FirmIO: Initial commit

2026-08-05 01:18:36 +02:00 · 2022-03-27 18:10:24 -04:00
parent 008a1620c8
commit 2dd91325e6
7 changed files with 512 additions and 7 deletions
@@ -0,0 +1,13 @@
+#ifndef __FIRMIO_H_
+#define __FIRMIO_H_
+
+#if defined (__linux__)
+#include "icsneo/platform/posix/firmio.h"
+#else
+// This driver is only relevant for communication communication between
+// Linux and CoreMini from the onboard processor of the device, you
+// likely do not want it enabled for your build.
+#warning "This platform is not supported by the firmio driver"
+#endif
+
+#endif
@@ -0,0 +1,133 @@
+#ifndef __FIRMIO_POSIX_H_
+#define __FIRMIO_POSIX_H_
+
+#ifdef __cplusplus
+
+#include "icsneo/device/neodevice.h"
+#include "icsneo/device/founddevice.h"
+#include "icsneo/communication/driver.h"
+#include "icsneo/api/eventmanager.h"
+#include "icsneo/platform/optional.h"
+#include <string>
+
+namespace icsneo {
+
+// This driver is only relevant for communication communication between
+// Linux and CoreMini from the onboard processor of the device, you
+// likely do not want it enabled for your build.
+class FirmIO : public Driver {
+public:
+	static void Find(std::vector<FoundDevice>& foundDevices);
+
+	FirmIO(device_eventhandler_t err);
+	~FirmIO();
+	bool open() override;
+	bool isOpen() override;
+	bool close() override;
+private:
+	void readTask() override;
+	void writeTask() override;
+	bool writeQueueFull() override;
+	bool writeQueueAlmostFull() override;
+	bool writeInternal(const std::vector<uint8_t>& bytes) override;
+
+	struct DataInfo {
+		uint32_t type;
+		uint32_t offset;
+		uint32_t size;
+	};
+
+	struct ComHeader {
+		uint32_t comVer;
+		struct DataInfo msgqPtrOut;
+		struct DataInfo msgqOut;
+		struct DataInfo shmOut;
+		struct DataInfo msgqPtrIn;
+		struct DataInfo msgqIn;
+		struct DataInfo shmIn;
+	};
+
+	struct Msg {
+		enum class Command : uint32_t {
+			ComData = 0xAA000000,
+			ComFree = 0xAA000001,
+			ComReset = 0xAA000002,
+		};
+		struct Data {
+			uint32_t addr;
+			uint32_t len;
+			uint32_t ref;
+			uint32_t addr1;
+			uint32_t len1;
+			uint32_t ref1;
+			uint32_t reserved;
+		};
+		struct Free {
+			uint32_t refCount;
+			uint32_t ref[6];
+		};
+		union Payload {
+			Data data;
+			Free free;
+		};
+		Command command;
+		Payload payload;
+	};
+
+	class MsgQueue { // mq_t
+	public:
+		bool read(Msg* msg) volatile;
+		bool write(const Msg* msg) volatile;
+		bool isEmpty() const volatile;
+		bool isFull() const volatile;
+
+	private: // These variables are mmaped, don't change their order or add anything
+		uint32_t head;
+		uint32_t tail;
+		uint32_t size;
+		[[maybe_unused]] uint32_t reserved[4];
+		Msg* msgs;
+	};
+
+	class Mempool {
+	public:
+		static constexpr const size_t BlockSize = 4096;
+
+		Mempool(uint8_t* start, uint32_t size, void* virt, uint32_t phys);
+		uint8_t* alloc(uint32_t size);
+		bool free(uint8_t* addr);
+		uint32_t translate(uint8_t* addr) const;
+
+	private:
+		struct BlockInfo {
+			enum class Status : uint32_t {
+				Free = 0,
+				Used = 1,
+			};
+			Status status;
+			uint8_t* addr;
+		};
+
+		uint8_t* const startAddress;
+		const uint32_t totalSize;
+		std::vector<BlockInfo> blocks;
+		std::atomic<uint32_t> usedBlocks;
+
+		void* const virtualAddress;
+		const uint32_t physicalAddress;
+	};
+
+	int fd = 0;
+	uint8_t* vbase = nullptr;
+	volatile ComHeader* header = nullptr;
+	volatile MsgQueue* in = nullptr;
+	std::mutex outMutex;
+	volatile MsgQueue* out = nullptr;
+	optional<Mempool> outMemory;
+};
+
+}
+
+#endif // __cplusplus
+
+#endif // __FIRMIO_POSIX_H_