add test step github ci

.env.example

@@ -1,6 +1,6 @@
 KERNEL_NAME=kernel8.img
 BUILD_PATH=target/aarch64-unknown-none/release
-BINARY_NAME=nova
+BINARY_NAME=BINARY_NAME
 TFTP_PATH=/srv/tftp
 REMOTE_USER=TFTP_HOST_USER
 REMOTE_HOST=TFTP_HOST_IP

.gitignore

@@ -4,10 +4,3 @@ kernel8.img
 sd.img
 settings.json
 .DS_Store
-.venv
-.nvimlog
-__pycache__
-.pytest_cache
-
-build/
-

.vscode/launch.json

@@ -3,7 +3,7 @@
   "compounds": [
     {
       "name": "Run QEMU + Attach LLDB",
-      "configurations": ["LLDB"],
+      "configurations": ["Attach LLDB"],
       "preLaunchTask": "Run QEMU"
     }
   ],
@@ -33,47 +33,13 @@
       ],
       "preLaunchTask": "Run QEMU"
     },
-    {
-      "name": "Attach to QEMU (AArch64) wo. window",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/target/aarch64-unknown-none/debug/nova",
-      "miDebuggerServerAddress": "localhost:1234",
-      "miDebuggerPath": "gdb",
-      "cwd": "${workspaceFolder}",
-      "stopAtEntry": true,
-      "externalConsole": false,
-      "MIMode": "gdb",
-      "setupCommands": [
-        {
-          "description": "Enable pretty-printing for gdb",
-          "text": "-enable-pretty-printing",
-          "ignoreFailures": true
-        },
-        {
-          "description": "Show assembly on stop",
-          "text": "set disassemble-next-line on",
-          "ignoreFailures": true
-        }
-      ],
-      "preLaunchTask": "Run QEMU wo window"
-    },
-    {
-      "name": "LLDB",
-      "type": "lldb",
-      "request": "attach",
-      "program": "${workspaceFolder}/target/aarch64-unknown-none/debug/nova",
-      "preLaunchTask": "Run QEMU",
-      "stopOnEntry": true,
-      "processCreateCommands": ["gdb-remote localhost:1234"]
-    },
 
     {
-      "name": "NVIM LLDB",
+      "name": "Attach LLDB",
-      "type": "codelldb",
+      "type": "lldb",
       "request": "attach",
+      "debugServer": 1234,
       "program": "${workspaceFolder}/target/aarch64-unknown-none/debug/nova",
-      "preLaunchTask": "Run QEMU",
       "stopOnEntry": true,
       "processCreateCommands": ["gdb-remote localhost:1234"]
     }

.vscode/tasks.json

@@ -14,38 +14,9 @@
     {
       "label": "Run QEMU",
       "type": "shell",
-      "command": "llvm-objcopy -O binary target/aarch64-unknown-none/debug/nova target/aarch64-unknown-none/debug/kernel8.img && echo Starting QEMU&qemu-system-aarch64 -M raspi3b -cpu cortex-a53 -serial stdio -sd sd.img -kernel ${workspaceFolder}/target/aarch64-unknown-none/debug/kernel8.img -S -s -m 1024",
+      "command": "llvm-objcopy -O binary target/aarch64-unknown-none/debug/nova target/aarch64-unknown-none/debug/kernel8.img && qemu-system-aarch64 -M raspi3b -cpu cortex-a53 -serial stdio -sd sd.img -kernel ${workspaceFolder}/target/aarch64-unknown-none/debug/kernel8.img -S -s -m 1024",
       "isBackground": true,
-      "dependsOn": ["Build"],
+      "dependsOn": ["Build"]
-      "problemMatcher": {
-                "pattern": {
-                    "regexp": "^(Starting QEMU)",
-                    "line": 1,
-                },
-                "background": {
-                    "activeOnStart": true,
-                    "beginsPattern": "^(Starting QEMU)",
-                    "endsPattern": "^(Starting QEMU)"
-                }
-            }
-    },
-        {
-      "label": "Run QEMU wo window",
-      "type": "shell",
-      "command": "llvm-objcopy -O binary target/aarch64-unknown-none/debug/nova target/aarch64-unknown-none/debug/kernel8.img && echo Starting QEMU&qemu-system-aarch64 -M raspi3b -cpu cortex-a53 -display none -serial stdio -sd sd.img -kernel ${workspaceFolder}/target/aarch64-unknown-none/debug/kernel8.img -S -s -m 1024",
-      "isBackground": true,
-      "dependsOn": ["Build"],
-      "problemMatcher": {
-                "pattern": {
-                    "regexp": "^(Starting QEMU)",
-                    "line": 1,
-                },
-                "background": {
-                    "activeOnStart": true,
-                    "beginsPattern": "^(Starting QEMU)",
-                    "endsPattern": "^(Starting QEMU)"
-                }
-            }
     }
   ]
 }

Cargo.lock

@@ -40,43 +40,19 @@ version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
 
-[[package]]
-name = "lock_api"
-version = "0.4.14"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
-dependencies = [
- "scopeguard",
-]
-
-[[package]]
-name = "log"
-version = "0.4.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"
-
 [[package]]
 name = "nova"
 version = "0.1.0"
 dependencies = [
  "heap",
  "libm",
- "log",
  "nova_error",
- "paste",
- "spin",
 ]
 
 [[package]]
 name = "nova_error"
 version = "0.1.0"
 
-[[package]]
-name = "paste"
-version = "1.0.15"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
-
 [[package]]
 name = "ppv-lite86"
 version = "0.2.21"
@@ -139,21 +115,6 @@ dependencies = [
  "getrandom",
 ]
 
-[[package]]
-name = "scopeguard"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
-
-[[package]]
-name = "spin"
-version = "0.10.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d5fe4ccb98d9c292d56fec89a5e07da7fc4cf0dc11e156b41793132775d3e591"
-dependencies = [
- "lock_api",
-]
-
 [[package]]
 name = "syn"
 version = "2.0.111"

Cargo.toml

@@ -14,15 +14,11 @@ panic = "abort"
 
 [dependencies]
 libm = "0.2.15"
-heap = {path = "workspace/heap"}
+heap = {path = "heap"}
-nova_error = {path = "workspace/nova_error"}
+nova_error = {path = "nova_error"}
-paste = "1.0.15"
-log = "0.4.29"
-spin = "0.10.0"
 
 [workspace]
 
-members = [
+members = [ "nova_error",
-    "workspace/nova_error",
+    "heap"
-    "workspace/heap",
 ]

LICENSE

@@ -1,26 +0,0 @@
-MIT NON-AI License
-
-Copyright (c) 2026, Alexander Neuhäuser
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of the software and associated documentation files (the "Software"),
-to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
-and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions.
-
-The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-
-In addition, the following restrictions apply:
-
-1. The Software and any modifications made to it may not be used for the purpose of training or improving machine learning algorithms,
-   including but not limited to artificial intelligence, natural language processing, or data mining. This condition applies to any derivatives,
-   modifications, or updates based on the Software code. Any usage of the Software in an AI-training dataset is considered a breach of this License.
-
-2. The Software may not be included in any dataset used for training or improving machine learning algorithms,
-   including but not limited to artificial intelligence, natural language processing, or data mining.
-
-3. Any person or organization found to be in violation of these restrictions will be subject to legal action and may be held liable
-   for any damages resulting from such use.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
-DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
-OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

README.md

@@ -1,120 +1,21 @@
 # NovaOS
 
-![NovaOS banner](docs/banner.png)
+NovaOS is a expository project where I build a kernel from scratch for a Raspberry PI 3 B+.
 
-NovaOS is a hobby operating system kernel written in Rust for the Raspberry Pi 3 B+.
+[Technical write-up](https://leafnova.net/projects/pi3_kernel/)
-It is built as a learning project for low-level systems programming, bare-metal boot flow, and kernel development.
 
-## At A Glance
+## Features
 
-NovaOS currently includes:
+- Delay and sleep ✓
-
+- UART ✓
-- UART initialization and logging
+- Switching ELs ✓
-- Delay and sleep primitives
+- GPIOs ✓
-- Exception level transitions across EL2, EL1, and EL0
+- GPIO Interrupts ✓
-- GPIO control and interrupt handling
+- Communicate with peripherals via mailboxes ✓
-- Peripheral mailbox communication
+- Frame Buffer ✓
-- Framebuffer drawing primitives
+- Heap Memory allocation ✓
-- Heap memory allocation
+- Multi Core
-- MMU initialization and translation table setup
+- Dynamic clock speed
-
+- MMU
-Work in progress:
+- Multiprocessing
-
+- Basic Terminal over UART
-- SVC instruction handling
-- Basic UART console improvements
-- Multi-application management
-
-Planned next:
-
-- Multi-core support
-- Dynamic clock speed management
-- Kernel-independent applications
-- Multiprocessing improvements
-
-## Project Structure
-
-- `src/` - kernel source, architecture code, peripherals, interrupts, and runtime
-- `workspace/` - supporting crates such as `heap` and `nova_error`
-- `tools/` - build, simulation, SD image generation, and deployment scripts
-- `firmware_files/` - Raspberry Pi firmware files copied to SD or TFTP
-- `link.ld` - linker script for the kernel image
-
-## Requirements
-
-You will need:
-
-- Rust nightly toolchain (`rust-toolchain.toml` pins `nightly`)
-- Rust target `aarch64-unknown-none`
-- `llvm-objcopy` for generating `kernel8.img`
-- `qemu-system-aarch64` for emulation
-- `mtools` (`mformat`, `mcopy`) for SD image generation
-
-Install the Rust target if needed:
-
-```bash
-rustup target add aarch64-unknown-none
-```
-
-## Build
-
-Debug image:
-
-```bash
-cd tools
-./build_debug.sh
-```
-
-Release image:
-
-```bash
-cd tools
-./build_release.sh
-```
-
-Both scripts produce a `kernel8.img` under `target/aarch64-unknown-none/<profile>/`.
-
-## Run In QEMU
-
-1. Generate an SD image with firmware files:
-
-```bash
-cd tools
-./generate_sd_card.sh
-```
-
-2. Start the emulator:
-
-```bash
-cd tools
-./start_simulator.sh
-```
-
-For debug mode with the GDB stub enabled (`-S -s`):
-
-```bash
-cd tools
-./start_simulator_debug.sh
-```
-
-## Deploy To Hardware
-
-Use the TFTP workflow to deploy to a Raspberry Pi:
-
-1. Copy `.env.example` to `.env` and fill in your values:
-   - `REMOTE_USER`
-   - `REMOTE_HOST`
-   - `TFTP_PATH`
-   - `BUILD_PATH`
-   - `BINARY_NAME`
-   - `KERNEL_NAME`
-2. Run:
-
-```bash
-cd tools
-./deply_to_hw.sh
-```
-
-## Notes
-
-- This is an educational kernel project and is actively evolving.
-- Interfaces and boot flow may change as features are added.

heap/src/lib.rs

@@ -15,7 +15,7 @@ extern crate alloc;
 
 #[repr(C, align(16))]
 #[derive(Clone, Copy)]
-struct HeapHeader {
+pub struct HeapHeader {
     next: Option<*mut HeapHeader>,
     before: Option<*mut HeapHeader>,
     size: usize,
@@ -26,9 +26,9 @@ const HEAP_HEADER_SIZE: usize = size_of::<HeapHeader>();
 const MIN_BLOCK_SIZE: usize = 16;
 
 pub struct Heap {
-    start_address: *mut HeapHeader,
+    pub start_address: *mut HeapHeader,
-    end_address: *mut HeapHeader,
+    pub end_address: *mut HeapHeader,
-    raw_size: usize,
+    pub raw_size: usize,
 }
 impl Heap {
     pub const fn empty() -> Self {
@@ -39,10 +39,6 @@ impl Heap {
         }
     }
 
-    pub fn size(self) -> usize {
-        self.raw_size
-    }
-
     pub fn init(&mut self, heap_start: usize, heap_end: usize) {
         self.start_address = heap_start as *mut HeapHeader;
         self.end_address = heap_end as *mut HeapHeader;
@@ -76,7 +72,7 @@ impl Heap {
         Ok(current)
     }
 
-    fn malloc(&self, mut size: usize) -> Result<*mut u8, NovaError> {
+    pub fn malloc(&self, mut size: usize) -> Result<*mut u8, NovaError> {
         if size == 0 {
             return Err(NovaError::EmptyHeapSegmentNotAllowed);
         }
@@ -134,7 +130,7 @@ impl Heap {
         }
     }
 
-    fn free(&self, pointer: *mut u8) -> Result<(), NovaError> {
+    pub fn free(&self, pointer: *mut u8) -> Result<(), NovaError> {
         let mut segment = Self::get_header_ref_from_data_pointer(pointer);
         unsafe {
             // IF prev is free:

heap/src/tests.rs

@@ -29,7 +29,7 @@ fn test_heap_allocation() {
         assert_eq!(actual_alloc_size % MIN_BLOCK_SIZE, 0);
 
         // Verify section is occupied
-        assert!(!(*malloc_header).free);
+        assert!((*malloc_header).free == false);
 
         // Verify next header has been created
         let next = (*malloc_header).next.unwrap();
@@ -55,7 +55,7 @@ fn test_full_heap() {
     let malloc = heap.malloc(malloc_size).unwrap();
     let malloc_header = Heap::get_header_ref_from_data_pointer(malloc);
     unsafe {
-        assert!(!(*malloc_header).free);
+        assert_eq!((*malloc_header).free, false);
         assert!((*malloc_header).next.is_none());
     }
 
@@ -79,7 +79,7 @@ fn test_freeing_root() {
     let malloc = heap.malloc(malloc_size).unwrap();
     let malloc_header = Heap::get_header_ref_from_data_pointer(malloc);
     unsafe {
-        assert!(!(*malloc_header).free);
+        assert_eq!((*malloc_header).free, false);
         assert!((*malloc_header).size >= malloc_size);
         assert!((*root_header).next.is_some());
 
@@ -100,7 +100,7 @@ fn test_merging_free_sections() {
     );
 
     let root_header = heap.start_address;
-    let _root_header_start_size = unsafe { (*root_header).size };
+    let root_header_start_size = unsafe { (*root_header).size };
 
     let malloc1 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
     let malloc_header_before = unsafe { *Heap::get_header_ref_from_data_pointer(malloc1) };
@@ -135,29 +135,31 @@ fn test_first_fit() {
     );
 
     let root_header = heap.start_address;
-    let _root_header_start_size = unsafe { (*root_header).size };
+    let root_header_start_size = unsafe { (*root_header).size };
 
     let malloc1 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
-    let _malloc2 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+    let malloc2 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
     let malloc3 = heap.malloc(MIN_BLOCK_SIZE * 3).unwrap();
     let malloc4 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
 
-    assert!(heap.free(malloc1).is_ok());
+    unsafe {
-    assert!(heap.free(malloc3).is_ok());
+        assert!(heap.free(malloc1).is_ok());
-    let malloc5 = heap.malloc(MIN_BLOCK_SIZE * 2).unwrap();
+        assert!(heap.free(malloc3).is_ok());
-    let malloc1_header = unsafe { *Heap::get_header_ref_from_data_pointer(malloc1) };
+        let malloc5 = heap.malloc(MIN_BLOCK_SIZE * 2).unwrap();
+        let malloc1_header = unsafe { *Heap::get_header_ref_from_data_pointer(malloc1) };
 
-    // First free block stays empty
+        // First free block stays empty
-    assert!(malloc1_header.free);
+        assert!(malloc1_header.free);
 
-    // New allocation takes the first fit aka. malloc3
+        // New allocation takes the first fit aka. malloc3
-    assert_eq!(malloc5, malloc3);
+        assert_eq!(malloc5, malloc3);
 
-    // If no free slot could be found, append to the end
+        // If no free slot could be found, append to the end
-    let malloc6 = heap.malloc(MIN_BLOCK_SIZE * 2).unwrap();
+        let malloc6 = heap.malloc(MIN_BLOCK_SIZE * 2).unwrap();
-    assert!(malloc6 > malloc4);
+        assert!(malloc6 > malloc4);
 
-    // Malloc7 takes slot of Malloc1
+        // Malloc7 takes slot of Malloc1
-    let malloc7 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
+        let malloc7 = heap.malloc(MIN_BLOCK_SIZE).unwrap();
-    assert_eq!(malloc1, malloc7);
+        assert_eq!(malloc1, malloc7);
+    }
 }

link.ld

@@ -5,42 +5,44 @@ SECTIONS {
         KEEP(*(.text._start))
         *(.text .text.*)
     }
-    .vector_table ALIGN(2K) : {
-        KEEP(*(.vector_t))
-    }
-
-    . = ALIGN(4K);
-    __text_end = .;
 
     .rodata : {
         *(.rodata .rodata.*)
     }
 
-    .data  : {
+    .data : {
+        _data = .;
         *(.data .data.*)
     }
 
-    .bss ALIGN(16) (NOLOAD) : {
+    .bss (NOLOAD) : {
+        . = ALIGN(16);
         __bss_start = .;
         *(.bss .bss.*)
+        *(COMMON)
         __bss_end = .;
     }
 
-    . = ALIGN(2M);
+    .vector_table ALIGN(2048) : {
+        KEEP(*(.vector_table))
+    }
 
-    __share_end = .;
+    .heap 0x8000000 : ALIGN(16)
+    {
+    __heap_start = .;
+    . += 0x10000; #10kB
+    __heap_end = .;
+    }
 
-    # EL2 Stack
+    .stack : ALIGN(16)
-    .stack ALIGN(16): {
+    {
     __stack_start = .;
-    . += 100K; #100kB stack
+    . += 0x10000; #10kB stack
-    . = ALIGN(16);
     __stack_end = .;
     }
 
-    . = ALIGN(2M);
 
-    __kernel_end = .;
+    _end = .;
 }
 
 __bss_size = (__bss_end - __bss_start) >> 3;

nova_error/src/lib.rs

@@ -5,12 +5,7 @@ use core::prelude::rust_2024::derive;
 
 #[derive(Debug)]
 pub enum NovaError {
-    General(&'static str),
     Mailbox,
     HeapFull,
     EmptyHeapSegmentNotAllowed,
-    Misalignment,
-    InvalidGranularity,
-    Paging(&'static str),
-    OutOfMeomory,
 }

src/aarch64/mmu.rs

@@ -1,439 +0,0 @@
-use core::mem::size_of;
-use nova_error::NovaError;
-
-use crate::{
-    aarch64::mmu::physical_mapping::{
-        reserve_block, reserve_block_explicit, reserve_page, reserve_page_explicit,
-    },
-    get_current_el,
-};
-
-const BLOCK: u64 = 0b01;
-const TABLE: u64 = 0b11;
-const PAGE: u64 = 0b11;
-
-/// Allow EL0 to access this section
-pub const EL0_ACCESSIBLE: u64 = 1 << 6;
-
-/// Allow a page or block to be written.
-pub const WRITABLE: u64 = 0 << 7;
-/// Disallow a page or block to be written.
-pub const READ_ONLY: u64 = 1 << 7;
-
-const ACCESS_FLAG: u64 = 1 << 10;
-const INNER_SHAREABILITY: u64 = 0b11 << 8;
-
-pub const NORMAL_MEM: u64 = 0 << 2;
-pub const DEVICE_MEM: u64 = 1 << 2;
-
-/// Disallow EL1 Execution.
-pub const PXN: u64 = 1 << 53;
-
-/// Disallow EL0 Execution.
-pub const UXN: u64 = 1 << 54;
-
-pub const GRANULARITY: usize = 4 * 1024;
-const TABLE_ENTRY_COUNT: usize = GRANULARITY / size_of::<u64>(); // 2MiB
-
-pub const LEVEL1_BLOCK_SIZE: usize = TABLE_ENTRY_COUNT * TABLE_ENTRY_COUNT * GRANULARITY;
-pub const LEVEL2_BLOCK_SIZE: usize = TABLE_ENTRY_COUNT * GRANULARITY;
-
-const L2_BLOCK_BITMAP_WORDS: usize = LEVEL2_BLOCK_SIZE / (64 * GRANULARITY);
-
-const MAX_PAGE_COUNT: usize = 1024 * 1024 * 1024 / GRANULARITY;
-
-const TRANSLATION_TABLE_BASE_ADDR: usize = 0xFFFF_FF82_0000_0000;
-#[no_mangle]
-pub static KERNEL_VIRTUAL_MEM_SPACE: usize = 0xFFFF_FF80_0000_0000;
-
-pub const STACK_START_ADDR: usize = !KERNEL_VIRTUAL_MEM_SPACE & (!0xF);
-
-pub mod physical_mapping;
-
-pub type VirtAddr = usize;
-pub type PhysAddr = usize;
-
-#[derive(Clone, Copy)]
-pub struct TableEntry {
-    value: u64,
-}
-
-impl TableEntry {
-    pub fn invalid() -> Self {
-        Self { value: 0 }
-    }
-
-    fn table_descriptor(addr: PhysAddr) -> Self {
-        Self {
-            value: (addr as u64 & 0x0000_FFFF_FFFF_F000) | TABLE,
-        }
-    }
-
-    fn block_descriptor(physical_address: usize, additional_flags: u64) -> Self {
-        Self {
-            value: (physical_address as u64 & 0x0000_FFFF_FFFF_F000)
-                | BLOCK
-                | ACCESS_FLAG
-                | INNER_SHAREABILITY
-                | additional_flags,
-        }
-    }
-
-    fn page_descriptor(physical_address: usize, additional_flags: u64) -> Self {
-        Self {
-            value: (physical_address as u64 & 0x0000_FFFF_FFFF_F000)
-                | PAGE
-                | ACCESS_FLAG
-                | INNER_SHAREABILITY
-                | additional_flags,
-        }
-    }
-
-    fn is_invalid(self) -> bool {
-        self.value & 0b11 == 0
-    }
-
-    #[inline]
-    fn address(self) -> PhysAddr {
-        self.value as usize & 0x0000_FFFF_FFFF_F000
-    }
-}
-
-pub enum PhysSource {
-    Any,
-    Explicit(PhysAddr),
-}
-
-#[repr(align(4096))]
-pub struct PageTable(pub [TableEntry; TABLE_ENTRY_COUNT]);
-
-impl Iterator for PageTable {
-    type Item = VirtAddr;
-
-    fn next(&mut self) -> Option<Self::Item> {
-        for (offset, entity) in self.0.iter().enumerate() {
-            if entity.is_invalid() {
-                return Some(offset);
-            }
-        }
-        None
-    }
-}
-#[no_mangle]
-pub static mut TRANSLATIONTABLE_TTBR0: PageTable = PageTable([TableEntry { value: 0 }; 512]);
-#[no_mangle]
-pub static mut TRANSLATIONTABLE_TTBR1: PageTable = PageTable([TableEntry { value: 0 }; 512]);
-
-/// Allocate a memory block of `size` starting at `virtual_address`.
-pub fn allocate_memory(
-    virtual_address: usize,
-    size_bytes: usize,
-    phys: PhysSource,
-    flags: u64,
-) -> Result<(), NovaError> {
-    if !virtual_address.is_multiple_of(GRANULARITY) {
-        return Err(NovaError::Misalignment);
-    }
-    if !size_bytes.is_multiple_of(GRANULARITY) {
-        return Err(NovaError::InvalidGranularity);
-    }
-
-    let base_table = if virtual_address & KERNEL_VIRTUAL_MEM_SPACE > 0 {
-        core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR1)
-    } else {
-        core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR0)
-    };
-
-    match phys {
-        PhysSource::Any => map_range_dynamic(virtual_address, size_bytes, base_table, flags),
-        PhysSource::Explicit(phys_addr) => {
-            map_range_explicit(virtual_address, phys_addr, size_bytes, base_table, flags)
-        }
-    }
-}
-
-fn map_range_explicit(
-    mut virt: VirtAddr,
-    mut phys: PhysAddr,
-    size_bytes: usize,
-    base: *mut PageTable,
-    flags: u64,
-) -> Result<(), NovaError> {
-    let mut remaining = size_bytes;
-
-    while !virt.is_multiple_of(LEVEL2_BLOCK_SIZE) && remaining > 0 {
-        map_page(virt, phys, base, flags)?;
-        (virt, _) = virt.overflowing_add(GRANULARITY);
-        phys += GRANULARITY;
-        remaining -= GRANULARITY;
-    }
-
-    while remaining >= LEVEL2_BLOCK_SIZE {
-        map_l2_block(virt, phys, base, flags)?;
-        (virt, _) = virt.overflowing_add(LEVEL2_BLOCK_SIZE);
-        phys += LEVEL2_BLOCK_SIZE;
-        remaining -= LEVEL2_BLOCK_SIZE;
-    }
-
-    while remaining > 0 {
-        map_page(virt, phys, base, flags)?;
-        (virt, _) = virt.overflowing_add(GRANULARITY);
-        phys += GRANULARITY;
-        remaining -= GRANULARITY;
-    }
-
-    Ok(())
-}
-
-fn map_range_dynamic(
-    mut virt: PhysAddr,
-    size_bytes: usize,
-    base: *mut PageTable,
-    flags: u64,
-) -> Result<(), NovaError> {
-    let mut remaining = size_bytes;
-
-    while remaining >= LEVEL2_BLOCK_SIZE {
-        map_l2_block(virt, reserve_block(), base, flags)?;
-        (virt, _) = virt.overflowing_add(LEVEL2_BLOCK_SIZE);
-        remaining -= LEVEL2_BLOCK_SIZE;
-    }
-
-    while remaining > 0 {
-        map_page(virt, reserve_page(), base, flags)?;
-        (virt, _) = virt.overflowing_add(GRANULARITY);
-        remaining -= GRANULARITY;
-    }
-    Ok(())
-}
-
-/// Allocate a singe page.
-pub fn alloc_page(
-    virtual_address: VirtAddr,
-    base_table: *mut PageTable,
-    additional_flags: u64,
-) -> Result<(), NovaError> {
-    map_page(
-        virtual_address,
-        reserve_page(),
-        base_table,
-        additional_flags,
-    )
-}
-
-/// Allocate a singe page in one block.
-pub fn find_free_kerne_page_in_block(start: VirtAddr) -> Result<VirtAddr, NovaError> {
-    if !start.is_multiple_of(LEVEL2_BLOCK_SIZE) {
-        return Err(NovaError::Misalignment);
-    }
-
-    let (off1, off2, _) = virtual_address_to_table_offset(start);
-    let offsets = [off1, off2];
-    let table = unsafe {
-        &mut *navigate_table(
-            core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR1),
-            &offsets,
-            true,
-        )?
-    };
-
-    if let Some(offset) = table.next() {
-        return Ok(start + (offset * GRANULARITY));
-    }
-    Err(NovaError::OutOfMeomory)
-}
-
-/// Allocate a single page at an explicit `physical_address`.
-pub fn alloc_page_explicit(
-    virtual_address: usize,
-    physical_address: usize,
-    base_table: *mut PageTable,
-    additional_flags: u64,
-) -> Result<(), NovaError> {
-    reserve_page_explicit(physical_address)?;
-    map_page(
-        virtual_address,
-        physical_address,
-        base_table,
-        additional_flags,
-    )
-}
-
-pub fn map_page(
-    virtual_address: usize,
-    physical_address: usize,
-    base_table_ptr: *mut PageTable,
-    additional_flags: u64,
-) -> Result<(), NovaError> {
-    let (l1_off, l2_off, l3_off) = virtual_address_to_table_offset(virtual_address);
-
-    let offsets = [l1_off, l2_off];
-
-    let table_ptr = navigate_table(base_table_ptr, &offsets, true)?;
-    let table = unsafe { &mut *table_ptr };
-
-    if !table.0[l3_off].is_invalid() {
-        return Err(NovaError::Paging("Page already occupied."));
-    }
-
-    table.0[l3_off] = TableEntry::page_descriptor(physical_address, additional_flags);
-
-    Ok(())
-}
-
-// Allocate a level 2 block, at a explicit `physical_address`.
-pub fn alloc_block_l2_explicit(
-    virtual_addr: usize,
-    physical_address: usize,
-    base_table_ptr: *mut PageTable,
-    additional_flags: u64,
-) -> Result<(), NovaError> {
-    if !physical_address.is_multiple_of(LEVEL2_BLOCK_SIZE) {
-        return Err(NovaError::Misalignment);
-    }
-
-    reserve_block_explicit(physical_address)?;
-    map_l2_block(
-        virtual_addr,
-        physical_address,
-        base_table_ptr,
-        additional_flags,
-    )
-}
-
-pub fn map_l2_block(
-    virtual_addr: usize,
-    physical_address: usize,
-    base_table_ptr: *mut PageTable,
-    additional_flags: u64,
-) -> Result<(), NovaError> {
-    let (l1_off, l2_off, _) = virtual_address_to_table_offset(virtual_addr);
-    let offsets = [l1_off];
-    let table_ptr = navigate_table(base_table_ptr, &offsets, true)?;
-
-    let table = unsafe { &mut *table_ptr };
-
-    // Verify virtual address is available.
-    if !table.0[l2_off].is_invalid() {
-        return Err(NovaError::Paging("Block already occupied."));
-    }
-
-    let new_entry = TableEntry::block_descriptor(physical_address, additional_flags);
-
-    table.0[l2_off] = new_entry;
-
-    Ok(())
-}
-
-pub fn reserve_range(
-    start_physical_address: PhysAddr,
-    end_physical_address: PhysAddr,
-) -> Result<PhysAddr, NovaError> {
-    let mut size = end_physical_address - start_physical_address;
-    let l1_blocks = size / LEVEL1_BLOCK_SIZE;
-    size %= LEVEL1_BLOCK_SIZE;
-    let l2_blocks = size / LEVEL2_BLOCK_SIZE;
-    size %= LEVEL2_BLOCK_SIZE;
-    let l3_pages = size / GRANULARITY;
-
-    if !size.is_multiple_of(GRANULARITY) {
-        return Err(NovaError::Misalignment);
-    }
-
-    if l1_blocks > 0 {
-        todo!();
-    }
-
-    let mut addr = start_physical_address;
-    for _ in 0..l2_blocks {
-        reserve_block_explicit(addr)?;
-        addr += LEVEL2_BLOCK_SIZE;
-    }
-
-    for _ in 0..l3_pages {
-        reserve_page_explicit(addr)?;
-        addr += GRANULARITY;
-    }
-
-    Ok(start_physical_address)
-}
-
-fn virtual_address_to_table_offset(virtual_addr: usize) -> (usize, usize, usize) {
-    let absolute_page_off = (virtual_addr & !KERNEL_VIRTUAL_MEM_SPACE) / GRANULARITY;
-    let l3_off = absolute_page_off % TABLE_ENTRY_COUNT;
-    let l2_off = (absolute_page_off / TABLE_ENTRY_COUNT) % TABLE_ENTRY_COUNT;
-    let l1_off = (absolute_page_off / TABLE_ENTRY_COUNT / TABLE_ENTRY_COUNT) % TABLE_ENTRY_COUNT;
-    (l1_off, l2_off, l3_off)
-}
-
-/// Navigate the table tree, by following given offsets. This function
-/// allocates new tables if required.
-fn navigate_table(
-    initial_table_ptr: *mut PageTable,
-    offsets: &[usize],
-    create_missing: bool,
-) -> Result<*mut PageTable, NovaError> {
-    let mut table = initial_table_ptr;
-    for offset in offsets {
-        table = next_table(table, *offset, create_missing)?;
-    }
-    Ok(table)
-}
-
-/// Get the next table one level down.
-///
-/// If table doesn't exit a page will be allocated for it.
-fn next_table(
-    table_ptr: *mut PageTable,
-    offset: usize,
-    create_missing: bool,
-) -> Result<*mut PageTable, NovaError> {
-    let table = unsafe { &mut *table_ptr };
-    match table.0[offset].value & 0b11 {
-        0 => {
-            if !create_missing {
-                return Err(NovaError::Paging("No table defined."));
-            }
-            let new_phys_page_table_address = reserve_page();
-
-            table.0[offset] = TableEntry::table_descriptor(new_phys_page_table_address);
-            map_page(
-                phys_table_to_kernel_space(new_phys_page_table_address),
-                new_phys_page_table_address,
-                &raw mut TRANSLATIONTABLE_TTBR1,
-                NORMAL_MEM | WRITABLE | PXN | UXN,
-            )?;
-
-            Ok(resolve_table_addr(table.0[offset].address()) as *mut PageTable)
-        }
-        1 => Err(NovaError::Paging(
-            "Can't navigate table due to block mapping.",
-        )),
-        3 => Ok(resolve_table_addr(table.0[offset].address()) as *mut PageTable),
-        _ => unreachable!(),
-    }
-}
-
-/// Converts a physical table address and returns the corresponding virtual address depending on EL.
-///
-/// - `== EL0` -> panic
-/// - `== EL1` -> 0xFFFFFF82XXXXXXXX
-/// - `>= EL2` -> physical address
-#[inline]
-fn resolve_table_addr(physical_address: PhysAddr) -> VirtAddr {
-    let current_el = get_current_el();
-
-    if current_el >= 2 {
-        physical_address
-    } else if get_current_el() == 1 {
-        phys_table_to_kernel_space(physical_address)
-    } else {
-        panic!("Access to table entries is forbidden in EL0.")
-    }
-}
-
-/// Extracts the physical address out of an table entry.
-#[inline]
-fn phys_table_to_kernel_space(entry: usize) -> VirtAddr {
-    entry | TRANSLATION_TABLE_BASE_ADDR
-}

src/aarch64/mmu/physical_mapping.rs

@@ -1,95 +0,0 @@
-use crate::aarch64::mmu::{PhysAddr, GRANULARITY, L2_BLOCK_BITMAP_WORDS, MAX_PAGE_COUNT};
-use nova_error::NovaError;
-
-struct PagingMap {
-    bitmap: [u64; MAX_PAGE_COUNT / 64],
-}
-
-static mut PAGING_BITMAP: PagingMap = PagingMap {
-    bitmap: [0; MAX_PAGE_COUNT / 64],
-};
-
-pub fn reserve_page() -> PhysAddr {
-    if let Some(address) = find_unallocated_page() {
-        let page = address / GRANULARITY;
-        let word_index = page / 64;
-        unsafe { PAGING_BITMAP.bitmap[word_index] |= 1 << (page % 64) };
-        return address;
-    }
-    panic!("Out of Memory!");
-}
-
-pub fn reserve_page_explicit(physical_address: usize) -> Result<PhysAddr, NovaError> {
-    let page = physical_address / GRANULARITY;
-    let word_index = page / 64;
-
-    if unsafe { PAGING_BITMAP.bitmap[word_index] } & (1 << (page % 64)) > 0 {
-        return Err(NovaError::Paging("Page PA already taken."));
-    }
-
-    unsafe { PAGING_BITMAP.bitmap[word_index] |= 1 << (page % 64) };
-    Ok(physical_address)
-}
-
-pub fn reserve_block() -> usize {
-    if let Some(start) = find_contiguous_free_bitmap_words(L2_BLOCK_BITMAP_WORDS) {
-        for j in 0..L2_BLOCK_BITMAP_WORDS {
-            unsafe { PAGING_BITMAP.bitmap[start + j] = u64::MAX };
-        }
-        return start * 64 * GRANULARITY;
-    }
-
-    panic!("Out of Memory!");
-}
-
-pub fn reserve_block_explicit(physical_address: usize) -> Result<(), NovaError> {
-    let page = physical_address / GRANULARITY;
-    for i in 0..L2_BLOCK_BITMAP_WORDS {
-        unsafe {
-            if PAGING_BITMAP.bitmap[(page / 64) + i] != 0 {
-                return Err(NovaError::Paging("Block PA already taken."));
-            }
-        };
-    }
-    for i in 0..L2_BLOCK_BITMAP_WORDS {
-        unsafe {
-            PAGING_BITMAP.bitmap[(page / 64) + i] = u64::MAX;
-        };
-    }
-    Ok(())
-}
-
-fn find_unallocated_page() -> Option<usize> {
-    for (i, entry) in unsafe { PAGING_BITMAP.bitmap }.iter().enumerate() {
-        if *entry != u64::MAX {
-            for offset in 0..64 {
-                if entry >> offset & 0b1 == 0 {
-                    return Some((i * 64 + offset) * GRANULARITY);
-                }
-            }
-        }
-    }
-    None
-}
-
-fn find_contiguous_free_bitmap_words(required_words: usize) -> Option<usize> {
-    let mut run_start = 0;
-    let mut run_len = 0;
-
-    for (i, entry) in unsafe { PAGING_BITMAP.bitmap }.iter().enumerate() {
-        if *entry == 0 {
-            if run_len == 0 {
-                run_start = i;
-            }
-            run_len += 1;
-
-            if run_len == required_words {
-                return Some(run_start);
-            }
-        } else {
-            run_len = 0;
-        }
-    }
-
-    None
-}

src/aarch64/mod.rs

@@ -1,2 +0,0 @@
-pub mod mmu;
-pub mod registers;

src/aarch64/registers.rs

@@ -1,59 +0,0 @@
-use core::arch::asm;
-
-pub mod daif {
-    use core::arch::asm;
-
-    #[inline(always)]
-    pub fn mask_all() {
-        unsafe { asm!("msr DAIFSet, #0xf", options(nomem, nostack)) }
-    }
-
-    #[inline(always)]
-    pub fn unmask_all() {
-        unsafe { asm!("msr DAIFClr, #0xf", options(nomem, nostack)) }
-    }
-
-    #[inline(always)]
-    pub fn mask_irq() {
-        unsafe { asm!("msr DAIFSet, #0x2", options(nomem, nostack)) }
-    }
-
-    #[inline(always)]
-    pub fn unmask_irq() {
-        unsafe { asm!("msr DAIFClr, #0x2", options(nomem, nostack)) }
-    }
-}
-
-#[macro_export]
-macro_rules! psr {
-    ($name:ident, $t:tt) => {
-        paste::item! {
-            pub fn [<read_ $name:lower>]() -> $t {
-                let buf: $t;
-                unsafe {
-                    asm!(
-                        concat!("mrs {0:x}, ", stringify!($name)),
-                        out(reg) buf
-                    );
-                }
-                buf
-            }
-        }
-    };
-}
-
-psr!(TCR_EL1, u64);
-
-psr!(ID_AA64MMFR0_EL1, u64);
-
-psr!(ESR_EL1, u32);
-
-psr!(SPSR_EL1, u32);
-
-psr!(ELR_EL1, u64);
-
-psr!(SCTLR_EL1, u64);
-
-pub fn read_exception_source_el() -> u32 {
-    read_spsr_el1() & 0b1111
-}

src/application_manager.rs

@@ -1,145 +0,0 @@
-use crate::{
-    aarch64::mmu::{
-        find_free_kerne_page_in_block, map_page, physical_mapping::reserve_page, PageTable,
-        TableEntry, VirtAddr, NORMAL_MEM, TRANSLATIONTABLE_TTBR0, TRANSLATIONTABLE_TTBR1, WRITABLE,
-    },
-    configuration::memory_mapping::{APPLICATION_TRANSLATION_TABLE_VA, EL0_STACK_TOP},
-};
-use alloc::vec::Vec;
-use core::{arch::asm, mem, ptr::write_volatile};
-use log::error;
-use nova_error::NovaError;
-use spin::Mutex;
-
-struct AppManager {
-    apps: Option<Vec<Application>>,
-}
-
-impl AppManager {
-    const fn new() -> Self {
-        Self { apps: None }
-    }
-}
-
-unsafe impl Send for AppManager {}
-
-pub struct Application {
-    pub table_ptr: *mut TableEntry,
-    pub start_addr: usize,
-    pub stack_pointer: usize,
-}
-
-impl Application {
-    pub fn new(start_addr: VirtAddr) -> Self {
-        let physical_addr = reserve_page();
-        let virtual_address =
-            find_free_kerne_page_in_block(APPLICATION_TRANSLATION_TABLE_VA).unwrap();
-
-        map_page(
-            virtual_address,
-            physical_addr,
-            core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR1),
-            NORMAL_MEM | WRITABLE,
-        )
-        .unwrap();
-
-        // TODO: Temporary solution, while kernel and app share some memory regions
-        #[allow(static_mut_refs)]
-        unsafe {
-            let table = &mut *(virtual_address as *mut PageTable);
-            table.0 = TRANSLATIONTABLE_TTBR0.0;
-        }
-
-        Self {
-            table_ptr: physical_addr as *mut TableEntry,
-            start_addr,
-            stack_pointer: EL0_STACK_TOP,
-        }
-    }
-
-    pub unsafe fn configure_registers(&self) {
-        asm!("msr ELR_EL1, {}", in(reg) self.start_addr);
-        asm!("msr SPSR_EL1, {0:x}", in(reg) 0);
-        asm!("msr SP_EL0, {0:x}", in(reg) self.stack_pointer);
-        asm!("msr TTBR0_EL1, {}", in(reg) self.table_ptr as usize);
-    }
-
-    /// Starts an application.
-    ///
-    /// `ELR_EL1` ->  Exception Link Register (starting virtual address)
-    /// `SPSR_EL1` -> Saved Program State Register (settings for `eret` behaviour)
-    /// `SP_EL0` -> Stack Pointer Register (virtual_address of stack Pointer)
-    /// `TTBR0_EL1` -> Translation Table base Register Register
-    pub fn start(&mut self, args: Vec<&str>) {
-        let size = args.len();
-        let argv = self.construct_inital_stack(args);
-        unsafe {
-            self.configure_registers();
-            asm!("", in("x0") size, in("x1") argv);
-            asm!("eret");
-        }
-    }
-
-    /// Initializes the stack based on the System V ABI
-    fn construct_inital_stack(&mut self, args: Vec<&str>) -> usize {
-        let size = args.len();
-        let mut arg_addresses = Vec::with_capacity(size);
-
-        // Write strings into stack
-        for value in args {
-            self.stack_pointer -= value.len() * mem::size_of::<u8>();
-            let pointer = self.stack_pointer as *mut u8;
-            unsafe { core::ptr::copy(value.as_ptr(), pointer, value.len()) };
-            arg_addresses.push(pointer);
-        }
-        self.stack_pointer = align_down(self.stack_pointer, 16);
-
-        // TODO: Auxiliry vector entry
-        // TODO: Environment pointers
-
-        let argv = self.stack_pointer;
-
-        // Write argument pointers into stack
-        for addr in arg_addresses {
-            unsafe { write_volatile(self.stack_pointer as *mut *const u8, addr) };
-            self.stack_pointer -= mem::size_of::<*const u8>();
-        }
-
-        argv
-    }
-}
-
-fn align_down(sp: usize, align: usize) -> usize {
-    sp & !(align - 1)
-}
-
-static APP_MANAGER: Mutex<AppManager> = Mutex::new(AppManager::new());
-
-pub fn initialize_app_manager() {
-    let mut guard = APP_MANAGER.lock();
-    guard.apps = Some(Vec::new());
-}
-
-pub fn add_app(app: Application) -> Result<(), NovaError> {
-    if let Some(app_list) = APP_MANAGER.lock().apps.as_mut() {
-        app_list.push(app);
-        Ok(())
-    } else {
-        Err(NovaError::General("AppManager not initalized."))
-    }
-}
-
-pub fn start_app(index: usize, args: Vec<&str>) -> Result<(), NovaError> {
-    if let Some(app) = APP_MANAGER
-        .lock()
-        .apps
-        .as_mut()
-        .and_then(|am| am.get_mut(index))
-    {
-        app.start(args);
-        unreachable!()
-    } else {
-        error!("Unable to start app due to invalid App ID.");
-        Err(NovaError::General("Invalid app id."))
-    }
-}

src/config.S

@@ -1,80 +0,0 @@
-.section .text.config
-.align 4
-.global el2_to_el1
-el2_to_el1:
-    mov x0, #(1 << 31)
-    msr HCR_EL2, x0
-
-    // Set SPSR_EL2: return to EL1h
-    mov x0, #(0b0101)
-    msr SPSR_EL2, x0
-
-    // Set return address to kernel_main
-    adrp x0, KERNEL_VIRTUAL_MEM_SPACE
-    ldr x1, [x0, :lo12:KERNEL_VIRTUAL_MEM_SPACE]
-
-    adrp x0, kernel_main
-    add  x0, x0, :lo12:kernel_main
-    orr  x0, x0, x1
-    msr ELR_EL2, x0
-
-    // Set SP_EL1 to stack base
-    adrp x0, EL1_STACK_TOP
-    ldr  x1, [x0, :lo12:EL1_STACK_TOP]
-    msr SP_EL1, x1
-
-    // Set VBAR_EL1 to vector table
-    adrp x0, vector_table
-    add  x0, x0, :lo12:vector_table
-    msr VBAR_EL1, x0
-
-    isb
-
-    adrp x0, SCTLR_EL1_CONF
-    ldr  x1, [x0, :lo12:SCTLR_EL1_CONF]
-    msr SCTLR_EL1, x1
-
-    isb
-
-    // SIMD should not be trapped
-    mrs x0, CPACR_EL1
-    mov x1, #(0b11<<20)
-    orr x0,x0, x1
-    msr CPACR_EL1,x0
-
-    isb
-
-    // Return to EL1
-    eret
-
-.section .text.config
-.align 4
-.global configure_mmu_el1
-configure_mmu_el1:
-    // Configure MMU
-    adrp x0, TCR_EL1_CONF
-    ldr  x1, [x0, :lo12:TCR_EL1_CONF]
-    msr TCR_EL1, x1
-    isb
-
-    // MAIR0: Normal Mem.
-    // MAIR1: Device Mem.
-    mov x0, #0x04FF
-    msr MAIR_EL1, x0
-    isb
-
-    // Configure translation table
-    adrp x0, TRANSLATIONTABLE_TTBR0
-    add  x1, x0, :lo12:TRANSLATIONTABLE_TTBR0
-    msr TTBR0_EL1, x1
-
-    adrp x0, TRANSLATIONTABLE_TTBR1
-    add  x1, x0, :lo12:TRANSLATIONTABLE_TTBR1
-    msr TTBR1_EL1, x1
-
-    tlbi vmalle1
-    dsb ish
-    isb
-
-    ret
-

src/configuration.rs

@@ -1,34 +1,16 @@
-const SCTLR_EL1_MMU_ENABLED: u64 = 1; //M
+static SCTLR_EL1_MMU_DISABLED: u64 = 0; //M
-const SCTLR_EL1_DATA_CACHE_DISABLED: u64 = 0 << 2; //C
+static SCTLR_EL1_DATA_CACHE_DISABLED: u64 = 0 << 2; //C
-const SCTLR_EL1_INSTRUCTION_CACHE_DISABLED: u64 = 0 << 12; //I
+static SCTLR_EL1_INSTRUCTION_CACHE_DISABLED: u64 = 0 << 12; //I
-const SCTLR_EL1_LITTLE_ENDIAN_EL0: u64 = 0 << 24; //E0E
+static SCTLR_EL1_LITTLE_ENDIAN_EL0: u64 = 0 << 24; //E0E
-const SCTLR_EL1_LITTLE_ENDIAN_EL1: u64 = 0 << 25; //EE
+static SCTLR_EL1_LITTLE_ENDIAN_EL1: u64 = 0 << 25; //EE
-const SCTLR_EL1_SPAN: u64 = 1 << 23; //SPAN
 
 #[allow(clippy::identity_op)]
-const SCTLR_EL1_RES: u64 = (0 << 6) | (1 << 11) | (0 << 17) | (1 << 20) | (1 << 22); //Res0 & Res1
+static SCTLR_EL1_RES: u64 = (0 << 6) | (1 << 11) | (0 << 17) | (1 << 20) | (1 << 22); //Res0 & Res1
 
 #[no_mangle]
-pub static SCTLR_EL1_CONF: u64 = SCTLR_EL1_MMU_ENABLED
+pub static SCTLR_EL1_CONF: u64 = SCTLR_EL1_MMU_DISABLED
     | SCTLR_EL1_DATA_CACHE_DISABLED
     | SCTLR_EL1_INSTRUCTION_CACHE_DISABLED
     | SCTLR_EL1_LITTLE_ENDIAN_EL0
     | SCTLR_EL1_LITTLE_ENDIAN_EL1
-    | SCTLR_EL1_RES
+    | SCTLR_EL1_RES;
-    | SCTLR_EL1_SPAN;
-
-const TG0: u64 = 0b00 << 14; // 4KB granularity EL0
-const T0SZ: u64 = 25; // 25 Bits of TTBR select -> 39 Bits of VA
-const SH0: u64 = 0b11 << 12; // Inner shareable
-
-const TG1: u64 = 0b10 << 30; // 4KB granularity EL1
-const T1SZ: u64 = 25 << 16; // 25 Bits of TTBR select -> 39 Bits of VA
-const SH1: u64 = 0b11 << 28; // Inner sharable
-
-const IPS: u64 = 0b000 << 32; // 32 bits of PA space -> up to 4GiB
-const AS: u64 = 0b1 << 36; // configure an ASID size of 16 bits
-
-#[no_mangle]
-pub static TCR_EL1_CONF: u64 = IPS | TG0 | TG1 | T0SZ | T1SZ | SH0 | SH1 | AS;
-
-pub mod memory_mapping;

src/configuration/memory_mapping.rs

@@ -1,127 +0,0 @@
-use crate::{
-    aarch64::mmu::{
-        alloc_block_l2_explicit, allocate_memory, map_page, physical_mapping::reserve_page,
-        reserve_range, PhysAddr, PhysSource, VirtAddr, DEVICE_MEM, EL0_ACCESSIBLE, GRANULARITY,
-        KERNEL_VIRTUAL_MEM_SPACE, LEVEL1_BLOCK_SIZE, LEVEL2_BLOCK_SIZE, NORMAL_MEM, PXN, READ_ONLY,
-        STACK_START_ADDR, TRANSLATIONTABLE_TTBR0, TRANSLATIONTABLE_TTBR1, UXN, WRITABLE,
-    },
-    PERIPHERAL_BASE,
-};
-
-#[no_mangle]
-static EL1_STACK_TOP: usize = STACK_START_ADDR | KERNEL_VIRTUAL_MEM_SPACE;
-const EL1_STACK_SIZE: usize = LEVEL2_BLOCK_SIZE * 2;
-#[no_mangle]
-pub static EL0_STACK_TOP: usize = STACK_START_ADDR;
-pub const EL0_STACK_SIZE: usize = LEVEL2_BLOCK_SIZE * 2;
-
-pub const MAILBOX_VIRTUAL_ADDRESS: VirtAddr = 0xFFFF_FF81_FFFF_E000;
-pub static mut MAILBOX_PHYSICAL_ADDRESS: Option<PhysAddr> = None;
-
-// TODO: Currently limited to 512 applications, more than enough, but has to be kept
-// in mind
-pub const APPLICATION_TRANSLATION_TABLE_VA: VirtAddr = 0xFFFF_FF81_FE00_0000;
-
-extern "C" {
-    static __text_end: u64;
-    static __share_end: u64;
-    static __kernel_end: u64;
-}
-
-pub fn initialize_mmu_translation_tables() {
-    let text_end = unsafe { &__text_end } as *const _ as usize;
-    let shared_segment_end = unsafe { &__share_end } as *const _ as usize;
-    let kernel_end = unsafe { &__kernel_end } as *const _ as usize;
-
-    reserve_range(0x0, kernel_end).unwrap();
-
-    for addr in (0..text_end).step_by(GRANULARITY) {
-        map_page(
-            addr,
-            addr,
-            core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR0),
-            EL0_ACCESSIBLE | READ_ONLY | NORMAL_MEM,
-        )
-        .unwrap();
-    }
-
-    for addr in (0..text_end).step_by(GRANULARITY) {
-        map_page(
-            addr | KERNEL_VIRTUAL_MEM_SPACE,
-            addr,
-            core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR1),
-            READ_ONLY | NORMAL_MEM,
-        )
-        .unwrap();
-    }
-
-    for addr in (text_end..shared_segment_end).step_by(GRANULARITY) {
-        map_page(
-            addr,
-            addr,
-            core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR0),
-            EL0_ACCESSIBLE | WRITABLE | NORMAL_MEM,
-        )
-        .unwrap();
-    }
-
-    for addr in (text_end..shared_segment_end).step_by(GRANULARITY) {
-        map_page(
-            addr | KERNEL_VIRTUAL_MEM_SPACE,
-            addr,
-            core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR1),
-            EL0_ACCESSIBLE | WRITABLE | NORMAL_MEM,
-        )
-        .unwrap();
-    }
-
-    for addr in (PERIPHERAL_BASE..LEVEL1_BLOCK_SIZE).step_by(LEVEL2_BLOCK_SIZE) {
-        alloc_block_l2_explicit(
-            addr,
-            addr,
-            core::ptr::addr_of_mut!(TRANSLATIONTABLE_TTBR0),
-            EL0_ACCESSIBLE | WRITABLE | UXN | PXN | DEVICE_MEM,
-        )
-        .unwrap();
-    }
-
-    // Frame Buffer memory range
-    allocate_memory(
-        0x3c100000,
-        1080 * 1920 * 4,
-        PhysSource::Explicit(0x3c100000),
-        NORMAL_MEM | PXN | UXN | WRITABLE | EL0_ACCESSIBLE,
-    )
-    .unwrap();
-
-    // Allocate EL1 stack
-    allocate_memory(
-        EL1_STACK_TOP - EL1_STACK_SIZE + 0x10,
-        EL1_STACK_SIZE,
-        PhysSource::Any,
-        WRITABLE | NORMAL_MEM,
-    )
-    .unwrap();
-
-    // Allocate EL0 stack
-    allocate_memory(
-        EL0_STACK_TOP - EL0_STACK_SIZE + 0x10,
-        EL0_STACK_SIZE,
-        PhysSource::Any,
-        WRITABLE | EL0_ACCESSIBLE | NORMAL_MEM,
-    )
-    .unwrap();
-
-    // Allocate Mailbox buffer
-    {
-        let addr = reserve_page();
-        unsafe { MAILBOX_PHYSICAL_ADDRESS = Some(addr) };
-        allocate_memory(
-            MAILBOX_VIRTUAL_ADDRESS,
-            GRANULARITY,
-            PhysSource::Explicit(addr),
-            WRITABLE | NORMAL_MEM,
-        )
-        .unwrap();
-    }
-}

src/console.rs

@@ -1,92 +0,0 @@
-use alloc::string::String;
-
-use crate::{
-    application_manager::start_app,
-    interrupt_handlers::irq::{register_interrupt_handler, IRQSource},
-    peripherals::uart::read_uart_data,
-    pi3::mailbox::read_soc_temp,
-    print, println,
-};
-
-pub static mut TERMINAL: Option<Terminal> = None;
-
-pub struct Terminal {
-    input: String,
-}
-
-impl Default for Terminal {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-impl Terminal {
-    pub fn new() -> Self {
-        Self {
-            input: String::new(),
-        }
-    }
-
-    fn flush(&mut self) {
-        print!("\n> {}", self.input);
-    }
-
-    fn exec(&mut self) {
-        print!("\n");
-        let val = self.input.clone();
-        self.input.clear();
-
-        let mut parts = val.split(" ");
-
-        match parts.next().unwrap() {
-            "temp" => {
-                println!("{}", read_soc_temp([0]).unwrap()[1]);
-            }
-            "app" => {
-                if let Some(app_id) = parts.next().and_then(|a| a.parse::<usize>().ok()) {
-                    let args = parts.collect();
-                    let _ = start_app(app_id, args);
-                } else {
-                    println!("App ID not set.");
-                }
-            }
-            _ => {
-                println!("Unknown command: \"{}\"", self.input);
-            }
-        }
-        self.input.clear();
-    }
-}
-
-pub fn init_terminal() {
-    unsafe { TERMINAL = Some(Terminal::new()) };
-    register_terminal_interrupt_handler();
-}
-
-fn terminal_uart_rx_interrupt_handler() {
-    let input = read_uart_data();
-    #[allow(static_mut_refs)]
-    if let Some(term) = unsafe { TERMINAL.as_mut() } {
-        match input {
-            '\r' => {
-                term.exec();
-                term.flush();
-            }
-            _ => {
-                term.input.push(input);
-                print!("{}", input);
-            }
-        }
-    }
-}
-
-pub fn flush_terminal() {
-    #[allow(static_mut_refs)]
-    if let Some(term) = unsafe { TERMINAL.as_mut() } {
-        term.flush();
-    }
-}
-
-fn register_terminal_interrupt_handler() {
-    register_interrupt_handler(IRQSource::UartInt, terminal_uart_rx_interrupt_handler);
-}

src/framebuffer.rs

@@ -4,8 +4,7 @@ mod bitmaps;
 
 use bitmaps::BASIC_LEGACY;
 
-use crate::pi3::mailbox::{read_mailbox, write_mailbox};
+use crate::mailbox::{read_mailbox, write_mailbox};
-use log::error;
 #[repr(align(16))]
 struct Mailbox([u32; 36]);
 
@@ -22,8 +21,8 @@ pub struct FrameBuffer {
     pixel_depth: u32, // Bits per pixel
     pitch: u32,       // Pixel per row
     rows: u32,        // Rows
-    pub start_addr: *mut u32,
+    start_addr: *mut u32,
-    pub size: u32, //Bytes
+    size: u32, //Bytes
 }
 
 pub const RED: u32 = 0x00FF0000;
@@ -35,9 +34,6 @@ pub const YELLOW: u32 = 0x00FFFF00;
 impl FrameBuffer {
     pub fn draw_pixel(&self, x: u32, y: u32, color: u32) {
         let offset = x + y * self.pitch;
-        if x >= self.pitch || y >= self.rows {
-            return;
-        }
         unsafe {
             write_volatile(self.start_addr.add(offset as usize), color);
         }
@@ -235,7 +231,7 @@ impl Default for FrameBuffer {
 
         let _ = read_mailbox(8);
         if mailbox.0[1] == 0 {
-            error!("Mailbox request was not processed!");
+            println!("Failed");
         }
 
         mailbox.0[28] &= 0x3FFFFFFF;

src/interrupt_handlers.rs

@@ -1,83 +0,0 @@
-use core::arch::asm;
-
-use crate::{
-    aarch64::registers::{daif::mask_all, read_esr_el1, read_exception_source_el},
-    get_current_el,
-};
-use log::debug;
-
-const INTERRUPT_BASE: u32 = 0x3F00_B000;
-const IRQ_PENDING_BASE: u32 = INTERRUPT_BASE + 0x204;
-const ENABLE_IRQ_BASE: u32 = INTERRUPT_BASE + 0x210;
-const DISABLE_IRQ_BASE: u32 = INTERRUPT_BASE + 0x21C;
-
-const GPIO_PENDING_BIT_OFFSET: u64 = 0b1111 << 49;
-
-#[repr(C)]
-pub struct TrapFrame {
-    pub x0: u64,
-    pub x1: u64,
-    pub x2: u64,
-    pub x3: u64,
-    pub x4: u64,
-    pub x5: u64,
-    pub x6: u64,
-    pub x7: u64,
-    pub x8: u64,
-    pub x9: u64,
-    pub x10: u64,
-    pub x11: u64,
-    pub x12: u64,
-    pub x13: u64,
-    pub x14: u64,
-    pub x15: u64,
-    pub x16: u64,
-    pub x17: u64,
-    pub x18: u64,
-    pub x29: u64,
-    pub x30: u64,
-}
-
-/// Representation of the ESR_ELx registers
-///
-///  Reference: D1.10.4
-#[derive(Debug, Clone, Copy)]
-#[allow(dead_code)]
-struct EsrElX {
-    ec: u32,
-    il: u32,
-    iss: u32,
-}
-
-impl From<u32> for EsrElX {
-    fn from(value: u32) -> Self {
-        Self {
-            ec: value >> 26,
-            il: (value >> 25) & 0b1,
-            iss: value & 0x1FFFFFF,
-        }
-    }
-}
-
-pub mod irq;
-pub mod synchronous;
-
-#[no_mangle]
-unsafe extern "C" fn rust_synchronous_interrupt_no_el_change() {
-    mask_all();
-
-    let source_el = read_exception_source_el() >> 2;
-    debug!("--------Sync Exception in EL{}--------", source_el);
-    debug!("No EL change");
-    debug!("Current EL: {}", get_current_el());
-    debug!("{:?}", EsrElX::from(read_esr_el1()));
-    debug!("Return register address: {:#x}", read_esr_el1());
-    debug!("-------------------------------------");
-}
-
-fn set_return_to_kernel_loop() {
-    unsafe {
-        asm!("ldr x0, =kernel_loop", "msr ELR_EL1, x0");
-        asm!("mov x0, #(0b0101)", "msr SPSR_EL1, x0");
-    }
-}

src/interrupt_handlers/irq.rs

@@ -1,152 +0,0 @@
-use crate::aarch64::registers::read_esr_el1;
-use crate::{
-    aarch64::registers::{
-        daif::{mask_all, unmask_irq},
-        read_exception_source_el,
-    },
-    get_current_el,
-    interrupt_handlers::{
-        DISABLE_IRQ_BASE, ENABLE_IRQ_BASE, GPIO_PENDING_BIT_OFFSET, IRQ_PENDING_BASE,
-    },
-    peripherals::{
-        gpio::{read_gpio_event_detect_status, reset_gpio_event_detect_status},
-        uart::clear_uart_interrupt_state,
-    },
-    read_address, write_address,
-};
-use alloc::vec::Vec;
-use log::{debug, info};
-
-struct InterruptHandlers {
-    source: IRQSource,
-    function: fn(),
-}
-
-// TODO: replace with hashmap and check for better alternatives for option
-static mut INTERRUPT_HANDLERS: Option<Vec<InterruptHandlers>> = None;
-
-#[derive(Clone)]
-#[repr(u32)]
-pub enum IRQSource {
-    AuxInt = 29,
-    I2cSpiSlvInt = 44,
-    Pwa0 = 45,
-    Pwa1 = 46,
-    Smi = 48,
-    GpioInt0 = 49,
-    GpioInt1 = 50,
-    GpioInt2 = 51,
-    GpioInt3 = 52,
-    I2cInt = 53,
-    SpiInt = 54,
-    PcmInt = 55,
-    UartInt = 57,
-}
-
-#[inline(always)]
-pub fn initialize_interrupt_handler() {
-    unsafe { INTERRUPT_HANDLERS = Some(Vec::new()) };
-}
-
-pub fn register_interrupt_handler(source: IRQSource, function: fn()) {
-    if let Some(handler_vec) = unsafe { &mut *core::ptr::addr_of_mut!(INTERRUPT_HANDLERS) } {
-        handler_vec.push(InterruptHandlers { source, function });
-    }
-}
-
-#[no_mangle]
-unsafe extern "C" fn rust_irq_handler() {
-    mask_all();
-    let pending_irqs = get_irq_pending_sources();
-
-    if pending_irqs & GPIO_PENDING_BIT_OFFSET != 0 {
-        handle_gpio_interrupt();
-        let source_el = read_exception_source_el() >> 2;
-        debug!("Source EL: {}", source_el);
-        debug!("Current EL: {}", get_current_el());
-        debug!("Return register address: {:#x}", read_esr_el1());
-    }
-
-    if let Some(handler_vec) = unsafe { &*core::ptr::addr_of_mut!(INTERRUPT_HANDLERS) } {
-        for handler in handler_vec {
-            if (pending_irqs & (1 << (handler.source.clone() as u32))) != 0 {
-                (handler.function)();
-                clear_interrupt_for_source(handler.source.clone());
-            }
-        }
-    }
-}
-
-fn handle_gpio_interrupt() {
-    debug!("GPIO interrupt triggered");
-    for i in 0..=53u32 {
-        let val = read_gpio_event_detect_status(i);
-
-        if val {
-            #[allow(clippy::single_match)]
-            match i {
-                26 => {
-                    info!("Button Pressed");
-                }
-                _ => {}
-            }
-            // Reset GPIO Interrupt handler by writing a 1
-            reset_gpio_event_detect_status(i);
-        }
-    }
-    unmask_irq();
-}
-
-/// Enables IRQ Source
-pub fn enable_irq_source(state: IRQSource) {
-    let nr = state as u32;
-    let register = ENABLE_IRQ_BASE + 4 * (nr / 32);
-    let register_offset = nr % 32;
-    let current = unsafe { read_address(register) };
-    let mask = 0b1 << register_offset;
-    let new_val = current | mask;
-    unsafe { write_address(register, new_val) };
-}
-
-/// Disable IRQ Source
-pub fn disable_irq_source(state: IRQSource) {
-    let nr = state as u32;
-    let register = DISABLE_IRQ_BASE + 4 * (nr / 32);
-    let register_offset = nr % 32;
-    let current = unsafe { read_address(register) };
-    let mask = 0b1 << register_offset;
-    let new_val = current | mask;
-    unsafe { write_address(register, new_val) };
-}
-
-/// Read current IRQ Source status
-pub fn read_irq_source_status(state: IRQSource) -> u32 {
-    let nr = state as u32;
-    let register = ENABLE_IRQ_BASE + 4 * (nr / 32);
-    let register_offset = nr % 32;
-    (unsafe { read_address(register) } >> register_offset) & 0b1
-}
-
-/// Status if a IRQ Source is pending
-pub fn is_irq_source_pending(state: IRQSource) -> bool {
-    let nr = state as u32;
-    let register = IRQ_PENDING_BASE + 4 * (nr / 32);
-    let register_offset = nr % 32;
-    ((unsafe { read_address(register) } >> register_offset) & 0b1) != 0
-}
-
-/// Status if a IRQ Source is pending
-pub fn get_irq_pending_sources() -> u64 {
-    let mut pending = unsafe { read_address(IRQ_PENDING_BASE + 4) as u64 } << 32;
-    pending |= unsafe { read_address(IRQ_PENDING_BASE) as u64 };
-    pending
-}
-
-fn clear_interrupt_for_source(source: IRQSource) {
-    match source {
-        IRQSource::UartInt => clear_uart_interrupt_state(),
-        _ => {
-            todo!()
-        }
-    }
-}

src/interrupt_handlers/synchronous.rs

@@ -1,116 +0,0 @@
-use crate::{
-    aarch64::registers::{daif::mask_all, read_elr_el1, read_esr_el1, read_exception_source_el},
-    get_current_el,
-    interrupt_handlers::{set_return_to_kernel_loop, EsrElX, TrapFrame},
-    pi3::mailbox,
-};
-
-use log::{debug, error, warn};
-
-/// Synchronous Exception Handler
-///
-/// Source is a lower Exception level, where the implemented level
-/// immediately lower than the target level is using
-/// AArch64.
-#[no_mangle]
-unsafe extern "C" fn rust_synchronous_interrupt_imm_lower_aarch64(frame: &mut TrapFrame) -> usize {
-    mask_all();
-    let esr: EsrElX = EsrElX::from(read_esr_el1());
-    debug!("Synchronous interrupt from lower EL triggered");
-    log_sync_exception();
-    match esr.ec {
-        0b100100 => {
-            error!("Data Abort from a lower Exception level");
-            error!("Cause: {}", decode_data_abort(esr.iss as usize));
-        }
-        0b010101 => {
-            debug!("SVC instruction execution in AArch64");
-            return handle_svc(frame);
-        }
-        0b100010 => {
-            error!("PC alignment fault.");
-        }
-        _ => {
-            error!("Synchronous interrupt: Unknown Error Code: {:b}", esr.ec);
-        }
-    }
-
-    warn!("UnhandledException -> Returning to kernel...");
-    set_return_to_kernel_loop();
-    0
-}
-
-fn decode_data_abort(iss: usize) -> &'static str {
-    match iss & 0b111111 {
-        0b000000 => "Address size fault, level 0",
-        0b000001 => "Address size fault, level 1",
-        0b000010 => "Address size fault, level 2",
-        0b000011 => "Address size fault, level 3",
-
-        0b000100 => "Translation fault, level 0",
-        0b000101 => "Translation fault, level 1",
-        0b000110 => "Translation fault, level 2",
-        0b000111 => "Translation fault, level 3",
-
-        0b001001 => "Access flag fault, level 1",
-        0b001010 => "Access flag fault, level 2",
-        0b001011 => "Access flag fault, level 3",
-
-        0b001101 => "Permission fault, level 1",
-        0b001110 => "Permission fault, level 2",
-        0b001111 => "Permission fault, level 3",
-
-        0b010000 => "Synchronous External abort, not on translation table walk",
-        0b011000 => {
-            "Synchronous parity or ECC error on memory access, not on translation table walk"
-        }
-
-        0b010100 => "Synchronous External abort, on translation table walk, level 0",
-        0b010101 => "Synchronous External abort, on translation table walk, level 1",
-        0b010110 => "Synchronous External abort, on translation table walk, level 2",
-        0b010111 => "Synchronous External abort, on translation table walk, level 3",
-
-        0b011100 => "Synchronous parity or ECC error on translation table walk, level 0",
-        0b011101 => "Synchronous parity or ECC error on translation table walk, level 1",
-        0b011110 => "Synchronous parity or ECC error on translation table walk, level 2",
-        0b011111 => "Synchronous parity or ECC error on translation table walk, level 3",
-
-        0b100001 => "Alignment fault",
-        0b110000 => "TLB conflict abort",
-        0b110001 => "Unsupported atomic hardware update fault",
-
-        0b110100 => "IMPLEMENTATION DEFINED fault (Lockdown)",
-        0b110101 => "IMPLEMENTATION DEFINED fault (Unsupported Exclusive or Atomic access)",
-
-        0b111101 => "Section Domain Fault",
-        0b111110 => "Page Domain Fault",
-
-        _ => "Reserved / Unknown",
-    }
-}
-
-fn handle_svc(frame: &mut TrapFrame) -> usize {
-    match frame.x8 {
-        0 => {
-            debug!("Program exited!");
-            set_return_to_kernel_loop();
-            0
-        }
-        67 => {
-            let response = mailbox::read_soc_temp([0]).unwrap();
-            response[1] as usize
-        }
-        _ => 0,
-    }
-}
-
-fn log_sync_exception() {
-    let source_el = read_exception_source_el() >> 2;
-    debug!("--------Sync Exception in EL{}--------", source_el);
-    debug!("Exception escalated to EL {}", get_current_el());
-    debug!("Current EL: {}", get_current_el());
-    let esr: EsrElX = EsrElX::from(read_esr_el1());
-    debug!("{:?}", esr);
-    debug!("Return address: {:#x}", read_elr_el1());
-    debug!("-------------------------------------");
-}

src/irq_interrupt.rs

@@ -0,0 +1,162 @@
+use core::{
+    arch::asm,
+    sync::atomic::{compiler_fence, Ordering},
+};
+
+use crate::{
+    mmio_read, mmio_write,
+    peripherals::gpio::{blink_gpio, SpecificGpio},
+    timer::sleep_s,
+};
+
+const INTERRUPT_BASE: u32 = 0x3F00_B000;
+const IRQ_PENDING_BASE: u32 = INTERRUPT_BASE + 0x204;
+const ENABLE_IRQ_BASE: u32 = INTERRUPT_BASE + 0x210;
+const DISABLE_IRQ_BASE: u32 = INTERRUPT_BASE + 0x21C;
+
+// GPIO
+const GPEDS_BASE: u32 = 0x3F20_0040;
+
+#[repr(u32)]
+pub enum IRQState {
+    AuxInt = 29,
+    I2cSpiSlvInt = 44,
+    Pwa0 = 45,
+    Pwa1 = 46,
+    Smi = 48,
+    GpioInt0 = 49,
+    GpioInt1 = 50,
+    GpioInt2 = 51,
+    GpioInt3 = 52,
+    I2cInt = 53,
+    SpiInt = 54,
+    PcmInt = 55,
+    UartInt = 57,
+}
+
+#[no_mangle]
+unsafe extern "C" fn irq_handler() {
+    handle_gpio_interrupt();
+}
+
+#[no_mangle]
+unsafe extern "C" fn synchronous_interrupt() {
+    loop {
+        println!("Sync Exception");
+        blink_gpio(SpecificGpio::OnboardLed as u8, 100);
+        esr_uart_dump();
+        sleep_s(200);
+    }
+}
+
+fn esr_uart_dump() {
+    let esr: u32;
+    unsafe {
+        asm!(
+            "mrs {esr:x}, ESR_EL1",
+            esr = out(reg) esr
+        );
+    }
+    for i in (0..32).rev() {
+        if ((esr >> i) & 1) == 0 {
+            print!("0");
+        } else {
+            print!("1");
+        }
+        if i % 4 == 0 && i > 0 {
+            print!("_");
+        }
+
+        if i == 26 || i == 25 || i == 0 {
+            print!("\n\r");
+        }
+    }
+}
+
+fn handle_gpio_interrupt() {
+    println!("Interrupt");
+    for i in 0..=53u32 {
+        let val = read_gpio_event_detect_status(i);
+
+        if val {
+            #[allow(clippy::single_match)]
+            match i {
+                26 => print!("Button Pressed"),
+                _ => {}
+            }
+            // Reset GPIO Interrupt handler by writing a 1
+            reset_gpio_event_detect_status(i);
+        }
+    }
+    enable_irq();
+}
+
+/// Get current interrupt status of a GPIO pin
+pub fn read_gpio_event_detect_status(id: u32) -> bool {
+    let register = GPEDS_BASE + (id / 32) * 4;
+    let register_offset = id % 32;
+
+    let val = mmio_read(register) >> register_offset;
+    (val & 0b1) != 0
+}
+
+/// Resets current interrupt status of a GPIO pin
+pub fn reset_gpio_event_detect_status(id: u32) {
+    let register = GPEDS_BASE + (id / 32) * 4;
+    let register_offset = id % 32;
+
+    mmio_write(register, 0b1 << register_offset);
+    compiler_fence(Ordering::SeqCst);
+}
+
+/// Enables IRQ Source
+pub fn enable_irq_source(state: IRQState) {
+    let nr = state as u32;
+    let register = ENABLE_IRQ_BASE + 4 * (nr / 32);
+    let register_offset = nr % 32;
+    let current = mmio_read(register);
+    let mask = 0b1 << register_offset;
+    let new_val = current | mask;
+    mmio_write(register, new_val);
+}
+
+/// Disable IRQ Source
+pub fn disable_irq_source(state: IRQState) {
+    let nr = state as u32;
+    let register = DISABLE_IRQ_BASE + 4 * (nr / 32);
+    let register_offset = nr % 32;
+    let current = mmio_read(register);
+    let mask = 0b1 << register_offset;
+    let new_val = current | mask;
+    mmio_write(register, new_val);
+}
+
+/// Read current IRQ Source status
+pub fn read_irq_source_status(state: IRQState) -> u32 {
+    let nr = state as u32;
+    let register = ENABLE_IRQ_BASE + 4 * (nr / 32);
+    let register_offset = nr % 32;
+    (mmio_read(register) >> register_offset) & 0b1
+}
+
+/// Status if a IRQ Source is enabled
+pub fn read_irq_pending(state: IRQState) -> bool {
+    let nr = state as u32;
+    let register = IRQ_PENDING_BASE + 4 * (nr / 32);
+    let register_offset = nr % 32;
+    ((mmio_read(register) >> register_offset) & 0b1) != 0
+}
+
+/// Clears the IRQ DAIF Mask
+///
+/// Enables IRQ interrupts
+pub fn enable_irq() {
+    unsafe { asm!("msr DAIFClr, #0x2") }
+}
+
+/// Clears the IRQ DAIF Mask
+///
+/// Disable IRQ interrupts
+pub fn disable_irq() {
+    unsafe { asm!("msr DAIFSet, #0x2") }
+}

src/lib.rs

@@ -1,117 +1,64 @@
 #![no_std]
 #![allow(clippy::missing_safety_doc)]
-
-extern crate alloc;
-
 use core::{
-    arch::asm,
     panic::PanicInfo,
     ptr::{read_volatile, write_volatile},
 };
-use log::LevelFilter;
-use log::{Level, Metadata, Record};
 
 use heap::Heap;
 
-use crate::{
-    aarch64::mmu::{
-        allocate_memory, PhysSource, KERNEL_VIRTUAL_MEM_SPACE, LEVEL2_BLOCK_SIZE, NORMAL_MEM, UXN,
-        WRITABLE,
-    },
-    application_manager::initialize_app_manager,
-    console::{flush_terminal, init_terminal},
-    interrupt_handlers::irq::initialize_interrupt_handler,
-    pi3::timer::sleep_s,
-};
-
-static LOGGER: UartLogger = UartLogger;
-static PERIPHERAL_BASE: usize = 0x3F00_0000;
-
 unsafe extern "C" {
-    unsafe static mut __kernel_end: u8;
+    unsafe static mut __heap_start: u8;
+    unsafe static mut __heap_end: u8;
 }
 
 #[global_allocator]
 pub static mut GLOBAL_ALLOCATOR: Heap = Heap::empty();
 
-pub unsafe fn initialize_kernel_heap() {
+pub unsafe fn init_heap() {
-    let start = core::ptr::addr_of_mut!(__kernel_end) as usize | KERNEL_VIRTUAL_MEM_SPACE;
+    let start = core::ptr::addr_of_mut!(__heap_start) as usize;
-    let size = LEVEL2_BLOCK_SIZE * 2;
+    let end = core::ptr::addr_of_mut!(__heap_end) as usize;
 
-    allocate_memory(start, size, PhysSource::Any, NORMAL_MEM | UXN | WRITABLE).unwrap();
     let heap = core::ptr::addr_of_mut!(GLOBAL_ALLOCATOR);
-    (*heap).init(start, start + size);
+    (*heap).init(start, end);
 }
 
 #[panic_handler]
 fn panic(_panic: &PanicInfo) -> ! {
     loop {
-        println!("Panic: {}", _panic.message());
+        println!("Panic");
-        sleep_s(1);
     }
 }
 
+#[macro_export]
+macro_rules! print {
+    () => {};
+    ($($arg:tt)*) => {
+        $crate::peripherals::uart::_print(format_args!($($arg)*))
+    };
+}
+
+#[macro_export]
+macro_rules! println {
+    () => {};
+    ($($arg:tt)*) => {
+        print!($($arg)*);
+        print!("\r\n");
+    };
+}
+
 pub mod peripherals;
 
-pub mod aarch64;
 pub mod configuration;
 pub mod framebuffer;
-pub mod interrupt_handlers;
+pub mod irq_interrupt;
+pub mod mailbox;
+pub mod timer;
 
-pub mod application_manager;
+pub fn mmio_read(address: u32) -> u32 {
-pub mod console;
-pub mod pi3;
-
-#[inline(always)]
-pub unsafe fn read_address(address: u32) -> u32 {
     unsafe { read_volatile(address as *const u32) }
 }
 
-#[inline(always)]
+pub fn mmio_write(address: u32, data: u32) {
-pub unsafe fn write_address(address: u32, data: u32) {
     unsafe { write_volatile(address as *mut u32, data) }
 }
-
-pub fn get_current_el() -> u64 {
-    let el: u64;
-    unsafe {
-        asm!(
-            "mrs {el}, CurrentEL",
-            el = out(reg) el,
-            options(nomem, nostack, preserves_flags)
-        );
-    }
-    el >> 2
-}
-
-pub fn initialize_kernel() {
-    unsafe { initialize_kernel_heap() };
-    initialize_interrupt_handler();
-    initialize_app_manager();
-    init_terminal();
-}
-
-struct UartLogger;
-
-impl log::Log for UartLogger {
-    fn enabled(&self, metadata: &Metadata) -> bool {
-        metadata.level() <= Level::Debug
-    }
-
-    fn log(&self, record: &Record) {
-        if self.enabled(record.metadata()) {
-            println!("{} - {}", record.level(), record.args());
-            if record.level() <= Level::Info {
-                flush_terminal();
-            }
-        }
-    }
-
-    fn flush(&self) {}
-}
-
-pub fn init_logger() {
-    log::set_logger(&LOGGER)
-        .map(|()| log::set_max_level(LevelFilter::Debug))
-        .unwrap();
-}

src/mailbox.rs

@@ -1,9 +1,4 @@
-use core::slice;
+use crate::{mmio_read, mmio_write};
-
-use crate::{
-    aarch64::mmu::GRANULARITY, configuration::memory_mapping::MAILBOX_PHYSICAL_ADDRESS,
-    configuration::memory_mapping::MAILBOX_VIRTUAL_ADDRESS, read_address, write_address,
-};
 use nova_error::NovaError;
 
 const MBOX_BASE: u32 = 0x3F00_0000 + 0xB880;
@@ -32,13 +27,12 @@ macro_rules! max {
 #[macro_export]
 macro_rules! mailbox_command {
     ($name:ident, $tag:expr, $request_len:expr,$response_len:expr) => {
-        /// More information at: <https://github.com/raspberrypi/firmware/wiki/Mailbox-property-interface>
+        /// More information at: https://github.com/raspberrypi/firmware/wiki/Mailbox-property-interface
         pub fn $name(
             request_data: [u32; $request_len / 4],
         ) -> Result<[u32; $response_len / 4], NovaError> {
-            let mailbox = unsafe {
+            let mut mailbox =
-                slice::from_raw_parts_mut(MAILBOX_VIRTUAL_ADDRESS as *mut u32, GRANULARITY / 4)
+                [0u32; (HEADER_LENGTH + max!($request_len, $response_len) + FOOTER_LENGTH) / 4];
-            };
             mailbox[0] = (HEADER_LENGTH + max!($request_len, $response_len) + FOOTER_LENGTH) as u32; // Total length in Bytes
             mailbox[1] = 0; // Request
             mailbox[2] = $tag; // Command Tag
@@ -48,9 +42,9 @@ macro_rules! mailbox_command {
             mailbox[5..(5 + ($request_len / 4))].copy_from_slice(&request_data);
             mailbox[(5 + ($request_len / 4))..].fill(0);
 
-            //let addr = core::ptr::addr_of!(mailbox[0]) as u32;
+            let addr = core::ptr::addr_of!(mailbox[0]) as u32;
 
-            write_mailbox(8, unsafe { MAILBOX_PHYSICAL_ADDRESS.unwrap() } as u32);
+            write_mailbox(8, addr);
 
             let _ = read_mailbox(8);
 
@@ -65,16 +59,16 @@ macro_rules! mailbox_command {
     };
 }
 
-mailbox_command!(read_soc_temp, 0x0003_0006, 4, 8);
+mailbox_command!(mb_read_soc_temp, 0x0003_0006, 4, 8);
 
 // Framebuffer
-mailbox_command!(get_display_resolution, 0x0004_0003, 0, 8);
+mailbox_command!(mb_get_display_resolution, 0x0004_0003, 0, 8);
 
 pub fn read_mailbox(channel: u32) -> u32 {
     // Wait until mailbox is not empty
     loop {
-        while unsafe { read_address(MBOX_STATUS) } & MAIL_EMPTY != 0 {}
+        while mmio_read(MBOX_STATUS) & MAIL_EMPTY != 0 {}
-        let mut data = unsafe { read_address(MBOX_READ) };
+        let mut data = mmio_read(MBOX_READ);
         let read_channel = data & 0xF;
 
         data >>= 4;
@@ -86,6 +80,6 @@ pub fn read_mailbox(channel: u32) -> u32 {
 }
 
 pub fn write_mailbox(channel: u32, data: u32) {
-    while unsafe { read_address(MBOX_STATUS) } & MAIL_FULL != 0 {}
+    while mmio_read(MBOX_STATUS) & MAIL_FULL != 0 {}
-    unsafe { write_address(MBOX_WRITE, (data & !0xF) | (channel & 0xF)) };
+    mmio_write(MBOX_WRITE, (data & !0xF) | (channel & 0xF));
 }

src/main.rs

@@ -1,23 +1,21 @@
 #![no_main]
 #![no_std]
+#![feature(asm_experimental_arch)]
 #![allow(static_mut_refs)]
 #![allow(clippy::missing_safety_doc)]
 use core::{
     arch::{asm, global_asm},
     ptr::write_volatile,
 };
-use log::{debug, info};
 
 extern crate alloc;
 
-use alloc::{slice, vec::Vec};
+use alloc::boxed::Box;
 use nova::{
-    aarch64::registers::{daif, read_id_aa64mmfr0_el1},
-    application_manager::{add_app, Application},
-    configuration::memory_mapping::initialize_mmu_translation_tables,
     framebuffer::{FrameBuffer, BLUE, GREEN, RED},
-    get_current_el, init_logger,
+    init_heap,
-    interrupt_handlers::irq::{enable_irq_source, IRQSource},
+    irq_interrupt::enable_irq_source,
+    mailbox::mb_read_soc_temp,
     peripherals::{
         gpio::{
             blink_gpio, gpio_pull_up, set_falling_edge_detect, set_gpio_function, GPIOFunction,
@@ -25,18 +23,14 @@ use nova::{
         },
         uart::uart_init,
     },
-    pi3::timer::sleep_s,
     print, println,
+    timer::{delay_nops, sleep_us},
 };
 
 global_asm!(include_str!("vector.S"));
-global_asm!(include_str!("config.S"));
-
-static mut FRAMEBUFFER: Option<FrameBuffer> = None;
 
 extern "C" {
     fn el2_to_el1();
-    fn configure_mmu_el1();
     static mut __bss_start: u32;
     static mut __bss_end: u32;
 }
@@ -62,23 +56,16 @@ pub extern "C" fn main() -> ! {
 
     // Set ACT Led to Outout
     let _ = set_gpio_function(21, GPIOFunction::Output);
-    init_logger();
 
-    info!("Hello World!");
+    // Delay so clock speed can stabilize
-    info!("Current exception level: {}", get_current_el());
+    delay_nops(50000);
-
+    println!("Hello World!");
-    info!("initializing MMU...");
-    initialize_mmu_translation_tables();
-    unsafe { configure_mmu_el1() };
-    info!("MMU configured!");
-
-    debug!("Register: AA64MMFR0_EL1: {:064b}", read_id_aa64mmfr0_el1());
-    info!("Moving El2->EL1");
-    unsafe { FRAMEBUFFER = Some(FrameBuffer::default()) };
 
     unsafe {
+        asm!("mrs x0, SCTLR_EL1");
         el2_to_el1();
     }
+
     #[allow(clippy::empty_loop)]
     loop {}
 }
@@ -92,119 +79,64 @@ unsafe fn zero_bss() {
 }
 
 #[no_mangle]
-pub extern "C" fn kernel_main() {
+pub extern "C" fn kernel_main() -> ! {
-    nova::initialize_kernel();
+    println!("EL: {}", get_current_el());
-    info!("Kernel Initialized...");
-    info!("Current exception Level: {}", get_current_el());
 
-    let mut test_vector = Vec::new();
+    unsafe {
-    for i in 0..20 {
+        init_heap();
-        test_vector.push(i);
+        heap_test();
-    }
+    };
-    debug!("heap allocation test: {:?}", test_vector);
-    enable_irq_source(IRQSource::UartInt);
 
-    let app = Application::new(el0 as *const () as usize);
+    sleep_us(500_000);
-    add_app(app).unwrap();
-
-    kernel_loop();
-}
-#[no_mangle]
-pub extern "C" fn kernel_loop() {
-    daif::unmask_all();
-    #[allow(clippy::empty_loop)]
-    loop {}
-}
-#[no_mangle]
-pub unsafe extern "C" fn el0(argc: usize, argv: *const *const u8) {
-    println!("Jumped into EL0");
-    println!("num: {}", argc);
-    println!("argv: {:?}", argv);
-
-    let raw_args = unsafe { slice::from_raw_parts(argv, argc) };
-    let first_arg = raw_args
-        .iter()
-        .map(|&arg_ptr| {
-            if arg_ptr.is_null() {
-                return "";
-            }
-
-            let c_str = unsafe { core::ffi::CStr::from_ptr(arg_ptr) };
-            let str_slice = c_str.to_str().unwrap();
-            str_slice
-        })
-        .next();
-
-    sleep_s(1);
 
     // Set GPIO 26 to Input
-    enable_irq_source(IRQSource::GpioInt0); //26 is on the first GPIO bank
+    enable_irq_source(nova::irq_interrupt::IRQState::GpioInt0); //26 is on the first GPIO bank
     let _ = set_gpio_function(26, GPIOFunction::Input);
     gpio_pull_up(26);
     set_falling_edge_detect(26, true);
 
-    if let Some(fb) = unsafe { FRAMEBUFFER.as_mut() } {
+    let fb = FrameBuffer::default();
-        for i in 0..1080 {
-            fb.draw_pixel(50, i, BLUE);
-        }
-        fb.draw_square(500, 500, 600, 700, RED);
-        fb.draw_square_fill(800, 800, 900, 900, GREEN);
-        fb.draw_square_fill(1000, 800, 1200, 700, BLUE);
-        fb.draw_square_fill(900, 100, 800, 150, RED | BLUE);
-        fb.draw_string("Hello World! :D\nTest next Line", 500, 5, 3, BLUE);
 
-        fb.draw_function(cos, 0, 101, RED);
+    fb.draw_square(500, 500, 600, 700, RED);
+    fb.draw_square_fill(800, 800, 900, 900, GREEN);
+    fb.draw_square_fill(1000, 800, 1200, 700, BLUE);
+    fb.draw_square_fill(900, 100, 800, 150, RED | BLUE);
+    fb.draw_string("Hello World! :D\nTest next Line", 500, 5, 3, BLUE);
+
+    fb.draw_function(cos, 100, 101, RED);
+
+    loop {
+        let temp = mb_read_soc_temp([0]).unwrap();
+        println!("{} °C", temp[1] / 1000);
+
+        blink_gpio(SpecificGpio::OnboardLed as u8, 500);
     }
+}
 
-    let _temp = syscall(67);
+unsafe fn heap_test() {
-
+    let b = Box::new([1, 2, 3, 4]);
-    if let Some(num) = first_arg.and_then(|val| val.parse::<usize>().ok()) {
+    println!("{:?}", b);
-        println!("Calculting prime to: {}", num);
-
-        for i in 3..num {
-            let mut is_prime = true;
-            for j in 3..i {
-                if i == j {
-                    continue;
-                }
-                if i % j == 0 {
-                    is_prime = false;
-                }
-            }
-            if is_prime {
-                print!("{} ", i);
-            }
-        }
-        println!("");
-    } else {
-        println!("Input NaN");
-    }
-
-    blink_gpio(SpecificGpio::OnboardLed as u8, 500);
-    syscall(0);
 }
 
 fn cos(x: u32) -> f64 {
     libm::cos(x as f64 * 0.1) * 20.0
 }
 
+fn get_current_el() -> u64 {
+    let el: u64;
+    unsafe {
+        asm!(
+            "mrs {el}, CurrentEL",
+            el = out(reg) el,
+            options(nomem, nostack, preserves_flags)
+        );
+    }
+    el >> 2
+}
+
 fn enable_uart() {
+    uart_init();
     // Set GPIO Pins to UART
     let _ = set_gpio_function(14, GPIOFunction::Alternative0);
     let _ = set_gpio_function(15, GPIOFunction::Alternative0);
-    uart_init();
-}
-
-pub fn syscall(nr: u64) -> u64 {
-    let ret: u64;
-
-    unsafe {
-        asm!(
-            "svc #0",
-            in("x8") nr,
-            lateout("x0") ret,
-        );
-    }
-
-    ret
 }

src/peripherals/gpio.rs

@@ -1,19 +1,17 @@
 use core::result::Result;
 use core::result::Result::Ok;
-use core::sync::atomic::{compiler_fence, Ordering};
 
-use crate::pi3::timer::{delay_nops, sleep_ms};
+use crate::timer::{delay_nops, sleep_ms};
-use crate::{read_address, write_address};
+use crate::{mmio_read, mmio_write};
 
 const GPFSEL_BASE: u32 = 0x3F20_0000;
 const GPSET_BASE: u32 = 0x3F20_001C;
 const GPCLR_BASE: u32 = 0x3F20_0028;
 const GPLEV_BASE: u32 = 0x3F20_0034;
-const GPEDS_BASE: u32 = 0x3F20_0040;
-const GPFEN_BASE: u32 = 0x3F20_0058;
 const GPPUD: u32 = 0x3F20_0094;
 const GPPUDCLK_BASE: u32 = 0x3F20_0098;
 const GPREN_BASE: u32 = 0x3F20_004C;
+const GPFEN_BASE: u32 = 0x3F20_0058;
 
 #[repr(u8)]
 pub enum SpecificGpio {
@@ -37,27 +35,26 @@ pub fn set_gpio_function(gpio: u8, state: GPIOFunction) -> Result<(), &'static s
     let register_index = gpio / 10;
     let register_offset = (gpio % 10) * 3;
     let register_addr = GPFSEL_BASE + (register_index as u32 * 4);
-    let current = unsafe { read_address(register_addr) };
+    let current = mmio_read(register_addr);
 
     let mask = !(0b111 << register_offset);
     let cleared = current & mask;
 
     let new_val = cleared | ((state as u32) << register_offset);
 
-    unsafe { write_address(register_addr, new_val) };
+    mmio_write(register_addr, new_val);
     Ok(())
 }
 
 /// Set the GPIO to high
 ///
-/// Should be used when GPIO function is set to `OUTPUT` via `set_gpio_function`,
+/// Should be used when GPIO function is set to `OUTPUT` via `set_gpio_function`
-/// otherwise setting is ignored
 pub fn gpio_high(gpio: u8) -> Result<(), &'static str> {
     let register_index = gpio / 32;
     let register_offset = gpio % 32;
     let register_addr = GPSET_BASE + (register_index as u32 * 4);
 
-    unsafe { write_address(register_addr, 1 << register_offset) };
+    mmio_write(register_addr, 1 << register_offset);
     Ok(())
 }
 
@@ -69,7 +66,7 @@ pub fn gpio_low(gpio: u8) -> Result<(), &'static str> {
     let register_offset = gpio % 32;
     let register_addr = GPCLR_BASE + (register_index as u32 * 4);
 
-    unsafe { write_address(register_addr, 1 << register_offset) };
+    mmio_write(register_addr, 1 << register_offset);
     Ok(())
 }
 
@@ -79,7 +76,7 @@ pub fn gpio_get_state(gpio: u8) -> u8 {
     let register_offset = gpio % 32;
     let register_addr = GPLEV_BASE + (register_index as u32 * 4);
 
-    let state = unsafe { read_address(register_addr) };
+    let state = mmio_read(register_addr);
     ((state >> register_offset) & 0b1) as u8
 }
 
@@ -103,40 +100,40 @@ fn gpio_pull_up_down(gpio: u8, val: u32) {
     let register_offset = gpio % 32;
 
     // 1. Write Pull up
-    unsafe { write_address(GPPUD, val) };
+    mmio_write(GPPUD, val);
 
     // 2. Delay 150 cycles
     delay_nops(150);
 
     // 3. Write to clock
     let new_val = 0b1 << register_offset;
-    unsafe { write_address(register_addr, new_val) };
+    mmio_write(register_addr, new_val);
 
     // 4. Delay 150 cycles
     delay_nops(150);
 
     // 5. reset GPPUD
-    unsafe { write_address(GPPUD, 0) };
+    mmio_write(GPPUD, 0);
 
     // 6. reset clock
-    unsafe { write_address(register_addr, 0) };
+    mmio_write(register_addr, 0);
 }
 
-/// Get the current status of the falling edge detection
+/// Get the current status if falling edge detection is set
 pub fn read_falling_edge_detect(gpio: u8) -> bool {
     let register_addr = GPFEN_BASE + 4 * (gpio as u32 / 32);
     let register_offset = gpio % 32;
 
-    let current = unsafe { read_address(register_addr) };
+    let current = mmio_read(register_addr);
     ((current >> register_offset) & 0b1) != 0
 }
 
-/// Get the current status of the rising edge detection
+/// Get the current status if falling edge detection is set
 pub fn read_rising_edge_detect(gpio: u8) -> bool {
     let register_addr = GPREN_BASE + 4 * (gpio as u32 / 32);
     let register_offset = gpio % 32;
 
-    let current = unsafe { read_address(register_addr) };
+    let current = mmio_read(register_addr);
     ((current >> register_offset) & 0b1) != 0
 }
 
@@ -145,7 +142,7 @@ pub fn set_falling_edge_detect(gpio: u8, enable: bool) {
     let register_addr = GPFEN_BASE + 4 * (gpio as u32 / 32);
     let register_offset = gpio % 32;
 
-    let current = unsafe { read_address(register_addr) };
+    let current = mmio_read(register_addr);
     let mask = 0b1 << register_offset;
     let new_val = if enable {
         current | mask
@@ -153,7 +150,7 @@ pub fn set_falling_edge_detect(gpio: u8, enable: bool) {
         current & !mask
     };
 
-    unsafe { write_address(register_addr, new_val) };
+    mmio_write(register_addr, new_val);
 }
 
 /// Enables rising edge detection
@@ -161,7 +158,7 @@ pub fn set_rising_edge_detect(gpio: u8, enable: bool) {
     let register_addr = GPREN_BASE + 4 * (gpio as u32 / 32);
     let register_offset = gpio % 32;
 
-    let current = unsafe { read_address(register_addr) };
+    let current = mmio_read(register_addr);
 
     let mask = 0b1 << register_offset;
     let new_val = if enable {
@@ -170,32 +167,9 @@ pub fn set_rising_edge_detect(gpio: u8, enable: bool) {
         current & !mask
     };
 
-    unsafe { write_address(register_addr, new_val) };
+    mmio_write(register_addr, new_val);
 }
 
-/// Returns with the interrupt status of an GPIO.
-///
-/// GPEDS register is used to record level and edge events on the GPIO pins.
-/// When an event is triggered by the GPIO, the corresponding bit will be set to 1.
-pub fn read_gpio_event_detect_status(id: u32) -> bool {
-    let register = GPEDS_BASE + (id / 32) * 4;
-    let register_offset = id % 32;
-
-    let val = unsafe { read_address(register) } >> register_offset;
-    (val & 0b1) != 0
-}
-
-/// Resets current interrupt status of a GPIO pin.
-pub fn reset_gpio_event_detect_status(id: u32) {
-    let register = GPEDS_BASE + (id / 32) * 4;
-    let register_offset = id % 32;
-
-    unsafe { write_address(register, 0b1 << register_offset) };
-    compiler_fence(Ordering::SeqCst);
-}
-
-// TODO: GPHEN,GPLEN,GPAREN,GPAFEN
-
 pub fn blink_gpio(gpio: u8, duration_ms: u64) {
     let _ = gpio_high(gpio);
 

src/peripherals/uart.rs

@@ -3,7 +3,7 @@ use core::{
     fmt::{self, Write},
 };
 
-use crate::{read_address, write_address};
+use crate::{mmio_read, mmio_write};
 
 const BAUD: u32 = 115200;
 const UART_CLK: u32 = 48_000_000;
@@ -18,55 +18,35 @@ const UART0_FBRD: u32 = 0x3F20_1028;
 
 const UART0_CR: u32 = 0x3F20_1030;
 const UART0_CR_UARTEN: u32 = 1 << 0;
-
 const UART0_CR_TXE: u32 = 1 << 8;
-const UART0_CR_RXE: u32 = 1 << 9;
 
 const UART0_LCRH: u32 = 0x3F20_102C;
 const UART0_LCRH_FEN: u32 = 1 << 4;
 
-const UART0_IMSC: u32 = 0x3F20_1038;
-const UART0_IMSC_RXIM: u32 = 1 << 4;
-
-const UART0_ICR: u32 = 0x3F20_1044;
-
 pub struct Uart;
 
 impl Write for Uart {
     fn write_str(&mut self, s: &str) -> core::fmt::Result {
         for byte in s.bytes() {
-            while (unsafe { read_address(UART0_FR) } & UART0_FR_TXFF) != 0 {
+            while (mmio_read(UART0_FR) & UART0_FR_TXFF) != 0 {
                 unsafe { asm!("nop") }
             }
-            unsafe { write_address(UART0_DR, byte as u32) };
+            mmio_write(UART0_DR, byte as u32);
         }
         // wait till uart is not busy anymore
-        while ((unsafe { read_address(UART0_FR) } >> 3) & 0b1) != 0 {}
+        while ((mmio_read(UART0_FR) >> 3) & 0b1) != 0 {}
         Ok(())
     }
 }
 
-#[macro_export]
-macro_rules! print {
-    () => {};
-    ($($arg:tt)*) => {
-        $crate::peripherals::uart::_print(format_args!($($arg)*))
-    };
-}
-
-#[macro_export]
-macro_rules! println {
-    () => {};
-    ($($arg:tt)*) => {
-        $crate::print!($($arg)*);
-        $crate::print!("\r\n");
-    };
-}
-
 pub fn _print(args: fmt::Arguments) {
     let _ = Uart.write_fmt(args);
 }
 
+pub fn _print_str(st: &str) {
+    let _ = Uart.write_str(st);
+}
+
 /// Initialize UART peripheral
 pub fn uart_init() {
     let baud_div_times_64 = (UART_CLK * 4) / BAUD;
@@ -75,26 +55,23 @@ pub fn uart_init() {
     let fbrd = baud_div_times_64 % 64;
 
     uart_enable(false);
-    uart_fifo_enable(true);
+    uart_fifo_enable(false);
 
-    unsafe {
+    mmio_write(UART0_IBRD, ibrd);
-        write_address(UART0_IBRD, ibrd);
+    mmio_write(UART0_FBRD, fbrd);
-        write_address(UART0_FBRD, fbrd);
-    }
 
-    uart_enable_rx_interrupt();
     uart_set_lcrh(0b11, true);
 
-    // Enable transmit, receive and uart
+    // Enable transmit and uart
-    let mut cr = unsafe { read_address(UART0_CR) };
+    let mut cr = mmio_read(UART0_CR);
-    cr |= UART0_CR_UARTEN | UART0_CR_TXE | UART0_CR_RXE;
+    cr |= UART0_CR_UARTEN | UART0_CR_TXE;
 
-    unsafe { write_address(UART0_CR, cr) };
+    mmio_write(UART0_CR, cr);
 }
 
 /// Enable UARTEN
 fn uart_enable(enable: bool) {
-    let mut cr = unsafe { read_address(UART0_CR) };
+    let mut cr = mmio_read(UART0_CR);
 
     if enable {
         cr |= UART0_CR_UARTEN;
@@ -102,12 +79,12 @@ fn uart_enable(enable: bool) {
         cr &= !UART0_CR_UARTEN;
     }
 
-    unsafe { write_address(UART0_CR, cr) };
+    mmio_write(UART0_CR, cr);
 }
 
 /// Enable UART FIFO
 fn uart_fifo_enable(enable: bool) {
-    let mut lcrh = unsafe { read_address(UART0_LCRH) };
+    let mut lcrh = mmio_read(UART0_LCRH);
 
     if enable {
         lcrh |= UART0_LCRH_FEN;
@@ -115,32 +92,14 @@ fn uart_fifo_enable(enable: bool) {
         lcrh &= !UART0_LCRH_FEN;
     }
 
-    unsafe { write_address(UART0_LCRH, lcrh) };
+    mmio_write(UART0_LCRH, lcrh);
-}
-
-#[inline(always)]
-fn uart_enable_rx_interrupt() {
-    unsafe { write_address(UART0_IMSC, UART0_IMSC_RXIM) };
 }
 
 /// Set UART word length and set FIFO status
-#[inline(always)]
 fn uart_set_lcrh(wlen: u32, enable_fifo: bool) {
     let mut value = (wlen & 0b11) << 5;
     if enable_fifo {
         value |= UART0_LCRH_FEN;
     }
-    unsafe { write_address(UART0_LCRH, value) };
+    mmio_write(UART0_LCRH, value);
-}
-
-#[inline(always)]
-pub fn read_uart_data() -> char {
-    (unsafe { read_address(UART0_DR) } & 0xFF) as u8 as char
-}
-
-#[inline(always)]
-pub fn clear_uart_interrupt_state() {
-    unsafe {
-        write_address(UART0_ICR, 1 << 4);
-    }
 }

src/pi3/mod.rs

@@ -1,3 +0,0 @@
-pub mod mailbox;
-pub mod power_management;
-pub mod timer;

src/pi3/power_management.rs

@@ -1,28 +0,0 @@
-use core::ptr::{read_volatile, write_volatile};
-
-use crate::PERIPHERAL_BASE;
-
-/// Power Management Base
-static PM_BASE: u32 = PERIPHERAL_BASE as u32 + 0x10_0000;
-static PM_RSTC: u32 = PM_BASE + 0x1c;
-static PM_WDOG: u32 = PM_BASE + 0x24;
-
-static PM_PASSWORD: u32 = 0x5a000000;
-static PM_WDOG_TIMER_MASK: u32 = 0x000fffff;
-static PM_RSTC_WRCFG_CLR: u32 = 0xffffffcf;
-static PM_RSTC_WRCFG_FULL_RESET: u32 = 0x00000020;
-
-pub fn reboot_system() {
-    unsafe {
-        let pm_rstc_val = read_volatile(PM_RSTC as *mut u32);
-        // (31:16) bits -> password
-        // (11:0) bits -> value
-        write_volatile(PM_WDOG as *mut u32, PM_PASSWORD | (1 & PM_WDOG_TIMER_MASK));
-        write_volatile(
-            PM_RSTC as *mut u32,
-            PM_PASSWORD | (pm_rstc_val & PM_RSTC_WRCFG_CLR) | PM_RSTC_WRCFG_FULL_RESET,
-        );
-    }
-    #[allow(clippy::empty_loop)]
-    loop {}
-}

src/vector.S

@@ -1,133 +1,59 @@
-.section .vector_t  , "ax"
+
+.global vector_table
 .extern irq_handler
 
 .macro    ventry    label
-.align 7
+.align    7
 b    \label
 .endm
 
-.global vector_table
+.section .vector_table, "ax"
 vector_table:
-    // Exceptions from current EL using SP_EL0
     ventry .
     ventry .
     ventry .
     ventry .
 
-    // Exceptions from the current EL using SP_ELx
+    ventry synchronous_interrupt      // Synchronous Exception  0x200
-    ventry synchronous_interrupt_no_el_change       // Synchronous Exception  0x200
+    ventry irq_handler                // IRQ(Interrupt Request) 0x280
-    ventry irq_handler                              // IRQ(Interrupt Request) 0x280
+    ventry .
-    ventry .                                        // FIQ(Fast Interrupt Request) 0x300
+    ventry .
-    ventry .                                        // SError 0x580
 
-    // Exceptions from lower EL AArch64
-    ventry synchronous_interrupt_imm_lower_aarch64  // Synchronous Exception 0x400
-    ventry irq_handler                              // IRQ(Interrupt Request) 0x480
-    ventry .                                        //  FIQ(Fast Interrupt Request) 0x500
-    ventry .                                        // SError 0x580
-
-    // Exceptions from lower EL AArch32
-    ventry .
-    ventry .
-    ventry .
-    ventry .
 
 .align 4
-irq_handler:
+.global el2_to_el1
-    sub sp, sp, #176
+el2_to_el1:
-    stp x0, x1, [sp, #0]
-    stp x2, x3, [sp, #16]
-    stp x4, x5, [sp, #32]
-    stp x6, x7, [sp, #48]
-    stp x8, x9, [sp, #64]
-    stp x10, x11, [sp, #80]
-    stp x12, x13, [sp, #96]
-    stp x14, x15, [sp, #112]
-    stp x16, x17, [sp, #128]
-    stp x18, x29, [sp, #144]
-    stp x30, xzr, [sp, #160]
 
-    bl rust_irq_handler
+    mov x0, #(1 << 31)
+    msr HCR_EL2, x0
 
-    ldp x0, x1, [sp, #0]
+    // Set SPSR_EL2: return to EL1h
-    ldp x2, x3, [sp, #16]
+    mov x0, #(0b0101)
-    ldp x4, x5, [sp, #32]
+    msr SPSR_EL2, x0
-    ldp x6, x7, [sp, #48]
-    ldp x8, x9, [sp, #64]
-    ldp x10, x11, [sp, #80]
-    ldp x12, x13, [sp, #96]
-    ldp x14, x15, [sp, #112]
-    ldp x16, x17, [sp, #128]
-    ldp x18, x29, [sp, #144]
-    ldp x30, xzr, [sp, #160]
-    add sp, sp, #176
-
-    eret
-
-.align 4
-synchronous_interrupt_imm_lower_aarch64:
-    sub sp, sp, #176
-    stp x0, x1, [sp, #0]
-    stp x2, x3, [sp, #16]
-    stp x4, x5, [sp, #32]
-    stp x6, x7, [sp, #48]
-    stp x8, x9, [sp, #64]
-    stp x10, x11, [sp, #80]
-    stp x12, x13, [sp, #96]
-    stp x14, x15, [sp, #112]
-    stp x16, x17, [sp, #128]
-    stp x18, x29, [sp, #144]
-    stp x30, xzr, [sp, #160]
-
-    mov x0, sp
-    bl rust_synchronous_interrupt_imm_lower_aarch64
-    str x0, [sp, #0]
-
-    ldp x0, x1, [sp, #0]
-    ldp x2, x3, [sp, #16]
-    ldp x4, x5, [sp, #32]
-    ldp x6, x7, [sp, #48]
-    ldp x8, x9, [sp, #64]
-    ldp x10, x11, [sp, #80]
-    ldp x12, x13, [sp, #96]
-    ldp x14, x15, [sp, #112]
-    ldp x16, x17, [sp, #128]
-    ldp x18, x29, [sp, #144]
-    ldp x30, xzr, [sp, #160]
-    add sp, sp, #176
-
-    eret
-
-.align 4
-synchronous_interrupt_no_el_change:
-    sub sp, sp, #176
-    stp x0, x1, [sp, #0]
-    stp x2, x3, [sp, #16]
-    stp x4, x5, [sp, #32]
-    stp x6, x7, [sp, #48]
-    stp x8, x9, [sp, #64]
-    stp x10, x11, [sp, #80]
-    stp x12, x13, [sp, #96]
-    stp x14, x15, [sp, #112]
-    stp x16, x17, [sp, #128]
-    stp x18, x29, [sp, #144]
-    stp x30, xzr, [sp, #160]
-
-    mov x0, sp
-    bl rust_synchronous_interrupt_no_el_change
-    str x0, [sp, #0]
-
-    ldp x0, x1, [sp, #0]
-    ldp x2, x3, [sp, #16]
-    ldp x4, x5, [sp, #32]
-    ldp x6, x7, [sp, #48]
-    ldp x8, x9, [sp, #64]
-    ldp x10, x11, [sp, #80]
-    ldp x12, x13, [sp, #96]
-    ldp x14, x15, [sp, #112]
-    ldp x16, x17, [sp, #128]
-    ldp x18, x29, [sp, #144]
-    ldp x30, xzr, [sp, #160]
-    add sp, sp, #176
 
+    // Set return address to ELR_EL2
+    ldr x0, =kernel_main
+    msr ELR_EL2, x0
+
+    // Set SP_EL1 to stack base
+    ldr x0, =__stack_end
+    msr SP_EL1, x0
+
+    // Set VBAR_EL1 to vector table
+    adr x0, vector_table
+    msr VBAR_EL1, x0
+
+    // Disable MMU
+    ldr x0, =SCTLR_EL1_CONF
+    msr sctlr_el1, x0
+
+    // SIMD should not be trapped
+    mrs x0, CPACR_EL1
+    mov x1, #(0b11<<20)
+    orr x0,x0, x1
+    msr CPACR_EL1,x0
+
+    isb
+
+    // Return to EL1
     eret

tools/deply_to_hw.sh

@@ -15,7 +15,7 @@ REMOTE_DIR="$TFTP_PATH"
 
 # BUILD
 echo "[*] Building kernel..."
-cargo build --release --target aarch64-unknown-none
+cargo build --release
 
 # CONVERT TO IMG
 echo "[*] Convert kernel elf to img..."

tools/start_simulator.sh

@@ -1,5 +1,3 @@
-set -e
-
 cargo build --target aarch64-unknown-none --release
 cd "$(dirname "$0")"
 

tools/start_simulator_debug.sh

@@ -1,5 +1,3 @@
-set -e
-
 cargo build --target aarch64-unknown-none
 
 cd "$(dirname "$0")"
@@ -11,4 +9,6 @@ qemu-system-aarch64 \
   -cpu cortex-a53 \
   -serial stdio \
   -sd ../sd.img \
-  -kernel ../target/aarch64-unknown-none/debug/kernel8.img -S -s
+  -display none \
+  -kernel ../target/aarch64-unknown-none/debug/kernel8.img \
+  -s -S