fix multi core error of rk3568

Ubiquitous/XiZi_AIoT/hardkernel/arch/arm/armv8-a/cortex-a55/core.h

@@ -73,7 +73,7 @@ Modification:
 
 #include "cortex_a55.h"
 
-#define NR_CPU 2 // maximum number of CPUs
+#define NR_CPU 4 // maximum number of CPUs
 
 __attribute__((always_inline)) static inline uint64_t EL0_mode() // Set ARM mode to EL0
 {

Ubiquitous/XiZi_AIoT/hardkernel/hardkernel_init.c

@@ -220,6 +220,7 @@ bool secondary_cpu_hardkernel_init(int cpu_id, struct TraceTag* _hardkernel_tag)
     p_icache_driver->enable();
     p_dcache_driver->enable();
     // clock
+    p_clock_driver->sys_clock_init();
     p_intr_driver->single_irq_enable(p_clock_driver->get_clock_int(), cpu_id, 0);
     // mmu
     secondary_cpu_load_kern_pgdir(&init_mmu_tag, &init_intr_tag);

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/hard_spinlock.S

@@ -55,64 +55,56 @@ Modification:
 #define UNLOCKED 0xFF
 // int spinlock_lock(spinlock_t * lock, uint64_t timeout)
     .global _spinlock_lock
-    .func _spinlock_lock
+.func _spinlock_lock
 _spinlock_lock:
-mov     w2, #1
+    mov     w2, #1
+    sevl
+1: 
+    wfe
 
-sevl
+2: 
-wfe
+    ldaxrb  w1, [x0]                     // check if the spinlock is currently unlocked
+    cmp     w1, #UNLOCKED
+    bne     1b
 
-ldaxrb  w1, [x0]                     // check if the spinlock is currently unlocked
+    mrs     x1, mpidr_el1                // get our CPU ID
-cmp     w1, #UNLOCKED
+    and     x1, x1, #0xFFF
-bne     _spinlock_lock
+    lsr     x1, x1, #8
+    stxrb   w2, w1, [x0]
+    cmp     x2, #0
+    bne     2b        // check if the write was successful, if the write failed, start over
 
-mrs     x1, mpidr_el1                // get our CPU ID
+    dmb    ish                        // Ensure that accesses to shared resource have completed
-and     x1, x1, #0xFFF
-lsr     x1, x1, #8
-stxrb   w2, w1, [x0]
-cmp     x2, #0
-bne     _spinlock_lock        // check if the write was successful, if the write failed, start over
 
-dmb    ish                        // Ensure that accesses to shared resource have completed
+    mov    x0, #0
-
+    ret
-mov    x0, #0
+.endfunc 
-ret
-
-    .endfunc 
 
 
 // void spinlock_unlock(spinlock_t * lock)
     .global _spinlock_unlock
     .func _spinlock_unlock
 _spinlock_unlock:
+    mrs     x1, mpidr_el1                // get our CPU ID
+    and     x1, x1, #0xFFF
+    lsr     x1, x1, #8
 
-mrs     x1, mpidr_el1                // get our CPU ID
+    ldr     w2, [x0]
-and     x1, x1, #0xFFF
+    cmp     w1, w2
-lsr     x1, x1, #8
+    bne     1f                                       //doesn't match,jump to 1
 
-ldr     w2, [x0]
+    dmb     ish
-cmp     w1, w2
+    mov     w1, #UNLOCKED 
-bne     1f                                       //doesn't match,jump to 1
+    str     w1, [x0]
-
+    dsb     ish                                 //Ensure that no instructions following the barrier execute until
-
+                                                // all memory accesses prior to the barrier have completed.
-dmb     ish
+    sevl                                          // send event to wake up other cores waiting on spinlock
-
-mov     w1, #UNLOCKED 
-str     w1, [x0]
-
-dsb     ish                                //Ensure that no instructions following the barrier execute until
-                                           // all memory accesses prior to the barrier have completed.
-
-
-sevl                                          // send event to wake up other cores waiting on spinlock
-
-mov     x0, #0                               // return success
-ret
 
+    mov     x0, #0                               // return success
+    ret
 1:
-mov     x0, #1                              //doesn't match, so exit with failure
+    mov     x0, #1                              //doesn't match, so exit with failure
-ret
+    ret
-
 .endfunc
 
 .end

Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv8-a/cortex-a55/trampoline.S

@@ -182,25 +182,19 @@ alltraps:
   b badtrap
 
 badtrap:
-        msr daifset, #0xf
         savereg
-        
         mov x0, sp
         bl  kernel_intr_handler 
         b   .
 
 el1sync:
-        msr daifset, #0xf
         savereg
-        
         mov x0, sp
         bl  kernel_abort_handler 
         b   .
       
 el1irq:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl intr_irq_dispatch
 
@@ -209,9 +203,7 @@ el1irq:
         eret
       
 el0sync:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl syscall_arch_handler
       
@@ -220,9 +212,7 @@ el0sync:
         eret
 
 el0irq:
-        msr daifset, #0xf
         usavereg
-      
         mov x0, sp
         bl intr_irq_dispatch
       

Ubiquitous/XiZi_AIoT/hardkernel/intr/spinlock.c

@@ -59,7 +59,7 @@ __attribute__((optimize("O0"))) void spinlock_init(struct spinlock* lock, char*
 }
 
 extern int _spinlock_lock(struct spinlock* lock, uint32_t timeout);
-extern void _spinlock_unlock(struct spinlock* lock);
+extern int _spinlock_unlock(struct spinlock* lock);
 
 __attribute__((optimize("O0"))) void spinlock_lock(struct spinlock* lock)
 {
@@ -88,7 +88,9 @@ __attribute__((optimize("O0"))) void spinlock_unlock(struct spinlock* lock)
     _double_list_del(p_lock_node->prev, p_lock_node->next);
     _spinlock_unlock(&request_lock);
 
-    _spinlock_unlock(lock);
+    if (_spinlock_unlock(lock) != 0) {
+        ERROR("Core %d trying to unlock a lock belongs to %d.\n", cur_cpuid(), lock->owner_cpu);
+    }
 }
 
 __attribute__((optimize("O0"))) bool spinlock_try_lock(struct spinlock* lock)

Ubiquitous/XiZi_AIoT/hardkernel/mmu/arm/armv8-a/cortex-a55/3568/memlayout.h

@@ -35,9 +35,9 @@ Modification:
 
 /* A55 physical memory layout */
 #define PHY_MEM_BASE            (0x0000000010000000ULL)
-#define PHY_USER_FREEMEM_BASE   (0x0000000030000000ULL)
+#define PHY_USER_FREEMEM_BASE   (0x0000000040000000ULL)
-#define PHY_USER_FREEMEM_TOP    (0x0000000040000000ULL)
+#define PHY_USER_FREEMEM_TOP    (0x0000000050000000ULL)
-#define PHY_MEM_STOP            (0x0000000040000000ULL)
+#define PHY_MEM_STOP            (0x0000000050000000ULL)
 
 /* PTE-PAGE_SIZE */
 #define LEVEL4_PTE_SHIFT    12
@@ -58,7 +58,7 @@ Modification:
 #define NUM_TOPLEVEL_PDE    NUM_LEVEL2_PDE 
 
 #define PAGE_SIZE           LEVEL4_PTE_SIZE
-#define MAX_NR_FREE_PAGES   ((PHY_MEM_STOP - PHY_MEM_BASE) >> LEVEL4_PTE_SHIFT)
+#define MAX_NR_FREE_PAGES   ((PHY_USER_FREEMEM_BASE - PHY_MEM_BASE) >> LEVEL4_PTE_SHIFT)
 
 /* Deivce memory layout */
 #define DEV_PHYMEM_BASE     (0x00000000F0000000ULL)

Ubiquitous/XiZi_AIoT/services/app/Makefile

@@ -43,9 +43,9 @@ INC_DIR = 	-I$(KERNEL_ROOT)/services/shell/letter-shell \
 			-I$(KERNEL_ROOT)/services/app 
 
 ifeq ($(BOARD), imx6q-sabrelite)
-all: init test_fault simple_client simple_server shell fs_server semaphore_server test_semaphore test_ipc_null test_thread test_irq_hdlr test_irq_block test_irq_send eth_driver epit_server test_net lwip  readme.txt | bin
+all: test_fault simple_client simple_server shell fs_server semaphore_server test_semaphore test_ipc_null test_thread test_irq_hdlr test_irq_block test_irq_send eth_driver epit_server test_net lwip  readme.txt | bin
 else 
-all: init test_fault simple_client simple_server shell fs_server semaphore_server test_ipc_null test_thread test_semaphore test_net lwip readme.txt eth_hal | bin
+all: test_fault simple_client simple_server shell fs_server semaphore_server test_ipc_null test_thread test_semaphore test_net lwip readme.txt eth_hal | bin
 endif
 	../tools/mkfs/mkfs ./fs.img $^
 	@mv $(filter-out readme.txt, $^) bin
@@ -97,10 +97,6 @@ shell: shell_port.o libserial.o printf.o shell_cmd_list.o shell.o shell_ext.o li
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm
 	
-init: init.o libfs.o libipc.o session.o libserial.o printf.o usyscall.o arch_usyscall.o libmem.o
-	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
-	@${objdump} -S $@ > $@.asm
-
 test_fault: test_fault.o libserial.o printf.o usyscall.o arch_usyscall.o 
 	@${ld} ${user_ldflags} -e main -o $@ $^ ${board_specs}
 	@${objdump} -S $@ > $@.asm

Ubiquitous/XiZi_AIoT/services/app/init.c

@@ -1,43 +0,0 @@
-/*
- * Copyright (c) 2020 AIIT XUOS Lab
- * XiUOS is licensed under Mulan PSL v2.
- * You can use this software according to the terms and conditions of the Mulan PSL v2.
- * You may obtain a copy of Mulan PSL v2 at:
- *        http://license.coscl.org.cn/MulanPSL2
- * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
- * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
- * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
- * See the Mulan PSL v2 for more details.
- */
-// init: The initial user-level program
-#include <stdbool.h>
-
-#include "libfs.h"
-#include "libserial.h"
-#include "usyscall.h"
-
-int main(int argc, char* argv[])
-{
-    struct Session session;
-    printf("init: connecting MemFS\n");
-    while (connect_session(&session, "MemFS", 8092) < 0) {
-        yield(SYS_TASK_YIELD_NO_REASON);
-    }
-    printf("init: connect MemFS success\n");
-
-    int fd;
-    char* shell_task_param[2] = { "/shell", 0 };
-    if ((fd = open(&session, shell_task_param[0])) < 0) {
-        printf("Open %s failed\n", shell_task_param[0]);
-        exit(1);
-    }
-
-    if (spawn(&session, fd, read, fsize, shell_task_param[0], shell_task_param) < 0) {
-        printf("Syscall Spawn shell failed\n");
-    }
-
-    close(&session, fd);
-
-    exit(0);
-    return 0;
-}

Ubiquitous/XiZi_AIoT/services/fs/fs_server/fs_server.c

@@ -349,7 +349,6 @@ IPC_SERVER_REGISTER_INTERFACES(IpcFsServer, 10,
 
 int main(int argc, char* argv[])
 {
-    printf("MemFS Start\n");
     sys_state_info info;
     get_memblock_info(&info);
 

Ubiquitous/XiZi_AIoT/softkernel/load_apps.S

@@ -35,7 +35,7 @@ user_apps:
 .section .rawdata_init
 .globl initapp
 initapp:
-    .incbin "../services/app/bin/init"
+    .incbin "../services/app/bin/shell"
 
 .section .rawdata_memfs
 .globl memfs

Ubiquitous/XiZi_AIoT/softkernel/main.c

@@ -45,7 +45,7 @@ static struct TraceTag hardkernel_tag, softkernel_tag;
 static volatile int core_para_init = 0;
 
 static void sync_cores() {
-    while (core_para_init != 0xF) ;
+    while (core_para_init != ((1 << NR_CPU) - 1)) ;
     return;
 }
 
@@ -92,8 +92,8 @@ int main(void)
         }
 
         /* start first task */
-        char* init_task_param[2] = { "/app/init", 0 };
+        char* init_task_param[2] = { "/app/shell", 0 };
-        sys_spawn((char*)_binary_init_start, "init", init_task_param);
+        sys_spawn((char*)_binary_init_start, "shell", init_task_param);
         char* fs_server_task_param[2] = { "/app/fs_server", 0 };
         sys_spawn((char*)_binary_default_fs_start, "memfs", fs_server_task_param);
     }

Ubiquitous/XiZi_AIoT/softkernel/memory/kalloc.c

@@ -49,7 +49,7 @@ bool module_phymem_init()
     return true;
 }
 
-char* kalloc(size_t size)
+char* kalloc(uintptr_t size)
 {
     char* mem_alloc = KBuddyAlloc(&kern_virtmem_buddy, size);
     if (mem_alloc == NULL) {

Ubiquitous/XiZi_AIoT/softkernel/task/task.c

@@ -303,13 +303,11 @@ static void _scheduler(struct SchedulerRightGroup right_group)
         /* if there's not a runnable task, wait for one */
         if (next_task == NULL) {
             xizi_leave_kernel();
-            // there is no task to run, into low power mode
+           
-            cpu_into_low_power();
 
             /* leave kernel for other cores, so they may create a runnable task */
             xizi_enter_kernel();
-            // activate cpu
+           
-            cpu_leave_low_power();
             continue;
         }