artiq/artiq/firmware/runtime/rtio_mgt.rs

438 lines
16 KiB
Rust

use core::cell::RefCell;
use urc::Urc;
use board_misoc::csr;
#[cfg(has_drtio)]
use board_misoc::clock;
#[cfg(has_rtio_clock_switch)]
use board_misoc::config;
use board_artiq::drtio_routing;
use sched::Io;
use sched::Mutex;
#[cfg(has_rtio_crg)]
pub mod crg {
use board_misoc::{clock, csr};
pub fn check() -> bool {
unsafe { csr::rtio_crg::pll_locked_read() != 0 }
}
#[cfg(has_rtio_clock_switch)]
pub fn init(clk: u8) -> bool {
unsafe {
csr::rtio_crg::pll_reset_write(1);
csr::rtio_crg::clock_sel_write(clk);
csr::rtio_crg::pll_reset_write(0);
}
clock::spin_us(150);
return check()
}
#[cfg(not(has_rtio_clock_switch))]
pub fn init() -> bool {
unsafe {
csr::rtio_crg::pll_reset_write(0);
}
clock::spin_us(150);
return check()
}
}
#[cfg(not(has_rtio_crg))]
pub mod crg {
pub fn check() -> bool { true }
}
#[cfg(has_drtio)]
pub mod drtio {
use super::*;
use drtioaux;
pub fn startup(io: &Io, aux_mutex: &Mutex,
routing_table: &Urc<RefCell<drtio_routing::RoutingTable>>,
up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {
unsafe {
csr::drtio_transceiver::stable_clkin_write(1);
}
let aux_mutex = aux_mutex.clone();
let routing_table = routing_table.clone();
let up_destinations = up_destinations.clone();
io.spawn(4096, move |io| {
let routing_table = routing_table.borrow();
link_thread(io, &aux_mutex, &routing_table, &up_destinations);
});
}
fn link_rx_up(linkno: u8) -> bool {
let linkno = linkno as usize;
unsafe {
(csr::DRTIO[linkno].rx_up_read)() == 1
}
}
fn recv_aux_timeout(io: &Io, linkno: u8, timeout: u32) -> Result<drtioaux::Packet, &'static str> {
let max_time = clock::get_ms() + timeout as u64;
loop {
if !link_rx_up(linkno) {
return Err("link went down");
}
if clock::get_ms() > max_time {
return Err("timeout");
}
match drtioaux::recv(linkno) {
Ok(Some(packet)) => return Ok(packet),
Ok(None) => (),
Err(_) => return Err("aux packet error")
}
io.relinquish().unwrap();
}
}
pub fn aux_transact(io: &Io, aux_mutex: &Mutex,
linkno: u8, request: &drtioaux::Packet) -> Result<drtioaux::Packet, &'static str> {
let _lock = aux_mutex.lock(io).unwrap();
drtioaux::send(linkno, request).unwrap();
recv_aux_timeout(io, linkno, 200)
}
fn ping_remote(io: &Io, aux_mutex: &Mutex, linkno: u8) -> u32 {
let mut count = 0;
loop {
if !link_rx_up(linkno) {
return 0
}
count += 1;
if count > 100 {
return 0;
}
let reply = aux_transact(io, aux_mutex, linkno, &drtioaux::Packet::EchoRequest);
match reply {
Ok(drtioaux::Packet::EchoReply) => return count,
_ => {}
}
io.relinquish().unwrap();
}
}
fn sync_tsc(io: &Io, aux_mutex: &Mutex, linkno: u8) -> Result<(), &'static str> {
let _lock = aux_mutex.lock(io).unwrap();
unsafe {
(csr::DRTIO[linkno as usize].set_time_write)(1);
while (csr::DRTIO[linkno as usize].set_time_read)() == 1 {}
}
// TSCAck is the only aux packet that is sent spontaneously
// by the satellite, in response to a TSC set on the RT link.
let reply = recv_aux_timeout(io, linkno, 10000)?;
if reply == drtioaux::Packet::TSCAck {
return Ok(());
} else {
return Err("unexpected reply");
}
}
fn load_routing_table(io: &Io, aux_mutex: &Mutex, linkno: u8, routing_table: &drtio_routing::RoutingTable)
-> Result<(), &'static str> {
for i in 0..drtio_routing::DEST_COUNT {
let reply = aux_transact(io, aux_mutex, linkno, &drtioaux::Packet::RoutingSetPath {
destination: i as u8,
hops: routing_table.0[i]
})?;
if reply != drtioaux::Packet::RoutingAck {
return Err("unexpected reply");
}
}
Ok(())
}
fn set_rank(io: &Io, aux_mutex: &Mutex, linkno: u8, rank: u8) -> Result<(), &'static str> {
let reply = aux_transact(io, aux_mutex, linkno, &drtioaux::Packet::RoutingSetRank {
rank: rank
})?;
if reply != drtioaux::Packet::RoutingAck {
return Err("unexpected reply");
}
Ok(())
}
fn init_buffer_space(destination: u8, linkno: u8) {
let linkno = linkno as usize;
unsafe {
(csr::DRTIO[linkno].destination_write)(destination);
(csr::DRTIO[linkno].force_destination_write)(1);
(csr::DRTIO[linkno].o_get_buffer_space_write)(1);
while (csr::DRTIO[linkno].o_wait_read)() == 1 {}
info!("[DEST#{}] buffer space is {}",
destination, (csr::DRTIO[linkno].o_dbg_buffer_space_read)());
(csr::DRTIO[linkno].force_destination_write)(0);
}
}
fn process_unsolicited_aux(io: &Io, aux_mutex: &Mutex, linkno: u8) {
let _lock = aux_mutex.lock(io).unwrap();
match drtioaux::recv(linkno) {
Ok(Some(packet)) => warn!("[LINK#{}] unsolicited aux packet: {:?}", linkno, packet),
Ok(None) => (),
Err(_) => warn!("[LINK#{}] aux packet error", linkno)
}
}
fn process_local_errors(linkno: u8) {
let errors;
let linkidx = linkno as usize;
unsafe {
errors = (csr::DRTIO[linkidx].protocol_error_read)();
(csr::DRTIO[linkidx].protocol_error_write)(errors);
}
if errors != 0 {
error!("[LINK#{}] error(s) found (0x{:02x}):", linkno, errors);
if errors & 1 != 0 {
error!("[LINK#{}] received packet of an unknown type", linkno);
}
if errors & 2 != 0 {
error!("[LINK#{}] received truncated packet", linkno);
}
if errors & 4 != 0 {
error!("[LINK#{}] timeout attempting to get remote buffer space", linkno);
}
}
}
fn destination_set_up(routing_table: &drtio_routing::RoutingTable,
up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>,
destination: u8, up: bool) {
let mut up_destinations = up_destinations.borrow_mut();
up_destinations[destination as usize] = up;
if up {
drtio_routing::interconnect_enable(routing_table, 0, destination);
info!("[DEST#{}] destination is up", destination);
} else {
drtio_routing::interconnect_disable(destination);
info!("[DEST#{}] destination is down", destination);
}
}
fn destination_up(up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>, destination: u8) -> bool {
let up_destinations = up_destinations.borrow();
up_destinations[destination as usize]
}
fn destination_survey(io: &Io, aux_mutex: &Mutex, routing_table: &drtio_routing::RoutingTable,
up_links: &[bool],
up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {
for destination in 0..drtio_routing::DEST_COUNT {
let hop = routing_table.0[destination][0];
let destination = destination as u8;
if hop == 0 {
/* local RTIO */
if !destination_up(up_destinations, destination) {
destination_set_up(routing_table, up_destinations, destination, true);
}
} else if hop as usize <= csr::DRTIO.len() {
let linkno = hop - 1;
if destination_up(up_destinations, destination) {
if up_links[linkno as usize] {
let reply = aux_transact(io, aux_mutex, linkno, &drtioaux::Packet::DestinationStatusRequest {
destination: destination
});
match reply {
Ok(drtioaux::Packet::DestinationDownReply) =>
destination_set_up(routing_table, 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 {
destination_set_up(routing_table, up_destinations, destination, false);
}
} else {
if up_links[linkno as usize] {
let reply = aux_transact(io, aux_mutex, linkno, &drtioaux::Packet::DestinationStatusRequest {
destination: destination
});
match reply {
Ok(drtioaux::Packet::DestinationDownReply) => (),
Ok(drtioaux::Packet::DestinationOkReply) => {
destination_set_up(routing_table, up_destinations, destination, true);
init_buffer_space(destination as u8, linkno);
},
Ok(packet) => error!("[DEST#{}] received unexpected aux packet: {:?}", destination, packet),
Err(e) => error!("[DEST#{}] communication failed ({})", destination, e)
}
}
}
}
}
}
pub fn link_thread(io: Io, aux_mutex: &Mutex,
routing_table: &drtio_routing::RoutingTable,
up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {
let mut up_links = [false; csr::DRTIO.len()];
loop {
for linkno in 0..csr::DRTIO.len() {
let linkno = linkno as u8;
if up_links[linkno as usize] {
/* link was previously up */
if link_rx_up(linkno) {
process_unsolicited_aux(&io, aux_mutex, linkno);
process_local_errors(linkno);
} else {
info!("[LINK#{}] link is down", linkno);
up_links[linkno as usize] = false;
}
} else {
/* link was previously down */
if link_rx_up(linkno) {
info!("[LINK#{}] link RX became up, pinging", linkno);
let ping_count = ping_remote(&io, aux_mutex, linkno);
if ping_count > 0 {
info!("[LINK#{}] remote replied after {} packets", linkno, ping_count);
up_links[linkno as usize] = true;
if let Err(e) = sync_tsc(&io, aux_mutex, linkno) {
error!("[LINK#{}] failed to sync TSC ({})", linkno, e);
}
if let Err(e) = load_routing_table(&io, aux_mutex, linkno, routing_table) {
error!("[LINK#{}] failed to load routing table ({})", linkno, e);
}
if let Err(e) = set_rank(&io, aux_mutex, linkno, 1) {
error!("[LINK#{}] failed to set rank ({})", linkno, e);
}
info!("[LINK#{}] link initialization completed", linkno);
} else {
error!("[LINK#{}] ping failed", linkno);
}
}
}
}
destination_survey(&io, aux_mutex, routing_table, &up_links, up_destinations);
io.sleep(200).unwrap();
}
}
pub fn reset(io: &Io, aux_mutex: &Mutex) {
for linkno in 0..csr::DRTIO.len() {
unsafe {
(csr::DRTIO[linkno].reset_write)(1);
}
}
io.sleep(1).unwrap();
for linkno in 0..csr::DRTIO.len() {
unsafe {
(csr::DRTIO[linkno].reset_write)(0);
}
}
for linkno in 0..csr::DRTIO.len() {
let linkno = linkno as u8;
if link_rx_up(linkno) {
let reply = aux_transact(io, aux_mutex, linkno,
&drtioaux::Packet::ResetRequest);
match reply {
Ok(drtioaux::Packet::ResetAck) => (),
Ok(_) => error!("[LINK#{}] reset failed, received unexpected aux packet", linkno),
Err(e) => error!("[LINK#{}] reset failed, aux packet error ({})", linkno, e)
}
}
}
}
}
#[cfg(not(has_drtio))]
pub mod drtio {
use super::*;
pub fn startup(_io: &Io, _aux_mutex: &Mutex,
_routing_table: &Urc<RefCell<drtio_routing::RoutingTable>>,
_up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {}
pub fn reset(_io: &Io, _aux_mutex: &Mutex) {}
}
fn async_error_thread(io: Io) {
loop {
unsafe {
io.until(|| csr::rtio_core::async_error_read() != 0).unwrap();
let errors = csr::rtio_core::async_error_read();
if errors & 1 != 0 {
error!("RTIO collision involving channel {}",
csr::rtio_core::collision_channel_read());
}
if errors & 2 != 0 {
error!("RTIO busy error involving channel {}",
csr::rtio_core::busy_channel_read());
}
if errors & 4 != 0 {
error!("RTIO sequence error involving channel {}",
csr::rtio_core::sequence_error_channel_read());
}
csr::rtio_core::async_error_write(errors);
}
}
}
pub fn startup(io: &Io, aux_mutex: &Mutex,
routing_table: &Urc<RefCell<drtio_routing::RoutingTable>>,
up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {
// The RTIO CRG may depend on the DRTIO transceiver clock.
// Initialize DRTIO first to bring up transceiver clocking.
drtio::startup(io, aux_mutex, routing_table, up_destinations);
#[cfg(has_rtio_crg)]
{
#[cfg(has_rtio_clock_switch)]
{
#[derive(Debug)]
enum RtioClock {
Internal = 0,
External = 1
};
let clk = config::read("rtio_clock", |result| {
match result {
Ok(b"i") => {
info!("using internal RTIO clock");
RtioClock::Internal
},
Ok(b"e") => {
info!("using external RTIO clock");
RtioClock::External
},
_ => {
info!("using internal RTIO clock (by default)");
RtioClock::Internal
},
}
});
if !crg::init(clk as u8) {
error!("RTIO clock failed");
}
}
#[cfg(not(has_rtio_clock_switch))]
{
if !crg::init() {
error!("RTIO clock failed");
}
}
}
unsafe {
csr::rtio_core::reset_phy_write(1);
}
io.spawn(4096, async_error_thread);
}
pub fn reset(io: &Io, aux_mutex: &Mutex) {
unsafe {
csr::rtio_core::reset_write(1);
}
drtio::reset(io, aux_mutex)
}