source: soft/giet_vm/boot/boot_init.c @ 250

//////////////////////////////////////////////////////////////////////////////////
// File     : boot_init.c
// Date     : 01/04/2012
// Author   : alain greiner
// Copyright (c) UPMC-LIP6
///////////////////////////////////////////////////////////////////////////////////
// The boot_init.c file is part of the GIET-VM nano-kernel.
// This code is executed in the boot phase by proc[0] to initialize the
// peripherals and the kernel data structures:
// - pages tables for the various vspaces
// - shedulers for processors (including the tasks contexts and interrupt vectors)
//
// This nano-kernel has been written for the MIPS32 processor.
// The virtual adresses are on 32 bits and use the (unsigned int) type, but the 
// physicals addresses can have up to 40 bits, and use the  (unsigned long long) type.
//
// The GIET-VM uses the paged virtual memory and the MAPPING_INFO binary file
// to provides two services:
// 1) classical memory protection, when several independant applications compiled
//    in different virtual spaces are executing on the same hardware platform.
// 2) data placement in NUMA architectures, when we want to control the placement 
//    of the software objects (virtual segments) on the physical memory banks.
//
// The MAPPING_INFO binary data structure must be loaded in the the seg_boot_mapping 
// segment (at address seg_mapping_base).
// This MAPPING_INFO data structure defines 
// - the hardware architecture: number of clusters, number or processors, 
//   size of the memory segments, and peripherals in each cluster.
// - The structure of the various multi-threaded software applications:
//   number of tasks, communication channels.
// - The mapping: placement of virtual objects (vobj) in the virtual segments (vseg),
//   placement of virtual segments (vseg) in the physical segments (pseg), placement 
//   of software tasks on the processors, 
//
// The page table are statically build in the boot phase, and they do not 
// change during execution. The GIET uses only 4 Kbytes pages.
// As most applications use only a limited number of segments, the number of PT2s 
// actually used by a given virtual space is generally smaller than 2048, and is
// computed during the boot phase.
// The max number of virtual spaces (GIET_NB_VSPACE_MAX) is a configuration parameter.
//
// Each page table (one page table per virtual space) is monolithic, and contains 
// one PT1 and up to (GIET_NB_PT2_MAX) PT2s. The PT1 is addressed using the ix1 field
// (11 bits) of the VPN, and the selected PT2 is addressed using the ix2 field (9 bits).
// - PT1[2048] : a first 8K aligned array of unsigned int, indexed by (ix1) field of VPN. 
//   Each entry in the PT1 contains a 32 bits PTD. The MSB bit PTD[31] is 
//   the PTD valid bit, and LSB bits PTD[19:0] are the 20 MSB bits of the physical base
//   address of the selected PT2.
//   The PT1 contains 2048 PTD of 4 bytes => 8K bytes.
// - PT2[1024][GIET_NB_PT2_MAX] : an array of array of unsigned int. 
//   Each PT2[1024] must be 4K aligned, each entry in a PT2 contains two unsigned int: 
//   the first word contains the protection flags, and the second word contains the PPN.
//   Each PT2 contains 512 PTE2 of 8bytes => 4K bytes.
// The total size of a page table is finally = 8K + (GIET_NB_PT2_MAX)*4K bytes.
////////////////////////////////////////////////////////////////////////////////////

#include <common.h>
#include <mips32_registers.h>
#include <giet_config.h>
#include <mapping_info.h>
#include <mwmr_channel.h>
#include <barrier.h>
#include <memspace.h>
#include <irq_handler.h>
#include <ctx_handler.h>
#include <vm_handler.h>
#include <hwr_mapping.h>

#include <stdarg.h>

#if !defined(NB_CLUSTERS)
# error The NB_CLUSTERS value must be defined in the 'giet_config.h' file !
#endif

#if !defined(NB_PROCS_MAX)
# error The NB_PROCS_MAX value must be defined in the 'giet_config.h' file !
#endif

#if !defined(GIET_NB_VSPACE_MAX)
# error The GIET_NB_VSPACE_MAX value must be defined in the 'giet_config.h' file !
#endif

////////////////////////////////////////////////////////////////////////////
//      Global variables for boot code
// Both the page tables for the various virtual spaces, and the schedulers
// for the processors are physically distributed on the clusters.
// These global variables are just arrays of pointers. 
////////////////////////////////////////////////////////////////////////////

// Page table addresses arrays
__attribute__((section (".wdata"))) 
paddr_t      boot_ptabs_paddr[GIET_NB_VSPACE_MAX];

__attribute__((section (".wdata"))) 
unsigned int boot_ptabs_vaddr[GIET_NB_VSPACE_MAX];

// Scheduler pointers array (virtual addresses)
__attribute__((section (".wdata"))) 
static_scheduler_t* boot_schedulers[NB_CLUSTERS * NB_PROCS_MAX];

// Next free PT2 index array
__attribute__((section (".wdata"))) 
unsigned int boot_next_free_pt2[GIET_NB_VSPACE_MAX] =
{ [0 ... GIET_NB_VSPACE_MAX - 1] = 0 };

// Max PT2 index 
__attribute__((section (".wdata"))) 
unsigned int boot_max_pt2[GIET_NB_VSPACE_MAX] =
{ [0 ... GIET_NB_VSPACE_MAX - 1] = 0 };

// lock protecting TTY0
__attribute__((section (".wdata"))) 
unsigned int boot_tty0_lock = 0;


//////////////////////////////////////////////////////////////////////////////
// boot_procid() 
//////////////////////////////////////////////////////////////////////////////
inline unsigned int boot_procid() 
{
    unsigned int ret;
    asm volatile ("mfc0 %0, $15, 1":"=r" (ret));
    return (ret & 0x3FF);
}

//////////////////////////////////////////////////////////////////////////////
// boot_proctime() 
//////////////////////////////////////////////////////////////////////////////
inline unsigned int boot_proctime() 
{
    unsigned int ret;
    asm volatile ("mfc0 %0, $9":"=r" (ret));
    return ret;
}

//////////////////////////////////////////////////////////////////////////////
// boot_exit() 
//////////////////////////////////////////////////////////////////////////////
void boot_exit() 
{
    while (1) { asm volatile ("nop"); }
}

//////////////////////////////////////////////////////////////////////////////
// boot_eret()
// The address of this function is used to initialise the return address (RA)
// in all task contexts (when the task has never been executed.
/////////////////////////////////"/////////////////////////////////////////////
void boot_eret() 
{
    asm volatile ("eret");
}

////////////////////////////////////////////////////////////////////////////
// boot_physical_read()
// This function makes a physical read access to a 32 bits word in memory, 
// after a temporary DTLB de-activation and paddr extension.
////////////////////////////////////////////////////////////////////////////
unsigned int boot_physical_read(paddr_t paddr) 
{
    unsigned int value;
    unsigned int lsb = (unsigned int) paddr;
    unsigned int msb = (unsigned int) (paddr >> 32);

    asm volatile(
            "mfc2   $2,     $1                 \n"     /* $2 <= MMU_MODE   */
            "andi   $3,     $2,        0xb     \n"
            "mtc2   $3,     $1                 \n"     /* DTLB off         */    

            "mtc2   %2,     $24                \n"     /* PADDR_EXT <= msb */   
            "lw     %0,     0(%1)              \n"     /* value <= *paddr  */
            "mtc2   $0,     $24                \n"     /* PADDR_EXT <= 0   */   

            "mtc2   $2,     $1                 \n"     /* restore MMU_MODE */
            : "=r" (value)
            : "r" (lsb), "r" (msb)
            : "$2", "$3");
    return value;
}

////////////////////////////////////////////////////////////////////////////
// boot_physical_write()
// This function makes a physical write access to a 32 bits word in memory, 
// after a temporary DTLB de-activation and paddr extension.
////////////////////////////////////////////////////////////////////////////
void boot_physical_write(paddr_t      paddr, 
                         unsigned int value) 
{
    unsigned int lsb = (unsigned int)paddr;
    unsigned int msb = (unsigned int)(paddr >> 32);

    asm volatile(
            "mfc2   $2,     $1                 \n"     /* $2 <= MMU_MODE   */
            "andi   $3,     $2,        0xb     \n"
            "mtc2   $3,     $1                 \n"     /* DTLB off         */    

            "mtc2   %2,     $24                \n"     /* PADDR_EXT <= msb */   
            "sw     %0,     0(%1)              \n"     /* *paddr <= value  */
            "mtc2   $0,     $24                \n"     /* PADDR_EXT <= 0   */   

            "mtc2   $2,     $1                 \n"     /* restore MMU_MODE */
            :
            : "r" (value), "r" (lsb), "r" (msb)
            : "$2", "$3");
}

//////////////////////////////////////////////////////////////////////////////
// boot_set_mmu_ptpr() 
// This function set a new value for the MMU PTPR register.
//////////////////////////////////////////////////////////////////////////////
inline void boot_set_mmu_ptpr(unsigned int val) 
{
    asm volatile ("mtc2  %0, $0"::"r" (val));
}

//////////////////////////////////////////////////////////////////////////////
// boot_set_mmu_mode() 
// This function set a new value for the MMU MODE register.
//////////////////////////////////////////////////////////////////////////////
inline void boot_set_mmu_mode(unsigned int val) 
{
    asm volatile ("mtc2  %0, $1"::"r" (val));
}

////////////////////////////////////////////////////////////////////////////
// boot_puts()
// display a string on TTY0
////////////////////////////////////////////////////////////////////////////
void boot_puts(const char * buffer) 
{
    unsigned int *tty_address = (unsigned int *) &seg_tty_base;
    unsigned int n;

    for (n = 0; n < 100; n++) 
    {
        if (buffer[n] == 0)  break; 
        tty_address[TTY_WRITE] = (unsigned int) buffer[n];
    }
}

////////////////////////////////////////////////////////////////////////////
// boot_putx() 
// display a 32 bits unsigned int as an hexadecimal string on TTY0
////////////////////////////////////////////////////////////////////////////
void boot_putx(unsigned int val) 
{
    static const char HexaTab[] = "0123456789ABCDEF";
    char buf[11];
    unsigned int c;

    buf[0] = '0';
    buf[1] = 'x';
    buf[10] = 0;

    for (c = 0; c < 8; c++) 
    {
        buf[9 - c] = HexaTab[val & 0xF];
        val = val >> 4;
    }
    boot_puts(buf);
}

////////////////////////////////////////////////////////////////////////////
// boot_putl() 
// display a 64 bits unsigned long as an hexadecimal string on TTY0
////////////////////////////////////////////////////////////////////////////
void boot_putl(paddr_t val) 
{
    static const char HexaTab[] = "0123456789ABCDEF";
    char buf[19];
    unsigned int c;

    buf[0] = '0';
    buf[1] = 'x';
    buf[18] = 0;

    for (c = 0; c < 16; c++) 
    {
        buf[17 - c] = HexaTab[(unsigned int)val & 0xF];
        val = val >> 4;
    }
    boot_puts(buf);
}

////////////////////////////////////////////////////////////////////////////
// boot_putd() 
// display a 32 bits unsigned int as a decimal string on TTY0
////////////////////////////////////////////////////////////////////////////
void boot_putd(unsigned int val) 
{
    static const char DecTab[] = "0123456789";
    char buf[11];
    unsigned int i;
    unsigned int first;

    buf[10] = 0;

    for (i = 0; i < 10; i++) 
    {
        if ((val != 0) || (i == 0)) 
        {
            buf[9 - i] = DecTab[val % 10];
            first = 9 - i;
        }
        else 
        {
            break;
        }
        val /= 10;
    }
    boot_puts(&buf[first]);
}

/////////////////////////////////////////////////////////////////////////////
//  mapping_info data structure access functions
/////////////////////////////////////////////////////////////////////////////
inline mapping_cluster_t *boot_get_cluster_base(mapping_header_t * header) 
{
    return (mapping_cluster_t *) ((char *) header + MAPPING_HEADER_SIZE);
}
/////////////////////////////////////////////////////////////////////////////
inline mapping_pseg_t *boot_get_pseg_base(mapping_header_t * header) 
{
    return (mapping_pseg_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters);
}
/////////////////////////////////////////////////////////////////////////////
inline mapping_vspace_t *boot_get_vspace_base(mapping_header_t * header) 
{
    return (mapping_vspace_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs);
}
/////////////////////////////////////////////////////////////////////////////
inline mapping_vseg_t *boot_get_vseg_base(mapping_header_t * header) 
{
    return (mapping_vseg_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs +
            MAPPING_VSPACE_SIZE * header->vspaces);
}
/////////////////////////////////////////////////////////////////////////////
inline mapping_vobj_t *boot_get_vobj_base(mapping_header_t * header) 
{
    return (mapping_vobj_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs +
            MAPPING_VSPACE_SIZE * header->vspaces +
            MAPPING_VSEG_SIZE * header->vsegs);
}
/////////////////////////////////////////////////////////////////////////////
inline mapping_task_t *boot_get_task_base(mapping_header_t * header) 
{
    return (mapping_task_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs +
            MAPPING_VSPACE_SIZE * header->vspaces +
            MAPPING_VSEG_SIZE * header->vsegs +
            MAPPING_VOBJ_SIZE * header->vobjs);
}
/////////////////////////////////////////////////////////////////////////////
inline mapping_proc_t *boot_get_proc_base(mapping_header_t * header) 
{
    return (mapping_proc_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs +
            MAPPING_VSPACE_SIZE * header->vspaces +
            MAPPING_VSEG_SIZE * header->vsegs +
            MAPPING_VOBJ_SIZE * header->vobjs +
            MAPPING_TASK_SIZE * header->tasks);
}
/////////////////////////////////////////////////////////////////////////////
inline mapping_irq_t *boot_get_irq_base(mapping_header_t * header) 
{
    return (mapping_irq_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs +
            MAPPING_VSPACE_SIZE * header->vspaces +
            MAPPING_VSEG_SIZE * header->vsegs +
            MAPPING_VOBJ_SIZE * header->vobjs +
            MAPPING_TASK_SIZE * header->tasks +
            MAPPING_PROC_SIZE * header->procs);
}
/////////////////////////////////////////////////////////////////////////////
inline mapping_coproc_t *boot_get_coproc_base(mapping_header_t * header) 
{
    return (mapping_coproc_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs +
            MAPPING_VSPACE_SIZE * header->vspaces +
            MAPPING_VOBJ_SIZE * header->vobjs +
            MAPPING_VSEG_SIZE * header->vsegs +
            MAPPING_TASK_SIZE * header->tasks +
            MAPPING_PROC_SIZE * header->procs +
            MAPPING_IRQ_SIZE * header->irqs);
}
///////////////////////////////////////////////////////////////////////////////////
inline mapping_cp_port_t *boot_get_cp_port_base(mapping_header_t * header) 
{
    return (mapping_cp_port_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs +
            MAPPING_VSPACE_SIZE * header->vspaces +
            MAPPING_VOBJ_SIZE * header->vobjs +
            MAPPING_VSEG_SIZE * header->vsegs +
            MAPPING_TASK_SIZE * header->tasks +
            MAPPING_PROC_SIZE * header->procs +
            MAPPING_IRQ_SIZE * header->irqs +
            MAPPING_COPROC_SIZE * header->coprocs);
}
///////////////////////////////////////////////////////////////////////////////////
inline mapping_periph_t *boot_get_periph_base(mapping_header_t * header) 
{
    return (mapping_periph_t *) ((char *) header +
            MAPPING_HEADER_SIZE +
            MAPPING_CLUSTER_SIZE * header->clusters +
            MAPPING_PSEG_SIZE * header->psegs +
            MAPPING_VSPACE_SIZE * header->vspaces +
            MAPPING_VOBJ_SIZE * header->vobjs +
            MAPPING_VSEG_SIZE * header->vsegs +
            MAPPING_TASK_SIZE * header->tasks +
            MAPPING_PROC_SIZE * header->procs +
            MAPPING_IRQ_SIZE * header->irqs +
            MAPPING_COPROC_SIZE * header->coprocs +
            MAPPING_CP_PORT_SIZE * header->cp_ports);
}

//////////////////////////////////////////////////////////////////////////////
//     boot_pseg_get() 
// This function returns the pointer on a physical segment
// identified  by the pseg index.
//////////////////////////////////////////////////////////////////////////////
mapping_pseg_t *boot_pseg_get(unsigned int seg_id) 
{
    mapping_header_t * header = (mapping_header_t *) & seg_mapping_base;
    mapping_pseg_t * pseg = boot_get_pseg_base(header);

    // checking argument
    if (seg_id >= header->psegs) 
    {
        boot_puts("\n[BOOT ERROR] : seg_id argument too large\n");
        boot_puts("               in function boot_pseg_get()\n");
        boot_exit();
    }

    return &pseg[seg_id];
}  

//////////////////////////////////////////////////////////////////////////////
// boot_add_pte() 
// This function registers a new PTE in the page table defined
// by the vspace_id argument, and updates both PT1 and PT2.
// A new PT2 is used when required.
// As the set of PT2s is implemented as a fixed size array (no dynamic 
// allocation), this function checks a possible overflow of the PT2 array.
//////////////////////////////////////////////////////////////////////////////
void boot_add_pte(unsigned int vspace_id,
                  unsigned int vpn, 
                  unsigned int flags, 
                  unsigned int ppn,
                  unsigned int verbose) 
{
    unsigned int ix1;
    unsigned int ix2;
    paddr_t      pt1_pbase;     // PT1 physical base address
    paddr_t      pt2_pbase;     // PT2 physical base address
    paddr_t      pte_paddr;     // PTE physucal address
    unsigned int pt2_id;        // PT2 index
    unsigned int ptd;           // PTD : entry in PT1
    unsigned int max_pt2;       // max number of PT2s for a given vspace

    ix1 = vpn >> 9;         // 11 bits
    ix2 = vpn & 0x1FF;      //  9 bits

    // check that the boot_max_pt2[vspace_id] has been set
    max_pt2 = boot_max_pt2[vspace_id];

    if (max_pt2 == 0) 
    {
        boot_puts("Undefined page table for vspace ");
        boot_putd(vspace_id);
        boot_puts("\n");
        boot_exit();
    }


    // get page table physical base address
    pt1_pbase = boot_ptabs_paddr[vspace_id];

    // get ptd in PT1
    ptd = boot_physical_read(pt1_pbase + 4 * ix1);

    if ((ptd & PTE_V) == 0)    // invalid PTD: compute PT2 base address, 
                               // and set a new PTD in PT1 
    {
        pt2_id = boot_next_free_pt2[vspace_id];
        if (pt2_id == max_pt2) 
        {
            boot_puts("\n[BOOT ERROR] in boot_add_pte() function\n");
            boot_puts("the length of the ptab vobj is too small\n");

            boot_puts(" max_pt2 = ");
            boot_putd( max_pt2 );
            boot_puts("\n");
            boot_puts(" pt2_id  = ");
            boot_putd( pt2_id );
            boot_puts("\n");
            
            boot_exit();
        }
        else 
        {
            pt2_pbase = pt1_pbase + PT1_SIZE + PT2_SIZE * pt2_id;
            ptd = PTE_V | PTE_T | (unsigned int) (pt2_pbase >> 12);
            boot_physical_write( pt1_pbase + 4 * ix1, ptd);
            boot_next_free_pt2[vspace_id] = pt2_id + 1;
        }
    }
    else                       // valid PTD: compute PT2 base address
    {
        pt2_pbase = ((paddr_t)(ptd & 0x0FFFFFFF)) << 12;
    }

    // set PTE in PT2 : flags & PPN in two 32 bits words
    pte_paddr = pt2_pbase + 8 * ix2;
    boot_physical_write(pte_paddr    , flags);
    boot_physical_write(pte_paddr + 4, ppn);

    if (verbose)
    {
        boot_puts("     / pt1_pbase = ");
        boot_putl( pt1_pbase );
        boot_puts(" / ptd = ");
        boot_putl( ptd );
        boot_puts(" / pt2_pbase = ");
        boot_putl( pt2_pbase );
        boot_puts(" / pte_paddr = ");
        boot_putl( pte_paddr );
        boot_puts(" / ppn = ");
        boot_putx( ppn );
        boot_puts("/\n");
    }

}   // end boot_add_pte()


/////////////////////////////////////////////////////////////////////
// This function build the page table for a given vspace. 
// The physical base addresses for all vsegs (global and private)
// must have been previously computed and stored in the mapping.
// It initializes the MWMR channels.
/////////////////////////////////////////////////////////////////////
void boot_vspace_pt_build(unsigned int vspace_id) 
{
    unsigned int vseg_id;
    unsigned int npages;
    unsigned int ppn;
    unsigned int vpn;
    unsigned int flags;
    unsigned int page_id;
    unsigned int verbose = 0;   // can be used to activate trace in add_pte()

    mapping_header_t * header = (mapping_header_t *) & seg_mapping_base;
    mapping_vspace_t * vspace = boot_get_vspace_base(header);
    mapping_vseg_t   * vseg   = boot_get_vseg_base(header);

    // private segments
    for (vseg_id = vspace[vspace_id].vseg_offset;
         vseg_id < (vspace[vspace_id].vseg_offset + vspace[vspace_id].vsegs);
         vseg_id++) 
    {
        vpn = vseg[vseg_id].vbase >> 12;
        ppn = (unsigned int) (vseg[vseg_id].pbase >> 12);

        npages = vseg[vseg_id].length >> 12;
        if ((vseg[vseg_id].length & 0xFFF) != 0) npages++; 

        flags = PTE_V;
        if (vseg[vseg_id].mode & C_MODE_MASK) flags = flags | PTE_C;
        if (vseg[vseg_id].mode & X_MODE_MASK) flags = flags | PTE_X;
        if (vseg[vseg_id].mode & W_MODE_MASK) flags = flags | PTE_W;
        if (vseg[vseg_id].mode & U_MODE_MASK) flags = flags | PTE_U;

#if BOOT_DEBUG_PT
        boot_puts(vseg[vseg_id].name);
        boot_puts(" : flags = ");
        boot_putx(flags);
        boot_puts(" / npages = ");
        boot_putd(npages);
        boot_puts(" / pbase = ");
        boot_putl(vseg[vseg_id].pbase);
        boot_puts("\n");
#endif
        // loop on 4K pages
        for (page_id = 0; page_id < npages; page_id++) 
        {
            boot_add_pte(vspace_id, vpn, flags, ppn, verbose);
            vpn++;
            ppn++;
        }
    }

    // global segments
    for (vseg_id = 0; vseg_id < header->globals; vseg_id++) 
    {
        vpn = vseg[vseg_id].vbase >> 12;
        ppn = (unsigned int)(vseg[vseg_id].pbase >> 12);
        npages = vseg[vseg_id].length >> 12;
        if ((vseg[vseg_id].length & 0xFFF) != 0) npages++;

        flags = PTE_V;
        if (vseg[vseg_id].mode & C_MODE_MASK)  flags = flags | PTE_C;
        if (vseg[vseg_id].mode & X_MODE_MASK)  flags = flags | PTE_X;
        if (vseg[vseg_id].mode & W_MODE_MASK)  flags = flags | PTE_W;
        if (vseg[vseg_id].mode & U_MODE_MASK)  flags = flags | PTE_U;

#if BOOT_DEBUG_PT
        boot_puts(vseg[vseg_id].name);
        boot_puts(" : flags = ");
        boot_putx(flags);
        boot_puts(" / npages = ");
        boot_putd(npages);
        boot_puts(" / pbase = ");
        boot_putl(vseg[vseg_id].pbase);
        boot_puts("\n");
#endif
        // loop on 4K pages
        for (page_id = 0; page_id < npages; page_id++) 
        {
            boot_add_pte(vspace_id, vpn, flags, ppn, verbose);
            vpn++;
            ppn++;
        }
    }
}   // end boot_vspace_pt_build()


///////////////////////////////////////////////////////////////////////////
// Align the value of paddr or vaddr to the required alignement,
// defined by alignPow2 == L2(alignement).
///////////////////////////////////////////////////////////////////////////
paddr_t paddr_align_to(paddr_t paddr, unsigned int alignPow2) 
{
    paddr_t mask = (1 << alignPow2) - 1;
    return ((paddr + mask) & ~mask);
}

unsigned int vaddr_align_to(unsigned int vaddr, unsigned int alignPow2) 
{
    unsigned int mask = (1 << alignPow2) - 1;
    return ((vaddr + mask) & ~mask);
}

///////////////////////////////////////////////////////////////////////////
// This function computes the physical base address for a vseg
// as specified in the mapping info data structure.
// It updates the pbase and the length fields of the vseg.
// It updates the pbase and vbase fields of all vobjs in the vseg.
// It updates the next_base field of the pseg, and checks overflow.
// It updates the boot_ptabs_paddr[] and boot_ptabs_vaddr[] arrays. 
// It is a global vseg if vspace_id = (-1). 
///////////////////////////////////////////////////////////////////////////
void boot_vseg_map(mapping_vseg_t * vseg, unsigned int vspace_id) 
{
    unsigned int vobj_id;
    unsigned int cur_vaddr;
    paddr_t      cur_paddr;
    unsigned int offset;

    mapping_header_t * header = (mapping_header_t *) & seg_mapping_base;
    mapping_vobj_t   * vobj   = boot_get_vobj_base(header);

    // get physical segment pointer
    mapping_pseg_t* pseg = boot_pseg_get(vseg->psegid);

    // compute vseg physical base address
    if (vseg->ident != 0)                   // identity mapping required
    {
        vseg->pbase = vseg->vbase;
    }
    else                                   // unconstrained mapping
    {
        vseg->pbase = pseg->next_base;

        // test alignment constraint
        if (vobj[vseg->vobj_offset].align) 
        {
            vseg->pbase = paddr_align_to(vseg->pbase, vobj[vseg->vobj_offset].align);
        }
    }

    // loop on vobjs contained in vseg to :
    // (1) computes the length of the vseg,
    // (2) initialize the vaddr and paddr fields of all vobjs,
    // (3) initialize the page table pointers arrays 

    cur_vaddr = vseg->vbase;
    cur_paddr = vseg->pbase;

    for (vobj_id = vseg->vobj_offset; 
         vobj_id < (vseg->vobj_offset + vseg->vobjs); vobj_id++) 
    {
        if (vobj[vobj_id].align) 
        {
            cur_paddr = paddr_align_to(cur_paddr, vobj[vobj_id].align);
            cur_vaddr = vaddr_align_to(cur_vaddr, vobj[vobj_id].align);
        }
        // set vaddr/paddr for current vobj
        vobj[vobj_id].vaddr = cur_vaddr;
        vobj[vobj_id].paddr = cur_paddr;
        
        // initialize boot_ptabs_vaddr[] & boot_ptabs-paddr[] if PTAB
        if (vobj[vobj_id].type == VOBJ_TYPE_PTAB) 
        {
            if (vspace_id == ((unsigned int) -1))    // global vseg
            {
                boot_puts("\n[BOOT ERROR] in boot_vseg_map() function: ");
                boot_puts("a PTAB vobj cannot be global");
                boot_exit();
            }
            // we need at least one PT2
            if (vobj[vobj_id].length < (PT1_SIZE + PT2_SIZE)) 
            {
                boot_puts("\n[BOOT ERROR] in boot_vseg_map() function, ");
                boot_puts("PTAB too small, minumum size is: ");
                boot_putx(PT1_SIZE + PT2_SIZE);
                boot_exit();
            }
            // register both physical and virtual page table address
            boot_ptabs_vaddr[vspace_id] = vobj[vobj_id].vaddr;
            boot_ptabs_paddr[vspace_id] = vobj[vobj_id].paddr;
            
            // reset all valid bits in PT1
            for ( offset = 0 ; offset < 8192 ; offset = offset + 4)
            {
                boot_physical_write(cur_paddr + offset, 0);
            }

            // computing the number of second level pages
            boot_max_pt2[vspace_id] = (vobj[vobj_id].length - PT1_SIZE) / PT2_SIZE;
        }

        // set next vaddr/paddr
        cur_vaddr = cur_vaddr + vobj[vobj_id].length;
        cur_paddr = cur_paddr + vobj[vobj_id].length;
    } // end for vobjs

    //set the vseg length
    vseg->length = vaddr_align_to((unsigned int)(cur_paddr - vseg->pbase), 12);

    // checking pseg overflow
    if ((vseg->pbase < pseg->base) ||
        ((vseg->pbase + vseg->length) > (pseg->base + pseg->length))) 
    {
        boot_puts("\n[BOOT ERROR] in boot_vseg_map() function\n");
        boot_puts("impossible mapping for virtual segment: ");
        boot_puts(vseg->name);
        boot_puts("\n");
        boot_puts("vseg pbase = ");
        boot_putl(vseg->pbase);
        boot_puts("\n");
        boot_puts("vseg length = ");
        boot_putx(vseg->length);
        boot_puts("\n");
        boot_puts("pseg pbase = ");
        boot_putl(pseg->base);
        boot_puts("\n");
        boot_puts("pseg length = ");
        boot_putl(pseg->length);
        boot_puts("\n");
        boot_exit();
    }

#if BOOT_DEBUG_PT
    boot_puts(vseg->name);
    boot_puts(" : len = ");
    boot_putx(vseg->length);
    boot_puts(" / vbase = ");
    boot_putx(vseg->vbase);
    boot_puts(" / pbase = ");
    boot_putl(vseg->pbase);
    boot_puts("\n");
#endif

    // set the next_base field in pseg when it's a RAM
    if ( pseg->type == PSEG_TYPE_RAM ) 
    {
        pseg->next_base = vseg->pbase + vseg->length;
    }
}    // end boot_vseg_map()

/////////////////////////////////////////////////////////////////////
// This function checks consistence beween the  mapping_info data 
// structure (soft), and the giet_config file (hard).
/////////////////////////////////////////////////////////////////////
void boot_check_mapping() 
{
    mapping_header_t * header = (mapping_header_t *) & seg_mapping_base;
    mapping_cluster_t * cluster = boot_get_cluster_base(header);
    mapping_periph_t * periph = boot_get_periph_base(header);

    // checking mapping availability
    if (header->signature != IN_MAPPING_SIGNATURE) 
    {
        boot_puts("\n[BOOT ERROR] Illegal mapping signature: ");
        boot_putx(header->signature);
        boot_puts("\n");
        boot_exit();
    }
    // checking number of clusters
    if (header->clusters != NB_CLUSTERS) 
    {
        boot_puts("\n[BOOT ERROR] Incoherent NB_CLUSTERS");
        boot_puts("\n             - In giet_config,  value = ");
        boot_putd(NB_CLUSTERS);
        boot_puts("\n             - In mapping_info, value = ");
        boot_putd(header->clusters);
        boot_puts("\n");
        boot_exit();
    }
    // checking number of virtual spaces
    if (header->vspaces > GIET_NB_VSPACE_MAX) 
    {
        boot_puts("\n[BOOT ERROR] : number of vspaces > GIET_NB_VSPACE_MAX\n");
        boot_puts("\n");
        boot_exit();
    }
    // checking hardware
    unsigned int periph_id;
    unsigned int cluster_id;
    unsigned int tty_found = 0;
    unsigned int nic_found = 0;
    for (cluster_id = 0; cluster_id < NB_CLUSTERS; cluster_id++) 
    {
        // NB_PROCS_MAX
        if (cluster[cluster_id].procs > NB_PROCS_MAX) 
        {
            boot_puts("\n[BOOT ERROR] too many processors in cluster ");
            boot_putd(cluster_id);
            boot_puts(" : procs = ");
            boot_putd(cluster[cluster_id].procs);
            boot_puts("\n");
            boot_exit();
        }

        for (periph_id = cluster[cluster_id].periph_offset;
                periph_id < cluster[cluster_id].periph_offset + cluster[cluster_id].periphs;
                periph_id++) 
        {
            // NB_TTY_CHANNELS
            if (periph[periph_id].type == PERIPH_TYPE_TTY) 
            {
                if (tty_found) 
                {
                    boot_puts("\n[BOOT ERROR] TTY component should not be replicated\n");
                    boot_exit();
                }
                if (periph[periph_id].channels > NB_TTY_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] Wrong NB_TTY_CHANNELS in cluster ");
                    boot_putd(cluster_id);
                    boot_puts(" : ttys = ");
                    boot_putd(periph[periph_id].channels);
                    boot_puts("\n");
                    boot_exit();
                }
                tty_found = 1;
            }
            // NB_NIC_CHANNELS
            if (periph[periph_id].type == PERIPH_TYPE_NIC) 
            {
                if (nic_found) 
                {
                    boot_puts("\n[BOOT ERROR] NIC component should not be replicated\n");
                    boot_exit();
                }
                if (periph[periph_id].channels != NB_NIC_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] Wrong NB_NIC_CHANNELS in cluster ");
                    boot_putd(cluster_id);
                    boot_puts(" : nics = ");
                    boot_putd(periph[periph_id].channels);
                    boot_puts("\n");
                    boot_exit();
                }
                nic_found = 1;
            }
            // NB_TIMERS
            if (periph[periph_id].type == PERIPH_TYPE_TIM) 
            {
                if (periph[periph_id].channels > NB_TIM_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] Too much user timers in cluster ");
                    boot_putd(cluster_id);
                    boot_puts(" : timers = ");
                    boot_putd(periph[periph_id].channels);
                    boot_puts("\n");
                    boot_exit();
                }
            }
            // NB_DMAS
            if (periph[periph_id].type == PERIPH_TYPE_DMA) 
            {
                if (periph[periph_id].channels > NB_DMA_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] Too much DMA channels in cluster ");
                    boot_putd(cluster_id);
                    boot_puts(" : channels = ");
                    boot_putd(periph[periph_id].channels);
                    boot_puts(" - NB_DMA_CHANNELS : ");
                    boot_putd(NB_DMA_CHANNELS);
                    boot_puts("\n");
                    boot_exit();
                }
            }
        } // end for periphs
    } // end for clusters
} // end boot_check_mapping()

/////////////////////////////////////////////////////////////////////
// This function initialises the physical pages table allocators 
// for all psegs (i.e. next_base field of the pseg). 
/////////////////////////////////////////////////////////////////////
void boot_psegs_init() 
{
    mapping_header_t* header   = (mapping_header_t *) &seg_mapping_base;
    mapping_cluster_t* cluster = boot_get_cluster_base(header);
    mapping_pseg_t* pseg       = boot_get_pseg_base(header);

    unsigned int cluster_id;
    unsigned int pseg_id;

#if BOOT_DEBUG_PT
boot_puts ("\n[BOOT DEBUG] ****** psegs allocators initialisation ******\n");
#endif

    for (cluster_id = 0; cluster_id < header->clusters; cluster_id++) 
    {
        if (cluster[cluster_id].procs > NB_PROCS_MAX) 
        {
            boot_puts("\n[BOOT ERROR] The number of processors in cluster ");
            boot_putd(cluster_id);
            boot_puts(" is larger than NB_PROCS_MAX \n");
            boot_exit();
        }

        for (pseg_id = cluster[cluster_id].pseg_offset;
                pseg_id < cluster[cluster_id].pseg_offset + cluster[cluster_id].psegs;
                pseg_id++) 
        {
            pseg[pseg_id].next_base = pseg[pseg_id].base;

#if BOOT_DEBUG_PT
boot_puts("cluster ");
boot_putd(cluster_id);
boot_puts(" / pseg ");
boot_puts(pseg[pseg_id].name);
boot_puts(" : next_base = ");
boot_putl(pseg[pseg_id].next_base);
boot_puts("\n");
#endif
        }
    }
} // end boot_psegs_init()

/////////////////////////////////////////////////////////////////////
// This function builds the page tables for all virtual spaces 
// defined in the mapping_info data structure, in three steps:
// - step 1 : It computes the physical base address for global vsegs
//            and for all associated vobjs.
// - step 2 : It computes the physical base address for all private 
//            vsegs and all vobjs in each virtual space.
// - step 3 : It actually fill the page table for each vspace.
/////////////////////////////////////////////////////////////////////
void boot_pt_init() 
{
    mapping_header_t * header = (mapping_header_t *) &seg_mapping_base;
    mapping_vspace_t * vspace = boot_get_vspace_base(header);
    mapping_vseg_t   * vseg   = boot_get_vseg_base(header);

    unsigned int vspace_id;
    unsigned int vseg_id;

#if BOOT_DEBUG_PT
boot_puts("\n[BOOT DEBUG] ****** mapping global vsegs ******\n");
#endif

    // step 1 : loop on virtual spaces to map global vsegs
    for (vseg_id = 0; vseg_id < header->globals; vseg_id++) 
    {
        boot_vseg_map(&vseg[vseg_id], ((unsigned int) (-1)));
    }

    // step 2 : loop on virtual vspaces to map private vsegs
    for (vspace_id = 0; vspace_id < header->vspaces; vspace_id++) 
    {

#if BOOT_DEBUG_PT
boot_puts("\n[BOOT DEBUG] ****** mapping private vsegs in vspace ");
boot_puts(vspace[vspace_id].name);
boot_puts(" ******\n");
#endif

        for (vseg_id = vspace[vspace_id].vseg_offset;
             vseg_id < (vspace[vspace_id].vseg_offset + vspace[vspace_id].vsegs);
             vseg_id++) 
        {
            boot_vseg_map(&vseg[vseg_id], vspace_id);
        }
    }

    // step 3 : loop on the vspaces to build the page tables
    for (vspace_id = 0; vspace_id < header->vspaces; vspace_id++) 
    {
#if BOOT_DEBUG_PT
boot_puts("\n[BOOT DEBUG] ****** building page table for vspace ");
boot_puts(vspace[vspace_id].name);
boot_puts(" ******\n");
#endif
        boot_vspace_pt_build(vspace_id);

#if BOOT_DEBUG_PT
boot_puts("\n>>> page table physical address = ");
boot_putl(boot_ptabs_paddr[vspace_id]);
boot_puts(", number of PT2 = ");
boot_putd((unsigned int) boot_max_pt2[vspace_id]);
boot_puts("\n");
#endif
    }
} // end boot_pt_init()

///////////////////////////////////////////////////////////////////////////////
// This function initializes all private vobjs defined in the vspaces,
// such as mwmr channels, barriers and locks, because these vobjs 
// are not known, and not initialized by the compiler.
// Warning : The MMU is supposed to be activated...
///////////////////////////////////////////////////////////////////////////////
void boot_vobjs_init() 
{
    mapping_header_t* header = (mapping_header_t *) & seg_mapping_base;
    mapping_vspace_t* vspace = boot_get_vspace_base(header);
    mapping_vobj_t* vobj     = boot_get_vobj_base(header);

    unsigned int vspace_id;
    unsigned int vobj_id;

    // loop on the vspaces
    for (vspace_id = 0; vspace_id < header->vspaces; vspace_id++) 
    {

#if BOOT_DEBUG_VOBJS
boot_puts("\n[BOOT DEBUG] ****** vobjs initialisation in vspace ");
boot_puts(vspace[vspace_id].name);
boot_puts(" ******\n");
#endif

        unsigned int ptab_found = 0;

        // loop on the vobjs
        for (vobj_id = vspace[vspace_id].vobj_offset;
             vobj_id < (vspace[vspace_id].vobj_offset + vspace[vspace_id].vobjs);
             vobj_id++) 
        {
            switch (vobj[vobj_id].type) 
            {
                case VOBJ_TYPE_MWMR:    // storage capacity is (vobj.length/4 - 5) words
                {
                    mwmr_channel_t* mwmr = (mwmr_channel_t *) (vobj[vobj_id].vaddr);
                    mwmr->ptw = 0;
                    mwmr->ptr = 0;
                    mwmr->sts = 0;
                    mwmr->width = vobj[vobj_id].init;
                    mwmr->depth = (vobj[vobj_id].length >> 2) - 6;
                    mwmr->lock = 0;
#if BOOT_DEBUG_VOBJS
boot_puts("MWMR    : ");
boot_puts(vobj[vobj_id].name);
boot_puts(" / depth = ");
boot_putd(mwmr->depth);
boot_puts(" / width = ");
boot_putd(mwmr->width);
boot_puts("\n");
#endif
                    break;
                }
                case VOBJ_TYPE_ELF:    // initialisation done by the loader 
                {
#if BOOT_DEBUG_VOBJS
boot_puts("ELF     : ");
boot_puts(vobj[vobj_id].name);
boot_puts(" / length = ");
boot_putx(vobj[vobj_id].length);
boot_puts("\n");
#endif
                    break;
                }
                case VOBJ_TYPE_BLOB:    // initialisation done by the loader 
                {
#if BOOT_DEBUG_VOBJS
boot_puts("BLOB     : ");
boot_puts(vobj[vobj_id].name);
boot_puts(" / length = ");
boot_putx(vobj[vobj_id].length);
boot_puts("\n");
#endif
                    break;
                }
                case VOBJ_TYPE_BARRIER:    // init is the number of participants
                {
                    giet_barrier_t* barrier = (giet_barrier_t *) (vobj[vobj_id].vaddr);
                    barrier->count = vobj[vobj_id].init;
                    barrier->init = vobj[vobj_id].init;
#if BOOT_DEBUG_VOBJS
boot_puts("BARRIER : ");
boot_puts(vobj[vobj_id].name);
boot_puts(" / init_value = ");
boot_putd(barrier->init);
boot_puts("\n");
#endif
                    break;
                }
                case VOBJ_TYPE_LOCK:    // init value is "not taken"
                {
                    unsigned int* lock = (unsigned int *) (vobj[vobj_id].vaddr);
                    *lock = 0;
#if BOOT_DEBUG_VOBJS
boot_puts("LOCK    : ");
boot_puts(vobj[vobj_id].name);
boot_puts("\n");
#endif
                    break;
                }
                case VOBJ_TYPE_BUFFER:    // nothing to initialise
                {
#if BOOT_DEBUG_VOBJS
boot_puts("BUFFER  : ");
boot_puts(vobj[vobj_id].name);
boot_puts(" / paddr = ");
boot_putl(vobj[vobj_id].paddr);
boot_puts(" / length = ");
boot_putx(vobj[vobj_id].length);
boot_puts("\n");
#endif
                    break;
                }
                case VOBJ_TYPE_MEMSPACE:
                {
                    giet_memspace_t* memspace = (giet_memspace_t *) vobj[vobj_id].vaddr;
                    memspace->buffer = (void *) vobj[vobj_id].vaddr + 8;
                    memspace->size = vobj[vobj_id].length - 8;
#if BOOT_DEBUG_VOBJS
boot_puts("MEMSPACE  : ");
boot_puts(vobj[vobj_id].name);
boot_puts(" / vaddr = ");
boot_putx(vobj[vobj_id].vaddr);
boot_puts(" / length = ");
boot_putx(vobj[vobj_id].length);
boot_puts(" / buffer = ");
boot_putx((unsigned int)memspace->buffer);
boot_puts(" / size = ");
boot_putx(memspace->size);
boot_puts("\n");
#endif
                    break;
                }
                case VOBJ_TYPE_PTAB:    // nothing to initialize
                {
                    ptab_found = 1;
#if BOOT_DEBUG_VOBJS
boot_puts("PTAB    : ");
boot_puts(vobj[vobj_id].name);
boot_puts(" / length = ");
boot_putx(vobj[vobj_id].length);
boot_puts("\n");
#endif
                    break;
                }
                case VOBJ_TYPE_CONST:
                {
                    unsigned int* addr = (unsigned int *) vobj[vobj_id].vaddr;
                    *addr = vobj[vobj_id].init;
#if BOOT_DEBUG_VOBJS
boot_puts("CONST   : ");
boot_puts(vobj[vobj_id].name);
boot_puts(" / Paddr :");
boot_putl(vobj[vobj_id].paddr);
boot_puts(" / init = ");
boot_putx(*addr);
boot_puts("\n");
#endif
                    break;
                }
                default:
                {
                    boot_puts("\n[BOOT ERROR] illegal vobj type: ");
                    boot_putd(vobj[vobj_id].type);
                    boot_puts("\n");
                    boot_exit();
                }
            }            // end switch type
        }            // end loop on vobjs
        if (ptab_found == 0) 
        {
            boot_puts("\n[BOOT ERROR] Missing PTAB for vspace ");
            boot_putd(vspace_id);
            boot_exit();
        }
    } // end loop on vspaces
} // end boot_vobjs_init()

////////////////////////////////////////////////////////////////////////////////
// This function initializes one MWMR controller channel.
// - coproc_pbase  : physical base address of the Coproc configuration segment
// - channel_pbase : physical base address of the MWMR channel segment
// Warning : the channel physical base address should be on 32 bits, as the
// MWMR controller configuration registers are 32 bits.
// TODO : Introduce a MWMR_CONFIG_PADDR_EXT register in the MWMR coprocessor
//        To support addresses > 32 bits and remove this limitation...
/////////////////////////////////////////////////////////////////////////////// 
void mwmr_hw_init(paddr_t                coproc_pbase, 
                  enum mwmrPortDirection way,
                  unsigned int           no, 
                  paddr_t                channel_pbase) 
{
    if ( (channel_pbase>>32) != 0 )
    {
        boot_puts("\n[BOOT ERROR] MWMR controller does not support address > 32 bits\n");
        boot_exit();
    }

    unsigned int lsb = (unsigned int)channel_pbase;
//  unsigned int msb = (unsigned int)(channel_pbase>>32);

    unsigned int depth = boot_physical_read( channel_pbase + 16 );
    unsigned int width = boot_physical_read( channel_pbase + 20 );

    boot_physical_write( coproc_pbase + MWMR_CONFIG_FIFO_WAY*4, way );
    boot_physical_write( coproc_pbase + MWMR_CONFIG_FIFO_NO*4, no );
    boot_physical_write( coproc_pbase + MWMR_CONFIG_WIDTH*4, width);
    boot_physical_write( coproc_pbase + MWMR_CONFIG_DEPTH*4, depth);
    boot_physical_write( coproc_pbase + MWMR_CONFIG_STATUS_ADDR*4, lsb);
    boot_physical_write( coproc_pbase + MWMR_CONFIG_BUFFER_ADDR*4, lsb + 24 );
//  boot_physical_write( coproc_pbase + MWMR_CONFIG_PADDR_EXT*4, msb);
    boot_physical_write( coproc_pbase + MWMR_CONFIG_RUNNING*4, 1 );
}

////////////////////////////////////////////////////////////////////////////////
// This function intializes the periherals and coprocessors, as specified
// in the mapping_info file.
////////////////////////////////////////////////////////////////////////////////
void boot_peripherals_init() 
{
    mapping_header_t * header = (mapping_header_t *) & seg_mapping_base;
    mapping_cluster_t * cluster = boot_get_cluster_base(header);
    mapping_periph_t * periph = boot_get_periph_base(header);
    mapping_pseg_t * pseg = boot_get_pseg_base(header);
    mapping_vobj_t * vobj = boot_get_vobj_base(header);
    mapping_vspace_t * vspace = boot_get_vspace_base(header);
    mapping_coproc_t * coproc = boot_get_coproc_base(header);
    mapping_cp_port_t * cp_port = boot_get_cp_port_base(header);

    unsigned int cluster_id;
    unsigned int periph_id;
    unsigned int coproc_id;
    unsigned int cp_port_id;
    unsigned int channel_id;

    for (cluster_id = 0; cluster_id < header->clusters; cluster_id++) 
    {

#if BOOT_DEBUG_PERI
boot_puts("\n[BOOT DEBUG] ****** peripherals initialisation in cluster ");
boot_putd(cluster_id);
boot_puts(" ******\n");
#endif

        for (periph_id = cluster[cluster_id].periph_offset;
             periph_id < cluster[cluster_id].periph_offset +
             cluster[cluster_id].periphs; periph_id++) 
        {
            unsigned int type = periph[periph_id].type;
            unsigned int channels = periph[periph_id].channels;
            unsigned int pseg_id = periph[periph_id].psegid;

            paddr_t pbase = pseg[pseg_id].base;

#if BOOT_DEBUG_PERI
boot_puts("- peripheral type : ");
boot_putd(type);
boot_puts(" / pbase = ");
boot_putl(pbase);
boot_puts(" / channels = ");
boot_putd(channels);
boot_puts("\n");
#endif

            switch (type) 
            {
                case PERIPH_TYPE_IOC:    // vci_block_device component
                {
                    paddr_t paddr = pbase + BLOCK_DEVICE_IRQ_ENABLE*4;
                    boot_physical_write(paddr, 1);
#if BOOT_DEBUG_PERI
boot_puts("- IOC initialised\n");
#endif
                }
                break;
                case PERIPH_TYPE_DMA:    // vci_multi_dma component
                    for (channel_id = 0; channel_id < channels; channel_id++) 
                    {
                        paddr_t paddr = pbase + (channel_id*DMA_SPAN + DMA_IRQ_DISABLE) * 4;
                        boot_physical_write(paddr, 0);
                    }
#if BOOT_DEBUG_PERI
boot_puts("- DMA initialised\n");
#endif
                break;
                case PERIPH_TYPE_NIC:    // vci_multi_nic component
                    for (channel_id = 0; channel_id < channels; channel_id++) 
                    {
                        // TODO
                    }
#if BOOT_DEBUG_PERI
boot_puts("- NIC initialised\n");
#endif
                break;
                case PERIPH_TYPE_TTY:    // vci_multi_tty component
#if BOOT_DEBUG_PERI
boot_puts("- TTY initialised\n");
#endif
                break;
                case PERIPH_TYPE_IOB:    // vci_io_bridge component
                    if (USE_IOB) 
                    {
                        // TODO
                        // get the iommu page table physical address
                        // define IPI address mapping the IOC interrupt 
                        // set IOMMU page table address
                        // pseg_base[IOB_IOMMU_PTPR] = ptab_pbase;    
                        // activate IOMMU
                        // pseg_base[IOB_IOMMU_ACTIVE] = 1;        
                    }
#if BOOT_DEBUG_PERI
boot_puts("- IOB initialised\n");
#endif
                break;
            }  // end switch periph type
        }  // end for periphs

#if BOOT_DEBUG_PERI
boot_puts("\n[BOOT DEBUG] ****** coprocessors initialisation in cluster ");
boot_putd(cluster_id);
boot_puts(" ******\n");
#endif

        for (coproc_id = cluster[cluster_id].coproc_offset;
             coproc_id < cluster[cluster_id].coproc_offset +
             cluster[cluster_id].coprocs; coproc_id++) 
        {
            unsigned no_fifo_to = 0;    //FIXME: should the map.xml define the order?
            unsigned no_fifo_from = 0;

            // Get physical base address for MWMR controler
            paddr_t coproc_pbase = pseg[coproc[coproc_id].psegid].base;

#if BOOT_DEBUG_PERI
boot_puts("- coprocessor name : ");
boot_puts(coproc[coproc_id].name);
boot_puts(" / nb ports = ");
boot_putd((unsigned int) coproc[coproc_id].ports);
boot_puts("\n");
#endif

            for (cp_port_id = coproc[coproc_id].port_offset;
                 cp_port_id < coproc[coproc_id].port_offset + coproc[coproc_id].ports;
                 cp_port_id++) 
            {
                unsigned int vspace_id = cp_port[cp_port_id].vspaceid;
                unsigned int vobj_id = cp_port[cp_port_id].mwmr_vobjid + 
                                          vspace[vspace_id].vobj_offset;

                // Get MWMR channel base address 
                paddr_t channel_pbase = vobj[vobj_id].paddr;

                if (cp_port[cp_port_id].direction == PORT_TO_COPROC) 
                {
#if BOOT_DEBUG_PERI
boot_puts("     port direction: PORT_TO_COPROC");
#endif
                    mwmr_hw_init(coproc_pbase, 
                                 PORT_TO_COPROC, 
                                 no_fifo_to, 
                                 channel_pbase);
                    no_fifo_to++;
                }
                else 
                {
#if BOOT_DEBUG_PERI
boot_puts("     port direction: PORT_FROM_COPROC");
#endif
                    mwmr_hw_init(coproc_pbase, 
                                 PORT_FROM_COPROC, 
                                 no_fifo_from, 
                                 channel_pbase);
                    no_fifo_from++;
                }
#if BOOT_DEBUG_PERI
boot_puts(", with mwmr: ");
boot_puts(vobj[vobj_id].name);
boot_puts(" of vspace: ");
boot_puts(vspace[vspace_id].name);
#endif
            } // end for cp_ports
        } // end for coprocs
    } // end for clusters
} // end boot_peripherals_init()

///////////////////////////////////////////////////////////////////////////////
// This function returns in the vbase and length buffers the virtual base 
// address and the length of the  segment allocated to the schedulers array 
// in the cluster defined by the clusterid argument.
///////////////////////////////////////////////////////////////////////////////
void boot_get_sched_vaddr( unsigned int  cluster_id,
                           unsigned int* vbase, 
                           unsigned int* length )
{
    mapping_header_t* header = (mapping_header_t *) & seg_mapping_base;
    mapping_vobj_t*   vobj   = boot_get_vobj_base(header);
    mapping_vseg_t*   vseg   = boot_get_vseg_base(header);
    mapping_pseg_t*   pseg   = boot_get_pseg_base(header);

    unsigned int vseg_id;
    unsigned int found = 0;

    for ( vseg_id = 0 ; (vseg_id < header->vsegs) && (found == 0) ; vseg_id++ )
    {
        if ( (vobj[vseg[vseg_id].vobj_offset].type == VOBJ_TYPE_SCHED) && 
             (pseg[vseg[vseg_id].psegid].cluster == cluster_id ) )
        {
            *vbase  = vseg[vseg_id].vbase;
            *length = vobj[vseg[vseg_id].vobj_offset].length;
            found = 1;
        }
    }
    if ( found == 0 )
    {
        boot_puts("\n[BOOT ERROR] No vobj of type SCHED in cluster ");
        boot_putd(cluster_id);
        boot_puts("\n");
        boot_exit();
    }
} // end boot_get_sched_vaddr()

///////////////////////////////////////////////////////////////////////////////
// This function initialises all processors schedulers.
// This is done by processor 0, and the MMU must be activated.
// It initialises the boot_chedulers[gpid] pointers array.
// Finally, it scan all tasks in all vspaces to initialise the tasks contexts, 
// as specified in the mapping_info data structure. 
// For each task, a TTY channel, a TIMER channel, a FBDMA channel, and a NIC
// channel are allocated if required. 
///////////////////////////////////////////////////////////////////////////////
void boot_schedulers_init() 
{
    mapping_header_t*  header  = (mapping_header_t *) & seg_mapping_base;
    mapping_cluster_t* cluster = boot_get_cluster_base(header);
    mapping_vspace_t*  vspace  = boot_get_vspace_base(header);
    mapping_task_t*    task    = boot_get_task_base(header);
    mapping_vobj_t*    vobj    = boot_get_vobj_base(header);
    mapping_proc_t*    proc    = boot_get_proc_base(header);
    mapping_irq_t*     irq     = boot_get_irq_base(header);

    unsigned int cluster_id;    // cluster index in mapping_info 
    unsigned int proc_id;       // processor index in mapping_info 
    unsigned int irq_id;        // irq index in mapping_info
    unsigned int vspace_id;     // vspace index in mapping_info
    unsigned int task_id;       // task index in mapping_info

    unsigned int alloc_tty_channel = 1;            // TTY channel allocator
    unsigned int alloc_nic_channel = 0;            // NIC channel allocator
    unsigned int alloc_cma_channel = 0;            // CMA channel allocator
    unsigned int alloc_ioc_channel = 0;            // IOC channel allocator
    unsigned int alloc_dma_channel[NB_CLUSTERS];   // DMA channel allocators
    unsigned int alloc_tim_channel[NB_CLUSTERS];   // user TIMER allocators

    /////////////////////////////////////////////////////////////////////////
    // Step 1 : loop on the clusters and on the processors 
    //          to initialize the schedulers[] array of pointers and
    //          the interrupt vectors.
    // Implementation note:
    // We need to use both proc_id to scan the mapping info structure,
    // and lpid to access the schedulers array.
    // - the boot_schedulers[] array of pointers can contain "holes", because
    //   it is indexed by the global pid = cluster_id*NB_PROCS_MAX + ltid
    // - the mapping info array of processors is contiguous, it is indexed 
    //   by proc_id, and use an offset specific in each cluster.

    for (cluster_id = 0; cluster_id < header->clusters; cluster_id++) 
    {

#if BOOT_DEBUG_SCHED
boot_puts("\n[BOOT DEBUG] Initialise schedulers in cluster ");
boot_putd(cluster_id);
boot_puts("\n");
#endif

        // TTY, NIC, CMA, IOC, TIM and DMA channels allocators 
        // - TTY[0] is reserved for the kernel
        // - In all clusters the first NB_PROCS_MAX timers 
        //   are reserved for the kernel (context switch)

        alloc_dma_channel[cluster_id] = 0;
        alloc_tim_channel[cluster_id] = NB_PROCS_MAX;

        unsigned int  lpid;          // processor local index in cluster
        unsigned int  sched_vbase;   // schedulers segment virtual base address
        unsigned int  sched_length;  // schedulers segment length
        unsigned int  nprocs;        // number of processors in cluster

        nprocs = cluster[cluster_id].procs;

        // checking processors number
        if ( nprocs > NB_PROCS_MAX )
        {
            boot_puts("\n[BOOT ERROR] Too much processors in cluster ");
            boot_putd(cluster_id);
            boot_puts("\n");
            boot_exit();
        }
 
        // get scheduler array virtual base address for cluster_id
        boot_get_sched_vaddr( cluster_id, &sched_vbase, &sched_length );

        // each processor scheduler requires 4 Kbytes
        if ( sched_length < (nprocs<<12) ) 
        {
            boot_puts("\n[BOOT ERROR] Schedulers segment too small in cluster ");
            boot_putd(cluster_id);
            boot_puts("\n");
            boot_exit();
        }

        for ( proc_id = cluster[cluster_id].proc_offset, lpid = 0 ;
              proc_id < cluster[cluster_id].proc_offset + cluster[cluster_id].procs;
              proc_id++, lpid++ ) 
        {
            // set the schedulers pointers array
            boot_schedulers[cluster_id * NB_PROCS_MAX + lpid] =
               (static_scheduler_t*)( sched_vbase + (lpid<<12) );

#if BOOT_DEBUG_SCHED
boot_puts("\nProc ");
boot_putd(lpid);
boot_puts(" : scheduler virtual base address = ");
boot_putx( sched_vbase + (lpid<<12) );
boot_puts("\n");
#endif
            // current processor scheduler pointer : psched
            static_scheduler_t* psched = (static_scheduler_t*)(sched_vbase+(lpid<<12));

            // initialise the "tasks" variable
            psched->tasks = 0;

            // initialise the interrupt_vector with ISR_DEFAULT
            unsigned int slot;
            for (slot = 0; slot < 32; slot++) psched->interrupt_vector[slot] = 0;

            // scan the IRQs actually allocated to current processor
            for (irq_id = proc[proc_id].irq_offset;
                 irq_id < proc[proc_id].irq_offset + proc[proc_id].irqs;
                 irq_id++) 
            {
                unsigned int type = irq[irq_id].type;
                unsigned int icu_id = irq[irq_id].icuid;
                unsigned int isr_id = irq[irq_id].isr;
                unsigned int channel = irq[irq_id].channel;
                unsigned int value = isr_id | (type << 8) | (channel << 16);
                psched->interrupt_vector[icu_id] = value;

#if BOOT_DEBUG_SCHED
boot_puts("- IRQ : icu = ");
boot_putd(icu_id);
boot_puts(" / type = ");
boot_putd(type);
boot_puts(" / isr = ");
boot_putd(isr_id);
boot_puts(" / channel = ");
boot_putd(channel);
boot_puts(" => vector_entry = ");
boot_putx( value );
boot_puts("\n");
#endif
            }
        } // end for procs
    } // end for clusters

    ///////////////////////////////////////////////////////////////////
    // Step 2 : loop on the vspaces and the tasks 
    //          to initialise the schedulers and the task contexts.
    // Implementation note:
    // This function initialises the task context for all tasks.
    // For each processor, the scheduler virtual base address 
    // is written in the CP0_SCHED register in reset.S 

    for (vspace_id = 0; vspace_id < header->vspaces; vspace_id++) 
    {

#if BOOT_DEBUG_SCHED
boot_puts("\n[BOOT DEBUG] Initialise task contexts for vspace ");
boot_puts(vspace[vspace_id].name);
boot_puts("\n");
#endif
        // We must set the PTPR depending on the vspace, because the start_vector 
        // and the stack address are defined in virtual space.
        boot_set_mmu_ptpr( (unsigned int)(boot_ptabs_paddr[vspace_id] >> 13) );

        // loop on the tasks in vspace (task_id is the global index)
        for (task_id = vspace[vspace_id].task_offset;
             task_id < (vspace[vspace_id].task_offset + vspace[vspace_id].tasks);
             task_id++) 
        {
            // compute gpid (global processor index) and scheduler base address
            unsigned int gpid = task[task_id].clusterid * NB_PROCS_MAX + 
                                task[task_id].proclocid;
            static_scheduler_t* psched = boot_schedulers[gpid];

            // ctx_ra :  the return address is &boot_eret()
            unsigned int ctx_ra = (unsigned int) &boot_eret;

            // ctx_sr : value required before an eret instruction
            unsigned int ctx_sr = 0x0000FF13;

            // ctx_ptpr : page table physical base address (shifted by 13 bit)
            unsigned int ctx_ptpr = (unsigned int)(boot_ptabs_paddr[vspace_id] >> 13);

            // ctx_ptab : page_table virtual base address
            unsigned int ctx_ptab = boot_ptabs_vaddr[vspace_id];

            // ctx_tty : terminal global index provided by the global allocator
            unsigned int ctx_tty = 0xFFFFFFFF;
            if (task[task_id].use_tty) 
            {
                if (alloc_tty_channel >= NB_TTY_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] TTY index too large for task ");
                    boot_puts(task[task_id].name);
                    boot_puts(" in vspace ");
                    boot_puts(vspace[vspace_id].name);
                    boot_puts("\n");
                    boot_exit();
                }
                ctx_tty = alloc_tty_channel;
                alloc_tty_channel++;
            }
            // ctx_nic : NIC channel global index provided by the global allocator
            unsigned int ctx_nic = 0xFFFFFFFF;
            if (task[task_id].use_nic) 
            {
                if (alloc_nic_channel >= NB_NIC_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] NIC channel index too large for task ");
                    boot_puts(task[task_id].name);
                    boot_puts(" in vspace ");
                    boot_puts(vspace[vspace_id].name);
                    boot_puts("\n");
                    boot_exit();
                }
                ctx_nic = alloc_nic_channel;
                alloc_nic_channel++;
            }
            // ctx_cma : CMA channel global index provided by the global allocator
            unsigned int ctx_cma = 0xFFFFFFFF;
            if (task[task_id].use_cma) 
            {
                if (alloc_cma_channel >= NB_CMA_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] CMA channel index too large for task ");
                    boot_puts(task[task_id].name);
                    boot_puts(" in vspace ");
                    boot_puts(vspace[vspace_id].name);
                    boot_puts("\n");
                    boot_exit();
                }
                ctx_cma = alloc_cma_channel;
                alloc_cma_channel++;
            }
            // ctx_ioc : IOC channel global index provided by the global allocator
            unsigned int ctx_ioc = 0xFFFFFFFF;
            if (task[task_id].use_ioc) 
            {
                if (alloc_ioc_channel >= NB_IOC_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] IOC channel index too large for task ");
                    boot_puts(task[task_id].name);
                    boot_puts(" in vspace ");
                    boot_puts(vspace[vspace_id].name);
                    boot_puts("\n");
                    boot_exit();
                }
                ctx_ioc = alloc_ioc_channel;
                alloc_ioc_channel++;
            }
            // ctx_tim : TIMER local channel index provided by the cluster allocator 
            unsigned int ctx_tim = 0xFFFFFFFF;
            if (task[task_id].use_tim) 
            {
                unsigned int cluster_id = task[task_id].clusterid;

                if ( alloc_tim_channel[cluster_id] >= NB_TIM_CHANNELS ) 
                {
                    boot_puts("\n[BOOT ERROR] local TIMER index too large for task ");
                    boot_puts(task[task_id].name);
                    boot_puts(" in vspace ");
                    boot_puts(vspace[vspace_id].name);
                    boot_puts("\n");
                    boot_exit();
                }

                // checking that there is a well defined ISR_TIMER installed
                unsigned int found = 0;
                for ( irq_id = 0 ; irq_id < 32 ; irq_id++ )  
                {
                    unsigned int entry   = psched->interrupt_vector[irq_id];
                    unsigned int isr     = entry & 0x000000FF;
                    unsigned int channel = entry>>16;
                    if ( (isr == ISR_TIMER) && (channel == alloc_tim_channel[cluster_id]) ) 
                    {
                        found     = 1;
                        ctx_tim =  alloc_tim_channel[cluster_id];
                        alloc_tim_channel[cluster_id]++;
                        break;
                    }
                }
                if (!found) 
                {
                    boot_puts("\n[BOOT ERROR] No ISR_TIMER installed for task ");
                    boot_puts(task[task_id].name);
                    boot_puts(" in vspace ");
                    boot_puts(vspace[vspace_id].name);
                    boot_puts("\n");
                    boot_exit();
                }
            }
            // ctx_dma : the local channel index is defined by the cluster allocator  
            //           but the ctx_dma value is a global index
            unsigned int ctx_dma = 0xFFFFFFFF;
            if ( task[task_id].use_dma ) 
            {
                unsigned int cluster_id = task[task_id].clusterid;

                if (alloc_dma_channel[cluster_id] >= NB_DMA_CHANNELS) 
                {
                    boot_puts("\n[BOOT ERROR] local DMA index too large for task ");
                    boot_puts(task[task_id].name);
                    boot_puts(" in vspace ");
                    boot_puts(vspace[vspace_id].name);
                    boot_puts("\n");
                    boot_exit();
                }
                ctx_dma = cluster_id * NB_DMA_CHANNELS + alloc_dma_channel[cluster_id];
                alloc_dma_channel[cluster_id]++;
            }
            // ctx_epc : Get the virtual address of the start function
            mapping_vobj_t* pvobj = &vobj[vspace[vspace_id].vobj_offset + 
                                     vspace[vspace_id].start_offset];
            unsigned int* start_vector_vbase = (unsigned int *) pvobj->vaddr;
            unsigned int ctx_epc = start_vector_vbase[task[task_id].startid];

            // ctx_sp :  Get the vobj containing the stack 
            unsigned int vobj_id = task[task_id].stack_vobjid + vspace[vspace_id].vobj_offset;
            unsigned int ctx_sp = vobj[vobj_id].vaddr + vobj[vobj_id].length;

            // get local task index in scheduler
            unsigned int ltid = psched->tasks;

            if (ltid >= IDLE_TASK_INDEX) 
            {
                boot_puts("\n[BOOT ERROR] : ");
                boot_putd(ltid);
                boot_puts(" tasks allocated to processor ");
                boot_putd(gpid);
                boot_puts(" / max is 15\n");
                boot_exit();
            }
            // update the "tasks" field in scheduler
            psched->tasks = ltid + 1;

            // update the "current" field in scheduler
            psched->current = 0;

            // initializes the task context in scheduler
            psched->context[ltid][CTX_SR_ID]    = ctx_sr;
            psched->context[ltid][CTX_SP_ID]    = ctx_sp;
            psched->context[ltid][CTX_RA_ID]    = ctx_ra;
            psched->context[ltid][CTX_EPC_ID]   = ctx_epc;
            psched->context[ltid][CTX_PTPR_ID]  = ctx_ptpr;
            psched->context[ltid][CTX_TTY_ID]   = ctx_tty;
            psched->context[ltid][CTX_CMA_ID]   = ctx_cma;
            psched->context[ltid][CTX_IOC_ID]   = ctx_ioc;
            psched->context[ltid][CTX_NIC_ID]   = ctx_nic;
            psched->context[ltid][CTX_TIM_ID]   = ctx_tim;
            psched->context[ltid][CTX_DMA_ID]   = ctx_dma;
            psched->context[ltid][CTX_PTAB_ID]  = ctx_ptab;
            psched->context[ltid][CTX_LTID_ID]  = ltid;
            psched->context[ltid][CTX_GTID_ID]  = task_id;
            psched->context[ltid][CTX_VSID_ID]  = vspace_id;
            psched->context[ltid][CTX_RUN_ID]   = 1;

#if BOOT_DEBUG_SCHED
boot_puts("\nTask ");
boot_puts(task[task_id].name);
boot_puts(" (");
boot_putd(task_id);
boot_puts(") allocated to processor ");
boot_putd(gpid);
boot_puts("\n  - ctx[LTID]   = ");
boot_putd(ltid);
boot_puts("\n  - ctx[SR]     = ");
boot_putx(ctx_sr);
boot_puts("\n  - ctx[SR]     = ");
boot_putx(ctx_sp);
boot_puts("\n  - ctx[RA]     = ");
boot_putx(ctx_ra);
boot_puts("\n  - ctx[EPC]    = ");
boot_putx(ctx_epc);
boot_puts("\n  - ctx[PTPR]   = ");
boot_putx(ctx_ptpr);
boot_puts("\n  - ctx[TTY]    = ");
boot_putd(ctx_tty);
boot_puts("\n  - ctx[NIC]    = ");
boot_putd(ctx_nic);
boot_puts("\n  - ctx[CMA]    = ");
boot_putd(ctx_cma);
boot_puts("\n  - ctx[IOC]    = ");
boot_putd(ctx_ioc);
boot_puts("\n  - ctx[TIM]    = ");
boot_putd(ctx_tim);
boot_puts("\n  - ctx[DMA]    = ");
boot_putd(ctx_dma);
boot_puts("\n  - ctx[PTAB]   = ");
boot_putx(ctx_ptab);
boot_puts("\n  - ctx[GTID]   = ");
boot_putd(task_id);
boot_puts("\n  - ctx[VSID]   = ");
boot_putd(vspace_id);
boot_puts("\n");
#endif

        } // end loop on tasks
    } // end loop on vspaces
} // end boot_schedulers_init()


//////////////////////////////////////////////////////////////////////////////////
// This function is executed by P[0] to wakeup all processors.
//////////////////////////////////////////////////////////////////////////////////
void boot_start_all_procs() 
{
    mapping_header_t * header = (mapping_header_t *) &seg_mapping_base;
    header->signature = OUT_MAPPING_SIGNATURE;
}


/////////////////////////////////////////////////////////////////////
// This function is the entry point of the initialisation procedure
/////////////////////////////////////////////////////////////////////
void boot_init() {

    // mapping_info checking
    boot_check_mapping();

    boot_puts("\n[BOOT] Mapping check completed at cycle ");
    boot_putd(boot_proctime());
    boot_puts("\n");

    // pseg allocators initialisation 
    boot_psegs_init();

    boot_puts("\n[BOOT] Pseg allocators initialisation completed at cycle ");
    boot_putd(boot_proctime());
    boot_puts("\n");

    // page table building
    boot_pt_init();

    boot_puts("\n[BOOT] Page Tables initialisation completed at cycle ");
    boot_putd(boot_proctime());
    boot_puts("\n");

    // mmu activation ( with page table [Ø] )
    boot_set_mmu_ptpr((unsigned int) (boot_ptabs_paddr[0] >> 13));
    boot_set_mmu_mode(0xF);

    boot_puts("\n[BOOT] Proc 0 MMU activation at cycle ");
    boot_putd(boot_proctime());
    boot_puts("\n");


    // vobjs initialisation
    boot_vobjs_init();

    boot_puts("\n[BOOT] Vobjs initialisation completed at cycle : ");
    boot_putd(boot_proctime());
    boot_puts("\n");

    // peripherals initialisation
    boot_peripherals_init();

    boot_puts("\n[BOOT] Peripherals initialisation completed at cycle ");
    boot_putd(boot_proctime());
    boot_puts("\n");

    // schedulers initialisation
    boot_schedulers_init();

    boot_puts("\n[BOOT] Schedulers initialisation completed at cycle ");
    boot_putd(boot_proctime());
    boot_puts("\n");

    // start all processors
    boot_start_all_procs();

} // end boot_init()


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