Enable px4io

platforms/nuttx/src/px4/nxp/imx9/CMakeLists.txt

@@ -37,3 +37,4 @@ add_subdirectory(board_reset board_reset)
 add_subdirectory(hrt hrt)
 add_subdirectory(tone_alarm tone_alarm)
 add_subdirectory(version version)
+add_subdirectory(px4io_serial)

platforms/nuttx/src/px4/nxp/imx9/include/px4_arch/micro_hal.h

@@ -137,8 +137,7 @@ static inline uintptr_t hrt_absolute_time_usr_base(void)
 }
 #endif
 
-// TODO!
-#  define px4_cache_aligned_data()
-#  define px4_cache_aligned_alloc malloc
+#  define px4_cache_aligned_data() aligned_data(ARMV8A_DCACHE_LINESIZE)
+#  define px4_cache_aligned_alloc(s) memalign(ARMV8A_DCACHE_LINESIZE, (s))
 
 __END_DECLS

platforms/nuttx/src/px4/nxp/imx9/include/px4_arch/px4io_serial.h

@@ -0,0 +1,162 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4io_serial.h
+ *
+ * Serial Interface definition for PX4IO
+ */
+
+#pragma once
+
+#include <board_config.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/micro_hal.h>
+
+#include <perf/perf_counter.h>
+
+#include <drivers/device/device.h>
+#include <modules/px4iofirmware/protocol.h>
+
+#include <imx9_edma.h>
+
+class PX4IO_serial : public device::Device
+{
+public:
+	PX4IO_serial();
+	virtual ~PX4IO_serial();
+
+	virtual int	init() = 0;
+	virtual int	read(unsigned offset, void *data, unsigned count = 1);
+	virtual int	write(unsigned address, void *data, unsigned count = 1);
+
+protected:
+	/**
+	 * Does the PX4IO_serial instance initialization.
+	 * @param io_buffer The IO buffer that should be used for transfers.
+	 * @return 0 on success.
+	 */
+	int		init(IOPacket *io_buffer);
+
+	/**
+	 * Start the transaction with IO and wait for it to complete.
+	 */
+	virtual int	_bus_exchange(IOPacket *_packet) = 0;
+
+	/**
+	 * Performance counters.
+	 */
+	perf_counter_t		_pc_txns;
+	perf_counter_t		_pc_retries;
+	perf_counter_t		_pc_timeouts;
+	perf_counter_t		_pc_crcerrs;
+	perf_counter_t		_pc_protoerrs;
+	perf_counter_t		_pc_uerrs;
+	perf_counter_t		_pc_idle;
+	perf_counter_t		_pc_badidle;
+private:
+
+	/**
+	 * Pointer to the io buffer
+	 */
+	IOPacket		*_io_buffer_ptr;
+
+	/** bus-ownership lock */
+	px4_sem_t			_bus_semaphore;
+
+	/* do not allow top copying this class */
+	PX4IO_serial(PX4IO_serial &);
+	PX4IO_serial &operator = (const PX4IO_serial &);
+};
+
+
+#include <imx9_edma.h>
+
+
+class ArchPX4IOSerial : public PX4IO_serial
+{
+public:
+	ArchPX4IOSerial();
+	ArchPX4IOSerial(ArchPX4IOSerial &) = delete;
+	ArchPX4IOSerial &operator = (const ArchPX4IOSerial &) = delete;
+	virtual ~ArchPX4IOSerial();
+
+	virtual int	init();
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+
+protected:
+	/**
+	 * Start the transaction with IO and wait for it to complete.
+	 */
+	int		_bus_exchange(IOPacket *_packet);
+
+private:
+	DMACH_HANDLE		_tx_dma;
+	DMACH_HANDLE		_rx_dma;
+
+	IOPacket *_current_packet;
+
+	/** flag indicating ongoing dma transfer */
+
+	bool _waiting_for_dma{false};
+
+	/** signalling semaphore */
+
+	px4_sem_t		_recv_sem;
+
+	/**
+	 * DMA completion handler.
+	 */
+
+	static void		_dma_callback(DMACH_HANDLE handle, void *arg, bool done, int result);
+	void			_rx_dma_callback();
+
+	/**
+	 * Serial interrupt handler.
+	 */
+
+	static int		_interrupt(int vector, void *context, void *arg);
+	void			_do_interrupt();
+
+	/**
+	 * Stop any DMA in progress
+	 */
+
+	void			_stop_dma();
+
+	/**
+	 * IO Buffer storage
+	 */
+
+	static uint8_t _io_buffer_storage[] px4_cache_aligned_data();
+};

platforms/nuttx/src/px4/nxp/imx9/px4io_serial/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2024 Technology Innovation Institute. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_px4io_serial
+	px4io_serial.cpp
+)