From f8d4036451e45fa5d514449ebcb3b4de1b4aaf88 Mon Sep 17 00:00:00 2001 From: Sebastien Bourdeauducq Date: Tue, 4 Aug 2020 13:15:26 +0800 Subject: [PATCH] add ACP kernel initiator Based on work by Chris Ballance https://github.com/m-labs/artiq/issues/1167#issuecomment-427188287 https://git.m-labs.hk/M-Labs/artiq-zynq/issues/55 Work-in-progress, only gateware part and build system, untested. --- src/Makefile | 6 +- src/gateware/acpki.py | 260 +++++++++++++++++++++++ src/gateware/zc706.py | 66 ++++-- src/runtime/build.rs | 10 + src/runtime/src/main.rs | 5 + src/runtime/src/rtio_acp.rs | 81 +++++++ src/runtime/src/{rtio.rs => rtio_csr.rs} | 0 7 files changed, 412 insertions(+), 16 deletions(-) create mode 100644 src/gateware/acpki.py create mode 100644 src/runtime/src/rtio_acp.rs rename src/runtime/src/{rtio.rs => rtio_csr.rs} (100%) diff --git a/src/Makefile b/src/Makefile index b8980f2..1d71e7f 100644 --- a/src/Makefile +++ b/src/Makefile @@ -9,7 +9,11 @@ all: ../build/firmware/armv7-none-eabihf/release/szl mkdir -p ../build python gateware/zc706.py -r ../build/pl.rs -V $(VARIANT) -../build/firmware/armv7-none-eabihf/release/runtime: ../build/pl.rs $(shell find . -path ./szl -prune -o -print) +../build/rustc-cfg: gateware/* + mkdir -p ../build + python gateware/zc706.py -c ../build/rustc-cfg -V $(VARIANT) + +../build/firmware/armv7-none-eabihf/release/runtime: ../build/pl.rs ../build/rustc-cfg $(shell find . -path ./szl -prune -o -print) XBUILD_SYSROOT_PATH=`pwd`/../build/sysroot cargo xbuild --release -p runtime --target-dir ../build/firmware ../build/szl-payload.bin.lzma: ../build/firmware/armv7-none-eabihf/release/runtime diff --git a/src/gateware/acpki.py b/src/gateware/acpki.py new file mode 100644 index 0000000..2161c3c --- /dev/null +++ b/src/gateware/acpki.py @@ -0,0 +1,260 @@ +from operator import attrgetter + +from migen import * +from migen.genlib.cdc import MultiReg +from migen_axi.interconnect import axi +from misoc.interconnect.csr import * + +from artiq.gateware import rtio + + +OUT_BURST_LEN = 4 +IN_BURST_LEN = 4 + + +class Engine(Module, AutoCSR): + def __init__(self, bus, user): + self.addr_base = CSRStorage(32) + self.trig_count = CSRStatus(32) + self.write_count = CSRStatus(32) + + self.trigger_stb = Signal() + + # Dout : Data received from CPU, output by DMA module + # Din : Data driven into DMA module, written into CPU + # When stb assert, index shows word being read/written, dout/din holds + # data + # + # Cycle: + # trigger_stb pulsed at start + # Then out_burst_len words are strobed out of dout + # Then, when din_ready is high, in_burst_len words are strobed in to din + self.dout_stb = Signal() + self.din_stb = Signal() + self.dout_index = Signal(max=16) + self.din_index = Signal(max=16) + self.din_ready = Signal() + self.dout = Signal(64) + self.din = Signal(64) + + ### + + self.sync += If(self.trigger_stb, self.trig_count.status.eq(self.trig_count.status+1)) + + self.comb += [ + user.aruser.eq(0x1f), + user.awuser.eq(0x1f) + ] + + ar, aw, w, r, b = attrgetter("ar", "aw", "w", "r", "b")(bus) + + ### Read + self.comb += [ + ar.addr.eq(self.addr_base.storage), + self.dout.eq(r.data), + r.ready.eq(1), + ar.burst.eq(axi.Burst.incr.value), + ar.len.eq(OUT_BURST_LEN-1), # Number of transfers in burst (0->1 transfer, 1->2 transfers...) + ar.size.eq(3), # Width of burst: 3 = 8 bytes = 64 bits + ar.cache.eq(0xf), + ] + + # read control + self.submodules.read_fsm = read_fsm = FSM(reset_state="IDLE") + read_fsm.act("IDLE", + If(self.trigger_stb, + ar.valid.eq(1), + If(ar.ready, + NextState("READ") + ).Else( + NextState("READ_START") + ) + ) + ) + read_fsm.act("READ_START", + ar.valid.eq(1), + If(ar.ready, + NextState("READ"), + ) + ) + read_fsm.act("READ", + ar.valid.eq(0), + If(r.last & r.valid, + NextState("IDLE") + ) + ) + + self.sync += [ + If(read_fsm.ongoing("IDLE"), + self.dout_index.eq(0) + ).Else(If(r.valid & read_fsm.ongoing("READ"), + self.dout_index.eq(self.dout_index+1) + ) + ) + ] + + self.comb += self.dout_stb.eq(r.valid & r.ready) + + ### Write + self.comb += [ + w.data.eq(self.din), + aw.addr.eq(self.addr_base.storage+32), # Write to next cache line + w.strb.eq(0xff), + aw.burst.eq(axi.Burst.incr.value), + aw.len.eq(IN_BURST_LEN-1), # Number of transfers in burst minus 1 + aw.size.eq(3), # Width of burst: 3 = 8 bytes = 64 bits + aw.cache.eq(0xf), + b.ready.eq(1), + ] + + # write control + self.submodules.write_fsm = write_fsm = FSM(reset_state="IDLE") + write_fsm.act("IDLE", + w.valid.eq(0), + aw.valid.eq(0), + If(self.trigger_stb, + aw.valid.eq(1), + If(aw.ready, # assumes aw.ready is not randomly deasserted + NextState("DATA_WAIT") + ).Else( + NextState("AW_READY_WAIT") + ) + ) + ) + write_fsm.act("AW_READY_WAIT", + aw.valid.eq(1), + If(aw.ready, + NextState("DATA_WAIT"), + ) + ) + write_fsm.act("DATA_WAIT", + aw.valid.eq(0), + If(self.din_ready, + w.valid.eq(1), + NextState("WRITE") + ) + ) + write_fsm.act("WRITE", + w.valid.eq(1), + If(w.ready & w.last, + NextState("IDLE") + ) + ) + + self.sync += If(w.ready & w.valid, self.write_count.status.eq(self.write_count.status+1)) + + self.sync += [ + If(write_fsm.ongoing("IDLE"), + self.din_index.eq(0) + ), + If(w.ready & w.valid, self.din_index.eq(self.din_index+1)) + ] + + self.comb += [ + w.last.eq(0), + If(self.din_index==aw.len, w.last.eq(1)) + ] + + self.comb += self.din_stb.eq(w.valid & w.ready) + + + +class KernelInitiator(Module, AutoCSR): + def __init__(self, tsc, bus, user, evento): + # Core is disabled upon reset to avoid spurious triggering if evento toggles from e.g. boot code. + self.enable = CSRStorage() + + self.counter = CSRStatus(64) + self.counter_update = CSR() + + self.submodules.engine = Engine(bus, user) + self.cri = rtio.cri.Interface() + + ### + + evento_stb = Signal() + evento_latched = Signal() + evento_latched_d = Signal() + self.specials += MultiReg(evento, evento_latched) + self.sync += evento_latched_d.eq(evento_latched) + self.comb += self.engine.trigger_stb.eq(self.enable.storage & (evento_latched != evento_latched_d)) + + cri = self.cri + + cmd = Signal(8) + cmd_write = Signal() + cmd_read = Signal() + self.comb += [ + cmd_write.eq(cmd == 0), + cmd_read.eq(cmd == 1) + ] + + dout_cases = {} + dout_lw = Signal(32) + dout_hw = Signal(32) + self.comb += [ + dout_lw.eq(self.engine.dout[:32]), + dout_hw.eq(self.engine.dout[32:]) + ] + dout_cases[0] = [ + cmd.eq(dout_lw[24:]), + cri.chan_sel.eq(dout_lw[:24]), + cri.o_address.eq(dout_hw[:16]) + ] + dout_cases[1] = [ + cri.o_timestamp.eq(self.engine.dout) + ] + dout_cases[2] = [cri.o_data.eq(self.engine.dout)] # only lowest 64 bits + + self.sync += [ + cri.cmd.eq(rtio.cri.commands["nop"]), + If(self.engine.dout_stb, + Case(self.engine.dout_index, dout_cases), + If(self.engine.dout_index == 2, + If(cmd_write, cri.cmd.eq(rtio.cri.commands["write"])), + If(cmd_read, cri.cmd.eq(rtio.cri.commands["read"])) + ) + ) + ] + + # If input event, wait for response before allow input data to be + # sampled + # TODO: If output, wait for wait flag clear + RTIO_I_STATUS_WAIT_STATUS = 4 + RTIO_O_STATUS_WAIT = 1 + + self.submodules.fsm = fsm = FSM(reset_state="IDLE") + + fsm.act("IDLE", + If(self.engine.trigger_stb, NextState("WAIT_OUT_CYCLE")) + ) + fsm.act("WAIT_OUT_CYCLE", + self.engine.din_ready.eq(0), + If(self.engine.dout_stb & (self.engine.dout_index == 3), + NextState("WAIT_READY") + ) + ) + fsm.act("WAIT_READY", + If(cmd_read & (cri.i_status & RTIO_I_STATUS_WAIT_STATUS == 0) \ + | cmd_write & ~(cri.o_status & RTIO_O_STATUS_WAIT), + self.engine.din_ready.eq(1), + NextState("IDLE") + ) + ) + + din_cases_cmdwrite = { + 0: [self.engine.din.eq((1<<16) | cri.o_status)], + 1: [self.engine.din.eq(0)], + } + din_cases_cmdread = { + 0: [self.engine.din[:32].eq((1<<16) | cri.i_status), self.engine.din[32:].eq(cri.i_data)], + 1: [self.engine.din.eq(cri.i_timestamp)] + } + + self.comb += [ + If(cmd_read, Case(self.engine.din_index, din_cases_cmdread)), + If(cmd_write, Case(self.engine.din_index, din_cases_cmdwrite)), + ] + + # RTIO counter access + self.sync += If(self.counter_update.re, self.counter.status.eq(tsc.full_ts_cri)) diff --git a/src/gateware/zc706.py b/src/gateware/zc706.py index 7a569f3..2047abf 100755 --- a/src/gateware/zc706.py +++ b/src/gateware/zc706.py @@ -1,6 +1,7 @@ #!/usr/bin/env python import argparse +from operator import itemgetter from migen import * from migen.build.generic_platform import * @@ -16,6 +17,7 @@ from artiq.gateware.rtio.phy import ttl_simple, ttl_serdes_7series, dds, spi2 import dma import analyzer +import acpki class RTIOCRG(Module, AutoCSR): @@ -63,12 +65,18 @@ class RTIOCRG(Module, AutoCSR): class ZC706(SoCCore): - def __init__(self): + def __init__(self, acpki=False): + self.acpki = acpki + self.rustc_cfg = dict() + platform = zc706.Platform() platform.toolchain.bitstream_commands.extend([ "set_property BITSTREAM.GENERAL.COMPRESS True [current_design]", ]) - SoCCore.__init__(self, platform=platform, csr_data_width=32, ident=self.__class__.__name__) + ident = self.__class__.__name__ + if self.acpki: + ident = "acpki_" + ident + SoCCore.__init__(self, platform=platform, csr_data_width=32, ident=ident) platform.add_platform_command("create_clock -name clk_fpga_0 -period 8 [get_pins \"PS7/FCLKCLK[0]\"]") platform.add_platform_command("set_input_jitter clk_fpga_0 0.24") @@ -84,9 +92,20 @@ class ZC706(SoCCore): self.submodules.rtio_tsc = rtio.TSC("async", glbl_fine_ts_width=3) self.submodules.rtio_core = rtio.Core(self.rtio_tsc, rtio_channels) self.csr_devices.append("rtio_core") - self.submodules.rtio = rtio.KernelInitiator(self.rtio_tsc, now64=True) + + if self.acpki: + self.rustc_cfg["ki_impl"] = "csr" + self.submodules.rtio = rtio.KernelInitiator(self.rtio_tsc, now64=True) + self.csr_devices.append("rtio") + else: + self.rustc_cfg["ki_impl"] = "acp" + self.submodules.rtio = acpki.KernelInitiator(self.rtio_tsc, + bus=self.ps7.s_axi_acp, + user=self.ps7.s_axi_acp_user, + evento=self.ps7.event.o) + self.csr_devices.append("rtio") + self.submodules.rtio_dma = dma.DMA(self.ps7.s_axi_hp0) - self.csr_devices.append("rtio") self.csr_devices.append("rtio_dma") self.submodules.cri_con = rtio.CRIInterconnectShared( @@ -103,8 +122,8 @@ class ZC706(SoCCore): class Simple(ZC706): - def __init__(self): - ZC706.__init__(self) + def __init__(self, **kwargs): + ZC706.__init__(self, **kwargs) platform = self.platform @@ -134,8 +153,8 @@ class NIST_CLOCK(ZC706): """ NIST clock hardware, with old backplane and 11 DDS channels """ - def __init__(self): - ZC706.__init__(self) + def __init__(self, **kwargs): + ZC706.__init__(self, **kwargs) platform = self.platform platform.add_extension(nist_clock.fmc_adapter_io) @@ -188,8 +207,8 @@ class NIST_QC2(ZC706): NIST QC2 hardware, as used in Quantum I and Quantum II, with new backplane and 24 DDS channels. Two backplanes are used. """ - def __init__(self): - ZC706.__init__(self) + def __init__(self, **kwargs): + ZC706.__init__(self, **kwargs) platform = self.platform platform.add_extension(nist_qc2.fmc_adapter_io) @@ -242,31 +261,48 @@ def write_csr_file(soc, filename): soc.get_csr_regions(), soc.get_csr_groups(), soc.get_constants())) +def write_rustc_cfg_file(soc, filename): + with open(filename, "w") as f: + for k, v in sorted(soc.rustc_cfg.items(), key=itemgetter(0)): + if v is None: + f.write("{}\n".format(k)) + else: + f.write("{}=\"{}\"\n".format(k, v)) + + def main(): parser = argparse.ArgumentParser( description="ARTIQ port to the ZC706 Zynq development kit") parser.add_argument("-r", default=None, help="build Rust interface into the specified file") + parser.add_argument("-c", default=None, + help="build Rust compiler configuration into the specified file") parser.add_argument("-g", default=None, help="build gateware into the specified directory") parser.add_argument("-V", "--variant", default="simple", help="variant: " - "simple/nist_clock/nist_qc2 " + "[acpki_]simple/nist_clock/nist_qc2 " "(default: %(default)s)") args = parser.parse_args() + variant = args.variant.lower() + acpki = variant.startswith("acpki_") + if acpki: + variant = variant[6:] try: - cls = VARIANTS[args.variant.lower()] + cls = VARIANTS[variant] except KeyError: raise SystemExit("Invalid variant (-V/--variant)") - soc = cls() + soc = cls(acpki=acpki) soc.finalize() - if args.g is not None: - soc.build(build_dir=args.g) if args.r is not None: write_csr_file(soc, args.r) + if args.c is not None: + write_rustc_cfg_file(soc, args.c) + if args.g is not None: + soc.build(build_dir=args.g) if __name__ == "__main__": diff --git a/src/runtime/build.rs b/src/runtime/build.rs index a2ce29f..e0fdb0c 100644 --- a/src/runtime/build.rs +++ b/src/runtime/build.rs @@ -1,6 +1,7 @@ use std::env; use std::fs::File; use std::io::Write; +use std::io::{BufRead, BufReader}; use std::path::PathBuf; fn main() { @@ -15,4 +16,13 @@ fn main() { // Only re-run the build script when link.x is changed, // instead of when any part of the source code changes. println!("cargo:rerun-if-changed=link.x"); + + // Handle rustc-cfg file + let cfg_path = "../../build/rustc-cfg"; + println!("cargo:rerun-if-changed={}", cfg_path); + + let f = BufReader::new(File::open(cfg_path).unwrap()); + for line in f.lines() { + println!("cargo:rustc-cfg={}", line.unwrap()); + } } diff --git a/src/runtime/src/main.rs b/src/runtime/src/main.rs index 0854ce3..2f3a651 100644 --- a/src/runtime/src/main.rs +++ b/src/runtime/src/main.rs @@ -31,6 +31,11 @@ mod comms; mod rpc; #[path = "../../../build/pl.rs"] mod pl; +#[cfg(ki_impl = "csr")] +#[path = "rtio_csr.rs"] +mod rtio; +#[cfg(ki_impl = "acp")] +#[path = "rtio_acp.rs"] mod rtio; mod kernel; mod moninj; diff --git a/src/runtime/src/rtio_acp.rs b/src/runtime/src/rtio_acp.rs new file mode 100644 index 0000000..0a3ac74 --- /dev/null +++ b/src/runtime/src/rtio_acp.rs @@ -0,0 +1,81 @@ +use core::ptr::{self, read_volatile, write_volatile}; +use core::ffi::VaList; +use alloc::vec; +use cslice::CSlice; +use libc::{c_char, c_int, size_t}; + +use crate::artiq_raise; + +use crate::pl::csr; + + +#[repr(C)] +pub struct TimestampedData { + timestamp: i64, + data: i32, +} + +pub extern fn init() { + unsafe { + csr::rtio_core::reset_write(1); + } +} + +pub extern fn get_destination_status(destination: i32) -> bool { + // TODO + destination == 0 +} + +pub extern fn get_counter() -> i64 { + unsafe { + csr::rtio::counter_update_write(1); + csr::rtio::counter_read() as i64 + } +} + +pub extern fn now_mu() -> i64 { + unimplemented!(); +} + +pub extern fn at_mu(t: i64) { + unimplemented!(); +} + +pub extern fn delay_mu(dt: i64) { + unimplemented!(); +} + +pub extern fn output(target: i32, data: i32) { + unimplemented!(); +} + +pub extern fn output_wide(target: i32, data: CSlice) { + unimplemented!(); +} + +pub extern fn input_timestamp(timeout: i64, channel: i32) -> i64 { + unimplemented!(); +} + +pub extern fn input_data(channel: i32) -> i32 { + unimplemented!(); +} + +pub extern fn input_timestamped_data(timeout: i64, channel: i32) -> TimestampedData { + unimplemented!(); +} + +extern "C" { + fn vsnprintf_(buffer: *mut c_char, count: size_t, format: *const c_char, va: VaList) -> c_int; +} + +fn write_rtio_log(data: &[i8]) { + unimplemented!(); +} + +pub unsafe extern fn log(fmt: *const c_char, mut args: ...) { + let size = vsnprintf_(ptr::null_mut(), 0, fmt, args.as_va_list()) as usize; + let mut buf = vec![0; size + 1]; + vsnprintf_(buf.as_mut_ptr(), size + 1, fmt, args.as_va_list()); + write_rtio_log(buf.as_slice()); +} diff --git a/src/runtime/src/rtio.rs b/src/runtime/src/rtio_csr.rs similarity index 100% rename from src/runtime/src/rtio.rs rename to src/runtime/src/rtio_csr.rs