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source: trunk/kernel/kern/kernel_init.c@ 23

Last change on this file since 23 was 23, checked in by alain, 9 years ago
Introduce syscalls.
File size: 35.7 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 <thread.h>
35	#include <scheduler.h>
36	#include <kmem.h>
37	#include <cluster.h>
38	#include <string.h>
39	#include <memcpy.h>
40	#include <ppm.h>
41	#include <page.h>
42	#include <chdev.h>
43	#include <boot_info.h>
44	#include <dqdt.h>
45	#include <dev_icu.h>
46	#include <dev_mmc.h>
47	#include <dev_dma.h>
48	#include <dev_iob.h>
49	#include <dev_ioc.h>
50	#include <dev_txt.h>
51	#include <dev_pic.h>
52	#include <printk.h>
53	#include <vfs.h>
54	#include <soclib_tty.h>
55	#include <devfs.h>
56
57	// TODO #include <sysfs.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 build by the bootloader, and used by kernel_init.
68	// it must be 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 variables define the kernel process0 descriptor
87	__attribute__((section(".kdata")))
88	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
89
90	// This variable defines extended pointers on the distributed chdevs
91	__attribute__((section(".kdata")))
92	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
93
94	// This variable contains the input IRQ indexes for the PIC device
95	__attribute__((section(".kdata")))
96	chdev_pic_input_t chdev_pic_input CONFIG_CACHE_LINE_ALIGNED;
97
98	// This variable contains the input IRQ indexes for the ICU device
99	__attribute__((section(".kdata")))
100	chdev_icu_input_t chdev_icu_input CONFIG_CACHE_LINE_ALIGNED;
101
102	// This variable defines the local cluster identifier
103	__attribute__((section(".kdata")))
104	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
105
106	// This variable defines the TXT0 chdev descriptor
107	__attribute__((section(".kdata")))
108	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
109
110	// This variable is used for CP0 cores sychronisation 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 sychronisation in kernel_init()
115	__attribute__((section(".kdata")))
116	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
117
118	///////////////////////////////////////////////////////////////////////////////////////////
119	// This function displays the ALMOS_MKH banner.
120	///////////////////////////////////////////////////////////////////////////////////////////
121	static void print_banner( uint32_t nclusters , uint32_t ncores )
122	{
123	printk("\n"
124	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
125	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
126	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
127	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
128	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
129	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
130	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
131	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
132	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
133	"\n\n\t\t\t Version 0.0 : %d clusters / %d cores per cluster\n\n", nclusters , ncores );
134	}
135
136
137	///////////////////////////////////////////////////////////////////////////////////////////
138	// This static function initializes the TXT0 chdev descriptor, associated to the "kernel
139	// terminal", and shared by all kernel instances for debug messages. It also register it
140	// in the chdev directory, containing extended pointers on all chdevs.
141	// The global variable txt0_chdev is replicated in all clusters, but only the chdev
142	// allocated in I/O cluster is used by ALMOS-MKH.
143	// Therefore, this function must be called by a thread running in the I/O cluster.
144	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
145	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
146	///////////////////////////////////////////////////////////////////////////////////////////
147	// @ info : pointer on the local boot-info structure.
148	///////////////////////////////////////////////////////////////////////////////////////////
149	static void txt0_device_init( boot_info_t * info )
150	{
151	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
152	uint32_t dev_nr; // actual number of devices in this cluster
153	xptr_t base; // remote pointer on segment base
154	uint32_t type; // peripheral type
155	uint32_t func; // device functionnal index
156	uint32_t impl; // device implementation index
157	uint32_t i; // device index in dev_tbl
158	uint32_t x; // X cluster coordinate
159	uint32_t y; // Y cluster coordinate
160
161	// get number of peripherals and base of devices array from boot_info
162	dev_nr = info->ext_dev_nr;
163	dev_tbl = info->ext_dev;
164
165	// loop on external peripherals to find TXT device
166	for( i = 0 ; i < dev_nr ; i++ )
167	{
168	base = dev_tbl[i].base;
169	type = dev_tbl[i].type;
170	func = FUNC_FROM_TYPE( type );
171	impl = IMPL_FROM_TYPE( type );
172
173	if (func == DEV_FUNC_TXT )
174	{
175	// initialize basic fields
176	txt0_chdev.func = func;
177	txt0_chdev.impl = impl;
178	txt0_chdev.channel = 0;
179	txt0_chdev.is_rx = 0;
180	txt0_chdev.base = base;
181
182	// initialize lock
183	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
184
185	// Complete TXT specific initialisation
186	if( impl == IMPL_TXT_TTY )
187	{
188	txt0_chdev.cmd = &soclib_tty_cmd;
189	txt0_chdev.isr = &soclib_tty_isr;
190	soclib_tty_init( &txt0_chdev );
191	}
192
193	// initialize the replicated chdev_dir[x][y] structures
194	for( x = 0 ; x < info->x_size ; x++ )
195	{
196	for( y = 0 ; y < info->y_size ; y++ )
197	{
198	cxy_t cxy = (x<<info->y_width) + y;
199	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
200	XPTR( local_cxy , &txt0_chdev ) );
201	}
202	}
203
204	kinit_dmsg("\n[INFO] %s : core[%x][0] created TXT0 chdev"
205	" / paddr = %l at cycle %d\n",
206	__FUNCTION__ , local_cxy , chdev_func_str( func ),
207	XPTR(local_cxy , &txt0_chdev) , hal_time_stamp() );
208	}
209
210	} // end loop on devices
211
212	} // end txt0_device_init()
213
214	///////////////////////////////////////////////////////////////////////////////////////////
215	// This static function allocates memory for the chdev (channel_device) descriptors
216	// associated to the internal peripherals contained in the local cluster. These internal
217	// devices (ICU, MMC, DMA) chdev descriptors are placed in the local cluster.
218	// It initialises these device descriptors as specified by the boot_info_t structure,
219	// including the dynamic linking with the driver for the specified implementation.
220	// Finally, all copies of the devices directory are initialised.
221	///////////////////////////////////////////////////////////////////////////////////////////
222	// @ info : pointer on the local boot-info structure.
223	///////////////////////////////////////////////////////////////////////////////////////////
224	static void internal_devices_init( boot_info_t * info )
225	{
226	boot_device_t * dev; // pointer on boot_info device (ICU/MMC/DMA)
227	uint32_t x; // X cluster coordinate
228	uint32_t y; // Y cluster coordinate
229	chdev_t * chdev_ptr; // local pointer on chdev descriptor
230	xptr_t chdev_xp; // extended pointer on chdev descriptor
231
232	/////////// ICU //////////
233
234	dev = &info->dev_icu;
235
236	assert( ((info->cores_nr == 0) \|\| (dev->channels != 0)) , __FUNCTION__ ,
237	"ICU device must exist in cluster containing cores" );
238
239	assert( (dev->channels == 1) , __FUNCTION__ ,
240	"channels number must be 1 for ICU device" );
241
242	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_ICU ) , __FUNCTION__ ,
243	" inconsistent ICU device type");
244
245	// create one chdev in local cluster
246	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
247	IMPL_FROM_TYPE( dev->type ),
248	0, // channel
249	false, // TX
250	dev->base );
251
252	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate ICU chdev" );
253
254	// get extended pointer on chdev descriptor
255	chdev_xp = XPTR( local_cxy , chdev_ptr );
256
257	// make ICU specific initialisation
258	// TODO remove these three parameters
259	dev_icu_init( chdev_ptr , dev->param0 , dev->param1 , dev->param2 );
260
261	// initialize the ICU field in the chdev_dir[x][y] structures
262	// replicated in all clusters, and containing extended pointers
263	// on all remotely accessible devices
264	for( x = 0 ; x < info->x_size ; x++ )
265	{
266	for( y = 0 ; y < info->y_size ; y++ )
267	{
268	cxy_t cxy = (x<<info->y_width) + y;
269	hal_remote_swd( XPTR( cxy , &chdev_dir.icu[local_cxy] ) , chdev_xp );
270	}
271	}
272
273	// initialize the entries of the local chdev_icu_input structure
274	// defining how internal peripherals are connected to ICU
275	uint32_t id;
276	uint8_t valid;
277	uint32_t src_type;
278	uint8_t src_ch;
279	uint32_t src_func;
280	for( id = 0 ; id < CONFIG_MAX_HWIS_PER_ICU ; id++ )
281	{
282	valid = dev->irq[id].valid;
283	src_type = dev->irq[id].dev_type;
284	src_ch = dev->irq[id].channel;
285	src_func = FUNC_FROM_TYPE( src_type );
286
287	if( valid ) // only valid local IRQs are registered
288	{
289	if ( src_func == DEV_FUNC_MMC ) chdev_icu_input.mmc = id;
290	else if( src_func == DEV_FUNC_DMA ) chdev_icu_input.dma[src_ch] = id;
291	else assert( false , __FUNCTION__ , "illegal source device for ICU input" );
292	}
293	}
294
295	kinit_dmsg("\n[INFO] %s : core[%x][0] creates ICU chdev at cycle %d\n",
296	__FUNCTION__ , local_cxy , hal_time_stamp() );
297
298	/////////// MMC internal chdev ///////////
299
300	dev = &info->dev_mmc;
301
302	if( dev->channels != 0 ) // MMC device is defined
303	{
304	assert( (dev->channels == 1) , __FUNCTION__ ,
305	"channels number must be 1 for MMC device" );
306
307	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_MMC ) , __FUNCTION__ ,
308	" inconsistent MMC device type");
309
310	// create one chdev in local cluster
311	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
312	IMPL_FROM_TYPE( dev->type ),
313	0, // channel
314	false, // TX
315	dev->base );
316
317	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate MMC chdev" );
318
319	// get extended pointer on chdev descriptor
320	chdev_xp = XPTR( local_cxy , chdev_ptr );
321
322	// make MMC specific initialisation
323	dev_mmc_init( chdev_ptr );
324
325	// initialize the MMC field in the chdev_dir[x][y] structures
326	// replicated in all clusters, and containing extended pointers
327	// on all remotely accessible devices
328	for( x = 0 ; x < info->x_size ; x++ )
329	{
330	for( y = 0 ; y < info->y_size ; y++ )
331	{
332	cxy_t cxy = (x<<info->y_width) + y;
333	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ) , chdev_xp );
334	}
335	}
336
337	kinit_dmsg("\n[INFO] %s : core[%x][0] creates MMC chdev at cycle %d\n",
338	__FUNCTION__ , local_cxy , hal_time_stamp() );
339	}
340
341	/////////// DMA internal chdevs //////////
342
343	dev = &info->dev_dma;
344
345	if( dev->channels != 0 ) // DMA device is defined
346	{
347	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_DMA ) , __FUNCTION__ ,
348	" inconsistent DMA device type");
349
350	// create one chdev per channel in local cluster
351	uint32_t channel;
352	for( channel = 0 ; channel < dev->channels ; channel++ )
353	{
354	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
355	IMPL_FROM_TYPE( dev->type ),
356	channel, // channel
357	false, // TX
358	dev->base );
359
360	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate DMA chdev" );
361
362	// get extended pointer on channel descriptor
363	chdev_xp = XPTR( local_cxy , chdev_ptr );
364
365	// make DMA specific initialisation
366	dev_dma_init( chdev_ptr );
367
368	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
369	// structure because the DMA device is not remotely accessible.
370	chdev_dir.dma[channel] = chdev_xp;
371
372	kinit_dmsg("\n[INFO] %s : core[%x][0] creates DMA[%d] chdev at cycle %d\n",
373	__FUNCTION__ , local_cxy , channel , hal_time_stamp() );
374	}
375	}
376	} // end internal_devices_init()
377
378	///////////////////////////////////////////////////////////////////////////////////////////
379	// This static function allocates memory for the chdev descriptors associated
380	// to the external (shared) peripherals contained in the local cluster. These external
381	// devices (IOB, IOC, TXT, NIC, etc ) are distributed on all clusters.
382	// It initialises these device descriptors as specified by the boot_info_t structure,
383	// including the dynamic linking with the driver for the specified implementation.
384	// Finally, all copies of the devices directory are initialised.
385	//
386	// The number of channel_devices depends on the device functionnal type.
387	// There is three nested loops to build the full set of external channel_devices:
388	// - loop on external devices.
389	// - loop on channels for multi-channels devices.
390	// - loop on directions (RX/TX) for NIC device.
391	// The set of channel_devices is indexed by the chdev_gid global index, that is used
392	// to select the cluster containing a given chdev[func,channel,direction].
393	// All clusters scan the full set of chdevs, but only the cluster matching
394	// (chdev_gid % (x_size*y_size)) create the corresponding chdev.
395	//
396	// TODO check that cluster IO contains a PIC [AG]
397	///////////////////////////////////////////////////////////////////////////////////////////
398	// @ info : pointer on the local boot-info structure.
399	///////////////////////////////////////////////////////////////////////////////////////////
400	static void external_devices_init( boot_info_t * info )
401	{
402	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
403	uint32_t dev_nr; // actual number of devices in this cluster
404	xptr_t base; // remote pointer on segment base
405	uint32_t type; // peripheral type
406	uint32_t func; // device functionnal index
407	uint32_t impl; // device implementation index
408	uint32_t i; // device index in dev_tbl
409	uint32_t x; // X cluster coordinate
410	uint32_t y; // Y cluster coordinate
411	uint32_t channels_nr; // number of channels
412	uint32_t channel; // channel index
413	uint32_t directions_nr; // number of directions
414	uint32_t direction; // direction index
415	uint32_t p0; // device parameter 0
416	uint32_t p1; // device parameter 1
417	uint32_t p2; // device parameter 2
418	uint32_t p3; // device parameter 3
419	uint32_t first_channel; // used in loop on channels
420
421	chdev_t * chdev; // local pointer on one channel_device descriptor
422	xptr_t chdev_xp; // extended pointer on channel_device descriptor
423	uint32_t chdev_gid = 0; // global index of channel_device descriptor
424
425	// get number of peripherals and base of devices array from boot_info
426	dev_nr = info->ext_dev_nr;
427	dev_tbl = info->ext_dev;
428
429	// loop on external peripherals
430	for( i = 0 ; i < dev_nr ; i++ )
431	{
432	base = dev_tbl[i].base;
433	type = dev_tbl[i].type;
434	channels_nr = dev_tbl[i].channels;
435	p0 = dev_tbl[i].param0;
436	p1 = dev_tbl[i].param1;
437	p2 = dev_tbl[i].param2;
438	p3 = dev_tbl[i].param3;
439
440	func = FUNC_FROM_TYPE( type );
441	impl = IMPL_FROM_TYPE( type );
442
443	// There is one chdev per direction for NIC
444	if (func == DEV_FUNC_NIC) directions_nr = 2;
445	else directions_nr = 1;
446
447	// The TXT0 chdev has already been created
448	if (func == DEV_FUNC_TXT) first_channel = 1;
449	else first_channel = 0;
450
451	// do nothing for ROM, that does not require a device descriptor.
452	if( func == DEV_FUNC_ROM ) continue;
453
454	// check external device functionnal type
455	if( (func != DEV_FUNC_IOB) &&
456	(func != DEV_FUNC_PIC) &&
457	(func != DEV_FUNC_IOC) &&
458	(func != DEV_FUNC_TXT) &&
459	(func != DEV_FUNC_NIC) &&
460	(func != DEV_FUNC_FBF) )
461	{
462	assert( false , __FUNCTION__ , "undefined external peripheral type" );
463	}
464
465	// loops on channels
466	for( channel = first_channel ; channel < channels_nr ; channel++ )
467	{
468	// loop on directions
469	for( direction = 0 ; direction < directions_nr ; direction++ )
470	{
471	// get target cluster for chdev[func,channel,direction]
472	uint32_t offset = chdev_gid % ( info->x_size * info->y_size );
473	uint32_t cx = offset / info->y_size;
474	uint32_t cy = offset % info->y_size;
475	uint32_t target_cxy = (cx<<info->y_width) + cy;
476
477	// allocate and initialize a local chdev
478	// if local cluster matches target cluster
479	if( target_cxy == local_cxy )
480	{
481	chdev = chdev_create( func,
482	impl,
483	channel,
484	direction,
485	base );
486
487	assert( (chdev != NULL), __FUNCTION__ ,
488	"cannot allocate external device" );
489
490	// get extended pointer on chdev
491	chdev_xp = XPTR( local_cxy , chdev );
492
493	// make device type specific initialisation
494	// the number of parameters depends on the device type
495	// TODO : remove the parameters that must be provided by the drivers
496	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
497	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
498	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
499	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
500	else if( func == DEV_FUNC_PIC ) dev_pic_init( chdev , p0 );
501	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev , p0 , p1 );
502	else
503	{
504	assert( false , __FUNCTION__ , "undefined device type" );
505	}
506
507	// all external (shared) devices are remotely accessible
508	// initialize the replicated chdev_dir[x][y] structures
509	// defining the extended pointers on chdev descriptors
510	xptr_t * entry;
511
512	if( func == DEV_FUNC_IOB ) entry = &chdev_dir.iob;
513	if( func == DEV_FUNC_PIC ) entry = &chdev_dir.pic;
514	if( func == DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
515	if( func == DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
516	if( func == DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
517	if( func == DEV_FUNC_NIC ) entry = &chdev_dir.nic_tx[channel];
518
519	for( x = 0 ; x < info->x_size ; x++ )
520	{
521	for( y = 0 ; y < info->y_size ; y++ )
522	{
523	cxy_t cxy = (x<<info->y_width) + y;
524	hal_remote_swd( XPTR( cxy , entry ) , chdev_xp );
525	}
526	}
527
528	kinit_dmsg("\n[INFO] %s : core[%x][0] create chdev %s[%d] at cycle %d\n",
529	__FUNCTION__ , local_cxy , chdev_func_str( func ),
530	channel , hal_time_stamp() );
531
532	} // end if match
533
534	// increment chdev global index (matching or not)
535	chdev_gid++;
536
537	} // end loop on directions
538
539	} // end loop on channels
540
541	// initialize the entries of the local chdev_pic_input structure
542	// defining how external peripherals are connected to PIC
543	if( func == DEV_FUNC_PIC )
544	{
545	uint32_t id;
546	uint8_t valid;
547	uint32_t dev_type;
548	uint8_t channel;
549	uint8_t is_rx;
550
551	// loop on PIC inputs
552	for( id = 0 ; id < CONFIG_MAX_IRQS_PER_PIC ; id++ )
553	{
554	valid = dev_tbl[i].irq[id].valid;
555	dev_type = dev_tbl[i].irq[id].dev_type;
556	channel = dev_tbl[i].irq[id].channel;
557	is_rx = dev_tbl[i].irq[id].is_rx;
558
559	if( valid ) // only valid inputs are registered
560	{
561	uint32_t * index; // local pointer on one entry
562	uint16_t dev_func = FUNC_FROM_TYPE( dev_type );
563
564	if( dev_func == DEV_FUNC_TXT )
565	{
566	index = &chdev_pic_input.txt[channel];
567	}
568	else if( dev_func == DEV_FUNC_IOC )
569	{
570	index = &chdev_pic_input.ioc[channel];
571	}
572	else if( (dev_func == DEV_FUNC_NIC) && (is_rx == 0) )
573	{
574	index = &chdev_pic_input.nic_tx[channel];
575	}
576	else if( (dev_func == DEV_FUNC_NIC) && (is_rx != 0) )
577	{
578	index = &chdev_pic_input.nic_rx[channel];
579	}
580	else
581	{
582	assert( false , __FUNCTION__ , "illegal source device for PIC input" );
583	}
584
585	// set entry in local structure
586	*index = id;
587	}
588	} // end loop on PIC inputs
589	} // end PIC
590	} // end loop on devices
591	} // end external_devices_init()
592
593
594	///////////////////////////////////////////////////////////////////////////////////////////
595	// This static function returns the identifiers of the calling core.
596	///////////////////////////////////////////////////////////////////////////////////////////
597	// @ info : pointer on boot_info structure.
598	// @ lid : [out] core local index in cluster.
599	// @ cxy : [out] cluster identifier.
600	// @ lid : [out] core global identifier (hardware).
601	// @ return 0 if success / return EINVAL if not found.
602	///////////////////////////////////////////////////////////////////////////////////////////
603	static error_t get_core_identifiers( boot_info_t * info,
604	lid_t * lid,
605	cxy_t * cxy,
606	gid_t * gid )
607	{
608	uint32_t i;
609	gid_t global_id;
610
611	// get global identifier from hardware register
612	global_id = hal_get_gid();
613
614	// makes an associative search in boot_info to get (cxy,lid) from global_id
615	for( i = 0 ; i < info->cores_nr ; i++ )
616	{
617	if( global_id == info->core[i].gid )
618	{
619	*lid = info->core[i].lid;
620	*cxy = info->core[i].cxy;
621	*gid = global_id;
622	return 0;
623	}
624	}
625	return EINVAL;
626	}
627
628	///////////////////////////////////////////////////////////////////////////////////////////
629	// This function is the entry point for the kernel initialisation.
630	// It is executed by all cores in all clusters, but only core[0], called CP0,
631	// initializes the shared resources such as the cluster manager, or the local peripherals.
632	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
633	// only information contained in the local boot_info_t structure, set by the bootloader.
634	///////////////////////////////////////////////////////////////////////////////////////////
635	// @ info : pointer on the local boot-info structure.
636	///////////////////////////////////////////////////////////////////////////////////////////
637	void kernel_init( boot_info_t * info )
638	{
639	lid_t core_lid = -1; // running core local index
640	cxy_t core_cxy = -1; // running core cluster identifier
641	gid_t core_gid; // running core hardware identifier
642	cluster_t * cluster; // pointer on local cluster manager
643	core_t * core; // pointer on running core descriptor
644	thread_t * thread; // pointer on idle thread descriptor
645	error_t error;
646
647	// all cores get core identifiers
648	error = get_core_identifiers( info,
649	&core_lid,
650	&core_cxy,
651	&core_gid );
652
653	// CP0 initialise cluster identifier
654	if( core_lid == 0 ) local_cxy = info->cxy;
655
656	// CP0 in I/O cluster initialises TXT0 chdev descriptor
657	if( (core_lid == 0) && (core_cxy == info->io_cxy) ) txt0_device_init( info );
658
659	/////////////////////////////////////////////////////////////////////////////////
660	// global & local synchro to protect access to TXT0 terminal
661	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
662	(info->x_size * info->y_size) );
663	barrier_wait( &local_barrier , info->cores_nr );
664	/////////////////////////////////////////////////////////////////////////////////
665
666	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 0 at cycle %d\n",
667	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
668
669	// all cores check core identifiers
670	if( error )
671	{
672	printk("\n[PANIC] in %s : illegal core identifiers"
673	" gid = %x / cxy = %x / lid = %d\n",
674	__FUNCTION__ , core_lid , core_cxy , core_lid );
675	hal_core_sleep();
676	}
677
678	// CP0 initializes the local cluster manager (cores and memory allocators)
679	if( core_lid == 0 )
680	{
681	error = cluster_init( info );
682
683	if( error )
684	{
685	printk("\n[PANIC] in %s : cannot initialise cluster manager in cluster %x",
686	__FUNCTION__ , local_cxy );
687	hal_core_sleep();
688	}
689	}
690
691	/////////////////////////////////////////////////////////////////////////////////
692	// global & local synchro, to protect access to cluster manager
693	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
694	(info->x_size * info->y_size) );
695	barrier_wait( &local_barrier , info->cores_nr );
696	/////////////////////////////////////////////////////////////////////////////////
697
698	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 1 at cycle %d\n",
699	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
700
701	// all cores get pointer on local cluster manager and on core descriptor
702	cluster = &cluster_manager;
703	core = &cluster->core_tbl[core_lid];
704
705	// CP0 initializes the process_zero descriptor
706	if( core_lid == 0 ) process_zero_init( info );
707
708	// CP0 allocates and initialises the internal peripheral chdev descriptors.
709	// Each CP0[cxy] scan the set of its internal (private) peripherals,
710	// and allocate memory for the corresponding chdev descriptors.
711	if( core_lid == 0 ) internal_devices_init( info );
712
713	// CP0 allocates one WTI mailbbox per core for Inter Processor Interrupt
714	// this must be done after ICU chdev initialisation, by CP0 only, and before
715	// external devices initialisation to enforce the rule (wti_id == lid)
716	if( core_lid == 0 )
717	{
718	uint32_t wti_id;
719	uint32_t lid;
720	for( lid = 0 ; lid < LOCAL_CLUSTER->cores_nr ; lid++ )
721	{
722	wti_id = dev_icu_wti_alloc();
723
724	if( wti_id != lid )
725	{
726	printk("\n[PANIC] in %s : WTI index for IPI = %d / core_lid = %d",
727	__FUNCTION__ , wti_id , lid );
728	hal_core_sleep();
729	}
730
731	dev_icu_enable_irq( lid , WTI_TYPE , wti_id , NULL );
732	}
733	}
734
735	// CP0 contribute to initialise external peripheral chdev descriptors.
736	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
737	// and allocates memory for the chdev descriptors that must be placed
738	// on the (cxy) cluster according to the global index value.
739	if( core_lid == 0 ) external_devices_init( info );
740
741	/////////////////////////////////////////////////////////////////////////////////
742	// global &local synchro to protect access to peripherals
743	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
744	(info->x_size * info->y_size) );
745	barrier_wait( &local_barrier , info->cores_nr );
746	/////////////////////////////////////////////////////////////////////////////////
747
748	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 2 at cycle %d\n",
749	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
750
751	// all cores initialize the private idle thread descriptor
752	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
753
754	error = thread_kernel_init( thread,
755	THREAD_IDLE,
756	&thread_idle_func,
757	NULL,
758	core_lid );
759
760	if( error )
761	{
762	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
763	__FUNCTION__ , local_cxy , core_lid );
764	hal_core_sleep();
765	}
766	else
767	{
768	// register idle thread in scheduler
769	core->scheduler.idle = thread;
770
771	// register idle thread pointer in core register
772	hal_set_current_thread( thread );
773
774	// activate the idle thread
775	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
776
777	kinit_dmsg("\n[INFO] %s : core[%x][%d] created idle thread %x at cycle %d\n",
778	__FUNCTION__ , core_cxy , core_lid , thread , hal_time_stamp());
779	}
780
781	printk("\n bloup 0\n");
782
783	// CP0 in all clusters initializes cooperatively VFS and DEVFS
784	if( (core_lid == 0) )
785	{
786	xptr_t root_inode_xp;
787
788	// initialize root File System
789	if( CONFIG_VFS_ROOT_IS_FATFS )
790	{
791	root_inode_xp = fatfs_init();
792	}
793	else
794	{
795	printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
796	hal_core_sleep();
797	}
798
799	if( root_inode_xp == XPTR_NULL )
800	{
801	printk("\n[PANIC] in %s : core[%x][%d] cannot initialize file system\n",
802	__FUNCTION__ , local_cxy , core_lid );
803	hal_core_sleep();
804	}
805
806	printk("\n bloup 1\n");
807
808	// mount the DEVFS File system
809	devfs_mount( root_inode_xp , "dev" );
810	}
811
812	printk("\n bloup 2\n");
813
814	// CP0 in I/O cluster print banner
815	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
816	{
817	print_banner( (info->x_size * info->y_size) , info->cores_nr );
818	}
819
820	/////////////////////////////////////////////////////////////////////////////////
821	// global syncho to protect access to File System
822	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
823	(info->x_size * info->y_size) );
824	barrier_wait( &local_barrier , info->cores_nr );
825	/////////////////////////////////////////////////////////////////////////////////
826
827	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 3 at cycle %d\n",
828	__FUNCTION__ , core_cxy , core_lid , hal_time_stamp() );
829
830	// each core activates its private PTI IRQ
831	dev_icu_set_period( core_lid , CONFIG_SCHED_TICK_PERIOD );
832	dev_icu_enable_irq( core_lid , PTI_TYPE , core_lid , NULL );
833
834	// each core get its private IRQ masks values and
835	uint32_t hwi_mask;
836	uint32_t wti_mask;
837	uint32_t pti_mask;
838	dev_icu_get_masks( core_lid , &hwi_mask , &wti_mask , &pti_mask );
839
840	thread_dmsg("\n[INFO] %s : core[%x][%d] activates scheduler at cycle %d\n"
841	" hwi_mask = %x / wti_mask = %x / pti_mask = %x\n",
842	__FUNCTION__ , local_cxy , core_lid , hal_time_stamp() ,
843	hwi_mask , wti_mask , pti_mask );
844
845	// each core jump to idle thread
846	asm volatile( "j thread_idle_func\n" );
847
848	} // end kernel_init()
849
850
851

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