144 lines
3.0 KiB
C++
144 lines
3.0 KiB
C++
#ifndef __FIRMIO_POSIX_H_
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#define __FIRMIO_POSIX_H_
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#ifdef __cplusplus
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#include "icsneo/device/neodevice.h"
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#include "icsneo/device/founddevice.h"
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#include "icsneo/communication/driver.h"
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#include "icsneo/api/eventmanager.h"
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#include <optional>
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#include <string>
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namespace icsneo {
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// This driver is only relevant for communication communication between
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// Linux and CoreMini from the onboard processor of the device, you
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// likely do not want it enabled for your build.
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class FirmIO : public Driver {
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public:
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static void Find(std::vector<FoundDevice>& foundDevices);
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using Driver::Driver; // Inherit constructor
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~FirmIO();
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bool open() override;
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bool isOpen() override;
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bool close() override;
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private:
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std::thread readThread, writeThread;
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void readTask();
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void writeTask();
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bool writeQueueFull() override;
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bool writeQueueAlmostFull() override;
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bool writeInternal(const std::vector<uint8_t>& bytes) override;
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struct DataInfo {
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uint32_t type;
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uint32_t offset;
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uint32_t size;
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};
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struct ComHeader {
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uint32_t comVer;
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struct DataInfo msgqPtrOut;
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struct DataInfo msgqOut;
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struct DataInfo shmOut;
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struct DataInfo msgqPtrIn;
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struct DataInfo msgqIn;
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struct DataInfo shmIn;
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};
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struct Msg {
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using Ref = uintptr_t;
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enum class Command : uint32_t {
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ComData = 0xAA000000,
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ComFree = 0xAA000001,
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ComReset = 0xAA000002,
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};
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struct Data {
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uint32_t addr;
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uint32_t len;
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Ref ref;
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uint32_t addr1;
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uint32_t len1;
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Ref ref1;
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uint32_t reserved;
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};
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struct Free {
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uint32_t refCount;
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Ref ref[6];
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};
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union Payload {
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Data data;
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Free free;
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};
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Command command;
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Payload payload;
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};
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class MsgQueue { // mq_t
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public:
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MsgQueue(void* infoPtr, void* msgsPtr)
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: info(reinterpret_cast<MsgQueueInfo*>(infoPtr)), msgs(reinterpret_cast<Msg*>(msgsPtr)) {}
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bool read(Msg* msg);
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bool write(const Msg* msg);
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bool isEmpty() const;
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bool isFull() const;
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private:
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struct MsgQueueInfo { // These variables are mmaped, don't change their order or add anything
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uint32_t head;
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uint32_t tail;
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uint32_t size;
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uint32_t reserved[4];
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};
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MsgQueueInfo* const info;
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Msg* const msgs;
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};
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class Mempool {
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public:
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using PhysicalAddress = uintptr_t;
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static constexpr const size_t BlockSize = 4096;
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Mempool(uint8_t* start, uint32_t size, uint8_t* virt, PhysicalAddress phys);
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uint8_t* alloc(uint32_t size);
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bool free(uint8_t* addr);
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PhysicalAddress translate(uint8_t* addr) const;
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private:
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struct BlockInfo {
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enum class Status : uint32_t {
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Free = 0,
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Used = 1,
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};
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Status status;
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uint8_t* addr;
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};
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std::vector<BlockInfo> blocks;
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std::atomic<uint32_t> usedBlocks;
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uint8_t* const virtualAddress;
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const PhysicalAddress physicalAddress;
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};
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int fd = -1;
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uint8_t* vbase = nullptr;
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volatile ComHeader* header = nullptr;
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std::optional<MsgQueue> in;
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std::mutex outMutex;
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std::optional<MsgQueue> out;
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std::optional<Mempool> outMemory;
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};
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}
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#endif // __cplusplus
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#endif // __FIRMIO_POSIX_H_
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