SpaceWire RMAP Protocol
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1 SpaceWire RMAP Protocol SpaceWire Working Group Meeting Steve Parkes University of Dundee
2 RMAP Review Final review before ECSS Changes since last meeting/draft C Go through book section by section Review suggestions for changes from Torborn Holt Demonstration of RMAP
3 Changes from Draft C to D Command descriptions split into: Logical addressing Path addressing Simplifies overall description Error code 12 added in section 6.6 to cover detection of invalid destination address. Multiple error handling: Order of checking for errors Definition of the error that is to be reported Added to section 6.6. Not Used command code Error code to send when a Not Used command code is received has been added to section 6.9. Conformance statements added to section Referenced to conformance statements added to section 6-7, Partial Implementation of RMAP Informative annex (section 6.11) added providing possible implementations of the RMAP CRC in VHDL and C-code. Minor editorial changes.
4 Section 6.1 General Purpose Provide a means of Writing to Reading from Registers or memory on a SpaceWire node Over a SpaceWire network Registers are considered to be memory mapped Be simple and effective Flexible to encompass diverse applications RMAP Operations Introduction to Write Read Read-Modify-Write Guide to Clause 6
5 SpaceWire Protocol Identifier Logical Address Protocol ID Rest of Packet EOP Logical Address with Protocol ID Path Address Logical Address Protocol ID Rest of Packet EOP Path Address with Protocol ID
6 Write RMAP Commands With or without acknowledgement Verifying data before writing or writing without verification Read Read-Modify-Write
7 Write Commands Write non-acknowledged, non-verified Writes zero or more bytes to memory in a destination node Command header is checked using a CRC before the data is written Data is not checked before it is written No acknowledgement given to indicate that the command has been successfully executed Used for writing large amounts of data to a destination Where it can be safely assumed that The write operation completed successfully Or that is not critical if it does not succeed E.g. writing camera images to a temporary working buffer
8 Write Commands Write non-acknowledged, verified Writes zero or more bytes to memory in a destination node Command and data are both checked using CRCs before the data is written Limits the amount of data that can be transferred in a single write operation Owing to limited buffer space in destination Erroneous data cannot be written to memory No acknowledgement given to indicate that the command has been successfully executed Used for writing command registers and small amounts of data to a destination where it can be safely assumed that the write operation completed successfully or where errors are detected in a different way E.g. writing many commands to different configuration registers in a device and then checking for an error using a status register
9 Write Commands Write acknowledged, non-verified Writes zero or more bytes to memory in a destination node Command is checked using a CRC before the data is written Data is not checked before it is written Acknowledgement sent to indicate that the command has been successfully executed used for writing large amounts of data to a destination where it can be safely assumed that the write operation completed successfully, but an acknowledgement is required. For example writing sensor data to memory.
10 Write Commands Write acknowledged, verified Writes zero or more bytes to memory in a destination node Command and data are both checked using CRCs before the data is written Limits the amount of data that can be transferred in a single write operation Owing to limited buffer space in destination Erroneous data cannot be written to memory Acknowledgement sent to indicate that the command has been successfully executed Used for writing small amounts of data to a destination where it is important to have confirmation that the write operation was executed successfully. For example writing to command or configuration registers.
11 Path address Definitions Route to a node Specifies output port to use for each router Leading path address byte deleted after use by router Logical address Identity of node If unknown then default of 254 may be used Node may accept or reject packets with logical address 254 Destination path address Path address to destination Destination logical address Logical address of destination
12 Definitions Source path address Path address back to source Used to send ack or data back to source Not needed if logical addressing being used Leading zeros are ignored To send to port zero all bytes should be set to zero Source logical address Logical address to which destination node is to reply Normally source address of node that sent the command May be set to 254 (default) if command source does not have a logical address Protocol Identifier 01h for RMAP
13 Definitions Packet Type, Command, Source Address Length Type of packet Command Reply or acknowledgement Command Read/Write/RMW Verify / Don t Verify Acknowledge / Don t Acknowledge Increment Address / Don t Increment Source Path Address Length Number of four byte words containing the source path address 0 means there is no source path address Maximum of 3 words 12 source path address bytes
14 Definitions Transaction identifier Two bytes used to identify Command Response or acknowledge That make up a transaction Transaction ID sent in command is returned in reply/ack Can be used back in source to associate reply/ack with the command that caused it
15 Definitions Extended Address 1-byte Extends 32-bit memory address Differentiates between various address spaces in destination Memory bank Mailboxes Register bank Memory Address 4-bytes, 32-bit memory address Used to determine what memory location a command is to access Registers and mailboxes are assumed to be memory mapped
16 Data length Definitions Amount of data to be written or read in bytes Header CRC 8-bit CRC Used to confirm header is ok before executing command Data Data to be written in a write command Data read by a read command Data CRC 8-bit CRC Used to confirm that data is correct before being written in a verified write command Also confirms that data in non-verified write command was transferred corectly (within limits of 8-bit CRC) EOP SpaceWire End of Packet marker
17 First byte transmitted Logical Addressing Write Command Destination Logical Address Protocol Identifier Packet Type, Command, Source Path Addr Len Destination Key Source Logical Address Transaction Identifier Transaction Identifier Extended Write Address Write Address (MS) Write Address Write Address Write Address (LS) Data Length (MS) Data Length Data Length (LS) Header CRC Data Data Data Data Data Data Data Data Data Data CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Path Address Length Byte MSB LSB Reserved = 0 Command = 1 Write = 1 Verify data(1) No Verify (0) Ack (1)/ No ack (0) Increment/ No inc. addr Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
18 6.3.2 Write Reply First byte transmitted Source Logical Address Protocol Identifier Packet Type, Command, Source Path Addr Len Status Destination Logical Address Transaction Identifier Transaction Identifier Reply CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Path Address Length Byte MSB LSB Reserved = 0 Response = 0 Write = 1 Verify data (1) No Verify (0) Ack = 1 Increment/ No inc. addr Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
19 Path Addressing First byte transmitted Write Command Destination Path Address Destination Path Address Destination Path Address Destination Logical Address Protocol Identifier Packet Type, Command, Source Path Addr Len Destination Key Source Path Address Source Path Address Source Path Address Source Path Address Source Logical Address Transaction Identifier Transaction Identifier Extended Write Address Write Address (MS) Write Address Write Address Write Address (LS) Data Length (MS) Data Length Data Length (LS) Header CRC Data Data Data Data Data Data Data Data Data Data CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Path Address Length Byte MSB LSB Reserved = 0 Command = 1 Write = 1 Verify data(1) No Verify (0) Ack (1)/ No ack (0) Increment/ No inc. addr Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
20 6.3.4 Write Reply First byte transmitted Source Path Address Source Path Address Source Path Address Source Logical Address Protocol Identifier Packet Type, Command, Source Path Addr Len Status Destination Logical Address Transaction Identifier Transaction Identifier Reply CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Path Address Length Byte MSB LSB Reserved = 0 Response = 0 Write = 1 Verify data (1) No Verify (0) Ack = 1 Increment/ No inc. addr Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
21 6.3.5 Write Action Write Request RMAP Source Write Command RMAP Destination USER APPLICATION Write Data Request Write Data Authorisation USER APPLICATION Write Data Write Reply Write Data Indication Write Complete Confirmation SpaceWire Network
22 6.3.6 Write Errors Write Command Header Error Source Destination Write Request Write Command Record Packet Error
23 Write Authorisation Rejection Source Destination Write Request Authorisation Failure Write Command Write Reply Error Write Data Request Write Data Authorisation Rejection
24 Command Authorisation Destination user application Can refuse to authorise command for any reason E.g. Write address not 32-bit aligned Length not a multiple of four bytes Address range falls partially or completely outside an acceptable region
25 Write Data Error Source Destination Write Request Write Command Header Write Command Data Write Data Request Write Data Authorisation Write Data Failure Write Data Error Reply Record Data Error Write Data Error Indication
26 Write Reply Error Source Destination Write Request Write Command Write Data Request Write Data Authorisation Record Packet Error Write Reply Write Data Write Data Indication
27 6.3.7 Write Command Parameters Write Request parameters: Destination address Source address Transaction identifier Destination key Write command options Write address Data length Data
28 Read command 6.4 Read Command Reads one or more bytes of data From specified area of memory in a destination node Data read is returned in a reply packet.
29 Logical address Read Command First byte transmitted Destination Logical Address Protocol Identifier Packet Type, Command Source Path Addr Len Destination Key Source Logical Address Transaction Identifier (MS) Transaction Identifier (LS) Extended Read Address Read Address (MS) Read Address Read Address Read Address (LS) Data Length (MS) Data Length Data Length (LS) Header CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Path Address Length Byte MSB LSB Reserved = 0 Command = 1 Read = 0 Read = 0 Read = 1 (Ack/No_Ack) Increment/ No inc. addr Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
30 First byte transmitted Source Logical Address Logical address Protocol Identifier Read Reply Packet Type, Command, Source Path Addr Len Status Destination Logical AddressTransaction Identifier (MS) Transaction Identifier (LS) Reserved = 0 Data Length (MS) Data Length Data Length (LS) Header CRC Data Data Data Data Data Data Data Data Data Data CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Address Path Length Byte MSB LSB Reserved = 0 Response = 0 Read = 0 Read = 0 Read = 1 Increment/ No inc. addr Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
31 First byte transmitted Read Command Destination Path Address Destination Path Address Destination Path Address Destination Logical Address Protocol Identifier Packet Type, Command Source Path Addr Len Destination Key Source Path Address Source Path Address Source Path Address Source Path Address Source Logical Address Transaction Identifier (MS) Transaction Identifier (LS) Extended Read Address Read Address (MS) Read Address Read Address Read Address (LS) Data Length (MS) Data Length Data Length (LS) Header CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Path Address Length Byte MSB LSB Reserved = 0 Command = 1 Read = 0 Read = 0 Read = 1 (Ack/No_Ack) Increment/ No inc. addr Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
32 First byte transmitted Read Reply Source Logical Address Source Path Address Protocol Identifier Source Path Address Packet Type, Command, Source Path Addr Len Source Path Address Status Destination Logical AddressTransaction Identifier (MS) Transaction Identifier (LS) Reserved = 0 Data Length (MS) Data Length Data Length (LS) Header CRC Data Data Data Data Data Data Data Data Data Data CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Address Path Length Byte MSB LSB Reserved = 0 Response = 0 Read = 0 Read = 0 Read = 1 Increment/ No inc. addr Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
33 6.4.5 Read Action Source Destination Read Request Read Command Read Data Request Read Reply Read Data Response Read Data Confirmation
34 6.4.6 Read Errors Read Command Error Source Destination Read Request Read Command Record Packet Error
35 Read Authorisation Rejection Source Destination Read Request Read Command Read Reply Authorisation Error Read Data Request Read Authorisation Rejection Authorisation Failure
36 Read Reply Header Error Source Destination Read Request Read Command Record Packet Error Read Reply Read Data Indication Read Data Response
37 Read Reply Data Error Source Destination Read Request Read Command Read Data Indication Read Reply Read Data Response Read Data Failure
38 6.4.7 Read Command Parameters Read Request parameters: Destination address Source address Transaction identifier Destination key Read command options Read address Data length
39 6.5 Read-Modify-Write Command Read-modify-write command Reads a register (or memory) Returns its value Writes a new value, specified in the command, to the register. Mask can be included, in the command So that only certain bits of the register are written Provides an atomic operation that can be used for semaphores and other handshaking operations.
40 Example Read-Modify-Write Operation Data in command (Data) Mask in command (Mask) Data read from destination memory and returned to source (Read) Data written to destination memory = (Mask AND Data) OR (/Mask.Read)
41 6.5.1 Read-Modify-Write Command Logical Address First byte transmitted Destination Logical Address Protocol Identifier Packet Type, Command Source Path Addr Len Destination Key Source Logical Address Transaction Identifier Transaction Identifier Extended RMW Address RMW Address (MS) RMW Address RMW Address RMW Address (LS) Data +Mask Length (MS) = 00h Data + Mask Length = 00h Data + Mask Length (LS) = 00h, 02h, 04h, 06h or 08h Header CRC Data (MS) Data Data Data (LS) Mask (MS) Mask Mask Mask (LS) Data/Mask CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Address Path Length Byte MSB LSB Reserved = 0 Command = 1 Read = 0 Verify Data Before WR = 1 Ack/No_Ack = 1 Incr. address = 1 Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
42 6.5.2 Read-Modify-Write Reply Logical Address First byte transmitted Source Logical Address Protocol Identifier Packet Type, Command, Source Path Addr Len Status Destination Logical Address Transaction Identifier (MS) Transaction Identifier (LS) Reserved = 0 Data Length (MS) = 0 Data Length = 0 Data Length (LS) = 01h, 02h, 03h or 04h Header CRC Data Data Data Data Data CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Path Address Length Byte MSB LSB Reserved = 0 Response = 0 Read = 0 Verify Data Before WR = 1 Ack/No_Ack = 1 Inc. address = 1 Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
43 Destination Logical Address Read-Modify-Write Command Destination Path Address Protocol Identifier Packet Type, Command Source Path Addr Len Destination Key Source Path Address Source Path Address Source Path Address Source Path Address Source Logical Address Transaction Identifier Transaction Identifier Extended RMW Address RMW Address (MS) RMW Address RMW Address RMW Address (LS) Data +Mask Length (MS) = 00h First byte transmitted Data + Mask Length = 00h Destination Path Address Data + Mask Length (LS) = 00h, 02h, 04h, 06h or 08h Destination Path Address Header CRC Data (MS) Data Data Data (LS) Mask (MS) Mask Mask Mask (LS) Data/Mask CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Address Path Length Byte MSB LSB Reserved = 0 Command = 1 Read = 0 Verify Data Before WR = 1 Ack/No_Ack = 1 Incr. address = 1 Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
44 6.5.4 Read-Modify-Write Reply First byte transmitted Source Path Address Source Path Address Source Path Address Source Logical Address Protocol Identifier Packet Type, Command, Source Path Addr Len Status Destination Logical Address Transaction Identifier (MS) Transaction Identifier (LS) Reserved = 0 Data Length (MS) = 0 Data Length = 0 Data Length (LS) = 01h, 02h, 03h or 04h Header CRC Data Data Data Data Data CRC EOP Last byte transmitted Bits in Packet Type / Command / Source Path Address Length Byte MSB LSB Reserved = 0 Response = 0 Read = 0 Verify Data Before WR = 1 Ack/No_Ack = 1 Inc. address = 1 Source Path Address Length Source Path Address Length Packet Type Command Source Path Address Length
45 6.5.5 Read-Modify-Write Operation Source Destination RMW Request RMW Command RMW Data Request Data Read and Write Authorisation RMW Reply Write Data Write Data Indication RMW Complete Confirmation
46 6.5.6 Write Errors RMW Command Header Error Source Destination RMW Request RMW Command Record Packet Error
47 RMW Authorisation Rejection Source Destination RMW Request Authorisation Failure RMW Command RMW Reply Error RMW Data Request RMW Data Authorisation Rejection
48 RMW Data Error Source Destination RMW Request RMW Command Header RMW Command Data RMW Data Request RMW Authorisation RMW Data Failure RMW Data Error Reply Record Data Error RMW Data Error Indication
49 RMW Reply Error Source Destination RMW Request RMW Command RMW Data Request RMW Data Authorisation Record Packet Error RMW Reply RMW Data RMW Data Indication
50 6.5.7 RMW Command Parameters RMW Request parameters: Destination address Source address Transaction identifier Destination key RMW command options Memory address Data length Data Mask
51 6.6 Error Codes Error Code Error Error Description 0 1 Command executed successfully General error code The detected error does not fit into the other error cases or the node does not support further distinction between the errors 2 RMAP command not supported by node The header CRC was decoded correctly but the command byte is not accepted by the node or the command is not defined by the RMAP protocol. 3 Invalid destination key The header CRC was decoded correctly but the device key did not match that expected by the destination user application.
52 6.6 Error Codes Error Code Error Error Description 4 Invalid data CRC Error in the CRC of the data field 5 Early EOP EOP marker detected before the end of the data. 6 7 Late EOP Cargo too large Early EEP EOP marker detected beyond the expected end of the data. Cargo larger than expected EEP marker detected before the end of the data. Indicates that there was a communication failure of some sort on the network.
53 6.6 Error Codes Error Code Error Error Description 8 9 Late EEP DELETE Reserved Verify buffer overrun EEP marker detected beyond the expected end of the data. Indicates that there was a communication failure of some sort on the network. The verify before write bit of the command was set so that the data field was buffered in order verify the data CRC before transferring the data to destination memory. The data field was longer than could fit inside the verify buffer resulting in a buffer overrun. Note the command will not be executed in this case.
54 6.6 Error Codes Error Code Error Error Description 10 Authorisation failure The destination user application did not authorise the requested operation 11 RMW data length error The data in a RMW command does not match the data length field or is invalid (01h, 03h, 05h, 07h or >08h). 12 Invalid destination logical address The header CRC was decoded correctly but the destination logical address was not the value expected by the destination.
55 Partial Implementation of RMAP Partial implementations are permitted For example: Support of write and read but not RMW commands Support of 32-bit data lengths only If destination receives command it does not support Or command with options not supported It refuses to authorise the command Command is not executed If reply requested then it will contain Authorisation Failure error code
56 6.8 RMAP Use Cases Write to Memory DMA Controller Memory SpaceWire SpaceWire Interface RMAP Interface MemPtr = h DataCtr = h Data Data SpaceWire-RMAP Interface Destination Application
57 6.8.2 Read from Memory Processor Bus Host Processor RMAP Interface Status Reg SpaceWire SpaceWire Interface Dest Key Reg Mem Addr Reg Memory Data Len Reg Data FIFO SpaceWire-RMAP Interface Destination Application
58 RMAP Use Cases Reading and Writing to Registers Write to FIFO Read from FIFO Write to Mailbox Read from Mailbox Repeating Transaction ID Can prevent information being written twice to a FIFO or command register
59 6.9 RMAP Command Summary Table of command fields added in section 6.9 Details the set of valid commands And command codes that are not used.
60 6.10 RMAP Conformance Conformance statements Several SpaceWire RMAP compatible subsets can be identified each of which implements only a part of the SpaceWire RMAP standard: RMAP Write Command RMAP Read Command RMAP Read-Modify-Write Command
61 RMAP Write Command Relevant clauses or subclauses Title Protocol Identifier Write Command Error Codes
62 Write Command Equipment Characteristics Write Command Action 8-bit write 16-bit write 32-bit write 64-bit write Verified write Endianess Word or byte address Accepted logical addresses Accepted destination keys Accepted address ranges Address incrementation Supported/ Not Supported Big Endian 32-bit word aligned 0xFE at power-on 0x42 after initialisation 0x20 NS NS S NS S 0x x C Incrementing address only Maximum number of bytes allowed Non-aligned access accepted - - No - No
63 RMAP Read Command Relevant clauses or subclauses Title Protocol Identifier Read Command Error Codes
64 Read Command Equipment Characteristics Read Command Action 8-bit read 16-bit read 32-bit read 64-bit read Endianess Word or byte address Accepted logical addresses Accepted destination keys Supported/ Not Supported Big Endian 32-bit word aligned 0xFE at power-on 0x42 after initialisation 0x20 NS NS S NS Maximum number of bytes allowed Non-aligned access accepted - - No - Accepted address ranges Address incrementation 0x x C 0x x C Incrementing address only
65 RMAP RMW Command Relevant clauses or subclauses Title Protocol Identifier Read-Modify-Write Command Error Codes
66 RMW Command Equipment Characteristics Read-Modify-Write Command Action 8-bit read-modify-write 16-bit read-modify-write Supported/ Not Supported NS NS Maximum number of bytes allowed - - Non-aligned access accepted bit read-modify-write S 4 No 64-bit read-modify-write NS - - Endianess Big Endian Word or byte address 32-bit word aligned Accepted logical addresses 0xFE at power-on 0x42 after initialisation Accepted destination keys 0x20 Accepted address ranges Address incrementation 0x x C Incrementing address only
67 6.11 CRC Implementation Header CRC 8-bit CRC Fairly simple to compute Provides reasonable protection for short header Data CRC Same 8-bit CRC May be computed using same hardware/software as Header CRC Provides reasonable protection for short data lengths For long packets of data additional protection may be necessary Which must be supplied by the user application Galois version of CRC used X 8 + X 2 + X Initialised with zero Simple to implement in hardware VHDL and C-code included
68 Comments from Torbjorn Holt
69 RMAP Demonstration Host PC RMAP Software SpaceWire USB Brick SpaceWire Router RMAP Hardware
70 RMAP Demonstration Host PC RMAP Software SpaceWire USB Brick Link Analyser SpaceWire Router RMAP Hardware Host PC
71
72 Header 00 RMAP Command Configuration port of Router FE 01 4D 20 FE = Destination logical address (default) 01 = RMAP Protocol ID 4D = Read command, Source path length = 1 20 = Destination key (default destination key for router) Source path address Leading zeros ignored 3 is the source path address Router returns configuration information on port that it received command 3 is the USB port of the Brick
73 FE 00 A6 00 RMAP Command (Continued) FE = Source logical address (default) 00 A6 = Transaction ID 00 = Extended address Read memory address = Data length 48 = Header CRC
74 Header 03 RMAP Response Path address to Brick USB port FE 01 0D 00 FE = Source logical address (default) 01 = RMAP Protocol ID 0D = Read Response 00 = Status (success) FE 00 A6 00 FE = Destination logical address (default) 00 A6 = Transaction ID 00 = Reserved
75 D0 RMAP Response (Continued) = Data length (4 bytes) D0 = Header CRC BF = Data read from Router (Network Discovery Register) : bits set for links that are operational (USB, port 8, port 1) 11 : return port is link 1, device is a router Data CRC
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