satellites: add kernel cpu

artiq/build_soc.py

@@ -59,16 +59,16 @@ def build_artiq_soc(soc, argdict):
     builder.software_packages = []
     builder.add_software_package("bootloader", os.path.join(firmware_dir, "bootloader"))
     is_kasli_v1 = isinstance(soc.platform, kasli.Platform) and soc.platform.hw_rev in ("v1.0", "v1.1")
-    if isinstance(soc, AMPSoC):
+    kernel_cpu_type = "vexriscv" if is_kasli_v1 else "vexriscv-g"
-        kernel_cpu_type = "vexriscv" if is_kasli_v1 else "vexriscv-g"
+    builder.add_software_package("libm", cpu_type=kernel_cpu_type)
-        builder.add_software_package("libm", cpu_type=kernel_cpu_type)
+    builder.add_software_package("libprintf", cpu_type=kernel_cpu_type)
-        builder.add_software_package("libprintf", cpu_type=kernel_cpu_type)
+    builder.add_software_package("libunwind", cpu_type=kernel_cpu_type)
-        builder.add_software_package("libunwind", cpu_type=kernel_cpu_type)
+    builder.add_software_package("ksupport", os.path.join(firmware_dir, "ksupport"), cpu_type=kernel_cpu_type)
-        builder.add_software_package("ksupport", os.path.join(firmware_dir, "ksupport"), cpu_type=kernel_cpu_type)
+    # Generate unwinder for soft float target (ARTIQ runtime)
-        # Generate unwinder for soft float target (ARTIQ runtime)
+    # If the kernel lacks FPU, then the runtime unwinder is already generated
-        # If the kernel lacks FPU, then the runtime unwinder is already generated
+    if not is_kasli_v1:
-        if not is_kasli_v1:
+        builder.add_software_package("libunwind")
-            builder.add_software_package("libunwind")
+    if not soc.config["DRTIO_ROLE"] == "satellite":
         builder.add_software_package("runtime", os.path.join(firmware_dir, "runtime"))
     else:
         # Assume DRTIO satellite.

artiq/gateware/amp/soc.py

@@ -36,6 +36,7 @@ class AMPSoC:
             csrs = getattr(self, name).get_csrs()
         csr_bus = wishbone.Interface(data_width=32, adr_width=32-log2_int(self.csr_separation))
         bank = wishbone.CSRBank(csrs, bus=csr_bus)
+        self.config["kernel_has_"+name] = None
         self.submodules += bank
         self.kernel_cpu.add_wb_slave(self.mem_map[name], self.csr_separation*2**bank.decode_bits, bank.bus)
         self.add_csr_region(name,

artiq/gateware/targets/kasli.py

@@ -406,9 +406,11 @@ class MasterBase(MiniSoC, AMPSoC):
         self.drtio_qpll_channel, self.ethphy_qpll_channel = qpll.channels
 
 
-class SatelliteBase(BaseSoC):
+class SatelliteBase(BaseSoC, AMPSoC):
     mem_map = {
-        "drtioaux": 0x50000000,
+        "rtio":          0x20000000,
+        "drtioaux":      0x50000000,
+        "mailbox":       0x70000000
     }
     mem_map.update(BaseSoC.mem_map)
 
@@ -417,6 +419,7 @@ class SatelliteBase(BaseSoC):
             cpu_bus_width = 32
         else:
             cpu_bus_width = 64
+
         BaseSoC.__init__(self,
                  cpu_type="vexriscv",
                  hw_rev=hw_rev,
@@ -426,6 +429,7 @@ class SatelliteBase(BaseSoC):
                  clk_freq=rtio_clk_freq,
                  rtio_sys_merge=True,
                  **kwargs)
+        AMPSoC.__init__(self)
         add_identifier(self, gateware_identifier_str=gateware_identifier_str)
 
         platform = self.platform
@@ -574,12 +578,18 @@ class SatelliteBase(BaseSoC):
             self.submodules.rtio_moninj = rtio.MonInj(rtio_channels)
             self.csr_devices.append("rtio_moninj")
 
+        # satellite (master-controlled) RTIO
         self.submodules.local_io = SyncRTIO(self.rtio_tsc, rtio_channels, lane_count=sed_lanes)
         self.comb += self.drtiosat.async_errors.eq(self.local_io.async_errors)
+
+        # subkernel RTIO
+        self.submodules.rtio = rtio.KernelInitiator(self.rtio_tsc)
+        self.register_kernel_cpu_csrdevice("rtio")
+
         self.submodules.rtio_dma = rtio.DMA(self.get_native_sdram_if(), self.cpu_dw)
         self.csr_devices.append("rtio_dma")
         self.submodules.cri_con = rtio.CRIInterconnectShared(
-            [self.drtiosat.cri, self.rtio_dma.cri],
+            [self.drtiosat.cri, self.rtio_dma.cri, self.rtio.cri],
             [self.local_io.cri] + self.drtio_cri,
             enable_routing=True)
         self.csr_devices.append("cri_con")

artiq/gateware/targets/kasli_generic.py

@@ -22,7 +22,7 @@ class GenericStandalone(StandaloneBase):
             hw_rev = description["hw_rev"]
         self.class_name_override = description["variant"]
         StandaloneBase.__init__(self, hw_rev=hw_rev, **kwargs)
-
+        self.config["DRTIO_ROLE"] = description["base"]
         self.config["RTIO_FREQUENCY"] = "{:.1f}".format(description["rtio_frequency"]/1e6)
         if "ext_ref_frequency" in description:
             self.config["SI5324_EXT_REF"] = None
@@ -76,6 +76,7 @@ class GenericMaster(MasterBase):
             rtio_clk_freq=description["rtio_frequency"],
             enable_sata=description["enable_sata_drtio"],
             **kwargs)
+        self.config["DRTIO_ROLE"] = description["base"]
         if "ext_ref_frequency" in description:
             self.config["SI5324_EXT_REF"] = None
             self.config["EXT_REF_FREQUENCY"] = "{:.1f}".format(
@@ -113,6 +114,7 @@ class GenericSatellite(SatelliteBase):
                                rtio_clk_freq=description["rtio_frequency"],
                                enable_sata=description["enable_sata_drtio"],
                                **kwargs)
+        self.config["DRTIO_ROLE"] = description["base"]
         if hw_rev == "v1.0":
             # EEM clock fan-out from Si5324, not MMCX
             self.comb += self.platform.request("clk_sel").eq(1)

artiq/gateware/targets/kc705.py

@@ -98,6 +98,8 @@ class _StandaloneBase(MiniSoC, AMPSoC):
         AMPSoC.__init__(self)
         add_identifier(self, gateware_identifier_str=gateware_identifier_str)
 
+        self.config["DRTIO_ROLE"] = "standalone"
+
         if isinstance(self.platform.toolchain, XilinxVivadoToolchain):
             self.platform.toolchain.bitstream_commands.extend([
                 "set_property BITSTREAM.GENERAL.COMPRESS True [current_design]",
@@ -194,6 +196,8 @@ class _MasterBase(MiniSoC, AMPSoC):
         AMPSoC.__init__(self)
         add_identifier(self, gateware_identifier_str=gateware_identifier_str)
 
+        self.config["DRTIO_ROLE"] = "master"
+
         if isinstance(self.platform.toolchain, XilinxVivadoToolchain):
             self.platform.toolchain.bitstream_commands.extend([
                 "set_property BITSTREAM.GENERAL.COMPRESS True [current_design]",
@@ -314,9 +318,11 @@ class _MasterBase(MiniSoC, AMPSoC):
 
 
 
-class _SatelliteBase(BaseSoC):
+class _SatelliteBase(BaseSoC, AMPSoC):
     mem_map = {
+        "rtio":         0x20000000,
         "drtioaux":     0x50000000,
+        "mailbox":      0x70000000
     }
     mem_map.update(BaseSoC.mem_map)
 
@@ -331,8 +337,11 @@ class _SatelliteBase(BaseSoC):
                  clk_freq=clk_freq,
                  rtio_sys_merge=True,
                  **kwargs)
+        AMPSoC.__init__(self)
         add_identifier(self, gateware_identifier_str=gateware_identifier_str)
 
+        self.config["DRTIO_ROLE"] = "satellite"
+
         if isinstance(self.platform.toolchain, XilinxVivadoToolchain):
             self.platform.toolchain.bitstream_commands.extend([
                 "set_property BITSTREAM.GENERAL.COMPRESS True [current_design]",
@@ -453,12 +462,18 @@ class _SatelliteBase(BaseSoC):
         self.submodules.rtio_moninj = rtio.MonInj(rtio_channels)
         self.csr_devices.append("rtio_moninj")
 
+        # DRTIO
         self.submodules.local_io = SyncRTIO(self.rtio_tsc, rtio_channels)
         self.comb += self.drtiosat.async_errors.eq(self.local_io.async_errors)
+
+        # subkernel RTIO
+        self.submodules.rtio = rtio.KernelInitiator(self.rtio_tsc)
+        self.register_kernel_cpu_csrdevice("rtio")
+
         self.submodules.rtio_dma = rtio.DMA(self.get_native_sdram_if(), self.cpu_dw)
         self.csr_devices.append("rtio_dma")
         self.submodules.cri_con = rtio.CRIInterconnectShared(
-            [self.drtiosat.cri, self.rtio_dma.cri],
+            [self.drtiosat.cri, self.rtio_dma.cri, self.rtio.cri],
             [self.local_io.cri] + self.drtio_cri,
             enable_routing=True)
         self.csr_devices.append("cri_con")