352 lines
15 KiB
Rust
352 lines
15 KiB
Rust
use core::cell::RefCell;
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use alloc::rc::Rc;
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use libboard_zynq::{timer::GlobalTimer, time::Milliseconds};
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use libboard_artiq::{pl::csr, drtio_routing};
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use libcortex_a9::mutex::Mutex;
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#[cfg(has_drtio)]
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pub mod drtio {
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use super::*;
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use libboard_artiq::drtioaux_async;
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use libboard_artiq::drtioaux_async::Packet;
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use libboard_artiq::drtioaux::Error;
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use log::{warn, error, info};
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use embedded_hal::blocking::delay::DelayMs;
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use libasync::{task, delay};
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pub fn startup(aux_mutex: &Rc<Mutex<bool>>,
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routing_table: &Rc<RefCell<drtio_routing::RoutingTable>>,
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up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>,
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timer: GlobalTimer) {
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let aux_mutex = aux_mutex.clone();
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let routing_table = routing_table.clone();
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let up_destinations = up_destinations.clone();
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task::spawn(async move {
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let routing_table = routing_table.borrow();
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link_thread(&aux_mutex, &routing_table, &up_destinations, timer).await;
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});
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}
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async fn link_rx_up(linkno: u8) -> bool {
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let linkno = linkno as usize;
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unsafe {
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(csr::DRTIO[linkno].rx_up_read)() == 1
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}
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}
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async fn recv_aux_timeout(linkno: u8, timeout: u64, timer: GlobalTimer) -> Result<Packet, &'static str> {
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if !link_rx_up(linkno).await {
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return Err("link went down");
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}
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match drtioaux_async::recv_timeout(linkno, Some(timeout), timer).await {
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Ok(packet) => return Ok(packet),
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Err(Error::TimedOut) => return Err("timed out"),
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Err(_) => return Err("aux packet error"),
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}
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}
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pub async fn aux_transact(aux_mutex: &Mutex<bool>, linkno: u8, request: &Packet,
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timer: GlobalTimer) -> Result<Packet, &'static str> {
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let _lock = aux_mutex.lock();
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drtioaux_async::send(linkno, request).await.unwrap();
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recv_aux_timeout(linkno, 200, timer).await
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}
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async fn drain_buffer(linkno: u8, draining_time: Milliseconds, timer: GlobalTimer) {
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let max_time = timer.get_time() + draining_time;
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loop {
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if timer.get_time() > max_time {
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return;
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} //could this be cut short?
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let _ = drtioaux_async::recv(linkno).await;
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}
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}
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async fn ping_remote(aux_mutex: &Rc<Mutex<bool>>, linkno: u8, timer: GlobalTimer) -> u32 {
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let mut count = 0;
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loop {
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if !link_rx_up(linkno).await {
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return 0
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}
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count += 1;
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if count > 100 {
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return 0;
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}
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let reply = aux_transact(aux_mutex, linkno, &Packet::EchoRequest, timer).await;
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match reply {
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Ok(Packet::EchoReply) => {
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// make sure receive buffer is drained
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let draining_time = Milliseconds(200);
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drain_buffer(linkno, draining_time, timer).await;
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return count;
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}
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_ => {}
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}
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}
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}
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async fn sync_tsc(aux_mutex: &Rc<Mutex<bool>>, linkno: u8, timer: GlobalTimer) -> Result<(), &'static str> {
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let _lock = aux_mutex.lock();
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unsafe {
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(csr::DRTIO[linkno as usize].set_time_write)(1);
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while (csr::DRTIO[linkno as usize].set_time_read)() == 1 {}
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}
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// TSCAck is the only aux packet that is sent spontaneously
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// by the satellite, in response to a TSC set on the RT link.
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let reply = recv_aux_timeout(linkno, 10000, timer).await?;
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if reply == Packet::TSCAck {
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return Ok(());
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} else {
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return Err("unexpected reply");
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}
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}
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async fn load_routing_table(aux_mutex: &Rc<Mutex<bool>>, linkno: u8, routing_table: &drtio_routing::RoutingTable,
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timer: GlobalTimer) -> Result<(), &'static str> {
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for i in 0..drtio_routing::DEST_COUNT {
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let reply = aux_transact(aux_mutex, linkno, &Packet::RoutingSetPath {
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destination: i as u8,
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hops: routing_table.0[i]
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}, timer).await?;
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if reply != Packet::RoutingAck {
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return Err("unexpected reply");
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}
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}
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Ok(())
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}
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async fn set_rank(aux_mutex: &Rc<Mutex<bool>>, linkno: u8, rank: u8, timer: GlobalTimer) -> Result<(), &'static str> {
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let reply = aux_transact(aux_mutex, linkno, &Packet::RoutingSetRank {
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rank: rank
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}, timer).await?;
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if reply != Packet::RoutingAck {
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return Err("unexpected reply");
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}
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Ok(())
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}
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async fn init_buffer_space(destination: u8, linkno: u8) {
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let linkno = linkno as usize;
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unsafe {
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(csr::DRTIO[linkno].destination_write)(destination);
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(csr::DRTIO[linkno].force_destination_write)(1);
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(csr::DRTIO[linkno].o_get_buffer_space_write)(1);
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while (csr::DRTIO[linkno].o_wait_read)() == 1 {}
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info!("[DEST#{}] buffer space is {}",
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destination, (csr::DRTIO[linkno].o_dbg_buffer_space_read)());
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(csr::DRTIO[linkno].force_destination_write)(0);
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}
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}
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async fn process_unsolicited_aux(aux_mutex: &Rc<Mutex<bool>>, linkno: u8) {
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let _lock = aux_mutex.lock();
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match drtioaux_async::recv(linkno).await {
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Ok(Some(packet)) => warn!("[LINK#{}] unsolicited aux packet: {:?}", linkno, packet),
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Ok(None) => (),
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Err(_) => warn!("[LINK#{}] aux packet error", linkno)
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}
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}
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async fn process_local_errors(linkno: u8) {
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let errors;
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let linkidx = linkno as usize;
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unsafe {
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errors = (csr::DRTIO[linkidx].protocol_error_read)();
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(csr::DRTIO[linkidx].protocol_error_write)(errors);
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}
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if errors != 0 {
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error!("[LINK#{}] error(s) found (0x{:02x}):", linkno, errors);
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if errors & 1 != 0 {
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error!("[LINK#{}] received packet of an unknown type", linkno);
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}
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if errors & 2 != 0 {
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error!("[LINK#{}] received truncated packet", linkno);
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}
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if errors & 4 != 0 {
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error!("[LINK#{}] timeout attempting to get remote buffer space", linkno);
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}
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}
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}
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async fn destination_set_up(routing_table: &drtio_routing::RoutingTable,
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up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>,
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destination: u8, up: bool) {
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let mut up_destinations = up_destinations.borrow_mut();
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up_destinations[destination as usize] = up;
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if up {
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drtio_routing::interconnect_enable(routing_table, 0, destination);
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info!("[DEST#{}] destination is up", destination);
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} else {
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drtio_routing::interconnect_disable(destination);
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info!("[DEST#{}] destination is down", destination);
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}
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}
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async fn destination_up(up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>, destination: u8) -> bool {
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let up_destinations = up_destinations.borrow();
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up_destinations[destination as usize]
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}
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async fn destination_survey(aux_mutex: &Rc<Mutex<bool>>, routing_table: &drtio_routing::RoutingTable,
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up_links: &[bool],
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up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>,
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timer: GlobalTimer) {
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for destination in 0..drtio_routing::DEST_COUNT {
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let hop = routing_table.0[destination][0];
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let destination = destination as u8;
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if hop == 0 {
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/* local RTIO */
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if !destination_up(up_destinations, destination).await {
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destination_set_up(routing_table, up_destinations, destination, true).await;
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}
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} else if hop as usize <= csr::DRTIO.len() {
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let linkno = hop - 1;
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if destination_up(up_destinations, destination).await {
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if up_links[linkno as usize] {
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let reply = aux_transact(aux_mutex, linkno, &Packet::DestinationStatusRequest {
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destination: destination
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}, timer).await;
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match reply {
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Ok(Packet::DestinationDownReply) =>
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destination_set_up(routing_table, up_destinations, destination, false).await,
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Ok(Packet::DestinationOkReply) => (),
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Ok(Packet::DestinationSequenceErrorReply { channel }) =>
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error!("[DEST#{}] RTIO sequence error involving channel 0x{:04x}", destination, channel),
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Ok(Packet::DestinationCollisionReply { channel }) =>
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error!("[DEST#{}] RTIO collision involving channel 0x{:04x}", destination, channel),
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Ok(Packet::DestinationBusyReply { channel }) =>
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error!("[DEST#{}] RTIO busy error involving channel 0x{:04x}", destination, channel),
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Ok(packet) => error!("[DEST#{}] received unexpected aux packet: {:?}", destination, packet),
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Err(e) => error!("[DEST#{}] communication failed ({})", destination, e)
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}
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} else {
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destination_set_up(routing_table, up_destinations, destination, false).await;
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}
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} else {
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if up_links[linkno as usize] {
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let reply = aux_transact(aux_mutex, linkno, &Packet::DestinationStatusRequest {
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destination: destination
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}, timer).await;
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match reply {
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Ok(Packet::DestinationDownReply) => (),
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Ok(Packet::DestinationOkReply) => {
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destination_set_up(routing_table, up_destinations, destination, true).await;
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init_buffer_space(destination as u8, linkno).await;
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},
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Ok(packet) => error!("[DEST#{}] received unexpected aux packet: {:?}", destination, packet),
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Err(e) => error!("[DEST#{}] communication failed ({})", destination, e)
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}
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}
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}
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}
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}
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}
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pub async fn link_thread(aux_mutex: &Rc<Mutex<bool>>,
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routing_table: &drtio_routing::RoutingTable,
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up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>,
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timer: GlobalTimer) {
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let mut up_links = [false; csr::DRTIO.len()];
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loop {
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for linkno in 0..csr::DRTIO.len() {
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let linkno = linkno as u8;
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if up_links[linkno as usize] {
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/* link was previously up */
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if link_rx_up(linkno).await {
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process_unsolicited_aux(aux_mutex, linkno).await;
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process_local_errors(linkno).await;
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} else {
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info!("[LINK#{}] link is down", linkno);
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up_links[linkno as usize] = false;
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}
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} else {
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/* link was previously down */
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if link_rx_up(linkno).await {
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info!("[LINK#{}] link RX became up, pinging", linkno);
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let ping_count = ping_remote(aux_mutex, linkno, timer).await;
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if ping_count > 0 {
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info!("[LINK#{}] remote replied after {} packets", linkno, ping_count);
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up_links[linkno as usize] = true;
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if let Err(e) = sync_tsc(aux_mutex, linkno, timer).await {
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error!("[LINK#{}] failed to sync TSC ({})", linkno, e);
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}
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if let Err(e) = load_routing_table(aux_mutex, linkno, routing_table, timer).await {
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error!("[LINK#{}] failed to load routing table ({})", linkno, e);
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}
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if let Err(e) = set_rank(aux_mutex, linkno, 1 as u8, timer).await {
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error!("[LINK#{}] failed to set rank ({})", linkno, e);
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}
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info!("[LINK#{}] link initialization completed", linkno);
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} else {
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error!("[LINK#{}] ping failed", linkno);
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}
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}
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}
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}
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destination_survey(aux_mutex, routing_table, &up_links, up_destinations, timer).await;
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let mut countdown = timer.countdown();
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delay(&mut countdown, Milliseconds(200)).await;
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}
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}
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#[allow(dead_code)]
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pub fn reset(aux_mutex: Rc<Mutex<bool>>, mut timer: GlobalTimer) {
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for linkno in 0..csr::DRTIO.len() {
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unsafe {
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(csr::DRTIO[linkno].reset_write)(1);
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}
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}
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timer.delay_ms(1);
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for linkno in 0..csr::DRTIO.len() {
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unsafe {
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(csr::DRTIO[linkno].reset_write)(0);
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}
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}
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for linkno in 0..csr::DRTIO.len() {
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let linkno = linkno as u8;
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if task::block_on(link_rx_up(linkno)) {
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let reply = task::block_on(aux_transact(&aux_mutex, linkno,
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&Packet::ResetRequest, timer));
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match reply {
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Ok(Packet::ResetAck) => (),
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Ok(_) => error!("[LINK#{}] reset failed, received unexpected aux packet", linkno),
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Err(e) => error!("[LINK#{}] reset failed, aux packet error ({})", linkno, e)
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}
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}
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}
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}
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}
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#[cfg(not(has_drtio))]
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pub mod drtio {
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use super::*;
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pub fn startup(_aux_mutex: &Rc<Mutex<bool>>, _routing_table: &Rc<RefCell<drtio_routing::RoutingTable>>,
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_up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>, _timer: GlobalTimer) {}
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#[allow(dead_code)]
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pub fn reset(_aux_mutex: Rc<Mutex<bool>>, mut _timer: GlobalTimer) {}
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}
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pub fn startup(aux_mutex: &Rc<Mutex<bool>>,
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routing_table: &Rc<RefCell<drtio_routing::RoutingTable>>,
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up_destinations: &Rc<RefCell<[bool; drtio_routing::DEST_COUNT]>>,
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timer: GlobalTimer) {
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drtio::startup(aux_mutex, routing_table, up_destinations, timer);
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unsafe {
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csr::rtio_core::reset_phy_write(1);
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}
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}
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#[allow(dead_code)]
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pub fn reset(aux_mutex: Rc<Mutex<bool>>, timer: GlobalTimer) {
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unsafe {
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csr::rtio_core::reset_write(1);
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}
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drtio::reset(aux_mutex, timer)
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}
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