已经可以运行，但是还有一个隐藏的很深的BUG还没有来得及改

Ubiquitous/XiZi_IIoT/board/rzv2l-m33/rzv_gen/mbed_printf.c

@@ -83,6 +83,11 @@
  */
 #define PRECISION_DEFAULT (INT_MAX)
 
+/**
+ * max data number of fifi data reg
+*/
+static const uint32_t SCIF_UART_TX_FIFO_STAGES     = 16;
+
 /**
  * Enum for storing width modifier.
  */
@@ -785,7 +790,6 @@ int mbed_minimal_formatted_string(char *buffer, size_t length, const char *forma
 }
 
 static uint32_t xSerialPortInitialized = 0;
-static uint32_t tx_data_empty = 1;
 static uint32_t rx_data_full = 0;
 
 static void uart_callback(uart_callback_args_t *const p_arg)
@@ -820,17 +824,26 @@ static void uart_callback(uart_callback_args_t *const p_arg)
     }
     if (p_arg->event & UART_EVENT_TX_DATA_EMPTY)
     {
-        tx_data_empty = 1;
+        __NOP();
     }
 }
 
 static void outbyte1(console_t console, char c)
 {
     scif_uart_instance_ctrl_t * p_ctrl = (scif_uart_instance_ctrl_t *)g_uart2.p_ctrl;
+    uint32_t no_send_data_count = 0;
 
+    while (1)
+    {
+        // 获取还未发送的数据数量
+        no_send_data_count = (uint32_t) p_ctrl->p_reg->FDR_b.T;
+        // 还存在可以发送数据的空间
+        if (no_send_data_count < SCIF_UART_TX_FIFO_STAGES)
+        {
             p_ctrl->p_reg->FTDR = c;
-
+            break;
-    for (int i = 0; i < 200; i++){}
+        }
+    } 
 }
 
 void outbyte(console_t console, char c)

Ubiquitous/XiZi_IIoT/board/rzv2l-m33/rzv_gen/platform_info.c

@@ -297,12 +297,12 @@ void platform_release_rpmsg_vdev (void * platform, struct rpmsg_device * rpdev)
     struct rpmsg_virtio_device * rpmsg_vdev;
     struct remoteproc_priv     * prproc = rproc->priv;
 
-    KTaskDelete(ipi_tsk_id[prproc->notify_id]);
-    ipi_tsk_id[prproc->notify_id] = -1;
-
     KMutexDelete(ipi.ipi_mutx_id[prproc->notify_id]);
     ipi.ipi_mutx_id[prproc->notify_id] = -1;
 
+    KTaskDelete(ipi_tsk_id[prproc->notify_id]);
+    ipi_tsk_id[prproc->notify_id] = -1;
+
     rpmsg_vdev = metal_container_of(rpdev, struct rpmsg_virtio_device, rdev);
     rpmsg_deinit_vdev(rpmsg_vdev);
     remoteproc_remove_virtio(rproc, rpmsg_vdev->vdev);
@@ -378,7 +378,7 @@ static void* IpiTask (void * exinf)
         // KPrintf("IpiTask: after remoteproc_get_notification\n");
         if (ret)
         {
-            LPRINTF("remoteproc_get_notification() failed with %d", ret);
+            KPrintf("remoteproc_get_notification() failed with %d", ret);
             break;
         }
 
@@ -400,7 +400,7 @@ static void start_ipi_task (void * platform)
     }
     ipi.ipi_mutx_id[prproc->notify_id] = mutx_id;
 
-    KPrintf("start_ipi_task: prproc->notify_id = %d, ipi.ipi_mutx_id[prproc->notify_id] = %d \n",prproc->notify_id,ipi.ipi_mutx_id[prproc->notify_id]);
+    // KPrintf("start_ipi_task: prproc->notify_id = %d, ipi.ipi_mutx_id[prproc->notify_id] = %d \n",prproc->notify_id,ipi.ipi_mutx_id[prproc->notify_id]);
 
     int32 ipi_task_id = -1;
     ipi_task_id = KTaskCreate("ipi_task",IpiTask,platform,4096,SHELL_TASK_PRIORITY + 1);

Ubiquitous/XiZi_IIoT/board/rzv2l-m33/rzv_gen/rpmsg_task.c

@@ -1,71 +0,0 @@
-#include <openamp/open_amp.h>
-#include "rpmsg_task.h"
-#include "platform_info.h"
-#include <xizi.h>
-
-extern int init_system (void);
-extern void cleanup_system (void);
-extern int app (struct rpmsg_device * rdev, void * platform, unsigned long svcno);
-
-void* RPMsgTask_Entry(void* param)
-{
-    unsigned long         proc_id = 0UL;
-    unsigned long         rsc_id  = 0UL;
-    struct rpmsg_device * rpdev;
-    void                * platform;
-    int ret;
-
-    ret = init_system();
-    if (ret)
-    {
-        LPERROR("Failed to init remoteproc device.\n");
-        goto err;
-    }
-
-    ret = platform_init(proc_id, rsc_id, &platform);
-    if (ret)
-    {
-        LPERROR("Failed to create remoteproc device.\n");
-        goto err;
-    }
-    else
-    {
-        do
-        {
-            /* RTOS is Master, but this setting must remote in this release. */
-            rpdev = platform_create_rpmsg_vdev(platform, 0x0U, VIRTIO_DEV_SLAVE, NULL, NULL);
-            if (!rpdev)
-            {
-                LPERROR("Fail, platform_create_rpmsg_vdev.\n");
-                goto err;
-            }
-            // KPrintf("RPMsgTask_Entry: Success platform_create_rpmsg_vdev.\n");
-            /* Kick the application */
-            (void) app(rpdev, platform, proc_id);
-            
-            platform_release_rpmsg_vdev(platform, rpdev);
-            KPrintf("RPMsgTask_Entry: Success platform_release_rpmsg_vdev.\n");
-
-            DelayKTask(RECONNECT_DLY);
-        } while (RECONNECT_FLG);
-    }
-
-err:
-    KPrintf("RPMsgTask_Entry: err \n");
-}
-
-void CreateRPMsgTask(void)
-{
-    // 创建的任务优先级与SHELL终端一致，防止该任务无法执行
-    int32 rpmsg_task_id = KTaskCreate("rpmsg_task",RPMsgTask_Entry,NULL,2048,SHELL_TASK_PRIORITY);
-
-    if (rpmsg_task_id < 0)
-    {
-        KPrintf("CreateRPMsgTask: create rpmsg task fail!\n");
-        return ;
-    }
-    
-    // 将该任务放入调用
-    StartupKTask(rpmsg_task_id);
-}
-

Ubiquitous/XiZi_IIoT/board/rzv2l-m33/src/hal_entry.c

@@ -9,19 +9,6 @@
 void R_BSP_WarmStart(bsp_warm_start_event_t event);
 // FSP_CPP_FOOTER
 
-void* TaskSample(void * args)
-{
-    while (1)
-    {
-        for (int i = 0; i < 100000; i++)
-        {
-            ;
-        }
-        
-        KPrintf("TaskSample: %s\n",(char*)args);
-    }
-}
-
 void XiZi_SysTick_Handler(void)
 {
     x_base lock = DISABLE_INTERRUPT();
@@ -41,7 +28,8 @@ void hal_entry(void)
 	SysInitIsrManager();
     
     InitBoardMemory((void *)HEAP_START, (void *)HEAP_END);
-    KPrintf("hal_entry: InitBoardMemory -- HEAP_START = %p, HEAP_END = %p, Size = %dKB !\n",HEAP_START,HEAP_END,(HEAP_END - HEAP_START) / 1024);
+    KPrintf("hal_entry: InitBoardMemory -- HEAP_START = %p, HEAP_END = %p, Size = %dKB !\n"
+        ,(void *)HEAP_START,(void *)HEAP_END,(((void *)HEAP_END) - ((void *)HEAP_START)) / 1024);
     
     #ifdef KERNEL_QUEUEMANAGE
         QueuemanagerDoneRegister();
@@ -54,26 +42,16 @@ void hal_entry(void)
     CreateKServiceKTask();
 
     CreateEnvInitTask();
-
-    // RPMsg 任务入口
-    CreateRPMsgTask();
-
-    // StartupKTask(KTaskCreate("test-task-a",TaskSample,"test-task-a",512,20));
-    // StartupKTask(KTaskCreate("test-task-b",TaskSample,"test-task-b",512,20));
-    // StartupKTask(KTaskCreate("test-task-c",TaskSample,"test-task-c",512,20));
-
     KPrintf("hal_entry: init kernel envirement final!\n");
     
-    x_base lock = DISABLE_INTERRUPT();
+    DISABLE_INTERRUPT();
     KPrintf("hal_entry: disable interrupt now!\n");
     
     g_timer2.p_api->open(g_timer2.p_ctrl, g_timer2.p_cfg);
     g_timer2.p_api->callbackSet(g_timer2.p_ctrl, XiZi_SysTick_Handler, NULL, NULL);
     g_timer2.p_api->start(g_timer2.p_ctrl);
 
-    ENABLE_INTERRUPT(lock);
     KPrintf("hal_entry: enable interrupt!\n");
-    
     StartupOsAssign();
 }
 

Ubiquitous/XiZi_IIoT/board/rzv2l-m33/src/rpmsg_app_demo.c

@@ -48,7 +48,6 @@ extern void cleanup_system(void);
  *-----------------------------------------------------------------------------*/
 
 /* Local variables */
-
 static struct rpmsg_endpoint rp_ept[CFG_RPMSG_SVCNO] = {0};
 
 volatile static int evt_svc_unbind[CFG_RPMSG_SVCNO] = {0};
@@ -67,19 +66,18 @@ static int rpmsg_endpoint_cb0 (struct rpmsg_endpoint * cb_rp_ept, void * data, s
     /* service 0 */
     (void) priv;
     (void) src;
+
     /* On reception of a shutdown we signal the application to terminate */
     if ((*(unsigned int *) data) == SHUTDOWN_MSG)
     {
         evt_svc_unbind[0] = 1;
-
         return RPMSG_SUCCESS;
     }
-    KPrintf("rpmsg_endpoint_cb0: recv data = %p, *data = %d,len = %d\n",data,*((int*)(data)),len);
+    KPrintf("rpmsg_endpoint_cb0: recv &data = %p, *data = %d,len = %d\n",data,*((int*)(data)),len);
     /* Send data back to master */
     if (rpmsg_send(cb_rp_ept, data, (int) len) < 0)
     {
-        LPERROR("rpmsg_send failed\n");
+        KPrintf("rpmsg_endpoint_cb0: rpmsg_send back failed\n");
-
         return -1;
     }
     return RPMSG_SUCCESS;
@@ -145,40 +143,26 @@ int app (struct rpmsg_device * rdev, void * platform, unsigned long svcno)
 
     if (svcno == 0UL)
     {
-        ret = rpmsg_create_ept(&rp_ept[0],
+        ret = rpmsg_create_ept(&rp_ept[0],rdev,CFG_RPMSG_SVC_NAME0,APP_EPT_ADDR,RPMSG_ADDR_ANY,rpmsg_endpoint_cb0,rpmsg_service_unbind0);
-                               rdev,
-                               CFG_RPMSG_SVC_NAME0,
-                               APP_EPT_ADDR,
-                               RPMSG_ADDR_ANY,
-                               rpmsg_endpoint_cb0,
-                               rpmsg_service_unbind0);
         if (ret)
         {
-            LPERROR("Failed to create endpoint.\n");
+            KPrintf("app: fail to create endpoint[0]\n");
-
             return -1;
         }
-
+        KPrintf("app: Success to create endpoint[0]\n");
-        KPrintf("app: Success to create endpoint rp_ept[0]\n");
     }
     else
     {
-        ret = rpmsg_create_ept(&rp_ept[1],
+        ret = rpmsg_create_ept(&rp_ept[1],rdev,CFG_RPMSG_SVC_NAME1,APP_EPT_ADDR,RPMSG_ADDR_ANY,rpmsg_endpoint_cb1,rpmsg_service_unbind1);
-                               rdev,
-                               CFG_RPMSG_SVC_NAME1,
-                               APP_EPT_ADDR,
-                               RPMSG_ADDR_ANY,
-                               rpmsg_endpoint_cb1,
-                               rpmsg_service_unbind1);
         if (ret)
         {
-            LPERROR("Failed to create endpoint.\n");
+            KPrintf("app: fail to create endpoint[1]\n");
-
             return -1;
         }
+        KPrintf("app: success to create endpoint[1]\n");
     }
 
-    LPRINTF("Waiting for events...\n");
+    LPRINTF("Waiting for master data ...\n");
 
     while (1)
     {
@@ -187,6 +171,8 @@ int app (struct rpmsg_device * rdev, void * platform, unsigned long svcno)
         /* we got a shutdown request, exit */
         if (evt_svc_unbind[svcno])
         {
+            // 销毁该节点
+            rpmsg_destroy_ept(&rp_ept[svcno]);
             break;
         }
     }

Ubiquitous/XiZi_IIoT/board/rzv2l-m33/src/rpmsg_listener_task.c

@@ -0,0 +1,87 @@
+#include <openamp/open_amp.h>
+#include "rpmsg_task.h"
+#include "platform_info.h"
+#include <xizi.h>
+#include <shell.h>
+
+extern int init_system (void);
+extern void cleanup_system (void);
+extern int app (struct rpmsg_device * rdev, void * platform, unsigned long svcno);
+
+void* RPMsgTask_Entry(void* param)
+{
+    unsigned long         proc_id = 0UL;
+    unsigned long         rsc_id  = 0UL;
+    struct rpmsg_device * rpdev;
+    void                * platform;
+    int result;
+
+    result = init_system();
+    if (result)
+    {
+        KPrintf("RPMsgTask_Entry: fail to init remoteproc device\n");
+        goto err;
+    }
+    KPrintf("RPMsgTask_Entry: success to init remoteproc device\n");
+    
+
+    result = platform_init(proc_id, rsc_id, &platform);
+    if (result)
+    {
+        KPrintf("RPMsgTask_Entry: fail to create remoteproc device\n");
+        goto err;
+    }
+    KPrintf("RPMsgTask_Entry: success to create remoteproc device\n");
+
+    
+    /* RTOS is Master, but this setting must remote in this release. */
+    rpdev = platform_create_rpmsg_vdev(platform, 0x0U, VIRTIO_DEV_SLAVE, NULL, NULL);
+    if (!rpdev)
+    {
+        LPERROR("Fail, platform_create_rpmsg_vdev.\n");
+        goto err;
+    }
+    KPrintf("RPMsgTask_Entry: success platform_create_rpmsg_vdev\n");
+    
+    // 进入APP代码
+    (void) app(rpdev, platform, proc_id);
+
+    platform_release_rpmsg_vdev(platform, rpdev);
+    KPrintf("RPMsgTask_Entry: success platform_release_rpmsg_vdev\n");
+
+    platform_cleanup(platform);
+    KPrintf("RPMsgTask_Entry: success platform_cleanup\n");
+
+    cleanup_system();
+    KPrintf("RPMsgTask_Entry: success cleanup_system\n");
+
+    return NULL;
+
+err:
+    KPrintf("RPMsgTask_Entry: something err!\n");
+    return NULL;
+}
+
+void CreateRPMsgTask(void)
+{
+    int32 rpmsg_task_id = KTaskCreate("rpmsg_task",RPMsgTask_Entry,NULL,2048,SHELL_TASK_PRIORITY + 1);
+
+    if (rpmsg_task_id < 0)
+    {
+        KPrintf("CreateRPMsgTask: create rpmsg task fail!\n");
+        return ;
+    }
+    KPrintf("CreateRPMsgTask: create rpmsg task success!\n");
+
+    int32 start_up_result = StartupKTask(rpmsg_task_id);
+
+    if (start_up_result != 0)
+    {
+        KPrintf("CreateRPMsgTask: startup rpmsg task fail\n");
+    }
+    KPrintf("CreateRPMsgTask: startup rpmsg task success\n");
+}
+
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0)|SHELL_CMD_TYPE(SHELL_TYPE_CMD_FUNC)|SHELL_CMD_PARAM_NUM(0)|SHELL_CMD_DISABLE_RETURN, CreateRPMsgTask, CreateRPMsgTask, create rpmsg listener task);
+
+