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RASCSI/cpp/hal/gpiobus.cpp

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//---------------------------------------------------------------------------
//
// SCSI Target Emulator RaSCSI Reloaded
// for Raspberry Pi
//
// Powered by XM6 TypeG Technology.
// Copyright (C) 2016-2020 GIMONS
//
// [ GPIO-SCSI bus ]
//
//---------------------------------------------------------------------------
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <sys/time.h>
#include "hal/gpiobus.h"
#include "hal/systimer.h"
#include "shared/config.h"
#include "shared/log.h"
#include <array>
#ifdef __linux__
#include <sys/epoll.h>
#endif
using namespace std;
#ifdef __linux__
//---------------------------------------------------------------------------
//
// imported from bcm_host.c
//
//---------------------------------------------------------------------------
static uint32_t get_dt_ranges(const char *filename, uint32_t offset)
{
uint32_t address = ~0;
if (FILE *fp = fopen(filename, "rb"); fp) {
fseek(fp, offset, SEEK_SET);
if (array<uint8_t, 4> buf; fread(buf.data(), 1, buf.size(), fp) == buf.size()) {
address = (int)buf[0] << 24 | (int)buf[1] << 16 | (int)buf[2] << 8 | (int)buf[3] << 0;
}
fclose(fp);
}
return address;
}
uint32_t bcm_host_get_peripheral_address()
{
uint32_t address = get_dt_ranges("/proc/device-tree/soc/ranges", 4);
if (address == 0) {
address = get_dt_ranges("/proc/device-tree/soc/ranges", 8);
}
address = (address == (uint32_t)~0) ? 0x20000000 : address;
return address;
}
#endif
#ifdef __NetBSD__
// Assume the Raspberry Pi series and estimate the address from CPU
uint32_t bcm_host_get_peripheral_address()
{
array<char, 1024> buf;
size_t len = buf.size();
uint32_t address;
if (sysctlbyname("hw.model", buf.data(), &len, NULL, 0) ||
strstr(buf, "ARM1176JZ-S") != buf.data()) {
// Failed to get CPU model || Not BCM2835
// use the address of BCM283[67]
address = 0x3f000000;
} else {
// Use BCM2835 address
address = 0x20000000;
}
printf("Peripheral address : 0x%lx\n", address);
return address;
}
#endif
bool GPIOBUS::Init(mode_e mode)
{
// Save operation mode
actmode = mode;
#if defined(__x86_64__) || defined(__X86__)
return true;
#else
int i;
#ifdef USE_SEL_EVENT_ENABLE
epoll_event ev = {};
#endif
// Get the base address
baseaddr = (uint32_t)bcm_host_get_peripheral_address();
// Open /dev/mem
int fd = open("/dev/mem", O_RDWR | O_SYNC);
if (fd == -1) {
LOGERROR("Error: Unable to open /dev/mem. Are you running as root?")
return false;
}
// Map peripheral region memory
void *map = mmap(NULL, 0x1000100, PROT_READ | PROT_WRITE, MAP_SHARED, fd, baseaddr);
if (map == MAP_FAILED) {
LOGERROR("Error: Unable to map memory")
close(fd);
return false;
}
// Determine the type of raspberry pi from the base address
if (baseaddr == 0xfe000000) {
rpitype = 4;
} else if (baseaddr == 0x3f000000) {
rpitype = 2;
} else {
rpitype = 1;
}
// GPIO
gpio = (uint32_t *)map;
gpio += GPIO_OFFSET / sizeof(uint32_t);
level = &gpio[GPIO_LEV_0];
// PADS
pads = (uint32_t *)map;
pads += PADS_OFFSET / sizeof(uint32_t);
// System timer
SysTimer::Init(
(uint32_t *)map + SYST_OFFSET / sizeof(uint32_t),
(uint32_t *)map + ARMT_OFFSET / sizeof(uint32_t));
// Interrupt controller
irpctl = (uint32_t *)map;
irpctl += IRPT_OFFSET / sizeof(uint32_t);
// Quad-A7 control
qa7regs = (uint32_t *)map;
qa7regs += QA7_OFFSET / sizeof(uint32_t);
// Map GIC memory
if (rpitype == 4) {
map = mmap(NULL, 8192,
PROT_READ | PROT_WRITE, MAP_SHARED, fd, ARM_GICD_BASE);
if (map == MAP_FAILED) {
close(fd);
return false;
}
gicd = (uint32_t *)map;
gicc = (uint32_t *)map;
gicc += (ARM_GICC_BASE - ARM_GICD_BASE) / sizeof(uint32_t);
} else {
gicd = NULL;
gicc = NULL;
}
close(fd);
// Set Drive Strength to 16mA
DrvConfig(7);
// Set pull up/pull down
#if SIGNAL_CONTROL_MODE == 0
int pullmode = GPIO_PULLNONE;
#elif SIGNAL_CONTROL_MODE == 1
int pullmode = GPIO_PULLUP;
#else
int pullmode = GPIO_PULLDOWN;
#endif
// Initialize all signals
for (i = 0; SignalTable[i] >= 0; i++) {
int j = SignalTable[i];
PinSetSignal(j, OFF);
PinConfig(j, GPIO_INPUT);
PullConfig(j, pullmode);
}
// Set control signals
PinSetSignal(PIN_ACT, OFF);
PinSetSignal(PIN_TAD, OFF);
PinSetSignal(PIN_IND, OFF);
PinSetSignal(PIN_DTD, OFF);
PinConfig(PIN_ACT, GPIO_OUTPUT);
PinConfig(PIN_TAD, GPIO_OUTPUT);
PinConfig(PIN_IND, GPIO_OUTPUT);
PinConfig(PIN_DTD, GPIO_OUTPUT);
// Set the ENABLE signal
// This is used to show that the application is running
PinSetSignal(PIN_ENB, ENB_OFF);
PinConfig(PIN_ENB, GPIO_OUTPUT);
// GPFSEL backup
gpfsel[0] = gpio[GPIO_FSEL_0];
gpfsel[1] = gpio[GPIO_FSEL_1];
gpfsel[2] = gpio[GPIO_FSEL_2];
gpfsel[3] = gpio[GPIO_FSEL_3];
// Initialize SEL signal interrupt
#ifdef USE_SEL_EVENT_ENABLE
// GPIO chip open
fd = open("/dev/gpiochip0", 0);
if (fd == -1) {
LOGERROR("Unable to open /dev/gpiochip0. Is RaSCSI already running?")
return false;
}
// Event request setting
strcpy(selevreq.consumer_label, "RaSCSI");
selevreq.lineoffset = PIN_SEL;
selevreq.handleflags = GPIOHANDLE_REQUEST_INPUT;
#if SIGNAL_CONTROL_MODE < 2
selevreq.eventflags = GPIOEVENT_REQUEST_FALLING_EDGE;
#else
selevreq.eventflags = GPIOEVENT_REQUEST_RISING_EDGE;
#endif // SIGNAL_CONTROL_MODE
//Get event request
if (ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &selevreq) == -1) {
LOGERROR("Unable to register event request. Is RaSCSI already running?")
close(fd);
return false;
}
// Close GPIO chip file handle
close(fd);
// epoll initialization
epfd = epoll_create(1);
ev.events = EPOLLIN | EPOLLPRI;
ev.data.fd = selevreq.fd;
epoll_ctl(epfd, EPOLL_CTL_ADD, selevreq.fd, &ev);
#else
// Edge detection setting
#if SIGNAL_CONTROL_MODE == 2
gpio[GPIO_AREN_0] = 1 << PIN_SEL;
#else
gpio[GPIO_AFEN_0] = 1 << PIN_SEL;
#endif // SIGNAL_CONTROL_MODE
// Clear event
gpio[GPIO_EDS_0] = 1 << PIN_SEL;
// Register interrupt handler
setIrqFuncAddress(IrqHandler);
// GPIO interrupt setting
if (rpitype == 4) {
// GIC Invalid
gicd[GICD_CTLR] = 0;
// Route all interupts to core 0
for (i = 0; i < 8; i++) {
gicd[GICD_ICENABLER0 + i] = 0xffffffff;
gicd[GICD_ICPENDR0 + i] = 0xffffffff;
gicd[GICD_ICACTIVER0 + i] = 0xffffffff;
}
for (i = 0; i < 64; i++) {
gicd[GICD_IPRIORITYR0 + i] = 0xa0a0a0a0;
gicd[GICD_ITARGETSR0 + i] = 0x01010101;
}
// Set all interrupts as level triggers
for (i = 0; i < 16; i++) {
gicd[GICD_ICFGR0 + i] = 0;
}
// GIC Invalid
gicd[GICD_CTLR] = 1;
// Enable CPU interface for core 0
gicc[GICC_PMR] = 0xf0;
gicc[GICC_CTLR] = 1;
// Enable interrupts
gicd[GICD_ISENABLER0 + (GIC_GPIO_IRQ / 32)] =
1 << (GIC_GPIO_IRQ % 32);
} else {
// Enable interrupts
irpctl[IRPT_ENB_IRQ_2] = (1 << (GPIO_IRQ % 32));
}
#endif // USE_SEL_EVENT_ENABLE
// Create work table
MakeTable();
// Finally, enable ENABLE
// Show the user that this app is running
SetControl(PIN_ENB, ENB_ON);
return true;
#endif // ifdef __x86_64__ || __X86__
}
void GPIOBUS::Cleanup()
{
#if defined(__x86_64__) || defined(__X86__)
return;
#else
// Release SEL signal interrupt
#ifdef USE_SEL_EVENT_ENABLE
close(selevreq.fd);
#endif // USE_SEL_EVENT_ENABLE
// Set control signals
PinSetSignal(PIN_ENB, OFF);
PinSetSignal(PIN_ACT, OFF);
PinSetSignal(PIN_TAD, OFF);
PinSetSignal(PIN_IND, OFF);
PinSetSignal(PIN_DTD, OFF);
PinConfig(PIN_ACT, GPIO_INPUT);
PinConfig(PIN_TAD, GPIO_INPUT);
PinConfig(PIN_IND, GPIO_INPUT);
PinConfig(PIN_DTD, GPIO_INPUT);
// Initialize all signals
for (int i = 0; SignalTable[i] >= 0; i++) {
int pin = SignalTable[i];
PinSetSignal(pin, OFF);
PinConfig(pin, GPIO_INPUT);
PullConfig(pin, GPIO_PULLNONE);
}
// Set drive strength back to 8mA
DrvConfig(3);
#endif // ifdef __x86_64__ || __X86__
}
void GPIOBUS::Reset()
{
#if defined(__x86_64__) || defined(__X86__)
return;
#else
int i;
int j;
// Turn off active signal
SetControl(PIN_ACT, ACT_OFF);
// Set all signals to off
for (i = 0;; i++) {
j = SignalTable[i];
if (j < 0) {
break;
}
SetSignal(j, OFF);
}
if (actmode == mode_e::TARGET) {
// Target mode
// Set target signal to input
SetControl(PIN_TAD, TAD_IN);
SetMode(PIN_BSY, IN);
SetMode(PIN_MSG, IN);
SetMode(PIN_CD, IN);
SetMode(PIN_REQ, IN);
SetMode(PIN_IO, IN);
// Set the initiator signal to input
SetControl(PIN_IND, IND_IN);
SetMode(PIN_SEL, IN);
SetMode(PIN_ATN, IN);
SetMode(PIN_ACK, IN);
SetMode(PIN_RST, IN);
// Set data bus signals to input
SetControl(PIN_DTD, DTD_IN);
SetMode(PIN_DT0, IN);
SetMode(PIN_DT1, IN);
SetMode(PIN_DT2, IN);
SetMode(PIN_DT3, IN);
SetMode(PIN_DT4, IN);
SetMode(PIN_DT5, IN);
SetMode(PIN_DT6, IN);
SetMode(PIN_DT7, IN);
SetMode(PIN_DP, IN);
} else {
// Initiator mode
// Set target signal to input
SetControl(PIN_TAD, TAD_IN);
SetMode(PIN_BSY, IN);
SetMode(PIN_MSG, IN);
SetMode(PIN_CD, IN);
SetMode(PIN_REQ, IN);
SetMode(PIN_IO, IN);
// Set the initiator signal to output
SetControl(PIN_IND, IND_OUT);
SetMode(PIN_SEL, OUT);
SetMode(PIN_ATN, OUT);
SetMode(PIN_ACK, OUT);
SetMode(PIN_RST, OUT);
// Set the data bus signals to output
SetControl(PIN_DTD, DTD_OUT);
SetMode(PIN_DT0, OUT);
SetMode(PIN_DT1, OUT);
SetMode(PIN_DT2, OUT);
SetMode(PIN_DT3, OUT);
SetMode(PIN_DT4, OUT);
SetMode(PIN_DT5, OUT);
SetMode(PIN_DT6, OUT);
SetMode(PIN_DT7, OUT);
SetMode(PIN_DP, OUT);
}
// Initialize all signals
signals = 0;
#endif // ifdef __x86_64__ || __X86__
}
void GPIOBUS::SetENB(bool ast)
{
PinSetSignal(PIN_ENB, ast ? ENB_ON : ENB_OFF);
}
bool GPIOBUS::GetBSY() const
{
return GetSignal(PIN_BSY);
}
void GPIOBUS::SetBSY(bool ast)
{
// Set BSY signal
SetSignal(PIN_BSY, ast);
if (actmode == mode_e::TARGET) {
if (ast) {
// Turn on ACTIVE signal
SetControl(PIN_ACT, ACT_ON);
// Set Target signal to output
SetControl(PIN_TAD, TAD_OUT);
SetMode(PIN_BSY, OUT);
SetMode(PIN_MSG, OUT);
SetMode(PIN_CD, OUT);
SetMode(PIN_REQ, OUT);
SetMode(PIN_IO, OUT);
} else {
// Turn off the ACTIVE signal
SetControl(PIN_ACT, ACT_OFF);
// Set the target signal to input
SetControl(PIN_TAD, TAD_IN);
SetMode(PIN_BSY, IN);
SetMode(PIN_MSG, IN);
SetMode(PIN_CD, IN);
SetMode(PIN_REQ, IN);
SetMode(PIN_IO, IN);
}
}
}
bool GPIOBUS::GetSEL() const
{
return GetSignal(PIN_SEL);
}
void GPIOBUS::SetSEL(bool ast)
{
if (actmode == mode_e::INITIATOR && ast) {
// Turn on ACTIVE signal
SetControl(PIN_ACT, ACT_ON);
}
// Set SEL signal
SetSignal(PIN_SEL, ast);
}
bool GPIOBUS::GetATN() const
{
return GetSignal(PIN_ATN);
}
void GPIOBUS::SetATN(bool ast)
{
SetSignal(PIN_ATN, ast);
}
bool GPIOBUS::GetACK() const
{
return GetSignal(PIN_ACK);
}
void GPIOBUS::SetACK(bool ast)
{
SetSignal(PIN_ACK, ast);
}
bool GPIOBUS::GetACT() const
{
return GetSignal(PIN_ACT);
}
void GPIOBUS::SetACT(bool ast)
{
SetSignal(PIN_ACT, ast);
}
bool GPIOBUS::GetRST() const
{
return GetSignal(PIN_RST);
}
void GPIOBUS::SetRST(bool ast)
{
SetSignal(PIN_RST, ast);
}
bool GPIOBUS::GetMSG() const
{
return GetSignal(PIN_MSG);
}
void GPIOBUS::SetMSG(bool ast)
{
SetSignal(PIN_MSG, ast);
}
bool GPIOBUS::GetCD() const
{
return GetSignal(PIN_CD);
}
void GPIOBUS::SetCD(bool ast)
{
SetSignal(PIN_CD, ast);
}
bool GPIOBUS::GetIO()
{
bool ast = GetSignal(PIN_IO);
if (actmode == mode_e::INITIATOR) {
// Change the data input/output direction by IO signal
if (ast) {
SetControl(PIN_DTD, DTD_IN);
SetMode(PIN_DT0, IN);
SetMode(PIN_DT1, IN);
SetMode(PIN_DT2, IN);
SetMode(PIN_DT3, IN);
SetMode(PIN_DT4, IN);
SetMode(PIN_DT5, IN);
SetMode(PIN_DT6, IN);
SetMode(PIN_DT7, IN);
SetMode(PIN_DP, IN);
} else {
SetControl(PIN_DTD, DTD_OUT);
SetMode(PIN_DT0, OUT);
SetMode(PIN_DT1, OUT);
SetMode(PIN_DT2, OUT);
SetMode(PIN_DT3, OUT);
SetMode(PIN_DT4, OUT);
SetMode(PIN_DT5, OUT);
SetMode(PIN_DT6, OUT);
SetMode(PIN_DT7, OUT);
SetMode(PIN_DP, OUT);
}
}
return ast;
}
void GPIOBUS::SetIO(bool ast)
{
SetSignal(PIN_IO, ast);
if (actmode == mode_e::TARGET) {
// Change the data input/output direction by IO signal
if (ast) {
SetControl(PIN_DTD, DTD_OUT);
SetDAT(0);
SetMode(PIN_DT0, OUT);
SetMode(PIN_DT1, OUT);
SetMode(PIN_DT2, OUT);
SetMode(PIN_DT3, OUT);
SetMode(PIN_DT4, OUT);
SetMode(PIN_DT5, OUT);
SetMode(PIN_DT6, OUT);
SetMode(PIN_DT7, OUT);
SetMode(PIN_DP, OUT);
} else {
SetControl(PIN_DTD, DTD_IN);
SetMode(PIN_DT0, IN);
SetMode(PIN_DT1, IN);
SetMode(PIN_DT2, IN);
SetMode(PIN_DT3, IN);
SetMode(PIN_DT4, IN);
SetMode(PIN_DT5, IN);
SetMode(PIN_DT6, IN);
SetMode(PIN_DT7, IN);
SetMode(PIN_DP, IN);
}
}
}
bool GPIOBUS::GetREQ() const
{
return GetSignal(PIN_REQ);
}
void GPIOBUS::SetREQ(bool ast)
{
SetSignal(PIN_REQ, ast);
}
//---------------------------------------------------------------------------
//
// Get data signals
//
//---------------------------------------------------------------------------
uint8_t GPIOBUS::GetDAT()
{
uint32_t data = Acquire();
data =
((data >> (PIN_DT0 - 0)) & (1 << 0)) |
((data >> (PIN_DT1 - 1)) & (1 << 1)) |
((data >> (PIN_DT2 - 2)) & (1 << 2)) |
((data >> (PIN_DT3 - 3)) & (1 << 3)) |
((data >> (PIN_DT4 - 4)) & (1 << 4)) |
((data >> (PIN_DT5 - 5)) & (1 << 5)) |
((data >> (PIN_DT6 - 6)) & (1 << 6)) |
((data >> (PIN_DT7 - 7)) & (1 << 7));
return (uint8_t)data;
}
//---------------------------------------------------------------------------
//
// Set data signals
//
//---------------------------------------------------------------------------
void GPIOBUS::SetDAT(uint8_t dat)
{
// Write to port
#if SIGNAL_CONTROL_MODE == 0
uint32_t fsel = gpfsel[0];
fsel &= tblDatMsk[0][dat];
fsel |= tblDatSet[0][dat];
if (fsel != gpfsel[0]) {
gpfsel[0] = fsel;
gpio[GPIO_FSEL_0] = fsel;
}
fsel = gpfsel[1];
fsel &= tblDatMsk[1][dat];
fsel |= tblDatSet[1][dat];
if (fsel != gpfsel[1]) {
gpfsel[1] = fsel;
gpio[GPIO_FSEL_1] = fsel;
}
fsel = gpfsel[2];
fsel &= tblDatMsk[2][dat];
fsel |= tblDatSet[2][dat];
if (fsel != gpfsel[2]) {
gpfsel[2] = fsel;
gpio[GPIO_FSEL_2] = fsel;
}
#else
gpio[GPIO_CLR_0] = tblDatMsk[dat];
gpio[GPIO_SET_0] = tblDatSet[dat];
#endif // SIGNAL_CONTROL_MODE
}
bool GPIOBUS::GetDP() const
{
return GetSignal(PIN_DP);
}
//---------------------------------------------------------------------------
//
// Receive command handshake
//
//---------------------------------------------------------------------------
int GPIOBUS::CommandHandShake(vector<uint8_t>& buf)
{
// Only works in TARGET mode
if (actmode != mode_e::TARGET) {
return 0;
}
DisableIRQ();
// Assert REQ signal
SetSignal(PIN_REQ, ON);
// Wait for ACK signal
bool ret = WaitSignal(PIN_ACK, ON);
// Wait until the signal line stabilizes
SysTimer::SleepNsec(SCSI_DELAY_BUS_SETTLE_DELAY_NS);
// Get data
buf[0] = GetDAT();
// Disable REQ signal
SetSignal(PIN_REQ, OFF);
// Timeout waiting for ACK assertion
if (!ret) {
EnableIRQ();
return 0;
}
// Wait for ACK to clear
ret = WaitSignal(PIN_ACK, OFF);
// Timeout waiting for ACK to clear
if (!ret) {
EnableIRQ();
return 0;
}
// The ICD AdSCSI ST, AdSCSI Plus ST and AdSCSI Micro ST host adapters allow SCSI devices to be connected
// to the ACSI bus of Atari ST/TT computers and some clones. ICD-aware drivers prepend a $1F byte in front
// of the CDB (effectively resulting in a custom SCSI command) in order to get access to the full SCSI
// command set. Native ACSI is limited to the low SCSI command classes with command bytes < $20.
// Most other host adapters (e.g. LINK96/97 and the one by Inventronik) and also several devices (e.g.
// UltraSatan or GigaFile) that can directly be connected to the Atari's ACSI port also support ICD
// semantics. I fact, these semantics have become a standard in the Atari world.
// RaSCSI becomes ICD compatible by ignoring the prepended $1F byte before processing the CDB.
if (buf[0] == 0x1F) {
SetSignal(PIN_REQ, ON);
ret = WaitSignal(PIN_ACK, ON);
SysTimer::SleepNsec(SCSI_DELAY_BUS_SETTLE_DELAY_NS);
// Get the actual SCSI command
buf[0] = GetDAT();
SetSignal(PIN_REQ, OFF);
if (!ret) {
EnableIRQ();
return 0;
}
WaitSignal(PIN_ACK, OFF);
if (!ret) {
EnableIRQ();
return 0;
}
}
const int command_byte_count = GetCommandByteCount(buf[0]);
if (command_byte_count == 0) {
EnableIRQ();
return 0;
}
int offset = 0;
int bytes_received;
for (bytes_received = 1; bytes_received < command_byte_count; bytes_received++) {
++offset;
// Assert REQ signal
SetSignal(PIN_REQ, ON);
// Wait for ACK signal
ret = WaitSignal(PIN_ACK, ON);
// Wait until the signal line stabilizes
SysTimer::SleepNsec(SCSI_DELAY_BUS_SETTLE_DELAY_NS);
// Get data
buf[offset] = GetDAT();
// Clear the REQ signal
SetSignal(PIN_REQ, OFF);
// Check for timeout waiting for ACK assertion
if (!ret) {
break;
}
// Wait for ACK to clear
ret = WaitSignal(PIN_ACK, OFF);
// Check for timeout waiting for ACK to clear
if (!ret) {
break;
}
}
EnableIRQ();
return bytes_received;
}
//---------------------------------------------------------------------------
//
// Data reception handshake
//
//---------------------------------------------------------------------------
int GPIOBUS::ReceiveHandShake(uint8_t *buf, int count)
{
int i;
// Disable IRQs
DisableIRQ();
if (actmode == mode_e::TARGET) {
for (i = 0; i < count; i++) {
// Assert the REQ signal
SetSignal(PIN_REQ, ON);
// Wait for ACK
bool ret = WaitSignal(PIN_ACK, ON);
// Wait until the signal line stabilizes
SysTimer::SleepNsec(SCSI_DELAY_BUS_SETTLE_DELAY_NS);
// Get data
*buf = GetDAT();
// Clear the REQ signal
SetSignal(PIN_REQ, OFF);
// Check for timeout waiting for ACK signal
if (!ret) {
break;
}
// Wait for ACK to clear
ret = WaitSignal(PIN_ACK, OFF);
// Check for timeout waiting for ACK to clear
if (!ret) {
break;
}
// Advance the buffer pointer to receive the next byte
buf++;
}
} else {
// Get phase
uint32_t phase = Acquire() & GPIO_MCI;
for (i = 0; i < count; i++) {
// Wait for the REQ signal to be asserted
bool ret = WaitSignal(PIN_REQ, ON);
// Check for timeout waiting for REQ signal
if (!ret) {
break;
}
// Phase error
if ((signals & GPIO_MCI) != phase) {
break;
}
// Wait until the signal line stabilizes
SysTimer::SleepNsec(SCSI_DELAY_BUS_SETTLE_DELAY_NS);
// Get data
*buf = GetDAT();
// Assert the ACK signal
SetSignal(PIN_ACK, ON);
// Wait for REQ to clear
ret = WaitSignal(PIN_REQ, OFF);
// Clear the ACK signal
SetSignal(PIN_ACK, OFF);
// Check for timeout waiting for REQ to clear
if (!ret) {
break;
}
// Phase error
if ((signals & GPIO_MCI) != phase) {
break;
}
// Advance the buffer pointer to receive the next byte
buf++;
}
}
// Re-enable IRQ
EnableIRQ();
// Return the number of bytes received
return i;
}
//---------------------------------------------------------------------------
//
// Data transmission handshake
//
//---------------------------------------------------------------------------
int GPIOBUS::SendHandShake(uint8_t *buf, int count, int delay_after_bytes)
{
int i;
// Disable IRQs
DisableIRQ();
if (actmode == mode_e::TARGET) {
for (i = 0; i < count; i++) {
if(i==delay_after_bytes){
LOGTRACE("%s DELAYING for %dus after %d bytes", __PRETTY_FUNCTION__, SCSI_DELAY_SEND_DATA_DAYNAPORT_US, (int)delay_after_bytes)
SysTimer::SleepUsec(SCSI_DELAY_SEND_DATA_DAYNAPORT_US);
}
// Set the DATA signals
SetDAT(*buf);
// Wait for ACK to clear
bool ret = WaitSignal(PIN_ACK, OFF);
// Check for timeout waiting for ACK to clear
if (!ret) {
break;
}
// Already waiting for ACK to clear
// Assert the REQ signal
SetSignal(PIN_REQ, ON);
// Wait for ACK
ret = WaitSignal(PIN_ACK, ON);
// Clear REQ signal
SetSignal(PIN_REQ, OFF);
// Check for timeout waiting for ACK to clear
if (!ret) {
break;
}
// Advance the data buffer pointer to receive the next byte
buf++;
}
// Wait for ACK to clear
WaitSignal(PIN_ACK, OFF);
} else {
// Get Phase
uint32_t phase = Acquire() & GPIO_MCI;
for (i = 0; i < count; i++) {
if(i==delay_after_bytes){
LOGTRACE("%s DELAYING for %dus after %d bytes", __PRETTY_FUNCTION__, SCSI_DELAY_SEND_DATA_DAYNAPORT_US, (int)delay_after_bytes)
SysTimer::SleepUsec(SCSI_DELAY_SEND_DATA_DAYNAPORT_US);
}
// Set the DATA signals
SetDAT(*buf);
// Wait for REQ to be asserted
bool ret = WaitSignal(PIN_REQ, ON);
// Check for timeout waiting for REQ to be asserted
if (!ret) {
break;
}
// Phase error
if ((signals & GPIO_MCI) != phase) {
break;
}
// Already waiting for REQ assertion
// Assert the ACK signal
SetSignal(PIN_ACK, ON);
// Wait for REQ to clear
ret = WaitSignal(PIN_REQ, OFF);
// Clear the ACK signal
SetSignal(PIN_ACK, OFF);
// Check for timeout waiting for REQ to clear
if (!ret) {
break;
}
// Phase error
if ((signals & GPIO_MCI) != phase) {
break;
}
// Advance the data buffer pointer to receive the next byte
buf++;
}
}
// Re-enable IRQ
EnableIRQ();
// Return number of transmissions
return i;
}
#ifdef USE_SEL_EVENT_ENABLE
//---------------------------------------------------------------------------
//
// SEL signal event polling
//
//---------------------------------------------------------------------------
bool GPIOBUS::PollSelectEvent()
{
errno = 0;
if (epoll_event epev; epoll_wait(epfd, &epev, 1, -1) <= 0) {
LOGWARN("%s epoll_wait failed", __PRETTY_FUNCTION__)
return false;
}
if (gpioevent_data gpev; read(selevreq.fd, &gpev, sizeof(gpev)) < 0) {
LOGWARN("%s read failed", __PRETTY_FUNCTION__)
return false;
}
return true;
}
//---------------------------------------------------------------------------
//
// Cancel SEL signal event
//
//---------------------------------------------------------------------------
void GPIOBUS::ClearSelectEvent()
{
}
#endif // USE_SEL_EVENT_ENABLE
//---------------------------------------------------------------------------
//
// Signal table
//
//---------------------------------------------------------------------------
const array<int, 19> GPIOBUS::SignalTable = {
PIN_DT0, PIN_DT1, PIN_DT2, PIN_DT3,
PIN_DT4, PIN_DT5, PIN_DT6, PIN_DT7, PIN_DP,
PIN_SEL,PIN_ATN, PIN_RST, PIN_ACK,
PIN_BSY, PIN_MSG, PIN_CD, PIN_IO, PIN_REQ,
-1
};
//---------------------------------------------------------------------------
//
// Create work table
//
//---------------------------------------------------------------------------
void GPIOBUS::MakeTable(void)
{
const array<int, 9> pintbl = {
PIN_DT0, PIN_DT1, PIN_DT2, PIN_DT3, PIN_DT4,
PIN_DT5, PIN_DT6, PIN_DT7, PIN_DP
};
array<bool, 256> tblParity;
// Create parity table
for (uint32_t i = 0; i < 0x100; i++) {
uint32_t bits = i;
uint32_t parity = 0;
for (int j = 0; j < 8; j++) {
parity ^= bits & 1;
bits >>= 1;
}
parity = ~parity;
tblParity[i] = parity & 1;
}
#if SIGNAL_CONTROL_MODE == 0
// Mask and setting data generation
for (auto& tbl : tblDatMsk) {
tbl.fill(-1);
}
for (auto& tbl : tblDatSet) {
tbl.fill(0);
}
for (uint32_t i = 0; i < 0x100; i++) {
// Bit string for inspection
uint32_t bits = i;
// Get parity
if (tblParity[i]) {
bits |= (1 << 8);
}
// Bit check
for (int j = 0; j < 9; j++) {
// Index and shift amount calculation
int index = pintbl[j] / 10;
int shift = (pintbl[j] % 10) * 3;
// Mask data
tblDatMsk[index][i] &= ~(0x7 << shift);
// Setting data
if (bits & 1) {
tblDatSet[index][i] |= (1 << shift);
}
bits >>= 1;
}
}
#else
for (uint32_t i = 0; i < 0x100; i++) {
// Bit string for inspection
uint32_t bits = i;
// Get parity
if (tblParity[i]) {
bits |= (1 << 8);
}
#if SIGNAL_CONTROL_MODE == 1
// Negative logic is inverted
bits = ~bits;
#endif
// Create GPIO register information
uint32_t gpclr = 0;
uint32_t gpset = 0;
for (int j = 0; j < 9; j++) {
if (bits & 1) {
gpset |= (1 << pintbl[j]);
} else {
gpclr |= (1 << pintbl[j]);
}
bits >>= 1;
}
tblDatMsk[i] = gpclr;
tblDatSet[i] = gpset;
}
#endif
}
//---------------------------------------------------------------------------
//
// Control signal setting
//
//---------------------------------------------------------------------------
void GPIOBUS::SetControl(int pin, bool ast)
{
PinSetSignal(pin, ast);
}
//---------------------------------------------------------------------------
//
// Input/output mode setting
//
//---------------------------------------------------------------------------
void GPIOBUS::SetMode(int pin, int mode)
{
#if SIGNAL_CONTROL_MODE == 0
if (mode == OUT) {
return;
}
#endif // SIGNAL_CONTROL_MODE
int index = pin / 10;
int shift = (pin % 10) * 3;
uint32_t data = gpfsel[index];
data &= ~(0x7 << shift);
if (mode == OUT) {
data |= (1 << shift);
}
gpio[index] = data;
gpfsel[index] = data;
}
//---------------------------------------------------------------------------
//
// Get input signal value
//
//---------------------------------------------------------------------------
bool GPIOBUS::GetSignal(int pin) const
{
return (signals >> pin) & 1;
}
//---------------------------------------------------------------------------
//
// Set output signal value
//
//---------------------------------------------------------------------------
void GPIOBUS::SetSignal(int pin, bool ast)
{
#if SIGNAL_CONTROL_MODE == 0
int index = pin / 10;
int shift = (pin % 10) * 3;
uint32_t data = gpfsel[index];
if (ast) {
data |= (1 << shift);
} else {
data &= ~(0x7 << shift);
}
gpio[index] = data;
gpfsel[index] = data;
#elif SIGNAL_CONTROL_MODE == 1
if (ast) {
gpio[GPIO_CLR_0] = 0x1 << pin;
} else {
gpio[GPIO_SET_0] = 0x1 << pin;
}
#elif SIGNAL_CONTROL_MODE == 2
if (ast) {
gpio[GPIO_SET_0] = 0x1 << pin;
} else {
gpio[GPIO_CLR_0] = 0x1 << pin;
}
#endif // SIGNAL_CONTROL_MODE
}
//---------------------------------------------------------------------------
//
// Wait for signal change
//
//---------------------------------------------------------------------------
bool GPIOBUS::WaitSignal(int pin, int ast)
{
// Get current time
uint32_t now = SysTimer::GetTimerLow();
// Calculate timeout (3000ms)
uint32_t timeout = 3000 * 1000;
// end immediately if the signal has changed
do {
// Immediately upon receiving a reset
Acquire();
if (GetRST()) {
return false;
}
// Check for the signal edge
if (((signals >> pin) ^ ~ast) & 1) {
return true;
}
} while ((SysTimer::GetTimerLow() - now) < timeout);
// We timed out waiting for the signal
return false;
}
void GPIOBUS::DisableIRQ()
{
#ifdef __linux__
if (rpitype == 4) {
// RPI4 is disabled by GICC
giccpmr = gicc[GICC_PMR];
gicc[GICC_PMR] = 0;
} else if (rpitype == 2) {
// RPI2,3 disable core timer IRQ
tintcore = sched_getcpu() + QA7_CORE0_TINTC;
tintctl = qa7regs[tintcore];
qa7regs[tintcore] = 0;
} else {
// Stop system timer interrupt with interrupt controller
irptenb = irpctl[IRPT_ENB_IRQ_1];
irpctl[IRPT_DIS_IRQ_1] = irptenb & 0xf;
}
#else
(void)0;
#endif
}
void GPIOBUS::EnableIRQ()
{
if (rpitype == 4) {
// RPI4 enables interrupts via the GICC
gicc[GICC_PMR] = giccpmr;
} else if (rpitype == 2) {
// RPI2,3 re-enable core timer IRQ
qa7regs[tintcore] = tintctl;
} else {
// Restart the system timer interrupt with the interrupt controller
irpctl[IRPT_ENB_IRQ_1] = irptenb & 0xf;
}
}
//---------------------------------------------------------------------------
//
// Pin direction setting (input/output)
//
//---------------------------------------------------------------------------
void GPIOBUS::PinConfig(int pin, int mode)
{
// Check for invalid pin
if (pin < 0) {
return;
}
int index = pin / 10;
uint32_t mask = ~(0x7 << ((pin % 10) * 3));
gpio[index] = (gpio[index] & mask) | ((mode & 0x7) << ((pin % 10) * 3));
}
//---------------------------------------------------------------------------
//
// Pin pull-up/pull-down setting
//
//---------------------------------------------------------------------------
void GPIOBUS::PullConfig(int pin, int mode)
{
uint32_t pull;
// Check for invalid pin
if (pin < 0) {
return;
}
if (rpitype == 4) {
switch (mode) {
case GPIO_PULLNONE:
pull = 0;
break;
case GPIO_PULLUP:
pull = 1;
break;
case GPIO_PULLDOWN:
pull = 2;
break;
default:
return;
}
pin &= 0x1f;
int shift = (pin & 0xf) << 1;
uint32_t bits = gpio[GPIO_PUPPDN0 + (pin >> 4)];
bits &= ~(3 << shift);
bits |= (pull << shift);
gpio[GPIO_PUPPDN0 + (pin >> 4)] = bits;
} else {
pin &= 0x1f;
gpio[GPIO_PUD] = mode & 0x3;
SysTimer::SleepUsec(2);
gpio[GPIO_CLK_0] = 0x1 << pin;
SysTimer::SleepUsec(2);
gpio[GPIO_PUD] = 0;
gpio[GPIO_CLK_0] = 0;
}
}
//---------------------------------------------------------------------------
//
// Set output pin
//
//---------------------------------------------------------------------------
void GPIOBUS::PinSetSignal(int pin, bool ast)
{
// Check for invalid pin
if (pin < 0) {
return;
}
if (ast) {
gpio[GPIO_SET_0] = 0x1 << pin;
} else {
gpio[GPIO_CLR_0] = 0x1 << pin;
}
}
//---------------------------------------------------------------------------
//
// Set the signal drive strength
//
//---------------------------------------------------------------------------
void GPIOBUS::DrvConfig(uint32_t drive)
{
uint32_t data = pads[PAD_0_27];
pads[PAD_0_27] = (0xFFFFFFF8 & data) | drive | 0x5a000000;
}
//---------------------------------------------------------------------------
//
// Generic Phase Acquisition (Doesn't read GPIO)
//
//---------------------------------------------------------------------------
BUS::phase_t GPIOBUS::GetPhaseRaw(uint32_t raw_data)
{
// Selection Phase
if (GetPinRaw(raw_data, PIN_SEL)) {
if(GetPinRaw(raw_data, PIN_IO)) {
return BUS::phase_t::reselection;
} else{
return BUS::phase_t::selection;
}
}
// Bus busy phase
if (!GetPinRaw(raw_data, PIN_BSY)) {
return BUS::phase_t::busfree;
}
// Get target phase from bus signal line
int mci = GetPinRaw(raw_data, PIN_MSG) ? 0x04 : 0x00;
mci |= GetPinRaw(raw_data, PIN_CD) ? 0x02 : 0x00;
mci |= GetPinRaw(raw_data, PIN_IO) ? 0x01 : 0x00;
return GetPhase(mci);
}
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