Merge pull request #6 from dmitrykos/risc-v

Support for RISC-V
dmitrykos · Oct 12, 2023 · f124f0d · f124f0d
2 parents 7ba2d26 + 16cc087
commit f124f0d
Show file tree

Hide file tree

Showing 68 changed files with 10,722 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -45,7 +45,9 @@ endif()
 message(STATUS "System: ${CMAKE_SYSTEM_NAME}")
 message(STATUS "C compiler: ${CMAKE_C_COMPILER}")
 message(STATUS "C++ compiler: ${CMAKE_CXX_COMPILER}")
+# Enforce C11 standard
 if (GCC)
+	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c11")
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 endif()
 if (MSVC)
@@ -81,6 +83,11 @@ if (WIN32)
 elseif (ARM)
     set(_STK_ARCH_ARM_CORTEX_M TRUE)
     message(STATUS "Platform define: _STK_ARCH_ARM_CORTEX_M")
+elseif (RISCV)
+    set(_STK_ARCH_RISC_V TRUE)
+    message(STATUS "Platform define: _STK_ARCH_RISC_V")
+else()
+    message(WARNING "Platform does not have scheduling driver!")
 endif()
 set(STK_CONFIG_INC ${CMAKE_CURRENT_BINARY_DIR}/include/stk_config.h)
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/stk_config.h.in ${STK_CONFIG_INC})

diff --git a/build/cmake/MakeExecutable.cmake b/build/cmake/MakeExecutable.cmake
@@ -19,6 +19,13 @@ if (VENDOR_STM32)
     set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} ${LINKER_FLAGS}")
     set(CMAKE_CXX_LINK_FLAGS "${CMAKE_CXX_LINK_FLAGS} ${LINKER_FLAGS}")
     set(TARGET_BINARY ${TARGET_NAME}.elf)
+elseif (RISCV)
+    include(${ROOT_DIR}/deps/target/risc-v/ProjectInclude.cmake)
+    include(${ROOT_DIR}/deps/target/risc-v/ProjectIncludeLib.cmake)
+    set(LINKER_FLAGS "-Wl,-Map=${TARGET_NAME}.map")
+    set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} ${LINKER_FLAGS}")
+    set(CMAKE_CXX_LINK_FLAGS "${CMAKE_CXX_LINK_FLAGS} ${LINKER_FLAGS}")
+    set(TARGET_BINARY ${TARGET_NAME}.elf)
 else()
     set(TARGET_BINARY ${TARGET_NAME})
 endif()

diff --git a/build/cmake/toolchain/riscv-none-elf-gcc.cmake b/build/cmake/toolchain/riscv-none-elf-gcc.cmake
@@ -0,0 +1,190 @@
+#
+#  SuperTinyKernel: Minimalistic thread scheduling kernel for Embedded systems.
+#
+#  Source: http://github.com/dmitrykos/stk
+#
+#  Copyright (c) 2022 Dmitry Kostjucenko <[email protected]>
+#  License: MIT License, see LICENSE for a full text.
+#
+
+# Identity
+set(CMAKE_CROSSCOMPILING               TRUE)
+set(CMAKE_SYSTEM_NAME                  Linux)
+set(CMAKE_SYSTEM_VERSION               0)
+set(CMAKE_SYSTEM_PROCESSOR             riscv)
+
+# Options
+option(ENABLE_LTO       "enable LTO"               OFF)
+option(ENABLE_HARD_FP   "enable Hard FP"           OFF)
+option(ENABLE_SMALL     "enable Small build (Os)"  OFF)
+option(TARGET_RV32I     "target RV32IMA_ZICSR CPU" ON)
+option(TARGET_RV32E     "target RV32EMA_ZICSR CPU" OFF)
+option(ENABLE_128K_RAM  "enable 128K RAM"          OFF)
+option(ENABLE_256K_RAM  "enable 256K RAM"          OFF)
+
+# CPU platform
+set(RISCV TRUE)
+
+# Host platform
+if (WIN32)
+	set(HOST_COMPILER_EXT ".exe")
+else()
+	set(HOST_COMPILER_EXT)
+endif()
+
+# Toolchain compiler ABI
+set(TOOLCHAIN_COMPILER_ABI ${CMAKE_SYSTEM_PROCESSOR}-none-elf)
+
+# Find toolchain path
+if (NOT TOOLCHAIN_PATH)
+    if (MINGW OR CYGWIN OR WIN32)
+        set(SEARCH_CMD where)
+    elseif (UNIX OR APPLE)
+        set(SEARCH_CMD which)
+    endif()
+    execute_process(
+        COMMAND ${SEARCH_CMD} ${TOOLCHAIN_COMPILER_ABI}-gcc${HOST_COMPILER_EXT}
+        OUTPUT_VARIABLE GCC_PATH
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    message(STATUS "Found compiler at path: ${GCC_PATH}")
+    cmake_path(GET GCC_PATH PARENT_PATH TOOLCHAIN_PATH_BIN_RAW)
+    #get_filename_component(TOOLCHAIN_PATH_BIN ${GCC_PATH} DIRECTORY)
+    string(REPLACE "\\" "/" TOOLCHAIN_PATH_BIN ${TOOLCHAIN_PATH_BIN_RAW})
+    message(STATUS "Using compiler path: ${TOOLCHAIN_PATH_BIN}")
+    set(TOOLCHAIN_PATH ${TOOLCHAIN_PATH_BIN}/..)
+endif()
+
+# Set toolchain dirs
+set(TOOLCHAIN_TOOLCHAIN_BASE           ${TOOLCHAIN_PATH}/${TOOLCHAIN_COMPILER_ABI})
+set(TOOLCHAIN_TOOLCHAIN_LIBS           ${TOOLCHAIN_TOOLCHAIN_BASE}/lib)
+set(TOOLCHAIN_TOOLCHAIN_INCLUDES       ${TOOLCHAIN_TOOLCHAIN_BASE}/include)
+
+# Set paths
+set(CMAKE_C_COMPILER                   ${TOOLCHAIN_PATH_BIN}/${TOOLCHAIN_COMPILER_ABI}-gcc${HOST_COMPILER_EXT})
+set(CMAKE_CXX_COMPILER                 ${TOOLCHAIN_PATH_BIN}/${TOOLCHAIN_COMPILER_ABI}-g++${HOST_COMPILER_EXT})
+set(CMAKE_ASM_COMPILER                 ${TOOLCHAIN_PATH_BIN}/${TOOLCHAIN_COMPILER_ABI}-as${HOST_COMPILER_EXT})
+set(CMAKE_SIZE                         ${TOOLCHAIN_PATH_BIN}/${TOOLCHAIN_COMPILER_ABI}-size${HOST_COMPILER_EXT})
+set(CMAKE_ROOT_PATH                    ${TOOLCHAIN_TOOLCHAIN_BASE})
+set(CMAKE_COMPILER_IS_GNUCC            TRUE)
+set(CMAKE_COMPILER_IS_GNUCXX           TRUE)
+
+# Set root paths
+set(CMAKE_SYSROOT                      ${CMAKE_ROOT_PATH})
+set(CMAKE_FIND_ROOT_PATH               ${CMAKE_ROOT_PATH})
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM  NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY  ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE  ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE  ONLY)
+
+# Shared libs are not supported
+set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS FALSE)
+
+# Static library for try-compile
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+# Preserve debugging ability for Release builds
+set(ENABLE_DEBUG_ABILITY FALSE)
+if (${CMAKE_BUILD_TYPE} MATCHES "Debug")
+	set(IS_DEBUG_BUILD       TRUE)
+	set(ENABLE_DEBUG_ABILITY TRUE)
+endif()
+if (${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo" OR IS_DEBUG_BUILD)
+	set(ENABLE_DEBUG_ABILITY TRUE)
+endif()
+
+# Release optimization level
+set(OPT_LEVEL_RELEASE 3)
+if (ENABLE_SMALL)
+	set(OPT_LEVEL_RELEASE s)
+endif()
+
+# Common all
+if (ENABLE_DEBUG_ABILITY)
+    set(TOOLCHAIN_COMMON_FLAGS "-O0 -g3 -DDEBUG")
+else()
+    set(TOOLCHAIN_COMMON_FLAGS "-O${OPT_LEVEL_RELEASE} -g -DNDEBUG")
+endif()
+set(TOOLCHAIN_COMMON_FLAGS "${TOOLCHAIN_COMMON_FLAGS} -pipe -fmessage-length=0 -fsigned-char -ffunction-sections -fdata-sections -fno-common -fstrict-aliasing -fmerge-constants -Wall -Wextra -Wno-missing-field-initializers")
+
+# Common C and C++ (C++ excludes RTTI always)
+set(TOOLCHAIN_COMMON_FLAGS "-fno-builtin-printf") #  -fno-builtin-printf required for Semihosting to avoid using system stub which is causing segfault
+set(TOOLCHAIN_COMMON_C_FLAGS "-std=c11 ${TOOLCHAIN_COMMON_FLAGS}")
+set(TOOLCHAIN_COMMON_CXX_FLAGS "-std=c++11 -fno-use-cxa-atexit -fno-threadsafe-statics ${TOOLCHAIN_COMMON_FLAGS}")
+
+# Small build excludes exceptions
+if (ENABLE_SMALL)
+    set(TOOLCHAIN_COMMON_SMALL_FLAGS "-ffreestanding")
+    set(TOOLCHAIN_COMMON_C_FLAGS "${TOOLCHAIN_COMMON_C_FLAGS} ${TOOLCHAIN_COMMON_SMALL_FLAGS}")
+	set(TOOLCHAIN_COMMON_CXX_FLAGS "${TOOLCHAIN_COMMON_CXX_FLAGS} ${TOOLCHAIN_COMMON_SMALL_FLAGS} -fno-exceptions -fno-rtti")
+endif()
+
+# Common other
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TOOLCHAIN_COMMON_FLAGS} ${TOOLCHAIN_COMMON_C_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TOOLCHAIN_COMMON_FLAGS} ${TOOLCHAIN_COMMON_CXX_FLAGS}")
+
+# Optimizing flags
+set(TOOLCHAIN_LTO_FLAGS)
+if (NOT ENABLE_DEBUG_ABILITY)
+    set(TOOLCHAIN_OPT_FLAGS "${TOOLCHAIN_OPT_FLAGS}")
+	if (ENABLE_LTO)
+        # Note: fat-lto-objects required for ARM GCC toolchain which does not have LTO linker plugin (which understands slim LTO objects) unlike xPack ARM GCC therefore use it for compatibility with all cases
+        set(TOOLCHAIN_OPT_FLAGS "${TOOLCHAIN_OPT_FLAGS} -flto -ffat-lto-objects")
+	endif()
+endif()
+
+# CPU
+if (TARGET_RV32E)
+    if (ENABLE_HARD_FP)
+        set(TOOLCHAIN_CPU "-march=rv32emaf_zicsr")
+    else()
+        set(TOOLCHAIN_CPU "-march=rv32ema_zicsr")
+    endif()
+else()
+    if (ENABLE_HARD_FP)
+        set(TOOLCHAIN_CPU "-march=rv32imaf_zicsr")
+    else()
+        set(TOOLCHAIN_CPU "-march=rv32ima_zicsr")
+    endif()
+endif()
+set(TOOLCHAIN_CPU_LINKER_FLAGS "${TOOLCHAIN_CPU_LINKER_FLAGS} ${TOOLCHAIN_CPU}")
+
+# Compiler flags
+set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS} ${TOOLCHAIN_CPU} ${TOOLCHAIN_FPU} ${TOOLCHAIN_OPT_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TOOLCHAIN_CPU} ${TOOLCHAIN_FPU} ${TOOLCHAIN_OPT_FLAGS}")
+
+# Linker flags
+set(TOOLCHAIN_LINKER_FLAGS "-nostartfiles -Wl,--gc-sections -Wl,--print-memory-usage")
+
+# Enable 128K RAM
+if (ENABLE_256K_RAM)
+    set(TOOLCHAIN_LINKER_FLAGS "${TOOLCHAIN_LINKER_FLAGS} -Wl,--defsym=__METAL_RAM_SIZE__=0x40000 -Wl,--defsym=__heap_size=0x4000 -Wl,--defsym=__stack_size=0x2000")
+elseif (ENABLE_128K_RAM)
+    set(TOOLCHAIN_LINKER_FLAGS "${TOOLCHAIN_LINKER_FLAGS} -Wl,--defsym=__METAL_RAM_SIZE__=0x20000")
+endif()
+
+# Use NewLib-nano for small builds
+if (ENABLE_SMALL)
+    set(TOOLCHAIN_LINKER_FLAGS "${TOOLCHAIN_LINKER_FLAGS} --specs=nano.specs")
+endif()
+
+# Append CPU & FPU flags to linker
+set(TOOLCHAIN_LINKER_FLAGS "${TOOLCHAIN_LINKER_FLAGS} ${TOOLCHAIN_CPU_LINKER_FLAGS} ${TOOLCHAIN_FPU_LINKER_FLAGS}")
+
+# Linker flags
+set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS   "${TOOLCHAIN_LINKER_FLAGS}")
+set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "${TOOLCHAIN_LINKER_FLAGS}")
+set(CMAKE_SHARED_LINKER_FLAGS           "${CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS}")
+set(CMAKE_C_LINK_FLAGS                  "${CMAKE_SHARED_LIBRARY_LINK_C_FLAGS}")
+set(CMAKE_CXX_LINK_FLAGS                "${CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS}")
+
+# Log
+if (NOT ONCE)
+    message(STATUS "Host processor: ${CMAKE_HOST_SYSTEM_PROCESSOR}")
+    message(STATUS "Target processor: ${CMAKE_SYSTEM_PROCESSOR}")
+    message(STATUS "CXX flags: ${CMAKE_CXX_FLAGS}")
+    message(STATUS "C flags: ${CMAKE_C_FLAGS}")
+    message(STATUS "Linker C flags: ${CMAKE_C_LINK_FLAGS}")
+    message(STATUS "Linker CXX flags: ${CMAKE_CXX_LINK_FLAGS}")
+    set(ONCE TRUE)
+endif()
diff --git a/build/example/blinky/example.cpp b/build/example/blinky/example.cpp
@@ -124,6 +124,7 @@ void RunExample()
 
     kernel.Start();
 
+    // shall not reach here
     STK_ASSERT(false);
 }
 
diff --git a/build/example/hrt/example.cpp b/build/example/hrt/example.cpp
@@ -118,6 +118,7 @@ void RunExample()
 
     kernel.Start();
 
-    while (true) {}
+    // shall not reach here
+    STK_ASSERT(false);
 }