int mlx4_en_map_buffer(struct mlx4_buf *buf)
{
struct page **pages;
int i;
if (buf->direct.buf != NULL || buf->nbufs == 1)
return 0;
pages = kmalloc(sizeof *pages * buf->nbufs, GFP_KERNEL);
if (!pages)
return -ENOMEM;
for (i = 0; i < buf->nbufs; ++i)
pages[i] = virt_to_page(buf->page_list[i].buf);
buf->direct.buf = vmap(pages, buf->nbufs, VM_MAP, PAGE_KERNEL);
kfree(pages);
if (!buf->direct.buf)
return -ENOMEM;
return 0;
}
static int __init init_vdso_vars(void)
{
int npages = (vdso_end - vdso_start + PAGE_SIZE - 1) / PAGE_SIZE;
int i;
char *vbase;
vdso_pages = kmalloc(sizeof(struct page *) * npages, GFP_KERNEL);
if (!vdso_pages)
goto oom;
for (i = 0; i < npages; i++) {
struct page *p;
p = alloc_page(GFP_KERNEL);
if (!p)
goto oom;
vdso_pages[i] = p;
copy_page(page_address(p), vdso_start + i*PAGE_SIZE);
}
vbase = vmap(vdso_pages, npages, 0, PAGE_KERNEL);
if (!vbase)
goto oom;
if (memcmp(vbase, "\177ELF", 4)) {
printk("VDSO: I'm broken; not ELF\n");
vdso_enabled = 0;
}
#define VEXTERN(x) \
*(typeof(__ ## x) **) var_ref(VDSO64_SYMBOL(vbase, x), #x) = &__ ## x;
#include "vextern.h"
#undef VEXTERN
return 0;
oom:
printk("Cannot allocate vdso\n");
vdso_enabled = 0;
return -ENOMEM;
}
/* Create a vDSO page holding the signal trampoline.
* We want this for a non-executable stack.
*/
static int __init vdso_init(void)
{
struct hexagon_vdso *vdso;
vdso_page = alloc_page(GFP_KERNEL);
if (!vdso_page)
panic("Cannot allocate vdso");
vdso = vmap(&vdso_page, 1, 0, PAGE_KERNEL);
if (!vdso)
panic("Cannot map vdso");
clear_page(vdso);
/* Install the signal trampoline; currently looks like this:
* r6 = #__NR_rt_sigreturn;
* trap0(#1);
*/
vdso->rt_signal_trampoline[0] = __rt_sigtramp_template[0];
vdso->rt_signal_trampoline[1] = __rt_sigtramp_template[1];
vunmap(vdso);
return 0;
}
int
ksocknal_lib_recv_iov (ksock_conn_t *conn)
{
#if SOCKNAL_SINGLE_FRAG_RX
struct kvec scratch;
struct kvec *scratchiov = &scratch;
unsigned int niov = 1;
#else
struct kvec *scratchiov = conn->ksnc_scheduler->kss_scratch_iov;
unsigned int niov = conn->ksnc_rx_niov;
#endif
struct kvec *iov = conn->ksnc_rx_iov;
struct msghdr msg = {
.msg_flags = 0
};
int nob;
int i;
int rc;
int fragnob;
int sum;
__u32 saved_csum;
/* NB we can't trust socket ops to either consume our iovs
* or leave them alone. */
LASSERT (niov > 0);
for (nob = i = 0; i < niov; i++) {
scratchiov[i] = iov[i];
nob += scratchiov[i].iov_len;
}
LASSERT (nob <= conn->ksnc_rx_nob_wanted);
rc = kernel_recvmsg(conn->ksnc_sock, &msg, scratchiov, niov, nob,
MSG_DONTWAIT);
saved_csum = 0;
if (conn->ksnc_proto == &ksocknal_protocol_v2x) {
saved_csum = conn->ksnc_msg.ksm_csum;
conn->ksnc_msg.ksm_csum = 0;
}
if (saved_csum != 0) {
/* accumulate checksum */
for (i = 0, sum = rc; sum > 0; i++, sum -= fragnob) {
LASSERT (i < niov);
fragnob = iov[i].iov_len;
if (fragnob > sum)
fragnob = sum;
conn->ksnc_rx_csum = ksocknal_csum(conn->ksnc_rx_csum,
iov[i].iov_base, fragnob);
}
conn->ksnc_msg.ksm_csum = saved_csum;
}
return rc;
}
static void
ksocknal_lib_kiov_vunmap(void *addr)
{
if (addr == NULL)
return;
vunmap(addr);
}
static void *
ksocknal_lib_kiov_vmap(lnet_kiov_t *kiov, int niov,
struct kvec *iov, struct page **pages)
{
void *addr;
int nob;
int i;
if (!*ksocknal_tunables.ksnd_zc_recv || pages == NULL)
return NULL;
LASSERT (niov <= LNET_MAX_IOV);
if (niov < 2 ||
niov < *ksocknal_tunables.ksnd_zc_recv_min_nfrags)
return NULL;
for (nob = i = 0; i < niov; i++) {
if ((kiov[i].kiov_offset != 0 && i > 0) ||
(kiov[i].kiov_offset + kiov[i].kiov_len !=
PAGE_CACHE_SIZE && i < niov - 1))
return NULL;
pages[i] = kiov[i].kiov_page;
nob += kiov[i].kiov_len;
}
addr = vmap(pages, niov, VM_MAP, PAGE_KERNEL);
if (addr == NULL)
return NULL;
iov->iov_base = addr + kiov[0].kiov_offset;
iov->iov_len = nob;
return addr;
}
static Uart *
oxpnp(void)
{
Pcidev *p;
Ctlr *ctlr;
Port *port;
int i;
char *model;
char name[12+1];
Uart *head, *tail;
static int ctlrno;
p = nil;
head = tail = nil;
while(p = pcimatch(p, 0x1415, 0)){
switch(p->did){
case 0xc101:
case 0xc105:
case 0xc11b:
case 0xc11f:
case 0xc120:
case 0xc124:
case 0xc138:
case 0xc13d:
case 0xc140:
case 0xc141:
case 0xc144:
case 0xc145:
case 0xc158:
case 0xc15d:
model = "OXPCIe952";
break;
case 0xc208:
case 0xc20d:
model = "OXPCIe954";
break;
case 0xc308:
case 0xc30d:
model = "OXPCIe958";
break;
default:
continue;
}
ctlr = malloc(sizeof *ctlr);
if(ctlr == nil){
print("oxpnp: out of memory\n");
continue;
}
ctlr->pcidev = p;
ctlr->mem = vmap(p->mem[0].bar & ~0xf, p->mem[0].size);
if(ctlr->mem == nil){
print("oxpnp: vmap failed\n");
free(ctlr);
continue;
}
snprint(name, sizeof name, "uartox%d", ctlrno);
kstrdup(&ctlr->name, name);
ctlr->nport = ctlr->mem[Nuart] & 0x1f;
for(i = 0; i < ctlr->nport; ++i){
port = &ctlr->port[i];
port->ctlr = ctlr;
port->mem = (u8int *)ctlr->mem + 0x1000 + 0x200*i;
port->regs = port;
snprint(name, sizeof name, "%s.%d", ctlr->name, i);
kstrdup(&port->name, name);
port->phys = &oxphysuart;
if(head == nil)
head = port;
else
tail->next = port;
tail = port;
}
print("%s: %s: %d ports irq %d\n",
ctlr->name, model, ctlr->nport, p->intl);
ctlrno++;
}
return head;
}
int
main(int argc, char **argv)
{
if (argc < 3)
{
std::cerr << "Needs two pcd input files." << std::endl;
return (-1);
}
pcl::PointCloud<pcl::RGB>::Ptr left_cloud (new pcl::PointCloud<pcl::RGB>);
pcl::PointCloud<pcl::RGB>::Ptr right_cloud (new pcl::PointCloud<pcl::RGB>);
//Read pcd files
pcl::PCDReader pcd;
if (pcd.read (argv[1], *left_cloud) == -1)
return (-1);
if (pcd.read (argv[2], *right_cloud) == -1)
return (-1);
if ( !left_cloud->isOrganized() || !right_cloud->isOrganized() || left_cloud->width != right_cloud -> width || left_cloud->height != left_cloud->height)
{
std::cout << "Wrong stereo pair; please check input pcds .." << std::endl;
return 0;
}
pcl::AdaptiveCostSOStereoMatching stereo;
stereo.setMaxDisparity(60);
stereo.setXOffset(0);
stereo.setRadius(5);
stereo.setSmoothWeak(20);
stereo.setSmoothStrong(100);
stereo.setGammaC(25);
stereo.setGammaS(10);
stereo.setRatioFilter(20);
stereo.setPeakFilter(0);
stereo.setLeftRightCheck(true);
stereo.setLeftRightCheckThreshold(1);
stereo.setPreProcessing(true);
stereo.compute(*left_cloud, *right_cloud);
stereo.medianFilter(4);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr out_cloud( new pcl::PointCloud<pcl::PointXYZRGB> );
stereo.getPointCloud(318.112200, 224.334900, 368.534700, 0.8387445, out_cloud, left_cloud);
pcl::PointCloud<pcl::RGB>::Ptr vmap( new pcl::PointCloud<pcl::RGB> );
stereo.getVisualMap(vmap);
pcl::visualization::ImageViewer iv ("My viewer");
iv.addRGBImage<pcl::RGB> (vmap);
//iv.addRGBImage<pcl::RGB> (left_cloud);
//iv.spin (); // press 'q' to exit
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->setBackgroundColor (0, 0, 0);
//viewer->addPointCloud<pcl::PointXYZRGB> (out_cloud, "stereo");
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> intensity(out_cloud);
viewer->addPointCloud<pcl::PointXYZRGB> (out_cloud, intensity, "stereo");
//viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "stereo");
viewer->initCameraParameters ();
//viewer->spin();
while (!viewer->wasStopped ())
{
viewer->spinOnce (100);
iv.spinOnce (100); // press 'q' to exit
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
int mlx4_buf_alloc(struct mlx4_dev *dev, int size, int max_direct,
struct mlx4_buf *buf)
{
dma_addr_t t;
if (size <= max_direct) {
buf->nbufs = 1;
buf->npages = 1;
buf->page_shift = get_order(size) + PAGE_SHIFT;
buf->direct.buf = dma_alloc_coherent(&dev->pdev->dev,
size, &t, GFP_KERNEL);
if (!buf->direct.buf)
return -ENOMEM;
buf->direct.map = t;
while (t & ((1 << buf->page_shift) - 1)) {
--buf->page_shift;
buf->npages *= 2;
}
memset(buf->direct.buf, 0, size);
} else {
int i;
buf->direct.buf = NULL;
buf->nbufs = (size + PAGE_SIZE - 1) / PAGE_SIZE;
buf->npages = buf->nbufs;
buf->page_shift = PAGE_SHIFT;
buf->page_list = kcalloc(buf->nbufs, sizeof(*buf->page_list),
GFP_KERNEL);
if (!buf->page_list)
return -ENOMEM;
for (i = 0; i < buf->nbufs; ++i) {
buf->page_list[i].buf =
dma_alloc_coherent(&dev->pdev->dev, PAGE_SIZE,
&t, GFP_KERNEL);
if (!buf->page_list[i].buf)
goto err_free;
buf->page_list[i].map = t;
memset(buf->page_list[i].buf, 0, PAGE_SIZE);
}
if (BITS_PER_LONG == 64) {
struct page **pages;
pages = kmalloc(sizeof *pages * buf->nbufs, GFP_KERNEL);
if (!pages)
goto err_free;
for (i = 0; i < buf->nbufs; ++i)
pages[i] = virt_to_page(buf->page_list[i].buf);
buf->direct.buf = vmap(pages, buf->nbufs, VM_MAP, PAGE_KERNEL);
kfree(pages);
if (!buf->direct.buf)
goto err_free;
}
}
return 0;
err_free:
mlx4_buf_free(dev, size, buf);
return -ENOMEM;
}
int register_trapped_io(struct trapped_io *tiop)
{
struct resource *res;
unsigned long len = 0, flags = 0;
struct page *pages[TRAPPED_PAGES_MAX];
int k, n;
if (unlikely(trapped_io_disable))
return 0;
/* structure must be page aligned */
if ((unsigned long)tiop & (PAGE_SIZE - 1))
goto bad;
for (k = 0; k < tiop->num_resources; k++) {
res = tiop->resource + k;
len += roundup(resource_size(res), PAGE_SIZE);
flags |= res->flags;
}
/* support IORESOURCE_IO _or_ MEM, not both */
if (hweight_long(flags) != 1)
goto bad;
n = len >> PAGE_SHIFT;
if (n >= TRAPPED_PAGES_MAX)
goto bad;
for (k = 0; k < n; k++)
pages[k] = virt_to_page(tiop);
tiop->virt_base = vmap(pages, n, VM_MAP, PAGE_NONE);
if (!tiop->virt_base)
goto bad;
len = 0;
for (k = 0; k < tiop->num_resources; k++) {
res = tiop->resource + k;
pr_info("trapped io 0x%08lx overrides %s 0x%08lx\n",
(unsigned long)(tiop->virt_base + len),
res->flags & IORESOURCE_IO ? "io" : "mmio",
(unsigned long)res->start);
len += roundup(resource_size(res), PAGE_SIZE);
}
tiop->magic = IO_TRAPPED_MAGIC;
INIT_LIST_HEAD(&tiop->list);
spin_lock_irq(&trapped_lock);
#ifdef CONFIG_HAS_IOPORT
if (flags & IORESOURCE_IO)
list_add(&tiop->list, &trapped_io);
#endif
#ifdef CONFIG_HAS_IOMEM
if (flags & IORESOURCE_MEM)
list_add(&tiop->list, &trapped_mem);
#endif
spin_unlock_irq(&trapped_lock);
return 0;
bad:
pr_warning("unable to install trapped io filter\n");
return -1;
}
void smController::update() {
// grab a new frame from camera
videoGrabber.grabFrame();
if(videoGrabber.isFrameNew()) {
model->submitFrame(videoGrabber.getPixels());
// check for motion detect
if(model->motionDetected) {
if(model->debug) {
cout << "motion bbox = ("
<< model->motionRectX1 << ","
<< model->motionRectY1 << ","
<< model->motionRectX2 << ","
<< model->motionRectY2
<< ")" << endl;
}
int velocity, noteIndex;
// 'intelligent' music generation based on
// y-histogram of motion detect translated directly into musical chords
if(model->playChromatic) {
for(int y = model->motionRectY1; y <= model->motionRectY2; y += 3) {
int yvel = 0;
for(int x = model->motionRectX1; x <= model->motionRectX2; x++) {
if(model->getClampAt(x,y) > 0) {
yvel += model->getDiffAt(x,y);
}
}
velocity = vmap(yvel,1,10000,30,127);
if(velocity > 127) {
velocity = 127;
}
noteIndex = model->getNoteIndex(y);
emitNote(noteIndex, velocity, 0.f, (float)y*model->blockHeight);
}
}
// otherwise, just fake it by playing at the top of the motion detect boundary
else {
// figure out which notes to trigger and fire add to model and trigger audio delegate
int noteIndex = model->getNoteIndex(model->motionRectY1);
// get the size of the area as an indicator of volume
int detectSize =
(model->motionRectX2 - model->motionRectX1) *
(model->motionRectY2 - model->motionRectY1);
// calculate note volume
int velocity = vmap(detectSize,1,1000,45,127);
if(velocity > 127) {
velocity = 127;
}
emitNote(noteIndex, velocity, model->motionRectX1 * model->blockWidth, (float)model->motionRectY1 * model->blockHeight);
if(noteIndex >= 5) {
emitNote(noteIndex-5, velocity*0.5f, model->motionRectX1 * model->blockWidth, (float)(model->motionRectY1+5) * model->blockHeight);
}
//if(noteIndex >= 12) {
// emitNote(noteIndex-12,velocity*0.5, model->motionRectX1 * model->blockWidth, (float)(model->motionRectY1+12) * model->blockHeight);
//}
}
}
}
model->update();
model->advanceHue();
advanceNotes();
}
void *snd_malloc_sgbuf_pages(struct device *device,
size_t size, struct snd_dma_buffer *dmab,
size_t *res_size)
{
struct snd_sg_buf *sgbuf;
unsigned int i, pages, chunk, maxpages;
struct snd_dma_buffer tmpb;
struct snd_sg_page *table;
struct page **pgtable;
dmab->area = NULL;
dmab->addr = 0;
dmab->private_data = sgbuf = kzalloc(sizeof(*sgbuf), GFP_KERNEL);
if (! sgbuf)
return NULL;
sgbuf->dev = device;
pages = snd_sgbuf_aligned_pages(size);
sgbuf->tblsize = sgbuf_align_table(pages);
table = kcalloc(sgbuf->tblsize, sizeof(*table), GFP_KERNEL);
if (!table)
goto _failed;
sgbuf->table = table;
pgtable = kcalloc(sgbuf->tblsize, sizeof(*pgtable), GFP_KERNEL);
if (!pgtable)
goto _failed;
sgbuf->page_table = pgtable;
/* allocate pages */
maxpages = MAX_ALLOC_PAGES;
while (pages > 0) {
chunk = pages;
/* don't be too eager to take a huge chunk */
if (chunk > maxpages)
chunk = maxpages;
chunk <<= PAGE_SHIFT;
if (snd_dma_alloc_pages_fallback(SNDRV_DMA_TYPE_DEV, device,
chunk, &tmpb) < 0) {
if (!sgbuf->pages)
return NULL;
if (!res_size)
goto _failed;
size = sgbuf->pages * PAGE_SIZE;
break;
}
chunk = tmpb.bytes >> PAGE_SHIFT;
for (i = 0; i < chunk; i++) {
table->buf = tmpb.area;
table->addr = tmpb.addr;
if (!i)
table->addr |= chunk; /* mark head */
table++;
*pgtable++ = virt_to_page(tmpb.area);
tmpb.area += PAGE_SIZE;
tmpb.addr += PAGE_SIZE;
}
sgbuf->pages += chunk;
pages -= chunk;
if (chunk < maxpages)
maxpages = chunk;
}
sgbuf->size = size;
dmab->area = vmap(sgbuf->page_table, sgbuf->pages, VM_MAP, PAGE_KERNEL);
if (! dmab->area)
goto _failed;
if (res_size)
*res_size = sgbuf->size;
return dmab->area;
_failed:
snd_free_sgbuf_pages(dmab); /* free the table */
return NULL;
}
static int lgx_alloc_buffer(struct inno_lgx *lgx)
{
//int i,j;
//int page_num;
//struct page *page = NULL;
int i;
struct inno_buffer *inno_buf = &lgx->inno_buffer;
//int ret = 0;
memset(inno_buf, 0, sizeof(struct inno_buffer));
sema_init(&inno_buf->sem,1);
down(&inno_buf->sem);
// alloc buffer
#if 0 //xingyu buffer issue
page_num = PAGE_ALIGN(INNO_BUFFER_SIZE) / PAGE_SIZE;
inno_buf->pages = (struct page **)kzalloc(page_num * sizeof(struct page *), GFP_KERNEL);
if (!inno_buf->pages) {
inno_err("lgx_alloc_buffer:No enough memory");
ret = -ENOMEM;
goto alloc_node_error;
}
for (i = 0; i < page_num; i++) {
page = alloc_page(GFP_KERNEL);
if (!page) {
inno_err("lgx_alloc_buffer:No enough page");
ret = -ENOMEM;
goto alloc_pages_error;
}
//SetPageReserved(page);
inno_buf->pages[i] = page;
}
inno_buf->page_num = page_num;
inno_buf->bufsize = page_num * PAGE_SIZE;
inno_buf->vaddr = vmap(inno_buf->pages, page_num, VM_MAP, PAGE_KERNEL);
/* check if the memory map is OK. */
if (!inno_buf->vaddr) {
inno_err("lgx_alloc_buffer:vmap() failure");
ret = -EFAULT;
goto vmap_error;
}
memset(inno_buf->vaddr, 0, inno_buf->bufsize);
inno_buf->start = inno_buf->vaddr;
#else
#ifndef _buffer_global // buffer alloc modify xingyu 0714
inno_buf->vaddr = kmalloc(INNO_BUFFER_SIZE, GFP_KERNEL| GFP_DMA);
if(inno_buf->vaddr == NULL || (int)inno_buf->vaddr %4 !=0){
inno_err("inno_buf->vaddr kmalloc fail");
up(&inno_buf->sem);
return -1;
}
#else
for(i=0; lgx_ids_table[i].name!=NULL; i++){
if(lgx->ids == &lgx_ids_table[i]){
inno_buf->vaddr =i*INNO_BUFFER_SIZE+g_inno_buffer;
inno_msg("use global mem");
break;
}
}
#endif
inno_buf->start = inno_buf->vaddr;
inno_buf->bufsize = INNO_BUFFER_SIZE;
#endif
up(&inno_buf->sem);
return 0;
#if 0 //xingyu buffer issue
//vmap_error:
//alloc_pages_error:
for (j = 0; j < i; j++) {
page = inno_buf->pages[j];
//ClearPageReserved(page);
__free_page(page);
}
kfree(inno_buf->pages);
//alloc_node_error:
return ret;
#endif
}
void writeFrames(const Kinect::FrameSource::IntrinsicParameters& ip,const Kinect::FrameBuffer& color,const Kinect::MeshBuffer& mesh,const char* lwoFileName)
{
/* Create the texture file name: */
std::string textureFileName(lwoFileName,Misc::getExtension(lwoFileName));
textureFileName.append("-color.png");
/* Write the color frame as a texture image: */
{
Images::RGBImage texImage(color.getSize(0),color.getSize(1));
Images::RGBImage::Color* tiPtr=texImage.modifyPixels();
const unsigned char* cfPtr=reinterpret_cast<const unsigned char*>(color.getBuffer());
for(int y=0;y<color.getSize(1);++y)
for(int x=0;x<color.getSize(0);++x,++tiPtr,cfPtr+=3)
*tiPtr=Images::RGBImage::Color(cfPtr);
Images::writeImageFile(texImage,textureFileName.c_str());
}
/* Open the LWO file: */
IO::FilePtr lwoFile=IO::openFile(lwoFileName,IO::File::WriteOnly);
lwoFile->setEndianness(Misc::BigEndian);
/* Create the LWO file structure via the FORM chunk: */
{
IFFChunkWriter form(lwoFile,"FORM");
form.write<char>("LWO2",4);
/* Create the TAGS chunk: */
{
IFFChunkWriter tags(&form,"TAGS");
tags.writeString("ColorImage");
tags.writeChunk();
}
/* Create the LAYR chunk: */
{
IFFChunkWriter layr(&form,"LAYR");
layr.write<Misc::UInt16>(0U);
layr.write<Misc::UInt16>(0x0U);
for(int i=0;i<3;++i)
layr.write<Misc::Float32>(0.0f);
layr.writeString("DepthImage");
layr.writeChunk();
}
/* Create an index map for all vertices to omit unused vertices: */
unsigned int* indices=new unsigned int[mesh.numVertices];
for(unsigned int i=0;i<mesh.numVertices;++i)
indices[i]=~0x0U;
unsigned int numUsedVertices=0;
/* Create the PNTS, BBOX and VMAP chunks in one go: */
{
typedef Kinect::FrameSource::IntrinsicParameters::PTransform PTransform;
typedef PTransform::Point Point;
typedef Geometry::Box<Point::Scalar,3> Box;
IFFChunkWriter bbox(&form,"BBOX");
IFFChunkWriter pnts(&form,"PNTS");
IFFChunkWriter vmap(&form,"VMAP");
/* Write the VMAP header: */
vmap.write<char>("TXUV",4);
vmap.write<Misc::UInt16>(2U);
vmap.writeString("ColorImageUV");
/* Process all triangle vertices: */
Box pBox=Box::empty;
const Kinect::MeshBuffer::Vertex* vertices=mesh.getVertices();
const Kinect::MeshBuffer::Index* tiPtr=mesh.getTriangleIndices();
for(unsigned int i=0;i<mesh.numTriangles*3;++i,++tiPtr)
{
/* Check if the triangle vertex doesn't already have an index: */
if(indices[*tiPtr]==~0x0U)
{
/* Assign an index to the triangle vertex: */
indices[*tiPtr]=numUsedVertices;
/* Transform the mesh vertex to camera space using the depth projection matrix: */
Point dp(vertices[*tiPtr].position.getXyzw());
Point cp=ip.depthProjection.transform(dp);
/* Transform the depth-space point to texture space using the color projection matrix: */
Point tp=ip.colorProjection.transform(dp);
/* Add the point to the bounding box: */
pBox.addPoint(cp);
/* Store the point and its texture coordinates: */
pnts.writePoint(cp);
vmap.writeVarIndex(numUsedVertices);
for(int i=0;i<2;++i)
vmap.write<Misc::Float32>(tp[i]);
++numUsedVertices;
}
}
/* Write the bounding box: */
bbox.writeBox(pBox);
/* Write the BBOX, PNTS, and VMAP chunks: */
bbox.writeChunk();
pnts.writeChunk();
vmap.writeChunk();
}
/* Create the POLS chunk: */
{
IFFChunkWriter pols(&form,"POLS");
pols.write<char>("FACE",4);
const Kinect::MeshBuffer::Index* tiPtr=mesh.getTriangleIndices();
for(unsigned int triangleIndex=0;triangleIndex<mesh.numTriangles;++triangleIndex,tiPtr+=3)
{
pols.write<Misc::UInt16>(3U);
for(int i=0;i<3;++i)
pols.writeVarIndex(indices[tiPtr[2-i]]);
}
pols.writeChunk();
}
/* Delete the vertex index map: */
delete[] indices;
/* Create the PTAG chunk: */
{
IFFChunkWriter ptag(&form,"PTAG");
ptag.write<char>("SURF",4);
for(unsigned int triangleIndex=0;triangleIndex<mesh.numTriangles;++triangleIndex)
{
ptag.writeVarIndex(triangleIndex);
ptag.write<Misc::UInt16>(0U);
}
ptag.writeChunk();
}
/* Create the CLIP chunk: */
{
IFFChunkWriter clip(&form,"CLIP");
clip.write<Misc::UInt32>(1U);
/* Create the STIL chunk: */
{
IFFChunkWriter stil(&clip,"STIL",true);
stil.writeString(textureFileName.c_str());
stil.writeChunk();
}
clip.writeChunk();
}
/* Create the SURF chunk: */
{
IFFChunkWriter surf(&form,"SURF");
surf.writeString("ColorImage");
surf.writeString("");
/* Create the SIDE subchunk: */
{
IFFChunkWriter side(&surf,"SIDE",true);
side.write<Misc::UInt16>(3U);
side.writeChunk();
}
/* Create the SMAN subchunk: */
{
IFFChunkWriter sman(&surf,"SMAN",true);
sman.write<Misc::Float32>(Math::rad(90.0f));
sman.writeChunk();
}
/* Create the COLR subchunk: */
{
IFFChunkWriter colr(&surf,"COLR",true);
colr.writeColor(1.0f,1.0f,1.0f);
colr.writeVarIndex(0U);
colr.writeChunk();
}
/* Create the DIFF subchunk: */
{
IFFChunkWriter diff(&surf,"DIFF",true);
diff.write<Misc::Float32>(1.0f);
diff.writeVarIndex(0U);
diff.writeChunk();
}
/* Create the LUMI subchunk: */
{
IFFChunkWriter lumi(&surf,"LUMI",true);
lumi.write<Misc::Float32>(0.0f);
lumi.writeVarIndex(0U);
lumi.writeChunk();
}
/* Create the BLOK subchunk: */
{
IFFChunkWriter blok(&surf,"BLOK",true);
/* Create the IMAP subchunk: */
{
IFFChunkWriter imap(&blok,"IMAP",true);
imap.writeString("1");
/* Create the CHAN subchunk: */
{
IFFChunkWriter chan(&imap,"CHAN",true);
chan.write<char>("COLR",4);
chan.writeChunk();
}
imap.writeChunk();
}
/* Create the PROJ subchunk: */
{
IFFChunkWriter proj(&blok,"PROJ",true);
proj.write<Misc::UInt16>(5U);
proj.writeChunk();
}
/* Create the IMAG subchunk: */
{
IFFChunkWriter imag(&blok,"IMAG",true);
imag.writeVarIndex(1U);
imag.writeChunk();
}
/* Create the VMAP subchunk: */
{
IFFChunkWriter vmap(&blok,"VMAP",true);
vmap.writeString("ColorImageUV");
vmap.writeChunk();
}
blok.writeChunk();
}
/* Write the SURF chunk: */
surf.writeChunk();
}
/* Write the FORM chunk: */
form.writeChunk();
}
}
int
ksocknal_lib_send_iov (ksock_conn_t *conn, ksock_tx_t *tx)
{
struct socket *sock = conn->ksnc_sock;
int nob;
int rc;
if (*ksocknal_tunables.ksnd_enable_csum && /* checksum enabled */
conn->ksnc_proto == &ksocknal_protocol_v2x && /* V2.x connection */
tx->tx_nob == tx->tx_resid && /* frist sending */
tx->tx_msg.ksm_csum == 0) /* not checksummed */
ksocknal_lib_csum_tx(tx);
/* NB we can't trust socket ops to either consume our iovs
* or leave them alone. */
{
#if SOCKNAL_SINGLE_FRAG_TX
struct iovec scratch;
struct iovec *scratchiov = &scratch;
unsigned int niov = 1;
#else
struct iovec *scratchiov = conn->ksnc_scheduler->kss_scratch_iov;
unsigned int niov = tx->tx_niov;
#endif
struct msghdr msg = {
.msg_name = NULL,
.msg_namelen = 0,
.msg_iov = scratchiov,
.msg_iovlen = niov,
.msg_control = NULL,
.msg_controllen = 0,
.msg_flags = MSG_DONTWAIT
};
mm_segment_t oldmm = get_fs();
int i;
for (nob = i = 0; i < niov; i++) {
scratchiov[i] = tx->tx_iov[i];
nob += scratchiov[i].iov_len;
}
if (!cfs_list_empty(&conn->ksnc_tx_queue) ||
nob < tx->tx_resid)
msg.msg_flags |= MSG_MORE;
set_fs (KERNEL_DS);
rc = sock_sendmsg(sock, &msg, nob);
set_fs (oldmm);
}
return rc;
}
int
ksocknal_lib_send_kiov (ksock_conn_t *conn, ksock_tx_t *tx)
{
struct socket *sock = conn->ksnc_sock;
lnet_kiov_t *kiov = tx->tx_kiov;
int rc;
int nob;
/* Not NOOP message */
LASSERT (tx->tx_lnetmsg != NULL);
/* NB we can't trust socket ops to either consume our iovs
* or leave them alone. */
if (tx->tx_msg.ksm_zc_cookies[0] != 0) {
/* Zero copy is enabled */
struct sock *sk = sock->sk;
struct page *page = kiov->kiov_page;
int offset = kiov->kiov_offset;
int fragsize = kiov->kiov_len;
int msgflg = MSG_DONTWAIT;
CDEBUG(D_NET, "page %p + offset %x for %d\n",
page, offset, kiov->kiov_len);
if (!cfs_list_empty(&conn->ksnc_tx_queue) ||
fragsize < tx->tx_resid)
msgflg |= MSG_MORE;
if (sk->sk_prot->sendpage != NULL) {
rc = sk->sk_prot->sendpage(sk, page,
offset, fragsize, msgflg);
} else {
rc = cfs_tcp_sendpage(sk, page, offset, fragsize,
msgflg);
}
} else {
#if SOCKNAL_SINGLE_FRAG_TX || !SOCKNAL_RISK_KMAP_DEADLOCK
struct iovec scratch;
struct iovec *scratchiov = &scratch;
unsigned int niov = 1;
#else
#ifdef CONFIG_HIGHMEM
#warning "XXX risk of kmap deadlock on multiple frags..."
#endif
struct iovec *scratchiov = conn->ksnc_scheduler->kss_scratch_iov;
unsigned int niov = tx->tx_nkiov;
#endif
struct msghdr msg = {
.msg_name = NULL,
.msg_namelen = 0,
.msg_iov = scratchiov,
.msg_iovlen = niov,
.msg_control = NULL,
.msg_controllen = 0,
.msg_flags = MSG_DONTWAIT
};
mm_segment_t oldmm = get_fs();
int i;
for (nob = i = 0; i < niov; i++) {
scratchiov[i].iov_base = kmap(kiov[i].kiov_page) +
kiov[i].kiov_offset;
nob += scratchiov[i].iov_len = kiov[i].kiov_len;
}
if (!cfs_list_empty(&conn->ksnc_tx_queue) ||
nob < tx->tx_resid)
msg.msg_flags |= MSG_MORE;
set_fs (KERNEL_DS);
rc = sock_sendmsg(sock, &msg, nob);
set_fs (oldmm);
for (i = 0; i < niov; i++)
kunmap(kiov[i].kiov_page);
}
return rc;
}
void
ksocknal_lib_eager_ack (ksock_conn_t *conn)
{
int opt = 1;
mm_segment_t oldmm = get_fs();
struct socket *sock = conn->ksnc_sock;
/* Remind the socket to ACK eagerly. If I don't, the socket might
* think I'm about to send something it could piggy-back the ACK
* on, introducing delay in completing zero-copy sends in my
* peer. */
set_fs(KERNEL_DS);
sock->ops->setsockopt (sock, SOL_TCP, TCP_QUICKACK,
(char *)&opt, sizeof (opt));
set_fs(oldmm);
}
int
ksocknal_lib_recv_iov (ksock_conn_t *conn)
{
#if SOCKNAL_SINGLE_FRAG_RX
struct iovec scratch;
struct iovec *scratchiov = &scratch;
unsigned int niov = 1;
#else
struct iovec *scratchiov = conn->ksnc_scheduler->kss_scratch_iov;
unsigned int niov = conn->ksnc_rx_niov;
#endif
struct iovec *iov = conn->ksnc_rx_iov;
struct msghdr msg = {
.msg_name = NULL,
.msg_namelen = 0,
.msg_iov = scratchiov,
.msg_iovlen = niov,
.msg_control = NULL,
.msg_controllen = 0,
.msg_flags = 0
};
mm_segment_t oldmm = get_fs();
int nob;
int i;
int rc;
int fragnob;
int sum;
__u32 saved_csum;
/* NB we can't trust socket ops to either consume our iovs
* or leave them alone. */
LASSERT (niov > 0);
for (nob = i = 0; i < niov; i++) {
scratchiov[i] = iov[i];
nob += scratchiov[i].iov_len;
}
LASSERT (nob <= conn->ksnc_rx_nob_wanted);
set_fs (KERNEL_DS);
rc = sock_recvmsg (conn->ksnc_sock, &msg, nob, MSG_DONTWAIT);
/* NB this is just a boolean..........................^ */
set_fs (oldmm);
saved_csum = 0;
if (conn->ksnc_proto == &ksocknal_protocol_v2x) {
saved_csum = conn->ksnc_msg.ksm_csum;
conn->ksnc_msg.ksm_csum = 0;
}
if (saved_csum != 0) {
/* accumulate checksum */
for (i = 0, sum = rc; sum > 0; i++, sum -= fragnob) {
LASSERT (i < niov);
fragnob = iov[i].iov_len;
if (fragnob > sum)
fragnob = sum;
conn->ksnc_rx_csum = ksocknal_csum(conn->ksnc_rx_csum,
iov[i].iov_base, fragnob);
}
conn->ksnc_msg.ksm_csum = saved_csum;
}
return rc;
}
static void
ksocknal_lib_kiov_vunmap(void *addr)
{
if (addr == NULL)
return;
vunmap(addr);
}
static void *
ksocknal_lib_kiov_vmap(lnet_kiov_t *kiov, int niov,
struct iovec *iov, struct page **pages)
{
void *addr;
int nob;
int i;
if (!*ksocknal_tunables.ksnd_zc_recv || pages == NULL)
return NULL;
LASSERT (niov <= LNET_MAX_IOV);
if (niov < 2 ||
niov < *ksocknal_tunables.ksnd_zc_recv_min_nfrags)
return NULL;
for (nob = i = 0; i < niov; i++) {
if ((kiov[i].kiov_offset != 0 && i > 0) ||
(kiov[i].kiov_offset + kiov[i].kiov_len != CFS_PAGE_SIZE && i < niov - 1))
return NULL;
pages[i] = kiov[i].kiov_page;
nob += kiov[i].kiov_len;
}
addr = vmap(pages, niov, VM_MAP, PAGE_KERNEL);
if (addr == NULL)
return NULL;
iov->iov_base = addr + kiov[0].kiov_offset;
iov->iov_len = nob;
return addr;
}
int
ksocknal_lib_recv_kiov (ksock_conn_t *conn)
{
#if SOCKNAL_SINGLE_FRAG_RX || !SOCKNAL_RISK_KMAP_DEADLOCK
struct iovec scratch;
struct iovec *scratchiov = &scratch;
struct page **pages = NULL;
unsigned int niov = 1;
#else
#ifdef CONFIG_HIGHMEM
#warning "XXX risk of kmap deadlock on multiple frags..."
#endif
struct iovec *scratchiov = conn->ksnc_scheduler->kss_scratch_iov;
struct page **pages = conn->ksnc_scheduler->kss_rx_scratch_pgs;
unsigned int niov = conn->ksnc_rx_nkiov;
#endif
lnet_kiov_t *kiov = conn->ksnc_rx_kiov;
struct msghdr msg = {
.msg_name = NULL,
.msg_namelen = 0,
.msg_iov = scratchiov,
.msg_control = NULL,
.msg_controllen = 0,
.msg_flags = 0
};
mm_segment_t oldmm = get_fs();
int nob;
int i;
int rc;
void *base;
void *addr;
int sum;
int fragnob;
/* NB we can't trust socket ops to either consume our iovs
* or leave them alone. */
if ((addr = ksocknal_lib_kiov_vmap(kiov, niov, scratchiov, pages)) != NULL) {
nob = scratchiov[0].iov_len;
msg.msg_iovlen = 1;
} else {
for (nob = i = 0; i < niov; i++) {
nob += scratchiov[i].iov_len = kiov[i].kiov_len;
scratchiov[i].iov_base = kmap(kiov[i].kiov_page) +
kiov[i].kiov_offset;
}
msg.msg_iovlen = niov;
}
LASSERT (nob <= conn->ksnc_rx_nob_wanted);
set_fs (KERNEL_DS);
rc = sock_recvmsg (conn->ksnc_sock, &msg, nob, MSG_DONTWAIT);
/* NB this is just a boolean.......................^ */
set_fs (oldmm);
if (conn->ksnc_msg.ksm_csum != 0) {
for (i = 0, sum = rc; sum > 0; i++, sum -= fragnob) {
LASSERT (i < niov);
/* Dang! have to kmap again because I have nowhere to stash the
* mapped address. But by doing it while the page is still
* mapped, the kernel just bumps the map count and returns me
* the address it stashed. */
base = kmap(kiov[i].kiov_page) + kiov[i].kiov_offset;
fragnob = kiov[i].kiov_len;
if (fragnob > sum)
fragnob = sum;
conn->ksnc_rx_csum = ksocknal_csum(conn->ksnc_rx_csum,
base, fragnob);
kunmap(kiov[i].kiov_page);
}
}
if (addr != NULL) {
ksocknal_lib_kiov_vunmap(addr);
} else {
for (i = 0; i < niov; i++)
kunmap(kiov[i].kiov_page);
}
return (rc);
}
void
ksocknal_lib_csum_tx(ksock_tx_t *tx)
{
int i;
__u32 csum;
void *base;
LASSERT(tx->tx_iov[0].iov_base == (void *)&tx->tx_msg);
LASSERT(tx->tx_conn != NULL);
LASSERT(tx->tx_conn->ksnc_proto == &ksocknal_protocol_v2x);
tx->tx_msg.ksm_csum = 0;
csum = ksocknal_csum(~0, (void *)tx->tx_iov[0].iov_base,
tx->tx_iov[0].iov_len);
if (tx->tx_kiov != NULL) {
for (i = 0; i < tx->tx_nkiov; i++) {
base = kmap(tx->tx_kiov[i].kiov_page) +
tx->tx_kiov[i].kiov_offset;
csum = ksocknal_csum(csum, base, tx->tx_kiov[i].kiov_len);
kunmap(tx->tx_kiov[i].kiov_page);
}
} else {
for (i = 1; i < tx->tx_niov; i++)
csum = ksocknal_csum(csum, tx->tx_iov[i].iov_base,
tx->tx_iov[i].iov_len);
}
if (*ksocknal_tunables.ksnd_inject_csum_error) {
csum++;
*ksocknal_tunables.ksnd_inject_csum_error = 0;
}
tx->tx_msg.ksm_csum = csum;
}
int
ksocknal_lib_get_conn_tunables (ksock_conn_t *conn, int *txmem, int *rxmem, int *nagle)
{
mm_segment_t oldmm = get_fs ();
struct socket *sock = conn->ksnc_sock;
int len;
int rc;
rc = ksocknal_connsock_addref(conn);
if (rc != 0) {
LASSERT (conn->ksnc_closing);
*txmem = *rxmem = *nagle = 0;
return (-ESHUTDOWN);
}
rc = libcfs_sock_getbuf(sock, txmem, rxmem);
if (rc == 0) {
len = sizeof(*nagle);
set_fs(KERNEL_DS);
rc = sock->ops->getsockopt(sock, SOL_TCP, TCP_NODELAY,
(char *)nagle, &len);
set_fs(oldmm);
}
ksocknal_connsock_decref(conn);
if (rc == 0)
*nagle = !*nagle;
else
*txmem = *rxmem = *nagle = 0;
return (rc);
}
int rtR0MemObjNativeMapKernel(PPRTR0MEMOBJINTERNAL ppMem, RTR0MEMOBJ pMemToMap, void *pvFixed, size_t uAlignment,
unsigned fProt, size_t offSub, size_t cbSub)
{
int rc = VERR_NO_MEMORY;
PRTR0MEMOBJLNX pMemLnxToMap = (PRTR0MEMOBJLNX)pMemToMap;
PRTR0MEMOBJLNX pMemLnx;
/* Fail if requested to do something we can't. */
AssertMsgReturn(!offSub && !cbSub, ("%#x %#x\n", offSub, cbSub), VERR_NOT_SUPPORTED);
AssertMsgReturn(pvFixed == (void *)-1, ("%p\n", pvFixed), VERR_NOT_SUPPORTED);
if (uAlignment > PAGE_SIZE)
return VERR_NOT_SUPPORTED;
/*
* Create the IPRT memory object.
*/
pMemLnx = (PRTR0MEMOBJLNX)rtR0MemObjNew(sizeof(*pMemLnx), RTR0MEMOBJTYPE_MAPPING, NULL, pMemLnxToMap->Core.cb);
if (pMemLnx)
{
if (pMemLnxToMap->cPages)
{
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 4, 22)
/*
* Use vmap - 2.4.22 and later.
*/
pgprot_t fPg = rtR0MemObjLinuxConvertProt(fProt, true /* kernel */);
# ifdef VM_MAP
pMemLnx->Core.pv = vmap(&pMemLnxToMap->apPages[0], pMemLnxToMap->cPages, VM_MAP, fPg);
# else
pMemLnx->Core.pv = vmap(&pMemLnxToMap->apPages[0], pMemLnxToMap->cPages, VM_ALLOC, fPg);
# endif
if (pMemLnx->Core.pv)
{
pMemLnx->fMappedToRing0 = true;
rc = VINF_SUCCESS;
}
else
rc = VERR_MAP_FAILED;
#else /* < 2.4.22 */
/*
* Only option here is to share mappings if possible and forget about fProt.
*/
if (rtR0MemObjIsRing3(pMemToMap))
rc = VERR_NOT_SUPPORTED;
else
{
rc = VINF_SUCCESS;
if (!pMemLnxToMap->Core.pv)
rc = rtR0MemObjLinuxVMap(pMemLnxToMap, !!(fProt & RTMEM_PROT_EXEC));
if (RT_SUCCESS(rc))
{
Assert(pMemLnxToMap->Core.pv);
pMemLnx->Core.pv = pMemLnxToMap->Core.pv;
}
}
#endif
}
else
{
/*
* MMIO / physical memory.
*/
Assert(pMemLnxToMap->Core.enmType == RTR0MEMOBJTYPE_PHYS && !pMemLnxToMap->Core.u.Phys.fAllocated);
pMemLnx->Core.pv = pMemLnxToMap->Core.u.Phys.uCachePolicy == RTMEM_CACHE_POLICY_MMIO
? ioremap_nocache(pMemLnxToMap->Core.u.Phys.PhysBase, pMemLnxToMap->Core.cb)
: ioremap(pMemLnxToMap->Core.u.Phys.PhysBase, pMemLnxToMap->Core.cb);
if (pMemLnx->Core.pv)
{
/** @todo fix protection. */
rc = VINF_SUCCESS;
}
}
if (RT_SUCCESS(rc))
{
pMemLnx->Core.u.Mapping.R0Process = NIL_RTR0PROCESS;
*ppMem = &pMemLnx->Core;
return VINF_SUCCESS;
}
rtR0MemObjDelete(&pMemLnx->Core);
}
return rc;
}
static long kern_unlocked_ioctl(struct file *filp, unsigned int cmd,
unsigned long arg) {
/* this is the buffer which will hold the data of the buffer from user
* space... */
BufferStruct b;
/* for results from calls */
int res;
/* for printing buffers */
char *cptr;
/* for loop length */
unsigned int sloop;
/* for loops */
unsigned int i;
/* some unsigned ints for address manipulation... */
unsigned long bpointer, offset, aligned, newsize;
/* the newly created vma */
struct vm_area_struct *vma;
PR_DEBUG("start with ioctl %u", cmd);
switch (cmd) {
/*
* This is asking the kernel to map the memory to kernel space.
*/
case IOCTL_DEMO_MAP:
/* get the data from the user */
res = copy_from_user(&b, (void *)arg, sizeof(b));
if (res) {
PR_ERROR("problem with copy_from_user");
return res;
}
PR_DEBUG("after copy");
bpointer = (unsigned long)b.pointer;
offset = bpointer % PAGE_SIZE;
aligned = bpointer - offset;
newsize = b.size + offset;
PR_DEBUG("bpointer is %x", bpointer);
PR_DEBUG("offset is %u", offset);
PR_DEBUG("aligned is %x", aligned);
PR_DEBUG("newsize is %u", newsize);
/*
* // make sure that the user data is page aligned...
* if(((unsigned int)b.pointer)%PAGE_SIZE!=0) {
* PR_ERROR("pointer is not page aligned");
* return -EFAULT;
* }
* PR_DEBUG("after modulu check");
*/
/* find the number of pages */
nr_pages = (newsize - 1) / PAGE_SIZE + 1;
PR_DEBUG("nr_pages is %d", nr_pages);
/* alocate page structures... */
pages = kmalloc(nr_pages * sizeof(struct page *),
GFP_KERNEL);
if (IS_ERR(pages)) {
PR_ERROR("could not allocate page structs");
return PTR_ERR(pages);
}
PR_DEBUG("after pages allocation");
/* get user pages and fault them in */
down_write(¤t->mm->mmap_sem);
/* rw==READ means read from drive, write into memory area */
res = get_user_pages(
/* current->mm,
current, */
aligned,
nr_pages,
1,/* write */
0,/* force */
pages,
NULL
);
vma = find_vma(current->mm, bpointer);
vma->vm_flags |= VM_DONTCOPY;
up_write(¤t->mm->mmap_sem);
PR_DEBUG("after get_user_pages res is %d", res);
/* Errors and no page mapped should return here */
if (res != nr_pages) {
PR_ERROR("could not get_user_pages. res was %d", res);
kfree(pages);
return -EFAULT;
}
/* pages_lock();
pages_reserve();
pages_unlock(); */
/* map the pages to kernel space... */
vptr = vmap(pages, nr_pages, VM_MAP, PAGE_KERNEL);
if (vptr == NULL) {
PR_ERROR("could not get_user_pages. res was %d", res);
kfree(pages);
return -EFAULT;
}
ptr = vptr + offset;
size = b.size;
PR_DEBUG("after vmap - vptr is %p", vptr);
/* free the pages */
kfree(pages);
pages = NULL;
PR_DEBUG("after freeing the pages");
/* were dont! return with success */
PR_DEBUG("success - on the way out");
return 0;
/*
* This is asking the kernel to unmap the data
* No arguments are passed
*/
case IOCTL_DEMO_UNMAP:
/* this function does NOT return an error code. Strange...:) */
vunmap(vptr);
vptr = NULL;
ptr = NULL;
size = 0;
nr_pages = 0;
pages_unmap();
return 0;
/*
* This is asking the kernel to read the data.
* No arguments are passed
*/
case IOCTL_DEMO_READ:
cptr = (char *)ptr;
sloop = min_t(unsigned int, size, (unsigned int)10);
PR_DEBUG("sloop is %d", sloop);
for (i = 0; i < sloop; i++)
PR_INFO("value of %d is %c", i, cptr[i]);
return 0;
/*
* This is asking the kernel to write on our data
* argument is the constant which will be used...
*/
case IOCTL_DEMO_WRITE:
memset(ptr, arg, size);
/* pages_dirty(); */
return 0;
}
return -EINVAL;
}
int hns_roce_buf_alloc(struct hns_roce_dev *hr_dev, u32 size, u32 max_direct,
struct hns_roce_buf *buf)
{
int i = 0;
dma_addr_t t;
struct page **pages;
struct device *dev = &hr_dev->pdev->dev;
u32 bits_per_long = BITS_PER_LONG;
/* SQ/RQ buf lease than one page, SQ + RQ = 8K */
if (size <= max_direct) {
buf->nbufs = 1;
/* Npages calculated by page_size */
buf->npages = 1 << get_order(size);
buf->page_shift = PAGE_SHIFT;
/* MTT PA must be recorded in 4k alignment, t is 4k aligned */
buf->direct.buf = dma_alloc_coherent(dev, size, &t, GFP_KERNEL);
if (!buf->direct.buf)
return -ENOMEM;
buf->direct.map = t;
while (t & ((1 << buf->page_shift) - 1)) {
--buf->page_shift;
buf->npages *= 2;
}
memset(buf->direct.buf, 0, size);
} else {
buf->nbufs = (size + PAGE_SIZE - 1) / PAGE_SIZE;
buf->npages = buf->nbufs;
buf->page_shift = PAGE_SHIFT;
buf->page_list = kcalloc(buf->nbufs, sizeof(*buf->page_list),
GFP_KERNEL);
if (!buf->page_list)
return -ENOMEM;
for (i = 0; i < buf->nbufs; ++i) {
buf->page_list[i].buf = dma_alloc_coherent(dev,
PAGE_SIZE, &t,
GFP_KERNEL);
if (!buf->page_list[i].buf)
goto err_free;
buf->page_list[i].map = t;
memset(buf->page_list[i].buf, 0, PAGE_SIZE);
}
if (bits_per_long == 64) {
pages = kmalloc_array(buf->nbufs, sizeof(*pages),
GFP_KERNEL);
if (!pages)
goto err_free;
for (i = 0; i < buf->nbufs; ++i)
pages[i] = virt_to_page(buf->page_list[i].buf);
buf->direct.buf = vmap(pages, buf->nbufs, VM_MAP,
PAGE_KERNEL);
kfree(pages);
if (!buf->direct.buf)
goto err_free;
}
}
return 0;
err_free:
hns_roce_buf_free(hr_dev, size, buf);
return -ENOMEM;
}
static int uts_arch_setup_additional_pages(struct linux_binprm *bprm, int uses_interp)
{
struct uts_namespace *uts_ns = current->nsproxy->uts_ns;
struct ve_struct *ve = get_exec_env();
int i, n1, n2, n3, new_version;
struct page **new_pages, **p;
/*
* For node or in case we've not changed UTS simply
* map preallocated original vDSO.
*
* In turn if we already allocated one for this UTS
* simply reuse it. It improves speed significantly.
*/
if (uts_ns == &init_uts_ns)
goto map_init_uts;
/*
* Dirty lockless hack. Strictly speaking
* we need to return @p here if it's non-nil,
* but since there only one trasition possible
* { =0 ; !=0 } we simply return @uts_ns->vdso.pages
*/
p = ACCESS_ONCE(uts_ns->vdso.pages);
smp_read_barrier_depends();
if (p)
goto map_uts;
if (sscanf(uts_ns->name.release, "%d.%d.%d", &n1, &n2, &n3) == 3) {
/*
* If there were no changes on version simply reuse
* preallocated one.
*/
new_version = KERNEL_VERSION(n1, n2, n3);
if (new_version == LINUX_VERSION_CODE)
goto map_init_uts;
} else {
/*
* If admin is passed malformed string here
* lets warn him once but continue working
* not using vDSO virtualization at all. It's
* better than walk out with error.
*/
pr_warn_once("Wrong release uts name format detected."
" Ignoring vDSO virtualization.\n");
goto map_init_uts;
}
mutex_lock(&vdso_mutex);
if (uts_ns->vdso.pages) {
mutex_unlock(&vdso_mutex);
goto map_uts;
}
uts_ns->vdso.nr_pages = init_uts_ns.vdso.nr_pages;
uts_ns->vdso.size = init_uts_ns.vdso.size;
uts_ns->vdso.version_off= init_uts_ns.vdso.version_off;
new_pages = kmalloc(sizeof(struct page *) * init_uts_ns.vdso.nr_pages, GFP_KERNEL);
if (!new_pages) {
pr_err("Can't allocate vDSO pages array for VE %d\n", ve->veid);
goto out_unlock;
}
for (i = 0; i < uts_ns->vdso.nr_pages; i++) {
struct page *p = alloc_page(GFP_KERNEL);
if (!p) {
pr_err("Can't allocate page for VE %d\n", ve->veid);
for (; i > 0; i--)
put_page(new_pages[i - 1]);
kfree(new_pages);
goto out_unlock;
}
new_pages[i] = p;
copy_page(page_address(p), page_address(init_uts_ns.vdso.pages[i]));
}
uts_ns->vdso.addr = vmap(new_pages, uts_ns->vdso.nr_pages, 0, PAGE_KERNEL);
if (!uts_ns->vdso.addr) {
pr_err("Can't map vDSO pages for VE %d\n", ve->veid);
for (i = 0; i < uts_ns->vdso.nr_pages; i++)
put_page(new_pages[i]);
kfree(new_pages);
goto out_unlock;
}
*((int *)(uts_ns->vdso.addr + uts_ns->vdso.version_off)) = new_version;
smp_wmb();
uts_ns->vdso.pages = new_pages;
mutex_unlock(&vdso_mutex);
pr_debug("vDSO version transition %d -> %d for VE %d\n",
LINUX_VERSION_CODE, new_version, ve->veid);
map_uts:
return setup_additional_pages(bprm, uses_interp, uts_ns->vdso.pages, uts_ns->vdso.size);
map_init_uts:
return setup_additional_pages(bprm, uses_interp, init_uts_ns.vdso.pages, init_uts_ns.vdso.size);
out_unlock:
mutex_unlock(&vdso_mutex);
return -ENOMEM;
}
static void
pcmpinit(void)
{
uchar *p, *e;
Apic *apic;
void *va;
/*
* Map the local APIC.
*/
va = vmap(pcmp->lapicbase, 1024);
print("LAPIC: %.8lux %#p\n", pcmp->lapicbase, va);
if(va == nil)
panic("pcmpinit: cannot map lapic %.8lux", pcmp->lapicbase);
p = ((uchar*)pcmp)+PCMPsz;
e = ((uchar*)pcmp)+pcmp->length;
if(getconf("*dumpmp") != nil)
dumpmp(p, e);
if(getconf("*mp") != nil)
mpoverride(&p, &e);
/*
* Run through the table saving information needed for starting
* application processors and initialising any I/O APICs. The table
* is guaranteed to be in order such that only one pass is necessary.
*/
while(p < e) switch(*p){
default:
print("pcmpinit: unknown PCMP type 0x%uX (e-p 0x%luX)\n",
*p, e-p);
while(p < e){
print("%uX ", *p);
p++;
}
break;
case PcmpPROCESSOR:
if(apic = mkprocessor((PCMPprocessor*)p)){
apic->addr = va;
apic->paddr = pcmp->lapicbase;
}
p += PCMPprocessorsz;
continue;
case PcmpBUS:
mkbus((PCMPbus*)p);
p += PCMPbussz;
continue;
case PcmpIOAPIC:
if(apic = mkioapic((PCMPioapic*)p))
ioapicinit(apic, apic->apicno);
p += PCMPioapicsz;
continue;
case PcmpIOINTR:
mkiointr((PCMPintr*)p);
p += PCMPintrsz;
continue;
case PcmpLINTR:
mklintr((PCMPintr*)p);
p += PCMPintrsz;
continue;
}
/*
* Ininitalize local APIC and start application processors.
*/
mpinit();
}
int spu_alloc_lscsa(struct spu_state *csa)
{
struct page **pgarray;
unsigned char *p;
int i, j, n_4k;
/* Check availability of 64K pages */
if (!spu_64k_pages_available())
goto fail;
csa->use_big_pages = 1;
pr_debug("spu_alloc_lscsa(csa=0x%p), trying to allocate 64K pages\n",
csa);
/* First try to allocate our 64K pages. We need 5 of them
* with the current implementation. In the future, we should try
* to separate the lscsa with the actual local store image, thus
* allowing us to require only 4 64K pages per context
*/
for (i = 0; i < SPU_LSCSA_NUM_BIG_PAGES; i++) {
/* XXX This is likely to fail, we should use a special pool
* similiar to what hugetlbfs does.
*/
csa->lscsa_pages[i] = alloc_pages(GFP_KERNEL,
SPU_64K_PAGE_ORDER);
if (csa->lscsa_pages[i] == NULL)
goto fail;
}
pr_debug(" success ! creating vmap...\n");
/* Now we need to create a vmalloc mapping of these for the kernel
* and SPU context switch code to use. Currently, we stick to a
* normal kernel vmalloc mapping, which in our case will be 4K
*/
n_4k = SPU_64K_PAGE_COUNT * SPU_LSCSA_NUM_BIG_PAGES;
pgarray = kmalloc(sizeof(struct page *) * n_4k, GFP_KERNEL);
if (pgarray == NULL)
goto fail;
for (i = 0; i < SPU_LSCSA_NUM_BIG_PAGES; i++)
for (j = 0; j < SPU_64K_PAGE_COUNT; j++)
/* We assume all the struct page's are contiguous
* which should be hopefully the case for an order 4
* allocation..
*/
pgarray[i * SPU_64K_PAGE_COUNT + j] =
csa->lscsa_pages[i] + j;
csa->lscsa = vmap(pgarray, n_4k, VM_USERMAP, PAGE_KERNEL);
kfree(pgarray);
if (csa->lscsa == NULL)
goto fail;
memset(csa->lscsa, 0, sizeof(struct spu_lscsa));
/* Set LS pages reserved to allow for user-space mapping.
*
* XXX isn't that a bit obsolete ? I think we should just
* make sure the page count is high enough. Anyway, won't harm
* for now
*/
for (p = csa->lscsa->ls; p < csa->lscsa->ls + LS_SIZE; p += PAGE_SIZE)
SetPageReserved(vmalloc_to_page(p));
pr_debug(" all good !\n");
return 0;
fail:
pr_debug("spufs: failed to allocate lscsa 64K pages, falling back\n");
spu_free_lscsa(csa);
return spu_alloc_lscsa_std(csa);
}
void
mpinit(void)
{
int ncpu, cpuson;
char *cp;
PCMP *pcmp;
uchar *e, *p;
Apic *apic, *bpapic;
void *va;
mpdebug = getconf("*debugmp") != nil;
i8259init();
syncclock();
bpapic = nil;
cpuson = 0;
if(_mp_ == 0) {
/*
* We can easily get processor info from ACPI, but
* interrupt routing, etc. would require interpreting AML.
*/
print("mpinit: no mp table found, assuming uniprocessor\n");
archrevert();
return;
}
pcmp = KADDR(_mp_->physaddr);
/*
* Map the local APIC.
*/
if((va = vmap(pcmp->lapicbase, 1024)) == nil)
return;
mppcmp = pcmp;
print("LAPIC: %#lux %#lux\n", pcmp->lapicbase, (ulong)va);
/*
* Run through the table saving information needed for starting
* application processors and initialising any I/O APICs. The table
* is guaranteed to be in order such that only one pass is necessary.
*/
p = ((uchar*)pcmp)+sizeof(PCMP);
e = ((uchar*)pcmp)+pcmp->length;
while(p < e) switch(*p){
default:
print("mpinit: unknown PCMP type 0x%uX (e-p 0x%luX)\n",
*p, e-p);
while(p < e){
print("%uX ", *p);
p++;
}
break;
case PcmpPROCESSOR:
if(apic = mkprocessor((PCMPprocessor*)p)){
/*
* Must take a note of bootstrap processor APIC
* now as it will be needed in order to start the
* application processors later and there's no
* guarantee that the bootstrap processor appears
* first in the table before the others.
*/
apic->addr = va;
apic->paddr = pcmp->lapicbase;
if(apic->flags & PcmpBP)
bpapic = apic;
cpuson++;
}
p += sizeof(PCMPprocessor);
continue;
case PcmpBUS:
mkbus((PCMPbus*)p);
p += sizeof(PCMPbus);
continue;
case PcmpIOAPIC:
if(apic = mkioapic((PCMPioapic*)p))
ioapicinit(apic, ((PCMPioapic*)p)->apicno);
p += sizeof(PCMPioapic);
continue;
case PcmpIOINTR:
mkiointr((PCMPintr*)p);
p += sizeof(PCMPintr);
continue;
case PcmpLINTR:
mklintr((PCMPintr*)p);
p += sizeof(PCMPintr);
continue;
}
dprint("mpinit: mp table describes %d cpus\n", cpuson);
/* For now, always scan ACPI's MADT for processors that MP missed. */
trympacpi();
if (bpapic == nil)
bpapic = bootapic;
/*
* No bootstrap processor, no need to go further.
*/
if(bpapic == 0)
return;
bpapic->online = 1;
lapicinit(bpapic);
/*
* These interrupts are local to the processor
* and do not appear in the I/O APIC so it is OK
* to set them now.
*/
intrenable(IrqTIMER, lapicclock, 0, BUSUNKNOWN, "clock");
intrenable(IrqERROR, lapicerror, 0, BUSUNKNOWN, "lapicerror");
intrenable(IrqSPURIOUS, lapicspurious, 0, BUSUNKNOWN, "lapicspurious");
lapiconline();
checkmtrr();
/*
* Initialise the application processors.
*/
if(cp = getconf("*ncpu")){
ncpu = strtol(cp, 0, 0);
if(ncpu < 1)
ncpu = 1;
else if(ncpu > MAXMACH)
ncpu = MAXMACH;
}
else
ncpu = MAXMACH;
memmove((void*)APBOOTSTRAP, apbootstrap, sizeof(apbootstrap));
for(apic = mpapic; apic <= &mpapic[MaxAPICNO]; apic++){
if(ncpu <= 1)
break;
if((apic->flags & (PcmpBP|PcmpEN)) == PcmpEN
&& apic->type == PcmpPROCESSOR){
mpstartap(apic);
conf.nmach++;
ncpu--;
}
}
/*
* we don't really know the number of processors till
* here.
*
* set conf.copymode here if nmach > 1.
* Should look for an ExtINT line and enable it.
*/
if(X86FAMILY(m->cpuidax) == 3 || conf.nmach > 1)
conf.copymode = 1;
}
static int usbcam_videobuf_prepare(struct videobuf_queue *vq,
struct videobuf_buffer *vb,
enum v4l2_field field)
{
struct usbcam_fh *ufp = container_of(vq, struct usbcam_fh, ufh_vbq);
struct usbcam_dev *udp = ufp->ufh_dev;
struct usbcam_frame *framep =
container_of(vb, struct usbcam_frame, vbb);
struct videobuf_dmabuf *dma = usbframe_get_dmabuf(&framep->vbb);
int res;
framep->vbb.size = udp->ud_format.sizeimage;
if (framep->vbb.baddr && (framep->vbb.bsize < framep->vbb.size)) {
usbcam_warn(udp, "process %s requested capture of a frame "
"larger than its", current->comm);
usbcam_warn(udp, "allocated frame buffer, fix it!");
return -EINVAL;
}
if (framep->vbb.state == STATE_NEEDS_INIT) {
/*
* This is the place where we initialize the rest of
* the usbcam_frame structure.
*/
INIT_LIST_HEAD(&framep->cap_links);
framep->vmap_base = NULL;
framep->vmap_sof = NULL;
usbcam_dbg(udp, VIDEOBUF,
"preparing frame %d/%p", framep->vbb.i, framep);
/* We also lock down the memory that was allocated for it */
res = videobuf_iolock(vq, &framep->vbb, NULL);
if (res)
goto fail;
/* If there's no kernel mapping, we must create one */
if (!dma->vmalloc) {
framep->vmap_base = vmap(dma->pages,
dma->nr_pages,
VM_MAP,
PAGE_KERNEL);
if (!framep->vmap_base) {
res = -ENOMEM;
goto fail;
}
framep->vmap_sof =
((char *)framep->vmap_base) +
dma->offset;
}
}
framep->vbb.field = field;
framep->vbb.state = STATE_PREPARED;
return 0;
fail:
usbcam_videobuf_free(vq, framep);
return res;
}
void *map_domain_page_global(mfn_t mfn)
{
return vmap(&mfn, 1);
}
static int tegra_fbdev_probe(struct drm_fb_helper *helper,
struct drm_fb_helper_surface_size *sizes)
{
struct tegra_fbdev *fbdev = to_tegra_fbdev(helper);
struct tegra_drm *tegra = helper->dev->dev_private;
struct drm_device *drm = helper->dev;
struct drm_mode_fb_cmd2 cmd = { 0 };
unsigned int bytes_per_pixel;
struct drm_framebuffer *fb;
unsigned long offset;
struct fb_info *info;
struct tegra_bo *bo;
size_t size;
int err;
bytes_per_pixel = DIV_ROUND_UP(sizes->surface_bpp, 8);
cmd.width = sizes->surface_width;
cmd.height = sizes->surface_height;
cmd.pitches[0] = round_up(sizes->surface_width * bytes_per_pixel,
tegra->pitch_align);
cmd.pixel_format = drm_mode_legacy_fb_format(sizes->surface_bpp,
sizes->surface_depth);
size = cmd.pitches[0] * cmd.height;
bo = tegra_bo_create(drm, size, 0);
if (IS_ERR(bo))
return PTR_ERR(bo);
info = drm_fb_helper_alloc_fbi(helper);
if (IS_ERR(info)) {
dev_err(drm->dev, "failed to allocate framebuffer info\n");
drm_gem_object_put_unlocked(&bo->gem);
return PTR_ERR(info);
}
fbdev->fb = tegra_fb_alloc(drm, &cmd, &bo, 1);
if (IS_ERR(fbdev->fb)) {
err = PTR_ERR(fbdev->fb);
dev_err(drm->dev, "failed to allocate DRM framebuffer: %d\n",
err);
drm_gem_object_put_unlocked(&bo->gem);
return PTR_ERR(fbdev->fb);
}
fb = &fbdev->fb->base;
helper->fb = fb;
helper->fbdev = info;
info->par = helper;
info->flags = FBINFO_FLAG_DEFAULT;
info->fbops = &tegra_fb_ops;
drm_fb_helper_fill_fix(info, fb->pitches[0], fb->format->depth);
drm_fb_helper_fill_var(info, helper, fb->width, fb->height);
offset = info->var.xoffset * bytes_per_pixel +
info->var.yoffset * fb->pitches[0];
if (bo->pages) {
bo->vaddr = vmap(bo->pages, bo->num_pages, VM_MAP,
pgprot_writecombine(PAGE_KERNEL));
if (!bo->vaddr) {
dev_err(drm->dev, "failed to vmap() framebuffer\n");
err = -ENOMEM;
goto destroy;
}
}
drm->mode_config.fb_base = (resource_size_t)bo->paddr;
info->screen_base = (void __iomem *)bo->vaddr + offset;
info->screen_size = size;
info->fix.smem_start = (unsigned long)(bo->paddr + offset);
info->fix.smem_len = size;
return 0;
destroy:
drm_framebuffer_remove(fb);
return err;
}
static struct a6xx_gmu_bo *a6xx_gmu_memory_alloc(struct a6xx_gmu *gmu,
size_t size)
{
struct a6xx_gmu_bo *bo;
int ret, count, i;
bo = kzalloc(sizeof(*bo), GFP_KERNEL);
if (!bo)
return ERR_PTR(-ENOMEM);
bo->size = PAGE_ALIGN(size);
count = bo->size >> PAGE_SHIFT;
bo->pages = kcalloc(count, sizeof(struct page *), GFP_KERNEL);
if (!bo->pages) {
kfree(bo);
return ERR_PTR(-ENOMEM);
}
for (i = 0; i < count; i++) {
bo->pages[i] = alloc_page(GFP_KERNEL);
if (!bo->pages[i])
goto err;
}
bo->iova = gmu->uncached_iova_base;
for (i = 0; i < count; i++) {
ret = iommu_map(gmu->domain,
bo->iova + (PAGE_SIZE * i),
page_to_phys(bo->pages[i]), PAGE_SIZE,
IOMMU_READ | IOMMU_WRITE);
if (ret) {
DRM_DEV_ERROR(gmu->dev, "Unable to map GMU buffer object\n");
for (i = i - 1 ; i >= 0; i--)
iommu_unmap(gmu->domain,
bo->iova + (PAGE_SIZE * i),
PAGE_SIZE);
goto err;
}
}
bo->virt = vmap(bo->pages, count, VM_IOREMAP,
pgprot_writecombine(PAGE_KERNEL));
if (!bo->virt)
goto err;
/* Align future IOVA addresses on 1MB boundaries */
gmu->uncached_iova_base += ALIGN(size, SZ_1M);
return bo;
err:
for (i = 0; i < count; i++) {
if (bo->pages[i])
__free_pages(bo->pages[i], 0);
}
kfree(bo->pages);
kfree(bo);
return ERR_PTR(-ENOMEM);
}
int iterate_phdr(int (*cb) (struct phdr_info *info,
struct task_struct *task,
void *data),
struct task_struct *task, void *data)
{
struct vm_area_struct *vma;
struct mm_struct *mm = task->mm;
struct phdr_info pi;
char buf[NAME_BUFLEN];
int res = 0, err = 0;
struct page *page; // FIXME Is one page enough for all phdrs?
Elf64_Ehdr *ehdr;
bool first = true;
if (!mm) return -EINVAL;
for (vma = mm->mmap; vma; vma = vma->vm_next) {
if (vma->vm_pgoff)
// Only the first page contains the elf
// headers, normally.
continue;
err = __get_user_pages_unlocked(
task, task->mm, vma->vm_start,
1, 0, 0, &page, FOLL_TOUCH);
if (err < 0)
continue;
ehdr = vmap(&page, 1, vma->vm_flags, vma->vm_page_prot);
if (!ehdr) goto PUT;
// Test magic bytes to check that it is an ehdr
err = 0;
err |= (ehdr->e_ident[0] != ELFMAG0);
err |= (ehdr->e_ident[1] != ELFMAG1);
err |= (ehdr->e_ident[2] != ELFMAG2);
err |= (ehdr->e_ident[3] != ELFMAG3);
if (err) goto UNMAP;
// Set addresses
pi.addr = first ? 0 : vma->vm_start;
pi.phdr = (void *) ehdr + ehdr->e_phoff;
pi.phnum = ehdr->e_phnum;
// Find path
pi.name = vma_file_path(vma, buf, NAME_BUFLEN);
// Call the callback
res = cb(&pi, task, data);
// Free resources
UNMAP:
vunmap(ehdr);
PUT:
put_page(page);
if (res) break;
first = false;
}
return res;
}
static Uart*
axpalloc(int ctlrno, Pcidev* pcidev)
{
Cc *cc;
uchar *p;
Ctlr *ctlr;
void *addr;
char name[64];
u32int bar, r;
int i, n, timeo;
ctlr = malloc(sizeof(Ctlr));
if(ctlr == nil)
error(Enomem);
seprint(name, name+sizeof(name), "uartaxp%d", ctlrno);
kstrdup(&ctlr->name, name);
ctlr->pcidev = pcidev;
ctlr->ctlrno = ctlrno;
/*
* Access to runtime registers.
*/
bar = pcidev->mem[0].bar;
if((addr = vmap(bar & ~0x0F, pcidev->mem[0].size)) == 0){
print("%s: can't map registers at %#ux\n", ctlr->name, bar);
return axpdealloc(ctlr);
}
ctlr->reg = addr;
print("%s: port 0x%ux irq %d ", ctlr->name, bar, pcidev->intl);
/*
* Local address space 0.
*/
bar = pcidev->mem[2].bar;
if((addr = vmap(bar & ~0x0F, pcidev->mem[2].size)) == 0){
print("%s: can't map memory at %#ux\n", ctlr->name, bar);
return axpdealloc(ctlr);
}
ctlr->mem = addr;
ctlr->gcb = (Gcb*)(ctlr->mem+0x10000);
print("mem 0x%ux size %d: ", bar, pcidev->mem[2].size);
/*
* Toggle the software reset and wait for
* the adapter local init status to indicate done.
*
* The two 'delay(100)'s below are important,
* without them the board seems to become confused
* (perhaps it needs some 'quiet time' because the
* timeout loops are not sufficient in themselves).
*/
r = csr32r(ctlr, Mcc);
csr32w(ctlr, Mcc, r|Asr);
microdelay(1);
csr32w(ctlr, Mcc, r&~Asr);
delay(100);
for(timeo = 0; timeo < 100000; timeo++){
if(csr32r(ctlr, Mcc) & Lis)
break;
microdelay(1);
}
if(!(csr32r(ctlr, Mcc) & Lis)){
print("%s: couldn't reset\n", ctlr->name);
return axpdealloc(ctlr);
}
print("downloading...");
/*
* Copy the control programme to the card memory.
* The card's i960 control structures live at 0xD000.
*/
if(sizeof(uartaxpcp) > 0xD000){
print("%s: control programme too big\n", ctlr->name);
return axpdealloc(ctlr);
}
/* TODO: is this right for more than 1 card? devastar does the same */
csr32w(ctlr, Remap, 0xA0000001);
for(i = 0; i < sizeof(uartaxpcp); i++)
ctlr->mem[i] = uartaxpcp[i];
/*
* Execute downloaded code and wait for it
* to signal ready.
*/
csr32w(ctlr, Mb0, Edcc);
delay(100);
/* the manual says to wait for Cpr for 1 second */
for(timeo = 0; timeo < 10000; timeo++){
if(csr32r(ctlr, Mb0) & Cpr)
break;
microdelay(100);
}
if(!(csr32r(ctlr, Mb0) & Cpr)){
print("control programme not ready; Mb0 %#ux\n",
csr32r(ctlr, Mb0));
print("%s: distribution panel not connected or card not fully seated?\n",
ctlr->name);
return axpdealloc(ctlr);
}
print("\n");
n = ctlr->gcb->ccbn;
if(ctlr->gcb->bt != 0x12 || n > 16){
print("%s: wrong board type %#ux, %d channels\n",
ctlr->name, ctlr->gcb->bt, ctlr->gcb->ccbn);
return axpdealloc(ctlr);
}
p = ((uchar*)ctlr->gcb) + ctlr->gcb->ccboff;
for(i = 0; i < n; i++){
cc = &ctlr->cc[i];
cc->ccb = (Ccb*)p;
p += ctlr->gcb->ccbsz;
cc->uartno = i;
cc->ctlr = ctlr;
cc->regs = cc; /* actually Uart->regs */
seprint(name, name+sizeof(name), "uartaxp%d%2.2d", ctlrno, i);
kstrdup(&cc->name, name);
cc->freq = 0;
cc->bits = 8;
cc->stop = 1;
cc->parity = 'n';
cc->baud = 9600;
cc->phys = &axpphysuart;
cc->console = 0;
cc->special = 0;
cc->next = &ctlr->cc[i+1];
}
ctlr->cc[n-1].next = nil;
ctlr->next = nil;
if(axpctlrhead != nil)
axpctlrtail->next = ctlr;
else
axpctlrhead = ctlr;
axpctlrtail = ctlr;
return ctlr->cc;
}