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diff --git a/Documentation/xillybus.txt b/Documentation/xillybus.txt new file mode 100644 index 000000000..2446ee303 --- /dev/null +++ b/Documentation/xillybus.txt @@ -0,0 +1,379 @@ +========================================== +Xillybus driver for generic FPGA interface +========================================== + +:Author: Eli Billauer, Xillybus Ltd. (http://xillybus.com) +:Email: eli.billauer@gmail.com or as advertised on Xillybus' site. + +.. Contents: + + - Introduction + -- Background + -- Xillybus Overview + + - Usage + -- User interface + -- Synchronization + -- Seekable pipes + + - Internals + -- Source code organization + -- Pipe attributes + -- Host never reads from the FPGA + -- Channels, pipes, and the message channel + -- Data streaming + -- Data granularity + -- Probing + -- Buffer allocation + -- The "nonempty" message (supporting poll) + + +Introduction +============ + +Background +---------- + +An FPGA (Field Programmable Gate Array) is a piece of logic hardware, which +can be programmed to become virtually anything that is usually found as a +dedicated chipset: For instance, a display adapter, network interface card, +or even a processor with its peripherals. FPGAs are the LEGO of hardware: +Based upon certain building blocks, you make your own toys the way you like +them. It's usually pointless to reimplement something that is already +available on the market as a chipset, so FPGAs are mostly used when some +special functionality is needed, and the production volume is relatively low +(hence not justifying the development of an ASIC). + +The challenge with FPGAs is that everything is implemented at a very low +level, even lower than assembly language. In order to allow FPGA designers to +focus on their specific project, and not reinvent the wheel over and over +again, pre-designed building blocks, IP cores, are often used. These are the +FPGA parallels of library functions. IP cores may implement certain +mathematical functions, a functional unit (e.g. a USB interface), an entire +processor (e.g. ARM) or anything that might come handy. Think of them as a +building block, with electrical wires dangling on the sides for connection to +other blocks. + +One of the daunting tasks in FPGA design is communicating with a fullblown +operating system (actually, with the processor running it): Implementing the +low-level bus protocol and the somewhat higher-level interface with the host +(registers, interrupts, DMA etc.) is a project in itself. When the FPGA's +function is a well-known one (e.g. a video adapter card, or a NIC), it can +make sense to design the FPGA's interface logic specifically for the project. +A special driver is then written to present the FPGA as a well-known interface +to the kernel and/or user space. In that case, there is no reason to treat the +FPGA differently than any device on the bus. + +It's however common that the desired data communication doesn't fit any well- +known peripheral function. Also, the effort of designing an elegant +abstraction for the data exchange is often considered too big. In those cases, +a quicker and possibly less elegant solution is sought: The driver is +effectively written as a user space program, leaving the kernel space part +with just elementary data transport. This still requires designing some +interface logic for the FPGA, and write a simple ad-hoc driver for the kernel. + +Xillybus Overview +----------------- + +Xillybus is an IP core and a Linux driver. Together, they form a kit for +elementary data transport between an FPGA and the host, providing pipe-like +data streams with a straightforward user interface. It's intended as a low- +effort solution for mixed FPGA-host projects, for which it makes sense to +have the project-specific part of the driver running in a user-space program. + +Since the communication requirements may vary significantly from one FPGA +project to another (the number of data pipes needed in each direction and +their attributes), there isn't one specific chunk of logic being the Xillybus +IP core. Rather, the IP core is configured and built based upon a +specification given by its end user. + +Xillybus presents independent data streams, which resemble pipes or TCP/IP +communication to the user. At the host side, a character device file is used +just like any pipe file. On the FPGA side, hardware FIFOs are used to stream +the data. This is contrary to a common method of communicating through fixed- +sized buffers (even though such buffers are used by Xillybus under the hood). +There may be more than a hundred of these streams on a single IP core, but +also no more than one, depending on the configuration. + +In order to ease the deployment of the Xillybus IP core, it contains a simple +data structure which completely defines the core's configuration. The Linux +driver fetches this data structure during its initialization process, and sets +up the DMA buffers and character devices accordingly. As a result, a single +driver is used to work out of the box with any Xillybus IP core. + +The data structure just mentioned should not be confused with PCI's +configuration space or the Flattened Device Tree. + +Usage +===== + +User interface +-------------- + +On the host, all interface with Xillybus is done through /dev/xillybus_* +device files, which are generated automatically as the drivers loads. The +names of these files depend on the IP core that is loaded in the FPGA (see +Probing below). To communicate with the FPGA, open the device file that +corresponds to the hardware FIFO you want to send data or receive data from, +and use plain write() or read() calls, just like with a regular pipe. In +particular, it makes perfect sense to go:: + + $ cat mydata > /dev/xillybus_thisfifo + + $ cat /dev/xillybus_thatfifo > hisdata + +possibly pressing CTRL-C as some stage, even though the xillybus_* pipes have +the capability to send an EOF (but may not use it). + +The driver and hardware are designed to behave sensibly as pipes, including: + +* Supporting non-blocking I/O (by setting O_NONBLOCK on open() ). + +* Supporting poll() and select(). + +* Being bandwidth efficient under load (using DMA) but also handle small + pieces of data sent across (like TCP/IP) by autoflushing. + +A device file can be read only, write only or bidirectional. Bidirectional +device files are treated like two independent pipes (except for sharing a +"channel" structure in the implementation code). + +Synchronization +--------------- + +Xillybus pipes are configured (on the IP core) to be either synchronous or +asynchronous. For a synchronous pipe, write() returns successfully only after +some data has been submitted and acknowledged by the FPGA. This slows down +bulk data transfers, and is nearly impossible for use with streams that +require data at a constant rate: There is no data transmitted to the FPGA +between write() calls, in particular when the process loses the CPU. + +When a pipe is configured asynchronous, write() returns if there was enough +room in the buffers to store any of the data in the buffers. + +For FPGA to host pipes, asynchronous pipes allow data transfer from the FPGA +as soon as the respective device file is opened, regardless of if the data +has been requested by a read() call. On synchronous pipes, only the amount +of data requested by a read() call is transmitted. + +In summary, for synchronous pipes, data between the host and FPGA is +transmitted only to satisfy the read() or write() call currently handled +by the driver, and those calls wait for the transmission to complete before +returning. + +Note that the synchronization attribute has nothing to do with the possibility +that read() or write() completes less bytes than requested. There is a +separate configuration flag ("allowpartial") that determines whether such a +partial completion is allowed. + +Seekable pipes +-------------- + +A synchronous pipe can be configured to have the stream's position exposed +to the user logic at the FPGA. Such a pipe is also seekable on the host API. +With this feature, a memory or register interface can be attached on the +FPGA side to the seekable stream. Reading or writing to a certain address in +the attached memory is done by seeking to the desired address, and calling +read() or write() as required. + + +Internals +========= + +Source code organization +------------------------ + +The Xillybus driver consists of a core module, xillybus_core.c, and modules +that depend on the specific bus interface (xillybus_of.c and xillybus_pcie.c). + +The bus specific modules are those probed when a suitable device is found by +the kernel. Since the DMA mapping and synchronization functions, which are bus +dependent by their nature, are used by the core module, a +xilly_endpoint_hardware structure is passed to the core module on +initialization. This structure is populated with pointers to wrapper functions +which execute the DMA-related operations on the bus. + +Pipe attributes +--------------- + +Each pipe has a number of attributes which are set when the FPGA component +(IP core) is built. They are fetched from the IDT (the data structure which +defines the core's configuration, see Probing below) by xilly_setupchannels() +in xillybus_core.c as follows: + +* is_writebuf: The pipe's direction. A non-zero value means it's an FPGA to + host pipe (the FPGA "writes"). + +* channelnum: The pipe's identification number in communication between the + host and FPGA. + +* format: The underlying data width. See Data Granularity below. + +* allowpartial: A non-zero value means that a read() or write() (whichever + applies) may return with less than the requested number of bytes. The common + choice is a non-zero value, to match standard UNIX behavior. + +* synchronous: A non-zero value means that the pipe is synchronous. See + Synchronization above. + +* bufsize: Each DMA buffer's size. Always a power of two. + +* bufnum: The number of buffers allocated for this pipe. Always a power of two. + +* exclusive_open: A non-zero value forces exclusive opening of the associated + device file. If the device file is bidirectional, and already opened only in + one direction, the opposite direction may be opened once. + +* seekable: A non-zero value indicates that the pipe is seekable. See + Seekable pipes above. + +* supports_nonempty: A non-zero value (which is typical) indicates that the + hardware will send the messages that are necessary to support select() and + poll() for this pipe. + +Host never reads from the FPGA +------------------------------ + +Even though PCI Express is hotpluggable in general, a typical motherboard +doesn't expect a card to go away all of the sudden. But since the PCIe card +is based upon reprogrammable logic, a sudden disappearance from the bus is +quite likely as a result of an accidental reprogramming of the FPGA while the +host is up. In practice, nothing happens immediately in such a situation. But +if the host attempts to read from an address that is mapped to the PCI Express +device, that leads to an immediate freeze of the system on some motherboards, +even though the PCIe standard requires a graceful recovery. + +In order to avoid these freezes, the Xillybus driver refrains completely from +reading from the device's register space. All communication from the FPGA to +the host is done through DMA. In particular, the Interrupt Service Routine +doesn't follow the common practice of checking a status register when it's +invoked. Rather, the FPGA prepares a small buffer which contains short +messages, which inform the host what the interrupt was about. + +This mechanism is used on non-PCIe buses as well for the sake of uniformity. + + +Channels, pipes, and the message channel +---------------------------------------- + +Each of the (possibly bidirectional) pipes presented to the user is allocated +a data channel between the FPGA and the host. The distinction between channels +and pipes is necessary only because of channel 0, which is used for interrupt- +related messages from the FPGA, and has no pipe attached to it. + +Data streaming +-------------- + +Even though a non-segmented data stream is presented to the user at both +sides, the implementation relies on a set of DMA buffers which is allocated +for each channel. For the sake of illustration, let's take the FPGA to host +direction: As data streams into the respective channel's interface in the +FPGA, the Xillybus IP core writes it to one of the DMA buffers. When the +buffer is full, the FPGA informs the host about that (appending a +XILLYMSG_OPCODE_RELEASEBUF message channel 0 and sending an interrupt if +necessary). The host responds by making the data available for reading through +the character device. When all data has been read, the host writes on the +the FPGA's buffer control register, allowing the buffer's overwriting. Flow +control mechanisms exist on both sides to prevent underflows and overflows. + +This is not good enough for creating a TCP/IP-like stream: If the data flow +stops momentarily before a DMA buffer is filled, the intuitive expectation is +that the partial data in buffer will arrive anyhow, despite the buffer not +being completed. This is implemented by adding a field in the +XILLYMSG_OPCODE_RELEASEBUF message, through which the FPGA informs not just +which buffer is submitted, but how much data it contains. + +But the FPGA will submit a partially filled buffer only if directed to do so +by the host. This situation occurs when the read() method has been blocking +for XILLY_RX_TIMEOUT jiffies (currently 10 ms), after which the host commands +the FPGA to submit a DMA buffer as soon as it can. This timeout mechanism +balances between bus bandwidth efficiency (preventing a lot of partially +filled buffers being sent) and a latency held fairly low for tails of data. + +A similar setting is used in the host to FPGA direction. The handling of +partial DMA buffers is somewhat different, though. The user can tell the +driver to submit all data it has in the buffers to the FPGA, by issuing a +write() with the byte count set to zero. This is similar to a flush request, +but it doesn't block. There is also an autoflushing mechanism, which triggers +an equivalent flush roughly XILLY_RX_TIMEOUT jiffies after the last write(). +This allows the user to be oblivious about the underlying buffering mechanism +and yet enjoy a stream-like interface. + +Note that the issue of partial buffer flushing is irrelevant for pipes having +the "synchronous" attribute nonzero, since synchronous pipes don't allow data +to lay around in the DMA buffers between read() and write() anyhow. + +Data granularity +---------------- + +The data arrives or is sent at the FPGA as 8, 16 or 32 bit wide words, as +configured by the "format" attribute. Whenever possible, the driver attempts +to hide this when the pipe is accessed differently from its natural alignment. +For example, reading single bytes from a pipe with 32 bit granularity works +with no issues. Writing single bytes to pipes with 16 or 32 bit granularity +will also work, but the driver can't send partially completed words to the +FPGA, so the transmission of up to one word may be held until it's fully +occupied with user data. + +This somewhat complicates the handling of host to FPGA streams, because +when a buffer is flushed, it may contain up to 3 bytes don't form a word in +the FPGA, and hence can't be sent. To prevent loss of data, these leftover +bytes need to be moved to the next buffer. The parts in xillybus_core.c +that mention "leftovers" in some way are related to this complication. + +Probing +------- + +As mentioned earlier, the number of pipes that are created when the driver +loads and their attributes depend on the Xillybus IP core in the FPGA. During +the driver's initialization, a blob containing configuration info, the +Interface Description Table (IDT), is sent from the FPGA to the host. The +bootstrap process is done in three phases: + +1. Acquire the length of the IDT, so a buffer can be allocated for it. This + is done by sending a quiesce command to the device, since the acknowledge + for this command contains the IDT's buffer length. + +2. Acquire the IDT itself. + +3. Create the interfaces according to the IDT. + +Buffer allocation +----------------- + +In order to simplify the logic that prevents illegal boundary crossings of +PCIe packets, the following rule applies: If a buffer is smaller than 4kB, +it must not cross a 4kB boundary. Otherwise, it must be 4kB aligned. The +xilly_setupchannels() functions allocates these buffers by requesting whole +pages from the kernel, and diving them into DMA buffers as necessary. Since +all buffers' sizes are powers of two, it's possible to pack any set of such +buffers, with a maximal waste of one page of memory. + +All buffers are allocated when the driver is loaded. This is necessary, +since large continuous physical memory segments are sometimes requested, +which are more likely to be available when the system is freshly booted. + +The allocation of buffer memory takes place in the same order they appear in +the IDT. The driver relies on a rule that the pipes are sorted with decreasing +buffer size in the IDT. If a requested buffer is larger or equal to a page, +the necessary number of pages is requested from the kernel, and these are +used for this buffer. If the requested buffer is smaller than a page, one +single page is requested from the kernel, and that page is partially used. +Or, if there already is a partially used page at hand, the buffer is packed +into that page. It can be shown that all pages requested from the kernel +(except possibly for the last) are 100% utilized this way. + +The "nonempty" message (supporting poll) +---------------------------------------- + +In order to support the "poll" method (and hence select() ), there is a small +catch regarding the FPGA to host direction: The FPGA may have filled a DMA +buffer with some data, but not submitted that buffer. If the host waited for +the buffer's submission by the FPGA, there would be a possibility that the +FPGA side has sent data, but a select() call would still block, because the +host has not received any notification about this. This is solved with +XILLYMSG_OPCODE_NONEMPTY messages sent by the FPGA when a channel goes from +completely empty to containing some data. + +These messages are used only to support poll() and select(). The IP core can +be configured not to send them for a slight reduction of bandwidth. |