1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
|
/* pfpu.c
*
* Milkymist PFPU driver for RTEMS
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rtems.org/license/LICENSE.
*
* COPYRIGHT (c) 2010, 2011 Sebastien Bourdeauducq
*/
#define RTEMS_STATUS_CHECKS_USE_PRINTK
#include <stdlib.h>
#include <stdio.h>
#include <errno.h>
#include <sys/types.h>
#include <rtems.h>
#include <bsp.h>
#include <bsp/irq-generic.h>
#include <rtems/libio.h>
#include <rtems/status-checks.h>
#include "../include/system_conf.h"
#include "milkymist_pfpu.h"
#define DEVICE_NAME "/dev/pfpu"
static rtems_id done_sem;
static rtems_isr done_handler(rtems_vector_number n)
{
rtems_semaphore_release(done_sem);
lm32_interrupt_ack(1 << MM_IRQ_PFPU);
}
rtems_device_driver pfpu_initialize(
rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg
)
{
rtems_status_code sc;
rtems_isr_entry dummy;
sc = rtems_io_register_name(DEVICE_NAME, major, 0);
RTEMS_CHECK_SC(sc, "create PFPU device");
sc = rtems_semaphore_create(
rtems_build_name('P', 'F', 'P', 'U'),
0,
RTEMS_SIMPLE_BINARY_SEMAPHORE,
0,
&done_sem
);
RTEMS_CHECK_SC(sc, "create PFPU done semaphore");
rtems_interrupt_catch(done_handler, MM_IRQ_PFPU, &dummy);
bsp_interrupt_vector_enable(MM_IRQ_PFPU);
return RTEMS_SUCCESSFUL;
}
static void load_program(unsigned int *program, int size)
{
int page;
int word;
volatile unsigned int *pfpu_prog = (unsigned int *)MM_PFPU_CODEBASE;
for (page=0;page<(PFPU_PROGSIZE/PFPU_PAGESIZE);page++) {
MM_WRITE(MM_PFPU_CODEPAGE, page);
for (word=0;word<PFPU_PAGESIZE;word++) {
if (size == 0) return;
pfpu_prog[word] = *program;
program++;
size--;
}
}
}
static void load_registers(float *registers)
{
volatile float *pfpu_regs = (float *)MM_PFPU_DREGBASE;
int i;
for (i=PFPU_SPREG_COUNT;i<PFPU_REG_COUNT;i++)
pfpu_regs[i] = registers[i];
}
static void update_registers(float *registers)
{
volatile float *pfpu_regs = (float *)MM_PFPU_DREGBASE;
int i;
for (i=PFPU_SPREG_COUNT;i<PFPU_REG_COUNT;i++)
registers[i] = pfpu_regs[i];
}
static rtems_status_code pfpu_execute(struct pfpu_td *td)
{
rtems_status_code sc;
load_program(td->program, td->progsize);
load_registers(td->registers);
MM_WRITE(MM_PFPU_MESHBASE, (unsigned int)td->output);
MM_WRITE(MM_PFPU_HMESHLAST, td->hmeshlast);
MM_WRITE(MM_PFPU_VMESHLAST, td->vmeshlast);
MM_WRITE(MM_PFPU_CTL, PFPU_CTL_START);
sc = rtems_semaphore_obtain(done_sem, RTEMS_WAIT, 10);
if (sc != RTEMS_SUCCESSFUL)
return sc;
if (td->update)
update_registers(td->registers);
if (td->invalidate) {
__asm__ volatile( /* Invalidate Level-1 data cache */
"wcsr DCC, r0\n"
"nop\n"
);
}
return RTEMS_SUCCESSFUL;
}
rtems_device_driver pfpu_control(
rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg
)
{
rtems_libio_ioctl_args_t *args = arg;
args->ioctl_return = -1;
if (args->command != PFPU_EXECUTE)
return RTEMS_UNSATISFIED;
if (pfpu_execute((struct pfpu_td *)args->buffer) != RTEMS_SUCCESSFUL)
return RTEMS_UNSATISFIED;
args->ioctl_return = 0;
return RTEMS_SUCCESSFUL;
}
|
