diff options
Diffstat (limited to 'src/pru/pru0.c')
| -rw-r--r-- | src/pru/pru0.c | 153 |
1 files changed, 134 insertions, 19 deletions
diff --git a/src/pru/pru0.c b/src/pru/pru0.c index 424ba5c6..6ea42287 100644 --- a/src/pru/pru0.c +++ b/src/pru/pru0.c @@ -4,6 +4,7 @@ // // This file may be distributed under the terms of the GNU GPLv3 license. +#include <setjmp.h> // setjmp #include <stdint.h> // uint32_t #include <string.h> // memset #include <pru/io.h> // write_r31 @@ -14,8 +15,13 @@ #include <pru_virtio_ids.h> // VIRTIO_ID_RPMSG #include <rsc_types.h> // resource_table #include "board/io.h" // readl +#include "command.h" // command_add_frame #include "compiler.h" // __section #include "internal.h" // SHARED_MEM +#include "sched.h" // sched_shutdown + +struct pru_rpmsg_transport transport; +static uint16_t transport_dst; /**************************************************************** @@ -26,10 +32,9 @@ #define CHAN_DESC "Channel 30" #define CHAN_PORT 30 -static uint16_t transport_dst; - +// Check if there is data to be sent from PRU1 to the host static void -check_can_send(struct pru_rpmsg_transport *transport) +check_can_send(void) { for (;;) { uint32_t send_pop_pos = SHARED_MEM->send_pop_pos; @@ -37,8 +42,9 @@ check_can_send(struct pru_rpmsg_transport *transport) if (!count) // Queue empty break; + command_add_frame(SHARED_MEM->send_data[send_pop_pos].data, count); pru_rpmsg_send( - transport, CHAN_PORT, transport_dst + &transport, CHAN_PORT, transport_dst , &SHARED_MEM->send_data[send_pop_pos].data, count); writel(&SHARED_MEM->send_data[send_pop_pos].count, 0); SHARED_MEM->send_pop_pos = ( @@ -46,34 +52,135 @@ check_can_send(struct pru_rpmsg_transport *transport) } } +// Wait for PRU1 to finish processing a command static void -check_can_read(struct pru_rpmsg_transport *transport) +wait_pru1_command(void) { - if (readl(&SHARED_MEM->read_count)) - // main processing pru is busy - return; + while (readl(&SHARED_MEM->next_command)) + check_can_send(); + check_can_send(); +} + +// Signal PRU1 that a new command is ready +static void +send_pru1_command(const struct command_parser *cp) +{ + barrier(); + SHARED_MEM->next_command = cp; + barrier(); + write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU1_EVENT - R31_WRITE_IRQ_OFFSET)); +} + +// Instruct PRU1 to shutdown +static void +send_pru1_shutdown(void) +{ + wait_pru1_command(); + send_pru1_command(SHARED_MEM->shutdown_handler); + wait_pru1_command(); +} + +// Dispatch all the commands in a message block +static void +do_dispatch(char *buf, uint32_t msglen) +{ + char *p = &buf[MESSAGE_HEADER_SIZE]; + char *msgend = &buf[msglen-MESSAGE_TRAILER_SIZE]; + while (p < msgend) { + // Parse command + uint8_t cmdid = *p++; + const struct command_parser *cp = &SHARED_MEM->command_index[cmdid]; + if (!cmdid || cmdid >= SHARED_MEM->command_index_size + || cp->num_args > ARRAY_SIZE(SHARED_MEM->next_command_args)) { + send_pru1_shutdown(); + return; + } + p = command_parsef(p, msgend, cp, SHARED_MEM->next_command_args); + + send_pru1_command(ALT_PRU_PTR(cp)); + wait_pru1_command(); + } +} + +// See if there are commands from the host ready to be processed +static void +check_can_read(void) +{ + // Read data uint16_t dst, len; - int16_t ret = pru_rpmsg_receive( - transport, &transport_dst, &dst, SHARED_MEM->read_data, &len); - if (ret || !len) + char *p = SHARED_MEM->read_data; + int16_t ret = pru_rpmsg_receive(&transport, &transport_dst, &dst, p, &len); + if (ret) return; - SHARED_MEM->read_pos = 0; - writel(&SHARED_MEM->read_count, len); - write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU1_EVENT - R31_WRITE_IRQ_OFFSET)); + + // Parse data into message blocks + for (;;) { + uint8_t pop_count, msglen = len > 64 ? 64 : len; + int8_t ret = command_find_block(p, msglen, &pop_count); + if (!ret) + break; + if (ret > 0) + do_dispatch(p, pop_count); + p += pop_count; + len -= pop_count; + } } +// Main processing loop static void -process_io(struct pru_rpmsg_transport *transport) +process_io(void) { for (;;) { if (!(read_r31() & (1 << (WAKE_PRU0_IRQ + R31_IRQ_OFFSET)))) continue; CT_INTC.SECR0 = (1 << KICK_PRU0_FROM_ARM_EVENT) | (1 << KICK_PRU0_EVENT); - check_can_send(transport); - check_can_read(transport); + check_can_send(); + check_can_read(); } } +// Startup initialization +static void +setup_io(void) +{ + // Fixup pointers in command_parsers + SHARED_MEM->command_index = ALT_PRU_PTR(SHARED_MEM->command_index); + struct command_parser *p = (void*)SHARED_MEM->command_index; + int i; + for (i=0; i<SHARED_MEM->command_index_size; i++, p++) + if (p->param_types) + p->param_types = ALT_PRU_PTR(p->param_types); +} + + +/**************************************************************** + * Compatibility wrappers + ****************************************************************/ + +// shutdown() compatibility code +uint8_t ctr_lookup_static_string(const char *str) +{ + return 0; +} + +static jmp_buf shutdown_jmp; + +// Handle shutdown() +void +sched_shutdown(uint_fast8_t reason) +{ + longjmp(shutdown_jmp, 1); +} + +// Generate messages - only used for ack/nak messages +void +console_sendf(const struct command_encoder *ce, va_list args) +{ + char buf[MESSAGE_MIN]; + command_add_frame(buf, sizeof(buf)); + pru_rpmsg_send(&transport, CHAN_PORT, transport_dst, buf, sizeof(buf)); +} + /**************************************************************** * Peripheral reset @@ -241,7 +348,6 @@ main(void) ; /* Initialize the RPMsg transport structure */ - struct pru_rpmsg_transport transport; pru_rpmsg_init(&transport, &resourceTable.rpmsg_vring0, &resourceTable.rpmsg_vring1, @@ -265,5 +371,14 @@ main(void) ; writel(&SHARED_MEM->signal, 0); - process_io(&transport); + // Setup incoming message parser + setup_io(); + + // Support shutdown + int ret = setjmp(shutdown_jmp); + if (ret) + send_pru1_shutdown(); + + // Main loop + process_io(); } |