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RPMsg-Lite User's Guide
Rev. 5.1.1
NXP Semiconductors
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RPMsg-Lite User's Guide
Rev. 5.1.1
NXP Semiconductors
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This documentation describes the RPMsg-Lite component, which is a lightweight implementation of the Remote Processor Messaging (RPMsg) protocol. The RPMsg protocol defines a standardized binary interface used to communicate between multiple cores in a heterogeneous multicore system.
Compared to the RPMsg implementation of the Open Asymmetric Multi Processing (OpenAMP) framework (https://github.com/OpenAMP/open-amp), the RPMsg-Lite offers a code size reduction, API simplification, and improved modularity. On smaller Cortex-M0+ based systems, it is recommended to use RPMsg-Lite.
The RPMsg-Lite is an open-source component developed by NXP Semiconductors and released under the BSD-compatible license.
There are multiple reasons why RPMsg-Lite was developed. One reason is the need for the small footprint of the RPMsg protocol-compatible communication component, another reason is the simplification of extensive API of OpenAMP RPMsg implementation.
RPMsg protocol was not documented, and its only definition was given by the Linux Kernel and legacy OpenAMP implementations. This has changed with [1] which is a standardization protocol allowing multiple different implementations to coexist and still be mutually compatible.
Small MCU-based systems often do not implement dynamic memory allocation. The creation of static API in RPMsg-Lite enables another reduction of resource usage. Not only does the dynamic allocation adds another 5 KB of code size, but also communication is slower and less deterministic, which is a property introduced by dynamic memory. The following table shows some rough comparison data between the OpenAMP RPMsg implementation and new RPMsg-Lite implementation:
| Component / Configuration | Flash [B] | RAM [B] |
|---|---|---|
| OpenAMP RPMsg / Release (reference) | 5547 | 456 + dynamic |
| RPMsg-Lite / Dynamic API, Release | 3462 | 56 + dynamic |
| Relative Difference [%] | ~62.4% | ~12.3% |
| RPMsg-Lite / Static API (no malloc), Release | 2926 | 352 |
| Relative Difference [%] | ~52.7% | ~77.2% |
The implementation of RPMsg-Lite can be divided into three sub-components, from which two are optional. The core component is situated in rpmsg_lite.c. Two optional components are used to implement a blocking receive API (in rpmsg_queue.c) and dynamic "named" endpoint creation and deletion announcement service (in rpmsg_ns.c).
The actual "media access" layer is implemented in virtqueue.c, which is one of the few files shared with the OpenAMP implementation. This layer mainly defines the shared memory model, and internally defines used components such as vring or virtqueue.
The porting layer is split into two sub-layers: the environment layer and the platform layer. The first sublayer is to be implemented separately for each environment. (The bare metal environment already exists and is implemented in rpmsg_env_bm.c, and the FreeRTOS environment is implemented in rpmsg_env_freertos.c etc.) Only the source file, which matches the used environment, is included in the target application project. The second sublayer is implemented in rpmsg_platform.c and defines low-level functions for interrupt enabling, disabling, and triggering mainly. The situation is described in the following figure:
This subcomponent implements a blocking send API and callback-based receive API. The RPMsg protocol is part of the transport layer. This is realized by using so-called endpoints. Each endpoint can be assigned a different receive callback function. However, it is important to notice that the callback is executed in an interrupt environment in current design. Therefore, certain actions like memory allocation are discouraged to execute in the callback. The following figure shows the role of RPMsg in an ISO/OSI-like layered model:
This subcomponent is optional and requires implementation of the env_*_queue() functions in the environment porting layer. It uses a blocking receive API, which is common in RTOS-environments. It supports both copy and nocopy blocking receive functions.
This subcomponent is a minimum implementation of the name service which is present in the Linux Kernel implementation of RPMsg. It allows the communicating node both to send announcements about "named" endpoint (in other words, channel) creation or deletion and to receive these announcement taking any user-defined action in an application callback. The endpoint address used to receive name service announcements is arbitrarily fixed to be 53 (0x35).
The application should put the /rpmsg_lite/lib/include directory to the include path and in the application, include either the rpmsg_lite.h header file, or optionally also include the rpmsg_queue.h and/or rpmsg_ns.h files. Both porting sublayers should be provided for you by NXP, but if you plan to use your own RTOS, all you need to do is to implement your own environment layer (in other words, rpmsg_env_myrtos.c) and to include it in the project build.
The initialization of the stack is done by calling the rpmsg_lite_master_init() on the master side and the rpmsg_lite_remote_init() on the remote side. This initialization function must be called prior to any RPMsg-Lite API call. After the init, it is wise to create a communication endpoint, otherwise communication is not possible. This can be done by calling the rpmsg_lite_create_ept() function. It optionally accepts a last argument, where an internal context of the endpoint is created, just in case the RL_USE_STATIC_API option is set to 1. If not, the stack internally calls env_alloc() to allocate dynamic memory for it. In case a callback-based receiving is to be used, an ISR-callback is registered to each new endpoint with user-defined callback data pointer. If a blocking receive is desired (in case of RTOS environment), the rpmsg_queue_create() function must be called before calling rpmsg_lite_create_ept(). The queue handle is passed to the endpoint creation function as a callback data argument and the callback function is set to rpmsg_queue_rx_cb(). Then, it is possible to use rpmsg_queue_receive() function to listen on a queue object for incoming messages. The rpmsg_lite_send() function is used to send messages to the other side.
The RPMsg-Lite also implements no-copy mechanisms for both sending and receiving operations. These methods require specifics that have to be considered when used in an application.
no-copy-send mechanism: This mechanism allows sending messages without the cost for copying data from the application buffer to the RPMsg/virtio buffer in the shared memory. The sequence of no-copy sending steps to be performed is as follows:
no-copy-receive mechanism: This mechanism allows reading messages without the cost for copying data from the virtio buffer in the shared memory to the application buffer. The sequence of no-copy receiving steps to be performed is as follows:
The user is responsible for destroying any RPMsg-Lite objects he has created in case of deinitialization. In order to do this, the function rpmsg_queue_destroy() is used to destroy a queue, rpmsg_lite_destroy_ept() is used to destroy an endpoint and finally, rpmsg_lite_deinit() is used to deinitialize the RPMsg-Lite intercore communication stack. Deinitialize all endpoints using a queue before deinitializing the queue. Otherwise, you are actively invalidating the used queue handle, which is not allowed. RPMsg-Lite does not check this internally, since its main aim is to be lightweight.
Several environment layers are provided in lib/rpmsg_lite/porting/environment folder. Not all of them are fully tested however. Here is the list of environment layers that passed testing:
The rest of environment layers has been created and used in some experimental projects, it has been running well at the time of creation but due to the lack of unit testing there is no guarantee it is still fully functional.
It is important to correctly initialize/configure the shared memory for data exchange in the application. The shared memory must be accessible from both the master and the remote core and it needs to be configured as Non-Cacheable memory. Dedicated shared memory section in liker file is also a good practise, it is recommended to use linker files from MCUXpressSDK packages for NXP devices based applications. It needs to be ensured no other application part/component is unintentionally accessing this part of memory.
The RPMsg-Lite can be configured at the compile time. The default configuration is defined in the rpmsg_default_config.h header file. This configuration can be customized by the user by including rpmsg_config.h file with custom settings. The following table summarizes all possible RPMsg-Lite configuration options.
| Configuration option | Default value | Usage |
|---|---|---|
| RL_MS_PER_INTERVAL | (1) | Delay in milliseconds used in non-blocking API functions for polling. |
| RL_BUFFER_PAYLOAD_SIZE | (496) | Size of the buffer payload, it must be equal to (240, 496, 1008, ...) [2^n - 16] |
| RL_BUFFER_COUNT | (2) | Number of the buffers, it must be power of two (2, 4, ...) |
| RL_API_HAS_ZEROCOPY | (1) | Zero-copy API functions enabled/disabled. |
| RL_USE_STATIC_API | (0) | Static API functions (no dynamic allocation) enabled/disabled. |
| RL_CLEAR_USED_BUFFERS | (0) | Clearing used buffers before returning back to the pool of free buffers enabled/disabled. |
| RL_USE_MCMGR_IPC_ISR_HANDLER | (0) | When enabled IPC interrupts are managed by the Multicore Manager (IPC interrupts router), when disabled RPMsg-Lite manages IPC interrupts by itself. |
| RL_USE_ENVIRONMENT_CONTEXT | (0) | When enabled the environment layer uses its own context. Required for some environments (QNX). The default value is 0 (no context, saves some RAM). |
| RL_DEBUG_CHECK_BUFFERS | (0) | When enabled buffer pointers passed to rpmsg_lite_send_nocopy() and rpmsg_lite_release_rx_buffer() functions (enabled by RL_API_HAS_ZEROCOPY config) are checked to avoid passing invalid buffer pointer. The default value is 0 (disabled). Do not use in RPMsg-Lite to Linux configuration. |
| RL_ALLOW_CONSUMED_BUFFERS_NOTIFICATION | (0) | When enabled the opposite side is notified each time received buffers are consumed and put into the queue of available buffers. Enable this option in RPMsg-Lite to Linux configuration to allow unblocking of the Linux blocking send. The default value is 0 (RPMsg-Lite to RPMsg-Lite communication). |
| RL_ALLOW_CUSTOM_SHMEM_CONFIG | (0) | It allows to define custom shared memory configuration and replacing the shared memory related global settings from rpmsg_config.h This is useful when multiple instances are running in parallel but different shared memory arrangement (vring size & alignment, buffers size & count) is required. The default value is 0 (all RPMsg_Lite instances use the same shared memory arrangement as defined by common config macros). |
| RL_ASSERT | see rpmsg_default_config.h | Assert implementation. |
[1] M. Novak, M. Cingel, Lockless Shared Memory Based Multicore Communication Protocol
This table summarizes revisions of this document.
| Revision number | Date | Substantive changes |
|---|---|---|
| 1.0 | 09/2016 | Initial release |
| 2.0 | 02/2017 | Added macros for packed structures (compiler.h) Improved interrupt handling in platform layer Changed RL_BUFFER_SIZE definition Fix of double initialization of vring shared data structure Support for the multi-instance Simplified virtqueue.c, removing race condition |
| 3.0 | 08/2017 | Several source files renamed to avoid conflicts with other middleware software components Added user data into RPMsg Nameservice callback Added the RL_CLEAR_USED_BUFFERS configuration option to allow clearing used buffers before returning back to the pool of free buffers Added the ability to use Multicore Manager (MCMGR) as the IPC interrupts router (RL_USE_MCMGR_IPC_ISR_HANDLER config) |
| 4.0 | 04/2018 | New API rpmsg_queue_get_current_size() Fixed bug in interrupt handling for lpc5411x, lpc5410x Code adjustments based on static analysis tool findings |
| 5.0 | 09/2018 | Align porting layers to the updated MCUXpressoSDK feature files Allow rpmsg-lite build by Keil MDK ArmClangV6 compiler |
| 6.0 | 04/2019 | Added configuration macro RL_DEBUG_CHECK_BUFFERS Several MISRA violations fixed Added environment layers for QNX and Zephyr Allow environment context required for some environments (controlled by the RL_USE_ENVIRONMENT_CONTEXT configuration macro). |
| 7.0 | 11/2019 | MISRA C-2012 violations fixed, incl. data types consolidation Code formatted. |
| 8.0 | 04/2020 | MISRA C-2012 violations fixed (7.4) Fix missing lock in rpmsg_lite_rx_callback() for QNX env Correction of rpmsg_lite_instance structure members description Address -Waddress-of-packed-member warnings in GCC9 Clang update to v10.0.0, code re-formatted. |
| 9.0 | 12/2020 | Several MISRA C-2012 violations addressed Introduced RL_ALLOW_CONSUMED_BUFFERS_NOTIFICATION config option to allow opposite side notification sending each time received buffers are consumed and put into the queue of available buffers Added environment layers for Threadx Added support for i.MX8QM multicore platform |
| 10.0 | 06/2021 | Fixed incorrect description of the rpmsg_lite_get_endpoint_from_addr function Updated RL_BUFFER_COUNT documentation env_print macro adjusted to address MISRA 21.6 rule in MCUXpressoSDK projects |
| 11.0 | 12/2021 | Improve static allocations - allow OS-specific objects being allocated statically, GitHub PR #14 RPMsg-Lite: Minor Misra and typo corrections, GitHub PR #19, #20. |
| 12.0 | 01/2022 | Introduce RL_ALLOW_CUSTOM_SHMEM_CONFIG configuration option to support custom shared memory arangement per the RPMsg_Lite instance. |
| 13.0 | 04/2022 | Introduced new rpmsg_lite_wait_for_link_up() API function - this allows to avoid using busy loops in rtos environments, GitHub PR #21. Adjust rpmsg_lite_is_link_up() to return RL_TRUE/RL_FALSE. |
| 14.0 | 10/2022 | Timeout parameter added to rpmsg_lite_wait_for_link_up API function. VRING_SIZE is set based on number of used buffers now (as calculated in vring_init) - updated for all platforms that are not communicating to Linux rpmsg counterpart. Improveed debug check buffers implementation - instead of checking the pointer fits into shared memory check the presence in the VirtIO ring descriptors list. |
| 15.0 | 06/2023 | Resolved issues in ThreadX env. layer implementation. Added aarch64 support. Increased the queue size to (2 * RL_BUFFER_COUNT) to cover zero copy cases. |
