iris/mips/init.ccp

#pypp 0
// Iris: micro-kernel for a capability-based operating system.
// mips/init.ccp: mips-specific boot code.
// Copyright 2009 Bas Wijnen <wijnen@debian.org>
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

// Also declare things which only work during kernel init.
#define INIT
#define ARCH
#include "../kernel.hh"
#include <elf.h>

static void init_idle ():
	// initialize idle task as if it is currently running.
	idle.prev = NULL
	idle.next = NULL
	idle.schedule_prev = NULL
	idle.schedule_next = NULL
	idle.address_space = &idle_memory
	idle.refs = NULL
	idle.flags = THREAD_FLAG_RUNNING | THREAD_FLAG_PRIV
	// initialize idle_memory.
	idle_memory.prev = NULL
	idle_memory.next = NULL
	idle_memory.address_space = NULL
	idle_memory.refs = NULL
	idle_memory.pages = &idle_page
	idle_memory.threads = &idle
	idle_memory.memories = NULL
	idle_memory.limit = 0
	idle_memory.used = 0
	idle_memory.arch.directory = (unsigned **)0x80000000
	// Shadow is never used for the idle task.
	idle_memory.arch.shadow = NULL
	idle_memory.arch.asid = 0
	// initialize idle_page
	idle_page.prev = NULL
	idle_page.next = NULL
	idle_page.data.frame = 0x80000000
	idle_page.data.flags = PAGE_FLAG_WRITABLE | PAGE_FLAG_PAYING | PAGE_FLAG_FRAME
	idle_page.refs = NULL
	idle_page.address_space = NULL
	current = &idle
	directory = idle_memory.arch.directory

static void init_cp0 ():
	// Set timer to a defined value
	cp0_set (CP0_COMPARE, 1000000)
	// Reset timer
	cp0_set0 (CP0_COUNT)
	// Use the interrupt vector for interrupts
	cp0_set (CP0_CAUSE, 1 << 23)

	// clear the tlb, hardwire page 0 to 0xffffffff
	// and soft-wire it to (0x294 << 20) + (0x290 << 10)
	// (for the idle task).

	cp0_set (CP0_WIRED, 1)
	cp0_set0 (CP0_PAGE_MASK)
	cp0_set0 (CP0_ENTRY_LO0)
	cp0_set0 (CP0_ENTRY_LO1)
	// Get number of tlb entries (is 31).
	unsigned num
	cp0_get (CP0_CONFIG1, num)
	num >>= 25
	num &= 0x3f
	// Clear the tlb.
	for unsigned i = 1; i <= num; ++i:
		// with asid 0, no page faults will be triggered, so it's safe to map memory anywhere.
		cp0_set (CP0_ENTRY_HI, 0x2000 * i)
		cp0_set (CP0_INDEX, i)
		// write the data.
		__asm__ volatile ("tlbwi")
	// Fill the upper page in kseg3.
	cp0_set (CP0_ENTRY_HI, 0xffffe000)
	cp0_set (CP0_ENTRY_LO0, 0x1d)
	cp0_set (CP0_ENTRY_LO1, 0x1f)
	cp0_set0 (CP0_INDEX)
	__asm__ volatile ("tlbwi")
	// Fill the idle task's page in useg.  Set it to non-cachable.
	// its directory entry is at 1fc, so it's number 7f (0fe00000).
	// its table entry is at 1f8, so it's number 7e (0007e000).
	// its address is 280 (00000280), used below for EPC.
	unsigned const idle_entry_hi = 0x0fe7e000
	cp0_set (CP0_ENTRY_HI, idle_entry_hi)
	cp0_set (CP0_ENTRY_LO0, 0x16)
	cp0_set (CP0_ENTRY_LO1, 0x14)
	__asm__ volatile ("tlbwr")
	// Allow eret to be used to jump to the idle task.
	cp0_set (CP0_EPC, (idle_entry_hi & PAGE_MASK) | 0x280)
	// Wait with initializing the status register until the last moment, so that
	// exceptions in the bootup code will fill EPC and friends.

// This returns unsigned, because the value is used to fill thread->arch.a*.
static unsigned mkcap (Memory *mem, unsigned type, void *obj):
	return (unsigned)mem->alloc_capability ((Receiver *)type, NULL, &mem->capabilities, (unsigned)obj)

static void init_threads ():
	Thread *previous = NULL
	first_scheduled = NULL
	first_alarm = NULL
	Receiver *init_receiver = NULL
	for unsigned i = 0; i < NUM_THREADS; ++i:
		Memory *mem = top_memory.alloc_memory ()
		assert (mem)
		Thread *thread = mem->alloc_thread ()
		Page **pages = (Page **)mem->zalloc ()
		Elf32_Ehdr *header = (Elf32_Ehdr *)thread_start[i]
		for unsigned j = 0; j < SELFMAG; ++j:
			if header->e_ident[j] != ELFMAG[j]:
				panic (i * 0x1000 + j, "invalid ELF magic")
				return
		if header->e_ident[EI_CLASS] != ELFCLASS32:
			panic (i * 0x1000 + EI_CLASS, "invalid ELF class")
			return
		if header->e_ident[EI_DATA] != ELFDATA2LSB:
			panic (i * 0x1000 + EI_DATA, "invalid ELF data")
			return
		if header->e_ident[EI_VERSION] != EV_CURRENT:
			panic (i * 0x1000 + EI_VERSION, "invalid ELF version")
			return
		if header->e_type != ET_EXEC:
			panic (i * 0x1000 + 0x10, "invalid ELF type")
			return
		if header->e_machine != EM_MIPS_RS3_LE && header->e_machine != EM_MIPS:
			panic (i * 0x1000 + 0x12, "invalid ELF machine")
			return
		thread->pc = header->e_entry
		thread->sp = 0x80000000
		for unsigned section = 0; section < header->e_shnum; ++section:
			Elf32_Shdr *shdr = (Elf32_Shdr *)(thread_start[i] + header->e_shoff + section * header->e_shentsize)
			if ~shdr->sh_flags & SHF_ALLOC:
				continue
			bool writable = shdr->sh_flags & SHF_WRITE
			//bool executable = shdr->sh_flags & SHF_EXEC_INSTR
			if shdr->sh_type != SHT_NOBITS:
				unsigned file_offset = shdr->sh_offset >> PAGE_BITS
				if ((file_offset + shdr->sh_size) >> PAGE_BITS) >= (PAGE_SIZE >> 2):
					panic (0x87446809, "initial thread too large")
					return
				for unsigned p = (shdr->sh_addr & PAGE_MASK); p < shdr->sh_addr + shdr->sh_size; p += PAGE_SIZE:
					unsigned section_offset = (p - (shdr->sh_addr & PAGE_MASK)) >> PAGE_BITS
					unsigned idx = file_offset + section_offset
					if !pages[idx]:
						pages[idx] = mem->alloc_page ()
						pages[idx]->data.frame = thread_start[i] + (idx << PAGE_BITS)
						pages[idx]->data.flags = PAGE_FLAG_WRITABLE | PAGE_FLAG_PAYING | PAGE_FLAG_FRAME
						++top_memory.limit
						mem->use ()
					if !mem->map (pages[idx], p, writable):
						panic (0x22446688, "unable to map initial page")
						return
			else:
				if !writable:
					panic (0x33399993, "unwritable bss section")
					return
				for unsigned p = (shdr->sh_addr & PAGE_MASK); p < shdr->sh_addr + shdr->sh_size; p += PAGE_SIZE:
					Page *page = mem->get_mapping (p, &writable)
					if !page:
						page = mem->alloc_page ()
						if !page:
							panic (0x00220022, "out of memory")
							return
						page->data.frame = mem->zalloc ()
						if !page->data.frame:
							panic (0x02220022, "out of memory");
							return
						page->data.flags = PAGE_FLAG_WRITABLE | PAGE_FLAG_PAYING | PAGE_FLAG_FRAME
						if !mem->map (page, p, true):
							panic (0x33557799, "unable to map initial bss page")
							return
					else:
						if !writable:
							panic (0x20203030, "bss section starts on read-only page")
							return
						for unsigned a = p; a < ((p + PAGE_SIZE) & PAGE_MASK); a += 4:
							if a >= shdr->sh_addr + shdr->sh_size:
								break
							if a < shdr->sh_addr:
								continue
							((unsigned *)page->data.frame)[(a & ~PAGE_MASK) >> 2] = 0
		for unsigned p = 0; p <= ((thread_start[i + 1] - thread_start[i] - 1) >> PAGE_BITS); ++p:
			if pages[p]:
				continue
			++top_memory.limit
			top_memory.pfree (thread_start[i] + (p << PAGE_BITS))
		Page *stackpage = mem->alloc_page ()
		stackpage->data.frame = mem->zalloc ()
		stackpage->data.flags = PAGE_FLAG_WRITABLE | PAGE_FLAG_PAYING | PAGE_FLAG_FRAME
		if !stackpage || !mem->map (stackpage, 0x7ffff000, true):
			panic (0x13151719, "unable to map initial stack page")
			return
		Receiver *recv = mem->alloc_receiver ()
		recv->owner = thread
		thread->receivers = recv
		thread->arch.a0 = mkcap (mem, CAPTYPE_RECEIVER | CAP_RECEIVER_ALL_RIGHTS, recv)
		thread->arch.a1 = mkcap (mem, CAPTYPE_THREAD | CAP_THREAD_ALL_PRIV_RIGHTS, thread)
		thread->arch.a2 = mkcap (mem, CAPTYPE_MEMORY | CAP_MEMORY_ALL_RIGHTS, mem)
		thread->arch.a3 = mkcap (mem, CAPTYPE_RECEIVER | (1 << CAP_RECEIVER_CALL), recv)
		thread->flags = THREAD_FLAG_RUNNING | THREAD_FLAG_PRIV
		if !i:
			first_scheduled = thread
			init_receiver = recv
		else:
			thread->arch.t0 = mkcap (mem, (unsigned)init_receiver, (void *)i)
			previous->schedule_next = thread
		thread->schedule_prev = previous
		thread->schedule_next = NULL
		previous = thread
		mem->pfree ((unsigned)pages)

// Initialize the kernel, finish by falling into the idle task.
void init (unsigned mem):
	dbg_code = 0
	// Disable interrupts and set interrupt vectors to normal.
	cp0_set0 (CP0_STATUS)
	// Initialize kernel variables to empty.
	unsigned count = init_memory (mem)
	// initialize system control coprocessor.
	init_cp0 ()
	// initialize everything about the idle task.
	init_idle ()
	// initialize top_memory.
	top_memory.prev = NULL
	top_memory.next = NULL
	top_memory.address_space = NULL
	top_memory.refs = NULL
	top_memory.pages = NULL
	top_memory.threads = NULL
	top_memory.memories = NULL
	top_memory.limit = count
	top_memory.used = 0
	top_memory.arch.directory = NULL
	top_memory.arch.asid = 0

	// Record all asids as unused.
	for unsigned i = 0; i < 63; ++i:
		asids[i] = i + 1
	asids[63] = 0

	// Set up initial threads.
	init_threads ()

	// Disable all gpio interrupts and alternate functions initially.
	for unsigned i = 0; i < 4; ++i:
		GPIO_GPIER (i) = 0
		GPIO_GPALR (i) = 0
		GPIO_GPAUR (i) = 0
	// Set up the rest of the hardware (copied from Linux).
	cpm_idle_mode ()
	cpm_enable_cko1 ()
	cpm_start_all ()
	harb_set_priority (0x08)
	dmac_enable_all_channels ()
	harb_usb0_uhc ()
	gpio_as_emc ()
	gpio_as_uart0 ()
	gpio_as_dma ()
	gpio_as_eth ()
	gpio_as_usb ()
	gpio_as_lcd_master ()
	gpio_as_ssi()
	gpio_as_msc ()

	gpio_as_gpio (GPIO_CAPS_PORT, GPIO_CAPS)
	gpio_as_gpio (GPIO_SCROLL_PORT, GPIO_SCROLL)
	gpio_as_gpio (GPIO_NUM_PORT, GPIO_NUM)
	gpio_as_gpio (GPIO_TP_LEFT_PORT, GPIO_TP_LEFT)
	gpio_as_gpio (GPIO_TP_RIGHT_PORT, GPIO_TP_RIGHT)

	// Start the operating system timer, and set it to give an interrupt immediately.
	// This is better, because the kernel starts with jumping into the idle task and
	// waiting for the first interrupt.
	unsigned latch = (JZ_EXTAL + (HZ >> 1)) / HZ
	ost_disable_all ()
	ost_set_mode (0, OST_TCSR_UIE | OST_TCSR_CKS_EXTAL)
	ost_set_reload (0, latch)
	ost_set_count (0, 1)
	ost_set_mode (0, OST_TCSR_UIE | OST_TCSR_CKS_EXTAL)
	ost_enable_channel (0)
	intc_unmask_irq (IRQ_OST0)

	// Unset all interrupt handlers.
	for unsigned i = 0; i < 32; ++i:
		arch_interrupt_receiver[i] = NULL

	// Say we're handling an exception.  Since we're going to enter the idle task, allow access to cp0.
	// All interrupts enter the CPU through the interrupt controller at IP2, so enable that.
	cp0_set (CP0_STATUS, 0x1000ff13)

	// Done; return to user space (the idle task).
	__asm__ volatile ("eret")