Pull request #97: am64x/am243x: SDFM: Add continuous mode examples
Merge in PINDSW/motor_control_sdk from a0502729_PINDSW-7141_add_example_for_continuous_mode to next * commit 'e7953dcf9f44aafb0dfbf006d8f1547d640fce0d': am64x/am243x: SDFM: Add continuous mode examples
This commit is contained in:
Achala Ram
Dhaval Khandla
commit
7ce1971eae
@ -975,6 +975,70 @@
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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 Icss Sdfm Nine Channel With Continuous Mode Example. CPU is R5FSS0-0 running FREERTOS.",
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"name": "icss_sdfm_nine_channel_with_continuous_mode",
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"location": "../../examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/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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"current_sense",
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"icss_sdfm_nine_channel_with_continuous_mode",
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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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"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 Icss Sdfm Nine Channel With Continuous Mode Example. CPU is R5FSS0-0 running FREERTOS.",
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"name": "icss_sdfm_nine_channel_with_continuous_mode",
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"location": "../../examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
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"devtools": [
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"AM243x_LAUNCHPAD"
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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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"current_sense",
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"icss_sdfm_nine_channel_with_continuous_mode",
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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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@ -1039,6 +1103,70 @@
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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 Icss Sdfm Three Channel With Continuous Mode Example. CPU is R5FSS0-0 running FREERTOS.",
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"name": "icss_sdfm_three_channel_with_continuous_mode",
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"location": "../../examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/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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"current_sense",
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"icss_sdfm_three_channel_with_continuous_mode",
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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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"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 Icss Sdfm Three Channel With Continuous Mode Example. CPU is R5FSS0-0 running FREERTOS.",
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"name": "icss_sdfm_three_channel_with_continuous_mode",
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"location": "../../examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
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"devtools": [
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"AM243x_LAUNCHPAD"
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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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"current_sense",
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"icss_sdfm_three_channel_with_continuous_mode",
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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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@ -30,7 +30,9 @@ const example_file_list = [
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"examples/position_sense/bissc_diagnostic/multi_channel_load_share/.project/project.js",
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"examples/position_sense/bissc_diagnostic/multi_channel_single_pru/.project/project.js",
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"examples/current_sense/icss_sdfm_nine_channel_load_share_mode/.project/project.js",
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"examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/.project/project.js",
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"examples/current_sense/icss_sdfm_three_channel_single_pru_mode/.project/project.js",
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"examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/.project/project.js",
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"examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/.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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@ -179,6 +179,7 @@ SdfmPrms gTestSdfmPrms = {
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0, /*enable Phase delay measurment */
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0, /*Enable zero cross*/
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{1700, 1700, 1700}, /*Zero cross threshold*/
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0, /*enable continuous mode*/
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};
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#define PRUICSS_G_MUX_EN ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
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@ -0,0 +1,14 @@
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function getComponentProperty(device)
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{
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return require(`./project_${device}`).getComponentProperty();
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};
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function getComponentBuildProperty(buildOption)
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{
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return require(`./project_${buildOption.device}`).getComponentBuildProperty(buildOption);
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};
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module.exports = {
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getComponentProperty,
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getComponentBuildProperty,
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};
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@ -0,0 +1,125 @@
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let path = require('path');
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let device = "am243x";
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const files = {
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common: [
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"app_sdfm.c",
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"epwm_dc.c",
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"epwm_drv_aux.c",
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"epwm_mod.c",
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"sdfm_example.c",
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"main.c",
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],
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};
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/* Relative to where the makefile will be generated
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* Typically at <example_folder>/<BOARD>/<core_os_combo>/<compiler>
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*/
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const filedirs = {
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common: [
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"..", /* core_os_combo base */
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"../../..", /* Example base */
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"../../../..",
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],
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};
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const libdirs_freertos = {
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common: [
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"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/lib",
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"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
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"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
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"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib",
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"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib"
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],
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};
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const includes_freertos_r5f = {
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common: [
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"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
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"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CR5F",
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"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
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"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/include",
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"${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode",
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"${MOTOR_CONTROL_SDK_PATH}/examples/current_sense",
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"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include"
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],
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};
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const libs_freertos_r5f = {
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common: [
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"freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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"pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
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],
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};
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const lnkfiles = {
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common: [
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"linker.cmd",
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]
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};
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const syscfgfile = "../example.syscfg";
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const readmeDoxygenPageTag = "EXAMPLE_MOTORCONTROL_SDFM";
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const templates_freertos_r5f =
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[
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{
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input: ".project/templates/am243x/freertos/main_freertos.c.xdt",
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output: "../main.c",
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options: {
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entryFunction: "sdfm_main",
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},
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}
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];
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const buildOptionCombos = [
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{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "freertos"},
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{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "freertos"},
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];
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function getComponentProperty() {
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let property = {};
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property.dirPath = path.resolve(__dirname, "..");
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property.type = "executable";
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property.name = "icss_sdfm_nine_channel_with_continuous_mode";
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property.isInternal = false;
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property.buildOptionCombos = buildOptionCombos;
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property.isSkipTopLevelBuild = false;
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return property;
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}
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function getComponentBuildProperty(buildOption) {
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let build_property = {};
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build_property.files = files;
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build_property.filedirs = filedirs;
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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.cpu.match(/r5f*/)) {
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if(buildOption.os.match(/freertos*/) )
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{
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build_property.includes = includes_freertos_r5f;
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build_property.libdirs = libdirs_freertos;
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build_property.libs = libs_freertos_r5f;
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build_property.templates = templates_freertos_r5f;
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}
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}
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return build_property;
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}
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module.exports = {
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getComponentProperty,
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getComponentBuildProperty,
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};
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@ -0,0 +1,150 @@
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/**
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* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
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* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
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* @cliArgs --device "AM243x_ALV_beta" --package "ALV" --part "ALV" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
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* @versions {"tool":"1.18.0+3266"}
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*/
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/**
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* Import the modules used in this configuration.
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*/
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const sdfm = scripting.addModule("/current_sense/sdfm", {}, false);
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const sdfm1 = sdfm.addInstance();
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const epwm = scripting.addModule("/drivers/epwm/epwm", {}, false);
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const epwm1 = epwm.addInstance();
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const gpio = scripting.addModule("/drivers/gpio/gpio", {}, false);
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const gpio1 = gpio.addInstance();
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const gpio2 = gpio.addInstance();
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const gpio3 = gpio.addInstance();
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const gpio4 = gpio.addInstance();
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const pruicss = scripting.addModule("/drivers/pruicss/pruicss", {}, false);
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const pruicss1 = pruicss.addInstance();
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const debug_log = scripting.addModule("/kernel/dpl/debug_log");
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const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
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const mpu_armv71 = mpu_armv7.addInstance();
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const mpu_armv72 = mpu_armv7.addInstance();
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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 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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const pwm3 = 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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sdfm1.$name = "CONFIG_SDFM0";
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sdfm1.Channel_3 = true;
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sdfm1.Channel_4 = true;
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sdfm1.Channel_5 = true;
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sdfm1.Channel_6 = true;
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sdfm1.Channel_7 = true;
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sdfm1.Channel_8 = true;
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sdfm1.PRU_ICSSG0_PRU.$assign = "PRU_ICSSG0_PRU0";
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epwm1.$name = "CONFIG_EPWM0";
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epwm1.EPWM.$assign = "EHRPWM0";
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epwm1.EPWM.A.$assign = "GPMC0_AD3";
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epwm1.EPWM.B.$assign = "GPMC0_AD4";
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epwm1.EPWM.SYNCO.$assign = "GPMC0_AD1";
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epwm1.EPWM.SYNCI.$used = false;
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gpio1.$name = "GPIO_MTR_1_PWM_EN";
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gpio1.pinDir = "OUTPUT";
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gpio1.GPIO.$assign = "GPIO0";
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gpio1.GPIO.gpioPin.rx = false;
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gpio1.GPIO.gpioPin.$assign = "GPMC0_AD15";
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gpio2.pinDir = "OUTPUT";
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gpio2.useMcuDomainPeripherals = true;
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gpio2.$name = "GPIO_ZC_TH_CH0";
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gpio2.MCU_GPIO.$assign = "MCU_GPIO0";
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gpio2.MCU_GPIO.gpioPin.rx = false;
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gpio2.MCU_GPIO.gpioPin.$assign = "MCU_SPI0_D1";
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gpio3.pinDir = "OUTPUT";
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gpio3.useMcuDomainPeripherals = true;
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gpio3.$name = "GPIO_ZC_TH_CH1";
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gpio3.MCU_GPIO.gpioPin.rx = false;
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gpio3.MCU_GPIO.gpioPin.$assign = "MCU_SPI1_CS0";
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gpio4.pinDir = "OUTPUT";
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gpio4.useMcuDomainPeripherals = true;
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gpio4.$name = "GPIO_ZC_TH_CH2";
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gpio4.MCU_GPIO.gpioPin.$assign = "MCU_SPI1_D1";
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pruicss1.$name = "CONFIG_PRU_ICSS0";
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pruicss1.coreClk = 300000000;
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pruicss1.iepClk = 300000000;
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sdfm1.pru = pruicss1;
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pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
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debug_log.enableUartLog = true;
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debug_log.uartLog.$name = "CONFIG_UART_CONSOLE";
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debug_log.uartLog.UART.$assign = "USART0";
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mpu_armv71.$name = "CONFIG_MPU_REGION0";
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mpu_armv71.size = 31;
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mpu_armv71.attributes = "Device";
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mpu_armv71.accessPermissions = "Supervisor RD+WR, User RD";
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mpu_armv71.allowExecute = false;
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mpu_armv72.$name = "CONFIG_MPU_REGION1";
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mpu_armv72.size = 15;
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mpu_armv72.accessPermissions = "Supervisor RD+WR, User RD";
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mpu_armv73.$name = "CONFIG_MPU_REGION2";
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mpu_armv73.baseAddr = 0x41010000;
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mpu_armv73.size = 15;
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mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
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mpu_armv74.$name = "CONFIG_MPU_REGION3";
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mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
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mpu_armv74.baseAddr = 0x70000000;
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mpu_armv74.size = 21;
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mpu_armv75.$name = "CONFIG_MPU_REGION4";
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mpu_armv75.baseAddr = 0x60000000;
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mpu_armv75.size = 28;
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mpu_armv75.accessPermissions = "Supervisor RD, User RD";
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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.$assign = "PRU_ICSSG0_PWM0";
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pwm1.PRU_ICSSG0_PWM.TZ_OUT.$used = true;
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pwm2.$name = "CONFIG_PRU_ICSS_PWM1";
|
||||
pwm2.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM1";
|
||||
pwm2.PRU_ICSSG0_PWM.TZ_OUT.$used = true;
|
||||
|
||||
pwm3.$name = "CONFIG_PRU_ICSS_PWM2";
|
||||
pwm3.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM2";
|
||||
pwm3.PRU_ICSSG0_PWM.TZ_OUT.$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.
|
||||
*/
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI16.$suggestSolution = "PRG0_PRU0_GPO16";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI1.$suggestSolution = "PRG0_PRU0_GPO1";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI3.$suggestSolution = "PRG0_PRU0_GPO3";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI5.$suggestSolution = "PRG0_PRU0_GPO5";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI7.$suggestSolution = "PRG0_PRU0_GPO7";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI18.$suggestSolution = "PRG0_PRU0_GPO18";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI11.$suggestSolution = "PRG0_PRU0_GPO11";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI13.$suggestSolution = "PRG0_PRU0_GPO13";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI15.$suggestSolution = "PRG0_PRU0_GPO15";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI17.$suggestSolution = "PRG0_PRU0_GPO17";
|
||||
gpio3.MCU_GPIO.$suggestSolution = "MCU_GPIO0";
|
||||
gpio4.MCU_GPIO.$suggestSolution = "MCU_GPIO0";
|
||||
debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
|
||||
debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";
|
||||
pwm1.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution = "PRG0_PRU0_GPO19";
|
||||
pwm2.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution = "PRG0_PRU1_GPO19";
|
||||
pwm3.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution = "PRG0_PRU1_GPO8";
|
||||
@ -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 sdfm_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
sdfm_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 +1,128 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALV"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Icss Sdfm Nine Channel With Continuous Mode"
|
||||
name = "icss_sdfm_nine_channel_with_continuous_mode_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}/source/current_sense/sdfm/include
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
|
||||
-mcpu=cortex-r5
|
||||
-mfloat-abi=hard
|
||||
-mfpu=vfpv3-d16
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=icss_sdfm_nine_channel_with_continuous_mode.${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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALV --package ALV
|
||||
"
|
||||
|
||||
description="A Icss Sdfm Nine Channel With Continuous Mode FREERTOS project">
|
||||
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../app_sdfm.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_dc.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_drv_aux.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_mod.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../sdfm_example.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../main.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_MOTORCONTROL_SDFM.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 +1,151 @@
|
||||
|
||||
/* 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
|
||||
|
||||
/* TCM used by ICSS PRU to write sdfm sample output */
|
||||
.gSdfmSampleOutput : {} align(4) > R5F_TCMB0
|
||||
}
|
||||
|
||||
/*
|
||||
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 +1,320 @@
|
||||
#
|
||||
# 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:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
app_sdfm.c \
|
||||
epwm_dc.c \
|
||||
epwm_drv_aux.c \
|
||||
epwm_mod.c \
|
||||
sdfm_example.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
../../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${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}/source/current_sense/sdfm/include \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib \
|
||||
-Wl,-i${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 \
|
||||
-lmotorcontrol_sdfm.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.${ConfigName}.lib \
|
||||
motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${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/current_sense/sdfm/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 icss_sdfm_nine_channel_with_continuous_mode ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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=icss_sdfm_nine_channel_with_continuous_mode_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",
|
||||
];
|
||||
@ -0,0 +1,145 @@
|
||||
/**
|
||||
* 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_ALX_beta" --package "ALX" --part "ALX" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
|
||||
* @versions {"tool":"1.18.0+3266"}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const sdfm = scripting.addModule("/current_sense/sdfm", {}, false);
|
||||
const sdfm1 = sdfm.addInstance();
|
||||
const epwm = scripting.addModule("/drivers/epwm/epwm", {}, false);
|
||||
const epwm1 = epwm.addInstance();
|
||||
const epwm2 = epwm.addInstance();
|
||||
const gpio = scripting.addModule("/drivers/gpio/gpio", {}, false);
|
||||
const gpio1 = gpio.addInstance();
|
||||
const gpio2 = gpio.addInstance();
|
||||
const gpio3 = gpio.addInstance();
|
||||
const gpio4 = gpio.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 pwm = scripting.addModule("/pru_icssg/pwm", {}, false);
|
||||
const pwm1 = pwm.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
sdfm1.$name = "CONFIG_SDFM0";
|
||||
sdfm1.Channel_3 = true;
|
||||
sdfm1.Channel_4 = true;
|
||||
sdfm1.Channel_8 = true;
|
||||
sdfm1.Channel_7 = true;
|
||||
sdfm1.Channel_5 = true;
|
||||
sdfm1.Channel_6 = true;
|
||||
|
||||
epwm1.$name = "CONFIG_EPWM0";
|
||||
epwm1.EPWM.$assign = "EHRPWM0";
|
||||
epwm1.EPWM.SYNCI.$used = false;
|
||||
|
||||
epwm2.$name = "CONFIG_EPWM1";
|
||||
epwm2.EPWM.SYNCO.$assign = "GPMC0_AD1";
|
||||
epwm2.EPWM.SYNCO.$used = false;
|
||||
epwm2.EPWM.SYNCI.$used = false;
|
||||
|
||||
gpio1.$name = "GPIO_MTR_1_PWM_EN";
|
||||
gpio1.pinDir = "OUTPUT";
|
||||
gpio1.useMcuDomainPeripherals = true;
|
||||
gpio1.MCU_GPIO.gpioPin.$assign = "MCU_UART0_RXD";
|
||||
|
||||
gpio2.pinDir = "OUTPUT";
|
||||
gpio2.$name = "GPIO_ZC_TH_CH0";
|
||||
gpio2.GPIO.$assign = "GPIO0";
|
||||
gpio2.GPIO.gpioPin.rx = false;
|
||||
gpio2.GPIO.gpioPin.$assign = "PRG1_PRU0_GPO18";
|
||||
|
||||
gpio3.pinDir = "OUTPUT";
|
||||
gpio3.$name = "GPIO_ZC_TH_CH1";
|
||||
gpio3.GPIO.gpioPin.rx = false;
|
||||
gpio3.GPIO.gpioPin.$assign = "PRG0_PRU1_GPO2";
|
||||
|
||||
gpio4.pinDir = "OUTPUT";
|
||||
gpio4.$name = "GPIO_ZC_TH_CH2";
|
||||
gpio4.GPIO.gpioPin.rx = false;
|
||||
gpio4.GPIO.gpioPin.$assign = "PRG0_PRU1_GPO1";
|
||||
|
||||
pruicss1.$name = "CONFIG_PRU_ICSS0";
|
||||
pruicss1.coreClk = 300000000;
|
||||
pruicss1.iepClk = 300000000;
|
||||
sdfm1.pru = pruicss1;
|
||||
pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO.create(1);
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].$name = "CONFIG_PRU_ICSS_ECAP_IO0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.$assign = "PRU_ICSSG0_ECAP0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$used = true;
|
||||
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$name = "CONFIG_UART_CONSOLE";
|
||||
debug_log.uartLog.UART.$assign = "USART0";
|
||||
|
||||
mpu_armv71.$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";
|
||||
|
||||
pwm1.$name = "CONFIG_PRU_ICSS_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.TZ_OUT.$assign = "PRG0_PRU0_GPO19";
|
||||
pwm1.PRU_ICSSG0_PWM.TZ_OUT.$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.
|
||||
*/
|
||||
sdfm1.PRU_ICSSG0_PRU.$suggestSolution = "PRU_ICSSG0_PRU0";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI16.$suggestSolution = "PRG0_PRU0_GPO16";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI1.$suggestSolution = "PRG0_PRU0_GPO1";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI3.$suggestSolution = "PRG0_PRU0_GPO3";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI5.$suggestSolution = "PRG0_PRU0_GPO5";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI7.$suggestSolution = "PRG0_PRU0_GPO7";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI18.$suggestSolution = "PRG0_PRU0_GPO18";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI17.$suggestSolution = "PRG0_PRU0_GPO17";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI15.$suggestSolution = "PRG0_PRU0_GPO15";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI11.$suggestSolution = "PRG0_PRU0_GPO11";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI13.$suggestSolution = "PRG0_PRU0_GPO13";
|
||||
epwm1.EPWM.A.$suggestSolution = "GPMC0_AD3";
|
||||
epwm1.EPWM.B.$suggestSolution = "GPMC0_AD4";
|
||||
epwm1.EPWM.SYNCO.$suggestSolution = "GPMC0_AD1";
|
||||
epwm2.EPWM.$suggestSolution = "EHRPWM1";
|
||||
epwm2.EPWM.A.$suggestSolution = "GPMC0_AD5";
|
||||
epwm2.EPWM.B.$suggestSolution = "GPMC0_AD6";
|
||||
gpio1.MCU_GPIO.$suggestSolution = "MCU_GPIO0";
|
||||
gpio3.GPIO.$suggestSolution = "GPIO1";
|
||||
gpio4.GPIO.$suggestSolution = "GPIO1";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$suggestSolution = "PRG0_PRU1_GPO15";
|
||||
debug_log.uartLog.UART.RXD.$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 sdfm_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
sdfm_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 +1,128 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALX"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Icss Sdfm Nine Channel With Continuous Mode"
|
||||
name = "icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_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_ALX"
|
||||
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}/source/current_sense/sdfm/include
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
|
||||
-mcpu=cortex-r5
|
||||
-mfloat-abi=hard
|
||||
-mfpu=vfpv3-d16
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=icss_sdfm_nine_channel_with_continuous_mode.${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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALX --package ALX
|
||||
"
|
||||
|
||||
description="A Icss Sdfm Nine Channel With Continuous Mode FREERTOS project">
|
||||
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../app_sdfm.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_dc.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_drv_aux.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_mod.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../sdfm_example.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../main.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_MOTORCONTROL_SDFM.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 +1,151 @@
|
||||
|
||||
/* 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
|
||||
|
||||
/* TCM used by ICSS PRU to write sdfm sample output */
|
||||
.gSdfmSampleOutput : {} align(4) > R5F_TCMB0
|
||||
}
|
||||
|
||||
/*
|
||||
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 +1,320 @@
|
||||
#
|
||||
# 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:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=icss_sdfm_nine_channel_with_continuous_mode.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
app_sdfm.c \
|
||||
epwm_dc.c \
|
||||
epwm_drv_aux.c \
|
||||
epwm_mod.c \
|
||||
sdfm_example.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
../../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${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}/source/current_sense/sdfm/include \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib \
|
||||
-Wl,-i${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 \
|
||||
-lmotorcontrol_sdfm.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.${ConfigName}.lib \
|
||||
motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${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/current_sense/sdfm/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 icss_sdfm_nine_channel_with_continuous_mode ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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 ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(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=icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_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",
|
||||
];
|
||||
@ -0,0 +1,565 @@
|
||||
/*
|
||||
* 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 <kernel/dpl/AddrTranslateP.h>
|
||||
#include <kernel/dpl/HwiP.h>
|
||||
#include <drivers/epwm.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_drivers_open_close.h"
|
||||
#include "ti_board_open_close.h"
|
||||
|
||||
#include "epwm_dc.h"
|
||||
#include "sdfm_example.h"
|
||||
|
||||
/*EPWM1 configuration for sigma delta clock generation: */
|
||||
#define APP_EPWM1_ENABLE 0 /*make sure EPWM1 is added in sysconfig before making true this macro */
|
||||
/* Output channel - A or B */
|
||||
#define APP_EPWM_OUT_CH_EN ( 0x1 ) /* ChA enabled */
|
||||
|
||||
/* EPWM functional clock */
|
||||
/* Functional clock is the same for all EPWMs */
|
||||
#define APP_EPWM_FCLK ( CONFIG_EPWM0_FCLK )
|
||||
|
||||
/* EPWM functional clock dividers */
|
||||
#define APP_EPWM_FCLK_HSPCLKDIV ( 0x0 ) /* EPWM_TBCTL:HSPCLKDIV, High-Speed Time-base Clock Prescale Bits */
|
||||
#define APP_EPWM_FCLK_CLKDIV ( 0x0 ) /* EPWM_TBCTL:CLKDIV, Time-base Clock Prescale Bits */
|
||||
|
||||
#if (APP_EPWM_FCLK_HSPCLKDIV != 0x0)
|
||||
/* EPWM Time Base clock -- all EPWM TB clocks set the same */
|
||||
#define APP_EPWM_TB_FREQ ( APP_EPWM_FCLK / ( 2*APP_EPWM_FCLK_HSPCLKDIV * (1 << APP_EPWM_FCLK_CLKDIV)))
|
||||
#else
|
||||
/* EPWM Time Base clock -- all EPWM TB clocks set the same */
|
||||
#define APP_EPWM_TB_FREQ ( APP_EPWM_FCLK / ( 1 * (1 << APP_EPWM_FCLK_CLKDIV)))
|
||||
#endif
|
||||
|
||||
/* Initial Duty Cycle of PWM output signal in %, 0 to 100 */
|
||||
#define APP_EPWM0_DUTY_CYCLE ( 50U )
|
||||
|
||||
/* Frequency of PWM output signal in Hz */
|
||||
#define APP_EPWM_OUTPUT_FREQ_4K ( 1U * 4000U )
|
||||
#define APP_EPWM_OUTPUT_FREQ_8K ( 1U * 8000U )
|
||||
#define APP_EPWM_OUTPUT_FREQ_16K ( 1U * 16000U )
|
||||
#define APP_EPWM_OUTPUT_FREQ_20K ( 1U * 20000U )
|
||||
#define APP_EPWM_OUTPUT_FREQ ( APP_EPWM_OUTPUT_FREQ_8K ) /* init freq */
|
||||
|
||||
/*sample Read time */
|
||||
#define FIRST_SAMPLE_TRIGGER_TIME ((float)((float)1000000/(4*APP_EPWM_OUTPUT_FREQ))) /*sample trigger time for Single Update */
|
||||
|
||||
#define SECOND_SAMPLE_TRIGGER_TIME ((float)((float)3000000/(4*APP_EPWM_OUTPUT_FREQ))) /*Sample trigger time for double update*/
|
||||
|
||||
/* PWM count direction (Up, Down, Up/Down) */
|
||||
#define APP_EPWM_TB_COUNTER_DIR ( EPWM_TB_COUNTER_DIR_UP_DOWN )
|
||||
|
||||
/* Test ICSSG instance ID */
|
||||
#define TEST_ICSSG_INST_ID ( CONFIG_PRU_ICSS0 )
|
||||
/* Test ICSSG slice ID */
|
||||
#define TEST_ICSSG_SLICE_ID ( ICSSG_SLICE_ID_0 )
|
||||
|
||||
/* R5F interrupt settings for ICSSG */
|
||||
#define ICSSG_PRU_SDFM_INT_NUM ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_3 ) /* VIM interrupt number */
|
||||
#define ICSSG_RTUPRU_SDFM_INT_NUM ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_4 ) /* VIM interrupt number */
|
||||
#define ICSSG_TXPRU_SDFM_INT_NUM ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_5 )
|
||||
/*Load share macro*/
|
||||
#define ICSSG_PRU_LOAD_SHARE_MODE ( 1 )
|
||||
|
||||
#if ICSSG_PRU_LOAD_SHARE_MODE
|
||||
#define NUM_CH_SUPPORTED ( 9 )
|
||||
#else
|
||||
#define NUM_CH_SUPPORTED ( 3 )
|
||||
#endif
|
||||
|
||||
/* EPWM0 IRQ handler */
|
||||
static void epwmIrqHandler(void *handle);
|
||||
|
||||
/* EPWM1 IRQ handler */
|
||||
static void epwmIrqHandler1(void *handle);
|
||||
|
||||
/* HWI global variables */
|
||||
static HwiP_Object gIcssgPruSdfmHwiObject; /* ICSSG PRU SDFM FW HWI */
|
||||
|
||||
#if APP_EPWM1_ENABLE
|
||||
#define APP_EPWM_OUTPUT_FREQ1 (1U*20000000 )
|
||||
static HwiP_Object gIcssgRtuSDFMHwiObject; /* ICSSG RTU SDFM FW HWI */
|
||||
|
||||
static HwiP_Object gEpwm1HwiObject; /* EPWM1 HWI */
|
||||
|
||||
uint32_t gEpwm1BaseAddr; /* EPWM1 base address */
|
||||
EPwmObj_t gEpwm1Obj; /* EPWM1 object */
|
||||
Epwm_Handle hEpwm1; /* EPWM1 handle */
|
||||
|
||||
volatile uint32_t gEpwmOutFreq1 = APP_EPWM_OUTPUT_FREQ1; /*EPWM1 output freq. */
|
||||
|
||||
#endif
|
||||
|
||||
static HwiP_Object gEpwm0HwiObject; /* EPWM0 HWI */
|
||||
|
||||
/* EPWM global variables */
|
||||
uint32_t gEpwm0BaseAddr; /* EPWM0 base address */
|
||||
EPwmObj_t gEpwm0Obj; /* EPWM0 object */
|
||||
Epwm_Handle hEpwm0; /* EPWM0 handle */
|
||||
|
||||
|
||||
|
||||
volatile uint32_t gEpwmOutFreq = APP_EPWM_OUTPUT_FREQ; /* EPWM output frequency */
|
||||
|
||||
|
||||
/* ICSSG PRU SDFM FW IRQ handler */
|
||||
static void pruSdfmIrqHandler(void *handle);
|
||||
static void rtuPruSdfmIrqHandler(void *handle);
|
||||
static void txPruSdfmIrqHandler(void *handle);
|
||||
|
||||
/* Test ICSSG handle */
|
||||
PRUICSS_Handle gPruIcssHandle;
|
||||
|
||||
/* Test Sdfm handles */
|
||||
sdfm_handle gHPruSdfm;
|
||||
|
||||
|
||||
/* Sdfm output samples, written by PRU cores */
|
||||
__attribute__((section(".gSdfmSampleOutput"))) uint32_t gSdfm_sampleOutput[NUM_CH_SUPPORTED];
|
||||
|
||||
/* Test Sdfm parameters */
|
||||
SdfmPrms gTestSdfmPrms = {
|
||||
ICSSG_PRU_LOAD_SHARE_MODE,
|
||||
TEST_ICSSG_SLICE_ID,
|
||||
PRUICSS_PRU0,
|
||||
300000000,
|
||||
{300000000,0}, /*index[0]= IEP0 clock for G0, index[1] = reserved */
|
||||
20000000, /*Value of SD clock (It should be exact equal to sd clock value)*/
|
||||
0, /*enable double update*/
|
||||
FIRST_SAMPLE_TRIGGER_TIME, /*first sample trigger time*/
|
||||
SECOND_SAMPLE_TRIGGER_TIME, /*second sample trigger time*/
|
||||
APP_EPWM_OUTPUT_FREQ, /*PWM output frequency*/
|
||||
{{3500, 1000,0}, /*threshold parameters(High, low & reserevd)*/
|
||||
{3500, 1000,0},
|
||||
{3500, 1000,0}},
|
||||
{{0,0}, /*clock sourse & clock inversion for all channels*/
|
||||
{0,0},
|
||||
{0,0}},
|
||||
15, /*Over current osr: The effect count is OSR + 1*/
|
||||
128, /*Normal current osr */
|
||||
0, /*comparator enable*/
|
||||
(uint32_t)&gSdfm_sampleOutput, /*Output samples base address*/
|
||||
0,
|
||||
{{4, 18, 2},
|
||||
{4, 18, 2},
|
||||
{4, 18, 2}
|
||||
}, /*Fast detect fields {Window size, zero count max, zero count min}*/
|
||||
0, /*enable Phase delay measurment */
|
||||
0, /*Enable zero cross*/
|
||||
{1700, 1700, 1700}, /*Zero cross threshold*/
|
||||
1, /*enable continuous mode*/
|
||||
};
|
||||
|
||||
#define PRUICSS_G_MUX_EN ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
|
||||
|
||||
/* GPIO enable signal for EPWM0-2 on 3-axis breakout board */
|
||||
uint32_t gMtr1PwnEnGpioBaseAddr = GPIO_MTR_1_PWM_EN_BASE_ADDR;
|
||||
uint32_t gMtr1PwnEnGpioPin = GPIO_MTR_1_PWM_EN_PIN;
|
||||
uint32_t gMtr1PwnEnGpioPinDir = GPIO_MTR_1_PWM_EN_DIR;
|
||||
|
||||
/* Flag for continuing to execute test */
|
||||
volatile Bool gRunFlag = TRUE;
|
||||
|
||||
|
||||
/* ICSS SDFM Output sample for Channel 0 */
|
||||
/*Sample size*/
|
||||
#define MAX_SAMPLES (128)
|
||||
|
||||
/* ICSS SDFM Output samples */
|
||||
uint32_t sdfm_ch_samples[NUM_CH_SUPPORTED][MAX_SAMPLES] = {0};
|
||||
uint32_t sdfmPruIdxCnt = 0;
|
||||
uint32_t sdfmRtuIdxCnt = 0;
|
||||
uint32_t sdfmTxPruIdxCnt = 0;
|
||||
|
||||
/* IRQ counters */
|
||||
volatile uint32_t gPruSdfmIrqCnt=0; /* PRU ICSS SDFM FW IRQ count */
|
||||
volatile uint32_t gRtuPruSdfmIrqCnt=0; /* RTU PRU ICSS SDFM FW IRQ count */
|
||||
volatile uint32_t gTxPruSdfmIrqCnt=0; /* TX PRU ICSS SDFM FW IRQ count */
|
||||
volatile uint32_t gEpwmIsrCnt=0; /* EPWM0 IRQ count */
|
||||
volatile uint32_t gEpwmIsrCnt1=0;
|
||||
/*PWM Parameters*/
|
||||
HwiP_Params hwiPrms;
|
||||
HwiP_Params hwiPrms1;
|
||||
EPwmCfgPrms_t epwmCfgPrms;
|
||||
EPwmCfgPrms_t epwm1CfgPrms;
|
||||
|
||||
void init_pwm()
|
||||
{
|
||||
int32_t status;
|
||||
/* Initialize EPWM0 base address, perform address translation */
|
||||
gEpwm0BaseAddr = (uint32_t)AddrTranslateP_getLocalAddr(CONFIG_EPWM0_BASE_ADDR);
|
||||
|
||||
/* Register & enable EPWM0 interrupt */
|
||||
HwiP_Params_init(&hwiPrms);
|
||||
hwiPrms.intNum = CONFIG_EPWM0_INTR;
|
||||
hwiPrms.callback = &epwmIrqHandler;
|
||||
hwiPrms.args = 0;
|
||||
hwiPrms.isPulse = CONFIG_EPWM0_INTR_IS_PULSE;
|
||||
hwiPrms.isFIQ = FALSE;
|
||||
status = HwiP_construct(&gEpwm0HwiObject, &hwiPrms);
|
||||
DebugP_assert(status == SystemP_SUCCESS);
|
||||
|
||||
/* Configure EPWM0 */
|
||||
epwmCfgPrms.epwmId = EPWM_ID_0;
|
||||
epwmCfgPrms.epwmBaseAddr = gEpwm0BaseAddr;
|
||||
epwmCfgPrms.epwmOutChEn = APP_EPWM_OUT_CH_EN;
|
||||
epwmCfgPrms.hspClkDiv = APP_EPWM_FCLK_HSPCLKDIV;
|
||||
epwmCfgPrms.clkDiv = APP_EPWM_FCLK_CLKDIV;
|
||||
epwmCfgPrms.epwmTbFreq = APP_EPWM_TB_FREQ;
|
||||
epwmCfgPrms.epwmOutFreq = gEpwmOutFreq;
|
||||
epwmCfgPrms.epwmDutyCycle[EPWM_OUTPUT_CH_A] = APP_EPWM0_DUTY_CYCLE;
|
||||
epwmCfgPrms.epwmTbCounterDir = APP_EPWM_TB_COUNTER_DIR;
|
||||
epwmCfgPrms.cfgTbSyncIn = TRUE;
|
||||
epwmCfgPrms.tbPhsValue = 0;
|
||||
epwmCfgPrms.tbSyncInCounterDir = EPWM_TB_COUNTER_DIR_UP;
|
||||
epwmCfgPrms.cfgTbSyncOut = TRUE;
|
||||
epwmCfgPrms.tbSyncOutMode = EPWM_TB_SYNC_OUT_EVT_CNT_EQ_ZERO;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].zeroAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].prdAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpAUpAction = EPWM_AQ_ACTION_HIGH;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpADownAction = EPWM_AQ_ACTION_LOW;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBUpAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBDownAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwmCfgPrms.cfgDb = FALSE;
|
||||
epwmCfgPrms.cfgEt = TRUE;
|
||||
epwmCfgPrms.intSel = EPWM_ET_INTR_EVT_CNT_EQ_ZRO;
|
||||
epwmCfgPrms.intPrd = EPWM_ET_INTR_PERIOD_FIRST_EVT;
|
||||
hEpwm0 = epwmInit(&epwmCfgPrms, &gEpwm0Obj);
|
||||
DebugP_assert(hEpwm0 != NULL);
|
||||
|
||||
#if APP_EPWM1_ENABLE // DEBUG code for SDFM clock generation from EPWM1
|
||||
/* EPWM1 for SD clock generation */
|
||||
/* Initialize EPWM1 base address, perform address translation */
|
||||
gEpwm1BaseAddr = (uint32_t)AddrTranslateP_getLocalAddr(CONFIG_EPWM1_BASE_ADDR);
|
||||
/* Register & enable EPWM0 interrupt */
|
||||
HwiP_Params_init(&hwiPrms1);
|
||||
hwiPrms1.intNum = CONFIG_EPWM1_INTR;
|
||||
hwiPrms1.callback = &epwmIrqHandler1;
|
||||
hwiPrms1.args = 0;
|
||||
hwiPrms1.isPulse = CONFIG_EPWM1_INTR_IS_PULSE;
|
||||
hwiPrms1.isFIQ = FALSE;
|
||||
status = HwiP_construct(&gEpwm1HwiObject, &hwiPrms1);
|
||||
DebugP_assert(status == SystemP_SUCCESS);
|
||||
/* Configure EPWM0 */
|
||||
epwm1CfgPrms.epwmId = EPWM_ID_1;
|
||||
epwm1CfgPrms.epwmBaseAddr = gEpwm1BaseAddr;
|
||||
epwm1CfgPrms.epwmOutChEn = APP_EPWM_OUT_CH_EN;
|
||||
epwm1CfgPrms.hspClkDiv = APP_EPWM_FCLK_HSPCLKDIV;
|
||||
epwm1CfgPrms.clkDiv = APP_EPWM_FCLK_CLKDIV;
|
||||
epwm1CfgPrms.epwmTbFreq = APP_EPWM_TB_FREQ;
|
||||
epwm1CfgPrms.epwmOutFreq = gEpwmOutFreq1;
|
||||
epwm1CfgPrms.epwmDutyCycle[EPWM_OUTPUT_CH_A] = APP_EPWM0_DUTY_CYCLE;
|
||||
epwm1CfgPrms.epwmTbCounterDir = APP_EPWM_TB_COUNTER_DIR;
|
||||
epwm1CfgPrms.cfgTbSyncIn = FALSE;
|
||||
epwm1CfgPrms.tbPhsValue = 0;
|
||||
epwm1CfgPrms.cfgTbSyncOut = FALSE;
|
||||
epwm1CfgPrms.tbSyncOutMode = EPWM_TB_SYNC_OUT_EVT_CNT_EQ_ZERO;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].zeroAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].prdAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpAUpAction = EPWM_AQ_ACTION_HIGH;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpADownAction = EPWM_AQ_ACTION_LOW;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBUpAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBDownAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwm1CfgPrms.cfgDb = FALSE;
|
||||
epwm1CfgPrms.cfgEt = FALSE;
|
||||
epwm1CfgPrms.intSel = EPWM_ET_INTR_EVT_CNT_EQ_ZRO;
|
||||
epwm1CfgPrms.intPrd = EPWM_ET_INTR_PERIOD_FIRST_EVT;
|
||||
hEpwm1 = epwmInit(&epwm1CfgPrms, &gEpwm1Obj);
|
||||
DebugP_assert(hEpwm1 != NULL);
|
||||
#endif
|
||||
}
|
||||
|
||||
void init_sdfm()
|
||||
{
|
||||
int32_t status;
|
||||
/* Initialize ICSSG */
|
||||
status = initIcss(TEST_ICSSG_INST_ID, TEST_ICSSG_SLICE_ID, PRUICSS_G_MUX_EN, ICSSG_PRU_LOAD_SHARE_MODE, &gPruIcssHandle);
|
||||
if (status != SDFM_ERR_NERR) {
|
||||
DebugP_log("Error: initIcss() fail.\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
gTestSdfmPrms.loadShare = ICSSG_PRU_LOAD_SHARE_MODE;
|
||||
/* Register & enable ICSSG PRU SDFM FW interrupt */
|
||||
HwiP_Params_init(&hwiPrms);
|
||||
hwiPrms.intNum = ICSSG_PRU_SDFM_INT_NUM;
|
||||
hwiPrms.callback = &pruSdfmIrqHandler;
|
||||
hwiPrms.args = 0;
|
||||
hwiPrms.isPulse = FALSE;
|
||||
hwiPrms.isFIQ = FALSE;
|
||||
status = HwiP_construct(&gIcssgPruSdfmHwiObject, &hwiPrms);
|
||||
DebugP_assert(status == SystemP_SUCCESS);
|
||||
|
||||
#if ICSSG_PRU_LOAD_SHARE_MODE
|
||||
/* Register & enable ICSSG RTU PRU0 SDFM FW interrupt */
|
||||
HwiP_Params_init(&hwiPrms);
|
||||
hwiPrms.intNum = ICSSG_RTUPRU_SDFM_INT_NUM;
|
||||
hwiPrms.callback = &rtuPruSdfmIrqHandler;
|
||||
hwiPrms.args = 0;
|
||||
hwiPrms.isPulse = FALSE;
|
||||
hwiPrms.isFIQ = FALSE;
|
||||
status = HwiP_construct(&gIcssgPruSdfmHwiObject, &hwiPrms);
|
||||
DebugP_assert(status == SystemP_SUCCESS);
|
||||
|
||||
/* Register & enable ICSSG TX PRU SDFM FW interrupt */
|
||||
HwiP_Params_init(&hwiPrms);
|
||||
hwiPrms.intNum = ICSSG_TXPRU_SDFM_INT_NUM;
|
||||
hwiPrms.callback = &txPruSdfmIrqHandler;
|
||||
hwiPrms.args = 0;
|
||||
hwiPrms.isPulse = FALSE;
|
||||
hwiPrms.isFIQ = FALSE;
|
||||
status = HwiP_construct(&gIcssgPruSdfmHwiObject, &hwiPrms);
|
||||
DebugP_assert(status == SystemP_SUCCESS);
|
||||
|
||||
#endif
|
||||
/* Initialize PRU cores for SDFM */
|
||||
status = initPruSdfm(gPruIcssHandle, PRUICSS_PRU0, &gTestSdfmPrms, &gHPruSdfm);
|
||||
if (status != SDFM_ERR_NERR)
|
||||
{
|
||||
DebugP_log("Error: initPruSdfm() fail.\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
#if ICSSG_PRU_LOAD_SHARE_MODE
|
||||
/*Update sdfm prams*/
|
||||
gTestSdfmPrms.pruInsId = PRUICSS_RTU_PRU0 ;
|
||||
gTestSdfmPrms.samplesBaseAddress = (uint32_t)&gSdfm_sampleOutput + 12;
|
||||
/* Initialize RTU PRU cores for SDFM */
|
||||
status = initPruSdfm(gPruIcssHandle, PRUICSS_RTU_PRU0, &gTestSdfmPrms, &gHPruSdfm);
|
||||
if (status != SDFM_ERR_NERR)
|
||||
{
|
||||
DebugP_log("Error: initPruSdfm() fail.\r\n");
|
||||
return;
|
||||
}
|
||||
/*Update sdfm prams */
|
||||
gTestSdfmPrms.pruInsId = PRUICSS_TX_PRU0;
|
||||
gTestSdfmPrms.samplesBaseAddress = (uint32_t)&gSdfm_sampleOutput + 24 ;
|
||||
/* Initialize TX PRU cores for SDFM */
|
||||
status = initPruSdfm(gPruIcssHandle, PRUICSS_TX_PRU0, &gTestSdfmPrms, &gHPruSdfm);
|
||||
if (status != SDFM_ERR_NERR)
|
||||
{
|
||||
DebugP_log("Error: initPruSdfm() fail.\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
#endif
|
||||
}
|
||||
void sdfm_main(void *args)
|
||||
{
|
||||
|
||||
/* Open drivers to open the UART driver for console */
|
||||
Drivers_open();
|
||||
Board_driversOpen();
|
||||
|
||||
DebugP_log("Sample SDFM example running!...\r\n");
|
||||
|
||||
/* Output build time */
|
||||
DebugP_log("Build timestamp : %s %s\r\n", __DATE__, __TIME__);
|
||||
|
||||
|
||||
/* Enable EPWM0-2 on 3-axis Breakout Board */
|
||||
GPIO_setDirMode(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin, gMtr1PwnEnGpioPinDir);
|
||||
GPIO_pinWriteHigh(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin);
|
||||
GPIO_pinWriteLow(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin);
|
||||
|
||||
/*
|
||||
* Configure EPWM0
|
||||
*/
|
||||
init_pwm();
|
||||
DebugP_log("EPWM Configured!\r\n");
|
||||
|
||||
/* Configure SDFM */
|
||||
init_sdfm();
|
||||
DebugP_log("SDFM Configured!\r\n");
|
||||
|
||||
/* Start EPWM0 clock */
|
||||
CSL_REG32_WR(CSL_CTRL_MMR0_CFG0_BASE + CSL_MAIN_CTRL_MMR_CFG0_EPWM_TB_CLKEN, 1);
|
||||
|
||||
/* Force SW sync for EPWM0 */
|
||||
EPWM_tbTriggerSwSync(gEpwm0BaseAddr);
|
||||
|
||||
while(gRunFlag == TRUE)
|
||||
{
|
||||
;
|
||||
}
|
||||
|
||||
/* Disable and clear interrupts for EPWM0 */
|
||||
EPWM_etIntrDisable(gEpwm0BaseAddr); /* Disable interrupts */
|
||||
EPWM_etIntrClear(gEpwm0BaseAddr); /* Clear pending interrupts */
|
||||
|
||||
/* Destroy EPWM0 HWI */
|
||||
HwiP_destruct(&gEpwm0HwiObject);
|
||||
|
||||
/* Destroy PRU SDFM HWI */
|
||||
HwiP_destruct(&gIcssgPruSdfmHwiObject);
|
||||
|
||||
DebugP_log("All tests have passed!!\r\n");
|
||||
|
||||
Board_driversClose();
|
||||
Drivers_close();
|
||||
}
|
||||
|
||||
/* PRU SDFM FW IRQ handler */
|
||||
void pruSdfmIrqHandler(void *args)
|
||||
{
|
||||
/* debug, inncrement PRU SDFM IRQ count */
|
||||
gPruSdfmIrqCnt++;
|
||||
/* Clear interrupt at source */
|
||||
/* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
|
||||
Firmware: TRIGGER_HOST_SDFM_IRQ defined as 18
|
||||
18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
|
||||
*/
|
||||
PRUICSS_clearEvent(gPruIcssHandle, PRU_TRIGGER_HOST_SDFM_EVT);
|
||||
|
||||
if(sdfmPruIdxCnt >= MAX_SAMPLES)
|
||||
{
|
||||
sdfmPruIdxCnt = 0;
|
||||
}
|
||||
|
||||
#if ICSSG_PRU_LOAD_SHARE_MODE
|
||||
/*Select core */
|
||||
gHPruSdfm->sampleOutputInterface = (SDFM_SampleOutInterface *)((uint32_t)&gSdfm_sampleOutput);
|
||||
/* SDFM Output sample for Channel 3 */
|
||||
sdfm_ch_samples[SDFM_CH3][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
|
||||
/* SDFM Output sample for Channel 4 */
|
||||
sdfm_ch_samples[SDFM_CH4][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
|
||||
/* SDFM Output sample for Channel 5 */
|
||||
sdfm_ch_samples[SDFM_CH5][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
|
||||
|
||||
#else
|
||||
/* SDFM Output sample for Channel 0 */
|
||||
sdfm_ch_samples[SDFM_CH0][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
|
||||
/* SDFM Output sample for Channel 1 */
|
||||
sdfm_ch_samples[SDFM_CH1][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
|
||||
/* SDFM Output sample for Channel 2 */
|
||||
sdfm_ch_samples[SDFM_CH2][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
|
||||
#endif
|
||||
|
||||
sdfmPruIdxCnt++;
|
||||
}
|
||||
|
||||
/* RTU PRU SDFM FW IRQ handler */
|
||||
void rtuPruSdfmIrqHandler(void *args)
|
||||
{
|
||||
/* debug, inncrement PRU SDFM IRQ count */
|
||||
gRtuPruSdfmIrqCnt++;
|
||||
/* Clear interrupt at source */
|
||||
/* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
|
||||
Firmware: TRIGGER_HOST_SDFM_IRQ defined as 18
|
||||
18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
|
||||
*/
|
||||
PRUICSS_clearEvent(gPruIcssHandle, RTU_TRIGGER_HOST_SDFM_EVT);
|
||||
|
||||
if(sdfmRtuIdxCnt >= MAX_SAMPLES)
|
||||
{
|
||||
sdfmRtuIdxCnt = 0;
|
||||
}
|
||||
|
||||
/*Select core */
|
||||
gHPruSdfm->sampleOutputInterface = (SDFM_SampleOutInterface *)((uint32_t)&gSdfm_sampleOutput + 12);
|
||||
/* SDFM Output sample for Channel 0 */
|
||||
sdfm_ch_samples[SDFM_CH0][sdfmRtuIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
|
||||
/* SDFM Output sample for Channel 1 */
|
||||
sdfm_ch_samples[SDFM_CH1][sdfmRtuIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
|
||||
/* SDFM Output sample for Channel 2 */
|
||||
sdfm_ch_samples[SDFM_CH2][sdfmRtuIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
|
||||
|
||||
sdfmRtuIdxCnt++;
|
||||
|
||||
}
|
||||
|
||||
/* PRU SDFM FW IRQ handler */
|
||||
void txPruSdfmIrqHandler(void *args)
|
||||
{
|
||||
/* debug, inncrement PRU SDFM IRQ count */
|
||||
gTxPruSdfmIrqCnt++;
|
||||
/* Clear interrupt at source */
|
||||
/* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
|
||||
Firmware: TRIGGER_HOST_SDFM_IRQ defined as 18
|
||||
18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
|
||||
*/
|
||||
PRUICSS_clearEvent(gPruIcssHandle, TXPRU_TRIGGER_HOST_SDFM_EVT);
|
||||
|
||||
if(sdfmTxPruIdxCnt >= MAX_SAMPLES)
|
||||
{
|
||||
sdfmTxPruIdxCnt = 0;
|
||||
}
|
||||
|
||||
/*Select core */
|
||||
gHPruSdfm->sampleOutputInterface = (SDFM_SampleOutInterface *)((uint32_t)&gSdfm_sampleOutput + 24);
|
||||
|
||||
/* SDFM Output sample for Channel 6 */
|
||||
sdfm_ch_samples[SDFM_CH6][sdfmTxPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
|
||||
/* SDFM Output sample for Channel 7 */
|
||||
sdfm_ch_samples[SDFM_CH7][sdfmTxPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
|
||||
/* SDFM Output sample for Channel 8 */
|
||||
sdfm_ch_samples[SDFM_CH8][sdfmTxPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
|
||||
|
||||
sdfmTxPruIdxCnt++;
|
||||
}
|
||||
|
||||
/* EPWM0 IRQ handler */
|
||||
static void epwmIrqHandler(void *args)
|
||||
{
|
||||
volatile uint16_t status;
|
||||
|
||||
/* debug, inncrement EPWM0 IRQ count */
|
||||
gEpwmIsrCnt++;
|
||||
|
||||
status = EPWM_etIntrStatus(gEpwm0BaseAddr);
|
||||
if (status & EPWM_ETFLG_INT_MASK)
|
||||
{
|
||||
EPWM_etIntrClear(gEpwm0BaseAddr);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
#if APP_EPWM1_ENABLE //DEBUG code for EPWM1
|
||||
/* EPWM0 IRQ handler */
|
||||
static void epwmIrqHandler1(void *args)
|
||||
{
|
||||
volatile uint16_t status;
|
||||
|
||||
/* debug, inncrement EPWM0 IRQ count */
|
||||
gEpwmIsrCnt1++;
|
||||
|
||||
status = EPWM_etIntrStatus(gEpwm1BaseAddr);
|
||||
if (status & EPWM_ETFLG_INT_MASK)
|
||||
{
|
||||
EPWM_etIntrClear(gEpwm0BaseAddr);
|
||||
}
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
@ -169,6 +169,7 @@ SdfmPrms gTestSdfmPrms = {
|
||||
0, /*reserved for phase delay*/
|
||||
0, /*Enable zero cross*/
|
||||
{1700, 1700, 1700}, /*Zero cross threshold*/
|
||||
0, /*enable continuous mode*/
|
||||
};
|
||||
|
||||
#define PRUICSS_G_MUX_EN ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
|
||||
|
||||
@ -0,0 +1,14 @@
|
||||
function getComponentProperty(device)
|
||||
{
|
||||
return require(`./project_${device}`).getComponentProperty();
|
||||
};
|
||||
|
||||
function getComponentBuildProperty(buildOption)
|
||||
{
|
||||
return require(`./project_${buildOption.device}`).getComponentBuildProperty(buildOption);
|
||||
};
|
||||
|
||||
module.exports = {
|
||||
getComponentProperty,
|
||||
getComponentBuildProperty,
|
||||
};
|
||||
@ -0,0 +1,125 @@
|
||||
let path = require('path');
|
||||
|
||||
let device = "am243x";
|
||||
|
||||
const files = {
|
||||
common: [
|
||||
"app_sdfm.c",
|
||||
"epwm_dc.c",
|
||||
"epwm_drv_aux.c",
|
||||
"epwm_mod.c",
|
||||
"sdfm_example.c",
|
||||
"main.c",
|
||||
],
|
||||
};
|
||||
|
||||
/* Relative to where the makefile will be generated
|
||||
* Typically at <example_folder>/<BOARD>/<core_os_combo>/<compiler>
|
||||
*/
|
||||
const filedirs = {
|
||||
common: [
|
||||
"..", /* core_os_combo base */
|
||||
"../../..",
|
||||
"../../../..",
|
||||
],
|
||||
};
|
||||
|
||||
const libdirs_freertos = {
|
||||
common: [
|
||||
"${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",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib",
|
||||
"${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",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/r5f",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/include",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/examples/current_sense",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include"
|
||||
],
|
||||
};
|
||||
|
||||
const libs_freertos_r5f = {
|
||||
common: [
|
||||
"freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"pruicss_pwm.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
],
|
||||
};
|
||||
|
||||
|
||||
const lnkfiles = {
|
||||
common: [
|
||||
"linker.cmd",
|
||||
]
|
||||
};
|
||||
|
||||
const syscfgfile = "../example.syscfg";
|
||||
|
||||
const readmeDoxygenPageTag = "EXAMPLE_MOTORCONTROL_SDFM";
|
||||
|
||||
const templates_freertos_r5f =
|
||||
[
|
||||
{
|
||||
input: ".project/templates/am243x/freertos/main_freertos.c.xdt",
|
||||
output: "../main.c",
|
||||
options: {
|
||||
entryFunction: "sdfm_main",
|
||||
},
|
||||
}
|
||||
];
|
||||
|
||||
const buildOptionCombos = [
|
||||
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "freertos"},
|
||||
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "freertos"},
|
||||
];
|
||||
|
||||
function getComponentProperty() {
|
||||
let property = {};
|
||||
|
||||
property.dirPath = path.resolve(__dirname, "..");
|
||||
property.type = "executable";
|
||||
property.name = "icss_sdfm_three_channel_with_continuous_mode";
|
||||
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.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 +1,131 @@
|
||||
/**
|
||||
* 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 sdfm = scripting.addModule("/current_sense/sdfm", {}, false);
|
||||
const sdfm1 = sdfm.addInstance();
|
||||
const epwm = scripting.addModule("/drivers/epwm/epwm", {}, false);
|
||||
const epwm1 = epwm.addInstance();
|
||||
const gpio = scripting.addModule("/drivers/gpio/gpio", {}, false);
|
||||
const gpio1 = gpio.addInstance();
|
||||
const gpio2 = gpio.addInstance();
|
||||
const gpio3 = gpio.addInstance();
|
||||
const gpio4 = gpio.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();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
sdfm1.$name = "CONFIG_SDFM0";
|
||||
|
||||
epwm1.$name = "CONFIG_EPWM0";
|
||||
epwm1.EPWM.$assign = "EHRPWM0";
|
||||
epwm1.EPWM.A.$assign = "GPMC0_AD3";
|
||||
epwm1.EPWM.B.$assign = "GPMC0_AD4";
|
||||
epwm1.EPWM.SYNCO.$assign = "GPMC0_AD1";
|
||||
epwm1.EPWM.SYNCI.$used = false;
|
||||
|
||||
gpio1.$name = "GPIO_MTR_1_PWM_EN";
|
||||
gpio1.pinDir = "OUTPUT";
|
||||
gpio1.GPIO.$assign = "GPIO0";
|
||||
gpio1.GPIO.gpioPin.rx = false;
|
||||
gpio1.GPIO.gpioPin.$assign = "GPMC0_AD15";
|
||||
|
||||
gpio2.pinDir = "OUTPUT";
|
||||
gpio2.useMcuDomainPeripherals = true;
|
||||
gpio2.$name = "GPIO_ZC_TH_CH0";
|
||||
gpio2.MCU_GPIO.$assign = "MCU_GPIO0";
|
||||
gpio2.MCU_GPIO.gpioPin.rx = false;
|
||||
gpio2.MCU_GPIO.gpioPin.$assign = "MCU_SPI0_D1";
|
||||
|
||||
gpio3.pinDir = "OUTPUT";
|
||||
gpio3.useMcuDomainPeripherals = true;
|
||||
gpio3.$name = "GPIO_ZC_TH_CH1";
|
||||
gpio3.MCU_GPIO.gpioPin.rx = false;
|
||||
gpio3.MCU_GPIO.gpioPin.$assign = "MCU_SPI1_CS0";
|
||||
|
||||
gpio4.pinDir = "OUTPUT";
|
||||
gpio4.useMcuDomainPeripherals = true;
|
||||
gpio4.$name = "GPIO_ZC_TH_CH2";
|
||||
gpio4.MCU_GPIO.gpioPin.$assign = "MCU_SPI1_D1";
|
||||
|
||||
pruicss1.$name = "CONFIG_PRU_ICSS0";
|
||||
pruicss1.coreClk = 300000000;
|
||||
pruicss1.iepClk = 300000000;
|
||||
sdfm1.pru = pruicss1;
|
||||
pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO.create(1);
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].$name = "CONFIG_PRU_ICSS_ECAP_IO0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$used = true;
|
||||
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$name = "CONFIG_UART_CONSOLE";
|
||||
debug_log.uartLog.UART.$assign = "USART0";
|
||||
|
||||
mpu_armv71.$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.TZ_OUT.$used = true;
|
||||
|
||||
/**
|
||||
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
||||
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
|
||||
* re-solve from scratch.
|
||||
*/
|
||||
sdfm1.PRU_ICSSG0_PRU.$suggestSolution = "PRU_ICSSG0_PRU0";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI16.$suggestSolution = "PRG0_PRU0_GPO16";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI1.$suggestSolution = "PRG0_PRU0_GPO1";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI3.$suggestSolution = "PRG0_PRU0_GPO3";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI5.$suggestSolution = "PRG0_PRU0_GPO5";
|
||||
gpio3.MCU_GPIO.$suggestSolution = "MCU_GPIO0";
|
||||
gpio4.MCU_GPIO.$suggestSolution = "MCU_GPIO0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.$suggestSolution = "PRU_ICSSG0_ECAP0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$suggestSolution = "PRG0_PRU1_GPO15";
|
||||
debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
|
||||
debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";
|
||||
pwm1.PRU_ICSSG0_PWM.$suggestSolution = "PRU_ICSSG0_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution = "PRG0_PRU0_GPO19";
|
||||
@ -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 sdfm_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
sdfm_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 +1,128 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALV"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Icss Sdfm Three Channel With Continuous Mode"
|
||||
name = "icss_sdfm_three_channel_with_continuous_mode_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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/include
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense
|
||||
-I${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
|
||||
"
|
||||
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/current_sense/sdfm/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=icss_sdfm_three_channel_with_continuous_mode.${ConfigName}.map
|
||||
--diag_suppress=10063
|
||||
--ram_model
|
||||
--reread_libs
|
||||
"
|
||||
|
||||
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALV --package ALV
|
||||
"
|
||||
|
||||
description="A Icss Sdfm Three Channel With Continuous Mode FREERTOS project">
|
||||
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../app_sdfm.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_dc.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_drv_aux.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_mod.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../sdfm_example.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../main.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_MOTORCONTROL_SDFM.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 +1,151 @@
|
||||
|
||||
/* 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
|
||||
|
||||
/* TCM used by ICSS PRU to write sdfm sample output */
|
||||
.gSdfmSampleOutput : {} align(4) > R5F_TCMB0
|
||||
}
|
||||
|
||||
/*
|
||||
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 +1,320 @@
|
||||
#
|
||||
# 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:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
app_sdfm.c \
|
||||
epwm_dc.c \
|
||||
epwm_drv_aux.c \
|
||||
epwm_mod.c \
|
||||
sdfm_example.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
../../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${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}/source/current_sense/sdfm/include \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib \
|
||||
-Wl,-i${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 \
|
||||
-lmotorcontrol_sdfm.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.${ConfigName}.lib \
|
||||
motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${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/current_sense/sdfm/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 icss_sdfm_three_channel_with_continuous_mode ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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=icss_sdfm_three_channel_with_continuous_mode_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",
|
||||
];
|
||||
@ -0,0 +1,133 @@
|
||||
/**
|
||||
* 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_ALX_beta" --package "ALX" --part "ALX" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK@09.01.00"
|
||||
* @versions {"tool":"1.18.0+3266"}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const sdfm = scripting.addModule("/current_sense/sdfm", {}, false);
|
||||
const sdfm1 = sdfm.addInstance();
|
||||
const epwm = scripting.addModule("/drivers/epwm/epwm", {}, false);
|
||||
const epwm1 = epwm.addInstance();
|
||||
const epwm2 = epwm.addInstance();
|
||||
const gpio = scripting.addModule("/drivers/gpio/gpio", {}, false);
|
||||
const gpio1 = gpio.addInstance();
|
||||
const gpio2 = gpio.addInstance();
|
||||
const gpio3 = gpio.addInstance();
|
||||
const gpio4 = gpio.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 pwm = scripting.addModule("/pru_icssg/pwm", {}, false);
|
||||
const pwm1 = pwm.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
sdfm1.$name = "CONFIG_SDFM0";
|
||||
|
||||
epwm1.$name = "CONFIG_EPWM0";
|
||||
epwm1.EPWM.$assign = "EHRPWM0";
|
||||
epwm1.EPWM.SYNCI.$used = false;
|
||||
|
||||
epwm2.$name = "CONFIG_EPWM1";
|
||||
epwm2.EPWM.SYNCO.$assign = "GPMC0_AD1";
|
||||
epwm2.EPWM.SYNCO.$used = false;
|
||||
epwm2.EPWM.SYNCI.$used = false;
|
||||
|
||||
gpio1.$name = "GPIO_MTR_1_PWM_EN";
|
||||
gpio1.pinDir = "OUTPUT";
|
||||
gpio1.useMcuDomainPeripherals = true;
|
||||
gpio1.MCU_GPIO.gpioPin.$assign = "MCU_UART0_RXD";
|
||||
|
||||
gpio2.pinDir = "OUTPUT";
|
||||
gpio2.$name = "GPIO_ZC_TH_CH0";
|
||||
gpio2.GPIO.$assign = "GPIO0";
|
||||
gpio2.GPIO.gpioPin.rx = false;
|
||||
gpio2.GPIO.gpioPin.$assign = "PRG1_PRU0_GPO18";
|
||||
|
||||
gpio3.pinDir = "OUTPUT";
|
||||
gpio3.$name = "GPIO_ZC_TH_CH1";
|
||||
gpio3.GPIO.gpioPin.rx = false;
|
||||
gpio3.GPIO.gpioPin.$assign = "PRG0_PRU1_GPO2";
|
||||
|
||||
gpio4.pinDir = "OUTPUT";
|
||||
gpio4.$name = "GPIO_ZC_TH_CH2";
|
||||
gpio4.GPIO.gpioPin.rx = false;
|
||||
gpio4.GPIO.gpioPin.$assign = "PRG0_PRU1_GPO1";
|
||||
|
||||
pruicss1.$name = "CONFIG_PRU_ICSS0";
|
||||
pruicss1.coreClk = 300000000;
|
||||
pruicss1.iepClk = 300000000;
|
||||
sdfm1.pru = pruicss1;
|
||||
pruicss1.AdditionalICSSSettings[0].$name = "CONFIG_PRU_ICSS_IO0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO.create(1);
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].$name = "CONFIG_PRU_ICSS_ECAP_IO0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$used = true;
|
||||
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$name = "CONFIG_UART_CONSOLE";
|
||||
debug_log.uartLog.UART.$assign = "USART0";
|
||||
|
||||
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.$name = "CONFIG_MPU_REGION4";
|
||||
mpu_armv75.baseAddr = 0x60000000;
|
||||
mpu_armv75.size = 28;
|
||||
mpu_armv75.accessPermissions = "Supervisor RD, User RD";
|
||||
|
||||
pwm1.$name = "CONFIG_PRU_ICSS_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.$assign = "PRU_ICSSG0_PWM0";
|
||||
pwm1.PRU_ICSSG0_PWM.TZ_OUT.$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.
|
||||
*/
|
||||
sdfm1.PRU_ICSSG0_PRU.$suggestSolution = "PRU_ICSSG0_PRU0";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI16.$suggestSolution = "PRG0_PRU0_GPO16";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI1.$suggestSolution = "PRG0_PRU0_GPO1";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI3.$suggestSolution = "PRG0_PRU0_GPO3";
|
||||
sdfm1.PRU_ICSSG0_PRU.GPI5.$suggestSolution = "PRG0_PRU0_GPO5";
|
||||
epwm1.EPWM.A.$suggestSolution = "GPMC0_AD3";
|
||||
epwm1.EPWM.B.$suggestSolution = "GPMC0_AD4";
|
||||
epwm1.EPWM.SYNCO.$suggestSolution = "GPMC0_AD1";
|
||||
epwm2.EPWM.$suggestSolution = "EHRPWM1";
|
||||
epwm2.EPWM.A.$suggestSolution = "GPMC0_AD5";
|
||||
epwm2.EPWM.B.$suggestSolution = "GPMC0_AD6";
|
||||
gpio1.MCU_GPIO.$suggestSolution = "MCU_GPIO0";
|
||||
gpio3.GPIO.$suggestSolution = "GPIO1";
|
||||
gpio4.GPIO.$suggestSolution = "GPIO1";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.$suggestSolution = "PRU_ICSSG0_ECAP0";
|
||||
pruicss1.AdditionalICSSSettings[0].PruEcapIO[0].PRU_ICSSG0_ECAP.IN_APWM_OUT.$suggestSolution = "PRG0_PRU1_GPO15";
|
||||
debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
|
||||
debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";
|
||||
pwm1.PRU_ICSSG0_PWM.TZ_OUT.$suggestSolution = "PRG0_PRU0_GPO19";
|
||||
@ -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 sdfm_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
sdfm_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 +1,128 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALX"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Icss Sdfm Three Channel With Continuous Mode"
|
||||
name = "icss_sdfm_three_channel_with_continuous_mode_am243x-lp_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_ALX"
|
||||
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}/source/current_sense/sdfm/include
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include
|
||||
-mcpu=cortex-r5
|
||||
-mfloat-abi=hard
|
||||
-mfpu=vfpv3-d16
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib
|
||||
-i${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=icss_sdfm_three_channel_with_continuous_mode.${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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALX --package ALX
|
||||
"
|
||||
|
||||
description="A Icss Sdfm Three Channel With Continuous Mode FREERTOS project">
|
||||
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lmotorcontrol_sdfm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lpruicss_pwm.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../app_sdfm.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_dc.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_drv_aux.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../epwm_mod.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../../../../sdfm_example.c" openOnCreation="false" excludeFromBuild="false" action="copy">
|
||||
</file>
|
||||
<file path="../main.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_MOTORCONTROL_SDFM.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 +1,151 @@
|
||||
|
||||
/* 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
|
||||
|
||||
/* TCM used by ICSS PRU to write sdfm sample output */
|
||||
.gSdfmSampleOutput : {} align(4) > R5F_TCMB0
|
||||
}
|
||||
|
||||
/*
|
||||
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 +1,320 @@
|
||||
#
|
||||
# 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:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=icss_sdfm_three_channel_with_continuous_mode.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
app_sdfm.c \
|
||||
epwm_dc.c \
|
||||
epwm_drv_aux.c \
|
||||
epwm_mod.c \
|
||||
sdfm_example.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
../../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${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}/source/current_sense/sdfm/include \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense/icss_sdfm_three_channel_with_continuous_mode \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/examples/current_sense \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/source/current_sense/sdfm/lib \
|
||||
-Wl,-i${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 \
|
||||
-lmotorcontrol_sdfm.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.${ConfigName}.lib \
|
||||
motorcontrol_sdfm.am243x.r5f.ti-arm-clang.${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/current_sense/sdfm/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 icss_sdfm_three_channel_with_continuous_mode ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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 ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(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=icss_sdfm_three_channel_with_continuous_mode_am243x-lp_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",
|
||||
];
|
||||
@ -0,0 +1,433 @@
|
||||
/*
|
||||
* 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 <kernel/dpl/AddrTranslateP.h>
|
||||
#include <kernel/dpl/HwiP.h>
|
||||
#include <drivers/epwm.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_drivers_open_close.h"
|
||||
#include "ti_board_open_close.h"
|
||||
|
||||
#include "epwm_dc.h"
|
||||
#include "sdfm_example.h"
|
||||
|
||||
/*EPWM1 configuration for sigma delta clock generation: */
|
||||
#define APP_EPWM1_ENABLE 0 /*make sure EPWM1 is added in sysconfig before making true this macro */
|
||||
/* Output channel - A or B */
|
||||
#define APP_EPWM_OUT_CH_EN ( 0x1 ) /* ChA enabled */
|
||||
|
||||
#define NUM_CH_SUPPORTED ( 3 )
|
||||
#define ICSSG_PRU_LOAD_SHARE_MODE ( 0 )
|
||||
/* EPWM functional clock */
|
||||
/* Functional clock is the same for all EPWMs */
|
||||
#define APP_EPWM_FCLK ( CONFIG_EPWM0_FCLK )
|
||||
|
||||
/* EPWM functional clock dividers */
|
||||
#define APP_EPWM_FCLK_HSPCLKDIV ( 0x0 ) /* EPWM_TBCTL:HSPCLKDIV, High-Speed Time-base Clock Prescale Bits */
|
||||
#define APP_EPWM_FCLK_CLKDIV ( 0x0 ) /* EPWM_TBCTL:CLKDIV, Time-base Clock Prescale Bits */
|
||||
|
||||
#if (APP_EPWM_FCLK_HSPCLKDIV != 0x0)
|
||||
/* EPWM Time Base clock -- all EPWM TB clocks set the same */
|
||||
#define APP_EPWM_TB_FREQ ( APP_EPWM_FCLK / ( 2*APP_EPWM_FCLK_HSPCLKDIV * (1 << APP_EPWM_FCLK_CLKDIV)))
|
||||
#else
|
||||
/* EPWM Time Base clock -- all EPWM TB clocks set the same */
|
||||
#define APP_EPWM_TB_FREQ ( APP_EPWM_FCLK / ( 1 * (1 << APP_EPWM_FCLK_CLKDIV)))
|
||||
#endif
|
||||
|
||||
/* Initial Duty Cycle of PWM output signal in %, 0 to 100 */
|
||||
#define APP_EPWM0_DUTY_CYCLE ( 50U )
|
||||
|
||||
/* Frequency of PWM output signal in Hz */
|
||||
#define APP_EPWM_OUTPUT_FREQ_4K ( 1U * 4000U )
|
||||
#define APP_EPWM_OUTPUT_FREQ_8K ( 1U * 8000U )
|
||||
#define APP_EPWM_OUTPUT_FREQ_16K ( 1U * 16000U )
|
||||
#define APP_EPWM_OUTPUT_FREQ_20K ( 1U * 20000U )
|
||||
#define APP_EPWM_OUTPUT_FREQ ( APP_EPWM_OUTPUT_FREQ_8K ) /* init freq */
|
||||
|
||||
/*sample Read time */
|
||||
#define FIRST_SAMPLE_TRIGGER_TIME ((float)((float)1000000/(4*APP_EPWM_OUTPUT_FREQ))) /*sample trigger time for Single Update */
|
||||
|
||||
#define SECOND_SAMPLE_TRIGGER_TIME ((float)((float)3000000/(4*APP_EPWM_OUTPUT_FREQ))) /*Sample trigger time for double update*/
|
||||
|
||||
/* PWM count direction (Up, Down, Up/Down) */
|
||||
#define APP_EPWM_TB_COUNTER_DIR ( EPWM_TB_COUNTER_DIR_UP_DOWN )
|
||||
|
||||
/* Test ICSSG instance ID */
|
||||
#define TEST_ICSSG_INST_ID ( CONFIG_PRU_ICSS0 )
|
||||
/* Test ICSSG slice ID */
|
||||
#define TEST_ICSSG_SLICE_ID ( ICSSG_SLICE_ID_0 )
|
||||
|
||||
/* R5F interrupt settings for ICSSG */
|
||||
#define ICSSG_PRU_SDFM_INT_NUM ( CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_3 ) /* VIM interrupt number */
|
||||
|
||||
/* EPWM0 IRQ handler */
|
||||
static void epwmIrqHandler(void *handle);
|
||||
|
||||
/* EPWM1 IRQ handler */
|
||||
static void epwmIrqHandler1(void *handle);
|
||||
|
||||
/* HWI global variables */
|
||||
static HwiP_Object gIcssgPruSdfmHwiObject; /* ICSSG PRU SDFM FW HWI */
|
||||
|
||||
#if APP_EPWM1_ENABLE
|
||||
#define APP_EPWM_OUTPUT_FREQ1 (1U*20000000 )
|
||||
static HwiP_Object gIcssgRtuSDFMHwiObject; /* ICSSG RTU SDFM FW HWI */
|
||||
|
||||
static HwiP_Object gEpwm1HwiObject; /* EPWM1 HWI */
|
||||
|
||||
uint32_t gEpwm1BaseAddr; /* EPWM1 base address */
|
||||
EPwmObj_t gEpwm1Obj; /* EPWM1 object */
|
||||
Epwm_Handle hEpwm1; /* EPWM1 handle */
|
||||
|
||||
volatile uint32_t gEpwmOutFreq1 = APP_EPWM_OUTPUT_FREQ1; /*EPWM1 output freq. */
|
||||
|
||||
#endif
|
||||
|
||||
static HwiP_Object gEpwm0HwiObject; /* EPWM0 HWI */
|
||||
|
||||
/* EPWM global variables */
|
||||
uint32_t gEpwm0BaseAddr; /* EPWM0 base address */
|
||||
EPwmObj_t gEpwm0Obj; /* EPWM0 object */
|
||||
Epwm_Handle hEpwm0; /* EPWM0 handle */
|
||||
|
||||
|
||||
|
||||
volatile uint32_t gEpwmOutFreq = APP_EPWM_OUTPUT_FREQ; /* EPWM output frequency */
|
||||
|
||||
|
||||
/* ICSSG PRU SDFM FW IRQ handler */
|
||||
static void pruSdfmIrqHandler(void *handle);
|
||||
|
||||
|
||||
/* Test ICSSG handle */
|
||||
PRUICSS_Handle gPruIcssHandle;
|
||||
|
||||
/* Test Sdfm handles */
|
||||
sdfm_handle gHPruSdfm;
|
||||
|
||||
/* Sdfm output samples, written by PRU cores */
|
||||
__attribute__((section(".gSdfmSampleOutput"))) uint32_t gSdfm_sampleOutput[NUM_CH_SUPPORTED];
|
||||
|
||||
/* Test Sdfm parameters */
|
||||
SdfmPrms gTestSdfmPrms = {
|
||||
0, /*Load share enable*/
|
||||
PRUICSS_PRU0,
|
||||
TEST_ICSSG_SLICE_ID,
|
||||
300000000, /*PRU core clock*/
|
||||
{300000000, 0}, /*Value of G0IEP0, second index reserved for G1IEP0 */
|
||||
20000000, /*Value of SD clock (It should be exact equal to sd clock value)*/
|
||||
0, /*enable double update*/
|
||||
FIRST_SAMPLE_TRIGGER_TIME, /*first sample trigger time*/
|
||||
SECOND_SAMPLE_TRIGGER_TIME, /*second sample trigger time*/
|
||||
APP_EPWM_OUTPUT_FREQ, /*PWM output frequency*/
|
||||
{{3500, 1000,0}, /*threshold parameters(High, low & reserevd)*/
|
||||
{3500, 1000,0},
|
||||
{3500, 1000,0}},
|
||||
{{0,0}, /*clock sourse & clock inversion for all channels*/
|
||||
{0,0},
|
||||
{0,0}},
|
||||
15, /*Over current osr: The effect count is OSR + 1*/
|
||||
128, /*Normal current osr */
|
||||
1, /*comparator enable*/
|
||||
(uint32_t)&gSdfm_sampleOutput, /*Output samples base address*/
|
||||
0, /*Fast Detect enable */
|
||||
{{4, 18, 2},
|
||||
{4, 18, 2},
|
||||
{4, 18, 2}
|
||||
}, /*Fast detect fields {Window size, zero count max, zero count min}*/
|
||||
0, /*reserved for phase delay*/
|
||||
0, /*Enable zero cross*/
|
||||
{1700, 1700, 1700}, /*Zero cross threshold*/
|
||||
1, /*enable continuous mode*/
|
||||
};
|
||||
|
||||
#define PRUICSS_G_MUX_EN ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
|
||||
|
||||
/* GPIO enable signal for EPWM0-2 on 3-axis breakout board */
|
||||
uint32_t gMtr1PwnEnGpioBaseAddr = GPIO_MTR_1_PWM_EN_BASE_ADDR;
|
||||
uint32_t gMtr1PwnEnGpioPin = GPIO_MTR_1_PWM_EN_PIN;
|
||||
uint32_t gMtr1PwnEnGpioPinDir = GPIO_MTR_1_PWM_EN_DIR;
|
||||
|
||||
/* Flag for continuing to execute test */
|
||||
volatile Bool gRunFlag = TRUE;
|
||||
|
||||
|
||||
/* ICSS SDFM Output sample for Channel 0 */
|
||||
/*Sample size*/
|
||||
#define MAX_SAMPLES (128)
|
||||
|
||||
/* ICSS SDFM Output samples */
|
||||
uint32_t sdfm_ch_samples[NUM_CH_SUPPORTED][MAX_SAMPLES] = {0};
|
||||
uint32_t sdfmPruIdxCnt = 0;
|
||||
|
||||
/* IRQ counters */
|
||||
volatile uint32_t gPruSdfmIrqCnt=0; /* PRU ICSS SDFM FW IRQ count */
|
||||
|
||||
volatile uint32_t gEpwmIsrCnt=0; /* EPWM0 IRQ count */
|
||||
volatile uint32_t gEpwmIsrCnt1=0;
|
||||
/*PWM Parameters*/
|
||||
HwiP_Params hwiPrms;
|
||||
HwiP_Params hwiPrms1;
|
||||
EPwmCfgPrms_t epwmCfgPrms;
|
||||
EPwmCfgPrms_t epwm1CfgPrms;
|
||||
|
||||
void init_pwm()
|
||||
{
|
||||
int32_t status;
|
||||
/* Initialize EPWM0 base address, perform address translation */
|
||||
gEpwm0BaseAddr = (uint32_t)AddrTranslateP_getLocalAddr(CONFIG_EPWM0_BASE_ADDR);
|
||||
|
||||
/* Register & enable EPWM0 interrupt */
|
||||
HwiP_Params_init(&hwiPrms);
|
||||
hwiPrms.intNum = CONFIG_EPWM0_INTR;
|
||||
hwiPrms.callback = &epwmIrqHandler;
|
||||
hwiPrms.args = 0;
|
||||
hwiPrms.isPulse = CONFIG_EPWM0_INTR_IS_PULSE;
|
||||
hwiPrms.isFIQ = FALSE;
|
||||
status = HwiP_construct(&gEpwm0HwiObject, &hwiPrms);
|
||||
DebugP_assert(status == SystemP_SUCCESS);
|
||||
|
||||
/* Configure EPWM0 */
|
||||
epwmCfgPrms.epwmId = EPWM_ID_0;
|
||||
epwmCfgPrms.epwmBaseAddr = gEpwm0BaseAddr;
|
||||
epwmCfgPrms.epwmOutChEn = APP_EPWM_OUT_CH_EN;
|
||||
epwmCfgPrms.hspClkDiv = APP_EPWM_FCLK_HSPCLKDIV;
|
||||
epwmCfgPrms.clkDiv = APP_EPWM_FCLK_CLKDIV;
|
||||
epwmCfgPrms.epwmTbFreq = APP_EPWM_TB_FREQ;
|
||||
epwmCfgPrms.epwmOutFreq = gEpwmOutFreq;
|
||||
epwmCfgPrms.epwmDutyCycle[EPWM_OUTPUT_CH_A] = APP_EPWM0_DUTY_CYCLE;
|
||||
epwmCfgPrms.epwmTbCounterDir = APP_EPWM_TB_COUNTER_DIR;
|
||||
epwmCfgPrms.cfgTbSyncIn = TRUE;
|
||||
epwmCfgPrms.tbPhsValue = 0;
|
||||
epwmCfgPrms.tbSyncInCounterDir = EPWM_TB_COUNTER_DIR_UP;
|
||||
epwmCfgPrms.cfgTbSyncOut = TRUE;
|
||||
epwmCfgPrms.tbSyncOutMode = EPWM_TB_SYNC_OUT_EVT_CNT_EQ_ZERO;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].zeroAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].prdAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpAUpAction = EPWM_AQ_ACTION_HIGH;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpADownAction = EPWM_AQ_ACTION_LOW;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBUpAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwmCfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBDownAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwmCfgPrms.cfgDb = FALSE;
|
||||
epwmCfgPrms.cfgEt = TRUE;
|
||||
epwmCfgPrms.intSel = EPWM_ET_INTR_EVT_CNT_EQ_ZRO;
|
||||
epwmCfgPrms.intPrd = EPWM_ET_INTR_PERIOD_FIRST_EVT;
|
||||
hEpwm0 = epwmInit(&epwmCfgPrms, &gEpwm0Obj);
|
||||
DebugP_assert(hEpwm0 != NULL);
|
||||
|
||||
#if APP_EPWM1_ENABLE // DEBUG code for SDFM clock generation from EPWM1
|
||||
/* EPWM1 for SD clock generation */
|
||||
/* Initialize EPWM1 base address, perform address translation */
|
||||
gEpwm1BaseAddr = (uint32_t)AddrTranslateP_getLocalAddr(CONFIG_EPWM1_BASE_ADDR);
|
||||
/* Register & enable EPWM0 interrupt */
|
||||
HwiP_Params_init(&hwiPrms1);
|
||||
hwiPrms1.intNum = CONFIG_EPWM1_INTR;
|
||||
hwiPrms1.callback = &epwmIrqHandler1;
|
||||
hwiPrms1.args = 0;
|
||||
hwiPrms1.isPulse = CONFIG_EPWM1_INTR_IS_PULSE;
|
||||
hwiPrms1.isFIQ = FALSE;
|
||||
status = HwiP_construct(&gEpwm1HwiObject, &hwiPrms1);
|
||||
DebugP_assert(status == SystemP_SUCCESS);
|
||||
/* Configure EPWM0 */
|
||||
epwm1CfgPrms.epwmId = EPWM_ID_1;
|
||||
epwm1CfgPrms.epwmBaseAddr = gEpwm1BaseAddr;
|
||||
epwm1CfgPrms.epwmOutChEn = APP_EPWM_OUT_CH_EN;
|
||||
epwm1CfgPrms.hspClkDiv = APP_EPWM_FCLK_HSPCLKDIV;
|
||||
epwm1CfgPrms.clkDiv = APP_EPWM_FCLK_CLKDIV;
|
||||
epwm1CfgPrms.epwmTbFreq = APP_EPWM_TB_FREQ;
|
||||
epwm1CfgPrms.epwmOutFreq = gEpwmOutFreq1;
|
||||
epwm1CfgPrms.epwmDutyCycle[EPWM_OUTPUT_CH_A] = APP_EPWM0_DUTY_CYCLE;
|
||||
epwm1CfgPrms.epwmTbCounterDir = APP_EPWM_TB_COUNTER_DIR;
|
||||
epwm1CfgPrms.cfgTbSyncIn = FALSE;
|
||||
epwm1CfgPrms.tbPhsValue = 0;
|
||||
epwm1CfgPrms.cfgTbSyncOut = FALSE;
|
||||
epwm1CfgPrms.tbSyncOutMode = EPWM_TB_SYNC_OUT_EVT_CNT_EQ_ZERO;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].zeroAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].prdAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpAUpAction = EPWM_AQ_ACTION_HIGH;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpADownAction = EPWM_AQ_ACTION_LOW;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBUpAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwm1CfgPrms.aqCfg[EPWM_OUTPUT_CH_A].cmpBDownAction = EPWM_AQ_ACTION_DONOTHING;
|
||||
epwm1CfgPrms.cfgDb = FALSE;
|
||||
epwm1CfgPrms.cfgEt = FALSE;
|
||||
epwm1CfgPrms.intSel = EPWM_ET_INTR_EVT_CNT_EQ_ZRO;
|
||||
epwm1CfgPrms.intPrd = EPWM_ET_INTR_PERIOD_FIRST_EVT;
|
||||
hEpwm1 = epwmInit(&epwm1CfgPrms, &gEpwm1Obj);
|
||||
DebugP_assert(hEpwm1 != NULL);
|
||||
#endif
|
||||
}
|
||||
|
||||
void init_sdfm()
|
||||
{
|
||||
int32_t status;
|
||||
/* Initialize ICSSG */
|
||||
status = initIcss(TEST_ICSSG_INST_ID, TEST_ICSSG_SLICE_ID, PRUICSS_G_MUX_EN, ICSSG_PRU_LOAD_SHARE_MODE, &gPruIcssHandle);
|
||||
if (status != SDFM_ERR_NERR) {
|
||||
DebugP_log("Error: initIcss() fail.\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
/* Register & enable ICSSG PRU SDFM FW interrupt */
|
||||
HwiP_Params_init(&hwiPrms);
|
||||
hwiPrms.intNum = ICSSG_PRU_SDFM_INT_NUM;
|
||||
hwiPrms.callback = &pruSdfmIrqHandler;
|
||||
hwiPrms.args = 0;
|
||||
hwiPrms.isPulse = FALSE;
|
||||
hwiPrms.isFIQ = FALSE;
|
||||
status = HwiP_construct(&gIcssgPruSdfmHwiObject, &hwiPrms);
|
||||
DebugP_assert(status == SystemP_SUCCESS);
|
||||
|
||||
/* Initialize PRU cores for SDFM */
|
||||
status = initPruSdfm(gPruIcssHandle, PRUICSS_PRU0, &gTestSdfmPrms, &gHPruSdfm);
|
||||
if (status != SDFM_ERR_NERR)
|
||||
{
|
||||
DebugP_log("Error: initPruSdfm() fail.\r\n");
|
||||
return;
|
||||
}
|
||||
}
|
||||
void sdfm_main(void *args)
|
||||
{
|
||||
|
||||
/* Open drivers to open the UART driver for console */
|
||||
Drivers_open();
|
||||
Board_driversOpen();
|
||||
|
||||
DebugP_log("Sample SDFM example running!...\r\n");
|
||||
|
||||
/* Output build time */
|
||||
DebugP_log("Build timestamp : %s %s\r\n", __DATE__, __TIME__);
|
||||
|
||||
|
||||
/* Enable EPWM0-2 on 3-axis Breakout Board */
|
||||
GPIO_setDirMode(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin, gMtr1PwnEnGpioPinDir);
|
||||
GPIO_pinWriteHigh(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin);
|
||||
GPIO_pinWriteLow(gMtr1PwnEnGpioBaseAddr, gMtr1PwnEnGpioPin);
|
||||
|
||||
/*
|
||||
* Configure EPWM0
|
||||
*/
|
||||
init_pwm();
|
||||
DebugP_log("EPWM Configured!\r\n");
|
||||
|
||||
/* Configure SDFM */
|
||||
init_sdfm();
|
||||
DebugP_log("SDFM Configured!\r\n");
|
||||
|
||||
/* Start EPWM0 clock */
|
||||
CSL_REG32_WR(CSL_CTRL_MMR0_CFG0_BASE + CSL_MAIN_CTRL_MMR_CFG0_EPWM_TB_CLKEN, 1);
|
||||
|
||||
/* Force SW sync for EPWM0 */
|
||||
EPWM_tbTriggerSwSync(gEpwm0BaseAddr);
|
||||
|
||||
while(gRunFlag == TRUE)
|
||||
{
|
||||
;
|
||||
}
|
||||
|
||||
/* Disable and clear interrupts for EPWM0 */
|
||||
EPWM_etIntrDisable(gEpwm0BaseAddr); /* Disable interrupts */
|
||||
EPWM_etIntrClear(gEpwm0BaseAddr); /* Clear pending interrupts */
|
||||
|
||||
/* Destroy EPWM0 HWI */
|
||||
HwiP_destruct(&gEpwm0HwiObject);
|
||||
|
||||
/* Destroy PRU SDFM HWI */
|
||||
HwiP_destruct(&gIcssgPruSdfmHwiObject);
|
||||
|
||||
DebugP_log("All tests have passed!!\r\n");
|
||||
|
||||
Board_driversClose();
|
||||
Drivers_close();
|
||||
}
|
||||
|
||||
/* PRU SDFM FW IRQ handler */
|
||||
void pruSdfmIrqHandler(void *args)
|
||||
{
|
||||
/* debug, inncrement PRU SDFM IRQ count */
|
||||
gPruSdfmIrqCnt++;
|
||||
/* Clear interrupt at source */
|
||||
/* Write 18 to ICSSG_STATUS_CLR_INDEX_REG
|
||||
Firmware: TRIGGER_HOST_SDFM_IRQ defined as 18
|
||||
18 = 16+2, 2 is Host Interrupt Number. See AM64x TRM.
|
||||
*/
|
||||
PRUICSS_clearEvent(gPruIcssHandle, PRU_TRIGGER_HOST_SDFM_EVT);
|
||||
|
||||
if(sdfmPruIdxCnt >= MAX_SAMPLES)
|
||||
{
|
||||
sdfmPruIdxCnt = 0;
|
||||
}
|
||||
|
||||
/* SDFM Output sample for Channel 0 */
|
||||
sdfm_ch_samples[SDFM_CH0][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 0);
|
||||
/* SDFM Output sample for Channel 1 */
|
||||
sdfm_ch_samples[SDFM_CH1][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 1);
|
||||
/* SDFM Output sample for Channel 2 */
|
||||
sdfm_ch_samples[SDFM_CH2][sdfmPruIdxCnt] = SDFM_getFilterData(gHPruSdfm, 2);
|
||||
|
||||
sdfmPruIdxCnt++;
|
||||
}
|
||||
|
||||
/* EPWM0 IRQ handler */
|
||||
static void epwmIrqHandler(void *args)
|
||||
{
|
||||
volatile uint16_t status;
|
||||
|
||||
/* debug, inncrement EPWM0 IRQ count */
|
||||
gEpwmIsrCnt++;
|
||||
|
||||
status = EPWM_etIntrStatus(gEpwm0BaseAddr);
|
||||
if(status & EPWM_ETFLG_INT_MASK)
|
||||
{
|
||||
EPWM_etIntrClear(gEpwm0BaseAddr);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
#if APP_EPWM1_ENABLE //DEBUG code for EPWM1
|
||||
/* EPWM0 IRQ handler */
|
||||
static void epwmIrqHandler1(void *args)
|
||||
{
|
||||
volatile uint16_t status;
|
||||
|
||||
/* debug, inncrement EPWM0 IRQ count */
|
||||
gEpwmIsrCnt1++;
|
||||
|
||||
status = EPWM_etIntrStatus(gEpwm1BaseAddr);
|
||||
if (status & EPWM_ETFLG_INT_MASK)
|
||||
{
|
||||
EPWM_etIntrClear(gEpwm0BaseAddr);
|
||||
}
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
@ -171,6 +171,7 @@ SdfmPrms gTestSdfmPrms = {
|
||||
1, /*Phase delay enable*/
|
||||
0, /*Enable zero cross*/
|
||||
{1700, 1700, 1700}, /*Zero cross threshold*/
|
||||
0, /*enable continuous mode*/
|
||||
};
|
||||
|
||||
#define PRUICSS_G_MUX_EN ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
|
||||
|
||||
@ -320,6 +320,12 @@ int32_t initSdfmFw(uint8_t pruId, SdfmPrms *pSdfmPrms, sdfm_handle *pHSdfm, PRU
|
||||
|
||||
/*set Noraml current OSR */
|
||||
SDFM_setFilterOverSamplingRatio(hSdfm, pSdfmPrms->filterOsr);
|
||||
|
||||
/*Enable Continuous mode*/
|
||||
if(pSdfmPrms->enableContinuousMode)
|
||||
{
|
||||
SDFM_enableContinuousNormalCurrent(hSdfm);
|
||||
}
|
||||
|
||||
/*below configuration for all three channel*/
|
||||
for(SDFM_CH = 0; SDFM_CH < NUM_CH_SUPPORTED_PER_AXIS; SDFM_CH++)
|
||||
|
||||
@ -177,6 +177,8 @@ typedef struct SdfmPrms_s
|
||||
uint8_t enZeroCross;
|
||||
/**<Zero cross threshold*/
|
||||
uint32_t zcThr[NUM_CH_SUPPORTED_PER_AXIS];
|
||||
/**<enable NC continuous mode*/
|
||||
uint8_t enableContinuousMode;
|
||||
} SdfmPrms;
|
||||
|
||||
|
||||
|
||||
@ -80,8 +80,12 @@ help:
|
||||
@echo $(MAKE) -s -C examples/position_sense/bissc_diagnostic/multi_channel_single_pru/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@echo $(MAKE) -s -C examples/pruicss_pwm/pruicss_pwm_duty_cycle/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
|
||||
@ -264,8 +268,12 @@ BUILD_COMBO_EXAMPLE_ALL += bissc_diagnostic_multi_channel_load_share_am243x-lp_r
|
||||
BUILD_COMBO_EXAMPLE_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
BUILD_COMBO_EXAMPLE_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
@ -395,12 +403,24 @@ examples-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_ALL)
|
||||
icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
|
||||
|
||||
@ -521,8 +541,12 @@ BUILD_COMBO_EXAMPLE_CLEAN_ALL += bissc_diagnostic_multi_channel_load_share_am243
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_CLEAN_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
@ -652,12 +676,24 @@ examples-private-clean: $(BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL)
|
||||
icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
|
||||
|
||||
@ -778,8 +814,12 @@ BUILD_COMBO_EXAMPLE_SCRUB_ALL += bissc_diagnostic_multi_channel_load_share_am243
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
BUILD_COMBO_EXAMPLE_SCRUB_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
|
||||
@ -909,12 +949,24 @@ examples-scrub-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL)
|
||||
icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
|
||||
|
||||
|
||||
@ -37,8 +37,12 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += bissc_diagnostic_multi_channel_load
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
|
||||
@ -168,12 +172,24 @@ all-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL)
|
||||
icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
|
||||
|
||||
@ -295,8 +311,12 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += bissc_diagnostic_multi_channel_load
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
|
||||
@ -426,12 +446,24 @@ clean-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL)
|
||||
icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
|
||||
|
||||
@ -553,8 +585,12 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += bissc_diagnostic_multi_channel_loa
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += bissc_diagnostic_multi_channel_single_pru_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += icss_sdfm_three_channel_with_phase_compensation_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
|
||||
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += pruicss_pwm_duty_cycle_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
|
||||
@ -684,12 +720,24 @@ export-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL)
|
||||
icss_sdfm_nine_channel_load_share_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
icss_sdfm_nine_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
icss_sdfm_three_channel_single_pru_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
icss_sdfm_three_channel_with_continuous_mode_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
icss_sdfm_three_channel_with_phase_compensation_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
|
||||
$(MAKE) -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
|
||||
|
||||
@ -836,8 +884,12 @@ help:
|
||||
@echo $(MAKE) -s -C examples/position_sense/bissc_diagnostic/multi_channel_single_pru/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@echo $(MAKE) -s -C examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
|
||||
@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]
|
||||
|
||||
@ -62,7 +62,7 @@ FIRMWARE_VERSION_REVISION .set 0x01
|
||||
; bit23..16 major number
|
||||
FIRMWARE_VERSION_MAJOR .set 0x01
|
||||
; bit15..0 minor number
|
||||
FIRMWARE_VERSION_MINOR .set 0x0001
|
||||
FIRMWARE_VERSION_MINOR .set 0x0002
|
||||
|
||||
ICSS_FIRMWARE_RELEASE_1 .set ((FIRMWARE_DEVICE_AM64x_AM243x << 8) | (FIRMWARE_PROTOCOL_TYPE_SDFM << 0))
|
||||
ICSS_FIRMWARE_RELEASE_2 .set ((FIRMWARE_VERSION_RELEASE << 31) | (FIRMWARE_VERSION_REVISION << 24) | (FIRMWARE_VERSION_MAJOR << 16) | (FIRMWARE_VERSION_MINOR << 0))
|
||||
|
||||
@ -159,9 +159,6 @@ INIT_SDFM:
|
||||
;Enable Task Manager
|
||||
M_PRU_TM_ENABLE
|
||||
|
||||
;Initialize IEP0
|
||||
JAL RET_ADDR_REG, FN_IEP0_INIT
|
||||
|
||||
.if $isdefed("SDFM_PRU_CORE")
|
||||
;Initialize SD mode
|
||||
LDI32 TEMP_REG1, PR1_PRUn_GP_MUX_SEL_VAL<<PR1_PRUn_GP_MUX_SEL_SHIFT
|
||||
@ -238,6 +235,9 @@ INIT_SDFM_CONT:
|
||||
OR TEMP_REG0.w2, TEMP_REG0.w2, TEMP_REG0.w0
|
||||
MOV ZERO_CROSS_EN, TEMP_REG0.w2
|
||||
|
||||
;Initialize IEP0
|
||||
JAL RET_ADDR_REG, FN_IEP0_INIT
|
||||
|
||||
.if $isdefed("SDFM_PRU_CORE")
|
||||
; Start IEP
|
||||
LBCO &TEMP_REG0.b0, CT_PRU_ICSSG_IEP0, ICSSG_IEP_GLOBAL_CFG_REG, 1
|
||||
|
||||
@ -57,7 +57,7 @@ const uint32_t SDFM_PRU0_image_0[] = {
|
||||
0x240000c1,
|
||||
0x24020981,
|
||||
0x240101c2,
|
||||
0x24000082,
|
||||
0x24000282,
|
||||
0xe1c07781,
|
||||
0x32000000,
|
||||
0x240fff81,
|
||||
@ -81,7 +81,6 @@ const uint32_t SDFM_PRU0_image_0[] = {
|
||||
0xe1011701,
|
||||
0x23017099,
|
||||
0x32800000,
|
||||
0x23017799,
|
||||
0x240c00c2,
|
||||
0x24000082,
|
||||
0xf1021701,
|
||||
@ -132,6 +131,7 @@ const uint32_t SDFM_PRU0_image_0[] = {
|
||||
0x09020101,
|
||||
0x1281c1c1,
|
||||
0x10c1c1da,
|
||||
0x23017799,
|
||||
0x91001a01,
|
||||
0x1f00e1e1,
|
||||
0x81001a01,
|
||||
|
||||
@ -57,7 +57,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
|
||||
0x240000c1,
|
||||
0x24020981,
|
||||
0x240101c2,
|
||||
0x24000082,
|
||||
0x24000282,
|
||||
0xe1c07781,
|
||||
0x32000000,
|
||||
0x240fff81,
|
||||
@ -81,7 +81,6 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
|
||||
0xe1011701,
|
||||
0x23017099,
|
||||
0x32800000,
|
||||
0x23017799,
|
||||
0x240c00c2,
|
||||
0x24000082,
|
||||
0xf1021701,
|
||||
@ -132,6 +131,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
|
||||
0x09020101,
|
||||
0x1281c1c1,
|
||||
0x10c1c1da,
|
||||
0x23017799,
|
||||
0x91001a01,
|
||||
0x1f00e1e1,
|
||||
0x81001a01,
|
||||
|
||||
@ -57,7 +57,7 @@ const uint32_t pru_SDFM_RTU0_image_0[] = {
|
||||
0x240000c1,
|
||||
0x24020981,
|
||||
0x240101c2,
|
||||
0x24000082,
|
||||
0x24000282,
|
||||
0xe1c07781,
|
||||
0x32000000,
|
||||
0x240fff81,
|
||||
@ -81,7 +81,6 @@ const uint32_t pru_SDFM_RTU0_image_0[] = {
|
||||
0xe1011701,
|
||||
0x23016599,
|
||||
0x32800000,
|
||||
0x23016c99,
|
||||
0xf1021701,
|
||||
0x51010104,
|
||||
0x240002d8,
|
||||
@ -124,6 +123,7 @@ const uint32_t pru_SDFM_RTU0_image_0[] = {
|
||||
0x09020101,
|
||||
0x1281c1c1,
|
||||
0x10c1c1da,
|
||||
0x23016c99,
|
||||
0xf114179a,
|
||||
0xd1009a02,
|
||||
0x21004a00,
|
||||
|
||||
@ -57,7 +57,7 @@ const uint32_t pru_SDFM_TXPRU0_image_0[] = {
|
||||
0x240000c1,
|
||||
0x24020981,
|
||||
0x240101c2,
|
||||
0x24000082,
|
||||
0x24000282,
|
||||
0xe1c07781,
|
||||
0x32000000,
|
||||
0x240fff81,
|
||||
@ -81,7 +81,6 @@ const uint32_t pru_SDFM_TXPRU0_image_0[] = {
|
||||
0xe1011701,
|
||||
0x23016599,
|
||||
0x32800000,
|
||||
0x23016c99,
|
||||
0xf1021701,
|
||||
0x51010104,
|
||||
0x240002d8,
|
||||
@ -124,6 +123,7 @@ const uint32_t pru_SDFM_TXPRU0_image_0[] = {
|
||||
0x09020101,
|
||||
0x1281c1c1,
|
||||
0x10c1c1da,
|
||||
0x23016c99,
|
||||
0xf114179a,
|
||||
0xd1009a02,
|
||||
0x21004a00,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user