arch: riscv: core: run zephyr completely in user/supervisor mode

Before that fix, zephyr was able to start only in machine mode.
With that fix, zephyr can start (as guest) in user or supervisor mode.
Defined new board type qemu_riscv32/qemu_virt_riscv32/opensbi
Drivers for running zephyr in supervisor with qemu included.
Fixes zephyrproject-rtos#68133

Signed-off-by: Sven Ginka <[email protected]>
Signed-off-by: Sven Ginka <[email protected]>

arch/riscv/Kconfig

@@ -206,6 +206,25 @@ config RISCV_GENERIC_TOOLCHAIN
 	  Allow SOCs that have custom extended riscv ISA to still
 	  compile with generic riscv32 toolchain.
 
+config RISCV_KERNEL_IN_USER_MODE
+	bool "Start zephyr in user mode"
+	help
+	  Replaces CSR access from machine mode to user mode.
+	  Allows zephyr to run as guest in user mode only
+
+config RISCV_KERNEL_IN_SUPERVISOR_MODE
+	bool "Start zephyr in supervisor mode"
+	help
+	  Replaces CSR access from machine mode to supervisor mode.
+	  Allows zephyr to run as guest in supervisor mode only
+
+config RISCV_KERNEL_IN_MACHINE_MODE
+	bool "Start zephyr in supervisor mode"
+	default y if (!RISCV_KERNEL_IN_SUPERVISOR_MODE) && (!RISCV_KERNEL_IN_USER_MODE)
+	help
+	  Presets CSR access to machine mode registers.
+	  Allows zephyr to run in machine mode (default for riscv).
+
 config GEN_ISR_TABLES
 	default y
 

arch/riscv/core/cpu_idle.c

@@ -12,7 +12,7 @@ void arch_cpu_idle(void)
 {
 	sys_trace_idle();
 	__asm__ volatile("wfi");
-	irq_unlock(MSTATUS_IEN);
+	irq_unlock(XSTATUS_IEN);
 }
 #endif
 

arch/riscv/core/fatal.c

@@ -79,8 +79,8 @@ FUNC_NORETURN void z_riscv_fatal_error_csf(unsigned int reason, const struct arc
 #endif /* CONFIG_RISCV_ISA_RV32E */
 		LOG_ERR("     sp: " PR_REG, z_riscv_get_sp_before_exc(esf));
 		LOG_ERR("     ra: " PR_REG, esf->ra);
-		LOG_ERR("   mepc: " PR_REG, esf->mepc);
-		LOG_ERR("mstatus: " PR_REG, esf->mstatus);
+		LOG_ERR("   xepc: " PR_REG, esf->xepc);
+		LOG_ERR("xstatus: " PR_REG, esf->xstatus);
 		LOG_ERR("");
 	}
 
@@ -209,11 +209,11 @@ void _Fault(struct arch_esf *esf)
 
 	unsigned long mcause;
 
-	__asm__ volatile("csrr %0, mcause" : "=r" (mcause));
+	__asm__ volatile("csrr %0," STRINGIFY(xcause) : "=r"(mcause));
 
 #ifndef CONFIG_SOC_OPENISA_RV32M1
 	unsigned long mtval;
-	__asm__ volatile("csrr %0, mtval" : "=r" (mtval));
+	__asm__ volatile("csrr %0," STRINGIFY(xtval) : "=r"(mtval));
 #endif
 
 	mcause &= CONFIG_RISCV_MCAUSE_EXCEPTION_MASK;

arch/riscv/core/irq_manage.c

@@ -19,15 +19,15 @@ LOG_MODULE_DECLARE(os, CONFIG_KERNEL_LOG_LEVEL);
 
 FUNC_NORETURN void z_irq_spurious(const void *unused)
 {
-	unsigned long mcause;
+	unsigned long xcause;
 
 	ARG_UNUSED(unused);
 
-	mcause = csr_read(mcause);
+	xcause = csr_read(xcause);
 
-	mcause &= CONFIG_RISCV_MCAUSE_EXCEPTION_MASK;
+	xcause &= CONFIG_RISCV_MCAUSE_EXCEPTION_MASK;
 
-	LOG_ERR("Spurious interrupt detected! IRQ: %ld", mcause);
+	LOG_ERR("Spurious interrupt detected! IRQ: %ld", xcause);
 #if defined(CONFIG_RISCV_HAS_PLIC)
 	if (mcause == RISCV_IRQ_MEXT) {
 		unsigned int save_irq = riscv_plic_get_irq();

arch/riscv/core/isr.S

@@ -2,6 +2,7 @@
  * Copyright (c) 2016 Jean-Paul Etienne <[email protected]>
  * Copyright (c) 2018 Foundries.io Ltd
  * Copyright (c) 2020 BayLibre, SAS
+ * Copyright (c) 2024 sensry.io
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -189,12 +190,12 @@ SECTION_FUNC(exception.entry, _isr_wrapper)
 	get_current_cpu s0
 
 	/* Save MEPC register */
-	csrr t0, mepc
-	sr t0, __struct_arch_esf_mepc_OFFSET(sp)
+	csrr t0, xepc
+	sr t0, __struct_arch_esf_xepc_OFFSET(sp)
 
 	/* Save MSTATUS register */
-	csrr t2, mstatus
-	sr t2, __struct_arch_esf_mstatus_OFFSET(sp)
+	csrr t2, xstatus
+	sr t2, __struct_arch_esf_xstatus_OFFSET(sp)
 
 #if defined(CONFIG_FPU_SHARING)
 	/* determine if FPU access was disabled */
@@ -319,7 +320,7 @@ no_fp:	/* increment _current->arch.exception_depth */
 	jal ra, __soc_is_irq
 	bnez a0, is_interrupt
 #else
-	csrr t0, mcause
+	csrr t0, xcause
 	srli t0, t0, RISCV_MCAUSE_IRQ_POS
 	bnez t0, is_interrupt
 #endif
@@ -329,7 +330,7 @@ no_fp:	/* increment _current->arch.exception_depth */
 	 * perform a context-switch or an IRQ offload. Otherwise call _Fault
 	 * to report the exception.
 	 */
-	csrr t0, mcause
+	csrr t0, xcause
 	li t2, CONFIG_RISCV_MCAUSE_EXCEPTION_MASK
 	and t0, t0, t2
 
@@ -385,9 +386,9 @@ is_kernel_syscall:
 	 * It's safe to always increment by 4, even with compressed
 	 * instructions, because the ecall instruction is always 4 bytes.
 	 */
-	lr t0, __struct_arch_esf_mepc_OFFSET(sp)
+	lr t0, __struct_arch_esf_xepc_OFFSET(sp)
 	addi t0, t0, 4
-	sr t0, __struct_arch_esf_mepc_OFFSET(sp)
+	sr t0, __struct_arch_esf_xepc_OFFSET(sp)
 
 #ifdef CONFIG_PMP_STACK_GUARD
 	/* Re-activate PMP for m-mode */
@@ -505,9 +506,9 @@ is_user_syscall:
 	 * Same as for is_kernel_syscall: increment saved MEPC by 4 to
 	 * prevent triggering the same ecall again upon exiting the ISR.
 	 */
-	lr t1, __struct_arch_esf_mepc_OFFSET(sp)
+	lr t1, __struct_arch_esf_xepc_OFFSET(sp)
 	addi t1, t1, 4
-	sr t1, __struct_arch_esf_mepc_OFFSET(sp)
+	sr t1, __struct_arch_esf_xepc_OFFSET(sp)
 
 	/* Restore argument registers from user stack */
 	lr a0, __struct_arch_esf_a0_OFFSET(sp)
@@ -565,7 +566,7 @@ is_interrupt:
 	 * If we came from userspace then we need to reconfigure the
 	 * PMP for kernel mode stack guard.
 	 */
-	lr t0, __struct_arch_esf_mstatus_OFFSET(sp)
+	lr t0, __struct_arch_esf_xstatus_OFFSET(sp)
 	li t1, MSTATUS_MPP
 	and t0, t0, t1
 	bnez t0, 1f
@@ -609,7 +610,7 @@ on_irq_stack:
 #endif
 
 	/* Get IRQ causing interrupt */
-	csrr a0, mcause
+	csrr a0, xcause
 	li t0, CONFIG_RISCV_MCAUSE_EXCEPTION_MASK
 	and a0, a0, t0
 
@@ -714,10 +715,10 @@ fp_trap_exit:
 #endif
 
 	/* Restore MEPC and MSTATUS registers */
-	lr t0, __struct_arch_esf_mepc_OFFSET(sp)
-	lr t2, __struct_arch_esf_mstatus_OFFSET(sp)
-	csrw mepc, t0
-	csrw mstatus, t2
+	lr t0, __struct_arch_esf_xepc_OFFSET(sp)
+	lr t2, __struct_arch_esf_xstatus_OFFSET(sp)
+	csrw xepc, t0
+	csrw xstatus, t2
 
 #ifdef CONFIG_USERSPACE
 	/*
@@ -775,4 +776,4 @@ fp_trap_exit:
 
 #endif /* CONFIG_RISCV_SOC_HAS_ISR_STACKING */
 
-	mret
+	xret

arch/riscv/core/offsets/offsets.c

@@ -13,9 +13,9 @@
  * structures.
  */
 
-#include <zephyr/arch/exception.h>
 #include <zephyr/kernel.h>
 #include <kernel_arch_data.h>
+#include <zephyr/arch/exception.h>
 #include <gen_offset.h>
 
 #ifdef CONFIG_RISCV_SOC_CONTEXT_SAVE
@@ -109,8 +109,8 @@ GEN_OFFSET_STRUCT(arch_esf, a6);
 GEN_OFFSET_STRUCT(arch_esf, a7);
 #endif /* !CONFIG_RISCV_ISA_RV32E */
 
-GEN_OFFSET_STRUCT(arch_esf, mepc);
-GEN_OFFSET_STRUCT(arch_esf, mstatus);
+GEN_OFFSET_STRUCT(arch_esf, xepc);
+GEN_OFFSET_STRUCT(arch_esf, xstatus);
 
 GEN_OFFSET_STRUCT(arch_esf, s0);
 

arch/riscv/core/reset.S

@@ -38,7 +38,11 @@ SECTION_FUNC(reset, __reset)
  * the C domain
  */
 SECTION_FUNC(TEXT, __initialize)
-	csrr a0, mhartid
+#ifdef CONFIG_RISCV_HAS_HART_ID
+	csrr a0, xhartid
+#else
+    li a0, CONFIG_RV_BOOT_HART
+#endif
 	li t0, CONFIG_RV_BOOT_HART
 	beq a0, t0, boot_first_core
 	j boot_secondary_core

arch/riscv/core/stacktrace.c

@@ -199,7 +199,7 @@ static void walk_stackframe(stack_trace_callback_fn cb, void *cookie, const stru
 	if (esf != NULL) {
 		/* Unwind the provided exception stack frame */
 		sp = z_riscv_get_sp_before_exc(esf);
-		ra = esf->mepc;
+		ra = esf->xepc;
 	} else if ((csf == NULL) || (csf == &_current->callee_saved)) {
 		/* Unwind current thread (default case when nothing is provided ) */
 		sp = current_stack_pointer;

arch/riscv/core/thread.c

@@ -63,7 +63,7 @@ void arch_new_thread(struct k_thread *thread, k_thread_stack_t *stack,
 	 *    counter will be restored following the MEPC value set within the
 	 *    thread stack.
 	 */
-	stack_init->mstatus = MSTATUS_DEF_RESTORE;
+	stack_init->xstatus = XSTATUS_DEF_RESTORE;
 
 #if defined(CONFIG_FPU_SHARING)
 	/* thread birth happens through the exception return path */
@@ -83,11 +83,11 @@ void arch_new_thread(struct k_thread *thread, k_thread_stack_t *stack,
 	if (IS_ENABLED(CONFIG_USERSPACE)
 	    && (thread->base.user_options & K_USER)) {
 		/* User thread */
-		stack_init->mepc = (unsigned long)k_thread_user_mode_enter;
+		stack_init->xepc = (unsigned long)k_thread_user_mode_enter;
 
 	} else {
 		/* Supervisor thread */
-		stack_init->mepc = (unsigned long)z_thread_entry;
+		stack_init->xepc = (unsigned long)z_thread_entry;
 
 #if defined(CONFIG_PMP_STACK_GUARD)
 		/* Enable PMP in mstatus.MPRV mode for RISC-V machine mode

boards/qemu/riscv32/board.yml

@@ -5,3 +5,4 @@ board:
     - name: qemu_virt_riscv32
       variants:
         - name: smp
+        - name: opensbi

boards/qemu/riscv32/qemu_riscv32_qemu_virt_riscv32_opensbi.dts

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2024 sensry.io
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+
+#include <qemu/virt-riscv32.dtsi>
+
+/ {
+	console0: console {
+		compatible = "opensbi,console-uart";
+		status = "okay";
+	};
+
+	chosen {
+		zephyr,console = &console0;
+		zephyr,shell-uart = &console0;
+		zephyr,sram = &ram0;
+	};
+};
+
+&ram0 {
+	device_type = "memory";
+	reg = < 0x80400000 0x100000 >;
+};
+
+&uart0 {
+	status = "disabled";
+};
+
+&plic {
+	status = "disabled";
+};
+
+&clint {
+	status = "disabled";
+};

boards/qemu/riscv32/qemu_riscv32_qemu_virt_riscv32_opensbi.yaml

@@ -0,0 +1,15 @@
+identifier: qemu_riscv32/qemu_virt_riscv32/opensbi
+name: QEMU Emulation for RISC-V 32-bit openSBI
+type: qemu
+simulation: qemu
+arch: riscv
+toolchain:
+  - zephyr
+  - xtools
+supported:
+  - netif
+testing:
+  default: true
+  ignore_tags:
+    - net
+    - bluetooth

boards/qemu/riscv32/qemu_riscv32_qemu_virt_riscv32_opensbi_defconfig

@@ -0,0 +1,32 @@
+# Copyright (c) 2024 sensry.io
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_CONSOLE=y
+CONFIG_SERIAL=y
+CONFIG_UART_CONSOLE=y
+CONFIG_STACK_SENTINEL=y
+CONFIG_XIP=n
+CONFIG_RISCV_PMP=y
+CONFIG_SMP=y
+CONFIG_MP_MAX_NUM_CPUS=1
+CONFIG_IDLE_STACK_SIZE=1024
+CONFIG_QEMU_ICOUNT=n
+
+# enable the openSBI support, requires a compiled version of openSBI binary in machine mode
+CONFIG_RISCV_OPENSBI=y
+
+# we run zephyr in supervisor mode
+CONFIG_RISCV_KERNEL_IN_SUPERVISOR_MODE=y
+CONFIG_RISCV_MACHINE_TIMER=n
+
+# options that have to be disabled by now
+CONFIG_USERSPACE=n
+CONFIG_RISCV_HAS_HART_ID=n
+CONFIG_SMP=n
+CONFIG_RISCV_PMP=n
+
+# build output for qemu
+CONFIG_BUILD_OUTPUT_BIN=y
+
+
+CONFIG_THREAD_MONITOR=n

drivers/serial/CMakeLists.txt

@@ -78,6 +78,7 @@ zephyr_library_sources_ifdef(CONFIG_UART_RZT2M uart_rzt2m.c)
 zephyr_library_sources_ifdef(CONFIG_UART_RA8_SCI_B uart_renesas_ra8_sci_b.c)
 zephyr_library_sources_ifdef(CONFIG_USERSPACE   uart_handlers.c)
 zephyr_library_sources_ifdef(CONFIG_UART_SCI_RA uart_renesas_ra_sci.c)
+zephyr_library_sources_ifdef(CONFIG_UART_OPENSBI_CONSOLE uart_opensbi_console.c)
 
 if(CONFIG_UART_NATIVE_POSIX)
   zephyr_library_compile_definitions(NO_POSIX_CHEATS)

drivers/serial/Kconfig

@@ -280,4 +280,6 @@ rsource "Kconfig.rzt2m"
 
 rsource "Kconfig.renesas_ra8"
 
+rsource "Kconfig.opensbi_console"
+
 endif # SERIAL

drivers/serial/Kconfig.opensbi_console

@@ -0,0 +1,17 @@
+# openSBI Console UART driver configuration options
+
+# Copyright (c) 2024 sensry.io
+# SPDX-License-Identifier: Apache-2.0
+
+
+if RISCV_OPENSBI
+
+config UART_OPENSBI_CONSOLE
+	bool "openSBI console serial driver"
+	default y
+	select SERIAL_HAS_DRIVER
+	help
+	  This option enables the console driver for openSBI based RISCV family of
+	  processors.
+
+endif # RISCV_OPENSBI