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Cannot use syslink when load firmware dm816x_hdvicp.xem3 on EVM DM8168

Hi every one !

I am working on KIT EVM DM8168.  My linux application uses syslink to communicate with DSP ( for image processing) and uses gstreamer to stream image results.

Follow user guide ( http://processors.wiki.ti.com/index.php/DM816x_EZ_5.04.00_Software_Developers_Guide#Running_the_SysLink_examples ), to run syslink I have to run

/etc/init.d/matrix-gui-e stop
/etc/init.d/load-hd-firmware.sh stop
modprobe syslink

These commands stop dm816x_hdvicp.xem3 and dm816x_hdvpss.xem3. However, linux needs firmware dm816x_hdvicp.xem3 to run gstreamer pipeline.

Output when I run a gstreamer pipeline:

Setting pipeline to PAUSED ...

Assertion at Line no: 1349 in /swcoe/sdk/cm/netra/arago-tmp/work/dm816x-evm-none-linux-gnueabi/ti-syslink-2_20_02_20-r4j/syslink_2_20_02_20/packages/ti/syslink/ipc/hlos/usr/HeapMemMP.c: (hpHandle != NULL) : failed
gst-launch-0.10: DmmDelegateHeap.c:193: DmmDelegate_createIpcHeap: Assertion `(heapHandle != 0)' failed.
Aborted

When I load hdvicp,  "firmware_loader 1 /usr/share/ti/ti-media-controller-utils/dm816x_hdvicp.xem3 start", then gstreamer works. However, run syslink fail: "[System_init]: load callback failed"

How can I use syslink and gstreamer properly ?

Thanks !