SysLink 3
=========
SysLink3 is the implementation of a minimal set of SysLink2 APIs,
hosted over the new AMP (rpmsg) feature in Linux kernel v3.x, and the
corresponding support for an rpmsg-based MessageQ Transport on the BIOS side.
The rpmsg functionality is exposed to user space via a socket interface,
provided in the upstream-rpmsg repo (see below).
The main public API currently supported is MessageQ.
For current constraints, see the TODO section below.
Platforms:
=========
Messaging has been validated between Linux to BIOS on:
1) OMAPL138 EVM board: ARM to DSP.
2) OMAP4430 Panda board: Dual ARM9 to Ducati CORE0 ("SysM3").
BUILD:
=====
Linux side:
===========
Kernel space:
------------
1) Clone the upstream-rpmsg repo, and checkout the v0.4 tag
(on rpmsg_3.4_rc1 branch):
* git clone git://github.com/GAnthony/upstream-rpmsg.git
* git checkout -b <branch_name> v0.4
2a) The syslink3 repo (see below) etc/ directory contains the .config files
used for testing.
[OMAPL138] etc/omapl138/omapl138_rpmsg_3.4_rc1.config
[HAWKBOARD] etc/omapl138/hawkboard_rpmsg_3.4_rc1.config
[OMAP4430] etc/panda/panda_rpmsg_3.4_rc1.config
2b) Key config parameters needed for rpmsg and socket driver to build/work:
CONFIG_REMOTEPROC=m
CONFIG_DAVINCI_REMOTEPROC=m
CONFIG_RPMSG=m
CONFIG_VIRTIO=m
CONFIG_VIRTIO_RING=m
3) Code Sourcery Toolchain version used: arm-2010q1
User space:
-----------
1) Install the BIOS IPC product into a tools repository (REPO) directory:
- See sysbios-rpmsg repo Makefile to get correct IPC version.
- http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/ipc/
2) Install the latest CMEM version into the tools repository:
- http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/linuxutils/index.html
3) Clone the following to get SysLink3 libraries, NameServer daemon and samples:
* git clone git://github.com/GAnthony/syslink3.git
* git checkout -b <branch_name> v0.4
4) Makefile.inc:
* Ensure the following settings correspond to your installation versions:
IPCPRODVER = <ipc version>
CMEMPRODVER = <linuxutils version>
* If your Code Sourcery Toolchain is not included on your PATH, specify it
in the file:
CROSS = <path of your Code Sourcery Toolchain>
e.g. /opt/cs/arm-2010q1/bin/arm-none-linux-gnueabi-
5) Build:
% make REPO=<path to your tools repository>
OR:
- Edit Makefile.inc, update REPO variable to point to the tools repository.
% make
BIOS side:
==========
1) Clone the sysbios-rpmsg repo, and checkout the v0.4 tag
(on the syslink3 branch):
* git clone git://github.com/GAnthony/sysbios-rpmsg.git
* git checkout -b <branch_name> v0.4
2) See the README for tools and build instructions (substitute GAnthony repo
for the omapzoom repo mentioned in the README).
* Use the tools versions listed in the Makefile.
3) Note that the MessageQCopy, srvmgr, resmgr, pm, and grcm modules are
not currently compatible with the new BIOS IPC transport: TransportVirtio.
They build, but are not compiled into the test sample: messageq_single.
4) The result of this build will be a messageq_single ELF binary in the
src/ti/ipc/tests/<ti_platforms_X>/<profile>/ directory.
Test:
====
1) Setup a root file system. This was tested using a root file system from:
http://narcissus.angstrom-distribution.org/
[OMAPL138] "machine type" = da850-omapl138-evm
[OMAP4430] "machine type" = pandaboard
2) Boot Linux on the target:
[OMAPL138] (eg: boot uImage over TFTP, and load fs over NFS)
setenv bootfile=/gp/uImage.omapl138.rpmsg_3.4_rc1
setenv bootargs=console=ttyS2,115200n8 root=/dev/nfs rw nfsroot=<nfs_server_ip>:<rfs_path>,nolock ip=dhcp rootdelay=5
setenv bootcmd=dhcp;bootm c0700000
[OMAP4430] (eg: boot uImage on MMC, and load fs over NFS):
setenv bootargs 'root=/dev/nfs rw nfsroot=<nfs_server_ip>:<rfs_path> rootdelay=5 console=ttyO2,115200n8 noinitrd ip=dhcp'
setenv bootcmd 'mmcinit 0;fatload mmc 0:1 0x80000000 uImage; bootm'
3) Copy the messageq_single binary (from sysbios-rpmsg repo) to the target
/lib/firmware directory, renaming to the firmware filename for your
platform:
[OMAPL138] % cp <sysbios-rpmsg>/src/ti/ipc/tests/ti_platforms_evmOMAPL138_DSP/release/messageq_single.xe674 <target>/lib/firmware/da8xx-dsp.elf
[OMAP4430] % cp <sysbios-rpmsg>/src/ti/ipc/tests/ti_platform_omap4430_core0/release/messageq_single.xem3 <target>/lib/firmware/ducati-m3-core0.xem3
4) Copy the MessageQApp and lad daemon to the target:
% cp <syslink3>/src/samples/MessageQApp <target>/home/user
% cp <syslink3>/src/daemon/lad <target>/home/user
5) On the target, load the BIOS firmware and rpmsg socket driver:
(Eg: See etc/<platform>/load_firmware.sh):
% depmod -a
% if [ ! -d "/debug" ]; then
mkdir /debug
% fi
% mount -t debugfs none /debug
% modprobe remoteproc
% modprobe davinci_remoteproc # [OMAPL138]
% modprobe virtio_rpmsg_bus
% modprobe rpmsg_proto
6) To dump the trace on the remote proc:
(See etc/<platform>/dump_trace.sh):
% cat /debug/remoteproc/davinci-rproc.0/trace0 # [OMAPL138]
7) Start the NameServer daemon: (based on Link Arbiter Daemon):
(See etc/run_lad.sh):
% lad lad.txt
8) Copy the <syslink3>/src/samples/MessageQApp sample to the target and Run:
% MessageQApp
9) Expected Output: Linux side:
% MessageQApp
Entered MessageQApp_execute
Local MessageQId: 0x1
Remote queueId [0x10000]
Exchanging 100 messages with remote processor...
MessageQ_get #0 Msg = 0x183b0
Exchanged 1 messages with remote processor
MessageQ_get #1 Msg = 0x183b0
Exchanged 2 messages with remote processor
MessageQ_get #2 Msg = 0x183b0
[...]
Exchanged 98 messages with remote processor
MessageQ_get #98 Msg = 0x183b0
Exchanged 99 messages with remote processor
MessageQ_get #99 Msg = 0x183b0
Exchanged 100 messages with remote processor
Sample application successfully completed!
Leaving MessageQApp_execute
10) Expected Output: BIOS trace: [OMAPL138]
% dump_trace.sh
3 IpcMemory entries at 0xc4000000
messageq_single.c:main: MultiProc id = 1
TransportVirtioSetup_attach: remoteProcId: 0
tsk1Fxn: created MessageQ: SLAVE; QueueID: 0x10000
Awaiting sync message from host...
Received msg from (procId:remoteQueueId): 0x0:0x1
payload: 8 bytes; loops: 100 with printing.
Got msg #0 (40 bytes) from core 0
Sending msg Id #0 to core 0
Got msg #1 (40 bytes) from core 0
Sending msg Id #1 to core 0
[...]
Got msg #98 (40 bytes) from core 0
Sending msg Id #98 to core 0
Got msg #99 (40 bytes) from core 0
Sending msg Id #99 to core 0
Awaiting sync message from host...
11) To unload the firmware and stop the coprocessor:
(See etc/<platform>/unload_firmware.sh)
% rmmod rpmsg_proto
% rmmod virtio_rpmsg_bus
% rmmod davinci_remoteproc # [OMAPL138]
% rmmod remoteproc
CMEM:
=====
CMEM (Contiguous MEMory allocator) is currently the only supported way to
allocate a contiguous block of memory from a user space application to
share with the remote core.
See the CMEM documentation link below for an overview.
Passing a pointer to a shared memory buffer is demonstrated in the Linux and
BIOS side tests: nano_test.c.
See etc/omapl138/nano_test.sh for usage with the ALSA utility arecord and the
OMAPL138 sound driver.
Build:
======
1) See readme.txt in <linuxutils_install_dir>/packages/ti/sdo/linuxutils/cmem
2) % cd src/module
% make
% make install
Install:
========
1) Add mem= line to carveout CMEM memory from Linux:
(eg for OMAPL138 EVM with 128M DDR):
# setenv bootargs "mem=112M console=ttyS2,115200n8 root=/dev/nfs rw nfsroot=146.252.160.87:/exports/gp/omapl138_angstrom_rfs,nolock ip=dhcp rootdelay=5"
2) insmod cmemk.ko, specifying physical start, end addresses:
% insmod cmemk.ko phys_start=0xc7000000 phys_end=0xc8000000
Documentation:
==============
* http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/syslink/latest/docs/html/index.html
* http://free-electrons.com/pub/video/2011/elce/elce-2011-ben-cohen-remote-processor-messaging-450p.webm
* https://github.com/ohadbc/upstream-rpmsg/blob/rpmsg_3.4_rc1/Documentation/rpmsg.txt
* https://github.com/ohadbc/upstream-rpmsg/blob/rpmsg_3.4_rc1/Documentation/virtual/virtio-spec.txt
* http://www.omappedia.org/wiki/Syslink_3
* http://processors.wiki.ti.com/index.php/CMEM_Overview
Known Issues:
============
* Build for Panda board is broken on sysbios-rpmsg repo.
* Cleanup on abnormal process termination or NameServer timeouts not completely handled.
* For each interrupt from the DSP, a second spurious call to the irq function
in davinci_remoteproc is occuring, despite the fact that there is no
actual second interrupt. A hack was put in to ignore this second spurious
interrupt until a patch to the interrupt handling code on davinci is found.
TODO:
=====
* Multiple platform build support in both syslink3 and sysbios-rpmsg repos.
* Add OSAL, and replace printf in API modules with Log_printf.
* Support multiple processes.
* Make TransportVirtio compatible with MessageQCopy and rpmsg-omx.