AM625: SystemP_WAIT_FOREVER 是延时程序吗？

Zhang yubiao

Part Number: AM625

void ipc_rpmsg_echo_remote_core_start()
{
int32_t status;
RPMessage_CreateParams createParams;
// char recvMsg[MAX_MSG_SIZE];
uint16_t recvMsgSize, remoteCoreId;
uint32_t remoteCoreEndPt;
uint32_t msgCount = 0u;

RPMessage_CreateParams_init(&createParams);
createParams.localEndPt = gRemoteServiceEndPt;
status = RPMessage_construct(&gRecvMsgObject, &createParams);
DebugP_assert(status==SystemP_SUCCESS);

#if defined(PDK_DM_R5_TEST)
status = RPMessage_announce(CSL_CORE_ID_R5FSS0_0, gRemoteServiceEndPt, "ti.ipc4.ping-pong");
DebugP_assert(status==SystemP_SUCCESS);
#else
/* wait for all cores to be ready */
IpcNotify_syncAll(SystemP_WAIT_FOREVER);
#endif

DebugP_log("[IPC RPMSG ECHO] Remote Core waiting for messages from main core ... !!!\r\n");

/* wait for messages forever in a loop */
while(1)
{
/* set 'recvMsgSize' to size of recv buffer,
* after return `recvMsgSize` contains actual size of valid data in recv buffer
*/
recvMsgSize = sizeof(recvMsg);
status = RPMessage_recv(&gRecvMsgObject,
recvMsg, &recvMsgSize,
&remoteCoreId, &remoteCoreEndPt,
SystemP_WAIT_FOREVER);
DebugP_assert(status==SystemP_SUCCESS);
/* echo the same message string as reply */

/* send ack to sender CPU at the sender end point */
status = RPMessage_send(
trmitMsg, recvMsgSize,
remoteCoreId, remoteCoreEndPt,
RPMessage_getLocalEndPt(&gRecvMsgObject),
SystemP_WAIT_FOREVER);
DebugP_assert(status==SystemP_SUCCESS);
msgCount++;

if (msgCount >= gMsgEchoCount)
{
break;
}
}

DebugP_log("[IPC RPMSG ECHO] Received and echoed %d messages ... !!!\r\n", gMsgEchoCount);
DebugP_log("All tests have passed!!\r\n");
/* This loop will never exit */
}

M4 在等待接收数据和等待发送数据时可以执行用户程序吗？怎么实现？

10 个月前

0 Gary Lu 10 个月前

TI__Mastermind 27060 points

M4核心在执行无限循环，等待接收消息并回应消息的过程中，看起来没有直接执行用户程序的余地，因为它被阻塞在 `RPMessage_recv` 调用中直到收到消息。

方法有：

1. 多线程或任务调度
你可以将消息接收和处理部分放在一个线程中，而用户程序则在另一个线程中运行，实现并发执行。

void ipc_rpmsg_echo_remote_task(void *arg) {
// 上面提到的等待消息和回应消息的代码
}

void user_program_task(void *arg) {
// 用户程序代码
}

int main(void) {
// 创建两个任务：一个用于IPC通信，另一个用于用户程序
Task_create(ipc_rpmsg_echo_remote_task, &taskParams, NULL);
Task_create(user_program_task, &taskParams, NULL);

// 启动RTOS任务调度器
BIOS_start();
}

2. 或者用中断

void messageReceivedISR(void) {
// 检查并处理接收到的消息
}

int main(void) {
// 配置中断来处理接收到的消息
Interrupt_register(INT_MESSAGE_RECEIVED, messageReceivedISR);

while(1) {
// 在此执行用户程序代码
}
}

0 Zhang yubiao 10 个月前回复 Gary Lu

Intellectual 380 points

../ipc_rpmsg_echo.c:274:24: error: use of undeclared identifier 'INT_MESSAGE_RECEIVED'
Interrupt_register(INT_MESSAGE_RECEIVED, messageReceivedISR); 设置中断有错误，怎么修改？

void messageReceivedISR(void) {
// 检查并处理接收到的消息
recvMsgSize = sizeof(recvMsg);
status = RPMessage_recv(&gRecvMsgObject,
recvMsg, &recvMsgSize,
&remoteCoreId, &remoteCoreEndPt,
SystemP_WAIT_FOREVER);

/* echo the same message string as reply */

/* send ack to sender CPU at the sender end point */
status = RPMessage_send(
trmitMsg, recvMsgSize,
remoteCoreId, remoteCoreEndPt,
RPMessage_getLocalEndPt(&gRecvMsgObject),
SystemP_WAIT_FOREVER);

}

messageReceivedISR CCS 会把地址放到中断向量表中吗？

RPMessage_recv函数 RPMessage_send函数有没有非阻塞的函数调用？

0 Gary Lu 10 个月前回复 Zhang yubiao

TI__Mastermind 27060 points

关于设置中断的错误

错误信息提示 `INT_MESSAGE_RECEIVED` 未声明。这意味着你试图使用一个未定义的中断号

关于中断服务程序（ISR）的注册

一旦你有了正确的中断号，就可以使用它来注册ISR。但请注意，直接在ISR中调用阻塞的 `RPMessage_recv` 和 `RPMessage_send` 函数可能不是一个好主意，因为这会阻塞ISR，从而可能影响系统的响应时间。理想情况下，ISR应该尽可能快地执行，并使用某种形式的通知机制（如信号量、消息队列或事件标志）来告知一个任务或线程来处理数据。

关于非阻塞调用

至于 `RPMessage_recv` 和 `RPMessage_send` 函数是否有非阻塞的版本，这取决于你使用的IPC库。IPC框架提供了非阻塞版本的API，或者允许你指定一个非阻塞模式的参数

如果框架不直接支持非阻塞消息接收，你可以：

使用轮询机制，在主循环中定期检查消息，同时执行其他任务。
设计和实现一个基于中断的通知机制，中断服务例程仅用于标记消息的到达，并通过信号量、事件或其他同步机制通知主任务或处理线程。

0 Zhang yubiao 10 个月前回复 Gary Lu

Intellectual 380 points

/* Task priority, stack, stack size and task objects, these MUST be global's */
#define IPC_RPMESSAGE_TASK_PRI (8U)
#define LPM_MCU_UART_WAKEUP_TASK_PRI (8U)
#define IPC_USER_PROGRAM_TASK_PRI (8U)

#if defined (SOC_AM62AX)
#define IPC_RPMESSAGE_TASK_STACK_SIZE (32*1024U)
#else
#define IPC_RPMESSAGE_TASK_STACK_SIZE (8*1024U)
#endif
#define IPC_USER_PROGRAM_TASK_STACK_SIZE (8*1024U)
#define LPM_MCU_UART_WAKEUP_TASK_STACK_SIZE (1024U)

uint8_t gIpcTaskStack[IPC_RPMESSAGE_NUM_RECV_TASKS][IPC_RPMESSAGE_TASK_STACK_SIZE] __attribute__((aligned(32)));
TaskP_Object gIpcTask[IPC_RPMESSAGE_NUM_RECV_TASKS];

uint8_t gLpmUartWakeupTaskStack[LPM_MCU_UART_WAKEUP_TASK_STACK_SIZE] __attribute__((aligned(32)));
TaskP_Object gLpmUartWakeupTask;

uint8_t ipcuserprogramTaskStack[IPC_USER_PROGRAM_TASK_STACK_SIZE] __attribute__((aligned(32)));
TaskP_Object ipcuserprogramTask;

void USER_PROGRAM_task(void *arg) {
// 用户程序代码

}

void ipc_rpmsg_create_user_program_task()
{
int32_t status;
TaskP_Params taskParams;

TaskP_Params_init(&taskParams);
taskParams.name = "USER_PROGRAM";
taskParams.stackSize = IPC_USER_PROGRAM_TASK_STACK_SIZE;
taskParams.stack = ipcuserprogramTaskStack;
taskParams.priority = IPC_USER_PROGRAM_TASK_PRI;
taskParams.taskMain = USER_PROGRAM_task;

status = TaskP_construct(&ipcuserprogramTask, &taskParams);
DebugP_assert(status == SystemP_SUCCESS);

}

改用 free RTOS,上面改写程序，编译出错

Finished building: "../ipc_rpmsg_echo.c"

Building target: "ipc_rpmsg_echo_linux_am62x-sk_m4fss0-0_freertos_ti-arm-clang.out"
Invoking: Arm Linker
"C:/ti/ccs1260/ccs/tools/compiler/ti-cgt-armllvm_3.2.1.LTS/bin/tiarmclang.exe" -mcpu=cortex-m4 -mfloat-abi=hard -mlittle-endian -mthumb -DSOC_AM62X -D_DEBUG_=1 -g -Wall -Wno-gnu-variable-sized-type-not-at-end -Wno-unused-function -Wl,-m"ipc_rpmsg_echo_linux.Debug.map" -Wl,-i"C:/ti/mcu_plus_sdk_am62x_09_01_00_39/source/kernel/freertos/lib" -Wl,-i"C:/ti/mcu_plus_sdk_am62x_09_01_00_39/source/drivers/lib" -Wl,-i"C:/ti/mcu_plus_sdk_am62x_09_01_00_39/source/board/lib" -Wl,-i"C:/ti/ccs1260/ccs/tools/compiler/ti-cgt-armllvm_3.2.1.LTS/lib" -Wl,--reread_libs -Wl,--diag_wrap=off -Wl,--display_error_number -Wl,--warn_sections -Wl,--xml_link_info="ipc_rpmsg_echo_linux_am62x-sk_m4fss0-0_freertos_ti-arm-clang_linkInfo.xml" -Wl,--ram_model -o "ipc_rpmsg_echo_linux_am62x-sk_m4fss0-0_freertos_ti-arm-clang.out" "./syscfg/ti_dpl_config.o" "./syscfg/ti_drivers_config.o" "./syscfg/ti_drivers_open_close.o" "./syscfg/ti_pinmux_config.o" "./syscfg/ti_power_clock_config.o" "./syscfg/ti_board_config.o" "./syscfg/ti_board_open_close.o" "./ipc_rpmsg_echo.o" "./main.o" "../linker.cmd" -Wl,-lfreertos.am62x.m4f.ti-arm-clang.debug.lib -Wl,-ldrivers.am62x.m4f.ti-arm-clang.debug.lib -Wl,-lboard.am62x.m4f.ti-arm-clang.debug.lib -Wl,-llibc.a -Wl,-llibsysbm.a
makefile:147: recipe for target 'ipc_rpmsg_echo_linux_am62x-sk_m4fss0-0_freertos_ti-arm-clang.out' failed
"../linker.cmd", line 29: error #10099-D: program will not fit into available memory, or the section contains a call site that requires a trampoline that can't be generated for this section. placement with alignment fails for section ".data" size 0x3f5. Available memory ranges:
M4F_DRAM size: 0x10000 unused: 0xa8 max hole: 0xa8
error #10010: errors encountered during linking; "ipc_rpmsg_echo_linux_am62x-sk_m4fss0-0_freertos_ti-arm-clang.out" not built
tiarmclang: error: tiarmlnk command failed with exit code 1 (use -v to see invocation)
gmake[1]: *** [ipc_rpmsg_echo_linux_am62x-sk_m4fss0-0_freertos_ti-arm-clang.out] Error 1
makefile:143: recipe for target 'all' failed
gmake: *** [all] Error 2

**** Build Finished ****

哪里出了问题？

0 Zhang yubiao 10 个月前回复 Zhang yubiao

Intellectual 380 points

#define IPC_USER_PROGRAM_TASK_STACK_SIZE (8*1024U) 改小 4*1024 编译通过

0 Gary Lu 10 个月前回复 Zhang yubiao

TI__Mastermind 27060 points

好的～

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AM625: SystemP_WAIT_FOREVER 是延时程序吗？

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AM625: SystemP_WAIT_FOREVER 是 延时程序吗？

AM625: SystemP_WAIT_FOREVER 是延时程序吗？