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Merged
pcw-mesa merged 2 commits into from
Dec 14, 2024
Merged

Deduplicate hm2 driver code and constants #3225

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08f5469
Deduplicate code and constants used by multiple drivers. The infrastr…
BsAtHome Dec 13, 2024
cf2b85d
Fix the hm2_spi driver to actually work.
BsAtHome Dec 13, 2024
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6 changes: 5 additions & 1 deletion src/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -1058,12 +1058,16 @@ hm2_pci-objs := \
$(MATHSTUB)
hm2_eth-objs := \
hal/drivers/mesa-hostmot2/hm2_eth.o \
hal/drivers/mesa-hostmot2/eshellf.o \
$(MATHSTUB)
hm2_spi-objs := \
hal/drivers/mesa-hostmot2/hm2_spi.o \
hal/drivers/mesa-hostmot2/llio_info.o \
$(MATHSTUB)
hm2_rpspi-objs := \
hal/drivers/mesa-hostmot2/hm2_rpspi.o \
hal/drivers/mesa-hostmot2/hm2_rpspi.o \
hal/drivers/mesa-hostmot2/llio_info.o \
hal/drivers/mesa-hostmot2/eshellf.o \
$(MATHSTUB)
hm2_spix-objs := \
hal/drivers/mesa-hostmot2/hm2_spix.o \
Expand Down
29 changes: 2 additions & 27 deletions src/hal/drivers/mesa-hostmot2/hm2_eth.c
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@
#include "hostmot2-lowlevel.h"
#include "hostmot2.h"
#include "hm2_eth.h"
#include "eshellf.h"

struct kvlist {
struct rtapi_list_head list;
Expand Down Expand Up @@ -463,32 +464,6 @@ static int eth_socket_recv(int sockfd, void *buffer, int len, int flags);
#define IPTABLES "env \"PATH=/usr/sbin:/sbin:${PATH}\" iptables"
#define CHAIN "hm2-eth-rules-output"

static int shell(char *command) {
char *const argv[] = {"sh", "-c", command, NULL};
pid_t pid;
int res = rtapi_spawn_as_root(&pid, "/bin/sh", NULL, NULL, argv, environ);
if(res < 0) perror("rtapi_spawn_as_root");
int status;
waitpid(pid, &status, 0);
if(WIFEXITED(status)) return WEXITSTATUS(status);
else if(WIFSTOPPED(status)) return WTERMSIG(status)+128;
else return status;
}

static int eshellf(char *fmt, ...) {
char commandbuf[1024];
va_list ap;
va_start(ap, fmt);
vsnprintf(commandbuf, sizeof(commandbuf), fmt, ap);
va_end(ap);

int res = shell(commandbuf);
if(res == EXIT_SUCCESS) return 0;

LL_PRINT("ERROR: Failed to execute '%s'\n", commandbuf);
return -EINVAL;
}

static bool chain_exists() {
int result =
shell(IPTABLES" -n -L "CHAIN" > /dev/null 2>&1");
Expand Down Expand Up @@ -627,7 +602,7 @@ static int install_iptables_perinterface(const char *ifbuf) {
ifbuf);
if(res < 0) return res;

res = eshellf("/sbin/sysctl -q net.ipv6.conf.%s.disable_ipv6=1", ifbuf);
res = eshellf(HM2_LLIO_NAME, "/sbin/sysctl -q net.ipv6.conf.%s.disable_ipv6=1", ifbuf);
if(res < 0) return res;

return 0;
Expand Down
209 changes: 13 additions & 196 deletions src/hal/drivers/mesa-hostmot2/hm2_rpspi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@
#include "hostmot2-lowlevel.h"
#include "hostmot2.h"
#include "spi_common_rpspi.h"
#include "eshellf.h"
#include "llio_info.h"

#define HM2_LLIO_NAME "hm2_rpspi"

Expand Down Expand Up @@ -112,127 +114,6 @@ static uint32_t aux_enables; // Previous state of SPI1 enable
static hm2_rpspi_t boards[RPSPI_MAX_BOARDS]; // Connected boards
static int comp_id; // Upstream assigned component ID

static const char *hm2_7c80_pin_names[] = {
"TB07-02/TB07-03", /* Step/Dir/Misc 5V out */
"TB07-04/TB07-05",
"TB08-02/TB08-03",
"TB08-04/TB08-05",
"TB09-02/TB09-03",
"TB09-04/TB09-05",
"TB10-02/TB10-03",
"TB10-04/TB10-05",
"TB11-02/TB11-03",
"TB11-04/TB11-05",
"TB12-02/TB12-03",
"TB12-04/TB12-05",
"TB03-03/TB04-04", /* RS-422/RS-485 interface */
"TB03-05/TB04-06",
"TB03-05/TB03-06",
"TB04-01/TB04-02", /* Encoder */
"TB04-04/TB04-05",
"TB04-07/TB04-08",
"TB05-02", /* Spindle */
"TB05-02",
"TB05-05/TB05-06",
"TB05-07/TB05-08",
"Internal InMux0", /* InMux */
"Internal InMux1",
"Internal InMux2",
"Internal InMux3",
"Internal InMux4",

"Internal InMuxData",
"TB13-01/TB13-02", /* SSR */
"TB13-03/TB13-04",
"TB13-05/TB13-06",
"TB13-07/TB13-08",
"TB14-01/TB14-02",
"TB14-03/TB14-04",
"TB14-05/TB14-06",
"TB14-07/TB14-08",
"Internal SSR",
"P1-01/DB25-01",
"P1-02/DB25-14",
"P1-03/DB25-02",
"P1-04/DB25-15",
"P1-05/DB25-03",
"P1-06/DB25-16",
"P1-07/DB25-04",
"P1-08/DB25-17",
"P1-09/DB25-05",
"P1-11/DB25-06",
"P1-13/DB25-07",
"P1-15/DB25-08",
"P1-17/DB25-09",
"P1-19/DB25-10",
"P1-21/DB25-11",
"P1-23/DB25-12",
"P1-25/DB25-13",
};

static const char *hm2_7c81_pin_names[] = {
"P1-01/DB25-01",
"P1-02/DB25-14",
"P1-03/DB25-02",
"P1-04/DB25-15",
"P1-05/DB25-03",
"P1-06/DB25-16",
"P1-07/DB25-04",
"P1-08/DB25-17",
"P1-09/DB25-05",
"P1-11/DB25-06",
"P1-13/DB25-07",
"P1-15/DB25-08",
"P1-17/DB25-09",
"P1-19/DB25-10",
"P1-21/DB25-11",
"P1-23/DB25-12",
"P1-25/DB25-13",
"J5-TX0",
"J6-TX1",

"P2-01/DB25-01",
"P2-02/DB25-14",
"P2-03/DB25-02",
"P2-04/DB25-15",
"P2-05/DB25-03",
"P2-06/DB25-16",
"P2-07/DB25-04",
"P2-08/DB25-17",
"P2-09/DB25-05",
"P2-11/DB25-06",
"P2-13/DB25-07",
"P2-15/DB25-08",
"P2-17/DB25-09",
"P2-19/DB25-10",
"P2-21/DB25-11",
"P2-23/DB25-12",
"P2-25/DB25-13",
"J5-TXEN0",
"J6-TXEN1",

"P7-01/DB25-01",
"P7-02/DB25-14",
"P7-03/DB25-02",
"P7-04/DB25-15",
"P7-05/DB25-03",
"P7-06/DB25-16",
"P7-07/DB25-04",
"P7-08/DB25-17",
"P7-09/DB25-05",
"P7-11/DB25-06",
"P7-13/DB25-07",
"P7-15/DB25-08",
"P7-17/DB25-09",
"P7-19/DB25-10",
"P7-21/DB25-11",
"P7-23/DB25-12",
"P7-25/DB25-13",
"P5-RX0",
"P6-RX1"
};


/*
* Configuration parameters
*/
Expand Down Expand Up @@ -929,8 +810,8 @@ static uint32_t read_spiclkbase(void)
/*************************************************/
static int probe_board(hm2_rpspi_t *board) {
int32_t ret;
char ident[8+1];
char *base;
hm2_idrom_t idrom;
const char *base;

#if defined(RPSPI_DEBUG_WRITE)
uint32_t buf[8] = {0x00010203, 0x04050607, 0x08090a0b, 0x0c0d0e0f, 0x10111213, 0x14151617, 0x18191a1b, 0x1c1d1e1f};
Expand All @@ -942,53 +823,16 @@ static int probe_board(hm2_rpspi_t *board) {

rtapi_print_msg(RPSPI_INFO, "hm2_rpspi: SPI%d/CE%d Valid cookie matched\n", board->spidevid, board->spiceid);

// Read the board identification.
// The IDROM address offset is returned in the cookie check and the
// board_name offset is added (see hm2_idrom_t in hostmot2.h)
// FIXME: should we not simply read the entire IDROM here?
if(!board->llio.read(&board->llio, (uint32_t)ret + 0x000c, ident, 8)) {
// Read the IDROM from the board. The IDROM address offset was returned in
// the cookie check.
if(board->llio.read(&board->llio, (uint32_t)ret, &idrom, sizeof(hm2_idrom_t)) <= 0) {
rtapi_print_msg(RPSPI_ERR, "hm2_rpspi: SPI%d/CE%d Board ident read failed\n", board->spidevid, board->spiceid);
return -EIO; // Cookie could be read, so this is a comms error
}
ident[sizeof(ident)-1] = 0; // Because it may be used in printf, regardless format limits

if(!memcmp(ident, "MESA7I90", 8)) {
base = "hm2_7i90";
board->llio.num_ioport_connectors = 3;
board->llio.pins_per_connector = 24;
board->llio.ioport_connector_name[0] = "P1";
board->llio.ioport_connector_name[1] = "P2";
board->llio.ioport_connector_name[2] = "P3";
board->llio.num_leds = 2;
board->llio.fpga_part_number = "xc6slx9tq144";
} else if(!memcmp(ident, "MESA7C80", 8)){
base = "hm2_7c80";
board->llio.num_ioport_connectors = 2;
board->llio.pins_per_connector = 27;
board->llio.ioport_connector_name[0] = "Embedded I/O";
board->llio.ioport_connector_name[1] = "Embedded I/O + P1 expansion";
board->llio.io_connector_pin_names = hm2_7c80_pin_names;
board->llio.num_leds = 4;
board->llio.fpga_part_number = "xc6slx9tq144";
} else if(!memcmp(ident, "MESA7C81", 8)){
base = "hm2_7c81";
board->llio.num_ioport_connectors = 3;
board->llio.pins_per_connector = 19;
board->llio.ioport_connector_name[0] = "P1";
board->llio.ioport_connector_name[1] = "P2";
board->llio.ioport_connector_name[2] = "P7";
board->llio.io_connector_pin_names = hm2_7c81_pin_names;
board->llio.num_leds = 4;
board->llio.fpga_part_number = "xc6slx9tq144";
} else {
int i;
for(i = 0; i < sizeof(ident) - 1; i++) {
if(!isprint(ident[i]))
ident[i] = '?';
}
rtapi_print_msg(RPSPI_ERR, "hm2_rpspi: Unknown board at SPI%d/CE%d: %.8s\n", board->spidevid, board->spiceid, ident);
return -1;
}

// Detect board name and fill in informational values
if(!(base = set_llio_info_spi(&board->llio, &idrom)))
return -ENOENT;

rtapi_print_msg(RPSPI_INFO, "hm2_rpspi: SPI%d/CE%d Base: %s.%d\n", board->spidevid, board->spiceid, base, board->nr);
rtapi_snprintf(board->llio.name, sizeof(board->llio.name), "%s.%d", base, board->nr);
Expand Down Expand Up @@ -1421,49 +1265,22 @@ static int hm2_rpspi_setup(void)
return j > 0 ? 0 : -ENODEV;
}

static int shell(char *command) {
char *const argv[] = {"sh", "-c", command, NULL};
pid_t pid;
int res = rtapi_spawn_as_root(&pid, "/bin/sh", NULL, NULL, argv, environ);
if(res < 0) perror("rtapi_spawn_as_root");
int status;
waitpid(pid, &status, 0);
if(WIFEXITED(status)) return WEXITSTATUS(status);
else if(WIFSTOPPED(status)) return WTERMSIG(status)+128;
else return status;
}

static int eshellf(char *fmt, ...) {
char commandbuf[1024];
va_list ap;
va_start(ap, fmt);
vsnprintf(commandbuf, sizeof(commandbuf), fmt, ap);
va_end(ap);

int res = shell(commandbuf);
if(res == EXIT_SUCCESS) return 0;

LL_PRINT("ERROR: Failed to execute '%s'\n", commandbuf);
return -EINVAL;
}


/*************************************************/
static void hm2_rpspi_cleanup(void)
{
if((void *)peripheralmem != MAP_FAILED) {
peripheral_restore();
munmap(peripheralmem, peripheralsize);
}
eshellf("/sbin/modprobe spi-bcm2835");
eshellf(HM2_LLIO_NAME, "/sbin/modprobe spi-bcm2835");
}

/*************************************************/
int rtapi_app_main()
{
int ret;

eshellf("/sbin/rmmod spi_bcm2835");
eshellf(HM2_LLIO_NAME, "/sbin/rmmod spi_bcm2835");

if((comp_id = ret = hal_init("hm2_rpspi")) < 0)
goto fail;
Expand Down
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