From b3d4590eec817ae67a7cab6d291480d729fe052c Mon Sep 17 00:00:00 2001 From: Astro Date: Wed, 8 Jul 2020 22:32:45 +0200 Subject: [PATCH] kernel: split into {api,control,core1,rpc} --- src/runtime/src/eh_artiq.rs | 2 +- src/runtime/src/kernel.rs | 384 ------------------------------ src/runtime/src/kernel/api.rs | 131 ++++++++++ src/runtime/src/kernel/control.rs | 41 ++++ src/runtime/src/kernel/core1.rs | 157 ++++++++++++ src/runtime/src/kernel/mod.rs | 41 ++++ src/runtime/src/kernel/rpc.rs | 50 ++++ 7 files changed, 421 insertions(+), 385 deletions(-) delete mode 100644 src/runtime/src/kernel.rs create mode 100644 src/runtime/src/kernel/api.rs create mode 100644 src/runtime/src/kernel/control.rs create mode 100644 src/runtime/src/kernel/core1.rs create mode 100644 src/runtime/src/kernel/mod.rs create mode 100644 src/runtime/src/kernel/rpc.rs diff --git a/src/runtime/src/eh_artiq.rs b/src/runtime/src/eh_artiq.rs index c681fae8..f4ca871e 100644 --- a/src/runtime/src/eh_artiq.rs +++ b/src/runtime/src/eh_artiq.rs @@ -213,7 +213,7 @@ pub unsafe extern fn raise(exception: *const Exception) -> ! { INFLIGHT.backtrace_size += 1; } }); - crate::kernel::terminate(INFLIGHT.exception.as_ref().unwrap(), INFLIGHT.backtrace[..INFLIGHT.backtrace_size].as_mut()); + crate::kernel::core1::terminate(INFLIGHT.exception.as_ref().unwrap(), INFLIGHT.backtrace[..INFLIGHT.backtrace_size].as_mut()); } pub unsafe extern fn reraise() -> ! { diff --git a/src/runtime/src/kernel.rs b/src/runtime/src/kernel.rs deleted file mode 100644 index e5101f17..00000000 --- a/src/runtime/src/kernel.rs +++ /dev/null @@ -1,384 +0,0 @@ -use core::{ptr, mem}; -use log::{debug, info, error}; -use alloc::{vec::Vec, sync::Arc, string::String}; -use cslice::{CSlice, AsCSlice}; - -use libcortex_a9::{enable_fpu, cache::dcci_slice, mutex::Mutex, sync_channel::{self, sync_channel}}; -use libsupport_zynq::boot::Core1; - -use dyld; -use crate::eh_artiq; -use crate::rpc; -use crate::rtio; - -#[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>), - LoadCompleted, - LoadFailed, - StartRequest, - KernelFinished, - KernelException(&'static eh_artiq::Exception<'static>, &'static [usize]), - RpcSend { is_async: bool, data: Arc> }, - RpcRecvRequest(*mut ()), - RpcRecvReply(Result), -} - -static CHANNEL_0TO1: Mutex>> = Mutex::new(None); -static CHANNEL_1TO0: Mutex>> = Mutex::new(None); - -pub struct Control { - core1: Core1, - pub tx: sync_channel::Sender, - pub rx: sync_channel::Receiver, -} - -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; - } -} - -static mut KERNEL_CHANNEL_0TO1: *mut () = ptr::null_mut(); -static mut KERNEL_CHANNEL_1TO0: *mut () = ptr::null_mut(); - -fn rpc_send_common(is_async: bool, service: u32, tag: &CSlice, data: *const *const ()) { - let core1_tx: &mut sync_channel::Sender = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) }; - let mut buffer = Vec::::new(); - rpc::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) }); -} - -extern fn rpc_send(service: u32, tag: &CSlice, data: *const *const ()) { - rpc_send_common(false, service, tag, data); -} - -extern fn rpc_send_async(service: u32, tag: &CSlice, data: *const *const ()) { - rpc_send_common(true, service, tag, data); -} - -static mut KERNEL_LOAD_ADDR: usize = 0; - -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 = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) }; - core1_tx.send(Message::KernelException(exception, &backtrace[..cursor])); - loop {} -} - -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()); - } - } - } - } -} - -extern fn rpc_recv(slot: *mut ()) -> usize { - let core1_rx: &mut sync_channel::Receiver = unsafe { mem::transmute(KERNEL_CHANNEL_0TO1) }; - let core1_tx: &mut sync_channel::Sender = 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) - } -} - -macro_rules! api { - ($i:ident) => ({ - extern { static $i: u8; } - unsafe { api!($i = &$i as *const _) } - }); - ($i:ident, $d:item) => ({ - $d - api!($i = $i) - }); - ($i:ident = $e:expr) => { - (stringify!($i), $e as *const ()) - } -} - -fn resolve(required: &[u8]) -> Option { - let api = &[ - // timing - api!(now_mu = rtio::now_mu), - api!(at_mu = rtio::at_mu), - api!(delay_mu = rtio::delay_mu), - - // rpc - api!(rpc_send = rpc_send), - api!(rpc_send_async = rpc_send_async), - api!(rpc_recv = rpc_recv), - - // rtio - api!(rtio_init = rtio::init), - api!(rtio_get_destination_status = rtio::get_destination_status), - api!(rtio_get_counter = rtio::get_counter), - api!(rtio_output = rtio::output), - api!(rtio_output_wide = rtio::output_wide), - api!(rtio_input_timestamp = rtio::input_timestamp), - api!(rtio_input_data = rtio::input_data), - api!(rtio_input_timestamped_data = rtio::input_timestamped_data), - - // Double-precision floating-point arithmetic helper functions - // RTABI chapter 4.1.2, Table 2 - api!(__aeabi_dadd), - api!(__aeabi_ddiv), - api!(__aeabi_dmul), - api!(__aeabi_dsub), - // Double-precision floating-point comparison helper functions - // RTABI chapter 4.1.2, Table 3 - api!(__aeabi_dcmpeq), - 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) -} - - -#[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 = None; - let mut current_typeinfo: Option = None; - let mut library_handle: Option = 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::(__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), - } - } -} diff --git a/src/runtime/src/kernel/api.rs b/src/runtime/src/kernel/api.rs new file mode 100644 index 00000000..0153d7ab --- /dev/null +++ b/src/runtime/src/kernel/api.rs @@ -0,0 +1,131 @@ +use crate::eh_artiq; +use crate::rtio; +use super::rpc::{rpc_send, rpc_send_async, rpc_recv}; + +macro_rules! api { + ($i:ident) => ({ + extern { static $i: u8; } + unsafe { api!($i = &$i as *const _) } + }); + ($i:ident, $d:item) => ({ + $d + api!($i = $i) + }); + ($i:ident = $e:expr) => { + (stringify!($i), $e as *const ()) + } +} + +pub fn resolve(required: &[u8]) -> Option { + let api = &[ + // timing + api!(now_mu = rtio::now_mu), + api!(at_mu = rtio::at_mu), + api!(delay_mu = rtio::delay_mu), + + // rpc + api!(rpc_send = rpc_send), + api!(rpc_send_async = rpc_send_async), + api!(rpc_recv = rpc_recv), + + // rtio + api!(rtio_init = rtio::init), + api!(rtio_get_destination_status = rtio::get_destination_status), + api!(rtio_get_counter = rtio::get_counter), + api!(rtio_output = rtio::output), + api!(rtio_output_wide = rtio::output_wide), + api!(rtio_input_timestamp = rtio::input_timestamp), + api!(rtio_input_data = rtio::input_data), + api!(rtio_input_timestamped_data = rtio::input_timestamped_data), + + // Double-precision floating-point arithmetic helper functions + // RTABI chapter 4.1.2, Table 2 + api!(__aeabi_dadd), + api!(__aeabi_ddiv), + api!(__aeabi_dmul), + api!(__aeabi_dsub), + // Double-precision floating-point comparison helper functions + // RTABI chapter 4.1.2, Table 3 + api!(__aeabi_dcmpeq), + 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) +} diff --git a/src/runtime/src/kernel/control.rs b/src/runtime/src/kernel/control.rs new file mode 100644 index 00000000..95593de6 --- /dev/null +++ b/src/runtime/src/kernel/control.rs @@ -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, + pub rx: sync_channel::Receiver, +} + +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; + } +} diff --git a/src/runtime/src/kernel/core1.rs b/src/runtime/src/kernel/core1.rs new file mode 100644 index 00000000..dd8432b2 --- /dev/null +++ b/src/runtime/src/kernel/core1.rs @@ -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 = None; + let mut current_typeinfo: Option = None; + let mut library_handle: Option = 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::(__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 = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) }; + core1_tx.send(Message::KernelException(exception, &backtrace[..cursor])); + loop {} +} diff --git a/src/runtime/src/kernel/mod.rs b/src/runtime/src/kernel/mod.rs new file mode 100644 index 00000000..c07cc37c --- /dev/null +++ b/src/runtime/src/kernel/mod.rs @@ -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>), + LoadCompleted, + LoadFailed, + StartRequest, + KernelFinished, + KernelException(&'static eh_artiq::Exception<'static>, &'static [usize]), + RpcSend { is_async: bool, data: Arc> }, + RpcRecvRequest(*mut ()), + RpcRecvReply(Result), +} + +static CHANNEL_0TO1: Mutex>> = Mutex::new(None); +static CHANNEL_1TO0: Mutex>> = Mutex::new(None); + +static mut KERNEL_CHANNEL_0TO1: *mut () = ptr::null_mut(); +static mut KERNEL_CHANNEL_1TO0: *mut () = ptr::null_mut(); diff --git a/src/runtime/src/kernel/rpc.rs b/src/runtime/src/kernel/rpc.rs new file mode 100644 index 00000000..79a1f911 --- /dev/null +++ b/src/runtime/src/kernel/rpc.rs @@ -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, data: *const *const ()) { + let core1_tx: &mut sync_channel::Sender = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) }; + let mut buffer = Vec::::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, data: *const *const ()) { + rpc_send_common(false, service, tag, data); +} + +pub extern fn rpc_send_async(service: u32, tag: &CSlice, 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 = unsafe { mem::transmute(KERNEL_CHANNEL_0TO1) }; + let core1_tx: &mut sync_channel::Sender = 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) + } +}