zynq petalinux AMP双核运行linux+ucos（或者裸机）之间进行 IPI 软中断通讯的实现

前几天试验了xilinx官方remotporc AMP程序，运行是运行起来了，但是感觉太复杂了，我只想要一个能启动停止cpu1，能在两个cpu之间方便通讯的功能就行了，看着remotproc框架一堆的代码，编译出来的elf文件体积还超级大心里就非常不爽，想着干脆自己实现一个简单处理驱动程序算了，so...经过几天的痛苦研究，也算完整实现了想要的功能

由于linux应用程序不能处理硬件中断，因此这个IPI通讯只能在驱动层进行处理，所以第一步，要编写一个驱动程序，实现cpu1的bin（不是elf）文件加载，控制启动和停止cpu1，处理cpu0和cpu1之间的ipi中断，完整驱动代码如下

/*  ampipidevice.c - The simplest kernel module.

* Copyright (C) 2013 - 2016 Xilinx, Inc
*
*   This program is free software; you can redistribute it and/or modify
*   it under the terms of the GNU General Public License as published by
*   the Free Software Foundation; either version 2 of the License, or
*   (at your option) any later version.

*   This program is distributed in the hope that it will be useful,
*   but WITHOUT ANY WARRANTY; without even the implied warranty of
*   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*   GNU General Public License for more details.
*
*   You should have received a copy of the GNU General Public License along
*   with this program. If not, see <http://www.gnu.org/licenses/>.

*/
#include <linux/kernel.h>
#include <linux/init.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/io.h>
#include <linux/interrupt.h>
#include <linux/uaccess.h> 
#include <linux/cdev.h>
#include <linux/of_address.h>
#include <linux/of_device.h>
#include <linux/of_platform.h>
#include <linux/of_irq.h>
#include <linux/fs.h>
#include <linux/fcntl.h> 

#include <../../arch/arm/mach-zynq/common.h>
#include <linux/irqchip/arm-gic.h> 

extern int zynq_cpun_stop(int cpu);



/* Standard module information, edit as appropriate */
MODULE_LICENSE("GPL");
MODULE_AUTHOR
    ("Xilinx Inc.");
MODULE_DESCRIPTION
    ("ampipidevice - loadable module template generated by petalinux-create -t modules");

#define DRIVER_NAME "ampipi_Device"
#define DRIVER_NUM   1                      



#define StarCpu1			0x10000000
#define StopCpu1			0x20000000
#define KickCpu1			0x30000000

struct ampipidevice_local 
{
	int cpu0_to_cpu1_ipi;
	int cpu1_to_cpu0_ipi;
	unsigned long mem_start;
	unsigned long mem_end;
	void __iomem *base_addr;
};


struct ampipi_dev 
{ 
	dev_t devid;                   /*  设备号  */ 
	struct cdev chdev;            	/* cdev 结构体  */ 
	struct class *class;         	/*  类  */ 
	struct device *device;     		/*  设备  */ 
	struct ampipidevice_local *param;
	struct fasync_struct *async_queue; 
}; 

static struct ampipi_dev ampipi;  


/*********************************************************************
*
*
*
**********************************************************************/
static int ampipi_open(struct inode *inode, struct file *filp) 
{ 

	cpu_up(1);
	printk("ampipi Dev: open success  \r\n"); 
					
	return 0; 
} 

/*********************************************************************
*
*
*
**********************************************************************/
static ssize_t ampipi_write(struct file *filp, const char __user *buf,size_t cnt, loff_t *offt) 
{
	int ret; 
	
	ret = copy_from_user((unsigned char*)(ampipi.param->base_addr + (*offt)), buf, cnt);  
	
	if(0 > ret)
	{
		printk(KERN_ERR "ampipi Dev: Failed to copy data from user space \r\n"); 
		return -EFAULT; 			
	}
	
	printk("ampipi Dev: write add: %08X  cnt: %d\r\n",(unsigned int)(ampipi.param->base_addr + (*offt)),cnt); 
	
	*offt = *offt + cnt;
	
	return cnt;
}

/*********************************************************************
*
*
*
**********************************************************************/
static ssize_t ampipi_read(struct file *filp, char __user *buf, size_t cnt, loff_t *offt) 
{ 
	int ret = 0; 
	
	ret = copy_to_user(buf, (unsigned char*)(ampipi.param->base_addr + (*offt)) , cnt); 
	
	if(ret < 0)
	{ 
		pri