pru: Initial support for the Beaglebone PRU
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
ccaa25eaa5
commit
2255176228
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@ -8,12 +8,15 @@ choice
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bool "Atmega AVR"
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config MACH_SAM3X8E
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bool "SAM3x8e (Arduino Due)"
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config MACH_PRU
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bool "Beaglebone PRU"
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config MACH_SIMU
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bool "Host simulator"
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endchoice
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source "src/avr/Kconfig"
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source "src/sam3x8e/Kconfig"
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source "src/pru/Kconfig"
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source "src/simulator/Kconfig"
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# The HAVE_GPIO_x options allow boards to disable support for some
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@ -0,0 +1,13 @@
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# Kconfig settings for PRU
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if MACH_PRU
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config BOARD_DIRECTORY
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string
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default "pru"
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config CLOCK_FREQ
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int
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default 200000000
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endif
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@ -0,0 +1,27 @@
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# Additional PRU build rules
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# Setup the toolchain
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CROSS_PREFIX=pru-
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dirs-y += src/pru src/generic
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dirs-y += lib/pru_rpmsg
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CFLAGS += -Os -mmcu=am335x.pru0
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CFLAGS += -Ilib/pru_rpmsg/include -Ilib/pru_rpmsg/include/am335x
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CFLAGS_klipper.o := $(filter-out -mmcu=%, $(CFLAGS_klipper.o))
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CFLAGS_klipper.elf := $(CFLAGS) -minrt -T src/pru/pru.lds
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CFLAGS_pru1.elf := $(filter-out -mmcu=%, $(CFLAGS)) -mmcu=am335x.pru1
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# Add source files
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src-y := $(filter-out debugcmds.c, $(src-y))
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src-y += pru/main.c pru/console.c pru/gpio.c
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src-y += generic/crc16_ccitt.c generic/timer_irq.c
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src-y += ../lib/pru_rpmsg/pru_rpmsg.c ../lib/pru_rpmsg/pru_virtqueue.c
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# Build the additional PRU1 binary
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target-y += $(OUT)pru1.elf
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$(OUT)pru1.elf: $(OUT)src/pru/pru1.o
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@echo " Linking $@"
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$(Q)$(CC) $(CFLAGS_pru1.elf) $^ -o $@
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@ -0,0 +1,230 @@
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// PRU input/output via RPMsg
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//
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// Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <stdint.h> // uint32_t
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#include <string.h> // memcpy
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#include <pru/io.h> // read_r31
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#include <pru_intc.h> // CT_INTC
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#include <pru_rpmsg.h> // pru_rpmsg_send
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#include <pru_virtio_ids.h> // VIRTIO_ID_RPMSG
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#include "board/misc.h" // console_get_input
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#include "internal.h" // WAKE_ARM_EVENT
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#include "sched.h" // DECL_INIT
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#define CHAN_NAME "rpmsg-pru"
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#define CHAN_DESC "Channel 30"
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#define CHAN_PORT 30
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/****************************************************************
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* Console interface
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****************************************************************/
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static void
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clear_pending(void)
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{
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CT_INTC.SECR0 = 1 << GOT_ARM_EVENT;
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}
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static struct pru_rpmsg_transport transport;
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static uint16_t transport_dst;
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static char input_data[64];
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// XXX
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struct pru_rpmsg_hdr {
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uint32_t src;
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uint32_t dst;
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uint32_t reserved;
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uint16_t len;
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uint16_t flags;
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uint8_t data[0];
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};
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// Return a buffer (and length) containing any incoming messages
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char *
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console_get_input(uint8_t *plen)
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{
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if (!(read_r31() & (1 << (GOT_ARM_IRQ + R31_IRQ_OFFSET))))
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goto nodata;
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struct pru_rpmsg_hdr *msg;
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uint32_t msg_len;
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int16_t head = pru_virtqueue_get_avail_buf(
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&transport.virtqueue1, (void**)&msg, &msg_len);
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if (head < 0) {
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clear_pending();
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goto nodata;
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}
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transport_dst = msg->src;
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int len = msg->len < sizeof(input_data) ? msg->len : sizeof(input_data);
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memcpy(input_data, msg->data, len);
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pru_virtqueue_add_used_buf(&transport.virtqueue1, head, msg_len);
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pru_virtqueue_kick(&transport.virtqueue1);
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*plen = len;
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return input_data;
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nodata:
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*plen = 0;
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return input_data;
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}
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// Remove from the receive buffer the given number of bytes
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void
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console_pop_input(uint8_t len)
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{
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}
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static char output_data[64];
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// Return an output buffer that the caller may fill with transmit messages
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char *
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console_get_output(uint8_t len)
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{
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if (len > sizeof(output_data))
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return NULL;
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return output_data;
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}
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// Accept the given number of bytes added to the transmit buffer
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void
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console_push_output(uint8_t len)
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{
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pru_rpmsg_send(&transport, CHAN_PORT, transport_dst, output_data, len);
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}
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/****************************************************************
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* resource table
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****************************************************************/
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/*
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* Sizes of the virtqueues (expressed in number of buffers supported,
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* and must be power of 2)
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*/
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#define PRU_RPMSG_VQ0_SIZE 16
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#define PRU_RPMSG_VQ1_SIZE 16
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/*
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* The feature bitmap for virtio rpmsg
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*/
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#define VIRTIO_RPMSG_F_NS 0 //name service notifications
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/* This firmware supports name service notifications as one of its features */
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#define RPMSG_PRU_C0_FEATURES (1 << VIRTIO_RPMSG_F_NS)
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/* Definition for unused interrupts */
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#define HOST_UNUSED 255
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/* Mapping sysevts to a channel. Each pair contains a sysevt, channel. */
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static struct ch_map pru_intc_map[] = {
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{IEP_EVENT, IEP_IRQ},
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{WAKE_ARM_EVENT, WAKE_ARM_IRQ},
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{GOT_ARM_EVENT, GOT_ARM_IRQ},
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};
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struct my_resource_table {
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struct resource_table base;
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uint32_t offset[2]; /* Should match 'num' in actual definition */
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/* rpmsg vdev entry */
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struct fw_rsc_vdev rpmsg_vdev;
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struct fw_rsc_vdev_vring rpmsg_vring0;
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struct fw_rsc_vdev_vring rpmsg_vring1;
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/* intc definition */
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struct fw_rsc_custom pru_ints;
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} resourceTable __section(".resource_table") = {
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{
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1, /* Resource table version: only version 1 is
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* supported by the current driver */
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2, /* number of entries in the table */
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{ 0, 0 }, /* reserved, must be zero */
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},
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/* offsets to entries */
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{
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offsetof(struct my_resource_table, rpmsg_vdev),
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offsetof(struct my_resource_table, pru_ints),
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},
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/* rpmsg vdev entry */
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{
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(uint32_t)TYPE_VDEV, //type
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(uint32_t)VIRTIO_ID_RPMSG, //id
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(uint32_t)0, //notifyid
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(uint32_t)RPMSG_PRU_C0_FEATURES, //dfeatures
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(uint32_t)0, //gfeatures
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(uint32_t)0, //config_len
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(uint8_t)0, //status
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(uint8_t)2, //num_of_vrings, only two is supported
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{(uint8_t)0, (uint8_t)0 }, //reserved
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/* no config data */
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},
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/* the two vrings */
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{
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0, //da, will be populated by host, can't pass it in
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16, //align (bytes),
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PRU_RPMSG_VQ0_SIZE, //num of descriptors
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0, //notifyid, will be populated, can't pass right now
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0 //reserved
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},
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{
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0, //da, will be populated by host, can't pass it in
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16, //align (bytes),
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PRU_RPMSG_VQ1_SIZE, //num of descriptors
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0, //notifyid, will be populated, can't pass right now
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0 //reserved
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},
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{
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TYPE_CUSTOM, TYPE_PRU_INTS,
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sizeof(struct fw_rsc_custom_ints),
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{ /* PRU_INTS version */
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{
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0x0000,
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/* Channel-to-host mapping, 255 for unused */
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{
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IEP_IRQ, GOT_ARM_IRQ, WAKE_ARM_IRQ,
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HOST_UNUSED, HOST_UNUSED, HOST_UNUSED,
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HOST_UNUSED, HOST_UNUSED, HOST_UNUSED, HOST_UNUSED
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},
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/* Number of evts being mapped to channels */
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(sizeof(pru_intc_map) / sizeof(struct ch_map)),
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/* Pointer to the structure containing mapped events */
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pru_intc_map,
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},
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},
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},
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};
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/****************************************************************
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* RPMsg init
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****************************************************************/
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#define VIRTIO_CONFIG_S_DRIVER_OK 4
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void
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console_init(void)
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{
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clear_pending();
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/* Make sure the Linux drivers are ready for RPMsg communication */
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volatile uint8_t *status = &resourceTable.rpmsg_vdev.status;
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while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK))
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;
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/* Initialize the RPMsg transport structure */
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pru_rpmsg_init(&transport,
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&resourceTable.rpmsg_vring0,
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&resourceTable.rpmsg_vring1,
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WAKE_ARM_EVENT,
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GOT_ARM_EVENT);
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/* Create the RPMsg channel between the PRU and ARM user space
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* using the transport structure. */
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while (pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, CHAN_NAME
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, CHAN_DESC, CHAN_PORT) != PRU_RPMSG_SUCCESS)
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;
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}
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// GPIO functions on PRU
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//
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// Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "command.h" // shutdown
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#include "compiler.h" // ARRAY_SIZE
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#include "gpio.h" // gpio_out_setup
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#include "sched.h" // sched_shutdown
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/****************************************************************
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* Pin mappings
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****************************************************************/
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#define GPIO(PORT, NUM) ((PORT) * 32 + (NUM))
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#define GPIO2PORT(PIN) ((PIN) / 32)
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#define GPIO2BIT(PIN) (1<<((PIN) % 32))
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struct gpio_regs {
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uint32_t pad_0[77];
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volatile uint32_t oe;
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volatile uint32_t datain;
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volatile uint32_t dataout;
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uint32_t pad_140[20];
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volatile uint32_t cleardataout;
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volatile uint32_t setdataout;
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};
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static struct gpio_regs *digital_regs[] = {
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(void*)0x44e07000, (void*)0x4804c000, (void*)0x481ac000, (void*)0x481ae000
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};
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#define MUXPORT(offset) (((offset)-0x800) / 4)
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static uint8_t gpio_mux_offset[32 * ARRAY_SIZE(digital_regs)] = {
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// gpio 0
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0xff , 0xff , MUXPORT(0x950), MUXPORT(0x954),
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MUXPORT(0x958), MUXPORT(0x95c), 0xff , MUXPORT(0x964),
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MUXPORT(0x8d0), MUXPORT(0x8d4), MUXPORT(0x8d8), MUXPORT(0x8dc),
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MUXPORT(0x978), MUXPORT(0x97c), MUXPORT(0x980), MUXPORT(0x984),
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0xff , 0xff , 0xff , 0xff ,
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MUXPORT(0x9b4), 0xff , MUXPORT(0x820), MUXPORT(0x824),
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0xff , 0xff , MUXPORT(0x828), MUXPORT(0x82c),
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0xff , 0xff , MUXPORT(0x870), MUXPORT(0x874),
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// gpio 1
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MUXPORT(0x800), MUXPORT(0x804), MUXPORT(0x808), MUXPORT(0x80c),
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MUXPORT(0x810), MUXPORT(0x814), MUXPORT(0x818), MUXPORT(0x81c),
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0xff , 0xff , 0xff , 0xff ,
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MUXPORT(0x830), MUXPORT(0x834), MUXPORT(0x838), MUXPORT(0x83c),
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MUXPORT(0x840), MUXPORT(0x844), MUXPORT(0x848), MUXPORT(0x84c),
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0xff , 0xff , 0xff , 0xff ,
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0xff , 0xff , 0xff , 0xff ,
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MUXPORT(0x878), MUXPORT(0x87c), MUXPORT(0x880), MUXPORT(0x884),
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// gpio 2
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0xff , MUXPORT(0x88c), MUXPORT(0x890), MUXPORT(0x894),
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MUXPORT(0x898), MUXPORT(0x89c), MUXPORT(0x8a0), MUXPORT(0x8a4),
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MUXPORT(0x8a8), MUXPORT(0x8ac), MUXPORT(0x8b0), MUXPORT(0x8b4),
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MUXPORT(0x8b8), MUXPORT(0x8bc), MUXPORT(0x8c0), MUXPORT(0x8c4),
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MUXPORT(0x8c8), MUXPORT(0x8cc), 0xff , 0xff ,
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0xff , 0xff , MUXPORT(0x8e0), MUXPORT(0x8e4),
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MUXPORT(0x8e8), MUXPORT(0x8ec), 0xff , 0xff ,
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0xff , 0xff , 0xff , 0xff ,
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// gpio 3
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0xff , 0xff , 0xff , 0xff ,
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0xff , 0xff , 0xff , 0xff ,
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0xff , 0xff , 0xff , 0xff ,
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0xff , 0xff , MUXPORT(0x990), MUXPORT(0x994),
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MUXPORT(0x998), MUXPORT(0x99c), MUXPORT(0x9a0), MUXPORT(0x9a4),
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MUXPORT(0x9a8), MUXPORT(0x9ac), 0xff , 0xff ,
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0xff , 0xff , 0xff , 0xff ,
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0xff , 0xff , 0xff , 0xff ,
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};
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#define MUXREG(mux_offset) ((volatile uint32_t *)0x44e10800 + mux_offset)
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/****************************************************************
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* General Purpose Input Output (GPIO) pins
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****************************************************************/
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struct gpio_out
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gpio_out_setup(uint8_t pin, uint8_t val)
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{
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if (GPIO2PORT(pin) >= ARRAY_SIZE(digital_regs))
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goto fail;
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uint8_t mux_offset = gpio_mux_offset[pin];
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if (mux_offset == 0xff)
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goto fail;
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struct gpio_regs *regs = digital_regs[GPIO2PORT(pin)];
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uint32_t bit = GPIO2BIT(pin);
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struct gpio_out rv = (struct gpio_out){ .reg=®s->cleardataout, .bit=bit };
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gpio_out_write(rv, val);
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regs->oe &= ~bit;
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*MUXREG(mux_offset) = 0x0f;
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return rv;
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fail:
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shutdown("Not an output pin");
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}
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void
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gpio_out_toggle(struct gpio_out g)
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{
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gpio_out_write(g, !(*g.reg & g.bit));
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}
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void
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gpio_out_write(struct gpio_out g, uint8_t val)
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{
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volatile uint32_t *reg = g.reg;
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if (val)
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reg++;
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*reg = g.bit;
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}
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struct gpio_in
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gpio_in_setup(uint8_t pin, int8_t pull_up)
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{
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if (GPIO2PORT(pin) >= ARRAY_SIZE(digital_regs))
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goto fail;
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uint8_t mux_offset = gpio_mux_offset[pin];
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if (mux_offset == 0xff)
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goto fail;
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struct gpio_regs *regs = digital_regs[GPIO2PORT(pin)];
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uint32_t bit = GPIO2BIT(pin);
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regs->oe |= bit;
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*MUXREG(mux_offset) = pull_up > 0 ? 0x37 : (pull_up < 0 ? 0x27 : 0x2f);
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return (struct gpio_in){ .reg=®s->datain, .bit=bit };
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fail:
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shutdown("Not an input pin");
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}
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uint8_t
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gpio_in_read(struct gpio_in g)
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{
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return !!(*g.reg & g.bit);
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}
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@ -0,0 +1,22 @@
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#ifndef __PRU_GPIO_H
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#define __PRU_GPIO_H
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#include <stdint.h>
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#include <stdbool.h>
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struct gpio_out {
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volatile uint32_t *reg;
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uint32_t bit;
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};
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struct gpio_out gpio_out_setup(uint8_t pin, uint8_t val);
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void gpio_out_toggle(struct gpio_out g);
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void gpio_out_write(struct gpio_out g, uint8_t val);
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struct gpio_in {
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volatile uint32_t *reg;
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uint32_t bit;
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};
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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
|
||||
|
|
@ -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
|
||||
|
|
@ -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;
|
||||
}
|
||||
|
|
@ -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 )
|
||||
}
|
||||
}
|
||||
|
|
@ -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();
|
||||
}
|
||||
Loading…
Reference in New Issue