[fiber] Add support for ARM64 targets by salkinium · Pull Request #1113 · modm-io/modm

salkinium · 2023-12-30T15:58:25Z

I've added a new key to the hosted device files: arch with arm64 and x86_64. Maybe it should be aarch64?

New targets with -arm64 suffix, -x86_64 is implicit for backwards compatibility:
- hosted-linux-arm64
- hosted-darwin-arm64
Removed hosted-rpi target, as wiringPi is deprecated and thus the target lost its only peripheral.
Tested on Apple Silicon M2
Test on ARM64 Linux specifically RPi

salkinium · 2024-01-18T09:53:31Z

I'll merge this tonight, we can check and fix the RPi ARM64 later. It's not our primary target anyways, but I'd like to have the unit tests pass on my machine again ;-P

rleh · 2024-01-18T11:07:14Z

Test on ARM64 Linux specifically RPi

It does not work 😢, because the x86_64 context switching (fiber/context_x86_64.cpp) is choosen for both the hosted-linux and hosted-linux-arm64 targets:

Details

user@raspberrypi:~/modm $ (cd test && make run-hosted-linux)
/home/user/.local/bin/lbuild -p ../build/generated-unittest/hosted -c config/hosted.xml -D":target=hosted-linux" -C ../build/generated-unittest/hosted build --no-log
>> modm: Recomputing device cache...

scons -j8 -C ../build/generated-unittest/hosted run
scons: Entering directory `/home/user/modm/build/generated-unittest/hosted'
scons: Reading SConscript files ...
scons: done reading SConscript files.
scons: Building targets ...
Unittest······· unittest_runner.cpp
╭────Jinja2──── modm/modm_tools/info.c.in
╰───Template──> modm/src/info_git.c
╭────Jinja2──── modm/modm_tools/info.c.in
╰───Template──> modm/src/info_build.c
Compiling C++·· scons-release/modm/src/modm/architecture/driver/atomic/flag.o
Compiling C++·· scons-release/modm/src/modm/architecture/interface/can.o
Compiling C++·· scons-release/modm/src/modm/communication/sab/interface.o
Compiling C++·· scons-release/modm/src/modm/communication/sab/slave.o
Compiling C++·· scons-release/modm/src/modm/communication/xpcc/backend/can/connector.o
Compiling C···· scons-release/modm/src/info_git.o
Compiling C···· scons-release/modm/src/info_build.o
Compiling C++·· scons-release/unittest_runner.o
Compiling C++·· scons-release/modm/src/modm/communication/xpcc/backend/header.o
Compiling C++·· scons-release/modm/src/modm/communication/xpcc/communicator.o
Compiling C++·· scons-release/modm/src/modm/communication/xpcc/dispatcher.o
Compiling C++·· scons-release/modm/src/modm/communication/xpcc/postman/dynamic_postman/dynamic_postman.o
Compiling C++·· scons-release/modm/src/modm/communication/xpcc/postman/postman.o
Compiling C++·· scons-release/modm/src/modm/container/smart_pointer.o
Compiling C++·· scons-release/modm/src/modm/debug/logger/hosted/default_style.o
Compiling C++·· scons-release/modm/src/modm/driver/can/can_lawicel_formatter.o
Compiling C++·· scons-release/modm/src/modm/driver/can/mcp2515.o
Compiling C++·· scons-release/modm/src/modm/driver/io/terminal.o
Compiling C++·· scons-release/modm/src/modm/driver/motor/drv832x_spi.o
Compiling C++·· scons-release/modm/src/modm/driver/temperature/ltc2984.o
Compiling C++·· scons-release/modm/src/modm/io/iostream.o
Compiling C++·· scons-release/modm/src/modm/io/iostream_printf.o
Compiling C++·· scons-release/modm/src/modm/math/geometry/angle.o
Compiling C++·· scons-release/modm/src/modm/math/geometry/vector2.o
Compiling C++·· scons-release/modm/src/modm/math/utils/bit_operation.o
Compiling C++·· scons-release/modm/src/modm/math/utils/pc/operator.o
Compiling C++·· scons-release/modm/src/modm/platform/core/assert.o
Compiling C++·· scons-release/modm/src/modm/platform/core/clock.o
Compiling C++·· scons-release/modm/src/modm/platform/core/memory.o
Compiling C++·· scons-release/modm/src/modm/processing/fiber/context_x86_64.o
modm/src/modm/processing/fiber/context_x86_64.cpp:51:20: warning: 'naked' attribute directive ignored [-Wattributes]
   51 | modm_context_entry()
      |                    ^
modm/src/modm/processing/fiber/context_x86_64.cpp:152:51: warning: 'naked' attribute directive ignored [-Wattributes]
  152 | modm_context_jump(modm_context_t*, modm_context_t*)
      |                                                   ^
/tmp/ccwrMUes.s: Assembler messages:
/tmp/ccwrMUes.s:16: Error: operand 1 must be an integer register -- `mov (%rsp),%rdi'
/tmp/ccwrMUes.s:17: Error: operand 1 must be an integer register -- `mov 8(%rsp),%rsi'
/tmp/ccwrMUes.s:18: Error: unknown mnemonic `jmp' -- `jmp *%rsi'
/tmp/ccwrMUes.s:89: Error: unknown mnemonic `stmxcsr' -- `stmxcsr 0xa0(x1)'
/tmp/ccwrMUes.s:90: Error: unknown mnemonic `fnstcw' -- `fnstcw 0xa4(x1)'
/tmp/ccwrMUes.s:278: Error: unknown mnemonic `leaq' -- `leaq -0xe8(%rsp),%rsp'
/tmp/ccwrMUes.s:279: Error: unknown mnemonic `stmxcsr' -- `stmxcsr 0xa0(%rsp)'
/tmp/ccwrMUes.s:280: Error: unknown mnemonic `fnstcw' -- `fnstcw 0xa4(%rsp)'
/tmp/ccwrMUes.s:281: Error: unknown mnemonic `movq' -- `movq %r12,0xa8(%rsp)'
/tmp/ccwrMUes.s:282: Error: unknown mnemonic `movq' -- `movq %r13,0xb0(%rsp)'
/tmp/ccwrMUes.s:283: Error: unknown mnemonic `movq' -- `movq %r14,0xb8(%rsp)'
/tmp/ccwrMUes.s:284: Error: unknown mnemonic `movq' -- `movq %r15,0xc0(%rsp)'
/tmp/ccwrMUes.s:285: Error: unknown mnemonic `movq' -- `movq %rbx,0xd8(%rsp)'
/tmp/ccwrMUes.s:286: Error: unknown mnemonic `movq' -- `movq %rbp,0xe0(%rsp)'
/tmp/ccwrMUes.s:287: Error: unknown mnemonic `movq' -- `movq %rsp,(%rdi)'
/tmp/ccwrMUes.s:288: Error: unknown mnemonic `movq' -- `movq (%rsi),%rsp'
/tmp/ccwrMUes.s:289: Error: unknown mnemonic `ldmxcsr' -- `ldmxcsr 0xa0(%rsp)'
/tmp/ccwrMUes.s:290: Error: unknown mnemonic `fldcw' -- `fldcw 0xa4(%rsp)'
/tmp/ccwrMUes.s:291: Error: unknown mnemonic `movq' -- `movq 0xa8(%rsp),%r12'
/tmp/ccwrMUes.s:292: Error: unknown mnemonic `movq' -- `movq 0xb0(%rsp),%r13'
/tmp/ccwrMUes.s:293: Error: unknown mnemonic `movq' -- `movq 0xb8(%rsp),%r14'
/tmp/ccwrMUes.s:294: Error: unknown mnemonic `movq' -- `movq 0xc0(%rsp),%r15'
/tmp/ccwrMUes.s:295: Error: unknown mnemonic `movq' -- `movq 0xd8(%rsp),%rbx'
/tmp/ccwrMUes.s:296: Error: unknown mnemonic `movq' -- `movq 0xe0(%rsp),%rbp'
/tmp/ccwrMUes.s:297: Error: unknown mnemonic `leaq' -- `leaq 0xe8(%rsp),%rsp'
scons: *** [scons-release/modm/src/modm/processing/fiber/context_x86_64.o] Error 1
scons: building terminated because of errors.
make: *** [Makefile:29: run-hosted-linux] Error 2

I'll investigate further later this day...

rleh · 2024-01-18T11:23:23Z

hosted-rpi-arm64 (renamed from hosted-rpi)

What is the purpose of this "rpi" target? I don't see any difference, except that it includes the wiringpi GPIO module, which is deprected since 2019 and also broken on Debian bookworm-based Rpi Linux distibutions.

I would suggest simply removing the hosted-rpi/hosted-rpi-arm64 target (and maybe even the whole wiringpi module).

salkinium · 2024-01-18T18:33:33Z

because the x86_64 context switching (fiber/context_x86_64.cpp) is choosen for both the hosted-linux and hosted-linux-arm64 targets:

Because I'm stupid and I copied the x86_64 file without modifications. 🙈🙈🙈 OMG, I'm getting old… 👴

I would suggest simply removing the hosted-rpi/hosted-rpi-arm64 target.

Yeah, that make sense. We only had GPIO support anyways, so with that gone, there's no difference to hosted-linux-arm64. I'll remove the code.

salkinium · 2024-01-19T13:56:10Z

Could you try it again now? @rleh

rleh · 2024-01-20T12:40:19Z

Now it works on a Aarch64 linux system (Raspberry Pi 4 8GB running Raspbian OS 64-bit)!

@salkinium Could you check if it still works on ARM-based MacOS? 😆

salkinium · 2024-01-20T12:43:32Z

Will do. I also read that GitHub has ARM64 macOS runners, I'll check that out tonight.

rleh

Thank you a lot for the work @salkinium!

src/modm/processing/fiber/module.lb

-Os is not properly supported by LLVM for ARM64

salkinium · 2024-01-20T20:31:24Z

Ok, so.

GCC on macOS ignores __attribute__((naked)). Not sure why. That's why I moved the modm_context_entry function into assembly. I now found out that I can add asm statements into the .cpp file too, so I got rid of the .S file. I hope this also works on Linux GCC.

The macOS linker seems to require leading underscores. 🙄 This is also done in the boost asm files. I've added a template switch.

Could you test again on Linux?

rleh · 2024-01-21T12:57:00Z

Could you test again on Linux?

Yes, and it works fine!

The macOS linker seems to require leading underscores. 🙄 This is also done in the boost asm files. I've added a template switch.

GCC has a switch -fleading-underscore to control the prefix of the emitted objects, but I would rather not touch it.

Because there is a better option:

extern "C" void modm_context_entry() asm("_modm_context_entry");

I reverted the template file back to a normal C++ file and implemented the ASM labels instead (see 1e36434), works (still) on arm64 linux.
Could you test again on MacOS? (Otherwise just drop my commit.)

salkinium · 2024-01-21T22:30:59Z

Yup, that works! Thanks! I'll squash and merge it after the CI passes.

Co-authored-by: Raphael Lehmann <raphael@rleh.de>

salkinium · 2024-01-21T22:37:06Z

Removing the underscores also works this way!

chris-durand

Nice, thanks!

salkinium added enhancement 🌈 advanced 🤯 labels Dec 30, 2023

salkinium force-pushed the feature/fiber_arm64 branch 3 times, most recently from 0d0a37d to b9c09e3 Compare December 30, 2023 20:46

salkinium force-pushed the feature/fiber_arm64 branch from b9c09e3 to 23235c8 Compare January 17, 2024 19:28

salkinium added the ci:hal Triggers the exhaustive HAL compile CI jobs label Jan 17, 2024

salkinium marked this pull request as ready for review January 17, 2024 19:52

salkinium force-pushed the feature/fiber_arm64 branch 3 times, most recently from 7555fc8 to 3a1c70b Compare January 17, 2024 21:44

salkinium added ci:hal Triggers the exhaustive HAL compile CI jobs and removed ci:hal Triggers the exhaustive HAL compile CI jobs labels Jan 17, 2024

salkinium force-pushed the feature/fiber_arm64 branch 3 times, most recently from 18ebef2 to a895cd1 Compare January 18, 2024 20:58

salkinium removed the ci:hal Triggers the exhaustive HAL compile CI jobs label Jan 18, 2024

salkinium added the ci:hal Triggers the exhaustive HAL compile CI jobs label Jan 19, 2024

rleh removed the ci:hal Triggers the exhaustive HAL compile CI jobs label Jan 20, 2024

rleh approved these changes Jan 20, 2024

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src/modm/processing/fiber/module.lb Show resolved Hide resolved

salkinium added 3 commits January 20, 2024 19:58

[build] Compile with -O3 for hosted targets

2182d3f

-Os is not properly supported by LLVM for ARM64

[fiber] Fix alignment of stack underneath promise

5db4aa7

[devices] Remove RPi target in favor of Linux

f968531

salkinium force-pushed the feature/fiber_arm64 branch from 3d0462d to 4cce264 Compare January 20, 2024 20:31

salkinium and others added 3 commits January 21, 2024 23:36

[fiber] Add support for ARM64 targets

6dff630

Co-authored-by: Raphael Lehmann <raphael@rleh.de>

[devices] Add ARM64 version of hosted targets

c5dc4b1

[scons] Hardcode gcc-12 compiler suffix on macOS

623a13b

salkinium force-pushed the feature/fiber_arm64 branch from 1e36434 to 623a13b Compare January 21, 2024 22:36

rleh approved these changes Jan 21, 2024

View reviewed changes

chris-durand approved these changes Jan 21, 2024

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salkinium merged commit 623a13b into modm-io:develop Jan 22, 2024

salkinium deleted the feature/fiber_arm64 branch January 22, 2024 09:47

salkinium linked an issue Jan 23, 2024 that may be closed by this pull request

Fibers not implemented on ARM64 #1111

Closed

salkinium added this to the 2024q1 milestone Feb 24, 2024

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