
+#define ENDPROC(name) \
+	.type name STT_FUNC ASM_NL \
+	END(name)
+
+#define CR_M		(1 << 0)	/* MMU enable			*/
+#define CR_A		(1 << 1)	/* Alignment abort enable	*/
+#define CR_C		(1 << 2)	/* Dcache enable		*/
+#define CR_SA		(1 << 3)	/* Stack Alignment Check Enable	*/
+#define CR_I		(1 << 12)	/* Icache enable		*/
+#define CR_WXN		(1 << 19)	/* Write Permision Imply XN	*/
+#define CR_EE		(1 << 25)	/* Exception (Big) Endian	*/
+
+.macro switch_el, xreg, el3_label, el2_label, el1_label
+	mrs	\xreg, CurrentEL
+	cmp	\xreg, 0xc
+	b.eq	\el3_label
+	cmp	\xreg, 0x8
+	b.eq	\el2_label
+	cmp	\xreg, 0x4
+	b.eq	\el1_label
+.endm
+
+
+/*
+ * void __asm_dcache_level(level)
+ * flush or invalidate one level cache.
+ *
+ * x0: cache level
+ * x1: 0 clean & invalidate, 1 invalidate only
+ * x2~x9: clobbered
+ */
+ENTRY(__asm_dcache_level)
+	lsl	x12, x0, #1
+	msr	csselr_el1, x12		/* select cache level */
+	isb				/* sync change of cssidr_el1 */
+	mrs	x6, ccsidr_el1		/* read the new cssidr_el1 */
+	and	x2, x6, #7		/* x2 <- log2(cache line size)-4 */
+	add	x2, x2, #4		/* x2 <- log2(cache line size) */
+	mov	x3, #0x3ff
+	and	x3, x3, x6, lsr #3	/* x3 <- max number of #ways */
+	clz	w5, w3			/* bit position of #ways */
+	mov	x4, #0x7fff
+	and	x4, x4, x6, lsr #13	/* x4 <- max number of #sets */
+	/* x12 <- cache level << 1 */
+	/* x2 <- line length offset */
+	/* x3 <- number of cache ways - 1 */
+	/* x4 <- number of cache sets - 1 */
+	/* x5 <- bit position of #ways */
+
+loop_set:
+	mov	x6, x3			/* x6 <- working copy of #ways */
+loop_way:
+	lsl	x7, x6, x5
+	orr	x9, x12, x7		/* map way and level to cisw value */
+	lsl	x7, x4, x2
+	orr	x9, x9, x7		/* map set number to cisw value */
+	tbz	w1, #0, 1f
+	dc	isw, x9
+	b	2f
+1:	dc	cisw, x9		/* clean & invalidate by set/way */
+2:	subs	x6, x6, #1		/* decrement the way */
+	b.ge	loop_way
+	subs	x4, x4, #1		/* decrement the set */
+	b.ge	loop_set
+
+	ret
+ENDPROC(__asm_dcache_level)
+
+
+/*
+ * void __asm_flush_dcache_all(int invalidate_only)
+ *
+ * x0: 0 clean & invalidate, 1 invalidate only
+ *
+ * flush or invalidate all data cache by SET/WAY.
+ */
+
+ENTRY(__asm_dcache_all)
+	mov	x1, x0
+	dsb	sy
+	mrs	x10, clidr_el1		/* read clidr_el1 */
+	lsr	x11, x10, #24
+	and	x11, x11, #0x7		/* x11 <- loc */
+	cbz	x11, finished		/* if loc is 0, exit */
+	mov	x15, lr
+	mov	x0, #0			/* start flush at cache level 0 */
+	/* x0  <- cache level */
+	/* x10 <- clidr_el1 */
+	/* x11 <- loc */
+	/* x15 <- return address */
+
+loop_level:
+	lsl	x12, x0, #1
+	add	x12, x12, x0		/* x0 <- tripled cache level */
+	lsr	x12, x10, x12
+	and	x12, x12, #7		/* x12 <- cache type */
+	cmp	x12, #2
+	b.lt	skip			/* skip if no cache or icache */
+	bl	__asm_dcache_level	/* x1 = 0 flush, 1 invalidate */
+skip:
+	add	x0, x0, #1		/* increment cache level */
+	cmp	x11, x0
+	b.gt	loop_level
+
+	mov	x0, #0
+	msr	csselr_el1, x0		/* restore csselr_el1 */
+	dsb	sy
+	isb
+	mov	lr, x15
+
+finished:
+	ret
+ENDPROC(__asm_dcache_all)
+
+
+ENTRY(__asm_flush_dcache_all)
+	mov	x0, #0
+	b	__asm_dcache_all
+ENDPROC(__asm_flush_dcache_all)
+
+
+ENTRY(__asm_invalidate_dcache_all)
+	mov	x0, #0x1
+	b	__asm_dcache_all
+ENDPROC(__asm_invalidate_dcache_all)
+
+
+/*
+ * void __asm_flush_dcache_range(start, end)
+ *
+ * clean & invalidate data cache in the range
+ *
+ * x0: start address
+ * x1: end address
+ */
+
+ENTRY(__asm_flush_dcache_range)
+	isb
+	mrs	x3, ctr_el0
+	lsr	x3, x3, #16
+	and	x3, x3, #0xf
+	mov	x2, #4
+	lsl	x2, x2, x3		/* cache line size */
+
+	/* x2 <- minimal cache line size in cache system */
+	sub	x3, x2, #1
+	bic	x0, x0, x3
+1:	dc	civac, x0	/* clean & invalidate data or unified cache */
+	add	x0, x0, x2
+	cmp	x0, x1
+	b.lo	1b
+	dsb	sy
+	isb
+	ret
+ENDPROC(__asm_flush_dcache_range)
+
+/*
+ * void __asm_invalidate_dcache_range(start, end)
+ *
+ * invalidate data cache in the range
+ *
+ * x0: start address
+ * x1: end address
+ */
+
+ENTRY(__asm_invalidate_dcache_range)
+	mrs	x3, ctr_el0
+	ubfm	x3, x3, #16, #19
+	mov	x2, #4
+	lsl	x2, x2, x3		/* cache line size */
+
+	/* x2 <- minimal cache line size in cache system */
+	sub	x3, x2, #1
+	bic	x0, x0, x3
+1:	dc	ivac, x0	/* invalidate data or unified cache */
+	add	x0, x0, x2
+	cmp	x0, x1
+	b.lo	1b
+	dsb	sy
+	isb
+	ret
+ENDPROC(__asm_invalidate_dcache_range)
+
+
+/*
+ * void __asm_invalidate_icache_all(void)
+ *
+ * invalidate all tlb entries.
+ */
+
+ENTRY(__asm_invalidate_icache_all)
+	ic	ialluis
+	isb	sy
+	ret
+ENDPROC(__asm_invalidate_icache_all)
+
+
+
+ENTRY(__asm_invalidate_l3_dcache)
+	mov	x0, #0			/* return status as success */
+	ret
+ENDPROC(__asm_invalidate_l3_dcache)
+	.weak	__asm_invalidate_l3_dcache
+
+
+
+ENTRY(__asm_flush_l3_dcache)
+	mov	x0, #0			/* return status as success */
+	ret
+ENDPROC(__asm_flush_l3_dcache)
+	.weak	__asm_flush_l3_dcache
+
+
+
+ENTRY(__asm_invalidate_l3_icache)
+	mov	x0, #0			/* return status as success */
+	ret
+ENDPROC(__asm_invalidate_l3_icache)
+	.weak	__asm_invalidate_l3_icache
+
+
+/*
+ * void __asm_switch_ttbr(ulong new_ttbr)
+ *
+ * Safely switches to a new page table.
+ */
+
+ENTRY(__asm_switch_ttbr)
+	/* x2 = SCTLR (alive throghout the function) */
+	switch_el x4, 3f, 2f, 1f
+3:	mrs	x2, sctlr_el3
+	b	0f
+2:	mrs	x2, sctlr_el2
+	b	0f
+1:	mrs	x2, sctlr_el1
+0:
+
+	/* Unset CR_M | CR_C | CR_I from SCTLR to disable all caches */
+	movn	x1, #(CR_M | CR_C | CR_I)
+	and	x1, x2, x1
+	switch_el x4, 3f, 2f, 1f
+3:	msr	sctlr_el3, x1
+	b	0f
+2:	msr	sctlr_el2, x1
+	b	0f
+1:	msr	sctlr_el1, x1
+0:	isb
+
+	/* This call only clobbers x30 (lr) and x9 (unused) */
+	mov	x3, x30
+	bl	__asm_invalidate_tlb_all
+
+	/* From here on we're running safely with caches disabled */
+
+	/* Set TTBR to our first argument */
+	switch_el x4, 3f, 2f, 1f
+3:	msr	ttbr0_el3, x0
+	b	0f
+2:	msr	ttbr0_el2, x0
+	b	0f
+1:	msr	ttbr0_el1, x0
+0:	isb
+
+	/* Restore original SCTLR and thus enable caches again */
+	switch_el x4, 3f, 2f, 1f
+3:	msr	sctlr_el3, x2
+	b	0f
+2:	msr	sctlr_el2, x2
+	b	0f
+1:	msr	sctlr_el1, x2
+0:	isb
+
+	ret	x3
+ENDPROC(__asm_switch_ttbr)
+
+ENTRY(__asm_invalidate_tlb_all)
+	switch_el x9, 3f, 2f, 1f
+3:	tlbi	alle3
+	dsb	sy
+	isb
+	b	0f
+2:	tlbi	alle2
+	dsb	sy
+	isb
+	b	0f
+1:	tlbi	vmalle1
+	dsb	sy
+	isb
+0:
+	ret
+ENDPROC(__asm_invalidate_tlb_all)

Ubiquitous/XiZi_AIoT/hardkernel/cache/L1/arm/cortex-a55/l1_cache.c

@@ -20,6 +20,10 @@ Modification:
 *************************************************/
 
 #include "l1_cache.h"
+extern void __asm_flush_dcache_all();
+extern void __asm_flush_l3_dcache();
+extern void __asm_invalidate_icache_all();
+extern void __asm_invalidate_l3_icache();
 
 void InvalidateL1Dcache(uintptr_t start, uintptr_t end)
 {
@@ -153,34 +157,14 @@ void FlushL1Dcache(uintptr_t start, uintptr_t end)
 
 void FlushL1DcacheAll(void)
 {
-    uint64_t ccsidr_el1; // Cache Size ID
-    int num_sets; // number of sets
-    int num_ways; // number of ways
-    uint32_t wayset; // wayset parameter
-
-    __asm__ __volatile__("mrs %0, ccsidr_el1" : "=r"(ccsidr_el1)); // Read Cache Size ID
-
-    // Fill number of sets  and number of ways from ccsidr_el1 register  This walues are decremented by 1
-    num_sets = ((ccsidr_el1 >> 32) & 0x7FFF) + 1;
-    num_ways = ((ccsidr_el1 >> 0) & 0x7FFF) + 1;
-
-    // clean and invalidate all lines (all Sets in all ways)
-    for (int way = 0; way < num_ways; way++) {
-        for (int set = 0; set < num_sets; set++) {
-            wayset = (way << 30) | (set << 5);
-            __asm__ __volatile__("dc cisw, %0" : : "r"(wayset));
-        }
-    }
-
-    // All Cache, Branch predictor and TLB maintenance operations before followed instruction complete
-    DSB();
+    __asm_flush_dcache_all();
+    __asm_flush_l3_dcache();
 }
 
 void InvalidateL1IcacheAll()
 {
-    __asm__ __volatile__("ic iallu\n\t");
-    // synchronize context on this processor
-    ISB();
+    __asm_invalidate_icache_all();
+    __asm_invalidate_l3_icache();
 }
 
 void InvalidateL1Icache(uintptr_t start, uintptr_t end)

Ubiquitous/XiZi_AIoT/hardkernel/cache/cache_common_ope.c

@@ -92,7 +92,7 @@ static inline void invalidate_icache(uintptr_t start, uintptr_t end)
 
 static inline void invalidate_icache_all(void)
 {
-    // InvalidateL1IcacheAll();
+    InvalidateL1IcacheAll();
 }
 
 /****************************************************************************
@@ -151,7 +151,7 @@ static inline void flush_dcache(uintptr_t start, uintptr_t end)
 
 static inline void flush_dcache_all(void)
 {
-    // FlushL1DcacheAll();
+    FlushL1DcacheAll();
     // FlushL2CacheAll();
 }
 

Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/Makefile

@@ -1,4 +1,4 @@
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )

Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/Makefile

@@ -1,5 +1,5 @@
-ifneq ($(findstring $(BOARD), ok1028a-c), )
-SRC_DIR := cortex-a72
+ifneq ($(findstring $(BOARD), 3568), )
+SRC_DIR := cortex-a55
 endif
 
 

Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a55/3568/clock.c

@@ -22,27 +22,27 @@
 
 static void enable_timer()
 {
-    uint32_t c = r_cntv_ctl_el0();
+    uint32_t c = r_cntp_ctl_el0();
     c |= CNTV_CTL_ENABLE;
     c &= ~CNTV_CTL_IMASK;
-    w_cntv_ctl_el0(c);
+    w_cntp_ctl_el0(c);
 }
 
 static void disable_timer()
 {
-    uint32_t c = r_cntv_ctl_el0();
+    uint32_t c = r_cntp_ctl_el0();
     c |= CNTV_CTL_IMASK;
     c &= ~CNTV_CTL_ENABLE;
-    w_cntv_ctl_el0(c);
+    w_cntp_ctl_el0(c);
 }
 
 static void reload_timer()
 {
-    // interval 100ms
-    static uint32_t ms = 10;
+    // interval 1ms
+    static uint32_t ms = 1;
     uint32_t interval = ms * 1000;
     uint32_t interval_clk = interval * (r_cntfrq_el0() / 1000000);
-    w_cntv_tval_el0(interval_clk);
+    w_cntp_tval_el0(interval_clk);
 }
 
 void _sys_clock_init()
@@ -54,7 +54,7 @@ void _sys_clock_init()
 
 static uint32_t _get_clock_int()
 {
-    return 27;
+    return 30;
 }
 
 static uint64_t _get_tick()
@@ -64,7 +64,7 @@ static uint64_t _get_tick()
 
 static uint64_t _get_second()
 {
-    return 0;
+    return _get_tick() / r_cntfrq_el0();
 }
 
 static bool _is_timer_expired()

Ubiquitous/XiZi_AIoT/hardkernel/clock/arm/armv8-a/cortex-a55/3568/include/generic_timer.h

@@ -15,28 +15,28 @@
 #include <stdint.h>
 
 // armv8 generic timer
-static inline uint32_t r_cntv_ctl_el0()
+static inline uint32_t r_cntp_ctl_el0()
 {
     uint32_t x;
-    __asm__ volatile("mrs %0, cntv_ctl_el0" : "=r"(x));
+    __asm__ volatile("mrs %0, cntp_ctl_el0" : "=r"(x));
     return x;
 }
 
-static inline void w_cntv_ctl_el0(uint32_t x)
+static inline void w_cntp_ctl_el0(uint32_t x)
 {
-    __asm__ volatile("msr cntv_ctl_el0, %0" : : "r"(x));
+    __asm__ volatile("msr cntp_ctl_el0, %0" : : "r"(x));
 }
 
-static inline uint32_t r_cntv_tval_el0()
+static inline uint32_t r_cntp_tval_el0()
 {
     uint32_t x;
-    __asm__ volatile("mrs %0, cntv_tval_el0" : "=r"(x));
+    __asm__ volatile("mrs %0, cntp_tval_el0" : "=r"(x));
     return x;
 }
 
-static inline void w_cntv_tval_el0(uint32_t x)
+static inline void w_cntp_tval_el0(uint32_t x)
 {
-    __asm__ volatile("msr cntv_tval_el0, %0" : : "r"(x));
+    __asm__ volatile("msr cntp_tval_el0, %0" : : "r"(x));
 }
 
 static inline uint64_t r_cntvct_el0()

Ubiquitous/XiZi_AIoT/hardkernel/hardkernel_init.c

@@ -220,6 +220,7 @@ bool secondary_cpu_hardkernel_init(int cpu_id, struct TraceTag* _hardkernel_tag)
     p_icache_driver->enable();
     p_dcache_driver->enable();
     // clock
+    p_clock_driver->sys_clock_init();
     p_intr_driver->single_irq_enable(p_clock_driver->get_clock_int(), cpu_id, 0);
     // mmu
     secondary_cpu_load_kern_pgdir(&init_mmu_tag, &init_intr_tag);

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/Makefile

@@ -1,4 +1,4 @@
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/Makefile

@@ -1,3 +1,3 @@
-SRC_DIR := cortex-a72
+SRC_DIR := cortex-a55
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/3568/trap.c

@@ -28,13 +28,16 @@ Modification:
 *************************************************/
 #include <stdint.h>
 
+#include "exception_registers.h"
+
 #include "assert.h"
 #include "core.h"
-#include "exception_registers.h"
 #include "multicores.h"
 #include "syscall.h"
 #include "task.h"
 
+#include "mmu.h"
+
 extern void dabort_handler(struct trapframe* r);
 extern void iabort_handler(struct trapframe* r);
 
@@ -73,7 +76,6 @@ void syscall_arch_handler(struct trapframe* tf)
 
     uint64_t esr = r_esr_el1();
     uint64_t ec = (esr >> 0x1A) & 0x3F;
-    w_esr_el1(0);
     switch (ec) {
     case 0B010101:
         software_irq_dispatch(tf);
@@ -87,11 +89,30 @@ void syscall_arch_handler(struct trapframe* tf)
         iabort_handler(tf);
         break;
     default: {
-        ERROR("USYSCALL: unexpected ec: %016lx", esr);
+        ERROR("USYSCALL: unexpected\n");
+        ERROR("          esr: %016lx\n", esr);
         ERROR("          elr = %016lx far = %016lx\n", r_elr_el1(), r_far_el1());
+        w_esr_el1(0);
+        extern void dump_tf(struct trapframe * tf);
+        dump_tf(tf);
+
+        uint32_t sctlr = 0;
+        SCTLR_R(sctlr);
+        DEBUG("SCTLR: %x\n", sctlr);
+        uint32_t spsr = 0;
+        __asm__ volatile("mrs %0, spsr_el1" : "=r"(spsr)::"memory");
+        DEBUG("SPSR: %x\n", spsr);
+        uint64_t tcr = 0;
+        __asm__ volatile("mrs %0, tcr_el1" : "=r"(tcr)::"memory");
+        DEBUG("TCR: %x\n", tcr);
+        uint64_t mair = 0;
+        __asm__ volatile("mrs %0, mair_el1" : "=r"(mair)::"memory");
+        DEBUG("MAIR: %x\n", mair);
+
         // kill error task
         xizi_enter_kernel();
         assert(cur_cpu()->task != NULL);
+        ERROR("Error Task: %s\n", cur_cpu()->task->name);
         sys_exit(cur_cpu()->task);
         context_switch(&cur_cpu()->task->thread_context.context, cur_cpu()->scheduler);
         panic("dabort end should never be reashed.\n");

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/3568/trap_common.c

@@ -29,7 +29,7 @@ Modification:
 #include <string.h>
 
 #include "core.h"
-#include "cortex_a72.h"
+#include "cortex_a55.h"
 #include "exception_registers.h"
 #include "gicv3_common_opa.h"
 #include "trap_common.h"
@@ -70,7 +70,12 @@ static void _cpu_irq_disable(void)
 
 static void _single_irq_enable(int irq, int cpu, int prio)
 {
-    gic_setup_ppi((uint32_t)cpu, (uint32_t)irq);
+    if (irq < 32) {
+        gic_setup_ppi((uint32_t)cpu, (uint32_t)irq);
+    }
+    else {
+        gic_setup_spi((uint32_t)cpu, (uint32_t)irq);
+    }
 }
 
 static void _single_irq_disable(int irq, int cpu)

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/Makefile

@@ -1,6 +1,6 @@
 SRC_FILES := trampoline.S $(BOARD)/trap_common.c $(BOARD)/trap.c error_debug.c hard_spinlock.S
 
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 SRC_DIR := gicv3
 SRC_FILES += $(BOARD)/
 endif

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/error_debug.c

@@ -39,51 +39,53 @@ Modification:
 2. Modify iabort and dabort handler(in dabort_handler() and iabort_handler())
 *************************************************/
 #include <stddef.h>
+#include <stdint.h>
+
+#include "exception_registers.h"
 
 #include "assert.h"
 #include "core.h"
 #include "log.h"
 #include "multicores.h"
-#include "spinlock.h"
 #include "task.h"
 #include "trap_common.h"
 
 void dump_tf(struct trapframe* tf)
 {
-    KPrintf("   sp:   0x%x\n", tf->sp);
-    KPrintf("   pc:   0x%x\n", tf->pc);
-    KPrintf("   spsr: 0x%x\n", tf->spsr);
-    KPrintf("     x0: 0x%x\n", tf->x0);
-    KPrintf("     x1: 0x%x\n", tf->x1);
-    KPrintf("     x2: 0x%x\n", tf->x2);
-    KPrintf("     x3: 0x%x\n", tf->x3);
-    KPrintf("     x4: 0x%x\n", tf->x4);
-    KPrintf("     x5: 0x%x\n", tf->x5);
-    KPrintf("     x6: 0x%x\n", tf->x6);
-    KPrintf("     x7: 0x%x\n", tf->x7);
-    KPrintf("     x8: 0x%x\n", tf->x8);
-    KPrintf("     x9: 0x%x\n", tf->x9);
-    KPrintf("    x10: 0x%x\n", tf->x10);
-    KPrintf("    x11: 0x%x\n", tf->x11);
-    KPrintf("    x12: 0x%x\n", tf->x12);
-    KPrintf("    x13: 0x%x\n", tf->x13);
-    KPrintf("    x14: 0x%x\n", tf->x14);
-    KPrintf("    x15: 0x%x\n", tf->x15);
-    KPrintf("    x16: 0x%x\n", tf->x16);
-    KPrintf("    x17: 0x%x\n", tf->x17);
-    KPrintf("    x18: 0x%x\n", tf->x18);
-    KPrintf("    x19: 0x%x\n", tf->x19);
-    KPrintf("    x20: 0x%x\n", tf->x20);
-    KPrintf("    x21: 0x%x\n", tf->x21);
-    KPrintf("    x22: 0x%x\n", tf->x22);
-    KPrintf("    x23: 0x%x\n", tf->x23);
-    KPrintf("    x24: 0x%x\n", tf->x24);
-    KPrintf("    x25: 0x%x\n", tf->x25);
-    KPrintf("    x26: 0x%x\n", tf->x26);
-    KPrintf("    x27: 0x%x\n", tf->x27);
-    KPrintf("    x28: 0x%x\n", tf->x28);
-    KPrintf("    x29: 0x%x\n", tf->x29);
-    KPrintf("    x30: 0x%x\n", tf->x30);
+    KPrintf("   sp:   0x%016lx\n", tf->sp);
+    KPrintf("   pc:   0x%016lx\n", tf->pc);
+    KPrintf("   spsr: 0x%016lx\n", tf->spsr);
+    KPrintf("     x0: 0x%016lx\n", tf->x0);
+    KPrintf("     x1: 0x%016lx\n", tf->x1);
+    KPrintf("     x2: 0x%016lx\n", tf->x2);
+    KPrintf("     x3: 0x%016lx\n", tf->x3);
+    KPrintf("     x4: 0x%016lx\n", tf->x4);
+    KPrintf("     x5: 0x%016lx\n", tf->x5);
+    KPrintf("     x6: 0x%016lx\n", tf->x6);
+    KPrintf("     x7: 0x%016lx\n", tf->x7);
+    KPrintf("     x8: 0x%016lx\n", tf->x8);
+    KPrintf("     x9: 0x%016lx\n", tf->x9);
+    KPrintf("    x10: 0x%016lx\n", tf->x10);
+    KPrintf("    x11: 0x%016lx\n", tf->x11);
+    KPrintf("    x12: 0x%016lx\n", tf->x12);
+    KPrintf("    x13: 0x%016lx\n", tf->x13);
+    KPrintf("    x14: 0x%016lx\n", tf->x14);
+    KPrintf("    x15: 0x%016lx\n", tf->x15);
+    KPrintf("    x16: 0x%016lx\n", tf->x16);
+    KPrintf("    x17: 0x%016lx\n", tf->x17);
+    KPrintf("    x18: 0x%016lx\n", tf->x18);
+    KPrintf("    x19: 0x%016lx\n", tf->x19);
+    KPrintf("    x20: 0x%016lx\n", tf->x20);
+    KPrintf("    x21: 0x%016lx\n", tf->x21);
+    KPrintf("    x22: 0x%016lx\n", tf->x22);
+    KPrintf("    x23: 0x%016lx\n", tf->x23);
+    KPrintf("    x24: 0x%016lx\n", tf->x24);
+    KPrintf("    x25: 0x%016lx\n", tf->x25);
+    KPrintf("    x26: 0x%016lx\n", tf->x26);
+    KPrintf("    x27: 0x%016lx\n", tf->x27);
+    KPrintf("    x28: 0x%016lx\n", tf->x28);
+    KPrintf("    x29: 0x%016lx\n", tf->x29);
+    KPrintf("    x30: 0x%016lx\n", tf->x30);
 }
 
 void dabort_reason(struct trapframe* r)
@@ -91,8 +93,9 @@ void dabort_reason(struct trapframe* r)
     uint32_t fault_status, fault_address;
     __asm__ __volatile__("mrs %0, esr_el1" : "=r"(fault_status));
     __asm__ __volatile__("mrs %0, far_el1" : "=r"(fault_address));
-    LOG("program counter: 0x%x caused\n", r->pc);
-    LOG("data abort at 0x%x, status 0x%x\n", fault_address, fault_status);
+    w_esr_el1(0);
+    LOG("program counter: 0x%016lx caused\n", r->pc);
+    LOG("data abort at 0x%016lx, status 0x%016lx\n", fault_address, fault_status);
     if ((fault_status & 0x3f) == 0x21) // Alignment failure
         KPrintf("reason: alignment\n");
     else if ((fault_status & 0x3f) == 0x4) // Translation fault, level 0
@@ -131,8 +134,9 @@ void iabort_reason(struct trapframe* r)
     uint32_t fault_status, fault_address;
     __asm__ __volatile__("mrs %0, esr_el1" : "=r"(fault_status));
     __asm__ __volatile__("mrs %0, far_el1" : "=r"(fault_address));
-    LOG("program counter: 0x%x caused\n", r->pc);
-    LOG("data abort at 0x%x, status 0x%x\n", fault_address, fault_status);
+    LOG("program counter: 0x%016lx caused\n", r->pc);
+    LOG("data abort at 0x%016lx, status 0x%016lx\n", fault_address, fault_status);
+    w_esr_el1(0);
     if ((fault_status & 0x3f) == 0x21) // Alignment failure
         KPrintf("reason: alignment\n");
     else if ((fault_status & 0x3f) == 0x4) // Translation fault, level 0

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/gicv3/gicv3_registers.h

@@ -30,8 +30,8 @@ Modification:
 
 // clang-format off
 // interrupt controller GICv3
-#define GICV3               MMIO_P2V_WO(0x08000000ULL)
-#define GICV3_REDIST        MMIO_P2V_WO(0x080a0000ULL)
+#define GICV3               MMIO_P2V_WO(0xFD400000ULL)
+#define GICV3_REDIST        MMIO_P2V_WO(0xFD460000ULL)
 
 #define D_CTLR 0x0
 #define D_TYPER 0x4

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/hard_spinlock.S

@@ -55,62 +55,56 @@ Modification:
 #define UNLOCKED 0xFF
 // int spinlock_lock(spinlock_t * lock, uint64_t timeout)
     .global _spinlock_lock
-    .func _spinlock_lock
+.func _spinlock_lock
 _spinlock_lock:
-mov     w2, #1
+    mov     w2, #1
+    sevl
+1: 
+    wfe
 
-sevl
-wfe
+2: 
+    ldaxrb  w1, [x0]                     // check if the spinlock is currently unlocked
+    cmp     w1, #UNLOCKED
+    bne     1b
 
-ldaxrb  w1, [x0]                     // check if the spinlock is currently unlocked
-cmp     w1, #UNLOCKED
-bne     _spinlock_lock
+    mrs     x1, mpidr_el1                // get our CPU ID
+    and     x1, x1, #0xFFF
+    lsr     x1, x1, #8
+    stxrb   w2, w1, [x0]
+    cmp     x2, #0
+    bne     2b        // check if the write was successful, if the write failed, start over
 
-mrs     x1, mpidr_el1                // get our CPU ID
-and     x1, x1, #3
-stxrb   w2, w1, [x0]
-cmp     x2, #0
-bne     _spinlock_lock        // check if the write was successful, if the write failed, start over
+    dmb    ish                        // Ensure that accesses to shared resource have completed
 
-dmb    ish                        // Ensure that accesses to shared resource have completed
-
-mov    x0, #0
-ret
-
-    .endfunc 
+    mov    x0, #0
+    ret
+.endfunc 
 
 
 // void spinlock_unlock(spinlock_t * lock)
     .global _spinlock_unlock
     .func _spinlock_unlock
 _spinlock_unlock:
+    mrs     x1, mpidr_el1                // get our CPU ID
+    and     x1, x1, #0xFFF
+    lsr     x1, x1, #8
 
-mrs     x1, mpidr_el1                // get our CPU ID
-and     x1, x1, #3
+    ldr     w2, [x0]
+    cmp     w1, w2
+    bne     1f                                       //doesn't match,jump to 1
 
-ldr     w2, [x0]
-cmp     w1, w2
-bne     1f                                       //doesn't match,jump to 1
-
-
-dmb     ish
-
-mov     w1, #UNLOCKED 
-str     w1, [x0]
-
-dsb     ish                                //Ensure that no instructions following the barrier execute until
-                                           // all memory accesses prior to the barrier have completed.
-
-
-sevl                                          // send event to wake up other cores waiting on spinlock
-
-mov     x0, #0                               // return success
-ret
+    dmb     ish
+    mov     w1, #UNLOCKED 
+    str     w1, [x0]
+    dsb     ish                                 //Ensure that no instructions following the barrier execute until
+                                                // all memory accesses prior to the barrier have completed.
+    sevl                                          // send event to wake up other cores waiting on spinlock
 
+    mov     x0, #0                               // return success
+    ret
 1:
-mov     x0, #1                              //doesn't match, so exit with failure
-ret
-
+    mov     x0, #1                              //doesn't match, so exit with failure
+    ret
 .endfunc
 
 .end

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/trampoline.S

@@ -143,13 +143,13 @@ Modification:
 .balign 0x800
 alltraps:
 // Current EL with sp0
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 
 // Current EL with spx
 .balign 0x80
@@ -157,9 +157,9 @@ alltraps:
 .balign 0x80
   b el1irq
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 
 // Lower EL using aarch64
 .balign 0x80
@@ -167,32 +167,34 @@ alltraps:
 .balign 0x80
   b el0irq
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 
 // Lower EL using aarch32
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
 .balign 0x80
-  b .
+  b badtrap
+
+badtrap:
+        savereg
+        mov x0, sp
+        bl  kernel_intr_handler 
+        b   .
 
 el1sync:
-        msr daifset, #0xf
         savereg
-        
         mov x0, sp
         bl  kernel_abort_handler 
         b   .
       
 el1irq:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl intr_irq_dispatch
 
@@ -201,9 +203,7 @@ el1irq:
         eret
       
 el0sync:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl syscall_arch_handler
       
@@ -212,9 +212,7 @@ el0sync:
         eret
 
 el0irq:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl intr_irq_dispatch
       

Ubiquitous/XiZi_AIoT/hardkernel/intr/spinlock.c

@@ -59,7 +59,7 @@ __attribute__((optimize("O0"))) void spinlock_init(struct spinlock* lock, char*
 }
 
 extern int _spinlock_lock(struct spinlock* lock, uint32_t timeout);
-extern void _spinlock_unlock(struct spinlock* lock);
+extern int _spinlock_unlock(struct spinlock* lock);
 
 __attribute__((optimize("O0"))) void spinlock_lock(struct spinlock* lock)
 {
@@ -88,7 +88,9 @@ __attribute__((optimize("O0"))) void spinlock_unlock(struct spinlock* lock)
     _double_list_del(p_lock_node->prev, p_lock_node->next);
     _spinlock_unlock(&request_lock);
 
-    _spinlock_unlock(lock);
+    if (_spinlock_unlock(lock) != 0) {
+        ERROR("Core %d trying to unlock a lock belongs to %d.\n", cur_cpuid(), lock->owner_cpu);
+    }
 }
 
 __attribute__((optimize("O0"))) bool spinlock_try_lock(struct spinlock* lock)

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/Makefile

@@ -1,4 +1,4 @@
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/bootmmu.c

@@ -48,7 +48,7 @@ uint32_t boot_pgdir[NR_PDE_ENTRIES] __attribute__((aligned(0x4000))) = { 0 };
 static void build_boot_pgdir()
 {
     // dev mem
-    uint32_t dev_mem_end_idx = (DEV_PHYMEM_BASE + DEV_MEM_SZ) >> LEVEL3_PDE_SHIFT;
+    uint32_t dev_mem_end_idx = (DEV_PHYMEM_BASE + DEV_MEM_SIZE) >> LEVEL3_PDE_SHIFT;
     for (uint32_t i = DEV_PHYMEM_BASE >> LEVEL3_PDE_SHIFT; i < dev_mem_end_idx; i++) {
         boot_pgdir[i] = (i << LEVEL3_PDE_SHIFT) | L1_TYPE_SEC | L1_SECT_DEV | L1_SECT_AP0;
         boot_pgdir[MMIO_P2V_WO(i << LEVEL3_PDE_SHIFT) >> LEVEL3_PDE_SHIFT] = (i << LEVEL3_PDE_SHIFT) | L1_TYPE_SEC | L1_SECT_DEV | L1_SECT_AP0;

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/imx6q-sabrelite/memlayout.h

@@ -67,7 +67,7 @@ Modification:
 /* Deivce memory layout */
 #define DEV_PHYMEM_BASE     (0x00000000)
 #define DEV_VRTMEM_BASE     (0x80000000)
-#define DEV_MEM_SZ          (0x10000000)
+#define DEV_MEM_SIZE          (0x10000000)
 
 /* Kernel memory layout */
 #define KERN_MEM_BASE       (0x90000000) // First kernel virtual address

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv7-a/cortex-a9/zynq7000-zc702/memlayout.h

@@ -66,7 +66,7 @@ Modification:
 /* Deivce memory layout */
 #define DEV_PHYMEM_BASE     (0xE0000000)
 #define DEV_VRTMEM_BASE     (0x80000000)
-#define DEV_MEM_SZ          (0x1FFFFFFF)
+#define DEV_MEM_SIZE          (0x1FFFFFFF)
 
 /* Kernel memory layout */
 #define KERN_MEM_BASE       (0xA0000000) // First kernel virtual address

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/Makefile

@@ -1,3 +1,3 @@
-SRC_DIR := cortex-a72
+SRC_DIR := cortex-a55
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/3568/memlayout.h

@@ -33,11 +33,11 @@ Modification:
 
 #define ARCH_BIT        64
 
-/* A72 physical memory layout */
-#define PHY_MEM_BASE            (0x0000000040000000ULL)
-#define PHY_USER_FREEMEM_BASE   (0x0000000046000000ULL)
-#define PHY_USER_FREEMEM_TOP    (0x0000000048000000ULL)
-#define PHY_MEM_STOP            (0x0000000048000000ULL)
+/* A55 physical memory layout */
+#define PHY_MEM_BASE            (0x0000000010000000ULL)
+#define PHY_USER_FREEMEM_BASE   (0x0000000040000000ULL)
+#define PHY_USER_FREEMEM_TOP    (0x00000000E0000000ULL)
+#define PHY_MEM_STOP            (0x00000000E0000000ULL)
 
 /* PTE-PAGE_SIZE */
 #define LEVEL4_PTE_SHIFT    12
@@ -58,23 +58,23 @@ Modification:
 #define NUM_TOPLEVEL_PDE    NUM_LEVEL2_PDE 
 
 #define PAGE_SIZE           LEVEL4_PTE_SIZE
-#define MAX_NR_FREE_PAGES   ((PHY_MEM_STOP - PHY_MEM_BASE) >> LEVEL4_PTE_SHIFT)
+#define MAX_NR_FREE_PAGES   ((PHY_USER_FREEMEM_BASE - PHY_MEM_BASE) >> LEVEL4_PTE_SHIFT)
 
 /* Deivce memory layout */
-#define DEV_PHYMEM_BASE     (0x0000000000000000ULL)
-#define DEV_VRTMEM_BASE     (0x0000004000000000ULL)
-#define DEV_MEM_SZ          (0x0000000010000000ULL)
+#define DEV_PHYMEM_BASE     (0x00000000F0000000ULL)
+#define DEV_VRTMEM_BASE     (0x00000040F0000000ULL)
+#define DEV_MEM_SIZE        (0x0000000010000000ULL)
 
 /* User memory layout */
 #define USER_STACK_SIZE     PAGE_SIZE
 #define USER_MEM_BASE       (0x0000000000000000ULL)
-#define USER_MEM_TOP        DEV_VRTMEM_BASE
+#define USER_MEM_TOP        (0x0000004000000000ULL)
 #define USER_IPC_SPACE_BASE (0x0000003000000000ULL)
 #define USER_IPC_USE_ALLOCATOR_WATERMARK    (0x0000003000010000ULL)
 #define USER_IPC_SPACE_TOP  (USER_IPC_SPACE_BASE + 0x10000000ULL) 
 
 /* Kernel memory layout */
-#define KERN_MEM_BASE       (0x0000006040000000ULL) // First kernel virtual address
+#define KERN_MEM_BASE       (0x0000006010000000ULL) // First kernel virtual address
 #define KERN_OFFSET         (KERN_MEM_BASE - PHY_MEM_BASE)
 
 #define V2P(a) (((uint64_t)(a)) - KERN_OFFSET)

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/bootmmu.c

@@ -51,9 +51,9 @@ extern uint64_t kernel_data_begin[];
 #define L4_PTE_NORMAL       ((0b01) << 2) // Device memory
 #define L4_PTE_AF           (1 << 10) // Data Access Permissions
 
-#define L4_PTE_PXN             (1UL << 53)   // Privileged eXecute Never
-#define L4_PTE_UXN             (1UL << 54)   // Unprivileged(user) eXecute Never
-#define L4_PTE_XN              (PTE_PXN|PTE_UXN)  // eXecute Never
+#define L4_PTE_PXN          (1UL << 53)   // Privileged eXecute Never
+#define L4_PTE_UXN          (1UL << 54)   // Unprivileged(user) eXecute Never
+#define L4_PTE_XN           (PTE_PXN|PTE_UXN)  // eXecute Never
 
 #define IDX_MASK            (0b111111111)
 #define L3_PDE_INDEX(idx)   ((idx << LEVEL3_PDE_SHIFT) & L3_IDX_MASK)
@@ -62,64 +62,69 @@ extern uint64_t kernel_data_begin[];
 uint64_t boot_l2pgdir[NUM_LEVEL2_PDE] __attribute__((aligned(0x1000))) = { 0 };
 
 uint64_t boot_dev_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 0 };
-uint64_t boot_virt_dev_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 0 };
 uint64_t boot_kern_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 0 };
-uint64_t boot_virt_kern_l3pgdir[NUM_LEVEL3_PDE] __attribute__((aligned(0x1000))) = { 0 };
 
 uint64_t boot_dev_l4pgdirs[NUM_LEVEL3_PDE][NUM_LEVEL4_PTE] __attribute__((aligned(0x1000))) = { 0 };
 uint64_t boot_kern_l4pgdirs[NUM_LEVEL3_PDE][NUM_LEVEL4_PTE] __attribute__((aligned(0x1000))) = { 0 };
 
 static void build_boot_pgdir()
 {
-    uint64_t dev_phy_mem_base = DEV_PHYMEM_BASE;
-    // dev mem
-    boot_l2pgdir[(dev_phy_mem_base >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_dev_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
-    boot_l2pgdir[(MMIO_P2V_WO(dev_phy_mem_base) >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_dev_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
+    static bool built = false;
+    if (!built) {
+        uint64_t dev_phy_mem_base = DEV_PHYMEM_BASE;
 
-    uint64_t cur_mem_paddr = ALIGNDOWN((uint64_t)DEV_PHYMEM_BASE, PAGE_SIZE);
-    for (size_t i = 0; i < NUM_LEVEL3_PDE; i++) {
-        boot_dev_l3pgdir[i] = (uint64_t)boot_dev_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
+        // dev mem
+        boot_l2pgdir[(dev_phy_mem_base >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_dev_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
+        boot_l2pgdir[(MMIO_P2V_WO(dev_phy_mem_base) >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_dev_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
 
-        for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
-            boot_dev_l4pgdirs[i][j] = cur_mem_paddr | L4_TYPE_PAGE | L4_PTE_DEV | L4_PTE_AF | L4_PTE_XN;
+        uint64_t cur_mem_paddr = ALIGNDOWN((uint64_t)DEV_PHYMEM_BASE, LEVEL2_PDE_SIZE);
+        for (size_t i = 0; i < NUM_LEVEL3_PDE; i++) {
+            boot_dev_l3pgdir[i] = (uint64_t)boot_dev_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
 
-            cur_mem_paddr += PAGE_SIZE;
+            for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
+                boot_dev_l4pgdirs[i][j] = cur_mem_paddr | L4_TYPE_PAGE | L4_PTE_DEV | L4_PTE_AF | L4_PTE_XN;
+                if (cur_mem_paddr >= DEV_PHYMEM_BASE && cur_mem_paddr < DEV_PHYMEM_BASE + DEV_MEM_SIZE) {
+                    boot_dev_l4pgdirs[i][j] = cur_mem_paddr | 0x403;
+                } else {
+                    boot_dev_l4pgdirs[i][j] = cur_mem_paddr | 0x403;
+                }
+
+                cur_mem_paddr += PAGE_SIZE;
+            }
         }
-    }
 
-    // identical mem
-    boot_l2pgdir[(PHY_MEM_BASE >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_kern_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
-    boot_l2pgdir[(P2V_WO(PHY_MEM_BASE) >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_kern_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
+        // identical mem
+        boot_l2pgdir[(PHY_MEM_BASE >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_kern_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
+        boot_l2pgdir[(P2V_WO(PHY_MEM_BASE) >> LEVEL2_PDE_SHIFT) & IDX_MASK] = (uint64_t)boot_kern_l3pgdir | L2_TYPE_TAB | L2_PTE_VALID;
 
-    cur_mem_paddr = ALIGNDOWN((uint64_t)PHY_MEM_BASE, PAGE_SIZE);
-    for (size_t i = 0; i < NUM_LEVEL3_PDE; i++) {
-        boot_kern_l3pgdir[i] = (uint64_t)boot_kern_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
+        cur_mem_paddr = ALIGNDOWN((uint64_t)0x00000000ULL, PAGE_SIZE);
+        for (size_t i = 0; i < NUM_LEVEL3_PDE; i++) {
+            boot_kern_l3pgdir[i] = (uint64_t)boot_kern_l4pgdirs[i] | L3_TYPE_TAB | L3_PTE_VALID;
 
-        for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
-            boot_kern_l4pgdirs[i][j] = cur_mem_paddr | L4_TYPE_PAGE | L4_PTE_NORMAL | L4_PTE_AF;
+            for (size_t j = 0; j < NUM_LEVEL4_PTE; j++) {
+                boot_kern_l4pgdirs[i][j] = cur_mem_paddr | 0x713;
 
-            cur_mem_paddr += PAGE_SIZE;
+                cur_mem_paddr += PAGE_SIZE;
+            }
         }
+
+        built = true;
     }
 }
 
 static void load_boot_pgdir()
 {
-    uint64_t val;
 
     TTBR0_W((uintptr_t)boot_l2pgdir);
     TTBR1_W(0);
 
-    TCR_W(TCR_VALUE);
-    MAIR_W((MT_DEVICE_nGnRnE << (8 * AI_DEVICE_nGnRnE_IDX)) | (MT_NORMAL_NC << (8 * AI_NORMAL_NC_IDX)));
+#define TCR_TRUE_VALUE (0x0000000080813519ULL)
+    uint64_t tcr = 0;
+    TCR_R(tcr);
+    tcr &= (uint64_t)~0xFF;
+    tcr |= 0x19;
+    TCR_W(tcr);
 
-    // Enable paging using read/modify/write
-    SCTLR_R(val);
-    val |= (1 << 0); // EL1 and EL0 stage 1 address translation enabled.
-    SCTLR_W(val);
-
-    // flush all TLB
-    DSB();
     CLEARTLB(0);
     ISB();
 }
@@ -130,7 +135,7 @@ void bootmain()
 {
     build_boot_pgdir();
     load_boot_pgdir();
-    __asm__ __volatile__("add sp, sp, %0" ::"r"(KERN_MEM_BASE - PHY_MEM_BASE));
+    __asm__ __volatile__("add sp, sp, %0" ::"r"(KERN_OFFSET));
     if (!_bss_inited) {
         memset(&kernel_data_begin, 0x00, (size_t)((uint64_t)kernel_data_end - (uint64_t)kernel_data_begin));
         _bss_inited = true;

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/include/mmu.h

@@ -61,35 +61,36 @@ void GetPdeAttr(uintptr_t* attr);
 /*
 Enable MMU, cache, write buffer, etc.
 */
-#define SCTLR_R(val) __asm__ volatile("mrs %0, sctlr_el1" : "=r"(val))
-#define SCTLR_W(val) __asm__ volatile("msr sctlr_el1, %0" ::"r"(val))
+#define SCTLR_R(val) __asm__ volatile("mrs %0, sctlr_el1" : "=r"(val)::"memory")
+#define SCTLR_W(val) __asm__ volatile("msr sctlr_el1, %0" ::"r"(val) : "memory")
 
 /*
 Read and write mmu pagetable register base addr
 */
-#define TTBR0_R(val) __asm__ volatile("mrs %0, ttbr0_el1" : "=r"(val))
-#define TTBR0_W(val) __asm__ volatile("msr ttbr0_el1, %0" ::"r"(val))
+#define TTBR0_R(val) __asm__ volatile("mrs %0, ttbr0_el1" : "=r"(val)::"memory")
+#define TTBR0_W(val) __asm__ volatile("msr ttbr0_el1, %0" ::"r"(val) : "memory")
 
 /*
 Read and write mmu pagetable register base addr
 */
-#define TTBR1_R(val) __asm__ volatile("mrs %0, ttbr1_el1" : "=r"(val))
-#define TTBR1_W(val) __asm__ volatile("msr ttbr1_el1, %0" ::"r"(val))
+#define TTBR1_R(val) __asm__ volatile("mrs %0, ttbr1_el1" : "=r"(val)::"memory")
+#define TTBR1_W(val) __asm__ volatile("msr ttbr1_el1, %0" ::"r"(val) : "memory")
 
 /*
 Translation Control Register（TCR）
 */
-#define TCR_R(val) __asm__ volatile("mrs %0, tcr_el1" : "=r"(val))
-#define TCR_W(val) __asm__ volatile("msr tcr_el1, %0" ::"r"(val))
+#define TCR_R(val) __asm__ volatile("mrs %0, tcr_el1" : "=r"(val)::"memory")
+#define TCR_W(val) __asm__ volatile("msr tcr_el1, %0" ::"r"(val) : "memory")
 
-#define MAIR_R(val) __asm__ volatile("mrs %0, mair_el1" : "=r"(val))
-#define MAIR_W(val) __asm__ volatile("msr mair_el1, %0" ::"r"(val))
+#define MAIR_R(val) __asm__ volatile("mrs %0, mair_el1" : "=r"(val)::"memory")
+#define MAIR_W(val) __asm__ volatile("msr mair_el1, %0" ::"r"(val) : "memory")
 
 /*
 Flush TLB when loading a new page table.
 @note If nG is not set in the pte attribute, process switching need flush tlb.
 */
-#define CLEARTLB(val) __asm__ volatile("tlbi vmalle1")
+// #define CLEARTLB(val) __asm__ volatile("tlbi vmalle1" ::: "memory")
+#define CLEARTLB(val) __asm__ volatile("tlbi vmalle1is" ::: "memory")
 
 /*
 When nG is set in the pte attribute, the process is assigned an ASID, which is stored in the lower 8 bits of the CONTEXTIDR register.

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/mmu.c

@@ -45,7 +45,9 @@ void load_pgdir(uintptr_t pgdir_paddr)
     struct DCacheDone* p_dcache_done = AchieveResource(&right_group.dcache_driver_tag);
 
     TTBR0_W((uint64_t)pgdir_paddr);
+    DSB();
     CLEARTLB(0);
+    ISB();
     p_icache_done->invalidateall();
     p_dcache_done->flushall();
 }

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/pagetable_attr.c

@@ -52,22 +52,26 @@ Modification:
 
 void GetUsrPteAttr(uintptr_t* attr)
 {
-    *attr = ARMV8_PTE_AP_U | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_NORMAL | ARMV8_PTE_VALID;
+    // *attr = ARMV8_PTE_AP_U | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_NORMAL | ARMV8_PTE_VALID;
+    *attr = 0x713 | ARMV8_PTE_AP_U;
 }
 
 void GetUsrDevPteAttr(uintptr_t* attr)
 {
-    *attr = ARMV8_PTE_AP_U | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_DEVICE | ARMV8_PTE_XN | ARMV8_PTE_VALID;
+    // *attr = ARMV8_PTE_AP_U | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_DEVICE | ARMV8_PTE_XN | ARMV8_PTE_VALID;
+    *attr = 0x403 | ARMV8_PTE_AP_U;
 }
 
 void GetDevPteAttr(uintptr_t* attr)
 {
-    *attr = ARMV8_PTE_AP_K | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_DEVICE | ARMV8_PTE_XN | ARMV8_PTE_VALID;
+    // *attr = ARMV8_PTE_AP_K | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_DEVICE | ARMV8_PTE_XN | ARMV8_PTE_VALID;
+    *attr = 0x403ULL;
 }
 
 void GetKernPteAttr(uintptr_t* attr)
 {
-    *attr = ARMV8_PTE_AP_K | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_NORMAL | ARMV8_PTE_VALID;
+    // *attr = ARMV8_PTE_AP_K | ARMV8_PTE_AP_RW | ARMV8_PTE_AF | ARMV8_PTE_NORMAL | ARMV8_PTE_VALID;
+    *attr = 0x713ULL;
 }
 
 void GetPdeAttr(uintptr_t* attr)

Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/Makefile

@@ -1,5 +1,5 @@
 # The following three platforms support compatiable instructions.
-ifneq ($(findstring $(BOARD), ok1028a-c), )
+ifneq ($(findstring $(BOARD), 3568), )
 SRC_DIR := armv8-a
 endif
 ifneq ($(findstring $(BOARD), imx6q-sabrelite zynq7000-zc702), )

Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/Makefile

@@ -1,4 +1,4 @@
 # The following three platforms support compatiable instructions.
-SRC_DIR := cortex-a72
+SRC_DIR := cortex-a55
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/Makefile

@@ -1,3 +1,3 @@
-SRC_FILES := $(wildcard *.c)
+SRC_FILES := uart.c ns16550.c
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/include/ns16550.h

@@ -0,0 +1,198 @@
+/*
+ * NS16550 Serial Port
+ * originally from linux source (arch/powerpc/boot/ns16550.h)
+ *
+ * Cleanup and unification
+ * (C) 2009 by Detlev Zundel, DENX Software Engineering GmbH
+ *
+ * modified slightly to
+ * have addresses as offsets from CONFIG_SYS_ISA_BASE
+ * added a few more definitions
+ * added prototypes for ns16550.c
+ * reduced no of com ports to 2
+ * modifications (c) Rob Taylor, Flying Pig Systems. 2000.
+ *
+ * added support for port on 64-bit bus
+ * by Richard Danter (richard.danter@windriver.com), (C) 2005 Wind River Systems
+ */
+
+/*
+ * Note that the following macro magic uses the fact that the compiler
+ * will not allocate storage for arrays of size 0
+ */
+
+#include <stdint.h>
+
+/*
+ * For driver model we always use one byte per register, and sort out the
+ * differences in the driver
+ */
+#define CONFIG_SYS_NS16550_REG_SIZE (-1)
+
+#define UART_REG(x)  \
+    unsigned char x; \
+    unsigned char postpad_##x[-CONFIG_SYS_NS16550_REG_SIZE - 1];
+
+/**
+ * struct ns16550_platdata - information about a NS16550 port
+ *
+ * @base:		Base register address
+ * @reg_shift:		Shift size of registers (0=byte, 1=16bit, 2=32bit...)
+ * @clock:		UART base clock speed in Hz
+ */
+struct ns16550_platdata {
+    unsigned long base;
+    int reg_shift;
+    int clock;
+    int reg_offset;
+    uint32_t fcr;
+};
+
+struct udevice;
+
+struct NS16550 {
+    UART_REG(rbr); /* 0 */
+    UART_REG(ier); /* 1 */
+    UART_REG(fcr); /* 2 */
+    UART_REG(lcr); /* 3 */
+    UART_REG(mcr); /* 4 */
+    UART_REG(lsr); /* 5 */
+    UART_REG(msr); /* 6 */
+    UART_REG(spr); /* 7 */
+#ifdef CONFIG_SOC_DA8XX
+    UART_REG(reg8); /* 8 */
+    UART_REG(reg9); /* 9 */
+    UART_REG(revid1); /* A */
+    UART_REG(revid2); /* B */
+    UART_REG(pwr_mgmt); /* C */
+    UART_REG(mdr1); /* D */
+#else
+    UART_REG(mdr1); /* 8 */
+    UART_REG(reg9); /* 9 */
+    UART_REG(regA); /* A */
+    UART_REG(regB); /* B */
+    UART_REG(regC); /* C */
+    UART_REG(regD); /* D */
+    UART_REG(regE); /* E */
+    UART_REG(uasr); /* F */
+    UART_REG(scr); /* 10*/
+    UART_REG(ssr); /* 11*/
+#endif
+#ifdef CONFIG_DM_SERIAL
+    struct ns16550_platdata* plat;
+#endif
+};
+
+#define thr rbr
+#define iir fcr
+#define dll rbr
+#define dlm ier
+
+typedef struct NS16550* NS16550_t;
+
+/*
+ * These are the definitions for the FIFO Control Register
+ */
+#define UART_FCR_FIFO_EN 0x01 /* Fifo enable */
+#define UART_FCR_CLEAR_RCVR 0x02 /* Clear the RCVR FIFO */
+#define UART_FCR_CLEAR_XMIT 0x04 /* Clear the XMIT FIFO */
+#define UART_FCR_DMA_SELECT 0x08 /* For DMA applications */
+#define UART_FCR_TRIGGER_MASK 0xC0 /* Mask for the FIFO trigger range */
+#define UART_FCR_TRIGGER_1 0x00 /* Mask for trigger set at 1 */
+#define UART_FCR_TRIGGER_4 0x40 /* Mask for trigger set at 4 */
+#define UART_FCR_TRIGGER_8 0x80 /* Mask for trigger set at 8 */
+#define UART_FCR_TRIGGER_14 0xC0 /* Mask for trigger set at 14 */
+
+#define UART_FCR_RXSR 0x02 /* Receiver soft reset */
+#define UART_FCR_TXSR 0x04 /* Transmitter soft reset */
+
+/* Ingenic JZ47xx specific UART-enable bit. */
+#define UART_FCR_UME 0x10
+
+/* Clear & enable FIFOs */
+#define UART_FCR_DEFVAL (UART_FCR_FIFO_EN | UART_FCR_RXSR | UART_FCR_TXSR)
+
+/*
+ * These are the definitions for the Modem Control Register
+ */
+#define UART_MCR_DTR 0x01 /* DTR   */
+#define UART_MCR_RTS 0x02 /* RTS   */
+#define UART_MCR_OUT1 0x04 /* Out 1 */
+#define UART_MCR_OUT2 0x08 /* Out 2 */
+#define UART_MCR_LOOP 0x10 /* Enable loopback test mode */
+#define UART_MCR_AFE 0x20 /* Enable auto-RTS/CTS */
+
+#define UART_MCR_DMA_EN 0x04
+#define UART_MCR_TX_DFR 0x08
+
+/*
+ * These are the definitions for the Line Control Register
+ *
+ * Note: if the word length is 5 bits (UART_LCR_WLEN5), then setting
+ * UART_LCR_STOP will select 1.5 stop bits, not 2 stop bits.
+ */
+#define UART_LCR_WLS_MSK 0x03 /* character length select mask */
+#define UART_LCR_WLS_5 0x00 /* 5 bit character length */
+#define UART_LCR_WLS_6 0x01 /* 6 bit character length */
+#define UART_LCR_WLS_7 0x02 /* 7 bit character length */
+#define UART_LCR_WLS_8 0x03 /* 8 bit character length */
+#define UART_LCR_STB 0x04 /* # stop Bits, off=1, on=1.5 or 2) */
+#define UART_LCR_PEN 0x08 /* Parity eneble */
+#define UART_LCR_EPS 0x10 /* Even Parity Select */
+#define UART_LCR_STKP 0x20 /* Stick Parity */
+#define UART_LCR_SBRK 0x40 /* Set Break */
+#define UART_LCR_BKSE 0x80 /* Bank select enable */
+#define UART_LCR_DLAB 0x80 /* Divisor latch access bit */
+
+/*
+ * These are the definitions for the Line Status Register
+ */
+#define UART_LSR_DR 0x01 /* Data ready */
+#define UART_LSR_OE 0x02 /* Overrun */
+#define UART_LSR_PE 0x04 /* Parity error */
+#define UART_LSR_FE 0x08 /* Framing error */
+#define UART_LSR_BI 0x10 /* Break */
+#define UART_LSR_THRE 0x20 /* Xmit holding register empty */
+#define UART_LSR_TEMT 0x40 /* Xmitter empty */
+#define UART_LSR_ERR 0x80 /* Error */
+
+#define UART_MSR_DCD 0x80 /* Data Carrier Detect */
+#define UART_MSR_RI 0x40 /* Ring Indicator */
+#define UART_MSR_DSR 0x20 /* Data Set Ready */
+#define UART_MSR_CTS 0x10 /* Clear to Send */
+#define UART_MSR_DDCD 0x08 /* Delta DCD */
+#define UART_MSR_TERI 0x04 /* Trailing edge ring indicator */
+#define UART_MSR_DDSR 0x02 /* Delta DSR */
+#define UART_MSR_DCTS 0x01 /* Delta CTS */
+
+/*
+ * These are the definitions for the Interrupt Identification Register
+ */
+#define UART_IIR_NO_INT 0x01 /* No interrupts pending */
+#define UART_IIR_ID 0x06 /* Mask for the interrupt ID */
+
+#define UART_IIR_MSI 0x00 /* Modem status interrupt */
+#define UART_IIR_THRI 0x02 /* Transmitter holding register empty */
+#define UART_IIR_RDI 0x04 /* Receiver data interrupt */
+#define UART_IIR_RLSI 0x06 /* Receiver line status interrupt */
+
+/*
+ * These are the definitions for the Interrupt Enable Register
+ */
+#define UART_IER_MSI 0x08 /* Enable Modem status interrupt */
+#define UART_IER_RLSI 0x04 /* Enable receiver line status interrupt */
+#define UART_IER_THRI 0x02 /* Enable Transmitter holding register int. */
+#define UART_IER_RDI 0x01 /* Enable receiver data interrupt */
+
+/* useful defaults for LCR */
+#define UART_LCR_8N1 0x03
+
+void NS16550_init(NS16550_t com_port, int baud_divisor);
+void NS16550_putc(NS16550_t com_port, char c);
+char NS16550_getc(NS16550_t com_port);
+int NS16550_tstc(NS16550_t com_port);
+void NS16550_reinit(NS16550_t com_port, int baud_divisor);
+
+void _debug_uart_init(void);
+void _debug_uart_putc(int ch);
+int _debug_uart_getc(void);

Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/ns16550.c

@@ -0,0 +1,103 @@
+/*
+ * COM1 NS16550 support
+ * originally from linux source (arch/powerpc/boot/ns16550.c)
+ * modified to use CONFIG_SYS_ISA_MEM and new defines
+ */
+
+#include <stdint.h>
+
+#include "mmio_access.h"
+#include "ns16550.h"
+
+#define UART_ADDR MMIO_P2V_WO(0xFE660000)
+// #define UART_ADDR (0xFE660000)
+
+#define UART_LCRVAL UART_LCR_8N1 /* 8 data, 1 stop, no parity */
+#define UART_MCRVAL (UART_MCR_DTR | UART_MCR_RTS) /* RTS/DTR */
+
+#define out_le32(a, v) (*(volatile uint32_t*)(a) = (v))
+#define in_le32(a) (*(volatile uint32_t*)(a))
+
+#ifndef CONFIG_SYS_NS16550_IER
+#define CONFIG_SYS_NS16550_IER 0x00
+#endif /* CONFIG_SYS_NS16550_IER */
+
+#define serial_dout(reg, value)                                                   \
+    serial_out_shift((char*)com_port + ((char*)reg - (char*)com_port) * (1 << 2), \
+        2, value)
+#define serial_din(reg)                                                          \
+    serial_in_shift((char*)com_port + ((char*)reg - (char*)com_port) * (1 << 2), \
+        2)
+
+static inline void serial_out_shift(void* addr, int shift, int value)
+{
+    out_le32(addr, value);
+}
+
+static inline int serial_in_shift(void* addr, int shift)
+{
+    return in_le32(addr);
+}
+
+#ifndef CONFIG_SYS_NS16550_CLK
+#define CONFIG_SYS_NS16550_CLK 0
+#endif
+
+#define DIV_ROUND_CLOSEST(x, divisor) (                                                                                                      \
+    {                                                                                                                                        \
+        typeof(x) __x = x;                                                                                                                   \
+        typeof(divisor) __d = divisor;                                                                                                       \
+        (((typeof(x))-1) > 0 || ((typeof(divisor))-1) > 0 || (__x) > 0) ? (((__x) + ((__d) / 2)) / (__d)) : (((__x) - ((__d) / 2)) / (__d)); \
+    })
+
+int ns16550_calc_divisor(NS16550_t port, int clock, int baudrate)
+{
+    const unsigned int mode_x_div = 16;
+
+    return DIV_ROUND_CLOSEST(clock, mode_x_div * baudrate);
+}
+
+void _debug_uart_init(void)
+{
+    struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    /*
+     * We copy the code from above because it is already horribly messy.
+     * Trying to refactor to nicely remove the duplication doesn't seem
+     * feasible. The better fix is to move all users of this driver to
+     * driver model.
+     */
+    int baud_divisor = ns16550_calc_divisor(com_port, 24000000,
+        1500000);
+    serial_dout(&com_port->ier, CONFIG_SYS_NS16550_IER);
+    serial_dout(&com_port->mcr, UART_MCRVAL);
+    serial_dout(&com_port->fcr, UART_FCR_DEFVAL);
+
+    serial_dout(&com_port->lcr, UART_LCR_BKSE | UART_LCRVAL);
+    serial_dout(&com_port->dll, baud_divisor & 0xff);
+    serial_dout(&com_port->dlm, (baud_divisor >> 8) & 0xff);
+    serial_dout(&com_port->lcr, UART_LCRVAL);
+}
+
+void _debug_uart_putc(int ch)
+{
+    static struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    if (ch == '\n') {
+        _debug_uart_putc('\r');
+    }
+
+    while (!(serial_din(&com_port->lsr) & UART_LSR_THRE))
+        ;
+    serial_dout(&com_port->thr, ch);
+}
+
+int _debug_uart_getc(void)
+{
+    static struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    while (!(serial_din(&com_port->lsr) & UART_LSR_DR))
+        ;
+
+    return serial_din(&com_port->rbr);
+}

Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_3568/uart.c

@@ -0,0 +1,45 @@
+//
+// low-level driver routines for pl011 UART.
+//
+
+#include "uart.h"
+#include "actracer.h"
+#include "ns16550.h"
+#include "uart_common_ope.h"
+
+// the UART control registers are memory-mapped
+// at address UART0. this macro returns the
+// address of one of the registers.
+
+void uartinit(void)
+{
+    _debug_uart_init();
+}
+
+void uartputc(uint8_t c)
+{
+    _debug_uart_putc((int)c);
+}
+
+static uint8_t uartgetc(void)
+{
+    return (uint8_t)_debug_uart_getc();
+}
+
+static uint32_t UartGetIrqnum()
+{
+    return 0;
+}
+
+static struct XiziSerialDriver hardkernel_serial_driver = {
+    .sys_serial_init = uartinit,
+    .get_serial_irqnum = UartGetIrqnum,
+    .putc = uartputc,
+    .getc = uartgetc,
+};
+
+struct XiziSerialDriver* hardkernel_uart_init(struct TraceTag* hardkernel_tag)
+{
+    hardkernel_serial_driver.sys_serial_init();
+    return &hardkernel_serial_driver;
+}

Ubiquitous/XiZi_AIoT/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_ok1028a-c/uart.c

@@ -1,128 +0,0 @@
-//
-// low-level driver routines for pl011 UART.
-//
-
-#include "uart.h"
-#include "actracer.h"
-#include "uart_common_ope.h"
-
-// the UART control registers are memory-mapped
-// at address UART0. this macro returns the
-// address of one of the registers.
-
-// the transmit output buffer.
-#define UART_TX_BUF_SIZE 32
-static char uart_tx_buf[UART_TX_BUF_SIZE];
-uint64_t uart_tx_w; // write next to uart_tx_buf[uart_tx_w % UART_TX_BUF_SIZE]
-uint64_t uart_tx_r; // read next from uart_tx_buf[uart_tx_r % UART_TX_BUF_SIZE]
-
-void uartinit(void)
-{
-    // disable uart
-    UART_WRITE_REG(CR, 0);
-
-    // disable interrupts.
-    UART_WRITE_REG(IMSC, 0);
-
-    // in qemu, it is not necessary to set baudrate.
-    // enable FIFOs.
-    // set word length to 8 bits, no parity.
-    UART_WRITE_REG(LCRH, LCRH_FEN | LCRH_WLEN_8BIT);
-
-    // enable RXE, TXE and enable uart.
-    UART_WRITE_REG(CR, 0x301);
-
-    // enable transmit and receive interrupts.
-    UART_WRITE_REG(IMSC, INT_RX_ENABLE | INT_TX_ENABLE);
-}
-
-// if the UART is idle, and a character is waiting
-// in the transmit buffer, send it.
-// caller must hold uart_tx_lock.
-// called from both the top- and bottom-half.
-void uartstart()
-{
-    while (1) {
-        if (uart_tx_w == uart_tx_r) {
-            // transmit buffer is empty.
-            return;
-        }
-
-        if (UART_READ_REG(FR) & FR_TXFF) {
-            // the UART transmit holding register is full,
-            // so we cannot give it another byte.
-            // it will interrupt when it's ready for a new byte.
-            return;
-        }
-
-        int c = uart_tx_buf[uart_tx_r % UART_TX_BUF_SIZE];
-        uart_tx_r += 1;
-
-        // maybe uartputc() is waiting for space in the buffer.
-
-        UART_WRITE_REG(DR, c);
-    }
-}
-
-// add a character to the output buffer and tell the
-// UART to start sending if it isn't already.
-// blocks if the output buffer is full.
-// because it may block, it can't be called
-// from interrupts; it's only suitable for use
-// by write().
-void uartputc(uint8_t c)
-{
-    while (uart_tx_w == uart_tx_r + UART_TX_BUF_SIZE)
-        ;
-    uart_tx_buf[uart_tx_w % UART_TX_BUF_SIZE] = c;
-    uart_tx_w += 1;
-    uartstart();
-    return;
-}
-
-// read one input character from the UART.
-// return -1 if none is waiting.
-static uint8_t uartgetc(void)
-{
-    if (UART_READ_REG(FR) & FR_RXFE)
-        return 0xFF;
-    else
-        return UART_READ_REG(DR);
-}
-
-// handle a uart interrupt, raised because input has
-// arrived, or the uart is ready for more output, or
-// both. called from trap.c.
-void uartintr(void)
-{
-    // read and process incoming characters.
-    while (1) {
-        int c = uartgetc();
-        if (c == 0xFF)
-            break;
-    }
-
-    // send buffered characters.
-    uartstart();
-
-    // clear transmit and receive interrupts.
-    UART_WRITE_REG(ICR, INT_RX_ENABLE | INT_TX_ENABLE);
-}
-
-static uint32_t UartGetIrqnum()
-{
-    return 0;
-}
-
-static struct XiziSerialDriver hardkernel_serial_driver = {
-    .sys_serial_init = uartinit,
-    .get_serial_irqnum = UartGetIrqnum,
-    .putc = uartputc,
-    .getc = uartgetc,
-};
-
-struct XiziSerialDriver* hardkernel_uart_init(struct TraceTag* hardkernel_tag)
-{
-    hardkernel_serial_driver.sys_serial_init();
-    return &hardkernel_serial_driver;
-}

Ubiquitous/XiZi_AIoT/kernel_actracer/actracer.c

@@ -147,7 +147,7 @@ void* AchieveResource(TraceTag* tag)
 
 bool CreateResourceTag(TraceTag* new_tag, TraceTag* owner, char* name, tracemeta_ac_type type, void* p_resource)
 {
-    assert(new_tag != NULL && owner != NULL);
+    assert(owner != NULL);
     if (owner->meta == NULL) {
         ERROR("Tracer: Empty owner\n");
         return false;
@@ -168,7 +168,9 @@ bool CreateResourceTag(TraceTag* new_tag, TraceTag* owner, char* name, tracemeta
     doubleListAddOnHead(&new_node->list_node, &owner->meta->children_guard);
     new_node->parent = owner->meta;
 
-    new_tag->meta = new_node;
+    if (new_tag != NULL) {
+        new_tag->meta = new_node;
+    }
     return true;
 }
 
@@ -187,12 +189,42 @@ bool DeleteResource(TraceTag* target, TraceTag* owner)
     if (target->meta->name != NULL) {
         slab_free(&sys_tracer.node_name_allocator, target->meta->name);
     }
+
     // delete all children
-    /// @attention currently donot allow multilevel resource deletion
     if (target->meta->type == TRACER_OWNER) {
-        assert(IS_DOUBLE_LIST_EMPTY(&target->meta->children_guard));
+        while (!IS_DOUBLE_LIST_EMPTY(&target->meta->children_guard)) {
+            TraceTag tmp_node = {
+                .meta = DOUBLE_LIST_ENTRY(target->meta->children_guard.next, TracerNode, list_node),
+            };
+            DeleteResource(&tmp_node, target);
+        }
     }
     slab_free(&sys_tracer.node_allocator, target->meta);
     target->meta = NULL;
     return true;
 }
+
+void debug_list_tracetree_inner(TracerNode* cur_node)
+{
+    DEBUG("[%s] ", cur_node->name);
+    TracerNode* tmp = NULL;
+    DOUBLE_LIST_FOR_EACH_ENTRY(tmp, &cur_node->children_guard, list_node)
+    {
+        if (tmp->name != NULL) {
+            DEBUG("%s ", tmp->name);
+        } else {
+            DEBUG("ANON ");
+        }
+    }
+    DEBUG("\n");
+    DOUBLE_LIST_FOR_EACH_ENTRY(tmp, &cur_node->children_guard, list_node)
+    {
+        debug_list_tracetree_inner(tmp);
+    }
+}
+
+void debug_list_tracetree()
+{
+    TracerNode* ref_root = RequireRootTag()->meta;
+    debug_list_tracetree_inner(ref_root);
+}

Ubiquitous/XiZi_AIoT/path_kernel.mk

@@ -38,20 +38,20 @@ KERNELPATHS += \
 	-I$(KERNEL_ROOT)/hardkernel/cache/L2/pl310/ 
 endif
 
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 KERNELPATHS += \
-	-I$(KERNEL_ROOT)/hardkernel/clock/arm/armv8-a/cortex-a72/$(BOARD)/include \
-	-I$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a72/preboot_for_$(BOARD)/include \
-	-I$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a72/ \
-	-I$(KERNEL_ROOT)/hardkernel/mmu/arm/armv8-a/cortex-a72/$(BOARD)  \
-	-I$(KERNEL_ROOT)/hardkernel/mmu/arm/armv8-a/cortex-a72/include  \
-	-I$(KERNEL_ROOT)/hardkernel/clock/arm/armv8-a/cortex-a72/include  \
-	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a72/ \
-	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a72/$(BOARD) \
-	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a72/gicv3 \
-	-I$(KERNEL_ROOT)/hardkernel/uart/arm/armv8-a/cortex-a72/uart_io_for_$(BOARD)/include \
-	-I$(KERNEL_ROOT)/hardkernel/uart/arm/armv8-a/cortex-a72/ \
-	-I$(KERNEL_ROOT)/hardkernel/cache/L1/arm/cortex-a72/ 
+	-I$(KERNEL_ROOT)/hardkernel/clock/arm/armv8-a/cortex-a55/$(BOARD)/include \
+	-I$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a55/preboot_for_$(BOARD)/include \
+	-I$(KERNEL_ROOT)/hardkernel/arch/arm/armv8-a/cortex-a55/ \
+	-I$(KERNEL_ROOT)/hardkernel/mmu/arm/armv8-a/cortex-a55/$(BOARD)  \
+	-I$(KERNEL_ROOT)/hardkernel/mmu/arm/armv8-a/cortex-a55/include  \
+	-I$(KERNEL_ROOT)/hardkernel/clock/arm/armv8-a/cortex-a55/include  \
+	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a55/ \
+	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a55/$(BOARD) \
+	-I$(KERNEL_ROOT)/hardkernel/intr/arm/armv8-a/cortex-a55/gicv3 \
+	-I$(KERNEL_ROOT)/hardkernel/uart/arm/armv8-a/cortex-a55/uart_io_for_$(BOARD)/include \
+	-I$(KERNEL_ROOT)/hardkernel/uart/arm/armv8-a/cortex-a55/ \
+	-I$(KERNEL_ROOT)/hardkernel/cache/L1/arm/cortex-a55/ 
 endif
 
 KERNELPATHS += \

Ubiquitous/XiZi_AIoT/services/Makefile

@@ -1,4 +1,5 @@
-SRC_DIR := fs shell lib boards semaphore drivers tools app 
+
+SRC_DIR := fs shell lib boards semaphore drivers tools net app 
 
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/services/app/Makefile

@@ -10,10 +10,10 @@ cflags = -std=c11 -O2 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -
 board_specs = stub.o
 #cflags = -Wall -g -std=c11 
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O2 -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 board_specs = stub.o
 endif
 
@@ -28,14 +28,24 @@ INC_DIR = 	-I$(KERNEL_ROOT)/services/shell/letter-shell \
 			-I$(KERNEL_ROOT)/services/lib/serial \
 			-I$(KERNEL_ROOT)/services/lib/usyscall \
 			-I$(KERNEL_ROOT)/services/fs/libfs \
+			-I$(KERNEL_ROOT)/services/net/libnet \
+			-I$(KERNEL_ROOT)/services/net/net_server \
+			-I$(KERNEL_ROOT)/services/net/net_server/arch \
+			-I$(KERNEL_ROOT)/services/net/net_server/include \
+			-I$(KERNEL_ROOT)/services/net/net_server/include/lwip \
+			-I$(KERNEL_ROOT)/services/net/net_server/include/lwip/apps \
+			-I$(KERNEL_ROOT)/services/net/net_server/include/lwip/priv \
+			-I$(KERNEL_ROOT)/services/net/net_server/include/lwip/prot \
+			-I$(KERNEL_ROOT)/services/net/net_server/include/netif \
+			-I$(KERNEL_ROOT)/services/net/net_server/include/compat \
 			-I$(KERNEL_ROOT)/services/semaphore \
 			-I$(KERNEL_ROOT)/services/boards/$(BOARD) \
 			-I$(KERNEL_ROOT)/services/app 
 
 ifeq ($(BOARD), imx6q-sabrelite)
-all: init test_fault simple_client simple_server shell fs_server semaphore_server test_semaphore test_ipc_null test_thread test_irq_hdlr test_irq_block test_irq_send eth_driver epit_server readme.txt | bin
+all: test_fault simple_client simple_server shell fs_server semaphore_server test_semaphore test_ipc_null test_thread test_irq_hdlr test_irq_block test_irq_send eth_driver epit_server test_net lwip  readme.txt | bin
 else 
-all: init test_fault simple_client simple_server shell fs_server semaphore_server test_ipc_null test_thread test_semaphore readme.txt | bin
+all: test_fault simple_client simple_server shell fs_server semaphore_server test_ipc_null test_thread test_semaphore test_net lwip readme.txt eth_hal usb_driver_service | bin
 endif
 	../tools/mkfs/mkfs ./fs.img $^
 	@mv $(filter-out readme.txt, $^) bin
@@ -87,10 +97,6 @@ shell: shell_port.o libserial.o printf.o shell_cmd_list.o shell.o shell_ext.o li
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
 	
-init: init.o libfs.o libipc.o session.o libserial.o printf.o usyscall.o arch_usyscall.o libmem.o
-	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
-	@${objdump} -S $@ > $@.asm
-
 test_fault: test_fault.o libserial.o printf.o usyscall.o arch_usyscall.o 
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
@@ -111,8 +117,16 @@ test_priority: test_priority.o libserial.o printf.o usyscall.o arch_usyscall.o l
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
 
+test_net: test_net.o lwip_service.o libipc.o session.o libserial.o printf.o usyscall.o arch_usyscall.o libmem.o
+	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs} -llwip -L$(KERNEL_ROOT)/services/net/net_server
+	@${objdump} -S $@ > $@.asm
+
 %.o: %.c
 	@${cc} ${cflags} ${c_useropts} ${INC_DIR} -o $@ -c $< 
 
 %.o: %.S
 	@${cc} ${cflags} ${c_useropts} -o $@ -c $< 
+
+eth_hal: test_gmac.o hal_gmac.o hal_gmac_3568.o hal_base.o hal_bsp.o hal_pinctrl_v2.o hal_cru.o hal_gpio.o hal_timer.o hal_cru_rk3568.o system_rk3568.o hal_debug.o libserial.o printf.o libmem.o usyscall.o arch_usyscall.o session.o libipc.o 
+	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
+	@${objdump} -S $@ > $@.asm

Ubiquitous/XiZi_AIoT/services/app/init.c

@@ -1,42 +0,0 @@
-/*
- * Copyright (c) 2020 AIIT XUOS Lab
- * XiUOS is licensed under Mulan PSL v2.
- * You can use this software according to the terms and conditions of the Mulan PSL v2.
- * You may obtain a copy of Mulan PSL v2 at:
- *        http://license.coscl.org.cn/MulanPSL2
- * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
- * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
- * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
- * See the Mulan PSL v2 for more details.
- */
-// init: The initial user-level program
-#include <stdbool.h>
-
-#include "libfs.h"
-#include "libserial.h"
-#include "usyscall.h"
-
-int main(int argc, char* argv[])
-{
-    struct Session session;
-    printf("init: connecting MemFS\n");
-    while (connect_session(&session, "MemFS", 8092) < 0)
-        ;
-    printf("init: connect MemFS success\n");
-
-    int fd;
-    char* shell_task_param[2] = { "/shell", 0 };
-    if ((fd = open(&session, shell_task_param[0])) < 0) {
-        printf("Open %s failed\n", shell_task_param[0]);
-        exit(1);
-    }
-
-    if (spawn(&session, fd, read, fsize, shell_task_param[0], shell_task_param) < 0) {
-        printf("Syscall Spawn shell failed\n");
-    }
-
-    close(&session, fd);
-
-    exit(0);
-    return 0;
-}

Ubiquitous/XiZi_AIoT/services/app/shell_port.c

@@ -50,7 +50,7 @@ int main(void)
 
     shellInit(&shell, shellBuffer, 512);
 
-    while (connect_session(&session_fs, "MemFS", 8092) < 0)
+    while (connect_session(&session_fs, "MemFS", 0x10000) < 0)
         ;
     if (!session_fs.buf) {
         printf("session connect faield\n");

Ubiquitous/XiZi_AIoT/services/app/simple_client.c

@@ -108,7 +108,7 @@ int main(int argc, char** argv)
     struct Session fs_session;
     static char id_buf[33] = { 0 };
     if (id > 1) {
-        if (connect_session(&fs_session, "MemFS", 8192) < 0) {
+        if (connect_session(&fs_session, "MemFS", 0x4000) < 0) {
             printf("connect fs_session failed\n");
         } else {
             int fd;

Ubiquitous/XiZi_AIoT/services/app/simple_server.c

@@ -30,8 +30,7 @@ int IPC_DO_SERVE_FUNC(Ipc_hello_string)(char* buf, int* len)
     return 0;
 }
 
-// IPC_SERVER_INTERFACE(Ipc_add, 2);
-IPC_SERVER_THREAD_INTERFACE(Ipc_add, 2);
+IPC_SERVER_INTERFACE(Ipc_add, 2);
 IPC_SERVER_INTERFACE(Ipc_hello_string, 2);
 IPC_SERVER_REGISTER_INTERFACES(IpcSimpleServer, 2, Ipc_hello_string, Ipc_add);
 

Ubiquitous/XiZi_AIoT/services/app/test_net.c

@@ -0,0 +1,78 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+
+// test_net: Test the lwip network stack
+
+#include "libserial.h"
+#include "lwip_service.h"
+#include "usyscall.h"
+
+static char udp_ip_str[128] = {0};
+static uint16_t udp_socket_port = 8888;
+#define UDP_DEMO_SEND_TIMES      3
+
+int main(int argc, char* argv[])
+{
+    printf("lwip network stack test \n");
+
+    
+    int cnt = UDP_DEMO_SEND_TIMES;
+    char send_str[128];
+    int fd = -1;
+
+    memset(send_str, 0, sizeof(send_str));
+    struct Session sess;
+    connect_session(&sess, "LWIPServer", 4096);
+
+    printf("%s %d\n", __func__, __LINE__);
+
+    fd = ipc_socket(&sess, AF_INET, SOCK_DGRAM, 0);
+    if(fd < 0) {
+        printf("Socket error\n");
+        return 0;
+    }
+
+    printf("%s %d\n", __func__, __LINE__);
+
+    struct sockaddr_in udp_sock;
+    udp_sock.sin_family = AF_INET;
+    udp_sock.sin_port = htons(udp_socket_port);
+    udp_sock.sin_addr.s_addr = inet_addr(udp_ip_str);
+    memset(&(udp_sock.sin_zero), 0, sizeof(udp_sock.sin_zero));
+
+    printf("%s %d\n", __func__, __LINE__);
+    
+    if(ipc_connect(&sess, fd, (struct sockaddr *)&udp_sock, sizeof(struct sockaddr)) < 0) {
+        printf("Unable to connect %s:%d\n", udp_ip_str, udp_socket_port);
+        ipc_close(&sess,fd);
+        return 0;
+    }
+
+    printf("%s %d\n", __func__, __LINE__);
+
+    printf("UDP connect %s:%d success, start to send.\n",
+        udp_ip_str,
+        udp_socket_port);
+
+    while(cnt --) {
+        snprintf(send_str, sizeof(send_str), "UDP test package times %d\r\n", cnt);
+        ipc_send(&sess, fd, send_str, strlen(send_str), 0);
+        printf("Send UDP msg: %s ", send_str);
+    }
+
+    ipc_close(&sess,fd);
+    
+    free_session(&sess);
+
+    exit(0);
+    return 0;
+}

Ubiquitous/XiZi_AIoT/services/boards/3568/Makefile

@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 user_ldflags = -N -Ttext 0
 cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc

Ubiquitous/XiZi_AIoT/services/boards/3568/libserial.c

@@ -0,0 +1,250 @@
+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+
+/// this file is only used for debug
+#include <stddef.h>
+#include <stdint.h>
+
+#include "libserial.h"
+#include "usyscall.h"
+
+/*
+ * For driver model we always use one byte per register, and sort out the
+ * differences in the driver
+ */
+#define CONFIG_SYS_NS16550_REG_SIZE (-1)
+
+#define UART_REG(x)  \
+    unsigned char x; \
+    unsigned char postpad_##x[-CONFIG_SYS_NS16550_REG_SIZE - 1];
+
+/**
+ * struct ns16550_platdata - information about a NS16550 port
+ *
+ * @base:		Base register address
+ * @reg_shift:		Shift size of registers (0=byte, 1=16bit, 2=32bit...)
+ * @clock:		UART base clock speed in Hz
+ */
+struct ns16550_platdata {
+    unsigned long base;
+    int reg_shift;
+    int clock;
+    int reg_offset;
+    uint32_t fcr;
+};
+
+struct udevice;
+
+struct NS16550 {
+    UART_REG(rbr); /* 0 */
+    UART_REG(ier); /* 1 */
+    UART_REG(fcr); /* 2 */
+    UART_REG(lcr); /* 3 */
+    UART_REG(mcr); /* 4 */
+    UART_REG(lsr); /* 5 */
+    UART_REG(msr); /* 6 */
+    UART_REG(spr); /* 7 */
+#ifdef CONFIG_SOC_DA8XX
+    UART_REG(reg8); /* 8 */
+    UART_REG(reg9); /* 9 */
+    UART_REG(revid1); /* A */
+    UART_REG(revid2); /* B */
+    UART_REG(pwr_mgmt); /* C */
+    UART_REG(mdr1); /* D */
+#else
+    UART_REG(mdr1); /* 8 */
+    UART_REG(reg9); /* 9 */
+    UART_REG(regA); /* A */
+    UART_REG(regB); /* B */
+    UART_REG(regC); /* C */
+    UART_REG(regD); /* D */
+    UART_REG(regE); /* E */
+    UART_REG(uasr); /* F */
+    UART_REG(scr); /* 10*/
+    UART_REG(ssr); /* 11*/
+#endif
+#ifdef CONFIG_DM_SERIAL
+    struct ns16550_platdata* plat;
+#endif
+};
+
+#define thr rbr
+#define iir fcr
+#define dll rbr
+#define dlm ier
+
+typedef struct NS16550* NS16550_t;
+
+/*
+ * These are the definitions for the FIFO Control Register
+ */
+#define UART_FCR_FIFO_EN 0x01 /* Fifo enable */
+#define UART_FCR_CLEAR_RCVR 0x02 /* Clear the RCVR FIFO */
+#define UART_FCR_CLEAR_XMIT 0x04 /* Clear the XMIT FIFO */
+#define UART_FCR_DMA_SELECT 0x08 /* For DMA applications */
+#define UART_FCR_TRIGGER_MASK 0xC0 /* Mask for the FIFO trigger range */
+#define UART_FCR_TRIGGER_1 0x00 /* Mask for trigger set at 1 */
+#define UART_FCR_TRIGGER_4 0x40 /* Mask for trigger set at 4 */
+#define UART_FCR_TRIGGER_8 0x80 /* Mask for trigger set at 8 */
+#define UART_FCR_TRIGGER_14 0xC0 /* Mask for trigger set at 14 */
+
+#define UART_FCR_RXSR 0x02 /* Receiver soft reset */
+#define UART_FCR_TXSR 0x04 /* Transmitter soft reset */
+
+/* Ingenic JZ47xx specific UART-enable bit. */
+#define UART_FCR_UME 0x10
+
+/* Clear & enable FIFOs */
+#define UART_FCR_DEFVAL (UART_FCR_FIFO_EN | UART_FCR_RXSR | UART_FCR_TXSR)
+
+/*
+ * These are the definitions for the Modem Control Register
+ */
+#define UART_MCR_DTR 0x01 /* DTR   */
+#define UART_MCR_RTS 0x02 /* RTS   */
+#define UART_MCR_OUT1 0x04 /* Out 1 */
+#define UART_MCR_OUT2 0x08 /* Out 2 */
+#define UART_MCR_LOOP 0x10 /* Enable loopback test mode */
+#define UART_MCR_AFE 0x20 /* Enable auto-RTS/CTS */
+
+#define UART_MCR_DMA_EN 0x04
+#define UART_MCR_TX_DFR 0x08
+
+/*
+ * These are the definitions for the Line Control Register
+ *
+ * Note: if the word length is 5 bits (UART_LCR_WLEN5), then setting
+ * UART_LCR_STOP will select 1.5 stop bits, not 2 stop bits.
+ */
+#define UART_LCR_WLS_MSK 0x03 /* character length select mask */
+#define UART_LCR_WLS_5 0x00 /* 5 bit character length */
+#define UART_LCR_WLS_6 0x01 /* 6 bit character length */
+#define UART_LCR_WLS_7 0x02 /* 7 bit character length */
+#define UART_LCR_WLS_8 0x03 /* 8 bit character length */
+#define UART_LCR_STB 0x04 /* # stop Bits, off=1, on=1.5 or 2) */
+#define UART_LCR_PEN 0x08 /* Parity eneble */
+#define UART_LCR_EPS 0x10 /* Even Parity Select */
+#define UART_LCR_STKP 0x20 /* Stick Parity */
+#define UART_LCR_SBRK 0x40 /* Set Break */
+#define UART_LCR_BKSE 0x80 /* Bank select enable */
+#define UART_LCR_DLAB 0x80 /* Divisor latch access bit */
+
+/*
+ * These are the definitions for the Line Status Register
+ */
+#define UART_LSR_DR 0x01 /* Data ready */
+#define UART_LSR_OE 0x02 /* Overrun */
+#define UART_LSR_PE 0x04 /* Parity error */
+#define UART_LSR_FE 0x08 /* Framing error */
+#define UART_LSR_BI 0x10 /* Break */
+#define UART_LSR_THRE 0x20 /* Xmit holding register empty */
+#define UART_LSR_TEMT 0x40 /* Xmitter empty */
+#define UART_LSR_ERR 0x80 /* Error */
+
+#define UART_MSR_DCD 0x80 /* Data Carrier Detect */
+#define UART_MSR_RI 0x40 /* Ring Indicator */
+#define UART_MSR_DSR 0x20 /* Data Set Ready */
+#define UART_MSR_CTS 0x10 /* Clear to Send */
+#define UART_MSR_DDCD 0x08 /* Delta DCD */
+#define UART_MSR_TERI 0x04 /* Trailing edge ring indicator */
+#define UART_MSR_DDSR 0x02 /* Delta DSR */
+#define UART_MSR_DCTS 0x01 /* Delta CTS */
+
+/*
+ * These are the definitions for the Interrupt Identification Register
+ */
+#define UART_IIR_NO_INT 0x01 /* No interrupts pending */
+#define UART_IIR_ID 0x06 /* Mask for the interrupt ID */
+
+#define UART_IIR_MSI 0x00 /* Modem status interrupt */
+#define UART_IIR_THRI 0x02 /* Transmitter holding register empty */
+#define UART_IIR_RDI 0x04 /* Receiver data interrupt */
+#define UART_IIR_RLSI 0x06 /* Receiver line status interrupt */
+
+/*
+ * These are the definitions for the Interrupt Enable Register
+ */
+#define UART_IER_MSI 0x08 /* Enable Modem status interrupt */
+#define UART_IER_RLSI 0x04 /* Enable receiver line status interrupt */
+#define UART_IER_THRI 0x02 /* Enable Transmitter holding register int. */
+#define UART_IER_RDI 0x01 /* Enable receiver data interrupt */
+
+/* useful defaults for LCR */
+#define UART_LCR_8N1 0x03
+
+#define UART_ADDR (0xFE660000)
+
+#define UART_LCRVAL UART_LCR_8N1 /* 8 data, 1 stop, no parity */
+#define UART_MCRVAL (UART_MCR_DTR | UART_MCR_RTS) /* RTS/DTR */
+
+#define out_le32(a, v) (*(volatile uint32_t*)(a) = (v))
+#define in_le32(a) (*(volatile uint32_t*)(a))
+
+#ifndef CONFIG_SYS_NS16550_IER
+#define CONFIG_SYS_NS16550_IER 0x00
+#endif /* CONFIG_SYS_NS16550_IER */
+
+#define serial_dout(reg, value)                                                   \
+    serial_out_shift((char*)com_port + ((char*)reg - (char*)com_port) * (1 << 2), \
+        2, value)
+#define serial_din(reg)                                                          \
+    serial_in_shift((char*)com_port + ((char*)reg - (char*)com_port) * (1 << 2), \
+        2)
+
+static inline void serial_out_shift(void* addr, int shift, int value)
+{
+    out_le32(addr, value);
+}
+
+static inline int serial_in_shift(void* addr, int shift)
+{
+    return in_le32(addr);
+}
+
+#ifndef CONFIG_SYS_NS16550_CLK
+#define CONFIG_SYS_NS16550_CLK 0
+#endif
+
+bool init_uart_mmio()
+{
+    static int mapped = 0;
+    if (mapped == 0) {
+        if (-1 == mmap(UART_ADDR, UART_ADDR, 4096, true)) {
+            return false;
+        }
+        mapped = 1;
+    }
+    return true;
+}
+
+void putc(char ch)
+{
+    static struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    if (ch == '\n') {
+        putc('\r');
+    }
+
+    while (!(serial_din(&com_port->lsr) & UART_LSR_THRE))
+        ;
+    serial_dout(&com_port->thr, ch);
+}
+
+char getc(void)
+{
+    static struct NS16550* com_port = (struct NS16550*)UART_ADDR;
+
+    while (!(serial_din(&com_port->lsr) & UART_LSR_DR))
+        ;
+
+    return serial_din(&com_port->rbr);
+}

Ubiquitous/XiZi_AIoT/services/boards/imx6q-sabrelite/Makefile

@@ -8,10 +8,10 @@ toolchain ?= arm-xilinx-eabi-
 user_ldflags = -N -Ttext 0
 cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc

Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/libserial.c

@@ -1,113 +0,0 @@
-/*
- * Copyright (c) 2020 AIIT XUOS Lab
- * XiUOS is licensed under Mulan PSL v2.
- * You can use this software according to the terms and conditions of the Mulan PSL v2.
- * You may obtain a copy of Mulan PSL v2 at:
- *        http://license.coscl.org.cn/MulanPSL2
- * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
- * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
- * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
- * See the Mulan PSL v2 for more details.
- */
-
-/// this file is only used for debug
-#include "libserial.h"
-#include "usyscall.h"
-
-#define USER_UART_BASE 0x6FFFF000
-
-#define UART0_BASE (0x09000000ULL)
-#define UART0_REG(reg) ((volatile uint32_t*)(USER_UART_BASE + reg))
-
-// the UART control registers.
-// pl011
-#define DR 0x00
-#define FR 0x18
-#define FR_RXFE (1 << 4) // recieve fifo empty
-#define FR_TXFF (1 << 5) // transmit fifo full
-#define FR_RXFF (1 << 6) // recieve fifo full
-#define FR_TXFE (1 << 7) // transmit fifo empty
-#define IBRD 0x24
-#define FBRD 0x28
-#define LCRH 0x2c
-#define LCRH_FEN (1 << 4)
-#define LCRH_WLEN_8BIT (3 << 5)
-#define CR 0x30
-#define IMSC 0x38
-#define INT_RX_ENABLE (1 << 4)
-#define INT_TX_ENABLE (1 << 5)
-#define ICR 0x44
-
-#define UART_READ_REG(reg) (*(UART0_REG(reg)))
-#define UART_WRITE_REG(reg, v) (*(UART0_REG(reg)) = (v))
-
-#define UART_TX_BUF_SIZE 32
-static char uart_tx_buf[UART_TX_BUF_SIZE];
-uint64_t uart_tx_w; // write next to uart_tx_buf[uart_tx_w % UART_TX_BUF_SIZE]
-uint64_t uart_tx_r; // read next from uart_tx_buf[uart_tx_r % UART_TX_BUF_SIZE]
-
-bool init_uart_mmio()
-{
-    static int mapped = 0;
-    if (mapped == 0) {
-        if (-1 == mmap(USER_UART_BASE, UART0_BASE, 4096, true)) {
-            return false;
-        }
-        mapped = 1;
-    }
-    return true;
-}
-
-// if the UART is idle, and a character is waiting
-// in the transmit buffer, send it.
-// caller must hold uart_tx_lock.
-// called from both the top- and bottom-half.
-void uartstart()
-{
-    while (1) {
-        if (uart_tx_w == uart_tx_r) {
-            // transmit buffer is empty.
-            return;
-        }
-
-        if (UART_READ_REG(FR) & FR_TXFF) {
-            // the UART transmit holding register is full,
-            // so we cannot give it another byte.
-            // it will interrupt when it's ready for a new byte.
-            return;
-        }
-
-        int c = uart_tx_buf[uart_tx_r % UART_TX_BUF_SIZE];
-        uart_tx_r += 1;
-
-        // maybe uartputc() is waiting for space in the buffer.
-
-        UART_WRITE_REG(DR, c);
-    }
-}
-
-// add a character to the output buffer and tell the
-// UART to start sending if it isn't already.
-// blocks if the output buffer is full.
-// because it may block, it can't be called
-// from interrupts; it's only suitable for use
-// by write().
-void putc(char c)
-{
-    while (uart_tx_w == uart_tx_r + UART_TX_BUF_SIZE)
-        ;
-    uart_tx_buf[uart_tx_w % UART_TX_BUF_SIZE] = c;
-    uart_tx_w += 1;
-    uartstart();
-    return;
-}
-
-// read one input character from the UART.
-// return -1 if none is waiting.
-char getc(void)
-{
-    if (UART_READ_REG(FR) & FR_RXFE)
-        return 0xFF;
-    else
-        return UART_READ_REG(DR);
-}

Ubiquitous/XiZi_AIoT/services/boards/zynq7000-zc702/Makefile

@@ -9,10 +9,10 @@ user_ldflags = --start-group,-lgcc,-lc,--end-group
 cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 #cflags = -Wall -g -std=c11 
 endif
-ifeq ($(BOARD), ok1028a-c)
+ifeq ($(BOARD), 3568)
 toolchain ?= aarch64-none-elf-
 user_ldflags = -N -Ttext 0
-cflags = -Wall -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+cflags = -Wall -O0 -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 
 cc = ${toolchain}gcc

Ubiquitous/XiZi_AIoT/services/drivers/3568/3568/Makefile

@@ -1,3 +1,4 @@
-SRC_DIR := 
+
+SRC_DIR := hal
 
 include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/services/drivers/3568/3568/hal/Makefile

@@ -0,0 +1,62 @@
+ifeq ($(BOARD), imx6q-sabrelite)
+toolchain ?= arm-none-eabi-
+user_ldflags = --specs=nosys.specs -Wl,-Map=user.map,-cref -N
+cflags = -std=c11 -O2 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
+endif
+
+ifeq ($(BOARD), zynq7000-zc702)
+toolchain ?= arm-xilinx-eabi-
+user_ldflags = -Wl,--start-group,-lgcc,-lc,--end-group -N
+cflags = -std=c11 -O2 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
+board_specs = stub.o
+#cflags = -Wall -g -std=c11 
+endif
+
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags =  -g -std=c11 -mtune=cortex-a72 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -Werror -ggdb -Wno-unused  -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+board_specs = stub.o
+endif
+
+ifeq ($(BOARD), 3568)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N -Ttext 0
+cflags = -Wall -g -std=c11 -mtune=cortex-a55 -nostdlib -nodefaultlibs -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie  
+board_specs = $(KERNEL_ROOT)/services/app/stub.o
+endif
+
+cc = ${toolchain}gcc
+ld = ${toolchain}g++
+objdump = ${toolchain}objdump
+c_useropts = -O2
+# c_useropts = -O0
+
+INC_DIR = 	-I$(KERNEL_ROOT)/services/app \
+		  	-I$(KERNEL_ROOT)/services/boards/$(BOARD) \
+			-I$(KERNEL_ROOT)/services/lib/serial \
+			-I$(KERNEL_ROOT)/services/drivers/3568/include \
+			-I$(KERNEL_ROOT)/services/lib/usyscall \
+		  	-I$(KERNEL_ROOT)/services/lib/ipc \
+		  	-I$(KERNEL_ROOT)/services/lib/memory 
+
+
+objs =  hal_gmac.o \
+		hal_gmac_3568.o \
+		test_gmac.o \
+		hal_base.o \
+		hal_bsp.o \
+		hal_pinctrl_v2.o \
+		hal_cru.o \
+		hal_gpio.o \
+		hal_timer.o \
+		hal_cru_rk3568.o \
+		hal_debug.o \
+		system_rk3568.o \
+
+all: ${objs}
+	@mv $^ $(KERNEL_ROOT)/services/app
+
+%.o: %.c
+	@echo "cc $^"
+	@${cc} ${cflags} ${c_useropts} ${INC_DIR} -o $@ -c $^

Ubiquitous/XiZi_AIoT/services/drivers/3568/3568/hal/hal_base.c

@@ -0,0 +1,454 @@
+/* SPDX-License-Identifier: BSD-3-Clause */
+/*
+ * Copyright (c) 2020-2021 Rockchip Electronics Co., Ltd.
+ */
+
+#include "hal_base.h"
+
+/** @addtogroup RK_HAL_Driver
+ *  @{
+ */
+
+/** @addtogroup HAL_BASE
+ *  @{
+ */
+
+/** @defgroup HAL_BASE_How_To_Use How To Use
+ *  @{
+
+ HAL system support is including delay system, HAL tick system and global system clock,
+
+ HAL system tick setting:
+
+ - Attach HAL_IncTick() to system tick interrupt handler;
+ - Notify the HAL system the system's tick frequency by calling HAL_SetTickFreq() unless
+    it is the same as default value HAL_TICK_FREQ_1KHZ;
+ - If you need a more accurate delay system, specify SYS_TIMER in hal_conf.h.
+
+ Init HAL system:
+
+ - Initialize the HAL system by calling HAL_Init():
+
+ Reset when SOC system is changed:
+
+ - Update system with new core clock and new SysTick clock source by calling HAL_SystemCoreClockUpdate();
+
+ APIs:
+
+ - Get system time by calling HAL_GetTick().
+ - Delay for a certain length of time, HAL_DelayMs(), HAL_DelayUs(), and HAL_CPUDelayUs().
+ - Blocking for a certain period of time to continuously query HW status, use HAL_GetTick()
+ to do timeout, this will be more accurate.
+ - Get current cpu usage by calling HAL_GetCPUUsage().
+
+ @} */
+
+/** @defgroup HAL_BASE_Private_Definition Private Definition
+ *  @{
+ */
+/********************* Private MACRO Definition ******************************/
+
+#define HAL_TICK_FREQ_DEFAULT HAL_TICK_FREQ_1KHZ
+
+/********************* Private Structure Definition **************************/
+
+/********************* Private Variable Definition ***************************/
+
+static __IO uint32_t uwTick;
+static eHAL_tickFreq uwTickFreq = HAL_TICK_FREQ_DEFAULT;
+
+/********************* Private Function Definition ***************************/
+#if defined(__CORTEX_A) || defined(__CORTEX_M)
+#if __CORTEX_M == 0U || !defined(__GNUC__)
+static void CPUCycleLoop(uint32_t cycles)
+{
+    uint32_t count;
+
+    if (cycles < 100U) {
+        return;
+    }
+
+    count = cycles / 3;
+    while (count-- > 0) {
+        __asm volatile ("nop");
+    }
+}
+#else
+static void CPUCycleLoop(uint32_t cycles)
+{
+    __ASM volatile (
+        "mov  r0, %0\n\t"
+        "adds r0, r0, #2\n\t"   //    1    2    Round to the nearest multiple of 4.
+        "lsrs r0, r0, #2\n\t"   //    1    2    Divide by 4 and set flags.
+        "beq  2f\n\t"           //    2    2    Skip if 0.
+        ".align 4\n\t"
+        "1:\n\t"
+        "adds r0, r0, #1\n\t"   //    1    2    Increment the counter.
+        "subs r0, r0, #2\n\t"   //    1    2    Decrement the counter by 2.
+        "bne  1b\n\t"           //   (1)2  2    2 CPU cycles (if branch is taken).
+        "nop\n\t"               //    1    2    Loop alignment padding.
+        "2:"
+        : : "r" (cycles)
+        );
+}
+#endif
+#elif defined(__RISC_V)
+static void CPUCycleLoop(uint32_t cycles)
+{
+    asm volatile (
+        "mv   a0, %0\n\t"
+        "addi a0, a0, 2\n\t"   //    1    2    Round to the nearest multiple of 4.
+        "li   a1, 4\n\t"
+        "div  a0, a0, a1\n\t"  //    1    2    Divide by 4 and set flags.
+        "li   a1, 2\n\t"
+        "bnez a0, 1f\n\t"      //    2    2    Skip if 0.
+        "j    2f\n\t"
+        ".align 6\n\t"
+        "1:\n\t"
+        "addi a0, a0, 1\n\t"   //    1    2    Increment the counter.
+        "sub  a0, a0, a1\n\t"  //    1    2    Decrement the counter by 2.
+        "bnez a0, 1b\n\t"      //   (1)2  2    2 CPU cycles (if branch is taken).
+        "nop\n\t"              //    1    2    Loop alignment padding.
+        "2:"
+        : : "r" (cycles)
+        );
+}
+#endif
+
+#if defined(SYS_TIMER) && defined(HAL_TIMER_MODULE_ENABLED)
+__attribute__((always_inline)) static inline HAL_Status TimerDelayUs(uint32_t us)
+{
+    uint64_t count, from, now, pass;
+
+    from = HAL_TIMER_GetCount(SYS_TIMER);
+    count = PLL_INPUT_OSC_RATE / 1000000 * us;
+    do {
+        now = HAL_TIMER_GetCount(SYS_TIMER);
+        pass = now > from ? now - from : from - now;
+    } while (pass < count);
+    return HAL_OK;
+}
+#endif
+
+/** @} */
+/********************* Public Function Definition ***************************/
+/** @defgroup HAL_BASE_Exported_Functions_Group4 Init and DeInit Functions
+
+ This section provides functions allowing to init and deinit the module:
+
+ *  @{
+ */
+
+/**
+ * @brief  Init HAL driver basic code.
+ * @return HAL_OK.
+ */
+HAL_Status HAL_Init(void)
+{
+#ifdef __CORTEX_M
+#ifdef HAL_NVIC_MODULE_ENABLED
+    /* Set Interrupt Group Priority */
+    HAL_NVIC_Init();
+
+    /* Set Interrupt Group Priority */
+    HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_DEFAULT);
+#endif
+#endif
+
+#if defined(SYS_TIMER) && defined(HAL_TIMER_MODULE_ENABLED)
+    HAL_TIMER_SysTimerInit(SYS_TIMER);
+#endif
+
+#ifdef HAL_PINCTRL_MODULE_ENABLED
+    HAL_PINCTRL_Init();
+#endif
+
+    return HAL_OK;
+}
+
+/**
+ * @brief  HAL system update with new core clock and systick clock source.
+ * @param  hz: new core clock.
+ * @param  clkSource: new systick clock source.
+ * @return HAL_OK.
+ */
+HAL_Status HAL_SystemCoreClockUpdate(uint32_t hz, eHAL_systickClkSource clkSource)
+{
+    uint32_t rate = hz;
+    HAL_Status ret = HAL_OK;
+
+#if defined(__CORTEX_M) && defined(HAL_SYSTICK_MODULE_ENABLED)
+    ret = HAL_SYSTICK_CLKSourceConfig(clkSource);
+    if (ret == HAL_OK && clkSource == HAL_SYSTICK_CLKSRC_EXT) {
+        rate = PLL_INPUT_OSC_RATE;
+    }
+    HAL_SYSTICK_Config(rate / (1000 / HAL_GetTickFreq()));
+    ret = HAL_OK;
+#endif
+
+    if (ret == HAL_OK) {
+        SystemCoreClock = rate;   /* Update global SystemCoreClock */
+    }
+
+    return ret;
+}
+
+/**
+ * @brief  HAL deinit.
+ * @return HAL_Status: HAL_OK.
+ */
+HAL_Status HAL_DeInit(void)
+{
+    /* TO-DO */
+
+    return HAL_OK;
+}
+
+/** @} */
+
+/** @defgroup HAL_BASE_Exported_Functions_Group5 Other Functions
+ *  @{
+ */
+
+/**
+ * @brief  Count plus tickFreq when interrupt occurs.
+ * @return HAL_Status: HAL_OK.
+ */
+HAL_Status HAL_IncTick(void)
+{
+    uwTick += uwTickFreq;
+
+    return HAL_OK;
+}
+
+/**
+ * @brief  Provides tick value in millisecond.
+ * @return uint32_t: tick value in millisecond.
+ * @attention this API allow direct use in the HAL layer.
+ */
+uint32_t HAL_GetTick(void)
+{
+#if defined(SYS_TIMER) && defined(HAL_TIMER_MODULE_ENABLED)
+    uint64_t tick = HAL_TIMER_GetCount(SYS_TIMER);
+    uint32_t base = PLL_INPUT_OSC_RATE / 1000;
+
+    if (tick >> 62) {
+        tick = ~tick;
+    }
+
+    return (uint32_t)HAL_DivU64(tick, base);
+#else
+
+    return uwTick;
+#endif
+}
+
+/**
+ * @brief  Provides system timer count.
+ * @return uint64_t: timer count.
+ * @attention this API allow direct use in the HAL layer.
+ */
+uint64_t HAL_GetSysTimerCount(void)
+{
+#if defined(SYS_TIMER) && defined(HAL_TIMER_MODULE_ENABLED)
+    uint64_t count = HAL_TIMER_GetCount(SYS_TIMER);
+    if (count >> 62) {
+        count = ~count;
+    }
+
+    return count;
+#else
+
+    return 0LLU;
+#endif
+}
+
+/**
+  * @brief Set new tick frequency.
+  * @return HAL_Status.
+  */
+HAL_Status HAL_SetTickFreq(eHAL_tickFreq freq)
+{
+    HAL_ASSERT(IS_TICKFREQ(freq));
+
+    uwTickFreq = freq;
+
+    return HAL_OK;
+}
+
+/**
+  * @brief Return tick frequency.
+  * @return uint32_t: tick period in Hz.
+  * @attention this API allow direct use in the HAL layer.
+  */
+eHAL_tickFreq HAL_GetTickFreq(void)
+{
+    return uwTickFreq;
+}
+
+/**
+ * @brief  SysTick mdelay.
+ * @param  ms: mdelay count.
+ * @return HAL_Status: HAL_OK.
+ * @attention this API allow direct use in the HAL layer. Blocking for a
+ *  certain period of time to continuously query HW status, use HAL_GetTick
+ *  to do timeout, that will be more accurate.
+ */
+__attribute__((weak)) HAL_Status HAL_DelayMs(uint32_t ms)
+{
+    for (uint32_t i = 0; i < ms; i++) {
+        HAL_DelayUs(1000);
+    }
+
+    return HAL_OK;
+}
+
+/**
+ * @brief  SysTick udelay.
+ * @param  us: udelay count.
+ * @return HAL_Status: HAL_OK.
+ * @attention this API allow direct use in the HAL layer. The longer the delay,
+ *  the more accurate. Actual delay is greater than the parameter.
+ */
+HAL_Status HAL_DelayUs(uint32_t us)
+{
+#if defined(SYS_TIMER) && defined(HAL_TIMER_MODULE_ENABLED)
+
+    return TimerDelayUs(us);
+#else
+    return HAL_CPUDelayUs(us);
+#endif
+}
+
+/**
+ * @brief  CPU loop udelay.
+ * @param  us: udelay count.
+ * @return HAL_Status: HAL_OK.
+ * @attention this API allow direct use in the HAL layer. The longer the delay,
+ *  the more accurate. Actual delay is greater than the parameter.
+ *  During delay, CPU rate change result in delay imprecise, so call it in
+ *  following case:
+ *    1.IRQ disable
+ *    2.CRU code
+ */
+HAL_Status HAL_CPUDelayUs(uint32_t us)
+{
+    volatile uint32_t cycles;
+
+#if (__CORTEX_M == 0)
+    cycles = (uint32_t)HAL_DivU64((uint64_t)SystemCoreClock, 1000000) * us; /* Add few cycles penalty */
+#else
+    cycles = SystemCoreClock / 1000000 * us; /* Add few cycles penalty */
+#endif
+
+    CPUCycleLoop(cycles);
+
+    return HAL_OK;
+}
+
+#if defined(HAL_CPU_USAGE_ENABLED)
+static uint64_t g_last_enter_idle_time = 0;               /* Last time current CPU entered the idle state. */
+static uint64_t g_total_idle_time = 0;                    /* Total time for current CPU to enter idle state. */
+static uint64_t g_last_elapsed_time = 0;                  /* Last elapsed time for current CPU. */
+
+/**
+ * @brief  Get current CPU usage.
+ * @return 0-100
+ * @attention The cpu usage function depends on HAL_CPUEnterIdle function.
+ */
+uint32_t HAL_GetCPUUsage(void)
+{
+    uint64_t elapsed_time, active_time, current_time;
+    uint32_t usage;
+
+    current_time = HAL_GetSysTimerCount();
+    elapsed_time = current_time - g_last_elapsed_time;
+
+    /* Prevent the risk of dividing by 0 caused by repeated calls for a short time. */
+    if (!elapsed_time) {
+        return 0;
+    }
+
+    HAL_ASSERT(elapsed_time > g_total_idle_time);
+    active_time = elapsed_time - g_total_idle_time;
+    usage = (active_time * 100) / elapsed_time;
+    g_total_idle_time = 0;
+    g_last_elapsed_time = current_time;
+
+    return usage;
+}
+#endif
+
+/**
+ * @brief  CPU enter idle.
+ */
+void HAL_CPU_EnterIdle(void)
+{
+#if defined(HAL_CPU_USAGE_ENABLED)
+    uint64_t idle_time;
+
+    __disable_irq();
+    g_last_enter_idle_time = HAL_GetSysTimerCount();
+#endif
+
+    // __asm__ volatile ("wfi");
+
+#if defined(HAL_CPU_USAGE_ENABLED)
+    idle_time = HAL_GetSysTimerCount() - g_last_enter_idle_time;
+    g_total_idle_time += idle_time;
+    __enable_irq();
+#endif
+}
+
+/** @} */
+
+/** @} */
+
+/** @} */
+/********************* Public Function Definition ***************************/
+/** @defgroup HAL_BASE_EX_Exported_Functions_Group5 Other Functions
+ *  @{
+ */
+
+/**
+ * @brief  uint64_t numerator / uint32_t denominator with remainder
+ * @param  numerator
+ * @param  denominator
+ * @param  pRemainder [out] pointer to unsigned 32bit remainder
+ * @return uint64_t result. sets *pRemainder if pRemainder is not null
+ */
+uint64_t HAL_DivU64Rem(uint64_t numerator, uint32_t denominator, uint32_t *pRemainder)
+{
+    uint64_t remainder = numerator;
+    uint64_t b = denominator;
+    uint64_t result;
+    uint64_t d = 1;
+    uint32_t high = numerator >> 32;
+
+    result = 0;
+    if (high >= denominator) {
+        high /= denominator;
+        result = (uint64_t)high << 32;
+        remainder -= (uint64_t)(high * denominator) << 32;
+    }
+
+    while ((int64_t)b > 0 && b < remainder) {
+        b = b + b;
+        d = d + d;
+    }
+
+    do {
+        if (remainder >= b) {
+            remainder -= b;
+            result += d;
+        }
+        b >>= 1;
+        d >>= 1;
+    } while (d);
+
+    if (pRemainder) {
+        *pRemainder = remainder;
+    }
+
+    return result;
+}