I'm currently working with TMS320C6678 simulator in CCS 5.5. I would like to provide communication between CORE0-3 using MessageQ (for transport data) and Notify (for synchronization). In my case Ipc.procSync is set to Ipc.ProcSync_PAIR. CORE0 is master and other cores works as slaves. Off course I call Ipc_attach in CORE0-3. Each core create their own queue. CORE0 open message queue from cores 1-3 and CORE0 open queue form cores 1-3. Here is code from CORE0 task:
Ipc_attach_with_core(1);
Ipc_attach_with_core(2);
Ipc_attach_with_core(3);
Notify_registerEvent(1, INTERRUPT_LINE, EVENTID, (Notify_FnNotifyCbck)cbFxn, NULL); //notify events for simple synchronization
Notify_registerEvent(2, INTERRUPT_LINE, EVENTID, (Notify_FnNotifyCbck)cbFxn, NULL);
Notify_registerEvent(3, INTERRUPT_LINE, EVENTID, (Notify_FnNotifyCbck)cbFxn, NULL);
HeapBufMP_Params_init(&heapBufParams); //creation heap
heapBufParams.regionId = 0;
heapBufParams.name = HEAP_NAME;
heapBufParams.numBlocks = 20;
heapBufParams.blockSize = sizeof(A_ES_i_B_ES);
heapHandle = HeapBufMP_create(&heapBufParams);
if (heapHandle == NULL) {
System_abort("HeapBufMP_create failed\n" );
}
/* Register this heap with MessageQ */
MessageQ_registerHeap((IHeap_Handle)heapHandle, HEAPID);
/* Create the local message queue */
Id_MASTER_queue = MessageQ_create("MASTER_CORE0", NULL);
open_queue("SLAVE_CORE1", &Id_CORE1_queue);
open_queue("SLAVE_CORE2", &Id_CORE2_queue);
open_queue("SLAVE_CORE3", &Id_CORE3_queue);
A_ES_i_B_ES_wsk = (A_ES_i_B_ES **) calloc(1, sizeof(A_ES_i_B_ES *));
Vs_wsk = (pot_wezlow_ukladu **) calloc(1, sizeof(pot_wezlow_ukladu *));
Vs_wsk[0] = (pot_wezlow_ukladu *) MessageQ_alloc(HEAPID, sizeof(pot_wezlow_ukladu));
pointer_Vs = Vs_wsk[0];
pointer_A_ES_i_B_ES = A_ES_i_B_ES_wsk[0];
while (TRUE)
{
System_printf("Start iteration - CORE0 \n");
Notify_sendEvent(1, INTERRUPT_LINE, EVENTID, 0, TRUE); //start signal to other cores
Notify_sendEvent(2, INTERRUPT_LINE, EVENTID, 0, TRUE);
Notify_sendEvent(3, INTERRUPT_LINE, EVENTID, 0, TRUE);
MessageQ_get(Id_MASTER_queue, (MessageQ_Msg *)&pointer_A_ES_i_B_ES, MessageQ_FOREVER);
...
MessageQ_get(Id_MASTER_queue, (MessageQ_Msg *)&pointer_A_ES_i_B_ES, MessageQ_FOREVER);
...
MessageQ_get(Id_MASTER_queue, (MessageQ_Msg *)&pointer_A_ES_i_B_ES, MessageQ_FOREVER);
...
pointer_Vs->Vs[0] = 7.55;
pointer_Vs->Vs[1] = 3.78;
pointer_Vs->Vs[2] = -0.12;
MessageQ_put(Id_CORE1_queue, (MessageQ_Msg)wskaznik_Vs);
MessageQ_put(Id_CORE2_queue, (MessageQ_Msg)wskaznik_Vs);
MessageQ_put(Id_CORE3_queue, (MessageQ_Msg)wskaznik_Vs);
System_printf("Iteration done - CORE0 \n"); }
My structures definitions:
typedef struct A_ES_i_B_ES {
MessageQ_MsgHeader header;
float B_ES[6];
float A_ES[6][6];
} A_ES_i_B_ES;
typedef struct pot_wezlow_ukladu {
MessageQ_MsgHeader header;
float Vs[3];
} pot_wezlow_ukladu;
Buffers (global) definitions and pointers (local):
pot_wezlow_ukladu * wskaznik_Vs; A_ES_i_B_ES * wskaznik_A_ES_i_B_ES;
static A_ES_i_B_ES ** A_ES_i_B_ES_wsk = 0; static pot_wezlow_ukladu ** Vs_wsk = 0;
At the moment code in other cores is similar (CORES1-3):
while (Ipc_attach(0) < 0) {
Task_sleep(1);
}
Notify_registerEvent(0, INTERRUPT_LINE, EVENTID, (Notify_FnNotifyCbck)cbFxn, NULL);
do { //open heap
status = HeapBufMP_open(HEAP_NAME, &heapHandle);
if (status < 0) {
Task_sleep(1);
}
} while (status < 0);
/* Register this heap with MessageQ */
MessageQ_registerHeap((IHeap_Handle)heapHandle, HEAPID);
/* Create the local message queue */
Id_SLAVE_queue = MessageQ_create("SLAVE_COREN", NULL); //N is core Id
open_queue("MASTER_CORE0", &Id_MASTER_queue);
A_ES_i_B_ES_wsk = (A_ES_i_B_ES **) calloc(1, sizeof(A_ES_i_B_ES *));
A_ES_i_B_ES_wsk[0] = (A_ES_i_B_ES *) MessageQ_alloc(HEAPID, sizeof(A_ES_i_B_ES));
Vs_wsk = (pot_wezlow_ukladu **) calloc(1, sizeof(pot_wezlow_ukladu *));
pointer_Vs = Vs_wsk[0];
pointer_A_ES_i_B_ES = A_ES_i_B_ES_wsk[0];
while (TRUE)
{
while(start_calculations == FALSE); //it's set in Notify callback - wait for start signal from MASTER
start_calculations = FALSE;
System_printf("Start iteration - CORE N \n"); //N is core Id
pointer_A_ES_i_B_ES->A_ES[0][0] = 9.98;
pointer_A_ES_i_B_ES->B_ES[0] = -1.23;
MessageQ_put(Id_MASTER_queue, (MessageQ_Msg)pointer_A_ES_i_B_ES);
MessageQ_get(Id_SLAVE_queue, (MessageQ_Msg *)&pointer_Vs, MessageQ_FOREVER);
System_printf("Iteration done - CORE N \n"); //N is core Id
}
My functions definitions:
Void open_queue(String name, MessageQ_QueueId *queue_Id)
{
int status;
do {
status = MessageQ_open(name, queue_Id);
if (status < 0) {
Task_sleep(1);
}
} while (status < 0);
}
Void Ipc_attach_with_core(UInt16 number_of_core)
{
while (Ipc_attach(number_of_core) < 0)
{
Task_sleep(1);
}
}
My cfg file is the same for all cores:
var nameList = MultiProc.getDeviceProcNames();
MultiProc.setConfig(null, nameList);
var System = xdc.useModule('xdc.runtime.System');
System.extendedFormats = '%$L%$S%$F%f';
var SysStd = xdc.useModule('xdc.runtime.SysStd');
System.SupportProxy = SysStd;
/* Modules explicitly used in the application */
var Notify = xdc.useModule('ti.sdo.ipc.Notify');
var MessageQ = xdc.useModule('ti.sdo.ipc.MessageQ');
var Ipc = xdc.useModule('ti.sdo.ipc.Ipc');
var HeapBufMP = xdc.useModule('ti.sdo.ipc.heaps.HeapBufMP');
var MultiProc = xdc.useModule('ti.sdo.utils.MultiProc');
/* BIOS/XDC modules */
var BIOS = xdc.useModule('ti.sysbios.BIOS');
BIOS.heapSize = 0x8000;
var Task = xdc.useModule('ti.sysbios.knl.Task');
var tsk0 = Task.create('&tsk0_func');
tsk0.instance.name = "tsk0";
/* Synchronize all processors (this will be done in Ipc_start) */
Ipc.procSync = Ipc.ProcSync_PAIR;
/* Shared Memory base address and length */
var SHAREDMEM = 0x0C000000;
var SHAREDMEMSIZE = 0x00200000;
var SharedRegion = xdc.useModule('ti.sdo.ipc.SharedRegion');
SharedRegion.setEntryMeta(0,
{ base: SHAREDMEM,
len: SHAREDMEMSIZE,
ownerProcId: 0,
isValid: true,
name: "DDR2 RAM",
});
My problem is with exception in CORE2. After this line I get exception:
... MessageQ_get(Id_SLAVE_queue, (MessageQ_Msg *)&pointer_Vs, MessageQ_FOREVER); //exception ...
Exception:
[TMS320C66x_2] ti.sdo.ipc.SharedRegion: line 380: assertion failure: A_idTooLarge: id cannot be larger than numEntries
xdc.runtime.Error.raise: terminating execution
I tried increase SharedRegion.numEntries to 8 in cfg file but it still doesn't work. How can I solve it ?
My configuration is as follow:
IPC: 1.24.3.32
BIOS: 6.33.6.50
MATHLIB C66x: 3.1.0.0
