RPC fixes

include/debug.h

@@ -22,6 +22,7 @@
 /**************************************************************************************
  * DEFINE
  **************************************************************************************/
+#include <stdio.h>
 
 #ifdef DEBUG
 #define dbg_printf(...)  printf(__VA_ARGS__)

libraries/openamp_arduino/src/openamp_conf.h

@@ -154,9 +154,10 @@ extern int __OPENAMP_region_end__[];
 #endif
 
 #define VRING_RX_ADDRESS        SHM_START_ADDRESS
-#define VRING_TX_ADDRESS        (SHM_START_ADDRESS + 0x400)
-#define VRING_BUFF_ADDRESS      (SHM_START_ADDRESS + 0x800)
-#define VRING_ALIGNMENT         4
+#define VRING_TX_ADDRESS        (SHM_START_ADDRESS + 0x1000)
+#define VRING_BUFF_ADDRESS      (SHM_START_ADDRESS + 0x2000)
+#define VRING_BUFF_SIZE         (SHM_SIZE - 0x2000)
+#define VRING_ALIGNMENT         32
 #define VRING_NUM_BUFFS         16   /* number of rpmsg buffers */
 
 /* Fixed parameter */

src/gpio_handler.c

@@ -48,6 +48,30 @@ extern struct IRQ_numbers IRQ_pinmap[];
  * FUNCTION DEFINITION
  **************************************************************************************/
 
+static void configure_pins_shorted_together(GPIO_TypeDef *GPIOx, GPIO_InitTypeDef* GPIO_InitStruct) {
+  if (GPIO_InitStruct->Pin == GPIO_PIN_10 && GPIOx == GPIOB) {
+    GPIO_InitStruct->Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct->Pull = GPIO_NOPULL;
+    GPIO_InitStruct->Pin = GPIO_PIN_7;
+    HAL_GPIO_Init(GPIOG, GPIO_InitStruct);
+  }
+  if (GPIO_InitStruct->Pin == GPIO_PIN_15 && GPIOx == GPIOD) {
+    GPIO_InitStruct->Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct->Pull = GPIO_NOPULL;
+    GPIO_InitStruct->Pin = GPIO_PIN_6;
+    HAL_GPIO_Init(GPIOG, GPIO_InitStruct);
+  }
+}
+
+static void write_pins_shorted_together(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin, GPIO_PinState PinState) {
+  if (GPIO_Pin == GPIO_PIN_10 && GPIOx == GPIOB) {
+    HAL_GPIO_WritePin(GPIOG, GPIO_PIN_7, PinState);
+  }
+  if (GPIO_Pin == GPIO_PIN_15 && GPIOx == GPIOD) {
+    HAL_GPIO_WritePin(GPIOG, GPIO_PIN_6, PinState);
+  }
+}
+
 int gpio_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size)
 {
   uint16_t const gpio_data = *((uint16_t*)data);
@@ -66,6 +90,7 @@ int gpio_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size
       GPIO_InitStruct.Pull = GPIO_PULLUP;
       GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
       HAL_GPIO_Init(GPIO_pinmap[index].port, &GPIO_InitStruct);
+      configure_pins_shorted_together(GPIO_pinmap[index].port, &GPIO_InitStruct);
       dbg_printf("GPIO%d: CONFIGURE %d\n", index, value);
       break;
     case IRQ_TYPE:
@@ -92,6 +117,7 @@ int gpio_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size
       break;
     case WRITE:
       HAL_GPIO_WritePin(GPIO_pinmap[index].port, GPIO_pinmap[index].pin, value);
+      write_pins_shorted_together(GPIO_pinmap[index].port, GPIO_pinmap[index].pin, value);
       dbg_printf("GPIO%d: WRITE %d\n", index, value);
       break;
     case READ:

src/pwm_handler.c

@@ -32,15 +32,15 @@
 
 int pwm_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size)
 {
-  if (opcode == CAPTURE)
+  if (opcode & CAPTURE)
   {
     uint8_t const channel = opcode & 0x0F;
     if (isValidPwmChannelNumber(channel))
       capturePwm(channel);
     else
       dbg_printf("pwm_handler: invalid PWM channel number provided for mode CAPTURE: %d\n", channel);
   }
-  else if (opcode == CONFIGURE)
+  else
   {
     uint8_t const channel = opcode;
     struct pwmPacket config = *((struct pwmPacket*)data);
@@ -49,9 +49,5 @@ int pwm_handler(uint8_t const opcode, uint8_t const * data, uint16_t const size)
     else
       dbg_printf("pwm_handler: invalid PWM channel number provided for mode PWM: %d\n", channel);
   }
-  else
-  {
-    dbg_printf("pwm_handler: error invalid opcode (:%d)\n", opcode);
-  }
   return 0;
 }

src/rpc.c

@@ -65,7 +65,7 @@ void new_service_cb(struct rpmsg_device *rdev, const char *name, uint32_t dest)
   if (strcmp(name, "raw") == 0) {
     OPENAMP_create_endpoint(&rp_endpoints[ENDPOINT_RAW], name, dest, rpmsg_recv_raw_callback, NULL);
   }
-  if (strcmp(name, "response") == 0) {
+  if (strcmp(name, "rpc") == 0) {
     OPENAMP_create_endpoint(&rp_endpoints[ENDPOINT_RESPONSE], name, dest, rpmsg_recv_raw_callback, NULL);
   }
 }
@@ -79,7 +79,7 @@ int serial_rpc_begin() {
 
   /* Initialize the rpmsg endpoint to set default addresses to RPMSG_ADDR_ANY */
   rpmsg_init_ept(&rp_endpoints[0], "raw", RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, NULL, NULL);
-  rpmsg_init_ept(&rp_endpoints[1], "response", RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, NULL, NULL);
+  rpmsg_init_ept(&rp_endpoints[1], "rpc", RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, NULL, NULL);
 
   /*
   * The rpmsg service is initiate by the remote processor, on H7 new_service_cb
@@ -101,8 +101,8 @@ void serial_rpc_available() {
 }
 
 void serial_rpc_write(uint8_t const * buf, size_t len) {
-  // check second byte of the message to split requests and responses
-  OPENAMP_send(&rp_endpoints[buf[1] == 1], buf, len);
+  // we'll only get rpc requests from "upstairs"
+  OPENAMP_send(&rp_endpoints[1], buf, len);
 }
 
 void HSEM1_IRQHandler(void)

src/timer.c

@@ -161,6 +161,26 @@ void pwm_timer_config(uint32_t index, uint32_t channel,
   HAL_HRTIM_SimplePWMChannelConfig(&hhrtim, index, channel, pSimplePWMChannelCfg);
   HAL_HRTIM_SoftwareUpdate(&hhrtim, timers);
 
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  if (enable && index == 3) {
+    GPIO_InitStruct.Pin = GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF2_HRTIM1;
+    HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+  }
+
+  if (enable && index == 5) {
+    GPIO_InitStruct.Pin = GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF2_HRTIM1;
+    HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+  }
+
   if (enable) {
     HAL_HRTIM_SimplePWMStart(&hhrtim, index, channel);
   } else {