VideoCore IV support in the ACK
===============================
This is a fairly crude port of the ACK to produce VideoCore IV machine
code, suitable for use on the Raspberry Pi. It produces terrible but
working code. The resulting binaries can be used either bare metal or
loaded as a GPU kernel and executed using a modified mailbox.c (see below).
Currently floating point support is present but incomplete; and as the
VideoCore IV does not have double-precision float support, the C compiler
treats doubles as single precision.
As much of the standard C library as is relevant works; if
you're running in bare-metal mode, you can hook stdin/stdout up to the
mini UART. (Obviously, in kernel mode you can't.)
Important note! The malloc heap expects your program to be loaded into a
chunk of memory that's 128kB large. You must make sure that this is the case,
or Bad Stuff will happen.
Output binaries are fully PIC and can be loaded anywhere (this is one of the
things that makes the code so terrible). You must use the pi_user_to_phys()
and pi_phys_to_user() to translate pointers from physical to user and vice
versa. If you don't, Bad Stuff will happen.
Bare metal mode
---------------
To run a binary bare metal, compile it:
ack -mrpi -O program.c -o bootcode.bin
...and copy the bootcode.bin file to the root of an SD card. Boot the Pi.
Your program will run.
To use the UART, #include <pi.h> and call pi_init_uart() at the top of your
program. This will set it up and connect it to stdin/stdout. It's 115200 8n1.
Kernel mode
-----------
This will require some hacking at your end.
Go here, and follow the instructions.
https://github.com/hermanhermitage/videocoreiv/wiki/VideoCore-IV-Kernels-under-Linux
Now compile your program:
ack -mrpi -O program.c -o alpha.bin
MAKE SURE YOU AREN'T USING ANY MEMORY ALLOCATION. Copy the alpha.bin onto
the Pi, and run it with mailbox.c.
To get data in and out, #include <pi.h> and look at the pi_kernel_parameters
variable. It's a structure that is initialised with the data that's passed in
from mailbox.c (currently four pointers and two integers).
If you want to use malloc() and friends, you'll need to hack mailbox.c so
that the buffer containing the code is at least 128kB, or you're likely to
corrupt the VideoCore's workspace and crash it.
David Given <dg@cowlark.com>
2013-06-06
