MCUSW
Cdd Ipc User Guide

Introduction

This document details Cdd Ipc module implementations

  • Supported AUTOSAR Release : 4.3.1
  • Supported Configuration Variants : Pre-Compile
  • Vendor ID : CDD_IPC_VENDOR_ID (44)
  • Module ID : CDD_MODULE_ID (255)

Cdd Ipc modules allows core hosting MCAL/AUTOSAR to communicate with other cores (processing entities, with-in SoC) hosting PDK based IPC driver as well as HLOS Linux IPC driver. This driver could be used to transmit and receive variable length messages between cores, via logical communication channel ID's. Can be mapped to Sender-Receiver AUTOSAR interface, for data oriented communication between core that host AUTOSAR / NON AUTOSAR processing entities.

Some of key points to note

  1. Can inter-operate with MCU+SDK IPC and Linux IPC drivers for SMPU variants.
  2. Depends on the built-in mailbox hardware to notify arrival of new message
  3. Relies on shared memory (message would be copied into shared area and destination core notified, the destination core would read this message)
  4. Not configurable (via Cdd Ipc configuration parameters) to use different mailbox, FIFO & user
  5. Interrupt are used, to signal presence of new message destined to this core
  6. For a given channel local and remote endpoint pair is formed.
  7. In case of communication with Linux, remote endpoint is not published upfront, hence it is cached everytime a message a received.

Cdd Driver Architecture/Design

Please refer the Cdd IPC design page, which is part of CSP.[2]

Functional Description

demo_cdd_ipc_ctrl_ep.png
Cdd Ipc Architecture

As depicted in architecture figure above, Cdd Ipc implementation relies on mailbox, shared memory to transport messages between cores. The shared memory & other associated memories are provided via the configurator, Refer [Shared Memory Configuration] (Refer to Design Document provided in CSP) for details.

It's recommended to not change the recommended configuration for these parameters, unless the user comprehends methods to change memory location (and/or size) of the shared memory.

Communication Channel

A communication channel provides a logical communication channel between two processors. Identified uniquely by an un-signed sequential integer, represented by configurator defined [symbolic name] (Refer to Design Document provided in CSP).

  • Refer for Baremetal/NORTOS Application (SDK Install Directory)/mcusw.xx.yy.zz.bb/mcal_drv/mcal/examples_config/CddIpc_Demo_Cfg/output/generated/include/Cdd_IpcCfg.h for the generated communication channel identifiers.
  • Refer for Linux Application (SDK Install Directory)/mcusw.xx.yy.zz.bb/mcal_drv/mcal/examples_config/CddIpcLinux_Demo_Cfg/output/generated/include/Cdd_IpcCfg.h for the generated communication channel identifiers

There could be multiple unique communication channel between any given 2 cores.

End Point

There are two primary identifiers, identifying the end-points for a core. This is used by the driver to identify the source / destination of a message.

  • LocalEp : An unique, non-repetitive integer on the core that hosts MCAL/AUTOSAR
  • RemoteProcId : An unique processor identifiers, which determines the core that this communication channel is associated with (i.e. to be able to send and receive message to / from that core)
  • RemoteEp : An unique, non-repetitive integer on the remote core

Notes on EndPoints

  1. Shall be unique on a core (either local or remote cores)
  2. Need not be same i.e. localEp = X and remoteEp = Y, is a valid
  3. A communication channel shall have unique end-points, i.e. localEp shall be unique and on remote cores, remoteEp shall be unique

Buffer for each channel

  • MaxNumMsgQueued : Number of messages that could potentially be received & queued in the driver before, these messages could be received by applications
  • MaxMsgSize : Size of the largest message that could be received The MaxNumMsgQueued & MaxMsgSize is used to determine the memory reserved by the driver. The memory is reserved in (SDK Install Directory)/mcusw.xx.yy.zz.bb/mcal_drv/mcal/examples_config/CddIpc_Demo_Cfg/output/generated/src/Cdd_IpcCfg.c with variable (s) Cdd_IpcCommChBuf_<Channel ID>

Message reception process

  • Remote core sends a message
  • An interrupt occurs on the host core (On which MCAL AUTOSAR code is running)
  • Checks MBOX_IRQSTATUS_RAW register (BASE_ADDR + 0x100 + (n*16U)), corresponding mailbox bit is set if there is a message in MBOX.
  • Checks MBOX_MSGSTATUS register (BASE_ADDR + 0xC0 + (n*4U)), gives the number of messages available in MBOX.
  • Reads MBOX_MSG register (BASE_ADDR + 0x40 + (n*4U)), gives message written in MBOX. Transmitting core usually writes the remote core ID (core meant for message reception).
  • Clear interrupt by writing 1 to MBOX_IRQSTATUS_CLR (BASE_ADDR + 0x104 + (n*16U)) registers corresponding bit.
  • Read the actual message written in VRING.

Message transmission process

  • Write actual message to VRING.
  • Check if FIFO of specific MBOX is not already full in MBOX_FIFOSTATUS register (BASE_ADDR + 0x80 + (n*4U)), if FIFO is full bit 0 will be set else it will be cleared.
  • Write a message in MBOX via MBOX_MSG register (BASE_ADDR + 0x40 + (n*4U)), usually remote core ID is written (core meant for message reception).

Control End Point

The demo application by default uses control channel/Announce API's to notify remote cores of service availability. This feature could be turned OFF Refer for steps to turn OFF It is an endpoint which can be used to send or receive control messages, primarily used by Announce API�s to notify remote cores about the availability of service.

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Interrupt to ISR mapping for SMPU variants

The following table lists the interrupt details, required for applications to register ISR to receive interrupt on the core that hosts MCAL/IPC

AM62X: CDD IPC Example on R5FSS0_0

Please note the SCI Client / DMSC Firmware API are invoked to route interrupt to R5FSS0_0 (via routers or no routers)

Host Core Remote Core Cluster User Int No Comments
R5FSS0_0 M4FSS0_0 0 0 254 ISR Cdd_IpcIrqMbxFromRC
R5FSS0_0 A53SS_1 0 1 254 ISR Cdd_IpcIrqMbxFromRC

AM62AX: CDD IPC Example on MCU_R5 (deprecated because baremetal IPC app cant be supported on MCU_R5)

Please note the SCI Client / DMSC Firmware API are invoked to route interrupt to MCU 0_0 (via routers or no routers)

Host Core Remote Core Cluster User Int No for cluster 2 Comments
MCU_R5FSS0_0 A53SS0_0 2 0 242 ISR Cdd_IpcIrqMbxFromMcu_10

AM62PX: CDD IPC Example on MCU_R5 (deprecated because baremetal IPC app cant be supported on MCU_R5)

Please note the SCI Client / DMSC Firmware API are invoked to route interrupt to MCU 0_0 (via routers or no routers)

Host Core Remote Core Cluster User Int No for cluster 1 Comments
MCU_R5FSS0_0 A53SS0_0 1 0 241 ISR Cdd_IpcIrqMbxFromA53SS_0_0

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Configuration

The design document details the various configurable parameters of this implementation, please refer section Configurator of [2] (Refer to Design Document provided in CSP)

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Non Standard Service APIs

Cdd_IpcRegisterReadBack

As noted from the previous MCAL implementation, some of the critical configuration registers could potentially be corrupted by other entities (s/w or h/w). One of the recommended detection methods would be to periodically read-back the configuration and confirm configuration is consistent. The service API defined below shall be implemented to enable this detection

Description Comments
Service Name Cdd_IpcRegisterReadBack Can potentially be turned OFF (Refer to Design Document provided in CSP)
Syntax uint32 Cdd_IpcRegisterReadBack ( uint32 remoteProcId, P2VAR(Cdd_IpcRegRbValues, AUTOMATIC, CDD_APP_DATA) pRegArgs) E_OK: Register read back has been done, E_NOT_OK: Register read back failed
Service ID NA
Sync / Async Sync
Reentrancy Reentrant
Parameter in remoteProcId Remote Processor ID.
Parameters out pRegArgs - Pointer to where to store the readback values. If this pointer is NULL_PTR, then the API will return E_NOT_OK.
Return Value Std_ReturnType E_OK, E_NOT_OK

Cdd_IpcGetMailboxStatus

Service to get Mailbox state is FULL or not

Description Comments
Service Name Cdd_IpcGetMailboxStatus Service to get Mailbox state is FULL or not
Syntax uint32 Cdd_IpcGetMailboxStatus(uint32 chId) E_OK: Register read back has been done, E_NOT_OK: Register read back failed
Service ID CDD_IPC_SID_MAILBOX_STATE
Sync / Async Sync
Reentrancy Reentrant
Parameter in remoteProcId Remote ID.
Parameters out None
Return Value uint32 Returns the mailbox state

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Power-up

The driver doesn't configure the functional clock and power for the Mailbox module. It is expected that the Secondary Bootloader (SBL) powers up the required modules. Please refer SBL documentation.

Note that, this implementation will NOT reset the Mailbox. Un Expected/stale messages could be delivered by the driver. It's recommended to drain stale messages before announcing the availability via service API Cdd_IpcAnnounce () if enabled.

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Please refer the SOC user manual for cdd_ipc_app.

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Build MCAL example application for SMPU variants

The MCAL example application could be built with the command

AM62X

$ cd (SDK Install Directory)/mcusw.xx.yy.zz.bb/build
$ gmake -s cdd_ipc_app BOARD=am62x_evm SOC=am62x BUILD_PROFILE=release CORE=mcu0_0 BUILD_OS_TYPE=baremetal
$ OR
$ gmake -s cdd_ipc_app BOARD=am62x_evm SOC=am62x BUILD_PROFILE=debug CORE=mcu0_0 BUILD_OS_TYPE=baremetal
  • The generated executable is available at
    • (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app/bin/(SoC)_evm/cdd_ipc_app_mcu0_0_(BUILD_PROFILE).xer5f
    • e.g. (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app/bin/am62x_evm/cdd_ipc_app_mcu0_0_release.xer5f

AM62AX

$ cd (SDK Install Directory)/mcusw.xx.yy.zz.bb/build
$ gmake -s cdd_ipc_app BOARD=am62ax_evm SOC=am62ax BUILD_PROFILE=release CORE=mcu0_0 BUILD_OS_TYPE=baremetal
$ OR
$ gmake -s cdd_ipc_app BOARD=am62ax_evm SOC=am62ax BUILD_PROFILE=debug CORE=mcu0_0 BUILD_OS_TYPE=baremetal
  • The generated executable is available at
    • (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app/bin/(SoC)_evm/cdd_ipc_app_mcu0_0_(BUILD_PROFILE).xer5f
    • e.g. (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app/bin/am62ax_evm/cdd_ipc_app_mcu0_0_release.xer5f

AM62PX

$ cd (SDK Install Directory)/mcusw.xx.yy.zz.bb/build
$ gmake -s cdd_ipc_app BOARD=am62px_evm SOC=am62px BUILD_PROFILE=release CORE=mcu0_0 BUILD_OS_TYPE=baremetal
$ OR
$ gmake -s cdd_ipc_app BOARD=am62px_evm SOC=am62px BUILD_PROFILE=debug CORE=mcu0_0 BUILD_OS_TYPE=baremetal
  • The generated executable is available at
    • (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app/bin/(SoC)_evm/cdd_ipc_app_mcu0_0_(BUILD_PROFILE).xer5f
    • e.g. (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app/bin/am62px_evm/cdd_ipc_app_mcu0_0_release.xer5f

Build for M4 remote core example application

The remote core application implementation is available at

  • (SDK Install Directory)/mcu_plus_sdk_am62x_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62x-sk/m4fss0-0_nortos.
    please ensure that gmake is avaible in the mentioned path.

AM62X

The M4 remote core example application could be built with the command

$ cd (SDK Install Directory)/mcu_plus_sdk_am62x_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62x-sk/m4fss0-0_nortos/ti-arm-clang
$ gmake -s all

Note:- Comment/remove the IpcNotify_syncAll API's from the path (SDK Install Directory)/mcu_plus_sdk_am62x_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/ipc_rpmsg_echo.c.
     - Vring address and Vring size should match with host and remote application.
  • The generated executable is available at
    • e.g. (SDK Install Directory)/mcu_plus_sdk_am62x_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62x-sk/m4fss0-0_nortos/ti-arm-clang/ipc_rpmsg_echo.release.out

Build for DMR5/WakeUp remote core example application

The remote core application implementation is available at

  • (SDK Install Directory)/mcu_plus_sdk_am62ax_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62ax-sk/r5fss0-0/.
  • (SDK Install Directory)/mcu_plus_sdk_am62px_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62px-sk/wkup-r5fss0-0/.
    please ensure that gmake is avaible in the mentioned path.

AM62AX

The DMR5 remote core example application could be built with the command

$ cd (SDK Install Directory)/mcu_plus_sdk_am62ax_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62ax-sk/r5fss0-0/ti-arm-clang
$ gmake -s syscfg-gui
// Select IPC and make sure PDK IPC is checked. Save (ctrl + s) and close gui
$ gmake -s all

Note:
- Comment/remove the IpcNotify_syncAll API's from the path (SDK Install Directory)/mcu_plus_sdk_am62ax_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/ipc_rpmsg_echo.c.
  - Make sure to change gMainCoreID and gRemoteCoreId to correct ones. MCUR5 is main core and R5 is in the remote core list.
- Vring address and Vring size should match with host and remote application.
  • The generated executable is available at
    • e.g. (SDK Install Directory)/mcu_plus_sdk_am62ax_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62ax-sk/r5fss0-0/ti-arm-clang/ipc_rpmsg_echo.release.out

AM62PX

The DMR5 remote core example application could be built with the command

$ cd (SDK Install Directory)/mcu_plus_sdk_am62px_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62px-sk/wkup-r5fss0-0/ti-arm-clang
$ gmake -s syscfg-gui
// Select IPC and make sure PDK IPC is checked. Save (ctrl + s) and close gui
$ gmake -s all

Note:
- Comment/remove the IpcNotify_syncAll API's from the path (SDK Install Directory)/mcu_plus_sdk_am62px_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/ipc_rpmsg_echo.c.
  - Make sure to change gMainCoreID and gRemoteCoreId to correct ones. MCUR5 is main core and WKUP R5 is in the remote core list.
- Vring address and Vring size should match with host and remote application.
  • The generated executable is available at
    • e.g. (SDK Install Directory)/mcu_plus_sdk_am62px_xx_yy_zz/examples/drivers/ipc/ipc_rpmsg_echo/am62px-sk/wkup-r5fss0-0/ti-arm-clang/ipc_rpmsg_echo.release.out

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Steps to run CDD_IPC example application

Running the CDD_IPC example application via CCS

AM62X

Steps to run

  1. Connect to Cortex M4F_1, reset CPU and load the mcu_plus_sdk(M4-remote application) binary ipc_rpmsg_echo.release.out available at.
  2. Free run M4F_1 and we will see the prints that Remote Core waiting for messages from main core.
  3. Once M4 prints on CCS console connect to MAIN R50_0 (MAIN_Cortex_R5_0_0), reset CPU and load the MCAL (R5F) binary cdd_ipc_app_mcu0_0_release.xer5f
  4. Free run R50_0
  5. Output can be observed on CCS console/UART terminal refer Expected Example Output. Note that UART port dedicated for main domain would be used.
AM62AX, AM62PX

steps to run

  • Remote cores on these devices are Wakeup Core (DMR5/WKUPR5 on AM62PX or R5FSS0-0 on AM62Ax), so it needs to be started by the SBL. Wakeup Core cannot be loaded through CCS
  • One way to run this is using uart_uniflash.py to flash default_sbl_null.cfg or default_sbl_null_hs_fs.cfg (depending on device type) and change the default hello world DM image to ipc_rpmsg_echo.release.appimage.
  • See mcu+sdk rtos documentation on how to use uart_uniflash.py and default_sbl_null files.
  • Then you can boot using OSPI mode and use CCS normally, connect to MCUR5 core, and load MCAL cdd_ipc_app to run it. Output will be shown
  • Please view this mcu+sdk page for working with DMR5/WKUPR5/ core

Build and Running for CDD_IPC Linux example Application

Please follow steps detailed in section (Build) to build library or example.

Build MCAL CDD_IPC Linux example application

The MCAL example application could be built with the command

AM62X

$ cd (SDK Install Directory)/mcusw.xx.yy.zz.bb/build
$ gmake -s cdd_ipc_app_rc_linux BOARD=am62x_evm SOC=am62x BUILD_PROFILE=debug core=mcu0_0 CDD_IPC_LINUX_BUILD=yes
$ OR
$ gmake -s cdd_ipc_app_rc_linux BOARD=am62x_evm SOC=am62x BUILD_PROFILE=release core=mcu0_0 CDD_IPC_LINUX_BUILD=yes

Note: Vring address and Vring size should match with host and remote application.

AM62AX

$ cd (SDK Install Directory)/mcusw.xx.yy.zz.bb/build
$ gmake -s cdd_ipc_app_rc_linux BOARD=am62ax_evm SOC=am62ax BUILD_PROFILE=release CORE=mcu0_0 BUILD_OS_TYPE=baremetal CDD_IPC_LINUX_BUILD=yes
$ OR
$ gmake -s cdd_ipc_app_rc_linux BOARD=am62ax_evm SOC=am62ax BUILD_PROFILE=debug CORE=mcu0_0 BUILD_OS_TYPE=baremetal CDD_IPC_LINUX_BUILD=yes
Note: Vring address and Vring size should match with host and remote application.

AM62PX

$ cd (SDK Install Directory)/mcusw.xx.yy.zz.bb/build
$ gmake -s cdd_ipc_app_rc_linux BOARD=am62px_evm SOC=am62px BUILD_PROFILE=release CORE=mcu0_0 BUILD_OS_TYPE=baremetal CDD_IPC_LINUX_BUILD=yes
$ OR
$ gmake -s cdd_ipc_app_rc_linux BOARD=am62px_evm SOC=am62px BUILD_PROFILE=debug CORE=mcu0_0 BUILD_OS_TYPE=baremetal CDD_IPC_LINUX_BUILD=yes
Note: Vring address and Vring size should match with host and remote application.

Note:- Please ensure that for building the Linux application, the above mentioned variable is set to yes and for building the CDD IPC application ensure that the variable is set to no as this variable is responsible for the Demo configurations that will be included as a part of the driver during build, and also before building the application please use the gmake -s allclean command

  • The generated executable is available at
    • (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app_rc_linux/bin/(SoC)_evm/cdd_ipc_app_rc_linux_mcu0_0_(BUILD_PROFILE).xer5f
      • e.g. (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app_rc_linux/bin/am62x_evm/cdd_ipc_app_rc_linux_mcu0_0_release.xer5f
      • e.g. (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app_rc_linux/bin/am62ax_evm/cdd_ipc_app_rc_linux_mcu0_0_release.xer5f
      • e.g. (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app_rc_linux/bin/am62px_evm/cdd_ipc_app_rc_linux_mcu0_0_release.xer5f

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Preparing the SD card for AM62X

  1. Flash the tisdk-default-image-am62xx-evm.wic.xz on the SD card available at the link given above.
  2. Now the SD card contains the default Linux image with an already existing SDK IPC example integrated with DM firmware (sci server), we need to replace this example with our binary and recompile some components of the Linux image, these steps are explained in the sections below.

Preparing the SD card for AM62AX

  1. Flash the tisdk-default-image-am62axx-evm.wic.xz on the SD card available at the link given above.

Preparing the Linux PC

From the above link download the ti-processor-sdk-linux-am62xx-evm-08.04.01.09-Linux-x86-Install.bin, make the bin file as executable and install it on your Linux system.[Please consider latest linux installer]

AM62X Links: - https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-AM62X

Recompiling the Linux image components with the MCAL AM62X cdd_ipc_app_rc_linux binary

  1. run gmake -s allclean inside the build folder
  2. Update the CDD_IPC_LINUX_BUILD variable to yes in rules.make
  3. Build the MCAL application using the command gmake -s cdd_ipc_app_rc_linux BOARD=am62x_evm SOC=am62x BUILD_PROFILE=release core=mcu0_0
  4. Download the AM62X Linux installer from https://www.ti.com/tool/PROCESSOR-SDK-AM62X?keyMatch=AM62X%20PROCESSOR%20SDK
  5. Replace the ipc_echo_testb_mcu1_0_release_strip.xer5f file in the ti-processor-sdk-linux-am62xx-evm-09.00.00.03/board-support/prebuilt-images/am62xx-lp-evm/ti-dm/am62xx for AM62x and ti-processor-sdk-linux-am62xx-evm-09.00.00.03/board-support/prebuilt-images/am62xx-lp-evm/ti-dm/am62xx for AM62Q in the installed Linux installer (from the above link) with the cdd_ipc_app_rc_linux_mcu0_0_release_strip.xer5f file.
  6. Rename the cdd_ipc_app_rc_linux_mcu0_0_release_strip.xer5f file to ipc_echo_testb_mcu1_0_release_strip.xer5f
  7. Rebuild linux (make linux, use specific commands given in the link for different SOC variants) and u-boot (make u-boot, use specific commands given in the link for different SOC variants) with the new MCAL binary, use the link for reference and setup-> https://software-dl.ti.com/processor-sdk-linux/esd/AM62X/latest/exports/docs/linux/Overview/Top_Level_Makefile.html
  8. Rename the tiboot3.bin file in the SD card to some arbitrary name, this is the default tiboot3.bin image for HS-FS boards.
  9. Replace the tispl.bin in the SD card with the one presnt at ti-processor-sdk-linux-am62xx-evm-09.00.00.03/board-support/u-boot-build/a53
  10. Replace the u-boot.img in the SD card with the one present at ti-processor-sdk-linux-am62xx-evm-09.00.00.03/board-support/u-boot-build/a53
  11. Copy tiboot3-am62x-hs-fs-evm.bin from ti-processor-sdk-linux-am62xx-evm-09.00.00.03/board-support/u-boot-build/r5 to the SD card and rename it to tiboo3.bin
  12. Remove the SD card and run the application.
  13. Power on the board in SD card boot mode and log in using username root
  14. Navigate to Home using cd ~
  15. Build and load the M4 application from mcu_plus_sdk
  16. Free run the M4 core.
  17. Test the application using the modprobe rpmsg_client_sample count=10 and rpmsg_char_simple -r 15 -n 10 command.

Note: Above mentioned are linux boot method. Alternate SBL mode boot method is given in the below section.

Preparing the board

Ensure that the board is in SD-card boot mode.

SD_CARD_BOOT_MODE.jpg

Insert the SD card and connect the JTAG and UART cables via USB and open the terminal. Power on the board via USB and login into the board when prompted with username root.

UART_terminal.jpg
UART_terminal

Steps to run example application for AM62AX

Running the example application via CCS

Preparing the board

Copy the cdd_ipc_app_rc_linux_mcu0_0_(BUILD_PROFILE).xer5f file in (SDK Install Directory)/mcusw.xx.yy.zz.bb/binary/cdd_ipc_app_rc_linux/bin/(SoC)_evm to root->lib->firmware in the SD card which contains the Linux image(Linux system required windows file system not supported).

Inside the folder a file named am62a-mcu-r5f0_0-fw will be present, remove that file and rename the copied .xer5f file to am62a-mcu-r5f0_0-fw.

The A53 core will boot the firmware in the MCU R5 core automatically once the SD card is inserted in the board and powered. The logs can be seen using any terminal serially(UART).

Note: Above mentioned steps are linux boot method. Alternate SBL mode boot method is given in the below section.

Steps to run in CSS console
  1. Create target configuration for AM62A and launch.
  2. Power on the board and wait for Linux to boot, once Linux boots successfully connect to the MCU R5 core.
  3. Load the binary file into load symbols on CCS.
  4. Give free run to the MCU R5 core.
load_symbols_CCS.png
load symbols on CCS
Steps to run in terminal
  1. Login to the board where logs are visible on the terminal using username root.
  2. Use the following command to display the CDD IPC kernel-related messages retrieved from the kernel ring buffer
  3. dmesg | grep IPC
  4. rpmsg_char_simple -r 0 -n 10
  5. Use the following command to run the CDD IPC module and view the communication logs in the terminal
  6. modprobe rpmsg_client_sample count=10
  7. This command can only be run once to view the CDD IPC logs as the application is running in kernel space.
  8. To run the application again reconnect the device and repeat the steps mentioned in this section.
Terminal_Configuration.png
Terminal Configuration
Terminal_View.png
Terminal View

Steps to run example application for AM62PX

SBL boot method to test cdd_ipc_app_rc_linux

  1. set the board to sd card boot mode
  2. Refer readme first from SDK to generate SBL appimages file:///C:/ti/mcu_plus_sdk_am62px_09_01_00_39/docs/api_guide_am62px/EXAMPLES_DRIVERS_SBL_OSPI_LINUX_MULTISTAGE.html
  3. Refer the above readme link to create Linux Appimage Run the makefile at {SDK_INSTALL_PATH}/tools/boot/linuxAppimageGen to generate the Linux appimage
    • gmake -s BOARD=am62px-sk all
  4. Refer the above readme link to create HSM Appimage cd ${SDK_INSTALL_PATH}/tools/boot/HSMAppimageGen
    • gmake -s BOARD=am62px-sk all
  5. use the SBL method to flash default_sbl_ospi_linux.cfg (Use flash file according to your device).Flash in UART boot mode then change to OSPI NOR boot mode.

Steps to run example application for AM62AX

SBL boot method to test cdd_ipc_app_rc_linux

  1. set the board to sd card boot mode
  2. Refer readme first from SDK to generate SBL appimages file:///C:/ti/mcu_plus_sdk_am62ax_09_01_00_39/docs/api_guide_am62ax/EXAMPLES_DRIVERS_SBL_OSPI_NAND_LINUX_MULTISTAGE.html
  3. Refer the above readme link to create Linux Appimage Run the makefile at {SDK_INSTALL_PATH}/tools/boot/linuxAppimageGen to generate the Linux appimage
    • gmake -s BOARD=am62ax-sk all
  4. Refer the above readme link to create HSM Appimage cd ${SDK_INSTALL_PATH}/tools/boot/HSMAppimageGen
    • gmake -s BOARD=am62ax-sk all
  5. use the SBL method to flash default_sbl_ospi_nand_linux_hs_fs.cfg (Use flash file according to your device).Flash in UART boot mode then change to OSPI NAND boot mode.

Steps to run example application for AM62X

SBL boot method to test cdd_ipc_app_rc_linux

  1. set the board to sd card boot mode
  2. Refer readme first from SDK to generate SBL appimages file:///C:/ti/mcu_plus_sdk_am62x_09_01_00_39/docs/api_guide_am62x/EXAMPLES_DRIVERS_SBL_OSPI_NAND_LINUX_MULTISTAGE.html
  3. Refer the above readme link to create Linux Appimage Run the makefile at {SDK_INSTALL_PATH}/tools/boot/linuxAppimageGen to generate the Linux appimage
    • gmake -s BOARD=am62x-sk-lp all
  4. Refer the above readme link to create HSM Appimage cd ${SDK_INSTALL_PATH}/tools/boot/HSMAppimageGen
    • gmake -s BOARD=am62x-sk-lp all
  5. use the SBL method to flash default_sbl_ospi_nand_linux_hs_fs.cfg (Use flash file according to your device).Flash in UART boot mode then change to OSPI NAND boot mode.

Note: Download Linux installer from below link before to start point no.3 AM62X -https://www.ti.com/tool/PROCESSOR-SDK-AM62X?keyMatch=AM62X%20PROCESSOR%20SDK AM62AX -https://www.ti.com/tool/PROCESSOR-SDK-AM62A AM62AX -https://www.ti.com/tool/PROCESSOR-SDK-AM62P

To convert mcal binary to appimage

1) refer the below link to convert MCAL binary to Out2RPRC AM62Px-file:///C:/ti/mcu_plus_sdk_am62px_09_01_00_39/docs/api_guide_am62px/TOOLS_BOOT.html AM62AX-file:///C:/ti/mcu_plus_sdk_am62ax_09_01_00_39/docs/api_guide_am62ax/TOOLS_BOOT.html AM62X-file:///C:/ti/mcu_plus_sdk_am62x_09_01_00_39/docs/api_guide_am62x/TOOLS_BOOT.html

(Ex:C:/ti/sysconfig_1.18.0/nodejs/node.exe elf2rprc.js cdd_ipc_app_rc_linux_mcu0_0_debug.out)

Note: Use follwing path in place of ($NODE) in the command C:/ti/sysconfig_1.18.0/nodejs/node.exe

2) refer the below link under Multi-core Image Gen for converting Out2RPRC to appimage file AM62Px-file:///C:/ti/mcu_plus_sdk_am62px_09_01_00_39/docs/api_guide_am62px/TOOLS_BOOT.html AM62AX-file:///C:/ti/mcu_plus_sdk_am62ax_09_01_00_39/docs/api_guide_am62ax/TOOLS_BOOT.html AM62AX-file:///C:/ti/mcu_plus_sdk_am62x_09_01_00_39/docs/api_guide_am62x/TOOLS_BOOT.html (Ex:C:/ti/sysconfig_1.18.0/nodejs/node.exe multicoreImageGen.js –devID 55 –out cdd_ipc_app_rc_linux_mcu0_0_debug.appimage cdd_ipc_app_rc_linux_mcu0_0_debug.rprc@5)

3) use the below command in the same path ${SDK_INSTALL_PATH}/tools/boot/multicoreImageGen accordingly to device

AM62Px- python C:/ti/mcu_plus_sdk_am62px_09_01_00_39/tools/boot/signing/appimage_x509_cert_gen.py –bin cdd_ipc_app_rc_linux_mcu0_0_debug.appimage –authtype 0 –loadaddr 84000000 –key C:/ti/mcu_plus_sdk_am62px_09_01_00_39/tools/boot/signing/app_degenerateKey.pem –output cdd_ipc_app_rc_linux_mcu0_0_debug.appimage.hs_fs AM62AX- python C:/ti/mcu_plus_sdk_am62ax_09_01_00_39/tools/boot/signing/appimage_x509_cert_gen.py –bin cdd_ipc_app_rc_linux_mcu0_0_debug.appimage –authtype 0 –loadaddr 84000000 –key C:/ti/mcu_plus_sdk_am62ax_09_01_00_39/tools/boot/signing/app_degenerateKey.pem –output cdd_ipc_app_rc_linux_mcu0_0_debug.appimage.hs_fs AM62X- python C:/ti/mcu_plus_sdk_am62x_09_01_00_39/tools/boot/signing/appimage_x509_cert_gen.py –bin cdd_ipc_app_rc_linux_mcu0_0_debug.appimage –authtype 0 –loadaddr 84000000 –key C:/ti/mcu_plus_sdk_am62x_09_01_00_39/tools/boot/signing/app_degenerateKey.pem –output cdd_ipc_app_rc_linux_mcu0_0_debug.appimage.hs_fs (Note: point no.3 is applicable only to generate for hs/hs_fs appimage)

  • Power on the board in SBL boot mode and log in using username root
  • Test the application using the modprobe rpmsg_client_sample count=10 and rpmsg_char_simple -r 15 -n 10 command.

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Memory Mapping

Various objects of this implementation (e.g. variables, functions, constants) are defined under different sections. The linker command file at (Examples Linker File (Select memory location to hold example binary)) defines separate section for these objects. When the driver is integrated, it is expected that these sections are created and placed in appropriate memory locations. (Locations of these objects depend on the system design and performance needs)

Section CDD_IPC_CODE CDD_IPC_VAR CDD_IPC_VAR_NOINIT CDD_IPC_CONST CDD_IPC_CONFIG
CDD_IPC_DATA_NO_INIT_UNSPECIFIED_SECTION (.data) USED
CDD_IPC_DATA_INIT_32_SECTION USED
CDD_IPC_TEXT_SECTION USED
CDD_IPC_DATA_NO_INIT_8_SECTION USED
CDD_IPC_CONFIG_SECTION USED
CDD_IPC_ISR_TEXT_SECTION USED
CDD_IPC_CONFIG_SECTION USED

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Dependencies on SW Modules

DET

This implementation depends on the DET in order to report development errors and can be turned OFF. Refer to the Development Error Reporting section for detailed error codes.

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SchM

This implementation requires 1 level of exclusive access to guard critical sections. Invokes SchM_Enter_Cdd_Ipc_IPC_EXCLUSIVE_AREA_0(), SchM_Exit_Cdd_Ipc_IPC_EXCLUSIVE_AREA_0() to enter critical section and exit.

In the example implementation (SchM_Cdd_Ipc.c), all the interrupts on CPU are disabled. However, disabling of the enabled Mailbox related interrupts should suffice.

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File Structure

Cdd Ipc File Structure

cdd_ipc_dir_src.png
CDD Ipc Implementation Directory Structure
  • Driver implemented by: Cdd_Ipc.c, Cdd_IpcIrq.c & Cdd_IpcPriv.h core driver files
  • Example Configuration by: Cdd_IpcCfg.c and Cdd_IpcCfg.h
  • Example Application by: CddIpcApp.c & CddIpcApp.h
  • Remote Core Application by: main_rtos.c, ipc_utils.c

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Customizing Examples Application

Turn OFF Use Of Control End Point

IPC demo applications use atleast 2 applications running on 2 different cores. Namely ipc_remote_app & cdd_ipc_app OR cdd_ipc_profile_app , these two applications would have to be re built when this features requires to be turned OFF

  1. Update MCAL configuration
    1. Example Application
      1. The configuration used by this application is present in (SDK Install Directory)/mcusw/mcal_drv/mcal/examples_config/CddIpc_Demo_Cfg/output/generated/soc/(SOC)/mcu1_0
        • OR Incase application is being hosted on MCU 2 1 (SDK Install Directory)/mcusw/mcal_drv/mcal/examples_config/CddIpc_Demo_Cfg/output/generated/soc/(SOC)/mcu2_1
      2. The configuration used by this application in case of am62x is present in host R5F (SDK Install Directory)/mcusw/mcal_drv/mcal/examples_config/CddIpc_Demo_Cfg/output/generated/soc/am62x/mcu0_0
        1. The configuration used by this application in case of am62ax is present in host MCU R5FSS 0 0 (SDK Install Directory)/mcusw/mcal_drv/mcal/examples_config/CddIpc_Demo_Cfg/output/generated/soc/am62ax/mcu0_0
      3. The configuration used by this application in case of am62px is present in host MCU R5FSS 0 0 (SDK Install Directory)/mcusw/mcal_drv/mcal/examples_config/CddIpc_Demo_Cfg/output/generated/soc/am62px/mcu0_0
        1. Update the configurator to TURN OFF as show below
          cdd_ipc_ug_no_announce.png
          Announce API turned OFF
      4. Regenerate the configuration and copy the same into location specified above
      5. Alternately
        1. Set the macro CDD_IPC_ANNOUNCE_API to STD_OFF in Cdd_IpcCfg.h
        2. Re compile the MCAL demo application User Guide
    2. Profiling Application
      1. Update Remote Application configuration

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Error Handling

Development Error Reporting

Development errors are reported to the DET using the service Det_ReportError(), when enabled. The driver interface files (Cdd_IpcCfg.h shown in the driver directory structure of the File Structure section)

Refer Design Document for detailed [Error Codes] (Refer to Design Document provided in CSP)

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Error codes

Production error are reported to DET via Det_ReportError(). Only the error codes in the Cdd Ipc driver specifications are reported which are listed in [] (Refer to Design Document provided in CSP) Back To Top

API Description

The AUTOSAR BSW Eth Driver specification details the APIs [[2] (Refer to Design Document provided in CSP)]

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Example Application

Flow Chart

The flow chart below depicts the demo application

  • ipc_remote_app_mpu1_0_release.xa53fg would be hosted on Remote Core (MPU 1 0)
  • cdd_ipc_app_mcu1_0_release.xer5f would be hosted on Local Core (MCU 1 0)
  • ipc_rpmsg_echo.release.out would be hosted on Remote Core (M4)
  • cdd_ipc_app_mcu0_0_release.xer5f would be hosted on Local Core (R5F)
demo_cdd_ipc_flowchart.png
Cdd Ipc Demo Application flow chart

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Example Logs

AM62X CDD_IPC R5F to M4 Example Logs

    CDD_IPC_APP : CDD IPC MCAL Version Info
    CDD_IPC_APP :---------------------
    CDD_IPC_APP : Vendor ID           : 44
    CDD_IPC_APP : Module ID           : 255
    CDD_IPC_APP : SW Major Version    : 10
    CDD_IPC_APP : SW Minor Version    : 0
    CDD_IPC_APP : SW Patch Version    : 1

    CDD_IPC_APP :
    CDD_IPC_APP : Sample Application - STARTS !!! 
    CDD_IPC_APP : Received ping 10 Iteration 10 from M4FSS0_0
    CDD_IPC_APP : Received ping 9 Iteration 9 from M4FSS0_0
    CDD_IPC_APP : Received ping 8 Iteration 8 from M4FSS0_0
    CDD_IPC_APP : Received ping 7 Iteration 7 from M4FSS0_0
    CDD_IPC_APP : Received ping 6 Iteration 6 from M4FSS0_0
    CDD_IPC_APP : Received ping 5 Iteration 5 from M4FSS0_0
    CDD_IPC_APP : Received ping 4 Iteration 4 from M4FSS0_0
    CDD_IPC_APP : Received ping 3 Iteration 3 from M4FSS0_0
    CDD_IPC_APP : Received ping 2 Iteration 2 from M4FSS0_0
    CDD_IPC_APP : Received ping 1 Iteration 1 from M4FSS0_0
    CDD_IPC_APP : Transmitted and Received 10 times
    CDD_IPC_APP : All tests have passed !!!

    // In a different UART Terminal
    [IPC RPMSG ECHO] Remote Core waiting for messages from main core ... !!!
    [IPC RPMSG ECHO] Received and echoed 10 messages ... !!!
    All tests have passed!!

AM62AX CDD_IPC MCUR5F to R5F Example Logs

    CDD_IPC_APP : CDD IPC MCAL Version Info
    CDD_IPC_APP :---------------------
    CDD_IPC_APP : Vendor ID           : 44
    CDD_IPC_APP : Module ID           : 255
    CDD_IPC_APP : SW Major Version    : 10
    CDD_IPC_APP : SW Minor Version    : 0
    CDD_IPC_APP : SW Patch Version    : 1
    
    CDD_IPC_APP :
    CDD_IPC_APP : Sample Application - STARTS !!! 
    first ping sent to all cores
    ping sent to all cores
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 10 Iteration 10 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 9 Iteration 9 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 8 Iteration 8 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 7 Iteration 7 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 6 Iteration 6 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 5 Iteration 5 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 4 Iteration 4 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 3 Iteration 3 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 2 Iteration 2 from R5FSS0_0
    inside loop for R5FSS0_0 remote core rec msg
    CDD_IPC_APP : Received ping 1 Iteration 1 from R5FSS0_0
    CDD_IPC_APP : Transmitted and Received 10 times
    CDD_IPC_APP : All tests have passed !!!

    // In a different UART Terminal
    [IPC RPMSG ECHO] Remote Core waiting for messages from main core ... !!!
    [IPC RPMSG ECHO] Received and echoed 10 messages ... !!!
    All tests have passed!!

AM62PX CDD_IPC MCUR5F to DMR5F Example Logs

    [MCU_R5FSS0_0]  
    CDD_IPC_APP : CDD IPC MCAL Version Info
    CDD_IPC_APP :---------------------
    CDD_IPC_APP : Vendor ID           : 44
    CDD_IPC_APP : Module ID           : 255
    CDD_IPC_APP : SW Major Version    : 10
    CDD_IPC_APP : SW Minor Version    : 0
    CDD_IPC_APP : SW Patch Version    : 1
    
    CDD_IPC_APP :
    CDD_IPC_APP : Sample Application - STARTS !!! 
    first ping sent to all cores

    ping sent to all cores

    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 10 Iteration 10 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 9 Iteration 9 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 8 Iteration 8 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 7 Iteration 7 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 6 Iteration 6 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 5 Iteration 5 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 4 Iteration 4 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 3 Iteration 3 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg

    CDD_IPC_APP : Received ping 2 Iteration 2 from WKUPR5FSS0_0
    inside loop for WKUPR5FSS0_0 remote core rec msg
    [WKUP_R5FSS0_0] [IPC RPMSG ECHO] Received and echoed 10 messages ... !!!
    [MCU_R5FSS0_0] 
    CDD_IPC_APP : Received ping 1 Iteration 1 from WKUPR5FSS0_0
    [WKUP_R5FSS0_0] All tests have passed!!
    [MCU_R5FSS0_0] CDD_IPC_APP : Transmitted and Received 10 times
    CDD_IPC_APP : All tests have passed !!!

AM62X CDD_IPC DMR5 to A53

    root@am62xx-lp-evm:~# modprobe rpmsg_client_sample count=10
    [  282.459714] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: new channel: 0x401 -> 0xd!
    [  282.468510] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: new channel: 0x401 -> 0xd!
    [  282.477992] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 1 (src: 0xd)
    root@am62xx-lp-evm:~# [  282.488239] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 2 (src: 0xd)
    [  282.497935] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 3 (src: 0xd)
    [  282.506932] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 4 (src: 0xd)
    [  282.515923] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 5 (src: 0xd)
    [  282.524910] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 6 (src: 0xd)
    [  282.533904] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 7 (src: 0xd)
    [  282.543607] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 8 (src: 0xd)
    [  282.552907] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 9 (src: 0xd)
    [  282.561905] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 10 (src: 0xd)
    [  282.570276] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: goodbye!

    root@am62xx-lp-evm:~# rpmsg_char_simple -r 15 -n 10
    Created endpt device rpmsg-char-15-1632, fd = 4 port = 1026
    Exchanging 10 messages with rpmsg device ti.ipc4.ping-pong on rproc id 15 ...

    Sending message #0: hello there 0!
    Receiving message #0: hello there 0!
    Sending message #1: hello there 1!
    Receiving message #1: hello there 1!
    Sending message #2: hello there 2!
    Receiving message #2: hello there 2!
    Sending message #3: hello there 3!
    Receiving message #3: hello there 3!
    Sending message #4: hello there 4!
    Receiving message #4: hello there 4!
    Sending message #5: hello there 5!
    Receiving message #5: hello there 5!
    Sending message #6: hello there 6!
    Receiving message #6: hello there 6!
    Sending message #7: hello there 7!
    Receiving message #7: hello there 7!
    Sending message #8: hello there 8!
    Receiving message #8: hello there 8!
    Sending message #9: hello there 9!
    Receiving message #9: hello there 9!

    Communicated 10 messages successfully on rpmsg-char-15-1632

    root@am62xx-lp-evm:~#

AM62AX CDD_IPC MCUR5F to R5F Example Logs

    1. LINUX TERMINAL LOGS
         
    root@am62axx-evm:~# rpmsg_char_simple -r 0 -n 10
    Created endpt device rpmsg-char-0-699, fd = 4 port = 1025
    Exchanging 10 messages with rpmsg device ti.ipc4.ping-pong on rproc id 0 ...

    Sending message #0: hello there 0!
    Receiving message #0: hello there 0!
    Sending message #1: hello there 1!
    Receiving message #1: hello there 1!
    Sending message #2: hello there 2!
    Receiving message #2: hello there 2!
    Sending message #3: hello there 3!
    Receiving message #3: hello there 3!
    Sending message #4: hello there 4!
    Receiving message #4: hello there 4!
    Sending message #5: hello there 5!
    Receiving message #5: hello there 5!
    Sending message #6: hello there 6!
    Receiving message #6: hello there 6!
    Sending message #7: hello there 7!
    Receiving message #7: hello there 7!
    Sending message #8: hello there 8!
    Receiving message #8: hello there 8!
    Sending message #9: hello there 9!
    Receiving message #9: hello there 9!

    Communicated 10 messages successfully on rpmsg-char-0-699

    TEST STATUS: PASSED
    root@am62axx-evm:~# modprobe rpmsg_client_sample count=10
    [   93.561808] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: new channel: 0x401 -> 0xd!
    [   93.570354] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: new channel: 0x401 -> 0xd!
    [   93.570358] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 1 (src: 0xd)
    [   93.570567] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 2 (src: 0xd)
    [   93.579001] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: new channel: 0x401 -> 0xd!
    [   93.587086] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 1 (src: 0xd)
    [   93.612028] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 3 (src: 0xd)
    [   93.620325] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 1 (src: 0xd)
    root@am62axx-evm:~# [   93.628624] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 2 (src: 0xd)
    [   93.638620] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 4 (src: 0xd)
    [   93.646920] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 2 (src: 0xd)
    [   93.655222] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 3 (src: 0xd)
    [   93.663504] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 3 (src: 0xd)
    [   93.671782] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 5 (src: 0xd)
    [   93.680075] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 4 (src: 0xd)
    [   93.688365] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 5 (src: 0xd)
    [   93.696644] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 4 (src: 0xd)
    [   93.704921] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 6 (src: 0xd)
    [   93.713204] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 6 (src: 0xd)
    [   93.721494] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 7 (src: 0xd)
    [   93.729779] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 5 (src: 0xd)
    [   93.738074] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 7 (src: 0xd)
    [   93.746367] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 8 (src: 0xd)
    [   93.754657] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 9 (src: 0xd)
    [   93.762947] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 6 (src: 0xd)
    [   93.771229] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 8 (src: 0xd)
    [   93.779514] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 10 (src: 0xd)
    [   93.787871] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: goodbye!
    [   93.794677] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 7 (src: 0xd)
    [   93.802956] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 9 (src: 0xd)
    [   93.811251] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 8 (src: 0xd)
    [   93.819536] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 10 (src: 0xd)
    [   93.827887] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: goodbye!
    [   93.834753] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 9 (src: 0xd)
    [   93.843129] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: incoming msg 10 (src: 0xd)
    [   93.851539] rpmsg_client_sample virtio2.ti.ipc4.ping-pong.-1.13: goodbye!

AM62PX MCU_R5 to A53 Example Logs

    am62pxx-evm login: root
    [   18.520766] audit: type=1006 audit(25.740:10): pid=623 uid=0 old-auid=4294967295 auid=0 tty=(none) old-ses=4294967295 ses=3 res=1
    [   18.532568] audit: type=1300 audit(25.740:10): arch=c00000b7 syscall=64 success=yes exit=1 a0=8 a1=fffff01f7938 a2=1 a3=ffff96357020 items=0 ppid=1 pid=623 auid=0 uid=0 gid=0 euid=0 suid=0 fsuid=0 egid=0 sgid=0 fsgid=0 tty=(none) ses=3 comm="(systemd)" exe="/lib/systemd/systemd" key=(null)
    [   18.558272] audit: type=1327 audit(25.740:10): proctitle="(systemd)"
    [   18.580371] audit: type=1334 audit(25.800:11): prog-id=11 op=LOAD
    [   18.586596] audit: type=1300 audit(25.800:11): arch=c00000b7 syscall=280 success=yes exit=8 a0=5 a1=ffffe9d0d160 a2=78 a3=0 items=0 ppid=1 pid=623 auid=0 uid=0 gid=0 euid=0 suid=0 fsuid=0 egid=0 sgid=0 fsgid=0 tty=(none) ses=3 comm="systemd" exe="/lib/systemd/systemd" key=(null)
    [   18.612171] audit: type=1327 audit(25.800:11): proctitle="(systemd)"
    [   18.618726] audit: type=1334 audit(25.800:12): prog-id=11 op=UNLOAD
    [   18.625221] audit: type=1334 audit(25.800:13): prog-id=12 op=LOAD
    [   18.631400] audit: type=1300 audit(25.800:13): arch=c00000b7 syscall=280 success=yes exit=8 a0=5 a1=ffffe9d0d200 a2=78 a3=0 items=0 ppid=1 pid=623 auid=0 uid=0 gid=0 euid=0 suid=0 fsuid=0 egid=0 sgid=0 fsgid=0 tty=(none) ses=3 comm="systemd" exe="/lib/systemd/systemd" key=(null)
    [   18.656168] audit: type=1327 audit(25.800:13): proctitle="(systemd)"
    [   19.007681] sh (629): drop_caches: 1
    root@am62pxx-evm:~#  modprobe rpmsg_client_sample count=10 
    [   22.136097] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: new channel: 0x401 -> 0xd!
    [   22.144613] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 1 (src: 0xd)
    [   22.144715] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: new channel: 0x401 -> 0xd!
    [   22.152989] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 2 (src: 0xd)
    [   22.153042] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 3 (src: 0xd)
    root@am62pxx-evm:~# [   22.178277] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 4 (src: 0xd)
    [   22.188127] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 5 (src: 0xd)
    [   22.196446] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 1 (src: 0xd)
    [   22.204779] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 2 (src: 0xd)
    [   22.213115] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 3 (src: 0xd)
    [   22.221445] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 6 (src: 0xd)
    [   22.229760] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 4 (src: 0xd)
    [   22.238088] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 5 (src: 0xd)
    [   22.246386] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 6 (src: 0xd)
    [   22.254686] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 7 (src: 0xd)
    [   22.262990] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 8 (src: 0xd)
    [   22.271287] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 9 (src: 0xd)
    [   22.279579] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: incoming msg 10 (src: 0xd)
    [   22.287938] rpmsg_client_sample virtio1.ti.ipc4.ping-pong.-1.13: goodbye!
    [   22.294763] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 7 (src: 0xd)
    [   22.303070] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 8 (src: 0xd)
    [   22.311384] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 9 (src: 0xd)
    [   22.319703] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: incoming msg 10 (src: 0xd)
    [   22.328069] rpmsg_client_sample virtio0.ti.ipc4.ping-pong.-1.13: goodbye!

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References

Sl No Specification Comment / Link
1 AUTOSAR 4.3.1 AUTOSAR Specification for CDD Driver & Integration Intranet Link

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