编写STM32MP1857C 中Ｍ4 应用程序

今天是学习STM32MP157C的８第三天，研究在STM32CubeIDE 下如何开发Ｍ４的应用程序．

遇到的一些问题.

IDE和MX的切换

双击击项目最后的.ioc 文件，出现CubeMX的窗口。　保存这个文件，自动产生程序，并回到IDE.

定义GPIO端口

　　由于GPIO 可以在两个处理器上定义，因此，需要对着引脚击右键，设置Pin Reservied 选择Ｍ４．否则，相应的GPIO 代码不出现。

      我在程序中定义了开发板的红灯和蓝灯，他们分别是

PA13   -LED_RED

PA14 - LED_BLUE

openAMP

openAMP 是一个中间件，它的低层是IPCC 所以要现将System Core 中的PICC 参数中打钩的地方全部打钩。然后在中间件目录下打开openAMP 。和米尔文档中的例子不同。下面的程序已经包含在openAMP　中间件中了。

• mbox_ipcc.c
• openamp,c
• openamp.log,c
• res_table.c

UART

UART 是从UART4 开始的。大概前面三个都分配给了Ａ7了吧？我想使用UART4 输出M4 的Printf 信息。不知道是否会冲突？

fw_cortex_m4.sh

这个文件自动产生了，包含在RemoteProc目录中。

主程序

我建立了一个test项目，并参照了OpenAMP_TTY_echo　项目中的主程序，修改了我的主程序。

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "openamp.h"
#include "virt_uart.h"
#include "openamp_log.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
#define MAX_BUFFER_SIZE RPMSG_BUFFER_SIZE
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
IPCC_HandleTypeDef hipcc;

/* USER CODE BEGIN PV */
VIRT_UART_HandleTypeDef huart0;
VIRT_UART_HandleTypeDef huart1;

__IO FlagStatus VirtUart0RxMsg = RESET;
uint8_t VirtUart0ChannelBuffRx[MAX_BUFFER_SIZE];
uint16_t VirtUart0ChannelRxSize = 0;

__IO FlagStatus VirtUart1RxMsg = RESET;
uint8_t VirtUart1ChannelBuffRx[MAX_BUFFER_SIZE];
uint16_t VirtUart1ChannelRxSize = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_IPCC_Init(void);
int MX_OPENAMP_Init(int RPMsgRole, rpmsg_ns_bind_cb ns_bind_cb);
/* USER CODE BEGIN PFP */
void VIRT_UART0_RxCpltCallback(VIRT_UART_HandleTypeDef *huart);
void VIRT_UART1_RxCpltCallback(VIRT_UART_HandleTypeDef *huart);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  if(IS_ENGINEERING_BOOT_MODE())
  {
    /* Configure the system clock */
    SystemClock_Config();
  }

  /* IPCC initialisation */
   MX_IPCC_Init();
  /* OpenAmp initialisation ---------------------------------*/
  MX_OPENAMP_Init(RPMSG_REMOTE, NULL);

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */
  log_info("Virtual UART0 OpenAMP-rpmsg channel creation\r\n");
    if (VIRT_UART_Init(&huart0) != VIRT_UART_OK) {
      log_err("VIRT_UART_Init UART0 failed.\r\n");
      Error_Handler();
    }

    log_info("Virtual UART1 OpenAMP-rpmsg channel creation\r\n");
    if (VIRT_UART_Init(&huart1) != VIRT_UART_OK) {
      log_err("VIRT_UART_Init UART1 failed.\r\n");
      Error_Handler();
    }

    /*Need to register callback for message reception by channels*/
    if(VIRT_UART_RegisterCallback(&huart0, VIRT_UART_RXCPLT_CB_ID, VIRT_UART0_RxCpltCallback) != VIRT_UART_OK)
    {
     Error_Handler();
    }
    if(VIRT_UART_RegisterCallback(&huart1, VIRT_UART_RXCPLT_CB_ID, VIRT_UART1_RxCpltCallback) != VIRT_UART_OK)
    {
      Error_Handler();
    }
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
      OPENAMP_check_for_message();
    /* USER CODE END WHILE */
	  if (VirtUart0RxMsg) {
	       VirtUart0RxMsg = RESET;
	       VIRT_UART_Transmit(&huart0, VirtUart0ChannelBuffRx, VirtUart0ChannelRxSize);
	     }

	     if (VirtUart1RxMsg) {
	       VirtUart1RxMsg = RESET;
	       VIRT_UART_Transmit(&huart1, VirtUart1ChannelBuffRx, VirtUart1ChannelRxSize);
	     }
			//  HAL_GPIO_WritePin(LED_BLUE_GPIO_Port, LED_BLUE_Pin, GPIO_PIN_SET);
			//  HAL_Delay(1000);
			//  HAL_GPIO_WritePin(LED_BLUE_GPIO_Port, LED_BLUE_Pin, GPIO_PIN_RESET);
			//  HAL_Delay(1000);
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.HSIDivValue = RCC_HSI_DIV1;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
  RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
  RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** RCC Clock Config
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_ACLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
                              |RCC_CLOCKTYPE_PCLK3|RCC_CLOCKTYPE_PCLK4
                              |RCC_CLOCKTYPE_PCLK5;
  RCC_ClkInitStruct.AXISSInit.AXI_Clock = RCC_AXISSOURCE_HSI;
  RCC_ClkInitStruct.AXISSInit.AXI_Div = RCC_AXI_DIV1;
  RCC_ClkInitStruct.MCUInit.MCU_Clock = RCC_MCUSSOURCE_HSI;
  RCC_ClkInitStruct.MCUInit.MCU_Div = RCC_MCU_DIV1;
  RCC_ClkInitStruct.APB4_Div = RCC_APB4_DIV1;
  RCC_ClkInitStruct.APB5_Div = RCC_APB5_DIV1;
  RCC_ClkInitStruct.APB1_Div = RCC_APB1_DIV1;
  RCC_ClkInitStruct.APB2_Div = RCC_APB2_DIV1;
  RCC_ClkInitStruct.APB3_Div = RCC_APB3_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief IPCC Initialization Function
  * @param None
  * @retval None
  */
static void MX_IPCC_Init(void)
{

  /* USER CODE BEGIN IPCC_Init 0 */

  /* USER CODE END IPCC_Init 0 */

  /* USER CODE BEGIN IPCC_Init 1 */

  /* USER CODE END IPCC_Init 1 */
  hipcc.Instance = IPCC;
  if (HAL_IPCC_Init(&hipcc) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN IPCC_Init 2 */

  /* USER CODE END IPCC_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pins : LED_BLUE_Pin LED_RED_Pin */
  GPIO_InitStruct.Pin = LED_BLUE_Pin|LED_RED_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */
void VIRT_UART0_RxCpltCallback(VIRT_UART_HandleTypeDef *huart)
{

    log_info("Msg received on VIRTUAL UART0 channel:  %s \n\r", (char *) huart->pRxBuffPtr);

    /* copy received msg in a variable to sent it back to master processor in main infinite loop*/
    VirtUart0ChannelRxSize = huart->RxXferSize < MAX_BUFFER_SIZE? huart->RxXferSize : MAX_BUFFER_SIZE-1;
    memcpy(VirtUart0ChannelBuffRx, huart->pRxBuffPtr, VirtUart0ChannelRxSize);
    VirtUart0RxMsg = SET;
}

void VIRT_UART1_RxCpltCallback(VIRT_UART_HandleTypeDef *huart)
{

    log_info("Msg received on VIRTUAL UART1 channel:  %s \n\r", (char *) huart->pRxBuffPtr);

    /* copy received msg in a variable to sent it back to master processor in main infinite loop*/
    VirtUart1ChannelRxSize = huart->RxXferSize < MAX_BUFFER_SIZE? huart->RxXferSize : MAX_BUFFER_SIZE-1;
    memcpy(VirtUart1ChannelBuffRx, huart->pRxBuffPtr, VirtUart1ChannelRxSize);
    VirtUart1RxMsg = SET;
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

测试

测试方法与前一篇博文介绍差不多。

这次直接在workspace 中建立了lib 文件夹，在lib 下面建立了firmware 文件夹　将fw_cortex_cortex_m4.sh 传送到workspace

scp fw_cortex_m4.sh [email protected]://home/root/workspace
fw_cortex_m4.sh                                   100% 541     0.5KB/s   00:00    

将test_CM4.elf 传送到　lib/firmware 中

(base) yao@yao-dc:~/STM32CubeIDE/workspace_1.4.0/test/CM4/Release$ scp test_CM4.elf  [email protected]:/home/root/workspace/lib/firmware
test_CM4.elf                                            100%  217KB 216.7KB/s   00:00 

使用 ssh  [email protected] 进入开发板linux

root@myir:~/workspace#  ./fw_cortex_m4.sh start
root@myir:~/workspace#  stty -onlcr -echo -F /dev/ttyRPMSG0
root@myir:~/workspace# cat /dev/ttyRPMSG0 & 
root@myir:~/workspace#  stty -onlcr -echo -F /dev/ttyRPMSG1
root@myir:~/workspace# cat /dev/ttyRPMSG1 & 

root@myir:~/workspace# echo "hello virtual UART0" >/dev/ttyRPMSG0
root@myir:~/workspace# hello virtual UART0

root@myir:~/workspace# echo "hello virtual UART1" >/dev/ttyRPMSG1
root@myir:~/workspace# hello virtual UART1

同时可以看到开发板上的红灯闪烁，如果键入./fw_cortex_m4.sh stop 红灯停止，表示M4 固件停止运行。

　A7/linux　端测试程序

晚上，编写了　A7/linux　端测试程序

#include <stdio.h>
#include <iostream>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <cstring>
// compiller $CC testAMP.cpp -o test -lstdc++
//source SDK/environment-setup-cortexa7t2hf-neon-vfpv4-ostl-linux-gnueabi
     
using namespace std;
const char* rxBuf="Hello M4";
char* txBuf;
int main(void){
  
   cout<< "openAMP test"<<endl;
   int fd = open("/dev/ttyRPMSG0", O_RDWR); 
     int len=strlen(rxBuf);

   write(fd, rxBuf, len);
   txBuf=new char(len);
   read(fd,txBuf,len);
   string msg=txBuf;
   cout<<"msg from M4:"<<msg<<endl;
    return 0;
}