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Start multi cores in imx6q

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This commit is contained in:
TXuian
2024-03-13 17:56:49 +08:00
parent 63de0f983c
commit 01f4d45e0c
20 changed files with 2136 additions and 63 deletions
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1
Ubiquitous/XiZi_AIoT/softkernel/include/kern_init.h
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@@ -37,5 +37,6 @@ struct XiziBootNode {
};
bool hardkernel_init(struct TraceTag*);
bool secondary_cpu_hardkernel_init(int cpu_id, struct TraceTag* _hardkernel_tag);
bool softkernel_init(struct TraceTag* _hardkernel_tag, struct TraceTag* _softkernel_tag);
void show_xizi_bar(void);

5
Ubiquitous/XiZi_AIoT/softkernel/include/multicores.h
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@@ -30,6 +30,7 @@ Modification:
#pragma once
#include "core.h"
#include "spinlock.h"
#include "trap_common.h"
struct CPU {
@@ -44,4 +45,6 @@ extern struct CPU global_cpus[NR_CPU];
static inline struct CPU* cur_cpu(void)
{
return &global_cpus[cur_cpuid()];
}
}
struct spinlock whole_kernel_lock;

1
Ubiquitous/XiZi_AIoT/softkernel/include/pagetable.h
View File

@@ -72,6 +72,7 @@ uintptr_t* _page_walk(uintptr_t* pgdir, uintptr_t vaddr, bool alloc);
extern struct TopLevelPageDirectory kern_pgdir;
void load_kern_pgdir(struct TraceTag* mmu_driver_tag, struct TraceTag* intr_driver_tag);
void secondary_cpu_load_kern_pgdir(struct TraceTag* mmu_driver_tag, struct TraceTag* intr_driver_tag);
extern struct XiziPageManager xizi_pager;
bool module_pager_init(struct PagerRightGroup*);

149
Ubiquitous/XiZi_AIoT/softkernel/main.c
View File

@@ -27,37 +27,130 @@ Author: AIIT XUOS Lab
Modification:
1. first version
*************************************************/
/// @todo use hardkernel
#include "cortex_a9.h"
#include "regssrc.h"
#include "kern_init.h"
#include "multicores.h"
#include "assert.h"
#include "task.h"
#include "trap_common.h"
void configure_cpu(uint32_t cpu)
{
const unsigned int all_ways = 0xf;
disable_strict_align_check();
// Enable branch prediction
arm_branch_target_cache_invalidate();
arm_branch_prediction_enable();
// Enable L1 caches
// arm_dcache_enable();
// arm_dcache_invalidate();
// arm_icache_enable();
// arm_icache_invalidate();
// Invalidate SCU copy of TAG RAMs
scu_secure_invalidate(cpu, all_ways);
// Join SMP
scu_join_smp();
scu_enable_maintenance_broadcast();
}
typedef void (*cpu_entry_point_t)(void* arg);
typedef struct _core_startup_info {
cpu_entry_point_t entry; //!< Function to call after starting a core.
void* arg; //!< Argument to pass core entry point.
} core_startup_info_t;
static core_startup_info_t s_core_info[NR_CPU] = { { 0 } };
static void common_cpu_entry(void)
{
uint32_t myCoreNumber = cpu_get_current();
core_startup_info_t* info = &s_core_info[myCoreNumber];
// Call the requested entry point for this CPU number.
if (info->entry) {
info->entry(info->arg);
}
}
extern void _boot_start();
void cpu_start_secondary(uint8_t coreNumber, cpu_entry_point_t entryPoint, void* arg)
{
// Save entry point and arg.
s_core_info[coreNumber].entry = entryPoint;
s_core_info[coreNumber].arg = arg;
// Prepare pointers for ROM code. The entry point is always _start, which does some
// basic preparatory work and then calls the common_cpu_entry function, which itself
// calls the entry point saved in s_core_info.
switch (coreNumber) {
case 1:
HW_SRC_GPR3_WR((uint32_t)&_boot_start);
// HW_SRC_GPR4_WR((uint32_t)common_cpu_entry);
HW_SRC_SCR.B.CORE1_ENABLE = 1;
break;
case 2:
HW_SRC_GPR5_WR((uint32_t)&_boot_start);
// HW_SRC_GPR6_WR((uint32_t)common_cpu_entry);
HW_SRC_SCR.B.CORE2_ENABLE = 1;
break;
case 3:
HW_SRC_GPR7_WR((uint32_t)&_boot_start);
// HW_SRC_GPR8_WR((uint32_t)common_cpu_entry);
HW_SRC_SCR.B.CORE3_ENABLE = 1;
break;
}
}
extern uint32_t _binary_init_start[], _binary_default_fs_start[];
extern int sys_spawn(char* path, char** argv);
static struct TraceTag hardkernel_tag, softkernel_tag;
static bool init = false;
int main(void)
{
/* init tracer */
// clang-format off
tracer_init(); // init tracer system
struct TraceTag hardkernel_tag, softkernel_tag;
if (!CreateResourceTag(&hardkernel_tag, RequireRootTag(), "hardkernel", TRACER_OWNER, NULL) ||
!CreateResourceTag(&softkernel_tag, RequireRootTag(), "softkernel", TRACER_OWNER, NULL)) {
ERROR("Failed to create hardkernel owner and softkernel owner.\n");
return -1;
}
// clang-format on
uint32_t cpu_id = cur_cpuid();
/* init hardkernel */
if (!hardkernel_init(&hardkernel_tag)) {
return -1;
if (cpu_id == 0) {
tracer_init(); // init tracer system
// clang-format off
if (!CreateResourceTag(&hardkernel_tag, RequireRootTag(), "hardkernel", TRACER_OWNER, NULL) ||
!CreateResourceTag(&softkernel_tag, RequireRootTag(), "softkernel", TRACER_OWNER, NULL)) {
ERROR("Failed to create hardkernel owner and softkernel owner.\n");
return -1;
}
// clang-format on
/* init hardkernel */
if (!hardkernel_init(&hardkernel_tag)) {
return -1;
}
spinlock_init(&whole_kernel_lock, "wklock");
} else {
configure_cpu(cpu_id);
DEBUG_PRINTF("CPU %d started init: %d(at %x).\n", cur_cpuid(), init, &init);
spinlock_lock(&whole_kernel_lock);
secondary_cpu_hardkernel_init(cpu_id, &hardkernel_tag);
spinlock_unlock(&whole_kernel_lock);
DEBUG_PRINTF("CPU %d started done.\n", cur_cpuid());
}
struct TraceTag main_intr_tag;
AchieveResourceTag(&main_intr_tag, &hardkernel_tag, "intr-ac-resource");
struct XiziTrapDriver* p_intr_driver = (struct XiziTrapDriver*)AchieveResource(&main_intr_tag);
int cpu_id = p_intr_driver->cur_cpu_id();
// struct TraceTag main_intr_tag;
// AchieveResourceTag(&main_intr_tag, &hardkernel_tag, "intr-ac-resource");
// struct XiziTrapDriver* p_intr_driver = (struct XiziTrapDriver*)AchieveResource(&main_intr_tag);
if (cpu_id == 0) {
/* init softkernel */
if (!softkernel_init(&hardkernel_tag, &softkernel_tag)) {
@@ -66,18 +159,30 @@ int main(void)
show_xizi_bar();
int cpu_count = NR_CPU;
scu_enable();
configure_cpu(cpu_id);
for (int i = 1; i < cpu_count; i++) {
// start secondary cpus
cpu_start_secondary(i, NULL, 0);
}
/* start first task */
char* init_task_param[2] = { "/app/init", 0 };
spawn_embedded_task((char*)_binary_init_start, "init", init_task_param);
char* fs_server_task_param[2] = { "/app/fs_server", 0 };
spawn_embedded_task((char*)_binary_default_fs_start, "memfs", fs_server_task_param);
init = true;
}
/* start first task */
char* init_task_param[2] = { "/app/init", 0 };
spawn_embedded_task((char*)_binary_init_start, "init", init_task_param);
char* fs_server_task_param[2] = { "/app/fs_server", 0 };
spawn_embedded_task((char*)_binary_default_fs_start, "memfs", fs_server_task_param);
while (!init)
;
/* start scheduler */
struct SchedulerRightGroup scheduler_rights;
assert(AchieveResourceTag(&scheduler_rights.mmu_driver_tag, &hardkernel_tag, "mmu-ac-resource"));
assert(AchieveResourceTag(&scheduler_rights.intr_driver_tag, &hardkernel_tag, "intr-ac-resource"));
// while (true) { }
xizi_task_manager.task_scheduler(scheduler_rights);
// never reached

6
Ubiquitous/XiZi_AIoT/softkernel/memory/pagetable.c
View File

@@ -293,6 +293,12 @@ void load_kern_pgdir(struct TraceTag* mmu_driver_tag, struct TraceTag* intr_driv
// dev mem
_map_pages((uintptr_t*)kern_pgdir.pd_addr, DEV_VRTMEM_BASE, DEV_PHYMEM_BASE, DEV_MEM_SZ, dev_attr);
// _p_pgtbl_mmu_access->LoadPgdir((uintptr_t)V2P(kern_pgdir.pd_addr));
_p_pgtbl_mmu_access->LoadPgdirCrit((uintptr_t)V2P(kern_pgdir.pd_addr), intr_driver_tag);
}
void secondary_cpu_load_kern_pgdir(struct TraceTag* mmu_driver_tag, struct TraceTag* intr_driver_tag)
{
// _p_pgtbl_mmu_access->LoadPgdir((uintptr_t)V2P(kern_pgdir.pd_addr));
_p_pgtbl_mmu_access->LoadPgdirCrit((uintptr_t)V2P(kern_pgdir.pd_addr), intr_driver_tag);
}

3
Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c
View File

@@ -49,6 +49,9 @@ bool clock_intr_handler_init(struct TraceTag* p_clock_driver_tag)
uint64_t global_tick = 0;
int xizi_clock_handler(int irq, void* tf, void* arg)
{
// spinlock_lock(&whole_kernel_lock);
// DEBUG_PRINTF("CPU %d\n", cpu_get_current());
// spinlock_unlock(&whole_kernel_lock);
/* handle clock interrupt using driver */
if (p_clock_driver->is_timer_expired()) {
p_clock_driver->clear_clock_intr();

2
Ubiquitous/XiZi_AIoT/softkernel/trap/default_irq_handler.c
View File

@@ -77,7 +77,9 @@ void intr_irq_dispatch(struct trapframe* tf)
// distribute irq
irq_handler_t isr = p_intr_driver->sw_irqtbl[irq].handler;
if (isr) {
// spinlock_lock(&whole_kernel_lock);
isr(irq, tf, NULL);
// spinlock_unlock(&whole_kernel_lock);
} else {
default_interrupt_routine();
}

10
Ubiquitous/XiZi_AIoT/softkernel/trap/software_irq_handler.c
View File

@@ -48,6 +48,11 @@ bool swi_distributer_init(struct SwiDispatcherRightGroup* _right_group)
extern void context_switch(struct context**, struct context*);
void software_irq_dispatch(struct trapframe* tf)
{
bool is_my_lock = false;
if (whole_kernel_lock.owner_cpu != cur_cpuid()) {
spinlock_lock(&whole_kernel_lock);
is_my_lock = true;
}
assert(p_intr_driver != NULL);
p_intr_driver->cpu_irq_disable();
@@ -59,6 +64,7 @@ void software_irq_dispatch(struct trapframe* tf)
if (cur_task && cur_task->state != DEAD) {
cur_task->main_thread.trapframe = tf;
// call syscall
int ret = arch_syscall(cur_task->main_thread.trapframe, &syscall_num);
if (syscall_num != SYSCALL_EXEC) {
@@ -75,5 +81,9 @@ void software_irq_dispatch(struct trapframe* tf)
if (syscall_num == SYSCALL_EXIT) {
ERROR("Exit reaches");
}
if (is_my_lock) {
spinlock_unlock(&whole_kernel_lock);
}
p_intr_driver->cpu_irq_enable();
}