mirror of https://github.com/m-labs/artiq.git
438 lines
16 KiB
Rust
438 lines
16 KiB
Rust
use core::cell::RefCell;
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use urc::Urc;
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use board_misoc::csr;
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#[cfg(has_drtio)]
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use board_misoc::clock;
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#[cfg(has_rtio_clock_switch)]
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use board_misoc::config;
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use board_artiq::drtio_routing;
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use sched::Io;
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use sched::Mutex;
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#[cfg(has_rtio_crg)]
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pub mod crg {
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use board_misoc::{clock, csr};
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pub fn check() -> bool {
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unsafe { csr::rtio_crg::pll_locked_read() != 0 }
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}
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#[cfg(has_rtio_clock_switch)]
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pub fn init(clk: u8) -> bool {
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unsafe {
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csr::rtio_crg::pll_reset_write(1);
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csr::rtio_crg::clock_sel_write(clk);
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csr::rtio_crg::pll_reset_write(0);
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}
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clock::spin_us(150);
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return check()
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}
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#[cfg(not(has_rtio_clock_switch))]
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pub fn init() -> bool {
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unsafe {
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csr::rtio_crg::pll_reset_write(0);
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}
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clock::spin_us(150);
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return check()
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}
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}
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#[cfg(not(has_rtio_crg))]
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pub mod crg {
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pub fn check() -> bool { true }
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}
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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 drtioaux;
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pub fn startup(io: &Io, aux_mutex: &Mutex,
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routing_table: &Urc<RefCell<drtio_routing::RoutingTable>>,
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up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {
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unsafe {
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csr::drtio_transceiver::stable_clkin_write(1);
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}
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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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io.spawn(4096, move |io| {
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let routing_table = routing_table.borrow();
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link_thread(io, &aux_mutex, &routing_table, &up_destinations);
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});
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}
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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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fn recv_aux_timeout(io: &Io, linkno: u8, timeout: u32) -> Result<drtioaux::Packet, &'static str> {
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let max_time = clock::get_ms() + timeout as u64;
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loop {
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if !link_rx_up(linkno) {
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return Err("link went down");
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}
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if clock::get_ms() > max_time {
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return Err("timeout");
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}
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match drtioaux::recv(linkno) {
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Ok(Some(packet)) => return Ok(packet),
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Ok(None) => (),
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Err(_) => return Err("aux packet error")
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}
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io.relinquish().unwrap();
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}
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}
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pub fn aux_transact(io: &Io, aux_mutex: &Mutex,
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linkno: u8, request: &drtioaux::Packet) -> Result<drtioaux::Packet, &'static str> {
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let _lock = aux_mutex.lock(io).unwrap();
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drtioaux::send(linkno, request).unwrap();
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recv_aux_timeout(io, linkno, 200)
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}
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fn ping_remote(io: &Io, aux_mutex: &Mutex, linkno: u8) -> u32 {
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let mut count = 0;
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loop {
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if !link_rx_up(linkno) {
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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(io, aux_mutex, linkno, &drtioaux::Packet::EchoRequest);
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match reply {
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Ok(drtioaux::Packet::EchoReply) => return count,
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_ => {}
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}
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io.relinquish().unwrap();
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}
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}
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fn sync_tsc(io: &Io, aux_mutex: &Mutex, linkno: u8) -> Result<(), &'static str> {
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let _lock = aux_mutex.lock(io).unwrap();
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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(io, linkno, 10000)?;
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if reply == drtioaux::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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fn load_routing_table(io: &Io, aux_mutex: &Mutex, linkno: u8, routing_table: &drtio_routing::RoutingTable)
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-> Result<(), &'static str> {
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for i in 0..drtio_routing::DEST_COUNT {
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let reply = aux_transact(io, aux_mutex, linkno, &drtioaux::Packet::RoutingSetPath {
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destination: i as u8,
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hops: routing_table.0[i]
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})?;
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if reply != drtioaux::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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fn set_rank(io: &Io, aux_mutex: &Mutex, linkno: u8, rank: u8) -> Result<(), &'static str> {
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let reply = aux_transact(io, aux_mutex, linkno, &drtioaux::Packet::RoutingSetRank {
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rank: rank
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})?;
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if reply != drtioaux::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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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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fn process_unsolicited_aux(io: &Io, aux_mutex: &Mutex, linkno: u8) {
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let _lock = aux_mutex.lock(io).unwrap();
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match drtioaux::recv(linkno) {
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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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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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fn destination_set_up(routing_table: &drtio_routing::RoutingTable,
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up_destinations: &Urc<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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fn destination_up(up_destinations: &Urc<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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fn destination_survey(io: &Io, aux_mutex: &Mutex, routing_table: &drtio_routing::RoutingTable,
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up_links: &[bool],
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up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {
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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) {
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destination_set_up(routing_table, up_destinations, destination, true);
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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) {
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if up_links[linkno as usize] {
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let reply = aux_transact(io, aux_mutex, linkno, &drtioaux::Packet::DestinationStatusRequest {
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destination: destination
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});
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match reply {
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Ok(drtioaux::Packet::DestinationDownReply) =>
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destination_set_up(routing_table, up_destinations, destination, false),
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Ok(drtioaux::Packet::DestinationOkReply) => (),
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Ok(drtioaux::Packet::DestinationSequenceErrorReply { channel }) =>
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error!("[DEST#{}] RTIO sequence error involving channel 0x{:04x}", destination, channel),
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Ok(drtioaux::Packet::DestinationCollisionReply { channel }) =>
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error!("[DEST#{}] RTIO collision involving channel 0x{:04x}", destination, channel),
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Ok(drtioaux::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);
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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(io, aux_mutex, linkno, &drtioaux::Packet::DestinationStatusRequest {
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destination: destination
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});
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match reply {
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Ok(drtioaux::Packet::DestinationDownReply) => (),
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Ok(drtioaux::Packet::DestinationOkReply) => {
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destination_set_up(routing_table, up_destinations, destination, true);
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init_buffer_space(destination as u8, linkno);
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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 fn link_thread(io: Io, aux_mutex: &Mutex,
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routing_table: &drtio_routing::RoutingTable,
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up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {
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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) {
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process_unsolicited_aux(&io, aux_mutex, linkno);
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process_local_errors(linkno);
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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) {
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info!("[LINK#{}] link RX became up, pinging", linkno);
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let ping_count = ping_remote(&io, aux_mutex, linkno);
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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(&io, aux_mutex, linkno) {
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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(&io, aux_mutex, linkno, routing_table) {
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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(&io, aux_mutex, linkno, 1) {
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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(&io, aux_mutex, routing_table, &up_links, up_destinations);
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io.sleep(200).unwrap();
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}
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}
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pub fn reset(io: &Io, aux_mutex: &Mutex) {
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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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io.sleep(1).unwrap();
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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 link_rx_up(linkno) {
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let reply = aux_transact(io, aux_mutex, linkno,
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&drtioaux::Packet::ResetRequest);
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match reply {
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Ok(drtioaux::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(_io: &Io, _aux_mutex: &Mutex,
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_routing_table: &Urc<RefCell<drtio_routing::RoutingTable>>,
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_up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {}
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pub fn reset(_io: &Io, _aux_mutex: &Mutex) {}
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}
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fn async_error_thread(io: Io) {
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loop {
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unsafe {
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io.until(|| csr::rtio_core::async_error_read() != 0).unwrap();
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let errors = csr::rtio_core::async_error_read();
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if errors & 1 != 0 {
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error!("RTIO collision involving channel {}",
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csr::rtio_core::collision_channel_read());
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}
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if errors & 2 != 0 {
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error!("RTIO busy error involving channel {}",
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csr::rtio_core::busy_channel_read());
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}
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if errors & 4 != 0 {
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error!("RTIO sequence error involving channel {}",
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csr::rtio_core::sequence_error_channel_read());
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}
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csr::rtio_core::async_error_write(errors);
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}
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}
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}
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pub fn startup(io: &Io, aux_mutex: &Mutex,
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routing_table: &Urc<RefCell<drtio_routing::RoutingTable>>,
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up_destinations: &Urc<RefCell<[bool; drtio_routing::DEST_COUNT]>>) {
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// The RTIO CRG may depend on the DRTIO transceiver clock.
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// Initialize DRTIO first to bring up transceiver clocking.
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drtio::startup(io, aux_mutex, routing_table, up_destinations);
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#[cfg(has_rtio_crg)]
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{
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#[cfg(has_rtio_clock_switch)]
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{
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#[derive(Debug)]
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enum RtioClock {
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Internal = 0,
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External = 1
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};
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let clk = config::read("rtio_clock", |result| {
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match result {
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Ok(b"i") => {
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info!("using internal RTIO clock");
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RtioClock::Internal
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},
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Ok(b"e") => {
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info!("using external RTIO clock");
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RtioClock::External
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},
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_ => {
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info!("using internal RTIO clock (by default)");
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RtioClock::Internal
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},
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}
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});
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if !crg::init(clk as u8) {
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error!("RTIO clock failed");
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}
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}
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#[cfg(not(has_rtio_clock_switch))]
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{
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if !crg::init() {
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error!("RTIO clock failed");
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}
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}
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}
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unsafe {
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csr::rtio_core::reset_phy_write(1);
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}
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io.spawn(4096, async_error_thread);
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}
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pub fn reset(io: &Io, aux_mutex: &Mutex) {
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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(io, aux_mutex)
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}
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