TI中文支持网Part Number:AM4379
依据pru-icss-5.1.0 SDK内例程，创建了一个pru CCS测试工程，主要功能如下
void main(void)
{struct pru_rpmsg_transport transport;uint16_t src, dst, len;volatile uint8_t *status;int delay_cnt;/* Allow OCP master port access by the PRU so the PRU can read external memories */CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;/* Clear the status of the PRU-ICSS system event that the ARM will use to 'kick' us */CT_INTC.SICR_bit.STATUS_CLR_INDEX = FROM_ARM_HOST;/* Make sure the Linux drivers are ready for RPMsg communication */status = &resourceTable.rpmsg_vdev.status;while (!(*status & VIRTIO_CONFIG_S_DRIVER_OK));/* Initialize the RPMsg transport structure */pru_rpmsg_init(&transport, &resourceTable.rpmsg_vring0, &resourceTable.rpmsg_vring1, TO_ARM_HOST, FROM_ARM_HOST);/* Create the RPMsg channel between the PRU and ARM user space using the transport structure. */while (pru_rpmsg_channel(RPMSG_NS_CREATE, &transport, CHAN_NAME, CHAN_DESC, CHAN_PORT) != PRU_RPMSG_SUCCESS);gpio_dir_set_addr = GPIO3_BASE_ADDR + GPIO_SETDATAOUT_OFFSET;gpio_dir_clr_addr = GPIO3_BASE_ADDR + GPIO_CLRDATAOUT_OFFSET;gpio_pul_set_addr = GPIO2_BASE_ADDR + GPIO_SETDATAOUT_OFFSET;gpio_pul_clr_addr = GPIO2_BASE_ADDR + GPIO_CLRDATAOUT_OFFSET;/* pulse motor control signal initialization *//* set pulse motor reverse rotation & power up PUL */*(uint32_t*)gpio_dir_set_addr |= MOTOR_CTL_DIR;*(uint32_t*)gpio_pul_set_addr |= MOTOR_CTL_PUL;/* if default pul_freq = 20Khz , pul_low_delay_cnt = DEF_DELAY_CNT / DELAY_CALIB_FACTOR - PUL_HIGH_DELAY_CNT*/pul_low_delay_cnt = DEF_DELAY_CNT;while (1) {/* Pulse signal control of pulse motor */if(pul_low_delay_cnt == DEF_DELAY_CNT) {/* Set MOTOR_CTL_PUL to low level*/*(uint32_t*)gpio_pul_clr_addr |= MOTOR_CTL_PUL;} else {/* Set MOTOR_CTL_PUL to low level*/*(uint32_t*)gpio_pul_clr_addr |= MOTOR_CTL_PUL;/* delay cnt form ARM set pulse motor frequency */delay_cnt = pul_low_delay_cnt;while (delay_cnt--);/* Set MOTOR_CTL_PUL to high level*/*(uint32_t*)gpio_pul_set_addr |= MOTOR_CTL_PUL;/* The minimum pulse width is 500ns */delay_cnt = PUL_HIGH_DELAY_CNT;while (delay_cnt--);}/* Check bit 30 of register R31 to see if the ARM has kicked us */if (__R31 & HOST_INT) {/* Clear the event status */CT_INTC.SICR_bit.STATUS_CLR_INDEX = FROM_ARM_HOST;/* Receive all available messages, multiple messages can be sent per kick */while (pru_rpmsg_receive(&transport, &src, &dst, payload, &len) == PRU_RPMSG_SUCCESS) {rpmsg_response(len);}}}
}
/* rpmsg response function, make corresponding actions according to the received MSG */
void rpmsg_response(uint16_t len)
{uint32_t rpmsg_pul_freq = 0;if (payload[0] == 'F' && payload[1] == 'W' && payload[2] == 'D') {/* if rpmsg = "FWD", set pulse motor forward rotation */*(uint32_t*)gpio_dir_clr_addr |= MOTOR_CTL_DIR;} else if (payload[0] == 'R' && payload[1] == 'E' && payload[2] == 'V') {/* if rpmsg = "REV", set pulse motor reverse rotation */*(uint32_t*)gpio_dir_set_addr |= MOTOR_CTL_DIR;} else {/* get pulse frequency(Hz) */rpmsg_pul_freq = atoi((const char *)payload);/* Convert pul low level time count value */if (rpmsg_pul_freq > PUL_MOTOR_MIN_FREQ && rpmsg_pul_freq <= PUL_MOTOR_MAX_FREQ)pul_low_delay_cnt = (int)(PRU_FREQ * 1.0 / rpmsg_pul_freq / DELAY_CALIB_FACTOR - PUL_HIGH_DELAY_CNT);else if(rpmsg_pul_freq == PUL_MOTOR_MIN_FREQ)pul_low_delay_cnt = DEF_DELAY_CNT;}
}
将编译生成的.out文件在ARM加载时报错。
当我如下删减代码后，可以正常加载。
while (pru_rpmsg_receive(&transport, &src, &dst, payload, &len) == PRU_RPMSG_SUCCESS) {
//rpmsg_response(len);
}
这看起来像是内存分配问题，0x1368为工程CMD文件PRU_IMEM段使用大小。我不太清楚需要修改那些地方去解决这个问题，在工程resource_table文件中没有找到有相关定义。
Shine：
请尝试在cfg文件里修改heap size。
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xianbao zhang：
按下图修改了heap大小，似乎没有效果
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xianbao zhang：
我在437x手册PRU章节看到：Program memory (PRU-ICSS1 – 12KB, PRU-ICSS0 – 4KB)，只有４K，是否是这个原因呢？
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Shine：
请问是否有参考过下面的帖子？https://e2e.ti.com/support/processors-group/processors/f/processors-forum/684573/rtos-am5716-dsp-firmware-load-error
