use C ABI for attribute writeback typeinfo

Co-authored-by: newell <newell.jensen@gmail.com>
Co-committed-by: newell <newell.jensen@gmail.com>

examples/ebaz4205/device_db.py

@@ -0,0 +1,70 @@
+core_addr = "192.168.1.57"
+
+device_db = {
+    "core": {
+        "type": "local",
+        "module": "artiq.coredevice.core",
+        "class": "Core",
+        "arguments": {
+            "host": core_addr,
+            "ref_period": 1e-9,
+            "target": "cortexa9",
+        },
+    },
+    "core_log": {
+        "type": "controller",
+        "host": "::1",
+        "port": 1068,
+        "command": "aqctl_corelog -p {port} --bind {bind} " + core_addr,
+    },
+    "core_moninj": {
+        "type": "controller",
+        "host": "::1",
+        "port_proxy": 1383,
+        "port": 1384,
+        "command": "aqctl_moninj_proxy --port-proxy {port_proxy} --port-control {port} --bind {bind} "
+        + core_addr,
+    },
+    "core_analyzer": {
+        "type": "controller",
+        "host": "::1",
+        "port_proxy": 1385,
+        "port": 1386,
+        "command": "aqctl_coreanalyzer_proxy --port-proxy {port_proxy} --port-control {port} --bind {bind} "
+        + core_addr,
+    },
+    "core_cache": {
+        "type": "local",
+        "module": "artiq.coredevice.cache",
+        "class": "CoreCache",
+    },
+    "core_dma": {"type": "local", "module": "artiq.coredevice.dma", "class": "CoreDMA"},
+    "led0": {
+        "type": "local",
+        "module": "artiq.coredevice.ttl",
+        "class": "TTLOut",
+        "arguments": {"channel": 0},
+    },
+    "led1": {
+        "type": "local",
+        "module": "artiq.coredevice.ttl",
+        "class": "TTLOut",
+        "arguments": {"channel": 1},
+    },
+}
+
+
+device_db.update(
+    spi0={
+        "type": "local",
+        "module": "artiq.coredevice.spi2",
+        "class": "SPIMaster",
+        "arguments": {"channel": 2},
+    },
+    dds0={
+        "type": "local",
+        "module": "artiq.coredevice.ad9834",
+        "class": "AD9834",
+        "arguments": {"spi_device": "spi0"},
+    },
+)

flake.lock

@@ -11,11 +11,11 @@
         "src-pythonparser": "src-pythonparser"
       },
       "locked": {
-        "lastModified": 1727765117,
+        "lastModified": 1729249162,
-        "narHash": "sha256-P4PgnsXNL4kXjSAhRpXzkq17j8bEaJAqNLSH2Vt+DY0=",
+        "narHash": "sha256-o3UROeulca0x5LQ6PlVILKEnZfhLElUA6qnNJ4Uwjmk=",
         "ref": "refs/heads/master",
-        "rev": "333623e24bdec00783bc89c1e8b6b49a74bc9e1c",
+        "rev": "02235b2d80780de2ce0bb3cea09fe05be191fa5b",
-        "revCount": 9020,
+        "revCount": 9039,
         "type": "git",
         "url": "https://github.com/m-labs/artiq.git"
       },
@@ -102,11 +102,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1727348695,
+        "lastModified": 1728492678,
-        "narHash": "sha256-J+PeFKSDV+pHL7ukkfpVzCOO7mBSrrpJ3svwBFABbhI=",
+        "narHash": "sha256-9UTxR8eukdg+XZeHgxW5hQA9fIKHsKCdOIUycTryeVw=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "1925c603f17fc89f4c8f6bf6f631a802ad85d784",
+        "rev": "5633bcff0c6162b9e4b5f1264264611e950c8ec7",
         "type": "github"
       },
       "original": {
@@ -153,11 +153,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1724921939,
+        "lastModified": 1728371104,
-        "narHash": "sha256-/S5iip1LHLiCP2VY7PwClDteP9ZMRZvzzKR1LZuV3fs=",
+        "narHash": "sha256-PPnAyDedUQ7Og/Cby9x5OT9wMkNGTP8GS53V6N/dk4w=",
         "owner": "m-labs",
         "repo": "sipyco",
-        "rev": "32ddd78ff3641b75054793ea0d5681c951766754",
+        "rev": "094a6cd63ffa980ef63698920170e50dc9ba77fd",
         "type": "github"
       },
       "original": {
@@ -185,11 +185,11 @@
     "src-misoc": {
       "flake": false,
       "locked": {
-        "lastModified": 1715647536,
+        "lastModified": 1728978817,
-        "narHash": "sha256-q+USDcaKHABwW56Jzq8u94iGPWlyLXMyVt0j/Gyg+IE=",
+        "narHash": "sha256-b4633jrhh4i+KunZq4kNlyhdm9BCsEJwKs+6KINKV2o=",
         "ref": "refs/heads/master",
-        "rev": "fea9de558c730bc394a5936094ae95bb9d6fa726",
+        "rev": "386b544776b66cea148da67d06a4b3a4151179f9",
-        "revCount": 2455,
+        "revCount": 2459,
         "submodules": true,
         "type": "git",
         "url": "https://github.com/m-labs/misoc.git"

flake.nix

@@ -11,7 +11,6 @@
     pkgs = import artiq.inputs.nixpkgs { system = "x86_64-linux"; overlays = [ (import mozilla-overlay) ]; };
     zynqpkgs = zynq-rs.packages.x86_64-linux;
     artiqpkgs = artiq.packages.x86_64-linux;
-    llvmPackages_11 = zynq-rs.llvmPackages_11;
 
     rust = zynq-rs.rust;
     rustPlatform = zynq-rs.rustPlatform;
@@ -126,7 +125,7 @@
           lockFile = src/Cargo.lock;
           outputHashes = {
               "tar-no-std-0.1.8" = "sha256-xm17108v4smXOqxdLvHl9CxTCJslmeogjm4Y87IXFuM=";
-              "nalgebra-0.32.6" = "sha256-L/YudkVOtfGYoNQKBD7LMk/sMYgRDzPDdpGL5rO7G2I=";
+              "fatfs-0.4.0" = "sha256-P7IgvhwTPXtNhcyv8cFqwO2UdaEcCGJY7UBG6+yBFSg=";
             };
         };
 
@@ -134,12 +133,12 @@
           pkgs.gnumake
           (pkgs.python3.withPackages(ps: [ ps.jsonschema artiqpkgs.migen migen-axi artiqpkgs.misoc artiqpkgs.artiq ]))
           zynqpkgs.cargo-xbuild
-          llvmPackages_11.llvm
+          pkgs.llvmPackages_18.llvm
-          llvmPackages_11.clang-unwrapped
+          pkgs.llvmPackages_18.clang-unwrapped
         ];
         buildPhase = ''
           export XARGO_RUST_SRC="${rust}/lib/rustlib/src/rust/library"
-          export CLANG_EXTRA_INCLUDE_DIR="${llvmPackages_11.clang-unwrapped.lib}/lib/clang/11.1.0/include"
+          export CLANG_EXTRA_INCLUDE_DIR="${pkgs.llvmPackages_18.clang-unwrapped.lib}/lib/clang/18/include"
           export CARGO_HOME=$(mktemp -d cargo-home.XXX)
           export ZYNQ_RS=${zynq-rs}
           make TARGET=${target} GWARGS="${if json == null then "-V ${variant}" else json}" ${fwtype}
@@ -373,8 +372,8 @@
       name = "artiq-zynq-dev-shell";
       buildInputs = with pkgs; [
         rust
-        llvmPackages_11.llvm
+        llvmPackages_18.llvm
-        llvmPackages_11.clang-unwrapped
+        llvmPackages_18.clang-unwrapped
         gnumake
         cacert
         zynqpkgs.cargo-xbuild
@@ -388,7 +387,7 @@
         pre-commit
       ];
       XARGO_RUST_SRC = "${rust}/lib/rustlib/src/rust/library";
-      CLANG_EXTRA_INCLUDE_DIR = "${llvmPackages_11.clang-unwrapped.lib}/lib/clang/11.1.0/include";
+      CLANG_EXTRA_INCLUDE_DIR = "${pkgs.llvmPackages_18.clang-unwrapped.lib}/lib/clang/18/include";
       ZYNQ_RS = "${zynq-rs}";
       OPENOCD_ZYNQ = "${zynq-rs}/openocd";
       SZL = "${zynqpkgs.szl}";

src/Cargo.lock

@@ -46,6 +46,12 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bitflags"
+version = "2.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
+
 [[package]]
 name = "build_const"
 version = "0.2.2"
@@ -82,18 +88,9 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "compiler_builtins"
-version = "0.1.39"
+version = "0.1.109"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3748f82c7d366a0b4950257d19db685d4958d2fa27c6d164a3f069fec42b748b"
+checksum = "f11973008a8cf741fe6d22f339eba21fd0ca81e2760a769ba8243ed6c21edd7e"
-
-[[package]]
-name = "core_io"
-version = "0.1.20210325"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97f8932064288cc79feb4d343a399d353a6f6f001e586ece47fe518a9e8507df"
-dependencies = [
- "rustc_version",
-]
 
 [[package]]
 name = "crc"
@@ -141,13 +138,10 @@ dependencies = [
 
 [[package]]
 name = "fatfs"
-version = "0.3.5"
+version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/rafalh/rust-fatfs?rev=85f06e0#85f06e08edbd3368e1b0562f2fc1b6d178bf7b8a"
-checksum = "e18f80a87439240dac45d927fd8f8081b6f1e34c03e97271189fa8a8c2e96c8f"
 dependencies = [
- "bitflags",
+ "bitflags 2.6.0",
- "byteorder",
- "core_io",
  "log",
 ]
 
@@ -229,7 +223,6 @@ name = "io"
 version = "0.0.0"
 dependencies = [
  "byteorder",
- "core_io",
  "libsupport_zynq",
 ]
 
@@ -239,7 +232,6 @@ version = "0.1.0"
 dependencies = [
  "build_zynq",
  "byteorder",
- "core_io",
  "cslice",
  "dwarf",
  "dyld",
@@ -278,7 +270,6 @@ name = "libboard_artiq"
 version = "0.0.0"
 dependencies = [
  "build_zynq",
- "core_io",
  "crc",
  "embedded-hal",
  "io",
@@ -322,7 +313,6 @@ dependencies = [
 name = "libconfig"
 version = "0.1.0"
 dependencies = [
- "core_io",
  "fatfs",
  "libboard_zynq",
  "log",
@@ -394,8 +384,9 @@ checksum = "c75de51135344a4f8ed3cfe2720dc27736f7711989703a0b43aadf3753c55577"
 
 [[package]]
 name = "nalgebra"
-version = "0.32.6"
+version = "0.33.1"
-source = "git+https://git.m-labs.hk/M-Labs/nalgebra.git?rev=dd00f9b#dd00f9b46046e0b931d1b470166db02fd29591be"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3bf139e93ad757869338ad85239cb1d6c067b23b94e5846e637ca6328ee4be60"
 dependencies = [
  "approx",
  "num-complex",
@@ -519,7 +510,6 @@ dependencies = [
  "async-recursion",
  "build_zynq",
  "byteorder",
- "core_io",
  "cslice",
  "dwarf",
  "dyld",
@@ -545,21 +535,11 @@ dependencies = [
  "void",
 ]
 
-[[package]]
-name = "rustc_version"
-version = "0.1.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5f5376ea5e30ce23c03eb77cbe4962b988deead10910c372b226388b594c084"
-dependencies = [
- "semver",
-]
-
 [[package]]
 name = "satman"
 version = "0.0.0"
 dependencies = [
  "build_zynq",
- "core_io",
  "cslice",
  "embedded-hal",
  "io",
@@ -576,17 +556,11 @@ dependencies = [
  "unwind",
 ]
 
-[[package]]
-name = "semver"
-version = "0.1.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d4f410fedcf71af0345d7607d246e7ad15faaadd49d240ee3b24e5dc21a820ac"
-
 [[package]]
 name = "simba"
-version = "0.8.0"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "50582927ed6f77e4ac020c057f37a268fc6aebc29225050365aacbb9deeeddc4"
+checksum = "b3a386a501cd104797982c15ae17aafe8b9261315b5d07e3ec803f2ea26be0fa"
 dependencies = [
  "approx",
  "num-complex",
@@ -600,7 +574,7 @@ version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3e4a069bef843d170df47e7c0a8bf8d037f217d9f5b325865acc3e466ffe40d3"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "byteorder",
  "managed",
 ]
@@ -622,7 +596,7 @@ version = "0.1.8"
 source = "git+https://git.m-labs.hk/M-Labs/tar-no-std?rev=2ab6dc5#2ab6dc58e5249c59c4eb03eaf3a119bcdd678d32"
 dependencies = [
  "arrayvec",
- "bitflags",
+ "bitflags 1.3.2",
  "log",
 ]
 

src/gateware/ebaz4205.py

@@ -1,23 +1,19 @@
 #!/usr/bin/env python
 
 import argparse
-from operator import itemgetter
 
+import analyzer
+import dma
+from artiq.gateware import rtio
+from artiq.gateware.rtio.phy import dds, spi2, ttl_simple
+from artiq.gateware.rtio.xilinx_clocking import fix_serdes_timing_path
+from config import write_csr_file, write_mem_file, write_rustc_cfg_file
 from migen import *
+from migen.build.generic_platform import IOStandard, Misc, Pins, Subsignal
 from migen.build.platforms import ebaz4205
-from migen.build.generic_platform import Pins, Subsignal, IOStandard, Misc
 from migen_axi.integration.soc_core import SoCCore
 from misoc.interconnect.csr import *
 
-from artiq.gateware import rtio
-from artiq.gateware.rtio.phy import ttl_simple
-from artiq.gateware.rtio.xilinx_clocking import fix_serdes_timing_path
-
-import dma
-import analyzer
-
-from config import write_csr_file, write_mem_file, write_rustc_cfg_file
-
 _ps = [
     (
         "ps",
@@ -83,6 +79,17 @@ _i2c = [
     )
 ]
 
+_spi = [
+    (
+        "spi",
+        0,
+        Subsignal("clk", Pins("V20")),
+        Subsignal("mosi", Pins("U20")),
+        Subsignal("cs_n", Pins("P19")),
+        IOStandard("LVCMOS33"),
+    )
+]
+
 
 class EBAZ4205(SoCCore):
     def __init__(self, rtio_clk=125e6, acpki=False):
@@ -97,6 +104,7 @@ class EBAZ4205(SoCCore):
         platform.add_extension(_ps)
         platform.add_extension(_ddr)
         platform.add_extension(_i2c)
+        platform.add_extension(_spi)
 
         gmii = platform.request("gmii")
         platform.add_period_constraint(gmii.rx_clk, 10)
@@ -171,6 +179,11 @@ class EBAZ4205(SoCCore):
             phy = ttl_simple.Output(user_led)
             self.submodules += phy
             self.rtio_channels.append(rtio.Channel.from_phy(phy))
+
+        print("SPI at RTIO channel 0x{:06x}".format(len(self.rtio_channels)))
+        spi_phy = spi2.SPIMaster(platform.request("spi"))
+        self.submodules += spi_phy
+        self.rtio_channels.append(rtio.Channel.from_phy(spi_phy, ififo_depth=4))
         self.config["RTIO_LOG_CHANNEL"] = len(self.rtio_channels)
         self.rtio_channels.append(rtio.LogChannel())
 

src/libboard_artiq/Cargo.toml.tpl

@@ -20,7 +20,6 @@ build_zynq = { path = "../libbuild_zynq" }
 log = "0.4"
 log_buffer = { version = "1.2" }
 crc = { version = "1.7", default-features = false }
-core_io = { version = "0.1", features = ["collections"] }
 embedded-hal = "0.2"
 nb = "1.0"
 void = { version = "1", default-features = false }

src/libboard_artiq/src/drtioaux.rs

@@ -1,16 +1,15 @@
 use core::slice;
 
-use core_io::{Error as IoError, ErrorKind as IoErrorKind};
 use crc;
 use io::{proto::{ProtoRead, ProtoWrite},
-         Cursor};
+         Cursor, Error as IoError};
 use libboard_zynq::{time::Milliseconds, timer::GlobalTimer};
 
 pub use crate::drtioaux_proto::Packet;
 use crate::{drtioaux_proto::Error as ProtocolError, mem::mem::DRTIOAUX_MEM, pl::csr::DRTIOAUX};
 
 #[derive(Debug)]
-pub enum Error {
+pub enum Error<T> {
     GatewareError,
     CorruptedPacket,
 
@@ -20,17 +19,17 @@ pub enum Error {
 
     RoutingError,
 
-    Protocol(ProtocolError),
+    Protocol(ProtocolError<T>),
 }
 
-impl From<ProtocolError> for Error {
+impl<T> From<ProtocolError<T>> for Error<T> {
-    fn from(value: ProtocolError) -> Error {
+    fn from(value: ProtocolError<T>) -> Error<T> {
         Error::Protocol(value)
     }
 }
 
-impl From<IoError> for Error {
+impl<T> From<IoError<T>> for Error<T> {
-    fn from(value: IoError) -> Error {
+    fn from(value: IoError<T>) -> Error<T> {
         Error::Protocol(ProtocolError::Io(value))
     }
 }
@@ -57,8 +56,8 @@ pub fn has_rx_error(linkno: u8) -> bool {
     }
 }
 
-fn receive<F, T>(linkno: u8, f: F) -> Result<Option<T>, Error>
+fn receive<F, T>(linkno: u8, f: F) -> Result<Option<T>, Error<!>>
-where F: FnOnce(&[u8]) -> Result<T, Error> {
+where F: FnOnce(&[u8]) -> Result<T, Error<!>> {
     let linkidx = linkno as usize;
     unsafe {
         if (DRTIOAUX[linkidx].aux_rx_present_read)() == 1 {
@@ -73,14 +72,14 @@ where F: FnOnce(&[u8]) -> Result<T, Error> {
     }
 }
 
-pub fn recv(linkno: u8) -> Result<Option<Packet>, Error> {
+pub fn recv(linkno: u8) -> Result<Option<Packet>, Error<!>> {
     if has_rx_error(linkno) {
         return Err(Error::GatewareError);
     }
 
     receive(linkno, |buffer| {
         if buffer.len() < 8 {
-            return Err(IoError::new(IoErrorKind::UnexpectedEof, "Unexpected end").into());
+            return Err(IoError::UnexpectedEnd.into());
         }
 
         let mut reader = Cursor::new(buffer);
@@ -97,7 +96,7 @@ pub fn recv(linkno: u8) -> Result<Option<Packet>, Error> {
     })
 }
 
-pub fn recv_timeout(linkno: u8, timeout_ms: Option<u64>, timer: GlobalTimer) -> Result<Packet, Error> {
+pub fn recv_timeout(linkno: u8, timeout_ms: Option<u64>, timer: GlobalTimer) -> Result<Packet, Error<!>> {
     let timeout_ms = Milliseconds(timeout_ms.unwrap_or(10));
     let limit = timer.get_time() + timeout_ms;
     while timer.get_time() < limit {
@@ -109,8 +108,8 @@ pub fn recv_timeout(linkno: u8, timeout_ms: Option<u64>, timer: GlobalTimer) ->
     Err(Error::TimedOut)
 }
 
-fn transmit<F>(linkno: u8, f: F) -> Result<(), Error>
+fn transmit<F>(linkno: u8, f: F) -> Result<(), Error<!>>
-where F: FnOnce(&mut [u8]) -> Result<usize, Error> {
+where F: FnOnce(&mut [u8]) -> Result<usize, Error<!>> {
     let linkno = linkno as usize;
     unsafe {
         while (DRTIOAUX[linkno].aux_tx_read)() != 0 {}
@@ -122,7 +121,7 @@ where F: FnOnce(&mut [u8]) -> Result<usize, Error> {
     }
 }
 
-pub fn send(linkno: u8, packet: &Packet) -> Result<(), Error> {
+pub fn send(linkno: u8, packet: &Packet) -> Result<(), Error<!>> {
     transmit(linkno, |buffer| {
         let mut writer = Cursor::new(buffer);
 

src/libboard_artiq/src/drtioaux_async.rs

@@ -1,9 +1,8 @@
 use core::slice;
 
-use core_io::{Error as IoError, ErrorKind as IoErrorKind};
 use crc;
 use io::{proto::{ProtoRead, ProtoWrite},
-         Cursor};
+         Cursor, Error as IoError};
 use libasync::{block_async, task};
 use libboard_zynq::{time::Milliseconds, timer::GlobalTimer};
 use nb;
@@ -35,8 +34,8 @@ fn tx_ready(linkno: usize) -> nb::Result<(), Void> {
     }
 }
 
-async fn receive<F, T>(linkno: u8, f: F) -> Result<Option<T>, Error>
+async fn receive<F, T>(linkno: u8, f: F) -> Result<Option<T>, Error<!>>
-where F: FnOnce(&[u8]) -> Result<T, Error> {
+where F: FnOnce(&[u8]) -> Result<T, Error<!>> {
     let linkidx = linkno as usize;
     unsafe {
         if (DRTIOAUX[linkidx].aux_rx_present_read)() == 1 {
@@ -51,14 +50,14 @@ where F: FnOnce(&[u8]) -> Result<T, Error> {
     }
 }
 
-pub async fn recv(linkno: u8) -> Result<Option<Packet>, Error> {
+pub async fn recv(linkno: u8) -> Result<Option<Packet>, Error<!>> {
     if has_rx_error(linkno) {
         return Err(Error::GatewareError);
     }
 
     receive(linkno, |buffer| {
         if buffer.len() < 8 {
-            return Err(IoError::new(IoErrorKind::UnexpectedEof, "Unexpected end").into());
+            return Err(IoError::UnexpectedEnd.into());
         }
 
         let mut reader = Cursor::new(buffer);
@@ -76,7 +75,7 @@ pub async fn recv(linkno: u8) -> Result<Option<Packet>, Error> {
     .await
 }
 
-pub async fn recv_timeout(linkno: u8, timeout_ms: Option<u64>, timer: GlobalTimer) -> Result<Packet, Error> {
+pub async fn recv_timeout(linkno: u8, timeout_ms: Option<u64>, timer: GlobalTimer) -> Result<Packet, Error<!>> {
     let timeout_ms = Milliseconds(timeout_ms.unwrap_or(10));
     let limit = timer.get_time() + timeout_ms;
     let mut would_block = false;
@@ -96,8 +95,8 @@ pub async fn recv_timeout(linkno: u8, timeout_ms: Option<u64>, timer: GlobalTime
     Err(Error::TimedOut)
 }
 
-async fn transmit<F>(linkno: u8, f: F) -> Result<(), Error>
+async fn transmit<F>(linkno: u8, f: F) -> Result<(), Error<!>>
-where F: FnOnce(&mut [u8]) -> Result<usize, Error> {
+where F: FnOnce(&mut [u8]) -> Result<usize, Error<!>> {
     let linkno = linkno as usize;
     unsafe {
         let _ = block_async!(tx_ready(linkno)).await;
@@ -109,7 +108,7 @@ where F: FnOnce(&mut [u8]) -> Result<usize, Error> {
     }
 }
 
-pub async fn send(linkno: u8, packet: &Packet) -> Result<(), Error> {
+pub async fn send(linkno: u8, packet: &Packet) -> Result<(), Error<!>> {
     transmit(linkno, |buffer| {
         let mut writer = Cursor::new(buffer);
 

src/libboard_artiq/src/drtioaux_proto.rs

@@ -1,4 +1,4 @@
-use core_io::{Error as IoError, Read, Write};
+use io::{Error as IoError, Read, Write};
 use io::proto::{ProtoRead, ProtoWrite};
 
 const MAX_PACKET: usize = 1024;
@@ -10,13 +10,13 @@ pub const SAT_PAYLOAD_MAX_SIZE: usize  = /*max size*/MAX_PACKET - /*CRC*/4 - /*p
 pub const MASTER_PAYLOAD_MAX_SIZE: usize = SAT_PAYLOAD_MAX_SIZE - /*source*/1 - /*destination*/1 - /*ID*/4;
 
 #[derive(Debug)]
-pub enum Error {
+pub enum Error<T> {
     UnknownPacket(u8),
-    Io(IoError),
+    Io(IoError<T>),
 }
 
-impl From<IoError> for Error {
+impl<T> From<IoError<T>> for Error<T> {
-    fn from(value: IoError) -> Error {
+    fn from(value: IoError<T>) -> Error<T> {
         Error::Io(value)
     }
 }
@@ -255,6 +255,7 @@ pub enum Packet {
         destination: u8,
         id: u32,
         run: bool,
+        timestamp: u64,
     },
     SubkernelLoadRunReply {
         destination: u8,
@@ -290,7 +291,7 @@ pub enum Packet {
 }
 
 impl Packet {
-    pub fn read_from<R>(reader: &mut R) -> Result<Self, Error>
+    pub fn read_from<R>(reader: &mut R) -> Result<Self, Error<R::ReadError>>
     where R: Read + ?Sized {
         Ok(match reader.read_u8()? {
             0x00 => Packet::EchoRequest,
@@ -514,6 +515,7 @@ impl Packet {
                 destination: reader.read_u8()?,
                 id: reader.read_u32()?,
                 run: reader.read_bool()?,
+                timestamp: reader.read_u64()?,
             },
             0xc5 => Packet::SubkernelLoadRunReply {
                 destination: reader.read_u8()?,
@@ -567,7 +569,7 @@ impl Packet {
         })
     }
 
-    pub fn write_to<W>(&self, writer: &mut W) -> Result<(), IoError>
+    pub fn write_to<W>(&self, writer: &mut W) -> Result<(), IoError<W::WriteError>>
     where W: Write + ?Sized {
         match *self {
             Packet::EchoRequest => writer.write_u8(0x00)?,
@@ -877,12 +879,14 @@ impl Packet {
                 destination,
                 id,
                 run,
+                timestamp,
             } => {
                 writer.write_u8(0xc4)?;
                 writer.write_u8(source)?;
                 writer.write_u8(destination)?;
                 writer.write_u32(id)?;
                 writer.write_bool(run)?;
+                writer.write_u64(timestamp)?;
             }
             Packet::SubkernelLoadRunReply { destination, succeeded } => {
                 writer.write_u8(0xc5)?;

src/libboard_artiq/src/fiq.rs

@@ -1,5 +1,6 @@
 use libboard_zynq::{println, stdio};
 use libcortex_a9::{interrupt_handler, regs::MPIDR};
+use core::arch::asm;
 use libregister::RegisterR;
 
 #[cfg(has_si549)]

src/libboard_artiq/src/lib.rs

@@ -1,9 +1,8 @@
 #![no_std]
 #![feature(never_type)]
 #![feature(naked_functions)]
-#![feature(asm)]
+#![allow(unexpected_cfgs)]
 
-extern crate core_io;
 extern crate crc;
 extern crate embedded_hal;
 extern crate io;

src/libbuild_zynq/lib.rs

@@ -1,3 +1,5 @@
+#![allow(unexpected_cfgs)]
+
 use std::{env,
           fs::File,
           io::{BufRead, BufReader, Write},

src/libio/Cargo.toml.tpl

@@ -8,7 +8,6 @@ name = "io"
 path = "lib.rs"
 
 [dependencies]
-core_io = { version = "0.1", features = ["collections"] }
 byteorder = { version = "1.0", default-features = false, optional = true }
 
 libsupport_zynq = { path = "@@ZYNQ_RS@@/libsupport_zynq", default-features = false, features = ["alloc_core"] }

src/libio/cursor.rs

@@ -1,7 +1,7 @@
 #[cfg(feature = "alloc")]
 use alloc::vec::Vec;
 
-use core_io::{Error as IoError, Read, Write};
+use crate::{Read, Write};
 
 #[derive(Debug, Clone)]
 pub struct Cursor<T> {
@@ -42,7 +42,9 @@ impl<T> Cursor<T> {
 }
 
 impl<T: AsRef<[u8]>> Read for Cursor<T> {
-    fn read(&mut self, buf: &mut [u8]) -> Result<usize, IoError> {
+    type ReadError = !;
+
+    fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::ReadError> {
         let data = &self.inner.as_ref()[self.pos..];
         let len = buf.len().min(data.len());
         // ``copy_from_slice`` generates AXI bursts, use a regular loop instead
@@ -55,7 +57,10 @@ impl<T: AsRef<[u8]>> Read for Cursor<T> {
 }
 
 impl Write for Cursor<&mut [u8]> {
-    fn write(&mut self, buf: &[u8]) -> Result<usize, IoError> {
+    type WriteError = !;
+    type FlushError = !;
+
+    fn write(&mut self, buf: &[u8]) -> Result<usize, Self::WriteError> {
         let data = &mut self.inner[self.pos..];
         let len = buf.len().min(data.len());
         for i in 0..len {
@@ -66,20 +71,23 @@ impl Write for Cursor<&mut [u8]> {
     }
 
     #[inline]
-    fn flush(&mut self) -> Result<(), IoError> {
+    fn flush(&mut self) -> Result<(), Self::FlushError> {
         Ok(())
     }
 }
 
 #[cfg(feature = "alloc")]
 impl Write for Cursor<Vec<u8>> {
-    fn write(&mut self, buf: &[u8]) -> Result<usize, IoError> {
+    type WriteError = !;
+    type FlushError = !;
+
+    fn write(&mut self, buf: &[u8]) -> Result<usize, Self::WriteError> {
         self.inner.extend_from_slice(buf);
         Ok(buf.len())
     }
 
     #[inline]
-    fn flush(&mut self) -> Result<(), IoError> {
+    fn flush(&mut self) -> Result<(), Self::FlushError> {
         Ok(())
     }
 }

src/libio/lib.rs

@@ -1,9 +1,9 @@
 #![no_std]
 #![feature(never_type)]
+#![allow(unexpected_cfgs)]
 
 #[cfg(feature = "alloc")]
 extern crate alloc;
-extern crate core_io;
 
 #[cfg(feature = "byteorder")]
 extern crate byteorder;
@@ -12,8 +12,142 @@ pub mod cursor;
 #[cfg(feature = "byteorder")]
 pub mod proto;
 
+use core::fmt::{Display, Formatter};
+
 pub use cursor::Cursor;
 #[cfg(all(feature = "byteorder", feature = "alloc"))]
 pub use proto::ReadStringError;
 #[cfg(feature = "byteorder")]
 pub use proto::{ProtoRead, ProtoWrite};
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum Error<T> {
+    UnexpectedEnd,
+    Other(T),
+}
+
+impl<T> From<T> for Error<T> {
+    fn from(value: T) -> Error<T> {
+        Error::Other(value)
+    }
+}
+
+impl<T: Display> Display for Error<T> {
+    fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), core::fmt::Error> {
+        match self {
+            Error::UnexpectedEnd => write!(f, "unexpected end of stream"),
+            Error::Other(other) => write!(f, "other IO error: {}", other),
+        }
+    }
+}
+
+pub trait Read {
+    type ReadError;
+
+    /// Pull some bytes from this source into the specified buffer, returning
+    /// how many bytes were read.
+    fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::ReadError>;
+
+    /// Read the exact number of bytes required to fill `buf`.
+    fn read_exact(&mut self, mut buf: &mut [u8]) -> Result<(), Error<Self::ReadError>> {
+        while !buf.is_empty() {
+            let read_bytes = self.read(buf)?;
+            if read_bytes == 0 {
+                return Err(Error::UnexpectedEnd);
+            }
+
+            buf = &mut { buf }[read_bytes..];
+        }
+
+        Ok(())
+    }
+}
+
+impl<'a, T: Read> Read for &'a mut T {
+    type ReadError = T::ReadError;
+
+    fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::ReadError> {
+        T::read(self, buf)
+    }
+}
+
+pub trait Write {
+    type WriteError;
+    type FlushError;
+
+    /// Write a buffer into this object, returning how many bytes were written.
+    fn write(&mut self, buf: &[u8]) -> Result<usize, Self::WriteError>;
+
+    /// Flush this output stream, ensuring that all intermediately buffered contents
+    /// reach their destination.
+    fn flush(&mut self) -> Result<(), Self::FlushError>;
+
+    /// Attempts to write an entire buffer into `self`.
+    fn write_all(&mut self, mut buf: &[u8]) -> Result<(), Error<Self::WriteError>> {
+        while buf.len() > 0 {
+            let written_bytes = self.write(buf)?;
+            if written_bytes == 0 {
+                return Err(Error::UnexpectedEnd);
+            }
+
+            buf = &buf[written_bytes..];
+        }
+
+        Ok(())
+    }
+
+    /// Hints the writer how much bytes will be written after call to this function.
+    ///
+    /// At least `min` bytes should be written after the call to this function and
+    /// if `max` is `Some(x)` than at most `x` bytes should be written.
+    fn size_hint(&mut self, _min: usize, _max: Option<usize>) {}
+}
+
+impl<'a, T: Write> Write for &'a mut T {
+    type WriteError = T::WriteError;
+    type FlushError = T::FlushError;
+
+    fn write(&mut self, buf: &[u8]) -> Result<usize, Self::WriteError> {
+        T::write(self, buf)
+    }
+
+    fn flush(&mut self) -> Result<(), Self::FlushError> {
+        T::flush(self)
+    }
+
+    fn size_hint(&mut self, min: usize, max: Option<usize>) {
+        T::size_hint(self, min, max)
+    }
+}
+
+impl<'a> Write for &'a mut [u8] {
+    type WriteError = !;
+    type FlushError = !;
+
+    fn write(&mut self, buf: &[u8]) -> Result<usize, Self::WriteError> {
+        let len = buf.len().min(self.len());
+        self[..len].copy_from_slice(&buf[..len]);
+        Ok(len)
+    }
+
+    #[inline]
+    fn flush(&mut self) -> Result<(), Self::FlushError> {
+        Ok(())
+    }
+}
+
+#[cfg(feature = "alloc")]
+impl<'a> Write for alloc::vec::Vec<u8> {
+    type WriteError = !;
+    type FlushError = !;
+
+    fn write(&mut self, buf: &[u8]) -> Result<usize, Self::WriteError> {
+        self.extend_from_slice(buf);
+        Ok(buf.len())
+    }
+
+    #[inline]
+    fn flush(&mut self) -> Result<(), Self::FlushError> {
+        Ok(())
+    }
+}

src/libio/proto.rs

@@ -3,7 +3,9 @@ use alloc::{string::String, vec};
 use core::str::Utf8Error;
 
 use byteorder::{ByteOrder, NativeEndian};
-use core_io::{Error as IoError, Read, Write};
+use Error as IoError;
+use Read;
+use Write;
 
 #[allow(dead_code)]
 #[derive(Debug, Clone, PartialEq)]
@@ -147,7 +149,7 @@ pub trait ProtoWrite {
 impl<T> ProtoRead for T
 where T: Read + ?Sized
 {
-    type ReadError = IoError;
+    type ReadError = IoError<T::ReadError>;
 
     fn read_exact(&mut self, buf: &mut [u8]) -> Result<(), Self::ReadError> {
         T::read_exact(self, buf)
@@ -157,7 +159,7 @@ where T: Read + ?Sized
 impl<T> ProtoWrite for T
 where T: Write + ?Sized
 {
-    type WriteError = IoError;
+    type WriteError = IoError<T::WriteError>;
 
     fn write_all(&mut self, buf: &[u8]) -> Result<(), Self::WriteError> {
         T::write_all(self, buf)

src/libksupport/Cargo.toml.tpl

@@ -12,12 +12,12 @@ build_zynq = { path = "../libbuild_zynq" }
 cslice = "0.3"
 log = "0.4"
 nb = "0.1"
-core_io = { version = "0.1", features = ["collections"] }
 byteorder = { version = "1.3", default-features = false }
 void = { version = "1", default-features = false }
 log_buffer = { version = "1.2" }
 libm = { version = "0.2", features = ["unstable"] }
 vcell = "0.1"
+nalgebra = { version = "0.33.0", default-features = false, features = ["libm", "alloc"]}
 
 libboard_zynq = { path = "@@ZYNQ_RS@@/libboard_zynq", features = ["ipv6"]}
 libsupport_zynq = { path = "@@ZYNQ_RS@@/libsupport_zynq", default-features = false, features = ["alloc_core"] }
@@ -32,9 +32,3 @@ unwind = { path = "../libunwind" }
 libc = { path = "../libc" }
 io = { path = "../libio" }
 libboard_artiq = { path = "../libboard_artiq" }
-
-[dependencies.nalgebra]
-git = "https://git.m-labs.hk/M-Labs/nalgebra.git"
-rev = "dd00f9b"
-default-features = false
-features = ["libm", "alloc"]

src/libksupport/src/eh_artiq.rs

@@ -14,10 +14,9 @@
 
 use core::mem;
 
-use core_io::Error as ReadError;
 use cslice::{AsCSlice, CSlice};
 use dwarf::eh::{self, EHAction, EHContext};
-use io::{Cursor, ProtoRead};
+use io::{Cursor, Error as ReadError, ProtoRead, Read};
 use libc::{c_int, c_void, uintptr_t};
 use log::{error, trace};
 use unwind as uw;
@@ -96,30 +95,30 @@ struct ExceptionBuffer {
 }
 
 static mut EXCEPTION_BUFFER: ExceptionBuffer = ExceptionBuffer {
-    uw_exceptions: [uw::_Unwind_Exception {
+    uw_exceptions: [ const { uw::_Unwind_Exception {
         exception_class: EXCEPTION_CLASS,
         exception_cleanup: cleanup,
         private: [0; uw::unwinder_private_data_size],
-    }; MAX_INFLIGHT_EXCEPTIONS],
+    } }; MAX_INFLIGHT_EXCEPTIONS],
     exceptions: [None; MAX_INFLIGHT_EXCEPTIONS + 1],
     exception_stack: [-1; MAX_INFLIGHT_EXCEPTIONS + 1],
     backtrace: [(0, 0); MAX_BACKTRACE_SIZE],
     backtrace_size: 0,
-    stack_pointers: [StackPointerBacktrace {
+    stack_pointers: [ const { StackPointerBacktrace {
         stack_pointer: 0,
         initial_backtrace_size: 0,
         current_backtrace_size: 0,
-    }; MAX_INFLIGHT_EXCEPTIONS + 1],
+    } }; MAX_INFLIGHT_EXCEPTIONS + 1],
     exception_count: 0,
 };
 
 pub unsafe extern "C" fn reset_exception_buffer() {
     trace!("reset exception buffer");
-    EXCEPTION_BUFFER.uw_exceptions = [uw::_Unwind_Exception {
+    EXCEPTION_BUFFER.uw_exceptions = [ const { uw::_Unwind_Exception {
         exception_class: EXCEPTION_CLASS,
         exception_cleanup: cleanup,
         private: [0; uw::unwinder_private_data_size],
-    }; MAX_INFLIGHT_EXCEPTIONS];
+    } }; MAX_INFLIGHT_EXCEPTIONS];
     EXCEPTION_BUFFER.exceptions = [None; MAX_INFLIGHT_EXCEPTIONS + 1];
     EXCEPTION_BUFFER.exception_stack = [-1; MAX_INFLIGHT_EXCEPTIONS + 1];
     EXCEPTION_BUFFER.backtrace_size = 0;
@@ -295,7 +294,9 @@ pub unsafe extern "C" fn raise(exception: *const Exception) -> ! {
     unreachable!();
 }
 
-fn read_exception_string<'a>(reader: &mut Cursor<&[u8]>) -> Result<CSlice<'a, u8>, ReadError> {
+fn read_exception_string<'a, 'b>(
+    reader: &mut Cursor<&'b [u8]>,
+) -> Result<CSlice<'a, u8>, ReadError<<Cursor<&'b [u8]> as Read>::ReadError>> {
     let len = reader.read_u32()? as usize;
     if len == usize::MAX {
         let data = reader.read_u32()?;
@@ -311,7 +312,7 @@ fn read_exception_string<'a>(reader: &mut Cursor<&[u8]>) -> Result<CSlice<'a, u8
     }
 }
 
-fn read_exception(raw_exception: &[u8]) -> Result<Exception, ReadError> {
+fn read_exception(raw_exception: &[u8]) -> Result<Exception, ReadError<<Cursor<&[u8]> as Read>::ReadError>> {
     let mut reader = Cursor::new(raw_exception);
 
     let mut byte = reader.read_u8()?;

src/libksupport/src/eh_rust.rs

@@ -0,0 +1,149 @@
+// Copyright 2015 The Rust Project Developers. See the COPYRIGHT
+// file at the top-level directory of this distribution and at
+// http://rust-lang.org/COPYRIGHT.
+//
+// Licensed under the Apache License, Version 2.0 <LICENSE-APACHE or
+// http://www.apache.org/licenses/LICENSE-2.0> or the MIT license
+// <LICENSE-MIT or http://opensource.org/licenses/MIT>, at your
+// option. This file may not be copied, modified, or distributed
+// except according to those terms.
+
+// This is the Rust personality function, adapted for use in ARTIQ. We never actually panic
+// from Rust or recover from Rust exceptions (there's nothing to catch the panics), but we
+// need a personality function to step back through Rust frames in order to make a backtrace.
+//
+// By design, this personality function is only ever called in the search phase, although
+// to keep things simple and close to upstream, it is not modified
+use unwind as uw;
+use libc::c_int;
+
+use dwarf::eh::{EHAction, EHContext};
+
+// Register ids were lifted from LLVM's TargetLowering::getExceptionPointerRegister()
+// and TargetLowering::getExceptionSelectorRegister() for each architecture,
+// then mapped to DWARF register numbers via register definition tables
+// (typically <arch>RegisterInfo.td, search for "DwarfRegNum").
+// See also http://llvm.org/docs/WritingAnLLVMBackend.html#defining-a-register.
+
+#[cfg(target_arch = "x86")]
+const UNWIND_DATA_REG: (i32, i32) = (0, 2); // EAX, EDX
+
+#[cfg(target_arch = "x86_64")]
+const UNWIND_DATA_REG: (i32, i32) = (0, 1); // RAX, RDX
+
+#[cfg(any(target_arch = "riscv32"))]
+const UNWIND_DATA_REG: (i32, i32) = (10, 11); // X10, X11
+
+#[cfg(any(target_arch = "arm", target_arch = "aarch64"))]
+const UNWIND_DATA_REG: (i32, i32) = (0, 1); // R0, R1 / X0, X1
+
+// The following code is based on GCC's C and C++ personality routines.  For reference, see:
+// https://github.com/gcc-mirror/gcc/blob/master/libstdc++-v3/libsupc++/eh_personality.cc
+// https://github.com/gcc-mirror/gcc/blob/trunk/libgcc/unwind-c.c
+#[lang = "eh_personality"]
+#[no_mangle]
+unsafe extern "C" fn rust_eh_personality(
+    state: uw::_Unwind_State,
+    exception_object: *mut uw::_Unwind_Exception,
+    context: *mut uw::_Unwind_Context,
+) -> uw::_Unwind_Reason_Code {
+    let state = state as c_int;
+    let action = state & uw::_US_ACTION_MASK as c_int;
+    let search_phase = if action == uw::_US_VIRTUAL_UNWIND_FRAME as c_int {
+        // Backtraces on ARM will call the personality routine with
+        // state == _US_VIRTUAL_UNWIND_FRAME | _US_FORCE_UNWIND. In those cases
+        // we want to continue unwinding the stack, otherwise all our backtraces
+        // would end at __rust_try
+        if state & uw::_US_FORCE_UNWIND as c_int != 0 {
+            return continue_unwind(exception_object, context);
+        }
+        true
+    } else if action == uw::_US_UNWIND_FRAME_STARTING as c_int {
+        false
+    } else if action == uw::_US_UNWIND_FRAME_RESUME as c_int {
+        return continue_unwind(exception_object, context);
+    } else {
+        return uw::_URC_FAILURE;
+    };
+
+    // The DWARF unwinder assumes that _Unwind_Context holds things like the function
+    // and LSDA pointers, however ARM EHABI places them into the exception object.
+    // To preserve signatures of functions like _Unwind_GetLanguageSpecificData(), which
+    // take only the context pointer, GCC personality routines stash a pointer to
+    // exception_object in the context, using location reserved for ARM's
+    // "scratch register" (r12).
+    uw::_Unwind_SetGR(context, uw::UNWIND_POINTER_REG, exception_object as uw::_Unwind_Ptr);
+    // ...A more principled approach would be to provide the full definition of ARM's
+    // _Unwind_Context in our libunwind bindings and fetch the required data from there
+    // directly, bypassing DWARF compatibility functions.
+
+    let eh_action = match find_eh_action(context) {
+        Ok(action) => action,
+        Err(_) => return uw::_URC_FAILURE,
+    };
+    if search_phase {
+        match eh_action {
+            EHAction::None | EHAction::Cleanup(_) => {
+                return continue_unwind(exception_object, context);
+            }
+            EHAction::Catch(_) => {
+                // EHABI requires the personality routine to update the
+                // SP value in the barrier cache of the exception object.
+                (*exception_object).private[5] =
+                    uw::_Unwind_GetGR(context, uw::UNWIND_SP_REG);
+                return uw::_URC_HANDLER_FOUND;
+            }
+            EHAction::Terminate => return uw::_URC_FAILURE,
+        }
+    } else {
+        match eh_action {
+            EHAction::None => return continue_unwind(exception_object, context),
+            EHAction::Cleanup(lpad) | EHAction::Catch(lpad) => {
+                uw::_Unwind_SetGR(
+                    context,
+                    UNWIND_DATA_REG.0,
+                    exception_object as uw::_Unwind_Ptr,
+                );
+                uw::_Unwind_SetGR(context, UNWIND_DATA_REG.1, 0);
+                uw::_Unwind_SetIP(context, lpad);
+                return uw::_URC_INSTALL_CONTEXT;
+            }
+            EHAction::Terminate => return uw::_URC_FAILURE,
+        }
+    }
+
+    // On ARM EHABI the personality routine is responsible for actually
+    // unwinding a single stack frame before returning (ARM EHABI Sec. 6.1).
+    unsafe fn continue_unwind(
+        exception_object: *mut uw::_Unwind_Exception,
+        context: *mut uw::_Unwind_Context,
+    ) -> uw::_Unwind_Reason_Code {
+        if __gnu_unwind_frame(exception_object, context) == uw::_URC_NO_REASON {
+            uw::_URC_CONTINUE_UNWIND
+        } else {
+            uw::_URC_FAILURE
+        }
+    }
+    // defined in libgcc
+    extern "C" {
+        fn __gnu_unwind_frame(
+            exception_object: *mut uw::_Unwind_Exception,
+            context: *mut uw::_Unwind_Context,
+        ) -> uw::_Unwind_Reason_Code;
+    }
+}
+
+unsafe fn find_eh_action(context: *mut uw::_Unwind_Context) -> Result<EHAction, ()> {
+    let lsda = uw::_Unwind_GetLanguageSpecificData(context) as *const u8;
+    let mut ip_before_instr: c_int = 0;
+    let ip = uw::_Unwind_GetIPInfo(context, &mut ip_before_instr);
+    let eh_context = EHContext {
+        // The return address points 1 byte past the call instruction,
+        // which could be in the next IP range in LSDA range table.
+        ip: if ip_before_instr != 0 { ip } else { ip - 1 },
+        func_start: uw::_Unwind_GetRegionStart(context),
+        get_text_start: &|| uw::_Unwind_GetTextRelBase(context),
+        get_data_start: &|| uw::_Unwind_GetDataRelBase(context),
+    };
+    dwarf::eh::find_eh_action(lsda, &eh_context, false,0)
+}

src/libksupport/src/irq.rs

@@ -1,5 +1,5 @@
 use core::sync::atomic::{AtomicBool, Ordering};
-
+use core::arch::asm;
 use libboard_zynq::{gic, mpcore, println, stdio};
 use libcortex_a9::{asm, interrupt_handler, notify_spin_lock, regs::MPIDR, spin_lock_yield};
 use libregister::RegisterR;

src/libksupport/src/kernel/core1.rs

@@ -25,12 +25,14 @@ extern "C" {
 }
 
 unsafe fn attribute_writeback(typeinfo: *const ()) {
+    #[repr(C)]
     struct Attr {
         offset: usize,
         tag: CSlice<'static, u8>,
         name: CSlice<'static, u8>,
     }
 
+    #[repr(C)]
     struct Type {
         attributes: *const *const Attr,
         objects: *const *const (),

src/libksupport/src/kernel/mod.rs

@@ -81,6 +81,7 @@ pub enum Message {
         id: u32,
         destination: u8,
         run: bool,
+        timestamp: u64,
     },
     #[cfg(has_drtio)]
     SubkernelLoadRunReply {

src/libksupport/src/kernel/subkernel.rs

@@ -3,7 +3,7 @@ use alloc::vec::Vec;
 use cslice::CSlice;
 
 use super::{Message, SubkernelStatus, KERNEL_CHANNEL_0TO1, KERNEL_CHANNEL_1TO0};
-use crate::{artiq_raise, eh_artiq, rpc::send_args};
+use crate::{artiq_raise, eh_artiq, rpc::send_args, rtio::now_mu};
 
 pub extern "C" fn load_run(id: u32, destination: u8, run: bool) {
     unsafe {
@@ -14,6 +14,7 @@ pub extern "C" fn load_run(id: u32, destination: u8, run: bool) {
                 id: id,
                 destination: destination,
                 run: run,
+                timestamp: now_mu() as u64,
             });
     }
     match unsafe { KERNEL_CHANNEL_0TO1.as_mut().unwrap() }.recv() {

src/libksupport/src/lib.rs

@@ -1,9 +1,10 @@
 #![no_std]
 #![feature(c_variadic)]
-#![feature(const_btree_new)]
+#![feature(lang_items)]
-#![feature(const_in_array_repeat_expressions)]
+#![feature(const_btree_len)]
+#![feature(generic_const_exprs)]
 #![feature(naked_functions)]
-#![feature(asm)]
+#![allow(unexpected_cfgs)]
 
 #[macro_use]
 extern crate alloc;
@@ -21,6 +22,7 @@ pub use pl::csr::rtio_core;
 use void::Void;
 
 pub mod eh_artiq;
+pub mod eh_rust;
 pub mod i2c;
 pub mod irq;
 pub mod kernel;

src/libksupport/src/rpc.rs

@@ -1,9 +1,8 @@
 use core::str;
 
 use byteorder::{ByteOrder, NativeEndian};
-use core_io::{Error, Read, Write};
 use cslice::{CMutSlice, CSlice};
-use io::{ProtoRead, ProtoWrite};
+use io::{Error, ProtoRead, ProtoWrite, Read, Write};
 use log::trace;
 
 use self::tag::{split_tag, Tag, TagIterator};
@@ -37,16 +36,17 @@ pub unsafe fn align_ptr_mut<T>(ptr: *mut ()) -> *mut T {
 
 // versions for reader rather than TcpStream
 // they will be made into sync for satellite subkernels later
-unsafe fn recv_elements<F, R>(
+unsafe fn recv_elements<F, R, E>(
     reader: &mut R,
     elt_tag: Tag,
     length: usize,
     storage: *mut (),
     alloc: &mut F,
-) -> Result<(), Error>
+) -> Result<(), E>
 where
-    F: FnMut(usize) -> *mut (),
+    F: FnMut(usize) -> Result<*mut (), E>,
     R: Read + ?Sized,
+    E: From<Error<R::ReadError>>,
 {
     match elt_tag {
         Tag::Bool => {
@@ -57,7 +57,6 @@ where
             let ptr = storage as *mut u32;
             let dest = core::slice::from_raw_parts_mut(ptr as *mut u8, length * 4);
             reader.read_exact(dest)?;
-            drop(dest);
             let dest = core::slice::from_raw_parts_mut(ptr, length);
             NativeEndian::from_slice_u32(dest);
         }
@@ -65,7 +64,6 @@ where
             let ptr = storage as *mut u64;
             let dest = core::slice::from_raw_parts_mut(ptr as *mut u8, length * 8);
             reader.read_exact(dest)?;
-            drop(dest);
             let dest = core::slice::from_raw_parts_mut(ptr, length);
             NativeEndian::from_slice_u64(dest);
         }
@@ -79,10 +77,11 @@ where
     Ok(())
 }
 
-unsafe fn recv_value<F, R>(reader: &mut R, tag: Tag, data: &mut *mut (), alloc: &mut F) -> Result<(), Error>
+unsafe fn recv_value<F, R, E>(reader: &mut R, tag: Tag, data: &mut *mut (), alloc: &mut F) -> Result<(), E>
 where
-    F: FnMut(usize) -> *mut (),
+    F: FnMut(usize) -> Result<*mut (), E>,
     R: Read + ?Sized,
+    E: From<Error<R::ReadError>>,
 {
     macro_rules! consume_value {
         ($ty:ty, | $ptr:ident | $map:expr) => {{
@@ -109,7 +108,7 @@ where
         Tag::String | Tag::Bytes | Tag::ByteArray => {
             consume_value!(CMutSlice<u8>, |ptr| {
                 let length = reader.read_u32()? as usize;
-                *ptr = CMutSlice::new(alloc(length) as *mut u8, length);
+                *ptr = CMutSlice::new(alloc(length)? as *mut u8, length);
                 reader.read_exact((*ptr).as_mut())?;
                 Ok(())
             })
@@ -139,7 +138,7 @@ where
                 let storage_offset = round_up(list_size, tag.alignment());
                 let storage_size = tag.size() * length;
 
-                let allocation = alloc(storage_offset + storage_size) as *mut u8;
+                let allocation = alloc(storage_offset + storage_size)? as *mut u8;
                 *ptr_to_list = allocation as *mut List;
                 let storage = allocation.offset(storage_offset as isize) as *mut ();
 
@@ -158,7 +157,7 @@ where
                 }
 
                 let elt_tag = it.clone().next().expect("truncated tag");
-                *buffer = alloc(elt_tag.size() * total_len);
+                *buffer = alloc(elt_tag.size() * total_len)?;
                 recv_elements(reader, elt_tag, total_len, *buffer, alloc)
             })
         }
@@ -175,15 +174,16 @@ where
     }
 }
 
-pub fn recv_return<'a, F, R>(
+pub fn recv_return<'a, F, R, E>(
     reader: &mut R,
     tag_bytes: &'a [u8],
     data: *mut (),
     alloc: &mut F,
-) -> Result<&'a [u8], Error>
+) -> Result<&'a [u8], E>
 where
-    F: FnMut(usize) -> *mut (),
+    F: FnMut(usize) -> Result<*mut (), E>,
     R: Read + ?Sized,
+    E: From<Error<R::ReadError>>,
 {
     let mut it = TagIterator::new(tag_bytes);
     trace!("recv ...->{}", it);
@@ -201,7 +201,7 @@ unsafe fn send_elements<W>(
     length: usize,
     data: *const (),
     write_tags: bool,
-) -> Result<(), Error>
+) -> Result<(), Error<W::WriteError>>
 where
     W: Write + ?Sized,
 {
@@ -233,8 +233,15 @@ where
     Ok(())
 }
 
-unsafe fn send_value<W>(writer: &mut W, tag: Tag, data: &mut *const (), write_tags: bool) -> Result<(), Error>
+unsafe fn send_value<W>(
-where W: Write + ?Sized {
+    writer: &mut W,
+    tag: Tag,
+    data: &mut *const (),
+    write_tags: bool,
+) -> Result<(), Error<W::WriteError>>
+where
+    W: Write + ?Sized,
+{
     macro_rules! consume_value {
         ($ty:ty, | $ptr:ident | $map:expr) => {{
             let $ptr = align_ptr::<$ty>(*data);
@@ -337,7 +344,7 @@ pub fn send_args<W>(
     tag_bytes: &[u8],
     data: *const *const (),
     write_tags: bool,
-) -> Result<(), Error>
+) -> Result<(), Error<W::WriteError>>
 where
     W: Write + ?Sized,
 {

src/libunwind/lib.rs

@@ -1,8 +1,5 @@
 #![no_std]
 #![feature(link_cfg)]
-#![feature(nll)]
-#![feature(unwind_attributes)]
-#![feature(static_nobundle)]
 #![cfg_attr(not(target_env = "msvc"), feature(libc))]
 
 cfg_if::cfg_if! {
@@ -17,17 +14,3 @@ cfg_if::cfg_if! {
         pub use backtrace::backtrace;
     }
 }
-
-#[cfg(target_env = "musl")]
-#[link(name = "unwind", kind = "static", cfg(target_feature = "crt-static"))]
-#[link(name = "gcc_s", cfg(not(target_feature = "crt-static")))]
-extern "C" {}
-
-#[cfg(target_os = "redox")]
-#[link(name = "gcc_eh", kind = "static-nobundle", cfg(target_feature = "crt-static"))]
-#[link(name = "gcc_s", cfg(not(target_feature = "crt-static")))]
-extern "C" {}
-
-#[cfg(all(target_vendor = "fortanix", target_env = "sgx"))]
-#[link(name = "unwind", kind = "static-nobundle")]
-extern "C" {}

src/libunwind/libunwind.rs

@@ -77,8 +77,7 @@ pub type _Unwind_Exception_Cleanup_Fn =
     all(feature = "llvm-libunwind", any(target_os = "fuchsia", target_os = "linux")),
     link(name = "unwind", kind = "static")
 )]
-extern "C" {
+extern "C-unwind" {
-    #[unwind(allowed)]
     pub fn _Unwind_Resume(exception: *mut _Unwind_Exception) -> !;
     pub fn _Unwind_DeleteException(exception: *mut _Unwind_Exception);
     pub fn _Unwind_GetLanguageSpecificData(ctx: *mut _Unwind_Context) -> *mut c_void;
@@ -226,8 +225,7 @@ if #[cfg(not(all(target_os = "ios", target_arch = "arm")))] {
     #[cfg_attr(all(feature = "llvm-libunwind",
                    any(target_os = "fuchsia", target_os = "linux")),
                link(name = "unwind", kind = "static"))]
-    extern "C" {
+    extern "C-unwind" {
-        #[unwind(allowed)]
         pub fn _Unwind_RaiseException(exception: *mut _Unwind_Exception) -> _Unwind_Reason_Code;
         pub fn _Unwind_Backtrace(trace: _Unwind_Trace_Fn,
                                  trace_argument: *mut c_void)
@@ -238,8 +236,7 @@ if #[cfg(not(all(target_os = "ios", target_arch = "arm")))] {
     #[cfg_attr(all(feature = "llvm-libunwind",
                    any(target_os = "fuchsia", target_os = "linux")),
                link(name = "unwind", kind = "static"))]
-    extern "C" {
+    extern "C-unwind" {
-        #[unwind(allowed)]
         pub fn _Unwind_SjLj_RaiseException(e: *mut _Unwind_Exception) -> _Unwind_Reason_Code;
     }
 

src/runtime/Cargo.toml.tpl

@@ -20,7 +20,6 @@ num-derive = "0.3"
 cslice = "0.3"
 log = "0.4"
 embedded-hal = "0.2"
-core_io = { version = "0.1", features = ["collections"] }
 byteorder = { version = "1.3", default-features = false }
 void = { version = "1", default-features = false }
 futures = { version = "0.3", default-features = false, features = ["async-await"] }

src/runtime/build.rs

@@ -1,3 +1,4 @@
+#![allow(unexpected_cfgs)]
 extern crate build_zynq;
 
 fn main() {

src/runtime/src/comms.rs

@@ -1,12 +1,12 @@
 use alloc::{collections::BTreeMap, rc::Rc, string::String, vec, vec::Vec};
 use core::{cell::RefCell, fmt, slice, str};
 
-use core_io::Error as IoError;
 use cslice::CSlice;
 use dyld::elf;
 use futures::{future::FutureExt, select_biased};
 #[cfg(has_drtio)]
 use io::Cursor;
+use io::Error as IoError;
 #[cfg(has_drtio)]
 use ksupport::rpc;
 use ksupport::{kernel, resolve_channel_name};
@@ -78,8 +78,8 @@ impl From<smoltcp::Error> for Error {
     }
 }
 
-impl From<IoError> for Error {
+impl<T> From<IoError<T>> for Error {
-    fn from(_error: IoError) -> Self {
+    fn from(_error: IoError<T>) -> Self {
         Error::IoError
     }
 }
@@ -405,8 +405,9 @@ async fn handle_run_kernel(
                 id,
                 destination: _,
                 run,
+                timestamp,
             } => {
-                let succeeded = match subkernel::load(aux_mutex, routing_table, timer, id, run).await {
+                let succeeded = match subkernel::load(aux_mutex, routing_table, timer, id, run, timestamp).await {
                     Ok(()) => true,
                     Err(e) => {
                         error!("Error loading subkernel: {:?}", e);

src/runtime/src/main.rs

@@ -1,9 +1,9 @@
 #![no_std]
 #![no_main]
 #![recursion_limit = "1024"] // for futures_util::select!
+#![allow(unexpected_cfgs)]
 #![feature(alloc_error_handler)]
-#![feature(const_btree_new)]
+#![feature(const_btree_len)]
-#![feature(panic_info_message)]
 
 #[macro_use]
 extern crate alloc;

src/runtime/src/panic.rs

@@ -22,7 +22,7 @@ fn panic(info: &core::panic::PanicInfo) -> ! {
     } else {
         print!("unknown location");
     }
-    if let Some(message) = info.message() {
+    if let Some(message) = info.message().as_str() {
         println!(": {}", message);
     } else {
         println!("");
@@ -61,7 +61,7 @@ fn soft_panic(info: &core::panic::PanicInfo) -> ! {
     } else {
         error!("panic at unknown location");
     }
-    if let Some(message) = info.message() {
+    if let Some(message) = info.message().as_str() {
         error!("panic message: {}", message);
     }
     let timer = GlobalTimer::start();

src/runtime/src/rtio_mgt.rs

@@ -792,6 +792,7 @@ pub mod drtio {
         id: u32,
         destination: u8,
         run: bool,
+        timestamp: u64,
     ) -> Result<(), Error> {
         let linkno = routing_table.0[destination as usize][0] - 1;
         let reply = aux_transact(
@@ -803,6 +804,7 @@ pub mod drtio {
                 source: 0,
                 destination: destination,
                 run: run,
+                timestamp,
             },
             timer,
         )

src/runtime/src/subkernel.rs

@@ -100,12 +100,22 @@ pub async fn load(
     timer: GlobalTimer,
     id: u32,
     run: bool,
+    timestamp: u64,
 ) -> Result<(), Error> {
     if let Some(subkernel) = SUBKERNELS.async_lock().await.get_mut(&id) {
         if subkernel.state != SubkernelState::Uploaded {
             return Err(Error::IncorrectState);
         }
-        drtio::subkernel_load(aux_mutex, routing_table, timer, id, subkernel.destination, run).await?;
+        drtio::subkernel_load(
+            aux_mutex,
+            routing_table,
+            timer,
+            id,
+            subkernel.destination,
+            run,
+            timestamp,
+        )
+        .await?;
         if run {
             subkernel.state = SubkernelState::Running;
         }

src/satman/Cargo.toml.tpl

@@ -15,7 +15,6 @@ build_zynq = { path = "../libbuild_zynq" }
 
 [dependencies]
 log = { version = "0.4", default-features = false }
-core_io = { version = "0.1", features = ["collections"] }
 cslice = "0.3"
 embedded-hal = "0.2"
 

src/satman/src/main.rs

@@ -1,10 +1,10 @@
 #![no_std]
 #![no_main]
-#![feature(alloc_error_handler, try_trait, never_type, panic_info_message)]
+#![feature(alloc_error_handler, never_type)]
+#![allow(unexpected_cfgs)]
 
 #[macro_use]
 extern crate log;
-extern crate core_io;
 extern crate cslice;
 extern crate embedded_hal;
 
@@ -150,7 +150,7 @@ fn process_aux_packet(
     analyzer: &mut Analyzer,
     kernel_manager: &mut KernelManager,
     router: &mut Router,
-) -> Result<(), drtioaux::Error> {
+) -> Result<(), drtioaux::Error<!>> {
     // In the code below, *_chan_sel_write takes an u8 if there are fewer than 256 channels,
     // and u16 otherwise; hence the `as _` conversion.
     match packet {
@@ -826,6 +826,7 @@ fn process_aux_packet(
             destination: _destination,
             id,
             run,
+            timestamp,
         } => {
             forward!(
                 router,
@@ -844,7 +845,7 @@ fn process_aux_packet(
                     // cannot run kernel while DDMA is running
                     succeeded = false;
                 } else {
-                    succeeded |= kernel_manager.run(source, id).is_ok();
+                    succeeded |= kernel_manager.run(source, id, timestamp).is_ok();
                 }
             }
             router.send(
@@ -1458,7 +1459,7 @@ pub fn panic_fmt(info: &core::panic::PanicInfo) -> ! {
     } else {
         print!("unknown location");
     }
-    if let Some(message) = info.message() {
+    if let Some(message) = info.message().as_str() {
         println!(": {}", message);
     } else {
         println!("");

src/satman/src/repeater.rs

@@ -191,7 +191,7 @@ impl Repeater {
         }
     }
 
-    fn recv_aux_timeout(&self, timeout: u32, timer: &mut GlobalTimer) -> Result<drtioaux::Packet, drtioaux::Error> {
+    fn recv_aux_timeout(&self, timeout: u32, timer: &mut GlobalTimer) -> Result<drtioaux::Packet, drtioaux::Error<!>> {
         let max_time = timer.get_time() + Milliseconds(timeout.into());
         loop {
             if !rep_link_rx_up(self.repno) {
@@ -216,7 +216,7 @@ impl Repeater {
         rank: u8,
         self_destination: u8,
         timer: &mut GlobalTimer,
-    ) -> Result<(), drtioaux::Error> {
+    ) -> Result<(), drtioaux::Error<!>> {
         self.aux_send(request)?;
         loop {
             let reply = self.recv_aux_timeout(200, timer)?;
@@ -242,14 +242,14 @@ impl Repeater {
         Ok(())
     }
 
-    pub fn aux_send(&self, request: &drtioaux::Packet) -> Result<(), drtioaux::Error> {
+    pub fn aux_send(&self, request: &drtioaux::Packet) -> Result<(), drtioaux::Error<!>> {
         if self.state != RepeaterState::Up {
             return Err(drtioaux::Error::LinkDown);
         }
         drtioaux::send(self.auxno, request)
     }
 
-    pub fn sync_tsc(&self, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
+    pub fn sync_tsc(&self, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error<!>> {
         if self.state != RepeaterState::Up {
             return Ok(());
         }
@@ -275,7 +275,7 @@ impl Repeater {
         destination: u8,
         hops: &[u8; drtio_routing::MAX_HOPS],
         timer: &mut GlobalTimer,
-    ) -> Result<(), drtioaux::Error> {
+    ) -> Result<(), drtioaux::Error<!>> {
         if self.state != RepeaterState::Up {
             return Ok(());
         }
@@ -299,14 +299,14 @@ impl Repeater {
         &self,
         routing_table: &drtio_routing::RoutingTable,
         timer: &mut GlobalTimer,
-    ) -> Result<(), drtioaux::Error> {
+    ) -> Result<(), drtioaux::Error<!>> {
         for i in 0..drtio_routing::DEST_COUNT {
             self.set_path(i as u8, &routing_table.0[i], timer)?;
         }
         Ok(())
     }
 
-    pub fn set_rank(&self, rank: u8, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
+    pub fn set_rank(&self, rank: u8, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error<!>> {
         if self.state != RepeaterState::Up {
             return Ok(());
         }
@@ -318,7 +318,7 @@ impl Repeater {
         Ok(())
     }
 
-    pub fn rtio_reset(&self, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
+    pub fn rtio_reset(&self, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error<!>> {
         let repno = self.repno as usize;
         unsafe {
             (csr::DRTIOREP[repno].reset_write)(1);
@@ -361,11 +361,11 @@ impl Repeater {
     ) {
     }
 
-    pub fn sync_tsc(&self, _timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
+    pub fn sync_tsc(&self, _timer: &mut GlobalTimer) -> Result<(), drtioaux::Error<!>> {
         Ok(())
     }
 
-    pub fn rtio_reset(&self, _timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
+    pub fn rtio_reset(&self, _timer: &mut GlobalTimer) -> Result<(), drtioaux::Error<!>> {
         Ok(())
     }
 }

src/satman/src/routing.rs

@@ -129,7 +129,7 @@ impl Router {
         _routing_table: &drtio_routing::RoutingTable,
         _rank: u8,
         _destination: u8,
-    ) -> Result<(), drtioaux::Error> {
+    ) -> Result<(), drtioaux::Error<!>> {
         #[cfg(has_drtio_routing)]
         {
             let destination = packet.routable_destination();

src/satman/src/subkernel.rs

@@ -1,18 +1,21 @@
-use alloc::{collections::BTreeMap,
+use alloc::{
+    collections::BTreeMap,
     format,
     string::{String, ToString},
-            vec::Vec};
+    vec::Vec,
-use core::{option::NoneError, slice, str};
+};
+use core::{slice, str};
 
-use core_io::{Error as IoError, Write};
 use cslice::AsCSlice;
 use dma::{Error as DmaError, Manager as DmaManager};
-use io::{Cursor, ProtoWrite};
+use io::{Cursor, Error as IoError, ProtoWrite, Write};
 use ksupport::{eh_artiq, kernel, rpc};
-use libboard_artiq::{drtio_routing::RoutingTable,
+use libboard_artiq::{
+    drtio_routing::RoutingTable,
     drtioaux,
     drtioaux_proto::{PayloadStatus, MASTER_PAYLOAD_MAX_SIZE},
-                     pl::csr};
+    pl::csr,
+};
 use libboard_zynq::{time::Milliseconds, timer::GlobalTimer};
 use libcortex_a9::sync_channel::Receiver;
 use log::warn;
@@ -52,6 +55,7 @@ enum KernelState {
     },
 }
 
+#[allow(dead_code)]
 #[derive(Debug)]
 pub enum Error {
     Load(String),
@@ -65,14 +69,8 @@ pub enum Error {
     DmaError(DmaError),
 }
 
-impl From<NoneError> for Error {
+impl<T> From<IoError<T>> for Error {
-    fn from(_: NoneError) -> Error {
+    fn from(_value: IoError<T>) -> Error {
-        Error::KernelNotFound
-    }
-}
-
-impl From<IoError> for Error {
-    fn from(_value: IoError) -> Error {
         Error::SubkernelIoError
     }
 }
@@ -89,8 +87,8 @@ impl From<()> for Error {
     }
 }
 
-impl From<drtioaux::Error> for Error {
+impl<T> From<drtioaux::Error<T>> for Error {
-    fn from(_value: drtioaux::Error) -> Error {
+    fn from(_value: drtioaux::Error<T>) -> Error {
         Error::DrtioError
     }
 }
@@ -222,7 +220,10 @@ impl MessageManager {
         }
     }
 
-    pub fn get_outgoing_slice(&mut self, data_slice: &mut [u8; MASTER_PAYLOAD_MAX_SIZE]) -> Option<SliceMeta> {
+    pub fn get_outgoing_slice(
+        &mut self,
+        data_slice: &mut [u8; MASTER_PAYLOAD_MAX_SIZE],
+    ) -> Option<SliceMeta> {
         if self.out_state != OutMessageState::MessageBeingSent {
             return None;
         }
@@ -303,7 +304,13 @@ impl<'a> Manager<'_> {
         }
     }
 
-    pub fn add(&mut self, id: u32, status: PayloadStatus, data: &[u8], data_len: usize) -> Result<(), Error> {
+    pub fn add(
+        &mut self,
+        id: u32,
+        status: PayloadStatus,
+        data: &[u8],
+        data_len: usize,
+    ) -> Result<(), Error> {
         let kernel = match self.kernels.get_mut(&id) {
             Some(kernel) => {
                 if kernel.complete || status.is_first() {
@@ -316,7 +323,7 @@ impl<'a> Manager<'_> {
                             complete: false,
                         },
                     );
-                    self.kernels.get_mut(&id)?
+                    self.kernels.get_mut(&id).ok_or(Error::KernelNotFound)?
                 } else {
                     kernel
                 }
@@ -329,7 +336,7 @@ impl<'a> Manager<'_> {
                         complete: false,
                     },
                 );
-                self.kernels.get_mut(&id)?
+                self.kernels.get_mut(&id).ok_or(Error::KernelNotFound)?
             }
         };
         kernel.library.extend(&data[0..data_len]);
@@ -349,7 +356,7 @@ impl<'a> Manager<'_> {
         }
     }
 
-    pub fn run(&mut self, source: u8, id: u32) -> Result<(), Error> {
+    pub fn run(&mut self, source: u8, id: u32, timestamp: u64) -> Result<(), Error> {
         if self.session.kernel_state != KernelState::Loaded || self.session.id != id {
             self.load(id)?;
         }
@@ -359,6 +366,7 @@ impl<'a> Manager<'_> {
             csr::cri_con::selected_write(2);
         }
 
+        rtio::at_mu(timestamp as i64);
         self.control.tx.send(kernel::Message::StartRequest);
         Ok(())
     }
@@ -373,10 +381,15 @@ impl<'a> Manager<'_> {
         if !self.running() {
             return;
         }
-        self.session.messages.handle_incoming(status, id, length, slice);
+        self.session
+            .messages
+            .handle_incoming(status, id, length, slice);
     }
 
-    pub fn message_get_slice(&mut self, slice: &mut [u8; MASTER_PAYLOAD_MAX_SIZE]) -> Option<SliceMeta> {
+    pub fn message_get_slice(
+        &mut self,
+        slice: &mut [u8; MASTER_PAYLOAD_MAX_SIZE],
+    ) -> Option<SliceMeta> {
         if !self.running() {
             return None;
         }
@@ -395,15 +408,19 @@ impl<'a> Manager<'_> {
         if self.session.id == id && self.session.kernel_state == KernelState::Loaded {
             return Ok(());
         }
-        if !self.kernels.get(&id)?.complete {
+        if !self.kernels.get(&id).ok_or(Error::KernelNotFound)?.complete {
             return Err(Error::KernelNotFound);
         }
         self.session = Session::new(id);
         self.control.restart();
 
-        self.control
+        self.control.tx.send(kernel::Message::LoadRequest(
-            .tx
+            self.kernels
-            .send(kernel::Message::LoadRequest(self.kernels.get(&id)?.library.clone()));
+                .get(&id)
+                .ok_or(Error::KernelNotFound)?
+                .library
+                .clone(),
+        ));
         let reply = self.control.rx.recv();
         match reply {
             kernel::Message::LoadCompleted => Ok(()),
@@ -415,7 +432,10 @@ impl<'a> Manager<'_> {
         }
     }
 
-    pub fn exception_get_slice(&mut self, data_slice: &mut [u8; MASTER_PAYLOAD_MAX_SIZE]) -> SliceMeta {
+    pub fn exception_get_slice(
+        &mut self,
+        data_slice: &mut [u8; MASTER_PAYLOAD_MAX_SIZE],
+    ) -> SliceMeta {
         match self.session.last_exception.as_mut() {
             Some(exception) => exception.get_slice_master(data_slice),
             None => SliceMeta {
@@ -569,7 +589,14 @@ impl<'a> Manager<'_> {
             }
         }
 
-        match self.process_kern_message(router, routing_table, rank, destination, dma_manager, timer) {
+        match self.process_kern_message(
+            router,
+            routing_table,
+            rank,
+            destination,
+            dma_manager,
+            timer,
+        ) {
             Ok(true) => {
                 self.last_finished = Some(SubkernelFinished {
                     id: self.session.id,
@@ -612,7 +639,9 @@ impl<'a> Manager<'_> {
         for (i, (status, exception_source)) in self.session.subkernels_finished.iter().enumerate() {
             if *status == id {
                 if exception_source.is_none() {
-                    self.control.tx.send(kernel::Message::SubkernelAwaitFinishReply);
+                    self.control
+                        .tx
+                        .send(kernel::Message::SubkernelAwaitFinishReply);
                     self.session.kernel_state = KernelState::Running;
                     self.session.subkernels_finished.swap_remove(i);
                 } else {
@@ -640,15 +669,26 @@ impl<'a> Manager<'_> {
         if self.session.kernel_state == KernelState::SubkernelAwaitLoad {
             self.control
                 .tx
-                .send(kernel::Message::SubkernelLoadRunReply { succeeded: succeeded });
+                .send(kernel::Message::SubkernelLoadRunReply {
+                    succeeded: succeeded,
+                });
             self.session.kernel_state = KernelState::Running;
         } else {
             warn!("received unsolicited SubkernelLoadRunReply");
         }
     }
 
-    pub fn remote_subkernel_finished(&mut self, id: u32, with_exception: bool, exception_source: u8) {
+    pub fn remote_subkernel_finished(
-        let exception_src = if with_exception { Some(exception_source) } else { None };
+        &mut self,
+        id: u32,
+        with_exception: bool,
+        exception_source: u8,
+    ) {
+        let exception_src = if with_exception {
+            Some(exception_source)
+        } else {
+            None
+        };
         self.session.subkernels_finished.push((id, exception_src));
     }
 
@@ -661,18 +701,19 @@ impl<'a> Manager<'_> {
         rank: u8,
         self_destination: u8,
     ) {
-        if let KernelState::SubkernelRetrievingException { destination } = self.session.kernel_state {
+        if let KernelState::SubkernelRetrievingException { destination } = self.session.kernel_state
+        {
             self.session
                 .external_exception
                 .as_mut()
                 .unwrap()
                 .extend_from_slice(exception_data);
             if last {
-                self.control
+                self.control.tx.send(kernel::Message::SubkernelError(
-                    .tx
+                    kernel::SubkernelStatus::Exception(
-                    .send(kernel::Message::SubkernelError(kernel::SubkernelStatus::Exception(
                         self.session.external_exception.take().unwrap(),
-                    )));
+                    ),
+                ));
                 self.session.kernel_state = KernelState::Running;
             } else {
                 /* fetch another slice */
@@ -707,7 +748,12 @@ impl<'a> Manager<'_> {
                 dma_manager.cleanup(router, rank, self_destination, routing_table);
                 return Ok(true);
             }
-            kernel::Message::KernelException(exceptions, stack_pointers, backtrace, async_errors) => {
+            kernel::Message::KernelException(
+                exceptions,
+                stack_pointers,
+                backtrace,
+                async_errors,
+            ) => {
                 error!("exception in kernel");
                 for exception in exceptions {
                     error!("{:?}", exception.unwrap());
@@ -716,12 +762,21 @@ impl<'a> Manager<'_> {
                 error!("backtrace: {:?}", backtrace);
                 let buf: Vec<u8> = Vec::new();
                 let mut writer = Cursor::new(buf);
-                match write_exception(&mut writer, exceptions, stack_pointers, backtrace, async_errors) {
+                match write_exception(
+                    &mut writer,
+                    exceptions,
+                    stack_pointers,
+                    backtrace,
+                    async_errors,
+                ) {
                     Ok(()) => (),
                     Err(_) => error!("Error writing exception data"),
                 }
                 self.kernel_stop();
-                return Err(Error::KernelException(Sliceable::new(0, writer.into_inner())));
+                return Err(Error::KernelException(Sliceable::new(
+                    0,
+                    writer.into_inner(),
+                )));
             }
             kernel::Message::CachePutRequest(key, value) => {
                 self.cache.insert(key, value);
@@ -769,11 +824,13 @@ impl<'a> Manager<'_> {
                 let max_time = timer.get_time() + Milliseconds(10000);
                 self.session.kernel_state = match self.session.kernel_state {
                     // if we are still waiting for the traces to be uploaded, extend the state by timeout
-                    KernelState::DmaPendingPlayback { id, timestamp } => KernelState::DmaPendingAwait {
+                    KernelState::DmaPendingPlayback { id, timestamp } => {
+                        KernelState::DmaPendingAwait {
                             id: id,
                             timestamp: timestamp,
                             max_time: max_time,
-                    },
+                        }
+                    }
                     _ => KernelState::DmaAwait { max_time: max_time },
                 };
             }
@@ -812,6 +869,7 @@ impl<'a> Manager<'_> {
                 id,
                 destination: sk_destination,
                 run,
+                timestamp,
             } => {
                 self.session.kernel_state = KernelState::SubkernelAwaitLoad;
                 router.route(
@@ -820,6 +878,7 @@ impl<'a> Manager<'_> {
                         destination: sk_destination,
                         id: id,
                         run: run,
+                        timestamp,
                     },
                     routing_table,
                     rank,
@@ -844,7 +903,10 @@ impl<'a> Manager<'_> {
                 ));
             }
             _ => {
-                unexpected!("unexpected message from core1 while kernel was running: {:?}", reply);
+                unexpected!(
+                    "unexpected message from core1 while kernel was running: {:?}",
+                    reply
+                );
             }
         }
         Ok(false)
@@ -862,9 +924,9 @@ impl<'a> Manager<'_> {
             KernelState::MsgAwait { max_time, id, tags } => {
                 if let Some(max_time) = *max_time {
                     if timer.get_time() > max_time {
-                        self.control
+                        self.control.tx.send(kernel::Message::SubkernelError(
-                            .tx
+                            kernel::SubkernelStatus::Timeout,
-                            .send(kernel::Message::SubkernelError(kernel::SubkernelStatus::Timeout));
+                        ));
                         self.session.kernel_state = KernelState::Running;
                         return Ok(());
                     }
@@ -872,7 +934,9 @@ impl<'a> Manager<'_> {
                 if let Some(message) = self.session.messages.get_incoming(*id) {
                     self.control
                         .tx
-                        .send(kernel::Message::SubkernelMsgRecvReply { count: message.count });
+                        .send(kernel::Message::SubkernelMsgRecvReply {
+                            count: message.count,
+                        });
                     let tags = tags.clone();
                     self.session.kernel_state = KernelState::Running;
                     self.pass_message_to_kernel(&message, tags, timer)
@@ -894,9 +958,9 @@ impl<'a> Manager<'_> {
             KernelState::SubkernelAwaitFinish { max_time, id } => {
                 if let Some(max_time) = *max_time {
                     if timer.get_time() > max_time {
-                        self.control
+                        self.control.tx.send(kernel::Message::SubkernelError(
-                            .tx
+                            kernel::SubkernelStatus::Timeout,
-                            .send(kernel::Message::SubkernelError(kernel::SubkernelStatus::Timeout));
+                        ));
                         self.session.kernel_state = KernelState::Running;
                         return Ok(());
                     }
@@ -922,7 +986,12 @@ impl<'a> Manager<'_> {
         }
     }
 
-    fn pass_message_to_kernel(&mut self, message: &Message, tags: Vec<u8>, timer: &GlobalTimer) -> Result<(), Error> {
+    fn pass_message_to_kernel(
+        &mut self,
+        message: &Message,
+        tags: Vec<u8>,
+        timer: &GlobalTimer,
+    ) -> Result<(), Error> {
         let mut reader = Cursor::new(&message.data);
         let mut current_tags: &[u8] = &tags;
         let mut i = message.count;
@@ -933,29 +1002,50 @@ impl<'a> Manager<'_> {
             };
             let mut exception: Option<Sliceable> = None;
             let mut unexpected: Option<String> = None;
-            let remaining_tags = rpc::recv_return(&mut reader, current_tags, slot, &mut |size| {
+            let remaining_tags =
+                rpc::recv_return(&mut reader, current_tags, slot, &mut |size| -> Result<
+                    _,
+                    Error,
+                > {
                     if size == 0 {
-                    0 as *mut ()
+                        Ok(0 as *mut ())
                     } else {
-                    self.control.tx.send(kernel::Message::RpcRecvReply(Ok(size)));
+                        self.control
+                            .tx
+                            .send(kernel::Message::RpcRecvReply(Ok(size)));
                         match recv_w_timeout(&mut self.control.rx, timer, 100) {
-                        Ok(kernel::Message::RpcRecvRequest(slot)) => slot,
+                            Ok(kernel::Message::RpcRecvRequest(slot)) => Ok(slot),
-                        Ok(kernel::Message::KernelException(exceptions, stack_pointers, backtrace, async_errors)) => {
+                            Ok(kernel::Message::KernelException(
+                                exceptions,
+                                stack_pointers,
+                                backtrace,
+                                async_errors,
+                            )) => {
                                 let buf: Vec<u8> = Vec::new();
                                 let mut writer = Cursor::new(buf);
-                            match write_exception(&mut writer, exceptions, stack_pointers, backtrace, async_errors) {
+                                match write_exception(
+                                    &mut writer,
+                                    exceptions,
+                                    stack_pointers,
+                                    backtrace,
+                                    async_errors,
+                                ) {
                                     Ok(()) => {
                                         exception = Some(Sliceable::new(0, writer.into_inner()));
                                     }
                                     Err(_) => {
-                                    unexpected = Some("Error writing exception data".to_string());
+                                        unexpected =
+                                            Some("Error writing exception data".to_string());
                                     }
                                 };
-                            0 as *mut ()
+                                Ok(0 as *mut ())
                             }
                             other => {
-                            unexpected = Some(format!("expected nested value slot from kernel CPU, not {:?}", other));
+                                unexpected = Some(format!(
-                            0 as *mut ()
+                                    "expected nested value slot from kernel CPU, not {:?}",
+                                    other
+                                ));
+                                Ok(0 as *mut ())
                             }
                         }
                     }
@@ -1001,8 +1091,9 @@ where
             writer.write_u32(u32::MAX)?;
             writer.write_u32(exception.message.as_ptr() as u32)?;
         } else {
-            let msg =
+            let msg = str::from_utf8(unsafe {
-                str::from_utf8(unsafe { slice::from_raw_parts(exception.message.as_ptr(), exception.message.len()) })
+                slice::from_raw_parts(exception.message.as_ptr(), exception.message.len())
+            })
             .unwrap()
             .replace(
                 "{rtio_channel_info:0}",