From 8f4e30dd9cc57a91953f5743dbe1c8a1b8f5df67 Mon Sep 17 00:00:00 2001 From: mwojcik Date: Tue, 12 Dec 2023 16:51:54 +0800 Subject: [PATCH] satman: support sub-subkernels, routing --- src/libboard_artiq/src/drtioaux_proto.rs | 35 +++ src/runtime/src/rtio_mgt.rs | 7 +- src/satman/src/dma.rs | 44 +-- src/satman/src/main.rs | 329 ++++++++++++++--------- src/satman/src/repeater.rs | 55 +++- src/satman/src/routing.rs | 124 +++++++++ src/satman/src/subkernel.rs | 249 ++++++++++++++--- 7 files changed, 653 insertions(+), 190 deletions(-) create mode 100644 src/satman/src/routing.rs diff --git a/src/libboard_artiq/src/drtioaux_proto.rs b/src/libboard_artiq/src/drtioaux_proto.rs index b18fd66..3995f87 100644 --- a/src/libboard_artiq/src/drtioaux_proto.rs +++ b/src/libboard_artiq/src/drtioaux_proto.rs @@ -922,4 +922,39 @@ impl Packet { } Ok(()) } + + pub fn routable_destination(&self) -> Option { + // only for packets that could be re-routed, not only forwarded + match self { + Packet::DmaAddTraceRequest { destination, .. } => Some(*destination), + Packet::DmaAddTraceReply { destination, .. } => Some(*destination), + Packet::DmaRemoveTraceRequest { destination, .. } => Some(*destination), + Packet::DmaRemoveTraceReply { destination, .. } => Some(*destination), + Packet::DmaPlaybackRequest { destination, .. } => Some(*destination), + Packet::DmaPlaybackReply { destination, .. } => Some(*destination), + Packet::SubkernelLoadRunRequest { destination, .. } => Some(*destination), + Packet::SubkernelLoadRunReply { destination, .. } => Some(*destination), + Packet::SubkernelMessage { destination, .. } => Some(*destination), + Packet::SubkernelMessageAck { destination } => Some(*destination), + Packet::DmaPlaybackStatus { destination, .. } => Some(*destination), + Packet::SubkernelFinished { destination, .. } => Some(*destination), + _ => None, + } + } + + pub fn expects_response(&self) -> bool { + // returns true if the routable packet should elicit a response + // e.g. reply, ACK packets end a conversation, + // and firmware should not wait for response + match self { + Packet::DmaAddTraceReply { .. } + | Packet::DmaRemoveTraceReply { .. } + | Packet::DmaPlaybackReply { .. } + | Packet::SubkernelLoadRunReply { .. } + | Packet::SubkernelMessageAck { .. } + | Packet::DmaPlaybackStatus { .. } + | Packet::SubkernelFinished { .. } => false, + _ => true, + } + } } diff --git a/src/runtime/src/rtio_mgt.rs b/src/runtime/src/rtio_mgt.rs index adc7ca4..06740d5 100644 --- a/src/runtime/src/rtio_mgt.rs +++ b/src/runtime/src/rtio_mgt.rs @@ -53,7 +53,12 @@ pub mod drtio { async_ready } - async fn process_async_packets(aux_mutex: &Mutex, linkno: u8, routing_table: &drtio_routing::RoutingTable, timer: GlobalTimer) { + async fn process_async_packets( + aux_mutex: &Mutex, + linkno: u8, + routing_table: &drtio_routing::RoutingTable, + timer: GlobalTimer, + ) { if link_has_async_ready(linkno).await { loop { let reply = aux_transact(aux_mutex, linkno, &Packet::RoutingRetrievePackets, timer).await; diff --git a/src/satman/src/dma.rs b/src/satman/src/dma.rs index dc901db..bb06f6f 100644 --- a/src/satman/src/dma.rs +++ b/src/satman/src/dma.rs @@ -12,6 +12,7 @@ enum ManagerState { } pub struct RtioStatus { + pub source: u8, pub id: u32, pub error: u8, pub channel: u32, @@ -33,9 +34,10 @@ struct Entry { #[derive(Debug)] pub struct Manager { - entries: BTreeMap, + entries: BTreeMap<(u8, u32), Entry>, state: ManagerState, - currentid: u32, + current_id: u32, + current_source: u8, } impl Manager { @@ -45,40 +47,48 @@ impl Manager { unsafe { while csr::rtio_dma::enable_read() != 0 {} } Manager { entries: BTreeMap::new(), - currentid: 0, + current_id: 0, + current_source: 0, state: ManagerState::Idle, } } - pub fn add(&mut self, id: u32, status: PayloadStatus, trace: &[u8], trace_len: usize) -> Result<(), Error> { - let entry = match self.entries.get_mut(&id) { + pub fn add( + &mut self, + source: u8, + id: u32, + status: PayloadStatus, + trace: &[u8], + trace_len: usize, + ) -> Result<(), Error> { + let entry = match self.entries.get_mut(&(source, id)) { Some(entry) => { if entry.complete || status.is_first() { // replace entry - self.entries.remove(&id); + self.entries.remove(&(source, id)); self.entries.insert( - id, + (source, id), Entry { trace: Vec::new(), padding_len: 0, complete: false, }, ); - self.entries.get_mut(&id).unwrap() + self.entries.get_mut(&(source, id)).unwrap() } else { entry } } None => { self.entries.insert( - id, + (source, id), Entry { trace: Vec::new(), padding_len: 0, complete: false, }, ); - self.entries.get_mut(&id).unwrap() + self.entries.get_mut(&(source, id)).unwrap() } }; entry.trace.extend(&trace[0..trace_len]); @@ -105,19 +115,19 @@ impl Manager { Ok(()) } - pub fn erase(&mut self, id: u32) -> Result<(), Error> { - match self.entries.remove(&id) { + pub fn erase(&mut self, source: u8, id: u32) -> Result<(), Error> { + match self.entries.remove(&(source, id)) { Some(_) => Ok(()), None => Err(Error::IdNotFound), } } - pub fn playback(&mut self, id: u32, timestamp: u64) -> Result<(), Error> { + pub fn playback(&mut self, source: u8, id: u32, timestamp: u64) -> Result<(), Error> { if self.state != ManagerState::Idle { return Err(Error::PlaybackInProgress); } - let entry = match self.entries.get(&id) { + let entry = match self.entries.get(&(source, id)) { Some(entry) => entry, None => { return Err(Error::IdNotFound); @@ -130,7 +140,8 @@ impl Manager { assert!(ptr as u32 % 64 == 0); self.state = ManagerState::Playback; - self.currentid = id; + self.current_id = id; + self.current_source = source; unsafe { csr::rtio_dma::base_address_write(ptr as u32); @@ -162,7 +173,8 @@ impl Manager { csr::rtio_dma::error_write(1); } return Some(RtioStatus { - id: self.currentid, + source: self.current_source, + id: self.current_id, error: error, channel: channel, timestamp: timestamp, diff --git a/src/satman/src/main.rs b/src/satman/src/main.rs index 80d53cd..5447db6 100644 --- a/src/satman/src/main.rs +++ b/src/satman/src/main.rs @@ -39,11 +39,13 @@ use libboard_zynq::{i2c::I2c, print, println, time::Milliseconds, timer::GlobalT use libcortex_a9::{l2c::enable_l2_cache, regs::MPIDR}; use libregister::RegisterR; use libsupport_zynq::ram; +use routing::Router; use subkernel::Manager as KernelManager; mod analyzer; mod dma; mod repeater; +mod routing; mod subkernel; fn drtiosat_reset(reset: bool) { @@ -72,6 +74,12 @@ fn drtiosat_tsc_loaded() -> bool { } } +fn drtiosat_async_ready() { + unsafe { + csr::drtiosat::async_messages_ready_write(1); + } +} + #[cfg(has_drtio_routing)] macro_rules! forward { ($routing_table:expr, $destination:expr, $rank:expr, $repeaters:expr, $packet:expr, $timer:expr) => {{ @@ -79,7 +87,11 @@ macro_rules! forward { if hop != 0 { let repno = (hop - 1) as usize; if repno < $repeaters.len() { - return $repeaters[repno].aux_forward($packet, $timer); + if $packet.expects_response() { + return $repeaters[repno].aux_forward($packet, $timer); + } else { + return $repeaters[repno].aux_send($packet); + } } else { return Err(drtioaux::Error::RoutingError); } @@ -95,13 +107,15 @@ macro_rules! forward { fn process_aux_packet( _repeaters: &mut [repeater::Repeater], _routing_table: &mut drtio_routing::RoutingTable, - _rank: &mut u8, + rank: &mut u8, + self_destination: &mut u8, packet: drtioaux::Packet, timer: &mut GlobalTimer, i2c: &mut I2c, dma_manager: &mut DmaManager, analyzer: &mut Analyzer, kernel_manager: &mut KernelManager, + router: &mut Router, ) -> Result<(), drtioaux::Error> { // In the code below, *_chan_sel_write takes an u8 if there are fewer than 256 channels, // and u16 otherwise; hence the `as _` conversion. @@ -122,82 +136,39 @@ fn process_aux_packet( drtioaux::Packet::DestinationStatusRequest { destination } => { #[cfg(has_drtio_routing)] - let hop = _routing_table.0[destination as usize][*_rank as usize]; + let hop = _routing_table.0[destination as usize][*rank as usize]; #[cfg(not(has_drtio_routing))] let hop = 0; if hop == 0 { - if let Some(status) = dma_manager.check_state() { - info!( - "playback done, error: {}, channel: {}, timestamp: {}", - status.error, status.channel, status.timestamp - ); - drtioaux::send( - 0, - &drtioaux::Packet::DmaPlaybackStatus { - destination: destination, - id: status.id, - error: status.error, - channel: status.channel, - timestamp: status.timestamp, - }, - )?; - } else if let Some(subkernel_finished) = kernel_manager.get_last_finished() { - info!( - "subkernel {} finished, with exception: {}", - subkernel_finished.id, subkernel_finished.with_exception - ); - drtioaux::send( - 0, - &drtioaux::Packet::SubkernelFinished { - id: subkernel_finished.id, - with_exception: subkernel_finished.with_exception, - }, - )?; - } else if kernel_manager.message_is_ready() { - let mut data_slice: [u8; MASTER_PAYLOAD_MAX_SIZE] = [0; MASTER_PAYLOAD_MAX_SIZE]; - match kernel_manager.message_get_slice(&mut data_slice) { - Some(meta) => drtioaux::send( - 0, - &drtioaux::Packet::SubkernelMessage { - destination: destination, - id: kernel_manager.get_current_id().unwrap(), - status: meta.status, - length: meta.len as u16, - data: data_slice, - }, - )?, - None => warn!("subkernel message is ready but no message is present"), - } - } else { - let errors; + *self_destination = destination; + let errors; + unsafe { + errors = csr::drtiosat::rtio_error_read(); + } + if errors & 1 != 0 { + let channel; unsafe { - errors = csr::drtiosat::rtio_error_read(); + channel = csr::drtiosat::sequence_error_channel_read(); + csr::drtiosat::rtio_error_write(1); } - if errors & 1 != 0 { - let channel; - unsafe { - channel = csr::drtiosat::sequence_error_channel_read(); - csr::drtiosat::rtio_error_write(1); - } - drtioaux::send(0, &drtioaux::Packet::DestinationSequenceErrorReply { channel })?; - } else if errors & 2 != 0 { - let channel; - unsafe { - channel = csr::drtiosat::collision_channel_read(); - csr::drtiosat::rtio_error_write(2); - } - drtioaux::send(0, &drtioaux::Packet::DestinationCollisionReply { channel })?; - } else if errors & 4 != 0 { - let channel; - unsafe { - channel = csr::drtiosat::busy_channel_read(); - csr::drtiosat::rtio_error_write(4); - } - drtioaux::send(0, &drtioaux::Packet::DestinationBusyReply { channel })?; - } else { - drtioaux::send(0, &drtioaux::Packet::DestinationOkReply)?; + drtioaux::send(0, &drtioaux::Packet::DestinationSequenceErrorReply { channel })?; + } else if errors & 2 != 0 { + let channel; + unsafe { + channel = csr::drtiosat::collision_channel_read(); + csr::drtiosat::rtio_error_write(2); } + drtioaux::send(0, &drtioaux::Packet::DestinationCollisionReply { channel })?; + } else if errors & 4 != 0 { + let channel; + unsafe { + channel = csr::drtiosat::busy_channel_read(); + csr::drtiosat::rtio_error_write(4); + } + drtioaux::send(0, &drtioaux::Packet::DestinationBusyReply { channel })?; + } else { + drtioaux::send(0, &drtioaux::Packet::DestinationOkReply)?; } } @@ -242,11 +213,11 @@ fn process_aux_packet( drtioaux::send(0, &drtioaux::Packet::RoutingAck) } #[cfg(has_drtio_routing)] - drtioaux::Packet::RoutingSetRank { rank } => { - *_rank = rank; - drtio_routing::interconnect_enable_all(_routing_table, rank); + drtioaux::Packet::RoutingSetRank { rank: new_rank } => { + *rank = new_rank; + drtio_routing::interconnect_enable_all(_routing_table, new_rank); - let rep_rank = rank + 1; + let rep_rank = new_rank + 1; for rep in _repeaters.iter() { if let Err(e) = rep.set_rank(rep_rank, timer) { error!("failed to set rank ({:?})", e); @@ -267,12 +238,20 @@ fn process_aux_packet( #[cfg(not(has_drtio_routing))] drtioaux::Packet::RoutingSetRank { rank: _ } => drtioaux::send(0, &drtioaux::Packet::RoutingAck), + drtioaux::Packet::RoutingRetrievePackets => { + let packet = router + .get_upstream_packet() + .or(Some(drtioaux::Packet::RoutingNoPackets)) + .unwrap(); + drtioaux::send(0, &packet) + } + drtioaux::Packet::MonitorRequest { destination: _destination, channel, probe, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let value; #[cfg(has_rtio_moninj)] unsafe { @@ -294,7 +273,7 @@ fn process_aux_packet( overrd, value, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); #[cfg(has_rtio_moninj)] unsafe { csr::rtio_moninj::inj_chan_sel_write(channel as _); @@ -308,7 +287,7 @@ fn process_aux_packet( channel, overrd, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let value; #[cfg(has_rtio_moninj)] unsafe { @@ -327,7 +306,7 @@ fn process_aux_packet( destination: _destination, busno: _busno, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let succeeded = i2c.start().is_ok(); drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded }) } @@ -335,7 +314,7 @@ fn process_aux_packet( destination: _destination, busno: _busno, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let succeeded = i2c.restart().is_ok(); drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded }) } @@ -343,7 +322,7 @@ fn process_aux_packet( destination: _destination, busno: _busno, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let succeeded = i2c.stop().is_ok(); drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded }) } @@ -352,7 +331,7 @@ fn process_aux_packet( busno: _busno, data, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); match i2c.write(data) { Ok(ack) => drtioaux::send( 0, @@ -375,7 +354,7 @@ fn process_aux_packet( busno: _busno, ack, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); match i2c.read(ack) { Ok(data) => drtioaux::send( 0, @@ -399,7 +378,7 @@ fn process_aux_packet( address, mask, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let ch = match mask { //decode from mainline, PCA9548-centric API 0x00 => None, @@ -425,7 +404,7 @@ fn process_aux_packet( div: _div, cs: _cs, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); // todo: reimplement when/if SPI is available //let succeeded = spi::set_config(busno, flags, length, div, cs).is_ok(); drtioaux::send(0, &drtioaux::Packet::SpiBasicReply { succeeded: false }) @@ -435,7 +414,7 @@ fn process_aux_packet( busno: _busno, data: _data, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); // todo: reimplement when/if SPI is available //let succeeded = spi::write(busno, data).is_ok(); drtioaux::send(0, &drtioaux::Packet::SpiBasicReply { succeeded: false }) @@ -444,7 +423,7 @@ fn process_aux_packet( destination: _destination, busno: _busno, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); // todo: reimplement when/if SPI is available // match spi::read(busno) { // Ok(data) => drtioaux::send(0, @@ -464,7 +443,7 @@ fn process_aux_packet( drtioaux::Packet::AnalyzerHeaderRequest { destination: _destination, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let header = analyzer.get_header(); drtioaux::send( 0, @@ -478,7 +457,7 @@ fn process_aux_packet( drtioaux::Packet::AnalyzerDataRequest { destination: _destination, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let mut data_slice: [u8; SAT_PAYLOAD_MAX_SIZE] = [0; SAT_PAYLOAD_MAX_SIZE]; let meta = analyzer.get_data(&mut data_slice); drtioaux::send( @@ -492,55 +471,85 @@ fn process_aux_packet( } drtioaux::Packet::DmaAddTraceRequest { - destination: _destination, + source, + destination, id, status, length, trace, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); - let succeeded = dma_manager.add(id, status, &trace, length as usize).is_ok(); - drtioaux::send(0, &drtioaux::Packet::DmaAddTraceReply { succeeded: succeeded }) + forward!(_routing_table, destination, *rank, _repeaters, &packet, timer); + *self_destination = destination; + let succeeded = dma_manager.add(source, id, status, &trace, length as usize).is_ok(); + router.send( + drtioaux::Packet::DmaAddTraceReply { + destination: source, + succeeded: succeeded, + }, + _routing_table, + *rank, + *self_destination, + ) } drtioaux::Packet::DmaRemoveTraceRequest { + source, destination: _destination, id, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); - let succeeded = dma_manager.erase(id).is_ok(); - drtioaux::send(0, &drtioaux::Packet::DmaRemoveTraceReply { succeeded: succeeded }) + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); + let succeeded = dma_manager.erase(source, id).is_ok(); + router.send( + drtioaux::Packet::DmaRemoveTraceReply { + destination: source, + succeeded: succeeded, + }, + _routing_table, + *rank, + *self_destination, + ) } drtioaux::Packet::DmaPlaybackRequest { + source, destination: _destination, id, timestamp, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let succeeded = if !kernel_manager.running() { - dma_manager.playback(id, timestamp).is_ok() + dma_manager.playback(source, id, timestamp).is_ok() } else { false }; - drtioaux::send(0, &drtioaux::Packet::DmaPlaybackReply { succeeded: succeeded }) + router.send( + drtioaux::Packet::DmaPlaybackReply { + destination: source, + succeeded: succeeded, + }, + _routing_table, + *rank, + *self_destination, + ) } drtioaux::Packet::SubkernelAddDataRequest { - destination: _destination, + destination, id, status, length, data, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, destination, *rank, _repeaters, &packet, timer); + *self_destination = destination; let succeeded = kernel_manager.add(id, status, &data, length as usize).is_ok(); drtioaux::send(0, &drtioaux::Packet::SubkernelAddDataReply { succeeded: succeeded }) } drtioaux::Packet::SubkernelLoadRunRequest { + source, destination: _destination, id, run, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let mut succeeded = kernel_manager.load(id).is_ok(); // allow preloading a kernel with delayed run if run { @@ -548,15 +557,42 @@ fn process_aux_packet( // cannot run kernel while DDMA is running succeeded = false; } else { - succeeded |= kernel_manager.run(id).is_ok(); + succeeded |= kernel_manager.run(source, id).is_ok(); } } - drtioaux::send(0, &drtioaux::Packet::SubkernelLoadRunReply { succeeded: succeeded }) + router.send( + drtioaux::Packet::SubkernelLoadRunReply { + destination: source, + succeeded: succeeded, + }, + _routing_table, + *rank, + *self_destination, + ) + } + drtioaux::Packet::SubkernelLoadRunReply { + destination: _destination, + succeeded, + } => { + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); + // received if local subkernel started another, remote subkernel + kernel_manager.subkernel_load_run_reply(succeeded); + Ok(()) + } + drtioaux::Packet::SubkernelFinished { + destination: _destination, + id, + with_exception, + exception_src, + } => { + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); + kernel_manager.remote_subkernel_finished(id, with_exception, exception_src); + Ok(()) } drtioaux::Packet::SubkernelExceptionRequest { destination: _destination, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); let mut data_slice: [u8; SAT_PAYLOAD_MAX_SIZE] = [0; SAT_PAYLOAD_MAX_SIZE]; let meta = kernel_manager.exception_get_slice(&mut data_slice); drtioaux::send( @@ -569,38 +605,43 @@ fn process_aux_packet( ) } drtioaux::Packet::SubkernelMessage { - destination, + source, + destination: _destination, id: _id, status, length, data, } => { - forward!(_routing_table, destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); kernel_manager.message_handle_incoming(status, length as usize, &data); - drtioaux::send( - 0, - &drtioaux::Packet::SubkernelMessageAck { - destination: destination, - }, + router.send( + drtioaux::Packet::SubkernelMessageAck { destination: source }, + _routing_table, + *rank, + *self_destination, ) } drtioaux::Packet::SubkernelMessageAck { destination: _destination, } => { - forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer); + forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer); if kernel_manager.message_ack_slice() { let mut data_slice: [u8; MASTER_PAYLOAD_MAX_SIZE] = [0; MASTER_PAYLOAD_MAX_SIZE]; if let Some(meta) = kernel_manager.message_get_slice(&mut data_slice) { - drtioaux::send( - 0, - &drtioaux::Packet::SubkernelMessage { - destination: *_rank, + // route and not send immediately as ACKs are not a beginning of a transaction + router.route( + drtioaux::Packet::SubkernelMessage { + source: *self_destination, + destination: meta.destination, id: kernel_manager.get_current_id().unwrap(), status: meta.status, length: meta.len as u16, data: data_slice, }, - )?; + _routing_table, + *rank, + *self_destination, + ); } else { error!("Error receiving message slice"); } @@ -619,32 +660,35 @@ fn process_aux_packets( repeaters: &mut [repeater::Repeater], routing_table: &mut drtio_routing::RoutingTable, rank: &mut u8, + self_destination: &mut u8, timer: &mut GlobalTimer, i2c: &mut I2c, dma_manager: &mut DmaManager, analyzer: &mut Analyzer, kernel_manager: &mut KernelManager, + router: &mut Router, ) { let result = drtioaux::recv(0).and_then(|packet| { - if let Some(packet) = packet { + if let Some(packet) = packet.or_else(|| router.get_local_packet()) { process_aux_packet( repeaters, routing_table, rank, + self_destination, packet, timer, i2c, dma_manager, analyzer, kernel_manager, + router, ) } else { Ok(()) } }); - match result { - Ok(()) => (), - Err(e) => warn!("aux packet error ({:?})", e), + if let Err(e) = result { + warn!("aux packet error ({:?})", e); } } @@ -800,17 +844,20 @@ pub extern "C" fn main_core0() -> i32 { } let mut routing_table = drtio_routing::RoutingTable::default_empty(); let mut rank = 1; + let mut destination = 1; let mut hardware_tick_ts = 0; let mut control = ksupport::kernel::Control::start(); loop { + let mut router = Router::new(); + while !drtiosat_link_rx_up() { drtiosat_process_errors(); #[allow(unused_mut)] for mut rep in repeaters.iter_mut() { - rep.service(&routing_table, rank, &mut timer); + rep.service(&routing_table, rank, destination, &mut router, &mut timer); } #[cfg(feature = "target_kasli_soc")] { @@ -849,15 +896,17 @@ pub extern "C" fn main_core0() -> i32 { &mut repeaters, &mut routing_table, &mut rank, + &mut destination, &mut timer, &mut i2c, &mut dma_manager, &mut analyzer, &mut kernel_manager, + &mut router, ); #[allow(unused_mut)] for mut rep in repeaters.iter_mut() { - rep.service(&routing_table, rank, &mut timer); + rep.service(&routing_table, rank, destination, &mut router, &mut timer); } #[cfg(feature = "target_kasli_soc")] { @@ -880,7 +929,37 @@ pub extern "C" fn main_core0() -> i32 { error!("aux packet error: {:?}", e); } } - kernel_manager.process_kern_requests(rank, timer); + if let Some(status) = dma_manager.check_state() { + info!( + "playback done, error: {}, channel: {}, timestamp: {}", + status.error, status.channel, status.timestamp + ); + router.route( + drtioaux::Packet::DmaPlaybackStatus { + source: destination, + destination: status.source, + id: status.id, + error: status.error, + channel: status.channel, + timestamp: status.timestamp, + }, + &routing_table, + rank, + destination, + ); + } + + kernel_manager.process_kern_requests(&mut router, &routing_table, rank, destination, &timer); + + if let Some((repno, packet)) = router.get_downstream_packet() { + if let Err(e) = repeaters[repno].aux_send(&packet) { + warn!("[REP#{}] Error when sending packet to satellite ({:?})", repno, e) + } + } + + if router.any_upstream_waiting() { + drtiosat_async_ready(); + } } drtiosat_reset_phy(true); diff --git a/src/satman/src/repeater.rs b/src/satman/src/repeater.rs index 2a20b30..faa5068 100644 --- a/src/satman/src/repeater.rs +++ b/src/satman/src/repeater.rs @@ -6,6 +6,7 @@ use libboard_artiq::{drtio_routing, drtioaux}; #[cfg(has_drtio_routing)] use libboard_zynq::time::Milliseconds; use libboard_zynq::timer::GlobalTimer; +use routing::Router; #[cfg(has_drtio_routing)] fn rep_link_rx_up(repno: u8) -> bool { @@ -53,7 +54,14 @@ impl Repeater { self.state == RepeaterState::Up } - pub fn service(&mut self, routing_table: &drtio_routing::RoutingTable, rank: u8, timer: &mut GlobalTimer) { + pub fn service( + &mut self, + routing_table: &drtio_routing::RoutingTable, + rank: u8, + destination: u8, + router: &mut Router, + timer: &mut GlobalTimer, + ) { self.process_local_errors(); match self.state { @@ -116,6 +124,11 @@ impl Repeater { info!("[REP#{}] link is down", self.repno); self.state = RepeaterState::Down; } + if self.async_messages_ready() { + if let Err(e) = self.handle_async(routing_table, rank, destination, router, timer) { + warn!("[REP#{}] Error handling async messages ({:?})", self.repno, e); + } + } } RepeaterState::Failed => { if !rep_link_rx_up(self.repno) { @@ -173,6 +186,34 @@ impl Repeater { } } + fn async_messages_ready(&self) -> bool { + let async_rdy; + unsafe { + async_rdy = (csr::DRTIOREP[self.repno as usize].async_messages_ready_read)(); + (csr::DRTIOREP[self.repno as usize].async_messages_ready_write)(0); + } + async_rdy == 1 + } + + fn handle_async( + &self, + routing_table: &drtio_routing::RoutingTable, + rank: u8, + self_destination: u8, + router: &mut Router, + timer: &mut GlobalTimer, + ) -> Result<(), drtioaux::Error> { + loop { + drtioaux::send(self.auxno, &drtioaux::Packet::RoutingRetrievePackets).unwrap(); + let reply = self.recv_aux_timeout(200, timer)?; + match reply { + drtioaux::Packet::RoutingNoPackets => break, + packet => router.route(packet, routing_table, rank, self_destination), + } + } + Ok(()) + } + fn recv_aux_timeout(&self, timeout: u32, timer: &mut GlobalTimer) -> Result { let max_time = timer.get_time() + Milliseconds(timeout.into()); loop { @@ -191,15 +232,19 @@ impl Repeater { } pub fn aux_forward(&self, request: &drtioaux::Packet, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> { - if self.state != RepeaterState::Up { - return Err(drtioaux::Error::LinkDown); - } - drtioaux::send(self.auxno, request).unwrap(); + self.aux_send(request)?; let reply = self.recv_aux_timeout(200, timer)?; drtioaux::send(0, &reply).unwrap(); Ok(()) } + pub fn aux_send(&self, request: &drtioaux::Packet) -> Result<(), drtioaux::Error> { + if self.state != RepeaterState::Up { + return Err(drtioaux::Error::LinkDown); + } + drtioaux::send(self.auxno, request) + } + pub fn sync_tsc(&self, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> { if self.state != RepeaterState::Up { return Ok(()); diff --git a/src/satman/src/routing.rs b/src/satman/src/routing.rs new file mode 100644 index 0000000..74482af --- /dev/null +++ b/src/satman/src/routing.rs @@ -0,0 +1,124 @@ +use alloc::collections::vec_deque::VecDeque; + +use libboard_artiq::{drtio_routing, drtioaux, pl::csr}; + +// Packets from downstream (further satellites) are received and routed appropriately. +// they're passed as soon as possible downstream (within the subtree), or sent upstream, +// which is notified about pending packets. +// for rank 1 (connected to master) satellites, these packets are passed as an answer to DestinationStatusRequest; +// for higher ranks, after getting a notification, it will transact with downstream to get the pending packets. + +// forward! macro is not deprecated, as routable packets are only these that can originate +// from both master and satellite, e.g. DDMA and Subkernel. + +pub struct Router { + upstream_queue: VecDeque, + local_queue: VecDeque, + downstream_queue: VecDeque<(usize, drtioaux::Packet)>, + upstream_notified: bool, +} + +impl Router { + pub fn new() -> Router { + Router { + upstream_queue: VecDeque::new(), + local_queue: VecDeque::new(), + downstream_queue: VecDeque::new(), + upstream_notified: false, + } + } + + // called by local sources (DDMA, kernel) and by repeaters on receiving async data + // messages are always buffered for both upstream and downstream + pub fn route( + &mut self, + packet: drtioaux::Packet, + _routing_table: &drtio_routing::RoutingTable, + _rank: u8, + _self_destination: u8, + ) { + #[cfg(has_drtio_routing)] + { + let destination = packet.routable_destination(); + if let Some(destination) = destination { + let hop = _routing_table.0[destination as usize][_rank as usize] as usize; + if destination == _self_destination { + self.local_queue.push_back(packet); + } else if hop > 0 && hop < csr::DRTIOREP.len() { + let repno = (hop - 1) as usize; + self.downstream_queue.push_back((repno, packet)); + } else { + self.upstream_queue.push_back(packet); + } + } else { + error!("Received an unroutable packet: {:?}", packet); + } + } + #[cfg(not(has_drtio_routing))] + { + self.upstream_queue.push_back(packet); + } + } + + // Sends a packet to a required destination, routing if it's necessary + pub fn send( + &mut self, + packet: drtioaux::Packet, + _routing_table: &drtio_routing::RoutingTable, + _rank: u8, + _destination: u8, + ) -> Result<(), drtioaux::Error> { + #[cfg(has_drtio_routing)] + { + let destination = packet.routable_destination(); + if let Some(destination) = destination { + let hop = _routing_table.0[destination as usize][_rank as usize] as usize; + if destination == 0 { + // response is needed immediately if master required it + drtioaux::send(0, &packet)?; + } else if !(hop > 0 && hop < csr::DRTIOREP.len()) { + // higher rank can wait + self.upstream_queue.push_back(packet); + } else { + let repno = (hop - 1) as usize; + // transaction will occur at closest possible opportunity + self.downstream_queue.push_back((repno, packet)); + } + Ok(()) + } else { + // packet not supported in routing, fallback - sent directly + drtioaux::send(0, &packet) + } + } + #[cfg(not(has_drtio_routing))] + { + drtioaux::send(0, &packet) + } + } + + pub fn any_upstream_waiting(&mut self) -> bool { + let empty = self.upstream_queue.is_empty(); + if !empty && !self.upstream_notified { + self.upstream_notified = true; // so upstream will not get spammed with notifications + true + } else { + false + } + } + + pub fn get_upstream_packet(&mut self) -> Option { + let packet = self.upstream_queue.pop_front(); + if packet.is_none() { + self.upstream_notified = false; + } + packet + } + + pub fn get_downstream_packet(&mut self) -> Option<(usize, drtioaux::Packet)> { + self.downstream_queue.pop_front() + } + + pub fn get_local_packet(&mut self) -> Option { + self.local_queue.pop_front() + } +} diff --git a/src/satman/src/subkernel.rs b/src/satman/src/subkernel.rs index ce32bd4..7bdc8f2 100644 --- a/src/satman/src/subkernel.rs +++ b/src/satman/src/subkernel.rs @@ -8,11 +8,14 @@ use core_io::{Error as IoError, Write}; use cslice::AsCSlice; use io::{Cursor, ProtoWrite}; use ksupport::{eh_artiq, kernel, rpc}; -use libboard_artiq::{drtioaux_proto::{PayloadStatus, MASTER_PAYLOAD_MAX_SIZE, SAT_PAYLOAD_MAX_SIZE}, +use libboard_artiq::{drtio_routing::RoutingTable, + drtioaux, + drtioaux_proto::{PayloadStatus, MASTER_PAYLOAD_MAX_SIZE, SAT_PAYLOAD_MAX_SIZE}, pl::csr}; use libboard_zynq::{time::Milliseconds, timer::GlobalTimer}; use libcortex_a9::sync_channel::Receiver; use log::warn; +use routing::Router; #[derive(Debug, Clone, PartialEq)] enum KernelState { @@ -21,6 +24,8 @@ enum KernelState { Running, MsgAwait(Milliseconds, Vec), MsgSending, + SubkernelAwaitLoad, + SubkernelAwaitFinish { max_time: Milliseconds, id: u32 }, } #[derive(Debug)] @@ -31,6 +36,7 @@ pub enum Error { NoMessage, AwaitingMessage, SubkernelIoError, + DrtioError, KernelException(Sliceable), } @@ -52,6 +58,12 @@ impl From<()> for Error { } } +impl From for Error { + fn from(_value: drtioaux::Error) -> Error { + Error::DrtioError + } +} + macro_rules! unexpected { ($($arg:tt)*) => (return Err(Error::Unexpected(format!($($arg)*)))); } @@ -61,6 +73,7 @@ macro_rules! unexpected { pub struct Sliceable { it: usize, data: Vec, + destination: u8, } /* represents interkernel messages */ @@ -72,7 +85,6 @@ struct Message { #[derive(PartialEq)] enum OutMessageState { NoMessage, - MessageReady, MessageBeingSent, MessageSent, MessageAcknowledged, @@ -92,6 +104,8 @@ struct Session { kernel_state: KernelState, last_exception: Option, messages: MessageManager, + source: u8, // which destination requested running the kernel + subkernels_finished: Vec, } impl Session { @@ -101,13 +115,19 @@ impl Session { kernel_state: KernelState::Absent, last_exception: None, messages: MessageManager::new(), + source: 0, + subkernels_finished: Vec::new(), } } fn running(&self) -> bool { match self.kernel_state { KernelState::Absent | KernelState::Loaded => false, - KernelState::Running | KernelState::MsgAwait { .. } | KernelState::MsgSending => true, + KernelState::Running + | KernelState::MsgAwait { .. } + | KernelState::MsgSending + | KernelState::SubkernelAwaitLoad + | KernelState::SubkernelAwaitFinish { .. } => true, } } } @@ -129,9 +149,12 @@ pub struct Manager<'a> { pub struct SubkernelFinished { pub id: u32, pub with_exception: bool, + pub exception_source: u8, + pub source: u8, } pub struct SliceMeta { + pub destination: u8, pub len: u16, pub status: PayloadStatus, } @@ -148,6 +171,7 @@ macro_rules! get_slice_fn { self.it += len; SliceMeta { + destination: self.destination, len: len as u16, status: status, } @@ -156,8 +180,12 @@ macro_rules! get_slice_fn { } impl Sliceable { - pub fn new(data: Vec) -> Sliceable { - Sliceable { it: 0, data: data } + pub fn new(destination: u8, data: Vec) -> Sliceable { + Sliceable { + it: 0, + data: data, + destination: destination, + } } get_slice_fn!(get_slice_sat, SAT_PAYLOAD_MAX_SIZE); @@ -194,17 +222,6 @@ impl MessageManager { } } - pub fn is_outgoing_ready(&mut self) -> bool { - // called by main loop, to see if there's anything to send, will send it afterwards - match self.out_state { - OutMessageState::MessageReady => { - self.out_state = OutMessageState::MessageBeingSent; - true - } - _ => false, - } - } - pub fn was_message_acknowledged(&mut self) -> bool { match self.out_state { OutMessageState::MessageAcknowledged => { @@ -244,10 +261,34 @@ impl MessageManager { } } - pub fn accept_outgoing(&mut self, message: Vec) -> Result<(), Error> { - // service tag skipped in kernel - self.out_message = Some(Sliceable::new(message)); - self.out_state = OutMessageState::MessageReady; + pub fn accept_outgoing( + &mut self, + id: u32, + self_destination: u8, + destination: u8, + message: Vec, + routing_table: &RoutingTable, + rank: u8, + router: &mut Router, + ) -> Result<(), Error> { + self.out_message = Some(Sliceable::new(destination, message)); + + let mut data_slice: [u8; MASTER_PAYLOAD_MAX_SIZE] = [0; MASTER_PAYLOAD_MAX_SIZE]; + self.out_state = OutMessageState::MessageBeingSent; + let meta = self.get_outgoing_slice(&mut data_slice).unwrap(); + router.route( + drtioaux::Packet::SubkernelMessage { + source: self_destination, + destination: destination, + id: id, + status: meta.status, + length: meta.len as u16, + data: data_slice, + }, + routing_table, + rank, + self_destination, + ); Ok(()) } @@ -313,12 +354,13 @@ impl<'a> Manager<'_> { } } - pub fn run(&mut self, id: u32) -> Result<(), Error> { + pub fn run(&mut self, source: u8, id: u32) -> Result<(), Error> { info!("starting subkernel #{}", id); if self.session.kernel_state != KernelState::Loaded || self.session.id != id { self.load(id)?; } self.session.kernel_state = KernelState::Running; + self.session.source = source; unsafe { csr::cri_con::selected_write(2); } @@ -354,10 +396,6 @@ impl<'a> Manager<'_> { self.session.messages.ack_slice() } - pub fn message_is_ready(&mut self) -> bool { - self.session.messages.is_outgoing_ready() - } - pub fn load(&mut self, id: u32) -> Result<(), Error> { if self.session.id == id && self.session.kernel_state == KernelState::Loaded { return Ok(()); @@ -386,16 +424,13 @@ impl<'a> Manager<'_> { match self.session.last_exception.as_mut() { Some(exception) => exception.get_slice_sat(data_slice), None => SliceMeta { + destination: 0, len: 0, status: PayloadStatus::FirstAndLast, }, } } - pub fn get_last_finished(&mut self) -> Option { - self.last_finished.take() - } - fn kernel_stop(&mut self) { self.session.kernel_state = KernelState::Absent; unsafe { @@ -425,13 +460,38 @@ impl<'a> Manager<'_> { &[], 0, ) { - Ok(_) => self.session.last_exception = Some(Sliceable::new(writer.into_inner())), + Ok(_) => self.session.last_exception = Some(Sliceable::new(0, writer.into_inner())), Err(_) => error!("Error writing exception data"), } self.kernel_stop(); } - pub fn process_kern_requests(&mut self, rank: u8, timer: GlobalTimer) { + pub fn process_kern_requests( + &mut self, + router: &mut Router, + routing_table: &RoutingTable, + rank: u8, + destination: u8, + timer: &GlobalTimer, + ) { + if let Some(subkernel_finished) = self.last_finished.take() { + info!( + "subkernel {} finished, with exception: {}", + subkernel_finished.id, subkernel_finished.with_exception + ); + router.route( + drtioaux::Packet::SubkernelFinished { + destination: subkernel_finished.source, + id: subkernel_finished.id, + with_exception: subkernel_finished.with_exception, + exception_src: subkernel_finished.exception_source, + }, + &routing_table, + rank, + destination, + ); + } + if !self.running() { return; } @@ -444,6 +504,8 @@ impl<'a> Manager<'_> { self.last_finished = Some(SubkernelFinished { id: self.session.id, with_exception: true, + exception_source: destination, + source: self.session.source, }); } Err(e) => { @@ -452,15 +514,19 @@ impl<'a> Manager<'_> { self.last_finished = Some(SubkernelFinished { id: self.session.id, with_exception: true, + exception_source: destination, + source: self.session.source, }); } } - match self.process_kern_message(rank, timer) { + match self.process_kern_message(router, routing_table, rank, destination, timer) { Ok(true) => { self.last_finished = Some(SubkernelFinished { id: self.session.id, with_exception: false, + exception_source: 0, + source: self.session.source, }); } Ok(false) | Err(Error::NoMessage) => (), @@ -469,6 +535,8 @@ impl<'a> Manager<'_> { self.last_finished = Some(SubkernelFinished { id: self.session.id, with_exception: true, + exception_source: destination, + source: self.session.source, }); } Err(e) => { @@ -477,12 +545,46 @@ impl<'a> Manager<'_> { self.last_finished = Some(SubkernelFinished { id: self.session.id, with_exception: true, + exception_source: destination, + source: self.session.source, }); } } } - fn process_kern_message(&mut self, rank: u8, timer: GlobalTimer) -> Result { + pub fn subkernel_load_run_reply(&mut self, succeeded: bool) { + if self.session.kernel_state == KernelState::SubkernelAwaitLoad { + self.control + .tx + .send(kernel::Message::SubkernelLoadRunReply { succeeded: succeeded }); + self.session.kernel_state = KernelState::Running; + } else { + warn!("received unsolicited SubkernelLoadRunReply"); + } + } + + pub fn remote_subkernel_finished(&mut self, id: u32, with_exception: bool, exception_source: u8) { + if with_exception { + self.kernel_stop(); + self.last_finished = Some(SubkernelFinished { + source: self.session.source, + id: self.session.id, + with_exception: true, + exception_source: exception_source, + }) + } else { + self.session.subkernels_finished.push(id); + } + } + + fn process_kern_message( + &mut self, + router: &mut Router, + routing_table: &RoutingTable, + rank: u8, + self_destination: u8, + timer: &GlobalTimer, + ) -> Result { let reply = self.control.rx.try_recv()?; match reply { kernel::Message::KernelFinished(_async_errors) => { @@ -503,7 +605,7 @@ impl<'a> Manager<'_> { Err(_) => error!("Error writing exception data"), } self.kernel_stop(); - return Err(Error::KernelException(Sliceable::new(writer.into_inner()))); + return Err(Error::KernelException(Sliceable::new(0, writer.into_inner()))); } kernel::Message::CachePutRequest(key, value) => { self.cache.insert(key, value); @@ -513,18 +615,57 @@ impl<'a> Manager<'_> { let value = self.cache.get(&key).unwrap_or(&DEFAULT).clone(); self.control.tx.send(kernel::Message::CacheGetReply(value)); } - kernel::Message::SubkernelMsgSend { id: _, data } => { - self.session.messages.accept_outgoing(data)?; + kernel::Message::SubkernelMsgSend { + id: _id, + destination: msg_dest, + data, + } => { + let msg_dest = msg_dest.or(Some(self.session.source)).unwrap(); + self.session.messages.accept_outgoing( + self.session.id, + self_destination, + msg_dest, + data, + routing_table, + rank, + router, + )?; self.session.kernel_state = KernelState::MsgSending; } kernel::Message::SubkernelMsgRecvRequest { id: _, timeout, tags } => { let max_time = timer.get_time() + Milliseconds(timeout); self.session.kernel_state = KernelState::MsgAwait(max_time, tags); } + kernel::Message::SubkernelLoadRunRequest { + id, + destination: sk_destination, + run, + } => { + self.session.kernel_state = KernelState::SubkernelAwaitLoad; + router.route( + drtioaux::Packet::SubkernelLoadRunRequest { + source: self_destination, + destination: sk_destination, + id: id, + run: run, + }, + routing_table, + rank, + self_destination, + ); + } + + kernel::Message::SubkernelAwaitFinishRequest { id, timeout } => { + let max_time = timer.get_time() + Milliseconds(timeout); + self.session.kernel_state = KernelState::SubkernelAwaitFinish { + max_time: max_time, + id: id, + }; + } kernel::Message::UpDestinationsRequest(destination) => { - self.control - .tx - .send(kernel::Message::UpDestinationsReply(destination == (rank as i32))); + self.control.tx.send(kernel::Message::UpDestinationsReply( + destination == (self_destination as i32), + )); } _ => { unexpected!("unexpected message from core1 while kernel was running: {:?}", reply); @@ -533,7 +674,7 @@ impl<'a> Manager<'_> { Ok(false) } - fn process_external_messages(&mut self, timer: GlobalTimer) -> Result<(), Error> { + fn process_external_messages(&mut self, timer: &GlobalTimer) -> Result<(), Error> { match &self.session.kernel_state { KernelState::MsgAwait(timeout, tags) => { if timer.get_time() > *timeout { @@ -565,11 +706,33 @@ impl<'a> Manager<'_> { Err(Error::AwaitingMessage) } } + KernelState::SubkernelAwaitFinish { max_time, id } => { + if timer.get_time() > *max_time { + self.control.tx.send(kernel::Message::SubkernelAwaitFinishReply { + status: kernel::SubkernelStatus::Timeout, + }); + self.session.kernel_state = KernelState::Running; + } else { + let mut i = 0; + for status in &self.session.subkernels_finished { + if *status == *id { + self.control.tx.send(kernel::Message::SubkernelAwaitFinishReply { + status: kernel::SubkernelStatus::NoError, + }); + self.session.kernel_state = KernelState::Running; + self.session.subkernels_finished.swap_remove(i); + break; + } + i += 1; + } + } + Ok(()) + } _ => Ok(()), } } - fn pass_message_to_kernel(&mut self, message: &Message, tags: Vec, timer: GlobalTimer) -> Result<(), Error> { + fn pass_message_to_kernel(&mut self, message: &Message, tags: Vec, timer: &GlobalTimer) -> Result<(), Error> { let mut reader = Cursor::new(&message.data); let mut current_tags: &[u8] = &tags; let mut i = message.count; @@ -592,7 +755,7 @@ impl<'a> Manager<'_> { let mut writer = Cursor::new(buf); match write_exception(&mut writer, exceptions, stack_pointers, backtrace, async_errors) { Ok(()) => { - exception = Some(Sliceable::new(writer.into_inner())); + exception = Some(Sliceable::new(0, writer.into_inner())); } Err(_) => { unexpected = Some("Error writing exception data".to_string()); @@ -686,7 +849,7 @@ where fn recv_w_timeout( rx: &mut Receiver<'_, kernel::Message>, - timer: GlobalTimer, + timer: &GlobalTimer, timeout: u64, ) -> Result { let max_time = timer.get_time() + Milliseconds(timeout);