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runtime: new serial protocol, support multiple entry points and log messages

This commit is contained in:
Sebastien Bourdeauducq 2014-09-15 22:40:33 +08:00
parent f529361c8b
commit 11d8840277
12 changed files with 273 additions and 141 deletions
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3
artiq/devices/core.py
View File

@ -24,5 +24,6 @@ class Core:
fold_constants(func_def)
binary = get_runtime_binary(self.runtime_env, func_def)
self.core_com.run(binary)
self.core_com.load(binary)
self.core_com.run(func_def.name)
self.core_com.serve(rpc_map)

5
artiq/devices/corecom_dummy.py
View File

@ -16,12 +16,15 @@ class CoreCom:
def get_runtime_env(self):
return _RuntimeEnvironment(10*ns)
def run(self, kcode):
def load(self, kcode):
print("================")
print(" LLVM IR")
print("================")
print(kcode)
def run(self, kname):
print("RUN: "+kname)
def serve(self, rpc_map):
print("================")
print(" RPC map")

99
artiq/devices/corecom_serial.py
View File

@ -12,11 +12,23 @@ class UnsupportedDevice(Exception):
pass
class _MsgType(Enum):
REQUEST_IDENT = 0x01
LOAD_KERNEL = 0x02
KERNEL_FINISHED = 0x03
RPC_REQUEST = 0x04
class _H2DMsgType(Enum):
REQUEST_IDENT = 1
LOAD_OBJECT = 2
RUN_KERNEL = 3
class _D2HMsgType(Enum):
LOG = 1
MESSAGE_UNRECOGNIZED = 2
IDENT = 3
OBJECT_LOADED = 4
INCORRECT_LENGTH = 5
CRC_FAILED = 6
OBJECT_UNRECOGNIZED = 7
KERNEL_FINISHED = 8
KERNEL_STARTUP_FAILED = 9
RPC_REQUEST = 10
def _write_exactly(f, data):
@ -63,22 +75,39 @@ class CoreCom:
def __exit__(self, type, value, traceback):
self.close()
def _get_device_msg(self):
while True:
# FIXME: when loading immediately after a board reset,
# we erroneously get some zeros back.
# Ignore them with a warning for now.
spurious_zero_count = 0
while True:
(reply, ) = struct.unpack("b", _read_exactly(self.port, 1))
if reply == 0:
spurious_zero_count += 1
else:
break
if spurious_zero_count:
print("Warning: received {} spurious zeros"
.format(spurious_zero_count))
msg = _D2HMsgType(reply)
if msg == _D2HMsgType.LOG:
(length, ) = struct.unpack(">h", _read_exactly(self.port, 2))
log_message = ""
for i in range(length):
(c, ) = struct.unpack("b", _read_exactly(self.port, 1))
log_message += chr(c)
print("DEVICE LOG: " + log_message)
else:
return msg
def get_runtime_env(self):
_write_exactly(self.port, struct.pack(
">lb", 0x5a5a5a5a, _MsgType.REQUEST_IDENT.value))
# FIXME: when loading immediately after a board reset,
# we erroneously get some zeros back.
# Ignore them with a warning for now.
spurious_zero_count = 0
while True:
(reply, ) = struct.unpack("b", _read_exactly(self.port, 1))
if reply == 0:
spurious_zero_count += 1
else:
break
if spurious_zero_count:
print("Warning: received {} spurious zeros"
.format(spurious_zero_count))
">lb", 0x5a5a5a5a, _H2DMsgType.REQUEST_IDENT.value))
msg = self._get_device_msg()
if msg != _D2HMsgType.IDENT:
raise IOError("Incorrect reply from device: "+str(msg))
(reply, ) = struct.unpack("b", _read_exactly(self.port, 1))
runtime_id = chr(reply)
for i in range(3):
(reply, ) = struct.unpack("b", _read_exactly(self.port, 1))
@ -88,32 +117,28 @@ class CoreCom:
(ref_period, ) = struct.unpack(">l", _read_exactly(self.port, 4))
return Environment(ref_period*units.ps)
def run(self, kcode):
def load(self, kcode):
_write_exactly(self.port, struct.pack(
">lblL",
0x5a5a5a5a, _MsgType.LOAD_KERNEL.value,
0x5a5a5a5a, _H2DMsgType.LOAD_OBJECT.value,
len(kcode), zlib.crc32(kcode)))
_write_exactly(self.port, kcode)
(reply, ) = struct.unpack("b", _read_exactly(self.port, 1))
if reply != 0x4f:
raise IOError("Incorrect reply from device: "+hex(reply))
msg = self._get_device_msg()
if msg != _D2HMsgType.OBJECT_LOADED:
raise IOError("Incorrect reply from device: "+str(msg))
def _wait_sync(self):
recognized = 0
while recognized < 4:
(c, ) = struct.unpack("b", _read_exactly(self.port, 1))
if c == 0x5a:
recognized += 1
else:
recognized = 0
def run(self, kname):
_write_exactly(self.port, struct.pack(
">lbl", 0x5a5a5a5a, _H2DMsgType.RUN_KERNEL.value, len(kname)))
for c in kname:
_write_exactly(self.port, struct.pack("b", ord(c)))
def serve(self, rpc_map):
while True:
self._wait_sync()
msg = _MsgType(*struct.unpack("b", _read_exactly(self.port, 1)))
if msg == _MsgType.KERNEL_FINISHED:
msg = self._get_device_msg()
if msg == _D2HMsgType.KERNEL_FINISHED:
return
elif msg == _MsgType.RPC_REQUEST:
elif msg == _D2HMsgType.RPC_REQUEST:
rpc_num, n_args = struct.unpack(">hb",
_read_exactly(self.port, 3))
args = []
@ -124,3 +149,5 @@ class CoreCom:
if r is None:
r = 0
_write_exactly(self.port, struct.pack(">l", r))
else:
raise IOError("Incorrect request from device: "+str(msg))

2
soc/runtime/Makefile
View File

@ -3,7 +3,7 @@ include $(MSCDIR)/software/common.mak
BOARD=papilio_pro
SERIAL=/dev/ttyUSB1
OBJECTS=isr.o elf_loader.o symbols.o corecom_serial.o gpio.o rtio.o dds.o main.o
OBJECTS=isr.o elf_loader.o services.o corecom_serial.o gpio.o rtio.o dds.o main.o
all: runtime.bin

9
soc/runtime/corecom.h
View File

@ -1,8 +1,11 @@
#ifndef __CORECOM_H
#define __CORECOM_H
int ident_and_download_kernel(void *buffer, int maxlength);
int rpc(int rpc_num, int n_args, ...);
void kernel_finished(void);
typedef int (*object_loader)(void *, int);
typedef int (*kernel_runner)(const char *);
void corecom_serve(object_loader load_object, kernel_runner run_kernel);
int corecom_rpc(int rpc_num, int n_args, ...);
void corecom_log(const char *fmt, ...);
#endif /* __CORECOM_H */

122
soc/runtime/corecom_serial.c
View File

@ -5,11 +5,29 @@
#include "corecom.h"
/* host to device */
enum {
MSGTYPE_REQUEST_IDENT = 0x01,
MSGTYPE_LOAD_KERNEL = 0x02,
MSGTYPE_KERNEL_FINISHED = 0x03,
MSGTYPE_RPC_REQUEST = 0x04,
MSGTYPE_REQUEST_IDENT = 1,
MSGTYPE_LOAD_OBJECT,
MSGTYPE_RUN_KERNEL,
};
/* device to host */
enum {
MSGTYPE_LOG = 1,
MSGTYPE_MESSAGE_UNRECOGNIZED,
MSGTYPE_IDENT,
MSGTYPE_OBJECT_LOADED,
MSGTYPE_INCORRECT_LENGTH,
MSGTYPE_CRC_FAILED,
MSGTYPE_OBJECT_UNRECOGNIZED,
MSGTYPE_KERNEL_FINISHED,
MSGTYPE_KERNEL_STARTUP_FAILED,
MSGTYPE_RPC_REQUEST,
};
static int receive_int(void)
@ -66,48 +84,73 @@ static void receive_sync(void)
}
}
static void send_sync(void)
{
send_int(0x5a5a5a5a);
}
int ident_and_download_kernel(void *buffer, int maxlength)
static void receive_and_load_object(object_loader load_object)
{
int length;
unsigned int crc;
int i;
unsigned char buffer[256*1024];
unsigned int crc;
length = receive_int();
if(length > sizeof(buffer)) {
send_char(MSGTYPE_INCORRECT_LENGTH);
return;
}
crc = receive_int();
for(i=0;i<length;i++)
buffer[i] = receive_char();
if(crc32(buffer, length) != crc) {
send_char(MSGTYPE_CRC_FAILED);
return;
}
if(load_object(buffer, length))
send_char(MSGTYPE_OBJECT_LOADED);
else
send_char(MSGTYPE_OBJECT_UNRECOGNIZED);
}
static void receive_and_run_kernel(kernel_runner run_kernel)
{
int length;
int i;
char kernel_name[256];
int r;
length = receive_int();
if(length > (sizeof(kernel_name)-1)) {
send_char(MSGTYPE_INCORRECT_LENGTH);
return;
}
for(i=0;i<length;i++)
kernel_name[i] = receive_char();
kernel_name[length] = 0;
r = run_kernel(kernel_name);
send_char(r ? MSGTYPE_KERNEL_FINISHED : MSGTYPE_KERNEL_STARTUP_FAILED);
}
void corecom_serve(object_loader load_object, kernel_runner run_kernel)
{
char msgtype;
unsigned char *_buffer = buffer;
while(1) {
receive_sync();
msgtype = receive_char();
if(msgtype == MSGTYPE_REQUEST_IDENT) {
send_char(MSGTYPE_IDENT);
send_int(0x41524f52); /* "AROR" - ARTIQ runtime on OpenRISC */
send_int(1000000000000LL/identifier_frequency_read()); /* RTIO clock period in picoseconds */
} else if(msgtype == MSGTYPE_LOAD_KERNEL) {
length = receive_int();
if(length > maxlength) {
send_char(0x4c); /* Incorrect length */
return -1;
}
crc = receive_int();
for(i=0;i<length;i++)
_buffer[i] = receive_char();
if(crc32(buffer, length) != crc) {
send_char(0x43); /* CRC failed */
return -1;
}
send_char(0x4f); /* kernel reception OK */
return length;
} else
return -1;
} else if(msgtype == MSGTYPE_LOAD_OBJECT)
receive_and_load_object(load_object);
else if(msgtype == MSGTYPE_RUN_KERNEL)
receive_and_run_kernel(run_kernel);
else
send_char(MSGTYPE_MESSAGE_UNRECOGNIZED);
}
}
int rpc(int rpc_num, int n_args, ...)
int corecom_rpc(int rpc_num, int n_args, ...)
{
send_sync();
send_char(MSGTYPE_RPC_REQUEST);
send_sint(rpc_num);
send_char(n_args);
@ -121,8 +164,19 @@ int rpc(int rpc_num, int n_args, ...)
return receive_int();
}
void kernel_finished(void)
void corecom_log(const char *fmt, ...)
{
send_sync();
send_char(MSGTYPE_KERNEL_FINISHED);
va_list args;
int len;
char outbuf[256];
int i;
va_start(args, fmt);
len = vscnprintf(outbuf, sizeof(outbuf), fmt, args);
va_end(args);
send_char(MSGTYPE_LOG);
send_sint(len);
for(i=0;i<len;i++)
send_char(outbuf[i]);
}

57
soc/runtime/elf_loader.c
View File

@ -1,6 +1,6 @@
#include <stdio.h>
#include <string.h>
#include "corecom.h"
#include "elf_loader.h"
#define EI_NIDENT 16
@ -85,12 +85,12 @@ struct elf32_sym {
#define SANITIZE_OFFSET_SIZE(offset, size) \
if(offset > 0x10000000) { \
printf("Incorrect offset in ELF data"); \
return NULL; \
corecom_log("Incorrect offset in ELF data"); \
return 0; \
} \
if((offset + size) > elf_length) { \
printf("Attempted to access past the end of ELF data"); \
return NULL; \
corecom_log("Attempted to access past the end of ELF data"); \
return 0; \
}
#define GET_POINTER_SAFE(target, target_type, offset) \
@ -121,11 +121,11 @@ static int fixup(void *dest, int dest_length, struct elf32_rela *rela, void *tar
val = _target - (_dest + offset);
_dest[offset] = (_dest[offset] & 0xfc000000) | (val & 0x03ffffff);
} else
printf("Unsupported relocation type: %d\n", type);
corecom_log("Unsupported relocation type: %d", type);
return 1;
}
void *load_elf(symbol_resolver resolver, const char *entry_name, void *elf_data, int elf_length, void *dest, int dest_length)
int load_elf(symbol_resolver resolver, symbol_callback callback, void *elf_data, int elf_length, void *dest, int dest_length)
{
struct elf32_ehdr *ehdr;
struct elf32_shdr *strtable;
@ -137,22 +137,20 @@ void *load_elf(symbol_resolver resolver, const char *entry_name, void *elf_data,
unsigned int symtaboff, symtabsize;
unsigned int strtaboff, strtabsize;
void *entry_point;
/* validate ELF */
GET_POINTER_SAFE(ehdr, struct elf32_ehdr, 0);
if(memcmp(ehdr->ident, elf_magic_header, sizeof(elf_magic_header)) != 0) {
printf("Incorrect ELF header\n");
return NULL;
corecom_log("Incorrect ELF header");
return 0;
}
if(ehdr->type != ET_REL) {
printf("ELF is not relocatable\n");
return NULL;
corecom_log("ELF is not relocatable");
return 0;
}
if(ehdr->machine != EM_OR1K) {
printf("ELF is for a different machine\n");
return NULL;
corecom_log("ELF is for a different machine");
return 0;
}
/* extract section info */
@ -192,8 +190,8 @@ void *load_elf(symbol_resolver resolver, const char *entry_name, void *elf_data,
/* load .text section */
if(textsize > dest_length) {
printf(".text section is too large\n");
return NULL;
corecom_log(".text section is too large");
return 0;
}
memcpy(dest, (char *)elf_data + textoff, textsize);
@ -211,35 +209,32 @@ void *load_elf(symbol_resolver resolver, const char *entry_name, void *elf_data,
name = (char *)elf_data + strtaboff + sym->name;
target = resolver(name);
if(target == NULL) {
printf("Undefined symbol: %s\n", name);
return NULL;
corecom_log("Undefined symbol: %s", name);
return 0;
}
if(!fixup(dest, dest_length, rela, target))
return NULL;
return 0;
} else {
printf("Unsupported relocation\n");
return NULL;
corecom_log("Unsupported relocation");
return 0;
}
}
/* find entry point */
entry_point = NULL;
/* list provided functions via callback */
for(i=0;i<symtabsize;i+=sizeof(struct elf32_sym)) {
struct elf32_sym *sym;
GET_POINTER_SAFE(sym, struct elf32_sym, symtaboff + i);
if((ELF32_ST_TYPE(sym->info) == STT_FUNC) && (sym->name != 0)) {
char *name;
void *target;
name = (char *)elf_data + strtaboff + sym->name;
if(strcmp(name, entry_name) == 0) {
entry_point = (char *)dest + sym->value;
break;
}
target = (char *)dest + sym->value;
if(!callback(name, target))
return 0;
}
}
if(entry_point == NULL)
printf("Failed to find entry point\n");
return entry_point;
return 1;
}

7
soc/runtime/elf_loader.h
View File

@ -6,9 +6,10 @@ struct symbol {
void *target;
};
void *find_symbol(const struct symbol *symbols, const char *name);
typedef void * (*symbol_resolver)(const char *);
typedef int (*symbol_callback)(const char *, void *);
typedef void * (*symbol_resolver)(const char *name);
void *load_elf(symbol_resolver resolver, const char *entry_name, void *elf_data, int elf_length, void *dest, int dest_length);
void *find_symbol(const struct symbol *symbols, const char *name);
int load_elf(symbol_resolver resolver, symbol_callback callback, void *elf_data, int elf_length, void *dest, int dest_length);
#endif /* __ELF_LOADER_H */

90
soc/runtime/main.c
View File

@ -1,42 +1,90 @@
#include <stdio.h>
#include <string.h>
#include <irq.h>
#include <uart.h>
#include <system.h>
#include "corecom.h"
#include "elf_loader.h"
#include "symbols.h"
#include "services.h"
#include "rtio.h"
#include "dds.h"
static unsigned char kcode[256*1024];
static struct symbol symtab[128];
static int _symtab_count;
static char _symtab_strings[128*16];
static char *_symtab_strptr;
static void symtab_init(void)
{
memset(symtab, 0, sizeof(symtab));
_symtab_count = 0;
_symtab_strptr = _symtab_strings;
}
static int symtab_add(const char *name, void *target)
{
if(_symtab_count >= sizeof(symtab)/sizeof(symtab[0])) {
corecom_log("Too many provided symbols in object");
symtab_init();
return 0;
}
symtab[_symtab_count].name = _symtab_strptr;
symtab[_symtab_count].target = target;
_symtab_count++;
while(1) {
if(_symtab_strptr >= &_symtab_strings[sizeof(_symtab_strings)]) {
corecom_log("Provided symbol string table overflow");
symtab_init();
return 0;
}
*_symtab_strptr = *name;
_symtab_strptr++;
if(*name == 0)
break;
name++;
}
return 1;
}
static int load_object(void *buffer, int length)
{
symtab_init();
return load_elf(
resolve_service_symbol, symtab_add,
buffer, length, kcode, sizeof(kcode));
}
typedef void (*kernel_function)(void);
static int run_kernel(const char *kernel_name)
{
kernel_function k;
k = find_symbol(symtab, kernel_name);
if(k == NULL) {
corecom_log("Failed to find kernel entry point '%s' in object", kernel_name);
return 0;
}
rtio_init();
flush_cpu_icache();
k();
return 1;
}
int main(void)
{
unsigned char kbuf[256*1024];
unsigned char kcode[256*1024];
kernel_function k;
int length;
irq_setmask(0);
irq_setie(1);
uart_init();
puts("ARTIQ runtime built "__DATE__" "__TIME__"\n");
while(1) {
length = ident_and_download_kernel(kbuf, sizeof(kbuf));
if(length > 0) {
k = load_elf(resolve_symbol, "run", kbuf, length, kcode, sizeof(kcode));
if(k != NULL) {
rtio_init();
dds_init();
flush_cpu_icache();
k();
kernel_finished();
}
}
}
dds_init();
corecom_serve(load_object, run_kernel);
return 0;
}

8
soc/runtime/symbols.c → soc/runtime/services.c
View File

@ -5,10 +5,10 @@
#include "gpio.h"
#include "rtio.h"
#include "dds.h"
#include "symbols.h"
#include "services.h"
static const struct symbol syscalls[] = {
{"rpc", rpc},
{"rpc", corecom_rpc},
{"gpio_set", gpio_set},
{"rtio_oe", rtio_oe},
{"rtio_set", rtio_set},
@ -34,7 +34,7 @@ static const struct symbol compiler_rt[] = {
{"modsi3", &__modsi3},
{"ledf2", &__ledf2},
{"gedf2", &__gedf2},
{"unorddf2", &__gedf2},
{"unorddf2", &__unorddf2},
{"negsf2", &__negsf2},
{"negdf2", &__negdf2},
{"addsf3", &__addsf3},
@ -68,7 +68,7 @@ static const struct symbol compiler_rt[] = {
{NULL, NULL}
};
void *resolve_symbol(const char *name)
void *resolve_service_symbol(const char *name)
{
if(strncmp(name, "__", 2) != 0)
return NULL;

6
soc/runtime/services.h Normal file
View File

@ -0,0 +1,6 @@
#ifndef __SERVICES_H
#define __SERVICES_H
void *resolve_service_symbol(const char *name);
#endif /* __SERVICES_H */

6
soc/runtime/symbols.h
View File

@ -1,6 +0,0 @@
#ifndef __SYMBOLS_H
#define __SYMBOLS_H
void *resolve_symbol(const char *name);
#endif /* __SYMBOLS_H */