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Improved dual core boot for amcfoc #483

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merged 1 commit into from
Mar 13, 2024
Merged

Improved dual core boot for amcfoc #483

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2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/amcfocm4/bsp/embot_hw_bsp_DRIVER_amcfocm4.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ bool embot::hw::bsp::DRIVER::init(const embot::hw::Config &config)


// and then, in here we do what we must
embot::hw::dualcore::start2();
embot::hw::dualcore::init();

return true;
}
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2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/amcfocm4/bsp/embot_hw_bsp_amcfocm4.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ bool embot::hw::bsp::specialize()
{
// all the rest
// nothing for now
__HAL_RCC_GPIOE_CLK_ENABLE();



return true;
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149 changes: 20 additions & 129 deletions emBODY/eBcode/arch-arm/board/amcfocm4/bsp/embot_hw_dualcore_bsp_amcfocm4.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,19 +61,19 @@ namespace embot::hw::dualcore::bsp {
}
Config _config {};
bool BSP::config(const Config &c) const { return true; }
bool BSP::start() const { return true; }
const Config& BSP::config() const { return _config; }
bool BSP::init() const { return true; }
}

#else

namespace embot::hw::dualcore::bsp {

#if defined(dualcore_BOOT_cm4master)
constexpr PROP _cm4 = { embot::hw::dualcore::CORE::cm4, embot::hw::dualcore::BOOT::cm4master };
constexpr PROP _cm4 = { embot::hw::dualcore::CORE::cm4, embot::hw::dualcore::BOOT::cm4master, embot::hw::MTX::one};
Config _config {embot::hw::dualcore::Config::HW::forceinit, embot::hw::dualcore::Config::CMD::activate};
#elif defined(dualcore_BOOT_cm7master)
constexpr PROP _cm4 = { embot::hw::dualcore::CORE::cm4, embot::hw::dualcore::BOOT::cm7master };
constexpr PROP _cm4 = { embot::hw::dualcore::CORE::cm4, embot::hw::dualcore::BOOT::cm7master, embot::hw::MTX::one};
Config _config {embot::hw::dualcore::Config::HW::forceinit, embot::hw::dualcore::Config::CMD::donothing};
#endif

Expand Down Expand Up @@ -102,156 +102,36 @@ namespace embot::hw::dualcore::bsp {
{
return _config;
}

void init_board();
bool BSP::start() const
{
// ok, now we see what we need to do
init_board();

return true;
}

void mySystemClock_Config(void);
void icub_SystemClock_Config(void);

bool BSP::hwinit() const
bool BSP::init() const
{
//#if defined(dualcore_BOOT_cm4master)

if(embot::hw::dualcore::BOOT::cm4master == _cm4.boot)
{
// the cm4 is master, so it must call HAL_Init() and start the clocks

//MPU_Config();
//HAL_MPU_Disable();
//SCB_EnableICache();
//SCB_EnableDCache();

HAL_Init();
// mySystemClock_Config();
icub_SystemClock_Config();
#warning marco.accame: molto strano che se commento mySystemClock_Config() il LED del CM4 blinka ok ma a 64k

}
//#elif defined(dualcore_BOOT_cm7master)
else
{
// the cm4 is slave, so the cm7 has already done everything.

//SCB_EnableICache();
//SCB_EnableDCache();
}

//#endif

return true;
}


//#if defined(dualcore_BOOT_cm7master)

void waitHWmutex(uint32_t mtx)
{
volatile uint32_t m = mtx;
for(;;)
{
if(HAL_OK == HAL_HSEM_FastTake(m))
{
break;
}
}
}

//#endif
} // namespace embot::hw::dualcore::bsp {


void mySystemClock_Config(void);

void init_board()
{

#if defined(dualcore_BOOT_cm4master)
// in here are the SystemClock_Config() that we use

if(embot::hw::dualcore::Config::HW::forceinit == _config.hw)
{
//MPU_Config();
// HAL_MPU_Disable();
// SCB_EnableICache();
// SCB_EnableDCache();
HAL_Init();
mySystemClock_Config();
#warning marco.accame: molto strano che se commento mySystemClock_Config() il LED del CM4 blinka ok ma a 64 k
}

// SystemCoreClockUpdate();

// and now i process the command for the other core

constexpr uint32_t hsem0 {0};
constexpr uint32_t procID0 {0};

switch(_config.othercore)
{
case embot::hw::dualcore::Config::CMD::activateandhold:
{
// 1. init the hsems and take hsem-0
__HAL_RCC_HSEM_CLK_ENABLE();
HAL_HSEM_FastTake(hsem0);

// 2. enable the other core
HAL_RCCEx_EnableBootCore(RCC_BOOT_C1);
} break;

case embot::hw::dualcore::Config::CMD::release:
{
// 1. init the hsems (just in case) and release hsem-0
__HAL_RCC_HSEM_CLK_ENABLE();
HAL_HSEM_Release(hsem0, procID0);
} break;

case embot::hw::dualcore::Config::CMD::activate:
{
// 1. init the hsems and take hsem-0
__HAL_RCC_HSEM_CLK_ENABLE();
HAL_HSEM_FastTake(hsem0);

// 2. enable the other core
HAL_RCCEx_EnableBootCore(RCC_BOOT_C1);

// 3. and release hsem-0
HAL_HSEM_Release(hsem0, procID0);

} break;

case embot::hw::dualcore::Config::CMD::donothing:
default:
{
break;
}
}

#elif defined(dualcore_BOOT_cm7master)

// just wait until the master core activates the slave core and unlocks the HSEM 0
__HAL_RCC_HSEM_CLK_ENABLE();
waitHWmutex(0);

if(embot::hw::dualcore::Config::HW::forceinit == _config.hw)
{
// //MPU_Config();
// HAL_MPU_Disable();
// SCB_EnableICache();
// SCB_EnableDCache();
// HAL_Init();
}

SystemCoreClockUpdate();

#else
#error vcew
#endif


}
namespace embot::hw::dualcore::bsp {

// from icubtech

Expand Down Expand Up @@ -424,6 +304,17 @@ namespace embot::hw::dualcore::bsp {

} // namespace embot::hw::dualcore::bsp {


// and in here we have ....

extern "C"
{




}

#endif // dualcore

// - support map: end of embot::hw::dualcore
Expand Down
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