Lab 4: Linked and Loaded


Lab written by Pat Hanrahan, updated by Julie Zelenski

Goals

During this lab you will:

Prelab preparation

To prepare for lab, do the following:

Lab exercises

Pull up the check in questions so you have it open as you go.

1. Stack

Change to the directory lab4/code/simple. The simple.c program reprises a program that was used in lab3 to experiment with gdb. We will use this same program to study the use of stack memory and organization of stack frames.

Run simple.elf under the gdb simulator. Disassemble the abs function and read through its assembly instructions.

(gdb) disass abs
Dump of assembler code for function abs:
=> 0x00008010 <+0>:     mov r12, sp
   0x00008014 <+4>:     push {r11, r12, lr, pc}
   0x00008018 <+8>:     sub r11, r12, #4
   0x0000801c <+12>:    cmp r0, #0
   0x00008020 <+16>:    rsblt   r0, r0, #0
   0x00008024 <+20>:    sub sp, r11, #12
   0x00008028 <+24>:    ldm sp, {r11, sp, lr}
   0x0000802c <+28>:    bx  lr
End of assembler dump.

The first three instructions comprise the function prolog which sets up the stack frame. The last three instructions are the function epilog which tears down the stack frame and restores caller-owned registers. The basic structure of the prolog and epilog is common to all functions, with some variation due to differences in local variables or use of caller-owner registers.

Get together with your partner and carefully trace through instructions in the prolog and epilog of abs. Sketch a diagram of the stack frame that it creates. Below are some issues to note and questions to discuss as you work through it.

Function prolog:

Function epilog:

Here is a memory diagram when stopped at line 5 in simple.c. This is in the body of the abs function, after the prolog and before the epilog. Our diagram shows the entire address space of the simple program, including the text, data, and stack segments. Studying this diagram will be helpful to confirm your understanding of how the stack operates and what is stored where in the address space.

The diagram contains a lot of details and can be overwhelming, but if you take the time to closely inspect it, you will gain a more complete understanding of the relationship between the contents of memory, registers, and the executing program. Go over it with your partner and labmates and ask questions of each other until everyone has a clear picture of how memory is laid out.

Once you understand the prolog/epilog of abs, use gdb to examine the disassembly for diff and main. Identify what part of the prolog and epilog are common to all three functions and where they differ. What is the reason for those differences?

Lastly, disassemble make_array to see how the stack is used to store local variables. Sketch a picture of its stack frame as you follow along with the function instructions.

Compare your sketch to this stack diagram for make_array. Does your understanding line up?

2. Heap

Change to the directory lab4/code/heapclient to begin your foray in heap allocation. So far we have stored our data either as local variables on the stack or global variables in the data segment. The functions malloc and free offer another option, this one with more precise control of the size and lifetime and greater versatility at runtime.

Study the program heapclient.c. The tokenize function is used to dissect a string into a sequence of space-separated tokens. The function calls on the not-yet-implemented function char *strndup(const char *src, size_t n) to make a copy of each token. The intended behavior of strndup is to return a new string containing the first n characters of the src string.

Talk over with your partner why it would not be correct for strndup to declare a local array variable in its stack frame to store the new string. When a function exits, its stack frame is deallocated and the memory is recycled for use by the next function call. What would be the consequence if strndup mistakenly returns a pointer to memory contained within its to-be-deallocated stack frame?

Instead strndup must allocate space from the heap, so that the data can persist after the function exits. Edit strndup to use a call to malloc to request the necessary number of bytes. How many total bytes of space are needed to store a string with n characters?

Now that you have the necessary memory set aside, what function from the strings module can you call to copy the first n characters from the src string to the new memory?

What is the final step you must take to complete the new string? (Hint: how is the end of a string marked?)

Once you have completed your implementation of strndup to make a proper heap copy of the string, build and run the program to verify your code is correct.

Unlike stack and global memory, which is automatically deallocated on your behalf, you must explicitly free dynamic memory when you are done with it. For the finishing touch, edit main to add the necessary calls to free to properly deallocate all of the heap memory it used.

3. Linking

In the first exercise, you will repeat some of the live coding demonstrations shown in the lecture on linking and loading.

Let’s first review some terminology. An object file (also called an .o file or a relocatable) is the result of compiling and assembling a single source file. An object file is on its way to becoming a runnable program, but it’s not finished. The linker takes over from there to combine the object file with additional object files and libraries. The linker is responsible for resolving inter-module references and relocating symbols to their final location. The output of the linker is an executable file, this represents a full program that is ready to run.

Symbols in object files

Change to the code/linking directory of lab4. Read over the code in the files start.s and cstart.c and then build the object files start.o and cstart.o:

$ make start.o cstart.o

The tool nm lists the symbols in an object file. Each function, variable, and constant declared at the top-level in the module is a symbol. Try nm out now:

$ arm-none-eabi-nm -n start.o cstart.o

What symbols are listed for start.o? For cstart.o? How do the symbols listed correspond to the functions defined in the source files? What is the significance of the number shown in the left column for each symbol? What do each of the single letters T, U, and t in the second column mean?

Skim the arm-none-eabi-nm man page to learn a little bit about this tool and the variety of symbol types. Our modules will typically contain text (code) symbols and data symbols (with variants common, uninitialized, read-only). What is the significance of upper versus lowercase for the symbol type? What does the -n flag do?

Make sure you and your partner understand nm’s output before continuing.

Let’s look at the symbols in a more complex object file. Review the variable definitions in the source file linking.c. Build linking.o and view its symbol list:

$ make linking.o
$ arm-none-eabi-nm -n linking.o

How many symbols are listed for linking.o? What do the single letter symbols D, R, C, and b mean in the nm output? Can you match each function/variable definition in linking.c to its symbol in the nm output? A few of the variables defined seem to have been completely optimized out, what made that possible? None of the parameters or stack-local variables in linking.c are listed as symbols, why not?

What type and size of symbol would correspond to an array definition such as const int[5]? See for yourself by uncommenting the declaration on line 13 of linking.c, rebuild and view arm-none-eabi-nm -S linking.o.

Symbols in an executable

After compiling each individual source file into an object file, the final build step is to link the object files and libraries into a program executable. The three object files we examined above are linked together in linking.elf. Use make linking.elf to perform the link step and then use nm to look at the symbols in the final executable.

$ make linking.elf
$ arm-none-eabi-nm -n linking.elf

The executable contains the union of the symbols in the three object files. What is the order of the symbols in the executable? How have the symbol addresses changed during the link process? Do any undefined symbols remain? What happened to the symbols previously marked C?

Resolution and relocation

The Makefile in this project has additional action that creates a .list file for each build step. These listing files contain the disassembly of the compiled module. Let’s look into those listings to get a better understanding of how symbols are resolved and relocated by the linker.

$ cat start.o.list

00000000 <_start>:
       0:   mov     sp, #134217728  ; 0x8000000
       4:   mov     fp, #0
       8:   bl      0 <_cstart>

0000000c <hang>:
       c:   b       c <hang>

The third instruction is where _start calls _cstart. This branch and link instruction bl has 0 at the target destination address. This target is labeled <_cstart>, but 0 doesn’t seem quite right. In this module, 0 is the address of _start. Hmm, most curious…

The listing for linking.elf begins with the instructions for _start but this is after linking. What do you notice that is different now?

$ cat linking.elf.list
 00008000 <_start>:
     8000:       mov     sp, #134217728  ; 0x8000000
     8004:       mov     fp, #0
     8008:       bl      80b8 <_cstart>

 0000800c <hang>:
     800c:       b       800c <hang>

 00008010 <sum>:
     8010:       mov     ip, sp
     8014:       push    {fp, ip, lr, pc}
 ...

 000080b8 <_cstart>:
     80b8:       mov     ip, sp
 ...

First note that after linking, the addresses (in leftmost column) start at 0x8000 and increase from there. These addresses indicate the location of each instruction in the final executable. Can you work out how each symbol’s final address relate to its original offset in the object file? The process of gathering all symbols from the modules and laying out into one combined package at their final locations is called relocation. The linker uses the memory map (described in exercise 2) to determine how and where to layout the symbols.

In the listing start.o.list, the destination address for the branch to _cstart was 0. In the listing linking.elf.list, the destination address has been changed to 0x80b8. Read further down in the listing to see what is at address 0x80b8. Makes sense?

In the listing for linking.o.list (pre-link), find the instructions for the function main. It contains three bl instructions, one is a function call to a function defined in this module (sum), the other two call functions outside this module (uart_init and printf). The call within module has the function offset as destination address, but the calls to outside the module have destination address 0, used as a placeholder. In the listing linking.elf.list (post-link), find those same instructions for main and you will see all destination addresses are now filled in with the final location of the symbol.

The compiler processes only a single module (file) at a time and thus it can only resolve references to symbols that appear within the module currently being compiled. The linker runs in a subsequent pass to perform tasks that require joining across modules. The process of filling in the missing placeholder addresses with the final symbol locations is known as resolution.

The linker is given a list of object files to process and it will combine the files together and arrange symbols into their final locations (relocation) and resolve cross-module references (resolution).

Libraries

Next, cd into ../libmypi. This directory contains an example of building a library libmypi.a containing the files gpio.o and timer.o.

Read the Makefile. Notice the lines

libmypi.a: $(LIBRARY_MODULES)
	arm-none-eabi-ar crf $@ $^

The arm-none-eabi-ar program creates an archive from a list of object files. The flags crf mean to create (c) the archive, replace/insert (r) the files, and use the filename (f) for the name of the archive.

The library can then be passed to the linker using -lmypi.

The linker treats objects files (.o) and libraries (.a) a little bit differently. When linking object files, all the files are combined. When linking libraries, only files containing definitions of undefined symbols are added to the executable. This makes it possible to make libraries with lots of useful modules, and only link the ones that you actually use in the final executable.

4. Memory Map

As part of the relocation process, the linker places all of the symbols into their final location. You supply a memory map to the linker to indicate the layout of the sections. Let’s look into this file to better understand its purpose and function.

Change to the lab4/code/linking directory and use nm to see the final locations of all the symbols in the executable.

$ arm-none-eabi-nm -n linking.elf

Note how all symbols of a given type (text, data, rodata, etc.) are grouped together into one section.

Now open the file memmap in your text editor. memmap is a linker script, which tells the linker how to lay out the sections in the final executable file.

Our projects all use this same memmap, which defines a correct layout for a standard bare-metal C program for the Pi. You are unlikely to need to edit or customize it. However, if you are curious to know more, here is documentation on linker scripts.

5. Bootloader

The bootloader is the program that runs on the Raspberry Pi that waits to receive a program from your laptop and then executes it. Back in lab 1, you downloaded bootloader.bin from the firmware folder and copied it to your SD card under the name kernel.img so it is the program that runs when the Raspberry Pi resets.

So far, we have used the bootloader as a “black box”. Now you are ready to open it up and learn how programs are sent from your laptop and execute on the Pi.

The bootloader we are using is a modified version of one written by David Welch, the person most responsible for figuring out how to write bare metal programs on the Raspberry Pi. If it wasn’t for his great work, we would not be offering this course!

Xmodem file transfer protocol

Your laptop and the bootloader communicate over the serial line via the Raspberry Pi’s UART. They use a simple file transfer protocol called XMODEM. In the jargon of XMODEM, your laptop initiates the transfer and acts as the transmitter; the bootloader acts as the receiver.

The transmitter divides the data from the file into chunks of 128 bytes and sends each chunk in its own packet. The payload data of a packet is introduced by a three-byte header and followed by a single CRC checksum byte; each packet comprises 132 bytes in total. The transmitter and receiver synchronize after each packet to decide whether to move on to the next packet or re-try due to a transmission error.

xmodem protocol

To send a file, the transmitter follows these steps:

  1. Wait for NAK from receiver.
  2. Send 132-byte packet consisting of:
    • SOH, control character for start of heading indicates start of a new packet.
    • Sequence number. First packet is numbered 1 and the number increments from there; wraps to 0 after 255.
    • Complement of sequence number.
    • Payload, 128 bytes.
    • Checksum (sum all payload bytes mod 256).
  3. Read response from receiver:
    • If NAK, re-transmit same packet.
    • If ACK, advance to next packet.
  4. Repeat steps 2-3 for each packet.
  5. Send EOT (end of transmission), wait for ACK.

The receiver performs the inverse of the actions of the transmitter:

  1. Send NAK to indicate readiness.
  2. Read 132-byte packet consisting of:
    • SOH, sequence number, complement, payload, checksum
  3. Validate packet fields (start, sequence number, complement, checksum)
    • If all valid, respond with ACK, advance to next packet.
    • If not, respond with NAK and receive same packet again.
  4. Repeat steps 2-3 for each packet.
  5. When EOT received, respond with ACK to complete the operation.

Transmit: rpi-install.py

rpi-install.py is a Python script that runs on your laptop and transmits a binary program to the waiting bootloader.

It is written as python script and is compatible with any OS with proper python support. Given the handy python libraries to abstract away the details of the XMODEM protocol-handling, the script doesn’t expose the internals of the send/receive mechanics. In fact, the bulk of the script is goop used to find the CP2102 driver device for different platforms. Read over the script for yourself by browsing rpi-install.py in our courseware repo or using this command in your terminal:

$ cat `which rpi-install.py`

Receive: bootloader.bin

The bootloader.bin you have installed on your SD card is a C program that runs bare-metal on the Raspberry Pi. Change to the directory lab4/code/bootloader. This directory contains the bootloader source code. The bootloader program waits for your laptop to send it a program binary. Upon receives a program, it loads it into memory, and then branches to the code to begin execution.

First, read the assembly language file start.s. Note the .space directive between _start and the label skip. This has the effect of placing the bootloader code at location 0x200000. This creates a hole in memory (between 0x8000 and 0x200000). The bootloader loads your program into that hole. Why can’t the bootloader code also be placed at 0x8000?

The bootloader.c file contains the C code to perform the receiver side of the XMODEM protocol. Go over the bootloader code in detail with your labmates. Start by tracing the operation when everything goes as planned without errors, then consider what happens when things go awry.

Here are some questions to frame your discussion:

With your group, mark up the copy of the bootloader source to add comments documenting its operation. Divide it up, something like:

Have each person jot down notes and then explain their part to the group. Collate your group’s notes and marked up source and show the CA.

Check in with TA

At the end of the lab period, call over a TA to check in with your progress on the lab.

It’s okay if you don’t completely finish all of the exercises during lab time; your sincere participation for the full lab period is sufficient for credit. If you don’t make it through the whole lab, we still highly encourage you to go through those parts, so you are well prepared to tackle the assignment.