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SK-TDA4VM: when does a virtio device and rpmsg_ctrl device gets created

Arpan Dutta
Prodigy 60 points

Part Number: SK-TDA4VM
Other Parts Discussed in Thread: TFP410

I am trying to run the ipc echo test between rtos and linux.

Environment:

I have flashed the tisdk-edgeai-image-j721e-evm.wic.xz image.

For RTOS: I have used the default rtos binaries present in the /lib/firmware/ti-ipc/j721e directory. I have linked the following firmwares:

0 lrwxrwxrwx 1 root root 53 Nov 29 05:16 j7-main-r5f0_0-fw -> ti-ipc/j721e/ipc_echo_test_mcu2_0_release_strip.xer5f

0 lrwxrwxrwx 1 root root 53 Nov 29 05:19 j7-main-r5f0_1-fw -> ti-ipc/j721e/ipc_echo_test_mcu2_1_release_strip.xer5f

0 lrwxrwxrwx 1 root root 53 Nov 29 05:20 j7-main-r5f1_0-fw -> ti-ipc/j721e/ipc_echo_test_mcu3_0_release_strip.xer5f

0 lrwxrwxrwx 1 root root 53 Nov 29 05:19 j7-main-r5f1_1-fw -> ti-ipc/j721e/ipc_echo_test_mcu3_1_release_strip.xer5f

For Linux: I am using the default rpmsg_char_simple binary present in /usr/bin.  

Observation:

As per the enum present in the rpmsg_char_simple codebase (ti-rpmsg-char/include/rproc_id.h), I need to communicate with r2 (R5F_MAIN0_0), r3 (R5F_MAIN0_1), r4 (R5F_MAIN1_0), r5 (R5F_MAIN1_1)

enum rproc_id {
R5F_MCU0_0 = 0,
R5F_MCU0_1,
R5F_MAIN0_0,
R5F_MAIN0_1,
R5F_MAIN1_0,
R5F_MAIN1_1,
DSP_C66_0,
DSP_C66_1,
DSP_C71_0,
M4F_MCU0_0,
DSP_C71_1,
R5F_MAIN2_0,
R5F_MAIN2_1,
DSP_C71_2,
DSP_C71_3,
R5F_WKUP0_0,
RPROC_ID_MAX,
};

Issue:

But while running the command rpmsg_char_simple -r<rproc_id> -n10 for any id other than 2, I am either getting virtio device not created or matching rpmsg_ctrl device not created error. 

for r3:
_rpmsg_char_find_ctrldev: could not find the matching rpmsg_ctrl device for virtio5.rpmsg_chrdev.-1.14

for r4:

_rpmsg_char_find_rproc: 5e00000.r5f does not have any virtio devices!

for r5:

_rpmsg_char_find_rproc: 5f00000.r5f does not have any virtio devices!

Extra information:

I digged a little into the rtos code (ti-processor-sdk-rtos-j721e-evm-08_01_00_13/pdk_jacinto_08_01_00_36/packages/ti/drv/ipc/examples/common/src/ipc_testsetup.c) and linux code (ti-rpmsg-char/src/rpmsg_char.c) and found out the following:

A directory like this has to exist if a virtio device is created: /sys/devices/platform/bus@100000/bus@100000:r5fss@5c00000/5d00000.r5f/remoteproc/remoteproc5/rproc-virtio.5.auto/virtio5

And a folder named virtio5.rpmsg_chrdev.-1.14 needs to be present in there to have a matching rpmsg_ctrl device.

Objective/Question:

How to make sure that virtio devices and rpmsg_ctrl devices get created?

OR

How to make sure these aforementioned directories are getting created / What is responsible for creating these directory structures? 

  • 0
    TI__Guru** 118375 points

    Hi Arpan,

    Are you sure all the remoteprocs are loaded and up and running first? 

    Please check that this is indeed the case first.

    The K3 R5F and DSP remoteproc drivers are built as modules, so ensure that these modules are loaded first

    $ lsmod

    You can rely on remoteproc sysfs entries to determine this.

    $ head /sys/class/remoteproc/remoteproc*/name

    $ cat /sys/class/remoteproc/remoteproc*/state

    Please also check the communication devices from the remoteproc themselves are created

    $ ls -l /sys/bus/virtio/devices

    $ ls -l /sys/bus/rpmsg/devices

    regards

    Suman

  • 0 in reply to Suman Anna
    Prodigy 60 points

    Hi Suman,
    I tried out the commands you suggested.

    root@tda4vm-sk:/opt/edgeai-gst-apps# lsmod
    Module Size Used by
    xhci_plat_hcd 16384 0
    pci_endpoint_test 20480 0
    overlay 122880 0
    rpmsg_ctrl 16384 0
    rpmsg_char 16384 1 rpmsg_ctrl
    cdns_csi2rx 20480 0
    v4l2_fwnode 20480 1 cdns_csi2rx
    irq_pruss_intc 16384 0
    omap_rng 16384 0
    pru_rproc 24576 0
    cdns3 45056 0
    cdns_usb_common 20480 1 cdns3
    cfg80211 380928 0
    bluetooth 507904 2
    ecdh_generic 16384 1 bluetooth
    ecc 36864 1 ecdh_generic
    rfkill 24576 3 bluetooth,cfg80211
    crct10dif_ce 16384 1
    ti_tfp410 16384 0
    display_connector 16384 0
    cdns_mhdp8546 40960 0
    tidss 53248 0
    ti_k3_r5_remoteproc 28672 1
    drm_display_helper 151552 1 cdns_mhdp8546
    drm_dma_helper 20480 1 tidss
    vxd_dec 344064 0
    vxe_enc 286720 0
    j721e_csi2rx 24576 0
    drm_kms_helper 184320 7 drm_dma_helper,display_connector,cdns_mhdp8546,drm_display_helper,tidss,ti_tfp410
    videobuf2_dma_contig 20480 1 j721e_csi2rx
    videobuf2_dma_sg 20480 2 vxe_enc,vxd_dec
    cfbfillrect 16384 1 drm_kms_helper
    v4l2_mem2mem 36864 2 vxe_enc,vxd_dec
    videobuf2_memops 16384 2 videobuf2_dma_contig,videobuf2_dma_sg
    syscopyarea 16384 1 drm_kms_helper
    ti_k3_dsp_remoteproc 16384 0
    videobuf2_v4l2 32768 4 j721e_csi2rx,vxe_enc,vxd_dec,v4l2_mem2mem
    cfbimgblt 16384 1 drm_kms_helper
    pruss 16384 0
    pvrsrvkm 1220608 0
    sysfillrect 16384 1 drm_kms_helper
    sysimgblt 16384 1 drm_kms_helper
    virtio_rpmsg_bus 20480 0
    v4l2_async 24576 3 v4l2_fwnode,j721e_csi2rx,cdns_csi2rx
    videobuf2_common 57344 8 j721e_csi2rx,vxe_enc,videobuf2_dma_contig,videobuf2_v4l2,vxd_dec,videobuf2_dma_sg,v4l2_mem2mem,videobuf2_memop
    s
    fb_sys_fops 16384 1 drm_kms_helper
    cfbcopyarea 16384 1 drm_kms_helper
    rpmsg_ns 16384 1 virtio_rpmsg_bus
    videodev 245760 8 v4l2_async,j721e_csi2rx,vxe_enc,videobuf2_v4l2,vxd_dec,cdns_csi2rx,videobuf2_common,v4l2_mem2mem
    ti_k3_common 16384 1 ti_k3_dsp_remoteproc
    sa2ul 36864 0
    pci_j721e_host 16384 0
    mc 57344 7 v4l2_async,videodev,j721e_csi2rx,videobuf2_v4l2,cdns_csi2rx,videobuf2_common,v4l2_mem2mem
    pci_j721e 16384 1 pci_j721e_host
    pcie_cadence_host 16384 1 pci_j721e_host
    pcie_cadence 16384 2 pcie_cadence_host,pci_j721e_host
    cdns_dphy_rx 16384 0
    cdns3_ti 16384 0
    rti_wdt 16384 0
    optee_rng 16384 0
    rng_core 20480 2 optee_rng,omap_rng
    cryptodev 53248 0
    fuse 131072 1
    drm 557056 9 drm_kms_helper,drm_dma_helper,display_connector,pvrsrvkm,cdns_mhdp8546,drm_display_helper,tidss,ti_tfp410
    drm_panel_orientation_quirks 28672 1 drm
    ipv6 475136 36
    root@tda4vm-sk:/opt/edgeai-gst-apps#


    As per the output, it seems the ti_k3_r5_remoteproc and ti_k3_dsp_remoteproc modules (K3 R5F and DSP remoteproc drivers) are loaded.


    root@tda4vm-sk:/opt/edgeai-gst-apps# head /sys/class/remoteproc/remoteproc*/name
    ==> /sys/class/remoteproc/remoteproc0/name <==
    4d80800000.dsp

    ==> /sys/class/remoteproc/remoteproc1/name <==
    4d81800000.dsp

    ==> /sys/class/remoteproc/remoteproc10/name <==
    b038000.pru

    ==> /sys/class/remoteproc/remoteproc11/name <==
    b006000.rtu

    ==> /sys/class/remoteproc/remoteproc12/name <==
    b00c000.txpru

    ==> /sys/class/remoteproc/remoteproc13/name <==
    b134000.pru

    ==> /sys/class/remoteproc/remoteproc14/name <==
    b104000.rtu

    ==> /sys/class/remoteproc/remoteproc15/name <==
    b10a000.txpru

    ==> /sys/class/remoteproc/remoteproc16/name <==
    b138000.pru

    ==> /sys/class/remoteproc/remoteproc17/name <==
    b106000.rtu

    ==> /sys/class/remoteproc/remoteproc18/name <==
    b10c000.txpru

    ==> /sys/class/remoteproc/remoteproc2/name <==
    41000000.r5f

    ==> /sys/class/remoteproc/remoteproc3/name <==
    64800000.dsp

    ==> /sys/class/remoteproc/remoteproc4/name <==
    5c00000.r5f

    ==> /sys/class/remoteproc/remoteproc5/name <==
    5d00000.r5f

    ==> /sys/class/remoteproc/remoteproc6/name <==
    5e00000.r5f

    ==> /sys/class/remoteproc/remoteproc7/name <==
    b034000.pru

    ==> /sys/class/remoteproc/remoteproc8/name <==
    b004000.rtu

    ==> /sys/class/remoteproc/remoteproc9/name <==
    b00a000.txpru
    root@tda4vm-sk:/opt/edgeai-gst-apps#


    root@tda4vm-sk:/opt/edgeai-gst-apps# cat /sys/class/remoteproc/remoteproc*/state
    attached
    attached
    offline
    offline
    offline
    offline
    offline
    offline
    offline
    offline
    offline
    attached
    attached
    attached
    attached
    detached
    offline
    offline
    offline

    As per the mapping present in IPC for J721E documetation, the following are the mapping of mcu to remoteproc:

    j7-main-r5f0_0-fw -> 5c00000.r5f
    j7-main-r5f0_1-fw -> 5d00000.r5f
    j7-main-r5f1_0-fw -> 5e00000.r5f
    j7-main-r5f1_1-fw -> 5f00000.r5f

    And from the above output, it seems that mcu20 and mcu21 is attached remoteproc, mcu30 is detached remoteproc, and mcu31 remoteproc seems to not exist.

    And these are the list of virtio devices and rpmsg devices:
    root@tda4vm-sk:/opt/edgeai-gst-apps# ls -l /sys/bus/virtio/devices
    total 0
    lrwxrwxrwx 1 root root 0 Nov 29 08:12 virtio0 -> ../../../devices/platform/bus@100000/4d80800000.dsp/remoteproc/remoteproc0/rproc-virtio.0.aut
    o/virtio0
    lrwxrwxrwx 1 root root 0 Nov 29 08:12 virtio1 -> ../../../devices/platform/bus@100000/4d81800000.dsp/remoteproc/remoteproc1/rproc-virtio.1.aut
    o/virtio1
    lrwxrwxrwx 1 root root 0 Nov 29 08:12 virtio2 -> ../../../devices/platform/bus@100000/bus@100000:bus@28380000/bus@100000:bus@28380000:r5fss@41
    000000/41000000.r5f/remoteproc/remoteproc2/rproc-virtio.2.auto/virtio2
    lrwxrwxrwx 1 root root 0 Nov 29 08:12 virtio3 -> ../../../devices/platform/bus@100000/64800000.dsp/remoteproc/remoteproc3/rproc-virtio.3.auto/
    virtio3
    lrwxrwxrwx 1 root root 0 Nov 29 08:12 virtio4 -> ../../../devices/platform/bus@100000/bus@100000:r5fss@5c00000/5c00000.r5f/remoteproc/remotepr
    oc4/rproc-virtio.4.auto/virtio4
    lrwxrwxrwx 1 root root 0 Nov 29 08:12 virtio5 -> ../../../devices/platform/bus@100000/bus@100000:r5fss@5c00000/5d00000.r5f/remoteproc/remotepr
    oc5/rproc-virtio.5.auto/virtio5
    root@tda4vm-sk:/opt/edgeai-gst-apps#

    root@tda4vm-sk:/opt/edgeai-gst-apps# ls -l /sys/bus/rpmsg/devices
    total 0
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio0.rpmsg_chrdev.-1.13 -> ../../../devices/platform/bus@100000/4d80800000.dsp/remoteproc/remoteproc0/rproc-virtio.0.auto/virtio0/virtio0.rpmsg_chrdev.-1.13
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio0.rpmsg_ctrl.0.0 -> ../../../devices/platform/bus@100000/4d80800000.dsp/remoteproc/remoteproc0/rproc-virtio.0.auto/virtio0/virtio0.rpmsg_ctrl.0.0
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio0.rpmsg_ns.53.53 -> ../../../devices/platform/bus@100000/4d80800000.dsp/remoteproc/remoteproc0/rproc-virtio.0.auto/virtio0/virtio0.rpmsg_ns.53.53
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio1.rpmsg_chrdev.-1.13 -> ../../../devices/platform/bus@100000/4d81800000.dsp/remoteproc/remoteproc1/rproc-virtio.1.auto/virtio1/virtio1.rpmsg_chrdev.-1.13
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio1.rpmsg_ctrl.0.0 -> ../../../devices/platform/bus@100000/4d81800000.dsp/remoteproc/remoteproc1/rproc-virtio.1.auto/virtio1/virtio1.rpmsg_ctrl.0.0
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio1.rpmsg_ns.53.53 -> ../../../devices/platform/bus@100000/4d81800000.dsp/remoteproc/remoteproc1/rproc-virtio.1.auto/virtio1/virtio1.rpmsg_ns.53.53
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio2.rpmsg_chrdev.-1.14 -> ../../../devices/platform/bus@100000/bus@100000:bus@28380000/bus@100000:bus@28380000:r5fss@41000000/41000000.r5f/remoteproc/remoteproc2/rproc-virtio.2.auto/virtio2/virtio2.rpmsg_chrdev.-1.14
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio2.rpmsg_ctrl.0.0 -> ../../../devices/platform/bus@100000/bus@100000:bus@28380000/bus@100000:bus@28380000:r5fss@41000000/41000000.r5f/remoteproc/remoteproc2/rproc-virtio.2.auto/virtio2/virtio2.rpmsg_ctrl.0.0
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio2.rpmsg_ns.53.53 -> ../../../devices/platform/bus@100000/bus@100000:bus@28380000/bus@100000:bus@28380000:r5fss@41000000/41000000.r5f/remoteproc/remoteproc2/rproc-virtio.2.auto/virtio2/virtio2.rpmsg_ns.53.53
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio2.ti.ipc4.ping-pong.-1.13 -> ../../../devices/platform/bus@100000/bus@100000:bus@28380000/bus@100000:bus@28380000:r5fss@41000000/41000000.r5f/remoteproc/remoteproc2/rproc-virtio.2.auto/virtio2/virtio2.ti.ipc4.ping-pong.-1.13
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio3.rpmsg_chrdev.-1.13 -> ../../../devices/platform/bus@100000/64800000.dsp/remoteproc/remoteproc3/rproc-virtio.3.auto/virtio3/virtio3.rpmsg_chrdev.-1.13
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio3.rpmsg_ctrl.0.0 -> ../../../devices/platform/bus@100000/64800000.dsp/remoteproc/remoteproc3/rproc-virtio.3.auto/virtio3/virtio3.rpmsg_ctrl.0.0
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio3.rpmsg_ns.53.53 -> ../../../devices/platform/bus@100000/64800000.dsp/remoteproc/remoteproc3/rproc-virtio.3.auto/virtio3/virtio3.rpmsg_ns.53.53
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio4.rpmsg_chrdev.-1.14 -> ../../../devices/platform/bus@100000/bus@100000:r5fss@5c00000/5c00000.r5f/remoteproc/remoteproc4/rproc-virtio.4.auto/virtio4/virtio4.rpmsg_chrdev.-1.14
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio4.rpmsg_ctrl.0.0 -> ../../../devices/platform/bus@100000/bus@100000:r5fss@5c00000/5c00000.r5f/remoteproc/remoteproc4/rproc-virtio.4.auto/virtio4/virtio4.rpmsg_ctrl.0.0
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio4.rpmsg_ns.53.53 -> ../../../devices/platform/bus@100000/bus@100000:r5fss@5c00000/5c00000.r5f/remoteproc/remoteproc4/rproc-virtio.4.auto/virtio4/virtio4.rpmsg_ns.53.53
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio4.ti.ipc4.ping-pong.-1.13 -> ../../../devices/platform/bus@100000/bus@100000:r5fss@5c00000/5c00000.r5f/remoteproc/remoteproc4/rproc-virtio.4.auto/virtio4/virtio4.ti.ipc4.ping-pong.-1.13
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio5.rpmsg_ctrl.0.0 -> ../../../devices/platform/bus@100000/bus@100000:r5fss@5c00000/5d00000.r5f/remoteproc/remoteproc5/rproc-virtio.5.auto/virtio5/virtio5.rpmsg_ctrl.0.0
    lrwxrwxrwx 1 root root 0 Nov 29 08:35 virtio5.rpmsg_ns.53.53 -> ../../../devices/platform/bus@100000/bus@100000:r5fss@5c00000/5d00000.r5f/remoteproc/remoteproc5/rproc-virtio.5.auto/virtio5/virtio5.rpmsg_ns.53.53

    What should be the next steps, could you please suggest. 

    regards,

    Arpan

  • 0 in reply to Arpan Dutta
    TI__Guru 58116 points

    Hello,

    May i know which SDK version are you using ?

    Are the default firmware ipc echo tests or have you modified the firmware links from vision apps to ipc echo tests?

    Can you also share me uEnv.txt file of boot partition?

    Regards

    Tarun Mukesh

  • 0 in reply to Tarun Mukesh Puvvada
    Prodigy 60 points

    Hi Tarun,

    I am using the following RTOS SDK:

    https://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/08_01_00_13/exports/ti-processor-sdk-rtos-j721e-evm-08_01_00_13.tar.gz

    Yes, I have updated the firmware links to ipc echo tests from the default vision app links. Cause as per the documentation, TI has provided some source code for examples that can be used to test the ipc communication between rtos and linux. These targets have names that are matching with what is provided in the tisdk-edgeai-image-j721e-evm.wic.xz  image in the /lib/firmware/ti-ipc/j721e directory. So I assume that it works the same way. (Also, I have tried to build the example and place them in lib/firmware and linked it, but the behavior still remains same.)

    These were the default linkings:

       0 lrwxrwxrwx  1 root root   59 Mar  9  2018 j7-main-r5f0_0-fw -> /lib/firmware/vision_apps_eaik/vx_app_rtos_linux_mcu2_0.out
       0 lrwxrwxrwx  1 root root   59 Mar  9  2018 j7-main-r5f0_1-fw -> /lib/firmware/vision_apps_eaik/vx_app_rtos_linux_mcu2_1.out
       0 lrwxrwxrwx  1 root root   59 Mar  9  2018 j7-main-r5f1_0-fw -> /lib/firmware/vision_apps_eaik/vx_app_rtos_linux_mcu3_0.out
       0 lrwxrwxrwx  1 root root   59 Mar  9  2018 j7-main-r5f1_1-fw -> /lib/firmware/vision_apps_eaik/vx_app_rtos_linux_mcu3_1.out

    To change the links, I have simply used ln -s command to create symlinks for the ti-ipc ipc_echo_test binaries and then rebooted the board. Does something else needs to be done too?  

    Attaching the uEnv.txt file from the boot partition:

    /cfs-file/__key/communityserver-discussions-components-files/791/5305.uEnv.txt

    Regards,

    Arpan

  • 0 in reply to Arpan Dutta
    TI__Guru 58116 points

    Hello,

    One query i am having,usually if the vision apps default images are included then vision apps related .dtb file will also be built which might not suit for ipc echo test as the reserved memory regions differ from each other.

    1) Have you made any changes to remove vision app .dtb file ?

    2)Could you please share me the entire log as an attachment to understand better ?

    Regards

    Tarun Mukesh

  • 0 in reply to Tarun Mukesh Puvvada
    Prodigy 60 points
    Tarun Mukesh Puvvada said:
    1) Have you made any changes to remove vision app .dtb file ?

    No, I haven't linked any other files other than the ipc_echo_test_mcu*_*_release_strip.xer5f. This might be the cause of the issue.

    Can you help me understand how to make necessary changes in the .dtb / reserved memory regions to suit the ipc echo test binaries.

    Tarun Mukesh Puvvada said:
    2)Could you please share me the entire log as an attachment to understand better ?

    Attaching the previous command outputs along with the total list of files in /lib/firmware in the below logs

    Regards,

    Arpan

    /cfs-file/__key/communityserver-discussions-components-files/791/ipc_5F00_echo_5F00_test_5F00_ticket_5F00_logs.txt

  • 0 in reply to Arpan Dutta
    TI__Guru 58116 points

    Hello Arpan,

    This attached file doesn't have the entire boot log, can you please check and re share it ?

    Regards

    Tarun Mukesh

  • 0 in reply to Tarun Mukesh Puvvada
    Prodigy 60 points

    Ok, sorry didnt get it at first when you mentioned entire log.
    Please find the attached logs below:
    /cfs-file/__key/communityserver-discussions-components-files/791/2308.boot.log

  • +1 in reply to Arpan Dutta
    TI__Guru 58116 points

    Hello Arpan,

    As suspected , if you see in the boot log vision apps related reserved memory is included rather than default reserved memory.

    reserved mem: initialized node vision-apps-r5f-dma-memory@a0000000, compatible id shared-dma-pool
[ 0.000000] Reserved memory: created DMA memory pool at 0x00000000a0100000, size 15 MiB
[ 0.000000] OF: reserved mem: initialized node vision-apps-r5f-memory@a0100000, compatible id shared-dma-pool
[ 0.000000] Reserved memory: created DMA memory pool at 0x00000000a1000000, size 1 MiB
[ 0.000000] OF: reserved mem: initialized node vision-apps-r5f-dma-memory@a1000000, compatible id shared-dma-pool
[ 0.000000] Reserved memory: created DMA memory pool at 0x00000000a1100000, size 15 MiB

    k3-j721e-edgeai-apps.dts is including k3-j721e-rtos-memory-map.dts, which includes the vision apps memory overlay. So i believe you have to remove k3-j721e-edgeai-apps.dtbo file from uEnv.txt and reboot.

    Regards

    Tarun Mukesh

  • 0 in reply to Tarun Mukesh Puvvada
    Prodigy 60 points

    Hi Tarun,

    Thanks, after commenting out the name_overlays in uEnv.txt and rebooting the system, all the 4 cores are communicating with linux application. 

    modified uEnv.txt:

    Fullscreen 6523.Working_uEnv.txt Download 
    # This uEnv.txt file can contain additional environment settings that you
# want to set in U-Boot at boot time.  This can be simple variables such
# as the serverip or custom variables.  The format of this file is:
#    variable=value
# NOTE: This file will be evaluated after the bootcmd is run and the
#       bootcmd must be set to load this file if it exists (this is the
#       default on all newer U-Boot images.  This also means that some
#       variables such as bootdelay cannot be changed by this file since
#       it is not evaluated until the bootcmd is run.
psdk_setup_file=.psdk_setup
check_psdk_setup=load mmc 1:1 ${loadaddr} ${psdk_setup_file}

# Reset to the default environment
do_psdk_setup=env default -f -a; saveenv

# If not done previously, then reset to the default environment and indicate this by writing a file
# Also update the Linux hostname based on board_name
uenvcmd=if run check_psdk_setup; then echo "Already setup."; else run do_psdk_setup; mw.b ${loadaddr} 0 1; fatwrite mmc 1:1 ${loadaddr} .psdk_setup 1; reset; fi; if test "$board_name" = "j721e-sk"; then ; setenv args_all $args_all systemd.hostname=tda4vm-sk ; fi; if test ${boot_fit} -eq 1; then  setenv name_overlays $name_overlays_fit; fi;

# Setting the right U-Boot environment variables
dorprocboot=1
# name_overlays=ti/k3-j721e-edgeai-apps.dtbo

# Name overlays when booting from fit image
name_overlays_fit=conf-ti_k3-j721e-edgeai-apps.dtbo

    latest boot log along with testing of rtos ipc_echo_test of the 4 cores (mcu20, mcu21,mcu30,mcu31) with linux rpmsg_char_simple.

    /cfs-file/__key/communityserver-discussions-components-files/791/working_5F00_boot_5F00_and_5F00_test.log