Pull request #31: am243x/am263x : rtlibs : Add DCL examples and sources
Merge in PINDSW/motor_control_sdk from PINDSW-6566_add_dcl to next * commit '3faf4a3ee1c99a33d4c9eac71f659d0b1aa91002': am243x/am263x : rtlibs : Add DCL examples and sources
This commit is contained in:
Dhaval Khandla
Pratheesh Gangadhar TK
commit
0d683d8711
@ -1,4 +1,516 @@
|
||||
[
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running NORTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am243x-evm/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_GP_EVM"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"r5fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_GP_EVM"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"r5fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is M4FSS0-0 running NORTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am243x-evm/m4fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_GP_EVM"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"m4fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is M4FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am243x-evm/m4fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_GP_EVM"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"m4fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running NORTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_LAUNCHPAD"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"r5fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_LAUNCHPAD"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"r5fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is M4FSS0-0 running NORTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am243x-lp/m4fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_LAUNCHPAD"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"m4fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is M4FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am243x-lp/m4fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_LAUNCHPAD"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"m4fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running NORTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am243x-evm/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_GP_EVM"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"r5fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_GP_EVM"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"r5fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is M4FSS0-0 running NORTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am243x-evm/m4fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_GP_EVM"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"m4fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is M4FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am243x-evm/m4fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_GP_EVM"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"m4fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running NORTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_LAUNCHPAD"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"r5fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_LAUNCHPAD"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"r5fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is M4FSS0-0 running NORTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am243x-lp/m4fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_LAUNCHPAD"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"m4fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is M4FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am243x-lp/m4fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"AM243x_LAUNCHPAD"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"m4fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
|
||||
@ -1,4 +1,260 @@
|
||||
[
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running NORTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am263x-cc/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"TMDSCNCD263"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"r5fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am263x-cc/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"TMDSCNCD263"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"r5fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running NORTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am263x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"LP-AM263"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"r5fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A Direct Form 2 2nd order example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_df22",
|
||||
"location": "../../examples/dcl/dcl_df22/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"LP-AM263"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_df22",
|
||||
"r5fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running NORTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am263x-cc/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"TMDSCNCD263"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"r5fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am263x-cc/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"TMDSCNCD263"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"r5fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running NORTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am263x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"LP-AM263"
|
||||
],
|
||||
"kernel": [
|
||||
"nortos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"r5fss0-0_nortos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
"example"
|
||||
],
|
||||
"resourceSubClass": [
|
||||
"example.gettingstarted"
|
||||
],
|
||||
"description": "A PI controller example demonstrating the digital control library (DCL). CPU is R5FSS0-0 running FREERTOS.",
|
||||
"name": "dcl_pi",
|
||||
"location": "../../examples/dcl/dcl_pi/am263x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec",
|
||||
"devtools": [
|
||||
"LP-AM263"
|
||||
],
|
||||
"kernel": [
|
||||
"freertos"
|
||||
],
|
||||
"compiler": [
|
||||
"ticlang"
|
||||
],
|
||||
"subCategories": [
|
||||
"dcl",
|
||||
"dcl_pi",
|
||||
"r5fss0-0_freertos"
|
||||
],
|
||||
"mainCategories": [
|
||||
[
|
||||
"Examples",
|
||||
"Development Tools"
|
||||
]
|
||||
]
|
||||
},
|
||||
{
|
||||
"resourceType": "project.ccs",
|
||||
"resourceClass": [
|
||||
@ -39,6 +295,7 @@
|
||||
"name": "User Guide",
|
||||
"location": "../../docs/api_guide_am263x/index.html",
|
||||
"devtools": [
|
||||
"TMDSCNCD263",
|
||||
"LP-AM263"
|
||||
],
|
||||
"mainCategories": [
|
||||
|
||||
@ -14,6 +14,8 @@ const device_defines = {
|
||||
};
|
||||
|
||||
const example_file_list = [
|
||||
"examples/dcl/dcl_df22/.project/mcsdk_project.js",
|
||||
"examples/dcl/dcl_pi/.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",
|
||||
|
||||
@ -11,6 +11,8 @@ const device_defines = {
|
||||
};
|
||||
|
||||
const example_file_list = [
|
||||
"examples/dcl/dcl_df22/.project/mcsdk_project.js",
|
||||
"examples/dcl/dcl_pi/.project/mcsdk_project.js",
|
||||
"examples/position_sense/tamagawa_diagnostic_over_soc_uart/.project/project.js",
|
||||
];
|
||||
|
||||
|
||||
18
docs_src/docs/api_guide/components/dcl/dcl.cfg
Normal file
18
docs_src/docs/api_guide/components/dcl/dcl.cfg
Normal file
@ -0,0 +1,18 @@
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/dcl/dcl.md
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/dcl.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/dcl_common.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/pi/dcl_pi.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/pi/dcl_pi2.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/pid/dcl_pid.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/pid/dcl_pidf64.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/df/dcl_df11.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/df/dcl_df13.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/df/dcl_df22.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/df/dcl_df23.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/common/dcl_aux.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/common/dcl_clamp.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/common/dcl_css.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/common/dcl_stability.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/common/dcl_zpk3.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/misc/dcl_error.h
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/dcl/misc/dcl_fdlog.h
|
||||
144
docs_src/docs/api_guide/components/dcl/dcl.md
Normal file
144
docs_src/docs/api_guide/components/dcl/dcl.md
Normal file
@ -0,0 +1,144 @@
|
||||
# Digital Control Library (DCL) {#DCL}
|
||||
|
||||
[TOC]
|
||||
|
||||
## Introduction
|
||||
|
||||
The Sitara™ Digital Control Library (DCL) provides a suite of robust software functions for developers of digital
|
||||
control applications using the Texas Instruments Sitara MCU. DCL is a header-only library, and all functions in
|
||||
the library are provided in the form of C source-code.
|
||||
|
||||
The DCL contains PI,PID and "Direct Form" controller types. The former are typically used to tune properties of
|
||||
a transient response, while the latter are typically used to shape the open loop frequency response.
|
||||
|
||||
In addintion, DCL contains functions to convert controller parameters from one type to the other. As well as
|
||||
functions to parameterize the controller given a transfer function.
|
||||
|
||||
Several utility modules such as error handling, data logging are also included as a supporting module.
|
||||
|
||||
## Features Supported
|
||||
|
||||
Supported controller modules (floating-point)
|
||||
|
||||
- Linear PI
|
||||
- Linear PID
|
||||
- Linear PI with double integrator
|
||||
- Direct Form 1 (first order)
|
||||
- Direct Form 1 (third order)
|
||||
- Direct Form 2 (second order)
|
||||
- Direct Form 2 (third order)
|
||||
|
||||
Other utility modules:
|
||||
|
||||
- Error Handling
|
||||
- Testpoints
|
||||
- Data Logging
|
||||
|
||||
## Features Not Supported
|
||||
|
||||
(Compared with C2000Ware's DCL)
|
||||
- Fix-point controller modules
|
||||
- Non-linear PID controller
|
||||
- Reference Generator and performance index
|
||||
- Multi-channel data logs
|
||||
|
||||
## Benchmark Results
|
||||
|
||||
A benchmark on R5F core has been conducted to observe the following results when running controller arithmetic:
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<th>Controller Function
|
||||
<th>Cpu Cycles
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> PI Controller </td></tr>
|
||||
<tr>
|
||||
<td>DCL_runPISeries</td>
|
||||
<td>49.15</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>DCL_runPIParallel</td>
|
||||
<td>50.00</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>DCL_runPISeriesTustin</td>
|
||||
<td>56.35</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>DCL_runPIParallelEnhanced</td>
|
||||
<td>62.57</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> PI2 Controller </td></tr>
|
||||
<tr>
|
||||
<td>DCL_runPI2Series</td>
|
||||
<td>74.00</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> PID Controller </td></tr>
|
||||
<tr>
|
||||
<td>DCL_runPIDSeries</td>
|
||||
<td>64.68</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>DCL_runPIDParallel</td>
|
||||
<td>64.84</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> DF11 Controller </td></tr>
|
||||
<tr>
|
||||
<td>DCL_runDF11</td>
|
||||
<td>24.00</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> DF13 Controller </td></tr>
|
||||
<tr>
|
||||
<td>DCL_runDF13</td>
|
||||
<td>43.00</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>DCL_runDF13Clamp</td>
|
||||
<td>53.00</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> DF22 Controller </td></tr>
|
||||
<tr>
|
||||
<td>DCL_runDF22</td>
|
||||
<td>27.00</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>DCL_runDF22Clamp</td>
|
||||
<td>41.00</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> DF23 Controller </td></tr>
|
||||
<tr>
|
||||
<td>DCL_runDF23</td>
|
||||
<td>29.00</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>DCL_runDF23Clamp</td>
|
||||
<td>45.00</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> PID 64bit Controller </td></tr>
|
||||
<tr>
|
||||
<td>DCL_runPIDF64Series</td>
|
||||
<td>185.14</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>DCL_runPIDF64Parallel</td>
|
||||
<td>173.63</td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
- Ran with TI Clang Compiler v2.1.3.LTS, with -Os flag and functions in ram, obtained the average result from 600 consecutive reading of running the controller with DPL CycleCountP.
|
||||
- Actual result may vary depending on provided datasets and memory configuration.
|
||||
|
||||
## Provided Examples
|
||||
|
||||
The following examples has been provided to demonstrate the DCL library:
|
||||
|
||||
- \ref EXAMPLES_DCL_PI
|
||||
- \ref EXAMPLES_DCL_DF22
|
||||
|
||||
## Additional References {#DCL_ADDITIONAL_REFERENCES}
|
||||
|
||||
N/A
|
||||
|
||||
## API
|
||||
|
||||
\ref DCL_API_MODULE
|
||||
@ -3,3 +3,5 @@ INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/hdsl_example.
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/endat_example.md
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/tamagawa_example.md
|
||||
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/sdfm_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
|
||||
|
||||
@ -13,6 +13,7 @@ INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/rele
|
||||
INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/release_notes_09_00_00.md
|
||||
@INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/examples.cfg
|
||||
@INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/components.cfg
|
||||
@INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/dcl/dcl.cfg
|
||||
|
||||
# Used to selectively pick DEVICE specific sections within .md files
|
||||
ENABLED_SECTIONS = SOC_AM243X
|
||||
|
||||
@ -1,2 +1,4 @@
|
||||
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/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
|
||||
@ -10,6 +10,7 @@ PROJECT_NAME = "AM263x Motor Control SDK"
|
||||
INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/main_page/main_page.md
|
||||
@INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/examples.cfg
|
||||
@INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/components.cfg
|
||||
@INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/dcl/dcl.cfg
|
||||
|
||||
# Used to selectively pick DEVICE specific sections within .md files
|
||||
ENABLED_SECTIONS = SOC_AM263X
|
||||
|
||||
97
docs_src/docs/api_guide/examples/dcl/dcl_df22/dcl_df22.md
Normal file
97
docs_src/docs/api_guide/examples/dcl/dcl_df22/dcl_df22.md
Normal file
@ -0,0 +1,97 @@
|
||||
# DCL DF22 Test {#EXAMPLES_DCL_DF22}
|
||||
|
||||
[TOC]
|
||||
|
||||
Simple DCL DF22 controller demonstration
|
||||
|
||||
This example leverages a direct form 2 2nd order (DF22) compensator from
|
||||
the digital control library (DCL).
|
||||
|
||||
It demonstrates how to setup and run the DF22 controller. The example first
|
||||
initializes the datalog DCL_FDLOG to the test vector, run the controller
|
||||
based on the test input and compare the output with the expected value.
|
||||
|
||||
|
||||
## Files and directory structure
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<th>Folder/Files
|
||||
<th>Description
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/examples/dcl/dcl_df22/</td></tr>
|
||||
<tr>
|
||||
<td>df22_test.c</td>
|
||||
<td>Main function for DF22 testing</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>df22_test.h</td>
|
||||
<td>Contains all initialization of needed strctures</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>data/</td>
|
||||
<td>Contains pre-generated data files result compares with</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/source/dcl</td></tr>
|
||||
<tr>
|
||||
<td>dcl/</td>
|
||||
<td>Folder containing DCL library source</td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
# Supported Combinations {#EXAMPLES_DCL_DF22_COMBO}
|
||||
|
||||
\cond SOC_AM64X
|
||||
|
||||
Parameter | Value
|
||||
---------------|-----------
|
||||
CPU + OS | r5fss0-0 nortos
|
||||
^ | m4fss0-0 nortos
|
||||
^ | r5fss0-0 freertos
|
||||
^ | m4fss0-0 freertos
|
||||
Toolchain | ti-arm-clang
|
||||
Board | @VAR_BOARD_NAME_LOWER, @VAR_SK_BOARD_NAME_LOWER
|
||||
Example folder | examples/dcl/dcl_df22
|
||||
|
||||
\endcond
|
||||
|
||||
\cond SOC_AM243X
|
||||
|
||||
Parameter | Value
|
||||
---------------|-----------
|
||||
CPU + OS | r5fss0-0 nortos
|
||||
^ | m4fss0-0 nortos
|
||||
^ | r5fss0-0 freertos
|
||||
^ | m4fss0-0 freertos
|
||||
Toolchain | ti-arm-clang
|
||||
Boards | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER
|
||||
Example folder | examples/dcl/dcl_df22
|
||||
|
||||
\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/dcl/dcl_df22
|
||||
|
||||
\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 \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}).
|
||||
- **When using makefiles to build**, note the required combination and build using make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}).
|
||||
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run}
|
||||
|
||||
|
||||
### Sample Output
|
||||
|
||||
Shown below is a sample output when the application is run:
|
||||
|
||||
\code
|
||||
DF22 test produced 0 error
|
||||
\endcode
|
||||
96
docs_src/docs/api_guide/examples/dcl/dcl_pi/dcl_pi.md
Normal file
96
docs_src/docs/api_guide/examples/dcl/dcl_pi/dcl_pi.md
Normal file
@ -0,0 +1,96 @@
|
||||
# DCL PI Test {#EXAMPLES_DCL_PI}
|
||||
|
||||
[TOC]
|
||||
|
||||
Simple DCL PI controller demonstration
|
||||
|
||||
This example leverages a PI controller from the digital control library(DCL).
|
||||
It demonstrates how to setup and run the PI controller. The example first
|
||||
initializes the datalog DCL_FDLOG to the test vector, run the controller
|
||||
based on the test input and compare the output with the expected value.
|
||||
|
||||
|
||||
## Files and directory structure
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<th>Folder/Files
|
||||
<th>Description
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/examples/dcl/dcl_pi/</td></tr>
|
||||
<tr>
|
||||
<td>pi_test.c</td>
|
||||
<td>Main function for PI testing</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>pi_test.h</td>
|
||||
<td>Contains all initialization of needed strctures</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>data/</td>
|
||||
<td>Contains pre-generated data files result compares with</td>
|
||||
</tr>
|
||||
<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/source/dcl</td></tr>
|
||||
<tr>
|
||||
<td>dcl/</td>
|
||||
<td>Folder containing DCL library source</td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
# Supported Combinations {#EXAMPLES_DCL_PI_COMBOS}
|
||||
|
||||
\cond SOC_AM64X
|
||||
|
||||
Parameter | Value
|
||||
---------------|-----------
|
||||
CPU + OS | r5fss0-0 nortos
|
||||
^ | m4fss0-0 nortos
|
||||
^ | r5fss0-0 freertos
|
||||
^ | m4fss0-0 freertos
|
||||
Toolchain | ti-arm-clang
|
||||
Board | @VAR_BOARD_NAME_LOWER, @VAR_SK_BOARD_NAME_LOWER
|
||||
Example folder | examples/dcl/dcl_pi
|
||||
|
||||
\endcond
|
||||
|
||||
\cond SOC_AM243X
|
||||
|
||||
Parameter | Value
|
||||
---------------|-----------
|
||||
CPU + OS | r5fss0-0 nortos
|
||||
^ | m4fss0-0 nortos
|
||||
^ | r5fss0-0 freertos
|
||||
^ | m4fss0-0 freertos
|
||||
Toolchain | ti-arm-clang
|
||||
Boards | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER
|
||||
Example folder | examples/dcl/dcl_pi
|
||||
|
||||
\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/dcl/dcl_pi
|
||||
|
||||
\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 \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}).
|
||||
- **When using makefiles to build**, note the required combination and build using make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}).
|
||||
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run}
|
||||
|
||||
|
||||
|
||||
### Sample Output
|
||||
|
||||
Shown below is a sample output when the application is run:
|
||||
|
||||
\code
|
||||
PI test produced 0 error
|
||||
\endcode
|
||||
@ -1,12 +1,33 @@
|
||||
# Examples and Demos {#EXAMPLES}
|
||||
This page lists all the examples and demos supported in this SDK.
|
||||
\cond SOC_AM64X || SOC_AM243X
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_ENDAT
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_HDSL
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_SDFM
|
||||
|
||||
\cond SOC_AM64X
|
||||
- Position Sense
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_ENDAT
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_HDSL
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_HDSL_TRACE
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA
|
||||
- Current Sense
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_SDFM
|
||||
\endcond
|
||||
|
||||
\cond SOC_AM243X
|
||||
- Position Sense
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_ENDAT
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_HDSL
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_HDSL_TRACE
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA
|
||||
- Current Sense
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_SDFM
|
||||
- RTLibs
|
||||
-# \subpage EXAMPLES_DCL_PI
|
||||
-# \subpage EXAMPLES_DCL_DF22
|
||||
\endcond
|
||||
|
||||
\cond SOC_AM263X
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA_OVER_UART
|
||||
- Position Sense
|
||||
-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA_OVER_UART
|
||||
- RTLibs
|
||||
-# \subpage EXAMPLES_DCL_PI
|
||||
-# \subpage EXAMPLES_DCL_DF22
|
||||
\endcond
|
||||
@ -23,7 +23,7 @@ Given below is a block diagram of the SW modules in this SDK
|
||||
|
||||
The main software components in the block diagram specific to motor control are described below
|
||||
|
||||
\cond SOC_AM64X || SOC_AM243X
|
||||
\cond SOC_AM64X
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
@ -63,6 +63,52 @@ The main software components in the block diagram specific to motor control are
|
||||
|
||||
\endcond
|
||||
|
||||
\cond SOC_AM243X
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<th>Software Components
|
||||
<th>Documentation Page
|
||||
<th>Description
|
||||
</tr>
|
||||
<tr><td colspan="3" bgcolor=#F0F0F0>**Position Sense Encoders**</td></tr>
|
||||
<tr>
|
||||
<td> EnDat
|
||||
<td>\ref ENDAT
|
||||
<td> Driver and PRU-ICSS firmware for EnDat encoder interface
|
||||
</tr>
|
||||
<tr>
|
||||
<td> HDSL
|
||||
<td>\ref HDSL
|
||||
<td> Driver and PRU-ICSS firmware for Hiperface DSL encoder interface
|
||||
</tr>
|
||||
<tr>
|
||||
<td> Tamagawa
|
||||
<td>\ref TAMAGAWA
|
||||
<td> Driver and PRU-ICSS firmware for Tamagawa encoder interface
|
||||
</tr>
|
||||
<tr><td colspan="3" bgcolor=#F0F0F0>**Current Sense**</td></tr>
|
||||
<tr>
|
||||
<td> %SDFM
|
||||
<td>\ref SDFM
|
||||
<td> Driver and firmware for current sense using Sigma-Delta Filtering Module
|
||||
</tr>
|
||||
<tr><td colspan="3" bgcolor=#F0F0F0>**Real Time Libraries**</td></tr>
|
||||
<tr>
|
||||
<td> Digital Control Library (DCL)
|
||||
<td>\ref DCL
|
||||
<td> Header-only library for digital control applications
|
||||
</tr>
|
||||
<tr><td colspan="3" bgcolor=#F0F0F0>**Examples and Demos**</td></tr>
|
||||
<tr>
|
||||
<td>Examples and Demos
|
||||
<td>\ref EXAMPLES
|
||||
<td>Examples and demos showing usage of different SW libraries and APIs for motor control
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
\endcond
|
||||
|
||||
\cond SOC_AM263X
|
||||
<table>
|
||||
<tr>
|
||||
|
||||
14
examples/dcl/dcl_df22/.project/mcsdk_project.js
Normal file
14
examples/dcl/dcl_df22/.project/mcsdk_project.js
Normal file
@ -0,0 +1,14 @@
|
||||
function getComponentProperty(device)
|
||||
{
|
||||
return require(`./mcsdk_project_${device}`).getComponentProperty();
|
||||
};
|
||||
|
||||
function getComponentBuildProperty(buildOption)
|
||||
{
|
||||
return require(`./mcsdk_project_${buildOption.device}`).getComponentBuildProperty(buildOption);
|
||||
};
|
||||
|
||||
module.exports = {
|
||||
getComponentProperty,
|
||||
getComponentBuildProperty,
|
||||
};
|
||||
266
examples/dcl/dcl_df22/.project/mcsdk_project_am243x.js
Normal file
266
examples/dcl/dcl_df22/.project/mcsdk_project_am243x.js
Normal file
@ -0,0 +1,266 @@
|
||||
let path = require('path');
|
||||
|
||||
let device = "am243x";
|
||||
|
||||
const files = {
|
||||
common: [
|
||||
/* Project Files */
|
||||
"df22_test.c",
|
||||
"main.c",
|
||||
],
|
||||
};
|
||||
|
||||
const projectspec_files = {
|
||||
common: [
|
||||
"../../../df22_test.h",
|
||||
"../../../data",
|
||||
]
|
||||
}
|
||||
|
||||
/* Relative to where the makefile will be generated
|
||||
* Typically at <example_folder>/<BOARD>/<core_os_combo>/<compiler>
|
||||
*/
|
||||
const filedirs = {
|
||||
common: [
|
||||
"..", /* core_os_combo base */
|
||||
"../../..", /* Example base */
|
||||
],
|
||||
};
|
||||
|
||||
const libdirs_nortos = {
|
||||
common: [
|
||||
"${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",
|
||||
],
|
||||
};
|
||||
|
||||
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",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
|
||||
],
|
||||
};
|
||||
|
||||
const includes_nortos_r5f = {
|
||||
common: [
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/dcl"
|
||||
],
|
||||
};
|
||||
|
||||
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/dcl"
|
||||
],
|
||||
};
|
||||
|
||||
const includes_nortos_m4f = {
|
||||
common: [
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/dcl"
|
||||
],
|
||||
};
|
||||
|
||||
const includes_freertos_m4f = {
|
||||
common: [
|
||||
"${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",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/dcl"
|
||||
],
|
||||
};
|
||||
|
||||
const libs_nortos_r5f = {
|
||||
common: [
|
||||
"nortos.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"board.am243x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
],
|
||||
};
|
||||
|
||||
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.${ConfigName}.lib",
|
||||
],
|
||||
};
|
||||
|
||||
const libs_nortos_m4f = {
|
||||
common: [
|
||||
"nortos.am243x.m4f.ti-arm-clang.${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_r5f = {
|
||||
common: [
|
||||
"linker.cmd",
|
||||
"dcl_linker_r5f_am243x_sitara.cmd",
|
||||
]
|
||||
};
|
||||
|
||||
const lnkfiles_m4f = {
|
||||
common: [
|
||||
"linker.cmd",
|
||||
"dcl_linker_m4f_am243x_sitara.cmd",
|
||||
]
|
||||
};
|
||||
|
||||
const syscfgfile = "../example.syscfg";
|
||||
|
||||
const readmeDoxygenPageTag = "EXAMPLES_DCL_DF22";
|
||||
|
||||
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: "dcl_df22_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: "dcl_df22_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: "dcl_df22_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: "dcl_df22_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: "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() {
|
||||
let property = {};
|
||||
|
||||
property.dirPath = path.resolve(__dirname, "..");
|
||||
property.type = "executable";
|
||||
property.name = "dcl_df22";
|
||||
property.isInternal = false;
|
||||
property.tirexResourceSubClass = [ "example.gettingstarted" ];
|
||||
property.description = "A Direct Form 2 2nd order example demonstrating the digital control library (DCL)."
|
||||
property.buildOptionCombos = buildOptionCombos;
|
||||
|
||||
return property;
|
||||
}
|
||||
|
||||
function getComponentBuildProperty(buildOption) {
|
||||
let build_property = {};
|
||||
|
||||
/* The following build property has been modified for dcl usage,
|
||||
specifically - added different includes vars distinguishing no/free rtos
|
||||
added different lnkfiles vars distinguishing cpu-specific lnkfiles
|
||||
*/
|
||||
|
||||
build_property.files = files;
|
||||
build_property.filedirs = filedirs;
|
||||
build_property.libdirs = libdirs_nortos;
|
||||
build_property.syscfgfile = syscfgfile;
|
||||
build_property.readmeDoxygenPageTag = readmeDoxygenPageTag;
|
||||
build_property.projectspec_files = projectspec_files;
|
||||
|
||||
if(buildOption.cpu.match(/r5f*/)) {
|
||||
build_property.lnkfiles = lnkfiles_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*/)) {
|
||||
build_property.lnkfiles = lnkfiles_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,
|
||||
};
|
||||
178
examples/dcl/dcl_df22/.project/mcsdk_project_am263x.js
Normal file
178
examples/dcl/dcl_df22/.project/mcsdk_project_am263x.js
Normal file
@ -0,0 +1,178 @@
|
||||
let path = require('path');
|
||||
|
||||
let device = "am263x";
|
||||
|
||||
const files = {
|
||||
common: [
|
||||
/* Project Files */
|
||||
"df22_test.c",
|
||||
"main.c",
|
||||
],
|
||||
};
|
||||
|
||||
const projectspec_files = {
|
||||
common: [
|
||||
"../../../df22_test.h",
|
||||
"../../../data",
|
||||
]
|
||||
}
|
||||
|
||||
/* 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",
|
||||
],
|
||||
};
|
||||
|
||||
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",
|
||||
"${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib",
|
||||
],
|
||||
};
|
||||
|
||||
const includes_nortos_r5f = {
|
||||
common: [
|
||||
"${MOTOR_CONTROL_SDK_PATH}/source/dcl"
|
||||
],
|
||||
};
|
||||
|
||||
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/dcl"
|
||||
],
|
||||
};
|
||||
|
||||
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.${ConfigName}.lib",
|
||||
],
|
||||
};
|
||||
|
||||
const libs_freertos_r5f = {
|
||||
common: [
|
||||
"freertos.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"drivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
"board.am263x.r5f.ti-arm-clang.${ConfigName}.lib",
|
||||
],
|
||||
};
|
||||
|
||||
|
||||
const lnkfiles = {
|
||||
common: [
|
||||
"linker.cmd",
|
||||
"dcl_linker_r5f_am263x_sitara.cmd",
|
||||
]
|
||||
};
|
||||
|
||||
const syscfgfile = "../example.syscfg";
|
||||
|
||||
const readmeDoxygenPageTag = "EXAMPLES_DCL_DF22";
|
||||
|
||||
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: "dcl_df22_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: "dcl_df22_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 = "dcl_df22";
|
||||
property.isInternal = false;
|
||||
property.tirexResourceSubClass = [ "example.gettingstarted" ];
|
||||
property.description = "A Direct Form 2 2nd order example demonstrating the digital control library (DCL)."
|
||||
property.buildOptionCombos = buildOptionCombos;
|
||||
|
||||
return property;
|
||||
}
|
||||
|
||||
function getComponentBuildProperty(buildOption) {
|
||||
let build_property = {};
|
||||
|
||||
/* The following build property has been modified for dcl usage,
|
||||
specifically - added different includes vars distinguishing no/free rtos
|
||||
added different lnkfiles vars for cpu-specific lnk files
|
||||
*/
|
||||
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,
|
||||
};
|
||||
@ -0,0 +1,57 @@
|
||||
/**
|
||||
* 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 "m4fss0-0" --product "MCU_PLUS_SDK@07.03.00"
|
||||
* @versions {"data":"2021012919","timestamp":"2021012919","tool":"1.8.0+1785","templates":null}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const addr_translate = scripting.addModule("/kernel/dpl/addr_translate", {}, false);
|
||||
const addr_translate1 = addr_translate.addInstance();
|
||||
const addr_translate2 = addr_translate.addInstance();
|
||||
const addr_translate3 = addr_translate.addInstance();
|
||||
const addr_translate4 = addr_translate.addInstance();
|
||||
const clock = scripting.addModule("/kernel/dpl/clock");
|
||||
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();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
addr_translate1.$name = "CONFIG_ADDR_TRANSLATE_REGION0";
|
||||
addr_translate1.localAddr = 0x80000000;
|
||||
|
||||
addr_translate2.$name = "CONFIG_ADDR_TRANSLATE_REGION1";
|
||||
addr_translate2.systemAddr = 0x20000000;
|
||||
addr_translate2.localAddr = 0xA0000000;
|
||||
|
||||
addr_translate3.$name = "CONFIG_ADDR_TRANSLATE_REGION2";
|
||||
addr_translate3.systemAddr = 0x40000000;
|
||||
addr_translate3.localAddr = 0xC0000000;
|
||||
|
||||
addr_translate4.$name = "CONFIG_ADDR_TRANSLATE_REGION3";
|
||||
addr_translate4.systemAddr = 0x60000000;
|
||||
addr_translate4.localAddr = 0x60000000;
|
||||
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$name = "CONFIG_UART_CONSOLE";
|
||||
debug_log.uartLog.MCU_UART.$assign = "MCU_USART0";
|
||||
|
||||
mpu_armv71.$name = "CONFIG_MPU_REGION0";
|
||||
mpu_armv71.attributes = "Device";
|
||||
mpu_armv71.allowExecute = false;
|
||||
|
||||
mpu_armv72.$name = "CONFIG_MPU_REGION1";
|
||||
mpu_armv72.size = 18;
|
||||
|
||||
/**
|
||||
* 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.MCU_UART.RXD.$suggestSolution = "MCU_UART0_RXD";
|
||||
debug_log.uartLog.MCU_UART.TXD.$suggestSolution = "MCU_UART0_TXD";
|
||||
84
examples/dcl/dcl_df22/am243x-evm/m4fss0-0_freertos/main.c
Normal file
84
examples/dcl/dcl_df22/am243x-evm/m4fss0-0_freertos/main.c
Normal file
@ -0,0 +1,84 @@
|
||||
/*
|
||||
* Copyright (C) 2018-2021 Texas Instruments Incorporated
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
*
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
*
|
||||
* Neither the name of Texas Instruments Incorporated nor the names of
|
||||
* its contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <kernel/dpl/DebugP.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_board_config.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#define MAIN_TASK_PRI (configMAX_PRIORITIES-1)
|
||||
|
||||
#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
|
||||
StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
|
||||
|
||||
StaticTask_t gMainTaskObj;
|
||||
TaskHandle_t gMainTask;
|
||||
|
||||
void dcl_df22_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* init SOC specific modules */
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
/* This task is created at highest priority, it should create more tasks and then delete itself */
|
||||
gMainTask = xTaskCreateStatic( freertos_main, /* Pointer to the function that implements the task. */
|
||||
"freertos_main", /* Text name for the task. This is to facilitate debugging only. */
|
||||
MAIN_TASK_SIZE, /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
|
||||
NULL, /* We are not using the task parameter. */
|
||||
MAIN_TASK_PRI, /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
|
||||
gMainTaskStack, /* pointer to stack base */
|
||||
&gMainTaskObj ); /* pointer to statically allocated task object memory */
|
||||
configASSERT(gMainTask != NULL);
|
||||
|
||||
/* Start the scheduler to start the tasks executing. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* The following line should never be reached because vTaskStartScheduler()
|
||||
will only return if there was not enough FreeRTOS heap memory available to
|
||||
create the Idle and (if configured) Timer tasks. Heap management, and
|
||||
techniques for trapping heap exhaustion, are described in the book text. */
|
||||
DebugP_assertNoLog(0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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 M4F_IRAM
|
||||
#define REG_RAM M4F_IRAM /* M4F_DRAM also works */
|
||||
|
||||
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
|
||||
}
|
||||
@ -0,0 +1,115 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex M.AM2434_ALV"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am243x-evm_m4fss0-0_freertos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Debug,
|
||||
Release,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="2.1.3"
|
||||
device="Cortex M.AM2434_ALV"
|
||||
deviceCore="Cortex_M4F_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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/portable/TI_ARM_CLANG/ARM_CM4F
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/m4f
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/dcl
|
||||
-mcpu=cortex-m4
|
||||
-mfloat-abi=hard
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${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${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${ConfigName}.map
|
||||
--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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context m4fss0-0 --part ALV --package ALV
|
||||
"
|
||||
|
||||
description="A Dcl Df22 FREERTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.m4f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.m4f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_m4f_am243x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,62 @@
|
||||
|
||||
/* make sure below retain is there in your linker command file, it keeps the vector table in the final binary */
|
||||
--retain="*(.vectors)"
|
||||
/* 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
|
||||
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the M4F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > M4F_VECS
|
||||
.text: {} palign(8) > M4F_IRAM /* This is where code resides */
|
||||
|
||||
.bss: {} palign(8) > M4F_DRAM /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
|
||||
.data: {} palign(8) > M4F_DRAM /* This is where initialized globals and static go */
|
||||
.rodata: {} palign(8) > M4F_DRAM /* This is where const's go */
|
||||
.sysmem: {} palign(8) > M4F_IRAM /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) > M4F_IRAM /* This is where the main() stack goes */
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
.ARM.exidx: {} palign(8) > M4F_IRAM /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) > M4F_IRAM /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) > M4F_IRAM /* Contains function pointers called after main */
|
||||
|
||||
/* General purpose user shared memory */
|
||||
.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) : {} > IPC_VRING_MEM
|
||||
}
|
||||
|
||||
MEMORY
|
||||
{
|
||||
M4F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000200
|
||||
M4F_IRAM : ORIGIN = 0x00000200 , LENGTH = 0x0002FE00
|
||||
M4F_DRAM : ORIGIN = 0x00030000 , LENGTH = 0x00010000
|
||||
|
||||
/* shared memories that are used by all cores */
|
||||
/* On M4F,
|
||||
* - By default MSMC RAM is not accessible to M4F, a RAT entry is needed to make it
|
||||
* accessible on M4F
|
||||
* - So make sure there is a RAT entry which has a 1:1 mapping from 0x70000000 to 0x70200000
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
IPC_VRING_MEM: ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,303 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=dcl_df22.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=dcl_df22.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
df22_test.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${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_CM4F \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/m4f \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/dcl \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-m4 \
|
||||
-mfloat-abi=hard \
|
||||
-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 \
|
||||
dcl_linker_m4f_am243x_sitara.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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
|
||||
-Wl,-i${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lfreertos.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-llibc.a \
|
||||
-llibsysbm.a \
|
||||
|
||||
LFLAGS_common = \
|
||||
-Wl,--ram_model \
|
||||
-Wl,--reread_libs \
|
||||
|
||||
|
||||
LIBS_NAME = \
|
||||
freertos.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
drivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
board.am243x.m4f.ti-arm-clang.${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 \
|
||||
${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:m4fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
|
||||
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
|
||||
|
||||
$(OBJDIR)/%.obj %.obj: %.S
|
||||
@echo Compiling: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang $@ ...
|
||||
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
|
||||
@echo Linking: am243x:m4fss0-0:freertos:ti-arm-clang $@ Done !!!
|
||||
@echo .
|
||||
|
||||
clean:
|
||||
@echo Cleaning: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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 m4fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context m4fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(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_m4fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
$(BOOTIMAGE_NAME): $(OUTNAME)
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
|
||||
@echo .
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
-include $(addprefix $(OBJDIR)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(CCS_INSTALL_DIR)
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
|
||||
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
OUTFILE=$(PROFILE)/$(OUTNAME).out
|
||||
BOOTIMAGE_PATH=$(abspath ${PROFILE})
|
||||
BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
|
||||
BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
all:
|
||||
ifeq ($(CCS_IDE_MODE),cloud)
|
||||
# No post build steps
|
||||
else
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
@echo Boot image: am243x:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
|
||||
@echo .
|
||||
else
|
||||
@echo Boot image: am243x:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_am243x-evm_m4fss0-0_freertos_ti-arm-clang
|
||||
|
||||
all:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
|
||||
|
||||
clean:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
|
||||
|
||||
export:
|
||||
$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,57 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM243x_ALV_beta" --package "ALV" --part "ALV" --context "m4fss0-0" --product "MCU_PLUS_SDK@07.03.00"
|
||||
* @versions {"data":"2021012919","timestamp":"2021012919","tool":"1.8.0+1785","templates":null}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const addr_translate = scripting.addModule("/kernel/dpl/addr_translate", {}, false);
|
||||
const addr_translate1 = addr_translate.addInstance();
|
||||
const addr_translate2 = addr_translate.addInstance();
|
||||
const addr_translate3 = addr_translate.addInstance();
|
||||
const addr_translate4 = addr_translate.addInstance();
|
||||
const clock = scripting.addModule("/kernel/dpl/clock");
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
addr_translate1.$name = "CONFIG_ADDR_TRANSLATE_REGION0";
|
||||
addr_translate1.localAddr = 0x80000000;
|
||||
|
||||
addr_translate2.$name = "CONFIG_ADDR_TRANSLATE_REGION1";
|
||||
addr_translate2.systemAddr = 0x20000000;
|
||||
addr_translate2.localAddr = 0xA0000000;
|
||||
|
||||
addr_translate3.$name = "CONFIG_ADDR_TRANSLATE_REGION2";
|
||||
addr_translate3.systemAddr = 0x40000000;
|
||||
addr_translate3.localAddr = 0xC0000000;
|
||||
|
||||
addr_translate4.$name = "CONFIG_ADDR_TRANSLATE_REGION3";
|
||||
addr_translate4.systemAddr = 0x60000000;
|
||||
addr_translate4.localAddr = 0x60000000;
|
||||
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$name = "CONFIG_UART_CONSOLE";
|
||||
debug_log.uartLog.MCU_UART.$assign = "MCU_USART0";
|
||||
|
||||
mpu_armv71.$name = "CONFIG_MPU_REGION0";
|
||||
mpu_armv71.attributes = "Device";
|
||||
mpu_armv71.allowExecute = false;
|
||||
|
||||
mpu_armv72.$name = "CONFIG_MPU_REGION1";
|
||||
mpu_armv72.size = 18;
|
||||
|
||||
/**
|
||||
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
||||
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
|
||||
* re-solve from scratch.
|
||||
*/
|
||||
debug_log.uartLog.MCU_UART.RXD.$suggestSolution = "MCU_UART0_RXD";
|
||||
debug_log.uartLog.MCU_UART.TXD.$suggestSolution = "MCU_UART0_TXD";
|
||||
50
examples/dcl/dcl_df22/am243x-evm/m4fss0-0_nortos/main.c
Normal file
50
examples/dcl/dcl_df22/am243x-evm/m4fss0-0_nortos/main.c
Normal file
@ -0,0 +1,50 @@
|
||||
/*
|
||||
* 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 dcl_df22_main(void *args);
|
||||
|
||||
int main(void)
|
||||
{
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
Board_deinit();
|
||||
System_deinit();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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 M4F_IRAM
|
||||
#define REG_RAM M4F_IRAM /* M4F_DRAM also works */
|
||||
|
||||
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
|
||||
}
|
||||
@ -0,0 +1,112 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex M.AM2434_ALV"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am243x-evm_m4fss0-0_nortos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Debug,
|
||||
Release,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="2.1.3"
|
||||
device="Cortex M.AM2434_ALV"
|
||||
deviceCore="Cortex_M4F_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${MOTOR_CONTROL_SDK_PATH}/source/dcl
|
||||
-mcpu=cortex-m4
|
||||
-mfloat-abi=hard
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${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${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${ConfigName}.map
|
||||
--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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context m4fss0-0 --part ALV --package ALV
|
||||
"
|
||||
|
||||
description="A Dcl Df22 NORTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lnortos.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lnortos.am243x.m4f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.m4f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_m4f_am243x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,62 @@
|
||||
|
||||
/* make sure below retain is there in your linker command file, it keeps the vector table in the final binary */
|
||||
--retain="*(.vectors)"
|
||||
/* 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
|
||||
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the M4F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > M4F_VECS
|
||||
.text: {} palign(8) > M4F_IRAM /* This is where code resides */
|
||||
|
||||
.bss: {} palign(8) > M4F_DRAM /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
|
||||
.data: {} palign(8) > M4F_DRAM /* This is where initialized globals and static go */
|
||||
.rodata: {} palign(8) > M4F_DRAM /* This is where const's go */
|
||||
.sysmem: {} palign(8) > M4F_IRAM /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) > M4F_IRAM /* This is where the main() stack goes */
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
.ARM.exidx: {} palign(8) > M4F_IRAM /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) > M4F_IRAM /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) > M4F_IRAM /* Contains function pointers called after main */
|
||||
|
||||
/* General purpose user shared memory */
|
||||
.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) : {} > IPC_VRING_MEM
|
||||
}
|
||||
|
||||
MEMORY
|
||||
{
|
||||
M4F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000200
|
||||
M4F_IRAM : ORIGIN = 0x00000200 , LENGTH = 0x0002FE00
|
||||
M4F_DRAM : ORIGIN = 0x00030000 , LENGTH = 0x00010000
|
||||
|
||||
/* shared memories that are used by all cores */
|
||||
/* On M4F,
|
||||
* - By default MSMC RAM is not accessible to M4F, a RAT entry is needed to make it
|
||||
* accessible on M4F
|
||||
* - So make sure there is a RAT entry which has a 1:1 mapping from 0x70000000 to 0x70200000
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
IPC_VRING_MEM: ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,300 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=dcl_df22.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=dcl_df22.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
df22_test.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${CG_TOOL_ROOT}/include/c \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/dcl \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-m4 \
|
||||
-mfloat-abi=hard \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
dcl_linker_m4f_am243x_sitara.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lnortos.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-llibc.a \
|
||||
-llibsysbm.a \
|
||||
|
||||
LFLAGS_common = \
|
||||
-Wl,--ram_model \
|
||||
-Wl,--reread_libs \
|
||||
|
||||
|
||||
LIBS_NAME = \
|
||||
nortos.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
drivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
board.am243x.m4f.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 \
|
||||
${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:m4fss0-0:nortos:ti-arm-clang $(OUTNAME): $<
|
||||
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
|
||||
|
||||
$(OBJDIR)/%.obj %.obj: %.S
|
||||
@echo Compiling: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang $@ ...
|
||||
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
|
||||
@echo Linking: am243x:m4fss0-0:nortos:ti-arm-clang $@ Done !!!
|
||||
@echo .
|
||||
|
||||
clean:
|
||||
@echo Cleaning: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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 m4fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context m4fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(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_m4fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
$(BOOTIMAGE_NAME): $(OUTNAME)
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
|
||||
@echo .
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
-include $(addprefix $(OBJDIR)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(CCS_INSTALL_DIR)
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
|
||||
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
OUTFILE=$(PROFILE)/$(OUTNAME).out
|
||||
BOOTIMAGE_PATH=$(abspath ${PROFILE})
|
||||
BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
|
||||
BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
all:
|
||||
ifeq ($(CCS_IDE_MODE),cloud)
|
||||
# No post build steps
|
||||
else
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
@echo Boot image: am243x:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
|
||||
@echo .
|
||||
else
|
||||
@echo Boot image: am243x:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_am243x-evm_m4fss0-0_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 $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,62 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM243x_ALV_beta" --package "ALV" --part "ALV" --context "r5fss0-0" --product "MCU_PLUS_SDK@07.03.00"
|
||||
* @versions {"data":"2021012919","timestamp":"2021012919","tool":"1.8.0+1785","templates":null}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const mpu_armv76 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$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/dcl/dcl_df22/am243x-evm/r5fss0-0_freertos/main.c
Normal file
84
examples/dcl/dcl_df22/am243x-evm/r5fss0-0_freertos/main.c
Normal file
@ -0,0 +1,84 @@
|
||||
/*
|
||||
* Copyright (C) 2018-2021 Texas Instruments Incorporated
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
*
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
*
|
||||
* Neither the name of Texas Instruments Incorporated nor the names of
|
||||
* its contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <kernel/dpl/DebugP.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_board_config.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#define MAIN_TASK_PRI (configMAX_PRIORITIES-1)
|
||||
|
||||
#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
|
||||
StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
|
||||
|
||||
StaticTask_t gMainTaskObj;
|
||||
TaskHandle_t gMainTask;
|
||||
|
||||
void dcl_df22_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* init SOC specific modules */
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
/* This task is created at highest priority, it should create more tasks and then delete itself */
|
||||
gMainTask = xTaskCreateStatic( freertos_main, /* Pointer to the function that implements the task. */
|
||||
"freertos_main", /* Text name for the task. This is to facilitate debugging only. */
|
||||
MAIN_TASK_SIZE, /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
|
||||
NULL, /* We are not using the task parameter. */
|
||||
MAIN_TASK_PRI, /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
|
||||
gMainTaskStack, /* pointer to stack base */
|
||||
&gMainTaskObj ); /* pointer to statically allocated task object memory */
|
||||
configASSERT(gMainTask != NULL);
|
||||
|
||||
/* Start the scheduler to start the tasks executing. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* The following line should never be reached because vTaskStartScheduler()
|
||||
will only return if there was not enough FreeRTOS heap memory available to
|
||||
create the Idle and (if configured) Timer tasks. Heap management, and
|
||||
techniques for trapping heap exhaustion, are described in the book text. */
|
||||
DebugP_assertNoLog(0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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
|
||||
}
|
||||
@ -0,0 +1,117 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALV"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am243x-evm_r5fss0-0_freertos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Debug,
|
||||
Release,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="2.1.3"
|
||||
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/dcl
|
||||
-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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${ConfigName}.map
|
||||
--diag_suppress=10063
|
||||
--ram_model
|
||||
--reread_libs
|
||||
"
|
||||
|
||||
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALV --package ALV
|
||||
"
|
||||
|
||||
description="A Dcl Df22 FREERTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_r5f_am243x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,148 @@
|
||||
|
||||
/* This is the stack that is used by code running within main()
|
||||
* In case of NORTOS,
|
||||
* - This means all the code outside of ISR uses this stack
|
||||
* In case of FreeRTOS
|
||||
* - This means all the code until vTaskStartScheduler() is called in main()
|
||||
* uses this stack.
|
||||
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
|
||||
*/
|
||||
--stack_size=16384
|
||||
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
|
||||
* This is also the heap used by pvPortMalloc in FreeRTOS
|
||||
*/
|
||||
--heap_size=32768
|
||||
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
|
||||
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* In NORTOS,
|
||||
* - Here interrupt nesting is enabled
|
||||
* - This is the stack used by ISRs registered as type IRQ
|
||||
* In FreeRTOS,
|
||||
* - Here interrupt nesting is disabled
|
||||
* - This is stack that is used initally when a IRQ is received
|
||||
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
|
||||
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
|
||||
*/
|
||||
__IRQ_STACK_SIZE = 256;
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
|
||||
*/
|
||||
__FIQ_STACK_SIZE = 256;
|
||||
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
|
||||
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
|
||||
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > R5F_VECS
|
||||
|
||||
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
|
||||
* i.e this cannot be placed in DDR
|
||||
*/
|
||||
GROUP {
|
||||
.text.hwi: palign(8)
|
||||
.text.cache: palign(8)
|
||||
.text.mpu: palign(8)
|
||||
.text.boot: palign(8)
|
||||
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.text: {} palign(8) /* This is where code resides */
|
||||
.rodata: {} palign(8) /* This is where const's go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.data: {} palign(8) /* This is where initialized globals and static go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.bss: {} palign(8) /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
.sysmem: {} palign(8) /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) /* This is where the main() stack goes */
|
||||
} > MSRAM
|
||||
|
||||
/* This is where the stacks for different R5F modes go */
|
||||
GROUP {
|
||||
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__IRQ_STACK_START)
|
||||
RUN_END(__IRQ_STACK_END)
|
||||
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__FIQ_STACK_START)
|
||||
RUN_END(__FIQ_STACK_END)
|
||||
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
|
||||
RUN_START(__SVC_STACK_START)
|
||||
RUN_END(__SVC_STACK_END)
|
||||
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
|
||||
RUN_START(__ABORT_STACK_START)
|
||||
RUN_END(__ABORT_STACK_END)
|
||||
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
|
||||
RUN_START(__UNDEFINED_STACK_START)
|
||||
RUN_END(__UNDEFINED_STACK_END)
|
||||
} > MSRAM
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
GROUP {
|
||||
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) /* Contains function pointers called after main */
|
||||
} > MSRAM
|
||||
|
||||
/* General purpose user shared memory, used in some examples */
|
||||
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
|
||||
/* this is used when Debug log's to shared memory are enabled, else this is not used */
|
||||
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
|
||||
/* this is used only when IPC RPMessage is enabled, else this is not used */
|
||||
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
|
||||
/* General purpose non cacheable memory, used in some examples */
|
||||
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
|
||||
}
|
||||
|
||||
/*
|
||||
NOTE: Below memory is reserved for DMSC usage
|
||||
- During Boot till security handoff is complete
|
||||
0x701E0000 - 0x701FFFFF (128KB)
|
||||
- After "Security Handoff" is complete (i.e at run time)
|
||||
0x701F4000 - 0x701FFFFF (48KB)
|
||||
|
||||
Security handoff is complete when this message is sent to the DMSC,
|
||||
TISCI_MSG_SEC_HANDOVER
|
||||
|
||||
This should be sent once all cores are loaded and all application
|
||||
specific firewall calls are setup.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
|
||||
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
|
||||
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
|
||||
|
||||
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
|
||||
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
|
||||
|
||||
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
|
||||
* this memory does not overlap with other R5F's
|
||||
*/
|
||||
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
|
||||
|
||||
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
|
||||
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
|
||||
*/
|
||||
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
|
||||
|
||||
/* shared memory segments */
|
||||
/* On R5F,
|
||||
* - make sure there is a MPU entry which maps below regions as non-cache
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,305 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=dcl_df22.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=dcl_df22.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
df22_test.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${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/dcl \
|
||||
-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 \
|
||||
dcl_linker_r5f_am243x_sitara.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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
|
||||
-Wl,-i${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.${ConfigName}.lib \
|
||||
-llibc.a \
|
||||
-llibsysbm.a \
|
||||
|
||||
LFLAGS_common = \
|
||||
-Wl,--diag_suppress=10063 \
|
||||
-Wl,--ram_model \
|
||||
-Wl,--reread_libs \
|
||||
|
||||
|
||||
LIBS_NAME = \
|
||||
freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
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 \
|
||||
${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 dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(OS),Windows_NT)
|
||||
$(RM) \*.out
|
||||
$(RM) \*.map
|
||||
$(RM) \*.appimage*
|
||||
$(RM) \*.rprc*
|
||||
$(RM) \*.tiimage*
|
||||
$(RM) \*.bin
|
||||
else
|
||||
$(RM) *.out
|
||||
$(RM) *.map
|
||||
$(RM) *.appimage*
|
||||
$(RM) *.rprc*
|
||||
$(RM) *.tiimage*
|
||||
$(RM) *.bin
|
||||
endif
|
||||
$(RMDIR) generated
|
||||
|
||||
$(OBJS): | $(OBJDIR)
|
||||
|
||||
$(OBJDIR):
|
||||
$(MKDIR) $@
|
||||
|
||||
|
||||
.NOTPARALLEL:
|
||||
|
||||
.INTERMEDIATE: syscfg
|
||||
$(SYSCFG_GEN_FILES): syscfg
|
||||
|
||||
syscfg: ../example.syscfg
|
||||
@echo Generating SysConfig files ...
|
||||
$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALV_beta --context r5fss0-0 --part ALV --package ALV --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
$(BOOTIMAGE_NAME): $(OUTNAME)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ ...
|
||||
ifneq ($(OS),Windows_NT)
|
||||
$(CHMOD) a+x $(XIPGEN_CMD)
|
||||
endif
|
||||
$(OUTRPRC_CMD) $(OUTNAME) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
# Sign the appimage for HS-FS using appimage signing script
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS_FS)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
|
||||
@echo .
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS_FS) Done !!!
|
||||
@echo .
|
||||
|
||||
$(BOOTIMAGE_NAME_HS): $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
# Sign the appimage using appimage signing script
|
||||
ifeq ($(ENC_ENABLED),no)
|
||||
@echo Boot image signing: Encryption is disabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS)
|
||||
else
|
||||
@echo Boot image signing: Encryption is enabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME_HS)
|
||||
$(RM) $(BOOTIMAGE_NAME)-enc
|
||||
endif
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
-include $(addprefix $(OBJDIR)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(CCS_INSTALL_DIR)
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
|
||||
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
OUTFILE=$(PROFILE)/$(OUTNAME).out
|
||||
BOOTIMAGE_PATH=$(abspath ${PROFILE})
|
||||
BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
|
||||
BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
all:
|
||||
ifeq ($(CCS_IDE_MODE),cloud)
|
||||
# No post build steps
|
||||
else
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) ...
|
||||
$(OUTRPRC_CMD) $(OUTFILE) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(COPY) $(OUTNAME).rprc $(BOOTIMAGE_RPRC_NAME)
|
||||
$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
# Sign the appimage for HS-FS using appimage signing script
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs_fs
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
# Sign the appimage using appimage signing script
|
||||
ifeq ($(ENC_ENABLED),no)
|
||||
@echo Boot image signing: Encryption is disabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs
|
||||
else
|
||||
@echo Boot image signing: Encryption is enabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME).hs
|
||||
$(RM) $(BOOTIMAGE_NAME)-enc
|
||||
endif
|
||||
endif
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
|
||||
@echo .
|
||||
else
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_am243x-evm_r5fss0-0_freertos_ti-arm-clang
|
||||
|
||||
all:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
|
||||
|
||||
clean:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
|
||||
|
||||
export:
|
||||
$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,62 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM243x_ALV_beta" --package "ALV" --part "ALV" --context "r5fss0-0" --product "MCU_PLUS_SDK@07.03.00"
|
||||
* @versions {"data":"2021012919","timestamp":"2021012919","tool":"1.8.0+1785","templates":null}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const mpu_armv76 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$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/dcl/dcl_df22/am243x-evm/r5fss0-0_nortos/main.c
Normal file
50
examples/dcl/dcl_df22/am243x-evm/r5fss0-0_nortos/main.c
Normal file
@ -0,0 +1,50 @@
|
||||
/*
|
||||
* 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 dcl_df22_main(void *args);
|
||||
|
||||
int main(void)
|
||||
{
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
Board_deinit();
|
||||
System_deinit();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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
|
||||
}
|
||||
@ -0,0 +1,114 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALV"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am243x-evm_r5fss0-0_nortos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Debug,
|
||||
Release,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="2.1.3"
|
||||
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${MOTOR_CONTROL_SDK_PATH}/source/dcl
|
||||
-mcpu=cortex-r5
|
||||
-mfloat-abi=hard
|
||||
-mfpu=vfpv3-d16
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${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${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALV --package ALV
|
||||
"
|
||||
|
||||
description="A Dcl Df22 NORTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lnortos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lnortos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_r5f_am243x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,148 @@
|
||||
|
||||
/* This is the stack that is used by code running within main()
|
||||
* In case of NORTOS,
|
||||
* - This means all the code outside of ISR uses this stack
|
||||
* In case of FreeRTOS
|
||||
* - This means all the code until vTaskStartScheduler() is called in main()
|
||||
* uses this stack.
|
||||
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
|
||||
*/
|
||||
--stack_size=16384
|
||||
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
|
||||
* This is also the heap used by pvPortMalloc in FreeRTOS
|
||||
*/
|
||||
--heap_size=32768
|
||||
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
|
||||
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* In NORTOS,
|
||||
* - Here interrupt nesting is enabled
|
||||
* - This is the stack used by ISRs registered as type IRQ
|
||||
* In FreeRTOS,
|
||||
* - Here interrupt nesting is disabled
|
||||
* - This is stack that is used initally when a IRQ is received
|
||||
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
|
||||
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
|
||||
*/
|
||||
__IRQ_STACK_SIZE = 256;
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
|
||||
*/
|
||||
__FIQ_STACK_SIZE = 256;
|
||||
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
|
||||
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
|
||||
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > R5F_VECS
|
||||
|
||||
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
|
||||
* i.e this cannot be placed in DDR
|
||||
*/
|
||||
GROUP {
|
||||
.text.hwi: palign(8)
|
||||
.text.cache: palign(8)
|
||||
.text.mpu: palign(8)
|
||||
.text.boot: palign(8)
|
||||
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.text: {} palign(8) /* This is where code resides */
|
||||
.rodata: {} palign(8) /* This is where const's go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.data: {} palign(8) /* This is where initialized globals and static go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.bss: {} palign(8) /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
.sysmem: {} palign(8) /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) /* This is where the main() stack goes */
|
||||
} > MSRAM
|
||||
|
||||
/* This is where the stacks for different R5F modes go */
|
||||
GROUP {
|
||||
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__IRQ_STACK_START)
|
||||
RUN_END(__IRQ_STACK_END)
|
||||
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__FIQ_STACK_START)
|
||||
RUN_END(__FIQ_STACK_END)
|
||||
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
|
||||
RUN_START(__SVC_STACK_START)
|
||||
RUN_END(__SVC_STACK_END)
|
||||
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
|
||||
RUN_START(__ABORT_STACK_START)
|
||||
RUN_END(__ABORT_STACK_END)
|
||||
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
|
||||
RUN_START(__UNDEFINED_STACK_START)
|
||||
RUN_END(__UNDEFINED_STACK_END)
|
||||
} > MSRAM
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
GROUP {
|
||||
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) /* Contains function pointers called after main */
|
||||
} > MSRAM
|
||||
|
||||
/* General purpose user shared memory, used in some examples */
|
||||
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
|
||||
/* this is used when Debug log's to shared memory are enabled, else this is not used */
|
||||
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
|
||||
/* this is used only when IPC RPMessage is enabled, else this is not used */
|
||||
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
|
||||
/* General purpose non cacheable memory, used in some examples */
|
||||
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
|
||||
}
|
||||
|
||||
/*
|
||||
NOTE: Below memory is reserved for DMSC usage
|
||||
- During Boot till security handoff is complete
|
||||
0x701E0000 - 0x701FFFFF (128KB)
|
||||
- After "Security Handoff" is complete (i.e at run time)
|
||||
0x701F4000 - 0x701FFFFF (48KB)
|
||||
|
||||
Security handoff is complete when this message is sent to the DMSC,
|
||||
TISCI_MSG_SEC_HANDOVER
|
||||
|
||||
This should be sent once all cores are loaded and all application
|
||||
specific firewall calls are setup.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
|
||||
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
|
||||
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
|
||||
|
||||
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
|
||||
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
|
||||
|
||||
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
|
||||
* this memory does not overlap with other R5F's
|
||||
*/
|
||||
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
|
||||
|
||||
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
|
||||
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
|
||||
*/
|
||||
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
|
||||
|
||||
/* shared memory segments */
|
||||
/* On R5F,
|
||||
* - make sure there is a MPU entry which maps below regions as non-cache
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,302 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=dcl_df22.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=dcl_df22.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
df22_test.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${CG_TOOL_ROOT}/include/c \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/dcl \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
dcl_linker_r5f_am243x_sitara.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lnortos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-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 \
|
||||
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 \
|
||||
${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 dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(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 $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_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 $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,45 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM243x_ALX_beta" --package "ALX" --part "ALX" --context "m4fss0-0" --product "MCU_PLUS_SDK@07.03.01"
|
||||
* @versions {"tool":"1.9.0+2015","templates":null}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const addr_translate = scripting.addModule("/kernel/dpl/addr_translate", {}, false);
|
||||
const addr_translate1 = addr_translate.addInstance();
|
||||
const addr_translate2 = addr_translate.addInstance();
|
||||
const addr_translate3 = addr_translate.addInstance();
|
||||
const addr_translate4 = addr_translate.addInstance();
|
||||
const clock = scripting.addModule("/kernel/dpl/clock");
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
addr_translate1.$name = "CONFIG_ADDR_TRANSLATE_REGION0";
|
||||
addr_translate1.localAddr = 0x80000000;
|
||||
|
||||
addr_translate2.$name = "CONFIG_ADDR_TRANSLATE_REGION1";
|
||||
addr_translate2.systemAddr = 0x20000000;
|
||||
addr_translate2.localAddr = 0xA0000000;
|
||||
|
||||
addr_translate3.$name = "CONFIG_ADDR_TRANSLATE_REGION2";
|
||||
addr_translate3.systemAddr = 0x40000000;
|
||||
addr_translate3.localAddr = 0xC0000000;
|
||||
|
||||
addr_translate4.$name = "CONFIG_ADDR_TRANSLATE_REGION3";
|
||||
addr_translate4.systemAddr = 0x60000000;
|
||||
addr_translate4.localAddr = 0x60000000;
|
||||
|
||||
mpu_armv71.$name = "CONFIG_MPU_REGION0";
|
||||
mpu_armv71.attributes = "Device";
|
||||
mpu_armv71.allowExecute = false;
|
||||
|
||||
mpu_armv72.$name = "CONFIG_MPU_REGION1";
|
||||
mpu_armv72.size = 18;
|
||||
84
examples/dcl/dcl_df22/am243x-lp/m4fss0-0_freertos/main.c
Normal file
84
examples/dcl/dcl_df22/am243x-lp/m4fss0-0_freertos/main.c
Normal file
@ -0,0 +1,84 @@
|
||||
/*
|
||||
* Copyright (C) 2018-2021 Texas Instruments Incorporated
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
*
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
*
|
||||
* Neither the name of Texas Instruments Incorporated nor the names of
|
||||
* its contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <kernel/dpl/DebugP.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_board_config.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#define MAIN_TASK_PRI (configMAX_PRIORITIES-1)
|
||||
|
||||
#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
|
||||
StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
|
||||
|
||||
StaticTask_t gMainTaskObj;
|
||||
TaskHandle_t gMainTask;
|
||||
|
||||
void dcl_df22_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* init SOC specific modules */
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
/* This task is created at highest priority, it should create more tasks and then delete itself */
|
||||
gMainTask = xTaskCreateStatic( freertos_main, /* Pointer to the function that implements the task. */
|
||||
"freertos_main", /* Text name for the task. This is to facilitate debugging only. */
|
||||
MAIN_TASK_SIZE, /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
|
||||
NULL, /* We are not using the task parameter. */
|
||||
MAIN_TASK_PRI, /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
|
||||
gMainTaskStack, /* pointer to stack base */
|
||||
&gMainTaskObj ); /* pointer to statically allocated task object memory */
|
||||
configASSERT(gMainTask != NULL);
|
||||
|
||||
/* Start the scheduler to start the tasks executing. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* The following line should never be reached because vTaskStartScheduler()
|
||||
will only return if there was not enough FreeRTOS heap memory available to
|
||||
create the Idle and (if configured) Timer tasks. Heap management, and
|
||||
techniques for trapping heap exhaustion, are described in the book text. */
|
||||
DebugP_assertNoLog(0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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 M4F_IRAM
|
||||
#define REG_RAM M4F_IRAM /* M4F_DRAM also works */
|
||||
|
||||
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
|
||||
}
|
||||
@ -0,0 +1,115 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex M.AM2434_ALX"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am243x-lp_m4fss0-0_freertos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Debug,
|
||||
Release,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="2.1.3"
|
||||
device="Cortex M.AM2434_ALX"
|
||||
deviceCore="Cortex_M4F_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_CM4F
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/m4f
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/dcl
|
||||
-mcpu=cortex-m4
|
||||
-mfloat-abi=hard
|
||||
-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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${ConfigName}.map
|
||||
--ram_model
|
||||
--reread_libs
|
||||
"
|
||||
|
||||
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context m4fss0-0 --part ALX --package ALX
|
||||
"
|
||||
|
||||
description="A Dcl Df22 FREERTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.m4f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.m4f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_m4f_am243x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,62 @@
|
||||
|
||||
/* make sure below retain is there in your linker command file, it keeps the vector table in the final binary */
|
||||
--retain="*(.vectors)"
|
||||
/* 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
|
||||
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the M4F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > M4F_VECS
|
||||
.text: {} palign(8) > M4F_IRAM /* This is where code resides */
|
||||
|
||||
.bss: {} palign(8) > M4F_DRAM /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
|
||||
.data: {} palign(8) > M4F_DRAM /* This is where initialized globals and static go */
|
||||
.rodata: {} palign(8) > M4F_DRAM /* This is where const's go */
|
||||
.sysmem: {} palign(8) > M4F_IRAM /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) > M4F_IRAM /* This is where the main() stack goes */
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
.ARM.exidx: {} palign(8) > M4F_IRAM /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) > M4F_IRAM /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) > M4F_IRAM /* Contains function pointers called after main */
|
||||
|
||||
/* General purpose user shared memory */
|
||||
.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) : {} > IPC_VRING_MEM
|
||||
}
|
||||
|
||||
MEMORY
|
||||
{
|
||||
M4F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000200
|
||||
M4F_IRAM : ORIGIN = 0x00000200 , LENGTH = 0x0002FE00
|
||||
M4F_DRAM : ORIGIN = 0x00030000 , LENGTH = 0x00010000
|
||||
|
||||
/* shared memories that are used by all cores */
|
||||
/* On M4F,
|
||||
* - By default MSMC RAM is not accessible to M4F, a RAT entry is needed to make it
|
||||
* accessible on M4F
|
||||
* - So make sure there is a RAT entry which has a 1:1 mapping from 0x70000000 to 0x70200000
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
IPC_VRING_MEM: ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,303 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=dcl_df22.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=dcl_df22.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
df22_test.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${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_CM4F \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/kernel/freertos/config/am243x/m4f \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/dcl \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-m4 \
|
||||
-mfloat-abi=hard \
|
||||
-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 \
|
||||
dcl_linker_m4f_am243x_sitara.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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
|
||||
-Wl,-i${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lfreertos.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-llibc.a \
|
||||
-llibsysbm.a \
|
||||
|
||||
LFLAGS_common = \
|
||||
-Wl,--ram_model \
|
||||
-Wl,--reread_libs \
|
||||
|
||||
|
||||
LIBS_NAME = \
|
||||
freertos.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
drivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
board.am243x.m4f.ti-arm-clang.${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 \
|
||||
${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:m4fss0-0:freertos:ti-arm-clang $(OUTNAME): $<
|
||||
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
|
||||
|
||||
$(OBJDIR)/%.obj %.obj: %.S
|
||||
@echo Compiling: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang $@ ...
|
||||
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
|
||||
@echo Linking: am243x:m4fss0-0:freertos:ti-arm-clang $@ Done !!!
|
||||
@echo .
|
||||
|
||||
clean:
|
||||
@echo Cleaning: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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 m4fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context m4fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(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_m4fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
$(BOOTIMAGE_NAME): $(OUTNAME)
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
|
||||
@echo .
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
-include $(addprefix $(OBJDIR)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(CCS_INSTALL_DIR)
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
|
||||
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
OUTFILE=$(PROFILE)/$(OUTNAME).out
|
||||
BOOTIMAGE_PATH=$(abspath ${PROFILE})
|
||||
BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
|
||||
BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
all:
|
||||
ifeq ($(CCS_IDE_MODE),cloud)
|
||||
# No post build steps
|
||||
else
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
@echo Boot image: am243x:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
|
||||
@echo .
|
||||
else
|
||||
@echo Boot image: am243x:m4fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_am243x-lp_m4fss0-0_freertos_ti-arm-clang
|
||||
|
||||
all:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
|
||||
|
||||
clean:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
|
||||
|
||||
export:
|
||||
$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,45 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM243x_ALX_beta" --package "ALX" --part "ALX" --context "m4fss0-0" --product "MCU_PLUS_SDK@07.03.01"
|
||||
* @versions {"tool":"1.9.0+2015","templates":null}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const addr_translate = scripting.addModule("/kernel/dpl/addr_translate", {}, false);
|
||||
const addr_translate1 = addr_translate.addInstance();
|
||||
const addr_translate2 = addr_translate.addInstance();
|
||||
const addr_translate3 = addr_translate.addInstance();
|
||||
const addr_translate4 = addr_translate.addInstance();
|
||||
const clock = scripting.addModule("/kernel/dpl/clock");
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
addr_translate1.$name = "CONFIG_ADDR_TRANSLATE_REGION0";
|
||||
addr_translate1.localAddr = 0x80000000;
|
||||
|
||||
addr_translate2.$name = "CONFIG_ADDR_TRANSLATE_REGION1";
|
||||
addr_translate2.systemAddr = 0x20000000;
|
||||
addr_translate2.localAddr = 0xA0000000;
|
||||
|
||||
addr_translate3.$name = "CONFIG_ADDR_TRANSLATE_REGION2";
|
||||
addr_translate3.systemAddr = 0x40000000;
|
||||
addr_translate3.localAddr = 0xC0000000;
|
||||
|
||||
addr_translate4.$name = "CONFIG_ADDR_TRANSLATE_REGION3";
|
||||
addr_translate4.systemAddr = 0x60000000;
|
||||
addr_translate4.localAddr = 0x60000000;
|
||||
|
||||
mpu_armv71.$name = "CONFIG_MPU_REGION0";
|
||||
mpu_armv71.attributes = "Device";
|
||||
mpu_armv71.allowExecute = false;
|
||||
|
||||
mpu_armv72.$name = "CONFIG_MPU_REGION1";
|
||||
mpu_armv72.size = 18;
|
||||
50
examples/dcl/dcl_df22/am243x-lp/m4fss0-0_nortos/main.c
Normal file
50
examples/dcl/dcl_df22/am243x-lp/m4fss0-0_nortos/main.c
Normal file
@ -0,0 +1,50 @@
|
||||
/*
|
||||
* 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 dcl_df22_main(void *args);
|
||||
|
||||
int main(void)
|
||||
{
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
Board_deinit();
|
||||
System_deinit();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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 M4F_IRAM
|
||||
#define REG_RAM M4F_IRAM /* M4F_DRAM also works */
|
||||
|
||||
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
|
||||
}
|
||||
@ -0,0 +1,112 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex M.AM2434_ALX"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am243x-lp_m4fss0-0_nortos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Debug,
|
||||
Release,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="2.1.3"
|
||||
device="Cortex M.AM2434_ALX"
|
||||
deviceCore="Cortex_M4F_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${MOTOR_CONTROL_SDK_PATH}/source/dcl
|
||||
-mcpu=cortex-m4
|
||||
-mfloat-abi=hard
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${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${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${ConfigName}.map
|
||||
--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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context m4fss0-0 --part ALX --package ALX
|
||||
"
|
||||
|
||||
description="A Dcl Df22 NORTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lnortos.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.m4f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lnortos.am243x.m4f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.m4f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_m4f_am243x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,62 @@
|
||||
|
||||
/* make sure below retain is there in your linker command file, it keeps the vector table in the final binary */
|
||||
--retain="*(.vectors)"
|
||||
/* 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
|
||||
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the M4F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > M4F_VECS
|
||||
.text: {} palign(8) > M4F_IRAM /* This is where code resides */
|
||||
|
||||
.bss: {} palign(8) > M4F_DRAM /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
|
||||
.data: {} palign(8) > M4F_DRAM /* This is where initialized globals and static go */
|
||||
.rodata: {} palign(8) > M4F_DRAM /* This is where const's go */
|
||||
.sysmem: {} palign(8) > M4F_IRAM /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) > M4F_IRAM /* This is where the main() stack goes */
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
.ARM.exidx: {} palign(8) > M4F_IRAM /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) > M4F_IRAM /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) > M4F_IRAM /* Contains function pointers called after main */
|
||||
|
||||
/* General purpose user shared memory */
|
||||
.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) : {} > IPC_VRING_MEM
|
||||
}
|
||||
|
||||
MEMORY
|
||||
{
|
||||
M4F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000200
|
||||
M4F_IRAM : ORIGIN = 0x00000200 , LENGTH = 0x0002FE00
|
||||
M4F_DRAM : ORIGIN = 0x00030000 , LENGTH = 0x00010000
|
||||
|
||||
/* shared memories that are used by all cores */
|
||||
/* On M4F,
|
||||
* - By default MSMC RAM is not accessible to M4F, a RAT entry is needed to make it
|
||||
* accessible on M4F
|
||||
* - So make sure there is a RAT entry which has a 1:1 mapping from 0x70000000 to 0x70200000
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
IPC_VRING_MEM: ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,300 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=dcl_df22.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=dcl_df22.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
df22_test.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${CG_TOOL_ROOT}/include/c \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/dcl \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-m4 \
|
||||
-mfloat-abi=hard \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
dcl_linker_m4f_am243x_sitara.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lnortos.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
-llibc.a \
|
||||
-llibsysbm.a \
|
||||
|
||||
LFLAGS_common = \
|
||||
-Wl,--ram_model \
|
||||
-Wl,--reread_libs \
|
||||
|
||||
|
||||
LIBS_NAME = \
|
||||
nortos.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
drivers.am243x.m4f.ti-arm-clang.${ConfigName}.lib \
|
||||
board.am243x.m4f.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 \
|
||||
${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:m4fss0-0:nortos:ti-arm-clang $(OUTNAME): $<
|
||||
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
|
||||
|
||||
$(OBJDIR)/%.obj %.obj: %.S
|
||||
@echo Compiling: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang $@ ...
|
||||
$(LNK) $(LNKOPTFLAGS) $(LFLAGS) $(LIBS_PATH) -Wl,-m=$(basename $@).map -o $@ $(addprefix $(OBJDIR), $(OBJS)) $(LIBS) $(LNK_FILES)
|
||||
@echo Linking: am243x:m4fss0-0:nortos:ti-arm-clang $@ Done !!!
|
||||
@echo .
|
||||
|
||||
clean:
|
||||
@echo Cleaning: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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 m4fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context m4fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(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_m4fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
$(BOOTIMAGE_NAME): $(OUTNAME)
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
|
||||
@echo .
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
-include $(addprefix $(OBJDIR)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(CCS_INSTALL_DIR)
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
|
||||
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
OUTFILE=$(PROFILE)/$(OUTNAME).out
|
||||
BOOTIMAGE_PATH=$(abspath ${PROFILE})
|
||||
BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
|
||||
BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_m4fss0-0) \
|
||||
|
||||
all:
|
||||
ifeq ($(CCS_IDE_MODE),cloud)
|
||||
# No post build steps
|
||||
else
|
||||
@echo Boot image: am243x:m4fss0-0: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:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
@echo Boot image: am243x:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
|
||||
@echo .
|
||||
else
|
||||
@echo Boot image: am243x:m4fss0-0:nortos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_am243x-lp_m4fss0-0_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 $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,57 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM243x_ALX_beta" --package "ALX" --part "ALX" --context "r5fss0-0" --product "MCU_PLUS_SDK@07.03.01"
|
||||
* @versions {"data":"2021040816","timestamp":"2021040816","tool":"1.8.1+1900","templates":null}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$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/dcl/dcl_df22/am243x-lp/r5fss0-0_freertos/main.c
Normal file
84
examples/dcl/dcl_df22/am243x-lp/r5fss0-0_freertos/main.c
Normal file
@ -0,0 +1,84 @@
|
||||
/*
|
||||
* Copyright (C) 2018-2021 Texas Instruments Incorporated
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
*
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
*
|
||||
* Neither the name of Texas Instruments Incorporated nor the names of
|
||||
* its contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <kernel/dpl/DebugP.h>
|
||||
#include "ti_drivers_config.h"
|
||||
#include "ti_board_config.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#define MAIN_TASK_PRI (configMAX_PRIORITIES-1)
|
||||
|
||||
#define MAIN_TASK_SIZE (16384U/sizeof(configSTACK_DEPTH_TYPE))
|
||||
StackType_t gMainTaskStack[MAIN_TASK_SIZE] __attribute__((aligned(32)));
|
||||
|
||||
StaticTask_t gMainTaskObj;
|
||||
TaskHandle_t gMainTask;
|
||||
|
||||
void dcl_df22_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* init SOC specific modules */
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
/* This task is created at highest priority, it should create more tasks and then delete itself */
|
||||
gMainTask = xTaskCreateStatic( freertos_main, /* Pointer to the function that implements the task. */
|
||||
"freertos_main", /* Text name for the task. This is to facilitate debugging only. */
|
||||
MAIN_TASK_SIZE, /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
|
||||
NULL, /* We are not using the task parameter. */
|
||||
MAIN_TASK_PRI, /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
|
||||
gMainTaskStack, /* pointer to stack base */
|
||||
&gMainTaskObj ); /* pointer to statically allocated task object memory */
|
||||
configASSERT(gMainTask != NULL);
|
||||
|
||||
/* Start the scheduler to start the tasks executing. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* The following line should never be reached because vTaskStartScheduler()
|
||||
will only return if there was not enough FreeRTOS heap memory available to
|
||||
create the Idle and (if configured) Timer tasks. Heap management, and
|
||||
techniques for trapping heap exhaustion, are described in the book text. */
|
||||
DebugP_assertNoLog(0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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
|
||||
}
|
||||
@ -0,0 +1,117 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALX"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am243x-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="2.1.3"
|
||||
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${MOTOR_CONTROL_SDK_PATH}/source/dcl
|
||||
-mcpu=cortex-r5
|
||||
-mfloat-abi=hard
|
||||
-mfpu=vfpv3-d16
|
||||
-mthumb
|
||||
-Wall
|
||||
-Werror
|
||||
-g
|
||||
-Wno-gnu-variable-sized-type-not-at-end
|
||||
-Wno-unused-function
|
||||
-DSOC_AM243X
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-i${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${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALX --package ALX
|
||||
"
|
||||
|
||||
description="A Dcl Df22 FREERTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_r5f_am243x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,148 @@
|
||||
|
||||
/* This is the stack that is used by code running within main()
|
||||
* In case of NORTOS,
|
||||
* - This means all the code outside of ISR uses this stack
|
||||
* In case of FreeRTOS
|
||||
* - This means all the code until vTaskStartScheduler() is called in main()
|
||||
* uses this stack.
|
||||
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
|
||||
*/
|
||||
--stack_size=16384
|
||||
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
|
||||
* This is also the heap used by pvPortMalloc in FreeRTOS
|
||||
*/
|
||||
--heap_size=32768
|
||||
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
|
||||
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* In NORTOS,
|
||||
* - Here interrupt nesting is enabled
|
||||
* - This is the stack used by ISRs registered as type IRQ
|
||||
* In FreeRTOS,
|
||||
* - Here interrupt nesting is disabled
|
||||
* - This is stack that is used initally when a IRQ is received
|
||||
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
|
||||
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
|
||||
*/
|
||||
__IRQ_STACK_SIZE = 256;
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
|
||||
*/
|
||||
__FIQ_STACK_SIZE = 256;
|
||||
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
|
||||
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
|
||||
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > R5F_VECS
|
||||
|
||||
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
|
||||
* i.e this cannot be placed in DDR
|
||||
*/
|
||||
GROUP {
|
||||
.text.hwi: palign(8)
|
||||
.text.cache: palign(8)
|
||||
.text.mpu: palign(8)
|
||||
.text.boot: palign(8)
|
||||
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.text: {} palign(8) /* This is where code resides */
|
||||
.rodata: {} palign(8) /* This is where const's go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.data: {} palign(8) /* This is where initialized globals and static go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.bss: {} palign(8) /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
.sysmem: {} palign(8) /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) /* This is where the main() stack goes */
|
||||
} > MSRAM
|
||||
|
||||
/* This is where the stacks for different R5F modes go */
|
||||
GROUP {
|
||||
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__IRQ_STACK_START)
|
||||
RUN_END(__IRQ_STACK_END)
|
||||
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__FIQ_STACK_START)
|
||||
RUN_END(__FIQ_STACK_END)
|
||||
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
|
||||
RUN_START(__SVC_STACK_START)
|
||||
RUN_END(__SVC_STACK_END)
|
||||
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
|
||||
RUN_START(__ABORT_STACK_START)
|
||||
RUN_END(__ABORT_STACK_END)
|
||||
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
|
||||
RUN_START(__UNDEFINED_STACK_START)
|
||||
RUN_END(__UNDEFINED_STACK_END)
|
||||
} > MSRAM
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
GROUP {
|
||||
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) /* Contains function pointers called after main */
|
||||
} > MSRAM
|
||||
|
||||
/* General purpose user shared memory, used in some examples */
|
||||
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
|
||||
/* this is used when Debug log's to shared memory are enabled, else this is not used */
|
||||
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
|
||||
/* this is used only when IPC RPMessage is enabled, else this is not used */
|
||||
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
|
||||
/* General purpose non cacheable memory, used in some examples */
|
||||
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
|
||||
}
|
||||
|
||||
/*
|
||||
NOTE: Below memory is reserved for DMSC usage
|
||||
- During Boot till security handoff is complete
|
||||
0x701E0000 - 0x701FFFFF (128KB)
|
||||
- After "Security Handoff" is complete (i.e at run time)
|
||||
0x701F4000 - 0x701FFFFF (48KB)
|
||||
|
||||
Security handoff is complete when this message is sent to the DMSC,
|
||||
TISCI_MSG_SEC_HANDOVER
|
||||
|
||||
This should be sent once all cores are loaded and all application
|
||||
specific firewall calls are setup.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
|
||||
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
|
||||
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
|
||||
|
||||
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
|
||||
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
|
||||
|
||||
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
|
||||
* this memory does not overlap with other R5F's
|
||||
*/
|
||||
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
|
||||
|
||||
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
|
||||
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
|
||||
*/
|
||||
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
|
||||
|
||||
/* shared memory segments */
|
||||
/* On R5F,
|
||||
* - make sure there is a MPU entry which maps below regions as non-cache
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,305 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=dcl_df22.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=dcl_df22.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
df22_test.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${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/dcl \
|
||||
-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 \
|
||||
dcl_linker_r5f_am243x_sitara.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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib \
|
||||
-Wl,-i${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.${ConfigName}.lib \
|
||||
-llibc.a \
|
||||
-llibsysbm.a \
|
||||
|
||||
LFLAGS_common = \
|
||||
-Wl,--diag_suppress=10063 \
|
||||
-Wl,--ram_model \
|
||||
-Wl,--reread_libs \
|
||||
|
||||
|
||||
LIBS_NAME = \
|
||||
freertos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
drivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
board.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
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 \
|
||||
${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 dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(OS),Windows_NT)
|
||||
$(RM) \*.out
|
||||
$(RM) \*.map
|
||||
$(RM) \*.appimage*
|
||||
$(RM) \*.rprc*
|
||||
$(RM) \*.tiimage*
|
||||
$(RM) \*.bin
|
||||
else
|
||||
$(RM) *.out
|
||||
$(RM) *.map
|
||||
$(RM) *.appimage*
|
||||
$(RM) *.rprc*
|
||||
$(RM) *.tiimage*
|
||||
$(RM) *.bin
|
||||
endif
|
||||
$(RMDIR) generated
|
||||
|
||||
$(OBJS): | $(OBJDIR)
|
||||
|
||||
$(OBJDIR):
|
||||
$(MKDIR) $@
|
||||
|
||||
|
||||
.NOTPARALLEL:
|
||||
|
||||
.INTERMEDIATE: syscfg
|
||||
$(SYSCFG_GEN_FILES): syscfg
|
||||
|
||||
syscfg: ../example.syscfg
|
||||
@echo Generating SysConfig files ...
|
||||
$(SYSCFG_NODE) $(SYSCFG_CLI_PATH)/dist/cli.js --product $(SYSCFG_SDKPRODUCT) --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
syscfg-gui:
|
||||
$(SYSCFG_NWJS) $(SYSCFG_PATH) --product $(SYSCFG_SDKPRODUCT) --device AM243x_ALX_beta --context r5fss0-0 --part ALX --package ALX --output generated/ ../example.syscfg
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CERT_KEY=$(APP_SIGNING_KEY)
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(SYSCFG_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
$(BOOTIMAGE_NAME): $(OUTNAME)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ ...
|
||||
ifneq ($(OS),Windows_NT)
|
||||
$(CHMOD) a+x $(XIPGEN_CMD)
|
||||
endif
|
||||
$(OUTRPRC_CMD) $(OUTNAME) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
# Sign the appimage for HS-FS using appimage signing script
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS_FS)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$@ Done !!!
|
||||
@echo .
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS_FS) Done !!!
|
||||
@echo .
|
||||
|
||||
$(BOOTIMAGE_NAME_HS): $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
# Sign the appimage using appimage signing script
|
||||
ifeq ($(ENC_ENABLED),no)
|
||||
@echo Boot image signing: Encryption is disabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME_HS)
|
||||
else
|
||||
@echo Boot image signing: Encryption is enabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME_HS)
|
||||
$(RM) $(BOOTIMAGE_NAME)-enc
|
||||
endif
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_PATH)/$(BOOTIMAGE_NAME_HS) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
-include $(addprefix $(OBJDIR)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(CCS_INSTALL_DIR)
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/imports.mak
|
||||
include ${MOTOR_CONTROL_SDK_PATH}/devconfig/devconfig.mak
|
||||
|
||||
STRIP=$(CG_TOOL_ROOT)/bin/tiarmstrip
|
||||
OBJCOPY=$(CG_TOOL_ROOT)/bin/tiarmobjcopy
|
||||
ifeq ($(OS), Windows_NT)
|
||||
PYTHON=python
|
||||
else
|
||||
PYTHON=python3
|
||||
endif
|
||||
|
||||
OUTFILE=$(PROFILE)/$(OUTNAME).out
|
||||
BOOTIMAGE_PATH=$(abspath ${PROFILE})
|
||||
BOOTIMAGE_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage
|
||||
BOOTIMAGE_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=$(BOOTIMAGE_PATH)/$(OUTNAME).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=$(BOOTIMAGE_PATH)/$(OUTNAME).rprc_tmp
|
||||
|
||||
#
|
||||
# Generation of boot image which can be loaded by Secondary Boot Loader (SBL)
|
||||
#
|
||||
ifeq ($(OS),Windows_NT)
|
||||
EXE_EXT=.exe
|
||||
endif
|
||||
ifeq ($(OS),Windows_NT)
|
||||
BOOTIMAGE_CERT_GEN_CMD=powershell -executionpolicy unrestricted -command $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.ps1
|
||||
else
|
||||
BOOTIMAGE_CERT_GEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/x509CertificateGen.sh
|
||||
endif
|
||||
BOOTIMAGE_TEMP_OUT_FILE=$(PROFILE)/temp_stdout_$(PROFILE).txt
|
||||
|
||||
BOOTIMAGE_CORE_ID_r5fss0-0 = 4
|
||||
BOOTIMAGE_CORE_ID_r5fss0-1 = 5
|
||||
BOOTIMAGE_CORE_ID_r5fss1-0 = 6
|
||||
BOOTIMAGE_CORE_ID_r5fss1-1 = 7
|
||||
BOOTIMAGE_CORE_ID_m4fss0-0 = 14
|
||||
SBL_RUN_ADDRESS=0x70000000
|
||||
SBL_DEV_ID=55
|
||||
|
||||
MULTI_CORE_IMAGE_GEN = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/multicoreImageGen/multicoreImageGen.js
|
||||
OUTRPRC_CMD = $(CCS_NODE) $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/out2rprc/elf2rprc.js
|
||||
APP_IMAGE_SIGN_CMD = $(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/signing/appimage_x509_cert_gen.py
|
||||
|
||||
ifeq ($(OS),Windows_NT)
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.exe
|
||||
else
|
||||
XIPGEN_CMD=$(MOTOR_CONTROL_SDK_PATH)/mcu_plus_sdk/tools/boot/xipGen/xipGen.out
|
||||
endif
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS = \
|
||||
$(BOOTIMAGE_RPRC_NAME)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
MULTI_CORE_IMAGE_PARAMS_XIP = \
|
||||
$(BOOTIMAGE_RPRC_NAME_XIP)@$(BOOTIMAGE_CORE_ID_r5fss0-0) \
|
||||
|
||||
all:
|
||||
ifeq ($(CCS_IDE_MODE),cloud)
|
||||
# No post build steps
|
||||
else
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) ...
|
||||
$(OUTRPRC_CMD) $(OUTFILE) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(COPY) $(OUTNAME).rprc $(BOOTIMAGE_RPRC_NAME)
|
||||
$(COPY) $(BOOTIMAGE_RPRC_NAME) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME)
|
||||
$(XIPGEN_CMD) -i $(BOOTIMAGE_RPRC_NAME_TMP) -o $(BOOTIMAGE_RPRC_NAME) -x $(BOOTIMAGE_RPRC_NAME_XIP) --flash-start-addr 0x60000000 -v > $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME) $(MULTI_CORE_IMAGE_PARAMS) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
$(MULTI_CORE_IMAGE_GEN) --devID $(SBL_DEV_ID) --out $(BOOTIMAGE_NAME_XIP) $(MULTI_CORE_IMAGE_PARAMS_XIP) >> $(BOOTIMAGE_TEMP_OUT_FILE)
|
||||
# Sign the appimage for HS-FS using appimage signing script
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs_fs
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
# Sign the appimage using appimage signing script
|
||||
ifeq ($(ENC_ENABLED),no)
|
||||
@echo Boot image signing: Encryption is disabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --output $(BOOTIMAGE_NAME).hs
|
||||
else
|
||||
@echo Boot image signing: Encryption is enabled.
|
||||
$(PYTHON) $(APP_IMAGE_SIGN_CMD) --bin $(BOOTIMAGE_NAME) --authtype 1 --key $(APP_SIGNING_KEY) --enc y --enckey $(APP_ENCRYPTION_KEY) --output $(BOOTIMAGE_NAME).hs
|
||||
$(RM) $(BOOTIMAGE_NAME)-enc
|
||||
endif
|
||||
endif
|
||||
$(RM) $(BOOTIMAGE_RPRC_NAME_TMP)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
ifeq ($(DEVICE_TYPE),HS)
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs Done !!!
|
||||
@echo .
|
||||
else
|
||||
@echo Boot image: am243x:r5fss0-0:freertos:ti-arm-clang $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_am243x-lp_r5fss0-0_freertos_ti-arm-clang
|
||||
|
||||
all:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE)
|
||||
|
||||
clean:
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectBuild -ccs.projects $(PROJECT_NAME) -ccs.configuration $(PROFILE) -ccs.clean
|
||||
|
||||
export:
|
||||
$(MKDIR) $(MOTOR_CONTROL_SDK_PATH)/ccs_projects
|
||||
$(CCS_ECLIPSE) -noSplash -data $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,57 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM243x_ALX_beta" --package "ALX" --part "ALX" --context "r5fss0-0" --product "MCU_PLUS_SDK@07.03.01"
|
||||
* @versions {"data":"2021040816","timestamp":"2021040816","tool":"1.8.1+1900","templates":null}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$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
examples/dcl/dcl_df22/am243x-lp/r5fss0-0_nortos/main.c
Normal file
50
examples/dcl/dcl_df22/am243x-lp/r5fss0-0_nortos/main.c
Normal file
@ -0,0 +1,50 @@
|
||||
/*
|
||||
* 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 dcl_df22_main(void *args);
|
||||
|
||||
int main(void)
|
||||
{
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
Board_deinit();
|
||||
System_deinit();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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
|
||||
}
|
||||
@ -0,0 +1,114 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM2434_ALX"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am243x-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="2.1.3"
|
||||
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/dcl
|
||||
-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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${ConfigName}.map
|
||||
--diag_suppress=10063
|
||||
--ram_model
|
||||
--reread_libs
|
||||
"
|
||||
|
||||
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am243x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part ALX --package ALX
|
||||
"
|
||||
|
||||
description="A Dcl Df22 NORTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lnortos.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lnortos.am243x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am243x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_r5f_am243x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,148 @@
|
||||
|
||||
/* This is the stack that is used by code running within main()
|
||||
* In case of NORTOS,
|
||||
* - This means all the code outside of ISR uses this stack
|
||||
* In case of FreeRTOS
|
||||
* - This means all the code until vTaskStartScheduler() is called in main()
|
||||
* uses this stack.
|
||||
* - After vTaskStartScheduler() each task created in FreeRTOS has its own stack
|
||||
*/
|
||||
--stack_size=16384
|
||||
/* This is the heap size for malloc() API in NORTOS and FreeRTOS
|
||||
* This is also the heap used by pvPortMalloc in FreeRTOS
|
||||
*/
|
||||
--heap_size=32768
|
||||
-e_vectors /* This is the entry of the application, _vector MUST be plabed starting address 0x0 */
|
||||
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* In NORTOS,
|
||||
* - Here interrupt nesting is enabled
|
||||
* - This is the stack used by ISRs registered as type IRQ
|
||||
* In FreeRTOS,
|
||||
* - Here interrupt nesting is disabled
|
||||
* - This is stack that is used initally when a IRQ is received
|
||||
* - But then the mode is switched to SVC mode and SVC stack is used for all user ISR callbacks
|
||||
* - Hence in FreeRTOS, IRQ stack size is less and SVC stack size is more
|
||||
*/
|
||||
__IRQ_STACK_SIZE = 256;
|
||||
/* This is the size of stack when R5 is in IRQ mode
|
||||
* - In both NORTOS and FreeRTOS nesting is disabled for FIQ
|
||||
*/
|
||||
__FIQ_STACK_SIZE = 256;
|
||||
__SVC_STACK_SIZE = 4096; /* This is the size of stack when R5 is in SVC mode */
|
||||
__ABORT_STACK_SIZE = 256; /* This is the size of stack when R5 is in ABORT mode */
|
||||
__UNDEFINED_STACK_SIZE = 256; /* This is the size of stack when R5 is in UNDEF mode */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* This has the R5F entry point and vector table, this MUST be at 0x0 */
|
||||
.vectors:{} palign(8) > R5F_VECS
|
||||
|
||||
/* This has the R5F boot code until MPU is enabled, this MUST be at a address < 0x80000000
|
||||
* i.e this cannot be placed in DDR
|
||||
*/
|
||||
GROUP {
|
||||
.text.hwi: palign(8)
|
||||
.text.cache: palign(8)
|
||||
.text.mpu: palign(8)
|
||||
.text.boot: palign(8)
|
||||
.text:abort: palign(8) /* this helps in loading symbols when using XIP mode */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of code. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.text: {} palign(8) /* This is where code resides */
|
||||
.rodata: {} palign(8) /* This is where const's go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of initialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.data: {} palign(8) /* This is where initialized globals and static go */
|
||||
} > MSRAM
|
||||
|
||||
/* This is rest of uninitialized data. This can be placed in DDR if DDR is available and needed */
|
||||
GROUP {
|
||||
.bss: {} palign(8) /* This is where uninitialized globals go */
|
||||
RUN_START(__BSS_START)
|
||||
RUN_END(__BSS_END)
|
||||
.sysmem: {} palign(8) /* This is where the malloc heap goes */
|
||||
.stack: {} palign(8) /* This is where the main() stack goes */
|
||||
} > MSRAM
|
||||
|
||||
/* This is where the stacks for different R5F modes go */
|
||||
GROUP {
|
||||
.irqstack: {. = . + __IRQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__IRQ_STACK_START)
|
||||
RUN_END(__IRQ_STACK_END)
|
||||
.fiqstack: {. = . + __FIQ_STACK_SIZE;} align(8)
|
||||
RUN_START(__FIQ_STACK_START)
|
||||
RUN_END(__FIQ_STACK_END)
|
||||
.svcstack: {. = . + __SVC_STACK_SIZE;} align(8)
|
||||
RUN_START(__SVC_STACK_START)
|
||||
RUN_END(__SVC_STACK_END)
|
||||
.abortstack: {. = . + __ABORT_STACK_SIZE;} align(8)
|
||||
RUN_START(__ABORT_STACK_START)
|
||||
RUN_END(__ABORT_STACK_END)
|
||||
.undefinedstack: {. = . + __UNDEFINED_STACK_SIZE;} align(8)
|
||||
RUN_START(__UNDEFINED_STACK_START)
|
||||
RUN_END(__UNDEFINED_STACK_END)
|
||||
} > MSRAM
|
||||
|
||||
/* Sections needed for C++ projects */
|
||||
GROUP {
|
||||
.ARM.exidx: {} palign(8) /* Needed for C++ exception handling */
|
||||
.init_array: {} palign(8) /* Contains function pointers called before main */
|
||||
.fini_array: {} palign(8) /* Contains function pointers called after main */
|
||||
} > MSRAM
|
||||
|
||||
/* General purpose user shared memory, used in some examples */
|
||||
.bss.user_shared_mem (NOLOAD) : {} > USER_SHM_MEM
|
||||
/* this is used when Debug log's to shared memory are enabled, else this is not used */
|
||||
.bss.log_shared_mem (NOLOAD) : {} > LOG_SHM_MEM
|
||||
/* this is used only when IPC RPMessage is enabled, else this is not used */
|
||||
.bss.ipc_vring_mem (NOLOAD) : {} > RTOS_NORTOS_IPC_SHM_MEM
|
||||
/* General purpose non cacheable memory, used in some examples */
|
||||
.bss.nocache (NOLOAD) : {} > NON_CACHE_MEM
|
||||
}
|
||||
|
||||
/*
|
||||
NOTE: Below memory is reserved for DMSC usage
|
||||
- During Boot till security handoff is complete
|
||||
0x701E0000 - 0x701FFFFF (128KB)
|
||||
- After "Security Handoff" is complete (i.e at run time)
|
||||
0x701F4000 - 0x701FFFFF (48KB)
|
||||
|
||||
Security handoff is complete when this message is sent to the DMSC,
|
||||
TISCI_MSG_SEC_HANDOVER
|
||||
|
||||
This should be sent once all cores are loaded and all application
|
||||
specific firewall calls are setup.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
R5F_VECS : ORIGIN = 0x00000000 , LENGTH = 0x00000040
|
||||
R5F_TCMA : ORIGIN = 0x00000040 , LENGTH = 0x00007FC0
|
||||
R5F_TCMB0 : ORIGIN = 0x41010000 , LENGTH = 0x00008000
|
||||
|
||||
/* memory segment used to hold CPU specific non-cached data, MAKE to add a MPU entry to mark this as non-cached */
|
||||
NON_CACHE_MEM : ORIGIN = 0x70060000 , LENGTH = 0x8000
|
||||
|
||||
/* when using multi-core application's i.e more than one R5F/M4F active, make sure
|
||||
* this memory does not overlap with other R5F's
|
||||
*/
|
||||
MSRAM : ORIGIN = 0x70080000 , LENGTH = 0x40000
|
||||
|
||||
/* This section can be used to put XIP section of the application in flash, make sure this does not overlap with
|
||||
* other CPUs. Also make sure to add a MPU entry for this section and mark it as cached and code executable
|
||||
*/
|
||||
FLASH : ORIGIN = 0x60100000 , LENGTH = 0x80000
|
||||
|
||||
/* shared memory segments */
|
||||
/* On R5F,
|
||||
* - make sure there is a MPU entry which maps below regions as non-cache
|
||||
*/
|
||||
USER_SHM_MEM : ORIGIN = 0x701D0000, LENGTH = 0x180
|
||||
LOG_SHM_MEM : ORIGIN = 0x701D0000 + 0x180, LENGTH = 0x00004000 - 0x180
|
||||
RTOS_NORTOS_IPC_SHM_MEM : ORIGIN = 0x701D4000, LENGTH = 0x0000C000
|
||||
}
|
||||
@ -0,0 +1,302 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
BOOTIMAGE_NAME_HS:=dcl_df22.$(PROFILE).appimage.hs
|
||||
BOOTIMAGE_NAME_HS_FS:=dcl_df22.$(PROFILE).appimage.hs_fs
|
||||
TARGETS := $(BOOTIMAGE_NAME)
|
||||
ifeq ($(DEVICE_TYPE), HS)
|
||||
TARGETS += $(BOOTIMAGE_NAME_HS)
|
||||
endif
|
||||
|
||||
FILES_common := \
|
||||
df22_test.c \
|
||||
main.c \
|
||||
ti_drivers_config.c \
|
||||
ti_drivers_open_close.c \
|
||||
ti_board_config.c \
|
||||
ti_board_open_close.c \
|
||||
ti_dpl_config.c \
|
||||
ti_pinmux_config.c \
|
||||
ti_power_clock_config.c \
|
||||
|
||||
FILES_PATH_common = \
|
||||
.. \
|
||||
../../.. \
|
||||
generated \
|
||||
|
||||
INCLUDES_common := \
|
||||
-I${CG_TOOL_ROOT}/include/c \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source \
|
||||
-I${MOTOR_CONTROL_SDK_PATH}/source/dcl \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM243X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
dcl_linker_r5f_am243x_sitara.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lnortos.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am243x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-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 \
|
||||
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 \
|
||||
${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 dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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)/, $(DEPS))
|
||||
@ -0,0 +1,106 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(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 $(BOOTIMAGE_NAME).hs_fs Done !!!
|
||||
@echo .
|
||||
endif
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_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 $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,59 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM263x_beta" --package "ZCZ" --part "AM263x" --context "r5fss0-0" --product "MCU_PLUS_SDK_AM263x@08.06.00"
|
||||
* @versions {"tool":"1.14.0+2667"}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const mpu_armv76 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$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/dcl/dcl_df22/am263x-cc/r5fss0-0_freertos/main.c
Normal file
84
examples/dcl/dcl_df22/am263x-cc/r5fss0-0_freertos/main.c
Normal file
@ -0,0 +1,84 @@
|
||||
/*
|
||||
* 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 dcl_df22_main(void *args);
|
||||
|
||||
void freertos_main(void *args)
|
||||
{
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* init SOC specific modules */
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
/* This task is created at highest priority, it should create more tasks and then delete itself */
|
||||
gMainTask = xTaskCreateStatic( freertos_main, /* Pointer to the function that implements the task. */
|
||||
"freertos_main", /* Text name for the task. This is to facilitate debugging only. */
|
||||
MAIN_TASK_SIZE, /* Stack depth in units of StackType_t typically uint32_t on 32b CPUs */
|
||||
NULL, /* We are not using the task parameter. */
|
||||
MAIN_TASK_PRI, /* task priority, 0 is lowest priority, configMAX_PRIORITIES-1 is highest */
|
||||
gMainTaskStack, /* pointer to stack base */
|
||||
&gMainTaskObj ); /* pointer to statically allocated task object memory */
|
||||
configASSERT(gMainTask != NULL);
|
||||
|
||||
/* Start the scheduler to start the tasks executing. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* The following line should never be reached because vTaskStartScheduler()
|
||||
will only return if there was not enough FreeRTOS heap memory available to
|
||||
create the Idle and (if configured) Timer tasks. Heap management, and
|
||||
techniques for trapping heap exhaustion, are described in the book text. */
|
||||
DebugP_assertNoLog(0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
/*
|
||||
* 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 OCRAM
|
||||
|
||||
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
|
||||
}
|
||||
@ -0,0 +1,117 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectSpec>
|
||||
<applicability>
|
||||
<when>
|
||||
<context
|
||||
deviceFamily="ARM"
|
||||
deviceId="Cortex R.AM263x"
|
||||
/>
|
||||
</when>
|
||||
</applicability>
|
||||
|
||||
<project
|
||||
title="Dcl Df22"
|
||||
name = "dcl_df22_am263x-cc_r5fss0-0_freertos_ti-arm-clang"
|
||||
products="sysconfig;com.ti.MOTOR_CONTROL_SDK_AMXXX;"
|
||||
configurations="
|
||||
Release,
|
||||
Debug,
|
||||
"
|
||||
connection="TIXDS110_Connection.xml"
|
||||
toolChain="TICLANG"
|
||||
cgtVersion="2.1.3"
|
||||
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/dcl
|
||||
-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${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source/board/lib
|
||||
-i${CG_TOOL_ROOT}/lib
|
||||
-m=dcl_df22.${ConfigName}.map
|
||||
--diag_suppress=10063
|
||||
--ram_model
|
||||
--reread_libs
|
||||
"
|
||||
|
||||
postBuildStep="$(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=${CCS_IDE_MODE} DEVICE=am263x"
|
||||
|
||||
enableSysConfigTool="true"
|
||||
sysConfigBuildOptions="
|
||||
--context r5fss0-0 --part AM263x --package ZCZ
|
||||
"
|
||||
|
||||
description="A Dcl Df22 FREERTOS project">
|
||||
|
||||
<configuration name="Debug"
|
||||
compilerBuildOptions="
|
||||
-D_DEBUG_=1
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am263x.r5f.ti-arm-clang.debug.lib
|
||||
-ldrivers.am263x.r5f.ti-arm-clang.debug.lib
|
||||
-lboard.am263x.r5f.ti-arm-clang.debug.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<configuration name="Release"
|
||||
compilerBuildOptions="
|
||||
-Os
|
||||
"
|
||||
linkerBuildOptions="
|
||||
-lfreertos.am263x.r5f.ti-arm-clang.release.lib
|
||||
-ldrivers.am263x.r5f.ti-arm-clang.release.lib
|
||||
-lboard.am263x.r5f.ti-arm-clang.release.lib
|
||||
-llibc.a
|
||||
-llibsysbm.a
|
||||
"
|
||||
></configuration>
|
||||
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
|
||||
<file path="../../../df22_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="dcl_linker_r5f_am263x_sitara.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_DCL_DF22.html"
|
||||
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
|
||||
</file>
|
||||
<file path="../../../df22_test.h" openOnCreation="false" excludeFromBuild="true" action="copy">
|
||||
</file>
|
||||
<file path="../../../data" 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>
|
||||
@ -0,0 +1,137 @@
|
||||
|
||||
/* 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
|
||||
}
|
||||
@ -0,0 +1,276 @@
|
||||
#
|
||||
# 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:=dcl_df22.$(PROFILE).out
|
||||
|
||||
BOOTIMAGE_PATH=$(abspath .)
|
||||
BOOTIMAGE_NAME:=dcl_df22.$(PROFILE).appimage
|
||||
BOOTIMAGE_NAME_XIP:=dcl_df22.$(PROFILE).appimage_xip
|
||||
BOOTIMAGE_NAME_SIGNED:=dcl_df22.$(PROFILE).appimage.signed
|
||||
BOOTIMAGE_RPRC_NAME:=dcl_df22.$(PROFILE).rprc
|
||||
BOOTIMAGE_RPRC_NAME_XIP:=dcl_df22.$(PROFILE).rprc_xip
|
||||
BOOTIMAGE_RPRC_NAME_TMP:=dcl_df22.$(PROFILE).rprc_tmp
|
||||
|
||||
FILES_common := \
|
||||
df22_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${MOTOR_CONTROL_SDK_PATH}/source/dcl \
|
||||
-Igenerated \
|
||||
|
||||
DEFINES_common := \
|
||||
-DSOC_AM263X \
|
||||
|
||||
CFLAGS_common := \
|
||||
-mcpu=cortex-r5 \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=vfpv3-d16 \
|
||||
-mthumb \
|
||||
-Wall \
|
||||
-Werror \
|
||||
-g \
|
||||
-Wno-gnu-variable-sized-type-not-at-end \
|
||||
-Wno-unused-function \
|
||||
|
||||
CFLAGS_cpp_common := \
|
||||
-Wno-c99-designator \
|
||||
-Wno-extern-c-compat \
|
||||
-Wno-c++11-narrowing \
|
||||
-Wno-reorder-init-list \
|
||||
-Wno-deprecated-register \
|
||||
-Wno-writable-strings \
|
||||
-Wno-enum-compare \
|
||||
-Wno-reserved-user-defined-literal \
|
||||
-Wno-unused-const-variable \
|
||||
-x c++ \
|
||||
|
||||
CFLAGS_debug := \
|
||||
-D_DEBUG_=1 \
|
||||
|
||||
CFLAGS_release := \
|
||||
-Os \
|
||||
|
||||
LNK_FILES_common = \
|
||||
linker.cmd \
|
||||
dcl_linker_r5f_am263x_sitara.cmd \
|
||||
|
||||
LIBS_PATH_common = \
|
||||
-Wl,-i${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${CG_TOOL_ROOT}/lib \
|
||||
|
||||
LIBS_common = \
|
||||
-lfreertos.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-ldrivers.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-lboard.am263x.r5f.ti-arm-clang.${ConfigName}.lib \
|
||||
-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 \
|
||||
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 \
|
||||
${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 dcl_df22 ...
|
||||
$(RMDIR) obj
|
||||
ifeq ($(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)/, $(DEPS))
|
||||
@ -0,0 +1,84 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
# Below variables need to be defined outside this file or via command line
|
||||
# - MOTOR_CONTROL_SDK_PATH
|
||||
# - PROFILE
|
||||
# - CG_TOOL_ROOT
|
||||
# - OUTNAME
|
||||
# - CCS_INSTALL_DIR
|
||||
# - CCS_IDE_MODE
|
||||
|
||||
CCS_PATH=$(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: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 $(BOOTIMAGE_NAME) Done !!!
|
||||
@echo .
|
||||
endif
|
||||
@ -0,0 +1,20 @@
|
||||
#
|
||||
# Auto generated makefile
|
||||
#
|
||||
|
||||
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../../../../../..)
|
||||
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
|
||||
|
||||
PROFILE?=Release
|
||||
|
||||
PROJECT_NAME=dcl_df22_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 $(MOTOR_CONTROL_SDK_PATH)/ccs_projects -application com.ti.ccstudio.apps.projectCreate -ccs.projectSpec example.projectspec -ccs.overwrite full
|
||||
@ -0,0 +1,8 @@
|
||||
/*
|
||||
* ======== syscfg_c.rov.xs ========
|
||||
* This file contains the information needed by the Runtime Object
|
||||
* View (ROV) tool.
|
||||
*/
|
||||
var crovFiles = [
|
||||
"kernel/freertos/rov/FreeRTOS.rov.js",
|
||||
];
|
||||
@ -0,0 +1,59 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "AM263x_beta" --package "ZCZ" --part "AM263x" --context "r5fss0-0" --product "MCU_PLUS_SDK_AM263x@08.06.00"
|
||||
* @versions {"tool":"1.14.0+2667"}
|
||||
*/
|
||||
|
||||
/**
|
||||
* Import the modules used in this configuration.
|
||||
*/
|
||||
const debug_log = scripting.addModule("/kernel/dpl/debug_log");
|
||||
const mpu_armv7 = scripting.addModule("/kernel/dpl/mpu_armv7", {}, false);
|
||||
const mpu_armv71 = mpu_armv7.addInstance();
|
||||
const mpu_armv72 = mpu_armv7.addInstance();
|
||||
const mpu_armv73 = mpu_armv7.addInstance();
|
||||
const mpu_armv74 = mpu_armv7.addInstance();
|
||||
const mpu_armv75 = mpu_armv7.addInstance();
|
||||
const mpu_armv76 = mpu_armv7.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
*/
|
||||
debug_log.enableUartLog = true;
|
||||
debug_log.uartLog.$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/dcl/dcl_df22/am263x-cc/r5fss0-0_nortos/main.c
Normal file
50
examples/dcl/dcl_df22/am263x-cc/r5fss0-0_nortos/main.c
Normal file
@ -0,0 +1,50 @@
|
||||
/*
|
||||
* 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 dcl_df22_main(void *args);
|
||||
|
||||
int main(void)
|
||||
{
|
||||
System_init();
|
||||
Board_init();
|
||||
|
||||
dcl_df22_main(NULL);
|
||||
|
||||
Board_deinit();
|
||||
System_deinit();
|
||||
|
||||
return 0;
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user