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xiaoxiang pushed a commit to branch master
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commit 2fffd7dad6718e0ea41de809caf70b4b0b54a1ba
Author: raiden00pl <raide...@railab.me>
AuthorDate: Mon Aug 21 09:47:09 2023 +0200
arch/stm32h7: add RPTUN support
---
arch/arm/src/stm32h7/CMakeLists.txt | 10 +-
arch/arm/src/stm32h7/Kconfig | 5 +-
arch/arm/src/stm32h7/Make.defs | 10 +-
arch/arm/src/stm32h7/stm32_allocateheap.c | 4 +-
arch/arm/src/stm32h7/stm32_mpuinit.c | 43 +-
arch/arm/src/stm32h7/stm32_mpuinit.h | 26 +-
arch/arm/src/stm32h7/stm32_rptun.c | 568 +++++++++++++++++++++
.../src/stm32h7/{stm32_mpuinit.c => stm32_rptun.h} | 80 +--
arch/arm/src/stm32h7/stm32_start.c | 9 +
arch/arm/src/stm32h7/stm32_userspace.c | 4 -
10 files changed, 664 insertions(+), 95 deletions(-)
diff --git a/arch/arm/src/stm32h7/CMakeLists.txt
b/arch/arm/src/stm32h7/CMakeLists.txt
index a57984670c..edc2750717 100644
--- a/arch/arm/src/stm32h7/CMakeLists.txt
+++ b/arch/arm/src/stm32h7/CMakeLists.txt
@@ -45,6 +45,10 @@ if(CONFIG_STM32H7_HSEM)
list(APPEND SRCS stm32_hsem.c)
endif()
+if(CONFIG_RPTUN)
+ list(APPEND SRCS stm32_rptun.c)
+endif()
+
if(CONFIG_SCHED_TICKLESS)
list(APPEND SRCS stm32_tickless.c)
else()
@@ -55,8 +59,12 @@ if(CONFIG_STM32H7_ONESHOT)
list(APPEND SRCS stm32_oneshot.c stm32_oneshot_lowerhalf.c)
endif()
+if(CONFIG_ARM_MPU)
+ list(APPEND SRCS stm32_mpuinit.c)
+endif()
+
if(CONFIG_BUILD_PROTECTED)
- list(APPEND SRCS stm32_userspace.c stm32_mpuinit.c)
+ list(APPEND SRCS stm32_userspace.c)
endif()
if(CONFIG_ARMV7M_DTCM)
diff --git a/arch/arm/src/stm32h7/Kconfig b/arch/arm/src/stm32h7/Kconfig
index 1346f9f826..382e6429f2 100644
--- a/arch/arm/src/stm32h7/Kconfig
+++ b/arch/arm/src/stm32h7/Kconfig
@@ -522,13 +522,13 @@ endif
config STM32H7_CORTEXM7_FLASH_SIZE
int "Flash reserved for M7 core"
- default 1048576 if STM32_CORTEXM4_ENABLED || ARCH_CHIP_STM32H7_CORTEXM4
+ default 1048576 if STM32H7_CORTEXM4_ENABLED ||
ARCH_CHIP_STM32H7_CORTEXM4
default 2097152
config STM32H7_CORTEXM7_SHMEM
bool
select ARM_MPU if ARCH_CHIP_STM32H7_CORTEXM7
- default y if STM32H7_CORTEXM4_ENABLED
+ default y if STM32H7_CORTEXM4_ENABLED || ARCH_CHIP_STM32H7_CORTEXM4
default n
config STM32H7_SHMEM_SRAM3
@@ -2156,6 +2156,7 @@ config STM32H7_CUSTOM_CLOCKCONFIG
config STM32H7_SRAM4EXCLUDE
bool "Exclude SRAM4 from the heap"
+ default y if RPTUN
default n
---help---
Exclude SRAM4 from the HEAP in order to use this 64 KB region
diff --git a/arch/arm/src/stm32h7/Make.defs b/arch/arm/src/stm32h7/Make.defs
index e9effafd0f..33a7c195a3 100644
--- a/arch/arm/src/stm32h7/Make.defs
+++ b/arch/arm/src/stm32h7/Make.defs
@@ -37,6 +37,10 @@ ifeq ($(CONFIG_STM32H7_HSEM),y)
CHIP_CSRCS += stm32_hsem.c
endif
+ifeq ($(CONFIG_RPTUN),y)
+CHIP_CSRCS += stm32_rptun.c
+endif
+
# Required STM32H7 files
CHIP_CSRCS += stm32_allocateheap.c stm32_exti_gpio.c stm32_gpio.c stm32_irq.c
@@ -53,8 +57,12 @@ ifeq ($(CONFIG_STM32H7_ONESHOT),y)
CHIP_CSRCS += stm32_oneshot.c stm32_oneshot_lowerhalf.c
endif
+ifeq ($(CONFIG_ARM_MPU),y)
+CHIP_CSRCS += stm32_mpuinit.c
+endif
+
ifeq ($(CONFIG_BUILD_PROTECTED),y)
-CHIP_CSRCS += stm32_userspace.c stm32_mpuinit.c
+CHIP_CSRCS += stm32_userspace.c
endif
ifeq ($(CONFIG_ARMV7M_DTCM),y)
diff --git a/arch/arm/src/stm32h7/stm32_allocateheap.c
b/arch/arm/src/stm32h7/stm32_allocateheap.c
index 30531dc3eb..d584e78323 100644
--- a/arch/arm/src/stm32h7/stm32_allocateheap.c
+++ b/arch/arm/src/stm32h7/stm32_allocateheap.c
@@ -57,7 +57,7 @@
#if defined(CONFIG_ARCH_CHIP_STM32H7_CORTEXM7) && \
!defined(CONFIG_STM32H7_CORTEXM4_ENABLED)
-/* Configuration for M7 core and M4 core support disabled */
+/* Configuration for M7 core when M4 core support disabled */
/* At startup the kernel will invoke arm_addregion() so that platform code
* may register available memories for use as part of system heap.
@@ -117,7 +117,7 @@
#elif defined(CONFIG_ARCH_CHIP_STM32H7_CORTEXM7) && \
defined(CONFIG_STM32H7_CORTEXM4_ENABLED)
-/* Configuration for M7 core and M4 core support enabled */
+/* Configuration for M7 core when M4 core support enabled */
# define SRAM_START STM32_AXISRAM_BASE
# define SRAM_END (SRAM_START + STM32H7_SRAM_SIZE)
diff --git a/arch/arm/src/stm32h7/stm32_mpuinit.c
b/arch/arm/src/stm32h7/stm32_mpuinit.c
index 819a8f0e11..a42fdc8ad0 100644
--- a/arch/arm/src/stm32h7/stm32_mpuinit.c
+++ b/arch/arm/src/stm32h7/stm32_mpuinit.c
@@ -27,12 +27,28 @@
#include <assert.h>
#include <sys/param.h>
-#include <nuttx/userspace.h>
+#ifdef CONFIG_BUILD_PROTECTED
+# include <nuttx/userspace.h>
+#endif
#include "mpu.h"
+#include "hardware/stm32_memorymap.h"
#include "stm32_mpuinit.h"
-#if defined(CONFIG_BUILD_PROTECTED) && defined(CONFIG_ARM_MPU)
+#ifdef CONFIG_ARM_MPU
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifdef CONFIG_RPTUN
+# ifdef CONFIG_STM32H7_SHMEM_SRAM3
+# define STM32_SHMEM_BASE STM32_SRAM3_BASE
+# define STM32_SHMEM_SIZE STM32H7_SRAM3_SIZE
+# else
+# error missing shmem MPU configuration
+# endif
+#endif
/****************************************************************************
* Public Functions
@@ -42,18 +58,25 @@
* Name: stm32_mpuinitialize
*
* Description:
- * Configure the MPU to permit user-space access to only restricted SAM3U
- * resources.
+ * Configure the MPU.
+ *
+ * If PROTECTED build:
+ * - permit user-space access to only restricted STM32 resources.
+ *
+ * If RPTUN:
+ * - configure shared memory as non-cacheable
*
****************************************************************************/
void stm32_mpuinitialize(void)
{
+#ifdef CONFIG_BUILD_PROTECTED
uintptr_t datastart = MIN(USERSPACE->us_datastart, USERSPACE->us_bssstart);
uintptr_t dataend = MAX(USERSPACE->us_dataend, USERSPACE->us_bssend);
DEBUGASSERT(USERSPACE->us_textend >= USERSPACE->us_textstart &&
dataend >= datastart);
+#endif
/* Show MPU information */
@@ -63,18 +86,27 @@ void stm32_mpuinitialize(void)
mpu_reset();
+#ifdef CONFIG_BUILD_PROTECTED
/* Configure user flash and SRAM space */
mpu_user_flash(USERSPACE->us_textstart,
USERSPACE->us_textend - USERSPACE->us_textstart);
mpu_user_intsram(datastart, dataend - datastart);
+#endif
+
+#ifdef CONFIG_RPTUN
+ /* Configure shared memory as non-cacheable */
+
+ mpu_priv_shmem((uintptr_t)STM32_SHMEM_BASE, STM32_SHMEM_SIZE);
+#endif
/* Then enable the MPU */
mpu_control(true, false, true);
}
+#ifdef CONFIG_BUILD_PROTECTED
/****************************************************************************
* Name: stm32_mpu_uheap
*
@@ -89,5 +121,6 @@ void stm32_mpu_uheap(uintptr_t start, size_t size)
{
mpu_user_intsram(start, size);
}
+#endif
-#endif /* CONFIG_BUILD_PROTECTED && CONFIG_ARM_MPU */
+#endif /* CONFIG_ARM_MPU */
diff --git a/arch/arm/src/stm32h7/stm32_mpuinit.h
b/arch/arm/src/stm32h7/stm32_mpuinit.h
index 0ba2823c23..fb63bd42e9 100644
--- a/arch/arm/src/stm32h7/stm32_mpuinit.h
+++ b/arch/arm/src/stm32h7/stm32_mpuinit.h
@@ -22,7 +22,6 @@
#define __ARCH_ARM_SRC_STM32H7_STM32_MPUINIT_H
/****************************************************************************
- * Name: stm32_mpuinitialize
* Included Files
****************************************************************************/
@@ -31,28 +30,8 @@
#include <sys/types.h>
#include <stdint.h>
-/****************************************************************************
- * Name: stm32_mpuinitialize
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_mpuinitialize
- * Public Types
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_mpuinitialize
- * Inline Functions
- ****************************************************************************/
-
#ifndef __ASSEMBLY__
-/****************************************************************************
- * Name: stm32_mpuinitialize
- * Public Data
- ****************************************************************************/
-
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
@@ -70,12 +49,11 @@ extern "C"
* Name: stm32_mpuinitialize
*
* Description:
- * Configure the MPU to permit user-space access to only unrestricted
- * STM32H7 resources.
+ * Configure the MPU.
*
****************************************************************************/
-#ifdef CONFIG_BUILD_PROTECTED
+#ifdef CONFIG_ARM_MPU
void stm32_mpuinitialize(void);
#else
# define stm32_mpuinitialize()
diff --git a/arch/arm/src/stm32h7/stm32_rptun.c
b/arch/arm/src/stm32h7/stm32_rptun.c
new file mode 100644
index 0000000000..0ade7775ab
--- /dev/null
+++ b/arch/arm/src/stm32h7/stm32_rptun.c
@@ -0,0 +1,568 @@
+/****************************************************************************
+ * arch/arm/src/stm32h7/stm32_rptun.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you 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
+ *
+ * http://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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+
+#include <nuttx/nuttx.h>
+#include <nuttx/kthread.h>
+#include <nuttx/rptun/rptun.h>
+
+#include <nuttx/semaphore.h>
+
+#include "arm_internal.h"
+
+#include "stm32_hsem.h"
+#include "stm32_dualcore.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+# if defined(CONFIG_ARMV7M_DCACHE) && !defined(CONFIG_OPENAMP_CACHE)
+# error CONFIG_OPENAMP_CACHE must be set
+# endif
+# if defined(CONFIG_ARMV7M_DCACHE) && !defined(CONFIG_ARM_MPU)
+# erro CONFIG_ARM_MPU must be enabled
+# endif
+#endif
+
+/* Vring configuration parameters */
+
+#define VRINGS (2) /* Number of vrings */
+#define VRING_ALIGN (8) /* Vring alignment */
+#define VRING_NR (8) /* Number of descriptors */
+#define VRING_SIZE (512) /* Size of one descriptor */
+
+#ifdef CONFIG_STM32H7_SHMEM_SRAM3
+/* Use 32kB of the SRAM3 as a shared memory */
+
+# define VRING_SHMEM STM32_SRAM3_BASE
+#else
+# error missing shmem SRAM configuration
+#endif
+
+#define VRING0_NOTIFYID (RSC_NOTIFY_ID_ANY) /* Vring0 id */
+#define VRING1_NOTIFYID (RSC_NOTIFY_ID_ANY) /* Vring1 id */
+
+/* HSEM configuration */
+
+ /* 0 reserved for synchronisation */
+#define RPTUN_HSEM_CHAN_MASTER_RX (1) /* RX for master is ready */
+#define RPTUN_HSEM_CHAN_SLAVE_RX (2) /* RX for slave is ready */
+#define RPTUN_HSEM_CHAN_SLAVE_RESET (3)
+#define RPTUN_HSEM_CHAN_SLAVE_PANIC (4)
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/* STM32 rptun sharred memory */
+
+struct stm32_rptun_shmem_s
+{
+ volatile uintptr_t base;
+ struct rptun_rsc_s rsc;
+};
+
+/* STM32 rptun device */
+
+struct stm32_rptun_dev_s
+{
+ struct rptun_dev_s rptun;
+ rptun_callback_t callback;
+ void *arg;
+ bool master;
+ struct stm32_rptun_shmem_s *shmem;
+ char cpuname[RPMSG_NAME_SIZE + 1];
+ char shmemname[RPMSG_NAME_SIZE + 1];
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static const char *stm32_rptun_get_cpuname(struct rptun_dev_s *dev);
+static const char *stm32_rptun_get_firmware(struct rptun_dev_s *dev);
+static const struct rptun_addrenv_s *
+stm32_rptun_get_addrenv(struct rptun_dev_s *dev);
+static struct rptun_rsc_s *
+stm32_rptun_get_resource(struct rptun_dev_s *dev);
+static bool stm32_rptun_is_autostart(struct rptun_dev_s *dev);
+static bool stm32_rptun_is_master(struct rptun_dev_s *dev);
+static int stm32_rptun_start(struct rptun_dev_s *dev);
+static int stm32_rptun_stop(struct rptun_dev_s *dev);
+static int stm32_rptun_notify(struct rptun_dev_s *dev, uint32_t vqid);
+static int stm32_rptun_register_callback(struct rptun_dev_s *dev,
+ rptun_callback_t callback,
+ void *arg);
+
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+static void stm32_rptun_reset(struct rptun_dev_s *dev, int value);
+static void stm32_rptun_panic(struct rptun_dev_s *dev);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct rptun_ops_s g_stm32_rptun_ops =
+{
+ .get_cpuname = stm32_rptun_get_cpuname,
+ .get_firmware = stm32_rptun_get_firmware,
+ .get_addrenv = stm32_rptun_get_addrenv,
+ .get_resource = stm32_rptun_get_resource,
+ .is_autostart = stm32_rptun_is_autostart,
+ .is_master = stm32_rptun_is_master,
+ .start = stm32_rptun_start,
+ .stop = stm32_rptun_stop,
+ .notify = stm32_rptun_notify,
+ .register_callback = stm32_rptun_register_callback,
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+ .reset = stm32_rptun_reset,
+ .panic = stm32_rptun_panic
+#endif
+};
+
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+/* Allocate shared memory on the CM7 core side */
+
+static struct stm32_rptun_shmem_s g_shmem __attribute__((section(".shmem")));
+#endif
+
+struct stm32_rptun_dev_s g_rptun_dev;
+static sem_t g_stm32_rx_sig = SEM_INITIALIZER(0);
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_rptun_get_cpuname
+ ****************************************************************************/
+
+static const char *stm32_rptun_get_cpuname(struct rptun_dev_s *dev)
+{
+ struct stm32_rptun_dev_s *priv = container_of(dev,
+ struct stm32_rptun_dev_s, rptun);
+
+ return priv->cpuname;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_get_firmware
+ ****************************************************************************/
+
+static const char *stm32_rptun_get_firmware(struct rptun_dev_s *dev)
+{
+ return NULL;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_get_addrenv
+ ****************************************************************************/
+
+static const struct rptun_addrenv_s *
+stm32_rptun_get_addrenv(struct rptun_dev_s *dev)
+{
+ return NULL;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_get_resource
+ ****************************************************************************/
+
+static struct rptun_rsc_s *
+stm32_rptun_get_resource(struct rptun_dev_s *dev)
+{
+ struct stm32_rptun_dev_s *priv = container_of(dev,
+ struct stm32_rptun_dev_s, rptun);
+ struct rptun_rsc_s *rsc;
+
+ if (priv->shmem != NULL)
+ {
+ return &priv->shmem->rsc;
+ }
+
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+ priv->shmem = &g_shmem;
+#else
+ priv->shmem = (struct stm32_rptun_shmem_s *)VRING_SHMEM;
+#endif
+
+ if (priv->master)
+ {
+ /* Perform initial setup */
+
+ rsc = &priv->shmem->rsc;
+ rsc->rsc_tbl_hdr.ver = 1;
+ rsc->rsc_tbl_hdr.num = 1;
+ rsc->rsc_tbl_hdr.reserved[0] = 0;
+ rsc->rsc_tbl_hdr.reserved[1] = 0;
+ rsc->offset[0] = offsetof(struct rptun_rsc_s,
+ rpmsg_vdev);
+
+ rsc->rpmsg_vdev.type = RSC_VDEV;
+ rsc->rpmsg_vdev.id = VIRTIO_ID_RPMSG;
+ rsc->rpmsg_vdev.dfeatures = 1 << VIRTIO_RPMSG_F_NS
+ | 1 << VIRTIO_RPMSG_F_ACK
+ | 1 << VIRTIO_RPMSG_F_BUFSZ;
+ rsc->rpmsg_vdev.config_len = sizeof(struct fw_rsc_config);
+ rsc->rpmsg_vdev.num_of_vrings = VRINGS;
+
+ rsc->rpmsg_vring0.align = VRING_ALIGN;
+ rsc->rpmsg_vring0.num = VRING_NR;
+ rsc->rpmsg_vring0.notifyid = VRING0_NOTIFYID;
+ rsc->rpmsg_vring1.align = VRING_ALIGN;
+ rsc->rpmsg_vring1.num = VRING_NR;
+ rsc->rpmsg_vring1.notifyid = VRING1_NOTIFYID;
+ rsc->config.r2h_buf_size = VRING_SIZE;
+ rsc->config.h2r_buf_size = VRING_SIZE;
+
+ priv->shmem->base = (uintptr_t)priv->shmem;
+ }
+ else
+ {
+ /* TODO: use HSEM */
+
+ while (priv->shmem->base == 0)
+ {
+ usleep(100);
+ }
+ }
+
+ return &priv->shmem->rsc;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_is_autostart
+ ****************************************************************************/
+
+static bool stm32_rptun_is_autostart(struct rptun_dev_s *dev)
+{
+ return true;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_is_master
+ ****************************************************************************/
+
+static bool stm32_rptun_is_master(struct rptun_dev_s *dev)
+{
+ struct stm32_rptun_dev_s *priv = container_of(dev,
+ struct stm32_rptun_dev_s, rptun);
+ return priv->master;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_start
+ ****************************************************************************/
+
+static int stm32_rptun_start(struct rptun_dev_s *dev)
+{
+ return 0;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_stop
+ ****************************************************************************/
+
+static int stm32_rptun_stop(struct rptun_dev_s *dev)
+{
+ return 0;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_notify
+ ****************************************************************************/
+
+static int stm32_rptun_notify(struct rptun_dev_s *dev, uint32_t vqid)
+{
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+ /* Notify slave that RX is ready */
+
+ stm32_hsem_signal(RPTUN_HSEM_CHAN_SLAVE_RX);
+#else
+ /* Notify master that RX is ready */
+
+ stm32_hsem_signal(RPTUN_HSEM_CHAN_MASTER_RX);
+#endif
+
+ return 0;
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_register_callback
+ ****************************************************************************/
+
+static int stm32_rptun_register_callback(struct rptun_dev_s *dev,
+ rptun_callback_t callback,
+ void *arg)
+{
+ struct stm32_rptun_dev_s *priv = container_of(dev,
+ struct stm32_rptun_dev_s, rptun);
+
+ priv->callback = callback;
+ priv->arg = arg;
+
+ return 0;
+}
+
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+/****************************************************************************
+ * Name: stm32_rptun_reset
+ ****************************************************************************/
+
+static void stm32_rptun_reset(struct rptun_dev_s *dev, int value)
+{
+ if (value == 0)
+ {
+ /* Soft reset */
+
+ stm32_hsem_signal(RPTUN_HSEM_CHAN_SLAVE_RESET);
+ }
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_panic
+ ****************************************************************************/
+
+static void stm32_rptun_panic(struct rptun_dev_s *dev)
+{
+ stm32_hsem_signal(RPTUN_HSEM_CHAN_SLAVE_PANIC);
+}
+#endif
+
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+/****************************************************************************
+ * Name: stm32_hsem_master_callback
+ ****************************************************************************/
+
+static void stm32_hsem_master_callback(uint8_t id, void *arg)
+{
+ _info("Rptun HSEM master %d\n", id);
+
+ switch (id)
+ {
+ case RPTUN_HSEM_CHAN_MASTER_RX:
+ {
+ nxsem_post(&g_stm32_rx_sig);
+ break;
+ }
+
+ default:
+ {
+ DEBUGASSERT(0);
+ }
+ }
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_hsem_cm7
+ ****************************************************************************/
+
+static void stm32_rptun_hsem_cm7(struct stm32_rptun_dev_s *dev)
+{
+ DEBUGASSERT(dev);
+
+ stm32_hsem_subscribe(RPTUN_HSEM_CHAN_MASTER_RX,
+ stm32_hsem_master_callback,
+ dev);
+}
+#else
+/****************************************************************************
+ * Name: stm32_hsem_slave_callback
+ ****************************************************************************/
+
+static void stm32_hsem_slave_callback(uint8_t id, void *arg)
+{
+ _info("Rptun HSEM slave %d\n", id);
+
+ switch (id)
+ {
+ case RPTUN_HSEM_CHAN_SLAVE_RX:
+ {
+ nxsem_post(&g_stm32_rx_sig);
+ break;
+ }
+
+ case RPTUN_HSEM_CHAN_SLAVE_RESET:
+ {
+ /* REVISIT: It's not possible to reset a single core.
+ * What can we do here ?
+ */
+
+ break;
+ }
+
+ case RPTUN_HSEM_CHAN_SLAVE_PANIC:
+ {
+ PANIC();
+ }
+
+ default:
+ {
+ DEBUGASSERT(0);
+ }
+ }
+}
+
+/****************************************************************************
+ * Name: stm32_rptun_hsem_cm4
+ ****************************************************************************/
+
+static void stm32_rptun_hsem_cm4(struct stm32_rptun_dev_s *dev)
+{
+ DEBUGASSERT(dev);
+
+ stm32_hsem_subscribe(RPTUN_HSEM_CHAN_SLAVE_RX,
+ stm32_hsem_slave_callback,
+ dev);
+ stm32_hsem_subscribe(RPTUN_HSEM_CHAN_SLAVE_RESET,
+ stm32_hsem_slave_callback,
+ dev);
+ stm32_hsem_subscribe(RPTUN_HSEM_CHAN_SLAVE_PANIC,
+ stm32_hsem_slave_callback,
+ dev);
+}
+#endif
+
+/****************************************************************************
+ * Name: stm32_rptun_thread
+ ****************************************************************************/
+
+static int stm32_rptun_thread(int argc, char *argv[])
+{
+ struct stm32_rptun_dev_s *dev = &g_rptun_dev;
+
+ while (1)
+ {
+ if (dev->callback != NULL)
+ {
+ dev->callback(dev->arg, RPTUN_NOTIFY_ALL);
+ }
+
+ nxsem_wait(&g_stm32_rx_sig);
+ }
+
+ return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int stm32_rptun_init(const char *shmemname, const char *cpuname)
+{
+ struct stm32_rptun_dev_s *dev = &g_rptun_dev;
+ int ret = OK;
+
+ /* Initialize HSEM */
+
+ stm32_hsem_init();
+
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+ /* The CM7 core always master */
+
+ memset(&g_shmem, 0, sizeof(struct stm32_rptun_shmem_s));
+ dev->master = true;
+#else
+ dev->master = false;
+#endif
+
+ /* Configure HSEM */
+
+#ifdef CONFIG_ARCH_CHIP_STM32H7_CORTEXM7
+ stm32_rptun_hsem_cm7(dev);
+#else
+ stm32_rptun_hsem_cm4(dev);
+#endif
+
+ /* Configure device */
+
+ dev->rptun.ops = &g_stm32_rptun_ops;
+ strncpy(dev->cpuname, cpuname, RPMSG_NAME_SIZE);
+ strncpy(dev->shmemname, shmemname, RPMSG_NAME_SIZE);
+
+ ret = rptun_initialize(&dev->rptun);
+ if (ret < 0)
+ {
+ _err("ERROR: rptun_initialize failed %d!\n", ret);
+ goto errout;
+ }
+
+ /* Create rptun RX thread */
+
+ ret = kthread_create("stm32-rptun", CONFIG_RPTUN_PRIORITY,
+ CONFIG_RPTUN_STACKSIZE, stm32_rptun_thread, NULL);
+ if (ret < 0)
+ {
+ _err("ERROR: kthread_create failed %d\n", ret);
+ }
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: up_addrenv_va_to_pa
+ *
+ * Description:
+ * This is needed by openamp/libmetal/lib/system/nuttx/io.c:78. The
+ * physical memory is mapped as virtual.
+ *
+ * Input Parameters:
+ * va_
+ *
+ * Returned Value:
+ * va
+ *
+ ****************************************************************************/
+
+uintptr_t up_addrenv_va_to_pa(void *va)
+{
+ return (uintptr_t)va;
+}
+
+/****************************************************************************
+ * Name: up_addrenv_pa_to_va
+ *
+ * Description:
+ * This is needed by openamp/libmetal/lib/system/nuttx/io.c. The
+ * physical memory is mapped as virtual.
+ *
+ * Input Parameters:
+ * pa
+ *
+ * Returned Value:
+ * pa
+ *
+ ****************************************************************************/
+
+void *up_addrenv_pa_to_va(uintptr_t pa)
+{
+ return (void *)pa;
+}
diff --git a/arch/arm/src/stm32h7/stm32_mpuinit.c
b/arch/arm/src/stm32h7/stm32_rptun.h
similarity index 55%
copy from arch/arm/src/stm32h7/stm32_mpuinit.c
copy to arch/arm/src/stm32h7/stm32_rptun.h
index 819a8f0e11..40e5e5f687 100644
--- a/arch/arm/src/stm32h7/stm32_mpuinit.c
+++ b/arch/arm/src/stm32h7/stm32_rptun.h
@@ -1,5 +1,5 @@
/****************************************************************************
- * arch/arm/src/stm32h7/stm32_mpuinit.c
+ * arch/arm/src/stm32h7/stm32_rptun.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@@ -18,76 +18,44 @@
*
****************************************************************************/
+#ifndef __ARCH_ARM_SRC_STM32H7_STM32_RPTUN_H
+#define __ARCH_ARM_SRC_STM32H7_STM32_RPTUN_H
+
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
-#include <assert.h>
-#include <sys/param.h>
-
-#include <nuttx/userspace.h>
-
-#include "mpu.h"
-#include "stm32_mpuinit.h"
-
-#if defined(CONFIG_BUILD_PROTECTED) && defined(CONFIG_ARM_MPU)
+#ifndef __ASSEMBLY__
/****************************************************************************
- * Public Functions
+ * Public Data
****************************************************************************/
-/****************************************************************************
- * Name: stm32_mpuinitialize
- *
- * Description:
- * Configure the MPU to permit user-space access to only restricted SAM3U
- * resources.
- *
- ****************************************************************************/
-
-void stm32_mpuinitialize(void)
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
{
- uintptr_t datastart = MIN(USERSPACE->us_datastart, USERSPACE->us_bssstart);
- uintptr_t dataend = MAX(USERSPACE->us_dataend, USERSPACE->us_bssend);
-
- DEBUGASSERT(USERSPACE->us_textend >= USERSPACE->us_textstart &&
- dataend >= datastart);
-
- /* Show MPU information */
-
- mpu_showtype();
-
- /* Reset MPU if enabled */
+#else
+#define EXTERN extern
+#endif
- mpu_reset();
-
- /* Configure user flash and SRAM space */
-
- mpu_user_flash(USERSPACE->us_textstart,
- USERSPACE->us_textend - USERSPACE->us_textstart);
-
- mpu_user_intsram(datastart, dataend - datastart);
-
- /* Then enable the MPU */
-
- mpu_control(true, false, true);
-}
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
/****************************************************************************
- * Name: stm32_mpu_uheap
- *
- * Description:
- * Map the user-heap region.
- *
- * This logic may need an extension to handle external SDRAM).
- *
+ * Name: stm32_rptun_init
****************************************************************************/
-void stm32_mpu_uheap(uintptr_t start, size_t size)
-{
- mpu_user_intsram(start, size);
+int stm32_rptun_init(const char *shmemname, const char *cpuname);
+
+#undef EXTERN
+#if defined(__cplusplus)
}
+#endif
-#endif /* CONFIG_BUILD_PROTECTED && CONFIG_ARM_MPU */
+#endif /* __ASSEMBLY__ */
+#endif /* __ARCH_ARM_SRC_STM32H7_STM32_RPTUN_H */
diff --git a/arch/arm/src/stm32h7/stm32_start.c
b/arch/arm/src/stm32h7/stm32_start.c
index 00db1b23df..e4611ef981 100644
--- a/arch/arm/src/stm32h7/stm32_start.c
+++ b/arch/arm/src/stm32h7/stm32_start.c
@@ -36,6 +36,9 @@
#include "barriers.h"
#include "nvic.h"
#include "mpu.h"
+#ifdef CONFIG_ARM_MPU
+# include "stm32_mpuinit.h"
+#endif
#include "stm32_rcc.h"
#include "stm32_userspace.h"
@@ -282,6 +285,12 @@ void __start(void)
#ifdef CONFIG_BUILD_PROTECTED
stm32_userspace();
#endif
+
+#ifdef CONFIG_ARM_MPU
+ /* Configure the MPU */
+
+ stm32_mpuinitialize();
+#endif
showprogress('E');
/* Then start NuttX */
diff --git a/arch/arm/src/stm32h7/stm32_userspace.c
b/arch/arm/src/stm32h7/stm32_userspace.c
index 7335f8b632..1d2447c47f 100644
--- a/arch/arm/src/stm32h7/stm32_userspace.c
+++ b/arch/arm/src/stm32h7/stm32_userspace.c
@@ -87,10 +87,6 @@ void stm32_userspace(void)
{
*dest++ = *src++;
}
-
- /* Configure the MPU to permit user-space access to its FLASH and RAM */
-
- stm32_mpuinitialize();
}
#endif /* CONFIG_BUILD_PROTECTED */
