Support SMP scheduling and synchronization

arch/riscv/boot.c

@@ -14,6 +14,8 @@
 extern uint32_t _gp, _stack, _end;
 extern uint32_t _sbss, _ebss;
 
+#define STACK_SIZE_PER_HART 524288
+
 /* C entry points */
 void main(void);
 void do_trap(uint32_t cause, uint32_t epc);
@@ -29,6 +31,12 @@ __attribute__((naked, section(".text.prologue"))) void _entry(void)
         /* Initialize Global Pointer (gp) and Stack Pointer (sp) */
         "la     gp, _gp\n"
         "la     sp, _stack\n"
+        /* Set up stack for each hart */
+        "csrr   t0, mhartid\n"               /* t0 = hartid */
+        "la     t1, _stack_top\n"            /* t1 = base address of full stack region (top) */
+        "li     t2, %2\n"                    /* t2 = per-hart stack size */
+        "mul    t0, t0, t2\n"                /* t0 = hartid * STACK_SIZE_PER_HART */
+        "sub    sp, t1, t0\n"                /* sp = _stack_top - hartid * stack_size */
 
         /* Initialize Thread Pointer (tp). The ABI requires tp to point to
          * a 64-byte aligned memory region for thread-local storage. Here, we
@@ -62,10 +70,6 @@ __attribute__((naked, section(".text.prologue"))) void _entry(void)
         "csrw   mideleg, zero\n" /* No interrupt delegation to S-mode */
         "csrw   medeleg, zero\n" /* No exception delegation to S-mode */
 
-        /* Park secondary harts (cores) - only hart 0 continues */
-        "csrr   t0, mhartid\n"
-        "bnez   t0, .Lpark_hart\n"
-
         /* Set the machine trap vector (mtvec) to point to our ISR */
         "la     t0, _isr\n"
         "csrw   mtvec, t0\n"
@@ -79,17 +83,14 @@ __attribute__((naked, section(".text.prologue"))) void _entry(void)
         "csrw   mie, t0\n"
 
         /* Jump to the C-level main function */
+        "csrr   a0, mhartid\n"
         "call   main\n"
 
         /* If main() ever returns, it is a fatal error */
         "call   hal_panic\n"
 
-        ".Lpark_hart:\n"
-        "wfi\n"
-        "j      .Lpark_hart\n"
-
         : /* no outputs */
-        : "i"(MSTATUS_MPP_MACH), "i"(MIE_MEIE)
+        : "i"(MSTATUS_MPP_MACH), "i"(MIE_MEIE), "i"(STACK_SIZE_PER_HART)
         : "memory");
 }
 

arch/riscv/build.mk

@@ -17,10 +17,10 @@ DEFINES := -DF_CPU=$(F_CLK) \
            -DF_TIMER=$(F_TICK) \
            -include config.h
 
-ASFLAGS = -march=rv32imzicsr -mabi=ilp32
+ASFLAGS = -march=rv32imzaicsr -mabi=ilp32
 CFLAGS += -Wall -Wextra -Wshadow -Wno-unused-parameter -Werror
 CFLAGS += -O2 -std=gnu99
-CFLAGS += -march=rv32imzicsr -mabi=ilp32
+CFLAGS += -march=rv32imazicsr -mabi=ilp32
 CFLAGS += -mstrict-align -ffreestanding -nostdlib -fomit-frame-pointer
 CFLAGS += $(INC_DIRS) $(DEFINES) -fdata-sections -ffunction-sections
 ARFLAGS = r
@@ -49,4 +49,4 @@ $(BUILD_KERNEL_DIR)/%.o: $(ARCH_DIR)/%.c | $(BUILD_DIR)
 
 run:
 	@$(call notice, Ready to launch Linmo kernel + application.)
-	$(Q)qemu-system-riscv32 -machine virt -nographic -bios none -kernel $(BUILD_DIR)/image.elf -nographic
+	$(Q)qemu-system-riscv32 -smp 4 -machine virt -nographic -bios none -kernel $(BUILD_DIR)/image.elf -nographic

arch/riscv/hal.c

@@ -136,11 +136,14 @@ static inline uint64_t mtime_r(void)
 /* Safely read the 64-bit 'mtimecmp' register */
 static inline uint64_t mtimecmp_r(void)
 {
-    uint32_t hi, lo;
+    uint32_t hi, lo, hartid;
+
+    hartid = read_csr(mhartid);
+
     do {
-        hi = MTIMECMP_H;
-        lo = MTIMECMP_L;
-    } while (hi != MTIMECMP_H);
+        hi = * (volatile uint32_t *) (CLINT_BASE + 0x4004u + 8 * hartid);
+        lo = * (volatile uint32_t *) (CLINT_BASE + 0x4000u + 8 * hartid);
+    } while (hi != *(volatile uint32_t *) (CLINT_BASE + 0x4004u + 8 * hartid));
     return CT64(hi, lo);
 }
 
@@ -157,10 +160,11 @@ static inline void mtimecmp_w(uint64_t val)
     /* Disable timer interrupts during the critical section */
     uint32_t old_mie = read_csr(mie);
     write_csr(mie, old_mie & ~MIE_MTIE);
+    uint32_t hartid = read_csr(mhartid);
 
-    MTIMECMP_L = 0xFFFFFFFF; /* Set to maximum to prevent spurious interrupt */
-    MTIMECMP_H = (uint32_t) (val >> 32); /* Set high word */
-    MTIMECMP_L = (uint32_t) val;         /* Set low word to final value */
+    * (volatile uint32_t *) (CLINT_BASE + 0x4000u + 8 * hartid) = 0xFFFFFFFF; /* Set to maximum to prevent spurious interrupt */
+    * (volatile uint32_t *) (CLINT_BASE + 0x4004u + 8 * hartid) = (uint32_t) (val >> 32); /* Set high word */
+    * (volatile uint32_t *) (CLINT_BASE + 0x4000u + 8 * hartid) = (uint32_t) val;         /* Set low word to final value */
 
     /* Re-enable timer interrupts if they were previously enabled */
     write_csr(mie, old_mie);
@@ -320,7 +324,7 @@ void hal_timer_disable(void)
  */
 void hal_interrupt_tick(void)
 {
-    tcb_t *task = kcb->task_current->data;
+    tcb_t *task = get_task_current(kcb)->data;
     if (unlikely(!task))
         hal_panic(); /* Fatal error - invalid task state */
 

arch/riscv/spinlock.h

@@ -0,0 +1,74 @@
+#pragma once
+
+#include <hal.h>
+
+/* Spinlock structure */
+typedef struct {
+    volatile uint32_t lock;
+} spinlock_t;
+
+#define SPINLOCK_INITIALIZER { 0 }
+
+/* Save and restore interrupt state */
+static inline uint32_t intr_save(void)
+{
+    uint32_t mstatus_val = read_csr(mstatus);
+    _di();
+    return mstatus_val;
+}
+
+static inline void intr_restore(uint32_t mstatus_val)
+{
+    write_csr(mstatus, mstatus_val);
+}
+
+/* CPU relax */
+static inline void cpu_relax(void)
+{
+    asm volatile("nop");
+}
+
+/* Basic spinlock API */
+static inline void spin_lock(spinlock_t *lock)
+{
+    while (__sync_lock_test_and_set(&lock->lock, 1)) {
+        while (lock->lock)
+            cpu_relax();
+    }
+}
+
+static inline void spin_unlock(spinlock_t *lock)
+{
+    __sync_lock_release(&lock->lock);
+}
+
+static inline int spin_trylock(spinlock_t *lock)
+{
+    return (__sync_lock_test_and_set(&lock->lock, 1) == 0);
+}
+
+/* IRQ-safe spinlock (no state saving) */
+static inline void spin_lock_irq(spinlock_t *lock)
+{
+    _di();
+    spin_lock(lock);
+}
+
+static inline void spin_unlock_irq(spinlock_t *lock)
+{
+    spin_unlock(lock);
+    _ei();
+}
+
+/* IRQ-safe spinlock (with state saving) */
+static inline void spin_lock_irqsave(spinlock_t *lock, uint32_t *flags)
+{
+    *flags = intr_save();
+    spin_lock(lock);
+}
+
+static inline void spin_unlock_irqrestore(spinlock_t *lock, uint32_t flags)
+{
+    spin_unlock(lock);
+    intr_restore(flags);
+}

include/sys/task.h

@@ -13,6 +13,7 @@
  */
 
 #include <hal.h>
+#include <spinlock.h>
 #include <lib/list.h>
 #include <lib/queue.h>
 
@@ -84,6 +85,8 @@ typedef struct tcb {
     void *rt_prio; /* Opaque pointer for custom real-time scheduler hook */
 } tcb_t;
 
+#define MAX_HARTS 8
+
 /* Kernel Control Block (KCB)
  *
  * Singleton structure holding global kernel state, including task lists,
@@ -92,7 +95,7 @@ typedef struct tcb {
 typedef struct {
     /* Task Management */
     list_t *tasks; /* Master list of all tasks (nodes contain tcb_t) */
-    list_node_t *task_current; /* Node of currently running task */
+    list_node_t *task_current[MAX_HARTS]; /* Node of currently running task */
     jmp_buf context; /* Saved context of main kernel thread before scheduling */
     uint16_t next_tid;   /* Monotonically increasing ID for next new task */
     uint16_t task_count; /* Cached count of active tasks for quick access */
@@ -104,6 +107,9 @@ typedef struct {
     /* Timer Management */
     list_t *timer_list;      /* List of active software timers */
     volatile uint32_t ticks; /* Global system tick, incremented by timer */
+    /* Timers */
+
+    spinlock_t kcb_lock;
 } kcb_t;
 
 /* Global pointer to the singleton Kernel Control Block */
@@ -117,49 +123,21 @@ extern kcb_t *kcb;
 #define TASK_CACHE_SIZE \
     4 /* Task lookup cache size for frequently accessed tasks */
 
-/* Critical Section Macros
- *
- * Two levels of protection are provided:
- * 1. CRITICAL_* macros disable ALL maskable interrupts globally
- * 2. NOSCHED_* macros disable ONLY the scheduler timer interrupt
- */
+/* Core Kernel and Task Management API */
 
-/* Disable/enable ALL maskable interrupts globally.
- * Provides strongest protection against concurrency from both other tasks
- * and all ISRs. Use when modifying data shared with any ISR.
- * WARNING: Increases interrupt latency - use NOSCHED macros if protection
- * is only needed against task preemption.
- */
-#define CRITICAL_ENTER()     \
-    do {                     \
-        if (kcb->preemptive) \
-            _di();           \
-    } while (0)
-
-#define CRITICAL_LEAVE()     \
-    do {                     \
-        if (kcb->preemptive) \
-            _ei();           \
-    } while (0)
-
-/* Disable/enable ONLY the scheduler timer interrupt.
- * Lighter-weight critical section that prevents task preemption but allows
- * other hardware interrupts (e.g., UART) to be serviced, minimizing latency.
- * Use when protecting data shared between tasks.
- */
-#define NOSCHED_ENTER()          \
-    do {                         \
-        if (kcb->preemptive)     \
-            hal_timer_disable(); \
-    } while (0)
-
-#define NOSCHED_LEAVE()         \
-    do {                        \
-        if (kcb->preemptive)    \
-            hal_timer_enable(); \
-    } while (0)
+static inline list_node_t *get_task_current()
+{
+    const uint32_t mhartid = read_csr(mhartid);
 
-/* Core Kernel and Task Management API */
+    return kcb->task_current[mhartid];
+}
+
+static inline void set_task_current(list_node_t *task)
+{
+    const uint32_t mhartid = read_csr(mhartid);
+
+    kcb->task_current[mhartid] = task;
+}
 
 /* System Control Functions */
 

kernel/main.c

@@ -1,9 +1,19 @@
 #include <hal.h>
+#include <spinlock.h>
 #include <lib/libc.h>
 #include <sys/task.h>
 
 #include "private/error.h"
 
+static void idle_task(void)
+{
+    while (1)
+        mo_task_wfi();
+}
+
+static volatile bool finish = false;
+static spinlock_t finish_lock = SPINLOCK_INITIALIZER;
+
 /* C-level entry point for the kernel.
  *
  * This function is called from the boot code ('_entry'). It is responsible for
@@ -12,42 +22,64 @@
  *
  * Under normal operation, this function never returns.
  */
-int32_t main(void)
+int32_t main(int32_t hartid)
 {
     /* Initialize hardware abstraction layer and memory heap. */
     hal_hardware_init();
 
-    printf("Linmo kernel is starting...\n");
+    if (hartid == 0) {
+        printf("Linmo kernel is starting...\n");
+
+        mo_heap_init((void *) &_heap_start, (size_t) &_heap_size);
+        printf("Heap initialized, %u bytes available\n",
+            (unsigned int) (size_t) &_heap_size);
 
-    mo_heap_init((void *) &_heap_start, (size_t) &_heap_size);
-    printf("Heap initialized, %u bytes available\n",
-           (unsigned int) (size_t) &_heap_size);
+        /* Call the application's main entry point to create initial tasks. */
+        kcb->preemptive = (bool) app_main();
+        printf("Scheduler mode: %s\n",
+            kcb->preemptive ? "Preemptive" : "Cooperative");
 
-    /* Call the application's main entry point to create initial tasks. */
-    kcb->preemptive = (bool) app_main();
-    printf("Scheduler mode: %s\n",
-           kcb->preemptive ? "Preemptive" : "Cooperative");
+        spin_lock(&finish_lock);
+        finish = true;
+        spin_unlock(&finish_lock);
+    }
+
+    /* Make sure hardware initialize before running the first task. */
+    while (1) {
+        spin_lock(&finish_lock);
+        if (finish)
+            break;
+        spin_unlock(&finish_lock);
+    }
+    spin_unlock(&finish_lock);
+
+    mo_task_spawn(idle_task, DEFAULT_STACK_SIZE);
 
     /* Verify that the application created at least one task.
-     * If 'kcb->task_current' is still NULL, it means mo_task_spawn was never
+     * If 'get_task_current()' is still NULL, it means mo_task_spawn was never
      * successfully called.
      */
-    if (!kcb->task_current)
+    if (!get_task_current())
         panic(ERR_NO_TASKS);
 
     /* Save the kernel's context. This is a formality to establish a base
      * execution context before launching the first real task.
      */
     setjmp(kcb->context);
 
+    spin_lock(&finish_lock);
+
     /* Launch the first task.
-     * 'kcb->task_current' was set by the first call to mo_task_spawn.
+     * 'get_task_current()' was set by the first call to mo_task_spawn.
      * This function transfers control and does not return.
      */
-    tcb_t *first_task = kcb->task_current->data;
+
+    tcb_t *first_task = get_task_current()->data;
     if (!first_task)
         panic(ERR_NO_TASKS);
 
+    spin_unlock(&finish_lock);
+
     hal_dispatch_init(first_task->context);
 
     /* This line should be unreachable. */