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kernel/api: add nalgebra::linalg try_invert_to api #307

Merged
sb10q merged 2 commits from :support_nalgebra into master 2024-07-22 11:13:46 +08:00
Conversation 5 Commits 2 Files Changed 3 +446 -69
8 changed files with 446 additions and 69 deletions
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Showing only changes of commit 4a100a7068 - Show all commits

71
flake.lock
View File

@ -3,19 +3,19 @@
"artiq": {
"inputs": {
"artiq-comtools": "artiq-comtools",
"mozilla-overlay": "mozilla-overlay",
"nixpkgs": "nixpkgs",
"rust-overlay": "rust-overlay",
"sipyco": "sipyco",
"src-migen": "src-migen",
"src-misoc": "src-misoc",
"src-pythonparser": "src-pythonparser"
},
"locked": {
"lastModified": 1717638354,
"narHash": "sha256-eyI8OsOrn/j8ChbCpyFpS5VXBW8xSNGGIboFGQj/d4I=",
"lastModified": 1720514025,
"narHash": "sha256-eU9Lux5olHTxRCwSiApKSPEdNhrlZ2OJ9ZqSofqp9Uk=",
"ref": "refs/heads/master",
"rev": "ebc1e3fb767d6c0eac6eac20c3afeaba2ab70d1a",
"revCount": 8833,
"rev": "7a50afd9a96be8e6510d5c952808f39f0b74202a",
"revCount": 8887,
"type": "git",
"url": "https://github.com/m-labs/artiq.git"
},
@ -100,29 +100,13 @@
"type": "github"
}
},
"mozilla-overlay_3": {
"flake": false,
"locked": {
"lastModified": 1704373101,
"narHash": "sha256-+gi59LRWRQmwROrmE1E2b3mtocwueCQqZ60CwLG+gbg=",
"owner": "mozilla",
"repo": "nixpkgs-mozilla",
"rev": "9b11a87c0cc54e308fa83aac5b4ee1816d5418a2",
"type": "github"
},
"original": {
"owner": "mozilla",
"repo": "nixpkgs-mozilla",
"type": "github"
}
},
"nixpkgs": {
"locked": {
"lastModified": 1717281328,
"narHash": "sha256-evZPzpf59oNcDUXxh2GHcxHkTEG4fjae2ytWP85jXRo=",
"lastModified": 1720386169,
"narHash": "sha256-NGKVY4PjzwAa4upkGtAMz1npHGoRzWotlSnVlqI40mo=",
"owner": "NixOS",
"repo": "nixpkgs",
"rev": "b3b2b28c1daa04fe2ae47c21bb76fd226eac4ca1",
"rev": "194846768975b7ad2c4988bdb82572c00222c0d7",
"type": "github"
},
"original": {
@ -135,10 +119,31 @@
"root": {
"inputs": {
"artiq": "artiq",
"mozilla-overlay": "mozilla-overlay_2",
"mozilla-overlay": "mozilla-overlay",
"zynq-rs": "zynq-rs"
}
},
"rust-overlay": {
"inputs": {
"nixpkgs": [
"artiq",
"nixpkgs"
]
},
"locked": {
"lastModified": 1720491570,
"narHash": "sha256-PHS2BcQ9kxBpu9GKlDg3uAlrX/ahQOoAiVmwGl6BjD4=",
"owner": "oxalica",
"repo": "rust-overlay",
"rev": "b970af40fdc4bd80fd764796c5f97c15e2b564eb",
"type": "github"
},
"original": {
"owner": "oxalica",
"repo": "rust-overlay",
"type": "github"
}
},
"sipyco": {
"inputs": {
"nixpkgs": [
@ -163,11 +168,11 @@
"src-migen": {
"flake": false,
"locked": {
"lastModified": 1715484909,
"narHash": "sha256-4DCHBUBfc/VA+7NW2Hr0+JP4NnKPru2uVJyZjCCk0Ws=",
"lastModified": 1720332047,
"narHash": "sha256-FdYVEHVtXHrzPhBqpXOTo9uHQAtuCsDPmAPY8JrfHOY=",
"owner": "m-labs",
"repo": "migen",
"rev": "4790bb577681a8c3a8d226bc196a4e5deb39e4df",
"rev": "60739a161e64630ce7ba62d1a5bac1252b66c3b9",
"type": "github"
},
"original": {
@ -227,18 +232,18 @@
},
"zynq-rs": {
"inputs": {
"mozilla-overlay": "mozilla-overlay_3",
"mozilla-overlay": "mozilla-overlay_2",
"nixpkgs": [
"artiq",
"nixpkgs"
]
},
"locked": {
"lastModified": 1716889070,
"narHash": "sha256-w+M5NfukmcMTt73+u6Cmltjn4qpQH8bcoTGskB2IzBE=",
"lastModified": 1717654016,
"narHash": "sha256-y/c0EZNDNlxb/yLy/D23X9PLoiQ8I9mXAA0zsVOy2t8=",
"ref": "refs/heads/master",
"rev": "51b8111e799ebe90ca231ae4d02f84ede32632d5",
"revCount": 646,
"rev": "0efbbe39fe643c03f15e29c208bff3247a987766",
"revCount": 647,
"type": "git",
"url": "https://git.m-labs.hk/m-labs/zynq-rs"
},

5
src/gateware/kasli_soc.py
View File

@ -560,7 +560,10 @@ class GenericSatellite(SoCCore):
self.submodules.local_io = SyncRTIO(
self.rtio_tsc, self.rtio_channels, lane_count=description["sed_lanes"]
)
self.comb += self.drtiosat.async_errors.eq(self.local_io.async_errors)
self.comb += [
self.drtiosat.async_errors.eq(self.local_io.async_errors),
self.local_io.sed_spread_enable.eq(self.drtiosat.sed_spread_enable.storage)
]
self.submodules.cri_con = rtio.CRIInterconnectShared(
[self.drtiosat.cri, self.rtio_dma.cri, self.rtio.cri],

4
src/gateware/zc706.py
View File

@ -487,6 +487,10 @@ class _SatelliteBase(SoCCore):
self.csr_devices.append("rtio_dma")
self.submodules.local_io = SyncRTIO(self.rtio_tsc, rtio_channels)
self.comb += [
self.drtiosat.async_errors.eq(self.local_io.async_errors),
self.local_io.sed_spread_enable.eq(self.drtiosat.sed_spread_enable.storage)
]
self.submodules.cri_con = rtio.CRIInterconnectShared(
[self.drtiosat.cri, self.rtio_dma.cri, self.rtio.cri],
[self.local_io.cri] + self.drtio_cri,

1
src/libksupport/src/kernel/api.rs
View File

@ -303,6 +303,7 @@ pub fn resolve(required: &[u8]) -> Option<u32> {
api_libm_f64f64f64!(nextafter),
api_libm_f64f64f64!(pow),
api_libm_f64f64!(round),
api_libm_f64f64!(rint),
api_libm_f64f64!(sin),
api_libm_f64f64!(sinh),
api_libm_f64f64!(sqrt),

2
src/runtime/src/comms.rs
View File

@ -771,7 +771,7 @@ pub fn main(timer: GlobalTimer, cfg: Config) {
#[cfg(has_drtio_routing)]
drtio_routing::interconnect_disable_all();
rtio_mgt::startup(&aux_mutex, &drtio_routing_table, &up_destinations, timer);
rtio_mgt::startup(&aux_mutex, &drtio_routing_table, &up_destinations, &cfg, timer);
ksupport::setup_device_map(&cfg);
analyzer::start(&aux_mutex, &drtio_routing_table, &up_destinations, timer);

26
src/runtime/src/rtio_mgt.rs
View File

@ -3,7 +3,9 @@ use core::cell::RefCell;
use libboard_artiq::{drtio_routing, drtio_routing::RoutingTable, pl::csr};
use libboard_zynq::timer::GlobalTimer;
use libconfig::Config;
use libcortex_a9::mutex::Mutex;
use log::{info, warn};
#[cfg(has_drtio)]
pub mod drtio {
@ -898,12 +900,36 @@ pub mod drtio {
pub fn reset(_aux_mutex: Rc<Mutex<bool>>, _routing_table: &RoutingTable, mut _timer: GlobalTimer) {}
}
fn toggle_sed_spread(val: u8) {
unsafe {
csr::rtio_core::sed_spread_enable_write(val);
}
}
fn setup_sed_spread(cfg: &Config) {
if let Ok(spread_enable) = cfg.read_str("sed_spread_enable") {
match spread_enable.as_ref() {
"1" => toggle_sed_spread(1),
"0" => toggle_sed_spread(0),
_ => {
warn!("sed_spread_enable value not supported (only 1, 0 allowed), disabling by default");
toggle_sed_spread(0)
}
};
} else {
info!("SED spreading disabled by default");
toggle_sed_spread(0);
}
}
pub fn startup(
aux_mutex: &Rc<Mutex<bool>>,
routing_table: &Rc<RefCell<RoutingTable>>,
up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>,
cfg: &Config,
timer: GlobalTimer,
) {
setup_sed_spread(cfg);
drtio::startup(aux_mutex, routing_table, up_destinations, timer);
unsafe {
csr::rtio_core::reset_phy_write(1);

373
src/satman/src/main.rs
View File

@ -12,6 +12,7 @@ extern crate io;
extern crate ksupport;
extern crate libboard_artiq;
extern crate libboard_zynq;
extern crate libconfig;
extern crate libcortex_a9;
extern crate libregister;
extern crate libsupport_zynq;
@ -38,6 +39,7 @@ use libboard_artiq::{drtio_routing, drtioaux,
#[cfg(feature = "target_kasli_soc")]
use libboard_zynq::error_led::ErrorLED;
use libboard_zynq::{i2c::I2c, print, println, time::Milliseconds, timer::GlobalTimer};
use libconfig::Config;
use libcortex_a9::{l2c::enable_l2_cache, regs::MPIDR};
use libregister::RegisterR;
use libsupport_zynq::{exception_vectors, ram};
@ -81,15 +83,37 @@ fn drtiosat_tsc_loaded() -> bool {
}
}
fn toggle_sed_spread(val: u8) {
unsafe {
csr::drtiosat::sed_spread_enable_write(val);
}
}
#[cfg(has_drtio_routing)]
macro_rules! forward {
($routing_table:expr, $destination:expr, $rank:expr, $repeaters:expr, $packet:expr, $timer:expr) => {{
(
$router:expr,
$routing_table:expr,
$destination:expr,
$rank:expr,
$self_destination:expr,
$repeaters:expr,
$packet:expr,
$timer:expr
) => {{
let hop = $routing_table.0[$destination as usize][$rank as usize];
if hop != 0 {
let repno = (hop - 1) as usize;
if repno < $repeaters.len() {
if $packet.expects_response() {
return $repeaters[repno].aux_forward($packet, $timer);
return $repeaters[repno].aux_forward(
$packet,
$router,
$routing_table,
$rank,
$self_destination,
$timer,
);
} else {
return $repeaters[repno].aux_send($packet);
}
@ -102,7 +126,16 @@ macro_rules! forward {
#[cfg(not(has_drtio_routing))]
macro_rules! forward {
($routing_table:expr, $destination:expr, $rank:expr, $repeaters:expr, $packet:expr, $timer:expr) => {};
(
$router:expr,
$routing_table:expr,
$destination:expr,
$rank:expr,
$self_destination:expr,
$repeaters:expr,
$packet:expr,
$timer:expr
) => {};
}
fn process_aux_packet(
@ -183,6 +216,10 @@ fn process_aux_packet(
&drtioaux::Packet::DestinationStatusRequest {
destination: destination,
},
router,
_routing_table,
*rank,
*self_destination,
timer,
) {
Ok(()) => (),
@ -244,7 +281,16 @@ fn process_aux_packet(
channel,
probe,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let value;
#[cfg(has_rtio_moninj)]
unsafe {
@ -266,7 +312,16 @@ fn process_aux_packet(
overrd,
value,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
#[cfg(has_rtio_moninj)]
unsafe {
csr::rtio_moninj::inj_chan_sel_write(channel as _);
@ -280,7 +335,16 @@ fn process_aux_packet(
channel,
overrd,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let value;
#[cfg(has_rtio_moninj)]
unsafe {
@ -299,7 +363,16 @@ fn process_aux_packet(
destination: _destination,
busno: _busno,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let succeeded = i2c.start().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
@ -307,7 +380,16 @@ fn process_aux_packet(
destination: _destination,
busno: _busno,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let succeeded = i2c.restart().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
@ -315,7 +397,16 @@ fn process_aux_packet(
destination: _destination,
busno: _busno,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let succeeded = i2c.stop().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
@ -324,7 +415,16 @@ fn process_aux_packet(
busno: _busno,
data,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
match i2c.write(data) {
Ok(ack) => drtioaux::send(
0,
@ -347,7 +447,16 @@ fn process_aux_packet(
busno: _busno,
ack,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
match i2c.read(ack) {
Ok(data) => drtioaux::send(
0,
@ -371,7 +480,16 @@ fn process_aux_packet(
address,
mask,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let ch = match mask {
//decode from mainline, PCA9548-centric API
0x00 => None,
@ -397,7 +515,16 @@ fn process_aux_packet(
div: _div,
cs: _cs,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_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 })
@ -407,7 +534,16 @@ fn process_aux_packet(
busno: _busno,
data: _data,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_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 })
@ -416,7 +552,16 @@ fn process_aux_packet(
destination: _destination,
busno: _busno,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
// todo: reimplement when/if SPI is available
// match spi::read(busno) {
// Ok(data) => drtioaux::send(0,
@ -436,7 +581,16 @@ fn process_aux_packet(
drtioaux::Packet::AnalyzerHeaderRequest {
destination: _destination,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let header = analyzer.get_header();
drtioaux::send(
0,
@ -450,7 +604,16 @@ fn process_aux_packet(
drtioaux::Packet::AnalyzerDataRequest {
destination: _destination,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_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(
@ -471,7 +634,16 @@ fn process_aux_packet(
length,
trace,
} => {
forward!(_routing_table, destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
*self_destination = destination;
let succeeded = dma_manager.add(source, id, status, &trace, length as usize).is_ok();
router.send(
@ -492,7 +664,16 @@ fn process_aux_packet(
id,
succeeded,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
dma_manager.ack_upload(
kernel_manager,
source,
@ -510,7 +691,16 @@ fn process_aux_packet(
destination: _destination,
id,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let succeeded = dma_manager.erase(source, id).is_ok();
router.send(
drtioaux::Packet::DmaRemoveTraceReply {
@ -526,7 +716,16 @@ fn process_aux_packet(
destination: _destination,
succeeded: _,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
Ok(())
}
drtioaux::Packet::DmaPlaybackRequest {
@ -535,7 +734,16 @@ fn process_aux_packet(
id,
timestamp,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let succeeded = if !kernel_manager.running() {
dma_manager.playback(source, id, timestamp).is_ok()
} else {
@ -555,7 +763,16 @@ fn process_aux_packet(
destination: _destination,
succeeded,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
if !succeeded {
kernel_manager.ddma_nack();
}
@ -569,7 +786,16 @@ fn process_aux_packet(
channel,
timestamp,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
dma_manager.remote_finished(kernel_manager, id, error, channel, timestamp);
Ok(())
}
@ -581,7 +807,16 @@ fn process_aux_packet(
length,
data,
} => {
forward!(_routing_table, destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
destination,
*rank,
*self_destination,
_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 })
@ -592,7 +827,16 @@ fn process_aux_packet(
id,
run,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
let mut succeeded = kernel_manager.load(id).is_ok();
// allow preloading a kernel with delayed run
if run {
@ -617,7 +861,16 @@ fn process_aux_packet(
destination: _destination,
succeeded,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
// received if local subkernel started another, remote subkernel
kernel_manager.subkernel_load_run_reply(succeeded);
Ok(())
@ -628,14 +881,32 @@ fn process_aux_packet(
with_exception,
exception_src,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_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!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_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(
@ -655,7 +926,16 @@ fn process_aux_packet(
length,
data,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_repeaters,
&packet,
timer
);
kernel_manager.message_handle_incoming(status, id, length as usize, &data);
router.send(
drtioaux::Packet::SubkernelMessageAck { destination: source },
@ -667,7 +947,16 @@ fn process_aux_packet(
drtioaux::Packet::SubkernelMessageAck {
destination: _destination,
} => {
forward!(_routing_table, _destination, *rank, _repeaters, &packet, timer);
forward!(
router,
_routing_table,
_destination,
*rank,
*self_destination,
_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) {
@ -920,6 +1209,28 @@ pub extern "C" fn main_core0() -> i32 {
#[cfg(has_si549)]
si549::helper_setup(&mut timer, &SI549_SETTINGS).expect("cannot initialize helper Si549");
let cfg = match Config::new() {
Ok(cfg) => cfg,
Err(err) => {
warn!("config initialization failed: {}", err);
Config::new_dummy()
}
};
if let Ok(spread_enable) = cfg.read_str("sed_spread_enable") {
match spread_enable.as_ref() {
"1" => toggle_sed_spread(1),
"0" => toggle_sed_spread(0),
_ => {
warn!("sed_spread_enable value not supported (only 1, 0 allowed), disabling by default");
toggle_sed_spread(0)
}
};
} else {
info!("SED spreading disabled by default");
toggle_sed_spread(0);
}
#[cfg(has_drtio_routing)]
let mut repeaters = [repeater::Repeater::default(); csr::DRTIOREP.len()];
#[cfg(not(has_drtio_routing))]

29
src/satman/src/repeater.rs
View File

@ -208,10 +208,37 @@ impl Repeater {
}
}
pub fn aux_forward(&self, request: &drtioaux::Packet, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
pub fn aux_forward(
&self,
request: &drtioaux::Packet,
router: &mut Router,
routing_table: &drtio_routing::RoutingTable,
rank: u8,
self_destination: u8,
timer: &mut GlobalTimer,
) -> Result<(), drtioaux::Error> {
self.aux_send(request)?;
loop {
let reply = self.recv_aux_timeout(200, timer)?;
match reply {
// async/locally requested packets to be consumed or routed
// these may come while a packet would be forwarded
drtioaux::Packet::DmaPlaybackStatus { .. }
| drtioaux::Packet::SubkernelFinished { .. }
| drtioaux::Packet::SubkernelMessage { .. }
| drtioaux::Packet::SubkernelMessageAck { .. }
| drtioaux::Packet::SubkernelLoadRunReply { .. }
| drtioaux::Packet::SubkernelException { .. }
| drtioaux::Packet::DmaAddTraceReply { .. }
| drtioaux::Packet::DmaPlaybackReply { .. } => {
router.route(reply, routing_table, rank, self_destination);
}
_ => {
drtioaux::send(0, &reply).unwrap();
break;
}
}
}
Ok(())
}