source: soft/giet_vm/sys/kernel_init.c @ 238

///////////////////////////////////////////////////////////////////////////////////
// File     : kernel_init.c
// Date     : 26/05/2012
// Authors  : alain greiner & mohamed karaoui
// Copyright (c) UPMC-LIP6
////////////////////////////////////////////////////////////////////////////////////
// The kernel_init.c files is part of the GIET-VM nano-kernel.
// It contains the kernel entry point for the last step of system initialisation. 
// All procs in this phase have their MMU activated, and are running in parallel.
// Each processor perform the following actions:
// 1/ contributes to _schedulers_paddr[] initialisation
// 2/ contributes to _ptabs_paddr[] and _ptabs_vaddr arrays initialisation 
// 3/ computes and set the ICU mask for its private ICU channel
// 4/ initialises its private TICK timer (if required)
// 5/ initialises the "idle" task context in its private scheduler
// 6/ initialises the SP, SR, PTPR, EPC registers
// 7/ jumps to the user code with an eret. 
////////////////////////////////////////////////////////////////////////////////////

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

///////////////////////////////////////////////////////////////////////////////////
// array of pointers on the page tables (virtual addresses)
///////////////////////////////////////////////////////////////////////////////////

__attribute__((section (".kdata"))) 
unsigned int _ptabs[GIET_NB_VSPACE_MAX];    // virtual addresses

__attribute__((section (".kdata")))        
unsigned int _ptprs[GIET_NB_VSPACE_MAX];    // physical addresses >> 13

///////////////////////////////////////////////////////////////////////////////////
// array of pointers on the schedulers (physical addresses)
///////////////////////////////////////////////////////////////////////////////////

__attribute__((section (".kdata"))) 
static_scheduler_t* _schedulers[NB_CLUSTERS * NB_PROCS_MAX]; 

///////////////////////////////////////////////////////////////////////////////////
// staks for the "idle" tasks (256 bytes for each processor)
///////////////////////////////////////////////////////////////////////////////////

__attribute__((section (".kdata"))) 
unsigned int _idle_stack[NB_CLUSTERS * NB_PROCS_MAX * 64]; 

////////////////
void _sys_exit() 
{
    while (1);
}


//////////////////////////////////////////////////////////////////////////////////
// This function is the entry point for the last step of the boot sequence.
// that is done in parallel by all processors, with MMU activated.
//////////////////////////////////////////////////////////////////////////////////
__attribute__((section (".kinit"))) void _kernel_init() 
{
    // Step 1 : get processor index,
    //          get scheduler address
    //          initialise _schedulers[] array

    unsigned int        global_pid = _procid();
    unsigned int        cluster_id = global_pid / NB_PROCS_MAX;
    unsigned int        proc_id    = global_pid % NB_PROCS_MAX;
    static_scheduler_t* psched     = _get_sched();
    unsigned int        tasks      = psched->tasks;

    _schedulers[global_pid] = psched;

#if GIET_DEBUG_INIT
_get_lock(&_tty_put_lock);
_puts("\n[GIET DEBUG] step 1 for processor ");
_putd(global_pid);
_puts(" : tasks = ");
_putd(tasks);
_puts(" / scheduler vbase = ");
_putx((unsigned int) psched);
_puts("\n");
_release_lock(&_tty_put_lock);
#endif

    // step 2 : initialise ptabs[] & ptprs[] arrays
    //          each processor scans all tasks contexts in its
    //          private scheduler and get VSID, PTAB and PTPR values

    unsigned int ltid;

    for (ltid = 0; ltid < tasks; ltid++) 
    {
        unsigned int vsid  = _get_task_slot(ltid , CTX_VSID_ID); 
        unsigned int ptab  = _get_task_slot(ltid , CTX_PTAB_ID); 
        unsigned int ptpr  = _get_task_slot(ltid , CTX_PTPR_ID); 

        _ptabs[vsid] = ptab;
        _ptprs[vsid] = ptpr;

#if GIET_DEBUG_INIT
_get_lock(&_tty_put_lock);
_puts("\n[GIET DEBUG] step 2 for processor ");
_putd(global_pid);
_puts(" / vspace ");
_putd(vsid);
_puts("\n- ptab = ");
_putx(ptab);
_puts("\n- ptpr = ");
_putx(ptpr);
_puts("\n");
_release_lock(&_tty_put_lock);
#endif

    }

    // step 3 : compute and set ICU masks
    //          there is at most 32 interrupts per processor
    //          software interrupts are not supported yet

    unsigned int isr_switch_channel = 0xFFFFFFFF;
    unsigned int irq_id;            // IN_IRQ index
    unsigned int hwi_mask = 0;
    unsigned int pti_mask = 0;

    for (irq_id = 0; irq_id < 32; irq_id++) 
    {
        unsigned int entry = psched->interrupt_vector[irq_id];
        unsigned int isr   = entry & 0x000000FF;

        if ((isr == ISR_DMA) || (isr == ISR_IOC) || (isr == ISR_TTY)) 
        {
            hwi_mask = hwi_mask | 0x1 << irq_id;
        }
        else if ((isr == ISR_SWITCH)) 
        { 
            pti_mask = pti_mask | 0x1 << irq_id;
            isr_switch_channel = irq_id;
        }
        else if ((isr == ISR_TIMER)) 
        {
            pti_mask = pti_mask | 0x1 << irq_id;
        }
    }

#if GIET_DEBUG_INIT
_get_lock(&_tty_put_lock);
_puts("\n[GIET DEBUG] step 3 for processor ");
_putd(global_pid);
_puts("\n - ICU HWI_MASK = ");
_putx(hwi_mask);
_puts("\n - ICU PTI_MASK = ");
_putx(pti_mask);
_puts("\n");
_release_lock(&_tty_put_lock);
#endif

    _icu_set_mask(cluster_id, proc_id, hwi_mask, 0); // set HWI_MASK
    _icu_set_mask(cluster_id, proc_id, pti_mask, 1); // set PTI_MASK

    // step 4 : start TICK timer if more than one task
    if (tasks > 1) 
    {
        if (isr_switch_channel == 0xFFFFFFFF) 
        {
            _get_lock(&_tty_put_lock);
            _puts("\n[GIET ERROR] ISR_SWITCH not found on proc ");
            _putd(proc_id);
            _puts("\n");
            _release_lock(&_tty_put_lock);
            _sys_exit();
        }

        if (_timer_start( cluster_id, isr_switch_channel, GIET_TICK_VALUE)) 
        {
            _get_lock(&_tty_put_lock);
            _puts("\n[GIET ERROR] ISR_SWITCH init error for proc ");
            _putd(proc_id);
            _puts("\n");
            _release_lock(&_tty_put_lock);
            _sys_exit();
        }

#if GIET_DEBUG_INIT
_get_lock(&_tty_put_lock);
_puts("\n[GIET DEBUG] Step 4 for processor ");
_putd(global_pid);
_puts(" / context switch activated\n");
_release_lock(&_tty_put_lock);
#endif

    } 

    // step 5 : initialise, for each processor, the "idle" task context:
    //          the SR initialisation value is 0xFF03 because
    //          the task _ctx_idle() executes in kernel mode.
    //          it uses the page table of vspace[0]
    //          the stack size is 256 bytes

    unsigned int stack = (unsigned int)_idle_stack + ((global_pid + 1)<<8);

    _set_task_slot( IDLE_TASK_INDEX, CTX_RUN_ID, 1);
    _set_task_slot( IDLE_TASK_INDEX, CTX_SR_ID,  0xFF03);
    _set_task_slot( IDLE_TASK_INDEX, CTX_SP_ID,  stack);
    _set_task_slot( IDLE_TASK_INDEX, CTX_RA_ID,  (unsigned int) &_ctx_eret);
    _set_task_slot( IDLE_TASK_INDEX, CTX_EPC_ID, (unsigned int) &_ctx_idle);
    _set_task_slot( IDLE_TASK_INDEX, CTX_LTID_ID, IDLE_TASK_INDEX);
    _set_task_slot( IDLE_TASK_INDEX, CTX_PTPR_ID, _ptprs[0]);

#if GIET_DEBUG_INIT
_get_lock(&_tty_put_lock);
_puts("\n[GIET DEBUG] Step 5 for processor ");
_putd(global_pid);
_puts(" / idle task context set\n");
_release_lock(&_tty_put_lock);
#endif

    // step 6 : each processor initialises SP, SR, PTPR, EPC, registers
    //          with the values corresponding to the first allocated task,
    //          and starts the "idle" task if there is no task allocated.

    ltid = 0;

    if (tasks == 0) 
    {
        ltid = IDLE_TASK_INDEX;

        _get_lock(&_tty_put_lock);
        _puts("\n[GIET WARNING] No task allocated to processor ");
        _putd(global_pid);
        _puts(" => idle\n");
        _release_lock (&_tty_put_lock);
    }

    unsigned int sp_value   = _get_task_slot(ltid, CTX_SP_ID);
    unsigned int sr_value   = _get_task_slot(ltid, CTX_SR_ID);
    unsigned int ptpr_value = _get_task_slot(ltid, CTX_PTPR_ID);
    unsigned int epc_value  = _get_task_slot(ltid, CTX_EPC_ID);

    _set_task_slot( ltid, CTX_LTID_ID, ltid);

#if GIET_DEBUG_INIT
_get_lock(&_tty_put_lock);
_puts("\n[GIET DEBUG] step 6 for processor ");
_putd(global_pid);
_puts(" / registers initialised \n");
_puts("- sp   = ");
_putx(sp_value);
_puts("\n");
_puts("- sr   = ");
_putx(sr_value);
_puts("\n");
_puts("- ptpr = ");
_putx(ptpr_value);
_puts("\n");
_puts("- epc  = ");
_putx(epc_value);
_puts("\n");
_release_lock(&_tty_put_lock);
#endif

_get_lock(&_tty_put_lock);
_puts("\n[GIET] Processor ");
_putd( global_pid );
_puts(" starting user code at cycle ");
_putd( _proctime() );
_puts("\n");
_release_lock(&_tty_put_lock);

    // set  registers and jump to user code
    asm volatile (
            "move    $29,       %0    \n"        /* SP <= ctx[CTX_SP_ID] */
            "mtc0    %1,        $12   \n"        /* SR <= ctx[CTX_SR_ID] */
            "mtc2    %2,        $0    \n"        /* PTPR <= ctx[CTX_PTPR_ID] */
            "mtc0    %3,        $14   \n"        /* EPC <= ctx[CTX_EPC_ID] */
            "eret                     \n"        /* jump to user code */
            "nop                      \n"
            :
            : "r" (sp_value), "r" (sr_value), "r" (ptpr_value), "r" (epc_value));

} // end _kernel_init()

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