polyorb_hi_drivers_gruart.adb 9.68 KB
Newer Older
1
2
3
pragma Style_Checks (Off);

With Interfaces;
4
with Ada.Unchecked_Conversion;
5

6
with Uart.Core; use type UART.Core.UART_Device;
7
8
with Uart.HLInterface;
with Uart.Streams;
9
10
11
12
13
14
15
16
17

with PolyORB_HI.Output;
with PolyORB_HI.Messages;

with PolyORB_HI_Generated.Transport;

--  This package provides support for the GRUART device driver as
--  defined in the GRUART AADLv2 model.

18
19
20
21
with System; use System;

with POHICDRIVER_UART; use POHICDRIVER_UART;

22
package body PolyORB_HI_Drivers_GRUART is
23

jhugues's avatar
jhugues committed
24
25
26
27
28
29
30
31
32
33
34
   task body Idle_Task is
      --  This Idle task is present to ensure the leon processor is
      --  never put idle, which would cause the processor to never be
      --  awakened by external events.
      --  XXX Check whether this is still necessary
   begin
      loop
         null;
      end loop;
   end Idle_Task;

35
36
37
38
   type Serial_Conf_T_Acc is access all POHICDRIVER_UART.Serial_Conf_T;
   function To_Serial_Conf_T_Acc is new Ada.Unchecked_Conversion
     (System.Address, Serial_Conf_T_Acc);

39
   To_GNAT_Baud_Rate : constant array (POHICDRIVER_UART.Baudrate_T) of
40
41
42
43
44
45
46
     UART.HLInterface.Data_Rate :=
     (B9600 => UART.HLInterface.B9600,
      B19200 => UART.HLInterface.B19200,
      B38400 => UART.HLInterface.B38400,
      B57600 => UART.HLInterface.B57600,
      B115200 => UART.HLInterface.B115200,
      B230400 => UART.HLInterface.B115200);
jhugues's avatar
jhugues committed
47
   --  XXX does not exist in ORK+
48
49
50
51
52
53
54
55
56
57
58

   To_GNAT_Parity_Check : constant array (POHICDRIVER_UART.Parity_T) of
     UART.HLInterface.Parity_Check :=
     (Even => UART.HLInterface.Even,
      Odd => UART.HLInterface.Odd);

   To_GNAT_Bits : constant array (7 .. 8) of
     UART.HLInterface.Data_Bits :=
     (7 => UART.HLInterface.B7,
      8 => UART.HLInterface.B8);

59
60
61
62
63
64
65
66
67
68
   pragma Suppress (Elaboration_Check, PolyORB_HI_Generated.Transport);
   --  We do not want a pragma Elaborate_All to be implicitely
   --  generated for Transport.

   use Interfaces;
   use PolyORB_HI.Messages;
   use PolyORB_HI.Utils;
   use PolyORB_HI.Output;

   type Node_Record is record
69
70
      --  UART is a simple protocol, we use one port to send, assuming
      --  it can be used in full duplex mode.
71

72
73
74
      UART_Port   : Uart.HLInterface.Serial_Port;
      UART_Device : Uart.Core.UART_Device;
      UART_Config : Serial_Conf_T;
75
76
77
78
   end record;

   Nodes : array (Node_Type) of Node_Record;

79
   subtype AS_Message_Length_Stream is Uart.STreams.Stream_Element_Array
80
81
82
83
     (1 .. Message_Length_Size);
   subtype Message_Length_Stream is Stream_Element_Array
     (1 .. Message_Length_Size);

84
   subtype AS_Full_Stream is Uart.Streams.Stream_Element_Array (1 .. PDU_Size);
85
86
87
88
89
90
91
92
93
94
95
96
97
   subtype Full_Stream is Stream_Element_Array (1 .. PDU_Size);

   function To_PO_HI_Message_Length_Stream is new Ada.Unchecked_Conversion
     (AS_Message_Length_Stream, Message_Length_Stream);
   function To_PO_HI_Full_Stream is new Ada.Unchecked_Conversion
     (AS_Full_Stream, Full_Stream);

   ----------------
   -- Initialize --
   ----------------

   procedure Initialize (Name_Table : PolyORB_HI.Utils.Naming_Table_Type) is
      Success : Boolean;
98
      Use_Asn1 : Boolean := False;
99
      Parity : UART.HLInterface.Parity_Check;
100
101
102
103

   begin
      Uart.HLInterface.Initialize (Success);
      if not Success then
jhugues's avatar
jhugues committed
104
105
106
	 Put_Line (Normal,
		   "Initialization failure: cannot find UART cores");
	 raise Program_Error;
107
108
109
      end if;

      for J in Name_Table'Range loop
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
	 if Name_Table (J).Variable = System.Null_Address then
	    Nodes (J).UART_Device
	      := Uart.Core.UART_Device'Value
	      (To_String (Name_Table (J).Location) (1 .. 1));

	    --  Note: we only consider the first half of the
	    --  configuration string.

	 else
	    Nodes (J).UART_Config := To_Serial_Conf_T_Acc
	      (Name_Table (J).Variable).all;
	    Use_Asn1 := True;
            Put_Line (Normal, "Device: " & Nodes (J).UART_Config.devname);

	    --  Translate the device name into an UART_Device

	    if Nodes (J).UART_Config.Devname (1 .. 14) /= "/dev/apburasta" then
jhugues's avatar
jhugues committed
127
	       Put_Line (Error, "invalid device name");
128
129
130
131
132
133
134
135
136
137
138

	    else
	       --  We assume the device name to be "/dev/apburastaX"
	       --  with X in 0 .. 2. We need to move X to the 1 .. 3
	       --  range.

	       Nodes (J).UART_Device
		 := UART.Core.UART_Device
		 (Integer'Value (Nodes (J).UART_Config.Devname (15 .. 15)) + 1);
	    end if;
	 end if;
139
140
      end loop;

jhugues's avatar
jhugues committed
141
142
143
      Put_Line (Normal, "Opening UART #"
                     & Nodes (My_Node).UART_Device'Img);

144
145
146
147
      Uart.HLInterface.Open (Port   => Nodes (My_Node).UART_Port,
			     Number => Nodes (My_Node).UART_Device);

      if not Use_Asn1 then
jhugues's avatar
jhugues committed
148
149
	 Put_Line (Normal, " -> Using default configuration");

150
151
152
153
	 Uart.HLInterface.Set (Port   => Nodes (My_Node).UART_Port,
			       Rate => Uart.HLInterface.B19200,
			       Block => True);
      else
jhugues's avatar
jhugues committed
154
155
	 Put_Line (Normal, " -> Using ASN.1 configuration");

156
157
158
	 if Nodes (My_Node).UART_Config.Use_Paritybit then
	    Parity := To_GNAT_Parity_Check (Nodes (My_Node).UART_Config.Parity);
	 else
jhugues's avatar
jhugues committed
159
	    Put_Line (Normal, "  * Use Parity bits: FALSE");
160
161
162
	    Parity := UART.HLInterface.None;
	 end if;

jhugues's avatar
jhugues committed
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
	 declare
	    use Uart.HLInterface;

	    Rate : constant Uart.HLInterface.Data_Rate
	      := To_GNAT_Baud_Rate (Nodes (My_Node).UART_Config.Speed);
	    Bits : constant Data_Bits
	      := To_GNAT_Bits (Integer (Nodes (My_Node).UART_Config.Bits));
	 begin
	    case Rate is
	       when B1200 =>
		  Put_Line (Normal, "  * Rate : B1200");
	       when B2400 =>
		  Put_Line (Normal, "  * Rate : B2400");
	       when B4800 =>
		  Put_Line (Normal, "  * Rate : B4800");
	       when B9600 =>
		  Put_Line (Normal, "  * Rate : B9600");
	       when B19200 =>
		  Put_Line (Normal, "  * Rate : B19200");
	       when B38400 =>
		  Put_Line (Normal, "  * Rate : B38400");
	       when B57600 =>
		  Put_Line (Normal, "  * Rate : B57600");
	       when B115200 =>
		  Put_Line (Normal, "  * Rate : B115200");
	    end case;

	    case Parity is
	       when None =>
		  Put_Line (Normal, "  * Parity: None");
	       when Odd =>
		  Put_Line (Normal, "  * Parity: Odd");
	       when Even =>
		  Put_Line (Normal, "  * Parity: Even");
	    end case;

	    case Bits is
	       when B8 =>
		  Put_Line (Normal, "  * Bits: B8");
	       when B7 =>
		  Put_Line (Normal, "  * Bits: B7");
	    end case;

	 end;

208
	 UART.HLInterface.Set
jhugues's avatar
jhugues committed
209
           (Port   => Nodes (My_Node).UART_Port,
210
	    Rate   => To_GNAT_Baud_Rate (Nodes (My_Node).UART_Config.Speed),
211
	    Parity => Parity,
212
213
214
	    Bits   => To_GNAT_Bits (Integer (Nodes (My_Node).UART_Config.Bits)),
	    Block  => True);
      end if;
215
216
217
218
219
220
221
222
223
      pragma Debug (Put_Line (Normal, "Initialization of UART subsystem"
                                & " is complete"));
   end Initialize;

   -------------
   -- Receive --
   -------------

   procedure Receive is
224
      use type Uart.Streams.Stream_Element_Offset;
225
226
227

      SEL : AS_Message_Length_Stream;
      SEA : AS_Full_Stream;
228
229
230
      SEO : Uart.Streams.Stream_Element_Offset;
      Packet_Size : Uart.Streams.Stream_Element_Offset;
      Data_Received_Index : Uart.Streams.Stream_Element_Offset;
231
232
233
234
235
   begin

      Main_Loop : loop
         Put_Line ("Using user-provided GRUART stack to receive");
         Put_Line ("Waiting on UART #"
236
                     & Nodes (My_Node).UART_Device'Img);
237
238
239
240
241

         --  UART is a character-oriented protocol

         --  1/ Receive message length

242
         Uart.HLInterface.Read (Nodes (My_Node).UART_Port, SEL, SEO);
243

244
         Packet_Size := Uart.Streams.Stream_Element_Offset
245
           (To_Length (To_PO_HI_Message_Length_Stream (SEL)));
246
247
         SEO := Packet_Size;

248
249
250
251
         SEA (1 .. Message_Length_Size) := SEL;

         Data_Received_Index := Message_Length_Size + 1;

252
         while Data_Received_Index <= Packet_Size + Message_Length_Size loop
253
254
            --  We must loop to make sure we receive all data

255
            Uart.HLInterface.Read (Nodes (My_Node).UART_Port,
256
257
                                   SEA (Data_Received_Index .. SEO + 1),
                                   SEO);
258
            Data_Received_Index := 1 + SEO + 1;
259
260
261
262
263
264
265
266
         end loop;

         --  2/ Receive full message

         if SEO /= SEA'First - 1 then
            Put_Line
              (Normal,
               "UART #"
267
                 & Nodes (My_Node).UART_Device'Img
268
                 & " received"
269
                 & Uart.Streams.Stream_Element_Offset'Image (SEO)
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
                 & " bytes");

            --  Deliver to the peer handler

            PolyORB_HI_Generated.Transport.Deliver
              (Corresponding_Entity
                 (Integer_8 (SEA (Message_Length_Size + 1))),
               To_PO_HI_Full_Stream (SEA)
                 (1 .. Stream_Element_Offset (SEO)));
         else
            Put_Line ("Got error");
         end if;
      end loop Main_Loop;
   end Receive;

   ----------
   -- Send --
   ----------

   function Send
     (Node    : Node_Type;
      Message : Stream_Element_Array;
      Size    : Stream_Element_Offset)
     return Error_Kind
   is
      --  We cannot cast both array types using
      --  Ada.Unchecked_Conversion because they are unconstrained
      --  types. We cannot either use direct casting because component
      --  types are incompatible. The only time efficient manner to do
      --  the casting is to use representation clauses.

301
302
      Msg : Uart.Streams.Stream_Element_Array
        (1 .. Uart.Streams.Stream_Element_Offset (Size));
303
304
305
306
307
308
      pragma Import (Ada, Msg);
      for Msg'Address use Message'Address;

   begin
      Put_Line ("Using user-provided UART stack to send");
      Put_Line ("Sending through UART #"
309
                  & Nodes (Node).UART_Device'Img
310
311
                  & Size'Img & " bytes");

312
      Uart.HLInterface.Write (Port   => Nodes (My_Node).UART_Port,
313
314
315
                              Buffer => Msg);

      return Error_Kind'(Error_None);
316
      --  Note: we have no way to know there was an error here
317
318
   end Send;

319
end PolyORB_HI_Drivers_GRUART;