diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/command.c | 20 | ||||
| -rw-r--r-- | src/command.h | 15 | ||||
| -rw-r--r-- | src/pru/Makefile | 17 | ||||
| -rw-r--r-- | src/pru/internal.h | 10 | ||||
| -rw-r--r-- | src/pru/main.c | 92 | ||||
| -rw-r--r-- | src/pru/pru0.c | 153 |
6 files changed, 214 insertions, 93 deletions
diff --git a/src/command.c b/src/command.c index af84539f..53263a8f 100644 --- a/src/command.c +++ b/src/command.c @@ -13,19 +13,6 @@ #include "command.h" // output_P #include "sched.h" // DECL_TASK -#define MESSAGE_MIN 5 -#define MESSAGE_MAX 64 -#define MESSAGE_HEADER_SIZE 2 -#define MESSAGE_TRAILER_SIZE 3 -#define MESSAGE_POS_LEN 0 -#define MESSAGE_POS_SEQ 1 -#define MESSAGE_TRAILER_CRC 3 -#define MESSAGE_TRAILER_SYNC 1 -#define MESSAGE_PAYLOAD_MAX (MESSAGE_MAX - MESSAGE_MIN) -#define MESSAGE_SEQ_MASK 0x0f -#define MESSAGE_DEST 0x10 -#define MESSAGE_SYNC 0x7E - static uint8_t next_sequence = MESSAGE_DEST; @@ -68,8 +55,9 @@ parse_int(char **pp) } // Parse an incoming command into 'args' -static char * -parsef(char *p, char *maxend, const struct command_parser *cp, uint32_t *args) +char * +command_parsef(char *p, char *maxend + , const struct command_parser *cp, uint32_t *args) { uint8_t num_params = READP(cp->num_params); const uint8_t *param_types = READP(cp->param_types); @@ -301,7 +289,7 @@ command_dispatch(char *buf, uint8_t msglen) uint8_t cmdid = *p++; const struct command_parser *cp = command_lookup_parser(cmdid); uint32_t args[READP(cp->num_args)]; - p = parsef(p, msgend, cp, args); + p = command_parsef(p, msgend, cp, args); if (sched_is_shutdown() && !(READP(cp->flags) & HF_IN_SHUTDOWN)) { sched_report_shutdown(); continue; diff --git a/src/command.h b/src/command.h index 148f47be..91d7cd80 100644 --- a/src/command.h +++ b/src/command.h @@ -33,6 +33,19 @@ #define try_shutdown(msg) \ sched_try_shutdown(_DECL_STATIC_STR(msg)) +#define MESSAGE_MIN 5 +#define MESSAGE_MAX 64 +#define MESSAGE_HEADER_SIZE 2 +#define MESSAGE_TRAILER_SIZE 3 +#define MESSAGE_POS_LEN 0 +#define MESSAGE_POS_SEQ 1 +#define MESSAGE_TRAILER_CRC 3 +#define MESSAGE_TRAILER_SYNC 1 +#define MESSAGE_PAYLOAD_MAX (MESSAGE_MAX - MESSAGE_MIN) +#define MESSAGE_SEQ_MASK 0x0f +#define MESSAGE_DEST 0x10 +#define MESSAGE_SYNC 0x7E + struct command_encoder { uint8_t msg_id, max_size, num_params; const uint8_t *param_types; @@ -48,6 +61,8 @@ enum { }; // command.c +char *command_parsef(char *p, char *maxend + , const struct command_parser *cp, uint32_t *args); uint8_t command_encodef(char *buf, uint8_t buf_len , const struct command_encoder *ce, va_list args); void command_sendf(const struct command_encoder *ce, ...); diff --git a/src/pru/Makefile b/src/pru/Makefile index 5f5739b4..a5dfaeb8 100644 --- a/src/pru/Makefile +++ b/src/pru/Makefile @@ -6,28 +6,27 @@ CROSS_PREFIX=pru- dirs-y += src/pru src/generic dirs-y += lib/pru_rpmsg -CFLAGS += -Os -mmcu=am335x.pru1 +CFLAGS += -minrt -mmcu=am335x.pru1 CFLAGS += -Ilib/pru_rpmsg/include -Ilib/pru_rpmsg/include/am335x CFLAGS_klipper.elf := $(filter-out -mmcu=%, $(CFLAGS)) CFLAGS_klipper.elf += -Wl,-r -nostdlib -Wl,-T,src/pru/pru.lds -CFLAGS_pru0.elf := $(filter-out -mmcu=%, $(CFLAGS)) -minrt -mmcu=am335x.pru0 -CFLAGS_pru1.elf := $(CFLAGS) -minrt +CFLAGS_pru0.elf := $(filter-out -mmcu=%, $(CFLAGS)) -mmcu=am335x.pru0 +CFLAGS_pru1.elf := $(CFLAGS) # Add source files -src-y := $(filter-out debugcmds.c, $(src-y)) -src-y += pru/main.c pru/gpio.c -src-y += generic/crc16_ccitt.c generic/timer_irq.c +src-y += pru/main.c pru/gpio.c generic/timer_irq.c -pru0-y := pru/pru0.c +pru0-y := pru/pru0.c generic/crc16_ccitt.c command.c pru0-y += ../lib/pru_rpmsg/pru_rpmsg.c ../lib/pru_rpmsg/pru_virtqueue.c -# Build the additional PRU0 binary +# Build the PRU binaries target-y += $(OUT)pru0.elf $(OUT)pru1.elf $(OUT)pru0.elf: $(patsubst %.c, $(OUT)src/%.o,$(pru0-y)) @echo " Linking $@" - $(Q)$(CC) $(CFLAGS_pru0.elf) $^ -o $@ + $(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $(OUT)pru0.o + $(Q)$(CC) $(CFLAGS_pru0.elf) $(OUT)pru0.o -o $@ $(OUT)pru1.elf: $(OUT)klipper.elf @echo " Linking $@" diff --git a/src/pru/internal.h b/src/pru/internal.h index 109dd3a2..1a2983d2 100644 --- a/src/pru/internal.h +++ b/src/pru/internal.h @@ -19,16 +19,22 @@ #define R31_WRITE_IRQ_SELECT (1<<5) #define R31_WRITE_IRQ_OFFSET 16 +#define ALT_PRU_PTR(ptr) ((typeof(ptr))((uint32_t)(ptr) ^ 0x2000)) + // Layout of shared memory struct shared_mem { uint32_t signal; - uint32_t read_pos, read_count; - char read_data[512]; + const struct command_parser *next_command; + uint32_t next_command_args[16]; uint32_t send_push_pos, send_pop_pos; struct { uint32_t count; char data[64]; } send_data[4]; + const struct command_parser *command_index; + uint32_t command_index_size; + const struct command_parser *shutdown_handler; + char read_data[512]; }; #define SIGNAL_PRU0_WAITING 0xefefefef diff --git a/src/pru/main.c b/src/pru/main.c index d906b1ad..ea0ec602 100644 --- a/src/pru/main.c +++ b/src/pru/main.c @@ -99,73 +99,68 @@ DECL_INIT(timer_init); * Console IO ****************************************************************/ -// Return a buffer (and length) containing any incoming messages -static char * -console_get_input(uint8_t *plen) -{ - uint32_t read_count = readl(&SHARED_MEM->read_count); - if (read_count > 64) - read_count = 64; - *plen = read_count; - return SHARED_MEM->read_data; -} - -// Remove from the receive buffer the given number of bytes -static void -console_pop_input(uint8_t len) -{ - writel(&SHARED_MEM->read_count, 0); -} - // Process any incoming commands void console_task(void) { - uint8_t buf_len, pop_count; - char *buf = console_get_input(&buf_len); - int8_t ret = command_find_block(buf, buf_len, &pop_count); - if (ret) - command_dispatch(buf, pop_count); - console_pop_input(pop_count); + const struct command_parser *cp = SHARED_MEM->next_command; + if (!cp) + return; + barrier(); + + if (sched_is_shutdown() && !(cp->flags & HF_IN_SHUTDOWN)) { + sched_report_shutdown(); + } else { + void (*func)(uint32_t*) = cp->func; + func(SHARED_MEM->next_command_args); + } + + writel(&SHARED_MEM->next_command, 0); } DECL_TASK(console_task); -// Return an output buffer that the caller may fill with transmit messages -static char * -console_get_output(uint8_t len) +// Encode and transmit a "response" message +void +console_sendf(const struct command_encoder *ce, va_list args) { - if (len > sizeof(SHARED_MEM->send_data[0].data)) - return NULL; + // Verify space for message + uint32_t max_size = ce->max_size; + if (max_size > sizeof(SHARED_MEM->send_data[0].data)) + return; uint32_t send_push_pos = SHARED_MEM->send_push_pos; if (readl(&SHARED_MEM->send_data[send_push_pos].count)) // Queue full - return NULL; - return SHARED_MEM->send_data[send_push_pos].data; -} + return; -// Accept the given number of bytes added to the transmit buffer -static void -console_push_output(uint8_t len) -{ - uint32_t send_push_pos = SHARED_MEM->send_push_pos; - writel(&SHARED_MEM->send_data[send_push_pos].count, len); + // Generate message + char *buf = SHARED_MEM->send_data[send_push_pos].data; + uint32_t msglen = command_encodef(buf, max_size, ce, args); + + // Signal PRU0 to transmit message + writel(&SHARED_MEM->send_data[send_push_pos].count, msglen); write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU0_EVENT - R31_WRITE_IRQ_OFFSET)); SHARED_MEM->send_push_pos = ( (send_push_pos + 1) % ARRAY_SIZE(SHARED_MEM->send_data)); } -// Encode and transmit a "response" message void -console_sendf(const struct command_encoder *ce, va_list args) +console_shutdown(void) { - uint8_t buf_len = ce->max_size; - char *buf = console_get_output(buf_len); - if (!buf) - return; - uint8_t msglen = command_encodef(buf, buf_len, ce, args); - command_add_frame(buf, msglen); - console_push_output(msglen); + writel(&SHARED_MEM->next_command, 0); } +DECL_SHUTDOWN(console_shutdown); + +// Handle shutdown request from PRU0 +static void +shutdown_handler(uint32_t *args) +{ + shutdown("Request from PRU0"); +} + +// Empty message (for ack/nak transmission) +const struct command_parser shutdown_request = { + .func = shutdown_handler, +}; /**************************************************************** @@ -234,6 +229,9 @@ main(void) // Wait for PRU0 to initialize while (readl(&SHARED_MEM->signal) != SIGNAL_PRU0_WAITING) ; + SHARED_MEM->command_index = command_index; + SHARED_MEM->command_index_size = command_index_size; + SHARED_MEM->shutdown_handler = &shutdown_request; writel(&SHARED_MEM->signal, SIGNAL_PRU1_READY); sched_main(); 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(); } |