From 3f5510fa3444217a442ac2e63ae50b27c9c26cf3 Mon Sep 17 00:00:00 2001 From: Kristofer Jonsson Date: Wed, 8 Feb 2023 14:23:00 +0100 Subject: Updating message handler firmware The 'message handler' firmware was based on a custom interface between Linux and the firmware. Because the kernel driver has been converted into a rpmsg driver, the 'message handler' application has been updated into an OpenAMP based firmware. Change-Id: I1339180c4f53cbad42501a2827863b7b49561ff4 --- .../message_handler_openamp/CMakeLists.txt | 76 ++++ .../message_handler_openamp/core_driver_mutex.cpp | 81 ++++ .../message_handler_openamp/freertos_allocator.cpp | 45 +++ .../message_handler_openamp/inference_runner.cpp | 194 +++++++++ .../message_handler_openamp/inference_runner.hpp | 56 +++ applications/message_handler_openamp/main.cpp | 122 ++++++ .../message_handler_openamp/message_handler.cpp | 437 +++++++++++++++++++++ .../message_handler_openamp/message_handler.hpp | 106 +++++ applications/message_handler_openamp/queue.hpp | 87 ++++ .../message_handler_openamp/remoteproc.cpp | 243 ++++++++++++ .../message_handler_openamp/remoteproc.hpp | 200 ++++++++++ 11 files changed, 1647 insertions(+) create mode 100644 applications/message_handler_openamp/CMakeLists.txt create mode 100644 applications/message_handler_openamp/core_driver_mutex.cpp create mode 100644 applications/message_handler_openamp/freertos_allocator.cpp create mode 100644 applications/message_handler_openamp/inference_runner.cpp create mode 100644 applications/message_handler_openamp/inference_runner.hpp create mode 100644 applications/message_handler_openamp/main.cpp create mode 100644 applications/message_handler_openamp/message_handler.cpp create mode 100644 applications/message_handler_openamp/message_handler.hpp create mode 100644 applications/message_handler_openamp/queue.hpp create mode 100644 applications/message_handler_openamp/remoteproc.cpp create mode 100644 applications/message_handler_openamp/remoteproc.hpp (limited to 'applications/message_handler_openamp') diff --git a/applications/message_handler_openamp/CMakeLists.txt b/applications/message_handler_openamp/CMakeLists.txt new file mode 100644 index 0000000..f2624c3 --- /dev/null +++ b/applications/message_handler_openamp/CMakeLists.txt @@ -0,0 +1,76 @@ +# +# SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates +# +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed under the Apache License, Version 2.0 (the License); you may +# not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an AS IS BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +if(NOT TARGET freertos_kernel) + message("Skipping message handler openamp") + return() +endif() + +############################################################################# +# Configuration +############################################################################# + +set(MESSAGE_HANDLER_MODEL_0 "" CACHE STRING "Path to built in model 0") +set(MESSAGE_HANDLER_MODEL_1 "" CACHE STRING "Path to built in model 1") +set(MESSAGE_HANDLER_MODEL_2 "" CACHE STRING "Path to built in model 2") +set(MESSAGE_HANDLER_MODEL_3 "" CACHE STRING "Path to built in model 3") + +set(MESSAGE_HANDLER_ARENA_SIZE 2000000 CACHE STRING "Total size of all message handler tensor arenas") + +############################################################################# +# TFLM arena +############################################################################# + +# Split total tensor arena equally for each NPU +if(TARGET ethosu_core_driver AND ETHOSU_TARGET_NPU_COUNT GREATER 0) + set(NUM_ARENAS ${ETHOSU_TARGET_NPU_COUNT}) +else() + set(NUM_ARENAS 1) +endif() + +math(EXPR TENSOR_ARENA_SIZE "${MESSAGE_HANDLER_ARENA_SIZE} / ${NUM_ARENAS}") + +############################################################################# +# Message handler application +############################################################################# + +ethosu_add_executable(message_handler_openamp + SOURCES + main.cpp + core_driver_mutex.cpp + freertos_allocator.cpp + inference_runner.cpp + message_handler.cpp + remoteproc.cpp + LIBRARIES + $<$:ethosu_core_driver> + ethosu_log + ethosu_mailbox + freertos_kernel + inference_process + openamp-freertos) + +target_include_directories(message_handler_openamp PRIVATE + ${LINUX_DRIVER_STACK_PATH}/kernel) + +target_compile_definitions(message_handler_openamp PRIVATE + TENSOR_ARENA_SIZE=${TENSOR_ARENA_SIZE} + $<$:MODEL_0=${MESSAGE_HANDLER_MODEL_0}> + $<$:MODEL_1=${MESSAGE_HANDLER_MODEL_1}> + $<$:MODEL_2=${MESSAGE_HANDLER_MODEL_2}> + $<$:MODEL_3=${MESSAGE_HANDLER_MODEL_3}>) diff --git a/applications/message_handler_openamp/core_driver_mutex.cpp b/applications/message_handler_openamp/core_driver_mutex.cpp new file mode 100644 index 0000000..d023ad2 --- /dev/null +++ b/applications/message_handler_openamp/core_driver_mutex.cpp @@ -0,0 +1,81 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#if defined(ETHOSU) + +#include "FreeRTOS.h" +#include "semphr.h" + +#include +#include + +extern "C" { + +void *ethosu_mutex_create(void) { + return xSemaphoreCreateMutex(); +} + +int ethosu_mutex_lock(void *mutex) { + SemaphoreHandle_t handle = reinterpret_cast(mutex); + if (xSemaphoreTake(handle, portMAX_DELAY) != pdTRUE) { + printf("Error: Failed to lock mutex.\n"); + return -1; + } + return 0; +} + +int ethosu_mutex_unlock(void *mutex) { + SemaphoreHandle_t handle = reinterpret_cast(mutex); + if (xSemaphoreGive(handle) != pdTRUE) { + printf("Error: Failed to unlock mutex.\n"); + return -1; + } + return 0; +} + +void *ethosu_semaphore_create(void) { + return xSemaphoreCreateCounting(255, 0); +} + +int ethosu_semaphore_take(void *sem) { + SemaphoreHandle_t handle = reinterpret_cast(sem); + if (xSemaphoreTake(handle, portMAX_DELAY) != pdTRUE) { + printf("Error: Failed to take semaphore.\n"); + return -1; + } + return 0; +} + +int ethosu_semaphore_give(void *sem) { + SemaphoreHandle_t handle = reinterpret_cast(sem); + if (xPortIsInsideInterrupt()) { + if (xSemaphoreGiveFromISR(handle, NULL) != pdTRUE) { + printf("Error: Failed to give semaphore from ISR.\n"); + return -1; + } + } else { + if (xSemaphoreGive(handle) != pdTRUE) { + printf("Error: Failed to give semaphore.\n"); + return -1; + } + } + return 0; +} +} + +#endif diff --git a/applications/message_handler_openamp/freertos_allocator.cpp b/applications/message_handler_openamp/freertos_allocator.cpp new file mode 100644 index 0000000..9850928 --- /dev/null +++ b/applications/message_handler_openamp/freertos_allocator.cpp @@ -0,0 +1,45 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "FreeRTOS.h" +#include +#include + +void *operator new(size_t size) { + return pvPortMalloc(size); +} + +void *operator new[](size_t size) { + return pvPortMalloc(size); +} + +void operator delete(void *ptr) noexcept { + vPortFree(ptr); +} + +void operator delete(void *ptr, std::size_t) noexcept { + vPortFree(ptr); +} + +void operator delete[](void *ptr) noexcept { + vPortFree(ptr); +} + +void operator delete[](void *ptr, std::size_t) noexcept { + vPortFree(ptr); +} diff --git a/applications/message_handler_openamp/inference_runner.cpp b/applications/message_handler_openamp/inference_runner.cpp new file mode 100644 index 0000000..2f9d8ec --- /dev/null +++ b/applications/message_handler_openamp/inference_runner.cpp @@ -0,0 +1,194 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use _this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/***************************************************************************** + * Includes + *****************************************************************************/ + +#include "inference_runner.hpp" + +#include + +#include + +#if defined(ETHOSU) +#include +#include +#endif + +/***************************************************************************** + * InferenceRunner + *****************************************************************************/ + +InferenceRunner::InferenceRunner(uint8_t *tensorArena, + size_t arenaSize, + MessageHandler::InferenceQueue &_inferenceQueue, + MessageHandler::ResponseQueue &_responseQueue) : + inferenceQueue(_inferenceQueue), + responseQueue(_responseQueue), inference(tensorArena, arenaSize) { + BaseType_t ret = xTaskCreate(inferenceTask, "inferenceTask", 8 * 1024, this, 4, &taskHandle); + if (ret != pdPASS) { + LOG_ERR("Failed to create inference task"); + abort(); + } +} + +InferenceRunner::~InferenceRunner() { + vTaskDelete(taskHandle); +} + +void InferenceRunner::inferenceTask(void *param) { + auto _this = static_cast(param); + + LOG_DEBUG("Starting inference task"); + + while (true) { + Message *message; + auto ret = _this->inferenceQueue.receive(message); + if (ret) { + abort(); + } + + auto &rpmsg = message->rpmsg; + + switch (rpmsg.header.type) { + case EthosU::ETHOSU_CORE_MSG_INFERENCE_REQ: { + _this->handleInferenceRequest(message->src, rpmsg.header.msg_id, rpmsg.inf_req); + break; + } + default: { + LOG_WARN("Unsupported message for inference runner. type=%lu", rpmsg.header.type); + } + } + + delete message; + } +} + +void InferenceRunner::handleInferenceRequest(const uint32_t src, + const uint64_t msgId, + const EthosU::ethosu_core_msg_inference_req &request) { + auto message = + new Message(src, EthosU::ETHOSU_CORE_MSG_INFERENCE_RSP, msgId, sizeof(EthosU::ethosu_core_msg_inference_rsp)); + auto &response = message->rpmsg.inf_rsp; + + // Setup PMU configuration + response.pmu_cycle_counter_enable = request.pmu_cycle_counter_enable; + + for (int i = 0; i < ETHOSU_CORE_PMU_MAX; i++) { + response.pmu_event_config[i] = request.pmu_event_config[i]; + } + + // Run inference + auto job = makeInferenceJob(request, response); + auto failed = inference.runJob(job); + + // Send response rpmsg + response.ofm_count = job.output.size(); + response.status = failed ? EthosU::ETHOSU_CORE_STATUS_ERROR : EthosU::ETHOSU_CORE_STATUS_OK; + + for (size_t i = 0; i < job.output.size(); ++i) { + response.ofm_size[i] = job.output[i].size; + } + + responseQueue.send(message); +} + +InferenceProcess::InferenceJob InferenceRunner::makeInferenceJob(const EthosU::ethosu_core_msg_inference_req &request, + EthosU::ethosu_core_msg_inference_rsp &response) { + InferenceProcess::InferenceJob job; + + job.networkModel = + InferenceProcess::DataPtr(reinterpret_cast(request.network.buffer.ptr), request.network.buffer.size); + + for (uint32_t i = 0; i < request.ifm_count; ++i) { + job.input.push_back( + InferenceProcess::DataPtr(reinterpret_cast(request.ifm[i].ptr), request.ifm[i].size)); + } + + for (uint32_t i = 0; i < request.ofm_count; ++i) { + job.output.push_back( + InferenceProcess::DataPtr(reinterpret_cast(request.ofm[i].ptr), request.ofm[i].size)); + } + + job.externalContext = &response; + + return job; +} + +#if defined(ETHOSU) +extern "C" { + +void ethosu_inference_begin(ethosu_driver *drv, void *userArg) { + LOG_DEBUG(""); + + auto response = static_cast(userArg); + + // Calculate maximum number of events + const int numEvents = std::min(static_cast(ETHOSU_PMU_Get_NumEventCounters()), ETHOSU_CORE_PMU_MAX); + + // Enable PMU + ETHOSU_PMU_Enable(drv); + + // Configure and enable events + for (int i = 0; i < numEvents; i++) { + ETHOSU_PMU_Set_EVTYPER(drv, i, static_cast(response->pmu_event_config[i])); + ETHOSU_PMU_CNTR_Enable(drv, 1 << i); + } + + // Enable cycle counter + if (response->pmu_cycle_counter_enable) { + ETHOSU_PMU_PMCCNTR_CFG_Set_Stop_Event(drv, ETHOSU_PMU_NPU_IDLE); + ETHOSU_PMU_PMCCNTR_CFG_Set_Start_Event(drv, ETHOSU_PMU_NPU_ACTIVE); + + ETHOSU_PMU_CNTR_Enable(drv, ETHOSU_PMU_CCNT_Msk); + ETHOSU_PMU_CYCCNT_Reset(drv); + } + + // Reset all counters + ETHOSU_PMU_EVCNTR_ALL_Reset(drv); +} + +void ethosu_inference_end(ethosu_driver *drv, void *userArg) { + auto response = static_cast(userArg); + + // Get cycle counter + if (response->pmu_cycle_counter_enable) { + response->pmu_cycle_counter_count = ETHOSU_PMU_Get_CCNTR(drv); + } + + // Calculate maximum number of events + const int numEvents = std::min(static_cast(ETHOSU_PMU_Get_NumEventCounters()), ETHOSU_CORE_PMU_MAX); + + // Get event counters + int i; + for (i = 0; i < numEvents; i++) { + response->pmu_event_count[i] = ETHOSU_PMU_Get_EVCNTR(drv, i); + } + + for (; i < ETHOSU_CORE_PMU_MAX; i++) { + response->pmu_event_config[i] = 0; + response->pmu_event_count[i] = 0; + } + + // Disable PMU + ETHOSU_PMU_Disable(drv); +} +} + +#endif diff --git a/applications/message_handler_openamp/inference_runner.hpp b/applications/message_handler_openamp/inference_runner.hpp new file mode 100644 index 0000000..c9461a0 --- /dev/null +++ b/applications/message_handler_openamp/inference_runner.hpp @@ -0,0 +1,56 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use _this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#pragma once + +/***************************************************************************** + * Includes + *****************************************************************************/ + +#include "message_handler.hpp" + +#include + +/***************************************************************************** + * InferenceRunner + *****************************************************************************/ + +class InferenceRunner { +public: + InferenceRunner(uint8_t *tensorArena, + size_t arenaSize, + MessageHandler::InferenceQueue &inferenceQueue, + MessageHandler::ResponseQueue &responseQueue); + ~InferenceRunner(); + +private: + static void inferenceTask(void *param); + + void handleInferenceRequest(const uint32_t src, + const uint64_t msgId, + const EthosU::ethosu_core_msg_inference_req &request); + InferenceProcess::InferenceJob makeInferenceJob(const EthosU::ethosu_core_msg_inference_req &request, + EthosU::ethosu_core_msg_inference_rsp &response); + + MessageHandler::InferenceQueue &inferenceQueue; + MessageHandler::ResponseQueue &responseQueue; + InferenceProcess::InferenceProcess inference; + + // FreeRTOS + TaskHandle_t taskHandle; +}; diff --git a/applications/message_handler_openamp/main.cpp b/applications/message_handler_openamp/main.cpp new file mode 100644 index 0000000..2aad224 --- /dev/null +++ b/applications/message_handler_openamp/main.cpp @@ -0,0 +1,122 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use _this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/***************************************************************************** + * Includes + *****************************************************************************/ + +#include +#include + +#include +#include + +#if defined(MHU_V2) +#include +#elif defined(MHU_JUNO) +#include +#else +#include +#endif + +#include "inference_runner.hpp" +#include "message_handler.hpp" +#include "remoteproc.hpp" + +/***************************************************************************** + * TFLM arena + *****************************************************************************/ + +// Number of parallell inference tasks. Typically one per NPU. +#if defined(ETHOSU) && defined(ETHOSU_NPU_COUNT) && ETHOSU_NPU_COUNT > 0 +constexpr size_t NUM_PARALLEL_TASKS = ETHOSU_NPU_COUNT; +#else +constexpr size_t NUM_PARALLEL_TASKS = 1; +#endif + +#ifndef TENSOR_ARENA_SIZE +#define TENSOR_ARENA_SIZE 2000000 +#endif + +// TensorArena static initialisation +constexpr size_t arenaSize = TENSOR_ARENA_SIZE; + +/***************************************************************************** + * Resource table + *****************************************************************************/ + +extern "C" { +__attribute__((section(".resource_table"))) ResourceTable resourceTable(8, sizeof(arenaSize *NUM_PARALLEL_TASKS)); +} + +/***************************************************************************** + * Mailbox + *****************************************************************************/ + +namespace { + +#ifdef MHU_V2 +Mailbox::MHUv2 mailbox(MHU_TX_BASE_ADDRESS, MHU_RX_BASE_ADDRESS); // txBase, rxBase +#elif defined(MHU_JUNO) +Mailbox::MHUJuno mailbox(MHU_BASE_ADDRESS); +#else +Mailbox::MHUDummy mailbox; +#endif + +#ifdef MHU_IRQ +void mailboxIrqHandler() { + LOG_DEBUG(""); + mailbox.handleMessage(); +} +#endif + +} // namespace + +/***************************************************************************** + * main + *****************************************************************************/ + +int main() { + printf("Ethos-U Message Handler OpenAMP\n"); + + auto mem = std::make_shared(); + auto rproc = std::make_shared(mailbox, resourceTable.table, sizeof(resourceTable), *mem); + auto messageHandler = std::make_shared(*rproc, "ethos-u-0.0"); + + std::array, NUM_PARALLEL_TASKS> inferenceRunner; + + for (size_t i = 0; i < NUM_PARALLEL_TASKS; i++) { + auto tensorArena = static_cast(messageHandler->physicalToVirtual(resourceTable.carveout.pa)); + + inferenceRunner[i] = std::make_shared(&tensorArena[arenaSize * i], + arenaSize, + messageHandler->getInferenceQueue(), + messageHandler->getResponseQueue()); + } + +#ifdef MHU_IRQ + // Register mailbox interrupt handler + NVIC_SetVector((IRQn_Type)MHU_IRQ, (uint32_t)&mailboxIrqHandler); + NVIC_EnableIRQ((IRQn_Type)MHU_IRQ); +#endif + + // Start Scheduler + vTaskStartScheduler(); + + return 0; +} diff --git a/applications/message_handler_openamp/message_handler.cpp b/applications/message_handler_openamp/message_handler.cpp new file mode 100644 index 0000000..4bd611d --- /dev/null +++ b/applications/message_handler_openamp/message_handler.cpp @@ -0,0 +1,437 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use _this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/***************************************************************************** + * Includes + *****************************************************************************/ + +#include "message_handler.hpp" + +#include +#include + +#include +#include + +#ifdef ETHOSU +#include +#endif + +/***************************************************************************** + * Networks + *****************************************************************************/ + +namespace { +#if defined(__has_include) + +#if defined(MODEL_0) +namespace Model0 { +#include STRINGIFY(MODEL_0) +} +#endif + +#if defined(MODEL_1) +namespace Model1 { +#include STRINGIFY(MODEL_1) +} +#endif + +#if defined(MODEL_2) +namespace Model2 { +#include STRINGIFY(MODEL_2) +} +#endif + +#if defined(MODEL_3) +namespace Model3 { +#include STRINGIFY(MODEL_3) +} +#endif + +#endif + +bool getIndexedNetwork(const uint32_t index, void *&data, size_t &size) { + switch (index) { +#if defined(MODEL_0) + case 0: + data = reinterpret_cast(Model0::networkModelData); + size = sizeof(Model0::networkModelData); + break; +#endif + +#if defined(MODEL_1) + case 1: + data = reinterpret_cast(Model1::networkModelData); + size = sizeof(Model1::networkModelData); + break; +#endif + +#if defined(MODEL_2) + case 2: + data = reinterpret_cast(Model2::networkModelData); + size = sizeof(Model2::networkModelData); + break; +#endif + +#if defined(MODEL_3) + case 3: + data = reinterpret_cast(Model3::networkModelData); + size = sizeof(Model3::networkModelData); + break; +#endif + + default: + LOG_WARN("Network model index out of range. index=%" PRIu32, index); + return true; + } + + return false; +} + +} // namespace + +/***************************************************************************** + * MessageHandler + *****************************************************************************/ + +MessageHandler::MessageHandler(RProc &_rproc, const char *const _name) : + Rpmsg(_rproc, _name), capabilities(getCapabilities()) { + BaseType_t ret = xTaskCreate(responseTask, "responseTask", 1024, this, 3, &taskHandle); + if (ret != pdPASS) { + LOG_ERR("Failed to create response task"); + abort(); + } +} + +MessageHandler::~MessageHandler() { + vTaskDelete(taskHandle); +} + +int MessageHandler::handleMessage(void *data, size_t len, uint32_t src) { + auto rpmsg = static_cast(data); + + LOG_DEBUG("Msg: src=%" PRIX32 ", len=%zu, magic=%" PRIX32 ", type=%" PRIu32, + src, + len, + rpmsg->header.magic, + rpmsg->header.type); + + if (rpmsg->header.magic != ETHOSU_CORE_MSG_MAGIC) { + LOG_WARN("Msg: Invalid Magic"); + sendError(src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_MAGIC, "Invalid magic"); + return 0; + } + + switch (rpmsg->header.type) { + case EthosU::ETHOSU_CORE_MSG_PING: { + LOG_INFO("Msg: Ping"); + sendPong(src, rpmsg->header.msg_id); + break; + } + case EthosU::ETHOSU_CORE_MSG_VERSION_REQ: { + LOG_INFO("Msg: Version request"); + sendVersionRsp(src, rpmsg->header.msg_id); + break; + } + case EthosU::ETHOSU_CORE_MSG_CAPABILITIES_REQ: { + if (len != sizeof(rpmsg->header)) { + sendError( + src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "Incorrect capabilities request payload length."); + break; + } + + LOG_INFO("Msg: Capabilities request"); + + sendCapabilitiesRsp(src, rpmsg->header.msg_id); + break; + } + case EthosU::ETHOSU_CORE_MSG_INFERENCE_REQ: { + if (len != sizeof(rpmsg->header) + sizeof(rpmsg->inf_req)) { + sendError(src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "Incorrect inference request payload length."); + break; + } + + forwardInferenceReq(src, rpmsg->header.msg_id, rpmsg->inf_req); + break; + } + case EthosU::ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ: { + if (len != sizeof(rpmsg->header) + sizeof(rpmsg->cancel_req)) { + sendError( + src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "Incorrect cancel inference request payload length."); + break; + } + + auto &request = rpmsg->cancel_req; + bool found = false; + inferenceQueue.erase([request, &found](auto &message) { + if (message->rpmsg.header.msg_id == request.inference_handle) { + found = true; + delete message; + return true; + } + + return false; + }); + + if (found) { + sendInferenceRsp(src, request.inference_handle, EthosU::ETHOSU_CORE_STATUS_ABORTED); + } + + sendCancelInferenceRsp( + src, rpmsg->header.msg_id, found ? EthosU::ETHOSU_CORE_STATUS_OK : EthosU::ETHOSU_CORE_STATUS_ERROR); + break; + } + case EthosU::ETHOSU_CORE_MSG_NETWORK_INFO_REQ: { + if (len != sizeof(rpmsg->header) + sizeof(rpmsg->net_info_req)) { + sendError( + src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "Incorrect network info request payload length."); + break; + } + + LOG_INFO("Msg: NetworkInfoReq. network={ type=%" PRIu32 ", index=%" PRIu32 ", buffer={ ptr=0x%" PRIX32 + ", size=%" PRIu32 " } }", + rpmsg->net_info_req.network.type, + rpmsg->net_info_req.network.index, + rpmsg->net_info_req.network.buffer.ptr, + rpmsg->net_info_req.network.buffer.size); + + sendNetworkInfoRsp(src, rpmsg->header.msg_id, rpmsg->net_info_req.network); + break; + } + default: { + LOG_WARN("Msg: Unsupported message. type=%" PRIu32, rpmsg->header.type); + + char errMsg[128]; + snprintf( + &errMsg[0], sizeof(errMsg), "Msg: Unknown message. type=%" PRIu32 ", length=%zu", rpmsg->header.type, len); + + sendError(src, EthosU::ETHOSU_CORE_MSG_ERR_UNSUPPORTED_TYPE, errMsg); + } + } + + return 0; +} + +void MessageHandler::sendError(const uint32_t src, const EthosU::ethosu_core_err_type type, const char *msg) { + auto message = new Message(src, EthosU::ETHOSU_CORE_MSG_ERR, 0, sizeof(EthosU::ethosu_core_msg_err)); + + message->rpmsg.error.type = type; + + for (size_t i = 0; i < sizeof(message->rpmsg.error.msg) && msg[i]; i++) { + message->rpmsg.error.msg[i] = msg[i]; + } + + responseQueue.send(message); +} + +void MessageHandler::sendPong(const uint32_t src, const uint64_t msgId) { + auto message = new Message(src, EthosU::ETHOSU_CORE_MSG_PONG, msgId); + + responseQueue.send(message); +} + +void MessageHandler::sendVersionRsp(const uint32_t src, const uint64_t msgId) { + auto message = + new Message(src, EthosU::ETHOSU_CORE_MSG_VERSION_RSP, msgId, sizeof(EthosU::ethosu_core_msg_version_rsp)); + + message->rpmsg.version_rsp = { + ETHOSU_CORE_MSG_VERSION_MAJOR, + ETHOSU_CORE_MSG_VERSION_MINOR, + ETHOSU_CORE_MSG_VERSION_PATCH, + 0, + }; + + responseQueue.send(message); +} + +void MessageHandler::sendCapabilitiesRsp(const uint32_t src, const uint64_t msgId) { + auto message = new Message( + src, EthosU::ETHOSU_CORE_MSG_CAPABILITIES_RSP, msgId, sizeof(EthosU::ethosu_core_msg_capabilities_rsp)); + + message->rpmsg.cap_rsp = capabilities; + + responseQueue.send(message); +} + +EthosU::ethosu_core_msg_capabilities_rsp MessageHandler::getCapabilities() const { + EthosU::ethosu_core_msg_capabilities_rsp cap = {}; + +#ifdef ETHOSU + ethosu_driver_version version; + ethosu_get_driver_version(&version); + + ethosu_hw_info info; + ethosu_driver *drv = ethosu_reserve_driver(); + ethosu_get_hw_info(drv, &info); + ethosu_release_driver(drv); + + cap.version_status = info.version.version_status; + cap.version_minor = info.version.version_minor; + cap.version_major = info.version.version_major; + cap.product_major = info.version.product_major; + cap.arch_patch_rev = info.version.arch_patch_rev; + cap.arch_minor_rev = info.version.arch_minor_rev; + cap.arch_major_rev = info.version.arch_major_rev; + cap.driver_patch_rev = version.patch; + cap.driver_minor_rev = version.minor; + cap.driver_major_rev = version.major; + cap.macs_per_cc = info.cfg.macs_per_cc; + cap.cmd_stream_version = info.cfg.cmd_stream_version; + cap.custom_dma = info.cfg.custom_dma; +#endif + + return cap; +} + +void MessageHandler::sendNetworkInfoRsp(const uint32_t src, + const uint64_t msgId, + EthosU::ethosu_core_network_buffer &network) { + auto message = new Message( + src, EthosU::ETHOSU_CORE_MSG_NETWORK_INFO_RSP, msgId, sizeof(EthosU::ethosu_core_msg_network_info_rsp)); + auto &rsp = message->rpmsg.net_info_rsp; + + rsp.ifm_count = 0; + rsp.ofm_count = 0; + + bool failed = networkToVirtual(network); + + if (!failed) { + InferenceProcess::InferenceParser parser; + + failed = parser.parseModel(reinterpret_cast(network.buffer.ptr), + network.buffer.size, + rsp.desc, + InferenceProcess::makeArray(rsp.ifm_size, rsp.ifm_count, ETHOSU_CORE_BUFFER_MAX), + InferenceProcess::makeArray(rsp.ofm_size, rsp.ofm_count, ETHOSU_CORE_BUFFER_MAX)); + } + + rsp.status = failed ? EthosU::ETHOSU_CORE_STATUS_ERROR : EthosU::ETHOSU_CORE_STATUS_OK; + + responseQueue.send(message); +} + +void MessageHandler::forwardInferenceReq(const uint32_t src, + const uint64_t msgId, + const EthosU::ethosu_core_msg_inference_req &inference) { + auto message = new Message(src, EthosU::ETHOSU_CORE_MSG_INFERENCE_REQ, msgId); + auto &req = message->rpmsg.inf_req; + + req = inference; + + for (uint32_t i = 0; i < req.ifm_count; i++) { + bufferToVirtual(req.ifm[i]); + } + + for (uint32_t i = 0; i < req.ofm_count; i++) { + bufferToVirtual(req.ofm[i]); + } + + networkToVirtual(req.network); + + inferenceQueue.send(message); +} + +void MessageHandler::sendInferenceRsp(const uint32_t src, + const uint64_t msgId, + const EthosU::ethosu_core_status status) { + auto message = + new Message(src, EthosU::ETHOSU_CORE_MSG_INFERENCE_RSP, msgId, sizeof(EthosU::ethosu_core_msg_inference_rsp)); + + message->rpmsg.inf_rsp.status = status; + + responseQueue.send(message); +} + +void MessageHandler::sendCancelInferenceRsp(const uint32_t src, + const uint64_t msgId, + const EthosU::ethosu_core_status status) { + auto message = new Message( + src, EthosU::ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, msgId, sizeof(EthosU::ethosu_core_msg_cancel_inference_rsp)); + + message->rpmsg.cancel_rsp.status = status; + + responseQueue.send(message); +} + +bool MessageHandler::getNetwork(const EthosU::ethosu_core_network_buffer &buffer, void *&data, size_t &size) { + switch (buffer.type) { + case EthosU::ETHOSU_CORE_NETWORK_BUFFER: + data = physicalToVirtual(buffer.buffer.ptr); + size = buffer.buffer.size; + return false; + case EthosU::ETHOSU_CORE_NETWORK_INDEX: + return getIndexedNetwork(buffer.index, data, size); + default: + LOG_WARN("Unsupported network model type. type=%" PRIu32, buffer.type); + return true; + } +} + +bool MessageHandler::bufferToVirtual(EthosU::ethosu_core_buffer &buffer) { + void *ptr = physicalToVirtual(buffer.ptr); + if (ptr == nullptr) { + return true; + } + + buffer.ptr = reinterpret_cast(ptr); + + return false; +} + +bool MessageHandler::networkToVirtual(EthosU::ethosu_core_network_buffer &buffer) { + switch (buffer.type) { + case EthosU::ETHOSU_CORE_NETWORK_BUFFER: + return bufferToVirtual(buffer.buffer); + case EthosU::ETHOSU_CORE_NETWORK_INDEX: { + void *ptr; + size_t size; + if (getIndexedNetwork(buffer.index, ptr, size)) { + return true; + } + + buffer.type = EthosU::ETHOSU_CORE_NETWORK_BUFFER; + buffer.buffer.ptr = reinterpret_cast(ptr); + buffer.buffer.size = size; + + return false; + } + default: + LOG_WARN("Unsupported network model type. type=%" PRIu32, buffer.type); + return true; + } +} + +void MessageHandler::responseTask(void *param) { + auto _this = static_cast(param); + + LOG_DEBUG("Starting message response task"); + + while (true) { + Message *message; + auto ret = _this->responseQueue.receive(message); + if (ret) { + abort(); + } + + LOG_DEBUG("Sending message. type=%" PRIu32, message->rpmsg.header.type); + + _this->send(&message->rpmsg, sizeof(message->rpmsg.header) + message->length, message->src); + + delete message; + } +} diff --git a/applications/message_handler_openamp/message_handler.hpp b/applications/message_handler_openamp/message_handler.hpp new file mode 100644 index 0000000..779b05f --- /dev/null +++ b/applications/message_handler_openamp/message_handler.hpp @@ -0,0 +1,106 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use _this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#pragma once + +/***************************************************************************** + * Includes + *****************************************************************************/ + +#include +#include + +#include "queue.hpp" +#include "remoteproc.hpp" + +/***************************************************************************** + * Messages + *****************************************************************************/ + +struct Message { + Message() {} + + Message(const uint32_t _src, + const EthosU::ethosu_core_msg_type _type = EthosU::ETHOSU_CORE_MSG_MAX, + const uint64_t msgId = 0, + const uint32_t _length = 0) : + src(_src), + length(_length) { + rpmsg.header.magic = ETHOSU_CORE_MSG_MAGIC; + rpmsg.header.type = _type; + rpmsg.header.msg_id = msgId; + } + + uint32_t src = 0; + uint32_t length = 0; + EthosU::ethosu_core_rpmsg rpmsg; +}; + +/***************************************************************************** + * MessageHandler + *****************************************************************************/ + +class MessageHandler : public Rpmsg { +public: + using InferenceQueue = Queue; + using ResponseQueue = Queue; + + MessageHandler(RProc &rproc, const char *const name); + virtual ~MessageHandler(); + + InferenceQueue &getInferenceQueue() { + return inferenceQueue; + } + + InferenceQueue &getResponseQueue() { + return responseQueue; + } + +protected: + // Handle incoming rpmsg + int handleMessage(void *data, size_t len, uint32_t src) override; + + // Outgoing messages + void sendError(const uint32_t src, const EthosU::ethosu_core_err_type type, const char *message); + void sendPong(const uint32_t src, const uint64_t msgId); + void sendVersionRsp(const uint32_t src, const uint64_t msgId); + void sendCapabilitiesRsp(const uint32_t src, const uint64_t msgId); + void sendNetworkInfoRsp(const uint32_t src, const uint64_t msgId, EthosU::ethosu_core_network_buffer &network); + void forwardInferenceReq(const uint32_t src, + const uint64_t msgId, + const EthosU::ethosu_core_msg_inference_req &inference); + void sendInferenceRsp(const uint32_t src, const uint64_t msgId, const EthosU::ethosu_core_status status); + void sendCancelInferenceRsp(const uint32_t src, const uint64_t msgId, const EthosU::ethosu_core_status status); + + EthosU::ethosu_core_msg_capabilities_rsp getCapabilities() const; + bool getNetwork(const EthosU::ethosu_core_network_buffer &buffer, void *&data, size_t &size); + + // Tasks returning response messages + static void responseTask(void *param); + +private: + bool bufferToVirtual(EthosU::ethosu_core_buffer &buffer); + bool networkToVirtual(EthosU::ethosu_core_network_buffer &buffer); + + InferenceQueue inferenceQueue; + ResponseQueue responseQueue; + EthosU::ethosu_core_msg_capabilities_rsp capabilities; + + // FreeRTOS + TaskHandle_t taskHandle; +}; diff --git a/applications/message_handler_openamp/queue.hpp b/applications/message_handler_openamp/queue.hpp new file mode 100644 index 0000000..dcf676b --- /dev/null +++ b/applications/message_handler_openamp/queue.hpp @@ -0,0 +1,87 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use _this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#pragma once + +/***************************************************************************** + * Includes + *****************************************************************************/ + +#include +#include + +#include +#include + +#include + +/***************************************************************************** + * Queue + *****************************************************************************/ + +template +class Queue { +public: + using Predicate = std::function; + + Queue(const size_t size = 10) : queue(xQueueCreate(size, sizeof(T))) {} + + ~Queue() { + vQueueDelete(queue); + } + + int send(const T &msg, TickType_t delay = portMAX_DELAY) { + if (pdPASS != xQueueSend(queue, &msg, delay)) { + LOG_ERR("Failed to send message"); + return -1; + } + + return 0; + } + + int receive(T &msg, TickType_t delay = portMAX_DELAY) { + if (pdTRUE != xQueueReceive(queue, &msg, delay)) { + LOG_ERR("Failed to receive message"); + return -1; + } + + return 0; + } + + void erase(Predicate pred) { + const size_t count = uxQueueMessagesWaiting(queue); + for (size_t i = 0; i < count; i++) { + T data; + + if (pdPASS != xQueueReceive(queue, &data, 0)) { + LOG_ERR("Failed to dequeue message"); + abort(); + } + + if (!pred(data)) { + if (pdPASS != xQueueSend(queue, &data, 0)) { + LOG_ERR("Failed to requeue message"); + abort(); + } + } + } + } + +private: + QueueHandle_t queue; +}; diff --git a/applications/message_handler_openamp/remoteproc.cpp b/applications/message_handler_openamp/remoteproc.cpp new file mode 100644 index 0000000..f355634 --- /dev/null +++ b/applications/message_handler_openamp/remoteproc.cpp @@ -0,0 +1,243 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use _this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/***************************************************************************** + * Includes + *****************************************************************************/ + +#include "remoteproc.hpp" + +#include + +#include + +/***************************************************************************** + * MetalIO + *****************************************************************************/ + +extern "C" { + +__attribute__((weak)) void *ethosu_phys_to_virt(const uint64_t pa) { + return reinterpret_cast(pa); +} +} + +MetalIO::MetalIO() : + ops{.read = nullptr, + .write = nullptr, + .block_read = nullptr, + .block_write = nullptr, + .block_set = nullptr, + .close = nullptr, + .offset_to_phys = nullptr, + .phys_to_offset = physToOffset} { + remoteproc_init_mem(&mem, "shm", 0, 0, 0xffffffff, ®ion); + + metal_io_init(®ion, + reinterpret_cast(0), /* virt */ + &mem.pa, /* physmap */ + 0xffffffff, /* size */ + -1L, /* pagemask */ + 0, /* attributes */ + &ops); /* ops */ +} + +remoteproc_mem *MetalIO::operator&() { + return &mem; +} + +unsigned long MetalIO::physToOffset(metal_io_region *io, metal_phys_addr_t pa) { + auto offset = reinterpret_cast(ethosu_phys_to_virt(pa)); + LOG_DEBUG("Translate PA to offset. pa=%lx, offset=%lx", pa, offset); + return offset; +} + +/***************************************************************************** + * RProc + *****************************************************************************/ + +RProc::RProc(Mailbox::Mailbox &_mailbox, resource_table &table, size_t tableSize, MetalIO &_mem) : + mailbox(_mailbox), mem(_mem), + ops{ + .init = init, // initialize the remoteproc instance + .remove = remove, // remove the remoteproc instance + .mmap = nullptr, // memory mapped the memory with physical address as input + .handle_rsc = nullptr, // handle the vendor specific resource + .config = nullptr, // configure the remoteproc to make it ready to load and run executable + .start = nullptr, // kick the remoteproc to run application + .stop = nullptr, // stop the remoteproc from running application, the resource such as memory may not be off. + .shutdown = nullptr, // shutdown the remoteproc and release its resources. + .notify = notify, // notify the remote + .get_mem = nullptr, // get remoteproc memory I/O region. + }, + vdev(nullptr), notifySemaphore(xSemaphoreCreateBinary()) { + mailbox.registerCallback(mailboxCallback, static_cast(this)); + + if (!remoteproc_init(&rproc, &ops, this)) { + LOG_ERR("Failed to intialize remoteproc"); + abort(); + } + + int ret = remoteproc_set_rsc_table(&rproc, &table, tableSize); + if (ret) { + LOG_ERR("Failed to set resource table. ret=%d", ret); + abort(); + } + + vdev = remoteproc_create_virtio(&rproc, 0, VIRTIO_DEV_DEVICE, nullptr); + if (!vdev) { + LOG_ERR("Failed to create vdev"); + abort(); + } + + BaseType_t taskret = xTaskCreate(notifyTask, "notifyTask", 1024, this, 2, ¬ifyHandle); + if (taskret != pdPASS) { + LOG_ERR("Failed to create remoteproc notify task"); + abort(); + } +} + +RProc::~RProc() { + mailbox.deregisterCallback(mailboxCallback, static_cast(this)); + vTaskDelete(notifyHandle); +} + +remoteproc *RProc::getRProc() { + return &rproc; +} + +virtio_device *RProc::getVDev() { + return vdev; +} + +void RProc::mailboxCallback(void *userArg) { + auto _this = static_cast(userArg); + + xSemaphoreGiveFromISR(_this->notifySemaphore, nullptr); +} + +void RProc::notifyTask(void *param) { + LOG_DEBUG("Starting message notify task"); + + auto _this = static_cast(param); + + while (true) { + // Wait for event + xSemaphoreTake(_this->notifySemaphore, portMAX_DELAY); + + // Read virtio queue and notify all rpmsg clients + rproc_virtio_notified(_this->vdev, RSC_NOTIFY_ID_ANY); + } +} + +struct remoteproc *RProc::init(remoteproc *rproc, const remoteproc_ops *ops, void *arg) { + LOG_DEBUG(""); + + auto _this = static_cast(arg); + + rproc->ops = ops; + rproc->priv = arg; + remoteproc_add_mem(rproc, &_this->mem); + + return rproc; +} + +void RProc::remove(remoteproc *rproc) { + LOG_DEBUG(""); +} + +int RProc::notify(remoteproc *rproc, uint32_t id) { + LOG_DEBUG(""); + + auto *_this = static_cast(rproc->priv); + _this->mailbox.sendMessage(); + return 0; +} + +/***************************************************************************** + * Rpmsg + *****************************************************************************/ + +Rpmsg::Rpmsg(RProc &rproc, const char *const name) { + + metal_io_region *region = remoteproc_get_io_with_name(rproc.getRProc(), "shm"); + if (!region) { + LOG_ERR("Failed to get shared mem region"); + abort(); + } + + if (rpmsg_init_vdev(&rvdev, rproc.getVDev(), nullptr, region, nullptr)) { + LOG_ERR("Failed to initialize rpmsg vdev"); + abort(); + } + + rdev = rpmsg_virtio_get_rpmsg_device(&rvdev); + if (!rdev) { + LOG_ERR("Failed to get rpmsg dev"); + abort(); + } + + int ret = + rpmsg_create_ept(&endpoint, rdev, name, RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, endpointCallback, nsUnbindCallback); + if (ret != RPMSG_SUCCESS) { + LOG_ERR("Failed to create rpmsg endpoint. ret=%d", ret); + abort(); + } + + endpoint.priv = static_cast(this); +} + +int Rpmsg::send(void *data, size_t len, uint32_t dst) { + LOG_DEBUG("Sending rpmsg. dst=%" PRIu32 ", len=%zu", dst, len); + + int ret = rpmsg_sendto(&endpoint, data, len, dst); + return ret; +} + +void *Rpmsg::physicalToVirtual(metal_phys_addr_t pa) { + return metal_io_phys_to_virt(rvdev.shbuf_io, pa); +} + +void Rpmsg::rpmsgNsBind(rpmsg_device *rdev, const char *name, uint32_t dest) { + LOG_DEBUG(""); +} + +void Rpmsg::nsUnbindCallback(rpmsg_endpoint *ept) { + LOG_DEBUG(""); +} + +int Rpmsg::endpointCallback(rpmsg_endpoint *ept, void *data, size_t len, uint32_t src, void *priv) { + LOG_DEBUG("src=%" PRIX32 ", len=%zu", src, len); + + auto _this = static_cast(priv); + _this->handleMessage(data, len, src); + + return 0; +} + +int Rpmsg::handleMessage(void *data, size_t len, uint32_t src) { + LOG_DEBUG("Receiving rpmsg. src=%" PRIu32 ", len=%zu", src, len); + + auto c = static_cast(data); + for (size_t i = 0; i < len; i++) { + printf("%c", c[i]); + } + printf("\n"); + + return 0; +} diff --git a/applications/message_handler_openamp/remoteproc.hpp b/applications/message_handler_openamp/remoteproc.hpp new file mode 100644 index 0000000..2f16e24 --- /dev/null +++ b/applications/message_handler_openamp/remoteproc.hpp @@ -0,0 +1,200 @@ +/* + * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use _this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#pragma once + +/***************************************************************************** + * Includes + *****************************************************************************/ + +#include +#include +#include + +#include +#include +#include + +#include + +/***************************************************************************** + * Resource table + *****************************************************************************/ + +struct ResourceTable { + static constexpr uint32_t VERSION = 1; + static constexpr uint32_t NUM_RESOURCES = 2; + static constexpr uint32_t NUM_VRINGS = 2; + static constexpr uint32_t VRING_ALIGN = 0x100; + // static constexpr uint32_t VRING_SIZE = 0x10; + static constexpr uint32_t RESERVED = 0; + + resource_table table; + uint32_t offset[NUM_RESOURCES]; + fw_rsc_vdev vdev; + fw_rsc_vdev_vring vring[NUM_VRINGS]; + fw_rsc_carveout carveout; + + // clang-format off + constexpr ResourceTable(const uint32_t vringSize = 0x100, const uint32_t carveoutSize = 0) : + table { + VERSION, + NUM_RESOURCES, + { RESERVED, RESERVED }, + {} + }, + offset { + offsetof(ResourceTable, vdev), + offsetof(ResourceTable, carveout), + }, + vdev { + RSC_VDEV, + VIRTIO_ID_RPMSG, + 2, // Notify ID + 1 << VIRTIO_RPMSG_F_NS, + 0, + 0, + 0, + NUM_VRINGS, + { 0, RESERVED }, + {} + }, + vring { + { + FW_RSC_U32_ADDR_ANY, + VRING_ALIGN, + vringSize, + 1, + RESERVED + }, + { + FW_RSC_U32_ADDR_ANY, + VRING_ALIGN, + vringSize, + 2, + RESERVED + } + }, + carveout { + RSC_CARVEOUT, + FW_RSC_U32_ADDR_ANY, + FW_RSC_U32_ADDR_ANY, + carveoutSize, + 0, + RESERVED, + "TFLM arena" + } + {} + // clang-format off +} __attribute__((packed)); + +/***************************************************************************** + * MetalIO + *****************************************************************************/ + +class MetalIO { +public: + MetalIO(); + + remoteproc_mem *operator&(); + +private: + static metal_phys_addr_t offsetToPhys(metal_io_region *io, unsigned long offset); + static unsigned long physToOffset(metal_io_region *io, metal_phys_addr_t phys); + + metal_io_ops ops; + metal_io_region region; + remoteproc_mem mem; +}; + +/***************************************************************************** + * RProc + *****************************************************************************/ + +class RProc { +public: + RProc(Mailbox::Mailbox &_mailbox, resource_table &table, size_t tableSize, MetalIO &_mem); + ~RProc(); + + remoteproc *getRProc(); + virtio_device *getVDev(); + +private: + // IRQ notification callback + static void mailboxCallback(void *userArg); + + // Notification task handling virtio messages + static void notifyTask(void *param); + + // Remote proc ops + static struct remoteproc *init(remoteproc *rproc, const remoteproc_ops *ops, void *arg); + static void remove(remoteproc *rproc); + static void *mmap(remoteproc *rproc, + metal_phys_addr_t *pa, + metal_phys_addr_t *da, + size_t size, + unsigned int attribute, + metal_io_region **io); + static int notify(remoteproc *rproc, uint32_t id); + static struct remoteproc_mem *getMem(remoteproc *rproc, + const char *name, + metal_phys_addr_t pa, + metal_phys_addr_t da, + void *va, + size_t size, + remoteproc_mem *buf); + + // IRQ notification + Mailbox::Mailbox &mailbox; + + // Remoteproc + MetalIO &mem; + remoteproc rproc; + remoteproc_ops ops; + virtio_device *vdev; + + // FreeRTOS + SemaphoreHandle_t notifySemaphore; + TaskHandle_t notifyHandle; +}; + +/***************************************************************************** + * Rpmsg + *****************************************************************************/ + +class Rpmsg { +public: + Rpmsg(RProc &rproc, const char *const name); + + int send(void *data, size_t len, uint32_t dst = 0); + void *physicalToVirtual(metal_phys_addr_t pa); + +protected: + virtual int handleMessage(void *data, size_t len, uint32_t src); + +private: + // RPMsg ops + static void rpmsgNsBind(rpmsg_device *rdev, const char *name, uint32_t dest); + static void nsUnbindCallback(rpmsg_endpoint *ept); + static int endpointCallback(rpmsg_endpoint *ept, void *data, size_t len, uint32_t src, void *priv); + + // RPMsg + rpmsg_virtio_device rvdev; + rpmsg_device *rdev; + rpmsg_endpoint endpoint; +}; -- cgit v1.2.1