Use QEMU 9

.cargo/config.toml

@@ -1,20 +1,20 @@
 [target.armv8r-none-eabihf]
 # Note, this requires QEMU 9 or higher
-runner = "qemu-system-arm -machine mps3-an536 -cpu cortex-r52 -semihosting -nographic -kernel"
+runner = "qemu-system-arm -machine mps3-an536 -cpu cortex-r52 -semihosting -nographic -audio none -kernel"
 
 [target.armv7r-none-eabihf]
-runner = "qemu-system-arm -machine versatileab -cpu cortex-r5f -semihosting -nographic -kernel"
+runner = "qemu-system-arm -machine versatileab -cpu cortex-r5f -semihosting -nographic -audio none -kernel"
 
 [target.armv7r-none-eabi]
 # change '-mcpu=cortex-r5' to '-mcpu=cortex-r5f' if you use eabi-fpu feature, otherwise
 # qemu-system-arm will lock up
-runner = "qemu-system-arm -machine versatileab -cpu cortex-r5 -semihosting -nographic -kernel"
+runner = "qemu-system-arm -machine versatileab -cpu cortex-r5 -semihosting -nographic -audio none -kernel"
 
 [target.armv7a-none-eabihf]
-runner = "qemu-system-arm -machine versatileab -cpu cortex-a8 -semihosting -nographic -kernel"
+runner = "qemu-system-arm -machine versatileab -cpu cortex-a8 -semihosting -nographic -audio none -kernel"
 
 [target.armv7a-none-eabi]
-runner = "qemu-system-arm -machine versatileab -cpu cortex-a8 -semihosting -nographic -kernel"
+runner = "qemu-system-arm -machine versatileab -cpu cortex-a8 -semihosting -nographic -audio none -kernel"
 
 [unstable]
 build-std = ["core", "alloc"]

.github/workflows/build.yml

@@ -102,8 +102,10 @@ jobs:
           cargo build
 
   # Build the workspace for the target architecture but using nightly to compile libcore
+  # Technically it doens't need 'setup' but it makes the graph look nicer
   build-tier3:
     runs-on: ubuntu-24.04
+    needs: setup
     strategy:
       matrix:
         target:
@@ -292,15 +294,24 @@ jobs:
         run: |
           cargo test --manifest-path cortex-ar/Cargo.toml
 
-  # Run some programs in QEMU
+  # Run some programs in QEMU 9
   qemu-test:
     runs-on: ubuntu-24.04
     needs: [build-all]
     steps:
-      - run: sudo apt-get -y update && sudo apt-get -y install qemu-system-arm
       - name: Checkout
         uses: actions/checkout@v4
-      - run: ./tests.sh
+      - name: Install Dependencies
+        run: |
+          sudo apt-get -y update
+          sudo apt-get -y install libpixman-1-0 libfdt1 libglib2.0-0t64
+      - name: Install custom QEMU into /opt
+        run: |
+          curl -sSL https://github.com/jonathanpallant/qemu9-for-ubuntu-2404/releases/download/qemu-9.2.3%2Bbuild0/qemu-9.2.3-ubuntu-24.04.tar.gz | sudo tar xvzf - -C /
+      - name: Run tests in QEMU
+        run: |
+          export PATH=/opt/qemu/bin:$PATH
+          ./tests.sh
 
   # Gather all the above xxx-all jobs together for the purposes of getting an overall pass-fail
   all:

examples/mps3-an536/reference/generic_timer-armv8r-none-eabihf.out

@@ -0,0 +1,23 @@
+cntfrq = 62.500 MHz
+Using physical timer ************************
+Print five, every 100ms...
+i = 0
+i = 1
+i = 2
+i = 3
+i = 4
+Waiting for 31250000 physical ticks to count up...
+Matched! physical
+Waiting for 31250000 physical ticks to count down...
+physical countdown hit zero!
+Using virtual timer ************************
+Print five, every 100ms...
+i = 0
+i = 1
+i = 2
+i = 3
+i = 4
+Waiting for 31250000 virtual ticks to count up...
+Matched! virtual
+Waiting for 31250000 virtual ticks to count down...
+virtual countdown hit zero!

examples/mps3-an536/reference/gic-armv8r-none-eabihf.out

@@ -0,0 +1,12 @@
+Found PERIPHBASE 0xf0000000
+Creating GIC driver @ 0xf0000000 / 0xf0100000
+Calling git.setup(0)
+Configure SGI...
+gic.enable_interrupt()
+Enabling interrupts...
+CPSR: CPSR { N=0 Z=1 C=1 V=0 Q=0 J=0 E=0 A=0 I=1 F=1 T=0 MODE=Ok(Sys) }
+CPSR: CPSR { N=0 Z=1 C=1 V=0 Q=0 J=0 E=0 A=0 I=0 F=1 T=0 MODE=Ok(Sys) }
+Send SGI
+> IRQ
+- IRQ handle SGI 3
+< IRQ

examples/mps3-an536/reference/hello-armv8r-none-eabihf.out

@@ -0,0 +1,11 @@
+Hello, this is semihosting! x = 1.000, y = 2.000
+PANIC: PanicInfo {
+    message: I am an example panic,
+    location: Location {
+        file: "src/bin/hello.rs",
+        line: 26,
+        col: 5,
+    },
+    can_unwind: true,
+    force_no_backtrace: false,
+}

examples/mps3-an536/reference/registers-armv8r-none-eabihf.out

@@ -0,0 +1,39 @@
+MIDR { implementer=0x41 variant=0x1 arch=0xf part_no=0xd13 rev=0x3 }
+CPSR { N=0 Z=1 C=1 V=0 Q=0 J=0 E=0 A=0 I=1 F=1 T=0 MODE=Ok(Sys) }
+IMP_CBAR { 0xf0000000 }
+VBAR { 0x08000000 }
+PMSA-v8 MPUIR: Mpuir { iregions: 0, dregions: 16, non_unified: false }
+Region 0: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 1: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 2: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 3: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 4: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 5: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 6: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 7: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 8: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 9: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 10: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 11: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 12: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 13: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 14: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 15: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 0: Region { range: 0x0..=0x3fffffff, shareability: OuterShareable, access: ReadWrite, no_exec: true, mair: 0, enable: true }
+Region 1: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 2: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 3: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 4: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 5: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 6: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 7: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 8: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 9: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 10: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 11: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 12: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 13: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 14: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+Region 15: Region { range: 0x0..=0x3f, shareability: NonShareable, access: ReadWriteNoEL0, no_exec: false, mair: 0, enable: false }
+SCTLR { IE=0 TE=0 NMFI=0 EE=0 U=1 FI=0 DZ=1 BR=1 RR=0 V=0 I=0 Z=1 SW=0 C=0 A=0 M=0 } before setting C, I and Z
+SCTLR { IE=0 TE=0 NMFI=0 EE=0 U=1 FI=0 DZ=1 BR=1 RR=0 V=0 I=1 Z=1 SW=0 C=1 A=0 M=0 } after

examples/mps3-an536/reference/svc-armv8r-none-eabihf.out

@@ -0,0 +1,14 @@
+x = 1, y = 2, z = 3.000
+In _svc_handler, with arg=0xabcdef
+In _svc_handler, with arg=0x456789
+x = 1, y = 2, z = 3.000
+PANIC: PanicInfo {
+    message: I am an example panic,
+    location: Location {
+        file: "src/bin/svc.rs",
+        line: 29,
+        col: 5,
+    },
+    can_unwind: true,
+    force_no_backtrace: false,
+}

examples/mps3-an536/src/bin/generic_timer.rs

@@ -23,7 +23,7 @@ fn main() {
     let cntfrq = cortex_ar::register::Cntfrq::read().0;
     println!("cntfrq = {:.03} MHz", cntfrq as f32 / 1_000_000.0);
 
-    let delay_ticks = cntfrq * 2;
+    let delay_ticks = cntfrq / 2;
 
     let mut pgt = unsafe { El1PhysicalTimer::new() };
     let mut vgt = unsafe { El1VirtualTimer::new() };
@@ -34,21 +34,20 @@ fn main() {
     for (timer, name) in [(pgt_ref, "physical"), (vgt_ref, "virtual")] {
         println!("Using {} timer ************************", name);
 
-        println!("Print five, one per second...");
+        println!("Print five, every 100ms...");
         for i in 0..5 {
             println!("i = {}", i);
-            timer.delay_ms(1000);
+            timer.delay_ms(100);
         }
 
         let now = timer.counter();
-        println!("{} is now: {}", name, now);
         println!("Waiting for {} {} ticks to count up...", delay_ticks, name);
         timer.counter_compare_set(now + delay_ticks as u64);
         timer.enable(true);
         while !timer.interrupt_status() {
             core::hint::spin_loop();
         }
-        println!("Matched! {} count now {}", name, timer.counter());
+        println!("Matched! {}", name);
 
         println!(
             "Waiting for {} {} ticks to count down...",
@@ -58,10 +57,6 @@ fn main() {
         while !timer.interrupt_status() {
             core::hint::spin_loop();
         }
-        println!(
-            "{} countdown hit zero! (and is now {})",
-            name,
-            timer.countdown() as i32
-        );
+        println!("{} countdown hit zero!", name,);
     }
 }

tests.sh

@@ -6,6 +6,8 @@
 rustup target add armv7r-none-eabi
 rustup target add armv7r-none-eabihf
 rustup target add armv7a-none-eabi
+rustup toolchain add nightly
+rustup component add rust-src --toolchain=nightly
 
 FAILURE=0
 
@@ -19,31 +21,45 @@ fail() {
 mkdir -p ./target
 
 versatile_ab_cargo="--manifest-path examples/versatileab/Cargo.toml"
+mps3_an536_cargo="--manifest-path examples/mps3-an536/Cargo.toml"
+
+my_diff() {
+    file_a=$1
+    file_b=$2
+    # - Fix Windows path separators (\\) to look like UNIX ones (/) in the QEMU
+    # output
+    # - Fix the CRLF line endings in the files on disk, because git adds them to
+    # text files.
+    diff <(cat $file_a | tr -d '\r') <(cat $file_b | sed 's~\\\\~/~g')
+}
 
 # armv7r-none-eabi tests
 for binary in hello registers svc; do
     cargo run ${versatile_ab_cargo} --target=armv7r-none-eabi --bin $binary | tee ./target/$binary-armv7r-none-eabi.out
-    diff ./examples/versatileab/reference/$binary-armv7r-none-eabi.out ./target/$binary-armv7r-none-eabi.out || fail $binary "armv7r-none-eabi"
+    my_diff ./examples/versatileab/reference/$binary-armv7r-none-eabi.out ./target/$binary-armv7r-none-eabi.out || fail $binary "armv7r-none-eabi"
 done
 
 # armv7r-none-eabihf tests
 for binary in hello registers svc undef-exception prefetch-exception abt-exception; do
     cargo run ${versatile_ab_cargo} --target=armv7r-none-eabihf --bin $binary | tee ./target/$binary-armv7r-none-eabihf.out
-    diff ./examples/versatileab/reference/$binary-armv7r-none-eabihf.out ./target/$binary-armv7r-none-eabihf.out || fail $binary "armv7r-none-eabihf"
+    my_diff ./examples/versatileab/reference/$binary-armv7r-none-eabihf.out ./target/$binary-armv7r-none-eabihf.out || fail $binary "armv7r-none-eabihf"
 done
 
 # armv7a-none-eabi tests
 for binary in hello registers svc undef-exception prefetch-exception abt-exception; do
     cargo run ${versatile_ab_cargo} --target=armv7a-none-eabi --bin $binary | tee ./target/$binary-armv7a-none-eabi.out
-    diff ./examples/versatileab/reference/$binary-armv7a-none-eabi.out ./target/$binary-armv7a-none-eabi.out || fail $binary "armv7a-none-eabi"
+    my_diff ./examples/versatileab/reference/$binary-armv7a-none-eabi.out ./target/$binary-armv7a-none-eabi.out || fail $binary "armv7a-none-eabi"
 done
 
+# These tests only run on QEMU 9 or higher.
 # Ubuntu 24.04 supplies QEMU 8, which doesn't support the machine we have configured for this target
-# # armv8r-none-eabihf tests
-# for binary in hello registers svc gic; do
-#     cargo +nightly run --target=armv8r-none-eabihf --bin $binary --features=gic -Zbuild-std=core | tee ./target/$binary-armv8r-none-eabihf.out
-#     diff ./cortex-r-examples/reference/$binary-armv8r-none-eabihf.out ./target/$binary-armv8r-none-eabihf.out || fail $binary "armv8r-none-eabihf"
-# done
+if qemu-system-arm --version | grep "version 9"; then
+    # armv8r-none-eabihf tests
+    for binary in hello registers svc gic generic_timer; do
+        cargo +nightly run ${mps3_an536_cargo} --target=armv8r-none-eabihf --bin $binary --features=gic -Zbuild-std=core | tee ./target/$binary-armv8r-none-eabihf.out
+    my_diff ./examples/mps3-an536/reference/$binary-armv8r-none-eabihf.out ./target/$binary-armv8r-none-eabihf.out || fail $binary "armv8r-none-eabihf"
+    done
+fi
 
 if [ "$FAILURE" == "1" ]; then
     echo "***************************************************"