blob: 2127479f4b604970f23d2e9de46f1f1d8910bade (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
|
// Main starting point for PRU code.
//
// Copyright (C) 2017-2021 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stdint.h> // uint32_t
#include <pru/io.h> // read_r31
#include <pru_iep.h> // CT_IEP
#include <rsc_types.h> // resource_table
#include "board/misc.h" // dynmem_start
#include "board/io.h" // readl
#include "board/irq.h" // irq_disable
#include "command.h" // shutdown
#include "generic/timer_irq.h" // timer_dispatch_many
#include "internal.h" // SHARED_MEM
#include "sched.h" // sched_main
DECL_CONSTANT_STR("MCU", "pru");
/****************************************************************
* Timers
****************************************************************/
void
irq_disable(void)
{
}
void
irq_enable(void)
{
}
irqstatus_t
irq_save(void)
{
return 0;
}
void
irq_restore(irqstatus_t flag)
{
}
void
irq_wait(void)
{
asm("slp 1");
irq_poll();
}
// Set the next timer wake up time
static void
timer_set(uint32_t value)
{
if (!value)
value = 1;
CT_IEP.TMR_CMP0 = value;
}
// Return the current time (in absolute clock ticks).
uint32_t
timer_read_time(void)
{
return CT_IEP.TMR_CNT;
}
// Activate timer dispatch as soon as possible
void
timer_kick(void)
{
timer_set(timer_read_time() + 50);
CT_IEP.TMR_CMP_STS = 0xff;
__delay_cycles(4);
PRU_INTC.SECR0 = 1 << IEP_EVENT;
}
static uint32_t in_timer_dispatch;
static void
_irq_poll(void)
{
uint32_t secr0 = PRU_INTC.SECR0;
if (secr0 & (1 << KICK_PRU1_EVENT)) {
PRU_INTC.SECR0 = 1 << KICK_PRU1_EVENT;
sched_wake_tasks();
}
if (secr0 & (1 << IEP_EVENT)) {
CT_IEP.TMR_CMP_STS = 0xff;
in_timer_dispatch = 1;
uint32_t next = timer_dispatch_many();
timer_set(next);
PRU_INTC.SECR0 = 1 << IEP_EVENT;
in_timer_dispatch = 0;
}
}
void __attribute__((optimize("O2")))
irq_poll(void)
{
if (read_r31() & (1 << (WAKE_PRU1_IRQ + R31_IRQ_OFFSET)))
_irq_poll();
}
void
timer_init(void)
{
CT_IEP.TMR_CMP_CFG = 0x01 << 1;
CT_IEP.TMR_GLB_CFG = 0x11;
CT_IEP.TMR_CNT = 0xffffffff;
timer_kick();
}
DECL_INIT(timer_init);
/****************************************************************
* Console IO
****************************************************************/
// Writes over 496 bytes don't fit in a single "rpmsg" page
DECL_CONSTANT("RECEIVE_WINDOW", 496 - 1);
// Process any incoming commands
void
console_task(void)
{
const struct command_parser *cp = SHARED_MEM->next_command;
if (!cp)
return;
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);
// Encode and transmit a "response" message
void
console_sendf(const struct command_encoder *ce, va_list args)
{
SHARED_MEM->next_encoder_args = args;
writel(&SHARED_MEM->next_encoder, (uint32_t)ce);
// Signal PRU0 to transmit message - 20 | (18-16) = 22 = 0010 0010
write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU0_EVENT - R31_WRITE_IRQ_OFFSET));
uint32_t itd = in_timer_dispatch;
while (readl(&SHARED_MEM->next_encoder))
if (!itd)
irq_poll();
}
void
console_shutdown(void)
{
writel(&SHARED_MEM->next_command, 0);
writel(&SHARED_MEM->next_encoder, 0);
in_timer_dispatch = 0;
}
DECL_SHUTDOWN(console_shutdown);
// Handle shutdown request from PRU0
static void
shutdown_handler(uint32_t *args)
{
shutdown("Request from PRU0");
}
const struct command_parser shutdown_request = {
.func = shutdown_handler,
};
/****************************************************************
* Dynamic memory
****************************************************************/
#define STACK_SIZE 256
// Return the start of memory available for dynamic allocations
void *
dynmem_start(void)
{
extern char _heap_start;
return &_heap_start;
}
// Return the end of memory available for dynamic allocations
void *
dynmem_end(void)
{
return (void*)(8*1024 - STACK_SIZE);
}
/****************************************************************
* Startup
****************************************************************/
// Support config_reset
DECL_COMMAND_FLAGS(config_reset, HF_IN_SHUTDOWN, "config_reset");
// Main entry point
int
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();
return 0;
}
|
