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artiq/artiq/runtime/ksupport.c

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#include <stdarg.h>
#include <string.h>
#include <stdio.h>
#include <generated/csr.h>
#include <link.h>
#include <dlfcn.h>
#include <dyld.h>
#include <unwind.h>
#include "ksupport.h"
#include "kloader.h"
#include "mailbox.h"
#include "messages.h"
#include "bridge.h"
#include "artiq_personality.h"
#include "rtio.h"
#include "dds.h"
#include "i2c.h"
double round(double x);
double sqrt(double x);
void ksupport_abort(void);
static void attribute_writeback(void *);
int64_t now;
/* compiler-rt symbols */
extern void __divsi3, __modsi3, __ledf2, __gedf2, __unorddf2, __eqdf2, __ltdf2,
__nedf2, __gtdf2, __negsf2, __negdf2, __addsf3, __subsf3, __mulsf3,
__divsf3, __lshrdi3, __muldi3, __divdi3, __ashldi3, __ashrdi3,
__udivmoddi4, __floatsisf, __floatunsisf, __fixsfsi, __fixunssfsi,
__adddf3, __subdf3, __muldf3, __divdf3, __floatsidf, __floatunsidf,
__floatdidf, __fixdfsi, __fixdfdi, __fixunsdfsi, __clzsi2, __ctzsi2,
__udivdi3, __umoddi3, __moddi3, __powidf2;
/* artiq_personality symbols */
extern void __artiq_personality;
struct symbol {
const char *name;
void *addr;
};
static const struct symbol runtime_exports[] = {
/* compiler-rt */
{"__divsi3", &__divsi3},
{"__modsi3", &__modsi3},
{"__ledf2", &__ledf2},
{"__gedf2", &__gedf2},
{"__unorddf2", &__unorddf2},
{"__eqdf2", &__eqdf2},
{"__ltdf2", &__ltdf2},
{"__nedf2", &__nedf2},
{"__gtdf2", &__gtdf2},
{"__negsf2", &__negsf2},
{"__negdf2", &__negdf2},
{"__addsf3", &__addsf3},
{"__subsf3", &__subsf3},
{"__mulsf3", &__mulsf3},
{"__divsf3", &__divsf3},
{"__lshrdi3", &__lshrdi3},
{"__muldi3", &__muldi3},
{"__divdi3", &__divdi3},
{"__ashldi3", &__ashldi3},
{"__ashrdi3", &__ashrdi3},
{"__udivmoddi4", &__udivmoddi4},
{"__floatsisf", &__floatsisf},
{"__floatunsisf", &__floatunsisf},
{"__fixsfsi", &__fixsfsi},
{"__fixunssfsi", &__fixunssfsi},
{"__adddf3", &__adddf3},
{"__subdf3", &__subdf3},
{"__muldf3", &__muldf3},
{"__divdf3", &__divdf3},
{"__floatsidf", &__floatsidf},
{"__floatunsidf", &__floatunsidf},
{"__floatdidf", &__floatdidf},
{"__fixdfsi", &__fixdfsi},
{"__fixdfdi", &__fixdfdi},
{"__fixunsdfsi", &__fixunsdfsi},
{"__clzsi2", &__clzsi2},
{"__ctzsi2", &__ctzsi2},
{"__udivdi3", &__udivdi3},
{"__umoddi3", &__umoddi3},
{"__moddi3", &__moddi3},
{"__powidf2", &__powidf2},
/* libm */
{"round", &round},
{"sqrt", &sqrt},
/* exceptions */
{"_Unwind_Resume", &_Unwind_Resume},
{"__artiq_personality", &__artiq_personality},
{"__artiq_raise", &__artiq_raise},
{"__artiq_reraise", &__artiq_reraise},
{"strcmp", &strcmp},
{"strlen", &strlen},
{"abort", &ksupport_abort},
/* proxified syscalls */
{"core_log", &core_log},
{"now", &now},
{"watchdog_set", &watchdog_set},
{"watchdog_clear", &watchdog_clear},
{"printf", &core_log},
{"send_rpc", &send_rpc},
{"recv_rpc", &recv_rpc},
/* direct syscalls */
{"rtio_init", &rtio_init},
{"rtio_get_counter", &rtio_get_counter},
{"rtio_log", &rtio_log},
{"rtio_output", &rtio_output},
{"rtio_input_timestamp", &rtio_input_timestamp},
{"rtio_input_data", &rtio_input_data},
#if ((defined CONFIG_RTIO_DDS_COUNT) && (CONFIG_RTIO_DDS_COUNT > 0))
{"dds_init", &dds_init},
{"dds_init_sync", &dds_init_sync},
{"dds_batch_enter", &dds_batch_enter},
{"dds_batch_exit", &dds_batch_exit},
{"dds_set", &dds_set},
#endif
{"i2c_init", &i2c_init},
{"i2c_start", &i2c_start},
{"i2c_stop", &i2c_stop},
{"i2c_write", &i2c_write},
{"i2c_read", &i2c_read},
{"cache_get", &cache_get},
{"cache_put", &cache_put},
/* end */
{NULL, NULL}
};
double round(double x)
{
union {double f; uint64_t i;} u = {x};
int e = u.i >> 52 & 0x7ff;
double y;
if (e >= 0x3ff+52)
return x;
if (u.i >> 63)
x = -x;
if (e < 0x3ff-1) {
/* we don't do it in ARTIQ */
/* raise inexact if x!=0 */
// FORCE_EVAL(x + 0x1p52);
return 0*u.f;
}
y = (double)(x + 0x1p52) - 0x1p52 - x;
if (y > 0.5)
y = y + x - 1;
else if (y <= -0.5)
y = y + x + 1;
else
y = y + x;
if (u.i >> 63)
y = -y;
return y;
}
double sqrt(double x)
{
static const double one = 1.0, tiny = 1.0e-300;
double z;
int32_t sign = (int)0x80000000;
int32_t ix0,s0,q,m,t,i;
uint32_t r,t1,s1,ix1,q1;
union {double f; struct{uint32_t msw; uint32_t lsw;};} u = {x};
ix0 = u.msw;
ix1 = u.lsw;
/* take care of Inf and NaN */
if((ix0&0x7ff00000)==0x7ff00000) {
return x*x+x; /* sqrt(NaN)=NaN, sqrt(+inf)=+inf
sqrt(-inf)=sNaN */
}
/* take care of zero */
if(ix0<=0) {
if(((ix0&(~sign))|ix1)==0) return x;/* sqrt(+-0) = +-0 */
else if(ix0<0)
return (x-x)/(x-x); /* sqrt(-ve) = sNaN */
}
/* normalize x */
m = (ix0>>20);
if(m==0) { /* subnormal x */
while(ix0==0) {
m -= 21;
ix0 |= (ix1>>11); ix1 <<= 21;
}
for(i=0;(ix0&0x00100000)==0;i++) ix0<<=1;
m -= i-1;
ix0 |= (ix1>>(32-i));
ix1 <<= i;
}
m -= 1023; /* unbias exponent */
ix0 = (ix0&0x000fffff)|0x00100000;
if(m&1){ /* odd m, double x to make it even */
ix0 += ix0 + ((ix1&sign)>>31);
ix1 += ix1;
}
m >>= 1; /* m = [m/2] */
/* generate sqrt(x) bit by bit */
ix0 += ix0 + ((ix1&sign)>>31);
ix1 += ix1;
q = q1 = s0 = s1 = 0; /* [q,q1] = sqrt(x) */
r = 0x00200000; /* r = moving bit from right to left */
while(r!=0) {
t = s0+r;
if(t<=ix0) {
s0 = t+r;
ix0 -= t;
q += r;
}
ix0 += ix0 + ((ix1&sign)>>31);
ix1 += ix1;
r>>=1;
}
r = sign;
while(r!=0) {
t1 = s1+r;
t = s0;
if((t<ix0)||((t==ix0)&&(t1<=ix1))) {
s1 = t1+r;
if(((t1&sign)==sign)&&(s1&sign)==0) s0 += 1;
ix0 -= t;
if (ix1 < t1) ix0 -= 1;
ix1 -= t1;
q1 += r;
}
ix0 += ix0 + ((ix1&sign)>>31);
ix1 += ix1;
r>>=1;
}
/* use floating add to find out rounding direction */
if((ix0|ix1)!=0) {
z = one-tiny; /* trigger inexact flag */
if (z>=one) {
z = one+tiny;
if (q1==(uint32_t)0xffffffff) { q1=0; q += 1;}
else if (z>one) {
if (q1==(uint32_t)0xfffffffe) q+=1;
q1+=2;
} else
q1 += (q1&1);
}
}
ix0 = (q>>1)+0x3fe00000;
ix1 = q1>>1;
if ((q&1)==1) ix1 |= sign;
ix0 += (m <<20);
u.msw = ix0;
u.lsw = ix1;
return u.f;
}
/* called by libunwind */
int fprintf(FILE *stream, const char *fmt, ...)
{
struct msg_log request;
request.type = MESSAGE_TYPE_LOG;
request.fmt = fmt;
va_start(request.args, fmt);
mailbox_send_and_wait(&request);
va_end(request.args);
return 0;
}
/* called by libunwind */
int dladdr (const void *address, Dl_info *info)
{
/* we don't try to resolve names */
return 0;
}
/* called by libunwind */
int dl_iterate_phdr (int (*callback)(struct dl_phdr_info *, size_t, void *), void *data)
{
Elf32_Ehdr *ehdr;
struct dl_phdr_info phdr_info;
int retval;
ehdr = (Elf32_Ehdr *)(KERNELCPU_EXEC_ADDRESS - KSUPPORT_HEADER_SIZE);
phdr_info = (struct dl_phdr_info){
.dlpi_addr = 0, /* absolutely linked */
.dlpi_name = "<ksupport>",
.dlpi_phdr = (Elf32_Phdr*) ((intptr_t)ehdr + ehdr->e_phoff),
.dlpi_phnum = ehdr->e_phnum,
};
retval = callback(&phdr_info, sizeof(phdr_info), data);
if(retval)
return retval;
ehdr = (Elf32_Ehdr *)KERNELCPU_PAYLOAD_ADDRESS;
phdr_info = (struct dl_phdr_info){
.dlpi_addr = KERNELCPU_PAYLOAD_ADDRESS,
.dlpi_name = "<kernel>",
.dlpi_phdr = (Elf32_Phdr*) ((intptr_t)ehdr + ehdr->e_phoff),
.dlpi_phnum = ehdr->e_phnum,
};
retval = callback(&phdr_info, sizeof(phdr_info), data);
return retval;
}
static Elf32_Addr resolve_runtime_export(const char *name)
{
const struct symbol *sym = runtime_exports;
while(sym->name) {
if(!strcmp(sym->name, name))
return (Elf32_Addr)sym->addr;
++sym;
}
return 0;
}
void exception_handler(unsigned long vect, unsigned long *regs,
unsigned long pc, unsigned long ea);
void exception_handler(unsigned long vect, unsigned long *regs,
unsigned long pc, unsigned long ea)
{
artiq_raise_from_c("InternalError",
"Hardware exception {0} at PC 0x{1:08x}, EA 0x{2:08x}",
vect, pc, ea);
}
static void now_init(void)
{
struct msg_base request;
struct msg_now_init_reply *reply;
request.type = MESSAGE_TYPE_NOW_INIT_REQUEST;
mailbox_send_and_wait(&request);
reply = mailbox_wait_and_receive();
if(reply->type != MESSAGE_TYPE_NOW_INIT_REPLY) {
core_log("Malformed MESSAGE_TYPE_NOW_INIT_REQUEST reply type %d\n",
reply->type);
while(1);
}
now = reply->now;
mailbox_acknowledge();
}
static void now_save(void)
{
struct msg_now_save request;
request.type = MESSAGE_TYPE_NOW_SAVE;
request.now = now;
mailbox_send_and_wait(&request);
}
int main(void);
int main(void)
{
struct msg_load_request *request = mailbox_receive();
struct msg_load_reply load_reply = {
.type = MESSAGE_TYPE_LOAD_REPLY,
.error = NULL
};
if(request == NULL) {
bridge_main();
while(1);
}
if(request->library != NULL) {
if(!dyld_load(request->library, KERNELCPU_PAYLOAD_ADDRESS,
resolve_runtime_export, request->library_info,
&load_reply.error)) {
mailbox_send(&load_reply);
while(1);
}
void *__bss_start = dyld_lookup("__bss_start", request->library_info);
void *_end = dyld_lookup("_end", request->library_info);
memset(__bss_start, 0, _end - __bss_start);
}
if(request->run_kernel) {
void (*kernel_run)() = request->library_info->init;
void *typeinfo = dyld_lookup("typeinfo", request->library_info);
mailbox_send_and_wait(&load_reply);
now_init();
kernel_run();
now_save();
attribute_writeback(typeinfo);
struct msg_base finished_reply;
finished_reply.type = MESSAGE_TYPE_FINISHED;
mailbox_send_and_wait(&finished_reply);
} else {
mailbox_send(&load_reply);
}
while(1);
}
/* called from __artiq_personality */
void __artiq_terminate(struct artiq_exception *artiq_exn,
struct artiq_backtrace_item *backtrace,
size_t backtrace_size)
{
struct msg_exception msg;
now_save();
msg.type = MESSAGE_TYPE_EXCEPTION;
msg.exception = artiq_exn;
msg.backtrace = backtrace;
msg.backtrace_size = backtrace_size;
mailbox_send(&msg);
while(1);
}
void ksupport_abort()
{
artiq_raise_from_c("InternalError", "abort() called; check device log for details",
0, 0, 0);
}
int watchdog_set(int ms)
{
struct msg_watchdog_set_request request;
struct msg_watchdog_set_reply *reply;
int id;
request.type = MESSAGE_TYPE_WATCHDOG_SET_REQUEST;
request.ms = ms;
mailbox_send_and_wait(&request);
reply = mailbox_wait_and_receive();
if(reply->type != MESSAGE_TYPE_WATCHDOG_SET_REPLY) {
core_log("Malformed MESSAGE_TYPE_WATCHDOG_SET_REQUEST reply type %d\n",
reply->type);
while(1);
}
id = reply->id;
mailbox_acknowledge();
return id;
}
void watchdog_clear(int id)
{
struct msg_watchdog_clear request;
request.type = MESSAGE_TYPE_WATCHDOG_CLEAR;
request.id = id;
mailbox_send_and_wait(&request);
}
void send_rpc(int service, const char *tag, ...)
{
struct msg_rpc_send request;
if(service != 0)
request.type = MESSAGE_TYPE_RPC_SEND;
else
request.type = MESSAGE_TYPE_RPC_BATCH;
request.service = service;
request.tag = tag;
va_start(request.args, tag);
mailbox_send_and_wait(&request);
va_end(request.args);
}
int recv_rpc(void *slot)
{
struct msg_rpc_recv_request request;
struct msg_rpc_recv_reply *reply;
request.type = MESSAGE_TYPE_RPC_RECV_REQUEST;
request.slot = slot;
mailbox_send_and_wait(&request);
reply = mailbox_wait_and_receive();
if(reply->type != MESSAGE_TYPE_RPC_RECV_REPLY) {
core_log("Malformed MESSAGE_TYPE_RPC_RECV_REQUEST reply type %d\n",
reply->type);
while(1);
}
if(reply->exception) {
struct artiq_exception exception;
memcpy(&exception, reply->exception,
sizeof(struct artiq_exception));
mailbox_acknowledge();
__artiq_raise(&exception);
} else {
int alloc_size = reply->alloc_size;
mailbox_acknowledge();
return alloc_size;
}
}
struct attr_desc {
uint32_t offset;
const char *tag;
const char *name;
};
struct type_desc {
struct attr_desc **attributes;
void **objects;
};
void attribute_writeback(void *utypes)
{
struct type_desc **types = (struct type_desc **)utypes;
while(*types) {
struct type_desc *type = *types++;
size_t attr_count = 0;
for(struct attr_desc **attr = type->attributes; *attr; attr++)
attr_count++;
void **objects = type->objects;
while(*objects) {
void *object = *objects++;
struct attr_desc **attrs = type->attributes;
while(*attrs) {
struct attr_desc *attr = *attrs++;
if(attr->tag) {
uintptr_t value = (uintptr_t)object + attr->offset;
send_rpc(0, attr->tag, &object, &attr->name, value);
}
}
}
}
}
struct artiq_list cache_get(const char *key)
{
struct msg_cache_get_request request;
struct msg_cache_get_reply *reply;
request.type = MESSAGE_TYPE_CACHE_GET_REQUEST;
request.key = key;
mailbox_send_and_wait(&request);
reply = mailbox_wait_and_receive();
if(reply->type != MESSAGE_TYPE_CACHE_GET_REPLY) {
core_log("Malformed MESSAGE_TYPE_CACHE_GET_REQUEST reply type %d\n",
reply->type);
while(1);
}
return (struct artiq_list) { reply->length, reply->elements };
}
void cache_put(const char *key, struct artiq_list value)
{
struct msg_cache_put_request request;
struct msg_cache_put_reply *reply;
request.type = MESSAGE_TYPE_CACHE_PUT_REQUEST;
request.key = key;
request.elements = value.elements;
request.length = value.length;
mailbox_send_and_wait(&request);
reply = mailbox_wait_and_receive();
if(reply->type != MESSAGE_TYPE_CACHE_PUT_REPLY) {
core_log("Malformed MESSAGE_TYPE_CACHE_PUT_REQUEST reply type %d\n",
reply->type);
while(1);
}
if(!reply->succeeded) {
artiq_raise_from_c("CacheError",
"cannot put into a busy cache row",
0, 0, 0);
}
}
void core_log(const char *fmt, ...)
{
struct msg_log request;
request.type = MESSAGE_TYPE_LOG;
request.fmt = fmt;
va_start(request.args, fmt);
mailbox_send_and_wait(&request);
va_end(request.args);
}
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