Basics of inter core communication on STM32

emBODY/eBcode/arch-arm/board/amc/bsp/embot_hw_bsp_amc_config.h

@@ -43,6 +43,11 @@
 //    #define EMBOT_ENABLE_hw_timer_emulated
 
 //    #define EMBOT_ENABLE_hw_IcacheDcache
+
+    #define EMBOT_ENABLE_hw_mtx
+    #define EMBOT_ENABLE_hw_icc_sig
+    #define EMBOT_ENABLE_hw_icc_mem
+    #define EMBOT_ENABLE_hw_icc_ltr
 
 #else
     #error this is the bsp config of STM32HAL_BOARD_AMC ...

emBODY/eBcode/arch-arm/board/amc/bsp/embot_hw_icc_bsp_amc.cpp

@@ -0,0 +1,210 @@
+
+/*
+ * Copyright (C) 2023 iCub Tech - Istituto Italiano di Tecnologia
+ * Author:  Marco Accame
+ * email:   [email protected]
+*/
+
+
+// --------------------------------------------------------------------------------------------------------------------
+// - public interface
+// --------------------------------------------------------------------------------------------------------------------
+
+#include "embot_hw_icc_bsp_amc.h"
+
+// --------------------------------------------------------------------------------------------------------------------
+// - external dependencies
+// --------------------------------------------------------------------------------------------------------------------
+
+#include <cstring>
+#include <vector>
+#include <array>
+
+#include "embot_core_binary.h"
+#include "embot_core.h"
+
+#if defined(USE_STM32HAL)
+    #include "stm32hal.h"
+#else
+    #warning this implementation is only for stm32hal
+#endif
+
+
+using namespace std;
+using namespace embot::core::binary;
+
+// --------------------------------------------------------------------------------------------------------------------
+// - configuration of peripherals and chips. it is done board by board. it contains a check vs correct STM32HAL_BOARD_*
+// --------------------------------------------------------------------------------------------------------------------
+
+#include "embot_hw_bsp_amc_config.h"
+
+
+// --------------------------------------------------------------------------------------------------------------------
+// - support maps
+// --------------------------------------------------------------------------------------------------------------------
+
+
+// - support map: begin of embot::hw::icc::sig
+
+#include "embot_hw_icc_sig_bsp.h"
+
+#if !defined(EMBOT_ENABLE_hw_icc_sig)
+
+namespace embot::hw::icc::sig::bsp {
+
+    // -- SIG
+
+    constexpr BSP thebsp {};
+    void BSP::init(embot::hw::icc::SIG h) const {}    
+    const BSP & getBSPsig() { return thebsp; }    
+
+}
+
+#elif defined(EMBOT_ENABLE_hw_icc_sig)
+
+namespace embot::hw::icc::sig::bsp {
+
+    // -- SIG
+
+    constexpr PROP sig01 = { embot::hw::MTX::five };
+    constexpr PROP sig02 = { embot::hw::MTX::six };
+    constexpr PROP sig03 = { embot::hw::MTX::seven };
+    constexpr PROP sig04 = { embot::hw::MTX::eight };
+
+
+    constexpr BSP thebsp {        
+        // maskofsupported
+        mask::pos2mask<uint32_t>(SIG::one) | mask::pos2mask<uint32_t>(SIG::two) | 
+        mask::pos2mask<uint32_t>(SIG::three) | mask::pos2mask<uint32_t>(SIG::four),        
+        // properties
+        {{
+            &sig01, &sig02, &sig03, &sig04    
+        }}        
+    };
+
+
+    void BSP::init(embot::hw::icc::SIG h) const { }    
+
+    const BSP & getBSP() { return thebsp; }  
+
+}
+
+#endif // #elif defined(EMBOT_ENABLE_hw_icc_sig)
+
+
+// - support map: begin of embot::hw::icc::mem
+
+#include "embot_hw_icc_mem_bsp.h"
+
+#if !defined(EMBOT_ENABLE_hw_icc_mem)
+
+namespace embot::hw::icc::mem::bsp {
+
+    // -- MEM
+
+    constexpr BSP thebsp {};    
+    void BSP::init(embot::hw::icc::MEM h) const {}
+    const BSP & getBSP() { return thebsp; }  
+
+}
+
+#elif defined(EMBOT_ENABLE_hw_icc_mem)
+
+namespace embot::hw::icc::mem::bsp {
+
+    // -- MEM
+
+    constexpr uint32_t startmemory {0x38001000};
+    constexpr uint32_t memsize {256};
+
+    static const PROP mm1 = {
+        reinterpret_cast<void*>(startmemory),
+        memsize,
+        MTX::nine
+    };
+    static const PROP mm2 = {
+        reinterpret_cast<void*>(startmemory+1*memsize),
+        memsize,
+        MTX::ten
+    };
+    static const PROP mm3 = {
+        reinterpret_cast<void*>(startmemory+2*memsize),
+        memsize,
+        MTX::eleven
+    };
+    static const PROP mm4 = {
+        reinterpret_cast<void*>(startmemory+3*memsize),
+        memsize,
+        MTX::twelve
+    };  
+
+    constexpr BSP thebsp {        
+        // maskofsupported
+        mask::pos2mask<uint32_t>(MEM::one) | mask::pos2mask<uint32_t>(MEM::two) | 
+        mask::pos2mask<uint32_t>(MEM::three) | mask::pos2mask<uint32_t>(MEM::four),        
+        // properties
+        {{
+            &mm1, &mm2, &mm3, &mm4      
+        }}        
+    };
+
+    void BSP::init(embot::hw::icc::MEM h) const { }    
+
+    const BSP & getBSP() { return thebsp; }  
+
+} // namespace embot::hw::icc::mem::bsp {
+
+#endif // #elif defined(EMBOT_ENABLE_hw_icc_mem)    
+
+
+// - support map: begin of embot::hw::icc::ltr
+
+#include "embot_hw_icc_ltr_bsp.h"
+
+#if !defined(EMBOT_ENABLE_hw_icc_ltr)
+
+namespace embot::hw::icc::ltr::bsp {
+
+    // -- LTR
+
+    constexpr BSP thebsp {};    
+    void BSP::init(embot::hw::icc::LTR h) const {}
+    const BSP & getBSP() { return thebsp; }  
+
+}
+
+#elif defined(EMBOT_ENABLE_hw_icc_ltr)
+
+namespace embot::hw::icc::ltr::bsp {
+
+    // LTR
+
+    constexpr PROP ltr01 = { embot::hw::icc::MEM::four, embot::hw::icc::SIG::four, embot::hw::icc::SIG::three };
+
+    constexpr BSP thebsp {        
+        // maskofsupported
+        mask::pos2mask<uint32_t>(LTR::one),        
+        // properties
+        {{
+            &ltr01
+        }}        
+    };
+
+
+    void BSP::init(embot::hw::icc::LTR h) const { }            
+
+    const BSP & getBSP() 
+    {
+        return thebsp;
+    }     
+
+} // namespace embot::hw::icc::ltr::bsp {
+
+#endif // #elif defined(EMBOT_ENABLE_hw_icc_ltr)    
+
+
+
+
+// - end-of-file (leave a blank line after)----------------------------------------------------------------------------
+

emBODY/eBcode/arch-arm/board/amc/bsp/embot_hw_icc_bsp_amc.h

@@ -0,0 +1,26 @@
+
+/*
+ * Copyright (C) 2023 iCub Tech - Istituto Italiano di Tecnologia
+ * Author:  Marco Accame
+ * email:   [email protected]
+*/
+
+// - include guard ----------------------------------------------------------------------------------------------------
+
+#ifndef __EMBOT_HW_ICC_BSP_AMC_H_
+#define __EMBOT_HW_ICC_BSP_AMC_H_
+
+#include "embot_hw_bsp.h"
+#include "embot_hw_icc.h"
+
+namespace embot::hw::icc::bsp {
+
+}
+
+#endif  // include-guard
+
+
+// - end-of-file (leave a blank line after)----------------------------------------------------------------------------
+
+
+