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RPC fixes #44

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Merged
merged 8 commits into from
Jan 17, 2024
Merged

RPC fixes #44

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054cda9
pwm: partially reveert aff4241a94d
facchinm Nov 22, 2023
5c6cb58
debug: add include for gcc9
facchinm Nov 22, 2023
42f9eb1
wip: fixme: handle dual pads gpios
facchinm Nov 22, 2023
adfaab7
rpc: fix endpoints names
facchinm Jan 11, 2024
bc085f0
openamp: update library
facchinm Jan 11, 2024
2418f41
makefile: fix issues with openamp strict
facchinm Jan 11, 2024
4bc09e3
rpc: port to new architecture
facchinm Jan 11, 2024
5d34121
debug: make dbg_printf call safer when disabled
facchinm Jan 12, 2024
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1 change: 1 addition & 0 deletions include/debug.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
/**************************************************************************************
* DEFINE
**************************************************************************************/
#include <stdio.h>

#ifdef DEBUG
#define dbg_printf(...) printf(__VA_ARGS__)
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7 changes: 4 additions & 3 deletions libraries/openamp_arduino/src/openamp_conf.h
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Expand Up @@ -154,9 +154,10 @@ extern int __OPENAMP_region_end__[];
#endif

#define VRING_RX_ADDRESS SHM_START_ADDRESS
#define VRING_TX_ADDRESS (SHM_START_ADDRESS + 0x400)
#define VRING_BUFF_ADDRESS (SHM_START_ADDRESS + 0x800)
#define VRING_ALIGNMENT 4
#define VRING_TX_ADDRESS (SHM_START_ADDRESS + 0x1000)
#define VRING_BUFF_ADDRESS (SHM_START_ADDRESS + 0x2000)
#define VRING_BUFF_SIZE (SHM_SIZE - 0x2000)
#define VRING_ALIGNMENT 32
#define VRING_NUM_BUFFS 16 /* number of rpmsg buffers */
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This has been updated to 64 buffers.

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See arduino/ArduinoCore-mbed#830


/* Fixed parameter */
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26 changes: 26 additions & 0 deletions src/gpio_handler.c
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Expand Up @@ -48,6 +48,30 @@ extern struct IRQ_numbers IRQ_pinmap[];
* FUNCTION DEFINITION
**************************************************************************************/

static void configure_pins_shorted_together(GPIO_TypeDef *GPIOx, GPIO_InitTypeDef* GPIO_InitStruct) {
if (GPIO_InitStruct->Pin == GPIO_PIN_10 && GPIOx == GPIOB) {
GPIO_InitStruct->Mode = GPIO_MODE_INPUT;
GPIO_InitStruct->Pull = GPIO_NOPULL;
GPIO_InitStruct->Pin = GPIO_PIN_7;
HAL_GPIO_Init(GPIOG, GPIO_InitStruct);
}
if (GPIO_InitStruct->Pin == GPIO_PIN_15 && GPIOx == GPIOD) {
GPIO_InitStruct->Mode = GPIO_MODE_INPUT;
GPIO_InitStruct->Pull = GPIO_NOPULL;
GPIO_InitStruct->Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOG, GPIO_InitStruct);
}
}

static void write_pins_shorted_together(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin, GPIO_PinState PinState) {
if (GPIO_Pin == GPIO_PIN_10 && GPIOx == GPIOB) {
HAL_GPIO_WritePin(GPIOG, GPIO_PIN_7, PinState);
}
if (GPIO_Pin == GPIO_PIN_15 && GPIOx == GPIOD) {
HAL_GPIO_WritePin(GPIOG, GPIO_PIN_6, PinState);
}
}

int gpio_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size)
{
uint16_t const gpio_data = *((uint16_t*)data);
Expand All @@ -66,6 +90,7 @@ int gpio_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIO_pinmap[index].port, &GPIO_InitStruct);
configure_pins_shorted_together(GPIO_pinmap[index].port, &GPIO_InitStruct);
dbg_printf("GPIO%d: CONFIGURE %d\n", index, value);
break;
case IRQ_TYPE:
Expand All @@ -92,6 +117,7 @@ int gpio_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size
break;
case WRITE:
HAL_GPIO_WritePin(GPIO_pinmap[index].port, GPIO_pinmap[index].pin, value);
write_pins_shorted_together(GPIO_pinmap[index].port, GPIO_pinmap[index].pin, value);
dbg_printf("GPIO%d: WRITE %d\n", index, value);
break;
case READ:
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8 changes: 2 additions & 6 deletions src/pwm_handler.c
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Expand Up @@ -32,15 +32,15 @@

int pwm_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size)
{
if (opcode == CAPTURE)
if (opcode & CAPTURE)
{
uint8_t const channel = opcode & 0x0F;
if (isValidPwmChannelNumber(channel))
capturePwm(channel);
else
dbg_printf("pwm_handler: invalid PWM channel number provided for mode CAPTURE: %d\n", channel);
}
else if (opcode == CONFIGURE)
else
{
uint8_t const channel = opcode;
struct pwmPacket config = *((struct pwmPacket*)data);
Expand All @@ -49,9 +49,5 @@ int pwm_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size)
else
dbg_printf("pwm_handler: invalid PWM channel number provided for mode PWM: %d\n", channel);
}
else
{
dbg_printf("pwm_handler: error invalid opcode (:%d)\n", opcode);
}
return 0;
}
8 changes: 4 additions & 4 deletions src/rpc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ void new_service_cb(struct rpmsg_device *rdev, const char *name, uint32_t dest)
if (strcmp(name, "raw") == 0) {
OPENAMP_create_endpoint(&rp_endpoints[ENDPOINT_RAW], name, dest, rpmsg_recv_raw_callback, NULL);
}
if (strcmp(name, "response") == 0) {
if (strcmp(name, "rpc") == 0) {
OPENAMP_create_endpoint(&rp_endpoints[ENDPOINT_RESPONSE], name, dest, rpmsg_recv_raw_callback, NULL);
}
}
Expand All @@ -79,7 +79,7 @@ int serial_rpc_begin() {

/* Initialize the rpmsg endpoint to set default addresses to RPMSG_ADDR_ANY */
rpmsg_init_ept(&rp_endpoints[0], "raw", RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, NULL, NULL);
rpmsg_init_ept(&rp_endpoints[1], "response", RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, NULL, NULL);
rpmsg_init_ept(&rp_endpoints[1], "rpc", RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, NULL, NULL);

/*
* The rpmsg service is initiate by the remote processor, on H7 new_service_cb
Expand All @@ -101,8 +101,8 @@ void serial_rpc_available() {
}

void serial_rpc_write(uint8_t const * buf, size_t len) {
// check second byte of the message to split requests and responses
OPENAMP_send(&rp_endpoints[buf[1] == 1], buf, len);
// we'll only get rpc requests from "upstairs"
OPENAMP_send(&rp_endpoints[1], buf, len);
}

void HSEM1_IRQHandler(void)
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20 changes: 20 additions & 0 deletions src/timer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -161,6 +161,26 @@ void pwm_timer_config(uint32_t index, uint32_t channel,
HAL_HRTIM_SimplePWMChannelConfig(&hhrtim, index, channel, pSimplePWMChannelCfg);
HAL_HRTIM_SoftwareUpdate(&hhrtim, timers);

GPIO_InitTypeDef GPIO_InitStruct = {0};

if (enable && index == 3) {
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_HRTIM1;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
}

if (enable && index == 5) {
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_HRTIM1;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
}

if (enable) {
HAL_HRTIM_SimplePWMStart(&hhrtim, index, channel);
} else {
Expand Down