ksupport: support subkernels

artiq/build_soc.py

@@ -71,7 +71,6 @@ def build_artiq_soc(soc, argdict):
     if not soc.config["DRTIO_ROLE"] == "satellite":
         builder.add_software_package("runtime", os.path.join(firmware_dir, "runtime"))
     else:
-        # Assume DRTIO satellite.
         builder.add_software_package("satman", os.path.join(firmware_dir, "satman"))
     try:
         builder.build()

artiq/firmware/ksupport/api.rs

@@ -157,6 +157,11 @@ static mut API: &'static [(&'static str, *const ())] = &[
     api!(dma_retrieve = ::dma_retrieve),
     api!(dma_playback = ::dma_playback),
 
+    api!(subkernel_load_run = ::subkernel_load_run),
+    api!(subkernel_send_message = ::subkernel_send_message),
+    api!(subkernel_await_message = ::subkernel_await_message),
+    api!(subkernel_await_finish = ::subkernel_await_finish),
+
     api!(i2c_start = ::nrt_bus::i2c::start),
     api!(i2c_restart = ::nrt_bus::i2c::restart),
     api!(i2c_stop = ::nrt_bus::i2c::stop),

artiq/firmware/ksupport/eh_artiq.rs

@@ -333,7 +333,7 @@ extern fn stop_fn(_version: c_int,
     }
 }
 
-static EXCEPTION_ID_LOOKUP: [(&str, u32); 11] = [
+static EXCEPTION_ID_LOOKUP: [(&str, u32); 12] = [
     ("RuntimeError", 0),
     ("RTIOUnderflow", 1),
     ("RTIOOverflow", 2),
@@ -345,6 +345,7 @@ static EXCEPTION_ID_LOOKUP: [(&str, u32); 11] = [
     ("ZeroDivisionError", 8),
     ("IndexError", 9),
     ("UnwrapNoneError", 10),
+    ("SubkernelError", 11)
 ];
 
 pub fn get_exception_id(name: &str) -> u32 {

artiq/firmware/ksupport/lib.rs

@@ -21,7 +21,6 @@ use dyld::Library;
 use board_artiq::{mailbox, rpc_queue};
 use proto_artiq::{kernel_proto, rpc_proto};
 use kernel_proto::*;
-#[cfg(has_rtio_dma)]
 use board_misoc::csr;
 use riscv::register::{mcause, mepc, mtval};
 
@@ -396,7 +395,7 @@ extern fn dma_retrieve(name: &CSlice<u8>) -> DmaTrace {
     })
 }
 
-#[cfg(has_rtio_dma)]
+#[cfg(kernel_has_rtio_dma)]
 #[unwind(allowed)]
 extern fn dma_playback(timestamp: i64, ptr: i32, _uses_ddma: bool) {
     assert!(ptr % 64 == 0);
@@ -454,10 +453,74 @@ extern fn dma_playback(timestamp: i64, ptr: i32, _uses_ddma: bool) {
     }
 }
 
-#[cfg(not(has_rtio_dma))]
+#[cfg(not(kernel_has_rtio_dma))]
 #[unwind(allowed)]
 extern fn dma_playback(_timestamp: i64, _ptr: i32, _uses_ddma: bool) {
-    unimplemented!("not(has_rtio_dma)")
+    unimplemented!("not(kernel_has_rtio_dma)")
+}
+
+#[unwind(allowed)]
+extern fn subkernel_load_run(id: u32, run: bool) {
+    send(&SubkernelLoadRunRequest { id: id, run: run });
+    recv!(&SubkernelLoadRunReply { succeeded } => {
+        if !succeeded {
+            raise!("SubkernelError",
+                "Error loading or running the subkernel");
+        }
+    });
+}
+
+#[unwind(allowed)]
+extern fn subkernel_await_finish(id: u32, timeout: u64) {
+    send(&SubkernelAwaitFinishRequest { id: id, timeout: timeout });
+    recv!(SubkernelAwaitFinishReply { status } => {
+        match status {
+            SubkernelStatus::NoError => (),
+            SubkernelStatus::IncorrectState => raise!("SubkernelError",
+                "Subkernel not running"),
+            SubkernelStatus::Timeout => raise!("SubkernelError",
+                "Subkernel timed out"),
+            SubkernelStatus::CommLost => raise!("SubkernelError",
+                "Lost communication with satellite"),
+            SubkernelStatus::OtherError => raise!("SubkernelError",
+                "An error occurred during subkernel operation")
+        }
+    })
+}
+
+#[unwind(aborts)]
+extern fn subkernel_send_message(id: u32, count: u8, tag: &CSlice<u8>, data: *const *const ()) {
+    send(&SubkernelMsgSend { 
+        id: id,
+        count: count,
+        tag: tag.as_ref(),
+        data: data 
+    });
+}
+
+#[unwind(allowed)]
+extern fn subkernel_await_message(id: u32, timeout: u64, min: u8, max: u8) -> u8 {
+    send(&SubkernelMsgRecvRequest { id: id, timeout: timeout });
+    recv!(SubkernelMsgRecvReply { status, count } => {
+        match status {
+            SubkernelStatus::NoError => {
+                if count < &min || count > &max {
+                    raise!("SubkernelError",
+                        "Received less or more arguments than expected");
+                }
+                *count
+            }
+            SubkernelStatus::IncorrectState => raise!("SubkernelError",
+                "Subkernel not running"),
+            SubkernelStatus::Timeout => raise!("SubkernelError",
+                "Subkernel timed out"),
+            SubkernelStatus::CommLost => raise!("SubkernelError",
+                "Lost communication with satellite"),
+            SubkernelStatus::OtherError => raise!("SubkernelError",
+                "An error occurred during subkernel operation")
+        }
+    })
+    // RpcRecvRequest should be called `count` times after this to receive message data
 }
 
 unsafe fn attribute_writeback(typeinfo: *const ()) {

artiq/firmware/libproto_artiq/kernel_proto.rs

@@ -10,6 +10,15 @@ pub const KERNELCPU_LAST_ADDRESS:    usize = 0x4fffffff;
 // section in ksupport.elf.
 pub const KSUPPORT_HEADER_SIZE: usize = 0x74;
 
+#[derive(Debug)]
+pub enum SubkernelStatus {
+    NoError,
+    Timeout,
+    IncorrectState,
+    CommLost,
+    OtherError
+}
+
 #[derive(Debug)]
 pub enum Message<'a> {
     LoadRequest(&'a [u8]),
@@ -94,6 +103,14 @@ pub enum Message<'a> {
     SpiReadReply { succeeded: bool, data: u32 },
     SpiBasicReply { succeeded: bool },
 
+    SubkernelLoadRunRequest { id: u32, run: bool },
+    SubkernelLoadRunReply { succeeded: bool },
+    SubkernelAwaitFinishRequest { id: u32, timeout: u64 },
+    SubkernelAwaitFinishReply { status: SubkernelStatus },
+    SubkernelMsgSend { id: u32, count: u8, tag: &'a [u8], data: *const *const () },
+    SubkernelMsgRecvRequest { id: u32, timeout: u64 },
+    SubkernelMsgRecvReply { status: SubkernelStatus, count: u8 },
+
     Log(fmt::Arguments<'a>),
     LogSlice(&'a str)
 }