5 Commits

Author SHA1 Message Date
1a97ad57cf validate elf header 2025-11-21 12:18:15 -07:00
6e88feb9a7 loader errors 2025-11-21 11:24:31 -07:00
b20439e1d7 fix readme 2025-11-19 11:12:37 -07:00
50341507cd allow userapps to change sample rate of audio 2025-11-19 11:02:44 -07:00
cf8c59f021 cargo clippy 2025-11-19 10:31:34 -07:00
8 changed files with 209 additions and 110 deletions

View File

@@ -14,7 +14,7 @@ Current focus is on exanding applications and porting software, finding bugs in
- **`userlib_sys/`** C FFI bindings for kernel syscall
- **`userlib/`** Rust wrapper on top of `userlib_sys`
- **`picolib/`** Built with ```just newlib```, and provides libc symbols when linking with C libraries
- **`user-apps/`** Collection of userspace programs (gif player, wav player, calculator, snake, etc.)
- **`user_apps/`** Collection of userspace programs (gif player, wav player, calculator, snake, etc.)
## Features

View File

@@ -1,5 +1,5 @@
use crate::Audio;
use core::sync::atomic::{AtomicBool, Ordering};
use core::sync::atomic::{AtomicBool, AtomicU32, Ordering};
use embassy_futures::{join::join, yield_now};
use embassy_rp::{
Peri,
@@ -23,9 +23,12 @@ const SILENCE: u8 = u8::MAX / 2;
pub static mut AUDIO_BUFFER: [u8; AUDIO_BUFFER_SAMPLES * 2] = [SILENCE; AUDIO_BUFFER_SAMPLES * 2];
static mut AUDIO_BUFFER_1: [u8; AUDIO_BUFFER_SAMPLES * 2] = [SILENCE; AUDIO_BUFFER_SAMPLES * 2];
// atomics for user applications to signal changes to audio buffers
pub static AUDIO_BUFFER_READY: AtomicBool = AtomicBool::new(true);
pub static AUDIO_BUFFER_WRITTEN: AtomicBool = AtomicBool::new(false);
pub static AUDIO_BUFFER_SAMPLE_RATE: AtomicU32 = AtomicU32::new(SAMPLE_RATE_HZ);
/// resets audio buffers after user applications are unloaded
pub fn clear_audio_buffers() {
unsafe {
AUDIO_BUFFER.fill(SILENCE);
@@ -41,8 +44,29 @@ pub async fn audio_handler(mut audio: Audio) {
let mut pwm_pio_right =
PioPwmAudio::new(audio.dma1, &mut audio.pio, audio.sm1, audio.right, &prg);
// enable sms at the same time to ensure they are synced
audio.pio.apply_sm_batch(|pio| {
pio.set_enable(&mut pwm_pio_right.sm, true);
pio.set_enable(&mut pwm_pio_left.sm, true);
});
let mut sample_rate = SAMPLE_RATE_HZ;
loop {
unsafe {
let new_sample_rate = AUDIO_BUFFER_SAMPLE_RATE.load(Ordering::Acquire);
if new_sample_rate != sample_rate {
sample_rate = new_sample_rate;
pwm_pio_left.reconfigure(sample_rate);
pwm_pio_right.reconfigure(sample_rate);
// restart sms at the same time to ensure they are synced
audio.pio.apply_sm_batch(|pio| {
pio.restart(&mut pwm_pio_right.sm);
pio.restart(&mut pwm_pio_left.sm);
});
}
if AUDIO_BUFFER_WRITTEN.load(Ordering::Acquire) {
write_samples(&mut pwm_pio_left, &mut pwm_pio_right, &AUDIO_BUFFER_1).await;
AUDIO_BUFFER_1.fill(SILENCE);
@@ -130,6 +154,11 @@ struct PioPwmAudio<'d, PIO: Instance, const SM: usize> {
}
impl<'d, PIO: Instance, const SM: usize> PioPwmAudio<'d, PIO, SM> {
fn get_sm_divider(sample_rate: u32) -> u32 {
let target_clock = (u8::MAX as u32 + 1) * sample_rate;
clk_sys_freq() / target_clock
}
fn new(
dma: Peri<'d, impl Channel>,
pio: &mut Common<'d, PIO>,
@@ -151,17 +180,18 @@ impl<'d, PIO: Instance, const SM: usize> PioPwmAudio<'d, PIO, SM> {
cfg.use_program(&prg.0, &[&pin]);
sm.set_config(&cfg);
let target_clock = (u8::MAX as u32 + 1) * SAMPLE_RATE_HZ;
let divider = (clk_sys_freq() / target_clock).to_fixed();
sm.set_clock_divider(divider);
sm.set_enable(true);
sm.set_clock_divider(Self::get_sm_divider(SAMPLE_RATE_HZ).to_fixed());
Self {
dma: dma.into(),
sm,
}
}
fn reconfigure(&mut self, sample_rate: u32) {
self.sm
.set_clock_divider(Self::get_sm_divider(sample_rate).to_fixed());
}
}
/// packs two u8 samples into 32bit word

View File

@@ -8,81 +8,100 @@ use core::ptr;
use embedded_sdmmc::ShortFileName;
use goblin::{
elf::{
header::header32::Header,
header::{EM_ARM, ET_DYN, EV_CURRENT, header32::Header},
program_header::program_header32::{PT_LOAD, ProgramHeader},
reloc::R_ARM_RELATIVE,
section_header::{SHT_REL, SHT_SYMTAB},
},
elf32::{header, reloc::Rel, section_header::SectionHeader, sym::Sym},
elf32::{reloc::Rel, section_header::SectionHeader, sym::Sym},
};
use strum::IntoEnumIterator;
use userlib_sys::{EntryFn, SyscallTable};
const ELF32_HDR_SIZE: usize = 52;
pub async unsafe fn load_binary(name: &ShortFileName) -> Option<(EntryFn, Bump)> {
#[derive(Debug)]
pub enum LoadError {
WrongMachine,
InvalidElf,
FailedToReadFile,
ElfIsNotPie,
UnknownRelocationType,
SyscallTableNotFound,
}
pub async unsafe fn load_binary(name: &ShortFileName) -> Result<(EntryFn, Bump), LoadError> {
let mut sd_lock = SDCARD.get().lock().await;
let sd = sd_lock.as_mut().unwrap();
let sd = sd_lock.as_mut().expect("Sdcard locked");
let mut header_buf = [0; ELF32_HDR_SIZE];
let (entry, bump) = sd
.read_file(name, |mut file| {
file.read(&mut header_buf).unwrap();
let elf_header = Header::from_bytes(&header_buf);
sd.read_file(name, |mut file| {
file.read(&mut header_buf)
.map_err(|_| LoadError::FailedToReadFile)?;
let elf_header = Header::from_bytes(&header_buf);
// reject non-PIE
if elf_header.e_type != header::ET_DYN {
return None;
validate_header(&elf_header)?;
let mut ph_buf = vec![0_u8; elf_header.e_phentsize as usize];
let (total_size, min_vaddr, _max_vaddr) =
total_loadable_size(&mut file, elf_header, &mut ph_buf)?;
let bump = Bump::with_capacity(total_size);
let base = bump.alloc_slice_fill_default::<u8>(total_size);
// load each segment into bump, relative to base_ptr
for i in 0..elf_header.e_phnum {
file.seek_from_start(elf_header.e_phoff + (elf_header.e_phentsize * i) as u32)
.map_err(|_| LoadError::FailedToReadFile)?;
file.read(&mut ph_buf)
.map_err(|_| LoadError::FailedToReadFile)?;
let ph = cast_phdr(&ph_buf);
let seg_offset = (ph.p_vaddr - min_vaddr) as usize;
let segment = &mut base[seg_offset..seg_offset + ph.p_memsz as usize];
if ph.p_type == PT_LOAD {
load_segment(&mut file, &ph, segment)?;
}
}
let mut ph_buf = vec![0_u8; elf_header.e_phentsize as usize];
for i in 0..elf_header.e_shnum {
let sh = read_section(&mut file, elf_header, i.into())?;
let (total_size, min_vaddr, _max_vaddr) =
total_loadable_size(&mut file, elf_header, &mut ph_buf);
let bump = Bump::with_capacity(total_size);
let base = bump.alloc_slice_fill_default::<u8>(total_size);
// load each segment into bump, relative to base_ptr
for i in 0..elf_header.e_phnum {
file.seek_from_start(elf_header.e_phoff + (elf_header.e_phentsize * i) as u32)
.unwrap();
file.read(&mut ph_buf).unwrap();
let ph = cast_phdr(&ph_buf);
let seg_offset = (ph.p_vaddr - min_vaddr) as usize;
let segment = &mut base[seg_offset..seg_offset + ph.p_memsz as usize];
if ph.p_type == PT_LOAD {
load_segment(&mut file, &ph, segment).unwrap();
}
if sh.sh_type == SHT_REL {
apply_relocations(&sh, min_vaddr, base.as_mut_ptr(), &mut file)?;
}
}
for i in 0..elf_header.e_shnum {
let sh = read_section(&mut file, elf_header, i.into());
patch_syscalls(elf_header, base.as_mut_ptr(), min_vaddr, &mut file)?;
if sh.sh_type == SHT_REL {
apply_relocations(&sh, min_vaddr, base.as_mut_ptr(), &mut file).unwrap();
}
}
// entry pointer is base_ptr + (entry - min_vaddr)
let entry_ptr: EntryFn = unsafe {
core::mem::transmute(base.as_ptr().add((elf_header.e_entry - min_vaddr) as usize))
};
patch_syscalls(elf_header, base.as_mut_ptr(), min_vaddr, &mut file).unwrap();
// entry pointer is base_ptr + (entry - min_vaddr)
let entry_ptr: EntryFn = unsafe {
core::mem::transmute(base.as_ptr().add((elf_header.e_entry - min_vaddr) as usize))
};
Some((entry_ptr, bump))
})
.await
.expect("Failed to read file")?;
Some((entry, bump))
Ok((entry_ptr, bump))
})
.await
.map_err(|_| LoadError::FailedToReadFile)?
}
fn load_segment(file: &mut File, ph: &ProgramHeader, segment: &mut [u8]) -> Result<(), ()> {
fn validate_header(h: &Header) -> Result<(), LoadError> {
if h.e_type != ET_DYN {
return Err(LoadError::ElfIsNotPie);
}
if h.e_machine != EM_ARM {
return Err(LoadError::WrongMachine);
}
if h.e_version as u8 != EV_CURRENT {
return Err(LoadError::InvalidElf);
}
Ok(())
}
fn load_segment(file: &mut File, ph: &ProgramHeader, segment: &mut [u8]) -> Result<(), LoadError> {
let filesz = ph.p_filesz as usize;
let memsz = ph.p_memsz as usize;
@@ -94,8 +113,10 @@ fn load_segment(file: &mut File, ph: &ProgramHeader, segment: &mut [u8]) -> Resu
while remaining > 0 {
let to_read = core::cmp::min(remaining, buf.len());
file.seek_from_start(file_offset).unwrap();
file.read(&mut buf[..to_read]).unwrap();
file.seek_from_start(file_offset)
.map_err(|_| LoadError::FailedToReadFile)?;
file.read(&mut buf[..to_read])
.map_err(|_| LoadError::FailedToReadFile)?;
segment[dst_offset..dst_offset + to_read].copy_from_slice(&buf[..to_read]);
@@ -117,14 +138,16 @@ fn apply_relocations(
min_vaddr: u32,
base: *mut u8,
file: &mut File,
) -> Result<(), ()> {
) -> Result<(), LoadError> {
let mut reloc = [0_u8; 8];
let num_relocs = sh.sh_size as usize / sh.sh_entsize as usize;
for i in 0..num_relocs {
file.seek_from_start(sh.sh_offset + (i as u32 * 8)).unwrap();
file.read(&mut reloc).unwrap();
file.seek_from_start(sh.sh_offset + (i as u32 * 8))
.map_err(|_| LoadError::FailedToReadFile)?;
file.read(&mut reloc)
.map_err(|_| LoadError::FailedToReadFile)?;
let rel = cast_rel(&reloc);
@@ -140,7 +163,7 @@ fn apply_relocations(
}
}
_ => {
return Err(());
return Err(LoadError::UnknownRelocationType);
}
}
}
@@ -152,15 +175,17 @@ fn patch_syscalls(
base: *mut u8,
min_vaddr: u32,
file: &mut File,
) -> Result<(), ()> {
) -> Result<(), LoadError> {
for i in 1..=elf_header.e_shnum {
let sh = read_section(file, elf_header, i.into());
let sh = read_section(file, elf_header, i.into())?;
// find the symbol table
if sh.sh_type == SHT_SYMTAB {
let mut symtab_buf = vec![0u8; sh.sh_size as usize];
file.seek_from_start(sh.sh_offset).unwrap();
file.read(&mut symtab_buf).unwrap();
file.seek_from_start(sh.sh_offset)
.map_err(|_| LoadError::FailedToReadFile)?;
file.read(&mut symtab_buf)
.map_err(|_| LoadError::FailedToReadFile)?;
// Cast buffer into symbols
let sym_count = sh.sh_size as usize / sh.sh_entsize as usize;
@@ -169,22 +194,23 @@ fn patch_syscalls(
&symtab_buf[i * sh.sh_entsize as usize..(i + 1) * sh.sh_entsize as usize];
let sym = cast_sym(sym_bytes);
let str_sh = read_section(file, elf_header, sh.sh_link);
let str_sh = read_section(file, elf_header, sh.sh_link)?;
let mut name = Vec::new();
file.seek_from_start(str_sh.sh_offset + sym.st_name)
.unwrap();
.map_err(|_| LoadError::FailedToReadFile)?;
loop {
let mut byte = [0u8; 1];
file.read(&mut byte).unwrap();
file.read(&mut byte)
.map_err(|_| LoadError::FailedToReadFile)?;
if byte[0] == 0 {
break;
}
name.push(byte[0]);
}
let symbol_name = core::str::from_utf8(&name).unwrap();
let symbol_name = core::str::from_utf8(&name).expect("symbol was not utf8");
if symbol_name == stringify!(SYS_CALL_TABLE) {
let table_base =
unsafe { base.add((sym.st_value as usize) - min_vaddr as usize) }
@@ -204,6 +230,9 @@ fn patch_syscalls(
SyscallTable::ReadFile => syscalls::read_file as usize,
SyscallTable::WriteFile => syscalls::write_file as usize,
SyscallTable::FileLen => syscalls::file_len as usize,
SyscallTable::ReconfigureAudioSampleRate => {
syscalls::reconfigure_audio_sample_rate as usize
}
SyscallTable::AudioBufferReady => syscalls::audio_buffer_ready as usize,
SyscallTable::SendAudioBuffer => syscalls::send_audio_buffer as usize,
};
@@ -216,20 +245,20 @@ fn patch_syscalls(
}
}
}
Err(())
Err(LoadError::SyscallTableNotFound)
}
fn total_loadable_size(
file: &mut File,
elf_header: &Header,
ph_buf: &mut [u8],
) -> (usize, u32, u32) {
) -> Result<(usize, u32, u32), LoadError> {
let mut min_vaddr = u32::MAX;
let mut max_vaddr = 0u32;
for i in 0..elf_header.e_phnum {
file.seek_from_start(elf_header.e_phoff + (elf_header.e_phentsize * i) as u32)
.unwrap();
file.read(ph_buf).unwrap();
.map_err(|_| LoadError::FailedToReadFile)?;
file.read(ph_buf).map_err(|_| LoadError::FailedToReadFile)?;
let ph = cast_phdr(ph_buf);
if ph.p_type == PT_LOAD {
@@ -243,17 +272,22 @@ fn total_loadable_size(
}
let total_size = (max_vaddr - min_vaddr) as usize;
(total_size, min_vaddr, max_vaddr)
Ok((total_size, min_vaddr, max_vaddr))
}
fn read_section(file: &mut File, elf_header: &Header, section: u32) -> SectionHeader {
fn read_section(
file: &mut File,
elf_header: &Header,
section: u32,
) -> Result<SectionHeader, LoadError> {
let mut sh_buf = vec![0_u8; elf_header.e_shentsize as usize];
file.seek_from_start(elf_header.e_shoff + (elf_header.e_shentsize as u32 * section))
.unwrap();
file.read(&mut sh_buf).unwrap();
.map_err(|_| LoadError::FailedToReadFile)?;
file.read(&mut sh_buf)
.map_err(|_| LoadError::FailedToReadFile)?;
cast_shdr(&sh_buf)
Ok(cast_shdr(&sh_buf))
}
fn cast_phdr(buf: &[u8]) -> ProgramHeader {

View File

@@ -5,6 +5,9 @@
#![allow(static_mut_refs)]
#![feature(allocator_api)]
#![feature(slice_ptr_get)]
#![deny(warnings)]
#![deny(clippy::redundant_clone)]
#![deny(clippy::unwrap_used)]
extern crate alloc;

View File

@@ -52,6 +52,13 @@ impl Ord for FileName {
}
}
#[derive(Debug)]
pub enum SdCardError {
Volume0Missing,
RootDirMissing,
FileOpenFailed,
}
pub struct SdCard {
det: Input<'static>,
volume_mgr: VolMgr,
@@ -104,30 +111,37 @@ impl SdCard {
res.map_err(|_| ())
}
pub fn access_root_dir(&mut self, mut access: impl FnMut(Dir)) {
let volume0 = self.volume_mgr.open_volume(VolumeIdx(0)).unwrap();
let root_dir = volume0.open_root_dir().unwrap();
pub fn access_root_dir<R>(
&mut self,
mut access: impl FnMut(Dir) -> R,
) -> Result<R, SdCardError> {
let volume0 = self
.volume_mgr
.open_volume(VolumeIdx(0))
.map_err(|_| SdCardError::Volume0Missing)?;
let root_dir = volume0
.open_root_dir()
.map_err(|_| SdCardError::RootDirMissing)?;
access(root_dir);
Ok(access(root_dir))
}
pub async fn read_file<T>(
pub async fn read_file<R>(
&mut self,
name: &ShortFileName,
mut access: impl FnMut(File) -> T,
) -> Result<T, ()> {
let mut res = Err(());
mut access: impl FnMut(File) -> R,
) -> Result<R, SdCardError> {
self.access_root_dir(|root_dir| {
if let Ok(file) = root_dir.open_file_in_dir(name, Mode::ReadOnly) {
res = Ok(access(file));
}
});
let file = root_dir
.open_file_in_dir(name, Mode::ReadOnly)
.map_err(|_| SdCardError::FileOpenFailed)?;
res
Ok(access(file))
})?
}
/// Returns a Vec of file names (long format) that match the given extension (e.g., "BIN")
pub fn list_files_by_extension(&mut self, ext: &str) -> Result<Vec<FileName>, ()> {
pub fn list_files_by_extension(&mut self, ext: &str) -> Result<Vec<FileName>, SdCardError> {
let mut result = Vec::new();
// Only proceed if card is inserted
@@ -151,7 +165,7 @@ impl SdCard {
}
})
.unwrap()
});
})?;
Ok(result)
}

View File

@@ -7,8 +7,8 @@ use embedded_sdmmc::LfnBuffer;
use heapless::spsc::Queue;
use userlib_sys::{
AUDIO_BUFFER_SAMPLES, Alloc, AudioBufferReady, CLayout, CPixel, Dealloc, DrawIter, FileLen,
GenRand, GetMs, ListDir, Print, ReadFile, RngRequest, SendAudioBuffer, SleepMs, WriteFile,
keyboard::*,
GenRand, GetMs, ListDir, Print, ReadFile, ReconfigureAudioSampleRate, RngRequest,
SendAudioBuffer, SleepMs, WriteFile, keyboard::*,
};
#[cfg(feature = "psram")]
@@ -18,7 +18,7 @@ use crate::heap::HEAP;
use core::alloc::GlobalAlloc;
use crate::{
audio::{AUDIO_BUFFER, AUDIO_BUFFER_READY, AUDIO_BUFFER_WRITTEN},
audio::{AUDIO_BUFFER, AUDIO_BUFFER_READY, AUDIO_BUFFER_SAMPLE_RATE, AUDIO_BUFFER_WRITTEN},
display::FRAMEBUFFER,
framebuffer::FB_PAUSED,
storage::{Dir, File, SDCARD},
@@ -190,7 +190,7 @@ pub extern "C" fn list_dir(
let sd = guard.as_mut().unwrap();
let mut wrote = 0;
sd.access_root_dir(|root| {
let _ = sd.access_root_dir(|root| {
if dirs[0].is_empty() && dirs.len() >= 2 {
unsafe {
if dir == "/" {
@@ -264,7 +264,7 @@ pub extern "C" fn read_file(
let mut guard = SDCARD.get().try_lock().expect("Failed to get sdcard");
let sd = guard.as_mut().unwrap();
if !file.is_empty() {
sd.access_root_dir(|root| {
let _ = sd.access_root_dir(|root| {
if let Ok(result) = recurse_file(&root, &components[1..count], |file| {
file.seek_from_start(start_from as u32).unwrap_or(());
file.read(buf).unwrap()
@@ -303,7 +303,7 @@ pub extern "C" fn write_file(
let mut guard = SDCARD.get().try_lock().expect("Failed to get sdcard");
let sd = guard.as_mut().unwrap();
if !file.is_empty() {
sd.access_root_dir(|root| {
let _ = sd.access_root_dir(|root| {
recurse_file(&root, &components[1..count], |file| {
file.seek_from_start(start_from as u32).unwrap();
file.write(buf).unwrap()
@@ -324,7 +324,7 @@ pub extern "C" fn file_len(str: *const u8, len: usize) -> usize {
let mut guard = SDCARD.get().try_lock().expect("Failed to get sdcard");
let sd = guard.as_mut().unwrap();
if !file.is_empty() {
sd.access_root_dir(|root| {
let _ = sd.access_root_dir(|root| {
if let Ok(result) = recurse_file(&root, &file[1..], |file| file.length()) {
len = result
}
@@ -333,6 +333,11 @@ pub extern "C" fn file_len(str: *const u8, len: usize) -> usize {
len as usize
}
const _: ReconfigureAudioSampleRate = reconfigure_audio_sample_rate;
pub extern "C" fn reconfigure_audio_sample_rate(sample_rate: u32) {
AUDIO_BUFFER_SAMPLE_RATE.store(sample_rate, Ordering::Release);
}
const _: AudioBufferReady = audio_buffer_ready;
pub extern "C" fn audio_buffer_ready() -> bool {
AUDIO_BUFFER_READY.load(Ordering::Acquire)

View File

@@ -44,9 +44,10 @@ pub async fn ui_handler() {
selections.selections[selections.current_selection as usize].clone();
let entry = unsafe {
load_binary(&selection.short_name)
.await
.expect("unable to load binary")
match load_binary(&selection.short_name).await {
Ok(entry) => entry,
Err(e) => panic!("unable to load binary: {:?}", e),
}
};
BINARY_CH.send(entry).await;
}

View File

@@ -12,7 +12,7 @@ use strum::{EnumCount, EnumIter};
pub type EntryFn = fn();
pub const SYS_CALL_TABLE_COUNT: usize = 14;
pub const SYS_CALL_TABLE_COUNT: usize = 15;
const _: () = assert!(SYS_CALL_TABLE_COUNT == SyscallTable::COUNT);
#[derive(Clone, Copy, EnumIter, EnumCount)]
@@ -30,8 +30,9 @@ pub enum SyscallTable {
ReadFile = 9,
WriteFile = 10,
FileLen = 11,
AudioBufferReady = 12,
SendAudioBuffer = 13,
ReconfigureAudioSampleRate = 12,
AudioBufferReady = 13,
SendAudioBuffer = 14,
}
#[unsafe(no_mangle)]
@@ -217,7 +218,7 @@ pub mod keyboard {
1 => KeyState::Pressed,
2 => KeyState::Hold,
3 => KeyState::Released,
0 | _ => KeyState::Idle,
_ => KeyState::Idle,
}
}
}
@@ -473,6 +474,17 @@ pub extern "C" fn file_len(str: *const u8, len: usize) -> usize {
}
}
pub type ReconfigureAudioSampleRate = extern "C" fn(sample_rate: u32);
#[allow(unused)]
pub fn reconfigure_audio_sample_rate(sample_rate: u32) {
unsafe {
let ptr = SYS_CALL_TABLE[SyscallTable::ReconfigureAudioSampleRate as usize];
let f: ReconfigureAudioSampleRate = core::mem::transmute(ptr);
f(sample_rate)
}
}
pub type AudioBufferReady = extern "C" fn() -> bool;
#[allow(unused)]