Semhosting

01README.md

QEMU Cortex-m3 with semihosting

CMakeLists.txt

cmake_minimum_required(VERSION 3.0)
project(semihosting)

set(SRC main.c semihosting.c startup.c)

add_executable(main ${SRC})
SET_TARGET_PROPERTIES(main PROPERTIES LINK_FLAGS "-T ${CMAKE_SOURCE_DIR}/standalone.ld -nostartfiles -Wl,--gc-sections")
#set(CMAKE_EXE_LINKER_FLAGS  "${CMAKE_EXE_LINKER_FLAGS} -T ${CMAKE_SOURCE_DIR}/standalone.ld -L ${CMAKE_SOURCE_DIR}" )

main.c

#include <limits.h>
#include <stdatomic.h>
#include "semihosting.h"

int main()
{
	int fd;

static atomic_flag cat = ATOMIC_FLAG_INIT;
static unsigned volatile counter= 0;

do {} while (atomic_flag_test_and_set(&cat));
++counter;
atomic_flag_clear(&cat);

	fd = semihosting_open("./semihosting.log");
	semihosting_write(fd, "Hello World!\n", sizeof("Hello World!\n"));

	while (1) {
		semihosting_write(1, "Hello World!\n", sizeof("Hello World!\n"));
		for (int i = 0; i < 10000000; i++)
			__asm__("nop");
	}
}

Makefile

# From: http://shukra.cedt.iisc.ernet.in/w/index.php?title=EmSys:Starting_Cortex-M3_Development_Using_the_GNU_Tool_Chain_-_Part_2
all:
	arm-none-eabi-gcc -mcpu=cortex-m3 -mthumb -g -c semihosting.c -o semihosting.o
	arm-none-eabi-gcc -mcpu=cortex-m3 -mthumb -std=c11  -g -c main.c -o main.o
	arm-none-eabi-gcc -mcpu=cortex-m3 -mthumb -g -c startup.c -o startup.o
	arm-none-eabi-ld  -g -T standalone.ld semihosting.o startup.o main.o -o main.elf
	arm-none-eabi-objcopy -O binary main.elf main.bin
	qemu-system-arm -M lm3s6965evb --kernel main.bin --serial null -nographic -monitor null -semihosting
# target remote localhost:1234
objdump:
	arm-none-eabi-objdump -d ./main.elf
gdb:
	arm-none-eabi-gdb main.elf
clean:
	rm -f *.o *.elf *.bin *.log

semihosting.c

#include <string.h>
#include <stdint.h>

#include "semihosting.h"

void *__semihosting(uint32_t op, void *arg)
{
	(void)op;
	(void)arg;
#ifdef __thumb2__
	asm("push {LR}; bkpt 0xAB; pop {PC}");
#else
	asm("push {LR}; svc 0xAB; pop {PC}");
#endif
}

int semihosting_open(void *name)
{
	uint32_t open_parms[3];
	int status;

	open_parms[0] = (uint32_t)name;
	open_parms[1] = 9;
//	open_parms[2] = strlen(name);

	status = (int)__semihosting(SYS_OPEN, open_parms);

	if (status < 0)
		return -1;
	return status;
}

int semihosting_close(unsigned int fd)
{
	uint32_t close_parms[1];
	int status;

	close_parms[0] = fd;

	status = (int)__semihosting(SYS_CLOSE, close_parms);

	if (status < 0)
		return -1;
	return 0;
}

int semihosting_read(unsigned int fd, void *buf, unsigned int count)
{
	uint32_t read_parms[3];
	int status;

	read_parms[0] = fd;
	read_parms[1] = (uint32_t)buf;
	read_parms[2] = count;

	status = (int)__semihosting(SYS_READ, read_parms);

	if (status < 0)
		return status;
	return count - status;
}

int semihosting_write(unsigned int fd, const void *buf, unsigned int count)
{
	uint32_t write_parms[3];
	int status;

	write_parms[0] = fd;
	write_parms[1] = (uint32_t)buf;
	write_parms[2] = count;

	status = (int)__semihosting(SYS_WRITE, write_parms);

	if (status < 0)
		return status;
	return count - status;
}

/* ADP_Stopped_ApplicationExit is used for exit(0),
 * anything else is implemented as exit(1) */
//http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.dui0473c/CEGFDGED.html
#define ADP_Stopped_ApplicationExit     (0x20026)

void semihosting_exit(int ret)
{
	uint32_t write_parms[1];
	int status;

	if (ret == 0)
		ret = ADP_Stopped_ApplicationExit;

	write_parms[0] = ret;

	__semihosting(SYS_EXIT, write_parms);
}

semihosting.h

// Semi-hosting I/O services

// $Id$

// Copyright (C)2013-2015, Philip Munts, President, Munts AM Corp.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

// These services ONLY work in debug mode.  If your program calls any of these,
// it will NOT work unless you are debugging.

// Be sure to issue "monitor arm semihosting enable" in gdb before starting
// your program.

// Semi-hosting operations -- From "ARM Compiler toolchain Developing
// Software for ARM Processors,Version 5.03"

#include <stdint.h>

#define SYS_OPEN		0x01
#define SYS_CLOSE		0x02
#define SYS_WRITEC		0x03
#define SYS_WRITE0		0x04
#define SYS_WRITE		0x05
#define SYS_READ		0x06
#define SYS_READC		0x07
#define SYS_ISERROR		0x08
#define SYS_ISTTY		0x09
#define SYS_SEEK		0x0A
#define SYS_FLEN		0x0C
#define SYS_TMPNAM		0x0D
#define SYS_REMOVE		0x0E
#define SYS_CLOCK		0x10
#define SYS_TIME		0x11
#define SYS_SYSTEM		0x12
#define SYS_ERRNO		0x13
#define SYS_GET_CMDLINE		0x15
#define SYS_HEAPINFO		0x16
#define SYS_EXIT		0x18
#define SYS_ELAPSED		0x30
#define SYS_TICKFREQ		0x31

// Function prototypes

void *__semihosting(uint32_t op, void *arg) __attribute__((naked));

int semihosting_register(char *name);
int semihosting_stdio(char *name);
int semihosting_open(void *name);
int semihosting_close(unsigned int fd);
int semihosting_read(unsigned int fd, void *buf, unsigned int count);
int semihosting_write(unsigned int fd, const void *buf, unsigned int count);
int semihosting_read_ready(unsigned int fd);
int semihosting_write_ready(unsigned int fd);
void semihosting_exit(int ret);

standalone.ld

ENTRY(ResetISR) 
MEMORY
{
    FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 256K
    SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
}
 
SECTIONS
{
    .text :
    {
        KEEP(*(.isr_vector))
        *(.text*)
        *(.rodata*)
        _etext = .;
    } > FLASH
 
    .data : AT (ADDR(.text) + SIZEOF(.text))
    {
        _data = .;
        *(vtable)
        *(.data*)
        _edata = .;
    } > SRAM
 
    .bss :
    {
        _bss = .;
        *(.bss*)
        *(COMMON)
        _ebss = .;
    } > SRAM
}

startup.c

void ResetISR(void);
static void NmiSR(void);
static void FaultISR(void);
static void IntDefaultHandler(void);

extern int main(void);
static unsigned long pulStack[64];
//*****************************************************************************
//
// The vector table.  Note that the proper constructs must be placed on this to
// ensure that it ends up at physical address 0x0000.0000.
//
//*****************************************************************************
__attribute__ ((section(".isr_vector")))
void (* const g_pfnVectors[])(void) =
{
    (void (*)(void))((unsigned long)pulStack + sizeof(pulStack)),
                                            // The initial stack pointer
    ResetISR,                               // The reset handler
    NmiSR,                                  // The NMI handler
    FaultISR,                               // The hard fault handler
    IntDefaultHandler,                      // The MPU fault handler
    IntDefaultHandler,                      // The bus fault handler
    IntDefaultHandler,                      // The usage fault handler
    0,                                      // Reserved
    0,                                      // Reserved
    0,                                      // Reserved
    0,                                      // Reserved
    IntDefaultHandler,                      // SVCall handler
    IntDefaultHandler,                      // Debug monitor handler
    0,                                      // Reserved
    IntDefaultHandler,                      // The PendSV handler
    IntDefaultHandler                       // The SysTick handler
};
 
//*****************************************************************************
//
// The following are constructs created by the linker, indicating where the
// the "data" and "bss" segments reside in memory.  The initializers for the
// "data" segment resides immediately following the "text" segment.
//
//*****************************************************************************
extern unsigned long _etext;
extern unsigned long _data;
extern unsigned long _edata;
extern unsigned long _bss;
extern unsigned long _ebss;
 
//*****************************************************************************
//
// This is the code that gets called when the processor first starts execution
// following a reset event.  Only the absolutely necessary set is performed,
// after which the application supplied entry() routine is called. 
//
//*****************************************************************************
void ResetISR(void)
{
    unsigned long *pulSrc, *pulDest;
 
    //
    // Copy the data segment initializers from flash to SRAM.
    //
    pulSrc = &_etext;
    pulDest = &_data; 

    while(pulDest < &_edata )
    {
        *pulDest++ = *pulSrc++;
    }

    //
    // Zero fill the bss segment.
    //
    __asm("    ldr     r0, =_bss\n"
          "    ldr     r1, =_ebss\n"
          "    mov     r2, #0\n"
          "    .thumb_func\n"
          "zero_loop:\n"
          "        cmp     r0, r1\n"
          "        it      lt\n"
          "        strlt   r2, [r0], #4\n"
          "        blt     zero_loop");

    //
    // Call the application's entry point.
    //
    main();
}
 
//*****************************************************************************
//
// This is the code that gets called when the processor receives a NMI.  This
// simply enters an infinite loop, preserving the system state for examination
// by a debugger.
//
//*****************************************************************************
static void NmiSR(void)
{
    //
    // Enter an infinite loop.
    //
    while(1) {
        ;
    }
}
 
//*****************************************************************************
//
// This is the code that gets called when the processor receives a fault
// interrupt.  This simply enters an infinite loop, preserving the system state
// for examination by a debugger.
//
//*****************************************************************************
static void FaultISR(void)
{
    //
    // Enter an infinite loop.
    //
    while(1) {
        ;
    }
}
 
//*****************************************************************************
//
// This is the code that gets called when the processor receives an unexpected
// interrupt.  This simply enters an infinite loop, preserving the system state
// for examination by a debugger.
//
//*****************************************************************************
static void IntDefaultHandler(void)
{
    //
    // Go into an infinite loop.
    //
    while(1) {
        ;
    }
}

Toolchain-gcc-arm-embedded.cmake

# CMake Toolchain file for the gcc-arm-embedded toolchain.
# https://launchpad.net/gcc-arm-embedded
#
# Copyright (c) 2013 Swift Navigation Inc.
# Contact: Fergus Noble <fergus@swift-nav.com>
#
# This source is subject to the license found in the file 'LICENSE' which must
# be be distributed together with this source. All other rights reserved.
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.

include(CMakeForceCompiler)

# Targeting an embedded system, no OS.
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_PROCESSOR cortex-m3)

CMAKE_FORCE_C_COMPILER(arm-none-eabi-gcc GNU)
CMAKE_FORCE_CXX_COMPILER(arm-none-eabi-g++ GNU)

# Find the target environment prefix..
# First see where gcc is keeping libc.a
execute_process(
  COMMAND ${CMAKE_C_COMPILER} -print-file-name=libc.a
  OUTPUT_VARIABLE CMAKE_INSTALL_PREFIX
  OUTPUT_STRIP_TRAILING_WHITESPACE
)
# Strip the filename off
get_filename_component(CMAKE_INSTALL_PREFIX
  "${CMAKE_INSTALL_PREFIX}" PATH
)
# Then find the canonical path to the directory one up from there
get_filename_component(CMAKE_INSTALL_PREFIX
  "${CMAKE_INSTALL_PREFIX}/.." REALPATH
)
set(CMAKE_INSTALL_PREFIX  ${CMAKE_INSTALL_PREFIX} CACHE FILEPATH
    "Install path prefix, prepended onto install directories.")

message(STATUS "Cross-compiling with the gcc-arm-embedded toolchain")
message(STATUS "Toolchain prefix: ${CMAKE_INSTALL_PREFIX}")

set(CMAKE_FIND_ROOT_PATH  ${CMAKE_INSTALL_PREFIX})

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

set(CMAKE_C_FLAGS
  "${CMAKE_C_FLAGS}"
  "-fno-common -ffunction-sections -fdata-sections"
)

if (CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m4")

  set(CMAKE_C_FLAGS
    "${CMAKE_C_FLAGS}"
    "-mcpu=cortex-m4 -march=armv7e-m -mthumb"
    "-mfloat-abi=hard -mfpu=fpv4-sp-d16"
  )

elseif (CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m3")

  set(CMAKE_C_FLAGS
    "${CMAKE_C_FLAGS}"
    "-mcpu=cortex-m3 -march=armv7-m -mthumb "
    "-msoft-float"
  )

# --specs=nosys.specs

else ()
  message(WARNING
    "Processor not recognised in toolchain file, "
    "compiler flags not configured."
  )
endif ()

# When we break up long strings in CMake we get semicolon
# separated lists, undo this here...
string(REGEX REPLACE ";" " " CMAKE_C_FLAGS "${CMAKE_C_FLAGS}")

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "")

set(BUILD_SHARED_LIBS OFF)