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Pull request #68: rtlibs v9.1 release item + artifacts

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Merge in PINDSW/motor_control_sdk from rtlibs_9_01 to next

* commit '306b984080aeb47efe35746bf47eb44158ae65d9':
  am243x/am263x: rtlibs: Add transforms libraries and examples
This commit is contained in:
Sen Wang 2023-12-14 22:42:41 -06:00 committed by Pratheesh Gangadhar TK
commit 002db97cca
107 changed files with 8839 additions and 548 deletions
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128
.metadata/.tirex/am243x.content.tirex.json
View File

@ -255,6 +255,134 @@
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [
"example"
],
"resourceSubClass": [
"example.gettingstarted"
],
"description": "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification CPU is R5FSS0-0 running NORTOS.",
"name": "transforms_test",
"location": "../../examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
"devtools": [
"AM243x_GP_EVM"
],
"kernel": [
"nortos"
],
"compiler": [
"ticlang"
],
"subCategories": [
"transforms",
"transforms_test",
"r5fss0-0_nortos"
],
"mainCategories": [
[
"Examples",
"Development Tools"
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [
"example"
],
"resourceSubClass": [
"example.gettingstarted"
],
"description": "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification CPU is R5FSS0-0 running FREERTOS.",
"name": "transforms_test",
"location": "../../examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
"devtools": [
"AM243x_GP_EVM"
],
"kernel": [
"freertos"
],
"compiler": [
"ticlang"
],
"subCategories": [
"transforms",
"transforms_test",
"r5fss0-0_freertos"
],
"mainCategories": [
[
"Examples",
"Development Tools"
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [
"example"
],
"resourceSubClass": [
"example.gettingstarted"
],
"description": "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification CPU is R5FSS0-0 running NORTOS.",
"name": "transforms_test",
"location": "../../examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
"devtools": [
"AM243x_LAUNCHPAD"
],
"kernel": [
"nortos"
],
"compiler": [
"ticlang"
],
"subCategories": [
"transforms",
"transforms_test",
"r5fss0-0_nortos"
],
"mainCategories": [
[
"Examples",
"Development Tools"
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [
"example"
],
"resourceSubClass": [
"example.gettingstarted"
],
"description": "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification CPU is R5FSS0-0 running FREERTOS.",
"name": "transforms_test",
"location": "../../examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
"devtools": [
"AM243x_LAUNCHPAD"
],
"kernel": [
"freertos"
],
"compiler": [
"ticlang"
],
"subCategories": [
"transforms",
"transforms_test",
"r5fss0-0_freertos"
],
"mainCategories": [
[
"Examples",
"Development Tools"
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [

128
.metadata/.tirex/am263x.content.tirex.json
View File

@ -255,6 +255,134 @@
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [
"example"
],
"resourceSubClass": [
"example.gettingstarted"
],
"description": "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification CPU is R5FSS0-0 running NORTOS.",
"name": "transforms_test",
"location": "../../examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
"devtools": [
"TMDSCNCD263"
],
"kernel": [
"nortos"
],
"compiler": [
"ticlang"
],
"subCategories": [
"transforms",
"transforms_test",
"r5fss0-0_nortos"
],
"mainCategories": [
[
"Examples",
"Development Tools"
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [
"example"
],
"resourceSubClass": [
"example.gettingstarted"
],
"description": "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification CPU is R5FSS0-0 running FREERTOS.",
"name": "transforms_test",
"location": "../../examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
"devtools": [
"TMDSCNCD263"
],
"kernel": [
"freertos"
],
"compiler": [
"ticlang"
],
"subCategories": [
"transforms",
"transforms_test",
"r5fss0-0_freertos"
],
"mainCategories": [
[
"Examples",
"Development Tools"
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [
"example"
],
"resourceSubClass": [
"example.gettingstarted"
],
"description": "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification CPU is R5FSS0-0 running NORTOS.",
"name": "transforms_test",
"location": "../../examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
"devtools": [
"LP-AM263"
],
"kernel": [
"nortos"
],
"compiler": [
"ticlang"
],
"subCategories": [
"transforms",
"transforms_test",
"r5fss0-0_nortos"
],
"mainCategories": [
[
"Examples",
"Development Tools"
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [
"example"
],
"resourceSubClass": [
"example.gettingstarted"
],
"description": "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification CPU is R5FSS0-0 running FREERTOS.",
"name": "transforms_test",
"location": "../../examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
"devtools": [
"LP-AM263"
],
"kernel": [
"freertos"
],
"compiler": [
"ticlang"
],
"subCategories": [
"transforms",
"transforms_test",
"r5fss0-0_freertos"
],
"mainCategories": [
[
"Examples",
"Development Tools"
]
]
},
{
"resourceType": "project.ccs",
"resourceClass": [

1
.project/device/project_am243x.js
View File

@ -18,6 +18,7 @@ const device_defines = {
const example_file_list = [
"examples/dcl/dcl_df22/.project/mcsdk_project.js",
"examples/dcl/dcl_pi/.project/mcsdk_project.js",
"examples/transforms/transforms_test/.project/mcsdk_project.js",
"examples/position_sense/endat_diagnostic/single_channel/.project/project.js",
"examples/position_sense/endat_diagnostic/multi_channel_load_share/.project/project.js",
"examples/position_sense/endat_diagnostic/multi_channel_single_pru/.project/project.js",

1
.project/device/project_am263x.js
View File

@ -13,6 +13,7 @@ const device_defines = {
const example_file_list = [
"examples/dcl/dcl_df22/.project/mcsdk_project.js",
"examples/dcl/dcl_pi/.project/mcsdk_project.js",
"examples/transforms/transforms_test/.project/mcsdk_project.js",
"examples/position_sense/tamagawa_diagnostic_over_soc_uart/.project/project.js",
];

5
docs_src/docs/api_guide/components/transforms/transforms.cfg Normal file
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@ -0,0 +1,5 @@
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/transforms/transforms.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/transforms/clarke/clarke.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/transforms/park/park.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/transforms/ipark/ipark.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/transforms/svgen/svgen.h

85
docs_src/docs/api_guide/components/transforms/transforms.md Normal file
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@ -0,0 +1,85 @@
# Transformation Algorithm {#Transforms}
[TOC]
## Introduction
The Transformation module consists of transformation commonly found in motor-control applications.
## Features Supported
Transformation module includes:
- Clarke transformation
- Park transformation
- Inverse Park transformation
- Space Vector Generation (SVGEN)
- Common-mode subtraction approach
- DPWM Generation (Part of SVGEN)
- Maximum Modulation
- Minimum Modulation
## Features Not Supported
N/A
## Benchmark Results
A benchmark on R5F core has been conducted to observe the following results when running the following functions:
<table>
<tr>
<th>Transform Function
<th>Cpu Cycles
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> Clarke Transform </td></tr>
<tr>
<td>CLARKE_run_twoInput</td>
<td>16</td>
</tr>
<tr>
<td>CLARKE_run_threeInput</td>
<td>18</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> Park Transform </td></tr>
<tr>
<td>PARK_run</td>
<td>19*</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> Inverse Park Transform </td></tr>
<tr>
<td>IPARK_run</td>
<td>19*</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> Space Vector Generation </td></tr>
<tr>
<td>SVGEN_runCom</td>
<td>41</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> DPWM Generation </td></tr>
<tr>
<td>SVGEN_runMax</td>
<td>36</td>
</tr>
<tr>
<td>SVGEN_runMin</td>
<td>36</td>
</tr>
</table>
\* Note both PARK and IPARK does not include trigonometric calculations of phasor. For R5F core, it's recommened to leverage the fast ti_arm_sincos() function found in ti_arm_trig/mathlib of MCU+ SDK.
- Ran with TI Clang Compiler v3.2.0.LTS, with -Os flag and functions force-inlined onto the benchmarking function placed in TCM memory. Obtained the average result from 600 consecutive loops of running transform functions with DPL CycleCountP, mimicking the usage of a control loop.
- Actual result may vary depending on provided datasets and memory configuration. For R5F, it is recommended for users to map control loops to TCM for the best performance.
## Provided Examples
The following examples has been provided to demonstrate transformation module:
- \ref EXAMPLES_TRANSFORMS_TEST
## Additional References {#DCL_ADDITIONAL_REFERENCES}
N/A
## API
\ref TRANSFORMS_API_MODULE

1
docs_src/docs/api_guide/device/am243x/examples.cfg
View File

@ -8,3 +8,4 @@ INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/dcl/dcl_pi/dc
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/dcl/dcl_df22/dcl_df22.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/pruicss_pwm_dutycycle.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/pruicss_pwm_epwm_sync.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/transforms/transforms_test/transforms_test.md

3
docs_src/docs/api_guide/device/am263x/examples.cfg
View File

@ -1,4 +1,5 @@
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/examples.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/tamagawa_uart_example.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/dcl/dcl_pi/dcl_pi.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/dcl/dcl_df22/dcl_df22.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/dcl/dcl_df22/dcl_df22.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/transforms/transforms_test/transforms_test.md

2
docs_src/docs/api_guide/examples/examples.md
View File

@ -23,6 +23,7 @@ This page lists all the examples and demos supported in this SDK.
- RTLibs
-# \subpage EXAMPLES_DCL_PI
-# \subpage EXAMPLES_DCL_DF22
-# \subpage EXAMPLES_TRANSFORMS_TEST
- PRUICSS PWM
-# \subpage EXAMPLE_PRUICSS_PWM_DUTY_CYCLE
-# \subpage EXAMPLE_PRUICSS_PWM_EPWM_SYNC
@ -34,4 +35,5 @@ This page lists all the examples and demos supported in this SDK.
- RTLibs
-# \subpage EXAMPLES_DCL_PI
-# \subpage EXAMPLES_DCL_DF22
-# \subpage EXAMPLES_TRANSFORMS_TEST
\endcond

109
docs_src/docs/api_guide/examples/transforms/transforms_test/transforms_test.md Normal file
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@ -0,0 +1,109 @@
# CLAKRE-PARK-ICLARKE-SVGEN Test {#EXAMPLES_TRANSFORMS_TEST}
[TOC]
Simple data test incorporating foc-related libraries
This example runs verifies various transforms libraries used in motor-control application,
specifically as a building block of Field of Control (FOC) motor design.
It demonstrates how to run clarke, park, inverse park transform and
space-vector generation (svgen). This test trys to mimic a conventional
workflow of passing current values into clarke transform, then park, then
inverse park (PI controllers are neglected here but should exist for both open and close-loop design)
and finally passing to svgen to generate the three-phase ABC value.
The test used an aribitary phasor angle that feeds into park/ipark,
as opposed to an angle generation module required by an actual FOC design.
The test vector then compares the PARK, SVGEN results to ensure the integraty of the library.
## Files and directory structure
<table>
<tr>
<th>Folder/Files
<th>Description
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/transforms/transforms_test</td></tr>
<tr>
<td>transforms_test.c</td>
<td>Main function for transforms library testing</td>
</tr>
<tr>
<td>transforms_test.h</td>
<td>Contains all initialization of test strctures and variables</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/source/transforms</td></tr>
<tr>
<td>clarke/</td>
<td>Folder containing CLARKE library source</td>
</tr>
<tr>
<td>park/</td>
<td>Folder containing PARK library source</td>
</tr>
<tr>
<td>ipark/</td>
<td>Folder containing IPARK library source</td>
</tr>
<tr>
<td>svgen/</td>
<td>Folder containing SVGEN library source</td>
</tr>
</table>
# Supported Combinations {#EXAMPLES_TRANSFORMS_TEST_COMBO}
\cond SOC_AM64X
Parameter | Value
---------------|-----------
CPU + OS | r5fss0-0 nortos
^ | r5fss0-0 freertos
Toolchain | ti-arm-clang
Board | @VAR_BOARD_NAME_LOWER, @VAR_SK_BOARD_NAME_LOWER
Example folder | examples/transforms/transforms_test
\endcond
\cond SOC_AM243X
Parameter | Value
---------------|-----------
CPU + OS | r5fss0-0 nortos
^ | r5fss0-0 freertos
Toolchain | ti-arm-clang
Boards | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER
Example folder | examples/transforms/transforms_test
\endcond
\cond SOC_AM263X
Parameter | Value
---------------|-----------
CPU + OS | r5fss0-0 nortos
^ | r5fss0-0 freertos
Toolchain | ti-arm-clang
Boards | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER
Example folder | examples/transforms/transforms_test
\endcond
# Steps to Run the Example
- **When using CCS projects to build**, import the CCS project for the required combination and build it using the CCS project menu (see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html" target="_blank"> Using SDK with CCS Projects </a>).
- **When using makefiles to build**, note the required combination and build using make command (see <a href="@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html" target="_blank"> Using SDK with Makefiles </a>).
- Launch a CCS debug session and run the executable, see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html" target="_blank"> CCS Launch, Load and Run </a>
### Sample Output
Shown below is a sample output when the application is run, assuming when all test passes:
\code
Transforms test produced 0 error
\endcode

4
examples/dcl/dcl_pi/.project/mcsdk_project_am243x.js
View File

@ -189,8 +189,12 @@ const templates_freertos_m4f =
const buildOptionCombos = [
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "nortos"},
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "freertos"},
//{ device: device, cpu: "m4fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "nortos"},
//{ device: device, cpu: "m4fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "freertos"},
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "nortos"},
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "freertos"},
//{ device: device, cpu: "m4fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "nortos"},
//{ device: device, cpu: "m4fss0-0", cgt: "ti-arm-clang", board: "am243x-lp", os: "freertos"},
];
function getComponentProperty() {

2
examples/dcl/dcl_pi/am243x-lp/r5fss0-0_nortos/example.syscfg
View File

@ -1,7 +1,7 @@
/**
* 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_AM243X@09.01.00"
* @cliArgs --device "AM243x_ALX_beta" --package "ALX" --part "ALX" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK_AM243x@09.01.00"
* @versions {"tool":"1.18.0+3266"}
*/

2
examples/dcl/dcl_pi/am263x-lp/r5fss0-0_nortos/example.syscfg
View File

@ -1,7 +1,7 @@
/**
* 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 "AM263x_beta" --package "ZCZ" --part "AM263x" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK_AM263X@09.01.00"
* @cliArgs --device "AM263x_beta" --package "ZCZ" --part "AM263x" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK_AM263x@09.01.00"
* @versions {"tool":"1.18.0+3266"}
*/

10
examples/dcl/dcl_pi/pi_test.h
View File

@ -64,10 +64,12 @@ int PI_runTest(DCL_PI *ctrl_handle, DCL_PI_FUNC dcl_pi_func);
//!
DCL_PI *pi_controller = &(DCL_PI)
{
.Kp = 2.50000f,
.Ki = 0.01000f,
.Umax = 2.00000f,
.Umin = -2.00000f,
.Kp = 2.5f,
.Ki = 0.01f,
.Umax = 2.0f,
.Umin = -2.0f,
.Imax = 1.0f,
.Imin = -1.0f,
PI_INT_DEFAULTS // macro for default values of internal attributes
};

14
examples/transforms/transforms_test/.project/mcsdk_project.js Normal file
View File

@ -0,0 +1,14 @@
function getComponentProperty(device)
{
return require(`./mcsdk_project_${device}`).getComponentProperty();
};
function getComponentBuildProperty(buildOption)
{
return require(`./mcsdk_project_${buildOption.device}`).getComponentBuildProperty(buildOption);
};
module.exports = {
getComponentProperty,
getComponentBuildProperty,
};

267
examples/transforms/transforms_test/.project/mcsdk_project_am243x.js Normal file
View File

@ -0,0 +1,267 @@
let path = require('path');
let device = "am243x";
const files = {
common: [
/* Project Files */
"transforms_test.c",
"main.c",
/* Dataset */
/* Libraries */
],
};
const projectspec_files = {
common: [
"../../../transforms_test.h",
]
}
/* Relative to where the makefile will be generated
* Typically at <example_folder>/<BOARD>/<core_os_combo>/<compiler>
*/
const filedirs = {
common: [
"..", /* core_os_combo base */
"../../..", /* Example base */
],
};
const libdirs_nortos = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/lib",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib",
],
};
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}/mcu_plus_sdk/source/mathlib/lib",
],
};
const includes_nortos_r5f = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/park",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig",
],
};
const includes_freertos_r5f = {
common: [
"${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",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/park",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig",
],
};
const includes_nortos_m4f = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/park",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen"
],
};
const includes_freertos_m4f = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/FreeRTOS-Kernel/include",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CM4F",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/m4f",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/park",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen"
],
};
const libs_nortos_r5f = {
common: [
"nortos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
"drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
"board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
"mathlib.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
],
};
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.${ConfigName}.lib",
"mathlib.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
],
};
const libs_nortos_m4f = {
common: [
"nortos.am243x.m4f.ti-arm-clang.${ConfigName}.lib",
"drivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib",
"board.am243x.m4f.ti-arm-clang.${ConfigName}.lib",
],
};
const libs_freertos_m4f = {
common: [
"freertos.am243x.m4f.ti-arm-clang.${ConfigName}.lib",
"drivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib",
"board.am243x.m4f.ti-arm-clang.${ConfigName}.lib",
],
};
const lnkfiles = {
common: [
"linker.cmd",
]
};
const syscfgfile = "../example.syscfg";
const readmeDoxygenPageTag = "EXAMPLES_TRANSFORMS_TEST";
const templates_nortos_r5f =
[
{
input: ".project/templates/am243x/common/linker_r5f.cmd.xdt",
output: "linker.cmd",
},
{
input: ".project/templates/am243x/nortos/main_nortos.c.xdt",
output: "../main.c",
options: {
entryFunction: "transforms_test_main",
},
}
];
const templates_freertos_r5f =
[
{
input: ".project/templates/am243x/common/linker_r5f.cmd.xdt",
output: "linker.cmd",
},
{
input: ".project/templates/am243x/freertos/main_freertos.c.xdt",
output: "../main.c",
options: {
entryFunction: "transforms_test_main",
},
}
];
const templates_nortos_m4f =
[
{
input: ".project/templates/am243x/common/linker_m4f.cmd.xdt",
output: "linker.cmd",
},
{
input: ".project/templates/am243x/nortos/main_nortos.c.xdt",
output: "../main.c",
options: {
entryFunction: "transforms_test_main",
},
}
];
const templates_freertos_m4f =
[
{
input: ".project/templates/am243x/common/linker_m4f.cmd.xdt",
output: "linker.cmd",
},
{
input: ".project/templates/am243x/freertos/main_freertos.c.xdt",
output: "../main.c",
options: {
entryFunction: "transforms_test_main",
},
}
];
const buildOptionCombos = [
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am243x-evm", os: "nortos"},
{ 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: "nortos"},
{ 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 = "transforms_test";
property.isInternal = false;
property.tirexResourceSubClass = [ "example.gettingstarted" ];
property.description = "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification"
property.buildOptionCombos = buildOptionCombos;
return property;
}
function getComponentBuildProperty(buildOption) {
let build_property = {};
build_property.files = files;
build_property.filedirs = filedirs;
build_property.libdirs = libdirs_nortos;
build_property.lnkfiles = lnkfiles;
build_property.syscfgfile = syscfgfile;
build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
build_property.projectspec_files = projectspec_files;
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;
}
else
{
build_property.includes = includes_nortos_r5f;
build_property.libs = libs_nortos_r5f;
build_property.templates = templates_nortos_r5f;
}
}
if(buildOption.cpu.match(/m4f*/)) {
if(buildOption.os.match(/freertos*/) )
{
build_property.includes = includes_freertos_m4f;
build_property.libdirs = libdirs_freertos;
build_property.libs = libs_freertos_m4f;
build_property.templates = templates_freertos_m4f;
}
else
{
build_property.includes = includes_nortos_m4f;
build_property.libs = libs_nortos_m4f;
build_property.templates = templates_nortos_m4f;
}
}
return build_property;
}
module.exports = {
getComponentProperty,
getComponentBuildProperty,
};

186
examples/transforms/transforms_test/.project/mcsdk_project_am263x.js Normal file
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let path = require('path');
let device = "am263x";
const files = {
common: [
/* Project Files */
"transforms_test.c",
"main.c",
/* Dataset */
/* Libraries */
],
};
const projectspec_files = {
common: [
"../../../transforms_test.h",
]
}
/* Relative to where the makefile will be generated
* Typically at <example_folder>/<BOARD>/<core_os_combo>/<compiler>
*/
const filedirs = {
common: [
"..", /* core_os_combo base */
"../../..", /* Example base */
],
};
const libdirs_nortos = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/lib",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/drivers/lib",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib",
],
};
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}/mcu_plus_sdk/source/mathlib/lib",
],
};
const includes_nortos_r5f = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/park",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig",
],
};
const includes_freertos_r5f = {
common: [
"${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/am263x/r5f",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/park",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark",
"${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen",
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig",
],
};
const libs_nortos_r5f = {
common: [
"nortos.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
"drivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
"board.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
"mathlib.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
],
};
const libs_freertos_r5f = {
common: [
"freertos.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
"drivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
"board.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
"mathlib.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
],
};
const lnkfiles = {
common: [
"linker.cmd",
]
};
const syscfgfile = "../example.syscfg";
const readmeDoxygenPageTag = "EXAMPLES_TRANSFORMS_TEST";
const templates_nortos_r5f =
[
{
input: ".project/templates/am263x/common/linker_r5f.cmd.xdt",
output: "linker.cmd",
},
{
input: ".project/templates/am263x/nortos/main_nortos.c.xdt",
output: "../main.c",
options: {
entryFunction: "transforms_test_main",
},
}
];
const templates_freertos_r5f =
[
{
input: ".project/templates/am263x/common/linker_r5f.cmd.xdt",
output: "linker.cmd",
},
{
input: ".project/templates/am263x/freertos/main_freertos.c.xdt",
output: "../main.c",
options: {
entryFunction: "transforms_test_main",
},
}
];
const buildOptionCombos = [
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am263x-cc", os: "nortos"},
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am263x-cc", os: "freertos"},
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am263x-lp", os: "nortos"},
{ device: device, cpu: "r5fss0-0", cgt: "ti-arm-clang", board: "am263x-lp", os: "freertos"},
];
function getComponentProperty() {
let property = {};
property.dirPath = path.resolve(__dirname, "..");
property.type = "executable";
property.name = "transforms_test";
property.isInternal = false;
property.tirexResourceSubClass = [ "example.gettingstarted" ];
property.description = "A simple test vector of ClARKE-PARK-IPARK-SVGEN data verification"
property.buildOptionCombos = buildOptionCombos;
return property;
}
function getComponentBuildProperty(buildOption) {
let build_property = {};
build_property.files = files;
build_property.filedirs = filedirs;
build_property.libdirs = libdirs_nortos;
build_property.lnkfiles = lnkfiles;
build_property.syscfgfile = syscfgfile;
build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
build_property.projectspec_files = projectspec_files;
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;
}
else
{
build_property.includes = includes_nortos_r5f;
build_property.libs = libs_nortos_r5f;
build_property.templates = templates_nortos_r5f;
}
}
return build_property;
}
module.exports = {
getComponentProperty,
getComponentBuildProperty,
};

62
examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/example.syscfg Normal file
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/**
* 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_AM243X@07.03.00"
* @versions {"data":"2021012919","timestamp":"2021012919","tool":"1.8.0+1785","templates":null}
*/
/**
* Import the modules used in this configuration.
*/
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();
/**
* Write custom configuration values to the imported modules.
*/
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;
/**
* 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.
*/
debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";

84
examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/main.c Normal file
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/*
* 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 transforms_test_main(void *args);
void freertos_main(void *args)
{
transforms_test_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;
}

19
examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang/dcl_linker_r5f_am243x_sitara.cmd Normal file
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/*
* This linker file is optional, it's complementary to the device/core linker file
* Here it specifies the dcl function & data mapping allocated by __attribute__((section(...)))
* and link to a specific memory region for the best performance
*/
/* Define core & platform specific variables */
#define FAST_RAM R5F_TCMB0 /* R5F_TCMA also works */
#define REG_RAM MSRAM
SECTIONS
{
/* dcl functions mapped to on-chip fast ram */
dclfuncs : {} > FAST_RAM
/* optional -- map datas & variables to regular ram */
/* Sitara default linker should already map variables to ram */
dclDataSection : {} > REG_RAM
}

120
examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectSpec>
<applicability>
<when>
<context
deviceFamily="ARM"
deviceId="Cortex R.AM2434_ALV"
/>
</when>
</applicability>
<project
title="Transforms Test"
name = "transforms_test_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${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig
-mcpu=cortex-r5
-mfloat-abi=hard
-mfpu=vfpv3-d16
-mthumb
-Wall
-Werror
-g
-Wno-gnu-variable-sized-type-not-at-end
-Wno-unused-function
-DSOC_AM243X
"
linkerBuildOptions="
-i${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib
-i${CG_TOOL_ROOT}/lib
-m=transforms_test.${ConfigName}.map
--diag_suppress=10063
--ram_model
--reread_libs
"
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am243x"
enableSysConfigTool="true"
sysConfigBuildOptions="
--context r5fss0-0 --part ALV --package ALV
"
description="A Transforms Test FREERTOS project">
<configuration name="Release"
compilerBuildOptions="
-Os
"
linkerBuildOptions="
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
-lboard.am243x.r5f.ti-arm-clang.release.lib
-lmathlib.am243x.r5f.ti-arm-clang.release.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<configuration name="Debug"
compilerBuildOptions="
-D_DEBUG_=1
"
linkerBuildOptions="
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
-lboard.am243x.r5f.ti-arm-clang.debug.lib
-lmathlib.am243x.r5f.ti-arm-clang.debug.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="../../../transforms_test.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/EXAMPLES_TRANSFORMS_TEST.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../../../transforms_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
</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>

148
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/* This is the stack that is used by code running within main()
* In case of NORTOS,
* - This means all the code outside of ISR uses this stack
* In case of FreeRTOS
* - This means all the code until vTaskStartScheduler() is called in main()
* uses this stack.
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
*/
--stack_size=16384
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
* This is also the heap used by pvPortMalloc in FreeRTOS
*/
--heap_size=32768
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
/* This is the size of stack when R5 is in IRQ mode
* In NORTOS,
* - Here interrupt nesting is enabled
* - This is the stack used by ISRs registered as type IRQ
* In FreeRTOS,
* - Here interrupt nesting is disabled
* - This is stack that is used initally when a IRQ is received
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
*/
__IRQ_STACK_SIZE = 256;
/* This is the size of stack when R5 is in IRQ mode
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
*/
__FIQ_STACK_SIZE = 256;
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
SECTIONS
{
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
.vectors:{} palign(8) > R5F_VECS
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
* i.e this cannot be placed in DDR
*/
GROUP {
.text.hwi: palign(8)
.text.cache: palign(8)
.text.mpu: palign(8)
.text.boot: palign(8)
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
} > MSRAM
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
GROUP {
.text: {} palign(8) /* This is where code resides */
.rodata: {} palign(8) /* This is where const's go */
} > MSRAM
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
GROUP {
.data: {} palign(8) /* This is where initialized globals and static go */
} > MSRAM
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
GROUP {
.bss: {} palign(8) /* This is where uninitialized globals go */
RUN_START(__BSS_START)
RUN_END(__BSS_END)
.sysmem: {} palign(8) /* This is where the malloc heap goes */
.stack: {} palign(8) /* This is where the main() stack goes */
} > MSRAM
/* This is where the stacks for different R5F modes go */
GROUP {
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
RUN_START(__IRQ_STACK_START)
RUN_END(__IRQ_STACK_END)
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
RUN_START(__FIQ_STACK_START)
RUN_END(__FIQ_STACK_END)
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
RUN_START(__SVC_STACK_START)
RUN_END(__SVC_STACK_END)
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
RUN_START(__ABORT_STACK_START)
RUN_END(__ABORT_STACK_END)
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
RUN_START(__UNDEFINED_STACK_START)
RUN_END(__UNDEFINED_STACK_END)
} > MSRAM
/* Sections needed for C++ projects */
GROUP {
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
.init_array: {} palign(8) /* Contains function pointers called before main */
.fini_array: {} palign(8) /* Contains function pointers called after main */
} > MSRAM
/* General purpose user shared memory, used in some examples */
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
/* this is used when Debug log's to shared memory are enabled, else this is not used */
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
/* this is used only when IPC RPMessage is enabled, else this is not used */
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
/* General purpose non cacheable memory, used in some examples */
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
}
/*
NOTE: Below memory is reserved for DMSC usage
- During Boot till security handoff is complete
0x701E0000 - 0x701FFFFF (128KB)
- After "Security Handoff" is complete (i.e at run time)
0x701F4000 - 0x701FFFFF (48KB)
Security handoff is complete when this message is sent to the DMSC,
TISCI_MSG_SEC_HANDOVER
This should be sent once all cores are loaded and all application
specific firewall calls are setup.
*/
MEMORY
{
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
* this memory does not overlap with other R5F's
*/
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
*/
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
/* shared memory segments */
/* On R5F,
* - make sure there is a MPU entry which maps below regions as non-cache
*/
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
}

312
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#
# 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:=transforms_test.$(PROFILE).out
BOOTIMAGE_PATH=$(abspath .)
BOOTIMAGE_NAME:=transforms_test.$(PROFILE).appimage
BOOTIMAGE_NAME_XIP:=transforms_test.$(PROFILE).appimage_xip
BOOTIMAGE_NAME_SIGNED:=transforms_test.$(PROFILE).appimage.signed
BOOTIMAGE_RPRC_NAME:=transforms_test.$(PROFILE).rprc
BOOTIMAGE_RPRC_NAME_XIP:=transforms_test.$(PROFILE).rprc_xip
BOOTIMAGE_RPRC_NAME_TMP:=transforms_test.$(PROFILE).rprc_tmp
BOOTIMAGE_NAME_HS:=transforms_test.$(PROFILE).appimage.hs
BOOTIMAGE_NAME_HS_FS:=transforms_test.$(PROFILE).appimage.hs_fs
TARGETS := $(BOOTIMAGE_NAME)
ifeq ($(DEVICE_TYPE), HS)
TARGETS += $(BOOTIMAGE_NAME_HS)
endif
FILES_common := \
transforms_test.c \
main.c \
ti_drivers_config.c \
ti_drivers_open_close.c \
ti_board_config.c \
ti_board_open_close.c \
ti_dpl_config.c \
ti_pinmux_config.c \
ti_power_clock_config.c \
FILES_PATH_common = \
.. \
../../.. \
generated \
INCLUDES_common := \
-I${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/transforms/clarke \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig \
-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}/mcu_plus_sdk/source/mathlib/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 \
-lmathlib.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 \
mathlib.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}/mcu_plus_sdk/source/mathlib/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 transforms_test ...
$(RMDIR) obj
ifeq ($(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))

106
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@ -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

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#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
PROFILE?=Release
PROJECT_NAME=transforms_test_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

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examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs Normal file
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/*
* ======== syscfg_c.rov.xs ========
* This file contains the information needed by the Runtime Object
* View (ROV) tool.
*/
var crovFiles = [
"mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
];

62
examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/example.syscfg Normal file
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/**
* 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_AM243X@07.03.00"
* @versions {"data":"2021012919","timestamp":"2021012919","tool":"1.8.0+1785","templates":null}
*/
/**
* Import the modules used in this configuration.
*/
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();
/**
* Write custom configuration values to the imported modules.
*/
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;
/**
* 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.
*/
debug_log.uartLog.UART.RXD.$suggestSolution = "UART0_RXD";
debug_log.uartLog.UART.TXD.$suggestSolution = "UART0_TXD";

50
examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/main.c Normal file
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/*
* 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 "ti_drivers_config.h"
#include "ti_board_config.h"
void transforms_test_main(void *args);
int main(void)
{
System_init();
Board_init();
transforms_test_main(NULL);
Board_deinit();
System_deinit();
return 0;
}

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examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang/example.projectspec Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectSpec>
<applicability>
<when>
<context
deviceFamily="ARM"
deviceId="Cortex R.AM2434_ALV"
/>
</when>
</applicability>
<project
title="Transforms Test"
name = "transforms_test_am243x-evm_r5fss0-0_nortos_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}/source/transforms/clarke
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig
-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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/lib
-i${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}/mcu_plus_sdk/source/mathlib/lib
-i${CG_TOOL_ROOT}/lib
-m=transforms_test.${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=${CCS_IDE_MODE} DEVICE=am243x"
enableSysConfigTool="true"
sysConfigBuildOptions="
--context r5fss0-0 --part ALV --package ALV
"
description="A Transforms Test NORTOS project">
<configuration name="Release"
compilerBuildOptions="
-Os
"
linkerBuildOptions="
-lnortos.am243x.r5f.ti-arm-clang.release.lib
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
-lboard.am243x.r5f.ti-arm-clang.release.lib
-lmathlib.am243x.r5f.ti-arm-clang.release.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<configuration name="Debug"
compilerBuildOptions="
-D_DEBUG_=1
"
linkerBuildOptions="
-lnortos.am243x.r5f.ti-arm-clang.debug.lib
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
-lboard.am243x.r5f.ti-arm-clang.debug.lib
-lmathlib.am243x.r5f.ti-arm-clang.debug.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="../../../transforms_test.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/EXAMPLES_TRANSFORMS_TEST.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../../../transforms_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
</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>

148
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/* This is the stack that is used by code running within main()
* In case of NORTOS,
* - This means all the code outside of ISR uses this stack
* In case of FreeRTOS
* - This means all the code until vTaskStartScheduler() is called in main()
* uses this stack.
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
*/
--stack_size=16384
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
* This is also the heap used by pvPortMalloc in FreeRTOS
*/
--heap_size=32768
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
/* This is the size of stack when R5 is in IRQ mode
* In NORTOS,
* - Here interrupt nesting is enabled
* - This is the stack used by ISRs registered as type IRQ
* In FreeRTOS,
* - Here interrupt nesting is disabled
* - This is stack that is used initally when a IRQ is received
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
*/
__IRQ_STACK_SIZE = 256;
/* This is the size of stack when R5 is in IRQ mode
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
*/
__FIQ_STACK_SIZE = 256;
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
SECTIONS
{
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
.vectors:{} palign(8) > R5F_VECS
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
* i.e this cannot be placed in DDR
*/
GROUP {
.text.hwi: palign(8)
.text.cache: palign(8)
.text.mpu: palign(8)
.text.boot: palign(8)
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
} > MSRAM
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
GROUP {
.text: {} palign(8) /* This is where code resides */
.rodata: {} palign(8) /* This is where const's go */
} > MSRAM
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
GROUP {
.data: {} palign(8) /* This is where initialized globals and static go */
} > MSRAM
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
GROUP {
.bss: {} palign(8) /* This is where uninitialized globals go */
RUN_START(__BSS_START)
RUN_END(__BSS_END)
.sysmem: {} palign(8) /* This is where the malloc heap goes */
.stack: {} palign(8) /* This is where the main() stack goes */
} > MSRAM
/* This is where the stacks for different R5F modes go */
GROUP {
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
RUN_START(__IRQ_STACK_START)
RUN_END(__IRQ_STACK_END)
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
RUN_START(__FIQ_STACK_START)
RUN_END(__FIQ_STACK_END)
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
RUN_START(__SVC_STACK_START)
RUN_END(__SVC_STACK_END)
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
RUN_START(__ABORT_STACK_START)
RUN_END(__ABORT_STACK_END)
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
RUN_START(__UNDEFINED_STACK_START)
RUN_END(__UNDEFINED_STACK_END)
} > MSRAM
/* Sections needed for C++ projects */
GROUP {
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
.init_array: {} palign(8) /* Contains function pointers called before main */
.fini_array: {} palign(8) /* Contains function pointers called after main */
} > MSRAM
/* General purpose user shared memory, used in some examples */
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
/* this is used when Debug log's to shared memory are enabled, else this is not used */
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
/* this is used only when IPC RPMessage is enabled, else this is not used */
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
/* General purpose non cacheable memory, used in some examples */
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
}
/*
NOTE: Below memory is reserved for DMSC usage
- During Boot till security handoff is complete
0x701E0000 - 0x701FFFFF (128KB)
- After "Security Handoff" is complete (i.e at run time)
0x701F4000 - 0x701FFFFF (48KB)
Security handoff is complete when this message is sent to the DMSC,
TISCI_MSG_SEC_HANDOVER
This should be sent once all cores are loaded and all application
specific firewall calls are setup.
*/
MEMORY
{
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
* this memory does not overlap with other R5F's
*/
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
*/
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
/* shared memory segments */
/* On R5F,
* - make sure there is a MPU entry which maps below regions as non-cache
*/
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
}

309
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#
# 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:=transforms_test.$(PROFILE).out
BOOTIMAGE_PATH=$(abspath .)
BOOTIMAGE_NAME:=transforms_test.$(PROFILE).appimage
BOOTIMAGE_NAME_XIP:=transforms_test.$(PROFILE).appimage_xip
BOOTIMAGE_NAME_SIGNED:=transforms_test.$(PROFILE).appimage.signed
BOOTIMAGE_RPRC_NAME:=transforms_test.$(PROFILE).rprc
BOOTIMAGE_RPRC_NAME_XIP:=transforms_test.$(PROFILE).rprc_xip
BOOTIMAGE_RPRC_NAME_TMP:=transforms_test.$(PROFILE).rprc_tmp
BOOTIMAGE_NAME_HS:=transforms_test.$(PROFILE).appimage.hs
BOOTIMAGE_NAME_HS_FS:=transforms_test.$(PROFILE).appimage.hs_fs
TARGETS := $(BOOTIMAGE_NAME)
ifeq ($(DEVICE_TYPE), HS)
TARGETS += $(BOOTIMAGE_NAME_HS)
endif
FILES_common := \
transforms_test.c \
main.c \
ti_drivers_config.c \
ti_drivers_open_close.c \
ti_board_config.c \
ti_board_open_close.c \
ti_dpl_config.c \
ti_pinmux_config.c \
ti_power_clock_config.c \
FILES_PATH_common = \
.. \
../../.. \
generated \
INCLUDES_common := \
-I${CG_TOOL_ROOT}/include/c \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
-I${MOTOR_CONTROL_SDK_PATH}/source \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig \
-Igenerated \
DEFINES_common := \
-DSOC_AM243X \
CFLAGS_common := \
-mcpu=cortex-r5 \
-mfloat-abi=hard \
-mfpu=vfpv3-d16 \
-mthumb \
-Wall \
-Werror \
-g \
-Wno-gnu-variable-sized-type-not-at-end \
-Wno-unused-function \
CFLAGS_cpp_common := \
-Wno-c99-designator \
-Wno-extern-c-compat \
-Wno-c++11-narrowing \
-Wno-reorder-init-list \
-Wno-deprecated-register \
-Wno-writable-strings \
-Wno-enum-compare \
-Wno-reserved-user-defined-literal \
-Wno-unused-const-variable \
-x c++ \
CFLAGS_debug := \
-D_DEBUG_=1 \
CFLAGS_release := \
-Os \
LNK_FILES_common = \
linker.cmd \
LIBS_PATH_common = \
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib \
-Wl,-i${CG_TOOL_ROOT}/lib \
LIBS_common = \
-lnortos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-lmathlib.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-llibc.a \
-llibsysbm.a \
LFLAGS_common = \
-Wl,--diag_suppress=10063 \
-Wl,--ram_model \
-Wl,--reread_libs \
LIBS_NAME = \
nortos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
mathlib.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
libc.a \
libsysbm.a \
LIBS_PATH_NAME = \
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/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}/mcu_plus_sdk/source/mathlib/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:nortos:ti-arm-clang $(OUTNAME): $<
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
$(OBJDIR)/%.obj %.obj: %.S
@echo Compiling: am243x:r5fss0-0:nortos: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:nortos:ti-arm-clang $@ ...
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
@echo Linking: am243x:r5fss0-0:nortos:ti-arm-clang $@ Done !!!
@echo .
clean:
@echo Cleaning: am243x:r5fss0-0:nortos: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:nortos:ti-arm-clang transforms_test ...
$(RMDIR) obj
ifeq ($(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:nortos: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:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
@echo .
@echo Boot image: am243x:r5fss0-0:nortos: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:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
@echo .
endif
-include $(addprefix $(OBJDIR)/, $(DEPS))

106
examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang/makefile_ccs_bootimage_gen Normal file
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#
# 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:nortos: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:nortos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
@echo .
ifeq ($(DEVICE_TYPE),HS)
@echo Boot image: am243x:r5fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
@echo .
else
@echo Boot image: am243x:r5fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
@echo .
endif
endif

20
examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang/makefile_projectspec Normal file
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#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
PROFILE?=Release
PROJECT_NAME=transforms_test_am243x-evm_r5fss0-0_nortos_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

8
examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang/syscfg_c.rov.xs Normal file
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/*
* ======== syscfg_c.rov.xs ========
* This file contains the information needed by the Runtime Object
* View (ROV) tool.
*/
var crovFiles = [
"mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
];

57
examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/example.syscfg Normal file
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/**
* 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_AM243X@07.03.00"
* @versions {"data":"2021040816","timestamp":"2021040816","tool":"1.8.1+1900","templates":null}
*/
/**
* Import the modules used in this configuration.
*/
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();
/**
* Write custom configuration values to the imported modules.
*/
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.$name = "CONFIG_MPU_REGION4";
mpu_armv75.baseAddr = 0x60000000;
mpu_armv75.size = 28;
mpu_armv75.accessPermissions = "Supervisor RD, User RD";
/**
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
* re-solve from scratch.
*/
debug_log.uartLog.UART.RXD.$suggestSolution = "B10";
debug_log.uartLog.UART.TXD.$suggestSolution = "B11";

84
examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/main.c Normal file
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/*
* 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 transforms_test_main(void *args);
void freertos_main(void *args)
{
transforms_test_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;
}

120
examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectSpec>
<applicability>
<when>
<context
deviceFamily="ARM"
deviceId="Cortex R.AM2434_ALX"
/>
</when>
</applicability>
<project
title="Transforms Test"
name = "transforms_test_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${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig
-mcpu=cortex-r5
-mfloat-abi=hard
-mfpu=vfpv3-d16
-mthumb
-Wall
-Werror
-g
-Wno-gnu-variable-sized-type-not-at-end
-Wno-unused-function
-DSOC_AM243X
"
linkerBuildOptions="
-i${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib
-i${CG_TOOL_ROOT}/lib
-m=transforms_test.${ConfigName}.map
--diag_suppress=10063
--ram_model
--reread_libs
"
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am243x"
enableSysConfigTool="true"
sysConfigBuildOptions="
--context r5fss0-0 --part ALX --package ALX
"
description="A Transforms Test FREERTOS project">
<configuration name="Release"
compilerBuildOptions="
-Os
"
linkerBuildOptions="
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
-lboard.am243x.r5f.ti-arm-clang.release.lib
-lmathlib.am243x.r5f.ti-arm-clang.release.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<configuration name="Debug"
compilerBuildOptions="
-D_DEBUG_=1
"
linkerBuildOptions="
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
-lboard.am243x.r5f.ti-arm-clang.debug.lib
-lmathlib.am243x.r5f.ti-arm-clang.debug.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="../../../transforms_test.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/EXAMPLES_TRANSFORMS_TEST.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../../../transforms_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
</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>

148
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/* This is the stack that is used by code running within main()
* In case of NORTOS,
* - This means all the code outside of ISR uses this stack
* In case of FreeRTOS
* - This means all the code until vTaskStartScheduler() is called in main()
* uses this stack.
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
*/
--stack_size=16384
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
* This is also the heap used by pvPortMalloc in FreeRTOS
*/
--heap_size=32768
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
/* This is the size of stack when R5 is in IRQ mode
* In NORTOS,
* - Here interrupt nesting is enabled
* - This is the stack used by ISRs registered as type IRQ
* In FreeRTOS,
* - Here interrupt nesting is disabled
* - This is stack that is used initally when a IRQ is received
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
*/
__IRQ_STACK_SIZE = 256;
/* This is the size of stack when R5 is in IRQ mode
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
*/
__FIQ_STACK_SIZE = 256;
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
SECTIONS
{
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
.vectors:{} palign(8) > R5F_VECS
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
* i.e this cannot be placed in DDR
*/
GROUP {
.text.hwi: palign(8)
.text.cache: palign(8)
.text.mpu: palign(8)
.text.boot: palign(8)
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
} > MSRAM
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
GROUP {
.text: {} palign(8) /* This is where code resides */
.rodata: {} palign(8) /* This is where const's go */
} > MSRAM
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
GROUP {
.data: {} palign(8) /* This is where initialized globals and static go */
} > MSRAM
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
GROUP {
.bss: {} palign(8) /* This is where uninitialized globals go */
RUN_START(__BSS_START)
RUN_END(__BSS_END)
.sysmem: {} palign(8) /* This is where the malloc heap goes */
.stack: {} palign(8) /* This is where the main() stack goes */
} > MSRAM
/* This is where the stacks for different R5F modes go */
GROUP {
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
RUN_START(__IRQ_STACK_START)
RUN_END(__IRQ_STACK_END)
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
RUN_START(__FIQ_STACK_START)
RUN_END(__FIQ_STACK_END)
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
RUN_START(__SVC_STACK_START)
RUN_END(__SVC_STACK_END)
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
RUN_START(__ABORT_STACK_START)
RUN_END(__ABORT_STACK_END)
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
RUN_START(__UNDEFINED_STACK_START)
RUN_END(__UNDEFINED_STACK_END)
} > MSRAM
/* Sections needed for C++ projects */
GROUP {
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
.init_array: {} palign(8) /* Contains function pointers called before main */
.fini_array: {} palign(8) /* Contains function pointers called after main */
} > MSRAM
/* General purpose user shared memory, used in some examples */
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
/* this is used when Debug log's to shared memory are enabled, else this is not used */
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
/* this is used only when IPC RPMessage is enabled, else this is not used */
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
/* General purpose non cacheable memory, used in some examples */
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
}
/*
NOTE: Below memory is reserved for DMSC usage
- During Boot till security handoff is complete
0x701E0000 - 0x701FFFFF (128KB)
- After "Security Handoff" is complete (i.e at run time)
0x701F4000 - 0x701FFFFF (48KB)
Security handoff is complete when this message is sent to the DMSC,
TISCI_MSG_SEC_HANDOVER
This should be sent once all cores are loaded and all application
specific firewall calls are setup.
*/
MEMORY
{
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
* this memory does not overlap with other R5F's
*/
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
*/
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
/* shared memory segments */
/* On R5F,
* - make sure there is a MPU entry which maps below regions as non-cache
*/
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
}

312
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#
# 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:=transforms_test.$(PROFILE).out
BOOTIMAGE_PATH=$(abspath .)
BOOTIMAGE_NAME:=transforms_test.$(PROFILE).appimage
BOOTIMAGE_NAME_XIP:=transforms_test.$(PROFILE).appimage_xip
BOOTIMAGE_NAME_SIGNED:=transforms_test.$(PROFILE).appimage.signed
BOOTIMAGE_RPRC_NAME:=transforms_test.$(PROFILE).rprc
BOOTIMAGE_RPRC_NAME_XIP:=transforms_test.$(PROFILE).rprc_xip
BOOTIMAGE_RPRC_NAME_TMP:=transforms_test.$(PROFILE).rprc_tmp
BOOTIMAGE_NAME_HS:=transforms_test.$(PROFILE).appimage.hs
BOOTIMAGE_NAME_HS_FS:=transforms_test.$(PROFILE).appimage.hs_fs
TARGETS := $(BOOTIMAGE_NAME)
ifeq ($(DEVICE_TYPE), HS)
TARGETS += $(BOOTIMAGE_NAME_HS)
endif
FILES_common := \
transforms_test.c \
main.c \
ti_drivers_config.c \
ti_drivers_open_close.c \
ti_board_config.c \
ti_board_open_close.c \
ti_dpl_config.c \
ti_pinmux_config.c \
ti_power_clock_config.c \
FILES_PATH_common = \
.. \
../../.. \
generated \
INCLUDES_common := \
-I${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/transforms/clarke \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig \
-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}/mcu_plus_sdk/source/mathlib/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 \
-lmathlib.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 \
mathlib.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}/mcu_plus_sdk/source/mathlib/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 transforms_test ...
$(RMDIR) obj
ifeq ($(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))

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@ -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

20
examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec Normal file
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#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
PROFILE?=Release
PROJECT_NAME=transforms_test_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

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examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs Normal file
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/*
* ======== syscfg_c.rov.xs ========
* This file contains the information needed by the Runtime Object
* View (ROV) tool.
*/
var crovFiles = [
"mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
];

57
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/**
* 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_AM243X@07.03.00"
* @versions {"data":"2021040816","timestamp":"2021040816","tool":"1.8.1+1900","templates":null}
*/
/**
* Import the modules used in this configuration.
*/
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();
/**
* Write custom configuration values to the imported modules.
*/
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.$name = "CONFIG_MPU_REGION4";
mpu_armv75.baseAddr = 0x60000000;
mpu_armv75.size = 28;
mpu_armv75.accessPermissions = "Supervisor RD, User RD";
/**
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
* re-solve from scratch.
*/
debug_log.uartLog.UART.RXD.$suggestSolution = "B10";
debug_log.uartLog.UART.TXD.$suggestSolution = "B11";

50
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/*
* 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 "ti_drivers_config.h"
#include "ti_board_config.h"
void transforms_test_main(void *args);
int main(void)
{
System_init();
Board_init();
transforms_test_main(NULL);
Board_deinit();
System_deinit();
return 0;
}

117
examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectSpec>
<applicability>
<when>
<context
deviceFamily="ARM"
deviceId="Cortex R.AM2434_ALX"
/>
</when>
</applicability>
<project
title="Transforms Test"
name = "transforms_test_am243x-lp_r5fss0-0_nortos_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}/source/transforms/clarke
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig
-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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/lib
-i${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}/mcu_plus_sdk/source/mathlib/lib
-i${CG_TOOL_ROOT}/lib
-m=transforms_test.${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=${CCS_IDE_MODE} DEVICE=am243x"
enableSysConfigTool="true"
sysConfigBuildOptions="
--context r5fss0-0 --part ALX --package ALX
"
description="A Transforms Test NORTOS project">
<configuration name="Release"
compilerBuildOptions="
-Os
"
linkerBuildOptions="
-lnortos.am243x.r5f.ti-arm-clang.release.lib
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
-lboard.am243x.r5f.ti-arm-clang.release.lib
-lmathlib.am243x.r5f.ti-arm-clang.release.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<configuration name="Debug"
compilerBuildOptions="
-D_DEBUG_=1
"
linkerBuildOptions="
-lnortos.am243x.r5f.ti-arm-clang.debug.lib
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
-lboard.am243x.r5f.ti-arm-clang.debug.lib
-lmathlib.am243x.r5f.ti-arm-clang.debug.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="../../../transforms_test.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/EXAMPLES_TRANSFORMS_TEST.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../../../transforms_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
</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>

148
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/* This is the stack that is used by code running within main()
* In case of NORTOS,
* - This means all the code outside of ISR uses this stack
* In case of FreeRTOS
* - This means all the code until vTaskStartScheduler() is called in main()
* uses this stack.
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
*/
--stack_size=16384
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
* This is also the heap used by pvPortMalloc in FreeRTOS
*/
--heap_size=32768
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
/* This is the size of stack when R5 is in IRQ mode
* In NORTOS,
* - Here interrupt nesting is enabled
* - This is the stack used by ISRs registered as type IRQ
* In FreeRTOS,
* - Here interrupt nesting is disabled
* - This is stack that is used initally when a IRQ is received
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
*/
__IRQ_STACK_SIZE = 256;
/* This is the size of stack when R5 is in IRQ mode
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
*/
__FIQ_STACK_SIZE = 256;
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
SECTIONS
{
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
.vectors:{} palign(8) > R5F_VECS
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
* i.e this cannot be placed in DDR
*/
GROUP {
.text.hwi: palign(8)
.text.cache: palign(8)
.text.mpu: palign(8)
.text.boot: palign(8)
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
} > MSRAM
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
GROUP {
.text: {} palign(8) /* This is where code resides */
.rodata: {} palign(8) /* This is where const's go */
} > MSRAM
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
GROUP {
.data: {} palign(8) /* This is where initialized globals and static go */
} > MSRAM
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
GROUP {
.bss: {} palign(8) /* This is where uninitialized globals go */
RUN_START(__BSS_START)
RUN_END(__BSS_END)
.sysmem: {} palign(8) /* This is where the malloc heap goes */
.stack: {} palign(8) /* This is where the main() stack goes */
} > MSRAM
/* This is where the stacks for different R5F modes go */
GROUP {
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
RUN_START(__IRQ_STACK_START)
RUN_END(__IRQ_STACK_END)
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
RUN_START(__FIQ_STACK_START)
RUN_END(__FIQ_STACK_END)
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
RUN_START(__SVC_STACK_START)
RUN_END(__SVC_STACK_END)
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
RUN_START(__ABORT_STACK_START)
RUN_END(__ABORT_STACK_END)
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
RUN_START(__UNDEFINED_STACK_START)
RUN_END(__UNDEFINED_STACK_END)
} > MSRAM
/* Sections needed for C++ projects */
GROUP {
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
.init_array: {} palign(8) /* Contains function pointers called before main */
.fini_array: {} palign(8) /* Contains function pointers called after main */
} > MSRAM
/* General purpose user shared memory, used in some examples */
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
/* this is used when Debug log's to shared memory are enabled, else this is not used */
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
/* this is used only when IPC RPMessage is enabled, else this is not used */
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
/* General purpose non cacheable memory, used in some examples */
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
}
/*
NOTE: Below memory is reserved for DMSC usage
- During Boot till security handoff is complete
0x701E0000 - 0x701FFFFF (128KB)
- After "Security Handoff" is complete (i.e at run time)
0x701F4000 - 0x701FFFFF (48KB)
Security handoff is complete when this message is sent to the DMSC,
TISCI_MSG_SEC_HANDOVER
This should be sent once all cores are loaded and all application
specific firewall calls are setup.
*/
MEMORY
{
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
* this memory does not overlap with other R5F's
*/
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
*/
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
/* shared memory segments */
/* On R5F,
* - make sure there is a MPU entry which maps below regions as non-cache
*/
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
}

309
examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang/makefile Normal file
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#
# 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:=transforms_test.$(PROFILE).out
BOOTIMAGE_PATH=$(abspath .)
BOOTIMAGE_NAME:=transforms_test.$(PROFILE).appimage
BOOTIMAGE_NAME_XIP:=transforms_test.$(PROFILE).appimage_xip
BOOTIMAGE_NAME_SIGNED:=transforms_test.$(PROFILE).appimage.signed
BOOTIMAGE_RPRC_NAME:=transforms_test.$(PROFILE).rprc
BOOTIMAGE_RPRC_NAME_XIP:=transforms_test.$(PROFILE).rprc_xip
BOOTIMAGE_RPRC_NAME_TMP:=transforms_test.$(PROFILE).rprc_tmp
BOOTIMAGE_NAME_HS:=transforms_test.$(PROFILE).appimage.hs
BOOTIMAGE_NAME_HS_FS:=transforms_test.$(PROFILE).appimage.hs_fs
TARGETS := $(BOOTIMAGE_NAME)
ifeq ($(DEVICE_TYPE), HS)
TARGETS += $(BOOTIMAGE_NAME_HS)
endif
FILES_common := \
transforms_test.c \
main.c \
ti_drivers_config.c \
ti_drivers_open_close.c \
ti_board_config.c \
ti_board_open_close.c \
ti_dpl_config.c \
ti_pinmux_config.c \
ti_power_clock_config.c \
FILES_PATH_common = \
.. \
../../.. \
generated \
INCLUDES_common := \
-I${CG_TOOL_ROOT}/include/c \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
-I${MOTOR_CONTROL_SDK_PATH}/source \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig \
-Igenerated \
DEFINES_common := \
-DSOC_AM243X \
CFLAGS_common := \
-mcpu=cortex-r5 \
-mfloat-abi=hard \
-mfpu=vfpv3-d16 \
-mthumb \
-Wall \
-Werror \
-g \
-Wno-gnu-variable-sized-type-not-at-end \
-Wno-unused-function \
CFLAGS_cpp_common := \
-Wno-c99-designator \
-Wno-extern-c-compat \
-Wno-c++11-narrowing \
-Wno-reorder-init-list \
-Wno-deprecated-register \
-Wno-writable-strings \
-Wno-enum-compare \
-Wno-reserved-user-defined-literal \
-Wno-unused-const-variable \
-x c++ \
CFLAGS_debug := \
-D_DEBUG_=1 \
CFLAGS_release := \
-Os \
LNK_FILES_common = \
linker.cmd \
LIBS_PATH_common = \
-Wl,-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib \
-Wl,-i${CG_TOOL_ROOT}/lib \
LIBS_common = \
-lnortos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-lmathlib.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
-llibc.a \
-llibsysbm.a \
LFLAGS_common = \
-Wl,--diag_suppress=10063 \
-Wl,--ram_model \
-Wl,--reread_libs \
LIBS_NAME = \
nortos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
mathlib.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
libc.a \
libsysbm.a \
LIBS_PATH_NAME = \
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/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}/mcu_plus_sdk/source/mathlib/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:nortos:ti-arm-clang $(OUTNAME): $<
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
$(OBJDIR)/%.obj %.obj: %.S
@echo Compiling: am243x:r5fss0-0:nortos: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:nortos:ti-arm-clang $@ ...
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
@echo Linking: am243x:r5fss0-0:nortos:ti-arm-clang $@ Done !!!
@echo .
clean:
@echo Cleaning: am243x:r5fss0-0:nortos: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:nortos:ti-arm-clang transforms_test ...
$(RMDIR) obj
ifeq ($(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:nortos: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:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
@echo .
@echo Boot image: am243x:r5fss0-0:nortos: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:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
@echo .
endif
-include $(addprefix $(OBJDIR)/, $(DEPS))

106
examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang/makefile_ccs_bootimage_gen Normal file
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@ -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:nortos: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:nortos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
@echo .
ifeq ($(DEVICE_TYPE),HS)
@echo Boot image: am243x:r5fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
@echo .
else
@echo Boot image: am243x:r5fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
@echo .
endif
endif

20
examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang/makefile_projectspec Normal file
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@ -0,0 +1,20 @@
#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
PROFILE?=Release
PROJECT_NAME=transforms_test_am243x-lp_r5fss0-0_nortos_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

8
examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang/syscfg_c.rov.xs Normal file
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@ -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/kernel/freertos/rov/FreeRTOS.rov.js",
];

59
examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/example.syscfg Normal file
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/**
* 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 "AM263x_beta" --package "ZCZ" --part "AM263x" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK_AM263x@09.01.00"
* @versions {"tool":"1.14.0+2667"}
*/
/**
* Import the modules used in this configuration.
*/
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();
/**
* Write custom configuration values to the imported modules.
*/
debug_log.enableUartLog = true;
debug_log.uartLog.$name = "CONFIG_UART0";
debug_log.uartLog.UART.$assign = "UART0";
debug_log.uartLog.UART.RXD.$assign = "ball.A7";
debug_log.uartLog.UART.TXD.$assign = "ball.A6";
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.$name = "CONFIG_MPU_REGION2";
mpu_armv73.baseAddr = 0x80000;
mpu_armv73.size = 15;
mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
mpu_armv74.$name = "CONFIG_MPU_REGION3";
mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
mpu_armv74.baseAddr = 0x70000000;
mpu_armv74.size = 21;
mpu_armv75.$name = "CONFIG_MPU_REGION4";
mpu_armv75.baseAddr = 0x50D00000;
mpu_armv75.size = 14;
mpu_armv75.allowExecute = false;
mpu_armv75.attributes = "Device";
mpu_armv76.$name = "CONFIG_MPU_REGION5";
mpu_armv76.baseAddr = 0x72000000;
mpu_armv76.size = 14;
mpu_armv76.allowExecute = false;
mpu_armv76.attributes = "NonCached";

84
examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/main.c Normal file
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/*
* Copyright (C) 2018-2022 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 transforms_test_main(void *args);
void freertos_main(void *args)
{
transforms_test_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;
}

120
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<?xml version="1.0" encoding="UTF-8"?>
<projectSpec>
<applicability>
<when>
<context
deviceFamily="ARM"
deviceId="Cortex R.AM263x"
/>
</when>
</applicability>
<project
title="Transforms Test"
name = "transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang"
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
configurations="
Debug,
Release,
"
connection="TIXDS110_Connection.xml"
toolChain="TICLANG"
cgtVersion="3.2.0"
device="Cortex R.AM263x"
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/am263x/r5f
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig
-mcpu=cortex-r5
-mfloat-abi=hard
-mfpu=vfpv3-d16
-mthumb
-Wall
-Werror
-g
-Wno-gnu-variable-sized-type-not-at-end
-Wno-unused-function
-DSOC_AM263X
"
linkerBuildOptions="
-i${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib
-i${CG_TOOL_ROOT}/lib
-m=transforms_test.${ConfigName}.map
--diag_suppress=10063
--ram_model
--reread_libs
"
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am263x"
enableSysConfigTool="true"
sysConfigBuildOptions="
--context r5fss0-0 --part AM263x --package ZCZ
"
description="A Transforms Test FREERTOS project">
<configuration name="Release"
compilerBuildOptions="
-Os
"
linkerBuildOptions="
-lfreertos.am263x.r5f.ti-arm-clang.release.lib
-ldrivers.am263x.r5f.ti-arm-clang.release.lib
-lboard.am263x.r5f.ti-arm-clang.release.lib
-lmathlib.am263x.r5f.ti-arm-clang.release.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<configuration name="Debug"
compilerBuildOptions="
-D_DEBUG_=1
"
linkerBuildOptions="
-lfreertos.am263x.r5f.ti-arm-clang.debug.lib
-ldrivers.am263x.r5f.ti-arm-clang.debug.lib
-lboard.am263x.r5f.ti-arm-clang.debug.lib
-lmathlib.am263x.r5f.ti-arm-clang.debug.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="../../../transforms_test.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_am263x/EXAMPLES_TRANSFORMS_TEST.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../../../transforms_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
</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>

137
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/* 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 enabled
* - 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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)
} > OCRAM
/* 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 */
} > OCRAM
/* 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
/* this is used only when Secure IPC is enabled */
.bss.sipc_hsm_queue_mem (NOLOAD) : {} > MAILBOX_HSM
.bss.sipc_r5f_queue_mem (NOLOAD) : {} > MAILBOX_R5F
}
MEMORY
{
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB : ORIGIN = 0x00080000 , LENGTH = 0x00008000
/* 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
*/
OCRAM : ORIGIN = 0x70040000 , 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 memories that are used by RTOS/NORTOS cores */
/* On R5F,
* - make sure there is a MPU entry which maps below regions as non-cache
*/
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x00004000
LOG_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x00004000
/* MSS mailbox memory is used as shared memory, we dont use bottom 32*12 bytes, since its used as SW queue by ipc_notify */
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x72000000, LENGTH = 0x3E80
MAILBOX_HSM: ORIGIN = 0x44000000 , LENGTH = 0x000003CE
MAILBOX_R5F: ORIGIN = 0x44000400 , LENGTH = 0x000003CE
}

283
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#
# 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:=transforms_test.$(PROFILE).out
BOOTIMAGE_PATH=$(abspath .)
BOOTIMAGE_NAME:=transforms_test.$(PROFILE).appimage
BOOTIMAGE_NAME_XIP:=transforms_test.$(PROFILE).appimage_xip
BOOTIMAGE_NAME_SIGNED:=transforms_test.$(PROFILE).appimage.signed
BOOTIMAGE_RPRC_NAME:=transforms_test.$(PROFILE).rprc
BOOTIMAGE_RPRC_NAME_XIP:=transforms_test.$(PROFILE).rprc_xip
BOOTIMAGE_RPRC_NAME_TMP:=transforms_test.$(PROFILE).rprc_tmp
FILES_common := \
transforms_test.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/am263x/r5f \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig \
-Igenerated \
DEFINES_common := \
-DSOC_AM263X \
CFLAGS_common := \
-mcpu=cortex-r5 \
-mfloat-abi=hard \
-mfpu=vfpv3-d16 \
-mthumb \
-Wall \
-Werror \
-g \
-Wno-gnu-variable-sized-type-not-at-end \
-Wno-unused-function \
CFLAGS_cpp_common := \
-Wno-c99-designator \
-Wno-extern-c-compat \
-Wno-c++11-narrowing \
-Wno-reorder-init-list \
-Wno-deprecated-register \
-Wno-writable-strings \
-Wno-enum-compare \
-Wno-reserved-user-defined-literal \
-Wno-unused-const-variable \
-x c++ \
CFLAGS_debug := \
-D_DEBUG_=1 \
CFLAGS_release := \
-Os \
LNK_FILES_common = \
linker.cmd \
LIBS_PATH_common = \
-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib \
-Wl,-i${CG_TOOL_ROOT}/lib \
LIBS_common = \
-lfreertos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-ldrivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-lboard.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-lmathlib.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-llibc.a \
-llibsysbm.a \
LFLAGS_common = \
-Wl,--diag_suppress=10063 \
-Wl,--ram_model \
-Wl,--reread_libs \
LIBS_NAME = \
freertos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
drivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
board.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
mathlib.am263x.r5f.ti-arm-clang.${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}/mcu_plus_sdk/source/mathlib/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: am263x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
$(OBJDIR)/%.obj %.obj: %.S
@echo Compiling: am263x:r5fss0-0:freertos:ti-arm-clang $(LIBNAME): $<
$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
all: $(BOOTIMAGE_NAME)
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: am263x:r5fss0-0:freertos:ti-arm-clang $@ ...
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
@echo Linking: am263x:r5fss0-0:freertos:ti-arm-clang $@ Done !!!
@echo .
clean:
@echo Cleaning: am263x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME) ...
$(RMDIR) $(OBJDIR)
$(RM) $(OUTNAME)
$(RM) $(BOOTIMAGE_NAME)
$(RM) $(BOOTIMAGE_NAME_XIP)
$(RM) $(BOOTIMAGE_NAME_SIGNED)
$(RM) $(BOOTIMAGE_RPRC_NAME)
$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
$(RMDIR) generated/
scrub:
@echo Scrubing: am263x:r5fss0-0:freertos:ti-arm-clang transforms_test ...
$(RMDIR) obj
ifeq ($(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 AM263x --package ZCZ --output generated/ ../example.syscfg
syscfg-gui:
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM263x_beta --context r5fss0-0 --part AM263x --package ZCZ --output generated/ ../example.syscfg
#
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
#
ifeq ($(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_CORE_ID_r5fss0-0 = 0
BOOTIMAGE_CORE_ID_r5fss0-1 = 1
BOOTIMAGE_CORE_ID_r5fss1-0 = 2
BOOTIMAGE_CORE_ID_r5fss1-1 = 3
SBL_RUN_ADDRESS=0x70002000
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) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
ifeq ($(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: am263x: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)
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
@echo Boot image: am263x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
@echo .
-include $(addprefix $(OBJDIR)/, $(DEPS))

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#
# 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 = 0
BOOTIMAGE_CORE_ID_r5fss0-1 = 1
BOOTIMAGE_CORE_ID_r5fss1-0 = 2
BOOTIMAGE_CORE_ID_r5fss1-1 = 3
SBL_RUN_ADDRESS=0x70002000
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) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
ifeq ($(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: am263x: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)
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
@echo Boot image: am263x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
@echo .
endif

20
examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec Normal file
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#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
PROFILE?=Release
PROJECT_NAME=transforms_test_am263x-cc_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

8
examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs Normal file
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/*
* ======== syscfg_c.rov.xs ========
* This file contains the information needed by the Runtime Object
* View (ROV) tool.
*/
var crovFiles = [
"mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
];

59
examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/example.syscfg Normal file
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/**
* 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 "AM263x_beta" --package "ZCZ" --part "AM263x" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK_AM263x@09.01.00"
* @versions {"tool":"1.14.0+2667"}
*/
/**
* Import the modules used in this configuration.
*/
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();
/**
* Write custom configuration values to the imported modules.
*/
debug_log.enableUartLog = true;
debug_log.uartLog.$name = "CONFIG_UART0";
debug_log.uartLog.UART.$assign = "UART0";
debug_log.uartLog.UART.RXD.$assign = "ball.A7";
debug_log.uartLog.UART.TXD.$assign = "ball.A6";
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.$name = "CONFIG_MPU_REGION2";
mpu_armv73.baseAddr = 0x80000;
mpu_armv73.size = 15;
mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
mpu_armv74.$name = "CONFIG_MPU_REGION3";
mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
mpu_armv74.baseAddr = 0x70000000;
mpu_armv74.size = 21;
mpu_armv75.$name = "CONFIG_MPU_REGION4";
mpu_armv75.baseAddr = 0x50D00000;
mpu_armv75.size = 14;
mpu_armv75.allowExecute = false;
mpu_armv75.attributes = "Device";
mpu_armv76.$name = "CONFIG_MPU_REGION5";
mpu_armv76.baseAddr = 0x72000000;
mpu_armv76.size = 14;
mpu_armv76.allowExecute = false;
mpu_armv76.attributes = "NonCached";

50
examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/main.c Normal file
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/*
* Copyright (C) 2018-2022 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 "ti_drivers_config.h"
#include "ti_board_config.h"
void transforms_test_main(void *args);
int main(void)
{
System_init();
Board_init();
transforms_test_main(NULL);
Board_deinit();
System_deinit();
return 0;
}

117
examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang/example.projectspec Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectSpec>
<applicability>
<when>
<context
deviceFamily="ARM"
deviceId="Cortex R.AM263x"
/>
</when>
</applicability>
<project
title="Transforms Test"
name = "transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang"
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
configurations="
Debug,
Release,
"
connection="TIXDS110_Connection.xml"
toolChain="TICLANG"
cgtVersion="3.2.0"
device="Cortex R.AM263x"
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}/source/transforms/clarke
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig
-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_AM263X
"
linkerBuildOptions="
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/lib
-i${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}/mcu_plus_sdk/source/mathlib/lib
-i${CG_TOOL_ROOT}/lib
-m=transforms_test.${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=${CCS_IDE_MODE} DEVICE=am263x"
enableSysConfigTool="true"
sysConfigBuildOptions="
--context r5fss0-0 --part AM263x --package ZCZ
"
description="A Transforms Test NORTOS project">
<configuration name="Release"
compilerBuildOptions="
-Os
"
linkerBuildOptions="
-lnortos.am263x.r5f.ti-arm-clang.release.lib
-ldrivers.am263x.r5f.ti-arm-clang.release.lib
-lboard.am263x.r5f.ti-arm-clang.release.lib
-lmathlib.am263x.r5f.ti-arm-clang.release.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<configuration name="Debug"
compilerBuildOptions="
-D_DEBUG_=1
"
linkerBuildOptions="
-lnortos.am263x.r5f.ti-arm-clang.debug.lib
-ldrivers.am263x.r5f.ti-arm-clang.debug.lib
-lboard.am263x.r5f.ti-arm-clang.debug.lib
-lmathlib.am263x.r5f.ti-arm-clang.debug.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="../../../transforms_test.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_am263x/EXAMPLES_TRANSFORMS_TEST.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../../../transforms_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
</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>

137
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/* 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 enabled
* - 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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)
} > OCRAM
/* 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 */
} > OCRAM
/* 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
/* this is used only when Secure IPC is enabled */
.bss.sipc_hsm_queue_mem (NOLOAD) : {} > MAILBOX_HSM
.bss.sipc_r5f_queue_mem (NOLOAD) : {} > MAILBOX_R5F
}
MEMORY
{
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB : ORIGIN = 0x00080000 , LENGTH = 0x00008000
/* 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
*/
OCRAM : ORIGIN = 0x70040000 , 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 memories that are used by RTOS/NORTOS cores */
/* On R5F,
* - make sure there is a MPU entry which maps below regions as non-cache
*/
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x00004000
LOG_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x00004000
/* MSS mailbox memory is used as shared memory, we dont use bottom 32*12 bytes, since its used as SW queue by ipc_notify */
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x72000000, LENGTH = 0x3E80
MAILBOX_HSM: ORIGIN = 0x44000000 , LENGTH = 0x000003CE
MAILBOX_R5F: ORIGIN = 0x44000400 , LENGTH = 0x000003CE
}

280
examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang/makefile Normal file
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#
# 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:=transforms_test.$(PROFILE).out
BOOTIMAGE_PATH=$(abspath .)
BOOTIMAGE_NAME:=transforms_test.$(PROFILE).appimage
BOOTIMAGE_NAME_XIP:=transforms_test.$(PROFILE).appimage_xip
BOOTIMAGE_NAME_SIGNED:=transforms_test.$(PROFILE).appimage.signed
BOOTIMAGE_RPRC_NAME:=transforms_test.$(PROFILE).rprc
BOOTIMAGE_RPRC_NAME_XIP:=transforms_test.$(PROFILE).rprc_xip
BOOTIMAGE_RPRC_NAME_TMP:=transforms_test.$(PROFILE).rprc_tmp
FILES_common := \
transforms_test.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}/source/transforms/clarke \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig \
-Igenerated \
DEFINES_common := \
-DSOC_AM263X \
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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/lib \
-Wl,-i${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}/mcu_plus_sdk/source/mathlib/lib \
-Wl,-i${CG_TOOL_ROOT}/lib \
LIBS_common = \
-lnortos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-ldrivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-lboard.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-lmathlib.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-llibc.a \
-llibsysbm.a \
LFLAGS_common = \
-Wl,--diag_suppress=10063 \
-Wl,--ram_model \
-Wl,--reread_libs \
LIBS_NAME = \
nortos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
drivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
board.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
mathlib.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
libc.a \
libsysbm.a \
LIBS_PATH_NAME = \
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/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}/mcu_plus_sdk/source/mathlib/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: am263x:r5fss0-0:nortos:ti-arm-clang $(OUTNAME): $<
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
$(OBJDIR)/%.obj %.obj: %.S
@echo Compiling: am263x:r5fss0-0:nortos:ti-arm-clang $(LIBNAME): $<
$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
all: $(BOOTIMAGE_NAME)
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: am263x:r5fss0-0:nortos:ti-arm-clang $@ ...
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
@echo Linking: am263x:r5fss0-0:nortos:ti-arm-clang $@ Done !!!
@echo .
clean:
@echo Cleaning: am263x:r5fss0-0:nortos:ti-arm-clang $(OUTNAME) ...
$(RMDIR) $(OBJDIR)
$(RM) $(OUTNAME)
$(RM) $(BOOTIMAGE_NAME)
$(RM) $(BOOTIMAGE_NAME_XIP)
$(RM) $(BOOTIMAGE_NAME_SIGNED)
$(RM) $(BOOTIMAGE_RPRC_NAME)
$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
$(RMDIR) generated/
scrub:
@echo Scrubing: am263x:r5fss0-0:nortos:ti-arm-clang transforms_test ...
$(RMDIR) obj
ifeq ($(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 AM263x --package ZCZ --output generated/ ../example.syscfg
syscfg-gui:
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM263x_beta --context r5fss0-0 --part AM263x --package ZCZ --output generated/ ../example.syscfg
#
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
#
ifeq ($(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_CORE_ID_r5fss0-0 = 0
BOOTIMAGE_CORE_ID_r5fss0-1 = 1
BOOTIMAGE_CORE_ID_r5fss1-0 = 2
BOOTIMAGE_CORE_ID_r5fss1-1 = 3
SBL_RUN_ADDRESS=0x70002000
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) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
ifeq ($(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: am263x:r5fss0-0:nortos: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)
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
@echo Boot image: am263x:r5fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
@echo .
-include $(addprefix $(OBJDIR)/, $(DEPS))

84
examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang/makefile_ccs_bootimage_gen Normal file
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#
# 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 = 0
BOOTIMAGE_CORE_ID_r5fss0-1 = 1
BOOTIMAGE_CORE_ID_r5fss1-0 = 2
BOOTIMAGE_CORE_ID_r5fss1-1 = 3
SBL_RUN_ADDRESS=0x70002000
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) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
ifeq ($(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: am263x:r5fss0-0:nortos: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)
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
@echo Boot image: am263x:r5fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
@echo .
endif

20
examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang/makefile_projectspec Normal file
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#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
PROFILE?=Release
PROJECT_NAME=transforms_test_am263x-cc_r5fss0-0_nortos_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

8
examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang/syscfg_c.rov.xs Normal file
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/*
* ======== syscfg_c.rov.xs ========
* This file contains the information needed by the Runtime Object
* View (ROV) tool.
*/
var crovFiles = [
"mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
];

59
examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/example.syscfg Normal file
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/**
* 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 "AM263x_beta" --package "ZCZ" --part "AM263x" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK_AM263x@09.01.00"
* @versions {"tool":"1.14.0+2667"}
*/
/**
* Import the modules used in this configuration.
*/
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();
/**
* Write custom configuration values to the imported modules.
*/
debug_log.enableUartLog = true;
debug_log.uartLog.$name = "CONFIG_UART0";
debug_log.uartLog.UART.$assign = "UART0";
debug_log.uartLog.UART.RXD.$assign = "ball.A7";
debug_log.uartLog.UART.TXD.$assign = "ball.A6";
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.$name = "CONFIG_MPU_REGION2";
mpu_armv73.baseAddr = 0x80000;
mpu_armv73.size = 15;
mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
mpu_armv74.$name = "CONFIG_MPU_REGION3";
mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
mpu_armv74.baseAddr = 0x70000000;
mpu_armv74.size = 21;
mpu_armv75.$name = "CONFIG_MPU_REGION4";
mpu_armv75.baseAddr = 0x50D00000;
mpu_armv75.size = 14;
mpu_armv75.allowExecute = false;
mpu_armv75.attributes = "Device";
mpu_armv76.$name = "CONFIG_MPU_REGION5";
mpu_armv76.baseAddr = 0x72000000;
mpu_armv76.size = 14;
mpu_armv76.allowExecute = false;
mpu_armv76.attributes = "NonCached";

84
examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/main.c Normal file
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/*
* Copyright (C) 2018-2022 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 transforms_test_main(void *args);
void freertos_main(void *args)
{
transforms_test_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;
}

120
examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectSpec>
<applicability>
<when>
<context
deviceFamily="ARM"
deviceId="Cortex R.AM263x"
/>
</when>
</applicability>
<project
title="Transforms Test"
name = "transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang"
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
configurations="
Debug,
Release,
"
connection="TIXDS110_Connection.xml"
toolChain="TICLANG"
cgtVersion="3.2.0"
device="Cortex R.AM263x"
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/am263x/r5f
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig
-mcpu=cortex-r5
-mfloat-abi=hard
-mfpu=vfpv3-d16
-mthumb
-Wall
-Werror
-g
-Wno-gnu-variable-sized-type-not-at-end
-Wno-unused-function
-DSOC_AM263X
"
linkerBuildOptions="
-i${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib
-i${CG_TOOL_ROOT}/lib
-m=transforms_test.${ConfigName}.map
--diag_suppress=10063
--ram_model
--reread_libs
"
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am263x"
enableSysConfigTool="true"
sysConfigBuildOptions="
--context r5fss0-0 --part AM263x --package ZCZ
"
description="A Transforms Test FREERTOS project">
<configuration name="Release"
compilerBuildOptions="
-Os
"
linkerBuildOptions="
-lfreertos.am263x.r5f.ti-arm-clang.release.lib
-ldrivers.am263x.r5f.ti-arm-clang.release.lib
-lboard.am263x.r5f.ti-arm-clang.release.lib
-lmathlib.am263x.r5f.ti-arm-clang.release.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<configuration name="Debug"
compilerBuildOptions="
-D_DEBUG_=1
"
linkerBuildOptions="
-lfreertos.am263x.r5f.ti-arm-clang.debug.lib
-ldrivers.am263x.r5f.ti-arm-clang.debug.lib
-lboard.am263x.r5f.ti-arm-clang.debug.lib
-lmathlib.am263x.r5f.ti-arm-clang.debug.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="../../../transforms_test.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_am263x/EXAMPLES_TRANSFORMS_TEST.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../../../transforms_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
</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>

137
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/* 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 enabled
* - 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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)
} > OCRAM
/* 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 */
} > OCRAM
/* 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
/* this is used only when Secure IPC is enabled */
.bss.sipc_hsm_queue_mem (NOLOAD) : {} > MAILBOX_HSM
.bss.sipc_r5f_queue_mem (NOLOAD) : {} > MAILBOX_R5F
}
MEMORY
{
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB : ORIGIN = 0x00080000 , LENGTH = 0x00008000
/* 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
*/
OCRAM : ORIGIN = 0x70040000 , 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 memories that are used by RTOS/NORTOS cores */
/* On R5F,
* - make sure there is a MPU entry which maps below regions as non-cache
*/
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x00004000
LOG_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x00004000
/* MSS mailbox memory is used as shared memory, we dont use bottom 32*12 bytes, since its used as SW queue by ipc_notify */
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x72000000, LENGTH = 0x3E80
MAILBOX_HSM: ORIGIN = 0x44000000 , LENGTH = 0x000003CE
MAILBOX_R5F: ORIGIN = 0x44000400 , LENGTH = 0x000003CE
}

283
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#
# 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:=transforms_test.$(PROFILE).out
BOOTIMAGE_PATH=$(abspath .)
BOOTIMAGE_NAME:=transforms_test.$(PROFILE).appimage
BOOTIMAGE_NAME_XIP:=transforms_test.$(PROFILE).appimage_xip
BOOTIMAGE_NAME_SIGNED:=transforms_test.$(PROFILE).appimage.signed
BOOTIMAGE_RPRC_NAME:=transforms_test.$(PROFILE).rprc
BOOTIMAGE_RPRC_NAME_XIP:=transforms_test.$(PROFILE).rprc_xip
BOOTIMAGE_RPRC_NAME_TMP:=transforms_test.$(PROFILE).rprc_tmp
FILES_common := \
transforms_test.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/am263x/r5f \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/clarke \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig \
-Igenerated \
DEFINES_common := \
-DSOC_AM263X \
CFLAGS_common := \
-mcpu=cortex-r5 \
-mfloat-abi=hard \
-mfpu=vfpv3-d16 \
-mthumb \
-Wall \
-Werror \
-g \
-Wno-gnu-variable-sized-type-not-at-end \
-Wno-unused-function \
CFLAGS_cpp_common := \
-Wno-c99-designator \
-Wno-extern-c-compat \
-Wno-c++11-narrowing \
-Wno-reorder-init-list \
-Wno-deprecated-register \
-Wno-writable-strings \
-Wno-enum-compare \
-Wno-reserved-user-defined-literal \
-Wno-unused-const-variable \
-x c++ \
CFLAGS_debug := \
-D_DEBUG_=1 \
CFLAGS_release := \
-Os \
LNK_FILES_common = \
linker.cmd \
LIBS_PATH_common = \
-Wl,-i${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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/lib \
-Wl,-i${CG_TOOL_ROOT}/lib \
LIBS_common = \
-lfreertos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-ldrivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-lboard.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-lmathlib.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-llibc.a \
-llibsysbm.a \
LFLAGS_common = \
-Wl,--diag_suppress=10063 \
-Wl,--ram_model \
-Wl,--reread_libs \
LIBS_NAME = \
freertos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
drivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
board.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
mathlib.am263x.r5f.ti-arm-clang.${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}/mcu_plus_sdk/source/mathlib/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: am263x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
$(OBJDIR)/%.obj %.obj: %.S
@echo Compiling: am263x:r5fss0-0:freertos:ti-arm-clang $(LIBNAME): $<
$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
all: $(BOOTIMAGE_NAME)
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: am263x:r5fss0-0:freertos:ti-arm-clang $@ ...
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
@echo Linking: am263x:r5fss0-0:freertos:ti-arm-clang $@ Done !!!
@echo .
clean:
@echo Cleaning: am263x:r5fss0-0:freertos:ti-arm-clang $(OUTNAME) ...
$(RMDIR) $(OBJDIR)
$(RM) $(OUTNAME)
$(RM) $(BOOTIMAGE_NAME)
$(RM) $(BOOTIMAGE_NAME_XIP)
$(RM) $(BOOTIMAGE_NAME_SIGNED)
$(RM) $(BOOTIMAGE_RPRC_NAME)
$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
$(RMDIR) generated/
scrub:
@echo Scrubing: am263x:r5fss0-0:freertos:ti-arm-clang transforms_test ...
$(RMDIR) obj
ifeq ($(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 AM263x --package ZCZ --output generated/ ../example.syscfg
syscfg-gui:
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM263x_beta --context r5fss0-0 --part AM263x --package ZCZ --output generated/ ../example.syscfg
#
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
#
ifeq ($(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_CORE_ID_r5fss0-0 = 0
BOOTIMAGE_CORE_ID_r5fss0-1 = 1
BOOTIMAGE_CORE_ID_r5fss1-0 = 2
BOOTIMAGE_CORE_ID_r5fss1-1 = 3
SBL_RUN_ADDRESS=0x70002000
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) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
ifeq ($(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: am263x: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)
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
@echo Boot image: am263x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
@echo .
-include $(addprefix $(OBJDIR)/, $(DEPS))

84
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#
# 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 = 0
BOOTIMAGE_CORE_ID_r5fss0-1 = 1
BOOTIMAGE_CORE_ID_r5fss1-0 = 2
BOOTIMAGE_CORE_ID_r5fss1-1 = 3
SBL_RUN_ADDRESS=0x70002000
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) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
ifeq ($(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: am263x: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)
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
@echo Boot image: am263x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
@echo .
endif

20
examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_projectspec Normal file
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@ -0,0 +1,20 @@
#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
PROFILE?=Release
PROJECT_NAME=transforms_test_am263x-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

8
examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs Normal file
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/*
* ======== syscfg_c.rov.xs ========
* This file contains the information needed by the Runtime Object
* View (ROV) tool.
*/
var crovFiles = [
"mcu_plus_sdk/kernel/freertos/rov/FreeRTOS.rov.js",
];

59
examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/example.syscfg Normal file
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/**
* 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 "AM263x_beta" --package "ZCZ" --part "AM263x" --context "r5fss0-0" --product "MOTOR_CONTROL_SDK_AM263x@09.01.00"
* @versions {"tool":"1.14.0+2667"}
*/
/**
* Import the modules used in this configuration.
*/
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();
/**
* Write custom configuration values to the imported modules.
*/
debug_log.enableUartLog = true;
debug_log.uartLog.$name = "CONFIG_UART0";
debug_log.uartLog.UART.$assign = "UART0";
debug_log.uartLog.UART.RXD.$assign = "ball.A7";
debug_log.uartLog.UART.TXD.$assign = "ball.A6";
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.$name = "CONFIG_MPU_REGION2";
mpu_armv73.baseAddr = 0x80000;
mpu_armv73.size = 15;
mpu_armv73.accessPermissions = "Supervisor RD+WR, User RD";
mpu_armv74.$name = "CONFIG_MPU_REGION3";
mpu_armv74.accessPermissions = "Supervisor RD+WR, User RD";
mpu_armv74.baseAddr = 0x70000000;
mpu_armv74.size = 21;
mpu_armv75.$name = "CONFIG_MPU_REGION4";
mpu_armv75.baseAddr = 0x50D00000;
mpu_armv75.size = 14;
mpu_armv75.allowExecute = false;
mpu_armv75.attributes = "Device";
mpu_armv76.$name = "CONFIG_MPU_REGION5";
mpu_armv76.baseAddr = 0x72000000;
mpu_armv76.size = 14;
mpu_armv76.allowExecute = false;
mpu_armv76.attributes = "NonCached";

50
examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/main.c Normal file
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/*
* Copyright (C) 2018-2022 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 "ti_drivers_config.h"
#include "ti_board_config.h"
void transforms_test_main(void *args);
int main(void)
{
System_init();
Board_init();
transforms_test_main(NULL);
Board_deinit();
System_deinit();
return 0;
}

117
examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectSpec>
<applicability>
<when>
<context
deviceFamily="ARM"
deviceId="Cortex R.AM263x"
/>
</when>
</applicability>
<project
title="Transforms Test"
name = "transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang"
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
configurations="
Debug,
Release,
"
connection="TIXDS110_Connection.xml"
toolChain="TICLANG"
cgtVersion="3.2.0"
device="Cortex R.AM263x"
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}/source/transforms/clarke
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig
-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_AM263X
"
linkerBuildOptions="
-i${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/lib
-i${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}/mcu_plus_sdk/source/mathlib/lib
-i${CG_TOOL_ROOT}/lib
-m=transforms_test.${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=${CCS_IDE_MODE} DEVICE=am263x"
enableSysConfigTool="true"
sysConfigBuildOptions="
--context r5fss0-0 --part AM263x --package ZCZ
"
description="A Transforms Test NORTOS project">
<configuration name="Release"
compilerBuildOptions="
-Os
"
linkerBuildOptions="
-lnortos.am263x.r5f.ti-arm-clang.release.lib
-ldrivers.am263x.r5f.ti-arm-clang.release.lib
-lboard.am263x.r5f.ti-arm-clang.release.lib
-lmathlib.am263x.r5f.ti-arm-clang.release.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<configuration name="Debug"
compilerBuildOptions="
-D_DEBUG_=1
"
linkerBuildOptions="
-lnortos.am263x.r5f.ti-arm-clang.debug.lib
-ldrivers.am263x.r5f.ti-arm-clang.debug.lib
-lboard.am263x.r5f.ti-arm-clang.debug.lib
-lmathlib.am263x.r5f.ti-arm-clang.debug.lib
-llibc.a
-llibsysbm.a
"
></configuration>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="../../../transforms_test.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_am263x/EXAMPLES_TRANSFORMS_TEST.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../../../transforms_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
</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>

137
examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang/linker.cmd Normal file
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/* 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 enabled
* - 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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 */
} > OCRAM
/* 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)
} > OCRAM
/* 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 */
} > OCRAM
/* 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
/* this is used only when Secure IPC is enabled */
.bss.sipc_hsm_queue_mem (NOLOAD) : {} > MAILBOX_HSM
.bss.sipc_r5f_queue_mem (NOLOAD) : {} > MAILBOX_R5F
}
MEMORY
{
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
R5F_TCMB : ORIGIN = 0x00080000 , LENGTH = 0x00008000
/* 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
*/
OCRAM : ORIGIN = 0x70040000 , 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 memories that are used by RTOS/NORTOS cores */
/* On R5F,
* - make sure there is a MPU entry which maps below regions as non-cache
*/
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x00004000
LOG_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x00004000
/* MSS mailbox memory is used as shared memory, we dont use bottom 32*12 bytes, since its used as SW queue by ipc_notify */
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x72000000, LENGTH = 0x3E80
MAILBOX_HSM: ORIGIN = 0x44000000 , LENGTH = 0x000003CE
MAILBOX_R5F: ORIGIN = 0x44000400 , LENGTH = 0x000003CE
}

280
examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang/makefile Normal file
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#
# 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:=transforms_test.$(PROFILE).out
BOOTIMAGE_PATH=$(abspath .)
BOOTIMAGE_NAME:=transforms_test.$(PROFILE).appimage
BOOTIMAGE_NAME_XIP:=transforms_test.$(PROFILE).appimage_xip
BOOTIMAGE_NAME_SIGNED:=transforms_test.$(PROFILE).appimage.signed
BOOTIMAGE_RPRC_NAME:=transforms_test.$(PROFILE).rprc
BOOTIMAGE_RPRC_NAME_XIP:=transforms_test.$(PROFILE).rprc_xip
BOOTIMAGE_RPRC_NAME_TMP:=transforms_test.$(PROFILE).rprc_tmp
FILES_common := \
transforms_test.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}/source/transforms/clarke \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/park \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/ipark \
-I${MOTOR_CONTROL_SDK_PATH}/source/transforms/svgen \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/mathlib/trig \
-Igenerated \
DEFINES_common := \
-DSOC_AM263X \
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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/lib \
-Wl,-i${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}/mcu_plus_sdk/source/mathlib/lib \
-Wl,-i${CG_TOOL_ROOT}/lib \
LIBS_common = \
-lnortos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-ldrivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-lboard.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-lmathlib.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
-llibc.a \
-llibsysbm.a \
LFLAGS_common = \
-Wl,--diag_suppress=10063 \
-Wl,--ram_model \
-Wl,--reread_libs \
LIBS_NAME = \
nortos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
drivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
board.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
mathlib.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
libc.a \
libsysbm.a \
LIBS_PATH_NAME = \
${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/nortos/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}/mcu_plus_sdk/source/mathlib/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: am263x:r5fss0-0:nortos:ti-arm-clang $(OUTNAME): $<
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
$(OBJDIR)/%.obj %.obj: %.S
@echo Compiling: am263x:r5fss0-0:nortos:ti-arm-clang $(LIBNAME): $<
$(CC) -c $(CFLAGS) -o $(OBJDIR)/$@ $<
all: $(BOOTIMAGE_NAME)
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: am263x:r5fss0-0:nortos:ti-arm-clang $@ ...
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
@echo Linking: am263x:r5fss0-0:nortos:ti-arm-clang $@ Done !!!
@echo .
clean:
@echo Cleaning: am263x:r5fss0-0:nortos:ti-arm-clang $(OUTNAME) ...
$(RMDIR) $(OBJDIR)
$(RM) $(OUTNAME)
$(RM) $(BOOTIMAGE_NAME)
$(RM) $(BOOTIMAGE_NAME_XIP)
$(RM) $(BOOTIMAGE_NAME_SIGNED)
$(RM) $(BOOTIMAGE_RPRC_NAME)
$(RM) $(BOOTIMAGE_RPRC_NAME_XIP)
$(RMDIR) generated/
scrub:
@echo Scrubing: am263x:r5fss0-0:nortos:ti-arm-clang transforms_test ...
$(RMDIR) obj
ifeq ($(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 AM263x --package ZCZ --output generated/ ../example.syscfg
syscfg-gui:
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM263x_beta --context r5fss0-0 --part AM263x --package ZCZ --output generated/ ../example.syscfg
#
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
#
ifeq ($(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_CORE_ID_r5fss0-0 = 0
BOOTIMAGE_CORE_ID_r5fss0-1 = 1
BOOTIMAGE_CORE_ID_r5fss1-0 = 2
BOOTIMAGE_CORE_ID_r5fss1-1 = 3
SBL_RUN_ADDRESS=0x70002000
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) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
ifeq ($(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: am263x:r5fss0-0:nortos: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)
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
@echo Boot image: am263x:r5fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
@echo .
-include $(addprefix $(OBJDIR)/, $(DEPS))

84
examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang/makefile_ccs_bootimage_gen Normal file
View File

@ -0,0 +1,84 @@
#
# 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 = 0
BOOTIMAGE_CORE_ID_r5fss0-1 = 1
BOOTIMAGE_CORE_ID_r5fss1-0 = 2
BOOTIMAGE_CORE_ID_r5fss1-1 = 3
SBL_RUN_ADDRESS=0x70002000
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) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
ifeq ($(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: am263x:r5fss0-0:nortos: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)
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
@echo Boot image: am263x:r5fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
@echo .
endif

20
examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang/makefile_projectspec Normal file
View File

@ -0,0 +1,20 @@
#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
PROFILE?=Release
PROJECT_NAME=transforms_test_am263x-lp_r5fss0-0_nortos_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

8
examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang/syscfg_c.rov.xs Normal file
View File

@ -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/kernel/freertos/rov/FreeRTOS.rov.js",
];

90
examples/transforms/transforms_test/transforms_test.c Normal file
View File

@ -0,0 +1,90 @@
/*
* Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
*
*
* 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 "transforms_test.h"
int verify_output(int test_num,\
float32_t* alphaBetaCurrent, float32_t* dqCurrent, float32_t* alphaBetaVoltage, float32_t* abcOutput)
{
// Compares park output with expected park output
bool is_park_erroneous = is_different(testParams[test_num].refAlpha, dqCurrent[0]) || is_different(testParams[test_num].refBeta, dqCurrent[1]);
// Compares svgen output with expected svgen output
bool is_svgen_erroneous = is_different(testParams[test_num].refA, abcOutput[0]) || is_different(testParams[test_num].refB, abcOutput[1]) || is_different(testParams[test_num].refC, abcOutput[2]);
// Compares output make sure that running park then ipark would revert all the changes
bool is_park_ipark_erroneous = is_different(alphaBetaCurrent[0], alphaBetaVoltage[0]) || is_different(alphaBetaCurrent[1], alphaBetaVoltage[1]);
if (is_park_erroneous || is_svgen_erroneous || is_park_ipark_erroneous)
{
DebugP_log("Test case %d (zero-indexed) produced error:\n",test_num);
if(is_park_erroneous)\
DebugP_log("Incorrect park value, the resultant is %f %f, but the expected is %f %f\n",dqCurrent[0],dqCurrent[1], testParams[test_num].refAlpha, testParams[test_num].refBeta);
if(is_svgen_erroneous)\
DebugP_log("Incorrect svgen value, the resultant is %f %f %f, but the expected is %f %f %f\n", abcOutput[0], abcOutput[1], abcOutput[2], testParams[test_num].refA, testParams[test_num].refB, testParams[test_num].refC);
if(is_park_ipark_erroneous)\
DebugP_log("Incorrect value, the original clarke value is %f %f, but the value after park-ipark is %f %f, before and after value should be the same\n", alphaBetaCurrent[0], alphaBetaCurrent[1], alphaBetaVoltage[0], alphaBetaVoltage[1]);
return 1;
}
return 0;
}
void transforms_test_main()
{
int testSize = sizeof(testParams)/sizeof(*testParams);
int error = 0;
for (int idx = 0; idx < testSize; idx++)
{
float32_t abcOutput[3], abcInput[3] = {testParams[idx].inA,testParams[idx].inB,testParams[idx].inC};
float32_t alphaBetaI[2], dqI[2], alphaBetaV[2];
float32_t sincosVal[2];
ti_arm_sincos(phasorOffset, &sincosVal[0]);
CLARKE_run_threeInput(abcInput[0], abcInput[1], abcInput[2], &alphaBetaI[0], &alphaBetaI[1]);
PARK_run(sincosVal[0], sincosVal[1], alphaBetaI[0], alphaBetaI[1], &dqI[0], &dqI[1]);
IPARK_run(sincosVal[0], sincosVal[1], dqI[0], dqI[1], &alphaBetaV[0], &alphaBetaV[1]);
//
// Using common mode for SVM modulation, functions for DPWM min/max modulation are also provided
//
SVGEN_runCom(1.0f, alphaBetaV[0], alphaBetaV[1], &abcOutput[0], &abcOutput[1], &abcOutput[2]);
error += verify_output(idx, &alphaBetaI[0], &dqI[0], &alphaBetaV[0], &abcOutput[0]);
}
DebugP_log("Transforms test produced %d error",error);
}

164
examples/transforms/transforms_test/transforms_test.h Normal file
View File

@ -0,0 +1,164 @@
/*
* Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
*
*
* 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.
*/
#ifndef TRANSFORMS_TEST
#define TRANSFORMS_TEST
#ifdef __cplusplus
extern "C" {
#endif
#include <kernel/dpl/DebugP.h>
#include "ti_drivers_config.h"
#include "ti_drivers_open_close.h"
#include "ti_board_open_close.h"
#include "ti_arm_trig.h"
#include "clarke.h"
#include "park.h"
#include "ipark.h"
#include "svgen.h"
#include <stdbool.h>
#include <math.h>
typedef struct {
/* Provided Input */
float32_t inA;
float32_t inB;
float32_t inC;
/* Reference Output */
float32_t refAlpha; // expected value for PARK output
float32_t refBeta; // expected value for PARK output
float32_t refA; // expected value for SVGEN output
float32_t refB; // expected value for SVGEN output
float32_t refC; // expected value for SVGEN output
} transform_test_t;
#define ERROR_TOL 1e-05f
#define exceeds_tolerance(x) x > ERROR_TOL
#define is_different(x,y) exceeds_tolerance(fabsf(x - y))
static float32_t phasorOffset = M_PI_2;
static transform_test_t testParams[] =
{
{
1.0f, -0.5f,-0.5f,
-0.0f, -1.0f,
0.75f, -0.75f, -0.75f
},
{
0.75f, -0.158494f, -0.591506f,
0.250000f, -0.750000f,
0.670753f, -0.237741f, -0.670753f
},
{
0.5f, 0.183013,-0.683013,
0.5f, -0.5f,
0.591506f, 0.274520f, -0.591506f
},
{
0.25f,0.524519f,-0.774519f,
0.75f, -0.25f,
0.375f, 0.649519f, -0.649519f
},
{
0.0f,0.866025f,-0.866025f,
1.0f, 0.0f,
0.0f, 0.866025f, -0.866025f
},
{
-0.25f,0.774519f,-0.524519f,
0.75f, 0.25f,
-0.375000f, 0.649519f, -0.649519f
},
{
-0.5f,0.683013f,-0.183013f,
0.5f, 0.5f,
-0.591506f, 0.591506f, -0.274519f
},
{
-0.75f,0.591506f,0.158494f,
0.25f, 0.75f,
-0.670753f, 0.670753f, 0.237741f
},
{
-1.0f,0.5f,0.5f,
0.0f, 1.0f,
-0.75f, 0.75f, 0.75f
},
{
-0.75f,0.591506f,0.158494f,
0.25f,0.75f,
-0.670753f, 0.670753f, 0.237741f
},
{
-0.500000f, 0.683013f, -0.183013f,
0.5f,0.5f,
-0.591506f, 0.591506f, -0.274519f
},
{
-0.250000f, -0.524519f, 0.774519f,
-0.75f,0.25f,
-0.375000f, -0.649519f, 0.649519f
},
{
0.000000f, -0.866025f, 0.866025f,
-1.0f,0.0f,
0.0f, -0.866025f, 0.866025f
},
{
0.250000f, -0.774519f, 0.524519f,
-0.75f,-0.25f,
0.375f, -0.649519, 0.649519f
},
{
0.500000f, -0.683013f, 0.183013f,
-0.5f,-0.5f,
0.591506f, -0.591506f, 0.274519f
},
{
0.750000f, -0.591506f, -0.158494f,
-0.25f,-0.75f,
0.670753f, -0.670753f, -0.237741f
},
};
#ifdef __cplusplus
}
#endif // extern "C"
#endif

52
makefile.am243x
View File

@ -58,6 +58,10 @@ help:
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_nortos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@ -229,6 +233,10 @@ BUILD_COMBO_EXAMPLE_ALL += dcl_pi_am243x-evm_r5fss0-0_nortos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += dcl_pi_am243x-evm_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += dcl_pi_am243x-lp_r5fss0-0_nortos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += endat_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += endat_diagnostic_multi_channel_load_share_am243x-evm_r5fss0-0_freertos_ti-arm-clang
@ -303,6 +311,18 @@ examples-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_ALL)
dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
$(MAKE) -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang -f makefile all
transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile all
transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang:
$(MAKE) -C examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile all
@ -434,6 +454,10 @@ BUILD_COMBO_EXAMPLE_CLEAN_ALL += dcl_pi_am243x-evm_r5fss0-0_nortos_ti-arm-clang_
BUILD_COMBO_EXAMPLE_CLEAN_ALL += dcl_pi_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += dcl_pi_am243x-lp_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += endat_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += endat_diagnostic_multi_channel_load_share_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
@ -508,6 +532,18 @@ examples-private-clean: $(BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL)
dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang -f makefile clean
transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile clean
transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile clean
@ -639,6 +675,10 @@ BUILD_COMBO_EXAMPLE_SCRUB_ALL += dcl_pi_am243x-evm_r5fss0-0_nortos_ti-arm-clang_
BUILD_COMBO_EXAMPLE_SCRUB_ALL += dcl_pi_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += dcl_pi_am243x-lp_r5fss0-0_nortos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += endat_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += endat_diagnostic_multi_channel_load_share_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub
@ -713,6 +753,18 @@ examples-scrub-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL)
dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
$(MAKE) -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_scrub:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang -f makefile scrub
transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_scrub:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile scrub
transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_scrub:
$(MAKE) -C examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile scrub

52
makefile.am263x
View File

@ -48,6 +48,10 @@ help:
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am263x-cc/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_nortos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo $(MAKE) -s -C examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang [all clean syscfg-gui syscfg]
@echo .
@echo System Example build targets,
@ -120,6 +124,10 @@ BUILD_COMBO_EXAMPLE_ALL += dcl_pi_am263x-cc_r5fss0-0_nortos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += dcl_pi_am263x-cc_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += dcl_pi_am263x-lp_r5fss0-0_nortos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang
BUILD_COMBO_EXAMPLE_ALL += tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang
# Various System Example Targets
@ -155,6 +163,18 @@ examples-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_ALL)
dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang:
$(MAKE) -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang -f makefile all
transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang -f makefile all
transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile all
transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang:
$(MAKE) -C examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile all
@ -169,6 +189,10 @@ BUILD_COMBO_EXAMPLE_CLEAN_ALL += dcl_pi_am263x-cc_r5fss0-0_nortos_ti-arm-clang_c
BUILD_COMBO_EXAMPLE_CLEAN_ALL += dcl_pi_am263x-cc_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += dcl_pi_am263x-lp_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_CLEAN_ALL += tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean
# Various System Example Clean Targets
@ -204,6 +228,18 @@ examples-private-clean: $(BUILD_COMBO_EXAMPLE_PRIVATE_CLEAN_ALL)
dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang -f makefile clean
transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang -f makefile clean
transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile clean
transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile clean
@ -218,6 +254,10 @@ BUILD_COMBO_EXAMPLE_SCRUB_ALL += dcl_pi_am263x-cc_r5fss0-0_nortos_ti-arm-clang_s
BUILD_COMBO_EXAMPLE_SCRUB_ALL += dcl_pi_am263x-cc_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += dcl_pi_am263x-lp_r5fss0-0_nortos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
BUILD_COMBO_EXAMPLE_SCRUB_ALL += tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_scrub
# Various System Example Scrub Targets
@ -253,6 +293,18 @@ examples-scrub-private: $(BUILD_COMBO_EXAMPLE_PRIVATE_SCRUB_ALL)
dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
$(MAKE) -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_scrub:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang -f makefile scrub
transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_scrub:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_scrub:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile scrub
transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub
tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_scrub:
$(MAKE) -C examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile scrub

52
makefile_projectspec.am243x
View File

@ -15,6 +15,10 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += dcl_pi_am243x-evm_r5fss0-0_nortos_t
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += dcl_pi_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += dcl_pi_am243x-lp_r5fss0-0_nortos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += endat_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += endat_diagnostic_multi_channel_load_share_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build
@ -89,6 +93,18 @@ all-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL)
dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
$(MAKE) -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_build:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec all
transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_build:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec all
transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_build:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_build:
$(MAKE) -C examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
@ -221,6 +237,10 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += dcl_pi_am243x-evm_r5fss0-0_nortos_t
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += dcl_pi_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += dcl_pi_am243x-lp_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += endat_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += endat_diagnostic_multi_channel_load_share_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean
@ -295,6 +315,18 @@ clean-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL)
dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec clean
transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec clean
transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
@ -427,6 +459,10 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += dcl_pi_am243x-evm_r5fss0-0_nortos_
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += dcl_pi_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += dcl_pi_am243x-lp_r5fss0-0_nortos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += endat_diagnostic_single_channel_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += endat_diagnostic_multi_channel_load_share_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export
@ -501,6 +537,18 @@ export-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL)
dcl_pi_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
$(MAKE) -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
transforms_test_am243x-evm_r5fss0-0_nortos_ti-arm-clang_export:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec export
transforms_test_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
$(MAKE) -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
transforms_test_am243x-lp_r5fss0-0_nortos_ti-arm-clang_export:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec export
transforms_test_am243x-lp_r5fss0-0_freertos_ti-arm-clang_export:
$(MAKE) -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
endat_diagnostic_single_channel_am243x-evm_r5fss0-0_freertos_ti-arm-clang_export:
$(MAKE) -C examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
@ -658,6 +706,10 @@ help:
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/position_sense/endat_diagnostic/single_channel/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/position_sense/endat_diagnostic/single_channel/am243x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/position_sense/endat_diagnostic/multi_channel_load_share/am243x-evm/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]

52
makefile_projectspec.am263x
View File

@ -12,6 +12,10 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += dcl_pi_am263x-cc_r5fss0-0_nortos_ti
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += dcl_pi_am263x-cc_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += dcl_pi_am263x-lp_r5fss0-0_nortos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_build
BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_ALL += tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_build
# Various System Example Projectspec Build Targets
@ -47,6 +51,18 @@ all-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_BUILD_PRIVATE_ALL)
dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_build:
$(MAKE) -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_build:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec all
transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_build:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_build:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec all
transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_build:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_build:
$(MAKE) -C examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec all
@ -62,6 +78,10 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += dcl_pi_am263x-cc_r5fss0-0_nortos_ti
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += dcl_pi_am263x-cc_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += dcl_pi_am263x-lp_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean
BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_ALL += tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean
# Various System Example Projectspec Clean Targets
@ -97,6 +117,18 @@ clean-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_CLEAN_PRIVATE_ALL)
dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec clean
transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec clean
transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_clean:
$(MAKE) -C examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec clean
@ -112,6 +144,10 @@ BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += dcl_pi_am263x-cc_r5fss0-0_nortos_t
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += dcl_pi_am263x-cc_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += dcl_pi_am263x-lp_r5fss0-0_nortos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_export
BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_ALL += tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_export
# Various System Example Projectspec Export Targets
@ -147,6 +183,18 @@ export-private: $(BUILD_COMBO_EXAMPLE_PROJECTSPEC_EXPORT_PRIVATE_ALL)
dcl_pi_am263x-lp_r5fss0-0_freertos_ti-arm-clang_export:
$(MAKE) -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
transforms_test_am263x-cc_r5fss0-0_nortos_ti-arm-clang_export:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec export
transforms_test_am263x-cc_r5fss0-0_freertos_ti-arm-clang_export:
$(MAKE) -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
transforms_test_am263x-lp_r5fss0-0_nortos_ti-arm-clang_export:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec export
transforms_test_am263x-lp_r5fss0-0_freertos_ti-arm-clang_export:
$(MAKE) -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
tamagawa_diagnostic_soc_uart_am263x-lp_r5fss0-0_freertos_ti-arm-clang_export:
$(MAKE) -C examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec export
@ -178,6 +226,10 @@ help:
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am263x-cc/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am263x-cc/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_nortos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/transforms/transforms_test/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo $(MAKE) -s -C examples/position_sense/tamagawa_diagnostic_over_soc_uart/am263x-lp/r5fss0-0_freertos/ti-arm-clang -f makefile_projectspec [export all clean]
@echo .
@echo System Example ProjectSpec build targets,

2
source/dcl/common/dcl_aux.h
View File

@ -99,4 +99,4 @@ extern "C" {
}
#endif // extern "C"
#endif // _DCL_AUX_H_
#endif // _DCL_AUX_H_

18
source/dcl/common/dcl_css.h
View File

@ -56,7 +56,7 @@ extern "C" {
//!
typedef struct dcl_css {
float32_t tpt; //!< Test point
float32_t t_sec; //!< Controller period in seconds
float32_t T; //!< Controller period in seconds
volatile uint32_t sts; //!< Status word
uint32_t err_line; //!< Error location line (errno)
uint32_t err; //!< Error status code
@ -71,7 +71,7 @@ typedef struct dcl_css {
//!
typedef struct dcl_css64 {
float64_t tpt; //!< Test point
float64_t t_sec; //!< Controller period in seconds
float64_t T; //!< Controller period in seconds
volatile uint32_t sts; //!< Status word
uint32_t err_line; //!< Error location line (errno)
uint32_t err; //!< Error status code
@ -85,11 +85,11 @@ typedef struct dcl_css64 {
//! \brief Loads the controller period in the CSS
//! CSS pointer must be configured first
//!
//! \param[in] p Pointer to the controller structure
//! \param[in] T Sample period in seconds
//! \return None
//! \param[in] p Pointer to the controller structure
//! \param[in] t_sec Controller period in seconds
//! \return None
//!
#define DCL_setControllerPeriod(p,T) ((p)->css->t_sec = T)
#define DCL_setControllerPeriod(p,t_sec) ((p)->css->T = t_sec)
//--- Status word ------------------------------------------------------------
@ -107,7 +107,6 @@ typedef enum
{
dcl_sts_none = 0U, //!< Status empty
dcl_sts_param_update = (1U << 0), //!< Parameter update-in-progress flag, high if ongoing parameter update
dcl_sts_param_pending = (1U << 2), //!< Parameter pending-for-update flag, high if parameter needs to be updated
dcl_sts_ctrl_running = (1U << 1) //!< Controller operation-in-progress flag, high if operation is in progress
} dcl_status_bits;
@ -123,11 +122,6 @@ typedef enum
#define DCL_getUpdateStatus(p) (0U != ((p)->css->sts & dcl_sts_param_update))
//! \brief Macros to set and clear the pending-for-update flag
//!
#define DCL_setPendingStatus(p) ((p)->css->sts |= dcl_sts_param_pending)
#define DCL_clearPendingStatus(p) ((p)->css->sts &= ~dcl_sts_param_pending)
//! \brief Determine whether a parameter pending-for-update flag is set
//!
//! \return 'true' if pending status is set, otherwise false

10
source/dcl/dcl.h
View File

@ -18,7 +18,7 @@
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPgResS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* "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,
@ -49,8 +49,8 @@ extern "C" {
*/
//! \brief Library version number formatted for numerical comparison
//! v4.00.00.00
#define DCL_VERSION 4000000
//! v4.00.01.00
#define DCL_VERSION 4000100
//! \brief Enable voltaile flag for dcl strcutures
//! Only enable the flag if the controller can
@ -73,7 +73,7 @@ extern "C" {
#include "misc/dcl_fdlog.h"
#include "misc/dcl_error.h"
/* 32bit arthmetic */
/* 32bit arithmetic */
#include "pi/dcl_pi.h"
#include "pi/dcl_pi2.h"
#include "pid/dcl_pid.h"
@ -83,7 +83,7 @@ extern "C" {
#include "df/dcl_df22.h"
#include "df/dcl_df23.h"
/* 64bit arthmetic */
/* 64bit arithmetic */
#include "pid/dcl_pidf64.h"
/** @} */

9
source/dcl/dcl_common.h
View File

@ -18,7 +18,7 @@
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPgResS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* "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,
@ -45,6 +45,9 @@ extern "C" {
* \brief Top level header that contains all DCL common strctures and functions
*/
#include <stdint.h>
#include <stdbool.h>
//! \brief Defines single,double precision data type.
//! Note: Assumes ABI to be __TI_EABI__,
//! does not support legacy __TI_COFF__.
@ -56,7 +59,7 @@ typedef double float64_t;
//! \brief Defines dcl function section that users can specify in the linker file(.cmd)
//! and to accelerate performance by mapping to faster memory
//! Note: only DCL_runXXX and DCL_updateXXX/pendingUpdateXXX are included by default
//! Note: only DCL_run and DCL_update are included by default
#define _DCL_CODE_SECTION __attribute__((section("dclfuncs")))
//! \brief Defines volatile for DCL strctures
@ -97,8 +100,6 @@ typedef double float64_t;
#warning "DCL currently doesn't support interrupt operations for this architecture"
#endif
#include <stdint.h>
#include <stdbool.h>
#include "common/dcl_aux.h"
#include "common/dcl_css.h"
#include "common/dcl_zpk3.h"

76
source/dcl/df/dcl_df11.h
View File

@ -140,77 +140,59 @@ typedef _DCL_VOLATILE struct dcl_df11
_DCL_CODE_ACCESS
void DCL_resetDF11(DCL_DF11 *df)
{
dcl_interrupt_t ints = DCL_disableInts();
dcl_interrupt_t ints;
ints = DCL_disableInts();
df->d1 = df->d2 = 0.0f;
DCL_restoreInts(ints);
}
//! \brief Loads DF11 tuning parameter from its SPS parameter
//! \brief Loads DF11 tuning parameter from its SPS parameter without interrupt protection
//!
//! \param[in] df Pointer to the active DCL_DF11 controller structure
//!
_DCL_CODE_ACCESS
void DCL_fupdateDF11(DCL_DF11 *df)
void DCL_forceUpdateDF11(DCL_DF11 *df)
{
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->a1 = df->sps->a1;
}
//! \brief Updates DF11 parameter from its SPS parameter with interrupt protection
//! \brief Loads DF11 tuning parameter from its SPS parameter with interrupt protection
//!
//! \param[in] df Pointer to the DCL_DF11 controller structure
//! \return 'true' if update is successful, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_updateDF11(DCL_DF11 *df)
void DCL_updateDF11NoCheck(DCL_DF11 *df)
{
if (!DCL_getUpdateStatus(df))
{
dcl_interrupt_t ints = DCL_disableInts();
DCL_setUpdateStatus(df);
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->a1 = df->sps->a1;
DCL_clearUpdateStatus(df);
DCL_restoreInts(ints);
return true;
}
return false;
dcl_interrupt_t ints;
ints = DCL_disableInts();
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->a1 = df->sps->a1;
DCL_restoreInts(ints);
}
//! \brief A conditional update based on the pending-for-update flag.
//! If the pending status is set, the function will update DF11
//! \brief A conditional update based on the update flag.
//! If the update status is set, the function will update DF11
//! parameter from its SPS parameter and clear the status flag on completion.
//! Note: Use DCL_setPendingStatus(df) to set the pending status.
//! Note: Use DCL_setUpdateStatus(df) to set the update status.
//!
//! \param[in] df Pointer to the DCL_DF11 controller structure
//! \return 'true' if an update is applied, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_pendingUpdateDF11(DCL_DF11 *df)
bool DCL_updateDF11(DCL_DF11 *df)
{
if (DCL_getPendingStatus(df) && DCL_updateDF11(df))
if (DCL_getUpdateStatus(df))
{
DCL_clearPendingStatus(df);
DCL_updateDF11NoCheck(df);
DCL_clearUpdateStatus(df);
return true;
}
return false;
}
//! \brief Update SPS parameter with active param, userful when needing
//! to update only few active param from SPS and keep rest the same
//!
//! \param[in] df Pointer to the active DCL_DF11 controller structure
//!
_DCL_CODE_ACCESS
void DCL_updateDF11SPS(DCL_DF11 *df)
{
df->sps->b0 = df->b0;
df->sps->b1 = df->b1;
df->sps->a1 = df->a1;
}
//! \brief Determines stability of the shadow DF11 compensator
//!
//! \param[in] df Pointer to the DCL_DF11 controller structure
@ -223,7 +205,7 @@ bool DCL_isStableDF11(DCL_DF11 *df)
}
//! \brief Loads the DF11 shadow coefficients from a ZPK3 description
//! Note: Sampling period df->css->t_sec are used in the calculation.
//! Note: Sampling period df->css->T are used in the calculation.
//! New settings take effect after DCL_updateDF11().
//! Only real z1 & p1 considered, all other roots ignored.
//!
@ -245,15 +227,15 @@ void DCL_loadDF11asZPK(DCL_DF11 *df, DCL_ZPK3 *zpk)
}
#endif
float32_t t_sec = df->css->t_sec;
float32_t a0p = 2.0f - (float32_t) crealf(zpk->p1) * t_sec;
df->sps->b0 = zpk->K * (2.0f - (float32_t) crealf(zpk->z1) * t_sec) / a0p;
df->sps->b1 = zpk->K * (-2.0f - (float32_t) crealf(zpk->z1) * t_sec) / a0p;
df->sps->a1 = (-2.0f - (float32_t) crealf(zpk->p1) * t_sec) / a0p;
float32_t T = df->css->T;
float32_t a0p = 2.0f - (float32_t) crealf(zpk->p1) * T;
df->sps->b0 = zpk->K * (2.0f - (float32_t) crealf(zpk->z1) * T) / a0p;
df->sps->b1 = zpk->K * (-2.0f - (float32_t) crealf(zpk->z1) * T) / a0p;
df->sps->a1 = (-2.0f - (float32_t) crealf(zpk->p1) * T) / a0p;
}
//! \brief Loads compensator coefficients to emulate series form PI
//! Note: Sampling period df->css->t_sec are used in the calculation.
//! Note: Sampling period df->css->T are used in the calculation.
//! New settings take effect after DCL_updateDF11().
//!
//! \param[in] df Pointer to the DCL_DF11 controller structure
@ -275,9 +257,9 @@ void DCL_loadDF11asPI(DCL_DF11 *df, float32_t Kp, float32_t Ki)
}
#endif
float32_t t_sec = df->css->t_sec;
df->sps->b0 = Kp * ((Ki * t_sec) + 2.0f) / 2.0f;
df->sps->b1 = Kp * ((Ki * t_sec) - 2.0f) / 2.0f;
float32_t T = df->css->T;
df->sps->b0 = Kp * ((Ki * T) + 2.0f) / 2.0f;
df->sps->b1 = Kp * ((Ki * T) - 2.0f) / 2.0f;
df->sps->a1 = -1.0f;
}

171
source/dcl/df/dcl_df13.h
View File

@ -45,7 +45,33 @@ extern "C" {
* \file dcl_df13.h
* \brief Contains direct form 1 3rd order DF13 compensator
* with its related structures and functions
*/
*
* \details Due to compatibility reason, this file maintains a copy
* of legacy function DCL_runDF13_C5(), DCL_runDF13_C6().
* It is advised to not use these legacy functions for new development.
*
* \code Previously, C28 version of DCL did not implement a function
* to run DF13 with clamp. Instead, user had to implement a routine
* similar to the following:
*
* extern DCL_DF13 df;
* extern float32_t ek, uk;
* float32_t vk = 0;
*
* float32_t uk = DCL_runDF13_C2/C5(df, ek, vk);
* bool is_clamped = DCL_runClamp_C1/C2(&uk, Umax, Umin)
* if (!is_clamped)
* {
* vk = DCL_runDF13_C3/C6(df, ek, uk);
* }
*
* A new function DCL_runDF13Clamp() was implemented to replace it,
* therefore, user may change the aformentioned routine to just:
*
* uk = DCL_runDF13Clamp(df, ek, Umax, Umin);
* \endcode
*
*/
#include "../dcl_common.h"
@ -62,9 +88,10 @@ typedef struct dcl_df13_sps {
float32_t a1; //!< neg. coefficient to u(k-1)
float32_t a2; //!< neg. coefficient to u(k-2)
float32_t a3; //!< neg. coefficient to u(k-3)
float32_t a0; //!< No Longer Needed
} DCL_DF13_SPS;
#define DF13_SPS_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f }
#define DF13_SPS_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f, 0.0f }
//! \brief DCL_DF13 object for storing df13 specific parameters
//!
@ -87,6 +114,10 @@ typedef _DCL_VOLATILE struct dcl_df13
float32_t d5; //!< u(k-2)
float32_t d6; //!< u(k-3)
float32_t a0; //!< No Longer Needed
float32_t d0; //!< No Longer Needed
float32_t d7; //!< No Longer Needed
/* miscellaneous */
DCL_DF13_SPS *sps; //!< updates compensator parameter
DCL_CSS *css; //!< configuration & debugging
@ -95,7 +126,7 @@ typedef _DCL_VOLATILE struct dcl_df13
//! \brief Defines default values to initialize DCL_DF13
//!
#define DF13_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f, \
0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
&(DCL_DF13_SPS)DF13_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }
//! \brief Macro for internal default values to initialize DCL_DF13
@ -107,8 +138,8 @@ typedef _DCL_VOLATILE struct dcl_df13
//! DF13_INT_DEFAULTS
//! };
#define DF13_INT_DEFAULTS .d1=0.0f, .d2=0.0f, .d3=0.0f, .d4=0.0f, .d5=0.0f, \
.d6=0.0f, .sps=&(DCL_DF13_SPS)DF13_SPS_DEFAULTS, \
.css=&(DCL_CSS)DCL_CSS_DEFAULTS
.d6=0.0f, .a0=0.0f, .d0=0.0f, .d7=0.0f, \
.sps=&(DCL_DF13_SPS)DF13_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_DEFAULTS
//! \brief Initialize DCL_DF13 struct with default parameters
//! Example: DCL_DF13* df13_ctrl = DCL_initDF13();
@ -143,8 +174,8 @@ typedef _DCL_VOLATILE struct dcl_df13
if(sps_ptr) \
{ \
*new_df =(DCL_DF13){ (new_sps)->b0, (new_sps)->b1, (new_sps)->b2, (new_sps)->b3, \
(new_sps)->a1, (new_sps)->a2, (new_sps)->a3, 0.0f, 0.0f, 0.0f, 0.0f, \
0.0f, 0.0f, (DCL_DF13_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS }; \
(new_sps)->a1, (new_sps)->a2, (new_sps)->a3, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
0.0f, 0.0f, 0.0f, (DCL_DF13_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS }; \
} \
new_df; \
})
@ -157,17 +188,18 @@ typedef _DCL_VOLATILE struct dcl_df13
_DCL_CODE_ACCESS
void DCL_resetDF13(DCL_DF13 *df)
{
dcl_interrupt_t ints = DCL_disableInts();
dcl_interrupt_t ints;
ints = DCL_disableInts();
df->d1 = df->d2 = df->d3 = df->d4 = df->d5 = df->d6 = 0.0f;
DCL_restoreInts(ints);
}
//! \brief Loads DF13 tuning parameter from its SPS parameter
//! \brief Loads DF13 tuning parameter from its SPS parameter without interrupt protection
//!
//! \param[in] df Pointer to the active DCL_DF13 controller structure
//!
_DCL_CODE_ACCESS
void DCL_fupdateDF13(DCL_DF13 *df)
void DCL_forceUpdateDF13(DCL_DF13 *df)
{
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
@ -178,68 +210,45 @@ void DCL_fupdateDF13(DCL_DF13 *df)
df->a3 = df->sps->a3;
}
//! \brief Updates DF13 parameter from its SPS parameter with interrupt protection
//! \brief Loads DF13 tuning parameter from its SPS parameter with interrupt protection
//!
//! \param[in] df Pointer to the DCL_DF13 controller structure
//! \return 'true' if update is successful, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_updateDF13(DCL_DF13 *df)
void DCL_updateDF13NoCheck(DCL_DF13 *df)
{
if (!DCL_getUpdateStatus(df))
{
dcl_interrupt_t ints = DCL_disableInts();
DCL_setUpdateStatus(df);
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->b2 = df->sps->b2;
df->b3 = df->sps->b3;
df->a1 = df->sps->a1;
df->a2 = df->sps->a2;
df->a3 = df->sps->a3;
DCL_clearUpdateStatus(df);
DCL_restoreInts(ints);
return true;
}
return false;
dcl_interrupt_t ints;
ints = DCL_disableInts();
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->b2 = df->sps->b2;
df->b3 = df->sps->b3;
df->a1 = df->sps->a1;
df->a2 = df->sps->a2;
df->a3 = df->sps->a3;
DCL_restoreInts(ints);
}
//! \brief A conditional update based on the pending-for-update flag.
//! If the pending status is set, the function will update DF13
//! \brief A conditional update based on the update flag.
//! If the update status is set, the function will update DF13
//! parameter from its SPS parameter and clear the status flag on completion..
//! Note: Use DCL_setPendingStatus(df) to set the pending status.
//! Note: Use DCL_setUpdateStatus(df) to set the update status.
//!
//! \param[in] df Pointer to the DCL_DF13 controller structure
//! \return 'true' if an update is applied, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_pendingUpdateDF13(DCL_DF13 *df)
bool DCL_updateDF13(DCL_DF13 *df)
{
if (DCL_getPendingStatus(df) && DCL_updateDF13(df))
if (DCL_getUpdateStatus(df))
{
DCL_clearPendingStatus(df);
DCL_updateDF13NoCheck(df);
DCL_clearUpdateStatus(df);
return true;
}
return false;
}
//! \brief Update SPS parameter with active param, userful when needing
//! to update only few active param from SPS and keep rest the same
//!
//! \param[in] df Pointer to the active DCL_DF13 controller structure
//!
_DCL_CODE_ACCESS
void DCL_updateDF13SPS(DCL_DF13 *df)
{
df->sps->b0 = df->b0;
df->sps->b1 = df->b1;
df->sps->b2 = df->b2;
df->sps->b3 = df->b3;
df->sps->a1 = df->a1;
df->sps->a2 = df->a2;
df->sps->a3 = df->a3;
}
//! \brief Determines stability of the shadow compensator
//!
//! \param[in] df Pointer to the DCL_DF13 controller structure
@ -252,7 +261,7 @@ bool DCL_isStableDF13(DCL_DF13 *df)
}
//! \brief Loads the DF13 shadow coefficients from a ZPK3 description.
//! Note: Sampling period df->css->t_sec are used in the calculation.
//! Note: Sampling period df->css->T are used in the calculation.
//! New settings take effect after DCL_updateDF13().
//!
//! \param[in] df Pointer to the DCL_DF13 controller structure
@ -281,18 +290,18 @@ void DCL_loadDF13asZPK(DCL_DF13 *df, DCL_ZPK3 *zpk)
float32_t alpha1 = (float32_t) crealf((zpk->p1 * zpk->p2) + (zpk->p2 * zpk->p3) + (zpk->p1 * zpk->p3));
float32_t alpha0 = -(float32_t) crealf(zpk->p1 * zpk->p2 * zpk->p3);
float32_t t_sec = df->css->t_sec;
float32_t T = df->css->T;
float32_t a0p = 8.0f + (alpha2 * 4.0f * t_sec) + (alpha1 * 2.0f * t_sec * t_sec) + (alpha0 * t_sec * t_sec * t_sec);
float32_t a0p = 8.0f + (alpha2 * 4.0f * T) + (alpha1 * 2.0f * T * T) + (alpha0 * T * T * T);
df->sps->b0 = zpk->K * (8.0f + (beta2 * 4.0f * t_sec) + (beta1 * 2.0f * t_sec * t_sec) + (beta0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->b1 = zpk->K * (-24.0f - (beta2 * 4.0f * t_sec) + (beta1 * 2.0f * t_sec * t_sec) + (3.0f * beta0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->b2 = zpk->K * (24.0f - (beta2 * 4.0f * t_sec) - (beta1 * 2.0f * t_sec * t_sec) + (3.0f * beta0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->b3 = zpk->K * (-8.0f + (beta2 * 4.0f * t_sec) - (beta1 * 2.0f * t_sec * t_sec) + (beta0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->b0 = zpk->K * (8.0f + (beta2 * 4.0f * T) + (beta1 * 2.0f * T * T) + (beta0 * T * T * T)) / a0p;
df->sps->b1 = zpk->K * (-24.0f - (beta2 * 4.0f * T) + (beta1 * 2.0f * T * T) + (3.0f * beta0 * T * T * T)) / a0p;
df->sps->b2 = zpk->K * (24.0f - (beta2 * 4.0f * T) - (beta1 * 2.0f * T * T) + (3.0f * beta0 * T * T * T)) / a0p;
df->sps->b3 = zpk->K * (-8.0f + (beta2 * 4.0f * T) - (beta1 * 2.0f * T * T) + (beta0 * T * T * T)) / a0p;
df->sps->a1 = (-24.0f - (alpha2 * 4.0f * t_sec) + (alpha1 * 2.0f * t_sec * t_sec) + (3.0f * alpha0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->a2 = (24.0f - (alpha2 * 4.0f * t_sec) - (alpha1 * 2.0f * t_sec * t_sec) + (3.0f * alpha0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->a3 = (-8.0f + (alpha2 * 4.0f * t_sec) - (alpha1 * 2.0f * t_sec * t_sec) + (alpha0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->a1 = (-24.0f - (alpha2 * 4.0f * T) + (alpha1 * 2.0f * T * T) + (3.0f * alpha0 * T * T * T)) / a0p;
df->sps->a2 = (24.0f - (alpha2 * 4.0f * T) - (alpha1 * 2.0f * T * T) + (3.0f * alpha0 * T * T * T)) / a0p;
df->sps->a3 = (-8.0f + (alpha2 * 4.0f * T) - (alpha1 * 2.0f * T * T) + (alpha0 * T * T * T)) / a0p;
}
//! \brief Executes a 3rd order Direct Form 1 controller
@ -363,6 +372,44 @@ float32_t DCL_runDF13Clamp(DCL_DF13 *df, float32_t ek, float32_t Umax, float32_t
return(uk);
}
//! \brief Legacy C28 Function for maintaining backwards compatibility.
//! It Executes an immediate 3rd order Direct Form 1 controller
//!
//! \param[in] p Pointer to the DCL_DF13 controller structure
//! \param[in] ek The servo error
//! \param[in] vk The partial pre-computed control effort
//! \return uk The control effort
//!
_DCL_CODE_ACCESS
float32_t DCL_runDF13_C5(DCL_DF13 *p, float32_t ek, float32_t vk)
{
p->d4 = (ek * p->b0) + vk;
return(p->d4);
}
//! \brief Legacy C28 Function for maintaining backwards compatibility.
//! It executes a partial pre-computed 3rd order Direct Form 1 controller
//!
//! \param[in] p Pointer to the DCL_DF13 controller structure
//! \param[in] ek The servo error
//! \param[in] uk The controller output in the previous sample interval
//! \return vk The control effort
//!
_DCL_CODE_ACCESS
float32_t DCL_runDF13_C6(DCL_DF13 *p, float32_t ek, float32_t uk)
{
float32_t v9;
v9 = (ek * p->b1) + (p->d1 * p->b2) + (p->d2 * p->b3) - (uk * p->a1) - (p->d5 * p->a2) - (p->d6 * p->a3);
p->d2 = p->d1;
p->d1 = ek;
p->d6 = p->d5;
p->d5 = uk;
return(v9);
}
/** @} */
#ifdef __cplusplus

107
source/dcl/df/dcl_df22.h
View File

@ -146,17 +146,18 @@ typedef _DCL_VOLATILE struct dcl_df22
_DCL_CODE_ACCESS
void DCL_resetDF22(DCL_DF22 *df)
{
dcl_interrupt_t ints = DCL_disableInts();
dcl_interrupt_t ints;
ints = DCL_disableInts();
df->x1 = df->x2 = 0.0f;
DCL_restoreInts(ints);
}
//! \brief Loads DF22 tuning parameter from its SPS parameter
//! \brief Loads DF22 tuning parameter from its SPS parameter without interrupt protection
//!
//! \param[in] df Pointer to the active DCL_DF22 controller structure
//!
_DCL_CODE_ACCESS
void DCL_fupdateDF22(DCL_DF22 *df)
void DCL_forceUpdateDF22(DCL_DF22 *df)
{
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
@ -165,65 +166,43 @@ void DCL_fupdateDF22(DCL_DF22 *df)
df->a2 = df->sps->a2;
}
//! \brief Updates DF22 parameter from its SPS parameter with interrupt protection
//! \brief Loads DF22 tuning parameter from its SPS parameter with interrupt protection
//!
//! \param[in] df Pointer to the DCL_DF22 controller structure
//! \return 'true' if update is successful, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_updateDF22(DCL_DF22 *df)
void DCL_updateDF22NoCheck(DCL_DF22 *df)
{
if (!DCL_getUpdateStatus(df))
{
dcl_interrupt_t ints = DCL_disableInts();
DCL_setUpdateStatus(df);
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->b2 = df->sps->b2;
df->a1 = df->sps->a1;
df->a2 = df->sps->a2;
DCL_clearUpdateStatus(df);
DCL_restoreInts(ints);
return true;
}
return false;
dcl_interrupt_t ints;
ints = DCL_disableInts();
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->b2 = df->sps->b2;
df->a1 = df->sps->a1;
df->a2 = df->sps->a2;
DCL_restoreInts(ints);
}
//! \brief A conditional update based on the pending-for-update flag.
//! If the pending status is set, the function will update DF22
//! \brief A conditional update based on the update flag.
//! If the update status is set, the function will update DF22
//! parameter from its SPS parameter and clear the status flag on completion.
//! Note: Use DCL_setPendingStatus(df) to set the pending status.
//! Note: Use DCL_setUpdateStatus(df) to set the update status.
//!
//! \param[in] df Pointer to the DCL_DF22 controller structure
//! \return 'true' if an update is applied, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_pendingUpdateDF22(DCL_DF22 *df)
bool DCL_updateDF22(DCL_DF22 *df)
{
if (DCL_getPendingStatus(df) && DCL_updateDF22(df))
if (DCL_setUpdateStatus(df))
{
DCL_clearPendingStatus(df);
DCL_updateDF22NoCheck(df);
DCL_clearUpdateStatus(df);
return true;
}
return false;
}
//! \brief Update SPS parameter with active param, userful when needing
//! to update only few active param from SPS and keep rest the same
//!
//! \param[in] df Pointer to the active DCL_DF22 controller structure
//!
_DCL_CODE_ACCESS
void DCL_updateDF22SPS(DCL_DF22 *df)
{
df->sps->b0 = df->b0;
df->sps->b1 = df->b1;
df->sps->b2 = df->b2;
df->sps->a1 = df->a1;
df->sps->a2 = df->a2;
}
//! \brief Determines stability of the shadow compensator
//!
//! \param[in] df Pointer to the DCL_DF22 controller structure
@ -236,7 +215,7 @@ bool DCL_isStableDF22(DCL_DF22 *df)
}
//! \brief Loads the DF22 shadow coefficients from a ZPK3 description
//! Note: Sampling period df->css->t_sec are used in the calculation.
//! Note: Sampling period df->css->T are used in the calculation.
//! New settings take effect after DCL_updateDF22().
//! Only z1, z2, p1 & p2 are considered, z3 & p3 are ignored.
//!
@ -264,19 +243,19 @@ void DCL_loadDF22asZPK(DCL_DF22 *df, DCL_ZPK3 *zpk)
float32_t alpha1 = -(float32_t) crealf(zpk->p1 + zpk->p2);
float32_t alpha0 = (float32_t) crealf(zpk->p1 * zpk->p2);
float32_t t_sec = df->css->t_sec;
float32_t a0p = 4.0f + (alpha1 * 2.0f * t_sec) + (alpha0 * t_sec * t_sec);
float32_t T = df->css->T;
float32_t a0p = 4.0f + (alpha1 * 2.0f * T) + (alpha0 * T * T);
df->sps->b0 = zpk->K * (4.0f + (beta1 * 2.0f * t_sec) + (beta0 * t_sec * t_sec)) / a0p;
df->sps->b1 = zpk->K * (-8.0f + (2.0f * beta0 * t_sec * t_sec)) / a0p;
df->sps->b2 = zpk->K * (4.0f - (beta1 * 2.0f * t_sec) + (beta0 * t_sec * t_sec)) / a0p;
df->sps->a1 = (-8.0f + (2.0f * alpha0 * t_sec * t_sec)) / a0p;
df->sps->a2 = (4.0f - (alpha1 * 2.0f * t_sec) + (alpha0 * t_sec * t_sec)) / a0p;
df->sps->b0 = zpk->K * (4.0f + (beta1 * 2.0f * T) + (beta0 * T * T)) / a0p;
df->sps->b1 = zpk->K * (-8.0f + (2.0f * beta0 * T * T)) / a0p;
df->sps->b2 = zpk->K * (4.0f - (beta1 * 2.0f * T) + (beta0 * T * T)) / a0p;
df->sps->a1 = (-8.0f + (2.0f * alpha0 * T * T)) / a0p;
df->sps->a2 = (4.0f - (alpha1 * 2.0f * T) + (alpha0 * T * T)) / a0p;
}
//! \brief Loads the DF22 shadow coefficients from damping ratio and un-damped
//! natural frequency using sample rate in CSS.
//! Note: Sampling period df->css->t_sec are used in the calculation.
//! Note: Sampling period df->css->T are used in the calculation.
//! New settings take effect after DCL_updateDF22().
//!
//! \param[in] df Pointer to the DCL_DF22 controller structure
@ -299,18 +278,18 @@ void DCL_loadDF22asZwn(DCL_DF22 *df, float32_t z, float32_t wn)
}
#endif
float32_t t_sec = df->css->t_sec;
float32_t v1 = wn * wn * t_sec * t_sec;
float32_t a2p = 1.0f / (4.0f + (4.0f * z * wn * t_sec) + v1);
float32_t T = df->css->T;
float32_t v1 = wn * wn * T * T;
float32_t a2p = 1.0f / (4.0f + (4.0f * z * wn * T) + v1);
df->sps->b0 = v1 * a2p;
df->sps->b1 = 2.0f * df->sps->b0;
df->sps->b2 = df->sps->b0;
df->sps->a1 = ((2.0f * v1) - 8.0f) * a2p;
df->sps->a2 = (4.0f - (4.0f * z * wn * t_sec) + v1) * a2p;
df->sps->a2 = (4.0f - (4.0f * z * wn * T) + v1) * a2p;
}
//! \brief Loads the shadow DF22 compensator coefficients to emulate a series form PID.
//! Note: Sampling period df->css->t_sec are used in the calculation.
//! Note: Sampling period df->css->T are used in the calculation.
//! New settings take effect after DCL_updateDF22().
//!
//! \param[in] df Pointer to the DCL_DF22 controller structure
@ -337,10 +316,10 @@ void DCL_loadDF22asSeriesPID(DCL_DF22 *df, float32_t Kp, float32_t Ki, float32_t
}
#endif
float32_t t_sec = df->css->t_sec;
float32_t T = df->css->T;
float32_t tau = 1 / (2.0f * CONST_PI * fc);
float32_t c1 = 2.0f / (t_sec + (2.0f * tau));
float32_t c2 = c1 * (t_sec - (2.0f * tau)) / 2.0f;
float32_t c1 = 2.0f / (T + (2.0f * tau));
float32_t c2 = c1 * (T - (2.0f * tau)) / 2.0f;
float32_t Kdp = Kd * c1;
df->sps->b0 = Kp * (1 + Ki + Kdp);
df->sps->b1 = Kp * (c2 - 1 + Ki*c2 - 2*Kdp);
@ -350,7 +329,7 @@ void DCL_loadDF22asSeriesPID(DCL_DF22 *df, float32_t Kp, float32_t Ki, float32_t
}
//! \brief Loads the shadow DF22 compensator coefficients to emulate a parallel form PID.
//! Note: Sampling period df->css->t_sec are used in the calculation.
//! Note: Sampling period df->css->T are used in the calculation.
//! New settings take effect after DCL_updateDF22().
//!
//! \param[in] df Pointer to the DCL_DF22 controller structure
@ -369,7 +348,7 @@ void DCL_loadDF22asParallelPID(DCL_DF22 *df, float32_t Kp, float32_t Ki, float32
err_code |= (Ki < 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (Kd < 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (fc < 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (fc > (1.0f / (2.0f * df->css->t_sec))) ? dcl_param_warn_err : dcl_none;
err_code |= (fc > (1.0f / (2.0f * df->css->T))) ? dcl_param_warn_err : dcl_none;
if (err_code)
{
DCL_setError(df,err_code);
@ -378,10 +357,10 @@ void DCL_loadDF22asParallelPID(DCL_DF22 *df, float32_t Kp, float32_t Ki, float32
}
#endif
float32_t t_sec = df->css->t_sec;
float32_t T = df->css->T;
float32_t tau = 1.0f / (2.0f * CONST_PI * fc);
float32_t c1 = 2.0f / (t_sec + (2.0f * tau));
float32_t c2 = c1 * (t_sec - (2.0f * tau)) / 2.0f;
float32_t c1 = 2.0f / (T + (2.0f * tau));
float32_t c2 = c1 * (T - (2.0f * tau)) / 2.0f;
float32_t Kdp = Kd * c1;
df->sps->b0 = Kp + Ki + Kdp;
df->sps->b1 = (Kp * (c2 - 1)) + (Ki * c2) - (2.0f * Kdp);

86
source/dcl/df/dcl_df23.h
View File

@ -153,17 +153,18 @@ typedef _DCL_VOLATILE struct dcl_df23
_DCL_CODE_ACCESS
void DCL_resetDF23(DCL_DF23 *df)
{
dcl_interrupt_t ints = DCL_disableInts();
dcl_interrupt_t ints;
ints = DCL_disableInts();
df->x1 = df->x2 = df->x3 = 0.0f;
DCL_restoreInts(ints);
}
//! \brief Loads DF23 tuning parameter from its SPS parameter
//! \brief Loads DF23 tuning parameter from its SPS parameter without interrupt protection
//!
//! \param[in] df Pointer to the active DCL_DF23 controller structure
//!
_DCL_CODE_ACCESS
void DCL_fupdateDF23(DCL_DF23 *df)
void DCL_forceUpdateDF23(DCL_DF23 *df)
{
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
@ -177,65 +178,42 @@ void DCL_fupdateDF23(DCL_DF23 *df)
//! \brief Updates DF23 parameter from its SPS parameter with interrupt protection
//!
//! \param[in] df Pointer to the DCL_DF23 controller structure
//! \return 'true' if update is successful, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_updateDF23(DCL_DF23 *df)
void DCL_updateDF23NoCheck(DCL_DF23 *df)
{
if (!DCL_getUpdateStatus(df))
{
dcl_interrupt_t ints = DCL_disableInts();
DCL_setUpdateStatus(df);
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->b2 = df->sps->b2;
df->b3 = df->sps->b3;
df->a1 = df->sps->a1;
df->a2 = df->sps->a2;
df->a3 = df->sps->a3;
DCL_clearUpdateStatus(df);
DCL_restoreInts(ints);
return true;
}
return false;
dcl_interrupt_t ints;
ints = DCL_disableInts();
df->b0 = df->sps->b0;
df->b1 = df->sps->b1;
df->b2 = df->sps->b2;
df->b3 = df->sps->b3;
df->a1 = df->sps->a1;
df->a2 = df->sps->a2;
df->a3 = df->sps->a3;
DCL_restoreInts(ints);
}
//! \brief A conditional update based on the pending-for-update flag.
//! If the pending status is set, the function will update DF23
//! \brief A conditional update based on the update flag.
//! If the update status is set, the function will update DF23
//! parameter from its SPS parameter and clear the status flag on completion.
//! Note: Use DCL_setPendingStatus(df) to set the pending status.
//! Note: Use DCL_setUpdateStatus(df) to set the update status.
//!
//! \param[in] df Pointer to the DCL_DF23 controller structure
//! \return 'true' if an update is applied, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_pendingUpdateDF23(DCL_DF23 *df)
bool DCL_updateDF23(DCL_DF23 *df)
{
if (DCL_getPendingStatus(df) && DCL_updateDF23(df))
if (DCL_setUpdateStatus(df))
{
DCL_clearPendingStatus(df);
DCL_updateDF23NoCheck(df);
DCL_clearUpdateStatus(df);
return true;
}
return false;
}
//! \brief Update SPS parameter with active param, userful when needing
//! to update only few active param from SPS and keep rest the same
//!
//! \param[in] df Pointer to the active DCL_DF23 controller structure
//!
_DCL_CODE_ACCESS
void DCL_updateDF23SPS(DCL_DF23 *df)
{
df->sps->b0 = df->b0;
df->sps->b1 = df->b1;
df->sps->b2 = df->b2;
df->sps->b3 = df->b3;
df->sps->a1 = df->a1;
df->sps->a2 = df->a2;
df->sps->a3 = df->a3;
}
//! \brief Determines stability of the shadow compensator
//!
//! \param[in] df Pointer to the DCL_DF23 controller structure
@ -248,7 +226,7 @@ bool DCL_isStableDF23(DCL_DF23 *df)
}
//! \brief Loads the DF23 shadow coefficients from a ZPK3 description
//! Note: Sampling period df->css->t_sec are used in the calculation.
//! Note: Sampling period df->css->T are used in the calculation.
//! New settings take effect after DCL_updateDF23().
//!
//! \param[in] df Pointer to the DCL_DF23 controller structure
@ -277,17 +255,17 @@ void DCL_loadDF23asZPK(DCL_DF23 *df, DCL_ZPK3 *zpk)
float32_t alpha1 = (float32_t) crealf((zpk->p1 * zpk->p2) + (zpk->p2 * zpk->p3) + (zpk->p1 * zpk->p3));
float32_t alpha0 = -(float32_t) crealf(zpk->p1 * zpk->p2 * zpk->p3);
float32_t t_sec = df->css->t_sec;
float32_t a0p = 8.0f + (alpha2 * 4.0f * t_sec) + (alpha1 * 2.0f * t_sec * t_sec) + (alpha0 * t_sec * t_sec * t_sec);
float32_t T = df->css->T;
float32_t a0p = 8.0f + (alpha2 * 4.0f * T) + (alpha1 * 2.0f * T * T) + (alpha0 * T * T * T);
df->sps->b0 = zpk->K * (8.0f + (beta2 * 4.0f * t_sec) + (beta1 * 2.0f * t_sec * t_sec) + (beta0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->b1 = zpk->K * (-24.0f - (beta2 * 4.0f * t_sec) + (beta1 * 2.0f * t_sec * t_sec) + (3.0f * beta0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->b2 = zpk->K * (24.0f - (beta2 * 4.0f * t_sec) - (beta1 * 2.0f * t_sec * t_sec) + (3.0f * beta0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->b3 = zpk->K * (-8.0f + (beta2 * 4.0f * t_sec) - (beta1 * 2.0f * t_sec * t_sec) + (beta0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->b0 = zpk->K * (8.0f + (beta2 * 4.0f * T) + (beta1 * 2.0f * T * T) + (beta0 * T * T * T)) / a0p;
df->sps->b1 = zpk->K * (-24.0f - (beta2 * 4.0f * T) + (beta1 * 2.0f * T * T) + (3.0f * beta0 * T * T * T)) / a0p;
df->sps->b2 = zpk->K * (24.0f - (beta2 * 4.0f * T) - (beta1 * 2.0f * T * T) + (3.0f * beta0 * T * T * T)) / a0p;
df->sps->b3 = zpk->K * (-8.0f + (beta2 * 4.0f * T) - (beta1 * 2.0f * T * T) + (beta0 * T * T * T)) / a0p;
df->sps->a1 = (-24.0f - (alpha2 * 4.0f * t_sec) + (alpha1 * 2.0f * t_sec * t_sec) + (3.0f * alpha0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->a2 = (24.0f - (alpha2 * 4.0f * t_sec) - (alpha1 * 2.0f * t_sec * t_sec) + (3.0f * alpha0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->a3 = (-8.0f + (alpha2 * 4.0f * t_sec) - (alpha1 * 2.0f * t_sec * t_sec) + (alpha0 * t_sec * t_sec * t_sec)) / a0p;
df->sps->a1 = (-24.0f - (alpha2 * 4.0f * T) + (alpha1 * 2.0f * T * T) + (3.0f * alpha0 * T * T * T)) / a0p;
df->sps->a2 = (24.0f - (alpha2 * 4.0f * T) - (alpha1 * 2.0f * T * T) + (3.0f * alpha0 * T * T * T)) / a0p;
df->sps->a3 = (-8.0f + (alpha2 * 4.0f * T) - (alpha1 * 2.0f * T * T) + (alpha0 * T * T * T)) / a0p;
}
//! \brief Executes a 3rd order Direct Form 2 controller

97
source/dcl/misc/dcl_c28_compatibility.h
View File

@ -18,7 +18,7 @@
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPgResS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* "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,
@ -33,14 +33,19 @@
#ifndef _DCL_C28_COMPATIBILITY_H_
#define _DCL_C28_COMPATIBILITY_H_
//! \file dcl_c28_compatibility.h
//! \brief C28 compatibility macro
//! Contains backward compatbility mapping to C28 DCL's naming scheme
//!
//! Note:
//! CLA functions are not compatible, nonetheless its
//! direct equivalent are listed in comments
//! ASM functions will be alias into inline C code
/**
*
* @{
*
* \file dcl_c28_compatibility.h
* \brief Contains backward compatbility mapping to C28 DCL's naming scheme
* Not included in dcl.h by default, be sure to include this file seperately when using.
*
* Note:
* All C28 ASM functions will be alias into its equivalent C functions
*
* CLA functions are not compatible, nonetheless its direct equivalent are listed in comments below
*/
#ifdef __cplusplus
extern "C" {
@ -49,13 +54,14 @@ extern "C" {
//*****************************************************************************
// PI
//*****************************************************************************
#define DCL_runPI_C1 DCL_runPISeries
#define DCL_runPI_C2 DCL_runPISeries
#define DCL_runPI_C1 DCL_runPISeries // C28 ASM function
#define DCL_runPI_C2 DCL_runPISeries
#define DCL_runPI_C3 DCL_runPIParallel
#define DCL_runPI_C4 DCL_runPIParallel
#define DCL_runPI_C4 DCL_runPIParallel // C28 ASM function
#define DCL_runPI_C5 DCL_runPIParallelEnhanced
#define DCL_runPI_C6 DCL_runPISeriesTustin
#define DCL_runPI_C7 DCL_runPISeriesTustin
#define DCL_runPI_C7 DCL_runPISeriesTustin // C28 ASM function
#define DCL_fupdatePI DCL_updatePI // C28 ASM function
/*
// C28 CLA Functions
#define DCL_runPI_L1 DCL_runPISeries
@ -69,15 +75,17 @@ extern "C" {
// PI2
//*****************************************************************************
#define DCL_runPI2_C1 DCL_runPI2Series
#define DCL_runPI2_C2 DCL_runPI2Series
#define DCL_runPI2_C2 DCL_runPI2Series // C28 ASM function
#define DCL_fupdatePI2 DCL_updatePI2 // C28 ASM function
//*****************************************************************************
// PID
//*****************************************************************************
#define DCL_runPID_C1 DCL_runPIDSeries
#define DCL_runPID_C2 DCL_runPIDSeries
#define DCL_runPID_C1 DCL_runPIDSeries // C28 ASM function
#define DCL_runPID_C2 DCL_runPIDSeries
#define DCL_runPID_C3 DCL_runPIDParallel
#define DCL_runPID_C4 DCL_runPIDParallel
#define DCL_runPID_C4 DCL_runPIDParallel // C28 ASM function
#define DCL_fupdatePID DCL_updatePID // C28 ASM function
/*
// C28 CLA Functions
#define DCL_runPID_L1 DCL_runPIDSeries
@ -89,8 +97,9 @@ extern "C" {
//*****************************************************************************
// DF11
//*****************************************************************************
#define DCL_runDF11_C1 DCL_runDF11
#define DCL_runDF11_C1 DCL_runDF11 // C28 ASM function
#define DCL_runDF11_C2 DCL_runDF11
#define DCL_fupdateDF11 DCL_updateDF11 // C28 ASM function
/*
// C28 CLA Functions
#define DCL_runDF11_L1 DCL_runDF11
@ -99,31 +108,38 @@ extern "C" {
//*****************************************************************************
// DF13
//*****************************************************************************
#define DCL_runDF13_C1 DCL_runDF13
#define DCL_runDF13_C2 DCL_runDF13PartialCompute
#define DCL_runDF13_C3 DCL_runDF13PartialUpdate
/*
* Note that due to incompatible changes with running DF13 w/ Clamp, the legacy
* implementation for both DCL_runDF13_C5 and DCL_runDF13_C6 are still included.
*
* It is advised to use the new function DCL_runDF13Clamp() for running DF13 w/ Clamp.
* For more info, refer to \details section of dcl_df13.h
*/
#define DCL_runDF13_C1 DCL_runDF13 // C28 ASM function
#define DCL_runDF13_C2 DCL_runDF13_C5 // Alias into local implementation of legacy function C5
#define DCL_runDF13_C3 DCL_runDF13_C6 // Alias into local implementation of legacy function C6
#define DCL_runDF13_C4 DCL_runDF13
#define DCL_runDF13_C5 DCL_runDF13PartialCompute
#define DCL_runDF13_C6 DCL_runDF13PartialUpdate
#define DCL_fupdateDF13 DCL_updateDF13 // C28 ASM function
/*
// C28 CLA Functions
#define DCL_runDF13_L1 DCL_runDF13
#define DCL_runDF13_L2 DCL_runDF13PartialCompute
#define DCL_runDF13_L3 DCL_runDF13PartialUpdate
#define DCL_runDF13_L2 DCL_runDF13_C5
#define DCL_runDF13_L3 DCL_runDF13_C6
#define DCL_runDF13_L4 DCL_runDF13
#define DCL_runDF13_L5 DCL_runDF13PartialCompute
#define DCL_runDF13_L6 DCL_runDF13PartialUpdate
#define DCL_runDF13_L5 DCL_runDF13_C5
#define DCL_runDF13_L6 DCL_runDF13_C6
*/
//*****************************************************************************
// DF22
//*****************************************************************************
#define DCL_runDF22_C1 DCL_runDF22
#define DCL_runDF22_C2 DCL_runDF22PartialCompute
#define DCL_runDF22_C3 DCL_runDF22PartialUpdate
#define DCL_runDF22_C4 DCL_runDF22
#define DCL_runDF22_C1 DCL_runDF22 // C28 ASM function
#define DCL_runDF22_C2 DCL_runDF22PartialCompute // C28 ASM function
#define DCL_runDF22_C3 DCL_runDF22PartialUpdate // C28 ASM function
#define DCL_runDF22_C4 DCL_runDF22
#define DCL_runDF22_C5 DCL_runDF22PartialCompute
#define DCL_runDF22_C6 DCL_runDF22PartialUpdate
#define DCL_runDF22_C6 DCL_runDF22PartialUpdate
#define DCL_fupdateDF22 DCL_updateDF22 // C28 ASM function
/*
// C28 CLA Functions
#define DCL_runDF22_L1 DCL_runDF22
@ -135,12 +151,13 @@ extern "C" {
//*****************************************************************************
// DF23
//*****************************************************************************
#define DCL_runDF23_C1 DCL_runDF23
#define DCL_runDF23_C2 DCL_runDF23PartialCompute
#define DCL_runDF23_C3 DCL_runDF23PartialUpdate
#define DCL_runDF23_C1 DCL_runDF23 // C28 ASM function
#define DCL_runDF23_C2 DCL_runDF23PartialCompute // C28 ASM function
#define DCL_runDF23_C3 DCL_runDF23PartialUpdate // C28 ASM function
#define DCL_runDF23_C4 DCL_runDF23
#define DCL_runDF23_C5 DCL_runDF23PartialCompute
#define DCL_runDF23_C6 DCL_runDF23PartialUpdate
#define DCL_fupdateDF23 DCL_updateDF23 // C28 ASM function
/*
// C28 CLA Functions
#define DCL_runDF23_L1 DCL_runDF23
@ -151,7 +168,7 @@ extern "C" {
//*****************************************************************************
// Clamp
//*****************************************************************************
#define DCL_runClamp_C1 DCL_runClamp
#define DCL_runClamp_C1 DCL_runClamp // C28 ASM function
#define DCL_runClamp_C2 DCL_runClamp
#define DCL_runClamp_S1 DCL_runClampF64
/*
@ -175,9 +192,9 @@ extern "C" {
#define DCL_RESTORE_INTS DCL_restoreInts
#define DCL_SET_CONTROLLER_PERIOD DCL_setControllerPeriod
#define DCL_SET_SAMPLE_RATE DCL_setControllerPeriod
#define DCL_REQUEST_UPDATE DCL_setPendingStatus
#define DCL_CLEAR_UPDATE_REQUEST DCL_clearPendingStatus
#define DCL_UPDATE_WAITING DCL_getPendingStatus
#define DCL_REQUEST_UPDATE DCL_setUpdateStatus
#define DCL_CLEAR_UPDATE_REQUEST DCL_clearUpdateStatus
#define DCL_UPDATE_WAITING DCL_getUpdateStatus
#define DCL_CONTROLLER_BEGIN DCL_setControllerStatus
#define DCL_CONTROLLER_END DCL_clearControllerStatus
#define DCL_CONTROLLER_IN_PROGRESS DCL_getControllerStatus
@ -215,6 +232,8 @@ extern "C" {
//*****************************************************************************
#define DCL_runPIDF64_S1 DCL_runPIDF64Series
/** @} */
#ifdef __cplusplus
}
#endif // extern "C"

2
source/dcl/misc/dcl_error.h
View File

@ -18,7 +18,7 @@
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPgResS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* "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,

2
source/dcl/misc/dcl_fdlog.h
View File

@ -18,7 +18,7 @@
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPgResS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* "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,

108
source/dcl/pi/dcl_pi.h
View File

@ -18,7 +18,7 @@
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPgResS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* "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,
@ -58,11 +58,13 @@ typedef struct dcl_pi_sps
float32_t Ki; //!< Integral gain
float32_t Umax; //!< Upper saturation limit
float32_t Umin; //!< Lower saturation limit
float32_t Imax; //!< Upper integrator saturation limit, only used in DCL_runPIParallelEnhanced()
float32_t Imin; //!< Lower integrator saturation limit, only used in DCL_runPIParallelEnhanced()
} DCL_PI_SPS;
//! \brief Defines default values to initialize DCL_PI_SPS
//!
#define PI_SPS_DEFAULTS { 1.0f, 0.0f, 1.0f, -1.0f }
#define PI_SPS_DEFAULTS { 1.0f, 0.0f, 1.0f, -1.0f, 1.0f, -1.0f }
//! \brief DCL_PI object for storing PI specific parameters
//!
@ -73,6 +75,8 @@ typedef _DCL_VOLATILE struct dcl_pi
float32_t Ki; //!< Integral gain
float32_t Umax; //!< Upper control saturation limit
float32_t Umin; //!< Lower control saturation limit
float32_t Imax; //!< Upper integrator saturation limit, only used in DCL_runPIParallelEnhanced()
float32_t Imin; //!< Lower integrator saturation limit, only used in DCL_runPIParallelEnhanced()
/* internal storage */
float32_t i6; //!< Saturation storage
@ -86,7 +90,7 @@ typedef _DCL_VOLATILE struct dcl_pi
//! \brief Defines default values to initialize DCL_PI
//!
#define PI_DEFAULTS { 1.0f, 0.0f, 1.0f, -1.0f, 1.0f, 0.0f, 0.0f, \
#define PI_DEFAULTS { 1.0f, 0.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, 0.0f, 0.0f, \
&(DCL_PI_SPS)PI_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }
//! \brief Macro for internal default values to initialize DCL_PI
@ -95,6 +99,8 @@ typedef _DCL_VOLATILE struct dcl_pi
//! .Ki = 0.0f,
//! .Umax = 1.0f,
//! .Umin = -1.0f,
//! .Imax = 0.0f,
//! .Imin = 0.0f,
//! PI_INT_DEFAULTS
//! };
#define PI_INT_DEFAULTS .i6=1.0f, .i10=0.0f, .i11=0.0f, \
@ -133,7 +139,8 @@ typedef _DCL_VOLATILE struct dcl_pi
if(sps_ptr) \
{ \
*new_pi = (DCL_PI){ (new_sps)->Kp, (new_sps)->Ki, (new_sps)->Umax, (new_sps)->Umin,\
1.0f, 0.0f, 0.0f, (DCL_PI_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS }; \
(new_sps)->Imax, (new_sps)->Imin, 1.0f, 0.0f, 0.0f, \
(DCL_PI_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS }; \
} \
new_pi; \
})
@ -145,24 +152,25 @@ typedef _DCL_VOLATILE struct dcl_pi
_DCL_CODE_ACCESS
void DCL_resetPI(DCL_PI *pi)
{
dcl_interrupt_t ints = DCL_disableInts();
dcl_interrupt_t ints;
ints = DCL_disableInts();
pi->i6 = 1.0f;
pi->i10 = pi->i11 = 0.0f;
DCL_restoreInts(ints);
}
//! \brief Loads PI tuning parameter from its SPS parameter
//! \brief Loads PI tuning parameter from its SPS parameter without interrupt protection
//!
//! \param[in] pi Pointer to the DCL_PI controller structure
//!
_DCL_CODE_ACCESS
void DCL_fupdatePI(DCL_PI *pi)
void DCL_forceUpdatePI(DCL_PI *pi)
{
#ifdef DCL_ERROR_HANDLING_ENABLED
uint32_t err_code = dcl_none;
err_code |= (pi->sps->Umax <= pi->sps->Umin) ? dcl_param_invalid_err : dcl_none;
err_code |= (pi->css->t_sec <= 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (pi->css->T <= 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (pi->sps->Kp < 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (pi->sps->Ki < 0.0f) ? dcl_param_range_err : dcl_none;
if (err_code)
@ -177,21 +185,22 @@ void DCL_fupdatePI(DCL_PI *pi)
pi->Ki = pi->sps->Ki;
pi->Umax = pi->sps->Umax;
pi->Umin = pi->sps->Umin;
pi->Imax = pi->sps->Imax;
pi->Imin = pi->sps->Imin;
}
//! \brief Updates PI parameter from its SPS parameter with interrupt protection
//! \brief Loads PI tuning parameter from its SPS parameter with interrupt protection
//!
//! \param[in] pi Pointer to the DCL_PI controller structure
//! \return 'true' if update is successful, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_updatePI(DCL_PI *pi)
void DCL_updatePINoCheck(DCL_PI *pi)
{
#ifdef DCL_ERROR_HANDLING_ENABLED
uint32_t err_code = dcl_none;
err_code |= (pi->sps->Umax <= pi->sps->Umin) ? dcl_param_invalid_err : dcl_none;
err_code |= (pi->css->t_sec <= 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (pi->css->T <= 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (pi->sps->Kp < 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (pi->sps->Ki < 0.0f) ? dcl_param_range_err : dcl_none;
if (err_code)
@ -202,56 +211,39 @@ bool DCL_updatePI(DCL_PI *pi)
}
#endif
if (!DCL_getUpdateStatus(pi))
{
dcl_interrupt_t ints = DCL_disableInts();
DCL_setUpdateStatus(pi);
pi->Kp = pi->sps->Kp;
pi->Ki = pi->sps->Ki;
pi->Umax = pi->sps->Umax;
pi->Umin = pi->sps->Umin;
DCL_clearUpdateStatus(pi);
DCL_restoreInts(ints);
return true;
}
return false;
dcl_interrupt_t ints;
ints = DCL_disableInts();
pi->Kp = pi->sps->Kp;
pi->Ki = pi->sps->Ki;
pi->Umax = pi->sps->Umax;
pi->Umin = pi->sps->Umin;
pi->Imax = pi->sps->Imax;
pi->Imin = pi->sps->Imin;
DCL_restoreInts(ints);
}
//! \brief A conditional update based on the pending-for-update flag.
//! If the pending status is set, the function will update PI
//! \brief A conditional update based on the update flag.
//! If the update status is set, the function will update PI
//! parameter from its SPS parameter and clear the status flag on completion.
//! Note: Use DCL_setPendingStatus(pi) to set the pending status.
//! Note: Use DCL_setUpdateStatus(pi) to set the update status.
//!
//! \param[in] pi Pointer to the DCL_PI controller structure
//! \return 'true' if an update is applied, otherwise 'false'
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_pendingUpdatePI(DCL_PI *pi)
bool DCL_updatePI(DCL_PI *pi)
{
if (DCL_getPendingStatus(pi) && DCL_updatePI(pi))
if (DCL_getUpdateStatus(pi))
{
DCL_clearPendingStatus(pi);
DCL_updatePINoCheck(pi);
DCL_clearUpdateStatus(pi);
return true;
}
return false;
}
//! \brief Update SPS parameter with active param, userful when needing
//! to update only few active param from SPS and keep rest the same
//!
//! \param[in] pi Pointer to the active DCL_PI controller structure
//!
_DCL_CODE_ACCESS
void DCL_updatePISPS(DCL_PI *pi)
{
pi->sps->Kp = pi->Kp;
pi->sps->Ki = pi->Ki;
pi->sps->Umax = pi->Umax;
pi->sps->Umin = pi->Umin;
}
//! \brief Configures a series PI controller in "zero-pole-gain" form
//! Note: Sampling period pi->css->t_sec are used in the calculation.
//! Note: Sampling period pi->css->T are used in the calculation.
//! New settings take effect after DCL_updatePI().
//! Only z1 considered in DCL_ZPK3, other poles & zeros ignored.
//! Zero frequency assumed to be in radians/sec.
@ -265,7 +257,7 @@ void DCL_loadSeriesPIasZPK(DCL_PI *pi, DCL_ZPK3 *zpk)
#ifdef DCL_ERROR_HANDLING_ENABLED
uint32_t err_code = dcl_none;
err_code |= (zpk->K < 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (crealf(zpk->z1) > (1.0f / (2.0f * pi->css->t_sec))) ? dcl_param_warn_err : dcl_none;
err_code |= (crealf(zpk->z1) > (1.0f / (2.0f * pi->css->T))) ? dcl_param_warn_err : dcl_none;
if (err_code)
{
DCL_setError(pi,err_code);
@ -274,15 +266,15 @@ void DCL_loadSeriesPIasZPK(DCL_PI *pi, DCL_ZPK3 *zpk)
}
#endif
float32_t t_sec = pi->css->t_sec;
float32_t T = pi->css->T;
float32_t z1 = (float32_t) crealf(zpk->z1);
pi->sps->Kp = zpk->K * (1.0f + (t_sec * z1) / 2.0f);
pi->sps->Ki = (-2.0f * t_sec * z1) / (2.0f + (t_sec * z1));
pi->sps->Kp = zpk->K * (1.0f + (T * z1) / 2.0f);
pi->sps->Ki = (-2.0f * T * z1) / (2.0f + (T * z1));
}
//! \brief Configures a parallel PI controller in "zero-pole-gain" form
//! Note: Sampling period pi->css->t_sec are used in the calculation.
//! Note: Sampling period pi->css->T are used in the calculation.
//! New settings take effect after DCL_updatePI().
//! Zero frequency assumed to be in radians/sec.
//!
@ -295,7 +287,7 @@ void DCL_loadParallelPIasZPK(DCL_PI *pi, DCL_ZPK3 *zpk)
#ifdef DCL_ERROR_HANDLING_ENABLED
uint32_t err_code = dcl_none;
err_code |= (zpk->K < 0.0f) ? dcl_param_range_err : dcl_none;
err_code |= (crealf(zpk->z1) > (1.0f / (2.0f * pi->css->t_sec))) ? dcl_param_warn_err : dcl_none;
err_code |= (crealf(zpk->z1) > (1.0f / (2.0f * pi->css->T))) ? dcl_param_warn_err : dcl_none;
if (err_code)
{
DCL_setError(pi,err_code);
@ -304,10 +296,10 @@ void DCL_loadParallelPIasZPK(DCL_PI *pi, DCL_ZPK3 *zpk)
}
#endif
float32_t t_sec = pi->css->t_sec;
float32_t T = pi->css->T;
float32_t z1 = (float32_t) crealf(zpk->z1);
pi->sps->Kp = zpk->K * (1.0f + (t_sec * z1) / 2.0f);
pi->sps->Ki = -zpk->K * t_sec * z1;
pi->sps->Kp = zpk->K * (1.0f + (T * z1) / 2.0f);
pi->sps->Ki = -zpk->K * T * z1;
}
//! \brief Executes an inline series form PI controller
@ -371,12 +363,10 @@ float32_t DCL_runPIParallel(DCL_PI *pi, float32_t rk, float32_t yk)
//! \param[in] pi Pointer to the DCL_PI structure
//! \param[in] rk The controller set-point reference
//! \param[in] yk The measured feedback value
//! \param[in] Imax Upper integrator saturation limit
//! \param[in] Imin Lower integrator saturation limit
//! \return The control effort
//!
_DCL_CODE_ACCESS _DCL_CODE_SECTION
float32_t DCL_runPIParallelEnhanced(DCL_PI *pi, float32_t rk, float32_t yk, float32_t Imax, float32_t Imin)
float32_t DCL_runPIParallelEnhanced(DCL_PI *pi, float32_t rk, float32_t yk)
{
float32_t v1, v5, v7, v8;
bool l11, l14, l17, l18, l19;
@ -387,7 +377,7 @@ float32_t DCL_runPIParallelEnhanced(DCL_PI *pi, float32_t rk, float32_t yk, floa
v7 = (v1 * pi->Kp) + v5;
v8 = DCL_runSat(v7, pi->Umax, pi->Umin);
l17 = (v7 == v8) ? true : false;
l11 = (DCL_runSat(v5,Imax,Imin) == v5) ? true : false;
l11 = (DCL_runSat(v5, pi->Imax, pi->Imin) == v5) ? true : false;
l19 = (v5 > 0) ? true : false;
l14 = (v1 > 0) ? true : false;
l18 = l17 && (!l11 || (l19 ^ l14));

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