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/*
* Copyright 2021-2025 NXP
* All rights reserved.
*
* Change Logs:
* Date Author Notes
* 2026-06-02 Ran Chen multicore communication thread
*/
#include <rtthread.h>
#include <rtdevice.h>
#ifdef BSP_USE_MULTICORE
#ifdef BSP_USE_MULTICORE_RPMSG_LITE
#include "rpmsg_lite.h"
#include "rpmsg_queue.h"
#include "rpmsg_ns.h"
#endif
#ifdef BSP_USE_MULTICORE_KICK_OFF
#include "mcmgr.h"
#include "board.h"
#endif
/*******************************************************************************
* Definitions
******************************************************************************/
#define MULTICORE_THREAD_STACK_SIZE 2048
#define MULTICORE_THREAD_PRIORITY 10
#define MULTICORE_THREAD_TIMESLICE 5
#ifdef BSP_USE_MULTICORE_RPMSG_LITE
#ifndef RPMSG_LITE_LINK_ID
#define RPMSG_LITE_LINK_ID (RL_PLATFORM_IMXRT1180_M33_M7_LINK_ID)
#endif
#ifndef RPMSG_NS_ANNOUNCE_STRING
#define RPMSG_LITE_NS_ANNOUNCE_STRING "rpmsg-openamp-demo-channel"
#else
#define RPMSG_LITE_NS_ANNOUNCE_STRING RPMSG_NS_ANNOUNCE_STRING
#endif
#ifndef RPMSG_LOCAL_EPT_ADDR
#define LOCAL_EPT_ADDR (30U)
#else
#define LOCAL_EPT_ADDR RPMSG_LOCAL_EPT_ADDR
#endif
#define APP_RPMSG_READY_EVENT_DATA (1U)
typedef struct the_message
{
uint32_t DATA;
} THE_MESSAGE, *THE_MESSAGE_PTR;
static volatile THE_MESSAGE msg = { 0 };
static struct rpmsg_lite_instance * volatile my_rpmsg = NULL;
static struct rpmsg_lite_endpoint * volatile my_ept = NULL;
static volatile rpmsg_queue_handle my_queue = NULL;
static bool error_occurred = false;
#endif /* BSP_USE_MULTICORE_RPMSG_LITE */
/*******************************************************************************
* Private Functions
******************************************************************************/
#ifdef BSP_USE_MULTICORE_KICK_OFF
static rt_err_t multicore_kickoff_init(void)
{
mcmgr_status_t status;
rt_kprintf("[Multicore] Initializing MCMGR ...\r\n");
status = MCMGR_Init();
if (status != kStatus_MCMGR_Success)
{
rt_kprintf("[Multicore] MCMGR initialization failed!\r\n");
return -RT_ERROR;
}
rt_kprintf("[Multicore] MCMGR initialized successfully\r\n");
return RT_EOK;
}
#endif /* BSP_USE_MULTICORE_KICK_OFF */
#ifdef BSP_USE_MULTICORE_RPMSG_LITE
static void app_nameservice_isr_cb(uint32_t new_ept, const char *new_ept_name,
uint32_t flags, void *user_data)
{
/* Nameservice callback - can be extended as needed */
}
static rt_err_t rpmsg_lite_init(void)
{
uint32_t startupData;
mcmgr_status_t status;
rt_kprintf("[RPMsg] Initializing RPMsg-Lite (CM7 as remote)...\r\n");
/* Get the startup data from CM33 master core */
do
{
status = MCMGR_GetStartupData(kMCMGR_Core0, &startupData);
} while (status != kStatus_MCMGR_Success);
/* Initialize RPMsg-Lite as remote (CM7 side) */
my_rpmsg = rpmsg_lite_remote_init((void *)(char *)(platform_patova(startupData)),
RPMSG_LITE_LINK_ID, RL_NO_FLAGS);
if (my_rpmsg == NULL)
{
rt_kprintf("[RPMsg] Failed to initialize rpmsg!\r\n");
error_occurred = true;
return -RT_ERROR;
}
/* Signal the CM33 master core we are ready */
(void)MCMGR_TriggerEvent(kMCMGR_Core0, kMCMGR_RemoteApplicationEvent,
APP_RPMSG_READY_EVENT_DATA);
/* Wait for link up with CM33 master */
rpmsg_lite_wait_for_link_up(my_rpmsg, RL_BLOCK);
rt_kprintf("[RPMsg] Link is up with CM33 master!\r\n");
/* Create queue */
my_queue = rpmsg_queue_create(my_rpmsg);
if (my_queue == NULL)
{
rt_kprintf("[RPMsg] Failed to create queue!\r\n");
error_occurred = true;
return -RT_ERROR;
}
/* Create endpoint */
my_ept = rpmsg_lite_create_ept(my_rpmsg, LOCAL_EPT_ADDR, rpmsg_queue_rx_cb, my_queue);
if (my_ept == NULL)
{
rt_kprintf("[RPMsg] Failed to create endpoint!\r\n");
error_occurred = true;
return -RT_ERROR;
}
/* Bind nameservice */
rpmsg_ns_handle ns_handle = rpmsg_ns_bind(my_rpmsg, app_nameservice_isr_cb, NULL);
if (ns_handle == NULL)
{
rt_kprintf("[RPMsg] Failed to bind name service!\r\n");
error_occurred = true;
return -RT_ERROR;
}
/* Announce service */
// SDK_DelayAtLeastUs(1000000U, SDK_DEVICE_MAXIMUM_CPU_CLOCK_FREQUENCY);
(void)rpmsg_ns_announce(my_rpmsg, my_ept, RPMSG_LITE_NS_ANNOUNCE_STRING,
(uint32_t)RL_NS_CREATE);
rt_kprintf("[RPMsg] Nameservice announced\r\n");
return RT_EOK;
}
static void rpmsg_lite_communication(void)
{
volatile uint32_t remote_addr = 0U;
rt_kprintf("[RPMsg] Starting ping-pong communication...\r\n");
while (msg.DATA <= 100U)
{
rt_kprintf("[RPMsg] Waiting for ping...\r\n");
(void)rpmsg_queue_recv(my_rpmsg, my_queue, (uint32_t *)&remote_addr,
(char *)&msg, sizeof(THE_MESSAGE), NULL, RL_BLOCK);
msg.DATA++;
rt_kprintf("[RPMsg] Received: %u, Sending pong: %u\r\n", msg.DATA - 1, msg.DATA);
(void)rpmsg_lite_send(my_rpmsg, my_ept, remote_addr, (char *)&msg,
sizeof(THE_MESSAGE), RL_BLOCK);
}
rt_kprintf("[RPMsg] Ping-pong communication completed!\r\n");
}
static void rpmsg_lite_cleanup(void)
{
rt_kprintf("[RPMsg] Cleaning up resources...\r\n");
if (my_ept)
{
(void)rpmsg_lite_destroy_ept(my_rpmsg, my_ept);
my_ept = NULL;
}
if (my_queue)
{
(void)rpmsg_queue_destroy(my_rpmsg, my_queue);
my_queue = NULL;
}
if (my_rpmsg)
{
(void)rpmsg_lite_deinit(my_rpmsg);
my_rpmsg = NULL;
}
msg.DATA = 0U;
}
#endif /* BSP_USE_MULTICORE_RPMSG_LITE */
/*******************************************************************************
* Thread Entry
******************************************************************************/
static void multicore_thread_entry(void *parameter)
{
#ifndef BSP_USE_MULTICORE_RPMSG_LITE
uint32_t startupData;
mcmgr_status_t status;
#endif
rt_kprintf("\r\n=== Multicore Communication Thread Started ===\r\n");
#ifdef BSP_USE_MULTICORE_KICK_OFF
/* Initialize and kickoff CM33 core */
if (multicore_kickoff_init() != RT_EOK)
{
rt_kprintf("[Multicore] Kickoff initialization failed!\r\n");
return;
}
#endif
#ifdef BSP_USE_MULTICORE_RPMSG_LITE
/* Initialize RPMsg-Lite */
if (rpmsg_lite_init() != RT_EOK)
{
rt_kprintf("[Multicore] RPMsg-Lite initialization failed!\r\n");
goto cleanup;
}
/* Start communication */
rpmsg_lite_communication();
cleanup:
/* Cleanup resources */
rpmsg_lite_cleanup();
if (error_occurred)
{
rt_kprintf("[Multicore] Error occurred during communication!\r\n");
}
else
{
rt_kprintf("[Multicore] Communication completed successfully!\r\n");
}
#else
/* Get the startup data */
do
{
status = MCMGR_GetStartupData(kMCMGR_Core0, &startupData);
} while (status != kStatus_MCMGR_Success);
#endif
rt_kprintf("=== Multicore Communication Thread Ended ===\r\n");
}
/*******************************************************************************
* Public Functions
******************************************************************************/
int multicore_init(void)
{
rt_thread_t tid;
tid = rt_thread_create("multicore",
multicore_thread_entry,
RT_NULL,
MULTICORE_THREAD_STACK_SIZE,
MULTICORE_THREAD_PRIORITY,
MULTICORE_THREAD_TIMESLICE);
if (tid != RT_NULL)
{
rt_thread_startup(tid);
// rt_kprintf("[Multicore] Communication thread created successfully\r\n");
return RT_EOK;
}
else
{
rt_kprintf("[Multicore] Failed to create communication thread!\r\n");
return -RT_ERROR;
}
}
INIT_APP_EXPORT(multicore_init);
#endif /* BSP_USE_MULTICORE */
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