3diy
/
klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

pru: Initial support for the Beaglebone PRU 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-05-06 21:47:04 -04:00
parent ccaa25eaa5
commit 2255176228
10 changed files with 643 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/Kconfig
View File

@ -8,12 +8,15 @@ choice
bool "Atmega AVR"
config MACH_SAM3X8E
bool "SAM3x8e (Arduino Due)"
config MACH_PRU
bool "Beaglebone PRU"
config MACH_SIMU
bool "Host simulator"
endchoice
source "src/avr/Kconfig"
source "src/sam3x8e/Kconfig"
source "src/pru/Kconfig"
source "src/simulator/Kconfig"
# The HAVE_GPIO_x options allow boards to disable support for some

13
src/pru/Kconfig Normal file
View File

@ -0,0 +1,13 @@
# Kconfig settings for PRU
if MACH_PRU
config BOARD_DIRECTORY
string
default "pru"
config CLOCK_FREQ
int
default 200000000
endif

27
src/pru/Makefile Normal file
View File

@ -0,0 +1,27 @@
# Additional PRU build rules
# Setup the toolchain
CROSS_PREFIX=pru-
dirs-y += src/pru src/generic
dirs-y += lib/pru_rpmsg
CFLAGS += -Os -mmcu=am335x.pru0
CFLAGS += -Ilib/pru_rpmsg/include -Ilib/pru_rpmsg/include/am335x
CFLAGS_klipper.o := $(filter-out -mmcu=%, $(CFLAGS_klipper.o))
CFLAGS_klipper.elf := $(CFLAGS) -minrt -T src/pru/pru.lds
CFLAGS_pru1.elf := $(filter-out -mmcu=%, $(CFLAGS)) -mmcu=am335x.pru1
# Add source files
src-y := $(filter-out debugcmds.c, $(src-y))
src-y += pru/main.c pru/console.c pru/gpio.c
src-y += generic/crc16_ccitt.c generic/timer_irq.c
src-y += ../lib/pru_rpmsg/pru_rpmsg.c ../lib/pru_rpmsg/pru_virtqueue.c
# Build the additional PRU1 binary
target-y += $(OUT)pru1.elf
$(OUT)pru1.elf: $(OUT)src/pru/pru1.o
@echo " Linking $@"
$(Q)$(CC) $(CFLAGS_pru1.elf) $^ -o $@

230
src/pru/console.c Normal file
View File

@ -0,0 +1,230 @@
// PRU input/output via RPMsg
//
// 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 <string.h> // memcpy
#include <pru/io.h> // read_r31
#include <pru_intc.h> // CT_INTC
#include <pru_rpmsg.h> // pru_rpmsg_send
#include <pru_virtio_ids.h> // VIRTIO_ID_RPMSG
#include "board/misc.h" // console_get_input
#include "internal.h" // WAKE_ARM_EVENT
#include "sched.h" // DECL_INIT
#define CHAN_NAME "rpmsg-pru"
#define CHAN_DESC "Channel 30"
#define CHAN_PORT 30
/****************************************************************
* Console interface
****************************************************************/
static void
clear_pending(void)
{
CT_INTC.SECR0 = 1 << GOT_ARM_EVENT;
}
static struct pru_rpmsg_transport transport;
static uint16_t transport_dst;
static char input_data[64];
// XXX
struct pru_rpmsg_hdr {
uint32_t src;
uint32_t dst;
uint32_t reserved;
uint16_t len;
uint16_t flags;
uint8_t data[0];
};
// Return a buffer (and length) containing any incoming messages
char *
console_get_input(uint8_t *plen)
{
if (!(read_r31() & (1 << (GOT_ARM_IRQ + R31_IRQ_OFFSET))))
goto nodata;
struct pru_rpmsg_hdr *msg;
uint32_t msg_len;
int16_t head = pru_virtqueue_get_avail_buf(
&transport.virtqueue1, (void**)&msg, &msg_len);
if (head < 0) {
clear_pending();
goto nodata;
}
transport_dst = msg->src;
int len = msg->len < sizeof(input_data) ? msg->len : sizeof(input_data);
memcpy(input_data, msg->data, len);
pru_virtqueue_add_used_buf(&transport.virtqueue1, head, msg_len);
pru_virtqueue_kick(&transport.virtqueue1);
*plen = len;
return input_data;
nodata:
*plen = 0;
return input_data;
}
// Remove from the receive buffer the given number of bytes
void
console_pop_input(uint8_t len)
{
}
static char output_data[64];
// Return an output buffer that the caller may fill with transmit messages
char *
console_get_output(uint8_t len)
{
if (len > sizeof(output_data))
return NULL;
return output_data;
}
// Accept the given number of bytes added to the transmit buffer
void
console_push_output(uint8_t len)
{
pru_rpmsg_send(&transport, CHAN_PORT, transport_dst, output_data, len);
}
/****************************************************************
* resource table
****************************************************************/
/*
* Sizes of the virtqueues (expressed in number of buffers supported,
* and must be power of 2)
*/
#define PRU_RPMSG_VQ0_SIZE 16
#define PRU_RPMSG_VQ1_SIZE 16
/*
* The feature bitmap for virtio rpmsg
*/
#define VIRTIO_RPMSG_F_NS 0 //name service notifications
/* This firmware supports name service notifications as one of its features */
#define RPMSG_PRU_C0_FEATURES (1 << VIRTIO_RPMSG_F_NS)
/* Definition for unused interrupts */
#define HOST_UNUSED 255
/* Mapping sysevts to a channel. Each pair contains a sysevt, channel. */
static struct ch_map pru_intc_map[] = {
{IEP_EVENT, IEP_IRQ},
{WAKE_ARM_EVENT, WAKE_ARM_IRQ},
{GOT_ARM_EVENT, GOT_ARM_IRQ},
};
struct my_resource_table {
struct resource_table base;
uint32_t offset[2]; /* Should match 'num' in actual definition */
/* rpmsg vdev entry */
struct fw_rsc_vdev rpmsg_vdev;
struct fw_rsc_vdev_vring rpmsg_vring0;
struct fw_rsc_vdev_vring rpmsg_vring1;
/* intc definition */
struct fw_rsc_custom pru_ints;
} resourceTable __section(".resource_table") = {
{
1, /* Resource table version: only version 1 is
* supported by the current driver */
2, /* number of entries in the table */
{ 0, 0 }, /* reserved, must be zero */
},
/* offsets to entries */
{
offsetof(struct my_resource_table, rpmsg_vdev),
offsetof(struct my_resource_table, pru_ints),
},
/* rpmsg vdev entry */
{
(uint32_t)TYPE_VDEV, //type
(uint32_t)VIRTIO_ID_RPMSG, //id
(uint32_t)0, //notifyid
(uint32_t)RPMSG_PRU_C0_FEATURES, //dfeatures
(uint32_t)0, //gfeatures
(uint32_t)0, //config_len
(uint8_t)0, //status
(uint8_t)2, //num_of_vrings, only two is supported
{(uint8_t)0, (uint8_t)0 }, //reserved
/* no config data */
},
/* the two vrings */
{
0, //da, will be populated by host, can't pass it in
16, //align (bytes),
PRU_RPMSG_VQ0_SIZE, //num of descriptors
0, //notifyid, will be populated, can't pass right now
0 //reserved
},
{
0, //da, will be populated by host, can't pass it in
16, //align (bytes),
PRU_RPMSG_VQ1_SIZE, //num of descriptors
0, //notifyid, will be populated, can't pass right now
0 //reserved
},
{
TYPE_CUSTOM, TYPE_PRU_INTS,
sizeof(struct fw_rsc_custom_ints),
{ /* PRU_INTS version */
{
0x0000,
/* Channel-to-host mapping, 255 for unused */
{
IEP_IRQ, GOT_ARM_IRQ, WAKE_ARM_IRQ,
HOST_UNUSED, HOST_UNUSED, HOST_UNUSED,
HOST_UNUSED, HOST_UNUSED, HOST_UNUSED, HOST_UNUSED
},
/* Number of evts being mapped to channels */
(sizeof(pru_intc_map) / sizeof(struct ch_map)),
/* Pointer to the structure containing mapped events */
pru_intc_map,
},
},
},
};
/****************************************************************
* RPMsg init
****************************************************************/
#define VIRTIO_CONFIG_S_DRIVER_OK 4
void
console_init(void)
{
clear_pending();
/* Make sure the Linux drivers are ready for RPMsg communication */
volatile uint8_t *status = &resourceTable.rpmsg_vdev.status;
while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK))
;
/* Initialize the RPMsg transport structure */
pru_rpmsg_init(&transport,
&resourceTable.rpmsg_vring0,
&resourceTable.rpmsg_vring1,
WAKE_ARM_EVENT,
GOT_ARM_EVENT);
/* Create the RPMsg channel between the PRU and ARM user space
* using the transport structure. */
while (pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, CHAN_NAME
, CHAN_DESC, CHAN_PORT) != PRU_RPMSG_SUCCESS)
;
}

142
src/pru/gpio.c Normal file
View File

@ -0,0 +1,142 @@
// GPIO functions on PRU
//
// Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include "command.h" // shutdown
#include "compiler.h" // ARRAY_SIZE
#include "gpio.h" // gpio_out_setup
#include "sched.h" // sched_shutdown
/****************************************************************
* Pin mappings
****************************************************************/
#define GPIO(PORT, NUM) ((PORT) * 32 + (NUM))
#define GPIO2PORT(PIN) ((PIN) / 32)
#define GPIO2BIT(PIN) (1<<((PIN) % 32))
struct gpio_regs {
uint32_t pad_0[77];
volatile uint32_t oe;
volatile uint32_t datain;
volatile uint32_t dataout;
uint32_t pad_140[20];
volatile uint32_t cleardataout;
volatile uint32_t setdataout;
};
static struct gpio_regs *digital_regs[] = {
(void*)0x44e07000, (void*)0x4804c000, (void*)0x481ac000, (void*)0x481ae000
};
#define MUXPORT(offset) (((offset)-0x800) / 4)
static uint8_t gpio_mux_offset[32 * ARRAY_SIZE(digital_regs)] = {
// gpio 0
0xff , 0xff , MUXPORT(0x950), MUXPORT(0x954),
MUXPORT(0x958), MUXPORT(0x95c), 0xff , MUXPORT(0x964),
MUXPORT(0x8d0), MUXPORT(0x8d4), MUXPORT(0x8d8), MUXPORT(0x8dc),
MUXPORT(0x978), MUXPORT(0x97c), MUXPORT(0x980), MUXPORT(0x984),
0xff , 0xff , 0xff , 0xff ,
MUXPORT(0x9b4), 0xff , MUXPORT(0x820), MUXPORT(0x824),
0xff , 0xff , MUXPORT(0x828), MUXPORT(0x82c),
0xff , 0xff , MUXPORT(0x870), MUXPORT(0x874),
// gpio 1
MUXPORT(0x800), MUXPORT(0x804), MUXPORT(0x808), MUXPORT(0x80c),
MUXPORT(0x810), MUXPORT(0x814), MUXPORT(0x818), MUXPORT(0x81c),
0xff , 0xff , 0xff , 0xff ,
MUXPORT(0x830), MUXPORT(0x834), MUXPORT(0x838), MUXPORT(0x83c),
MUXPORT(0x840), MUXPORT(0x844), MUXPORT(0x848), MUXPORT(0x84c),
0xff , 0xff , 0xff , 0xff ,
0xff , 0xff , 0xff , 0xff ,
MUXPORT(0x878), MUXPORT(0x87c), MUXPORT(0x880), MUXPORT(0x884),
// gpio 2
0xff , MUXPORT(0x88c), MUXPORT(0x890), MUXPORT(0x894),
MUXPORT(0x898), MUXPORT(0x89c), MUXPORT(0x8a0), MUXPORT(0x8a4),
MUXPORT(0x8a8), MUXPORT(0x8ac), MUXPORT(0x8b0), MUXPORT(0x8b4),
MUXPORT(0x8b8), MUXPORT(0x8bc), MUXPORT(0x8c0), MUXPORT(0x8c4),
MUXPORT(0x8c8), MUXPORT(0x8cc), 0xff , 0xff ,
0xff , 0xff , MUXPORT(0x8e0), MUXPORT(0x8e4),
MUXPORT(0x8e8), MUXPORT(0x8ec), 0xff , 0xff ,
0xff , 0xff , 0xff , 0xff ,
// gpio 3
0xff , 0xff , 0xff , 0xff ,
0xff , 0xff , 0xff , 0xff ,
0xff , 0xff , 0xff , 0xff ,
0xff , 0xff , MUXPORT(0x990), MUXPORT(0x994),
MUXPORT(0x998), MUXPORT(0x99c), MUXPORT(0x9a0), MUXPORT(0x9a4),
MUXPORT(0x9a8), MUXPORT(0x9ac), 0xff , 0xff ,
0xff , 0xff , 0xff , 0xff ,
0xff , 0xff , 0xff , 0xff ,
};
#define MUXREG(mux_offset) ((volatile uint32_t *)0x44e10800 + mux_offset)
/****************************************************************
* General Purpose Input Output (GPIO) pins
****************************************************************/
struct gpio_out
gpio_out_setup(uint8_t pin, uint8_t val)
{
if (GPIO2PORT(pin) >= ARRAY_SIZE(digital_regs))
goto fail;
uint8_t mux_offset = gpio_mux_offset[pin];
if (mux_offset == 0xff)
goto fail;
struct gpio_regs *regs = digital_regs[GPIO2PORT(pin)];
uint32_t bit = GPIO2BIT(pin);
struct gpio_out rv = (struct gpio_out){ .reg=&regs->cleardataout, .bit=bit };
gpio_out_write(rv, val);
regs->oe &= ~bit;
*MUXREG(mux_offset) = 0x0f;
return rv;
fail:
shutdown("Not an output pin");
}
void
gpio_out_toggle(struct gpio_out g)
{
gpio_out_write(g, !(*g.reg & g.bit));
}
void
gpio_out_write(struct gpio_out g, uint8_t val)
{
volatile uint32_t *reg = g.reg;
if (val)
reg++;
*reg = g.bit;
}
struct gpio_in
gpio_in_setup(uint8_t pin, int8_t pull_up)
{
if (GPIO2PORT(pin) >= ARRAY_SIZE(digital_regs))
goto fail;
uint8_t mux_offset = gpio_mux_offset[pin];
if (mux_offset == 0xff)
goto fail;
struct gpio_regs *regs = digital_regs[GPIO2PORT(pin)];
uint32_t bit = GPIO2BIT(pin);
regs->oe |= bit;
*MUXREG(mux_offset) = pull_up > 0 ? 0x37 : (pull_up < 0 ? 0x27 : 0x2f);
return (struct gpio_in){ .reg=&regs->datain, .bit=bit };
fail:
shutdown("Not an input pin");
}
uint8_t
gpio_in_read(struct gpio_in g)
{
return !!(*g.reg & g.bit);
}

22
src/pru/gpio.h Normal file
View File

@ -0,0 +1,22 @@
#ifndef __PRU_GPIO_H
#define __PRU_GPIO_H
#include <stdint.h>
#include <stdbool.h>
struct gpio_out {
volatile uint32_t *reg;
uint32_t bit;
};
struct gpio_out gpio_out_setup(uint8_t pin, uint8_t val);
void gpio_out_toggle(struct gpio_out g);
void gpio_out_write(struct gpio_out g, uint8_t val);
struct gpio_in {
volatile uint32_t *reg;
uint32_t bit;
};
struct gpio_in gpio_in_setup(uint8_t pin, int8_t pull_up);
uint8_t gpio_in_read(struct gpio_in g);
#endif // gpio.h

18
src/pru/internal.h Normal file
View File

@ -0,0 +1,18 @@
#ifndef __PRU_INTERNAL_H
#define __PRU_INTERNAL_H
// Local definitions for PRU code
#define IEP_IRQ 0
#define GOT_ARM_IRQ 1
#define WAKE_ARM_IRQ 2
#define IEP_EVENT 7
#define GOT_ARM_EVENT 17
#define WAKE_ARM_EVENT 16
#define R31_IRQ_OFFSET 30
// console.c
void console_init(void);
#endif // internal.h

150
src/pru/main.c Normal file
View File

@ -0,0 +1,150 @@
// 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 <string.h> // memset
#include <pru/io.h> // read_r31
#include <pru_cfg.h> // CT_CFG
#include <pru_iep.h> // CT_IEP
#include <pru_intc.h> // CT_INTC
#include "autoconf.h" // CONFIG_CLOCK_FREQ
#include "board/misc.h" // timer_from_us
#include "board/irq.h" // irq_disable
#include "command.h" // shutdown
#include "generic/timer_irq.h" // timer_dispatch_many
#include "internal.h" // IEP_IRQ
#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)
{
}
static void
timer_set(uint32_t value)
{
CT_IEP.TMR_CMP0 = value;
CT_INTC.SECR0 = 1 << IEP_EVENT;
}
uint32_t
timer_read_time(void)
{
return CT_IEP.TMR_CNT;
}
static void
_irq_poll(void)
{
CT_IEP.TMR_CMP_STS = 0xff;
uint32_t next = timer_dispatch_many();
timer_set(next);
}
void
irq_poll(void)
{
if (read_r31() & (1 << (IEP_IRQ + R31_IRQ_OFFSET)))
_irq_poll();
}
static void
timer_shutdown(void)
{
// Reenable timer irq
timer_set(timer_read_time() + 50);
CT_IEP.TMR_CMP_STS = 0xff;
__delay_cycles(4);
CT_INTC.SECR0 = 1 << IEP_EVENT;
}
DECL_SHUTDOWN(timer_shutdown);
static void
timer_init(void)
{
timer_set(0);
CT_IEP.TMR_CMP_CFG = 0x01 << 1;
CT_IEP.TMR_GLB_CFG = 0x11;
timer_shutdown();
}
/****************************************************************
* Allocator
****************************************************************/
extern char _heap_start;
static void *heap_ptr = &_heap_start;
#define STACK_SIZE 256
#define END_MEM ((void*)(8*1024 - STACK_SIZE))
// Allocate an area of memory
void *
alloc_chunk(size_t size)
{
if (heap_ptr + size > END_MEM)
shutdown("alloc_chunk failed");
void *data = heap_ptr;
heap_ptr += size;
memset(data, 0, size);
return data;
}
// Allocate an array of chunks
void *
alloc_chunks(size_t size, size_t count, size_t *avail)
{
size_t can_alloc = 0;
void *p = heap_ptr;
for (; can_alloc <= count && p + size <= END_MEM; can_alloc++, p += size)
;
if (!can_alloc)
shutdown("alloc_chunks failed");
*avail = can_alloc;
return alloc_chunk(size * can_alloc);
}
/****************************************************************
* Startup
****************************************************************/
// Main entry point
int
main(void)
{
// allow access to external memory
CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
console_init();
timer_init();
sched_main();
return 0;
}

9
src/pru/pru.lds Normal file
View File

@ -0,0 +1,9 @@
/* Final linker script klipper.elf on the PRU */
SECTIONS
{
/* binutils on the PRU doesn't support --gc-sections so manually
* discard the .compile_time_request section */
/DISCARD/ : {
*( .compile_time_request )
}
}

29
src/pru/pru1.c Normal file
View File

@ -0,0 +1,29 @@
// Code to halt the unneeded PRU1
//
// 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> // __halt
#include <rsc_types.h> // resource_table
#include "compiler.h" // __section
struct my_resource_table {
struct resource_table base;
uint32_t offset[1]; /* Should match 'num' in actual definition */
} resourceTable __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 */
},
};
int
main(void)
{
__halt();
}