AM2634-Q1: IPC communication corrupted by ISR

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#include <stdio.h>
#include <inttypes.h>
#include <kernel/dpl/ClockP.h>
#include <kernel/dpl/SemaphoreP.h>
#include <drivers/ipc_notify.h>
#include "ti_drivers_open_close.h"
#include "ti_board_open_close.h"
#include <kernel/dpl/HwiP.h>
#include <drivers/epwm.h>

/* This example shows message exchange between multiple cores.
 *
 * One of the core is designated as the 'main' core
 * and other cores are desginated as `remote` cores.
 *
 * The main core initiates IPC with remote core's by sending it a message.
 * The remote cores echo the same message to the main core.
 *
 * The main core repeats this for gMsgEchoCount iterations.
 *
 * In each iteration of message exchange, the message value is incremented.
 *
 * When iteration count reaches gMsgEchoCount, a semaphore is posted and
 * the pending thread/task on that core is unblocked.
 *
 * When a message or its echo is received, a user registered callback is invoked.
 * The message is echoed from within the user callback itself.
 *
 * This is a example message exchange, in final systems, user can do more
 * sophisticated message exchanges as needed for their applications.
 */

/* Frequency of PWM output signal in Hz - 1 KHz is selected */
#define APP_EPWM_OUTPUT_FREQ    (1U * 1000U)
/* APP run time in seconds */
#define APP_EPWM_RUN_TIME    (60U)
/* FIXME : To be removed after syscfg integration */
#define APP_INT_IS_PULSE    (1U)

/* Global variables and objects */
static HwiP_Object  gEpwmHwiObject;
static SemaphoreP_Object  gEpwmSyncSemObject;

/* Function Prototypes */
static void App_epwmIntrISR(void *handle);
/* variable to hold base address of EPWM that is used */
uint32_t gEpwmBaseAddr;
uint32_t itr_interrupts;



/* number of iterations of message exchange to do */
uint32_t gMsgEchoCount = 10u;
/* client ID that is used to send and receive messages */
uint32_t gClientId = 4u;
#define max_cores_here (4U)

#if defined(SOC_AM64X)
/* main core that starts the message exchange */
uint32_t gMainCoreId = CSL_CORE_ID_R5FSS0_0;
/* remote cores that echo messages from main core, make sure to NOT list main core in this list */
uint32_t gRemoteCoreId[] = {
    CSL_CORE_ID_R5FSS0_1,
    CSL_CORE_ID_R5FSS1_0,
    CSL_CORE_ID_R5FSS1_1,
    CSL_CORE_ID_M4FSS0_0,
    CSL_CORE_ID_A53SS0_0,
    max_cores_here /* this value indicates the end of the array */
};
#endif

#if defined(SOC_AM243X)
/* main core that starts the message exchange */
uint32_t gMainCoreId = CSL_CORE_ID_R5FSS0_0;
/* remote cores that echo messages from main core, make sure to NOT list main core in this list */
uint32_t gRemoteCoreId[] = {
    CSL_CORE_ID_R5FSS0_1,
    CSL_CORE_ID_R5FSS1_0,
    CSL_CORE_ID_R5FSS1_1,
    CSL_CORE_ID_M4FSS0_0,
    max_cores_here /* this value indicates the end of the array */
};
#endif

#if defined (SOC_AM263X) || defined (SOC_AM263PX)
/* main core that starts the message exchange */
uint32_t gMainCoreId = CSL_CORE_ID_R5FSS0_0;
/* remote cores that echo messages from main core, make sure to NOT list main core in this list */
uint32_t gRemoteCoreId[] = {
    CSL_CORE_ID_R5FSS0_1,
    CSL_CORE_ID_R5FSS1_0,
    CSL_CORE_ID_R5FSS1_1,
    max_cores_here /* this value indicates the end of the array */
};
#endif

#if defined(SOC_AM273X) || defined(SOC_AWR294X)
/* main core that starts the message exchange */
uint32_t gMainCoreId = CSL_CORE_ID_R5FSS0_0;
/* remote cores that echo messages from main core, make sure to NOT list main core in this list */
uint32_t gRemoteCoreId[] = {
    CSL_CORE_ID_R5FSS0_1,
    CSL_CORE_ID_C66SS0,
    max_cores_here /* this value indicates the end of the array */
};
#endif

/* semaphore's used to indicate a main core has finished all message exchanges */
SemaphoreP_Object gMainDoneSem[max_cores_here];

/* semaphore used to indicate a remote core has finished all message xchange */
SemaphoreP_Object gRemoteDoneSem;

void ipc_notify_msg_handler_main_core(uint32_t remoteCoreId, uint16_t localClientId, uint32_t msgValue, int32_t crcStatus, void *args)
{
    /* increment msgValue and send it back until gMsgEchoCount iterations are done */
    if(msgValue != (gMsgEchoCount-1))
    {
        /* send new message to remote core, that echod our message */
        msgValue++;
//        IpcNotify_sendMsg(remoteCoreId, gClientId, msgValue, 1);
    }
    else
    {
        /* there is one semaphore for each core ID, so post the semaphore for the remote core that
         * has finished all message exchange iterations
         */
        SemaphoreP_post(&gMainDoneSem[remoteCoreId]);
    }
}

void ipc_notify_echo_main_core_start(void)
{
    int32_t status;
    uint32_t i, numRemoteCores;

    /* create completion semaphores for all cores */
    for(i=0; i < max_cores_here; i++)
    {
        SemaphoreP_constructBinary(&gMainDoneSem[i], 0);
    }

    /* register a handler to receive messages */
    status = IpcNotify_registerClient(gClientId, ipc_notify_msg_handler_main_core, NULL);
    DebugP_assert(status==SystemP_SUCCESS);

    /* wait for all cores to be ready */
    IpcNotify_syncAll(SystemP_WAIT_FOREVER);


    DebugP_log("[IPC NE core 0-0] Message exchange started by main core !!!\r\n");

    for(i=0; gRemoteCoreId[i]!=max_cores_here; i++)
    {
        uint32_t msgValue = 0;
        /* send message's to all participating core's, wait for message to be put in HW FIFO */
        status = IpcNotify_sendMsg(gRemoteCoreId[i], gClientId, msgValue, 1);
        DebugP_assert(status==SystemP_SUCCESS);
    }

    /* wait for all messages to be echo'ed back */
    numRemoteCores = 0;
    for(i=0; gRemoteCoreId[i]!=max_cores_here; i++)
    {
        SemaphoreP_pend(&gMainDoneSem[ gRemoteCoreId[i] ], SystemP_WAIT_FOREVER);
        numRemoteCores++;
    }

    DebugP_log("[IPC NE core 0-0] All echoed messages received by main core from %d remote cores !!!\r\n", numRemoteCores);
    DebugP_log("[IPC NE core 0-0] Messages sent to each core = %d \r\n", gMsgEchoCount);
    DebugP_log("[IPC NE core 0-0] Number of remote cores = %d \r\n", numRemoteCores);
    DebugP_log("All tests have passed!!\r\n");
}

void ipc_notify_msg_handler_remote_core(uint32_t remoteCoreId, uint16_t localClientId, uint32_t msgValue, int32_t crcStatus, void *args)
{
    /* on remote core, we have registered handler on the same client ID and current core client ID */
//    if(msgValue==0)
//    IpcNotify_sendMsg(remoteCoreId, localClientId, msgValue, 1);

    /* if all messages received then post semaphore to exit */
    if(msgValue == (gMsgEchoCount-1))
    {
        SemaphoreP_post(&gRemoteDoneSem);
    }
}

void ipc_notify_echo_remote_core_start(void)
{
    int32_t status;

    SemaphoreP_constructBinary(&gRemoteDoneSem, 0);

    /* register a handler to receive messages */
    status = IpcNotify_registerClient(gClientId, ipc_notify_msg_handler_remote_core, NULL);
    DebugP_assert(status==SystemP_SUCCESS);

    /* wait for all cores to be ready */
    IpcNotify_syncAll(SystemP_WAIT_FOREVER);

    DebugP_log("[IPC NE core 0-0] Remote Core waiting for messages from main core ... !!!\r\n");

    int32_t  statusepwm;
    uint32_t  numIsrCnt = (APP_EPWM_RUN_TIME * APP_EPWM_OUTPUT_FREQ);
    HwiP_Params  hwiPrms;

/* Get Address of ePWM */
gEpwmBaseAddr = CONFIG_EPWM_BASE_ADDR;
statusepwm = SemaphoreP_constructCounting(&gEpwmSyncSemObject, 0, numIsrCnt);
DebugP_assert(SystemP_SUCCESS == statusepwm);

/* Register & enable interrupt */
    HwiP_Params_init(&hwiPrms);
    /* Integrate with Syscfg */
    hwiPrms.intNum      = CSLR_R5FSS0_CORE0_CONTROLSS_INTRXBAR0_OUT_0;
    hwiPrms.callback    = &App_epwmIntrISR;
    /* Integrate with Syscfg */
    hwiPrms.isPulse     = APP_INT_IS_PULSE;
    statusepwm              = HwiP_construct(&gEpwmHwiObject, &hwiPrms);
    DebugP_assert(statusepwm == SystemP_SUCCESS);

    EPWM_clearEventTriggerInterruptFlag(gEpwmBaseAddr);

    /* wait for all messages to be echo'ed back */
    SemaphoreP_pend(&gRemoteDoneSem, SystemP_WAIT_FOREVER);

    DebugP_log("[IPC NE core 0-0] Remote core has echoed all messages !!!\r\n");
}



void ipc_notify_echo_main(void *args)
{
    Drivers_open();
    Board_driversOpen();

    itr_interrupts = 0;

    if(IpcNotify_getSelfCoreId()==gMainCoreId)
    {
        ipc_notify_echo_main_core_start();
    }
    else
    {
        ipc_notify_echo_remote_core_start();
    }

    Board_driversClose();
    /* We dont close drivers to let the UART driver remain open and flush any pending messages to console */
    /* Drivers_close(); */
}

static void App_epwmIntrISR(void *handle)
{
    DebugP_log("[IPC NE core 0-0] PWM ISR !!!\r\n");
    volatile bool status;

    /* on remote core, we have registered handler on the same client ID and current core client ID */
    if(itr_interrupts == (gMsgEchoCount-1))
        {
            SemaphoreP_post(&gRemoteDoneSem);
        }
    else
        IpcNotify_sendMsg(0, 4, itr_interrupts, 1);
        itr_interrupts= itr_interrupts + 1;

    status = EPWM_getEventTriggerInterruptStatus(gEpwmBaseAddr);
    if(status == true)
    {
        SemaphoreP_post(&gEpwmSyncSemObject);
        EPWM_clearEventTriggerInterruptFlag(gEpwmBaseAddr);
    }

    return;
}