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source: trunk/kernel/kern/kernel_init.c @ 253

Last change on this file since 253 was 249, checked in by max@…, 7 years ago
Remove the ICU driver.
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_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 <devfs.h>
56	#include <mapper.h>
57
58	#define KERNEL_INIT_SYNCHRO 0xA5A5B5B5
59
60	///////////////////////////////////////////////////////////////////////////////////////////
61	// All these global variables are replicated in all clusters.
62	// They are initialised by the kernel_init() function.
63	//
64	// WARNING : The section names have been defined to control the base addresses of the
65	// boot_info structure and the idle thread descriptors, through the kernel.ld script:
66	// - the boot_info structure is built by the bootloader, and used by kernel_init.
67	// it must be the first object in the kdata segment.
68	// - the array of idle threads descriptors must be placed on the first page boundary after
69	// the boot_info structure in the kdata segment.
70	///////////////////////////////////////////////////////////////////////////////////////////
71
72	// This variable defines the local boot_info structure
73	__attribute__((section(".kinfo")))
74	boot_info_t boot_info;
75
76	// This variable defines the "idle" threads descriptors array
77	__attribute__((section(".kidle")))
78	char idle_threads[CONFIG_THREAD_DESC_SIZE *
79	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
80
81	// This variable defines the local cluster manager
82	__attribute__((section(".kdata")))
83	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
84
85	// This variable defines the TXT0 kernel terminal
86	__attribute__((section(".kdata")))
87	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
88
89	// This variables define the kernel process0 descriptor
90	__attribute__((section(".kdata")))
91	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
92
93	// This variable defines extended pointers on the distributed chdevs
94	__attribute__((section(".kdata")))
95	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
96
97	// This variable contains the input IRQ indexes for the IOPIC controller
98	__attribute__((section(".kdata")))
99	iopic_input_t iopic_input CONFIG_CACHE_LINE_ALIGNED;
100
101	// This variable contains the input IRQ indexes for the LAPIC controller
102	__attribute__((section(".kdata")))
103	lapic_input_t lapic_input CONFIG_CACHE_LINE_ALIGNED;
104
105	// This variable defines the local cluster identifier
106	__attribute__((section(".kdata")))
107	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
108
109	// This variable is used for CP0 cores synchronisation in kernel_init()
110	__attribute__((section(".kdata")))
111	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
112
113	// This variable is used for local cores synchronisation in kernel_init()
114	__attribute__((section(".kdata")))
115	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
116
117	// This variable defines the array of supported File System contexts
118	__attribute__((section(".kdata")))
119	vfs_ctx_t fs_context[FS_TYPES_NR] CONFIG_CACHE_LINE_ALIGNED;
120
121
122	///////////////////////////////////////////////////////////////////////////////////////////
123	// This function displays the ALMOS_MKH banner.
124	///////////////////////////////////////////////////////////////////////////////////////////
125	static void print_banner( uint32_t nclusters , uint32_t ncores )
126	{
127	printk("\n"
128	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
129	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
130	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
131	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
132	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
133	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
134	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
135	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
136	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
137	"\n\n\t\t\t Version 0.0 : %d clusters / %d cores per cluster\n\n", nclusters , ncores );
138	}
139
140
141	///////////////////////////////////////////////////////////////////////////////////////////
142	// This function initializes the TXT0 chdev descriptor, that is the "kernel terminal",
143	// shared by all kernel instances for debug messages.
144	// It is a global variable (replicated in all clusters), because this terminal is used
145	// before the kmem allocator initialisation, but only the instance in cluster containing
146	// the calling core is registered in the "chdev_dir" directory.
147	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
148	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
149	///////////////////////////////////////////////////////////////////////////////////////////
150	// @ info : pointer on the local boot-info structure.
151	///////////////////////////////////////////////////////////////////////////////////////////
152	static void txt0_device_init( boot_info_t * info )
153	{
154	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
155	uint32_t dev_nr; // actual number of devices in this cluster
156	xptr_t base; // remote pointer on segment base
157	uint32_t func; // device functional index
158	uint32_t impl; // device implementation index
159	uint32_t i; // device index in dev_tbl
160	uint32_t x; // X cluster coordinate
161	uint32_t y; // Y cluster coordinate
162	uint32_t channels; // number of channels
163
164	// get number of peripherals and base of devices array from boot_info
165	dev_nr = info->ext_dev_nr;
166	dev_tbl = info->ext_dev;
167
168	// loop on external peripherals to find TXT device
169	for( i = 0 ; i < dev_nr ; i++ )
170	{
171	base = dev_tbl[i].base;
172	func = FUNC_FROM_TYPE( dev_tbl[i].type );
173	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
174	channels = dev_tbl[i].channels;
175
176	if (func == DEV_FUNC_TXT )
177	{
178	assert( (channels > 0) , __FUNCTION__ ,
179	"numner of TXT channels cannot be 0\n");
180
181	// initializes TXT0 basic fields
182	txt0_chdev.func = func;
183	txt0_chdev.impl = impl;
184	txt0_chdev.channel = 0;
185	txt0_chdev.base = base;
186	txt0_chdev.is_rx = false;
187
188	// initializes lock
189	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
190
191	// TXT specific initialisation:
192	// no server thread & no IRQ routing for channel 0
193	dev_txt_init( &txt0_chdev );
194
195	// register the TXT0 in all chdev_dir[x][y] structures
196	for( x = 0 ; x < info->x_size ; x++ )
197	{
198	for( y = 0 ; y < info->y_size ; y++ )
199	{
200	cxy_t cxy = (x<<info->y_width) + y;
201	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
202	XPTR( local_cxy , &txt0_chdev ) );
203	}
204	}
205
206	kinit_dmsg("\n[INFO] %s created TXT0 chdev in cluster %x at cycle %d\n",
207	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
208	}
209	} // end loop on devices
210	} // end txt0_device_init()
211
212	///////////////////////////////////////////////////////////////////////////////////////////
213	// This function allocates memory and initializes the chdev descriptors for the internal
214	// peripherals contained in the local cluster, other than the LAPIC, as specified by
215	// the boot_info, including the linking with the driver for the specified implementation.
216	// The relevant entries in all copies of the devices directory are initialised.
217	///////////////////////////////////////////////////////////////////////////////////////////
218	// @ info : pointer on the local boot-info structure.
219	///////////////////////////////////////////////////////////////////////////////////////////
220	static void internal_devices_init( boot_info_t * info )
221	{
222	boot_device_t * dev_tbl; // pointer on array of internaldevices in boot_info
223	uint32_t dev_nr; // actual number of devices in this cluster
224	xptr_t base; // remote pointer on segment base
225	uint32_t func; // device functionnal index
226	uint32_t impl; // device implementation index
227	uint32_t i; // device index in dev_tbl
228	uint32_t x; // X cluster coordinate
229	uint32_t y; // Y cluster coordinate
230	uint32_t channels; // number of channels
231	uint32_t channel; // channel index
232	chdev_t * chdev_ptr; // local pointer on created chdev
233
234	// get number of internal peripherals and base from boot_info
235	dev_nr = info->int_dev_nr;
236	dev_tbl = info->int_dev;
237
238	// loop on internal peripherals
239	for( i = 0 ; i < dev_nr ; i++ )
240	{
241	base = dev_tbl[i].base;
242	channels = dev_tbl[i].channels;
243	func = FUNC_FROM_TYPE( dev_tbl[i].type );
244	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
245
246	//////////////////////////
247	if( func == DEV_FUNC_MMC )
248	{
249	assert( (channels == 1) , __FUNCTION__ ,
250	"MMC device must be single channel\n" );
251
252	// create chdev in local cluster
253	chdev_ptr = chdev_create( func,
254	impl,
255	0, // channel
256	false, // direction
257	base );
258
259	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
260	"cannot allocate memory for MMC chdev\n" );
261
262	// make MMC specific initialisation
263	dev_mmc_init( chdev_ptr );
264
265	// set the MMC field in all chdev_dir[x][y] structures
266	for( x = 0 ; x < info->x_size ; x++ )
267	{
268	for( y = 0 ; y < info->y_size ; y++ )
269	{
270	cxy_t cxy = (x<<info->y_width) + y;
271	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ),
272	XPTR( local_cxy , chdev_ptr ) );
273	}
274	}
275
276	if( local_cxy == 0 )
277	kinit_dmsg("\n[INFO] %s created MMC chdev in cluster 0 at cycle %d\n",
278	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
279	}
280	///////////////////////////////
281	else if( func == DEV_FUNC_DMA )
282	{
283	// create one chdev per channel in local cluster
284	for( channel = 0 ; channel < channels ; channel++ )
285	{
286	// create chdev[channel] in local cluster
287	chdev_ptr = chdev_create( func,
288	impl,
289	channel,
290	false, // direction
291	base );
292
293	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
294	"cannot allocate memory for DMA chdev" );
295
296	// make DMA specific initialisation
297	dev_dma_init( chdev_ptr );
298
299	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
300	// structure because the DMA device is not remotely accessible.
301	chdev_dir.dma[channel] = XPTR( local_cxy , chdev_ptr );
302
303	kinit_dmsg("\n[INFO] %s created DMA[%d] chdev in cluster 0 at cycle %d\n",
304	__FUNCTION__ , channel , (uint32_t)hal_time_stamp() );
305	}
306	}
307	}
308	} // end internal_devices_init()
309
310	///////////////////////////////////////////////////////////////////////////////////////////
311	// This function allocates memory and initializes the chdev descriptors for the
312	// external (shared) peripherals other than the IOPIC, as specified by the boot_info,
313	// including the dynamic linking with the driver for the specified implementation.
314	// These chdev descriptors are distributed on all clusters, using a modulo on a global
315	// index, identically computed in all clusters: In each cluster, the local CP0 core
316	// computes the global index for all external chdevs, and creates only the chdevs that
317	// must be placed in the local cluster.
318	// The relevant entries in all copies of the devices directory are initialised.
319	///////////////////////////////////////////////////////////////////////////////////////////
320	// @ info : pointer on the local boot-info structure.
321	///////////////////////////////////////////////////////////////////////////////////////////
322	static void external_devices_init( boot_info_t * info )
323	{
324	boot_device_t * dev_tbl; // pointer on array of external devices in boot_info
325	uint32_t dev_nr; // actual number of external devices
326	xptr_t base; // remote pointer on segment base
327	uint32_t func; // device functionnal index
328	uint32_t impl; // device implementation index
329	uint32_t i; // device index in dev_tbl
330	uint32_t x; // X cluster coordinate
331	uint32_t y; // Y cluster coordinate
332	uint32_t channels; // number of channels
333	uint32_t channel; // channel index
334	uint32_t directions; // number of directions (1 or 2)
335	uint32_t rx; // direction index (0 or 1)
336	uint32_t first_channel; // used in loop on channels for TXT
337	chdev_t * chdev; // local pointer on one channel_device descriptor
338	uint32_t ext_chdev_gid; // global index of external chdev
339
340	// get number of peripherals and base of devices array from boot_info
341	dev_nr = info->ext_dev_nr;
342	dev_tbl = info->ext_dev;
343
344	// initializes global index (PIC is already placed in cluster 0
345	ext_chdev_gid = 1;
346
347	// loop on external peripherals
348	for( i = 0 ; i < dev_nr ; i++ )
349	{
350	base = dev_tbl[i].base;
351	channels = dev_tbl[i].channels;
352	func = FUNC_FROM_TYPE( dev_tbl[i].type );
353	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
354
355	// There is one chdev per direction for NIC
356	if (func == DEV_FUNC_NIC) directions = 2;
357	else directions = 1;
358
359	// The TXT0 chdev has already been created
360	if (func == DEV_FUNC_TXT) first_channel = 1;
361	else first_channel = 0;
362
363	// do nothing for RO, that does not require a device descriptor.
364	if( func == DEV_FUNC_ROM ) continue;
365
366	// do nothing for PIC, that is already initialized
367	if( func == DEV_FUNC_PIC ) continue;
368
369	// check PIC device initialized
370	assert( (chdev_dir.pic != XPTR_NULL ) , __FUNCTION__ ,
371	"PIC device must be initialized before other devices\n" );
372
373	// check external device functionnal type
374	assert( ( (func == DEV_FUNC_IOB) \|\|
375	(func == DEV_FUNC_IOC) \|\|
376	(func == DEV_FUNC_TXT) \|\|
377	(func == DEV_FUNC_NIC) \|\|
378	(func == DEV_FUNC_FBF) ) , __FUNCTION__ ,
379	"undefined external peripheral type\n" );
380
381	// loops on channels
382	for( channel = first_channel ; channel < channels ; channel++ )
383	{
384	// loop on directions
385	for( rx = 0 ; rx < directions ; rx++ )
386	{
387	// compute target cluster for chdev[func,channel,direction]
388	uint32_t offset = ext_chdev_gid % ( info->x_size * info->y_size );
389	uint32_t cx = offset / info->y_size;
390	uint32_t cy = offset % info->y_size;
391	uint32_t target_cxy = (cx<<info->y_width) + cy;
392
393	// allocate and initialize a local chdev
394	// if local cluster matches target cluster
395	if( target_cxy == local_cxy )
396	{
397	chdev = chdev_create( func,
398	impl,
399	channel,
400	rx, // direction
401	base );
402
403	assert( (chdev != NULL), __FUNCTION__ ,
404	"cannot allocate external device" );
405
406	// make device type specific initialisation
407	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
408	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
409	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
410	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
411	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev );
412
413	// all external (shared) devices are remotely accessible
414	// initialize the replicated chdev_dir[x][y] structures
415	// defining the extended pointers on chdev descriptors
416	xptr_t * entry;
417
418	if(func==DEV_FUNC_IOB ) entry = &chdev_dir.iob;
419	if(func==DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
420	if(func==DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
421	if(func==DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
422	if((func==DEV_FUNC_NIC) && (rx==0)) entry = &chdev_dir.nic_tx[channel];
423	if((func==DEV_FUNC_NIC) && (rx==1)) entry = &chdev_dir.nic_rx[channel];
424
425	for( x = 0 ; x < info->x_size ; x++ )
426	{
427	for( y = 0 ; y < info->y_size ; y++ )
428	{
429	cxy_t cxy = (x<<info->y_width) + y;
430	hal_remote_swd( XPTR( cxy , entry ),
431	XPTR( local_cxy , chdev ) );
432	}
433	}
434
435	kinit_dmsg("\n[INFO] %s create chdev %s[%d] in cluster %x at cycle %d\n",
436	__FUNCTION__ , chdev_func_str( func ), channel,
437	local_cxy , (uint32_t)hal_time_stamp() );
438
439	} // end if match
440
441	// increment chdev global index (matching or not)
442	ext_chdev_gid++;
443
444	} // end loop on directions
445	} // end loop on channels
446	} // end loop on devices
447	} // end external_devices_init()
448
449	///////////////////////////////////////////////////////////////////////////////////////////
450	// This function is called by CP0 in cluster 0 to allocate memory and initialize the PIC
451	// device, namely the informations attached to the external IOPIC controller.
452	// This initialisation must be done before other devices initialisation because the IRQ
453	// routing infrastructure is required for internal and external devices initialisation.
454	///////////////////////////////////////////////////////////////////////////////////////////
455	// @ info : pointer on the local boot-info structure.
456	///////////////////////////////////////////////////////////////////////////////////////////
457	static void iopic_init( boot_info_t * info )
458	{
459	boot_device_t * dev_tbl; // pointer on boot_info external devices array
460	uint32_t dev_nr; // actual number of external devices
461	xptr_t base; // remote pointer on segment base
462	uint32_t func; // device functionnal index
463	uint32_t impl; // device implementation index
464	uint32_t i; // device index in dev_tbl
465	uint32_t x; // cluster X coordinate
466	uint32_t y; // cluster Y coordinate
467	bool_t found; // IOPIC found
468	chdev_t * chdev; // pointer on PIC chdev descriptor
469
470	// get number of external peripherals and base of array from boot_info
471	dev_nr = info->ext_dev_nr;
472	dev_tbl = info->ext_dev;
473
474	// loop on external peripherals to get the IOPIC
475	for( i = 0 , found = false ; i < dev_nr ; i++ )
476	{
477	func = FUNC_FROM_TYPE( dev_tbl[i].type );
478
479	if( func == DEV_FUNC_PIC )
480	{
481	base = dev_tbl[i].base;
482	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
483	found = true;
484	break;
485	}
486	}
487
488	assert( found , __FUNCTION__ , "PIC device not found\n" );
489
490	// allocate and initialize the PIC chdev in local cluster
491	chdev = chdev_create( func,
492	impl,
493	0, // channel
494	0, // direction,
495	base );
496
497	assert( (chdev != NULL), __FUNCTION__ , "no memory for PIC chdev\n" );
498
499	// make PIC device type specific initialisation
500	dev_pic_init( chdev );
501
502	// register extended pointer on PIC chdev in "chdev_dir" array in all clusters
503	xptr_t * entry = &chdev_dir.pic;
504
505	for( x = 0 ; x < info->x_size ; x++ )
506	{
507	for( y = 0 ; y < info->y_size ; y++ )
508	{
509	cxy_t cxy = (x<<info->y_width) + y;
510	hal_remote_swd( XPTR( cxy , entry ) ,
511	XPTR( local_cxy , chdev ) );
512	}
513	}
514
515	// initialize the "iopic_input" structure
516	// defining how external IRQs are connected to IOPIC
517	uint32_t id;
518	uint8_t valid;
519	uint32_t type;
520	uint8_t channel;
521	uint8_t is_rx;
522
523	for( id = 0 ; id < CONFIG_MAX_EXTERNAL_IRQS ; id++ )
524	{
525	valid = dev_tbl[i].irq[id].valid;
526	type = dev_tbl[i].irq[id].dev_type;
527	channel = dev_tbl[i].irq[id].channel;
528	is_rx = dev_tbl[i].irq[id].is_rx;
529
530	if( valid ) // only valid inputs are registered
531	{
532	uint32_t * index; // local pointer on one entry
533	uint16_t func = FUNC_FROM_TYPE( type );
534
535	if ( func == DEV_FUNC_TXT )
536	index = &iopic_input.txt[channel];
537	else if( func == DEV_FUNC_IOC )
538	index = &iopic_input.ioc[channel];
539	else if( (func == DEV_FUNC_NIC) && (is_rx == 0) )
540	index = &iopic_input.nic_tx[channel];
541	else if( (func == DEV_FUNC_NIC) && (is_rx != 0) )
542	index = &iopic_input.nic_rx[channel];
543	else if( func == DEV_FUNC_IOB )
544	index = &iopic_input.iob;
545	else
546	assert( false , __FUNCTION__ , "illegal source device for IOPIC input" );
547
548	// set entry in local structure
549	*index = id;
550	}
551	}
552
553	kinit_dmsg("\n[INFO] %s created PIC chdev in cluster %x at cycle %d\n",
554	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
555
556	} // end iopic_init()
557
558	///////////////////////////////////////////////////////////////////////////////////////////
559	// This function is called by all CP0s in all cluster to complete the PIC device
560	// initialisation, namely the informations attached to the LAPIC controller.
561	// This initialisation must be done after the IOPIC initialisation, but before other
562	// devices initialisation because the IRQ routing infrastructure is required for both
563	// internal and external devices initialisation.
564	///////////////////////////////////////////////////////////////////////////////////////////
565	// @ info : pointer on the local boot-info structure.
566	///////////////////////////////////////////////////////////////////////////////////////////
567	static void lapic_init( boot_info_t * info )
568	{
569	boot_device_t * dev_tbl; // pointer on boot_info internal devices array
570	uint32_t dev_nr; // number of internal devices
571	uint32_t i; // device index in dev_tbl
572	xptr_t base; // remote pointer on segment base
573	uint32_t func; // device functionnal type in boot_info
574	bool_t found; // LAPIC found
575
576	// get number of internal peripherals and base
577	dev_nr = info->int_dev_nr;
578	dev_tbl = info->int_dev;
579
580	// loop on internal peripherals to get the lapic device
581	for( i = 0 , found = false ; i < dev_nr ; i++ )
582	{
583	func = FUNC_FROM_TYPE( dev_tbl[i].type );
584
585	if( func == DEV_FUNC_ICU )
586	{
587	base = dev_tbl[i].base;
588	found = true;
589	break;
590	}
591	}
592
593	// if the LAPIC controller is not defined in the boot_info,
594	// we simply don't initialize the PIC extensions in the kernel,
595	// making the assumption that the LAPIC related informations
596	// are hidden in the hardware specific PIC driver.
597	if( found )
598	{
599	// initialise the PIC extensions for
600	// the core descriptor and core manager extensions
601	dev_pic_extend_init( (uint32_t *)GET_PTR( base ) );
602
603	// initialize the "lapic_input" structure
604	// defining how internal IRQs are connected to LAPIC
605	uint32_t id;
606	uint8_t valid;
607	uint8_t channel;
608	uint32_t func;
609
610	for( id = 0 ; id < CONFIG_MAX_INTERNAL_IRQS ; id++ )
611	{
612	valid = dev_tbl[i].irq[id].valid;
613	func = FUNC_FROM_TYPE( dev_tbl[i].irq[id].dev_type );
614	channel = dev_tbl[i].irq[id].channel;
615
616	if( valid ) // only valid local IRQs are registered
617	{
618	if ( func == DEV_FUNC_MMC ) lapic_input.mmc = id;
619	else if( func == DEV_FUNC_DMA ) lapic_input.dma[channel] = id;
620	else assert( false , __FUNCTION__ , "illegal source device for LAPIC input" );
621	}
622	}
623	}
624	} // end lapic_init()
625
626	///////////////////////////////////////////////////////////////////////////////////////////
627	// This static function returns the identifiers of the calling core.
628	///////////////////////////////////////////////////////////////////////////////////////////
629	// @ info : pointer on boot_info structure.
630	// @ lid : [out] core local index in cluster.
631	// @ cxy : [out] cluster identifier.
632	// @ lid : [out] core global identifier (hardware).
633	// @ return 0 if success / return EINVAL if not found.
634	///////////////////////////////////////////////////////////////////////////////////////////
635	static error_t get_core_identifiers( boot_info_t * info,
636	lid_t * lid,
637	cxy_t * cxy,
638	gid_t * gid )
639	{
640	uint32_t i;
641	gid_t global_id;
642
643	// get global identifier from hardware register
644	global_id = hal_get_gid();
645
646	// makes an associative search in boot_info to get (cxy,lid) from global_id
647	for( i = 0 ; i < info->cores_nr ; i++ )
648	{
649	if( global_id == info->core[i].gid )
650	{
651	*lid = info->core[i].lid;
652	*cxy = info->core[i].cxy;
653	*gid = global_id;
654	return 0;
655	}
656	}
657	return EINVAL;
658	}
659
660	///////////////////////////////////////////////////////////////////////////////////////////
661	// This function is the entry point for the kernel initialisation.
662	// It is executed by all cores in all clusters, but only core[0], called CP0,
663	// initializes the shared resources such as the cluster manager, or the local peripherals.
664	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
665	// only information contained in the local boot_info_t structure, set by the bootloader.
666	// Only CP0 in cluster 0 print the log messages.
667	///////////////////////////////////////////////////////////////////////////////////////////
668	// @ info : pointer on the local boot-info structure.
669	///////////////////////////////////////////////////////////////////////////////////////////
670	void kernel_init( boot_info_t * info )
671	{
672	lid_t core_lid = -1; // running core local index
673	cxy_t core_cxy = -1; // running core cluster identifier
674	gid_t core_gid; // running core hardware identifier
675	cluster_t * cluster; // pointer on local cluster manager
676	core_t * core; // pointer on running core descriptor
677	thread_t * thread; // pointer on idle thread descriptor
678
679	xptr_t vfs_root_inode_xp; // extended pointer on VFS root inode
680	xptr_t devfs_dev_inode_xp; // extended pointer on DEVFS dev inode
681	xptr_t devfs_external_inode_xp; // extended pointer on DEVFS external inode
682	xptr_t devfs_internal_inode_xp; // extended pointer on DEVFS internal inode
683
684	error_t error;
685
686	cxy_t io_cxy = info->io_cxy;
687
688	/////////////////////////////////////////////////////////////////////////////////
689	// STEP 0 : Each core get its core identifier from boot_info, and makes
690	// a partial initialisation of its private idle thread descriptor.
691	// CP0 initializes the "local_cxy" global variable.
692	// CP0 in cluster IO initializes the TXT0 chdev to print log messages.
693	/////////////////////////////////////////////////////////////////////////////////
694
695	error = get_core_identifiers( info,
696	&core_lid,
697	&core_cxy,
698	&core_gid );
699
700	// CP0 initializes cluster identifier
701	if( core_lid == 0 ) local_cxy = info->cxy;
702
703	// each core gets a pointer on its private idle thread descriptor
704	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
705
706	// each core registers this thread pointer in hardware register
707	hal_set_current_thread( thread );
708
709	// each core initializes the idle thread "locks_root" and "xlocks_root" fields
710	list_root_init( &thread->locks_root );
711	xlist_root_init( XPTR( local_cxy , &thread->xlocks_root ) );
712
713	// CP0 in I/O cluster initialises TXT0 chdev descriptor
714	if( (core_lid == 0) && (core_cxy == io_cxy) ) txt0_device_init( info );
715
716	/////////////////////////////////////////////////////////////////////////////////
717	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
718	(info->x_size * info->y_size) );
719	barrier_wait( &local_barrier , info->cores_nr );
720
721	if( (core_lid == 0) && (local_cxy == 0) )
722	kinit_dmsg("\n[INFO] %s exit barrier 0 at cycle %d : TXT0 initialized\n",
723	__FUNCTION__, (uint32_t)hal_time_stamp());
724
725	/////////////////////////////////////////////////////////////////////////////
726	// STEP 1 : all cores check its core identifier.
727	// CP0 initializes the local cluster manager.
728	// This includes the memory allocators.
729	/////////////////////////////////////////////////////////////////////////////
730
731	// all cores check identifiers
732	if( error )
733	{
734	nolock_printk("\n[PANIC] in %s : illegal core identifiers"
735	" gid = %x / cxy = %x / lid = %d\n",
736	__FUNCTION__ , core_lid , core_cxy , core_lid );
737	hal_core_sleep();
738	}
739
740	// CP0 initializes cluster manager
741	if( core_lid == 0 )
742	{
743	error = cluster_init( info );
744
745	if( error )
746	{
747	nolock_printk("\n[PANIC] in %s : cannot initialise cluster %x",
748	__FUNCTION__ , local_cxy );
749	hal_core_sleep();
750	}
751	}
752
753	/////////////////////////////////////////////////////////////////////////////////
754	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
755	(info->x_size * info->y_size) );
756	barrier_wait( &local_barrier , info->cores_nr );
757	/////////////////////////////////////////////////////////////////////////////////
758
759	if( (core_lid == 0) && (local_cxy == 0) )
760	kinit_dmsg("\n[INFO] %s exit barrier 1 at cycle %d : clusters initialised\n",
761	__FUNCTION__, (uint32_t)hal_time_stamp());
762
763	/////////////////////////////////////////////////////////////////////////////////
764	// STEP 2 : all CP0s initialize the process_zero descriptor.
765	// CP0 in cluster 0 initialises the IOPIC device.
766	// all CP0s complete the distibuted LAPIC initialization.
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	// all CP0s initialize their local LAPIC extension,
780	if( core_lid == 0 ) lapic_init( info );
781
782	////////////////////////////////////////////////////////////////////////////////
783	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
784	(info->x_size * info->y_size) );
785	barrier_wait( &local_barrier , info->cores_nr );
786	////////////////////////////////////////////////////////////////////////////////
787
788	if( (core_lid == 0) && (local_cxy == 0) )
789	kinit_dmsg("\n[INFO] %s exit barrier 2 at cycle %d : PIC initialised\n",
790	__FUNCTION__, (uint32_t)hal_time_stamp());
791
792	////////////////////////////////////////////////////////////////////////////////
793	// STEP 3 : all CP0s initialize their local chdev descriptors
794	// (both internal devices and external devices).
795	////////////////////////////////////////////////////////////////////////////////
796
797	// CP0 scan the internal (private) peripherals,
798	// and allocates memory for the corresponding chdev descriptors.
799	if( core_lid == 0 ) internal_devices_init( info );
800
801
802	// All CP0s contribute to initialise external peripheral chdev descriptors.
803	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
804	// and allocates memory for the chdev descriptors that must be placed
805	// on the (cxy) cluster according to the global index value.
806
807	if( core_lid == 0 ) external_devices_init( info );
808
809	/////////////////////////////////////////////////////////////////////////////////
810	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
811	(info->x_size * info->y_size) );
812	barrier_wait( &local_barrier , info->cores_nr );
813	/////////////////////////////////////////////////////////////////////////////////
814
815	if( (core_lid == 0) && (local_cxy == 0) )
816	kinit_dmsg("\n[INFO] %s exit barrier 3 at cycle %d : all chdev initialised\n",
817	__FUNCTION__, (uint32_t)hal_time_stamp());
818
819	/////////////////////////////////////////////////////////////////////////////////
820	// STEP 4 : Alls cores initialize their private IDLE thread.
821	// Only CP0 in cluster 0 creates the VFS root inode.
822	// It access the boot device to initialize the file system context.
823	/////////////////////////////////////////////////////////////////////////////////
824
825	// all cores create idle thread descriptor
826	error = thread_kernel_init( thread,
827	THREAD_IDLE,
828	&thread_idle_func,
829	NULL,
830	core_lid );
831	if( error )
832	{
833	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
834	__FUNCTION__ , local_cxy , core_lid );
835	hal_core_sleep();
836	}
837
838	// all cores register idle thread in scheduler
839	core->scheduler.idle = thread;
840
841	// all core activate the idle thread
842	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
843
844	if( (core_lid == 0) && (local_cxy == 0) )
845	{
846	kinit_dmsg("\n[INFO] %s : created idle thread %x at cycle %d\n",
847	__FUNCTION__ , thread , (uint32_t)hal_time_stamp());
848	}
849
850	// CPO in cluster 0 creates the VFS root
851	if( (core_lid == 0) && (local_cxy == 0 ) )
852	{
853	vfs_root_inode_xp = XPTR_NULL;
854
855	// File System must be FATFS in this implementation,
856	// but other File System can be introduced here
857	if( CONFIG_VFS_ROOT_IS_FATFS )
858	{
859	// 1. create FATFS context in cluster 0
860	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
861
862	printk("\n@@@ %s extend = %x\n", __FUNCTION__ , fatfs_ctx );
863
864	nolock_assert( (fatfs_ctx != NULL) , __FUNCTION__ ,
865	"cannot create FATFS context in cluster 0\n" );
866
867	// 2. access boot device to initialize FATFS context
868	fatfs_ctx_init( fatfs_ctx );
869
870	// 3. get various informations from FATFS context
871	uint32_t root_dir_cluster = fatfs_ctx->root_dir_cluster;
872	uint32_t cluster_size = fatfs_ctx->bytes_per_sector *
873	fatfs_ctx->sectors_per_cluster;
874	uint32_t total_clusters = fatfs_ctx->fat_sectors_count << 7;
875
876	// 4. create VFS root inode in cluster 0
877	error = vfs_inode_create( XPTR_NULL, // dentry_xp
878	FS_TYPE_FATFS, // fs_type
879	INODE_TYPE_DIR, // inode_type
880	(void *)(intptr_t)root_dir_cluster, // extend
881	0, // attr
882	0, // rights
883	0, // uid
884	0, // gid
885	&vfs_root_inode_xp ); // return
886
887	nolock_assert( (error == 0) , __FUNCTION__ ,
888	"cannot create VFS root inode\n" );
889
890	// 5. initialize VFS context for FAT in cluster 0
891	vfs_ctx_init( FS_TYPE_FATFS, // file system type
892	0, // attributes
893	total_clusters,
894	cluster_size,
895	vfs_root_inode_xp, // VFS root
896	fatfs_ctx ); // extend
897	}
898	else
899	{
900	nolock_printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
901	hal_core_sleep();
902	}
903
904	///////////////////////////////@@@
905	fatfs_ctx_display();
906	///////////////////////////////@@@
907
908	// register VFS root inode in process_zero
909	process_zero.vfs_root_xp = vfs_root_inode_xp;
910	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
911	}
912
913	/////////////////////////////////////////////////////////////////////////////////
914	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
915	(info->x_size * info->y_size) );
916	barrier_wait( &local_barrier , info->cores_nr );
917	/////////////////////////////////////////////////////////////////////////////////
918
919	if( (core_lid == 0) && (local_cxy == 0) )
920	kinit_dmsg("\n[INFO] %s exit barrier 4 at cycle %d : VFS OK in cluster 0\n",
921	__FUNCTION__, (uint32_t)hal_time_stamp());
922
923	/////////////////////////////////////////////////////////////////////////////////
924	// STEP 5 : Other CP0s allocate memory for the selected FS context,
925	// and initialise both the local FS context and the local VFS context
926	// from values stored in cluster 0.
927	// They get the VFS root inode extended pointer from cluster 0.
928	/////////////////////////////////////////////////////////////////////////////////
929
930	if( (core_lid == 0) && (local_cxy != 0) )
931	{
932	// File System must be FATFS in this implementation,
933	// but other File System can be introduced here
934	if( CONFIG_VFS_ROOT_IS_FATFS )
935	{
936	// allocate memory for FATFS context
937	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
938
939	nolock_assert( (fatfs_ctx != NULL) , __FUNCTION__ ,
940	"cannot create FATFS context\n" );
941
942	// get local pointer on VFS context for FATFS
943	vfs_ctx_t * vfs_ctx = &fs_context[FS_TYPE_FATFS];
944
945	// copy VFS context from cluster 0 to local cluster
946	hal_remote_memcpy( XPTR( local_cxy , vfs_ctx ),
947	XPTR( 0 , vfs_ctx ),
948	sizeof(vfs_ctx_t) );
949
950	// copy FATFS context from cluster 0 to local cluster
951	hal_remote_memcpy( XPTR( local_cxy , fatfs_ctx ),
952	XPTR( 0 , fatfs_ctx ),
953	sizeof(fatfs_ctx_t) );
954
955	// update extend field in local copy of VFS context
956	vfs_ctx->extend = fatfs_ctx;
957	}
958
959	// get extended pointer on VFS root inode from cluster 0
960	vfs_root_inode_xp = hal_remote_lwd( XPTR( 0 , process_zero.vfs_root_xp ) );
961
962	// update local process_zero descriptor
963	process_zero.vfs_root_xp = vfs_root_inode_xp;
964	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
965	}
966
967	/////////////////////////////////////////////////////////////////////////////////
968	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
969	(info->x_size * info->y_size) );
970	barrier_wait( &local_barrier , info->cores_nr );
971	/////////////////////////////////////////////////////////////////////////////////
972
973	if( (core_lid == 0) && (local_cxy == 0) )
974	kinit_dmsg("\n[INFO] %s exit barrier 5 at cycle %d : VFS OK in all clusters\n",
975	__FUNCTION__, (uint32_t)hal_time_stamp());
976
977
978	/////////////////////////////////////////////////////////////////////////////////
979	// STEP 6 : CP0 in cluster IO makes the global DEVFS tree initialisation:
980	// It creates the DEVFS directory "dev", and the DEVFS "external"
981	// directory in cluster IO and mount these inodes into VFS.
982	/////////////////////////////////////////////////////////////////////////////////
983
984	if( (core_lid == 0) && (local_cxy == io_cxy) )
985	{
986	// create "dev" and "external" directories.
987	devfs_global_init( process_zero.vfs_root_xp,
988	&devfs_dev_inode_xp,
989	&devfs_external_inode_xp );
990
991	// creates the DEVFS context in cluster IO
992	devfs_ctx_t * devfs_ctx = devfs_ctx_alloc();
993
994	nolock_assert( (devfs_ctx != NULL) , __FUNCTION__ ,
995	"cannot create DEVFS context in cluster IO\n");
996
997	// register DEVFS root and external directories
998	devfs_ctx_init( devfs_ctx, devfs_dev_inode_xp, devfs_external_inode_xp );
999	}
1000
1001	/////////////////////////////////////////////////////////////////////////////////
1002	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
1003	(info->x_size * info->y_size) );
1004	barrier_wait( &local_barrier , info->cores_nr );
1005	/////////////////////////////////////////////////////////////////////////////////
1006
1007	if( (core_lid == 0) && (local_cxy == 0) )
1008	kinit_dmsg("\n[INFO] %s exit barrier 6 at cycle %d : DEVFS OK in cluster IO\n",
1009	__FUNCTION__, (uint32_t)hal_time_stamp());
1010
1011	/////////////////////////////////////////////////////////////////////////////////
1012	// STEP 7 : All CP0s complete in parallel the DEVFS tree initialization.
1013	// Each CP0 get the "dev" and "external" extended pointers from
1014	// values stored in cluster IO.
1015	// Then CP0 in cluster(i) creates the DEVFS "internal directory,
1016	// and creates the pseudo-files for all chdevs in cluster (i).
1017	/////////////////////////////////////////////////////////////////////////////////
1018
1019	if( core_lid == 0 )
1020	{
1021	// get extended pointer on "extend" field of VFS context for DEVFS in cluster IO
1022	xptr_t extend_xp = XPTR( io_cxy , &fs_context[FS_TYPE_DEVFS].extend );
1023
1024	// get pointer on DEVFS context in cluster IO
1025	devfs_ctx_t * devfs_ctx = hal_remote_lpt( extend_xp );
1026
1027	devfs_dev_inode_xp = hal_remote_lwd( XPTR( io_cxy ,
1028	&devfs_ctx->dev_inode_xp ) );
1029	devfs_external_inode_xp = hal_remote_lwd( XPTR( io_cxy ,
1030	&devfs_ctx->external_inode_xp ) );
1031
1032	// populate DEVFS in all clusters
1033	devfs_local_init( devfs_dev_inode_xp,
1034	devfs_external_inode_xp,
1035	&devfs_internal_inode_xp );
1036	}
1037
1038	/////////////////////////////////////////////////////////////////////////////////
1039	if( core_lid == 0 ) remote_barrier( XPTR( io_cxy , &global_barrier ),
1040	(info->x_size * info->y_size) );
1041	barrier_wait( &local_barrier , info->cores_nr );
1042	/////////////////////////////////////////////////////////////////////////////////
1043
1044	if( (core_lid == 0) && (local_cxy == 0) )
1045	kinit_dmsg("\n[INFO] %s exit barrier 7 at cycle %d : DEVFS OK in all clusters\n",
1046	__FUNCTION__, (uint32_t)hal_time_stamp());
1047
1048	#if CONFIG_KINIT_DEBUG
1049	vfs_display( vfs_root_inode_xp );
1050	#endif
1051
1052	/////////////////////////////////////////////////////////////////////////////////
1053	// STEP 8 : CP0 in I/O cluster creates the first user process (process_init)
1054	/////////////////////////////////////////////////////////////////////////////////
1055
1056	if( (core_lid == 0) && (local_cxy == io_cxy) )
1057	{
1058	process_init_create();
1059	}
1060
1061	/////////////////////////////////////////////////////////////////////////////////
1062	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
1063	(info->x_size * info->y_size) );
1064	barrier_wait( &local_barrier , info->cores_nr );
1065	/////////////////////////////////////////////////////////////////////////////////
1066
1067	if( (core_lid == 0) && (local_cxy == 0) )
1068	kinit_dmsg("\n[INFO] %s exit barrier 8 at cycle %d : process init created\n",
1069	__FUNCTION__ , (uint32_t)hal_time_stamp() );
1070
1071	/////////////////////////////////////////////////////////////////////////////////
1072	// STEP 9 : CP0 in cluster 0 print banner
1073	/////////////////////////////////////////////////////////////////////////////////
1074
1075	if( (core_lid == 0) && (local_cxy == io_cxy) )
1076	{
1077	print_banner( (info->x_size * info->y_size) , info->cores_nr );
1078
1079	kinit_dmsg("\n\n* memory fooprint of main kernet objects *\n"
1080	" - thread descriptor : %d bytes\n"
1081	" - process descriptor : %d bytes\n"
1082	" - cluster manager : %d bytes\n"
1083	" - chdev descriptor : %d bytes\n"
1084	" - core descriptor : %d bytes\n"
1085	" - scheduler : %d bytes\n"
1086	" - rpc fifo : %d bytes\n"
1087	" - page descriptor : %d bytes\n"
1088	" - mapper root : %d bytes\n"
1089	" - ppm manager : %d bytes\n"
1090	" - kcm manager : %d bytes\n"
1091	" - khm manager : %d bytes\n"
1092	" - vmm manager : %d bytes\n"
1093	" - gpt root : %d bytes\n"
1094	" - list item : %d bytes\n"
1095	" - xlist item : %d bytes\n"
1096	" - spinlock : %d bytes\n"
1097	" - remote spinlock : %d bytes\n"
1098	" - rwlock : %d bytes\n"
1099	" - remote rwlock : %d bytes\n",
1100	sizeof( thread_t ),
1101	sizeof( process_t ),
1102	sizeof( cluster_t ),
1103	sizeof( chdev_t ),
1104	sizeof( core_t ),
1105	sizeof( scheduler_t ),
1106	sizeof( rpc_fifo_t ),
1107	sizeof( page_t ),
1108	sizeof( mapper_t ),
1109	sizeof( ppm_t ),
1110	sizeof( kcm_t ),
1111	sizeof( khm_t ),
1112	sizeof( vmm_t ),
1113	sizeof( gpt_t ),
1114	sizeof( list_entry_t ),
1115	sizeof( xlist_entry_t ),
1116	sizeof( spinlock_t ),
1117	sizeof( remote_spinlock_t ),
1118	sizeof( rwlock_t ),
1119	sizeof( remote_rwlock_t ));
1120	}
1121
1122	// each core activates its private PTI IRQ
1123	dev_pic_enable_timer( CONFIG_SCHED_TICK_PERIOD );
1124
1125	if( (core_lid == 0) && (local_cxy == io_cxy) )
1126	thread_dmsg("\n[INFO] %s complete kernel init in cluster 0 at cycle %d\n"
1127	__FUNCTION__ , (uint32_t)hal_time_stamp() )
1128
1129	// each core jump to idle thread
1130	thread_idle_func();
1131	}
1132

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