Initial picolibc support

.github/workflows/build-toolchain-matrix.yml

@@ -29,19 +29,39 @@ jobs:
       mpfr-version: ${{ steps.gcc-version-generator.outputs.MPFR_VERSION }}
       gdb-version: ${{ steps.gcc-version-generator.outputs.GDB_VERSION }}
       make-version: ${{ steps.gcc-version-generator.outputs.MAKE_VERSION }}
+      picolibc-version: ${{ steps.gcc-version-generator.outputs.PICOLIBC_VERSION }}
     strategy:
       fail-fast: false
       matrix:
-        include: [
-          { host-os: ubuntu-22.04, target-platform: Windows-x86_64, deb-architecture: '', rpm-architecture: '', host: x86_64-w64-mingw32, makefile-version: 4.4, zlib-version: 1.2.13 },
-          { host-os: ubuntu-22.04, target-platform: Linux-x86_64, deb-architecture: amd64, rpm-architecture: x86_64, host: '', makefile-version: '', zlib-version: '' },
-          { host-os: ubuntu-22.04-arm, target-platform: Linux-aarch64, deb-architecture: arm64, rpm-architecture: aarch64, host: '', makefile-version: '', zlib-version: '' }
-        ]
+        include:
+          - host-os: ubuntu-22.04
+            target-platform: Windows-x86_64
+            deb-architecture: ''
+            rpm-architecture: ''
+            host: x86_64-w64-mingw32
+            makefile-version: 4.4
+            zlib-version: 1.2.13
+          - host-os: ubuntu-22.04
+            target-platform: Linux-x86_64
+            deb-architecture: amd64
+            rpm-architecture: x86_64
+            host: ''
+            makefile-version: ''
+            zlib-version: ''
+          - host-os: ubuntu-22.04-arm
+            target-platform: Linux-aarch64
+            deb-architecture: arm64
+            rpm-architecture: aarch64
+            host: ''
+            makefile-version: ''
+            zlib-version: ''
     runs-on: ${{ matrix.host-os }}
 
     env:
       Install_Directory: libdragon
       Build_Directory: scratch
+      Package_Suffix: ''
+      Artifact_Suffix: ''
 
     steps:
       - name: Install native system build dependencies
@@ -50,6 +70,8 @@ jobs:
           sudo apt-get install texinfo
           sudo apt-get install libmpc-dev
           sudo apt-get install squashfs-tools
+          sudo apt-get install meson
+          sudo apt-get install ninja-build
           # If there are other dependencies, we should add them here and make sure the documentation is updated!
 
       - name: Install x-compile system build dependencies
@@ -94,14 +116,14 @@ jobs:
           echo "BINUTILS_VERSION=$(grep -Po 'BINUTILS_V=\K[^"]*' ./tools/build-toolchain.sh)" >> $GITHUB_OUTPUT
           echo "GCC_VERSION=$(grep -Po 'GCC_V=\K[^"]*' ./tools/build-toolchain.sh)" >> $GITHUB_OUTPUT
           echo "NEWLIB_VERSION=$(grep -Po 'NEWLIB_V=\K[^"]*' ./tools/build-toolchain.sh)" >> $GITHUB_OUTPUT
+          echo "PICOLIBC_VERSION=$(grep -Po 'PICOLIBC_V=\K[^"]*' ./tools/build-toolchain.sh)" >> $GITHUB_OUTPUT
           echo "GDB_VERSION=$(grep -Po 'GDB_V=\K[^"]*' ./tools/build-gdb.sh)" >> $GITHUB_OUTPUT
 
           echo "GMP_VERSION=$(grep -Po 'GMP_V=\K[^"]*' ./tools/build-toolchain.sh)" >> $GITHUB_OUTPUT
           echo "MPC_VERSION=$(grep -Po 'MPC_V=\K[^"]*' ./tools/build-toolchain.sh)" >> $GITHUB_OUTPUT
           echo "MPFR_VERSION=$(grep -Po 'MPFR_V=\K[^"]*' ./tools/build-toolchain.sh)" >> $GITHUB_OUTPUT
           # TODO: this version is set explicitly. We need to fix!
           echo "MAKE_VERSION=4.4" >> $GITHUB_OUTPUT
-        continue-on-error: false
 
       - name: Build N64 MIPS GCC toolchain for ${{ matrix.target-platform }}
         run: |
@@ -209,26 +231,29 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - name: Download Windows-x86_64 artifact
+      - name: Download Windows-x86_64 artifacts
         id: download-windows-x86_64-artifact
         uses: actions/download-artifact@v4
         with:
-          name: gcc-toolchain-mips64-Windows-x86_64
+          pattern: gcc-toolchain-mips64*-Windows-x86_64
           path: ${{ runner.temp }}/gcc-toolchain-mips64-Windows-x86_64
+          merge-multiple: false
 
-      - name: Download Linux-x86_64 artifact
+      - name: Download Linux-x86_64 artifacts
         id: download-linux-x86_64-artifact
         uses: actions/download-artifact@v4
         with:
-          name: gcc-toolchain-mips64-Linux-x86_64
+          pattern: gcc-toolchain-mips64*-Linux-x86_64
           path: ${{ runner.temp }}/gcc-toolchain-mips64-Linux-x86_64
+          merge-multiple: false
 
-      - name: Download Linux-aarch64 artifact
+      - name: Download Linux-aarch64 artifacts
         id: download-linux-arm64-artifact
         uses: actions/download-artifact@v4
         with:
-          name: gcc-toolchain-mips64-Linux-aarch64
+          pattern: gcc-toolchain-mips64*-Linux-aarch64
           path: ${{ runner.temp }}/gcc-toolchain-mips64-Linux-aarch64
+          merge-multiple: false
 
       - name: Convert files for release upload
         run: |
@@ -245,6 +270,7 @@ jobs:
           CHANGELOG_TEXT+="Builds toolchain dependencies:</br>"
           CHANGELOG_TEXT+="  * GCC:      V${{ needs.build-toolchain.outputs.gcc-version }}</br>"
           CHANGELOG_TEXT+="  * Newlib:   V${{ needs.build-toolchain.outputs.newlib-version }}</br>"
+          CHANGELOG_TEXT+="  * Picolibc: V${{ needs.build-toolchain.outputs.picolibc-version }}</br>"
           CHANGELOG_TEXT+="  * BinUtils: V${{ needs.build-toolchain.outputs.binutils-version }}</br>"
           CHANGELOG_TEXT+="  * GDB:      V${{ needs.build-toolchain.outputs.gdb-version }}</br>"
           CHANGELOG_TEXT+='</br>'
@@ -263,8 +289,25 @@ jobs:
       # Compress and move the windows folder ready for upload.
       - name: Compress and move windows artifacts
         run: |
-          cd ${{ steps.download-windows-x86_64-artifact.outputs.download-path }}
-          zip -r -q ${{ runner.temp }}/gcc-toolchain-mips64-win64.zip *
+          download_path="${{ steps.download-windows-x86_64-artifact.outputs.download-path }}"
+          if [ -d "$download_path" ]; then
+            shopt -s nullglob
+            for dir in "$download_path"/*/; do
+              [ -d "$dir" ] || continue
+              dir=${dir%/}
+              base=$(basename "$dir")
+              (cd "$dir" && zip -r -q "${{ runner.temp }}/$base.zip" .)
+            done
+          fi
+
+      - name: Mark release as draft (force republish)
+        if: github.ref == 'refs/heads/trunk'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if gh release view toolchain-continuous-prerelease >/dev/null 2>&1; then
+            gh release edit toolchain-continuous-prerelease --draft
+          fi
 
       - name: Generate Release
         if: github.ref == 'refs/heads/trunk'

Dockerfile

@@ -31,7 +31,10 @@ RUN --mount=target=/var/lib/apt/lists,type=cache,sharing=locked \
         libmpc-dev \
         libmpfr-dev \
         make \
+        meson \
+        ninja-build \
         texinfo \
+        unzip \
         wget \
         zlib1g-dev \
     && apt autoremove -yq

Makefile

@@ -4,29 +4,28 @@ V = 1  # force verbose (at least until we have converted all sub-Makefiles)
 SOURCE_DIR = src
 BUILD_DIR = build
 include n64.mk
-INSTALLDIR = $(N64_INST)
 
 # N64_INCLUDEDIR is normally (when building roms) a path to the installed include files
 # (e.g. /opt/libdragon/$(N64_TARGET)/include), set in n64.mk
 # When building libdragon, override it to use the source include files instead (./include)
-N64_INCLUDEDIR = $(CURDIR)/include
+libdragon:N64_INCLUDEDIR=$(CURDIR)/include
 
 # N64_BACKTRACE_FILE_PREFIX is exposed from n64.mk, so we can use it to set the
 # prefix for libdragon. It is still possible to override this when running make
 # for libdragon specifically via a make override.
-N64_BACKTRACE_FILE_PREFIX=libdragon
+libdragon:N64_BACKTRACE_FILE_PREFIX=libdragon
 
-LIBDRAGON_CFLAGS = -I$(CURDIR)/src
+LIBDRAGON_CFLAGS = -I$(CURDIR)/include -I$(CURDIR)/src
 
 # Activate N64 toolchain for libdragon build
 libdragon: CC=$(N64_CC)
 libdragon: CXX=$(N64_CXX)
 libdragon: AS=$(N64_AS)
 libdragon: LD=$(N64_LD)
-libdragon: CFLAGS+=$(N64_CFLAGS) $(LIBDRAGON_CFLAGS)
-libdragon: CXXFLAGS+=$(N64_CXXFLAGS) $(LIBDRAGON_CFLAGS)
-libdragon: ASFLAGS+=$(N64_ASFLAGS) $(LIBDRAGON_CFLAGS)
-libdragon: RSPASFLAGS+=$(N64_RSPASFLAGS) $(LIBDRAGON_CFLAGS)
+libdragon: CFLAGS+=$(LIBDRAGON_CFLAGS) $(N64_CFLAGS)
+libdragon: CXXFLAGS+=$(LIBDRAGON_CFLAGS) $(N64_CXXFLAGS)
+libdragon: ASFLAGS+=$(LIBDRAGON_CFLAGS) $(N64_ASFLAGS)
+libdragon: RSPASFLAGS+=$(LIBDRAGON_CFLAGS) $(N64_RSPASFLAGS)
 libdragon: LDFLAGS+=$(N64_LDFLAGS)
 libdragon: libdragon.a libdragonsys.a gen-version
 
@@ -101,7 +100,7 @@ examples:
 	$(MAKE) -C examples
 # We are unable to clean examples built with n64.mk unless we
 # install it first
-examples-clean: $(INSTALLDIR)/include/n64.mk
+examples-clean: $(N64_INST)/include/n64.mk
 	$(MAKE) -C examples clean
 
 doxygen-api: doxygen-public.conf
@@ -114,13 +113,13 @@ tools-install:
 tools-clean:
 	$(MAKE) -C tools clean
 
-install-mk: $(INSTALLDIR)/include/n64.mk
+install-mk: $(N64_INST)/include/n64.mk
 
-$(INSTALLDIR)/include/n64.mk: n64.mk
+$(N64_INST)/include/n64.mk: n64.mk
 # Always update timestamp of n64.mk. This make sure that further targets
 # depending on install-mk won't always try to re-install it.
-	mkdir -p $(INSTALLDIR)/include
-	install -cv -m 0644 n64.mk $(INSTALLDIR)/include/n64.mk
+	mkdir -p $(N64_INST)/include
+	install -cv -m 0644 n64.mk $(N64_INST)/include/n64.mk
 
 gen-version:
 # Generate a version file for libdragon. We go through git archive so that
@@ -150,34 +149,33 @@ gen-version:
 		cp libdragon.version "$(BUILD_DIR)/libdragon.version"; \
 	fi;
 
-install: install-mk libdragon
-	mkdir -p $(INSTALLDIR)/$(N64_TARGET)/lib
-	install -Cv -m 0644 libdragon.a $(INSTALLDIR)/$(N64_TARGET)/lib/libdragon.a
-	install -Cv -m 0644 n64.ld $(INSTALLDIR)/$(N64_TARGET)/lib/n64.ld
-	install -Cv -m 0644 dso.ld $(INSTALLDIR)/$(N64_TARGET)/lib/dso.ld
-	install -Cv -m 0644 rsp.ld $(INSTALLDIR)/$(N64_TARGET)/lib/rsp.ld
-	install -Cv -m 0644 libdragonsys.a $(INSTALLDIR)/$(N64_TARGET)/lib/libdragonsys.a
-	mkdir -p $(INSTALLDIR)/$(N64_TARGET)/include
+install: install-mk libdragon gen-version
+	install -Cv -m 0644 libdragon.a $(N64_LIBDIR)/libdragon.a
+	install -Cv -m 0644 n64.ld $(N64_LIBDIR)/n64.ld
+	install -Cv -m 0644 dso.ld $(N64_LIBDIR)/dso.ld
+	install -Cv -m 0644 rsp.ld $(N64_LIBDIR)/rsp.ld
+	install -Cv -m 0644 libdragonsys.a $(N64_LIBDIR)/libdragonsys.a
+
 	if [ -f "$(BUILD_DIR)/libdragon.version" ]; then \
-		install -Cv -m 0644 $(BUILD_DIR)/libdragon.version $(INSTALLDIR)/$(N64_TARGET)/include/; \
+		install -Cv -m 0644 $(BUILD_DIR)/libdragon.version $(N64_INCLUDEDIR)/; \
 	else \
-		rm -f $(INSTALLDIR)/$(N64_TARGET)/include/libdragon.version; \
+		rm -f $(N64_INCLUDEDIR)/libdragon.version; \
 	fi;
-	install -Cv -m 0644 include/*.h $(INSTALLDIR)/$(N64_TARGET)/include/
-	install -Cv -m 0644 include/*.inc $(INSTALLDIR)/$(N64_TARGET)/include/
-	install -Cv -m 0644 include/ucode.S $(INSTALLDIR)/$(N64_TARGET)/include/
-	mkdir -p $(INSTALLDIR)/$(N64_TARGET)/include/sys
-	install -Cv -m 0644 include/sys/*.h $(INSTALLDIR)/$(N64_TARGET)/include/sys/
-	mkdir -p $(INSTALLDIR)/$(N64_TARGET)/include/GL
-	install -Cv -m 0644 include/GL/*.h $(INSTALLDIR)/$(N64_TARGET)/include/GL/
-	mkdir -p $(INSTALLDIR)/$(N64_TARGET)/include/newlib_overrides
-	install -Cv -m 0644 include/newlib_overrides/*.h $(INSTALLDIR)/$(N64_TARGET)/include/newlib_overrides/
-	mkdir -p $(INSTALLDIR)/$(N64_TARGET)/include/libcart
-	install -Cv -m 0644 src/libcart/cart.h $(INSTALLDIR)/$(N64_TARGET)/include/libcart/cart.h
-	mkdir -p $(INSTALLDIR)/$(N64_TARGET)/include/fatfs
-	install -Cv -m 0644 src/fatfs/diskio.h $(INSTALLDIR)/$(N64_TARGET)/include/fatfs/diskio.h
-	install -Cv -m 0644 src/fatfs/ff.h $(INSTALLDIR)/$(N64_TARGET)/include/fatfs/ff.h
-	install -Cv -m 0644 src/fatfs/ffconf.h $(INSTALLDIR)/$(N64_TARGET)/include/fatfs/ffconf.h
+	install -Cv -m 0644 include/*.h $(N64_INCLUDEDIR)/
+	install -Cv -m 0644 include/*.inc $(N64_INCLUDEDIR)/
+	install -Cv -m 0644 include/ucode.S $(N64_INCLUDEDIR)/
+	mkdir -p $(N64_INCLUDEDIR)/sys
+	install -Cv -m 0644 include/sys/*.h $(N64_INCLUDEDIR)/sys/
+	mkdir -p $(N64_INCLUDEDIR)/GL
+	install -Cv -m 0644 include/GL/*.h $(N64_INCLUDEDIR)/GL/
+	mkdir -p $(N64_INCLUDEDIR)/newlib_overrides
+	install -Cv -m 0644 include/newlib_overrides/*.h $(N64_INCLUDEDIR)/newlib_overrides/
+	mkdir -p $(N64_INCLUDEDIR)/libcart
+	install -Cv -m 0644 src/libcart/cart.h $(N64_INCLUDEDIR)/libcart/cart.h
+	mkdir -p $(N64_INCLUDEDIR)/fatfs
+	install -Cv -m 0644 src/fatfs/diskio.h $(N64_INCLUDEDIR)/fatfs/diskio.h
+	install -Cv -m 0644 src/fatfs/ff.h $(N64_INCLUDEDIR)/fatfs/ff.h
+	install -Cv -m 0644 src/fatfs/ffconf.h $(N64_INCLUDEDIR)/fatfs/ffconf.h
 
 clean:
 	rm -f *.o *.a

n64.mk

@@ -60,7 +60,7 @@ N64_DSO = $(N64_BINDIR)/n64dso
 N64_DSOEXTERN = $(N64_BINDIR)/n64dso-extern
 N64_DSOMSYM = $(N64_BINDIR)/n64dso-msym
 
-N64_C_AND_CXX_FLAGS =  -march=vr4300 -mtune=vr4300 -mabi=o64 -I$(N64_INCLUDEDIR)/newlib_overrides -I$(N64_INCLUDEDIR) -include ktls.h
+N64_C_AND_CXX_FLAGS =  -march=vr4300 -mtune=vr4300 -mabi=o64 -I$(N64_INCLUDEDIR)/newlib_overrides -I$(N64_INCLUDEDIR)
 N64_C_AND_CXX_FLAGS += -falign-functions=32   # NOTE: if you change this, also change backtrace() in backtrace.c
 N64_C_AND_CXX_FLAGS += -ffunction-sections -fdata-sections -g -ffile-prefix-map="$(CURDIR)"=$(N64_BACKTRACE_FILE_PREFIX)
 N64_C_AND_CXX_FLAGS += -ffast-math -ftrapping-math -fno-associative-math

src/asset.c

@@ -301,7 +301,11 @@ static fpos_t seekfn_none(void *c, fpos_t pos, int whence)
     return -1;
 }
 
+#if defined(__PICOLIBC__)
+static int readfn_none(void *c, void *buf, size_t sz)
+#else
 static int readfn_none(void *c, char *buf, int sz)
+#endif
 {
     cookie_none_t *cookie = c;
     assertf(!cookie->seeked, "Cannot seek in file opened via asset_fopen (it might be compressed)");
@@ -325,7 +329,11 @@ typedef struct  {
     uint8_t alignas(8) state[];
 } cookie_cmp_t;
 
+#if defined(__PICOLIBC__)
+static int readfn_cmp(void *c, void *buf, size_t sz)
+#else
 static int readfn_cmp(void *c, char *buf, int sz)
+#endif
 {
     cookie_cmp_t *cookie = (cookie_cmp_t*)c;
     assertf(!cookie->seeked, "Cannot seek in file opened via asset_fopen (it might be compressed)");

src/inspector.c

@@ -133,6 +133,7 @@ static void mips_disasm(uint32_t *ptr, char *out, int n) {
 	const char *opn = ops[(op >> 26) & 0x3F];
 	if (op == 0) opn = "znop";
 	else if (((op >> 26) & 0x3F) == 9 && ((op >> 21) & 0x1F) == 0) opn = "kli";
+    else if (((op >> 26) & 0x3F) == 0x1F && (op & 0x3F) == 0x3B) opn = "zrdhwr";
 	else if ((op >> 16) == 0x1000) opn = "yb";
 	else if (*opn == 's') {
 		opn = special[(op >> 0) & 0x3F];

src/interrupt.c

@@ -117,9 +117,12 @@ static uint32_t __prenmi_tick;
 static void __call_callback( struct callback_link * head )
 {
     /* Invalidate TP Value: if TLS data is accessed under interrupt,
-       an exception is raised. */
+       an exception is raised. 
+       Do this only if the kernel is enabled, so that we keep TLS working
+       in a single-thread environment. This is useful for picolibc where
+       TLS is pervasive. */
     void *tp = __th_cur_tp;
-    __th_cur_tp = KERNEL_TP_INVALID;
+    if (__kernel) __th_cur_tp = KERNEL_TP_INVALID;
     /* Call each registered callback */
     while( head )
     {
@@ -132,7 +135,7 @@ static void __call_callback( struct callback_link * head )
 	    head=head->next;
     }
     /* Restore TP Value */
-    __th_cur_tp = tp;
+    if (__kernel) __th_cur_tp = tp;
 }
 
 /**