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source: trunk/kernel/kern/kernel_init.c @ 105

Last change on this file since 105 was 103, checked in by alain, 7 years ago
Introducing a nolock_printk() function used by kernel_init.
File size: 38.9 KB

Rev	Line
[1]	1	/*
	2	* kernel_init.c - kernel parallel initialization
	3	*
[23]	4	* Authors : Mohamed Lamine Karaoui (2015)
	5	* Alain Greiner (2016,2017)
[1]	6	*
	7	* Copyright (c) Sorbonne Universites
	8	*
	9	* This file is part of ALMOS-MKH.
	10	*
	11	* ALMOS-MKH is free software; you can redistribute it and/or modify it
	12	* under the terms of the GNU General Public License as published by
	13	* the Free Software Foundation; version 2.0 of the License.
	14	*
	15	* ALMOS-MKH is distributed in the hope that it will be useful, but
	16	* WITHOUT ANY WARRANTY; without even the implied warranty of
	17	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
	18	* General Public License for more details.
	19	*
	20	* You should have received a copy of the GNU General Public License
	21	* along with ALMOS-MKH; if not, write to the Free Software Foundation,
	22	* Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
	23	*/
	24
[14]	25	#include <kernel_config.h>
[1]	26	#include <errno.h>
	27	#include <hal_types.h>
	28	#include <hal_special.h>
	29	#include <hal_context.h>
[14]	30	#include <barrier.h>
[1]	31	#include <remote_barrier.h>
	32	#include <core.h>
	33	#include <list.h>
[68]	34	#include <xlist.h>
[1]	35	#include <thread.h>
	36	#include <scheduler.h>
	37	#include <kmem.h>
	38	#include <cluster.h>
	39	#include <string.h>
	40	#include <memcpy.h>
	41	#include <ppm.h>
	42	#include <page.h>
[5]	43	#include <chdev.h>
[1]	44	#include <boot_info.h>
	45	#include <dqdt.h>
	46	#include <dev_icu.h>
	47	#include <dev_mmc.h>
[5]	48	#include <dev_dma.h>
	49	#include <dev_iob.h>
[1]	50	#include <dev_ioc.h>
[5]	51	#include <dev_txt.h>
[1]	52	#include <dev_pic.h>
	53	#include <printk.h>
	54	#include <vfs.h>
[77]	55	#include <hal_drivers.h>
[23]	56	#include <devfs.h>
[68]	57	#include <mapper.h>
[101]	58	#include <soclib_tty.h>
[1]	59
[5]	60	#define KERNEL_INIT_SYNCHRO 0xA5A5B5B5
[1]	61
	62	///////////////////////////////////////////////////////////////////////////////////////////
	63	// All these global variables are replicated in all clusters.
	64	// They are initialised by the kernel_init() function.
[14]	65	//
	66	// WARNING : The section names have been defined to control the base addresses of the
	67	// boot_info structure and the idle thread descriptors, through the kernel.ld script:
	68	// - the boot_info structure is build by the bootloader, and used by kernel_init.
	69	// it must be first object in the kdata segment.
	70	// - the array of idle threads descriptors must be placed on the first page boundary after
	71	// the boot_info structure in the kdata segment.
[1]	72	///////////////////////////////////////////////////////////////////////////////////////////
	73
[5]	74	// This variable defines the local boot_info structure
	75	__attribute__((section(".kinfo")))
[14]	76	boot_info_t boot_info;
[5]	77
[14]	78	// This variable defines the "idle" threads descriptors array
	79	__attribute__((section(".kidle")))
	80	char idle_threads[CONFIG_THREAD_DESC_SIZE *
	81	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
	82
[1]	83	// This variable defines the local cluster manager
[5]	84	__attribute__((section(".kdata")))
[19]	85	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
[1]	86
[14]	87	// This variables define the kernel process0 descriptor
[5]	88	__attribute__((section(".kdata")))
[19]	89	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
[1]	90
[14]	91	// This variable defines extended pointers on the distributed chdevs
[5]	92	__attribute__((section(".kdata")))
[14]	93	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
[1]	94
[5]	95	// This variable contains the input IRQ indexes for the PIC device
	96	__attribute__((section(".kdata")))
[14]	97	chdev_pic_input_t chdev_pic_input CONFIG_CACHE_LINE_ALIGNED;
[1]	98
[5]	99	// This variable contains the input IRQ indexes for the ICU device
	100	__attribute__((section(".kdata")))
[14]	101	chdev_icu_input_t chdev_icu_input CONFIG_CACHE_LINE_ALIGNED;
[1]	102
[14]	103	// This variable defines the local cluster identifier
[5]	104	__attribute__((section(".kdata")))
[14]	105	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
[5]	106
[14]	107	// This variable defines the TXT0 chdev descriptor
[5]	108	__attribute__((section(".kdata")))
[14]	109	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
[1]	110
[14]	111	// This variable is used for CP0 cores sychronisation in kernel_init()
[5]	112	__attribute__((section(".kdata")))
[14]	113	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
[1]	114
[14]	115	// This variable is used for local cores sychronisation in kernel_init()
	116	__attribute__((section(".kdata")))
	117	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
	118
[50]	119	// This variable defines the array of supported File System contexts
	120	__attribute__((section(".kdata")))
	121	vfs_ctx_t fs_context[FS_TYPES_NR] CONFIG_CACHE_LINE_ALIGNED;
	122
	123
[1]	124	///////////////////////////////////////////////////////////////////////////////////////////
[5]	125	// This function displays the ALMOS_MKH banner.
[1]	126	///////////////////////////////////////////////////////////////////////////////////////////
[5]	127	static void print_banner( uint32_t nclusters , uint32_t ncores )
[1]	128	{
[5]	129	printk("\n"
	130	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
	131	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
	132	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
	133	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
	134	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
	135	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
	136	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
	137	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
	138	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
	139	"\n\n\t\t\t Version 0.0 : %d clusters / %d cores per cluster\n\n", nclusters , ncores );
	140	}
[1]	141
	142
[5]	143	///////////////////////////////////////////////////////////////////////////////////////////
[14]	144	// This static function initializes the TXT0 chdev descriptor, associated to the "kernel
	145	// terminal", and shared by all kernel instances for debug messages. It also register it
	146	// in the chdev directory, containing extended pointers on all chdevs.
	147	// The global variable txt0_chdev is replicated in all clusters, but only the chdev
	148	// allocated in I/O cluster is used by ALMOS-MKH.
	149	// Therefore, this function must be called by a thread running in the I/O cluster.
	150	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
	151	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
[5]	152	///////////////////////////////////////////////////////////////////////////////////////////
	153	// @ info : pointer on the local boot-info structure.
	154	///////////////////////////////////////////////////////////////////////////////////////////
	155	static void txt0_device_init( boot_info_t * info )
	156	{
	157	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
	158	uint32_t dev_nr; // actual number of devices in this cluster
	159	xptr_t base; // remote pointer on segment base
	160	uint32_t type; // peripheral type
	161	uint32_t func; // device functionnal index
	162	uint32_t impl; // device implementation index
	163	uint32_t i; // device index in dev_tbl
	164	uint32_t x; // X cluster coordinate
	165	uint32_t y; // Y cluster coordinate
[1]	166
[5]	167	// get number of peripherals and base of devices array from boot_info
	168	dev_nr = info->ext_dev_nr;
	169	dev_tbl = info->ext_dev;
[1]	170
[14]	171	// loop on external peripherals to find TXT device
[5]	172	for( i = 0 ; i < dev_nr ; i++ )
	173	{
	174	base = dev_tbl[i].base;
	175	type = dev_tbl[i].type;
	176	func = FUNC_FROM_TYPE( type );
	177	impl = IMPL_FROM_TYPE( type );
	178
	179	if (func == DEV_FUNC_TXT )
	180	{
[14]	181	// initialize basic fields
	182	txt0_chdev.func = func;
	183	txt0_chdev.impl = impl;
	184	txt0_chdev.channel = 0;
	185	txt0_chdev.is_rx = 0;
	186	txt0_chdev.base = base;
[5]	187
[14]	188	// initialize lock
	189	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
	190
[101]	191	// TODO use generic device initialisation
	192	// hal_drivers_txt_init( &txt0_chdev );
[5]	193
[101]	194	if( impl == IMPL_TXT_TTY )
	195	{
	196	txt0_chdev.cmd = &soclib_tty_cmd;
	197	txt0_chdev.isr = &soclib_tty_isr;
	198	soclib_tty_init( &txt0_chdev );
	199	}
	200
[5]	201	// initialize the replicated chdev_dir[x][y] structures
	202	for( x = 0 ; x < info->x_size ; x++ )
	203	{
	204	for( y = 0 ; y < info->y_size ; y++ )
	205	{
	206	cxy_t cxy = (x<<info->y_width) + y;
[19]	207	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
[14]	208	XPTR( local_cxy , &txt0_chdev ) );
[5]	209	}
	210	}
	211
[14]	212	kinit_dmsg("\n[INFO] %s : core[%x][0] created TXT0 chdev"
	213	" / paddr = %l at cycle %d\n",
[19]	214	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[101]	215	XPTR(local_cxy , &txt0_chdev) , hal_get_cycles() );
[5]	216	}
	217
	218	} // end loop on devices
	219
	220	} // end txt0_device_init()
	221
[1]	222	///////////////////////////////////////////////////////////////////////////////////////////
[5]	223	// This static function allocates memory for the chdev (channel_device) descriptors
	224	// associated to the internal peripherals contained in the local cluster. These internal
	225	// devices (ICU, MMC, DMA) chdev descriptors are placed in the local cluster.
[1]	226	// It initialises these device descriptors as specified by the boot_info_t structure,
	227	// including the dynamic linking with the driver for the specified implementation.
	228	// Finally, all copies of the devices directory are initialised.
	229	///////////////////////////////////////////////////////////////////////////////////////////
	230	// @ info : pointer on the local boot-info structure.
	231	///////////////////////////////////////////////////////////////////////////////////////////
[5]	232	static void internal_devices_init( boot_info_t * info )
[1]	233	{
[14]	234	boot_device_t * dev; // pointer on boot_info device (ICU/MMC/DMA)
[1]	235	uint32_t x; // X cluster coordinate
	236	uint32_t y; // Y cluster coordinate
[14]	237	chdev_t * chdev_ptr; // local pointer on chdev descriptor
	238	xptr_t chdev_xp; // extended pointer on chdev descriptor
[1]	239
[14]	240	/////////// ICU //////////
[1]	241
[14]	242	dev = &info->dev_icu;
[5]	243
[14]	244	assert( ((info->cores_nr == 0) \|\| (dev->channels != 0)) , __FUNCTION__ ,
	245	"ICU device must exist in cluster containing cores" );
	246
	247	assert( (dev->channels == 1) , __FUNCTION__ ,
	248	"channels number must be 1 for ICU device" );
[1]	249
[14]	250	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_ICU ) , __FUNCTION__ ,
	251	" inconsistent ICU device type");
[1]	252
[14]	253	// create one chdev in local cluster
	254	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	255	IMPL_FROM_TYPE( dev->type ),
	256	0, // channel
	257	false, // TX
	258	dev->base );
[1]	259
[14]	260	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate ICU chdev" );
	261
	262	// get extended pointer on chdev descriptor
	263	chdev_xp = XPTR( local_cxy , chdev_ptr );
	264
	265	// make ICU specific initialisation
	266	// TODO remove these three parameters
[19]	267	dev_icu_init( chdev_ptr , dev->param0 , dev->param1 , dev->param2 );
[14]	268
	269	// initialize the ICU field in the chdev_dir[x][y] structures
	270	// replicated in all clusters, and containing extended pointers
	271	// on all remotely accessible devices
	272	for( x = 0 ; x < info->x_size ; x++ )
	273	{
	274	for( y = 0 ; y < info->y_size ; y++ )
[5]	275	{
[14]	276	cxy_t cxy = (x<<info->y_width) + y;
	277	hal_remote_swd( XPTR( cxy , &chdev_dir.icu[local_cxy] ) , chdev_xp );
[5]	278	}
[14]	279	}
[1]	280
[14]	281	// initialize the entries of the local chdev_icu_input structure
	282	// defining how internal peripherals are connected to ICU
	283	uint32_t id;
	284	uint8_t valid;
	285	uint32_t src_type;
	286	uint8_t src_ch;
	287	uint32_t src_func;
	288	for( id = 0 ; id < CONFIG_MAX_HWIS_PER_ICU ; id++ )
	289	{
	290	valid = dev->irq[id].valid;
	291	src_type = dev->irq[id].dev_type;
	292	src_ch = dev->irq[id].channel;
	293	src_func = FUNC_FROM_TYPE( src_type );
	294
	295	if( valid ) // only valid local IRQs are registered
[5]	296	{
[14]	297	if ( src_func == DEV_FUNC_MMC ) chdev_icu_input.mmc = id;
	298	else if( src_func == DEV_FUNC_DMA ) chdev_icu_input.dma[src_ch] = id;
	299	else assert( false , __FUNCTION__ , "illegal source device for ICU input" );
	300	}
	301	}
[1]	302
[50]	303	kinit_dmsg("\n[INFO] %s : core[%x][0] created ICU chdev at cycle %d\n",
[101]	304	__FUNCTION__ , local_cxy , hal_get_cycles() );
[1]	305
[14]	306	/////////// MMC internal chdev ///////////
[1]	307
[14]	308	dev = &info->dev_mmc;
[1]	309
[14]	310	if( dev->channels != 0 ) // MMC device is defined
	311	{
	312	assert( (dev->channels == 1) , __FUNCTION__ ,
	313	"channels number must be 1 for MMC device" );
[1]	314
[14]	315	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_MMC ) , __FUNCTION__ ,
	316	" inconsistent MMC device type");
	317
	318	// create one chdev in local cluster
	319	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	320	IMPL_FROM_TYPE( dev->type ),
	321	0, // channel
	322	false, // TX
	323	dev->base );
	324
	325	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate MMC chdev" );
	326
	327	// get extended pointer on chdev descriptor
	328	chdev_xp = XPTR( local_cxy , chdev_ptr );
	329
	330	// make MMC specific initialisation
	331	dev_mmc_init( chdev_ptr );
	332
	333	// initialize the MMC field in the chdev_dir[x][y] structures
	334	// replicated in all clusters, and containing extended pointers
	335	// on all remotely accessible devices
	336	for( x = 0 ; x < info->x_size ; x++ )
	337	{
	338	for( y = 0 ; y < info->y_size ; y++ )
[1]	339	{
[14]	340	cxy_t cxy = (x<<info->y_width) + y;
	341	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ) , chdev_xp );
[1]	342	}
[14]	343	}
[1]	344
[50]	345	kinit_dmsg("\n[INFO] %s : core[%x][0] created MMC chdev at cycle %d\n",
[101]	346	__FUNCTION__ , local_cxy , hal_get_cycles() );
[14]	347	}
[5]	348
[14]	349	/////////// DMA internal chdevs //////////
[1]	350
[14]	351	dev = &info->dev_dma;
[1]	352
[14]	353	if( dev->channels != 0 ) // DMA device is defined
	354	{
	355	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_DMA ) , __FUNCTION__ ,
	356	" inconsistent DMA device type");
[5]	357
[14]	358	// create one chdev per channel in local cluster
	359	uint32_t channel;
	360	for( channel = 0 ; channel < dev->channels ; channel++ )
	361	{
	362	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	363	IMPL_FROM_TYPE( dev->type ),
	364	channel, // channel
	365	false, // TX
	366	dev->base );
[5]	367
[14]	368	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate DMA chdev" );
	369
	370	// get extended pointer on channel descriptor
	371	chdev_xp = XPTR( local_cxy , chdev_ptr );
[5]	372
[14]	373	// make DMA specific initialisation
	374	dev_dma_init( chdev_ptr );
	375
	376	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
	377	// structure because the DMA device is not remotely accessible.
	378	chdev_dir.dma[channel] = chdev_xp;
	379
[50]	380	kinit_dmsg("\n[INFO] %s : core[%x][0] created DMA[%d] chdev at cycle %d\n",
[101]	381	__FUNCTION__ , local_cxy , channel , hal_get_cycles() );
[14]	382	}
	383	}
[5]	384	} // end internal_devices_init()
	385
	386	///////////////////////////////////////////////////////////////////////////////////////////
	387	// This static function allocates memory for the chdev descriptors associated
	388	// to the external (shared) peripherals contained in the local cluster. These external
	389	// devices (IOB, IOC, TXT, NIC, etc ) are distributed on all clusters.
	390	// It initialises these device descriptors as specified by the boot_info_t structure,
	391	// including the dynamic linking with the driver for the specified implementation.
	392	// Finally, all copies of the devices directory are initialised.
	393	//
	394	// The number of channel_devices depends on the device functionnal type.
[14]	395	// There is three nested loops to build the full set of external channel_devices:
[5]	396	// - loop on external devices.
	397	// - loop on channels for multi-channels devices.
	398	// - loop on directions (RX/TX) for NIC device.
	399	// The set of channel_devices is indexed by the chdev_gid global index, that is used
	400	// to select the cluster containing a given chdev[func,channel,direction].
	401	// All clusters scan the full set of chdevs, but only the cluster matching
	402	// (chdev_gid % (x_size*y_size)) create the corresponding chdev.
	403	//
	404	// TODO check that cluster IO contains a PIC [AG]
[50]	405	// TODO make a default initialisation for the chdev_dir structure (XPTR_NULL ) [AG]
[5]	406	///////////////////////////////////////////////////////////////////////////////////////////
	407	// @ info : pointer on the local boot-info structure.
	408	///////////////////////////////////////////////////////////////////////////////////////////
	409	static void external_devices_init( boot_info_t * info )
	410	{
	411	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
	412	uint32_t dev_nr; // actual number of devices in this cluster
	413	xptr_t base; // remote pointer on segment base
	414	uint32_t type; // peripheral type
	415	uint32_t func; // device functionnal index
	416	uint32_t impl; // device implementation index
	417	uint32_t i; // device index in dev_tbl
	418	uint32_t x; // X cluster coordinate
	419	uint32_t y; // Y cluster coordinate
	420	uint32_t channels_nr; // number of channels
	421	uint32_t channel; // channel index
	422	uint32_t directions_nr; // number of directions
	423	uint32_t direction; // direction index
	424	uint32_t p0; // device parameter 0
	425	uint32_t p1; // device parameter 1
	426	uint32_t p2; // device parameter 2
	427	uint32_t p3; // device parameter 3
	428	uint32_t first_channel; // used in loop on channels
	429
	430	chdev_t * chdev; // local pointer on one channel_device descriptor
	431	xptr_t chdev_xp; // extended pointer on channel_device descriptor
	432	uint32_t chdev_gid = 0; // global index of channel_device descriptor
	433
	434	// get number of peripherals and base of devices array from boot_info
	435	dev_nr = info->ext_dev_nr;
	436	dev_tbl = info->ext_dev;
	437
	438	// loop on external peripherals
	439	for( i = 0 ; i < dev_nr ; i++ )
	440	{
	441	base = dev_tbl[i].base;
	442	type = dev_tbl[i].type;
	443	channels_nr = dev_tbl[i].channels;
	444	p0 = dev_tbl[i].param0;
	445	p1 = dev_tbl[i].param1;
	446	p2 = dev_tbl[i].param2;
	447	p3 = dev_tbl[i].param3;
	448
	449	func = FUNC_FROM_TYPE( type );
	450	impl = IMPL_FROM_TYPE( type );
	451
	452	// There is one chdev per direction for NIC
	453	if (func == DEV_FUNC_NIC) directions_nr = 2;
	454	else directions_nr = 1;
	455
	456	// The TXT0 chdev has already been created
	457	if (func == DEV_FUNC_TXT) first_channel = 1;
	458	else first_channel = 0;
	459
	460	// do nothing for ROM, that does not require a device descriptor.
	461	if( func == DEV_FUNC_ROM ) continue;
	462
	463	// check external device functionnal type
	464	if( (func != DEV_FUNC_IOB) &&
	465	(func != DEV_FUNC_PIC) &&
	466	(func != DEV_FUNC_IOC) &&
	467	(func != DEV_FUNC_TXT) &&
	468	(func != DEV_FUNC_NIC) &&
	469	(func != DEV_FUNC_FBF) )
[1]	470	{
[5]	471	assert( false , __FUNCTION__ , "undefined external peripheral type" );
	472	}
	473
	474	// loops on channels
	475	for( channel = first_channel ; channel < channels_nr ; channel++ )
	476	{
	477	// loop on directions
	478	for( direction = 0 ; direction < directions_nr ; direction++ )
[1]	479	{
[5]	480	// get target cluster for chdev[func,channel,direction]
	481	uint32_t offset = chdev_gid % ( info->x_size * info->y_size );
	482	uint32_t cx = offset / info->y_size;
	483	uint32_t cy = offset % info->y_size;
	484	uint32_t target_cxy = (cx<<info->y_width) + cy;
[1]	485
[5]	486	// allocate and initialize a local chdev
	487	// if local cluster matches target cluster
	488	if( target_cxy == local_cxy )
[1]	489	{
[5]	490	chdev = chdev_create( func,
	491	impl,
	492	channel,
	493	direction,
	494	base );
	495
	496	assert( (chdev != NULL), __FUNCTION__ ,
	497	"cannot allocate external device" );
	498
	499	// get extended pointer on chdev
	500	chdev_xp = XPTR( local_cxy , chdev );
	501
	502	// make device type specific initialisation
	503	// the number of parameters depends on the device type
	504	// TODO : remove the parameters that must be provided by the drivers
	505	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
	506	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
	507	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
	508	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
	509	else if( func == DEV_FUNC_PIC ) dev_pic_init( chdev , p0 );
	510	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev , p0 , p1 );
	511	else
	512	{
	513	assert( false , __FUNCTION__ , "undefined device type" );
	514	}
	515
	516	// all external (shared) devices are remotely accessible
	517	// initialize the replicated chdev_dir[x][y] structures
	518	// defining the extended pointers on chdev descriptors
	519	xptr_t * entry;
	520
	521	if( func == DEV_FUNC_IOB ) entry = &chdev_dir.iob;
	522	if( func == DEV_FUNC_PIC ) entry = &chdev_dir.pic;
	523	if( func == DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
	524	if( func == DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
	525	if( func == DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
	526	if( func == DEV_FUNC_NIC ) entry = &chdev_dir.nic_tx[channel];
	527
[1]	528	for( x = 0 ; x < info->x_size ; x++ )
	529	{
	530	for( y = 0 ; y < info->y_size ; y++ )
	531	{
	532	cxy_t cxy = (x<<info->y_width) + y;
[5]	533	hal_remote_swd( XPTR( cxy , entry ) , chdev_xp );
	534	}
[1]	535	}
	536
[14]	537	kinit_dmsg("\n[INFO] %s : core[%x][0] create chdev %s[%d] at cycle %d\n",
[5]	538	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[101]	539	channel , hal_get_cycles() );
[5]	540
	541	} // end if match
	542
[19]	543	// increment chdev global index (matching or not)
[5]	544	chdev_gid++;
	545
	546	} // end loop on directions
	547
	548	} // end loop on channels
	549
	550	// initialize the entries of the local chdev_pic_input structure
	551	// defining how external peripherals are connected to PIC
	552	if( func == DEV_FUNC_PIC )
[1]	553	{
[5]	554	uint32_t id;
	555	uint8_t valid;
	556	uint32_t dev_type;
	557	uint8_t channel;
	558	uint8_t is_rx;
	559
	560	// loop on PIC inputs
	561	for( id = 0 ; id < CONFIG_MAX_IRQS_PER_PIC ; id++ )
[1]	562	{
[5]	563	valid = dev_tbl[i].irq[id].valid;
	564	dev_type = dev_tbl[i].irq[id].dev_type;
	565	channel = dev_tbl[i].irq[id].channel;
	566	is_rx = dev_tbl[i].irq[id].is_rx;
[1]	567
[5]	568	if( valid ) // only valid inputs are registered
[1]	569	{
[5]	570	uint32_t * index; // local pointer on one entry
[1]	571	uint16_t dev_func = FUNC_FROM_TYPE( dev_type );
[5]	572
	573	if( dev_func == DEV_FUNC_TXT )
[1]	574	{
[5]	575	index = &chdev_pic_input.txt[channel];
[1]	576	}
[5]	577	else if( dev_func == DEV_FUNC_IOC )
	578	{
	579	index = &chdev_pic_input.ioc[channel];
	580	}
	581	else if( (dev_func == DEV_FUNC_NIC) && (is_rx == 0) )
	582	{
	583	index = &chdev_pic_input.nic_tx[channel];
	584	}
	585	else if( (dev_func == DEV_FUNC_NIC) && (is_rx != 0) )
	586	{
	587	index = &chdev_pic_input.nic_rx[channel];
	588	}
	589	else
	590	{
	591	assert( false , __FUNCTION__ , "illegal source device for PIC input" );
	592	}
	593
	594	// set entry in local structure
	595	*index = id;
[1]	596	}
[5]	597	} // end loop on PIC inputs
	598	} // end PIC
	599	} // end loop on devices
	600	} // end external_devices_init()
[1]	601
	602
	603	///////////////////////////////////////////////////////////////////////////////////////////
[14]	604	// This static function returns the identifiers of the calling core.
	605	///////////////////////////////////////////////////////////////////////////////////////////
	606	// @ info : pointer on boot_info structure.
	607	// @ lid : [out] core local index in cluster.
	608	// @ cxy : [out] cluster identifier.
	609	// @ lid : [out] core global identifier (hardware).
	610	// @ return 0 if success / return EINVAL if not found.
	611	///////////////////////////////////////////////////////////////////////////////////////////
[23]	612	static error_t get_core_identifiers( boot_info_t * info,
	613	lid_t * lid,
[14]	614	cxy_t * cxy,
	615	gid_t * gid )
	616	{
	617	uint32_t i;
	618	gid_t global_id;
[19]	619
[14]	620	// get global identifier from hardware register
	621	global_id = hal_get_gid();
	622
	623	// makes an associative search in boot_info to get (cxy,lid) from global_id
	624	for( i = 0 ; i < info->cores_nr ; i++ )
	625	{
	626	if( global_id == info->core[i].gid )
	627	{
	628	*lid = info->core[i].lid;
	629	*cxy = info->core[i].cxy;
	630	*gid = global_id;
	631	return 0;
	632	}
	633	}
	634	return EINVAL;
[19]	635	}
[14]	636
	637	///////////////////////////////////////////////////////////////////////////////////////////
[1]	638	// This function is the entry point for the kernel initialisation.
[19]	639	// It is executed by all cores in all clusters, but only core[0], called CP0,
[14]	640	// initializes the shared resources such as the cluster manager, or the local peripherals.
[19]	641	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
	642	// only information contained in the local boot_info_t structure, set by the bootloader.
[103]	643	// Only CP0 in cluster 0 print the log messages.
[1]	644	///////////////////////////////////////////////////////////////////////////////////////////
	645	// @ info : pointer on the local boot-info structure.
	646	///////////////////////////////////////////////////////////////////////////////////////////
	647	void kernel_init( boot_info_t * info )
	648	{
[23]	649	lid_t core_lid = -1; // running core local index
[14]	650	cxy_t core_cxy = -1; // running core cluster identifier
	651	gid_t core_gid; // running core hardware identifier
	652	cluster_t * cluster; // pointer on local cluster manager
	653	core_t * core; // pointer on running core descriptor
	654	thread_t * thread; // pointer on idle thread descriptor
[1]	655	error_t error;
	656
[103]	657	// all cores get and check core identifiers
[23]	658	error = get_core_identifiers( info,
[14]	659	&core_lid,
	660	&core_cxy,
	661	&core_gid );
[1]	662
[14]	663	// CP0 initialise cluster identifier
	664	if( core_lid == 0 ) local_cxy = info->cxy;
[1]	665
[68]	666	// each core get pointer on its private idle thread descriptor
	667	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
	668
[71]	669	// each core registers this thread pointer in hardware register
[68]	670	hal_set_current_thread( thread );
[71]	671
[14]	672	// CP0 in I/O cluster initialises TXT0 chdev descriptor
	673	if( (core_lid == 0) && (core_cxy == info->io_cxy) ) txt0_device_init( info );
	674
	675	/////////////////////////////////////////////////////////////////////////////////
	676	// global & local synchro to protect access to TXT0 terminal
	677	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	678	(info->x_size * info->y_size) );
	679	barrier_wait( &local_barrier , info->cores_nr );
	680	/////////////////////////////////////////////////////////////////////////////////
	681
[103]	682	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
	683	{
	684	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 0 at cycle %d\n",
	685	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
	686	}
[14]	687
	688	// all cores check core identifiers
	689	if( error )
[1]	690	{
[103]	691	nolock_printk("\n[PANIC] in %s : illegal core identifiers"
[14]	692	" gid = %x / cxy = %x / lid = %d\n",
	693	__FUNCTION__ , core_lid , core_cxy , core_lid );
	694	hal_core_sleep();
[1]	695	}
	696
[19]	697	// CP0 initializes the local cluster manager (cores and memory allocators)
[14]	698	if( core_lid == 0 )
[1]	699	{
	700	error = cluster_init( info );
	701
[14]	702	if( error )
	703	{
[103]	704	nolock_printk("\n[PANIC] in %s : cannot initialise cluster manager in cluster %x",
[14]	705	__FUNCTION__ , local_cxy );
	706	hal_core_sleep();
	707	}
	708	}
[5]	709
[14]	710	/////////////////////////////////////////////////////////////////////////////////
	711	// global & local synchro, to protect access to cluster manager
	712	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	713	(info->x_size * info->y_size) );
	714	barrier_wait( &local_barrier , info->cores_nr );
	715	/////////////////////////////////////////////////////////////////////////////////
[1]	716
[103]	717	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
	718	{
	719	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 1 at cycle %d\n",
	720	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
	721	}
[1]	722
[14]	723	// all cores get pointer on local cluster manager and on core descriptor
	724	cluster = &cluster_manager;
	725	core = &cluster->core_tbl[core_lid];
[1]	726
[19]	727	// CP0 initializes the process_zero descriptor
[101]	728	if( core_lid == 0 ) process_reference_init( &process_zero , 0 , XPTR_NULL );
[5]	729
[19]	730	// CP0 allocates and initialises the internal peripheral chdev descriptors.
[14]	731	// Each CP0[cxy] scan the set of its internal (private) peripherals,
	732	// and allocate memory for the corresponding chdev descriptors.
	733	if( core_lid == 0 ) internal_devices_init( info );
[5]	734
[14]	735	// CP0 allocates one WTI mailbbox per core for Inter Processor Interrupt
	736	// this must be done after ICU chdev initialisation, by CP0 only, and before
[50]	737	// external devices initialisation to enforce the rule :
	738	// "The WTI index for the IPI routed to core[lid] is lid"
[101]	739	if( core_lid == 1 )
[1]	740	{
[14]	741	uint32_t wti_id;
	742	uint32_t lid;
	743	for( lid = 0 ; lid < LOCAL_CLUSTER->cores_nr ; lid++ )
[1]	744	{
[14]	745	wti_id = dev_icu_wti_alloc();
[1]	746
[14]	747	if( wti_id != lid )
	748	{
[103]	749	nolock_printk("\n[PANIC] in %s : WTI index for IPI = %d / core_lid = %d",
	750	__FUNCTION__ , wti_id , lid );
[14]	751	hal_core_sleep();
	752	}
[5]	753
[14]	754	dev_icu_enable_irq( lid , WTI_TYPE , wti_id , NULL );
	755	}
[1]	756	}
	757
[50]	758	// All CP0s contribute to initialise external peripheral chdev descriptors.
[14]	759	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
	760	// and allocates memory for the chdev descriptors that must be placed
	761	// on the (cxy) cluster according to the global index value.
	762	if( core_lid == 0 ) external_devices_init( info );
[1]	763
[14]	764	/////////////////////////////////////////////////////////////////////////////////
	765	// global &local synchro to protect access to peripherals
	766	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	767	(info->x_size * info->y_size) );
	768	barrier_wait( &local_barrier , info->cores_nr );
	769	/////////////////////////////////////////////////////////////////////////////////
[5]	770
[103]	771	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
	772	{
	773	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 2 at cycle %d\n",
	774	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
	775	}
[1]	776
[14]	777	error = thread_kernel_init( thread,
	778	THREAD_IDLE,
	779	&thread_idle_func,
	780	NULL,
	781	core_lid );
	782	if( error )
[1]	783	{
[103]	784	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
	785	__FUNCTION__ , local_cxy , core_lid );
[14]	786	hal_core_sleep();
[1]	787	}
	788
[103]	789	// register idle thread in scheduler
	790	core->scheduler.idle = thread;
[1]	791
[103]	792	// activate the idle thread
	793	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
	794
	795	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
	796	{
[14]	797	kinit_dmsg("\n[INFO] %s : core[%x][%d] created idle thread %x at cycle %d\n",
[101]	798	__FUNCTION__ , core_cxy , core_lid , thread , hal_get_cycles());
[14]	799	}
	800
[23]	801	// CP0 in all clusters initializes cooperatively VFS and DEVFS
	802	if( (core_lid == 0) )
[14]	803	{
[23]	804	xptr_t root_inode_xp;
	805
[50]	806	// initialize root File System (must be FATFS in this implementation)
[23]	807	if( CONFIG_VFS_ROOT_IS_FATFS )
	808	{
	809	root_inode_xp = fatfs_init();
	810	}
	811	else
	812	{
[103]	813	nolock_printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
[23]	814	hal_core_sleep();
	815	}
	816
	817	if( root_inode_xp == XPTR_NULL )
	818	{
[103]	819	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize file system\n",
[23]	820	__FUNCTION__ , local_cxy , core_lid );
	821	hal_core_sleep();
	822	}
	823
[101]	824	// register VFS root inode in process_zero
	825	process_zero.vfs_root_xp = root_inode_xp;
	826	process_zero.vfs_cwd_xp = root_inode_xp;
	827
[23]	828	// mount the DEVFS File system
	829	devfs_mount( root_inode_xp , "dev" );
[14]	830	}
	831
[101]	832
	833	// CP0 in I/O cluster creates the process_init and print banner
[5]	834	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[1]	835	{
[101]	836	process_init_create();
	837
[5]	838	print_banner( (info->x_size * info->y_size) , info->cores_nr );
[68]	839
	840	kinit_dmsg("\n\n* memory fooprint of main kernet objects *\n"
	841	" - thread descriptor : %d bytes\n"
	842	" - process descriptor : %d bytes\n"
	843	" - cluster manager : %d bytes\n"
	844	" - chdev descriptor : %d bytes\n"
	845	" - core descriptor : %d bytes\n"
	846	" - scheduler : %d bytes\n"
	847	" - rpc fifo : %d bytes\n"
	848	" - page descriptor : %d bytes\n"
	849	" - mapper root : %d bytes\n"
	850	" - ppm manager : %d bytes\n"
	851	" - kcm manager : %d bytes\n"
	852	" - khm manager : %d bytes\n"
	853	" - vmm manager : %d bytes\n"
	854	" - gpt root : %d bytes\n"
	855	" - list item : %d bytes\n"
	856	" - xlist item : %d bytes\n"
	857	" - spinlock : %d bytes\n"
	858	" - remote spinlock : %d bytes\n"
	859	" - rwlock : %d bytes\n"
	860	" - remote rwlock : %d bytes\n",
	861	sizeof( thread_t ),
	862	sizeof( process_t ),
	863	sizeof( cluster_t ),
	864	sizeof( chdev_t ),
	865	sizeof( core_t ),
	866	sizeof( scheduler_t ),
	867	sizeof( rpc_fifo_t ),
	868	sizeof( page_t ),
	869	sizeof( mapper_t ),
	870	sizeof( ppm_t ),
	871	sizeof( kcm_t ),
	872	sizeof( khm_t ),
	873	sizeof( vmm_t ),
	874	sizeof( gpt_t ),
	875	sizeof( list_entry_t ),
	876	sizeof( xlist_entry_t ),
	877	sizeof( spinlock_t ),
	878	sizeof( remote_spinlock_t ),
	879	sizeof( rwlock_t ),
	880	sizeof( remote_rwlock_t ));
[1]	881	}
	882
[14]	883	/////////////////////////////////////////////////////////////////////////////////
	884	// global syncho to protect access to File System
	885	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	886	(info->x_size * info->y_size) );
	887	barrier_wait( &local_barrier , info->cores_nr );
	888	/////////////////////////////////////////////////////////////////////////////////
[1]	889
[103]	890	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
	891	{
	892	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 3 at cycle %d\n",
	893	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
	894	}
[14]	895
	896	// each core activates its private PTI IRQ
	897	dev_icu_set_period( core_lid , CONFIG_SCHED_TICK_PERIOD );
	898	dev_icu_enable_irq( core_lid , PTI_TYPE , core_lid , NULL );
	899
[101]	900	// each core get its private IRQ masks values
[14]	901	uint32_t hwi_mask;
	902	uint32_t wti_mask;
	903	uint32_t pti_mask;
	904	dev_icu_get_masks( core_lid , &hwi_mask , &wti_mask , &pti_mask );
	905
[103]	906	thread_dmsg("\n[INFO] %s : core[%x][%d] complete kernel init at cycle %d\n"
[14]	907	" hwi_mask = %x / wti_mask = %x / pti_mask = %x\n",
[101]	908	__FUNCTION__ , local_cxy , core_lid , hal_get_cycles() ,
[14]	909	hwi_mask , wti_mask , pti_mask );
	910
	911	// each core jump to idle thread
[50]	912	thread_idle_func();
[14]	913
[1]	914	} // end kernel_init()
	915

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