subkernel: add support for (d)dma

src/satman/src/main.rs

@@ -1008,6 +1008,7 @@ pub extern "C" fn main_core0() -> i32 {
                 &timer,
             );
 
+            #[cfg(has_drtio_routing)]
             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)

src/satman/src/repeater.rs

@@ -347,7 +347,15 @@ impl Repeater {
         Repeater::default()
     }
 
-    pub fn service(&self, _routing_table: &drtio_routing::RoutingTable, _rank: u8, _timer: &mut GlobalTimer) {}
+    pub fn service(
+        &self,
+        _routing_table: &drtio_routing::RoutingTable,
+        _rank: u8,
+        _destination: u8,
+        _router: &mut Router,
+        _timer: &mut GlobalTimer,
+    ) {
+    }
 
     pub fn sync_tsc(&self, _timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
         Ok(())

src/satman/src/routing.rs

@@ -1,9 +1,10 @@
 use alloc::{collections::vec_deque::VecDeque, vec::Vec};
 use core::cmp::min;
 
+#[cfg(has_drtio_routing)]
+use libboard_artiq::pl::csr;
 use libboard_artiq::{drtio_routing, drtioaux,
-                     drtioaux_proto::{PayloadStatus, MASTER_PAYLOAD_MAX_SIZE, SAT_PAYLOAD_MAX_SIZE},
-                     pl::csr};
+                     drtioaux_proto::{PayloadStatus, MASTER_PAYLOAD_MAX_SIZE, SAT_PAYLOAD_MAX_SIZE}};
 
 pub struct SliceMeta {
     pub destination: u8,
@@ -72,6 +73,7 @@ impl Sliceable {
 pub struct Router {
     upstream_queue: VecDeque<drtioaux::Packet>,
     local_queue: VecDeque<drtioaux::Packet>,
+    #[cfg(has_drtio_routing)]
     downstream_queue: VecDeque<(usize, drtioaux::Packet)>,
     upstream_notified: bool,
 }
@@ -81,6 +83,7 @@ impl Router {
         Router {
             upstream_queue: VecDeque::new(),
             local_queue: VecDeque::new(),
+            #[cfg(has_drtio_routing)]
             downstream_queue: VecDeque::new(),
             upstream_notified: false,
         }
@@ -93,14 +96,14 @@ impl Router {
         packet: drtioaux::Packet,
         _routing_table: &drtio_routing::RoutingTable,
         _rank: u8,
-        _self_destination: u8,
+        self_destination: u8,
     ) {
+        let destination = packet.routable_destination();
         #[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 {
+                if destination == self_destination {
                     self.local_queue.push_back(packet);
                 } else if hop > 0 && hop < csr::DRTIOREP.len() {
                     let repno = (hop - 1) as usize;
@@ -114,7 +117,11 @@ impl Router {
         }
         #[cfg(not(has_drtio_routing))]
         {
-            self.upstream_queue.push_back(packet);
+            if destination == Some(self_destination) {
+                self.local_queue.push_back(packet);
+            } else {
+                self.upstream_queue.push_back(packet);
+            }
         }
     }
 
@@ -172,6 +179,7 @@ impl Router {
         packet
     }
 
+    #[cfg(has_drtio_routing)]
     pub fn get_downstream_packet(&mut self) -> Option<(usize, drtioaux::Packet)> {
         self.downstream_queue.pop_front()
     }