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https://github.com/m-labs/artiq.git
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runtime: startup kernel support
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parent
592663a649
commit
d0b5c3ba7f
@ -66,10 +66,6 @@ void bridge_main(void)
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mailbox_acknowledge();
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break;
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}
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case MESSAGE_TYPE_BRG_DDS_INITALL:
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dds_init_all();
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mailbox_acknowledge();
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break;
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case MESSAGE_TYPE_BRG_DDS_SEL: {
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struct msg_brg_dds_sel *msg;
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@ -23,11 +23,6 @@ void brg_start(void)
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}
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}
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void brg_stop(void)
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{
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kloader_stop();
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}
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void brg_ttloe(int n, int value)
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{
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struct msg_brg_ttl_out msg;
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@ -48,14 +43,6 @@ void brg_ttlo(int n, int value)
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mailbox_send_and_wait(&msg);
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}
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void brg_ddsinitall(void)
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{
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struct msg_base msg;
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msg.type = MESSAGE_TYPE_BRG_DDS_INITALL;
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mailbox_send_and_wait(&msg);
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}
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void brg_ddssel(int channel)
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{
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struct msg_brg_dds_sel msg;
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@ -2,12 +2,10 @@
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#define __BRIDGE_CTL_H
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void brg_start(void);
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void brg_stop(void);
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void brg_ttloe(int n, int value);
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void brg_ttlo(int n, int value);
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void brg_ddsinitall(void);
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void brg_ddssel(int channel);
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void brg_ddsreset(void);
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unsigned int brg_ddsread(unsigned int address);
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@ -62,7 +62,7 @@ int watchdog_set(int ms)
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break;
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}
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if(id < 0) {
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log("Failed to add watchdog");
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log("WARNING: Failed to add watchdog");
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return id;
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}
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@ -33,19 +33,6 @@
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now += DURATION_WRITE; \
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} while(0)
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void dds_init_all(void)
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{
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int i;
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long long int now;
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now = rtio_get_counter() + 10000;
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for(i=0;i<DDS_CHANNEL_COUNT;i++) {
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dds_init(now, i);
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now += DURATION_INIT + DURATION_WRITE; /* + FUD time */
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}
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while(rtio_get_counter() < now);
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}
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void dds_init(long long int timestamp, int channel)
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{
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long long int now;
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@ -54,7 +54,6 @@ enum {
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PHASE_MODE_TRACKING = 2
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};
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void dds_init_all(void);
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void dds_init(long long int timestamp, int channel);
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void dds_batch_enter(long long int timestamp);
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void dds_batch_exit(void);
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@ -2,6 +2,7 @@
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#include <generated/csr.h>
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#include "log.h"
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#include "clock.h"
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#include "flash_storage.h"
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#include "mailbox.h"
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#include "messages.h"
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@ -91,33 +92,50 @@ void kloader_start_user_kernel(kernel_function k)
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start_kernel_cpu((void *)k);
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}
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void kloader_start_idle_kernel(void)
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static int kloader_start_flash_kernel(char *key)
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{
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char buffer[32*1024];
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int len;
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unsigned int len, remain;
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kernel_function k;
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if(!kernel_cpu_reset_read()) {
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log("BUG: attempted to start kernel CPU while already running (idle kernel)");
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return;
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log("BUG: attempted to start kernel CPU while already running (%s)", key);
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return 0;
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}
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#if (defined CSR_SPIFLASH_BASE && defined SPIFLASH_PAGE_SIZE)
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len = fs_read("idle_kernel", buffer, sizeof(buffer), NULL);
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len = fs_read(key, buffer, sizeof(buffer), &remain);
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if(len <= 0)
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return;
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return 0;
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if(remain) {
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log("ERROR: %s too long", key);
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return 0;
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}
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if(!kloader_load(buffer, len)) {
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log("Failed to load ELF binary for idle kernel");
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return;
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log("ERROR: failed to load ELF binary (%s)", key);
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return 0;
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}
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k = kloader_find("run");
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if(!k) {
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log("Failed to find entry point for ELF kernel");
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return;
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log("ERROR: failed to find entry point for ELF kernel (%s)", key);
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return 0;
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}
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start_kernel_cpu((void *)k);
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return 1;
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#else
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return 0;
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#endif
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}
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int kloader_start_startup_kernel(void)
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{
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return kloader_start_flash_kernel("startup_kernel");
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}
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int kloader_start_idle_kernel(void)
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{
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return kloader_start_flash_kernel("idle_kernel");
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}
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void kloader_stop(void)
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{
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kernel_cpu_reset_write(1);
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@ -140,6 +158,8 @@ int kloader_is_essential_kmsg(int msgtype)
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case MESSAGE_TYPE_NOW_INIT_REQUEST:
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case MESSAGE_TYPE_NOW_SAVE:
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case MESSAGE_TYPE_LOG:
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case MESSAGE_TYPE_WATCHDOG_SET_REQUEST:
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case MESSAGE_TYPE_WATCHDOG_CLEAR:
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return 1;
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default:
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return 0;
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@ -179,6 +199,22 @@ void kloader_service_essential_kmsg(void)
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mailbox_acknowledge();
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break;
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}
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case MESSAGE_TYPE_WATCHDOG_SET_REQUEST: {
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struct msg_watchdog_set_request *msg = (struct msg_watchdog_set_request *)umsg;
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struct msg_watchdog_set_reply reply;
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reply.type = MESSAGE_TYPE_WATCHDOG_SET_REPLY;
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reply.id = watchdog_set(msg->ms);
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mailbox_send_and_wait(&reply);
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break;
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}
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case MESSAGE_TYPE_WATCHDOG_CLEAR: {
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struct msg_watchdog_clear *msg = (struct msg_watchdog_clear *)umsg;
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watchdog_clear(msg->id);
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mailbox_acknowledge();
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break;
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}
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default:
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/* handled elsewhere */
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break;
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@ -12,7 +12,8 @@ int kloader_load(void *buffer, int length);
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kernel_function kloader_find(const char *name);
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void kloader_start_bridge(void);
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void kloader_start_idle_kernel(void);
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int kloader_start_startup_kernel(void);
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int kloader_start_idle_kernel(void);
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void kloader_start_user_kernel(kernel_function k);
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void kloader_stop(void);
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@ -30,13 +30,6 @@
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#include "session.h"
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#include "moninj.h"
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static void common_init(void)
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{
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brg_start();
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brg_ddsinitall();
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kloader_stop();
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}
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#ifdef CSR_ETHMAC_BASE
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u32_t sys_now(void)
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@ -260,7 +253,7 @@ int main(void)
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test_main();
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} else {
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puts("Entering regular mode.");
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common_init();
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session_startup_kernel();
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regular_main();
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}
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return 0;
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@ -19,7 +19,6 @@ enum {
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MESSAGE_TYPE_BRG_READY,
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MESSAGE_TYPE_BRG_TTL_O,
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MESSAGE_TYPE_BRG_TTL_OE,
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MESSAGE_TYPE_BRG_DDS_INITALL,
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MESSAGE_TYPE_BRG_DDS_SEL,
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MESSAGE_TYPE_BRG_DDS_RESET,
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MESSAGE_TYPE_BRG_DDS_READ_REQUEST,
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@ -1,6 +1,6 @@
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#include <stdio.h>
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#include <generated/csr.h>
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#include "log.h"
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#include "clock.h"
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#include "flash_storage.h"
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#include "rtiocrg.h"
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@ -17,17 +17,17 @@ void rtiocrg_init(void)
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clk = 0;
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fs_read("startup_clock", &b, 1, NULL);
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if(b == 'i')
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printf("Startup RTIO clock: internal\n");
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log("Startup RTIO clock: internal");
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else if(b == 'e') {
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printf("Startup RTIO clock: external\n");
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log("Startup RTIO clock: external");
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clk = 1;
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} else
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printf("WARNING: unknown startup_clock entry in flash storage\n");
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log("ERROR: unrecognized startup_clock entry in flash storage");
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if(!rtiocrg_switch_clock(clk)) {
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printf("WARNING: startup RTIO clock failed\n");
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printf("WARNING: this may cause the system initialization to fail\n");
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printf("WARNING: fix clocking and reset the device\n");
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log("ERROR: startup RTIO clock failed");
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log("WARNING: this may cause the system initialization to fail");
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log("WARNING: fix clocking and reset the device");
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}
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}
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@ -64,6 +64,44 @@ enum {
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USER_KERNEL_WAIT_RPC /* < must come after _RUNNING */
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};
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void session_startup_kernel(void)
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{
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struct msg_base *umsg;
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now = -1;
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watchdog_init();
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if(!kloader_start_startup_kernel())
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return;
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while(1) {
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kloader_service_essential_kmsg();
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umsg = mailbox_receive();
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if(umsg) {
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if(!kloader_validate_kpointer(umsg))
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break;
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if(kloader_is_essential_kmsg(umsg->type))
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continue;
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if(umsg->type == MESSAGE_TYPE_FINISHED)
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break;
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else if(umsg->type == MESSAGE_TYPE_EXCEPTION) {
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log("WARNING: startup kernel ended with exception");
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break;
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} else {
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log("ERROR: received invalid message type from kernel CPU");
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break;
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}
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}
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if(watchdog_expired()) {
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log("WARNING: watchdog expired in startup kernel");
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break;
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}
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}
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kloader_stop();
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log("Startup kernel terminated");
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}
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void session_start(void)
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{
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buffer_in_index = 0;
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@ -77,6 +115,7 @@ void session_end(void)
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{
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kloader_stop();
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now = -1;
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watchdog_init();
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kloader_start_idle_kernel();
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}
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@ -490,22 +529,6 @@ static int process_kmsg(struct msg_base *umsg)
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mailbox_acknowledge();
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break;
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}
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case MESSAGE_TYPE_WATCHDOG_SET_REQUEST: {
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struct msg_watchdog_set_request *msg = (struct msg_watchdog_set_request *)umsg;
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struct msg_watchdog_set_reply reply;
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reply.type = MESSAGE_TYPE_WATCHDOG_SET_REPLY;
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reply.id = watchdog_set(msg->ms);
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mailbox_send_and_wait(&reply);
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break;
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}
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case MESSAGE_TYPE_WATCHDOG_CLEAR: {
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struct msg_watchdog_clear *msg = (struct msg_watchdog_clear *)umsg;
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watchdog_clear(msg->id);
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mailbox_acknowledge();
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break;
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}
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case MESSAGE_TYPE_RPC_REQUEST: {
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struct msg_rpc_request *msg = (struct msg_rpc_request *)umsg;
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@ -516,7 +539,7 @@ static int process_kmsg(struct msg_base *umsg)
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break;
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}
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default: {
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log("Received invalid message type from kernel CPU");
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log("ERROR: received invalid message type from kernel CPU");
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return 0;
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}
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}
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@ -1,6 +1,7 @@
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#ifndef __SESSION_H
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#define __SESSION_H
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void session_startup_kernel(void);
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void session_start(void);
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void session_end(void);
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