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artiq-zynq
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move kernel-related code to separate library

This commit is contained in:
mwojcik 2023-09-04 16:04:42 +08:00
parent c696fd826f
commit 6885c618b5
26 changed files with 621 additions and 384 deletions
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30
src/Cargo.lock generated
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@ -218,6 +218,33 @@ dependencies = [
"libsupport_zynq",
]
[[package]]
name = "kernel"
version = "0.1.0"
dependencies = [
"build_zynq",
"byteorder",
"core_io",
"cslice",
"dwarf",
"dyld",
"io",
"libasync",
"libboard_artiq",
"libboard_zynq",
"libc",
"libconfig",
"libcortex_a9",
"libm",
"libregister",
"libsupport_zynq",
"log",
"log_buffer",
"nb 0.1.3",
"unwind",
"void",
]
[[package]]
name = "libasync"
version = "0.0.0"
@ -438,18 +465,17 @@ dependencies = [
"embedded-hal",
"futures",
"io",
"kernel",
"libasync",
"libboard_artiq",
"libboard_zynq",
"libc",
"libconfig",
"libcortex_a9",
"libm",
"libregister",
"libsupport_zynq",
"log",
"log_buffer",
"nb 0.1.3",
"num-derive",
"num-traits",
"unwind",

33
src/libkernel/Cargo.toml Normal file
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@ -0,0 +1,33 @@
[package]
name = "kernel"
description = "Kernel support for Zynq-based platforms"
version = "0.1.0"
authors = ["M-Labs"]
edition = "2018"
[build-dependencies]
build_zynq = { path = "../libbuild_zynq" }
[dependencies]
cslice = "0.3"
log = "0.4"
nb = "0.1"
core_io = { version = "0.1", features = ["collections"] }
byteorder = { version = "1.3", default-features = false }
void = { version = "1", default-features = false }
log_buffer = { version = "1.2" }
libm = { version = "0.2", features = ["unstable"] }
libboard_zynq = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git", features = ["ipv6"]}
libsupport_zynq = { default-features = false, features = ["alloc_core"], git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libcortex_a9 = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libasync = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libregister = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libconfig = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git", features = ["fat_lfn", "ipv6"] }
dyld = { path = "../libdyld" }
dwarf = { path = "../libdwarf" }
unwind = { path = "../libunwind" }
libc = { path = "../libc" }
io = { path = "../libio" }
libboard_artiq = { path = "../libboard_artiq" }

5
src/libkernel/build.rs Normal file
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@ -0,0 +1,5 @@
extern crate build_zynq;
fn main() {
build_zynq::cfg();
}

0
src/runtime/src/eh_artiq.rs → src/libkernel/src/eh_artiq.rs
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0
src/runtime/src/i2c.rs → src/libkernel/src/i2c.rs
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0
src/runtime/src/irq.rs → src/libkernel/src/irq.rs
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2
src/runtime/src/kernel/api.rs → src/libkernel/src/kernel/api.rs
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@ -5,6 +5,8 @@ use libc::{c_char, c_int, size_t};
use libm;
use log::{info, warn};
#[cfg(has_drtio)]
use super::subkernel;
use super::{cache,
core1::rtio_get_destination_status,
dma,

0
src/runtime/src/kernel/cache.rs → src/libkernel/src/kernel/cache.rs
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4
src/runtime/src/kernel/control.rs → src/libkernel/src/kernel/control.rs
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@ -3,8 +3,8 @@ use core::mem::{forget, replace};
use libcortex_a9::sync_channel::{Receiver, Sender};
use libsupport_zynq::boot::Core1;
use super::{Message, CHANNEL_0TO1, CHANNEL_1TO0, CHANNEL_SEM, INIT_LOCK};
use crate::irq::restart_core1;
use super::{CHANNEL_0TO1, CHANNEL_1TO0, CHANNEL_SEM, INIT_LOCK};
use crate::{irq::restart_core1, Message};
pub struct Control {
pub tx: Sender<'static, Message>,

0
src/runtime/src/kernel/core1.rs → src/libkernel/src/kernel/core1.rs
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0
src/runtime/src/kernel/dma.rs → src/libkernel/src/kernel/dma.rs
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27
src/libkernel/src/kernel/mod.rs Normal file
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@ -0,0 +1,27 @@
use core::ptr;
use libcortex_a9::{mutex::Mutex, semaphore::Semaphore, sync_channel};
use crate::Message;
mod control;
pub use control::Control;
mod api;
pub mod core1;
mod dma;
mod rpc;
pub use dma::DmaRecorder;
mod cache;
#[cfg(has_drtio)]
mod subkernel;
static CHANNEL_0TO1: Mutex<Option<sync_channel::Sender<'static, Message>>> = Mutex::new(None);
static CHANNEL_1TO0: Mutex<Option<sync_channel::Receiver<'static, Message>>> = Mutex::new(None);
static CHANNEL_SEM: Semaphore = Semaphore::new(0, 1);
static mut KERNEL_CHANNEL_0TO1: Option<sync_channel::Receiver<'static, Message>> = None;
static mut KERNEL_CHANNEL_1TO0: Option<sync_channel::Sender<'static, Message>> = None;
pub static mut KERNEL_IMAGE: *const core1::KernelImage = ptr::null();
static INIT_LOCK: Mutex<()> = Mutex::new(());

0
src/runtime/src/kernel/rpc.rs → src/libkernel/src/kernel/rpc.rs
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4
src/runtime/src/kernel/subkernel.rs → src/libkernel/src/kernel/subkernel.rs
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@ -2,8 +2,8 @@ use alloc::vec::Vec;
use cslice::CSlice;
use super::{Message, SubkernelStatus, KERNEL_CHANNEL_0TO1, KERNEL_CHANNEL_1TO0};
use crate::{artiq_raise, rpc::send_args};
use super::{KERNEL_CHANNEL_0TO1, KERNEL_CHANNEL_1TO0};
use crate::{artiq_raise, rpc::send_args, Message, SubkernelStatus};
pub extern "C" fn load_run(id: u32, run: bool) {
unsafe {

243
src/libkernel/src/lib.rs Normal file
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@ -0,0 +1,243 @@
#![no_std]
#![feature(c_variadic)]
#![feature(const_btree_new)]
#![feature(const_in_array_repeat_expressions)]
#![feature(naked_functions)]
#![feature(asm)]
#[macro_use]
extern crate alloc;
use alloc::{collections::BTreeMap, string::String, vec::Vec};
use io::{Cursor, ProtoRead};
pub use kernel::{Control, DmaRecorder};
use libasync::block_async;
use libconfig::Config;
use log::{error, warn};
use void::Void;
pub mod eh_artiq;
pub mod i2c;
pub mod irq;
pub mod kernel;
pub mod rpc;
#[cfg(ki_impl = "csr")]
#[path = "rtio_csr.rs"]
pub mod rtio;
#[cfg(ki_impl = "acp")]
#[path = "rtio_acp.rs"]
pub mod rtio;
#[rustfmt::skip]
#[path = "../../../build/pl.rs"]
pub mod pl;
#[derive(Debug, Clone)]
pub struct RPCException {
pub id: u32,
pub message: u32,
pub param: [i64; 3],
pub file: u32,
pub line: i32,
pub column: i32,
pub function: u32,
}
#[cfg(has_drtio)]
#[derive(Debug, Clone)]
pub enum SubkernelStatus {
NoError,
Timeout,
IncorrectState,
CommLost,
OtherError,
}
#[derive(Debug, Clone)]
pub enum Message {
LoadRequest(Vec<u8>),
LoadCompleted,
LoadFailed,
StartRequest,
KernelFinished(u8),
KernelException(
&'static [Option<eh_artiq::Exception<'static>>],
&'static [eh_artiq::StackPointerBacktrace],
&'static [(usize, usize)],
u8,
),
RpcSend {
is_async: bool,
data: Vec<u8>,
},
RpcRecvRequest(*mut ()),
RpcRecvReply(Result<usize, RPCException>),
CacheGetRequest(String),
CacheGetReply(Vec<i32>),
CachePutRequest(String, Vec<i32>),
DmaPutRequest(DmaRecorder),
DmaEraseRequest(String),
DmaGetRequest(String),
DmaGetReply(Option<(i32, i64, bool)>),
#[cfg(has_drtio)]
DmaStartRemoteRequest {
id: i32,
timestamp: i64,
},
#[cfg(has_drtio)]
DmaAwaitRemoteRequest(i32),
#[cfg(has_drtio)]
DmaAwaitRemoteReply {
timeout: bool,
error: u8,
channel: u32,
timestamp: u64,
},
#[cfg(has_drtio)]
UpDestinationsRequest(i32),
#[cfg(has_drtio)]
UpDestinationsReply(bool),
#[cfg(has_drtio)]
SubkernelLoadRunRequest {
id: u32,
run: bool,
},
#[cfg(has_drtio)]
SubkernelLoadRunReply {
succeeded: bool,
},
#[cfg(has_drtio)]
SubkernelAwaitFinishRequest {
id: u32,
timeout: u64,
},
#[cfg(has_drtio)]
SubkernelAwaitFinishReply {
status: SubkernelStatus,
},
#[cfg(has_drtio)]
SubkernelMsgSend {
id: u32,
data: Vec<u8>,
},
#[cfg(has_drtio)]
SubkernelMsgRecvRequest {
id: u32,
timeout: u64,
},
#[cfg(has_drtio)]
SubkernelMsgRecvReply {
status: SubkernelStatus,
count: u8,
},
}
pub static mut SEEN_ASYNC_ERRORS: u8 = 0;
pub const ASYNC_ERROR_COLLISION: u8 = 1 << 0;
pub const ASYNC_ERROR_BUSY: u8 = 1 << 1;
pub const ASYNC_ERROR_SEQUENCE_ERROR: u8 = 1 << 2;
pub unsafe fn get_async_errors() -> u8 {
let errors = SEEN_ASYNC_ERRORS;
SEEN_ASYNC_ERRORS = 0;
errors
}
fn wait_for_async_rtio_error() -> nb::Result<(), Void> {
unsafe {
if pl::csr::rtio_core::async_error_read() != 0 {
Ok(())
} else {
Err(nb::Error::WouldBlock)
}
}
}
pub async fn report_async_rtio_errors() {
loop {
let _ = block_async!(wait_for_async_rtio_error()).await;
unsafe {
let errors = pl::csr::rtio_core::async_error_read();
if errors & ASYNC_ERROR_COLLISION != 0 {
let channel = pl::csr::rtio_core::collision_channel_read();
error!(
"RTIO collision involving channel 0x{:04x}:{}",
channel,
resolve_channel_name(channel as u32)
);
}
if errors & ASYNC_ERROR_BUSY != 0 {
let channel = pl::csr::rtio_core::busy_channel_read();
error!(
"RTIO busy error involving channel 0x{:04x}:{}",
channel,
resolve_channel_name(channel as u32)
);
}
if errors & ASYNC_ERROR_SEQUENCE_ERROR != 0 {
let channel = pl::csr::rtio_core::sequence_error_channel_read();
error!(
"RTIO sequence error involving channel 0x{:04x}:{}",
channel,
resolve_channel_name(channel as u32)
);
}
SEEN_ASYNC_ERRORS = errors;
pl::csr::rtio_core::async_error_write(errors);
}
}
}
static mut RTIO_DEVICE_MAP: BTreeMap<u32, String> = BTreeMap::new();
fn read_device_map(cfg: &Config) -> BTreeMap<u32, String> {
let mut device_map: BTreeMap<u32, String> = BTreeMap::new();
let _ = cfg
.read("device_map")
.and_then(|raw_bytes| {
let mut bytes_cr = Cursor::new(raw_bytes);
let size = bytes_cr.read_u32().unwrap();
for _ in 0..size {
let channel = bytes_cr.read_u32().unwrap();
let device_name = bytes_cr.read_string().unwrap();
if let Some(old_entry) = device_map.insert(channel, device_name.clone()) {
warn!(
"conflicting device map entries for RTIO channel {}: '{}' and '{}'",
channel, old_entry, device_name
);
}
}
Ok(())
})
.or_else(|err| {
warn!(
"error reading device map ({}), device names will not be available in RTIO error messages",
err
);
Err(err)
});
device_map
}
fn _resolve_channel_name(channel: u32, device_map: &BTreeMap<u32, String>) -> String {
match device_map.get(&channel) {
Some(val) => val.clone(),
None => String::from("unknown"),
}
}
pub fn resolve_channel_name(channel: u32) -> String {
_resolve_channel_name(channel, unsafe { &RTIO_DEVICE_MAP })
}
pub fn setup_device_map(cfg: &Config) {
unsafe {
RTIO_DEVICE_MAP = read_device_map(cfg);
}
}

128
src/runtime/src/rpc.rs → src/libkernel/src/rpc.rs
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@ -1,75 +1,62 @@
use alloc::boxed::Box;
#[cfg(has_drtio)]
use alloc::vec::Vec;
use core::{future::Future, str};
use core::str;
use async_recursion::async_recursion;
use byteorder::{ByteOrder, NativeEndian};
use core_io::{Error, Write};
use core_io::{Error, Read, Write};
use cslice::{CMutSlice, CSlice};
#[cfg(has_drtio)]
use io::{Cursor, ProtoRead};
use io::ProtoWrite;
use libasync::smoltcp::TcpStream;
use libboard_zynq::smoltcp;
use io::{ProtoRead, ProtoWrite};
use log::trace;
use self::tag::{split_tag, Tag, TagIterator};
use crate::proto_async;
#[inline]
fn round_up(val: usize, power_of_two: usize) -> usize {
pub fn round_up(val: usize, power_of_two: usize) -> usize {
assert!(power_of_two.is_power_of_two());
let max_rem = power_of_two - 1;
(val + max_rem) & (!max_rem)
}
#[inline]
unsafe fn round_up_mut<T>(ptr: *mut T, power_of_two: usize) -> *mut T {
pub unsafe fn round_up_mut<T>(ptr: *mut T, power_of_two: usize) -> *mut T {
round_up(ptr as usize, power_of_two) as *mut T
}
#[inline]
unsafe fn round_up_const<T>(ptr: *const T, power_of_two: usize) -> *const T {
pub unsafe fn round_up_const<T>(ptr: *const T, power_of_two: usize) -> *const T {
round_up(ptr as usize, power_of_two) as *const T
}
#[inline]
unsafe fn align_ptr<T>(ptr: *const ()) -> *const T {
pub unsafe fn align_ptr<T>(ptr: *const ()) -> *const T {
round_up_const(ptr, core::mem::align_of::<T>()) as *const T
}
#[inline]
unsafe fn align_ptr_mut<T>(ptr: *mut ()) -> *mut T {
pub unsafe fn align_ptr_mut<T>(ptr: *mut ()) -> *mut T {
round_up_mut(ptr, core::mem::align_of::<T>()) as *mut T
}
/// Reads (deserializes) `length` array or list elements of type `tag` from `stream`,
/// writing them into the buffer given by `storage`.
///
/// `alloc` is used for nested allocations (if elements themselves contain
/// lists/arrays), see [recv_value].
#[async_recursion(?Send)]
async unsafe fn recv_elements<F>(
stream: &TcpStream,
elt_tag: Tag<'async_recursion>,
// versions for reader rather than TcpStream
// they will be made into sync for satellite subkernels later
unsafe fn recv_elements<F, R>(
reader: &mut R,
elt_tag: Tag,
length: usize,
storage: *mut (),
alloc: &(impl Fn(usize) -> F + 'async_recursion),
) -> Result<(), smoltcp::Error>
alloc: &F,
) -> Result<(), Error>
where
F: Future<Output = *mut ()>,
F: Fn(usize) -> *mut (),
R: Read + ?Sized,
{
// List of simple types are special-cased in the protocol for performance.
match elt_tag {
Tag::Bool => {
let dest = core::slice::from_raw_parts_mut(storage as *mut u8, length);
proto_async::read_chunk(stream, dest).await?;
reader.read_exact(dest)?;
}
Tag::Int32 => {
let ptr = storage as *mut u32;
let dest = core::slice::from_raw_parts_mut(ptr as *mut u8, length * 4);
proto_async::read_chunk(stream, dest).await?;
reader.read_exact(dest)?;
drop(dest);
let dest = core::slice::from_raw_parts_mut(ptr, length);
NativeEndian::from_slice_u32(dest);
@ -77,7 +64,7 @@ where
Tag::Int64 | Tag::Float64 => {
let ptr = storage as *mut u64;
let dest = core::slice::from_raw_parts_mut(ptr as *mut u8, length * 8);
proto_async::read_chunk(stream, dest).await?;
reader.read_exact(dest)?;
drop(dest);
let dest = core::slice::from_raw_parts_mut(ptr, length);
NativeEndian::from_slice_u64(dest);
@ -85,27 +72,17 @@ where
_ => {
let mut data = storage;
for _ in 0..length {
recv_value(stream, elt_tag, &mut data, alloc).await?
recv_value(reader, elt_tag, &mut data, alloc)?
}
}
}
Ok(())
}
/// Reads (deserializes) a value of type `tag` from `stream`, writing the results to
/// the kernel-side buffer `data` (the passed pointer to which is incremented to point
/// past the just-received data). For nested allocations (lists/arrays), `alloc` is
/// invoked any number of times with the size of the required allocation as a parameter
/// (which is assumed to be correctly aligned for all payload types).
#[async_recursion(?Send)]
async unsafe fn recv_value<F>(
stream: &TcpStream,
tag: Tag<'async_recursion>,
data: &mut *mut (),
alloc: &(impl Fn(usize) -> F + 'async_recursion),
) -> Result<(), smoltcp::Error>
unsafe fn recv_value<F, R>(reader: &mut R, tag: Tag, data: &mut *mut (), alloc: &F) -> Result<(), Error>
where
F: Future<Output = *mut ()>,
F: Fn(usize) -> *mut (),
R: Read + ?Sized,
{
macro_rules! consume_value {
($ty:ty, | $ptr:ident | $map:expr) => {{
@ -118,22 +95,22 @@ where
match tag {
Tag::None => Ok(()),
Tag::Bool => consume_value!(i8, |ptr| {
*ptr = proto_async::read_i8(stream).await?;
*ptr = reader.read_u8()? as i8;
Ok(())
}),
Tag::Int32 => consume_value!(i32, |ptr| {
*ptr = proto_async::read_i32(stream).await?;
*ptr = reader.read_u32()? as i32;
Ok(())
}),
Tag::Int64 | Tag::Float64 => consume_value!(i64, |ptr| {
*ptr = proto_async::read_i64(stream).await?;
*ptr = reader.read_u64()? as i64;
Ok(())
}),
Tag::String | Tag::Bytes | Tag::ByteArray => {
consume_value!(CMutSlice<u8>, |ptr| {
let length = proto_async::read_i32(stream).await? as usize;
*ptr = CMutSlice::new(alloc(length).await as *mut u8, length);
proto_async::read_chunk(stream, (*ptr).as_mut()).await?;
let length = reader.read_u32()? as usize;
*ptr = CMutSlice::new(alloc(length) as *mut u8, length);
reader.read_exact((*ptr).as_mut())?;
Ok(())
})
}
@ -143,10 +120,8 @@ where
let mut it = it.clone();
for _ in 0..arity {
let tag = it.next().expect("truncated tag");
recv_value(stream, tag, data, alloc).await?
recv_value(reader, tag, data, alloc)?
}
// Take into account any tail padding (if element(s) with largest alignment
// are not at the end).
*data = round_up_mut(*data, alignment);
Ok(())
}
@ -158,50 +133,41 @@ where
}
consume_value!(*mut List, |ptr_to_list| {
let tag = it.clone().next().expect("truncated tag");
let length = proto_async::read_i32(stream).await? as usize;
let length = reader.read_u32()? as usize;
// To avoid multiple kernel CPU roundtrips, use a single allocation for
// both the pointer/length List (slice) and the backing storage for the
// elements. We can assume that alloc() is aligned suitably, so just
// need to take into account any extra padding required.
// (Note: At the time of writing, there will never actually be any types
// with alignment larger than 8 bytes, so storage_offset == 0 always.)
let list_size = 4 + 4;
let storage_offset = round_up(list_size, tag.alignment());
let storage_size = tag.size() * length;
let allocation = alloc(storage_offset + storage_size).await as *mut u8;
let allocation = alloc(storage_offset + storage_size) as *mut u8;
*ptr_to_list = allocation as *mut List;
let storage = allocation.offset(storage_offset as isize) as *mut ();
(**ptr_to_list).length = length;
(**ptr_to_list).elements = storage;
recv_elements(stream, tag, length, storage, alloc).await
recv_elements(reader, tag, length, storage, alloc)
})
}
Tag::Array(it, num_dims) => {
consume_value!(*mut (), |buffer| {
// Deserialize length along each dimension and compute total number of
// elements.
let mut total_len: usize = 1;
for _ in 0..num_dims {
let len = proto_async::read_i32(stream).await? as usize;
let len = reader.read_u32()? as usize;
total_len *= len;
consume_value!(usize, |ptr| *ptr = len)
}
// Allocate backing storage for elements; deserialize them.
let elt_tag = it.clone().next().expect("truncated tag");
*buffer = alloc(elt_tag.size() * total_len).await;
recv_elements(stream, elt_tag, total_len, *buffer, alloc).await
*buffer = alloc(elt_tag.size() * total_len);
recv_elements(reader, elt_tag, total_len, *buffer, alloc)
})
}
Tag::Range(it) => {
*data = round_up_mut(*data, tag.alignment());
let tag = it.clone().next().expect("truncated tag");
recv_value(stream, tag, data, alloc).await?;
recv_value(stream, tag, data, alloc).await?;
recv_value(stream, tag, data, alloc).await?;
recv_value(reader, tag, data, alloc)?;
recv_value(reader, tag, data, alloc)?;
recv_value(reader, tag, data, alloc)?;
Ok(())
}
Tag::Keyword(_) => unreachable!(),
@ -209,21 +175,17 @@ where
}
}
pub async fn recv_return<F>(
stream: &TcpStream,
tag_bytes: &[u8],
data: *mut (),
alloc: &impl Fn(usize) -> F,
) -> Result<(), smoltcp::Error>
pub fn recv_return<F, R>(reader: &mut R, tag_bytes: &[u8], data: *mut (), alloc: &F) -> Result<(), Error>
where
F: Future<Output = *mut ()>,
F: Fn(usize) -> *mut (),
R: Read + ?Sized,
{
let mut it = TagIterator::new(tag_bytes);
trace!("recv ...->{}", it);
let tag = it.next().expect("truncated tag");
let mut data = data;
unsafe { recv_value(stream, tag, &mut data, alloc).await? };
unsafe { recv_value(reader, tag, &mut data, alloc)? };
Ok(())
}
@ -538,7 +500,7 @@ where W: Write + ?Sized {
Ok(())
}
mod tag {
pub mod tag {
use core::fmt;
pub fn split_tag(tag_bytes: &[u8]) -> (&[u8], &[u8]) {

2
src/runtime/src/rtio_acp.rs → src/libkernel/src/rtio_acp.rs
View File

@ -4,7 +4,7 @@ use cslice::CSlice;
use libcortex_a9::asm;
use vcell::VolatileCell;
use crate::{artiq_raise, pl::csr, rtio_mgt::resolve_channel_name};
use crate::{artiq_raise, pl::csr, resolve_channel_name};
pub const RTIO_O_STATUS_WAIT: i32 = 1;
pub const RTIO_O_STATUS_UNDERFLOW: i32 = 2;

2
src/runtime/src/rtio_csr.rs → src/libkernel/src/rtio_csr.rs
View File

@ -2,7 +2,7 @@ use core::ptr::{read_volatile, write_volatile};
use cslice::CSlice;
use crate::{artiq_raise, pl::csr, rtio_mgt::resolve_channel_name};
use crate::{artiq_raise, pl::csr, resolve_channel_name};
pub const RTIO_O_STATUS_WAIT: u8 = 1;
pub const RTIO_O_STATUS_UNDERFLOW: u8 = 2;

3
src/runtime/Cargo.toml
View File

@ -18,7 +18,6 @@ num-traits = { version = "0.2", default-features = false }
num-derive = "0.3"
cslice = "0.3"
log = "0.4"
nb = "0.1"
embedded-hal = "0.2"
core_io = { version = "0.1", features = ["collections"] }
byteorder = { version = "1.3", default-features = false }
@ -26,7 +25,6 @@ void = { version = "1", default-features = false }
futures = { version = "0.3", default-features = false, features = ["async-await"] }
async-recursion = "0.3"
log_buffer = { version = "1.2" }
libm = { version = "0.2", features = ["unstable"] }
vcell = "0.1"
libboard_zynq = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git", features = ["ipv6"]}
@ -41,4 +39,5 @@ dwarf = { path = "../libdwarf" }
unwind = { path = "../libunwind" }
libc = { path = "../libc" }
io = { path = "../libio" }
kernel = { path = "../libkernel" }
libboard_artiq = { path = "../libboard_artiq" }

41
src/runtime/src/comms.rs
View File

@ -6,6 +6,9 @@ use cslice::CSlice;
use futures::{future::FutureExt, select_biased};
#[cfg(has_drtio)]
use io::{Cursor, ProtoRead};
use kernel::resolve_channel_name;
#[cfg(has_drtio)]
use kernel::rpc;
use libasync::{smoltcp::{Sockets, TcpStream},
task};
use libboard_artiq::drtio_routing;
@ -27,10 +30,7 @@ use num_traits::{FromPrimitive, ToPrimitive};
#[cfg(has_drtio)]
use crate::pl;
use crate::{analyzer, kernel, mgmt, moninj,
proto_async::*,
rpc, rtio_dma,
rtio_mgt::{self, resolve_channel_name}};
use crate::{analyzer, mgmt, moninj, proto_async::*, rpc_async, rtio_dma, rtio_mgt};
#[cfg(has_drtio)]
use crate::{subkernel, subkernel::Error as SubkernelError};
@ -207,7 +207,7 @@ async fn handle_run_kernel(
kernel::Message::RpcRecvRequest(slot) => slot,
other => panic!("expected root value slot from core1, not {:?}", other),
};
rpc::recv_return(stream, &tag, slot, &|size| {
rpc_async::recv_return(stream, &tag, slot, &|size| {
let control = control.clone();
async move {
if size == 0 {
@ -471,24 +471,20 @@ async fn handle_run_kernel(
kernel::Message::RpcRecvRequest(slot) => slot,
other => panic!("expected root value slot from core1, not {:?}", other),
};
rpc::recv_return_cursor(&mut reader, &tag, slot, &|size| {
let control = control.clone();
async move {
if size == 0 {
0 as *mut ()
} else {
let mut control = control.borrow_mut();
fast_send(&mut control.tx, kernel::Message::RpcRecvReply(Ok(size))).await;
match fast_recv(&mut control.rx).await {
kernel::Message::RpcRecvRequest(slot) => slot,
other => {
panic!("expected nested value slot from kernel CPU, not {:?}", other)
}
rpc::recv_return(&mut reader, &tag, slot, &|size| {
if size == 0 {
0 as *mut ()
} else {
let mut control = control.borrow_mut();
control.tx.send(kernel::Message::RpcRecvReply(Ok(size)));
match control.rx.recv() {
kernel::Message::RpcRecvRequest(slot) => slot,
other => {
panic!("expected nested value slot from kernel CPU, not {:?}", other)
}
}
}
})
.await?;
})?;
control
.borrow_mut()
.tx
@ -619,7 +615,7 @@ async fn handle_connection(
}
}
}
#[cfg(not(has_drtio))]
#[cfg(not(has_drtio))]
{
write_header(stream, Reply::LoadFailed).await?;
write_chunk(stream, b"No DRTIO on this system, subkernels are not supported").await?;
@ -688,7 +684,8 @@ pub fn main(timer: GlobalTimer, cfg: Config) {
#[cfg(has_drtio_routing)]
drtio_routing::interconnect_disable_all();
rtio_mgt::startup(&aux_mutex, &drtio_routing_table, &up_destinations, timer, &cfg);
rtio_mgt::startup(&aux_mutex, &drtio_routing_table, &up_destinations, timer);
kernel::setup_device_map(&cfg);
analyzer::start(&aux_mutex, &drtio_routing_table, &up_destinations, timer);
moninj::start(timer, &aux_mutex, &drtio_routing_table);

132
src/runtime/src/kernel/mod.rs
View File

@ -1,132 +0,0 @@
use alloc::{string::String, vec::Vec};
use core::ptr;
use libcortex_a9::{mutex::Mutex, semaphore::Semaphore, sync_channel};
use crate::eh_artiq;
mod control;
pub use control::Control;
mod api;
pub mod core1;
mod dma;
mod rpc;
pub use dma::DmaRecorder;
mod cache;
#[cfg(has_drtio)]
mod subkernel;
#[derive(Debug, Clone)]
pub struct RPCException {
pub id: u32,
pub message: u32,
pub param: [i64; 3],
pub file: u32,
pub line: i32,
pub column: i32,
pub function: u32,
}
#[cfg(has_drtio)]
#[derive(Debug, Clone)]
pub enum SubkernelStatus {
NoError,
Timeout,
IncorrectState,
CommLost,
OtherError,
}
#[derive(Debug, Clone)]
pub enum Message {
LoadRequest(Vec<u8>),
LoadCompleted,
LoadFailed,
StartRequest,
KernelFinished(u8),
KernelException(
&'static [Option<eh_artiq::Exception<'static>>],
&'static [eh_artiq::StackPointerBacktrace],
&'static [(usize, usize)],
u8,
),
RpcSend {
is_async: bool,
data: Vec<u8>,
},
RpcRecvRequest(*mut ()),
RpcRecvReply(Result<usize, RPCException>),
CacheGetRequest(String),
CacheGetReply(Vec<i32>),
CachePutRequest(String, Vec<i32>),
DmaPutRequest(DmaRecorder),
DmaEraseRequest(String),
DmaGetRequest(String),
DmaGetReply(Option<(i32, i64, bool)>),
#[cfg(has_drtio)]
DmaStartRemoteRequest {
id: i32,
timestamp: i64,
},
#[cfg(has_drtio)]
DmaAwaitRemoteRequest(i32),
#[cfg(has_drtio)]
DmaAwaitRemoteReply {
timeout: bool,
error: u8,
channel: u32,
timestamp: u64,
},
#[cfg(has_drtio)]
UpDestinationsRequest(i32),
#[cfg(has_drtio)]
UpDestinationsReply(bool),
#[cfg(has_drtio)]
SubkernelLoadRunRequest {
id: u32,
run: bool,
},
#[cfg(has_drtio)]
SubkernelLoadRunReply {
succeeded: bool,
},
#[cfg(has_drtio)]
SubkernelAwaitFinishRequest {
id: u32,
timeout: u64,
},
#[cfg(has_drtio)]
SubkernelAwaitFinishReply {
status: SubkernelStatus,
},
#[cfg(has_drtio)]
SubkernelMsgSend {
id: u32,
data: Vec<u8>,
},
#[cfg(has_drtio)]
SubkernelMsgRecvRequest {
id: u32,
timeout: u64,
},
#[cfg(has_drtio)]
SubkernelMsgRecvReply {
status: SubkernelStatus,
count: u8,
},
}
static CHANNEL_0TO1: Mutex<Option<sync_channel::Sender<'static, Message>>> = Mutex::new(None);
static CHANNEL_1TO0: Mutex<Option<sync_channel::Receiver<'static, Message>>> = Mutex::new(None);
static CHANNEL_SEM: Semaphore = Semaphore::new(0, 1);
static mut KERNEL_CHANNEL_0TO1: Option<sync_channel::Receiver<'static, Message>> = None;
static mut KERNEL_CHANNEL_1TO0: Option<sync_channel::Sender<'static, Message>> = None;
pub static mut KERNEL_IMAGE: *const core1::KernelImage = ptr::null();
static INIT_LOCK: Mutex<()> = Mutex::new(());

89
src/runtime/src/main.rs
View File

@ -2,12 +2,8 @@
#![no_main]
#![recursion_limit = "1024"] // for futures_util::select!
#![feature(alloc_error_handler)]
#![feature(panic_info_message)]
#![feature(c_variadic)]
#![feature(const_btree_new)]
#![feature(const_in_array_repeat_expressions)]
#![feature(naked_functions)]
#![feature(asm)]
#![feature(panic_info_message)]
#[macro_use]
extern crate alloc;
@ -15,7 +11,8 @@ extern crate alloc;
#[cfg(feature = "target_kasli_soc")]
use core::cell::RefCell;
use libasync::{block_async, task};
use kernel;
use libasync::task;
#[cfg(feature = "target_kasli_soc")]
use libboard_artiq::io_expander;
use libboard_artiq::{identifier_read, logger, pl};
@ -23,90 +20,22 @@ use libboard_zynq::{gic, mpcore, timer::GlobalTimer};
use libconfig::Config;
use libcortex_a9::l2c::enable_l2_cache;
use libsupport_zynq::ram;
use log::{error, info, warn};
use nb;
use void::Void;
const ASYNC_ERROR_COLLISION: u8 = 1 << 0;
const ASYNC_ERROR_BUSY: u8 = 1 << 1;
const ASYNC_ERROR_SEQUENCE_ERROR: u8 = 1 << 2;
use log::{info, warn};
mod analyzer;
mod comms;
mod eh_artiq;
mod i2c;
mod irq;
mod kernel;
mod mgmt;
mod moninj;
mod panic;
mod proto_async;
mod rpc;
#[cfg(ki_impl = "csr")]
#[path = "rtio_csr.rs"]
mod rtio;
#[cfg(ki_impl = "acp")]
#[path = "rtio_acp.rs"]
mod rtio;
mod rpc_async;
mod rtio_clocking;
mod rtio_dma;
mod rtio_mgt;
#[cfg(has_drtio)]
mod subkernel;
static mut SEEN_ASYNC_ERRORS: u8 = 0;
pub unsafe fn get_async_errors() -> u8 {
let errors = SEEN_ASYNC_ERRORS;
SEEN_ASYNC_ERRORS = 0;
errors
}
fn wait_for_async_rtio_error() -> nb::Result<(), Void> {
unsafe {
if pl::csr::rtio_core::async_error_read() != 0 {
Ok(())
} else {
Err(nb::Error::WouldBlock)
}
}
}
async fn report_async_rtio_errors() {
loop {
let _ = block_async!(wait_for_async_rtio_error()).await;
unsafe {
let errors = pl::csr::rtio_core::async_error_read();
if errors & ASYNC_ERROR_COLLISION != 0 {
let channel = pl::csr::rtio_core::collision_channel_read();
error!(
"RTIO collision involving channel 0x{:04x}:{}",
channel,
rtio_mgt::resolve_channel_name(channel as u32)
);
}
if errors & ASYNC_ERROR_BUSY != 0 {
let channel = pl::csr::rtio_core::busy_channel_read();
error!(
"RTIO busy error involving channel 0x{:04x}:{}",
channel,
rtio_mgt::resolve_channel_name(channel as u32)
);
}
if errors & ASYNC_ERROR_SEQUENCE_ERROR != 0 {
let channel = pl::csr::rtio_core::sequence_error_channel_read();
error!(
"RTIO sequence error involving channel 0x{:04x}:{}",
channel,
rtio_mgt::resolve_channel_name(channel as u32)
);
}
SEEN_ASYNC_ERRORS = errors;
pl::csr::rtio_core::async_error_write(errors);
}
}
}
#[cfg(feature = "target_kasli_soc")]
async fn io_expanders_service(
i2c_bus: RefCell<&mut libboard_zynq::i2c::I2c>,
@ -145,9 +74,9 @@ pub fn main_core0() {
info!("gateware ident: {}", identifier_read(&mut [0; 64]));
i2c::init();
kernel::i2c::init();
#[cfg(feature = "target_kasli_soc")]
let i2c_bus = unsafe { (i2c::I2C_BUS).as_mut().unwrap() };
let i2c_bus = unsafe { (kernel::i2c::I2C_BUS).as_mut().unwrap() };
#[cfg(feature = "target_kasli_soc")]
let (mut io_expander0, mut io_expander1);
@ -180,7 +109,7 @@ pub fn main_core0() {
rtio_clocking::init(&mut timer, &cfg);
task::spawn(report_async_rtio_errors());
task::spawn(kernel::report_async_rtio_errors());
#[cfg(feature = "target_kasli_soc")]
task::spawn(io_expanders_service(

197
src/runtime/src/rpc_async.rs Normal file
View File

@ -0,0 +1,197 @@
use alloc::boxed::Box;
use core::future::Future;
use async_recursion::async_recursion;
use byteorder::{ByteOrder, NativeEndian};
use cslice::CMutSlice;
use kernel::rpc::{tag::{Tag, TagIterator},
*};
use libasync::smoltcp::TcpStream;
use libboard_zynq::smoltcp;
use log::trace;
use crate::proto_async;
/// Reads (deserializes) `length` array or list elements of type `tag` from `stream`,
/// writing them into the buffer given by `storage`.
///
/// `alloc` is used for nested allocations (if elements themselves contain
/// lists/arrays), see [recv_value].
#[async_recursion(?Send)]
async unsafe fn recv_elements<F>(
stream: &TcpStream,
elt_tag: Tag<'async_recursion>,
length: usize,
storage: *mut (),
alloc: &(impl Fn(usize) -> F + 'async_recursion),
) -> Result<(), smoltcp::Error>
where
F: Future<Output = *mut ()>,
{
// List of simple types are special-cased in the protocol for performance.
match elt_tag {
Tag::Bool => {
let dest = core::slice::from_raw_parts_mut(storage as *mut u8, length);
proto_async::read_chunk(stream, dest).await?;
}
Tag::Int32 => {
let ptr = storage as *mut u32;
let dest = core::slice::from_raw_parts_mut(ptr as *mut u8, length * 4);
proto_async::read_chunk(stream, dest).await?;
drop(dest);
let dest = core::slice::from_raw_parts_mut(ptr, length);
NativeEndian::from_slice_u32(dest);
}
Tag::Int64 | Tag::Float64 => {
let ptr = storage as *mut u64;
let dest = core::slice::from_raw_parts_mut(ptr as *mut u8, length * 8);
proto_async::read_chunk(stream, dest).await?;
drop(dest);
let dest = core::slice::from_raw_parts_mut(ptr, length);
NativeEndian::from_slice_u64(dest);
}
_ => {
let mut data = storage;
for _ in 0..length {
recv_value(stream, elt_tag, &mut data, alloc).await?
}
}
}
Ok(())
}
/// Reads (deserializes) a value of type `tag` from `stream`, writing the results to
/// the kernel-side buffer `data` (the passed pointer to which is incremented to point
/// past the just-received data). For nested allocations (lists/arrays), `alloc` is
/// invoked any number of times with the size of the required allocation as a parameter
/// (which is assumed to be correctly aligned for all payload types).
#[async_recursion(?Send)]
async unsafe fn recv_value<F>(
stream: &TcpStream,
tag: Tag<'async_recursion>,
data: &mut *mut (),
alloc: &(impl Fn(usize) -> F + 'async_recursion),
) -> Result<(), smoltcp::Error>
where
F: Future<Output = *mut ()>,
{
macro_rules! consume_value {
($ty:ty, | $ptr:ident | $map:expr) => {{
let $ptr = align_ptr_mut::<$ty>(*data);
*data = $ptr.offset(1) as *mut ();
$map
}};
}
match tag {
Tag::None => Ok(()),
Tag::Bool => consume_value!(i8, |ptr| {
*ptr = proto_async::read_i8(stream).await?;
Ok(())
}),
Tag::Int32 => consume_value!(i32, |ptr| {
*ptr = proto_async::read_i32(stream).await?;
Ok(())
}),
Tag::Int64 | Tag::Float64 => consume_value!(i64, |ptr| {
*ptr = proto_async::read_i64(stream).await?;
Ok(())
}),
Tag::String | Tag::Bytes | Tag::ByteArray => {
consume_value!(CMutSlice<u8>, |ptr| {
let length = proto_async::read_i32(stream).await? as usize;
*ptr = CMutSlice::new(alloc(length).await as *mut u8, length);
proto_async::read_chunk(stream, (*ptr).as_mut()).await?;
Ok(())
})
}
Tag::Tuple(it, arity) => {
let alignment = tag.alignment();
*data = round_up_mut(*data, alignment);
let mut it = it.clone();
for _ in 0..arity {
let tag = it.next().expect("truncated tag");
recv_value(stream, tag, data, alloc).await?
}
// Take into account any tail padding (if element(s) with largest alignment
// are not at the end).
*data = round_up_mut(*data, alignment);
Ok(())
}
Tag::List(it) => {
#[repr(C)]
struct List {
elements: *mut (),
length: usize,
}
consume_value!(*mut List, |ptr_to_list| {
let tag = it.clone().next().expect("truncated tag");
let length = proto_async::read_i32(stream).await? as usize;
// To avoid multiple kernel CPU roundtrips, use a single allocation for
// both the pointer/length List (slice) and the backing storage for the
// elements. We can assume that alloc() is aligned suitably, so just
// need to take into account any extra padding required.
// (Note: At the time of writing, there will never actually be any types
// with alignment larger than 8 bytes, so storage_offset == 0 always.)
let list_size = 4 + 4;
let storage_offset = round_up(list_size, tag.alignment());
let storage_size = tag.size() * length;
let allocation = alloc(storage_offset + storage_size).await as *mut u8;
*ptr_to_list = allocation as *mut List;
let storage = allocation.offset(storage_offset as isize) as *mut ();
(**ptr_to_list).length = length;
(**ptr_to_list).elements = storage;
recv_elements(stream, tag, length, storage, alloc).await
})
}
Tag::Array(it, num_dims) => {
consume_value!(*mut (), |buffer| {
// Deserialize length along each dimension and compute total number of
// elements.
let mut total_len: usize = 1;
for _ in 0..num_dims {
let len = proto_async::read_i32(stream).await? as usize;
total_len *= len;
consume_value!(usize, |ptr| *ptr = len)
}
// Allocate backing storage for elements; deserialize them.
let elt_tag = it.clone().next().expect("truncated tag");
*buffer = alloc(elt_tag.size() * total_len).await;
recv_elements(stream, elt_tag, total_len, *buffer, alloc).await
})
}
Tag::Range(it) => {
*data = round_up_mut(*data, tag.alignment());
let tag = it.clone().next().expect("truncated tag");
recv_value(stream, tag, data, alloc).await?;
recv_value(stream, tag, data, alloc).await?;
recv_value(stream, tag, data, alloc).await?;
Ok(())
}
Tag::Keyword(_) => unreachable!(),
Tag::Object => unreachable!(),
}
}
pub async fn recv_return<F>(
stream: &TcpStream,
tag_bytes: &[u8],
data: *mut (),
alloc: &impl Fn(usize) -> F,
) -> Result<(), smoltcp::Error>
where
F: Future<Output = *mut ()>,
{
let mut it = TagIterator::new(tag_bytes);
trace!("recv ...->{}", it);
let tag = it.next().expect("truncated tag");
let mut data = data;
unsafe { recv_value(stream, tag, &mut data, alloc).await? };
Ok(())
}

5
src/runtime/src/rtio_clocking.rs
View File

@ -1,4 +1,6 @@
use embedded_hal::blocking::delay::DelayMs;
#[cfg(has_si5324)]
use kernel::i2c;
use libboard_artiq::pl;
#[cfg(has_si5324)]
use libboard_artiq::si5324;
@ -8,9 +10,6 @@ use libboard_zynq::timer::GlobalTimer;
use libconfig::Config;
use log::{info, warn};
#[cfg(has_si5324)]
use crate::i2c;
#[derive(Debug, PartialEq, Copy, Clone)]
#[allow(non_camel_case_types)]
pub enum RtioClock {

3
src/runtime/src/rtio_dma.rs
View File

@ -2,14 +2,13 @@ use alloc::{collections::BTreeMap, rc::Rc, string::String, vec::Vec};
#[cfg(has_drtio)]
use core::mem;
use kernel::DmaRecorder;
#[cfg(has_drtio)]
use libasync::task;
use libboard_artiq::drtio_routing::RoutingTable;
use libboard_zynq::timer::GlobalTimer;
use libcortex_a9::{cache::dcci_slice, mutex::Mutex};
use crate::kernel::DmaRecorder;
const ALIGNMENT: usize = 16 * 8;
static DMA_RECORD_STORE: Mutex<BTreeMap<String, (u32, Vec<u8>, i64)>> = Mutex::new(BTreeMap::new());

55
src/runtime/src/rtio_mgt.rs
View File

@ -1,20 +1,16 @@
use alloc::{collections::BTreeMap, rc::Rc, string::String};
use alloc::rc::Rc;
use core::cell::RefCell;
use io::{Cursor, ProtoRead};
use libboard_artiq::{drtio_routing, pl::csr};
use libboard_zynq::timer::GlobalTimer;
use libconfig::Config;
use libcortex_a9::mutex::Mutex;
use log::warn;
static mut RTIO_DEVICE_MAP: BTreeMap<u32, String> = BTreeMap::new();
#[cfg(has_drtio)]
pub mod drtio {
use alloc::vec::Vec;
use embedded_hal::blocking::delay::DelayMs;
use kernel::{ASYNC_ERROR_BUSY, ASYNC_ERROR_COLLISION, ASYNC_ERROR_SEQUENCE_ERROR, SEEN_ASYNC_ERRORS};
use libasync::{delay, task};
use libboard_artiq::{drtioaux::Error, drtioaux_async, drtioaux_async::Packet,
drtioaux_proto::MASTER_PAYLOAD_MAX_SIZE};
@ -22,8 +18,7 @@ pub mod drtio {
use log::{error, info, warn};
use super::*;
use crate::{analyzer::remote_analyzer::RemoteBuffer, rtio_dma::remote_dma, subkernel, ASYNC_ERROR_BUSY,
ASYNC_ERROR_COLLISION, ASYNC_ERROR_SEQUENCE_ERROR, SEEN_ASYNC_ERRORS};
use crate::{analyzer::remote_analyzer::RemoteBuffer, rtio_dma::remote_dma, subkernel};
pub fn startup(
aux_mutex: &Rc<Mutex<bool>>,
@ -756,46 +751,6 @@ pub mod drtio {
}
}
fn read_device_map(cfg: &Config) -> BTreeMap<u32, String> {
let mut device_map: BTreeMap<u32, String> = BTreeMap::new();
let _ = cfg
.read("device_map")
.and_then(|raw_bytes| {
let mut bytes_cr = Cursor::new(raw_bytes);
let size = bytes_cr.read_u32().unwrap();
for _ in 0..size {
let channel = bytes_cr.read_u32().unwrap();
let device_name = bytes_cr.read_string().unwrap();
if let Some(old_entry) = device_map.insert(channel, device_name.clone()) {
warn!(
"conflicting device map entries for RTIO channel {}: '{}' and '{}'",
channel, old_entry, device_name
);
}
}
Ok(())
})
.or_else(|err| {
warn!(
"error reading device map ({}), device names will not be available in RTIO error messages",
err
);
Err(err)
});
device_map
}
fn _resolve_channel_name(channel: u32, device_map: &BTreeMap<u32, String>) -> String {
match device_map.get(&channel) {
Some(val) => val.clone(),
None => String::from("unknown"),
}
}
pub fn resolve_channel_name(channel: u32) -> String {
_resolve_channel_name(channel, unsafe { &RTIO_DEVICE_MAP })
}
#[cfg(not(has_drtio))]
pub mod drtio {
use super::*;
@ -817,11 +772,7 @@ pub fn startup(
routing_table: &Rc<RefCell<drtio_routing::RoutingTable>>,
up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>,
timer: GlobalTimer,
cfg: &Config,
) {
unsafe {
RTIO_DEVICE_MAP = read_device_map(cfg);
}
drtio::startup(aux_mutex, routing_table, up_destinations, timer);
unsafe {
csr::rtio_core::reset_phy_write(1);