board: arm64: Add AArch32 virtual machine support for ROC-RK3588-PC #95311
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This commit enables Zephyr to run as an AArch32 virtual machine on the ROC-RK3588-PC board. The ROC-RK3588-PC supports both AArch64 and AArch32 CPU execution modes. With AArch32 virtual machine support, Zephyr can now be booted in ARMv7 architecture mode through AArch32-compatible hypervisors. Signed-off-by: Guowei Li <[email protected]>
… map This commit fixes the assignment of the L2 page table by using the virtual address instead of the physical address. Additionally, it ensures that the cache is flushed after a successful memory mapping operation. Signed-off-by: Guowei Li <[email protected]>
This commit introduces a new comparison for the ARM (AArch32) architecture in the GICv3 interrupt controller. It specifically compares the lower 24 bits of the affinity values, because there is no aff3 in AArch32 or Arm-v7. Signed-off-by: Guowei Li <[email protected]>
zephyrbot
added
area: Interrupt Controller
area: ARM
zephyrbot
requested review from
bbolen,
carlocaione,
dcpleung,
galak,
ithinuel,
MaureenHelm,
microbuilder,
nashif,
stephanosio,
wearyzen and
ycsin
KouweiLee
commented
Sep 2, 2025
| @@ -673,6 +673,9 @@ static bool arm_gic_aff_matching(uint64_t gicr_aff, uint64_t aff) | |||
| uint64_t mask = BIT64_MASK(8); | |||
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| return (gicr_aff & mask) == (aff & mask); | |||
| #elif defined(CONFIG_ARM) | |||
| /* For ARM (AArch32), only compare aff2:aff1:aff0 (lower 24 bits) */ | |||
| return (gicr_aff & 0xFFFFFF) == (aff & 0xFFFFFF); | |||
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This fixes the first bug I mentioned. Armv7 doesn't have aff3.
KouweiLee
commented
Sep 2, 2025
| @@ -958,6 +959,7 @@ void arch_mem_map(void *virt, uintptr_t phys, size_t size, uint32_t flags) | |||
| LOG_ERR("__arch_mem_map() returned %d", ret); | |||
| k_panic(); | |||
| } else { | |||
| sys_cache_data_flush_all(); | |||
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This will make the second bug disappear. But the reason I don't know.
KouweiLee
commented
Sep 2, 2025
| @@ -571,7 +572,7 @@ static void arm_mmu_l2_map_page(uint32_t va, uint32_t pa, | |||
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| if (l1_page_table.entries[l1_index].undefined.id == ARM_MMU_PTE_ID_INVALID || | |||
| (l1_page_table.entries[l1_index].undefined.id & ARM_MMU_PTE_ID_SECTION) != 0) { | |||
| l2_page_table = arm_mmu_assign_l2_table(pa); | |||
| l2_page_table = arm_mmu_assign_l2_table(va); | |||
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By the way, I think this was a mistake before, but it doesn’t really have any impact.
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I added the AArch32 virtual machine support for ROC-RK3588-PC. The changes are as follows:
I found gicv3 driver has one bug for armv7. Armv7 doesn't support aff3 so arm_gic_aff_matching should only compare the lower 24 bits.
I’ve encountered a bug I can’t explain: On AArch32 Zephyr, uart_ns16550 uses DEVICE_MMIO_MAP to map its MMIO region into the kernel VA space. The mapping call succeeds, but any access to the resulting virtual address triggers a data-abort. Flushing the data cache inside arch_mem_map (arm_mmu.c) makes the fault disappear. The underlying cause is unclear.
Future work: Now aarch32 zephyr only supports single core. Next we will add smp for it.