5f968b0bf2
Initial commit for motor control sdk Fixes: PINDSW-5635 Signed-off-by: Naresh A <nareshk@ti.com>
269 lines
10 KiB
Markdown
269 lines
10 KiB
Markdown
<div align="center">
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<img src="https://upload.wikimedia.org/wikipedia/commons/b/ba/TexasInstruments-Logo.svg" width="150"><br/>
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# Motor Control SDK
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[Introduction](#introduction) | [Features](#features) | [Overview](#overview) | [Learn](#learn) | [Usage](#usage) | [Contribute](#contributing-to-the-project)
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</div>
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## Introduction
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The Motor Control SDK enables real-time industrial communications for TI processors. Industrial communication is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores and Ethernet media access controllers (EMACs), which implement the low level industrial Ethernet and fieldbus protocols through firmware.
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These devices currently include
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- [AM2431](https://www.ti.com/product/AM2431), [AM2432](https://www.ti.com/product/AM2432), [AM2434](https://www.ti.com/product/AM2434)
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- [AM2634](https://www.ti.com/product/AM2634), [AM2634-Q1](https://www.ti.com/product/AM2634-Q1)
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- [AM6411](https://www.ti.com/product/AM6411), [AM6412](https://www.ti.com/product/AM6412), [AM6421](https://www.ti.com/product/AM6421), [AM6422](https://www.ti.com/product/AM6422), [AM6441](https://www.ti.com/product/AM6441), [AM6442](https://www.ti.com/product/AM6442)
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## Features
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- Out of Box peripheral and application Examples
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- Application Level Examples: Motor Drives, Industrial Communications etc.
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- Protocol stacks and middleware
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- Various Industrial Protocol Stacks
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- Industrial protocol firmware
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- ICCSG, ICSSM etc.
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## Overview
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## Learn
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## Usage
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### Prerequisites
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#### Supported HOST environments
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- Windows 10 64bit
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- Ubuntu 18.04 64bit
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### Clone and build from GIT
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#### Repo Tool Setup
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Motor Control SDK has multiple components (in multiple repositories) and dependencies
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(like compiler, CCS and other tools). We use repo tool from Google to manage these
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multiple repositories. Currently there is no support for native windows shells like
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CMD or Powershell. This will be added at a later point. Windows users can rely on
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Git Bash for the repo setup. Follow the below mentioned steps to setup repo tool:
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Make sure [python3 is installed](https://wiki.python.org/moin/BeginnersGuide/Download) and is in your OS path.
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- Linux:
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Do the following in terminal
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```bash
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curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo
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chmod a+x ~/bin/repo
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echo "PATH=$HOME/bin:$PATH" >> ~/.bashrc
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source ~/.bashrc
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```
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- Git-Bash (Windows)
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Make sure that python 3 is callable as `python` from CMD. Do below in Git-Bash
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```bash
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mkdir -p /c/ti
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curl https://storage.googleapis.com/git-repo-downloads/repo > /c/ti/repo
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echo "alias repo=\"winpty python /c/ti/repo\"" >> ~/.bashrc
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source ~/.bashrc
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```
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#### Cloning The Repositories
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To clone the repositories using repo tool, do below in your workarea folder:
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Note that depending on the SoC you're working with, the components you clone might be
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slightly different. So please choose the manifest folder according to the SoC of your
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interest. For example, we are showing for am263x below.
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```bash
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repo init -u https://github.com/TexasInstruments/industrial-comms-manifests.git -m am243x/dev.xml -b main
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```
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Note that repo uses symbolic links. So if you're on Windows and do not have permissions
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to create symbolic links, the above command might fail for you. So you can either enable them
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([refer this link](https://portal.perforce.com/s/article/3472)) or use the experimental
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worktree feature of repo. To do this, initialize the repo like so:
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```bash
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repo init --worktree -u https://github.com/TexasInstruments/industrial-comms-manifests.git -m am243x/dev.xml -b main
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```
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After the repo is initialized, do a
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```bash
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repo sync
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```
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This should clone all the repositories required for Motor Control SDK development. Now download and install the dependencies.
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#### Downloading And Installing Dependencies
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Note that the dependencies are also soc specific, here we take an example of am263x.
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You can replace that with the SoC of your choice like the `repo init` step.
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**To download and install dependencies in linux, follow the below steps**:
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Run the following from the same location where you have `industrial_comms` and `industrial_comms_setup`
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folders.
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```bash
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./industrial_comms_setup/am243x/download_components.sh
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```
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This will install all the required dependencies including Code Composer Studio (CCS).
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The script assumes that `industrial_comms` folder is in the same location from where
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you have invoked the script, and that dependencies are installed into `${HOME}/ti`
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location. If these defaults don't work for you, please pass these as arguments to
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the script like
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```bash
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./industrial_comms_setup/am243x/download_components.sh --install_dir=/path/to/tools
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OR
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./industrial_comms_setup/am243x/download_components.sh --industrial_comms_sdk_folder=/path/to/industrial_comms/folder
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```
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and so on. For a complete list of arguments you can pass to the script, please run
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```bash
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./industrial_comms_setup/am243x/download_components.sh -h
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```
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**In windows the dependencies has to be manually installed. Given below are the steps**:
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1. Download and install Code Composer Studio v12.1 from [here](https://www.ti.com/tool/download/CCSTUDIO "Code Composer Studio")
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- Install at default folder, C:\ti
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2. Download and install SysConfig 1.14.0 from [here](https://www.ti.com/tool/download/SYSCONFIG/1.14.0.2667 "SYSCONFIG 1.14.0")
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- Install at default folder, C:/ti
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3. Download and install GCC for Cortex A53 and ARM R5 from below link (only needed for AM64x developers)
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- [GNU-A](https://developer.arm.com/-/media/Files/downloads/gnu-a/9.2-2019.12/binrel/gcc-arm-9.2-2019.12-mingw-w64-i686-aarch64-none-elf.tar.xz)
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- [GNU-RM](https://developer.arm.com/-/media/Files/downloads/gnu-rm/7-2017q4/gcc-arm-none-eabi-7-2017-q4-major-win32.zip)
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- Install at default folder, C:/ti
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4. Download and install Node.js v12.18.4 LTS
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- Go to the [NodeJS Website](https://nodejs.org/en/) and use the installer to
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download and install v12.18.4 of node. Install in the default directory.
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- After successful installation, run an `npm ci` inside the `industrial_comms` folder like so:
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```bash
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$ cd industrial_comms/
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$ npm ci
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$ cd ../
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```
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This should install the node packages required for the SDK.
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1. Download and install doxygen,
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- Tested with 1.8.20
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- Download the correct version of doxygen for windows from [here](https://www.doxygen.nl/download.html)
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- Install and add the install path, typically, C:/Program Files/doxygen/bin to your windows PATH
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- Test by doing below on the command prompt
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```
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$ doxygen -v
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1.8.20 (<commit SHA-ID>)
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```
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**Installing OpenSSL**
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Some of the SDK signing scripts are dependent on OpenSSL v1.1.1. The v1.1.1 is
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important, OpenSSL 3.0 is not compatible with the current signing scripts of SDK.
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In Windows,
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- Download v1.1.1 from [here](https://slproweb.com/products/Win32OpenSSL.html)
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- You can install the "light" version which is smaller download size
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- Install to default path, which is C:/Program Files/OpenSSL-Win64/
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- When prompted select option to install binaries to /bin folder of installed path instead of Windows system path.
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- Add path to OpenSSL, to your environment "Path" variable in windows
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- `C:\Program Files\OpenSSL-Win64\bin`
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In Linux,
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- There is a chance that OpenSSL is already installed. If not, here are the steps:
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- If you have Ubuntu 18.04, do below in Linux Ubuntu shell to install openssl
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-`$ sudo apt install openssl`
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If you have an Ubuntu version higher than that, make sure that you install the 1.1.1 version.
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You can get the 1.1.1 packages from [here](http://security.ubuntu.com/ubuntu/pool/main/o/openssl/).
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The packages required are openssl, libssl and libssl-dev
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Test openssl version by running `openssl version` on a command prompt and make sure there is no error.
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Example output is shown below,
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```bash
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C:\> openssl version
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OpenSSL 1.1.1k 25 Mar 2021
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```
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Now that the dependencies are installed, you can start the repositories with a
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default branch `dev` by doing below:
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```bash
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repo start dev --all
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```
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---
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**NOTE**
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- In Linux, you will need to run `$HOME/ti/ccs{version}/ccs/install_scripts/install_drivers.sh` script for setting COM
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port accesses correctly. Also add your user to groups `tty` and `dialout`. You can do
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```
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sudo adduser $USER tty
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sudo adduser $USER dialout
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```
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- Please use the industrial communication libraries from the sdk installer due licensing restrictions.
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---
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### Building the SDK
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#### Basic Building With Makefiles
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---
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**NOTE**
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- Use `gmake` in windows, add path to gmake present in CCS at `C:\ti\ccsxxxx\ccs\utils\bin` to your windows PATH. We have
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used `make` in below instructions.
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- Unless mentioned otherwise, all below commands are invoked from root folder of the "industrial_comms" repository.
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- Current supported device names are am64x, am243x, am263x, am273x and awr294x
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- Pass one of these values to `"DEVICE="`
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- You can also build components (examples, tests or libraries) in `release` or `debug`
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profiles. To do this pass one of these values to `"PROFILE="`
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---
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1. Run the following command to create makefiles, this step is optional since this is invoked as part of other steps as well,
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```bash
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make gen-buildfiles DEVICE=am263x
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```
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2. To see all granular build options, run
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```bash
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make -s help DEVICE=am263x
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```
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This should show you commands to build specific libraries, examples or tests.
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3. Make sure to build the libraries before attempting to build an example. For example,
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to build a Hello World example for AM263x, run the following:
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```bash
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make -s -j4 libs DEVICE=am263x PROFILE=debug
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```
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Once the library build is complete, to build the example run:
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```bash
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make -s -C examples/hello_world/am263x-cc/r5fss0-0_nortos/ti-arm-clang all PROFILE=debug
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```
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4. Following are the commands to build **all libraries** and **all examples**. Valid PROFILE's are "release" or "debug"
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```bash
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make -s -j4 clean DEVICE=am263x PROFILE=debug
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make -s -j4 all DEVICE=am263x PROFILE=debug
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``` |