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source: trunk/kernel/kern/kernel_init.c @ 127

Last change on this file since 127 was 127, checked in by max@…, 7 years ago
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[1]	1	/*
	2	* kernel_init.c - kernel parallel initialization
[127]	3	*
[23]	4	* Authors : Mohamed Lamine Karaoui (2015)
	5	* Alain Greiner (2016,2017)
[1]	6	*
	7	* Copyright (c) Sorbonne Universites
	8	*
	9	* This file is part of ALMOS-MKH.
	10	*
	11	* ALMOS-MKH is free software; you can redistribute it and/or modify it
	12	* under the terms of the GNU General Public License as published by
	13	* the Free Software Foundation; version 2.0 of the License.
	14	*
	15	* ALMOS-MKH is distributed in the hope that it will be useful, but
	16	* WITHOUT ANY WARRANTY; without even the implied warranty of
	17	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
	18	* General Public License for more details.
	19	*
	20	* You should have received a copy of the GNU General Public License
	21	* along with ALMOS-MKH; if not, write to the Free Software Foundation,
	22	* Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
	23	*/
	24
[14]	25	#include <kernel_config.h>
[1]	26	#include <errno.h>
	27	#include <hal_types.h>
	28	#include <hal_special.h>
	29	#include <hal_context.h>
[14]	30	#include <barrier.h>
[1]	31	#include <remote_barrier.h>
	32	#include <core.h>
	33	#include <list.h>
[68]	34	#include <xlist.h>
[1]	35	#include <thread.h>
	36	#include <scheduler.h>
	37	#include <kmem.h>
	38	#include <cluster.h>
	39	#include <string.h>
	40	#include <memcpy.h>
	41	#include <ppm.h>
	42	#include <page.h>
[5]	43	#include <chdev.h>
[1]	44	#include <boot_info.h>
	45	#include <dqdt.h>
	46	#include <dev_icu.h>
	47	#include <dev_mmc.h>
[5]	48	#include <dev_dma.h>
	49	#include <dev_iob.h>
[1]	50	#include <dev_ioc.h>
[5]	51	#include <dev_txt.h>
[1]	52	#include <dev_pic.h>
	53	#include <printk.h>
	54	#include <vfs.h>
[77]	55	#include <hal_drivers.h>
[23]	56	#include <devfs.h>
[68]	57	#include <mapper.h>
[101]	58	#include <soclib_tty.h>
[1]	59
[5]	60	#define KERNEL_INIT_SYNCHRO 0xA5A5B5B5
[1]	61
	62	///////////////////////////////////////////////////////////////////////////////////////////
	63	// All these global variables are replicated in all clusters.
	64	// They are initialised by the kernel_init() function.
[14]	65	//
[127]	66	// WARNING : The section names have been defined to control the base addresses of the
[14]	67	// boot_info structure and the idle thread descriptors, through the kernel.ld script:
[127]	68	// - the boot_info structure is built by the bootloader, and used by kernel_init.
	69	// it must be the first object in the kdata segment.
[14]	70	// - the array of idle threads descriptors must be placed on the first page boundary after
	71	// the boot_info structure in the kdata segment.
[1]	72	///////////////////////////////////////////////////////////////////////////////////////////
	73
[5]	74	// This variable defines the local boot_info structure
	75	__attribute__((section(".kinfo")))
[14]	76	boot_info_t boot_info;
[5]	77
[14]	78	// This variable defines the "idle" threads descriptors array
	79	__attribute__((section(".kidle")))
	80	char idle_threads[CONFIG_THREAD_DESC_SIZE *
	81	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
	82
[127]	83	// This variable defines the local cluster manager
[5]	84	__attribute__((section(".kdata")))
[19]	85	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
[1]	86
[14]	87	// This variables define the kernel process0 descriptor
[5]	88	__attribute__((section(".kdata")))
[19]	89	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
[1]	90
[14]	91	// This variable defines extended pointers on the distributed chdevs
[5]	92	__attribute__((section(".kdata")))
[14]	93	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
[1]	94
[5]	95	// This variable contains the input IRQ indexes for the PIC device
	96	__attribute__((section(".kdata")))
[14]	97	chdev_pic_input_t chdev_pic_input CONFIG_CACHE_LINE_ALIGNED;
[1]	98
[5]	99	// This variable contains the input IRQ indexes for the ICU device
	100	__attribute__((section(".kdata")))
[14]	101	chdev_icu_input_t chdev_icu_input CONFIG_CACHE_LINE_ALIGNED;
[1]	102
[14]	103	// This variable defines the local cluster identifier
[5]	104	__attribute__((section(".kdata")))
[14]	105	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
[5]	106
[127]	107	// This variable defines the TXT0 chdev descriptor
[5]	108	__attribute__((section(".kdata")))
[14]	109	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
[1]	110
[127]	111	// This variable is used for CP0 cores synchronisation in kernel_init()
[5]	112	__attribute__((section(".kdata")))
[14]	113	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
[1]	114
[127]	115	// This variable is used for local cores synchronisation in kernel_init()
[14]	116	__attribute__((section(".kdata")))
	117	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
	118
[127]	119	// This variable defines the array of supported File System contexts
[50]	120	__attribute__((section(".kdata")))
	121	vfs_ctx_t fs_context[FS_TYPES_NR] CONFIG_CACHE_LINE_ALIGNED;
	122
	123
[1]	124	///////////////////////////////////////////////////////////////////////////////////////////
[5]	125	// This function displays the ALMOS_MKH banner.
[1]	126	///////////////////////////////////////////////////////////////////////////////////////////
[5]	127	static void print_banner( uint32_t nclusters , uint32_t ncores )
[127]	128	{
[5]	129	printk("\n"
	130	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
	131	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
	132	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
	133	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
	134	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
	135	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
	136	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
	137	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
	138	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
[127]	139	"\n\n\t\t\t Version 0.0 : %d clusters / %d cores per cluster\n\n", nclusters , ncores );
[5]	140	}
[1]	141
	142
[5]	143	///////////////////////////////////////////////////////////////////////////////////////////
[127]	144	// This static function initializes the TXT0 chdev descriptor, associated to the "kernel
	145	// terminal", and shared by all kernel instances for debug messages. It also registers it
[14]	146	// in the chdev directory, containing extended pointers on all chdevs.
	147	// The global variable txt0_chdev is replicated in all clusters, but only the chdev
	148	// allocated in I/O cluster is used by ALMOS-MKH.
	149	// Therefore, this function must be called by a thread running in the I/O cluster.
[127]	150	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
	151	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
[5]	152	///////////////////////////////////////////////////////////////////////////////////////////
	153	// @ info : pointer on the local boot-info structure.
	154	///////////////////////////////////////////////////////////////////////////////////////////
	155	static void txt0_device_init( boot_info_t * info )
	156	{
	157	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
[127]	158	uint32_t dev_nr; // actual number of devices in this cluster
	159	xptr_t base; // remote pointer on segment base
[5]	160	uint32_t type; // peripheral type
[127]	161	uint32_t func; // device functional index
[5]	162	uint32_t impl; // device implementation index
[127]	163	uint32_t i; // device index in dev_tbl
	164	uint32_t x; // X cluster coordinate
	165	uint32_t y; // Y cluster coordinate
[1]	166
[5]	167	// get number of peripherals and base of devices array from boot_info
[127]	168	dev_nr = info->ext_dev_nr;
[5]	169	dev_tbl = info->ext_dev;
[1]	170
[14]	171	// loop on external peripherals to find TXT device
[127]	172	for( i = 0 ; i < dev_nr ; i++ )
	173	{
[5]	174	base = dev_tbl[i].base;
	175	type = dev_tbl[i].type;
	176	func = FUNC_FROM_TYPE( type );
	177	impl = IMPL_FROM_TYPE( type );
	178
[127]	179	if (func == DEV_FUNC_TXT )
[5]	180	{
[14]	181	// initialize basic fields
	182	txt0_chdev.func = func;
	183	txt0_chdev.impl = impl;
	184	txt0_chdev.channel = 0;
	185	txt0_chdev.is_rx = 0;
	186	txt0_chdev.base = base;
[5]	187
[14]	188	// initialize lock
	189	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
	190
[101]	191	// TODO use generic device initialisation
	192	// hal_drivers_txt_init( &txt0_chdev );
[5]	193
[101]	194	if( impl == IMPL_TXT_TTY )
	195	{
	196	txt0_chdev.cmd = &soclib_tty_cmd;
	197	txt0_chdev.isr = &soclib_tty_isr;
	198	soclib_tty_init( &txt0_chdev );
	199	}
	200
[5]	201	// initialize the replicated chdev_dir[x][y] structures
	202	for( x = 0 ; x < info->x_size ; x++ )
	203	{
	204	for( y = 0 ; y < info->y_size ; y++ )
	205	{
	206	cxy_t cxy = (x<<info->y_width) + y;
[19]	207	hal_remote_swd( XPTR( cxy , &chdev_dir.txt[0] ) ,
[14]	208	XPTR( local_cxy , &txt0_chdev ) );
[5]	209	}
	210	}
	211
[127]	212	kinit_dmsg("\n[INFO] %s : core[%x][0] created TXT0 chdev"
[14]	213	" / paddr = %l at cycle %d\n",
[19]	214	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[101]	215	XPTR(local_cxy , &txt0_chdev) , hal_get_cycles() );
[5]	216	}
[127]	217	}
	218	}
[5]	219
[1]	220	///////////////////////////////////////////////////////////////////////////////////////////
[5]	221	// This static function allocates memory for the chdev (channel_device) descriptors
	222	// associated to the internal peripherals contained in the local cluster. These internal
	223	// devices (ICU, MMC, DMA) chdev descriptors are placed in the local cluster.
[1]	224	// It initialises these device descriptors as specified by the boot_info_t structure,
	225	// including the dynamic linking with the driver for the specified implementation.
	226	// Finally, all copies of the devices directory are initialised.
	227	///////////////////////////////////////////////////////////////////////////////////////////
	228	// @ info : pointer on the local boot-info structure.
	229	///////////////////////////////////////////////////////////////////////////////////////////
[5]	230	static void internal_devices_init( boot_info_t * info )
[1]	231	{
[14]	232	boot_device_t * dev; // pointer on boot_info device (ICU/MMC/DMA)
[127]	233	uint32_t x; // X cluster coordinate
	234	uint32_t y; // Y cluster coordinate
	235	chdev_t * chdev_ptr; // local pointer on chdev descriptor
[14]	236	xptr_t chdev_xp; // extended pointer on chdev descriptor
[1]	237
[14]	238	/////////// ICU //////////
[1]	239
[14]	240	dev = &info->dev_icu;
[5]	241
[14]	242	assert( ((info->cores_nr == 0) \|\| (dev->channels != 0)) , __FUNCTION__ ,
	243	"ICU device must exist in cluster containing cores" );
[127]	244
[14]	245	assert( (dev->channels == 1) , __FUNCTION__ ,
	246	"channels number must be 1 for ICU device" );
[1]	247
[14]	248	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_ICU ) , __FUNCTION__ ,
	249	" inconsistent ICU device type");
[1]	250
[14]	251	// create one chdev in local cluster
	252	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	253	IMPL_FROM_TYPE( dev->type ),
	254	0, // channel
	255	false, // TX
	256	dev->base );
[1]	257
[14]	258	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate ICU chdev" );
[127]	259
	260	// get extended pointer on chdev descriptor
[14]	261	chdev_xp = XPTR( local_cxy , chdev_ptr );
	262
[127]	263	// make ICU specific initialisation
[14]	264	// TODO remove these three parameters
[19]	265	dev_icu_init( chdev_ptr , dev->param0 , dev->param1 , dev->param2 );
[14]	266
	267	// initialize the ICU field in the chdev_dir[x][y] structures
[127]	268	// replicated in all clusters, and containing extended pointers
	269	// on all remotely accessible devices
[14]	270	for( x = 0 ; x < info->x_size ; x++ )
	271	{
	272	for( y = 0 ; y < info->y_size ; y++ )
[5]	273	{
[14]	274	cxy_t cxy = (x<<info->y_width) + y;
	275	hal_remote_swd( XPTR( cxy , &chdev_dir.icu[local_cxy] ) , chdev_xp );
[5]	276	}
[14]	277	}
[1]	278
[14]	279	// initialize the entries of the local chdev_icu_input structure
[127]	280	// defining how internal peripherals are connected to ICU
[14]	281	uint32_t id;
	282	uint8_t valid;
	283	uint32_t src_type;
	284	uint8_t src_ch;
	285	uint32_t src_func;
	286	for( id = 0 ; id < CONFIG_MAX_HWIS_PER_ICU ; id++ )
	287	{
	288	valid = dev->irq[id].valid;
	289	src_type = dev->irq[id].dev_type;
	290	src_ch = dev->irq[id].channel;
	291	src_func = FUNC_FROM_TYPE( src_type );
	292
	293	if( valid ) // only valid local IRQs are registered
[5]	294	{
[14]	295	if ( src_func == DEV_FUNC_MMC ) chdev_icu_input.mmc = id;
	296	else if( src_func == DEV_FUNC_DMA ) chdev_icu_input.dma[src_ch] = id;
	297	else assert( false , __FUNCTION__ , "illegal source device for ICU input" );
	298	}
	299	}
[1]	300
[50]	301	kinit_dmsg("\n[INFO] %s : core[%x][0] created ICU chdev at cycle %d\n",
[101]	302	__FUNCTION__ , local_cxy , hal_get_cycles() );
[1]	303
[127]	304	/////////// MMC internal chdev ///////////
[1]	305
[14]	306	dev = &info->dev_mmc;
[1]	307
[14]	308	if( dev->channels != 0 ) // MMC device is defined
	309	{
[127]	310	assert( (dev->channels == 1) , __FUNCTION__ ,
[14]	311	"channels number must be 1 for MMC device" );
[1]	312
[14]	313	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_MMC ) , __FUNCTION__ ,
	314	" inconsistent MMC device type");
	315
	316	// create one chdev in local cluster
	317	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	318	IMPL_FROM_TYPE( dev->type ),
	319	0, // channel
	320	false, // TX
	321	dev->base );
	322
	323	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate MMC chdev" );
[127]	324
	325	// get extended pointer on chdev descriptor
[14]	326	chdev_xp = XPTR( local_cxy , chdev_ptr );
	327
	328	// make MMC specific initialisation
[127]	329	dev_mmc_init( chdev_ptr );
[14]	330
	331	// initialize the MMC field in the chdev_dir[x][y] structures
[127]	332	// replicated in all clusters, and containing extended pointers
	333	// on all remotely accessible devices
[14]	334	for( x = 0 ; x < info->x_size ; x++ )
	335	{
	336	for( y = 0 ; y < info->y_size ; y++ )
[1]	337	{
[14]	338	cxy_t cxy = (x<<info->y_width) + y;
	339	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ) , chdev_xp );
[1]	340	}
[14]	341	}
[1]	342
[50]	343	kinit_dmsg("\n[INFO] %s : core[%x][0] created MMC chdev at cycle %d\n",
[101]	344	__FUNCTION__ , local_cxy , hal_get_cycles() );
[14]	345	}
[5]	346
[14]	347	/////////// DMA internal chdevs //////////
[1]	348
[14]	349	dev = &info->dev_dma;
[1]	350
[14]	351	if( dev->channels != 0 ) // DMA device is defined
	352	{
	353	assert( (FUNC_FROM_TYPE( dev->type ) == DEV_FUNC_DMA ) , __FUNCTION__ ,
	354	" inconsistent DMA device type");
[5]	355
[14]	356	// create one chdev per channel in local cluster
	357	uint32_t channel;
	358	for( channel = 0 ; channel < dev->channels ; channel++ )
[127]	359	{
[14]	360	chdev_ptr = chdev_create( FUNC_FROM_TYPE( dev->type ),
	361	IMPL_FROM_TYPE( dev->type ),
	362	channel, // channel
	363	false, // TX
	364	dev->base );
[5]	365
[14]	366	assert( (chdev_ptr != NULL) , __FUNCTION__ , "cannot allocate DMA chdev" );
[127]	367
	368	// get extended pointer on channel descriptor
[14]	369	chdev_xp = XPTR( local_cxy , chdev_ptr );
[5]	370
[14]	371	// make DMA specific initialisation
[127]	372	dev_dma_init( chdev_ptr );
[14]	373
	374	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
	375	// structure because the DMA device is not remotely accessible.
	376	chdev_dir.dma[channel] = chdev_xp;
	377
[50]	378	kinit_dmsg("\n[INFO] %s : core[%x][0] created DMA[%d] chdev at cycle %d\n",
[101]	379	__FUNCTION__ , local_cxy , channel , hal_get_cycles() );
[14]	380	}
[127]	381	}
[5]	382	} // end internal_devices_init()
	383
	384	///////////////////////////////////////////////////////////////////////////////////////////
[127]	385	// This static function allocates memory for the chdev descriptors associated
[5]	386	// to the external (shared) peripherals contained in the local cluster. These external
[127]	387	// devices (IOB, IOC, TXT, NIC, etc ) are distributed on all clusters.
[5]	388	// It initialises these device descriptors as specified by the boot_info_t structure,
	389	// including the dynamic linking with the driver for the specified implementation.
	390	// Finally, all copies of the devices directory are initialised.
	391	//
[127]	392	// The number of channel_devices depends on the device functional type.
	393	// There are three nested loops to build the full set of external channel_devices:
[5]	394	// - loop on external devices.
	395	// - loop on channels for multi-channels devices.
	396	// - loop on directions (RX/TX) for NIC device.
	397	// The set of channel_devices is indexed by the chdev_gid global index, that is used
	398	// to select the cluster containing a given chdev[func,channel,direction].
	399	// All clusters scan the full set of chdevs, but only the cluster matching
[127]	400	// (chdev_gid % (x_size*y_size)) create the corresponding chdev.
[5]	401	//
	402	// TODO check that cluster IO contains a PIC [AG]
[50]	403	// TODO make a default initialisation for the chdev_dir structure (XPTR_NULL ) [AG]
[5]	404	///////////////////////////////////////////////////////////////////////////////////////////
	405	// @ info : pointer on the local boot-info structure.
	406	///////////////////////////////////////////////////////////////////////////////////////////
	407	static void external_devices_init( boot_info_t * info )
	408	{
	409	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
[127]	410	uint32_t dev_nr; // actual number of devices in this cluster
	411	xptr_t base; // remote pointer on segment base
[5]	412	uint32_t type; // peripheral type
	413	uint32_t func; // device functionnal index
	414	uint32_t impl; // device implementation index
[127]	415	uint32_t i; // device index in dev_tbl
	416	uint32_t x; // X cluster coordinate
	417	uint32_t y; // Y cluster coordinate
	418	uint32_t channels_nr; // number of channels
	419	uint32_t channel; // channel index
	420	uint32_t directions_nr; // number of directions
	421	uint32_t direction; // direction index
	422	uint32_t p0; // device parameter 0
	423	uint32_t p1; // device parameter 1
	424	uint32_t p2; // device parameter 2
	425	uint32_t p3; // device parameter 3
[5]	426	uint32_t first_channel; // used in loop on channels
	427
[127]	428	chdev_t * chdev; // local pointer on one channel_device descriptor
[5]	429	xptr_t chdev_xp; // extended pointer on channel_device descriptor
	430	uint32_t chdev_gid = 0; // global index of channel_device descriptor
	431
	432	// get number of peripherals and base of devices array from boot_info
[127]	433	dev_nr = info->ext_dev_nr;
[5]	434	dev_tbl = info->ext_dev;
	435
	436	// loop on external peripherals
[127]	437	for( i = 0 ; i < dev_nr ; i++ )
	438	{
[5]	439	base = dev_tbl[i].base;
	440	type = dev_tbl[i].type;
	441	channels_nr = dev_tbl[i].channels;
	442	p0 = dev_tbl[i].param0;
	443	p1 = dev_tbl[i].param1;
	444	p2 = dev_tbl[i].param2;
	445	p3 = dev_tbl[i].param3;
	446
	447	func = FUNC_FROM_TYPE( type );
	448	impl = IMPL_FROM_TYPE( type );
	449
	450	// There is one chdev per direction for NIC
	451	if (func == DEV_FUNC_NIC) directions_nr = 2;
	452	else directions_nr = 1;
	453
	454	// The TXT0 chdev has already been created
	455	if (func == DEV_FUNC_TXT) first_channel = 1;
	456	else first_channel = 0;
	457
	458	// do nothing for ROM, that does not require a device descriptor.
	459	if( func == DEV_FUNC_ROM ) continue;
	460
[127]	461	// check external device functional type
[5]	462	if( (func != DEV_FUNC_IOB) &&
	463	(func != DEV_FUNC_PIC) &&
	464	(func != DEV_FUNC_IOC) &&
	465	(func != DEV_FUNC_TXT) &&
	466	(func != DEV_FUNC_NIC) &&
[127]	467	(func != DEV_FUNC_FBF) )
[1]	468	{
[5]	469	assert( false , __FUNCTION__ , "undefined external peripheral type" );
	470	}
	471
[127]	472	// loops on channels
[5]	473	for( channel = first_channel ; channel < channels_nr ; channel++ )
[127]	474	{
[5]	475	// loop on directions
	476	for( direction = 0 ; direction < directions_nr ; direction++ )
[1]	477	{
[5]	478	// get target cluster for chdev[func,channel,direction]
	479	uint32_t offset = chdev_gid % ( info->x_size * info->y_size );
	480	uint32_t cx = offset / info->y_size;
	481	uint32_t cy = offset % info->y_size;
	482	uint32_t target_cxy = (cx<<info->y_width) + cy;
[1]	483
[5]	484	// allocate and initialize a local chdev
	485	// if local cluster matches target cluster
	486	if( target_cxy == local_cxy )
[1]	487	{
[5]	488	chdev = chdev_create( func,
	489	impl,
	490	channel,
	491	direction,
	492	base );
	493
[127]	494	assert( (chdev != NULL), __FUNCTION__ ,
[5]	495	"cannot allocate external device" );
	496
	497	// get extended pointer on chdev
	498	chdev_xp = XPTR( local_cxy , chdev );
	499
	500	// make device type specific initialisation
	501	// the number of parameters depends on the device type
	502	// TODO : remove the parameters that must be provided by the drivers
	503	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
	504	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
	505	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
	506	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
	507	else if( func == DEV_FUNC_PIC ) dev_pic_init( chdev , p0 );
	508	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev , p0 , p1 );
	509	else
	510	{
	511	assert( false , __FUNCTION__ , "undefined device type" );
	512	}
	513
[127]	514	// all external (shared) devices are remotely accessible
[5]	515	// initialize the replicated chdev_dir[x][y] structures
[127]	516	// defining the extended pointers on chdev descriptors
	517	xptr_t * entry;
	518
[5]	519	if( func == DEV_FUNC_IOB ) entry = &chdev_dir.iob;
	520	if( func == DEV_FUNC_PIC ) entry = &chdev_dir.pic;
	521	if( func == DEV_FUNC_TXT ) entry = &chdev_dir.txt[channel];
	522	if( func == DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
	523	if( func == DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
	524	if( func == DEV_FUNC_NIC ) entry = &chdev_dir.nic_tx[channel];
[127]	525
[1]	526	for( x = 0 ; x < info->x_size ; x++ )
	527	{
	528	for( y = 0 ; y < info->y_size ; y++ )
	529	{
	530	cxy_t cxy = (x<<info->y_width) + y;
[5]	531	hal_remote_swd( XPTR( cxy , entry ) , chdev_xp );
	532	}
[1]	533	}
	534
[127]	535	kinit_dmsg("\n[INFO] %s : core[%x][0] create chdev %s[%d] at cycle %d\n",
[5]	536	__FUNCTION__ , local_cxy , chdev_func_str( func ),
[101]	537	channel , hal_get_cycles() );
[5]	538
	539	} // end if match
	540
[19]	541	// increment chdev global index (matching or not)
[5]	542	chdev_gid++;
	543
	544	} // end loop on directions
	545
	546	} // end loop on channels
	547
	548	// initialize the entries of the local chdev_pic_input structure
[127]	549	// defining how external peripherals are connected to PIC
	550	if( func == DEV_FUNC_PIC )
[1]	551	{
[5]	552	uint32_t id;
	553	uint8_t valid;
	554	uint32_t dev_type;
	555	uint8_t channel;
	556	uint8_t is_rx;
	557
	558	// loop on PIC inputs
	559	for( id = 0 ; id < CONFIG_MAX_IRQS_PER_PIC ; id++ )
[1]	560	{
[5]	561	valid = dev_tbl[i].irq[id].valid;
	562	dev_type = dev_tbl[i].irq[id].dev_type;
	563	channel = dev_tbl[i].irq[id].channel;
	564	is_rx = dev_tbl[i].irq[id].is_rx;
[1]	565
[5]	566	if( valid ) // only valid inputs are registered
[1]	567	{
[5]	568	uint32_t * index; // local pointer on one entry
[1]	569	uint16_t dev_func = FUNC_FROM_TYPE( dev_type );
[5]	570
	571	if( dev_func == DEV_FUNC_TXT )
[1]	572	{
[5]	573	index = &chdev_pic_input.txt[channel];
[1]	574	}
[5]	575	else if( dev_func == DEV_FUNC_IOC )
	576	{
[127]	577	index = &chdev_pic_input.ioc[channel];
[5]	578	}
	579	else if( (dev_func == DEV_FUNC_NIC) && (is_rx == 0) )
	580	{
[127]	581	index = &chdev_pic_input.nic_tx[channel];
[5]	582	}
	583	else if( (dev_func == DEV_FUNC_NIC) && (is_rx != 0) )
	584	{
[127]	585	index = &chdev_pic_input.nic_rx[channel];
[5]	586	}
	587	else
	588	{
	589	assert( false , __FUNCTION__ , "illegal source device for PIC input" );
[127]	590	}
[5]	591
	592	// set entry in local structure
[127]	593	*index = id;
[1]	594	}
[5]	595	} // end loop on PIC inputs
	596	} // end PIC
[127]	597	} // end loop on devices
[5]	598	} // end external_devices_init()
[1]	599
	600
	601	///////////////////////////////////////////////////////////////////////////////////////////
[14]	602	// This static function returns the identifiers of the calling core.
	603	///////////////////////////////////////////////////////////////////////////////////////////
	604	// @ info : pointer on boot_info structure.
	605	// @ lid : [out] core local index in cluster.
	606	// @ cxy : [out] cluster identifier.
	607	// @ lid : [out] core global identifier (hardware).
	608	// @ return 0 if success / return EINVAL if not found.
	609	///////////////////////////////////////////////////////////////////////////////////////////
[23]	610	static error_t get_core_identifiers( boot_info_t * info,
	611	lid_t * lid,
[14]	612	cxy_t * cxy,
	613	gid_t * gid )
	614	{
[127]	615	uint32_t i;
[14]	616	gid_t global_id;
[19]	617
[14]	618	// get global identifier from hardware register
[127]	619	global_id = hal_get_gid();
[14]	620
	621	// makes an associative search in boot_info to get (cxy,lid) from global_id
	622	for( i = 0 ; i < info->cores_nr ; i++ )
	623	{
	624	if( global_id == info->core[i].gid )
	625	{
	626	*lid = info->core[i].lid;
	627	*cxy = info->core[i].cxy;
	628	*gid = global_id;
	629	return 0;
	630	}
	631	}
	632	return EINVAL;
[19]	633	}
[14]	634
	635	///////////////////////////////////////////////////////////////////////////////////////////
[1]	636	// This function is the entry point for the kernel initialisation.
[19]	637	// It is executed by all cores in all clusters, but only core[0], called CP0,
[14]	638	// initializes the shared resources such as the cluster manager, or the local peripherals.
[19]	639	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
	640	// only information contained in the local boot_info_t structure, set by the bootloader.
[103]	641	// Only CP0 in cluster 0 print the log messages.
[1]	642	///////////////////////////////////////////////////////////////////////////////////////////
	643	// @ info : pointer on the local boot-info structure.
	644	///////////////////////////////////////////////////////////////////////////////////////////
	645	void kernel_init( boot_info_t * info )
	646	{
[23]	647	lid_t core_lid = -1; // running core local index
[14]	648	cxy_t core_cxy = -1; // running core cluster identifier
[127]	649	gid_t core_gid; // running core hardware identifier
[14]	650	cluster_t * cluster; // pointer on local cluster manager
	651	core_t * core; // pointer on running core descriptor
	652	thread_t * thread; // pointer on idle thread descriptor
[1]	653	error_t error;
	654
[103]	655	// all cores get and check core identifiers
[23]	656	error = get_core_identifiers( info,
[14]	657	&core_lid,
	658	&core_cxy,
	659	&core_gid );
[1]	660
[127]	661	// CP0 initializes cluster identifier
[14]	662	if( core_lid == 0 ) local_cxy = info->cxy;
[1]	663
[127]	664	// each core gets a pointer on its private idle thread descriptor
	665	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
[68]	666
[127]	667	// each core registers this thread pointer in hardware register
[68]	668	hal_set_current_thread( thread );
[71]	669
[124]	670	list_root_init( &thread->locks_root );
	671	xlist_root_init( XPTR( local_cxy, &thread->xlocks_root ) );
	672
[127]	673	// CP0 in I/O cluster initializes TXT0 chdev descriptor
[14]	674	if( (core_lid == 0) && (core_cxy == info->io_cxy) ) txt0_device_init( info );
	675
	676	/////////////////////////////////////////////////////////////////////////////////
	677	// global & local synchro to protect access to TXT0 terminal
[127]	678	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
[14]	679	(info->x_size * info->y_size) );
	680	barrier_wait( &local_barrier , info->cores_nr );
	681	/////////////////////////////////////////////////////////////////////////////////
	682
[127]	683	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[103]	684	{
	685	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 0 at cycle %d\n",
	686	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
	687	}
[14]	688
	689	// all cores check core identifiers
	690	if( error )
[1]	691	{
[103]	692	nolock_printk("\n[PANIC] in %s : illegal core identifiers"
[14]	693	" gid = %x / cxy = %x / lid = %d\n",
	694	__FUNCTION__ , core_lid , core_cxy , core_lid );
	695	hal_core_sleep();
[1]	696	}
	697
[19]	698	// CP0 initializes the local cluster manager (cores and memory allocators)
[14]	699	if( core_lid == 0 )
[1]	700	{
	701	error = cluster_init( info );
	702
[14]	703	if( error )
	704	{
[103]	705	nolock_printk("\n[PANIC] in %s : cannot initialise cluster manager in cluster %x",
[14]	706	__FUNCTION__ , local_cxy );
	707	hal_core_sleep();
	708	}
	709	}
[5]	710
[14]	711	/////////////////////////////////////////////////////////////////////////////////
	712	// global & local synchro, to protect access to cluster manager
[127]	713	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
[14]	714	(info->x_size * info->y_size) );
	715	barrier_wait( &local_barrier , info->cores_nr );
	716	/////////////////////////////////////////////////////////////////////////////////
[1]	717
[127]	718	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[103]	719	{
	720	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 1 at cycle %d\n",
	721	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
	722	}
[1]	723
[14]	724	// all cores get pointer on local cluster manager and on core descriptor
	725	cluster = &cluster_manager;
[127]	726	core = &cluster->core_tbl[core_lid];
[1]	727
[19]	728	// CP0 initializes the process_zero descriptor
[101]	729	if( core_lid == 0 ) process_reference_init( &process_zero , 0 , XPTR_NULL );
[5]	730
[124]	731	#ifdef __HAL_x86_64__
	732	return; /* XXX temporary */
	733	#endif
	734
[127]	735	// CP0 allocates and initializes the internal peripheral chdev descriptors.
[14]	736	// Each CP0[cxy] scan the set of its internal (private) peripherals,
[127]	737	// and allocates memory for the corresponding chdev descriptors.
[14]	738	if( core_lid == 0 ) internal_devices_init( info );
[127]	739
	740	// CP0 allocates one WTI mailbox per core for Inter Processor Interrupt
[14]	741	// this must be done after ICU chdev initialisation, by CP0 only, and before
[50]	742	// external devices initialisation to enforce the rule :
	743	// "The WTI index for the IPI routed to core[lid] is lid"
[101]	744	if( core_lid == 1 )
[1]	745	{
[14]	746	uint32_t wti_id;
	747	uint32_t lid;
	748	for( lid = 0 ; lid < LOCAL_CLUSTER->cores_nr ; lid++ )
[1]	749	{
[14]	750	wti_id = dev_icu_wti_alloc();
[1]	751
[14]	752	if( wti_id != lid )
	753	{
[103]	754	nolock_printk("\n[PANIC] in %s : WTI index for IPI = %d / core_lid = %d",
	755	__FUNCTION__ , wti_id , lid );
[14]	756	hal_core_sleep();
	757	}
[5]	758
[14]	759	dev_icu_enable_irq( lid , WTI_TYPE , wti_id , NULL );
	760	}
[1]	761	}
	762
[50]	763	// All CP0s contribute to initialise external peripheral chdev descriptors.
[14]	764	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
	765	// and allocates memory for the chdev descriptors that must be placed
[127]	766	// on the (cxy) cluster according to the global index value.
[14]	767	if( core_lid == 0 ) external_devices_init( info );
[1]	768
[14]	769	/////////////////////////////////////////////////////////////////////////////////
	770	// global &local synchro to protect access to peripherals
[127]	771	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
[14]	772	(info->x_size * info->y_size) );
	773	barrier_wait( &local_barrier , info->cores_nr );
	774	/////////////////////////////////////////////////////////////////////////////////
[5]	775
[127]	776	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[103]	777	{
[127]	778	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 2 at cycle %d\n",
[103]	779	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
	780	}
[1]	781
[14]	782	error = thread_kernel_init( thread,
[127]	783	THREAD_IDLE,
	784	&thread_idle_func,
[14]	785	NULL,
	786	core_lid );
	787	if( error )
[1]	788	{
[103]	789	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize idle thread\n",
	790	__FUNCTION__ , local_cxy , core_lid );
[14]	791	hal_core_sleep();
[1]	792	}
	793
[103]	794	// register idle thread in scheduler
	795	core->scheduler.idle = thread;
[1]	796
[103]	797	// activate the idle thread
	798	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
	799
[127]	800	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[103]	801	{
[14]	802	kinit_dmsg("\n[INFO] %s : core[%x][%d] created idle thread %x at cycle %d\n",
[101]	803	__FUNCTION__ , core_cxy , core_lid , thread , hal_get_cycles());
[14]	804	}
	805
[127]	806	// CP0 in all clusters initializes cooperatively VFS and DEVFS
[23]	807	if( (core_lid == 0) )
[14]	808	{
[23]	809	xptr_t root_inode_xp;
	810
[50]	811	// initialize root File System (must be FATFS in this implementation)
[23]	812	if( CONFIG_VFS_ROOT_IS_FATFS )
	813	{
	814	root_inode_xp = fatfs_init();
	815	}
	816	else
	817	{
[103]	818	nolock_printk("\n[PANIC] in %s : root FS must be FATFS\n", __FUNCTION__ );
[23]	819	hal_core_sleep();
	820	}
	821
	822	if( root_inode_xp == XPTR_NULL )
	823	{
[103]	824	nolock_printk("\n[PANIC] in %s : core[%x][%d] cannot initialize file system\n",
[23]	825	__FUNCTION__ , local_cxy , core_lid );
	826	hal_core_sleep();
	827	}
	828
[101]	829	// register VFS root inode in process_zero
	830	process_zero.vfs_root_xp = root_inode_xp;
	831	process_zero.vfs_cwd_xp = root_inode_xp;
	832
[23]	833	// mount the DEVFS File system
[127]	834	devfs_mount( root_inode_xp , "dev" );
[14]	835	}
	836
[101]	837
	838	// CP0 in I/O cluster creates the process_init and print banner
[127]	839	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[1]	840	{
[101]	841	process_init_create();
	842
[5]	843	print_banner( (info->x_size * info->y_size) , info->cores_nr );
[68]	844
	845	kinit_dmsg("\n\n* memory fooprint of main kernet objects *\n"
	846	" - thread descriptor : %d bytes\n"
	847	" - process descriptor : %d bytes\n"
	848	" - cluster manager : %d bytes\n"
	849	" - chdev descriptor : %d bytes\n"
	850	" - core descriptor : %d bytes\n"
	851	" - scheduler : %d bytes\n"
	852	" - rpc fifo : %d bytes\n"
	853	" - page descriptor : %d bytes\n"
	854	" - mapper root : %d bytes\n"
	855	" - ppm manager : %d bytes\n"
	856	" - kcm manager : %d bytes\n"
	857	" - khm manager : %d bytes\n"
	858	" - vmm manager : %d bytes\n"
	859	" - gpt root : %d bytes\n"
	860	" - list item : %d bytes\n"
	861	" - xlist item : %d bytes\n"
	862	" - spinlock : %d bytes\n"
	863	" - remote spinlock : %d bytes\n"
	864	" - rwlock : %d bytes\n"
	865	" - remote rwlock : %d bytes\n",
[127]	866	sizeof( thread_t ),
[68]	867	sizeof( process_t ),
	868	sizeof( cluster_t ),
	869	sizeof( chdev_t ),
	870	sizeof( core_t ),
	871	sizeof( scheduler_t ),
	872	sizeof( rpc_fifo_t ),
	873	sizeof( page_t ),
	874	sizeof( mapper_t ),
	875	sizeof( ppm_t ),
	876	sizeof( kcm_t ),
	877	sizeof( khm_t ),
	878	sizeof( vmm_t ),
	879	sizeof( gpt_t ),
	880	sizeof( list_entry_t ),
	881	sizeof( xlist_entry_t ),
	882	sizeof( spinlock_t ),
	883	sizeof( remote_spinlock_t ),
	884	sizeof( rwlock_t ),
	885	sizeof( remote_rwlock_t ));
[1]	886	}
	887
[14]	888	/////////////////////////////////////////////////////////////////////////////////
	889	// global syncho to protect access to File System
	890	if( core_lid == 0 ) remote_barrier( XPTR( info->io_cxy , &global_barrier ),
	891	(info->x_size * info->y_size) );
	892	barrier_wait( &local_barrier , info->cores_nr );
	893	/////////////////////////////////////////////////////////////////////////////////
[1]	894
[127]	895	if( (core_lid == 0) && (local_cxy == info->io_cxy) )
[103]	896	{
[127]	897	kinit_dmsg("\n[INFO] %s : core[%x][%d] exit barrier 3 at cycle %d\n",
[103]	898	__FUNCTION__ , core_cxy , core_lid , hal_get_cycles() );
	899	}
[14]	900
[127]	901	// each core activates its private PTI IRQ
[14]	902	dev_icu_set_period( core_lid , CONFIG_SCHED_TICK_PERIOD );
	903	dev_icu_enable_irq( core_lid , PTI_TYPE , core_lid , NULL );
	904
[101]	905	// each core get its private IRQ masks values
[14]	906	uint32_t hwi_mask;
	907	uint32_t wti_mask;
	908	uint32_t pti_mask;
	909	dev_icu_get_masks( core_lid , &hwi_mask , &wti_mask , &pti_mask );
	910
[103]	911	thread_dmsg("\n[INFO] %s : core[%x][%d] complete kernel init at cycle %d\n"
[14]	912	" hwi_mask = %x / wti_mask = %x / pti_mask = %x\n",
[101]	913	__FUNCTION__ , local_cxy , core_lid , hal_get_cycles() ,
[14]	914	hwi_mask , wti_mask , pti_mask );
	915
	916	// each core jump to idle thread
[50]	917	thread_idle_func();
[127]	918	}
[14]	919

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