From e1d0d2a0200557c6981a9948cf66bede110c41aa Mon Sep 17 00:00:00 2001 From: equation314 Date: Mon, 31 Dec 2018 22:51:13 +0800 Subject: [PATCH] aarch64/doc: add overview of AArch64 --- docs/2_OSLab/g2/boot.md | 13 +-- docs/2_OSLab/g2/context.md | 12 +-- docs/2_OSLab/g2/environment.md | 4 +- docs/2_OSLab/g2/img/general-register.png | Bin 0 -> 166662 bytes docs/2_OSLab/g2/interrupt.md | 24 +++-- docs/2_OSLab/g2/memory.md | 8 +- docs/2_OSLab/g2/overview.md | 109 ++++++++++++++++++++++- kernel/src/arch/aarch64/boot/linker.ld | 2 +- 8 files changed, 132 insertions(+), 40 deletions(-) create mode 100644 docs/2_OSLab/g2/img/general-register.png diff --git a/docs/2_OSLab/g2/boot.md b/docs/2_OSLab/g2/boot.md index 96e72e2..c71d8f7 100644 --- a/docs/2_OSLab/g2/boot.md +++ b/docs/2_OSLab/g2/boot.md @@ -17,7 +17,7 @@ ``` SECTIONS { - . = 0x80000; /* Raspbery Pi 3 Aarch64 (kernel8.img) load address */ + . = 0x80000; /* Raspbery Pi 3 AArch64 (kernel8.img) load address */ .boot : { KEEP(*(.text.boot)) /* from boot.S */ @@ -48,17 +48,10 @@ SECTIONS { ## boot.S -CPU 启动代码位于 [kernel/src/arch/aarch64/boot/boot.S](../../../kernel/src/arch/aarch64/boot/boot.S),负责初始化一些系统寄存器,并将当前异常级别(exception level)切换到 EL1。 - -AArch64 有 4 个异常级别,相当于 x86 的特权级,分别为: - -* EL0: Applications. -* EL1: OS kernel and associated functions that are typically described as privileged. -* EL2: Hypervisor. -* EL3: Secure monitor. - 在 RustOS 中,内核将运行在 EL1 上,用户程序将运行在 EL0 上。 +CPU 启动代码位于 [kernel/src/arch/aarch64/boot/boot.S](../../../kernel/src/arch/aarch64/boot/boot.S),负责初始化一些系统寄存器,并将当前异常级别切换到 EL1。 + [boot.S](../../../kernel/src/arch/aarch64/boot/boot.S) 的主要流程如下: 1. 获取核的编号,目前只使用 0 号核,其余核将被闲置: diff --git a/docs/2_OSLab/g2/context.md b/docs/2_OSLab/g2/context.md index 078d65a..4390675 100644 --- a/docs/2_OSLab/g2/context.md +++ b/docs/2_OSLab/g2/context.md @@ -56,7 +56,7 @@ } ``` - 每个进程控制块 `Process` ([kernel/src/process/context.rs](../../../kernel/src/process/context.rs#L13)) 都会维护一个平台相关的 `Context` 对象,在 aarch64 中包含下列信息: + 每个进程控制块 `Process` ([kernel/src/process/context.rs](../../../kernel/src/process/context.rs#L13)) 都会维护一个平台相关的 `Context` 对象,在 AArch64 中包含下列信息: 1. `stack_top`:内核栈顶地址; 2. `ttbr`:页表基址; @@ -79,13 +79,13 @@ pub unsafe fn switch(&mut self, target: &mut Self) { ### 页表切换与 ASID 机制 -首先进行的是页表的切换,即向 `TTBR1_EL1` 寄存器写入目标线程页表基址 `target.ttbr`。一般来说,切换页表后需要刷新 TLB,不过 aarch64 引入了 ASID (Address Space ID) 机制来避免频繁刷新 TLB。 +首先进行的是页表的切换,即向 `TTBR1_EL1` 寄存器写入目标线程页表基址 `target.ttbr`。一般来说,切换页表后需要刷新 TLB,不过 ARMv8 引入了 ASID (Address Space ID) 机制来避免频繁刷新 TLB。 #### ASID 机制 -在页表项描述符中,有一个 `nG` 位,如果该位为 0,表示这页内存是全局可访问的(用于内核空间);如果该位为 1,表示这页内存不是全局可访问的,只有特定线程可访问。具体地,如果页表项中该位为 1,当访问相应虚拟地址更新 TLB 时,会有额外的信息被写入 TLB,该信息即 ASID,由操作系统分配,下次在 TLB 中查找该虚拟地址时就会检查 TLB 表项中的 ASID 是否与当前 ASID 匹配。相当于为不同的 ASID 各自创建了一个页表。 +在页表项描述符中,有一个 nG 位,如果该位为 0,表示这页内存是全局可访问的(用于内核空间);如果该位为 1,表示这页内存不是全局可访问的,只有特定线程可访问。具体地,如果页表项中该位为 1,当访问相应虚拟地址更新 TLB 时,会有额外的信息被写入 TLB,该信息即 ASID,由操作系统分配,下次在 TLB 中查找该虚拟地址时就会检查 TLB 表项中的 ASID 是否与当前 ASID 匹配。相当于为不同的 ASID 各自创建了一个页表。 -ASID 的大小可以为 8 位或 16 位,由 `TCR_EL1` 的 `AS` 字段指定,当前的 ASID 保存在 TTBR 的高位中,也可以由 `TCR_EL1` 的 `A1` 字段指定是 `TTBR0_EL1` 还是 `TTBR1_EL1`。在 RustOS 中,ASID 大小为 16 位,当前 ASID 保存在 `TTBR1_EL1` 的高 16 位。 +ASID 的大小可以为 8 位或 16 位,由 `TCR_EL1` 的 AS 字段指定,当前的 ASID 保存在 TTBR 的高位中,也可以由 `TCR_EL1` 的 `A1` 字段指定是 `TTBR0_EL1` 还是 `TTBR1_EL1`。在 RustOS 中,ASID 大小为 16 位,当前 ASID 保存在 `TTBR1_EL1` 的高 16 位。 在 `switch()` 函数里,首先会为目标线程分配一个 ASID,然后同时将该 ASID 与 `target.ttbr` 写入 `TTBR1_EL1` 即可,无需进行 TLB 刷新。 @@ -178,9 +178,9 @@ ret 为什么只保存了 `sp` 与 callee-saved 寄存器,而不是所有寄存器?因为执行上下文切换就是在调用一个函数,在调用前后编译器会自动保存并恢复 caller-saved 寄存器(调用者保存,即 `x0~x18`)。 -### 特权级切换 +### 异常级别切换 -特权级保存在 `TrapFrame` 的 `spsr` 中,在中断返回后即能自动进行特权级切换。通过构造特定的 `spsr` 可让新线程运行在指定的特权级。 +异常发生前的异常级别保存在 `TrapFrame` 中 `spsr` 的相应位,在异常返回后会恢复给 PSTATE,实现异常级别切换。通过构造特定的 `spsr` 可让新线程运行在指定的异常级别。 ## 创建新线程 diff --git a/docs/2_OSLab/g2/environment.md b/docs/2_OSLab/g2/environment.md index a7299a2..6b4617b 100644 --- a/docs/2_OSLab/g2/environment.md +++ b/docs/2_OSLab/g2/environment.md @@ -61,9 +61,9 @@ * `mode=debug|release`:指定 `debug` 还是 `release` 模式。默认 `debug`。 * `graphic=on|off`:是否启用图形输出。默认 `on`。 - * `smp=1|2|3|4|...`:指定 SMP 的核数。目前 aarch64 的 SMP 未实现,该选项无效。 + * `smp=1|2|3|4|...`:指定 SMP 的核数。目前 AArch64 的 SMP 未实现,该选项无效。 * `raspi3_timer=system|generic`:使用 Raspberry Pi 的 System Timer 还是 Generic Timer。默认 `generic`,且在 QEMU 中只能使用 Generic Timer。 - * `prefix=`:指定 aarch64 工具链前缀。默认 `aarch64-none-elf-`,某些 Linux 中的工具链前缀为 `aarch64-linux-gnu-`。 + * `prefix=`:指定 AArch64 工具链前缀。默认 `aarch64-none-elf-`,某些 Linux 中的工具链前缀为 `aarch64-linux-gnu-`。 * `LOG=off|error|warn|info|debug|trace`:指定输出日志的级别。默认 `warn`。 * `SFSIMG=`:用户程序 SFS 镜像路径。默认 `../user/img/ucore-aarch64.img`,即用 C 语言编写的直接从原 uCore 中移植过来的用户程序。如欲使用 Rust 编写的用户程序可将其设为 `../user/build/user-aarch64.img`。 diff --git a/docs/2_OSLab/g2/img/general-register.png b/docs/2_OSLab/g2/img/general-register.png new file mode 100644 index 0000000000000000000000000000000000000000..05891f561a73d6728880d6b270110e3df0bcb562 GIT binary patch literal 166662 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zZ~@_A>b>42y7yDn6A^xD6-H(gAksC`XC7Q-c|A61*eb6u5syw#Uu_9963wMXKACn) zWoFoW4ULb0j>>~**R$C(`6E4AKf7E%AWIAl)7q@6_P)t(Bl|PMl2E}Vw!&fTdjMm| z#_N?V-`?^COXMAT*xQ+=BYBXuQoZW}<-l^<_CHXDOktC~!xZ>EQ3r&$z0f!{A_+1{ z>%D}nbTC5;I9S&cpieyFrfvgf(q5HLqUul>lTVUqrH)K<-aFxrTsbQRqtxqERwNEI zcOG8Act_Mt%Z)PK)aWj?Fm%Y4jWa&=N+<7Drr|e-kJ|*A1H%p<35W-(&2ok5gAYq% z8KjI4ms_4cCRP{NetVT3eK*&MUCOBJ<$;pT3yOLwip<;kZllGks-*=is+^#c*(`v#g&J$2oIS%V}w!3odDl6cu=Ju4Ba37Q2nvt)gjS zX3iiqMnr9O@VGK}mE5c?8tOojhLnuRB0727f6$iS6ez#;b>^$4xBRdNIvNU@y1DV9 z1C&+%m&0oum~?Ilb4i=2QFo+g8Om>y%_}U(zcCp?Y$TENQdMRJva0@ zT-6MXQ019u*LGPVsaje$CC|L4rXdVr(I^HFYQj$_i4Dk*SJ#R5h=-O{l`oX0O)DKXRO@5B25pDu{ps_1m~5+uhQw zWJf-|s75e}{77grhixyHUO&W@OTnt`0?6o4#jTq{T8Rd#;U{O`HpJr88uFGar`j z#1)S*atCq6)FI0n3j45~5PO1Yc0>3ZQ6WiKHMRV{(9hw%kbN+`j`&tGGx4r6b+?oE+a`nt zcm6O}LY_PKJ+tZTnUWm#@u-U0|DxfgaK{(nAU7wVYZrX_d;YS+9t~#GsE;0T)9Ljb z!C+JvIuC9n6>MV-1`9H{l^fnG%>$Am&`zYfakJU7GNUS56#6%Tq|WvA)0cfkvZLWq zW!Y2VC11EeR#Yw!d4~q=Z{`f?4OBd_jp_PYs(frSQn_J)${Z>u!a33g`%OWXH|CHT zP^{&>dbZ@9Fl>(SO+M^f9b9Oq%nz1TBo999lUNFAO5sx6r`IUWRz*pWN<_iV`;R!; zP?CP-80d3;Q2Y+IQ*tez%*M9R5=A0sK@jc;Dsh@Bu_W*YTYguqV^aZg;lH`dNXYnDzecZ2eC~jv0`%F-N?NT9zQX3~&j$I@FS%zuO6| z>L|j;sZ-Q)N+HNQY-aPaAT^kZ!uAd+uk9h@72}}(%K9X^*Z1opf9CzAu9{7ogZKHV z>bE+a0i5-q_A(We>-jx6{Chj-E&zVNxmf^x`P(!7GmrEqNQtolz-xPUepzh)KKcI* zYWrClz;wxT?koQ<*E$DqUx9{=7hl+azlFcIJJ0}ZSU<3n^?$k6emdx-bA;4#*8g(T zxB$j%jmnwyH_F(*UF*Lc^xqEpw|V@pe;NP(&!EcyF%Kvj3QC}KNr1f;MBETH(KQJL z6%8GWh*3K5uZFZiqs#cTy6?Zge*FOgwD`drA0GUtx5mL+$Nu9azkk)A-w7jvWzcH? zp2lxi`SY!Qa#%*?$zaxBSN~TdC?s& 参考:ARM Architecture Reference Manual ARMv8, for ARMv8-A architecture profile, capture D5: The AArch64 Virtual Memory System Architecture. -(注:AArch64 可能拥有一些可选的配置,如页大小、页表级数等,以下描述都是指在 RustOS 中的实现,不代表只有这一种实现方式) +(注:完整的 AArch64 文档中描述了许多可选的配置,如页大小、翻译表级数等,以下描述都是指在 RustOS 中的实现,不代表只有这一种实现方式) ### 地址空间 (D5.1.3) @@ -148,7 +148,7 @@ Cache line 的大小可通过 `CTR_EL0` 寄存器读取,一般为 16 个 WORD ## RustOS 中的实现 -在 RustOS 中,aarch64 平台相关的内存管理主要实现在 [kernel/src/arch/aarch64/memory.rs](../../../kernel/src/arch/aarch64/memory.rs) 与 [kernel/src/arch/aarch64/paging.rs](../../../kernel/src/arch/aarch64/paging.rs) 中。此外,crate [aarch64](https://github.com/equation314/aarch64) 类似其他平台下的 x86_64、riscv 库,封装了对 aarch64 底层系统寄存器、翻译表的访问。 +在 RustOS 中,AArch64 平台相关的内存管理主要实现在 [kernel/src/arch/aarch64/memory.rs](../../../kernel/src/arch/aarch64/memory.rs) 与 [kernel/src/arch/aarch64/paging.rs](../../../kernel/src/arch/aarch64/paging.rs) 中。此外,crate [aarch64](https://github.com/equation314/aarch64) 类似其他平台下的 x86_64、riscv 库,封装了对 AArch64 底层系统寄存器、翻译表的访问。 (注:为了保持与其他平台的一致性,下文使用“页表”指代“翻译表”,并且下文中页表的级数 1, 2, 3, 4 分别指官方文档中翻译表的级数 3, 2, 1, 0) @@ -333,8 +333,8 @@ Cache line 的大小可通过 `CTR_EL0` 寄存器读取,一般为 16 个 WORD * `active_token()`:获取当前活跃页表的页表基址寄存器内容。RustOS 中是读取 `TTBR1_EL1`。 * `flush_tlb()`:刷新 TLB 以立即生效对地址翻译系统的修改。 * `edit()`:让该翻译系统变得可编辑。本质上是将当前活跃页表(`TTBR0_EL1` 指向的页表)的递归索引指向该翻译系统的第 4 级页表,使得所有对该翻译系统第 1~4 级页表的访问,都可直接通过自映射机制构造相应的虚拟地址来实现。同时由于不修改当前活跃页表的其他表项,对内核地址空间可正常访问。 -* `new()`:建立用户页表时调用,会同时调用 `new_bare()` 和 `map_kernel()`。不过在 aarch64 下不需要 `map_kernel()`。 -* `map_kernel()`:为了让用户程序陷入中断后能访问内核地址空间,需要在用户页表中映射内核的地址空间,通过 `edit()` 函数修改自身来实现。使用 `new()` 建立用户页表时会额外调用该函数。不过在 aarch64 下可使用 `TTBR0_EL1` 与 `TTBR1_EL1` 区分内核页表与用户页表,所以 aarch64 下该函数无效。 +* `new()`:建立用户页表时调用,会同时调用 `new_bare()` 和 `map_kernel()`。不过在 AArch64 下不需要 `map_kernel()`。 +* `map_kernel()`:为了让用户程序陷入中断后能访问内核地址空间,需要在用户页表中映射内核的地址空间,通过 `edit()` 函数修改自身来实现。使用 `new()` 建立用户页表时会额外调用该函数。不过在 AArch64 下可使用 `TTBR0_EL1` 与 `TTBR1_EL1` 区分内核页表与用户页表,所以 AArch64 下该函数无效。 #### 分离内核页表与用户页表 diff --git a/docs/2_OSLab/g2/overview.md b/docs/2_OSLab/g2/overview.md index 832dd4e..77bea7f 100644 --- a/docs/2_OSLab/g2/overview.md +++ b/docs/2_OSLab/g2/overview.md @@ -2,17 +2,118 @@ ## Raspberry Pi 简介 -本实验的目标是将 Rust OS 移植到 Raspberry Pi 3 Model B+ 上。Raspberry Pi 3B+ 的主要硬件参数如下: +本实验的目标是将 RustOS 移植到 Raspberry Pi 3 Model B+ 上。其主要硬件参数如下: | Raspberry Pi 3B+ | | |-------|---------| -| 指令集 | ARMv8-A 64 bit | +| 指令集 | ARMv8-A 32/64 bit | | 片上系统(SoC) | Broadcom BCM2837B0 | -| 处理器(CPU) | 4 x Cortex-A53 1.4Ghz +| 处理器(CPU) | 4 x Cortex-A53 1.4Ghz | | 图形处理器(GPU) | Broadcom VideoCore IV | | 内存 | 1GB (与 GPU 共享) | -## AArch64 简介 +## ARMv8 架构简介 + +### 运行状态 + +根据寄存器位数的不同,ARMv8 架构定义了两种**运行状态**(Execution States),分别为 **AArch64** 与 **AArch32**。两种运行状态使用的指令集也不相同。RustOS 实现的是 AArch64。 + +### 异常级别 + +在 AArch64 下,可在 4 个**异常级别**(Exception level)中运行,分别为: + +* EL0: Normal user applications. +* EL1: Operating system kernel typically described as *privileged*. +* EL2: Hypervisor. +* EL3: Secure monitor. + +级别越高,特权(privilege)越高。一般称 EL0 为非特权级(unprivileged),其他的为特权级(unprivileged)。 + +### 寄存器 + +#### 通用寄存器 + +AArch64 有 31 个 64 位**通用寄存器**(General-purpose registers) `X0~X30`,每个 64 位寄存器都有一个 32 位的版本 `W0~W30`。寄存器的使用规范一般如下: + +* 参数寄存器 (Argument registers, `X0~X7`):作为函数调用时的参数,返回值保存在 `X0`; +* 调用者保存寄存器(Caller-saved temporary registers, `X9~X15`):在函数调用前,如果调用者需要保护这些寄存器中的值直到函数调用之后,则调用者需要将它们保存到当前栈帧上,而被调用者可直接使用而不必保存与恢复; +* 被调用者保存寄存器(Callee-saved registers, `X19~X29`):在函数调用中,如果该函数需要修改这些寄存器,则需要在函数开始执行前将它们保存到当前栈帧上,并在返回时恢复它们。 +* 帧指针寄存器(Frame point register, `FP` 或 `X29`):用于保存当前函数的栈帧指针; +* 链接寄存器(Link register, `LR` 或 `X30`):用于保存函数返回的地址,执行 `ret` 指令会跳转到 `LR`。 + +![](img/general-register.png) + +#### 特殊寄存器 + +AArch64 有下列**特殊寄存器**(Special-purpose registers): + +* 零寄存器(Zero register, ZR):被映射为立即数 0,可分别用 `WZR/XZR` 访问 32/64 位版本; +* 程序计数器(Program counter, `PC`):当前指令的地址,64 位; +* 栈指针(Stack pointer, `SP`):当前栈顶地址,64 位。在每个异常级别下都有一个栈指针,分别为 `SP_EL0`、`SP_EL1`、`SP_EL2`、`SP_EL3`,直接访问 `SP` 时会根据当前异常级别自动选择对应的(如果 `SPSel = 0`,则在任何异常级别下都使用 `SP_EL0`); +* 异常链接寄存器(Exception Link Register, ELR):用于保存异常返回的地址,在异常级别 1~3 下分别为 `ELR_ELx`,执行 `eret` 指令进行异常返回时会根据当前异常级别跳转到相应的 ELR; +* 保存的进程状态寄存器(Saved Process Status Register, SPSR):用于保存异常发生时的进程状态(PSTATE),在异常级别 1~3 下分别为 `SPSR_ELx`。执行 `eret` 指令进行异常返回时会根据当前异常级别,从相应的 SPSR 恢复进程状态。 + +#### 进程状态 + +**进程状态**(Process state, PSTATE)是当前进程状态信息的抽象。AArch64 提供了一系列特殊寄存器来独立访问 PSTATE 中的每个字段,常用的几个如下(完整的字段描述参见 ARMv8 Reference Manual D1.7 节): + +* 条件标志位(Condition flags, `NZCV`): + + + `N`: Negative Condition flag + + `Z`: Zero Condition flag + + `C`: Carry Condition flag + + `V`: oVerflow Condition flag + +* 异常屏蔽位(exception masking bits, `DAIF`): + + + `D`: Debug exception mask bit + + `A`: SError interrupt mask bit + + `I`: IRQ interrupt mask bit + + `F`: FIQ interrupt mask bit + +* 当前异常级别(Current Exception level, `CurrentEL`):获取当前的异常级别; +* 栈指针选择(Stack Pointer Select, `SPSel`):如果为 1,则在不同异常级别下分别使用相应的 `SP_ELx` 作为 `SP`,否则任何时候都使用 `SP_EL0` 作为 `SP`。 + +当异常发生时,当前的 PSTATE 会根据进入哪个异常级别保存到相应的 `SPSR_ELx` 中。 + +#### 系统寄存器 + +可以通过**系统寄存器**(System registers)来进行 AArch64 的系统配置。一般每种系统寄存器在不同异常级别下都有相应的版本,用后缀 `_ELx` 表示。下表列出了常用的几个系统寄存器(全部系统寄存器参见 ARMv8 Reference Manual D12.1 节): + +| 系统寄存器_ELx | 名称 | 描述 | +|------------------|-----------------------------------------|------------------------------| +| CTR | Cache Type Register | 获取 cache 信息 | +| ESR | Exception Syndrome Register | 保存发生异常的原因 | +| FAR | Fault Address Register | 保存发生访存错误的虚拟地址 | +| HCR | Hypervisor Configuration Register | 配置 EL2 下的虚拟化 | +| MAIR | Memory Attribute Indirection Register | 配置内存属性 | +| MPIDR | Multiprocessor Affinity Register | 多核系统中核的编号 | +| SCTLR | System Control Register | 提供对内存系统等系统配置 | +| TCR | Translation Control Register | 配置地址翻译系统的参数 | +| TTBR0/TTBR1 | Translation Table Base Register | 设置翻译表(页表)基址 | +| VBAR | Vector Based Address Register | 设置异常向量基址 | + +对系统寄存器(包括部分特殊寄存器)的访问需要使用 `mrs` 与 `msr` 指令: + +* 读: + + ```armasm + mrs x0, TTBR0_EL1 + ``` + +* 写: + + ```armasm + msr TTBR0_EL1, x0 + ``` + +crate [aarch64](https://github.com/equation314/aarch64) 的 [regs](https://github.com/equation314/aarch64/tree/master/src/regs) 模块封装了对部分系统寄存器的访问。 + +#### SIMD/FP 寄存器 + +共有 32 个最高为 128 位的 **SIMD/floating-point 寄存器**,可分别通过 `Q0~Q31`、`D0~D31`、`S0~S31`、`H0~H31`、`B0~B31` 访问其 128、64、32、16、8 位版本。 + +使用这些寄存器需要 NEON 技术的支持。为了方便,在 RustOS 中禁用了 NEON (Cargo features `+a53,+strict-align,-neon`),这样在处理异常时无需保存这些寄存器。 ## 官方文档 diff --git a/kernel/src/arch/aarch64/boot/linker.ld b/kernel/src/arch/aarch64/boot/linker.ld index 2c7bdce..38dbba9 100644 --- a/kernel/src/arch/aarch64/boot/linker.ld +++ b/kernel/src/arch/aarch64/boot/linker.ld @@ -1,7 +1,7 @@ ENTRY(_start) SECTIONS { - . = 0x80000; /* Raspbery Pi 3 Aarch64 (kernel8.img) load address */ + . = 0x80000; /* Raspbery Pi 3 AArch64 (kernel8.img) load address */ .boot : { KEEP(*(.text.boot)) /* from boot.S */