Pull request #107: am243x/am64x: pruicss_pwm: add pruicss pwm sync eg
Merge in PINDSW/motor_control_sdk from a0503545_pwm to next * commit 'ba8a20b928bfa971fb02667d512c14f53abfc8f1': am243x/am64x: pruicss_pwm: add pruicss pwm sync eg
This commit is contained in:
Manoj Koppolu
Pratheesh Gangadhar TK
commit
6e469ee341
@ -1456,6 +1456,38 @@
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]
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]
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},
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{
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"resourceType": "project.ccs",
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"resourceClass": [
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"example"
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],
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"resourceSubClass": [
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"example.general"
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],
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"description": "A Pruicss Pwm Epwm Sync Example. CPU is R5FSS0-0 running FREERTOS.",
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"name": "pruicss_pwm_epwm_sync",
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"location": "../../examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
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"devtools": [
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"AM243x_GP_EVM"
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],
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"kernel": [
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"freertos"
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],
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"compiler": [
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"ticlang"
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],
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"subCategories": [
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"pruicss_pwm",
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"pruicss_pwm_epwm_sync",
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"r5fss0-0_freertos"
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],
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"mainCategories": [
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[
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"Examples",
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"Development Tools"
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]
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]
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},
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{
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"resourceType": "project.ccs",
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"resourceClass": [
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@ -262,6 +262,38 @@
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]
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]
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},
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{
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"resourceType": "project.ccs",
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"resourceClass": [
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"example"
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],
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"resourceSubClass": [
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"example.general"
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],
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"description": "A Pruicss Pwm Epwm Sync Example. CPU is R5FSS0-0 running FREERTOS.",
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"name": "pruicss_pwm_epwm_sync",
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"location": "../../examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
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"devtools": [
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"AM64x_GP_EVM"
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],
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"kernel": [
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"freertos"
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],
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"compiler": [
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"ticlang"
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],
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"subCategories": [
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"pruicss_pwm",
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"pruicss_pwm_epwm_sync",
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"r5fss0-0_freertos"
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],
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"mainCategories": [
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[
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"Examples",
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"Development Tools"
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]
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]
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},
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{
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"resourceType": "web.page",
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"resourceClass": [
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@ -22,6 +22,7 @@ const example_file_list = [
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"examples/position_sense/tamagawa_diagnostic/multi_channel/.project/project.js",
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"examples/position_sense/tamagawa_diagnostic/single_channel/.project/project.js",
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"examples/pruicss_pwm/pruicss_pwm_duty_cycle/.project/project.js",
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"examples/pruicss_pwm/pruicss_pwm_epwm_sync/.project/project.js",
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"source/position_sense/endat/firmware/multi_channel_load_share/.project/project.js",
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"source/position_sense/endat/firmware/single_channel/.project/project.js",
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"source/position_sense/endat/firmware/multi_channel_single_pru/.project/project.js",
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@ -37,7 +37,8 @@ Each Set has six signals (A0,A1,A2,B0,B1,B2) With Reference to Technical Referen
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## Example Usage
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\ref EXAMPLE_PRUICSS_PWM_DUTY_CYCLE
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- \ref EXAMPLE_PRUICSS_PWM_DUTY_CYCLE
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- \ref EXAMPLE_PRUICSS_PWM_EPWM_SYNC
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## API
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@ -3,4 +3,5 @@ INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/hdsl_example.
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INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/endat_example.md
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INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/tamagawa_example.md
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INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/sdfm_example.md
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INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/pruicss_pwm_dutycycle.md
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INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/pruicss_pwm_dutycycle.md
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INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/pruicss_pwm_epwm_sync.md
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@ -7,24 +7,6 @@
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This example generates a signal for a specified period and duty cycle using
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PRUICSS PWM. The period and duty cycle can be configured by the user.
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\cond SOC_AM243X
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## AM243X-EVM
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The example Uses PRUICSSG1 PWM module and does below
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- This example uses PRUICSSG1 PWM module as probing PRUICSSG0 PWM signals requires IO breakout board
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- Configures PWM0_2_NEG(alias signal PWM0_B2) to generate a 1KHz signal with 25% duty cycle
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- PWM0_2_NEG(alias signal PWM0_B2) uses IEP0 CMP6 EVENT to control Duty cycle and IEP0 CMP0 to control output Frequency
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- Configures IEP0 CMP0 value with PWM0_2_NEG(alias signal PWM0_B2) output period value
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- Configures IEP0 CMP6 value with PWM0_2_NEG(alias signal PWM0_B2) output duty cycle value
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- Configures IEP counter reset on CMP0 event
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- PRG1_PWM0_B2 can be probed on J16 PIN1
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#### AM243X-EVM Probe Output
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\imageStyle{am64x_am243x_evm_duty_example_probe_output.png,width:70%}
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\image html am64x_am243x_evm_duty_example_probe_output.png "PRUICSS PWM DUTY CYCLE PROBE OUTPUT"
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## AM243X-LP
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The example Uses PRUICSSG0 PWM module and does below
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- Configures PWM0_0_POS(alias signal PWM0_A0) to generate a 1KHz signal with 25% duty cycle
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@ -36,33 +18,20 @@ The example Uses PRUICSSG0 PWM module and does below
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- Configures IEP0 CMP6 value with PWM0_0_POS(alias signal PWM0_A0) output duty cycle value
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- Configures IEP1 CMP12 value with PWM3_2_NEG(alias signal PWM3_B2) output duty cycle value
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- PWM0_0_POS(alias signal PWM0_A0) and PWM3_2_NEG(alias signal PWM3_B2) will be in sync with respect to each other as IEP0 CMP0 value is used to control output period of these signals
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#### AM243X-LP
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- PRG0_PWM0_A0 can be probed on J1.5
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- PRG0_PWM3_B2 can be probed on J2.8
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#### AM243X-LP Probe Output
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\image html am243x_lp_duty_example_probe_output.png "PRUICSS PWM DUTY CYCLE PROBE OUTPUT"
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#### AM64X-EVM and AM243X-EVM
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An IO Breakout Board (BB) is required to probe the PWM outputs
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- PRG0_PWM0_A0 can be probed on J3.1 of IO Breakout Board
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- PRG0_PWM3_B2 can be probed on J2.11 of IO Breakout Board
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\endcond
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\cond SOC_AM64X
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## AM64X-EVM
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The example Uses PRUICSSG1 PWM module and does below
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- This example uses PRUICSSG1 PWM module as probing PRUICSSG0 PWM signals requires IO breakout board
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- Configures PWM0_2_NEG(alias signal PWM0_B2) to generate a 1KHz signal with 25% duty cycle
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- PWM0_2_NEG(alias signal PWM0_B2) uses IEP0 CMP6 EVENT to control Duty cycle and IEP0 CMP0 to control output Frequency
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- Configures IEP0 CMP0 value with PWM0_2_NEG(alias signal PWM0_B2) output period value
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- Configures IEP0 CMP6 value with PWM0_2_NEG(alias signal PWM0_B2) output duty cycle value
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- Configures IEP counter reset on CMP0 event
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- PRG1_PWM0_B2 can be probed on J16 PIN1
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#### AM64X-EVM Probe Output
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\imageStyle{am64x_am243x_evm_duty_example_probe_output.png,width:70%}
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\image html am64x_am243x_evm_duty_example_probe_output.png "PRUICSS PWM DUTY CYCLE PROBE OUTPUT"
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\endcond
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#### Probe Output
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\imageStyle{duty_example_probe_output.png,width:70%}
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\image html duty_example_probe_output.png "PRUICSS PWM DUTY CYCLE PROBE OUTPUT"
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# Supported Combinations
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@ -7,9 +7,6 @@
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This example generates a signal for a specified period and duty cycle using
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PRUICSS PWM and SOC EPWM. The period and duty cycle can be configured by the user.
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\cond SOC_AM243X
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## AM243X-LP
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The example Uses PRUICSSG0 PWM module and does below
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- Configures EPWM0_CHANNEL_A to generate a 1KHz signal with 25% duty cycle
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@ -23,15 +20,23 @@ The example Uses PRUICSSG0 PWM module and does below
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- Configures IEP1 CMP12 value with PWM3_2_NEG(alias signal PWM3_B2) output duty cycle value
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- Configures IEP0 CMP0 value with zero to make state transition to intial on IEP counter reset
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- PWM0_0_POS(alias signal PWM0_A0) and PWM3_2_NEG(alias signal PWM3_B2) and EPWM0_CHANNEL_A will be in sync with respect to each other as EPWM0_SYNC_OUT is used to control output period of these signals
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#### AM243X-LP
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- PRG0_PWM0_A0 can be probed on J1.5
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- PRG0_PWM3_B2 can be probed on J2.8
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- EPWM0_CHANNEL_A can be probed on J4.1
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#### AM243X-LP Probe Output
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\imageStyle{am243x_lp_soc_epwm_pruicss_pwm_sync_probe_output.png,width:85%}
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\image html am243x_lp_soc_epwm_pruicss_pwm_sync_probe_output.png "PRUICSS PWM EPWM SYNC PROBE OUTPUT"
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#### AM64X-EVM and AM243X-EVM
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An IO Breakout Board (BB) is required to probe the PWM outputs
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- PRG0_PWM0_A0 can be probed on J3.1 of IO Breakout Board
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- PRG0_PWM3_B2 can be probed on J2.11 of IO Breakout Board
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- EPWM0_CHANNEL_A can be probed on J6.1 of IO Breakout Board
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\endcond
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#### Probe Output
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\imageStyle{epwm_pruicss_pwm_sync_probe_output.png,width:85%}
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\image html epwm_pruicss_pwm_sync_probe_output.png "PRUICSS PWM EPWM SYNC PROBE OUTPUT"
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# Supported Combinations
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@ -46,6 +51,17 @@ The example Uses PRUICSSG0 PWM module and does below
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\endcond
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\cond SOC_AM243X
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Parameter | Value
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---------------|-----------
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CPU + OS | r5fss0-0 freertos
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Toolchain | ti-arm-clang
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Boards | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER
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Example folder | examples/pruicss_pwm/pruicss_pwm_epwm_sync
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\endcond
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# Steps to Run the Example
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- **When using CCS projects to build**, import the CCS project for the required combination
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Binary file not shown.
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Before Width: | Height: | Size: 32 KiB |
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Before Width: | Height: | Size: 37 KiB After Width: | Height: | Size: 37 KiB |
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Before Width: | Height: | Size: 73 KiB After Width: | Height: | Size: 73 KiB |
@ -48,7 +48,11 @@ const libs_freertos_r5f = {
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],
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};
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const defines = {
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common: [
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"am243x_evm",
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],
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};
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const lnkfiles = {
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common: [
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@ -101,6 +105,10 @@ function getComponentBuildProperty(buildOption) {
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build_property.lnkfiles = lnkfiles;
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build_property.syscfgfile = syscfgfile;
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build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
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if(buildOption.board=="am243x-evm"){
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build_property.defines = defines;
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}
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if(buildOption.cpu.match(/r5f*/)) {
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if(buildOption.os.match(/freertos*/) )
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@ -56,6 +56,12 @@ const lnkfiles = {
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]
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};
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const defines = {
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common: [
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"am64x_evm",
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],
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};
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const syscfgfile = "../example.syscfg";
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const readmeDoxygenPageTag = "EXAMPLE_PRUICSS_PWM_DUTY_CYCLE";
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@ -101,6 +107,10 @@ function getComponentBuildProperty(buildOption) {
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build_property.syscfgfile = syscfgfile;
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build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
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if(buildOption.board=="am64x-evm"){
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build_property.defines = defines;
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}
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if(buildOption.cpu.match(/r5f*/)) {
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if(buildOption.os.match(/freertos*/) )
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{
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@ -18,12 +18,17 @@ const mpu_armv73 = mpu_armv7.addInstance();
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const mpu_armv74 = mpu_armv7.addInstance();
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const mpu_armv75 = mpu_armv7.addInstance();
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const mpu_armv76 = mpu_armv7.addInstance();
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const i2c = scripting.addModule("/drivers/i2c/i2c", {}, false);
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const i2c1 = i2c.addInstance();
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const pwm = scripting.addModule("/pru_icssg/pwm", {}, false);
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const pwm1 = pwm.addInstance();
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const pwm2 = pwm.addInstance();
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/**
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* Write custom configuration values to the imported modules.
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*/
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i2c1.$name = "CONFIG_I2C0";
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pruicss1.$name = "CONFIG_PRU_ICSS0";
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pruicss1.instance = "ICSSG1";
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pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
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debug_log.enableUartLog = true;
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@ -64,10 +69,23 @@ mpu_armv76.$name = "CONFIG_MPU_REGION5";
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mpu_armv76.baseAddr = 0x80000000;
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mpu_armv76.size = 31;
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pwm1.$name = "CONFIG_PRU_ICSS_PWM0";
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pwm1.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM0";
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pwm1.PRU_ICSSG0_PWM.A0.$assign = "PRG0_PRU0_GPO12";
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pwm1.PRU_ICSSG0_PWM.A0.$used = true;
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pwm2.$name = "CONFIG_PRU_ICSS_PWM1";
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pwm2.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM3";
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pwm2.PRU_ICSSG0_PWM.B2.$assign = "PRG0_PRU0_GPO5";
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pwm2.PRU_ICSSG0_PWM.B2.$used = true;
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/**
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* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
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* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
|
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* re-solve from scratch.
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*/
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i2c1.I2C.$suggestSolution = "I2C0";
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i2c1.I2C.SCL.$suggestSolution = "I2C0_SCL";
|
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i2c1.I2C.SDA.$suggestSolution = "I2C0_SDA";
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debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
|
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debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";
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@ -1,163 +0,0 @@
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/*
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||||
* Copyright (C) 2023 Texas Instruments Incorporated
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* Neither the name of Texas Instruments Incorporated nor the names of
|
||||
* its contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* 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
|
||||
* OWNER 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.
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <kernel/dpl/DebugP.h>
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||||
#include "ti_drivers_config.h"
|
||||
#include "ti_drivers_open_close.h"
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#include "ti_board_open_close.h"
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#include <pruicss_pwm.h>
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#include <drivers/pruicss.h>
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#include <drivers/pinmux.h>
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/** \brief Global Structure pointer holding PRUICSSG1 memory Map. */
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||||
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PRUICSS_Handle gPruIcssHandle;
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||||
|
||||
/*
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||||
* This example uses the PRUICSS PWM module to generate a signal
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||||
* with a specified duty cycle.
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||||
*
|
||||
* The default parameters are : Frequency : 1kHz, Duty cycle : 25%,
|
||||
* All these parameters are configurable.
|
||||
*
|
||||
* In this example PWM0_2_NEG(alias signal B2) is used to generate the signal, the user can also
|
||||
* select a different one.
|
||||
*
|
||||
* PWM0_2_NEG(alias signal B2) uses IEP0 CMP6 EVENT to control Duty cycle
|
||||
* & IEP0 CMP0 to control output Frequency
|
||||
* This example also showcases how to configure and use the PRUICSS PWM module.
|
||||
*/
|
||||
|
||||
/*FIXME: IEP0_CLK_FREQ macro to be included in driver_config.h sysconfig generated file*/
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||||
#define PRUICSS_IEP0_CLK_FREQ (200000000U)
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||||
/* Modify this to change the IEP counter increment value*/
|
||||
#define PRUICSS_IEP_COUNT_INCREMENT_VALUE (1U)
|
||||
/* Duty Cycle of PWM output signal in % - give value from 1 to 99 */
|
||||
#define APP_PRUICSS_PWM_DUTY_CYCLE (25U)
|
||||
/* Frequency of PWM output signal in Hz - 1 KHz is selected */
|
||||
#define APP_PRUICSS_PWM_OUTPUT_FREQ (1U * 1000U)
|
||||
/* PRD value - this determines the period */
|
||||
#define APP_PRUICSS_PWM_PRD_VAL (((PRUICSS_IEP0_CLK_FREQ / APP_PRUICSS_PWM_OUTPUT_FREQ))*(PRUICSS_IEP_COUNT_INCREMENT_VALUE))
|
||||
/* DUTY CYCLE width - this determines width of PWM output signal duty cycle*/
|
||||
#define APP_PRUICSS_IEP0_COMP6_VAL (APP_PRUICSS_PWM_PRD_VAL-((APP_PRUICSS_PWM_DUTY_CYCLE*APP_PRUICSS_PWM_PRD_VAL)/100))
|
||||
|
||||
Pinmux_PerCfg_t gPinMuxMainDomainCfg1[] = {
|
||||
|
||||
/* PRU_ICSSG1_PWM0 pin config */
|
||||
/* PRG1_PWM0_B2 -> PRG1_PRU0_GPO17 (U7) */
|
||||
{
|
||||
PIN_PRG1_PRU0_GPO17,
|
||||
( PIN_MODE(3) | PIN_PULL_DISABLE )
|
||||
},
|
||||
|
||||
{PINMUX_END, PINMUX_END}
|
||||
};
|
||||
void pruicss_iep_init(void *args)
|
||||
{
|
||||
int32_t status;
|
||||
/*Disable IEP0 counter*/
|
||||
status = PRUICSS_controlIepCounter(gPruIcssHandle, PRUICSS_IEP_INST0, 0);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
Pinmux_config(gPinMuxMainDomainCfg1, PINMUX_DOMAIN_ID_MAIN);
|
||||
|
||||
/*Intialize IEP0 count value*/
|
||||
PRUICSS_PWM_setIepCounterLower_32bitValue(gPruIcssHandle, PRUICSS_IEP_INST0, 0xFFFFFFFF);
|
||||
PRUICSS_PWM_setIepCounterUpper_32bitValue(gPruIcssHandle, PRUICSS_IEP_INST0, 0xFFFFFFFF);
|
||||
|
||||
/*configure cmp 0 value with APP_PRUICSS_PWM_PRD_VAL*/
|
||||
status = PRUICSS_PWM_setIepCompareEventLower_32bitValue(gPruIcssHandle, PRUICSS_IEP_INST0, CMP_EVENT0, (APP_PRUICSS_PWM_PRD_VAL & 0xFFFFFFFF));
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
/*configure cmp 6 value with APP_PRUICSS_IEP0_COMP6_VAL*/
|
||||
status = PRUICSS_PWM_setIepCompareEventLower_32bitValue(gPruIcssHandle, PRUICSS_IEP_INST0, CMP_EVENT6, (APP_PRUICSS_IEP0_COMP6_VAL & 0xFFFFFFFF));
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
/*Enable cmp 0 and cmp 6*/
|
||||
status = PRUICSS_PWM_configureIepCompareEnable(gPruIcssHandle, PRUICSS_IEP_INST0, 0x41);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
/*Set IEP0 counter Increment value*/
|
||||
status = PRUICSS_setIepCounterIncrementValue(gPruIcssHandle, PRUICSS_IEP_INST0, PRUICSS_IEP_COUNT_INCREMENT_VALUE);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
/*Enable cmp 0 reset of counter*/
|
||||
PRUICSS_PWM_configureIepCmp0ResetEnable(gPruIcssHandle, PRUICSS_IEP_INST0, 0x1);
|
||||
|
||||
/*Enable IEP0 counter*/
|
||||
status=PRUICSS_controlIepCounter(gPruIcssHandle, PRUICSS_IEP_INST0, 1);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
}
|
||||
|
||||
void pruicss_pwm_init(void *args)
|
||||
{
|
||||
int32_t status;
|
||||
/*Enable IEP CMP flags to auto clear after state transition*/
|
||||
status = PRUICSS_PWM_configurePwmEfficiencyModeEnable(gPruIcssHandle, 1);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
/*Enable compare0 trip reset */
|
||||
PRUICSS_PWM_configurePwmCmp0TripResetEnable(gPruIcssHandle, PRUICSS_PWM_SET0, 1);
|
||||
/*configure PWM B2 signal of set 0, intial state to low*/
|
||||
status = PRUICSS_PWM_actionOnOutputCfgPwmSignalB2(gPruIcssHandle, PRUICSS_PWM_SET0, PRUICSS_PWM_INTIAL_STATE, PRUICSS_PWM_OUTPUT_LOW);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
/*configure PWM B2 signal of set 0, active state to high*/
|
||||
status = PRUICSS_PWM_actionOnOutputCfgPwmSignalB2(gPruIcssHandle, PRUICSS_PWM_SET0, PRUICSS_PWM_ACTIVE_STATE, PRUICSS_PWM_OUTPUT_HIGH);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
}
|
||||
|
||||
void pruicss_pwm_duty_cycle_main(void *args)
|
||||
{
|
||||
|
||||
int32_t status;
|
||||
|
||||
Drivers_open(); // check return status
|
||||
|
||||
status = Board_driversOpen();
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
gPruIcssHandle = PRUICSS_open(CONFIG_PRU_ICSS0);
|
||||
DebugP_assert(gPruIcssHandle != NULL);
|
||||
|
||||
pruicss_pwm_init(NULL);
|
||||
|
||||
pruicss_iep_init(NULL);
|
||||
|
||||
while (1)
|
||||
{
|
||||
ClockP_usleep(1);
|
||||
}
|
||||
|
||||
Board_driversClose();
|
||||
Drivers_close();
|
||||
}
|
||||
@ -47,6 +47,7 @@
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
-Dam243x_evm
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
|
||||
@ -98,7 +99,7 @@
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../pruicss_pwm_dutycycle.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
<file path="../../../pruicss_pwm_dutycycle.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
|
||||
@ -66,6 +66,7 @@ INCLUDES_common := \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
-Dam243x_evm \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
|
||||
@ -17,6 +17,9 @@ const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const pwm = scripting.addModule("/pru_icssg/pwm", {}, false);
|
||||
const pwm1 = pwm.addInstance();
|
||||
const pwm2 = pwm.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
@ -53,6 +56,16 @@ mpu_armv75.baseAddr = 0x60000000;
|
||||
mpu_armv75.size = 28;
|
||||
mpu_armv75.accessPermissions = "Supervisor RD, User RD";
|
||||
|
||||
pwm1.$name = "CONFIG_PRU_ICSS_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$assign = "PRG0_PRU0_GPO12";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$used = true;
|
||||
|
||||
pwm2.$name = "CONFIG_PRU_ICSS_PWM1";
|
||||
pwm2.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM3";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$assign = "PRG0_PRU0_GPO5";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$used = true;
|
||||
|
||||
/**
|
||||
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
||||
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
|
||||
|
||||
@ -98,7 +98,7 @@
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../pruicss_pwm_dutycycle.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
<file path="../../../pruicss_pwm_dutycycle.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
|
||||
@ -8,6 +8,8 @@
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const i2c = scripting.addModule("/drivers/i2c/i2c", {}, false);
|
||||
const i2c1 = i2c.addInstance();
|
||||
const pruicss = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
|
||||
const pruicss1 = pruicss.addInstance();
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
@ -18,12 +20,15 @@ const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const mpu_armv76 = mpu_armv7.addInstance();
|
||||
const pwm = scripting.addModule("/pru_icssg/pwm", {}, false);
|
||||
const pwm1 = pwm.addInstance();
|
||||
const pwm2 = pwm.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
i2c1.$name = "CONFIG_I2C0";
|
||||
pruicss1.$name = "CONFIG_PRU_ICSS0";
|
||||
pruicss1.instance = "ICSSG1";
|
||||
pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
|
||||
|
||||
debug_log.enableUartLog = true;
|
||||
@ -64,6 +69,16 @@ mpu_armv76.$name = "CONFIG_MPU_REGION5";
|
||||
mpu_armv76.baseAddr = 0x80000000;
|
||||
mpu_armv76.size = 31;
|
||||
|
||||
pwm1.$name = "CONFIG_PRU_ICSS_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$assign = "PRG0_PRU0_GPO12";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$used = true;
|
||||
|
||||
pwm2.$name = "CONFIG_PRU_ICSS_PWM1";
|
||||
pwm2.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM3";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$assign = "PRG0_PRU0_GPO5";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$used = true;
|
||||
|
||||
/**
|
||||
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
||||
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
|
||||
@ -71,3 +86,6 @@ mpu_armv76.size = 31;
|
||||
*/
|
||||
debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
|
||||
debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";
|
||||
i2c1.I2C.$suggestSolution = "I2C0";
|
||||
i2c1.I2C.SCL.$suggestSolution = "I2C0_SCL";
|
||||
i2c1.I2C.SDA.$suggestSolution = "I2C0_SDA";
|
||||
@ -1,163 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2023 Texas Instruments Incorporated
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* Neither the name of Texas Instruments Incorporated nor the names of
|
||||
* its contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* 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
|
||||
* OWNER 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.
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <kernel/dpl/DebugP.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_drivers_open_close.h"
|
||||
#include "ti_board_open_close.h"
|
||||
#include <pruicss_pwm.h>
|
||||
#include <drivers/pruicss.h>
|
||||
#include <drivers/pinmux.h>
|
||||
|
||||
/** \brief Global Structure pointer holding PRUICSSG1 memory Map. */
|
||||
|
||||
PRUICSS_Handle gPruIcssHandle;
|
||||
|
||||
/*
|
||||
* This example uses the PRUICSS PWM module to generate a signal
|
||||
* with a specified duty cycle.
|
||||
*
|
||||
* The default parameters are : Frequency : 1kHz, Duty cycle : 25%,
|
||||
* All these parameters are configurable.
|
||||
*
|
||||
* In this example PWM0_2_NEG(alias signal B2) is used to generate the signal, the user can also
|
||||
* select a different one.
|
||||
*
|
||||
* PWM0_2_NEG(alias signal B2) uses IEP0 CMP6 EVENT to control Duty cycle
|
||||
* & IEP0 CMP0 to control output Frequency
|
||||
* This example also showcases how to configure and use the PRUICSS PWM module.
|
||||
*/
|
||||
|
||||
/*FIXME: IEP0_CLK_FREQ macro to be included in driver_config.h sysconfig generated file*/
|
||||
#define PRUICSS_IEP0_CLK_FREQ (200000000U)
|
||||
/* Modify this to change the IEP counter increment value*/
|
||||
#define PRUICSS_IEP_COUNT_INCREMENT_VALUE (1U)
|
||||
/* Duty Cycle of PWM output signal in % - give value from 1 to 99 */
|
||||
#define APP_PRUICSS_PWM_DUTY_CYCLE (25U)
|
||||
/* Frequency of PWM output signal in Hz - 1 KHz is selected */
|
||||
#define APP_PRUICSS_PWM_OUTPUT_FREQ (1U * 1000U)
|
||||
/* PRD value - this determines the period */
|
||||
#define APP_PRUICSS_PWM_PRD_VAL (((PRUICSS_IEP0_CLK_FREQ / APP_PRUICSS_PWM_OUTPUT_FREQ))*(PRUICSS_IEP_COUNT_INCREMENT_VALUE))
|
||||
/* DUTY CYCLE width - this determines width of PWM output signal duty cycle*/
|
||||
#define APP_PRUICSS_IEP0_COMP6_VAL (APP_PRUICSS_PWM_PRD_VAL-((APP_PRUICSS_PWM_DUTY_CYCLE*APP_PRUICSS_PWM_PRD_VAL)/100))
|
||||
|
||||
Pinmux_PerCfg_t gPinMuxMainDomainCfg1[] = {
|
||||
|
||||
/* PRU_ICSSG1_PWM0 pin config */
|
||||
/* PRG1_PWM0_B2 -> PRG1_PRU0_GPO17 (U7) */
|
||||
{
|
||||
PIN_PRG1_PRU0_GPO17,
|
||||
( PIN_MODE(3) | PIN_PULL_DISABLE )
|
||||
},
|
||||
|
||||
{PINMUX_END, PINMUX_END}
|
||||
};
|
||||
void pruicss_iep_init(void *args)
|
||||
{
|
||||
int32_t status;
|
||||
/*Disable IEP0 counter*/
|
||||
status = PRUICSS_controlIepCounter(gPruIcssHandle, PRUICSS_IEP_INST0, 0);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
Pinmux_config(gPinMuxMainDomainCfg1, PINMUX_DOMAIN_ID_MAIN);
|
||||
|
||||
/*Intialize IEP0 count value*/
|
||||
PRUICSS_PWM_setIepCounterLower_32bitValue(gPruIcssHandle, PRUICSS_IEP_INST0, 0xFFFFFFFF);
|
||||
PRUICSS_PWM_setIepCounterUpper_32bitValue(gPruIcssHandle, PRUICSS_IEP_INST0, 0xFFFFFFFF);
|
||||
|
||||
/*configure cmp 0 value with APP_PRUICSS_PWM_PRD_VAL*/
|
||||
status = PRUICSS_PWM_setIepCompareEventLower_32bitValue(gPruIcssHandle, PRUICSS_IEP_INST0, CMP_EVENT0, (APP_PRUICSS_PWM_PRD_VAL & 0xFFFFFFFF));
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
/*configure cmp 6 value with APP_PRUICSS_IEP0_COMP6_VAL*/
|
||||
status = PRUICSS_PWM_setIepCompareEventLower_32bitValue(gPruIcssHandle, PRUICSS_IEP_INST0,CMP_EVENT6, (APP_PRUICSS_IEP0_COMP6_VAL & 0xFFFFFFFF));
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
/*Enable cmp 0 and cmp 6*/
|
||||
status = PRUICSS_PWM_configureIepCompareEnable(gPruIcssHandle, PRUICSS_IEP_INST0, 0x41);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
/*Set IEP0 counter Increment value*/
|
||||
status = PRUICSS_setIepCounterIncrementValue(gPruIcssHandle, PRUICSS_IEP_INST0, PRUICSS_IEP_COUNT_INCREMENT_VALUE);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
/*Enable cmp 0 reset of counter*/
|
||||
PRUICSS_PWM_configureIepCmp0ResetEnable(gPruIcssHandle, PRUICSS_IEP_INST0, 0x1);
|
||||
|
||||
/*Enable IEP0 counter*/
|
||||
status = PRUICSS_controlIepCounter(gPruIcssHandle, PRUICSS_IEP_INST0, 1);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
}
|
||||
|
||||
void pruicss_pwm_init(void *args)
|
||||
{
|
||||
int32_t status;
|
||||
/*Enable IEP CMP flags to auto clear after state transition*/
|
||||
status = PRUICSS_PWM_configurePwmEfficiencyModeEnable(gPruIcssHandle, 1);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
/*Enable compare0 trip reset */
|
||||
PRUICSS_PWM_configurePwmCmp0TripResetEnable(gPruIcssHandle, PRUICSS_PWM_SET0, 1);
|
||||
/*configure PWM B2 signal of set 0, intial state to low*/
|
||||
status = PRUICSS_PWM_actionOnOutputCfgPwmSignalB2(gPruIcssHandle, PRUICSS_PWM_SET0, PRUICSS_PWM_INTIAL_STATE, PRUICSS_PWM_OUTPUT_LOW);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
/*configure PWM B2 signal of set 0, active state to high*/
|
||||
status = PRUICSS_PWM_actionOnOutputCfgPwmSignalB2(gPruIcssHandle, PRUICSS_PWM_SET0, PRUICSS_PWM_ACTIVE_STATE, PRUICSS_PWM_OUTPUT_HIGH);
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
}
|
||||
|
||||
void pruicss_pwm_duty_cycle_main(void *args)
|
||||
{
|
||||
|
||||
int32_t status;
|
||||
|
||||
Drivers_open(); // check return status
|
||||
|
||||
status = Board_driversOpen();
|
||||
DebugP_assert(SystemP_SUCCESS == status);
|
||||
|
||||
gPruIcssHandle = PRUICSS_open(CONFIG_PRU_ICSS0);
|
||||
DebugP_assert(gPruIcssHandle != NULL);
|
||||
|
||||
pruicss_pwm_init(NULL);
|
||||
|
||||
pruicss_iep_init(NULL);
|
||||
|
||||
while (1)
|
||||
{
|
||||
ClockP_usleep(1);
|
||||
}
|
||||
|
||||
Board_driversClose();
|
||||
Drivers_close();
|
||||
}
|
||||
@ -47,6 +47,7 @@
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM64X
|
||||
-Dam64x_evm
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
|
||||
@ -98,7 +99,7 @@
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../pruicss_pwm_dutycycle.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
<file path="../../../pruicss_pwm_dutycycle.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
|
||||
@ -66,6 +66,7 @@ INCLUDES_common := \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM64X \
|
||||
-Dam64x_evm \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
|
||||
@ -37,11 +37,6 @@
|
||||
#include "ti_board_open_close.h"
|
||||
#include <pruicss_pwm.h>
|
||||
#include <drivers/pruicss.h>
|
||||
#include <drivers/pinmux.h>
|
||||
|
||||
/** \brief Global Structure pointer holding PRUICSSG0 memory Map. */
|
||||
|
||||
PRUICSS_Handle gPruIcssHandle;
|
||||
|
||||
/*
|
||||
* This example uses the PRUICSS PWM module to generate a signal
|
||||
@ -61,6 +56,39 @@ PRUICSS_Handle gPruIcssHandle;
|
||||
*
|
||||
* This example also showcases how to configure and use the PRUICSS PWM module.
|
||||
*/
|
||||
#if defined(am243x_evm) || defined(am64x_evm)
|
||||
#include <board/ioexp/ioexp_tca6424.h>
|
||||
|
||||
static TCA6424_Config gTCA6424_Config;
|
||||
|
||||
static void i2c_io_expander(void *args)
|
||||
{
|
||||
int32_t status = SystemP_SUCCESS;
|
||||
TCA6424_Params tca6424Params;
|
||||
TCA6424_Params_init(&tca6424Params);
|
||||
status = TCA6424_open(&gTCA6424_Config, &tca6424Params);
|
||||
uint32_t ioIndex;
|
||||
|
||||
if(status == SystemP_SUCCESS)
|
||||
{
|
||||
/* set P12 high which controls CPSW_FET_SEL -> enable PRU1 and PRU0 GPIOs */
|
||||
ioIndex = 0x0a;
|
||||
status = TCA6424_setOutput(
|
||||
&gTCA6424_Config,
|
||||
ioIndex,
|
||||
TCA6424_OUT_STATE_HIGH);
|
||||
|
||||
/* Configure as output */
|
||||
status += TCA6424_config(
|
||||
&gTCA6424_Config,
|
||||
ioIndex,
|
||||
TCA6424_MODE_OUTPUT);
|
||||
}
|
||||
TCA6424_close(&gTCA6424_Config);
|
||||
}
|
||||
#endif
|
||||
/** \brief Global Structure pointer holding PRUICSSG0 memory Map. */
|
||||
PRUICSS_Handle gPruIcssHandle;
|
||||
|
||||
/*FIXME: IEP0_CLK_FREQ macro to be included in driver_config.h sysconfig generated file*/
|
||||
#define PRUICSS_IEP0_CLK_FREQ (200000000U)
|
||||
@ -79,26 +107,6 @@ PRUICSS_Handle gPruIcssHandle;
|
||||
/* DUTY CYCLE width - this determines width of PWM output signal duty cycle*/
|
||||
#define APP_PRUICSS_IEP1_COMP12_VAL (APP_PRUICSS_PWM_PRD_VAL-((APP_PRUICSS_PWM3_B2_DUTY_CYCLE*APP_PRUICSS_PWM_PRD_VAL)/100))
|
||||
|
||||
/*FIXME: Add pinmux in sysconfig generated file*/
|
||||
Pinmux_PerCfg_t gPinMuxMainDomainCfg1[] = {
|
||||
|
||||
/* PRU_ICSSG0_PWM0 pin config */
|
||||
/* PRG0_PWM0_A0 -> PRG0_PRU0_GPO12 (K1) */
|
||||
{
|
||||
PIN_PRG0_PRU0_GPO12,
|
||||
( PIN_MODE(3) | PIN_PULL_DISABLE )
|
||||
},
|
||||
/* PRU_ICSSG0_PWM3 pin config */
|
||||
/* PRG0_PWM3_B2 -> PRG0_PRU0_GPO5 (F2) */
|
||||
{
|
||||
PIN_PRG0_PRU0_GPO5,
|
||||
( PIN_MODE(3) | PIN_PULL_DISABLE )
|
||||
},
|
||||
{PINMUX_END, PINMUX_END}
|
||||
|
||||
};
|
||||
|
||||
|
||||
void pruicss_iep_init(void *args)
|
||||
{
|
||||
|
||||
@ -194,7 +202,10 @@ void pruicss_pwm_duty_cycle_main(void *args)
|
||||
gPruIcssHandle = PRUICSS_open(CONFIG_PRU_ICSS0);
|
||||
DebugP_assert(gPruIcssHandle != NULL);
|
||||
|
||||
Pinmux_config(gPinMuxMainDomainCfg1, PINMUX_DOMAIN_ID_MAIN);
|
||||
#if defined(am243x_evm) || defined(am64x_evm)
|
||||
/* Configure the IO Expander to connect the PRU IOs to HSE */
|
||||
i2c_io_expander(NULL);
|
||||
#endif
|
||||
|
||||
pruicss_pwm_init(NULL);
|
||||
|
||||
@ -48,7 +48,11 @@ const libs_freertos_r5f = {
|
||||
],
|
||||
};
|
||||
|
||||
|
||||
const defines = {
|
||||
common: [
|
||||
"am243x_evm",
|
||||
],
|
||||
};
|
||||
|
||||
const lnkfiles = {
|
||||
common: [
|
||||
@ -77,6 +81,7 @@ const templates_freertos_r5f =
|
||||
|
||||
const buildOptionCombos = [
|
||||
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "freertos"},
|
||||
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "freertos"}
|
||||
];
|
||||
|
||||
function getComponentProperty() {
|
||||
@ -101,6 +106,10 @@ function getComponentBuildProperty(buildOption) {
|
||||
build_property.syscfgfile = syscfgfile;
|
||||
build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
|
||||
|
||||
if(buildOption.board=="am243x-evm"){
|
||||
build_property.defines = defines;
|
||||
}
|
||||
|
||||
if(buildOption.cpu.match(/r5f*/)) {
|
||||
if(buildOption.os.match(/freertos*/) )
|
||||
{
|
||||
|
||||
@ -0,0 +1,129 @@
|
||||
let path = require('path');
|
||||
|
||||
let device = "am64x";
|
||||
|
||||
const files = {
|
||||
common: [
|
||||
"main.c",
|
||||
"pruicss_pwm_epwm_sync.c"
|
||||
],
|
||||
};
|
||||
|
||||
/* Relative to where the makefile will be generated
|
||||
* Typically at <example_folder>/<BOARD>/<core_os_combo>/<compiler>
|
||||
*/
|
||||
const filedirs = {
|
||||
common: [
|
||||
"..", /* core_os_combo base */
|
||||
"../../..", /* Example base */
|
||||
],
|
||||
};
|
||||
|
||||
const libdirs_freertos = {
|
||||
common: [
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib"
|
||||
],
|
||||
};
|
||||
|
||||
const includes_freertos_r5f = {
|
||||
common: [
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/pruicss/g_v0",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include"
|
||||
|
||||
],
|
||||
};
|
||||
|
||||
const libs_freertos_r5f = {
|
||||
common: [
|
||||
"freertos.am64x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"drivers.am64x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"board.am64x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"pruicss_pwm.am64x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
],
|
||||
};
|
||||
|
||||
const defines = {
|
||||
common: [
|
||||
"am64x_evm",
|
||||
],
|
||||
};
|
||||
|
||||
const lnkfiles = {
|
||||
common: [
|
||||
"linker.cmd",
|
||||
]
|
||||
};
|
||||
|
||||
const syscfgfile = "../example.syscfg";
|
||||
|
||||
const readmeDoxygenPageTag = "EXAMPLE_PRUICSS_PWM_EPWM_SYNC";
|
||||
|
||||
const templates_freertos_r5f =
|
||||
[
|
||||
{
|
||||
input: ".project/templates/am64x/common/linker_r5f.cmd.xdt",
|
||||
output: "linker.cmd",
|
||||
},
|
||||
{
|
||||
input: ".project/templates/am64x/freertos/main_freertos.c.xdt",
|
||||
output: "../main.c",
|
||||
options: {
|
||||
entryFunction: "pruicss_pwm_epwm_sync_main",
|
||||
},
|
||||
}
|
||||
];
|
||||
|
||||
const buildOptionCombos = [
|
||||
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am64x-evm", os: "freertos"},
|
||||
];
|
||||
|
||||
function getComponentProperty() {
|
||||
let property = {};
|
||||
|
||||
property.dirPath = path.resolve(__dirname, "..");
|
||||
property.type = "executable";
|
||||
property.name = "pruicss_pwm_epwm_sync";
|
||||
property.isInternal = false;
|
||||
property.buildOptionCombos = buildOptionCombos;
|
||||
property.isSkipTopLevelBuild = false;
|
||||
|
||||
return property;
|
||||
}
|
||||
|
||||
function getComponentBuildProperty(buildOption) {
|
||||
let build_property = {};
|
||||
|
||||
build_property.files = files;
|
||||
build_property.filedirs = filedirs;
|
||||
build_property.lnkfiles = lnkfiles;
|
||||
build_property.syscfgfile = syscfgfile;
|
||||
build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
|
||||
|
||||
if(buildOption.board=="am64x-evm"){
|
||||
build_property.defines = defines;
|
||||
}
|
||||
|
||||
if(buildOption.cpu.match(/r5f*/)) {
|
||||
if(buildOption.os.match(/freertos*/) )
|
||||
{
|
||||
build_property.includes = includes_freertos_r5f;
|
||||
build_property.libdirs = libdirs_freertos;
|
||||
build_property.libs = libs_freertos_r5f;
|
||||
build_property.templates = templates_freertos_r5f;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
return build_property;
|
||||
}
|
||||
|
||||
module.exports = {
|
||||
getComponentProperty,
|
||||
getComponentBuildProperty,
|
||||
};
|
||||
@ -0,0 +1,101 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM243x_ALV_beta" --package "ALV" --part "ALV" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
|
||||
* @versions {"tool":"1.18.0+3266"}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const epwm = scripting.addModule("/drivers/epwm/epwm", {}, false);
|
||||
const epwm1 = epwm.addInstance();
|
||||
const i2c = scripting.addModule("/drivers/i2c/i2c", {}, false);
|
||||
const i2c1 = i2c.addInstance();
|
||||
const pruicss = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
|
||||
const pruicss1 = pruicss.addInstance();
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const mpu_armv76 = mpu_armv7.addInstance();
|
||||
const pwm = scripting.addModule("/pru_icssg/pwm", {}, false);
|
||||
const pwm1 = pwm.addInstance();
|
||||
const pwm2 = pwm.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
epwm1.$name = "CONFIG_EPWM0";
|
||||
epwm1.EPWM.B.$used = false;
|
||||
epwm1.EPWM.SYNCO.$used = false;
|
||||
epwm1.EPWM.SYNCI.$used = false;
|
||||
|
||||
i2c1.$name = "CONFIG_I2C0";
|
||||
|
||||
pruicss1.$name = "CONFIG_PRU_ICSS0";
|
||||
pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
|
||||
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$name = "CONFIG_UART_CONSOLE";
|
||||
debug_log.uartLog.UART.$assign = "USART0";
|
||||
|
||||
const uart_v0_template = scripting.addModule("/drivers/uart/v0/uart_v0_template", {}, false);
|
||||
const uart_v0_template1 = uart_v0_template.addInstance({}, false);
|
||||
uart_v0_template1.$name = "drivers_uart_v0_uart_v0_template0";
|
||||
debug_log.uartLog.child = uart_v0_template1;
|
||||
|
||||
mpu_armv71.$name = "CONFIG_MPU_REGION0";
|
||||
mpu_armv71.size = 31;
|
||||
mpu_armv71.attributes = "Device";
|
||||
mpu_armv71.accessPermissions = "Supervisor RD+WR, User RD";
|
||||
mpu_armv71.allowExecute = false;
|
||||
|
||||
mpu_armv72.$name = "CONFIG_MPU_REGION1";
|
||||
mpu_armv72.size = 15;
|
||||
mpu_armv72.accessPermissions = "Supervisor RD+WR, User RD";
|
||||
|
||||
mpu_armv73.$name = "CONFIG_MPU_REGION2";
|
||||
mpu_armv73.baseAddr = 0x41010000;
|
||||
mpu_armv73.size = 15;
|
||||
mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
|
||||
|
||||
mpu_armv74.$name = "CONFIG_MPU_REGION3";
|
||||
mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
|
||||
mpu_armv74.baseAddr = 0x70000000;
|
||||
mpu_armv74.size = 21;
|
||||
|
||||
mpu_armv75.$name = "CONFIG_MPU_REGION4";
|
||||
mpu_armv75.baseAddr = 0x60000000;
|
||||
mpu_armv75.size = 28;
|
||||
mpu_armv75.accessPermissions = "Supervisor RD, User RD";
|
||||
|
||||
mpu_armv76.$name = "CONFIG_MPU_REGION5";
|
||||
mpu_armv76.baseAddr = 0x80000000;
|
||||
mpu_armv76.size = 31;
|
||||
|
||||
pwm1.$name = "CONFIG_PRU_ICSS_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$assign = "PRG0_PRU0_GPO12";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$used = true;
|
||||
|
||||
pwm2.$name = "CONFIG_PRU_ICSS_PWM1";
|
||||
pwm2.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM3";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$assign = "PRG0_PRU0_GPO5";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$used = true;
|
||||
|
||||
/**
|
||||
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
||||
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
|
||||
* re-solve from scratch.
|
||||
*/
|
||||
epwm1.EPWM.$suggestSolution = "EHRPWM0";
|
||||
epwm1.EPWM.A.$suggestSolution = "GPMC0_AD3";
|
||||
i2c1.I2C.$suggestSolution = "I2C1";
|
||||
i2c1.I2C.SCL.$suggestSolution = "I2C1_SCL";
|
||||
i2c1.I2C.SDA.$suggestSolution = "I2C1_SDA";
|
||||
debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
|
||||
debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";
|
||||
@ -0,0 +1,84 @@
|
||||
/*
|
||||
* Copyright (C) 2018-2021 Texas Instruments Incorporated
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* Neither the name of Texas Instruments Incorporated nor the names of
|
||||
* its contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* 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
|
||||
* OWNER 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.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <kernel/dpl/DebugP.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_board_config.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#define MAIN_TASK_PRI (configMAX_PRIORITIES-1)
|
||||
|
||||
#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
|
||||
StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
|
||||
|
||||
StaticTask_t gMainTaskObj;
|
||||
TaskHandle_t gMainTask;
|
||||
|
||||
void pruicss_pwm_epwm_sync_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
pruicss_pwm_epwm_sync_main(NULL);
|
||||
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* init SOC specific modules */
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
/* This task is created at highest priority, it should create more tasks and then delete itself */
|
||||
gMainTask = xTaskCreateStatic( freertos_main, /* Pointer to the function that implements the task. */
|
||||
"freertos_main", /* Text name for the task. This is to facilitate debugging only. */
|
||||
MAIN_TASK_SIZE, /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
|
||||
NULL, /* We are not using the task parameter. */
|
||||
MAIN_TASK_PRI, /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
|
||||
gMainTaskStack, /* pointer to stack base */
|
||||
&gMainTaskObj ); /* pointer to statically allocated task object memory */
|
||||
configASSERT(gMainTask != NULL);
|
||||
|
||||
/* Start the scheduler to start the tasks executing. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* The following line should never be reached because vTaskStartScheduler()
|
||||
will only return if there was not enough FreeRTOS heap memory available to
|
||||
create the Idle and (if configured) Timer tasks. Heap management, and
|
||||
techniques for trapping heap exhaustion, are described in the book text. */
|
||||
DebugP_assertNoLog(0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,116 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALV"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Pruicss Pwm Epwm Sync"
|
||||
name = "pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Release,
|
||||
Debug,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="3.2.0"
|
||||
device="Cortex R.AM2434_ALV"
|
||||
deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
|
||||
ignoreDefaultDeviceSettings="true"
|
||||
ignoreDefaultCCSSettings="true"
|
||||
endianness="little"
|
||||
outputFormat="ELF"
|
||||
outputType="executable"
|
||||
|
||||
compilerBuildOptions="
|
||||
-I${CG_TOOL_ROOT}/include/c
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/pruicss/g_v0
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
|
||||
-mcpu=cortex-r5
|
||||
-mfloat-abi=hard
|
||||
-mfpu=vfpv3-d16
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
-Dam243x_evm
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=pruicss_pwm_epwm_sync.${ConfigName}.map
|
||||
--diag_suppress=10063
|
||||
--ram_model
|
||||
--reread_libs
|
||||
"
|
||||
|
||||
postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALV --package ALV
|
||||
"
|
||||
|
||||
description="A Pruicss Pwm Epwm Sync FREERTOS project">
|
||||
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../pruicss_pwm_epwm_sync.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_PRUICSS_PWM_EPWM_SYNC.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="makefile_ccs_bootimage_gen" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
</project>
|
||||
</projectSpec>
|
||||
@ -0,0 +1,148 @@
|
||||
|
||||
/* This is the stack that is used by code running within main()
|
||||
* In case of NORTOS,
|
||||
* - This means all the code outside of ISR uses this stack
|
||||
* In case of FreeRTOS
|
||||
* - This means all the code until vTaskStartScheduler() is called in main()
|
||||
* uses this stack.
|
||||
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
|
||||
*/
|
||||
--stack_size=16384
|
||||
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
|
||||
* This is also the heap used by pvPortMalloc in FreeRTOS
|
||||
*/
|
||||
--heap_size=32768
|
||||
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
|
||||
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* In NORTOS,
|
||||
* - Here interrupt nesting is enabled
|
||||
* - This is the stack used by ISRs registered as type IRQ
|
||||
* In FreeRTOS,
|
||||
* - Here interrupt nesting is disabled
|
||||
* - This is stack that is used initally when a IRQ is received
|
||||
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
|
||||
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
|
||||
*/
|
||||
__IRQ_STACK_SIZE = 256;
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
|
||||
*/
|
||||
__FIQ_STACK_SIZE = 256;
|
||||
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
|
||||
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
|
||||
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > R5F_VECS
|
||||
|
||||
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
|
||||
* i.e this cannot be placed in DDR
|
||||
*/
|
||||
GROUP {
|
||||
.text.hwi: palign(8)
|
||||
.text.cache: palign(8)
|
||||
.text.mpu: palign(8)
|
||||
.text.boot: palign(8)
|
||||
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.text: {} palign(8) /* This is where code resides */
|
||||
.rodata: {} palign(8) /* This is where const's go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.data: {} palign(8) /* This is where initialized globals and static go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.bss: {} palign(8) /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
.sysmem: {} palign(8) /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) /* This is where the main() stack goes */
|
||||
} > MSRAM
|
||||
|
||||
/* This is where the stacks for different R5F modes go */
|
||||
GROUP {
|
||||
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__IRQ_STACK_START)
|
||||
RUN_END(__IRQ_STACK_END)
|
||||
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__FIQ_STACK_START)
|
||||
RUN_END(__FIQ_STACK_END)
|
||||
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
|
||||
RUN_START(__SVC_STACK_START)
|
||||
RUN_END(__SVC_STACK_END)
|
||||
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
|
||||
RUN_START(__ABORT_STACK_START)
|
||||
RUN_END(__ABORT_STACK_END)
|
||||
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
|
||||
RUN_START(__UNDEFINED_STACK_START)
|
||||
RUN_END(__UNDEFINED_STACK_END)
|
||||
} > MSRAM
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
GROUP {
|
||||
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) /* Contains function pointers called after main */
|
||||
} > MSRAM
|
||||
|
||||
/* General purpose user shared memory, used in some examples */
|
||||
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
|
||||
/* this is used when Debug log's to shared memory are enabled, else this is not used */
|
||||
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
|
||||
/* this is used only when IPC RPMessage is enabled, else this is not used */
|
||||
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
|
||||
/* General purpose non cacheable memory, used in some examples */
|
||||
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
|
||||
}
|
||||
|
||||
/*
|
||||
NOTE: Below memory is reserved for DMSC usage
|
||||
- During Boot till security handoff is complete
|
||||
0x701E0000 - 0x701FFFFF (128KB)
|
||||
- After "Security Handoff" is complete (i.e at run time)
|
||||
0x701F4000 - 0x701FFFFF (48KB)
|
||||
|
||||
Security handoff is complete when this message is sent to the DMSC,
|
||||
TISCI_MSG_SEC_HANDOVER
|
||||
|
||||
This should be sent once all cores are loaded and all application
|
||||
specific firewall calls are setup.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
|
||||
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
|
||||
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
|
||||
|
||||
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
|
||||
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
|
||||
|
||||
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
|
||||
* this memory does not overlap with other R5F's
|
||||
*/
|
||||
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
|
||||
|
||||
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
|
||||
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
|
||||
*/
|
||||
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
|
||||
|
||||
/* shared memory segments */
|
||||
/* On R5F,
|
||||
* - make sure there is a MPU entry which maps below regions as non-cache
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,310 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/devconfig/devconfig.mak
|
||||
|
||||
CG_TOOL_ROOT=$(CGT_TI_ARM_CLANG_PATH)
|
||||
|
||||
CC=$(CG_TOOL_ROOT)/bin/tiarmclang
|
||||
LNK=$(CG_TOOL_ROOT)/bin/tiarmclang
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
PROFILE?=release
|
||||
ConfigName:=$(PROFILE)
|
||||
|
||||
OUTNAME:=pruicss_pwm_epwm_sync.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=pruicss_pwm_epwm_sync.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=pruicss_pwm_epwm_sync.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=pruicss_pwm_epwm_sync.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=pruicss_pwm_epwm_sync.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=pruicss_pwm_epwm_sync.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=pruicss_pwm_epwm_sync.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=pruicss_pwm_epwm_sync.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=pruicss_pwm_epwm_sync.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
main.c \
|
||||
pruicss_pwm_epwm_sync.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${CG_TOOL_ROOT}/include/c \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/pruicss/g_v0 \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
-Dam243x_evm \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
|
||||
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
|
||||
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
|
||||
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
|
||||
-Wl,-i${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-llibc.a \
|
||||
-llibsysbm.a \
|
||||
|
||||
LFLAGS_common = \
|
||||
-Wl,--diag_suppress=10063 \
|
||||
-Wl,--ram_model \
|
||||
-Wl,--reread_libs \
|
||||
|
||||
|
||||
LIBS_NAME = \
|
||||
freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
libc.a \
|
||||
libsysbm.a \
|
||||
|
||||
LIBS_PATH_NAME = \
|
||||
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
|
||||
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
|
||||
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
|
||||
${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
|
||||
${CG_TOOL_ROOT}/lib \
|
||||
|
||||
FILES := $(FILES_common) $(FILES_$(PROFILE))
|
||||
ASMFILES := $(ASMFILES_common) $(ASMFILES_$(PROFILE))
|
||||
FILES_PATH := $(FILES_PATH_common) $(FILES_PATH_$(PROFILE))
|
||||
CFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
|
||||
DEFINES := $(DEFINES_common) $(DEFINES_$(PROFILE))
|
||||
INCLUDES := $(INCLUDES_common) $(INCLUDE_$(PROFILE))
|
||||
LIBS := $(LIBS_common) $(LIBS_$(PROFILE))
|
||||
LIBS_PATH := $(LIBS_PATH_common) $(LIBS_PATH_$(PROFILE))
|
||||
LFLAGS := $(LFLAGS_common) $(LFLAGS_$(PROFILE))
|
||||
LNKOPTFLAGS := $(LNKOPTFLAGS_common) $(LNKOPTFLAGS_$(PROFILE))
|
||||
LNK_FILES := $(LNK_FILES_common) $(LNK_FILES_$(PROFILE))
|
||||
|
||||
OBJDIR := obj/$(PROFILE)/
|
||||
OBJS := $(FILES:%.c=%.obj)
|
||||
OBJS += $(ASMFILES:%.S=%.obj)
|
||||
DEPS := $(FILES:%.c=%.d)
|
||||
|
||||
vpath %.obj $(OBJDIR)
|
||||
vpath %.c $(FILES_PATH)
|
||||
vpath %.S $(FILES_PATH)
|
||||
vpath %.lib $(LIBS_PATH_NAME)
|
||||
vpath %.a $(LIBS_PATH_NAME)
|
||||
|
||||
$(OBJDIR)/%.obj %.obj: %.c
|
||||
@echo Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
|
||||
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
|
||||
|
||||
$(OBJDIR)/%.obj %.obj: %.S
|
||||
@echo Compiling: am243x:r5fss0-0:freertos:ti-arm-clang $(LIBNAME): $<
|
||||
$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
|
||||
|
||||
all: $(TARGETS)
|
||||
|
||||
SYSCFG_GEN_FILES=generated/ti_drivers_config.c generated/ti_drivers_config.h
|
||||
SYSCFG_GEN_FILES+=generated/ti_drivers_open_close.c generated/ti_drivers_open_close.h
|
||||
SYSCFG_GEN_FILES+=generated/ti_dpl_config.c generated/ti_dpl_config.h
|
||||
SYSCFG_GEN_FILES+=generated/ti_pinmux_config.c generated/ti_power_clock_config.c
|
||||
SYSCFG_GEN_FILES+=generated/ti_board_config.c generated/ti_board_config.h
|
||||
SYSCFG_GEN_FILES+=generated/ti_board_open_close.c generated/ti_board_open_close.h
|
||||
|
||||
$(OUTNAME): syscfg $(SYSCFG_GEN_FILES) $(OBJS) $(LNK_FILES) $(LIBS_NAME)
|
||||
@echo .
|
||||
@echo Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ ...
|
||||
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
|
||||
@echo Linking: am243x:r5fss0-0:freertos:ti-arm-clang $@ Done !!!
|
||||
@echo .
|
||||
|
||||
clean:
|
||||
@echo Cleaning: am243x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME) ...
|
||||
$(RMDIR) $(OBJDIR)
|
||||
$(RM) $(OUTNAME)
|
||||
$(RM) $(BOOTIMAGE_NAME)
|
||||
$(RM) $(BOOTIMAGE_NAME_XIP)
|
||||
$(RM) $(BOOTIMAGE_NAME_SIGNED)
|
||||
$(RM) $(BOOTIMAGE_NAME_HS)
|
||||
$(RM) $(BOOTIMAGE_NAME_HS_FS)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
|
||||
$(RMDIR) generated/
|
||||
|
||||
scrub:
|
||||
@echo Scrubing: am243x:r5fss0-0:freertos:ti-arm-clang pruicss_pwm_epwm_sync ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(OS),Windows_NT)
|
||||
$(RM) \*.out
|
||||
$(RM) \*.map
|
||||
$(RM) \*.appimage*
|
||||
$(RM) \*.rprc*
|
||||
$(RM) \*.tiimage*
|
||||
$(RM) \*.bin
|
||||
else
|
||||
$(RM) *.out
|
||||
$(RM) *.map
|
||||
$(RM) *.appimage*
|
||||
$(RM) *.rprc*
|
||||
$(RM) *.tiimage*
|
||||
$(RM) *.bin
|
||||
endif
|
||||
$(RMDIR) generated
|
||||
|
||||
$(OBJS): | $(OBJDIR)
|
||||
|
||||
$(OBJDIR):
|
||||
$(MKDIR) $@
|
||||
|
||||
|
||||
.NOTPARALLEL:
|
||||
|
||||
.INTERMEDIATE: syscfg
|
||||
$(SYSCFG_GEN_FILES): syscfg
|
||||
|
||||
syscfg: ../example.syscfg
|
||||
@echo Generating SysConfig files ...
|
||||
$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
$(BOOTIMAGE_NAME): $(OUTNAME)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ ...
|
||||
ifneq ($(OS),Windows_NT)
|
||||
$(CHMOD) a+x $(XIPGEN_CMD)
|
||||
endif
|
||||
$(OUTRPRC_CMD) $(OUTNAME) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
# Sign the appimage for HS-FS using appimage signing script
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS_FS)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
|
||||
@echo .
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS_FS) Done !!!
|
||||
@echo .
|
||||
|
||||
$(BOOTIMAGE_NAME_HS): $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
# Sign the appimage using appimage signing script
|
||||
ifeq ($(ENC_ENABLED),no)
|
||||
@echo Boot image signing: Encryption is disabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS)
|
||||
else
|
||||
@echo Boot image signing: Encryption is enabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME_HS)
|
||||
$(RM) $(BOOTIMAGE_NAME)-enc
|
||||
endif
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
-include $(addprefix $(OBJDIR)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(CCS_INSTALL_DIR)
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
|
||||
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
OUTFILE=$(PROFILE)/$(OUTNAME).out
|
||||
BOOTIMAGE_PATH=$(abspath ${PROFILE})
|
||||
BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
|
||||
BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
all:
|
||||
ifeq ($(CCS_IDE_MODE),cloud)
|
||||
# No post build steps
|
||||
else
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) ...
|
||||
$(OUTRPRC_CMD) $(OUTFILE) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(COPY) $(OUTNAME).rprc $(BOOTIMAGE_RPRC_NAME)
|
||||
$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
# Sign the appimage for HS-FS using appimage signing script
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs_fs
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
# Sign the appimage using appimage signing script
|
||||
ifeq ($(ENC_ENABLED),no)
|
||||
@echo Boot image signing: Encryption is disabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs
|
||||
else
|
||||
@echo Boot image signing: Encryption is enabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME).hs
|
||||
$(RM) $(BOOTIMAGE_NAME)-enc
|
||||
endif
|
||||
endif
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
|
||||
@echo .
|
||||
else
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
|
||||
all:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
|
||||
|
||||
clean:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
|
||||
|
||||
export:
|
||||
$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -19,6 +19,9 @@ const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const pwm = scripting.addModule("/pru_icssg/pwm", {}, false);
|
||||
const pwm1 = pwm.addInstance();
|
||||
const pwm2 = pwm.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
@ -66,6 +69,16 @@ mpu_armv75.baseAddr = 0x60000000;
|
||||
mpu_armv75.size = 28;
|
||||
mpu_armv75.accessPermissions = "Supervisor RD, User RD";
|
||||
|
||||
pwm1.$name = "CONFIG_PRU_ICSS_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$assign = "PRG0_PRU0_GPO12";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$used = true;
|
||||
|
||||
pwm2.$name = "CONFIG_PRU_ICSS_PWM1";
|
||||
pwm2.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM3";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$assign = "PRG0_PRU0_GPO5";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$used = true;
|
||||
|
||||
/**
|
||||
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
||||
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
|
||||
|
||||
@ -98,7 +98,7 @@
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../pruicss_pwm_epwm_sync.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
<file path="../../../pruicss_pwm_epwm_sync.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
|
||||
@ -0,0 +1,100 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM64x" --package "ALV" --part "Default" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
|
||||
* @versions {"tool":"1.18.0+3266"}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const epwm = scripting.addModule("/drivers/epwm/epwm", {}, false);
|
||||
const epwm1 = epwm.addInstance();
|
||||
const i2c = scripting.addModule("/drivers/i2c/i2c", {}, false);
|
||||
const i2c1 = i2c.addInstance();
|
||||
const pruicss = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
|
||||
const pruicss1 = pruicss.addInstance();
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const mpu_armv76 = mpu_armv7.addInstance();
|
||||
const pwm = scripting.addModule("/pru_icssg/pwm", {}, false);
|
||||
const pwm1 = pwm.addInstance();
|
||||
const pwm2 = pwm.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
epwm1.$name = "CONFIG_EPWM0";
|
||||
epwm1.EPWM.B.$used = false;
|
||||
epwm1.EPWM.SYNCO.$used = false;
|
||||
epwm1.EPWM.SYNCI.$used = false;
|
||||
|
||||
i2c1.$name = "CONFIG_I2C0";
|
||||
pruicss1.$name = "CONFIG_PRU_ICSS0";
|
||||
pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
|
||||
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$name = "CONFIG_UART_CONSOLE";
|
||||
debug_log.uartLog.UART.$assign = "USART0";
|
||||
|
||||
const uart_v0_template = scripting.addModule("/drivers/uart/v0/uart_v0_template", {}, false);
|
||||
const uart_v0_template1 = uart_v0_template.addInstance({}, false);
|
||||
uart_v0_template1.$name = "drivers_uart_v0_uart_v0_template0";
|
||||
debug_log.uartLog.child = uart_v0_template1;
|
||||
|
||||
mpu_armv71.$name = "CONFIG_MPU_REGION0";
|
||||
mpu_armv71.size = 31;
|
||||
mpu_armv71.attributes = "Device";
|
||||
mpu_armv71.accessPermissions = "Supervisor RD+WR, User RD";
|
||||
mpu_armv71.allowExecute = false;
|
||||
|
||||
mpu_armv72.$name = "CONFIG_MPU_REGION1";
|
||||
mpu_armv72.size = 15;
|
||||
mpu_armv72.accessPermissions = "Supervisor RD+WR, User RD";
|
||||
|
||||
mpu_armv73.$name = "CONFIG_MPU_REGION2";
|
||||
mpu_armv73.baseAddr = 0x41010000;
|
||||
mpu_armv73.size = 15;
|
||||
mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
|
||||
|
||||
mpu_armv74.$name = "CONFIG_MPU_REGION3";
|
||||
mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
|
||||
mpu_armv74.baseAddr = 0x70000000;
|
||||
mpu_armv74.size = 21;
|
||||
|
||||
mpu_armv75.$name = "CONFIG_MPU_REGION4";
|
||||
mpu_armv75.baseAddr = 0x60000000;
|
||||
mpu_armv75.size = 28;
|
||||
mpu_armv75.accessPermissions = "Supervisor RD, User RD";
|
||||
|
||||
mpu_armv76.$name = "CONFIG_MPU_REGION5";
|
||||
mpu_armv76.baseAddr = 0x80000000;
|
||||
mpu_armv76.size = 31;
|
||||
|
||||
pwm1.$name = "CONFIG_PRU_ICSS_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$assign = "PRG0_PRU0_GPO12";
|
||||
pwm1.PRU_ICSSG0_PWM.A0.$used = true;
|
||||
|
||||
pwm2.$name = "CONFIG_PRU_ICSS_PWM1";
|
||||
pwm2.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM3";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$assign = "PRG0_PRU0_GPO5";
|
||||
pwm2.PRU_ICSSG0_PWM.B2.$used = true;
|
||||
|
||||
/**
|
||||
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
||||
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
|
||||
* re-solve from scratch.
|
||||
*/
|
||||
epwm1.EPWM.$suggestSolution = "EHRPWM0";
|
||||
epwm1.EPWM.A.$suggestSolution = "GPMC0_AD3";
|
||||
i2c1.I2C.$suggestSolution = "I2C1";
|
||||
i2c1.I2C.SCL.$suggestSolution = "I2C1_SCL";
|
||||
i2c1.I2C.SDA.$suggestSolution = "I2C1_SDA";
|
||||
debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
|
||||
debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";
|
||||
@ -0,0 +1,84 @@
|
||||
/*
|
||||
* Copyright (C) 2018-2021 Texas Instruments Incorporated
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* Neither the name of Texas Instruments Incorporated nor the names of
|
||||
* its contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* 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
|
||||
* OWNER 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.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <kernel/dpl/DebugP.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_board_config.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#define MAIN_TASK_PRI (configMAX_PRIORITIES-1)
|
||||
|
||||
#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
|
||||
StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
|
||||
|
||||
StaticTask_t gMainTaskObj;
|
||||
TaskHandle_t gMainTask;
|
||||
|
||||
void pruicss_pwm_epwm_sync_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
pruicss_pwm_epwm_sync_main(NULL);
|
||||
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* init SOC specific modules */
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
/* This task is created at highest priority, it should create more tasks and then delete itself */
|
||||
gMainTask = xTaskCreateStatic( freertos_main, /* Pointer to the function that implements the task. */
|
||||
"freertos_main", /* Text name for the task. This is to facilitate debugging only. */
|
||||
MAIN_TASK_SIZE, /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
|
||||
NULL, /* We are not using the task parameter. */
|
||||
MAIN_TASK_PRI, /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
|
||||
gMainTaskStack, /* pointer to stack base */
|
||||
&gMainTaskObj ); /* pointer to statically allocated task object memory */
|
||||
configASSERT(gMainTask != NULL);
|
||||
|
||||
/* Start the scheduler to start the tasks executing. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* The following line should never be reached because vTaskStartScheduler()
|
||||
will only return if there was not enough FreeRTOS heap memory available to
|
||||
create the Idle and (if configured) Timer tasks. Heap management, and
|
||||
techniques for trapping heap exhaustion, are described in the book text. */
|
||||
DebugP_assertNoLog(0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,116 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM64x"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Pruicss Pwm Epwm Sync"
|
||||
name = "pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Release,
|
||||
Debug,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="3.2.0"
|
||||
device="Cortex R.AM64x"
|
||||
deviceCore="MAIN_PULSAR_Cortex_R5_0_0"
|
||||
ignoreDefaultDeviceSettings="true"
|
||||
ignoreDefaultCCSSettings="true"
|
||||
endianness="little"
|
||||
outputFormat="ELF"
|
||||
outputType="executable"
|
||||
|
||||
compilerBuildOptions="
|
||||
-I${CG_TOOL_ROOT}/include/c
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/pruicss/g_v0
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
|
||||
-mcpu=cortex-r5
|
||||
-mfloat-abi=hard
|
||||
-mfpu=vfpv3-d16
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM64X
|
||||
-Dam64x_evm
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=pruicss_pwm_epwm_sync.${ConfigName}.map
|
||||
--diag_suppress=10063
|
||||
--ram_model
|
||||
--reread_libs
|
||||
"
|
||||
|
||||
postBuildStep="$(MAKE) -C ${CCS_PROJECT_DIR} -f makefile_ccs_bootimage_gen OUTNAME=${BuildArtifactFileBaseName} PROFILE=${ConfigName} MOTOR_CONTROL_SDK_PATH=${MOTOR_CONTROL_SDK_PATH} CG_TOOL_ROOT=${CG_TOOL_ROOT} CCS_INSTALL_DIR=${CCS_INSTALL_DIR} CCS_IDE_MODE=${CCS_IDE_MODE} DEVICE=am64x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part Default --package ALV
|
||||
"
|
||||
|
||||
description="A Pruicss Pwm Epwm Sync FREERTOS project">
|
||||
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am64x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am64x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am64x.r5f.ti-arm-clang.release.lib
|
||||
-lpruicss_pwm.am64x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am64x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am64x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am64x.r5f.ti-arm-clang.debug.lib
|
||||
-lpruicss_pwm.am64x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../main.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../pruicss_pwm_epwm_sync.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="linker.cmd" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am64x/EXAMPLE_PRUICSS_PWM_EPWM_SYNC.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="makefile_ccs_bootimage_gen" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
</project>
|
||||
</projectSpec>
|
||||
@ -0,0 +1,148 @@
|
||||
|
||||
/* This is the stack that is used by code running within main()
|
||||
* In case of NORTOS,
|
||||
* - This means all the code outside of ISR uses this stack
|
||||
* In case of FreeRTOS
|
||||
* - This means all the code until vTaskStartScheduler() is called in main()
|
||||
* uses this stack.
|
||||
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
|
||||
*/
|
||||
--stack_size=16384
|
||||
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
|
||||
* This is also the heap used by pvPortMalloc in FreeRTOS
|
||||
*/
|
||||
--heap_size=32768
|
||||
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
|
||||
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* In NORTOS,
|
||||
* - Here interrupt nesting is enabled
|
||||
* - This is the stack used by ISRs registered as type IRQ
|
||||
* In FreeRTOS,
|
||||
* - Here interrupt nesting is disabled
|
||||
* - This is stack that is used initally when a IRQ is received
|
||||
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
|
||||
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
|
||||
*/
|
||||
__IRQ_STACK_SIZE = 256;
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
|
||||
*/
|
||||
__FIQ_STACK_SIZE = 256;
|
||||
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
|
||||
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
|
||||
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > R5F_VECS
|
||||
|
||||
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
|
||||
* i.e this cannot be placed in DDR
|
||||
*/
|
||||
GROUP {
|
||||
.text.hwi: palign(8)
|
||||
.text.cache: palign(8)
|
||||
.text.mpu: palign(8)
|
||||
.text.boot: palign(8)
|
||||
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.text: {} palign(8) /* This is where code resides */
|
||||
.rodata: {} palign(8) /* This is where const's go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.data: {} palign(8) /* This is where initialized globals and static go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.bss: {} palign(8) /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
.sysmem: {} palign(8) /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) /* This is where the main() stack goes */
|
||||
} > MSRAM
|
||||
|
||||
/* This is where the stacks for different R5F modes go */
|
||||
GROUP {
|
||||
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__IRQ_STACK_START)
|
||||
RUN_END(__IRQ_STACK_END)
|
||||
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__FIQ_STACK_START)
|
||||
RUN_END(__FIQ_STACK_END)
|
||||
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
|
||||
RUN_START(__SVC_STACK_START)
|
||||
RUN_END(__SVC_STACK_END)
|
||||
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
|
||||
RUN_START(__ABORT_STACK_START)
|
||||
RUN_END(__ABORT_STACK_END)
|
||||
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
|
||||
RUN_START(__UNDEFINED_STACK_START)
|
||||
RUN_END(__UNDEFINED_STACK_END)
|
||||
} > MSRAM
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
GROUP {
|
||||
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) /* Contains function pointers called after main */
|
||||
} > MSRAM
|
||||
|
||||
/* General purpose user shared memory, used in some examples */
|
||||
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
|
||||
/* this is used when Debug log's to shared memory are enabled, else this is not used */
|
||||
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
|
||||
/* this is used only when IPC RPMessage is enabled, else this is not used */
|
||||
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
|
||||
/* General purpose non cacheable memory, used in some examples */
|
||||
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
|
||||
}
|
||||
|
||||
/*
|
||||
NOTE: Below memory is reserved for DMSC usage
|
||||
- During Boot till security handoff is complete
|
||||
0x701E0000 - 0x701FFFFF (128KB)
|
||||
- After "Security Handoff" is complete (i.e at run time)
|
||||
0x701F4000 - 0x701FFFFF (48KB)
|
||||
|
||||
Security handoff is complete when this message is sent to the DMSC,
|
||||
TISCI_MSG_SEC_HANDOVER
|
||||
|
||||
This should be sent once all cores are loaded and all application
|
||||
specific firewall calls are setup.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
|
||||
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
|
||||
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
|
||||
|
||||
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
|
||||
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
|
||||
|
||||
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
|
||||
* this memory does not overlap with other R5F's
|
||||
*/
|
||||
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
|
||||
|
||||
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
|
||||
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
|
||||
*/
|
||||
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
|
||||
|
||||
/* shared memory segments */
|
||||
/* On R5F,
|
||||
* - make sure there is a MPU entry which maps below regions as non-cache
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x80
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x80, LENGTH = 0x00004000 - 0x80
|
||||
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,311 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/devconfig/devconfig.mak
|
||||
|
||||
CG_TOOL_ROOT=$(CGT_TI_ARM_CLANG_PATH)
|
||||
|
||||
CC=$(CG_TOOL_ROOT)/bin/tiarmclang
|
||||
LNK=$(CG_TOOL_ROOT)/bin/tiarmclang
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
PROFILE?=release
|
||||
ConfigName:=$(PROFILE)
|
||||
|
||||
OUTNAME:=pruicss_pwm_epwm_sync.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=pruicss_pwm_epwm_sync.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=pruicss_pwm_epwm_sync.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=pruicss_pwm_epwm_sync.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=pruicss_pwm_epwm_sync.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=pruicss_pwm_epwm_sync.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=pruicss_pwm_epwm_sync.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=pruicss_pwm_epwm_sync.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=pruicss_pwm_epwm_sync.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
main.c \
|
||||
pruicss_pwm_epwm_sync.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${CG_TOOL_ROOT}/include/c \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am64x/r5f \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/pruicss/g_v0 \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM64X \
|
||||
-Dam64x_evm \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
|
||||
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
|
||||
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
|
||||
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
|
||||
-Wl,-i${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lfreertos.am64x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am64x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am64x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lpruicss_pwm.am64x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-llibc.a \
|
||||
-llibsysbm.a \
|
||||
|
||||
LFLAGS_common = \
|
||||
-Wl,--diag_suppress=10063 \
|
||||
-Wl,--ram_model \
|
||||
-Wl,--reread_libs \
|
||||
|
||||
|
||||
LIBS_NAME = \
|
||||
freertos.am64x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
drivers.am64x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
board.am64x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
pruicss_pwm.am64x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
libc.a \
|
||||
libsysbm.a \
|
||||
|
||||
LIBS_PATH_NAME = \
|
||||
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib \
|
||||
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib \
|
||||
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
|
||||
${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib \
|
||||
${CG_TOOL_ROOT}/lib \
|
||||
|
||||
FILES := $(FILES_common) $(FILES_$(PROFILE))
|
||||
ASMFILES := $(ASMFILES_common) $(ASMFILES_$(PROFILE))
|
||||
FILES_PATH := $(FILES_PATH_common) $(FILES_PATH_$(PROFILE))
|
||||
CFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
|
||||
DEFINES := $(DEFINES_common) $(DEFINES_$(PROFILE))
|
||||
INCLUDES := $(INCLUDES_common) $(INCLUDE_$(PROFILE))
|
||||
LIBS := $(LIBS_common) $(LIBS_$(PROFILE))
|
||||
LIBS_PATH := $(LIBS_PATH_common) $(LIBS_PATH_$(PROFILE))
|
||||
LFLAGS := $(LFLAGS_common) $(LFLAGS_$(PROFILE))
|
||||
LNKOPTFLAGS := $(LNKOPTFLAGS_common) $(LNKOPTFLAGS_$(PROFILE))
|
||||
LNK_FILES := $(LNK_FILES_common) $(LNK_FILES_$(PROFILE))
|
||||
|
||||
OBJDIR := obj/$(PROFILE)/
|
||||
OBJS := $(FILES:%.c=%.obj)
|
||||
OBJS += $(ASMFILES:%.S=%.obj)
|
||||
DEPS := $(FILES:%.c=%.d)
|
||||
|
||||
vpath %.obj $(OBJDIR)
|
||||
vpath %.c $(FILES_PATH)
|
||||
vpath %.S $(FILES_PATH)
|
||||
vpath %.lib $(LIBS_PATH_NAME)
|
||||
vpath %.a $(LIBS_PATH_NAME)
|
||||
|
||||
$(OBJDIR)/%.obj %.obj: %.c
|
||||
@echo Compiling: am64x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
|
||||
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
|
||||
|
||||
$(OBJDIR)/%.obj %.obj: %.S
|
||||
@echo Compiling: am64x:r5fss0-0:freertos:ti-arm-clang $(LIBNAME): $<
|
||||
$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
|
||||
|
||||
all: $(TARGETS)
|
||||
|
||||
SYSCFG_GEN_FILES=generated/ti_drivers_config.c generated/ti_drivers_config.h
|
||||
SYSCFG_GEN_FILES+=generated/ti_drivers_open_close.c generated/ti_drivers_open_close.h
|
||||
SYSCFG_GEN_FILES+=generated/ti_dpl_config.c generated/ti_dpl_config.h
|
||||
SYSCFG_GEN_FILES+=generated/ti_pinmux_config.c generated/ti_power_clock_config.c
|
||||
SYSCFG_GEN_FILES+=generated/ti_board_config.c generated/ti_board_config.h
|
||||
SYSCFG_GEN_FILES+=generated/ti_board_open_close.c generated/ti_board_open_close.h
|
||||
|
||||
$(OUTNAME): syscfg $(SYSCFG_GEN_FILES) $(OBJS) $(LNK_FILES) $(LIBS_NAME)
|
||||
@echo .
|
||||
@echo Linking: am64x:r5fss0-0:freertos:ti-arm-clang $@ ...
|
||||
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
|
||||
@echo Linking: am64x:r5fss0-0:freertos:ti-arm-clang $@ Done !!!
|
||||
@echo .
|
||||
|
||||
clean:
|
||||
@echo Cleaning: am64x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME) ...
|
||||
$(RMDIR) $(OBJDIR)
|
||||
$(RM) $(OUTNAME)
|
||||
$(RM) $(BOOTIMAGE_NAME)
|
||||
$(RM) $(BOOTIMAGE_NAME_XIP)
|
||||
$(RM) $(BOOTIMAGE_NAME_SIGNED)
|
||||
$(RM) $(BOOTIMAGE_NAME_HS)
|
||||
$(RM) $(BOOTIMAGE_NAME_HS_FS)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
|
||||
$(RMDIR) generated/
|
||||
|
||||
scrub:
|
||||
@echo Scrubing: am64x:r5fss0-0:freertos:ti-arm-clang pruicss_pwm_epwm_sync ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(OS),Windows_NT)
|
||||
$(RM) \*.out
|
||||
$(RM) \*.map
|
||||
$(RM) \*.appimage*
|
||||
$(RM) \*.rprc*
|
||||
$(RM) \*.tiimage*
|
||||
$(RM) \*.bin
|
||||
else
|
||||
$(RM) *.out
|
||||
$(RM) *.map
|
||||
$(RM) *.appimage*
|
||||
$(RM) *.rprc*
|
||||
$(RM) *.tiimage*
|
||||
$(RM) *.bin
|
||||
endif
|
||||
$(RMDIR) generated
|
||||
|
||||
$(OBJS): | $(OBJDIR)
|
||||
|
||||
$(OBJDIR):
|
||||
$(MKDIR) $@
|
||||
|
||||
|
||||
.NOTPARALLEL:
|
||||
|
||||
.INTERMEDIATE: syscfg
|
||||
$(SYSCFG_GEN_FILES): syscfg
|
||||
|
||||
syscfg: ../example.syscfg
|
||||
@echo Generating SysConfig files ...
|
||||
$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM64x --context r5fss0-0 --part Default --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
|
||||
|
||||
BOOTIMAGE_CORE_ID_a53ss0-0 = 0
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
$(BOOTIMAGE_NAME): $(OUTNAME)
|
||||
@echo Boot image: am64x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ ...
|
||||
ifneq ($(OS),Windows_NT)
|
||||
$(CHMOD) a+x $(XIPGEN_CMD)
|
||||
endif
|
||||
$(OUTRPRC_CMD) $(OUTNAME) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
# Sign the appimage for HS-FS using appimage signing script
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS_FS)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
@echo Boot image: am64x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
|
||||
@echo .
|
||||
@echo Boot image: am64x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS_FS) Done !!!
|
||||
@echo .
|
||||
|
||||
$(BOOTIMAGE_NAME_HS): $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
# Sign the appimage using appimage signing script
|
||||
ifeq ($(ENC_ENABLED),no)
|
||||
@echo Boot image signing: Encryption is disabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS)
|
||||
else
|
||||
@echo Boot image signing: Encryption is enabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME_HS)
|
||||
$(RM) $(BOOTIMAGE_NAME)-enc
|
||||
endif
|
||||
@echo Boot image: am64x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
-include $(addprefix $(OBJDIR)/, $(DEPS))
|
||||
@ -0,0 +1,107 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(CCS_INSTALL_DIR)
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
|
||||
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
OUTFILE=$(PROFILE)/$(OUTNAME).out
|
||||
BOOTIMAGE_PATH=$(abspath ${PROFILE})
|
||||
BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
|
||||
BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CORE_ID_a53ss0-0 = 0
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
all:
|
||||
ifeq ($(CCS_IDE_MODE),cloud)
|
||||
# No post build steps
|
||||
else
|
||||
@echo Boot image: am64x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) ...
|
||||
$(OUTRPRC_CMD) $(OUTFILE) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(COPY) $(OUTNAME).rprc $(BOOTIMAGE_RPRC_NAME)
|
||||
$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
# Sign the appimage for HS-FS using appimage signing script
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs_fs
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
# Sign the appimage using appimage signing script
|
||||
ifeq ($(ENC_ENABLED),no)
|
||||
@echo Boot image signing: Encryption is disabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs
|
||||
else
|
||||
@echo Boot image signing: Encryption is enabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME).hs
|
||||
$(RM) $(BOOTIMAGE_NAME)-enc
|
||||
endif
|
||||
endif
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
@echo Boot image: am64x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
@echo Boot image: am64x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
|
||||
@echo .
|
||||
else
|
||||
@echo Boot image: am64x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
|
||||
all:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
|
||||
|
||||
clean:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
|
||||
|
||||
export:
|
||||
$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"mcu_plus_sdk/source/kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -42,6 +42,38 @@
|
||||
#include <drivers/pruicss.h>
|
||||
#include <drivers/pinmux.h>
|
||||
|
||||
#if defined(am243x_evm) || defined(am64x_evm)
|
||||
#include <board/ioexp/ioexp_tca6424.h>
|
||||
|
||||
static TCA6424_Config gTCA6424_Config;
|
||||
|
||||
static void i2c_io_expander(void *args)
|
||||
{
|
||||
int32_t status = SystemP_SUCCESS;
|
||||
TCA6424_Params tca6424Params;
|
||||
TCA6424_Params_init(&tca6424Params);
|
||||
status = TCA6424_open(&gTCA6424_Config, &tca6424Params);
|
||||
uint32_t ioIndex;
|
||||
|
||||
if(status == SystemP_SUCCESS)
|
||||
{
|
||||
/* set P12 high which controls CPSW_FET_SEL -> enable PRU1 and PRU0 GPIOs */
|
||||
ioIndex = 0x0a;
|
||||
status = TCA6424_setOutput(
|
||||
&gTCA6424_Config,
|
||||
ioIndex,
|
||||
TCA6424_OUT_STATE_HIGH);
|
||||
|
||||
/* Configure as output */
|
||||
status += TCA6424_config(
|
||||
&gTCA6424_Config,
|
||||
ioIndex,
|
||||
TCA6424_MODE_OUTPUT);
|
||||
}
|
||||
TCA6424_close(&gTCA6424_Config);
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Frequency of PWM output signal in Hz - 1 KHz is selected */
|
||||
#define SOC_EPWM_OUTPUT_FREQ (1U * 1000U)
|
||||
/* TB frequency in Hz - so that /4 divider is used */
|
||||
@ -70,25 +102,6 @@
|
||||
/* DUTY CYCLE width - this determines width of PWM output signal duty cycle*/
|
||||
#define APP_PRUICSS_IEP1_COMP12_VAL (APP_PRUICSS_PWM_PRD_VAL-((APP_PRUICSS_PWM3_B2_DUTY_CYCLE*APP_PRUICSS_PWM_PRD_VAL)/100))
|
||||
|
||||
/*FIXME: Add pinmux in sysconfig generated file*/
|
||||
Pinmux_PerCfg_t gPinMuxMainDomainCfg1[] = {
|
||||
|
||||
/* PRU_ICSSG0_PWM0 pin config */
|
||||
/* PRG0_PWM0_A0 -> PRG0_PRU0_GPO12 (K1) */
|
||||
{
|
||||
PIN_PRG0_PRU0_GPO12,
|
||||
( PIN_MODE(3) | PIN_PULL_DISABLE )
|
||||
},
|
||||
/* PRU_ICSSG0_PWM3 pin config */
|
||||
/* PRG0_PWM3_B2 -> PRG0_PRU0_GPO5 (F2) */
|
||||
{
|
||||
PIN_PRG0_PRU0_GPO5,
|
||||
( PIN_MODE(3) | PIN_PULL_DISABLE )
|
||||
},
|
||||
{PINMUX_END, PINMUX_END}
|
||||
|
||||
};
|
||||
|
||||
/* Function Prototypes */
|
||||
static void App_epwmConfig(uint32_t epwmBaseAddr, uint32_t epwmCh, uint32_t epwmFuncClk);
|
||||
static void pruicss_iep_init(void *args);
|
||||
@ -110,8 +123,11 @@ void pruicss_pwm_epwm_sync_main(void *args)
|
||||
gPruIcssHandle = PRUICSS_open(CONFIG_PRU_ICSS0);
|
||||
DebugP_assert(gPruIcssHandle != NULL);
|
||||
|
||||
Pinmux_config(gPinMuxMainDomainCfg1, PINMUX_DOMAIN_ID_MAIN);
|
||||
|
||||
#if defined(am243x_evm) || defined(am64x_evm)
|
||||
/* Configure the IO Expander to connect the PRU IOs to HSE */
|
||||
i2c_io_expander(NULL);
|
||||
#endif
|
||||
|
||||
pruicss_pwm_init(NULL);
|
||||
|
||||
pruicss_iep_init(NULL);
|
||||
@ -92,6 +92,7 @@ help:
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
|
||||
@ -284,6 +285,7 @@ BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_phase_compensation_am243
|
||||
BUILD_COMBO_EXAMPLE_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += pruicss_pwm_duty_cycle_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
# Various System Example Targets
|
||||
BUILD_COMBO_EXAMPLE_ALL += single_chip_servo_am243x-lp_system_freertos_nortos
|
||||
|
||||
@ -447,6 +449,9 @@ examples-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_ALL)
|
||||
pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt:
|
||||
$(MAKE) -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt -f makefile all
|
||||
|
||||
@ -573,6 +578,7 @@ BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += pruicss_pwm_duty_cycle_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
# Various System Example Clean Targets
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += single_chip_servo_am243x-lp_system_freertos_nortos_clean
|
||||
|
||||
@ -736,6 +742,9 @@ examples-private-clean: $(BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL)
|
||||
pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_clean:
|
||||
$(MAKE) -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt -f makefile clean
|
||||
|
||||
@ -862,6 +871,7 @@ BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_phase_compensation
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += pruicss_pwm_duty_cycle_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
# Various System Example Scrub Targets
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += single_chip_servo_am243x-lp_system_freertos_nortos_scrub
|
||||
|
||||
@ -1025,6 +1035,9 @@ examples-scrub-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL)
|
||||
pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_scrub:
|
||||
$(MAKE) -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt -f makefile scrub
|
||||
|
||||
|
||||
@ -54,6 +54,7 @@ help:
|
||||
@echo $(MAKE) -s -C examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt [all clean syscfg-gui syscfg]
|
||||
@ -176,6 +177,7 @@ BUILD_COMBO_EXAMPLE_ALL += hdsl_diagnostic_single_channel_am64x-evm_r5fss0-0_fre
|
||||
BUILD_COMBO_EXAMPLE_ALL += tamagawa_diagnostic_multi_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += tamagawa_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
# Various System Example Targets
|
||||
|
||||
BUILD_COMBO_EXAMPLE_PRIVATE_ALL =
|
||||
@ -225,6 +227,9 @@ examples-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_ALL)
|
||||
pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt:
|
||||
$(MAKE) -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile all
|
||||
|
||||
@ -281,6 +286,7 @@ BUILD_COMBO_EXAMPLE_CLEAN_ALL += hdsl_diagnostic_single_channel_am64x-evm_r5fss0
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += tamagawa_diagnostic_multi_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += tamagawa_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
# Various System Example Clean Targets
|
||||
|
||||
BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL =
|
||||
@ -330,6 +336,9 @@ examples-private-clean: $(BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL)
|
||||
pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_clean:
|
||||
$(MAKE) -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile clean
|
||||
|
||||
@ -386,6 +395,7 @@ BUILD_COMBO_EXAMPLE_SCRUB_ALL += hdsl_diagnostic_single_channel_am64x-evm_r5fss0
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += tamagawa_diagnostic_multi_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += tamagawa_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
# Various System Example Scrub Targets
|
||||
|
||||
BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL =
|
||||
@ -435,6 +445,9 @@ examples-scrub-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL)
|
||||
pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_scrub:
|
||||
$(MAKE) -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile scrub
|
||||
|
||||
|
||||
@ -49,6 +49,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_phase_
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += pruicss_pwm_duty_cycle_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
# Various System Example Projectspec Build Targets
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += single_chip_servo_am243x-lp_system_freertos_nortos_build
|
||||
|
||||
@ -212,6 +213,9 @@ all-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL)
|
||||
pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_build:
|
||||
$(MAKE) -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt -f makefile_projectspec all
|
||||
|
||||
@ -339,6 +343,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_phase_
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += pruicss_pwm_duty_cycle_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
# Various System Example Projectspec Clean Targets
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += single_chip_servo_am243x-lp_system_freertos_nortos_clean
|
||||
|
||||
@ -502,6 +507,9 @@ clean-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL)
|
||||
pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_clean:
|
||||
$(MAKE) -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt -f makefile_projectspec clean
|
||||
|
||||
@ -629,6 +637,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_phase
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += pruicss_pwm_duty_cycle_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
# Various System Example Projectspec Export Targets
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += single_chip_servo_am243x-lp_system_freertos_nortos_export
|
||||
|
||||
@ -792,6 +801,9 @@ export-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL)
|
||||
pruicss_pwm_epwm_sync_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
pruicss_pwm_epwm_sync_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
sdfm_firmware_multi_axis_load_share_am243x-evm_icssg0-pru0_fw_ti-pru-cgt_export:
|
||||
$(MAKE) -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt -f makefile_projectspec export
|
||||
|
||||
@ -944,6 +956,7 @@ help:
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-pru0_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-rtupru0_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C source/current_sense/sdfm/firmware/multi_axis_load_share/am243x-evm/icssg0-txpru0_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
|
||||
|
||||
@ -15,6 +15,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += hdsl_diagnostic_single_channel_am64
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += tamagawa_diagnostic_multi_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += tamagawa_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
# Various System Example Projectspec Build Targets
|
||||
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL =
|
||||
@ -64,6 +65,9 @@ all-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL)
|
||||
pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_build:
|
||||
$(MAKE) -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec all
|
||||
|
||||
@ -121,6 +125,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += hdsl_diagnostic_single_channel_am64
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += tamagawa_diagnostic_multi_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += tamagawa_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
# Various System Example Projectspec Clean Targets
|
||||
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL =
|
||||
@ -170,6 +175,9 @@ clean-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL)
|
||||
pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_clean:
|
||||
$(MAKE) -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec clean
|
||||
|
||||
@ -227,6 +235,7 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += hdsl_diagnostic_single_channel_am6
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += tamagawa_diagnostic_multi_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += tamagawa_diagnostic_single_channel_am64x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
# Various System Example Projectspec Export Targets
|
||||
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL =
|
||||
@ -276,6 +285,9 @@ export-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL)
|
||||
pruicss_pwm_duty_cycle_am64x-evm_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
pruicss_pwm_epwm_sync_am64x-evm_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
endat_peripheral_interface_multi_ch_load_share_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_export:
|
||||
$(MAKE) -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec export
|
||||
|
||||
@ -358,6 +370,7 @@ help:
|
||||
@echo $(MAKE) -s -C examples/position_sense/tamagawa_diagnostic/multi_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/position_sense/tamagawa_diagnostic/single_channel/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_epwm_sync/am64x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-pru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-rtupru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C source/position_sense/endat/firmware/multi_channel_load_share/am64x-evm/icssg0-txpru1_fw/ti-pru-cgt -f makefile_projectspec [export all clean]
|
||||
|
||||
@ -5,6 +5,7 @@ const topModules_main = [
|
||||
"/position_sense/endat",
|
||||
"/position_sense/hdsl",
|
||||
"/position_sense/tamagawa",
|
||||
"/pru_icssg/pwm"
|
||||
];
|
||||
|
||||
const topModules_mcu = [
|
||||
|
||||
Loading…
Reference in New Issue
Block a user