AM2612: AM261X zephyr IPC setup

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#include <stdio.h>
#include <string.h>
#include <inttypes.h>
#include <kernel/dpl/ClockP.h>
#include <kernel/dpl/DebugP.h>
#include <drivers/ipc_notify.h>
#include <drivers/ipc_rpmsg.h>
#include "ti_drivers_open_close.h"
#include "ti_board_open_close.h"

/* This example shows message exchange between multiple cores.
 *
 * One of the core is designated as the 'main' core
 * and other cores are designated 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, the example is completed.
 *
 */

#define ZEPHYR_HOST

#define CALLBACK_HANDLER_ENABLED

/* number of iterations of message exchange to do */
uint32_t gMsgEchoCount = 100000u;

#define IPC_RPMESSAGE_SERVICE_PING        "my_ping_service"
#define IPC_RPMESSAGE_ENDPT_PING_CORE0          (13U)
#define IPC_RPMESSAGE_ENDPT_PING_CORE1          (14U)

/* This example is ran between 2 cores.  */

/*
 * Remote core service end point
 *
 * pick any unique value on that core between 0..RPMESSAGE_MAX_LOCAL_ENDPT-1
 * the value need not be unique across cores
 */
volatile uint32_t msg;

/* maximum size that message can have in this example */
#define MAX_MSG_SIZE        (64u)

/* RPMessage_Object MUST be global or static */
RPMessage_Object core0_rpmsg_obj;
RPMessage_Object core1_rpmsg_obj;

volatile uint32_t dataLen;

char recvMsg[MAX_MSG_SIZE];

/* the announcement from other core, will create a call back to this core.
So, we should create a table of the endpoints with their ID as index and name of the service as their value */
#define RPMSG_NAME_SERVICE_LEN  (32u)

void app_rpmsg_recv_callback(RPMessage_Object *obj, void *arg, void *data, uint16_t dataLen, int32_t crcStatus, uint16_t remoteCoreId, uint16_t remoteEndPt)
{   
    /* this is a callback/ function for handling the registered endpoint msg */

    int32_t status;
    uint16_t local_ept_id = obj->localEndPt;
    uint16_t remote_ept_id = remoteEndPt;
    uint32_t remote_core_id = remoteCoreId;

    uint32_t self_core_id = IpcNotify_getSelfCoreId();

    char reply[MAX_MSG_SIZE];
    volatile uint32_t len;

    /* remote core so lets reply with the message */
    memcpy((void *) reply,(const void *) data,(size_t) dataLen);

    sprintf(&reply[strlen(reply)], " : reply from remote core %d\n", self_core_id);

    len = strlen(reply) + 1;

    status = RPMessage_send(
        reply, 
        len,
        remote_core_id, 
        remote_ept_id,
        local_ept_id,
        SystemP_NO_WAIT);
    DebugP_assert(status==SystemP_SUCCESS);
}

void ipc_rpmsg_echo_core0_core_start(void)
{
    
}

void ipc_rpmsg_echo_core1_core_start(void)
{
    int32_t status;
    RPMessage_CreateParams createParams;
    char recvMsg[MAX_MSG_SIZE];
    uint16_t recvMsgSize, remote_core_id, remote_ept_id;

    RPMessage_CreateParams_init(&createParams);
    createParams.localEndPt = IPC_RPMESSAGE_ENDPT_PING_CORE1;
#ifdef CALLBACK_HANDLER_ENABLED
    createParams.recvCallback = app_rpmsg_recv_callback;
#endif /* CALLBACK_HANDLER_ENABLED */
    status = RPMessage_construct(&core1_rpmsg_obj, &createParams);
    DebugP_assert(status==SystemP_SUCCESS);

#ifndef ZEPHYR_HOST
    IpcNotify_syncAll(SystemP_WAIT_FOREVER);
#else
    uint32_t hs_addr = 0x72000000;

    uint32_t hs1_value = 0x05050505;
    uint32_t hs2_value = 0x4;

    while(*((volatile uint32_t *)(hs_addr)) != hs1_value) {
    }
    *((volatile uint32_t *)(hs_addr)) = hs2_value;

#endif /* ZEPHYR_HOST */


    status = RPMessage_announce(CSL_CORE_ID_R5FSS0_0, IPC_RPMESSAGE_ENDPT_PING_CORE1, IPC_RPMESSAGE_SERVICE_PING);
    DebugP_assert(status==SystemP_SUCCESS);

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

    /* wait for messages forever in a loop */
    while(1)
    {   

        if(core1_rpmsg_obj.recvCallback != NULL){
            /* if callback is registered, then no need to call recv */
            ClockP_usleep(100);
            continue;
        }

        /* recv callback is not registered, 
           we use the RPMessage_recv for blocking call to message reception*/
        
        /* set 'recvMsgSize' to size of recv buffer,
        * after return `recvMsgSize` contains actual size of valid data in recv buffer
        */
        recvMsgSize = sizeof(recvMsg);
        status = RPMessage_recv(
            &core1_rpmsg_obj,
            recvMsg, &recvMsgSize,
            &remote_core_id, 
            &remote_ept_id,
            SystemP_WAIT_FOREVER);
        DebugP_assert(status==SystemP_SUCCESS);

        /* alternatively, this can be called.
            app_rpmsg_recv_callback_handler(&core1_rpmsg_obj, NULL, recvMsg, recvMsgSize, 0, remote_core_id, remote_ept_id);
        */
        if(recvMsgSize > 0)
        {
            /* handling the message */
            app_rpmsg_recv_callback(&core1_rpmsg_obj, NULL, recvMsg, recvMsgSize, 0, remote_core_id, remote_ept_id);        
        }
    }
    /* This loop will never exit */
}

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

    if(IpcNotify_getSelfCoreId()==CSL_CORE_ID_R5FSS0_0)
    {
        ipc_rpmsg_echo_core0_core_start();
    }
    else
    {
        ipc_rpmsg_echo_core1_core_start();
    }

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