Tool/software:
Hi,
I am using R5F0-0 and PRU1 to transfer data from PRU to R5F, when I execute my test code, it works well the first time, but fails the second time, I don't know why this happen, please help me.
Here is part of my code in R5F:
/*
* Copyright (C) 2023 Texas Instruments Incorporated
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <stdio.h>
#include <kernel/dpl/DebugP.h>
#include "ti_drivers_config.h"
#include "ti_drivers_open_close.h"
#include "ti_board_open_close.h"
#include <kernel/dpl/SemaphoreP.h>
#include <drivers/pruicss.h>
#include <pru1_load_bin.h>
#include <pru_ipc.h>
// PRU core setting, need to be consistent with sysconfig
#define PRUICSS_PRUx PRUICSS_PRU1
#define PRUxFirmware_0 PRU1Firmware_0
#define R5F_TO_PRU_EVENT 22
#define PRUICSS_PRGM_FLOW_CNTRL_OFFSET 0xFC
// PRU firmware code sections
#define IDLE_SECTION 0
#define INIT_SECTION 1
#define IPC_SECTION 2
#define RESET_SECTION 3
PRUICSS_Handle gPruIcss0Handle;
PRU_IPC_Handle gPruIpc0Handle;
SemaphoreP_Object gPruDataRecSem;
int32_t samples[CONFIG_PRU_IPC0_BUFFERS][CONFIG_PRU_IPC0_BLOCKSIZE];
void PRU_IPC_Isr(void *args);
int32_t PRUICSS_goToSection(PRUICSS_Handle handle, uint32_t pruCore, uint32_t sectionId, uint32_t eventNum);
void print_samples(int32_t array[CONFIG_PRU_IPC0_BUFFERS][CONFIG_PRU_IPC0_BLOCKSIZE]);
void pru_io_empty_example_main(void *args)
{
int status;
Drivers_open();
status = Board_driversOpen();
DebugP_assert(SystemP_SUCCESS == status);
gPruIcss0Handle = PRUICSS_open(CONFIG_PRU_ICSS0);
status = PRUICSS_intcInit(gPruIcss0Handle, &icss0_intc_initdata);
DebugP_assert(SystemP_SUCCESS == status);
SemaphoreP_constructBinary(&gPruDataRecSem, 0);
status = PRUICSS_initMemory(gPruIcss0Handle, PRUICSS_DATARAM(PRUICSS_PRUx));
DebugP_assert(status != 0);
status = PRUICSS_loadFirmware(gPruIcss0Handle, PRUICSS_PRUx, PRUxFirmware_0, sizeof(PRUxFirmware_0));
DebugP_assert(SystemP_SUCCESS == status);
PRU_IPC_Params pruIpcparams = {
.pruicssHandle = gPruIcss0Handle,
.transferCallbackFxn = &PRU_IPC_Isr,
};
gPruIpc0Handle = PRU_IPC_open(CONFIG_PRU_IPC0, &pruIpcparams);
DebugP_assert(gPruIpc0Handle != NULL);
PRUICSS_goToSection(gPruIcss0Handle, PRUICSS_PRUx, INIT_SECTION, R5F_TO_PRU_EVENT);
ClockP_usleep(1);
PRUICSS_goToSection(gPruIcss0Handle, PRUICSS_PRUx, IPC_SECTION, R5F_TO_PRU_EVENT);
ClockP_usleep(1);
DebugP_log("Initialization completed.\r\n");
while (1)
{
SemaphoreP_pend(&gPruDataRecSem, SystemP_WAIT_FOREVER);
DebugP_log("Hello World!\r\n");
//print_samples(samples);
PRUICSS_goToSection(gPruIcss0Handle, PRUICSS_PRUx, IPC_SECTION, R5F_TO_PRU_EVENT);
ClockP_usleep(1);
}
Board_driversClose();
Drivers_close();
}
void PRU_IPC_Isr(void *args)
{
PRU_IPC_getData(gPruIpc0Handle, samples);
SemaphoreP_post(&gPruDataRecSem);
PRUICSS_clearEvent(gPruIcss0Handle, gPruIpc0Handle->attrs->sysEventNum);
}
/*
* This function is used to indicate PRU core to go to the specified section
* It writes the specified core's DRAM memory with sectionID and creates an interrupt event to PRU as signaling mechanism.
*/
int32_t PRUICSS_goToSection(PRUICSS_Handle handle, uint32_t pruCore, uint32_t sectionId, uint32_t eventNum)
{
uintptr_t baseaddr;
PRUICSS_HwAttrs const *hwAttrs;
int32_t retVal = SystemP_SUCCESS;
if (handle != NULL)
{
hwAttrs = (PRUICSS_HwAttrs const *)handle->hwAttrs;
if (pruCore == PRUICSS_PRU0)
baseaddr = hwAttrs->pru0DramBase;
else if (pruCore == PRUICSS_PRU1)
baseaddr = hwAttrs->pru1DramBase;
else
return SystemP_FAILURE;
/* TODO: decide the final memory and offset */
CSL_REG32_WR(baseaddr + PRUICSS_PRGM_FLOW_CNTRL_OFFSET, sectionId);
retVal = PRUICSS_sendEvent(handle, eventNum);
}
else
{
retVal = SystemP_FAILURE;
}
return retVal;
}
void print_samples(int32_t array[CONFIG_PRU_IPC0_BUFFERS][CONFIG_PRU_IPC0_BLOCKSIZE])
{
for (uint32_t channel = 0; channel < CONFIG_PRU_IPC0_BUFFERS; channel++) {
DebugP_log("----- Channel: %d ----- \r\n", channel+1);
for (uint32_t sample = 0; sample < CONFIG_PRU_IPC0_BLOCKSIZE; sample++) {
DebugP_log("Sample %d: %d \r\n", sample+1, array[channel][sample]);
}
}
DebugP_log("-----------------------\r\n");
}
Here is part of my code in PRU:
; Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com/
;
; Redistribution and use in source and binary forms, with or without
; modification, are permitted provided that the following conditions
; are met:
;
; Redistributions of source code must retain the above copyright
; notice, this list of conditions and the following disclaimer.
;
; Redistributions in binary form must reproduce the above copyright
; notice, this list of conditions and the following disclaimer in the
; documentation and/or other materials provided with the
; distribution.
;
; Neither the name of Texas Instruments Incorporated nor the names of
; its contributors may be used to endorse or promote products derived
; from this software without specific prior written permission.
;
; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
; "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
; LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
; A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
; OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
; SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
; LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
; DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
; THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
; (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
; OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
;************************************************************************************
; File: main.asm
;
; Brief: Template asm file example
;************************************************************************************
; CCS/makefile specific settings
.retain ; Required for building .out with assembly file
.retainrefs ; Required for building .out with assembly file
.global main
.sect ".text"
;************************************* includes *************************************
; icss_constant_defines.inc: Defines symbols corresponding to Constant Table Entries
.include "icss_constant_defines.inc"
.include "ti_pru_io_config.inc"
.include "icss_program_flow_macros.inc"
.include "pru_ipc_macros.inc"
.include "time_macros.inc"
.asg R2, TEMP_REG
.asg 0x16, PRGM_FLOW_EVENT
.asg 31, PRGM_FLOW_EVENT_BIT
.asg 5, PRU_CLK_CYC_PRD_CONST
;********
;* MAIN *
;********
main:
init:
;----------------------------------------------------------------------------
; Clear the register space
; Before begining with the application, make sure all the registers are set
; to 0. PRU has 32 - 4 byte registers: R0 to R31, with R30 and R31 being special
; registers for output and input respectively.
;----------------------------------------------------------------------------
; Give the starting address and number of bytes to clear.
zero &r0, 120
;----------------------------------------------------------------------------
; Constant Table Entries Configuration
;----------------------------------------------------------------------------
; Configure the Constant Table entry C28 to point to start of shared memory
; PRU_ICSSG Shared RAM (local-C28) : 00nn_nn00h, nnnn = c28_pointer[15:0]
; By default it is set to 0000_0000h so it will point to DMEM0 address
.if $defined(PRU0)
ldi TEMP_REG, 0x0100
.else
ldi TEMP_REG, 0x0110
.endif
sbco &TEMP_REG, ICSS_PRU_CTRL_CONST, 0x28, 2
;----------------------------------------------------------------------------
; SECTION: IDLE
; PRU enters the program, executes intialization and then stays in this
; section until any further command from r5f
;----------------------------------------------------------------------------
IDLE:
m_prgm_flow_jump_on_intr PRGM_FLOW_EVENT, PRGM_FLOW_EVENT_BIT, 4, TEMP_REG, IDLE, main_init, main_ipc, reset
qba IDLE
main_init:
m_pru_ipc_init R0.b0, R29, CONFIG_PRU_IPC0_CONFIG_MEM_OFFSET ; initialize ipc transfer
qba IDLE
main_ipc:
ldi R1.b0, &R2 ; R1.b0 = &R2
m_pru_ipc_send R1.b0, R2, R0.b0, R29, CONFIG_PRU_IPC0_RX_INTR_ENABLE, CONFIG_PRU_IPC0_RX_EVENT ; send DI data to shared memory using ipc
ldi R30, 0x2
ldi R30, 0x0
qba IDLE ; loop to continue collect DI data
halt ; end of program
reset:
m_pru_ipc_init R0.b0, R29, CONFIG_PRU_IPC0_CONFIG_MEM_OFFSET ; initialize ipc transfer
qba IDLE
Here are the steps in my development:
1. SOC initialization
1. OSPI boot mode, power off and then power on
2. launch selected configuration
3. connect to R5F0-0, reset CPU, load firmware
4. connect to PRU1, load firmware
5. run R5F0-0, and then it always in the below process, it seems that R5F is waiting PRU1 to send data, but PRU1 is always in IDLE process, that means PRUICSS_goToSection execute failed in the second time
I don't know why this happen, please help me, thanks.
BRs
Xiangju
