全志R128 SDK HAL 模块开发指南之 MSGBOX

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MSGBOX

msgbox 用来实现多 CPU 之间通讯，在一些 IC 内部可能同时存在多种核心用来实现多种不同功能，这些不同核心运行不同架构、不同系统，需要通过 MSGBOX 用来实现这些不同系统间通讯。

模块介绍

msgbox 为一个双端 fifo 结构，cpu0 从一端写，cpu1 从一端读。
rpmsg 为 linux 用来实现通讯的一种框架
msgbox 为片上处理器之间提供了中断通讯机制

对于 R128 平台，CPU Remote ID如下

CPU	Remote ID
ARM M33 Star	0
RISC-V C906	1
HIFI5 DSP	2

模块配置

配置路径如下:

Kernel Setup --->Drivers Setup --->SoC HAL Drivers --->msgbox devices --->[*] enable msgbox driver

源码结构

msgbox/├── msgbox_amp            // msgbox AMP 实现│   ├── Makefile│   └── msgbox_amp.c        ├── platform              // 平台寄存器定义│   ├── msgbox-sun20iw2.h└── platform-msgbox.h     // 公共头文件

模块接口说明

头文件

#include <hal_msgbox.h>

初始化接口

函数原型：

int32_t hal_msgbox_init(void);

参数：

返回值：

0：成功
负数：失败

通道申请接口

函数原型：

uint32_t hal_msgbox_alloc_channel(struct msg_endpoint *edp, int32_t remote, int32_t read, int32_t write);

参数：

edp：msgbox的端点
remote：远端核心id
read：读通道
write：写通道

返回值：

0：成功
负数：失败

数据发送接口

函数原型：

uint32_t hal_msgbox_channel_send(struct msg_endpoint *edp, uint8_t *bf, uint32_t len);

参数：

edp：msgbox的端点
bf：数据buffer
len：buffer长度

返回值：

0：成功
负数：失败

通道释放接口

函数原型：

void hal_msgbox_free_channel(struct msg_endpoint *edp);

参数：

edp：msgbox的端点

返回值：

0：成功
负数：失败

MSGBOX 申请流程

使用hal_msgbox_alloc_channel接口申请 msgbox 通道
填充msg_endpoint接收回调，这个会在 msgbox 的中断函数里调用
通过hal_msgbox_channel_send进行数据发送
接收通过中断的方式进行接收，会调用msg_endpoint的回调，无需主动调用

MSGBOX 接收流程

在接收函数里会首先遍历所有的msg_endpoint，判断当前终端是否有中断发送
irq_msgbox_channel_handler里会读取当前msg_endpoint的寄存器，来判断是否有中断，如果有，则读取数据
退出中断

MSGBOX 发送流程

调用hal_msgbox_channel_send接口进行数据发送
msgbox_channel_send_data会判断是远端处理器是哪个，并且计算 local->remote 的系数 N 是多少，这个系数回存放在 to_coef_n 的表格里
计算完成后往远端的 msgbox 的 fifo 中写数据
发送完成

模块使用范例

#include <FreeRTOS.h>
#include <queue.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <unistd.h>
#include <string.h>
#include <awlog.h>
#include <hal_msgbox.h>#include <console.h>#define RECEIVE_QUEUE_LENGTH 16
#define RECEIVE_QUEUE_WAIT_MS 100struct msgbox_demo {int remote_id;int read_ch;int write_ch;QueueHandle_t recv_queue;
};static void print_help_msg(void)
{printf("\n");printf("USAGE:\n");printf("  hal_msgbox <REQUIRED_ARGUMENTS> [OPTIONS]\n");printf("\n");printf("REQUIRED_ARGUMENTS:\n");printf("  -E REMOTE_ID: specify remote id\n");printf("  -R READ_CH  : specify read channel\n");printf("  -W WRITE_CH : specify write channel\n");printf("OPTIONS:\n");printf("  -s MESSAGE  : send MESSAGE\n");printf("  -r          : receive messages\n");printf("  -t TIMEOUT  : exit in TIMEOUT seconds when receive\n");printf("e.g. (communicate with remote 0, use read channel 3 and write channel 3):\n");printf("  hal_msgbox -E 0 -R 3 -W 3 -s \"hello\" : send string \"hello\"\n");printf("  hal_msgbox -E 0 -R 3 -W 3 -r           : receive messages (default in 10 seconds)\n");printf("  hal_msgbox -E 0 -R 3 -W 3 -r -t 20     : receive messages in 20 seconds\n");printf("\n");
}static int recv_callback(unsigned long data, void *private_data)
{BaseType_t taskwoken = pdFALSE;printf("Receive callback (data: 0x%lx)\n", data);struct msgbox_demo *demo = private_data;BaseType_t ret = xQueueSendFromISR(demo->recv_queue, &data, &taskwoken);if (ret == errQUEUE_FULL) {printf("recv_queue is full\n");return -1;}if (ret == pdPASS) {portYIELD_FROM_ISR(taskwoken);}return 0;
}static int cmd_hal_msgbox(int argc, char *argv[])
{int ret = 0;int c;struct msgbox_demo demo= {.remote_id = -1,.read_ch = -1,.write_ch = -1,.recv_queue = NULL,};struct msg_endpoint ept;TickType_t start_ticks, current_ticks;int do_send = 0;const char *data_send= NULL;int do_recv = 0;int timeout_sec = 10;uint32_t data_recv;if (argc <= 1) {print_help_msg();ret = -1;goto out;}while ((c = getopt(argc, argv, "hs:rt:E:W:R:")) != -1) {switch (c) {case 'h' :print_help_msg();ret = 0;goto out;case 'E':demo.remote_id = atoi(optarg);break;case 'R':demo.read_ch = atoi(optarg);break;case 'W':demo.write_ch = atoi(optarg);break;case 's':do_send = 1;data_send = optarg;break;case 'r':do_recv = 1;break;case 't':timeout_sec = atoi(optarg);break;default:print_help_msg();ret = -1;goto out;}}if (demo.remote_id < 0 || demo.read_ch < 0 || demo.write_ch < 0) {printf("Error. Please specify remote id, read channel and write channel\n");print_help_msg();ret = -1;goto out;}printf("remote id: %d, write channel: %d, read channel: %d\n",demo.remote_id, demo.write_ch, demo.read_ch);if (do_recv) {demo.recv_queue = xQueueCreate(RECEIVE_QUEUE_LENGTH, sizeof(uint32_t));if (!demo.recv_queue) {printf("Failed to create receive queue\n");ret = -1;goto out;}ept.rec = (void *)recv_callback;ept.private = &demo;}ret = hal_msgbox_alloc_channel(&ept, demo.remote_id, demo.read_ch, demo.write_ch);if (ret != 0) {printf("Failed to allocate msgbox channel\n");goto delete_recv_queue;}if (do_send) {ret = hal_msgbox_channel_send(&ept, (unsigned char *)data_send, strlen(data_send));if (ret != 0) {printf("Failed to send message\n");goto free_channel;}}if (do_recv) {printf("hal_msgbox will exit in %d seconds\n", timeout_sec);start_ticks = xTaskGetTickCount();printf("start_ticks: %u\n", start_ticks);while (1) {if (pdTRUE == xQueueReceive(demo.recv_queue, &data_recv,RECEIVE_QUEUE_WAIT_MS / portTICK_PERIOD_MS)) {printf("Received from queue: 0x%x\n", data_recv);}current_ticks = xTaskGetTickCount();if ((current_ticks - start_ticks) * portTICK_PERIOD_MS>= timeout_sec * 1000) {printf("current_ticks: %u\n", current_ticks);break;}}}printf("hal_msgbox exited\n");ret = 0;free_channel:hal_msgbox_free_channel(&ept);
delete_recv_queue:if (do_recv) {vQueueDelete(demo.recv_queue);}
out:return ret;
}FINSH_FUNCTION_EXPORT_CMD(cmd_hal_msgbox, hal_msgbox, hal msgbox);