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https://github.com/Klipper3d/klipper.git
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b1eec53ff4
* Porting BeagleBone to Kernel 5.10 * Fixing issue with installation for BeagleBone. This fix resolve 2 issue: 1. Conflict with AVR packages. 2. "klipper_pru" script is executed before PRU cores are ready * Adding additional steps to BeagleBone install guide. * Updating BeagleBone documentation, adding different use cases, adding buses configurations SPI, I2C, CAN, UART Signed-off-by: Oleg Gavavka <work@datalink.net.ua>
273 lines
11 KiB
C
273 lines
11 KiB
C
/*
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* Copyright (C) 2016-2018 Texas Instruments Incorporated - http://www.ti.com/
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*
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the
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* distribution.
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*
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* * Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/**
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* File : pru_rpmsg.h
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*
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* Summary : An RPMsg interface for the PRU to use while communicating with
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* the ARM host.
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*
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* Notes :
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* - This file creates a structure (pru_rpmsg_transport) that contains
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* pointers to two pru_virtqueue structures. This structure is used as the
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* underlying transport layer of all RPMsg communication. Only one
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* pru_rpmsg_transport structure is needed because multiple logical channels
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* can use the same underlying transport.
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* - This pru_rpmsg interface is meant to sit on top of the pru_virtqueue
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* interface and abstract the communication even further away from the
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* underlying data structures. The goal is to make the communication as
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* simple as possible at the user application level.
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* - The logic for the PRU side is summarized below:
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*
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* PRU Slave:
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* - To receive buffer from the ARM host:
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* pru_rpmsg_receive(*transport, *src, *dst, *data, *len);
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* - To send buffer to the host:
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* pru_rpmsg_send(*transport, src, dst, *data, len);
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*/
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#ifndef _PRU_RPMSG_H_
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#define _PRU_RPMSG_H_
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#include <pru_virtqueue.h>
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#include <pru_virtio_ring.h>
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/* Return value indicating no kick was sent */
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#define PRU_RPMSG_NO_KICK 1
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/* Return value indicating success */
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#define PRU_RPMSG_SUCCESS 0
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/* Return value indicating there were no available buffers */
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#define PRU_RPMSG_NO_BUF_AVAILABLE -1
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/* Return value indicating that the buffer from the virtqueue was too small */
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#define PRU_RPMSG_BUF_TOO_SMALL -2
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/* Return value indicating that an invalid head index was given */
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#define PRU_RPMSG_INVALID_HEAD -3
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/* Return value indication that an invalid event number was given */
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#define PRU_RPMSG_INVALID_EVENT -4
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/* Max PRU-ICSS system event number for pru_mst_intr */
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#define MAX_VALID_EVENT 31
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/* Min PRU-ICSS system event number for pru_mst_intr */
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#define MIN_VALID_EVENT 16
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/* The maximum size of the channel name and description */
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#define RPMSG_NAME_SIZE 32
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/* The maximum size of the buffer (including the header) */
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#define RPMSG_BUF_SIZE 512
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/* The size of the buffer header */
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#define RPMSG_HEADER_SIZE 16
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/* The maximum size of the buffer message */
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#define RPMSG_MESSAGE_SIZE 496
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enum pru_rpmsg_ns_flags {
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RPMSG_NS_CREATE = 0,
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RPMSG_NS_DESTROY = 1
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};
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/**
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* Summary : pru_rpmsg_transport is a structure that groups together the
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* two pru_virtqueues that are needed for two-way communication
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* with the ARM. This structure provides a logical wrapper for
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* the transport layer of the application. NOTE: Multiple
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* (logical) channels can be implemented on top of the same
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* transport layer.
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*
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* Variables : virtqueue0: contains the pru_virtqueue that is used for the
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* PRU->ARM communication
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* virtqueue1: contains the pru_virtqueue that is used for
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* the ARM->PRU communication
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*/
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struct pru_rpmsg_transport {
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struct pru_virtqueue virtqueue0;
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struct pru_virtqueue virtqueue1;
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};
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/**
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* Summary : pru_rpmsg_init initializes the underlying transport layer
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* data structures.
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*
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* Parameters : transport: a pointer to the transport data structure that
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* contains the underlying data structures to be
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* initialized
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* vring0: a pointer to vring0 which is provided by the ARM
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* core through the resource table
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* vring1: a pointer to vring1 which is provided by the ARM
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* core through the resource table
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* to_arm_event: the number of the PRU-ICSS system event
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* that is specified in the device tree that
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* is used to 'kick' the ARM core
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* from_arm_event: the number of the PRU-ICSS system event
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* that is specified in the device tree
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* that is used to receive 'kicks' from the
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* ARM core
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*
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* Description : pru_rpmsg_init takes the vrings and the events provided
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* through the resource table and initializes the transport
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* layer. Once this function call is successful RPMsg
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* channels can be created and used.
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*
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* Return Value : Returns PRU_RPMSG_INVALID_EVENT if the values provided
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* in to_arm_event or from_arm_event are outside of the
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* allowable range of events. Returns PRU_RPMSG_SUCCESS
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* if the initialization is successful.
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*/
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int16_t pru_rpmsg_init(
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struct pru_rpmsg_transport *transport,
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struct fw_rsc_vdev_vring *vring0,
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struct fw_rsc_vdev_vring *vring1,
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uint32_t to_arm_event,
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uint32_t from_arm_event
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);
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/**
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* Summary : pru_rpmsg_receive receives a message, if available, from
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* the ARM host.
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*
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* Parameters : transport: a pointer to the transport layer from which the
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* message should be received
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* src: a pointer that is populated with the source address
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* where the message originated
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* dst: a pointer that is populated with the destination
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* address where the message was sent (can help determine
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* for which channel the message is intended on the PRU)
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* data: a pointer that is populated with a local data buffer
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* containing the message payload
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* len: a pointer that is populated with the length of the
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* message payload
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*
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* Description : pru_rpmsg_receive uses the pru_virtqueue interface to get
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* an available buffer, copy the buffer into local memory,
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* add the buffer as a used buffer to the vring, and then kick
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* the remote processor if necessary. The src, dst, data, and
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* len pointers are populated with the information about the
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* message and local buffer data if the reception is
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* successful.
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*
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* Return Value : Returns PRU_RPMSG_NO_BUF_AVAILABLE if there is currently no
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* buffer available for receive. Returns PRU_RPMSG_INVALID_HEAD
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* if the head index returned for the available buffer is
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* invalid. Returns PRU_RPMSG_SUCCESS if the message is
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* successfully received.
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*/
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int16_t pru_rpmsg_receive(
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struct pru_rpmsg_transport *transport,
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uint16_t *src,
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uint16_t *dst,
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void *data,
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uint16_t *len
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);
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/**
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* Summary : pru_rpmsg_send sends a message to the ARM host using the
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* virtqueues in the pru_rpmsg_transport structure. The
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* source and destination address of the message are passed
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* in as parameters to the function. The data to be sent and
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* its length are passed in the data and len parameters.
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*
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* Parameters : transport: a pointer to the transport layer from which the
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* message should be sent
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* src: the source address where this message will originate
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* dst: the destination address where the message will be sent
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* data: a pointer to a local data buffer containing the
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* message payload
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* len: the length of the message payload
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*
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* Description : pru_rpmsg_send sends a message to the src parameter and
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* from the dst parameter. The transport structure defines the
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* underlying transport mechanism that will be used. The
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* data parameter is a pointer to a local buffer that should
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* be sent to the destination address and the len parameter is
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* the length of that buffer.
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*
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* Return Value : Returns PRU_RPMSG_NO_BUF_AVAILABLE if there is currently no
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* buffer available for send. Returns PRU_RPMSG_BUF_TOO_SMALL
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* if the buffer from the vring is too small to hold the
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* message payload being sent. Returns PRU_RPMSG_INVALID_HEAD
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* if the head index returned for the send buffer is invalid.
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* Returns PRU_RPMSG_SUCCESS if the message is successfully
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* sent.
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*/
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int16_t pru_rpmsg_send(
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struct pru_rpmsg_transport *transport,
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uint32_t src,
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uint32_t dst,
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void *data,
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uint16_t len
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);
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/**
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* Summary : pru_rpmsg_channel uses an RPMsg Name Service Announcment
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* to either create or destroy an RPMsg channel depending on
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* the pru_rpmsg_ns_flags parameter that is specified.
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*
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* Parameters : flags: an enum that is used to create (RPMSG_NS_CREATE) or
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* destroy (RPMSG_NS_DESTROY) an RPMsg channel
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* transport: a pointer to the transport layer on which this
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* Name Service Announcement will be sent
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* name: the name of the channel being created or destroyed
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* ******* The name of the channel is very important as
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* ******* it is the method that Linux on the ARM uses
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* ******* to connect a PRU firmware with a corresponding
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* ******* Linux driver
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* desc: the description of the RPMsg channel being created
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* or destroyed
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* port: the local source address of the RPMsg channel. This
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* is the address where PRU messages destined for the
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* ARM host will originate
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*
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* Description : pru_rpmsg_channel sends a message letting the ARM
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* host know that a channel is to be created or destroyed. If
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* a channel is to be created then this message will notify
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* the name server on the ARM host to create a new channel. If
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* a channel is to be destroyed this will tear down this
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* logical channel of communication between the PRU and the
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* ARM host.
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*
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* Return Value : Returns PRU_RPMSG_NO_BUF_AVAILABLE if there is currently no
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* buffer available for send. Returns PRU_RPMSG_BUF_TOO_SMALL
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* if the buffer from the vring is too small to hold the
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* message payload being sent. Returns PRU_RPMSG_INVALID_HEAD
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* if the head index returned for the send buffer is invalid.
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* Returns PRU_RPMSG_SUCCESS if the message is successfully
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* sent.
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*/
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int16_t pru_rpmsg_channel(
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enum pru_rpmsg_ns_flags flags,
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struct pru_rpmsg_transport *transport,
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char *name,
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char *desc,
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int32_t port
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);
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#endif /* _PRU_RPMSG_H_ */
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