pru: Move communication code to second PRU
Perform input and output in the second PRU so that more space is available in the primary PRU. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
b6f24e78ac
commit
b85755c0ff
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@ -6,22 +6,24 @@ 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 += -Os -mmcu=am335x.pru1
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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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CFLAGS_pru0.elf := $(filter-out -mmcu=%, $(CFLAGS)) -minrt -mmcu=am335x.pru0
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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 += pru/main.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 += $(OUT)pru1.elf
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pru0-y := pru/pru0.c
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pru0-y += ../lib/pru_rpmsg/pru_rpmsg.c ../lib/pru_rpmsg/pru_virtqueue.c
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$(OUT)pru1.elf: $(OUT)src/pru/pru1.o
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# Build the additional PRU0 binary
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target-y += $(OUT)pru0.elf
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$(OUT)pru0.elf: $(patsubst %.c, $(OUT)src/%.o,$(pru0-y))
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@echo " Linking $@"
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$(Q)$(CC) $(CFLAGS_pru1.elf) $^ -o $@
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$(Q)$(CC) $(CFLAGS_pru0.elf) $^ -o $@
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@ -2,17 +2,38 @@
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#define __PRU_INTERNAL_H
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// Local definitions for PRU code
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#define IEP_IRQ 0
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#define GOT_ARM_IRQ 1
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#define WAKE_ARM_IRQ 2
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#include <stdint.h> // uint32_t
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#define IEP_EVENT 7
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#define GOT_ARM_EVENT 17
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#define WAKE_ARM_EVENT 16
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#define KICK_ARM_EVENT 16
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#define KICK_PRU0_FROM_ARM_EVENT 17
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#define KICK_PRU0_EVENT 18
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#define KICK_PRU1_EVENT 19
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#define WAKE_PRU0_IRQ 0
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#define WAKE_PRU1_IRQ 1
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#define WAKE_ARM_IRQ 2
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#define R31_IRQ_OFFSET 30
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// console.c
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void console_init(void);
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#define R31_WRITE_IRQ_SELECT (1<<5)
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#define R31_WRITE_IRQ_OFFSET 16
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// Layout of shared memory
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struct shared_mem {
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uint32_t signal;
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uint32_t read_pos, read_count;
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char read_data[512];
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uint32_t send_push_pos, send_pop_pos;
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struct {
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uint32_t count;
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char data[64];
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} send_data[4];
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};
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#define SIGNAL_PRU0_WAITING 0xefefefef
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#define SIGNAL_PRU1_READY 0xabababab
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static struct shared_mem *SHARED_MEM = (void*)0x10000;
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#endif // internal.h
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@ -7,15 +7,15 @@
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#include <stdint.h> // uint32_t
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#include <string.h> // memset
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#include <pru/io.h> // read_r31
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#include <pru_cfg.h> // CT_CFG
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#include <pru_iep.h> // CT_IEP
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#include <pru_intc.h> // CT_INTC
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#include "autoconf.h" // CONFIG_CLOCK_FREQ
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#include "board/misc.h" // timer_from_us
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#include <rsc_types.h> // resource_table
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#include "board/misc.h" // alloc_chunk
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#include "board/io.h" // readl
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#include "board/irq.h" // irq_disable
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#include "command.h" // shutdown
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#include "generic/timer_irq.h" // timer_dispatch_many
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#include "internal.h" // IEP_IRQ
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#include "internal.h" // SHARED_MEM
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#include "sched.h" // sched_main
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DECL_CONSTANT(MCU, "pru");
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@ -50,7 +50,6 @@ static void
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timer_set(uint32_t value)
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{
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CT_IEP.TMR_CMP0 = value;
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CT_INTC.SECR0 = 1 << IEP_EVENT;
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}
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uint32_t
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@ -62,14 +61,17 @@ timer_read_time(void)
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static void
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_irq_poll(void)
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{
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if (CT_INTC.SECR0 & (1 << IEP_EVENT)) {
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CT_IEP.TMR_CMP_STS = 0xff;
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uint32_t next = timer_dispatch_many();
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timer_set(next);
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}
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CT_INTC.SECR0 = (1 << IEP_EVENT) | (1 << KICK_PRU1_EVENT);
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}
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void
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irq_poll(void)
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{
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if (read_r31() & (1 << (IEP_IRQ + R31_IRQ_OFFSET)))
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if (read_r31() & (1 << (WAKE_PRU1_IRQ + R31_IRQ_OFFSET)))
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_irq_poll();
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}
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@ -87,13 +89,62 @@ DECL_SHUTDOWN(timer_shutdown);
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static void
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timer_init(void)
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{
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timer_set(0);
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CT_IEP.TMR_CNT = 0;
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CT_IEP.TMR_CMP_CFG = 0x01 << 1;
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CT_IEP.TMR_GLB_CFG = 0x11;
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timer_shutdown();
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}
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/****************************************************************
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* Console IO
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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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uint32_t read_count = readl(&SHARED_MEM->read_count);
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if (read_count > 64)
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read_count = 64;
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*plen = read_count;
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return SHARED_MEM->read_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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barrier();
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writel(&SHARED_MEM->read_count, 0);
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}
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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(SHARED_MEM->send_data[0].data))
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return NULL;
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uint32_t send_push_pos = SHARED_MEM->send_push_pos;
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if (readl(&SHARED_MEM->send_data[send_push_pos].count))
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// Queue full
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return NULL;
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return SHARED_MEM->send_data[send_push_pos].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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uint32_t send_push_pos = SHARED_MEM->send_push_pos;
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barrier();
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writel(&SHARED_MEM->send_data[send_push_pos].count, len);
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write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU0_EVENT - R31_WRITE_IRQ_OFFSET));
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SHARED_MEM->send_push_pos = (
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(send_push_pos + 1) % ARRAY_SIZE(SHARED_MEM->send_data));
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}
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/****************************************************************
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* Allocator
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****************************************************************/
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@ -131,6 +182,24 @@ alloc_chunks(size_t size, size_t count, size_t *avail)
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}
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/****************************************************************
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* Resource table
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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[1]; /* Should match 'num' in actual definition */
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} resourceTable __visible __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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0, /* number of entries in the table */
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{ 0, 0 }, /* reserved, must be zero */
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},
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};
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/****************************************************************
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* Startup
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****************************************************************/
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@ -139,10 +208,11 @@ alloc_chunks(size_t size, size_t count, size_t *avail)
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int
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main(void)
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{
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// allow access to external memory
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CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
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// Wait for PRU0 to initialize
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while (readl(&SHARED_MEM->signal) != SIGNAL_PRU0_WAITING)
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;
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writel(&SHARED_MEM->signal, SIGNAL_PRU1_READY);
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console_init();
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timer_init();
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sched_main();
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@ -1,101 +1,83 @@
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// PRU input/output via RPMsg
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// Code to handle IO on PRU0 and pass the messages to PRU1
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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 <string.h> // memset
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#include <pru/io.h> // write_r31
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#include <pru_cfg.h> // CT_CFG
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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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#include <rsc_types.h> // resource_table
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#include "board/io.h" // readl
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#include "compiler.h" // __section
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#include "internal.h" // SHARED_MEM
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/****************************************************************
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* IO
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****************************************************************/
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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 uint16_t transport_dst;
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static void
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clear_pending(void)
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check_can_send(struct pru_rpmsg_transport *transport)
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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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for (;;) {
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uint32_t send_pop_pos = SHARED_MEM->send_pop_pos;
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uint32_t count = readl(&SHARED_MEM->send_data[send_pop_pos].count);
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if (!count)
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// Queue empty
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break;
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pru_rpmsg_send(
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transport, CHAN_PORT, transport_dst
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, &SHARED_MEM->send_data[send_pop_pos].data, count);
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barrier();
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writel(&SHARED_MEM->send_data[send_pop_pos].count, 0);
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SHARED_MEM->send_pop_pos = (
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(send_pop_pos + 1) % ARRAY_SIZE(SHARED_MEM->send_data));
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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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static void
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check_can_read(struct pru_rpmsg_transport *transport)
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{
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if (readl(&SHARED_MEM->read_count))
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// main processing pru is busy
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return;
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uint16_t dst, len;
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int16_t ret = pru_rpmsg_receive(
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transport, &transport_dst, &dst, SHARED_MEM->read_data, &len);
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if (ret || !len)
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return;
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SHARED_MEM->read_pos = 0;
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barrier();
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writel(&SHARED_MEM->read_count, len);
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write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU1_EVENT - R31_WRITE_IRQ_OFFSET));
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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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static void
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process_io(struct pru_rpmsg_transport *transport)
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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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for (;;) {
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if (!(read_r31() & (1 << (WAKE_PRU0_IRQ + R31_IRQ_OFFSET))))
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continue;
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CT_INTC.SECR0 = (1 << KICK_PRU0_FROM_ARM_EVENT) | (1 << KICK_PRU0_EVENT);
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check_can_send(transport);
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check_can_read(transport);
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}
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}
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/****************************************************************
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* resource table
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* Resource table
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****************************************************************/
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/*
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@ -118,9 +100,11 @@ console_push_output(uint8_t len)
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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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{IEP_EVENT, WAKE_PRU1_IRQ},
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{KICK_ARM_EVENT, WAKE_ARM_IRQ},
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{KICK_PRU0_FROM_ARM_EVENT, WAKE_PRU0_IRQ},
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{KICK_PRU0_EVENT, WAKE_PRU0_IRQ},
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{KICK_PRU1_EVENT, WAKE_PRU1_IRQ},
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};
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struct my_resource_table {
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@ -185,7 +169,7 @@ struct my_resource_table {
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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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WAKE_PRU0_IRQ, WAKE_PRU1_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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@ -200,15 +184,20 @@ struct my_resource_table {
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/****************************************************************
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* RPMsg init
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* Startup
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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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int
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main(void)
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{
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clear_pending();
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// allow access to external memory
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CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
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// clear all irqs
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CT_INTC.SECR0 = 0xffffffff;
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CT_INTC.SECR1 = 0xffffffff;
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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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@ -216,15 +205,25 @@ console_init(void)
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;
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/* Initialize the RPMsg transport structure */
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struct pru_rpmsg_transport transport;
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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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KICK_ARM_EVENT,
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KICK_PRU0_FROM_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)
|
||||
;
|
||||
|
||||
// Wait for PRU1 to be ready
|
||||
memset(SHARED_MEM, 0, sizeof(*SHARED_MEM));
|
||||
writel(&SHARED_MEM->signal, SIGNAL_PRU0_WAITING);
|
||||
while (readl(&SHARED_MEM->signal) != SIGNAL_PRU1_READY)
|
||||
;
|
||||
writel(&SHARED_MEM->signal, 0);
|
||||
|
||||
process_io(&transport);
|
||||
}
|
||||
|
|
@ -1,29 +0,0 @@
|
|||
// 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