Added Copy trait for Milliseconds struct.

libboard_zynq/src/devc/mod.rs

@@ -1,34 +1,93 @@
+use super::clocks::Clocks;
+use super::time::Milliseconds;
 use crate::slcr;
+use embedded_hal::timer::CountDown;
+use libcortex_a9::cache;
 use libregister::*;
-use log::debug;
+use log::{debug, trace};
+
 mod regs;
 
 pub struct DevC {
     regs: &'static mut regs::RegisterBlock,
+    enabled: bool,
+    count_down: super::timer::global::CountDown,
+    timeout_ms: Milliseconds,
 }
 
 /// DMA transfer type for PCAP
 /// All insecure, we do not implement encrypted transfer
-#[derive(PartialEq)]
+#[derive(PartialEq, Clone, Copy)]
 pub enum TransferType {
     PcapWrite,
     PcapReadback,
     ConcurrentReadWrite,
 }
 
-pub const INVALID_ADDR: u32 = 0xFFFFFFFF;
+pub enum TransferTarget<'a> {
+    /// From/To PL, with length in bytes.
+    PL(u32),
+    /// Source target, immutable.
+    SliceSrc(&'a [u8]),
+    /// Last source target, immutable.
+    SliceSrcLast(&'a [u8]),
+    /// Destination target, mutable.
+    SliceDest(&'a mut [u8]),
+    /// Last destination target, mutable.
+    SliceDestLast(&'a mut [u8]),
+}
+
+#[derive(PartialEq, Clone, Copy, Debug)]
+pub enum DevcError {
+    NotInitialized,
+    ResetTimeout,
+    DmaBusy,
+    DmaTimeout,
+    DoneTimeout,
+    Unknown(u32),
+}
+
+impl core::fmt::Display for DevcError {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        use DevcError::*;
+        match self {
+            NotInitialized => write!(f, "DevC driver not initialized properly."),
+            ResetTimeout => write!(f, "DevC driver reset timeout."),
+            DmaBusy => write!(f, "DevC driver DMA busy."),
+            DmaTimeout => write!(f, "DevC driver DMA timeout."),
+            DoneTimeout => write!(
+                f,
+                "FPGA DONE signal timeout. Check if the bitstream is correct."
+            ),
+            Unknown(reg) => write!(f, "Unknown error, interrupt status register = 0x{:0X}", reg),
+        }
+    }
+}
 
 impl DevC {
+    /// Create a new DevC peripheral handle with default timeout = 500ms.
     pub fn new() -> Self {
+        Self::new_timeout(Milliseconds(500))
+    }
+
+    /// Create a new DevC peripheral handle.
+    /// `timeout_ms`: timeout for operations like initialize and DMA transfer.
+    pub fn new_timeout(timeout_ms: Milliseconds) -> Self {
         DevC {
             regs: regs::RegisterBlock::devc(),
+            enabled: false,
+            count_down: super::timer::GlobalTimer::start().countdown(),
+            timeout_ms,
         }
     }
 
+    /// Enable the devc driver, must be called before `program` or
+    /// `start_dma_transaction`.
     pub fn enable(&mut self) {
+        const UNLOCK_PATTERN: u32 = 0x757BDF0D;
         unsafe {
             // unlock register with magic pattern
-            self.regs.unlock.write(0x757BDF0D);
+            self.regs.unlock.write(UNLOCK_PATTERN);
         }
         self.regs
             .control
@@ -37,20 +96,55 @@ impl DevC {
             .int_mask
             .write(self::regs::int_mask::Write { inner: 0xFFFFFFFF });
         self.clear_interrupts();
+        self.enabled = true;
     }
+
+    /// Disable the devc driver.
+    /// `enable` has to be called before further `program` or
+    /// `start_dma_transaction`.
     pub fn disable(&mut self) {
         self.regs
             .control
-            .modify(|_, w| w.pcap_mode(false).pcap_pr(false))
+            .modify(|_, w| w.pcap_mode(false).pcap_pr(false));
+        self.enabled = false;
     }
 
+    /// Check if the FPGA programming is done.
     pub fn is_done(&self) -> bool {
-        // Note: contrary to what the TRM says, this appears to be simply
+        // Note: contrary to what the TRM says, this appears to be simply the
-        // the state of the DONE signal.
+        // state of the DONE signal.
         self.regs.int_sts.read().ixr_pcfg_done()
     }
 
-    pub fn program(&mut self, src_addr: u32, len: u32) {
+    /// Wait on a certain condition with hardcoded timeout.
+    fn wait_condition<F: Fn(&mut Self) -> bool>(
+        &mut self,
+        fun: F,
+        err: DevcError,
+    ) -> Result<(), DevcError> {
+        self.count_down.start(self.timeout_ms);
+        while let Err(nb::Error::WouldBlock) = self.count_down.wait() {
+            if fun(self) {
+                return Ok(());
+            } else if self.has_error() {
+                return Err(DevcError::Unknown(self.regs.int_sts.read().inner));
+            }
+        }
+        Err(err)
+    }
+
+    /// Program the FPGA.
+    /// Note that the user should make sure that the bitstream loaded is
+    /// correct.
+    pub fn program(&mut self, src: &[u8]) -> Result<(), DevcError> {
+        if !self.enabled {
+            panic!("Attempting to use devc when it is not enabled");
+        }
+        self.clear_interrupts();
+
+        debug!("Invalidate DCache for bitstream buffer");
+        cache::dcci_slice(src);
+
         debug!("Init preload FPGA");
         slcr::RegisterBlock::unlocked(|slcr| {
             slcr.init_preload_fpga();
@@ -59,42 +153,70 @@ impl DevC {
         // set PCFG_PROG_B to high low high
         self.regs.control.modify(|_, w| w.pcfg_prog_b(true));
         self.regs.control.modify(|_, w| w.pcfg_prog_b(false));
-        while self.regs.status.read().pcfg_init() {}
+
+        // wait until init is false
+        self.wait_condition(
+            |s| !s.regs.status.read().pcfg_init(),
+            DevcError::ResetTimeout,
+        )?;
+
         self.regs.control.modify(|_, w| w.pcfg_prog_b(true));
-        while !self.regs.status.read().pcfg_init() {}
+        // wait until init is true
+        self.wait_condition(
+            |s| s.regs.status.read().pcfg_init(),
+            DevcError::ResetTimeout,
+        )?;
+
         self.regs.int_sts.write(
             self::regs::IntSts::zeroed()
                 .pss_cfg_reset_b_int(true)
                 .ixr_pcfg_cfg_rst(true),
         );
 
-        debug!("ADDR: {:0X}", src_addr);
         self.dma_transfer(
-            src_addr | 0x1,
+            TransferTarget::SliceSrcLast(src),
-            INVALID_ADDR | 0x1,
+            TransferTarget::PL(src.len() as u32),
-            len,
-            len,
             TransferType::PcapWrite,
-        );
+        )?;
-
-        self.wait_dma_transfer_complete();
-        debug!("INT_STS: {:0X}", self.regs.int_sts.read().inner);
-        debug!("STATUS: {:0X}", self.regs.status.read().inner);
 
         debug!("Waiting for done");
-        while !self.is_done() {}
+        self.wait_condition(|s| s.is_done(), DevcError::DoneTimeout)?;
-
-        debug!("INT_STS: {:0X}", self.regs.int_sts.read().inner);
 
         debug!("Init postload FPGA");
         slcr::RegisterBlock::unlocked(|slcr| {
             slcr.init_postload_fpga();
         });
+
+        Ok(())
     }
 
-    /// Initiate DMA transaction, all lengths are in words.
+    /// Initiate DMA transaction
-    /// > This function is not meant to be used directly.
+    /// This function only sets the src and dest registers, and should not be used directly.
-    fn initiate_dma(&mut self, src_addr: u32, dest_addr: u32, src_len: u32, dest_len: u32) {
+    fn initiate_dma(&mut self, src: TransferTarget, dest: TransferTarget) {
+        use TransferTarget::*;
+        const INVALID_ADDR: u32 = 0xFFFFFFFF;
+
+        if let (PL(_), PL(_)) = (&src, &dest) {
+            panic!("Only one of src/dest can be PL");
+        }
+
+        let (src_addr, src_len): (u32, u32) = match src {
+            PL(l) => (INVALID_ADDR, l / 4),
+            SliceSrc(s) => (s.as_ptr() as u32, s.len() as u32 / 4),
+            SliceDest(s) => (s.as_ptr() as u32, s.len() as u32 / 4),
+            SliceSrcLast(s) => ((s.as_ptr() as u32) | 0x01, s.len() as u32 / 4),
+            SliceDestLast(s) => ((s.as_ptr() as u32) | 0x01, s.len() as u32 / 4),
+        };
+
+        let (dest_addr, dest_len): (u32, u32) = match dest {
+            PL(l) => (INVALID_ADDR, l / 4),
+            SliceDest(s) => (s.as_ptr() as u32, s.len() as u32 / 4),
+            SliceDestLast(s) => ((s.as_ptr() as u32) | 0x01, s.len() as u32 / 4),
+            SliceSrc(_) | SliceSrcLast(_) => {
+                panic!("Destination cannot be SliceSrc/SliceSrcLast, it must be mutable.")
+            }
+        };
+
         self.regs.dma_src_addr.modify(|_, w| w.src_addr(src_addr));
         self.regs
             .dma_dest_addr
@@ -103,34 +225,44 @@ impl DevC {
         self.regs.dma_dest_len.modify(|_, w| w.dma_len(dest_len));
     }
 
-    /// DMA transfer, all lengths are in words.
+    /// Blocking DMA transfer
+    /// ## Note
+    /// This is blocking because there seems to be no other way to guarantee
+    /// safety, and I don't think requiring static is a solution here due to the
+    /// large buffer size.
+    /// See https://docs.rust-embedded.org/embedonomicon/dma.html for details.
+    ///
+    /// The following checks are implemented in runtime (panic).
+    /// * Dest would *NOT* accept src type, as the slices are immutable.
+    /// * At most one of src and dest can be PL type.
     pub fn dma_transfer(
         &mut self,
-        src_addr: u32,
+        src: TransferTarget,
-        dest_addr: u32,
+        dest: TransferTarget,
-        src_len: u32,
-        dest_len: u32,
         transfer_type: TransferType,
-    ) -> Result<(), &str> {
+    ) -> Result<(), DevcError> {
+        if !self.enabled {
+            panic!("Attempting to use devc when it is not enabled");
+        }
         if self.regs.status.read().dma_cmd_q_f() {
-            return Err("DMA busy");
+            return Err(DevcError::DmaBusy);
         }
 
         if transfer_type != TransferType::ConcurrentReadWrite
             && !self.regs.status.read().pcfg_init()
         {
-            return Err("Fabric not initialized");
+            return Err(DevcError::NotInitialized);
         }
         match &transfer_type {
             TransferType::PcapReadback => {
                 // clear internal PCAP loopback
                 self.regs.mctrl.modify(|_, w| w.pcap_lpbk(false));
                 // send READ frame command
-                self.initiate_dma(src_addr, INVALID_ADDR, src_len, 0);
+                self.initiate_dma(src, TransferTarget::PL(0));
                 // wait until DMA done
-                while !self.regs.int_sts.read().ixr_d_p_done() {}
+                self.wait_dma_transfer_complete()?;
                 // initiate the DMA write
-                self.initiate_dma(INVALID_ADDR, dest_addr, 0, dest_len);
+                self.initiate_dma(TransferTarget::PL(0), dest);
             }
             TransferType::PcapWrite | TransferType::ConcurrentReadWrite => {
                 self.regs
@@ -139,26 +271,34 @@ impl DevC {
                 // PCAP data transmitted every clock
                 self.regs.control.modify(|_, w| w.pcap_rate_en(false));
 
-                self.initiate_dma(src_addr, dest_addr, src_len, dest_len);
+                self.initiate_dma(src, dest);
             }
         }
+        self.wait_dma_transfer_complete()?;
         Ok(())
     }
 
-    pub fn wait_dma_transfer_complete(&mut self) {
+    fn wait_dma_transfer_complete(&mut self) -> Result<(), DevcError> {
-        debug!("Wait for DMA done");
+        trace!("Wait for DMA done");
-        while !self.regs.int_sts.read().ixr_dma_done() {}
+        self.wait_condition(
+            |s| s.regs.int_sts.read().ixr_dma_done(),
+            DevcError::DmaTimeout,
+        )?;
         self.regs
             .int_sts
             .write(self::regs::IntSts::zeroed().ixr_dma_done(true));
+        Ok(())
     }
 
+    /// Dump useful registers for devc block.
     pub fn dump_registers(&self) {
+        debug!("Mctrl: 0x{:0X}", self.regs.mctrl.read().inner);
         debug!("Control: 0x{:0X}", self.regs.control.read().inner);
         debug!("Status: 0x{:0X}", self.regs.status.read().inner);
         debug!("INT STS: 0x{:0X}", self.regs.int_sts.read().inner);
     }
 
+    /// Clear interrupt status for devc.
     pub fn clear_interrupts(&mut self) {
         self.regs.int_sts.modify(|_, w| {
             w.pss_gts_usr_b_int(true)
@@ -187,4 +327,16 @@ impl DevC {
                 .ixr_pcfg_init_ne(true)
         })
     }
+
+    fn has_error(&self) -> bool {
+        let status = self.regs.int_sts.read();
+        status.ixr_axi_wto()
+            || status.ixr_axi_werr()
+            || status.ixr_axi_rto()
+            || status.ixr_axi_rerr()
+            || status.ixr_rx_fifo_ov()
+            || status.ixr_dma_cmd_err()
+            || status.ixr_dma_q_ov()
+            || status.ixr_p2d_len_err()
+    }
 }

libboard_zynq/src/time.rs

@@ -1,4 +1,4 @@
-#[derive(Debug, Clone, PartialEq, PartialOrd)]
+#[derive(Debug, Clone, Copy, PartialEq, PartialOrd)]
 pub struct Milliseconds(pub u64);
 
 impl core::ops::Add for Milliseconds {