micropython · dpgeorge · Mar 29, 2024 · Mar 21, 2024 · Mar 28, 2024 · Mar 24, 2024
diff --git a/extmod/libmetal/metal/config.h b/extmod/libmetal/metal/config.h
@@ -57,13 +57,6 @@
 #define METAL_MAX_DEVICE_REGIONS 1
 #endif
 
-// generic/log.h
-#if METAL_LOG_HANDLER_ENABLE
-#include "py/mphal.h"
-#undef metal_log
-#define metal_log(level, ...) mp_printf(&mp_plat_print, __VA_ARGS__)
-#endif
-
 static inline void *__metal_allocate_memory(unsigned int size) {
     return m_tracked_calloc(1, size);
 }

diff --git a/extmod/modopenamp.c b/extmod/modopenamp.c
@@ -28,9 +28,11 @@
 
 #if MICROPY_PY_OPENAMP
 
+#include <stdarg.h>
 #include "py/obj.h"
 #include "py/nlr.h"
 #include "py/runtime.h"
+#include "py/mpprint.h"
 
 #include "metal/sys.h"
 #include "metal/alloc.h"
@@ -75,8 +77,6 @@ static const char openamp_trace_buf[128];
 
 #endif // MICROPY_PY_OPENAMP_RSC_TABLE_ENABLE
 
-#define debug_printf(...)       // mp_printf(&mp_plat_print, __VA_ARGS__)
-
 #if MICROPY_PY_OPENAMP_REMOTEPROC
 extern mp_obj_type_t openamp_remoteproc_type;
 #endif
@@ -136,7 +136,7 @@ typedef struct _endpoint_obj_t {
 static const mp_obj_type_t endpoint_type;
 
 static int endpoint_recv_callback(struct rpmsg_endpoint *ept, void *data, size_t len, uint32_t src, void *priv) {
-    debug_printf("endpoint_recv_callback() message received src: %lu msg len: %d\n", src, len);
+    metal_log(METAL_LOG_DEBUG, "endpoint_recv_callback() message received src: %lu msg len: %d\n", src, len);
     endpoint_obj_t *self = metal_container_of(ept, endpoint_obj_t, ep);
     if (self->callback != mp_const_none) {
         mp_call_function_2(self->callback, mp_obj_new_int(src), mp_obj_new_bytearray_by_ref(len, data));
@@ -174,7 +174,7 @@ static mp_obj_t endpoint_send(uint n_args, const mp_obj_t *pos_args, mp_map_t *k
 
     mp_buffer_info_t rbuf;
     mp_get_buffer_raise(pos_args[1], &rbuf, MP_BUFFER_READ);
-    debug_printf("endpoint_send() msg len: %d\n", rbuf.len);
+    metal_log(METAL_LOG_DEBUG, "endpoint_send() msg len: %d\n", rbuf.len);
 
     int bytes = 0;
     mp_int_t timeout = args[ARG_timeout].u_int;
@@ -258,7 +258,7 @@ void openamp_remoteproc_notified(mp_sched_node_t *node) {
 }
 
 static void openamp_ns_callback(struct rpmsg_device *rdev, const char *name, uint32_t dest) {
-    debug_printf("rpmsg_new_service_callback() new service request name: %s dest %lu\n", name, dest);
+    metal_log(METAL_LOG_DEBUG, "rpmsg_new_service_callback() new service request name: %s dest %lu\n", name, dest);
     // The remote processor advertises its presence to the host by sending
     // the Name Service (NS) announcement containing the name of the channel.
     virtio_dev_obj_t *virtio_device = metal_container_of(rdev, virtio_dev_obj_t, rvdev);
@@ -315,14 +315,28 @@ static mp_obj_t openamp_new_service_callback(mp_obj_t ns_callback) {
 }
 static MP_DEFINE_CONST_FUN_OBJ_1(openamp_new_service_callback_obj, openamp_new_service_callback);
 
+void openamp_metal_log_handler(enum metal_log_level level, const char *fmt, ...) {
+    va_list args;
+    va_start(args, fmt);
+    mp_vprintf(&mp_plat_print, fmt, args);
+    va_end(args);
+}
+
 void openamp_init(void) {
     if (MP_STATE_PORT(virtio_device) != NULL) {
         // Already initialized.
         return;
     }
 
     struct metal_device *device;
-    struct metal_init_params metal_params = METAL_INIT_DEFAULTS;
+    struct metal_init_params metal_params = { 0 };
+
+    #if METAL_LOG_HANDLER_ENABLE
+    // If logging is enabled, set the default log level and handler before
+    // calling metal_init, to allow ports to override them in metal_sys_init.
+    metal_params.log_level = METAL_LOG_DEBUG;
+    metal_params.log_handler = openamp_metal_log_handler;
+    #endif
 
     // Initialize libmetal.
     metal_init(&metal_params);

diff --git a/extmod/modopenamp_remoteproc.c b/extmod/modopenamp_remoteproc.c
@@ -46,8 +46,6 @@
 #include "modopenamp.h"
 #include "modopenamp_remoteproc.h"
 
-#define DEBUG_printf(...)   // mp_printf(&mp_plat_print, __VA_ARGS__)
-
 #if !MICROPY_PY_OPENAMP
 #error "MICROPY_PY_OPENAMP_REMOTEPROC requires MICROPY_PY_OPENAMP"
 #endif

diff --git a/extmod/modopenamp_remoteproc_store.c b/extmod/modopenamp_remoteproc_store.c
@@ -47,8 +47,6 @@
 
 #if MICROPY_PY_OPENAMP_REMOTEPROC_STORE_ENABLE
 
-#define DEBUG_printf(...)   // mp_printf(&mp_plat_print, __VA_ARGS__)
-
 // Note the initial file buffer size needs to be at least 512 to read
 // enough of the elf headers on the first call to store_open(), and on
 // subsequent calls to store functions, it gets reallocated if needed.
@@ -70,7 +68,7 @@ void *mp_openamp_remoteproc_store_alloc(void) {
 }
 
 static int openamp_remoteproc_store_open(void *store, const char *path, const void **image_data) {
-    DEBUG_printf("store_open(): %s\n", path);
+    metal_log(METAL_LOG_DEBUG, "store_open(): %s\n", path);
     mp_obj_t args[2] = {
         mp_obj_new_str(path, strlen(path)),
         MP_OBJ_NEW_QSTR(MP_QSTR_rb),
@@ -89,7 +87,7 @@ static int openamp_remoteproc_store_open(void *store, const char *path, const vo
 }
 
 static void openamp_remoteproc_store_close(void *store) {
-    DEBUG_printf("store_close()\n");
+    metal_log(METAL_LOG_DEBUG, "store_close()\n");
     openamp_remoteproc_filestore_t *fstore = store;
     mp_stream_close(fstore->file);
     metal_free_memory(fstore->buf);
@@ -113,17 +111,17 @@ static int openamp_remoteproc_store_load(void *store, size_t offset, size_t size
             // Note tracked allocs don't support realloc.
             fstore->len = size;
             fstore->buf = metal_allocate_memory(size);
-            DEBUG_printf("store_load() realloc to %lu\n", fstore->len);
+            metal_log(METAL_LOG_DEBUG, "store_load() realloc to %lu\n", fstore->len);
         }
         *data = fstore->buf;
-        DEBUG_printf("store_load(): pa 0x%lx offset %u size %u \n", (uint32_t)pa, offset, size);
+        metal_log(METAL_LOG_DEBUG, "store_load(): pa 0x%lx offset %u size %u \n", (uint32_t)pa, offset, size);
     } else {
         void *va = metal_io_phys_to_virt(io, pa);
         if (va == NULL) {
             return -EINVAL;
         }
         *data = va;
-        DEBUG_printf("store_load(): pa 0x%lx va 0x%p offset %u size %u \n", (uint32_t)pa, va, offset, size);
+        metal_log(METAL_LOG_DEBUG, "store_load(): pa 0x%lx va 0x%p offset %u size %u \n", (uint32_t)pa, va, offset, size);
     }
 
     mp_uint_t bytes = mp_stream_read_exactly(fstore->file, (void *)*data, size, &error);

diff --git a/ports/mimxrt/Makefile b/ports/mimxrt/Makefile
@@ -172,7 +172,8 @@ SRC_HAL_IMX_C += \
 	$(MCU_DIR)/drivers/fsl_common_arm.c \
 	$(MCU_DIR)/drivers/fsl_anatop_ai.c \
 	$(MCU_DIR)/drivers/fsl_caam.c \
-	$(MCU_DIR)/drivers/fsl_lpadc.c
+	$(MCU_DIR)/drivers/fsl_lpadc.c \
+	$(MCU_DIR)/drivers/fsl_mu.c
 else
 SRC_HAL_IMX_C += \
 	$(MCU_DIR)/drivers/fsl_adc.c \
@@ -267,6 +268,17 @@ ifeq ($(MICROPY_BLUETOOTH_NIMBLE),1)
 SRC_C += mpnimbleport.c
 endif
 
+# Add mimxrt-specific implementation of libmetal (and optionally OpenAMP's rproc).
+# Note: libmetal code is generated via a pre-processor so ensure that runs first.
+ifeq ($(MICROPY_PY_OPENAMP),1)
+SRC_C += mpmetalport.c
+$(BUILD)/mpmetalport.o: $(BUILD)/openamp/metal/config.h
+ifeq ($(MICROPY_PY_OPENAMP_REMOTEPROC),1)
+SRC_C += mpremoteprocport.c
+$(BUILD)/mpremoteprocport.o: $(BUILD)/openamp/metal/config.h
+endif
+endif
+
 # Math library source files
 ifeq ($(MICROPY_FLOAT_IMPL),double)
     LIBM_SRC_C += $(SRC_LIB_LIBM_DBL_C)

diff --git a/ports/mimxrt/boards/MIMXRT1170_EVK/mpconfigboard.mk b/ports/mimxrt/boards/MIMXRT1170_EVK/mpconfigboard.mk
@@ -13,6 +13,8 @@ MICROPY_HW_SDRAM_SIZE  = 0x4000000  # 64MB
 MICROPY_PY_LWIP = 1
 MICROPY_PY_SSL = 1
 MICROPY_SSL_MBEDTLS = 1
+MICROPY_PY_OPENAMP = 1
+MICROPY_PY_OPENAMP_REMOTEPROC = 1
 
 FROZEN_MANIFEST ?= $(BOARD_DIR)/manifest.py
 

diff --git a/ports/mimxrt/boards/MIMXRT1176.ld b/ports/mimxrt/boards/MIMXRT1176.ld
@@ -57,3 +57,7 @@ _gc_heap_end = ORIGIN(m_sdram) + LENGTH(m_sdram);
 _gc_heap_start = ORIGIN(m_ocrm);
 _gc_heap_end = ORIGIN(m_ocrm) + LENGTH(m_ocrm);
 #endif
+
+/* CM4 DTCM */
+_openamp_shm_region_start = 0x20220000;
+_openamp_shm_region_end  = 0x20230000;
diff --git a/ports/mimxrt/mpmetalport.c b/ports/mimxrt/mpmetalport.c
@@ -0,0 +1,111 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2024 Arduino SA
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * libmetal mimxrt port.
+ */
+
+#include "py/mperrno.h"
+#include "py/mphal.h"
+
+#include "fsl_common.h"
+#include "fsl_mu.h"
+#include CPU_HEADER_H
+
+#include "metal/sys.h"
+#include "metal/utilities.h"
+#include "metal/device.h"
+
+struct metal_state _metal;
+static mp_sched_node_t rproc_notify_node;
+
+#define IRQ_PRI_MU  NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 10, 0)
+
+int metal_sys_init(const struct metal_init_params *params) {
+    metal_unused(params);
+
+    // Init MU.
+    MU_Init(MUA);
+
+    // Configure and enable MU IRQs.
+    MU_ClearStatusFlags(MUA, kMU_GenInt0Flag);
+    NVIC_SetPriority(MUA_IRQn, IRQ_PRI_MU);
+    NVIC_EnableIRQ(MUA_IRQn);
+    MU_EnableInterrupts(MUA, kMU_GenInt0InterruptEnable);
+
+    #ifndef VIRTIO_USE_DCACHE
+    // If cache management is not enabled, configure the MPU to disable caching
+    // for the entire shared memory region.
+    ARM_MPU_Disable();
+    MPU->RBAR = ARM_MPU_RBAR(10, METAL_MPU_REGION_BASE);
+    // Normal type, not shareable, non-cacheable
+    MPU->RASR = ARM_MPU_RASR(0, ARM_MPU_AP_FULL, 1, 0, 0, 0, 0, METAL_MPU_REGION_SIZE);
+    ARM_MPU_Enable(MPU_CTRL_PRIVDEFENA_Msk | MPU_CTRL_HFNMIENA_Msk);
+    #endif
+
+    metal_bus_register(&metal_generic_bus);
+    return 0;
+}
+
+void metal_sys_finish(void) {
+    NVIC_DisableIRQ(MUA_IRQn);
+    metal_bus_unregister(&metal_generic_bus);
+}
+
+unsigned int sys_irq_save_disable(void) {
+    return disable_irq();
+}
+
+void sys_irq_restore_enable(unsigned int state) {
+    enable_irq(state);
+}
+
+void *metal_machine_io_mem_map(void *va, metal_phys_addr_t pa,
+    size_t size, unsigned int flags) {
+    metal_unused(pa);
+    metal_unused(size);
+    metal_unused(flags);
+    return va;
+}
+
+void metal_machine_cache_flush(void *addr, unsigned int len) {
+    SCB_CleanDCache_by_Addr(addr, len);
+}
+
+void metal_machine_cache_invalidate(void *addr, unsigned int len) {
+    SCB_InvalidateDCache_by_Addr(addr, len);
+}
+
+int metal_rproc_notify(void *priv, uint32_t id) {
+    MU_TriggerInterrupts(MUA, kMU_GenInt0InterruptTrigger);
+    return 0;
+}
+
+void MUA_IRQHandler(void) {
+    if (MU_GetStatusFlags(MUA) & kMU_GenInt0Flag) {
+        MU_ClearStatusFlags(MUA, kMU_GenInt0Flag);
+        mp_sched_schedule_node(&rproc_notify_node, openamp_remoteproc_notified);
+    }
+    __DSB();
+}
diff --git a/ports/mimxrt/mpmetalport.h b/ports/mimxrt/mpmetalport.h
@@ -0,0 +1,73 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2024 Arduino SA
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * libmetal mimxrt port.
+ */
+#ifndef MICROPY_INCLUDED_MIMXRT_MPMETALPORT_H
+#define MICROPY_INCLUDED_MIMXRT_MPMETALPORT_H
+
+#include <stdlib.h>
+#include "py/mphal.h"
+#include "py/runtime.h"
+
+#define METAL_HAVE_STDATOMIC_H      0
+#define METAL_HAVE_FUTEX_H          0
+
+#define METAL_MAX_DEVICE_REGIONS    2
+
+// Set to 1 to enable the default log handler.
+#define METAL_LOG_HANDLER_ENABLE    0
+
+#define metal_cpu_yield()
+
+// Shared memory config
+#define METAL_SHM_NAME              "OPENAMP_SHM"
+// Note 1K must be reserved at the start of the openamp
+// shared memory region, for the shared resource table.
+#define METAL_RSC_ADDR              ((void *)_openamp_shm_region_start)
+#define METAL_RSC_SIZE              (1024)
+
+#define METAL_SHM_ADDR              ((metal_phys_addr_t)(_openamp_shm_region_start + METAL_RSC_SIZE))
+#define METAL_SHM_SIZE              ((size_t)(_openamp_shm_region_end - _openamp_shm_region_start - METAL_RSC_SIZE))
+
+#define METAL_MPU_REGION_BASE       ((uint32_t)_openamp_shm_region_start)
+#define METAL_MPU_REGION_SIZE       (ARM_MPU_REGION_SIZE_64KB)
+
+extern const char _openamp_shm_region_start[];
+extern const char _openamp_shm_region_end[];
+
+int metal_rproc_notify(void *priv, uint32_t id);
+extern void openamp_remoteproc_notified(mp_sched_node_t *node);
+
+static inline int __metal_sleep_usec(unsigned int usec) {
+    mp_hal_delay_us(usec);
+    return 0;
+}
+
+static inline void metal_generic_default_poll(void) {
+    MICROPY_EVENT_POLL_HOOK
+}
+
+#endif // MICROPY_INCLUDED_MIMXRT_METAL_PORT_H