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source: trunk/kernel/kern/kernel_init.c @ 247

Last change on this file since 247 was 247, checked in by max@…, 7 years ago
Rename soclib_tty->txt_rs232.
File size: 50.5 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 <barrier.h>
31	#include <remote_barrier.h>
32	#include <core.h>
33	#include <list.h>
34	#include <xlist.h>
35	#include <xhtab.h>
36	#include <thread.h>
37	#include <scheduler.h>
38	#include <kmem.h>
39	#include <cluster.h>
40	#include <string.h>
41	#include <memcpy.h>
42	#include <ppm.h>
43	#include <page.h>
44	#include <chdev.h>
45	#include <boot_info.h>
46	#include <dqdt.h>
47	#include <dev_icu.h>
48	#include <dev_mmc.h>
49	#include <dev_dma.h>
50	#include <dev_iob.h>
51	#include <dev_ioc.h>
52	#include <dev_txt.h>
53	#include <dev_pic.h>
54	#include <printk.h>
55	#include <vfs.h>
56	#include <devfs.h>
57	#include <mapper.h>
58
59	#define KERNEL_INIT_SYNCHRO 0xA5A5B5B5
60
61	///////////////////////////////////////////////////////////////////////////////////////////
62	// All these global variables are replicated in all clusters.
63	// They are initialised by the kernel_init() function.
64	//
65	// WARNING : The section names have been defined to control the base addresses of the
66	// boot_info structure and the idle thread descriptors, through the kernel.ld script:
67	// - the boot_info structure is built by the bootloader, and used by kernel_init.
68	// it must be the first object in the kdata segment.
69	// - the array of idle threads descriptors must be placed on the first page boundary after
70	// the boot_info structure in the kdata segment.
71	///////////////////////////////////////////////////////////////////////////////////////////
72
73	// This variable defines the local boot_info structure
74	__attribute__((section(".kinfo")))
75	boot_info_t boot_info;
76
77	// This variable defines the "idle" threads descriptors array
78	__attribute__((section(".kidle")))
79	char idle_threads[CONFIG_THREAD_DESC_SIZE *
80	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
81
82	// This variable defines the local cluster manager
83	__attribute__((section(".kdata")))
84	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
85
86	// This variable defines the TXT0 kernel terminal
87	__attribute__((section(".kdata")))
88	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
89
90	// This variables define the kernel process0 descriptor
91	__attribute__((section(".kdata")))
92	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
93
94	// This variable defines extended pointers on the distributed chdevs
95	__attribute__((section(".kdata")))
96	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
97
98	// This variable contains the input IRQ indexes for the IOPIC controller
99	__attribute__((section(".kdata")))
100	iopic_input_t iopic_input CONFIG_CACHE_LINE_ALIGNED;
101
102	// This variable contains the input IRQ indexes for the LAPIC controller
103	__attribute__((section(".kdata")))
104	lapic_input_t lapic_input CONFIG_CACHE_LINE_ALIGNED;
105
106	// This variable defines the local cluster identifier
107	__attribute__((section(".kdata")))
108	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
109
110	// This variable is used for CP0 cores synchronisation in kernel_init()
111	__attribute__((section(".kdata")))
112	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
113
114	// This variable is used for local cores synchronisation in kernel_init()
115	__attribute__((section(".kdata")))
116	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
117
118	// This variable defines the array of supported File System contexts
119	__attribute__((section(".kdata")))
120	vfs_ctx_t fs_context[FS_TYPES_NR] CONFIG_CACHE_LINE_ALIGNED;
121
122
123	///////////////////////////////////////////////////////////////////////////////////////////
124	// This function displays the ALMOS_MKH banner.
125	///////////////////////////////////////////////////////////////////////////////////////////
126	static void print_banner( uint32_t nclusters , uint32_t ncores )
127	{
128	printk("\n"
129	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
130	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
131	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
132	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
133	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
134	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
135	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
136	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
137	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
138	"\n\n\t\t\t Version 0.0 : %d clusters / %d cores per cluster\n\n", nclusters , ncores );
139	}
140
141
142	///////////////////////////////////////////////////////////////////////////////////////////
143	// This function initializes the TXT0 chdev descriptor, that is the "kernel terminal",
144	// shared by all kernel instances for debug messages.
145	// It is a global variable (replicated in all clusters), because this terminal is used
146	// before the kmem allocator initialisation, but only the instance in cluster containing
147	// the calling core is registered in the "chdev_dir" directory.
148	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
149	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
150	///////////////////////////////////////////////////////////////////////////////////////////
151	// @ info : pointer on the local boot-info structure.
152	///////////////////////////////////////////////////////////////////////////////////////////
153	static void txt0_device_init( boot_info_t * info )
154	{
155	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
156	uint32_t dev_nr; // actual number of devices in this cluster
157	xptr_t base; // remote pointer on segment base
158	uint32_t func; // device functional index
159	uint32_t impl; // device implementation index
160	uint32_t i; // device index in dev_tbl
161	uint32_t x; // X cluster coordinate
162	uint32_t y; // Y cluster coordinate
163	uint32_t channels; // number of channels
164
165	// get number of peripherals and base of devices array from boot_info
166	dev_nr = info->ext_dev_nr;
167	dev_tbl = info->ext_dev;
168
169	// loop on external peripherals to find TXT device
170	for( i = 0 ; i < dev_nr ; i++ )
171	{
172	base = dev_tbl[i].base;
173	func = FUNC_FROM_TYPE( dev_tbl[i].type );
174	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
175	channels = dev_tbl[i].channels;
176
177	if (func == DEV_FUNC_TXT )
178	{
179	assert( (channels > 0) , __FUNCTION__ ,
180	"numner of TXT channels cannot be 0\n");
181
182	// initializes TXT0 basic fields
183	txt0_chdev.func = func;
184	txt0_chdev.impl = impl;
185	txt0_chdev.channel = 0;
186	txt0_chdev.base = base;
187	txt0_chdev.is_rx = false;
188
189	// initializes lock
190	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
191
192	// TXT specific initialisation:
193	// no server thread & no IRQ routing for channel 0
194	dev_txt_init( &txt0_chdev );
195
196	// register the TXT0 in all chdev_dir[x][y] structures
197	for( x = 0 ; x < info->x_size ; x++ )
198	{
199	for( y = 0 ; y < info->y_size ; y++ )
200	{
201	cxy_t cxy = (x<<info->y_width) + y;
202	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
203	XPTR( local_cxy , &txt0_chdev ) );
204	}
205	}
206
207	kinit_dmsg("\n[INFO] %s created TXT0 chdev in cluster %x at cycle %d\n",
208	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
209	}
210	} // end loop on devices
211	} // end txt0_device_init()
212
213	///////////////////////////////////////////////////////////////////////////////////////////
214	// This function allocates memory and initializes the chdev descriptors for the internal
215	// peripherals contained in the local cluster, other than the LAPIC, as specified by
216	// the boot_info, including the linking with the driver for the specified implementation.
217	// The relevant entries in all copies of the devices directory are initialised.
218	///////////////////////////////////////////////////////////////////////////////////////////
219	// @ info : pointer on the local boot-info structure.
220	///////////////////////////////////////////////////////////////////////////////////////////
221	static void internal_devices_init( boot_info_t * info )
222	{
223	boot_device_t * dev_tbl; // pointer on array of internaldevices in boot_info
224	uint32_t dev_nr; // actual number of devices in this cluster
225	xptr_t base; // remote pointer on segment base
226	uint32_t func; // device functionnal index
227	uint32_t impl; // device implementation index
228	uint32_t i; // device index in dev_tbl
229	uint32_t x; // X cluster coordinate
230	uint32_t y; // Y cluster coordinate
231	uint32_t channels; // number of channels
232	uint32_t channel; // channel index
233	chdev_t * chdev_ptr; // local pointer on created chdev
234
235	// get number of internal peripherals and base from boot_info
236	dev_nr = info->int_dev_nr;
237	dev_tbl = info->int_dev;
238
239	// loop on internal peripherals
240	for( i = 0 ; i < dev_nr ; i++ )
241	{
242	base = dev_tbl[i].base;
243	channels = dev_tbl[i].channels;
244	func = FUNC_FROM_TYPE( dev_tbl[i].type );
245	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
246
247	//////////////////////////
248	if( func == DEV_FUNC_MMC )
249	{
250	assert( (channels == 1) , __FUNCTION__ ,
251	"MMC device must be single channel\n" );
252
253	// create chdev in local cluster
254	chdev_ptr = chdev_create( func,
255	impl,
256	0, // channel
257	false, // direction
258	base );
259
260	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
261	"cannot allocate memory for MMC chdev\n" );
262
263	// make MMC specific initialisation
264	dev_mmc_init( chdev_ptr );
265
266	// set the MMC field in all chdev_dir[x][y] structures
267	for( x = 0 ; x < info->x_size ; x++ )
268	{
269	for( y = 0 ; y < info->y_size ; y++ )
270	{
271	cxy_t cxy = (x<<info->y_width) + y;
272	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ),
273	XPTR( local_cxy , chdev_ptr ) );
274	}
275	}
276
277	if( local_cxy == 0 )
278	kinit_dmsg("\n[INFO] %s created MMC chdev in cluster 0 at cycle %d\n",
279	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
280	}
281	///////////////////////////////
282	else if( func == DEV_FUNC_DMA )
283	{
284	// create one chdev per channel in local cluster
285	for( channel = 0 ; channel < channels ; channel++ )
286	{
287	// create chdev[channel] in local cluster
288	chdev_ptr = chdev_create( func,
289	impl,
290	channel,
291	false, // direction
292	base );
293
294	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
295	"cannot allocate memory for DMA chdev" );
296
297	// make DMA specific initialisation
298	dev_dma_init( chdev_ptr );
299
300	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
301	// structure because the DMA device is not remotely accessible.
302	chdev_dir.dma[channel] = XPTR( local_cxy , chdev_ptr );
303
304	kinit_dmsg("\n[INFO] %s created DMA[%d] chdev in cluster 0 at cycle %d\n",
305	__FUNCTION__ , channel , (uint32_t)hal_time_stamp() );
306	}
307	}
308	}
309	} // end internal_devices_init()
310
311	///////////////////////////////////////////////////////////////////////////////////////////
312	// This function allocates memory and initializes the chdev descriptors for the
313	// external (shared) peripherals other than the IOPIC, as specified by the boot_info,
314	// including the dynamic linking with the driver for the specified implementation.
315	// These chdev descriptors are distributed on all clusters, using a modulo on a global
316	// index, identically computed in all clusters: In each cluster, the local CP0 core
317	// computes the global index for all external chdevs, and creates only the chdevs that
318	// must be placed in the local cluster.
319	// The relevant entries in all copies of the devices directory are initialised.
320	///////////////////////////////////////////////////////////////////////////////////////////
321	// @ info : pointer on the local boot-info structure.
322	///////////////////////////////////////////////////////////////////////////////////////////
323	static void external_devices_init( boot_info_t * info )
324	{
325	boot_device_t * dev_tbl; // pointer on array of external devices in boot_info
326	uint32_t dev_nr; // actual number of external devices
327	xptr_t base; // remote pointer on segment base
328	uint32_t func; // device functionnal index
329	uint32_t impl; // device implementation index
330	uint32_t i; // device index in dev_tbl
331	uint32_t x; // X cluster coordinate
332	uint32_t y; // Y cluster coordinate
333	uint32_t channels; // number of channels
334	uint32_t channel; // channel index
335	uint32_t directions; // number of directions (1 or 2)
336	uint32_t rx; // direction index (0 or 1)
337	uint32_t first_channel; // used in loop on channels for TXT
338	chdev_t * chdev; // local pointer on one channel_device descriptor
339	uint32_t ext_chdev_gid; // global index of external chdev
340
341	// get number of peripherals and base of devices array from boot_info
342	dev_nr = info->ext_dev_nr;
343	dev_tbl = info->ext_dev;
344
345	// initializes global index (PIC is already placed in cluster 0
346	ext_chdev_gid = 1;
347
348	// loop on external peripherals
349	for( i = 0 ; i < dev_nr ; i++ )
350	{
351	base = dev_tbl[i].base;
352	channels = dev_tbl[i].channels;
353	func = FUNC_FROM_TYPE( dev_tbl[i].type );
354	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
355
356	// There is one chdev per direction for NIC
357	if (func == DEV_FUNC_NIC) directions = 2;
358	else directions = 1;
359
360	// The TXT0 chdev has already been created
361	if (func == DEV_FUNC_TXT) first_channel = 1;
362	else first_channel = 0;
363
364	// do nothing for RO, that does not require a device descriptor.
365	if( func == DEV_FUNC_ROM ) continue;
366
367	// do nothing for PIC, that is already initialized
368	if( func == DEV_FUNC_PIC ) continue;
369
370	// check PIC device initialized
371	assert( (chdev_dir.pic != XPTR_NULL ) , __FUNCTION__ ,
372	"PIC device must be initialized before other devices\n" );
373
374	// check external device functionnal type
375	assert( ( (func == DEV_FUNC_IOB) \|\|
376	(func == DEV_FUNC_IOC) \|\|
377	(func == DEV_FUNC_TXT) \|\|
378	(func == DEV_FUNC_NIC) \|\|
379	(func == DEV_FUNC_FBF) ) , __FUNCTION__ ,
380	"undefined external peripheral type\n" );
381
382	// loops on channels
383	for( channel = first_channel ; channel < channels ; channel++ )
384	{
385	// loop on directions
386	for( rx = 0 ; rx < directions ; rx++ )
387	{
388	// compute target cluster for chdev[func,channel,direction]
389	uint32_t offset = ext_chdev_gid % ( info->x_size * info->y_size );
390	uint32_t cx = offset / info->y_size;
391	uint32_t cy = offset % info->y_size;
392	uint32_t target_cxy = (cx<<info->y_width) + cy;
393
394	// allocate and initialize a local chdev
395	// if local cluster matches target cluster
396	if( target_cxy == local_cxy )
397	{
398	chdev = chdev_create( func,
399	impl,
400	channel,
401	rx, // direction
402	base );
403
404	assert( (chdev != NULL), __FUNCTION__ ,
405	"cannot allocate external device" );
406
407	// make device type specific initialisation
408	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
409	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
410	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
411	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
412	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev );
413
414	// all external (shared) devices are remotely accessible
415	// initialize the replicated chdev_dir[x][y] structures
416	// defining the extended pointers on chdev descriptors
417	xptr_t * entry;
418
419	if(func==DEV_FUNC_IOB ) entry = &chdev_dir.iob;
420	if(func==DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
421	if(func==DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
422	if(func==DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
423	if((func==DEV_FUNC_NIC) && (rx==0)) entry = &chdev_dir.nic_tx[channel];
424	if((func==DEV_FUNC_NIC) && (rx==1)) entry = &chdev_dir.nic_rx[channel];
425
426	for( x = 0 ; x < info->x_size ; x++ )
427	{
428	for( y = 0 ; y < info->y_size ; y++ )
429	{
430	cxy_t cxy = (x<<info->y_width) + y;
431	hal_remote_swd( XPTR( cxy , entry ),
432	XPTR( local_cxy , chdev ) );
433	}
434	}
435
436	kinit_dmsg("\n[INFO] %s create chdev %s[%d] in cluster %x at cycle %d\n",
437	__FUNCTION__ , chdev_func_str( func ), channel,
438	local_cxy , (uint32_t)hal_time_stamp() );
439
440	} // end if match
441
442	// increment chdev global index (matching or not)
443	ext_chdev_gid++;
444
445	} // end loop on directions
446	} // end loop on channels
447	} // end loop on devices
448	} // end external_devices_init()
449
450	///////////////////////////////////////////////////////////////////////////////////////////
451	// This function is called by CP0 in cluster 0 to allocate memory and initialize the PIC
452	// device, namely the informations attached to the external IOPIC controller.
453	// This initialisation must be done before other devices initialisation because the IRQ
454	// routing infrastructure is required for internal and external devices initialisation.
455	///////////////////////////////////////////////////////////////////////////////////////////
456	// @ info : pointer on the local boot-info structure.
457	///////////////////////////////////////////////////////////////////////////////////////////
458	static void iopic_init( boot_info_t * info )
459	{
460	boot_device_t * dev_tbl; // pointer on boot_info external devices array
461	uint32_t dev_nr; // actual number of external devices
462	xptr_t base; // remote pointer on segment base
463	uint32_t func; // device functionnal index
464	uint32_t impl; // device implementation index
465	uint32_t i; // device index in dev_tbl
466	uint32_t x; // cluster X coordinate
467	uint32_t y; // cluster Y coordinate
468	bool_t found; // IOPIC found
469	chdev_t * chdev; // pointer on PIC chdev descriptor
470
471	// get number of external peripherals and base of array from boot_info
472	dev_nr = info->ext_dev_nr;
473	dev_tbl = info->ext_dev;
474
475	// loop on external peripherals to get the IOPIC
476	for( i = 0 , found = false ; i < dev_nr ; i++ )
477	{
478	func = FUNC_FROM_TYPE( dev_tbl[i].type );
479
480	if( func == DEV_FUNC_PIC )
481	{
482	base = dev_tbl[i].base;
483	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
484	found = true;
485	break;
486	}
487	}
488
489	assert( found , __FUNCTION__ , "PIC device not found\n" );
490
491	// allocate and initialize the PIC chdev in local cluster
492	chdev = chdev_create( func,
493	impl,
494	0, // channel
495	0, // direction,
496	base );
497
498	assert( (chdev != NULL), __FUNCTION__ , "no memory for PIC chdev\n" );
499
500	// make PIC device type specific initialisation
501	dev_pic_init( chdev );
502
503	// register extended pointer on PIC chdev in "chdev_dir" array in all clusters
504	xptr_t * entry = &chdev_dir.pic;
505
506	for( x = 0 ; x < info->x_size ; x++ )
507	{
508	for( y = 0 ; y < info->y_size ; y++ )
509	{
510	cxy_t cxy = (x<<info->y_width) + y;
511	hal_remote_swd( XPTR( cxy , entry ) ,
512	XPTR( local_cxy , chdev ) );
513	}
514	}
515
516	// initialize the "iopic_input" structure
517	// defining how external IRQs are connected to IOPIC
518	uint32_t id;
519	uint8_t valid;
520	uint32_t type;
521	uint8_t channel;
522	uint8_t is_rx;
523
524	for( id = 0 ; id < CONFIG_MAX_EXTERNAL_IRQS ; id++ )
525	{
526	valid = dev_tbl[i].irq[id].valid;
527	type = dev_tbl[i].irq[id].dev_type;
528	channel = dev_tbl[i].irq[id].channel;
529	is_rx = dev_tbl[i].irq[id].is_rx;
530
531	if( valid ) // only valid inputs are registered
532	{
533	uint32_t * index; // local pointer on one entry
534	uint16_t func = FUNC_FROM_TYPE( type );
535
536	if ( func == DEV_FUNC_TXT )
537	index = &iopic_input.txt[channel];
538	else if( func == DEV_FUNC_IOC )
539	index = &iopic_input.ioc[channel];
540	else if( (func == DEV_FUNC_NIC) && (is_rx == 0) )
541	index = &iopic_input.nic_tx[channel];
542	else if( (func == DEV_FUNC_NIC) && (is_rx != 0) )
543	index = &iopic_input.nic_rx[channel];
544	else if( func == DEV_FUNC_IOB )
545	index = &iopic_input.iob;
546	else
547	assert( false , __FUNCTION__ , "illegal source device for IOPIC input" );
548
549	// set entry in local structure
550	*index = id;
551	}
552	}
553
554	kinit_dmsg("\n[INFO] %s created PIC chdev in cluster %x at cycle %d\n",
555	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
556
557	} // end iopic_init()
558
559	///////////////////////////////////////////////////////////////////////////////////////////
560	// This function is called by all CP0s in all cluster to complete the PIC device
561	// initialisation, namely the informations attached to the LAPIC controller.
562	// This initialisation must be done after the IOPIC initialisation, but before other
563	// devices initialisation because the IRQ routing infrastructure is required for both
564	// internal and external devices initialisation.
565	///////////////////////////////////////////////////////////////////////////////////////////
566	// @ info : pointer on the local boot-info structure.
567	///////////////////////////////////////////////////////////////////////////////////////////
568	static void lapic_init( boot_info_t * info )
569	{
570	boot_device_t * dev_tbl; // pointer on boot_info internal devices array
571	uint32_t dev_nr; // number of internal devices
572	uint32_t i; // device index in dev_tbl
573	xptr_t base; // remote pointer on segment base
574	uint32_t func; // device functionnal type in boot_info
575	bool_t found; // LAPIC found
576
577	// get number of internal peripherals and base
578	dev_nr = info->int_dev_nr;
579	dev_tbl = info->int_dev;
580
581	// loop on internal peripherals to get the lapic device
582	for( i = 0 , found = false ; i < dev_nr ; i++ )
583	{
584	func = FUNC_FROM_TYPE( dev_tbl[i].type );
585
586	if( func == DEV_FUNC_ICU )
587	{
588	base = dev_tbl[i].base;
589	found = true;
590	break;
591	}
592	}
593
594	// if the LAPIC controller is not defined in the boot_info,
595	// we simply don't initialize the PIC extensions in the kernel,
596	// making the assumption that the LAPIC related informations
597	// are hidden in the hardware specific PIC driver.
598	if( found )
599	{
600	// initialise the PIC extensions for
601	// the core descriptor and core manager extensions
602	dev_pic_extend_init( (uint32_t *)GET_PTR( base ) );
603
604	// initialize the "lapic_input" structure
605	// defining how internal IRQs are connected to LAPIC
606	uint32_t id;
607	uint8_t valid;
608	uint8_t channel;
609	uint32_t func;
610
611	for( id = 0 ; id < CONFIG_MAX_INTERNAL_IRQS ; id++ )
612	{
613	valid = dev_tbl[i].irq[id].valid;
614	func = FUNC_FROM_TYPE( dev_tbl[i].irq[id].dev_type );
615	channel = dev_tbl[i].irq[id].channel;
616
617	if( valid ) // only valid local IRQs are registered
618	{
619	if ( func == DEV_FUNC_MMC ) lapic_input.mmc = id;
620	else if( func == DEV_FUNC_DMA ) lapic_input.dma[channel] = id;
621	else assert( false , __FUNCTION__ , "illegal source device for LAPIC input" );
622	}
623	}
624	}
625	} // end lapic_init()
626
627	///////////////////////////////////////////////////////////////////////////////////////////
628	// This static function returns the identifiers of the calling core.
629	///////////////////////////////////////////////////////////////////////////////////////////
630	// @ info : pointer on boot_info structure.
631	// @ lid : [out] core local index in cluster.
632	// @ cxy : [out] cluster identifier.
633	// @ lid : [out] core global identifier (hardware).
634	// @ return 0 if success / return EINVAL if not found.
635	///////////////////////////////////////////////////////////////////////////////////////////
636	static error_t get_core_identifiers( boot_info_t * info,
637	lid_t * lid,
638	cxy_t * cxy,
639	gid_t * gid )
640	{
641	uint32_t i;
642	gid_t global_id;
643
644	// get global identifier from hardware register
645	global_id = hal_get_gid();
646
647	// makes an associative search in boot_info to get (cxy,lid) from global_id
648	for( i = 0 ; i < info->cores_nr ; i++ )
649	{
650	if( global_id == info->core[i].gid )
651	{
652	*lid = info->core[i].lid;
653	*cxy = info->core[i].cxy;
654	*gid = global_id;
655	return 0;
656	}
657	}
658	return EINVAL;
659	}
660
661	///////////////////////////////////////////////////////////////////////////////////////////
662	// This function is the entry point for the kernel initialisation.
663	// It is executed by all cores in all clusters, but only core[0], called CP0,
664	// initializes the shared resources such as the cluster manager, or the local peripherals.
665	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
666	// only information contained in the local boot_info_t structure, set by the bootloader.
667	// Only CP0 in cluster 0 print the log messages.
668	///////////////////////////////////////////////////////////////////////////////////////////
669	// @ info : pointer on the local boot-info structure.
670	///////////////////////////////////////////////////////////////////////////////////////////
671	void kernel_init( boot_info_t * info )
672	{
673	lid_t core_lid = -1; // running core local index
674	cxy_t core_cxy = -1; // running core cluster identifier
675	gid_t core_gid; // running core hardware identifier
676	cluster_t * cluster; // pointer on local cluster manager
677	core_t * core; // pointer on running core descriptor
678	thread_t * thread; // pointer on idle thread descriptor
679
680	xptr_t vfs_root_inode_xp; // extended pointer on VFS root inode
681	xptr_t devfs_dev_inode_xp; // extended pointer on DEVFS dev inode
682	xptr_t devfs_external_inode_xp; // extended pointer on DEVFS external inode
683	xptr_t devfs_internal_inode_xp; // extended pointer on DEVFS internal inode
684
685	error_t error;
686
687	cxy_t io_cxy = info->io_cxy;
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 at cycle %d : TXT0 initialized\n",
724	__FUNCTION__, (uint32_t)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	nolock_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	nolock_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 at cycle %d : clusters initialised\n",
762	__FUNCTION__, (uint32_t)hal_time_stamp());
763
764	/////////////////////////////////////////////////////////////////////////////////
765	// STEP 2 : all CP0s initialize the process_zero descriptor.
766	// CP0 in cluster 0 initialises the IOPIC device.
767	// all CP0s complete the distibuted LAPIC initialization.
768	/////////////////////////////////////////////////////////////////////////////////
769
770	// all cores get pointer on local cluster manager & core descriptor
771	cluster = &cluster_manager;
772	core = &cluster->core_tbl[core_lid];
773
774	// all CP0s initialize the process_zero descriptor
775	if( core_lid == 0 ) process_reference_init( &process_zero , 0 , XPTR_NULL );
776
777	// CP0 in cluster 0 initializes the PIC chdev,
778	if( (core_lid == 0) && (local_cxy == 0) ) iopic_init( info );
779
780	// all CP0s initialize their local LAPIC extension,
781	if( core_lid == 0 ) lapic_init( info );
782
783	////////////////////////////////////////////////////////////////////////////////
784	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
785	(info->x_size * info->y_size) );
786	barrier_wait( &local_barrier , info->cores_nr );
787	////////////////////////////////////////////////////////////////////////////////
788
789	if( (core_lid == 0) && (local_cxy == 0) )
790	kinit_dmsg("\n[INFO] %s exit barrier 2 at cycle %d : PIC initialised\n",
791	__FUNCTION__, (uint32_t)hal_time_stamp());
792
793	////////////////////////////////////////////////////////////////////////////////
794	// STEP 3 : all CP0s initialize their local chdev descriptors
795	// (both internal devices and external devices).
796	////////////////////////////////////////////////////////////////////////////////
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 at cycle %d : all chdev initialised\n",
818	__FUNCTION__, (uint32_t)hal_time_stamp());
819
820	/////////////////////////////////////////////////////////////////////////////////
821	// STEP 4 : Alls cores initialize their private IDLE thread.
822	// Only CP0 in cluster 0 creates the VFS root inode.
823	// It access the boot device to initialize the file system context.
824	/////////////////////////////////////////////////////////////////////////////////
825
826	// all cores create idle thread descriptor
827	error = thread_kernel_init( thread,
828	THREAD_IDLE,
829	&thread_idle_func,
830	NULL,
831	core_lid );
832	if( error )
833	{
834	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
835	__FUNCTION__ , local_cxy , core_lid );
836	hal_core_sleep();
837	}
838
839	// all cores register idle thread in scheduler
840	core->scheduler.idle = thread;
841
842	// all core activate the idle thread
843	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
844
845	if( (core_lid == 0) && (local_cxy == 0) )
846	{
847	kinit_dmsg("\n[INFO] %s : created idle thread %x at cycle %d\n",
848	__FUNCTION__ , thread , (uint32_t)hal_time_stamp());
849	}
850
851	// CPO in cluster 0 creates the VFS root
852	if( (core_lid == 0) && (local_cxy == 0 ) )
853	{
854	vfs_root_inode_xp = XPTR_NULL;
855
856	// File System must be FATFS in this implementation,
857	// but other File System can be introduced here
858	if( CONFIG_VFS_ROOT_IS_FATFS )
859	{
860	// 1. create FATFS context in cluster 0
861	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
862
863	printk("\n@@@ %s extend = %x\n", __FUNCTION__ , fatfs_ctx );
864
865	nolock_assert( (fatfs_ctx != NULL) , __FUNCTION__ ,
866	"cannot create FATFS context in cluster 0\n" );
867
868	// 2. access boot device to initialize FATFS context
869	fatfs_ctx_init( fatfs_ctx );
870
871	// 3. get various informations from FATFS context
872	uint32_t root_dir_cluster = fatfs_ctx->root_dir_cluster;
873	uint32_t cluster_size = fatfs_ctx->bytes_per_sector *
874	fatfs_ctx->sectors_per_cluster;
875	uint32_t total_clusters = fatfs_ctx->fat_sectors_count << 7;
876
877	// 4. create VFS root inode in cluster 0
878	error = vfs_inode_create( XPTR_NULL, // dentry_xp
879	FS_TYPE_FATFS, // fs_type
880	INODE_TYPE_DIR, // inode_type
881	(void *)(intptr_t)root_dir_cluster, // extend
882	0, // attr
883	0, // rights
884	0, // uid
885	0, // gid
886	&vfs_root_inode_xp ); // return
887
888	nolock_assert( (error == 0) , __FUNCTION__ ,
889	"cannot create VFS root inode\n" );
890
891	// 5. initialize VFS context for FAT in cluster 0
892	vfs_ctx_init( FS_TYPE_FATFS, // file system type
893	0, // attributes
894	total_clusters,
895	cluster_size,
896	vfs_root_inode_xp, // VFS root
897	fatfs_ctx ); // extend
898	}
899	else
900	{
901	nolock_printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
902	hal_core_sleep();
903	}
904
905	///////////////////////////////@@@
906	fatfs_ctx_display();
907	///////////////////////////////@@@
908
909	// register VFS root inode in process_zero
910	process_zero.vfs_root_xp = vfs_root_inode_xp;
911	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
912	}
913
914	/////////////////////////////////////////////////////////////////////////////////
915	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
916	(info->x_size * info->y_size) );
917	barrier_wait( &local_barrier , info->cores_nr );
918	/////////////////////////////////////////////////////////////////////////////////
919
920	if( (core_lid == 0) && (local_cxy == 0) )
921	kinit_dmsg("\n[INFO] %s exit barrier 4 at cycle %d : VFS OK in cluster 0\n",
922	__FUNCTION__, (uint32_t)hal_time_stamp());
923
924	/////////////////////////////////////////////////////////////////////////////////
925	// STEP 5 : Other CP0s allocate memory for the selected FS context,
926	// and initialise both the local FS context and the local VFS context
927	// from values stored in cluster 0.
928	// They get the VFS root inode extended pointer from cluster 0.
929	/////////////////////////////////////////////////////////////////////////////////
930
931	if( (core_lid == 0) && (local_cxy != 0) )
932	{
933	// File System must be FATFS in this implementation,
934	// but other File System can be introduced here
935	if( CONFIG_VFS_ROOT_IS_FATFS )
936	{
937	// allocate memory for FATFS context
938	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
939
940	nolock_assert( (fatfs_ctx != NULL) , __FUNCTION__ ,
941	"cannot create FATFS context\n" );
942
943	// get local pointer on VFS context for FATFS
944	vfs_ctx_t * vfs_ctx = &fs_context[FS_TYPE_FATFS];
945
946	// copy VFS context from cluster 0 to local cluster
947	hal_remote_memcpy( XPTR( local_cxy , vfs_ctx ),
948	XPTR( 0 , vfs_ctx ),
949	sizeof(vfs_ctx_t) );
950
951	// copy FATFS context from cluster 0 to local cluster
952	hal_remote_memcpy( XPTR( local_cxy , fatfs_ctx ),
953	XPTR( 0 , fatfs_ctx ),
954	sizeof(fatfs_ctx_t) );
955
956	// update extend field in local copy of VFS context
957	vfs_ctx->extend = fatfs_ctx;
958	}
959
960	// get extended pointer on VFS root inode from cluster 0
961	vfs_root_inode_xp = hal_remote_lwd( XPTR( 0 , process_zero.vfs_root_xp ) );
962
963	// update local process_zero descriptor
964	process_zero.vfs_root_xp = vfs_root_inode_xp;
965	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
966	}
967
968	/////////////////////////////////////////////////////////////////////////////////
969	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
970	(info->x_size * info->y_size) );
971	barrier_wait( &local_barrier , info->cores_nr );
972	/////////////////////////////////////////////////////////////////////////////////
973
974	if( (core_lid == 0) && (local_cxy == 0) )
975	kinit_dmsg("\n[INFO] %s exit barrier 5 at cycle %d : VFS OK in all clusters\n",
976	__FUNCTION__, (uint32_t)hal_time_stamp());
977
978
979	/////////////////////////////////////////////////////////////////////////////////
980	// STEP 6 : CP0 in cluster IO makes the global DEVFS tree initialisation:
981	// It creates the DEVFS directory "dev", and the DEVFS "external"
982	// directory in cluster IO and mount these inodes into VFS.
983	/////////////////////////////////////////////////////////////////////////////////
984
985	if( (core_lid == 0) && (local_cxy == io_cxy) )
986	{
987	// create "dev" and "external" directories.
988	devfs_global_init( process_zero.vfs_root_xp,
989	&devfs_dev_inode_xp,
990	&devfs_external_inode_xp );
991
992	// creates the DEVFS context in cluster IO
993	devfs_ctx_t * devfs_ctx = devfs_ctx_alloc();
994
995	nolock_assert( (devfs_ctx != NULL) , __FUNCTION__ ,
996	"cannot create DEVFS context in cluster IO\n");
997
998	// register DEVFS root and external directories
999	devfs_ctx_init( devfs_ctx, devfs_dev_inode_xp, devfs_external_inode_xp );
1000	}
1001
1002	/////////////////////////////////////////////////////////////////////////////////
1003	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
1004	(info->x_size * info->y_size) );
1005	barrier_wait( &local_barrier , info->cores_nr );
1006	/////////////////////////////////////////////////////////////////////////////////
1007
1008	if( (core_lid == 0) && (local_cxy == 0) )
1009	kinit_dmsg("\n[INFO] %s exit barrier 6 at cycle %d : DEVFS OK in cluster IO\n",
1010	__FUNCTION__, (uint32_t)hal_time_stamp());
1011
1012	/////////////////////////////////////////////////////////////////////////////////
1013	// STEP 7 : All CP0s complete in parallel the DEVFS tree initialization.
1014	// Each CP0 get the "dev" and "external" extended pointers from
1015	// values stored in cluster IO.
1016	// Then CP0 in cluster(i) creates the DEVFS "internal directory,
1017	// and creates the pseudo-files for all chdevs in cluster (i).
1018	/////////////////////////////////////////////////////////////////////////////////
1019
1020	if( core_lid == 0 )
1021	{
1022	// get extended pointer on "extend" field of VFS context for DEVFS in cluster IO
1023	xptr_t extend_xp = XPTR( io_cxy , &fs_context[FS_TYPE_DEVFS].extend );
1024
1025	// get pointer on DEVFS context in cluster IO
1026	devfs_ctx_t * devfs_ctx = hal_remote_lpt( extend_xp );
1027
1028	devfs_dev_inode_xp = hal_remote_lwd( XPTR( io_cxy ,
1029	&devfs_ctx->dev_inode_xp ) );
1030	devfs_external_inode_xp = hal_remote_lwd( XPTR( io_cxy ,
1031	&devfs_ctx->external_inode_xp ) );
1032
1033	// populate DEVFS in all clusters
1034	devfs_local_init( devfs_dev_inode_xp,
1035	devfs_external_inode_xp,
1036	&devfs_internal_inode_xp );
1037	}
1038
1039	/////////////////////////////////////////////////////////////////////////////////
1040	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
1041	(info->x_size * info->y_size) );
1042	barrier_wait( &local_barrier , info->cores_nr );
1043	/////////////////////////////////////////////////////////////////////////////////
1044
1045	if( (core_lid == 0) && (local_cxy == 0) )
1046	kinit_dmsg("\n[INFO] %s exit barrier 7 at cycle %d : DEVFS OK in all clusters\n",
1047	__FUNCTION__, (uint32_t)hal_time_stamp());
1048
1049	#if CONFIG_KINIT_DEBUG
1050	vfs_display( vfs_root_inode_xp );
1051	#endif
1052
1053	/////////////////////////////////////////////////////////////////////////////////
1054	// STEP 8 : CP0 in I/O cluster creates the first user process (process_init)
1055	/////////////////////////////////////////////////////////////////////////////////
1056
1057	if( (core_lid == 0) && (local_cxy == io_cxy) )
1058	{
1059	process_init_create();
1060	}
1061
1062	/////////////////////////////////////////////////////////////////////////////////
1063	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
1064	(info->x_size * info->y_size) );
1065	barrier_wait( &local_barrier , info->cores_nr );
1066	/////////////////////////////////////////////////////////////////////////////////
1067
1068	if( (core_lid == 0) && (local_cxy == 0) )
1069	kinit_dmsg("\n[INFO] %s exit barrier 8 at cycle %d : process init created\n",
1070	__FUNCTION__ , (uint32_t)hal_time_stamp() );
1071
1072	/////////////////////////////////////////////////////////////////////////////////
1073	// STEP 9 : CP0 in cluster 0 print banner
1074	/////////////////////////////////////////////////////////////////////////////////
1075
1076	if( (core_lid == 0) && (local_cxy == io_cxy) )
1077	{
1078	print_banner( (info->x_size * info->y_size) , info->cores_nr );
1079
1080	kinit_dmsg("\n\n* memory fooprint of main kernet objects *\n"
1081	" - thread descriptor : %d bytes\n"
1082	" - process descriptor : %d bytes\n"
1083	" - cluster manager : %d bytes\n"
1084	" - chdev descriptor : %d bytes\n"
1085	" - core descriptor : %d bytes\n"
1086	" - scheduler : %d bytes\n"
1087	" - rpc fifo : %d bytes\n"
1088	" - page descriptor : %d bytes\n"
1089	" - mapper root : %d bytes\n"
1090	" - ppm manager : %d bytes\n"
1091	" - kcm manager : %d bytes\n"
1092	" - khm manager : %d bytes\n"
1093	" - vmm manager : %d bytes\n"
1094	" - gpt root : %d bytes\n"
1095	" - list item : %d bytes\n"
1096	" - xlist item : %d bytes\n"
1097	" - spinlock : %d bytes\n"
1098	" - remote spinlock : %d bytes\n"
1099	" - rwlock : %d bytes\n"
1100	" - remote rwlock : %d bytes\n",
1101	sizeof( thread_t ),
1102	sizeof( process_t ),
1103	sizeof( cluster_t ),
1104	sizeof( chdev_t ),
1105	sizeof( core_t ),
1106	sizeof( scheduler_t ),
1107	sizeof( rpc_fifo_t ),
1108	sizeof( page_t ),
1109	sizeof( mapper_t ),
1110	sizeof( ppm_t ),
1111	sizeof( kcm_t ),
1112	sizeof( khm_t ),
1113	sizeof( vmm_t ),
1114	sizeof( gpt_t ),
1115	sizeof( list_entry_t ),
1116	sizeof( xlist_entry_t ),
1117	sizeof( spinlock_t ),
1118	sizeof( remote_spinlock_t ),
1119	sizeof( rwlock_t ),
1120	sizeof( remote_rwlock_t ));
1121	}
1122
1123	// each core activates its private PTI IRQ
1124	dev_pic_enable_timer( CONFIG_SCHED_TICK_PERIOD );
1125
1126	if( (core_lid == 0) && (local_cxy == io_cxy) )
1127	thread_dmsg("\n[INFO] %s complete kernel init in cluster 0 at cycle %d\n"
1128	__FUNCTION__ , (uint32_t)hal_time_stamp() )
1129
1130	// each core jump to idle thread
1131	thread_idle_func();
1132	}
1133

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