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source: trunk/kernel/kern/kernel_init.c @ 107

Last change on this file since 107 was 103, checked in by alain, 7 years ago
Introducing a nolock_printk() function used by kernel_init.
File size: 38.9 KB

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

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