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source: trunk/kernel/kern/kernel_init.c @ 560

Last change on this file since 560 was 560, checked in by nicolas.van.phan@…, 6 years ago
Remove y_max in kernel init barriers
File size: 61.3 KB

Line
1	/*
2	* kernel_init.c - kernel parallel initialization
3	*
4	* Authors : Mohamed Lamine Karaoui (2015)
5	* Alain Greiner (2016,2017)
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
25	#include <kernel_config.h>
26	#include <hard_config.h> // for the USE_TXT_XXX macros
27	#include <errno.h>
28	#include <hal_kernel_types.h>
29	#include <hal_special.h>
30	#include <hal_context.h>
31	#include <hal_irqmask.h>
32	#include <hal_ppm.h>
33	#include <barrier.h>
34	#include <remote_barrier.h>
35	#include <remote_fifo.h>
36	#include <core.h>
37	#include <list.h>
38	#include <xlist.h>
39	#include <xhtab.h>
40	#include <thread.h>
41	#include <scheduler.h>
42	#include <kmem.h>
43	#include <cluster.h>
44	#include <string.h>
45	#include <memcpy.h>
46	#include <ppm.h>
47	#include <page.h>
48	#include <chdev.h>
49	#include <boot_info.h>
50	#include <dqdt.h>
51	#include <dev_mmc.h>
52	#include <dev_dma.h>
53	#include <dev_iob.h>
54	#include <dev_ioc.h>
55	#include <dev_txt.h>
56	#include <dev_pic.h>
57	#include <printk.h>
58	#include <vfs.h>
59	#include <devfs.h>
60	#include <mapper.h>
61	#include <cluster_info.h>
62
63	///////////////////////////////////////////////////////////////////////////////////////////
64	// All the following global variables are replicated in all clusters.
65	// They are initialised by the kernel_init() function.
66	//
67	// WARNING : The section names have been defined to control the base addresses of the
68	// boot_info structure and the idle thread descriptors, through the kernel.ld script:
69	// - the boot_info structure is built by the bootloader, and used by kernel_init.
70	// it must be the first object in the kdata segment.
71	// - the array of idle threads descriptors must be placed on the first page boundary after
72	// the boot_info structure in the kdata segment.
73	///////////////////////////////////////////////////////////////////////////////////////////
74
75	// This variable defines the local boot_info structure
76	__attribute__((section(".kinfo")))
77	boot_info_t boot_info;
78
79	// This variable defines the "idle" threads descriptors array
80	__attribute__((section(".kidle")))
81	char idle_threads[CONFIG_THREAD_DESC_SIZE *
82	CONFIG_MAX_LOCAL_CORES] CONFIG_PPM_PAGE_ALIGNED;
83
84	// This variable defines the local cluster manager
85	__attribute__((section(".kdata")))
86	cluster_t cluster_manager CONFIG_CACHE_LINE_ALIGNED;
87
88	// This variable defines the TXT0 kernel terminal (TX only)
89	__attribute__((section(".kdata")))
90	chdev_t txt0_chdev CONFIG_CACHE_LINE_ALIGNED;
91
92	// This variable defines the TXT0 lock for writing characters to MTY0
93	__attribute__((section(".kdata")))
94	spinlock_t txt0_lock CONFIG_CACHE_LINE_ALIGNED;
95
96	// This variables define the kernel process0 descriptor
97	__attribute__((section(".kdata")))
98	process_t process_zero CONFIG_CACHE_LINE_ALIGNED;
99
100	// This variable defines extended pointers on the distributed chdevs
101	__attribute__((section(".kdata")))
102	chdev_directory_t chdev_dir CONFIG_CACHE_LINE_ALIGNED;
103
104	// This variable contains the input IRQ indexes for the IOPIC controller
105	__attribute__((section(".kdata")))
106	iopic_input_t iopic_input CONFIG_CACHE_LINE_ALIGNED;
107
108	// This variable contains the input IRQ indexes for the LAPIC controller
109	__attribute__((section(".kdata")))
110	lapic_input_t lapic_input CONFIG_CACHE_LINE_ALIGNED;
111
112	// This variable defines the local cluster identifier
113	__attribute__((section(".kdata")))
114	cxy_t local_cxy CONFIG_CACHE_LINE_ALIGNED;
115
116	// This variable is used for CP0 cores synchronisation in kernel_init()
117	__attribute__((section(".kdata")))
118	remote_barrier_t global_barrier CONFIG_CACHE_LINE_ALIGNED;
119
120	// This variable is used for local cores synchronisation in kernel_init()
121	__attribute__((section(".kdata")))
122	barrier_t local_barrier CONFIG_CACHE_LINE_ALIGNED;
123
124	// This variable defines the array of supported File System contexts
125	__attribute__((section(".kdata")))
126	vfs_ctx_t fs_context[FS_TYPES_NR] CONFIG_CACHE_LINE_ALIGNED;
127
128	// kernel_init is the entry point defined in hal/tsar_mips32/kernel.ld
129	// It will be used by the bootloader.
130	extern void kernel_init( boot_info_t * info );
131
132	// these debug variables are used to analyse the sys_read() syscall timing
133
134	#if DEBUG_SYS_READ
135	uint32_t enter_sys_read;
136	uint32_t exit_sys_read;
137
138	uint32_t enter_devfs_read;
139	uint32_t exit_devfs_read;
140
141	uint32_t enter_txt_read;
142	uint32_t exit_txt_read;
143
144	uint32_t enter_chdev_cmd_read;
145	uint32_t exit_chdev_cmd_read;
146
147	uint32_t enter_chdev_server_read;
148	uint32_t exit_chdev_server_read;
149
150	uint32_t enter_tty_cmd_read;
151	uint32_t exit_tty_cmd_read;
152
153	uint32_t enter_tty_isr_read;
154	uint32_t exit_tty_isr_read;
155	#endif
156
157	// these debug variables are used to analyse the sys_write() syscall timing
158
159	#if DEBUG_SYS_WRITE
160	uint32_t enter_sys_write;
161	uint32_t exit_sys_write;
162
163	uint32_t enter_devfs_write;
164	uint32_t exit_devfs_write;
165
166	uint32_t enter_txt_write;
167	uint32_t exit_txt_write;
168
169	uint32_t enter_chdev_cmd_write;
170	uint32_t exit_chdev_cmd_write;
171
172	uint32_t enter_chdev_server_write;
173	uint32_t exit_chdev_server_write;
174
175	uint32_t enter_tty_cmd_write;
176	uint32_t exit_tty_cmd_write;
177
178	uint32_t enter_tty_isr_write;
179	uint32_t exit_tty_isr_write;
180	#endif
181
182	///////////////////////////////////////////////////////////////////////////////////////////
183	// This function displays the ALMOS_MKH banner.
184	///////////////////////////////////////////////////////////////////////////////////////////
185	static void print_banner( uint32_t nclusters , uint32_t ncores )
186	{
187	printk("\n"
188	" _ __ __ _____ ______ __ __ _ __ _ _ \n"
189	" /\\ \| \| \| \\ / \| / ___ \\ / _____\| \| \\ / \| \| \| / / \| \| \| \| \n"
190	" / \\ \| \| \| \\/ \| \| / \\ \| \| / \| \\/ \| \| \|/ / \| \| \| \| \n"
191	" / /\\ \\ \| \| \| \|\\ /\| \| \| \| \| \| \| \|_____ ___ \| \|\\ /\| \| \| / \| \|___\| \| \n"
192	" / /__\\ \\ \| \| \| \| \\/ \| \| \| \| \| \| \\_____ \\ \|___\| \| \| \\/ \| \| \| \\ \| ___ \| \n"
193	" / ______ \\ \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \| \|\\ \\ \| \| \| \| \n"
194	" / / \\ \\ \| \|____ \| \| \| \| \| \\___/ \| _____/ \| \| \| \| \| \| \| \\ \\ \| \| \| \| \n"
195	" /_/ \\_\\ \|______\| \|_\| \|_\| \\_____/ \|______/ \|_\| \|_\| \|_\| \\_\\ \|_\| \|_\| \n"
196	"\n\n\t\t Advanced Locality Management Operating System / Multi Kernel Hybrid\n"
197	"\n\n\t\t %s / %d cluster(s) / %d core(s) per cluster\n\n",
198	CONFIG_ALMOS_VERSION , nclusters , ncores );
199	}
200
201
202	///////////////////////////////////////////////////////////////////////////////////////////
203	// This function initializes the TXT0 chdev descriptor, that is the "kernel terminal",
204	// shared by all kernel instances for debug messages.
205	// It is a global variable (replicated in all clusters), because this terminal is used
206	// before the kmem allocator initialisation, but only the instance in cluster containing
207	// the calling core is registered in the "chdev_dir" directory.
208	// As this TXT0 chdev supports only the TXT_SYNC_WRITE command, we don't create
209	// a server thread, we don't allocate a WTI, and we don't initialize the waiting queue.
210	///////////////////////////////////////////////////////////////////////////////////////////
211	// @ info : pointer on the local boot-info structure.
212	///////////////////////////////////////////////////////////////////////////////////////////
213	static void txt0_device_init( boot_info_t * info )
214	{
215	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
216	uint32_t dev_nr; // actual number of devices in this cluster
217	xptr_t base; // remote pointer on segment base
218	uint32_t func; // device functional index
219	uint32_t impl; // device implementation index
220	uint32_t i; // device index in dev_tbl
221	uint32_t x; // X cluster coordinate
222	uint32_t y; // Y cluster coordinate
223	uint32_t channels; // number of channels
224
225	// get number of peripherals and base of devices array from boot_info
226	dev_nr = info->ext_dev_nr;
227	dev_tbl = info->ext_dev;
228
229	// loop on external peripherals to find TXT device
230	for( i = 0 ; i < dev_nr ; i++ )
231	{
232	base = dev_tbl[i].base;
233	func = FUNC_FROM_TYPE( dev_tbl[i].type );
234	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
235	channels = dev_tbl[i].channels;
236
237	if (func == DEV_FUNC_TXT )
238	{
239	assert( (channels > 0) , "number of TXT channels cannot be 0\n");
240
241	// initializes TXT_TX[0] chdev
242	txt0_chdev.func = func;
243	txt0_chdev.impl = impl;
244	txt0_chdev.channel = 0;
245	txt0_chdev.base = base;
246	txt0_chdev.is_rx = false;
247
248	// initializes lock
249	remote_spinlock_init( XPTR( local_cxy , &txt0_chdev.wait_lock ) );
250
251	// TXT specific initialisation:
252	// no server thread & no IRQ routing for channel 0
253	dev_txt_init( &txt0_chdev );
254
255	// register the TXT0 in all chdev_dir[x][y] structures
256	for( x = 0 ; x < info->x_size ; x++ )
257	{
258	for( y = 0 ; y < info->y_size; y++ ) // [FIXME]
259	{
260	if (cluster_info_is_active(info->cluster_info[x][y])) {
261	cxy_t cxy = (x<<info->y_width) + y;
262	hal_remote_swd( XPTR( cxy , &chdev_dir.txt_tx[0] ) ,
263	XPTR( local_cxy , &txt0_chdev ) );
264	}
265	}
266	}
267	}
268	} // end loop on devices
269	} // end txt0_device_init()
270
271	///////////////////////////////////////////////////////////////////////////////////////////
272	// This function is the same as txt0_device_init() but uses the internal multi_tty device
273	// attached to cluster (0,0) instead of the external tty_tsar.
274	// This function is used instead of txt0_device_init() only for TSAR LETI.
275	///////////////////////////////////////////////////////////////////////////////////////////
276	// @ info : pointer on the local boot-info structure.
277	///////////////////////////////////////////////////////////////////////////////////////////
278	static void mtty0_device_init( boot_info_t * info)
279	{
280	boot_device_t * dev_tbl; // pointer on array of devices in boot_info
281	uint32_t dev_nr; // actual number of devices in this cluster
282	xptr_t base; // remote pointer on segment base
283	uint32_t func; // device functional index
284	uint32_t impl; // device implementation index
285	uint32_t i; // device index in dev_tbl
286	uint32_t x; // X cluster coordinate
287	uint32_t y; // Y cluster coordinate
288
289	dev_nr = info->int_dev_nr;
290	dev_tbl = info->int_dev;
291
292	// Initialize spinlock for writing to MTY0
293	spinlock_init(&txt0_lock);
294
295	// Loop on internal peripherals of cluster (0,0) to find MTY0
296	for ( i = 0; i < dev_nr; i++ )
297	{
298	base = dev_tbl[i].base;
299	func = FUNC_FROM_TYPE( dev_tbl[i].type );
300	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
301
302	if ( func == DEV_FUNC_TXT )
303	{
304	txt0_chdev.func = func;
305	txt0_chdev.impl = impl;
306	txt0_chdev.channel = 0;
307	txt0_chdev.base = base;
308	txt0_chdev.is_rx = false;
309
310	// Initialize MTY0 chdev lock
311	remote_spinlock_init( XPTR( local_cxy, &txt0_chdev.wait_lock ) );
312
313	// MTY specific initialization
314	dev_txt_init( &txt0_chdev );
315
316	// register the MTY in all chdev_dir[x][y] structures
317	for( x = 0 ; x < info->x_size ; x++ )
318	{
319	for( y = 0 ; y < info->y_size; y++ ) // [FIXME]
320	{
321	if (cluster_info_is_active(info->cluster_info[x][y])) {
322	cxy_t cxy = (x<<info->y_width) + y;
323	hal_remote_swd( XPTR( cxy , &chdev_dir.txt_tx[0] ) ,
324	XPTR( local_cxy , &txt0_chdev ) );
325	}
326	}
327	}
328	}
329	} // end loop on internal devices
330	} // end mty0_device_init()
331
332	///////////////////////////////////////////////////////////////////////////////////////////
333	// This function allocates memory and initializes the chdev descriptors for the internal
334	// peripherals contained in the local cluster, other than the LAPIC, as specified by
335	// the boot_info, including the linking with the driver for the specified implementation.
336	// The relevant entries in all copies of the devices directory are initialised.
337	///////////////////////////////////////////////////////////////////////////////////////////
338	// @ info : pointer on the local boot-info structure.
339	///////////////////////////////////////////////////////////////////////////////////////////
340	static void internal_devices_init( boot_info_t * info )
341	{
342	boot_device_t * dev_tbl; // pointer on array of internaldevices in boot_info
343	uint32_t dev_nr; // actual number of devices in this cluster
344	xptr_t base; // remote pointer on segment base
345	uint32_t func; // device functionnal index
346	uint32_t impl; // device implementation index
347	uint32_t i; // device index in dev_tbl
348	uint32_t x; // X cluster coordinate
349	uint32_t y; // Y cluster coordinate
350	uint32_t channels; // number of channels
351	uint32_t channel; // channel index
352	chdev_t * chdev_ptr; // local pointer on created chdev
353
354	// get number of internal peripherals and base from boot_info
355	dev_nr = info->int_dev_nr;
356	dev_tbl = info->int_dev;
357
358	// loop on internal peripherals
359	for( i = 0 ; i < dev_nr ; i++ )
360	{
361	base = dev_tbl[i].base;
362	channels = dev_tbl[i].channels;
363	func = FUNC_FROM_TYPE( dev_tbl[i].type );
364	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
365
366	//////////////////////////
367	if( func == DEV_FUNC_MMC )
368	{
369	assert( (channels == 1) , "MMC device must be single channel\n" );
370
371	// create chdev in local cluster
372	chdev_ptr = chdev_create( func,
373	impl,
374	0, // channel
375	false, // direction
376	base );
377
378	assert( (chdev_ptr != NULL) ,
379	"cannot allocate memory for MMC chdev\n" );
380
381	// make MMC specific initialisation
382	dev_mmc_init( chdev_ptr );
383
384	// set the MMC field in all chdev_dir[x][y] structures
385	for( x = 0 ; x < info->x_size ; x++ )
386	{
387	for( y = 0 ; y < info->y_size; y++ ) // [FIXME]
388	{
389	if (cluster_info_is_active(info->cluster_info[x][y])) {
390	cxy_t cxy = (x<<info->y_width) + y;
391	hal_remote_swd( XPTR( cxy , &chdev_dir.mmc[local_cxy] ),
392	XPTR( local_cxy , chdev_ptr ) );
393	}
394	}
395	}
396
397	#if( DEBUG_KERNEL_INIT & 0x1 )
398	if( hal_time_stamp() > DEBUG_KERNEL_INIT )
399	printk("\n[DBG] %s : created MMC in cluster %x / chdev = %x\n",
400	__FUNCTION__ , local_cxy , chdev_ptr );
401	#endif
402	}
403	///////////////////////////////
404	else if( func == DEV_FUNC_DMA )
405	{
406	// create one chdev per channel in local cluster
407	for( channel = 0 ; channel < channels ; channel++ )
408	{
409	// create chdev[channel] in local cluster
410	chdev_ptr = chdev_create( func,
411	impl,
412	channel,
413	false, // direction
414	base );
415
416	assert( (chdev_ptr != NULL) , "cannot allocate memory for DMA chdev" );
417
418	// make DMA specific initialisation
419	dev_dma_init( chdev_ptr );
420
421	// initialize only the DMA[channel] field in the local chdev_dir[x][y]
422	// structure because the DMA device is not remotely accessible.
423	chdev_dir.dma[channel] = XPTR( local_cxy , chdev_ptr );
424
425	#if( DEBUG_KERNEL_INIT & 0x1 )
426	if( hal_time_stamp() > DEBUG_KERNEL_INIT )
427	printk("\n[DBG] %s : created DMA[%d] in cluster %x / chdev = %x\n",
428	__FUNCTION__ , channel , local_cxy , chdev_ptr );
429	#endif
430	}
431	}
432
433	///////////////////////////////
434	else if ( func == DEV_FUNC_TXT && USE_TXT_MTY == 1 )
435	{
436	assert(impl == IMPL_TXT_MTY,
437	"Internal TTYs should have MTY implementation\n");
438
439	for ( channel = 0; channel < channels; channel++ )
440	{
441	int rx;
442	for ( rx = 0; rx <= 1; rx++ )
443	{
444	// skip MTY0_TX since it has already been initialized
445	if ( channel == 0 && rx == 0 ) continue;
446
447	// create chdev in local cluster
448	chdev_ptr = chdev_create( func,
449	impl,
450	channel,
451	rx,
452	base );
453
454	assert( (chdev_ptr != NULL) ,
455	"cannot allocate memory for MTY chdev" );
456
457	// make MTY specific initialization
458	dev_txt_init( chdev_ptr );
459
460	// set the MTY fields in all clusters
461	xptr_t *chdev_entry;
462	if ( rx == 1 ) {
463	chdev_entry = &chdev_dir.txt_rx[channel];
464	} else {
465	chdev_entry = &chdev_dir.txt_tx[channel];
466	}
467	for ( x = 0; x < info->x_size; x++ )
468	{
469	for ( y = 0; y < info->y_size; y++ )
470	{
471	if (cluster_info_is_active(info->cluster_info[x][y])) {
472	cxy_t cxy = (x<<info->y_width) + y;
473	hal_remote_swd( XPTR( cxy, chdev_entry ),
474	XPTR( local_cxy, chdev_ptr ) );
475	}
476	}
477	}
478	#if( DEBUG_KERNEL_INIT & 0x1 )
479	if( hal_time_stamp() > DEBUG_KERNEL_INIT )
480	printk("\n[DBG] %s : created MTY[%d] in cluster %x / chdev = %x\n",
481	__FUNCTION__ , channel , local_cxy , chdev_ptr );
482	#endif
483	}
484	}
485	}
486
487	///////////////////////////////
488	else if ( func == DEV_FUNC_IOC )
489	{
490	assert(impl == IMPL_IOC_SPI, __FUNCTION__,
491	"Internal IOC should have SPI implementation\n");
492
493	for ( channel = 0; channel < channels; channel++ )
494	{
495	// create chdev in local cluster
496	chdev_ptr = chdev_create( func,
497	impl,
498	channel,
499	0,
500	base );
501
502	assert( (chdev_ptr != NULL) , __FUNCTION__ ,
503	"cannot allocate memory for IOC chdev" );
504
505	// make IOC specific initialization
506	dev_ioc_init( chdev_ptr );
507
508	// set the IOC fields in all clusters
509	xptr_t *chdev_entry = &chdev_dir.ioc[channel];
510	for ( x = 0; x < info->x_size; x++ )
511	{
512	for ( y = 0; y < info->y_size; y++ )
513	{
514	if (cluster_info_is_active(info->cluster_info[x][y])) {
515	cxy_t cxy = (x<<info->y_width) + y;
516	hal_remote_swd( XPTR( cxy, chdev_entry ),
517	XPTR( local_cxy, chdev_ptr ) );
518	}
519	}
520	}
521	#if( DEBUG_KERNEL_INIT & 0x1 )
522	if( hal_time_stamp() > DEBUG_KERNEL_INIT )
523	printk("\n[DBG] %s : created IOC[%d] in cluster %x / chdev = %x\n",
524	__FUNCTION__ , channel , local_cxy , chdev_ptr );
525	#endif
526	}
527	}
528
529	}
530	} // end internal_devices_init()
531
532	///////////////////////////////////////////////////////////////////////////////////////////
533	// This function allocates memory and initializes the chdev descriptors for the
534	// external (shared) peripherals other than the IOPIC, as specified by the boot_info.
535	// This includes the dynamic linking with the driver for the specified implementation.
536	// These chdev descriptors are distributed on all clusters, using a modulo on a global
537	// index, identically computed in all clusters.
538	// This function is executed in all clusters by the CP0 core, that computes a global index
539	// for all external chdevs. Each CP0 core creates only the chdevs that must be placed in
540	// the local cluster, because the global index matches the local index.
541	// The relevant entries in all copies of the devices directory are initialised.
542	///////////////////////////////////////////////////////////////////////////////////////////
543	// @ info : pointer on the local boot-info structure.
544	///////////////////////////////////////////////////////////////////////////////////////////
545	static void external_devices_init( boot_info_t * info )
546	{
547	boot_device_t * dev_tbl; // pointer on array of external devices in boot_info
548	uint32_t dev_nr; // actual number of external devices
549	xptr_t base; // remote pointer on segment base
550	uint32_t func; // device functionnal index
551	uint32_t impl; // device implementation index
552	uint32_t i; // device index in dev_tbl
553	uint32_t x; // X cluster coordinate
554	uint32_t y; // Y cluster coordinate
555	uint32_t channels; // number of channels
556	uint32_t channel; // channel index
557	uint32_t directions; // number of directions (1 or 2)
558	uint32_t rx; // direction index (0 or 1)
559	chdev_t * chdev; // local pointer on one channel_device descriptor
560	uint32_t ext_chdev_gid; // global index of external chdev
561
562	// get number of peripherals and base of devices array from boot_info
563	dev_nr = info->ext_dev_nr;
564	dev_tbl = info->ext_dev;
565
566	// initializes global index (PIC is already placed in cluster 0
567	ext_chdev_gid = 1;
568
569	// loop on external peripherals
570	for( i = 0 ; i < dev_nr ; i++ )
571	{
572	base = dev_tbl[i].base;
573	channels = dev_tbl[i].channels;
574	func = FUNC_FROM_TYPE( dev_tbl[i].type );
575	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
576
577	// There is one chdev per direction for NIC and for TXT
578	if((func == DEV_FUNC_NIC) \|\| (func == DEV_FUNC_TXT)) directions = 2;
579	else directions = 1;
580
581	// do nothing for ROM, that does not require a device descriptor.
582	if( func == DEV_FUNC_ROM ) continue;
583
584	// do nothing for PIC, that is already initialized
585	if( func == DEV_FUNC_PIC ) continue;
586
587	// check PIC device initialized
588	assert( (chdev_dir.pic != XPTR_NULL ) ,
589	"PIC device must be initialized before other devices\n" );
590
591	// check external device functionnal type
592	assert( ( (func == DEV_FUNC_IOB) \|\|
593	(func == DEV_FUNC_IOC) \|\|
594	(func == DEV_FUNC_TXT) \|\|
595	(func == DEV_FUNC_NIC) \|\|
596	(func == DEV_FUNC_FBF) ) ,
597	"undefined external peripheral type\n" );
598
599	// loops on channels
600	for( channel = 0 ; channel < channels ; channel++ )
601	{
602	// loop on directions
603	for( rx = 0 ; rx < directions ; rx++ )
604	{
605	// skip TXT_TX[0] chdev that has already been created & registered
606	if( USE_TXT_MTY == 0 && (func == DEV_FUNC_TXT) && (channel == 0) && (rx == 0) )
607	{
608	continue;
609	}
610
611	// skip TXT chdevs because they are initialized in internal_devices_init()
612	if ( USE_TXT_MTY == 1 && func == DEV_FUNC_TXT )
613	{
614	continue;
615	}
616
617	if ( func == DEV_FUNC_IOC && impl == IMPL_IOC_SPI )
618	{
619	continue;
620	}
621
622	// compute target cluster for chdev[func,channel,direction]
623	uint32_t offset = ext_chdev_gid % ( info->x_size * (info->y_max) ); // [FIXME]
624	uint32_t cx = offset / (info->y_max); // [FIXME]
625	uint32_t cy = offset % (info->y_max); // [FIXME]
626	uint32_t target_cxy = (cx<<info->y_width) + cy;
627
628	// allocate and initialize a local chdev
629	// when local cluster matches target cluster
630	if( target_cxy == local_cxy )
631	{
632	chdev = chdev_create( func,
633	impl,
634	channel,
635	rx, // direction
636	base );
637
638	assert( (chdev != NULL),
639	"cannot allocate external device" );
640
641	// make device type specific initialisation
642	if ( func == DEV_FUNC_IOB ) dev_iob_init( chdev );
643	else if( func == DEV_FUNC_IOC ) dev_ioc_init( chdev );
644	else if( func == DEV_FUNC_TXT ) dev_txt_init( chdev );
645	else if( func == DEV_FUNC_NIC ) dev_nic_init( chdev );
646	else if( func == DEV_FUNC_FBF ) dev_fbf_init( chdev );
647
648	// all external (shared) devices are remotely accessible
649	// initialize the replicated chdev_dir[x][y] structures
650	// defining the extended pointers on chdev descriptors
651	xptr_t * entry;
652
653	if(func==DEV_FUNC_IOB ) entry = &chdev_dir.iob;
654	if(func==DEV_FUNC_IOC ) entry = &chdev_dir.ioc[channel];
655	if(func==DEV_FUNC_FBF ) entry = &chdev_dir.fbf[channel];
656	if((func==DEV_FUNC_TXT) && (rx==0)) entry = &chdev_dir.txt_tx[channel];
657	if((func==DEV_FUNC_TXT) && (rx==1)) entry = &chdev_dir.txt_rx[channel];
658	if((func==DEV_FUNC_NIC) && (rx==0)) entry = &chdev_dir.nic_tx[channel];
659	if((func==DEV_FUNC_NIC) && (rx==1)) entry = &chdev_dir.nic_rx[channel];
660
661	for( x = 0 ; x < info->x_size ; x++ )
662	{
663	for ( y = 0; y < info->y_size; y++ )
664	{
665	if (cluster_info_is_active(info->cluster_info[x][y])) {
666	cxy_t cxy = (x<<info->y_width) + y;
667	hal_remote_swd( XPTR( cxy , entry ),
668	XPTR( local_cxy , chdev ) );
669	}
670	}
671	}
672
673	#if( DEBUG_KERNEL_INIT & 0x1 )
674	if( hal_time_stamp() > DEBUG_KERNEL_INIT )
675	printk("\n[DBG] %s : create chdev %s / channel = %d / rx = %d / cluster %x / chdev = %x\n",
676	__FUNCTION__ , chdev_func_str( func ), channel , rx , local_cxy , chdev );
677	#endif
678	} // end if match
679
680	// increment chdev global index (matching or not)
681	ext_chdev_gid++;
682
683	} // end loop on directions
684	} // end loop on channels
685	} // end loop on devices
686	} // end external_devices_init()
687
688	///////////////////////////////////////////////////////////////////////////////////////////
689	// This function is called by CP0 in cluster 0 to allocate memory and initialize the PIC
690	// device, namely the informations attached to the external IOPIC controller, that
691	// must be replicated in all clusters (struct iopic_input).
692	// This initialisation must be done before other devices initialisation because the IRQ
693	// routing infrastructure is required for both internal and external devices init.
694	///////////////////////////////////////////////////////////////////////////////////////////
695	// @ info : pointer on the local boot-info structure.
696	///////////////////////////////////////////////////////////////////////////////////////////
697	static void iopic_init( boot_info_t * info )
698	{
699	boot_device_t * dev_tbl; // pointer on boot_info external devices array
700	uint32_t dev_nr; // actual number of external devices
701	xptr_t base; // remote pointer on segment base
702	uint32_t func; // device functionnal index
703	uint32_t impl; // device implementation index
704	uint32_t i; // device index in dev_tbl
705	uint32_t x; // cluster X coordinate
706	uint32_t y; // cluster Y coordinate
707	bool_t found; // IOPIC found
708	chdev_t * chdev; // pointer on PIC chdev descriptor
709
710	// get number of external peripherals and base of array from boot_info
711	dev_nr = info->ext_dev_nr;
712	dev_tbl = info->ext_dev;
713
714	// loop on external peripherals to get the IOPIC
715	for( i = 0 , found = false ; i < dev_nr ; i++ )
716	{
717	func = FUNC_FROM_TYPE( dev_tbl[i].type );
718
719	if( func == DEV_FUNC_PIC )
720	{
721	base = dev_tbl[i].base;
722	impl = IMPL_FROM_TYPE( dev_tbl[i].type );
723	found = true;
724	break;
725	}
726	}
727
728	assert( found , "PIC device not found\n" );
729
730	// allocate and initialize the PIC chdev in cluster 0
731	chdev = chdev_create( DEV_FUNC_PIC,
732	impl,
733	0, // channel
734	0, // direction,
735	base );
736
737	assert( (chdev != NULL), "no memory for PIC chdev\n" );
738
739	// make PIC device type specific initialisation
740	dev_pic_init( chdev );
741
742	// register, in all clusters, the extended pointer
743	// on PIC chdev in "chdev_dir" array
744	xptr_t * entry = &chdev_dir.pic;
745
746	for( x = 0 ; x < info->x_size ; x++ )
747	{
748	for ( y = 0; y < info->y_size; y++ )
749	{
750	if (cluster_info_is_active(info->cluster_info[x][y])) {
751	cxy_t cxy = (x<<info->y_width) + y;
752	hal_remote_swd( XPTR( cxy , entry ) ,
753	XPTR( local_cxy , chdev ) );
754	}
755	}
756	}
757
758	// initialize, in all clusters, the "iopic_input" structure
759	// defining how external IRQs are connected to IOPIC
760
761	// register default value for unused inputs
762	for( x = 0 ; x < info->x_size ; x++ )
763	{
764	for ( y = 0; y < info->y_size; y++ )
765	{
766	if (cluster_info_is_active(info->cluster_info[x][y])) {
767	cxy_t cxy = (x<<info->y_width) + y;
768	hal_remote_memset( XPTR( cxy , &iopic_input ) , 0xFF , sizeof(iopic_input_t) );
769	}
770	}
771	}
772
773	// register input IRQ index for valid inputs
774	uint32_t id; // input IRQ index
775	uint8_t valid; // input IRQ is connected
776	uint32_t type; // source device type
777	uint8_t channel; // source device channel
778	uint8_t is_rx; // source device direction
779	uint32_t * ptr; // local pointer on one field in iopic_input stucture
780
781	for( id = 0 ; id < CONFIG_MAX_EXTERNAL_IRQS ; id++ )
782	{
783	valid = dev_tbl[i].irq[id].valid;
784	type = dev_tbl[i].irq[id].dev_type;
785	channel = dev_tbl[i].irq[id].channel;
786	is_rx = dev_tbl[i].irq[id].is_rx;
787	func = FUNC_FROM_TYPE( type );
788
789	// get pointer on relevant field in iopic_input
790	if( valid )
791	{
792	if ( func == DEV_FUNC_IOC ) ptr = &iopic_input.ioc[channel];
793	else if((func == DEV_FUNC_TXT) && (is_rx == 0)) ptr = &iopic_input.txt_tx[channel];
794	else if((func == DEV_FUNC_TXT) && (is_rx != 0)) ptr = &iopic_input.txt_rx[channel];
795	else if((func == DEV_FUNC_NIC) && (is_rx == 0)) ptr = &iopic_input.nic_tx[channel];
796	else if((func == DEV_FUNC_NIC) && (is_rx != 0)) ptr = &iopic_input.nic_rx[channel];
797	else if( func == DEV_FUNC_IOB ) ptr = &iopic_input.iob;
798	else assert( false , "illegal source device for IOPIC input" );
799
800	// set one entry in all "iopic_input" structures
801	for( x = 0 ; x < info->x_size ; x++ )
802	{
803	for ( y = 0; y < info->y_size; y++ )
804	{
805	if (cluster_info_is_active(info->cluster_info[x][y])) {
806	cxy_t cxy = (x<<info->y_width) + y;
807	hal_remote_swd( XPTR( cxy , ptr ) , id );
808	}
809	}
810	}
811	}
812	}
813
814	#if( DEBUG_KERNEL_INIT & 0x1 )
815	if( hal_time_stamp() > DEBUG_KERNEL_INIT )
816	{
817	printk("\n[DBG] %s created PIC chdev in cluster %x at cycle %d\n",
818	__FUNCTION__ , local_cxy , (uint32_t)hal_time_stamp() );
819	dev_pic_inputs_display();
820	}
821	#endif
822
823	} // end iopic_init()
824
825	///////////////////////////////////////////////////////////////////////////////////////////
826	// This function is called by all CP0s in all cluster to complete the PIC device
827	// initialisation, namely the informations attached to the LAPIC controller.
828	// This initialisation must be done after the IOPIC initialisation, but before other
829	// devices initialisation because the IRQ routing infrastructure is required for both
830	// internal and external devices initialisation.
831	///////////////////////////////////////////////////////////////////////////////////////////
832	// @ info : pointer on the local boot-info structure.
833	///////////////////////////////////////////////////////////////////////////////////////////
834	static void lapic_init( boot_info_t * info )
835	{
836	boot_device_t * dev_tbl; // pointer on boot_info internal devices array
837	uint32_t dev_nr; // number of internal devices
838	uint32_t i; // device index in dev_tbl
839	xptr_t base; // remote pointer on segment base
840	uint32_t func; // device functionnal type in boot_info
841	bool_t found; // LAPIC found
842
843	// get number of internal peripherals and base
844	dev_nr = info->int_dev_nr;
845	dev_tbl = info->int_dev;
846
847	// loop on internal peripherals to get the lapic device
848	for( i = 0 , found = false ; i < dev_nr ; i++ )
849	{
850	func = FUNC_FROM_TYPE( dev_tbl[i].type );
851
852	if( func == DEV_FUNC_ICU )
853	{
854	base = dev_tbl[i].base;
855	found = true;
856	break;
857	}
858	}
859
860	// if the LAPIC controller is not defined in the boot_info,
861	// we simply don't initialize the PIC extensions in the kernel,
862	// making the assumption that the LAPIC related informations
863	// are hidden in the hardware specific PIC driver.
864	if( found )
865	{
866	// initialise the PIC extensions for
867	// the core descriptor and core manager extensions
868	dev_pic_extend_init( (uint32_t *)GET_PTR( base ) );
869
870	// initialize the "lapic_input" structure
871	// defining how internal IRQs are connected to LAPIC
872	uint32_t id;
873	uint8_t valid;
874	uint8_t channel;
875	uint32_t func;
876
877	for( id = 0 ; id < CONFIG_MAX_INTERNAL_IRQS ; id++ )
878	{
879	valid = dev_tbl[i].irq[id].valid;
880	func = FUNC_FROM_TYPE( dev_tbl[i].irq[id].dev_type );
881	channel = dev_tbl[i].irq[id].channel;
882
883	if( valid ) // only valid local IRQs are registered
884	{
885	if ( func == DEV_FUNC_MMC ) lapic_input.mmc = id;
886	else if( func == DEV_FUNC_DMA ) lapic_input.dma[channel] = id;
887	else if( func == DEV_FUNC_TXT ) lapic_input.mtty = id;
888	else if( func == DEV_FUNC_IOC ) lapic_input.sdcard = id;
889	else assert( false , "illegal source device for LAPIC input" );
890	}
891	}
892	}
893	} // end lapic_init()
894
895	///////////////////////////////////////////////////////////////////////////////////////////
896	// This static function returns the identifiers of the calling core.
897	///////////////////////////////////////////////////////////////////////////////////////////
898	// @ info : pointer on boot_info structure.
899	// @ lid : [out] core local index in cluster.
900	// @ cxy : [out] cluster identifier.
901	// @ lid : [out] core global identifier (hardware).
902	// @ return 0 if success / return EINVAL if not found.
903	///////////////////////////////////////////////////////////////////////////////////////////
904	static error_t get_core_identifiers( boot_info_t * info,
905	lid_t * lid,
906	cxy_t * cxy,
907	gid_t * gid )
908	{
909	uint32_t i;
910	gid_t global_id;
911
912	// get global identifier from hardware register
913	global_id = hal_get_gid();
914
915	// makes an associative search in boot_info to get (cxy,lid) from global_id
916	for( i = 0 ; i < info->cores_nr ; i++ )
917	{
918	if( global_id == info->core[i].gid )
919	{
920	*lid = info->core[i].lid;
921	*cxy = info->core[i].cxy;
922	*gid = global_id;
923	return 0;
924	}
925	}
926	return EINVAL;
927	}
928
929	///////////////////////////////////////////////////////////////////////////////////////////
930	// This function is the entry point for the kernel initialisation.
931	// It is executed by all cores in all clusters, but only core[0], called CP0,
932	// initializes the shared resources such as the cluster manager, or the local peripherals.
933	// To comply with the multi-kernels paradigm, it accesses only local cluster memory, using
934	// only information contained in the local boot_info_t structure, set by the bootloader.
935	// Only CP0 in cluster 0 print the log messages.
936	///////////////////////////////////////////////////////////////////////////////////////////
937	// @ info : pointer on the local boot-info structure.
938	///////////////////////////////////////////////////////////////////////////////////////////
939	void kernel_init( boot_info_t * info )
940	{
941	lid_t core_lid = -1; // running core local index
942	cxy_t core_cxy = -1; // running core cluster identifier
943	gid_t core_gid; // running core hardware identifier
944	cluster_t * cluster; // pointer on local cluster manager
945	core_t * core; // pointer on running core descriptor
946	thread_t * thread; // pointer on idle thread descriptor
947
948	xptr_t vfs_root_inode_xp; // extended pointer on VFS root inode
949	xptr_t devfs_dev_inode_xp; // extended pointer on DEVFS dev inode
950	xptr_t devfs_external_inode_xp; // extended pointer on DEVFS external inode
951	xptr_t devfs_internal_inode_xp; // extended pointer on DEVFS internal inode
952
953	error_t error;
954	reg_t status; // running core status register
955
956	/////////////////////////////////////////////////////////////////////////////////
957	// STEP 0 : Each core get its core identifier from boot_info, and makes
958	// a partial initialisation of its private idle thread descriptor.
959	// CP0 initializes the "local_cxy" global variable.
960	// CP0 in cluster IO initializes the TXT0 chdev to print log messages.
961	/////////////////////////////////////////////////////////////////////////////////
962
963	error = get_core_identifiers( info,
964	&core_lid,
965	&core_cxy,
966	&core_gid );
967
968	// CP0 initializes cluster identifier
969	if( core_lid == 0 ) local_cxy = info->cxy;
970
971	// each core gets a pointer on its private idle thread descriptor
972	thread = (thread_t )( idle_threads + (core_lid CONFIG_THREAD_DESC_SIZE) );
973
974	// each core registers this thread pointer in hardware register
975	hal_set_current_thread( thread );
976
977	// each core register core descriptor pointer in idle thread descriptor
978	thread->core = &LOCAL_CLUSTER->core_tbl[core_lid];
979
980	// each core initializes the idle thread lists of locks
981	list_root_init( &thread->locks_root );
982	xlist_root_init( XPTR( local_cxy , &thread->xlocks_root ) );
983	thread->local_locks = 0;
984	thread->remote_locks = 0;
985
986	// CP0 in cluster 0 initializes TXT0 chdev descriptor
987	if( core_cxy == 0 && core_lid == 0 ) // [MODIF]
988	{
989	if( USE_TXT_MTY == 1 ) {
990	mtty0_device_init( info );
991	} else {
992	txt0_device_init( info );
993	}
994	}
995
996	/////////////////////////////////////////////////////////////////////////////////
997	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
998	cluster_info_nb_actives(info->cluster_info) );
999	barrier_wait( &local_barrier , info->cores_nr );
1000	/////////////////////////////////////////////////////////////////////////////////
1001
1002	#if DEBUG_KERNEL_INIT
1003	if( (core_lid == 0) & (local_cxy == 0) )
1004	printk("\n[DBG] %s : exit barrier 0 : TXT0 initialized / cycle %d\n",
1005	__FUNCTION__, (uint32_t)hal_get_cycles() );
1006	#endif
1007
1008	/////////////////////////////////////////////////////////////////////////////
1009	// STEP 1 : all cores check core identifier.
1010	// CP0 initializes the local cluster manager.
1011	// This includes the memory allocators.
1012	/////////////////////////////////////////////////////////////////////////////
1013
1014	// all cores check identifiers
1015	if( error )
1016	{
1017	assert( false ,
1018	"illegal core identifiers gid = %x / cxy = %x / lid = %d",
1019	core_lid , core_cxy , core_lid );
1020	}
1021
1022	// CP0 initializes cluster manager
1023	if( core_lid == 0 )
1024	{
1025	error = cluster_init( info );
1026
1027	if( error )
1028	{
1029	assert( false ,
1030	"cannot initialise cluster %x", local_cxy );
1031	}
1032	}
1033
1034	/////////////////////////////////////////////////////////////////////////////////
1035	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
1036	cluster_info_nb_actives(info->cluster_info) );
1037	barrier_wait( &local_barrier , info->cores_nr );
1038	/////////////////////////////////////////////////////////////////////////////////
1039
1040	#if DEBUG_KERNEL_INIT
1041	if( (core_lid == 0) & (local_cxy == 0) )
1042	printk("\n[DBG] %s : exit barrier 1 : clusters initialised / cycle %d\n",
1043	__FUNCTION__, (uint32_t)hal_get_cycles() );
1044	#endif
1045
1046	/////////////////////////////////////////////////////////////////////////////////
1047	// STEP 2 : CP0 initializes the process_zero descriptor.
1048	// CP0 in cluster 0 initializes the IOPIC device.
1049	/////////////////////////////////////////////////////////////////////////////////
1050
1051	// all cores get pointer on local cluster manager & core descriptor
1052	cluster = &cluster_manager;
1053	core = &cluster->core_tbl[core_lid];
1054
1055	// all CP0s initialize the process_zero descriptor
1056	if( core_lid == 0 ) process_zero_create( &process_zero );
1057
1058	// CP0 in cluster 0 initializes the PIC chdev,
1059	if( (core_lid == 0) && (local_cxy == 0) ) iopic_init( info );
1060
1061	////////////////////////////////////////////////////////////////////////////////
1062	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
1063	cluster_info_nb_actives(info->cluster_info) );
1064	barrier_wait( &local_barrier , info->cores_nr );
1065	////////////////////////////////////////////////////////////////////////////////
1066
1067	#if DEBUG_KERNEL_INIT
1068	if( (core_lid == 0) & (local_cxy == 0) )
1069	printk("\n[DBG] %s : exit barrier 2 : PIC initialised / cycle %d\n",
1070	__FUNCTION__, (uint32_t)hal_get_cycles() );
1071	#endif
1072
1073	////////////////////////////////////////////////////////////////////////////////
1074	// STEP 3 : CP0 initializes the distibuted LAPIC descriptor.
1075	// CP0 initializes the internal chdev descriptors
1076	// CP0 initialize the local external chdev descriptors
1077	////////////////////////////////////////////////////////////////////////////////
1078
1079	// all CP0s initialize their local LAPIC extension,
1080	if( core_lid == 0 ) lapic_init( info );
1081
1082	// CP0 scan the internal (private) peripherals,
1083	// and allocates memory for the corresponding chdev descriptors.
1084	if( core_lid == 0 ) internal_devices_init( info );
1085
1086
1087	// All CP0s contribute to initialise external peripheral chdev descriptors.
1088	// Each CP0[cxy] scan the set of external (shared) peripherals (but the TXT0),
1089	// and allocates memory for the chdev descriptors that must be placed
1090	// on the (cxy) cluster according to the global index value.
1091
1092	if( core_lid == 0 ) external_devices_init( info );
1093
1094	/////////////////////////////////////////////////////////////////////////////////
1095	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
1096	cluster_info_nb_actives(info->cluster_info) );
1097	barrier_wait( &local_barrier , info->cores_nr );
1098	/////////////////////////////////////////////////////////////////////////////////
1099
1100	#if DEBUG_KERNEL_INIT
1101	if( (core_lid == 0) & (local_cxy == 0) )
1102	printk("\n[DBG] %s : exit barrier 3 : all chdev initialised / cycle %d\n",
1103	__FUNCTION__, (uint32_t)hal_get_cycles() );
1104	#endif
1105
1106	#if( DEBUG_KERNEL_INIT & 1 )
1107	if( (core_lid == 0) & (local_cxy == 0) )
1108	chdev_dir_display();
1109	#endif
1110
1111	/////////////////////////////////////////////////////////////////////////////////
1112	// STEP 4 : All cores enable IPI (Inter Procesor Interrupt),
1113	// Alh cores initialize IDLE thread.
1114	// Only CP0 in cluster 0 creates the VFS root inode.
1115	// It access the boot device to initialize the file system context.
1116	/////////////////////////////////////////////////////////////////////////////////
1117
1118	// All cores enable the shared IPI channel
1119	dev_pic_enable_ipi();
1120	hal_enable_irq( &status );
1121
1122	#if DEBUG_KERNEL_INIT
1123	printk("\n[DBG] %s: IPI enabled for core %d cluster %d\n", __FUNCTION__,
1124	core_lid, local_cxy);
1125	#endif
1126
1127	// all cores initialize the idle thread descriptor
1128	thread_idle_init( thread,
1129	THREAD_IDLE,
1130	&thread_idle_func,
1131	NULL,
1132	core_lid );
1133
1134	// all cores unblock idle thread, and register it in scheduler
1135	thread_unblock( XPTR( local_cxy , thread ) , THREAD_BLOCKED_GLOBAL );
1136	core->scheduler.idle = thread;
1137
1138	#if( DEBUG_KERNEL_INIT & 1 )
1139	sched_display( core_lid );
1140	#endif
1141
1142	// CPO in cluster 0 creates the VFS root
1143	if( (core_lid == 0) && (local_cxy == 0 ) )
1144	{
1145	vfs_root_inode_xp = XPTR_NULL;
1146
1147	// File System must be FATFS in this implementation,
1148	// but other File System can be introduced here
1149	if( CONFIG_VFS_ROOT_IS_FATFS )
1150	{
1151	// 1. allocate memory for FATFS context in cluster 0
1152	fatfs_ctx_t * fatfs_ctx = fatfs_ctx_alloc();
1153
1154	assert( (fatfs_ctx != NULL) ,
1155	"cannot create FATFS context in cluster 0\n" );
1156
1157	// 2. access boot device to initialize FATFS context
1158	fatfs_ctx_init( fatfs_ctx );
1159
1160	// 3. get various informations from FATFS context
1161	uint32_t root_dir_cluster = fatfs_ctx->root_dir_cluster;
1162	uint32_t cluster_size = fatfs_ctx->bytes_per_sector *
1163	fatfs_ctx->sectors_per_cluster;
1164	uint32_t total_clusters = fatfs_ctx->fat_sectors_count << 7;
1165
1166	// 4. create VFS root inode in cluster 0
1167	error = vfs_inode_create( XPTR_NULL, // dentry_xp
1168	FS_TYPE_FATFS, // fs_type
1169	INODE_TYPE_DIR, // inode_type
1170	(void *)(intptr_t)root_dir_cluster, // extend
1171	0, // attr
1172	0, // rights
1173	0, // uid
1174	0, // gid
1175	&vfs_root_inode_xp ); // return
1176
1177	assert( (error == 0) ,
1178	"cannot create VFS root inode\n" );
1179
1180	// 5. initialize VFS context for FAT in cluster 0
1181	vfs_ctx_init( FS_TYPE_FATFS, // file system type
1182	0, // attributes
1183	total_clusters,
1184	cluster_size,
1185	vfs_root_inode_xp, // VFS root
1186	fatfs_ctx ); // extend
1187
1188	// 6. check initialisation
1189	vfs_ctx_t * vfs_ctx = &fs_context[FS_TYPE_FATFS];
1190	assert( (((fatfs_ctx_t *)vfs_ctx->extend)->sectors_per_cluster == 8),
1191	"illegal value for FATFS context in cluster %x\n", local_cxy );
1192	}
1193	else
1194	{
1195	assert( false ,
1196	"root FS must be FATFS" );
1197	}
1198
1199	// register VFS root inode in process_zero descriptor of cluster 0
1200	process_zero.vfs_root_xp = vfs_root_inode_xp;
1201	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
1202	}
1203
1204	/////////////////////////////////////////////////////////////////////////////////
1205	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
1206	cluster_info_nb_actives(info->cluster_info) );
1207	barrier_wait( &local_barrier , info->cores_nr );
1208	/////////////////////////////////////////////////////////////////////////////////
1209
1210	#if DEBUG_KERNEL_INIT
1211	if( (core_lid == 0) & (local_cxy == 0) )
1212	printk("\n[DBG] %s : exit barrier 4 : VFS_root = %l in cluster 0 / cycle %d\n",
1213	__FUNCTION__, vfs_root_inode_xp , (uint32_t)hal_get_cycles());
1214	#endif
1215
1216	/////////////////////////////////////////////////////////////////////////////////
1217	// STEP 5 : Other CP0s allocate memory for the selected FS context,
1218	// and initialise both the local FS context and the local VFS context
1219	// from values stored in cluster 0.
1220	// They get the VFS root inode extended pointer from cluster 0.
1221	/////////////////////////////////////////////////////////////////////////////////
1222
1223	if( (core_lid == 0) && (local_cxy != 0) )
1224	{
1225	// File System must be FATFS in this implementation,
1226	// but other File System can be introduced here
1227	if( CONFIG_VFS_ROOT_IS_FATFS )
1228	{
1229	// 1. allocate memory for local FATFS context
1230	fatfs_ctx_t * local_fatfs_ctx = fatfs_ctx_alloc();
1231
1232	assert( (local_fatfs_ctx != NULL) ,
1233	"cannot create FATFS context in cluster %x\n", local_cxy );
1234
1235	// 2. get local pointer on VFS context for FATFS
1236	vfs_ctx_t * vfs_ctx = &fs_context[FS_TYPE_FATFS];
1237
1238	// 3. get local pointer on FATFS context in cluster 0
1239	fatfs_ctx_t * remote_fatfs_ctx = hal_remote_lpt( XPTR( 0 , &vfs_ctx->extend ) );
1240
1241	// 4. copy FATFS context from cluster 0 to local cluster
1242	hal_remote_memcpy( XPTR( local_cxy , local_fatfs_ctx ),
1243	XPTR( 0 , remote_fatfs_ctx ), sizeof(fatfs_ctx_t) );
1244
1245	// 5. copy VFS context from cluster 0 to local cluster
1246	hal_remote_memcpy( XPTR( local_cxy , vfs_ctx ),
1247	XPTR( 0 , vfs_ctx ), sizeof(vfs_ctx_t) );
1248
1249	// 6. update extend field in local copy of VFS context
1250	vfs_ctx->extend = local_fatfs_ctx;
1251
1252	// 7. check initialisation
1253	assert( (((fatfs_ctx_t *)vfs_ctx->extend)->sectors_per_cluster == 8),
1254	"illegal value for FATFS context in cluster %x\n", local_cxy );
1255	}
1256
1257	// get extended pointer on VFS root inode from cluster 0
1258	vfs_root_inode_xp = hal_remote_lwd( XPTR( 0 , &process_zero.vfs_root_xp ) );
1259
1260	// update local process_zero descriptor
1261	process_zero.vfs_root_xp = vfs_root_inode_xp;
1262	process_zero.vfs_cwd_xp = vfs_root_inode_xp;
1263	}
1264
1265	/////////////////////////////////////////////////////////////////////////////////
1266	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
1267	cluster_info_nb_actives(info->cluster_info) );
1268	barrier_wait( &local_barrier , info->cores_nr );
1269	/////////////////////////////////////////////////////////////////////////////////
1270
1271	#if DEBUG_KERNEL_INIT
1272	if( (core_lid == 0) & (local_cxy == 0) )
1273	printk("\n[DBG] %s : exit barrier 5 : VFS_root = %l in cluster 0 / cycle %d\n",
1274	__FUNCTION__, vfs_root_inode_xp , (uint32_t)hal_get_cycles());
1275	#endif
1276
1277	/////////////////////////////////////////////////////////////////////////////////
1278	// STEP 6 : CP0 in cluster IO makes the global DEVFS tree initialisation:
1279	// It creates the DEVFS directory "dev", and the DEVFS "external"
1280	// directory in cluster IO and mount these inodes into VFS.
1281	/////////////////////////////////////////////////////////////////////////////////
1282
1283	if( (core_lid == 0) && (local_cxy == 0) ) // [FIXME]
1284	{
1285	// create "dev" and "external" directories.
1286	devfs_global_init( process_zero.vfs_root_xp,
1287	&devfs_dev_inode_xp,
1288	&devfs_external_inode_xp );
1289
1290	// creates the DEVFS context in cluster IO
1291	devfs_ctx_t * devfs_ctx = devfs_ctx_alloc();
1292
1293	assert( (devfs_ctx != NULL) ,
1294	"cannot create DEVFS context in cluster IO\n");
1295
1296	// register DEVFS root and external directories
1297	devfs_ctx_init( devfs_ctx, devfs_dev_inode_xp, devfs_external_inode_xp );
1298	}
1299
1300	/////////////////////////////////////////////////////////////////////////////////
1301	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
1302	cluster_info_nb_actives(info->cluster_info) );
1303	barrier_wait( &local_barrier , info->cores_nr );
1304	/////////////////////////////////////////////////////////////////////////////////
1305
1306	#if DEBUG_KERNEL_INIT
1307	if( (core_lid == 0) & (local_cxy == 0) )
1308	printk("\n[DBG] %s : exit barrier 6 : dev_root = %l in cluster 0 / cycle %d\n",
1309	__FUNCTION__, devfs_dev_inode_xp , (uint32_t)hal_get_cycles() );
1310	#endif
1311
1312	/////////////////////////////////////////////////////////////////////////////////
1313	// STEP 7 : All CP0s complete in parallel the DEVFS tree initialization.
1314	// Each CP0 get the "dev" and "external" extended pointers from
1315	// values stored in cluster IO.
1316	// Then each CP0 in cluster(i) creates the DEVFS "internal directory,
1317	// and creates the pseudo-files for all chdevs in cluster (i).
1318	/////////////////////////////////////////////////////////////////////////////////
1319
1320	if( core_lid == 0 )
1321	{
1322	// get extended pointer on "extend" field of VFS context for DEVFS in cluster IO
1323	xptr_t extend_xp = XPTR( 0 , &fs_context[FS_TYPE_DEVFS].extend ); // [FIXME]
1324
1325	// get pointer on DEVFS context in cluster 0
1326	devfs_ctx_t * devfs_ctx = hal_remote_lpt( extend_xp );
1327
1328	devfs_dev_inode_xp = hal_remote_lwd( XPTR( 0 , &devfs_ctx->dev_inode_xp ) );
1329	devfs_external_inode_xp = hal_remote_lwd( XPTR( 0 , &devfs_ctx->external_inode_xp ) );
1330
1331	// populate DEVFS in all clusters
1332	devfs_local_init( devfs_dev_inode_xp,
1333	devfs_external_inode_xp,
1334	&devfs_internal_inode_xp );
1335	}
1336
1337	/////////////////////////////////////////////////////////////////////////////////
1338	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
1339	cluster_info_nb_actives(info->cluster_info) );
1340	barrier_wait( &local_barrier , info->cores_nr );
1341	/////////////////////////////////////////////////////////////////////////////////
1342
1343	#if DEBUG_KERNEL_INIT
1344	if( (core_lid == 0) & (local_cxy == 0) )
1345	printk("\n[DBG] %s : exit barrier 7 : dev_root = %l in cluster 0 / cycle %d\n",
1346	__FUNCTION__, devfs_dev_inode_xp , (uint32_t)hal_get_cycles() );
1347	#endif
1348
1349	/////////////////////////////////////////////////////////////////////////////////
1350	// STEP 8 : CP0 in cluster 0 creates the first user process (process_init)
1351	/////////////////////////////////////////////////////////////////////////////////
1352
1353	if( (core_lid == 0) && (local_cxy == 0) )
1354	{
1355
1356	#if( DEBUG_KERNEL_INIT & 1 )
1357	vfs_display( vfs_root_inode_xp );
1358	#endif
1359
1360	process_init_create();
1361	}
1362
1363	/////////////////////////////////////////////////////////////////////////////////
1364	if( core_lid == 0 ) remote_barrier( XPTR( 0 , &global_barrier ), // [FIXME]
1365	cluster_info_nb_actives(info->cluster_info) );
1366	barrier_wait( &local_barrier , info->cores_nr );
1367	/////////////////////////////////////////////////////////////////////////////////
1368
1369	#if DEBUG_KERNEL_INIT
1370	if( (core_lid == 0) & (local_cxy == 0) )
1371	printk("\n[DBG] %s : exit barrier 8 : process init created / cycle %d\n",
1372	__FUNCTION__ , (uint32_t)hal_get_cycles() );
1373	#endif
1374
1375	#if (DEBUG_KERNEL_INIT & 1)
1376	if( (core_lid == 0) /& (local_cxy == 0)/ )
1377	sched_display( 0 );
1378	#endif
1379
1380	/////////////////////////////////////////////////////////////////////////////////
1381	// STEP 9 : CP0 in cluster 0 print banner
1382	/////////////////////////////////////////////////////////////////////////////////
1383
1384	if( (core_lid == 0) && (local_cxy == 0) ) // [FIXME]
1385	{
1386	print_banner( (info->x_size * info->y_size) , info->cores_nr );
1387
1388	#if( DEBUG_KERNEL_INIT & 1 )
1389	printk("\n\n***** memory fooprint for main kernel objects\n\n"
1390	" - thread descriptor : %d bytes\n"
1391	" - process descriptor : %d bytes\n"
1392	" - cluster manager : %d bytes\n"
1393	" - chdev descriptor : %d bytes\n"
1394	" - core descriptor : %d bytes\n"
1395	" - scheduler : %d bytes\n"
1396	" - rpc fifo : %d bytes\n"
1397	" - page descriptor : %d bytes\n"
1398	" - mapper root : %d bytes\n"
1399	" - ppm manager : %d bytes\n"
1400	" - kcm manager : %d bytes\n"
1401	" - khm manager : %d bytes\n"
1402	" - vmm manager : %d bytes\n"
1403	" - gpt root : %d bytes\n"
1404	" - list item : %d bytes\n"
1405	" - xlist item : %d bytes\n"
1406	" - spinlock : %d bytes\n"
1407	" - remote spinlock : %d bytes\n"
1408	" - rwlock : %d bytes\n"
1409	" - remote rwlock : %d bytes\n",
1410	sizeof( thread_t ),
1411	sizeof( process_t ),
1412	sizeof( cluster_t ),
1413	sizeof( chdev_t ),
1414	sizeof( core_t ),
1415	sizeof( scheduler_t ),
1416	sizeof( remote_fifo_t ),
1417	sizeof( page_t ),
1418	sizeof( mapper_t ),
1419	sizeof( ppm_t ),
1420	sizeof( kcm_t ),
1421	sizeof( khm_t ),
1422	sizeof( vmm_t ),
1423	sizeof( gpt_t ),
1424	sizeof( list_entry_t ),
1425	sizeof( xlist_entry_t ),
1426	sizeof( spinlock_t ),
1427	sizeof( remote_spinlock_t ),
1428	sizeof( rwlock_t ),
1429	sizeof( remote_rwlock_t ));
1430	#endif
1431
1432	}
1433
1434	// each core activates its private TICK IRQ
1435	dev_pic_enable_timer( CONFIG_SCHED_TICK_MS_PERIOD );
1436
1437	#if DEBUG_KERNEL_INIT
1438	printk("\n[DBG] %s : thread %x on core[%x,%d] jumps to thread_idle_func() / cycle %d\n",
1439	__FUNCTION__ , CURRENT_THREAD , local_cxy , core_lid , (uint32_t)hal_get_cycles() );
1440	#endif
1441
1442	// each core jump to thread_idle_func
1443	thread_idle_func();
1444	}
1445

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