runtime: biprocessor support (incomplete, WIP)

soc/runtime/Makefile

@@ -1,9 +1,21 @@
 include $(MSCDIR)/software/common.mak
 
-BOARD=papilio_pro
+OBJECTS_SERVICES=exception_jmp.o exceptions.o rtio.o dds.o
-SERIAL=/dev/ttyUSB1
+OBJECTS=isr.o elf_loader.o services.o comm_serial.o test_mode.o main.o
 
-OBJECTS=isr.o elf_loader.o kernelcpu.o exception_jmp.o exceptions.o services.o comm_serial.o gpio.o rtio.o dds.o ksupport_data.o test_mode.o main.o
+UNIPROCESSOR := $(shell echo -e "\#include <generated/csr.h>\nCSR_KERNEL_CPU_BASE" | $(CC_normal) $(CFLAGS) -E - | tail -n 1 | grep -c CSR_KERNEL_CPU_BASE)
+
+ifeq ($(UNIPROCESSOR),0)
+OBJECTS += kernelcpu.o ksupport_data.o
+CFLAGS += -DARTIQ_BIPROCESSOR
+SERVICE_TABLE_INPUT = ksupport.elf
+else
+ifeq ($(UNIPROCESSOR),1)
+OBJECTS += $(OBJECTS_SERVICES)
+else
+$(error failed to determine uniprocessor/biprocessor build)
+endif
+endif
 
 all: runtime.bin
 
@@ -30,17 +42,22 @@ runtime.elf: $(OBJECTS) libs
 		-lbase -lcompiler-rt
 	@chmod -x $@
 
-ksupport.elf: ksupport.o
+ksupport.elf: $(OBJECTS_SERVICES) ksupport.o
 	$(LD) $(LDFLAGS) \
 		-T ksupport.ld \
 		-N -o $@ \
 		$(MSCDIR)/software/libbase/crt0-$(CPU).o \
-		ksupport.o
+		$^
 	@chmod -x $@
 
 ksupport_data.o: ksupport.bin
 	$(LD) -r -b binary -o $@ $<
 
+service_table.h: $(SERVICE_TABLE_INPUT)
+	@echo " GEN     " $@ && ./gen_service_table.py $(SERVICE_TABLE_INPUT) > $@
+
+services.c: service_table.h
+
 main.o: main.c
 	$(compile-dep)
 
@@ -54,15 +71,9 @@ libs:
 	$(MAKE) -C $(MSCDIR)/software/libcompiler-rt
 	$(MAKE) -C $(MSCDIR)/software/libbase
 
-load: runtime.bin
-	$(MAKE) -C $(MSCDIR)/tools
-	$(MSCDIR)/tools/flterm --port $(SERIAL) --kernel runtime.bin
-
-flash: runtime.fbi
-	$(MSCDIR)/flash_extra.py $(BOARD) runtime.fbi 0x70000
-
 clean:
-	$(RM) $(OBJECTS) $(OBJECTS:.o=.d) runtime.elf runtime.bin runtime.fbi .*~ *~
+	$(RM) $(OBJECTS) $(OBJECTS:.o=.d) $(OBJECTS_SERVICES) $(OBJECTS_SERVICES:.o=.d)
-	$(RM) ksupport.d ksupport.o ksupport.elf ksupport.bin
+	$(RM) runtime.elf runtime.bin runtime.fbi .*~ *~
+	$(RM) service_table.h ksupport.d ksupport.o ksupport.elf ksupport.bin
 
 .PHONY: all main.o clean libs load

soc/runtime/comm_serial.c

@@ -151,7 +151,12 @@ static void receive_and_run_kernel(kernel_runner run_kernel)
             send_char(MSGTYPE_KERNEL_EXCEPTION);
             send_int(eid);
             for(i=0;i<3;i++)
+#ifdef ARTIQ_BIPROCESSOR
+#warning TODO
+                send_llint(0LL);
+#else
                 send_llint(exception_params[i]);
+#endif
             break;
         case KERNEL_RUN_STARTUP_FAILED:
             send_char(MSGTYPE_KERNEL_STARTUP_FAILED);
@@ -172,9 +177,16 @@ void comm_serve(object_loader load_object, kernel_runner run_kernel)
         if(msgtype == MSGTYPE_REQUEST_IDENT) {
             send_char(MSGTYPE_IDENT);
             send_int(0x41524f52); /* "AROR" - ARTIQ runtime on OpenRISC */
+#ifdef ARTIQ_BIPROCESSOR
+#warning TODO
+            send_int(125*1000*1000);
+            send_char(0);
+            send_char(1);
+#else
             send_int(rtio_frequency_i_read());
             send_char(rtio_frequency_fn_read());
             send_char(rtio_frequency_fd_read());
+#endif
         } else if(msgtype == MSGTYPE_LOAD_OBJECT)
             receive_and_load_object(load_object);
         else if(msgtype == MSGTYPE_RUN_KERNEL)
@@ -253,8 +265,12 @@ int comm_rpc(int rpc_num, ...)
     eid = receive_int();
     retval = receive_int();
 
+#ifdef ARTIQ_BIPROCESSOR
+#warning TODO
+#else
     if(eid != EID_NONE)
         exception_raise(eid);
+#endif
 
     return retval;
 }

soc/runtime/exceptions.c

@@ -1,5 +1,9 @@
+#include <generated/csr.h>
+
 #include "exceptions.h"
+#ifndef ARTIQ_BIPROCESSOR
 #include "comm.h"
+#endif
 
 #define MAX_EXCEPTION_CONTEXTS 64
 
@@ -45,7 +49,11 @@ void exception_raise_params(int id,
         exception_params[2] = p2;
         exception_longjmp(exception_contexts[--ec_top].jb);
     } else {
+#ifdef ARTIQ_BIPROCESSOR
+#warning TODO
+#else
         comm_log("ERROR: uncaught exception, ID=%d\n", id);
+#endif
         while(1);
     }
 }

soc/runtime/gen_service_table.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+import sys
+
+
+services = [
+    ("syscalls", [
+        ("rpc", "comm_rpc"),
+        ("rtio_oe", "rtio_oe"),
+        ("rtio_set", "rtio_set"),
+        ("rtio_get_counter", "rtio_get_counter"),
+        ("rtio_get", "rtio_get"),
+        ("rtio_pileup_count", "rtio_pileup_count"),
+        ("dds_phase_clear_en", "dds_phase_clear_en"),
+        ("dds_program", "dds_program"),
+    ]),
+    ("eh", [
+        ("setjmp", "exception_setjmp"),
+        ("push", "exception_push"),
+        ("pop", "exception_pop"),
+        ("getid", "exception_getid"),
+        ("raise", "exception_raise"),
+    ])
+]
+
+
+def print_uniprocessor():
+    for name, contents in services:
+        print("static const struct symbol {}[] = {{".format(name))
+        for name, value in contents:
+            print("    {{\"{}\", {}}},".format(name, value))
+        print("    {NULL, NULL}")
+        print("};")
+
+
+def print_biprocessor(ksupport_elf_filename):
+    from elftools.elf.elffile import ELFFile
+    with open(ksupport_elf_filename, "rb") as f:
+        elf = ELFFile(f)
+        symtab = elf.get_section_by_name(b".symtab")
+        symbols = {symbol.name: symbol.entry.st_value
+                   for symbol in symtab.iter_symbols()}
+    for name, contents in services:
+        print("static const struct symbol {}[] = {{".format(name))
+        for name, value in contents:
+            print("    {{\"{}\", (void *)0x{:08x}}},"
+                  .format(name, symbols[bytes(value, "ascii")]))
+        print("    {NULL, NULL}")
+        print("};")
+
+
+def main():
+    if len(sys.argv) == 1:
+        print_uniprocessor()
+    elif len(sys.argv) == 2:
+        print_biprocessor(sys.argv[1])
+    else:
+        print("Incorrect number of command line arguments")
+        sys.exit(1)
+
+if __name__ == "__main__":
+    main()

soc/runtime/gpio.c

@@ -1,14 +0,0 @@
-#include <generated/csr.h>
-
-#include "gpio.h"
-
-void gpio_set(int channel, int value)
-{
-    static int csr_value;
-
-    if(value)
-        csr_value |= 1 << channel;
-    else
-        csr_value &= ~(1 << channel);
-    leds_out_write(csr_value);
-}

soc/runtime/gpio.h

@@ -1,6 +0,0 @@
-#ifndef __GPIO_H
-#define __GPIO_H
-
-void gpio_set(int channel, int value);
-
-#endif /* __GPIO_H */

soc/runtime/kernelcpu.c

@@ -1,20 +1,19 @@
-#include <generated/csr.h>
-
-#ifdef CSR_KERNEL_CPU_BASE
-
 #include <stdio.h>
 #include <string.h>
 #include <system.h>
 
+#include <generated/csr.h>
+
 #include "kernelcpu.h"
 
 extern char _binary_ksupport_bin_start;
 extern char _binary_ksupport_bin_end;
 
-void kernelcpu_start(void)
+void kernelcpu_start(void *addr)
 {
     memcpy((void *)KERNELCPU_EXEC_ADDRESS, &_binary_ksupport_bin_start,
         &_binary_ksupport_bin_end - &_binary_ksupport_bin_start);
+    KERNELCPU_MAILBOX = (unsigned int)addr;
     flush_l2_cache();
     kernel_cpu_reset_write(0);
 }
@@ -23,5 +22,3 @@ void kernelcpu_stop(void)
 {
     kernel_cpu_reset_write(1);
 }
-
-#endif /* CSR_KERNEL_CPU_BASE */

soc/runtime/kernelcpu.h

@@ -4,11 +4,11 @@
 #include <hw/common.h>
 
 #define KERNELCPU_EXEC_ADDRESS 0x40020000
-#define KERNELCPU_KMAIN_ADDRESS 0x40022000
+#define KERNELCPU_PAYLOAD_ADDRESS 0x40024000
 
 #define KERNELCPU_MAILBOX MMPTR(0xd0000000)
 
-void kernelcpu_start(void);
+void kernelcpu_start(void *addr);
 void kernelcpu_stop(void);
 
 #endif /* __KERNELCPU_H */

soc/runtime/ksupport.c

@@ -1,3 +1,9 @@
+#include "kernelcpu.h"
+#include "exceptions.h"
+#include "comm.h"
+#include "rtio.h"
+#include "dds.h"
+
 void exception_handler(unsigned long vect, unsigned long *sp);
 void exception_handler(unsigned long vect, unsigned long *sp)
 {
@@ -5,12 +11,32 @@ void exception_handler(unsigned long vect, unsigned long *sp)
     for(;;);
 }
 
-extern void kmain(void);
+typedef void (*kernel_function)(void);
 
 int main(void);
 int main(void)
 {
-    kmain();
+    kernel_function k;
-    /* TODO: report end of kernel to comm CPU */
+    void *jb;
+
+    k = (kernel_function)KERNELCPU_MAILBOX;
+
+    jb = exception_push();
+    if(exception_setjmp(jb))
+        KERNELCPU_MAILBOX = KERNEL_RUN_EXCEPTION;
+    else {
+        dds_init();
+        rtio_init();
+        k();
+        exception_pop(1);
+        KERNELCPU_MAILBOX = KERNEL_RUN_FINISHED;
+    }
+    while(1);
+}
+
+int comm_rpc(int rpc_num, ...);
+int comm_rpc(int rpc_num, ...)
+{
+    /* TODO */
     return 0;
 }

soc/runtime/ksupport.ld

@@ -4,15 +4,12 @@ ENTRY(_start)
 INCLUDE generated/regions.ld
 
 /* First 128K of main memory are reserved for runtime code/data
- * then comes kernel memory. First 8K of kernel memory are for support code.
+ * then comes kernel memory. First 16K of kernel memory are for support code.
  */
 MEMORY {
-    ksupport : ORIGIN = 0x40020000, LENGTH = 0x2000
+    ksupport : ORIGIN = 0x40020000, LENGTH = 0x4000
 }
 
-/* Then comes the payload. */
-PROVIDE(kmain = ORIGIN(ksupport) + LENGTH(ksupport));
-
 /* On biprocessor systems, kernel stack is at the end of main RAM,
  * before the runtime stack. Leave 1M for runtime stack.
  */

soc/runtime/linker.ld

@@ -12,10 +12,7 @@ MEMORY {
 
 /* Kernel memory space start right after the runtime,
  * and ends before the runtime stack.
- */
+ * Runtime stack is always at the end of main_ram.
-PROVIDE(_kmem = 0x40020000);
-
-/* Runtime stack is always at the end of main_ram.
  * This stack is shared with the kernel on uniprocessor systems.
  */
 PROVIDE(_fstack = 0x40000000 + LENGTH(main_ram) - 4);

soc/runtime/main.c

@@ -55,14 +55,12 @@ static int symtab_add(const char *name, void *target)
     return 1;
 }
 
-extern int _kmem;
-
 static int load_object(void *buffer, int length)
 {
     symtab_init();
     return load_elf(
         resolve_service_symbol, symtab_add,
-        buffer, length, &_kmem, 2*1024*1024);
+        buffer, length, (void *)KERNELCPU_PAYLOAD_ADDRESS, 4*1024*1024);
 }
 
 typedef void (*kernel_function)(void);
@@ -70,7 +68,9 @@ typedef void (*kernel_function)(void);
 static int run_kernel(const char *kernel_name, int *eid)
 {
     kernel_function k;
+#ifndef ARTIQ_BIPROCESSOR
     void *jb;
+#endif
 
     k = find_symbol(symtab, kernel_name);
     if(k == NULL) {
@@ -78,17 +78,32 @@ static int run_kernel(const char *kernel_name, int *eid)
         return KERNEL_RUN_STARTUP_FAILED;
     }
 
+#ifdef ARTIQ_BIPROCESSOR
+    kernelcpu_start(k);
+    *eid = 0;
+    while(1) {
+        unsigned int r;
+
+        r = KERNELCPU_MAILBOX;
+        if(r < 0x40000000) {
+            kernelcpu_stop();
+            return r;
+        }
+    }
+#else
     jb = exception_push();
     if(exception_setjmp(jb)) {
         *eid = exception_getid();
         return KERNEL_RUN_EXCEPTION;
     } else {
+        dds_init();
         rtio_init();
         flush_cpu_icache();
         k();
         exception_pop(1);
         return KERNEL_RUN_FINISHED;
     }
+#endif
 }
 
 static void blink_led(void)
@@ -131,7 +146,7 @@ int main(void)
     irq_setie(1);
     uart_init();
 
-#ifdef CSR_KERNEL_CPU_BASE
+#ifdef ARTIQ_BIPROCESSOR
     puts("ARTIQ runtime built "__DATE__" "__TIME__" for biprocessor systems\n");
 #else
     puts("ARTIQ runtime built "__DATE__" "__TIME__" for uniprocessor systems\n");
@@ -143,7 +158,6 @@ int main(void)
         test_main();
     } else {
         puts("Entering regular mode.");
-        dds_init();
         comm_serve(load_object, run_kernel);
     }
     return 0;

soc/runtime/service_table.h

@@ -0,0 +1,19 @@
+static const struct symbol syscalls[] = {
+    {"rpc", (void *)0x40021ab0},
+    {"rtio_oe", (void *)0x40021478},
+    {"rtio_set", (void *)0x400214d4},
+    {"rtio_get_counter", (void *)0x400214a0},
+    {"rtio_get", (void *)0x400215ec},
+    {"rtio_pileup_count", (void *)0x400216f4},
+    {"dds_phase_clear_en", (void *)0x400218a4},
+    {"dds_program", (void *)0x40021960},
+    {NULL, NULL}
+};
+static const struct symbol eh[] = {
+    {"setjmp", (void *)0x40021248},
+    {"push", (void *)0x400213c8},
+    {"pop", (void *)0x400212c0},
+    {"getid", (void *)0x400212e8},
+    {"raise", (void *)0x4002139c},
+    {NULL, NULL}
+};

soc/runtime/services.c

@@ -2,33 +2,12 @@
 
 #include "elf_loader.h"
 #include "comm.h"
-#include "gpio.h"
 #include "rtio.h"
 #include "dds.h"
 #include "exceptions.h"
 #include "services.h"
 
-static const struct symbol syscalls[] = {
+#include "service_table.h"
-    {"rpc", comm_rpc},
-    {"gpio_set", gpio_set},
-    {"rtio_oe", rtio_oe},
-    {"rtio_set", rtio_set},
-    {"rtio_get_counter", rtio_get_counter},
-    {"rtio_get", rtio_get},
-    {"rtio_pileup_count", rtio_pileup_count},
-    {"dds_phase_clear_en", dds_phase_clear_en},
-    {"dds_program", dds_program},
-    {NULL, NULL}
-};
-
-static const struct symbol eh[] = {
-    {"setjmp", exception_setjmp},
-    {"push", exception_push},
-    {"pop", exception_pop},
-    {"getid", exception_getid},
-    {"raise", exception_raise},
-    {NULL, NULL}
-};
 
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wimplicit-int"

soc/runtime/test_mode.c

@@ -11,6 +11,17 @@
 #include "rtio.h"
 #include "dds.h"
 
+#ifdef ARTIQ_BIPROCESSOR
+
+#warning TODO
+
+void test_main(void)
+{
+    printf("Not implemented yet for biprocessor systems\n");
+}
+
+#else
+
 static void leds(char *value)
 {
     char *c;
@@ -341,3 +352,5 @@ void test_main(void)
         do_command(buffer);
     }
 }
+
+#endif /* ARTIQ_BIPROCESSOR */