Add QNX cross-compilation support

README.md

@@ -106,6 +106,31 @@ of Zephyr CMake project. Here is how to build libmetal for Zephyr:
     $ make VERBOSE=1 run
 ```
 
+### Building for QNX
+
+To build libmetal for QNX, QNX SDP as well as configuration files from [ports/libmetal](https://github.com/qnx-ports/build-files/tree/main/ports/libmetal) are required. Here is how to build:
+
+```
+# Create QNX workspace and install source code
+mkdir -p ~/qnx_workspace && cd ~/qnx_workspace
+git clone https://github.com/qnx-ports/build-files
+git clone https://github.com/OpenAMP/libmetal
+
+# Source the environment
+source ~/qnx800/qnxsdp-env.sh
+
+#Build libmetal
+make -C build-files/ports/libmetal install -j4
+```
+
+`x86_64` and `aarch64` specific `libmetal.so*` files will be created under `build-files/ports/libmetal/<arch>/build` as well as be installed in SDP under `<qnx-sdp>/target/qnx/<arch>/usr/local/lib`
+
+**Note**: Custom build options or installation paths can be added to QNX build. For example
+
+```
+WITH_STATIC_LIB=ON WITH_TESTS=ON make -C build-files/ports/libmetal install -j4 USE_INSTALL_ROOT=true INSTALL_ROOT_nto=<staging-install-folder>
+```
+
 ## Interfaces
 
 The following subsections give an overview of interfaces provided by libmetal.

lib/CMakeLists.txt

@@ -51,8 +51,13 @@ collector_list (_deps PROJECT_LIB_DEPS)
 
 foreach (f ${_headers})
   configure_file (${f} include/${PROJECT_NAME}/${f} @ONLY)
-  install (FILES ${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${f}
+  if (QNX)
+    install (FILES ${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${f}
+           DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} RENAME ${PROJECT_NAME}/${f})
+  else (QNX)
+    install (FILES ${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${f}
            DESTINATION include RENAME ${PROJECT_NAME}/${f})
+  endif (QNX)
   if (${f} MATCHES "^[^/]*\\.h")
     collect (PROJECT_HDR_TESTS "metal/${f}")
   endif (${f} MATCHES "^[^/]*\\.h")

lib/system/qnx/CMakeLists.txt

@@ -0,0 +1,21 @@
+collect (PROJECT_LIB_HEADERS alloc.h)
+collect (PROJECT_LIB_HEADERS assert.h)
+collect (PROJECT_LIB_HEADERS cache.h)
+collect (PROJECT_LIB_HEADERS condition.h)
+collect (PROJECT_LIB_HEADERS io.h)
+collect (PROJECT_LIB_HEADERS irq.h)
+collect (PROJECT_LIB_HEADERS log.h)
+collect (PROJECT_LIB_HEADERS mutex.h)
+collect (PROJECT_LIB_HEADERS sleep.h)
+collect (PROJECT_LIB_HEADERS sys.h)
+
+collect (PROJECT_LIB_SOURCES condition.c)
+collect (PROJECT_LIB_SOURCES device.c)
+collect (PROJECT_LIB_SOURCES init.c)
+collect (PROJECT_LIB_SOURCES io.c)
+collect (PROJECT_LIB_SOURCES irq.c)
+collect (PROJECT_LIB_SOURCES shmem.c)
+collect (PROJECT_LIB_SOURCES time.c)
+collect (PROJECT_LIB_SOURCES utilities.c)
+
+collect (PROJECT_LIB_DEPS cache)

lib/system/qnx/alloc.h

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2025, BlackBerry Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	qnx/alloc.h
+ * @brief	QNX libmetal memory allocation definitions.
+ */
+
+#ifndef __METAL_ALLOC__H__
+#error "Include metal/alloc.h instead of metal/qnx/alloc.h"
+#endif
+
+#ifndef __METAL_QNX_ALLOC__H__
+#define __METAL_QNX_ALLOC__H__
+
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+static inline void *__metal_allocate_memory(unsigned int size)
+{
+	return malloc(size);
+}
+
+static inline void __metal_free_memory(void *ptr)
+{
+	free(ptr);
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __METAL_QNX_ALLOC__H__ */

lib/system/qnx/assert.h

@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2025, BlackBerry Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	qnx/assert.h
+ * @brief	QNX libmetal assertion support.
+ */
+
+#ifndef __METAL_ASSERT__H__
+#error "Include metal/assert.h instead of metal/qnx/assert.h"
+#endif
+
+#ifndef __METAL_QNX_ASSERT__H__
+#define __METAL_QNX_ASSERT__H__
+
+#include <assert.h>
+
+/**
+ * @brief Assertion macro for QNX-based applications.
+ * @param cond Condition to evaluate.
+ */
+#define metal_sys_assert(cond) assert(cond)
+
+#endif /* __METAL_QNX_ASSERT__H__ */

lib/system/qnx/cache.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2025, BlackBerry Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	qnx/cache.h
+ * @brief	QNX cache operation primitives for libmetal.
+ */
+
+#ifndef __METAL_CACHE__H__
+#error "Include metal/cache.h instead of metal/qnx/cache.h"
+#endif
+
+#ifndef __METAL_QNX_CACHE__H__
+#define __METAL_QNX_CACHE__H__
+
+#include <stdlib.h>
+#include <sys/mman.h>
+#include <sys/cache.h>
+#include <metal/assert.h>
+#include <metal/sys.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern struct cache_ctrl __qnx_cache_control;
+
+static inline void __metal_cache_flush(void *addr, unsigned int len)
+{
+	CACHE_FLUSH(&__qnx_cache_control, addr, (uint64_t)__qnx_get_physical_address(addr, len), len);
+}
+
+static inline void __metal_cache_invalidate(void *addr, unsigned int len)
+{
+	CACHE_INVAL(&__qnx_cache_control, addr, (uint64_t)__qnx_get_physical_address(addr, len), len);
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __METAL_QNX_CACHE__H__ */

lib/system/qnx/condition.c

@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2025, BlackBerry Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	qnx/condition.c
+ * @brief	QNX libmetal condition variable handling.
+ */
+
+#include <metal/condition.h>
+
+int metal_condition_wait(struct metal_condition *cv, metal_mutex_t *m)
+{
+	int ret = pthread_cond_wait(&cv->cond, m);
+
+	return (ret == EOK) ? 0 : -ret;
+}

lib/system/qnx/condition.h

@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2025, BlackBerry Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	qnx/condition.h
+ * @brief	QNX condition variable primitives for libmetal.
+ */
+
+#ifndef __METAL_CONDITION__H__
+#error "Include metal/condition.h instead of metal/qnx/condition.h"
+#endif
+
+#ifndef __METAL_QNX_CONDITION__H__
+#define __METAL_QNX_CONDITION__H__
+
+#include <pthread.h>
+#include <metal/errno.h>
+#include <metal/assert.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct metal_condition {
+	pthread_cond_t cond;
+};
+
+/*
+ * METAL_CONDITION_INIT - static metal condition variable initialization
+ */
+#define METAL_CONDITION_INIT { PTHREAD_COND_INITIALIZER }
+
+static inline void metal_condition_init(struct metal_condition *cv)
+{
+	metal_assert(pthread_cond_init(&cv->cond, NULL) == EOK);
+}
+
+static inline int metal_condition_signal(struct metal_condition *cv)
+{
+	int ret = pthread_cond_signal(&cv->cond);
+
+	return (ret == EOK) ? 0 : -ret;
+}
+
+static inline int metal_condition_broadcast(struct metal_condition *cv)
+{
+	int ret = pthread_cond_broadcast(&cv->cond);
+
+	return (ret == EOK) ? 0 : -ret;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __METAL_QNX_CONDITION__H__ */

lib/system/qnx/device.c

@@ -0,0 +1,29 @@
+/*
+ * Copyright (c) 2025, BlackBerry Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	qnx/device.c
+ * @brief	QNX libmetal device operations.
+ */
+
+#include <metal/device.h>
+
+int metal_generic_dev_sys_open(struct metal_device *dev)
+{
+	struct metal_io_region *io;
+	unsigned int i, ret;
+
+	/* map I/O memory regions */
+	for (i = 0; i < dev->num_regions; i++) {
+		io = &dev->regions[i];
+		ret = metal_sys_io_mem_map(io);
+		if (ret != 0)
+			return ret;
+	}
+
+	return 0;
+}
+

lib/system/qnx/init.c

@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2025, BlackBerry Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+/*
+ * @file	qnx/init.c
+ * @brief	QNX libmetal initialization.
+ */
+
+#include <sys/types.h>
+#include <metal/sys.h>
+#include <metal/device.h>
+#include <metal/irq.h>
+#include <metal/cache.h>
+#include <metal/utilities.h>
+
+#include "irq.h"
+
+struct metal_state _metal;
+struct cache_ctrl __qnx_cache_control;
+static int GENERIC_BUS_REGISTER;
+
+static void metal_init_page_sizes(void)
+{
+	_metal.page_size = sysconf(_SC_PAGESIZE);
+	_metal.page_shift = metal_log2(_metal.page_size);
+}
+
+int metal_sys_init(const struct metal_init_params *params)
+{
+	int ret;
+
+	/* Initialize page size */
+	metal_init_page_sizes();
+
+	/* Initialize IRQ */
+	ret = metal_qnx_irq_init();
+	if (ret != 0) {
+		metal_log(METAL_LOG_ERROR, "irq init failed - %s\n",
+			  strerror(-ret));
+		return ret;
+	}
+
+	/* Initialize cache */
+	memset(&__qnx_cache_control, 0, sizeof(__qnx_cache_control));
+	__qnx_cache_control.fd = NOFD;
+
+	ret = cache_init(0, &__qnx_cache_control, NULL);
+	if (ret == -1) {
+		metal_log(METAL_LOG_ERROR, "cache init failed - %s\n",
+			  strerror(errno));
+		return -errno;
+	}
+
+	/* Initialize generic bus */
+	ret = metal_bus_register(&metal_generic_bus);
+	if (ret != 0) {
+		metal_log(METAL_LOG_DEBUG, "generic bus init failed - %s\n",
+			  strerror(-ret));
+	} else {
+		GENERIC_BUS_REGISTER = 1;
+	}
+
+	metal_unused(params);
+
+	return 0;
+}
+
+void metal_sys_finish(void)
+{
+	cache_fini(&__qnx_cache_control);
+	metal_qnx_irq_shutdown();
+	if (GENERIC_BUS_REGISTER) {
+		metal_bus_unregister(&metal_generic_bus);
+	}
+}
+