2020-04-26 09:57:42 +08:00
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use core::{ptr, mem};
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2020-07-05 23:46:23 +08:00
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use log::{debug, info, error};
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2020-07-06 15:34:49 +08:00
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use alloc::{vec::Vec, sync::Arc, string::String};
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use cslice::{CSlice, AsCSlice};
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2020-04-17 15:43:00 +08:00
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2020-07-06 00:18:28 +08:00
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use libcortex_a9::{enable_fpu, cache::dcci_slice, mutex::Mutex, sync_channel::{self, sync_channel}};
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2020-04-17 13:18:23 +08:00
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use libsupport_zynq::boot::Core1;
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2020-04-17 15:43:00 +08:00
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use dyld;
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2020-07-02 10:10:33 +08:00
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use crate::eh_artiq;
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2020-06-05 11:48:34 +08:00
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use crate::rpc;
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2020-04-17 17:05:55 +08:00
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use crate::rtio;
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2020-04-17 15:43:00 +08:00
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2020-07-06 15:34:49 +08:00
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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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2020-04-17 15:43:00 +08:00
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#[derive(Debug)]
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pub enum Message {
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2020-04-17 17:05:55 +08:00
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LoadRequest(Arc<Vec<u8>>),
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LoadCompleted,
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LoadFailed,
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2020-04-26 09:57:42 +08:00
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StartRequest,
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2020-06-05 11:48:34 +08:00
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KernelFinished,
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2020-07-03 17:21:42 +08:00
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KernelException(&'static eh_artiq::Exception<'static>, &'static [usize]),
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2020-06-05 11:48:34 +08:00
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RpcSend { is_async: bool, data: Arc<Vec<u8>> },
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2020-06-08 13:11:09 +08:00
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RpcRecvRequest(*mut ()),
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2020-07-06 15:34:49 +08:00
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RpcRecvReply(Result<usize, RPCException>),
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2020-04-17 15:43:00 +08:00
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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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2020-04-17 13:18:23 +08:00
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pub struct Control {
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2020-04-28 19:46:33 +08:00
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core1: Core1,
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2020-04-17 15:43:00 +08:00
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pub tx: sync_channel::Sender<Message>,
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pub rx: sync_channel::Receiver<Message>,
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2020-04-17 13:18:23 +08:00
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}
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impl Control {
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2020-04-28 19:46:33 +08:00
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pub fn start() -> Self {
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2020-05-06 22:16:34 +08:00
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let core1 = Core1::start(true);
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2020-04-17 13:18:23 +08:00
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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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2020-04-17 14:43:50 +08:00
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pub fn restart(&mut self) {
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2020-04-17 13:18:23 +08:00
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*CHANNEL_0TO1.lock() = None;
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*CHANNEL_1TO0.lock() = None;
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2020-04-17 14:43:50 +08:00
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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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2020-04-17 13:18:23 +08:00
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}
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}
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2020-04-13 13:48:08 +08:00
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2020-06-05 11:48:34 +08:00
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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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2020-06-08 13:11:09 +08:00
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fn rpc_send_common(is_async: bool, service: u32, tag: &CSlice<u8>, data: *const *const ()) {
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2020-06-05 11:48:34 +08:00
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let core1_tx: &mut sync_channel::Sender<Message> = unsafe { mem::transmute(KERNEL_CHANNEL_1TO0) };
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2020-06-05 17:14:36 +08:00
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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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2020-06-08 13:11:09 +08:00
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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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2020-06-05 11:48:34 +08:00
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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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2020-06-08 13:11:09 +08:00
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rpc_send_common(true, service, tag, data);
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2020-06-05 11:48:34 +08:00
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}
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2020-07-03 17:21:42 +08:00
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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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2020-06-10 17:01:17 +08:00
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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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2020-06-05 11:48:34 +08:00
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extern fn rpc_recv(slot: *mut ()) -> usize {
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2020-06-08 13:11:09 +08:00
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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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2020-07-06 15:34:49 +08:00
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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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2020-06-08 13:11:09 +08:00
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_ => panic!("received unexpected reply to RpcRecvRequest: {:?}", reply)
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}
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2020-06-05 11:48:34 +08:00
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}
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2020-04-17 17:05:55 +08:00
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macro_rules! api {
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($i:ident) => ({
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extern { static $i: u8; }
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2020-06-09 12:57:13 +08:00
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unsafe { api!($i = &$i as *const _) }
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2020-04-17 17:05:55 +08:00
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});
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($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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2020-06-12 04:49:00 +08:00
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// timing
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2020-04-26 16:10:32 +08:00
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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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2020-04-17 17:05:55 +08:00
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2020-06-12 04:49:00 +08:00
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// rpc
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2020-06-05 11:48:34 +08:00
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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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2020-06-12 04:49:00 +08:00
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// rtio
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2020-04-17 17:05:55 +08:00
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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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2020-04-26 09:57:42 +08:00
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2020-06-12 04:49:00 +08:00
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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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2020-06-09 12:57:13 +08:00
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api!(__aeabi_l2d),
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2020-06-12 04:49:00 +08:00
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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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2020-07-02 10:10:33 +08:00
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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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2020-06-13 15:27:51 +08:00
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// exceptions
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2020-07-02 10:10:33 +08:00
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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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2020-06-09 12:56:58 +08:00
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2020-04-17 17:05:55 +08:00
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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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2020-04-17 13:18:23 +08:00
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#[no_mangle]
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pub fn main_core1() {
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2020-04-24 12:55:59 +08:00
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debug!("Core1 started");
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2020-04-17 13:18:23 +08:00
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2020-07-06 00:18:28 +08:00
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enable_fpu();
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2020-06-07 15:12:34 +08:00
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debug!("FPU enabled on Core1");
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2020-04-17 13:18:23 +08:00
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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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2020-06-05 11:48:34 +08:00
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let mut core1_rx = core1_rx.unwrap();
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2020-04-17 13:18:23 +08:00
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2020-04-26 09:57:42 +08:00
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let mut current_modinit: Option<u32> = None;
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2020-06-10 17:01:17 +08:00
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let mut current_typeinfo: Option<u32> = None;
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2020-06-05 11:48:34 +08:00
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loop {
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let message = core1_rx.recv();
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2020-04-17 15:43:00 +08:00
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match *message {
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2020-04-17 17:05:55 +08:00
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Message::LoadRequest(data) => {
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2020-04-30 04:01:12 +08:00
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match dyld::load(&data, &resolve) {
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2020-04-17 17:05:55 +08:00
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Ok(library) => {
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2020-07-03 17:21:42 +08:00
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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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2020-04-28 19:01:53 +08:00
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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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2020-04-26 09:57:42 +08:00
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}
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2020-04-28 19:01:53 +08:00
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let __modinit__ = library.lookup(b"__modinit__").unwrap();
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2020-04-26 09:57:42 +08:00
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current_modinit = Some(__modinit__);
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2020-06-10 17:01:17 +08:00
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current_typeinfo = library.lookup(b"typeinfo");
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2020-04-26 16:10:09 +08:00
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debug!("kernel loaded");
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2020-06-19 02:14:02 +08:00
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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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2020-06-05 11:48:34 +08:00
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core1_tx.send(Message::LoadCompleted);
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2020-04-17 17:05:55 +08:00
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},
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Err(error) => {
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2020-04-24 12:55:59 +08:00
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error!("failed to load shared library: {}", error);
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2020-06-05 11:48:34 +08:00
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core1_tx.send(Message::LoadFailed);
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2020-04-17 17:05:55 +08:00
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}
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}
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},
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2020-04-26 09:57:42 +08:00
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Message::StartRequest => {
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2020-07-05 23:46:23 +08:00
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info!("kernel starting");
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2020-04-26 09:57:42 +08:00
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if let Some(__modinit__) = current_modinit {
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unsafe {
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2020-06-05 11:48:34 +08:00
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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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2020-04-26 09:57:42 +08:00
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(mem::transmute::<u32, fn()>(__modinit__))();
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2020-06-10 17:01:17 +08:00
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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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2020-06-05 11:48:34 +08:00
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KERNEL_CHANNEL_0TO1 = ptr::null_mut();
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KERNEL_CHANNEL_1TO0 = ptr::null_mut();
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2020-04-26 09:57:42 +08:00
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}
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}
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2020-07-05 23:46:23 +08:00
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info!("kernel finished");
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2020-06-05 11:48:34 +08:00
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core1_tx.send(Message::KernelFinished);
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2020-04-26 09:57:42 +08:00
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}
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2020-04-24 12:55:59 +08:00
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_ => error!("Core1 received unexpected message: {:?}", message),
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2020-04-17 15:43:00 +08:00
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}
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2020-04-13 13:48:08 +08:00
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}
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}
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