AM62a/p R5F RPMsg echo to ArmLinux¶
Objectives:¶
- Build and run an R5F program which will echo any RPMsg message it receives back to the sender.
- Build and run an ARM/Linux user program which will send a number of messages to the M4 and receive the messages echoed back.
- Run both of these programs in debuggers.
References¶
- https://software-dl.ti.com/processor-sdk-linux/esd/AM62PX/10_01_10_04/exports/docs/linux/Foundational_Components_IPC62px.html#rpmsg-examples
- https://software-dl.ti.com/processor-sdk-linux/esd/AM62PX/10_01_10_04/exports/docs/linux/Foundational_Components_IPC62px.html#booting-remote-cores-from-linux-console-user-space
- https://dev.ti.com/tirex/explore/content/am62x_academy_9_01_00_00_v1/_build_am62x_academy_9_01_00_00_v1/source/multicore/multicore-dev/ipc-rpmsg.html#building-the-linux-userspace-rpmsg-example
Prerequisites¶
- Code Composer installed
- R5F sdk installed
- ti-processor-sdk installed (TI_SDK_download_and_installation)
- Create a project directory on your device
root@mitysom-am62px:~# mkdir /lib/firmware/mcu_rpmsg
Step 1: Building the R5F program¶
- Navigate to toolbar>View>Project Explorer
- In the project explorer window go to import projects.
- Hit the drop down arrow for the "Code Composer Studio" Folder and click "CCS Projects"
- Click the browse button and open the following folder <MCU_PLUS_SDK_INSTALL_DIR>/ti/mcu_plus_sdk_{am62a/p}_10_01_00_33/examples/drivers/ipc/ipc_rpmsg_echo_linux/{am62ax/px}-sk/mcu-r5fss0-0_freertos/ti-arm-clang
- Right Click the opened project and select "Build Project"
- Hit the drop down arrow for the "Code Composer Studio" Folder and click "CCS Projects"
- In the project explorer window go to import projects.
- Create new target configuration at toolbar>View>Target Configuration.
- Right Click on "User Defined" and select "New Target Configuration"
- Name the file {som name}_XDS2XX.ccxml.
- Under the "General Setup" section, next to "Connection" open the drop-down arrow and select "Texas Instruments XDS2xx USB Debug Probe"
- Under the "General Setup" section, next to "Board or Device" scroll and select AM62P or AM62A.
- Click the "Save" button under the "Save Configuration" section.
- Name the file {som name}_XDS2XX.ccxml.
- Right click on target configuration you just made and select "Launch Selected Configuration"
- Right Click on "User Defined" and select "New Target Configuration"
- In the debug window right click on "Texas Instruments XDS2xx USB Debug Probe_0/MCU_R5FSS0_0(Disconnected:Unkown) and select "Connect Target"
- In the debug toolbar navigate to the CPU reset drop-down arrow and select CPU Reset
- Navigate to toolbar>Run>Load>Load Program and select "Browse project..."
- Select the following file ipc_rpmsg_echo_linux_{am62ax/px}-sk_mcu-r5fss0-0_freetos_ti-arm-clang/debug/ipc_rpmsg_echo_linux_{am62ax/px}-sk_mcu-r5fss0-0_freetos_ti-arm-clang.out
- The program is now paused and must be resumed. Go to toolbar>Run>Resume
- You should now see the following output to the CCS and MCU Console
- Navigate to toolbar>Run>Load>Load Program and select "Browse project..."
- In the debug toolbar navigate to the CPU reset drop-down arrow and select CPU Reset
CCS Console
{som name}_XDS2XX.ccxml:CIO
[MCU_R5FSS0_0] [IPC RPMSG ECHO] Version: REL.MCUSDK.K3.10.01.00.33+ (Feb 13 2025 14:59:21):
MCU Console
[IPC RPMSG ECHO] Version: REL.MCUSDK.K3.10.01.00.10+ (Nov 14 2024 14:00:57): [IPC RPMSG ECHO] Remote Core waiting for messages at end point 13 ... !!! [IPC RPMSG ECHO] Remote Core waiting for messages at end point 14 ... !!! [IPC RPMSG ECHO] Version: REL.MCUSDK.K3.10.01.00.33+ (Feb 13 2025 14:59:21):
Step 2: Use remoteproc to start the program on the target¶
- Copy the debug version to the mcu_rpmsg folder
$ cd <WORKSPACE_DIR>/ipc_rpmsg_echo_linux_{am62ax/px}-sk_mcu-r5fss0-0_freertos_ti-arm-clang/Debug $ scp ipc_rpmsg_echo_linux.mcu-r5f0_0.strip.out root@<IP_ADDRESS>:/lib/firmware/mcu_rpmsg - link /lib/firmware/{am62a/p}-mcu-r5f0_0-fw to the release version
root@mitysom-am62px:~# ln -sf /lib/firmware/mcu_rpmsg/ipc_rpmsg_echo_linux.mcu-r5f0_0.strip.out /lib/firmware/{am62a/p}-mcu-r5f0_0-fw - Toggle the m4 remote processor
root@mitysom-am62px:~# echo stop >/sys/class/remoteproc/remoteproc0/state [ 250.317807] remoteproc remoteproc0: stopped remote processor 79000000.r5f root@mitysom-am62px:~# echo start >/sys/class/remoteproc/remoteproc0/state [ 255.786040] remoteproc remoteproc0: powering up 79000000.r5f [ 255.792268] remoteproc remoteproc0: Booting fw image am62p-mcu-r5f0_0-fw, size 141000 [ 255.801793] rproc-virtio rproc-virtio.4.auto: assigned reserved memory node mcu-r5fss-dma-memory-region@9b800000 [ 255.813995] virtio_rpmsg_bus virtio0: rpmsg host is online [ 255.814592] virtio_rpmsg_bus virtio0: creating channel ti.ipc4.ping-pong addr 0xd [ 255.819731] rproc-virtio rproc-virtio.4.auto: registered virtio0 (type 7) [ 255.827488] virtio_rpmsg_bus virtio0: creating channel rpmsg_chrdev addr 0xe [ 255.834007] remoteproc remoteproc0: remote processor 79000000.r5f is now up
- On the R5 UART, you should see output like:
[IPC RPMSG ECHO] Version: REL.MCUSDK.K3.10.01.00.33+ (Feb 13 2025 14:59:21): [IPC RPMSG ECHO] Remote Core waiting for messages at end point 13 ... !!! [IPC RPMSG ECHO] Remote Core waiting for messages at end point 14 ... !!!
At this point, the R5 program is running and waiting for the Arm/Linux to send it messages.
Step 3: Building the Arm/Linux user program¶
- Download the example TI git repository.
$ mkdir rpmsg $ cd rpmsg $ git clone https://git.ti.com/cgit/rpmsg/ti-rpmsg-char
- Setup the ARM Toolchain
- Download the necessary infrastructure tools
$ sudo apt install autotools-dev autoconf automake libtool
- Build the example
$ cd ti-rpmsg-char $ autoreconf -i #ignore all warnings $ mkdir outputs $ ./configure --host=aarch64-none-linux-gnu --prefix=$PWD/outputs/ $ make $ make install $ make -C examples $ make -C examples install $ scp examples/rpmsg_char_simple root@<IP_ADDRESS>:mcu_rpmsg
- Boot remote core from linux kernel
root@mitysom-am62px:~# cd /lib/firmware/mcu_rpmsg root@mitysom-am62px:~/lib/firmware/mcu_rpmsg# echo stop > /sys/class/remoteproc/remoteproc0/state root@mitysom-am62px:~/lib/firmware/mcu_rpmsg# echo start > /sys/class/remoteproc/remoteproc0/state
- Check that the /lib/firmware has the proper symbolic link
root@mitysom-am62px:~/lib/firmware/mcu_rpmsg# ls -l /lib/firmware/ total 25308 -rw-r--r-- 1 root root 2040 Mar 9 2018 LICENCE.ibt_firmware -rw-r--r-- 1 root root 2046 Mar 9 2018 LICENCE.iwlwifi_firmware lrwxrwxrwx 1 root root 65 Feb 17 16:16 am62p-mcu-r5f0_0-fw -> /lib/firmware/mcu_rpmsg/ipc_rpmsg_echo_linux.mcu-r5f0_0.strip.out lrwxrwxrwx 1 root root 80 Mar 9 2018 am62p-mcu-r5f0_0-fw-sec -> /usr/lib/firmware/ti-ipc/am62pxx/ipc_echo_test_mcu2_0_release_strip.xer5f.signed
- Run the example program
root@mitysom-am62px:~/lib/firmware/mcu_rpmsg# rpmsg_char_simple -r 0 -n 9 Created endpt device rpmsg-char-0-2589, fd = 4 port = 1025 Exchanging 9 messages with rpmsg device rpmsg-char-0-2589 on rproc id 0 ... Sending message #0: hello there 0! Received message #0: round trip delay(usecs) = 220499 hello there 0! Sending message #1: hello there 1! Received message #1: round trip delay(usecs) = 64511 hello there 1! Sending message #2: hello there 2! Received message #2: round trip delay(usecs) = 45786 hello there 2! Sending message #3: hello there 3! Received message #3: round trip delay(usecs) = 46716 hello there 3! Sending message #4: hello there 4! Received message #4: round trip delay(usecs) = 46186 hello there 4! Sending message #5: hello there 5! Received message #5: round trip delay(usecs) = 46471 hello there 5! Sending message #6: hello there 6! Received message #6: round trip delay(usecs) = 43971 hello there 6! Sending message #7: hello there 7! Received message #7: round trip delay(usecs) = 43971 hello there 7! Sending message #8: hello there 8! Received message #8: round trip delay(usecs) = 47246 hello there 8! Communicated 9 messages successfully on rpmsg-char-0-2589 TEST STATUS: PASSED
Note: If running the example program fails try stopping and starting the remoteproc again.
Running in Debugger¶
- Open ipc_rpmsg_echo.c
- In the function ipc_rpmsg_echo_main(), change the initial code to look like:
Initial Code
void ipc_rpmsg_echo_main(void *args)
{
int32_t status;
DebugP_log("[IPC RPMSG ECHO] Version: %s (%s %s): \r\n", IPC_FW_VERSION, __DATE__, __TIME__);
Modified Code
void ipc_rpmsg_echo_main(void *args)
{
int32_t status;
int max_wait_time = 180;
DebugP_log("[IPC RPMSG ECHO] Version: %s (%s %s): \r\n", IPC_FW_VERSION, __DATE__, __TIME__);
DebugP_log("Starting to wait for debugger attach. %d seconds\r\n", max_wait_time);
for (int ii = 0; ii < max_wait_time; ++ii)
{
if ((ii % 5) == 0)
{
DebugP_log("%3d secs: Waiting for debugger attach\r\n", ii);
}
ClockP_sleep(1);
}
DebugP_log("Done waiting for debugger attach. Moving on...\r\n");
- Rerun through "Step 2: Use remoteproc to start the program on the target" to copy the debug release and link it to your remote processor
- Your output should look like the following:
[IPC RPMSG ECHO] Version: REL.MCUSDK.K3.10.01.00.33+ (Feb 17 2025 13:48:55): Starting to wait for debugger attach. 180 seconds 0 secs: Waiting for debugger attach ... 175 secs: Waiting for debugger attach Done waiting for debugger attach. Moving on...
- Your output should look like the following:
- Rerun through "Step 1: Building the M4 program" to run the program via Jtag.
- In ipc_rpmsg_echo_main() put a breakpoint on the line
ClockP_sleep(1):- Resuming the target 5 times will show the new time in seconds that the program has been waiting for the debugger to attach in the mcu uart terminal
Summary¶
This page demonstrates how to- Build and run an R5F program in CCS, which will echo any RPMsg message it receives back to the sender.
- Build and run an ARM/Linux user program which will send a number of messages to the M4 and receive the messages echoed back.
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