ARM64 SMP support #30676

MrVan · 2020-12-13T12:26:46Z

This patchset includes the PR of #29736, after the PR merged, I'll rebase this PR.

arch/arm/core/aarch64/mmu/arm_mmu.c

arch/arm/core/aarch64/switch.S

arch/arm/core/aarch64/Kconfig

arch/arm/core/aarch64/cache.S

arch/arm/include/aarch64/smccc.h

arch/arm/include/aarch64/psci.h

arch/arm/core/aarch64/reset.S

carlocaione · 2020-12-14T10:54:26Z

This breaks when we disable ARMV8_A_NS:

/home/carlo/work/proj/intel/zephyr/zephyr/arch/arm/core/aarch64/reset.S:188: undefined reference to `arm64_cpu_sp'
/home/carlo/work/proj/intel/zephyr/zephyr/arch/arm/core/aarch64/reset.S:188:(.text._reset_section+0x178): relocation truncated to fit: R_AARCH64_ADR_PREL_LO21 against undefined symbol `arm64_cpu_sp'
/home/carlo/work/proj/intel/sdk/aarch64-zephyr-elf/bin/../lib/gcc/aarch64-zephyr-elf/10.2.0/../../../../aarch64-zephyr-elf/bin/ld: zephyr/arch/arch/arm/core/aarch64/libarch__arm__core__aarch64.a(prep_c.c.obj): in function `z_arm64_secondary_prep_c':
/home/carlo/work/proj/intel/zephyr/zephyr/arch/arm/core/aarch64/prep_c.c:41: undefined reference to `z_arm64_secondary_start'
/home/carlo/work/proj/intel/zephyr/zephyr/arch/arm/core/aarch64/prep_c.c:41:(.text.z_arm64_secondary_prep_c+0x8): relocation truncated to fit: R_AARCH64_CALL26 against undefined symbol `z_arm64_secondary_start'
/home/carlo/work/proj/intel/sdk/aarch64-zephyr-elf/bin/../lib/gcc/aarch64-zephyr-elf/10.2.0/../../../../aarch64-zephyr-elf/bin/ld: zephyr/kernel/libkernel.a(sched.c.obj): in function `ready_thread':
/home/carlo/work/proj/intel/zephyr/zephyr/kernel/sched.c:429: undefined reference to `arch_sched_ipi'
/home/carlo/work/proj/intel/zephyr/zephyr/kernel/sched.c:429:(.text.ready_thread+0x74): relocation truncated to fit: R_AARCH64_JUMP26 against undefined symbol `arch_sched_ipi'
/home/carlo/work/proj/intel/sdk/aarch64-zephyr-elf/bin/../lib/gcc/aarch64-zephyr-elf/10.2.0/../../../../aarch64-zephyr-elf/bin/ld: zephyr/kernel/libkernel.a(sched.c.obj): in function `z_sched_abort':
/home/carlo/work/proj/intel/zephyr/zephyr/kernel/sched.c:1415: undefined reference to `arch_sched_ipi'
/home/carlo/work/proj/intel/zephyr/zephyr/kernel/sched.c:1415:(.text.z_sched_abort+0x38): relocation truncated to fit: R_AARCH64_CALL26 against undefined symbol `arch_sched_ipi'
/home/carlo/work/proj/intel/sdk/aarch64-zephyr-elf/bin/../lib/gcc/aarch64-zephyr-elf/10.2.0/../../../../aarch64-zephyr-elf/bin/ld: zephyr/kernel/libkernel.a(smp.c.obj): in function `z_smp_init':
/home/carlo/work/proj/intel/zephyr/zephyr/kernel/smp.c:87: undefined reference to `arch_start_cpu'
/home/carlo/work/proj/intel/zephyr/zephyr/kernel/smp.c:87:(.text.z_smp_init+0x38): relocation truncated to fit: R_AARCH64_CALL26 against undefined symbol `arch_start_cpu'

carlocaione · 2020-12-14T15:15:38Z

tagging @vladimir-podbrezsky as well

boards/arm/qemu_cortex_a53/board.cmake

sandeepbrcm · 2020-12-21T11:47:50Z

Overall changes looks functionally complete. Covers almost all base aspect of SMP from core arch.
However we need to do a more detailed review as debugging any minor bug here would wreak havoc.
I will try to review during this week. Thanks.

MrVan · 2020-12-25T07:02:09Z

@carlocaione https://github.com/MrVan/zephyr/tree/qemu-smp-v2 I pushed a branch to my github. This branch is based on you #30911 and #30398 PR.

carlocaione · 2020-12-26T08:59:34Z

@carlocaione https://github.com/MrVan/zephyr/tree/qemu-smp-v2 I pushed a branch to my github. This branch is based on you #30911 and #30398 PR.

Can you force push on this PR instead? So we can give it another round of reviews.

MrVan · 2021-03-01T13:28:53Z

all the dependings PRs have been merged, rebased.

MrVan · 2021-03-03T01:25:34Z

@carlocaione @sandeepbrcm @jharris-intel @npitre Could I get your R-b? If there are still small issues, I would start a new PR for resolving small issues. If no critical issues, I would prefer to have this PR in. Thanks.

sandeepbrcm · 2021-03-04T07:48:29Z

Re, #30676 (comment)
There is little more to think about the coherency management here. The core invalidating its own cache is safe. But I am not sure if the range invalidate can cause a data loss by invalidating a line in cache hierarchy out side of cores scope.

sandeepbrcm

@MrVan arch: arm: aarch64: add SMP support seems good in its current scope.
Few minor comments to complete this from my side.

kernel/Kconfig

include/arch/arm/aarch64/cpu.h

drivers/timer/arm_arch_timer.c

include/arch/arm/aarch64/arch_inlines.h

arch/arm/core/aarch64/cache.S

carlocaione · 2021-03-04T08:01:48Z

@MrVan before merging this I'd like to see a new issue with a list of the (minor?) open points to be addressed later, otherwise they are going to be lost.

Save old_thread to switch_handle for wait_for_thread usage Signed-off-by: Peng Fan <peng.fan@nxp.com>

Export z_arm64_mmu_init for SMP usage Signed-off-by: Peng Fan <peng.fan@nxp.com>

Add SMP support. Note: there is still limitation that we rely on NUM CPUs. And all cpus must be from 0,1,2 and .... Signed-off-by: Peng Fan <peng.fan@nxp.com>

To take the usage of arm arch counter 64bit capability, implement custom arch_busy_wait Signed-off-by: Peng Fan <peng.fan@nxp.com>

Implement smp_timer_init to initialize arch timer of secondary cores. Signed-off-by: Peng Fan <peng.fan@nxp.com>

MrVan · 2021-03-05T07:59:41Z

@MrVan before merging this I'd like to see a new issue with a list of the (minor?) open points to be addressed later, otherwise they are going to be lost.

@carlocaione #32964

Following other ARCHs, add arch_curr_cpu in arch_inlines.h Signed-off-by: Peng Fan <peng.fan@nxp.com>

With _kernel_offset_to_nested, we only able to access the nested counter of the first cpu. Since we are going to support SMP, we need accessing nested from per cpu. To get the current cpu, introduce z_arm64_curr_cpu for asm usage, because arch_curr_cpu could not be compiled in asm code. Signed-off-by: Peng Fan <peng.fan@nxp.com>

Add arch_dcache_range to support flush and invalidate Signed-off-by: Peng Fan <peng.fan@nxp.com>

With timer/gic/cache added, we could add the SMP support. Bringup cores Signed-off-by: Peng Fan <peng.fan@nxp.com>

Add cpu1 node Signed-off-by: Peng Fan <peng.fan@nxp.com>

Select SCHED_IPI_SUPPORTED when SMP enabled. Signed-off-by: Peng Fan <peng.fan@nxp.com>

Support SMP and switch to booting from NS world Signed-off-by: Peng Fan <peng.fan@nxp.com>

sandeepbrcm

I don't have any other functional comment at the moment considering this is base support.

carlocaione · 2021-03-05T14:27:34Z

@jharris-intel can you ACK / NACK this? AFAIK you are the only one besides @MrVan that is actually using these patches on real hardware.

jharris-intel · 2021-03-05T15:38:41Z

@jharris-intel can you ACK / NACK this? AFAIK you are the only one besides @MrVan that is actually using these patches on real hardware.

That's somewhat surprising to me, but sure, I'll take another look.

(By the way, if you're looking for a relatively cheap / common dev vehicle, booting bare metal on the Raspberry Pi may not be a bad choice.)

MrVan requested review from carlocaione, sandeepbrcm and Abhishek-brcm December 13, 2020 12:26

MrVan requested review from andrewboie, carlescufi, galak, MaureenHelm, nashif and stephanosio as code owners December 13, 2020 12:26

github-actions bot added area: API Changes to public APIs area: ARM ARM (32-bit) Architecture area: ARM_64 area: Boards area: Timer Timer labels Dec 13, 2020

carlocaione requested changes Dec 14, 2020

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carlocaione requested review from npitre, amergnat, ioannisg, andyross, timork and wentongwu December 14, 2020 10:56

carlocaione reviewed Dec 18, 2020

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boards/arm/qemu_cortex_a53/board.cmake Outdated Show resolved Hide resolved

carlocaione mentioned this pull request Dec 19, 2020

Add PSCI driver #30911

Merged

zephyrbot added the area: Interrupt Controller label Jan 8, 2021

zephyrbot requested a review from carlocaione January 8, 2021 21:20

MrVan force-pushed the qemu-smp branch from 466289a to b9b3b5a Compare March 1, 2021 13:20

MrVan force-pushed the qemu-smp branch from b9b3b5a to d8d5d34 Compare March 2, 2021 02:54

sandeepbrcm reviewed Mar 4, 2021

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MrVan added 5 commits March 5, 2021 15:02

arm: core: aarch64: save switch_handle

9a094b8

Save old_thread to switch_handle for wait_for_thread usage Signed-off-by: Peng Fan <peng.fan@nxp.com>

arch: arm: aarch64: export z_arm64_mmu_init for SMP

78fd7ef

Export z_arm64_mmu_init for SMP usage Signed-off-by: Peng Fan <peng.fan@nxp.com>

interrupt_controller: intc_giv3: support SMP

ed7f193

Add SMP support. Note: there is still limitation that we rely on NUM CPUs. And all cpus must be from 0,1,2 and .... Signed-off-by: Peng Fan <peng.fan@nxp.com>

timer: arm: implement arch_busy_wait

6b0a056

To take the usage of arm arch counter 64bit capability, implement custom arch_busy_wait Signed-off-by: Peng Fan <peng.fan@nxp.com>

timer: arm: implement smp_timer_init

dd72e1a

Implement smp_timer_init to initialize arch timer of secondary cores. Signed-off-by: Peng Fan <peng.fan@nxp.com>

MrVan mentioned this pull request Mar 5, 2021

Better AARCH64 SMP support #32964

Open

MrVan force-pushed the qemu-smp branch from d8d5d34 to 7839349 Compare March 5, 2021 07:58

MrVan added 7 commits March 5, 2021 16:13

aarch64: add arch_curr_cpu

2b292bf

Following other ARCHs, add arch_curr_cpu in arch_inlines.h Signed-off-by: Peng Fan <peng.fan@nxp.com>

arch: arm: aarch64: add arch_dcache_range

9fb2f60

Add arch_dcache_range to support flush and invalidate Signed-off-by: Peng Fan <peng.fan@nxp.com>

arch: arm: aarch64: add SMP support

419b00b

With timer/gic/cache added, we could add the SMP support. Bringup cores Signed-off-by: Peng Fan <peng.fan@nxp.com>

dts: qemu: a53: add cpu1 node

2250e4c

Add cpu1 node Signed-off-by: Peng Fan <peng.fan@nxp.com>

arch: arm64: select SCHED_IPI_SUPPORTED when SMP enabled

f204f82

Select SCHED_IPI_SUPPORTED when SMP enabled. Signed-off-by: Peng Fan <peng.fan@nxp.com>

boards: arm: add qemu_cortex_a53_smp

7839349

Support SMP and switch to booting from NS world Signed-off-by: Peng Fan <peng.fan@nxp.com>

sandeepbrcm approved these changes Mar 5, 2021

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nashif requested review from carlocaione and removed request for andrewboie March 5, 2021 12:39

jharris-intel approved these changes Mar 5, 2021

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carlocaione approved these changes Mar 5, 2021

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nashif merged commit 842ed37 into zephyrproject-rtos:master Mar 6, 2021

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ARM64 SMP support #30676

ARM64 SMP support #30676

MrVan commented Dec 13, 2020

carlocaione commented Dec 14, 2020

carlocaione commented Dec 14, 2020

sandeepbrcm commented Dec 21, 2020 •

edited

MrVan commented Dec 25, 2020

carlocaione commented Dec 26, 2020

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jharris-intel commented Mar 5, 2021

ARM64 SMP support #30676

ARM64 SMP support #30676

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MrVan commented Dec 13, 2020

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sandeepbrcm commented Dec 21, 2020 • edited

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edited