Add openamp library + wrapper

Author: facchinm

cores/arduino/RPC.cpp

@@ -0,0 +1,81 @@
+#include "RPC.h"
+
+int RPC::rpmsg_recv_service_callback(struct rpmsg_endpoint *ept, void *data,
+                                       size_t len, uint32_t src, void *priv)
+{
+  RPC* rpc = (RPC*)priv;
+  service_request* s = ((service_request *) data);
+  if (s->code == REQUEST_REBOOT) {
+    NVIC_SystemReset();
+  }
+  return 0;
+}
+
+int RPC::rpmsg_recv_raw_callback(struct rpmsg_endpoint *ept, void *data,
+                                       size_t len, uint32_t src, void *priv)
+{
+  RPC* rpc = (RPC*)priv;
+  uint8_t* buf = (uint8_t*)data;
+  for (int i=0; i<len; i++) {
+    rpc->rx_buffer.store_char(buf[i]);
+  }
+  return 0;
+}
+
+int RPC::begin() {
+
+  /*HW semaphore Clock enable*/
+  __HAL_RCC_HSEM_CLK_ENABLE();
+  /*HW semaphore Notification enable*/
+  HAL_HSEM_ActivateNotification(__HAL_HSEM_SEMID_TO_MASK(HSEM_ID_0));
+
+  /* Inilitize the mailbox use notify the other core on new message */
+  MAILBOX_Init();
+
+  /* Inilitize OpenAmp and libmetal libraries */
+  if (MX_OPENAMP_Init(RPMSG_REMOTE, NULL) !=  0) {
+    return 0;
+  }
+
+  rp_endpoints[0].priv = this;
+  rp_endpoints[1].priv = this;
+
+  /* create a endpoint for rmpsg communication */
+  int status = OPENAMP_create_endpoint(&rp_endpoints[0], "service", RPMSG_ADDR_ANY,
+                                   rpmsg_recv_service_callback, NULL);
+  if (status < 0)
+  {
+    return 0;
+  }
+
+  /* create a endpoint for raw rmpsg communication */
+  status = OPENAMP_create_endpoint(&rp_endpoints[1], "raw", RPMSG_ADDR_ANY,
+                                   rpmsg_recv_raw_callback, NULL);
+  if (status < 0)
+  {
+    return 0;
+  }
+
+  eventThread = new rtos::Thread(osPriorityNormal);
+  eventThread->start(callback(&eventQueue, &events::EventQueue::dispatch_forever));
+  ticker.attach(eventQueue.event(&OPENAMP_check_for_message), 0.02f);
+
+  initialized = true;
+  return 1;
+}
+
+size_t RPC::write(const uint8_t* buf, size_t len) {
+  OPENAMP_send(&rp_endpoints[1], buf, len);
+  return len;
+}
+
+size_t RPC::write(uint8_t c) {
+  OPENAMP_send(&rp_endpoints[1], &c, 1);
+  return 1;
+}
+
+int RPC::request(service_request* s) {
+  return OPENAMP_send(&rp_endpoints[0], s, sizeof(*s) + s->length);
+}
+
+arduino::RPC RPC1;

cores/arduino/RPC.h

@@ -0,0 +1,69 @@
+#ifdef __cplusplus
+
+#ifndef __ARDUINO_RPC_IMPLEMENTATION__
+#define __ARDUINO_RPC_IMPLEMENTATION__
+
+#include "Arduino.h"
+
+extern "C" {
+#define boolean   boolean_t
+#include "openamp.h"
+#undef boolean
+#define boolean   bool
+}
+
+enum service_request_code_t {
+  REQUEST_REBOOT = 0x7F7F7F7F,
+  CALL_FUNCTION  = 0x12345678,
+};
+
+typedef struct _service_request {
+  enum service_request_code_t code;
+  size_t length;
+  size_t parameters;
+  uint8_t* data;
+} service_request;
+
+namespace arduino {
+
+class RPC : public Stream {
+	public:
+		RPC() {};
+		int begin();
+		void end() {};
+		int available(void) {
+			return rx_buffer.available();
+		};
+		int peek(void) {
+			return rx_buffer.peek();
+		}
+		int read(void) {
+			return rx_buffer.read_char();
+		}
+		void flush(void) {};
+		size_t write(uint8_t c);
+		size_t write(const uint8_t*, size_t);
+		int request(service_request* s);
+		using Print::write; // pull in write(str) and write(buf, size) from Print
+		operator bool() {
+			return initialized;
+		}
+
+	private:
+		RingBufferN<256> rx_buffer;
+		bool initialized = false;
+		struct rpmsg_endpoint rp_endpoints[4];
+		static int rpmsg_recv_service_callback(struct rpmsg_endpoint *ept, void *data,
+                                       size_t len, uint32_t src, void *priv);
+		static int rpmsg_recv_raw_callback(struct rpmsg_endpoint *ept, void *data,
+                                       size_t len, uint32_t src, void *priv);
+		events::EventQueue eventQueue;
+		mbed::Ticker ticker;
+		rtos::Thread* eventThread;
+};
+}
+
+extern arduino::RPC RPC1;
+
+#endif
+#endif