异构R5实时系统开发笔记-基于芯驰D9360

米尔电子嵌入式 2024-06-13 08:00

TI MCU方案：能源基础设施实时控制 构建AI未来，Arm计算平台无处不在

本篇测评由与非网的优秀测评者“短笛君”提供。

本文将介绍基于米尔电子MYD-YD9360商显板的R5协处理器开发方案测试。

本处参考对D9360中的协处理器进行开发测试

开发之前请确认编译环境正常可以正常对镜像进行编译

具体参考之前编译Ubuntu系统文章，自行编译buildroot系统测试

1.1打开RTOS驱动

freeRTOS的源码放在ssdk包下面，我们可以通过图形化界面启动RTOS系统。D9的ssdk图形化界面是通过menuconfig.sh脚本配置打开，此脚本在ssdk/tools下。以D9360为例，如下：

ddj@ubuntu:~/YD9X/MYD-YD9X-SDK_V1.0/source/ssdk$ pwd/home/ddj/YD9X/MYD-YD9X-SDK_V1.0/source/ssdk
~/MYD-JD9X-ubuntu/MYD-JD9X-SDK_V1.0/source/ssdk$ ./tools/menuconfig.sh -b d9360_ref -p ref -c secure

1.2 添加RTOS例程驱动

RTOS系统例程在examples/kunlun/drivers

ddj@ubuntu:~/YD9X/MYD-YD9X-SDK_V1.0/source/ssdk/examples/kunlun/drivers$ ls

新建一个abc目录

并配置Kconfig和rules.mk文件

返回driver目录下配置Kconfig添加ABC去东门模块初始状态和图形界面类型

ABC驱动模块的初始状态和图形界面类型

在rules.mk文件下，添加如下内容

MODULES += $(LOCAL_DIR)/abc: 如果配置选项 CONFIG_ABC_TEST 为 "y"，则会将 $(LOCAL_DIR)/abc 添加到变量 MODULES 中。这意味着当启用了 "ABC Test" 功能时，会将 $(LOCAL_DIR)/abc 模块添加到模块列表中。

R5核数据发送到A55核中

将rpmsg目录下的rpmsg_test.c文件复制到abc.c文件中，该驱动描述如何通过RPMSG协议进行核间通信。我们可以在此程序基础上加入自己的协议，以下是R5核发送“Hello, RPMSG!”字符串到A55核，并打印出接收到的信息的函数。

void send_receive_string(rpmsg_channel_t channel, const char *message) {
        int max_payload;        struct dcf_ccm_hdr *snd_pkg;        struct dcf_ccm_hdr *rcv_pkg;        status_t ret;
        max_payload = rpmsg_channel_max_payload(channel);        snd_pkg = osAlloc(max_payload);        rcv_pkg = osAlloc(max_payload);        ASSERT(snd_pkg && rcv_pkg);
        memset(snd_pkg, 0x0, max_payload);        memset(rcv_pkg, 0x0, max_payload);
        snd_pkg->dmsg.msg_type = COMM_MSG_CCM_ECHO;        snd_pkg->dmsg.opflags |= DCF_MSGF_TMS;        snd_pkg->dmsg.msg_len = sizeof(struct dcf_ccm_hdr) - sizeof(struct dcf_message);
        strncpy(snd_pkg->data, message, max_payload - sizeof(struct dcf_ccm_hdr));
        ret = rpmsg_channel_send(channel, RPMSG_ECHO_EPT_ADDR, snd_pkg, max_payload, 3000);                if (ret == RPMSG_SUCCESS) {      printf("Sent: %s\n", message);                } else {                    printf("Failed to send message\n");                }
        int received_len;        ret = rpmsg_channel_recv(channel, rcv_pkg, max_payload, &received_len, 3000);                    if (ret == RPMSG_SUCCESS) {                        printf("Received: %s\n", rcv_pkg->data);                    } else {                        printf("Failed to receive message\n");                    }
        osFree(snd_pkg);        osFree(rcv_pkg);}

将以上函数添加至abc.c文件内，并在主函数(rpmsg_test)编写调用该函数条件，如下：

const char* message_to_send = "Hello,rpmsg";
if (argc == 0) {        rpmsg_test_show();        goto exit;    }
    if (argc == 2) {        test_case = 0;        type = atoi(argv[0]);        rproc = atoi(argv[1]);    }  else if (!strcmp(argv[0], "ping")) {        test_case = 1;        type = atoi(argv[1]);        rproc = atoi(argv[2]);        times = atoi(argv[3]);    }    else if (!strcmp(argv[0], "iperf")) {        test_case = 2;        type = atoi(argv[1]);        rproc = atoi(argv[2]);        times = atoi(argv[3]);}//新添加的条件    else if(!strcmp(argv[0], "send")){        test_case = 3;        type = atoi(argv[1]);        rproc = atoi(argv[2]);        times = atoi(argv[3]);    }    else {        printf("Unknown cmd %s\n", argv[0]);        goto exit;    }switch (test_case) {        case 0:            do_rpmsg_echo_test(channel);        break;
        case 1:            do_rpmsg_ping_test(channel, times);        break;  case 2:            do_rpmsg_iperf_test(channel, times);        break;
        case 3:            send_receive_string(channel, message_to_send);        break;
        default:            printf("Unknown case %d\n", test_case);        break;    }
//加入串口打印提示(跳至rpmsg_test_show函数）printf("\nTest command:\n");    printf("\trpmsg_test  \n");    printf("\trpmsg_test ping   \n");    printf("\trpmsg_test iperf   \n");    printf("\trpmsg_test send   \n");
    printf("\ne.g: test ping rpmsg.virtio 10 times with secure, use command:\n");    printf("\trpmsg_test ping 0 1 10\n");

通过5.1小节打开图形化配置界面，进入到Driver and Application Examples/Driver Example Support下，可以看到我们新加的abc test Support驱动配置选项，需要关闭RPMSG Example Application Support选项，如下：

选中此选项编译进内核，将串口线（debug）接到10_TX,10_RX和GND，打开终端调试工具。编辑source/ssdk/ middleware/rpmsg_service/rpmsg_echo.c文件，添加代码如下：

static int echo_channel_cb(void *data, int len, unsigned long src, void *arg){    rpmsg_channel_t chan = arg;    struct dcf_ccm_hdr *ccm_pkg = data;    const char *char_data = (char *)data;    int ret = 0;
    if (ccm_pkg->dmsg.msg_type == COMM_MSG_CCM_ECHO) {        ccm_pkg->time[2] = timer_get_current_time(g_syscnt_timer) * g_sdrv_syscnt_dev.cnt_per_us;        ret = rpmsg_channel_send(chan, src, data, len, 1000);        printf("Sending data (length %d): ", len);        for (int i = 8; i < len; i++) {                printf("%c ", char_data[i]);  }        printf("\n");    }    else if (ccm_pkg->dmsg.msg_type == COMM_MSG_CCM_ACK) {        ret = rpmsg_channel_send(chan, src, (char *)"ACK", 4, 1000);        ssdk_printf(SSDK_INFO,"send ACK\n");    }    else {        ssdk_printf(SSDK_WARNING, "echo_channel_cb: unknown %d bytes from addr %ld\n",                    len, src);    }
    if (ret != 0) {        ssdk_printf(SSDK_WARNING, "echo_channel_cb: channel send failed\n");    }
    return ret;}

A55发送数据给R5

自定义一个发送和接收字符串的函数，如下：

int send_receive_string(int fd, const char *send_str,int ntimes, int seconds) {    int i = 0, j = 0;    int size, bytes_rcvd, bytes_sent;    long elapse = 0;
    err_cnt = 0;    i_payload = (struct _payload *)malloc(sizeof(struct _payload) + payload_max_size);    r_payload = (struct _payload *)malloc(sizeof(struct _payload) + payload_max_size);
    if (i_payload == 0 || r_payload == 0) {        printf("ERROR: Failed to allocate memory for payload.\n");        return -1;    }
    if (seconds)        gettimeofday(&start_test, NULL);
    i_payload->magic = 0xA5;
    for (j = 0; j < ntimes; j++) {            i_payload->num = i;            i_payload->size = size;  strcpy(i_payload->data, send_str);
            if (verbose) printf("\r\n sending payload number");            if (verbose) printf(" %d of size %lu\r\n", i_payload->num,                            (sizeof(struct _payload)) + strlen(i_payload->data));
            bytes_sent = write(fd, i_payload, sizeof(struct _payload) + strlen(i_payload->data));  if (bytes_sent <= 0) {                if (verbose) {                    perror("\r\n Error sending data\n");                    break;                } else                    fprintf(stderr, "#");
                err_cnt++;                continue;            }            printf("send string:%s\n",i_payload->data);
            r_payload->num = 0;            bytes_rcvd = read(fd, r_payload,                        sizeof(struct _payload) + payload_max_size);            while (bytes_rcvd <= 0) {                usleep(10000);                bytes_rcvd = read(fd, r_payload,                            sizeof(struct _payload) + payload_max_size);    }            r_payload->data[bytes_rcvd] = '\0';            printf("receive string:%s\n",r_payload->data);
        if (interval)            sleep(interval);    }
        free(i_payload);        free(r_payload);
        return 0;}

在main函数内添加新增函数条件：

编辑source/linux/ drivers/rpmsg/virtio_rpmsg_bus.c文件，代码如下：

保存所有代码

编译系统烧录

1.5结果显示

在R5核调用rpmsg_test例程，向A55核发送信息

R5界面>rpmsg_test send 0 3 1>Sent: 123456789Received: 123456789
>rpmsg_test send 1 3 1>Sent: 123456789Received: 123456789
A55界面root@myd-jd9x:~# [   22.223170] virtio_rpmsg_bus virtio0: virtio send susses[   34.943644] sd,rpmsg-ipcc soc:ipcc@1: ipcc send susses

在A55核调用echo_test例程，向R5发送信息，打印如下：

A55界面root@myd-jd9x:~# echo_test -d virtio0.rpmsg-echo.-1.30 -c 1
 Echo test startupdate rpmsg-mtu=496 from kernelsend string:Hello,RPMsg!receive string:Hello,RPMsg!
R5界面>Sending data (length 20): H e l l o , R P M s g !