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pru: BeagleBone Firmware upgrade to Debian 11.7 Bullseye (#6577)

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* 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>
This commit is contained in:
Oleg Gavavka
2024-04-27 18:01:57 +03:00
committed by GitHub
parent 0b329c5d28
commit b1eec53ff4
23 changed files with 565 additions and 2601 deletions
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135
src/pru/pru0.c
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@@ -8,17 +8,16 @@
#include <stdint.h> // uint32_t
#include <string.h> // memset
#include <pru/io.h> // write_r31
#include <pru_cfg.h> // CT_CFG
#include <pru_intc.h> // CT_INTC
#include <pru_rpmsg.h> // pru_rpmsg_send
#include <pru_virtio_ids.h> // VIRTIO_ID_RPMSG
#include <rsc_types.h> // resource_table
#include "board/io.h" // readl
#include "board/misc.h" // console_sendf
#include "command.h" // command_encode_add_frame
#include "compiler.h" // __section
#include "internal.h" // SHARED_MEM
#include "sched.h" // sched_shutdown
#include "intc_map_0.h"
#include "resource_table.h"
struct pru_rpmsg_transport transport;
static uint16_t transport_dst;
@@ -32,8 +31,7 @@ static uint16_t transport_dst;
#define CHAN_DESC "Channel 30"
#define CHAN_PORT 30
#define RPMSG_HDR_SIZE 16
static uint8_t transmit_buf[RPMSG_BUF_SIZE - RPMSG_HDR_SIZE];
static uint8_t transmit_buf[RPMSG_MESSAGE_SIZE];
static int transmit_pos;
// Transmit all pending message blocks
@@ -195,7 +193,7 @@ static void
process_io(void)
{
for (;;) {
CT_INTC.SECR0 = ((1 << KICK_PRU0_FROM_ARM_EVENT)
PRU_INTC.SECR0 = ((1 << KICK_PRU0_FROM_ARM_EVENT)
| (1 << KICK_PRU0_EVENT));
check_can_send();
int can_sleep = check_can_read();
@@ -251,112 +249,6 @@ console_sendf(const struct command_encoder *ce, va_list args)
}
/****************************************************************
* Resource table
****************************************************************/
/*
* Sizes of the virtqueues (expressed in number of buffers supported,
* and must be power of 2)
*/
#define PRU_RPMSG_VQ0_SIZE 16
#define PRU_RPMSG_VQ1_SIZE 16
/*
* The feature bitmap for virtio rpmsg
*/
#define VIRTIO_RPMSG_F_NS 0 //name service notifications
/* This firmware supports name service notifications as one of its features */
#define RPMSG_PRU_C0_FEATURES (1 << VIRTIO_RPMSG_F_NS)
/* Definition for unused interrupts */
#define HOST_UNUSED 255
/* Mapping sysevts to a channel. Each pair contains a sysevt, channel. */
static struct ch_map pru_intc_map[] = {
{IEP_EVENT, WAKE_PRU1_IRQ},
{KICK_ARM_EVENT, WAKE_ARM_IRQ},
{KICK_PRU0_FROM_ARM_EVENT, WAKE_PRU0_IRQ},
{KICK_PRU0_EVENT, WAKE_PRU0_IRQ},
{KICK_PRU1_EVENT, WAKE_PRU1_IRQ},
};
struct my_resource_table {
struct resource_table base;
uint32_t offset[2]; /* Should match 'num' in actual definition */
/* rpmsg vdev entry */
struct fw_rsc_vdev rpmsg_vdev;
struct fw_rsc_vdev_vring rpmsg_vring0;
struct fw_rsc_vdev_vring rpmsg_vring1;
/* intc definition */
struct fw_rsc_custom pru_ints;
} resourceTable __section(".resource_table") = {
{
1, /* Resource table version: only version 1 is
* supported by the current driver */
2, /* number of entries in the table */
{ 0, 0 }, /* reserved, must be zero */
},
/* offsets to entries */
{
offsetof(struct my_resource_table, rpmsg_vdev),
offsetof(struct my_resource_table, pru_ints),
},
/* rpmsg vdev entry */
{
(uint32_t)TYPE_VDEV, //type
(uint32_t)VIRTIO_ID_RPMSG, //id
(uint32_t)0, //notifyid
(uint32_t)RPMSG_PRU_C0_FEATURES,//dfeatures
(uint32_t)0, //gfeatures
(uint32_t)0, //config_len
(uint8_t)0, //status
(uint8_t)2, //num_of_vrings, only two is supported
{(uint8_t)0, (uint8_t)0 }, //reserved
/* no config data */
},
/* the two vrings */
{
0, //da, will be populated by host, can't pass it in
16, //align (bytes),
PRU_RPMSG_VQ0_SIZE, //num of descriptors
0, //notifyid, will be populated, can't pass right now
0 //reserved
},
{
0, //da, will be populated by host, can't pass it in
16, //align (bytes),
PRU_RPMSG_VQ1_SIZE, //num of descriptors
0, //notifyid, will be populated, can't pass right now
0 //reserved
},
{
TYPE_CUSTOM, TYPE_PRU_INTS,
sizeof(struct fw_rsc_custom_ints),
{ /* PRU_INTS version */
{
0x0000,
/* Channel-to-host mapping, 255 for unused */
{
WAKE_PRU0_IRQ, WAKE_PRU1_IRQ, WAKE_ARM_IRQ,
HOST_UNUSED, HOST_UNUSED, HOST_UNUSED,
HOST_UNUSED, HOST_UNUSED, HOST_UNUSED, HOST_UNUSED
},
/* Number of evts being mapped to channels */
(sizeof(pru_intc_map) / sizeof(struct ch_map)),
/* Pointer to the structure containing mapped events */
pru_intc_map,
},
},
},
};
/****************************************************************
* Startup
@@ -368,11 +260,26 @@ int
main(void)
{
// allow access to external memory
#if defined(__AM335X__)
/* AM335x must enable OCP master port access in order for the PRU to
* read external memories.*/
CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
#endif
/* Clear the status of the PRU-ICSS system event that the ARM
will use to 'kick' us */
#if defined(__AM335X__)
PRU_INTC.SICR_bit.STS_CLR_IDX = KICK_PRU0_FROM_ARM_EVENT;
#elif defined(__TDA4VM__) || defined(__AM62X__)
PRU_INTC.STATUS_CLR_INDEX_REG_bit.STATUS_CLR_INDEX = \
KICK_PRU0_FROM_ARM_EVENT;
#else
#error "Unsupported SoC."
#endif
// clear all irqs
CT_INTC.SECR0 = 0xffffffff;
CT_INTC.SECR1 = 0xffffffff;
PRU_INTC.SECR0 = 0xffffffff;
PRU_INTC.SECR1 = 0xffffffff;
/* Make sure the Linux drivers are ready for RPMsg communication */
volatile uint8_t *status = &resourceTable.rpmsg_vdev.status;