Merge pull request #4184 from Ragarnoy/stm32h755-intercore

Add intercore communication example for STM32H755CM4 and CM7

2 files changed, 183 insertions, 9 deletions

diff --git a/examples/stm32h755cm4/Cargo.toml b/examples/stm32h755cm4/Cargo.toml
index eaaeb1ac0..cf324d3df 100644
--- a/examples/stm32h755cm4/Cargo.toml
+++ b/examples/stm32h755cm4/Cargo.toml
@@ -36,13 +36,6 @@ chrono = { version = "^0.4", default-features = false }
 grounded = "0.2.0"
 
 # cargo build/run
-[profile.dev]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 3 # <-
-overflow-checks = true # <-
 
 # cargo test
 [profile.test]
@@ -55,11 +48,10 @@ overflow-checks = true # <-
 
 # cargo build/run --release
 [profile.release]
-codegen-units = 1
+codegen-units = 16
 debug = 2
 debug-assertions = false # <-
 incremental = false
-lto = 'fat'
 opt-level = 3 # <-
 overflow-checks = false # <-
 
diff --git a/examples/stm32h755cm4/src/bin/intercore.rs b/examples/stm32h755cm4/src/bin/intercore.rs
new file mode 100644
index 000000000..d5e3e7648
--- /dev/null
+++ b/examples/stm32h755cm4/src/bin/intercore.rs
@@ -0,0 +1,182 @@
+#![no_std]
+#![no_main]
+
+//! STM32H7 Secondary Core (CM4) Intercore Communication Example
+//!
+//! This example demonstrates reliable communication between the Cortex-M7 and
+//! Cortex-M4 cores. This secondary core monitors shared memory for LED state
+//! changes and updates the physical LEDs accordingly.
+//!
+//! The CM4 core handles:
+//! - Responding to state changes from CM7
+//! - Controlling the physical green and yellow LEDs
+//! - Providing visual feedback via a heartbeat on the red LED
+//!
+//! Usage:
+//! 1. Flash this CM4 (secondary) core binary first
+//! 2. Then flash the CM7 (primary) core binary
+//! 3. The red LED should blink continuously as a heartbeat
+//! 4. Green and yellow LEDs should toggle according to CM7 core signals
+
+/// Module providing shared memory constructs for intercore communication
+mod shared {
+    use core::sync::atomic::{AtomicU32, Ordering};
+
+    /// State shared between CM7 and CM4 cores for LED control
+    #[repr(C, align(4))]
+    pub struct SharedLedState {
+        pub magic: AtomicU32,
+        pub counter: AtomicU32,
+        pub led_states: AtomicU32,
+    }
+
+    // Bit positions in led_states
+    pub const GREEN_LED_BIT: u32 = 0;
+    pub const YELLOW_LED_BIT: u32 = 1;
+
+    impl SharedLedState {
+        pub const fn new() -> Self {
+            Self {
+                magic: AtomicU32::new(0xDEADBEEF),
+                counter: AtomicU32::new(0),
+                led_states: AtomicU32::new(0),
+            }
+        }
+
+        /// Set LED state by manipulating the appropriate bit in the led_states field
+        #[inline(never)]
+        #[allow(dead_code)]
+        pub fn set_led(&self, is_green: bool, state: bool) {
+            let bit = if is_green { GREEN_LED_BIT } else { YELLOW_LED_BIT };
+            let current = self.led_states.load(Ordering::SeqCst);
+
+            let new_value = if state {
+                current | (1 << bit) // Set bit
+            } else {
+                current & !(1 << bit) // Clear bit
+            };
+            self.led_states.store(new_value, Ordering::SeqCst);
+        }
+
+        /// Get current LED state
+        #[inline(never)]
+        pub fn get_led(&self, is_green: bool) -> bool {
+            let bit = if is_green { GREEN_LED_BIT } else { YELLOW_LED_BIT };
+
+            let value = self.led_states.load(Ordering::SeqCst);
+            (value & (1 << bit)) != 0
+        }
+
+        /// Increment counter and return new value
+        #[inline(never)]
+        #[allow(dead_code)]
+        pub fn increment_counter(&self) -> u32 {
+            let current = self.counter.load(Ordering::SeqCst);
+            let new_value = current.wrapping_add(1);
+            self.counter.store(new_value, Ordering::SeqCst);
+            new_value
+        }
+
+        /// Get current counter value
+        #[inline(never)]
+        pub fn get_counter(&self) -> u32 {
+            let value = self.counter.load(Ordering::SeqCst);
+            value
+        }
+    }
+
+    #[link_section = ".ram_d3"]
+    pub static SHARED_LED_STATE: SharedLedState = SharedLedState::new();
+}
+
+use core::mem::MaybeUninit;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::{Level, Output, Speed};
+use embassy_stm32::SharedData;
+use embassy_time::Timer;
+use shared::SHARED_LED_STATE;
+use {defmt_rtt as _, panic_probe as _};
+
+#[link_section = ".ram_d3"]
+static SHARED_DATA: MaybeUninit<SharedData> = MaybeUninit::uninit();
+
+/// Task that continuously blinks the red LED as a heartbeat indicator
+#[embassy_executor::task]
+async fn blink_heartbeat(mut led: Output<'static>) {
+    loop {
+        led.toggle();
+        info!("CM4 heartbeat");
+        Timer::after_millis(500).await;
+    }
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) -> ! {
+    // Initialize the secondary core
+    let p = embassy_stm32::init_secondary(&SHARED_DATA);
+    info!("CM4 core initialized!");
+
+    // Verify shared memory is accessible
+    let magic = SHARED_LED_STATE.magic.load(core::sync::atomic::Ordering::SeqCst);
+    info!("CM4: Magic value = 0x{:X}", magic);
+
+    // Set up LEDs
+    let mut green_led = Output::new(p.PB0, Level::Low, Speed::Low); // LD1
+    let mut yellow_led = Output::new(p.PE1, Level::Low, Speed::Low); // LD2
+    let red_led = Output::new(p.PB14, Level::Low, Speed::Low); // LD3 (heartbeat)
+
+    // Start heartbeat task
+    unwrap!(spawner.spawn(blink_heartbeat(red_led)));
+
+    // Track previous values to detect changes
+    let mut prev_green = false;
+    let mut prev_yellow = false;
+    let mut prev_counter = 0;
+
+    info!("CM4: Starting main loop");
+    loop {
+        // Read current values from shared memory
+        let green_state = SHARED_LED_STATE.get_led(true);
+        let yellow_state = SHARED_LED_STATE.get_led(false);
+        let counter = SHARED_LED_STATE.get_counter();
+
+        // Detect changes
+        let green_changed = green_state != prev_green;
+        let yellow_changed = yellow_state != prev_yellow;
+        let counter_changed = counter != prev_counter;
+
+        // Update LEDs and logs when values change
+        if green_changed || yellow_changed || counter_changed {
+            if counter_changed {
+                info!("CM4: Counter = {}", counter);
+                prev_counter = counter;
+            }
+
+            if green_changed {
+                if green_state {
+                    green_led.set_high();
+                    info!("CM4: Green LED ON");
+                } else {
+                    green_led.set_low();
+                    info!("CM4: Green LED OFF");
+                }
+                prev_green = green_state;
+            }
+
+            if yellow_changed {
+                if yellow_state {
+                    yellow_led.set_high();
+                    info!("CM4: Yellow LED ON");
+                } else {
+                    yellow_led.set_low();
+                    info!("CM4: Yellow LED OFF");
+                }
+                prev_yellow = yellow_state;
+            }
+        }
+
+        Timer::after_millis(10).await;
+    }
+}