TDA4VH-Q1: QNX IPC binary modification

Thanks for the info I looked into the  vision_apps/apps/utilities/app_ipc/main_ipc.c  and understood that the code is sending notify message to each core and then waiting for each core to respond. But what i cannot wrap my head around is the next part of the code as shown below where some remote service is started. What are the magic numbers as shown in the last snippet

......

 printf("APP IPC: Waiting for all messages to get echoed from remote core...\n");
        appLogWaitMsecs(10000);
        printf("APP IPC: Waiting for all messages to get echoed ... Done.\n");
        #endif

        #if 1
        {
            int32_t appRemoteServiceTestRun(uint32_t cpu_id);

            printf("APP IPC: Running remote service test ... \n");
            for(i=0; i<APP_IPC_CPU_MAX; i++)
            {
                if(appIpcIsCpuEnabled(i) && i != appIpcGetSelfCpuId())
                {
                    appRemoteServiceTestRun(i);
                }
            }
            printf("APP IPC: Running remote service test ... Done.\n");
        }
        #endif
        
        
.....

int32_t appRemoteServiceTestRun(uint32_t cpu_id)
{
    appRemoteServiceTestRunCmd0(cpu_id);
    appRemoteServiceTestRunCmd1(cpu_id);
    appRemoteServiceTestRunTimerTest(cpu_id);

    return 0;
}

int32_t appRemoteServiceTestRunCmd0(uint32_t cpu_id)
{
    int32_t status = 0;
    volatile uint32_t value = 0;
    uint32_t i, count = 10;
    uint32_t test_pass = 1;

    appLogPrintf("REMOTE_SERVICE_TEST: Running test for CPU %s !!!\n",
        appIpcGetCpuName(cpu_id)
        );

    for(i=0; i<count; i++)
    {
        status = appRemoteServiceRun(cpu_id, APP_REMOTE_SERVICE_TEST_NAME, APP_REMOTE_SERVICE_TEST_CMD_0, (void*)&value, sizeof(uint32_t), 0);
        if(status!=0 || value != (i+1))
        {
            test_pass = 0;
            status = -1;
            break;
        }
    }
    if(test_pass)
    {
        appLogPrintf("REMOTE_SERVICE_TEST: Test passed !!!\n");
    }
    else
    {
        appLogPrintf("REMOTE_SERVICE_TEST: Test failed @ iteration %d !!!\n", i);
    }
    return status;
}

/* #define APP_REMOTE_SERVICE_TEST_DEBUG */
#define APP_REMOTE_SERVICE_TEST_NAME  "com.ti.remote_service_test"

#define APP_REMOTE_SERVICE_TEST_CMD_0   (0x1234)
#define APP_REMOTE_SERVICE_TEST_CMD_1   (0x5678)
#define APP_REMOTE_SERVICE_TEST_CMD_2   (0x0002)

Hi, will loop in someone more familiar with the vision apps ipc example code.

Regards,

kb

Hi

appRemoteServiceRun is also a IPC call to other cores where the remote service handler gets invoked on the remote core.

If you search for the service APP_REMOTE_SERVICE_TEST_NAME in the file app_remote_service_test.c, you can see a handler being registered under the name appRemoteServiceTestHandler

This is a callback function everytime appRemoteServiceRun () is called with service mentioned as APP_REMOTE_SERVICE_TEST_NAME 

APP_REMOTE_SERVICE_TEST_CMD_0, APP_REMOTE_SERVICE_TEST_CMD_1, APP_REMOTE_SERVICE_TEST_CMD_2 are the switch cases inside this callback handler that executes on the respective target core.

Regards,

Nikhil

Thanks Nikhil for explaining it.  I have another doubt.

 if(status == VX_SUCCESS)
    {
        #if 1
        for(k=0; k<NUM_ITERATIONS; k++)
        {
           for(i=0; i<APP_IPC_CPU_MAX; i++)
            {
            
                if(appIpcIsCpuEnabled(i) && i != appIpcGetSelfCpuId())
                {
                    for(msg=0; msg<NUM_MSGS; msg++)
                    {
                        //status = appIpcSendNotify(i, (0xDEAD0000 | (msg & 0xFFFF)));
                        status = appIpcSendNotify(i, (0xDEAD0000 | (msg & 0xFFFF)));
                        APP_PRINTF("Rexroth: APP IPC: Sent msg %d to CPU [%s]\n", msg+1, appIpcGetCpuName(i));
                        if(status != VX_SUCCESS)
                        {
                            printf("APP IPC: ERROR: Send msg %d to CPU [%s] failed !!!\n", msg+1, appIpcGetCpuName(i));
                            break;
                        }
                        /* appLogWaitMsecs(10); */
                    }
                }
            }
        }
        printf("APP IPC: Waiting for all messages to get echoed from remote core...\n");
        appLogWaitMsecs(10000);

In the code snippet above that corresponds to the vx_app_arm_ipc.out binary on QNX,  there is a appIpcSendNotify() function. The payload here can be only 4 bytes. But as i understand IPC can sand 496 bytes of data. Can you please explain this. Or is this function only used to notify the other core that there is new data.?

In such a case what would be the sequence of sending. First send the data (what would be the API?) then use appIpcSendNotify() to tell the remote core that there is new data?. (assuming this API calls the mailbox interrupts). Can you please elaborate on this?

Hi,

Deepankar maithani said:

Can you please explain this. Or is this function only used to notify the other core that there is new data.?

Yes, this API is used to send only 4 bytes of data, typically used to notify the cores.

For sending 496 bytes of data, we use the remote service API. Please refer the implementation of appRemoteServiceRun() in utils/remote_service for the flow.

Regards,

Nikhil

Thanks for your response.  Just one more question what is the  MCU counterpart  that will interact with the  vx_app_arm_ipc.out  binary.  I am currently building  ti-processor-sdk-rtos-j784s4-evm-09_02_00_05/vision_apps/platform/j784s4/rtos/main.c  using command

make vx_app_rtos_qnx_mcu1_0 

Then i am building a new tispl and using the newly buit binary and am using it  on the MCU1_0

Here is the output (MCU1_0)

On the QNX side i am running  vx_app_arm_ipc.out   (MPU)

I have enabled UART prints in the MCU code. I expected to see 0xdead000  but instead i see ping pong messages on the MCU1_0 UART. Am i using incorrect source code on the MCU1_0.   

PS: I am sending appNotify to only MCU1_0 thats why only one message on Main domain UART (889.724088 s: IPC: RX: mcu1_0 (port 13) -> mpu1_0 (port 102) msg = 0xdead0000)

Could you please explain this behaviour.

Any update about this?

Hi,

From the logs, if you are using vx_app_rtos_qnx_mcu1_0, then I believe the MCU1_0 core is enabled in vision_apps right?

Could you please share the remote core logs from "./vision_apps_init.sh" ?

As i see IPC command only for A72 to mcu1_0, and remote services for other cores. Did you disable ipc from A72 to other cores?

Regards,

Nikhil

Nikhil Dasan said:

From the logs, if you are using vx_app_rtos_qnx_mcu1_0, then I believe the MCU1_0 core is enabled in vision_apps right?

Correct, i have enabled vision apps for all cores in the  app_cfg.h file. 

Nikhil Dasan said:

As i see IPC command only for A72 to mcu1_0, and remote services for other cores. Did you disable ipc from A72 to other cores?

Yes i havemodified  it to send to only MCU1_0

OUTPUT OF vx_app_arm_remote_log




./vx_app_arm_remote_log.out                                                                                  
[MCU1_0]      0.200170 s: CIO: Init ... Done !!!                                                                                     
[MCU1_0]      0.200250 s: ### CPU Frequency = 1000000000 Hz                                                                          
[MCU1_0]      0.200285 s: CPU is running FreeRTOS                                                                                    
[MCU1_0]      0.200309 s: APP: Init ... !!!                                                                                          
[MCU1_0]      0.200349 s: MEM: Init ... !!!                                                                                          
[MCU1_0]      0.200387 s: MEM: Created heap (DDR_LOCAL_MEM, id=0, flags=0x00000004) @ ba000000 of size 8388608 bytes !!!             
[MCU1_0]      0.200464 s: MEM: Init ... Done !!!                                                                                     
[MCU1_0]      0.200489 s: IPC: Init ... !!!                                                                                          
[MCU1_0]      0.200536 s: IPC: 12 CPUs participating in IPC !!!                                                                      
[MCU1_0]      0.211657 s: IPC: Init ... Done !!!                                                                                     
[MCU1_0]      0.211720 s: APP: Syncing with 11 CPUs ... !!!                                                                          
[MCU1_0]     23.848138 s: APP: Syncing with 11 CPUs ... Done !!!                                                                     
[MCU1_0]     23.848371 s: REMOTE_SERVICE: Init ... !!!                                                                               
[MCU1_0]     23.860964 s: REMOTE_SERVICE: Init ... Done !!!                                                                          
[MCU1_0]     23.861031 s: APP: Init ... Done !!!                                                                                     
[MCU1_0]     23.861660 s: 5sepAPP: Run ... !!!                                                                                       
[MCU1_0]     23.879444 s: 5sepIPC: Starting echo test ...                                                                            
[MCU1_0]     24.173442 s: IPC: RecvTask: Creating ...                                                                                
[MCU1_0]     24.188488 s: IPC: RecvTask: Started ...                                                                                 
[MCU1_0]     24.188778 s: IPC: RecvTask: Waiting for messages ...                                                                    
[MCU1_0]     24.188830 s: IPC: RecvTask: Revcvd msg #1 "ping 0" len 7 bytes from mcu2_1                                              
[MCU1_0]     24.188919 s: IPC: RecvTask: Sending msg #1 "pong 0" len 6 bytes from mcu1_0 to mcu2_1                                   
[MCU1_0]     24.188976 s: IPC: RecvTask: Revcvd msg #2 "ping 0" len 7 bytes from mcu3_0                                              
[MCU1_0]     24.189040 s: IPC: RecvTask: Sending msg #2 "pong 0" len 6 bytes from mcu1_0 to mcu3_0                                   
[MCU1_0]     24.189095 s: IPC: RecvTask: Revcvd msg #3 "ping 0" len 7 bytes from mcu3_1                                              
[MCU1_0]     24.189150 s: IPC: RecvTask: Sending msg #3 "pong 0" len 6 bytes from mcu1_0 to mcu3_1                                   
[MCU1_0]     24.189201 s: IPC: RecvTask: Revcvd msg #4 "ping 0" len 7 bytes from mcu4_0                                              
[MCU1_0]     24.189258 s: IPC: RecvTask: Sending msg #4 "pong 0" len 6 bytes from mcu1_0 to mcu4_0                                   
[MCU1_0]     24.189310 s: IPC: RecvTask: Revcvd msg #5 "ping 0" len 7 bytes from mcu2_0                                              
[MCU1_0]     24.189364 s: IPC: RecvTask: Sending msg #5 "pong 0" len 6 bytes from mcu1_0 to mcu2_0                                   
[MCU1_0]     24.189415 s: IPC: RecvTask: Revcvd msg #6 "ping 0" len 7 bytes from mcu4_1                                              
[MCU1_0]     24.514448 s: IPC: SendTask3: Received msg #1 "pong 1" len 6 bytes from mcu2_0 endPt 14  

output of ./visionapps_init.sh



 0.200170 s: CIO: Init ... Done !!!                                                             
[MCU1_0]      0.200464 s: MEM: Init ... Done !!!                                                                                     
[MCU1_0]      0.200489 s: IPC: Init ... !!!                                                                                          
[MCU1_0]      0.200536 s: IPC: 12 CPUs participating in IPC !!!                                                                      
[MCU1_0]      0.211657 s: IPC: Init ... Done !!!                                                                                     
[MCU1_0]      0.211720 s: APP: Syncing with 11 CPUs ... !!!                                                                          
[MCU1_0]     23.848138 s: APP: Syncing with 11 CPUs ... Done !!!                                                                     
[MCU1_0]     23.848371 s: REMOTE_SERVICE: Init ... !!!                                                                               
[MCU1_0]     23.860964 s: REMOTE_SERVICE: Init ... Done !!!                                                                          
[MCU1_0]     23.861660 s: 5sepAPP: Run ... !!!                                                                                       
[MCU1_0]     23.879444 s: 5sepIPC: Starting echo test ...                                                                            
[MCU1_0]     24.188488 s: IPC: RecvTask: Started ...                                                                                 
[MCU1_0]     24.188778 s: IPC: RecvTask: Waiting for messages ...                                                                    
[MCU1_0]     24.188919 s: IPC: RecvTask: Sending msg #1 "pong 0" len 6 bytes from mcu1_0 to mcu2_1                                   
[MCU1_0]     24.188976 s: IPC: RecvTask: Revcvd msg #2 "ping 0" len 7 bytes from mcu3_0                                              
[MCU1_0]     24.189040 s: IPC: RecvTask: Sending msg #2 "pong 0" len 6 bytes from mcu1_0 to mcu3_0                                   
[MCU1_0]     24.189150 s: IPC: RecvTask: Sending msg #3 "pong 0" len 6 bytes from mcu1_0 to mcu3_1                                   
[MCU1_0]     24.189201 s: IPC: RecvTask: Revcvd msg #4 "ping 0" len 7 bytes from mcu4_0                                              
[MCU1_0]     24.189258 s: IPC: RecvTask: Sending msg #4 "pong 0" len 6 bytes from mcu1_0 to mcu4_0                                   
[MCU1_0]     24.189364 s: IPC: RecvTask: Sending msg #5 "pong 0" len 6 bytes from mcu1_0 to mcu2_0                                   
[MCU1_0]     24.189415 s: IPC: RecvTask: Revcvd msg #6 "ping 0" len 7 bytes from mcu4_1                                              
[MCU1_0]     24.189476 s: IPC: RecvTask: Sending msg #6 "pong 0" len 6 bytes from mcu1_0 to mcu4_1                                   
[MCU1_0]     24.189583 s: IPC: RecvTask: Sending msg #7 "pong 0" len 6 bytes from mcu1_0 to c7x_1                                    
[MCU1_0]     24.189634 s: IPC: RecvTask: Revcvd msg #8 "ping 0" len 7 bytes from c7x_2                                               
[MCU1_0]     24.189687 s: IPC: RecvTask: Sending msg #8 "pong 0" len 6 bytes from mcu1_0 to c7x_2                                    
[MCU1_0]     24.189793 s: IPC: RecvTask: Sending msg #9 "pong 0" len 6 bytes from mcu1_0 to c7x_3                                    
[MCU1_0]     24.189844 s: IPC: RecvTask: Revcvd msg #10 "ping 0" len 7 bytes from c7x_4                                              
[MCU1_0]     24.189898 s: IPC: RecvTask: Sending msg #10 "pong 0" len 6 bytes from mcu1_0 to c7x_4                                   
[MCU1_0]     27.260527 s: IPC: SendTask11: Sending messages to c7x_3 ...   

Here is the QNX side of the code 

#define NUM_MSGS (1u)
int main(int argc, char *argv[])
{
    vx_status status = 0;
    uint32_t i, msg, k;


    status = appInit();

    if(status == VX_SUCCESS)
    {
        #if 1
        for(k=0; k<NUM_ITERATIONS; k++)
        {
            for(i=0; i<APP_IPC_CPU_MAX; i++)
            {
                if(appIpcIsCpuEnabled(i) && i != appIpcGetSelfCpuId())
                {
                    for(msg=0; msg<NUM_MSGS; msg++)
                    {
                        status = appIpcSendNotify(1, (0xDEAD0000 | (msg & 0xFFFF)));
                        APP_PRINTF("APP IPC: Sent msg %d to CPU [%s]\n", msg+1, appIpcGetCpuName(1));
                        if(status != VX_SUCCESS)
                        {
                            printf("APP IPC: ERROR: Send msg %d to CPU [%s] failed !!!\n", msg+1, appIpcGetCpuName(1));
                            break;
                        }
                        /* appLogWaitMsecs(10); */
                    }
                }
            }
        }
        printf("APP IPC: Waiting for all messages to get echoed from remote core...\n");
        appLogWaitMsecs(10000);
        printf("APP IPC: Waiting for all messages to get echoed ... Done.\n");
        #endif

        #if 1
        {
            int32_t appRemoteServiceTestRun(uint32_t cpu_id);

            printf("APP IPC: Running remote service test ... \n");
            for(i=0; i<APP_IPC_CPU_MAX; i++)
            {
                if(appIpcIsCpuEnabled(i) && i != appIpcGetSelfCpuId())
                {
                    appRemoteServiceTestRun(i);
                }
            }
            printf("APP IPC: Running remote service test ... Done.\n");
        }
        #endif

        appDeInit();
    }
    printf("APP IPC: Done !!!\n");

    return status;
}

It seems only  the pingpongs sent by    appRemoteServiceTestRun(i); are there on the other side.  Can MPU and MCU1_0 use multiple endpoints to communicate with each other?

Thanks alot for clarifying.  I found the declarations for QNX binary. I am trying to find where is the port numbers APP_IPC_TIOVX_RPMSG_PORT_ID  and  APP_IPC_REMOTE_SERVICE_RPMSG_PORT_ID  defined in the MCU1_0 code. Where can i find them for the MCU1_0 

Okay got it the  mcu code is also using the same app_ipc.h. Thanks