| /* |
| * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com> |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Licensed under the Apache License, Version 2.0 (the License); you may |
| * not use _this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an AS IS BASIS, WITHOUT |
| * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| /***************************************************************************** |
| * Includes |
| *****************************************************************************/ |
| |
| #include "remoteproc.hpp" |
| |
| #include <cinttypes> |
| |
| #include <ethosu_log.h> |
| |
| /***************************************************************************** |
| * MetalIO |
| *****************************************************************************/ |
| |
| extern "C" { |
| |
| __attribute__((weak)) void *ethosu_phys_to_virt(const uint64_t pa) { |
| return reinterpret_cast<void *>(pa); |
| } |
| } |
| |
| MetalIO::MetalIO() : |
| ops{.read = nullptr, |
| .write = nullptr, |
| .block_read = nullptr, |
| .block_write = nullptr, |
| .block_set = nullptr, |
| .close = nullptr, |
| .offset_to_phys = nullptr, |
| .phys_to_offset = physToOffset} { |
| remoteproc_init_mem(&mem, "shm", 0, 0, 0xffffffff, ®ion); |
| |
| metal_io_init(®ion, |
| reinterpret_cast<void *>(0), /* virt */ |
| &mem.pa, /* physmap */ |
| 0xffffffff, /* size */ |
| -1L, /* pagemask */ |
| 0, /* attributes */ |
| &ops); /* ops */ |
| } |
| |
| remoteproc_mem *MetalIO::operator&() { |
| return &mem; |
| } |
| |
| unsigned long MetalIO::physToOffset(metal_io_region *io, metal_phys_addr_t pa) { |
| auto offset = reinterpret_cast<unsigned long>(ethosu_phys_to_virt(pa)); |
| LOG_DEBUG("Translate PA to offset. pa=%lx, offset=%lx", pa, offset); |
| return offset; |
| } |
| |
| /***************************************************************************** |
| * RProc |
| *****************************************************************************/ |
| |
| RProc::RProc(Mailbox::Mailbox &_mailbox, resource_table &table, size_t tableSize, MetalIO &_mem) : |
| mailbox(_mailbox), mem(_mem), |
| ops{ |
| .init = init, // initialize the remoteproc instance |
| .remove = remove, // remove the remoteproc instance |
| .mmap = nullptr, // memory mapped the memory with physical address as input |
| .handle_rsc = nullptr, // handle the vendor specific resource |
| .config = nullptr, // configure the remoteproc to make it ready to load and run executable |
| .start = nullptr, // kick the remoteproc to run application |
| .stop = nullptr, // stop the remoteproc from running application, the resource such as memory may not be off. |
| .shutdown = nullptr, // shutdown the remoteproc and release its resources. |
| .notify = notify, // notify the remote |
| .get_mem = nullptr, // get remoteproc memory I/O region. |
| }, |
| vdev(nullptr), notifySemaphore(xSemaphoreCreateBinary()) { |
| mailbox.registerCallback(mailboxCallback, static_cast<void *>(this)); |
| |
| if (!remoteproc_init(&rproc, &ops, this)) { |
| LOG_ERR("Failed to intialize remoteproc"); |
| abort(); |
| } |
| |
| int ret = remoteproc_set_rsc_table(&rproc, &table, tableSize); |
| if (ret) { |
| LOG_ERR("Failed to set resource table. ret=%d", ret); |
| abort(); |
| } |
| |
| vdev = remoteproc_create_virtio(&rproc, 0, VIRTIO_DEV_DEVICE, nullptr); |
| if (!vdev) { |
| LOG_ERR("Failed to create vdev"); |
| abort(); |
| } |
| |
| BaseType_t taskret = xTaskCreate(notifyTask, "notifyTask", 1024, this, 2, ¬ifyHandle); |
| if (taskret != pdPASS) { |
| LOG_ERR("Failed to create remoteproc notify task"); |
| abort(); |
| } |
| } |
| |
| RProc::~RProc() { |
| mailbox.deregisterCallback(mailboxCallback, static_cast<void *>(this)); |
| vTaskDelete(notifyHandle); |
| } |
| |
| remoteproc *RProc::getRProc() { |
| return &rproc; |
| } |
| |
| virtio_device *RProc::getVDev() { |
| return vdev; |
| } |
| |
| void RProc::mailboxCallback(void *userArg) { |
| auto _this = static_cast<RProc *>(userArg); |
| |
| xSemaphoreGiveFromISR(_this->notifySemaphore, nullptr); |
| } |
| |
| void RProc::notifyTask(void *param) { |
| LOG_DEBUG("Starting message notify task"); |
| |
| auto _this = static_cast<RProc *>(param); |
| |
| while (true) { |
| // Wait for event |
| xSemaphoreTake(_this->notifySemaphore, portMAX_DELAY); |
| |
| // Read virtio queue and notify all rpmsg clients |
| rproc_virtio_notified(_this->vdev, RSC_NOTIFY_ID_ANY); |
| } |
| } |
| |
| struct remoteproc *RProc::init(remoteproc *rproc, const remoteproc_ops *ops, void *arg) { |
| LOG_DEBUG(""); |
| |
| auto _this = static_cast<RProc *>(arg); |
| |
| rproc->ops = ops; |
| rproc->priv = arg; |
| remoteproc_add_mem(rproc, &_this->mem); |
| |
| return rproc; |
| } |
| |
| void RProc::remove(remoteproc *rproc) { |
| LOG_DEBUG(""); |
| } |
| |
| int RProc::notify(remoteproc *rproc, uint32_t id) { |
| LOG_DEBUG(""); |
| |
| auto *_this = static_cast<RProc *>(rproc->priv); |
| _this->mailbox.sendMessage(); |
| return 0; |
| } |
| |
| /***************************************************************************** |
| * Rpmsg |
| *****************************************************************************/ |
| |
| Rpmsg::Rpmsg(RProc &rproc, const char *const name) { |
| |
| metal_io_region *region = remoteproc_get_io_with_name(rproc.getRProc(), "shm"); |
| if (!region) { |
| LOG_ERR("Failed to get shared mem region"); |
| abort(); |
| } |
| |
| if (rpmsg_init_vdev(&rvdev, rproc.getVDev(), nullptr, region, nullptr)) { |
| LOG_ERR("Failed to initialize rpmsg vdev"); |
| abort(); |
| } |
| |
| rdev = rpmsg_virtio_get_rpmsg_device(&rvdev); |
| if (!rdev) { |
| LOG_ERR("Failed to get rpmsg dev"); |
| abort(); |
| } |
| |
| int ret = |
| rpmsg_create_ept(&endpoint, rdev, name, RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, endpointCallback, nsUnbindCallback); |
| if (ret != RPMSG_SUCCESS) { |
| LOG_ERR("Failed to create rpmsg endpoint. ret=%d", ret); |
| abort(); |
| } |
| |
| endpoint.priv = static_cast<void *>(this); |
| } |
| |
| int Rpmsg::send(void *data, size_t len, uint32_t dst) { |
| LOG_DEBUG("Sending rpmsg. dst=%" PRIu32 ", len=%zu", dst, len); |
| |
| int ret = rpmsg_sendto(&endpoint, data, len, dst); |
| return ret; |
| } |
| |
| void *Rpmsg::physicalToVirtual(metal_phys_addr_t pa) { |
| return metal_io_phys_to_virt(rvdev.shbuf_io, pa); |
| } |
| |
| void Rpmsg::rpmsgNsBind(rpmsg_device *rdev, const char *name, uint32_t dest) { |
| LOG_DEBUG(""); |
| } |
| |
| void Rpmsg::nsUnbindCallback(rpmsg_endpoint *ept) { |
| LOG_DEBUG(""); |
| } |
| |
| int Rpmsg::endpointCallback(rpmsg_endpoint *ept, void *data, size_t len, uint32_t src, void *priv) { |
| LOG_DEBUG("src=%" PRIX32 ", len=%zu", src, len); |
| |
| auto _this = static_cast<Rpmsg *>(priv); |
| _this->handleMessage(data, len, src); |
| |
| return 0; |
| } |
| |
| int Rpmsg::handleMessage(void *data, size_t len, uint32_t src) { |
| LOG_DEBUG("Receiving rpmsg. src=%" PRIu32 ", len=%zu", src, len); |
| |
| auto c = static_cast<char *>(data); |
| for (size_t i = 0; i < len; i++) { |
| printf("%c", c[i]); |
| } |
| printf("\n"); |
| |
| return 0; |
| } |