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1
/*
1
/*
2
 * Copyright (C) 2001-2004 Jakub Jermar
2
 * Copyright (C) 2001-2004 Jakub Jermar
3
 * All rights reserved.
3
 * All rights reserved.
4
 *
4
 *
5
 * Redistribution and use in source and binary forms, with or without
5
 * Redistribution and use in source and binary forms, with or without
6
 * modification, are permitted provided that the following conditions
6
 * modification, are permitted provided that the following conditions
7
 * are met:
7
 * are met:
8
 *
8
 *
9
 * - Redistributions of source code must retain the above copyright
9
 * - Redistributions of source code must retain the above copyright
10
 *   notice, this list of conditions and the following disclaimer.
10
 *   notice, this list of conditions and the following disclaimer.
11
 * - Redistributions in binary form must reproduce the above copyright
11
 * - Redistributions in binary form must reproduce the above copyright
12
 *   notice, this list of conditions and the following disclaimer in the
12
 *   notice, this list of conditions and the following disclaimer in the
13
 *   documentation and/or other materials provided with the distribution.
13
 *   documentation and/or other materials provided with the distribution.
14
 * - The name of the author may not be used to endorse or promote products
14
 * - The name of the author may not be used to endorse or promote products
15
 *   derived from this software without specific prior written permission.
15
 *   derived from this software without specific prior written permission.
16
 *
16
 *
17
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
17
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
18
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
18
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
19
 * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
19
 * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
20
 * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
20
 * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
21
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
21
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
22
 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
22
 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
23
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
25
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
26
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27
 */
27
 */
28
 
28
 
29
/** @addtogroup main
29
/** @addtogroup main
30
 * @{
30
 * @{
31
 */
31
 */
32
 
32
 
33
/**
33
/**
34
 * @file
34
 * @file
35
 * @brief   Main initialization kernel function for all processors.
35
 * @brief   Main initialization kernel function for all processors.
36
 *
36
 *
37
 * During kernel boot, all processors, after architecture dependent
37
 * During kernel boot, all processors, after architecture dependent
38
 * initialization, start executing code found in this file. After
38
 * initialization, start executing code found in this file. After
39
 * bringing up all subsystems, control is passed to scheduler().
39
 * bringing up all subsystems, control is passed to scheduler().
40
 *
40
 *
41
 * The bootstrap processor starts executing main_bsp() while
41
 * The bootstrap processor starts executing main_bsp() while
42
 * the application processors start executing main_ap().
42
 * the application processors start executing main_ap().
43
 *
43
 *
44
 * @see scheduler()
44
 * @see scheduler()
45
 * @see main_bsp()
45
 * @see main_bsp()
46
 * @see main_ap()
46
 * @see main_ap()
47
 */
47
 */
48
 
48
 
49
#include <arch/asm.h>
49
#include <arch/asm.h>
50
#include <context.h>
50
#include <context.h>
51
#include <print.h>
51
#include <print.h>
52
#include <panic.h>
52
#include <panic.h>
53
#include <debug.h>
53
#include <debug.h>
54
#include <config.h>
54
#include <config.h>
55
#include <time/clock.h>
55
#include <time/clock.h>
56
#include <proc/scheduler.h>
56
#include <proc/scheduler.h>
57
#include <proc/thread.h>
57
#include <proc/thread.h>
58
#include <proc/task.h>
58
#include <proc/task.h>
59
#include <main/kinit.h>
59
#include <main/kinit.h>
60
#include <main/version.h>
60
#include <main/version.h>
61
#include <console/kconsole.h>
61
#include <console/kconsole.h>
62
#include <cpu.h>
62
#include <cpu.h>
63
#include <align.h>
63
#include <align.h>
64
#include <interrupt.h>
64
#include <interrupt.h>
65
#include <arch/mm/memory_init.h>
65
#include <arch/mm/memory_init.h>
66
#include <mm/frame.h>
66
#include <mm/frame.h>
67
#include <mm/page.h>
67
#include <mm/page.h>
68
#include <genarch/mm/page_pt.h>
68
#include <genarch/mm/page_pt.h>
69
#include <mm/tlb.h>
69
#include <mm/tlb.h>
70
#include <mm/as.h>
70
#include <mm/as.h>
71
#include <mm/slab.h>
71
#include <mm/slab.h>
72
#include <synch/waitq.h>
72
#include <synch/waitq.h>
73
#include <synch/futex.h>
73
#include <synch/futex.h>
74
#include <arch/arch.h>
74
#include <arch/arch.h>
75
#include <arch.h>
75
#include <arch.h>
76
#include <arch/faddr.h>
76
#include <arch/faddr.h>
77
#include <typedefs.h>
77
#include <typedefs.h>
78
#include <ipc/ipc.h>
78
#include <ipc/ipc.h>
79
#include <macros.h>
79
#include <macros.h>
80
#include <adt/btree.h>
80
#include <adt/btree.h>
81
#include <console/klog.h>
81
#include <console/klog.h>
82
#include <smp/smp.h>
82
#include <smp/smp.h>
83
#include <ddi/ddi.h>
83
#include <ddi/ddi.h>
84
 
84
 
85
/** Global configuration structure. */
85
/** Global configuration structure. */
86
config_t config;
86
config_t config;
87
 
87
 
88
/** Initial user-space tasks */
88
/** Initial user-space tasks */
89
init_t init = {
89
init_t init = {
90
    0
90
    0
91
};
91
};
92
 
92
 
93
/** Boot allocations. */
93
/** Boot allocations. */
94
ballocs_t ballocs = {
94
ballocs_t ballocs = {
95
    .base = NULL,
95
    .base = NULL,
96
    .size = 0
96
    .size = 0
97
};
97
};
98
 
98
 
99
context_t ctx;
99
context_t ctx;
100
 
100
 
101
/*
101
/*
102
 * These 'hardcoded' variables will be intialized by
102
 * These 'hardcoded' variables will be intialized by
103
 * the linker or the low level assembler code with
103
 * the linker or the low level assembler code with
104
 * appropriate sizes and addresses.
104
 * appropriate sizes and addresses.
105
 */
105
 */
106
uintptr_t hardcoded_load_address = 0;   /**< Virtual address of where the kernel
106
uintptr_t hardcoded_load_address = 0;   /**< Virtual address of where the kernel
107
                      *  is loaded. */
107
                      *  is loaded. */
108
size_t hardcoded_ktext_size = 0;    /**< Size of the kernel code in bytes.
108
size_t hardcoded_ktext_size = 0;    /**< Size of the kernel code in bytes.
109
                      */
109
                      */
110
size_t hardcoded_kdata_size = 0;    /**< Size of the kernel data in bytes.
110
size_t hardcoded_kdata_size = 0;    /**< Size of the kernel data in bytes.
111
                     */
111
                     */
112
uintptr_t stack_safe = 0;       /**< Lowest safe stack virtual address.
112
uintptr_t stack_safe = 0;       /**< Lowest safe stack virtual address.
113
                      */
113
                      */
114
 
114
 
115
void main_bsp(void);
115
void main_bsp(void);
116
void main_ap(void);
116
void main_ap(void);
117
 
117
 
118
/*
118
/*
119
 * These two functions prevent stack from underflowing during the
119
 * These two functions prevent stack from underflowing during the
120
 * kernel boot phase when SP is set to the very top of the reserved
120
 * kernel boot phase when SP is set to the very top of the reserved
121
 * space. The stack could get corrupted by a fooled compiler-generated
121
 * space. The stack could get corrupted by a fooled compiler-generated
122
 * pop sequence otherwise.
122
 * pop sequence otherwise.
123
 */
123
 */
124
static void main_bsp_separated_stack(void);
124
static void main_bsp_separated_stack(void);
125
#ifdef CONFIG_SMP
125
#ifdef CONFIG_SMP
126
static void main_ap_separated_stack(void);
126
static void main_ap_separated_stack(void);
127
#endif
127
#endif
128
 
128
 
129
#define CONFIG_STACK_SIZE   ((1<<STACK_FRAMES)*STACK_SIZE)
129
#define CONFIG_STACK_SIZE   ((1<<STACK_FRAMES)*STACK_SIZE)
130
 
130
 
131
/** Main kernel routine for bootstrap CPU.
131
/** Main kernel routine for bootstrap CPU.
132
 *
132
 *
133
 * Initializes the kernel by bootstrap CPU.
133
 * Initializes the kernel by bootstrap CPU.
134
 * This function passes control directly to
134
 * This function passes control directly to
135
 * main_bsp_separated_stack().
135
 * main_bsp_separated_stack().
136
 *
136
 *
137
 * Assuming interrupts_disable().
137
 * Assuming interrupts_disable().
138
 *
138
 *
139
 */
139
 */
140
void main_bsp(void)
140
void main_bsp(void)
141
{
141
{
142
    config.cpu_count = 1;
142
    config.cpu_count = 1;
143
    config.cpu_active = 1;
143
    config.cpu_active = 1;
144
   
144
   
145
    config.base = hardcoded_load_address;
145
    config.base = hardcoded_load_address;
146
    config.memory_size = get_memory_size();
146
    config.memory_size = get_memory_size();
147
   
147
   
148
    config.kernel_size = ALIGN_UP(hardcoded_ktext_size +
148
    config.kernel_size = ALIGN_UP(hardcoded_ktext_size +
149
        hardcoded_kdata_size, PAGE_SIZE);
149
        hardcoded_kdata_size, PAGE_SIZE);
150
    config.stack_size = CONFIG_STACK_SIZE;
150
    config.stack_size = CONFIG_STACK_SIZE;
151
   
151
   
152
    /* Initialy the stack is placed just after the kernel */
152
    /* Initialy the stack is placed just after the kernel */
153
    config.stack_base = config.base + config.kernel_size;
153
    config.stack_base = config.base + config.kernel_size;
154
   
154
   
155
    /* Avoid placing stack on top of init */
155
    /* Avoid placing stack on top of init */
156
    count_t i;
156
    count_t i;
157
    for (i = 0; i < init.cnt; i++) {
157
    for (i = 0; i < init.cnt; i++) {
158
        if (PA_overlaps(config.stack_base, config.stack_size,
158
        if (PA_overlaps(config.stack_base, config.stack_size,
159
            init.tasks[i].addr, init.tasks[i].size))
159
            init.tasks[i].addr, init.tasks[i].size))
160
            config.stack_base = ALIGN_UP(init.tasks[i].addr +
160
            config.stack_base = ALIGN_UP(init.tasks[i].addr +
161
                init.tasks[i].size, config.stack_size);
161
                init.tasks[i].size, config.stack_size);
162
    }
162
    }
163
 
163
 
164
    /* Avoid placing stack on top of boot allocations. */
164
    /* Avoid placing stack on top of boot allocations. */
165
    if (ballocs.size) {
165
    if (ballocs.size) {
166
        if (PA_overlaps(config.stack_base, config.stack_size,
166
        if (PA_overlaps(config.stack_base, config.stack_size,
167
            ballocs.base, ballocs.size))
167
            ballocs.base, ballocs.size))
168
            config.stack_base = ALIGN_UP(ballocs.base +
168
            config.stack_base = ALIGN_UP(ballocs.base +
169
                ballocs.size, PAGE_SIZE);
169
                ballocs.size, PAGE_SIZE);
170
    }
170
    }
171
   
171
   
172
    if (config.stack_base < stack_safe)
172
    if (config.stack_base < stack_safe)
173
        config.stack_base = ALIGN_UP(stack_safe, PAGE_SIZE);
173
        config.stack_base = ALIGN_UP(stack_safe, PAGE_SIZE);
174
   
174
   
175
    context_save(&ctx);
175
    context_save(&ctx);
176
    context_set(&ctx, FADDR(main_bsp_separated_stack), config.stack_base,
176
    context_set(&ctx, FADDR(main_bsp_separated_stack), config.stack_base,
177
        THREAD_STACK_SIZE);
177
        THREAD_STACK_SIZE);
178
    context_restore(&ctx);
178
    context_restore(&ctx);
179
    /* not reached */
179
    /* not reached */
180
}
180
}
181
 
181
 
182
 
182
 
183
/** Main kernel routine for bootstrap CPU using new stack.
183
/** Main kernel routine for bootstrap CPU using new stack.
184
 *
184
 *
185
 * Second part of main_bsp().
185
 * Second part of main_bsp().
186
 *
186
 *
187
 */
187
 */
188
void main_bsp_separated_stack(void)
188
void main_bsp_separated_stack(void)
189
{
189
{
190
    task_t *k;
190
    task_t *k;
191
    thread_t *t;
191
    thread_t *t;
192
    count_t i;
192
    count_t i;
193
   
193
   
194
    the_initialize(THE);
194
    the_initialize(THE);
195
 
195
 
196
    /*
196
    /*
197
     * kconsole data structures must be initialized very early
197
     * kconsole data structures must be initialized very early
198
     * because other subsystems will register their respective
198
     * because other subsystems will register their respective
199
     * commands.
199
     * commands.
200
     */
200
     */
201
    kconsole_init();
201
    kconsole_init();
202
   
202
   
203
    /*
203
    /*
204
     * Exception handler initialization, before architecture
204
     * Exception handler initialization, before architecture
205
     * starts adding its own handlers
205
     * starts adding its own handlers
206
     */
206
     */
207
    exc_init();
207
    exc_init();
208
 
208
 
209
    /*
209
    /*
210
     * Memory management subsystems initialization.
210
     * Memory management subsystems initialization.
211
     */
211
     */
212
    arch_pre_mm_init();
212
    arch_pre_mm_init();
213
    frame_init();      
213
    frame_init();      
214
    /* Initialize at least 1 memory segment big enough for slab to work. */
214
    /* Initialize at least 1 memory segment big enough for slab to work. */
215
    slab_cache_init();
215
    slab_cache_init();
216
    btree_init();
216
    btree_init();
217
    as_init();
217
    as_init();
218
    page_init();
218
    page_init();
219
    tlb_init();
219
    tlb_init();
220
    ddi_init();
220
    ddi_init();
221
    arch_post_mm_init();
221
    arch_post_mm_init();
222
 
222
 
223
    version_print();
223
    version_print();
224
    printf("kernel: %.*p hardcoded_ktext_size=%zdK, "
224
    printf("kernel: %.*p hardcoded_ktext_size=%zdK, "
225
        "hardcoded_kdata_size=%zdK\n", sizeof(uintptr_t) * 2,
225
        "hardcoded_kdata_size=%zdK\n", sizeof(uintptr_t) * 2,
226
        config.base, hardcoded_ktext_size >> 10, hardcoded_kdata_size >>
226
        config.base, hardcoded_ktext_size >> 10, hardcoded_kdata_size >>
227
        10);
227
        10);
228
    printf("stack:  %.*p size=%zdK\n", sizeof(uintptr_t) * 2,
228
    printf("stack:  %.*p size=%zdK\n", sizeof(uintptr_t) * 2,
229
        config.stack_base, config.stack_size >> 10);
229
        config.stack_base, config.stack_size >> 10);
230
 
230
 
231
    arch_pre_smp_init();
231
    arch_pre_smp_init();
232
    smp_init();
232
    smp_init();
233
    /* Slab must be initialized after we know the number of processors. */
233
    /* Slab must be initialized after we know the number of processors. */
234
    slab_enable_cpucache();
234
    slab_enable_cpucache();
235
 
235
 
236
    printf("config.memory_size=%zdM\n", config.memory_size >> 20);
236
    printf("config.memory_size=%zdM\n", config.memory_size >> 20);
237
    printf("config.cpu_count=%zd\n", config.cpu_count);
237
    printf("config.cpu_count=%zd\n", config.cpu_count);
238
    cpu_init();
238
    cpu_init();
239
   
239
   
240
    calibrate_delay_loop();
240
    calibrate_delay_loop();
241
    clock_counter_init();
241
    clock_counter_init();
242
    timeout_init();
242
    timeout_init();
243
    scheduler_init();
243
    scheduler_init();
244
    task_init();
244
    task_init();
245
    thread_init();
245
    thread_init();
246
    futex_init();
246
    futex_init();
247
    klog_init();
247
    klog_init();
248
   
248
   
249
    if (init.cnt > 0) {
249
    if (init.cnt > 0) {
250
        for (i = 0; i < init.cnt; i++)
250
        for (i = 0; i < init.cnt; i++)
251
            printf("init[%zd].addr=%.*p, init[%zd].size=%zd\n", i,
251
            printf("init[%zd].addr=%.*p, init[%zd].size=%zd\n", i,
252
                sizeof(uintptr_t) * 2, init.tasks[i].addr, i,
252
                sizeof(uintptr_t) * 2, init.tasks[i].addr, i,
253
                init.tasks[i].size);
253
                init.tasks[i].size);
254
    } else
254
    } else
255
        printf("No init binaries found\n");
255
        printf("No init binaries found\n");
256
   
256
   
257
    ipc_init();
257
    ipc_init();
258
 
258
 
259
    /*
259
    /*
260
     * Create kernel task.
260
     * Create kernel task.
261
     */
261
     */
262
    k = task_create(AS_KERNEL, "kernel");
262
    k = task_create(AS_KERNEL, "kernel");
263
    if (!k)
263
    if (!k)
264
        panic("can't create kernel task\n");
264
        panic("can't create kernel task\n");
265
   
265
   
266
    /*
266
    /*
267
     * Create the first thread.
267
     * Create the first thread.
268
     */
268
     */
269
    t = thread_create(kinit, NULL, k, 0, "kinit");
269
    t = thread_create(kinit, NULL, k, 0, "kinit", true);
270
    if (!t)
270
    if (!t)
271
        panic("can't create kinit thread\n");
271
        panic("can't create kinit thread\n");
272
    thread_ready(t);
272
    thread_ready(t);
273
   
273
   
274
    /*
274
    /*
275
     * This call to scheduler() will return to kinit,
275
     * This call to scheduler() will return to kinit,
276
     * starting the thread of kernel threads.
276
     * starting the thread of kernel threads.
277
     */
277
     */
278
    scheduler();
278
    scheduler();
279
    /* not reached */
279
    /* not reached */
280
}
280
}
281
 
281
 
282
 
282
 
283
#ifdef CONFIG_SMP
283
#ifdef CONFIG_SMP
284
/** Main kernel routine for application CPUs.
284
/** Main kernel routine for application CPUs.
285
 *
285
 *
286
 * Executed by application processors, temporary stack
286
 * Executed by application processors, temporary stack
287
 * is at ctx.sp which was set during BSP boot.
287
 * is at ctx.sp which was set during BSP boot.
288
 * This function passes control directly to
288
 * This function passes control directly to
289
 * main_ap_separated_stack().
289
 * main_ap_separated_stack().
290
 *
290
 *
291
 * Assuming interrupts_disable()'d.
291
 * Assuming interrupts_disable()'d.
292
 *
292
 *
293
 */
293
 */
294
void main_ap(void)
294
void main_ap(void)
295
{
295
{
296
    /*
296
    /*
297
     * Incrementing the active CPU counter will guarantee that the
297
     * Incrementing the active CPU counter will guarantee that the
298
     * *_init() functions can find out that they need to
298
     * *_init() functions can find out that they need to
299
     * do initialization for AP only.
299
     * do initialization for AP only.
300
     */
300
     */
301
    config.cpu_active++;
301
    config.cpu_active++;
302
 
302
 
303
    /*
303
    /*
304
     * The THE structure is well defined because ctx.sp is used as stack.
304
     * The THE structure is well defined because ctx.sp is used as stack.
305
     */
305
     */
306
    the_initialize(THE);
306
    the_initialize(THE);
307
   
307
   
308
    arch_pre_mm_init();
308
    arch_pre_mm_init();
309
    frame_init();
309
    frame_init();
310
    page_init();
310
    page_init();
311
    tlb_init();
311
    tlb_init();
312
    arch_post_mm_init();
312
    arch_post_mm_init();
313
   
313
   
314
    cpu_init();
314
    cpu_init();
315
    calibrate_delay_loop();
315
    calibrate_delay_loop();
316
    arch_post_cpu_init();
316
    arch_post_cpu_init();
317
 
317
 
318
    the_copy(THE, (the_t *) CPU->stack);
318
    the_copy(THE, (the_t *) CPU->stack);
319
 
319
 
320
    /*
320
    /*
321
     * If we woke kmp up before we left the kernel stack, we could
321
     * If we woke kmp up before we left the kernel stack, we could
322
     * collide with another CPU coming up. To prevent this, we
322
     * collide with another CPU coming up. To prevent this, we
323
     * switch to this cpu's private stack prior to waking kmp up.
323
     * switch to this cpu's private stack prior to waking kmp up.
324
     */
324
     */
325
    context_set(&CPU->saved_context, FADDR(main_ap_separated_stack),
325
    context_set(&CPU->saved_context, FADDR(main_ap_separated_stack),
326
        (uintptr_t) CPU->stack, CPU_STACK_SIZE);
326
        (uintptr_t) CPU->stack, CPU_STACK_SIZE);
327
    context_restore(&CPU->saved_context);
327
    context_restore(&CPU->saved_context);
328
    /* not reached */
328
    /* not reached */
329
}
329
}
330
 
330
 
331
 
331
 
332
/** Main kernel routine for application CPUs using new stack.
332
/** Main kernel routine for application CPUs using new stack.
333
 *
333
 *
334
 * Second part of main_ap().
334
 * Second part of main_ap().
335
 *
335
 *
336
 */
336
 */
337
void main_ap_separated_stack(void)
337
void main_ap_separated_stack(void)
338
{
338
{
339
    /*
339
    /*
340
     * Configure timeouts for this cpu.
340
     * Configure timeouts for this cpu.
341
     */
341
     */
342
    timeout_init();
342
    timeout_init();
343
 
343
 
344
    waitq_wakeup(&ap_completion_wq, WAKEUP_FIRST);
344
    waitq_wakeup(&ap_completion_wq, WAKEUP_FIRST);
345
    scheduler();
345
    scheduler();
346
    /* not reached */
346
    /* not reached */
347
}
347
}
348
#endif /* CONFIG_SMP */
348
#endif /* CONFIG_SMP */
349
 
349
 
350
/** @}
350
/** @}
351
 */
351
 */
352
 
352