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/*
* Copyright (C) 2016-2021 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.
*/
#include <stdint.h>
#include <stdio.h>
#include <pru_cfg.h>
#include <pru_intc.h>
#include <rsc_types.h>
#include <pru_rpmsg.h>
#include "resource_table.h"
#include "intc_map_0.h"
volatile register uint32_t __R31;
/* Host-0 Interrupt sets bit 30 in register R31 */
#define HOST_INT ((uint32_t) 1 << 30)
/* The PRU-ICSS system events used for RPMsg are defined in the Linux device tree
* PRU0 uses system event 16 (To ARM) and 17 (From ARM)
* PRU1 uses system event 18 (To ARM) and 19 (From ARM)
*/
#define TO_ARM_HOST 16
#define FROM_ARM_HOST 17
/*
* Using the name 'rpmsg-raw' will probe the rpmsg_char driver found
* at linux-x.y.z/drivers/rpmsg/rpmsg_char.c
*/
#define CHAN_NAME "rpmsg-raw"
#define CHAN_PORT 30
/*
* Used to make sure the Linux drivers are ready for RPMsg communication
* Found at linux-x.y.z/include/uapi/linux/virtio_config.h
*/
#define VIRTIO_CONFIG_S_DRIVER_OK 4
uint8_t payload[RPMSG_MESSAGE_SIZE];
/*
* main.c
*/
void main(void)
{
struct pru_rpmsg_transport transport;
uint16_t src, dst, len;
volatile uint8_t *status;
/* Allow OCP master port access by the PRU so the PRU can read external memories */
CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
/* Clear the status of the PRU-ICSS system event that the ARM will use to 'kick' us */
CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
/* Make sure the Linux drivers are ready for RPMsg communication */
status = &resourceTable.rpmsg_vdev.status;
while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK));
/* Initialize the RPMsg transport structure */
pru_rpmsg_init(&transport, &resourceTable.rpmsg_vring0, &resourceTable.rpmsg_vring1, TO_ARM_HOST, FROM_ARM_HOST);
/* Create the RPMsg channel between the PRU and ARM user space using the transport structure. */
while (pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, CHAN_NAME, CHAN_PORT) != PRU_RPMSG_SUCCESS);
while (1) {
/* Check bit 30 of register R31 to see if the ARM has kicked us */
if (__R31 & HOST_INT) {
/* Clear the event status */
CT_INTC.SICR_bit.STS_CLR_IDX = FROM_ARM_HOST;
/* Receive all available messages, multiple messages can be sent per kick */
while (pru_rpmsg_receive(&transport, &src, &dst, payload, &len) == PRU_RPMSG_SUCCESS) {
/* Echo the message back to the same address from which we just received */
pru_rpmsg_send(&transport, dst, src, payload, len);
}
}
}
}
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