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// Main starting point for PRU code.
//
// Copyright (C) 2017 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 <pru_intc.h> // CT_INTC
#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(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");
}
// Set the next timer wake up time
static void
timer_set(uint32_t value)
{
CT_IEP.TMR_CMP0 = value;
}
// Return the next scheduled wake up time
uint32_t
timer_get_next(void)
{
return CT_IEP.TMR_CMP0;
}
// 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);
CT_INTC.SECR0 = 1 << IEP_EVENT;
}
static void
_irq_poll(void)
{
uint32_t secr0 = CT_INTC.SECR0;
if (secr0 & (1 << KICK_PRU1_EVENT))
sched_wake_tasks();
if (secr0 & (1 << IEP_EVENT)) {
CT_IEP.TMR_CMP_STS = 0xff;
uint32_t next = timer_dispatch_many();
timer_set(next);
}
CT_INTC.SECR0 = (1 << IEP_EVENT) | (1 << KICK_PRU1_EVENT);
}
void
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 = 0;
timer_kick();
}
DECL_INIT(timer_init);
/****************************************************************
* Console IO
****************************************************************/
// 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)
{
// Verify space for message
uint32_t max_size = ce->max_size;
uint32_t send_push_pos = SHARED_MEM->send_push_pos;
struct shared_response_buffer *s = &SHARED_MEM->send_data[send_push_pos];
if (max_size > sizeof(s->data) || readl(&s->count))
return;
// Generate message
uint32_t msglen = command_encodef(s->data, max_size, ce, args);
// Signal PRU0 to transmit message
writel(&s->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));
}
void
console_shutdown(void)
{
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");
}
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);
}
/****************************************************************
* Resource table
****************************************************************/
struct my_resource_table {
struct resource_table base;
uint32_t offset[1]; /* Should match 'num' in actual definition */
} resourceTable __visible __section(".resource_table") = {
{
1, /* Resource table version: only version 1 is
* supported by the current driver */
0, /* number of entries in the table */
{ 0, 0 }, /* reserved, must be zero */
},
};
/****************************************************************
* Startup
****************************************************************/
// 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;
}
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