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Pull request #106: am243x: ReferenceDesign: Update ICSSG1 clock configuration

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Merge in PINDSW/motor_control_sdk from PINDSW-7166_fix_icssg1_clock_init_ref_design to next

* commit 'c71267b7fceea304bde32fd6c92449e08388998c':
  am243x: ReferenceDesign: Update ICSSG1 clock configuration
This commit is contained in:
Dhaval Khandla 2024-01-04 22:38:12 -06:00 committed by Naresh A
commit 37dfd97529
5 changed files with 588 additions and 12 deletions
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6
examples/tidep_01032_dual_motor_drive/single_chip_servo/.project/mcsdk_project_am243x.js
View File

@ -41,7 +41,7 @@ const files_r5f_1_0 = {
"ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c", "ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c",
"ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c", "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c",
"ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c", "ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c",
"ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/EtherCAT_Slave_CiA402.c", "EtherCAT_Slave_CiA402.c",
"ESL_cia402Demo.c", "ESL_cia402Demo.c",
"ESL_BOARD_OS_config.c", "ESL_BOARD_OS_config.c",
], ],
@ -224,8 +224,8 @@ const libs_r5f_1_0 = {
"freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib", "freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
"drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib", "drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
"board.am243x.r5f.ti-arm-clang.${ConfigName}.lib", "board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
"ethercat_slave.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib", "ethercat_slave.am243x_lp.r5f.ti-arm-clang.release.lib",
"ethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib", "ethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.release.lib",
], ],
}; };

576
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/EtherCAT_Slave_CiA402.c Normal file
View File

@ -0,0 +1,576 @@
/*!
* \example EtherCAT_Slave_CiA402.c
*
* \brief
* EtherCAT<sup>&reg;</sup> Slave Example Application with CiA402 Profile.
*
* \author
* KUNBUS GmbH
*
* \copyright
* Copyright (c) 2021, KUNBUS GmbH<br /><br />
* SPDX-License-Identifier: BSD-3-Clause
*
* Copyright (c) 2023 KUNBUS GmbH.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* <ol>
* <li>Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer./<li>
* <li>Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.</li>
* <li>Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.</li>
* </ol>
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
* WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
*/
#define TIESC_HW 0
#define PRU_200MHZ 1
#include <stdio.h>
#include <drivers/soc.h>
#include <kernel/dpl/AddrTranslateP.h>
#include "ti_dpl_config.h"
#include "ti_drivers_config.h"
/* this one shall the only one to be using it ! */
#include "project.h"
#include "ecSlvCiA402.h"
#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
#if (defined FBTLIMPL_LINEUART) && (1==FBTLIMPL_LINEUART)
#include "sysLib_lineUart.h"
#else
#include <sysLib_sharedMemory.h>
#endif
#endif
/* OS */
#include <osal.h>
/* ESL */
#include <ESL_os.h>
#include <ESL_BOARD_config.h>
#include <ESL_BOARD_OS_config.h>
#include <ESL_cia402Obd.h>
#include <ESL_version.h>
/* stack */
#include <ecSlvApi.h>
/* @cppcheck_justify{misra-c2012-8.9} prefer module global over threadsafety */
/* cppcheck-suppress misra-c2012-8.9 */
static OSAL_PJumpBuf_t farJumpBuf_cia;
static uint32_t EC_SLV_APP_CIA_remoteInit(EC_SLV_APP_CIA_Application_t *applicationInstance);
/* For the tidep_01032_dual_motor_drive reference design, ICSSG0 core clock should be configured
* to 300 MHz and ICSSG1 core clock should be configured to 200 MHz. R5F_0_0 configures ICSSG0 first
* and then R5F_1_0 configures ICSSG1. Because of MCUSDK-12117 bug, ICSSG1 clock configuration to
* 200 MHz causes ICSSG0 also to run at 200 MHz which is a problem for EnDat and SDFM firmwares.
* To avoid this issue, the clock configuration of ICSSG1 should be done separately and not from
* SysConfig generated API. Therefore ESL_OS_init()->System_init() is not called here. Instead
* System_init_modified() is defined and called here, which uses a different API call for
* initializing ICSSG1 clock when compared to System_init().
*
* System_init_modified() function is same as System_init() except PowerClock_init() API call.
* If SysConfig is being updated which leads to changes in the generated code for System_init(),
* please update System_init_modified() function as well.
*/
void System_init_modified(void);
void PowerClock_init_modified(void);
void Module_clockSetFrequency_modified(void);
extern void Drivers_uartInit(void);
extern void Pinmux_init(void);
extern void GPIO_init();
extern void Module_clockEnable(void);
typedef struct {
uint32_t moduleId;
uint32_t clkId;
uint32_t clkRate;
} SOC_ModuleClockFrequency;
extern SOC_ModuleClockFrequency gSocModulesClockFrequency[];
#define SOC_MODULES_END (0xFFFFFFFFu)
void Module_clockSetFrequency_modified(void)
{
int32_t status;
uint32_t i = 0;
uint32_t icssg0ClkParent, icssg1ClkParent;
while(gSocModulesClockFrequency[i].moduleId!=SOC_MODULES_END)
{
/*For ICSSG1, call a different API*/
if((gSocModulesClockFrequency[i].moduleId == TISCI_DEV_PRU_ICSSG1) &&
(gSocModulesClockFrequency[i].clkId == TISCI_DEV_PRU_ICSSG1_CORE_CLK))
{
status = Sciclient_pmGetModuleClkParent(TISCI_DEV_PRU_ICSSG0,
TISCI_DEV_PRU_ICSSG0_CORE_CLK,
&icssg0ClkParent,
SystemP_WAIT_FOREVER);
DebugP_assertNoLog(status == SystemP_SUCCESS);
/*Use a different parent clock for ICSSG1*/
icssg1ClkParent = icssg0ClkParent + 1;
status = SOC_moduleSetClockFrequencyWithParent(
gSocModulesClockFrequency[i].moduleId,
gSocModulesClockFrequency[i].clkId,
icssg1ClkParent,
gSocModulesClockFrequency[i].clkRate
);
}
if((gSocModulesClockFrequency[i].moduleId == TISCI_DEV_PRU_ICSSG1) &&
(gSocModulesClockFrequency[i].clkId == TISCI_DEV_PRU_ICSSG1_IEP_CLK))
{
status = Sciclient_pmGetModuleClkParent(TISCI_DEV_PRU_ICSSG0,
TISCI_DEV_PRU_ICSSG0_IEP_CLK,
&icssg0ClkParent,
SystemP_WAIT_FOREVER);
DebugP_assertNoLog(status == SystemP_SUCCESS);
/*Use a different parent clock for ICSSG1*/
icssg1ClkParent = icssg0ClkParent + 1;
status = SOC_moduleSetClockFrequencyWithParent(
gSocModulesClockFrequency[i].moduleId,
gSocModulesClockFrequency[i].clkId,
icssg1ClkParent,
gSocModulesClockFrequency[i].clkRate
);
}
else
{
status = SOC_moduleSetClockFrequency(
gSocModulesClockFrequency[i].moduleId,
gSocModulesClockFrequency[i].clkId,
gSocModulesClockFrequency[i].clkRate
);
}
DebugP_assertNoLog(status == SystemP_SUCCESS);
i++;
}
}
void PowerClock_init_modified(void)
{
Module_clockEnable();
Module_clockSetFrequency_modified();
}
void System_init_modified(void)
{
/* This function is same as System_init() except PowerClock_init() API call.
* If SysConfig is being updated which leads to changes in the generated
* code for System_init(), please update this function as well.*/
/* DPL init sets up address transalation unit, on some CPUs this is needed
* to access SCICLIENT services, hence this needs to happen first
*/
Dpl_init();
/* We should do sciclient init before we enable power and clock to the peripherals */
/* SCICLIENT init */
{
int32_t retVal = SystemP_SUCCESS;
retVal = Sciclient_init(CSL_CORE_ID_R5FSS1_0);
DebugP_assertNoLog(SystemP_SUCCESS == retVal);
}
/* initialize PMU */
CycleCounterP_init(SOC_getSelfCpuClk());
PowerClock_init_modified();
/* Now we can do pinmux */
Pinmux_init();
/* finally we initialize all peripheral drivers */
OSPI_init();
GPIO_init();
PRUICSS_init();
/* PRU IEP Enable SYNC MODE */
CSL_REG32_WR(CSL_PRU_ICSSG1_PR1_CFG_SLV_BASE + CSL_ICSSCFG_IEPCLK, 1);
Drivers_uartInit();
}
/*!
* <!-- Description: -->
*
* \brief
* Application Loop Task
*
* <!-- Parameters and return values: -->
*
* \param[in] pArg_p Task Parm.
*
* <!-- Example: -->
*
* \par Example
* \code{.c}
*
* // required variables
* void* pvVariable = NULL;
*
* // the Call
* EC_SLV_APP_CIA_loopTask(pvVariable);
* \endcode
*
* <!-- Group: -->
*
* \ingroup EC_SLV_APP
*
* */
static void EC_SLV_APP_CIA_loopTask(void *pArg_p)
{
/* @cppcheck_justify{misra-c2012-11.5} generic API requires cast */
/* cppcheck-suppress misra-c2012-11.5 */
EC_SLV_APP_CIA_Application_t *pApplicationInstance = (EC_SLV_APP_CIA_Application_t*)pArg_p;
uint32_t error = EC_API_eERR_NONE;
char *pProductName = NULL;
uint32_t vendorId = 0;
uint32_t productCode = 0;
EC_API_SLV_EEsmState_t state = EC_API_SLV_eESM_uninit;
uint16_t alErrorCode = 0;
if (!pApplicationInstance)
{
/* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
/* cppcheck-suppress misra-c2012-15.1 */
goto Exit;
}
EC_SLV_APP_CIA_initBoardFunctions(pApplicationInstance);
EC_SLV_APP_CIA_registerStacklessBoardFunctions(pApplicationInstance);
error = EC_API_SLV_stackInit(); // EtherCAT stack init
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
EC_SLV_APP_cia402_initAxisObjects(pApplicationInstance);
EC_SLV_APP_CIA_applicationInit(pApplicationInstance);
EC_API_SLV_getVendorId(pApplicationInstance->ptEcSlvApi, &vendorId);
EC_API_SLV_getProductCode(pApplicationInstance->ptEcSlvApi, &productCode);
error = EC_API_SLV_getProductName(pApplicationInstance->ptEcSlvApi, &pProductName);
OSAL_printf("%s - %xh / %xh\r\n", pProductName, vendorId, productCode);
/* spit out versions */
ESL_dumpVersions(pApplicationInstance->ptEcSlvApi);
error = EC_SLV_APP_CiA_fetchAxisObjects(pApplicationInstance);
if (error != EC_API_eERR_NONE)
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, error);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
for(;;)
{
#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
#if (defined GPIO_TEST_PROFILE_SEL) && (defined GPIO_TEST_PROFILE_1) && (GPIO_TEST_PROFILE_1 == GPIO_TEST_PROFILE_SEL)
ESL_GPIO_testPins_set(ESL_TESTPIN_STATE_REG_BANK, ESL_TESTPIN_0_MASK/*|ESL_TESTPIN_1_MASK*/);
#endif
#endif
EC_API_SLV_mainLoopCyclic();
#if (defined GPIO_TEST_PINS) && (1==GPIO_TEST_PINS)
#if (defined GPIO_TEST_PROFILE_SEL) && (defined GPIO_TEST_PROFILE_1) && (GPIO_TEST_PROFILE_1 == GPIO_TEST_PROFILE_SEL)
ESL_GPIO_testPins_clear(ESL_TESTPIN_STATE_REG_BANK, ESL_TESTPIN_0_MASK);
#endif
#endif
EC_API_SLV_getState(pApplicationInstance->ptEcSlvApi, &state, &alErrorCode);
if (EC_API_SLV_eESM_init < state)
{
OSAL_SCHED_yield();
}
else
{
/* for carve up give some air */
OSAL_SCHED_sleep(10);
}
}
// not reachable
//EC_SLV_APP_applicationDeInit();
Exit:
ESL_OS_taskLeave();
return;
}
static void EC_SLV_APP_CIA_mainTask(void *pArg_p)
{
/* @cppcheck_justify{misra-c2012-11.5} generic API requires cast */
/* cppcheck-suppress misra-c2012-11.5 */
EC_SLV_APP_CIA_Application_t *applicationInstance = (EC_SLV_APP_CIA_Application_t*)pArg_p;
uint32_t retVal = OSAL_ERR_NoError;
if (!applicationInstance)
{
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Application instance missing!!!\r\n");
goto Exit;
}
retVal = ESL_OS_boardInit(applicationInstance->selectedPruInstance);
if (OSAL_ERR_NoError != retVal)
{
OSAL_error(__func__, __LINE__, retVal, true, 1, "OS Board init error\r\n");
}
OSAL_registerPrintOut(NULL, ESL_OS_printf);
retVal = EC_SLV_APP_CIA_remoteInit(applicationInstance);
if(!((OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal) || (OSAL_ERR_NoError == retVal)))
{
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Fatal error remote API init!!!\r\n");
/* @cppcheck_justify{misra-c2012-15.1} assure single point of exit */
/* cppcheck-suppress misra-c2012-15.1 */
goto Exit;
}
retVal = EC_API_SLV_load(&farJumpBuf_cia, NULL /* &applErrHandler*/, applicationInstance->selectedPruInstance);
if (EC_API_eERR_NONE == retVal)
{
EC_API_SLV_prepareTasks(KBECSLV_PRIO_PDI, KBECSLV_PRIO_LED, KBECSLV_PRIO_SYNC0, KBECSLV_PRIO_SYNC1, KBECSLV_PRIO_EOE);
applicationInstance->loopThreadHandle = OSAL_SCHED_startTask(EC_SLV_APP_CIA_loopTask
,applicationInstance
#if !(defined FBTL_REMOTE) || (0==FBTL_REMOTE)
,OSAL_TASK_Prio_Normal
#else
,OSAL_TASK_Prio_Idle
#endif
,(uint8_t*)EC_SLV_APP_applLoopTaskStack_g
,APPLLOOP_TASK_SIZE_BYTE
,0
,"Appl_LoopTask");
if ( NULL == applicationInstance->loopThreadHandle)
{
OSAL_printf("Error return start Loop Task\r\n");
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
OSAL_SCHED_joinTask(applicationInstance->loopThreadHandle);
/* No default tasks (run forever) here, so introduce a wait cycle */
for (;;)
{
OSAL_SCHED_sleep(1000);
}
}
else
{
for (;;)
{
for (;;)
{
OSAL_printf("long jmp restart\r\n");
OSAL_SCHED_sleep(1000);
}
}
}
// not reachable
//ESL_OS_boardDeinit();
//EC_API_SLV_unLoad();
//return 0;
Exit:
return;
}
/*!
* \brief
* Main entry point.
*
* \details
* Simple EtherCAT Slave example demonstrating the configuration the hardware,
* creation of the base slave information as well as the Object Dictionary
* and the Process Data configuration. Furthermore, the FoE Protocol and the
* EEPROM handling are covered on this example.
*
* \param[in] argc Number of command line arguments.
* \param[in] *argv Pointer to an array of command line arguments.
*
* \return uint32_t of type #NAMESPACE_EError_t.
* \retval 0 Success.
* \retval -1 Board initialization failed.
*
*/
int main(int argc, char *argv[])
{
/* @cppcheck_justify{threadsafety-threadsafety} no called reentrant */
/* cppcheck-suppress threadsafety-threadsafety */
static uint32_t selectedPruInstance = UINT32_MAX;
/* @cppcheck_justify{threadsafety-threadsafety} no called reentrant */
/* cppcheck-suppress threadsafety-threadsafety */
static EC_SLV_APP_CIA_Application_t applicationInstance = {0};
uint32_t error = OSAL_ERR_NoError;
/* For the tidep_01032_dual_motor_drive reference design, ICSSG0 core clock should be configured
* to 300 MHz and ICSSG1 core clock should be configured to 200 MHz. R5F_0_0 configures ICSSG0 first
* and then R5F_1_0 configures ICSSG1. Because of MCUSDK-12117 bug, ICSSG1 clock configuration to
* 200 MHz causes ICSSG0 also to run at 200 MHz which is a problem for EnDat and SDFM firmwares.
* To avoid this issue, the clock configuration of ICSSG1 should be done separately and not from
* SysConfig generated API. Therefore ESL_OS_init()->System_init() is not called here. Instead
* System_init_modified() is defined and called here, which uses a different API call for
* initializing ICSSG1 clock when compared to System_init().
*
* System_init_modified() function is same as System_init() except PowerClock_init() API call.
* If SysConfig is being updated which leads to changes in the generated code for System_init(),
* please update System_init_modified() function as well.
*/
/* ESL_OS_init(); */
System_init_modified();
#if !(defined FBTL_REMOTE)
selectedPruInstance = ESL_DEFAULT_PRUICSS;
#endif
if (1 < argc)
{
char *inst = argv[1];
selectedPruInstance = strtoul(inst, NULL, 0);
}
/* Init osal */
OSAL_init();
applicationInstance.selectedPruInstance = selectedPruInstance;
TaskP_Params_init(&applicationInstance.mainThreadParam);
applicationInstance.mainThreadParam.name = "mainThread";
applicationInstance.mainThreadParam.stackSize = MAIN_TASK_SIZE_BYTE; /* FreeRTOS wants Stacksize in Units, when called direct, using TaskP it's bytes */
applicationInstance.mainThreadParam.stack = (uint8_t*)EC_SLV_APP_mainTaskStack_g;
applicationInstance.mainThreadParam.priority = (TaskP_PRIORITY_LOWEST+1);
applicationInstance.mainThreadParam.taskMain = (TaskP_FxnMain)EC_SLV_APP_CIA_mainTask;
applicationInstance.mainThreadParam.args = (void*)&applicationInstance;
error = TaskP_construct(&applicationInstance.mainThreadHandle
,&applicationInstance.mainThreadParam);
if (SystemP_SUCCESS != error)
{
OSAL_printf("Error setting create thread of %s (%ld)\r\n", applicationInstance.mainThreadParam.name, error);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
}
OSAL_startOs();
OSAL_error(__func__, __LINE__, OSAL_ERR_InvalidParm, true, 1, "Not reachable by design!!!\r\n");
// not reachable
//EC_API_SLV_unLoad();
return error;
}
static uint32_t EC_SLV_APP_CIA_remoteInit(EC_SLV_APP_CIA_Application_t *applicationInstance)
{
uint32_t retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
if (!applicationInstance)
{
/* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
/* cppcheck-suppress misra-c2012-15.1 */
goto Exit;
}
#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
#if (defined FBTLIMPL_LINEUART) && (FBTLIMPL_LINEUART==1)
retVal = SYSLIB_createLibInstanceLine( FBTL_LINE_UART_NAME,
FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN,
FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
,true
#else
,false
#endif
,&(applicationInstance->remoteHandle)
);
#else
retVal = SYSLIB_createLibInstanceShm(FBTLSHARED_MEM_NAME, FBTLSHARED_MEM_SIZE, false,
FBTL_MAX_ASYNC_LEN, FBTL_MAX_ASYNC_LEN, FBTL_MAX_PD_LEN, FBTL_MAX_PD_LEN
#if (defined FBTLTRACECALLS) && (FBTLTRACECALLS==1)
,true
#else
,false
#endif
,&(applicationInstance->remoteHandle)
);
#endif
#else
OSALUNREF_PARM(applicationInstance);
retVal = OSAL_CONTAINER_LOCALIMPLEMENTATION;
#endif
if(OSAL_CONTAINER_LOCALIMPLEMENTATION == retVal)
{
OSAL_printf("\r\nLocal Implementation\r\n");
}
#if (defined FBTL_REMOTE) && (FBTL_REMOTE==1)
else if(EC_API_eERR_NONE == retVal)
{
retVal = EC_API_SLV_FBTL_configuration(applicationInstance->remoteHandle);
if(EC_API_eERR_NONE != retVal)
{
OSAL_printf("%s:%d Error code: 0x%08x\r\n", __func__, __LINE__, retVal);
OSAL_error(__func__, __LINE__, OSAL_STACK_INIT_ERROR, true, 0);
/* @cppcheck_justify{misra-c2012-15.1} goto is used to assure single point of exit */
/* cppcheck-suppress misra-c2012-15.1 */
goto Exit;
}
}
#endif
else
{
/* nothing to do */
;
}
Exit:
if((OSAL_ERR_NoError != retVal) && (OSAL_CONTAINER_LOCALIMPLEMENTATION != retVal))
{
OSAL_printf("%s:%d::> err ret = 0x%x\r\n", __func__, __LINE__, retVal);
}
return retVal;
}

6
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/example.projectspec
View File

@ -117,8 +117,8 @@
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib -lfreertos.am243x.r5f.ti-arm-clang.debug.lib
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib -ldrivers.am243x.r5f.ti-arm-clang.debug.lib
-lboard.am243x.r5f.ti-arm-clang.debug.lib -lboard.am243x.r5f.ti-arm-clang.debug.lib
-lethercat_slave.am243x_lp.r5f.ti-arm-clang.debug.lib -lethercat_slave.am243x_lp.r5f.ti-arm-clang.release.lib
-lethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.debug.lib -lethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.release.lib
-llibc.a -llibc.a
-llibsysbm.a -llibsysbm.a
" "
@ -146,7 +146,7 @@
</file> </file>
<file path="../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c" openOnCreation="false" excludeFromBuild="false" action="copy"> <file path="../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c" openOnCreation="false" excludeFromBuild="false" action="copy">
</file> </file>
<file path="../../../../../../ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/EtherCAT_Slave_CiA402.c" openOnCreation="false" excludeFromBuild="false" action="copy"> <file path="../EtherCAT_Slave_CiA402.c" openOnCreation="false" excludeFromBuild="false" action="copy">
</file> </file>
<file path="../ESL_cia402Demo.c" openOnCreation="false" excludeFromBuild="false" action="copy"> <file path="../ESL_cia402Demo.c" openOnCreation="false" excludeFromBuild="false" action="copy">
</file> </file>

2
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/linker.cmd
View File

@ -128,7 +128,7 @@ MEMORY
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0 R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB0: ORIGIN = 0x41010000 , LENGTH = 0x00008000 R5F_TCMB0: ORIGIN = 0x41010000 , LENGTH = 0x00008000
MSRAM_1_0 : ORIGIN = 0x700C0000 , LENGTH = 0x00070000 MSRAM_1_0 : ORIGIN = 0x700C0000 , LENGTH = 0x00080000
EXTRAHEAP: ORIGIN = 0x70008000 , LENGTH = 0x00038000 EXTRAHEAP: ORIGIN = 0x70008000 , LENGTH = 0x00038000
/* shared memories that are used by all cores */ /* shared memories that are used by all cores */

10
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/makefile
View File

@ -43,7 +43,7 @@ FILES_common := \
ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c \ ind_comms_sdk/examples/industrial_comms/custom_phy/src/CUST_PHY_dp83869.c \
ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c \ ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ecSlvCiA402.c \
ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c \ ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/ESL_cia402Obd.c \
ind_comms_sdk/examples/industrial_comms/ethercat_slave_demo/device_profiles/402_cia/EtherCAT_Slave_CiA402.c \ EtherCAT_Slave_CiA402.c \
ESL_cia402Demo.c \ ESL_cia402Demo.c \
ESL_BOARD_OS_config.c \ ESL_BOARD_OS_config.c \
ti_drivers_config.c \ ti_drivers_config.c \
@ -139,8 +139,8 @@ LIBS_common = \
-lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \ -lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \ -ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \ -lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-lethercat_slave.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib \ -lethercat_slave.am243x_lp.r5f.ti-arm-clang.release.lib \
-lethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib \ -lethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.release.lib \
-llibc.a \ -llibc.a \
-llibsysbm.a \ -llibsysbm.a \
@ -158,8 +158,8 @@ LIBS_NAME = \
freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \ freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \ drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \ board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
ethercat_slave.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib \ ethercat_slave.am243x_lp.r5f.ti-arm-clang.release.lib \
ethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.${ConfigName}.lib \ ethercat_slave_bkhfSsc.am243x_lp.r5f.ti-arm-clang.release.lib \
libc.a \ libc.a \
libsysbm.a \ libsysbm.a \