diff options
| -rw-r--r-- | ports/stm32/Makefile | 7 | ||||
| -rw-r--r-- | ports/stm32/irq.h | 2 | ||||
| -rw-r--r-- | ports/stm32/mpmetalport.c | 107 | ||||
| -rw-r--r-- | ports/stm32/mpmetalport.h | 76 |
4 files changed, 192 insertions, 0 deletions
diff --git a/ports/stm32/Makefile b/ports/stm32/Makefile index d1694426d..756090319 100644 --- a/ports/stm32/Makefile +++ b/ports/stm32/Makefile @@ -422,6 +422,13 @@ endif endif # MICROPY_PY_BLUETOOTH +# Add stm32-specific implementation of libmetal (and optionally OpenAMP's rproc). +# Note: libmetal code is generated via a pre-processor so ensure that runs first. +ifeq ($(MICROPY_PY_OPENAMP),1) +SRC_C += mpmetalport.c +$(BUILD)/mpmetalport.o: $(BUILD)/openamp/metal/config.h +endif + # SRC_O should be placed first to work around this LTO bug with binutils <2.35: # https://gcc.gnu.org/bugzilla/show_bug.cgi?id=83967 OBJ += $(addprefix $(BUILD)/, $(SRC_O)) diff --git a/ports/stm32/irq.h b/ports/stm32/irq.h index e3a204ec9..58e6d0a80 100644 --- a/ports/stm32/irq.h +++ b/ports/stm32/irq.h @@ -174,6 +174,8 @@ static inline void restore_irq_pri(uint32_t state) { #define IRQ_PRI_SPI NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 8, 0) +#define IRQ_PRI_HSEM NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 10, 0) + // Interrupt priority for non-special timers. #define IRQ_PRI_TIMX NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 13, 0) diff --git a/ports/stm32/mpmetalport.c b/ports/stm32/mpmetalport.c new file mode 100644 index 000000000..72f5537ce --- /dev/null +++ b/ports/stm32/mpmetalport.c @@ -0,0 +1,107 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2023 Arduino SA + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * libmetal stm32 port. + */ + +#include "py/mperrno.h" +#include "py/mphal.h" + +#include "mpu.h" + +#include "metal/sys.h" +#include "metal/utilities.h" +#include "metal/device.h" + +struct metal_state _metal; +static mp_sched_node_t rproc_notify_node; + +int metal_sys_init(const struct metal_init_params *params) { + metal_unused(params); + + // Clear HSEM pending IRQ. + HSEM_COMMON->ICR |= (uint32_t)__HAL_HSEM_SEMID_TO_MASK(METAL_HSEM_MASTER_ID); + HAL_NVIC_ClearPendingIRQ(HSEM1_IRQn); + + // Enable and configure HSEM. + __HAL_RCC_HSEM_CLK_ENABLE(); + NVIC_SetPriority(HSEM1_IRQn, IRQ_PRI_HSEM); + HAL_NVIC_EnableIRQ(HSEM1_IRQn); + HAL_HSEM_ActivateNotification(__HAL_HSEM_SEMID_TO_MASK(METAL_HSEM_MASTER_ID)); + + #ifndef VIRTIO_USE_DCACHE + // If cache management is not enabled, configure the MPU to disable caching + // for the entire shared memory region. + uint32_t irq_state = mpu_config_start(); + mpu_config_region(MPU_REGION_OPENAMP, METAL_MPU_REGION_BASE, MPU_CONFIG_SHARED_UNCACHED(METAL_MPU_REGION_SIZE)); + mpu_config_end(irq_state); + #endif + + metal_bus_register(&metal_generic_bus); + return 0; +} + +void metal_sys_finish(void) { + HAL_NVIC_DisableIRQ(HSEM1_IRQn); + HAL_HSEM_DeactivateNotification(__HAL_HSEM_SEMID_TO_MASK(METAL_HSEM_MASTER_ID)); + __HAL_RCC_HSEM_CLK_DISABLE(); + metal_bus_unregister(&metal_generic_bus); +} + +unsigned int sys_irq_save_disable(void) { + return disable_irq(); +} + +void sys_irq_restore_enable(unsigned int state) { + enable_irq(state); +} + +void *metal_machine_io_mem_map(void *va, metal_phys_addr_t pa, + size_t size, unsigned int flags) { + metal_unused(pa); + metal_unused(size); + metal_unused(flags); + return va; +} + +void metal_machine_cache_flush(void *addr, unsigned int len) { + SCB_CleanDCache_by_Addr(addr, len); +} + +void metal_machine_cache_invalidate(void *addr, unsigned int len) { + SCB_InvalidateDCache_by_Addr(addr, len); +} + +int metal_rproc_notify(void *priv, uint32_t id) { + HAL_HSEM_FastTake(METAL_HSEM_REMOTE_ID); + HAL_HSEM_Release(METAL_HSEM_REMOTE_ID, 0); + return 0; +} + +void HSEM1_IRQHandler(void) { + HAL_HSEM_IRQHandler(); + mp_sched_schedule_node(&rproc_notify_node, openamp_remoteproc_notified); + HAL_HSEM_ActivateNotification(__HAL_HSEM_SEMID_TO_MASK(METAL_HSEM_MASTER_ID)); +} diff --git a/ports/stm32/mpmetalport.h b/ports/stm32/mpmetalport.h new file mode 100644 index 000000000..53f329d15 --- /dev/null +++ b/ports/stm32/mpmetalport.h @@ -0,0 +1,76 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2023 Arduino SA + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * libmetal stm32 port. + */ +#ifndef MICROPY_INCLUDED_STM32_MPMETALPORT_H +#define MICROPY_INCLUDED_STM32_MPMETALPORT_H + +#include <stdlib.h> +#include "py/mphal.h" +#include "py/runtime.h" + +#define METAL_HAVE_STDATOMIC_H 0 +#define METAL_HAVE_FUTEX_H 0 + +#define METAL_MAX_DEVICE_REGIONS 2 + +#define METAL_HSEM_REMOTE_ID 0 +#define METAL_HSEM_MASTER_ID 1 + +// Set to 1 to enable log output. +#define METAL_LOG_HANDLER_ENABLE 0 + +#define metal_cpu_yield() + +// Shared memory config +#define METAL_SHM_NAME "OPENAMP_SHM" +// Note 1K must be reserved at the start of the openamp +// shared memory region, for the shared resource table. +#define METAL_RSC_ADDR ((void *)_openamp_shm_region_start) +#define METAL_RSC_SIZE (1024) + +#define METAL_SHM_ADDR ((metal_phys_addr_t)(_openamp_shm_region_start + METAL_RSC_SIZE)) +#define METAL_SHM_SIZE ((size_t)(_openamp_shm_region_end - _openamp_shm_region_start - METAL_RSC_SIZE)) + +#define METAL_MPU_REGION_BASE ((uint32_t)_openamp_shm_region_start) +#define METAL_MPU_REGION_SIZE (MPU_REGION_SIZE_64KB) + +extern const char _openamp_shm_region_start[]; +extern const char _openamp_shm_region_end[]; + +int metal_rproc_notify(void *priv, uint32_t id); +extern void openamp_remoteproc_notified(mp_sched_node_t *node); + +static inline int __metal_sleep_usec(unsigned int usec) { + mp_hal_delay_us(usec); + return 0; +} + +static inline void metal_generic_default_poll(void) { + MICROPY_EVENT_POLL_HOOK +} + +#endif // MICROPY_INCLUDED_STM32_METAL_PORT_H |