異構(gòu)R5實(shí)時(shí)系統(tǒng)開(kāi)發(fā)筆記-米爾基于芯馳D9360開(kāi)發(fā)板

本篇測(cè)評(píng)由與非網(wǎng)的優(yōu)秀測(cè)評(píng)者“短笛君”提供。

本文將介紹基于米爾電子MYD-YD9360商顯板的R5協(xié)處理器開(kāi)發(fā)方案測(cè)試。

本處參考<R5協(xié)處理器開(kāi)發(fā)筆記>對(duì)D9360中的協(xié)處理器進(jìn)行開(kāi)發(fā)測(cè)試

開(kāi)發(fā)之前請(qǐng)確認(rèn)編譯環(huán)境正?？梢哉?duì)鏡像進(jìn)行編譯

具體參考之前編譯Ubuntu系統(tǒng)文章，自行編譯buildroot系統(tǒng)測(cè)試

1.1打開(kāi)RTOS驅(qū)動(dòng)

freeRTOS的源碼放在ssdk包下面，我們可以通過(guò)圖形化界面啟動(dòng)RTOS系統(tǒng)。D9的ssdk圖形化界面是通過(guò)menuconfig.sh腳本配置打開(kāi)，此腳本在ssdk/tools下。以D9360為例，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例程驅(qū)動(dòng)

RTOS系統(tǒng)例程在examples/kunlun/drivers

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

新建一個(gè)abc目錄

并配置Kconfig和rules.mk文件

返回driver目錄下 配置Kconfig添加ABC去東門(mén)模塊初始狀態(tài)和圖形界面類型

ABC驅(qū)動(dòng)模塊的初始狀態(tài)和圖形界面類型

在rules.mk文件下，添加如下內(nèi)容

MODULES += $(LOCAL_DIR)/abc: 如果配置選項(xiàng) CONFIG_ABC_TEST 為 "y"，則會(huì)將 $(LOCAL_DIR)/abc 添加到變量 MODULES 中。這意味著當(dāng)啟用了 "ABC Test" 功能時(shí)，會(huì)將 $(LOCAL_DIR)/abc 模塊添加到模塊列表中。

R5核數(shù)據(jù)發(fā)送到A55核中

將rpmsg目錄下的rpmsg_test.c文件復(fù)制到abc.c文件中，該驅(qū)動(dòng)描述如何通過(guò)RPMSG協(xié)議進(jìn)行核間通信。我們可以在此程序基礎(chǔ)上加入自己的協(xié)議，以下是R5核發(fā)送“Hello, RPMSG!”字符串到A55核，并打印出接收到的信息的函數(shù)。

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: %sn", message);
} else {
printf("Failed to send messagen");
}

int received_len;
ret = rpmsg_channel_recv(channel, rcv_pkg, max_payload, &received_len, 3000);
if (ret == RPMSG_SUCCESS) {
printf("Received: %sn", rcv_pkg->data);
} else {
printf("Failed to receive messagen");
}

osFree(snd_pkg);
osFree(rcv_pkg);
}

將以上函數(shù)添加至abc.c文件內(nèi)，并在主函數(shù)(rpmsg_test)編寫(xiě)調(diào)用該函數(shù)條件，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]);
}
//新添加的條件
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 %sn", 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 %dn", test_case);
break;
}

//加入串口打印提示(跳至rpmsg_test_show函數(shù)）

printf("nTest command:n");
printf("trpmsg_test <type> <remote-proc>n");
printf("trpmsg_test ping <type> <remote-proc> <times>n");
printf("trpmsg_test iperf <type> <remote-proc> <times>n");
printf("trpmsg_test send <type> <remote-proc> <times>n");

printf("ne.g: test ping rpmsg.virtio 10 times with secure, use command:n");
printf("trpmsg_test ping 0 1 10n");

通過(guò)5.1小節(jié)打開(kāi)圖形化配置界面，進(jìn)入到Driver and Application Examples/Driver Example Support下，可以看到我們新加的abc test Support驅(qū)動(dòng)配置選項(xiàng)，需要關(guān)閉RPMSG Example Application Support選項(xiàng)，如下：

選中此選項(xiàng)編譯進(jìn)內(nèi)核，將串口線（debug）接到10_TX,10_RX和GND，打開(kāi)終端調(diào)試工具。編輯source/ssdk/ middleware/rpmsg_service/rpmsg_echo.c文件，添加代碼如下：

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 ACKn");
}
else {
ssdk_printf(SSDK_WARNING, "echo_channel_cb: unknown %d bytes from addr %ldn",
len, src);
}

if (ret != 0) {
ssdk_printf(SSDK_WARNING, "echo_channel_cb: channel send failedn");
}

return ret;
}

A55發(fā)送數(shù)據(jù)給R5

自定義一個(gè)發(fā)送和接收字符串的函數(shù)，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("rn sending payload number");
if (verbose) printf(" %d of size %lurn", 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("rn Error sending datan");
break;
} else
fprintf(stderr, "#");

err_cnt++;
continue;
}
printf("send string:%sn",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] = '';
printf("receive string:%sn",r_payload->data);

if (interval)
sleep(interval);
}

free(i_payload);
free(r_payload);

return 0;
}

在main函數(shù)內(nèi)添加新增函數(shù)條件：

編輯source/linux/ drivers/rpmsg/virtio_rpmsg_bus.c文件，代碼如下：

保存所有代碼

編譯系統(tǒng) 燒錄

1.5結(jié)果顯示

在R5核調(diào)用rpmsg_test例程，向A55核發(fā)送信息

R5界面

>rpmsg_test send 0 3 1
>Sent: 123456789
Received: 123456789

>rpmsg_test send 1 3 1
>Sent: 123456789
Received: 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核調(diào)用echo_test例程，向R5發(fā)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 start
update rpmsg-mtu=496 from kernel
send string:Hello,RPMsg!
receive string:Hello,RPMsg!

R5界面

Sending data (length 20): H e l l o , R P M s g !

MYC-YD9360核心板及商顯板

• 采用國(guó)產(chǎn)CPU：集成了6個(gè)ARM Cortex-A55@1.6GHz 高性能CPU和1個(gè)ARM Cortex-R5@800MHz；
• 高性能的高安全HSM安全的處理器，支持TRNG、AES、RSA、SHA、SM2/3/4/9；
• 它包含100GFLOPS 3D GPU以及H.264和H.265/VP8/VP9視頻編/解碼器，三屏異顯；
• 集成 PCIe3.0，USB3.0，2x千兆TSN以太網(wǎng)，4xCAN-FD，16xUART，SPI 等豐富的外設(shè)接口；
• 工業(yè)級(jí)-40℃~85℃，郵票孔324PIN引腳，尺寸為52mmx50mm。
• 應(yīng)用：高端商顯、新一代電力智能設(shè)備、工業(yè)互聯(lián)網(wǎng)設(shè)備、工業(yè)控制設(shè)備、工業(yè)機(jī)器人、工程機(jī)械、軌道交通等