[libcpu/aarch64] add gicv3 support and bsp/rockchip/rk3568 (#5722)

* [libcpu/aarch64] add smp support

* [libcpu/aarch64] rt_hw_trap_irq get irq instead of iar when using gicv2

* [libcpu/aarch64] disable irq/fiq when switch thread

* [libcpu/aarch64] add gtimer frq set and stack align

* [libcpu/aarch64] add gicv3 support and bsp/rockchip/rk3568

Author: GuEe-GUI

.github/workflows/action.yml

@@ -167,6 +167,7 @@ jobs:
          - {RTT_BSP: "qemu-virt64-aarch64", RTT_TOOL_CHAIN: "sourcery-aarch64"}
          - {RTT_BSP: "raspberry-pi/raspi3-64", RTT_TOOL_CHAIN: "sourcery-aarch64"}
          - {RTT_BSP: "raspberry-pi/raspi4-64", RTT_TOOL_CHAIN: "sourcery-aarch64"}
+         - {RTT_BSP: "rockchip/rk3568", RTT_TOOL_CHAIN: "sourcery-aarch64"}
     steps:
       - uses: actions/checkout@v2
       - name: Set up Python

bsp/qemu-virt64-aarch64/.config

@@ -96,17 +96,8 @@ CONFIG_RT_USING_USER_MAIN=y
 CONFIG_RT_MAIN_THREAD_STACK_SIZE=8192
 CONFIG_RT_MAIN_THREAD_PRIORITY=10
 # CONFIG_RT_USING_LEGACY is not set
-
-#
-# C++ features
-#
-# CONFIG_RT_USING_CPLUSPLUS is not set
-
-#
-# Command shell
-#
-CONFIG_RT_USING_FINSH=y
 CONFIG_RT_USING_MSH=y
+CONFIG_RT_USING_FINSH=y
 CONFIG_FINSH_USING_MSH=y
 CONFIG_FINSH_THREAD_NAME="tshell"
 CONFIG_FINSH_THREAD_PRIORITY=20
@@ -120,10 +111,6 @@ CONFIG_FINSH_USING_DESCRIPTION=y
 # CONFIG_FINSH_ECHO_DISABLE_DEFAULT is not set
 # CONFIG_FINSH_USING_AUTH is not set
 CONFIG_FINSH_ARG_MAX=10
-
-#
-# Device virtual file system
-#
 CONFIG_RT_USING_DFS=y
 CONFIG_DFS_USING_POSIX=y
 CONFIG_DFS_USING_WORKDIR=y
@@ -157,12 +144,15 @@ CONFIG_RT_DFS_ELM_MUTEX_TIMEOUT=3000
 CONFIG_RT_USING_DFS_DEVFS=y
 # CONFIG_RT_USING_DFS_ROMFS is not set
 # CONFIG_RT_USING_DFS_RAMFS is not set
+# CONFIG_RT_USING_FAL is not set
 
 #
 # Device Drivers
 #
 CONFIG_RT_USING_DEVICE_IPC=y
-# CONFIG_RT_USING_SYSTEM_WORKQUEUE is not set
+CONFIG_RT_USING_SYSTEM_WORKQUEUE=y
+CONFIG_RT_SYSTEM_WORKQUEUE_STACKSIZE=2048
+CONFIG_RT_SYSTEM_WORKQUEUE_PRIORITY=23
 CONFIG_RT_USING_SERIAL=y
 CONFIG_RT_USING_SERIAL_V1=y
 # CONFIG_RT_USING_SERIAL_V2 is not set
@@ -202,7 +192,7 @@ CONFIG_RT_USING_ALARM=y
 # CONFIG_RT_USING_USB_DEVICE is not set
 
 #
-# POSIX layer and C standard library
+# C/C++ and POSIX layer
 #
 CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 
@@ -226,36 +216,16 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 #
 # Socket is in the 'Network' category
 #
+# CONFIG_RT_USING_CPLUSPLUS is not set
 
 #
 # Network
 #
-
-#
-# Socket abstraction layer
-#
 # CONFIG_RT_USING_SAL is not set
-
-#
-# Network interface device
-#
 # CONFIG_RT_USING_NETDEV is not set
-
-#
-# light weight TCP/IP stack
-#
 # CONFIG_RT_USING_LWIP is not set
-
-#
-# AT commands
-#
 # CONFIG_RT_USING_AT is not set
 
-#
-# VBUS(Virtual Software BUS)
-#
-# CONFIG_RT_USING_VBUS is not set
-
 #
 # Utilities
 #
@@ -264,6 +234,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_RT_USING_UTEST is not set
 # CONFIG_RT_USING_VAR_EXPORT is not set
 # CONFIG_RT_USING_RT_LINK is not set
+# CONFIG_RT_USING_VBUS is not set
 
 #
 # RT-Thread Utestcases
@@ -277,6 +248,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 #
 # IoT - internet of things
 #
+# CONFIG_PKG_USING_LWIP is not set
 # CONFIG_PKG_USING_LORAWAN_DRIVER is not set
 # CONFIG_PKG_USING_PAHOMQTT is not set
 # CONFIG_PKG_USING_UMQTT is not set
@@ -293,6 +265,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_FREEMODBUS is not set
 # CONFIG_PKG_USING_LJSON is not set
 # CONFIG_PKG_USING_EZXML is not set
+# CONFIG_PKG_USING_SIMPLE_XML is not set
 # CONFIG_PKG_USING_NANOPB is not set
 
 #
@@ -332,6 +305,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_JOYLINK is not set
 # CONFIG_PKG_USING_EZ_IOT_OS is not set
 # CONFIG_PKG_USING_NIMBLE is not set
+# CONFIG_PKG_USING_LLSYNC_SDK_ADAPTER is not set
 # CONFIG_PKG_USING_OTA_DOWNLOADER is not set
 # CONFIG_PKG_USING_IPMSG is not set
 # CONFIG_PKG_USING_LSSDP is not set
@@ -539,7 +513,8 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_ARM_2D is not set
 # CONFIG_PKG_USING_MCUBOOT is not set
 # CONFIG_PKG_USING_TINYUSB is not set
-# CONFIG_PKG_USING_USB_STACK is not set
+# CONFIG_PKG_USING_CHERRYUSB is not set
+# CONFIG_PKG_USING_KMULTI_RTIMER is not set
 
 #
 # peripheral libraries and drivers
@@ -563,6 +538,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_WM_LIBRARIES is not set
 # CONFIG_PKG_USING_KENDRYTE_SDK is not set
 # CONFIG_PKG_USING_INFRARED is not set
+# CONFIG_PKG_USING_MULTI_INFRARED is not set
 # CONFIG_PKG_USING_AGILE_BUTTON is not set
 # CONFIG_PKG_USING_AGILE_LED is not set
 # CONFIG_PKG_USING_AT24CXX is not set
@@ -619,6 +595,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_SOFT_SERIAL is not set
 # CONFIG_PKG_USING_MB85RS16 is not set
 # CONFIG_PKG_USING_CW2015 is not set
+# CONFIG_PKG_USING_RFM300 is not set
 
 #
 # AI packages
@@ -637,6 +614,10 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # miscellaneous packages
 #
 
+#
+# project laboratory
+#
+
 #
 # samples: kernel and components samples
 #
@@ -669,6 +650,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_CANFESTIVAL is not set
 # CONFIG_PKG_USING_ZLIB is not set
 # CONFIG_PKG_USING_MINIZIP is not set
+# CONFIG_PKG_USING_HEATSHRINK is not set
 # CONFIG_PKG_USING_DSTR is not set
 # CONFIG_PKG_USING_TINYFRAME is not set
 # CONFIG_PKG_USING_KENDRYTE_DEMO is not set
@@ -686,6 +668,7 @@ CONFIG_RT_LIBC_DEFAULT_TIMEZONE=8
 # CONFIG_PKG_USING_DESIGN_PATTERN is not set
 # CONFIG_PKG_USING_CONTROLLER is not set
 # CONFIG_PKG_USING_PHASE_LOCKED_LOOP is not set
+# CONFIG_PKG_USING_MFBD is not set
 CONFIG_SOC_VIRT64_AARCH64=y
 
 #
@@ -696,5 +679,6 @@ CONFIG_RT_USING_UART0=y
 CONFIG_BSP_USING_RTC=y
 CONFIG_BSP_USING_ALARM=y
 CONFIG_BSP_USING_VIRTIO_BLK=y
-CONFIG_RT_USING_VIRTIO_BLK0=y
 CONFIG_BSP_USING_GIC=y
+CONFIG_BSP_USING_GICV2=y
+# CONFIG_BSP_USING_GICV3 is not set

bsp/qemu-virt64-aarch64/README.md

@@ -19,9 +19,9 @@ Enter directory `rt-thread/bsp/qemu-virt64-aarch64` and input:
 scons
 ```
 
-## 2. Execution
+## 3. Execution
 
-The project execution tool is `qemu-system-aarch64`
+The project execution tool is `qemu-system-aarch64`, the project can be configured to `Cortex-A53/A57/A72`, GIC supports `V2/V3` version, and `V2` of GIC can use 8 processors max.
 
 Download Windows platform from website:
 ```
@@ -33,7 +33,7 @@ sudo apt update
 sudo apt install qemu-system-arm
 ```
 
-Run qemu.bat or qemu.sh in terminal:
+Please fixup the exec scripts if modify the default configuration of the project. Run qemu.bat or qemu.sh in terminal:
 ```
 heap: [0x40042aa0 - 0x40142aa0]
 
@@ -45,10 +45,10 @@ Hi, this is RT-Thread!!
 msh />
 ```
 
-## 3. Condition
+## 4. Condition
 
 | Driver | Condition | Remark |
 | ------ | --------- | ------ |
 | UART   | Support   | UART0  |
 | RTC    | Support   | - |
-| VIRTIO BLK | Support | VIRTIO BLK0 |
+| VIRTIO BLK | Support | - |

bsp/qemu-virt64-aarch64/README_zh.md

@@ -22,7 +22,7 @@ scons
 
 ## 3. 执行
 
-本工程执行环境为`qemu-system-aarch64`模拟器
+本工程执行环境为`qemu-system-aarch64`模拟器，工程可配置为使用`Cortex-A53/A57/A72`等芯片，GIC支持`V2/V3`版本，其中`V2`最多可配置8个处理器。
 
 Windows平台下，可以在此获取到QEMU：
 ```
@@ -34,7 +34,7 @@ sudo apt update
 sudo apt install qemu-system-arm
 ```
 
-在终端执行qemu.bat或qemu.sh可以看到程序运行：
+工程默认配置修改后请注意修改运行脚本。在终端执行qemu.bat或qemu.sh可以看到程序运行：
 ```
 heap: [0x40042aa0 - 0x40142aa0]
 
@@ -52,4 +52,4 @@ msh />
 | ------ | ----  | :------:  |
 | UART | 支持 | UART0 |
 | RTC  | 支持 | - |
-| VIRTIO BLK | 支持 | VIRTIO BLK0 |
+| VIRTIO BLK | 支持 | - |

bsp/qemu-virt64-aarch64/driver/Kconfig

@@ -28,13 +28,19 @@ menu "AARCH64 qemu virt64 configs"
         bool "Using VirtIO BLK"
         default y
 
-        if BSP_USING_VIRTIO_BLK
-            config RT_USING_VIRTIO_BLK0
-            bool "Enabel VirtIO BLK 0"
-            default y
-        endif
-
     config BSP_USING_GIC
     bool
     default y
+
+    choice
+        prompt "GIC Version"
+        default BSP_USING_GICV2
+
+        config BSP_USING_GICV2
+            bool "GICv2"
+
+        config BSP_USING_GICV3
+            bool "GICv3"
+    endchoice
+
 endmenu

bsp/qemu-virt64-aarch64/driver/board.c

@@ -17,6 +17,7 @@
 #include "board.h"
 #include <mmu.h>
 #include <gic.h>
+#include <gicv3.h>
 #include <psci.h>
 #include <gtimer.h>
 #include <cpuport.h>
@@ -29,8 +30,14 @@ struct mem_desc platform_mem_desc[] =
     {0x40000000, 0x80000000, 0x40000000, NORMAL_MEM},
     {PL031_RTC_BASE, PL031_RTC_BASE + 0x1000, PL031_RTC_BASE, DEVICE_MEM},
     {PL011_UART0_BASE, PL011_UART0_BASE + 0x1000, PL011_UART0_BASE, DEVICE_MEM},
-    {VIRTIO_MMIO_BLK0_BASE, VIRTIO_MMIO_BLK0_BASE + 0x1000, VIRTIO_MMIO_BLK0_BASE, DEVICE_MEM},
+    {VIRTIO_MMIO_BASE, VIRTIO_MMIO_BASE + VIRTIO_MAX_NR * VIRTIO_MMIO_SIZE, VIRTIO_MMIO_BASE, DEVICE_MEM},
+#ifdef BSP_USING_GICV2
     {GIC_PL390_DISTRIBUTOR_PPTR, GIC_PL390_DISTRIBUTOR_PPTR + 0x1000, GIC_PL390_DISTRIBUTOR_PPTR, DEVICE_MEM},
+#endif
+#ifdef BSP_USING_GICV3
+    {GIC_PL500_DISTRIBUTOR_PPTR, GIC_PL500_DISTRIBUTOR_PPTR + 0x1000, GIC_PL500_DISTRIBUTOR_PPTR, DEVICE_MEM},
+    {GIC_PL500_REDISTRIBUTOR_PPTR, GIC_PL500_REDISTRIBUTOR_PPTR + 0xf60000, GIC_PL500_REDISTRIBUTOR_PPTR, DEVICE_MEM},
+#endif
 };
 
 const rt_uint32_t platform_mem_desc_size = sizeof(platform_mem_desc)/sizeof(platform_mem_desc[0]);
@@ -58,7 +65,7 @@ void rt_hw_board_init(void)
     rt_hw_gtimer_init();
     rt_thread_idle_sethook(idle_wfi);
 
-    arm_psci_init(RT_NULL, RT_NULL);
+    arm_psci_init(PSCI_METHOD_HVC, RT_NULL, RT_NULL);
 
 #if defined(RT_USING_CONSOLE) && defined(RT_USING_DEVICE)
     /* set console device */
@@ -113,6 +120,9 @@ void secondary_cpu_c_start(void)
     rt_hw_spin_lock(&_cpus_lock);
 
     arm_gic_cpu_init(0, platform_get_gic_cpu_base());
+#ifdef BSP_USING_GICV3
+    arm_gic_redist_init(0, platform_get_gic_redist_base());
+#endif
     rt_hw_vector_init();
     rt_hw_gtimer_local_enable();
     arm_gic_umask(0, IRQ_ARM_IPI_KICK);