fix warning

src/Cargo.lock

@@ -219,7 +219,7 @@ dependencies = [
 ]
 
 [[package]]
-name = "kernel"
+name = "ksupport"
 version = "0.1.0"
 dependencies = [
  "build_zynq",
@@ -465,7 +465,7 @@ dependencies = [
  "embedded-hal",
  "futures",
  "io",
- "kernel",
+ "ksupport",
  "libasync",
  "libboard_artiq",
  "libboard_zynq",
@@ -498,6 +498,7 @@ version = "0.0.0"
 dependencies = [
  "build_zynq",
  "embedded-hal",
+ "ksupport",
  "libasync",
  "libboard_artiq",
  "libboard_zynq",

src/Cargo.toml

@@ -5,6 +5,7 @@ members = [
   "libdwarf",
   "libio",
   "libunwind",
+  "libksupport",
   "runtime",
   "satman"
 ]

src/gateware/kasli_soc.py

@@ -442,7 +442,7 @@ class GenericSatellite(SoCCore):
         self.comb += self.drtiosat.async_errors.eq(self.local_io.async_errors)
 
         self.submodules.cri_con = rtio.CRIInterconnectShared(
-            [self.drtiosat.cri, self.rtio_dma.cri],
+            [self.drtiosat.cri, self.rtio_dma.cri, self.rtio.cri],
             [self.local_io.cri] + self.drtio_cri,
             enable_routing=True)
         self.csr_devices.append("cri_con")

src/gateware/zc706.py

@@ -481,7 +481,7 @@ class _SatelliteBase(SoCCore):
 
         self.submodules.local_io = SyncRTIO(self.rtio_tsc, rtio_channels)
         self.submodules.cri_con = rtio.CRIInterconnectShared(
-            [self.drtiosat.cri, self.rtio_dma.cri],
+            [self.drtiosat.cri, self.rtio_dma.cri, self.rtio.cri],
             [self.local_io.cri] + self.drtio_cri,
             enable_routing=True)
         self.csr_devices.append("cri_con")

src/libio/cursor.rs

@@ -1,3 +1,5 @@
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
 use core_io::{Error as IoError, Read, Write};
 
 #[derive(Debug, Clone)]
@@ -64,7 +66,7 @@ impl Write for Cursor<&mut [u8]> {
 }
 
 #[cfg(feature = "alloc")]
-impl Write for Cursor<::alloc::Vec<u8>> {
+impl Write for Cursor<Vec<u8>> {
     #[inline]
     fn write(&mut self, buf: &[u8]) -> Result<usize, IoError> {
         self.inner.extend_from_slice(buf);

src/libio/lib.rs

@@ -1,13 +1,10 @@
 #![no_std]
 #![feature(never_type)]
-#![cfg_attr(feature = "alloc", feature(alloc))]
 
+#[cfg(feature = "alloc")]
 extern crate alloc;
 extern crate core_io;
 
-#[cfg(feature = "alloc")]
-#[macro_use]
-use alloc;
 #[cfg(feature = "byteorder")]
 extern crate byteorder;
 

src/libkernel/src/kernel/mod.rs

@@ -1,27 +0,0 @@
-use core::ptr;
-
-use libcortex_a9::{mutex::Mutex, semaphore::Semaphore, sync_channel};
-
-use crate::Message;
-
-mod control;
-pub use control::Control;
-mod api;
-pub mod core1;
-mod dma;
-mod rpc;
-pub use dma::DmaRecorder;
-mod cache;
-#[cfg(has_drtio)]
-mod subkernel;
-
-static CHANNEL_0TO1: Mutex<Option<sync_channel::Sender<'static, Message>>> = Mutex::new(None);
-static CHANNEL_1TO0: Mutex<Option<sync_channel::Receiver<'static, Message>>> = Mutex::new(None);
-static CHANNEL_SEM: Semaphore = Semaphore::new(0, 1);
-
-static mut KERNEL_CHANNEL_0TO1: Option<sync_channel::Receiver<'static, Message>> = None;
-static mut KERNEL_CHANNEL_1TO0: Option<sync_channel::Sender<'static, Message>> = None;
-
-pub static mut KERNEL_IMAGE: *const core1::KernelImage = ptr::null();
-
-static INIT_LOCK: Mutex<()> = Mutex::new(());

src/libksupport/Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-name = "kernel"
+name = "ksupport"
 description = "Kernel support for Zynq-based platforms"
 version = "0.1.0"
 authors = ["M-Labs"]

src/libksupport/src/kernel/control.rs

@@ -3,8 +3,8 @@ use core::mem::{forget, replace};
 use libcortex_a9::sync_channel::{Receiver, Sender};
 use libsupport_zynq::boot::Core1;
 
-use super::{CHANNEL_0TO1, CHANNEL_1TO0, CHANNEL_SEM, INIT_LOCK};
-use crate::{irq::restart_core1, Message};
+use super::{Message, CHANNEL_0TO1, CHANNEL_1TO0, CHANNEL_SEM, INIT_LOCK};
+use crate::{irq::restart_core1};
 
 pub struct Control {
     pub tx: Sender<'static, Message>,

src/libksupport/src/kernel/mod.rs

@@ -0,0 +1,123 @@
+use alloc::{string::String, vec::Vec};
+use core::ptr;
+
+use libcortex_a9::{mutex::Mutex, semaphore::Semaphore, sync_channel};
+
+use crate::{eh_artiq, RPCException};
+
+mod control;
+pub use control::Control;
+mod api;
+pub mod core1;
+mod dma;
+mod rpc;
+pub use dma::DmaRecorder;
+mod cache;
+#[cfg(has_drtio)]
+mod subkernel;
+
+
+#[cfg(has_drtio)]
+#[derive(Debug, Clone)]
+pub enum SubkernelStatus {
+    NoError,
+    Timeout,
+    IncorrectState,
+    CommLost,
+    OtherError,
+}
+
+#[derive(Debug, Clone)]
+pub enum Message {
+    LoadRequest(Vec<u8>),
+    LoadCompleted,
+    LoadFailed,
+    StartRequest,
+    KernelFinished(u8),
+    KernelException(
+        &'static [Option<eh_artiq::Exception<'static>>],
+        &'static [eh_artiq::StackPointerBacktrace],
+        &'static [(usize, usize)],
+        u8,
+    ),
+    RpcSend {
+        is_async: bool,
+        data: Vec<u8>,
+    },
+    RpcRecvRequest(*mut ()),
+    RpcRecvReply(Result<usize, RPCException>),
+
+    CacheGetRequest(String),
+    CacheGetReply(Vec<i32>),
+    CachePutRequest(String, Vec<i32>),
+
+    DmaPutRequest(DmaRecorder),
+    DmaEraseRequest(String),
+    DmaGetRequest(String),
+    DmaGetReply(Option<(i32, i64, bool)>),
+    #[cfg(has_drtio)]
+    DmaStartRemoteRequest {
+        id: i32,
+        timestamp: i64,
+    },
+    #[cfg(has_drtio)]
+    DmaAwaitRemoteRequest(i32),
+    #[cfg(has_drtio)]
+    DmaAwaitRemoteReply {
+        timeout: bool,
+        error: u8,
+        channel: u32,
+        timestamp: u64,
+    },
+
+    #[cfg(has_drtio)]
+    UpDestinationsRequest(i32),
+    #[cfg(has_drtio)]
+    UpDestinationsReply(bool),
+
+    #[cfg(has_drtio)]
+    SubkernelLoadRunRequest {
+        id: u32,
+        run: bool,
+    },
+    #[cfg(has_drtio)]
+    SubkernelLoadRunReply {
+        succeeded: bool,
+    },
+    #[cfg(has_drtio)]
+    SubkernelAwaitFinishRequest {
+        id: u32,
+        timeout: u64,
+    },
+    #[cfg(has_drtio)]
+    SubkernelAwaitFinishReply {
+        status: SubkernelStatus,
+    },
+    #[cfg(has_drtio)]
+    SubkernelMsgSend {
+        id: u32,
+        data: Vec<u8>,
+    },
+    #[cfg(has_drtio)]
+    SubkernelMsgSent,
+    #[cfg(has_drtio)]
+    SubkernelMsgRecvRequest {
+        id: u32,
+        timeout: u64,
+    },
+    #[cfg(has_drtio)]
+    SubkernelMsgRecvReply {
+        status: SubkernelStatus,
+    },
+}
+
+static CHANNEL_0TO1: Mutex<Option<sync_channel::Sender<'static, Message>>> = Mutex::new(None);
+static CHANNEL_1TO0: Mutex<Option<sync_channel::Receiver<'static, Message>>> = Mutex::new(None);
+static CHANNEL_SEM: Semaphore = Semaphore::new(0, 1);
+
+static mut KERNEL_CHANNEL_0TO1: Option<sync_channel::Receiver<'static, Message>> = None;
+static mut KERNEL_CHANNEL_1TO0: Option<sync_channel::Sender<'static, Message>> = None;
+
+pub static mut KERNEL_IMAGE: *const core1::KernelImage = ptr::null();
+
+static INIT_LOCK: Mutex<()> = Mutex::new(());

src/libksupport/src/kernel/subkernel.rs

@@ -2,8 +2,8 @@ use alloc::vec::Vec;
 
 use cslice::CSlice;
 
-use super::{KERNEL_CHANNEL_0TO1, KERNEL_CHANNEL_1TO0};
-use crate::{artiq_raise, rpc::send_args, Message, SubkernelStatus};
+use super::{Message, KERNEL_CHANNEL_0TO1, KERNEL_CHANNEL_1TO0, SubkernelStatus};
+use crate::{artiq_raise, rpc::send_args};
 
 pub extern "C" fn load_run(id: u32, run: bool) {
     unsafe {
@@ -60,6 +60,10 @@ pub extern "C" fn send_message(id: u32, tag: &CSlice<u8>, data: *const *const ()
             data: buffer[4..].to_vec(),
         });
     }
+    match unsafe { KERNEL_CHANNEL_0TO1.as_mut().unwrap() }.recv() {
+        Message::SubkernelMsgSent => (),
+        _ => panic!("expected SubkernelMsgSent after SubkernelMsgSend"),
+    }
 }
 
 pub extern "C" fn await_message(id: u32, timeout: u64) {

src/libksupport/src/lib.rs

@@ -8,14 +8,14 @@
 #[macro_use]
 extern crate alloc;
 
-use alloc::{collections::BTreeMap, string::String, vec::Vec};
+use alloc::{collections::BTreeMap, string::String};
 
 use io::{Cursor, ProtoRead};
-pub use kernel::{Control, DmaRecorder};
 use libasync::block_async;
 use libconfig::Config;
 use log::{error, warn};
 use void::Void;
+use rtio::rtio_core;
 
 pub mod eh_artiq;
 pub mod i2c;
@@ -44,98 +44,6 @@ pub struct RPCException {
     pub function: u32,
 }
 
-#[cfg(has_drtio)]
-#[derive(Debug, Clone)]
-pub enum SubkernelStatus {
-    NoError,
-    Timeout,
-    IncorrectState,
-    CommLost,
-    OtherError,
-}
-
-#[derive(Debug, Clone)]
-pub enum Message {
-    LoadRequest(Vec<u8>),
-    LoadCompleted,
-    LoadFailed,
-    StartRequest,
-    KernelFinished(u8),
-    KernelException(
-        &'static [Option<eh_artiq::Exception<'static>>],
-        &'static [eh_artiq::StackPointerBacktrace],
-        &'static [(usize, usize)],
-        u8,
-    ),
-    RpcSend {
-        is_async: bool,
-        data: Vec<u8>,
-    },
-    RpcRecvRequest(*mut ()),
-    RpcRecvReply(Result<usize, RPCException>),
-
-    CacheGetRequest(String),
-    CacheGetReply(Vec<i32>),
-    CachePutRequest(String, Vec<i32>),
-
-    DmaPutRequest(DmaRecorder),
-    DmaEraseRequest(String),
-    DmaGetRequest(String),
-    DmaGetReply(Option<(i32, i64, bool)>),
-    #[cfg(has_drtio)]
-    DmaStartRemoteRequest {
-        id: i32,
-        timestamp: i64,
-    },
-    #[cfg(has_drtio)]
-    DmaAwaitRemoteRequest(i32),
-    #[cfg(has_drtio)]
-    DmaAwaitRemoteReply {
-        timeout: bool,
-        error: u8,
-        channel: u32,
-        timestamp: u64,
-    },
-
-    #[cfg(has_drtio)]
-    UpDestinationsRequest(i32),
-    #[cfg(has_drtio)]
-    UpDestinationsReply(bool),
-
-    #[cfg(has_drtio)]
-    SubkernelLoadRunRequest {
-        id: u32,
-        run: bool,
-    },
-    #[cfg(has_drtio)]
-    SubkernelLoadRunReply {
-        succeeded: bool,
-    },
-    #[cfg(has_drtio)]
-    SubkernelAwaitFinishRequest {
-        id: u32,
-        timeout: u64,
-    },
-    #[cfg(has_drtio)]
-    SubkernelAwaitFinishReply {
-        status: SubkernelStatus,
-    },
-    #[cfg(has_drtio)]
-    SubkernelMsgSend {
-        id: u32,
-        data: Vec<u8>,
-    },
-    #[cfg(has_drtio)]
-    SubkernelMsgRecvRequest {
-        id: u32,
-        timeout: u64,
-    },
-    #[cfg(has_drtio)]
-    SubkernelMsgRecvReply {
-        status: SubkernelStatus,
-    },
-}
-
 pub static mut SEEN_ASYNC_ERRORS: u8 = 0;
 
 pub const ASYNC_ERROR_COLLISION: u8 = 1 << 0;
@@ -150,7 +58,7 @@ pub unsafe fn get_async_errors() -> u8 {
 
 fn wait_for_async_rtio_error() -> nb::Result<(), Void> {
     unsafe {
-        if pl::csr::rtio_core::async_error_read() != 0 {
+        if rtio_core::async_error_read() != 0 {
             Ok(())
         } else {
             Err(nb::Error::WouldBlock)
@@ -162,9 +70,9 @@ pub async fn report_async_rtio_errors() {
     loop {
         let _ = block_async!(wait_for_async_rtio_error()).await;
         unsafe {
-            let errors = pl::csr::rtio_core::async_error_read();
+            let errors = rtio_core::async_error_read();
             if errors & ASYNC_ERROR_COLLISION != 0 {
-                let channel = pl::csr::rtio_core::collision_channel_read();
+                let channel = rtio_core::collision_channel_read();
                 error!(
                     "RTIO collision involving channel 0x{:04x}:{}",
                     channel,
@@ -172,7 +80,7 @@ pub async fn report_async_rtio_errors() {
                 );
             }
             if errors & ASYNC_ERROR_BUSY != 0 {
-                let channel = pl::csr::rtio_core::busy_channel_read();
+                let channel = rtio_core::busy_channel_read();
                 error!(
                     "RTIO busy error involving channel 0x{:04x}:{}",
                     channel,
@@ -180,7 +88,7 @@ pub async fn report_async_rtio_errors() {
                 );
             }
             if errors & ASYNC_ERROR_SEQUENCE_ERROR != 0 {
-                let channel = pl::csr::rtio_core::sequence_error_channel_read();
+                let channel = rtio_core::sequence_error_channel_read();
                 error!(
                     "RTIO sequence error involving channel 0x{:04x}:{}",
                     channel,
@@ -188,7 +96,7 @@ pub async fn report_async_rtio_errors() {
                 );
             }
             SEEN_ASYNC_ERRORS = errors;
-            pl::csr::rtio_core::async_error_write(errors);
+            rtio_core::async_error_write(errors);
         }
     }
 }

src/libksupport/src/rtio_acp.rs

@@ -5,6 +5,10 @@ use libcortex_a9::asm;
 use vcell::VolatileCell;
 
 use crate::{artiq_raise, pl::csr, resolve_channel_name};
+#[cfg(has_drtiosat)]
+pub use crate::pl::csr::drtiosat as rtio_core;
+#[cfg(has_rtio_core)]
+pub use crate::pl::csr::rtio_core;
 
 pub const RTIO_O_STATUS_WAIT: i32 = 1;
 pub const RTIO_O_STATUS_UNDERFLOW: i32 = 2;
@@ -51,7 +55,7 @@ static mut TRANSACTION_BUFFER: Transaction = Transaction {
 
 pub extern "C" fn init() {
     unsafe {
-        csr::rtio_core::reset_write(1);
+        rtio_core::reset_write(1);
         csr::rtio::engine_addr_base_write(&TRANSACTION_BUFFER as *const Transaction as u32);
         csr::rtio::enable_write(1);
     }

src/libksupport/src/rtio_csr.rs

@@ -3,6 +3,10 @@ use core::ptr::{read_volatile, write_volatile};
 use cslice::CSlice;
 
 use crate::{artiq_raise, pl::csr, resolve_channel_name};
+#[cfg(has_drtiosat)]
+pub use crate::pl::csr::drtiosat as rtio_core;
+#[cfg(has_rtio_core)]
+pub use crate::pl::csr::rtio_core;
 
 pub const RTIO_O_STATUS_WAIT: u8 = 1;
 pub const RTIO_O_STATUS_UNDERFLOW: u8 = 2;
@@ -20,7 +24,7 @@ pub struct TimestampedData {
 
 pub extern "C" fn init() {
     unsafe {
-        csr::rtio_core::reset_write(1);
+        rtio_core::reset_write(1);
     }
 }
 

src/runtime/Cargo.toml

@@ -39,5 +39,5 @@ dwarf = { path = "../libdwarf" }
 unwind = { path = "../libunwind" }
 libc = { path = "../libc" }
 io = { path = "../libio" }
-kernel = { path = "../libkernel" }
+ksupport = { path = "../libksupport" }
 libboard_artiq = { path = "../libboard_artiq" }

src/runtime/src/comms.rs

@@ -6,9 +6,9 @@ use cslice::CSlice;
 use futures::{future::FutureExt, select_biased};
 #[cfg(has_drtio)]
 use io::{Cursor, ProtoRead};
-use kernel::resolve_channel_name;
+use ksupport::{kernel, resolve_channel_name};
 #[cfg(has_drtio)]
-use kernel::rpc;
+use ksupport::rpc;
 use libasync::{smoltcp::{Sockets, TcpStream},
                task};
 use libboard_artiq::drtio_routing;
@@ -268,7 +268,7 @@ async fn handle_run_kernel(
                             let function = read_i32(stream).await? as u32;
                             control
                                 .tx
-                                .async_send(kernel::Message::RpcRecvReply(Err(kernel::RPCException {
+                                .async_send(kernel::Message::RpcRecvReply(Err(ksupport::RPCException {
                                     id,
                                     message,
                                     param,
@@ -460,6 +460,7 @@ async fn handle_run_kernel(
                         error!("error sending subkernel message: {:?}", e)
                     }
                 };
+                control.borrow_mut().tx.async_send(kernel::Message::SubkernelMsgSent).await;
             }
             #[cfg(has_drtio)]
             kernel::Message::SubkernelMsgRecvRequest { id, timeout } => {
@@ -698,7 +699,7 @@ pub fn main(timer: GlobalTimer, cfg: Config) {
     drtio_routing::interconnect_disable_all();
 
     rtio_mgt::startup(&aux_mutex, &drtio_routing_table, &up_destinations, timer);
-    kernel::setup_device_map(&cfg);
+    ksupport::setup_device_map(&cfg);
 
     analyzer::start(&aux_mutex, &drtio_routing_table, &up_destinations, timer);
     moninj::start(timer, &aux_mutex, &drtio_routing_table);

src/runtime/src/main.rs

@@ -10,7 +10,7 @@ extern crate alloc;
 
 use core::cell::RefCell;
 
-use kernel;
+use ksupport;
 use libasync::task;
 #[cfg(feature = "target_kasli_soc")]
 use libboard_artiq::io_expander;
@@ -73,8 +73,8 @@ pub fn main_core0() {
 
     info!("gateware ident: {}", identifier_read(&mut [0; 64]));
 
-    kernel::i2c::init();
-    let i2c_bus = unsafe { (kernel::i2c::I2C_BUS).as_mut().unwrap() };
+    ksupport::i2c::init();
+    let i2c_bus = unsafe { (ksupport::i2c::I2C_BUS).as_mut().unwrap() };
 
     #[cfg(feature = "target_kasli_soc")]
     let (mut io_expander0, mut io_expander1);
@@ -107,7 +107,7 @@ pub fn main_core0() {
 
     rtio_clocking::init(&mut timer, &cfg);
 
-    task::spawn(kernel::report_async_rtio_errors());
+    task::spawn(ksupport::report_async_rtio_errors());
 
     #[cfg(feature = "target_kasli_soc")]
     task::spawn(io_expanders_service(

src/runtime/src/rpc_async.rs

@@ -4,7 +4,7 @@ use core::future::Future;
 use async_recursion::async_recursion;
 use byteorder::{ByteOrder, NativeEndian};
 use cslice::CMutSlice;
-use kernel::rpc::{tag::{Tag, TagIterator},
+use ksupport::rpc::{tag::{Tag, TagIterator},
                   *};
 use libasync::smoltcp::TcpStream;
 use libboard_zynq::smoltcp;

src/runtime/src/rtio_clocking.rs

@@ -1,6 +1,6 @@
 use embedded_hal::blocking::delay::DelayMs;
 #[cfg(has_si5324)]
-use kernel::i2c;
+use ksupport::i2c;
 use libboard_artiq::pl;
 #[cfg(has_si5324)]
 use libboard_artiq::si5324;

src/runtime/src/rtio_dma.rs

@@ -2,7 +2,7 @@ use alloc::{collections::BTreeMap, rc::Rc, string::String, vec::Vec};
 #[cfg(has_drtio)]
 use core::mem;
 
-use kernel::DmaRecorder;
+use ksupport::kernel::DmaRecorder;
 #[cfg(has_drtio)]
 use libasync::task;
 use libboard_artiq::drtio_routing::RoutingTable;

src/runtime/src/rtio_mgt.rs

@@ -10,7 +10,7 @@ pub mod drtio {
     use alloc::vec::Vec;
 
     use embedded_hal::blocking::delay::DelayMs;
-    use kernel::{ASYNC_ERROR_BUSY, ASYNC_ERROR_COLLISION, ASYNC_ERROR_SEQUENCE_ERROR, SEEN_ASYNC_ERRORS};
+    use ksupport::{ASYNC_ERROR_BUSY, ASYNC_ERROR_COLLISION, ASYNC_ERROR_SEQUENCE_ERROR, SEEN_ASYNC_ERRORS, resolve_channel_name};
     use libasync::{delay, task};
     use libboard_artiq::{drtioaux::Error, drtioaux_async, drtioaux_async::Packet,
                          drtioaux_proto::MASTER_PAYLOAD_MAX_SIZE};
@@ -309,7 +309,7 @@ pub mod drtio {
                                     "[DEST#{}] RTIO sequence error involving channel 0x{:04x}:{}",
                                     destination,
                                     channel,
-                                    kernel::resolve_channel_name(channel as u32)
+                                    resolve_channel_name(channel as u32)
                                 );
                                 unsafe { SEEN_ASYNC_ERRORS |= ASYNC_ERROR_SEQUENCE_ERROR };
                             }
@@ -318,7 +318,7 @@ pub mod drtio {
                                     "[DEST#{}] RTIO collision involving channel 0x{:04x}:{}",
                                     destination,
                                     channel,
-                                    kernel::resolve_channel_name(channel as u32)
+                                    resolve_channel_name(channel as u32)
                                 );
                                 unsafe { SEEN_ASYNC_ERRORS |= ASYNC_ERROR_COLLISION };
                             }
@@ -327,7 +327,7 @@ pub mod drtio {
                                     "[DEST#{}] RTIO busy error involving channel 0x{:04x}:{}",
                                     destination,
                                     channel,
-                                    kernel::resolve_channel_name(channel as u32)
+                                    resolve_channel_name(channel as u32)
                                 );
                                 unsafe { SEEN_ASYNC_ERRORS |= ASYNC_ERROR_BUSY };
                             }