M-Labs/artiq-zynq
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satman:

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* added Zynq-specific impls of basic functions (main/panic/irq)
* added makefile definition
* fixed drtioaux compilation error (feature never_type)
This commit is contained in:
mwojcik 2021-08-05 16:05:44 +02:00
parent ecc8a0ccc0
commit f45fa28dac
5 changed files with 132 additions and 31 deletions
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17
src/Makefile
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@ -1,7 +1,11 @@
TARGET := zc706
GWARGS := -V simple
all: ../build/firmware/armv7-none-eabihf/release/runtime ../build/runtime.bin
all: runtime
runtime: ../build/firmware/armv7-none-eabihf/release/runtime ../build/runtime.bin
satman: ../build/firmware/armv7-none-eabihf/release/satman ../build/satman.bin
.PHONY: all
@ -19,3 +23,14 @@ all: ../build/firmware/armv7-none-eabihf/release/runtime ../build/runtime.bin
../build/runtime.bin: ../build/firmware/armv7-none-eabihf/release/runtime
llvm-objcopy -O binary ../build/firmware/armv7-none-eabihf/release/runtime ../build/runtime.bin
../build/firmware/armv7-none-eabihf/release/satman: ../build/pl.rs ../build/rustc-cfg $(shell find . -print)
cd satman && \
XBUILD_SYSROOT_PATH=`pwd`/../../build/sysroot \
cargo xbuild --release \
--target-dir ../../build/firmware \
--no-default-features --features=target_$(TARGET)
../build/satman.bin: ../build/firmware/armv7-none-eabihf/release/satman
llvm-objcopy -O binary ../build/firmware/armv7-none-eabihf/release/satman ../build/satman.bin

1
src/libboard_artiq/src/lib.rs
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@ -1,4 +1,5 @@
#![no_std]
#![feature(never_type)]
extern crate log;
extern crate libboard_zynq;

8
src/satman/Cargo.toml
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@ -9,15 +9,23 @@ name = "satman"
crate-type = ["staticlib"]
path = "main.rs"
[features]
target_zc706 = ["libboard_zynq/target_zc706", "libsupport_zynq/target_zc706", "libconfig/target_zc706"]
target_kasli_soc = ["libboard_zynq/target_kasli_soc", "libsupport_zynq/target_kasli_soc", "libconfig/target_kasli_soc"]
default = ["target_zc706"]
[build-dependencies]
build_zynq = { path = "../libbuild_zynq" }
[dependencies]
log = { version = "0.4", default-features = false }
embedded-hal = "0.2"
libboard_zynq = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git", features = ["ipv6"]}
libsupport_zynq = { default-features = false, features = ["alloc_core"], git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libcortex_a9 = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libasync = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libregister = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libconfig = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git", features = ["ipv6"] }
libboard_artiq = { path = "../libboard_artiq" }

134
src/satman/main.rs
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@ -1,16 +1,33 @@
#![feature(never_type, panic_implementation, panic_info_message, const_slice_len, try_from)]
#![feature(never_type, panic_info_message, const_slice_len, try_from, asm, naked_functions)]
#![feature(alloc_error_handler)]
#![no_std]
#![no_main]
#[macro_use]
extern crate log;
use core::convert::TryFrom;
use libboard_zynq::i2c::I2c;
use libboard_zynq::timer::GlobalTimer;
extern crate embedded_hal;
extern crate libboard_zynq;
extern crate libboard_artiq;
extern crate libsupport_zynq;
extern crate libcortex_a9;
extern crate libregister;
extern crate alloc;
use libboard_zynq::{i2c::I2c, timer::GlobalTimer, time::Milliseconds, print, println, mpcore, gic};
use libsupport_zynq::ram;
#[cfg(has_si5324)]
use libboard_artiq::si5324;
// use libboard_zynq::spi; // not yet supported in board/csr
use libboard_artiq::{pl::csr, drtio_routing, drtioaux, logger, identifier_read};
use libcortex_a9::{spin_lock_yield, interrupt_handler, regs::{MPIDR, SP}, notify_spin_lock, asm, l2c::enable_l2_cache};
use embedded_hal::blocking::delay::DelayUs;
use core::sync::atomic::{AtomicBool, Ordering};
use libregister::{RegisterW, RegisterR};
mod repeater;
@ -230,33 +247,33 @@ fn process_aux_packet(_repeaters: &mut [repeater::Repeater],
drtioaux::send(0, &drtioaux::Packet::InjectionStatusReply { value: value })
},
drtioaux::Packet::I2cStartRequest { destination: _destination, busno } => {
drtioaux::Packet::I2cStartRequest { destination: _destination, _busno } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let succeeded = i2c.start(busno).is_ok();
let succeeded = i2c.start().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
drtioaux::Packet::I2cRestartRequest { destination: _destination, busno } => {
drtioaux::Packet::I2cRestartRequest { destination: _destination, _busno } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let succeeded = i2c.restart(busno).is_ok();
let succeeded = i2c.restart().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
drtioaux::Packet::I2cStopRequest { destination: _destination, busno } => {
drtioaux::Packet::I2cStopRequest { destination: _destination, _busno } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
let succeeded = i2c.stop(busno).is_ok();
let succeeded = i2c.stop().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
drtioaux::Packet::I2cWriteRequest { destination: _destination, busno, data } => {
drtioaux::Packet::I2cWriteRequest { destination: _destination, _busno, data } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
match i2c.write(busno, data) {
match i2c.write(data) {
Ok(ack) => drtioaux::send(0,
&drtioaux::Packet::I2cWriteReply { succeeded: true, ack: ack }),
Err(_) => drtioaux::send(0,
&drtioaux::Packet::I2cWriteReply { succeeded: false, ack: false })
}
}
drtioaux::Packet::I2cReadRequest { destination: _destination, busno, ack } => {
drtioaux::Packet::I2cReadRequest { destination: _destination, _busno, ack } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
match i2c.read(busno, ack) {
match i2c.read(ack) {
Ok(data) => drtioaux::send(0,
&drtioaux::Packet::I2cReadReply { succeeded: true, data: data }),
Err(_) => drtioaux::send(0,
@ -271,14 +288,14 @@ fn process_aux_packet(_repeaters: &mut [repeater::Repeater],
drtioaux::send(0,
&drtioaux::Packet::SpiBasicReply { succeeded: false})
},
drtioaux::Packet::SpiWriteRequest { destination: _destination, busno, data } => {
drtioaux::Packet::SpiWriteRequest { destination: _destination, _busno, data } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
// todo: reimplement when SPI is available
//let succeeded = spi::write(busno, data).is_ok();
drtioaux::send(0,
&drtioaux::Packet::SpiBasicReply { succeeded: false })
}
drtioaux::Packet::SpiReadRequest { destination: _destination, busno } => {
drtioaux::Packet::SpiReadRequest { destination: _destination, _busno } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet);
// todo: reimplement when SPI is available
// match spi::read(busno) {
@ -308,7 +325,7 @@ fn process_aux_packet(_repeaters: &mut [repeater::Repeater],
fn process_aux_packets(repeaters: &mut [repeater::Repeater],
routing_table: &mut drtio_routing::RoutingTable, rank: &mut u8,
timer::GlobalTimer, i2c: I2c) {
timer: GlobalTimer, i2c: I2c) {
let result =
drtioaux::recv(0).and_then(|packet| {
if let Some(packet) = packet {
@ -379,8 +396,10 @@ fn init_rtio_crg(timer: GlobalTimer) { }
fn hardware_tick(ts: &mut u64, timer: GlobalTimer) {
let now = timer.get_time();
if now > *ts {
*ts = now + 200;
let mut ts_ms = Milliseconds(*ts);
if now > ts_ms {
ts_ms = now + Milliseconds(200);
*ts = ts_ms.0;
}
}
@ -410,8 +429,12 @@ const SI5324_SETTINGS: si5324::FrequencySettings
crystal_ref: true
};
static mut LOG_BUFFER: [u8; 1<<17] = [0; 1<<17];
#[no_mangle]
pub extern fn main() -> i32 {
pub extern fn main_core0() -> i32 {
enable_l2_cache(0x8);
let mut timer = GlobalTimer::start();
let buffer_logger = unsafe {
@ -420,10 +443,13 @@ pub extern fn main() -> i32 {
buffer_logger.set_uart_log_level(log::LevelFilter::Info);
buffer_logger.register();
//probably will have to copy init_gateware() from runtime here too
info!("ARTIQ satellite manager starting...");
info!("software ident {}", csr::CONFIG_IDENTIFIER_STR);
info!("gateware ident {}", identifier_read(&mut [0; 64]));
ram::init_alloc_core0();
let mut i2c = I2c::i2c0();
i2c.init().expect("I2C initialization failed");
@ -488,7 +514,7 @@ pub extern fn main() -> i32 {
io_expander0.service().expect("I2C I/O expander #0 service failed");
io_expander1.service().expect("I2C I/O expander #1 service failed");
}
hardware_tick(&mut hardware_tick_ts);
hardware_tick(&mut hardware_tick_ts, timer);
}
info!("uplink is up, switching to recovered clock");
@ -536,6 +562,49 @@ pub extern fn main() -> i32 {
}
}
extern "C" {
static mut __stack1_start: u32;
}
interrupt_handler!(IRQ, irq, __irq_stack0_start, __irq_stack1_start, {
if MPIDR.read().cpu_id() == 1{
let mpcore = mpcore::RegisterBlock::mpcore();
let mut gic = gic::InterruptController::gic(mpcore);
let id = gic.get_interrupt_id();
if id.0 == 0 {
gic.end_interrupt(id);
asm::exit_irq();
SP.write(&mut __stack1_start as *mut _ as u32);
asm::enable_irq();
CORE1_RESTART.store(false, Ordering::Relaxed);
notify_spin_lock();
main_core1();
}
}
loop {}
});
static mut PANICKED: [bool; 2] = [false; 2];
static CORE1_RESTART: AtomicBool = AtomicBool::new(false);
pub fn restart_core1() {
let mut interrupt_controller = gic::InterruptController::gic(mpcore::RegisterBlock::mpcore());
CORE1_RESTART.store(true, Ordering::Relaxed);
interrupt_controller.send_sgi(gic::InterruptId(0), gic::CPUCore::Core1.into());
while CORE1_RESTART.load(Ordering::Relaxed) {
spin_lock_yield();
}
}
#[no_mangle]
pub fn main_core1() {
let mut interrupt_controller = gic::InterruptController::gic(mpcore::RegisterBlock::mpcore());
interrupt_controller.enable_interrupts();
loop {}
}
#[no_mangle]
pub extern fn exception(vect: u32, _regs: *const u32, pc: u32, ea: u32) {
@ -564,22 +633,29 @@ pub extern fn abort() {
}
#[no_mangle] // https://github.com/rust-lang/rust/issues/{38281,51647}
#[panic_implementation]
#[panic_handler]
pub fn panic_fmt(info: &core::panic::PanicInfo) -> ! {
#[cfg(has_error_led)]
let id = MPIDR.read().cpu_id() as usize;
print!("Core {} ", id);
unsafe {
csr::error_led::out_write(1);
if PANICKED[id] {
println!("nested panic!");
loop {}
}
PANICKED[id] = true;
}
print!("panic at ");
if let Some(location) = info.location() {
print!("panic at {}:{}:{}", location.file(), location.line(), location.column());
print!("{}:{}:{}", location.file(), location.line(), location.column());
} else {
print!("panic at unknown location");
print!("unknown location");
}
if let Some(message) = info.message() {
println!(": {}", message);
} else {
println!("");
}
loop {}
}

3
src/satman/repeater.rs
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@ -2,7 +2,8 @@ use libboard_artiq::{drtioaux, drtio_routing};
#[cfg(has_drtio_routing)]
use libboard_artiq::{pl::csr};
#[cfg(has_drtio_routing)]
use libboard_zynq::timer::{GlobalTimer, Milliseconds};
use libboard_zynq::time::Milliseconds;
use libboard_zynq::timer::GlobalTimer;
#[cfg(has_drtio_routing)]
fn rep_link_rx_up(repno: u8) -> bool {