OMAPL多核异构通信驱动AD9833-Notify组件demo

[carloscn]

#OMAPL多核异构通信驱动AD9833-Notify组件demo

OMAPL多核通信有三个主要机制，Notify,MessageQ,RegionShare;这里主要利用了Notify机制进行通信控制。

要做一个什么实验？

简单的说，ARM跑一个界面上面有一些按钮，DSP负责驱动AD9833产生正弦、方波和三角波，写入频率信息。这个实验结构是一个经典的单向的传输结构，由用户触发ARM跑的界面上的按钮，发出消息通知DSP，DSP控制AD9833产生波形，写入频率字等信息。

那么ARM的Linux端首选Qt，DSP端的程序使用SYSLINK/BIOS实施操作系统，IPC通讯组件使用Notify。

视频预览：

<iframe height=498 width=510 src='https://player.youku.com/embed/XMzY1MjUwNDI0OA==' frameborder=0 'allowfullscreen'></iframe>

多核通信工程目录结构

几个文件，arm，dsp，run，shared，还有makefile文件，makefile文件自己要会修改。

DSP端程序

DSP端程序对于用户来讲ad9833_dev.c ad9833_server.c main.c 三个主要的文件，

• ad9833_dev.c 为AD9833底层驱动，负责写时序，写参数的
• ad9833_server.c 相当于以太网scoket通信因子，负责进行多核通信和调用dev中的api的
• main.c 为dspbios启动，初始化操作。

环境搭建正确之后，最核心的就是这三个东西，对还有个makefile要配置正确。我在环境调试的时间花的比开发时间多的多，最重要的就是要环境配置正确，库啊，路径啊，这类的。

AD9833底层驱动-ad9833_dev.c

我们这里给出接口函数目录，具体实现不给出：

enum ad9833_wavetype_t{
    SIN,SQU,TRI
};

struct ad9833_hw_t {

    uint16 clk;
    uint16 sdi;
    uint16 fsy;
};
// AD9833结构体表述
typedef struct ad9833_t {

    struct ad9833_hw_t hw;
    struct ad9833_t *self;
    enum ad9833_wavetype_t wave_type;

    u16 delay;

    void (*write_reg)( struct ad9833_t *self, u16 reg_value);
    void (*init_device)( struct ad9833_t *self );
    void (*set_wave_freq)( struct ad9833_t *self , float freqs_data);
    void (*set_wave_type)( struct ad9833_t *self, enum ad9833_wavetype_t wave_type );
    void (*set_wave_phase)( struct ad9833_t *self, u16 phase );
    void (*set_wave_para)( struct ad9833_t *self, u32 freqs_data, u16 phase, enum ad9833_wavetype_t wave_type );
} AD9833;
// 函数列表
void    ad9833_set_para( struct ad9833_t *self,u32 freqs_data, u16 phase, enum ad9833_wavetype_t wave_type );
void    ad9833_device_init( struct ad9833_t *self );
void    ad9833_write_reg( struct ad9833_t *self, uint16_t data );
void    ad9833_delay( struct ad9833_t *self );
void    ad9833_gpio_init( void );
void    ad9833_set_wave_type( struct ad9833_t *self, enum ad9833_wavetype_t wave_type );

void    ad9833_set_phase( struct ad9833_t *self, uint16_t  phase );
void    ad9833_set_freq( struct ad9833_t *self,  float freq );
void    ad9833_dev_destroy( AD9833 *dev );
void	ad9833_dev_new();

AD9833的驱动，按照手册进行编辑，然后封装成这个样子，这里一定需要有的函数是：

• ad9833_dev_new()
• ad9833_dev_destroy()

这两个函数需要在ad9833_server里面运行。
AD9833这块就不多说了，我们主要来说多核通信这块的知识。

IPC之Notify机制-ad9833_server.c

结构体建立

ad9833_server结构体的建立：

typedef struct ad9833_server_t {
	// 3个id
    uint8_t host_id;		
    uint8_t line_id;
    uint8_t event_id;
	// 连接状态
    bool connected;
    bool quit;
	// 信号量的机制
    Semaphore_Struct sem_obj;
    Semaphore_Handle sem;
    uint32_t payload;
	// 底层设备，ad9833_dev.c的驱动结构体
    AD9833 *dev;
} AD9833_SERVER ;

*** 3个ID**
host id： 在BIOS里面有设定
line_id，event_id: 在shared文件夹内有个SystemCfg.h里面定义了这两个ID

/* ti.ipc.Notify system configuration */
#define SystemCfg_LineId        0
#define SystemCfg_EventId       7

*** 信号量**

l提供对共享资源的的互斥访问,最多直接64个独立的信号量,信号量请求方式
——直接方式
——间接方式
——混合方式
l不分大小端
l信号量的原子操作
l锁存模式（信号量被使用时）
l排队等待信号量
l获取信号量时产生中断
l支持信号量状态检测
l错误检测和错误中断

通过以上阅读就可以知道信号量是做什么的了。

*** 底层设备**
需要通过server结构体的实例化对AD9833实行操控。

####服务函数

Notify必不可少的几个函数：

• 事件注册函数：static void ad9833_server_on_event(**uint16_t proc_id, uint16_t line_id, uint32_t event_id, UArg arg, uint32_t payloa**)
• 事件销毁函数：void ad9833_server_destroy(AD9833_SERVER *server)
• 运行函数： void ad9833_server_run(AD9833_SERVER *server)
• 命令接收函数： static uint32_t ad9833_server_wait_command(AD9833_SERVER *server)
• 命令执行函数：static void ad9833_server_handle_command(AD9833_SERVER *server, uint32_t cmd)

基本上有了这些函数之后，就可以完成对于Notify服务函数的处理：

Ad9833Server	*ad9833_server_new( uint16_t host_id, uint16_t line_id, uint32_t event_id )
{
	Ad9833Server	*server = ( Ad9833Server * )calloc(1,sizeof( Ad9833Server ));
	server->host_id			=	host_id;
	server->line_id			=	line_id;
	server->event_id			=	event_id;
	server->quit			=	false;
	server->connected		=	false;

	server->dev				=	ad9833_dev_new();
	Semaphore_Params	params;
	Semaphore_Params_init( &params );
	params.mode				=	Semaphore_Mode_COUNTING;
	Semaphore_construct(&server->sem_obj,0,&params);
	server->sem = Semaphore_handle(&server->sem_obj);

	if( Notify_registerEvent( \
		server->host_id, \
		server->line_id, \
		server->event_id, \
		ad9833_server_start_event, \
		(UArg)server ) < 0 ) {
		printf( "fail to register event in %d:%d(line:event)", server->line_id, server->event_id );
	}

	return server;
}

static void	ad9833_server_start_event( uint16_t proc_id, uint16_t line_id, uint32_t event_id, UArg arg, uint32_t payload )
{
	Ad9833Server	*server 	=	(Ad9833Server *)arg;

	Notify_disableEvent( server->host_id, server->line_id, server->event_id );
	//ASSERT( server->payload == APP_CMD_NULL );
	server->payload	=	payload;
	Semaphore_post( server->sem );
}

void	ad9833_server_destroy( Ad9833Server *self )
{
	if( !self ) return;
	Notify_unregisterEvent( self->host_id, self->line_id, self->event_id, ad9833_server_start_event, (UArg)self );
	Semaphore_destruct(&self->sem_obj);
	ad9833_dev_destroy(self->dev);
	free(self);

}

void	ad9833_server_run( Ad9833Server *self )
{
	//ASSERT(self);
	printf( "ad9833_server running...\n" );
	while( ! self->quit ){
		uint32_t cmd	=	ad9833_server_wait_command( self );
		ad9833_server_handle_command( self, cmd );
	}

	printf( "ad9833 server is stopped!\n" );

}

static uint32_t	ad9833_server_wait_command( Ad9833Server *self )
{
	Semaphore_pend( self->sem, BIOS_WAIT_FOREVER );
	uint32_t cmd = self->payload;
	self->payload	=	APP_CMD_NULL;
	Notify_enableEvent( self->host_id, self->line_id, self->event_id );

	return cmd;
}

static uint32_t	ad9833_server_wait_command( Ad9833Server *self )
{
	Semaphore_pend( self->sem, BIOS_WAIT_FOREVER );
	uint32_t cmd = self->payload;
	self->payload	=	APP_CMD_NULL;
	Notify_enableEvent( self->host_id, self->line_id, self->event_id );

	return cmd;
}

static void ad9833_server_handle_command( Ad9833Server *self, uint32_t cmd )
{
	if( !self->connected && cmd != APP_CMD_CONNECTED ) {
		printf( "disconnect client \n" );
	}
	switch( cmd ) {

	case APP_CMD_CONNECTED:
        //ASSERT(! self->connected);
        //LOG_DEBUG("led client had connected");
        self->connected = true;
		break;

	case APP_CMD_DISCONNECTED:
		//ASSERT( self->connected );

		self->connected	=	false;
		self->quit	= true;

		break;

	case	APP_CMD_SETSINE:

		self->dev->set_wave_type( self->dev, SIN );

		break;

	case	APP_CMD_SETSEQ:

		self->dev->set_wave_type( self->dev, SQU );

		break;

	case	APP_CMD_SETTRI:

		self->dev->set_wave_type( self->dev, TRI );

		break;

	case 	APP_CMD_SETFREQ_UP:

		self->dev->set_wave_freq( self->dev, current_freq += 10 );
		if( current_freq > 50000 ) {
			current_freq = 50000;
		}
		break;

	case 	APP_CMD_SETPHASE_UP:

		self->dev->set_wave_phase( self->dev, current_phase += 1 );
		if( current_phase > 360 ) {
			current_phase = 360;
		}

		break;

	case	APP_CMD_SETFREQ_DOWN:

		self->dev->set_wave_freq( self->dev, current_freq -= 10 );
		if( current_freq < 10 ) {
			current_freq = 10;
		}

		break;
	case 	APP_CMD_SETPHASE_DOWN:

		self->dev->set_wave_phase( self->dev, current_phase -= 1 );
		if( current_phase < 1 ) {
			current_phase = 0;
		}
	}
}

SYSBIOS启动服务

AD9833	*ad9833_handle;

Int main()
{ 
    Task_Handle task;
    Error_Block eb;
    System_printf("enter main()\n");
    Error_init(&eb);
    ad9833_handle 	=	ad9833_dev_new();
    task = Task_create(taskFxn, NULL, &eb);
    if (task == NULL) {
        System_printf("Task_create() failed!\n");
        BIOS_exit(0);
    }

    BIOS_start();    /* does not return */
    return(0);
}

Void taskFxn(UArg a0, UArg a1)
{
    System_printf("enter taskFxn()\n");
    printf("Hello sysbios.\n");
    ad9833_handle->set_wave_para( ad9833_handle, 5000, 0, SIN );


    Task_sleep(1500);
    ad9833_handle->set_wave_type( ad9833_handle, SQU );
    Task_sleep(1500);
    ad9833_handle->set_wave_type( ad9833_handle, TRI );
    Task_sleep(1500);
    ad9833_handle->set_wave_freq( ad9833_handle, 1000.0f );
    System_printf("exit taskFxn()\n");
}

到此我们就完成了对于多核通信的Notify DSP端程序。

ARM端Qt程序

在ARM端有Qt程序，Qt主程序中对syslink的初始化，需要注册几个事件：

    SysLink_setup();
    this->m_slave_id    =   MultiProc_getId("DSP");

    if( Ipc_control(this->m_slave_id, Ipc_CONTROLCMD_LOADCALLBACK, NULL ) < 0) {
        LOG_ERROR("load callback failed");
    }

    if( Ipc_control(this->m_slave_id, Ipc_CONTROLCMD_STARTCALLBACK, NULL ) < 0 ) {
        LOG_ERROR("start callback failed");
    }

    m_dev   =   new ad9833_client( this->m_slave_id, SystemCfg_LineId, SystemCfg_EventId );
    if( ! this->m_dev->connect() ) {
        LOG_ERROR("failed to connect to led server");
    }else {
        LOG_DEBUG("connect to led server");
    }

需要建立服务函数：

#include "ad9833_client.h"
#include "ti/syslink/Std.h"
#include "ti/ipc/Notify.h"
#include "unistd.h"
#include "log.h"

ad9833_client::ad9833_client(uint16_t slave_id, uint16_t line_id, uint16_t event_id )
    : m_slave_id(slave_id),m_line_id(line_id),m_event_id(event_id)
{

}

ad9833_client::~ad9833_client() {

}

bool    ad9833_client::connect() {
    int status;

    do {
        LOG_DEBUG("try to connect!\n");
        status = Notify_sendEvent( this->m_slave_id,  \
                                   this->m_line_id,   \
                                   this->m_event_id,  \
                                   APP_CMD_CONNECTED, \
                                   TRUE );
        if( status != Notify_E_EVTNOTREGISTERED ) {
            usleep(100);
        }
    }while( status == Notify_E_EVTNOTREGISTERED );

    if( status != Notify_S_SUCCESS ) {
        LOG_ERROR("failed to send connect command\n");
        return false;
    }

    LOG_DEBUG("send connected command");
    return true;
}

bool    ad9833_client::send_cmd( uint16_t cmd )
{
    int status = Notify_sendEvent( this->m_slave_id, \
                                   this->m_line_id,  \
                                   this->m_event_id, \
                                   cmd,              \
                                   TRUE);
    if( status < 0 ) {
        LOG_DEBUG("fail to send command: %d", cmd);
        return false;
    }
    LOG_DEBUG("send command: %d", cmd);
    return true;
}

bool    ad9833_client::disconnect()
{
    LOG_DEBUG("disconnect with server");
    return this->send_cmd(APP_CMD_DISCONNECTED);
}

bool    ad9833_client::set_freq_down()
{
    LOG_DEBUG("set freq down with server");
    return this->send_cmd(APP_CMD_SETFREQ_DOWN);
}

bool    ad9833_client::set_freq_up()
{
    LOG_DEBUG("set freq up with server");
    return this->send_cmd(APP_CMD_SETFREQ_UP);
}

bool    ad9833_client::set_phase_down()
{
    LOG_DEBUG("set phase down with server");
    return this->send_cmd(APP_CMD_SETPHASE_DOWN);
}

bool    ad9833_client::set_phase_up()
{
    LOG_DEBUG("set phase up with server");
    return this->send_cmd(APP_CMD_SETPHASE_UP);
}
bool    ad9833_client::set_wave_type(WAVE_TYPE type)
{
    if( type == SIN ) {
        LOG_DEBUG("set wave type is sine");
        this->send_cmd( APP_CMD_SETSINE );
    }else if( type == SQU ) {
        LOG_DEBUG("set wave type is squ");
        this->send_cmd( APP_CMD_SETSEQ );
    }else {
        LOG_DEBUG("set wave type is tri");
        this->send_cmd( APP_CMD_SETTRI );
    }
}

#ifndef AD9833_CLIENT_H
#define AD9833_CLIENT_H
#include "stdint.h"
#include "app_common.h"

typedef enum wave_type_t { SIN=0,SQU,TRI } WAVE_TYPE;

class ad9833_client
{
public:
    explicit ad9833_client( uint16_t  slave_id, uint16_t line_id, uint16_t event_id  );
    ~ad9833_client();

    bool    connect();
    bool    disconnect();


    bool    set_wave_type( WAVE_TYPE type );
    bool    set_freq_up();
    bool    set_freq_down();
    bool    set_phase_up();
    bool    set_phase_down();

private:

    bool    send_cmd( uint16_t cmd );

private:

    uint16_t    m_slave_id;
    uint16_t    m_line_id;
    uint16_t    m_event_id;

};

#endif // AD9833_CLIENT_H

源程序： 链接: https://pan.baidu.com/s/1sxjQaalhhtNcIBGKPlnxmg 密码: ya8g

参考文献

[1] ti/wiki, IPC Users Guide/Notify Module, 19 July 2014, at 13:36
[2] ti/wiki, IPC API-Notify.h File Reference 3.40.00.06, 2015
[3] ti/wiki, SysLink UserGuide/Notify, 24 July 2014, at 09:26.