本处参考
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
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
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。
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;}
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;} elsefprintf(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
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: 123456789A55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 1Echo 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 !
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