/* * Copyright 2021 NXP * All rights reserved. * * * SPDX-License-Identifier: BSD-3-Clause */ #ifndef __FSL_ADAPTER_RFIMU_H__ #define __FSL_ADAPTER_RFIMU_H__ #include "fsl_adapter_rfcommon.h" #include "fsl_adapter_rpmsg.h" /*! * @addtogroup IMU_Adapter * @{ */ /******************************************************************************* * Definitions ******************************************************************************/ #ifndef IMU_TASK_PRIORITY #if defined(__ZEPHYR__) #define IMU_TASK_PRIORITY (3U) #elif defined(CPU2) #define IMU_TASK_PRIORITY (2U) #else #define IMU_TASK_PRIORITY \ (6U) /* makesure the calculated priority of HAL_ImuMainCpu13 task is the same with tcp/ip task(priority 2), \ otherwise the throughput of udp rx will be very low */ #endif #endif #ifndef IMU_TASK_STACK_SIZE #define IMU_TASK_STACK_SIZE (2048U) #endif #define IMU_MAX_MSG_CNT_LONG (16U) #define IMU_MAX_MSG_CNT_SHORT (2U) #define IMU_SYNC_MAGIC_PATTERN (0xABCDEF89U) #define IMU_TXQ_BUFSIZE (32U) /*! must be power of 2 */ #define IMU_TXQ_BUFSIZE_THRESHOLD (8U) #define IMU_TXQ_ENTRY_MASK (IMU_TXQ_BUFSIZE - 1U) #define IMU_EVENT_TRIGGERS ((1U << kIMU_LinkMax) - 1U) /*! @brief IMU message payload size. */ #define IMU_PAYLOAD_SIZE (8U) #define RPMSG_EVENT_ENDPOINT_QUERY_RSP (1U << 0U) #ifndef RPMSG_TXQ13_BUFSIZE #define RPMSG_TXQ13_BUFSIZE (8U) #endif #ifndef RPMSG_TXQ23_BUFSIZE #define RPMSG_TXQ23_BUFSIZE (16U) #endif #ifndef RPMSG_TXQ13_BUFLENGTH #define RPMSG_TXQ13_BUFLENGTH (512U) #endif #ifndef RPMSG_TXQ23_BUFLENGTH #define RPMSG_TXQ23_BUFLENGTH (264U) #endif #define RPMSG_TXQ13_ENTRY_MASK (RPMSG_TXQ13_BUFSIZE - 1U) #define RPMSG_TXQ23_ENTRY_MASK (RPMSG_TXQ23_BUFSIZE - 1U) #ifdef CONFIG_IMU_GDMA #define IMU_GDMA_ENABLE (1U) #else #define IMU_GDMA_ENABLE (0U) #endif /*! @brief IMU initialization state. */ enum imu_init_state_t { IMU_UNINITIALIZED, IMU_INITIALIZING, IMU_INITIALIZED }; /*! @brief RPMSG type. */ typedef enum _imu_msg_type_t { IMU_MSG_CONTROL, IMU_MSG_COMMAND, IMU_MSG_COMMAND_RESPONSE, IMU_MSG_EVENT, IMU_MSG_TX_DATA, IMU_MSG_RX_DATA, IMU_MSG_MULTI_TX_DATA, IMU_MSG_MULTI_RX_DATA, IMU_MSG_RPMSG, IMU_MSG_MAX, /* The header is 8 bits hence max types =255 */ } imu_msg_type_t; /*! @brief RPMSG control message subtype. */ typedef enum _imu_ctrl_msg_subtype_t { IMU_MSG_CONTROL_DEFAULT, IMU_MSG_CONTROL_SYNC, IMU_MSG_CONTROL_SYNC_ACK, IMU_MSG_CONTROL_ACK_FOR_UNLOCK, IMU_MSG_CONTROL_ERROR, IMU_MSG_CONTROL_SHUTDOWN, IMU_MSG_CONTROL_CMD_BUF_ADDR, IMU_MSG_CONTROL_EVT_ACK, IMU_MSG_CONTROL_COMMAND_RSP_ACK, IMU_MSG_CONTROL_TX_BUF_ADDR, IMU_MSG_CONTROL_FREE_RX_BUF, IMU_MSG_CONTROL_RPMSG_EPT_QUIRY, IMU_MSG_CONTROL_RPMSG_EPT_QUIRY_RSP, IMU_MSG_CONTROL_RPMSG_BUF_FREE, IMU_MSG_CONTROL_EVT_DUMP, IMU_MSG_CONTROL_MAX, /* The header is 8 bits hence max types =255 */ } imu_ctrl_msg_subtype_t; /*! @brief IMU message header structure. */ typedef struct IMU_Hdr_t_ { volatile uint8_t type; volatile uint8_t sub_type; // user of icc module needs to define own msg sub_types volatile uint8_t seq_num; // may be used by user of icc module for own purpose volatile uint8_t length; // length of Payload in bytes } IMU_Hdr_t; /*! @brief IMU message structure. */ typedef struct IMU_Msg_t_ { IMU_Hdr_t Hdr; volatile uint32_t PayloadPtr[IMU_PAYLOAD_SIZE]; } IMU_Msg_t; /*! @brief IMU message wrapper 1. */ typedef struct IMU_Msg_Wrapper_long_t_ { volatile uint32_t magic[2]; IMU_Msg_t msgQ[2][IMU_MAX_MSG_CNT_LONG]; } IMU_Msg_Wrapper_long_t; /*! @brief IMU message wrapper 2. */ typedef struct IMU_Msg_Wrapper_short_t_ { volatile uint32_t magic[2]; IMU_Msg_t msgQ[2][IMU_MAX_MSG_CNT_SHORT]; } IMU_Msg_Wrapper_short_t; /* rpmsg_std_hdr contains a reserved field, * this implementation of RPMSG uses this reserved * field to hold the idx and totlen of the buffer * not being returned to the vring in the receive * callback function. This way, the no-copy API * can use this field to return the buffer later. */ struct rpmsg_hdr_reserved { uint16_t rfu; /* reserved for future usage */ uint16_t idx; }; /*! * Common header for all rpmsg messages. * Every message sent/received on the rpmsg bus begins with this header. */ struct rpmsg_std_hdr { uint32_t src; /*!< source endpoint address */ uint32_t dst; /*!< destination endpoint address */ struct rpmsg_hdr_reserved reserved; /*!< reserved for future use */ uint16_t len; /*!< length of payload (in bytes) */ uint16_t flags; /*!< message flags */ }; /*! * Common message structure. * Contains the header and the payload. */ struct rpmsg_std_msg { struct rpmsg_std_hdr hdr; /*!< RPMsg message header */ uint32_t data; /*!< bytes of message payload data */ }; typedef hal_rpmsg_status_t (*imu_callback_t)(IMU_Msg_t *pImuMsg, uint32_t length); /*! @brief IMU interrupt callback */ typedef void (*imu_irq_callback_t)(void); /*! @brief Checks whether a tx buffer queue is empty */ #define IS_WLAN_TXBQ_EMPTY(q) ((q)->writeIndex == (q)->readIndex) /*! @brief Checks whether a tx buffer queue is full */ #define IS_WLAN_TXBQ_FULL(q) \ ((((q)->writeIndex & (1UL << 31U)) != ((q)->readIndex & (1UL << 31U))) && \ (((q)->writeIndex & IMU_TXQ_ENTRY_MASK) == ((q)->readIndex & IMU_TXQ_ENTRY_MASK))) /*! @brief Increments write pointer*/ #define INCR_WLAN_TXBQ_WR_INDEX(q, n) \ { \ unsigned int wrapBit = (q)->writeIndex & (1UL << 31U); \ unsigned int val = (q)->writeIndex & IMU_TXQ_ENTRY_MASK; \ unsigned int newVal = (val + (n)) & IMU_TXQ_ENTRY_MASK; \ if ((n) > 0U) \ { \ if (newVal <= val) \ { \ (q)->writeIndex = newVal | (wrapBit ^ (1UL << 31U)); \ } \ else \ { \ (q)->writeIndex = newVal | wrapBit; \ } \ } \ } /*! @brief Increments read pointer */ #define INCR_WLAN_TXBQ_RD_INDEX(q, n) \ { \ unsigned int wrapBit = (q)->readIndex & (1UL << 31U); \ unsigned int val = (q)->readIndex & IMU_TXQ_ENTRY_MASK; \ unsigned int newVal = (val + (n)) & IMU_TXQ_ENTRY_MASK; \ if ((n) > 0U) \ { \ if (newVal <= val) \ { \ (q)->readIndex = newVal | (wrapBit ^ (1UL << 31U)); \ } \ else \ { \ (q)->readIndex = newVal | wrapBit; \ } \ } \ } /*! @brief Checks whether a tx buffer queue is empty */ #define IS_RPMSG_TXBQ13_EMPTY(q) ((q)->writeIndex == (q)->readIndex) #define IS_RPMSG_TXBQ23_EMPTY(q) ((q)->writeIndex == (q)->readIndex) /*! @brief Checks whether a tx buffer queue is full */ #define IS_RPMSG_TXBQ13_FULL(q) \ ((((q)->writeIndex & (1UL << 31U)) != ((q)->readIndex & (1UL << 31U))) && \ (((q)->writeIndex & RPMSG_TXQ13_ENTRY_MASK) == ((q)->readIndex & RPMSG_TXQ13_ENTRY_MASK))) #define IS_RPMSG_TXBQ23_FULL(q) \ ((((q)->writeIndex & (1UL << 31U)) != ((q)->readIndex & (1UL << 31U))) && \ (((q)->writeIndex & RPMSG_TXQ23_ENTRY_MASK) == ((q)->readIndex & RPMSG_TXQ23_ENTRY_MASK))) /*! @brief Increments write pointer*/ #define INCR_RPMSG_TXBQ13_WR_INDEX(q, n) \ { \ unsigned int wrapBit = (q)->writeIndex & (1UL << 31U); \ unsigned int val = (q)->writeIndex & RPMSG_TXQ13_ENTRY_MASK; \ unsigned int newVal = (val + (n)) & RPMSG_TXQ13_ENTRY_MASK; \ if ((n) > 0U) \ { \ if (newVal <= val) \ { \ (q)->writeIndex = newVal | (wrapBit ^ (1UL << 31U)); \ } \ else \ { \ (q)->writeIndex = newVal | wrapBit; \ } \ } \ } #define INCR_RPMSG_TXBQ23_WR_INDEX(q, n) \ { \ unsigned int wrapBit = (q)->writeIndex & (1UL << 31U); \ unsigned int val = (q)->writeIndex & RPMSG_TXQ23_ENTRY_MASK; \ unsigned int newVal = (val + (n)) & RPMSG_TXQ23_ENTRY_MASK; \ if ((n) > 0U) \ { \ if (newVal <= val) \ { \ (q)->writeIndex = newVal | (wrapBit ^ (1UL << 31U)); \ } \ else \ { \ (q)->writeIndex = newVal | wrapBit; \ } \ } \ } /*! @brief Increments read pointer */ #define INCR_RPMSG_TXBQ13_RD_INDEX(q, n) \ { \ unsigned int wrapBit = (q)->readIndex & (1UL << 31U); \ unsigned int val = (q)->readIndex & RPMSG_TXQ13_ENTRY_MASK; \ unsigned int newVal = (val + (n)) & RPMSG_TXQ13_ENTRY_MASK; \ if ((n) > 0U) \ { \ if (newVal <= val) \ { \ (q)->readIndex = newVal | (wrapBit ^ (1UL << 31U)); \ } \ else \ { \ (q)->readIndex = newVal | wrapBit; \ } \ } \ } #define INCR_RPMSG_TXBQ23_RD_INDEX(q, n) \ { \ unsigned int wrapBit = (q)->readIndex & (1UL << 31U); \ unsigned int val = (q)->readIndex & RPMSG_TXQ23_ENTRY_MASK; \ unsigned int newVal = (val + (n)) & RPMSG_TXQ23_ENTRY_MASK; \ if ((n) > 0U) \ { \ if (newVal <= val) \ { \ (q)->readIndex = newVal | (wrapBit ^ (1UL << 31U)); \ } \ else \ { \ (q)->readIndex = newVal | wrapBit; \ } \ } \ } typedef struct _hal_rpmsg_rx_state { rpmsg_rx_callback_t callback; void *param; } hal_rpmsg_rx_state_t; /*! @brief rpmsg state structure. */ typedef struct _hal_rpmsg_state { LIST_ELEM_st eptLink; uint32_t local_addr; uint32_t remote_addr; uint8_t imuLink; bool eptLinkIsReady; hal_rpmsg_rx_state_t rx; } hal_rpmsg_state_t; /*! @brief rpmsg ept buf structure. */ typedef struct _hal_rpmsg_ept_uf { LIST_ELEM_st eptLink; uint32_t addr; } hal_rpmsg_ept_buf_t; /*! @brief IMU WLAN Tx buffer control structure */ typedef struct IMU_WLAN_TXQ_CTRL_st { uint32_t writeIndex; uint32_t readIndex; uint32_t txBufQue[IMU_TXQ_BUFSIZE]; } IMU_WLAN_TXQ_CTRL_st; /*! @brief RPMSG Tx buffer control structure */ typedef struct RPMSG_TXQ_CTRL_st { uint32_t writeIndex; uint32_t readIndex; uint32_t txBufQue[RPMSG_TXQ23_BUFSIZE]; } RPMSG_TXQ_CTRL_st; /*! @brief imu handle structure. */ typedef struct _hal_imu_handle_t { /*! Word 0 */ uint8_t imuLink; uint8_t imuSyncState; /*！ 0：Link Off, 1:Link Ongoing, 2: Link Up */ uint8_t freeTxMportBufCnt; uint8_t imuMsgBufIdx; /*! Word 1 */ bool cmd_buffer_available; bool cmd_response_buffer_available; bool rsvdbool1; bool rsvdbool2; /*! Word 2 */ uint32_t *cmd_buffer; /*! Word 3 */ IMU_WLAN_TXQ_CTRL_st wlanTxqCtl; /*! Word 37 */ uint32_t imuMsgBuf[IMU_PAYLOAD_SIZE]; /*! Word 45 */ LIST_ELEM_st eptList; /*! Word 47 */ RPMSG_TXQ_CTRL_st rpmsgTxqCtl; /*! Word 57 */ imu_callback_t imuHandler[IMU_MSG_MAX]; } hal_imu_handle_t; /******************************************************************************* * API ******************************************************************************/ #if defined(__cplusplus) extern "C" { #endif /* _cplusplus */ /*! * @brief Add wlan Tx packet for sending multiple Tx packets within one message. * * This function is used to add a wlan Tx packet for IMU_MSG_MULTI_TX_DATA. * * @param imuLink IMU link ID. * @param txBuf Tx buffer to be sent. * @param length Length of Tx data. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuAddWlanTxPacket(uint8_t imuLink, uint8_t *txBuf, uint32_t length); /*! * @brief Add wlan Tx packet for sending multiple Tx packets within one message. * * This function is used to add a wlan Tx packet with callback function for IMU_MSG_MULTI_TX_DATA. * * @param imuLink IMU link ID. * @param txBuf Tx buffer to be sent. * @param length Length of Tx data. * @param cb Callback function to add packet. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuAddWlanTxPacketExt(uint8_t imuLink, uint8_t *txBuf, uint32_t length, void (*cb)(void *destAddr, void *srcAddr, uint32_t len)); /*! * @brief Install wlan callback. * * This function is used to imstall wlan callback * * @param imuLink IMU link ID. * @param callback Callback to be installed. * @param type Callback type. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuInstallCallback(uint8_t imuLink, imu_callback_t callback, uint8_t type); /*! * @brief Install imu interrupt callback. * * This function is used to install imu interrupt callback * * @param imuLink IMU link ID. * @param callback Callback to be installed. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuInstallIrqCallback(uint8_t imuLink, imu_irq_callback_t callback); /*! * @brief Send wlan command packet. * * This function is used to send wlan command packet * * @param imuLink IMU link ID. * @param cmdBuf Command buffer to be sent. * @param length Length of command data. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuSendCommand(uint8_t imuLink, uint8_t *cmdBuf, uint32_t length); /*! * @brief Add wlan Tx packet for sending one Tx packet within one message. * * This function is used to send a wlan Tx packet. * * @param imuLink IMU link ID. * @param txBuf Tx buffer to be sent. * @param length Length of Tx data. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuSendTxData(uint8_t imuLink, uint8_t *txBuf, uint32_t length); /*! * @brief Send multiple Tx packets within one message. * * This function is used to send multiple wlan Tx packets within one IMU message, * which have been added by HAL_ImuAddWlanTxPacket already. * * @param imuLink IMU link ID. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuSendMultiTxData(uint8_t imuLink); /*! * @brief Check if IMU link is up. * * This function is used to check if IMU link is up. * * @param imuLink IMU link ID. * @retval kStatus_HAL_RpmsgSuccess for IMU link up or kStatus_HAL_RpmsgError for IMU link not up. */ hal_rpmsg_status_t HAL_ImuLinkIsUp(uint8_t imuLink); /*! * @brief Start IMU link * * This function is used to start specified IMU link. * * @param imuLink IMU link ID. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuInit(imu_link_t link); /*! * @brief Stop IMU link * * This function is used to stop specified IMU link. * * @param imuLink IMU link ID. * @param flag flag with bits to control. * flag bit0: control if need send imu msg to fw (imu tx return /imu shutdown) * flag bit1: control if need destroy ImuTask and ImuQFlagsRef * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuDeinit(imu_link_t link, uint32_t flag); /*! * @brief Return all tx buffer. * * This function is used to return all tx buffer to CPU1. * * @param imuLink IMU link ID. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuReturnAllTxBuf(imu_link_t link); /*! * @brief Receive IMU message. * * This function is used to receive and process IMU message * * @param imuLink IMU link ID. * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuReceive(uint8_t imuLink); /*! * @brief Check if tx buffer queue empty. * * This function is used to check if tx buffer queue empty * * @param imuLink IMU link ID. * @retval TRUE or FALSE. */ bool HAL_ImuIsTxBufQueueEmpty(uint8_t imuLink); #if defined(IMU_GDMA_ENABLE) && (IMU_GDMA_ENABLE == 1) /*! * @brief Copy data by GDMA. * * This function is used to copy data by GDMA between shared memory and local memory. * * @param destAddr Source address of data. * @param srcAddr Destination address of data. * @param len Data Length. */ void HAL_ImuGdmaCopyData(void *destAddr, void *srcAddr, uint32_t len); /*! @}*/ #endif #ifdef CONFIG_FW_DUMP_EVENT /*! * @brief Send fw dump event ack. * * This function is used to Send fw dump event ack to fw, When the event data process is completed. * * @param imuLink IMU link ID. * @param rxBuf Rx buffer to be sent. * @param length Length of Rx buffer * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuSendEventDumpAck(imu_link_t link, uint8_t *rxBuf, uint8_t length); #endif /*! * @brief Create imu task mutex. * * This function creates a imu task mutex. * * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuCreateTaskLock(void); /*! * @brief Delete imu task mutex. * * This function deletes the imu task mutex. */ void HAL_ImuDeleteTaskLock(void); /*! * @brief Acquire imu task mutex. * * This function acquires the imu task mutex. Only one thread can acquire the mutex at any * given time. * * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuGetTaskLock(void); /*! * @brief Release imu task mutex. * * This function releases the imu task mutex. * * @retval kStatus_HAL_RpmsgSuccess or kStatus_HAL_RpmsgError. */ hal_rpmsg_status_t HAL_ImuPutTaskLock(void); /*! * @brief Reset imu readIndex and writeIndex to 0. * * This function reset the imu txq. */ void HAL_ImuResetWlanTxq(uint8_t imuLink); #if defined(__cplusplus) } #endif /*! @}*/ #endif /* __FSL_ADAPTER_RFIMU_H__ */