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mirror of https://github.com/m-labs/artiq.git synced 2024-12-25 11:18:27 +08:00

satman: support subkernels

This commit is contained in:
mwojcik 2023-10-05 15:48:45 +08:00 committed by Sébastien Bourdeauducq
parent e05be2f8e4
commit 1a0fc317df
8 changed files with 1083 additions and 56 deletions

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@ -352,6 +352,9 @@ dependencies = [
"board_artiq",
"board_misoc",
"build_misoc",
"cslice",
"eh",
"io",
"log",
"proto_artiq",
"riscv",

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@ -14,8 +14,11 @@ build_misoc = { path = "../libbuild_misoc" }
[dependencies]
log = { version = "0.4", default-features = false }
io = { path = "../libio", features = ["byteorder", "alloc"] }
cslice = { version = "0.3" }
board_misoc = { path = "../libboard_misoc", features = ["uart_console", "log"] }
board_artiq = { path = "../libboard_artiq", features = ["alloc"] }
alloc_list = { path = "../liballoc_list" }
riscv = { version = "0.6.0", features = ["inline-asm"] }
proto_artiq = { path = "../libproto_artiq", features = ["log", "alloc"] }
eh = { path = "../libeh" }

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@ -1,9 +1,14 @@
include ../include/generated/variables.mak
include $(MISOC_DIRECTORY)/software/common.mak
LDFLAGS += -L../libbase
CFLAGS += \
-I$(LIBUNWIND_DIRECTORY) \
-I$(LIBUNWIND_DIRECTORY)/../unwinder/include
RUSTFLAGS += -Cpanic=abort
LDFLAGS += \
-L../libunwind
RUSTFLAGS += -Cpanic=unwind
export XBUILD_SYSROOT_PATH=$(BUILDINC_DIRECTORY)/../sysroot
@ -15,8 +20,12 @@ $(RUSTOUT)/libsatman.a:
--manifest-path $(SATMAN_DIRECTORY)/Cargo.toml \
--target $(SATMAN_DIRECTORY)/../$(CARGO_TRIPLE).json
satman.elf: $(RUSTOUT)/libsatman.a
$(link) -T $(SATMAN_DIRECTORY)/satman.ld
satman.elf: $(RUSTOUT)/libsatman.a ksupport_data.o
$(link) -T $(SATMAN_DIRECTORY)/satman.ld \
-lunwind-vexriscv-bare -m elf32lriscv
ksupport_data.o: ../ksupport/ksupport.elf
$(LD) -r -m elf32lriscv -b binary -o $@ $<
%.bin: %.elf
$(objcopy) -O binary

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@ -0,0 +1,83 @@
use alloc::{vec, vec::Vec, string::String, collections::btree_map::BTreeMap};
use cslice::{CSlice, AsCSlice};
use core::mem::transmute;
struct Entry {
data: Vec<i32>,
slice: CSlice<'static, i32>,
borrowed: bool
}
impl core::fmt::Debug for Entry {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
f.debug_struct("Entry")
.field("data", &self.data)
.field("borrowed", &self.borrowed)
.finish()
}
}
pub struct Cache {
entries: BTreeMap<String, Entry>,
empty: CSlice<'static, i32>,
}
impl core::fmt::Debug for Cache {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
f.debug_struct("Cache")
.field("entries", &self.entries)
.finish()
}
}
impl Cache {
pub fn new() -> Cache {
let empty_vec = vec![];
let empty = unsafe {
transmute::<CSlice<'_, i32>, CSlice<'static, i32>>(empty_vec.as_c_slice())
};
Cache { entries: BTreeMap::new(), empty }
}
pub fn get(&mut self, key: &str) -> *const CSlice<'static, i32> {
match self.entries.get_mut(key) {
None => &self.empty,
Some(ref mut entry) => {
entry.borrowed = true;
&entry.slice
}
}
}
pub fn put(&mut self, key: &str, data: &[i32]) -> Result<(), ()> {
match self.entries.get_mut(key) {
None => (),
Some(ref mut entry) => {
if entry.borrowed { return Err(()) }
entry.data = Vec::from(data);
unsafe {
entry.slice = transmute::<CSlice<'_, i32>, CSlice<'static, i32>>(
entry.data.as_c_slice());
}
return Ok(())
}
}
let data = Vec::from(data);
let slice = unsafe {
transmute::<CSlice<'_, i32>, CSlice<'static, i32>>(data.as_c_slice())
};
self.entries.insert(String::from(key), Entry {
data,
slice,
borrowed: false
});
Ok(())
}
pub unsafe fn unborrow(&mut self) {
for (_key, entry) in self.entries.iter_mut() {
entry.borrowed = false;
}
}
}

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@ -1,5 +1,6 @@
use board_misoc::{csr, cache::flush_l2_cache};
use alloc::{vec::Vec, collections::btree_map::BTreeMap};
use ::{cricon_select, RtioMaster};
const ALIGNMENT: usize = 64;
@ -126,14 +127,14 @@ impl Manager {
csr::rtio_dma::base_address_write(ptr as u64);
csr::rtio_dma::time_offset_write(timestamp as u64);
csr::cri_con::selected_write(1);
cricon_select(RtioMaster::Dma);
csr::rtio_dma::enable_write(1);
// playback has begun here, for status call check_state
}
Ok(())
}
pub fn check_state(&mut self) -> Option<RtioStatus> {
pub fn get_status(&mut self) -> Option<RtioStatus> {
if self.state != ManagerState::Playback {
// nothing to report
return None;
@ -141,12 +142,11 @@ impl Manager {
let dma_enable = unsafe { csr::rtio_dma::enable_read() };
if dma_enable != 0 {
return None;
}
else {
} else {
self.state = ManagerState::Idle;
unsafe {
csr::cri_con::selected_write(0);
let error = csr::rtio_dma::error_read();
cricon_select(RtioMaster::Drtio);
let error = csr::rtio_dma::error_read();
let channel = csr::rtio_dma::error_channel_read();
let timestamp = csr::rtio_dma::error_timestamp_read();
if error != 0 {
@ -161,4 +161,8 @@ impl Manager {
}
}
pub fn running(&self) -> bool {
self.state == ManagerState::Playback
}
}

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@ -0,0 +1,823 @@
use core::{mem, option::NoneError, cmp::min};
use alloc::{string::String, format, vec::Vec, collections::{btree_map::BTreeMap, vec_deque::VecDeque}};
use cslice::AsCSlice;
use board_artiq::{mailbox, spi};
use board_misoc::{csr, clock, i2c};
use proto_artiq::{kernel_proto as kern, session_proto::Reply::KernelException as HostKernelException, rpc_proto as rpc};
use eh::eh_artiq;
use io::{Cursor, ProtoRead};
use kernel::eh_artiq::StackPointerBacktrace;
use ::{cricon_select, RtioMaster};
use cache::Cache;
use SAT_PAYLOAD_MAX_SIZE;
use MASTER_PAYLOAD_MAX_SIZE;
mod kernel_cpu {
use super::*;
use core::ptr;
use proto_artiq::kernel_proto::{KERNELCPU_EXEC_ADDRESS, KERNELCPU_LAST_ADDRESS, KSUPPORT_HEADER_SIZE};
pub unsafe fn start() {
if csr::kernel_cpu::reset_read() == 0 {
panic!("attempted to start kernel CPU when it is already running")
}
stop();
extern {
static _binary____ksupport_ksupport_elf_start: u8;
static _binary____ksupport_ksupport_elf_end: u8;
}
let ksupport_start = &_binary____ksupport_ksupport_elf_start as *const _;
let ksupport_end = &_binary____ksupport_ksupport_elf_end as *const _;
ptr::copy_nonoverlapping(ksupport_start,
(KERNELCPU_EXEC_ADDRESS - KSUPPORT_HEADER_SIZE) as *mut u8,
ksupport_end as usize - ksupport_start as usize);
csr::kernel_cpu::reset_write(0);
}
pub unsafe fn stop() {
csr::kernel_cpu::reset_write(1);
cricon_select(RtioMaster::Drtio);
mailbox::acknowledge();
}
pub fn validate(ptr: usize) -> bool {
ptr >= KERNELCPU_EXEC_ADDRESS && ptr <= KERNELCPU_LAST_ADDRESS
}
}
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
enum KernelState {
Absent,
Loaded,
Running,
MsgAwait { max_time: u64 },
MsgSending
}
#[derive(Debug)]
pub enum Error {
Load(String),
KernelNotFound,
InvalidPointer(usize),
Unexpected(String),
NoMessage,
AwaitingMessage,
SubkernelIoError,
KernelException(Sliceable)
}
impl From<NoneError> for Error {
fn from(_: NoneError) -> Error {
Error::KernelNotFound
}
}
impl From<io::Error<!>> for Error {
fn from(_value: io::Error<!>) -> Error {
Error::SubkernelIoError
}
}
macro_rules! unexpected {
($($arg:tt)*) => (return Err(Error::Unexpected(format!($($arg)*))));
}
/* represents data that has to be sent to Master */
#[derive(Debug)]
pub struct Sliceable {
it: usize,
data: Vec<u8>
}
/* represents interkernel messages */
struct Message {
count: u8,
tag: u8,
data: Vec<u8>
}
#[derive(PartialEq)]
enum OutMessageState {
NoMessage,
MessageReady,
MessageBeingSent,
MessageSent,
MessageAcknowledged
}
/* for dealing with incoming and outgoing interkernel messages */
struct MessageManager {
out_message: Option<Sliceable>,
out_state: OutMessageState,
in_queue: VecDeque<Message>,
in_buffer: Option<Message>,
}
// Per-run state
struct Session {
kernel_state: KernelState,
log_buffer: String,
last_exception: Option<Sliceable>,
messages: MessageManager
}
#[derive(Debug)]
struct KernelLibrary {
library: Vec<u8>,
complete: bool
}
pub struct Manager {
kernels: BTreeMap<u32, KernelLibrary>,
current_id: u32,
session: Session,
cache: Cache,
last_finished: Option<SubkernelFinished>
}
pub struct SubkernelFinished {
pub id: u32,
pub with_exception: bool
}
pub struct SliceMeta {
pub len: u16,
pub last: bool
}
macro_rules! get_slice_fn {
( $name:tt, $size:expr ) => {
pub fn $name(&mut self, data_slice: &mut [u8; $size]) -> SliceMeta {
if self.data.len() == 0 {
return SliceMeta { len: 0, last: true };
}
let len = min($size, self.data.len() - self.it);
let last = self.it + len == self.data.len();
data_slice[..len].clone_from_slice(&self.data[self.it..self.it+len]);
self.it += len;
SliceMeta {
len: len as u16,
last: last
}
}
};
}
impl Sliceable {
pub fn new(data: Vec<u8>) -> Sliceable {
Sliceable {
it: 0,
data: data
}
}
get_slice_fn!(get_slice_sat, SAT_PAYLOAD_MAX_SIZE);
get_slice_fn!(get_slice_master, MASTER_PAYLOAD_MAX_SIZE);
}
impl MessageManager {
pub fn new() -> MessageManager {
MessageManager {
out_message: None,
out_state: OutMessageState::NoMessage,
in_queue: VecDeque::new(),
in_buffer: None
}
}
pub fn handle_incoming(&mut self, last: bool, length: usize, data: &[u8; MASTER_PAYLOAD_MAX_SIZE]) {
// called when receiving a message from master
match self.in_buffer.as_mut() {
Some(message) => message.data.extend(&data[..length]),
None => {
self.in_buffer = Some(Message {
count: data[0],
tag: data[1],
data: data[2..length].to_vec()
});
}
};
if last {
// when done, remove from working queue
self.in_queue.push_back(self.in_buffer.take().unwrap());
}
}
pub fn is_outgoing_ready(&mut self) -> bool {
// called by main loop, to see if there's anything to send, will send it afterwards
match self.out_state {
OutMessageState::MessageReady => {
self.out_state = OutMessageState::MessageBeingSent;
true
},
_ => false
}
}
pub fn was_message_acknowledged(&mut self) -> bool {
match self.out_state {
OutMessageState::MessageAcknowledged => {
self.out_state = OutMessageState::NoMessage;
true
},
_ => false
}
}
pub fn get_outgoing_slice(&mut self, data_slice: &mut [u8; MASTER_PAYLOAD_MAX_SIZE]) -> Option<SliceMeta> {
if self.out_state != OutMessageState::MessageBeingSent {
return None;
}
let meta = self.out_message.as_mut()?.get_slice_master(data_slice);
if meta.last {
// clear the message slot
self.out_message = None;
// notify kernel with a flag that message is sent
self.out_state = OutMessageState::MessageSent;
}
Some(meta)
}
pub fn ack_slice(&mut self) -> bool {
// returns whether or not there's more to be sent
match self.out_state {
OutMessageState::MessageBeingSent => true,
OutMessageState::MessageSent => {
self.out_state = OutMessageState::MessageAcknowledged;
false
},
_ => {
warn!("received unsolicited SubkernelMessageAck");
false
}
}
}
pub fn accept_outgoing(&mut self, count: u8, tag: &[u8], data: *const *const ()) -> Result<(), Error> {
let mut writer = Cursor::new(Vec::new());
rpc::send_args(&mut writer, 0, tag, data)?;
// skip service tag, but write the count
let mut data = writer.into_inner().split_off(3);
data[0] = count;
self.out_message = Some(Sliceable::new(data));
self.out_state = OutMessageState::MessageReady;
Ok(())
}
pub fn get_incoming(&mut self) -> Option<Message> {
self.in_queue.pop_front()
}
}
impl Session {
pub fn new() -> Session {
Session {
kernel_state: KernelState::Absent,
log_buffer: String::new(),
last_exception: None,
messages: MessageManager::new()
}
}
fn running(&self) -> bool {
match self.kernel_state {
KernelState::Absent | KernelState::Loaded => false,
KernelState::Running | KernelState::MsgAwait { .. } |
KernelState::MsgSending => true
}
}
fn flush_log_buffer(&mut self) {
if &self.log_buffer[self.log_buffer.len() - 1..] == "\n" {
for line in self.log_buffer.lines() {
info!(target: "kernel", "{}", line);
}
self.log_buffer.clear()
}
}
}
impl Manager {
pub fn new() -> Manager {
Manager {
kernels: BTreeMap::new(),
current_id: 0,
session: Session::new(),
cache: Cache::new(),
last_finished: None,
}
}
pub fn add(&mut self, id: u32, last: bool, data: &[u8], data_len: usize) -> Result<(), Error> {
let kernel = match self.kernels.get_mut(&id) {
Some(kernel) => {
if kernel.complete {
// replace entry
self.kernels.remove(&id);
self.kernels.insert(id, KernelLibrary {
library: Vec::new(),
complete: false });
self.kernels.get_mut(&id)?
} else {
kernel
}
},
None => {
self.kernels.insert(id, KernelLibrary {
library: Vec::new(),
complete: false });
self.kernels.get_mut(&id)?
},
};
kernel.library.extend(&data[0..data_len]);
kernel.complete = last;
Ok(())
}
pub fn is_running(&self) -> bool {
self.session.running()
}
pub fn get_current_id(&self) -> Option<u32> {
match self.is_running() {
true => Some(self.current_id),
false => None
}
}
pub fn stop(&mut self) {
unsafe { kernel_cpu::stop() }
self.session.kernel_state = KernelState::Absent;
unsafe { self.cache.unborrow() }
}
pub fn run(&mut self, id: u32) -> Result<(), Error> {
info!("starting subkernel #{}", id);
if self.session.kernel_state != KernelState::Loaded
|| self.current_id != id {
self.load(id)?;
}
self.session.kernel_state = KernelState::Running;
cricon_select(RtioMaster::Kernel);
kern_acknowledge()
}
pub fn message_handle_incoming(&mut self, last: bool, length: usize, slice: &[u8; MASTER_PAYLOAD_MAX_SIZE]) {
if !self.is_running() {
return;
}
self.session.messages.handle_incoming(last, length, slice);
}
pub fn message_get_slice(&mut self, slice: &mut [u8; MASTER_PAYLOAD_MAX_SIZE]) -> Option<SliceMeta> {
if !self.is_running() {
return None;
}
self.session.messages.get_outgoing_slice(slice)
}
pub fn message_ack_slice(&mut self) -> bool {
if !self.is_running() {
warn!("received unsolicited SubkernelMessageAck");
return false;
}
self.session.messages.ack_slice()
}
pub fn message_is_ready(&mut self) -> bool {
self.session.messages.is_outgoing_ready()
}
pub fn get_last_finished(&mut self) -> Option<SubkernelFinished> {
self.last_finished.take()
}
pub fn load(&mut self, id: u32) -> Result<(), Error> {
if self.current_id == id && self.session.kernel_state == KernelState::Loaded {
return Ok(())
}
if !self.kernels.get(&id)?.complete {
return Err(Error::KernelNotFound)
}
self.current_id = id;
self.session = Session::new();
self.stop();
unsafe {
kernel_cpu::start();
kern_send(&kern::LoadRequest(&self.kernels.get(&id)?.library)).unwrap();
kern_recv(|reply| {
match reply {
kern::LoadReply(Ok(())) => {
self.session.kernel_state = KernelState::Loaded;
Ok(())
}
kern::LoadReply(Err(error)) => {
kernel_cpu::stop();
Err(Error::Load(format!("{}", error)))
}
other => {
unexpected!("unexpected kernel CPU reply to load request: {:?}", other)
}
}
})
}
}
pub fn exception_get_slice(&mut self, data_slice: &mut [u8; SAT_PAYLOAD_MAX_SIZE]) -> SliceMeta {
match self.session.last_exception.as_mut() {
Some(exception) => exception.get_slice_sat(data_slice),
None => SliceMeta { len: 0, last: true }
}
}
fn runtime_exception(&mut self, cause: Error) {
let raw_exception: Vec<u8> = Vec::new();
let mut writer = Cursor::new(raw_exception);
match (HostKernelException {
exceptions: &[Some(eh_artiq::Exception {
id: 11, // SubkernelError, defined in ksupport
message: format!("in subkernel id {}: {:?}", self.current_id, cause).as_c_slice(),
param: [0, 0, 0],
file: file!().as_c_slice(),
line: line!(),
column: column!(),
function: format!("subkernel id {}", self.current_id).as_c_slice(),
})],
stack_pointers: &[StackPointerBacktrace {
stack_pointer: 0,
initial_backtrace_size: 0,
current_backtrace_size: 0
}],
backtrace: &[],
async_errors: 0
}).write_to(&mut writer) {
Ok(_) => self.session.last_exception = Some(Sliceable::new(writer.into_inner())),
Err(_) => error!("Error writing exception data")
}
}
pub fn process_kern_requests(&mut self, rank: u8) {
if !self.is_running() {
return;
}
match self.process_external_messages() {
Ok(()) => (),
Err(Error::AwaitingMessage) => return, // kernel still waiting, do not process kernel messages
Err(Error::KernelException(exception)) => {
unsafe { kernel_cpu::stop() }
self.session.kernel_state = KernelState::Absent;
unsafe { self.cache.unborrow() }
self.session.last_exception = Some(exception);
self.last_finished = Some(SubkernelFinished { id: self.current_id, with_exception: true })
},
Err(e) => {
error!("Error while running processing external messages: {:?}", e);
self.stop();
self.runtime_exception(e);
self.last_finished = Some(SubkernelFinished { id: self.current_id, with_exception: true })
}
}
match self.process_kern_message(rank) {
Ok(Some(with_exception)) => {
self.last_finished = Some(SubkernelFinished { id: self.current_id, with_exception: with_exception })
},
Ok(None) | Err(Error::NoMessage) => (),
Err(e) => {
error!("Error while running kernel: {:?}", e);
self.stop();
self.runtime_exception(e);
self.last_finished = Some(SubkernelFinished { id: self.current_id, with_exception: true })
}
}
}
fn process_external_messages(&mut self) -> Result<(), Error> {
match self.session.kernel_state {
KernelState::MsgAwait { max_time } => {
if clock::get_ms() > max_time {
kern_send(&kern::SubkernelMsgRecvReply { status: kern::SubkernelStatus::Timeout, count: 0 })?;
self.session.kernel_state = KernelState::Running;
return Ok(())
}
if let Some(message) = self.session.messages.get_incoming() {
kern_send(&kern::SubkernelMsgRecvReply { status: kern::SubkernelStatus::NoError, count: message.count })?;
self.session.kernel_state = KernelState::Running;
pass_message_to_kernel(&message)
} else {
Err(Error::AwaitingMessage)
}
},
KernelState::MsgSending => {
if self.session.messages.was_message_acknowledged() {
self.session.kernel_state = KernelState::Running;
kern_acknowledge()
} else {
Err(Error::AwaitingMessage)
}
},
_ => Ok(())
}
}
fn process_kern_message(&mut self, rank: u8) -> Result<Option<bool>, Error> {
// returns Ok(with_exception) on finish
// None if the kernel is still running
kern_recv(|request| {
match (request, self.session.kernel_state) {
(&kern::LoadReply(_), KernelState::Loaded) => {
// We're standing by; ignore the message.
return Ok(None)
}
(_, KernelState::Running) => (),
_ => {
unexpected!("unexpected request {:?} from kernel CPU in {:?} state",
request, self.session.kernel_state)
},
}
if process_kern_hwreq(request, rank)? {
return Ok(None)
}
match request {
&kern::Log(args) => {
use core::fmt::Write;
self.session.log_buffer
.write_fmt(args)
.unwrap_or_else(|_| warn!("cannot append to session log buffer"));
self.session.flush_log_buffer();
kern_acknowledge()
}
&kern::LogSlice(arg) => {
self.session.log_buffer += arg;
self.session.flush_log_buffer();
kern_acknowledge()
}
&kern::RpcFlush => {
// we do not have to do anything about this request,
// it is sent by the kernel firmware regardless of RPC being used
kern_acknowledge()
}
&kern::CacheGetRequest { key } => {
let value = self.cache.get(key);
kern_send(&kern::CacheGetReply {
value: unsafe { mem::transmute(value) }
})
}
&kern::CachePutRequest { key, value } => {
let succeeded = self.cache.put(key, value).is_ok();
kern_send(&kern::CachePutReply { succeeded: succeeded })
}
&kern::RunFinished => {
unsafe { kernel_cpu::stop() }
self.session.kernel_state = KernelState::Absent;
unsafe { self.cache.unborrow() }
return Ok(Some(false))
}
&kern::RunException { exceptions, stack_pointers, backtrace } => {
unsafe { kernel_cpu::stop() }
self.session.kernel_state = KernelState::Absent;
unsafe { self.cache.unborrow() }
let exception = slice_kernel_exception(&exceptions, &stack_pointers, &backtrace)?;
self.session.last_exception = Some(exception);
return Ok(Some(true))
}
&kern::SubkernelMsgSend { id: _, count, tag, data } => {
self.session.messages.accept_outgoing(count, tag, data)?;
// acknowledge after the message is sent
self.session.kernel_state = KernelState::MsgSending;
Ok(())
}
&kern::SubkernelMsgRecvRequest { id: _, timeout } => {
let max_time = clock::get_ms() + timeout as u64;
self.session.kernel_state = KernelState::MsgAwait { max_time: max_time };
Ok(())
},
request => unexpected!("unexpected request {:?} from kernel CPU", request)
}.and(Ok(None))
})
}
}
impl Drop for Manager {
fn drop(&mut self) {
cricon_select(RtioMaster::Drtio);
unsafe {
kernel_cpu::stop()
};
}
}
fn kern_recv<R, F>(f: F) -> Result<R, Error>
where F: FnOnce(&kern::Message) -> Result<R, Error> {
if mailbox::receive() == 0 {
return Err(Error::NoMessage);
};
if !kernel_cpu::validate(mailbox::receive()) {
return Err(Error::InvalidPointer(mailbox::receive()))
}
f(unsafe { &*(mailbox::receive() as *const kern::Message) })
}
fn kern_recv_w_timeout<R, F>(timeout: u64, f: F) -> Result<R, Error>
where F: FnOnce(&kern::Message) -> Result<R, Error> + Copy {
// sometimes kernel may be too slow to respond immediately
// (e.g. when receiving external messages)
// we cannot wait indefinitely to keep the satellite responsive
// so a timeout is used instead
let max_time = clock::get_ms() + timeout;
while clock::get_ms() < max_time {
match kern_recv(f) {
Err(Error::NoMessage) => continue,
anything_else => return anything_else
}
}
Err(Error::NoMessage)
}
fn kern_acknowledge() -> Result<(), Error> {
mailbox::acknowledge();
Ok(())
}
fn kern_send(request: &kern::Message) -> Result<(), Error> {
unsafe { mailbox::send(request as *const _ as usize) }
while !mailbox::acknowledged() {}
Ok(())
}
fn slice_kernel_exception(exceptions: &[Option<eh_artiq::Exception>],
stack_pointers: &[eh_artiq::StackPointerBacktrace],
backtrace: &[(usize, usize)]
) -> Result<Sliceable, Error> {
error!("exception in kernel");
for exception in exceptions {
error!("{:?}", exception.unwrap());
}
error!("stack pointers: {:?}", stack_pointers);
error!("backtrace: {:?}", backtrace);
// master will only pass the exception data back to the host:
let raw_exception: Vec<u8> = Vec::new();
let mut writer = Cursor::new(raw_exception);
match (HostKernelException {
exceptions: exceptions,
stack_pointers: stack_pointers,
backtrace: backtrace,
async_errors: 0
}).write_to(&mut writer) {
// save last exception data to be received by master
Ok(_) => Ok(Sliceable::new(writer.into_inner())),
Err(_) => Err(Error::SubkernelIoError)
}
}
fn pass_message_to_kernel(message: &Message) -> Result<(), Error> {
let mut reader = Cursor::new(&message.data);
let mut tag: [u8; 1] = [message.tag];
let count = message.count;
let mut i = 0;
loop {
let slot = kern_recv_w_timeout(100, |reply| {
match reply {
&kern::RpcRecvRequest(slot) => Ok(slot),
&kern::RunException { exceptions, stack_pointers, backtrace } => {
let exception = slice_kernel_exception(&exceptions, &stack_pointers, &backtrace)?;
Err(Error::KernelException(exception))
},
other => unexpected!(
"expected root value slot from kernel CPU, not {:?}", other)
}
})?;
let res = rpc::recv_return(&mut reader, &tag, slot, &|size| -> Result<_, Error> {
if size == 0 {
return Ok(0 as *mut ())
}
kern_send(&kern::RpcRecvReply(Ok(size)))?;
Ok(kern_recv_w_timeout(100, |reply| {
match reply {
&kern::RpcRecvRequest(slot) => Ok(slot),
&kern::RunException {
exceptions,
stack_pointers,
backtrace
}=> {
let exception = slice_kernel_exception(&exceptions, &stack_pointers, &backtrace)?;
Err(Error::KernelException(exception))
},
other => unexpected!(
"expected nested value slot from kernel CPU, not {:?}", other)
}
})?)
});
match res {
Ok(_) => kern_send(&kern::RpcRecvReply(Ok(0)))?,
Err(_) => unexpected!("expected valid subkernel message data")
};
i += 1;
if i < count {
// update the tag for next read
tag[0] = reader.read_u8()?;
} else {
// should be done by then
break;
}
}
Ok(())
}
fn process_kern_hwreq(request: &kern::Message, rank: u8) -> Result<bool, Error> {
match request {
&kern::RtioInitRequest => {
unsafe {
csr::drtiosat::reset_write(1);
clock::spin_us(100);
csr::drtiosat::reset_write(0);
}
kern_acknowledge()
}
&kern::RtioDestinationStatusRequest { destination } => {
// only local destination is considered "up"
// no access to other DRTIO destinations
kern_send(&kern::RtioDestinationStatusReply {
up: destination == rank })
}
&kern::I2cStartRequest { busno } => {
let succeeded = i2c::start(busno as u8).is_ok();
kern_send(&kern::I2cBasicReply { succeeded: succeeded })
}
&kern::I2cRestartRequest { busno } => {
let succeeded = i2c::restart(busno as u8).is_ok();
kern_send(&kern::I2cBasicReply { succeeded: succeeded })
}
&kern::I2cStopRequest { busno } => {
let succeeded = i2c::stop(busno as u8).is_ok();
kern_send(&kern::I2cBasicReply { succeeded: succeeded })
}
&kern::I2cWriteRequest { busno, data } => {
match i2c::write(busno as u8, data) {
Ok(ack) => kern_send(
&kern::I2cWriteReply { succeeded: true, ack: ack }),
Err(_) => kern_send(
&kern::I2cWriteReply { succeeded: false, ack: false })
}
}
&kern::I2cReadRequest { busno, ack } => {
match i2c::read(busno as u8, ack) {
Ok(data) => kern_send(
&kern::I2cReadReply { succeeded: true, data: data }),
Err(_) => kern_send(
&kern::I2cReadReply { succeeded: false, data: 0xff })
}
}
&kern::I2cSwitchSelectRequest { busno, address, mask } => {
let succeeded = i2c::switch_select(busno as u8, address, mask).is_ok();
kern_send(&kern::I2cBasicReply { succeeded: succeeded })
}
&kern::SpiSetConfigRequest { busno, flags, length, div, cs } => {
let succeeded = spi::set_config(busno as u8, flags, length, div, cs).is_ok();
kern_send(&kern::SpiBasicReply { succeeded: succeeded })
},
&kern::SpiWriteRequest { busno, data } => {
let succeeded = spi::write(busno as u8, data).is_ok();
kern_send(&kern::SpiBasicReply { succeeded: succeeded })
}
&kern::SpiReadRequest { busno } => {
match spi::read(busno as u8) {
Ok(data) => kern_send(
&kern::SpiReadReply { succeeded: true, data: data }),
Err(_) => kern_send(
&kern::SpiReadReply { succeeded: false, data: 0 })
}
}
_ => return Ok(false)
}.and(Ok(true))
}

View File

@ -1,4 +1,4 @@
#![feature(never_type, panic_info_message, llvm_asm, default_alloc_error_handler)]
#![feature(never_type, panic_info_message, llvm_asm, default_alloc_error_handler, try_trait)]
#![no_std]
#[macro_use]
@ -9,12 +9,15 @@ extern crate board_artiq;
extern crate riscv;
extern crate alloc;
extern crate proto_artiq;
extern crate cslice;
extern crate io;
extern crate eh;
use core::convert::TryFrom;
use board_misoc::{csr, ident, clock, uart_logger, i2c, pmp};
#[cfg(has_si5324)]
use board_artiq::si5324;
use board_artiq::{spi, drtioaux};
use board_artiq::{spi, drtioaux, drtio_routing};
#[cfg(soc_platform = "efc")]
use board_artiq::ad9117;
use proto_artiq::drtioaux_proto::{SAT_PAYLOAD_MAX_SIZE, MASTER_PAYLOAD_MAX_SIZE};
@ -22,6 +25,7 @@ use proto_artiq::drtioaux_proto::{SAT_PAYLOAD_MAX_SIZE, MASTER_PAYLOAD_MAX_SIZE}
use board_artiq::drtio_eem;
use riscv::register::{mcause, mepc, mtval};
use dma::Manager as DmaManager;
use kernel::Manager as KernelManager;
use analyzer::Analyzer;
#[global_allocator]
@ -30,6 +34,8 @@ static mut ALLOC: alloc_list::ListAlloc = alloc_list::EMPTY;
mod repeater;
mod dma;
mod analyzer;
mod kernel;
mod cache;
fn drtiosat_reset(reset: bool) {
unsafe {
@ -59,6 +65,22 @@ fn drtiosat_tsc_loaded() -> bool {
}
}
pub enum RtioMaster {
Drtio,
Dma,
Kernel
}
pub fn cricon_select(master: RtioMaster) {
let val = match master {
RtioMaster::Drtio => 0,
RtioMaster::Dma => 1,
RtioMaster::Kernel => 2
};
unsafe {
csr::cri_con::selected_write(val);
}
}
#[cfg(has_drtio_routing)]
macro_rules! forward {
@ -80,8 +102,8 @@ macro_rules! forward {
($routing_table:expr, $destination:expr, $rank:expr, $repeaters:expr, $packet:expr) => {}
}
fn process_aux_packet(_manager: &mut DmaManager, analyzer: &mut Analyzer, _repeaters: &mut [repeater::Repeater],
_routing_table: &mut drtio_routing::RoutingTable, _rank: &mut u8,
fn process_aux_packet(dmamgr: &mut DmaManager, analyzer: &mut Analyzer, kernelmgr: &mut KernelManager,
_repeaters: &mut [repeater::Repeater], _routing_table: &mut drtio_routing::RoutingTable, _rank: &mut u8,
packet: drtioaux::Packet) -> Result<(), drtioaux::Error<!>> {
// In the code below, *_chan_sel_write takes an u8 if there are fewer than 256 channels,
// and u16 otherwise; hence the `as _` conversion.
@ -101,18 +123,30 @@ fn process_aux_packet(_manager: &mut DmaManager, analyzer: &mut Analyzer, _repea
drtioaux::send(0, &drtioaux::Packet::ResetAck)
},
drtioaux::Packet::DestinationStatusRequest { destination: _destination } => {
drtioaux::Packet::DestinationStatusRequest { destination } => {
#[cfg(has_drtio_routing)]
let hop = _routing_table.0[_destination as usize][*_rank as usize];
let hop = _routing_table.0[destination as usize][*_rank as usize];
#[cfg(not(has_drtio_routing))]
let hop = 0;
if hop == 0 {
// async messages
if let Some(status) = _manager.check_state() {
if let Some(status) = dmamgr.get_status() {
info!("playback done, error: {}, channel: {}, timestamp: {}", status.error, status.channel, status.timestamp);
drtioaux::send(0, &drtioaux::Packet::DmaPlaybackStatus {
destination: _destination, id: status.id, error: status.error, channel: status.channel, timestamp: status.timestamp })?;
destination: destination, id: status.id, error: status.error, channel: status.channel, timestamp: status.timestamp })?;
} else if let Some(subkernel_finished) = kernelmgr.get_last_finished() {
info!("subkernel {} finished, with exception: {}", subkernel_finished.id, subkernel_finished.with_exception);
drtioaux::send(0, &drtioaux::Packet::SubkernelFinished {
id: subkernel_finished.id, with_exception: subkernel_finished.with_exception
})?;
} else if kernelmgr.message_is_ready() {
let mut data_slice: [u8; MASTER_PAYLOAD_MAX_SIZE] = [0; MASTER_PAYLOAD_MAX_SIZE];
let meta = kernelmgr.message_get_slice(&mut data_slice).unwrap();
drtioaux::send(0, &drtioaux::Packet::SubkernelMessage {
destination: destination, id: kernelmgr.get_current_id().unwrap(),
last: meta.last, length: meta.len as u16, data: data_slice
})?;
} else {
let errors;
unsafe {
@ -156,7 +190,7 @@ fn process_aux_packet(_manager: &mut DmaManager, analyzer: &mut Analyzer, _repea
if hop <= csr::DRTIOREP.len() {
let repno = hop - 1;
match _repeaters[repno].aux_forward(&drtioaux::Packet::DestinationStatusRequest {
destination: _destination
destination: destination
}) {
Ok(()) => (),
Err(drtioaux::Error::LinkDown) => drtioaux::send(0, &drtioaux::Packet::DestinationDownReply)?,
@ -336,28 +370,80 @@ fn process_aux_packet(_manager: &mut DmaManager, analyzer: &mut Analyzer, _repea
})
}
#[cfg(has_rtio_dma)]
drtioaux::Packet::DmaAddTraceRequest { destination: _destination, id, last, length, trace } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let succeeded = _manager.add(id, last, &trace, length as usize).is_ok();
let succeeded = dmamgr.add(id, last, &trace, length as usize).is_ok();
drtioaux::send(0,
&drtioaux::Packet::DmaAddTraceReply { succeeded: succeeded })
}
#[cfg(has_rtio_dma)]
drtioaux::Packet::DmaRemoveTraceRequest { destination: _destination, id } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let succeeded = _manager.erase(id).is_ok();
let succeeded = dmamgr.erase(id).is_ok();
drtioaux::send(0,
&drtioaux::Packet::DmaRemoveTraceReply { succeeded: succeeded })
}
#[cfg(has_rtio_dma)]
drtioaux::Packet::DmaPlaybackRequest { destination: _destination, id, timestamp } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let succeeded = _manager.playback(id, timestamp).is_ok();
// no DMA with a running kernel
let succeeded = !kernelmgr.is_running() && dmamgr.playback(id, timestamp).is_ok();
drtioaux::send(0,
&drtioaux::Packet::DmaPlaybackReply { succeeded: succeeded })
}
drtioaux::Packet::SubkernelAddDataRequest { destination: _destination, id, last, length, data } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let succeeded = kernelmgr.add(id, last, &data, length as usize).is_ok();
drtioaux::send(0,
&drtioaux::Packet::SubkernelAddDataReply { succeeded: succeeded })
}
drtioaux::Packet::SubkernelLoadRunRequest { destination: _destination, id, run } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let mut succeeded = kernelmgr.load(id).is_ok();
// allow preloading a kernel with delayed run
if run {
if dmamgr.running() {
// cannot run kernel while DDMA is running
succeeded = false;
} else {
succeeded |= kernelmgr.run(id).is_ok();
}
}
drtioaux::send(0,
&drtioaux::Packet::SubkernelLoadRunReply { succeeded: succeeded })
}
drtioaux::Packet::SubkernelExceptionRequest { destination: _destination } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let mut data_slice: [u8; SAT_PAYLOAD_MAX_SIZE] = [0; SAT_PAYLOAD_MAX_SIZE];
let meta = kernelmgr.exception_get_slice(&mut data_slice);
drtioaux::send(0, &drtioaux::Packet::SubkernelException {
last: meta.last,
length: meta.len,
data: data_slice,
})
}
drtioaux::Packet::SubkernelMessage { destination, id: _id, last, length, data } => {
forward!(_routing_table, destination, *_rank, _repeaters, &packet);
kernelmgr.message_handle_incoming(last, length as usize, &data);
drtioaux::send(0, &drtioaux::Packet::SubkernelMessageAck {
destination: destination
})
}
drtioaux::Packet::SubkernelMessageAck { destination: _destination } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
if kernelmgr.message_ack_slice() {
let mut data_slice: [u8; MASTER_PAYLOAD_MAX_SIZE] = [0; MASTER_PAYLOAD_MAX_SIZE];
if let Some(meta) = kernelmgr.message_get_slice(&mut data_slice) {
drtioaux::send(0, &drtioaux::Packet::SubkernelMessage {
destination: *_rank, id: kernelmgr.get_current_id().unwrap(),
last: meta.last, length: meta.len as u16, data: data_slice
})?
} else {
error!("Error receiving message slice");
}
}
Ok(())
}
_ => {
warn!("received unexpected aux packet");
Ok(())
@ -366,12 +452,12 @@ fn process_aux_packet(_manager: &mut DmaManager, analyzer: &mut Analyzer, _repea
}
fn process_aux_packets(dma_manager: &mut DmaManager, analyzer: &mut Analyzer,
repeaters: &mut [repeater::Repeater],
kernelmgr: &mut KernelManager, repeaters: &mut [repeater::Repeater],
routing_table: &mut drtio_routing::RoutingTable, rank: &mut u8) {
let result =
drtioaux::recv(0).and_then(|packet| {
if let Some(packet) = packet {
process_aux_packet(dma_manager, analyzer, repeaters, routing_table, rank, packet)
process_aux_packet(dma_manager, analyzer, kernelmgr, repeaters, routing_table, rank, packet)
} else {
Ok(())
}
@ -383,10 +469,7 @@ fn process_aux_packets(dma_manager: &mut DmaManager, analyzer: &mut Analyzer,
}
fn drtiosat_process_errors() {
let errors;
unsafe {
errors = csr::drtiosat::protocol_error_read();
}
let errors = unsafe { csr::drtiosat::protocol_error_read() };
if errors & 1 != 0 {
error!("received packet of an unknown type");
}
@ -394,26 +477,29 @@ fn drtiosat_process_errors() {
error!("received truncated packet");
}
if errors & 4 != 0 {
let destination;
unsafe {
destination = csr::drtiosat::buffer_space_timeout_dest_read();
}
let destination = unsafe {
csr::drtiosat::buffer_space_timeout_dest_read()
};
error!("timeout attempting to get buffer space from CRI, destination=0x{:02x}", destination)
}
if errors & 8 != 0 {
let channel;
let timestamp_event;
let timestamp_counter;
unsafe {
channel = csr::drtiosat::underflow_channel_read();
timestamp_event = csr::drtiosat::underflow_timestamp_event_read() as i64;
timestamp_counter = csr::drtiosat::underflow_timestamp_counter_read() as i64;
let drtiosat_active = unsafe { csr::cri_con::selected_read() == 0 };
if drtiosat_active {
// RTIO errors are handled by ksupport and dma manager
if errors & 8 != 0 {
let channel;
let timestamp_event;
let timestamp_counter;
unsafe {
channel = csr::drtiosat::underflow_channel_read();
timestamp_event = csr::drtiosat::underflow_timestamp_event_read() as i64;
timestamp_counter = csr::drtiosat::underflow_timestamp_counter_read() as i64;
}
error!("write underflow, channel={}, timestamp={}, counter={}, slack={}",
channel, timestamp_event, timestamp_counter, timestamp_event-timestamp_counter);
}
if errors & 16 != 0 {
error!("write overflow");
}
error!("write underflow, channel={}, timestamp={}, counter={}, slack={}",
channel, timestamp_event, timestamp_counter, timestamp_event-timestamp_counter);
}
if errors & 16 != 0 {
error!("write overflow");
}
unsafe {
csr::drtiosat::protocol_error_write(errors);
@ -612,21 +698,23 @@ pub extern fn main() -> i32 {
si5324::siphaser::calibrate_skew().expect("failed to calibrate skew");
}
// DMA manager created here, so when link is dropped, all DMA traces
// are cleared out for a clean slate on subsequent connections,
// without a manual intervention.
// various managers created here, so when link is dropped, DMA traces,
// analyzer logs, kernels are cleared and/or stopped for a clean slate
// on subsequent connections, without a manual intervention.
let mut dma_manager = DmaManager::new();
// Reset the analyzer as well.
let mut analyzer = Analyzer::new();
let mut kernelmgr = KernelManager::new();
cricon_select(RtioMaster::Drtio);
drtioaux::reset(0);
drtiosat_reset(false);
drtiosat_reset_phy(false);
while drtiosat_link_rx_up() {
drtiosat_process_errors();
process_aux_packets(&mut dma_manager, &mut analyzer, &mut repeaters, &mut routing_table, &mut rank);
process_aux_packets(&mut dma_manager, &mut analyzer,
&mut kernelmgr, &mut repeaters,
&mut routing_table, &mut rank);
for rep in repeaters.iter_mut() {
rep.service(&routing_table, rank);
}
@ -649,6 +737,7 @@ pub extern fn main() -> i32 {
error!("aux packet error: {}", e);
}
}
kernelmgr.process_kern_requests(rank);
}
drtiosat_reset_phy(true);

View File

@ -22,6 +22,19 @@ SECTIONS
__eh_frame_end = .;
} > main_ram
.eh_frame_hdr :
{
KEEP(*(.eh_frame_hdr))
} > main_ram
__eh_frame_hdr_start = SIZEOF(.eh_frame_hdr) > 0 ? ADDR(.eh_frame_hdr) : 0;
__eh_frame_hdr_end = SIZEOF(.eh_frame_hdr) > 0 ? . : 0;
.gcc_except_table :
{
*(.gcc_except_table)
} > main_ram
/* https://sourceware.org/bugzilla/show_bug.cgi?id=20475 */
.got :
{
@ -68,11 +81,11 @@ SECTIONS
_fstack = . - 16;
} > main_ram
/* 64MB heap for alloc use */
/* remainder of 64MB for heap for alloc use */
.heap (NOLOAD) : ALIGN(16)
{
_fheap = .;
. = . + 0x4000000;
. = 0x44000000; // not to overwrite RPC queue
_eheap = .;
} > main_ram
}