Merge branch 'smp' of https://gitlink.org.cn/tuyuyang/xiuos into lwip

Ubiquitous/XiZi_AIoT/services/Makefile

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

Ubiquitous/XiZi_AIoT/services/app/Makefile

@@ -10,6 +10,12 @@ 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)
+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  
+board_specs = stub.o
+endif
 
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
@@ -37,9 +43,9 @@ INC_DIR = 	-I$(KERNEL_ROOT)/services/shell/letter-shell \
 			-I$(KERNEL_ROOT)/services/app 
 
 ifeq ($(BOARD), imx6q-sabrelite)
-all: init test_fs simple_client simple_server shell fs_server semaphore_server test_thread test_irq_hdlr test_irq_block test_irq_send eth_driver epit_server test_net lwip readme.txt | bin
+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
 else 
-all: init test_fs simple_client simple_server shell fs_server test_irq_hdlr readme.txt | bin
+all: init test_fault simple_client simple_server shell fs_server test_ipc_null test_thread test_semaphore readme.txt | bin
 endif
 	../tools/mkfs/mkfs ./fs.img $^
 	@mv $(filter-out readme.txt, $^) bin
@@ -63,6 +69,14 @@ epit_server: timer.o epit.o ccm_pll.o usyscall.o arch_usyscall.o libserial.o pri
 	@${objdump} -S $@ > $@.asm
 endif
 
+test_semaphore: test_semaphore.o libserial.o printf.o usyscall.o arch_usyscall.o
+	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
+	@${objdump} -S $@ > $@.asm
+
+test_ipc_null: test_ipc_null.o libserial.o printf.o usyscall.o arch_usyscall.o libipc.o session.o
+	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
+	@${objdump} -S $@ > $@.asm
+
 semaphore_server: semaphore_server.o libserial.o printf.o usyscall.o arch_usyscall.o libipc.o session.o
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
@@ -87,7 +101,7 @@ init: init.o libfs.o libipc.o session.o libserial.o printf.o usyscall.o arch_usy
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
 
-test_fs: test_fs.o libfs.o libipc.o session.o libserial.o printf.o usyscall.o arch_usyscall.o libmem.o
+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
 

Ubiquitous/XiZi_AIoT/services/app/shell_port.c

@@ -56,10 +56,10 @@ int main(void)
         printf("session connect faield\n");
         return -1;
     }
-
     shellTask(&shell);
 
     free_session(&session_fs);
 
+    exit(0);
     return 0;
 }

Ubiquitous/XiZi_AIoT/services/app/simple_client.c

@@ -85,7 +85,6 @@ int main(int argc, char** argv)
     if (argc >= 2) {
         id = string_to_integer(argv[1]);
     }
-    // printf("This is Simple Client %d, size is 0x%x\n", id, task_heap_base());
 
     struct Session session_wait;
     struct Session session_nowait;
@@ -94,37 +93,39 @@ int main(int argc, char** argv)
         exit(1);
     }
 
+    // test no wait ipc
     char *buf1 = NULL, *buf2 = NULL;
     struct IpcMsg* msg1 = hello_string_nowait(&session_nowait, &buf1, 32);
     struct IpcMsg* msg2 = hello_string_nowait(&session_nowait, &buf2, 128);
 
-    int ret = add(&session_wait, 17, 22);
+    // test ipc add(wait version)
+    int ret = 0;
+    ret = add(&session_wait, 17, 22);
     printf("ipc_add 17 + 22 = %d\n", ret);
-    char buf[32];
     ret = add(&session_wait, 9, 9);
     printf("ipc_add 9 + 9 = %d\n", ret);
 
-    struct Session session;
+    struct Session fs_session;
     static char id_buf[33] = { 0 };
     if (id > 1) {
-        if (connect_session(&session, "MemFS", 8092) < 0) {
-            printf("connect session failed\n");
+        if (connect_session(&fs_session, "MemFS", 8192) < 0) {
+            printf("connect fs_session failed\n");
         } else {
             int fd;
             itoa(id - 1, id_buf, 10);
             char* shell_task_param[3] = { "/simple_client", id_buf, 0 };
-            if ((fd = open(&session, shell_task_param[0])) >= 0) {
-                if (spawn(&session, fd, read, fsize, shell_task_param[0], shell_task_param) < 0) {
+            if ((fd = open(&fs_session, shell_task_param[0])) >= 0) {
+                if (spawn(&fs_session, fd, read, fsize, shell_task_param[0], shell_task_param) < 0) {
                     printf("Syscall Spawn simple_client failed\n");
                 }
-                if (spawn(&session, fd, read, fsize, shell_task_param[0], shell_task_param) < 0) {
+                if (spawn(&fs_session, fd, read, fsize, shell_task_param[0], shell_task_param) < 0) {
                     printf("Syscall Spawn simple_client failed\n");
                 }
-                close(&session, fd);
+                close(&fs_session, fd);
             } else {
                 printf("Open %s failed\n", shell_task_param[0]);
             }
-            free_session(&session);
+            free_session(&fs_session);
         }
     }
 

Ubiquitous/XiZi_AIoT/services/app/simple_server.c

@@ -44,4 +44,5 @@ int main(int argc, char* argv[])
 
     // never reached
     exit(0);
+    return 0;
 }

Ubiquitous/XiZi_AIoT/services/app/test_fault.c

@@ -10,34 +10,18 @@
  * See the Mulan PSL v2 for more details.
  */
 
-// test_priority: Test the priority scheduler of task
+// test_fs: Test the file io control of fs
 #include <assert.h>
 #include <stdbool.h>
+#include <string.h>
 
 #include "libserial.h"
 #include "usyscall.h"
 
-static void count_down()
-{
-    int time = 500000000;
-    while (time >= 0) {
-        if (time % 10000000 == 0) {
-            printf("Priority-based preempting, time remained %d\n", time);
-        }
-        time--;
-    }
-    return;
-}
-
 int main(int argc, char* argv[])
 {
-    // set priority
-    sys_state_info info;
-    info.priority = 0;
-    set_priority(&info);
-
-    // test function
-    count_down();
+    printf("Test memry error %s.\n", 0x50000000);
+    printf("After error computing.\n");
 
     exit(0);
     return 0;

Ubiquitous/XiZi_AIoT/services/app/test_fs.c

@@ -1,53 +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.
- */
-
-// test_fs: Test the file io control of fs
-#include <assert.h>
-#include <stdbool.h>
-#include <string.h>
-
-#include "libfs.h"
-#include "libserial.h"
-#include "usyscall.h"
-
-#define BLOCK_SIZE 256
-int main(int argc, char* argv[])
-{
-    printf("file system test\n");
-
-    struct Session session;
-    connect_session(&session, "MemFS", 4096);
-
-    int fd;
-    char* fd_path = "/readme.txt";
-    fd = open(&session, fd_path);
-    /// @todo support malloc for user
-    char buffer[BLOCK_SIZE] = { 0 };
-    read(&session, fd, buffer, 0, BLOCK_SIZE);
-    printf("file content: %s\n", buffer);
-
-    char* write_data = "hello world\n";
-    write(&session, fd, write_data, 0, strlen(write_data) + 1);
-    memset(buffer, 0, BLOCK_SIZE);
-    read(&session, fd, buffer, 0, BLOCK_SIZE);
-    printf("file content: %s\n", buffer);
-
-    close(&session, fd);
-    free_session(&session);
-
-    printf("file test done.\n");
-    printf("Test memry error %s.\n", 0x50000000);
-    printf("After error computing.\n");
-
-    exit(0);
-    return 0;
-}

Ubiquitous/XiZi_AIoT/services/app/test_ipc_null.c

@@ -0,0 +1,85 @@
+/*
+ * 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 <stdbool.h>
+#include <string.h>
+
+#include "libipc.h"
+#include "libserial.h"
+#include "usyscall.h"
+
+IPC_SERVICES(IpcTestNull, Ipc_test_null);
+#define TEST_BUF_SIZE 32
+
+static char test_null_server_name[] = "TestNullServer";
+static char test_null_client_name[] = "TestNullClient";
+
+// client side
+static char buf[TEST_BUF_SIZE];
+
+IPC_INTERFACE(Ipc_test_null, 1, ptr, sizeof(buf));
+int test_null(struct Session* session, char* ptr)
+{
+    return IPC_CALL(Ipc_test_null)(session, ptr);
+}
+
+// client thread
+int server_thread(int argc, char** argv);
+int main(int argc, char** argv)
+{
+    struct Session session;
+    bool server_enabled = false;
+    while (connect_session(&session, test_null_server_name, 4096) < 0) {
+        if (!server_enabled) {
+            char* server_param[] = { test_null_server_name, NULL };
+            if (thread(server_thread, test_null_server_name, server_param) >= 0) {
+                server_enabled = true;
+            }
+        }
+    }
+
+    printf("[%s] Call using NULL ptr.\n", test_null_client_name);
+    test_null(&session, NULL);
+    printf("[%s] Call using non-NULL ptr.\n", test_null_client_name);
+    test_null(&session, buf);
+
+    exit(0);
+    return 0;
+}
+
+// server side
+int IPC_DO_SERVE_FUNC(Ipc_test_null)(void* ptr)
+{
+    if (ptr == NULL) {
+        printf("[%s]: A NULL ptr ipc call.\n", test_null_server_name);
+    } else {
+        printf("[%s]: A non-NULL ptr ipc call.\n", test_null_server_name);
+    }
+
+    return 0;
+}
+
+IPC_SERVER_INTERFACE(Ipc_test_null, 1);
+IPC_SERVER_REGISTER_INTERFACES(IpcTestNull, 1, Ipc_test_null);
+
+// server threads
+int server_thread(int argc, char** argv)
+{
+    if (register_server(test_null_server_name) < 0) {
+        printf("[%s] Register %s server failed.\n", test_null_server_name, test_null_server_name);
+        exit(1);
+        return 1;
+    }
+    ipc_server_loop(&IpcTestNull);
+
+    exit(0);
+    return 0;
+}

Ubiquitous/XiZi_AIoT/services/app/test_irq_handler.c

@@ -52,4 +52,5 @@ int main()
     ipc_server_loop(&IpcSwIntrHandler);
 
     exit(0);
+    return 0;
 }

Ubiquitous/XiZi_AIoT/services/app/test_semaphore.c

@@ -0,0 +1,71 @@
+/*
+ * 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 <stdint.h>
+
+#include "libserial.h"
+#include "usyscall.h"
+
+enum {
+    NR_THREADS = 16,
+    LOOP_TIMES = 0x1000000,
+};
+
+static int sem_id = -1;
+static uint32_t sum = 0;
+static int nr_thds = NR_THREADS;
+
+int do_calculation(int argc, char** argv)
+{
+    for (uint32_t i = 0; i < LOOP_TIMES; i++) {
+        sum++;
+    }
+
+    printf("test semaphore thd signal.\n");
+    semaphore_signal(sem_id);
+
+    char* params[] = { "do_cal", NULL };
+    if (nr_thds != 0) {
+        int tid = thread(do_calculation, "test_sem_thd", params);
+        nr_thds--;
+    }
+
+    exit(0);
+    return 0;
+}
+
+int main(int argc, char** argv)
+{
+    printf("Test Semaphore.\n");
+    sem_id = semaphore_new(0);
+    if (sem_id < 0) {
+        printf("new a kernel sem failed.\n");
+        exit(1);
+    }
+
+    sum = 0;
+
+    nr_thds = NR_THREADS;
+    char* params[] = { "do_cal", NULL };
+    if (nr_thds != 0) {
+        int tid = thread(do_calculation, "test_sem_thd", params);
+        nr_thds--;
+    }
+
+    for (int i = 0; i < NR_THREADS; i++) {
+        semaphore_wait(sem_id);
+    }
+
+    printf("test thread sum after %d signal: 0x%x\n", NR_THREADS, sum);
+
+    exit(0);
+    return 0;
+}

Ubiquitous/XiZi_AIoT/services/app/test_thread.c

@@ -25,6 +25,8 @@ int sub_thread_entry(int argc, char** argv)
         global_value++;
     }
 
+    /// @warning session is single threaded, so that each thread cannot share a common session.
+    // sub thread connect to semaphore server
     struct Session sem_session;
     while (connect_session(&sem_session, sem_server_name, 4096) < 0) {
         yield(SYS_TASK_YIELD_NO_REASON);

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

@@ -1,15 +1,23 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+user_ldflags = -N -Ttext 0
+cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 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)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-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
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/fs/libfs \

Ubiquitous/XiZi_AIoT/services/boards/ok1028a-c/Makefile

@@ -0,0 +1,38 @@
+ifeq ($(BOARD), imx6q-sabrelite)
+toolchain ?= arm-none-eabi-
+user_ldflags = -N -Ttext 0
+cflags = -march=armv7-a -std=c11 -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
+endif
+ifeq ($(BOARD), zynq7000-zc702)
+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)
+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  
+endif
+
+cc = ${toolchain}gcc
+ld = ${toolchain}g++
+objdump = ${toolchain}objdump
+
+c_useropts = -O2
+
+INC_DIR = 	-I$(KERNEL_ROOT)/services/fs/libfs \
+			-I$(KERNEL_ROOT)/services/lib/ipc \
+		  	-I$(KERNEL_ROOT)/services/lib/memory \
+			-I$(KERNEL_ROOT)/services/lib/serial \
+			-I$(KERNEL_ROOT)/services/lib/usyscall \
+			-I$(KERNEL_ROOT)/services/boards/$(BOARD) \
+			-I$(KERNEL_ROOT)/services/app
+
+board: libserial.o arch_usyscall.o stub.o
+	@mv $^ $(KERNEL_ROOT)/services/app
+
+%.o: %.c
+	@echo "cc $^"
+	@${cc} ${cflags} ${c_useropts} ${INC_DIR} -o $@ -c $^
+
+include $(KERNEL_ROOT)/compiler.mk

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

@@ -0,0 +1,33 @@
+/*
+ * 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 "usyscall.h"
+
+int syscall(int sys_num, intptr_t a1, intptr_t a2, intptr_t a3, intptr_t a4)
+{
+    int ret = -1;
+
+    __asm__ volatile(
+        "mov x0, %1;\
+        mov x1, %2;\
+        mov x2, %3;\
+        mov x3, %4;\
+        mov x4, %5;\
+        svc #0;\
+        dsb ish;\
+        isb;\
+        mov %0, x0"
+        : "=r"(ret)
+        : "r"(sys_num), "r"(a1), "r"(a2), "r"(a3), "r"(a4)
+        : "memory", "r0", "r1", "r2", "r3", "r4");
+
+    return ret;
+}

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

@@ -0,0 +1,113 @@
+/*
+ * 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/ok1028a-c/stub.c

@@ -0,0 +1,91 @@
+/*
+ * 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 <stddef.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+
+// _exit: 用于退出程序
+void _exit(int status)
+{
+    while (1) { }
+}
+
+// _sbrk: 用于增加程序的数据空间
+void* _sbrk(ptrdiff_t incr)
+{
+    extern char end; /* Defined by the linker */
+    static char* heap_end;
+    char* prev_heap_end;
+
+    if (heap_end == 0) {
+        heap_end = &end;
+    }
+    prev_heap_end = heap_end;
+
+    // 在这里，你应该添加一些检查来确保堆不会与栈或其他内存区域冲突
+    // 例如，检查 incr 是否会导致堆超出预定的内存区域
+
+    heap_end += incr;
+    return (void*)prev_heap_end;
+}
+
+// _write: 用于将数据写入文件描述符
+ssize_t _write(int file, const void* ptr, size_t len)
+{
+    // 在这里，你需要实现将数据写入文件描述符的逻辑
+    // 如果你的系统不支持文件系统，你可以将数据发送到串口或其他输出
+
+    return len; // 假设所有数据都被写入
+}
+
+// _close: 用于关闭文件描述符
+int _close(int file)
+{
+    return -1; // 表示失败，因为没有实际关闭文件的功能
+}
+
+// _fstat: 用于获取文件状态
+int _fstat(int file, struct stat* st)
+{
+    return 0; // 表示成功
+}
+
+// _isatty: 检查文件描述符是否指向TTY设备
+int _isatty(int file)
+{
+    return 1; // 表示是TTY设备
+}
+
+// _lseek: 用于重新定位文件读/写的位置
+off_t _lseek(int file, off_t offset, int whence)
+{
+    return -1; // 表示失败，因为不支持文件定位
+}
+
+// _read: 用于从文件描述符读取数据
+ssize_t _read(int file, void* ptr, size_t len)
+{
+    return 0; // 表示没有数据被读取
+}
+
+// _kill: 发送信号给进程
+int _kill(int pid, int sig)
+{
+    return -1; // 表示失败，因为不支持信号
+}
+
+// _getpid: 获取进程ID
+int _getpid()
+{
+    return 1; // 返回假设的进程ID
+}

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

@@ -9,6 +9,12 @@ 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)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump

Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/clock/Makefile

@@ -1,15 +1,23 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+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 
+user_ldflags = -N -Ttext 0
+endif
+ifeq ($(BOARD), ok1028a-c)
+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  
 endif
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-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 
+
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \

Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/gpio/Makefile

@@ -1,15 +1,23 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+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 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-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 
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \

Ubiquitous/XiZi_AIoT/services/drivers/imx6q-sabrelite/lib/Makefile

@@ -1,15 +1,22 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+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 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
-
-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 
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \

Ubiquitous/XiZi_AIoT/services/drivers/ok1028a-c/Makefile

@@ -0,0 +1,3 @@
+SRC_DIR := 
+
+include $(KERNEL_ROOT)/compiler.mk

Ubiquitous/XiZi_AIoT/services/fs/fs_server/Makefile

@@ -9,6 +9,12 @@ 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)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump

Ubiquitous/XiZi_AIoT/services/fs/fs_server/block_io.c

@@ -63,7 +63,8 @@ uint32_t BlockAlloc()
         }
     }
 
-    Error("BlockAlloc: out of blocks");
+    printf("BlockAlloc: out of blocks, bit idx: %d, total size: %d\n", bit_index, sb.size);
+    Error("");
     return 0;
 }
 

Ubiquitous/XiZi_AIoT/services/fs/fs_server/fs.c

@@ -119,9 +119,7 @@ struct Inode* InodeCreate(struct Inode* parent_inode, char* name, int type)
 /// @brief Delete a file Inode or a dir Inode
 int InodeDelete(struct Inode* parent_inode, char* name)
 {
-    uint32_t offset;
     struct Inode* inode;
-    struct DirectEntry de;
 
     if ((inode = DirInodeLookup(parent_inode, name)) == 0) {
         printf("Inode delete failed, file not exsit");

Ubiquitous/XiZi_AIoT/services/fs/fs_server/fs_server.c

@@ -63,11 +63,12 @@ int IPC_DO_SERVE_FUNC(Ipc_ls)(char* path)
     }
 
     if (!(ip = InodeSeek(dp, path))) {
-        printf("ls: find target Inode failed, ip: %x(%d), dp: %x(%d)\n", ip, ip->inum, dp, dp->inum);
+        printf("ls: find target Inode failed, dp: %p(%d), path: %s\n", dp, dp->inum, path);
         return -1;
     }
+
     if (ip->type != FS_DIRECTORY) {
-        printf("ls: not a dir\n");
+        printf("ls: not a dir, ip: %d\n", ip->inum);
         return -1;
     }
 
@@ -364,4 +365,5 @@ int main(int argc, char* argv[])
 
     // never reached
     exit(0);
+    return 0;
 }

Ubiquitous/XiZi_AIoT/services/fs/libfs/Makefile

@@ -1,14 +1,19 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
-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 
+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 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+toolchain ?= aarch64-none-elf-
+user_ldflags = -N 
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump

Ubiquitous/XiZi_AIoT/services/lib/ipc/Makefile

@@ -9,6 +9,12 @@ 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)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump

Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.c

@@ -79,15 +79,26 @@ struct IpcMsg* new_ipc_msg(struct Session* session, const int argc, const int* a
 bool ipc_msg_set_nth_arg(struct IpcMsg* msg, const int arg_num, const void* const data, const int len)
 {
     if (arg_num >= msg->header.nr_args) {
-        printf("[%s] IPC: arg_num out of msg range, arg_num: %d, nr_args: %d\n", __func__, arg_num, msg->header.nr_args);
+        printf("[%s] IPC: arg_num out of msg range, arg_num: %d, nr_args: %u\n", __func__, arg_num, msg->header.nr_args);
         return false;
     }
     struct IpcArgInfo* nth_arg_info = IPCMSG_ARG_INFO(msg, arg_num);
-    if (len > nth_arg_info->len) {
-        printf("[%s] IPC: size of arg out of buffer range, given len: %d, len %d\n", __func__, len, nth_arg_info->len);
+    if (len < 0 || (uint32_t)len > (uint32_t)nth_arg_info->len) {
+        printf("[%s] IPC: size of arg out of buffer range, given len: %d, len %u\n", __func__, len, nth_arg_info->len);
         return false;
     }
+
     void* buf = ipc_msg_get_nth_arg_buf(msg, arg_num);
+
+    // handle attributes of different params
+    if (data == NULL) {
+        nth_arg_info->null_ptr = 1;
+        memset(buf, 0x0, len);
+        return true;
+    } else {
+        nth_arg_info->null_ptr = 0;
+    }
+
     memmove(buf, data, len);
     return true;
 }
@@ -109,6 +120,12 @@ bool ipc_msg_get_nth_arg(struct IpcMsg* msg, const int arg_num, void* data, cons
         printf("[%s] IPC: size of arg out of buffer range", __func__);
         return false;
     }
+
+    // handle null ptr: do nothing
+    if (nth_arg_info->null_ptr == 1) {
+        return true;
+    }
+
     void* buf = ipc_msg_get_nth_arg_buf(msg, arg_num);
     memmove(data, buf, len);
     return true;
@@ -170,12 +187,6 @@ bool is_cur_handler_been_delayed()
     return ipc_server_loop_cur_msg->header.delayed == 1;
 }
 
-bool server_set_cycle_handler(struct IpcNode* ipc_node, void (*handler)())
-{
-    ipc_node->cycle_handler = handler;
-    return true;
-}
-
 void ipc_server_loop(struct IpcNode* ipc_node)
 {
     struct Session session_list[NR_MAX_SESSION];
@@ -204,7 +215,6 @@ void ipc_server_loop(struct IpcNode* ipc_node)
                     interfaces[opcode] should explicitly call delay_session() and return to delay this session
                 */
                 while (ipc_server_loop_cur_msg->header.magic == IPC_MSG_MAGIC && ipc_server_loop_cur_msg->header.valid == 1 && ipc_server_loop_cur_msg->header.done == 0) {
-                    // printf("session %d [%d, %d]\n", session_list[i].id, session_list[i].head, session_list[i].tail);
                     if (session_used_size(&session_list[i]) == 0 && session_forward_tail(&session_list[i], ipc_server_loop_cur_msg->header.len) < 0) {
                         break;
                     }
@@ -213,13 +223,13 @@ void ipc_server_loop(struct IpcNode* ipc_node)
                     if (ipc_node->interfaces[ipc_server_loop_cur_msg->header.opcode]) {
                         ipc_node->interfaces[ipc_server_loop_cur_msg->header.opcode](ipc_server_loop_cur_msg);
                         // check if this session is delayed by op handler, all messages after the delayed message in current session is blocked.
-                        if (is_cur_session_delayed()) {
+                        if (ipc_server_loop_cur_msg->header.done == 0) {
                             ipc_server_loop_cur_msg->header.delayed = 1;
                             has_delayed = true;
                             break;
                         }
                     } else {
-                        printf("Unsupport opcode(%d) for server: %s\n", ipc_server_loop_cur_msg->header.opcode, ipc_node->name);
+                        printf("Unsupport opcode(%u) for server: %s\n", ipc_server_loop_cur_msg->header.opcode, ipc_node->name);
                     }
                     // current msg is a message that needs to ignore
                     // finish this message in server's perspective
@@ -233,8 +243,5 @@ void ipc_server_loop(struct IpcNode* ipc_node)
                 ipc_server_loop_cur_msg = NULL;
             }
         }
-        if (ipc_node->cycle_handler) {
-            ipc_node->cycle_handler();
-        }
     }
 }

Ubiquitous/XiZi_AIoT/services/lib/ipc/libipc.h

@@ -60,6 +60,13 @@ typedef struct {
 struct IpcArgInfo {
     uint16_t offset;
     uint16_t len;
+    union {
+        uint16_t attr;
+        struct {
+            uint16_t null_ptr : 1;
+            uint16_t reserved : 15;
+        };
+    };
 } __attribute__((packed));
 
 /* [header, ipc_arg_buffer_len[], ipc_arg_buffer[]] */
@@ -76,7 +83,6 @@ typedef int (*IpcInterface)(struct IpcMsg* msg);
 struct IpcNode {
     char* name;
     IpcInterface interfaces[UINT8_MAX];
-    void (*cycle_handler)();
 } __attribute__((packed));
 
 #define IPC_SERVER_LOOP(ipc_node_name) rpc_server_loop_##rpc_node_name
@@ -105,6 +111,10 @@ struct IpcNode {
 /// @return
 __attribute__((__always_inline__)) static inline void* ipc_msg_get_nth_arg_buf(struct IpcMsg* msg, int arg_num)
 {
+    if (IPCMSG_ARG_INFO(msg, arg_num)->null_ptr == 1) {
+        return NULL;
+    }
+
     return (void*)((char*)msg + IPCMSG_ARG_INFO(msg, arg_num)->offset);
 }
 
@@ -243,6 +253,8 @@ bool is_cur_session_delayed(void);
     }
 
 int cur_session_id(void);
-bool server_set_cycle_handler(struct IpcNode* ipc_node, void (*handler)());
+/// @brief delay the session(message, or a inter-process-call)
+///         the delayed call will be handled again later from begining, not from the position where delay_session() is called.
+/// @param
 void delay_session(void);
 bool is_cur_handler_been_delayed();

Ubiquitous/XiZi_AIoT/services/lib/ipc/session.c

@@ -46,10 +46,10 @@ int free_session(struct Session* session)
 
 void* session_alloc_buf(struct Session* session, int len)
 {
-    if (len > session_remain_capacity(session)) {
+    if (len < 0 || len > session_remain_capacity(session)) {
         return NULL;
     }
-    void* buf = session->buf + session->tail;
+    void* buf = (void*)((uintptr_t)session->buf + session->tail);
     // we mapped double size of page, so it's ok to write buffer directly
     memset(buf, 0, len);
     session_forward_tail(session, len);
@@ -58,7 +58,7 @@ void* session_alloc_buf(struct Session* session, int len)
 
 bool session_free_buf(struct Session* session, int len)
 {
-    if (len > session_used_size(session)) {
+    if (len < 0 || len > session_used_size(session)) {
         return false;
     }
     assert(session_forward_head(session, len) != -1);

Ubiquitous/XiZi_AIoT/services/lib/memory/Makefile

@@ -1,15 +1,23 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+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 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-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 
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \

Ubiquitous/XiZi_AIoT/services/lib/memory/libmem.c

@@ -41,7 +41,7 @@
 #define PUT_NOTAG(p, val) (*(unsigned int*)(p) = (val))
 
 // Store predecessor or successor pointer for free blocks
-#define SET_PTR(p, ptr) (*(unsigned int*)(p) = (unsigned int)(ptr))
+#define SET_PTR(p, ptr) (*(uintptr_t*)(p) = (uintptr_t)(ptr))
 
 // Read the size and allocation bit from address p
 #define GET_SIZE(p) (GET(p) & ~0x7)

Ubiquitous/XiZi_AIoT/services/lib/serial/Makefile

@@ -1,15 +1,24 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+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 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
 
-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 
+
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \

Ubiquitous/XiZi_AIoT/services/lib/usyscall/Makefile

@@ -1,15 +1,22 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
+user_ldflags = -N -Ttext 0
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
+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 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump
-user_ldflags = -N -Ttext 0
-
-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 
 c_useropts = -O2
 
 INC_DIR = 	-I$(KERNEL_ROOT)/services/app \

Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.c

@@ -14,14 +14,19 @@
 
 int spawn(struct Session* session, int fd, ipc_read_fn ipc_read, ipc_fsize_fn ipc_fsize, char* name, char** argv)
 {
+    /* read elf image */
     int file_size = ipc_fsize(session, fd);
     void* img = malloc(file_size);
-    int read_len = 0, cur_read_len = 0;
+    int read_len = 0;
     while (read_len < file_size) {
-        cur_read_len = file_size - read_len < 4096 ? file_size - read_len : 4096;
-        read_len += ipc_read(session, fd, img + read_len, read_len, cur_read_len);
+        int cur_read_len = file_size - read_len < 4096 ? file_size - read_len : 4096;
+        if (cur_read_len < 0) {
+            return -1;
+        }
+        read_len += ipc_read(session, fd, (char*)((uintptr_t)img + read_len), read_len, cur_read_len);
     }
-    int ret = syscall(SYSCALL_SPAWN, (intptr_t)img, (intptr_t)name, (intptr_t)argv, 0);
+    /* sys call */
+    int ret = syscall(SYSCALL_SPAWN, (uintptr_t)img, (uintptr_t)name, (uintptr_t)argv, 0);
     free(img);
     return ret;
 }
@@ -104,4 +109,24 @@ int mmap(uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev)
 int register_irq(int irq, int opcode)
 {
     return syscall(SYSCALL_REGISTER_IRQ, (intptr_t)irq, (intptr_t)opcode, 0, 0);
+}
+
+int semaphore_new(int val)
+{
+    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_NEW, (intptr_t)val, 0, 0);
+}
+
+bool semaphore_free(int sem_id)
+{
+    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_FREE, (intptr_t)sem_id, 0, 0);
+}
+
+bool semaphore_wait(int sem_id)
+{
+    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_WAIT, (intptr_t)sem_id, 0, 0);
+}
+
+bool semaphore_signal(int sem_id)
+{
+    return syscall(SYSCALL_SEMAPHORE, (intptr_t)SYS_SEM_SIGNAL, (intptr_t)sem_id, 0, 0);
 }

Ubiquitous/XiZi_AIoT/services/lib/usyscall/usyscall.h

@@ -32,6 +32,8 @@
 #define SYSCALL_REGISTER_IRQ    11  //
 
 #define SYSCALL_KILL            12  // kill the task by id
+
+#define SYSCALL_SEMAPHORE       13  // semaphore related operations
 // clang-format on
 
 typedef enum {
@@ -58,6 +60,13 @@ typedef union {
     int priority;
 } sys_state_info;
 
+typedef enum {
+    SYS_SEM_NEW = 0,
+    SYS_SEM_FREE,
+    SYS_SEM_SIGNAL,
+    SYS_SEM_WAIT,
+} sys_sem_option;
+
 typedef int (*ipc_read_fn)(struct Session* session, int fd, char* dst, int offset, int len);
 typedef int (*ipc_fsize_fn)(struct Session* session, int fd);
 typedef int (*ipc_write_fn)(struct Session* session, int fd, char* src, int offset, int len);
@@ -69,15 +78,23 @@ int thread(void* entry, const char* name, char** argv);
 void exit(int status);
 int yield(task_yield_reason reason);
 int kill(int pid);
+
 int register_server(char* name);
 int session(char* path, int capacity, struct Session* user_session);
 int poll_session(struct Session* userland_session_arr, int arr_capacity);
 int close_session(struct Session* session);
+int register_irq(int irq, int opcode);
+
+int mmap(uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev);
+
 int task_heap_base();
 int get_memblock_info(sys_state_info* info);
 int set_priority(sys_state_info* info);
 int show_task();
 int show_mem();
 int show_cpu();
-int mmap(uintptr_t vaddr, uintptr_t paddr, int len, bool is_dev);
-int register_irq(int irq, int opcode);
+
+int semaphore_new(int val);
+bool semaphore_free(int sem_id);
+bool semaphore_wait(int sem_id);
+bool semaphore_signal(int sem_id);

Ubiquitous/XiZi_AIoT/services/semaphore/Makefile

@@ -9,6 +9,12 @@ 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)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump

Ubiquitous/XiZi_AIoT/services/semaphore/semaphore_server.c

@@ -68,7 +68,8 @@ int IPC_DO_SERVE_FUNC(Ipc_sem_wait)(sem_t* sem, int* timeout)
         return SEMAPHORE_SUC;
     }
 
-    // block current session
+    // delay current session
+    // this handler will be invoke again later
     delay_session();
     return SEMAPHORE_ERR;
 }

Ubiquitous/XiZi_AIoT/services/shell/letter-shell/Makefile

@@ -1,14 +1,19 @@
 ifeq ($(BOARD), imx6q-sabrelite)
 toolchain ?= arm-none-eabi-
+cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie 
 user_ldflags = -N -Ttext 0
-cflags = -std=c11 -march=armv7-a -mtune=cortex-a9 -nostdlib -nodefaultlibs -mfloat-abi=soft -fno-pic -static -fno-builtin -fno-strict-aliasing -Wall -ggdb -Wno-unused -Werror -fno-omit-frame-pointer -fno-stack-protector -fno-pie
 endif
 ifeq ($(BOARD), zynq7000-zc702)
 toolchain ?= arm-xilinx-eabi-
-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 -Wno-unused
+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 
+user_ldflags = -N -Ttext 0
 endif
+ifeq ($(BOARD), ok1028a-c)
+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  
+endif
+
 cc = ${toolchain}gcc
 ld = ${toolchain}g++
 objdump = ${toolchain}objdump

Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell.c

@@ -1735,7 +1735,7 @@ void shellKill(int pid)
  */
 void shellLs(const char* path, ...)
 {
-    if (*path == '\0') {
+    if ((uintptr_t*)path == (uintptr_t*)shellLs || *path == '\0') {
         path = ".";
     }
     ls(&session_fs, (char*)path);

Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell.h

@@ -12,6 +12,8 @@
 #ifndef __SHELL_H__
 #define __SHELL_H__
 
+#include <stdint.h>
+
 #include "shell_cfg.h"
 
 #define SHELL_VERSION "3.2.3" /**< 版本号 */
@@ -125,10 +127,10 @@
  * @param _func 被代理的函数
  * @param ... 代理参数
  */
-#define SHELL_AGENCY_FUNC(_func, ...)                                                          \
-    void SHELL_AGENCY_FUNC_NAME(_func)(int p1, int p2, int p3, int p4, int p5, int p6, int p7) \
-    {                                                                                          \
-        _func(__VA_ARGS__);                                                                    \
+#define SHELL_AGENCY_FUNC(_func, ...)                                                                                             \
+    void SHELL_AGENCY_FUNC_NAME(_func)(intptr_t p1, intptr_t p2, intptr_t p3, intptr_t p4, intptr_t p5, intptr_t p6, intptr_t p7) \
+    {                                                                                                                             \
+        _func(__VA_ARGS__);                                                                                                       \
     }
 
 #if SHELL_USING_CMD_EXPORT == 1

Ubiquitous/XiZi_AIoT/services/shell/letter-shell/shell_ext.c

@@ -8,6 +8,8 @@
  * @copyright (c) 2019 Letter
  *
  */
+#include <stddef.h>
+#include <stdint.h>
 
 #include "shell_ext.h"
 #include "shell.h"
@@ -251,7 +253,7 @@ unsigned int shellExtParsePara(Shell* shell, char* string)
  */
 int shellExtRun(Shell* shell, ShellCommand* command, int argc, char* argv[])
 {
-    unsigned int params[8] = { 0 };
+    uintptr_t params[8] = { 0 };
     int paramNum = command->attr.attrs.paramNum > (argc - 1) ? command->attr.attrs.paramNum : (argc - 1);
     for (int i = 0; i < argc - 1; i++) {
         params[i] = shellExtParsePara(shell, argv[i + 1]);