firmware: implement DRTIO destination survey

artiq/firmware/libboard_artiq/drtioaux.rs

@@ -10,14 +10,21 @@ pub use proto_artiq::drtioaux_proto::Packet;
 // this is parametric over T because there's no impl Fail for !.
 #[derive(Fail, Debug)]
 pub enum Error<T> {
-    #[fail(display = "packet CRC failed")]
-    CorruptedPacket,
-    #[fail(display = "timed out waiting for data")]
-    TimedOut,
     #[fail(display = "invalid node number")]
     NoRoute,
+
     #[fail(display = "gateware reported error")]
     GatewareError,
+    #[fail(display = "packet CRC failed")]
+    CorruptedPacket,
+
+    #[fail(display = "link is down")]
+    LinkDown,
+    #[fail(display = "timed out waiting for data")]
+    TimedOut,
+    #[fail(display = "unexpected reply")]
+    UnexpectedReply,
+
     #[fail(display = "protocol error: {}", _0)]
     Protocol(#[cause] ProtocolError<T>)
 }

artiq/firmware/libproto_artiq/drtioaux_proto.rs

@@ -22,11 +22,12 @@ pub enum Packet {
     ResetAck,
     TSCAck,
 
-    RtioErrorRequest,
+    DestinationStatusRequest { destination: u8 },
-    RtioNoErrorReply,
+    DestinationDownReply,
-    RtioErrorSequenceErrorReply { channel: u16 },
+    DestinationOkReply,
-    RtioErrorCollisionReply { channel: u16 },
+    DestinationSequenceErrorReply { channel: u16 },
-    RtioErrorBusyReply { channel: u16 },
+    DestinationCollisionReply { channel: u16 },
+    DestinationBusyReply { channel: u16 },
 
     RoutingSetPath { destination: u8, hops: [u8; 32] },
     RoutingSetRank { rank: u8 },
@@ -67,15 +68,18 @@ impl Packet {
             0x03 => Packet::ResetAck,
             0x04 => Packet::TSCAck,
 
-            0x20 => Packet::RtioErrorRequest,
+            0x20 => Packet::DestinationStatusRequest {
-            0x21 => Packet::RtioNoErrorReply,
+                destination: reader.read_u8()?
-            0x22 => Packet::RtioErrorSequenceErrorReply {
+            },
+            0x21 => Packet::DestinationDownReply,
+            0x22 => Packet::DestinationOkReply,
+            0x23 => Packet::DestinationSequenceErrorReply {
                 channel: reader.read_u16()?
             },
-            0x23 => Packet::RtioErrorCollisionReply {
+            0x24 => Packet::DestinationCollisionReply {
                 channel: reader.read_u16()?
             },
-            0x24 => Packet::RtioErrorBusyReply {
+            0x25 => Packet::DestinationBusyReply {
                 channel: reader.read_u16()?
             },
 
@@ -186,22 +190,26 @@ impl Packet {
             Packet::TSCAck =>
                 writer.write_u8(0x04)?,
 
-            Packet::RtioErrorRequest =>
+            Packet::DestinationStatusRequest {destination } => {
-                writer.write_u8(0x20)?,
+                writer.write_u8(0x20)?;
-            Packet::RtioNoErrorReply =>
+                writer.write_u8(destination)?;
-                writer.write_u8(0x21)?,
-            Packet::RtioErrorSequenceErrorReply { channel } => {
-                writer.write_u8(0x22)?;
-                writer.write_u16(channel)?;
             },
-            Packet::RtioErrorCollisionReply { channel } => {
+            Packet::DestinationDownReply =>
+                writer.write_u8(0x21)?,
+            Packet::DestinationOkReply =>
+                writer.write_u8(0x22)?,
+            Packet::DestinationSequenceErrorReply { channel } => {
                 writer.write_u8(0x23)?;
                 writer.write_u16(channel)?;
             },
-            Packet::RtioErrorBusyReply { channel } => {
+            Packet::DestinationCollisionReply { channel } => {
                 writer.write_u8(0x24)?;
                 writer.write_u16(channel)?;
             },
+            Packet::DestinationBusyReply { channel } => {
+                writer.write_u8(0x25)?;
+                writer.write_u16(channel)?;
+            },
 
             Packet::RoutingSetPath { destination, hops } => {
                 writer.write_u8(0x30)?;

artiq/firmware/runtime/rtio_mgt.rs

@@ -201,22 +201,63 @@ pub mod drtio {
         }
     }
 
-    fn process_aux_errors(io: &Io, linkno: u8) {
+    fn destination_survey(io: &Io, routing_table: &drtio_routing::RoutingTable,
-        drtioaux::send_link(linkno, &drtioaux::Packet::RtioErrorRequest).unwrap();
+            up_destinations: &mut [bool; drtio_routing::DEST_COUNT]) {
-        match recv_aux_timeout(io, linkno, 200) {
+        for destination in 0..drtio_routing::DEST_COUNT {
-            Ok(drtioaux::Packet::RtioNoErrorReply) => (),
+            let hop = routing_table.0[destination][0];
-            Ok(drtioaux::Packet::RtioErrorSequenceErrorReply { channel }) =>
+
-                error!("[LINK#{}] RTIO sequence error involving channel {}", linkno, channel),
+            if hop == 0 {
-            Ok(drtioaux::Packet::RtioErrorCollisionReply { channel }) =>
+                /* local RTIO */
-                error!("[LINK#{}] RTIO collision involving channel {}", linkno, channel),
+                up_destinations[destination] = true;
-            Ok(drtioaux::Packet::RtioErrorBusyReply { channel }) =>
+            } else if hop as usize <= csr::DRTIO.len() {
-                error!("[LINK#{}] RTIO busy error involving channel {}", linkno, channel),
+                let linkno = hop - 1;
-            Ok(_) => error!("[LINK#{}] received unexpected aux packet", linkno),
+                if up_destinations[destination] {
-            Err(e) => error!("[LINK#{}] communication failed ({})", linkno, e)
+                    if link_up(linkno) {
+                        drtioaux::send_link(linkno, &drtioaux::Packet::DestinationStatusRequest {
+                            destination: destination as u8
+                        }).unwrap();
+                        match recv_aux_timeout(io, linkno, 200) {
+                            Ok(drtioaux::Packet::DestinationDownReply) => {
+                                info!("[DEST#{}] destination is down", destination);
+                                up_destinations[destination] = false;
+                            },
+                            Ok(drtioaux::Packet::DestinationOkReply) => (),
+                            Ok(drtioaux::Packet::DestinationSequenceErrorReply { channel }) =>
+                                error!("[DEST#{}] RTIO sequence error involving channel 0x{:04x}", destination, channel),
+                            Ok(drtioaux::Packet::DestinationCollisionReply { channel }) =>
+                                error!("[DEST#{}] RTIO collision involving channel 0x{:04x}", destination, channel),
+                            Ok(drtioaux::Packet::DestinationBusyReply { channel }) =>
+                                error!("[DEST#{}] RTIO busy error involving channel 0x{:04x}", destination, channel),
+                            Ok(packet) => error!("[DEST#{}] received unexpected aux packet: {:?}", destination, packet),
+                            Err(e) => error!("[DEST#{}] communication failed ({})", destination, e)
+                        }
+                    } else {
+                        info!("[DEST#{}] destination is down", destination);
+                        up_destinations[destination] = false;
+                    }
+                } else {
+                    if link_up(linkno) {
+                        drtioaux::send_link(linkno, &drtioaux::Packet::DestinationStatusRequest {
+                            destination: destination as u8
+                        }).unwrap();
+                        match recv_aux_timeout(io, linkno, 200) {
+                            Ok(drtioaux::Packet::DestinationDownReply) => (),
+                            Ok(drtioaux::Packet::DestinationOkReply) => {
+                                info!("[DEST#{}] destination is up", destination);
+                                up_destinations[destination] = true;
+                                /* TODO: get buffer space */
+                            },
+                            Ok(packet) => error!("[DEST#{}] received unexpected aux packet: {:?}", destination, packet),
+                            Err(e) => error!("[DEST#{}] communication failed ({})", destination, e)
+                        }
+                    }
+                }
+            }
         }
     }
 
     pub fn link_thread(io: Io, routing_table: &drtio_routing::RoutingTable) {
+        let mut up_destinations = [false; drtio_routing::DEST_COUNT];
         loop {
             for linkno in 0..csr::DRTIO.len() {
                 let linkno = linkno as u8;
@@ -225,7 +266,6 @@ pub mod drtio {
                     if link_rx_up(linkno) {
                         process_unsolicited_aux(linkno);
                         process_local_errors(linkno);
-                        process_aux_errors(&io, linkno);
                     } else {
                         info!("[LINK#{}] link is down", linkno);
                         set_link_up(linkno, false);
@@ -255,6 +295,7 @@ pub mod drtio {
                     }
                 }
             }
+            destination_survey(&io, routing_table, &mut up_destinations);
             io.sleep(200).unwrap();
         }
     }

artiq/firmware/satman/main.rs

@@ -71,39 +71,70 @@ fn process_aux_packet(_repeaters: &mut [repeater::Repeater],
             drtioaux::send_link(0, &drtioaux::Packet::ResetAck)
         },
 
-        drtioaux::Packet::RtioErrorRequest => {
+        drtioaux::Packet::DestinationStatusRequest { destination } => {
-            let errors;
+            #[cfg(has_drtio_routing)]
-            unsafe {
+            let hop = _routing_table.0[destination as usize][*_rank as usize];
-                errors = csr::drtiosat::rtio_error_read();
+            #[cfg(not(has_drtio_routing))]
-            }
+            let hop = 0;
-            if errors & 1 != 0 {
+
-                let channel;
+            if hop == 0 {
+                let errors;
                 unsafe {
-                    channel = csr::drtiosat::sequence_error_channel_read();
+                    errors = csr::drtiosat::rtio_error_read();
-                    csr::drtiosat::rtio_error_write(1);
                 }
-                drtioaux::send_link(0,
+                if errors & 1 != 0 {
-                    &drtioaux::Packet::RtioErrorSequenceErrorReply { channel })
+                    let channel;
-            } else if errors & 2 != 0 {
+                    unsafe {
-                let channel;
+                        channel = csr::drtiosat::sequence_error_channel_read();
-                unsafe {
+                        csr::drtiosat::rtio_error_write(1);
-                    channel = csr::drtiosat::collision_channel_read();
+                    }
-                    csr::drtiosat::rtio_error_write(2);
+                    drtioaux::send_link(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_link(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_link(0,
+                        &drtioaux::Packet::DestinationBusyReply { channel })?;
                 }
-                drtioaux::send_link(0,
+                else {
-                    &drtioaux::Packet::RtioErrorCollisionReply { channel })
+                    drtioaux::send_link(0, &drtioaux::Packet::DestinationOkReply)?;
-            } else if errors & 4 != 0 {
-                let channel;
-                unsafe {
-                    channel = csr::drtiosat::busy_channel_read();
-                    csr::drtiosat::rtio_error_write(4);
                 }
-                drtioaux::send_link(0,
-                    &drtioaux::Packet::RtioErrorBusyReply { channel })
             }
-            else {
+
-                drtioaux::send_link(0, &drtioaux::Packet::RtioNoErrorReply)
+            #[cfg(has_drtio_routing)]
+            {
+                if hop != 0 {
+                    let hop = hop as usize;
+                    if hop <= csr::DRTIOREP.len() {
+                        let repno = hop - 1;
+                        match _repeaters[repno].aux_forward(&drtioaux::Packet::DestinationStatusRequest {
+                            destination: destination
+                        }) {
+                            Ok(()) => (),
+                            Err(drtioaux::Error::LinkDown) => drtioaux::send_link(0, &drtioaux::Packet::DestinationDownReply)?,
+                            Err(e) => {
+                                drtioaux::send_link(0, &drtioaux::Packet::DestinationDownReply)?;
+                                error!("aux error when handling destination status request: {}", e);
+                            },
+                        }
+                    } else {
+                        drtioaux::send_link(0, &drtioaux::Packet::DestinationDownReply)?;
+                    }
+                }
             }
+
+            Ok(())
         }
 
         #[cfg(has_drtio_routing)]
@@ -135,11 +166,11 @@ fn process_aux_packet(_repeaters: &mut [repeater::Repeater],
         }
 
         #[cfg(not(has_drtio_routing))]
-        drtioaux::Packet::RoutingSetPath { _destination, _hops } => {
+        drtioaux::Packet::RoutingSetPath { destination, hops } => {
             drtioaux::send_link(0, &drtioaux::Packet::RoutingAck)
         }
         #[cfg(not(has_drtio_routing))]
-        drtioaux::Packet::RoutingSetRank { _rank } => {
+        drtioaux::Packet::RoutingSetRank { rank } => {
             drtioaux::send_link(0, &drtioaux::Packet::RoutingAck)
         }
 

artiq/firmware/satman/repeater.rs

@@ -153,24 +153,34 @@ impl Repeater {
         }
     }
 
-    fn recv_aux_timeout(&self, timeout: u32) -> Result<drtioaux::Packet, &'static str> {
+    fn recv_aux_timeout(&self, timeout: u32) -> Result<drtioaux::Packet, drtioaux::Error<!>> {
         let max_time = clock::get_ms() + timeout as u64;
         loop {
             if !rep_link_rx_up(self.repno) {
-                return Err("link went down");
+                return Err(drtioaux::Error::LinkDown);
             }
             if clock::get_ms() > max_time {
-                return Err("timeout");
+                return Err(drtioaux::Error::TimedOut);
             }
             match drtioaux::recv_link(self.auxno) {
                 Ok(Some(packet)) => return Ok(packet),
                 Ok(None) => (),
-                Err(_) => return Err("aux packet error")
+                Err(e) => return Err(e)
             }
         }
     }
 
-    pub fn sync_tsc(&self) -> Result<(), &'static str> {
+    pub fn aux_forward(&self, request: &drtioaux::Packet) -> Result<(), drtioaux::Error<!>> {
+        if self.state != RepeaterState::Up {
+            return Err(drtioaux::Error::LinkDown);
+        }
+        drtioaux::send_link(self.auxno, request).unwrap();
+        let reply = self.recv_aux_timeout(200)?;
+        drtioaux::send_link(0, &reply).unwrap();
+        Ok(())
+    }
+
+    pub fn sync_tsc(&self) -> Result<(), drtioaux::Error<!>> {
         if self.state != RepeaterState::Up {
             return Ok(());
         }
@@ -187,11 +197,11 @@ impl Repeater {
         if reply == drtioaux::Packet::TSCAck {
             return Ok(());
         } else {
-            return Err("unexpected reply");
+            return Err(drtioaux::Error::UnexpectedReply);
         }
     }
 
-    pub fn set_path(&self, destination: u8, hops: &[u8; drtio_routing::MAX_HOPS]) -> Result<(), &'static str> {
+    pub fn set_path(&self, destination: u8, hops: &[u8; drtio_routing::MAX_HOPS]) -> Result<(), drtioaux::Error<!>> {
         if self.state != RepeaterState::Up {
             return Ok(());
         }
@@ -202,19 +212,19 @@ impl Repeater {
         }).unwrap();
         let reply = self.recv_aux_timeout(200)?;
         if reply != drtioaux::Packet::RoutingAck {
-            return Err("unexpected reply");
+            return Err(drtioaux::Error::UnexpectedReply);
         }
         Ok(())
     }
 
-    pub fn load_routing_table(&self, routing_table: &drtio_routing::RoutingTable) -> Result<(), &'static str> {
+    pub fn load_routing_table(&self, routing_table: &drtio_routing::RoutingTable) -> Result<(), drtioaux::Error<!>> {
         for i in 0..drtio_routing::DEST_COUNT {
             self.set_path(i as u8, &routing_table.0[i])?;
         }
         Ok(())
     }
 
-    pub fn set_rank(&self, rank: u8) -> Result<(), &'static str> {
+    pub fn set_rank(&self, rank: u8) -> Result<(), drtioaux::Error<!>> {
         if self.state != RepeaterState::Up {
             return Ok(());
         }
@@ -223,12 +233,12 @@ impl Repeater {
         }).unwrap();
         let reply = self.recv_aux_timeout(200)?;
         if reply != drtioaux::Packet::RoutingAck {
-            return Err("unexpected reply");
+            return Err(drtioaux::Error::UnexpectedReply);
         }
         Ok(())
     }
 
-    pub fn rtio_reset(&self, phy: bool) -> Result<(), &'static str> {
+    pub fn rtio_reset(&self, phy: bool) -> Result<(), drtioaux::Error<!>> {
         if self.state != RepeaterState::Up {
             return Ok(());
         }
@@ -237,7 +247,7 @@ impl Repeater {
         }).unwrap();
         let reply = self.recv_aux_timeout(200)?;
         if reply != drtioaux::Packet::ResetAck {
-            return Err("unexpected reply");
+            return Err(drtioaux::Error::UnexpectedReply);
         }
         Ok(())
     }