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Linux/Documentation/xillybus.txt

  1 
  2                ==========================================
  3                Xillybus driver for generic FPGA interface
  4                ==========================================
  5 
  6 Author: Eli Billauer, Xillybus Ltd. (http://xillybus.com)
  7 Email:  eli.billauer@gmail.com or as advertised on Xillybus' site.
  8 
  9 Contents:
 10 
 11  - Introduction
 12   -- Background
 13   -- Xillybus Overview
 14 
 15  - Usage
 16   -- User interface
 17   -- Synchronization
 18   -- Seekable pipes
 19 
 20 - Internals
 21   -- Source code organization
 22   -- Pipe attributes
 23   -- Host never reads from the FPGA
 24   -- Channels, pipes, and the message channel
 25   -- Data streaming
 26   -- Data granularity
 27   -- Probing
 28   -- Buffer allocation
 29   -- The "nonempty" message (supporting poll)
 30 
 31 
 32 INTRODUCTION
 33 ============
 34 
 35 Background
 36 ----------
 37 
 38 An FPGA (Field Programmable Gate Array) is a piece of logic hardware, which
 39 can be programmed to become virtually anything that is usually found as a
 40 dedicated chipset: For instance, a display adapter, network interface card,
 41 or even a processor with its peripherals. FPGAs are the LEGO of hardware:
 42 Based upon certain building blocks, you make your own toys the way you like
 43 them. It's usually pointless to reimplement something that is already
 44 available on the market as a chipset, so FPGAs are mostly used when some
 45 special functionality is needed, and the production volume is relatively low
 46 (hence not justifying the development of an ASIC).
 47 
 48 The challenge with FPGAs is that everything is implemented at a very low
 49 level, even lower than assembly language. In order to allow FPGA designers to
 50 focus on their specific project, and not reinvent the wheel over and over
 51 again, pre-designed building blocks, IP cores, are often used. These are the
 52 FPGA parallels of library functions. IP cores may implement certain
 53 mathematical functions, a functional unit (e.g. a USB interface), an entire
 54 processor (e.g. ARM) or anything that might come handy. Think of them as a
 55 building block, with electrical wires dangling on the sides for connection to
 56 other blocks.
 57 
 58 One of the daunting tasks in FPGA design is communicating with a fullblown
 59 operating system (actually, with the processor running it): Implementing the
 60 low-level bus protocol and the somewhat higher-level interface with the host
 61 (registers, interrupts, DMA etc.) is a project in itself. When the FPGA's
 62 function is a well-known one (e.g. a video adapter card, or a NIC), it can
 63 make sense to design the FPGA's interface logic specifically for the project.
 64 A special driver is then written to present the FPGA as a well-known interface
 65 to the kernel and/or user space. In that case, there is no reason to treat the
 66 FPGA differently than any device on the bus.
 67 
 68 It's however common that the desired data communication doesn't fit any well-
 69 known peripheral function. Also, the effort of designing an elegant
 70 abstraction for the data exchange is often considered too big. In those cases,
 71 a quicker and possibly less elegant solution is sought: The driver is
 72 effectively written as a user space program, leaving the kernel space part
 73 with just elementary data transport. This still requires designing some
 74 interface logic for the FPGA, and write a simple ad-hoc driver for the kernel.
 75 
 76 Xillybus Overview
 77 -----------------
 78 
 79 Xillybus is an IP core and a Linux driver. Together, they form a kit for
 80 elementary data transport between an FPGA and the host, providing pipe-like
 81 data streams with a straightforward user interface. It's intended as a low-
 82 effort solution for mixed FPGA-host projects, for which it makes sense to
 83 have the project-specific part of the driver running in a user-space program.
 84 
 85 Since the communication requirements may vary significantly from one FPGA
 86 project to another (the number of data pipes needed in each direction and
 87 their attributes), there isn't one specific chunk of logic being the Xillybus
 88 IP core. Rather, the IP core is configured and built based upon a
 89 specification given by its end user.
 90 
 91 Xillybus presents independent data streams, which resemble pipes or TCP/IP
 92 communication to the user. At the host side, a character device file is used
 93 just like any pipe file. On the FPGA side, hardware FIFOs are used to stream
 94 the data. This is contrary to a common method of communicating through fixed-
 95 sized buffers (even though such buffers are used by Xillybus under the hood).
 96 There may be more than a hundred of these streams on a single IP core, but
 97 also no more than one, depending on the configuration.
 98 
 99 In order to ease the deployment of the Xillybus IP core, it contains a simple
100 data structure which completely defines the core's configuration. The Linux
101 driver fetches this data structure during its initialization process, and sets
102 up the DMA buffers and character devices accordingly. As a result, a single
103 driver is used to work out of the box with any Xillybus IP core.
104 
105 The data structure just mentioned should not be confused with PCI's
106 configuration space or the Flattened Device Tree.
107 
108 USAGE
109 =====
110 
111 User interface
112 --------------
113 
114 On the host, all interface with Xillybus is done through /dev/xillybus_*
115 device files, which are generated automatically as the drivers loads. The
116 names of these files depend on the IP core that is loaded in the FPGA (see
117 Probing below). To communicate with the FPGA, open the device file that
118 corresponds to the hardware FIFO you want to send data or receive data from,
119 and use plain write() or read() calls, just like with a regular pipe. In
120 particular, it makes perfect sense to go:
121 
122 $ cat mydata > /dev/xillybus_thisfifo
123 
124 $ cat /dev/xillybus_thatfifo > hisdata
125 
126 possibly pressing CTRL-C as some stage, even though the xillybus_* pipes have
127 the capability to send an EOF (but may not use it).
128 
129 The driver and hardware are designed to behave sensibly as pipes, including:
130 
131 * Supporting non-blocking I/O (by setting O_NONBLOCK on open() ).
132 
133 * Supporting poll() and select().
134 
135 * Being bandwidth efficient under load (using DMA) but also handle small
136   pieces of data sent across (like TCP/IP) by autoflushing.
137 
138 A device file can be read only, write only or bidirectional. Bidirectional
139 device files are treated like two independent pipes (except for sharing a
140 "channel" structure in the implementation code).
141 
142 Synchronization
143 ---------------
144 
145 Xillybus pipes are configured (on the IP core) to be either synchronous or
146 asynchronous. For a synchronous pipe, write() returns successfully only after
147 some data has been submitted and acknowledged by the FPGA. This slows down
148 bulk data transfers, and is nearly impossible for use with streams that
149 require data at a constant rate: There is no data transmitted to the FPGA
150 between write() calls, in particular when the process loses the CPU.
151 
152 When a pipe is configured asynchronous, write() returns if there was enough
153 room in the buffers to store any of the data in the buffers.
154 
155 For FPGA to host pipes, asynchronous pipes allow data transfer from the FPGA
156 as soon as the respective device file is opened, regardless of if the data
157 has been requested by a read() call. On synchronous pipes, only the amount
158 of data requested by a read() call is transmitted.
159 
160 In summary, for synchronous pipes, data between the host and FPGA is
161 transmitted only to satisfy the read() or write() call currently handled
162 by the driver, and those calls wait for the transmission to complete before
163 returning.
164 
165 Note that the synchronization attribute has nothing to do with the possibility
166 that read() or write() completes less bytes than requested. There is a
167 separate configuration flag ("allowpartial") that determines whether such a
168 partial completion is allowed.
169 
170 Seekable pipes
171 --------------
172 
173 A synchronous pipe can be configured to have the stream's position exposed
174 to the user logic at the FPGA. Such a pipe is also seekable on the host API.
175 With this feature, a memory or register interface can be attached on the
176 FPGA side to the seekable stream. Reading or writing to a certain address in
177 the attached memory is done by seeking to the desired address, and calling
178 read() or write() as required.
179 
180 
181 INTERNALS
182 =========
183 
184 Source code organization
185 ------------------------
186 
187 The Xillybus driver consists of a core module, xillybus_core.c, and modules
188 that depend on the specific bus interface (xillybus_of.c and xillybus_pcie.c).
189 
190 The bus specific modules are those probed when a suitable device is found by
191 the kernel. Since the DMA mapping and synchronization functions, which are bus
192 dependent by their nature, are used by the core module, a
193 xilly_endpoint_hardware structure is passed to the core module on
194 initialization. This structure is populated with pointers to wrapper functions
195 which execute the DMA-related operations on the bus.
196 
197 Pipe attributes
198 ---------------
199 
200 Each pipe has a number of attributes which are set when the FPGA component
201 (IP core) is built. They are fetched from the IDT (the data structure which
202 defines the core's configuration, see Probing below) by xilly_setupchannels()
203 in xillybus_core.c as follows:
204 
205 * is_writebuf: The pipe's direction. A non-zero value means it's an FPGA to
206   host pipe (the FPGA "writes").
207 
208 * channelnum: The pipe's identification number in communication between the
209   host and FPGA.
210 
211 * format: The underlying data width. See Data Granularity below.
212 
213 * allowpartial: A non-zero value means that a read() or write() (whichever
214   applies) may return with less than the requested number of bytes. The common
215   choice is a non-zero value, to match standard UNIX behavior.
216 
217 * synchronous: A non-zero value means that the pipe is synchronous. See
218   Synchronization above.
219 
220 * bufsize: Each DMA buffer's size. Always a power of two.
221 
222 * bufnum: The number of buffers allocated for this pipe. Always a power of two.
223 
224 * exclusive_open: A non-zero value forces exclusive opening of the associated
225   device file. If the device file is bidirectional, and already opened only in
226   one direction, the opposite direction may be opened once.
227 
228 * seekable: A non-zero value indicates that the pipe is seekable. See
229   Seekable pipes above.
230 
231 * supports_nonempty: A non-zero value (which is typical) indicates that the
232   hardware will send the messages that are necessary to support select() and
233   poll() for this pipe.
234 
235 Host never reads from the FPGA
236 ------------------------------
237 
238 Even though PCI Express is hotpluggable in general, a typical motherboard
239 doesn't expect a card to go away all of the sudden. But since the PCIe card
240 is based upon reprogrammable logic, a sudden disappearance from the bus is
241 quite likely as a result of an accidental reprogramming of the FPGA while the
242 host is up. In practice, nothing happens immediately in such a situation. But
243 if the host attempts to read from an address that is mapped to the PCI Express
244 device, that leads to an immediate freeze of the system on some motherboards,
245 even though the PCIe standard requires a graceful recovery.
246 
247 In order to avoid these freezes, the Xillybus driver refrains completely from
248 reading from the device's register space. All communication from the FPGA to
249 the host is done through DMA. In particular, the Interrupt Service Routine
250 doesn't follow the common practice of checking a status register when it's
251 invoked. Rather, the FPGA prepares a small buffer which contains short
252 messages, which inform the host what the interrupt was about.
253 
254 This mechanism is used on non-PCIe buses as well for the sake of uniformity.
255 
256 
257 Channels, pipes, and the message channel
258 ----------------------------------------
259 
260 Each of the (possibly bidirectional) pipes presented to the user is allocated
261 a data channel between the FPGA and the host. The distinction between channels
262 and pipes is necessary only because of channel 0, which is used for interrupt-
263 related messages from the FPGA, and has no pipe attached to it.
264 
265 Data streaming
266 --------------
267 
268 Even though a non-segmented data stream is presented to the user at both
269 sides, the implementation relies on a set of DMA buffers which is allocated
270 for each channel. For the sake of illustration, let's take the FPGA to host
271 direction: As data streams into the respective channel's interface in the
272 FPGA, the Xillybus IP core writes it to one of the DMA buffers. When the
273 buffer is full, the FPGA informs the host about that (appending a
274 XILLYMSG_OPCODE_RELEASEBUF message channel 0 and sending an interrupt if
275 necessary). The host responds by making the data available for reading through
276 the character device. When all data has been read, the host writes on the
277 the FPGA's buffer control register, allowing the buffer's overwriting. Flow
278 control mechanisms exist on both sides to prevent underflows and overflows.
279 
280 This is not good enough for creating a TCP/IP-like stream: If the data flow
281 stops momentarily before a DMA buffer is filled, the intuitive expectation is
282 that the partial data in buffer will arrive anyhow, despite the buffer not
283 being completed. This is implemented by adding a field in the
284 XILLYMSG_OPCODE_RELEASEBUF message, through which the FPGA informs not just
285 which buffer is submitted, but how much data it contains.
286 
287 But the FPGA will submit a partially filled buffer only if directed to do so
288 by the host. This situation occurs when the read() method has been blocking
289 for XILLY_RX_TIMEOUT jiffies (currently 10 ms), after which the host commands
290 the FPGA to submit a DMA buffer as soon as it can. This timeout mechanism
291 balances between bus bandwidth efficiency (preventing a lot of partially
292 filled buffers being sent) and a latency held fairly low for tails of data.
293 
294 A similar setting is used in the host to FPGA direction. The handling of
295 partial DMA buffers is somewhat different, though. The user can tell the
296 driver to submit all data it has in the buffers to the FPGA, by issuing a
297 write() with the byte count set to zero. This is similar to a flush request,
298 but it doesn't block. There is also an autoflushing mechanism, which triggers
299 an equivalent flush roughly XILLY_RX_TIMEOUT jiffies after the last write().
300 This allows the user to be oblivious about the underlying buffering mechanism
301 and yet enjoy a stream-like interface.
302 
303 Note that the issue of partial buffer flushing is irrelevant for pipes having
304 the "synchronous" attribute nonzero, since synchronous pipes don't allow data
305 to lay around in the DMA buffers between read() and write() anyhow.
306 
307 Data granularity
308 ----------------
309 
310 The data arrives or is sent at the FPGA as 8, 16 or 32 bit wide words, as
311 configured by the "format" attribute. Whenever possible, the driver attempts
312 to hide this when the pipe is accessed differently from its natural alignment.
313 For example, reading single bytes from a pipe with 32 bit granularity works
314 with no issues. Writing single bytes to pipes with 16 or 32 bit granularity
315 will also work, but the driver can't send partially completed words to the
316 FPGA, so the transmission of up to one word may be held until it's fully
317 occupied with user data.
318 
319 This somewhat complicates the handling of host to FPGA streams, because
320 when a buffer is flushed, it may contain up to 3 bytes don't form a word in
321 the FPGA, and hence can't be sent. To prevent loss of data, these leftover
322 bytes need to be moved to the next buffer. The parts in xillybus_core.c
323 that mention "leftovers" in some way are related to this complication.
324 
325 Probing
326 -------
327 
328 As mentioned earlier, the number of pipes that are created when the driver
329 loads and their attributes depend on the Xillybus IP core in the FPGA. During
330 the driver's initialization, a blob containing configuration info, the
331 Interface Description Table (IDT), is sent from the FPGA to the host. The
332 bootstrap process is done in three phases:
333 
334 1. Acquire the length of the IDT, so a buffer can be allocated for it. This
335    is done by sending a quiesce command to the device, since the acknowledge
336    for this command contains the IDT's buffer length.
337 
338 2. Acquire the IDT itself.
339 
340 3. Create the interfaces according to the IDT.
341 
342 Buffer allocation
343 -----------------
344 
345 In order to simplify the logic that prevents illegal boundary crossings of
346 PCIe packets, the following rule applies: If a buffer is smaller than 4kB,
347 it must not cross a 4kB boundary. Otherwise, it must be 4kB aligned. The
348 xilly_setupchannels() functions allocates these buffers by requesting whole
349 pages from the kernel, and diving them into DMA buffers as necessary. Since
350 all buffers' sizes are powers of two, it's possible to pack any set of such
351 buffers, with a maximal waste of one page of memory.
352 
353 All buffers are allocated when the driver is loaded. This is necessary,
354 since large continuous physical memory segments are sometimes requested,
355 which are more likely to be available when the system is freshly booted.
356 
357 The allocation of buffer memory takes place in the same order they appear in
358 the IDT. The driver relies on a rule that the pipes are sorted with decreasing
359 buffer size in the IDT. If a requested buffer is larger or equal to a page,
360 the necessary number of pages is requested from the kernel, and these are
361 used for this buffer. If the requested buffer is smaller than a page, one
362 single page is requested from the kernel, and that page is partially used.
363 Or, if there already is a partially used page at hand, the buffer is packed
364 into that page. It can be shown that all pages requested from the kernel
365 (except possibly for the last) are 100% utilized this way.
366 
367 The "nonempty" message (supporting poll)
368 ---------------------------------------
369 
370 In order to support the "poll" method (and hence select() ), there is a small
371 catch regarding the FPGA to host direction: The FPGA may have filled a DMA
372 buffer with some data, but not submitted that buffer. If the host waited for
373 the buffer's submission by the FPGA, there would be a possibility that the
374 FPGA side has sent data, but a select() call would still block, because the
375 host has not received any notification about this. This is solved with
376 XILLYMSG_OPCODE_NONEMPTY messages sent by the FPGA when a channel goes from
377 completely empty to containing some data.
378 
379 These messages are used only to support poll() and select(). The IP core can
380 be configured not to send them for a slight reduction of bandwidth.

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