diff --git a/arm-zena-css/Kconfig b/arm-zena-css/Kconfig index f823ec28..def6aa2a 100644 --- a/arm-zena-css/Kconfig +++ b/arm-zena-css/Kconfig @@ -40,6 +40,19 @@ config RD_ASPEN_CFG1 config RD_ASPEN_CFG2 bool "RD-Aspen Cfg2" +choice + prompt "Safety Island RTOS" + depends on RD_ASPEN_CFG2 && USE_CASE_DEMOS + default SI_CL1_RTOS_ZEPHYR + +config SI_CL1_RTOS_ZEPHYR + bool "Zephyr" + +config SI_CL1_RTOS_FREERTOS + bool "FreeRTOS" + +endchoice + config RD_ASPEN_RTL bool "RD-Aspen RTL" @@ -78,6 +91,11 @@ config RD_ASPEN_RTL_VARIANT endif # RD_ASPEN_RTL +config KAS_INCLUDE_SI_CL1_RTOS + string + default "../sw-ref-stack/yocto/kas/si-cl1-zephyr.yml" if SI_CL1_RTOS_ZEPHYR + default "../sw-ref-stack/yocto/kas/si-cl1-freertos.yml" if SI_CL1_RTOS_FREERTOS + if ARM_FVP_EULA_ACCEPT_CHOICE choice diff --git a/arm-zena-css/yocto/meta-zena-css-safety-island/conf/machine/include/fvp/fvp-rd-aspen-extras.inc b/arm-zena-css/yocto/meta-zena-css-safety-island/conf/machine/include/fvp/fvp-rd-aspen-extras.inc index e0f3a249..831a156d 100644 --- a/arm-zena-css/yocto/meta-zena-css-safety-island/conf/machine/include/fvp/fvp-rd-aspen-extras.inc +++ b/arm-zena-css/yocto/meta-zena-css-safety-island/conf/machine/include/fvp/fvp-rd-aspen-extras.inc @@ -6,3 +6,6 @@ require ${@bb.utils.contains('DISTRO_FEATURES', 'zephyr', \ 'conf/machine/include/fvp/fvp-rd-aspen-zephyr.inc', '', d)} + +require ${@bb.utils.contains('DISTRO_FEATURES', 'freertos', \ + 'conf/machine/include/fvp/fvp-rd-aspen-freertos.inc', '', d)} diff --git a/arm-zena-css/yocto/meta-zena-css-safety-island/conf/machine/include/fvp/fvp-rd-aspen-freertos.inc b/arm-zena-css/yocto/meta-zena-css-safety-island/conf/machine/include/fvp/fvp-rd-aspen-freertos.inc new file mode 100644 index 00000000..c36c78f0 --- /dev/null +++ b/arm-zena-css/yocto/meta-zena-css-safety-island/conf/machine/include/fvp/fvp-rd-aspen-freertos.inc @@ -0,0 +1,12 @@ +# +# SPDX-FileCopyrightText: Copyright 2025-2026 Arm Limited and/or its +# affiliates +# +# SPDX-License-Identifier: MIT + +# Safety Island FreeRTOS defaults. +# This file is included (via conf/machine/include/fvp/fvp-rd-aspen-extras.inc) +# only when the distro enables FreeRTOS (DISTRO_FEATURES contains "freertos"). + +SAFETY_ISLAND_CL1_RECIPE ??= "freertos-demos-cl1" +SAFETY_ISLAND_CL1_IMAGE ??= "${SAFETY_ISLAND_CL1_RECIPE}" diff --git a/arm-zena-css/yocto/meta-zena-css-safety-island/recipes-kernel/freertos-kernel/files/0001-toolchain-use-gcc-13-cortex-r82-name.patch b/arm-zena-css/yocto/meta-zena-css-safety-island/recipes-kernel/freertos-kernel/files/0001-toolchain-use-gcc-13-cortex-r82-name.patch new file mode 100644 index 00000000..4586d0fd --- /dev/null +++ b/arm-zena-css/yocto/meta-zena-css-safety-island/recipes-kernel/freertos-kernel/files/0001-toolchain-use-gcc-13-cortex-r82-name.patch @@ -0,0 +1,41 @@ +From 20f4b6dd508128439f746af770753fab8174924b Mon Sep 17 00:00:00 2001 +From: Julien Jayat +Date: Wed, 2 Sep 2026 10:00:00 +0200 +Subject: [PATCH] build: support the GCC 13 toolchain + +Adapt the demo to build correctly with the aarch64-none-elf GCC 13.3 +toolchain supplied by meta-arm. + +GCC 13 does not recognise cortex-r82ae, so use its equivalent cortex-r82 +CPU name. Also compile crt_replacements.c with -fno-builtin-memset to stop +GCC 13 optimizing the replacement memset implementation into unsafe SIMD +stores. + +Also allow the recipe to supply a source-prefix map. This prevents absolute +Yocto build paths used by FreeRTOS assertions from entering the raw firmware. + +Upstream-Status: Inappropriate [Yocto toolchain compatibility] +Signed-off-by: Julien Jayat +--- + CMakeLists.txt | 4 ++++ + gnu_toolchain.cmake | 4 ++-- + 2 files changed, 6 insertions(+), 2 deletions(-) + +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 9e48e8d..e36555f 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -81,0 +82,4 @@ target_sources(${DEMO_TARGET_NAME} ++set_source_files_properties(crt_replacements.c PROPERTIES ++ COMPILE_OPTIONS "$<$:-fno-builtin-memset>" ++) ++ +diff --git a/gnu_toolchain.cmake b/gnu_toolchain.cmake +index b8a5144..72c9775 100644 +--- a/gnu_toolchain.cmake ++++ b/gnu_toolchain.cmake +@@ -16,2 +16,2 @@ +-set(CMAKE_C_FLAGS "-mcpu=cortex-r82ae -mabi=lp64 -mlittle-endian -Wall -Wextra -mstrict-align -Wno-return-type -Wno-unused-parameter -Wno-attributes -Wno-pointer-to-int-cast -Wno-int-to-pointer-cast") +-set(CMAKE_ASM_FLAGS "-mcpu=cortex-r82ae -mabi=lp64 -Wall") ++set(CMAKE_C_FLAGS "-mcpu=cortex-r82 -mabi=lp64 -mlittle-endian -Wall -Wextra -mstrict-align -Wno-return-type -Wno-unused-parameter -Wno-attributes -Wno-pointer-to-int-cast -Wno-int-to-pointer-cast ${FREERTOS_SOURCE_PREFIX_MAP}") ++set(CMAKE_ASM_FLAGS "-mcpu=cortex-r82 -mabi=lp64 -Wall ${FREERTOS_SOURCE_PREFIX_MAP}") diff --git a/arm-zena-css/yocto/meta-zena-css-safety-island/recipes-kernel/freertos-kernel/freertos-demos-cl1.bb b/arm-zena-css/yocto/meta-zena-css-safety-island/recipes-kernel/freertos-kernel/freertos-demos-cl1.bb new file mode 100644 index 00000000..d6a3e2fb --- /dev/null +++ b/arm-zena-css/yocto/meta-zena-css-safety-island/recipes-kernel/freertos-kernel/freertos-demos-cl1.bb @@ -0,0 +1,59 @@ +# SPDX-License-Identifier: MIT + +SUMMARY = "FreeRTOS Demo on Safety Island Cluster 1" +DESCRIPTION = "FreeRTOS demo application for Zena CSS SI CL1" + +LICENSE = "MIT" +LIC_FILES_CHKSUM = " \ + file://LICENSE.md;md5=5d1c92c2ddf8acf8480e3c18f3ab890b \ + file://${FREERTOS_KERNEL_DIR}/LICENSE.md;md5=7ae2be7fb1637141840314b51970a9f7 \ +" + +inherit cmake deploy +inherit pv_tracker + +SRC_URI = " \ + git://github.com/JulienJayat-Arm/FreeRTOS-Partner-Supported-Demos.git;protocol=https;branch=R82AE-demo;name=demos;destsuffix=demos \ + git://github.com/JulienJayat-Arm/FreeRTOS-Kernel.git;protocol=https;branch=R82AE-demo;name=kernel;destsuffix=kernel \ + file://0001-toolchain-use-gcc-13-cortex-r82-name.patch \ +" +SRCREV_demos = "27962d523fa4d96e643e4f225dd3cd49bb7829de" +SRCREV_kernel = "def452c440997856806ed9a20058bd3c4acde315" +SRCREV_FORMAT = "demos_kernel" + +S = "${UNPACKDIR}/demos/CORTEX_R82AE_SMP_FVP_MPU_GCC_ARMCLANG" +FREERTOS_KERNEL_DIR = "${UNPACKDIR}/kernel" + +MULTIMACH_TARGET_SYS = "${MACHINE}_safety_island_c1-freertos" + +DEPENDS += "gcc-aarch64-none-elf-native" + +CMAKE_BUILD_TYPE = "Debug" +OECMAKE_BUILD_TYPE = "${CMAKE_BUILD_TYPE}" +EXTRA_OECMAKE = " \ + -DCMAKE_TOOLCHAIN_FILE=${S}/gnu_toolchain.cmake \ + -DKERNEL_DIR_PATH=${FREERTOS_KERNEL_DIR} \ + -DR82AE_PLATFORM=zena_css_fvp \ + -DFREERTOS_SOURCE_PREFIX_MAP=-ffile-prefix-map=${UNPACKDIR}=/usr/src/debug/${PN}/${PV} \ +" + +FREERTOS_ELF = "${B}/r82ae_smp_fvp_gcc_armclang.elf" +FREERTOS_BINARY = "${B}/r82ae_smp_fvp_gcc_armclang.bin" + +do_compile:append() { + ${STAGING_BINDIR_NATIVE}/aarch64-none-elf-objcopy -O binary \ + "${FREERTOS_ELF}" "${FREERTOS_BINARY}" +} + +do_install() { + install -d "${D}/firmware" + install -m 0644 "${FREERTOS_BINARY}" "${D}/firmware/${PN}.bin" +} + +PACKAGES = "" +SYSROOT_DIRS += "/firmware" + +do_deploy() { + install -m 0644 "${D}/firmware/${PN}.bin" "${DEPLOYDIR}/${PN}.bin" +} +addtask deploy after do_install diff --git a/sw-ref-stack/yocto/kas/arm-auto-solutions.yml b/sw-ref-stack/yocto/kas/arm-auto-solutions.yml index e71cc429..c0bf6a48 100644 --- a/sw-ref-stack/yocto/kas/arm-auto-solutions.yml +++ b/sw-ref-stack/yocto/kas/arm-auto-solutions.yml @@ -70,5 +70,5 @@ local_conf_header: cassini: | CASSINI_GENERIC_ARM64_FILESYSTEM = "0" DISTRO_FEATURES:remove = "cassini-security cassini-ota cassini-parsec" - DISTRO_FEATURES:append = " cassini-dev zephyr" + DISTRO_FEATURES:append = " cassini-dev" KERNEL_CLASSES:remove = "containers_kernelcfg_check" diff --git a/sw-ref-stack/yocto/kas/si-cl1-freertos.yml b/sw-ref-stack/yocto/kas/si-cl1-freertos.yml new file mode 100644 index 00000000..5cc49c9d --- /dev/null +++ b/sw-ref-stack/yocto/kas/si-cl1-freertos.yml @@ -0,0 +1,13 @@ +# +# SPDX-FileCopyrightText: Copyright 2026 Arm Limited and/or its +# affiliates +# +# SPDX-License-Identifier: MIT + +--- +header: + version: 16 + +local_conf_header: + si-cl1-freertos: | + DISTRO_FEATURES:append = " freertos" diff --git a/sw-ref-stack/yocto/kas/si-cl1-zephyr.yml b/sw-ref-stack/yocto/kas/si-cl1-zephyr.yml new file mode 100644 index 00000000..67b76ee6 --- /dev/null +++ b/sw-ref-stack/yocto/kas/si-cl1-zephyr.yml @@ -0,0 +1,13 @@ +# +# SPDX-FileCopyrightText: Copyright 2026 Arm Limited and/or its +# affiliates +# +# SPDX-License-Identifier: MIT + +--- +header: + version: 16 + +local_conf_header: + si-cl1-zephyr: | + DISTRO_FEATURES:append = " zephyr"