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[package]
name = "zynq7000-embassy"
version = "0.1.0"
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
edition = "2024"
description = "Embassy-rs support for the Zynq7000 family of SoCs"
homepage = "https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs"
repository = "https://egit.irs.uni-stuttgart.de/rust/zynq7000-rs"
license = "MIT OR Apache-2.0"
keywords = ["no-std", "arm", "embassy", "amd", "zynq7000"]
categories = ["embedded", "no-std", "hardware-support"]
[dependencies]
critical-section = "1"
once_cell = { version = "1", default-features = false, features = ["critical-section"] }
zynq7000-hal = { path = "../zynq7000-hal" }
embassy-time-driver = { path = "/home/rmueller/Rust/embassy/embassy-time-driver", version = "0.2" }
embassy-time-queue-utils = { path = "/home/rmueller/Rust/embassy/embassy-time-queue-utils", version = "0.1" }

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# Embassy-rs support for the AMD Zynq7000 SoC family
This repository contains the [embassy-rs](https://github.com/embassy-rs/embassy) support for the
AMD Zynq7000 SoC family. Currently, it contains the time driver to allow using embassy-rs. It
currently provides one driver using the global timer peripheral provided by the Zynq7000 PS for
this purpose.
The documentation contains more information on how to use this crate.

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#![no_std]
use core::cell::{Cell, RefCell};
use critical_section::{CriticalSection, Mutex};
use embassy_time_driver::{Driver, TICK_HZ, time_driver_impl};
use embassy_time_queue_utils::Queue;
use once_cell::sync::OnceCell;
use zynq7000_hal::{clocks::ArmClocks, gtc::Gtc, time::Hertz};
static SCALE: OnceCell<u64> = OnceCell::new();
static CPU_3X2X_CLK: OnceCell<Hertz> = OnceCell::new();
struct AlarmState {
timestamp: Cell<u64>,
}
impl AlarmState {
const fn new() -> Self {
Self {
timestamp: Cell::new(u64::MAX),
}
}
}
unsafe impl Send for AlarmState {}
/// This is the initialization method for the embassy time driver.
///
/// It should be called ONCE at system initialization.
pub fn init(arm_clocks: &ArmClocks, gtc: Gtc) {
if SCALE.get().is_some() || CPU_3X2X_CLK.get().is_some() {
return;
}
unsafe { GTC_TIME_DRIVER.init(arm_clocks, gtc) };
}
/// This interrupt handler should be called ONCE in the interrupt handler on global timer
/// interrupts.
///
/// # Safety
///
/// Needs to be called once in the global timer interrupt.
pub unsafe fn on_interrupt() {
unsafe { GTC_TIME_DRIVER.on_interrupt() };
}
pub struct GtcTimerDriver {
gtc: Mutex<RefCell<Gtc>>,
// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
alarms: Mutex<AlarmState>,
queue: Mutex<RefCell<Queue>>,
}
impl GtcTimerDriver {
/// This is the initialization method for the embassy time driver.
///
/// # Safety
///
/// This has to be called ONCE at system initialization.
pub unsafe fn init(&'static self, arm_clock: &ArmClocks, mut gtc: Gtc) {
CPU_3X2X_CLK.set(arm_clock.cpu_3x2x_clk()).unwrap();
SCALE
.set(arm_clock.cpu_3x2x_clk().raw() as u64 / TICK_HZ)
.unwrap();
gtc.set_cpu_3x2x_clock(arm_clock.cpu_3x2x_clk());
gtc.set_prescaler(0);
gtc.enable();
}
/// Should be called inside the IRQ handler if the IRQ ID is equal to
/// [crate::hal::gic::PpiInterrupt::GlobalTimer].
///
/// # Safety
///
/// This function has to be called once for interrupt ID
/// [crate::hal::gic::PpiInterrupt::GlobalTimer].
pub unsafe fn on_interrupt(&self) {
critical_section::with(|cs| {
self.trigger_alarm(cs);
})
}
fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool {
if SCALE.get().is_none() {
return false;
}
let mut gtc = self.gtc.borrow(cs).borrow_mut();
let alarm = &self.alarms.borrow(cs);
alarm.timestamp.set(timestamp);
let t = self.now();
if timestamp <= t {
gtc.disable_interrupt();
alarm.timestamp.set(u64::MAX);
return false;
}
// If it hasn't triggered yet, setup the relevant reset value, regardless of whether
// the interrupts are enabled or not. When they are enabled at a later point, the
// right value is already set.
// If the timestamp is in the next few ticks, add a bit of buffer to be sure the alarm
// is not missed.
//
// This means that an alarm can be delayed for up to 2 ticks (from t+1 to t+3), but this is allowed
// by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
// and we don't do that here.
let safe_timestamp = timestamp.max(t + 3);
let opt_comparator = safe_timestamp.checked_mul(*SCALE.get().unwrap());
if opt_comparator.is_none() {
return true;
}
gtc.set_comparator(opt_comparator.unwrap());
gtc.enable_interrupt();
true
}
fn trigger_alarm(&self, cs: CriticalSection) {
let mut gtc = self.gtc.borrow(cs).borrow_mut();
gtc.disable_interrupt();
drop(gtc);
let alarm = &self.alarms.borrow(cs);
// Setting the maximum value disables the alarm.
alarm.timestamp.set(u64::MAX);
// Call after clearing alarm, so the callback can set another alarm.
let mut next = self
.queue
.borrow(cs)
.borrow_mut()
.next_expiration(self.now());
while !self.set_alarm(cs, next) {
next = self
.queue
.borrow(cs)
.borrow_mut()
.next_expiration(self.now());
}
}
}
impl Driver for GtcTimerDriver {
#[inline]
fn now(&self) -> u64 {
if SCALE.get().is_none() {
return 0;
}
// This is okay, we only read the GTC and do not re-configure it, avoids the
// need for a lock.
let gtc = unsafe { Gtc::steal_fixed(Some(*CPU_3X2X_CLK.get().unwrap())) };
gtc.read_timer() / SCALE.get().unwrap()
}
fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
critical_section::with(|cs| {
let mut queue = self.queue.borrow(cs).borrow_mut();
if queue.schedule_wake(at, waker) {
let mut next = queue.next_expiration(self.now());
while !self.set_alarm(cs, next) {
next = queue.next_expiration(self.now());
}
}
})
}
}
time_driver_impl!(
// We assume ownership of the GTC, so it is okay to steal here.
static GTC_TIME_DRIVER: GtcTimerDriver = GtcTimerDriver {
gtc: Mutex::new(RefCell::new(unsafe { Gtc::steal_fixed(None)})),
alarms: Mutex::new(AlarmState::new()),
queue: Mutex::new(RefCell::new(Queue::new())),
});