source: soft/giet_vm/giet_kernel/kernel_init.c @ 323

Last change on this file since 323 was 322, checked in by alain, 10 years ago

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1///////////////////////////////////////////////////////////////////////////////////
2// File     : kernel_init.c
3// Date     : 26/05/2012
4// Authors  : alain greiner & mohamed karaoui
5// Copyright (c) UPMC-LIP6
6////////////////////////////////////////////////////////////////////////////////////
7// The kernel_init.c file is part of the GIET-VM nano-kernel.
8//
9// This nano-kernel has been written for the MIPS32 processor.
10// The virtual adresses are on 32 bits and use the (unsigned int) type, but the
11// physicals addresses can have up to 40 bits, and use the (unsigned long long) type.
12// It natively supports clusterised shared mmemory multi-processors architectures,
13// where each processor is identified by a composite index [x,y,lpid],
14// and where there is one physical memory bank per cluster.
15//
16// The kernel_init() function is executed in parallel by all procesors,
17// and completes the system initialisation that has been started by processor[0,0,0]
18// in the boot_init() function. It makes the following assuptions, regarding the work
19// bone by the boot code:
20//
21// 1) The page tables associated to the various vspaces have been build
22//    in physical memory, and can be used by the kernel code.
23//
24// 2) All schedulers (this include all task contexts) have been initialised,
25//    Both the virtual and the physical base addresses of the page tables
26//    are available in the CTX_PTAB and CTX_PTPR slots.
27//
28// 3) The CP0_SCHED register of each processor contains a pointer on its
29//    private scheduler (virtual address).
30//
31// 4) The CP2_PTPR register of each processor contains a pointer on
32//    the vspace_0 page table (physical address>>13).
33//
34// 5) For all processors, the MMU is activated (CP2_MODE contains 0xF).
35//
36// This code must be loaded in .kinit section, in order to control seg_kinit_base,
37// as this address is used by the boot code to jump into kernel code.
38//
39// Each processor performs the following actions:
40// 1/ contribute to _schedulers_paddr[] array initialisation.
41// 2/ contribute to _ptabs_paddr[] and _ptabs_vaddr arrays initialisation
42// 3/ completes task context initialisation for ech allocated task
43// 4/ compute and set the ICU mask for its private ICU channel
44// 5/ initialise its private TICK timer (if tasks > 0)
45// 6/ initialise the "idle" task context in its private scheduler
46// 7/ initialise SP, SR, PTPR, EPC registers and jump to user code with an eret.
47////////////////////////////////////////////////////////////////////////////////////
48
49#include <giet_config.h>
50
51// kernel libraries
52#include <utils.h>
53#include <fat32.h>
54
55//for peripheral initialisation
56#include <dma_driver.h>
57#include <fbf_driver.h>
58#include <tty_driver.h>
59#include <icu_driver.h>
60#include <xcu_driver.h>
61#include <ioc_driver.h>
62#include <mmc_driver.h>
63#include <mwr_driver.h>
64#include <nic_driver.h>
65#include <tim_driver.h>
66
67#include <ctx_handler.h>
68#include <irq_handler.h>
69
70#include <mapping_info.h>
71#include <mips32_registers.h>
72
73#if !defined(X_SIZE)
74# error: You must define X_SIZE in the hard_config.h file
75#endif
76
77#if !defined(Y_SIZE)
78# error: You must define Y_SIZE in the hard_config.h file
79#endif
80
81#if !defined(Y_WIDTH)
82# error: You must define Y_WIDTH in the hard_config.h file
83#endif
84
85#if !defined(Y_WIDTH)
86# error: You must define Y_WIDTH in the hard_config.h file
87#endif
88
89#if !defined(NB_PROCS_MAX)
90# error: You must define NB_PROCS_MAX in the hard_config.h file
91#endif
92
93#if !defined(NB_TOTAL_PROCS)
94# error: You must define NB_TOTAL_PROCS in the hard_config.h file
95#endif
96
97#if !defined(USE_XCU)
98# error: You must define USE_XCU in the hard_config.h file
99#endif
100
101#if !defined(IDLE_TASK_INDEX)
102# error: You must define IDLE_TASK_INDEX in the giet_config.h file
103#endif
104
105#if !defined(GIET_TICK_VALUE)
106# error: You must define GIET_TICK_VALUE in the giet_config.h file
107#endif
108
109#if !defined(GIET_NB_VSPACE_MAX)
110# error: You must define GIET_NB_VSPACE_MAX in the giet_config.h file
111#endif
112
113///////////////////////////////////////////////////////////////////////////////////
114// array of pointers on the page tables (virtual addresses)
115///////////////////////////////////////////////////////////////////////////////////
116
117__attribute__((section (".kdata"))) 
118unsigned int _ptabs_vaddr[GIET_NB_VSPACE_MAX];    // virtual addresses
119
120__attribute__((section (".kdata")))       
121unsigned int _ptabs_ptprs[GIET_NB_VSPACE_MAX];    // physical addresses >> 13
122
123///////////////////////////////////////////////////////////////////////////////////
124// array of pointers on the schedulers (physical addresses)
125///////////////////////////////////////////////////////////////////////////////////
126
127__attribute__((section (".kdata"))) 
128static_scheduler_t* _schedulers[NB_PROCS_MAX<<(X_WIDTH+Y_WIDTH)]; // virtual addresses
129
130////////////////////////////////////////////////////////////////////////////////////
131// staks for the "idle" tasks (512 bytes for each processor)
132////////////////////////////////////////////////////////////////////////////////////
133
134__attribute__((section (".kdata"))) 
135unsigned int _idle_stack[X_SIZE * Y_SIZE * NB_PROCS_MAX * 128 ]; 
136
137////////////////////////////////////////////////////////////////////////////////////
138// Synchonisation Barrier before jumping to user code
139////////////////////////////////////////////////////////////////////////////////////
140
141__attribute__((section (".kdata"))) 
142unsigned int _init_barrier = 0;
143
144///////////////////////////////////////////////////////////////////////////////////
145__attribute__((section (".kinit"))) void kernel_init() 
146{
147    unsigned int global_pid = _get_procid();
148    unsigned int cluster_xy = global_pid / NB_PROCS_MAX;
149    unsigned int x          = cluster_xy >> Y_WIDTH;
150    unsigned int y          = cluster_xy & ((1<<Y_WIDTH)-1);
151    unsigned int lpid       = global_pid % NB_PROCS_MAX;
152    unsigned int pid        = ((( x * Y_SIZE) + y) * NB_PROCS_MAX) + lpid;
153//  unsigned int pid        = _get_id(i n_procs );
154
155    // This last initialisation phase is done sequencially:
156    while( pid != _init_barrier ) asm volatile ( "nop" );
157
158    // Step 1 : each processor get its scheduler virtual address
159    //          and contribute to initialise the _schedulers[] array
160
161    static_scheduler_t* psched     = (static_scheduler_t*)_get_sched();
162    unsigned int        tasks      = psched->tasks;
163
164    _schedulers[global_pid] = psched;
165
166#if GIET_DEBUG_INIT
167_printf("\n[GIET DEBUG INIT] Processor[%d,%d,%d] starts kernel init\n"
168        " - scheduler vbase = %x\n"
169        " - tasks           = %d\n",
170        x, y, lpid, (unsigned int)psched, tasks );
171#endif
172
173    // step 2 : each processor that is allocated at least one task loops
174    //          on all allocated tasks:
175    //          - contributes to _ptabs_vaddr[] & _ptabs_ptprs[] initialisation.
176    //          - set CTX_RA slot  with the kernel _ctx_eret() virtual address.
177    //          - set CTX_EPC slot that must contain the task entry point,
178    //            and contain only at this point the virtual address of the memory
179    //            location containing this entry point. We must switch the PTPR
180    //            to use the page table corresponding to the task.
181
182    unsigned int ltid;
183
184    for (ltid = 0; ltid < tasks; ltid++) 
185    {
186        unsigned int vsid = _get_task_slot( global_pid, ltid , CTX_VSID_ID ); 
187        unsigned int ptab = _get_task_slot( global_pid, ltid , CTX_PTAB_ID ); 
188        unsigned int ptpr = _get_task_slot( global_pid, ltid , CTX_PTPR_ID ); 
189
190        // initialize PTABS arrays
191        _ptabs_vaddr[vsid] = ptab;
192        _ptabs_ptprs[vsid] = ptpr;
193
194#if GIET_DEBUG_INIT
195_printf("\n[GIET DEBUG INIT] Processor[%d,%d,%d] contributes to PTABS arrays\n"
196        " - ptabs_vaddr[%d] = %x / ptpr_paddr[%d] = %l\n",
197        x, y, lpid, 
198        vsid, ptab, vsid, ((unsigned long long)ptpr)<<13 );
199#endif
200
201        // set the ptpr to use the task page table
202        asm volatile( "mtc2    %0,   $0   \n"
203                      : : "r" (ptpr) );
204
205        // compute ctx_ra
206        unsigned int ctx_ra = (unsigned int)(&_ctx_eret);
207        _set_task_slot( global_pid, ltid, CTX_RA_ID, ctx_ra );
208
209        // compute ctx_epc
210        unsigned int* ptr = (unsigned int*)_get_task_slot( global_pid, ltid, CTX_EPC_ID );
211        _set_task_slot( global_pid, ltid, CTX_EPC_ID, *ptr );
212
213#if GIET_DEBUG_INIT
214_printf("\n[GIET DEBUG INIT] Processor[%d,%d,%d] updates context for task %d\n"
215        " - ctx_epc   = %x\n"
216        " - ctx_ra    = %x\n",
217        x, y, lpid, ltid,
218        _get_task_slot( global_pid, ltid, CTX_EPC_ID ),
219        _get_task_slot( global_pid, ltid, CTX_RA_ID ) );
220#endif
221
222    }  // end for tasks
223
224    // step 4 : compute and set ICU or XCU masks
225
226    unsigned int isr_switch_index = 0xFFFFFFFF;
227    unsigned int hwi_mask = 0;
228    unsigned int pti_mask = 0;
229    unsigned int wti_mask = 0;
230    unsigned int irq_id;            // IN_IRQ index
231    unsigned int entry;             // interrupt vector entry
232
233    for (irq_id = 0; irq_id < 32; irq_id++) 
234    {
235        entry = psched->hwi_vector[irq_id];
236        if ( entry & 0x80000000 ) hwi_mask = hwi_mask | (1<<irq_id);
237        if ( (entry & 0x0000FFFF) == ISR_TICK ) isr_switch_index = irq_id;
238
239        entry = psched->pti_vector[irq_id];
240        if ( entry & 0x80000000 ) pti_mask = pti_mask | (1<<irq_id);
241        if ( (entry & 0x0000FFFF) == ISR_TICK ) isr_switch_index = irq_id;
242
243        entry = psched->wti_vector[irq_id];
244        if ( entry & 0x80000000 ) wti_mask = wti_mask | (1<<irq_id);
245        if ( (entry & 0x0000FFFF) == ISR_TICK ) isr_switch_index = irq_id;
246    }
247
248#if GIET_DEBUG_INIT
249_printf("\n[GIET DEBUG INIT] Processor[%d,%d,%d] sets XCU masks\n"
250        " - ICU HWI_MASK = %x\n"
251        " - ICU WTI_MASK = %x\n"
252        " - ICU PTI_MASK = %x\n",
253        x, y, lpid, hwi_mask, wti_mask, pti_mask );
254#endif
255
256    unsigned int channel = lpid * IRQ_PER_PROCESSOR; 
257
258#if USE_XCU
259    _xcu_set_mask( cluster_xy, channel, hwi_mask, IRQ_TYPE_HWI ); 
260    _xcu_set_mask( cluster_xy, channel, wti_mask, IRQ_TYPE_WTI );
261    _xcu_set_mask( cluster_xy, channel, pti_mask, IRQ_TYPE_PTI );
262#else
263    _icu_set_mask( cluster_xy, channel, hwi_mask );   
264#endif
265
266    // step 5 : start TICK timer if at least one task
267    if (tasks > 0) 
268    {
269        // one ISR_TICK must be defined for each proc
270        if (isr_switch_index == 0xFFFFFFFF) 
271        {
272            _printf("\n[GIET ERROR] ISR_TICK not found for processor[%d,%d,%d]\n",
273                    x, y, lpid );
274            _exit();
275        }
276
277        // start system timer
278
279#if USE_XCU
280        _xcu_timer_start( cluster_xy, isr_switch_index, GIET_TICK_VALUE ); 
281#else
282        _timer_start( cluster_xy, isr_switch_index, GIET_TICK_VALUE ); 
283#endif
284
285    }
286
287#if GIET_DEBUG_INIT
288_printf("\n[GIET DEBUG INIT] Processor[%d,%d,%d] starts TICK timer\n",
289        x, y, lpid );
290#endif
291
292    // step 6 : each processor updates the idle_task context:
293    //          (only CTX_SP, CTX_RA, CTX_EPC).
294    //          The stack size is 512 bytes, reserved in seg_kdata.
295    //          The PTPR register, the CTX_PTPR and CTX_PTAB slots
296    //          have been initialised in boot code.
297
298    unsigned int p = ((x * Y_SIZE) + y) * NB_PROCS_MAX + lpid; 
299
300    unsigned int stack = (unsigned int)_idle_stack + ((p + 1)<<9);
301
302    _set_task_slot( global_pid, IDLE_TASK_INDEX, CTX_SP_ID,  stack);
303    _set_task_slot( global_pid, IDLE_TASK_INDEX, CTX_RA_ID,  (unsigned int) &_ctx_eret);
304    _set_task_slot( global_pid, IDLE_TASK_INDEX, CTX_EPC_ID, (unsigned int) &_idle_task);
305
306#if GIET_DEBUG_INIT
307_printf("\n[GIET DEBUG INIT] Processor[%d,%d,%d] initializes IDLE task\n",
308        x, y, lpid );
309#endif
310
311    // step 7 : when all processors reach the synchronisation barrier,
312    //          each processor set registers SP, SR, PTPR, EPC,
313    //          with the values corresponding to the first allocated task,
314    //          or to the idle_task if there is no task allocated,
315    //          and jump to user code
316
317    if (tasks == 0) 
318    {
319        ltid = IDLE_TASK_INDEX;
320
321        _printf("\n[GIET WARNING] No task allocated to processor[%d,%d,%d]\n",
322                x, y, lpid );
323    }
324    else
325    {
326        ltid = 0;
327    }
328
329    unsigned int sp_value   = _get_task_slot(global_pid, ltid, CTX_SP_ID);
330    unsigned int sr_value   = _get_task_slot(global_pid, ltid, CTX_SR_ID);
331    unsigned int ptpr_value = _get_task_slot(global_pid, ltid, CTX_PTPR_ID);
332    unsigned int epc_value  = _get_task_slot(global_pid, ltid, CTX_EPC_ID);
333
334    _printf("\n[GIET DEBUG INIT] Processor[%d,%d,%d] reach barrier at cycle %d\n",
335            x, y, lpid, _get_proctime() );
336
337    // increment barrier counter
338    _init_barrier++;
339
340    // busy waiting until all processors synchronized
341    while ( _init_barrier != NB_TOTAL_PROCS ) asm volatile ("nop");
342
343    // set registers and jump to user code
344    asm volatile ( "move  $29,  %0                  \n"   /* SP <= ctx[CTX_SP_ID] */
345                   "mtc0  %1,   $12                 \n"   /* SR <= ctx[CTX_SR_ID] */
346                   "mtc2  %2,   $0                  \n"   /* PTPR <= ctx[CTX_PTPR] */
347                   "mtc0  %3,   $14                 \n"   /* EPC <= ctx[CTX_EPC]  */
348                   "eret                            \n"   /* jump to user code  */
349                   "nop                             \n"
350                   : 
351                   : "r"(sp_value), "r"(sr_value), "r"(ptpr_value), "r"(epc_value)
352                   : "$29" );
353
354} // end kernel_init()
355
356
357// Local Variables:
358// tab-width: 4
359// c-basic-offset: 4
360// c-file-offsets:((innamespace . 0)(inline-open . 0))
361// indent-tabs-mode: nil
362// End:
363// vim: filetype=c:expandtab:shiftwidth=4:tabstop=4:softtabstop=4
364
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