refactor reset api for UDMA

there's now unfortunately branch divergence in the NTO/MPW
code base

The methodology is to code like we're running on NTO, and
if the "mpw" feature is selected, we put hacks in to run
on MPW hardware.

Under the theory that MPW should be totally deprecated
once NTO comes out, and therefore the hacks should accumulate
in the MPW code base (and ideally be somewhat easy to cull when
the time comes).

services/cram-hal-service/Cargo.toml

@@ -42,6 +42,7 @@ pio-memlcd = []
 rawserial = []
 pinger = []
 swap = []
+mpw = ["cramium-hal/mpw"]
 # add this feature to enable pre-emption
 quantum-timer = ["utralib", "pio"]
 default = ["app-uart"]

services/cram-hal-service/src/api.rs

@@ -44,6 +44,9 @@ pub enum Opcode {
     /// I2C operations
     I2c = 9,
 
+    /// Peripheral reset
+    PeriphReset = 10,
+
     /// Exit server
     Quit = 255,
 

services/cram-hal-service/src/lib.rs

@@ -66,6 +66,20 @@ impl UdmaGlobal {
         )
         .expect("Couldn't setup UDMA event mapping");
     }
+
+    pub fn reset(&self, peripheral: PeriphId) {
+        xous::send_message(
+            self.conn,
+            xous::Message::new_blocking_scalar(
+                Opcode::PeriphReset.to_usize().unwrap(),
+                peripheral as u32 as usize,
+                0,
+                0,
+                0,
+            ),
+        )
+        .expect("Couldn't setup UDMA clock");
+    }
 }
 
 impl UdmaGlobalConfig for UdmaGlobal {
@@ -79,4 +93,6 @@ impl UdmaGlobalConfig for UdmaGlobal {
     ) {
         self.udma_event_map(peripheral, event_type, to_channel);
     }
+
+    fn reset(&self, peripheral: PeriphId) { self.reset(peripheral); }
 }

services/cram-hal-service/src/main.rs

@@ -166,7 +166,13 @@ fn main() {
         )
     };
     let mut i2c = unsafe {
-        cramium_hal::udma::I2c::new_with_ifram(i2c_channel, 400_000, cram_hal_service::PERCLK, i2c_ifram)
+        cramium_hal::udma::I2c::new_with_ifram(
+            i2c_channel,
+            400_000,
+            cram_hal_service::PERCLK,
+            i2c_ifram,
+            &udma_global,
+        )
     };
 
     // -------------------- begin timer workaround code
@@ -371,6 +377,12 @@ fn main() {
                     udma_global.map_event_with_offset(periph, event_offset, to_channel);
                 }
             }
+            Opcode::PeriphReset => {
+                if let Some(scalar) = msg.body.scalar_message() {
+                    let periph: PeriphId = num_traits::FromPrimitive::from_usize(scalar.arg1).unwrap();
+                    udma_global.reset(periph);
+                }
+            }
             Opcode::I2c => {
                 let mut buf = unsafe {
                     xous_ipc::Buffer::from_memory_message_mut(msg.body.memory_message_mut().unwrap())