前言
本篇接着补充移植的例子。
十四、网卡驱动（移植成功）
14.1 移植的程序
这一篇没啥难度，直接照搬alinx的程序即可。
驱动模块如下：
/** ===================================================== **
*Author : ALINX Electronic Technology (Shanghai) Co., Ltd.
*Website: http://www.alinx.com
*Address: Room 202, building 18,
No.518 xinbrick Road,
Songjiang District, Shanghai
*Created: 2020-3-2
*Version: 1.0
** ===================================================== **/
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/types.h>
#include <linux/fcntl.h>
#include <linux/ioport.h>
#include <linux/in.h>
#include <linux/skbuff.h>
#include <linux/string.h>
#include <linux/init.h>
#include <linux/bitops.h>
#include <linux/ip.h>
#include <linux/netdevice.h>
#include <linux/etherdevice.h>
#include <asm/io.h>
#include <asm/irq.h>
/* 定义一个net_device结构体变量 */
static struct net_device *ax_net_dev;
/* 模拟接收, 构造一个虚拟的sk_buff上报, 并更新统计信息 */
static void ax_net_rx(struct sk_buff *skb, struct net_device *dev)
{
unsigned char *type;
struct iphdr *ih;
__be32 *saddr, *daddr, tmp;
unsigned char tmp_dev_addr[ETH_ALEN];
struct ethhdr *ethhdr;
struct sk_buff *rx_skb;
/* 交换接受和发送方的mac地址 */
ethhdr = (struct ethhdr *)skb->data;
memcpy(tmp_dev_addr, ethhdr->h_dest, ETH_ALEN);
memcpy(ethhdr->h_dest, ethhdr->h_source, ETH_ALEN);
memcpy(ethhdr->h_source, tmp_dev_addr, ETH_ALEN);
/* 交换接受和发送方的ip地址 */
ih = (struct iphdr *)(skb->data + sizeof(struct ethhdr));
saddr = &ih->saddr;
daddr = &ih->daddr;
tmp = *saddr;
*saddr = *daddr;
*daddr = tmp;
type = skb->data + sizeof(struct ethhdr) + sizeof(struct iphdr);
/* 修改类型, 0表示reply */
*type = 0;
ih->check = 0;
ih->check = ip_fast_csum((unsigned char *)ih,ih->ihl);
/* 构造sk_buff */
rx_skb = dev_alloc_skb(skb->len + 2);
skb_reserve(rx_skb, 2);
memcpy(skb_put(rx_skb, skb->len), skb->data, skb->len);
rx_skb->dev = dev;
rx_skb->protocol = eth_type_trans(rx_skb, dev);
rx_skb->ip_summed = CHECKSUM_UNNECESSARY;
dev->stats.rx_packets++;
dev->stats.rx_bytes += skb->len;
/* 提交sk_buff */
netif_rx(rx_skb);
}
static netdev_tx_t ax_net_tx(struct sk_buff *skb, struct net_device *dev)
{
static int cnt = 0;
/* 停止上层数据下传队列 */
netif_stop_queue(dev);
/* 模拟接收, 以达到一个完成的发送接收过程 */
ax_net_rx(skb, dev);
/* 释放skb */
dev_kfree_skb (skb);
/* 发送完成, 恢复上层数据下传队列 */
netif_wake_queue(dev);
/* 更新统计信息 */
dev->stats.tx_packets++;
dev->stats.tx_bytes += skb->len;
return NETDEV_TX_OK;
}
/* 网卡设备操作函数集 */
static const struct net_device_ops ax_netdev_ops =
{
.ndo_start_xmit = ax_net_tx,
};
/* 驱动入口函数 */
static int __init ax_net_init(void)
{
/* 分配net_device结构体 */
ax_net_dev = alloc_netdev(0, "ax_net%d", NET_NAME_UNKNOWN, ether_setup);
/* 设置操作函数集 */
ax_net_dev->netdev_ops = &ax_netdev_ops;
/* 设置MAC地址 */
ax_net_dev->dev_addr[0] = 0x0A;
ax_net_dev->dev_addr[1] = 0x0B;
ax_net_dev->dev_addr[2] = 0x0C;
ax_net_dev->dev_addr[3] = 0x0D;
ax_net_dev->dev_addr[4] = 0x0E;
ax_net_dev->dev_addr[5] = 0x0F;
/* 设置ping功能 */
ax_net_dev->flags |= IFF_NOARP;
ax_net_dev->features |= NETIF_F_CSUM_MASK;
/* 注册网卡驱动 */
register_netdev(ax_net_dev);
return 0;
}
/* 驱动出口函数 */
static void __exit ax_net_exit(void)
{
unregister_netdev(ax_net_dev);
free_netdev(ax_net_dev);
}
module_init(ax_net_init);
module_exit(ax_net_exit);
/* 驱动描述信息 */
MODULE_AUTHOR("Alinx");
MODULE_ALIAS("net card test");
MODULE_DESCRIPTION("NET CARD driver");
MODULE_VERSION("v1.0");
MODULE_LICENSE("GPL");
参照以下在主机端完成驱动编译：
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ source /opt/pkg/petalinux/settings.sh
PetaLinux environment set to '/opt/pkg/petalinux'
WARNING: /bin/sh is not bash!
bash is PetaLinux recommended shell. Please set your default shell to bash.
INFO: Checking free disk space
INFO: Checking installed tools
INFO: Checking installed development libraries
INFO: Checking network and other services
WARNING: No tftp server found - please refer to "PetaLinux SDK Installation Guide" for its impact and solution
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ source /tools/Xilinx/Vivado/2019.1/s
scripts/ settings64.csh settings64.sh src/ strategies/
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ source /tools/Xilinx/Vivado/2019.1/settings64.sh
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ ls
build components config.project images project-spec
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ petalinux-create -t modules --name ax-netcard-drv
INFO: Create modules: ax-netcard-drv
INFO: New modules successfully created in /home/dention/petalinux_proj/test_peta/proj_peta/project-spec/meta-user/recipes-modules/ax-netcard-drv
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ petalinux-config -c rootfs
[INFO] sourcing bitbake
[INFO] generating plnxtool conf
[INFO] generating meta-plnx-generated layer
[INFO] generating user layers
[INFO] generating machine configuration
[INFO] configuring: rootfs
[INFO] generating kconfig for Rootfs
[INFO] menuconfig rootfs
*** End of the configuration.
*** Execute 'make' to start the build or try 'make help'.
[INFO] generating petalinux-user-image.bb
[INFO] successfully configured rootfs
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ petalinux-build
[INFO] building project
[INFO] sourcing bitbake
[INFO] generating user layers
INFO: bitbake petalinux-user-image
Loading cache: 100% |############################################################################################################| Time: 0:00:03
Loaded 3813 entries from dependency cache.
Parsing recipes: 100% |##########################################################################################################| Time: 0:00:09
Parsing of 2779 .bb files complete (2778 cached, 1 parsed). 3814 targets, 163 skipped, 0 masked, 0 errors.
NOTE: Resolving any missing task queue dependencies
Initialising tasks: 100% |#######################################################################################################| Time: 0:00:06
Checking sstate mirror object availability: 100% |###############################################################################| Time: 0:00:30
Sstate summary: Wanted 120 Found 12 Missed 216 Current 767 (10% match, 87% complete)
NOTE: Executing SetScene Tasks
NOTE: Executing RunQueue Tasks
NOTE: Tasks Summary: Attempted 3199 tasks of which 3153 didn't need to be rerun and all succeeded.
INFO: Copying Images from deploy to images
NOTE: Failed to copy built images to tftp dir: /tftpboot
[INFO] successfully built project
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ find ./ -name "ax-netcard-drv.ko"
./build/tmp/sysroots-components/plnx_zynq7/ax-netcard-drv/lib/modules/4.19.0-xilinx-v2019.1/extra/ax-netcard-drv.ko
随后移植到开发板上！
14.2 移植的结果
移植的结果如下：
root@proj_peta:~# ifconfig
eth0 Link encap:Ethernet HWaddr 00:0A:35:00:1E:53
inet6 addr: fe80::20a:35ff:fe00:1e53/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:17 errors:0 dropped:0 overruns:0 frame:0
TX packets:21 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:1408 (1.3 KiB) TX bytes:4642 (4.5 KiB)
Interrupt:29 Base address:0xb000
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
inet6 addr: ::1/128 Scope:Host
UP LOOPBACK RUNNING MTU:65536 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
root@proj_peta:~# ifconfig eth0 192.168.137.2 up
root@proj_peta:~# ifconfig
eth0 Link encap:Ethernet HWaddr 00:0A:35:00:1E:53
inet addr:192.168.137.2 Bcast:192.168.137.255 Mask:255.255.255.0
inet6 addr: fe80::20a:35ff:fe00:1e53/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:17 errors:0 dropped:0 overruns:0 frame:0
TX packets:28 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:1408 (1.3 KiB) TX bytes:6792 (6.6 KiB)
Interrupt:29 Base address:0xb000
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
inet6 addr: ::1/128 Scope:Host
UP LOOPBACK RUNNING MTU:65536 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
root@proj_peta:~# ls
ax-netcard-drv.ko
root@proj_peta:~# insmod ./ax-netcard-drv.ko
ax_netcard_drv: loading out-of-tree module taints kernel.
ax_net0: mixed HW and IP checksum settings.
root@proj_peta:~# ls /sys/class/net/
ax_net0 can0 eth0 lo sit0
root@proj_peta:~# ifconfig
eth0 Link encap:Ethernet HWaddr 00:0A:35:00:1E:53
inet addr:192.168.137.2 Bcast:192.168.137.255 Mask:255.255.255.0
inet6 addr: fe80::20a:35ff:fe00:1e53/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:166 errors:0 dropped:0 overruns:0 frame:0
TX packets:291 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:15954 (15.5 KiB) TX bytes:43070 (42.0 KiB)
Interrupt:29 Base address:0xb000
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
inet6 addr: ::1/128 Scope:Host
UP LOOPBACK RUNNING MTU:65536 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
root@proj_peta:~# ls /sys/class/net/
ax_net0 can0 eth0 lo sit0
root@proj_peta:~# ifconfig ax_net0 3.3.3.3
root@proj_peta:~# ping 3.3.3.4
PING 3.3.3.4 (3.3.3.4): 56 data bytes
64 bytes from 3.3.3.4: seq=0 ttl=64 time=0.138 ms
64 bytes from 3.3.3.4: seq=1 ttl=64 time=0.098 ms
64 bytes from 3.3.3.4: seq=2 ttl=64 time=0.079 ms
64 bytes from 3.3.3.4: seq=3 ttl=64 time=0.077 ms
64 bytes from 3.3.3.4: seq=4 ttl=64 time=0.082 ms
64 bytes from 3.3.3.4: seq=5 ttl=64 time=0.075 ms
64 bytes from 3.3.3.4: seq=6 ttl=64 time=0.073 ms
64 bytes from 3.3.3.4: seq=7 ttl=64 time=0.072 ms
64 bytes from 3.3.3.4: seq=8 ttl=64 time=0.070 ms
^C
--- 3.3.3.4 ping statistics ---
9 packets transmitted, 9 packets received, 0% packet loss
round-trip min/avg/max = 0.070/0.084/0.138 ms
root@proj_peta:~# ifconfig
ax_net0 Link encap:Ethernet HWaddr 0A:0B:0C:0D:0E:0F
inet addr:3.3.3.3 Bcast:3.255.255.255 Mask:255.0.0.0
inet6 addr: fe80::80b:cff:fe0d:e0f/64 Scope:Link
UP BROADCAST RUNNING NOARP MULTICAST MTU:1500 Metric:1
RX packets:23 errors:0 dropped:0 overruns:0 frame:0
TX packets:23 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:3336 (3.2 KiB) TX bytes:3336 (3.2 KiB)
eth0 Link encap:Ethernet HWaddr 00:0A:35:00:1E:53
inet addr:192.168.137.2 Bcast:192.168.137.255 Mask:255.255.255.0
inet6 addr: fe80::20a:35ff:fe00:1e53/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:166 errors:0 dropped:0 overruns:0 frame:0
TX packets:303 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:15954 (15.5 KiB) TX bytes:46660 (45.5 KiB)
Interrupt:29 Base address:0xb000
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
inet6 addr: ::1/128 Scope:Host
UP LOOPBACK RUNNING MTU:65536 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
root@proj_peta:~#
十五、AMP通信（裸机成功）
15.1 硬件开发
PS的配置如下，主要关心UART是否是接到ARM侧的引脚！
15.2 裸机测试
建立2个项目，分别是amp_self和amp2_self：
随后amp_self中的cpu0.c如下：
#include "xparameters.h"
#include "xscugic.h"
#include "xil_printf.h"
#include "xil_exception.h"
#include "xil_mmu.h"
#include "stdio.h"
//宏定义
#define INTC_DEVICE_ID XPAR_SCUGIC_SINGLE_DEVICE_ID //中断ID
#define SHARE_BASE 0xffff0000 //共享OCM首地址
#define CPU1_START_ADDR 0xfffffff0 //CPU1开始地址
#define CPU1_START_MEM 0x10000000 //CPU1程序开始地址
#define SOFT_INTR_ID_TO_CPU0 0 //软件中断号 0 ,范围：0~15
#define SOFT_INTR_ID_TO_CPU1 1 //软件中断号 1 ,范围：0~15
#define CPU1_ID 2
#define sev() __asm__("sev")
//函数声明
void start_cpu1();
void cpu0_intr_init(XScuGic *intc_ptr);
void soft_intr_handler(void *CallbackRef);
//全局变量
XScuGic Intc; //中断控制器驱动程序实例
int inter_flag = 0;
int test_data;
//CPU0 main函数
int main()
{
Xil_SetTlbAttributes(SHARE_BASE,0x14de2); //禁用OCM的Cache属性
//启动CPU1
start_cpu1();
//CPU0中断初始化
cpu0_intr_init(&Intc);
while(1){
if(inter_flag == 0){
xil_printf("This is CPU0,Please input the numbers\r\n");
scanf("%d",&test_data);
xil_printf("You input number is %d\r\n",test_data);
//向共享的地址中写入输入的数据
Xil_Out8(SHARE_BASE,test_data);
//给CPU1触发中断
XScuGic_SoftwareIntr(&Intc,SOFT_INTR_ID_TO_CPU1,CPU1_ID);
inter_flag = 1;
}
}
return 0 ;
}
//启动CPU1，用于固化程序
void start_cpu1()
{
Xil_Out32(CPU1_START_ADDR, CPU1_START_MEM);
dmb();
sev();
}
//CPU0中断初始化
void cpu0_intr_init(XScuGic *intc_ptr)
{
//初始化中断控制器
XScuGic_Config *intc_cfg_ptr;
intc_cfg_ptr = XScuGic_LookupConfig(INTC_DEVICE_ID);
XScuGic_CfgInitialize(intc_ptr, intc_cfg_ptr,
intc_cfg_ptr->CpuBaseAddress);
//设置并打开中断异常处理功能
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
(Xil_ExceptionHandler)XScuGic_InterruptHandler, intc_ptr);
Xil_ExceptionEnable();
XScuGic_Connect(intc_ptr, SOFT_INTR_ID_TO_CPU0,
(Xil_ExceptionHandler)soft_intr_handler, (void *)intc_ptr);
XScuGic_Enable(intc_ptr, SOFT_INTR_ID_TO_CPU0); //CPU0软件中断
}
//软件中断函数
void soft_intr_handler(void *CallbackRef)
{
xil_printf("This is A9 CPU0,Soft Interrupt from A9 CPU1\r\n");
xil_printf("\r\n");
inter_flag = 0;
}
其lscript.ld如下：
/*******************************************************************/
/* */
/* This file is automatically generated by linker script generator.*/
/* */
/* Version: 2019.1 */
/* */
/* Copyright (c) 2010-2016 Xilinx, Inc. All rights reserved. */
/* */
/* Description : Cortex-A9 Linker Script */
/* */
/*******************************************************************/
_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x2000;
_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x2000;
_ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024;
_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048;
_IRQ_STACK_SIZE = DEFINED(_IRQ_STACK_SIZE) ? _IRQ_STACK_SIZE : 1024;
_FIQ_STACK_SIZE = DEFINED(_FIQ_STACK_SIZE) ? _FIQ_STACK_SIZE : 1024;
_UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;
/* Define Memories in the system */
MEMORY
{
ps7_ddr_0 : ORIGIN = 0x100000, LENGTH = 0x1FF00000
ps7_qspi_linear_0 : ORIGIN = 0xFC000000, LENGTH = 0x1000000
ps7_ram_0 : ORIGIN = 0x0, LENGTH = 0x30000
ps7_ram_1 : ORIGIN = 0xFFFF0000, LENGTH = 0xFE00
}
/* Specify the default entry point to the program */
ENTRY(_vector_table)
/* Define the sections, and where they are mapped in memory */
SECTIONS
{
.text : {
KEEP (*(.vectors))
*(.boot)
*(.text)
*(.text.*)
*(.gnu.linkonce.t.*)
*(.plt)
*(.gnu_warning)
*(.gcc_execpt_table)
*(.glue_7)
*(.glue_7t)
*(.vfp11_veneer)
*(.ARM.extab)
*(.gnu.linkonce.armextab.*)
} > ps7_ddr_0
.init : {
KEEP (*(.init))
} > ps7_ddr_0
.fini : {
KEEP (*(.fini))
} > ps7_ddr_0
.rodata : {
__rodata_start = .;
*(.rodata)
*(.rodata.*)
*(.gnu.linkonce.r.*)
__rodata_end = .;
} > ps7_ddr_0
.rodata1 : {
__rodata1_start = .;
*(.rodata1)
*(.rodata1.*)
__rodata1_end = .;
} > ps7_ddr_0
.sdata2 : {
__sdata2_start = .;
*(.sdata2)
*(.sdata2.*)
*(.gnu.linkonce.s2.*)
__sdata2_end = .;
} > ps7_ddr_0
.sbss2 : {
__sbss2_start = .;
*(.sbss2)
*(.sbss2.*)
*(.gnu.linkonce.sb2.*)
__sbss2_end = .;
} > ps7_ddr_0
.data : {
__data_start = .;
*(.data)
*(.data.*)
*(.gnu.linkonce.d.*)
*(.jcr)
*(.got)
*(.got.plt)
__data_end = .;
} > ps7_ddr_0
.data1 : {
__data1_start = .;
*(.data1)
*(.data1.*)
__data1_end = .;
} > ps7_ddr_0
.got : {
*(.got)
} > ps7_ddr_0
.ctors : {
__CTOR_LIST__ = .;
___CTORS_LIST___ = .;
KEEP (*crtbegin.o(.ctors))
KEEP (*(EXCLUDE_FILE(*crtend.o) .ctors))
KEEP (*(SORT(.ctors.*)))
KEEP (*(.ctors))
__CTOR_END__ = .;
___CTORS_END___ = .;
} > ps7_ddr_0
.dtors : {
__DTOR_LIST__ = .;
___DTORS_LIST___ = .;
KEEP (*crtbegin.o(.dtors))
KEEP (*(EXCLUDE_FILE(*crtend.o) .dtors))
KEEP (*(SORT(.dtors.*)))
KEEP (*(.dtors))
__DTOR_END__ = .;
___DTORS_END___ = .;
} > ps7_ddr_0
.fixup : {
__fixup_start = .;
*(.fixup)
__fixup_end = .;
} > ps7_ddr_0
.eh_frame : {
*(.eh_frame)
} > ps7_ddr_0
.eh_framehdr : {
__eh_framehdr_start = .;
*(.eh_framehdr)
__eh_framehdr_end = .;
} > ps7_ddr_0
.gcc_except_table : {
*(.gcc_except_table)
} > ps7_ddr_0
.mmu_tbl (ALIGN(16384)) : {
__mmu_tbl_start = .;
*(.mmu_tbl)
__mmu_tbl_end = .;
} > ps7_ddr_0
.ARM.exidx : {
__exidx_start = .;
*(.ARM.exidx*)
*(.gnu.linkonce.armexidix.*.*)
__exidx_end = .;
} > ps7_ddr_0
.preinit_array : {
__preinit_array_start = .;
KEEP (*(SORT(.preinit_array.*)))
KEEP (*(.preinit_array))
__preinit_array_end = .;
} > ps7_ddr_0
.init_array : {
__init_array_start = .;
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array))
__init_array_end = .;
} > ps7_ddr_0
.fini_array : {
__fini_array_start = .;
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array))
__fini_array_end = .;
} > ps7_ddr_0
.ARM.attributes : {
__ARM.attributes_start = .;
*(.ARM.attributes)
__ARM.attributes_end = .;
} > ps7_ddr_0
.sdata : {
__sdata_start = .;
*(.sdata)
*(.sdata.*)
*(.gnu.linkonce.s.*)
__sdata_end = .;
} > ps7_ddr_0
.sbss (NOLOAD) : {
__sbss_start = .;
*(.sbss)
*(.sbss.*)
*(.gnu.linkonce.sb.*)
__sbss_end = .;
} > ps7_ddr_0
.tdata : {
__tdata_start = .;
*(.tdata)
*(.tdata.*)
*(.gnu.linkonce.td.*)
__tdata_end = .;
} > ps7_ddr_0
.tbss : {
__tbss_start = .;
*(.tbss)
*(.tbss.*)
*(.gnu.linkonce.tb.*)
__tbss_end = .;
} > ps7_ddr_0
.bss (NOLOAD) : {
__bss_start = .;
*(.bss)
*(.bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
__bss_end = .;
} > ps7_ddr_0
_SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
_SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
/* Generate Stack and Heap definitions */
.heap (NOLOAD) : {
. = ALIGN(16);
_heap = .;
HeapBase = .;
_heap_start = .;
. += _HEAP_SIZE;
_heap_end = .;
HeapLimit = .;
} > ps7_ddr_0
.stack (NOLOAD) : {
. = ALIGN(16);
_stack_end = .;
. += _STACK_SIZE;
. = ALIGN(16);
_stack = .;
__stack = _stack;
. = ALIGN(16);
_irq_stack_end = .;
. += _IRQ_STACK_SIZE;
. = ALIGN(16);
__irq_stack = .;
_supervisor_stack_end = .;
. += _SUPERVISOR_STACK_SIZE;
. = ALIGN(16);
__supervisor_stack = .;
_abort_stack_end = .;
. += _ABORT_STACK_SIZE;
. = ALIGN(16);
__abort_stack = .;
_fiq_stack_end = .;
. += _FIQ_STACK_SIZE;
. = ALIGN(16);
__fiq_stack = .;
_undef_stack_end = .;
. += _UNDEF_STACK_SIZE;
. = ALIGN(16);
__undef_stack = .;
} > ps7_ddr_0
_end = .;
}
amp2_self中的cpu1.c如下：
#include "xparameters.h"
#include "xscugic.h"
#include "xil_printf.h"
#include "xil_exception.h"
#include "xil_mmu.h"
#include "stdio.h"
//宏定义
#define INTC_DEVICE_ID XPAR_SCUGIC_SINGLE_DEVICE_ID //中断ID
#define SHARE_BASE 0xffff0000 //共享OCM首地址
#define SOFT_INTR_ID_TO_CPU0 0 //软件中断号 0 ,范围：0~15
#define SOFT_INTR_ID_TO_CPU1 1 //软件中断号 1 ,范围：0~15
#define CPU0_ID 1 //CPU1 ID,0bxxxxxxx1指向CPU0
//函数声明
void cpu1_intr_init(XScuGic *intc_ptr);
void soft_intr_handler(void *CallbackRef);
//全局变量
XScuGic Intc; //中断控制器驱动程序实例
int soft_intr_flag = 0;
int test_data;
//CPU1 main函数
int main()
{
Xil_SetTlbAttributes(SHARE_BASE,0x14de2); //禁用OCM的Cache属性
//CPU1中断初始化
cpu1_intr_init(&Intc);
while(1){
if(soft_intr_flag){
test_data = Xil_In8(SHARE_BASE); //从共享OCM中读出数据
xil_printf("CUP1 Received data is %d\r\n",test_data) ;
//给给CPU0触发中断
XScuGic_SoftwareIntr(&Intc,SOFT_INTR_ID_TO_CPU0,CPU0_ID);
soft_intr_flag = 0;
}
}
return 0 ;
}
//CPU1中断初始化
void cpu1_intr_init(XScuGic *intc_ptr)
{
//初始化中断控制器
XScuGic_Config *intc_cfg_ptr;
intc_cfg_ptr = XScuGic_LookupConfig(INTC_DEVICE_ID);
XScuGic_CfgInitialize(intc_ptr, intc_cfg_ptr,
intc_cfg_ptr->CpuBaseAddress);
//设置并打开中断异常处理功能
Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
(Xil_ExceptionHandler)XScuGic_InterruptHandler, intc_ptr);
Xil_ExceptionEnable();
XScuGic_Connect(intc_ptr, SOFT_INTR_ID_TO_CPU1,
(Xil_ExceptionHandler)soft_intr_handler, (void *)intc_ptr);
XScuGic_Enable(intc_ptr, SOFT_INTR_ID_TO_CPU1); //CPU1软件中断
}
//软件中断函数
void soft_intr_handler(void *CallbackRef)
{
xil_printf("This is A9 CUP1,Soft Interrupt from A9 CPU0\r\n") ;
soft_intr_flag = 1;
}
其lscript.ld如下：
/*******************************************************************/
/* */
/* This file is automatically generated by linker script generator.*/
/* */
/* Version: 2018.3 */
/* */
/* Copyright (c) 2010-2016 Xilinx, Inc. All rights reserved. */
/* */
/* Description : Cortex-A9 Linker Script */
/* */
/*******************************************************************/
_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x2000;
_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x2000;
_ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024;
_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048;
_IRQ_STACK_SIZE = DEFINED(_IRQ_STACK_SIZE) ? _IRQ_STACK_SIZE : 1024;
_FIQ_STACK_SIZE = DEFINED(_FIQ_STACK_SIZE) ? _FIQ_STACK_SIZE : 1024;
_UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;
/* Define Memories in the system */
MEMORY
{
ps7_ddr_0 : ORIGIN = 0x10000000 , LENGTH = 0x1FF00000
ps7_qspi_linear_0 : ORIGIN = 0xFC000000, LENGTH = 0x1000000
ps7_ram_0 : ORIGIN = 0x0, LENGTH = 0x30000
ps7_ram_1 : ORIGIN = 0xFFFF0000, LENGTH = 0xFE00
}
/* Specify the default entry point to the program */
ENTRY(_vector_table)
/* Define the sections, and where they are mapped in memory */
SECTIONS
{
.text : {
KEEP (*(.vectors))
*(.boot)
*(.text)
*(.text.*)
*(.gnu.linkonce.t.*)
*(.plt)
*(.gnu_warning)
*(.gcc_execpt_table)
*(.glue_7)
*(.glue_7t)
*(.vfp11_veneer)
*(.ARM.extab)
*(.gnu.linkonce.armextab.*)
} > ps7_ddr_0
.init : {
KEEP (*(.init))
} > ps7_ddr_0
.fini : {
KEEP (*(.fini))
} > ps7_ddr_0
.rodata : {
__rodata_start = .;
*(.rodata)
*(.rodata.*)
*(.gnu.linkonce.r.*)
__rodata_end = .;
} > ps7_ddr_0
.rodata1 : {
__rodata1_start = .;
*(.rodata1)
*(.rodata1.*)
__rodata1_end = .;
} > ps7_ddr_0
.sdata2 : {
__sdata2_start = .;
*(.sdata2)
*(.sdata2.*)
*(.gnu.linkonce.s2.*)
__sdata2_end = .;
} > ps7_ddr_0
.sbss2 : {
__sbss2_start = .;
*(.sbss2)
*(.sbss2.*)
*(.gnu.linkonce.sb2.*)
__sbss2_end = .;
} > ps7_ddr_0
.data : {
__data_start = .;
*(.data)
*(.data.*)
*(.gnu.linkonce.d.*)
*(.jcr)
*(.got)
*(.got.plt)
__data_end = .;
} > ps7_ddr_0
.data1 : {
__data1_start = .;
*(.data1)
*(.data1.*)
__data1_end = .;
} > ps7_ddr_0
.got : {
*(.got)
} > ps7_ddr_0
.ctors : {
__CTOR_LIST__ = .;
___CTORS_LIST___ = .;
KEEP (*crtbegin.o(.ctors))
KEEP (*(EXCLUDE_FILE(*crtend.o) .ctors))
KEEP (*(SORT(.ctors.*)))
KEEP (*(.ctors))
__CTOR_END__ = .;
___CTORS_END___ = .;
} > ps7_ddr_0
.dtors : {
__DTOR_LIST__ = .;
___DTORS_LIST___ = .;
KEEP (*crtbegin.o(.dtors))
KEEP (*(EXCLUDE_FILE(*crtend.o) .dtors))
KEEP (*(SORT(.dtors.*)))
KEEP (*(.dtors))
__DTOR_END__ = .;
___DTORS_END___ = .;
} > ps7_ddr_0
.fixup : {
__fixup_start = .;
*(.fixup)
__fixup_end = .;
} > ps7_ddr_0
.eh_frame : {
*(.eh_frame)
} > ps7_ddr_0
.eh_framehdr : {
__eh_framehdr_start = .;
*(.eh_framehdr)
__eh_framehdr_end = .;
} > ps7_ddr_0
.gcc_except_table : {
*(.gcc_except_table)
} > ps7_ddr_0
.mmu_tbl (ALIGN(16384)) : {
__mmu_tbl_start = .;
*(.mmu_tbl)
__mmu_tbl_end = .;
} > ps7_ddr_0
.ARM.exidx : {
__exidx_start = .;
*(.ARM.exidx*)
*(.gnu.linkonce.armexidix.*.*)
__exidx_end = .;
} > ps7_ddr_0
.preinit_array : {
__preinit_array_start = .;
KEEP (*(SORT(.preinit_array.*)))
KEEP (*(.preinit_array))
__preinit_array_end = .;
} > ps7_ddr_0
.init_array : {
__init_array_start = .;
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array))
__init_array_end = .;
} > ps7_ddr_0
.fini_array : {
__fini_array_start = .;
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array))
__fini_array_end = .;
} > ps7_ddr_0
.ARM.attributes : {
__ARM.attributes_start = .;
*(.ARM.attributes)
__ARM.attributes_end = .;
} > ps7_ddr_0
.sdata : {
__sdata_start = .;
*(.sdata)
*(.sdata.*)
*(.gnu.linkonce.s.*)
__sdata_end = .;
} > ps7_ddr_0
.sbss (NOLOAD) : {
__sbss_start = .;
*(.sbss)
*(.sbss.*)
*(.gnu.linkonce.sb.*)
__sbss_end = .;
} > ps7_ddr_0
.tdata : {
__tdata_start = .;
*(.tdata)
*(.tdata.*)
*(.gnu.linkonce.td.*)
__tdata_end = .;
} > ps7_ddr_0
.tbss : {
__tbss_start = .;
*(.tbss)
*(.tbss.*)
*(.gnu.linkonce.tb.*)
__tbss_end = .;
} > ps7_ddr_0
.bss (NOLOAD) : {
__bss_start = .;
*(.bss)
*(.bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
__bss_end = .;
} > ps7_ddr_0
_SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
_SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
/* Generate Stack and Heap definitions */
.heap (NOLOAD) : {
. = ALIGN(16);
_heap = .;
HeapBase = .;
_heap_start = .;
. += _HEAP_SIZE;
_heap_end = .;
HeapLimit = .;
} > ps7_ddr_0
.stack (NOLOAD) : {
. = ALIGN(16);
_stack_end = .;
. += _STACK_SIZE;
. = ALIGN(16);
_stack = .;
__stack = _stack;
. = ALIGN(16);
_irq_stack_end = .;
. += _IRQ_STACK_SIZE;
. = ALIGN(16);
__irq_stack = .;
_supervisor_stack_end = .;
. += _SUPERVISOR_STACK_SIZE;
. = ALIGN(16);
__supervisor_stack = .;
_abort_stack_end = .;
. += _ABORT_STACK_SIZE;
. = ALIGN(16);
__abort_stack = .;
_fiq_stack_end = .;
. += _FIQ_STACK_SIZE;
. = ALIGN(16);
__fiq_stack = .;
_undef_stack_end = .;
. += _UNDEF_STACK_SIZE;
. = ALIGN(16);
__undef_stack = .;
} > ps7_ddr_0
_end = .;
}
注意俩lscript.ld的差异只在于基地址！
随后需要的配置如下：
修改成如下：
-mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -nostartfiles -g -Wall -Wextra -DUSE_AMP=1
运行前如下配置：
裸机测试效果如下：
结果符合预期！
15.3 驱动开发的例子
看到野火STM32可以使用异构多核通信的驱动开发教程，想着试试，但后来发现arm不支持，看下grep的结果：
dention@ubuntu:~/petalinux_proj/test_peta/proj_peta$ grep -rl "ipcc" ./
./images/linux/System.map.linux
./images/linux/vmlinux
./build/tmp/work-shared/plnx-zynq7/kernel-source/Documentation/devicetree/bindings/mailbox/stm32-ipcc.txt
./build/tmp/work-shared/plnx-zynq7/kernel-source/.git/index
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/gpu/drm/amd/include/asic_reg/gca/gfx_8_0_sh_mask.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/gpu/drm/amd/include/asic_reg/gca/gfx_7_2_sh_mask.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/gpu/drm/amd/include/asic_reg/gca/gfx_6_0_sh_mask.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/gpu/drm/amd/include/asic_reg/gca/gfx_8_1_sh_mask.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/net/wireless/realtek/rtlwifi/rtl8723be/trx.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/net/wireless/realtek/rtlwifi/rtl8192ce/trx.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/net/wireless/realtek/rtlwifi/rtl8723ae/trx.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/net/wireless/realtek/rtlwifi/rtl8192cu/mac.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/net/wireless/realtek/rtlwifi/rtl8821ae/trx.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/net/wireless/realtek/rtlwifi/rtl8192de/trx.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/net/wireless/realtek/rtlwifi/rtl8188ee/trx.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/net/wireless/realtek/rtlwifi/rtl8192ee/trx.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/mailbox/Makefile
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/mailbox/stm32-ipcc.c
./build/tmp/work-shared/plnx-zynq7/kernel-source/drivers/clk/clk-stm32mp1.c
./build/tmp/work-shared/plnx-zynq7/kernel-source/ipc/msg.c
./build/tmp/work-shared/plnx-zynq7/kernel-source/ipc/util.h
./build/tmp/work-shared/plnx-zynq7/kernel-source/ipc/shm.c
./build/tmp/work-shared/plnx-zynq7/kernel-source/ipc/util.c
./build/tmp/work-shared/plnx-zynq7/kernel-source/ipc/sem.c
./build/tmp/work-shared/plnx-zynq7/kernel-build-artifacts/System.map-4.19.0-xilinx-v2019.1
./build/tmp/sysroots-components/cortexa9t2hf-neon/perl/usr/lib/perl/5.24.4/CORE/embed.h
./build/tmp/sysroots-components/cortexa9t2hf-neon/perl/usr/lib/perl/5.24.4/CORE/proto.h
还是挺无奈的！不过算是一次记录，万一将来需要！
用了将近三周的时间，总算把alinx和野火的知识讲解部分整理完了！
接下来得回头把中断处理一下了！
总结
补充了网卡驱动和异构多核裸机开发的例子。