drtioaux: created async version

src/libboard_artiq/src/drtioaux_async.rs

@@ -0,0 +1,156 @@
+use crc;
+
+use core_io::{ErrorKind as IoErrorKind, Error as IoError};
+use void::Void;
+use nb;
+
+use libboard_zynq::{timer::GlobalTimer, time::Milliseconds};
+use libasync::{task, block_async};
+
+use io::{proto::ProtoRead, proto::ProtoWrite, Cursor};
+use crate::mem::mem::DRTIOAUX_MEM;
+use crate::pl::csr::DRTIOAUX;
+use crate::drtioaux::{Error, has_rx_error};
+
+pub use crate::drtioaux_proto::Packet;
+
+pub async fn reset(linkno: u8) {
+    let linkno = linkno as usize;
+    unsafe {
+        // clear buffer first to limit race window with buffer overflow
+        // error. We assume the CPU is fast enough so that no two packets
+        // will be received between the buffer and the error flag are cleared.
+        (DRTIOAUX[linkno].aux_rx_present_write)(1);
+        (DRTIOAUX[linkno].aux_rx_error_write)(1);
+    }
+}
+
+fn tx_ready(linkno: usize) -> nb::Result<(), Void> {
+    unsafe {
+        if (DRTIOAUX[linkno].aux_tx_read)() != 0 {
+            Err(nb::Error::WouldBlock)
+        }
+        else {
+            Ok(())
+        }
+    }
+}
+
+async fn copy_with_swap(src: *mut u8, dst: *mut u8, len: isize) {
+    unsafe {
+        for i in (0..(len-4)).step_by(4) {
+            *dst.offset(i) = *src.offset(i+3);
+            *dst.offset(i+1) = *src.offset(i+2);
+            *dst.offset(i+2) = *src.offset(i+1);
+            *dst.offset(i+3) = *src.offset(i);
+        }
+        // checksum untouched
+        // unrolled for performance
+        *dst.offset(len-4) = *src.offset(len-4);
+        *dst.offset(len-3) = *src.offset(len-3);
+        *dst.offset(len-2) = *src.offset(len-2);
+        *dst.offset(len-1) = *src.offset(len-1);
+    }
+}
+
+async fn receive<F, T>(linkno: u8, f: F) -> Result<Option<T>, Error>
+    where F: FnOnce(&[u8]) -> Result<T, Error>
+{
+    let linkidx = linkno as usize;
+    unsafe {
+        if (DRTIOAUX[linkidx].aux_rx_present_read)() == 1 {
+            let ptr = (DRTIOAUX_MEM[linkidx].base + DRTIOAUX_MEM[linkidx].size / 2) as *mut u8;
+            let len = (DRTIOAUX[linkidx].aux_rx_length_read)() as usize;
+            // work buffer, as byte order will need to be swapped, cannot be in place
+            let mut buf: [u8; 1024] = [0; 1024];
+            copy_with_swap(ptr, buf.as_mut_ptr(), len as isize).await;
+            let result = f(&buf[0..len]);
+            (DRTIOAUX[linkidx].aux_rx_present_write)(1);
+            Ok(Some(result?))
+        } else {
+            Ok(None)
+        }
+    }
+}
+
+pub async fn recv(linkno: u8) -> Result<Option<Packet>, Error> {
+    if has_rx_error(linkno) {
+        return Err(Error::GatewareError)
+    }
+
+    receive(linkno, |buffer| {
+        if buffer.len() < 8 {
+            return Err(IoError::new(IoErrorKind::UnexpectedEof, "Unexpected end").into())
+        }
+
+        let mut reader = Cursor::new(buffer);
+
+        let checksum_at = buffer.len() - 4;
+        let checksum = crc::crc32::checksum_ieee(&reader.get_ref()[0..checksum_at]);
+        reader.set_position(checksum_at);
+        if reader.read_u32()? != checksum {
+            return Err(Error::CorruptedPacket)
+        }
+        reader.set_position(0);
+
+        Ok(Packet::read_from(&mut reader)?)
+    }).await
+}
+
+pub async fn recv_timeout(linkno: u8, timeout_ms: Option<u64>,
+    timer: GlobalTimer) -> Result<Packet, Error> 
+{
+    let timeout_ms = Milliseconds(timeout_ms.unwrap_or(10));
+    let limit = timer.get_time() + timeout_ms;
+    let mut would_block = false;
+    while timer.get_time() < limit {
+        // to ensure one last time recv would run one last time in case
+        // async would return after timeout
+        if would_block {
+            task::r#yield().await;
+        }
+        match recv(linkno).await? {
+            None => { would_block = true; },
+            Some(packet) => return Ok(packet),
+        }
+    }
+    Err(Error::TimedOut)
+}
+
+async fn transmit<F>(linkno: u8, f: F) -> Result<(), Error>
+    where F: FnOnce(&mut [u8]) -> Result<usize, Error>
+{
+    let linkno = linkno as usize;
+    unsafe {
+        let _ = block_async!(tx_ready(linkno)).await;
+        let ptr = DRTIOAUX_MEM[linkno].base as *mut u8;
+        let len = DRTIOAUX_MEM[linkno].size / 2;
+        // work buffer, works with unaligned mem access
+        let mut buf: [u8; 1024] = [0; 1024]; 
+        let len = f(&mut buf[0..len])?;
+        copy_with_swap(buf.as_mut_ptr(), ptr, len as isize).await;
+        (DRTIOAUX[linkno].aux_tx_length_write)(len as u16);
+        (DRTIOAUX[linkno].aux_tx_write)(1);
+        Ok(())
+    }
+}
+
+pub async fn send(linkno: u8, packet: &Packet) -> Result<(), Error> {
+    transmit(linkno, |buffer| {
+        let mut writer = Cursor::new(buffer);
+
+        packet.write_to(&mut writer)?;
+        
+        let padding = 4 - (writer.position() % 4);
+        if padding != 4 {
+            for _ in 0..padding {
+                writer.write_u8(0)?;
+            }
+        }
+
+        let checksum = crc::crc32::checksum_ieee(&writer.get_ref()[0..writer.position()]);
+        writer.write_u32(checksum)?;
+
+        Ok(writer.position())
+    }).await
+}

src/runtime/src/rtio_mgt.rs

@@ -8,7 +8,9 @@ use libcortex_a9::mutex::Mutex;
 #[cfg(has_drtio)]
 pub mod drtio {
     use super::*;
-    use libboard_artiq::drtioaux;
+    use libboard_artiq::drtioaux_async;
+    use libboard_artiq::drtioaux_async::Packet;
+    use libboard_artiq::drtioaux::Error;
     use log::{warn, error, info};
     use embedded_hal::blocking::delay::DelayMs;
     use libasync::{task, delay};
@@ -33,27 +35,21 @@ pub mod drtio {
         }
     }
 
-    async fn recv_aux_timeout(linkno: u8, timeout: u64, timer: GlobalTimer) -> Result<drtioaux::Packet, &'static str> {
+    async fn recv_aux_timeout(linkno: u8, timeout: u64, timer: GlobalTimer) -> Result<Packet, &'static str> {
-        let max_time = timer.get_time() + Milliseconds(timeout);
+        if !link_rx_up(linkno).await {
-        loop {
+            return Err("link went down");
-            if !link_rx_up(linkno).await {
+        }
-                return Err("link went down");
+        match drtioaux_async::recv_timeout(linkno, Some(timeout), timer).await {
-            }
+            Ok(packet) => return Ok(packet),
-            if timer.get_time() > max_time {
+            Err(Error::TimedOut) => return Err("timed out"),
-                return Err("timeout");
+            Err(_) => return Err("aux packet error"),
-            }
-            match drtioaux::recv(linkno) {
-                Ok(Some(packet)) => return Ok(packet),
-                Ok(None) => (),
-                Err(_) => return Err("aux packet error")
-            }
         }
     }
 
-    pub async fn aux_transact(aux_mutex: &Mutex<bool>, linkno: u8, request: &drtioaux::Packet,
+    pub async fn aux_transact(aux_mutex: &Mutex<bool>, linkno: u8, request: &Packet,
-            timer: GlobalTimer) -> Result<drtioaux::Packet, &'static str> {
+            timer: GlobalTimer) -> Result<Packet, &'static str> {
         let _lock = aux_mutex.lock();
-        drtioaux::send(linkno, request).unwrap();
+        drtioaux_async::send(linkno, request).await.unwrap();
         recv_aux_timeout(linkno, 200, timer).await
     }
 
@@ -63,7 +59,7 @@ pub mod drtio {
             if timer.get_time() > max_time {
                 return;
             } //could this be cut short?
-            let _ = drtioaux::recv(linkno);
+            let _ = drtioaux_async::recv(linkno).await;
         }
     }
 
@@ -77,9 +73,9 @@ pub mod drtio {
             if count > 100 {
                 return 0;
             }
-            let reply = aux_transact(aux_mutex, linkno, &drtioaux::Packet::EchoRequest, timer).await;
+            let reply = aux_transact(aux_mutex, linkno, &Packet::EchoRequest, timer).await;
             match reply {
-                Ok(drtioaux::Packet::EchoReply) => {
+                Ok(Packet::EchoReply) => {
                     // make sure receive buffer is drained
                     let draining_time = Milliseconds(200);
                     drain_buffer(linkno, draining_time, timer).await;
@@ -100,7 +96,7 @@ pub mod drtio {
         // TSCAck is the only aux packet that is sent spontaneously
         // by the satellite, in response to a TSC set on the RT link.
         let reply = recv_aux_timeout(linkno, 10000, timer).await?;
-        if reply == drtioaux::Packet::TSCAck {
+        if reply == Packet::TSCAck {
             return Ok(());
         } else {
             return Err("unexpected reply");
@@ -110,11 +106,11 @@ pub mod drtio {
     async fn load_routing_table(aux_mutex: &Rc<Mutex<bool>>, linkno: u8, routing_table: &drtio_routing::RoutingTable,
         timer: GlobalTimer) -> Result<(), &'static str> {
         for i in 0..drtio_routing::DEST_COUNT {
-            let reply = aux_transact(aux_mutex, linkno, &drtioaux::Packet::RoutingSetPath {
+            let reply = aux_transact(aux_mutex, linkno, &Packet::RoutingSetPath {
                 destination: i as u8,
                 hops: routing_table.0[i]
             }, timer).await?;
-            if reply != drtioaux::Packet::RoutingAck {
+            if reply != Packet::RoutingAck {
                 return Err("unexpected reply");
             }
         }
@@ -122,10 +118,10 @@ pub mod drtio {
     }
 
     async fn set_rank(aux_mutex: &Rc<Mutex<bool>>, linkno: u8, rank: u8, timer: GlobalTimer) -> Result<(), &'static str> {
-        let reply = aux_transact(aux_mutex, linkno, &drtioaux::Packet::RoutingSetRank {
+        let reply = aux_transact(aux_mutex, linkno, &Packet::RoutingSetRank {
             rank: rank
         }, timer).await?;
-        if reply != drtioaux::Packet::RoutingAck {
+        if reply != Packet::RoutingAck {
             return Err("unexpected reply");
         }
         Ok(())
@@ -146,7 +142,7 @@ pub mod drtio {
 
     async fn process_unsolicited_aux(aux_mutex: &Rc<Mutex<bool>>, linkno: u8) {
         let _lock = aux_mutex.lock();
-        match drtioaux::recv(linkno) {
+        match drtioaux_async::recv(linkno).await {
             Ok(Some(packet)) => warn!("[LINK#{}] unsolicited aux packet: {:?}", linkno, packet),
             Ok(None) => (),
             Err(_) => warn!("[LINK#{}] aux packet error", linkno)
@@ -210,18 +206,18 @@ pub mod drtio {
                 let linkno = hop - 1;
                 if destination_up(up_destinations, destination).await {
                     if up_links[linkno as usize] {
-                        let reply = aux_transact(aux_mutex, linkno, &drtioaux::Packet::DestinationStatusRequest {
+                        let reply = aux_transact(aux_mutex, linkno, &Packet::DestinationStatusRequest {
                             destination: destination
                         }, timer).await;
                         match reply {
-                            Ok(drtioaux::Packet::DestinationDownReply) =>
+                            Ok(Packet::DestinationDownReply) =>
                                 destination_set_up(routing_table, up_destinations, destination, false).await,
-                            Ok(drtioaux::Packet::DestinationOkReply) => (),
+                            Ok(Packet::DestinationOkReply) => (),
-                            Ok(drtioaux::Packet::DestinationSequenceErrorReply { channel }) =>
+                            Ok(Packet::DestinationSequenceErrorReply { channel }) =>
                                 error!("[DEST#{}] RTIO sequence error involving channel 0x{:04x}", destination, channel),
-                            Ok(drtioaux::Packet::DestinationCollisionReply { channel }) =>
+                            Ok(Packet::DestinationCollisionReply { channel }) =>
                                 error!("[DEST#{}] RTIO collision involving channel 0x{:04x}", destination, channel),
-                            Ok(drtioaux::Packet::DestinationBusyReply { channel }) =>
+                            Ok(Packet::DestinationBusyReply { channel }) =>
                                 error!("[DEST#{}] RTIO busy error involving channel 0x{:04x}", destination, channel),
                             Ok(packet) => error!("[DEST#{}] received unexpected aux packet: {:?}", destination, packet),
                             Err(e) => error!("[DEST#{}] communication failed ({})", destination, e)
@@ -231,12 +227,12 @@ pub mod drtio {
                     }
                 } else {
                     if up_links[linkno as usize] {
-                        let reply = aux_transact(aux_mutex, linkno, &drtioaux::Packet::DestinationStatusRequest {
+                        let reply = aux_transact(aux_mutex, linkno, &Packet::DestinationStatusRequest {
                             destination: destination
                         }, timer).await;
                         match reply {
-                            Ok(drtioaux::Packet::DestinationDownReply) => (),
+                            Ok(Packet::DestinationDownReply) => (),
-                            Ok(drtioaux::Packet::DestinationOkReply) => {
+                            Ok(Packet::DestinationOkReply) => {
                                 destination_set_up(routing_table, up_destinations, destination, true).await;
                                 init_buffer_space(destination as u8, linkno).await;
                             },
@@ -314,9 +310,9 @@ pub mod drtio {
             let linkno = linkno as u8;
             if task::block_on(link_rx_up(linkno)) {
                 let reply = task::block_on(aux_transact(&aux_mutex, linkno,
-                    &drtioaux::Packet::ResetRequest, timer));
+                    &Packet::ResetRequest, timer));
                 match reply {
-                    Ok(drtioaux::Packet::ResetAck) => (),
+                    Ok(Packet::ResetAck) => (),
                     Ok(_) => error!("[LINK#{}] reset failed, received unexpected aux packet", linkno),
                     Err(e) => error!("[LINK#{}] reset failed, aux packet error ({})", linkno, e)
                 }