The 32-bit MIPS is the simplest "real" 32-bit processor for which development tools are readily available; furthermore, the MIPS architecture is already widely used for teaching in various contexts. This makes it a natural choice for System/161.
The specific dialect of MIPS processor found in System/161, which for a lack of a better term we'll refer to as MIPS-161, is partway between a MIPS-I (r2000/r3000) and a more modern MIPS32. We intentionally use the simpler MIPS-I MMU architecture; exception handling is MIPS-I style; but in the interests of sanity cache control, to the extent it's required at all, is MIPS32. There are also a few idiosyncratic features specific to the MIPS-161, owing to some things being unspecified or underspecified in publicly-available documentation.
There are two basic versions of the MIPS-161: the System/161 1.x version and the System/161 2.x version. The 2.x version is substantially more MIPS32ish and supports multiprocessor environemnts. Distinguishing these versions on the fly is discussed below.
Each MIPS-161 processor has only one core on the die. However, as noted elsewhere System/161 supports up to 32 processors on the mainboard. There is little software-visible difference between 32 single-core processors on one mainboard and 32 cores in one processor. Most of what effects do exist are cache-related; these are not currently modeled by System/161 at all.
In user mode, the MIPS-161 behaves the same as any other 32-bit MIPS. All user instructions are fully interlocked and there are no pipeline hazards. All MIPS-I instructions are supported. MIPS-II and higher instructions are not supported, except (in System/161 2.0 and up) for the LL and SC instructions used for multiprocessor synchronization, and the SYNC memory barrier instruction. Other later MIPS instructions may be added in the future. (However, the "branch likely" family of instructions will never be supported.) Please consult your favorite MIPS reference for further details.
The multiprocessor System/161 environment is cache-coherent. However, even with cache coherence, or when using uncached memory regions, processors that support out-of-execution may require so-called memory barrier instructions to ensure that memory accesses occur on the external bus (and become visible to other processors or devices) in the same order they are issued in machine code.
In the System/161 2.x processor, the MIPS-II SYNC instruction can be used to wait until all pending load and store operations are complete. This guarantees that all memory updates before the SYNC become visible before any memory updates after the SYNC. All SYNC instructions executed on all cores and processors within a system occur in a single well defined global order.
A MIPS processor can have up to four coprocessors, numbered 0-3. Coprocessor 0 contains the MMU and other control logic; coprocessor 1 is the FPU (or would be, if System/161 supported an FPU); and coprocessors 2 and 3 are normally unused.
Each coprocessor can have up to 8 banks of 32 registers each. The "select" number used with some instructions identifies the register bank. Most registers of most coprocessors are in "select" 0. Note that the System/161 1.x processor ignores the "select" field, so all banks will appear to mirror bank 0.
Coprocessor registers are accessed with the MFC0..3 and MTC0..3 family of instructions, to access coprocessors 0 through 3, as follows:
mfc0 $4, $12, 0loads the contents of coprocessor 0 (kernel) register 12 select 0 (STATUS) into general-purpose register 4 (a0), and
mtc0 $4, $12, 0does the reverse. When the select number is 0 (the common case) it may be omitted.
Coprocessors must be "enabled" before being used by setting a bit in the STATUS register (see below). Coprocessor 0 is always enabled when in kernel mode; otherwise, access to a disabled coprocessor causes a coprocessor unusable exception (see below). For the FPU this can be used by system software to support lazy FPU context switching.
In kernel mode, the MIPS-161 is best thought of as a cache-coherent MIPS-I with some extensions borrowed from later MIPS dialects, The following sections are intended to fully define the kernel mode interface -- anything unspecified here is not an implicit reference to MIPS-I behavior but a documentation bug.
The MIPS-161 has 11 kernel registers in coprocessor 0. These are:
The k0 and k1 registers are general-purpose registers (not in coprocessor 0) that are reserved for use by the kernel during exception handling. They are not protected from access in user mode, so system software must not rely on them remaining unchanged during program execution; however, the kernel may clobber them freely and will ordinarily do so on entry to any exception handler.
The following instructions are available only in kernel mode:
The WAIT instruction has been borrowed from MIPS-II. This operation puts the processor into a low-power state and suspends execution until some external event occurs, such as an interrupt. Since the exact behavior of WAIT is not clearly specified anywhere I could find, the MIPS-161 behavior is as follows:
When an exception occurs, the following things happen:
The exception handler addresses are:
Handling an exception generally requires saving state somewhere; the k0 and k1 registers (as noted above) can be clobbered arbitrarily by exception handlers and can be used while finding the context needed to save state safely.
To return from an exception, one executes the following sequence:
jr k0 rfewhere the k0 register has been loaded with the desired exception return address, either the value previously retrieved from the EPC register or some other address chosen by software. The RFE instruction is not a jump; it occurs in the delay slot of a jump. It shifts the six bottom bits of the status register right by two, undoing the shift done at exception entry time. This returns the processor to whatever interrupt state and mode (user/kernel) it was in when the exception occurred.
Because there are three pairs of state bits, the processor can take two nested exceptions without losing state, if one is careful. This is to facilitate the fast-path TLB refill handler. See below.
The two soft interrupt lines can be activated by writing to the CAUSE register.
The exception codes:
The MMU is the MIPS-I MMU, with a 64-entry fully associative TLB where each entry maps one 4K virtual page to one 4K physical page. The paired pages setup of later MIPS processors is not present, and there is no support for superpages.
The processor's virtual address space is divided into four segments:
There are four MMU-related instructions:
The processor is built to support a fast-path TLB refill handler, which is invoked via the UTLB exception vector (see above). The idea is that the OS maintains page tables in virtual memory using the kseg2 region (see above) and loads the base address of the page table into the PTBASE field of the CONTEXT register. Each page table entry (PTE) is a 4-byte quantity suitable for loading directly into the TLBLO register; 1024 of these fit on a 4K page, so each page table page maps 4MB and it takes 512 pages, or 2MB of virtual space, to map the whole 2GB user address space. (Since these are placed in virtual memory, only the page table pages that are used need be materialized.) With this setup, the UTLB exception handler can then read the CONTEXT register and use the resulting value to load directly from the page table. If this fails because that section of the page table is not materialized, a second (non-UTLB) exception occurs. Careful register usage and the three-deep nesting of the bottom part of the STATUS register allows the general-purpose exception handler to recover from this condition and proceed as desired. On success, the UTLB handler can then unconditionally store the PTE it got into the TLBLO register and write it into the TLB with the TLBWR instruction. If the V (valid) bit is not set, on return from the UTLB handler another exception will occur; however, because a matching (though not valid) TLB entry exists, this will not be a UTLB exception, and the general exception handler will get control and can schedule pagein or whatever.
There are a number of possible other ways to use the UTLB handler, of course. One simple way is to just have it jump to the general-purpose exception handler.
As noted above, the V (valid) bit does not prevent a TLB entry from being "matching". A TLB entry is matching if both of the following are true:
One must never load the TLB in such a fashion that two (or more) entries can match the same virtual address. If this happens, the processor shuts down and is unrecoverable except by hard reset. Since there is no way to prevent entries from matching, one should clear the TLB by loading each entry with a distinct VPAGE, and use VPAGEs from the kseg0 or kseg1 regions that will never be presented to the MMU for translation. To reset the TLB at startup, since it is not cleared by processor reset, one should use a second, potentially larger, set of distinct VPAGEs and check that each is not already present before loading it.
There is no way to tell if a TLB entry has been used, or how recently it has been used. Nor is there a direct way to tell if a TLB entry has been used for writing. The D ("dirty") bit can be used for this purpose with software support, as follows:
The processor never changes the address space ID found in the ASID field of the TLBHI register. System software can switch among up to 64 address spaces by altering this value. (If more are needed, address space IDs can be reused by flushing TLB entries.) At the cost of performance, system software can also leave the ASID field set to a constant value and change address spaces by flushing the whole TLB.
The MMU exceptions are as follows:
The MIPS-I has a remarkably painful cache and cache control architecture. This is not supported. Attempting to set either the "swap caches" or "isolate cache" bits in the STATUS register, as one does with a MIPS-I, will trigger a machine check.
Currently, the MIPS-161 is fully cache-coherent (in fact, System/161 does not model the cache at all) and there is no need to flush, examine, or otherwise touch the cache subsystem. However, future releases may include more cache handling; caches are an important part of performance modeling and storing predecoded instructions in an instruction cache will likely make things run faster.
Since real MIPS processors have split instruction and data caches, flushing the instruction cache is required in certain contexts. As of this writing a MIPS32-compatible CONFIG1 register reporting the L1 cache configuration, and the matching CACHE instruction to flush and otherwise manipulate the caches, are implemented, but adequate documentation has not yet been written.
It is recommended that code written for System/161 include stubbed-out calls for flushing the instruction cache in the places needed; this will allow such code to run with caching enabled on future versions with minimal modification. It is similarly recommended that such code also include stubbed-out calls for flushing or invalidating the data cache if there are any places where this is necessary.
It is safe to assume that any future cache will be PIPT (physically indexed, physically tagged) -- because System/161 is an instructional tool, it attempts to avoid unnecessary student-facing complexity, and therefore VIPT (virtually indexed, physically tagged) or worse VIVT (virtually indexed, virtually tagged) caches are contraindicated. (Because it is an instructional tool, it might sometime include an optional VIPT or VIVT cache specifically for use teaching about the horrors; but if so this will be a configurable option, not the default mode.)
Any future cache will also be coherent between processors; multiprocessor architectures with non-coherent caches are horrible to try to program.
In this setup, the instruction cache need only be flushed when something modifies physical memory containing instructions. Assuming no self-modifying code, this normally arises only in the virtual memory system when swapping in and out pages that contain code, or (where separate) when first loading executable code into memory.
The data cache only needs to be flushed if hardware devices other than the CPU are accessing memory. In general, the cache must be flushed (in the sense of written back) before hardware reads memory the processor has written, and it must be flushed (in the sense of invalidated, to force a fresh read) before the processor reads memory the hardware has written. Since the hardware devices in System/161 do not support DMA (direct memory access) this will not normally arise. However, accessing the I/O buffers on LAMEbus devices with the cache enabled (through kseg0 instead of kseg1) will require flushing the data cache as just described.
On CPU reset execution begins from the Reset vector defined above. The processor starts out in an almost completely undefined state. The cache is in an undefined state (except on the MIPS-161 this does not matter...), the TLB is in an undefined state, and the contents of the general and kernel-mode registers are all undefined, except as follows:
In System/161, the boot ROM takes care of these issues and loads a kernel as described in the LAMEbus documentation. However, the state guaranteed by the boot ROM is only slightly more flexible: the boot ROM guarantees that the cache is in a workable state, and it provides a stack and an argument string in the a0 register. The TLB is still in an undefined state and the contents of other general and kernel-mode registers and register fields are still undefined.
Distinguishing the MIPS-161 from an arbitrarily chosen MIPS-I is likely to be problematic: according to the lore, the PRID register values for MIPS-I processors could not reliably be used to distinguish processor types even in real deployed hardware. The recommended method is to arrange to know that you have a MIPS-161 because you are running on System/161; then the scheme below can be used to identify which version you have. If this is not feasible, you're on your own. It might be possible to detect the MIPS-161 by enabling certain cache control bits and ascertaining that they have no effect.
The System/161 1.x processor can be distinguished from the System/161 2.x processor by fetching the value from the PRID register. The top half of the PRID register is 0 (because the MIPS-161 is not a MIPS32 or MIPS64, doesn't have an official vendor ID, and isn't likely to get one) and the bottom half gives the version:
The processors in pre-2.0 versions of System/161 prior to 1.99.07 also report 0x3ff in the PRID register. These can be detected by checking the LAMEbus mainboard version; if the multiprocessor mainboard is present, the processor supports LL/SC and the on-chip timer (not documented herein yet, alas) but are lacking SYNC, coprocessor register selects, the CFEAT/IFEAT registers, and any other features described above as 2.x-only. Other than this, no guarantees are made about mainboard versions and features vs. CPU versions and features. Mainboard and CPU properties can be selected independently in sys161.conf.
Some ancient prerelease versions of System/161 (0.95 and earlier) reported 0xbeef in the PRID register. These versions are now long gone and can be ignored. The documentation also for a long time described the PRID value for the System/161 1.x processor as 0xbeef; this was incorrect.
CPU features beyond those found by default in the System/161 2.x processor should be probed by checking the CFEAT and IFEAT registers, after confirming that a System/161 2.x processor is in fact present. See the descriptions of these feature bits above. (So far, there are none.)