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source: trunk/kernel/kern/kernel_init.c @ 176

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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 <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 built by the bootloader, and used by kernel_init.
69	// it must be the first object in the kdata segment.
70	// - the array of idle threads descriptors must be placed on the first page boundary after
71	// the boot_info structure in the kdata segment.
72	///////////////////////////////////////////////////////////////////////////////////////////
73
74	// This variable defines the local boot_info structure
75	__attribute__((section(".kinfo")))
76	boot_info_t boot_info;
77
78	// This variable defines the "idle" threads descriptors array
79	__attribute__((section(".kidle")))
80	char idle_threads[CONFIG_THREAD_DESC_SIZE *
81	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
82
83	// This variable defines the local cluster manager
84	__attribute__((section(".kdata")))
85	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
86
87	// This 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 synchronisation in kernel_init()
112	__attribute__((section(".kdata")))
113	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
114
115	// This variable is used for local cores synchronisation in kernel_init()
116	__attribute__((section(".kdata")))
117	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
118
119	// This variable defines the array of supported File System contexts
120	__attribute__((section(".kdata")))
121	vfs_ctx_t fs_context[FS_TYPES_NR] CONFIG_CACHE_LINE_ALIGNED;
122
123
124	///////////////////////////////////////////////////////////////////////////////////////////
125	// This function displays the ALMOS_MKH banner.
126	///////////////////////////////////////////////////////////////////////////////////////////
127	static void print_banner( uint32_t nclusters , uint32_t ncores )
128	{
129	printk("\n"
130	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
131	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
132	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
133	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
134	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
135	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
136	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
137	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
138	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
139	"\n\n\t\t\t Version 0.0 : %d 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 registers 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 functional 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	}
219
220	///////////////////////////////////////////////////////////////////////////////////////////
221	// This static function allocates memory for the chdev (channel_device) descriptors
222	// associated to the internal peripherals contained in the local cluster. These internal
223	// devices (ICU, MMC, DMA) chdev descriptors are placed in the local cluster.
224	// It initialises these device descriptors as specified by the boot_info_t structure,
225	// including the dynamic linking with the driver for the specified implementation.
226	// Finally, all copies of the devices directory are initialised.
227	///////////////////////////////////////////////////////////////////////////////////////////
228	// @ info : pointer on the local boot-info structure.
229	///////////////////////////////////////////////////////////////////////////////////////////
230	static void internal_devices_init( boot_info_t * info )
231	{
232	boot_device_t * dev; // pointer on boot_info device (ICU/MMC/DMA)
233	uint32_t x; // X cluster coordinate
234	uint32_t y; // Y cluster coordinate
235	chdev_t * chdev_ptr; // local pointer on chdev descriptor
236	xptr_t chdev_xp; // extended pointer on chdev descriptor
237
238	/////////// ICU //////////
239
240	dev = &info->dev_icu;
241
242	assert( ((info->cores_nr == 0) \|\| (dev->channels != 0)) , __FUNCTION__ ,
243	"ICU device must exist in cluster containing cores" );
244
245	assert( (dev->channels == 1) , __FUNCTION__ ,
246	"channels number must be 1 for ICU device" );
247
248	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_ICU ) , __FUNCTION__ ,
249	" inconsistent ICU device type");
250
251	// create one chdev in local cluster
252	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
253	IMPL_FROM_TYPE( dev->type ),
254	0, // channel
255	false, // TX
256	dev->base );
257
258	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate ICU chdev" );
259
260	// get extended pointer on chdev descriptor
261	chdev_xp = XPTR( local_cxy , chdev_ptr );
262
263	// make ICU specific initialisation
264	// TODO remove these three parameters
265	dev_icu_init( chdev_ptr , dev->param0 , dev->param1 , dev->param2 );
266
267	// initialize the ICU field in the chdev_dir[x][y] structures
268	// replicated in all clusters, and containing extended pointers
269	// on all remotely accessible devices
270	for( x = 0 ; x < info->x_size ; x++ )
271	{
272	for( y = 0 ; y < info->y_size ; y++ )
273	{
274	cxy_t cxy = (x<<info->y_width) + y;
275	hal_remote_swd( XPTR( cxy , &chdev_dir.icu[local_cxy] ) , chdev_xp );
276	}
277	}
278
279	// initialize the entries of the local chdev_icu_input structure
280	// defining how internal peripherals are connected to ICU
281	uint32_t id;
282	uint8_t valid;
283	uint32_t src_type;
284	uint8_t src_ch;
285	uint32_t src_func;
286	for( id = 0 ; id < CONFIG_MAX_HWIS_PER_ICU ; id++ )
287	{
288	valid = dev->irq[id].valid;
289	src_type = dev->irq[id].dev_type;
290	src_ch = dev->irq[id].channel;
291	src_func = FUNC_FROM_TYPE( src_type );
292
293	if( valid ) // only valid local IRQs are registered
294	{
295	if ( src_func == DEV_FUNC_MMC ) chdev_icu_input.mmc = id;
296	else if( src_func == DEV_FUNC_DMA ) chdev_icu_input.dma[src_ch] = id;
297	else assert( false , __FUNCTION__ , "illegal source device for ICU input" );
298	}
299	}
300
301	kinit_dmsg("\n[INFO] %s : core[%x][0] created ICU chdev at cycle %d\n",
302	__FUNCTION__ , local_cxy , hal_get_cycles() );
303
304	/////////// MMC internal chdev ///////////
305
306	dev = &info->dev_mmc;
307
308	if( dev->channels != 0 ) // MMC device is defined
309	{
310	assert( (dev->channels == 1) , __FUNCTION__ ,
311	"channels number must be 1 for MMC device" );
312
313	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_MMC ) , __FUNCTION__ ,
314	" inconsistent MMC device type");
315
316	// create one chdev in local cluster
317	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
318	IMPL_FROM_TYPE( dev->type ),
319	0, // channel
320	false, // TX
321	dev->base );
322
323	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate MMC chdev" );
324
325	// get extended pointer on chdev descriptor
326	chdev_xp = XPTR( local_cxy , chdev_ptr );
327
328	// make MMC specific initialisation
329	dev_mmc_init( chdev_ptr );
330
331	// initialize the MMC field in the chdev_dir[x][y] structures
332	// replicated in all clusters, and containing extended pointers
333	// on all remotely accessible devices
334	for( x = 0 ; x < info->x_size ; x++ )
335	{
336	for( y = 0 ; y < info->y_size ; y++ )
337	{
338	cxy_t cxy = (x<<info->y_width) + y;
339	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ) , chdev_xp );
340	}
341	}
342
343	kinit_dmsg("\n[INFO] %s : core[%x][0] created MMC chdev at cycle %d\n",
344	__FUNCTION__ , local_cxy , hal_get_cycles() );
345	}
346
347	/////////// DMA internal chdevs //////////
348
349	dev = &info->dev_dma;
350
351	if( dev->channels != 0 ) // DMA device is defined
352	{
353	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_DMA ) , __FUNCTION__ ,
354	" inconsistent DMA device type");
355
356	// create one chdev per channel in local cluster
357	uint32_t channel;
358	for( channel = 0 ; channel < dev->channels ; channel++ )
359	{
360	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
361	IMPL_FROM_TYPE( dev->type ),
362	channel, // channel
363	false, // TX
364	dev->base );
365
366	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate DMA chdev" );
367
368	// get extended pointer on channel descriptor
369	chdev_xp = XPTR( local_cxy , chdev_ptr );
370
371	// make DMA specific initialisation
372	dev_dma_init( chdev_ptr );
373
374	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
375	// structure because the DMA device is not remotely accessible.
376	chdev_dir.dma[channel] = chdev_xp;
377
378	kinit_dmsg("\n[INFO] %s : core[%x][0] created DMA[%d] chdev at cycle %d\n",
379	__FUNCTION__ , local_cxy , channel , hal_get_cycles() );
380	}
381	}
382	} // end internal_devices_init()
383
384	///////////////////////////////////////////////////////////////////////////////////////////
385	// This static function allocates memory for the chdev descriptors associated
386	// to the external (shared) peripherals contained in the local cluster. These external
387	// devices (IOB, IOC, TXT, NIC, etc ) are distributed on all clusters.
388	// It initialises these device descriptors as specified by the boot_info_t structure,
389	// including the dynamic linking with the driver for the specified implementation.
390	// Finally, all copies of the devices directory are initialised.
391	//
392	// The number of channel_devices depends on the device functional type.
393	// There are three nested loops to build the full set of external channel_devices:
394	// - loop on external devices.
395	// - loop on channels for multi-channels devices.
396	// - loop on directions (RX/TX) for NIC device.
397	// The set of channel_devices is indexed by the chdev_gid global index, that is used
398	// to select the cluster containing a given chdev[func,channel,direction].
399	// All clusters scan the full set of chdevs, but only the cluster matching
400	// (chdev_gid % (x_size*y_size)) create the corresponding chdev.
401	//
402	// TODO check that cluster IO contains a PIC [AG]
403	// TODO make a default initialisation for the chdev_dir structure (XPTR_NULL ) [AG]
404	///////////////////////////////////////////////////////////////////////////////////////////
405	// @ info : pointer on the local boot-info structure.
406	///////////////////////////////////////////////////////////////////////////////////////////
407	static void external_devices_init( boot_info_t * info )
408	{
409	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
410	uint32_t dev_nr; // actual number of devices in this cluster
411	xptr_t base; // remote pointer on segment base
412	uint32_t type; // peripheral type
413	uint32_t func; // device functionnal index
414	uint32_t impl; // device implementation index
415	uint32_t i; // device index in dev_tbl
416	uint32_t x; // X cluster coordinate
417	uint32_t y; // Y cluster coordinate
418	uint32_t channels_nr; // number of channels
419	uint32_t channel; // channel index
420	uint32_t directions_nr; // number of directions
421	uint32_t direction; // direction index
422	uint32_t p0; // device parameter 0
423	uint32_t p1; // device parameter 1
424	uint32_t p2; // device parameter 2
425	uint32_t p3; // device parameter 3
426	uint32_t first_channel; // used in loop on channels
427
428	chdev_t * chdev; // local pointer on one channel_device descriptor
429	xptr_t chdev_xp; // extended pointer on channel_device descriptor
430	uint32_t chdev_gid = 0; // global index of channel_device descriptor
431
432	// get number of peripherals and base of devices array from boot_info
433	dev_nr = info->ext_dev_nr;
434	dev_tbl = info->ext_dev;
435
436	// loop on external peripherals
437	for( i = 0 ; i < dev_nr ; i++ )
438	{
439	base = dev_tbl[i].base;
440	type = dev_tbl[i].type;
441	channels_nr = dev_tbl[i].channels;
442	p0 = dev_tbl[i].param0;
443	p1 = dev_tbl[i].param1;
444	p2 = dev_tbl[i].param2;
445	p3 = dev_tbl[i].param3;
446
447	func = FUNC_FROM_TYPE( type );
448	impl = IMPL_FROM_TYPE( type );
449
450	// There is one chdev per direction for NIC
451	if (func == DEV_FUNC_NIC) directions_nr = 2;
452	else directions_nr = 1;
453
454	// The TXT0 chdev has already been created
455	if (func == DEV_FUNC_TXT) first_channel = 1;
456	else first_channel = 0;
457
458	// do nothing for ROM, that does not require a device descriptor.
459	if( func == DEV_FUNC_ROM ) continue;
460
461	// check external device functional type
462	if( (func != DEV_FUNC_IOB) &&
463	(func != DEV_FUNC_PIC) &&
464	(func != DEV_FUNC_IOC) &&
465	(func != DEV_FUNC_TXT) &&
466	(func != DEV_FUNC_NIC) &&
467	(func != DEV_FUNC_FBF) )
468	{
469	assert( false , __FUNCTION__ , "undefined external peripheral type" );
470	}
471
472	// loops on channels
473	for( channel = first_channel ; channel < channels_nr ; channel++ )
474	{
475	// loop on directions
476	for( direction = 0 ; direction < directions_nr ; direction++ )
477	{
478	// get target cluster for chdev[func,channel,direction]
479	uint32_t offset = chdev_gid % ( info->x_size * info->y_size );
480	uint32_t cx = offset / info->y_size;
481	uint32_t cy = offset % info->y_size;
482	uint32_t target_cxy = (cx<<info->y_width) + cy;
483
484	// allocate and initialize a local chdev
485	// if local cluster matches target cluster
486	if( target_cxy == local_cxy )
487	{
488	chdev = chdev_create( func,
489	impl,
490	channel,
491	direction,
492	base );
493
494	assert( (chdev != NULL), __FUNCTION__ ,
495	"cannot allocate external device" );
496
497	// get extended pointer on chdev
498	chdev_xp = XPTR( local_cxy , chdev );
499
500	// make device type specific initialisation
501	// the number of parameters depends on the device type
502	// TODO : remove the parameters that must be provided by the drivers
503	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
504	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
505	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
506	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
507	else if( func == DEV_FUNC_PIC ) dev_pic_init( chdev , p0 );
508	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev , p0 , p1 );
509	else
510	{
511	assert( false , __FUNCTION__ , "undefined device type" );
512	}
513
514	// all external (shared) devices are remotely accessible
515	// initialize the replicated chdev_dir[x][y] structures
516	// defining the extended pointers on chdev descriptors
517	xptr_t * entry;
518
519	if( func == DEV_FUNC_IOB ) entry = &chdev_dir.iob;
520	if( func == DEV_FUNC_PIC ) entry = &chdev_dir.pic;
521	if( func == DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
522	if( func == DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
523	if( func == DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
524	if( func == DEV_FUNC_NIC ) entry = &chdev_dir.nic_tx[channel];
525
526	for( x = 0 ; x < info->x_size ; x++ )
527	{
528	for( y = 0 ; y < info->y_size ; y++ )
529	{
530	cxy_t cxy = (x<<info->y_width) + y;
531	hal_remote_swd( XPTR( cxy , entry ) , chdev_xp );
532	}
533	}
534
535	kinit_dmsg("\n[INFO] %s : core[%x][0] create chdev %s[%d] at cycle %d\n",
536	__FUNCTION__ , local_cxy , chdev_func_str( func ),
537	channel , hal_get_cycles() );
538
539	} // end if match
540
541	// increment chdev global index (matching or not)
542	chdev_gid++;
543
544	} // end loop on directions
545
546	} // end loop on channels
547
548	// initialize the entries of the local chdev_pic_input structure
549	// defining how external peripherals are connected to PIC
550	if( func == DEV_FUNC_PIC )
551	{
552	uint32_t id;
553	uint8_t valid;
554	uint32_t dev_type;
555	uint8_t channel;
556	uint8_t is_rx;
557
558	// loop on PIC inputs
559	for( id = 0 ; id < CONFIG_MAX_IRQS_PER_PIC ; id++ )
560	{
561	valid = dev_tbl[i].irq[id].valid;
562	dev_type = dev_tbl[i].irq[id].dev_type;
563	channel = dev_tbl[i].irq[id].channel;
564	is_rx = dev_tbl[i].irq[id].is_rx;
565
566	if( valid ) // only valid inputs are registered
567	{
568	uint32_t * index; // local pointer on one entry
569	uint16_t dev_func = FUNC_FROM_TYPE( dev_type );
570
571	if( dev_func == DEV_FUNC_TXT )
572	{
573	index = &chdev_pic_input.txt[channel];
574	}
575	else if( dev_func == DEV_FUNC_IOC )
576	{
577	index = &chdev_pic_input.ioc[channel];
578	}
579	else if( (dev_func == DEV_FUNC_NIC) && (is_rx == 0) )
580	{
581	index = &chdev_pic_input.nic_tx[channel];
582	}
583	else if( (dev_func == DEV_FUNC_NIC) && (is_rx != 0) )
584	{
585	index = &chdev_pic_input.nic_rx[channel];
586	}
587	else
588	{
589	assert( false , __FUNCTION__ , "illegal source device for PIC input" );
590	}
591
592	// set entry in local structure
593	*index = id;
594	}
595	} // end loop on PIC inputs
596	} // end PIC
597	} // end loop on devices
598	} // end external_devices_init()
599
600
601	///////////////////////////////////////////////////////////////////////////////////////////
602	// This static function returns the identifiers of the calling core.
603	///////////////////////////////////////////////////////////////////////////////////////////
604	// @ info : pointer on boot_info structure.
605	// @ lid : [out] core local index in cluster.
606	// @ cxy : [out] cluster identifier.
607	// @ lid : [out] core global identifier (hardware).
608	// @ return 0 if success / return EINVAL if not found.
609	///////////////////////////////////////////////////////////////////////////////////////////
610	static error_t get_core_identifiers( boot_info_t * info,
611	lid_t * lid,
612	cxy_t * cxy,
613	gid_t * gid )
614	{
615	uint32_t i;
616	gid_t global_id;
617
618	// get global identifier from hardware register
619	global_id = hal_get_gid();
620
621	// makes an associative search in boot_info to get (cxy,lid) from global_id
622	for( i = 0 ; i < info->cores_nr ; i++ )
623	{
624	if( global_id == info->core[i].gid )
625	{
626	*lid = info->core[i].lid;
627	*cxy = info->core[i].cxy;
628	*gid = global_id;
629	return 0;
630	}
631	}
632	return EINVAL;
633	}
634
635	///////////////////////////////////////////////////////////////////////////////////////////
636	// This function is the entry point for the kernel initialisation.
637	// It is executed by all cores in all clusters, but only core[0], called CP0,
638	// initializes the shared resources such as the cluster manager, or the local peripherals.
639	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
640	// only information contained in the local boot_info_t structure, set by the bootloader.
641	// Only CP0 in cluster 0 print the log messages.
642	///////////////////////////////////////////////////////////////////////////////////////////
643	// @ info : pointer on the local boot-info structure.
644	///////////////////////////////////////////////////////////////////////////////////////////
645	void kernel_init( boot_info_t * info )
646	{
647	lid_t core_lid = -1; // running core local index
648	cxy_t core_cxy = -1; // running core cluster identifier
649	gid_t core_gid; // running core hardware identifier
650	cluster_t * cluster; // pointer on local cluster manager
651	core_t * core; // pointer on running core descriptor
652	thread_t * thread; // pointer on idle thread descriptor
653	error_t error;
654
655	// all cores get and check core identifiers
656	error = get_core_identifiers( info,
657	&core_lid,
658	&core_cxy,
659	&core_gid );
660
661	// CP0 initializes cluster identifier
662	if( core_lid == 0 ) local_cxy = info->cxy;
663
664	// each core gets a pointer on its private idle thread descriptor
665	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
666
667	// each core registers this thread pointer in hardware register
668	hal_set_current_thread( thread );
669
670	list_root_init( &thread->locks_root );
671	xlist_root_init( XPTR( local_cxy, &thread->xlocks_root ) );
672
673	// CP0 in I/O cluster initializes TXT0 chdev descriptor
674	if( (core_lid == 0) && (core_cxy == info->io_cxy) ) txt0_device_init( info );
675
676	/////////////////////////////////////////////////////////////////////////////////
677	// global & local synchro to protect access to TXT0 terminal
678	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
679	(info->x_size * info->y_size) );
680	barrier_wait( &local_barrier , info->cores_nr );
681	/////////////////////////////////////////////////////////////////////////////////
682
683	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
684	{
685	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 0 at cycle %d\n",
686	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
687	}
688
689	// all cores check core identifiers
690	if( error )
691	{
692	nolock_printk("\n[PANIC] in %s : illegal core identifiers"
693	" gid = %x / cxy = %x / lid = %d\n",
694	__FUNCTION__ , core_lid , core_cxy , core_lid );
695	hal_core_sleep();
696	}
697
698	// CP0 initializes the local cluster manager (cores and memory allocators)
699	if( core_lid == 0 )
700	{
701	error = cluster_init( info );
702
703	if( error )
704	{
705	nolock_printk("\n[PANIC] in %s : cannot initialise cluster manager in cluster %x",
706	__FUNCTION__ , local_cxy );
707	hal_core_sleep();
708	}
709	}
710
711	/////////////////////////////////////////////////////////////////////////////////
712	// global & local synchro, to protect access to cluster manager
713	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
714	(info->x_size * info->y_size) );
715	barrier_wait( &local_barrier , info->cores_nr );
716	/////////////////////////////////////////////////////////////////////////////////
717
718	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
719	{
720	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 1 at cycle %d\n",
721	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
722	}
723
724	// all cores get pointer on local cluster manager and on core descriptor
725	cluster = &cluster_manager;
726	core = &cluster->core_tbl[core_lid];
727
728	// CP0 initializes the process_zero descriptor
729	if( core_lid == 0 ) process_reference_init( &process_zero , 0 , XPTR_NULL );
730
731	#ifdef __HAL_x86_64__
732	return; /* XXX temporary */
733	#endif
734
735	// CP0 allocates and initializes the internal peripheral chdev descriptors.
736	// Each CP0[cxy] scan the set of its internal (private) peripherals,
737	// and allocates memory for the corresponding chdev descriptors.
738	if( core_lid == 0 ) internal_devices_init( info );
739
740	// CP0 allocates one WTI mailbox per core for Inter Processor Interrupt
741	// this must be done after ICU chdev initialisation, by CP0 only, and before
742	// external devices initialisation to enforce the rule :
743	// "The WTI index for the IPI routed to core[lid] is lid"
744	if( core_lid == 1 )
745	{
746	uint32_t wti_id;
747	uint32_t lid;
748	for( lid = 0 ; lid < LOCAL_CLUSTER->cores_nr ; lid++ )
749	{
750	wti_id = dev_icu_wti_alloc();
751
752	if( wti_id != lid )
753	{
754	nolock_printk("\n[PANIC] in %s : WTI index for IPI = %d / core_lid = %d",
755	__FUNCTION__ , wti_id , lid );
756	hal_core_sleep();
757	}
758
759	dev_icu_enable_irq( lid , WTI_TYPE , wti_id , NULL );
760	}
761	}
762
763	// All CP0s contribute to initialise external peripheral chdev descriptors.
764	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
765	// and allocates memory for the chdev descriptors that must be placed
766	// on the (cxy) cluster according to the global index value.
767	if( core_lid == 0 ) external_devices_init( info );
768
769	/////////////////////////////////////////////////////////////////////////////////
770	// global &local synchro to protect access to peripherals
771	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
772	(info->x_size * info->y_size) );
773	barrier_wait( &local_barrier , info->cores_nr );
774	/////////////////////////////////////////////////////////////////////////////////
775
776	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
777	{
778	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 2 at cycle %d\n",
779	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
780	}
781
782	error = thread_kernel_init( thread,
783	THREAD_IDLE,
784	&thread_idle_func,
785	NULL,
786	core_lid );
787	if( error )
788	{
789	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
790	__FUNCTION__ , local_cxy , core_lid );
791	hal_core_sleep();
792	}
793
794	// register idle thread in scheduler
795	core->scheduler.idle = thread;
796
797	// activate the idle thread
798	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
799
800	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
801	{
802	kinit_dmsg("\n[INFO] %s : core[%x][%d] created idle thread %x at cycle %d\n",
803	__FUNCTION__ , core_cxy , core_lid , thread , hal_get_cycles());
804	}
805
806	// CP0 in all clusters initializes cooperatively VFS and DEVFS
807	if( (core_lid == 0) )
808	{
809	xptr_t root_inode_xp;
810
811	// initialize root File System (must be FATFS in this implementation)
812	if( CONFIG_VFS_ROOT_IS_FATFS )
813	{
814	root_inode_xp = fatfs_init();
815	}
816	else
817	{
818	nolock_printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
819	hal_core_sleep();
820	}
821
822	if( root_inode_xp == XPTR_NULL )
823	{
824	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize file system\n",
825	__FUNCTION__ , local_cxy , core_lid );
826	hal_core_sleep();
827	}
828
829	// register VFS root inode in process_zero
830	process_zero.vfs_root_xp = root_inode_xp;
831	process_zero.vfs_cwd_xp = root_inode_xp;
832
833	// mount the DEVFS File system
834	devfs_mount( root_inode_xp , "dev" );
835	}
836
837
838	// CP0 in I/O cluster creates the process_init and print banner
839	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
840	{
841	process_init_create();
842
843	print_banner( (info->x_size * info->y_size) , info->cores_nr );
844
845	kinit_dmsg("\n\n* memory fooprint of main kernet objects *\n"
846	" - thread descriptor : %d bytes\n"
847	" - process descriptor : %d bytes\n"
848	" - cluster manager : %d bytes\n"
849	" - chdev descriptor : %d bytes\n"
850	" - core descriptor : %d bytes\n"
851	" - scheduler : %d bytes\n"
852	" - rpc fifo : %d bytes\n"
853	" - page descriptor : %d bytes\n"
854	" - mapper root : %d bytes\n"
855	" - ppm manager : %d bytes\n"
856	" - kcm manager : %d bytes\n"
857	" - khm manager : %d bytes\n"
858	" - vmm manager : %d bytes\n"
859	" - gpt root : %d bytes\n"
860	" - list item : %d bytes\n"
861	" - xlist item : %d bytes\n"
862	" - spinlock : %d bytes\n"
863	" - remote spinlock : %d bytes\n"
864	" - rwlock : %d bytes\n"
865	" - remote rwlock : %d bytes\n",
866	sizeof( thread_t ),
867	sizeof( process_t ),
868	sizeof( cluster_t ),
869	sizeof( chdev_t ),
870	sizeof( core_t ),
871	sizeof( scheduler_t ),
872	sizeof( rpc_fifo_t ),
873	sizeof( page_t ),
874	sizeof( mapper_t ),
875	sizeof( ppm_t ),
876	sizeof( kcm_t ),
877	sizeof( khm_t ),
878	sizeof( vmm_t ),
879	sizeof( gpt_t ),
880	sizeof( list_entry_t ),
881	sizeof( xlist_entry_t ),
882	sizeof( spinlock_t ),
883	sizeof( remote_spinlock_t ),
884	sizeof( rwlock_t ),
885	sizeof( remote_rwlock_t ));
886	}
887
888	/////////////////////////////////////////////////////////////////////////////////
889	// global syncho to protect access to File System
890	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
891	(info->x_size * info->y_size) );
892	barrier_wait( &local_barrier , info->cores_nr );
893	/////////////////////////////////////////////////////////////////////////////////
894
895	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
896	{
897	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 3 at cycle %d\n",
898	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
899	}
900
901	// each core activates its private PTI IRQ
902	dev_icu_set_period( core_lid , CONFIG_SCHED_TICK_PERIOD );
903	dev_icu_enable_irq( core_lid , PTI_TYPE , core_lid , NULL );
904
905	// each core get its private IRQ masks values
906	uint32_t hwi_mask;
907	uint32_t wti_mask;
908	uint32_t pti_mask;
909	dev_icu_get_masks( core_lid , &hwi_mask , &wti_mask , &pti_mask );
910
911	thread_dmsg("\n[INFO] %s : core[%x][%d] complete kernel init at cycle %d\n"
912	" hwi_mask = %x / wti_mask = %x / pti_mask = %x\n",
913	__FUNCTION__ , local_cxy , core_lid , hal_get_cycles() ,
914	hwi_mask , wti_mask , pti_mask );
915
916	// each core jump to idle thread
917	thread_idle_func();
918	}
919

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