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source: trunk/kernel/kern/kernel_init.c @ 86

Last change on this file since 86 was 77, checked in by max@…, 7 years ago
Start hiding the architecture-specific drivers behind the hal_drivers_xx interface.
File size: 38.0 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>
[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>
[1]	58
	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
[77]	191	// complete TXT-specific initialization
	192	hal_drivers_txt_init( &txt0_chdev );
[5]	193
	194	// initialize the replicated chdev_dir[x][y] structures
	195	for( x = 0 ; x < info->x_size ; x++ )
	196	{
	197	for( y = 0 ; y < info->y_size ; y++ )
	198	{
	199	cxy_t cxy = (x<<info->y_width) + y;
[19]	200	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
[14]	201	XPTR( local_cxy , &txt0_chdev ) );
[5]	202	}
	203	}
	204
[14]	205	kinit_dmsg("\n[INFO] %s : core[%x][0] created TXT0 chdev"
	206	" / paddr = %l at cycle %d\n",
[19]	207	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[14]	208	XPTR(local_cxy , &txt0_chdev) , hal_time_stamp() );
[5]	209	}
	210
	211	} // end loop on devices
	212
	213	} // end txt0_device_init()
	214
[1]	215	///////////////////////////////////////////////////////////////////////////////////////////
[5]	216	// This static function allocates memory for the chdev (channel_device) descriptors
	217	// associated to the internal peripherals contained in the local cluster. These internal
	218	// devices (ICU, MMC, DMA) chdev descriptors are placed in the local cluster.
[1]	219	// It initialises these device descriptors as specified by the boot_info_t structure,
	220	// including the dynamic linking with the driver for the specified implementation.
	221	// Finally, all copies of the devices directory are initialised.
	222	///////////////////////////////////////////////////////////////////////////////////////////
	223	// @ info : pointer on the local boot-info structure.
	224	///////////////////////////////////////////////////////////////////////////////////////////
[5]	225	static void internal_devices_init( boot_info_t * info )
[1]	226	{
[14]	227	boot_device_t * dev; // pointer on boot_info device (ICU/MMC/DMA)
[1]	228	uint32_t x; // X cluster coordinate
	229	uint32_t y; // Y cluster coordinate
[14]	230	chdev_t * chdev_ptr; // local pointer on chdev descriptor
	231	xptr_t chdev_xp; // extended pointer on chdev descriptor
[1]	232
[14]	233	/////////// ICU //////////
[1]	234
[14]	235	dev = &info->dev_icu;
[5]	236
[14]	237	assert( ((info->cores_nr == 0) \|\| (dev->channels != 0)) , __FUNCTION__ ,
	238	"ICU device must exist in cluster containing cores" );
	239
	240	assert( (dev->channels == 1) , __FUNCTION__ ,
	241	"channels number must be 1 for ICU device" );
[1]	242
[14]	243	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_ICU ) , __FUNCTION__ ,
	244	" inconsistent ICU device type");
[1]	245
[14]	246	// create one chdev in local cluster
	247	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	248	IMPL_FROM_TYPE( dev->type ),
	249	0, // channel
	250	false, // TX
	251	dev->base );
[1]	252
[14]	253	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate ICU chdev" );
	254
	255	// get extended pointer on chdev descriptor
	256	chdev_xp = XPTR( local_cxy , chdev_ptr );
	257
	258	// make ICU specific initialisation
	259	// TODO remove these three parameters
[19]	260	dev_icu_init( chdev_ptr , dev->param0 , dev->param1 , dev->param2 );
[14]	261
	262	// initialize the ICU field in the chdev_dir[x][y] structures
	263	// replicated in all clusters, and containing extended pointers
	264	// on all remotely accessible devices
	265	for( x = 0 ; x < info->x_size ; x++ )
	266	{
	267	for( y = 0 ; y < info->y_size ; y++ )
[5]	268	{
[14]	269	cxy_t cxy = (x<<info->y_width) + y;
	270	hal_remote_swd( XPTR( cxy , &chdev_dir.icu[local_cxy] ) , chdev_xp );
[5]	271	}
[14]	272	}
[1]	273
[14]	274	// initialize the entries of the local chdev_icu_input structure
	275	// defining how internal peripherals are connected to ICU
	276	uint32_t id;
	277	uint8_t valid;
	278	uint32_t src_type;
	279	uint8_t src_ch;
	280	uint32_t src_func;
	281	for( id = 0 ; id < CONFIG_MAX_HWIS_PER_ICU ; id++ )
	282	{
	283	valid = dev->irq[id].valid;
	284	src_type = dev->irq[id].dev_type;
	285	src_ch = dev->irq[id].channel;
	286	src_func = FUNC_FROM_TYPE( src_type );
	287
	288	if( valid ) // only valid local IRQs are registered
[5]	289	{
[14]	290	if ( src_func == DEV_FUNC_MMC ) chdev_icu_input.mmc = id;
	291	else if( src_func == DEV_FUNC_DMA ) chdev_icu_input.dma[src_ch] = id;
	292	else assert( false , __FUNCTION__ , "illegal source device for ICU input" );
	293	}
	294	}
[1]	295
[50]	296	kinit_dmsg("\n[INFO] %s : core[%x][0] created ICU chdev at cycle %d\n",
[14]	297	__FUNCTION__ , local_cxy , hal_time_stamp() );
[1]	298
[14]	299	/////////// MMC internal chdev ///////////
[1]	300
[14]	301	dev = &info->dev_mmc;
[1]	302
[14]	303	if( dev->channels != 0 ) // MMC device is defined
	304	{
	305	assert( (dev->channels == 1) , __FUNCTION__ ,
	306	"channels number must be 1 for MMC device" );
[1]	307
[14]	308	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_MMC ) , __FUNCTION__ ,
	309	" inconsistent MMC device type");
	310
	311	// create one chdev in local cluster
	312	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	313	IMPL_FROM_TYPE( dev->type ),
	314	0, // channel
	315	false, // TX
	316	dev->base );
	317
	318	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate MMC chdev" );
	319
	320	// get extended pointer on chdev descriptor
	321	chdev_xp = XPTR( local_cxy , chdev_ptr );
	322
	323	// make MMC specific initialisation
	324	dev_mmc_init( chdev_ptr );
	325
	326	// initialize the MMC field in the chdev_dir[x][y] structures
	327	// replicated in all clusters, and containing extended pointers
	328	// on all remotely accessible devices
	329	for( x = 0 ; x < info->x_size ; x++ )
	330	{
	331	for( y = 0 ; y < info->y_size ; y++ )
[1]	332	{
[14]	333	cxy_t cxy = (x<<info->y_width) + y;
	334	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ) , chdev_xp );
[1]	335	}
[14]	336	}
[1]	337
[50]	338	kinit_dmsg("\n[INFO] %s : core[%x][0] created MMC chdev at cycle %d\n",
[14]	339	__FUNCTION__ , local_cxy , hal_time_stamp() );
	340	}
[5]	341
[14]	342	/////////// DMA internal chdevs //////////
[1]	343
[14]	344	dev = &info->dev_dma;
[1]	345
[14]	346	if( dev->channels != 0 ) // DMA device is defined
	347	{
	348	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_DMA ) , __FUNCTION__ ,
	349	" inconsistent DMA device type");
[5]	350
[14]	351	// create one chdev per channel in local cluster
	352	uint32_t channel;
	353	for( channel = 0 ; channel < dev->channels ; channel++ )
	354	{
	355	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	356	IMPL_FROM_TYPE( dev->type ),
	357	channel, // channel
	358	false, // TX
	359	dev->base );
[5]	360
[14]	361	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate DMA chdev" );
	362
	363	// get extended pointer on channel descriptor
	364	chdev_xp = XPTR( local_cxy , chdev_ptr );
[5]	365
[14]	366	// make DMA specific initialisation
	367	dev_dma_init( chdev_ptr );
	368
	369	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
	370	// structure because the DMA device is not remotely accessible.
	371	chdev_dir.dma[channel] = chdev_xp;
	372
[50]	373	kinit_dmsg("\n[INFO] %s : core[%x][0] created DMA[%d] chdev at cycle %d\n",
[14]	374	__FUNCTION__ , local_cxy , channel , hal_time_stamp() );
	375	}
	376	}
[5]	377	} // end internal_devices_init()
	378
	379	///////////////////////////////////////////////////////////////////////////////////////////
	380	// This static function allocates memory for the chdev descriptors associated
	381	// to the external (shared) peripherals contained in the local cluster. These external
	382	// devices (IOB, IOC, TXT, NIC, etc ) are distributed on all clusters.
	383	// It initialises these device descriptors as specified by the boot_info_t structure,
	384	// including the dynamic linking with the driver for the specified implementation.
	385	// Finally, all copies of the devices directory are initialised.
	386	//
	387	// The number of channel_devices depends on the device functionnal type.
[14]	388	// There is three nested loops to build the full set of external channel_devices:
[5]	389	// - loop on external devices.
	390	// - loop on channels for multi-channels devices.
	391	// - loop on directions (RX/TX) for NIC device.
	392	// The set of channel_devices is indexed by the chdev_gid global index, that is used
	393	// to select the cluster containing a given chdev[func,channel,direction].
	394	// All clusters scan the full set of chdevs, but only the cluster matching
	395	// (chdev_gid % (x_size*y_size)) create the corresponding chdev.
	396	//
	397	// TODO check that cluster IO contains a PIC [AG]
[50]	398	// TODO make a default initialisation for the chdev_dir structure (XPTR_NULL ) [AG]
[5]	399	///////////////////////////////////////////////////////////////////////////////////////////
	400	// @ info : pointer on the local boot-info structure.
	401	///////////////////////////////////////////////////////////////////////////////////////////
	402	static void external_devices_init( boot_info_t * info )
	403	{
	404	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
	405	uint32_t dev_nr; // actual number of devices in this cluster
	406	xptr_t base; // remote pointer on segment base
	407	uint32_t type; // peripheral type
	408	uint32_t func; // device functionnal index
	409	uint32_t impl; // device implementation index
	410	uint32_t i; // device index in dev_tbl
	411	uint32_t x; // X cluster coordinate
	412	uint32_t y; // Y cluster coordinate
	413	uint32_t channels_nr; // number of channels
	414	uint32_t channel; // channel index
	415	uint32_t directions_nr; // number of directions
	416	uint32_t direction; // direction index
	417	uint32_t p0; // device parameter 0
	418	uint32_t p1; // device parameter 1
	419	uint32_t p2; // device parameter 2
	420	uint32_t p3; // device parameter 3
	421	uint32_t first_channel; // used in loop on channels
	422
	423	chdev_t * chdev; // local pointer on one channel_device descriptor
	424	xptr_t chdev_xp; // extended pointer on channel_device descriptor
	425	uint32_t chdev_gid = 0; // global index of channel_device descriptor
	426
	427	// get number of peripherals and base of devices array from boot_info
	428	dev_nr = info->ext_dev_nr;
	429	dev_tbl = info->ext_dev;
	430
	431	// loop on external peripherals
	432	for( i = 0 ; i < dev_nr ; i++ )
	433	{
	434	base = dev_tbl[i].base;
	435	type = dev_tbl[i].type;
	436	channels_nr = dev_tbl[i].channels;
	437	p0 = dev_tbl[i].param0;
	438	p1 = dev_tbl[i].param1;
	439	p2 = dev_tbl[i].param2;
	440	p3 = dev_tbl[i].param3;
	441
	442	func = FUNC_FROM_TYPE( type );
	443	impl = IMPL_FROM_TYPE( type );
	444
	445	// There is one chdev per direction for NIC
	446	if (func == DEV_FUNC_NIC) directions_nr = 2;
	447	else directions_nr = 1;
	448
	449	// The TXT0 chdev has already been created
	450	if (func == DEV_FUNC_TXT) first_channel = 1;
	451	else first_channel = 0;
	452
	453	// do nothing for ROM, that does not require a device descriptor.
	454	if( func == DEV_FUNC_ROM ) continue;
	455
	456	// check external device functionnal type
	457	if( (func != DEV_FUNC_IOB) &&
	458	(func != DEV_FUNC_PIC) &&
	459	(func != DEV_FUNC_IOC) &&
	460	(func != DEV_FUNC_TXT) &&
	461	(func != DEV_FUNC_NIC) &&
	462	(func != DEV_FUNC_FBF) )
[1]	463	{
[5]	464	assert( false , __FUNCTION__ , "undefined external peripheral type" );
	465	}
	466
	467	// loops on channels
	468	for( channel = first_channel ; channel < channels_nr ; channel++ )
	469	{
	470	// loop on directions
	471	for( direction = 0 ; direction < directions_nr ; direction++ )
[1]	472	{
[5]	473	// get target cluster for chdev[func,channel,direction]
	474	uint32_t offset = chdev_gid % ( info->x_size * info->y_size );
	475	uint32_t cx = offset / info->y_size;
	476	uint32_t cy = offset % info->y_size;
	477	uint32_t target_cxy = (cx<<info->y_width) + cy;
[1]	478
[5]	479	// allocate and initialize a local chdev
	480	// if local cluster matches target cluster
	481	if( target_cxy == local_cxy )
[1]	482	{
[5]	483	chdev = chdev_create( func,
	484	impl,
	485	channel,
	486	direction,
	487	base );
	488
	489	assert( (chdev != NULL), __FUNCTION__ ,
	490	"cannot allocate external device" );
	491
	492	// get extended pointer on chdev
	493	chdev_xp = XPTR( local_cxy , chdev );
	494
	495	// make device type specific initialisation
	496	// the number of parameters depends on the device type
	497	// TODO : remove the parameters that must be provided by the drivers
	498	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
	499	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
	500	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
	501	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
	502	else if( func == DEV_FUNC_PIC ) dev_pic_init( chdev , p0 );
	503	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev , p0 , p1 );
	504	else
	505	{
	506	assert( false , __FUNCTION__ , "undefined device type" );
	507	}
	508
	509	// all external (shared) devices are remotely accessible
	510	// initialize the replicated chdev_dir[x][y] structures
	511	// defining the extended pointers on chdev descriptors
	512	xptr_t * entry;
	513
	514	if( func == DEV_FUNC_IOB ) entry = &chdev_dir.iob;
	515	if( func == DEV_FUNC_PIC ) entry = &chdev_dir.pic;
	516	if( func == DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
	517	if( func == DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
	518	if( func == DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
	519	if( func == DEV_FUNC_NIC ) entry = &chdev_dir.nic_tx[channel];
	520
[1]	521	for( x = 0 ; x < info->x_size ; x++ )
	522	{
	523	for( y = 0 ; y < info->y_size ; y++ )
	524	{
	525	cxy_t cxy = (x<<info->y_width) + y;
[5]	526	hal_remote_swd( XPTR( cxy , entry ) , chdev_xp );
	527	}
[1]	528	}
	529
[14]	530	kinit_dmsg("\n[INFO] %s : core[%x][0] create chdev %s[%d] at cycle %d\n",
[5]	531	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[14]	532	channel , hal_time_stamp() );
[5]	533
	534	} // end if match
	535
[19]	536	// increment chdev global index (matching or not)
[5]	537	chdev_gid++;
	538
	539	} // end loop on directions
	540
	541	} // end loop on channels
	542
	543	// initialize the entries of the local chdev_pic_input structure
	544	// defining how external peripherals are connected to PIC
	545	if( func == DEV_FUNC_PIC )
[1]	546	{
[5]	547	uint32_t id;
	548	uint8_t valid;
	549	uint32_t dev_type;
	550	uint8_t channel;
	551	uint8_t is_rx;
	552
	553	// loop on PIC inputs
	554	for( id = 0 ; id < CONFIG_MAX_IRQS_PER_PIC ; id++ )
[1]	555	{
[5]	556	valid = dev_tbl[i].irq[id].valid;
	557	dev_type = dev_tbl[i].irq[id].dev_type;
	558	channel = dev_tbl[i].irq[id].channel;
	559	is_rx = dev_tbl[i].irq[id].is_rx;
[1]	560
[5]	561	if( valid ) // only valid inputs are registered
[1]	562	{
[5]	563	uint32_t * index; // local pointer on one entry
[1]	564	uint16_t dev_func = FUNC_FROM_TYPE( dev_type );
[5]	565
	566	if( dev_func == DEV_FUNC_TXT )
[1]	567	{
[5]	568	index = &chdev_pic_input.txt[channel];
[1]	569	}
[5]	570	else if( dev_func == DEV_FUNC_IOC )
	571	{
	572	index = &chdev_pic_input.ioc[channel];
	573	}
	574	else if( (dev_func == DEV_FUNC_NIC) && (is_rx == 0) )
	575	{
	576	index = &chdev_pic_input.nic_tx[channel];
	577	}
	578	else if( (dev_func == DEV_FUNC_NIC) && (is_rx != 0) )
	579	{
	580	index = &chdev_pic_input.nic_rx[channel];
	581	}
	582	else
	583	{
	584	assert( false , __FUNCTION__ , "illegal source device for PIC input" );
	585	}
	586
	587	// set entry in local structure
	588	*index = id;
[1]	589	}
[5]	590	} // end loop on PIC inputs
	591	} // end PIC
	592	} // end loop on devices
	593	} // end external_devices_init()
[1]	594
	595
	596	///////////////////////////////////////////////////////////////////////////////////////////
[14]	597	// This static function returns the identifiers of the calling core.
	598	///////////////////////////////////////////////////////////////////////////////////////////
	599	// @ info : pointer on boot_info structure.
	600	// @ lid : [out] core local index in cluster.
	601	// @ cxy : [out] cluster identifier.
	602	// @ lid : [out] core global identifier (hardware).
	603	// @ return 0 if success / return EINVAL if not found.
	604	///////////////////////////////////////////////////////////////////////////////////////////
[23]	605	static error_t get_core_identifiers( boot_info_t * info,
	606	lid_t * lid,
[14]	607	cxy_t * cxy,
	608	gid_t * gid )
	609	{
	610	uint32_t i;
	611	gid_t global_id;
[19]	612
[14]	613	// get global identifier from hardware register
	614	global_id = hal_get_gid();
	615
	616	// makes an associative search in boot_info to get (cxy,lid) from global_id
	617	for( i = 0 ; i < info->cores_nr ; i++ )
	618	{
	619	if( global_id == info->core[i].gid )
	620	{
	621	*lid = info->core[i].lid;
	622	*cxy = info->core[i].cxy;
	623	*gid = global_id;
	624	return 0;
	625	}
	626	}
	627	return EINVAL;
[19]	628	}
[14]	629
	630	///////////////////////////////////////////////////////////////////////////////////////////
[1]	631	// This function is the entry point for the kernel initialisation.
[19]	632	// It is executed by all cores in all clusters, but only core[0], called CP0,
[14]	633	// initializes the shared resources such as the cluster manager, or the local peripherals.
[19]	634	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
	635	// only information contained in the local boot_info_t structure, set by the bootloader.
[1]	636	///////////////////////////////////////////////////////////////////////////////////////////
	637	// @ info : pointer on the local boot-info structure.
	638	///////////////////////////////////////////////////////////////////////////////////////////
	639	void kernel_init( boot_info_t * info )
	640	{
[23]	641	lid_t core_lid = -1; // running core local index
[14]	642	cxy_t core_cxy = -1; // running core cluster identifier
	643	gid_t core_gid; // running core hardware identifier
	644	cluster_t * cluster; // pointer on local cluster manager
	645	core_t * core; // pointer on running core descriptor
	646	thread_t * thread; // pointer on idle thread descriptor
[1]	647	error_t error;
	648
[14]	649	// all cores get core identifiers
[23]	650	error = get_core_identifiers( info,
[14]	651	&core_lid,
	652	&core_cxy,
	653	&core_gid );
[1]	654
[14]	655	// CP0 initialise cluster identifier
	656	if( core_lid == 0 ) local_cxy = info->cxy;
[1]	657
[68]	658	// each core get pointer on its private idle thread descriptor
	659	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
	660
[71]	661	// each core registers this thread pointer in hardware register
[68]	662	hal_set_current_thread( thread );
[71]	663
	664	#ifdef __HAL_x86_64__
	665	return;
	666	#endif
	667
[14]	668	// CP0 in I/O cluster initialises TXT0 chdev descriptor
	669	if( (core_lid == 0) && (core_cxy == info->io_cxy) ) txt0_device_init( info );
	670
	671	/////////////////////////////////////////////////////////////////////////////////
	672	// global & local synchro to protect access to TXT0 terminal
	673	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	674	(info->x_size * info->y_size) );
	675	barrier_wait( &local_barrier , info->cores_nr );
	676	/////////////////////////////////////////////////////////////////////////////////
	677
[23]	678	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 0 at cycle %d\n",
	679	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[14]	680
	681	// all cores check core identifiers
	682	if( error )
[1]	683	{
[14]	684	printk("\n[PANIC] in %s : illegal core identifiers"
	685	" gid = %x / cxy = %x / lid = %d\n",
	686	__FUNCTION__ , core_lid , core_cxy , core_lid );
	687	hal_core_sleep();
[1]	688	}
	689
[19]	690	// CP0 initializes the local cluster manager (cores and memory allocators)
[14]	691	if( core_lid == 0 )
[1]	692	{
	693	error = cluster_init( info );
	694
[14]	695	if( error )
	696	{
	697	printk("\n[PANIC] in %s : cannot initialise cluster manager in cluster %x",
	698	__FUNCTION__ , local_cxy );
	699	hal_core_sleep();
	700	}
	701	}
[5]	702
[14]	703	/////////////////////////////////////////////////////////////////////////////////
	704	// global & local synchro, to protect access to cluster manager
	705	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	706	(info->x_size * info->y_size) );
	707	barrier_wait( &local_barrier , info->cores_nr );
	708	/////////////////////////////////////////////////////////////////////////////////
[1]	709
[23]	710	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 1 at cycle %d\n",
	711	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[1]	712
[14]	713	// all cores get pointer on local cluster manager and on core descriptor
	714	cluster = &cluster_manager;
	715	core = &cluster->core_tbl[core_lid];
[1]	716
[19]	717	// CP0 initializes the process_zero descriptor
[14]	718	if( core_lid == 0 ) process_zero_init( info );
[5]	719
[19]	720	// CP0 allocates and initialises the internal peripheral chdev descriptors.
[14]	721	// Each CP0[cxy] scan the set of its internal (private) peripherals,
	722	// and allocate memory for the corresponding chdev descriptors.
	723	if( core_lid == 0 ) internal_devices_init( info );
[5]	724
[14]	725	// CP0 allocates one WTI mailbbox per core for Inter Processor Interrupt
	726	// this must be done after ICU chdev initialisation, by CP0 only, and before
[50]	727	// external devices initialisation to enforce the rule :
	728	// "The WTI index for the IPI routed to core[lid] is lid"
[14]	729	if( core_lid == 0 )
[1]	730	{
[14]	731	uint32_t wti_id;
	732	uint32_t lid;
	733	for( lid = 0 ; lid < LOCAL_CLUSTER->cores_nr ; lid++ )
[1]	734	{
[14]	735	wti_id = dev_icu_wti_alloc();
[1]	736
[14]	737	if( wti_id != lid )
	738	{
	739	printk("\n[PANIC] in %s : WTI index for IPI = %d / core_lid = %d",
	740	__FUNCTION__ , wti_id , lid );
	741	hal_core_sleep();
	742	}
[5]	743
[14]	744	dev_icu_enable_irq( lid , WTI_TYPE , wti_id , NULL );
	745	}
[1]	746	}
	747
[50]	748	// All CP0s contribute to initialise external peripheral chdev descriptors.
[14]	749	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
	750	// and allocates memory for the chdev descriptors that must be placed
	751	// on the (cxy) cluster according to the global index value.
	752	if( core_lid == 0 ) external_devices_init( info );
[1]	753
[14]	754	/////////////////////////////////////////////////////////////////////////////////
	755	// global &local synchro to protect access to peripherals
	756	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	757	(info->x_size * info->y_size) );
	758	barrier_wait( &local_barrier , info->cores_nr );
	759	/////////////////////////////////////////////////////////////////////////////////
[5]	760
[23]	761	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 2 at cycle %d\n",
	762	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[1]	763
	764
[14]	765	error = thread_kernel_init( thread,
	766	THREAD_IDLE,
	767	&thread_idle_func,
	768	NULL,
	769	core_lid );
	770	if( error )
[1]	771	{
[14]	772	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
	773	__FUNCTION__ , local_cxy , core_lid );
	774	hal_core_sleep();
[1]	775	}
[14]	776	else
	777	{
	778	// register idle thread in scheduler
	779	core->scheduler.idle = thread;
[1]	780
[14]	781	// activate the idle thread
	782	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
[1]	783
[14]	784	kinit_dmsg("\n[INFO] %s : core[%x][%d] created idle thread %x at cycle %d\n",
	785	__FUNCTION__ , core_cxy , core_lid , thread , hal_time_stamp());
	786	}
	787
[23]	788	// CP0 in all clusters initializes cooperatively VFS and DEVFS
	789	if( (core_lid == 0) )
[14]	790	{
[23]	791	xptr_t root_inode_xp;
	792
[50]	793	// initialize root File System (must be FATFS in this implementation)
[23]	794	if( CONFIG_VFS_ROOT_IS_FATFS )
	795	{
	796	root_inode_xp = fatfs_init();
	797	}
	798	else
	799	{
	800	printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
	801	hal_core_sleep();
	802	}
	803
	804	if( root_inode_xp == XPTR_NULL )
	805	{
	806	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize file system\n",
	807	__FUNCTION__ , local_cxy , core_lid );
	808	hal_core_sleep();
	809	}
	810
	811	// mount the DEVFS File system
	812	devfs_mount( root_inode_xp , "dev" );
[14]	813	}
	814
	815	// CP0 in I/O cluster print banner
[5]	816	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[1]	817	{
[5]	818	print_banner( (info->x_size * info->y_size) , info->cores_nr );
[68]	819
	820	kinit_dmsg("\n\n* memory fooprint of main kernet objects *\n"
	821	" - thread descriptor : %d bytes\n"
	822	" - process descriptor : %d bytes\n"
	823	" - cluster manager : %d bytes\n"
	824	" - chdev descriptor : %d bytes\n"
	825	" - core descriptor : %d bytes\n"
	826	" - scheduler : %d bytes\n"
	827	" - rpc fifo : %d bytes\n"
	828	" - page descriptor : %d bytes\n"
	829	" - mapper root : %d bytes\n"
	830	" - ppm manager : %d bytes\n"
	831	" - kcm manager : %d bytes\n"
	832	" - khm manager : %d bytes\n"
	833	" - vmm manager : %d bytes\n"
	834	" - gpt root : %d bytes\n"
	835	" - list item : %d bytes\n"
	836	" - xlist item : %d bytes\n"
	837	" - spinlock : %d bytes\n"
	838	" - remote spinlock : %d bytes\n"
	839	" - rwlock : %d bytes\n"
	840	" - remote rwlock : %d bytes\n",
	841	sizeof( thread_t ),
	842	sizeof( process_t ),
	843	sizeof( cluster_t ),
	844	sizeof( chdev_t ),
	845	sizeof( core_t ),
	846	sizeof( scheduler_t ),
	847	sizeof( rpc_fifo_t ),
	848	sizeof( page_t ),
	849	sizeof( mapper_t ),
	850	sizeof( ppm_t ),
	851	sizeof( kcm_t ),
	852	sizeof( khm_t ),
	853	sizeof( vmm_t ),
	854	sizeof( gpt_t ),
	855	sizeof( list_entry_t ),
	856	sizeof( xlist_entry_t ),
	857	sizeof( spinlock_t ),
	858	sizeof( remote_spinlock_t ),
	859	sizeof( rwlock_t ),
	860	sizeof( remote_rwlock_t ));
[1]	861	}
	862
[14]	863	/////////////////////////////////////////////////////////////////////////////////
	864	// global syncho to protect access to File System
	865	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	866	(info->x_size * info->y_size) );
	867	barrier_wait( &local_barrier , info->cores_nr );
	868	/////////////////////////////////////////////////////////////////////////////////
[1]	869
[23]	870	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 3 at cycle %d\n",
	871	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
[14]	872
	873	// each core activates its private PTI IRQ
	874	dev_icu_set_period( core_lid , CONFIG_SCHED_TICK_PERIOD );
	875	dev_icu_enable_irq( core_lid , PTI_TYPE , core_lid , NULL );
	876
	877	// each core get its private IRQ masks values and
	878	uint32_t hwi_mask;
	879	uint32_t wti_mask;
	880	uint32_t pti_mask;
	881	dev_icu_get_masks( core_lid , &hwi_mask , &wti_mask , &pti_mask );
	882
	883	thread_dmsg("\n[INFO] %s : core[%x][%d] activates scheduler at cycle %d\n"
	884	" hwi_mask = %x / wti_mask = %x / pti_mask = %x\n",
	885	__FUNCTION__ , local_cxy , core_lid , hal_time_stamp() ,
	886	hwi_mask , wti_mask , pti_mask );
	887
	888	// each core jump to idle thread
[50]	889	thread_idle_func();
[14]	890
[1]	891	} // end kernel_init()
	892

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