source: soft/giet_vm/boot/boot_init.c @ 230

//////////////////////////////////////////////////////////////////////////////////
// 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)
//
// 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 both the hardware architecture
// and the mapping:
// - physical segmentation of the physical address space, 
// - virtual spaces definition (one multi-task application per vspace), 
// - placement of virtual objects (vobj) in the virtual segments (vseg).
// - placement of virtual segments (vseg) in the physical segments (pseg).
// - placement of 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 (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 the (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,  and 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
// As both the page tables and the schedulers are physically distributed,
// these global variables are just arrays of pointers. 
////////////////////////////////////////////////////////////////////////////

// Page table pointers array
page_table_t * boot_ptabs_vaddr[GIET_NB_VSPACE_MAX];
page_table_t * boot_ptabs_paddr[GIET_NB_VSPACE_MAX];

// Scheduler pointers array
static_scheduler_t * boot_schedulers_paddr[NB_CLUSTERS * NB_PROCS_MAX];

// Next free PT2 index array
unsigned int boot_next_free_pt2[GIET_NB_VSPACE_MAX] =
{ [0 ... GIET_NB_VSPACE_MAX - 1] = 0 };

// Max PT2 index 
unsigned int boot_max_pt2[GIET_NB_VSPACE_MAX] =
{ [0 ... GIET_NB_VSPACE_MAX - 1] = 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_scheduler_set_context()
// This function set a context slot in a scheduler, after a temporary
// desactivation of the DTLB (because we use the scheduler physical address).
// - gpid   : global processor/scheduler index
// - ltid   : local task index
// - slotid : context slot index
// - value  : value to be written 
//////////////////////////////////////////////////////////////////////////////
inline void boot_scheduler_set_context(unsigned int gpid,
        unsigned int ltid,
        unsigned int slotid,
        unsigned int value) {
    // get scheduler physical address
    static_scheduler_t * psched = boot_schedulers_paddr[gpid];

    // get slot physical address
    unsigned int * pslot = &(psched->context[ltid][slotid]);

    asm volatile ("li      $26,    0xB     \n"
            "mtc2    $26,    $1      \n"    /* desactivate DTLB */
            "sw      %1,     0(%0)   \n"    /* *pslot <= value  */
            "li      $26,    0xF     \n"
            "mtc2    $26,    $1      \n"    /* activate DTLB    */
            :
            :"r" (pslot), "r"(value)
            :"$26");
}


//////////////////////////////////////////////////////////////////////////////
// boot_scheduler_set_itvector()
// This function set an interrupt vector slot in a scheduler, after a temporary
// desactivation of the DTLB (because we use the scheduler physical address).
// - gpid   : global processor/scheduler index
// - slotid : context slot index
// - value  : value to be written 
//////////////////////////////////////////////////////////////////////////////
inline void boot_scheduler_set_itvector(unsigned int gpid,
        unsigned int slotid,
        unsigned int value) {
    // get scheduler physical address
    static_scheduler_t * psched = boot_schedulers_paddr[gpid];

    // get slot physical address
    unsigned int * pslot = &(psched->interrupt_vector[slotid]);

    asm volatile ("li      $26,    0xB     \n"
            "mtc2    $26,    $1      \n"    /* desactivate DTLB */
            "sw      %1,     0(%0)   \n"    /* *pslot <= value  */
            "li      $26,    0xF     \n"
            "mtc2    $26,    $1      \n"    /* activate DTLB    */
            :
            :"r" (pslot), "r"(value)
            :"$26");
}


//////////////////////////////////////////////////////////////////////////////
// boot_scheduler_get_itvector()
// This function get an interrupt vector slot in a scheduler, after a temporary
// desactivation of the DTLB (because we use the scheduler physical address).
// - gpid   : global processor/scheduler index
// - slotid : context slot index
// - return the content of the slot 
//////////////////////////////////////////////////////////////////////////////
unsigned int boot_scheduler_get_itvector(unsigned int gpid, unsigned int slotid) {
    unsigned int value;

    // get scheduler physical address
    static_scheduler_t * psched = boot_schedulers_paddr[gpid];

    // get slot physical address
    unsigned int * pslot = &(psched->interrupt_vector[slotid]);

    asm volatile ("li      $26,    0xB     \n"
            "mtc2    $26,    $1      \n"    /* desactivate DTLB */
            "lw      %0,     0(%1)   \n"    /* *pslot <= value  */
            "li      $26,    0xF     \n"
            "mtc2    $26,    $1      \n"    /* activate DTLB    */
            :"=r" (value)
            :"r"(pslot)
            :"$26");
    return value;
}


//////////////////////////////////////////////////////////////////////////////
// boot_scheduler_get_tasks()
// This function returns the "tasks" field of a scheduler, after temporary 
// desactivation of the DTLB (because we use the scheduler physical address).
// - gpid   : global processor/scheduler index
//////////////////////////////////////////////////////////////////////////////
inline unsigned int boot_scheduler_get_tasks(unsigned int gpid) {
    unsigned int ret;

    // get scheduler physical address
    static_scheduler_t * psched = boot_schedulers_paddr[gpid];

    // get tasks physical address
    unsigned int * ptasks = &(psched->tasks);

    asm volatile ("li      $26,    0xB     \n"
            "mtc2    $26,    $1      \n"    /* desactivate DTLB */
            "lw      %0,     0(%1)   \n"    /* ret <= *ptasks   */
            "li      $26,    0xF     \n"
            "mtc2    $26,    $1      \n"    /* activate DTLB    */
            :"=r" (ret)
            :"r"(ptasks)
            :"$26");
    return ret;
}


//////////////////////////////////////////////////////////////////////////////
// boot_scheduler_set_tasks()
// This function set the "tasks" field of a scheduler, after temporary 
// desactivation of the DTLB (because we use the scheduler physical address).
// - gpid   : global processor/scheduler index
// - value  : value to be written 
//////////////////////////////////////////////////////////////////////////////
inline void boot_scheduler_set_tasks(unsigned int gpid, unsigned int value) {
    // get scheduler physical address
    static_scheduler_t * psched = boot_schedulers_paddr[gpid];

    // get tasks physical address
    unsigned int * ptasks = &(psched->tasks);

    asm volatile ("li      $26,    0xB     \n"
            "mtc2    $26,    $1      \n"    /* desactivate DTLB */
            "sw      %1,     0(%0)   \n"    /* *ptasks <= value */
            "li      $26,    0xF     \n"
            "mtc2    $26,    $1      \n"    /* activate DTLB    */
            :
            :"r" (ptasks), "r"(value)
            :"$26");
}


//////////////////////////////////////////////////////////////////////////////
// boot_scheduler_set_current()
// This function set the "current" field of a scheduler, after temporary 
// desactivation of the DTLB (because we use the scheduler physical address).
// - gpid   : global processor/scheduler index
// - value  : value to be written 
//////////////////////////////////////////////////////////////////////////////
inline void boot_scheduler_set_current(unsigned int gpid, unsigned int value) {
    // get scheduler physical address
    static_scheduler_t *psched = boot_schedulers_paddr[gpid];

    // get tasks physical address
    unsigned int * pcur = &(psched->current);

    asm volatile ("li      $26,    0xB     \n"
            "mtc2    $26,    $1      \n"    /* desactivate DTLB */
            "sw      %1,     0(%0)   \n"    /* *pcur   <= value */
            "li      $26,    0xF     \n"
            "mtc2    $26,    $1      \n"    /* activate DTLB    */
            :
            :"r" (pcur), "r"(value)
            :"$26");
}


//////////////////////////////////////////////////////////////////////////////
// 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()
// (it uses 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() 
// (it uses 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_putd() 
// (it uses 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];
}                // end boot_pseg_get()


//////////////////////////////////////////////////////////////////////////////
// boot_add_pte() 
// This function registers a new PTE in the page table pointed
// 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.
//
// The global parameter is a boolean indicating wether a global vseg is
// being mapped.
//////////////////////////////////////////////////////////////////////////////
void boot_add_pte(unsigned int vspace_id,
        unsigned int vpn, unsigned int flags, unsigned int ppn) {
    unsigned int ix1;
    unsigned int ix2;
    unsigned int ptba;      // PT2 base address
    unsigned int pt2_id;    // PT2 index
    unsigned int *pt_flags; // pointer on the pte_flags = &PT2[2*ix2]    
    unsigned int *pt_ppn;   // pointer on the pte_ppn   = &PT2[2*ix2+1]  

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

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

    if (max_pt2 == 0) {
        boot_puts("Unfound page table for vspace ");
        boot_putd(vspace_id);
        boot_puts("\n");
        boot_exit();
    }
    // get page table physical address
    page_table_t *pt = boot_ptabs_paddr[vspace_id];

    if ((pt->pt1[ix1] & PTE_V) == 0) { // 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_exit();
        }
        else {
            ptba = (unsigned int) pt + PT1_SIZE + PT2_SIZE * pt2_id;
            pt->pt1[ix1] = PTE_V | PTE_T | (ptba >> 12);
            boot_next_free_pt2[vspace_id] = pt2_id + 1;
        }
    }
    else {
        ptba = pt->pt1[ix1] << 12;
    }

    // set PTE2 after checking double mapping error
    pt_flags = (unsigned int *) (ptba + 8 * ix2);
    pt_ppn = (unsigned int *) (ptba + 8 * ix2 + 4);

    if ((*pt_flags & PTE_V) != 0) {  // page already mapped
        boot_puts("\n[BOOT ERROR] double mapping in vspace ");
        boot_putd(vspace_id);
        boot_puts(" for vpn = ");
        boot_putx(vpn);
        boot_puts("\n");
        boot_exit();
    }
    // set PTE2
    *pt_flags = flags;
    *pt_ppn = ppn;

}                // 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.
// 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;

    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 = 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_putx(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);
            vpn++;
            ppn++;
        }
    }

    // global segments
    for (vseg_id = 0; vseg_id < header->globals; vseg_id++) {
        vpn = vseg[vseg_id].vbase >> 12;
        ppn = 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_putx(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);
            vpn++;
            ppn++;
        }
    }
}                // end boot_vspace_pt_build()


///////////////////////////////////////////////////////////////////////////
// Align the value "toAlign" to the required alignement indicated by
// alignPow2 ( the logarithme of 2 the alignement).
///////////////////////////////////////////////////////////////////////////
unsigned int align_to(unsigned int toAlign, unsigned int alignPow2) {
    unsigned int mask = (1 << alignPow2) - 1;
    return ((toAlign + mask) & ~mask);
}


///////////////////////////////////////////////////////////////////////////
// This function compute 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;
    unsigned int cur_paddr;
    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 = 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 = align_to(cur_paddr, vobj[vobj_id].align);
            cur_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;
        
        // initialise boot_ptabs_vaddr[] if current vobj is a 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 => ( boot_max_pt2[vspace_id] >= 1)
            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] = (page_table_t *) vobj[vobj_id].vaddr;
            boot_ptabs_paddr[vspace_id] = (page_table_t *) vobj[vobj_id].paddr;

            /* computing the number of second level page */
            boot_max_pt2[vspace_id] = (vobj[vobj_id].length - PT1_SIZE) / PT2_SIZE;
        }
        // set next vaddr/paddr
        cur_vaddr += vobj[vobj_id].length;
        cur_paddr += vobj[vobj_id].length;

    } // end for vobjs

    //set the vseg length
    vseg->length = align_to((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_putx(vseg->pbase);
        boot_puts("\n");
        boot_puts("vseg length = ");
        boot_putx(vseg->length);
        boot_puts("\n");
        boot_puts("pseg pbase = ");
        boot_putx(pseg->base);
        boot_puts("\n");
        boot_puts("pseg length = ");
        boot_putx(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_putx(vseg->pbase);
    boot_puts("\n");
#endif

    // set the next_base field in vseg
    if (vseg->ident == 0 && pseg->type != PSEG_TYPE_PERI) {
        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_TTYS
            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_TTYS) {
                    boot_puts("\n[BOOT ERROR] Wrong NB_TTYS in cluster ");
                    boot_putd(cluster_id);
                    boot_puts(" : ttys = ");
                    boot_putd(periph[periph_id].channels);
                    boot_puts("\n");
                    boot_exit();
                }
                tty_found = 1;
            }
            // NB_NICS
            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_NICS) {
                    boot_puts("\n[BOOT ERROR] Wrong NB_NICS 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_TIMERS_MAX) {
                    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_DMAS_MAX) {
                    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_DMAS_MAX : ");
                    boot_putd(NB_DMAS_MAX);
                    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). 
// In each cluster containing processors, it reserve space for the
// schedulers in the first RAM pseg found (4k bytes per processor). 
/////////////////////////////////////////////////////////////////////
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;
    unsigned int found;

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

        found = 0;

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

            if ((pseg[pseg_id].type == PSEG_TYPE_RAM) && (found == 0)) {
                free = free + (cluster[cluster_id].procs << 12);
                found = 1;
            }
            pseg[pseg_id].next_base = free;

#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_putx(pseg[pseg_id].next_base);
            boot_puts("\n");
#endif
        }
    }
} // end boot_pseg_init()


/////////////////////////////////////////////////////////////////////
// This function builds the page tables for all virtual spaces 
// defined in the mapping_info data structure.
// For each virtual space, it maps both the global vsegs 
// (replicated in all vspaces), and the private vsegs.
/////////////////////////////////////////////////////////////////////
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 : first 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_putx((unsigned int) boot_ptabs_paddr[vspace_id]);
        boot_puts(", page table 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.
///////////////////////////////////////////////////////////////////////////////
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].paddr);
                    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].paddr);
                    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 is "not taken"
                {
                    unsigned int * lock = (unsigned int *) (vobj[vobj_id].paddr);
                    *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_putx(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].paddr;
                    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(" / paddr = ");
                    boot_putx(vobj[vobj_id].paddr);
                    boot_puts(" / vaddr = ");
                    boot_putx(vobj[vobj_id].vaddr);
                    boot_puts(" / length = ");
                    boot_putx(vobj[vobj_id].length);
                    boot_puts(" / buffer = ");
                    boot_putx(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].paddr;
                    *addr = vobj[vobj_id].init;
#if BOOT_DEBUG_VOBJS
                    boot_puts("CONST   : ");
                    boot_puts(vobj[vobj_id].name);
                    boot_puts(" / Paddr :");
                    boot_putx(vobj[vobj_id].paddr);
                    boot_puts(" / init = ");
                    boot_putx(*addr);
                    boot_puts("\n");
#endif
                    break;
                }
                default:
                {
                    boot_puts("\n[INIT 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[INIT ERROR] Missing PTAB for vspace ");
            boot_putd(vspace_id);
            boot_exit();
        }
    } // end loop on vspaces
} // end boot_vobjs_init()


void mwmr_hw_init(void * coproc, enum mwmrPortDirection way,
        unsigned int no, const mwmr_channel_t * pmwmr) {
    volatile unsigned int *cbase = (unsigned int *) coproc;

    cbase[MWMR_CONFIG_FIFO_WAY] = way;
    cbase[MWMR_CONFIG_FIFO_NO] = no;
    cbase[MWMR_CONFIG_STATUS_ADDR] = (unsigned int) pmwmr;
    cbase[MWMR_CONFIG_WIDTH] = pmwmr->width;
    cbase[MWMR_CONFIG_DEPTH] = pmwmr->depth;
    cbase[MWMR_CONFIG_BUFFER_ADDR] = (unsigned int) &pmwmr->data;
    cbase[MWMR_CONFIG_RUNNING] = 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] ****** peripheral 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;

            unsigned int * pseg_base = (unsigned int *) pseg[pseg_id].base;

#if BOOT_DEBUG_PERI
            boot_puts("- peripheral type : ");
            boot_putd(type);
            boot_puts(" / address = ");
            boot_putx((unsigned int) pseg_base);
            boot_puts(" / channels = ");
            boot_putd(channels);
            boot_puts("\n");
#endif

            switch (type) {
                case PERIPH_TYPE_IOC:    // vci_block_device component
                    pseg_base[BLOCK_DEVICE_IRQ_ENABLE] = 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++) {
                        pseg_base[DMA_IRQ_DISABLE + channel_id * DMA_SPAN] = 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 (IOMMU_ACTIVE) {
                        // 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 it be the map.xml who define the order?
            unsigned no_fifo_from = 0;
            unsigned int cpseg = 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++) {
                //FIXME: the vspace_id should be the same for all ports: put it in the coproc?
                unsigned int vspace_id = cp_port[cp_port_id].vspaceid;
                unsigned int vobj_id = cp_port[cp_port_id].vobjlocid + vspace[vspace_id].vobj_offset;

                mwmr_channel_t * pmwmr = (mwmr_channel_t *) (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((void *) cpseg, PORT_TO_COPROC, no_fifo_to, pmwmr);
                    no_fifo_to++;
                }
                else {
#if BOOT_DEBUG_PERI
                    boot_puts("     port direction: PORT_FROM_COPROC");
#endif
                    mwmr_hw_init((void *) cpseg, PORT_FROM_COPROC, no_fifo_from, pmwmr);
                    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 coprocs
    } // end for clusters
} // end boot_peripherals_init()


///////////////////////////////////////////////////////////////////////////////
// This function initialises all processors schedulers.
// This is done by processor 0, and the MMU must be activated.
// It initialises the boot_schedulers_paddr[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 can be 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_pseg_t * pseg = boot_get_pseg_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 alloc_tty_channel;    // TTY channel allocator
    unsigned int alloc_nic_channel;    // NIC channel allocator
    unsigned int alloc_dma_channel[NB_CLUSTERS];   // DMA channel allocators
    unsigned int alloc_timer_channel[NB_CLUSTERS]; // user TIMER allocators

    unsigned int cluster_id; // cluster global index 
    unsigned int proc_id;    // processor global index 
    unsigned int irq_id;     // irq global index 
    unsigned int pseg_id;    // pseg global index 
    unsigned int vspace_id;  // vspace global index 
    unsigned int task_id;    // task global index;

    // Step 0 : TTY, NIC, TIMERS and DMA channels allocators initialisation
    //          global_id = cluster_id*NB_*_MAX + loc_id
    //          - TTY[0] is reserved for the kernel
    //          - In all clusters the first NB_PROCS_MAX timers 
    //            are reserved for the kernel (context switch)

    alloc_tty_channel = 1;
    alloc_nic_channel = 0;

    for (cluster_id = 0; cluster_id < header->clusters; cluster_id++) {
        alloc_dma_channel[cluster_id] = 0;
        alloc_timer_channel[cluster_id] = 0;
    }

    // Step 1 : loop on the clusters and on the processors 
    //          - initialise the boot_schedulers_paddr[] pointers array 
    //          - initialise the interrupt vectors for each processor.

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

#if BOOT_DEBUG_SCHED
        boot_puts("\n[BOOT DEBUG] Initialise schedulers / IT vector in cluster ");
        boot_putd(cluster_id);
        boot_puts("\n");
#endif
        unsigned int found = 0;
        unsigned int pseg_pbase;    // pseg base address 
        unsigned int lpid;    // processor local index

        // get the physical base address of the first PSEG_TYPE_RAM pseg in cluster
        for (pseg_id = cluster[cluster_id].pseg_offset;
                pseg_id < cluster[cluster_id].pseg_offset + cluster[cluster_id].psegs;
                pseg_id++) {
            if (pseg[pseg_id].type == PSEG_TYPE_RAM) {
                pseg_pbase = pseg[pseg_id].base;
                found = 1;
                break;
            }
        }

        if ((cluster[cluster_id].procs > 0) && (found == 0)) {
            boot_puts("\n[BOOT ERROR] Missing RAM pseg in cluster ");
            boot_putd(cluster_id);
            boot_puts("\n");
            boot_exit();
        }
        // 4 Kbytes per scheduler
        for (lpid = 0; lpid < cluster[cluster_id].procs; lpid++) {
            boot_schedulers_paddr[cluster_id * NB_PROCS_MAX + lpid] = (static_scheduler_t *) (pseg_pbase + (lpid << 12));
        }

        for (proc_id = cluster[cluster_id].proc_offset;
                proc_id < cluster[cluster_id].proc_offset + cluster[cluster_id].procs;
                proc_id++) {

#if BOOT_DEBUG_SCHED
            boot_puts("\nProc ");
            boot_putd(proc_id);
            boot_puts(" : scheduler pbase = ");
            boot_putx(pseg_pbase + (proc_id << 12));
            boot_puts("\n");
#endif
            // initialise the "tasks" variable in scheduler
            boot_scheduler_set_tasks(proc_id, 0);

            // initialise the interrupt_vector with ISR_DEFAULT
            unsigned int slot;
            for (slot = 0; slot < 32; slot++) {
                boot_scheduler_set_itvector(proc_id, 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);
                boot_scheduler_set_itvector(proc_id, 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("\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.

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

#if BOOT_DEBUG_SCHED
        boot_puts
            ("\n[BOOT DEBUG] Initialise schedulers / 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++) {
            // 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;

            // compute gpid = global processor index
            unsigned int gpid = task[task_id].clusterid * NB_PROCS_MAX + task[task_id].proclocid;

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

            // ctx_tty : terminal global index provided by a global allocator
            unsigned int ctx_tty = 0xFFFFFFFF;
            if (task[task_id].use_tty) {
                if (alloc_tty_channel >= NB_TTYS) {
                    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 a global allocator
            unsigned int ctx_nic = 0xFFFFFFFF;
            if (task[task_id].use_nic) {
                if (alloc_nic_channel >= NB_NICS) {
                    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_timer : user TIMER global index provided by a cluster allocator 
            unsigned int ctx_timer = 0xFFFFFFFF;
            if (task[task_id].use_timer) {
                unsigned int cluster_id = task[task_id].clusterid;
                unsigned int allocated = alloc_timer_channel[cluster_id];

                if (allocated >= NB_TIMERS_MAX) {
                    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();
                }
                //assert(allocated >= 0);
                char found = 0;
                for (irq_id = 0; irq_id < 32; irq_id++) { //look at the isr_timer isr channel
                    unsigned int isr = boot_scheduler_get_itvector(gpid, irq_id) & 0x000000FF;
                    if (isr == ISR_TIMER) {
                        if (allocated == 0) {
                            found = 1;
                            alloc_timer_channel[cluster_id]++;
                            ctx_timer = cluster_id * NB_TIMERS_MAX + alloc_timer_channel[cluster_id];
                            break;
                        }
                        else {
                            allocated--;
                        }
                    }
                }

                if (!found) {
                    boot_puts("\n[BOOT ERROR] No user timer available 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 : DMA global index provided by a cluster allocator  
            unsigned int ctx_dma = 0xFFFFFFFF;
            if (task[task_id].use_fbdma || task[task_id].use_nic) {
                unsigned int cluster_id = task[task_id].clusterid;
                if (alloc_dma_channel[cluster_id] >= NB_DMAS_MAX) {
                    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_DMAS_MAX + 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].vobjlocid + vspace[vspace_id].vobj_offset;
            unsigned int ctx_sp = vobj[vobj_id].vaddr + vobj[vobj_id].length;

            // In the code below, we access the scheduler with specific access 
            // functions, because we only have the physical address of the scheduler, 
            // and these functions must temporary desactivate the DTLB...

            // get local task index in scheduler[gpid]
            unsigned int ltid = boot_scheduler_get_tasks(gpid);

            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[gpid]
            boot_scheduler_set_tasks(gpid, ltid + 1);

            // update the "current" field in scheduler[gpid]
            boot_scheduler_set_current(gpid, 0);

            // initializes the task context in scheduler[gpid]
            boot_scheduler_set_context(gpid, ltid, CTX_SR_ID, ctx_sr);
            boot_scheduler_set_context(gpid, ltid, CTX_SP_ID, ctx_sp);
            boot_scheduler_set_context(gpid, ltid, CTX_RA_ID, ctx_ra);
            boot_scheduler_set_context(gpid, ltid, CTX_EPC_ID, ctx_epc);
            boot_scheduler_set_context(gpid, ltid, CTX_PTPR_ID, ctx_ptpr);
            boot_scheduler_set_context(gpid, ltid, CTX_TTY_ID, ctx_tty);
            boot_scheduler_set_context(gpid, ltid, CTX_DMA_ID, ctx_dma);
            boot_scheduler_set_context(gpid, ltid, CTX_NIC_ID, ctx_nic);
            boot_scheduler_set_context(gpid, ltid, CTX_TIMER_ID, ctx_timer);
            boot_scheduler_set_context(gpid, ltid, CTX_PTAB_ID, ctx_ptab);
            boot_scheduler_set_context(gpid, ltid, CTX_LTID_ID, ltid);
            boot_scheduler_set_context(gpid, ltid, CTX_VSID_ID, vspace_id);
            boot_scheduler_set_context(gpid, 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("  - ctx[LTID]   = ");
            boot_putd(ltid);
            boot_puts("\n");

            boot_puts("  - ctx[SR]     = ");
            boot_putx(ctx_sr);
            boot_puts("\n");

            boot_puts("  - ctx[SR]     = ");
            boot_putx(ctx_sp);
            boot_puts("\n");

            boot_puts("  - ctx[RA]     = ");
            boot_putx(ctx_ra);
            boot_puts("\n");

            boot_puts("  - ctx[EPC]    = ");
            boot_putx(ctx_epc);
            boot_puts("\n");

            boot_puts("  - ctx[PTPR]   = ");
            boot_putx(ctx_ptpr);
            boot_puts("\n");

            boot_puts("  - ctx[TTY]    = ");
            boot_putd(ctx_tty);
            boot_puts("\n");

            boot_puts("  - ctx[NIC]    = ");
            boot_putd(ctx_nic);
            boot_puts("\n");

            boot_puts("  - ctx[TIMER]  = ");
            boot_putd(ctx_timer);
            boot_puts("\n");

            boot_puts("  - ctx[DMA]    = ");
            boot_putd(ctx_dma);
            boot_puts("\n");

            boot_puts("  - ctx[PTAB]   = ");
            boot_putx(ctx_ptab);
            boot_puts("\n");

            boot_puts("  - 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");

    // 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");

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

    boot_puts("\n[BOOT] MMU activation 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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