OSI and Architecture Independent Device Driver Jim Chen HYTEC ELECTRONICS LIMITED ([email protected]) Spring 2013 – Diamond Light Source.

OSI and Architecture OSI and Architecture Independent Device DriverIndependent Device Driver

Jim Chen

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

([email protected])

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

• The problem• Things in common• The solution• Exceptions and caveats• Conclusions

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

Contents

• Since introducing of asyn, EPICS device support actually becomes device driver

• Asyn takes over the interfaces with records – the device support layer

• Asyn standardize the interfaces to generic data type

• Device driver only focuses on hardware access and controls

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

EPICS Device Support to “Device Driver”

---- Much easier!

VxWorksVxWorks

What’s the Problem

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

RTEMSRTEMS LinuxLinuxWindowsWindowsFreeBSDFreeBSD DarwinDarwinSolarisSolaris …………

The operating systems:

The architectures:

VMEVME ATCA/ATCA/uTCAuTCA

PCI/PCIe/cPCI/PXIPCI/PCIe/cPCI/PXI

C

Con

o

D

Standalone via Standalone via TCP/IP TCP/IP

Cubie boardRaspberry PI

EtherCat

BUSBUS

cPCI

IOC9010

PCIe6335

uTCA7003

VME8004

FPGA

IOC8800

The processors (with different BSP or device driver):PPC (MVMExxxx)PPC (MVMExxxx) Intel (Concurrent/Tews/Acromag)Intel (Concurrent/Tews/Acromag)

PMPMCC

ARMARM …………

For a single ADC for example

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

C

Con

o

D

uTCAVME cPCI

…

Standalone IOC9010

IOC8800

LinuxLinux

PPC Intel …

Concurrent Kontron … Eurotech Advantech …

PC104Raspberry PI/Cubie Board

• The BSP or processor device driver could be totally different • Some have kernel-user space like Linux, Windows. Some just have one space – VxWorks, RTEMS• VME architecture has AM code plus addr/data bit and even CR/CSR etc whereas PCI doesn’t

VxWorksVxWorks

Multiply by Different OS

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

RTEMSRTEMS LinuxLinuxWindowsWindowsFreeBSDFreeBSD DarwinDarwinSolarisSolaris …………

PPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntelPPPPCC

IntelIntel

How about DAC, Scaler, Digital, SIO, Step motor, Timing modules, frame grabber…..

(An exaggerated figure)

Hold on – we’ve got OSI model

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

OSI model – Operating System Independent. It takes over the operating dependant calls (interrupt, mutex, event, message queue, signals, thread, math etc etc)

Yet down to the device driver level, we still face architecture differences and processor specific BSP/kernel driver differences

Things in Common

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

• Register access

For all I/O moduels such as ADC, DAC, Scaler, Digital, SIO, Step motor, Timing modules, frame grabber etc devices….

• Most processors use PCI/PCIe to bridge the other side, implemented by Universe II/Tsi148/Plx chips

• Memory access• Interrupt management• DMA or BLT or MBLT

The (my) solution – ipac + arch specific

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

• BSP or kernel device driver• mmap/sysBustoLocal• connectInterrupt/waitInterrupt• dmaInit/dmaRequest

• Utilise Andrew Johnson’s ipac module + arch specific interface to BSP/kernel device driver

• What ipac provides:• Generic base addresses mapping

• ipmBaseAddr• Generic interrupt management

• ipmIrqCmd• ipmIntConnect

• This applies to both carrier card case and normal modules as well (see examples)

• The only thing ipac doesn’t have is DMA support at the moment

Standard ipac/asyn interfaces

Arch specific Interface

EPICS device driver

BSP/kernel driver

Example 1 -- Carrier Card + IP

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

C

Con

o

D

VME 8004

PCIe 6335

uTCA 7002uTCA 7003

Standalone

IOC9010 PC104

IOC8800 Cubie board/Raspberry PI

BUS IPs

ADC DAC

SCALER

Example 1 -- Carrier Card + IP

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

Ipac-2.11

drvHy8002.cdrvTip810.cdrvXy9660.c……

Linux Linux

VME Intel VME Intel ConcurrentConcurrent

VxWorks/VxWorks/RTEMSRTEMS

RTEMSRTEMS

VME PPCVME PPC

EPICS Device Driver

cct Kernel Driver + API

Intel PCI/PCIeIntel PCI/PCIe

Linux Linux

PCI/PCIe IntelPCI/PCIe Intel

drvHyRTEMSCarrier.c drvHy8002Concurrent.c drvHyLinuxCarrier.c

devLib devLib2 Hytec Kernel Driver + API

Device

Example 2 – Micro Research Timing Module

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

VME cPCI PMC PXIcRIO

……

• They have the nearly identical (at least to now) register/memory configuration• They have similar interrupt scheme• MRF provides a generic API function set for Linux, based on memory pointer!• With the arch specific interface module in place, we can use this generic API

for all

Example 2 – Micro Research Timing Module

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

Ipac-2.11

LinuxLinux

VME Intel VME Intel

EPICS Device Driver

Kernel Driver + API

Linux Linux

cPCI IntelcPCI Intel

drvMrfcPCIcct.c

VxWorks/VxWorks/RTEMSRTEMS

drvMrfVMEPPC.c

VME PPCVME PPC

drvMrfVMEcct.c ……

Kernel Driver + APIWith CR/CSR support

devLib

Device

Exceptions and Caveats

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

• mmap – not all OS support • Byte swap – endian problem. Not all processor boards support

it. Then need be32_to_cpu etc.• Serial port, Ethernet. This needs device driver. Can be done

by this model.• Standalone unit, like Raspberry PI/Cubieboard IOC8800, the

interface cound be SPI or just I/O operations. We might be able to utilise the macro: be32_to_cpu – developing..

• DMA support – no common support in EPICS by far. Maybe a generic dmaInit, dmaRequest in ipac plus drvXXX.c?

Conclusion

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source

• EPICS Device driver to hardware has common operations such as register, memory access, interrupt management and DMA operations

• The ipac module happens to provide these services in standard interfaces.

• We can utilise ipac plus OS/Arch specific module to mezzanine the OS/ARCH specific which hides the complex operations.

• And it gives a common EPICS device driver for I/O peripherals – easy to maintain.

• Discussion• Is this the right place?• A DMA interface? --- leave these to the core developers

Thank You!

HYTEC ELECTRONICS LIMITEDHYTEC ELECTRONICS LIMITED

Spring 2013 – Diamond Light SourceSpring 2013 – Diamond Light Source