4.8. CDD_IPC Module

4.8.1. Acronyms and Definitions

Abbreviation/Term	Explanation
AUTOSAR	Automotive Open System Architecture
BSW	Basic Software
MCAL	Micro Controller Abstraction Layer
API	Application Programming Interface
DET	Default Error Tracer
IPC	Inter Process Communication
SW	Software
MCU	Micro Controller Unit
OS	Operating System
CDD	Complex Device Driver

4.8.2. Introduction

This document describes the functionality, API and configuration of the AUTOSAR BSW module Complex Device driver for IPC on AM263x device.

Supported AUTOSAR Release	4.3.1
Supported Configuration Variants	Post Build
Vendor ID	CDD_IPC_VENDOR_ID (44)
Module ID	CDD_IPC_MODULE_ID (255)
Supported Platform	AM263x

4.8.3. Functional Overview

The main tasks of Complex Device Driver for IPC are the following:

1. Initialization of the mailbox driver

2. Simplifies reading and writing to the mailbox peripheral.

4.8.3.1. Complex Device Driver Architecture

The following figure shows where the Complex device driver is located in the AUTOSAR architecture.

Fig. 4.40 CDD in AUTOSAR architecture

4.8.3.2. Safe_IPC Overview

Safe_IPC in a Multi core system requires both Firewalling of shared memory and Data integrity check of payload. Safe_IPC can be enabled using Configurator which configures the shared memory in a way that firewalling is possible(limitation being number of firewalls and firewall granularity). Firewall configuration is not automatic and need to be manually enabled and configured from Non-Autosar core(by the core from which MCAL core is communicating). Data Integrity check has to be enabled using configuration. Once enabled, Data Integrity Check using CRC is enabled for IPC Notify and RPMsg Data. The calculated CRC is sent as a part of IPC Payload and decoded in the receiver end. Application has to define a hook function which will be used by driver for CRC calculation. 8 Bit CRC is used by IPC Notify and 16 Bit CRC is used by IPC RPMsg.

Note

why firewall is needed?

1. Firewall Protection ensures that if any core which don’t have permission to access the mailbox memory and that core tries to access the memory then exception is called.

2. With the help of firewall, core which don’t have permission will not be able to read or write into the firewall protected mailbox memory. This insures the prevention of malicious activity by non-firewalled core.

4.8.3.3. Initialization

The initialization covers the following steps:

1. Initialize the mailbox peripheral.

2. Cdd_Ipc_Init should be called only once during initialization.

3. No other CDD API can be invoked until this API is called.

4.8.4. Hardware Features

4.8.4.1. Supported Features

• Open/Close mailbox instance

• Send/Receive both Notify and RpMsg messages

• RpMsg Callback functionality supported

• Safe IPC functionality supported

4.8.4.2. Not supported Features

• Multiple mailbox channels between the cores

• Applications are validated only for the R50_0 core(RPmsg and Notify)

4.8.5. Source files

Description of static files is provided below:

📦AM263x
┣ 📂build
┣ 📂mcal
┃ ┣ 📂Ipc
┃ ┃ ┣ 📂include
┃ ┃ ┃ ┣ 📜Cdd_Ipc.h : Contains interface header for Complex device driver for IPC
┃ ┃ ┃ ┣ 📜Cdd_Ipc_Irq.h : contains ISR function declaration for Complex Device Driver
┃ ┃ ┃ ┣ 📜ipc_notify_lld_utils.h : Contains Internal functions declaration
┃ ┃ ┃ ┣ 📜ipc_notify_v1_lld.h : Contains Internal functions declaration
┃ ┃ ┃ ┣ 📜ipc_notify_v1_mailbox.h : Contains Internal functions declaration
┃ ┃ ┃ ┣ 📜ipc_rpmsg_linux_resource_table.h : Contains Internal functions declaration
┃ ┃ ┃ ┣ 📜ipc_rpmsg_lld.h : Contains Internal functions declaration
┃ ┃ ┃ ┣ 📜ipc_rpmsg_lld_priv.h : Contains Internal functions declaration
┃ ┃ ┃ ┗ 📜ipc_rpmsg_lld_queue.h : Contains Internal functions declaration
┃ ┃ ┣ 📂src
┃ ┃ ┃ ┣ 📜Cdd_Ipc.c : Contains function definitions for the Complex device driver for IPC and helper functions
┃ ┃ ┃ ┣ 📜Cdd_Ipc_Irq.c : Contains ISR function definitions for Complex Device Driver
┃ ┃ ┃ ┣ 📜ipc_notify_lld_utils.c : Contains Internal functions definition
┃ ┃ ┃ ┣ 📜ipc_notify_v1_lld.c : Contains Internal functions definition
┃ ┃ ┃ ┣ 📜ipc_rpmsg_lld.c : Contains Internal functions definition
┃ ┃ ┃ ┗ 📜ipc_rpmsg_lld_vring.c : Contains Internal functions definition
┃ ┃ ┣ 📂V0
┃ ┃ ┃ ┣ 📜hw_mailbox.h : Contains Internal functions definition
┃ ┃ ┃ ┣ 📜ipc_notify_v1_cfg_lld.c : Contains Internal functions definition
┃ ┃ ┃ ┗ 📜ipc_notify_v1_cfg_lld.h : Contains Internal functions definition
┃ ┃ ┗ 📜Makefile
┣ 📂mcal_config
┣ 📂mcal_docs
┗ 📜README.txt

The below diagram shows the files structure for the CDD driver.

Fig. 4.41 CDD header file include structure

4.8.6. Module requirements

4.8.6.1. Memory Mapping

Memory Mapping Sections	CDD_CODE	CDD_CODE_ISR	CDD_VAR_NO_INIT	CDD_VAR_ZERO_INIT
CDD_IPC_START_SEC_VAR_INIT_UNSPECIFIED (.bss)				x
CDD_IPC_STOP_SEC_VAR_INIT_UNSPECIFIED				x
CDD_IPC_START_SEC_CODE_APPL (.text)		x
CDD_IPC_STOP_SEC_CODE_APPL		x
CDD_IPC_START_SEC_VAR_UNSPECIFIED (.data)			x
CDD_IPC_STOP_SEC_VAR_UNSPECIFIED			x
CDD_IPC_START_SEC_CODE(.rodata)	x
CDD_IPC_START_SEC_CODE	x

4.8.6.2. Scheduling

There is no scheduling functions in CDD IPC.

4.8.6.3. Error handling

4.8.6.3.1. Development Error Reporting

Development errors are reported to the DET using the service Det_ReportError().

4.8.6.4. Error codes

4.8.6.4.1. Development Errors

The errors reported to DET and DEM are described in the following table

Type of Error	Related Error code	Value (Hex)
Error code indicating the IPC is uninitialized	CDD_IPC_E_UNINIT	0x01
Error code indicating register client failed event	CDD_IPC_E_REGISTER_CLIENT_FAILED	0x02
Error code indicating IPC Initialization Failed	CDD_IPC_E_INIT_FAILED	0x03
Error code indicating IPC Deinitialization Failed	CDD_IPC_E_DEINIT_FAILED	0x04
Error code indicating invalid parameter	CDD_IPC_E_PARAM_POINTER	0x05
Error code indicating IPC already initialized	CDD_IPC_E_ALREADY_INITIALIZED	0x06
Error code indicating Service called with wrong param	CDD_IPC_E_PARAM_VALUE	0x07
Error code indicating Service called with invalid length	CDD_IPC_E_PARAM_LENGTH	0x08
Error code indicating invalid IPC Channel	CDD_IPC_E_INVALID_CHANNEL	0x09
Error code indicating invalid IPC configuration	CDD_IPC_E_INVALID_CONFIG	0x0A
Error code indicating IPC Write Failed configuration	CDD_IPC_E_WRITE_FAILED	0x0B
Error code indicating unregister client failed event	CDD_IPC_E_UNREGISTER_CLIENT_FAILED	0x0C
Error code indicating construct failed event	CDD_IPC_E_CONSTRUCT_FAILED	0x0D
Error code indicating RpMsg Write failed event	CDD_IPC_E_RPMSG_WRITE_FAILED	0x0E
Error code indicating Rpmsg read failed event	CDD_IPC_E_RPMSG_READ_FAILED	0x0F
Error code indicating destruct failed event	CDD_IPC_E_DESTRUCT_FAILED	0x10

4.8.6.4.2. Runtime Errors

The run time errors reported to DET module are described in the following table:

Error Code	Error Macro	Description
[0x01]	CDD_IPC_E_INIT_FAILED	Error code indicating the IPC is initialization failed after executing Cdd_Ipc_Init API
[0x0D]	CDD_IPC_E_CONSTRUCT_FAILED	Error code indicating construct failed after executing Cdd_Ipc_construct API
[0x04]	CDD_IPC_E_DEINIT_FAILED	Error code indicating IPC Deinitialization Failed after executing Cdd_Ipc_DeInit API

4.8.6.4.3. Parameter Checking

AUTOSAR requires that API functions check the validity of their parameters. These checks are for development error reporting and can be en-/disabled via the parameter CDD_IPC_DEV_ERROR_DETECT. The following table shows which parameter checks are performed on which services:

Services	CDD_IPC_E_UNINIT	CDD_IPC_E_REGISTER_CLIENT_FAILED	CDD_IPC_E_UNREGISTER_CLIENT_FAILED	CDD_IPC_E_PARAM_POINTER	CDD_IPC_E_ALREADY_INITIALIZED	CDD_IPC_E_PARAM_VALUE	CDD_IPC_E_WRITE_FAILED	CDD_IPC_E_CONSTRUCT_FAILED	CDD_IPC_E_RPMSG_WRITE_FAILED	CDD_IPC_E_RPMSG_READ_FAILED
Cdd_Ipc_Init				x	x
Cdd_Ipc_DeInit	x			x
Cdd_Ipc_Notify_RegisterClient	x	x		x
Cdd_Ipc_Notify_UnregisterClient	x		x			x
Cdd_Ipc_Notify_Write	x					x	x	x
Cdd_Ipc_Construct	x					x
Cdd_Ipc_Destruct	x					x
Cdd_Ipc_RpMsg_SendMsg	x					x			x
Cdd_Ipc_RpMsg_SendMsg	x					x				x

4.8.7. Used resources

4.8.7.1. Interrupt Handling

For interrupt notification, ISR’s are provided in CDD IPC driver.Interrupt Subroutine calls notification function depending on the channel mode.

ISR for IPC Interrupt: Cdd_Ipc_Isr

Interrupt Id for MBox Read Request is 136.

4.8.8. Integration description

4.8.8.1. Dependent modules

4.8.8.1.1. OSEK/AUTOSAR OS (Optional)

An operating system can be used for task scheduling, interrupt handling, global suspend and restore of interrupts and creating of the Interrupt Vector Table. The CDD module may use OSEK/AUTOSAR OS to suspend and restore global interrupts.

4.8.8.1.2. DET (Optional)

The module CDD depends on the DET (by default) in order to report development errors. The mailbox operations like write, read are protected by a critical section.

4.8.8.1.3. Services used by Complex device Driver

The CDD does not provide any call back functions.

4.8.8.1.4. Notifications

At its configurable interfaces the CDD defines notifications that can be mapped to callback functions provided by other modules. The mapping is not statically defined by the CDD but can be performed at configuration time. The function prototypes that can be used for the configuration have to match the appropriate function prototype signatures, which are described in the following.

Cdd_Ipc_notify_msgHandler: This is defined in the Cdd_Ipc_notify_app.c for reference.

4.8.8.2. Multi-core support

Not supported

4.8.9. Configuration

4.8.9.1. CddIpcDriver

This container contains the configuration parameters and sub containers of the AUTOSAR Complex device driver(CDD) module.

4.8.9.1.1. CddIpcLocalCoreId

Item
Name	CddIpcLocalCoreId
Description	This param contains the local coreId on which the IPC instance is running.
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	CDD_IPC_R5FSS0_0_ID
Range	CDD_IPC_R5FSS0_0_ID CDD_IPC_R5FSS0_1_ID CDD_IPC_R5FSS1_0_ID CDD_IPC_R5FSS1_1_ID

4.8.9.1.2. CddIpcRemoteCoreList

Refers to the list of coreId that are valid for the particular platform.

4.8.9.1.2.1. CddIpcRemoteCoreIdIndex

Item
Name	CddIpcRemoteCoreIdIndex
Description	The cores that are participating the IPC message exchange (Exclude the local core from these)
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	CDD_IPC_R5FSS0_0_ID
Range	CDD_IPC_R5FSS0_0_ID CDD_IPC_R5FSS0_1_ID CDD_IPC_R5FSS1_0_ID CDD_IPC_R5FSS1_1_ID

4.8.9.1.2.2. CddIpcSafeIpcCoresEnable

Item
Name	CddIpcSafeIpcCoresEnable
Description	Switch to enable Safe Ipc between local and remote core.
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	false

4.8.9.1.3. CddIpcEndPtConfig

This is required only in case of RpMsg is being used. To enable this make sure the CddIpcRpMsgEnable box is enabled.

4.8.9.1.3.1. CddIpcLocalEndPt

Item
Name	CddIpcLocalEndPt
Description	This parameter is used to register a local call back especially for receiving or sending a RPMsg message
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	12
Max-value	63
Min-value	0

4.8.9.1.3.2. CddIpcRecvCallBack

Item
Name	CddIpcRecvCallBack
Description	Function pointer to RPMSG callback function
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	NULL

4.8.9.1.3.3. CddIpcrecvCallbackArguments

Item
Name	CddIpcrecvCallbackArguments
Description	Function Pointer to recv callback function’s arguments
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	NULL

4.8.9.1.3.4. CddIpcrecvNotifyCallback

Item
Name	CddIpcrecvNotifyCallback
Description	Function pointer to IPC notify message Callback function. User can pass a pointer to a custom defined arguments structure and the callback passes this pointer when a notify interrupt is received
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	NULL

4.8.9.1.3.5. CddIpcrecvNotifyCallbackArguments

Item
Name	CddIpcrecvNotifyCallbackArguments
Description	Pointer to IPC notify message callback function’s arguments
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	NULL

4.8.9.2. CddIpcGeneral

Item
Name	CddIpcGeneral
Description	Switches the Cdd_IpcDeinit function ON or OFF.
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	true

4.8.9.2.1. CddIpcWriteApi

Item
Name	CddIpcWriteApi
Description	Switches the Cdd_IpcWrite function ON or OFF.
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	true

4.8.9.2.2. CddIpcReadApi

Item
Name	CddIpcReadApi
Description	Switches the Cdd_IpcRead function ON or OFF.
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	true

4.8.9.2.3. CddIpcRpMsgEnable

Item
Name	CddIpcRpMsgEnable
Description	Switch to enable RpMsg API’s to be enabled or not.
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	true

4.8.9.2.4. CddIpcRecvCallBackEnable

Item
Name	CddIpcRecvCallBackEnable
Description	Switch to Enable RPMsg Recv Callback (This is different from Notify Callback).
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	true

4.8.9.2.5. CddIpcRecvNotifyCallbackEnable

Item
Name	CddIpcRecvNotifyCallbackEnable
Description	Switches the Development Error Detection and Notification ON or OFF.
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	true

4.8.9.2.6. CddIpcSafeIpcEnable

Item
Name	CddIpcSafeIpcEnable
Description	Switch to enable Safe Ipc to be enabled or not.
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	false

4.8.9.2.7. CddIpcCrcEnable

Item
Name	CddIpcCrcEnable
Description	Switch to enable Crc to be enabled or not.
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	false

4.8.9.2.8. CddIpcCrcHookFunc

Item
Name	CddIpcCrcHookFunc
Description	Type of Isr function: void functionname(void) CAT1 : interrupt void func(void) CAT2 : ISR(func)
Multiplicity-Configuration-Class	–
Post-Build Time	VARIANT-POST-BUILD
Origin	Texas Instruments
Post-build-variant-multiplicity	false
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	CDD_IPC_ISR_VOID
Range	CDD_IPC_ISR_VOID CDD_IPC_ISR_CAT1 CDD_IPC_ISR_CAT2

4.8.9.2.9. CddIpcTimeout

Item
Name	CddIpcTimeout
Description	Timeout value for send/receive/wait API’s. Unit is in clock ticks
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	2000000
Max-value	2147483648
Min-value	0

4.8.9.2.10. CddIpcNumOfBuffers

Item
Name	CddIpcNumOfBuffers
Description	This parameter indicates the number of buffers for sending RPMsg
Origin	Texas Instruments
Post-Build-Variant-Value	false
Value-Configuration-Class	–
Post-Build-Time	VARIANT-POST-BUILD
Default-value	8

Note: In case of CddIpcRecvCallBack , when RPMsg arrive then that is invoked along with the data in the VRING buffer.So now if the msg size is less then what we are transferring between cores then we will send the echo msg back to the core from which we are receiving and will do UNLOCK of core only if complete msg transfer happens.So by this way we are acknowledging the remote core.

For details of configuration supported refer the MCAL_Configurator_UserGuide.pdf present in mcal_config/docs folder

4.8.10. Examples

4.8.10.1. Overview

CDD example application demonstrating the Complex device driver features 3 different examples namely ipc_notify_app , ipc_rpmsg_app and ipc_safeipc_app .

4.8.10.1.1. Ipc_notify_app_working

This application is low payload, low latency message type where user will be able to send a maximum of 28bits of data as the payload. The first 4 bits are used internally by the driver for the client ID. Notify app sends 1000000, to all the other 3 cores and waits for all of them to echo back. To make the example work with lesser cores, edit the following parameters in the example.

1. #define MAX 4 To the number of cores user needs to reduce.

2. uint32 gRemoteCoreId[]; Enable only the cores that are required.

3. uint32 gIpcTransferMutex[MAX] Remove the extra Lock variables (These can be replced with any kind of mutex or semaphore implementation at the user End).

4. In addition to these please also ensure the Cdd_Ipc_PBCfg.c has the proper cores configured from the XDM file.

The same changes stand valid for the rpmsg_echo_app as well.

4.8.10.1.2. Ipc_rpmsg_app working

1. RpMsg application uses Vrings as the medium to send larger data whose size and buffer depth can be configured using the parameters CDD_IPC_NUM_OF_BUFFERS and CDD_IPC_MAX_BUFFER_SIZE.

2. The application exchanges 100000 messages, the payload data is integer value where it gets incremented on every echo back from each core. In order to change the data from the integer to other data i.e., String or characters for command use-cases please change the following line.

snprintf(msgBuf, MAX_MSG_SIZE-1, "%d", msg);

to

snprintf(msgBuf, MAX_MSG_SIZE-1, "%s", Your String Data);

The notify application is present under the path <MCAL_ROOT>/examples/Ipc/Ipc_app_notify. This application can be built from the build folder by giving "gmake -s ipc_notify_app".

The rpmsg application is present under the path <MCAL_ROOT>/examples/Ipc/Ipc_app_rpmsg. This application can be built from the build folder by giving "gmake -s ipc_rpmsg_app".

4.8.10.1.3. Ipc_safeipc_app_working

1.Safe_IPC application uses Vring as medium to transfer large size of data, along with providing the firewall protection on the mailbox memory(by configuring CDD_IPC_SAFEIPC_ENABLE as enable).

2.For selecting the remote core as safe core CddIpcSafeIpcCoresEnable is enabled at the remote core level in the configuration.

3.Apart from that CDD_IPC_CRC_ENABLE is enable in order to ensure the data integrity.

4.Inside the application hook function is defined for checking the CRC on the data payload.

5.This example demonstrate the safe communication between R50_0 AND R50_1, where MCAL is running on R50_1 and running SDK on R50_0(which is also responsible for setting up firewall).

Note

In order to run safe_ipc there are dependencies from TIFS and SDK. Since TIFS is responsible for providing the firewall services and SDK is responsible for setting up of firewall. So this setting up of firewall need to be taken care from SDK core in order to run safe_ipc with MCAL.

4.8.10.2. Setup required to run example

None

4.8.10.3. How to run examples

4.8.10.3.1. Ipc_notify_app_working/Ipc_rpmsg_app working

Examples to import from SDK to validate the CDD_IPC(Notify and Rpmsg) example,

1. Use all the other cores except R50_0 (this is where CDD_IPC app will be run), the path to the examples inside MCU+SDK directory

2. $(MCU_PLUS_SDK_PATH)/examples/drivers/ipc/ipc_notify_echo/am263x-cc

3. $(MCU_PLUS_SDK_PATH)/examples/drivers/ipc/ipc_rpmsg_echo/am263x-cc

4. After building SDK amd Mcal library, load the Mcal binary in R50_0 and SDK binary in all the other R5 core(R50_1) and execute the binary.

4.8.10.3.1.1. Notify App Sample Output

4.8.10.3.1.2. RPMsg App Sample Output

4.8.10.3.2. Ipc_safeipc_app_working

1. The safe_ipc application is present under the path <MCAL_ROOT>/examples/Ipc/Ipc_app_safeipc.This can be build from the build folder by using "gmake -s ipc_safeipc_app CDD_IPC_SAFE_ENABLE=yes".

2. After the build is successful, use the generated xer5f file as an input which should be to generate the appimage from the SDK safeIpc example present under $(MCU_PLUS_SDK_PATH)/examples/drivers/ipc/ipc_safeipc_echo/am263x-cc.

3. MCAL generated xer5f file should be used as an out file for R50_1 core of SDK and then build the SDK appimage.

4. In this case the generated appimage will have sdk running on R50_0 and MCAL on R50_1.

5. Now in order to run the appimage : Flash the appimage using UART_UNIFLASH.For more information refer: https://software-dl.ti.com/mcu-plus-sdk/esd/AM263X/09_01_00_41/exports/docs/api_guide_am263x/TOOLS_FLASH.html#TOOLS_FLASH_UART_UNIFLASH

4.8.10.3.2.1. SafeIpc App Sample Output

4.8.10.3.3. Plugin Generation

The Cdd_Ipc has two configuration files inside Ipc_Demo_Cfg/soc/am263/r5f0_0/src. Cdd_Ipc_Callback_app_PBCfg.c and Cdd_Ipc_PBCfg.c

1. To generate Cdd_Ipc_Callback_app_PBCfg.c file, configure the macro CDD_IPC_RPMSG_CALLBACK_ENABLE as STD_ON in Cdd_Ipc_Cfg.h file.

2. Generate the configuration files.

3. Rename the PBCfg.c file as Cdd_Ipc_Callback_app_PBCfg.c and keep inside Ipc_Demo_Cfg/soc/am263/r5f0_0/src.

4. This file is used by the Cdd_Ipc_rpmsg_callback app.

5. To generate Cdd_Ipc_PBCfg.c file, configure the macro CDD_IPC_RPMSG_CALLBACK_ENABLE as STD_OFF in Cdd_Ipc_Cfg.h file.

6. Generate the configuration files.

7. keep the Cdd_Ipc_PBCfg.c file inside Ipc_Demo_Cfg/soc/am263/r5f0_0/src.

8. This file is used by the Cdd_Ipc_rpmsg app.

Note

1. Keep the Cdd_Ipc_Cfg.h file with macro CDD_IPC_RPMSG_CALLBACK_ENABLE as STD_ON inside the path Ipc_Demo_Cfg/soc/am263/r5f0_0/include.

4.8.10.4. Sample Log

Ipc Notify:

CDD_IPC_NOTIFY_APP: Sample IPC Application started!
CDD_IPC_NOTIFY_APP: Sync All Completed
CDD_IPC_NOTIFY_APP: Message exchange started by main core
CDD_IPC_NOTIFY_APP: All echoed messages received by main core from 3 remote cores !!!
CDD_IPC_NOTIFY_APP: Messages sent to each core = 1000000
CDD_IPC_NOTIFY_APP: Number of remote cores = 3
All tests have passed

Ipc Rpmsg:

CDD_IPC_RPMSG_APP: Sample IPC Application started!
CDD_IPC_RPMSG_APP: Sync All Completed
CDD_IPC_RPMSG_APP: RpMsg Message exchange started by main core
CDD_IPC_RPMSG_APP: All echoed messages received by main core from 3 remote cores !!!
CDD_IPC_RPMSG_APP: Messages sent to each core = 100000
CDD_IPC_RPMSG_APP: Number of remote cores = 3
All tests have passed

Ipc Rpmsg Callback:

CDD_IPC_RPMSG_CALLBACK_APP: Sample IPC Application started!
CDD_IPC_RPMSG_CALLBACK_APP: Sync All Completed
CDD_IPC_RPMSG_CALLBACK_APP: RpMsg Message exchange started by main core
CDD_IPC_RPMSG_CALLBACK_APP: All echoed messages received by main core from 3 remote cores !!!
CDD_IPC_RPMSG_CALLBACK_APP: Messages sent to each core = 100000
CDD_IPC_RPMSG_CALLBACK_APP: Number of remote cores = 3
All tests have passed

4.8.10.5. File Structure

📦AM263x
┣ 📂build
┣ 📂mcal
┃ ┣ 📂examples
┃ ┃ ┣ 📂Ipc
┃ ┃ ┃ ┣ 📂soc
┃ ┃ ┃ ┣ 📂Ipc_app_notify
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_app.h : Contains Cdd Ipc example header file
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_notify_app.c : contains the IPC R50 test app for IPC Notify
┃ ┃ ┃ ┃ ┗ 📜Makefile
┃ ┃ ┃ ┣ 📂Ipc_app_rpmsg
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_app.h : Contains Cdd Ipc example header file
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_rpmsg_app.c : Contains IPC R50 test app for RpMsg
┃ ┃ ┃ ┃ ┗ 📜Makefile
┃ ┃ ┃ ┣ 📂Ipc_app_rpmsg_callback_mode
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_app.h : Contains Cdd Ipc example header file
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_rpmsg_callback_app.c : Contains IPC R50 test app for RpMsg
┃ ┃ ┃ ┃ ┗ 📜Makefile
┃ ┃ ┃ ┣ 📂Ipc_app_safeipc
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_app.h : Contains Cdd Ipc example header file
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_safeipc_app.c : Contains IPC R51 test app for safeipc
┃ ┃ ┃ ┃ ┣ 📜lnk_r5_SafeIpc_am263_CLANG.cmd : Contains linker file
┃ ┃ ┃ ┃ ┗ 📜Makefile
┃ ┃ ┃ ┣ 📂Ipc_test_safeipc
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_app.h : Contains Cdd Ipc example header file
┃ ┃ ┃ ┃ ┣ 📜Cdd_Ipc_safeipc_test.c : Contains IPC R52 test app for safeipc
┃ ┃ ┃ ┃ ┣ 📜lnk_r5_SafeIpc_am263_CLANG.cmd : Contains linker file
┃ ┃ ┃ ┃ ┗ 📜Makefile
┃ ┣ 📂examples_config
┃ ┃ ┣ 📂Ipc_Demo_Cfg
┃ ┃ ┃ ┗ 📂soc
┃ ┃ ┃ ┃ ┣ 📂am263
┃ ┃ ┃ ┃ ┃ ┗ 📂r5f0_0
┃ ┃ ┃ ┃ ┃ ┃ ┣ 📂include
┃ ┃ ┃ ┃ ┃ ┃ ┃ ┗📜Cdd_Ipc_Cfg.h : Contains the configuration parameters
┃ ┃ ┃ ┃ ┃ ┃ ┗ 📂src
┃ ┃ ┃ ┃ ┃ ┃ ┃ ┣📜Cdd_Ipc_Callback_app_PBCfg.c : Contains all Pre-Compile Configured parameters with Recv CallBack Function
┃ ┃ ┃ ┃ ┃ ┃ ┃ ┗📜Cdd_Ipc_PBCfg.c : Contains all Pre-Compile Configured parameters
┃ 📂mcal_config
┃ 📂mcal_docs
┗ 📜README.txt

4.8.11. References

Technical Reference Manual