Add GPMC interface to FPGA server

5 files changed, 399 insertions, 31 deletions

diff --git a/servers/fpga_server_lin/src/Makefile.am b/servers/fpga_server_lin/src/Makefile.am
index 0176fbe..0cf3322 100644
--- a/servers/fpga_server_lin/src/Makefile.am
+++ b/servers/fpga_server_lin/src/Makefile.am
@@ -3,7 +3,7 @@ KDE_CXXFLAGS = $(USE_EXCEPTIONS)
 
 bin_PROGRAMS = ulab_fpgaserver
 
-ulab_fpgaserver_SOURCES = main.cpp fpga_conn.cpp
+ulab_fpgaserver_SOURCES = main.cpp fpga_conn.cpp bbb-gpmc-init.cpp
 
 ulab_fpgaserver_METASOURCES = AUTO
 ulab_fpgaserver_LDFLAGS = $(all_libraries) $(KDE_RPATH) $(LIB_QT) -lDCOP $(LIB_TDECORE) $(LIB_TDEUI) -ltdefx $(LIB_TDEIO) -ltdetexteditor -ltdekrbsocket -ltqtrla
diff --git a/servers/fpga_server_lin/src/bbb-gpmc-init.cpp b/servers/fpga_server_lin/src/bbb-gpmc-init.cpp
new file mode 100644
index 0000000..961c560
--- /dev/null
+++ b/servers/fpga_server_lin/src/bbb-gpmc-init.cpp
@@ -0,0 +1,181 @@
+/*
+ * Remote Laboratory FPGA Server GPMC Interface (Beaglebone Black)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * (c) 2012-2014 Timothy Pearson
+ * Raptor Engineering
+ * http://www.raptorengineeringinc.com
+ */
+
+/** BEGIN: Low-Level I/O Implementation **/
+
+// Beaglebone Black GPMC driver
+
+#include <sys/time.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <errno.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/mman.h>
+#include <fcntl.h>
+
+#define MEMORY_SPACE_ADDRESS_BITS 16
+
+#define GPMC_BASE 0x50000000
+#define GPMC_REGLEN 0x10000000
+
+#define GPMC_CHIPSELECTCONFIGDISPLACEMENT (0x30 / 4)
+
+#define GPMC_CONFIG (0x50 / 4)
+#define GPMC_CONFIG1 (0x60 / 4)
+#define GPMC_CONFIG2 (0x64 / 4)
+#define GPMC_CONFIG3 (0x68 / 4)
+#define GPMC_CONFIG4 (0x6c / 4)
+#define GPMC_CONFIG5 (0x70 / 4)
+#define GPMC_CONFIG6 (0x74 / 4)
+#define GPMC_CONFIG7 (0x78 / 4)
+
+#define MEMORY_SIZE (1 << MEMORY_SPACE_ADDRESS_BITS)
+
+int mem_fd = 0;
+int gpmc_mem_fd = 0;
+char *gpio_mem, *gpio_map, *gpmc_map;
+
+// I/O access
+volatile unsigned int *gpio = NULL;
+volatile unsigned char *gpio_char = NULL;
+volatile unsigned int *gpmc = NULL;
+
+void gpmc_mapregisters() {
+	/* open /dev/mem */
+	if ((gpmc_mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
+		printf("[FATAL] can't open /dev/mem\n");
+		return;
+	}
+
+	/* mmap GPMC */
+	gpmc_map = (char *)mmap(
+		0,
+		GPMC_REGLEN,
+		PROT_READ|PROT_WRITE,
+		MAP_SHARED,
+		gpmc_mem_fd,
+		GPMC_BASE
+	);
+
+	if (gpmc_map == MAP_FAILED) {
+		printf("[FATAL] mmap error %d\n", (int)gpmc_map);
+		return;
+	}
+
+	// Always use volatile pointer!
+	gpmc = (volatile unsigned *)gpmc_map;
+}
+
+void gpmc_unmapregisters() {
+	munmap((void*) gpmc, GPMC_REGLEN);
+	if (gpmc_mem_fd != -1) {
+		close(gpmc_mem_fd);
+	}
+}
+
+void gpmc_setup(void) {
+	gpmc_mapregisters();
+
+	if (gpmc != NULL) {
+		int chipselect = 0;
+		int displacement = GPMC_CHIPSELECTCONFIGDISPLACEMENT * chipselect;
+
+		// disable before playing with the registers
+		*(gpmc + displacement + GPMC_CONFIG7) = 0x00000000;
+
+		*(gpmc + displacement + GPMC_CONFIG)  = 0x00000000; // Unlimited address space
+		*(gpmc + displacement + GPMC_CONFIG1) = 0x00000000; // No burst, async, 8-bit, non multiplexed
+		*(gpmc + displacement + GPMC_CONFIG2) = 0x00001000; // Assert CS on fclk0, deassert CS on fclk16
+		*(gpmc + displacement + GPMC_CONFIG3) = 0x00000400; // Assert ADV on fclk 0, deassert ADV on fclk 4
+		*(gpmc + displacement + GPMC_CONFIG4) = 0x0c041004; // Assert WE on fclk4, deassert WE on fclk12, assert OE on fclk4, deassert OE on fclk16
+		*(gpmc + displacement + GPMC_CONFIG5) = 0x000c1010; // Data valid on fclk 12, cycle time 16 fclks
+		*(gpmc + displacement + GPMC_CONFIG6) = 0x00000000; // No back to back cycle restrictions
+		*(gpmc + displacement + GPMC_CONFIG7) = 0x00000e50; // CS0: Set base address 0x10000000, 32MB region, and enable CS
+
+		gpmc_unmapregisters();
+	}
+}
+
+int setup_gpmc_bbb(void) {
+	/* open /dev/mem */
+	if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
+		printf("[FATAL] can't open /dev/mem\n");
+		return -1;
+	}
+
+	/* mmap GPIO */
+	gpio_map = (char *)mmap(
+		0,
+		MEMORY_SIZE,
+		PROT_READ|PROT_WRITE,
+		MAP_SHARED,
+		mem_fd,
+		0x10000000
+	);
+
+	if (gpio_map == MAP_FAILED) {
+		printf("[FATAL] mmap error %d\n", (int)gpio_map);
+		return -1;
+	}
+
+	// Always use volatile pointers!
+	gpio = (volatile unsigned *)gpio_map;
+	gpio_char = (volatile unsigned char *)gpio_map;
+
+	return 0;
+}
+
+int shutdown_gpmc_bbb(void) {
+	return 0;
+}
+
+void write_gpmc(unsigned int register_offset, unsigned char data) {
+	*(gpio_char + register_offset) = data;
+}
+
+unsigned char read_gpmc(unsigned int register_offset) {
+	return *(gpio_char + register_offset);
+}
+
+void memcpy_from_gpmc(char* destination, unsigned int register_offset, unsigned int length) {
+	unsigned int i;
+	for (i=0; i<length; i++) {
+		*destination = *(gpio_char + register_offset);
+		destination++;
+		register_offset++;
+	}
+}
+
+void memcpy_to_gpmc(char* source, unsigned int register_offset, unsigned int length) {
+	unsigned int i;
+	for (i=0; i<length; i++) {
+		*(gpio_char + register_offset) = *source;
+		source++;
+		register_offset++;
+	}
+}
+
+/** END: Low-Level I/O Implementation **/
\ No newline at end of file
diff --git a/servers/fpga_server_lin/src/bbb-gpmc-init.h b/servers/fpga_server_lin/src/bbb-gpmc-init.h
new file mode 100644
index 0000000..6175ed1
--- /dev/null
+++ b/servers/fpga_server_lin/src/bbb-gpmc-init.h
@@ -0,0 +1,28 @@
+/*
+ * Remote Laboratory FPGA Server GPMC Interface (Beaglebone Black)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * (c) 2012-2014 Timothy Pearson
+ * Raptor Engineering
+ * http://www.raptorengineeringinc.com
+ */
+
+int setup_gpmc_bbb();
+
+void write_gpmc(unsigned int register_offset, unsigned char data);
+unsigned char read_gpmc(unsigned int register_offset);
+void memcpy_from_gpmc(char* destination, unsigned int register_offset, unsigned int length);
+void memcpy_to_gpmc(char* source, unsigned int register_offset, unsigned int length);
\ No newline at end of file
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);
+						}
 					}
 				}
 			}
diff --git a/servers/fpga_server_lin/src/fpga_conn.h b/servers/fpga_server_lin/src/fpga_conn.h
index 94ac3e3..0310101 100644
--- a/servers/fpga_server_lin/src/fpga_conn.h
+++ b/servers/fpga_server_lin/src/fpga_conn.h
@@ -55,6 +55,7 @@ class FPGASocket : public TDEKerberosServerSocket
 		void finishKerberosHandshake();
 		void connectionClosedHandler();
 		int setupSerial();
+		int setupGPMC();
 		void commandLoop();
 	
 	private:
@@ -63,6 +64,11 @@ class FPGASocket : public TDEKerberosServerSocket
 		int m_pollInterval;
 		bool enableDebug;
 		TQString m_remoteHost;
+		TQString m_interfaceType;
+		bool m_stateTXRequested;
+		bool m_stateImageRXRequested;
+		int m_stateImageRXCounter;
+		bool m_stateImageTXRequested;
 		int m_fd_tty;
 
 		TQTimer* m_kerberosInitTimer;