add satman firmware (#136)

Reviewed-on: M-Labs/artiq-zynq#136
Co-authored-by: mwojcik <mw@m-labs.hk>
Co-committed-by: mwojcik <mw@m-labs.hk>
exception
mwojcik 1 year ago committed by sb10q
parent 41295b0e01
commit 8d2bb09149
  1. 25
      src/libboard_artiq/src/drtioaux_proto.rs
  2. 19
      src/libbuild_zynq/lib.rs
  3. 0
      src/libbuild_zynq/link.x
  4. 17
      src/runtime/build.rs
  5. 28
      src/satman/Cargo.toml
  6. 6
      src/satman/build.rs
  7. 626
      src/satman/src/main.rs
  8. 290
      src/satman/src/repeater.rs

@ -54,8 +54,6 @@ pub enum Packet {
SpiReadReply { succeeded: bool, data: u32 },
SpiBasicReply { succeeded: bool },
JdacBasicRequest { destination: u8, dacno: u8, reqno: u8, param: u8 },
JdacBasicReply { succeeded: bool, retval: u8 },
}
impl Packet {
@ -181,17 +179,6 @@ impl Packet {
succeeded: reader.read_bool()?
},
0xa0 => Packet::JdacBasicRequest {
destination: reader.read_u8()?,
dacno: reader.read_u8()?,
reqno: reader.read_u8()?,
param: reader.read_u8()?,
},
0xa1 => Packet::JdacBasicReply {
succeeded: reader.read_bool()?,
retval: reader.read_u8()?
},
ty => return Err(Error::UnknownPacket(ty))
})
}
@ -345,18 +332,6 @@ impl Packet {
writer.write_bool(succeeded)?;
},
Packet::JdacBasicRequest { destination, dacno, reqno, param } => {
writer.write_u8(0xa0)?;
writer.write_u8(destination)?;
writer.write_u8(dacno)?;
writer.write_u8(reqno)?;
writer.write_u8(param)?;
}
Packet::JdacBasicReply { succeeded, retval } => {
writer.write_u8(0xa1)?;
writer.write_bool(succeeded)?;
writer.write_u8(retval)?;
},
}
Ok(())
}

@ -1,5 +1,22 @@
use std::env;
use std::fs::File;
use std::io::{BufRead, BufReader};
use std::io::{BufRead, BufReader, Write};
use std::path::PathBuf;
pub fn add_linker_script() {
// Put the linker script somewhere the linker can find it
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
File::create(out.join("link.x"))
.unwrap()
.write_all(include_bytes!("link.x"))
.unwrap();
println!("cargo:rustc-link-search={}", out.display());
// 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");
}
pub fn cfg() {
// Handle rustc-cfg file

@ -1,21 +1,6 @@
use std::env;
use std::fs::File;
use std::io::Write;
use std::path::PathBuf;
extern crate build_zynq;
fn main() {
// Put the linker script somewhere the linker can find it
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
File::create(out.join("link.x"))
.unwrap()
.write_all(include_bytes!("link.x"))
.unwrap();
println!("cargo:rustc-link-search={}", out.display());
// 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");
build_zynq::add_linker_script();
build_zynq::cfg();
}

@ -0,0 +1,28 @@
[package]
authors = ["M-Labs"]
name = "satman"
version = "0.0.0"
build = "build.rs"
[features]
target_zc706 = ["libboard_zynq/target_zc706", "libsupport_zynq/target_zc706", "libconfig/target_zc706", "libboard_artiq/target_zc706"]
target_kasli_soc = ["libboard_zynq/target_kasli_soc", "libsupport_zynq/target_kasli_soc", "libconfig/target_kasli_soc", "libboard_artiq/target_kasli_soc"]
default = ["target_zc706", ]
[build-dependencies]
build_zynq = { path = "../libbuild_zynq" }
[dependencies]
log = { version = "0.4", default-features = false }
embedded-hal = "0.2"
libboard_zynq = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git", features = ["ipv6"]}
libsupport_zynq = { default-features = false, features = ["alloc_core"], git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libcortex_a9 = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libasync = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libregister = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git" }
libconfig = { git = "https://git.m-labs.hk/M-Labs/zynq-rs.git", features = ["ipv6"] }
libboard_artiq = { path = "../libboard_artiq" }
unwind = { path = "../libunwind" }
libc = { path = "../libc" }

@ -0,0 +1,6 @@
extern crate build_zynq;
fn main() {
build_zynq::add_linker_script();
build_zynq::cfg();
}

@ -0,0 +1,626 @@
#![no_std]
#![no_main]
#![feature(never_type, panic_info_message, asm, naked_functions)]
#![feature(alloc_error_handler)]
#[macro_use]
extern crate log;
extern crate embedded_hal;
extern crate libboard_zynq;
extern crate libboard_artiq;
extern crate libsupport_zynq;
extern crate libcortex_a9;
extern crate libregister;
extern crate unwind;
extern crate alloc;
use libboard_zynq::{i2c::I2c, timer::GlobalTimer, time::Milliseconds, print, println, mpcore, gic, stdio};
use libsupport_zynq::ram;
#[cfg(has_si5324)]
use libboard_artiq::si5324;
use libboard_artiq::{pl::csr, drtio_routing, drtioaux, logger, identifier_read, init_gateware};
use libcortex_a9::{spin_lock_yield, interrupt_handler, regs::{MPIDR, SP}, notify_spin_lock, asm, l2c::enable_l2_cache};
use libregister::{RegisterW, RegisterR};
use embedded_hal::blocking::delay::DelayUs;
use core::sync::atomic::{AtomicBool, Ordering};
mod repeater;
fn drtiosat_reset(reset: bool) {
unsafe {
csr::drtiosat::reset_write(if reset { 1 } else { 0 });
}
}
fn drtiosat_reset_phy(reset: bool) {
unsafe {
csr::drtiosat::reset_phy_write(if reset { 1 } else { 0 });
}
}
fn drtiosat_link_rx_up() -> bool {
unsafe {
csr::drtiosat::rx_up_read() == 1
}
}
fn drtiosat_tsc_loaded() -> bool {
unsafe {
let tsc_loaded = csr::drtiosat::tsc_loaded_read() == 1;
if tsc_loaded {
csr::drtiosat::tsc_loaded_write(1);
}
tsc_loaded
}
}
#[cfg(has_drtio_routing)]
macro_rules! forward {
($routing_table:expr, $destination:expr, $rank:expr, $repeaters:expr, $packet:expr, $timer:expr) => {{
let hop = $routing_table.0[$destination as usize][$rank as usize];
if hop != 0 {
let repno = (hop - 1) as usize;
if repno < $repeaters.len() {
return $repeaters[repno].aux_forward($packet, $timer);
} else {
return Err(drtioaux::Error::RoutingError);
}
}
}}
}
#[cfg(not(has_drtio_routing))]
macro_rules! forward {
($routing_table:expr, $destination:expr, $rank:expr, $repeaters:expr, $packet:expr, $timer:expr) => {}
}
fn process_aux_packet(_repeaters: &mut [repeater::Repeater],
_routing_table: &mut drtio_routing::RoutingTable, _rank: &mut u8,
packet: drtioaux::Packet, timer: &mut GlobalTimer, i2c: &mut I2c) -> Result<(), drtioaux::Error> {
// In the code below, *_chan_sel_write takes an u8 if there are fewer than 256 channels,
// and u16 otherwise; hence the `as _` conversion.
match packet {
drtioaux::Packet::EchoRequest =>
drtioaux::send(0, &drtioaux::Packet::EchoReply),
drtioaux::Packet::ResetRequest => {
info!("resetting RTIO");
drtiosat_reset(true);
timer.delay_us(100);
drtiosat_reset(false);
for rep in _repeaters.iter() {
if let Err(e) = rep.rtio_reset(timer) {
error!("failed to issue RTIO reset ({:?})", e);
}
}
drtioaux::send(0, &drtioaux::Packet::ResetAck)
},
drtioaux::Packet::DestinationStatusRequest { destination: _destination } => {
#[cfg(has_drtio_routing)]
let hop = _routing_table.0[_destination as usize][*_rank as usize];
#[cfg(not(has_drtio_routing))]
let hop = 0;
if hop == 0 {
let errors;
unsafe {
errors = csr::drtiosat::rtio_error_read();
}
if errors & 1 != 0 {
let channel;
unsafe {
channel = csr::drtiosat::sequence_error_channel_read();
csr::drtiosat::rtio_error_write(1);
}
drtioaux::send(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(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(0,
&drtioaux::Packet::DestinationBusyReply { channel })?;
}
else {
drtioaux::send(0, &drtioaux::Packet::DestinationOkReply)?;
}
}
#[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
}, timer) {
Ok(()) => (),
Err(drtioaux::Error::LinkDown) => drtioaux::send(0, &drtioaux::Packet::DestinationDownReply)?,
Err(e) => {
drtioaux::send(0, &drtioaux::Packet::DestinationDownReply)?;
error!("aux error when handling destination status request: {:?}", e);
},
}
} else {
drtioaux::send(0, &drtioaux::Packet::DestinationDownReply)?;
}
}
}
Ok(())
}
#[cfg(has_drtio_routing)]
drtioaux::Packet::RoutingSetPath { destination, hops } => {
_routing_table.0[destination as usize] = hops;
for rep in _repeaters.iter() {
if let Err(e) = rep.set_path(destination, &hops, timer) {
error!("failed to set path ({:?})", e);
}
}
drtioaux::send(0, &drtioaux::Packet::RoutingAck)
}
#[cfg(has_drtio_routing)]
drtioaux::Packet::RoutingSetRank { rank } => {
*_rank = rank;
drtio_routing::interconnect_enable_all(_routing_table, rank);
let rep_rank = rank + 1;
for rep in _repeaters.iter() {
if let Err(e) = rep.set_rank(rep_rank, timer) {
error!("failed to set rank ({:?})", e);
}
}
info!("rank: {}", rank);
info!("routing table: {}", _routing_table);
drtioaux::send(0, &drtioaux::Packet::RoutingAck)
}
#[cfg(not(has_drtio_routing))]
drtioaux::Packet::RoutingSetPath { destination: _, hops: _ } => {
drtioaux::send(0, &drtioaux::Packet::RoutingAck)
}
#[cfg(not(has_drtio_routing))]
drtioaux::Packet::RoutingSetRank { rank: _ } => {
drtioaux::send(0, &drtioaux::Packet::RoutingAck)
}
drtioaux::Packet::MonitorRequest { destination: _destination, channel: _channel, probe: _probe } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
let value;
#[cfg(has_rtio_moninj)]
unsafe {
csr::rtio_moninj::mon_chan_sel_write(channel as _);
csr::rtio_moninj::mon_probe_sel_write(probe);
csr::rtio_moninj::mon_value_update_write(1);
value = csr::rtio_moninj::mon_value_read();
}
#[cfg(not(has_rtio_moninj))]
{
value = 0;
}
let reply = drtioaux::Packet::MonitorReply { value: value as u32 };
drtioaux::send(0, &reply)
},
drtioaux::Packet::InjectionRequest { destination: _destination, channel: _channel,
overrd: _overrd, value: _value } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
#[cfg(has_rtio_moninj)]
unsafe {
csr::rtio_moninj::inj_chan_sel_write(channel as _);
csr::rtio_moninj::inj_override_sel_write(overrd);
csr::rtio_moninj::inj_value_write(value);
}
Ok(())
},
drtioaux::Packet::InjectionStatusRequest { destination: _destination,
channel: _channel, overrd: _overrd } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
let value;
#[cfg(has_rtio_moninj)]
unsafe {
csr::rtio_moninj::inj_chan_sel_write(channel as _);
csr::rtio_moninj::inj_override_sel_write(overrd);
value = csr::rtio_moninj::inj_value_read();
}
#[cfg(not(has_rtio_moninj))]
{
value = 0;
}
drtioaux::send(0, &drtioaux::Packet::InjectionStatusReply { value: value })
},
drtioaux::Packet::I2cStartRequest { destination: _destination, busno: _busno } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
let succeeded = i2c.start().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
drtioaux::Packet::I2cRestartRequest { destination: _destination, busno: _busno } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
let succeeded = i2c.restart().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
drtioaux::Packet::I2cStopRequest { destination: _destination, busno: _busno } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
let succeeded = i2c.stop().is_ok();
drtioaux::send(0, &drtioaux::Packet::I2cBasicReply { succeeded: succeeded })
}
drtioaux::Packet::I2cWriteRequest { destination: _destination, busno: _busno, data } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
match i2c.write(data) {
Ok(ack) => drtioaux::send(0,
&drtioaux::Packet::I2cWriteReply { succeeded: true, ack: ack }),
Err(_) => drtioaux::send(0,
&drtioaux::Packet::I2cWriteReply { succeeded: false, ack: false })
}
}
drtioaux::Packet::I2cReadRequest { destination: _destination, busno: _busno, ack } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
match i2c.read(ack) {
Ok(data) => drtioaux::send(0,
&drtioaux::Packet::I2cReadReply { succeeded: true, data: data }),
Err(_) => drtioaux::send(0,
&drtioaux::Packet::I2cReadReply { succeeded: false, data: 0xff })
}
}
drtioaux::Packet::SpiSetConfigRequest { destination: _destination, busno: _busno,
flags: _flags, length: _length, div: _div, cs: _cs } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
// todo: reimplement when/if SPI is available
//let succeeded = spi::set_config(busno, flags, length, div, cs).is_ok();
drtioaux::send(0,
&drtioaux::Packet::SpiBasicReply { succeeded: false })
},
drtioaux::Packet::SpiWriteRequest { destination: _destination, busno: _busno, data: _data } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
// todo: reimplement when/if SPI is available
//let succeeded = spi::write(busno, data).is_ok();
drtioaux::send(0,
&drtioaux::Packet::SpiBasicReply { succeeded: false })
}
drtioaux::Packet::SpiReadRequest { destination: _destination, busno: _busno } => {
forward!(_routing_table, _destination, *_rank, _repeaters, &packet, timer);
// todo: reimplement when/if SPI is available
// match spi::read(busno) {
// Ok(data) => drtioaux::send(0,
// &drtioaux::Packet::SpiReadReply { succeeded: true, data: data }),
// Err(_) => drtioaux::send(0,
// &drtioaux::Packet::SpiReadReply { succeeded: false, data: 0 })
// }
drtioaux::send(0,
&drtioaux::Packet::SpiReadReply { succeeded: false, data: 0 })
}
_ => {
warn!("received unexpected aux packet");
Ok(())
}
}
}
fn process_aux_packets(repeaters: &mut [repeater::Repeater],
routing_table: &mut drtio_routing::RoutingTable, rank: &mut u8,
timer: &mut GlobalTimer, i2c: &mut I2c) {
let result =
drtioaux::recv(0).and_then(|packet| {
if let Some(packet) = packet {
process_aux_packet(repeaters, routing_table, rank, packet, timer, i2c)
} else {
Ok(())
}
});
match result {
Ok(()) => (),
Err(e) => warn!("aux packet error ({:?})", e)
}
}
fn drtiosat_process_errors() {
let errors;
unsafe {
errors = csr::drtiosat::protocol_error_read();
}
if errors & 1 != 0 {
error!("received packet of an unknown type");
}
if errors & 2 != 0 {
error!("received truncated packet");
}
if errors & 4 != 0 {
let destination;
unsafe {
destination = csr::drtiosat::buffer_space_timeout_dest_read();
}
error!("timeout attempting to get buffer space from CRI, destination=0x{:02x}", destination)
}
if errors & 8 != 0 {
let channel;
let timestamp_event;
let timestamp_counter;
unsafe {
channel = csr::drtiosat::underflow_channel_read();
timestamp_event = csr::drtiosat::underflow_timestamp_event_read() as i64;
timestamp_counter = csr::drtiosat::underflow_timestamp_counter_read() as i64;
}
error!("write underflow, channel={}, timestamp={}, counter={}, slack={}",
channel, timestamp_event, timestamp_counter, timestamp_event-timestamp_counter);
}
if errors & 16 != 0 {
error!("write overflow");
}
unsafe {
csr::drtiosat::protocol_error_write(errors);
}
}
#[cfg(has_rtio_crg)]
fn init_rtio_crg(timer: GlobalTimer) {
unsafe {
csr::rtio_crg::pll_reset_write(0);
}
timer.delay_us(150);
let locked = unsafe { csr::rtio_crg::pll_locked_read() != 0 };
if !locked {
error!("RTIO clock failed");
}
}
#[cfg(not(has_rtio_crg))]
fn init_rtio_crg(_timer: GlobalTimer) { }
fn hardware_tick(ts: &mut u64, timer: &mut GlobalTimer) {
let now = timer.get_time();
let mut ts_ms = Milliseconds(*ts);
if now > ts_ms {
ts_ms = now + Milliseconds(200);
*ts = ts_ms.0;
}
}
#[cfg(has_si5324)]
const SI5324_SETTINGS: si5324::FrequencySettings
= si5324::FrequencySettings {
n1_hs : 5,
nc1_ls : 8,
n2_hs : 7,
n2_ls : 360,
n31 : 63,
n32 : 63,
bwsel : 4,
crystal_ref: true
};
static mut LOG_BUFFER: [u8; 1<<17] = [0; 1<<17];
#[no_mangle]
pub extern fn main_core0() -> i32 {
enable_l2_cache(0x8);
let mut timer = GlobalTimer::start();
let buffer_logger = unsafe {
logger::BufferLogger::new(&mut LOG_BUFFER[..])
};
buffer_logger.set_uart_log_level(log::LevelFilter::Info);
buffer_logger.register();
log::set_max_level(log::LevelFilter::Info);
init_gateware();
info!("ARTIQ satellite manager starting...");
info!("gateware ident {}", identifier_read(&mut [0; 64]));
ram::init_alloc_core0();
let mut i2c = I2c::i2c0();
i2c.init().expect("I2C initialization failed");
#[cfg(has_si5324)]
si5324::setup(&mut i2c, &SI5324_SETTINGS, si5324::Input::Ckin1, &mut timer).expect("cannot initialize Si5324");
unsafe {
csr::drtio_transceiver::stable_clkin_write(1);
}
timer.delay_us(1500); // wait for CPLL/QPLL lock
unsafe {
csr::drtio_transceiver::txenable_write(0xffffffffu32 as _);
}
init_rtio_crg(timer);
#[cfg(has_drtio_routing)]
let mut repeaters = [repeater::Repeater::default(); csr::DRTIOREP.len()];
#[cfg(not(has_drtio_routing))]
let mut repeaters = [repeater::Repeater::default(); 0];
for i in 0..repeaters.len() {
repeaters[i] = repeater::Repeater::new(i as u8);
}
let mut routing_table = drtio_routing::RoutingTable::default_empty();
let mut rank = 1;
let mut hardware_tick_ts = 0;
loop {
while !drtiosat_link_rx_up() {
drtiosat_process_errors();
#[allow(unused_mut)]
for mut rep in repeaters.iter_mut() {
rep.service(&routing_table, rank, &mut timer);
}
hardware_tick(&mut hardware_tick_ts, &mut timer);
}
info!("uplink is up, switching to recovered clock");
#[cfg(has_siphaser)]
{
si5324::siphaser::select_recovered_clock(&mut i2c, true, &mut timer).expect("failed to switch clocks");
si5324::siphaser::calibrate_skew(&mut timer).expect("failed to calibrate skew");
}
drtioaux::reset(0);
drtiosat_reset(false);
drtiosat_reset_phy(false);
while drtiosat_link_rx_up() {
drtiosat_process_errors();
process_aux_packets(&mut repeaters, &mut routing_table, &mut rank, &mut timer, &mut i2c);
#[allow(unused_mut)]
for mut rep in repeaters.iter_mut() {
rep.service(&routing_table, rank, &mut timer);
}
hardware_tick(&mut hardware_tick_ts, &mut timer);
if drtiosat_tsc_loaded() {
info!("TSC loaded from uplink");
for rep in repeaters.iter() {
if let Err(e) = rep.sync_tsc(&mut timer) {
error!("failed to sync TSC ({:?})", e);
}
}
if let Err(e) = drtioaux::send(0, &drtioaux::Packet::TSCAck) {
error!("aux packet error: {:?}", e);
}
}
}
drtiosat_reset_phy(true);
drtiosat_reset(true);
drtiosat_tsc_loaded();
info!("uplink is down, switching to local oscillator clock");
#[cfg(has_siphaser)]
si5324::siphaser::select_recovered_clock(&mut i2c, false, &mut timer).expect("failed to switch clocks");
}
}
extern "C" {
static mut __stack1_start: u32;
}
interrupt_handler!(IRQ, irq, __irq_stack0_start, __irq_stack1_start, {
if MPIDR.read().cpu_id() == 1{
let mpcore = mpcore::RegisterBlock::mpcore();
let mut gic = gic::InterruptController::gic(mpcore);
let id = gic.get_interrupt_id();
if id.0 == 0 {
gic.end_interrupt(id);
asm::exit_irq();
SP.write(&mut __stack1_start as *mut _ as u32);
asm::enable_irq();
CORE1_RESTART.store(false, Ordering::Relaxed);
notify_spin_lock();
main_core1();
}
stdio::drop_uart();
}
loop {}
});
static mut PANICKED: [bool; 2] = [false; 2];
static CORE1_RESTART: AtomicBool = AtomicBool::new(false);
pub fn restart_core1() {
let mut interrupt_controller = gic::InterruptController::gic(mpcore::RegisterBlock::mpcore());
CORE1_RESTART.store(true, Ordering::Relaxed);
interrupt_controller.send_sgi(gic::InterruptId(0), gic::CPUCore::Core1.into());
while CORE1_RESTART.load(Ordering::Relaxed) {
spin_lock_yield();
}
}
#[no_mangle]
pub fn main_core1() {
let mut interrupt_controller = gic::InterruptController::gic(mpcore::RegisterBlock::mpcore());
interrupt_controller.enable_interrupts();
loop {}
}
#[no_mangle]
pub extern fn exception(_vect: u32, _regs: *const u32, pc: u32, ea: u32) {
fn hexdump(addr: u32) {
let addr = (addr - addr % 4) as *const u32;
let mut ptr = addr;
println!("@ {:08p}", ptr);
for _ in 0..4 {
print!("+{:04x}: ", ptr as usize - addr as usize);
print!("{:08x} ", unsafe { *ptr }); ptr = ptr.wrapping_offset(1);
print!("{:08x} ", unsafe { *ptr }); ptr = ptr.wrapping_offset(1);
print!("{:08x} ", unsafe { *ptr }); ptr = ptr.wrapping_offset(1);
print!("{:08x}\n", unsafe { *ptr }); ptr = ptr.wrapping_offset(1);
}
}
hexdump(pc);
hexdump(ea);
panic!("exception at PC 0x{:x}, EA 0x{:x}", pc, ea)
}
#[no_mangle] // https://github.com/rust-lang/rust/issues/{38281,51647}
#[panic_handler]
pub fn panic_fmt(info: &core::panic::PanicInfo) -> ! {
let id = MPIDR.read().cpu_id() as usize;
print!("Core {} ", id);
unsafe {
if PANICKED[id] {
println!("nested panic!");
loop {}
}
PANICKED[id] = true;
}
print!("panic at ");
if let Some(location) = info.location() {
print!("{}:{}:{}", location.file(), location.line(), location.column());
} else {
print!("unknown location");
}
if let Some(message) = info.message() {
println!(": {}", message);
} else {
println!("");
}
loop {}
}
// linker symbols
extern "C" {
static __text_start: u32;
static __text_end: u32;
static __exidx_start: u32;
static __exidx_end: u32;
}
#[no_mangle]
extern fn dl_unwind_find_exidx(_pc: *const u32, len_ptr: *mut u32) -> *const u32 {
let length;
let start: *const u32;
unsafe {
length = (&__exidx_end as *const u32).offset_from(&__exidx_start) as u32;
start = &__exidx_start;
*len_ptr = length;
}
start
}

@ -0,0 +1,290 @@
use libboard_artiq::{drtioaux, drtio_routing};
use libboard_zynq::timer::GlobalTimer;
#[cfg(has_drtio_routing)]
use libboard_artiq::{pl::csr};
#[cfg(has_drtio_routing)]
use libboard_zynq::time::Milliseconds;
#[cfg(has_drtio_routing)]
use embedded_hal::prelude::_embedded_hal_blocking_delay_DelayUs;
#[cfg(has_drtio_routing)]
fn rep_link_rx_up(repno: u8) -> bool {
let repno = repno as usize;
unsafe {
(csr::DRTIOREP[repno].rx_up_read)() == 1
}
}
#[cfg(has_drtio_routing)]
#[derive(Clone, Copy, PartialEq)]
enum RepeaterState {
Down,
SendPing { ping_count: u16 },
WaitPingReply { ping_count: u16, timeout: Milliseconds },
Up,
Failed
}
#[cfg(has_drtio_routing)]
impl Default for RepeaterState {
fn default() -> RepeaterState { RepeaterState::Down }
}
#[cfg(has_drtio_routing)]
#[derive(Clone, Copy, Default)]
pub struct Repeater {
repno: u8,
auxno: u8,
state: RepeaterState
}
#[cfg(has_drtio_routing)]
impl Repeater {
pub fn new(repno: u8) -> Repeater {
Repeater {
repno: repno,
auxno: repno + 1,
state: RepeaterState::Down
}
}
#[allow(dead_code)]
pub fn is_up(&self) -> bool {
self.state == RepeaterState::Up
}
pub fn service(&mut self, routing_table: &drtio_routing::RoutingTable, rank: u8,
timer: &mut GlobalTimer) {
self.process_local_errors();
match self.state {
RepeaterState::Down => {
if rep_link_rx_up(self.repno) {
info!("[REP#{}] link RX became up, pinging", self.repno);
self.state = RepeaterState::SendPing { ping_count: 0 };
}
}
RepeaterState::SendPing { ping_count } => {
if rep_link_rx_up(self.repno) {
drtioaux::send(self.auxno, &drtioaux::Packet::EchoRequest).unwrap();
self.state = RepeaterState::WaitPingReply {
ping_count: ping_count + 1,
timeout: timer.get_time() + Milliseconds(100)
}
} else {
error!("[REP#{}] link RX went down during ping", self.repno);
self.state = RepeaterState::Down;
}
}
RepeaterState::WaitPingReply { ping_count, timeout } => {
if rep_link_rx_up(self.repno) {
if let Ok(Some(drtioaux::Packet::EchoReply)) = drtioaux::recv(self.auxno) {
info!("[REP#{}] remote replied after {} packets", self.repno, ping_count);
self.state = RepeaterState::Up;
if let Err(e) = self.sync_tsc(timer) {
error!("[REP#{}] failed to sync TSC ({:?})", self.repno, e);
self.state = RepeaterState::Failed;
return;
}
if let Err(e) = self.load_routing_table(routing_table, timer) {
error!("[REP#{}] failed to load routing table ({:?})", self.repno, e);
self.state = RepeaterState::Failed;
return;
}
if let Err(e) = self.set_rank(rank + 1, timer) {
error!("[REP#{}] failed to set rank ({:?})", self.repno, e);
self.state = RepeaterState::Failed;
return;
}
} else {
if timer.get_time() > timeout {
if ping_count > 200 {
error!("[REP#{}] ping failed", self.repno);
self.state = RepeaterState::Failed;
} else {
self.state = RepeaterState::SendPing { ping_count: ping_count };
}
}
}
} else {
error!("[REP#{}] link RX went down during ping", self.repno);
self.state = RepeaterState::Down;
}
}
RepeaterState::Up => {
self.process_unsolicited_aux();
if !rep_link_rx_up(self.repno) {
info!("[REP#{}] link is down", self.repno);
self.state = RepeaterState::Down;
}
}
RepeaterState::Failed => {
if !rep_link_rx_up(self.repno) {
info!("[REP#{}] link is down", self.repno);
self.state = RepeaterState::Down;
}
}
}
}
fn process_unsolicited_aux(&self) {
match drtioaux::recv(self.auxno) {
Ok(Some(packet)) => warn!("[REP#{}] unsolicited aux packet: {:?}", self.repno, packet),
Ok(None) => (),
Err(_) => warn!("[REP#{}] aux packet error", self.repno)
}
}
fn process_local_errors(&self) {
let repno = self.repno as usize;
let errors;
unsafe {
errors = (csr::DRTIOREP[repno].protocol_error_read)();
}
if errors & 1 != 0 {
error!("[REP#{}] received packet of an unknown type", repno);
}
if errors & 2 != 0 {
error!("[REP#{}] received truncated packet", repno);
}
if errors & 4 != 0 {
let cmd;
let chan_sel;
unsafe {
cmd = (csr::DRTIOREP[repno].command_missed_cmd_read)();
chan_sel = (csr::DRTIOREP[repno].command_missed_chan_sel_read)();
}
error!("[REP#{}] CRI command missed, cmd={}, chan_sel=0x{:06x}", repno, cmd, chan_sel)
}
if errors & 8 != 0 {
let destination;
unsafe {
destination = (csr::DRTIOREP[repno].buffer_space_timeout_dest_read)();
}
error!("[REP#{}] timeout attempting to get remote buffer space, destination=0x{:02x}", repno, destination);
}
unsafe {
(csr::DRTIOREP[repno].protocol_error_write)(errors);
}
}
fn recv_aux_timeout(&self, timeout: u32, timer: &mut GlobalTimer) -> Result<drtioaux::Packet, drtioaux::Error> {
let max_time = timer.get_time() + Milliseconds(timeout.into());
loop {
if !rep_link_rx_up(self.repno) {
return Err(drtioaux::Error::LinkDown);
}
if timer.get_time() > max_time {
return Err(drtioaux::Error::TimedOut);
}
match drtioaux::recv(self.auxno) {
Ok(Some(packet)) => return Ok(packet),
Ok(None) => (),
Err(e) => return Err(e)
}
}
}
pub fn aux_forward(&self, request: &drtioaux::Packet, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
if self.state != RepeaterState::Up {
return Err(drtioaux::Error::LinkDown);
}
drtioaux::send(self.auxno, request).unwrap();
let reply = self.recv_aux_timeout(200, timer)?;
drtioaux::send(0, &reply).unwrap();
Ok(())
}
pub fn sync_tsc(&self, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
if self.state != RepeaterState::Up {
return Ok(());
}
let repno = self.repno as usize;
unsafe {
(csr::DRTIOREP[repno].set_time_write)(1);
while (csr::DRTIOREP[repno].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 = self.recv_aux_timeout(10000, timer)?;
if reply == drtioaux::Packet::TSCAck {
return Ok(());
} else {
return Err(drtioaux::Error::UnexpectedReply);
}
}
pub fn set_path(&self, destination: u8, hops: &[u8; drtio_routing::MAX_HOPS], timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
if self.state != RepeaterState::Up {
return Ok(());
}
drtioaux::send(self.auxno, &drtioaux::Packet::RoutingSetPath {
destination: destination,
hops: *hops
}).unwrap();
let reply = self.recv_aux_timeout(200, timer)?;
if reply != drtioaux::Packet::RoutingAck {
return Err(drtioaux::Error::UnexpectedReply);
}
Ok(())
}
pub fn load_routing_table(&self, routing_table: &drtio_routing::RoutingTable, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
for i in 0..drtio_routing::DEST_COUNT {
self.set_path(i as u8, &routing_table.0[i], timer)?;
}
Ok(())
}
pub fn set_rank(&self, rank: u8, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
if self.state != RepeaterState::Up {
return Ok(());
}
drtioaux::send(self.auxno, &drtioaux::Packet::RoutingSetRank {
rank: rank
}).unwrap();
let reply = self.recv_aux_timeout(200, timer)?;
if reply != drtioaux::Packet::RoutingAck {
return Err(drtioaux::Error::UnexpectedReply);
}
Ok(())
}
pub fn rtio_reset(&self, timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> {
let repno = self.repno as usize;
unsafe { (csr::DRTIOREP[repno].reset_write)(1); }
timer.delay_us(100);
unsafe { (csr::DRTIOREP[repno].reset_write)(0); }
if self.state != RepeaterState::Up {
return Ok(());
}
drtioaux::send(self.auxno, &drtioaux::Packet::ResetRequest).unwrap();
let reply = self.recv_aux_timeout(200, timer)?;
if reply != drtioaux::Packet::ResetAck {
return Err(drtioaux::Error::UnexpectedReply);
}
Ok(())
}
}
#[cfg(not(has_drtio_routing))]
#[derive(Clone, Copy, Default)]
pub struct Repeater {
}
#[cfg(not(has_drtio_routing))]
impl Repeater {
pub fn new(_repno: u8) -> Repeater { Repeater::default() }
pub fn service(&self, _routing_table: &drtio_routing::RoutingTable, _rank: u8, _timer: &mut GlobalTimer) { }
pub fn sync_tsc(&self, _timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> { Ok(()) }
pub fn rtio_reset(&self, _timer: &mut GlobalTimer) -> Result<(), drtioaux::Error> { Ok(()) }
}
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