| /* |
| * QEMU model of Xilinx AXI-DMA block. |
| * |
| * Copyright (c) 2011 Edgar E. Iglesias. |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining a copy |
| * of this software and associated documentation files (the "Software"), to deal |
| * in the Software without restriction, including without limitation the rights |
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| * copies of the Software, and to permit persons to whom the Software is |
| * furnished to do so, subject to the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be included in |
| * all copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL |
| * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| * THE SOFTWARE. |
| */ |
| |
| #include "qemu/osdep.h" |
| #include "hw/sysbus.h" |
| #include "qapi/error.h" |
| #include "qemu/timer.h" |
| #include "hw/hw.h" |
| #include "hw/irq.h" |
| #include "hw/ptimer.h" |
| #include "hw/qdev-properties.h" |
| #include "qemu/log.h" |
| #include "qemu/module.h" |
| |
| #include "hw/stream.h" |
| |
| #define D(x) |
| |
| #define TYPE_XILINX_AXI_DMA "xlnx.axi-dma" |
| #define TYPE_XILINX_AXI_DMA_DATA_STREAM "xilinx-axi-dma-data-stream" |
| #define TYPE_XILINX_AXI_DMA_CONTROL_STREAM "xilinx-axi-dma-control-stream" |
| |
| #define XILINX_AXI_DMA(obj) \ |
| OBJECT_CHECK(XilinxAXIDMA, (obj), TYPE_XILINX_AXI_DMA) |
| |
| #define XILINX_AXI_DMA_DATA_STREAM(obj) \ |
| OBJECT_CHECK(XilinxAXIDMAStreamSlave, (obj),\ |
| TYPE_XILINX_AXI_DMA_DATA_STREAM) |
| |
| #define XILINX_AXI_DMA_CONTROL_STREAM(obj) \ |
| OBJECT_CHECK(XilinxAXIDMAStreamSlave, (obj),\ |
| TYPE_XILINX_AXI_DMA_CONTROL_STREAM) |
| |
| #define R_DMACR (0x00 / 4) |
| #define R_DMASR (0x04 / 4) |
| #define R_CURDESC (0x08 / 4) |
| #define R_TAILDESC (0x10 / 4) |
| #define R_MAX (0x30 / 4) |
| |
| #define CONTROL_PAYLOAD_WORDS 5 |
| #define CONTROL_PAYLOAD_SIZE (CONTROL_PAYLOAD_WORDS * (sizeof(uint32_t))) |
| |
| typedef struct XilinxAXIDMA XilinxAXIDMA; |
| typedef struct XilinxAXIDMAStreamSlave XilinxAXIDMAStreamSlave; |
| |
| enum { |
| DMACR_RUNSTOP = 1, |
| DMACR_TAILPTR_MODE = 2, |
| DMACR_RESET = 4 |
| }; |
| |
| enum { |
| DMASR_HALTED = 1, |
| DMASR_IDLE = 2, |
| DMASR_IOC_IRQ = 1 << 12, |
| DMASR_DLY_IRQ = 1 << 13, |
| |
| DMASR_IRQ_MASK = 7 << 12 |
| }; |
| |
| struct SDesc { |
| uint64_t nxtdesc; |
| uint64_t buffer_address; |
| uint64_t reserved; |
| uint32_t control; |
| uint32_t status; |
| uint8_t app[CONTROL_PAYLOAD_SIZE]; |
| }; |
| |
| enum { |
| SDESC_CTRL_EOF = (1 << 26), |
| SDESC_CTRL_SOF = (1 << 27), |
| |
| SDESC_CTRL_LEN_MASK = (1 << 23) - 1 |
| }; |
| |
| enum { |
| SDESC_STATUS_EOF = (1 << 26), |
| SDESC_STATUS_SOF_BIT = 27, |
| SDESC_STATUS_SOF = (1 << SDESC_STATUS_SOF_BIT), |
| SDESC_STATUS_COMPLETE = (1 << 31) |
| }; |
| |
| struct Stream { |
| ptimer_state *ptimer; |
| qemu_irq irq; |
| |
| int nr; |
| |
| struct SDesc desc; |
| int pos; |
| unsigned int complete_cnt; |
| uint32_t regs[R_MAX]; |
| uint8_t app[20]; |
| unsigned char txbuf[16 * 1024]; |
| }; |
| |
| struct XilinxAXIDMAStreamSlave { |
| Object parent; |
| |
| struct XilinxAXIDMA *dma; |
| }; |
| |
| struct XilinxAXIDMA { |
| SysBusDevice busdev; |
| MemoryRegion iomem; |
| uint32_t freqhz; |
| StreamSlave *tx_data_dev; |
| StreamSlave *tx_control_dev; |
| XilinxAXIDMAStreamSlave rx_data_dev; |
| XilinxAXIDMAStreamSlave rx_control_dev; |
| |
| struct Stream streams[2]; |
| |
| StreamCanPushNotifyFn notify; |
| void *notify_opaque; |
| }; |
| |
| /* |
| * Helper calls to extract info from descriptors and other trivial |
| * state from regs. |
| */ |
| static inline int stream_desc_sof(struct SDesc *d) |
| { |
| return d->control & SDESC_CTRL_SOF; |
| } |
| |
| static inline int stream_desc_eof(struct SDesc *d) |
| { |
| return d->control & SDESC_CTRL_EOF; |
| } |
| |
| static inline int stream_resetting(struct Stream *s) |
| { |
| return !!(s->regs[R_DMACR] & DMACR_RESET); |
| } |
| |
| static inline int stream_running(struct Stream *s) |
| { |
| return s->regs[R_DMACR] & DMACR_RUNSTOP; |
| } |
| |
| static inline int stream_idle(struct Stream *s) |
| { |
| return !!(s->regs[R_DMASR] & DMASR_IDLE); |
| } |
| |
| static void stream_reset(struct Stream *s) |
| { |
| s->regs[R_DMASR] = DMASR_HALTED; /* starts up halted. */ |
| s->regs[R_DMACR] = 1 << 16; /* Starts with one in compl threshold. */ |
| } |
| |
| /* Map an offset addr into a channel index. */ |
| static inline int streamid_from_addr(hwaddr addr) |
| { |
| int sid; |
| |
| sid = addr / (0x30); |
| sid &= 1; |
| return sid; |
| } |
| |
| static void stream_desc_load(struct Stream *s, hwaddr addr) |
| { |
| struct SDesc *d = &s->desc; |
| |
| cpu_physical_memory_read(addr, d, sizeof *d); |
| |
| /* Convert from LE into host endianness. */ |
| d->buffer_address = le64_to_cpu(d->buffer_address); |
| d->nxtdesc = le64_to_cpu(d->nxtdesc); |
| d->control = le32_to_cpu(d->control); |
| d->status = le32_to_cpu(d->status); |
| } |
| |
| static void stream_desc_store(struct Stream *s, hwaddr addr) |
| { |
| struct SDesc *d = &s->desc; |
| |
| /* Convert from host endianness into LE. */ |
| d->buffer_address = cpu_to_le64(d->buffer_address); |
| d->nxtdesc = cpu_to_le64(d->nxtdesc); |
| d->control = cpu_to_le32(d->control); |
| d->status = cpu_to_le32(d->status); |
| cpu_physical_memory_write(addr, d, sizeof *d); |
| } |
| |
| static void stream_update_irq(struct Stream *s) |
| { |
| unsigned int pending, mask, irq; |
| |
| pending = s->regs[R_DMASR] & DMASR_IRQ_MASK; |
| mask = s->regs[R_DMACR] & DMASR_IRQ_MASK; |
| |
| irq = pending & mask; |
| |
| qemu_set_irq(s->irq, !!irq); |
| } |
| |
| static void stream_reload_complete_cnt(struct Stream *s) |
| { |
| unsigned int comp_th; |
| comp_th = (s->regs[R_DMACR] >> 16) & 0xff; |
| s->complete_cnt = comp_th; |
| } |
| |
| static void timer_hit(void *opaque) |
| { |
| struct Stream *s = opaque; |
| |
| stream_reload_complete_cnt(s); |
| s->regs[R_DMASR] |= DMASR_DLY_IRQ; |
| stream_update_irq(s); |
| } |
| |
| static void stream_complete(struct Stream *s) |
| { |
| unsigned int comp_delay; |
| |
| /* Start the delayed timer. */ |
| ptimer_transaction_begin(s->ptimer); |
| comp_delay = s->regs[R_DMACR] >> 24; |
| if (comp_delay) { |
| ptimer_stop(s->ptimer); |
| ptimer_set_count(s->ptimer, comp_delay); |
| ptimer_run(s->ptimer, 1); |
| } |
| |
| s->complete_cnt--; |
| if (s->complete_cnt == 0) { |
| /* Raise the IOC irq. */ |
| s->regs[R_DMASR] |= DMASR_IOC_IRQ; |
| stream_reload_complete_cnt(s); |
| } |
| ptimer_transaction_commit(s->ptimer); |
| } |
| |
| static void stream_process_mem2s(struct Stream *s, StreamSlave *tx_data_dev, |
| StreamSlave *tx_control_dev) |
| { |
| uint32_t prev_d; |
| unsigned int txlen; |
| |
| if (!stream_running(s) || stream_idle(s)) { |
| return; |
| } |
| |
| while (1) { |
| stream_desc_load(s, s->regs[R_CURDESC]); |
| |
| if (s->desc.status & SDESC_STATUS_COMPLETE) { |
| s->regs[R_DMASR] |= DMASR_HALTED; |
| break; |
| } |
| |
| if (stream_desc_sof(&s->desc)) { |
| s->pos = 0; |
| stream_push(tx_control_dev, s->desc.app, sizeof(s->desc.app)); |
| } |
| |
| txlen = s->desc.control & SDESC_CTRL_LEN_MASK; |
| if ((txlen + s->pos) > sizeof s->txbuf) { |
| hw_error("%s: too small internal txbuf! %d\n", __func__, |
| txlen + s->pos); |
| } |
| |
| cpu_physical_memory_read(s->desc.buffer_address, |
| s->txbuf + s->pos, txlen); |
| s->pos += txlen; |
| |
| if (stream_desc_eof(&s->desc)) { |
| stream_push(tx_data_dev, s->txbuf, s->pos); |
| s->pos = 0; |
| stream_complete(s); |
| } |
| |
| /* Update the descriptor. */ |
| s->desc.status = txlen | SDESC_STATUS_COMPLETE; |
| stream_desc_store(s, s->regs[R_CURDESC]); |
| |
| /* Advance. */ |
| prev_d = s->regs[R_CURDESC]; |
| s->regs[R_CURDESC] = s->desc.nxtdesc; |
| if (prev_d == s->regs[R_TAILDESC]) { |
| s->regs[R_DMASR] |= DMASR_IDLE; |
| break; |
| } |
| } |
| } |
| |
| static size_t stream_process_s2mem(struct Stream *s, unsigned char *buf, |
| size_t len) |
| { |
| uint32_t prev_d; |
| unsigned int rxlen; |
| size_t pos = 0; |
| int sof = 1; |
| |
| if (!stream_running(s) || stream_idle(s)) { |
| return 0; |
| } |
| |
| while (len) { |
| stream_desc_load(s, s->regs[R_CURDESC]); |
| |
| if (s->desc.status & SDESC_STATUS_COMPLETE) { |
| s->regs[R_DMASR] |= DMASR_HALTED; |
| break; |
| } |
| |
| rxlen = s->desc.control & SDESC_CTRL_LEN_MASK; |
| if (rxlen > len) { |
| /* It fits. */ |
| rxlen = len; |
| } |
| |
| cpu_physical_memory_write(s->desc.buffer_address, buf + pos, rxlen); |
| len -= rxlen; |
| pos += rxlen; |
| |
| /* Update the descriptor. */ |
| if (!len) { |
| stream_complete(s); |
| memcpy(s->desc.app, s->app, sizeof(s->desc.app)); |
| s->desc.status |= SDESC_STATUS_EOF; |
| } |
| |
| s->desc.status |= sof << SDESC_STATUS_SOF_BIT; |
| s->desc.status |= SDESC_STATUS_COMPLETE; |
| stream_desc_store(s, s->regs[R_CURDESC]); |
| sof = 0; |
| |
| /* Advance. */ |
| prev_d = s->regs[R_CURDESC]; |
| s->regs[R_CURDESC] = s->desc.nxtdesc; |
| if (prev_d == s->regs[R_TAILDESC]) { |
| s->regs[R_DMASR] |= DMASR_IDLE; |
| break; |
| } |
| } |
| |
| return pos; |
| } |
| |
| static void xilinx_axidma_reset(DeviceState *dev) |
| { |
| int i; |
| XilinxAXIDMA *s = XILINX_AXI_DMA(dev); |
| |
| for (i = 0; i < 2; i++) { |
| stream_reset(&s->streams[i]); |
| } |
| } |
| |
| static size_t |
| xilinx_axidma_control_stream_push(StreamSlave *obj, unsigned char *buf, |
| size_t len) |
| { |
| XilinxAXIDMAStreamSlave *cs = XILINX_AXI_DMA_CONTROL_STREAM(obj); |
| struct Stream *s = &cs->dma->streams[1]; |
| |
| if (len != CONTROL_PAYLOAD_SIZE) { |
| hw_error("AXI DMA requires %d byte control stream payload\n", |
| (int)CONTROL_PAYLOAD_SIZE); |
| } |
| |
| memcpy(s->app, buf, len); |
| return len; |
| } |
| |
| static bool |
| xilinx_axidma_data_stream_can_push(StreamSlave *obj, |
| StreamCanPushNotifyFn notify, |
| void *notify_opaque) |
| { |
| XilinxAXIDMAStreamSlave *ds = XILINX_AXI_DMA_DATA_STREAM(obj); |
| struct Stream *s = &ds->dma->streams[1]; |
| |
| if (!stream_running(s) || stream_idle(s)) { |
| ds->dma->notify = notify; |
| ds->dma->notify_opaque = notify_opaque; |
| return false; |
| } |
| |
| return true; |
| } |
| |
| static size_t |
| xilinx_axidma_data_stream_push(StreamSlave *obj, unsigned char *buf, size_t len) |
| { |
| XilinxAXIDMAStreamSlave *ds = XILINX_AXI_DMA_DATA_STREAM(obj); |
| struct Stream *s = &ds->dma->streams[1]; |
| size_t ret; |
| |
| ret = stream_process_s2mem(s, buf, len); |
| stream_update_irq(s); |
| return ret; |
| } |
| |
| static uint64_t axidma_read(void *opaque, hwaddr addr, |
| unsigned size) |
| { |
| XilinxAXIDMA *d = opaque; |
| struct Stream *s; |
| uint32_t r = 0; |
| int sid; |
| |
| sid = streamid_from_addr(addr); |
| s = &d->streams[sid]; |
| |
| addr = addr % 0x30; |
| addr >>= 2; |
| switch (addr) { |
| case R_DMACR: |
| /* Simulate one cycles reset delay. */ |
| s->regs[addr] &= ~DMACR_RESET; |
| r = s->regs[addr]; |
| break; |
| case R_DMASR: |
| s->regs[addr] &= 0xffff; |
| s->regs[addr] |= (s->complete_cnt & 0xff) << 16; |
| s->regs[addr] |= (ptimer_get_count(s->ptimer) & 0xff) << 24; |
| r = s->regs[addr]; |
| break; |
| default: |
| r = s->regs[addr]; |
| D(qemu_log("%s ch=%d addr=" TARGET_FMT_plx " v=%x\n", |
| __func__, sid, addr * 4, r)); |
| break; |
| } |
| return r; |
| |
| } |
| |
| static void axidma_write(void *opaque, hwaddr addr, |
| uint64_t value, unsigned size) |
| { |
| XilinxAXIDMA *d = opaque; |
| struct Stream *s; |
| int sid; |
| |
| sid = streamid_from_addr(addr); |
| s = &d->streams[sid]; |
| |
| addr = addr % 0x30; |
| addr >>= 2; |
| switch (addr) { |
| case R_DMACR: |
| /* Tailptr mode is always on. */ |
| value |= DMACR_TAILPTR_MODE; |
| /* Remember our previous reset state. */ |
| value |= (s->regs[addr] & DMACR_RESET); |
| s->regs[addr] = value; |
| |
| if (value & DMACR_RESET) { |
| stream_reset(s); |
| } |
| |
| if ((value & 1) && !stream_resetting(s)) { |
| /* Start processing. */ |
| s->regs[R_DMASR] &= ~(DMASR_HALTED | DMASR_IDLE); |
| } |
| stream_reload_complete_cnt(s); |
| break; |
| |
| case R_DMASR: |
| /* Mask away write to clear irq lines. */ |
| value &= ~(value & DMASR_IRQ_MASK); |
| s->regs[addr] = value; |
| break; |
| |
| case R_TAILDESC: |
| s->regs[addr] = value; |
| s->regs[R_DMASR] &= ~DMASR_IDLE; /* Not idle. */ |
| if (!sid) { |
| stream_process_mem2s(s, d->tx_data_dev, d->tx_control_dev); |
| } |
| break; |
| default: |
| D(qemu_log("%s: ch=%d addr=" TARGET_FMT_plx " v=%x\n", |
| __func__, sid, addr * 4, (unsigned)value)); |
| s->regs[addr] = value; |
| break; |
| } |
| if (sid == 1 && d->notify) { |
| StreamCanPushNotifyFn notifytmp = d->notify; |
| d->notify = NULL; |
| notifytmp(d->notify_opaque); |
| } |
| stream_update_irq(s); |
| } |
| |
| static const MemoryRegionOps axidma_ops = { |
| .read = axidma_read, |
| .write = axidma_write, |
| .endianness = DEVICE_NATIVE_ENDIAN, |
| }; |
| |
| static void xilinx_axidma_realize(DeviceState *dev, Error **errp) |
| { |
| XilinxAXIDMA *s = XILINX_AXI_DMA(dev); |
| XilinxAXIDMAStreamSlave *ds = XILINX_AXI_DMA_DATA_STREAM(&s->rx_data_dev); |
| XilinxAXIDMAStreamSlave *cs = XILINX_AXI_DMA_CONTROL_STREAM( |
| &s->rx_control_dev); |
| Error *local_err = NULL; |
| |
| object_property_add_link(OBJECT(ds), "dma", TYPE_XILINX_AXI_DMA, |
| (Object **)&ds->dma, |
| object_property_allow_set_link, |
| OBJ_PROP_LINK_STRONG, |
| &local_err); |
| object_property_add_link(OBJECT(cs), "dma", TYPE_XILINX_AXI_DMA, |
| (Object **)&cs->dma, |
| object_property_allow_set_link, |
| OBJ_PROP_LINK_STRONG, |
| &local_err); |
| if (local_err) { |
| goto xilinx_axidma_realize_fail; |
| } |
| object_property_set_link(OBJECT(ds), OBJECT(s), "dma", &local_err); |
| object_property_set_link(OBJECT(cs), OBJECT(s), "dma", &local_err); |
| if (local_err) { |
| goto xilinx_axidma_realize_fail; |
| } |
| |
| int i; |
| |
| for (i = 0; i < 2; i++) { |
| struct Stream *st = &s->streams[i]; |
| |
| st->nr = i; |
| st->ptimer = ptimer_init(timer_hit, st, PTIMER_POLICY_DEFAULT); |
| ptimer_transaction_begin(st->ptimer); |
| ptimer_set_freq(st->ptimer, s->freqhz); |
| ptimer_transaction_commit(st->ptimer); |
| } |
| return; |
| |
| xilinx_axidma_realize_fail: |
| error_propagate(errp, local_err); |
| } |
| |
| static void xilinx_axidma_init(Object *obj) |
| { |
| XilinxAXIDMA *s = XILINX_AXI_DMA(obj); |
| SysBusDevice *sbd = SYS_BUS_DEVICE(obj); |
| |
| object_initialize_child(OBJECT(s), "axistream-connected-target", |
| &s->rx_data_dev, sizeof(s->rx_data_dev), |
| TYPE_XILINX_AXI_DMA_DATA_STREAM, &error_abort, |
| NULL); |
| object_initialize_child(OBJECT(s), "axistream-control-connected-target", |
| &s->rx_control_dev, sizeof(s->rx_control_dev), |
| TYPE_XILINX_AXI_DMA_CONTROL_STREAM, &error_abort, |
| NULL); |
| |
| sysbus_init_irq(sbd, &s->streams[0].irq); |
| sysbus_init_irq(sbd, &s->streams[1].irq); |
| |
| memory_region_init_io(&s->iomem, obj, &axidma_ops, s, |
| "xlnx.axi-dma", R_MAX * 4 * 2); |
| sysbus_init_mmio(sbd, &s->iomem); |
| } |
| |
| static Property axidma_properties[] = { |
| DEFINE_PROP_UINT32("freqhz", XilinxAXIDMA, freqhz, 50000000), |
| DEFINE_PROP_LINK("axistream-connected", XilinxAXIDMA, |
| tx_data_dev, TYPE_STREAM_SLAVE, StreamSlave *), |
| DEFINE_PROP_LINK("axistream-control-connected", XilinxAXIDMA, |
| tx_control_dev, TYPE_STREAM_SLAVE, StreamSlave *), |
| DEFINE_PROP_END_OF_LIST(), |
| }; |
| |
| static void axidma_class_init(ObjectClass *klass, void *data) |
| { |
| DeviceClass *dc = DEVICE_CLASS(klass); |
| |
| dc->realize = xilinx_axidma_realize, |
| dc->reset = xilinx_axidma_reset; |
| device_class_set_props(dc, axidma_properties); |
| } |
| |
| static StreamSlaveClass xilinx_axidma_data_stream_class = { |
| .push = xilinx_axidma_data_stream_push, |
| .can_push = xilinx_axidma_data_stream_can_push, |
| }; |
| |
| static StreamSlaveClass xilinx_axidma_control_stream_class = { |
| .push = xilinx_axidma_control_stream_push, |
| }; |
| |
| static void xilinx_axidma_stream_class_init(ObjectClass *klass, void *data) |
| { |
| StreamSlaveClass *ssc = STREAM_SLAVE_CLASS(klass); |
| |
| ssc->push = ((StreamSlaveClass *)data)->push; |
| ssc->can_push = ((StreamSlaveClass *)data)->can_push; |
| } |
| |
| static const TypeInfo axidma_info = { |
| .name = TYPE_XILINX_AXI_DMA, |
| .parent = TYPE_SYS_BUS_DEVICE, |
| .instance_size = sizeof(XilinxAXIDMA), |
| .class_init = axidma_class_init, |
| .instance_init = xilinx_axidma_init, |
| }; |
| |
| static const TypeInfo xilinx_axidma_data_stream_info = { |
| .name = TYPE_XILINX_AXI_DMA_DATA_STREAM, |
| .parent = TYPE_OBJECT, |
| .instance_size = sizeof(struct XilinxAXIDMAStreamSlave), |
| .class_init = xilinx_axidma_stream_class_init, |
| .class_data = &xilinx_axidma_data_stream_class, |
| .interfaces = (InterfaceInfo[]) { |
| { TYPE_STREAM_SLAVE }, |
| { } |
| } |
| }; |
| |
| static const TypeInfo xilinx_axidma_control_stream_info = { |
| .name = TYPE_XILINX_AXI_DMA_CONTROL_STREAM, |
| .parent = TYPE_OBJECT, |
| .instance_size = sizeof(struct XilinxAXIDMAStreamSlave), |
| .class_init = xilinx_axidma_stream_class_init, |
| .class_data = &xilinx_axidma_control_stream_class, |
| .interfaces = (InterfaceInfo[]) { |
| { TYPE_STREAM_SLAVE }, |
| { } |
| } |
| }; |
| |
| static void xilinx_axidma_register_types(void) |
| { |
| type_register_static(&axidma_info); |
| type_register_static(&xilinx_axidma_data_stream_info); |
| type_register_static(&xilinx_axidma_control_stream_info); |
| } |
| |
| type_init(xilinx_axidma_register_types) |