Working version

CMakeLists.txt

@@ -13,13 +13,25 @@ add_executable(card-os
   src/card-os.c
   src/usb_descriptors.c
   src/display.c
+  src/ring-buffer.c
 )
 target_include_directories(card-os PRIVATE include)
-target_link_libraries(card-os PRIVATE pico_stdlib tinyusb_device tinyusb_board pico_unique_id hardware_clocks hardware_spi)
+target_link_libraries(card-os PRIVATE pico_stdlib tinyusb_device tinyusb_board pico_unique_id hardware_clocks hardware_spi pico_multicore)
 pico_set_linker_script(card-os ${CMAKE_CURRENT_SOURCE_DIR}/src/card-os-link.ld)
 pico_add_extra_outputs(card-os)
 
-add_library(card-os-user
+add_library(card-os-user STATIC
   src/card-os-user.c
 )
 target_include_directories(card-os-user PUBLIC include/user)
+target_link_options(card-os-user PUBLIC -Wl,--script=${CMAKE_CURRENT_SOURCE_DIR}/src/card-os-link-user.ld -nostartfiles)
+
+function(card_os_finalize_user_program TARGET_NAME)
+  add_custom_command(
+    TARGET ${TARGET_NAME} POST_BUILD
+    COMMAND ${CMAKE_OBJCOPY} -O binary $<TARGET_FILE:${TARGET_NAME}> $<TARGET_FILE_DIR:${TARGET_NAME}>/${TARGET_NAME}.bin
+    COMMENT "Generating raw .bin file for ${TARGET_NAME}"
+  )
+endfunction()
+
+add_subdirectory(examples)

examples/CMakeLists.txt

@@ -0,0 +1,3 @@
+cmake_minimum_required(VERSION 4.0)
+
+add_subdirectory(first)

examples/first/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 4.0)
+
+add_executable(first
+  first.c
+)
+target_link_libraries(first PUBLIC card-os-user)
+
+card_os_finalize_user_program(first)

examples/first/first.c

@@ -0,0 +1,13 @@
+#include <card-os.h>
+
+static volatile int value;
+
+int main(void)
+{
+  card_os_put_rect((card_os_rect){
+    .r = 0, .g = 0, .b = 0, .x = 0, .y = 0, .w = 240, .h = 320 });
+  card_os_put_rect((card_os_rect){
+    .r = 0xFF, .g = 0xFF, .b = 0xFF, .x = 60, .y = 80, .w = 60, .h = 80 });
+
+  return 0;
+}

include/ring-buffer.h

@@ -0,0 +1,22 @@
+#ifndef CARD_OS_RING_BUFFER
+#define CARD_OS_RING_BUFFER
+
+#include "user/card-os.h"
+
+enum
+{
+  OS_RING_BUFFER_SIZE = 16
+};
+
+typedef struct
+{
+  unsigned int write_index;
+  unsigned int read_index;
+
+  os_message buffer[OS_RING_BUFFER_SIZE];
+} os_ring_buffer;
+
+int os_ring_buffer_write(volatile os_ring_buffer* ring_buffer,
+                         const os_message* message);
+
+#endif // CARD_OS_RING_BUFFER

include/user/card-os.h

@@ -3,12 +3,27 @@
 
 #include <stdint.h>
 
+typedef enum
+{
+  OS_CMD_TERMINATE_PROGRAM,
+  OS_CMD_SBRK,
+  OS_CMD_DRAW_RECT
+} os_command;
+
+typedef struct
+{
+  os_command command;
+  void* data;
+} os_message;
+
+typedef void (*os_call_fn)(os_message*);
+
 typedef struct
 {
   uint8_t r, g, b;
   uint16_t x, y, w, h;
 } card_os_rect;
 
-void card_os_put_rect(const card_os_rect* rect);
+void card_os_put_rect(card_os_rect rect);
 
 #endif // CARD_OS_USER

src/card-os-link-user.ld

@@ -0,0 +1,39 @@
+ENTRY(_start)
+
+MEMORY
+{
+    RAM (rwx) : ORIGIN = 0x20000000 + 192k, LENGTH = 64k
+}
+
+SECTIONS
+{
+    . = ORIGIN(RAM);
+
+    .start : ALIGN(4)
+    {
+        KEEP(*(.start))
+    }
+
+    .text : ALIGN(4)
+    {
+        *(.text*)
+    }
+
+    .rodata : ALIGN(4)
+    {
+        *(.rodata*)
+    }
+
+    .data : ALIGN(4)
+    {
+        *(.data*)
+    }
+
+    .bss (NOLOAD) : ALIGN(4)
+    {
+        __bss_start__ = .;
+        *(.bss*)
+        *(COMMON)
+        __bss_end__ = .;
+    }
+}

src/card-os-link.ld

@@ -23,12 +23,16 @@
 
 FLASH_SIZE = 8m;
 OSCALL_SIZE = 4k;
+TOTAL_RAM_SIZE = 256k;
+USER_RAM_SIZE = 64k;
+KERNEL_RAM_SIZE = TOTAL_RAM_SIZE - USER_RAM_SIZE;
 
 MEMORY
 {
     FLASH(rx) : ORIGIN = 0x10000000, LENGTH = FLASH_SIZE - OSCALL_SIZE
     OSCALL(rx) : ORIGIN = 0x10000000 + FLASH_SIZE - OSCALL_SIZE, LENGTH = OSCALL_SIZE
-    RAM(rwx) : ORIGIN =  0x20000000, LENGTH = 256k
+    RAM(rwx) : ORIGIN =  0x20000000, LENGTH = KERNEL_RAM_SIZE
+    USER_RAM(rwx) : ORIGIN = 0x20000000 + KERNEL_RAM_SIZE, LENGTH = USER_RAM_SIZE
     SCRATCH_X(rwx) : ORIGIN = 0x20040000, LENGTH = 4k
     SCRATCH_Y(rwx) : ORIGIN = 0x20041000, LENGTH = 4k
 }
@@ -145,12 +149,12 @@ SECTIONS
     . = ALIGN(4);
 
     . = ALIGN(4);
-    __oscall_start = .;
     .oscall :
     {
+        __oscall_start = .;
         KEEP(*(.oscall))
+        __oscall_end = .;
     } > OSCALL
-    __oscall_end = .;
     . = ALIGN(4);
 
     .ram_vector_table (NOLOAD): {
@@ -290,6 +294,9 @@ SECTIONS
     PROVIDE (_end = __end__);
     PROVIDE (__llvm_libc_heap_limit = __HeapLimit);
 
+    PROVIDE(__user_ram_start = ORIGIN(USER_RAM));
+    PROVIDE(__user_ram_end = ORIGIN(USER_RAM) + LENGTH(USER_RAM));
+
     /* Check if data + heap + stack exceeds RAM limit */
     ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed")
 

src/card-os-user.c

@@ -1,7 +1,48 @@
 #include <card-os.h>
 #include <stddef.h>
+#include <stdio.h>
 
-typedef void (*os_call_fn)(int call, const void* inptr, void* outptr);
+const os_call_fn oscall
+  = (os_call_fn)(0x10000000 + 8 * 1024 * 1024 - 4096 + 1);
 
-// address guaranteed by linker script for os
+int _close(int file) { return -1; }
-extern os_call_fn __oscall_start;
+
+off_t _lseek(int file, off_t ptr, int dir) { return 0; }
+
+ssize_t _read(int file, void* ptr, size_t len) { return 0; }
+
+ssize_t _write(int file, const void* ptr, size_t len) { return len; }
+
+void _exit(int status)
+{
+  oscall(&(os_message){ .command = OS_CMD_TERMINATE_PROGRAM, .data = NULL });
+  while (1)
+  {
+  }
+}
+
+void* _sbrk(ptrdiff_t incr)
+{
+  os_message msg = { .command = OS_CMD_SBRK, .data = &incr };
+  oscall(&msg);
+  return msg.data;
+}
+
+void card_os_put_rect(card_os_rect rect)
+{
+  oscall(&(os_message){ .command = OS_CMD_DRAW_RECT, .data = &rect });
+}
+
+extern uint8_t __bss_start__;
+extern uint8_t __bss_end__;
+int main(void);
+
+__attribute__((section(".start"))) void _start(void)
+{
+  for (uint8_t* p = &__bss_start__; p < &__bss_end__; p++)
+  {
+    *p = 0;
+  }
+
+  _exit(main());
+}

src/card-os.c

@@ -2,9 +2,12 @@
 
 #include "card-os.h"
 #include "display.h"
+#include "ring-buffer.h"
 
 #include <hardware/spi.h>
+#include <hardware/sync.h>
 #include <pico/bootrom.h>
+#include <pico/multicore.h>
 #include <pico/stdlib.h>
 #include <tusb.h>
 
@@ -14,6 +17,15 @@ const uint8_t DISPLAY_CS = 5;
 const uint8_t DISPLAY_DC = 4;
 spi_inst_t* const DISPLAY_SPI = spi0;
 
+extern uint8_t __user_ram_start;
+
+typedef int (*user_program_fn)(void);
+static volatile user_program_fn user_program;
+
+void core1_entry(void);
+void os_task(void);
+void os_handle_message(const os_message* msg, os_message* out);
+
 int main(void)
 {
   gpio_set_function(DISPLAY_SCK, GPIO_FUNC_SPI);
@@ -33,18 +45,146 @@ int main(void)
 
   tud_init(0);
 
+  user_program = NULL;
+  multicore_launch_core1(core1_entry);
+
   while (true)
   {
     tud_task();
+    os_task();
   }
 }
 
+static uint16_t program_length;
+static uint16_t program_write_index;
+static enum {
+  RECV_WAITING,
+  RECV_HIGH8_LENGTH,
+  RECV_LOW8_LENGTH,
+  RECV_PROGRAM
+} recv_status = RECV_WAITING;
 void tud_vendor_rx_cb(uint8_t itf, const uint8_t* buffer, uint16_t bufsize)
 {
-  if (buffer[0] == 0x99)
+  if (buffer[0] == 0x99 && recv_status == RECV_WAITING)
   {
     rom_reset_usb_boot(0, 0);
   }
+  else
+  {
+    for (int bufidx = 0; bufidx < bufsize; bufidx++)
+    {
+      switch (recv_status)
+      {
+      case RECV_WAITING:
+        program_length = 0;
+        program_write_index = 0;
+        recv_status = RECV_HIGH8_LENGTH;
+        break;
+
+      case RECV_HIGH8_LENGTH:
+        display_put_rect(0, 0, 0xFF, 0, 0, 240, 320);
+        program_length |= buffer[bufidx];
+        program_length <<= 8;
+        recv_status = RECV_LOW8_LENGTH;
+        break;
+
+      case RECV_LOW8_LENGTH:
+        display_put_rect(0xFF, 0, 0, 0, 0, 240, 320);
+        program_length |= buffer[bufidx];
+        recv_status = RECV_PROGRAM;
+        break;
+
+      case RECV_PROGRAM:
+        (&__user_ram_start)[program_write_index++] = buffer[bufidx];
+        if (program_write_index == program_length)
+        {
+          display_put_rect(0, 0xFF, 0, 0, 0, 240, 320);
+          __dmb();
+          user_program = (user_program_fn)((uintptr_t)&__user_ram_start | 1);
+          __sev();
+          recv_status = RECV_WAITING;
+        }
+        break;
+      }
+    }
+  }
+}
+
+static volatile os_ring_buffer core0_buffer
+  = { .read_index = 0, .write_index = 0 };
+static volatile os_ring_buffer core1_buffer
+  = { .read_index = 0, .write_index = 0 };
+
+void core1_entry(void)
+{
+  display_put_rect(0xFF, 0, 0xFF, 0, 0, 240, 320);
+
+  while (!user_program)
+  {
+    __wfe();
+  }
+
+  user_program();
+
+  // send message to terminate core 1
+  int index = -1;
+  while (index < 0)
+  {
+    index = os_ring_buffer_write(&core1_buffer,
+                                 &(os_message){ .command = 1, .data = NULL });
+  }
+  multicore_fifo_push_blocking(index);
+
+  // stall until reset
+  while (true)
+  {
+  }
+}
+
+// runs on core 0
+void os_task(void)
+{
+  if (multicore_fifo_rvalid())
+  {
+    uint32_t index = multicore_fifo_pop_blocking();
+    os_message msg = core1_buffer.buffer[index];
+    core1_buffer.read_index
+      = (core1_buffer.read_index + 1) % OS_RING_BUFFER_SIZE;
+    os_message out;
+    os_handle_message(&msg, &out);
+    out.command = msg.command;
+    int wrote_index = -1;
+    while (wrote_index < 0)
+    {
+      wrote_index = os_ring_buffer_write(&core0_buffer, &out);
+    }
+    multicore_fifo_push_blocking(wrote_index);
+  }
+}
+
+extern uint8_t __end__;
+extern uint8_t __StackLimit;
+
+static uint8_t* heap_end;
+void os_sbrk(const ptrdiff_t* incr, void** out)
+{
+  if (!heap_end)
+  {
+    heap_end = &__end__;
+  }
+
+  uint8_t* prev = heap_end;
+  uint8_t* next = heap_end + *(ptrdiff_t*)incr;
+
+  if (next >= &__StackLimit || next < &__end__)
+  {
+    *out = (void*)-1;
+  }
+  else
+  {
+    heap_end = next;
+    *out = prev;
+  }
 }
 
 void os_put_rect(const card_os_rect* rect)
@@ -53,12 +193,40 @@ void os_put_rect(const card_os_rect* rect)
                    rect->h);
 }
 
-static __attribute__((section(".oscall"))) void
+void os_handle_message(const os_message* msg, os_message* out)
-oscall(int call, const void* inptr, void* outptr)
 {
-  switch (call)
+  switch (msg->command)
   {
-  case 0:
+  case OS_CMD_TERMINATE_PROGRAM:
+    multicore_fifo_drain();
+    multicore_reset_core1();
+    break;
+  case OS_CMD_SBRK:
+    os_sbrk(msg->data, &out->data);
+    break;
+  case OS_CMD_DRAW_RECT:
+    os_put_rect(msg->data);
     break;
   }
 }
+
+// this should run on core 1
+__attribute__((section(".oscall"), noinline, used)) void
+oscall(os_message* message)
+{
+  os_message local_msg = *message;
+
+  // send command
+  int index = -1;
+  while (index < 0)
+  {
+    index = os_ring_buffer_write(&core1_buffer, &local_msg);
+  }
+  multicore_fifo_push_blocking(index);
+
+  // receive response
+  index = multicore_fifo_pop_blocking();
+  *message = core0_buffer.buffer[index];
+  core0_buffer.read_index
+    = (core0_buffer.read_index + 1) % OS_RING_BUFFER_SIZE;
+}

src/ring-buffer.c

@@ -0,0 +1,23 @@
+#include "ring-buffer.h"
+
+#include <sys/cdefs.h>
+
+int os_ring_buffer_write(volatile os_ring_buffer* ring_buffer,
+                         const os_message* message)
+{
+  if ((ring_buffer->write_index + 1) % OS_RING_BUFFER_SIZE
+      == ring_buffer->read_index)
+  {
+    return -1;
+  }
+
+  __compiler_membar();
+  ring_buffer->buffer[ring_buffer->write_index] = *message;
+
+  int index = ring_buffer->write_index;
+
+  ring_buffer->write_index
+    = (ring_buffer->write_index + 1) % OS_RING_BUFFER_SIZE;
+
+  return index;
+}