Pull request #58: am64x/am243x: SDFM: Add configurable memory support

Merge in PINDSW/motor_control_sdk from a0502729_PINDSW-7016_sdfm_move_sample_output_to_tcm to next

* commit 'd010c593a9b14d1017c6236624180eea99eec28d':
  am64x/am243x: SDFM: Add configurable memory support

examples/current_sense/icss_sdfm/am243x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd

@@ -103,6 +103,9 @@ SECTIONS
     .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
 }
 
 /*

examples/current_sense/icss_sdfm/am243x-lp/r5fss0-0_freertos/ti-arm-clang/linker.cmd

@@ -103,6 +103,9 @@ SECTIONS
     .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
 }
 
 /*

examples/current_sense/icss_sdfm/am64x-evm/r5fss0-0_freertos/ti-arm-clang/linker.cmd

@@ -103,6 +103,9 @@ SECTIONS
     .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
 }
 
 /*

examples/current_sense/icss_sdfm/app_sdfm.c

@@ -139,6 +139,8 @@ 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 = {
@@ -156,7 +158,8 @@ SdfmPrms gTestSdfmPrms = {
     {0,0}},
      15,   /*Over current osr: The effect count is OSR + 1*/
      128,   /*Normal current osr */
-     1   /*comparator enable*/
+     1,   /*comparator enable*/
+     (uint32_t)&gSdfm_sampleOutput /*Output samples base address*/
 };
 
 #define PRUICSS_G_MUX_EN    ( 0x1 ) /* ICSSG_SA_MX_REG:G_MUX_EN */
@@ -343,7 +346,7 @@ void sdfm_main(void *args)
      /* 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);
 

examples/current_sense/icss_sdfm/sdfm.c

@@ -176,6 +176,12 @@ int32_t init_sdfm_pru_fw(uint8_t pruId, SdfmPrms *pSdfmPrms, sdfm_handle *pHSdfm
 
     /* Initialize SDFM instance */
     hSdfm = SDFM_init(pruId);
+    
+    uint32_t i;
+    i = SDFM_getFirmwareVersion(hSdfm);
+    DebugP_log("\n\n\n");
+    DebugP_log("SDFM firmware version \t: %x.%x.%x (%s)\n\n", (i >> 24) & 0x7F,
+                (i >> 16) & 0xFF, i & 0xFFFF, i & (1 << 31) ? "internal" : "release");
     if (hSdfm == NULL)
     {
         return SDFM_ERR_INIT_SDFM;
@@ -184,6 +190,9 @@ int32_t init_sdfm_pru_fw(uint8_t pruId, SdfmPrms *pSdfmPrms, sdfm_handle *pHSdfm
     uint8_t SDFM_CH;
     hSdfm->iep_clock = pSdfmPrms->iep_clock; 
     hSdfm->sdfm_clock = pSdfmPrms->sd_clock; 
+    hSdfm->sampleOutputInterface = (SDFM_SampleOutInterface *)(pSdfmPrms->samplesBaseAddress);
+    uint32_t sampleOutputInterfaceGlobalAddr = CPU0_BTCM_SOCVIEW(pSdfmPrms->samplesBaseAddress);
+    hSdfm->p_sdfm_interface->sampleBufferBaseAdd = sampleOutputInterfaceGlobalAddr;
     hSdfm->iep_inc = 1; /* Default IEP increment 1 */
 
 
@@ -198,6 +207,7 @@ int32_t init_sdfm_pru_fw(uint8_t pruId, SdfmPrms *pSdfmPrms, sdfm_handle *pHSdfm
 
     /*set Noraml current OSR */
     SDFM_setFilterOverSamplingRatio(hSdfm, pSdfmPrms->FilterOsr);
+     
 
     /*below configuration for all three channel*/
     for(SDFM_CH = 0; SDFM_CH < NUM_CH_SUPPORTED; SDFM_CH++)
@@ -247,7 +257,6 @@ int32_t init_sdfm_pru_fw(uint8_t pruId, SdfmPrms *pSdfmPrms, sdfm_handle *pHSdfm
 
  return SDFM_ERR_NERR;
 }
-
 /*
  *  ======== initPruSdfm ========
  */

examples/current_sense/icss_sdfm/sdfm.h

@@ -145,6 +145,8 @@ typedef struct SdfmPrms_s {
     uint16_t FilterOsr;
     /**< over current enable field */
     uint8_t en_com;
+    /**< output samples base address*/
+    uint32_t samplesBaseAddress;
 } SdfmPrms;
 
 

source/current_sense/sdfm/driver/sdfm_drv.c

@@ -41,6 +41,7 @@
 #include <drivers/gpio.h>
 #include <kernel/dpl/AddrTranslateP.h>
 
+
 //*****************************************************************************
 //
 // Defines for the API.
@@ -286,7 +287,7 @@ void SDFM_configComparatorGpioPins(sdfm_handle h_sdfm, uint8_t ch,uint32_t gpio_
 /* Get current (or latest) sample for the specified channel */
 uint32_t SDFM_getFilterData(sdfm_handle h_sdfm, uint8_t ch)
 {
-    return h_sdfm->p_sdfm_interface->curr_out_samp_buf[ch];
+    return h_sdfm->sampleOutputInterface->sampleOutput[ch];
 }
 
 /*Configure normal current OSR for data filter*/
@@ -300,6 +301,11 @@ void SDFM_setFilterOverSamplingRatio(sdfm_handle h_sdfm, uint16_t nc_osr)
     count = (int)((float)nc_osr*((float)iep_freq/(float)sd_clock));
     h_sdfm->p_sdfm_interface->sdfm_cfg_trigger.nc_prd_iep_cnt = count;
 }
+/*return firmware version */
+uint64_t SDFM_getFirmwareVersion(sdfm_handle h_sdfm)
+{
+   return h_sdfm->p_sdfm_interface->firmwareVersion;
+}
 /* SDFM global enable */
 void SDFM_enable(sdfm_handle h_sdfm)
 {

source/current_sense/sdfm/firmware/firmware_version.h

@@ -0,0 +1,70 @@
+
+;
+; 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.
+;
+
+	.if	!$isdefed("__firmware_version_h")
+__firmware_version_h	.set	1
+
+;  ICSS_FIRMWARE_RELEASE_1:
+;  bit 31..16 reserved
+;  bit15..8	device number
+FIRMWARE_DEVICE_AM335x  .set		0	;  AM335x
+FIRMWARE_DEVICE_AM437x	.set		1	;  AM437x
+FIRMWARE_DEVICE_AM64x_AM243x   .set		2	;  AM64x_AM243x
+
+;  bit7..0	protocol type
+FIRMWARE_PROTOCOL_TYPE_PROFIBUS_SLAVE	.set    0x00
+FIRMWARE_PROTOCOL_TYPE_ETHERCAT_SLAVE	.set	0x01
+FIRMWARE_PROTOCOL_TYPE_PROFINET_DEVICE	.set	0x02
+FIRMWARE_PROTOCOL_TYPE_SERCOS_SLAVE	.set		0x03
+FIRMWARE_PROTOCOL_TYPE_OPENMAC_SLAVE    .set	0x04
+FIRMWARE_PROTOCOL_TYPE_ETHERNET	.set        0x05
+FIRMWARE_PROTOCOL_TYPE_ENETIP_SLAVE	.set		0x06
+FIRMWARE_PROTOCOL_TYPE_ENDAT_MASTER .set		0x07
+FIRMWARE_PROTOCOL_TYPE_TAMAGAWA .set        0x08
+FIRMWARE_PROTOCOL_TYPE_SDFM     .set        0x09
+
+;  ICSS_FIRMWARE_RELEASE_2:
+;  bit31		release or internal version
+FIRMWARE_VERSION_RELEASE	.set	0
+FIRMWARE_VERSION_INTERNAL	.set	1
+;  bit30..24		version number
+FIRMWARE_VERSION_REVISION	.set		0x01
+;  bit23..16		major number
+FIRMWARE_VERSION_MAJOR	.set			0x00
+;  bit15..0		minor number
+FIRMWARE_VERSION_MINOR	.set			0x0000
+
+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))
+
+	.endif

source/current_sense/sdfm/firmware/icssg_sdfm.h

@@ -198,12 +198,17 @@
 #define FW_REG_SDFM_CFG_SECOND_TRIG_SAMPLE_TIME     ( 0xF0 )
 #define SDFM_CFG_NC_PRD_IEP_CNT_OFFSET              ( 0xF4)
 
-/*Sample output offset*/
+/* output sample buffer base address offset*/
-#define SDFM_CFG_OUT_SAMP_BUF_OFFSET         ( 0xF8 )
+#define SDFM_CFG_OUT_SAMP_BUF_BASE_ADD_OFFSET         ( 0xF8 )
+
+/*Firmware version offset*/
+#define SDFM_FIRMWARE_VERSION_OFFSET                  (0xFC)
 
 /*Debug */
 #define SDFM_DUBUG_OFFSET         ( 0x104 )
 
+/*output sample offset*/
+#define SDFM_CFG_OUT_SAMP_BUF_OFFSET                   (0x00)
 /*
     Firmware register bit fields
 */

source/current_sense/sdfm/firmware/sdfm.asm

@@ -36,6 +36,7 @@
 %}
         .include "sdfm.h"
         .include "sdfm_macros.h"
+        .include "firmware_version.h"
 
 
 
@@ -82,7 +83,9 @@ OUT_SAMP_BUF:   .usect  ".outSamps", ICSSG_NUM_SD_CH_FW*4, 4
 SDFM_ENTRY:
         ; Clear registers R0-R30
         ZERO    &R0, 124
-
+        LDI32  TEMP_REG0, ICSS_FIRMWARE_RELEASE_1
+        LDI32  TEMP_REG1, ICSS_FIRMWARE_RELEASE_2
+        SBCO   &TEMP_REG0, CT_PRU_ICSSG_LOC_DMEM, SDFM_FIRMWARE_VERSION_OFFSET, 8
         ; Disable Task Manager
         ;.word 0x32000000
         M_PRU_TM_DISABLE
@@ -490,7 +493,8 @@ comp_ch2_end:
         .if $isdefed("DEBUG_CODE")
          ; Write local interleaved output samples to Host buffer address
         LBBO    &TEMP_REG3, OUT_SAMP_BUF_REG, 0, ICSSG_NUM_SD_CH_FW*4
-        SBCO    &TEMP_REG3,  CT_PRU_ICSSG_LOC_DMEM,  SDFM_CFG_OUT_SAMP_BUF_OFFSET, ICSSG_NUM_SD_CH_FW*4
+        LBCO    &TEMP_REG0, CT_PRU_ICSSG_LOC_DMEM, SDFM_CFG_OUT_SAMP_BUF_BASE_ADD_OFFSET,4
+        SBBO    &TEMP_REG3,  TEMP_REG0,  SDFM_CFG_OUT_SAMP_BUF_OFFSET, ICSSG_NUM_SD_CH_FW*4
          ; Trigger interrupt
         LDI     R31.w0, TRIGGER_HOST_SDFM_IRQ
         .endif
@@ -623,7 +627,8 @@ END_RESET_NC_FRAME:
         LDI     SAMP_CNT_REG, 0 ; reset NC sample count
         ; Write local interleaved output samples to Host buffer address
         LBBO    &TEMP_REG3, OUT_SAMP_BUF_REG, 0, ICSSG_NUM_SD_CH_FW*4
-        SBCO    &TEMP_REG3,  CT_PRU_ICSSG_LOC_DMEM,  SDFM_CFG_OUT_SAMP_BUF_OFFSET, ICSSG_NUM_SD_CH_FW*4
+        LBCO    &TEMP_REG0, CT_PRU_ICSSG_LOC_DMEM, SDFM_CFG_OUT_SAMP_BUF_BASE_ADD_OFFSET,4
+        SBBO    &TEMP_REG3,  TEMP_REG0,  SDFM_CFG_OUT_SAMP_BUF_OFFSET, ICSSG_NUM_SD_CH_FW*4
         ;Trigger interrupt
         LDI     R31.w0, TRIGGER_HOST_SDFM_IRQ
         ;;SBCO    &NC_OUTPUT_SAMP,  CT_PRU_ICSSG_LOC_DMEM,  SDFM_DUBUG_OFFSET, 4

source/current_sense/sdfm/firmware/sdfm_bin.h

@@ -1,5 +1,10 @@
 const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x2effbd80,
+0x240000c1,
+0x24020981,
+0x240100c2,
+0x24000082,
+0x81fc7881,
 0x32000000,
 0x240fff81,
 0x81000a81,
@@ -16,9 +21,9 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x91340401,
 0x1f01e1e1,
 0x81340401,
-0x2300fd99,
+0x23010399,
 0x32800000,
-0x23010499,
+0x23010a99,
 0x240c00c2,
 0x24000082,
 0x91021801,
@@ -42,11 +47,11 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x0b04e1e1,
 0x110fe1e2,
 0x10020256,
-0x23011e99,
+0x23012499,
-0x23016e99,
+0x23017499,
-0x23012299,
+0x23012899,
-0x23013399,
+0x23013999,
-0x23016599,
+0x23016b99,
 0x1f19fefe,
 0x240fffd5,
 0x24ffff95,
@@ -60,7 +65,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x81001a01,
 0x9114189a,
 0xd1009a02,
-0x21003d00,
+0x21004200,
 0xc9019a26,
 0x10161602,
 0x09020202,
@@ -230,7 +235,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x00e1e2e1,
 0x81983a81,
 0x01011c1c,
-0x79000010,
+0x79000011,
 0xd1003c07,
 0xc9007c06,
 0x91f03881,
@@ -244,7 +249,8 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x2400003c,
 0x2400001c,
 0xf100b484,
-0x81f8b884,
+0x91f83881,
+0xe100a184,
 0x2400229f,
 0x24000000,
 0x2f852381,
@@ -254,7 +260,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x10000000,
 0x24000b01,
 0x81000a01,
-0x2400b181,
+0x2400b681,
 0x810c0a81,
 0x24140081,
 0x81380a81,
@@ -295,10 +301,10 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x110f0203,
 0x68160303,
 0x911e1801,
-0x21012e00,
+0x21013400,
 0x68360303,
 0x91621801,
-0x21012e00,
+0x21013400,
 0x68560302,
 0x91a61801,
 0x0903e3e3,
@@ -323,7 +329,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x09044141,
 0x11304141,
 0x12410101,
-0x21016000,
+0x21016600,
 0x6836030e,
 0x24000081,
 0x917c1841,
@@ -337,7 +343,7 @@ const uint32_t pru_SDFM_PRU0_image_0[] = {
 0x09044141,
 0x11304141,
 0x12410101,
-0x21016000,
+0x21016600,
 0x6856030d,
 0x24000081,
 0x91c01841,

source/current_sense/sdfm/include/sdfm_api.h

@@ -286,8 +286,16 @@ uint32_t SDFM_getFilterData(sdfm_handle h_sdfm,uint8_t ch);
  *
  */
 void SDFM_setFilterOverSamplingRatio(sdfm_handle h_sdfm, uint16_t nc_osr);
-
+/**
-
+ *
+ *  \brief  Return Firmware version 
+ *
+ *  \param[in]  h_sdfm          SDFM handle
+ *  
+ *  \retval     firmwareVersion    release vesrion of firmware
+ *
+ */
+uint64_t SDFM_getFirmwareVersion(sdfm_handle h_sdfm);
 /** @} */
 
 #ifdef __cplusplus

source/current_sense/sdfm/include/sdfm_drv.h

@@ -113,6 +113,7 @@ extern "C" {
 #define IEP_DEFAULT_INC                 0x1
 
 
+
 /* SDFM output buffer size in 32-bit words */
 
 
@@ -293,10 +294,16 @@ typedef struct SDFM_Interface_s{
     SDFM_Cfg        sdfm_cfg_ptr[NUM_CH_SUPPORTED];
     /*<sdfm time sampling interface pointer */
     SDFM_CfgTrigger    sdfm_cfg_trigger;
-    /**< host output sample buffer */
+    /**< host output sample buffer base address */
-    volatile uint32_t   curr_out_samp_buf[NUM_CH_SUPPORTED];
+    volatile uint32_t   sampleBufferBaseAdd;
+    /**<firmware version */
+    volatile uint64_t  firmwareVersion;
 }SDFM_Interface;
 
+typedef struct SDFM_SampleOutInterface_s
+{
+   uint32_t sampleOutput[NUM_CH_SUPPORTED];
+}SDFM_SampleOutInterface;
 /**
  *    \brief    Structure defining SDFM interface
  *
@@ -310,6 +317,7 @@ typedef struct SDFM_s {
     uint32_t iep_clock;
     uint8_t  iep_inc;
     SDFM_Interface * p_sdfm_interface;
+    SDFM_SampleOutInterface *sampleOutputInterface;
 } SDFM;