Context Navigation

source: trunk/kernel/kern/kernel_init.c @ 47

Last change on this file since 47 was 25, checked in by max@…, 8 years ago
First shot of the x86_64 port. It uses Multiboot V1. Most of the HAL functions are empty, and several TSAR-specific files and comments remain; they will be cleaned up later. The Makefile and LD script will come in another commit.
File size: 35.7 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>
	34	#include <thread.h>
	35	#include <scheduler.h>
	36	#include <kmem.h>
	37	#include <cluster.h>
	38	#include <string.h>
	39	#include <memcpy.h>
	40	#include <ppm.h>
	41	#include <page.h>
[5]	42	#include <chdev.h>
[1]	43	#include <boot_info.h>
	44	#include <dqdt.h>
	45	#include <dev_icu.h>
	46	#include <dev_mmc.h>
[5]	47	#include <dev_dma.h>
	48	#include <dev_iob.h>
[1]	49	#include <dev_ioc.h>
[5]	50	#include <dev_txt.h>
[1]	51	#include <dev_pic.h>
	52	#include <printk.h>
	53	#include <vfs.h>
[5]	54	#include <soclib_tty.h>
[23]	55	#include <devfs.h>
[1]	56
[14]	57	// TODO #include <sysfs.h>
[1]	58
[5]	59	#define KERNEL_INIT_SYNCHRO 0xA5A5B5B5
[1]	60
	61	///////////////////////////////////////////////////////////////////////////////////////////
	62	// All these global variables are replicated in all clusters.
	63	// They are initialised by the kernel_init() function.
[14]	64	//
	65	// WARNING : The section names have been defined to control the base addresses of the
	66	// boot_info structure and the idle thread descriptors, through the kernel.ld script:
	67	// - the boot_info structure is build by the bootloader, and used by kernel_init.
	68	// it must be first object in the kdata segment.
	69	// - the array of idle threads descriptors must be placed on the first page boundary after
	70	// the boot_info structure in the kdata segment.
[1]	71	///////////////////////////////////////////////////////////////////////////////////////////
	72
[5]	73	// This variable defines the local boot_info structure
	74	__attribute__((section(".kinfo")))
[14]	75	boot_info_t boot_info;
[5]	76
[14]	77	// This variable defines the "idle" threads descriptors array
	78	__attribute__((section(".kidle")))
	79	char idle_threads[CONFIG_THREAD_DESC_SIZE *
	80	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
	81
[1]	82	// This variable defines the local cluster manager
[5]	83	__attribute__((section(".kdata")))
[19]	84	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
[1]	85
[14]	86	// This variables define the kernel process0 descriptor
[5]	87	__attribute__((section(".kdata")))
[19]	88	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
[1]	89
[14]	90	// This variable defines extended pointers on the distributed chdevs
[5]	91	__attribute__((section(".kdata")))
[14]	92	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
[1]	93
[5]	94	// This variable contains the input IRQ indexes for the PIC device
	95	__attribute__((section(".kdata")))
[14]	96	chdev_pic_input_t chdev_pic_input CONFIG_CACHE_LINE_ALIGNED;
[1]	97
[5]	98	// This variable contains the input IRQ indexes for the ICU device
	99	__attribute__((section(".kdata")))
[14]	100	chdev_icu_input_t chdev_icu_input CONFIG_CACHE_LINE_ALIGNED;
[1]	101
[14]	102	// This variable defines the local cluster identifier
[5]	103	__attribute__((section(".kdata")))
[14]	104	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
[5]	105
[14]	106	// This variable defines the TXT0 chdev descriptor
[5]	107	__attribute__((section(".kdata")))
[14]	108	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
[1]	109
[14]	110	// This variable is used for CP0 cores sychronisation in kernel_init()
[5]	111	__attribute__((section(".kdata")))
[14]	112	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
[1]	113
[14]	114	// This variable is used for local cores sychronisation in kernel_init()
	115	__attribute__((section(".kdata")))
	116	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
	117
[1]	118	///////////////////////////////////////////////////////////////////////////////////////////
[5]	119	// This function displays the ALMOS_MKH banner.
[1]	120	///////////////////////////////////////////////////////////////////////////////////////////
[5]	121	static void print_banner( uint32_t nclusters , uint32_t ncores )
[1]	122	{
[5]	123	printk("\n"
	124	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
	125	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
	126	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
	127	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
	128	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
	129	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
	130	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
	131	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
	132	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
	133	"\n\n\t\t\t Version 0.0 : %d clusters / %d cores per cluster\n\n", nclusters , ncores );
	134	}
[1]	135
	136
[5]	137	///////////////////////////////////////////////////////////////////////////////////////////
[14]	138	// This static function initializes the TXT0 chdev descriptor, associated to the "kernel
	139	// terminal", and shared by all kernel instances for debug messages. It also register it
	140	// in the chdev directory, containing extended pointers on all chdevs.
	141	// The global variable txt0_chdev is replicated in all clusters, but only the chdev
	142	// allocated in I/O cluster is used by ALMOS-MKH.
	143	// Therefore, this function must be called by a thread running in the I/O cluster.
	144	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
	145	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
[5]	146	///////////////////////////////////////////////////////////////////////////////////////////
	147	// @ info : pointer on the local boot-info structure.
	148	///////////////////////////////////////////////////////////////////////////////////////////
	149	static void txt0_device_init( boot_info_t * info )
	150	{
	151	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
	152	uint32_t dev_nr; // actual number of devices in this cluster
	153	xptr_t base; // remote pointer on segment base
	154	uint32_t type; // peripheral type
	155	uint32_t func; // device functionnal index
	156	uint32_t impl; // device implementation index
	157	uint32_t i; // device index in dev_tbl
	158	uint32_t x; // X cluster coordinate
	159	uint32_t y; // Y cluster coordinate
[1]	160
[5]	161	// get number of peripherals and base of devices array from boot_info
	162	dev_nr = info->ext_dev_nr;
	163	dev_tbl = info->ext_dev;
[1]	164
[14]	165	// loop on external peripherals to find TXT device
[5]	166	for( i = 0 ; i < dev_nr ; i++ )
	167	{
	168	base = dev_tbl[i].base;
	169	type = dev_tbl[i].type;
	170	func = FUNC_FROM_TYPE( type );
	171	impl = IMPL_FROM_TYPE( type );
	172
	173	if (func == DEV_FUNC_TXT )
	174	{
[14]	175	// initialize basic fields
	176	txt0_chdev.func = func;
	177	txt0_chdev.impl = impl;
	178	txt0_chdev.channel = 0;
	179	txt0_chdev.is_rx = 0;
	180	txt0_chdev.base = base;
[5]	181
[14]	182	// initialize lock
	183	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
	184
[5]	185	// Complete TXT specific initialisation
	186	if( impl == IMPL_TXT_TTY )
	187	{
[14]	188	txt0_chdev.cmd = &soclib_tty_cmd;
	189	txt0_chdev.isr = &soclib_tty_isr;
	190	soclib_tty_init( &txt0_chdev );
[5]	191	}
	192
	193	// initialize the replicated chdev_dir[x][y] structures
	194	for( x = 0 ; x < info->x_size ; x++ )
	195	{
	196	for( y = 0 ; y < info->y_size ; y++ )
	197	{
	198	cxy_t cxy = (x<<info->y_width) + y;
[19]	199	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
[14]	200	XPTR( local_cxy , &txt0_chdev ) );
[5]	201	}
	202	}
	203
[14]	204	kinit_dmsg("\n[INFO] %s : core[%x][0] created TXT0 chdev"
	205	" / paddr = %l at cycle %d\n",
[19]	206	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[14]	207	XPTR(local_cxy , &txt0_chdev) , hal_time_stamp() );
[5]	208	}
	209
	210	} // end loop on devices
	211
	212	} // end txt0_device_init()
	213
[1]	214	///////////////////////////////////////////////////////////////////////////////////////////
[5]	215	// This static function allocates memory for the chdev (channel_device) descriptors
	216	// associated to the internal peripherals contained in the local cluster. These internal
	217	// devices (ICU, MMC, DMA) chdev descriptors are placed in the local cluster.
[1]	218	// It initialises these device descriptors as specified by the boot_info_t structure,
	219	// including the dynamic linking with the driver for the specified implementation.
	220	// Finally, all copies of the devices directory are initialised.
	221	///////////////////////////////////////////////////////////////////////////////////////////
	222	// @ info : pointer on the local boot-info structure.
	223	///////////////////////////////////////////////////////////////////////////////////////////
[5]	224	static void internal_devices_init( boot_info_t * info )
[1]	225	{
[14]	226	boot_device_t * dev; // pointer on boot_info device (ICU/MMC/DMA)
[1]	227	uint32_t x; // X cluster coordinate
	228	uint32_t y; // Y cluster coordinate
[14]	229	chdev_t * chdev_ptr; // local pointer on chdev descriptor
	230	xptr_t chdev_xp; // extended pointer on chdev descriptor
[1]	231
[14]	232	/////////// ICU //////////
[1]	233
[14]	234	dev = &info->dev_icu;
[5]	235
[14]	236	assert( ((info->cores_nr == 0) \|\| (dev->channels != 0)) , __FUNCTION__ ,
	237	"ICU device must exist in cluster containing cores" );
	238
	239	assert( (dev->channels == 1) , __FUNCTION__ ,
	240	"channels number must be 1 for ICU device" );
[1]	241
[14]	242	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_ICU ) , __FUNCTION__ ,
	243	" inconsistent ICU device type");
[1]	244
[14]	245	// create one chdev in local cluster
	246	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	247	IMPL_FROM_TYPE( dev->type ),
	248	0, // channel
	249	false, // TX
	250	dev->base );
[1]	251
[14]	252	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate ICU chdev" );
	253
	254	// get extended pointer on chdev descriptor
	255	chdev_xp = XPTR( local_cxy , chdev_ptr );
	256
	257	// make ICU specific initialisation
	258	// TODO remove these three parameters
[19]	259	dev_icu_init( chdev_ptr , dev->param0 , dev->param1 , dev->param2 );
[14]	260
	261	// initialize the ICU field in the chdev_dir[x][y] structures
	262	// replicated in all clusters, and containing extended pointers
	263	// on all remotely accessible devices
	264	for( x = 0 ; x < info->x_size ; x++ )
	265	{
	266	for( y = 0 ; y < info->y_size ; y++ )
[5]	267	{
[14]	268	cxy_t cxy = (x<<info->y_width) + y;
	269	hal_remote_swd( XPTR( cxy , &chdev_dir.icu[local_cxy] ) , chdev_xp );
[5]	270	}
[14]	271	}
[1]	272
[14]	273	// initialize the entries of the local chdev_icu_input structure
	274	// defining how internal peripherals are connected to ICU
	275	uint32_t id;
	276	uint8_t valid;
	277	uint32_t src_type;
	278	uint8_t src_ch;
	279	uint32_t src_func;
	280	for( id = 0 ; id < CONFIG_MAX_HWIS_PER_ICU ; id++ )
	281	{
	282	valid = dev->irq[id].valid;
	283	src_type = dev->irq[id].dev_type;
	284	src_ch = dev->irq[id].channel;
	285	src_func = FUNC_FROM_TYPE( src_type );
	286
	287	if( valid ) // only valid local IRQs are registered
[5]	288	{
[14]	289	if ( src_func == DEV_FUNC_MMC ) chdev_icu_input.mmc = id;
	290	else if( src_func == DEV_FUNC_DMA ) chdev_icu_input.dma[src_ch] = id;
	291	else assert( false , __FUNCTION__ , "illegal source device for ICU input" );
	292	}
	293	}
[1]	294
[14]	295	kinit_dmsg("\n[INFO] %s : core[%x][0] creates ICU chdev at cycle %d\n",
	296	__FUNCTION__ , local_cxy , hal_time_stamp() );
[1]	297
[14]	298	/////////// MMC internal chdev ///////////
[1]	299
[14]	300	dev = &info->dev_mmc;
[1]	301
[14]	302	if( dev->channels != 0 ) // MMC device is defined
	303	{
	304	assert( (dev->channels == 1) , __FUNCTION__ ,
	305	"channels number must be 1 for MMC device" );
[1]	306
[14]	307	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_MMC ) , __FUNCTION__ ,
	308	" inconsistent MMC device type");
	309
	310	// create one chdev in local cluster
	311	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	312	IMPL_FROM_TYPE( dev->type ),
	313	0, // channel
	314	false, // TX
	315	dev->base );
	316
	317	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate MMC chdev" );
	318
	319	// get extended pointer on chdev descriptor
	320	chdev_xp = XPTR( local_cxy , chdev_ptr );
	321
	322	// make MMC specific initialisation
	323	dev_mmc_init( chdev_ptr );
	324
	325	// initialize the MMC field in the chdev_dir[x][y] structures
	326	// replicated in all clusters, and containing extended pointers
	327	// on all remotely accessible devices
	328	for( x = 0 ; x < info->x_size ; x++ )
	329	{
	330	for( y = 0 ; y < info->y_size ; y++ )
[1]	331	{
[14]	332	cxy_t cxy = (x<<info->y_width) + y;
	333	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ) , chdev_xp );
[1]	334	}
[14]	335	}
[1]	336
[14]	337	kinit_dmsg("\n[INFO] %s : core[%x][0] creates MMC chdev at cycle %d\n",
	338	__FUNCTION__ , local_cxy , hal_time_stamp() );
	339	}
[5]	340
[14]	341	/////////// DMA internal chdevs //////////
[1]	342
[14]	343	dev = &info->dev_dma;
[1]	344
[14]	345	if( dev->channels != 0 ) // DMA device is defined
	346	{
	347	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_DMA ) , __FUNCTION__ ,
	348	" inconsistent DMA device type");
[5]	349
[14]	350	// create one chdev per channel in local cluster
	351	uint32_t channel;
	352	for( channel = 0 ; channel < dev->channels ; channel++ )
	353	{
	354	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	355	IMPL_FROM_TYPE( dev->type ),
	356	channel, // channel
	357	false, // TX
	358	dev->base );
[5]	359
[14]	360	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate DMA chdev" );
	361
	362	// get extended pointer on channel descriptor
	363	chdev_xp = XPTR( local_cxy , chdev_ptr );
[5]	364
[14]	365	// make DMA specific initialisation
	366	dev_dma_init( chdev_ptr );
	367
	368	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
	369	// structure because the DMA device is not remotely accessible.
	370	chdev_dir.dma[channel] = chdev_xp;
	371
	372	kinit_dmsg("\n[INFO] %s : core[%x][0] creates DMA[%d] chdev at cycle %d\n",
	373	__FUNCTION__ , local_cxy , channel , hal_time_stamp() );
	374	}
	375	}
[5]	376	} // end internal_devices_init()
	377
	378	///////////////////////////////////////////////////////////////////////////////////////////
	379	// This static function allocates memory for the chdev descriptors associated
	380	// to the external (shared) peripherals contained in the local cluster. These external
	381	// devices (IOB, IOC, TXT, NIC, etc ) are distributed on all clusters.
	382	// It initialises these device descriptors as specified by the boot_info_t structure,
	383	// including the dynamic linking with the driver for the specified implementation.
	384	// Finally, all copies of the devices directory are initialised.
	385	//
	386	// The number of channel_devices depends on the device functionnal type.
[14]	387	// There is three nested loops to build the full set of external channel_devices:
[5]	388	// - loop on external devices.
	389	// - loop on channels for multi-channels devices.
	390	// - loop on directions (RX/TX) for NIC device.
	391	// The set of channel_devices is indexed by the chdev_gid global index, that is used
	392	// to select the cluster containing a given chdev[func,channel,direction].
	393	// All clusters scan the full set of chdevs, but only the cluster matching
	394	// (chdev_gid % (x_size*y_size)) create the corresponding chdev.
	395	//
	396	// TODO check that cluster IO contains a PIC [AG]
	397	///////////////////////////////////////////////////////////////////////////////////////////
	398	// @ info : pointer on the local boot-info structure.
	399	///////////////////////////////////////////////////////////////////////////////////////////
	400	static void external_devices_init( boot_info_t * info )
	401	{
	402	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
	403	uint32_t dev_nr; // actual number of devices in this cluster
	404	xptr_t base; // remote pointer on segment base
	405	uint32_t type; // peripheral type
	406	uint32_t func; // device functionnal index
	407	uint32_t impl; // device implementation index
	408	uint32_t i; // device index in dev_tbl
	409	uint32_t x; // X cluster coordinate
	410	uint32_t y; // Y cluster coordinate
	411	uint32_t channels_nr; // number of channels
	412	uint32_t channel; // channel index
	413	uint32_t directions_nr; // number of directions
	414	uint32_t direction; // direction index
	415	uint32_t p0; // device parameter 0
	416	uint32_t p1; // device parameter 1
	417	uint32_t p2; // device parameter 2
	418	uint32_t p3; // device parameter 3
	419	uint32_t first_channel; // used in loop on channels
	420
	421	chdev_t * chdev; // local pointer on one channel_device descriptor
	422	xptr_t chdev_xp; // extended pointer on channel_device descriptor
	423	uint32_t chdev_gid = 0; // global index of channel_device descriptor
	424
	425	// get number of peripherals and base of devices array from boot_info
	426	dev_nr = info->ext_dev_nr;
	427	dev_tbl = info->ext_dev;
	428
	429	// loop on external peripherals
	430	for( i = 0 ; i < dev_nr ; i++ )
	431	{
	432	base = dev_tbl[i].base;
	433	type = dev_tbl[i].type;
	434	channels_nr = dev_tbl[i].channels;
	435	p0 = dev_tbl[i].param0;
	436	p1 = dev_tbl[i].param1;
	437	p2 = dev_tbl[i].param2;
	438	p3 = dev_tbl[i].param3;
	439
	440	func = FUNC_FROM_TYPE( type );
	441	impl = IMPL_FROM_TYPE( type );
	442
	443	// There is one chdev per direction for NIC
	444	if (func == DEV_FUNC_NIC) directions_nr = 2;
	445	else directions_nr = 1;
	446
	447	// The TXT0 chdev has already been created
	448	if (func == DEV_FUNC_TXT) first_channel = 1;
	449	else first_channel = 0;
	450
	451	// do nothing for ROM, that does not require a device descriptor.
	452	if( func == DEV_FUNC_ROM ) continue;
	453
	454	// check external device functionnal type
	455	if( (func != DEV_FUNC_IOB) &&
	456	(func != DEV_FUNC_PIC) &&
	457	(func != DEV_FUNC_IOC) &&
	458	(func != DEV_FUNC_TXT) &&
	459	(func != DEV_FUNC_NIC) &&
	460	(func != DEV_FUNC_FBF) )
[1]	461	{
[5]	462	assert( false , __FUNCTION__ , "undefined external peripheral type" );
	463	}
	464
	465	// loops on channels
	466	for( channel = first_channel ; channel < channels_nr ; channel++ )
	467	{
	468	// loop on directions
	469	for( direction = 0 ; direction < directions_nr ; direction++ )
[1]	470	{
[5]	471	// get target cluster for chdev[func,channel,direction]
	472	uint32_t offset = chdev_gid % ( info->x_size * info->y_size );
	473	uint32_t cx = offset / info->y_size;
	474	uint32_t cy = offset % info->y_size;
	475	uint32_t target_cxy = (cx<<info->y_width) + cy;
[1]	476
[5]	477	// allocate and initialize a local chdev
	478	// if local cluster matches target cluster
	479	if( target_cxy == local_cxy )
[1]	480	{
[5]	481	chdev = chdev_create( func,
	482	impl,
	483	channel,
	484	direction,
	485	base );
	486
	487	assert( (chdev != NULL), __FUNCTION__ ,
	488	"cannot allocate external device" );
	489
	490	// get extended pointer on chdev
	491	chdev_xp = XPTR( local_cxy , chdev );
	492
	493	// make device type specific initialisation
	494	// the number of parameters depends on the device type
	495	// TODO : remove the parameters that must be provided by the drivers
	496	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
	497	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
	498	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
	499	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
	500	else if( func == DEV_FUNC_PIC ) dev_pic_init( chdev , p0 );
	501	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev , p0 , p1 );
	502	else
	503	{
	504	assert( false , __FUNCTION__ , "undefined device type" );
	505	}
	506
	507	// all external (shared) devices are remotely accessible
	508	// initialize the replicated chdev_dir[x][y] structures
	509	// defining the extended pointers on chdev descriptors
	510	xptr_t * entry;
	511
	512	if( func == DEV_FUNC_IOB ) entry = &chdev_dir.iob;
	513	if( func == DEV_FUNC_PIC ) entry = &chdev_dir.pic;
	514	if( func == DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
	515	if( func == DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
	516	if( func == DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
	517	if( func == DEV_FUNC_NIC ) entry = &chdev_dir.nic_tx[channel];
	518
[1]	519	for( x = 0 ; x < info->x_size ; x++ )
	520	{
	521	for( y = 0 ; y < info->y_size ; y++ )
	522	{
	523	cxy_t cxy = (x<<info->y_width) + y;
[5]	524	hal_remote_swd( XPTR( cxy , entry ) , chdev_xp );
	525	}
[1]	526	}
	527
[14]	528	kinit_dmsg("\n[INFO] %s : core[%x][0] create chdev %s[%d] at cycle %d\n",
[5]	529	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[14]	530	channel , hal_time_stamp() );
[5]	531
	532	} // end if match
	533
[19]	534	// increment chdev global index (matching or not)
[5]	535	chdev_gid++;
	536
	537	} // end loop on directions
	538
	539	} // end loop on channels
	540
	541	// initialize the entries of the local chdev_pic_input structure
	542	// defining how external peripherals are connected to PIC
	543	if( func == DEV_FUNC_PIC )
[1]	544	{
[5]	545	uint32_t id;
	546	uint8_t valid;
	547	uint32_t dev_type;
	548	uint8_t channel;
	549	uint8_t is_rx;
	550
	551	// loop on PIC inputs
	552	for( id = 0 ; id < CONFIG_MAX_IRQS_PER_PIC ; id++ )
[1]	553	{
[5]	554	valid = dev_tbl[i].irq[id].valid;
	555	dev_type = dev_tbl[i].irq[id].dev_type;
	556	channel = dev_tbl[i].irq[id].channel;
	557	is_rx = dev_tbl[i].irq[id].is_rx;
[1]	558
[5]	559	if( valid ) // only valid inputs are registered
[1]	560	{
[5]	561	uint32_t * index; // local pointer on one entry
[1]	562	uint16_t dev_func = FUNC_FROM_TYPE( dev_type );
[5]	563
	564	if( dev_func == DEV_FUNC_TXT )
[1]	565	{
[5]	566	index = &chdev_pic_input.txt[channel];
[1]	567	}
[5]	568	else if( dev_func == DEV_FUNC_IOC )
	569	{
	570	index = &chdev_pic_input.ioc[channel];
	571	}
	572	else if( (dev_func == DEV_FUNC_NIC) && (is_rx == 0) )
	573	{
	574	index = &chdev_pic_input.nic_tx[channel];
	575	}
	576	else if( (dev_func == DEV_FUNC_NIC) && (is_rx != 0) )
	577	{
	578	index = &chdev_pic_input.nic_rx[channel];
	579	}
	580	else
	581	{
	582	assert( false , __FUNCTION__ , "illegal source device for PIC input" );
	583	}
	584
	585	// set entry in local structure
	586	*index = id;
[1]	587	}
[5]	588	} // end loop on PIC inputs
	589	} // end PIC
	590	} // end loop on devices
	591	} // end external_devices_init()
[1]	592
	593
	594	///////////////////////////////////////////////////////////////////////////////////////////
[14]	595	// This static function returns the identifiers of the calling core.
	596	///////////////////////////////////////////////////////////////////////////////////////////
	597	// @ info : pointer on boot_info structure.
	598	// @ lid : [out] core local index in cluster.
	599	// @ cxy : [out] cluster identifier.
	600	// @ lid : [out] core global identifier (hardware).
	601	// @ return 0 if success / return EINVAL if not found.
	602	///////////////////////////////////////////////////////////////////////////////////////////
[23]	603	static error_t get_core_identifiers( boot_info_t * info,
	604	lid_t * lid,
[14]	605	cxy_t * cxy,
	606	gid_t * gid )
	607	{
	608	uint32_t i;
	609	gid_t global_id;
[19]	610
[14]	611	// get global identifier from hardware register
	612	global_id = hal_get_gid();
	613
	614	// makes an associative search in boot_info to get (cxy,lid) from global_id
	615	for( i = 0 ; i < info->cores_nr ; i++ )
	616	{
	617	if( global_id == info->core[i].gid )
	618	{
	619	*lid = info->core[i].lid;
	620	*cxy = info->core[i].cxy;
	621	*gid = global_id;
	622	return 0;
	623	}
	624	}
	625	return EINVAL;
[19]	626	}
[14]	627
	628	///////////////////////////////////////////////////////////////////////////////////////////
[1]	629	// This function is the entry point for the kernel initialisation.
[19]	630	// It is executed by all cores in all clusters, but only core[0], called CP0,
[14]	631	// initializes the shared resources such as the cluster manager, or the local peripherals.
[19]	632	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
	633	// only information contained in the local boot_info_t structure, set by the bootloader.
[1]	634	///////////////////////////////////////////////////////////////////////////////////////////
	635	// @ info : pointer on the local boot-info structure.
	636	///////////////////////////////////////////////////////////////////////////////////////////
	637	void kernel_init( boot_info_t * info )
	638	{
[23]	639	lid_t core_lid = -1; // running core local index
[14]	640	cxy_t core_cxy = -1; // running core cluster identifier
	641	gid_t core_gid; // running core hardware identifier
	642	cluster_t * cluster; // pointer on local cluster manager
	643	core_t * core; // pointer on running core descriptor
	644	thread_t * thread; // pointer on idle thread descriptor
[1]	645	error_t error;
	646
[14]	647	// all cores get core identifiers
[23]	648	error = get_core_identifiers( info,
[14]	649	&core_lid,
	650	&core_cxy,
	651	&core_gid );
[1]	652
[14]	653	// CP0 initialise cluster identifier
	654	if( core_lid == 0 ) local_cxy = info->cxy;
[1]	655
[14]	656	// CP0 in I/O cluster initialises TXT0 chdev descriptor
	657	if( (core_lid == 0) && (core_cxy == info->io_cxy) ) txt0_device_init( info );
	658
	659	/////////////////////////////////////////////////////////////////////////////////
	660	// global & local synchro to protect access to TXT0 terminal
	661	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	662	(info->x_size * info->y_size) );
	663	barrier_wait( &local_barrier , info->cores_nr );
	664	/////////////////////////////////////////////////////////////////////////////////
	665
[23]	666	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 0 at cycle %d\n",
	667	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[14]	668
	669	// all cores check core identifiers
	670	if( error )
[1]	671	{
[14]	672	printk("\n[PANIC] in %s : illegal core identifiers"
	673	" gid = %x / cxy = %x / lid = %d\n",
	674	__FUNCTION__ , core_lid , core_cxy , core_lid );
	675	hal_core_sleep();
[1]	676	}
	677
[19]	678	// CP0 initializes the local cluster manager (cores and memory allocators)
[14]	679	if( core_lid == 0 )
[1]	680	{
	681	error = cluster_init( info );
	682
[14]	683	if( error )
	684	{
	685	printk("\n[PANIC] in %s : cannot initialise cluster manager in cluster %x",
	686	__FUNCTION__ , local_cxy );
	687	hal_core_sleep();
	688	}
	689	}
[5]	690
[14]	691	/////////////////////////////////////////////////////////////////////////////////
	692	// global & local synchro, to protect access to cluster manager
	693	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	694	(info->x_size * info->y_size) );
	695	barrier_wait( &local_barrier , info->cores_nr );
	696	/////////////////////////////////////////////////////////////////////////////////
[1]	697
[23]	698	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 1 at cycle %d\n",
	699	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[1]	700
[14]	701	// all cores get pointer on local cluster manager and on core descriptor
	702	cluster = &cluster_manager;
	703	core = &cluster->core_tbl[core_lid];
[1]	704
[19]	705	// CP0 initializes the process_zero descriptor
[14]	706	if( core_lid == 0 ) process_zero_init( info );
[5]	707
[19]	708	// CP0 allocates and initialises the internal peripheral chdev descriptors.
[14]	709	// Each CP0[cxy] scan the set of its internal (private) peripherals,
	710	// and allocate memory for the corresponding chdev descriptors.
	711	if( core_lid == 0 ) internal_devices_init( info );
[5]	712
[14]	713	// CP0 allocates one WTI mailbbox per core for Inter Processor Interrupt
	714	// this must be done after ICU chdev initialisation, by CP0 only, and before
	715	// external devices initialisation to enforce the rule (wti_id == lid)
	716	if( core_lid == 0 )
[1]	717	{
[14]	718	uint32_t wti_id;
	719	uint32_t lid;
	720	for( lid = 0 ; lid < LOCAL_CLUSTER->cores_nr ; lid++ )
[1]	721	{
[14]	722	wti_id = dev_icu_wti_alloc();
[1]	723
[14]	724	if( wti_id != lid )
	725	{
	726	printk("\n[PANIC] in %s : WTI index for IPI = %d / core_lid = %d",
	727	__FUNCTION__ , wti_id , lid );
	728	hal_core_sleep();
	729	}
[5]	730
[14]	731	dev_icu_enable_irq( lid , WTI_TYPE , wti_id , NULL );
	732	}
[1]	733	}
	734
[14]	735	// CP0 contribute to initialise external peripheral chdev descriptors.
	736	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
	737	// and allocates memory for the chdev descriptors that must be placed
	738	// on the (cxy) cluster according to the global index value.
	739	if( core_lid == 0 ) external_devices_init( info );
[1]	740
[14]	741	/////////////////////////////////////////////////////////////////////////////////
	742	// global &local synchro to protect access to peripherals
	743	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	744	(info->x_size * info->y_size) );
	745	barrier_wait( &local_barrier , info->cores_nr );
	746	/////////////////////////////////////////////////////////////////////////////////
[5]	747
[23]	748	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 2 at cycle %d\n",
	749	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[1]	750
[14]	751	// all cores initialize the private idle thread descriptor
	752	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
[1]	753
[14]	754	error = thread_kernel_init( thread,
	755	THREAD_IDLE,
	756	&thread_idle_func,
	757	NULL,
	758	core_lid );
[1]	759
[14]	760	if( error )
[1]	761	{
[14]	762	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
	763	__FUNCTION__ , local_cxy , core_lid );
	764	hal_core_sleep();
[1]	765	}
[14]	766	else
	767	{
	768	// register idle thread in scheduler
	769	core->scheduler.idle = thread;
[1]	770
[14]	771	// register idle thread pointer in core register
	772	hal_set_current_thread( thread );
	773
	774	// activate the idle thread
	775	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
[1]	776
[14]	777	kinit_dmsg("\n[INFO] %s : core[%x][%d] created idle thread %x at cycle %d\n",
	778	__FUNCTION__ , core_cxy , core_lid , thread , hal_time_stamp());
	779	}
	780
[23]	781	printk("\n bloup 0\n");
	782
	783	// CP0 in all clusters initializes cooperatively VFS and DEVFS
	784	if( (core_lid == 0) )
[14]	785	{
[23]	786	xptr_t root_inode_xp;
	787
	788	// initialize root File System
	789	if( CONFIG_VFS_ROOT_IS_FATFS )
	790	{
	791	root_inode_xp = fatfs_init();
	792	}
	793	else
	794	{
	795	printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
	796	hal_core_sleep();
	797	}
	798
	799	if( root_inode_xp == XPTR_NULL )
	800	{
	801	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize file system\n",
	802	__FUNCTION__ , local_cxy , core_lid );
	803	hal_core_sleep();
	804	}
	805
	806	printk("\n bloup 1\n");
	807
	808	// mount the DEVFS File system
	809	devfs_mount( root_inode_xp , "dev" );
[14]	810	}
	811
[23]	812	printk("\n bloup 2\n");
	813
[14]	814	// CP0 in I/O cluster print banner
[5]	815	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[1]	816	{
[5]	817	print_banner( (info->x_size * info->y_size) , info->cores_nr );
[1]	818	}
	819
[14]	820	/////////////////////////////////////////////////////////////////////////////////
	821	// global syncho to protect access to File System
	822	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	823	(info->x_size * info->y_size) );
	824	barrier_wait( &local_barrier , info->cores_nr );
	825	/////////////////////////////////////////////////////////////////////////////////
[1]	826
[23]	827	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 3 at cycle %d\n",
	828	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[14]	829
	830	// each core activates its private PTI IRQ
	831	dev_icu_set_period( core_lid , CONFIG_SCHED_TICK_PERIOD );
	832	dev_icu_enable_irq( core_lid , PTI_TYPE , core_lid , NULL );
	833
	834	// each core get its private IRQ masks values and
	835	uint32_t hwi_mask;
	836	uint32_t wti_mask;
	837	uint32_t pti_mask;
	838	dev_icu_get_masks( core_lid , &hwi_mask , &wti_mask , &pti_mask );
	839
	840	thread_dmsg("\n[INFO] %s : core[%x][%d] activates scheduler at cycle %d\n"
	841	" hwi_mask = %x / wti_mask = %x / pti_mask = %x\n",
	842	__FUNCTION__ , local_cxy , core_lid , hal_time_stamp() ,
	843	hwi_mask , wti_mask , pti_mask );
	844
	845	// each core jump to idle thread
[25]	846	// asm volatile( "j thread_idle_func\n" );
[14]	847
[1]	848	} // end kernel_init()
	849

Note: See TracBrowser for help on using the repository browser.

Download in other formats: