forked from M-Labs/artiq-zynq
kernel: split into {api,control,core1,rpc}
This commit is contained in:
parent
68045ce0c5
commit
b3d4590eec
@ -213,7 +213,7 @@ pub unsafe extern fn raise(exception: *const Exception) -> ! {
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INFLIGHT.backtrace_size += 1;
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}
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});
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crate::kernel::terminate(INFLIGHT.exception.as_ref().unwrap(), INFLIGHT.backtrace[..INFLIGHT.backtrace_size].as_mut());
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crate::kernel::core1::terminate(INFLIGHT.exception.as_ref().unwrap(), INFLIGHT.backtrace[..INFLIGHT.backtrace_size].as_mut());
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}
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pub unsafe extern fn reraise() -> ! {
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@ -1,384 +0,0 @@
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use core::{ptr, mem};
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use log::{debug, info, error};
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use alloc::{vec::Vec, sync::Arc, string::String};
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use cslice::{CSlice, AsCSlice};
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use libcortex_a9::{enable_fpu, cache::dcci_slice, mutex::Mutex, sync_channel::{self, sync_channel}};
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use libsupport_zynq::boot::Core1;
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use dyld;
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use crate::eh_artiq;
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use crate::rpc;
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use crate::rtio;
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#[derive(Debug)]
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pub struct RPCException {
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pub name: String,
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pub message: String,
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pub param: [i64; 3],
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pub file: String,
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pub line: i32,
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pub column: i32,
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pub function: String
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}
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#[derive(Debug)]
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pub enum Message {
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LoadRequest(Arc<Vec<u8>>),
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LoadCompleted,
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LoadFailed,
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StartRequest,
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KernelFinished,
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KernelException(&'static eh_artiq::Exception<'static>, &'static [usize]),
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RpcSend { is_async: bool, data: Arc<Vec<u8>> },
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RpcRecvRequest(*mut ()),
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RpcRecvReply(Result<usize, RPCException>),
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}
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static CHANNEL_0TO1: Mutex<Option<sync_channel::Receiver<Message>>> = Mutex::new(None);
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static CHANNEL_1TO0: Mutex<Option<sync_channel::Sender<Message>>> = Mutex::new(None);
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pub struct Control {
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core1: Core1,
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pub tx: sync_channel::Sender<Message>,
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pub rx: sync_channel::Receiver<Message>,
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}
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impl Control {
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pub fn start() -> Self {
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let core1 = Core1::start(true);
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let (core0_tx, core1_rx) = sync_channel(4);
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let (core1_tx, core0_rx) = sync_channel(4);
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*CHANNEL_0TO1.lock() = Some(core1_rx);
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*CHANNEL_1TO0.lock() = Some(core1_tx);
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Control {
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core1,
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tx: core0_tx,
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rx: core0_rx,
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}
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}
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pub fn restart(&mut self) {
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*CHANNEL_0TO1.lock() = None;
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*CHANNEL_1TO0.lock() = None;
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self.core1.restart();
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let (core0_tx, core1_rx) = sync_channel(4);
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let (core1_tx, core0_rx) = sync_channel(4);
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*CHANNEL_0TO1.lock() = Some(core1_rx);
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*CHANNEL_1TO0.lock() = Some(core1_tx);
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self.tx = core0_tx;
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self.rx = core0_rx;
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}
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}
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static mut KERNEL_CHANNEL_0TO1: *mut () = ptr::null_mut();
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static mut KERNEL_CHANNEL_1TO0: *mut () = ptr::null_mut();
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fn rpc_send_common(is_async: bool, service: u32, tag: &CSlice<u8>, data: *const *const ()) {
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let core1_tx: &mut sync_channel::Sender<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) };
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let mut buffer = Vec::<u8>::new();
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rpc::send_args(&mut buffer, service, tag.as_ref(), data).expect("RPC encoding failed");
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core1_tx.send(Message::RpcSend { is_async: is_async, data: Arc::new(buffer) });
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}
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extern fn rpc_send(service: u32, tag: &CSlice<u8>, data: *const *const ()) {
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rpc_send_common(false, service, tag, data);
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}
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extern fn rpc_send_async(service: u32, tag: &CSlice<u8>, data: *const *const ()) {
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rpc_send_common(true, service, tag, data);
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}
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static mut KERNEL_LOAD_ADDR: usize = 0;
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pub fn terminate(exception: &'static eh_artiq::Exception<'static>, backtrace: &'static mut [usize]) -> ! {
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let load_addr = unsafe {
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KERNEL_LOAD_ADDR
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};
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let mut cursor = 0;
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// The address in the backtrace is relocated, so we have to convert it back to the address in
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// the original python script, and remove those Rust function backtrace.
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for i in 0..backtrace.len() {
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if backtrace[i] >= load_addr {
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backtrace[cursor] = backtrace[i] - load_addr;
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cursor += 1;
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}
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}
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let core1_tx: &mut sync_channel::Sender<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) };
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core1_tx.send(Message::KernelException(exception, &backtrace[..cursor]));
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loop {}
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}
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unsafe fn attribute_writeback(typeinfo: *const ()) {
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struct Attr {
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offset: usize,
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tag: CSlice<'static, u8>,
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name: CSlice<'static, u8>
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}
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struct Type {
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attributes: *const *const Attr,
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objects: *const *const ()
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}
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let mut tys = typeinfo as *const *const Type;
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while !(*tys).is_null() {
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let ty = *tys;
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tys = tys.offset(1);
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let mut objects = (*ty).objects;
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while !(*objects).is_null() {
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let object = *objects;
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objects = objects.offset(1);
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let mut attributes = (*ty).attributes;
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while !(*attributes).is_null() {
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let attribute = *attributes;
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attributes = attributes.offset(1);
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if (*attribute).tag.len() > 0 {
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rpc_send_async(0, &(*attribute).tag, [
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&object as *const _ as *const (),
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&(*attribute).name as *const _ as *const (),
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(object as usize + (*attribute).offset) as *const ()
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].as_ptr());
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}
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}
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}
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}
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}
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extern fn rpc_recv(slot: *mut ()) -> usize {
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let core1_rx: &mut sync_channel::Receiver<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_0TO1) };
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let core1_tx: &mut sync_channel::Sender<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) };
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core1_tx.send(Message::RpcRecvRequest(slot));
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let reply = core1_rx.recv();
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match *reply {
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Message::RpcRecvReply(Ok(alloc_size)) => alloc_size,
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Message::RpcRecvReply(Err(exception)) => unsafe {
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eh_artiq::raise(&eh_artiq::Exception {
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name: exception.name.as_bytes().as_c_slice(),
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file: exception.file.as_bytes().as_c_slice(),
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line: exception.line as u32,
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column: exception.column as u32,
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function: exception.function.as_bytes().as_c_slice(),
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message: exception.message.as_bytes().as_c_slice(),
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param: exception.param
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})
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},
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_ => panic!("received unexpected reply to RpcRecvRequest: {:?}", reply)
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}
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}
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macro_rules! api {
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($i:ident) => ({
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extern { static $i: u8; }
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unsafe { api!($i = &$i as *const _) }
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});
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($i:ident, $d:item) => ({
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$d
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api!($i = $i)
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});
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($i:ident = $e:expr) => {
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(stringify!($i), $e as *const ())
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}
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}
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fn resolve(required: &[u8]) -> Option<u32> {
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let api = &[
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// timing
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api!(now_mu = rtio::now_mu),
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api!(at_mu = rtio::at_mu),
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api!(delay_mu = rtio::delay_mu),
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// rpc
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api!(rpc_send = rpc_send),
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api!(rpc_send_async = rpc_send_async),
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api!(rpc_recv = rpc_recv),
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// rtio
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api!(rtio_init = rtio::init),
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api!(rtio_get_destination_status = rtio::get_destination_status),
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api!(rtio_get_counter = rtio::get_counter),
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api!(rtio_output = rtio::output),
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api!(rtio_output_wide = rtio::output_wide),
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api!(rtio_input_timestamp = rtio::input_timestamp),
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api!(rtio_input_data = rtio::input_data),
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api!(rtio_input_timestamped_data = rtio::input_timestamped_data),
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// Double-precision floating-point arithmetic helper functions
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// RTABI chapter 4.1.2, Table 2
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api!(__aeabi_dadd),
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api!(__aeabi_ddiv),
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api!(__aeabi_dmul),
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api!(__aeabi_dsub),
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// Double-precision floating-point comparison helper functions
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// RTABI chapter 4.1.2, Table 3
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api!(__aeabi_dcmpeq),
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api!(__aeabi_dcmpeq),
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api!(__aeabi_dcmplt),
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api!(__aeabi_dcmple),
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api!(__aeabi_dcmpge),
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api!(__aeabi_dcmpgt),
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api!(__aeabi_dcmpun),
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// Single-precision floating-point arithmetic helper functions
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// RTABI chapter 4.1.2, Table 4
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api!(__aeabi_fadd),
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api!(__aeabi_fdiv),
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api!(__aeabi_fmul),
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api!(__aeabi_fsub),
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// Single-precision floating-point comparison helper functions
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// RTABI chapter 4.1.2, Table 5
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api!(__aeabi_fcmpeq),
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api!(__aeabi_fcmpeq),
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api!(__aeabi_fcmplt),
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api!(__aeabi_fcmple),
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api!(__aeabi_fcmpge),
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api!(__aeabi_fcmpgt),
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api!(__aeabi_fcmpun),
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// Floating-point to integer conversions.
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// RTABI chapter 4.1.2, Table 6
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api!(__aeabi_d2iz),
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api!(__aeabi_d2uiz),
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api!(__aeabi_d2lz),
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api!(__aeabi_d2ulz),
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api!(__aeabi_f2iz),
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api!(__aeabi_f2uiz),
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api!(__aeabi_f2lz),
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api!(__aeabi_f2ulz),
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// Conversions between floating types.
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// RTABI chapter 4.1.2, Table 7
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api!(__aeabi_f2d),
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// Integer to floating-point conversions.
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// RTABI chapter 4.1.2, Table 8
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api!(__aeabi_i2d),
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api!(__aeabi_ui2d),
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api!(__aeabi_l2d),
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api!(__aeabi_ul2d),
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api!(__aeabi_i2f),
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api!(__aeabi_ui2f),
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api!(__aeabi_l2f),
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api!(__aeabi_ul2f),
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// Long long helper functions
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// RTABI chapter 4.2, Table 9
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api!(__aeabi_lmul),
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api!(__aeabi_llsl),
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api!(__aeabi_llsr),
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api!(__aeabi_lasr),
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// Integer division functions
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// RTABI chapter 4.3.1
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api!(__aeabi_idiv),
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api!(__aeabi_ldivmod),
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api!(__aeabi_uidiv),
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api!(__aeabi_uldivmod),
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// 4.3.4 Memory copying, clearing, and setting
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api!(__aeabi_memcpy8),
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api!(__aeabi_memcpy4),
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api!(__aeabi_memcpy),
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api!(__aeabi_memmove8),
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api!(__aeabi_memmove4),
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api!(__aeabi_memmove),
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api!(__aeabi_memset8),
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api!(__aeabi_memset4),
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api!(__aeabi_memset),
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api!(__aeabi_memclr8),
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api!(__aeabi_memclr4),
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api!(__aeabi_memclr),
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// libc
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api!(memcmp, extern { fn memcmp(a: *const u8, b: *mut u8, size: usize); }),
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// exceptions
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api!(_Unwind_Resume = unwind::_Unwind_Resume),
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api!(__artiq_personality = eh_artiq::artiq_personality),
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api!(__artiq_raise = eh_artiq::raise),
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api!(__artiq_reraise = eh_artiq::reraise),
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];
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api.iter()
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.find(|&&(exported, _)| exported.as_bytes() == required)
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.map(|&(_, ptr)| ptr as u32)
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}
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#[no_mangle]
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pub fn main_core1() {
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debug!("Core1 started");
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enable_fpu();
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debug!("FPU enabled on Core1");
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let mut core1_tx = None;
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while core1_tx.is_none() {
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core1_tx = CHANNEL_1TO0.lock().take();
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}
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let mut core1_tx = core1_tx.unwrap();
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let mut core1_rx = None;
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while core1_rx.is_none() {
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core1_rx = CHANNEL_0TO1.lock().take();
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}
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let mut core1_rx = core1_rx.unwrap();
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let mut current_modinit: Option<u32> = None;
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let mut current_typeinfo: Option<u32> = None;
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let mut library_handle: Option<dyld::Library> = None;
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loop {
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let message = core1_rx.recv();
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match *message {
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Message::LoadRequest(data) => {
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match dyld::load(&data, &resolve) {
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Ok(library) => {
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unsafe {
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KERNEL_LOAD_ADDR = library.image.as_ptr() as usize;
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}
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let bss_start = library.lookup(b"__bss_start");
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let end = library.lookup(b"_end");
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if let Some(bss_start) = bss_start {
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let end = end.unwrap();
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unsafe {
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ptr::write_bytes(bss_start as *mut u8, 0, (end - bss_start) as usize);
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}
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}
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let __modinit__ = library.lookup(b"__modinit__").unwrap();
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current_modinit = Some(__modinit__);
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current_typeinfo = library.lookup(b"typeinfo");
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debug!("kernel loaded");
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// Flush data cache entries for the image in DDR, including
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// Memory/Instruction Symchronization Barriers
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dcci_slice(library.image.data);
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core1_tx.send(Message::LoadCompleted);
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library_handle = Some(library);
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},
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Err(error) => {
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error!("failed to load shared library: {}", error);
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core1_tx.send(Message::LoadFailed);
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}
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}
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},
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Message::StartRequest => {
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info!("kernel starting");
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if let Some(__modinit__) = current_modinit {
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unsafe {
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KERNEL_CHANNEL_0TO1 = mem::transmute(&mut core1_rx);
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KERNEL_CHANNEL_1TO0 = mem::transmute(&mut core1_tx);
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(mem::transmute::<u32, fn()>(__modinit__))();
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if let Some(typeinfo) = current_typeinfo {
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attribute_writeback(typeinfo as *const ());
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}
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KERNEL_CHANNEL_0TO1 = ptr::null_mut();
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KERNEL_CHANNEL_1TO0 = ptr::null_mut();
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}
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}
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library_handle = None;
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info!("kernel finished");
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core1_tx.send(Message::KernelFinished);
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}
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_ => error!("Core1 received unexpected message: {:?}", message),
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}
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}
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}
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131
src/runtime/src/kernel/api.rs
Normal file
131
src/runtime/src/kernel/api.rs
Normal file
@ -0,0 +1,131 @@
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use crate::eh_artiq;
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use crate::rtio;
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use super::rpc::{rpc_send, rpc_send_async, rpc_recv};
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macro_rules! api {
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($i:ident) => ({
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extern { static $i: u8; }
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unsafe { api!($i = &$i as *const _) }
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});
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($i:ident, $d:item) => ({
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$d
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api!($i = $i)
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});
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($i:ident = $e:expr) => {
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(stringify!($i), $e as *const ())
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}
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}
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pub fn resolve(required: &[u8]) -> Option<u32> {
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let api = &[
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// timing
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api!(now_mu = rtio::now_mu),
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api!(at_mu = rtio::at_mu),
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api!(delay_mu = rtio::delay_mu),
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// rpc
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api!(rpc_send = rpc_send),
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api!(rpc_send_async = rpc_send_async),
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api!(rpc_recv = rpc_recv),
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// rtio
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api!(rtio_init = rtio::init),
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api!(rtio_get_destination_status = rtio::get_destination_status),
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api!(rtio_get_counter = rtio::get_counter),
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api!(rtio_output = rtio::output),
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api!(rtio_output_wide = rtio::output_wide),
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api!(rtio_input_timestamp = rtio::input_timestamp),
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api!(rtio_input_data = rtio::input_data),
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api!(rtio_input_timestamped_data = rtio::input_timestamped_data),
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// Double-precision floating-point arithmetic helper functions
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// RTABI chapter 4.1.2, Table 2
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api!(__aeabi_dadd),
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api!(__aeabi_ddiv),
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api!(__aeabi_dmul),
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api!(__aeabi_dsub),
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// Double-precision floating-point comparison helper functions
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// RTABI chapter 4.1.2, Table 3
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api!(__aeabi_dcmpeq),
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api!(__aeabi_dcmpeq),
|
||||
api!(__aeabi_dcmplt),
|
||||
api!(__aeabi_dcmple),
|
||||
api!(__aeabi_dcmpge),
|
||||
api!(__aeabi_dcmpgt),
|
||||
api!(__aeabi_dcmpun),
|
||||
// Single-precision floating-point arithmetic helper functions
|
||||
// RTABI chapter 4.1.2, Table 4
|
||||
api!(__aeabi_fadd),
|
||||
api!(__aeabi_fdiv),
|
||||
api!(__aeabi_fmul),
|
||||
api!(__aeabi_fsub),
|
||||
// Single-precision floating-point comparison helper functions
|
||||
// RTABI chapter 4.1.2, Table 5
|
||||
api!(__aeabi_fcmpeq),
|
||||
api!(__aeabi_fcmpeq),
|
||||
api!(__aeabi_fcmplt),
|
||||
api!(__aeabi_fcmple),
|
||||
api!(__aeabi_fcmpge),
|
||||
api!(__aeabi_fcmpgt),
|
||||
api!(__aeabi_fcmpun),
|
||||
// Floating-point to integer conversions.
|
||||
// RTABI chapter 4.1.2, Table 6
|
||||
api!(__aeabi_d2iz),
|
||||
api!(__aeabi_d2uiz),
|
||||
api!(__aeabi_d2lz),
|
||||
api!(__aeabi_d2ulz),
|
||||
api!(__aeabi_f2iz),
|
||||
api!(__aeabi_f2uiz),
|
||||
api!(__aeabi_f2lz),
|
||||
api!(__aeabi_f2ulz),
|
||||
// Conversions between floating types.
|
||||
// RTABI chapter 4.1.2, Table 7
|
||||
api!(__aeabi_f2d),
|
||||
// Integer to floating-point conversions.
|
||||
// RTABI chapter 4.1.2, Table 8
|
||||
api!(__aeabi_i2d),
|
||||
api!(__aeabi_ui2d),
|
||||
api!(__aeabi_l2d),
|
||||
api!(__aeabi_ul2d),
|
||||
api!(__aeabi_i2f),
|
||||
api!(__aeabi_ui2f),
|
||||
api!(__aeabi_l2f),
|
||||
api!(__aeabi_ul2f),
|
||||
// Long long helper functions
|
||||
// RTABI chapter 4.2, Table 9
|
||||
api!(__aeabi_lmul),
|
||||
api!(__aeabi_llsl),
|
||||
api!(__aeabi_llsr),
|
||||
api!(__aeabi_lasr),
|
||||
// Integer division functions
|
||||
// RTABI chapter 4.3.1
|
||||
api!(__aeabi_idiv),
|
||||
api!(__aeabi_ldivmod),
|
||||
api!(__aeabi_uidiv),
|
||||
api!(__aeabi_uldivmod),
|
||||
// 4.3.4 Memory copying, clearing, and setting
|
||||
api!(__aeabi_memcpy8),
|
||||
api!(__aeabi_memcpy4),
|
||||
api!(__aeabi_memcpy),
|
||||
api!(__aeabi_memmove8),
|
||||
api!(__aeabi_memmove4),
|
||||
api!(__aeabi_memmove),
|
||||
api!(__aeabi_memset8),
|
||||
api!(__aeabi_memset4),
|
||||
api!(__aeabi_memset),
|
||||
api!(__aeabi_memclr8),
|
||||
api!(__aeabi_memclr4),
|
||||
api!(__aeabi_memclr),
|
||||
// libc
|
||||
api!(memcmp, extern { fn memcmp(a: *const u8, b: *mut u8, size: usize); }),
|
||||
// exceptions
|
||||
api!(_Unwind_Resume = unwind::_Unwind_Resume),
|
||||
api!(__artiq_personality = eh_artiq::artiq_personality),
|
||||
api!(__artiq_raise = eh_artiq::raise),
|
||||
api!(__artiq_reraise = eh_artiq::reraise),
|
||||
|
||||
];
|
||||
api.iter()
|
||||
.find(|&&(exported, _)| exported.as_bytes() == required)
|
||||
.map(|&(_, ptr)| ptr as u32)
|
||||
}
|
||||
41
src/runtime/src/kernel/control.rs
Normal file
41
src/runtime/src/kernel/control.rs
Normal file
@ -0,0 +1,41 @@
|
||||
use libcortex_a9::sync_channel::{self, sync_channel};
|
||||
use libsupport_zynq::boot::Core1;
|
||||
|
||||
use super::{CHANNEL_0TO1, CHANNEL_1TO0, Message};
|
||||
|
||||
pub struct Control {
|
||||
core1: Core1,
|
||||
pub tx: sync_channel::Sender<Message>,
|
||||
pub rx: sync_channel::Receiver<Message>,
|
||||
}
|
||||
|
||||
impl Control {
|
||||
pub fn start() -> Self {
|
||||
let core1 = Core1::start(true);
|
||||
|
||||
let (core0_tx, core1_rx) = sync_channel(4);
|
||||
let (core1_tx, core0_rx) = sync_channel(4);
|
||||
*CHANNEL_0TO1.lock() = Some(core1_rx);
|
||||
*CHANNEL_1TO0.lock() = Some(core1_tx);
|
||||
|
||||
Control {
|
||||
core1,
|
||||
tx: core0_tx,
|
||||
rx: core0_rx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn restart(&mut self) {
|
||||
*CHANNEL_0TO1.lock() = None;
|
||||
*CHANNEL_1TO0.lock() = None;
|
||||
|
||||
self.core1.restart();
|
||||
|
||||
let (core0_tx, core1_rx) = sync_channel(4);
|
||||
let (core1_tx, core0_rx) = sync_channel(4);
|
||||
*CHANNEL_0TO1.lock() = Some(core1_rx);
|
||||
*CHANNEL_1TO0.lock() = Some(core1_tx);
|
||||
self.tx = core0_tx;
|
||||
self.rx = core0_rx;
|
||||
}
|
||||
}
|
||||
157
src/runtime/src/kernel/core1.rs
Normal file
157
src/runtime/src/kernel/core1.rs
Normal file
@ -0,0 +1,157 @@
|
||||
//! Kernel prologue/epilogue that runs on the 2nd CPU core
|
||||
|
||||
use core::{ptr, mem};
|
||||
use log::{debug, info, error};
|
||||
use cslice::CSlice;
|
||||
|
||||
use libcortex_a9::{enable_fpu, cache::dcci_slice, sync_channel};
|
||||
use dyld;
|
||||
use crate::eh_artiq;
|
||||
use super::{
|
||||
api::resolve,
|
||||
rpc::rpc_send_async,
|
||||
CHANNEL_0TO1, CHANNEL_1TO0,
|
||||
KERNEL_CHANNEL_0TO1, KERNEL_CHANNEL_1TO0,
|
||||
Message,
|
||||
};
|
||||
|
||||
/// will contain the kernel image address on the heap
|
||||
static mut KERNEL_LOAD_ADDR: usize = 0;
|
||||
|
||||
unsafe fn attribute_writeback(typeinfo: *const ()) {
|
||||
struct Attr {
|
||||
offset: usize,
|
||||
tag: CSlice<'static, u8>,
|
||||
name: CSlice<'static, u8>
|
||||
}
|
||||
|
||||
struct Type {
|
||||
attributes: *const *const Attr,
|
||||
objects: *const *const ()
|
||||
}
|
||||
|
||||
let mut tys = typeinfo as *const *const Type;
|
||||
while !(*tys).is_null() {
|
||||
let ty = *tys;
|
||||
tys = tys.offset(1);
|
||||
|
||||
let mut objects = (*ty).objects;
|
||||
while !(*objects).is_null() {
|
||||
let object = *objects;
|
||||
objects = objects.offset(1);
|
||||
|
||||
let mut attributes = (*ty).attributes;
|
||||
while !(*attributes).is_null() {
|
||||
let attribute = *attributes;
|
||||
attributes = attributes.offset(1);
|
||||
|
||||
if (*attribute).tag.len() > 0 {
|
||||
rpc_send_async(0, &(*attribute).tag, [
|
||||
&object as *const _ as *const (),
|
||||
&(*attribute).name as *const _ as *const (),
|
||||
(object as usize + (*attribute).offset) as *const ()
|
||||
].as_ptr());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[no_mangle]
|
||||
pub fn main_core1() {
|
||||
debug!("Core1 started");
|
||||
|
||||
enable_fpu();
|
||||
debug!("FPU enabled on Core1");
|
||||
|
||||
let mut core1_tx = None;
|
||||
while core1_tx.is_none() {
|
||||
core1_tx = CHANNEL_1TO0.lock().take();
|
||||
}
|
||||
let mut core1_tx = core1_tx.unwrap();
|
||||
|
||||
let mut core1_rx = None;
|
||||
while core1_rx.is_none() {
|
||||
core1_rx = CHANNEL_0TO1.lock().take();
|
||||
}
|
||||
let mut core1_rx = core1_rx.unwrap();
|
||||
|
||||
let mut current_modinit: Option<u32> = None;
|
||||
let mut current_typeinfo: Option<u32> = None;
|
||||
let mut library_handle: Option<dyld::Library> = None;
|
||||
loop {
|
||||
let message = core1_rx.recv();
|
||||
match *message {
|
||||
Message::LoadRequest(data) => {
|
||||
match dyld::load(&data, &resolve) {
|
||||
Ok(library) => {
|
||||
unsafe {
|
||||
KERNEL_LOAD_ADDR = library.image.as_ptr() as usize;
|
||||
}
|
||||
let bss_start = library.lookup(b"__bss_start");
|
||||
let end = library.lookup(b"_end");
|
||||
if let Some(bss_start) = bss_start {
|
||||
let end = end.unwrap();
|
||||
unsafe {
|
||||
ptr::write_bytes(bss_start as *mut u8, 0, (end - bss_start) as usize);
|
||||
}
|
||||
}
|
||||
let __modinit__ = library.lookup(b"__modinit__").unwrap();
|
||||
current_modinit = Some(__modinit__);
|
||||
current_typeinfo = library.lookup(b"typeinfo");
|
||||
debug!("kernel loaded");
|
||||
// Flush data cache entries for the image in DDR, including
|
||||
// Memory/Instruction Symchronization Barriers
|
||||
dcci_slice(library.image.data);
|
||||
|
||||
core1_tx.send(Message::LoadCompleted);
|
||||
library_handle = Some(library);
|
||||
},
|
||||
Err(error) => {
|
||||
error!("failed to load shared library: {}", error);
|
||||
core1_tx.send(Message::LoadFailed);
|
||||
}
|
||||
}
|
||||
},
|
||||
Message::StartRequest => {
|
||||
info!("kernel starting");
|
||||
if let Some(__modinit__) = current_modinit {
|
||||
unsafe {
|
||||
KERNEL_CHANNEL_0TO1 = mem::transmute(&mut core1_rx);
|
||||
KERNEL_CHANNEL_1TO0 = mem::transmute(&mut core1_tx);
|
||||
(mem::transmute::<u32, fn()>(__modinit__))();
|
||||
if let Some(typeinfo) = current_typeinfo {
|
||||
attribute_writeback(typeinfo as *const ());
|
||||
}
|
||||
KERNEL_CHANNEL_0TO1 = ptr::null_mut();
|
||||
KERNEL_CHANNEL_1TO0 = ptr::null_mut();
|
||||
}
|
||||
}
|
||||
library_handle = None;
|
||||
info!("kernel finished");
|
||||
core1_tx.send(Message::KernelFinished);
|
||||
}
|
||||
_ => error!("Core1 received unexpected message: {:?}", message),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Called by eh_artiq
|
||||
pub fn terminate(exception: &'static eh_artiq::Exception<'static>, backtrace: &'static mut [usize]) -> ! {
|
||||
let load_addr = unsafe {
|
||||
KERNEL_LOAD_ADDR
|
||||
};
|
||||
let mut cursor = 0;
|
||||
// The address in the backtrace is relocated, so we have to convert it back to the address in
|
||||
// the original python script, and remove those Rust function backtrace.
|
||||
for i in 0..backtrace.len() {
|
||||
if backtrace[i] >= load_addr {
|
||||
backtrace[cursor] = backtrace[i] - load_addr;
|
||||
cursor += 1;
|
||||
}
|
||||
}
|
||||
|
||||
let core1_tx: &mut sync_channel::Sender<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) };
|
||||
core1_tx.send(Message::KernelException(exception, &backtrace[..cursor]));
|
||||
loop {}
|
||||
}
|
||||
41
src/runtime/src/kernel/mod.rs
Normal file
41
src/runtime/src/kernel/mod.rs
Normal file
@ -0,0 +1,41 @@
|
||||
use core::ptr;
|
||||
use alloc::{vec::Vec, sync::Arc, string::String};
|
||||
|
||||
use libcortex_a9::{mutex::Mutex, sync_channel};
|
||||
use crate::eh_artiq;
|
||||
|
||||
mod control;
|
||||
pub use control::Control;
|
||||
pub mod core1;
|
||||
mod api;
|
||||
mod rpc;
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct RPCException {
|
||||
pub name: String,
|
||||
pub message: String,
|
||||
pub param: [i64; 3],
|
||||
pub file: String,
|
||||
pub line: i32,
|
||||
pub column: i32,
|
||||
pub function: String
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum Message {
|
||||
LoadRequest(Arc<Vec<u8>>),
|
||||
LoadCompleted,
|
||||
LoadFailed,
|
||||
StartRequest,
|
||||
KernelFinished,
|
||||
KernelException(&'static eh_artiq::Exception<'static>, &'static [usize]),
|
||||
RpcSend { is_async: bool, data: Arc<Vec<u8>> },
|
||||
RpcRecvRequest(*mut ()),
|
||||
RpcRecvReply(Result<usize, RPCException>),
|
||||
}
|
||||
|
||||
static CHANNEL_0TO1: Mutex<Option<sync_channel::Receiver<Message>>> = Mutex::new(None);
|
||||
static CHANNEL_1TO0: Mutex<Option<sync_channel::Sender<Message>>> = Mutex::new(None);
|
||||
|
||||
static mut KERNEL_CHANNEL_0TO1: *mut () = ptr::null_mut();
|
||||
static mut KERNEL_CHANNEL_1TO0: *mut () = ptr::null_mut();
|
||||
50
src/runtime/src/kernel/rpc.rs
Normal file
50
src/runtime/src/kernel/rpc.rs
Normal file
@ -0,0 +1,50 @@
|
||||
//! Kernel-side RPC API
|
||||
|
||||
use core::mem;
|
||||
use alloc::{vec::Vec, sync::Arc};
|
||||
use cslice::{CSlice, AsCSlice};
|
||||
|
||||
use libcortex_a9::sync_channel;
|
||||
use crate::eh_artiq;
|
||||
use crate::rpc::send_args;
|
||||
use super::{
|
||||
KERNEL_CHANNEL_0TO1, KERNEL_CHANNEL_1TO0,
|
||||
Message,
|
||||
};
|
||||
|
||||
fn rpc_send_common(is_async: bool, service: u32, tag: &CSlice<u8>, data: *const *const ()) {
|
||||
let core1_tx: &mut sync_channel::Sender<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) };
|
||||
let mut buffer = Vec::<u8>::new();
|
||||
send_args(&mut buffer, service, tag.as_ref(), data).expect("RPC encoding failed");
|
||||
core1_tx.send(Message::RpcSend { is_async: is_async, data: Arc::new(buffer) });
|
||||
}
|
||||
|
||||
pub extern fn rpc_send(service: u32, tag: &CSlice<u8>, data: *const *const ()) {
|
||||
rpc_send_common(false, service, tag, data);
|
||||
}
|
||||
|
||||
pub extern fn rpc_send_async(service: u32, tag: &CSlice<u8>, data: *const *const ()) {
|
||||
rpc_send_common(true, service, tag, data);
|
||||
}
|
||||
|
||||
pub extern fn rpc_recv(slot: *mut ()) -> usize {
|
||||
let core1_rx: &mut sync_channel::Receiver<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_0TO1) };
|
||||
let core1_tx: &mut sync_channel::Sender<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) };
|
||||
core1_tx.send(Message::RpcRecvRequest(slot));
|
||||
let reply = core1_rx.recv();
|
||||
match *reply {
|
||||
Message::RpcRecvReply(Ok(alloc_size)) => alloc_size,
|
||||
Message::RpcRecvReply(Err(exception)) => unsafe {
|
||||
eh_artiq::raise(&eh_artiq::Exception {
|
||||
name: exception.name.as_bytes().as_c_slice(),
|
||||
file: exception.file.as_bytes().as_c_slice(),
|
||||
line: exception.line as u32,
|
||||
column: exception.column as u32,
|
||||
function: exception.function.as_bytes().as_c_slice(),
|
||||
message: exception.message.as_bytes().as_c_slice(),
|
||||
param: exception.param
|
||||
})
|
||||
},
|
||||
_ => panic!("received unexpected reply to RpcRecvRequest: {:?}", reply)
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user