Memory Addressing ================= There is 3 types of addresses: virtual, physical, and bus. For DMA a bus address is used. However, on x86 physical and bus addresses are the same (on other architectures it is not guaranteed). Anyway, this assumption is still used by xdma driver, it uses phiscal address for DMA access. I have ported in the same way. Now, we need to provide additionaly bus-addresses in kmem abstraction and use it in NWL DMA implementation. DMA Access Synchronization ========================== - At driver level, few types of buffers are supported: * SIMPLE - non-reusable buffers, the use infomation can be used for cleanup after crashed applications. * EXCLUSIVE - reusable buffers which can be mmaped by a single appliction only. There is two modes of these buffers: + Buffers in a STANDARD mode are created for a single DMA operation and if such buffer is detected while trying to reuse, the last operation has failed and reset is needed. + Buffers in a PERSISTENT mode are preserved between invocations of control application and cleaned up only after the PERSISTENT flag is removed * SHARED - reusable buffers shared by multiple processes. Not really needed at the moment. KMEM_FLAG_HW - indicates that buffer can be used by hardware, acually this means that DMA will be enabled afterwards. The driver is not able to check if it really was enable and therefore will block any attempt to release buffer until KMEM_HW_FLAG is passed to kmem_free routine as well. The later should only called with KMEM_HW_FLAG after the DMA engine is stopped. Then, the driver can be realesd by kmem_free if ref count reaches 0. KMEM_FLAG_EXCLUSIVE - prevents multiple processes mmaping the buffer simultaneously. This is used to prevent multiple processes use the same DMA engine at the same time. When passed to kmem_free, allows to clean buffers with lost clients even for shared buffers. KMEM_FLAG_REUSE - requires reuse of existing buffer. If reusable buffer is found (non-reusable buffers, i.e. allocated without KMEM_FLAG_REUSE are ignored), it is returned instead of allocation. Three types of usage counters are used. At moment of allocation, the HW reference is set if neccessary. The usage counter is increased by kmem_alloc function and decreased by kmem_free. Finally, the reference is obtained at returned during mmap/munmap. So, on kmem_free, we do not clean a) buffers with reference count above zero or hardware reference set. REUSE flag should be supplied, overwise the error is returned b) PERSISTENT buffer. REUSE flash should be supplied, overwise the error is returned c) non-exclusive buffers with usage counter above zero (For exclusive buffer the value of usage counter above zero just means that application have failed without cleaning buffers first. There is no easy way to detect that for shared buffers, so it is left as manual operation in this case) d) any buffer if KMEM_FLAG_REUSE was provided to function During module unload, only buffers with references can prevent cleanup. In this case the only possiblity to free the driver is to call kmem_free passing FORCE flags. KMEM_FLAG_PERSISTENT - if passed to allocation routine, changes mode of buffer to PERSISTENT, if passed to free routine, vice-versa changes mode of buffer to NORMAL. Basically, if we call 'pci --dma-start' this flag should be passed to alloc and if we call 'pci --dma-stop' it should be passed to free. In other case, the flag should not be present. If application crashed, the munmap while be still called cleaning software references. However, the hardware reference will stay since it is not clear if hardware channel was closed or not. To lift hardware reference, the application can be re-executed (or dma_stop called, for instance). * If there is no hardware reference, the buffers will be reused by next call to application and for EXCLUSIVE buffer cleaned at the end. For SHARED buffers they will be cleaned during module cleanup only (no active references). * The buffer will be reused by next call which can result in wrong behaviour if buffer left in incoherent stage. This should be handled on upper level. - At pcilib/kmem level synchronization of multiple buffers is performed * The HW reference and following modes should be consistent between member parts: REUSABLE, PERSISTENT, EXCLUSIVE (only HW reference and PERSISTENT mode should be checked, others are handled on dirver level) * It is fine if only part of buffers are reused and others are newly allocated. However, on higher level this can be checked and resulting in failure. Treatment of inconsistencies: * Buffers are in PRESISTENT mode, but newly allocated, OK * Buffers are reused, but are not in PERSISTENT mode (for EXCLUSIVE buffers this means that application has crashed during the last execution), OK * Some of buffers are reused (not just REUSABLE, but actually reused), others - not, OK until a) either PERSISTENT flag is set or reused buffers are non-PERSISTENT b) either HW flag is set or reused buffers does not hold HW reference * PERSISTENT mode inconsistency, FAIL (even if we are going to set PERSISTENT mode anyway) * HW reference inconsistency, FAIL (even if we are going to set HW flag anyway) On allocation error at some of the buffer, call clean routine and * Preserve PERSISTENT mode and HW reference if buffers held them before unsuccessful kmem initialization. Until the last failed block, the blocks of kmem should be consistent. The HW/PERSISTENT flags should be removed if all reused blocks were in HW/PERSISTENT mode. The last block needs special treatment. The flags may be removed for the block if it was HW/PERSISTENT state (and others not). * Remove REUSE flag, we want to clean if allowed by current buffer status * EXCLUSIVE flag is not important for kmem_free routine. - At DMA level There is 4 components of DMA access: * DMA engine enabled/disabled * DMA engine IRQs enabled/disabled - always enabled at startup * Memory buffers * Ring start/stop pointers To prevent multiple processes accessing DMA engine in parallel, the first action is buffer initialization which will fail if buffers already used * Always with REUSE, EXCLUSIVE, and HW flags * Optionally with PERSISTENT flag (if DMA_PERSISTENT flag is set) If another DMA app is running, the buffer allocation will fail (no dma_stop is executed in this case) Depending on PRESERVE flag, kmem_free will be called with REUSE flag keeping buffer in memory (this is redundant since HW flag is enough) or HW flag indicating that DMA engine is stopped and buffer could be cleaned. PERSISTENT flag is defined by DMA_PERSISTENT flag passed to stop routine. PRESERVE flag is enforced if DMA_PERSISTENT is not passed to dma_stop routine and either it: a) Explicitely set by DMA_PERMANENT flag passed to dma_start function b) Implicitely set if DMA engine is already enabled during dma_start, all buffers are reused, and are in persistent mode. If PRESERVE flag is on, the engine will not be stopped at the end of execution (and buffers will stay because of HW flag). If buffers are reused and are already in PERSISTENT mode, DMA engine was on before dma_start (PRESERVE flag is ignored, because it can be enforced), ring pointers are calculated from LAST_BD and states of ring elements. If previous application crashed (i.e. buffers may be corrupted). Two cases are possible: * If during the call buffers were in non-PERSISTENT mode, it can be easily detected - buffers are reused, but are not in PERSISTENT mode (or at least was not before we set them to). In this case we just reinitialize all buffers. * If during the call buffers were in PERSISTENT mode, it is up to user to check their consistency and restart DMA engine.] IRQs are enabled and disabled at each call DMA Reads ========= standard: default reading mode, reads a single full packet multipacket: reads all available packets waiting multipacket: reads all available packets, after finishing the last one waiting if new data arrives exact read: read exactly specified number of bytes (should be only supported if it is multiple of packets, otherwise error should be returned) ignore packets: autoterminate each buffer, depends on engine configuration To handle differnt cases, the value returned by callback function instructs the DMA library how long to wait for the next data to appear before timing out. The following variants are possible: terminate: just bail out check: no timeout, just check if there is data, otherwise terminate timeout: standard DMA timeout, normaly used while receiving fragments of packet: in this case it is expected that device has already prepared data and only the performance of DMA engine limits transfer speed wait: wait until the data is prepared by the device, this timeout is specified as argument to the dma_stream function (standard DMA timeout is used by default) first | new_pkt | bufer -------------------------- standard wait | term | timeout multiple packets wait | check | timeout - DMA_READ_FLAG_MULTIPACKET waiting multipacket wait | wait | timeout - DMA_READ_FLAG_WAIT exact wait | wait/term | timeout - limited by size parameter ignore packets wait | wait/check| wait/check - just autoterminated Shall we do a special handling in case of overflow? Buffering ========= The DMA addresses are limited to 32 bits (~4GB for everything). This means we can't really use DMA pages are sole buffers. Therefore, a second thread, with a realtime scheduling policy if possible, will be spawned and will copy the data from the DMA pages into the allocated buffers. On expiration of duration or number of events set by autostop call, this thread will be stopped but processing in streaming mode will continue until all copyied data is passed to the callbacks. To avoid stalls, the IPECamera requires data to be read continuously read out. For this reason, there is no locks in the readout thread. It will simplify overwrite the old frames if data is not copied out timely. To handle this case after getting the data and processing it, the calling application should use return_data function and check return code. This function may return error indicating that the data was overwritten meanwhile. Hence, the data is corrupted and shoud be droped by the application. The copy_data function performs this check and user application can be sure it get coherent data in this case. There is a way to avoid this problem. For raw data, the rawdata callback can be requested. This callback blocks execution of readout thread and data may be treated safely by calling application. However, this may cause problems to electronics. Therefore, only memcpy should be performed on the data normally. The reconstructed data, however, may be safely accessed. As described above, the raw data will be continuously overwritten by the reader thread. However, reconstructed data, upon the get_data call, will be protected by the mutex. Register Access Synchronization =============================== We need to serialize access to the registers by the different running applications and handle case when registers are accessed indirectly by writting PCI BARs (DMA implementations, for instance). - Module-assisted locking: * During initialization the locking context is created (which is basicaly a kmem_handle of type LOCK_PAGE. * This locking context is passed to the kernel module along with lock type (LOCK_BANK) and lock item (BANK ADDRESS). If lock context is already owns lock on the specified bank, just reference number is increased, otherwise we are trying to obtain new lock. * Kernel module just iterates over all registered lock pages and checks if any holds the specified lock. if not, the lock is obtained and registered in the our lock page. * This allows to share access between multiple threads of single application (by using the same lock page) or protect (by using own lock pages by each of the threads) * Either on application cleanup or if application crashed, the memory mapping of lock page is removed and, hence, locks are freed. - Multiple-ways of accessing registers Because of reference counting, we can successfully obtain locks multiple times if necessary. The following locks are protecting register access: a) Global register_read/write lock bank before executing implementation b) DMA bank is locked by global DMA functions. So we can access the registers using plain PCI bar read/write. c) Sequence of register operations can be protected with pcilib_lock_bank function Reading raw register space or PCI bank is not locked. * Ok. We can detect banks which will be affected by PCI read/write and lock them. But shall we do it? Register/DMA Configuration ========================== - XML description of registers - Formal XML-based (or non XML-based) language for DMA implementation. a) Writting/Reading register values b) Wait until = on = report error c) ... ? IRQ Handling ============ IRQ types: DMA IRQ, Event IRQ, other types IRQ hardware source: To allow purely user-space implementation, as general rule, only a single (standard) source should be used. IRQ source: The dma/event engines, however, may detail this hardware source and produce real IRQ source basing on the values of registers. For example, for DMA IRQs the source may present engine number and for Event IRQs the source may present event type. Only types can be enabled or disabled. The sources are enabled/disabled by enabling/disabling correspondent DMA engines or Event types. The expected workflow is following: * We enabling IRQs in user-space (normally setting some registers). Normally, just an Event IRQs, the DMA if necessary will be managed by DMA engine itself. * We waiting for standard IRQ from hardware (driver) * In the user space, we are checking registers to find out the real source of IRQ (driver reports us just hardware source), generating appropriate events, and acknowledge IRQ. This is dependent on implementation and should be managed inside event API. I.e. the driver implements just two methods pcilib_wait_irq(hw_source), pcilib_clear_irq(hw_source). Only a few hardware IRQ sources are defined. In most cirstumances, the IRQ_SOURCE_DEFAULT is used. The DMA engine may provide 3 additional methods, to enable, disable, and acknowledge IRQ. ... To be decided in details upon the need... Updating Firmware ================= - JTag should be connected to USB connector on the board (next to Ethernet) - The computer should be tourned off and on before programming - The environment variable should be loaded . /home/uros/.bashrc - The application is called 'impact' No project is needed, cancel initial proposals (No/Cancel) Double-click on "Boundary Scan" Right click in the right window and select "Init Chain" We don't want to select bit file now (Yes and, then, click Cancel) Right click on second (right) item and choose "Assign new CF file" Select a bit file. Answer No, we don't want to attach SPI to SPI Prom Select xv6vlx240t and program it - Shutdown and start computer Firmware are in v.2: /home/uros/Repo/UFO2_last_good_version_UFO2.bit v.3: /home/uros/Repo/UFO3 Step5 - best working revision Step6 - last revision