Add GPMC interface to FPGA server

1 files changed, 183 insertions, 30 deletions

diff --git a/servers/fpga_server_lin/src/fpga_conn.cpp b/servers/fpga_server_lin/src/fpga_conn.cpp
index fdd54fd..a20cad9 100644
--- a/servers/fpga_server_lin/src/fpga_conn.cpp
+++ b/servers/fpga_server_lin/src/fpga_conn.cpp
@@ -35,6 +35,7 @@
 #include <sys/signal.h>
 #include <sys/types.h>
 #include <sys/ioctl.h>
+#include <math.h>
 
 #include <tqtimer.h>
 
@@ -42,6 +43,8 @@
 
 #include "fpga_conn.h"
 
+#include "bbb-gpmc-init.h"
+
 #define FLUSH_IN	0
 #define FLUSH_OUT	1
 #define FLUSH_BOTH	2
@@ -137,9 +140,29 @@ void FPGASocket::finishKerberosHandshake() {
 			close();
 			return;
 		}
-		if (setupSerial() != 0) {
+		m_config->setGroup("FPGA");
+		m_interfaceType = m_config->readEntry("interface", "serial");
+		if (m_interfaceType == "serial") {
+			if (setupSerial() != 0) {
+				if (enableDebug) {
+					printf("[DEBUG] Connection from %s closed due to serial port initialization failure\n\r", m_remoteHost.ascii()); fflush(stdout);
+				}
+				close();
+				return;
+			}
+		}
+		else if (m_interfaceType == "gpmc") {
+			if (setupGPMC() != 0) {
+				if (enableDebug) {
+					printf("[DEBUG] Connection from %s closed due to GPMC initialization failure\n\r", m_remoteHost.ascii()); fflush(stdout);
+				}
+				close();
+				return;
+			}
+		}
+		else {
 			if (enableDebug) {
-				printf("[DEBUG] Connection from %s closed due to serial port initialization failure\n\r", m_remoteHost.ascii()); fflush(stdout);
+				printf("[DEBUG] Connection from %s closed due to incorrect interface type specification in configuration file\n\r", m_remoteHost.ascii()); fflush(stdout);
 			}
 			close();
 			return;
@@ -212,6 +235,40 @@ int FPGASocket::setupSerial() {
 	return 0;
 }
 
+int FPGASocket::setupGPMC() {
+	int i;
+	int ret;
+
+	m_stateTXRequested = false;
+	m_stateImageRXRequested = false;
+	m_stateImageTXRequested = false;
+
+	ret = setup_gpmc_bbb();
+	if (ret == 0) {
+		// Verify attached uLab hardware model and version
+		unsigned char model = read_gpmc(0x00);
+		unsigned char version = read_gpmc(0x01);
+		if ((model != 0x42) || (version < 1)) {
+			printf("A compatible uLab hardware debug interface was not detected!  Please verify your configuration.\n"); 
+			return -1;
+		}
+		printf("[DEBUG] Detected a compatible uLab hardware debug interface (model number 0x%02x, firmware version 0x%02x)\n", model, version); 
+
+		// Clear out DSP and LCD RAM
+		unsigned char dsp_ram_bits = read_gpmc(0x0b);
+		unsigned int dsp_ram_offset = (1 << dsp_ram_bits);
+		unsigned int dsp_ram_size = (1 << dsp_ram_bits);
+		for (i=0; i<dsp_ram_size; i++) {
+			write_gpmc(dsp_ram_offset + i, 0x00);
+		}
+		for (i=0; i<32; i++) {
+			write_gpmc(0x20 + i, 0x00);
+		}
+	}
+
+	return 0;
+}
+
 void FPGASocket::commandLoop() {
 	int cc;
 	int ret;
@@ -222,39 +279,135 @@ void FPGASocket::commandLoop() {
 	try {
 		transferred_data = false;
 		if (state() == TQSocket::Connected) {
-			cc = read(m_fd_tty, buffer, 1024);
-			if (cc > 0) {
-				writeBlock(buffer, cc);
-				flush();
-				transferred_data = true;
-				if (enableDebug) {
-					printf("[DEBUG] Got %d bytes from the serial port\n\r", cc); fflush(stdout);
-				}
-			}
-			if (canReadData()) {
-				cc = readBlock(buffer, 1024);
+			if (m_interfaceType == "serial") {
+				cc = read(m_fd_tty, buffer, 1024);
 				if (cc > 0) {
-					ret = write(m_fd_tty, buffer, cc);
-
-					// HACK
-					// This works around a buffer overflow on FTDI serial devices
-					// It may not be sufficient for baudrates less than 115200!
-					if (cc > 128) {
-						usleep(100000);
+					writeBlock(buffer, cc);
+					flush();
+					transferred_data = true;
+					if (enableDebug) {
+						printf("[DEBUG] Got %d bytes from the serial port\n\r", cc); fflush(stdout);
 					}
-
-					while ((ret < 0) && (errno == EAGAIN)) {
-						usleep(1000);
+				}
+				if (canReadData()) {
+					cc = readBlock(buffer, 1024);
+					if (cc > 0) {
 						ret = write(m_fd_tty, buffer, cc);
+	
+						// HACK
+						// This works around a buffer overflow on FTDI serial devices
+						// It may not be sufficient for baudrates less than 115200!
+						if (cc > 128) {
+							usleep(100000);
+						}
+	
+						while ((ret < 0) && (errno == EAGAIN)) {
+							usleep(1000);
+							ret = write(m_fd_tty, buffer, cc);
+						}
+						if (ret < 0) {
+							// ERROR
+							printf("[ERROR] Failed to transmit data to serial port (%s, code %d)!  Continuing, but data was likely lost\n\r", strerror(errno), errno); fflush(stdout);
+						}
+						ioctl(m_fd_tty, TCFLSH, FLUSH_OUT);
+						transferred_data = true;
+						if (enableDebug) {
+							printf("[DEBUG] Got %d bytes from the network interface\n\r", cc); fflush(stdout);
+						}
 					}
-					if (ret < 0) {
-						// ERROR
-						printf("[ERROR] Failed to transmit data to serial port (%s, code %d)!  Continuing, but data was likely lost\n\r", strerror(errno), errno); fflush(stdout);
+				}
+			}
+			else if (m_interfaceType == "gpmc") {
+				if (m_stateImageTXRequested) {
+					if (read_gpmc(0x0a) & 0x02) {
+						m_stateImageTXRequested = false;
+
+						// Transmit image back to client
+						unsigned char dsp_ram_bits = read_gpmc(0x0b);
+						unsigned int dsp_ram_size = (1 << dsp_ram_bits);
+						unsigned int dsp_ram_offset = (1 << dsp_ram_bits);
+						TQByteArray dataToSend(dsp_ram_size);
+						memcpy_from_gpmc(dataToSend.data(), dsp_ram_offset, dsp_ram_size);
+						int offset = 0;
+						while (offset <= dsp_ram_size) {
+							writeBlock(dataToSend.data()+offset, 1024);
+							writeBufferedData();
+							offset = offset + 1024;
+						}
 					}
-					ioctl(m_fd_tty, TCFLSH, FLUSH_OUT);
-					transferred_data = true;
-					if (enableDebug) {
-						printf("[DEBUG] Got %d bytes from the network interface\n\r", cc); fflush(stdout);
+				}
+				else if (m_stateTXRequested) {
+					m_stateTXRequested = false;
+
+					char data[42];
+
+					// Read state data from memory map and assemble a reply
+					memcpy_from_gpmc(data+0, 0x20, 0x1f);	// LCD display
+					data[32] = 1;				// Input mode (locked to Remote)
+					data[33] = read_gpmc(0x0b);		// Number of address bits of DSP RAM
+					data[34] = read_gpmc(0x02);		// 4-bit LEDs
+					data[35] = read_gpmc(0x03);		// 8-bit LEDs
+					data[36] = read_gpmc(0x04);		// 16-bit LEDs (upper byte)
+					data[37] = read_gpmc(0x05);		// 16-bit LEDs (lower byte)
+					memcpy_from_gpmc(data+38, 0x06, 0x04);	// 7-segment LED display
+
+					writeBlock(data, 42);
+					writeBufferedData();
+				}
+				if (canReadData()) {
+					int read_offset = 0;
+					cc = readBlock(buffer, 1024);
+					if (cc > 0) {
+						if (m_stateImageRXRequested) {
+							unsigned char dsp_ram_bits = read_gpmc(0x0b);
+							unsigned int dsp_ram_offset = (1 << dsp_ram_bits);
+							unsigned int dsp_ram_size = (1 << dsp_ram_bits);
+
+							memcpy_to_gpmc(buffer, (dsp_ram_offset + m_stateImageRXCounter), cc);
+
+							m_stateImageRXCounter = m_stateImageRXCounter + cc;
+							if (m_stateImageRXCounter >= dsp_ram_size) {
+								m_stateImageRXRequested = false;
+								m_stateImageTXRequested = true;
+							}
+						}
+						else {
+							// Parse and write state data to the memory map
+							while (read_offset < cc) {
+								if (buffer[read_offset+0] == 'M') {
+									// Receive image data and store in FPGA memory
+									m_stateImageRXRequested = true;
+									m_stateImageTXRequested = false;
+									m_stateImageRXCounter = 0;
+									read_offset = read_offset + 2;
+								}
+								else if (buffer[read_offset+0] == 'L') {
+									m_stateTXRequested = true;
+									read_offset = read_offset + 2;
+								}
+								else if (buffer[read_offset+0] == 'I') {
+									write_gpmc(0x02, buffer[read_offset+2]);
+									read_offset = read_offset + 4;
+								}
+								else if (buffer[read_offset+0] == 'B') {
+									write_gpmc(0x03, buffer[read_offset+2]);
+									read_offset = read_offset + 4;
+								}
+								else if (buffer[read_offset+0] == 'C') {
+									write_gpmc(0x04, buffer[read_offset+2]);
+									write_gpmc(0x05, buffer[read_offset+4]);
+									read_offset = read_offset + 6;
+								}
+							}
+							if (m_stateImageTXRequested) {
+								m_stateImageTXRequested = false;
+							}
+						}
+
+						transferred_data = true;
+						if (enableDebug) {
+							printf("[DEBUG] Got %d bytes from the network interface\n\r", cc); fflush(stdout);
+						}
 					}
 				}
 			}