Freertos port

config.mk

@@ -14,7 +14,7 @@ RANLIB          ?=ranlib
 CABAL           :=cabal
 # IDRIS_ENABLE_STATS should not be set in final release
 # Any flags defined here which alter the RTS API must also be added to src/IRTS/CodegenC.hs
-CFLAGS          :=-O2 -Wall -std=c99 -pipe -fdata-sections -ffunction-sections -D_POSIX_C_SOURCE=200809L -DHAS_PTHREAD -DIDRIS_ENABLE_STATS $(CFLAGS)
+CFLAGS          :=-O2 -Wall -std=c99 -pipe -fdata-sections -ffunction-sections -D_POSIX_C_SOURCE=200809L -DIS_THREADED -DHAS_PTHREAD -DIDRIS_ENABLE_STATS $(CFLAGS)
 
 # CABALFLAGS	:=
 CABALFLAGS      += --enable-tests

rts/FreeRTOS/README.md

@@ -0,0 +1,11 @@
+# Idris RTS on FreeRTOS
+The Idris RTS compiled without libc ontop of FreeRTOS tasks, using FreeRTOS queues as IPC. This
+enables using Idris when programming microcontrollers and smaller systems, but it is also a step
+towards the goal of building an Idris Unikernel.
+
+FreeRTOS was chosen as abstraction layer towards the hardware since it's easy to port to new
+architectures, since it's small, and since there already are a lot of port available.
+
+## How to run Idris on FreeRTOS
+See the instructions in the repository,
+[mokshasoft/FreeRTOS-community-ports](https://github.com/mokshasoft/FreeRTOS-community-ports/tree/master/Demo/ARM926ejs-GCC-Idris).

rts/FreeRTOS/idris_FreeRTOS.c

@@ -0,0 +1,41 @@
+/*
+ * Copyright 2020, Mokshasoft AB (mokshasoft.com)
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted
+ * provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this list of
+ * conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, this list of
+ * conditions and the following disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+ * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "idris_FreeRTOS.h"
+#include "idris_rts.h"
+
+void wrapper_vTaskDelay(int delay_ms)
+{
+    vTaskDelay(delay_ms/portTICK_RATE_MS);
+}
+
+QueueHandle_t wrapper_xQueueCreate(UBaseType_t uxQueueLength)
+{
+    return xQueueCreate(uxQueueLength, sizeof(void*));
+}
+
+void wrapper_vQueueDelete(QueueHandle_t xQueue)
+{
+    vQueueDelete(xQueue);
+}

rts/FreeRTOS/idris_FreeRTOS.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright 2020, Mokshasoft AB (mokshasoft.com)
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted
+ * provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this list of
+ * conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, this list of
+ * conditions and the following disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+ * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <FreeRTOS.h>
+#include <queue.h>
+
+/*
+ * Wrappers for FreeRTOS Task Control
+ */
+void wrapper_vTaskDelay(int delay_ms);
+
+/*
+ * Wrappers for FreeRTOS Queue
+ */
+QueueHandle_t wrapper_xQueueCreate(UBaseType_t uxQueueLength);
+void wrapper_vQueueDelete(QueueHandle_t xQueue);

rts/FreeRTOS/idris_main.c

@@ -0,0 +1,79 @@
+/*
+ * Copyright 2020, Mokshasoft AB (mokshasoft.com)
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted
+ * provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this list of
+ * conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, this list of
+ * conditions and the following disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+ * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/* The UART part of this code depends on the print driver of the versatilepb, remove or port
+ * this part of the code if compiling for another platform.
+ */
+
+#include "idris_gmp.h"
+#include "idris_opts.h"
+#include "idris_rts.h"
+#include "idris_stats.h"
+#include "print.h"
+#include <FreeRTOS.h>
+#include <task.h>
+
+void _idris__123_runMain_95_0_125_(VM* vm, VAL* oldbase);
+
+RTSOpts opts = {
+    .init_heap_size = 10000,
+    .max_stack_size = 5000,
+    .show_summary   = 0
+};
+
+static void uartLog(const char* msg) {
+    vDirectPrintMsg(msg);
+}
+
+static void halt() {
+    for (; ;);
+}
+
+void vRootThread(void* pvParameters) {
+    VM* vm = init_vm(opts.max_stack_size, opts.init_heap_size, 1);
+    init_gmpalloc();
+    init_nullaries();
+    _idris__123_runMain_95_0_125_(vm, NULL);
+}
+
+int main() {
+    // Init print
+    if (pdFAIL == printInit(0)) {
+        uartLog("Init print failed\r\n");
+        halt();
+    }
+
+    // Create root thread
+    if (pdPASS != xTaskCreate(vRootThread, "root", 2000, NULL, 0, NULL)) {
+        uartLog("Failed to create root thread\r\n");
+        halt();
+    }
+
+    // Start the FreeRTOS scheduler
+    vTaskStartScheduler();
+
+    // Will not get here unless there is insufficient RAM
+    uartLog("will not get here\r\n");
+    return EXIT_SUCCESS;
+}

rts/Makefile

@@ -2,10 +2,10 @@ include ../config.mk
 
 OBJS = idris_rts.o idris_heap.o idris_gc.o idris_gmp.o idris_bitstring.o \
        idris_opts.o idris_stats.o idris_utf8.o idris_stdfgn.o \
-       idris_buffer.o getline.o idris_net.o
+       idris_buffer.o getline.o idris_net.o itoa.o
 HDRS = idris_rts.h idris_heap.h idris_gc.h idris_gmp.h idris_bitstring.h \
        idris_opts.h idris_stats.h idris_stdfgn.h idris_net.h \
-       idris_buffer.h idris_utf8.h getline.h
+       idris_buffer.h idris_utf8.h getline.h itoa.h
 CFLAGS := $(CFLAGS)
 CFLAGS += $(GMP_INCLUDE_DIR) $(GMP) -DIDRIS_TARGET_OS="\"$(OS)\""
 CFLAGS += -DIDRIS_TARGET_TRIPLE="\"$(MACHINE)\""
@@ -16,6 +16,13 @@ else
 	CFLAGS += -fPIC
 endif
 
+ifdef BARE_METAL
+	# Using this flag changes the precision of float casts compared to snprintf.
+	# e.g. 2345.345 get converted to "2345.344970703125" instead of "234.345"
+	OBJS += ftoa.o
+	HDRS += ftoa.h
+endif
+
 ifndef IDRIS_GMP
 	OBJS += mini-gmp.o
 	HDRS += mini-gmp.h

rts/bare-metal/CMakeLists.txt

@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.7.2)
+
+project(idris-rts-bare-metal C)
+
+file(GLOB static
+    rts/idris_rts.c
+    rts/idris_heap.c
+    rts/idris_gc.c
+    rts/idris_gmp.c
+    rts/idris_bitstring.c
+    rts/idris_utf8.c
+    rts/mini-gmp.c
+    rts/itoa.c
+    rts/ftoa.c
+    rts/bare-metal/idris_main.c
+)
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -W -Wall")
+# Ignore some warnings
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-parameter")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-sign-compare")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-variable")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-empty-body")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-maybe-uninitialized")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-but-set-variable")
+# Don't use the host machines' environment when cross compiling
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DIDRIS_TARGET_OS=\"\\\"bare-metal\\\"\"")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DBARE_METAL")
+execute_process(
+    COMMAND ${CMAKE_C_COMPILER} -dumpmachine
+    OUTPUT_VARIABLE MACHINE
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DIDRIS_TARGET_TRIPLE=\"\\\"${MACHINE}\\\"\"")
+
+add_library(idris-rts-bare-metal EXCLUDE_FROM_ALL ${static})
+target_include_directories(idris-rts-bare-metal PUBLIC rts)
+target_link_libraries(
+    idris-rts-bare-metal
+    c
+)

rts/bare-metal/README.md

@@ -0,0 +1,5 @@
+# idris-rts-bare-metal - Idris RTS bare-metal library
+The Idris RTS compiled without libc to allow executing Idris apps on bare-metal.
+
+## How to use this library?
+See the instructions in the project repository, [mokshasoft/bare-metal-idris-manifest](https://github.com/mokshasoft/bare-metal-idris-manifest).

rts/bare-metal/idris_main.c

@@ -0,0 +1,31 @@
+#include "idris_gmp.h"
+#include "idris_opts.h"
+#include "idris_rts.h"
+#include "idris_stats.h"
+
+void _idris__123_runMain_95_0_125_(VM* vm, VAL* oldbase);
+
+RTSOpts opts = {
+    .init_heap_size = 10000,
+    .max_stack_size = 5000,
+    .show_summary   = 0
+};
+
+int main() {
+    VM* vm = init_vm(opts.max_stack_size, opts.init_heap_size, 1);
+    init_gmpalloc();
+    init_nullaries();
+
+    _idris__123_runMain_95_0_125_(vm, NULL);
+
+#ifdef IDRIS_DEBUG
+    if (opts.show_summary) {
+        idris_gcInfo(vm, 1);
+    }
+#endif
+
+    // Remove call to terminate since it crashes the application during a free
+    //Stats stats = terminate(vm);
+
+    return EXIT_SUCCESS;
+}