Merge pull request #934 from iabdalkader/rpc_openamp_updates

RPC/OpenAMP: Support loading sketches to SDRAM.

libraries/RPC/src/RPC.cpp

@@ -1,3 +1,5 @@
+// Copyright (c) 2024 Arduino SA
+// SPDX-License-Identifier: MPL-2.0
 #include "RPC.h"
 
 #define ENDPOINT_ID_RAW     0
@@ -161,6 +163,35 @@ int RPCClass::begin() {
 #endif
 
 #ifdef CORE_CM4
+#if (CM4_BINARY_START >= 0x60000000) && (CM4_BINARY_START < 0xe0000000)
+class M4Init {
+public:
+    M4Init() {
+        // If the Cortex-M4 core is booting from SDRAM, the memory region must be
+        // configured as Strongly Ordered. Note that the Cortex-M4 core does not
+        // seem to implement speculative prefetching, so there is no need to protect
+        // the whole region from speculative prefetching with a second MPU region.
+        HAL_MPU_Disable();
+        MPU_Region_InitTypeDef MPU_InitStruct;
+        MPU_InitStruct.Number = MPU_REGION_NUMBER1;
+        MPU_InitStruct.Enable = MPU_REGION_ENABLE;
+        MPU_InitStruct.BaseAddress = CM4_BINARY_START;
+        MPU_InitStruct.Size = MPU_REGION_SIZE_1MB;
+        MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
+        MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
+        MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
+        MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
+        MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
+        MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
+        MPU_InitStruct.SubRegionDisable = 0x00;
+        HAL_MPU_ConfigRegion(&MPU_InitStruct);
+        HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
+    }
+};
+
+M4Init __m4init __attribute__ ((init_priority (101)));
+#endif
+
 int RPCClass::begin() {
     eventThread = new rtos::Thread(osPriorityHigh, 16*1024, nullptr, "rpc_evt");
     eventThread->start(&eventHandler);

libraries/RPC/src/RPC.h

@@ -1,3 +1,5 @@
+// Copyright (c) 2024 Arduino SA
+// SPDX-License-Identifier: MPL-2.0
 #ifdef __cplusplus
 
 #ifndef __ARDUINO_RPC_IMPLEMENTATION__

libraries/RPC/src/RPC_client.h

@@ -1,3 +1,5 @@
+// Copyright (c) 2024 Arduino SA
+// SPDX-License-Identifier: MPL-2.0
 #include "Arduino.h"
 #include "mbed.h"
 #include "rpc/dispatcher.h"

libraries/RPC/src/SerialRPC.cpp

@@ -1,3 +1,5 @@
+// Copyright (c) 2024 Arduino SA
+// SPDX-License-Identifier: MPL-2.0
 #include "SerialRPC.h"
 #include "RPC.h"
 
@@ -22,4 +24,4 @@ arduino::SerialRPCClass::operator bool() {
     return RPC;
 }
 
-arduino::SerialRPCClass SerialRPC;
+arduino::SerialRPCClass SerialRPC;

libraries/RPC/src/SerialRPC.h

@@ -1,3 +1,5 @@
+// Copyright (c) 2024 Arduino SA
+// SPDX-License-Identifier: MPL-2.0
 #ifndef __SERIAL_RPC__
 #define __SERIAL_RPC__
 
@@ -69,4 +71,4 @@ class SerialRPCClass : public Stream {
 
 extern arduino::SerialRPCClass SerialRPC;
 
-#endif
+#endif

libraries/openamp_arduino/src/openamp_conf.h

@@ -151,6 +151,9 @@ extern int __OPENAMP_region_end__[];
 #define SHM_START_ADDRESS       ((metal_phys_addr_t)__OPENAMP_region_start__)
 #define SHM_SIZE                (size_t)((void *)__OPENAMP_region_end__ - (void *) __OPENAMP_region_start__)
 
+#define SHM_RSC_SIZE            (1024)
+#define SHM_RSC_ADDR            ((void *)__OPENAMP_region_start__ - SHM_RSC_SIZE)
+
 #endif
 
 #define VRING_RX_ADDRESS        SHM_START_ADDRESS

libraries/openamp_arduino/src/rsc_table.c

@@ -21,137 +21,58 @@
   ******************************************************************************
   */
 
-/** @addtogroup RSC_TABLE
-  * @{
-  */
-
-/** @addtogroup resource_table
-  * @{
-  */
-
-/** @addtogroup resource_table_Private_Includes
-  * @{
-  */
-
-
 #if defined(__ICCARM__) || defined (__CC_ARM)
 #include <stddef.h> /* needed  for offsetof definition*/
 #endif
 #include "rsc_table.h"
 #include "openamp/open_amp.h"
 
-/**
-  * @}
-  */
-
-/** @addtogroup resource_table_Private_TypesDefinitions
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup resource_table_Private_Defines
-  * @{
-  */
-
-/* Place resource table in special ELF section */
-#if defined(__GNUC__)
-#define __section_t(S)          __attribute__((__section__(#S)))
-#define __resource              __section_t(.resource_table)
-#endif
-
-#define RPMSG_IPU_C0_FEATURES       1
-#define VRING_COUNT         		2
-
-/* VirtIO rpmsg device id */
-#define VIRTIO_ID_RPMSG_            7
-
 #if defined (__LOG_TRACE_IO_)
 extern char system_log_buf[];
 #endif
 
-#if defined(__GNUC__)
-#if !defined (__CC_ARM)
-/* Since GCC is not initializing the resource_table at startup, it is declared as volatile to avoid compiler optimization
- * for the CM4 (see resource_table_init() below)
- */
-volatile struct shared_resource_table __resource __attribute__((used))  resource_table;
-#else
-struct shared_resource_table __resource __attribute__((used)) resource_table = {
-#endif
-#elif defined(__ICCARM__)
-__root struct shared_resource_table resource_table @ ".resource_table" = {
-#endif
-
-#if defined(__ICCARM__) || defined (__CC_ARM)
-	.version = 1,
-	.num = 2,
-	.reserved = {0, 0},
-	.offset = {
-		offsetof(struct shared_resource_table, vdev),
-		offsetof(struct shared_resource_table, cm_trace),
-	},
-
-	/* Virtio device entry */
-	.vdev= {
-		RSC_VDEV, VIRTIO_ID_RPMSG_, 0, RPMSG_IPU_C0_FEATURES, 0, 0, 0,
-		VRING_COUNT, {0, 0},
-	},
-
-	/* Vring rsc entry - part of vdev rsc entry */
-	.vring0 = {VRING_TX_ADDRESS, VRING_ALIGNMENT, VRING_NUM_BUFFS, VRING0_ID, 0},
-	.vring1 = {VRING_RX_ADDRESS, VRING_ALIGNMENT, VRING_NUM_BUFFS, VRING1_ID, 0},
-
-#if defined (__LOG_TRACE_IO_)
-	.cm_trace = {
-		RSC_TRACE,
-		(uint32_t)system_log_buf, SYSTEM_TRACE_BUF_SZ, 0, "cm4_log",
-	},
-#endif
-} ;
-#endif
-
-void resource_table_init(int RPMsgRole, void **table_ptr, int *length)
-{
-
-#if defined (__GNUC__) && ! defined (__CC_ARM)
-#ifdef CORE_CM7
-    /*
-     * Currently the GCC linker doesn't initialize the resource_table global variable at startup
-     * it is done here by the CM7 application.
-     */
-	memset(&resource_table, '\0', sizeof(struct shared_resource_table));
-	resource_table.num = 1;
-	resource_table.version = 1;
-	resource_table.offset[0] = offsetof(struct shared_resource_table, vdev);
-
-	resource_table.vring0.da = VRING_TX_ADDRESS;
-	resource_table.vring0.align = VRING_ALIGNMENT;
-	resource_table.vring0.num = VRING_NUM_BUFFS;
-	resource_table.vring0.notifyid = VRING0_ID;
-
-	resource_table.vring1.da = VRING_RX_ADDRESS;
-	resource_table.vring1.align = VRING_ALIGNMENT;
-	resource_table.vring1.num = VRING_NUM_BUFFS;
-	resource_table.vring1.notifyid = VRING1_ID;
-
-
-	resource_table.vdev.type = RSC_VDEV;
-	resource_table.vdev.id = VIRTIO_ID_RPMSG_;
-	resource_table.vdev.num_of_vrings=VRING_COUNT;
-	resource_table.vdev.dfeatures = RPMSG_IPU_C0_FEATURES;
-#else
-	/* For CM4 let's wait until the resource_table is correctly initialized */
-	while(resource_table.vring1.da != VRING_RX_ADDRESS)
-	{
-
-	}
-#endif
-#endif
-
-  (void)RPMsgRole;
-  *length = sizeof(resource_table);
-  *table_ptr = &resource_table;
+void resource_table_init(int RPMsgRole, void **table_ptr, int *length) {
+    (void)RPMsgRole;
+    volatile struct shared_resource_table *resource_table = SHM_RSC_ADDR;
+
+    #ifdef CORE_CM7
+    memset(resource_table, 0, SHM_RSC_SIZE);
+    resource_table->num = 1;
+    resource_table->version = 1;
+    resource_table->offset[0] = offsetof(struct shared_resource_table, vdev);
+    #if defined (__LOG_TRACE_IO_)
+    resource_table->offset[1] = offsetof(struct shared_resource_table, cm_trace);
+    #endif
+
+    resource_table->vring0.da = VRING_TX_ADDRESS;
+    resource_table->vring0.align = VRING_ALIGNMENT;
+    resource_table->vring0.num = VRING_NUM_BUFFS;
+    resource_table->vring0.notifyid = VRING0_ID;
+
+    resource_table->vring1.da = VRING_RX_ADDRESS;
+    resource_table->vring1.align = VRING_ALIGNMENT;
+    resource_table->vring1.num = VRING_NUM_BUFFS;
+    resource_table->vring1.notifyid = VRING1_ID;
+
+    #if defined (__LOG_TRACE_IO_)
+	resource_table->cm_trace.type;
+	resource_table->cm_trace.da;
+	resource_table->cm_trace.len;
+	resource_table->cm_trace.reserved = 0;
+	resource_table->cm_trace.name = (uint8_t[]){"cm_trace"};
+    #endif
+
+    resource_table->vdev.type = RSC_VDEV;
+    resource_table->vdev.id = VIRTIO_ID_RPMSG;
+    resource_table->vdev.num_of_vrings=VRING_COUNT;
+    resource_table->vdev.dfeatures = (1 << VIRTIO_RPMSG_F_NS);
+    #else
+    // For CM4, wait until the resource_table is initialized by the host
+    while(resource_table->vring1.da != VRING_RX_ADDRESS) {
+
+    }
+    #endif
+
+    *length = SHM_RSC_SIZE;
+    *table_ptr = resource_table;
 }

mbed-os-to-arduino

@@ -187,31 +187,16 @@ generate_flags () {
 			echo "Patching '-fno-exceptions' flag for $ARDUINOVARIANT/${fl}flags.txt"
 			sed -i '/-fno-exceptions/d' "$ARDUINOVARIANT"/${fl}flags.txt
 			set +e
-			HAS_OPENAMP_SECTION=`grep openamp_section "$ARDUINOVARIANT"/linker_script.ld`
+			HAS_PDM_SECTION=`grep pdm_section "$ARDUINOVARIANT"/linker_script.ld`
 			set -e
-			if [ x"$HAS_OPENAMP_SECTION" == x ]; then
-				echo "Adding OpenAMP section to $ARDUINOVARIANT/linker_script.ld"
-				OPENAMP_SECTION=".openamp_section (NOLOAD) : {\n \
-				. = ABSOLUTE(0x38000000);\n \
-				*(.resource_table)\n \
-				} >RAM_D3  AT > FLASH\n \
-				.pdm_section (NOLOAD) : {\n \
-				. = ABSOLUTE(0x3800FC00);\n \
+			if [ x"$HAS_PDM_SECTION" == x ]; then
+				echo "Adding PDM section to $ARDUINOVARIANT/linker_script.ld"
+				PDM_SECTION=".pdm_section 0x3800FC00 (NOLOAD):  {\n \
 				*(.pdm_buffer)\n \
 				} > RAM_D3\n"
 
-				if [[ $ARDUINOVARIANT == *GENERIC*M4 ]]; then
-				echo "Fixing VTOR base in $ARDUINOVARIANT/linker_script.ld"
-				VTOR_SECTION="#if (CM4_BINARY_START == 0x60000000)\n \
-								REGION_ALIAS(\"RAM\", FLASH);\n \
-								#else\n \
-								REGION_ALIAS(\"RAM\", RAM_D2);\n \
-								#endif\n"
-				sed -i "s?REGION_ALIAS.*?${VTOR_SECTION}?g" $ARDUINOVARIANT/linker_script.ld
-				fi
-
 				if [[ $ARDUINOVARIANT == *PORTENTA*M7* || $ARDUINOVARIANT == *GIGA* || $ARDUINOVARIANT == *OPTA* ]]; then
-					OPENAMP_SECTION="${OPENAMP_SECTION} \
+					PDM_SECTION="${PDM_SECTION} \
 					_dtcm_lma = __etext + SIZEOF(.data);\n \
 					.dtcm : AT(_dtcm_lma) {\n \
 					_sdtcm = .;\n \
@@ -220,9 +205,22 @@ generate_flags () {
 					} > DTCMRAM"
 				fi
 
-				sed -i "s?.heap (COPY):?${OPENAMP_SECTION}\n    .heap (COPY):?g" $ARDUINOVARIANT/linker_script.ld
+				sed -i "s?.heap (COPY):?${PDM_SECTION}\n    .heap (COPY):?g" $ARDUINOVARIANT/linker_script.ld
 				OPENAMP_REGIONS="__OPENAMP_region_start__  = 0x38000400;\n__OPENAMP_region_end__ = 0x38000400 + LENGTH(RAM_D3) - 1K;"
 				sed -i "s?ENTRY(Reset_Handler)?${OPENAMP_REGIONS}\nENTRY(Reset_Handler)?g" $ARDUINOVARIANT/linker_script.ld
+
+				if [[ $ARDUINOVARIANT == *GENERIC*M4 ]]; then
+				echo "Fixing VTOR base in $ARDUINOVARIANT/linker_script.ld"
+				VTOR_SECTION="#if (CM4_BINARY_START == 0x60000000)\n \
+								REGION_ALIAS(\"RAM\", FLASH);\n \
+								#else\n \
+								REGION_ALIAS(\"RAM\", RAM_D2);\n \
+								#endif\n"
+				sed -i "s?REGION_ALIAS.*?${VTOR_SECTION}?g" $ARDUINOVARIANT/linker_script.ld
+				echo "Fixing shared memory attributes in $ARDUINOVARIANT/linker_script.ld"
+				sed -i "s?.heap (COPY)?.heap (NOLOAD)?g" $ARDUINOVARIANT/linker_script.ld
+				sed -i "s?.stack_dummy (COPY)?.stack_dummy (NOLOAD)?g" $ARDUINOVARIANT/linker_script.ld
+				fi
 			fi
 			echo "Patching linker scripts"
 			sed -i 's/0x8100000/CM4_BINARY_START/g' "$ARDUINOVARIANT"/linker_script.ld

variants/GENERIC_STM32H747_M4/linker_script.ld

@@ -91,24 +91,21 @@ SECTIONS
         __bss_end__ = .;
         _ebss = .;
     } > RAM
-    .openamp_section (NOLOAD) : {
- 				. = ABSOLUTE(0x38000000);
- 				*(.resource_table)
- 				} >RAM_D3  AT > FLASH
- 				.pdm_section (NOLOAD) : {
- 				. = ABSOLUTE(0x3800FC00);
- 				*(.pdm_buffer)
- 				} > RAM_D3
 
-    .heap (COPY):
+    .pdm_section 0x3800FC00 (NOLOAD):  {
+        *(.pdm_buffer)
+    } > RAM_D3
+
+    .heap (NOLOAD):
     {
         __end__ = .;
         PROVIDE(end = .);
         *(.heap*)
         . = ORIGIN(RAM) + LENGTH(RAM) - 0x400;
         __HeapLimit = .;
     } > RAM
-    .stack_dummy (COPY):
+
+    .stack_dummy (NOLOAD):
     {
         *(.stack*)
     } > RAM