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pru: Rework command processing so that most of it is done on pru0

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Change the command dispatch and response generation so that most of
the work is done on pru0 instead of pru1.  This allows more code to
fit into the limited space on pru1.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-06-29 18:14:39 -04:00
parent c1bd628ce5
commit e8356afa26
6 changed files with 222 additions and 101 deletions
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106
src/pru/main.c
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@@ -99,74 +99,69 @@ DECL_INIT(timer_init);
* Console IO
****************************************************************/
// Return a buffer (and length) containing any incoming messages
static char *
console_get_input(uint8_t *plen)
{
uint32_t read_count = readl(&SHARED_MEM->read_count);
if (read_count > 64)
read_count = 64;
*plen = read_count;
return SHARED_MEM->read_data;
}
// Remove from the receive buffer the given number of bytes
static void
console_pop_input(uint8_t len)
{
writel(&SHARED_MEM->read_count, 0);
}
// Process any incoming commands
void
console_task(void)
{
uint8_t buf_len, pop_count;
char *buf = console_get_input(&buf_len);
int8_t ret = command_find_block(buf, buf_len, &pop_count);
if (ret)
command_dispatch(buf, pop_count);
console_pop_input(pop_count);
const struct command_parser *cp = SHARED_MEM->next_command;
if (!cp)
return;
barrier();
if (sched_is_shutdown() && !(cp->flags & HF_IN_SHUTDOWN)) {
sched_report_shutdown();
} else {
void (*func)(uint32_t*) = cp->func;
func(SHARED_MEM->next_command_args);
}
writel(&SHARED_MEM->next_command, 0);
}
DECL_TASK(console_task);
// Return an output buffer that the caller may fill with transmit messages
static char *
console_get_output(uint8_t len)
{
if (len > sizeof(SHARED_MEM->send_data[0].data))
return NULL;
uint32_t send_push_pos = SHARED_MEM->send_push_pos;
if (readl(&SHARED_MEM->send_data[send_push_pos].count))
// Queue full
return NULL;
return SHARED_MEM->send_data[send_push_pos].data;
}
// Accept the given number of bytes added to the transmit buffer
static void
console_push_output(uint8_t len)
{
uint32_t send_push_pos = SHARED_MEM->send_push_pos;
writel(&SHARED_MEM->send_data[send_push_pos].count, len);
write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU0_EVENT - R31_WRITE_IRQ_OFFSET));
SHARED_MEM->send_push_pos = (
(send_push_pos + 1) % ARRAY_SIZE(SHARED_MEM->send_data));
}
// Encode and transmit a "response" message
void
console_sendf(const struct command_encoder *ce, va_list args)
{
uint8_t buf_len = ce->max_size;
char *buf = console_get_output(buf_len);
if (!buf)
// Verify space for message
uint32_t max_size = ce->max_size;
if (max_size > sizeof(SHARED_MEM->send_data[0].data))
return;
uint8_t msglen = command_encodef(buf, buf_len, ce, args);
command_add_frame(buf, msglen);
console_push_output(msglen);
uint32_t send_push_pos = SHARED_MEM->send_push_pos;
if (readl(&SHARED_MEM->send_data[send_push_pos].count))
// Queue full
return;
// Generate message
char *buf = SHARED_MEM->send_data[send_push_pos].data;
uint32_t msglen = command_encodef(buf, max_size, ce, args);
// Signal PRU0 to transmit message
writel(&SHARED_MEM->send_data[send_push_pos].count, msglen);
write_r31(R31_WRITE_IRQ_SELECT | (KICK_PRU0_EVENT - R31_WRITE_IRQ_OFFSET));
SHARED_MEM->send_push_pos = (
(send_push_pos + 1) % ARRAY_SIZE(SHARED_MEM->send_data));
}
void
console_shutdown(void)
{
writel(&SHARED_MEM->next_command, 0);
}
DECL_SHUTDOWN(console_shutdown);
// Handle shutdown request from PRU0
static void
shutdown_handler(uint32_t *args)
{
shutdown("Request from PRU0");
}
// Empty message (for ack/nak transmission)
const struct command_parser shutdown_request = {
.func = shutdown_handler,
};
/****************************************************************
* Allocator
@@ -234,6 +229,9 @@ main(void)
// Wait for PRU0 to initialize
while (readl(&SHARED_MEM->signal) != SIGNAL_PRU0_WAITING)
;
SHARED_MEM->command_index = command_index;
SHARED_MEM->command_index_size = command_index_size;
SHARED_MEM->shutdown_handler = &shutdown_request;
writel(&SHARED_MEM->signal, SIGNAL_PRU1_READY);
sched_main();