Update rt-kernel port
Add a method for choosing L2 driver and add support for sabresd board. Change-Id: Ib5bbcb53990ffdbe4345cf99f69c44192250e0d8pull/343/head
Hans-Erik Floryd
parent
f547b6c775
commit
89f3b3c593
11
README.md
11
README.md
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@ -29,6 +29,17 @@ Linux & macOS
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* `cmake ..`
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* `make`
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rt-kernel
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---------
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* `mkdir build`
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* `cd build`
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* `export COMPILERS=/opt/rt-tools/compilers`
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* `export RTK=/path/to/rt-kernel`
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* `export BSP=<bsp>`
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* `cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchain/rt-kernel-<arch>.cmake -G "Unix Makefiles"`
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* `make`
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ERIKA Enterprise RTOS
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---------------------
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@ -9,7 +9,6 @@ target_sources(soem PRIVATE
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oshw/rtk/nicdrv.c
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oshw/rtk/nicdrv.h
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oshw/rtk/lw_mac/lw_emac.c
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oshw/rtk/lw_mac/lw_emac.h
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oshw/rtk/fec/fec_ecat.c
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oshw/rtk/fec/fec_ecat.h
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)
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@ -9,44 +9,9 @@
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#include <sys/time.h>
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#include <config.h>
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#define timercmp(a, b, CMP) \
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(((a)->tv_sec == (b)->tv_sec) ? \
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((a)->tv_usec CMP (b)->tv_usec) : \
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((a)->tv_sec CMP (b)->tv_sec))
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#define timeradd(a, b, result) \
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do { \
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(result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \
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(result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \
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if ((result)->tv_usec >= 1000000) \
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{ \
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++(result)->tv_sec; \
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(result)->tv_usec -= 1000000; \
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} \
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} while (0)
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#define timersub(a, b, result) \
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do { \
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(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
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(result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
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if ((result)->tv_usec < 0) { \
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--(result)->tv_sec; \
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(result)->tv_usec += 1000000; \
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} \
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} while (0)
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#define USECS_PER_SEC 1000000
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#define USECS_PER_TICK (USECS_PER_SEC / CFG_TICKS_PER_SECOND)
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/* Workaround for rt-labs defect 776.
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* Default implementation of udelay() didn't work correctly when tick was
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* shorter than one millisecond.
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*/
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void udelay (uint32_t us)
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{
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tick_t ticks = (us / USECS_PER_TICK) + 1;
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task_delay (ticks);
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}
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int gettimeofday(struct timeval *tp, void *tzp)
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{
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tick_t tick = tick_get();
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@ -65,7 +30,8 @@ int gettimeofday(struct timeval *tp, void *tzp)
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int osal_usleep (uint32 usec)
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{
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udelay(usec);
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tick_t ticks = (usec / USECS_PER_TICK) + 1;
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task_delay (ticks);
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return 0;
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}
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@ -85,6 +51,18 @@ ec_timet osal_current_time (void)
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return return_value;
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}
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
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{
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if (end->usec < start->usec) {
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diff->sec = end->sec - start->sec - 1;
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diff->usec = end->usec + 1000000 - start->usec;
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}
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else {
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diff->sec = end->sec - start->sec;
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diff->usec = end->usec - start->usec;
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}
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}
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void osal_timer_start (osal_timert * self, uint32 timeout_usec)
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{
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struct timeval start_time;
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@ -1,24 +1,19 @@
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/******************************************************************************
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* * *** ***
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* *** *** ***
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* *** **** ********** *** ***** *** **** *****
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* ********* ********** *** ********* ************ *********
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* **** *** *** *** *** **** ***
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* *** *** ****** *** *********** *** **** *****
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* *** *** ****** *** ************* *** **** *****
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* *** **** **** *** *** *** **** ***
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* *** ******* ***** ************** ************* *********
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* *** ***** *** ******* ** ** ****** *****
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* t h e r e a l t i m e t a r g e t e x p e r t s
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*
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* http://www.rt-labs.com
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* Copyright (C) 2007. rt-labs AB, Sweden. All rights reserved.
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*------------------------------------------------------------------------------
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* $Id: fec_ecat.c 138 2014-04-11 09:11:48Z rtlfrm $
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*------------------------------------------------------------------------------
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*/
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/*********************************************************************
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* _ _ _
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* _ __ | |_ _ | | __ _ | |__ ___
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* | '__|| __|(_)| | / _` || '_ \ / __|
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* | | | |_ _ | || (_| || |_) |\__ \
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* |_| \__|(_)|_| \__,_||_.__/ |___/
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*
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* http://www.rt-labs.com
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* Copyright 2011 rt-labs AB, Sweden.
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* See LICENSE file in the project root for full license information.
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********************************************************************/
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#if defined (sabresd) || defined (twrk60f)
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#include "fec_ecat.h"
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#include "oshw.h"
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#include <dev.h>
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#include <kern.h>
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@ -65,6 +60,20 @@
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/* Note that the core clock and the system clock has the same clock frequency */
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#define FEC_MODULE_CLOCK_Hz CFG_IPG_CLOCK
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#if defined (sabresd)
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extern phy_t * ar8031_init (const phy_cfg_t * cfg);
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#define PHY_INIT ar8031_init
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#define PHY_INTERFACE FEC_PHY_RGMII
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#endif
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#if defined (twrk60f)
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#define PHY_INIT mii_init
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#define PHY_INTERFACE FEC_PHY_RMII
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#endif
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//----------------------------------------------------------------------------//
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typedef struct fec_mac_t
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@ -223,6 +232,7 @@ COMPILETIME_ASSERT (offsetof (reg_fec_t, smac[3]) == 0x518);
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/* Bit definitions and macros for FEC_ECR */
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#define FEC_ECR_DBSWP (0x00000100)
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#define FEC_ECR_SPEED (0x00000020)
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#define FEC_ECR_ETHER_EN (0x00000002)
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#define FEC_ECR_RESET (0x00000001)
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@ -258,7 +268,7 @@ COMPILETIME_ASSERT (offsetof (reg_fec_t, smac[3]) == 0x518);
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#define FEC_RCR_RMII_10T (0x00000200)
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#define FEC_RCR_RMII_MODE (0x00000100)
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#define FEC_RCR_SGMII_ENA (0x00000080)
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#define FEC_RCR_RGMII_ENA (0x00000040)
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#define FEC_RCR_RGMII_EN (0x00000040)
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#define FEC_RCR_FCE (0x00000020)
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#define FEC_RCR_BC_REJ (0x00000010)
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#define FEC_RCR_PROM (0x00000008)
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@ -514,17 +524,19 @@ static void fec_ecat_init_hw (const fec_mac_address_t * mac_address)
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fec->base->mscr = (fec->base->mscr & (~0x7E)) | (mii_speed << 1);
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// Receive control register
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fec->base->rcr = FEC_RCR_MAX_FL(PKT_MAXBUF_SIZE) | FEC_RCR_MII_MODE;
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fec->base->rcr = FEC_RCR_MAX_FL(PKT_MAXBUF_SIZE);
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// set RMII mode in RCR register.
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if (fec->phy_interface == FEC_PHY_RMII)
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switch(fec->phy_interface)
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{
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fec->base->rcr |= FEC_RCR_RMII_MODE;
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}
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else if(fec->phy_interface == FEC_PHY_RGMII)
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{
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fec->base->rcr &= ~(FEC_RCR_RMII_MODE | FEC_RCR_MII_MODE );
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fec->base->rcr |= (FEC_RCR_RGMII_ENA | FEC_RCR_MII_MODE);
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case FEC_PHY_MII:
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fec->base->rcr |= FEC_RCR_MII_MODE;
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break;
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case FEC_PHY_RMII:
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fec->base->rcr |= (FEC_RCR_MII_MODE | FEC_RCR_RMII_MODE);
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break;
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case FEC_PHY_RGMII:
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fec->base->rcr |= (FEC_RCR_MII_MODE | FEC_RCR_RGMII_EN);
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break;
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}
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// Reset phy
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@ -556,7 +568,7 @@ static void fec_ecat_init_hw (const fec_mac_address_t * mac_address)
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fec->phy->ops->start (fec->phy);
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}
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int fec_ecat_send (const void *payload, size_t tot_len)
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int oshw_mac_send (const void *payload, size_t tot_len)
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{
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fec_buffer_bd_t * bd;
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@ -587,6 +599,7 @@ int fec_ecat_send (const void *payload, size_t tot_len)
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fec_buffer_produce_tx (bd);
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#if defined (twrk60f)
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/* Wait for previous transmissions to complete.
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*
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* This is a workaround for Freescale Kinetis errata e6358.
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@ -596,6 +609,7 @@ int fec_ecat_send (const void *payload, size_t tot_len)
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{
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;
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}
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#endif
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/* Transmit frame */
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fec->base->tdar = 1;
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@ -603,7 +617,7 @@ int fec_ecat_send (const void *payload, size_t tot_len)
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return tot_len;
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}
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int fec_ecat_recv (void * buffer, size_t buffer_length)
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int oshw_mac_recv (void * buffer, size_t buffer_length)
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{
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fec_buffer_bd_t * bd;
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int return_value;
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@ -686,7 +700,7 @@ static void fec_ecat_hotplug (void)
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fec->base->rcr |= FEC_RCR_DRT;
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}
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/* Set RMII 10-Mbps mode. */
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/* Set link speed */
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if (link_state & PHY_LINK_10MBIT)
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{
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fec->base->rcr |= FEC_RCR_RMII_10T;
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@ -750,8 +764,7 @@ static dev_state_t fec_ecat_probe (void)
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COMPILETIME_ASSERT (FEC_MODULE_CLOCK_Hz >= FEC_MIN_MODULE_CLOCK_Hz);
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int fec_ecat_init (const fec_mac_address_t * mac_address,
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bool phy_loopback_mode)
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int oshw_mac_init (const uint8_t * mac_address)
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{
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dev_state_t state;
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static const fec_cfg_t eth_cfg =
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@ -760,17 +773,16 @@ int fec_ecat_init (const fec_mac_address_t * mac_address,
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.clock = FEC_MODULE_CLOCK_Hz,
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.tx_bd_base = fec_tx_bd,
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.rx_bd_base = fec_rx_bd,
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.phy_interface = FEC_PHY_RMII,
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.phy_interface = PHY_INTERFACE,
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};
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static phy_cfg_t phy_cfg =
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{
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.address = ETH_PHY_ADDRESS,
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.read = NULL, /* Set by MAC driver */
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.write = NULL, /* Set by MAC driver */
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.loopback_mode = false,
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};
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phy_cfg.loopback_mode = phy_loopback_mode;
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/* Initialise buffers and buffer descriptors.*/
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fec_buffer_init_tx (fec_tx_bd, fec_tx_data, NUM_BUFFERS);
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fec_buffer_init_rx (fec_rx_bd, fec_rx_data, NUM_BUFFERS);
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@ -778,19 +790,25 @@ int fec_ecat_init (const fec_mac_address_t * mac_address,
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fec = malloc (sizeof (fec_t));
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UASSERT (fec != NULL, EMEM);
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#if defined (sabresd)
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gpio_set (GPIO_RGMII_nRST, 0);
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task_delay (500);
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gpio_set (GPIO_RGMII_nRST, 1);
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#endif
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/* Initialise driver state */
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fec->rx_bd_base = eth_cfg.rx_bd_base;
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fec->tx_bd_base = eth_cfg.tx_bd_base;
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fec->clock = eth_cfg.clock;
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fec->base = (reg_fec_t *)eth_cfg.base;
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fec->phy_interface = eth_cfg.phy_interface;
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fec->phy = mii_init (&phy_cfg);
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fec->phy = PHY_INIT (&phy_cfg);
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fec->phy->arg = fec;
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fec->phy->read = fec_ecat_read_phy;
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fec->phy->write = fec_ecat_write_phy;
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/* Initialize hardware */
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fec_ecat_init_hw (mac_address);
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fec_ecat_init_hw ((fec_mac_address_t *)mac_address);
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state = StateDetached;
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while (state == StateDetached)
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{
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@ -800,3 +818,5 @@ int fec_ecat_init (const fec_mac_address_t * mac_address,
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return 0;
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}
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#endif
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@ -1,25 +1,17 @@
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/******************************************************************************
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* * *** ***
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* *** *** ***
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* *** **** ********** *** ***** *** **** *****
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* ********* ********** *** ********* ************ *********
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* **** *** *** *** *** **** ***
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* *** *** ****** *** *********** *** **** *****
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* *** *** ****** *** ************* *** **** *****
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* *** **** **** *** *** *** **** ***
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* *** ******* ***** ************** ************* *********
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* *** ***** *** ******* ** ** ****** *****
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* t h e r e a l t i m e t a r g e t e x p e r t s
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*
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* http://www.rt-labs.com
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* Copyright (C) 2007. rt-labs AB, Sweden. All rights reserved.
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*------------------------------------------------------------------------------
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* $Id: fec_ecat.h 91 2014-04-02 13:32:29Z rtlfrm $
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*------------------------------------------------------------------------------
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*/
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/*********************************************************************
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* _ _ _
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* _ __ | |_ _ | | __ _ | |__ ___
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* | '__|| __|(_)| | / _` || '_ \ / __|
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* | | | |_ _ | || (_| || |_) |\__ \
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* |_| \__|(_)|_| \__,_||_.__/ |___/
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*
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* http://www.rt-labs.com
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* Copyright 2011 rt-labs AB, Sweden.
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* See LICENSE file in the project root for full license information.
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********************************************************************/
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/**
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* \defgroup fec EtherCat Ethernet MAC driver for Frescale K60 SoCs.
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* \defgroup fec EtherCat Ethernet MAC driver for Frescale SoCs.
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*
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* \{
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*/
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@ -39,12 +31,6 @@ typedef struct fec_mac_address
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uint8_t octet[6];
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} fec_mac_address_t;
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int fec_ecat_init (const fec_mac_address_t * mac_address, bool phy_loopback_mode);
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int fec_ecat_send (const void *payload, size_t tot_len);
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int fec_ecat_recv (void * buffer, size_t buffer_length);
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#ifdef __cplusplus
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}
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#endif
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@ -1,24 +1,16 @@
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/******************************************************************************
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* * *** ***
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* *** *** ***
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||||
* *** **** ********** *** ***** *** **** *****
|
||||
* ********* ********** *** ********* ************ *********
|
||||
* **** *** *** *** *** **** ***
|
||||
* *** *** ****** *** *********** *** **** *****
|
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* *** *** ****** *** ************* *** **** *****
|
||||
* *** **** **** *** *** *** **** ***
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||||
* *** ******* ***** ************** ************* *********
|
||||
* *** ***** *** ******* ** ** ****** *****
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||||
* t h e r e a l t i m e t a r g e t e x p e r t s
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/*********************************************************************
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* _ _ _
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* _ __ | |_ _ | | __ _ | |__ ___
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* | '__|| __|(_)| | / _` || '_ \ / __|
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* | | | |_ _ | || (_| || |_) |\__ \
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* |_| \__|(_)|_| \__,_||_.__/ |___/
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*
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* http://www.rt-labs.com
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* Copyright (C) 2006. rt-labs AB, Sweden. All rights reserved.
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*------------------------------------------------------------------------------
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* $Id: lw_emac.c 348 2012-10-18 16:41:14Z rtlfrm $
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*
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*
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*------------------------------------------------------------------------------
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*/
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* Copyright 2010 rt-labs AB, Sweden.
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* See LICENSE file in the project root for full license information.
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********************************************************************/
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#if defined (stamp537)
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#include <bsp.h>
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#include <kern.h>
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@ -26,7 +18,7 @@
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#include <bfin_dma.h>
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#include <string.h>
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#include "lw_emac.h"
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#include "oshw.h"
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/* MII standard registers.
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See IEEE Std 802.3-2005 clause 22:
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|
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@ -187,7 +179,7 @@ static uint32_t lw_emac_read_phy_reg(uint8_t phy_addr, uint8_t reg_addr) {
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}
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/* Internal function that sets the MAC address */
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static void lw_emac_set_mac_addr(uint8_t * ethAddr)
|
||||
static void lw_emac_set_mac_addr(const uint8_t * ethAddr)
|
||||
{
|
||||
pEth->addrlo =
|
||||
ethAddr[0] |
|
||||
|
|
@ -199,7 +191,7 @@ static void lw_emac_set_mac_addr(uint8_t * ethAddr)
|
|||
ethAddr[5] << 8;
|
||||
}
|
||||
|
||||
static uint8_t lw_emac_init_registers(uint8_t * ethAddr) {
|
||||
static uint8_t lw_emac_init_registers(const uint8_t * ethAddr) {
|
||||
uint32_t clock_divisor, sysctl_mdcdiv, phy_stadat, counter;
|
||||
|
||||
/* CONFIGURE MAC MII PINS */
|
||||
|
|
@ -285,7 +277,7 @@ static uint8_t lw_emac_init_registers(uint8_t * ethAddr) {
|
|||
return 0;
|
||||
}
|
||||
|
||||
int bfin_EMAC_init (uint8_t *ethAddr)
|
||||
int oshw_mac_init (const uint8_t * ethAddr)
|
||||
{
|
||||
rxIdx = txIdx = 0;
|
||||
|
||||
|
|
@ -351,7 +343,8 @@ int bfin_EMAC_init (uint8_t *ethAddr)
|
|||
|
||||
return 0;
|
||||
}
|
||||
int bfin_EMAC_send (void *packet, int length)
|
||||
|
||||
int oshw_mac_send (const void *packet, size_t length)
|
||||
{
|
||||
UASSERT(length > 0, EARG);
|
||||
UASSERT(length < ETH_FRAME_SIZE, EARG);
|
||||
|
|
@ -381,7 +374,7 @@ int bfin_EMAC_send (void *packet, int length)
|
|||
return 0;
|
||||
}
|
||||
|
||||
int bfin_EMAC_recv (uint8_t * packet, size_t size)
|
||||
int oshw_mac_recv (void * packet, size_t size)
|
||||
{
|
||||
uint32_t length;
|
||||
uint32_t status = rxStatusWord[rxIdx];
|
||||
|
|
@ -421,3 +414,4 @@ int bfin_EMAC_recv (uint8_t * packet, size_t size)
|
|||
return length;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -1,12 +0,0 @@
|
|||
/*
|
||||
* author: Tomas Vestelind
|
||||
*/
|
||||
|
||||
#ifndef LWIP_MAC_H
|
||||
#define LWIP_MAC_H
|
||||
|
||||
int bfin_EMAC_init(uint8_t *enetaddr);
|
||||
int bfin_EMAC_send(void *packet, int length);
|
||||
int bfin_EMAC_recv(uint8_t * packet, size_t size);
|
||||
|
||||
#endif /* LWIP_MAC_H */
|
||||
|
|
@ -38,9 +38,6 @@
|
|||
#include "osal.h"
|
||||
#include "oshw.h"
|
||||
|
||||
|
||||
#include "lw_mac/lw_emac.h"
|
||||
|
||||
#ifndef MAX
|
||||
#define MAX(a,b) (((a) > (b)) ? (a) : (b))
|
||||
#define MIN(a,b) (((a) < (b)) ? (a) : (b))
|
||||
|
|
@ -95,7 +92,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
|
|||
port->tx_mutex = mtx_create();
|
||||
port->rx_mutex = mtx_create();
|
||||
|
||||
rVal = bfin_EMAC_init((uint8_t *)priMAC);
|
||||
rVal = oshw_mac_init((uint8_t *)priMAC);
|
||||
if (rVal != 0)
|
||||
return 0;
|
||||
|
||||
|
|
@ -263,7 +260,7 @@ int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
|
|||
}
|
||||
lp = (*stack->txbuflength)[idx];
|
||||
(*stack->rxbufstat)[idx] = EC_BUF_TX;
|
||||
rval = bfin_EMAC_send((*stack->txbuf)[idx], lp);
|
||||
rval = oshw_mac_send((*stack->txbuf)[idx], lp);
|
||||
|
||||
return rval;
|
||||
}
|
||||
|
|
@ -299,7 +296,7 @@ int ecx_outframe_red(ecx_portt *port, int idx)
|
|||
// OBS! redundant not ACTIVE for BFIN, just added to compile
|
||||
ASSERT (0);
|
||||
port->redport->rxbufstat[idx] = EC_BUF_TX;
|
||||
bfin_EMAC_send(&(port->txbuf2), port->txbuflength2);
|
||||
oshw_mac_send(&(port->txbuf2), port->txbuflength2);
|
||||
mtx_unlock (port->tx_mutex);
|
||||
}
|
||||
|
||||
|
|
@ -325,7 +322,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
|
|||
stack = &(port->redport->stack);
|
||||
}
|
||||
lp = sizeof(port->tempinbuf);
|
||||
bytesrx = bfin_EMAC_recv((*stack->tempbuf), lp);
|
||||
bytesrx = oshw_mac_recv((*stack->tempbuf), lp);
|
||||
port->tempinbufs = bytesrx;
|
||||
|
||||
return (bytesrx > 0);
|
||||
|
|
|
|||
|
|
@ -11,6 +11,8 @@
|
|||
#ifndef _nicdrvh_
|
||||
#define _nicdrvh_
|
||||
|
||||
#include <kern.h>
|
||||
|
||||
/** pointer structure to Tx and Rx stacks */
|
||||
typedef struct
|
||||
{
|
||||
|
|
|
|||
|
|
@ -21,6 +21,9 @@ extern "C"
|
|||
#include "nicdrv.h"
|
||||
#include "ethercatmain.h"
|
||||
|
||||
int oshw_mac_init (const uint8_t * mac_address);
|
||||
int oshw_mac_send (const void *payload, size_t tot_len);
|
||||
int oshw_mac_recv (void * buffer, size_t buffer_length);
|
||||
|
||||
uint16 oshw_htons(uint16 host);
|
||||
uint16 oshw_ntohs(uint16 network);
|
||||
|
|
|
|||
Loading…
Reference in New Issue