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source: trunk/kernel/kern/kernel_init.c @ 382

Last change on this file since 382 was 381, checked in by alain, 7 years ago
Add missing defines in the TSAR exception handler.
File size: 50.6 KB

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1	/*
2	* kernel_init.c - kernel parallel initialization
3	*
4	* Authors : Mohamed Lamine Karaoui (2015)
5	* Alain Greiner (2016,2017)
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
25	#include <kernel_config.h>
26	#include <errno.h>
27	#include <hal_types.h>
28	#include <hal_special.h>
29	#include <hal_context.h>
30	#include <hal_irqmask.h>
31	#include <hal_ppm.h>
32	#include <barrier.h>
33	#include <remote_barrier.h>
34	#include <core.h>
35	#include <list.h>
36	#include <xlist.h>
37	#include <xhtab.h>
38	#include <thread.h>
39	#include <scheduler.h>
40	#include <kmem.h>
41	#include <cluster.h>
42	#include <string.h>
43	#include <memcpy.h>
44	#include <ppm.h>
45	#include <page.h>
46	#include <chdev.h>
47	#include <boot_info.h>
48	#include <dqdt.h>
49	#include <dev_mmc.h>
50	#include <dev_dma.h>
51	#include <dev_iob.h>
52	#include <dev_ioc.h>
53	#include <dev_txt.h>
54	#include <dev_pic.h>
55	#include <printk.h>
56	#include <vfs.h>
57	#include <devfs.h>
58	#include <mapper.h>
59
60	#define KERNEL_INIT_SYNCHRO 0xA5A5B5B5
61
62	///////////////////////////////////////////////////////////////////////////////////////////
63	// All the following global variables are replicated in all clusters.
64	// They are initialised by the kernel_init() function.
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 built by the bootloader, and used by kernel_init.
69	// it must be the 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.
72	///////////////////////////////////////////////////////////////////////////////////////////
73
74	// This variable defines the local boot_info structure
75	__attribute__((section(".kinfo")))
76	boot_info_t boot_info;
77
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
83	// This variable defines the local cluster manager
84	__attribute__((section(".kdata")))
85	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
86
87	// This variable defines the TXT0 kernel terminal
88	__attribute__((section(".kdata")))
89	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
90
91	// This variables define the kernel process0 descriptor
92	__attribute__((section(".kdata")))
93	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
94
95	// This variable defines extended pointers on the distributed chdevs
96	__attribute__((section(".kdata")))
97	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
98
99	// This variable contains the input IRQ indexes for the IOPIC controller
100	__attribute__((section(".kdata")))
101	iopic_input_t iopic_input CONFIG_CACHE_LINE_ALIGNED;
102
103	// This variable contains the input IRQ indexes for the LAPIC controller
104	__attribute__((section(".kdata")))
105	lapic_input_t lapic_input CONFIG_CACHE_LINE_ALIGNED;
106
107	// This variable defines the local cluster identifier
108	__attribute__((section(".kdata")))
109	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
110
111	// This variable is used for CP0 cores synchronisation in kernel_init()
112	__attribute__((section(".kdata")))
113	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
114
115	// This variable is used for local cores synchronisation in kernel_init()
116	__attribute__((section(".kdata")))
117	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
118
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
124	///////////////////////////////////////////////////////////////////////////////////////////
125	// This function displays the ALMOS_MKH banner.
126	///////////////////////////////////////////////////////////////////////////////////////////
127	static void print_banner( uint32_t nclusters , uint32_t ncores )
128	{
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 cluster(s) / %d core(s) per cluster\n\n", nclusters , ncores );
140	}
141
142
143	///////////////////////////////////////////////////////////////////////////////////////////
144	// This function initializes the TXT0 chdev descriptor, that is the "kernel terminal",
145	// shared by all kernel instances for debug messages.
146	// It is a global variable (replicated in all clusters), because this terminal is used
147	// before the kmem allocator initialisation, but only the instance in cluster containing
148	// the calling core is registered in the "chdev_dir" directory.
149	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
150	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
151	///////////////////////////////////////////////////////////////////////////////////////////
152	// @ info : pointer on the local boot-info structure.
153	///////////////////////////////////////////////////////////////////////////////////////////
154	static void txt0_device_init( boot_info_t * info )
155	{
156	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
157	uint32_t dev_nr; // actual number of devices in this cluster
158	xptr_t base; // remote pointer on segment base
159	uint32_t func; // device functional 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
164	uint32_t channels; // number of channels
165
166	// get number of peripherals and base of devices array from boot_info
167	dev_nr = info->ext_dev_nr;
168	dev_tbl = info->ext_dev;
169
170	// loop on external peripherals to find TXT device
171	for( i = 0 ; i < dev_nr ; i++ )
172	{
173	base = dev_tbl[i].base;
174	func = FUNC_FROM_TYPE( dev_tbl[i].type );
175	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
176	channels = dev_tbl[i].channels;
177
178	if (func == DEV_FUNC_TXT )
179	{
180	assert( (channels > 0) , __FUNCTION__ ,
181	"numner of TXT channels cannot be 0\n");
182
183	// initializes TXT0 basic fields
184	txt0_chdev.func = func;
185	txt0_chdev.impl = impl;
186	txt0_chdev.channel = 0;
187	txt0_chdev.base = base;
188	txt0_chdev.is_rx = false;
189
190	// initializes lock
191	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
192
193	// TXT specific initialisation:
194	// no server thread & no IRQ routing for channel 0
195	dev_txt_init( &txt0_chdev );
196
197	// register the TXT0 in all 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;
203	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
204	XPTR( local_cxy , &txt0_chdev ) );
205	}
206	}
207	}
208	} // end loop on devices
209	} // end txt0_device_init()
210
211	///////////////////////////////////////////////////////////////////////////////////////////
212	// This function allocates memory and initializes the chdev descriptors for the internal
213	// peripherals contained in the local cluster, other than the LAPIC, as specified by
214	// the boot_info, including the linking with the driver for the specified implementation.
215	// The relevant entries in all copies of the devices directory are initialised.
216	///////////////////////////////////////////////////////////////////////////////////////////
217	// @ info : pointer on the local boot-info structure.
218	///////////////////////////////////////////////////////////////////////////////////////////
219	static void internal_devices_init( boot_info_t * info )
220	{
221	boot_device_t * dev_tbl; // pointer on array of internaldevices in boot_info
222	uint32_t dev_nr; // actual number of devices in this cluster
223	xptr_t base; // remote pointer on segment base
224	uint32_t func; // device functionnal index
225	uint32_t impl; // device implementation index
226	uint32_t i; // device index in dev_tbl
227	uint32_t x; // X cluster coordinate
228	uint32_t y; // Y cluster coordinate
229	uint32_t channels; // number of channels
230	uint32_t channel; // channel index
231	chdev_t * chdev_ptr; // local pointer on created chdev
232
233	// get number of internal peripherals and base from boot_info
234	dev_nr = info->int_dev_nr;
235	dev_tbl = info->int_dev;
236
237	// loop on internal peripherals
238	for( i = 0 ; i < dev_nr ; i++ )
239	{
240	base = dev_tbl[i].base;
241	channels = dev_tbl[i].channels;
242	func = FUNC_FROM_TYPE( dev_tbl[i].type );
243	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
244
245	//////////////////////////
246	if( func == DEV_FUNC_MMC )
247	{
248	assert( (channels == 1) , __FUNCTION__ ,
249	"MMC device must be single channel\n" );
250
251	// create chdev in local cluster
252	chdev_ptr = chdev_create( func,
253	impl,
254	0, // channel
255	false, // direction
256	base );
257
258	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
259	"cannot allocate memory for MMC chdev\n" );
260
261	// make MMC specific initialisation
262	dev_mmc_init( chdev_ptr );
263
264	// set the MMC field in all chdev_dir[x][y] structures
265	for( x = 0 ; x < info->x_size ; x++ )
266	{
267	for( y = 0 ; y < info->y_size ; y++ )
268	{
269	cxy_t cxy = (x<<info->y_width) + y;
270	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ),
271	XPTR( local_cxy , chdev_ptr ) );
272	}
273	}
274
275	kinit_dmsg("\n[INFO] %s : created MMC in cluster %x / chdev = %x\n",
276	__FUNCTION__ , channel , local_cxy , chdev_ptr );
277	}
278	///////////////////////////////
279	else if( func == DEV_FUNC_DMA )
280	{
281	// create one chdev per channel in local cluster
282	for( channel = 0 ; channel < channels ; channel++ )
283	{
284	// create chdev[channel] in local cluster
285	chdev_ptr = chdev_create( func,
286	impl,
287	channel,
288	false, // direction
289	base );
290
291	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
292	"cannot allocate memory for DMA chdev" );
293
294	// make DMA specific initialisation
295	dev_dma_init( chdev_ptr );
296
297	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
298	// structure because the DMA device is not remotely accessible.
299	chdev_dir.dma[channel] = XPTR( local_cxy , chdev_ptr );
300
301	kinit_dmsg("\n[INFO] %s : created DMA[%d] in cluster %x / chdev = %x\n",
302	__FUNCTION__ , channel , local_cxy , chdev_ptr );
303	}
304	}
305	}
306	} // end internal_devices_init()
307
308	///////////////////////////////////////////////////////////////////////////////////////////
309	// This function allocates memory and initializes the chdev descriptors for the
310	// external (shared) peripherals other than the IOPIC, as specified by the boot_info,
311	// including the dynamic linking with the driver for the specified implementation.
312	// These chdev descriptors are distributed on all clusters, using a modulo on a global
313	// index, identically computed in all clusters: In each cluster, the local CP0 core
314	// computes the global index for all external chdevs, and creates only the chdevs that
315	// must be placed in the local cluster.
316	// The relevant entries in all copies of the devices directory are initialised.
317	///////////////////////////////////////////////////////////////////////////////////////////
318	// @ info : pointer on the local boot-info structure.
319	///////////////////////////////////////////////////////////////////////////////////////////
320	static void external_devices_init( boot_info_t * info )
321	{
322	boot_device_t * dev_tbl; // pointer on array of external devices in boot_info
323	uint32_t dev_nr; // actual number of external devices
324	xptr_t base; // remote pointer on segment base
325	uint32_t func; // device functionnal index
326	uint32_t impl; // device implementation index
327	uint32_t i; // device index in dev_tbl
328	uint32_t x; // X cluster coordinate
329	uint32_t y; // Y cluster coordinate
330	uint32_t channels; // number of channels
331	uint32_t channel; // channel index
332	uint32_t directions; // number of directions (1 or 2)
333	uint32_t rx; // direction index (0 or 1)
334	uint32_t first_channel; // used in loop on channels for TXT
335	chdev_t * chdev; // local pointer on one channel_device descriptor
336	uint32_t ext_chdev_gid; // global index of external chdev
337
338	// get number of peripherals and base of devices array from boot_info
339	dev_nr = info->ext_dev_nr;
340	dev_tbl = info->ext_dev;
341
342	// initializes global index (PIC is already placed in cluster 0
343	ext_chdev_gid = 1;
344
345	// loop on external peripherals
346	for( i = 0 ; i < dev_nr ; i++ )
347	{
348	base = dev_tbl[i].base;
349	channels = dev_tbl[i].channels;
350	func = FUNC_FROM_TYPE( dev_tbl[i].type );
351	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
352
353	// There is one chdev per direction for NIC
354	if (func == DEV_FUNC_NIC) directions = 2;
355	else directions = 1;
356
357	// The TXT0 chdev has already been created
358	if (func == DEV_FUNC_TXT) first_channel = 1;
359	else first_channel = 0;
360
361	// do nothing for RO, that does not require a device descriptor.
362	if( func == DEV_FUNC_ROM ) continue;
363
364	// do nothing for PIC, that is already initialized
365	if( func == DEV_FUNC_PIC ) continue;
366
367	// check PIC device initialized
368	assert( (chdev_dir.pic != XPTR_NULL ) , __FUNCTION__ ,
369	"PIC device must be initialized before other devices\n" );
370
371	// check external device functionnal type
372	assert( ( (func == DEV_FUNC_IOB) \|\|
373	(func == DEV_FUNC_IOC) \|\|
374	(func == DEV_FUNC_TXT) \|\|
375	(func == DEV_FUNC_NIC) \|\|
376	(func == DEV_FUNC_FBF) ) , __FUNCTION__ ,
377	"undefined external peripheral type\n" );
378
379	// loops on channels
380	for( channel = first_channel ; channel < channels ; channel++ )
381	{
382	// loop on directions
383	for( rx = 0 ; rx < directions ; rx++ )
384	{
385	// compute target cluster for chdev[func,channel,direction]
386	uint32_t offset = ext_chdev_gid % ( info->x_size * info->y_size );
387	uint32_t cx = offset / info->y_size;
388	uint32_t cy = offset % info->y_size;
389	uint32_t target_cxy = (cx<<info->y_width) + cy;
390
391	// allocate and initialize a local chdev
392	// if local cluster matches target cluster
393	if( target_cxy == local_cxy )
394	{
395	chdev = chdev_create( func,
396	impl,
397	channel,
398	rx, // direction
399	base );
400
401	assert( (chdev != NULL), __FUNCTION__ ,
402	"cannot allocate external device" );
403
404	// make device type specific initialisation
405	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
406	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
407	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
408	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
409	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev );
410
411	// all external (shared) devices are remotely accessible
412	// initialize the replicated chdev_dir[x][y] structures
413	// defining the extended pointers on chdev descriptors
414	xptr_t * entry;
415
416	if(func==DEV_FUNC_IOB ) entry = &chdev_dir.iob;
417	if(func==DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
418	if(func==DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
419	if(func==DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
420	if((func==DEV_FUNC_NIC) && (rx==0)) entry = &chdev_dir.nic_tx[channel];
421	if((func==DEV_FUNC_NIC) && (rx==1)) entry = &chdev_dir.nic_rx[channel];
422
423	for( x = 0 ; x < info->x_size ; x++ )
424	{
425	for( y = 0 ; y < info->y_size ; y++ )
426	{
427	cxy_t cxy = (x<<info->y_width) + y;
428	hal_remote_swd( XPTR( cxy , entry ),
429	XPTR( local_cxy , chdev ) );
430	}
431	}
432
433	kinit_dmsg("\n[INFO] %s : create chdev %s[%d] in cluster %x / chdev = %x\n",
434	__FUNCTION__ , chdev_func_str( func ), channel , local_cxy , chdev );
435
436	} // end if match
437
438	// increment chdev global index (matching or not)
439	ext_chdev_gid++;
440
441	} // end loop on directions
442	} // end loop on channels
443	} // end loop on devices
444	} // end external_devices_init()
445
446	///////////////////////////////////////////////////////////////////////////////////////////
447	// This function is called by CP0 in cluster 0 to allocate memory and initialize the PIC
448	// device, namely the informations attached to the external IOPIC controller.
449	// This initialisation must be done before other devices initialisation because the IRQ
450	// routing infrastructure is required for internal and external devices initialisation.
451	///////////////////////////////////////////////////////////////////////////////////////////
452	// @ info : pointer on the local boot-info structure.
453	///////////////////////////////////////////////////////////////////////////////////////////
454	static void iopic_init( boot_info_t * info )
455	{
456	boot_device_t * dev_tbl; // pointer on boot_info external devices array
457	uint32_t dev_nr; // actual number of external devices
458	xptr_t base; // remote pointer on segment base
459	uint32_t func; // device functionnal index
460	uint32_t impl; // device implementation index
461	uint32_t i; // device index in dev_tbl
462	uint32_t x; // cluster X coordinate
463	uint32_t y; // cluster Y coordinate
464	bool_t found; // IOPIC found
465	chdev_t * chdev; // pointer on PIC chdev descriptor
466
467	// get number of external peripherals and base of array from boot_info
468	dev_nr = info->ext_dev_nr;
469	dev_tbl = info->ext_dev;
470
471	// loop on external peripherals to get the IOPIC
472	for( i = 0 , found = false ; i < dev_nr ; i++ )
473	{
474	func = FUNC_FROM_TYPE( dev_tbl[i].type );
475
476	if( func == DEV_FUNC_PIC )
477	{
478	base = dev_tbl[i].base;
479	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
480	found = true;
481	break;
482	}
483	}
484
485	assert( found , __FUNCTION__ , "PIC device not found\n" );
486
487	// allocate and initialize the PIC chdev in local cluster
488	chdev = chdev_create( func,
489	impl,
490	0, // channel
491	0, // direction,
492	base );
493
494	assert( (chdev != NULL), __FUNCTION__ , "no memory for PIC chdev\n" );
495
496	// make PIC device type specific initialisation
497	dev_pic_init( chdev );
498
499	// register extended pointer on PIC chdev in "chdev_dir" array in all clusters
500	xptr_t * entry = &chdev_dir.pic;
501
502	for( x = 0 ; x < info->x_size ; x++ )
503	{
504	for( y = 0 ; y < info->y_size ; y++ )
505	{
506	cxy_t cxy = (x<<info->y_width) + y;
507	hal_remote_swd( XPTR( cxy , entry ) ,
508	XPTR( local_cxy , chdev ) );
509	}
510	}
511
512	// initialize the "iopic_input" structure
513	// defining how external IRQs are connected to IOPIC
514	uint32_t id;
515	uint8_t valid;
516	uint32_t type;
517	uint8_t channel;
518	uint8_t is_rx;
519
520	for( id = 0 ; id < CONFIG_MAX_EXTERNAL_IRQS ; id++ )
521	{
522	valid = dev_tbl[i].irq[id].valid;
523	type = dev_tbl[i].irq[id].dev_type;
524	channel = dev_tbl[i].irq[id].channel;
525	is_rx = dev_tbl[i].irq[id].is_rx;
526
527	if( valid ) // only valid inputs are registered
528	{
529	uint32_t * index; // local pointer on one entry
530	uint16_t func = FUNC_FROM_TYPE( type );
531
532	if ( func == DEV_FUNC_TXT )
533	index = &iopic_input.txt[channel];
534	else if( func == DEV_FUNC_IOC )
535	index = &iopic_input.ioc[channel];
536	else if( (func == DEV_FUNC_NIC) && (is_rx == 0) )
537	index = &iopic_input.nic_tx[channel];
538	else if( (func == DEV_FUNC_NIC) && (is_rx != 0) )
539	index = &iopic_input.nic_rx[channel];
540	else if( func == DEV_FUNC_IOB )
541	index = &iopic_input.iob;
542	else
543	assert( false , __FUNCTION__ , "illegal source device for IOPIC input" );
544
545	// set entry in local structure
546	*index = id;
547	}
548	}
549
550	kinit_dmsg("\n[INFO] %s created PIC chdev in cluster %x at cycle %d\n",
551	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
552
553	} // end iopic_init()
554
555	///////////////////////////////////////////////////////////////////////////////////////////
556	// This function is called by all CP0s in all cluster to complete the PIC device
557	// initialisation, namely the informations attached to the LAPIC controller.
558	// This initialisation must be done after the IOPIC initialisation, but before other
559	// devices initialisation because the IRQ routing infrastructure is required for both
560	// internal and external devices initialisation.
561	///////////////////////////////////////////////////////////////////////////////////////////
562	// @ info : pointer on the local boot-info structure.
563	///////////////////////////////////////////////////////////////////////////////////////////
564	static void lapic_init( boot_info_t * info )
565	{
566	boot_device_t * dev_tbl; // pointer on boot_info internal devices array
567	uint32_t dev_nr; // number of internal devices
568	uint32_t i; // device index in dev_tbl
569	xptr_t base; // remote pointer on segment base
570	uint32_t func; // device functionnal type in boot_info
571	bool_t found; // LAPIC found
572
573	// get number of internal peripherals and base
574	dev_nr = info->int_dev_nr;
575	dev_tbl = info->int_dev;
576
577	// loop on internal peripherals to get the lapic device
578	for( i = 0 , found = false ; i < dev_nr ; i++ )
579	{
580	func = FUNC_FROM_TYPE( dev_tbl[i].type );
581
582	if( func == DEV_FUNC_ICU )
583	{
584	base = dev_tbl[i].base;
585	found = true;
586	break;
587	}
588	}
589
590	// if the LAPIC controller is not defined in the boot_info,
591	// we simply don't initialize the PIC extensions in the kernel,
592	// making the assumption that the LAPIC related informations
593	// are hidden in the hardware specific PIC driver.
594	if( found )
595	{
596	// initialise the PIC extensions for
597	// the core descriptor and core manager extensions
598	dev_pic_extend_init( (uint32_t *)GET_PTR( base ) );
599
600	// initialize the "lapic_input" structure
601	// defining how internal IRQs are connected to LAPIC
602	uint32_t id;
603	uint8_t valid;
604	uint8_t channel;
605	uint32_t func;
606
607	for( id = 0 ; id < CONFIG_MAX_INTERNAL_IRQS ; id++ )
608	{
609	valid = dev_tbl[i].irq[id].valid;
610	func = FUNC_FROM_TYPE( dev_tbl[i].irq[id].dev_type );
611	channel = dev_tbl[i].irq[id].channel;
612
613	if( valid ) // only valid local IRQs are registered
614	{
615	if ( func == DEV_FUNC_MMC ) lapic_input.mmc = id;
616	else if( func == DEV_FUNC_DMA ) lapic_input.dma[channel] = id;
617	else assert( false , __FUNCTION__ , "illegal source device for LAPIC input" );
618	}
619	}
620	}
621	} // end lapic_init()
622
623	///////////////////////////////////////////////////////////////////////////////////////////
624	// This static function returns the identifiers of the calling core.
625	///////////////////////////////////////////////////////////////////////////////////////////
626	// @ info : pointer on boot_info structure.
627	// @ lid : [out] core local index in cluster.
628	// @ cxy : [out] cluster identifier.
629	// @ lid : [out] core global identifier (hardware).
630	// @ return 0 if success / return EINVAL if not found.
631	///////////////////////////////////////////////////////////////////////////////////////////
632	static error_t get_core_identifiers( boot_info_t * info,
633	lid_t * lid,
634	cxy_t * cxy,
635	gid_t * gid )
636	{
637	uint32_t i;
638	gid_t global_id;
639
640	// get global identifier from hardware register
641	global_id = hal_get_gid();
642
643	// makes an associative search in boot_info to get (cxy,lid) from global_id
644	for( i = 0 ; i < info->cores_nr ; i++ )
645	{
646	if( global_id == info->core[i].gid )
647	{
648	*lid = info->core[i].lid;
649	*cxy = info->core[i].cxy;
650	*gid = global_id;
651	return 0;
652	}
653	}
654	return EINVAL;
655	}
656
657	///////////////////////////////////////////////////////////////////////////////////////////
658	// This function is the entry point for the kernel initialisation.
659	// It is executed by all cores in all clusters, but only core[0], called CP0,
660	// initializes the shared resources such as the cluster manager, or the local peripherals.
661	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
662	// only information contained in the local boot_info_t structure, set by the bootloader.
663	// Only CP0 in cluster 0 print the log messages.
664	///////////////////////////////////////////////////////////////////////////////////////////
665	// @ info : pointer on the local boot-info structure.
666	///////////////////////////////////////////////////////////////////////////////////////////
667	void kernel_init( boot_info_t * info )
668	{
669	lid_t core_lid = -1; // running core local index
670	cxy_t core_cxy = -1; // running core cluster identifier
671	gid_t core_gid; // running core hardware identifier
672	cluster_t * cluster; // pointer on local cluster manager
673	core_t * core; // pointer on running core descriptor
674	thread_t * thread; // pointer on idle thread descriptor
675
676	xptr_t vfs_root_inode_xp; // extended pointer on VFS root inode
677	xptr_t devfs_dev_inode_xp; // extended pointer on DEVFS dev inode
678	xptr_t devfs_external_inode_xp; // extended pointer on DEVFS external inode
679	xptr_t devfs_internal_inode_xp; // extended pointer on DEVFS internal inode
680
681	error_t error;
682	reg_t status; // running core status register
683
684	cxy_t io_cxy = info->io_cxy;
685
686	assert( (io_cxy == ((info->x_size - 1)<<(info->y_width)) + (info->y_size - 1)) ,
687	__FUNCTION__ , "illegal IO cluter identifier\n" );
688
689	/////////////////////////////////////////////////////////////////////////////////
690	// STEP 0 : Each core get its core identifier from boot_info, and makes
691	// a partial initialisation of its private idle thread descriptor.
692	// CP0 initializes the "local_cxy" global variable.
693	// CP0 in cluster IO initializes the TXT0 chdev to print log messages.
694	/////////////////////////////////////////////////////////////////////////////////
695
696	error = get_core_identifiers( info,
697	&core_lid,
698	&core_cxy,
699	&core_gid );
700
701	// CP0 initializes cluster identifier
702	if( core_lid == 0 ) local_cxy = info->cxy;
703
704	// each core gets a pointer on its private idle thread descriptor
705	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
706
707	// each core registers this thread pointer in hardware register
708	hal_set_current_thread( thread );
709
710	// each core initializes the idle thread "locks_root" and "xlocks_root" fields
711	list_root_init( &thread->locks_root );
712	xlist_root_init( XPTR( local_cxy , &thread->xlocks_root ) );
713
714	// CP0 in I/O cluster initialises TXT0 chdev descriptor
715	if( (core_lid == 0) && (core_cxy == io_cxy) ) txt0_device_init( info );
716
717	/////////////////////////////////////////////////////////////////////////////////
718	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
719	(info->x_size * info->y_size) );
720	barrier_wait( &local_barrier , info->cores_nr );
721
722	if( (core_lid == 0) && (local_cxy == 0) )
723	kinit_dmsg("\n[INFO] %s : exit barrier 0 : TXT0 initialized / cycle %d\n",
724	__FUNCTION__, hal_time_stamp() );
725
726	/////////////////////////////////////////////////////////////////////////////
727	// STEP 1 : all cores check its core identifier.
728	// CP0 initializes the local cluster manager.
729	// This includes the memory allocators.
730	/////////////////////////////////////////////////////////////////////////////
731
732	// all cores check identifiers
733	if( error )
734	{
735	printk("\n[PANIC] in %s : illegal core identifiers"
736	" gid = %x / cxy = %x / lid = %d\n",
737	__FUNCTION__ , core_lid , core_cxy , core_lid );
738	hal_core_sleep();
739	}
740
741	// CP0 initializes cluster manager
742	if( core_lid == 0 )
743	{
744	error = cluster_init( info );
745
746	if( error )
747	{
748	printk("\n[PANIC] in %s : cannot initialise cluster %x",
749	__FUNCTION__ , local_cxy );
750	hal_core_sleep();
751	}
752	}
753
754	/////////////////////////////////////////////////////////////////////////////////
755	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
756	(info->x_size * info->y_size) );
757	barrier_wait( &local_barrier , info->cores_nr );
758	/////////////////////////////////////////////////////////////////////////////////
759
760	if( (core_lid == 0) && (local_cxy == 0) )
761	kinit_dmsg("\n[INFO] %s : exit barrier 1 : clusters initialised / cycle %d\n",
762	__FUNCTION__, hal_time_stamp() );
763
764	/////////////////////////////////////////////////////////////////////////////////
765	// STEP 2 : all CP0s initialize the process_zero descriptor.
766	// CP0 in cluster 0 initializes the IOPIC device.
767	/////////////////////////////////////////////////////////////////////////////////
768
769	// all cores get pointer on local cluster manager & core descriptor
770	cluster = &cluster_manager;
771	core = &cluster->core_tbl[core_lid];
772
773	// all CP0s initialize the process_zero descriptor
774	if( core_lid == 0 ) process_reference_init( &process_zero , 0 , XPTR_NULL );
775
776	// CP0 in cluster 0 initializes the PIC chdev,
777	if( (core_lid == 0) && (local_cxy == 0) ) iopic_init( info );
778
779	////////////////////////////////////////////////////////////////////////////////
780	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
781	(info->x_size * info->y_size) );
782	barrier_wait( &local_barrier , info->cores_nr );
783	////////////////////////////////////////////////////////////////////////////////
784
785	if( (core_lid == 0) && (local_cxy == 0) )
786	kinit_dmsg("\n[INFO] %s : exit barrier 2 : PIC initialised / cycle %d\n",
787	__FUNCTION__, hal_time_stamp() );
788
789	////////////////////////////////////////////////////////////////////////////////
790	// STEP 3 : all CP0s initialize the distibuted LAPIC descriptor.
791	// all CP0s initialize the internal chdev descriptors
792	// all CP0s initialize the local external chdev descriptors
793	////////////////////////////////////////////////////////////////////////////////
794
795	// all CP0s initialize their local LAPIC extension,
796	if( core_lid == 0 ) lapic_init( info );
797
798	// CP0 scan the internal (private) peripherals,
799	// and allocates memory for the corresponding chdev descriptors.
800	if( core_lid == 0 ) internal_devices_init( info );
801
802
803	// All CP0s contribute to initialise external peripheral chdev descriptors.
804	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
805	// and allocates memory for the chdev descriptors that must be placed
806	// on the (cxy) cluster according to the global index value.
807
808	if( core_lid == 0 ) external_devices_init( info );
809
810	/////////////////////////////////////////////////////////////////////////////////
811	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
812	(info->x_size * info->y_size) );
813	barrier_wait( &local_barrier , info->cores_nr );
814	/////////////////////////////////////////////////////////////////////////////////
815
816	if( (core_lid == 0) && (local_cxy == 0) )
817	kinit_dmsg("\n[INFO] %s : exit barrier 3 : all chdev initialised / cycle %d\n",
818	__FUNCTION__, hal_time_stamp());
819
820	/////////////////////////////////////////////////////////////////////////////////
821	// STEP 4 : All cores enable IPI (Inter Procesor Interrupt),
822	// All cores initialise specific core registers
823	// Alh cores initialize IDLE thread.
824	// Only CP0 in cluster 0 creates the VFS root inode.
825	// It access the boot device to initialize the file system context.
826	/////////////////////////////////////////////////////////////////////////////////
827
828	if( CONFIG_KINIT_DEBUG ) chdev_dir_display();
829
830	// All cores enable the shared IPI channel
831	dev_pic_enable_ipi();
832	hal_enable_irq( &status );
833
834	// All cores initialize specific core registers
835	hal_core_init( info );
836
837	kinit_dmsg("\n[INFO] %s : IRQs enabled for core[%x,%d] / SR = %x\n",
838	__FUNCTION__ , local_cxy , core_lid , hal_get_sr() );
839
840	// all cores initialize the idle thread descriptor
841	error = thread_kernel_init( thread,
842	THREAD_IDLE,
843	&thread_idle_func,
844	NULL,
845	core_lid );
846	if( error )
847	{
848	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
849	__FUNCTION__ , local_cxy , core_lid );
850	hal_core_sleep();
851	}
852
853	// all cores unblock idle thread, and register it in scheduler
854	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
855	core->scheduler.idle = thread;
856
857	if( (core_lid == 0) && (local_cxy == 0) )
858	{
859	kinit_dmsg("\n[INFO] %s : initialized idle thread %x on core[%x,%d] / cycle %d\n",
860	__FUNCTION__ , thread->trdid , local_cxy, core_lid, (uint32_t)hal_time_stamp());
861	}
862
863	#if CONFIG_KINIT_DEBUG
864	sched_display();
865	#endif
866
867	// CPO in cluster 0 creates the VFS root
868	if( (core_lid == 0) && (local_cxy == 0 ) )
869	{
870	vfs_root_inode_xp = XPTR_NULL;
871
872	// File System must be FATFS in this implementation,
873	// but other File System can be introduced here
874	if( CONFIG_VFS_ROOT_IS_FATFS )
875	{
876	// 1. create FATFS context in cluster 0
877	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
878
879	assert( (fatfs_ctx != NULL) , __FUNCTION__ ,
880	"cannot create FATFS context in cluster 0\n" );
881
882	// 2. access boot device to initialize FATFS context
883	fatfs_ctx_init( fatfs_ctx );
884
885	// 3. get various informations from FATFS context
886	uint32_t root_dir_cluster = fatfs_ctx->root_dir_cluster;
887	uint32_t cluster_size = fatfs_ctx->bytes_per_sector *
888	fatfs_ctx->sectors_per_cluster;
889	uint32_t total_clusters = fatfs_ctx->fat_sectors_count << 7;
890
891	// 4. create VFS root inode in cluster 0
892	error = vfs_inode_create( XPTR_NULL, // dentry_xp
893	FS_TYPE_FATFS, // fs_type
894	INODE_TYPE_DIR, // inode_type
895	(void *)(intptr_t)root_dir_cluster, // extend
896	0, // attr
897	0, // rights
898	0, // uid
899	0, // gid
900	&vfs_root_inode_xp ); // return
901
902	assert( (error == 0) , __FUNCTION__ ,
903	"cannot create VFS root inode\n" );
904
905	// 5. initialize VFS context for FAT in cluster 0
906	vfs_ctx_init( FS_TYPE_FATFS, // file system type
907	0, // attributes
908	total_clusters,
909	cluster_size,
910	vfs_root_inode_xp, // VFS root
911	fatfs_ctx ); // extend
912	}
913	else
914	{
915	printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
916	hal_core_sleep();
917	}
918
919	// register VFS root inode in process_zero
920	process_zero.vfs_root_xp = vfs_root_inode_xp;
921	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
922	}
923
924	/////////////////////////////////////////////////////////////////////////////////
925	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
926	(info->x_size * info->y_size) );
927	barrier_wait( &local_barrier , info->cores_nr );
928	/////////////////////////////////////////////////////////////////////////////////
929
930	if( (core_lid == 0) && (local_cxy == 0) )
931	kinit_dmsg("\n[INFO] %s : exit barrier 4 : VFS_root = %l in cluster 0 / cycle %d\n",
932	__FUNCTION__, vfs_root_inode_xp , hal_time_stamp());
933
934	/////////////////////////////////////////////////////////////////////////////////
935	// STEP 5 : Other CP0s allocate memory for the selected FS context,
936	// and initialise both the local FS context and the local VFS context
937	// from values stored in cluster 0.
938	// They get the VFS root inode extended pointer from cluster 0.
939	/////////////////////////////////////////////////////////////////////////////////
940
941	if( (core_lid == 0) && (local_cxy != 0) )
942	{
943	// File System must be FATFS in this implementation,
944	// but other File System can be introduced here
945	if( CONFIG_VFS_ROOT_IS_FATFS )
946	{
947	// allocate memory for FATFS context
948	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
949
950	assert( (fatfs_ctx != NULL) , __FUNCTION__ , "cannot create FATFS context\n" );
951
952	// get local pointer on VFS context for FATFS
953	vfs_ctx_t * vfs_ctx = &fs_context[FS_TYPE_FATFS];
954
955	// copy VFS context from cluster 0 to local cluster
956	hal_remote_memcpy( XPTR( local_cxy , vfs_ctx ),
957	XPTR( 0 , vfs_ctx ),
958	sizeof(vfs_ctx_t) );
959
960	// copy FATFS context from cluster 0 to local cluster
961	hal_remote_memcpy( XPTR( local_cxy , fatfs_ctx ),
962	XPTR( 0 , fatfs_ctx ),
963	sizeof(fatfs_ctx_t) );
964
965	// update extend field in local copy of VFS context
966	vfs_ctx->extend = fatfs_ctx;
967	}
968
969	// get extended pointer on VFS root inode from cluster 0
970	vfs_root_inode_xp = hal_remote_lwd( XPTR( 0 , &process_zero.vfs_root_xp ) );
971
972	// update local process_zero descriptor
973	process_zero.vfs_root_xp = vfs_root_inode_xp;
974	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
975	}
976
977	/////////////////////////////////////////////////////////////////////////////////
978	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
979	(info->x_size * info->y_size) );
980	barrier_wait( &local_barrier , info->cores_nr );
981	/////////////////////////////////////////////////////////////////////////////////
982
983	if( (core_lid == 0) && (local_cxy == 0) )
984	kinit_dmsg("\n[INFO] %s : exit barrier 5 : VFS_root = %l in cluster IO / cycle %d\n",
985	__FUNCTION__, vfs_root_inode_xp , hal_time_stamp() );
986
987	/////////////////////////////////////////////////////////////////////////////////
988	// STEP 6 : CP0 in cluster IO makes the global DEVFS tree initialisation:
989	// It creates the DEVFS directory "dev", and the DEVFS "external"
990	// directory in cluster IO and mount these inodes into VFS.
991	/////////////////////////////////////////////////////////////////////////////////
992
993	if( (core_lid == 0) && (local_cxy == io_cxy) )
994	{
995	// create "dev" and "external" directories.
996	devfs_global_init( process_zero.vfs_root_xp,
997	&devfs_dev_inode_xp,
998	&devfs_external_inode_xp );
999
1000	// creates the DEVFS context in cluster IO
1001	devfs_ctx_t * devfs_ctx = devfs_ctx_alloc();
1002
1003	assert( (devfs_ctx != NULL) , __FUNCTION__ ,
1004	"cannot create DEVFS context in cluster IO\n");
1005
1006	// register DEVFS root and external directories
1007	devfs_ctx_init( devfs_ctx, devfs_dev_inode_xp, devfs_external_inode_xp );
1008	}
1009
1010	/////////////////////////////////////////////////////////////////////////////////
1011	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
1012	(info->x_size * info->y_size) );
1013	barrier_wait( &local_barrier , info->cores_nr );
1014	/////////////////////////////////////////////////////////////////////////////////
1015
1016	if( (core_lid == 0) && (local_cxy == 0) )
1017	kinit_dmsg("\n[INFO] %s : exit barrier 6 : dev_root = %l in cluster IO / cycle %d\n",
1018	__FUNCTION__, devfs_dev_inode_xp , hal_time_stamp() );
1019
1020	/////////////////////////////////////////////////////////////////////////////////
1021	// STEP 7 : All CP0s complete in parallel the DEVFS tree initialization.
1022	// Each CP0 get the "dev" and "external" extended pointers from
1023	// values stored in cluster IO.
1024	// Then each CP0 in cluster(i) creates the DEVFS "internal directory,
1025	// and creates the pseudo-files for all chdevs in cluster (i).
1026	/////////////////////////////////////////////////////////////////////////////////
1027
1028	if( core_lid == 0 )
1029	{
1030	// get extended pointer on "extend" field of VFS context for DEVFS in cluster IO
1031	xptr_t extend_xp = XPTR( io_cxy , &fs_context[FS_TYPE_DEVFS].extend );
1032
1033	// get pointer on DEVFS context in cluster IO
1034	devfs_ctx_t * devfs_ctx = hal_remote_lpt( extend_xp );
1035
1036	devfs_dev_inode_xp = hal_remote_lwd( XPTR( io_cxy ,
1037	&devfs_ctx->dev_inode_xp ) );
1038	devfs_external_inode_xp = hal_remote_lwd( XPTR( io_cxy ,
1039	&devfs_ctx->external_inode_xp ) );
1040
1041	// populate DEVFS in all clusters
1042	devfs_local_init( devfs_dev_inode_xp,
1043	devfs_external_inode_xp,
1044	&devfs_internal_inode_xp );
1045	}
1046
1047	/////////////////////////////////////////////////////////////////////////////////
1048	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
1049	(info->x_size * info->y_size) );
1050	barrier_wait( &local_barrier , info->cores_nr );
1051	/////////////////////////////////////////////////////////////////////////////////
1052
1053	if( (core_lid == 0) && (local_cxy == 0) )
1054	kinit_dmsg("\n[INFO] %s : exit barrier 7 : dev_root = %l in cluster 0 / cycle %d\n",
1055	__FUNCTION__, devfs_dev_inode_xp , hal_time_stamp() );
1056
1057	/////////////////////////////////////////////////////////////////////////////////
1058	// STEP 8 : CP0 in I/O cluster creates the first user process (process_init)
1059	/////////////////////////////////////////////////////////////////////////////////
1060
1061	if( (core_lid == 0) && (local_cxy == io_cxy) )
1062	{
1063	process_init_create();
1064	}
1065
1066	/////////////////////////////////////////////////////////////////////////////////
1067	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
1068	(info->x_size * info->y_size) );
1069	barrier_wait( &local_barrier , info->cores_nr );
1070	/////////////////////////////////////////////////////////////////////////////////
1071
1072	if( (core_lid == 0) && (local_cxy == 0) )
1073	kinit_dmsg("\n[INFO] %s : exit barrier 8 : process init created / cycle %d\n",
1074	__FUNCTION__ , hal_time_stamp() );
1075
1076	/////////////////////////////////////////////////////////////////////////////////
1077	// STEP 9 : CP0 in cluster 0 print banner
1078	/////////////////////////////////////////////////////////////////////////////////
1079
1080	if( (core_lid == 0) && (local_cxy == io_cxy) )
1081	{
1082	print_banner( (info->x_size * info->y_size) , info->cores_nr );
1083
1084	kinit_dmsg("\n\n* memory fooprint for main kernet objects *\n\n"
1085	" - thread descriptor : %d bytes\n"
1086	" - process descriptor : %d bytes\n"
1087	" - cluster manager : %d bytes\n"
1088	" - chdev descriptor : %d bytes\n"
1089	" - core descriptor : %d bytes\n"
1090	" - scheduler : %d bytes\n"
1091	" - rpc fifo : %d bytes\n"
1092	" - page descriptor : %d bytes\n"
1093	" - mapper root : %d bytes\n"
1094	" - ppm manager : %d bytes\n"
1095	" - kcm manager : %d bytes\n"
1096	" - khm manager : %d bytes\n"
1097	" - vmm manager : %d bytes\n"
1098	" - gpt root : %d bytes\n"
1099	" - list item : %d bytes\n"
1100	" - xlist item : %d bytes\n"
1101	" - spinlock : %d bytes\n"
1102	" - remote spinlock : %d bytes\n"
1103	" - rwlock : %d bytes\n"
1104	" - remote rwlock : %d bytes\n",
1105	sizeof( thread_t ),
1106	sizeof( process_t ),
1107	sizeof( cluster_t ),
1108	sizeof( chdev_t ),
1109	sizeof( core_t ),
1110	sizeof( scheduler_t ),
1111	sizeof( rpc_fifo_t ),
1112	sizeof( page_t ),
1113	sizeof( mapper_t ),
1114	sizeof( ppm_t ),
1115	sizeof( kcm_t ),
1116	sizeof( khm_t ),
1117	sizeof( vmm_t ),
1118	sizeof( gpt_t ),
1119	sizeof( list_entry_t ),
1120	sizeof( xlist_entry_t ),
1121	sizeof( spinlock_t ),
1122	sizeof( remote_spinlock_t ),
1123	sizeof( rwlock_t ),
1124	sizeof( remote_rwlock_t ));
1125	}
1126
1127	// each core activates its private TICK IRQ (number of ticks)
1128	dev_pic_enable_timer( CONFIG_SCHED_TICKS_PER_QUANTUM );
1129
1130	// each core jump to idle thread
1131	thread_idle_func();
1132	}
1133

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