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source: trunk/kernel/kern/kernel_init.c @ 66

Last change on this file since 66 was 50, checked in by alain, 7 years ago
bloup
File size: 36.0 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
	57
[5]	58	#define KERNEL_INIT_SYNCHRO 0xA5A5B5B5
[1]	59
	60	///////////////////////////////////////////////////////////////////////////////////////////
	61	// All these global variables are replicated in all clusters.
	62	// They are initialised by the kernel_init() function.
[14]	63	//
	64	// WARNING : The section names have been defined to control the base addresses of the
	65	// boot_info structure and the idle thread descriptors, through the kernel.ld script:
	66	// - the boot_info structure is build by the bootloader, and used by kernel_init.
	67	// it must be first object in the kdata segment.
	68	// - the array of idle threads descriptors must be placed on the first page boundary after
	69	// the boot_info structure in the kdata segment.
[1]	70	///////////////////////////////////////////////////////////////////////////////////////////
	71
[5]	72	// This variable defines the local boot_info structure
	73	__attribute__((section(".kinfo")))
[14]	74	boot_info_t boot_info;
[5]	75
[14]	76	// This variable defines the "idle" threads descriptors array
	77	__attribute__((section(".kidle")))
	78	char idle_threads[CONFIG_THREAD_DESC_SIZE *
	79	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
	80
[1]	81	// This variable defines the local cluster manager
[5]	82	__attribute__((section(".kdata")))
[19]	83	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
[1]	84
[14]	85	// This variables define the kernel process0 descriptor
[5]	86	__attribute__((section(".kdata")))
[19]	87	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
[1]	88
[14]	89	// This variable defines extended pointers on the distributed chdevs
[5]	90	__attribute__((section(".kdata")))
[14]	91	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
[1]	92
[5]	93	// This variable contains the input IRQ indexes for the PIC device
	94	__attribute__((section(".kdata")))
[14]	95	chdev_pic_input_t chdev_pic_input CONFIG_CACHE_LINE_ALIGNED;
[1]	96
[5]	97	// This variable contains the input IRQ indexes for the ICU device
	98	__attribute__((section(".kdata")))
[14]	99	chdev_icu_input_t chdev_icu_input CONFIG_CACHE_LINE_ALIGNED;
[1]	100
[14]	101	// This variable defines the local cluster identifier
[5]	102	__attribute__((section(".kdata")))
[14]	103	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
[5]	104
[14]	105	// This variable defines the TXT0 chdev descriptor
[5]	106	__attribute__((section(".kdata")))
[14]	107	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
[1]	108
[14]	109	// This variable is used for CP0 cores sychronisation in kernel_init()
[5]	110	__attribute__((section(".kdata")))
[14]	111	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
[1]	112
[14]	113	// This variable is used for local cores sychronisation in kernel_init()
	114	__attribute__((section(".kdata")))
	115	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
	116
[50]	117	// This variable defines the array of supported File System contexts
	118	__attribute__((section(".kdata")))
	119	vfs_ctx_t fs_context[FS_TYPES_NR] CONFIG_CACHE_LINE_ALIGNED;
	120
	121
[1]	122	///////////////////////////////////////////////////////////////////////////////////////////
[5]	123	// This function displays the ALMOS_MKH banner.
[1]	124	///////////////////////////////////////////////////////////////////////////////////////////
[5]	125	static void print_banner( uint32_t nclusters , uint32_t ncores )
[1]	126	{
[5]	127	printk("\n"
	128	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
	129	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
	130	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
	131	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
	132	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
	133	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
	134	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
	135	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
	136	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
	137	"\n\n\t\t\t Version 0.0 : %d clusters / %d cores per cluster\n\n", nclusters , ncores );
	138	}
[1]	139
	140
[5]	141	///////////////////////////////////////////////////////////////////////////////////////////
[14]	142	// This static function initializes the TXT0 chdev descriptor, associated to the "kernel
	143	// terminal", and shared by all kernel instances for debug messages. It also register it
	144	// in the chdev directory, containing extended pointers on all chdevs.
	145	// The global variable txt0_chdev is replicated in all clusters, but only the chdev
	146	// allocated in I/O cluster is used by ALMOS-MKH.
	147	// Therefore, this function must be called by a thread running in the I/O cluster.
	148	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
	149	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
[5]	150	///////////////////////////////////////////////////////////////////////////////////////////
	151	// @ info : pointer on the local boot-info structure.
	152	///////////////////////////////////////////////////////////////////////////////////////////
	153	static void txt0_device_init( boot_info_t * info )
	154	{
	155	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
	156	uint32_t dev_nr; // actual number of devices in this cluster
	157	xptr_t base; // remote pointer on segment base
	158	uint32_t type; // peripheral type
	159	uint32_t func; // device functionnal index
	160	uint32_t impl; // device implementation index
	161	uint32_t i; // device index in dev_tbl
	162	uint32_t x; // X cluster coordinate
	163	uint32_t y; // Y cluster coordinate
[1]	164
[5]	165	// get number of peripherals and base of devices array from boot_info
	166	dev_nr = info->ext_dev_nr;
	167	dev_tbl = info->ext_dev;
[1]	168
[14]	169	// loop on external peripherals to find TXT device
[5]	170	for( i = 0 ; i < dev_nr ; i++ )
	171	{
	172	base = dev_tbl[i].base;
	173	type = dev_tbl[i].type;
	174	func = FUNC_FROM_TYPE( type );
	175	impl = IMPL_FROM_TYPE( type );
	176
	177	if (func == DEV_FUNC_TXT )
	178	{
[14]	179	// initialize basic fields
	180	txt0_chdev.func = func;
	181	txt0_chdev.impl = impl;
	182	txt0_chdev.channel = 0;
	183	txt0_chdev.is_rx = 0;
	184	txt0_chdev.base = base;
[5]	185
[14]	186	// initialize lock
	187	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
	188
[5]	189	// Complete TXT specific initialisation
	190	if( impl == IMPL_TXT_TTY )
	191	{
[14]	192	txt0_chdev.cmd = &soclib_tty_cmd;
	193	txt0_chdev.isr = &soclib_tty_isr;
	194	soclib_tty_init( &txt0_chdev );
[5]	195	}
	196
	197	// initialize the replicated chdev_dir[x][y] structures
	198	for( x = 0 ; x < info->x_size ; x++ )
	199	{
	200	for( y = 0 ; y < info->y_size ; y++ )
	201	{
	202	cxy_t cxy = (x<<info->y_width) + y;
[19]	203	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
[14]	204	XPTR( local_cxy , &txt0_chdev ) );
[5]	205	}
	206	}
	207
[14]	208	kinit_dmsg("\n[INFO] %s : core[%x][0] created TXT0 chdev"
	209	" / paddr = %l at cycle %d\n",
[19]	210	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[14]	211	XPTR(local_cxy , &txt0_chdev) , hal_time_stamp() );
[5]	212	}
	213
	214	} // end loop on devices
	215
	216	} // end txt0_device_init()
	217
[1]	218	///////////////////////////////////////////////////////////////////////////////////////////
[5]	219	// This static function allocates memory for the chdev (channel_device) descriptors
	220	// associated to the internal peripherals contained in the local cluster. These internal
	221	// devices (ICU, MMC, DMA) chdev descriptors are placed in the local cluster.
[1]	222	// It initialises these device descriptors as specified by the boot_info_t structure,
	223	// including the dynamic linking with the driver for the specified implementation.
	224	// Finally, all copies of the devices directory are initialised.
	225	///////////////////////////////////////////////////////////////////////////////////////////
	226	// @ info : pointer on the local boot-info structure.
	227	///////////////////////////////////////////////////////////////////////////////////////////
[5]	228	static void internal_devices_init( boot_info_t * info )
[1]	229	{
[14]	230	boot_device_t * dev; // pointer on boot_info device (ICU/MMC/DMA)
[1]	231	uint32_t x; // X cluster coordinate
	232	uint32_t y; // Y cluster coordinate
[14]	233	chdev_t * chdev_ptr; // local pointer on chdev descriptor
	234	xptr_t chdev_xp; // extended pointer on chdev descriptor
[1]	235
[14]	236	/////////// ICU //////////
[1]	237
[14]	238	dev = &info->dev_icu;
[5]	239
[14]	240	assert( ((info->cores_nr == 0) \|\| (dev->channels != 0)) , __FUNCTION__ ,
	241	"ICU device must exist in cluster containing cores" );
	242
	243	assert( (dev->channels == 1) , __FUNCTION__ ,
	244	"channels number must be 1 for ICU device" );
[1]	245
[14]	246	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_ICU ) , __FUNCTION__ ,
	247	" inconsistent ICU device type");
[1]	248
[14]	249	// create one chdev in local cluster
	250	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	251	IMPL_FROM_TYPE( dev->type ),
	252	0, // channel
	253	false, // TX
	254	dev->base );
[1]	255
[14]	256	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate ICU chdev" );
	257
	258	// get extended pointer on chdev descriptor
	259	chdev_xp = XPTR( local_cxy , chdev_ptr );
	260
	261	// make ICU specific initialisation
	262	// TODO remove these three parameters
[19]	263	dev_icu_init( chdev_ptr , dev->param0 , dev->param1 , dev->param2 );
[14]	264
	265	// initialize the ICU field in the chdev_dir[x][y] structures
	266	// replicated in all clusters, and containing extended pointers
	267	// on all remotely accessible devices
	268	for( x = 0 ; x < info->x_size ; x++ )
	269	{
	270	for( y = 0 ; y < info->y_size ; y++ )
[5]	271	{
[14]	272	cxy_t cxy = (x<<info->y_width) + y;
	273	hal_remote_swd( XPTR( cxy , &chdev_dir.icu[local_cxy] ) , chdev_xp );
[5]	274	}
[14]	275	}
[1]	276
[14]	277	// initialize the entries of the local chdev_icu_input structure
	278	// defining how internal peripherals are connected to ICU
	279	uint32_t id;
	280	uint8_t valid;
	281	uint32_t src_type;
	282	uint8_t src_ch;
	283	uint32_t src_func;
	284	for( id = 0 ; id < CONFIG_MAX_HWIS_PER_ICU ; id++ )
	285	{
	286	valid = dev->irq[id].valid;
	287	src_type = dev->irq[id].dev_type;
	288	src_ch = dev->irq[id].channel;
	289	src_func = FUNC_FROM_TYPE( src_type );
	290
	291	if( valid ) // only valid local IRQs are registered
[5]	292	{
[14]	293	if ( src_func == DEV_FUNC_MMC ) chdev_icu_input.mmc = id;
	294	else if( src_func == DEV_FUNC_DMA ) chdev_icu_input.dma[src_ch] = id;
	295	else assert( false , __FUNCTION__ , "illegal source device for ICU input" );
	296	}
	297	}
[1]	298
[50]	299	kinit_dmsg("\n[INFO] %s : core[%x][0] created ICU chdev at cycle %d\n",
[14]	300	__FUNCTION__ , local_cxy , hal_time_stamp() );
[1]	301
[14]	302	/////////// MMC internal chdev ///////////
[1]	303
[14]	304	dev = &info->dev_mmc;
[1]	305
[14]	306	if( dev->channels != 0 ) // MMC device is defined
	307	{
	308	assert( (dev->channels == 1) , __FUNCTION__ ,
	309	"channels number must be 1 for MMC device" );
[1]	310
[14]	311	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_MMC ) , __FUNCTION__ ,
	312	" inconsistent MMC device type");
	313
	314	// create one chdev in local cluster
	315	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	316	IMPL_FROM_TYPE( dev->type ),
	317	0, // channel
	318	false, // TX
	319	dev->base );
	320
	321	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate MMC chdev" );
	322
	323	// get extended pointer on chdev descriptor
	324	chdev_xp = XPTR( local_cxy , chdev_ptr );
	325
	326	// make MMC specific initialisation
	327	dev_mmc_init( chdev_ptr );
	328
	329	// initialize the MMC field in the chdev_dir[x][y] structures
	330	// replicated in all clusters, and containing extended pointers
	331	// on all remotely accessible devices
	332	for( x = 0 ; x < info->x_size ; x++ )
	333	{
	334	for( y = 0 ; y < info->y_size ; y++ )
[1]	335	{
[14]	336	cxy_t cxy = (x<<info->y_width) + y;
	337	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ) , chdev_xp );
[1]	338	}
[14]	339	}
[1]	340
[50]	341	kinit_dmsg("\n[INFO] %s : core[%x][0] created MMC chdev at cycle %d\n",
[14]	342	__FUNCTION__ , local_cxy , hal_time_stamp() );
	343	}
[5]	344
[14]	345	/////////// DMA internal chdevs //////////
[1]	346
[14]	347	dev = &info->dev_dma;
[1]	348
[14]	349	if( dev->channels != 0 ) // DMA device is defined
	350	{
	351	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_DMA ) , __FUNCTION__ ,
	352	" inconsistent DMA device type");
[5]	353
[14]	354	// create one chdev per channel in local cluster
	355	uint32_t channel;
	356	for( channel = 0 ; channel < dev->channels ; channel++ )
	357	{
	358	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	359	IMPL_FROM_TYPE( dev->type ),
	360	channel, // channel
	361	false, // TX
	362	dev->base );
[5]	363
[14]	364	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate DMA chdev" );
	365
	366	// get extended pointer on channel descriptor
	367	chdev_xp = XPTR( local_cxy , chdev_ptr );
[5]	368
[14]	369	// make DMA specific initialisation
	370	dev_dma_init( chdev_ptr );
	371
	372	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
	373	// structure because the DMA device is not remotely accessible.
	374	chdev_dir.dma[channel] = chdev_xp;
	375
[50]	376	kinit_dmsg("\n[INFO] %s : core[%x][0] created DMA[%d] chdev at cycle %d\n",
[14]	377	__FUNCTION__ , local_cxy , channel , hal_time_stamp() );
	378	}
	379	}
[5]	380	} // end internal_devices_init()
	381
	382	///////////////////////////////////////////////////////////////////////////////////////////
	383	// This static function allocates memory for the chdev descriptors associated
	384	// to the external (shared) peripherals contained in the local cluster. These external
	385	// devices (IOB, IOC, TXT, NIC, etc ) are distributed on all clusters.
	386	// It initialises these device descriptors as specified by the boot_info_t structure,
	387	// including the dynamic linking with the driver for the specified implementation.
	388	// Finally, all copies of the devices directory are initialised.
	389	//
	390	// The number of channel_devices depends on the device functionnal type.
[14]	391	// There is three nested loops to build the full set of external channel_devices:
[5]	392	// - loop on external devices.
	393	// - loop on channels for multi-channels devices.
	394	// - loop on directions (RX/TX) for NIC device.
	395	// The set of channel_devices is indexed by the chdev_gid global index, that is used
	396	// to select the cluster containing a given chdev[func,channel,direction].
	397	// All clusters scan the full set of chdevs, but only the cluster matching
	398	// (chdev_gid % (x_size*y_size)) create the corresponding chdev.
	399	//
	400	// TODO check that cluster IO contains a PIC [AG]
[50]	401	// TODO make a default initialisation for the chdev_dir structure (XPTR_NULL ) [AG]
[5]	402	///////////////////////////////////////////////////////////////////////////////////////////
	403	// @ info : pointer on the local boot-info structure.
	404	///////////////////////////////////////////////////////////////////////////////////////////
	405	static void external_devices_init( boot_info_t * info )
	406	{
	407	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
	408	uint32_t dev_nr; // actual number of devices in this cluster
	409	xptr_t base; // remote pointer on segment base
	410	uint32_t type; // peripheral type
	411	uint32_t func; // device functionnal index
	412	uint32_t impl; // device implementation index
	413	uint32_t i; // device index in dev_tbl
	414	uint32_t x; // X cluster coordinate
	415	uint32_t y; // Y cluster coordinate
	416	uint32_t channels_nr; // number of channels
	417	uint32_t channel; // channel index
	418	uint32_t directions_nr; // number of directions
	419	uint32_t direction; // direction index
	420	uint32_t p0; // device parameter 0
	421	uint32_t p1; // device parameter 1
	422	uint32_t p2; // device parameter 2
	423	uint32_t p3; // device parameter 3
	424	uint32_t first_channel; // used in loop on channels
	425
	426	chdev_t * chdev; // local pointer on one channel_device descriptor
	427	xptr_t chdev_xp; // extended pointer on channel_device descriptor
	428	uint32_t chdev_gid = 0; // global index of channel_device descriptor
	429
	430	// get number of peripherals and base of devices array from boot_info
	431	dev_nr = info->ext_dev_nr;
	432	dev_tbl = info->ext_dev;
	433
	434	// loop on external peripherals
	435	for( i = 0 ; i < dev_nr ; i++ )
	436	{
	437	base = dev_tbl[i].base;
	438	type = dev_tbl[i].type;
	439	channels_nr = dev_tbl[i].channels;
	440	p0 = dev_tbl[i].param0;
	441	p1 = dev_tbl[i].param1;
	442	p2 = dev_tbl[i].param2;
	443	p3 = dev_tbl[i].param3;
	444
	445	func = FUNC_FROM_TYPE( type );
	446	impl = IMPL_FROM_TYPE( type );
	447
	448	// There is one chdev per direction for NIC
	449	if (func == DEV_FUNC_NIC) directions_nr = 2;
	450	else directions_nr = 1;
	451
	452	// The TXT0 chdev has already been created
	453	if (func == DEV_FUNC_TXT) first_channel = 1;
	454	else first_channel = 0;
	455
	456	// do nothing for ROM, that does not require a device descriptor.
	457	if( func == DEV_FUNC_ROM ) continue;
	458
	459	// check external device functionnal type
	460	if( (func != DEV_FUNC_IOB) &&
	461	(func != DEV_FUNC_PIC) &&
	462	(func != DEV_FUNC_IOC) &&
	463	(func != DEV_FUNC_TXT) &&
	464	(func != DEV_FUNC_NIC) &&
	465	(func != DEV_FUNC_FBF) )
[1]	466	{
[5]	467	assert( false , __FUNCTION__ , "undefined external peripheral type" );
	468	}
	469
	470	// loops on channels
	471	for( channel = first_channel ; channel < channels_nr ; channel++ )
	472	{
	473	// loop on directions
	474	for( direction = 0 ; direction < directions_nr ; direction++ )
[1]	475	{
[5]	476	// get target cluster for chdev[func,channel,direction]
	477	uint32_t offset = chdev_gid % ( info->x_size * info->y_size );
	478	uint32_t cx = offset / info->y_size;
	479	uint32_t cy = offset % info->y_size;
	480	uint32_t target_cxy = (cx<<info->y_width) + cy;
[1]	481
[5]	482	// allocate and initialize a local chdev
	483	// if local cluster matches target cluster
	484	if( target_cxy == local_cxy )
[1]	485	{
[5]	486	chdev = chdev_create( func,
	487	impl,
	488	channel,
	489	direction,
	490	base );
	491
	492	assert( (chdev != NULL), __FUNCTION__ ,
	493	"cannot allocate external device" );
	494
	495	// get extended pointer on chdev
	496	chdev_xp = XPTR( local_cxy , chdev );
	497
	498	// make device type specific initialisation
	499	// the number of parameters depends on the device type
	500	// TODO : remove the parameters that must be provided by the drivers
	501	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
	502	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
	503	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
	504	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
	505	else if( func == DEV_FUNC_PIC ) dev_pic_init( chdev , p0 );
	506	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev , p0 , p1 );
	507	else
	508	{
	509	assert( false , __FUNCTION__ , "undefined device type" );
	510	}
	511
	512	// all external (shared) devices are remotely accessible
	513	// initialize the replicated chdev_dir[x][y] structures
	514	// defining the extended pointers on chdev descriptors
	515	xptr_t * entry;
	516
	517	if( func == DEV_FUNC_IOB ) entry = &chdev_dir.iob;
	518	if( func == DEV_FUNC_PIC ) entry = &chdev_dir.pic;
	519	if( func == DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
	520	if( func == DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
	521	if( func == DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
	522	if( func == DEV_FUNC_NIC ) entry = &chdev_dir.nic_tx[channel];
	523
[1]	524	for( x = 0 ; x < info->x_size ; x++ )
	525	{
	526	for( y = 0 ; y < info->y_size ; y++ )
	527	{
	528	cxy_t cxy = (x<<info->y_width) + y;
[5]	529	hal_remote_swd( XPTR( cxy , entry ) , chdev_xp );
	530	}
[1]	531	}
	532
[14]	533	kinit_dmsg("\n[INFO] %s : core[%x][0] create chdev %s[%d] at cycle %d\n",
[5]	534	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[14]	535	channel , hal_time_stamp() );
[5]	536
	537	} // end if match
	538
[19]	539	// increment chdev global index (matching or not)
[5]	540	chdev_gid++;
	541
	542	} // end loop on directions
	543
	544	} // end loop on channels
	545
	546	// initialize the entries of the local chdev_pic_input structure
	547	// defining how external peripherals are connected to PIC
	548	if( func == DEV_FUNC_PIC )
[1]	549	{
[5]	550	uint32_t id;
	551	uint8_t valid;
	552	uint32_t dev_type;
	553	uint8_t channel;
	554	uint8_t is_rx;
	555
	556	// loop on PIC inputs
	557	for( id = 0 ; id < CONFIG_MAX_IRQS_PER_PIC ; id++ )
[1]	558	{
[5]	559	valid = dev_tbl[i].irq[id].valid;
	560	dev_type = dev_tbl[i].irq[id].dev_type;
	561	channel = dev_tbl[i].irq[id].channel;
	562	is_rx = dev_tbl[i].irq[id].is_rx;
[1]	563
[5]	564	if( valid ) // only valid inputs are registered
[1]	565	{
[5]	566	uint32_t * index; // local pointer on one entry
[1]	567	uint16_t dev_func = FUNC_FROM_TYPE( dev_type );
[5]	568
	569	if( dev_func == DEV_FUNC_TXT )
[1]	570	{
[5]	571	index = &chdev_pic_input.txt[channel];
[1]	572	}
[5]	573	else if( dev_func == DEV_FUNC_IOC )
	574	{
	575	index = &chdev_pic_input.ioc[channel];
	576	}
	577	else if( (dev_func == DEV_FUNC_NIC) && (is_rx == 0) )
	578	{
	579	index = &chdev_pic_input.nic_tx[channel];
	580	}
	581	else if( (dev_func == DEV_FUNC_NIC) && (is_rx != 0) )
	582	{
	583	index = &chdev_pic_input.nic_rx[channel];
	584	}
	585	else
	586	{
	587	assert( false , __FUNCTION__ , "illegal source device for PIC input" );
	588	}
	589
	590	// set entry in local structure
	591	*index = id;
[1]	592	}
[5]	593	} // end loop on PIC inputs
	594	} // end PIC
	595	} // end loop on devices
	596	} // end external_devices_init()
[1]	597
	598
	599	///////////////////////////////////////////////////////////////////////////////////////////
[14]	600	// This static function returns the identifiers of the calling core.
	601	///////////////////////////////////////////////////////////////////////////////////////////
	602	// @ info : pointer on boot_info structure.
	603	// @ lid : [out] core local index in cluster.
	604	// @ cxy : [out] cluster identifier.
	605	// @ lid : [out] core global identifier (hardware).
	606	// @ return 0 if success / return EINVAL if not found.
	607	///////////////////////////////////////////////////////////////////////////////////////////
[23]	608	static error_t get_core_identifiers( boot_info_t * info,
	609	lid_t * lid,
[14]	610	cxy_t * cxy,
	611	gid_t * gid )
	612	{
	613	uint32_t i;
	614	gid_t global_id;
[19]	615
[14]	616	// get global identifier from hardware register
	617	global_id = hal_get_gid();
	618
	619	// makes an associative search in boot_info to get (cxy,lid) from global_id
	620	for( i = 0 ; i < info->cores_nr ; i++ )
	621	{
	622	if( global_id == info->core[i].gid )
	623	{
	624	*lid = info->core[i].lid;
	625	*cxy = info->core[i].cxy;
	626	*gid = global_id;
	627	return 0;
	628	}
	629	}
	630	return EINVAL;
[19]	631	}
[14]	632
	633	///////////////////////////////////////////////////////////////////////////////////////////
[1]	634	// This function is the entry point for the kernel initialisation.
[19]	635	// It is executed by all cores in all clusters, but only core[0], called CP0,
[14]	636	// initializes the shared resources such as the cluster manager, or the local peripherals.
[19]	637	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
	638	// only information contained in the local boot_info_t structure, set by the bootloader.
[1]	639	///////////////////////////////////////////////////////////////////////////////////////////
	640	// @ info : pointer on the local boot-info structure.
	641	///////////////////////////////////////////////////////////////////////////////////////////
	642	void kernel_init( boot_info_t * info )
	643	{
[23]	644	lid_t core_lid = -1; // running core local index
[14]	645	cxy_t core_cxy = -1; // running core cluster identifier
	646	gid_t core_gid; // running core hardware identifier
	647	cluster_t * cluster; // pointer on local cluster manager
	648	core_t * core; // pointer on running core descriptor
	649	thread_t * thread; // pointer on idle thread descriptor
[1]	650	error_t error;
	651
[14]	652	// all cores get core identifiers
[23]	653	error = get_core_identifiers( info,
[14]	654	&core_lid,
	655	&core_cxy,
	656	&core_gid );
[1]	657
[14]	658	// CP0 initialise cluster identifier
	659	if( core_lid == 0 ) local_cxy = info->cxy;
[1]	660
[14]	661	// CP0 in I/O cluster initialises TXT0 chdev descriptor
	662	if( (core_lid == 0) && (core_cxy == info->io_cxy) ) txt0_device_init( info );
	663
	664	/////////////////////////////////////////////////////////////////////////////////
	665	// global & local synchro to protect access to TXT0 terminal
	666	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	667	(info->x_size * info->y_size) );
	668	barrier_wait( &local_barrier , info->cores_nr );
	669	/////////////////////////////////////////////////////////////////////////////////
	670
[23]	671	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 0 at cycle %d\n",
	672	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[14]	673
	674	// all cores check core identifiers
	675	if( error )
[1]	676	{
[14]	677	printk("\n[PANIC] in %s : illegal core identifiers"
	678	" gid = %x / cxy = %x / lid = %d\n",
	679	__FUNCTION__ , core_lid , core_cxy , core_lid );
	680	hal_core_sleep();
[1]	681	}
	682
[19]	683	// CP0 initializes the local cluster manager (cores and memory allocators)
[14]	684	if( core_lid == 0 )
[1]	685	{
	686	error = cluster_init( info );
	687
[14]	688	if( error )
	689	{
	690	printk("\n[PANIC] in %s : cannot initialise cluster manager in cluster %x",
	691	__FUNCTION__ , local_cxy );
	692	hal_core_sleep();
	693	}
	694	}
[5]	695
[14]	696	/////////////////////////////////////////////////////////////////////////////////
	697	// global & local synchro, to protect access to cluster manager
	698	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	699	(info->x_size * info->y_size) );
	700	barrier_wait( &local_barrier , info->cores_nr );
	701	/////////////////////////////////////////////////////////////////////////////////
[1]	702
[23]	703	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 1 at cycle %d\n",
	704	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[1]	705
[14]	706	// all cores get pointer on local cluster manager and on core descriptor
	707	cluster = &cluster_manager;
	708	core = &cluster->core_tbl[core_lid];
[1]	709
[19]	710	// CP0 initializes the process_zero descriptor
[14]	711	if( core_lid == 0 ) process_zero_init( info );
[5]	712
[19]	713	// CP0 allocates and initialises the internal peripheral chdev descriptors.
[14]	714	// Each CP0[cxy] scan the set of its internal (private) peripherals,
	715	// and allocate memory for the corresponding chdev descriptors.
	716	if( core_lid == 0 ) internal_devices_init( info );
[5]	717
[14]	718	// CP0 allocates one WTI mailbbox per core for Inter Processor Interrupt
	719	// this must be done after ICU chdev initialisation, by CP0 only, and before
[50]	720	// external devices initialisation to enforce the rule :
	721	// "The WTI index for the IPI routed to core[lid] is lid"
[14]	722	if( core_lid == 0 )
[1]	723	{
[14]	724	uint32_t wti_id;
	725	uint32_t lid;
	726	for( lid = 0 ; lid < LOCAL_CLUSTER->cores_nr ; lid++ )
[1]	727	{
[14]	728	wti_id = dev_icu_wti_alloc();
[1]	729
[14]	730	if( wti_id != lid )
	731	{
	732	printk("\n[PANIC] in %s : WTI index for IPI = %d / core_lid = %d",
	733	__FUNCTION__ , wti_id , lid );
	734	hal_core_sleep();
	735	}
[5]	736
[14]	737	dev_icu_enable_irq( lid , WTI_TYPE , wti_id , NULL );
	738	}
[1]	739	}
	740
[50]	741	// All CP0s contribute to initialise external peripheral chdev descriptors.
[14]	742	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
	743	// and allocates memory for the chdev descriptors that must be placed
	744	// on the (cxy) cluster according to the global index value.
	745	if( core_lid == 0 ) external_devices_init( info );
[1]	746
[14]	747	/////////////////////////////////////////////////////////////////////////////////
	748	// global &local synchro to protect access to peripherals
	749	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	750	(info->x_size * info->y_size) );
	751	barrier_wait( &local_barrier , info->cores_nr );
	752	/////////////////////////////////////////////////////////////////////////////////
[5]	753
[23]	754	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 2 at cycle %d\n",
	755	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[1]	756
[14]	757	// all cores initialize the private idle thread descriptor
	758	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
[1]	759
[14]	760	error = thread_kernel_init( thread,
	761	THREAD_IDLE,
	762	&thread_idle_func,
	763	NULL,
	764	core_lid );
[1]	765
[14]	766	if( error )
[1]	767	{
[14]	768	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
	769	__FUNCTION__ , local_cxy , core_lid );
	770	hal_core_sleep();
[1]	771	}
[14]	772	else
	773	{
	774	// register idle thread in scheduler
	775	core->scheduler.idle = thread;
[1]	776
[14]	777	// register idle thread pointer in core register
	778	hal_set_current_thread( thread );
	779
	780	// activate the idle thread
	781	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
[1]	782
[14]	783	kinit_dmsg("\n[INFO] %s : core[%x][%d] created idle thread %x at cycle %d\n",
	784	__FUNCTION__ , core_cxy , core_lid , thread , hal_time_stamp());
	785	}
	786
[23]	787	// CP0 in all clusters initializes cooperatively VFS and DEVFS
	788	if( (core_lid == 0) )
[14]	789	{
[23]	790	xptr_t root_inode_xp;
	791
[50]	792	// initialize root File System (must be FATFS in this implementation)
[23]	793	if( CONFIG_VFS_ROOT_IS_FATFS )
	794	{
	795	root_inode_xp = fatfs_init();
	796	}
	797	else
	798	{
	799	printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
	800	hal_core_sleep();
	801	}
	802
	803	if( root_inode_xp == XPTR_NULL )
	804	{
	805	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize file system\n",
	806	__FUNCTION__ , local_cxy , core_lid );
	807	hal_core_sleep();
	808	}
	809
	810	// mount the DEVFS File system
	811	devfs_mount( root_inode_xp , "dev" );
[14]	812	}
	813
	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
[50]	846	thread_idle_func();
[14]	847
[1]	848	} // end kernel_init()
	849

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